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+8,0.133333333,BASELINE,785.353142415,760.646857585,738.646857585,723.353142415,688,651,919,801,838,657.353142415,636,657,0.400935101229,-0.0154534120169,0.049934377051,0.999999977049,3.17187675761e-05,-0.00020974141813,-3.00663607287e-05,1793254768367550464
+9,0.150000000,BASELINE,785.23284179,760.76715821,738.76715821,723,688,651,919,801,838,657.23284179,636,657,0.400934066921,-0.0154523570567,0.0499337958982,0.999999976782,3.31015632381e-05,-0.00021077940196,-3.02194712888e-05,1793254768384216832
+10,0.166666667,BASELINE,785.811908407,760.188091593,738.188091593,723,688,651,919,801,838,657.811908407,636,657,0.400932052326,-0.0154521185518,0.0499323488459,0.999999976316,3.10129540016e-05,-0.000213276241025,-3.03290909353e-05,1793254768400883456
+11,0.183333333,BASELINE,785.61169981,760.38830019,738,723,688,651,919,801,838,658,636,657,0.400931912149,-0.0154523532538,0.0499322806262,0.999999976368,3.18517372504e-05,-0.000212935459726,-3.01161250557e-05,1793254768417550080
+12,0.200000000,BASELINE,785.036594794,760.963405206,738,723,688,651,919,801,838,658,636,657,0.400932673723,-0.0154528156077,0.0499328757401,0.999999976667,3.40988406167e-05,-0.000211229546235,-2.97479686031e-05,1793254768434216960
+13,0.216666667,BASELINE,785.541248117,761,738,723,688,651,919,801,838,658,636,657,0.400933997944,-0.0154536039811,0.0499340277136,0.999999976808,3.3332767359e-05,-0.000210711729906,-2.95708965488e-05,1793254768450883328
+14,0.233333333,BASELINE,785.878642929,761,738,723,688,651,919,801,838,658,636,657,0.400935046781,-0.015454222823,0.0499348030756,0.999999976916,3.22635072442e-05,-0.000210380401773,-2.94572905823e-05,1793254768467549952
+15,0.250000000,BASELINE,785.290533963,761,738,723,688,651,919,801,838,658,636,657,0.400934889413,-0.0154541044197,0.0499339844082,0.999999976943,3.08156956849e-05,-0.000210455800229,-2.95378390803e-05,1793254768484216832
+16,0.266666667,BASELINE,785,761,738,723,688,651,919,801,838,658,636,657,0.400935487945,-0.015453570012,0.0499340039815,0.99999997716,3.04575484146e-05,-0.000209463863387,-2.9605205703e-05,1793254768500883456
+17,0.283333333,BASELINE,785,761,738,723,688,651,919,801,838,658,636,657,0.400936824494,-0.0154526294432,0.0499348419616,0.999999977561,3.11632824111e-05,-0.000207429846012,-2.96597023485e-05,1793254768517549824
+18,0.300000000,BASELINE,785.447260283,761,738,723,688,651,919,801,838,658,636,657,0.400935457621,-0.0154529143515,0.0499341930494,0.999999977248,3.10498886767e-05,-0.000208920617199,-2.98609456996e-05,1793254768534216704
+19,0.316666667,BASELINE,786,761,738,723,687.978044631,651,919,801,838,658,636,657,0.40093344683,-0.0154534949027,0.0499331910162,0.999999976755,3.07385353647e-05,-0.000211282820192,-3.00890990238e-05,1793254768550883584
+20,0.333333333,BASELINE,786,761,738,723,687.403690408,651,919,801,838,658,636,657,0.400934617044,-0.0154527278543,0.0499339646305,0.999999976948,3.13191996978e-05,-0.000210299517266,-2.99422161173e-05,1793254768567550208
+21,0.350000000,BASELINE,785.823968129,761,738.176031871,722.823968129,687.176031871,651,919,801,838,658,636,657,0.400935019053,-0.015452485892,0.0499342472167,0.999999976998,3.15276492819e-05,-0.000210041738871,-2.98871907005e-05,1793254768584216832
+22,0.366666667,BASELINE,785.231548269,761,738.768451731,722.231548269,687.768451731,651,919,801,838,658,636,657,0.400933603938,-0.0154534859748,0.0499333683187,0.999999976706,3.08556573594e-05,-0.000211500125419,-3.004944616e-05,1793254768600883456
+23,0.383333333,BASELINE,785,761,739,722.352163614,688,651.352163614,919,801,838.352163614,658,636,657,0.400933717711,-0.0154552088514,0.0499331567016,0.999999976729,2.89879265637e-05,-0.000211700206588,-2.97362385816e-05,1793254768617550080
+24,0.400000000,BASELINE,785,761,739,722.930288201,688,651.930288201,919,801,838.930288201,658,636,657,0.400934812474,-0.0154573954989,0.0499333732361,0.999999976949,2.63529661846e-05,-0.000211092913437,-2.91179566544e-05,1793254768634216704
+25,0.416666667,BASELINE,785,760.493635742,738.493635742,723,688,652,919,801,839,658,636,657,0.40093488308,-0.0154565809867,0.0499338418592,0.999999977187,2.65675711132e-05,-0.000209898687938,-2.93694021993e-05,1793254768650883328
+26,0.433333333,BASELINE,785,760.083904035,738,723,688,652,919,801,838.916095965,658,635.916095965,657,0.400934768423,-0.0154554574768,0.0499341593693,0.999999977339,2.71666926631e-05,-0.000209050092723,-2.96956189603e-05,1793254768667549952
+27,0.450000000,BASELINE,785,760.671926124,738,723,688,652,919,801,838.328073876,658,635.328073876,657,0.400934384395,-0.0154549498796,0.0499333612722,0.999999976963,2.77285277721e-05,-0.000210761671139,-2.97545712278e-05,1793254768684216320
+28,0.466666667,BASELINE,785.255920729,761,738,723,688,651.744079271,919,801,838.255920729,658,635.255920729,657.255920729,0.400934294516,-0.0154547077715,0.0499332433889,0.999999976863,2.84865951578e-05,-0.00021113769038,-2.97195384005e-05,1793254768700883200
+29,0.483333333,BASELINE,785.834832315,761,738,723,688,651.165167685,919,801,838.834832315,658,635.834832315,657.834832315,0.400934575875,-0.0154548007303,0.0499339839854,0.999999977114,2.94923221332e-05,-0.000209828135218,-2.95658894396e-05,1793254768717549824
+30,0.500000000,BASELINE,785.588003656,761,738,723,688,651.411996344,919,801,838.588003656,658,636,657.588003656,0.400934527519,-0.0154549424901,0.0499338065711,0.999999977048,2.85474656698e-05,-0.0002102817474,-2.95032929243e-05,1793254768734216704
+31,0.516666667,BASELINE,785.011537271,761,738,723,688,651.988462729,919,801,838.011537271,658,636,657.011537271,0.40093434754,-0.0154551037314,0.0499332626845,0.999999976853,2.68239310601e-05,-0.00021143922073,-2.94770447919e-05,1793254768750883584
+32,0.533333333,BASELINE,785.564634808,761,738,723,688,652,919,801,838,658,636,657,0.40093466891,-0.0154532038173,0.0499335587955,0.999999976888,2.8896635867e-05,-0.000210970481899,-2.96784189682e-05,1793254768767549952
+33,0.550000000,BASELINE,785.856101521,761,738,723,688,652,919,801,838.143898479,658,635.856101521,657,0.400935211201,-0.0154519812994,0.0499339509861,0.999999977015,3.0550438401e-05,-0.000210112439716,-2.98195148626e-05,1793254768784216832
+34,0.566666667,BASELINE,785.267259979,761,738,723,688,652,919,801,838.732740021,658,635.267259979,657,0.400936404934,-0.0154529834905,0.0499345872162,0.999999977423,3.06692448948e-05,-0.000208153338925,-2.97598526942e-05,1793254768800884480
+35,0.583333333,BASELINE,785.316705882,761,738,723,688,652,919,801,838.683294118,658,635.316705882,657,0.400935678899,-0.0154532000514,0.0499340786641,0.999999977328,3.07973078759e-05,-0.000208603578534,-2.96827049548e-05,1793254768817551104
+36,0.600000000,BASELINE,785.896619724,761,738,723,688,652,919,801,838.103380276,658,635.896619724,657,0.400933357383,-0.0154527636909,0.0499326187062,0.999999976811,3.09330637529e-05,-0.000211056172826,-2.95910252983e-05,1793254768834216960
+37,0.616666667,BASELINE,785.527172972,760.527172972,738,723,688,652,919,801,838.472827028,658,636,657,0.400934174238,-0.0154535582054,0.0499329481369,0.999999976896,3.00684564796e-05,-0.000210800657311,-2.94296412538e-05,1793254768850883328
+38,0.633333333,BASELINE,785.048032187,760.048032187,738,723,688,652,919,801,838.951967813,658,636,657,0.400935455285,-0.0154546063157,0.049933584299,0.999999977083,2.89499242348e-05,-0.000210091432722,-2.92724310881e-05,1793254768867550208
+39,0.650000000,BASELINE,785.621073124,760.621073124,738,723,688,652,919,801,838.378926876,658,636,657,0.400934368236,-0.015455507598,0.0499333300466,0.999999976966,2.74280184172e-05,-0.000210844627827,-2.93261296842e-05,1793254768884216832
+40,0.666666667,BASELINE,785.799528774,760.799528774,738.200471226,723,688,652,919,801,838,658,636,657,0.400934199698,-0.0154553898091,0.0499333070951,0.999999976981,2.74238038177e-05,-0.000210750776107,-2.9492212018e-05,1793254768900883712
+41,0.683333333,BASELINE,785.20772099,760.20772099,738.79227901,723,688,652,919,801,838,658,636,657,0.400935824171,-0.0154532827081,0.0499337356625,0.999999977251,3.03822491929e-05,-0.000209003418264,-2.98776767813e-05,1793254768917550848
+42,0.700000000,BASELINE,785,760.375314854,738.624685146,723,688,652,919,801,838.375314854,658,636,657,0.400936443687,-0.0154536855216,0.0499340163901,0.999999977459,2.94297982714e-05,-0.000208152771618,-2.97926226314e-05,1793254768934217728
+43,0.716666667,BASELINE,785,760.953606657,738.046393343,723,688,652,919,801,838.953606657,658,636,657,0.400936519706,-0.0154554457415,0.0499342171634,0.999999977631,2.63622649704e-05,-0.000207787082393,-2.9453103471e-05,1793254768950884352
+44,0.733333333,BASELINE,785.52616508,760.47383492,738,723,688,651.47383492,919,801,838.47383492,658,636,657,0.400935776666,-0.0154572151041,0.0499340400105,0.999999977424,2.41515188466e-05,-0.000209061477002,-2.93519186267e-05,1793254768967550720
+45,0.750000000,BASELINE,786,760.101732392,738.101732392,723,688,651.101732392,919,801,838.101732392,658,636,657,0.400935203056,-0.0154582627768,0.0499338713662,0.999999977236,2.30968047843e-05,-0.000210088861397,-2.92881314056e-05,1793254768984217088
+46,0.766666667,BASELINE,786,760.694226954,738.694226954,723,688,651.694226954,919,801,838.694226954,658,636,657,0.400935791413,-0.0154558251339,0.0499339027857,0.99999997731,2.72583427471e-05,-0.000209234567158,-2.930446968e-05,1793254769000883712
+47,0.783333333,BASELINE,786,761,739,723,688,652,919,801,838.719997382,658,636,657,0.400935127171,-0.0154546356613,0.0499332357503,0.999999977171,2.94189007203e-05,-0.000209571266992,-2.9522602204e-05,1793254769017550080
+48,0.800000000,BASELINE,786,761,739,723,688,652,919,801,838.141386988,658,636,657,0.400933127097,-0.0154547772951,0.0499318238502,0.99999997682,2.94455213532e-05,-0.000211178098035,-2.99559374761e-05,1793254769034216960
+49,0.816666667,BASELINE,785.563328833,761,739,723,688,652,919,801,838,658,636,657,0.400932708414,-0.0154551515087,0.0499315217528,0.999999976685,2.76431373283e-05,-0.000212039049729,-3.00892978476e-05,1793254769050883840
+50,0.833333333,BASELINE,785,761,738.985586589,723,688,652,919,801,838.014413411,657.985586589,636,657,0.400932821875,-0.0154555760397,0.0499316049956,0.999999976625,2.53935531805e-05,-0.000212600608677,-3.01131507784e-05,1793254769067550464
+51,0.850000000,BASELINE,785,761,738.413159693,723,688,652,919,801,838.586840307,657.413159693,636,657,0.400933739207,-0.0154550368413,0.0499327125585,0.999999976906,2.8728728399e-05,-0.000210909186383,-2.96529459711e-05,1793254769084217344
+52,0.866666667,BASELINE,785.164581188,761,738.164581188,723,688,652,919,801,838.835418812,657.164581188,636,657,0.400934704121,-0.0154549253096,0.0499334353386,0.999999977158,3.08920144132e-05,-0.000209453562924,-2.93032016778e-05,1793254769100883712
+53,0.883333333,BASELINE,785.756107202,761,738.756107202,723,688,652,919,801,838.243892798,657.756107202,636,657,0.400935792467,-0.0154559232006,0.0499331599427,0.999999977363,3.00152685204e-05,-0.000208609632153,-2.924000623e-05,1793254769117550336
+54,0.900000000,BASELINE,785.660383097,761,738.660383097,723,688,651.660383097,919,801,838,658,636,657,0.400936625926,-0.015456037003,0.0499333685301,0.999999977524,2.97606798605e-05,-0.000207888814706,-2.91249687501e-05,1793254769134217216
+55,0.916666667,BASELINE,785.082497511,761,738.082497511,723,688,651.082497511,919,801,838,658,636,657,0.400937280561,-0.0154555305458,0.0499339166708,0.999999977655,2.99425847782e-05,-0.000207254371233,-2.89735599009e-05,1793254769150883840
+56,0.933333333,BASELINE,785,761,738.492205515,723,688,651.492205515,919,801,838.492205515,658,636,657,0.400936017265,-0.0154566934751,0.0499336678983,0.999999977501,2.79932109148e-05,-0.000208289631347,-2.87988640414e-05,1793254769167550208
+57,0.950000000,BASELINE,785,761,739,723,688,652,919,801,839,658,636,657,0.400934615608,-0.0154577698315,0.0499332791886,0.999999977297,2.61947672842e-05,-0.000209516963327,-2.86769209813e-05,1793254769184217088
+58,0.966666667,BASELINE,785,761,739,723,688,652,919,801,839,658,636,657,0.400934598858,-0.0154560571766,0.0499328351989,0.999999977112,2.82660980682e-05,-0.000210086506391,-2.89882022717e-05,1793254769200883712
+59,0.983333333,BASELINE,785.243767778,761,738.756232222,723,688,651.756232222,919,801,839,658,636,657,0.400934327944,-0.0154549664527,0.0499324060841,0.999999976933,2.96772177487e-05,-0.000210698357386,-2.93154722165e-05,1793254769217550592
+60,1.000000000,BASELINE,785.822966829,761,738.177033171,723,688,651.177033171,919,801,839,658,636,657,0.400933707292,-0.0154547315229,0.0499319974376,0.999999976766,3.01798687991e-05,-0.000211368425356,-2.96647430413e-05,1793254769234217216
+61,1.016666667,BASELINE,785.601301196,760.601301196,738,723,688,651,919,801,838.601301196,658,636,657,0.400934475855,-0.015454654959,0.0499322810707,0.999999977003,2.90115335359e-05,-0.000210392932091,-2.97995517216e-05,1793254769250883840
+62,1.033333333,BASELINE,785.027095461,760.027095461,738,723,688,651,919,801,838.027095461,658,636,657,0.400935855949,-0.0154546481078,0.0499328694448,0.999999977411,2.71076312474e-05,-0.000208693063888,-2.98399542961e-05,1793254769267550464
+63,1.050000000,BASELINE,785,760.544104217,738,723,687.455895783,651,919,801,838,658,635.455895783,657,0.400936800981,-0.0154547929468,0.0499335389824,0.999999977506,2.86682963882e-05,-0.000208081038973,-2.94534747743e-05,1793254769284216832
+64,1.066666667,BASELINE,785,761,738.120345165,722.879654835,687.120345165,651,919,801,838.120345165,658,635.120345165,657.120345165,0.400937115737,-0.0154548858357,0.0499338918075,0.99999997751,2.99007442279e-05,-0.000207935396989,-2.91314585541e-05,1793254769300883712
+65,1.083333333,BASELINE,785,761,738.717133736,722.282866264,687.717133736,651,919,801,838.717133736,658,635.717133736,657.717133736,0.400935020551,-0.0154547433133,0.0499329748627,0.999999977221,2.91545010725e-05,-0.000209422862939,-2.91483483613e-05,1793254769317550336
+66,1.100000000,BASELINE,785,761,739,722.303286685,688,651.303286685,919,801,838.696713315,658,636,657.696713315,0.400934912888,-0.0154553217118,0.0499330764834,0.999999977303,2.83715340771e-05,-0.000209170716232,-2.89266795578e-05,1793254769334216960
+67,1.116666667,BASELINE,785,761,739,722.879856152,688,651.879856152,919,801,838.120143848,658,636,657.120143848,0.400936596125,-0.0154565497111,0.0499340959038,0.999999977717,2.75554763413e-05,-0.000207351055235,-2.84900525493e-05,1793254769350883584
+68,1.133333333,BASELINE,785,761,738.545171145,723,688,651.545171145,919,801,838.454828855,657.545171145,636,657,0.400936169555,-0.0154562746552,0.0499337525686,0.999999977608,2.65608175066e-05,-0.00020796845493,-2.87667723257e-05,1793254769367550208
+69,1.150000000,BASELINE,785,761,738,723,688,651.030223434,919,801,838.969776566,657.030223434,636,657,0.400935264976,-0.0154555831613,0.0499330835222,0.999999977367,2.57612267253e-05,-0.000209159514195,-2.92305785108e-05,1793254769384216832
+70,1.166666667,BASELINE,785,761,738,723,688,651.621244039,919,801,838.378755961,657.621244039,636,657,0.40093579563,-0.0154545058678,0.0499330268661,0.999999977266,2.94534575808e-05,-0.000209091756365,-2.96816516308e-05,1793254769400883456
+71,1.183333333,BASELINE,785,760.792343533,738,723,688,651.792343533,919,801,838,658,636,657,0.400936231467,-0.0154541633931,0.0499331578622,0.999999977272,3.1176793909e-05,-0.0002088001207,-2.97893307992e-05,1793254769417550080
+72,1.200000000,BASELINE,785,760.214153644,738,723,688,651.214153644,919,801,838,658,636,657,0.400936498117,-0.0154551320979,0.0499336236971,0.999999977485,2.93869186764e-05,-0.000208109006882,-2.928427239e-05,1793254769434216704
+73,1.216666667,BASELINE,785.362180987,760.362180987,738,723,688,651,919,801,838,658,636,657,0.400936666365,-0.0154553214525,0.0499336052065,0.999999977492,3.02028921036e-05,-0.000207995585922,-2.89953219154e-05,1793254769450883328
+74,1.233333333,BASELINE,785.93742418,760.93742418,738,723,688,651,919,801,838,658,636,657,0.400936776724,-0.0154550523345,0.0499333017989,0.999999977376,3.25518226e-05,-0.000208222007567,-2.88335024774e-05,1793254769467549952
+75,1.250000000,BASELINE,785.488373054,761,738,723,688,651.511626946,919,801,838,657.488373054,636,657,0.400935487359,-0.0154536718572,0.0499324153673,0.999999977018,3.22434504557e-05,-0.000209909398033,-2.93684322504e-05,1793254769484216576
+76,1.266666667,BASELINE,785.085852392,760.914147608,738,723,688,652,919,801,838,657.085852392,636,657,0.40093455146,-0.0154525726203,0.0499318229782,0.99999997679,3.14318367561e-05,-0.000211044930659,-2.98555667639e-05,1793254769500883200
+77,1.283333333,BASELINE,785.660930743,760.339069257,738,723,688,652,919,801,838,657.660930743,636,657,0.400936603347,-0.0154538490244,0.0499333116995,0.999999977488,2.96008090958e-05,-0.000208019550465,-2.95857186761e-05,1793254769517550080
+78,1.300000000,BASELINE,786,760.24462691,738,723,688,652,919,801,838,658,636,656.75537309,0.40093703906,-0.0154554122567,0.0499336131743,0.99999997767,2.80468813204e-05,-0.000207405907785,-2.92723521121e-05,1793254769534216960
+79,1.316666667,BASELINE,786,760.84070406,738,723,688,652,919,801,838,658,636,656.15929594,0.400935152852,-0.0154573875688,0.0499322089574,0.999999977117,2.68910571701e-05,-0.000210257156973,-2.88964635092e-05,1793254769550883584
+80,1.333333333,BASELINE,785.579094924,760.579094924,738,723,688,651.579094924,919,801,838,658,635.579094924,656.420905076,0.400935674675,-0.0154563425347,0.0499326903517,0.999999977249,2.93680853656e-05,-0.000209294640528,-2.89022353043e-05,1793254769567550208
+81,1.350000000,BASELINE,785.004683954,760.004683954,738,723,688,651.004683954,919,801,838,658,635.004683954,656.995316046,0.400937074717,-0.0154541959674,0.0499338594363,0.999999977616,3.31700303714e-05,-0.000206941227553,-2.90472002599e-05,1793254769584216832
+82,1.366666667,BASELINE,785,760.585558193,738,723,688,651,919,801,838,658,635.585558193,657,0.400937280397,-0.0154537010189,0.0499336035045,0.999999977512,3.36875124603e-05,-0.000207320528334,-2.93042655102e-05,1793254769600883200
+83,1.383333333,BASELINE,785,761,738,723,687.827586755,651,919,801,838,658,636,657,0.400937346418,-0.0154537916529,0.0499334102846,0.999999977434,3.35013684736e-05,-0.000207715101053,-2.94005855344e-05,1793254769617550080
+84,1.400000000,BASELINE,785,761,738,723,687.249017216,651,919,801,838,658,636,657,0.400937106573,-0.0154552297645,0.049933392395,0.999999977422,3.17212938607e-05,-0.000208092724973,-2.9116064755e-05,1793254769634216960
+85,1.416666667,BASELINE,785,761,738,723,687.327691207,651,919,801,838,658,636,657,0.400937386505,-0.0154561614047,0.0499337970516,0.99999997765,2.94011668319e-05,-0.00020736327386,-2.89181730122e-05,1793254769650883584
+86,1.433333333,BASELINE,785,761,738,723,687.902993295,651,919,801,838,658,636,657,0.400938059191,-0.0154567103437,0.0499345209936,0.999999978054,2.66729641034e-05,-0.000205797291818,-2.87857401435e-05,1793254769667550464
+87,1.450000000,BASELINE,785.478793972,760.521206028,738,723,688,651,918.521206028,801,838,657.521206028,635.521206028,657,0.400937367297,-0.0154556177594,0.0499338845263,0.999999977792,2.81845331509e-05,-0.000206838467975,-2.89651879954e-05,1793254769684216832
+88,1.466666667,BASELINE,786,760.056151491,738,723,688,651,918.056151491,801,838,657.056151491,635.056151491,657,0.400936440659,-0.0154543757804,0.0499330689948,0.999999977421,3.03520790028e-05,-0.000208292435417,-2.91771888423e-05,1793254769700883200
+89,1.483333333,BASELINE,786,760.647380859,738,723,688,651,918.647380859,801,838,657.647380859,635.647380859,657,0.400935914407,-0.0154548827417,0.049933176372,0.999999977344,3.05764015363e-05,-0.000208641149192,-2.90966257172e-05,1793254769717550080
+90,1.500000000,BASELINE,786,761,738,723,688,651.233684312,919,801,838,658,636,657,0.400935496253,-0.0154551845632,0.0499331241638,0.999999977261,3.08392689809e-05,-0.000208997649228,-2.91127784769e-05,1793254769734216704
+91,1.516666667,BASELINE,786,761,738,723,688,651.812708179,919,801,838,658,636,657,0.400935237848,-0.0154551832284,0.0499328361194,0.999999977169,3.11590982196e-05,-0.000209365655801,-2.92718583416e-05,1793254769750883328
+92,1.533333333,BASELINE,785.611934686,761,738,723,688,652,919,801,838,658,636,657,0.400935218092,-0.0154555593442,0.0499328927396,0.999999977247,3.00307108163e-05,-0.000209179570107,-2.91217923953e-05,1793254769767550208
+93,1.550000000,BASELINE,785.03833061,761,738,723,688,652,919,801,838,658,636,657,0.400935312437,-0.0154561159238,0.049933114148,0.999999977403,2.82099133914e-05,-0.000208728566171,-2.8823920078e-05,1793254769784216832
+94,1.566666667,BASELINE,785,761,738,722.461714708,688,652,919,801,838,657.461714708,636,657,0.400936169648,-0.0154554430218,0.0499336389267,0.99999997753,2.85916199252e-05,-0.000208050505934,-2.89437562623e-05,1793254769800883712
+95,1.583333333,BASELINE,785,761,738,722.11814284,688,651.88185716,919,801,838,657.11814284,636,657,0.400936927,-0.015455003329,0.0499339842466,0.999999977619,2.89501362804e-05,-0.000207556684502,-2.90402497763e-05,1793254769817550336
+96,1.600000000,BASELINE,785,761,738,722.710137241,688,651.289862759,919,801,838,657.710137241,636,657,0.400937064726,-0.0154558521237,0.049933522655,0.999999977569,2.85830518193e-05,-0.000207867028147,-2.8923148172e-05,1793254769834216704
+97,1.616666667,BASELINE,785,761,738,723,688,651.294777752,919,801,838,658,636,657,0.400936213111,-0.0154562349268,0.0499326828031,0.999999977348,2.8770667348e-05,-0.000208920340933,-2.8772089052e-05,1793254769850883328
+98,1.633333333,BASELINE,785,761,738,723,688,651.872362962,919,801,838,658,636,657,0.400934412329,-0.0154561706613,0.0499314800514,0.999999976962,2.94904577117e-05,-0.000210686452459,-2.85884513655e-05,1793254769867549952
+99,1.650000000,BASELINE,785,760.55092216,738,723,688,651.55092216,919,801,838,658,636,657,0.400934889049,-0.0154558482766,0.0499317204719,0.99999997716,2.92940651414e-05,-0.000209744657089,-2.87758993229e-05,1793254769884216576
+100,1.666666667,BASELINE,785,760.026054186,738,723,688,651,919,801,838,658,636,657,0.400935988979,-0.0154554484989,0.0499323461519,0.999999977499,2.89517790814e-05,-0.000208134654331,-2.90572471732e-05,1793254769900883200
+101,1.683333333,BASELINE,785,760.613993931,738,723,688,651,919,801,838,658,636,657,0.400936596119,-0.0154549587442,0.0499324515297,0.99999997732,3.10680343219e-05,-0.000208680090258,-2.90934718889e-05,1793254769917550080
+102,1.700000000,BASELINE,785,761,738,723,688,651,919,801,838,657.801058956,636,657,0.400936220834,-0.015454950704,0.0499323060067,0.999999977122,3.14248401689e-05,-0.000209559577334,-2.92210518569e-05,1793254769934217216
+103,1.716666667,BASELINE,785,761,738,723,688,651,919,801,838,657.221832468,636,657,0.400933967596,-0.0154558634843,0.0499316808751,0.999999976884,2.8418373028e-05,-0.0002110776193,-2.95232618109e-05,1793254769950883840
+104,1.733333333,BASELINE,785,761,738,723,688,651.35503396,919,801,838.35503396,657.35503396,636,656.64496604,0.400933733156,-0.0154562849533,0.0499318251595,0.999999976971,2.62223053017e-05,-0.000210960044065,-2.94177736616e-05,1793254769967550464
+105,1.750000000,BASELINE,785,761,738,723,688,651.930435569,919,801,838.930435569,657.930435569,636,656.069564431,0.400934751774,-0.0154564014682,0.0499324470162,0.999999977263,2.45292477949e-05,-0.000209827250272,-2.90592295453e-05,1793254769984216832
+106,1.766666667,BASELINE,785,760.493910224,738,723,688,651.493910224,918.493910224,801,838.493910224,657.493910224,636,656.506089776,0.400935292932,-0.0154559056658,0.0499327576711,0.999999977334,2.89397930811e-05,-0.000208959079537,-2.8810348377e-05,1793254770000883712
+107,1.783333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,657,636,657,0.400937053866,-0.0154553875307,0.0499348168903,0.999999977773,2.83462461202e-05,-0.000206956406267,-2.86312760508e-05,1793254770043438592
+108,1.800000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,657.579320692,636,657,0.400935836558,-0.0154558568397,0.0499331272527,0.999999977464,2.7478312558e-05,-0.0002085000187,-2.90591718648e-05,1793254770060105984
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,760.842640974,738.157359026,723,687.842640974,651,919,801,838,658,636,657.157359026,0.400934909345,-0.0154559557434,0.0499319078574,0.999999977183,2.77329830338e-05,-0.000209770691568,-2.93379468204e-05,1793254770076773120
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,760.268003022,738.731996978,723,687.268003022,651,919,801,838,658,636,657.731996978,0.400934751395,-0.0154550724198,0.0499319354325,0.999999976977,3.09645337638e-05,-0.000210317593588,-2.92212886165e-05,1793254770093440256
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,760.312241631,738.687758369,723,687.312241631,651.312241631,919,801,838.312241631,657.687758369,636,657.687758369,0.400936064595,-0.0154549763174,0.0499327040383,0.999999977132,3.17966761152e-05,-0.000209487838084,-2.89928874846e-05,1793254770110106368
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,760.897386579,738.102613421,723,687.897386579,651.897386579,919,801,838.897386579,657.102613421,636,657.102613421,0.400938663602,-0.0154555682566,0.0499341203146,0.999999977604,3.05317035971e-05,-0.000207454865655,-2.86668215618e-05,1793254770126772224
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,760.521309645,738,723,688,651.521309645,919,801,838.521309645,657,636,657,0.400940752113,-0.0154562562937,0.0499343591476,0.999999977984,3.01684109041e-05,-0.000205657082507,-2.87711551776e-05,1793254770143438592
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,760,738,723,687.941058065,651,919,801.058941935,838,657.058941935,635.941058065,657,0.400944016721,-0.0154568501568,0.0499348223924,0.99999997854,2.99301233482e-05,-0.000202944860064,-2.89238296252e-05,1793254770160105216
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,760,738,723,687.362879684,651,919,801.637120316,838,657.637120316,635.362879684,657,0.400958598232,-0.0154564343885,0.0499394683089,0.999999980783,2.91038787806e-05,-0.000191736486749,-2.86960627748e-05,1793254770176771840
+116,1.933333333,POSE1_TO_POSE2_PRESS,785,760.213510259,738.213510259,723,687.213510259,651.213510259,919,801.786489741,838,658,635.213510259,657,0.400977559983,-0.0154570515094,0.0499446161233,0.999999983268,2.83880298943e-05,-0.000178499813028,-2.81977444199e-05,1793254770193438464
+117,1.950000000,POSE1_TO_POSE2_PRESS,785,760.786885783,738.786885783,723,687.786885783,651.786885783,919,801.213114217,838,658,635.786885783,657,0.401003904499,-0.0154594095346,0.0499506098715,0.999999986144,2.78582497665e-05,-0.000161844499737,-2.72434194809e-05,1793254770210105600
+118,1.966666667,POSE1_TO_POSE2_PRESS,785,761,738.628402653,723,687.628402653,651.628402653,919,801,838,657.628402653,636,657,0.401038607003,-0.0154620978717,0.0499556717228,0.999999989118,2.62820912544e-05,-0.000142705078926,-2.66039346728e-05,1793254770226772224
+119,1.983333333,POSE1_TO_POSE2_PRESS,785,761,738.036985145,723,687.036985145,651.036985145,919,801,838,657.036985145,636,657,0.401078253715,-0.0154649816064,0.0499601823066,0.999999991914,2.40869426262e-05,-0.000122096170993,-2.61506949288e-05,1793254770243439104
+120,2.000000000,POSE1_TO_POSE2_PRESS,785,760.457181113,738,723,687.542818887,651,919,801,838,657,635.457181113,657,0.401132418338,-0.0154658791103,0.0499649738847,0.999999994435,2.50556959047e-05,-9.90445200619e-05,-2.63292366749e-05,1793254770260105472
+121,2.016666667,POSE1_TO_POSE2_PRESS,785,760,738,723,687.878955086,651.121044914,919,801,838.121044914,657.121044914,635.121044914,657,0.401188148847,-0.0154671640768,0.0499684104386,0.999999995981,2.58478004035e-05,-8.16883375606e-05,-2.64013953986e-05,1793254770276772096
+122,2.033333333,POSE1_TO_POSE2_PRESS,785,760,738,723,687.303742888,651.696257112,919,801,838.696257112,657.696257112,635.696257112,657,0.401246120938,-0.0154703999642,0.0499666925368,0.999999995622,2.51852078834e-05,-8.63132649807e-05,-2.59162689388e-05,1793254770293438720
+123,2.050000000,POSE1_TO_POSE2_PRESS,785,760,738,723,687.270572645,651.729427355,919,801,838.729427355,658,636,657,0.401315296194,-0.0154751770621,0.0499665407913,0.999999995615,2.29007778939e-05,-8.72273249684e-05,-2.52310190047e-05,1793254770310105088
+124,2.066666667,POSE1_TO_POSE2_PRESS,785,760,738,723,687.843884882,651.156115118,919,801,838.156115118,658,636,657,0.401397006495,-0.0154816785966,0.0499681413943,0.999999996,1.88016988265e-05,-8.39893519143e-05,-2.43218540076e-05,1793254770326771968
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,760.431769143,738,723,688,651,919,801,838,657.568230857,636,657,0.401498182804,-0.01548662308,0.0499699380827,0.999999996258,1.81744005462e-05,-8.12041685572e-05,-2.36418176812e-05,1793254770343438592
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.024426567,919,801,838,657.024426567,635.975573433,657,0.401607764927,-0.0154911701801,0.0499717941748,0.999999996475,1.8582043058e-05,-7.85716579095e-05,-2.30375026951e-05,1793254770360105472
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.601700893,919,801,838,657.601700893,635.398299107,657,0.401742733146,-0.0154999103942,0.0499733340502,0.999999996814,1.30100513694e-05,-7.55597901622e-05,-2.2206436304e-05,1793254770376772352
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,760.821194082,738,723,688,651.821194082,919,801,838,657.821194082,635.178805918,657,0.401884016372,-0.015508694791,0.0499734910792,0.999999996871,8.29046754129e-06,-7.5780218085e-05,-2.11399348892e-05,1793254770393438976
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,760.244465901,738,723,688,651.244465901,919,801,838,657.244465901,635.755534099,657,0.402039353266,-0.0155175775125,0.049970570663,0.999999996333,5.46786901308e-06,-8.31939340952e-05,-1.95494865126e-05,1793254770410105600
+130,2.166666667,POSE1_TO_POSE2_PRESS,785,760.338863593,738.338863593,723,688,651,919,801,838,657.338863593,636,657,0.402216448582,-0.0155285914097,0.0499687261069,0.999999996073,-8.76805438319e-07,-8.67372898794e-05,-1.81887214373e-05,1793254770426772224
+131,2.183333333,POSE1_TO_POSE2_PRESS,785,760.927050141,738.927050141,723,688,651,919,801,838,657.927050141,636,657,0.402409552933,-0.0155411733461,0.0499676731274,0.999999995985,-9.81288982492e-06,-8.74329824349e-05,-1.6996948442e-05,1793254770443438592
+132,2.200000000,POSE1_TO_POSE2_PRESS,785,761,738.492805483,723,688,651,919,801,838,657.492805483,636,657,0.402637267927,-0.0155511221807,0.049969444896,0.999999996223,-1.42042787217e-05,-8.4369248782e-05,-1.52812152052e-05,1793254770460104960
+133,2.216666667,POSE1_TO_POSE2_PRESS,785,760.91426341,738,723,688,651,919,801,838.08573659,657.08573659,636,657,0.402877610235,-0.0155607360331,0.0499728659252,0.999999996724,-1.73688429538e-05,-7.79359362736e-05,-1.32808697241e-05,1793254770476771584
+134,2.233333333,POSE1_TO_POSE2_PRESS,785,760.338371786,738,723,688,651,919,801,838.661628214,657.661628214,636,657,0.403162127584,-0.0155705661398,0.0499834292921,0.999999998273,-1.71983277266e-05,-5.52818130252e-05,-1.00775134425e-05,1793254770493438208
+135,2.250000000,POSE1_TO_POSE2_PRESS,785,760.237563024,738,723,688,651,919,801,838.762436976,658,636,657,0.403459857764,-0.0155763621108,0.0499926768363,0.99999999927,-1.26723393767e-05,-3.53806625446e-05,-6.95301262738e-06,1793254770510105088
+136,2.266666667,POSE1_TO_POSE2_PRESS,785,760.813559322,738,723,688,651,919,801,838.186440678,658,636,657,0.403776410982,-0.0155764110347,0.0500000498534,0.999999999802,-1.94152588551e-06,-1.94014099182e-05,-3.94084983395e-06,1793254770526772224
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738,723,687.600545737,651,919,801,838,658,636,657,0.404123044713,-0.015572507142,0.0500041982766,0.999999999874,1.28583567846e-05,-9.13221860069e-06,-1.87387329647e-06,1793254770543438848
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738,723,687.009913339,651,919,801,838,658,636,657,0.404484074918,-0.0155667114379,0.0500068034144,0.99999999956,2.96056887762e-05,-1.59585343396e-06,-2.59261390105e-07,1793254770560105216
+139,2.316666667,POSE1_TO_POSE2_PRESS,785,761,738,723,687.568209642,651,919,801,838.568209642,658,636,657,0.404878907721,-0.0155706198901,0.0500086540957,0.999999999944,8.8506947902e-06,5.07964374539e-06,2.71544746182e-06,1793254770576771840
+140,2.333333333,POSE1_TO_POSE2_PRESS,785,761,738,722.854537214,688,651.145462786,919,801,838.854537214,658,636,657,0.4052747569,-0.0155740843647,0.0500046637014,0.999999999978,-4.16803917104e-06,6.21539682734e-08,5.24901664681e-06,1793254770593438464
+141,2.350000000,POSE1_TO_POSE2_PRESS,785,761,738,722.279223554,688,651.720776446,919,801,838.279223554,658,636,657,0.40567190428,-0.0155757473309,0.0499834506518,0.999999999172,7.56613486485e-06,-3.94653572982e-05,6.4103819234e-06,1793254770610105088
+142,2.366666667,POSE1_TO_POSE2_PRESS,785,761,738.296441404,722.296441404,688,651.703558596,919,801,838.296441404,657.703558596,636,657,0.406098750627,-0.0155750695432,0.0499663541604,0.999999997204,2.48668371726e-05,-7.00964293723e-05,7.73168655314e-06,1793254770626771456
+143,2.383333333,POSE1_TO_POSE2_PRESS,785,761,738.872437716,722.872437716,688,651.127562284,919,801,838.872437716,657.127562284,636,657,0.406553604217,-0.0155721843405,0.049953139729,0.99999999457,4.74169772709e-05,-9.23378438426e-05,9.20381988468e-06,1793254770643438336
+144,2.400000000,POSE1_TO_POSE2_PRESS,785,761,738.539399852,722.539399852,688,651.460600148,919,801,839,657.460600148,636,657,0.407060365949,-0.0155708058441,0.0499463756372,0.999999992258,6.91101608658e-05,-0.000102816630212,1.16551415545e-05,1793254770660104960
+145,2.416666667,POSE1_TO_POSE2_PRESS,785,761,738,722,687.949027211,651.949027211,919,801,839,657.949027211,636,657,0.407588711404,-0.0155696088561,0.0499441466972,0.999999990267,9.09580030556e-05,-0.000104797611717,1.44898120372e-05,1793254770676771840
+146,2.433333333,POSE1_TO_POSE2_PRESS,785,761,738,722,687.371571102,651.371571102,919,801,839,657.371571102,636,657,0.408187476815,-0.0155658597274,0.0499698081476,0.999999991561,0.000116921127626,-5.35672542495e-05,1.84070087632e-05,1793254770693438464
+147,2.450000000,POSE1_TO_POSE2_PRESS,785,761,738.203399831,722,687,651,919,801.203399831,839,657.203399831,636,657,0.408793866351,-0.0155596496342,0.0499927144568,0.999999989463,0.000143096033288,-1.06604849458e-05,2.19959377449e-05,1793254770710105344
+148,2.466666667,POSE1_TO_POSE2_PRESS,785,761,738.773885604,722,687,651,919,801.773885604,839,657.773885604,636,657,0.409414015495,-0.0155489981142,0.0500106484222,0.999999985148,0.000169653149875,1.72242812944e-05,2.49924251918e-05,1793254770726771968
+149,2.483333333,POSE1_TO_POSE2_PRESS,785,761,739,722.357207286,687,651,919,801.642792714,839,658,636,657,0.410025700234,-0.0155414531053,0.0500120407771,0.999999982464,0.000184839013316,1.41063943023e-05,2.65963509512e-05,1793254770743438336
+150,2.500000000,POSE1_TO_POSE2_PRESS,785,761,739,722.948957007,687,651,919,801.051042993,839,658,636,657,0.410631827218,-0.015535947833,0.0500025719037,0.999999981044,0.000192558506744,-9.36784729465e-06,2.7285920081e-05,1793254770760105216
+151,2.516666667,POSE1_TO_POSE2_PRESS,785,761,738.470395368,723,687,651.529604632,919,801,839,658,636,657,0.41127943577,-0.0155364634985,0.0499709368193,0.999999980563,0.000180387065768,-7.6351789872e-05,2.24647486979e-05,1793254770776771840
+152,2.533333333,POSE1_TO_POSE2_PRESS,785,761,738,722.891489007,687,652,919,801,839,658,636,656.891489007,0.411952359343,-0.0155386025538,0.0499475611702,0.999999977797,0.000169719188363,-0.000123499124381,1.87030622723e-05,1793254770793438720
+153,2.550000000,POSE1_TO_POSE2_PRESS,785,761,738,722.315568846,687,652,919,801,839,658,636,656.315568846,0.41271745915,-0.0155452860462,0.0499687763147,0.999999982414,0.000173616112786,-6.75083185637e-05,2.17459146388e-05,1793254770810105600
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,761,738.25996993,722,687.25996993,652,919,801,839,658,636,656.25996993,0.4134832121,-0.0155503031569,0.0499856767346,0.999999983635,0.00017646077155,-3.14655508822e-05,2.45116412138e-05,1793254770826772224
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,761,738.835046509,722,687.835046509,652,919,801,839,658,636,656.835046509,0.41424975682,-0.0155533004658,0.0499973473281,0.999999983598,0.000178029991871,-1.96015702423e-05,2.69414671784e-05,1793254770843438592
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,761,739,722,688,652,919,801,839,657.578606841,636,657,0.414996165527,-0.0155526084809,0.0499770925853,0.999999982211,0.0001784798251,-5.53924655102e-05,2.56019194981e-05,1793254770860105216
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,760.987891985,738.987891985,722,687.987891985,652,919,801,839,657.012108015,636,657,0.415736206242,-0.0155505455543,0.0499446964433,0.999999977877,0.000178431450106,-0.000109029435524,2.28325976094e-05,1793254770876772096
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,760.404939008,738.404939008,722,687.404939008,652,919,801,839,657.595060992,636,657,0.41655784994,-0.015553805882,0.0499452611986,0.999999979161,0.000176120778562,-0.000100389153658,2.41313189301e-05,1793254770893438720
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,760.174164099,738.174164099,722,687,652,919,801,839,658,636,657,0.417404816491,-0.0155573214455,0.0499549181644,0.999999981402,0.000174372049585,-7.81602775444e-05,2.61202125257e-05,1793254770910105088
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,760.744509643,738.744509643,722,687,652,919,801,839,658,636,657,0.418309386394,-0.0155614176092,0.0499852577226,0.999999984126,0.00017390160467,-2.50206173593e-05,2.9679081969e-05,1793254770926771712
+161,2.683333333,POSE1_TO_POSE2_PRESS,785.318710728,761,739,721.681289272,687,652,919,801,839,658,636,657,0.419173670961,-0.0155628190554,0.0499879985988,0.999999983948,0.000174396926836,-2.71910706756e-05,3.08252546417e-05,1793254770943438592
+162,2.700000000,POSE1_TO_POSE2_PRESS,785.896040379,761,739,721.103959621,687,652,919,801,839,658,636,657,0.420005265809,-0.0155620338635,0.0499683444275,0.999999981363,0.000175675924052,-7.42431094076e-05,3.00136360024e-05,1793254770960105728
+163,2.716666667,POSE1_TO_POSE2_PRESS,785.516779527,761,739,721,687,652,919,801,839.483220473,658,636,657,0.420918199159,-0.0155621682632,0.0499795270077,0.999999982734,0.000179685909291,-3.6107530174e-05,3.06852223351e-05,1793254770976772096
+164,2.733333333,POSE1_TO_POSE2_PRESS,785.071315674,761,739,721.071315674,687,652,919,801,839.928684326,657.928684326,636.071315674,657,0.421851216099,-0.0155626857437,0.0499965606579,0.99999998246,0.000183930241418,1.54420015169e-05,3.18019652144e-05,1793254770993438720
+165,2.750000000,POSE1_TO_POSE2_PRESS,785.650521186,761,739,721.650521186,687,652,919,801,839.349478814,657.349478814,636.650521186,657,0.422800045294,-0.0155644931359,0.0500070339651,0.999999981783,0.000185572145318,2.92848084657e-05,3.37691906123e-05,1793254771010105088
+166,2.766666667,POSE1_TO_POSE2_PRESS,786,761,738.772685317,721.772685317,687,652,919,801,839.227314683,657.227314683,636.772685317,657,0.423733133,-0.0155669600924,0.0500071855536,0.999999982101,0.00018391419331,2.79561460684e-05,3.45360509807e-05,1793254771026771968
+167,2.783333333,POSE1_TO_POSE2_PRESS,786,761,738.199561085,721.199561085,687,652,919,801,839.800438915,657.800438915,636.199561085,657,0.424642273617,-0.0155704304319,0.0499916349074,0.999999983727,0.000177236232832,3.54741502976e-06,3.34768189155e-05,1793254771043438592
+168,2.800000000,POSE1_TO_POSE2_PRESS,785.615643338,761,738.384356662,721,687,652,919,801,840,658,636.384356662,657,0.425573472533,-0.0155739917565,0.0500008178315,0.999999984502,0.000172282521704,1.11962885148e-05,3.44828426982e-05,1793254771060104960
+169,2.816666667,POSE1_TO_POSE2_PRESS,785.025959624,761,738.974040376,721,687,652,919,801,840,658,636.974040376,657,0.426516455152,-0.0155776016862,0.0500232136695,0.99999998453,0.000168249921631,3.59706463109e-05,3.65921462125e-05,1793254771076771840
+170,2.833333333,POSE1_TO_POSE2_PRESS,785.554808631,761,738.445191369,721,687,652,919,801,839.445191369,658,636.445191369,657,0.427417882694,-0.0155724250852,0.0500028235537,0.999999983473,0.000176774198702,-2.12959215479e-05,3.6750175311e-05,1793254771093438464
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.865790895,761.134209105,738,720.865790895,687,652,919,801,839.134209105,658,636,657,0.428338059676,-0.0155673496859,0.049982606053,0.999999979835,0.000185576562367,-6.75551436929e-05,3.64397149009e-05,1793254771110105344
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.28954321,761.71045679,738,720.28954321,687,652,919,801,839.71045679,658,636,657,0.429326293626,-0.0155639402947,0.0499694465875,0.999999978572,0.000193390302209,-6.51165140591e-05,3.48821685711e-05,1793254771126772224
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.291325007,761.708674993,738.291325007,720,687,652,919,801,840,657.708674993,636,657,0.430284091367,-0.0155627653142,0.0499630444316,0.999999978207,0.000195893498966,-6.35335269561e-05,3.42791544027e-05,1793254771143438848
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.87685947,761.12314053,738.87685947,720,687,652,919,801,840,657.12314053,636,657,0.431211151488,-0.0155638468677,0.0499634664909,0.999999978796,0.00019303357177,-6.28146543666e-05,3.4640123443e-05,1793254771160105216
+175,2.916666667,POSE1_TO_POSE2_PRESS,786,761.4569829,738.5430171,720,687,652,919,801,840,657,636.4569829,657,0.432139320035,-0.0155641384254,0.0499521829245,0.999999978251,0.000190601718819,-7.75538612512e-05,3.39648381167e-05,1793254771176771840
+176,2.933333333,POSE1_TO_POSE2_PRESS,786,762,738.035687453,720,687,652,919,801,840,657.035687453,636.964312547,657,0.433070669609,-0.0155644187428,0.0499404300492,0.999999977378,0.000188584983499,-9.25971027078e-05,3.32623295405e-05,1793254771193438208
+177,2.950000000,POSE1_TO_POSE2_PRESS,786,762,738.61472844,720,687,652,919,801,840,657.61472844,636.38527156,657,0.434045955999,-0.0155677310977,0.0499689942858,0.99999997984,0.000191152856687,-4.95918951139e-05,3.63470115555e-05,1793254771210104832
+178,2.966666667,POSE1_TO_POSE2_PRESS,786,761.807900049,738.807900049,720,687,652,919,801,840,657.807900049,636.192099951,657.192099951,0.434997040851,-0.0155685458307,0.0499849716514,0.999999979627,0.000195437656978,-3.28223912253e-05,3.83677075089e-05,1793254771226771456
+179,2.983333333,POSE1_TO_POSE2_PRESS,786,761.233847851,738.233847851,720,687,652,919,801,840,657.233847851,636.766152149,657.766152149,0.435900005971,-0.0155643945437,0.0499759225521,0.999999976309,0.000203136223541,-6.82173176886e-05,3.82728810842e-05,1793254771243438336
+180,3.000000000,POSE1_TO_POSE2_PRESS,786.348637454,761.348637454,738.348637454,719.651362546,687,652,919,801,840,657.348637454,637,657.651362546,0.436798253765,-0.0155617221634,0.0499670287538,0.999999975039,0.000203324499272,-8.48034168192e-05,3.72690507683e-05,1793254771260105216
+181,3.016666667,POSE1_TO_POSE2_PRESS,786.936919427,761.936919427,738.936919427,719.063080573,687,652,919,801,840,657.936919427,637,657.063080573,0.437693258935,-0.015560066346,0.049958241706,0.999999975781,0.000198350391757,-8.84608043322e-05,3.56403943248e-05,1793254771276772096
+182,3.033333333,POSE1_TO_POSE2_PRESS,787,762,738.480607489,719.519392511,687,652,919,801,840.519392511,658,637,657.519392511,0.438611922828,-0.0155619535497,0.0499738469425,0.999999978558,0.000196478740314,-5.38890370582e-05,3.71070514981e-05,1793254771293438464
+183,3.050000000,POSE1_TO_POSE2_PRESS,787,761.899796911,738,719.899796911,687,652,919,801,841,657.899796911,637,657.899796911,0.439520314493,-0.0155631261073,0.0499862484365,0.999999979534,0.000196849152419,-2.63750014662e-05,3.85483074632e-05,1793254771310104832
+184,3.066666667,POSE1_TO_POSE2_PRESS,787,761.323569787,738,719.323569787,687,652,919,801,841,657.323569787,637,657.323569787,0.440366407739,-0.0155588820916,0.0499695124739,0.999999976566,0.000206100492433,-5.4202214164e-05,3.81027647856e-05,1793254771326771456
+185,3.083333333,POSE1_TO_POSE2_PRESS,787,761.25037644,738.25037644,719,687,652,919,801,840.74962356,657.25037644,637,657,0.441225222957,-0.0155573012277,0.0499673823005,0.999999975435,0.000211020603443,-5.57536219225e-05,3.86178043347e-05,1793254771343438336
+186,3.100000000,POSE1_TO_POSE2_PRESS,787,761.821401553,738.821401553,719,687,652,919,801,840.178598447,657.821401553,637,657,0.442100330712,-0.0155591309729,0.0499839572709,0.999999976773,0.000210393854664,-2.36544891905e-05,4.03630292255e-05,1793254771360105216
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+248,4.133333333,POSE1_TO_POSE2_PRESS,786.801663214,762,739,717,686,649.801663214,918,798,841,657.198336786,633,657.801663214,0.457330548103,-0.0156110435095,0.049616974913,0.99999982081,0.000104283538384,-0.000589328039194,1.40384196645e-05,1793254772393438720
+249,4.150000000,HOLD_POSE2,787,762,739,717,686,650,918,798,841,657,632,658,0.457329462192,-0.0156118470521,0.0496160298017,0.999999819372,0.000104016851985,-0.000591804993237,1.42342127278e-05,1793254772427409920
+250,4.166666667,HOLD_POSE2,787,762,739,717,686,650,918,798,841,657.57727294,632.57727294,657.42272706,0.457327740756,-0.0156118699278,0.0496141128889,0.999999818427,0.000103488138379,-0.000593497315532,1.40350219211e-05,1793254772444076544
+251,4.183333333,HOLD_POSE2,787,761.845292343,739,717.154707657,686,650,918,798,841,657.845292343,633,657,0.457326783928,-0.0156119045281,0.0496128084992,0.999999817769,0.00010265318481,-0.000594754563272,1.38007907732e-05,1793254772460743168
+252,4.200000000,HOLD_POSE2,787,761.267414992,739,717.732585008,686,650,918,798,841,657.267414992,633,657,0.457327918525,-0.0156119711986,0.0496131795347,0.999999817904,0.000100980577232,-0.000594821758036,1.34707142248e-05,1793254772477409024
+253,4.216666667,HOLD_POSE2,787,761.314926166,739,717.685073834,686,650,918,797.685073834,841,657.314926166,633,657,0.45732875402,-0.0156116566217,0.0496137105872,0.99999981822,0.00010072565001,-0.000594336700542,1.3329706224e-05,1793254772494075648
+254,4.233333333,HOLD_POSE2,787,761.901112165,739,717.098887835,686,650,918,797.098887835,841,657.901112165,633,657,0.457329331886,-0.0156110136596,0.0496143794696,0.999999818693,0.000101691833669,-0.000593375963752,1.33515513434e-05,1793254772510742272
+255,4.250000000,HOLD_POSE2,787,761.518929024,739,717,686,650,918,797.481070976,840.518929024,657.518929024,632.518929024,657,0.457329013576,-0.0156110918636,0.0496142169781,0.999999818533,0.000101631377456,-0.0005936512652,1.35622726802e-05,1793254772527408896
+256,4.266666667,HOLD_POSE2,787,761.059662257,739,717.059662257,686,650,918,798,840.059662257,657.059662257,632.059662257,657.059662257,0.457328730473,-0.0156115258851,0.0496140768468,0.999999818416,0.000101116330505,-0.000593928759193,1.38357448718e-05,1793254772544076032
+257,4.283333333,HOLD_POSE2,787,761.637351952,739,717.637351952,686,650,918,798,840.637351952,657.637351952,632.637351952,657.637351952,0.457330332097,-0.0156137786715,0.0496155957266,0.99999981979,9.84631438959e-05,-0.000592047414685,1.43212654985e-05,1793254772560742912
+258,4.300000000,HOLD_POSE2,787,762,739,717.785606132,686,649.785606132,918,798,841,658,633,658,0.457330377834,-0.0156140035988,0.0496157457198,0.999999819727,9.79588124015e-05,-0.000592239372362,1.42491891798e-05,1793254772577409280
+259,4.316666667,HOLD_POSE2,787,762,739,717.209656695,686,649.209656695,918,798,841,658,633,658,0.45732779971,-0.0156108087278,0.0496135872112,0.999999817239,0.000101078327989,-0.000595927763961,1.32367767696e-05,1793254772594075904
+260,4.333333333,HOLD_POSE2,787,762,739,717,686,649.374279455,918,798,841,658,632.625720545,657.625720545,0.457327715415,-0.0156093696914,0.0496131081876,0.999999816578,0.000103059688228,-0.000596702542072,1.30284921144e-05,1793254772610742528
+261,4.350000000,HOLD_POSE2,787,762,739,717,686,649.962787053,918,798,841,658,632.037212947,657.037212947,0.457329058524,-0.0156089356503,0.0496135904587,0.999999816969,0.000104389597275,-0.000595809641481,1.32804698589e-05,1793254772627408896
+262,4.366666667,HOLD_POSE2,787,762,739,717.541562156,686,650,918,798,841,657.458437844,632.541562156,657,0.457329029469,-0.0156111915486,0.049614254187,0.999999817751,0.000101708846699,-0.000594945077194,1.39392478026e-05,1793254772644075520
+263,4.383333333,HOLD_POSE2,787,762,739,717.880333539,686,650,918,797.880333539,841,657.119666461,632.880333539,657.119666461,0.457329239978,-0.0156127349408,0.0496145830746,0.999999818406,9.9886059023e-05,-0.000594144136136,1.42914087288e-05,1793254772660742144
+264,4.400000000,HOLD_POSE2,787,762,739,717.302282098,686,650,918,797.302282098,841,657.697717902,632.302282098,657.697717902,0.457330722934,-0.0156108535419,0.0496135824289,0.999999818501,0.000102386728607,-0.000593579578254,1.33638827806e-05,1793254772677408768
+265,4.416666667,HOLD_POSE2,787,762,739,717,686,650,918,797.273090193,841,657.726909807,632,658,0.457331330849,-0.0156101220718,0.0496133909977,0.999999818474,0.000102976752947,-0.000593528594204,1.30659288257e-05,1793254772694075904
+266,4.433333333,HOLD_POSE2,787,762,739,717,686,650,918,797.845525724,841,657.154474276,632,658,0.457330979595,-0.015610651086,0.0496140865797,0.999999818319,0.000101472440673,-0.00059404055949,1.34580745586e-05,1793254772710743040
+267,4.450000000,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,650,918,797,841,658,632,658,0.457332862017,-0.0156084332415,0.0496157409696,0.999999819753,0.000102635983494,-0.000591445764441,1.23539427636e-05,1793254772743420416
+268,4.466666667,POSE2_TO_POSE3_RETREAT,787,762,739,717,685.42020363,650,918,797,841,658,632.57979637,657.42020363,0.457332276192,-0.0156098237597,0.0496151927435,0.999999819657,0.000101607024597,-0.000591770901951,1.29911099114e-05,1793254772760085760
+269,4.483333333,POSE2_TO_POSE3_RETREAT,787,762,739,717,685.157731975,649.842268025,918,797.157731975,841,658,632.842268025,657.157731975,0.457331910744,-0.0156103929685,0.0496146305585,0.999999819409,0.000100783814746,-0.00059232404163,1.32603486187e-05,1793254772776751360
+270,4.500000000,POSE2_TO_POSE3_RETREAT,787,762,739,717,685.730768361,649.269231639,918,797.730768361,841,658,632.269231639,657.730768361,0.457332125542,-0.0156087996901,0.0496140316198,0.999999818763,0.00010050233685,-0.000593477505481,1.25608409327e-05,1793254772793417984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,787,761.688068306,739,717,686,649.311931694,918,797.688068306,840.688068306,658,632,658,0.457331561896,-0.0156084616388,0.0496136056558,0.999999818265,0.000100819813525,-0.000594263577044,1.25201915579e-05,1793254772810084608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,787,761.09970291,739,717,686,649.90029709,918,797.09970291,840.09970291,658,632,658,0.457330308393,-0.0156092359691,0.0496133329818,0.999999817898,0.000101668083443,-0.000594724065686,1.3063422111e-05,1793254772826750976
+273,4.550000000,POSE2_TO_POSE3_RETREAT,787,761.482239543,739,717,686,649.517760457,918,797.482239543,840.482239543,658,632,658,0.457330995039,-0.0156094044509,0.0496144563052,0.999999818847,0.000101491377939,-0.000593147363226,1.34998954236e-05,1793254772843417856
+274,4.566666667,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,918,797.937745665,840.937745665,658,632,657.937745665,0.45733176065,-0.0156092296448,0.0496155870332,0.999999819832,0.000101352809057,-0.000591500542962,1.38131199779e-05,1793254772860084992
+275,4.583333333,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,918,797.3628134,840.3628134,658,632,657.3628134,0.457329916617,-0.0156072457655,0.049614433116,0.999999818935,0.000103250518262,-0.000592699277292,1.32907431688e-05,1793254772876751616
+276,4.600000000,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649.212210638,918.212210638,797,840.212210638,658,632,657,0.457323164558,-0.0156060907434,0.0496106806827,0.999999816061,0.000104010888072,-0.000597414266497,1.25208877107e-05,1793254772893418240
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649.78739159,918.78739159,797,840.78739159,658,632,657,0.457308017687,-0.0156063534191,0.0496024836834,0.99999980973,0.000102825924303,-0.000608143544664,1.13277387153e-05,1793254772910084608
+278,4.633333333,POSE2_TO_POSE3_RETREAT,787,761.625716874,739,717,686,649.625716874,918.625716874,797.374283126,841,658,632,657.374283126,0.457276365936,-0.0156055065979,0.0495886148424,0.999999796275,0.000102105299682,-0.000630016836744,1.01218029154e-05,1793254772926751232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,787,761.031958329,739,717,686,649.031958329,918.031958329,797.968041671,841,658,632,657.968041671,0.457235035907,-0.0156040091802,0.0495714200965,0.999999778032,0.000101656958148,-0.000658424854022,8.90836895708e-06,1793254772943417600
+280,4.666666667,POSE2_TO_POSE3_RETREAT,787,761,739,717,686,649.546264292,918.546264292,798,841,658,632,658,0.457174142181,-0.0155988587303,0.049551476628,0.999999760975,0.000103296177906,-0.000683622342388,6.29683353364e-06,1793254772960084480
+281,4.683333333,POSE2_TO_POSE3_RETREAT,787,761.118203267,739,717,686,649.881796733,918.881796733,798,841,658,632,658,0.45710911155,-0.0155935793552,0.0495329564557,0.999999744385,0.000105262395999,-0.00070720282919,3.81692549521e-06,1793254772976751360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,787,761.670319956,739,717,686,649.329680044,918.329680044,798,841,658,632,658,0.457032980022,-0.0155885895381,0.0495202350614,0.999999730978,0.000107993067614,-0.000725517887096,2.11216286484e-06,1793254772993418240
+283,4.716666667,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,918,798,841,658,632.245047323,657.754952677,0.456949345085,-0.0155835553726,0.0495097094445,0.999999719592,0.000110185715686,-0.000740725098317,8.93895842263e-07,1793254773010085120
+284,4.733333333,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,918,798,841,658,632.853286618,657.146713382,0.456854589124,-0.0155784554773,0.0495024382556,0.999999711529,0.000111580942832,-0.000751326076086,3.96678623571e-07,1793254773026751744
+285,4.750000000,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649.44344097,918,798,841,658,633,657,0.456750092335,-0.0155719667862,0.0495040476968,0.999999712985,0.00011459309167,-0.000748931856982,-2.47549032234e-07,1793254773043418112
+286,4.766666667,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,650,918,798,841,658,633,657,0.456641278046,-0.0155650900161,0.0495085442925,0.999999717437,0.000118002394301,-0.000742428655419,-9.00192965796e-07,1793254773060084480
+287,4.783333333,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,650,918,798,841,658,633,657,0.456508059585,-0.01555928058,0.0495143222856,0.999999721793,0.000119076328214,-0.000736365760594,-7.8701250467e-07,1793254773076750848
+288,4.800000000,POSE2_TO_POSE3_RETREAT,787,761.819391364,739,717,686,650,918,798,841,658,633,657.180608636,0.456362628237,-0.0155517371975,0.0495176930668,0.999999722823,0.000121923724224,-0.000734497396988,-1.12181824465e-06,1793254773093417472
+289,4.816666667,POSE2_TO_POSE3_RETREAT,787,761.242896225,739,717,686,650,918,798,841,658,633,657.757103775,0.456190426776,-0.0155403930782,0.0495157873405,0.99999971657,0.000128658474105,-0.000741823269434,-2.43859082961e-06,1793254773110084352
+290,4.833333333,POSE2_TO_POSE3_RETREAT,787,761.340496016,739,717.340496016,686,650,918,798,840.659503984,658,633,657.659503984,0.455998965693,-0.0155287535488,0.0495137679453,0.999999712198,0.00013476104564,-0.000746612623912,-3.55409300968e-06,1793254773126750720
+291,4.850000000,POSE2_TO_POSE3_RETREAT,787,761.928910158,739,717.928910158,686,650,918,798,840.071089842,658,633,657.071089842,0.455793481493,-0.0155168989276,0.0495116657866,0.999999709217,0.000140403323296,-0.000749555118257,-4.52304858495e-06,1793254773143417344
+292,4.866666667,POSE2_TO_POSE3_RETREAT,787,762,739,717.49077854,686,650,918.50922146,797.49077854,840,658,633,657,0.455562534003,-0.0155066848247,0.0495099823263,0.99999970812,0.000142235348539,-0.000750662672847,-5.91339053356e-06,1793254773160084224
+293,4.883333333,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,650,919,797.087753824,840,658,633,657,0.455322835715,-0.0154969696105,0.0495090180479,0.999999707946,0.000143157328029,-0.000750705547019,-7.39446241149e-06,1793254773176751104
+294,4.900000000,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,650,919,797.662592726,840,658,633,657,0.455053987469,-0.0154887722081,0.0495117262863,0.99999971145,0.000141934299772,-0.000746238426397,-9.05772569885e-06,1793254773193417728
+295,4.916666667,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,650,918.758996591,798,840,657.758996591,633,657.241003409,0.454774784847,-0.015482275511,0.0495151317892,0.999999717519,0.000137847456918,-0.000738809981008,-1.09296164682e-05,1793254773210084608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,650,918.175510185,798,840,657.175510185,633,657.824489815,0.454480867935,-0.0154781956376,0.0495195281547,0.999999727114,0.000129690929777,-0.000727173282564,-1.30979816352e-05,1793254773226751232
+297,4.950000000,POSE2_TO_POSE3_RETREAT,787,762,739,717.406444132,686,650,918,798.406444132,840,657.406444132,633.406444132,658,0.45415212513,-0.0154816006424,0.0495306758809,0.999999741098,0.000115636636728,-0.00071011818905,-1.28292278611e-05,1793254773243417856
+298,4.966666667,POSE2_TO_POSE3_RETREAT,787,762,739,717.987739333,686,650,918,798.987739333,840,657.987739333,633.987739333,658,0.453808400336,-0.0154882256198,0.0495447280227,0.999999756473,9.90451422802e-05,-0.000690732117853,-1.15120326212e-05,1793254773260084224
+299,4.983333333,POSE2_TO_POSE3_RETREAT,787,762,739,718,686,650,918,799,840,658,634,658,0.453442251843,-0.0154841881535,0.0495711828642,0.999999783435,8.95903705873e-05,-0.000651884581341,-1.22686154502e-05,1793254773276751104
+300,5.000000000,POSE2_TO_POSE3_RETREAT,787,762,739,717.855047301,686,650,918,798.855047301,840,658,634,657.855047301,0.45306132298,-0.0154786214006,0.0495956136309,0.999999805907,8.21491148108e-05,-0.000617469115079,-1.30469108068e-05,1793254773293417728
+301,5.016666667,POSE2_TO_POSE3_RETREAT,787,762,739,717.282252226,686,650,918,798.282252226,840,658,634,657.282252226,0.45263819451,-0.0154692189001,0.0496132813659,0.999999818262,8.01970842054e-05,-0.000597373037035,-1.37574078152e-05,1793254773310084352
+302,5.033333333,POSE2_TO_POSE3_RETREAT,787,761.7090329,739,717,686,650,918,798,840,658,634,657.2909671,0.452189488333,-0.0154617048567,0.0496258635871,0.999999825544,7.47114320556e-05,-0.000585748678167,-1.51290533806e-05,1793254773326750976
+303,5.050000000,POSE2_TO_POSE3_RETREAT,787,761.135401362,739,717,686,650,918,798,840,658,634,657.864598638,0.451715934251,-0.0154560253828,0.0496335054102,0.99999982812,6.5792989022e-05,-0.000582354298164,-1.71429819066e-05,1793254773343417344
+304,5.066666667,POSE2_TO_POSE3_RETREAT,787,761.45597189,739,717.45597189,686,650,918.45597189,798.45597189,840,658,634,657.54402811,0.451181189939,-0.0154514625178,0.0496256999649,0.999999823664,5.21625954262e-05,-0.000591210830222,-2.05276819865e-05,1793254773360084224
+305,5.083333333,POSE2_TO_POSE3_RETREAT,787,762,739,718,686,650,918.949088929,799,840.050911071,657.949088929,634.050911071,657,0.450630389384,-0.0154473240699,0.0496158546903,0.999999819821,3.71806591257e-05,-0.000598657672331,-2.41796951351e-05,1793254773376750592
+306,5.100000000,POSE2_TO_POSE3_RETREAT,787,762,739,718,686,650,918.373878737,799,840.626121263,657.373878737,634.626121263,657,0.450108937623,-0.0154440034604,0.0496341543574,0.999999846699,2.3273071293e-05,-0.000552605790507,-2.62229203761e-05,1793254773393417728
+307,5.116666667,POSE2_TO_POSE3_RETREAT,787,762,738.798455363,718,686.201544637,650.201544637,918,799,841,657.201544637,635,657.201544637,0.449571771672,-0.0154410763888,0.0496581857733,0.999999872505,9.48494975683e-06,-0.000504120819275,-2.76217258983e-05,1793254773410084608
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.279569694,651,918.720430306,801,838.720430306,658,635.279569694,657,0.40504364683,-0.0153655220584,0.0497578283037,0.999999911768,-7.91825519633e-05,-0.000406788729598,-6.86858311524e-05,1793254774360084992
+365,6.083333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.86693667,651,918.13306333,801,838.13306333,658,635.86693667,657,0.404655530023,-0.0153686479413,0.0497709513939,0.999999919473,-7.9476215784e-05,-0.000387669761326,-6.67118471855e-05,1793254774376751104
+366,6.100000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.44807393,688,651.44807393,918.44807393,801,838,658,635.55192607,657,0.404317910048,-0.0153722657669,0.0497952262404,0.999999933344,-7.86601394221e-05,-0.000350739512578,-6.40742418019e-05,1793254774393417472
+367,6.116666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.97264881,919,801,838,658,635,657,0.403996003104,-0.0153760659233,0.0498223457683,0.999999947256,-7.75958854384e-05,-0.000309380128044,-6.12497004373e-05,1793254774410084352
+368,6.133333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.394083744,919,801,838,658,635,657,0.403692692495,-0.0153806368009,0.0498409684393,0.999999954938,-7.80806056853e-05,-0.000283895447621,-5.85750093366e-05,1793254774426750976
+369,6.150000000,POSE2_TO_POSE3_RETREAT,785.181468628,761,738.181468628,722.818531372,688,651,918.818531372,800.818531372,838,658,635,657,0.403395208317,-0.0153836663427,0.0498517216167,0.999999958337,-7.97147781816e-05,-0.000271526961762,-5.6954049215e-05,1793254774443417600
+370,6.166666667,POSE2_TO_POSE3_RETREAT,785.750585297,761,738.750585297,722.249414703,688,651,918.249414703,800.249414703,838,658,635,657,0.403110170429,-0.0153834033267,0.049845664207,0.999999953595,-8.38043773756e-05,-0.000287176915278,-5.75840391638e-05,1793254774460084480
+371,6.183333333,POSE2_TO_POSE3_RETREAT,785.665811837,761,738.665811837,722.334188163,688,651,918.334188163,800.334188163,838,658,635,657,0.402834931496,-0.0153824469359,0.0498351515151,0.999999947095,-8.55677611783e-05,-0.000308259059531,-5.88531643173e-05,1793254774476751104
+372,6.200000000,POSE2_TO_POSE3_RETREAT,785.070907535,761,738.070907535,722.929092465,688,651,918.929092465,800.929092465,838,658,635,657,0.402567337165,-0.0153809496102,0.0498211630442,0.999999938869,-8.55163537163e-05,-0.000333579116649,-6.06209094e-05,1793254774493417728
+373,6.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,657.489708816,635.510291184,657,0.4023472271,-0.0153830014197,0.0498137867787,0.999999935246,-8.70722311042e-05,-0.000343838310589,-6.08388198103e-05,1793254774510084096
+374,6.233333333,POSE2_TO_POSE3_RETREAT,785.088853966,760.911146034,738,723,688,651,919,801,838,657.088853966,635.911146034,657,0.402140088749,-0.0153852189025,0.0498081620326,0.999999932809,-8.74532854421e-05,-0.000350812007363,-6.05414938321e-05,1793254774526750976
+375,6.250000000,POSE2_TO_POSE3_RETREAT,785.663148515,760.336851485,738,723,688,651,919,801,838,657.663148515,635.336851485,657,0.40196871406,-0.015385717628,0.0498072180231,0.999999933476,-8.02275953844e-05,-0.000350970432553,-5.8575048526e-05,1793254774543417600
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,786,760.830766937,738,723,688,651,918.169233063,801,838,658,635,657,0.40168407825,-0.0153859996912,0.0498138199931,0.999999939263,-7.45196269358e-05,-0.000335821327436,-5.60874405074e-05,1793254774576750848
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,785.007642038,761,738,723,688,651,918,801,838,658,635,657,0.401466089998,-0.0153872769797,0.0498258296293,0.99999994734,-8.08435791841e-05,-0.000309327841258,-5.56783307373e-05,1793254774610084352
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.302502708,688,651,918.302502708,800.302502708,838,658,635,657,0.401179334625,-0.0154008783562,0.049836078392,0.999999951187,-9.94301078217e-05,-0.000291179892801,-5.43431836788e-05,1793254774676750848
+384,6.400000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.892596859,688,651,918.892596859,800.892596859,838,658,635,657,0.401130658757,-0.0154009204972,0.0498345809459,0.999999951113,-9.79027519132e-05,-0.000291887497747,-5.46831545295e-05,1793254774693417472
+385,6.416666667,POSE2_TO_POSE3_RETREAT,785,760.52584005,738,723,688,651,919,800.52584005,838,658,635,657,0.401093058358,-0.0154011085186,0.0498346943093,0.999999951254,-0.000100044530347,-0.000290620569051,-5.49762612259e-05,1793254774710084352
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,785,760.626911854,738,723,688,651,919,800,838,658,635,657,0.401036570562,-0.0154008296609,0.0498365236984,0.999999951896,-0.00010162606136,-0.000287898999902,-5.47119508428e-05,1793254774743417344
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.795426289,919,800.795426289,838,658,635,657,0.401011467435,-0.0154013138049,0.0498418469718,0.999999954861,-0.000100200946415,-0.000278074577437,-5.39638079793e-05,1793254774776750848
+390,6.500000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.621842811,919,800.621842811,837.621842811,658,635.378157189,657,0.401003130241,-0.0154019792034,0.0498427795539,0.999999955607,-9.94933930447e-05,-0.000275693241884,-5.36685076941e-05,1793254774793417472
+391,6.516666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.042641948,919,800.042641948,837.042641948,658,635.957358052,657,0.400994478931,-0.0154026953811,0.0498424395291,0.999999955714,-9.87127189725e-05,-0.000275640761237,-5.33888444287e-05,1793254774810084096
+392,6.533333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.465785663,800.534214337,837.534214337,658,635.465785663,657,0.400992636877,-0.0154034867418,0.0498440061267,0.999999956778,-9.92258800545e-05,-0.000271620459583,-5.31163246889e-05,1793254774826751488
+393,6.550000000,POSE2_TO_POSE3_RETREAT,785,760.890048009,738.109951991,723,688,651,918.109951991,801,838,658,635,657,0.400991346392,-0.0154040036002,0.0498456356384,0.99999995776,-9.95928925344e-05,-0.000267880290623,-5.29284234458e-05,1793254774843418880
+394,6.566666667,POSE2_TO_POSE3_RETREAT,785,760.318226777,738.681773223,723,688,651,918.681773223,801,838,658,635,657,0.400990099666,-0.0154033422732,0.049846892927,0.99999995815,-9.8914055379e-05,-0.000266641469559,-5.3093589733e-05,1793254774860085248
+395,6.583333333,POSE2_TO_POSE3_RETREAT,785,760.263008344,738.736991656,723,688,651,918.736991656,801,838,657.736991656,635,657,0.400989499357,-0.0154035132221,0.0498478183846,0.999999958508,-9.90944770107e-05,-0.000265233389162,-5.30629911245e-05,1793254774876751616
+396,6.600000000,POSE2_TO_POSE3_RETREAT,785,760.856056704,738.143943296,723,688,651,918.143943296,801,838,657.143943296,635,657,0.400989710214,-0.0154047285651,0.0498483274393,0.999999958826,-0.000100353152499,-0.000263612910949,-5.27867339838e-05,1793254774893418496
+397,6.616666667,POSE2_TO_POSE3_RETREAT,785,761,738.438812315,723,688,651,918.438812315,801,838,657.438812315,635,657,0.400989479784,-0.0154070083133,0.0498484868359,0.999999958718,-0.000102492677824,-0.000263284096336,-5.23598730904e-05,1793254774910085376
+398,6.633333333,POSE2_TO_POSE3_RETREAT,785,761,739,723,688,651,919,801,838,658,635,657,0.400989096629,-0.0154095156437,0.0498485487826,0.999999958496,-0.000104729156027,-0.000263336910641,-5.18928353003e-05,1793254774926751744
+399,6.650000000,POSE2_TO_POSE3_RETREAT,785,761,739,723,688,651,919,801,838,658,635,657,0.40098836673,-0.015408534263,0.0498490598174,0.999999959111,-0.000101271434945,-0.000262395563993,-5.1674408299e-05,1793254774943418368
+400,6.666666667,POSE2_TO_POSE3_RETREAT,785,761,738.828254602,723,688,651,919,801,838,658,635,657,0.400987665365,-0.0154074821393,0.0498492862842,0.999999959462,-9.89564186949e-05,-0.000261942682461,-5.16752379349e-05,1793254774960084992
+401,6.683333333,POSE2_TO_POSE3_RETREAT,785,761,738.241153975,723,688,651,919,801,838,658,635,657,0.400987033005,-0.0154062589279,0.0498488245417,0.999999959199,-9.94049609784e-05,-0.000262671122535,-5.22063256956e-05,1793254774976751360
+402,6.700000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,657.659493095,635,657,0.400987852648,-0.0154058043132,0.0498495486397,0.999999959607,-9.92508238985e-05,-0.000261194718861,-5.20860263408e-05,1793254774993418240
+403,6.716666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,657.081624199,635,657,0.400989684459,-0.0154058854753,0.0498510993685,0.999999960476,-9.86765685254e-05,-0.000258181353373,-5.15116552848e-05,1793254775010085888
+404,6.733333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.497527241,919,801,838.497527241,657.497527241,635.497527241,657,0.400986754494,-0.0154064772777,0.0498496089916,0.999999959697,-9.81580466488e-05,-0.000261384122407,-5.14797022609e-05,1793254775026752768
+405,6.750000000,POSE2_TO_POSE3_RETREAT,785,761,738.076176598,723,688,651.923823402,919,801,838.923823402,658,635.923823402,657,0.400983726696,-0.0154070583927,0.0498480659564,0.999999958866,-9.77906857305e-05,-0.000264669248464,-5.15324392217e-05,1793254775043419136
+406,6.766666667,POSE2_TO_POSE3_RETREAT,785,761,738.650165987,723,688,651.349834013,919,801,838.349834013,658,635.349834013,657,0.400985177989,-0.0154070207788,0.0498494476826,0.999999959562,-9.83512515148e-05,-0.000261810859551,-5.1555579358e-05,1793254775060085760
+407,6.783333333,POSE2_TO_POSE3_RETREAT,785,761,739,723,688,651,919,801,838,657.775264254,635.224735746,657,0.400986091666,-0.0154070328172,0.0498503281895,0.999999960032,-9.78665948981e-05,-0.00026019757498,-5.15257810544e-05,1793254775076752384
+408,6.800000000,POSE2_TO_POSE3_RETREAT,785,761,739,723,688,651,919,801,838,657.199788637,635.800211363,657,0.400986166298,-0.015407122347,0.0498504264555,0.999999960157,-9.57506839911e-05,-0.00026052749546,-5.14133629584e-05,1793254775093419008
+409,6.816666667,POSE2_TO_POSE3_RETREAT,785,761,738.613198454,723,688,651,919,801,838,657,635.613198454,657,0.400986340339,-0.0154074191055,0.0498504887147,0.999999960147,-9.59507796024e-05,-0.000260508248797,-5.13315226615e-05,1793254775110085888
+410,6.833333333,POSE2_TO_POSE3_RETREAT,785,761,738.020697631,723,688,651,919,801,838,657,635.020697631,657,0.400986567245,-0.0154078260673,0.0498505318255,0.999999960065,-9.73825169215e-05,-0.00026030331664,-5.12659435038e-05,1793254775126752512
+411,6.850000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.442047405,801,838,657.557952595,635,657,0.400986919109,-0.0154098274454,0.0498514130294,0.999999960259,-9.96559989122e-05,-0.00025883435742,-5.05492395913e-05,1793254775143419392
+412,6.866666667,POSE2_TO_POSE3_RETREAT,784.865567455,761,738,722.865567455,687.865567455,651,918.134432545,801,838,658,635,657,0.400986976122,-0.0154109241045,0.0498518956257,0.999999960405,-0.000100736584655,-0.000257919568769,-5.01914097472e-05,1793254775160086272
+413,6.883333333,POSE2_TO_POSE3_RETREAT,784.294508078,761,738,722.294508078,687.294508078,651,918.705491922,801,838,658,635,657,0.400986060789,-0.015408894856,0.0498509850437,0.999999960381,-9.78437724915e-05,-0.000258953290707,-5.10757258585e-05,1793254775176753152
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c189613cf766f382e350258694d044d5e955c6e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+2,0.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+3,0.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+4,0.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
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+6,0.100000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+7,0.116666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+8,0.133333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
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+10,0.166666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
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+12,0.200000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
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+375,6.250000000,pose2_to_pose3_retreat,0.576396171461,-0.00981822365853,1.04002060051,0.54696731942,-0.00114398501185,1.0396923085
+376,6.266666667,pose2_to_pose3_retreat,0.576281782257,-0.00981840818977,1.0400208092,0.546852932414,-0.00114416262786,1.03969250279
+377,6.283333333,pose2_to_pose3_retreat,0.576182623868,-0.00981831986232,1.04002059444,0.546753773484,-0.00114407585937,1.03969229538
+378,6.300000000,pose2_to_pose3_retreat,0.57609658593,-0.00981828792882,1.04002066942,0.54666773436,-0.00114404810832,1.03969236624
+379,6.316666667,pose2_to_pose3_retreat,0.576021863235,-0.00981824493574,1.0400206425,0.546593010787,-0.00114400809821,1.03969233946
+380,6.333333333,pose2_to_pose3_retreat,0.575956472099,-0.00981820214658,1.04002064115,0.546527618875,-0.00114396786604,1.03969234035
+381,6.350000000,pose2_to_pose3_retreat,0.575899219285,-0.00981817562782,1.04002079128,0.546470365314,-0.00114394387084,1.03969249077
+382,6.366666667,pose2_to_pose3_retreat,0.575850555921,-0.00981812572561,1.04002061214,0.546421703713,-0.00114388801553,1.03969231076
+383,6.383333333,pose2_to_pose3_retreat,0.575808462383,-0.00981825205799,1.0400206665,0.54637961162,-0.00114400945284,1.03969236498
+384,6.400000000,pose2_to_pose3_retreat,0.575773017862,-0.00981834121595,1.04002055911,0.546344166751,-0.00114409967003,1.03969226069
+385,6.416666667,pose2_to_pose3_retreat,0.575744411076,-0.00981834540508,1.04002055072,0.54631555937,-0.00114410597857,1.03969224966
+386,6.433333333,pose2_to_pose3_retreat,0.575721877072,-0.00981830106285,1.0400206761,0.5462930254,-0.00114406177045,1.03969236851
+387,6.450000000,pose2_to_pose3_retreat,0.575705140996,-0.00981827234945,1.04002045372,0.5462762887,-0.00114403488785,1.03969215377
+388,6.466666667,pose2_to_pose3_retreat,0.575692746802,-0.00981820404598,1.04002061387,0.546263894262,-0.00114396715588,1.03969232076
+389,6.483333333,pose2_to_pose3_retreat,0.575683970969,-0.00981819545312,1.04002046745,0.546255118128,-0.00114395956702,1.03969217489
+390,6.500000000,pose2_to_pose3_retreat,0.57567812724,-0.00981823744417,1.04002032382,0.546249274535,-0.00114400112015,1.0396920306
+391,6.516666667,pose2_to_pose3_retreat,0.575674613321,-0.00981834604884,1.04002038268,0.546245761705,-0.00114410597728,1.03969209073
+392,6.533333333,pose2_to_pose3_retreat,0.575671976415,-0.00981834448025,1.04002044874,0.546243124767,-0.00114410454434,1.03969215599
+393,6.550000000,pose2_to_pose3_retreat,0.575670354826,-0.00981825406709,1.04002051296,0.546241502245,-0.00114401738893,1.03969221781
+394,6.566666667,pose2_to_pose3_retreat,0.575669787519,-0.00981822243637,1.04002053542,0.546240934612,-0.00114398689791,1.03969223943
+395,6.583333333,pose2_to_pose3_retreat,0.575669411938,-0.00981820149548,1.04002055029,0.546240558814,-0.00114396671157,1.03969225375
+396,6.600000000,pose2_to_pose3_retreat,0.57566915518,-0.00981819350625,1.04002051251,0.546240301976,-0.00114395893253,1.03969221757
+397,6.616666667,pose2_to_pose3_retreat,0.57566896096,-0.00981818961708,1.04002046759,0.546240107719,-0.0011439550983,1.03969217455
+398,6.633333333,pose2_to_pose3_retreat,0.575668755415,-0.00981818550111,1.04002042006,0.546239902134,-0.00114395104048,1.03969212902
+399,6.650000000,pose2_to_pose3_retreat,0.575668455365,-0.00981817949273,1.04002035067,0.546239602027,-0.00114394511698,1.03969206256
+400,6.666666667,pose2_to_pose3_retreat,0.575668273003,-0.009818175841,1.0400203085,0.54623941963,-0.00114394151684,1.03969202217
+401,6.683333333,pose2_to_pose3_retreat,0.575668207122,-0.00981817452176,1.04002029327,0.546239353737,-0.00114394021622,1.03969200757
+402,6.700000000,pose2_to_pose3_retreat,0.57566802643,-0.00981817090347,1.04002025148,0.54623917301,-0.00114393664905,1.03969196755
+403,6.716666667,pose2_to_pose3_retreat,0.575667585002,-0.00981816206404,1.04002014941,0.546238731497,-0.00114392793449,1.03969186977
+404,6.733333333,pose2_to_pose3_retreat,0.575667416308,-0.00981817131311,1.04002015345,0.546238562953,-0.00114393666791,1.03969187397
+405,6.750000000,pose2_to_pose3_retreat,0.575667320298,-0.00981820203224,1.04002024254,0.546238467397,-0.00114396595785,1.03969196015
+406,6.766666667,pose2_to_pose3_retreat,0.575667128486,-0.00981826340416,1.04002042053,0.546238276492,-0.00114402447449,1.03969213233
+407,6.783333333,pose2_to_pose3_retreat,0.575667105906,-0.00981827062881,1.04002044148,0.546238254019,-0.00114403136302,1.03969215259
+408,6.800000000,pose2_to_pose3_retreat,0.575666970944,-0.00981827918063,1.0400205421,0.546238119244,-0.00114403946731,1.03969224822
+409,6.816666667,pose2_to_pose3_retreat,0.575666911134,-0.00981823722261,1.04002055416,0.546238058923,-0.00114399937376,1.0396922569
+410,6.833333333,pose2_to_pose3_retreat,0.575666887505,-0.00981821997315,1.04002055892,0.546238035092,-0.00114398286088,1.03969226032
+411,6.850000000,pose2_to_pose3_retreat,0.575666887505,-0.00981821961192,1.04002055892,0.546238035092,-0.00114398249964,1.03969226032
+412,6.866666667,pose2_to_pose3_retreat,0.575666887505,-0.00981821865484,1.04002055892,0.546238035092,-0.00114398154253,1.03969226032
+413,6.883333333,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980854,1.03969226032
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5c88f9a8ba4a0805c10903891c5bd3b56de64d5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42bc45cdf744e6c55506dd96fd136d05a5e1736348893879244f8fdbd83d95df
+size 26304678
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f250b11d02a0013f55d8ed02eed6743d585557a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,786,761,738,723,687,651,919,801,838,658,635,657,0.400986478747,-0.0154116731396,0.0498523020068,0.999999960557,-0.000100639259962,-0.000257293643349,-5.05816378228e-05,1793254775328366336
+1,0.016666667,BASELINE,785.422454104,760.422454104,738,723,687,651,918.422454104,801,838,658,635,657,0.400988128208,-0.0154105659488,0.0498530131879,0.999999960946,-9.98377245657e-05,-0.0002560967449,-5.05488938501e-05,1793254775345032704
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+3,0.050000000,BASELINE,785,760.727006814,738,723,687.727006814,651,918,801,838,658,635,657,0.400990277033,-0.0154085737005,0.049853918581,0.999999962101,-9.44090400252e-05,-0.000253596925752,-5.07319286678e-05,1793254775378365440
+4,0.066666667,BASELINE,785.301882308,761,738,723,688,651.301882308,918.301882308,801,838,658,635,657,0.400990406156,-0.0154089314467,0.0498539992257,0.99999996223,-9.4356520365e-05,-0.000253108372134,-5.07334874028e-05,1793254775395032064
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+12,0.200000000,BASELINE,785,760.961602486,738.961602486,722.038397514,688,651,919,801,838,657.038397514,635.038397514,657.961602486,0.400986966234,-0.0154126930434,0.0498525664958,0.999999961465,-9.6681725285e-05,-0.000255386628381,-4.99947819945e-05,1793254775528365312
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+21,0.350000000,BASELINE,785,761,738,722.821905279,688,651,919,801,838,658,635,657,0.400988194834,-0.0154120527188,0.0498541913395,0.999999961638,-9.98903959728e-05,-0.000253364465556,-5.05151627009e-05,1793254775678365440
+22,0.366666667,BASELINE,785,761,738,722.245821007,688,651,919,801,838,658,635,657,0.400989282436,-0.0154111092599,0.0498554251463,0.99999996232,-9.69301841716e-05,-0.000251890550394,-5.01610763581e-05,1793254775695031552
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+27,0.450000000,BASELINE,785,760,738,722.343192858,688,651,919,801,838,658,635,657,0.400989272275,-0.0154113262267,0.0498553228137,0.99999996238,-9.69595387553e-05,-0.000251667157186,-5.0019990036e-05,1793254775778364160
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+30,0.500000000,BASELINE,785,761,738,722.399123132,688,651,918.600876868,801,838,658,635,657,0.400987030229,-0.0154110930656,0.0498538493868,0.999999961826,-9.58128880488e-05,-0.000254273021916,-5.01270082737e-05,1793254775828364544
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+37,0.616666667,BASELINE,785.472414741,761,738,722.472414741,688,651,919,801,838,658,635,657,0.40098820788,-0.0154101654721,0.049855133823,0.999999962535,-9.59915136026e-05,-0.000251392871151,-5.01788557796e-05,1793254775945030912
+38,0.633333333,BASELINE,785.948769201,761,738,722.948769201,688,651,919,801,838,658,635,657,0.400986057041,-0.0154112167188,0.0498535051288,0.999999961781,-9.7352811426e-05,-0.000253843798939,-5.02355994068e-05,1793254775961697536
+39,0.650000000,BASELINE,785.373482628,761,738,722.373482628,688,651,919,801,838,658,635,657,0.400985445857,-0.0154115192359,0.049853358197,0.999999961434,-9.9024442103e-05,-0.000254544711584,-5.03385178068e-05,1793254775978363904
+40,0.666666667,BASELINE,785,760.798812699,738,722.201187301,688,651.201187301,919,801,838,657.798812699,635.201187301,657,0.400985747647,-0.015411592653,0.0498535420034,0.999999961452,-9.92951970516e-05,-0.000254357312048,-5.03901120317e-05,1793254775995030528
+41,0.683333333,BASELINE,785,760.22528404,738,722.77471596,688,651.77471596,919,801,838,657.22528404,635.77471596,657,0.400987739097,-0.0154112420702,0.0498543379135,0.999999962146,-9.69733231862e-05,-0.000252525895357,-5.0346719573e-05,1793254776011696896
+42,0.700000000,BASELINE,785,760.358829965,738.358829965,723,688,651.641170035,919,801,838,657.358829965,635.641170035,657,0.400988196853,-0.0154106388033,0.0498545850239,0.999999962438,-9.52010799593e-05,-0.000252031327765,-5.04081346985e-05,1793254776028363776
+43,0.716666667,BASELINE,785,760.949791746,738.949791746,723,688,651.050208254,919,801,838,657.949791746,635.050208254,657,0.400987662441,-0.0154098720717,0.0498544771086,0.999999962472,-9.37844000993e-05,-0.000252401585482,-5.05373512281e-05,1793254776045030656
+44,0.733333333,BASELINE,785,761,738.46968214,723,688,651,919,801,838,658,635,657,0.400987176229,-0.0154106536432,0.0498539019728,0.999999962232,-9.44158892498e-05,-0.000253147063233,-5.03815492928e-05,1793254776061698048
+45,0.750000000,BASELINE,785,761,738,723,688,651.108812928,919,801,838,658,635,657,0.40098706186,-0.0154113135096,0.0498536570562,0.999999962099,-9.51631022619e-05,-0.000253414696663,-5.02723840048e-05,1793254776078365184
+46,0.766666667,BASELINE,785,761,738,723,688,651.682767646,919,801,838,658,635,657,0.400988517879,-0.0154108386031,0.0498550091648,0.999999962533,-9.55920815652e-05,-0.000251490767738,-5.04756997928e-05,1793254776095031552
+47,0.783333333,BASELINE,785,761,738,723,688,651.736007215,919,801,838,657.736007215,635.263992785,657,0.400989199302,-0.0154106603253,0.0498555837696,0.999999962672,-9.63777739869e-05,-0.000250641614166,-5.04683741741e-05,1793254776111697920
+48,0.800000000,BASELINE,785,761,738,723,688,651.145797923,919,801,838,657.145797923,635.854202077,657,0.400988923557,-0.0154108485923,0.0498551976111,0.999999962446,-9.76042577079e-05,-0.000251120562774,-5.02007584992e-05,1793254776128364544
+49,0.816666667,BASELINE,785,761,738,723,688,651,919,801,838,657,635.564601104,657,0.400988177988,-0.0154111747685,0.0498548141571,0.999999962266,-9.79492041336e-05,-0.000251725213111,-5.00818932861e-05,1793254776145030912
+50,0.833333333,BASELINE,785,760.986417491,738,723,688,651,919,801,838,657.013582509,635,657,0.400987316595,-0.0154115505781,0.0498544543731,0.999999962115,-9.79789168829e-05,-0.000252327999152,-5.00064602843e-05,1793254776161697792
+51,0.850000000,BASELINE,785,760.410570736,738,723,688,651,919,801,838,657.589429264,635,657,0.400988041129,-0.0154121080978,0.0498550377079,0.999999962529,-9.69311709798e-05,-0.000251146476829,-4.97087992896e-05,1793254776178364416
+52,0.866666667,BASELINE,785,760,738,723,688,651.165603291,919,801,838,658,635.165603291,657,0.400988785874,-0.0154116968454,0.0498556369834,0.99999996294,-9.53685625763e-05,-0.000250124756192,-4.96152970201e-05,1793254776195031040
+53,0.883333333,BASELINE,785,760,738,723,688,651.742590275,919,801,838,658,635.742590275,657,0.400989580823,-0.0154088790159,0.0498562758576,0.999999963343,-9.25269576936e-05,-0.000249500007251,-5.00289560069e-05,1793254776211697920
+54,0.900000000,BASELINE,785,760.32561322,738,723,688,651.67438678,919,801,838,658,636,657,0.400989092616,-0.0154092029569,0.049856217272,0.999999963179,-9.29878105292e-05,-0.000249998495323,-4.99632816257e-05,1793254776228364800
+55,0.916666667,BASELINE,785,760.913497918,738,723,688,651.086502082,919,801,838,658,636,657,0.400987570865,-0.015412057498,0.0498555969039,0.999999962554,-9.61086920737e-05,-0.000251401716442,-4.95115188733e-05,1793254776245031936
+56,0.933333333,BASELINE,785,761,738,723,688,651.494878499,919,801,838,657.505121501,635.505121501,657,0.40098743476,-0.0154116240572,0.0498550233619,0.999999962325,-9.67654317468e-05,-0.000252005972695,-4.98000127487e-05,1793254776261698560
+57,0.950000000,BASELINE,785,761,738.074163683,723,688,651.925836317,919,801,838,657.074163683,635.074163683,657,0.400987624496,-0.0154108091335,0.0498546527019,0.999999962222,-9.70444412864e-05,-0.000252234163737,-5.0154954467e-05,1793254776278365184
+58,0.966666667,BASELINE,785,761,738.646905671,723,688,651.353094329,919,801,838,657.646905671,635.646905671,657,0.400988397626,-0.0154112431681,0.049855591641,0.999999962513,-9.76421127711e-05,-0.000250860864688,-5.00980214069e-05,1793254776295031808
+59,0.983333333,BASELINE,785,760.774023479,739,723,688,651.225976521,919,801,838,658,635.774023479,657,0.400988419833,-0.0154112828979,0.0498558436632,0.999999962609,-9.75096900558e-05,-0.000250535806366,-5.00612961975e-05,1793254776311698688
+60,1.000000000,BASELINE,785,760.184778581,739,723,688,651.815221419,919,801,838,658,635.184778581,657,0.400987234897,-0.0154106887636,0.0498549914331,0.999999962394,-9.62036050878e-05,-0.000251895846372,-5.00570560929e-05,1793254776328365312
+61,1.016666667,BASELINE,785,760,738.602022614,723,688,651.602022614,919,801,838,658,635,657,0.400987534091,-0.0154108778995,0.0498552389081,0.999999962613,-9.55062914317e-05,-0.000251314283814,-4.99295819153e-05,1793254776345031680
+62,1.033333333,BASELINE,785,760,738.02223112,723,688,651.02223112,919,801,838,658,635,657,0.400988511304,-0.0154114248687,0.0498559887784,0.99999996303,-9.50870921824e-05,-0.000249845709121,-4.97458088273e-05,1793254776361698304
+63,1.050000000,BASELINE,785,760.554918068,738,722.445081932,688,651,919,801,838.554918068,658,635,657,0.400989514397,-0.0154102076003,0.0498558515973,0.999999963162,-9.41483467932e-05,-0.000249616513573,-5.00326038709e-05,1793254776378365696
+64,1.066666667,BASELINE,785,761,738,722.131214768,688,651,919,801,838.868785232,658,635,657,0.400990222421,-0.0154095256563,0.0498557696882,0.999999963276,-9.32666343858e-05,-0.00024945400073,-5.02150460942e-05,1793254776395032576
+65,1.083333333,BASELINE,785,761,738,722.7049915,688,651,919,801,838.2950085,658,635,657,0.400989931755,-0.0154108865144,0.0498559934924,0.999999963371,-9.264715228e-05,-0.000249349722824,-4.99822440234e-05,1793254776411698688
+66,1.100000000,BASELINE,785,761,738.286855986,723,688,651,919,801,838,658,635,657,0.400989661271,-0.0154109349027,0.0498560158877,0.999999963365,-9.22022853985e-05,-0.000249544044167,-4.99705608421e-05,1793254776428365568
+67,1.116666667,BASELINE,785,761,738.877279359,723,688,651,919,801,838,658,635,657,0.400989412145,-0.0154095943603,0.0498558251408,0.99999996325,-9.19422063597e-05,-0.000250054360293,-5.01928783134e-05,1793254776445032960
+68,1.133333333,BASELINE,785.458097609,761,738.541902391,723,688,651,919,801,838,658,635.458097609,657,0.400989759086,-0.0154102268293,0.0498563219038,0.999999963224,-9.39584745493e-05,-0.000249470996636,-4.98860725619e-05,1793254776461698816
+69,1.150000000,BASELINE,785.963673894,761,738,723,688,651.036326106,918.963673894,801,838,658,636,657,0.400990270398,-0.015411284232,0.0498569657768,0.999999963235,-9.63202283697e-05,-0.000248604936929,-4.9483416178e-05,1793254776478364672
+70,1.166666667,BASELINE,785.386480281,761,738,723,688,651.613519719,918.386480281,801,838,658,636,657,0.400990900363,-0.0154109604286,0.0498571140479,0.999999963555,-9.49327878568e-05,-0.000247802527759,-4.97207906416e-05,1793254776495031040
+71,1.183333333,BASELINE,785,761,738.189338047,723,688,651.810661953,918.189338047,801,838,658,635.810661953,657,0.400990538865,-0.0154105165274,0.0498567675187,0.999999963573,-9.37671300863e-05,-0.000248134646986,-4.99142399307e-05,1793254776511697920
+72,1.200000000,BASELINE,785,761,738.762369467,723,688,651.237630533,918.762369467,801,838,658,635.237630533,657,0.400988168171,-0.0154098292476,0.0498554182771,0.999999962978,-9.30509145822e-05,-0.000250765886798,-5.0018674938e-05,1793254776528364800
+73,1.216666667,BASELINE,785,761,739,723,687.654121736,651,919,801,838,658,635,657,0.400987952287,-0.0154106867634,0.0498556616217,0.999999962834,-9.4354908525e-05,-0.000250893869412,-4.98117477039e-05,1793254776545031680
+74,1.233333333,BASELINE,785,761,739,723,687.063189786,651,919,801,838,658,635,657,0.40098926308,-0.0154126387621,0.0498570333088,0.999999963005,-9.70902146939e-05,-0.00024924830184,-4.9384221272e-05,1793254776561698560
+75,1.250000000,BASELINE,785,761,738.481334942,723,687.518665058,651,919,801,838,658,635,657,0.400989923689,-0.0154128705352,0.0498567087104,0.999999963047,-9.7077105762e-05,-0.000249123501921,-4.91936162563e-05,1793254776578364672
+76,1.266666667,BASELINE,785,761,738,723,688,651.097630711,919,801,838,658,635,657,0.400990341925,-0.0154125565402,0.0498562718495,0.999999963071,-9.65793421989e-05,-0.000249225187256,-4.91649134707e-05,1793254776595031040
+77,1.283333333,BASELINE,785,761,738,723,688,651.66787162,919,801,838,658,635,657,0.400989963743,-0.0154105976679,0.0498562747459,0.999999963082,-9.53284955832e-05,-0.000249541777105,-4.97826222265e-05,1793254776611697664
+78,1.300000000,BASELINE,785,761,738,723,688,651.75246297,919,801,838,657.75246297,635,657,0.400989655279,-0.0154104521616,0.0498564840282,0.999999963099,-9.51437275483e-05,-0.000249519504592,-4.98875082819e-05,1793254776628364288
+79,1.316666667,BASELINE,785,761,738,723,688,651.159651958,919,801,838,657.159651958,635,657,0.400989444062,-0.015412836007,0.0498569811852,0.999999963128,-9.6445966211e-05,-0.000249024574058,-4.92770898509e-05,1793254776645030912
+80,1.333333333,BASELINE,785,761,738,722.577273213,688,651,919,801,838,657.422726787,635.422726787,657,0.400988507603,-0.0154127676322,0.0498562329032,0.999999962781,-9.5858247285e-05,-0.000250655514993,-4.9201545752e-05,1793254776661697792
+81,1.350000000,BASELINE,785,761,738,722,688,651,919,801,838,657.998741868,635.998741868,657,0.400987308399,-0.0154117983317,0.0498550296947,0.999999962291,-9.45774053882e-05,-0.000253060852712,-4.93235465072e-05,1793254776678365184
+82,1.366666667,BASELINE,785,761,738,722,688,651,919,801,838,657.421293801,635.421293801,657,0.400988197744,-0.0154121587369,0.0498557099182,0.999999962697,-9.48856464648e-05,-0.000251276541459,-4.96301529386e-05,1793254776695031552
+83,1.383333333,BASELINE,785,760.845149794,738,722.154850206,688,651,919,801,838,657,635,657,0.400988666802,-0.0154121942546,0.0498559598821,0.999999962904,-9.51613351614e-05,-0.000250288363384,-4.99134374719e-05,1793254776711698176
+84,1.400000000,BASELINE,785,760.272523926,738,722.727476074,688,651,919,801,838,657,635,657,0.400988001949,-0.015411353247,0.0498550490343,0.999999962584,-9.53491997487e-05,-0.000251448099818,-5.01338011276e-05,1793254776728364544
+85,1.416666667,BASELINE,785,760.307404078,738,723,688,651,918.692595922,801,838,657.307404078,635,657,0.400988729587,-0.0154111162572,0.0498553913923,0.999999962758,-9.52639845556e-05,-0.00025079388398,-5.01115607007e-05,1793254776745031168
+86,1.433333333,BASELINE,785,760.893963149,738,723,688,651,918.106036851,801,838,657.893963149,635,657,0.400990721752,-0.0154114277787,0.0498568717922,0.999999963376,-9.49307844034e-05,-0.000248492410049,-4.98690104274e-05,1793254776761698048
+87,1.450000000,BASELINE,785,760.521209521,738,722.521209521,688,651,918.478790479,801,837.521209521,657.521209521,635,657,0.400989865846,-0.0154110779376,0.0498566027849,0.999999963226,-9.5403386965e-05,-0.000248895730711,-4.99760448989e-05,1793254776778364672
+88,1.466666667,BASELINE,785,760,738,722,688,651,919,801,837,657.062050453,635,657,0.400988568308,-0.0154106961012,0.0498560020929,0.999999962945,-9.60158493717e-05,-0.000249760504338,-5.0114477312e-05,1793254776795031552
+89,1.483333333,BASELINE,785,760,738,722,688,651,919,801,837,657.635541538,635,657,0.400988810869,-0.0154112534581,0.0498558494291,0.99999996299,-9.63154602897e-05,-0.000249509149374,-4.98758646618e-05,1793254776811698432
+90,1.500000000,BASELINE,785,760.210309067,738,722.210309067,688,651,918.789690933,801,837.210309067,658,635,657,0.400988996727,-0.0154118822232,0.049855814081,0.999999962993,-9.65942981322e-05,-0.000249418259521,-4.97351016605e-05,1793254776828365056
+91,1.516666667,BASELINE,785,760.787302078,738,722.787302078,688,651,918.212697922,801,837.787302078,658,635,657,0.400989083721,-0.015412635492,0.0498559832788,0.999999962921,-9.68369170898e-05,-0.000249607148312,-4.97649442395e-05,1793254776845031680
+92,1.533333333,BASELINE,785,760.626346052,738,723,688,651,918.373653948,801,838,658,635,657,0.400989475755,-0.0154137413065,0.0498563201442,0.999999962739,-9.88681087418e-05,-0.000249584254007,-4.95434913738e-05,1793254776861698304
+93,1.550000000,BASELINE,785,760.034529847,738,723,688,651,918.965470153,801,838,658,635,657,0.400990045891,-0.015415052959,0.0498567549044,0.999999962485,-0.00010194357964,-0.000249437707662,-4.91753167063e-05,1793254776878364672
+94,1.566666667,BASELINE,785,760,738,723,688,651,919,801,838,658,635,657,0.400989371528,-0.0154133178559,0.0498566795001,0.999999963092,-9.79113986138e-05,-0.00024859999429,-4.92744525162e-05,1793254776895031040
+95,1.583333333,BASELINE,785,760.120344546,738.120344546,723,688,651,918.879655454,801,838,658,635,657,0.400988548503,-0.0154118643233,0.0498563174475,0.999999963403,-9.47450496658e-05,-0.000248535667462,-4.94729506726e-05,1793254776911697408
+96,1.600000000,BASELINE,785,760.695135571,738.695135571,723,688,651,918.304864429,801,838,658,635,657,0.400987455279,-0.0154121869299,0.0498549923169,0.999999962456,-9.6511289427e-05,-0.000251553528645,-4.99373223661e-05,1793254776928363520
+97,1.616666667,BASELINE,785,760.723333079,738.723333079,723,688,651.276666921,918.276666921,801,838,658,635,657,0.400986749667,-0.0154131948916,0.0498542430847,0.999999961906,-9.83573294181e-05,-0.000253026885627,-4.99133577023e-05,1793254776945030400
+98,1.633333333,BASELINE,785,760.134189009,738.134189009,723,688,651.865810991,918.865810991,801,838,658,635,657,0.400986481838,-0.0154149769168,0.0498541442921,0.999999961811,-0.000100293498432,-0.000252755826191,-4.93378491101e-05,1793254776961698048
+99,1.650000000,BASELINE,785,760,738,722.552594577,688,651.552594577,918.552594577,801,838,658,635,657,0.400988578039,-0.0154139261427,0.0498558823872,0.999999962619,-9.86397132108e-05,-0.000250164581356,-4.949339509e-05,1793254776978365184
+100,1.666666667,BASELINE,785,760.026589967,738,722.026589967,688,651,918.026589967,801,838,658,635,657,0.400991136183,-0.0154121186857,0.0498579788948,0.999999963606,-9.60072830202e-05,-0.000247156347437,-4.98491619734e-05,1793254776995032064
+101,1.683333333,BASELINE,785,760.601995098,738,722.601995098,688,651,918.601995098,801,838,658,635,657,0.40098883715,-0.0154119387142,0.0498562905039,0.999999963074,-9.50304252055e-05,-0.000249666192031,-4.98869983848e-05,1793254777011698432
+102,1.700000000,BASELINE,785,761,738,723,688,651,919,801,838,657.822233699,635,657,0.40098719044,-0.0154118261277,0.0498551598578,0.999999962661,-9.46377729694e-05,-0.000251457827368,-4.99094880346e-05,1793254777028364800
+103,1.716666667,BASELINE,785,761,738,723,688,651,919,801,838,657.245641273,635,657,0.40098700724,-0.015411864722,0.049855280536,0.999999962529,-9.55558104926e-05,-0.000251638129891,-4.98975465792e-05,1793254777045030912
+104,1.733333333,BASELINE,785,761,738,723,688,651,919,801,838,657.337964595,635,657,0.400987716629,-0.0154127328578,0.0498559509655,0.999999962654,-9.70789891011e-05,-0.000250582843113,-4.97550179286e-05,1793254777061697280
+105,1.750000000,BASELINE,785,761,738,723,688,651,919,801,838,657.926776098,635,657,0.400989088522,-0.0154142167027,0.0498570294359,0.999999962965,-9.90513206825e-05,-0.000248610466928,-4.95155637563e-05,1793254777078363648
+106,1.766666667,BASELINE,785,760.492982187,738,723,688,651,919,801,838.507017813,658,635,657.507017813,0.40098745307,-0.0154129457433,0.0498558362961,0.9999999627,-9.63424752597e-05,-0.000250698886663,-4.96722022655e-05,1793254777095030784
+107,1.783333333,POSE1_TO_POSE2_PRESS,785,760,738,723,688,651,919,802,838,658,635,657,0.400988131056,-0.0154116127721,0.0498567522515,0.999999963135,-9.33238293973e-05,-0.000250080765028,-4.98121136876e-05,1793254777138203648
+108,1.800000000,POSE1_TO_POSE2_PRESS,785,760.588112702,738,723.588112702,688,651,919,801.411887298,838,658,635.588112702,657,0.400987511051,-0.0154137485125,0.049856160113,0.999999962666,-9.62330119141e-05,-0.000250899395845,-4.95748956587e-05,1793254777154870272
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,761,738,723.652966547,688,651,919,801,838,658,635.826483274,657.173516726,0.400987617396,-0.0154148097219,0.0498559421285,0.999999962475,-9.80604498943e-05,-0.000250957706568,-4.95378441355e-05,1793254777171536640
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,761,738,722.494820115,688,651,919,801,838,658,635.247410057,657.752589943,0.40098942142,-0.0154133594564,0.0498565986446,0.999999962952,-9.7359552852e-05,-0.000249238939506,-4.99686369473e-05,1793254777188203264
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,761,738,722,687.668409676,651,919,801,838,658,635,657.668409676,0.400988764211,-0.01541272947,0.0498565673116,0.999999962877,-9.66145934151e-05,-0.000249825638794,-4.99863393434e-05,1793254777204869632
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,761,738,722,687.089463663,651,919,801,838,658,635,657.089463663,0.400986271002,-0.0154127113855,0.0498560228653,0.999999962388,-9.58367648945e-05,-0.00025213214175,-4.96958895827e-05,1793254777221535744
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,761,738,722.484314404,687.484314404,651,918.515685596,801,838,658,635,657,0.400985752831,-0.0154126256109,0.0498553326634,0.999999962167,-9.62776056161e-05,-0.000252818565152,-4.97970197308e-05,1793254777238202624
+114,1.900000000,POSE1_TO_POSE2_PRESS,785.058826676,761,738,723,688,651,918.058826676,801,838.058826676,658,635,657,0.400985804915,-0.0154126836978,0.0498547154542,0.999999962017,-9.69401663439e-05,-0.000253137771901,-4.99049822736e-05,1793254777254869504
+115,1.916666667,POSE1_TO_POSE2_PRESS,785.648487608,761,738,723,688,651,918.648487608,801,838.648487608,658,635,657,0.400987745431,-0.0154141515873,0.049854997301,0.999999962058,-9.75935356055e-05,-0.000252815289943,-4.94287735736e-05,1793254777271536640
+116,1.933333333,POSE1_TO_POSE2_PRESS,785.765761764,761,738,723,688,651,919,801,838.765761764,658,635,657,0.400994839599,-0.0154147663605,0.0498573560544,0.999999963296,-9.68907658072e-05,-0.00024822866352,-4.90132864551e-05,1793254777288203264
+117,1.950000000,POSE1_TO_POSE2_PRESS,785.18578288,761,738,723,688,651,919,801,838.18578288,658,635,657,0.401009540669,-0.0154141219158,0.0498627803663,0.999999966212,-9.41863056788e-05,-0.000237348068659,-4.86874257276e-05,1793254777304869632
+118,1.966666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.40104316915,-0.0154160470191,0.049874296955,0.999999971532,-9.44080148482e-05,-0.000213941604425,-4.74624670251e-05,1793254777321535744
+119,1.983333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.401085718041,-0.0154191831397,0.0498886848088,0.999999977297,-9.60088150968e-05,-0.000184631749102,-4.58137671366e-05,1793254777338201600
+120,2.000000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635.552814168,657,0.401146816261,-0.0154218345348,0.0499045855933,0.99999998236,-9.65512704593e-05,-0.000154942931074,-4.41555814811e-05,1793254777354868224
+121,2.016666667,POSE1_TO_POSE2_PRESS,785,761,738.137127502,722.862872498,688,651.137127502,919,801,837.862872498,657.862872498,636,656.862872498,0.401212863711,-0.0154249699766,0.0499197167369,0.999999986036,-9.7481074079e-05,-0.000128951575934,-4.24016534528e-05,1793254777371534848
+122,2.033333333,POSE1_TO_POSE2_PRESS,785,761,738.716434844,722.283565156,688,651.716434844,919,801,837.283565156,657.283565156,636,656.283565156,0.401291294253,-0.0154297597219,0.0499320744285,0.999999987592,-9.98639571272e-05,-0.000114956072771,-4.03408240741e-05,1793254777388201728
+123,2.050000000,POSE1_TO_POSE2_PRESS,785,761,738.704853433,722.295146567,688,652,919,801,837.295146567,657.295146567,636,656.295146567,0.401379235707,-0.0154354251387,0.0499402618446,0.999999988799,-0.0001011799617,-0.000103358431959,-3.8501517069e-05,1793254777404868864
+124,2.066666667,POSE1_TO_POSE2_PRESS,785,761,738.126712837,722.873287163,688,652,919,801,837.873287163,657.873287163,636,656.873287163,0.40147629646,-0.0154419301711,0.0499444506938,0.999999989748,-0.000101473015945,-9.40599233481e-05,-3.68746114712e-05,1793254777421535488
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.550998877,919,801,838,658,635.550998877,657,0.401588673183,-0.0154483978,0.0499481333702,0.999999990119,-0.000103077971288,-8.8642619934e-05,-3.57781175195e-05,1793254777438202112
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635.02460149,657,0.4017058902,-0.0154549569758,0.0499513961887,0.99999999027,-0.000105100260353,-8.48541450483e-05,-3.48276932302e-05,1793254777454868736
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635.613213577,657,0.401835514747,-0.0154638556452,0.0499482906945,0.999999989205,-0.000108248018086,-9.34318712369e-05,-3.3812768112e-05,1793254777471535104
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,761,738,723,687.801701477,651,919,801,838,658,635.801701477,657,0.4019784685,-0.0154736644533,0.0499453657121,0.99999998811,-0.000112016880411,-0.00010078370846,-3.27906369794e-05,1793254777488201728
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,761,738,723,687.223376143,651,919,801,838,658,635.223376143,657,0.402146966838,-0.0154852174846,0.04994278667,0.999999987059,-0.000116976050782,-0.000105786204595,-3.17546960875e-05,1793254777504868352
+130,2.166666667,POSE1_TO_POSE2_PRESS,784.645350573,761,738,723,687.354649427,651,918.645350573,801,838,657.645350573,635.354649427,657,0.402340223743,-0.0154961281448,0.0499429794201,0.999999986749,-0.000119424219044,-0.000106401208993,-3.02985666635e-05,1793254777521534976
+131,2.183333333,POSE1_TO_POSE2_PRESS,784.067513593,761,738,723,687.932486407,651,918.067513593,801,838,657.067513593,635.932486407,657,0.402549061697,-0.0155066345499,0.049944916511,0.999999986922,-0.000120292166952,-0.000104255082834,-2.8578004595e-05,1793254777538201600
+132,2.200000000,POSE1_TO_POSE2_PRESS,784.505426776,761,738,722.494573224,688,651,918.505426776,801,838,657.505426776,636,657,0.402794142923,-0.0155158295213,0.0499522848695,0.999999988629,-0.000117390549272,-9.09787831127e-05,-2.61758302216e-05,1793254777554868736
+133,2.216666667,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651,919,801,838,657.919644208,636,656.919644208,0.403048691574,-0.0155248815077,0.049960331624,0.99999999034,-0.000113797070322,-7.62575411299e-05,-2.35779295869e-05,1793254777571535360
+134,2.233333333,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651,919,801,838,657.32793768,636,656.32793768,0.403332974782,-0.0155341276646,0.0499681229653,0.999999991952,-0.000108974375372,-6.17114943586e-05,-2.03083397582e-05,1793254777588201984
+135,2.250000000,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651.258411027,919,801,838,657.258411027,636,656.258411027,0.403638273369,-0.0155356518093,0.0499749203521,0.99999999422,-9.43707002412e-05,-4.8543740879e-05,-1.72593525953e-05,1793254777604868608
+136,2.266666667,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651.838098445,919,801,838,657.838098445,636,656.838098445,0.403969699868,-0.0155275753563,0.0499804819779,0.999999996922,-6.76065612829e-05,-3.70895880935e-05,-1.4484635761e-05,1793254777621534976
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738,722,688,652,919,801,838.414913611,658,635.585086389,657,0.404337025406,-0.0155208018034,0.0499871578389,0.99999999886,-4.04446670624e-05,-2.22221762454e-05,-1.22916321747e-05,1793254777638201600
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738,722,688,652,919,801,838.990615699,658,635.009384301,657,0.404718262633,-0.0155145331541,0.0499942654911,0.999999999842,-1.31286342135e-05,-6.0320489936e-06,-1.03240557826e-05,1793254777654868224
+139,2.316666667,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651.423445402,919,801,839,658,635.576554598,657,0.405103507672,-0.0155241265197,0.0499875092619,0.999999999803,-3.12191653837e-06,-1.82590732277e-05,-7.1931744474e-06,1793254777671535104
+140,2.333333333,POSE1_TO_POSE2_PRESS,784.83912315,761,738.16087685,722,688,651,919,801,839,658,636,657,0.40549461812,-0.015531436799,0.0499761756115,0.999999999162,8.64689831489e-06,-3.97262858078e-05,-4.72309041952e-06,1793254777688201984
+141,2.350000000,POSE1_TO_POSE2_PRESS,784.259451041,761,738.740548959,722,688,651,919,801,839,658,636,657,0.405900824477,-0.0155321194979,0.0499535240472,0.999999996131,2.57494819655e-05,-8.40217611123e-05,-4.02337857357e-06,1793254777704869120
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,761,739,722.318730769,687.681269231,651,919,801,839,658,636,657,0.406344969319,-0.0155320386308,0.0499363518681,0.999999992302,4.63998510585e-05,-0.000115048264632,-2.66032849227e-06,1793254777721535744
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,761,739,722.895705164,687.104294836,651,919,801,839,658,636,657,0.406819852911,-0.0155313391038,0.0499236192213,0.999999988399,6.99247263408e-05,-0.000135323920853,-7.59825141665e-07,1793254777738202368
+144,2.400000000,POSE1_TO_POSE2_PRESS,784.472138353,761.472138353,738.527861647,723,687,651.472138353,919,801,839,657.527861647,636,657,0.407371594994,-0.0155316323924,0.0499316414143,0.999999988755,9.61750097169e-05,-0.000115018372834,3.36116894868e-06,1793254777754868992
+145,2.416666667,POSE1_TO_POSE2_PRESS,785,761.950538563,738.049461437,723,687,651.950538563,919,801,839,657.049461437,636,657,0.407942470137,-0.0155322687013,0.0499453421439,0.999999988829,0.000123144916278,-8.43275649695e-05,8.1934038033e-06,1793254777771535104
+146,2.433333333,POSE1_TO_POSE2_PRESS,785,761.362219134,738.637780866,723,687,651.362219134,919,801,839,657.637780866,636,657,0.408537036265,-0.0155342554883,0.0499710166546,0.999999987696,0.000151403368101,-3.80447254144e-05,1.5436579591e-05,1793254777788201984
+147,2.450000000,POSE1_TO_POSE2_PRESS,784.77725902,761,738.77725902,723,687.22274098,651.22274098,919,801,839,658,636,657,0.409143794213,-0.0155370515695,0.0499914650132,0.999999983846,0.000178330531941,-4.34472833054e-06,2.20896952522e-05,1793254777804868352
+148,2.466666667,POSE1_TO_POSE2_PRESS,784.197680659,761,738.197680659,723,687.802319341,651.802319341,919,801,839,658,636,657,0.409770083767,-0.0155411441628,0.0500035409259,0.999999978941,0.000203124933391,9.19719451801e-06,2.77975174334e-05,1793254777821534976
+149,2.483333333,POSE1_TO_POSE2_PRESS,784.378810624,761,738,723,687.621189376,651.621189376,919,801,839,657.621189376,636,657,0.410386183508,-0.0155420501238,0.0499946075789,0.999999973672,0.000226689218027,-1.71607472606e-05,3.11910560936e-05,1793254777838202112
+150,2.500000000,POSE1_TO_POSE2_PRESS,784.953703935,761,738,723,687.046296065,651.046296065,919,801,839,657.046296065,636,657,0.410997008707,-0.015541306597,0.0499747992672,0.999999966229,0.000249616759511,-6.41719450049e-05,3.33866583942e-05,1793254777854868992
+151,2.516666667,POSE1_TO_POSE2_PRESS,785,761,738,722.460053514,687,651.539946486,919,801,839,657,636,657,0.411666977996,-0.0155391768748,0.049954111582,0.999999980261,0.000169278511747,-9.84978251708e-05,3.34782853992e-05,1793254777871535616
+152,2.533333333,POSE1_TO_POSE2_PRESS,785,761,738.12550344,722,687.12550344,652,919,801,839,657,636,657,0.412367445849,-0.0155397364519,0.0499448117493,0.999999989463,8.89693881221e-05,-0.000110421949822,3.10803952305e-05,1793254777888201984
+153,2.550000000,POSE1_TO_POSE2_PRESS,785,761,738.704984727,722,687.704984727,652,919,801,839,657,636,657,0.413159497185,-0.0155504630685,0.0499769832731,0.999999997905,4.1481223783e-05,-4.53320538917e-05,2.03438488022e-05,1793254777904868352
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,761,739,722,688,652,919,801,839,657.28375973,636,657,0.413932700032,-0.0155581584511,0.0499902888243,0.99999999913,3.28436301905e-05,-1.9273348408e-05,1.7037110549e-05,1793254777921534976
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,761,739,722,688,652,919,801,839,657.86180233,636,657,0.414686355498,-0.0155627101888,0.0499840287681,0.999999997123,6.44973625712e-05,-3.36932846782e-05,2.14357112781e-05,1793254777938201600
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,761,738.563640807,722,687.563640807,652,919,801,839,658,636.436359193,657,0.415454163779,-0.0155590489787,0.0499616127705,0.999999992524,9.7676285887e-05,-7.01596005949e-05,2.21018823609e-05,1793254777954868480
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,761,738.010108691,722,687,652,919,801,839.010108691,657.989891309,636.989891309,657,0.416227909415,-0.0155529650624,0.049934902879,0.999999984898,0.000130964554668,-0.000112171919794,2.16632858881e-05,1793254777971535104
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,761,738.600379981,722,687,652,919,801,839.600379981,657.399620019,636.399620019,657,0.417087206494,-0.0155559360519,0.0499530877893,0.999999986649,0.000143025553747,-7.49318061971e-05,2.51244053017e-05,1793254777988201984
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,761,738.813269729,721.813269729,687,652,919,801,839.813269729,657,636,657,0.417950694084,-0.0155587678855,0.0499718165614,0.999999987703,0.000148740805129,-4.10773538221e-05,2.79796364513e-05,1793254778004868864
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+220,3.666666667,POSE1_TO_POSE2_PRESS,786,761.440330568,739,717,686,649.440330568,918,798,841,657.559669432,633,657.559669432,0.457367317378,-0.0156202435418,0.0496221070109,0.999999824188,9.77714185224e-05,-0.000584655592526,1.55640128617e-05,1793254779021536000
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,761.13880086,739,717,686,649.13880086,918.13880086,798,841,658,633,657.86119914,0.457453116027,-0.0156209265264,0.0496194247672,0.999999821869,9.69058748956e-05,-0.000588752699932,1.5528058506e-05,1793254779038202880
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,761.735430606,739,717,686,649.735430606,918.735430606,798,841,658,633,657.264569394,0.457528522851,-0.01562295499,0.0496216281367,0.999999824432,9.45673317093e-05,-0.000584763434707,1.56424149356e-05,1793254779054869248
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,762,738.679589861,717,686,650,918.679589861,798,841,657.679589861,632.679589861,657,0.457595456039,-0.0156245708524,0.0496252500656,0.999999827775,9.36046618051e-05,-0.000579151198415,1.64902591011e-05,1793254779071535872
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,762,738.103892585,717,686,650,918.103892585,798,841,657.103892585,632.103892585,657,0.457655637855,-0.0156258579746,0.0496300022333,0.999999831713,9.37382202272e-05,-0.00057224585766,1.7922510455e-05,1793254779088202240
+225,3.750000000,POSE1_TO_POSE2_PRESS,786,762,738.472269172,717,686,650,918,798,841,657.472269172,632.472269172,657.472269172,0.457696493157,-0.0156241974818,0.0496290645527,0.999999830643,9.439239438e-05,-0.000574027768676,1.72199006663e-05,1793254779104868608
+226,3.766666667,POSE1_TO_POSE2_PRESS,786.049562122,762,739,717,686,649.950437878,918.049562122,798,841,658,632.950437878,657.950437878,0.457731916463,-0.0156220765498,0.0496268495734,0.999999828504,9.5107099904e-05,-0.000577654501697,1.6154708799e-05,1793254779121535232
+227,3.783333333,POSE1_TO_POSE2_PRESS,786.638043476,762,739,717,686,649.361956524,918.638043476,798,841,658,632.361956524,657.361956524,0.457754549726,-0.0156220067388,0.0496243694972,0.99999982682,9.52334400302e-05,-0.000580540388003,1.62586439059e-05,1793254779138201856
+228,3.800000000,POSE1_TO_POSE2_PRESS,787,762,739,717.223007441,686,649.223007441,918.776992559,798,841,658,632,657.223007441,0.457774603534,-0.0156214520829,0.0496223323038,0.99999982537,9.47783860665e-05,-0.000583107449411,1.62178592537e-05,1793254779154868736
+229,3.816666667,POSE1_TO_POSE2_PRESS,787,762,739,717.802351055,686,649.802351055,918.197648945,798,841,658,632,657.802351055,0.457790535716,-0.0156201227092,0.0496210027782,0.999999824303,9.33943418196e-05,-0.000585165070953,1.59458317065e-05,1793254779171536640
+230,3.833333333,POSE1_TO_POSE2_PRESS,787,762,739,717.619793995,686,650,918.380206005,798,841,657.619793995,632,658,0.45780319097,-0.0156205882642,0.0496210659188,0.999999824927,9.12540825615e-05,-0.000584434673277,1.59852136372e-05,1793254779188203520
+231,3.850000000,POSE1_TO_POSE2_PRESS,787,762,739,717.042709922,686,650,918.957290078,798,841,657.042709922,632,658,0.457814149365,-0.0156219832681,0.0496218502092,0.999999826419,8.87222404985e-05,-0.000582260584932,1.61858494633e-05,1793254779204869888
+232,3.866666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,919,798,841.542089529,657.542089529,632.542089529,657.457910471,0.457819909552,-0.0156203676782,0.049622698704,0.99999982652,9.01128075422e-05,-0.000581883462643,1.58505713592e-05,1793254779221535744
+233,3.883333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.873829373,918.873829373,798,841.873829373,658,633,657.126170627,0.457824286968,-0.0156187843325,0.0496228858254,0.999999826095,9.13541745105e-05,-0.000582429549818,1.55235279361e-05,1793254779238201856
+234,3.900000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.294542811,918.294542811,798,841.294542811,658,633,657.705457189,0.457825190512,-0.0156181809304,0.0496206793308,0.999999824181,9.09338520525e-05,-0.000585775362911,1.53798836667e-05,1793254779254868736
+235,3.916666667,POSE1_TO_POSE2_PRESS,787,762,738.716086964,717,686,649,918,798,841,658,632.716086964,657.716086964,0.457826022245,-0.0156180360368,0.0496189860725,0.99999982316,8.98496700037e-05,-0.000587683786429,1.53131271835e-05,1793254779271535360
+236,3.933333333,POSE1_TO_POSE2_PRESS,787,762,738.138490349,717,686,649,918,798,841,658,632.138490349,657.138490349,0.457826779695,-0.0156183654307,0.0496178237126,0.99999982307,8.80787823427e-05,-0.000588105354662,1.53259044746e-05,1793254779288201984
+237,3.950000000,POSE1_TO_POSE2_PRESS,787,762,738.437670964,717,686,649,918,798,841,658,632,657,0.457827522938,-0.0156184843368,0.0496179028444,0.999999823418,8.64645014733e-05,-0.000587755189257,1.52269748602e-05,1793254779304869120
+238,3.966666667,POSE1_TO_POSE2_PRESS,786.986335018,762,739,717.013664982,686,649.013664982,918,798,841,658,632.013664982,657.013664982,0.457828280412,-0.0156184613787,0.0496183711916,0.999999823899,8.50205941229e-05,-0.000587151223104,1.50878551982e-05,1793254779321536768
+239,3.983333333,POSE1_TO_POSE2_PRESS,786.39834498,762,739,717.60165502,686,649.60165502,918,798,841,658,632.60165502,657.60165502,0.457829824363,-0.0156152661486,0.0496187411777,0.999999824198,8.8661392284e-05,-0.000586110045908,1.47403283507e-05,1793254779338203136
+240,4.000000000,POSE1_TO_POSE2_PRESS,786.186429245,762,739,717.813570755,686,650,918.186429245,798,841,658,633,657.813570755,0.457830796762,-0.0156139043149,0.049618821231,0.999999824247,9.04543631812e-05,-0.000585754218533,1.46922544166e-05,1793254779354869504
+241,4.016666667,POSE1_TO_POSE2_PRESS,786.764448695,762,739,717.235551305,686,650,918.764448695,798,841,658,633,657.235551305,0.457830568631,-0.0156163934867,0.0496182922874,0.99999982379,8.83660165425e-05,-0.00058683795227,1.5273174242e-05,1793254779371535872
+242,4.033333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,919,798,841,658,632.658500083,657,0.457830664043,-0.0156157490572,0.0496179083085,0.999999823304,8.81962798638e-05,-0.00058769446995,1.51303438533e-05,1793254779388202240
+243,4.050000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,919,798,841,658,632.082114838,657,0.457830981989,-0.0156129493211,0.0496176240371,0.999999822799,8.93461726755e-05,-0.000588394707258,1.44897144698e-05,1793254779404868608
+244,4.066666667,POSE1_TO_POSE2_PRESS,787,762,739,717.492400855,686,650,919,798,841,658,632.492400855,657.492400855,0.457831257075,-0.015613405628,0.0496174300541,0.999999822971,8.8602424047e-05,-0.000588218012896,1.44243872737e-05,1793254779421535232
+245,4.083333333,POSE1_TO_POSE2_PRESS,787,762,739,718,686,649.931721831,919,798,841,657.931721831,632.931721831,658,0.45783158553,-0.0156142938871,0.0496172943789,0.999999823213,8.75815688591e-05,-0.000587956943046,1.44939201075e-05,1793254779438201856
+246,4.100000000,POSE1_TO_POSE2_PRESS,787,762,739,718,686,649.343100978,919,798,841,657.343100978,632.343100978,658,0.45783237497,-0.0156143515767,0.0496174887496,0.99999982315,8.68464271118e-05,-0.000588163128773,1.48628264497e-05,1793254779454868736
+247,4.116666667,POSE1_TO_POSE2_PRESS,787,762,739,717.757227995,686,649.242772005,919,798,841,657.242772005,632,657.757227995,0.457833038821,-0.0156145203644,0.0496175513058,0.999999823324,8.58207457163e-05,-0.000588021436754,1.47825062116e-05,1793254779471535616
+248,4.133333333,POSE1_TO_POSE2_PRESS,787,762,739,717.175194929,686,649.824805071,919,798,841,657.824805071,632,657.175194929,0.457833527171,-0.0156148444056,0.049617429658,0.999999823825,8.43890503943e-05,-0.00058739360398,1.40744155961e-05,1793254779488202496
+249,4.150000000,HOLD_POSE2,787,762,739,717,686,650,919,798,841,658,632,658,0.457831864948,-0.0156145400014,0.0496155690915,0.999999821892,8.65861793537e-05,-0.000590348939665,1.43826134288e-05,1793254779522234368
+250,4.166666667,HOLD_POSE2,787,761.411432465,739,717.588567535,686,650,918.411432465,798,841,658,632,658,0.457832130101,-0.0156141666541,0.0496151277703,0.99999982197,8.51851322716e-05,-0.000590418150405,1.45087764635e-05,1793254779538900992
+251,4.183333333,HOLD_POSE2,786.825724436,761.174275564,739,718,686,649.825724436,918.174275564,798,841,658,632,658,0.457832082715,-0.015613448885,0.0496146960609,0.999999821838,8.44165002941e-05,-0.000590754731402,1.43986658072e-05,1793254779555567616
+252,4.200000000,HOLD_POSE2,786.246658081,761.753341919,739,718,686,649.246658081,918.753341919,798,841,658,632,658,0.457831309395,-0.0156119311255,0.0496142866771,0.999999821221,8.51167820129e-05,-0.00059171233475,1.37397609995e-05,1793254779572234240
+253,4.216666667,HOLD_POSE2,786.330641691,762,739,717.669358309,686,649,918.669358309,798,841,658,632,657.669358309,0.457832001434,-0.0156113763792,0.0496150012616,0.999999821507,8.65123771209e-05,-0.000591026973833,1.37618237253e-05,1793254779588900864
+254,4.233333333,HOLD_POSE2,786.906630564,762,739,717.093369436,686,649,918.093369436,798,841,658,632,657.093369436,0.457833780817,-0.0156115362209,0.0496165498683,0.999999822456,8.84239179527e-05,-0.000589122478479,1.42891871523e-05,1793254779605567744
+255,4.250000000,HOLD_POSE2,787,761.517831973,739,717,686,649,918,798,840.517831973,658,632,657.482168027,0.457833698203,-0.0156122128267,0.0496165057095,0.999999822631,8.65440691593e-05,-0.000589105849937,1.42372439817e-05,1793254779622234624
+256,4.266666667,HOLD_POSE2,786.940927467,761.059072533,739,717,686,649,918,797.940927467,840.059072533,658,632,658,0.457833326136,-0.0156130202808,0.0496162058992,0.99999982265,8.40542136042e-05,-0.000589437365424,1.40988116245e-05,1793254779638901760
+257,4.283333333,HOLD_POSE2,786.350952019,761.649047981,739,717,686,649,918,797.350952019,840.649047981,658,632,658,0.457833590156,-0.0156141051999,0.049616377843,0.999999822659,8.26742024838e-05,-0.000589615287555,1.41903259825e-05,1793254779655567872
+258,4.300000000,HOLD_POSE2,786.234822876,762,739,717,686,649,918.234822876,797.234822876,841,657.765177124,632.234822876,657.765177124,0.457834099702,-0.0156140734756,0.0496166525859,0.999999822722,8.27294084106e-05,-0.000589502839239,1.40719649204e-05,1793254779672233984
+259,4.316666667,HOLD_POSE2,786.814430155,762,739,717,686,649,918.814430155,797.814430155,841,657.185569845,632.814430155,657.185569845,0.457834969747,-0.0156124022123,0.0496170782661,0.999999822864,8.4891906811e-05,-0.00058896404743,1.36454491578e-05,1793254779688900608
+260,4.333333333,HOLD_POSE2,787,762,738.608404335,717,686,649.391595665,919,798,841,657,632.608404335,657,0.457836374087,-0.0156121665401,0.0496179753173,0.999999823723,8.51105493906e-05,-0.000587466170763,1.39102812032e-05,1793254779705567488
+261,4.350000000,HOLD_POSE2,787,762,738.032388713,717,686,649.967611287,919,798,841,657,632.032388713,657,0.457838030051,-0.015612606952,0.0496190943582,0.999999824917,8.44137432942e-05,-0.000585516617986,1.45006998932e-05,1793254779722234112
+262,4.366666667,HOLD_POSE2,787,762,738.551683834,717,686,649.448316166,918.448316166,797.448316166,841,657.551683834,632,657.551683834,0.457837012474,-0.0156119569717,0.0496177844402,0.999999823942,8.5861748076e-05,-0.000586973539467,1.43271436084e-05,1793254779738900480
+263,4.383333333,HOLD_POSE2,787,762,739,717,686,649,918,797.134980722,841,658,632.134980722,658,0.457836128379,-0.015611847948,0.049616682995,0.999999823195,8.63528063246e-05,-0.000588175095876,1.42458351235e-05,1793254779755567360
+264,4.400000000,HOLD_POSE2,787,762,739,717,686,649,918,797.714145657,841,658,632.714145657,658,0.457836207707,-0.015613732842,0.0496167437922,0.999999823631,8.32743117742e-05,-0.000587868451068,1.46178718214e-05,1793254779772234752
+265,4.416666667,HOLD_POSE2,787,762,739,717,686,649,918.293355539,798,841,658,632.706644461,658,0.457835918557,-0.0156131201439,0.0496168641263,0.999999823652,8.32591329884e-05,-0.000587838110835,1.44799124048e-05,1793254779788901632
+266,4.433333333,HOLD_POSE2,787,762,739,717,686,649,918.872609188,798,841,658,632.127390812,658,0.457835270296,-0.015610073345,0.0496170424837,0.999999823269,8.62293972207e-05,-0.000588077051224,1.38449215261e-05,1793254779805568000
+267,4.450000000,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,650,918,798,841,658,632,658,0.457837718604,-0.0156101877405,0.0496188937627,0.999999824839,8.65818792381e-05,-0.000585351090595,1.37513915181e-05,1793254779838193152
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786.411952185,762,739,717,686,650,918.588047815,797.411952185,841,658,632,658,0.457835234528,-0.0156114169149,0.0496167931036,0.999999823227,8.55087664258e-05,-0.000588255936042,1.37811643661e-05,1793254779854860032
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786.173271283,762,739,717,686,650,918.826728717,797.173271283,841,658,632,657.826728717,0.457833963235,-0.0156128638412,0.0496155004523,0.999999822399,8.38145340092e-05,-0.000589900923054,1.39334589594e-05,1793254779871526912
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,785,761,738,721,687,651,918,800,839.882820097,658,635.117179903,657,0.427398268116,-0.0153686928358,0.0497708234093,0.999999930449,-2.35775051098e-05,-0.000367909783998,-5.64633819648e-05,1793254780954859776
+335,5.583333333,POSE2_TO_POSE3_RETREAT,785,761,738,721,687,651,918,800,839.541309947,658,635,657,0.42642902062,-0.015362881736,0.0497585077406,0.999999922709,-1.31531137045e-05,-0.000388567048774,-5.85229074499e-05,1793254780971526400
+336,5.600000000,POSE2_TO_POSE3_RETREAT,784.9648039,761,738,721,687,651,918,800,839,658,635.0351961,657,0.425459276467,-0.0153571539286,0.049742330228,0.999999912644,-4.06304582063e-06,-0.00041349710161,-6.09606553761e-05,1793254780988193024
+337,5.616666667,POSE2_TO_POSE3_RETREAT,784.375155512,761,738,721,687,651,918,800,839,658,635.624844488,657,0.42458349612,-0.0153665373754,0.0497775701507,0.999999942175,-2.75029998794e-05,-0.000333803564685,-5.88947960379e-05,1793254781004859648
+338,5.633333333,POSE2_TO_POSE3_RETREAT,784.210828779,761,738,721,687,651,918.210828779,800,839,658,636,657.210828779,0.423693882642,-0.0153733464488,0.049805790595,0.999999959803,-4.46777186854e-05,-0.000274074717952,-5.72726171436e-05,1793254781021526272
+339,5.650000000,POSE2_TO_POSE3_RETREAT,784.790404535,761,738,721,687,651,918.790404535,800,839,658,636,657.790404535,0.422780074387,-0.015375652854,0.0498217337293,0.999999966046,-5.08943240371e-05,-0.000249264808991,-5.64264512201e-05,1793254781038192896
+340,5.666666667,POSE2_TO_POSE3_RETREAT,785,761,738,721,687,651,918.632811116,800,839.367188884,658,635.632811116,658,0.421849725984,-0.0153751437536,0.04980976139,0.999999959406,-4.82574729584e-05,-0.000274905371659,-5.73249082421e-05,1793254781054859520
+341,5.683333333,POSE2_TO_POSE3_RETREAT,785,761,738,721,687,651,918.057608144,800,839.942391856,658,635.057608144,658,0.420910007569,-0.0153730396569,0.0497819748134,0.999999943261,-4.06051001365e-05,-0.000329126345043,-5.92117016139e-05,1793254781071526400
+342,5.700000000,POSE2_TO_POSE3_RETREAT,784.485230949,761,737.485230949,721,687,651,918,800,839.485230949,658,635.514769051,657.485230949,0.420033113715,-0.0153699416201,0.0497911995383,0.999999944226,-3.80609265716e-05,-0.000326493737023,-5.91635007945e-05,1793254781088193024
+343,5.716666667,POSE2_TO_POSE3_RETREAT,784,761,737.09054592,721.09054592,687.09054592,651,918,800,839,658,636,657,0.419154708964,-0.0153664788268,0.0497999604591,0.999999944839,-3.58805561154e-05,-0.000324877252173,-5.90720457379e-05,1793254781104859648
+344,5.733333333,POSE2_TO_POSE3_RETREAT,784,761,737.687078275,721.687078275,687.687078275,651,918,800,839,658,636,657,0.418228786587,-0.0153615959036,0.0497831099328,0.999999931316,-3.25560745064e-05,-0.00036429981611,-5.99423714814e-05,1793254781121526272
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,687.149836305,651,918,800.850163695,839,658,636,657,0.416548422319,-0.0153622992595,0.0497679996587,0.99999992636,-4.76560396512e-05,-0.000375484509425,-6.34075828013e-05,1793254781154859776
+347,5.783333333,POSE2_TO_POSE3_RETREAT,784.425622916,761,738,722,687,651,918.425622916,800.574377084,839,657.574377084,635.574377084,657,0.415775321082,-0.0153634906774,0.0497882891655,0.999999940965,-5.27756209083e-05,-0.000333710266392,-6.26342017235e-05,1793254781171526400
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784.999163149,761,738,722,687,651,918.999163149,800,838.999163149,657.000836851,635,657,0.415015046797,-0.0153643202726,0.0498171390414,0.9999999575,-5.56542207036e-05,-0.000279637117662,-6.08768277086e-05,1793254781188192512
+349,5.816666667,POSE2_TO_POSE3_RETREAT,784.410113576,761,738,722,687,651,918.410113576,800,838.410113576,657.589886424,635,657,0.414230957622,-0.0153631082473,0.0498014625336,0.999999949348,-3.86919452392e-05,-0.000309737671863,-6.22043924052e-05,1793254781204859392
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784.176096631,761,738,722,687.176096631,651,918.176096631,800,838.176096631,658,635,657,0.413448000855,-0.0153618159669,0.0497850809507,0.999999939992,-2.97846899192e-05,-0.00033923874644,-6.36072119078e-05,1793254781221526528
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784.755799246,761,738,722,687.755799246,651,918.755799246,800,838.755799246,658,635,657,0.412667639369,-0.0153603397449,0.0497670833626,0.999999929623,-3.9339194716e-05,-0.000367365845706,-6.51825125941e-05,1793254781238193408
+352,5.866666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.667062798,800.332937202,839,657.667062798,635,657,0.411955204811,-0.0153613444683,0.0497774564966,0.999999933976,-4.80723969217e-05,-0.000354478383457,-6.38914508938e-05,1793254781254860288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.091791609,800.908208391,839,657.091791609,635,657,0.411292212065,-0.0153641549899,0.0498084797429,0.999999947999,-5.62077994859e-05,-0.000311737775089,-6.05140585657e-05,1793254781271526656
+354,5.900000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918,801,839,657.481858945,635,657,0.410618831083,-0.0153640670791,0.0498105562731,0.999999948094,-5.90485624135e-05,-0.000310956459053,-6.0257881153e-05,1793254781288193280
+355,5.916666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.05698641,800.94301359,839,658,635.05698641,657,0.409948480608,-0.0153636177044,0.0498057133319,0.999999944962,-6.10403585026e-05,-0.000320404138399,-6.07578175418e-05,1793254781304859648
+356,5.933333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.648864684,800.351135316,839,658,635.648864684,657,0.409325087705,-0.0153649406663,0.0497875065708,0.999999934316,-6.44987974067e-05,-0.000351090797485,-6.27927124774e-05,1793254781321526528
+357,5.950000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.764399637,800.235600363,838.764399637,657.764399637,636,657,0.40872581083,-0.0153671446858,0.0497832744976,0.999999932282,-6.85992955484e-05,-0.000355963572965,-6.34104987591e-05,1793254781338193408
+358,5.966666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.185164736,800.814835264,838.185164736,657.185164736,636,657,0.408161708406,-0.0153706337703,0.0497994251854,0.999999943145,-7.3636267902e-05,-0.00032318554642,-6.19613632784e-05,1793254781354860032
+359,5.983333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.392224249,800.607775751,838.392224249,657,635.607775751,657,0.407624515391,-0.0153711846678,0.0498109171648,0.99999994779,-7.7366674206e-05,-0.000307890265421,-6.03186957875e-05,1793254781371526656
+360,6.000000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.96874593,800.03125407,838.96874593,657,635.03125407,657,0.407099966457,-0.0153703549768,0.0498202201224,0.999999949802,-8.04831547146e-05,-0.000300809734038,-5.85850918094e-05,1793254781388193280
+361,6.016666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,918.445622664,800.554377336,838.445622664,657.554377336,635,657,0.406589061741,-0.0153699670414,0.0498036863095,0.999999938794,-8.95329120368e-05,-0.000332679968816,-6.09933735901e-05,1793254781404859392
+362,6.033333333,POSE2_TO_POSE3_RETREAT,785.138646328,760.861353672,738,722.138646328,688,651,918.138646328,801,838,658,635,657,0.406086848323,-0.0153693956749,0.0497856705474,0.999999926413,-9.85972387174e-05,-0.000365255702872,-6.35610962371e-05,1793254781421526272
+363,6.050000000,POSE2_TO_POSE3_RETREAT,785.716939495,760.283060505,738,722.716939495,688,651,918.716939495,801,838,658,635,657,0.405609714904,-0.015368162357,0.0497676515551,0.999999914925,-0.000106629349505,-0.000392988985369,-6.58815869308e-05,1793254781438193152
+364,6.066666667,POSE2_TO_POSE3_RETREAT,785.705051679,760.294948321,738,722.705051679,688,651,919,801,838.294948321,658,635,657,0.405168138784,-0.015367884927,0.0497637105341,0.999999911343,-0.00011407327956,-0.000399815929477,-6.66904605847e-05,1793254781454859776
+365,6.083333333,POSE2_TO_POSE3_RETREAT,785.127315506,760.872684494,738,722.127315506,688,651,919,801,838.872684494,658,635,657,0.404760653993,-0.0153685239745,0.0497732670626,0.999999915775,-0.000120953278635,-0.000386598484278,-6.60500397748e-05,1793254781471526656
+366,6.100000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838.551364232,657.551364232,635,657,0.404416791053,-0.0153735177505,0.0497954043184,0.999999927754,-0.000131667210592,-0.000350807561543,-6.39511347736e-05,1793254781488193280
+367,6.116666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838,657,635,657,0.404092002606,-0.0153796455902,0.0498209042318,0.99999994008,-0.000142890698652,-0.00030925878106,-6.14853992469e-05,1793254781504859904
+368,6.133333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838,657,635,657,0.403792196797,-0.0153835562974,0.0498419763077,0.999999948507,-0.000140969379756,-0.000281967534765,-6.0059622816e-05,1793254781521526528
+369,6.150000000,POSE2_TO_POSE3_RETREAT,785,761,738.199318367,722,688,651,919,801,838,657.199318367,635,657,0.403493183836,-0.0153862410178,0.0498538147024,0.999999955085,-0.00012033544296,-0.000267983346394,-5.94568702024e-05,1793254781538193152
+370,6.166666667,POSE2_TO_POSE3_RETREAT,785,761,738.780301938,722,688,651,919,801,838,657.780301938,635,657,0.403195689094,-0.0153865781544,0.0498479719608,0.99999995708,-6.38696094923e-05,-0.000279480209466,-6.0430086624e-05,1793254781554859776
+371,6.183333333,POSE2_TO_POSE3_RETREAT,785,761,738.643114248,722.356885752,688,651,919,801,838,658,635,657,0.402912283104,-0.0153862499862,0.0498374552895,0.999999951915,-4.83351429539e-05,-0.000299991385206,-6.19649242653e-05,1793254781571526144
+372,6.200000000,POSE2_TO_POSE3_RETREAT,785,761,738.069205876,722.930794124,688,651,919,801,838,658,635,657,0.40263744447,-0.0153855172454,0.049824096396,0.999999943165,-5.76910804605e-05,-0.000325984175758,-6.38412845309e-05,1793254781588192768
+373,6.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.484234689,801,838,658,635,657,0.402413709641,-0.0153879629387,0.0498156857468,0.999999938247,-6.58096320929e-05,-0.000339121248,-6.4597544145e-05,1793254781604859648
+374,6.233333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.101073396,801,838,658,635,657,0.402203484463,-0.0153900720238,0.0498089796591,0.99999993502,-6.47359765093e-05,-0.000348961401085,-6.32116749629e-05,1793254781621526272
+375,6.250000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.680793352,801,838,658,635,657,0.402024051198,-0.0153885231085,0.0498071325551,0.999999936619,-2.09349079162e-05,-0.000351536547554,-5.24088176662e-05,1793254781638192896
+376,6.266666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657.259738056,0.401864217402,-0.0153862959132,0.0498089343814,0.999999938883,1.84903871279e-07,-0.000346437702024,-4.70556140165e-05,1793254781654859776
+377,6.283333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657.83773281,0.401728398822,-0.0153832376223,0.0498152072374,0.999999943718,-6.48660108674e-06,-0.000331935924669,-4.83798645401e-05,1793254781671526400
+378,6.300000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657.586285141,0.40161067825,-0.0153836857877,0.0498218939233,0.999999948257,-1.50658411793e-05,-0.000317612585809,-4.88009242506e-05,1793254781688193280
+379,6.316666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657.011088706,0.401500021713,-0.0153855025966,0.0498287421356,0.999999952495,-2.43897100973e-05,-0.000303358895512,-4.88694496272e-05,1793254781704859904
+380,6.333333333,POSE2_TO_POSE3_RETREAT,785.576889343,761,738.576889343,723,688,651,919,801,838,658,635.576889343,657,0.401413368246,-0.0153907336742,0.0498329422549,0.999999954419,-3.57537404436e-05,-0.00029574598936,-4.91801836631e-05,1793254781721526528
+381,6.350000000,POSE2_TO_POSE3_RETREAT,786,761,739,723,688,651,919,801,838,658,635.836538803,657,0.401331160588,-0.0153953809321,0.0498360087204,0.999999955631,-4.55873322479e-05,-0.000290182699835,-4.95289927878e-05,1793254781738193152
+382,6.366666667,POSE2_TO_POSE3_RETREAT,786,761,739,723,688,651,919,801,838,658,635.254214181,657,0.40125913612,-0.0153983601939,0.0498363036243,0.999999955515,-5.13964646508e-05,-0.000289536980473,-4.99631677453e-05,1793254781754859776
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.530578922,801,838,657.530578922,635,657,0.401111881356,-0.0154039466527,0.0498380455443,0.99999995688,-6.43196543807e-05,-0.000282007768907,-5.07491754613e-05,1793254781804859904
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,785.777174016,761,738,722.222825984,688,651,918,800.777174016,838,658,635,657,0.401033952409,-0.0154054361907,0.0498416688919,0.999999958424,-6.89870385367e-05,-0.000275498650611,-4.99291461707e-05,1793254781854860032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,785.196335532,761,738,722.803664468,688,651,918,800.196335532,838,658,635,657,0.401021254302,-0.0154059650371,0.0498434518384,0.999999959594,-6.99882238028e-05,-0.000270961989007,-4.99288915933e-05,1793254781871526656
+390,6.500000000,POSE2_TO_POSE3_RETREAT,785,760.618459,738,723,688,651,918.381541,800.381541,838,658,635,657,0.401010772483,-0.0154059724472,0.0498443536095,0.999999960146,-6.91134930923e-05,-0.000269151278487,-4.98885018775e-05,1793254781888193024
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07df43297061c01ba69a99708a370cf4f7e02bb9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b2577a5268b3e69de622b5149c71a2e55176d28
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f4ce5e36b93ee0a209e92321367a36d4a15ff97d2d6501f2df7d33e2d594d0a
+size 26447835
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e19e5b76c7f360b3264acf854f0108a94fe4b8c9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/franka_data.csv
@@ -0,0 +1,417 @@
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+6,0.100000000,BASELINE,784.484831865,761,738,722.515168135,688,651,919,800.515168135,838,657.515168135,635,657,0.400993573942,-0.0154130382768,0.0498552996601,0.999999965671,-6.94071126061e-05,-0.000248163351882,-4.74890931897e-05,1793254782523208192
+7,0.116666667,BASELINE,785,761,738,722,688,651,919,800.061416115,838,657,635.061416115,657,0.400992616806,-0.0154146587564,0.0498544463585,0.999999965393,-6.98862387525e-05,-0.000249216441488,-4.71200062612e-05,1793254782539875072
+8,0.133333333,BASELINE,785,761,738,722,688,651,919,800.649802283,838,657,635.649802283,657,0.400995125372,-0.0154133372457,0.0498561508638,0.99999996602,-6.9045734071e-05,-0.000246920993479,-4.71462977666e-05,1793254782556541440
+9,0.150000000,BASELINE,785,761,738.235197435,722.235197435,688,651,919,801,838,657.235197435,636,657,0.400996049377,-0.0154127167714,0.0498569203779,0.999999966253,-6.89007334621e-05,-0.000245993762265,-4.72644189218e-05,1793254782573208064
+10,0.166666667,BASELINE,785,761,738.816194981,722.816194981,688,651,919,801,838,657.816194981,636,657,0.400994643674,-0.0154131269991,0.049856315217,0.999999965913,-6.97783009916e-05,-0.000247078158297,-4.75175530406e-05,1793254782589874944
+11,0.183333333,BASELINE,785,761,738.606806944,723,687.606806944,651,918.606806944,801,838,658,635.606806944,657,0.400994488909,-0.0154125428437,0.0498562490548,0.999999965913,-6.905291032e-05,-0.000247265967647,-4.75982723776e-05,1793254782606541568
+12,0.200000000,BASELINE,785,761,738.031659617,723,687.031659617,651,918.031659617,801,838,658,635.031659617,657,0.400994913028,-0.0154114985269,0.0498564323199,0.999999966069,-6.75857337538e-05,-0.00024703887206,-4.75992049612e-05,1793254782623208192
+13,0.216666667,BASELINE,785,761,738,723,687,651,918.553826041,801,838,658,635.553826041,657,0.40099402111,-0.0154124677484,0.0498560598999,0.999999965872,-6.92472505959e-05,-0.000247431590873,-4.73032469673e-05,1793254782639875072
+14,0.233333333,BASELINE,785,761,738,723,687.139096387,651,919,801,838,658,635.860903613,657,0.400993340338,-0.0154129425926,0.0498558549026,0.99999996575,-7.01374691838e-05,-0.000247700857084,-4.71618297678e-05,1793254782656541696
+15,0.250000000,BASELINE,785,761,738,723,687.721759786,651,919,801,838,658,635.278240214,657,0.400993577364,-0.0154114668669,0.0498562870285,0.999999965939,-6.79868855249e-05,-0.000247461304532,-4.75683817512e-05,1793254782673208320
+16,0.266666667,BASELINE,785,761,738.299652333,723,688,651,918.700347667,801,838,658,635,657,0.400993567895,-0.0154110923959,0.0498563272926,0.999999965953,-6.73878381711e-05,-0.000247548620708,-4.76640303719e-05,1793254782689875200
+17,0.283333333,BASELINE,785,761,738.873184328,723,688,651,918.126815672,801,838,658,635,657,0.40099333313,-0.0154117244623,0.0498560093984,0.999999965811,-6.82068818225e-05,-0.000247934692112,-4.74755159617e-05,1793254782706541568
+18,0.300000000,BASELINE,785,761,739,723,688,651.448856868,918.448856868,801,838,657.551143132,635.448856868,657,0.400993560979,-0.0154112993811,0.0498559599456,0.999999965908,-6.78020575946e-05,-0.000247625643755,-4.76319612132e-05,1793254782723208192
+19,0.316666667,BASELINE,785,761,738.974233992,723,688,652,919,801,838,657.025766008,636,657,0.400993944139,-0.0154106444959,0.0498560164435,0.999999966078,-6.7126897131e-05,-0.000247075450743,-4.78738409827e-05,1793254782739874816
+20,0.333333333,BASELINE,785,761,738.383534978,723,688,652,919,801,838,657.616465022,636,657,0.400994853105,-0.0154115310466,0.0498567251031,0.999999966383,-6.81422029457e-05,-0.000245564674681,-4.784178228e-05,1793254782756541440
+21,0.350000000,BASELINE,785,761,738,723,688,651.797869442,919,801,838,658,635.797869442,657,0.400995113757,-0.0154124578421,0.0498570709725,0.999999966491,-6.87399828862e-05,-0.00024499958709,-4.76192245289e-05,1793254782773208320
+22,0.366666667,BASELINE,785,761,738,723,688,651.221522745,919,801,838,658,635.221522745,657,0.400994174146,-0.0154134591451,0.0498567451872,0.999999966239,-6.856477261e-05,-0.000246185308123,-4.70439847368e-05,1793254782789874944
+23,0.383333333,BASELINE,785,761,738.355232036,722.644767964,688,651,919,800.644767964,838,657.644767964,635,657,0.400993833692,-0.0154136261854,0.0498566908831,0.999999966081,-6.90422735124e-05,-0.000246713437598,-4.69328145573e-05,1793254782806541824
+24,0.400000000,BASELINE,785,761,738.932241647,722.067758353,688,651,919,800.067758353,838,657.067758353,635,657,0.400993867303,-0.015413272381,0.0498568060695,0.999999965983,-6.99272734055e-05,-0.000246831021273,-4.71113710995e-05,1793254782823208704
+25,0.416666667,BASELINE,785,761,738.492018092,722.507981908,688,651,919,800.507981908,838,657.507981908,635,657,0.400993095267,-0.015412209667,0.0498558446127,0.999999965818,-6.69605615469e-05,-0.000248291419556,-4.72305107906e-05,1793254782839875072
+26,0.433333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635.086039472,657,0.40099264916,-0.0154113082042,0.0498551215283,0.999999965733,-6.4403176936e-05,-0.000249298034782,-4.72982065963e-05,1793254782856541696
+27,0.450000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635.678737677,657,0.400994753586,-0.0154119117395,0.0498566457108,0.999999966227,-6.72740695378e-05,-0.000246580350141,-4.71095201053e-05,1793254782873208320
+28,0.466666667,BASELINE,785.263035668,761,738.263035668,723,688,651.263035668,919,801,838,657.736964332,635.736964332,657.263035668,0.400995148676,-0.0154120947827,0.0498568826987,0.999999966283,-6.8801693824e-05,-0.000245908981259,-4.72070710234e-05,1793254782889874944
+29,0.483333333,BASELINE,785.837391415,761,738.837391415,723,688,651.837391415,919,801,838,657.162608585,635.162608585,657.837391415,0.400993520654,-0.0154117801457,0.0498555962065,0.999999965835,-6.8739471195e-05,-0.000247659562359,-4.76434028263e-05,1793254782906541568
+30,0.500000000,BASELINE,785.585689111,761,738.585689111,723,688,652,919,801,838,657.414310889,635.414310889,657.585689111,0.40099387076,-0.0154114550501,0.0498557150929,0.999999966074,-6.73841921926e-05,-0.000247055800617,-4.76907560075e-05,1793254782923208192
+31,0.516666667,BASELINE,785.007757176,761,738.007757176,723,688,652,919,801,838,657.992242824,635.992242824,657.007757176,0.400995002074,-0.0154111258241,0.0498563889962,0.999999966581,-6.55182550301e-05,-0.000245522253859,-4.75844924359e-05,1793254782939874816
+32,0.533333333,BASELINE,785,761,738,723,688,651.433753047,919,801,838,658,635.433753047,657,0.400995902968,-0.0154128793216,0.0498576785636,0.999999966922,-6.7489803578e-05,-0.00024366319117,-4.72238507607e-05,1793254782956541952
+33,0.550000000,BASELINE,785,761,738.145356188,723,688,651.145356188,919,801,838,658,635.145356188,657,0.400996224846,-0.0154142787655,0.0498584207102,0.99999996702,-6.92152843512e-05,-0.000242824061053,-4.69585566265e-05,1793254782973208832
+34,0.566666667,BASELINE,785,761,738.740425168,723,688,651.740425168,919,801,838,658,635.740425168,657,0.400994765021,-0.0154144951486,0.0498574432947,0.999999966394,-7.00179370145e-05,-0.000245154169124,-4.69989624534e-05,1793254782989875200
+35,0.583333333,BASELINE,785,761,739,723,688,651.676483468,919,801.323516532,838,658,635.676483468,657,0.400994655247,-0.0154135034058,0.0498572341004,0.999999966367,-6.91688723e-05,-0.000245472896659,-4.71648153064e-05,1793254783006541824
+36,0.600000000,BASELINE,785,761,739,723,688,651.102659231,919,801.897340769,838,658,635.102659231,657,0.40099559002,-0.0154115769251,0.0498576192856,0.999999966803,-6.70418588042e-05,-0.000244235400894,-4.74277276771e-05,1793254783023208192
+37,0.616666667,BASELINE,785,761,738.526603086,723,688,651,919,801.526603086,838,658,635,657,0.400995675014,-0.015411845276,0.0498576531458,0.999999966794,-6.76238902302e-05,-0.000244114272693,-4.74029172038e-05,1793254783039874816
+38,0.633333333,BASELINE,785.050849063,761,738,723,688,651.050849063,919,801,838.050849063,658,635,657,0.400995404192,-0.0154125175877,0.0498575026448,0.999999966676,-6.84451941005e-05,-0.000244382603666,-4.73233368086e-05,1793254783056541184
+39,0.650000000,BASELINE,785.637894345,761,738,723,688,651.637894345,919,801,838.637894345,658,635,657,0.400993333754,-0.0154124068659,0.0498562152691,0.999999966425,-6.55654154088e-05,-0.000246192811912,-4.73272740648e-05,1793254783073208064
+40,0.666666667,BASELINE,786,761,738,723,688,651.777130716,918.777130716,801,838.777130716,658,635,657,0.400992127367,-0.01541194896,0.0498554966375,0.999999966164,-6.41865212699e-05,-0.000247594285172,-4.74220728624e-05,1793254783089875200
+41,0.683333333,BASELINE,786,761,738,723,688,651.195488633,918.195488633,801,838.195488633,658,635,657,0.400992311919,-0.0154109321605,0.0498556935645,0.999999965901,-6.52237366283e-05,-0.000248337780733,-4.7663139684e-05,1793254783106542080
+42,0.700000000,BASELINE,785.618763032,761,738,723,688,651,918.381236968,801,838,657.618763032,635,657,0.400993527068,-0.015411443175,0.0498562552135,0.999999966175,-6.60920321222e-05,-0.000247018976472,-4.75834701438e-05,1793254783123208704
+43,0.716666667,BASELINE,785.044526399,761,738,723,688,651,918.955473601,801,838,657.044526399,635,657,0.400995263953,-0.0154127276391,0.0498570015015,0.999999966715,-6.68748125897e-05,-0.000244656141288,-4.73414291169e-05,1793254783139875072
+44,0.733333333,BASELINE,785,761,738.53087256,723,688,651,919,801,838.53087256,657.53087256,635,657,0.400995782041,-0.0154118140822,0.0498571400191,0.999999966934,-6.53878979017e-05,-0.000244139531128,-4.74683867295e-05,1793254783156541440
+45,0.750000000,BASELINE,785,761,739,723,688,651,919,801,838.890879623,658,635,657,0.400995968443,-0.0154114544497,0.0498572307865,0.999999967019,-6.4814855114e-05,-0.000243939481981,-4.74821430689e-05,1793254783173208064
+46,0.766666667,BASELINE,785,761,739,723,688,651,919,801,838.300498372,658,635,657,0.400995143826,-0.0154143526921,0.0498573362748,0.999999966636,-6.91137596678e-05,-0.000244451138095,-4.68598425767e-05,1793254783189874944
+47,0.783333333,BASELINE,785,761,738.716051644,723,688,651,919,801,838,658,635,657,0.400995715915,-0.0154144581587,0.0498581065665,0.999999966889,-6.87741429152e-05,-0.000243526020348,-4.67755276347e-05,1793254783206541568
+48,0.800000000,BASELINE,785,761,738.137756691,723,688,651,919,801,838,658,635,657,0.400997735857,-0.0154116685779,0.0498595660069,0.999999967792,-6.36261418882e-05,-0.000241111513881,-4.72488992952e-05,1793254783223208192
+49,0.816666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635.43834123,657,0.400997133823,-0.0154116224305,0.0498592877255,0.999999967677,-6.40239302867e-05,-0.000241509148808,-4.71217771969e-05,1793254783239875328
+50,0.833333333,BASELINE,785,761,738,723,688,651,919,801,838,658,636,657.014049813,0.400995730975,-0.0154124099158,0.0498584678235,0.999999967249,-6.60911422004e-05,-0.000242780574016,-4.68185425446e-05,1793254783256541952
+51,0.850000000,BASELINE,785,761,738,723,688,651,919,801,838,658,636,657.601917445,0.400995107373,-0.0154122073476,0.0498577200669,0.999999967025,-6.5513878911e-05,-0.000243824566157,-4.69916172217e-05,1793254783273208576
+52,0.866666667,BASELINE,785,761,738.187904617,723,688,651,919,801,838,658,635.812095383,657.812095383,0.400994526379,-0.0154124896899,0.0498570992224,0.99999996677,-6.57667293872e-05,-0.00024478149402,-4.7085992472e-05,1793254783289875200
+53,0.883333333,BASELINE,785,761,738.769947405,723,688,651,919,801,838,658,635.230052595,657.230052595,0.40099403476,-0.015413789153,0.0498567445816,0.99999996645,-6.77607799026e-05,-0.000245555800679,-4.70152922153e-05,1793254783306541568
+54,0.900000000,BASELINE,785,761,739,723,688,651,919,801,838,658,635.347958278,657,0.400994812609,-0.0154141195678,0.049857214413,0.999999966687,-6.72087354331e-05,-0.000244750815292,-4.69773555052e-05,1793254783323208192
+55,0.916666667,BASELINE,785,761,739,723,688,651,919,801,838,658,635.923333965,657,0.400996420152,-0.0154138166351,0.0498582231001,0.999999967282,-6.49926226378e-05,-0.000242913641458,-4.69608322872e-05,1793254783339874816
+56,0.933333333,BASELINE,785,761,739,723,688,651.498603205,919,801,838,658,635.501396795,657,0.400995270226,-0.0154133496192,0.0498575547621,0.999999966793,-6.59937690203e-05,-0.000244602178718,-4.72003124803e-05,1793254783356541440
+57,0.950000000,BASELINE,785.075562042,761,739,723,688,651.924437958,919,801,838,658,635.075562042,657,0.400994130662,-0.015412828032,0.0498568598134,0.999999966306,-6.72063691696e-05,-0.000246213188849,-4.74283440691e-05,1793254783373208320
+58,0.966666667,BASELINE,785.66410208,761,739,723,688,651.33589792,919,801,838,658,635.66410208,657,0.40099593925,-0.0154121072142,0.0498577344192,0.999999966995,-6.64968356552e-05,-0.000243618309818,-4.73114777447e-05,1793254783389874944
+59,0.983333333,BASELINE,785.751326692,761,738.751326692,723,688,651,919,801,838,658,635.751326692,657,0.400996357761,-0.0154119758636,0.049857967048,0.999999967169,-6.68721736937e-05,-0.000242800822445,-4.72999800152e-05,1793254783406541312
+60,1.000000000,BASELINE,785.172032076,761,738.172032076,723,688,651,919,801,838,658,635.172032076,657,0.400994928108,-0.0154126282338,0.0498573461427,0.999999966664,-6.86898926199e-05,-0.000244346449429,-4.74285741146e-05,1793254783423208192
+61,1.016666667,BASELINE,785,761,738.405286091,723,688,651,919,801,838,658,635,657,0.400994745075,-0.0154132834327,0.0498571815795,0.999999966611,-6.87633248347e-05,-0.000244553901926,-4.73651227162e-05,1793254783439875072
+62,1.033333333,BASELINE,785,761,738.98176935,723,688,651,919,801,838,658,635,657,0.400995088628,-0.0154139398265,0.0498572097803,0.99999996675,-6.80999516274e-05,-0.000244196095156,-4.7220549243e-05,1793254783456541440
+63,1.050000000,BASELINE,785,761,738.432760638,723,688,651,918.432760638,801,838,658,635.567239362,657,0.400993306243,-0.0154129898355,0.0498564115485,0.999999966393,-6.7585153338e-05,-0.000245764390661,-4.73857566311e-05,1793254783473208064
+64,1.066666667,BASELINE,785,761,738,723,688,651,918.152156161,801,838,658,635.847843839,657,0.400992335082,-0.0154123979609,0.0498560432008,0.999999966195,-6.736509264e-05,-0.000246604406246,-4.75179970909e-05,1793254783489874688
+65,1.083333333,BASELINE,785,761,738,723,688,651,918.734678111,801,838,658,635.265321889,657,0.400993854791,-0.0154129673776,0.0498569670936,0.999999966498,-6.79649584158e-05,-0.000245206610443,-4.75283785898e-05,1793254783506541312
+66,1.100000000,BASELINE,785,761.312932399,738.312932399,723,688,651,919,801,838,658,635.312932399,657,0.400994373297,-0.0154135521592,0.0498572551401,0.999999966717,-6.79137253861e-05,-0.000244347564453,-4.7405930573e-05,1793254783523207936
+67,1.116666667,BASELINE,785,761.887616974,738.887616974,723,688,651,919,801,838,658,635.887616974,657,0.400994054348,-0.0154141497927,0.0498570113331,0.999999966868,-6.7317881e-05,-0.000243939155591,-4.71723773624e-05,1793254783539874816
+68,1.133333333,BASELINE,785,761.538047673,738.538047673,723,688,651,919,801,838,658,635.538047673,657,0.400994771095,-0.0154136700362,0.0498578345241,0.999999967102,-6.66084401505e-05,-0.000243201208393,-4.70408902572e-05,1793254783556541952
+69,1.150000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400995598489,-0.0154129402645,0.049858774278,0.999999967315,-6.58775541898e-05,-0.0002425380303,-4.69625714758e-05,1793254783573209344
+70,1.166666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400994328482,-0.0154123872419,0.0498575914584,0.999999966942,-6.52383615448e-05,-0.000244176656764,-4.73056895748e-05,1793254783589875456
+71,1.183333333,BASELINE,785,761,738,723,688,651.211029341,919,801,838,658,635,657,0.400993835499,-0.0154121704758,0.0498571284723,0.999999966879,-6.45575793539e-05,-0.000244599959993,-4.737971083e-05,1793254783606541568
+72,1.200000000,BASELINE,785,761,738,723,688,651.792652157,919,801,838,658,635,657,0.400994707064,-0.0154125442177,0.0498579296019,0.999999967363,-6.38037606999e-05,-0.000242889006438,-4.69811649926e-05,1793254783623208192
+73,1.216666667,BASELINE,785,761,738.370104272,722.629895728,688,651.629895728,919,801,838,658,635.370104272,657,0.400995515368,-0.0154132426574,0.049858453376,0.99999996744,-6.55074345807e-05,-0.000242112659799,-4.70175437035e-05,1793254783639875072
+74,1.233333333,BASELINE,785,761,738.945245789,722.054754211,688,651.054754211,919,801,838,658,635.945245789,657,0.400996288625,-0.0154141209791,0.0498588234954,0.999999967284,-6.85725559152e-05,-0.000241854084178,-4.72948700265e-05,1793254783656541696
+75,1.250000000,BASELINE,785,761,738.470130889,722.529869111,688,651,919,801,838,658,636,657,0.400995502518,-0.0154153906252,0.049858510721,0.999999966879,-7.08009728376e-05,-0.000242938957569,-4.70093916061e-05,1793254783673208576
+76,1.266666667,BASELINE,785,761,738.114218244,723,688,651,919,801,838,658,635.885781756,657,0.400994520587,-0.0154163839295,0.0498580941841,0.999999966516,-7.22422785708e-05,-0.000244068703296,-4.66759910386e-05,1793254783689875456
+77,1.283333333,BASELINE,785,761,738.693389988,723,688,651,919,801,838,658,635.306610012,657,0.400993409408,-0.0154160847055,0.0498575477511,0.99999996645,-7.08378285936e-05,-0.00024480569142,-4.63885701725e-05,1793254783706541824
+78,1.300000000,BASELINE,785,761,738.727768354,723,688,651,919,801.272231646,838,658,635.272231646,657,0.400993225726,-0.0154158012389,0.0498576039334,0.999999966546,-6.93791789974e-05,-0.000244834856212,-4.63699677812e-05,1793254783723208448
+79,1.316666667,BASELINE,785,761,738.149298056,723,688,651,919,801.850701944,838,658,635.850701944,657,0.400994085405,-0.0154155354979,0.0498583380096,0.999999966825,-6.78595592941e-05,-0.000244067776774,-4.665376452e-05,1793254783739875328
+80,1.333333333,BASELINE,785,761,738,723,688,651.426338055,919,801.573661945,838,658,635.573661945,657,0.400993989663,-0.0154134934569,0.0498581458148,0.999999966792,-6.56032648952e-05,-0.000244751076848,-4.69961614155e-05,1793254783756541696
+81,1.350000000,BASELINE,785.001011399,761,738,723,688,651.998988601,919,801,838,658,635,657,0.400993563093,-0.0154108405836,0.0498576326469,0.999999966646,-6.30938848096e-05,-0.000245934512245,-4.73576231017e-05,1793254783773208320
+82,1.366666667,BASELINE,785.589109304,761,738,723,688,651.410890696,919,801,838,658,635,657,0.400994030001,-0.0154123074066,0.0498578466944,0.999999967045,-6.24331952202e-05,-0.000244555324793,-4.6952437874e-05,1793254783789874944
+83,1.383333333,BASELINE,785.824903514,761,738.175096486,723,688,651.175096486,919,801,838,658,635.175096486,657,0.40099441589,-0.0154132076074,0.0498580199769,0.999999967296,-6.23721476107e-05,-0.000243583387383,-4.67338556794e-05,1793254783806541568
+84,1.400000000,BASELINE,785.243810356,761,738.756189644,723,688,651.756189644,919,801,838,658,635.756189644,657,0.400994613923,-0.0154127939804,0.0498580987375,0.999999967209,-6.37014912687e-05,-0.000243555741414,-4.69479503363e-05,1793254783823208448
+85,1.416666667,BASELINE,785,761,739,723,688,651.666053925,919,801,838,658,636,657,0.400993985918,-0.0154121325298,0.0498580022535,0.999999967067,-6.42654272888e-05,-0.00024394372843,-4.71959008893e-05,1793254783839875328
+86,1.433333333,BASELINE,785,761,739,723,688,651.090709536,919,801,838,658,636,657,0.400992760798,-0.015411291936,0.0498577790912,0.999999966885,-6.42760759572e-05,-0.000244632162463,-4.74683247106e-05,1793254783856541952
+87,1.450000000,BASELINE,785.482571342,760.517428658,738.517428658,723,688,651.482571342,919,801,838,657.517428658,635.517428658,657.482571342,0.400994967495,-0.0154105583902,0.0498585001768,0.999999967496,-6.39622748377e-05,-0.000242180551763,-4.7596482951e-05,1793254783873208576
+88,1.466666667,BASELINE,785.942342363,760.057657637,738,723,688,652,919,801,838.057657637,657.057657637,635,657.942342363,0.400997373174,-0.0154101518938,0.0498592416155,0.999999968106,-6.38502032663e-05,-0.000239668777815,-4.76366580792e-05,1793254783889875200
+89,1.483333333,BASELINE,785.346810715,760.653189285,738,723,688,652,919,801,838.653189285,657.653189285,635,657.346810715,0.400995642909,-0.0154126094486,0.0498585241987,0.999999967399,-6.61865298639e-05,-0.000242078498076,-4.71079582798e-05,1793254783906541568
+90,1.500000000,BASELINE,785,761,738,723,688,651.759054477,919,801,838.759054477,658,635.240945523,657.240945523,0.400994865935,-0.0154145494107,0.0498582392439,0.99999996698,-6.82296570161e-05,-0.000243329001293,-4.66511560345e-05,1793254783923208192
+91,1.516666667,BASELINE,785,761,738,723,688,651.182140138,919,801,838.182140138,658,635.817859862,657.817859862,0.400995418208,-0.0154157676533,0.0498585573041,0.999999966972,-6.98639535061e-05,-0.000242963119111,-4.62946061058e-05,1793254783939875328
+92,1.533333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635.607409281,657.607409281,0.400995467131,-0.0154164205972,0.0498581898093,0.999999966907,-7.01959607013e-05,-0.000243135284837,-4.62908461039e-05,1793254783956541952
+93,1.550000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635.033685784,657.033685784,0.40099528382,-0.0154168127246,0.0498575060144,0.999999966817,-6.99271202225e-05,-0.000243555694079,-4.64498556321e-05,1793254783973208320
+94,1.566666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400994780084,-0.0154159865674,0.0498577666327,0.999999966853,-6.97278556211e-05,-0.000243438615242,-4.65889965446e-05,1793254783989874944
+95,1.583333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635.139492918,657,0.400994328374,-0.0154150610038,0.0498579848478,0.999999966859,-6.9420322404e-05,-0.000243481512366,-4.66855627783e-05,1793254784006541568
+96,1.600000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635.721767778,657,0.400994105248,-0.0154140611194,0.0498578814736,0.999999966746,-6.87553442965e-05,-0.000244138630629,-4.66509213688e-05,1793254784023207936
+97,1.616666667,BASELINE,785,761,738,723,688,651.30000091,919,801,838,658,635.69999909,657,0.400994157661,-0.0154137533778,0.0498579002163,0.999999966775,-6.83755799393e-05,-0.000244120751217,-4.66917065593e-05,1793254784039874816
+98,1.633333333,BASELINE,785,761,738,723,688,651.874535385,919,801,838,658,635.125464615,657,0.400994462223,-0.0154140790225,0.0498580307094,0.999999966933,-6.82568173224e-05,-0.000243485175243,-4.68015153205e-05,1793254784056541696
+99,1.650000000,BASELINE,785,761,738,723,688,652,919,801,838,658,635,657,0.400995552588,-0.015413774324,0.0498587546812,0.99999996732,-6.6492752877e-05,-0.000242380922235,-4.68086683643e-05,1793254784073208320
+100,1.666666667,BASELINE,785,760.972253888,738,722.972253888,688,651.972253888,919,801,838,658,635.027746112,657,0.400996752281,-0.0154133022995,0.0498595587112,0.999999967735,-6.42993673096e-05,-0.000241261665301,-4.67869074766e-05,1793254784089874944
+101,1.683333333,BASELINE,785,760.382613901,738,722.382613901,688,651.382613901,919,801,838,658,635.617386099,657,0.400995719965,-0.0154130081637,0.049858626143,0.999999967539,-6.27207293677e-05,-0.000242490313273,-4.67604243474e-05,1793254784106541568
+102,1.700000000,BASELINE,784.79658872,760.20341128,738.20341128,722.20341128,688,651,919,801,838,658,636,657,0.400994619309,-0.0154125674228,0.0498577883249,0.999999967309,-6.1830995665e-05,-0.000243652994451,-4.68129833478e-05,1793254784123208192
+103,1.716666667,BASELINE,784.217244286,760.782755714,738.782755714,722.782755714,688,651,919,801,838,658,636,657,0.400993392351,-0.0154118557347,0.0498571256189,0.999999967022,-6.22144557589e-05,-0.000244693759419,-4.70116235183e-05,1793254784139874816
+104,1.733333333,BASELINE,784.359327145,761,738.640672855,723,688,651.359327145,919,801,838,658,636,657,0.400993209064,-0.015412495954,0.0498571682193,0.999999966842,-6.4089189481e-05,-0.000244953115152,-4.69767559122e-05,1793254784156541440
+105,1.750000000,BASELINE,784.934234952,761,738.065765048,723,688,651.934234952,919,801,838,658,636,657,0.400993651935,-0.0154139472591,0.049857633973,0.99999996672,-6.68586225657e-05,-0.000244743659422,-4.68017938135e-05,1793254784173208064
+106,1.766666667,BASELINE,785,761,738,723,688,651.491032456,919,801,838,657.491032456,636,657,0.400993154172,-0.0154133972985,0.049857461471,0.999999966725,-6.51040475144e-05,-0.00024519047604,-4.6823127575e-05,1793254784189874688
+107,1.783333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.400995019953,-0.0154140673025,0.0498582983801,0.999999967039,-6.67372159444e-05,-0.000243519055495,-4.65493891429e-05,1793254784232222976
+108,1.800000000,POSE1_TO_POSE2_PRESS,785,761,738.576145688,723,688,651,919,801,838,658,635.576145688,657,0.400994971577,-0.0154154430818,0.0498582800655,0.999999967206,-6.80037464994e-05,-0.000242492367319,-4.64819228191e-05,1793254784248889600
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,761,738.847728329,722.847728329,688.152271671,651,919,801,838.152271671,657.847728329,636,657,0.40099487773,-0.0154161986571,0.0498582392801,0.999999967312,-6.87522117885e-05,-0.000241835363257,-4.65204089971e-05,1793254784265556224
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,761,738.271657059,722.271657059,688.728342941,651,919,801,838.728342941,657.271657059,636,657,0.40099465733,-0.0154152280932,0.0498581359544,0.999999967254,-6.80588080431e-05,-0.000242207256706,-4.68537801332e-05,1793254784282222592
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,761,738,722.309885807,688.690114193,651,919,801,838.690114193,657.309885807,635.690114193,657,0.400995456635,-0.0154149968346,0.0498587714823,0.999999967447,-6.67928182859e-05,-0.000241800508533,-4.66642701182e-05,1793254784298889472
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,761,738,722.896311451,688.103688549,651,919,801,838.103688549,657.896311451,635.103688549,657,0.400997165918,-0.0154154253267,0.049860066358,0.99999996786,-6.5015856983e-05,-0.000240698906222,-4.6008144752e-05,1793254784315556096
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.400995530878,-0.0154158072689,0.0498593672663,0.999999967471,-6.67556314601e-05,-0.000241807352308,-4.6166833338e-05,1793254784332222720
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,761,738.059560408,723,688,651,919,801,838,658,635,657,0.400993644694,-0.0154160882796,0.0498584019767,0.999999966977,-6.891971832e-05,-0.00024318087569,-4.64764361926e-05,1793254784348889344
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,761,738.635247866,723,688,651,919,801,838,658,635,657,0.400995807018,-0.0154155813012,0.049858841314,0.999999967128,-6.82149882995e-05,-0.000242737865958,-4.65771800521e-05,1793254784365555968
+116,1.933333333,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651.209846856,919,801,838,658,635,657,0.40100254883,-0.0154151390339,0.04986121252,0.999999968276,-6.67684077009e-05,-0.000238390551047,-4.64849325658e-05,1793254784382222592
+117,1.950000000,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651.782563593,919,801,838,658,635,657,0.401017209549,-0.0154148086659,0.049866924338,0.999999971058,-6.40390096131e-05,-0.000227291861454,-4.6058961949e-05,1793254784398889216
+118,1.966666667,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651.630938303,919,801,838,658,635,657,0.401046710114,-0.0154163057934,0.0498768431403,0.999999975506,-6.38356562133e-05,-0.000207141204987,-4.47922453847e-05,1793254784415556096
+119,1.983333333,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651.036005757,919,801,838,658,635,657,0.40108529287,-0.0154189213734,0.0498893366756,0.999999980489,-6.5178276703e-05,-0.000181450618787,-4.30109806433e-05,1793254784432222720
+120,2.000000000,POSE1_TO_POSE2_PRESS,785,761,739,722.459191535,688,651,919,801,838.540808465,658,635,657,0.401147074755,-0.0154222010233,0.0499051879666,0.999999985402,-6.4781875344e-05,-0.000152664399479,-4.11522438364e-05,1793254784448889344
+121,2.016666667,POSE1_TO_POSE2_PRESS,785,761,738.883153242,722.116846758,688,651,919,801,838.883153242,658,635,657,0.401213403686,-0.015426005453,0.04992049947,0.9999999891,-6.49698700007e-05,-0.000126653294185,-3.9207726244e-05,1793254784465556224
+122,2.033333333,POSE1_TO_POSE2_PRESS,785,761,738.30557208,722.69442792,688,651,919,801,838.30557208,658,635,657,0.401291769127,-0.0154317104441,0.0499328296567,0.999999990698,-6.79039055063e-05,-0.000112370958794,-3.6944647651e-05,1793254784482222592
+123,2.050000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.401377296647,-0.015437618836,0.0499415086271,0.999999991808,-7.06523589933e-05,-0.000100772231726,-3.51686613244e-05,1793254784498889216
+124,2.066666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.401470869965,-0.0154437557259,0.0499460858601,0.999999992496,-7.31923314906e-05,-9.21882419437e-05,-3.39398692947e-05,1793254784515555840
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,761,738.442926981,723,687.557073019,651,919,801,838,657.557073019,635,657,0.401581122249,-0.0154504088766,0.0499492659676,0.999999992714,-7.46482086727e-05,-8.90234301812e-05,-3.27878608781e-05,1793254784532222464
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,761,739,723,687.025510461,651,919,801,838,657,635.025510461,657,0.401697542441,-0.015457269872,0.0499517764249,0.999999992769,-7.57985592839e-05,-8.78288835747e-05,-3.16771073118e-05,1793254784548889344
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,761,739,723,687.601362136,651,919,801,838,657,635.601362136,657,0.401833318488,-0.0154650952341,0.0499493650266,0.999999992249,-7.7748334456e-05,-9.21950450034e-05,-3.09328942466e-05,1793254784565555968
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,761,738.823108918,722.823108918,688,651,919,801,838,657.176891082,636,657,0.401978355018,-0.0154734603402,0.0499464875971,0.999999991633,-7.95333984893e-05,-9.74615969987e-05,-3.01622804294e-05,1793254784582222592
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,761,738.248306019,722.248306019,688,651,919,801,838,657.751693981,636,657,0.402144222744,-0.0154830395853,0.0499425618428,0.999999990807,-8.0947948904e-05,-0.000104753553202,-2.93322789185e-05,1793254784598889472
+130,2.166666667,POSE1_TO_POSE2_PRESS,785,761,738,722.334915543,688,651,919,801,838,657.665084457,635.665084457,656.665084457,0.402332665018,-0.0154923990543,0.0499432003321,0.999999990731,-8.21712593657e-05,-0.000104858784739,-2.81311892122e-05,1793254784615555840
+131,2.183333333,POSE1_TO_POSE2_PRESS,785,761,738,722.924539691,688,651,919,801,838,657.075460309,635.075460309,656.075460309,0.402538275615,-0.0155015913813,0.049947310001,0.99999999123,-8.32491289462e-05,-9.94983984461e-05,-2.66478809339e-05,1793254784632222464
+132,2.200000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,657.505097348,635,656.505097348,0.402777435779,-0.0155145665836,0.0499515748153,0.999999991509,-8.65918630396e-05,-9.43658505287e-05,-2.40498433627e-05,1793254784648889344
+133,2.216666667,POSE1_TO_POSE2_PRESS,785,760.916372257,738,722.916372257,688,651,918.916372257,801,838,658,635.083627743,657.083627743,0.403028323684,-0.0155275339277,0.0499564044081,0.999999992048,-8.88403061108e-05,-8.69639126597e-05,-2.11721301535e-05,1793254784665555968
+134,2.233333333,POSE1_TO_POSE2_PRESS,785,760.341930203,738,722.341930203,688,651,918.341930203,801,838,658,635.658069797,657.658069797,0.403319144038,-0.0155371967462,0.0499644150727,0.999999994243,-8.27154562824e-05,-6.60465888904e-05,-1.76131706034e-05,1793254784682222592
+135,2.250000000,POSE1_TO_POSE2_PRESS,785,760.237884634,738,722.237884634,688,651,918.237884634,801,838,658,636,657.762115366,0.403626197306,-0.0155377399359,0.0499718998603,0.999999996476,-6.62092473832e-05,-4.95053566556e-05,-1.46213438933e-05,1793254784698889728
+136,2.266666667,POSE1_TO_POSE2_PRESS,785,760.825600613,738,722.825600613,688,651,918.825600613,801,838,658,636,657.174399387,0.40395712256,-0.0155248718678,0.0499786112966,0.999999998553,-3.44362906912e-05,-3.93995727906e-05,-1.24635386608e-05,1793254784715557376
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.407427962,919,801.407427962,838,657.592572038,636,657,0.404315632869,-0.0155185919059,0.0499850565015,0.999999999541,-1.04343931131e-05,-2.65672144627e-05,-1.01310307454e-05,1793254784732224000
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.986770584,919,801.986770584,838,657.013229416,636,657,0.404685782712,-0.0155150918028,0.0499913893697,0.999999999838,1.02884970592e-05,-1.25843754126e-05,-7.72480690142e-06,1793254784748889856
+139,2.316666667,POSE1_TO_POSE2_PRESS,785,761,738.564207789,723,688,651.435792211,919,801.435792211,838.564207789,657.564207789,636,657,0.405080292135,-0.0155254696036,0.0499836625643,0.999999999518,1.95550165549e-05,-2.36673439695e-05,-4.68054583985e-06,1793254784765556480
+140,2.333333333,POSE1_TO_POSE2_PRESS,785,761,738.859607046,723,687.859607046,651.140392954,919,801,838.859607046,657.859607046,635.859607046,657,0.40547812806,-0.0155333000507,0.0499729894988,0.999999998623,3.13015747341e-05,-4.20640875678e-05,-2.10296573787e-06,1793254784782222848
+141,2.350000000,POSE1_TO_POSE2_PRESS,785,761,738.287138251,723,687.287138251,651.712861749,919,801,838.287138251,657.287138251,635.287138251,657,0.405884449664,-0.0155322926103,0.0499542601498,0.999999995379,5.15046888277e-05,-8.11670896869e-05,-1.00753968096e-06,1793254784798889472
+142,2.366666667,POSE1_TO_POSE2_PRESS,784.705914598,761,738.294085402,723,687,651.705914598,919,801,838,657,635,657,0.406322963053,-0.0155312595202,0.0499363697007,0.999999990672,7.45942528707e-05,-0.000114418259084,2.77091771218e-07,1793254784815556096
+143,2.383333333,POSE1_TO_POSE2_PRESS,784.115880549,761,738.884119451,723,687,651.115880549,919,801,838,657,635,657,0.406793872236,-0.0155302006176,0.0499193234644,0.999999984889,0.000100588557063,-0.000141780524866,1.75212750322e-06,1793254784832222720
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,761,738.557750525,722.557750525,687,651,919,801,838,657.442249475,635.442249475,657,0.407326550425,-0.0155308605263,0.0499267504186,0.999999984026,0.000127086322803,-0.000125529899491,6.2482048773e-06,1793254784848889344
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,761,738.007417705,722.007417705,687,651,919,801,838,657.992582295,635.992582295,657,0.407874324592,-0.0155319405031,0.0499401584872,0.999999983258,0.000153707130081,-9.86205210576e-05,1.14826081552e-05,1793254784865555968
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651,919,801,838.598631298,658,635.401368702,657,0.408487262672,-0.0155333652305,0.0499642949129,0.999999982039,0.00018099264864,-5.34572306098e-05,1.74987096152e-05,1793254784882222592
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.197890681,919,801,839,658,635.197890681,657,0.409099052971,-0.0155356781111,0.049984062639,0.999999978171,0.000206816273671,-1.86533812105e-05,2.31863895981e-05,1793254784898889216
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.782398012,919,801,839,658,635.782398012,657,0.409706861425,-0.0155397169637,0.0499950089185,0.999999973195,0.000229766071032,-4.57589695541e-06,2.82115705472e-05,1793254784915556352
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,761,738.365846422,722,687,651.634153578,919,801,838.634153578,657.634153578,636,657,0.410331958164,-0.0155418157485,0.0499877311239,0.999999966394,0.000255810266504,-2.73534847033e-05,3.20232804635e-05,1793254784932223232
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,761,738.948666791,722,687,651.051333209,919,801,838.051333209,657.051333209,636,657,0.410967308112,-0.0155427639296,0.0499696451072,0.999999956552,0.000283689667282,-7.1988852589e-05,3.51153121928e-05,1793254784948889856
+151,2.516666667,POSE1_TO_POSE2_PRESS,784.526693823,761,738.473306177,722,687.526693823,651.526693823,919,801,838.526693823,657,636,657,0.411638997293,-0.0155410690153,0.0499512789109,0.9999999464,0.00030873446047,-0.000102562956618,3.69239048868e-05,1793254784965556224
+152,2.533333333,POSE1_TO_POSE2_PRESS,784.896070788,761,738.103929212,722,687.896070788,651.896070788,919,801,839.103929212,657,636,657,0.412335070093,-0.0155400097285,0.0499418433169,0.999999945661,0.000306593104203,-0.000114532223797,3.95078489728e-05,1793254784982222592
+153,2.550000000,POSE1_TO_POSE2_PRESS,784.320327712,761,738.679672288,722,687.320327712,651.320327712,919,801,839.679672288,657,636,657,0.413125904894,-0.0155429949538,0.0499730733857,0.99999998116,0.000182275981766,-4.82053787972e-05,4.61744509378e-05,1793254784998889216
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.260925602,761,738.739074398,722,687,651.260925602,919,801.260925602,839.739074398,657.260925602,635.739074398,657,0.413891513693,-0.0155477952147,0.0499878903772,0.99999999622,7.50813597147e-05,-2.10558136857e-05,3.84518361474e-05,1793254785015555840
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.84908963,761,738.15091037,722,687,651.84908963,919,801.84908963,839.15091037,657.84908963,635.15091037,657,0.414625485545,-0.015554871793,0.0499821230014,0.999999998937,-1.06391859251e-05,-4.30402126714e-05,1.26830649816e-05,1793254785032222720
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,761,738,722,687,651.567674093,919,801.567674093,839,658,635.432325907,656.567674093,0.415407128479,-0.0155598619898,0.0499578190104,0.999999996644,-6.36985461999e-06,-8.12702973414e-05,8.10483532323e-06,1793254785048889344
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,761,738,722,687,651.0137065,919,801,839,657.9862935,636,656.0137065,0.416206383349,-0.0155640646019,0.0499282721291,0.999999991929,2.90319762007e-05,-0.000123205944202,1.09362309774e-05,1793254785065556224
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,761,738,722,687,651.588742484,919,801,839,657.411257516,636,656.588742484,0.417053109635,-0.0155655025755,0.0499460139941,0.999999993759,6.74679107981e-05,-8.72747612483e-05,1.77026334027e-05,1793254785082222592
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.836620537,761,738.163379463,721.836620537,687,652,919,801,839.163379463,657.163379463,636,657,0.417906913146,-0.01556616622,0.0499648419165,0.99999999302,0.000102880978662,-5.29886831791e-05,2.38312427116e-05,1793254785098889216
+160,2.666666667,POSE1_TO_POSE2_PRESS,784.26298552,761,738.73701448,721.26298552,687,652,919,801,839.73701448,657.73701448,636,657,0.418778487938,-0.0155648854783,0.0499863969924,0.999999990796,0.000130703446241,-2.28335640009e-05,2.8358315221e-05,1793254785115555840
+161,2.683333333,POSE1_TO_POSE2_PRESS,784.321572537,761,738.678427463,721,687,652,919,801.321572537,840,658,636,657,0.419631399128,-0.0155615990383,0.0499834195233,0.999999988393,0.000146409720727,-3.02785966716e-05,2.93574804108e-05,1793254785132222720
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.915377643,761,738.084622357,721,687,652,919,801.915377643,840,658,636,657,0.420468510293,-0.0155566146413,0.0499596736197,0.999999985676,0.000151858829317,-6.95546637544e-05,2.73700368439e-05,1793254785148889088
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,802,840,658,636,657,0.421437189024,-0.015561961059,0.049982244041,0.999999989057,0.000143690199299,-1.84072980137e-05,3.00189823086e-05,1793254785165555968
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,802,840,658,636,657,0.422416108222,-0.0155683898569,0.0500076690227,0.999999989584,0.000135591281268,3.68313763118e-05,3.30293497864e-05,1793254785182222848
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,802,840,658,636,657,0.423313362296,-0.0155703612056,0.0499990734901,0.999999988983,0.000143880536228,1.5243317366e-05,3.31657643159e-05,1793254785198889216
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,761.219048516,738,721,687,652,919,801.780951484,839.780951484,657.780951484,636,657,0.424231812597,-0.0155724423812,0.0499935071325,0.999999988816,0.000145799628596,4.0445179739e-06,3.30833095474e-05,1793254785215555840
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,761.797614782,738,721,687,652,919,801.202385218,839.202385218,657.202385218,636,657,0.425185051773,-0.0155747038128,0.0499929124676,0.999999989998,0.000137263565878,9.89729476608e-06,3.26416312181e-05,1793254785232222464
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,761.615539016,738,721,687,652,919,801,839,657,636,657,0.42612843418,-0.0155762350978,0.050002788417,0.999999990028,0.000136048402481,1.59007443133e-05,3.43929791146e-05,1793254785248889088
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,761.024238247,738,721,687,652,919,801,839,657,636,657,0.427066513593,-0.0155773735643,0.0500182975508,0.999999989433,0.000138771879144,2.19852553633e-05,3.73241738628e-05,1793254785265555968
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,801,839,657.552457856,636.552457856,657,0.427983793922,-0.015570576963,0.0499824321647,0.999999986918,0.000150913100785,-4.62710470923e-05,3.53280179828e-05,1793254785282222848
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,761.128399336,738,720.871600664,687,652,919,801,839.128399336,657.871600664,636.871600664,657,0.42891684065,-0.0155648853847,0.0499542206895,0.9999999817,0.000162438436603,-9.52898173701e-05,3.36602536228e-05,1793254785298889472
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,761.70388684,738,720.29611316,687,652,919,801,839.70388684,657.29611316,636.29611316,657,0.429907881736,-0.0155642225154,0.0499603064839,0.99999998271,0.000170417575731,-6.62588428734e-05,3.38693082872e-05,1793254785315556096
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.28666027,761.71333973,738,720,687,652,919,801,840,657,636,657,0.430863566155,-0.0155654447978,0.0499585076248,0.999999982294,0.000174276832136,-6.23957557896e-05,3.38724089898e-05,1793254785332222720
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.877156126,761.122843874,738,720,687,652,919,801,840,657,636,657,0.431781775442,-0.0155686651814,0.0499483517012,0.999999980705,0.000173769361654,-8.52084977168e-05,3.36572159503e-05,1793254785348889344
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.54158223,761,738,720,687,652,918.54158223,801,840,657,636,657,0.432741356692,-0.0155695224163,0.0499476155532,0.999999983454,0.000159844822977,-7.99654651604e-05,3.38835525241e-05,1793254785365555968
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761,738,720,687,652,918.036994593,801,840,657,636,657,0.433712750562,-0.0155697638291,0.0499510481204,0.999999986778,0.000144608916061,-6.59494277365e-05,3.44015191483e-05,1793254785382222848
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,761,738,720,687,652,918.611803261,801,840,657,636,657,0.43469788057,-0.0155700769878,0.0499791119161,0.999999985752,0.000161545660461,-3.15334471981e-05,3.7472993764e-05,1793254785398889472
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.186751924,761,738,720,687,652,919,801,839.813248076,657,636,657,0.435645009882,-0.015568668016,0.049988408394,0.99999998313,0.000176689868395,-3.17137887629e-05,3.89324247897e-05,1793254785415555840
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.761991916,761,738,720,687,652,919,801,839.238008084,657,636,657,0.436513088964,-0.0155636766066,0.049958664428,0.999999976229,0.000188105180467,-0.000103862637218,3.70384253014e-05,1793254785432222720
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,761.345800593,738,719.654199407,687,652,919,801,839.345800593,657,636,657,0.437433942936,-0.0155636026669,0.0499605694615,0.999999976315,0.000193864766773,-9.15846838508e-05,3.74123128276e-05,1793254785448889600
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,761.935656753,738,719.064343247,687,652,919,801,839.935656753,657,636,657,0.438392043771,-0.0155669993285,0.0499848114006,0.999999979894,0.000195632712442,-1.97208505507e-05,3.93868062675e-05,1793254785465556224
+182,3.033333333,POSE1_TO_POSE2_PRESS,786,762,738.517485439,719,687,652,919,801,840,657.517485439,636,657,0.439290363573,-0.0155646046388,0.0499820281925,0.999999982974,0.000178352471697,-2.65589540164e-05,3.92047001611e-05,1793254785482222592
+183,3.050000000,POSE1_TO_POSE2_PRESS,786,761.902918485,738.902918485,719,687,652,919,801,840,658,636.097081515,657,0.440179760611,-0.0155619419373,0.0499758158831,0.999999984785,0.000164741772688,-4.21595190203e-05,3.88815642893e-05,1793254785498889472
+184,3.066666667,POSE1_TO_POSE2_PRESS,786,761.329454907,738.329454907,719,687,652,919,801,840,658,636.670545093,657,0.441061290493,-0.015561443605,0.0499690138919,0.999999981499,0.000180582006086,-5.34727093083e-05,3.9162101337e-05,1793254785515556096
+185,3.083333333,POSE1_TO_POSE2_PRESS,785.750135675,761.249864325,738,719,687,652,919,801,840,657.750135675,636.750135675,657.249864325,0.441932615212,-0.0155615705263,0.0499758870055,0.999999979761,0.000193207065836,-3.93143664862e-05,4.00468476471e-05,1793254785532222720
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.162910321,761.837089679,738,719,687,652,919,801,840,657.162910321,636.162910321,657.837089679,0.442790161084,-0.0155625416505,0.0500012239294,0.999999978787,0.00020149107098,9.23505198067e-06,4.17473832478e-05,1793254785548889344
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+247,4.116666667,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,918.223102844,798,841,658,632.223102844,657.223102844,0.458310312762,-0.0156177060534,0.0496080497847,0.999999813585,8.33172987295e-05,-0.00060474794886,1.29855517825e-05,1793254786565556224
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,918.812234184,798,841,658,632.812234184,657.812234184,0.458311318619,-0.0156189334864,0.0496086620671,0.999999814304,8.20478445674e-05,-0.000603726563253,1.32197770149e-05,1793254786582222848
+249,4.150000000,HOLD_POSE2,786,762,739,717,685,649,918,798,841,658,632,657,0.458310142224,-0.01561913125,0.0496080972748,0.999999813396,8.12776735773e-05,-0.000605325502652,1.34930775839e-05,1793254786616526080
+250,4.166666667,HOLD_POSE2,786.58382835,762,739,717,685.58382835,649,918.58382835,798,841,658,632,657,0.458310796379,-0.0156203153812,0.0496086948774,0.999999814439,7.93821166101e-05,-0.000603856225615,1.33370986886e-05,1793254786633192704
+251,4.183333333,HOLD_POSE2,786.835177424,762,739,717,686,649,918.835177424,798,840.835177424,658,632,657,0.458311339556,-0.0156208831814,0.049608858301,0.999999814905,7.86018281261e-05,-0.000603187415178,1.32663272314e-05,1793254786649859584
+252,4.200000000,HOLD_POSE2,786.26121818,762,739,717,686,649,918.26121818,798,840.26121818,658,632,657,0.458311607255,-0.0156199210725,0.0496079439686,0.999999813949,8.05899538875e-05,-0.000604505590971,1.34070649189e-05,1793254786666526208
+253,4.216666667,HOLD_POSE2,786,762,739,717,686,649,918,798,840.322362643,658,632,657,0.458311429884,-0.0156191785106,0.0496074466557,0.999999813392,8.12728103397e-05,-0.000605334422376,1.34406578158e-05,1793254786683192576
+254,4.233333333,HOLD_POSE2,786,762,739,717,686,649,918,798,840.91397989,658,632,657,0.458310880767,-0.0156186193262,0.04960729766,0.999999813172,8.08654355967e-05,-0.000605754526972,1.33847576171e-05,1793254786699859200
+255,4.250000000,HOLD_POSE2,786,762,739,717.493421463,686,649,918,798,841,657.506578537,632,657,0.458311883203,-0.015618781475,0.0496081552797,0.999999814197,7.90524272664e-05,-0.000604305881806,1.30735296468e-05,1793254786716526080
+256,4.266666667,HOLD_POSE2,786,762,739,717.929658868,686,649,918,798,841,657.070341132,632,657.070341132,0.45831285944,-0.0156189921008,0.0496089774214,0.999999815134,7.75825504272e-05,-0.000602950541822,1.2792827616e-05,1793254786733192960
+257,4.283333333,HOLD_POSE2,786,762,739,717.355962125,686,649,918,798,841,657.644037875,632,657.644037875,0.45831175921,-0.0156186714166,0.0496083201525,0.999999813959,8.02794227838e-05,-0.000604538047154,1.30414226189e-05,1793254786749859840
+258,4.300000000,HOLD_POSE2,786,761.776308304,739,717,685.776308304,649,918.223691696,798,841,657.776308304,632,657.776308304,0.458310641829,-0.0156179367902,0.0496073210438,0.999999812924,8.16283203626e-05,-0.000606071613015,1.29172121334e-05,1793254786766526464
+259,4.316666667,HOLD_POSE2,786,761.186915646,739,717,685.186915646,649,918.813084354,798,841,657.186915646,632,657.186915646,0.458309496408,-0.015616525433,0.0496057630802,0.999999812125,8.07734895913e-05,-0.000607516996123,1.21835229155e-05,1793254786783192832
+260,4.333333333,HOLD_POSE2,786.396298133,761.396298133,739,717,685,649,918.603701867,798,841,657.396298133,632,657.396298133,0.458309723765,-0.0156181141691,0.0496055018506,0.999999812204,7.86465165896e-05,-0.000607662074147,1.23865014269e-05,1793254786799859456
+261,4.350000000,HOLD_POSE2,786.976642409,761.976642409,739,717,685,649,918.023357591,798,841,657.976642409,632,657.976642409,0.458310588658,-0.0156210961885,0.0496058428413,0.999999812685,7.59287436768e-05,-0.000607203273257,1.30244808723e-05,1793254786816525824
+262,4.366666667,HOLD_POSE2,786.447606925,762,739,717,685.552393075,649,918,798,841,658,632,657.447606925,0.458311768115,-0.0156202560518,0.0496067579546,0.999999813373,7.6008605386e-05,-0.000606057764317,1.30588378277e-05,1793254786833192448
+263,4.383333333,HOLD_POSE2,786,762,739,717,686,649,918,798,841,658,632,657.130388868,0.458312468821,-0.0156191602992,0.0496074806215,0.999999813889,7.65395773877e-05,-0.000605138206277,1.30595152895e-05,1793254786849858816
+264,4.400000000,HOLD_POSE2,786,762,739,717,686,649,918,798,841,658,632,657.71691276,0.45831144858,-0.0156177310519,0.0496074458352,0.999999813776,7.82382348063e-05,-0.000605109825874,1.30309255565e-05,1793254786866525696
+265,4.416666667,HOLD_POSE2,786.29931678,762,739,717,686,649,918.29931678,797.70068322,840.70068322,658,632,657.70068322,0.458311889878,-0.0156168725925,0.049607442941,0.999999813944,7.93354331217e-05,-0.000604692663097,1.28227174222e-05,1793254786883192576
+266,4.433333333,HOLD_POSE2,786.877877187,762,739,717,686,649,918.877877187,797.122122813,840.122122813,658,632,657.122122813,0.4583136947,-0.015616546642,0.0496074697999,0.999999814377,7.98715080303e-05,-0.000603912790955,1.2446936681e-05,1793254786899859456
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,762,739,717,685,649,918,798,840,658,632,657,0.458311577038,-0.0156185468882,0.0496065406715,0.999999813287,7.60375374632e-05,-0.000606209175577,1.24614630821e-05,1793254786932145664
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,762,739,717,685.575932639,649,918,797.424067361,840.575932639,657.424067361,632,657,0.458311526935,-0.0156168121992,0.0496066845434,0.999999812794,7.8822729987e-05,-0.000606661773371,1.26309718997e-05,1793254786948812288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,762,739,717,685.845355403,649,918,797,841,657.154644597,632,657,0.458311690427,-0.0156156423656,0.0496067018765,0.999999812515,8.07709762162e-05,-0.000606865472277,1.26936791206e-05,1793254786965478912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,762,739,717,685.258882366,649,918,797,841,657.741117634,632,657,0.458312450358,-0.0156160498297,0.0496063658633,0.999999812847,8.03821403803e-05,-0.000606374147859,1.24581543844e-05,1793254786982145280
+271,4.516666667,POSE2_TO_POSE3_RETREAT,786.323422598,762,739,717.323422598,685.323422598,649,918.323422598,797.323422598,841,658,632,657,0.458312638001,-0.0156166385851,0.0496063524767,0.999999813116,7.95783003087e-05,-0.000606036841888,1.24679511977e-05,1793254786998811904
+272,4.533333333,POSE2_TO_POSE3_RETREAT,786.902433657,762,739,717.902433657,685.902433657,649,918.902433657,797.902433657,841,658,632,657,0.458312373388,-0.0156173706078,0.0496065940495,0.999999813333,7.84464983463e-05,-0.000605821250814,1.26716162271e-05,1793254787015478784
+273,4.550000000,POSE2_TO_POSE3_RETREAT,786.522747273,761.522747273,739,717.522747273,686,649,919,797.522747273,841,658,632,657.477252727,0.458312070132,-0.0156180904867,0.0496064101764,0.99999981349,7.70509181143e-05,-0.000605739059825,1.28078308847e-05,1793254787032145664
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786,761,739,717,685.948341945,649,918.948341945,797.051658055,841,658,632,657.948341945,0.45831170888,-0.0156188498994,0.0496061453089,0.999999813615,7.56039684974e-05,-0.000605712527473,1.29094873647e-05,1793254787048812288
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,761,739,717,685.36948925,649,918.36948925,797.63051075,841,658,632,657.36948925,0.458310835674,-0.0156200378887,0.0496059337505,0.999999813562,7.41783088507e-05,-0.000605978123317,1.27979604048e-05,1793254787065478912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,761.212463523,739,717,685.212463523,649,918.212463523,797.787536477,841,657.787536477,632,657,0.458306876853,-0.0156204931196,0.0496041833537,0.999999812065,7.37778194632e-05,-0.000608494774808,1.27105797337e-05,1793254787082145536
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,761.79988732,739,717,685.79988732,649,918.79988732,797.20011268,841,657.20011268,632,657,0.458297472475,-0.0156196551623,0.0495997171815,0.999999807991,7.51865731262e-05,-0.000614984138506,1.2665812973e-05,1793254787098811904
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,762,738.617668696,717,686,649,919,797.382331304,841,657,632,657,0.458275708723,-0.015617430866,0.0495896640223,0.99999979861,7.57376249252e-05,-0.000630006372519,1.16893806704e-05,1793254787115478528
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,762,738.037797587,717,686,649,919,797.962202413,841,657,632,657,0.45824755923,-0.0156144902873,0.0495767242242,0.999999786187,7.5845526462e-05,-0.000649437300417,1.02315830455e-05,1793254787132145152
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,762,738.538271,717,686,649,918.461729,797.461729,841,657.538271,632,657,0.458197874249,-0.0156124400271,0.0495591070524,0.999999771457,7.55736471507e-05,-0.000671790981814,8.44612595979e-06,1793254787148812032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,761.887359892,739,716.887359892,686,649,918,797,840.887359892,658,632,657,0.458143604032,-0.0156101533371,0.0495415976882,0.999999756992,7.58530097682e-05,-0.000692977031643,6.69088778747e-06,1793254787165478912
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786,761.318796253,739,716.318796253,686,649,918,797,840.318796253,658,632,657,0.458076852524,-0.0156066583941,0.049525844782,0.999999745842,7.84707722137e-05,-0.000708612077122,5.15043922122e-06,1793254787182145792
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,786.860436612,761.860436612,738.139563388,716.860436612,686,649,918,797,840.860436612,658,632,657,0.457915249176,-0.0155949453344,0.0495072905194,0.999999728661,8.44804875095e-05,-0.000731804160852,2.13859938981e-06,1793254787215479040
+285,4.750000000,POSE2_TO_POSE3_RETREAT,787,762,738.443302071,717,686,649,918,797.443302071,841,658,632,657,0.457817610135,-0.0155890885872,0.0495065759244,0.999999727359,8.71941827109e-05,-0.000733264975903,1.51554575658e-06,1793254787232145664
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786.978575589,762,739,717,686,649,918.021424411,797.978575589,841,658,632,657,0.457715434999,-0.0155833352,0.0495075464995,0.999999727799,8.98630680989e-05,-0.000732342213977,1.10661801569e-06,1793254787248812288
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786.405328209,762,739,717,686,649,918.594671791,797.405328209,841,658,632,657,0.457585566659,-0.0155730289457,0.0495045435887,0.999999723779,9.48446984331e-05,-0.000737187487396,-6.07099077111e-07,1793254787265478912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786.172627291,762,739,717,686,649,918.827372709,797.172627291,841,658,632,657,0.457445815456,-0.0155629624996,0.0495020908838,0.999999719523,9.98591243278e-05,-0.000742279631041,-1.99885427404e-06,1793254787282145536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786.761947299,762,739,717,686,649,918.238052701,797.761947299,841,658,632,657,0.457282208735,-0.0155534749107,0.0495009662824,0.999999714761,0.000104952712375,-0.000747967676487,-2.6134483418e-06,1793254787298812160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786.655547953,762,739,717,686,649.344452047,918.344452047,798,841,658,632,657,0.457102525879,-0.0155436913785,0.0495012167395,0.999999711515,0.000108491771463,-0.000751788909512,-3.49897754513e-06,1793254787315478784
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786.077661826,762,739,717,686,649.922338174,918.922338174,798,841,658,632,657,0.456911948261,-0.0155337072856,0.0495023990692,0.999999709313,0.000110977331631,-0.000754345010161,-4.56811870802e-06,1793254787332145664
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,786,762,739,717,685.078893721,649.078893721,918.921106279,798,841,658,632,657,0.456462813558,-0.0155181765702,0.0495070554431,0.999999709319,0.000114302598493,-0.000753837643074,-4.98696125551e-06,1793254787365478912
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,784.110713404,760.110713404,738,722.110713404,687,651,918,800.889286596,838,658,635,657,0.40673212835,-0.015374221471,0.0498195633715,0.999999947543,-9.18482772143e-05,-0.000305026997261,-5.86161564274e-05,1793254788515479040
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784.686811575,760.686811575,738,722.686811575,687,651,918,800.313188425,838,658,635,657,0.406213025084,-0.0153719522641,0.0497951299246,0.999999932134,-0.000100614536966,-0.000348961596131,-6.19265143906e-05,1793254788532145664
+364,6.066666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,687.269726179,651,918,800.269726179,838,658,635,657,0.405720981647,-0.0153698679437,0.0497754009977,0.999999918996,-0.000108620420952,-0.000382092796981,-6.49272557878e-05,1793254788548812288
+365,6.083333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,687.860760749,651,918,800.860760749,838,658,635,657,0.405261172971,-0.0153680038675,0.0497612762806,0.999999910078,-0.000115720515159,-0.000402354564729,-6.75591696964e-05,1793254788565478656
+366,6.100000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.557402987,688,651.442597013,918.442597013,801,838,658,635,657,0.404865552114,-0.0153697534836,0.0497692683914,0.999999914803,-0.000121190605935,-0.000388863841774,-6.7020712194e-05,1793254788582145280
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784.978606545,761,738,722.021393455,687.978606545,651.978606545,918.978606545,800.978606545,838.021393455,658,635,657,0.404492084003,-0.0153727907568,0.0497846652833,0.99999992352,-0.000126510685616,-0.000364239800512,-6.54617599259e-05,1793254788598812160
+368,6.133333333,POSE2_TO_POSE3_RETREAT,784.405100088,761,738,722.594899912,687.405100088,651.405100088,918.405100088,800.405100088,838.594899912,658,635,657,0.4041797961,-0.0153803172456,0.0498152518399,0.99999993666,-0.000140923839785,-0.000320747726876,-6.27823765994e-05,1793254788615478784
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,784.762168768,761,738,722.237831232,687.762168768,651,918,800.762168768,838.237831232,658,635,657,0.403564776465,-0.0153885643788,0.0498543024356,0.999999950606,-0.000157835687502,-0.000265016009693,-6.0357376008e-05,1793254788648812288
+371,6.183333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.345733747,688,651,918.345733747,801,838,658,635,657,0.403264612011,-0.0153886077123,0.0498516875073,0.999999953607,-0.000118753648581,-0.000273752901772,-6.11860570072e-05,1793254788665478912
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,800.498298425,838,658,635,657,0.402709064666,-0.0153893715037,0.0498256519545,0.999999944431,-5.35655634914e-05,-0.000322560455171,-6.49873557902e-05,1793254788698812160
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.348271958,688,651,919,800.651728042,838,658,635,657,0.4022605132,-0.0153906898711,0.0498135217983,0.999999935688,-7.50958490857e-05,-0.000344058306046,-6.78888596847e-05,1793254788732145408
+376,6.266666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.233831259,687.766168741,651,918.766168741,801,838,658,635,657,0.402070618112,-0.0153909055858,0.0498128408071,0.999999934632,-8.29198999797e-05,-0.000345213791435,-6.84597465198e-05,1793254788748812032
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.016230954,687.983769046,651,918.983769046,801,838,658,635,657,0.401637495968,-0.0153968624214,0.0498236308531,0.999999943533,-9.86413085568e-05,-0.000314197051778,-6.69596863896e-05,1793254788798812416
+380,6.333333333,POSE2_TO_POSE3_RETREAT,785.559586557,761,738,722.559586557,688,651,919,801,838,658,635,657,0.401533857442,-0.0153965408956,0.0498289006649,0.999999951801,-3.81215556169e-05,-0.000303744993617,-5.18107825596e-05,1793254788815479296
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,785.275385276,760.275385276,738,723,688,651,919,801,838,657.275385276,635,657,0.40135522197,-0.0153909414047,0.049835804228,0.999999957131,9.34162674509e-06,-0.000289699645975,-4.15272821143e-05,1793254788848812288
+383,6.383333333,POSE2_TO_POSE3_RETREAT,785,760.30898264,738,723,688,651,919,801,838,657,635,657,0.401280640927,-0.0153923204433,0.0498370144691,0.999999957781,2.43084994706e-06,-0.000287472958188,-4.23156038149e-05,1793254788865478656
+384,6.400000000,POSE2_TO_POSE3_RETREAT,785,760.891328647,738,723,688,651,919,801,838,657,635,657,0.401211584984,-0.0153987177946,0.0498372233308,0.999999957651,-1.04215171995e-05,-0.000287701178844,-4.26423851407e-05,1793254788882145536
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,785,760.955360687,738,722,688,651,919,801,838,657,635,657,0.401110729832,-0.0154043854089,0.0498341173466,0.99999995651,-2.4853147354e-05,-0.000290558970313,-4.40176626202e-05,1793254788915478784
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,785,760.197989494,738,722.197989494,688,651,918.802010506,801,838,657,635,657,0.401053412637,-0.0154010967059,0.0498354846538,0.999999957797,-2.29384151068e-05,-0.000286201370723,-4.43627866994e-05,1793254788948812800
+389,6.483333333,POSE2_TO_POSE3_RETREAT,785,760.789739516,738,722.789739516,688,651,918.210260484,801,838,657,635,657,0.401033158265,-0.0154026954924,0.0498369686236,0.999999958988,-2.72681351491e-05,-0.000281623739506,-4.43684323312e-05,1793254788965479424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,785,760.626561166,738,722.626561166,687.626561166,651,918,801,838,657,635,657,0.401017428488,-0.0154031755505,0.0498380520549,0.999999959656,-2.87687781812e-05,-0.00027905644906,-4.4594655572e-05,1793254788982145792
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,784.470051753,760.529948247,738,722,687.529948247,651,918,800.470051753,838,657,635,657,0.400998495511,-0.0154046701808,0.0498406508367,0.999999960936,-3.10074500544e-05,-0.000274177767137,-4.46500714407e-05,1793254789015478784
+393,6.550000000,POSE2_TO_POSE3_RETREAT,784.108448883,761,738,722.108448883,688,651,918,800,838,657.108448883,635,657,0.400994184149,-0.015406034344,0.0498424756203,0.999999961811,-3.28079684851e-05,-0.000270797296447,-4.43914467261e-05,1793254789032145408
+394,6.566666667,POSE2_TO_POSE3_RETREAT,784.693241221,761,738,722.693241221,688,651,918,800,838,657.693241221,635,657,0.400993014489,-0.0154055353785,0.049844348774,0.999999962505,-3.15064054834e-05,-0.000268353344513,-4.4531102099e-05,1793254789048812032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,784.725223811,761,738,722.725223811,688,651.274776189,918.274776189,800.274776189,838,658,635,657,0.40099214515,-0.0154057417494,0.0498457283329,0.999999963102,-3.15581466644e-05,-0.000266156114024,-4.4272455299e-05,1793254789065478912
+396,6.600000000,POSE2_TO_POSE3_RETREAT,784.147282677,761,738,722.147282677,688,651.852717323,918.852717323,800.852717323,838,658,635,657,0.40099160716,-0.0154067263292,0.049846563301,0.999999963594,-3.31030097414e-05,-0.000264231094928,-4.35743553857e-05,1793254789082145792
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784.432231881,761,738,722.432231881,688,651.567768119,918.567768119,801,838,657.567768119,635,657,0.400990874171,-0.0154075400941,0.0498472405049,0.999999963837,-3.49842901598e-05,-0.000263033867289,-4.37711305486e-05,1793254789098812672
+398,6.633333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.987843699,688,651,918.012156301,800.987843699,838,657.012156301,635,657,0.400990114086,-0.0154082396054,0.0498478630907,0.999999963999,-3.68760352704e-05,-0.000262073794853,-4.42610303285e-05,1793254789115479552
+399,6.650000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.413844664,688,651,918.586155336,800.413844664,838,657.586155336,635,657,0.400991183851,-0.0154063584879,0.049848455002,0.999999964501,-3.39339100409e-05,-0.000260570876162,-4.41539105733e-05,1793254789132145920
+400,6.666666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.160319219,688,651,919,800.160319219,838,657.839680781,635,657,0.400991616511,-0.0154052315162,0.0498490241644,0.99999996486,-3.21745021385e-05,-0.000259417561095,-4.41195694671e-05,1793254789148812288
+401,6.683333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.734909036,688,651,919,800.734909036,838,657.265090964,635,657,0.400990402872,-0.0154060532847,0.0498495345427,0.999999964876,-3.34712783114e-05,-0.000259167634401,-4.4273291002e-05,1793254789165478912
+402,6.700000000,POSE2_TO_POSE3_RETREAT,785,760.680559848,738.319440152,723,688,651,919,801,838,657.319440152,635,657,0.400988952007,-0.015408174919,0.0498491033143,0.999999964578,-3.67314325554e-05,-0.000259914308583,-4.40368798222e-05,1793254789182145536
+403,6.716666667,POSE2_TO_POSE3_RETREAT,785,760.087513871,738.912486129,723,688,651,919,801,838,657.912486129,635,657,0.400987297954,-0.01541140991,0.0498478655842,0.999999963992,-4.16732528311e-05,-0.000261514588064,-4.34663134494e-05,1793254789198812160
+404,6.733333333,POSE2_TO_POSE3_RETREAT,785,760.493112412,738.506887588,723,688,651,918.506887588,801,838,658,635,657,0.400988007841,-0.0154097713555,0.0498485043345,0.999999964269,-3.99739057564e-05,-0.000260669107029,-4.37727117295e-05,1793254789215478784
+405,6.750000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.070959753,801,837.929040247,657.929040247,635,657,0.400988988897,-0.0154076933447,0.0498493828495,0.999999964677,-3.74482453027e-05,-0.000259411339759,-4.41508677315e-05,1793254789232145664
+406,6.766666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,918.644353563,801,837.355646437,657.355646437,635,657,0.400988992431,-0.0154084773992,0.04984965897,0.999999964999,-3.72121172776e-05,-0.000258232204157,-4.39621849613e-05,1793254789248812032
+407,6.783333333,POSE2_TO_POSE3_RETREAT,784.776105518,761,738,722.776105518,687.776105518,651,919,801,837.223894482,657.223894482,635,657,0.4009896605,-0.0154089072754,0.0498502523593,0.99999996534,-3.67538955422e-05,-0.000256996802696,-4.38447655861e-05,1793254789265478656
+408,6.800000000,POSE2_TO_POSE3_RETREAT,784.186524441,761,738,722.186524441,687.186524441,651,919,801,837.813475559,657.813475559,635,657,0.400991413953,-0.0154087586727,0.0498513639436,0.99999996571,-3.59329283741e-05,-0.000255669502084,-4.38437406e-05,1793254789282145280
+409,6.816666667,POSE2_TO_POSE3_RETREAT,784.397273427,760.602726573,738,722.397273427,687.397273427,651,919,801,838,658,635,657,0.400991213614,-0.0154095961718,0.0498511689082,0.999999965563,-3.67943506117e-05,-0.000256131129856,-4.37927640308e-05,1793254789298812160
+410,6.833333333,POSE2_TO_POSE3_RETREAT,784.978394936,760.021605064,738,722.978394936,687.978394936,651,919,801,838,658,635,657,0.400990109109,-0.0154108900138,0.0498503692024,0.999999965173,-3.84343401164e-05,-0.000257420628467,-4.37186711336e-05,1793254789315478784
+411,6.850000000,POSE2_TO_POSE3_RETREAT,785,760.551948215,738.551948215,723,688,651,919,801,838,658,635,657,0.400990316831,-0.0154105061198,0.0498509154566,0.999999965499,-3.79135261733e-05,-0.000256222620285,-4.37558354485e-05,1793254789332145408
+412,6.866666667,POSE2_TO_POSE3_RETREAT,785,761,738.871817505,723,688,651,919,801,838,657.871817505,635,657,0.400990286633,-0.0154100503911,0.049851274926,0.999999965719,-3.70971757557e-05,-0.000255484669038,-4.37448961352e-05,1793254789348812288
+413,6.883333333,POSE2_TO_POSE3_RETREAT,785,761,738.284943747,723,688,651,919,801,838,657.284943747,635,657,0.400989223732,-0.0154095694313,0.0498507800201,0.999999965464,-3.55218431173e-05,-0.000256736711643,-4.35464485202e-05,1793254789365479168
+414,6.900000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,657.299767888,635,657,0.400988315849,-0.0154091203488,0.0498505724134,0.999999965293,-3.52043152937e-05,-0.00025743546025,-4.36156008907e-05,1793254789382145792
+415,6.916666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,657.882439007,635,657,0.400987554263,-0.0154087013503,0.0498506359427,0.999999965202,-3.60738294657e-05,-0.000257612042589,-4.39372983362e-05,1793254789398812416
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72b69a670388c926e762fcee749d7fff0db695fb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,417 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+1,0.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+2,0.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+3,0.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
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+365,6.083333333,pose2_to_pose3_retreat,0.578955242915,-0.00981814566914,1.04002045116,0.549526388709,-0.0011439144532,1.0396921565
+366,6.100000000,pose2_to_pose3_retreat,0.578643847947,-0.00981818568601,1.0400204082,0.549214994701,-0.00114395112793,1.03969211582
+367,6.116666667,pose2_to_pose3_retreat,0.578360394295,-0.00981828412219,1.04002028696,0.548931542931,-0.00114404306647,1.03969199749
+368,6.133333333,pose2_to_pose3_retreat,0.57810085203,-0.00981831899962,1.04002030184,0.548672000854,-0.00114407730579,1.03969201247
+369,6.150000000,pose2_to_pose3_retreat,0.577855967631,-0.00981827615534,1.04002040738,0.548427116539,-0.00114403428858,1.03969211504
+370,6.166666667,pose2_to_pose3_retreat,0.577622844563,-0.00981820655292,1.04002034877,0.548193992467,-0.00114396824084,1.03969205255
+371,6.183333333,pose2_to_pose3_retreat,0.577398109914,-0.00981819536032,1.04002052479,0.547969257586,-0.0011439578407,1.0396922284
+372,6.200000000,pose2_to_pose3_retreat,0.577183304442,-0.00981828954019,1.04002068055,0.547754452488,-0.00114405083295,1.0396923821
+373,6.216666667,pose2_to_pose3_retreat,0.576984235719,-0.00981839837833,1.04002058401,0.547555384363,-0.00114415783155,1.03969228064
+374,6.233333333,pose2_to_pose3_retreat,0.576802095833,-0.00981838028887,1.04002040367,0.547373244718,-0.00114413896797,1.03969209921
+375,6.250000000,pose2_to_pose3_retreat,0.576639439201,-0.00981827578839,1.04002055359,0.54721058711,-0.00114403752265,1.039692256
+376,6.266666667,pose2_to_pose3_retreat,0.576495153235,-0.00981825752375,1.04002054104,0.54706630095,-0.00114401984764,1.03969224528
+377,6.283333333,pose2_to_pose3_retreat,0.576369712286,-0.00981833757107,1.04002036687,0.54694086243,-0.00114409168095,1.03969207037
+378,6.300000000,pose2_to_pose3_retreat,0.576259416685,-0.00981816383778,1.04002043426,0.546830564062,-0.0011439270478,1.0396921454
+379,6.316666667,pose2_to_pose3_retreat,0.576163235706,-0.00981818794646,1.0400205423,0.546734383454,-0.00114395007999,1.03969224857
+380,6.333333333,pose2_to_pose3_retreat,0.576080799791,-0.00981832899823,1.04002058779,0.546651949646,-0.00114408439415,1.03969228331
+381,6.350000000,pose2_to_pose3_retreat,0.57600807992,-0.00981819359997,1.04002056211,0.546579226384,-0.00114396032175,1.03969226284
+382,6.366666667,pose2_to_pose3_retreat,0.575943917587,-0.00981830922609,1.04002044744,0.546515065384,-0.00114407125831,1.03969215258
+383,6.383333333,pose2_to_pose3_retreat,0.575887530795,-0.0098183548105,1.04002040055,0.546458679279,-0.00114411432508,1.03969211054
+384,6.400000000,pose2_to_pose3_retreat,0.575838889432,-0.00981832435608,1.04002059104,0.54641003849,-0.00114408206702,1.03969229709
+385,6.416666667,pose2_to_pose3_retreat,0.575798000154,-0.00981825492619,1.04002071903,0.546369149056,-0.00114401325079,1.03969242291
+386,6.433333333,pose2_to_pose3_retreat,0.575764336216,-0.00981821673722,1.04002052554,0.546335483857,-0.00114397904704,1.0396922372
+387,6.450000000,pose2_to_pose3_retreat,0.575738129563,-0.00981828827576,1.04002055758,0.546309276835,-0.00114405220581,1.03969225939
+388,6.466666667,pose2_to_pose3_retreat,0.575717543863,-0.00981826092399,1.04002045818,0.546288691585,-0.00114402330585,1.03969216061
+389,6.483333333,pose2_to_pose3_retreat,0.57570226403,-0.00981838012775,1.04002043994,0.546273413615,-0.00114413619705,1.03969214219
+390,6.500000000,pose2_to_pose3_retreat,0.575690702489,-0.00981835914964,1.04002042975,0.546261851769,-0.00114411616309,1.0396921345
+391,6.516666667,pose2_to_pose3_retreat,0.575682468712,-0.00981819908986,1.04002039881,0.546253615752,-0.00114396355624,1.03969210744
+392,6.533333333,pose2_to_pose3_retreat,0.575677046377,-0.00981826473721,1.04002034082,0.546248194345,-0.00114402622186,1.03969204511
+393,6.550000000,pose2_to_pose3_retreat,0.575673729539,-0.00981826675397,1.04002036234,0.546244877439,-0.00114402851409,1.03969206542
+394,6.566666667,pose2_to_pose3_retreat,0.575672126752,-0.00981824844865,1.04002040156,0.546243274298,-0.00114401140312,1.03969210478
+395,6.583333333,pose2_to_pose3_retreat,0.575671156146,-0.00981823736341,1.0400204253,0.546242303478,-0.00114400104116,1.03969212861
+396,6.600000000,pose2_to_pose3_retreat,0.575670640975,-0.00981823221533,1.04002044004,0.546241788209,-0.00114399621902,1.03969214344
+397,6.616666667,pose2_to_pose3_retreat,0.575670428876,-0.00981823468049,1.04002045939,0.546241576174,-0.00114399845721,1.03969216309
+398,6.633333333,pose2_to_pose3_retreat,0.575670367628,-0.00981823539237,1.04002046497,0.546241514944,-0.00114399910355,1.03969216876
+399,6.650000000,pose2_to_pose3_retreat,0.575670228098,-0.00981823701408,1.0400204777,0.546241375456,-0.00114400057595,1.03969218168
+400,6.666666667,pose2_to_pose3_retreat,0.575670005394,-0.0098182396025,1.04002049802,0.546241152819,-0.00114400292605,1.03969220231
+401,6.683333333,pose2_to_pose3_retreat,0.575669679115,-0.00981824339474,1.04002052778,0.546240826638,-0.00114400636914,1.03969223254
+402,6.700000000,pose2_to_pose3_retreat,0.57566931114,-0.00981824767161,1.04002056135,0.546240458773,-0.00114401025223,1.03969226662
+403,6.716666667,pose2_to_pose3_retreat,0.575669006702,-0.00981825121,1.04002058912,0.546240154427,-0.00114401346484,1.03969229482
+404,6.733333333,pose2_to_pose3_retreat,0.575668843288,-0.00981825310932,1.04002060402,0.546239991061,-0.00114401518929,1.03969230996
+405,6.750000000,pose2_to_pose3_retreat,0.575668761201,-0.00981825406339,1.04002061151,0.546239908999,-0.00114401605551,1.03969231757
+406,6.766666667,pose2_to_pose3_retreat,0.575668284318,-0.00981825960606,1.04002065501,0.546239432259,-0.00114402108787,1.03969236174
+407,6.783333333,pose2_to_pose3_retreat,0.575667981672,-0.00981826769712,1.04002060899,0.546239129603,-0.00114402922657,1.03969231533
+408,6.800000000,pose2_to_pose3_retreat,0.575667883191,-0.00981827092357,1.04002058445,0.546239031106,-0.00114403251675,1.03969229057
+409,6.816666667,pose2_to_pose3_retreat,0.575667766758,-0.00981827473813,1.04002055544,0.546238914654,-0.00114403640664,1.03969226129
+410,6.833333333,pose2_to_pose3_retreat,0.575667711713,-0.00981827654153,1.04002054173,0.546238859599,-0.00114403824566,1.03969224745
+411,6.850000000,pose2_to_pose3_retreat,0.575667519163,-0.00981828284984,1.04002049376,0.546238667018,-0.00114404467855,1.03969219904
+412,6.866666667,pose2_to_pose3_retreat,0.575667264411,-0.00981829119602,1.0400204303,0.546238412224,-0.00114405318957,1.03969213498
+413,6.883333333,pose2_to_pose3_retreat,0.575667086192,-0.00981829129665,1.04002046061,0.546238234341,-0.00114405207502,1.03969216725
+414,6.900000000,pose2_to_pose3_retreat,0.575666907835,-0.00981828915985,1.04002052007,0.546238056464,-0.00114404820329,1.03969222961
+415,6.916666667,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d2824fce36ed9bc178c93ea9062c2468b2c232c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ce61098140b38b57bf4df1d6c9de4bb93ef34a8a3fdb13e3e3ba52309732bc9
+size 26504021
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..49c0de663f79a2b78dc0d94c55cf3eecc2ce2de6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+30,0.500000000,BASELINE,785,761,738.414192777,723,688,651.585807223,919,801,838,658,635,657,0.40098687539,-0.0154131258898,0.0498513671609,0.999999965656,-4.17940266623e-05,-0.00025504265114,-4.35171578284e-05,1793254790046196224
+31,0.516666667,BASELINE,785,761,738.990041661,723,688,651.009958339,919,801,838,658,635,657,0.400986953304,-0.0154145081076,0.0498516898584,0.999999965941,-4.32564495141e-05,-0.000253716426337,-4.33096280197e-05,1793254790062862848
+32,0.533333333,BASELINE,785,761,738.43570811,723,688,651,919,801,838,658,635,657,0.40098912721,-0.0154131909556,0.0498532319615,0.99999996651,-4.19032936878e-05,-0.000251633718708,-4.36304162869e-05,1793254790079529728
+33,0.550000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635.14275455,657,0.400990875631,-0.0154120365604,0.0498545396259,0.99999996696,-4.0581955219e-05,-0.000250025761551,-4.38253804964e-05,1793254790096196608
+34,0.566666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635.734556171,657,0.400991169626,-0.015411543555,0.0498550423421,0.999999967031,-3.95165575187e-05,-0.000249953049482,-4.35953089198e-05,1793254790112863488
+35,0.583333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635.680439619,657,0.400990284542,-0.0154116765665,0.0498547954351,0.999999966893,-3.94947598484e-05,-0.000250545931328,-4.33658378172e-05,1793254790129530368
+36,0.600000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635.100964034,657,0.400988440454,-0.0154123187504,0.0498539388202,0.999999966585,-4.03217766541e-05,-0.000251680175575,-4.31368550865e-05,1793254790146196992
+37,0.616666667,BASELINE,784.527794124,761,738,723,688,651.472205876,918.527794124,801,838,657.527794124,635,656.527794124,0.400988546406,-0.0154110461183,0.0498536164494,0.999999966428,-3.97795376558e-05,-0.000252332700972,-4.34709230458e-05,1793254790162863360
+38,0.633333333,BASELINE,784.045419906,761,738,722.954580094,688,651.954580094,918.045419906,801,838,657.045419906,635,656.045419906,0.400988968898,-0.0154095422681,0.0498533771414,0.999999966301,-3.90855163865e-05,-0.000252871941846,-4.38930060289e-05,1793254790179529728
+39,0.650000000,BASELINE,784.635106096,761,738,722.364893904,688,651.364893904,918.635106096,801,838,657.635106096,635,656.635106096,0.400988254066,-0.0154101090843,0.0498527824104,0.99999996616,-4.00346650942e-05,-0.000253271656078,-4.39461758448e-05,1793254790196196608
+40,0.666666667,BASELINE,785,761,738,722,688,651,918.779087129,801,838,657.779087129,635,657,0.40098815672,-0.0154109328533,0.0498527816035,0.999999966165,-4.05361860892e-05,-0.000253193039822,-4.38076692339e-05,1793254790212863488
+41,0.683333333,BASELINE,785,761,738,722,688,651,918.199577649,801,838,657.199577649,635,657,0.400989061707,-0.0154121737207,0.0498537448834,0.99999996641,-4.03110957636e-05,-0.000252337974028,-4.33580240405e-05,1793254790229529856
+42,0.700000000,BASELINE,785,761,738,722.378340898,687.621659102,651,918.378340898,801,838,657.378340898,635,657,0.400989236498,-0.0154126589324,0.049854132136,0.999999966503,-4.11129943911e-05,-0.000251856291938,-4.3262398891e-05,1793254790246196480
+43,0.716666667,BASELINE,785,761,738,722.955423712,687.044576288,651,918.955423712,801,838,657.955423712,635,657,0.400989027717,-0.0154127471991,0.0498542168022,0.999999966515,-4.24543688077e-05,-0.000251570747784,-4.33527399625e-05,1793254790262863360
+44,0.733333333,BASELINE,785,761,738.530163802,723,687.530163802,651,919,801,838,657.469836198,635.530163802,657,0.400988714226,-0.0154117900159,0.0498538311845,0.99999996636,-4.13618874262e-05,-0.000252334967702,-4.35532834543e-05,1793254790279529984
+45,0.750000000,BASELINE,785,761,738.892497804,723,688,651,919,801,838,657,635.892497804,657,0.40098829171,-0.0154110186564,0.0498533837189,0.999999966229,-4.04011470688e-05,-0.000252972480569,-4.3749180182e-05,1793254790296196352
+46,0.766666667,BASELINE,785,761,738.302620711,723,688,651,919,801,838,657,635.302620711,657,0.400987419323,-0.0154114737996,0.0498528353815,0.999999966284,-4.09457443433e-05,-0.000252647133646,-4.38828322704e-05,1793254790312862976
+47,0.783333333,BASELINE,785,761,738,722.728284837,688,651,919,801,838,657,635,657,0.400986396276,-0.0154118958977,0.0498520933264,0.999999966045,-4.16316647138e-05,-0.000253475834073,-4.38968013187e-05,1793254790329529600
+48,0.800000000,BASELINE,785,761,738,722.170321361,688,651,919,801,838,657,635,657,0.400985214512,-0.0154122831834,0.0498511471922,0.999999965494,-4.24664671555e-05,-0.000255520308013,-4.37846858906e-05,1793254790346196224
+49,0.816666667,BASELINE,785,761,738,722.414940117,688,651,918.585059883,801,838,657,635,657,0.400986772475,-0.0154125984026,0.0498522155895,0.999999965959,-4.26922794857e-05,-0.000253661510323,-4.37555529705e-05,1793254790362863616
+50,0.833333333,BASELINE,785,761,738,723,688,651,918,801,838,657.011772983,635,657,0.400989478963,-0.0154129207709,0.0498541291303,0.999999966842,-4.26993986194e-05,-0.000250157937335,-4.3752958126e-05,1793254790379531264
+51,0.850000000,BASELINE,785,761,738,723,688,651,918,801,838,657.588327192,635,657,0.400989534929,-0.0154151051298,0.0498541239146,0.999999966793,-4.50515922566e-05,-0.000250023752327,-4.32743498485e-05,1793254790396197632
+52,0.866666667,BASELINE,785,761,738.16969815,723,688,651,918.16969815,801,838,658,635,657,0.400989023303,-0.0154159752139,0.049853665995,0.999999966563,-4.59283135602e-05,-0.000250808779499,-4.31170916029e-05,1793254790412864000
+53,0.883333333,BASELINE,785,761,738.763095439,723,688,651,918.763095439,801,838,658,635,657,0.400987094524,-0.0154135638416,0.0498520777727,0.999999965883,-4.31211032233e-05,-0.000253888878316,-4.37621740863e-05,1793254790429529856
+54,0.900000000,BASELINE,785,761,738.654738024,723,687.654738024,651,919,801,838,658,635,657,0.400986963232,-0.0154121336596,0.0498521017701,0.999999965968,-4.17116196332e-05,-0.000253754285589,-4.39555053266e-05,1793254790446196480
+55,0.916666667,BASELINE,785,761,738.080034821,723,687.080034821,651,919,801,838,658,635,657,0.400988026448,-0.0154113555204,0.0498531971558,0.999999966567,-4.12309848574e-05,-0.000251483393871,-4.38486286813e-05,1793254790462863104
+56,0.933333333,BASELINE,785,761,738,722.504692889,687.495307111,651,919,801,838,658,635,657,0.400988428442,-0.0154116812862,0.0498535666498,0.999999966566,-4.03243956237e-05,-0.000251657033973,-4.37063201939e-05,1793254790479529728
+57,0.950000000,BASELINE,784.927756805,761,738,722,688,651,919,801,838,657.927756805,635,657,0.400988692335,-0.0154122759607,0.0498537909502,0.999999966478,-3.98164252349e-05,-0.000252112842833,-4.35537786128e-05,1793254790496196352
+58,0.966666667,BASELINE,784.340186739,761,738,722,688,651,919,801,838,657.340186739,635,657,0.400988734246,-0.0154135147822,0.0498538173176,0.999999966459,-4.26434949339e-05,-0.000251760143133,-4.33691347295e-05,1793254790512862976
+59,0.983333333,BASELINE,784,761,738,722,687.755097393,651,919,801,838,657.244902607,635,657,0.400989300787,-0.0154148682166,0.0498540748699,0.999999966523,-4.47883286028e-05,-0.000251159993318,-4.31992208962e-05,1793254790529529856
+60,1.000000000,BASELINE,784,761,738,722,687.173419303,651,919,801,838,657.826580697,635,657,0.400990588768,-0.0154163792599,0.0498546503339,0.999999966711,-4.59949923063e-05,-0.000250219564791,-4.30495629245e-05,1793254790546196992
+61,1.016666667,BASELINE,784.403717197,761,738,722,687.403717197,651,919,801,838,658,635,657,0.400990024833,-0.015414824434,0.0498546171349,0.999999966804,-4.34860673409e-05,-0.000250239205021,-4.33624634193e-05,1793254790562863616
+62,1.033333333,BASELINE,784.978924496,761,738,722,687.978924496,651,919,801,838,658,635,657,0.400988674244,-0.0154119672949,0.0498543253893,0.999999966845,-3.93988427267e-05,-0.000250666661198,-4.38718484896e-05,1793254790579529984
+63,1.050000000,BASELINE,785,761,738,722,688,651,919,801,838,658,635,657,0.400989586181,-0.0154134929524,0.0498547051868,0.999999966909,-4.25099345096e-05,-0.000249985885185,-4.33904765576e-05,1793254790596196352
+64,1.066666667,BASELINE,785,761,738,722.130751037,688,651,919,801,838,657.869248963,635.130751037,657,0.400990114347,-0.0154145433591,0.0498547234612,0.999999966843,-4.47452819435e-05,-0.000249914310343,-4.30760030107e-05,1793254790612862720
+65,1.083333333,BASELINE,785,761,738,722.725670126,688,651,919,801,838,657.274329874,635.725670126,657,0.400988974637,-0.0154133148577,0.0498533676524,0.999999966343,-4.28998144853e-05,-0.00025215504086,-4.34877922047e-05,1793254790629529344
+66,1.100000000,BASELINE,785,761,738.310223997,723,688,651,919,801,838,657.310223997,635.689776003,657,0.400987526297,-0.0154122468125,0.0498524848218,0.999999965979,-4.12214206358e-05,-0.000253831491631,-4.37277129378e-05,1793254790646196224
+67,1.116666667,BASELINE,785,761,738.885908268,723,688,651,919,801,838,657.885908268,635.114091732,657,0.400985813861,-0.0154113160707,0.0498520067213,0.999999965733,-3.96859926301e-05,-0.000255025085201,-4.38205649215e-05,1793254790662862848
+68,1.133333333,BASELINE,785,761,738.539709997,723,688,651,919,801,838,658,635,657,0.400986344482,-0.0154107350212,0.0498522987118,0.999999965916,-3.88672846633e-05,-0.00025439994305,-4.40155760044e-05,1793254790679529984
+69,1.150000000,BASELINE,784.964797308,761,738,723,688,651.035202692,918.964797308,801,838,658,635,657,0.400987437566,-0.0154103402719,0.0498528005671,0.999999966208,-3.82460503785e-05,-0.000253316454088,-4.41884513386e-05,1793254790696196864
+70,1.166666667,BASELINE,784.37648438,761,738,723,688,651.62351562,918.37648438,801,838,658,635,657,0.400988657085,-0.0154115146463,0.0498536091493,0.999999966553,-3.79441215052e-05,-0.000252094537876,-4.36167839628e-05,1793254790712863232
+71,1.183333333,BASELINE,784.209812258,761,738,722.790187742,688,651.790187742,918.209812258,800.790187742,838,658,635,657,0.400989291118,-0.0154119656609,0.0498539585041,0.999999966741,-3.80913889591e-05,-0.000251368003026,-4.33813086552e-05,1793254790729529856
+72,1.200000000,BASELINE,784.792525424,761,738,722.207474576,688,651.207474576,918.792525424,800.207474576,838,658,635,657,0.400988884562,-0.0154111310433,0.049853491671,0.99999996665,-3.90370163835e-05,-0.000251521913003,-4.3743349951e-05,1793254790746196224
+73,1.216666667,BASELINE,784.629566734,761,738,722.370433266,688,651,919,800.370433266,838,657.629566734,635,657,0.400988890923,-0.0154118810749,0.0498537817718,0.999999966726,-4.04040153659e-05,-0.000250988844536,-4.38116746876e-05,1793254790762862848
+74,1.233333333,BASELINE,784.054315857,761,738,722.945684143,688,651,919,800.945684143,838,657.054315857,635,657,0.400989125591,-0.0154135072808,0.0498544903919,0.999999966893,-4.20039963801e-05,-0.000250075936297,-4.3717599506e-05,1793254790779529728
+75,1.250000000,BASELINE,784.519203555,761,738.519203555,723,688,651,919,801,838,657.519203555,635.519203555,657,0.400988762287,-0.0154141574426,0.049854521592,0.999999966737,-4.42687142298e-05,-0.00025035792731,-4.34421346713e-05,1793254790796196352
+76,1.266666667,BASELINE,785,761,738.905187913,722.905187913,688,651,919,801,838,657.905187913,635.905187913,657,0.400988104696,-0.01541443955,0.0498542469111,0.999999966486,-4.58877788204e-05,-0.000251106046851,-4.32188824635e-05,1793254790812863232
+77,1.283333333,BASELINE,785,761,738.317787607,722.317787607,688,651,919,801,838,657.317787607,635.317787607,657,0.400986242086,-0.0154133381909,0.0498527500134,0.999999965937,-4.37923144698e-05,-0.000253628614188,-4.33651563791e-05,1793254790829530112
+78,1.300000000,BASELINE,785,761,738,722.268314472,688,651,919,801,838,657.268314472,635,657,0.400986376942,-0.0154127748415,0.0498525246978,0.999999965946,-4.34099648817e-05,-0.000253640471108,-4.34738765484e-05,1793254790846196992
+79,1.316666667,BASELINE,785,761,738,722.852886314,688,651,919,801,838,657.852886314,635,657,0.400988866175,-0.0154128456343,0.0498537981728,0.999999966614,-4.50468325439e-05,-0.000250692999308,-4.35383327916e-05,1793254790862863360
+80,1.333333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400989242868,-0.015412839571,0.0498538427114,0.99999996673,-4.38748363968e-05,-0.000250417964265,-4.36672100711e-05,1793254790879529984
+81,1.350000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400988909131,-0.0154128076614,0.0498534739683,0.999999966657,-4.1758241603e-05,-0.000251041648419,-4.38177516428e-05,1793254790896196352
+82,1.366666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400988827058,-0.0154123184558,0.0498534304867,0.999999966653,-4.13473911841e-05,-0.000251130107892,-4.37977095507e-05,1793254790912863232
+83,1.383333333,BASELINE,785,761,738,722.842033396,688,651,919,801,838,658,635.157966604,657,0.400988599337,-0.0154121012982,0.0498533303392,0.999999966614,-4.11260291038e-05,-0.000251337809434,-4.37134456925e-05,1793254790929529856
+84,1.400000000,BASELINE,785,761,738,722.248834114,688,651,919,801,838,658,635.751165886,657,0.400987967016,-0.0154126397073,0.0498530697869,0.999999966477,-4.14043130001e-05,-0.000251881088971,-4.34544804764e-05,1793254790946196480
+85,1.416666667,BASELINE,785,761,738,722.334611761,687.665388239,651,919,801,838,657.665388239,635.665388239,657,0.400988369413,-0.0154127142854,0.0498533809049,0.999999966658,-4.10358292683e-05,-0.000251230391953,-4.33897271406e-05,1793254790962863360
+86,1.433333333,BASELINE,785,761,738,722.911009909,687.088990091,651,919,801,838,657.088990091,635.088990091,657,0.400989519484,-0.0154124537047,0.0498541051051,0.999999967068,-4.0199999103e-05,-0.000249716941975,-4.34653089614e-05,1793254790979530240
+87,1.450000000,BASELINE,785,761,738,723,687.485260625,651,919,801,838,657.485260625,635,657,0.400988583438,-0.015412529716,0.0498538991876,0.999999966809,-4.07154921724e-05,-0.000250611632013,-4.37876471229e-05,1793254790996196608
+88,1.466666667,BASELINE,784.939550724,761,738,723,688,651,918.939550724,801,838,657.939550724,635,657,0.400987475246,-0.0154128328607,0.04985354458,0.999999966477,-4.15580015958e-05,-0.000251749023718,-4.40552715158e-05,1793254791012863232
+89,1.483333333,BASELINE,784.352781927,761,738,723,688,651,918.352781927,801,838,657.352781927,635,657,0.400988184458,-0.01541457854,0.0498533739379,0.999999966584,-4.30996160745e-05,-0.000251171418452,-4.34542528333e-05,1793254791029530112
+90,1.500000000,BASELINE,784.232360497,761,738,722.767639503,688,651,918.232360497,801,838,657.232360497,635,657,0.400989217476,-0.0154150855148,0.0498539124457,0.999999966845,-4.40108870023e-05,-0.000250023163226,-4.31432310096e-05,1793254791046196736
+91,1.516666667,BASELINE,784.815050785,761,738,722.184949215,688,651,918.815050785,801,838,657.815050785,635,657,0.400990738697,-0.0154137248952,0.0498555201382,0.999999967342,-4.39717891717e-05,-0.000248014539427,-4.32694373418e-05,1793254791062863104
+92,1.533333333,BASELINE,785,761,738,722.392308741,688,651,919,801,838,658,635,657,0.400990566947,-0.015413777033,0.0498553011557,0.999999967295,-4.37409263893e-05,-0.000248251080009,-4.3227066257e-05,1793254791079529728
+93,1.550000000,BASELINE,785,761,738,722.967040719,688,651,919,801,838,658,635,657,0.400989607968,-0.0154144861017,0.049854232771,0.999999966995,-4.34208930611e-05,-0.000249531619973,-4.31063068253e-05,1793254791096196352
+94,1.566666667,BASELINE,784.458041367,761,738,723,688,651,918.458041367,801,838,657.458041367,635,657,0.40099005227,-0.0154142560469,0.0498544045258,0.999999967018,-4.40873127438e-05,-0.000249280231082,-4.33643289429e-05,1793254791112863232
+95,1.583333333,BASELINE,784.120422693,761,738,723,688,651.120422693,918.120422693,801,838,657.120422693,635.120422693,657,0.400990286493,-0.0154137008924,0.0498544550067,0.999999967013,-4.40377326693e-05,-0.000249263609518,-4.3623440232e-05,1793254791129530112
+96,1.600000000,BASELINE,784.712738673,761,738,723,688,651.712738673,918.712738673,801,838,657.712738673,635.712738673,657,0.400989362957,-0.0154120956704,0.0498537346164,0.999999966819,-4.09472420178e-05,-0.000250532159973,-4.37965202717e-05,1793254791146196736
+97,1.616666667,BASELINE,784.702179623,760.702179623,738,723,688,651.702179623,919,801,838,658,635.702179623,657,0.400989018314,-0.0154117964955,0.0498537553684,0.999999966812,-4.06027211245e-05,-0.000250602743823,-4.38733362273e-05,1793254791162863104
+98,1.633333333,BASELINE,784.123910267,760.123910267,738,723,688,651.123910267,919,801,838,658,635.123910267,657,0.400989218798,-0.015412727188,0.049854474033,0.999999966984,-4.28440020496e-05,-0.000249545236512,-4.38595030222e-05,1793254791179529728
+99,1.650000000,BASELINE,784.451496092,760.451496092,738,722.548503908,688,651,919,801,838,658,635,657,0.400989115609,-0.015413655926,0.0498540907952,0.999999966828,-4.41512992784e-05,-0.000249988764626,-4.35906883949e-05,1793254791196196352
+100,1.666666667,BASELINE,784.973291324,760.973291324,738.026708676,722,688,651,919,801,838,658,635,657,0.400988945412,-0.0154145034581,0.0498534532937,0.999999966604,-4.50510312315e-05,-0.000250778845552,-4.32717766036e-05,1793254791212862976
+101,1.683333333,BASELINE,784.385752633,760.385752633,738.614247367,722,688,651,919,801,838,658,635,657,0.400989107126,-0.0154136570191,0.04985378676,0.999999966834,-4.27411181914e-05,-0.000250250224905,-4.33610655232e-05,1793254791229529600
+102,1.700000000,BASELINE,784.199112095,760.199112095,738.800887905,722.199112095,688,651,918.800887905,801,838,658,635,657,0.400989386402,-0.0154132212598,0.0498542068076,0.999999967025,-4.14950723823e-05,-0.000249690931565,-4.33801362922e-05,1793254791246196480
+103,1.716666667,BASELINE,784.778864961,760.778864961,738.221135039,722.778864961,688,651,918.221135039,801,838,658,635,657,0.400989890419,-0.0154135705932,0.0498547923718,0.999999967151,-4.22828121043e-05,-0.000249073001584,-4.32649716543e-05,1793254791262863360
+104,1.733333333,BASELINE,785,761,738,723,687.643085331,651,918,801,838,658,635,657,0.400989459566,-0.0154136628162,0.0498547389951,0.999999967024,-4.30958723438e-05,-0.000249443997618,-4.32719394301e-05,1793254791279529984
+105,1.750000000,BASELINE,785,761,738,723,687.066085787,651,918,801,838,658,635,657,0.400988452243,-0.0154135964969,0.0498542916271,0.999999966739,-4.39245460916e-05,-0.000250424796651,-4.33542179036e-05,1793254791296196608
+106,1.766666667,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651,919,801,838,658,635,657,0.400987662,-0.0154126360794,0.0498533467497,0.999999966561,-4.16131949357e-05,-0.000251520070695,-4.33940111187e-05,1793254791327319296
+107,1.783333333,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651,919,801,838,658,635,657,0.40098813131,-0.0154128806029,0.0498542357367,0.999999966803,-4.19397543649e-05,-0.000250492358904,-4.34617719886e-05,1793254791343987456
+108,1.800000000,POSE1_TO_POSE2_PRESS,785,761,738,722.18205771,688,651,918.81794229,801,838,657.81794229,635,657,0.400988588094,-0.0154130583203,0.0498548015019,0.999999966977,-4.23927504101e-05,-0.000249709811762,-4.351683071e-05,1793254791360654592
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,761,738,722.761369441,688,651,918.238630559,801,838,657.238630559,635,657,0.400989017546,-0.0154130902654,0.04985466199,0.999999967007,-4.31216340588e-05,-0.000249462219201,-4.35441730704e-05,1793254791377320192
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,918.339082792,801,838,657,635,657,0.400988748637,-0.0154123333145,0.0498540376947,0.999999966853,-4.23504174744e-05,-0.000250192128653,-4.362887984e-05,1793254791393986560
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,918.91567652,801,838,657,635,657,0.400987990561,-0.0154110237806,0.0498530738323,0.999999966569,-4.0528453892e-05,-0.000251606730539,-4.37537675746e-05,1793254791410653184
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,761,738,722.499522323,688,651,919,801.500477677,838,657.500477677,635,657,0.400986343571,-0.0154129055936,0.04985253939,0.999999966106,-4.27324991543e-05,-0.000253132640662,-4.34297148872e-05,1793254791427319808
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,761,738.085697998,722.085697998,688,651,919,801.914302002,838,658,635,657,0.400985122298,-0.0154147213048,0.0498523376717,0.999999965777,-4.49767073474e-05,-0.000254090850745,-4.31275459568e-05,1793254791443986432
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,761,738.665232284,722.665232284,688,651,919,801.334767716,838,658,635,657,0.400987231673,-0.0154130059525,0.0498536294041,0.999999966445,-4.34783174931e-05,-0.000251667807578,-4.33946276939e-05,1793254791460652800
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,761,738.756046045,723,688,651,919,801,838,658,635,657,0.40099009786,-0.015411395496,0.0498550166005,0.99999996714,-4.15655471331e-05,-0.000249184684081,-4.35808762065e-05,1793254791477319424
+116,1.933333333,POSE1_TO_POSE2_PRESS,785,761,738.178435838,723,688,651,919,801,838,658,635,657,0.400993999139,-0.0154099285057,0.0498565343632,0.999999967873,-3.90860279507e-05,-0.000246619388808,-4.36565689542e-05,1793254791493986048
+117,1.950000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.401006778495,-0.0154107559852,0.049860877659,0.999999969949,-3.87390762511e-05,-0.000238186854115,-4.32334376393e-05,1793254791510652672
+118,1.966666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,658,635,657,0.401023526462,-0.015412609121,0.0498664840033,0.999999972525,-3.93454084191e-05,-0.000227131590461,-4.25873257902e-05,1793254791527319296
+119,1.983333333,POSE1_TO_POSE2_PRESS,785,761,738,722.439569378,688,651,919,801,838,658,635,657,0.401068955733,-0.0154163424605,0.0498820974269,0.999999979424,-4.07773030173e-05,-0.000194525064865,-4.05983278649e-05,1793254791543986176
+120,2.000000000,POSE1_TO_POSE2_PRESS,785,761,738,722.146292925,688,651,919,801,838,658,635,657,0.401121177893,-0.0154202089491,0.0498983897774,0.999999985127,-4.19149423871e-05,-0.000162821578315,-3.84545292503e-05,1793254791560652800
+121,2.016666667,POSE1_TO_POSE2_PRESS,785,761,738,722.725197006,688,651,919,801,838,658,635,657,0.401189282783,-0.0154241935282,0.0499152227034,0.999999989088,-4.20613888894e-05,-0.000136948108712,-3.60498386861e-05,1793254791577319424
+122,2.033333333,POSE1_TO_POSE2_PRESS,785,761,738.303213584,722.696786416,688,651,919,801,838,658,635.303213584,657,0.401264946863,-0.0154286549933,0.0499298795755,0.999999991864,-4.30630503851e-05,-0.000115173976547,-3.39487677893e-05,1793254791593986304
+123,2.050000000,POSE1_TO_POSE2_PRESS,785,761,738.880428132,722.119571868,688,651,919,801,838,658,635.880428132,657,0.401347441851,-0.0154335473995,0.0499425700412,0.999999993764,-4.48375325702e-05,-9.71042393763e-05,-3.21220649667e-05,1793254791610652928
+124,2.066666667,POSE1_TO_POSE2_PRESS,785,760.548212192,738.548212192,722,688,651,919,801,838,658,635.548212192,657,0.401438516116,-0.015439050795,0.0499469982671,0.999999994296,-4.75287724728e-05,-9.0525126253e-05,-3.09011259669e-05,1793254791627319552
+125,2.083333333,POSE1_TO_POSE2_PRESS,785,760.022520694,738,722.022520694,688,651,919,801,838,658,635,657,0.401532741001,-0.0154448266957,0.0499492591057,0.9999999945,-5.03869107352e-05,-8.70118700416e-05,-2.98234983884e-05,1793254791643986688
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,760.616152186,738,722.616152186,688,651,919,801,838,658,635,657,0.40165001874,-0.0154534648404,0.0499513006482,0.999999994655,-5.14031964622e-05,-8.51117742977e-05,-2.83664633757e-05,1793254791660653056
+127,2.116666667,POSE1_TO_POSE2_PRESS,784.794796548,761,738,722.794796548,688,651,919,801,838,658,635,657,0.401775959672,-0.0154614095798,0.0499512377282,0.999999994446,-5.28475338653e-05,-8.69852630413e-05,-2.73559945727e-05,1793254791677319680
+128,2.133333333,POSE1_TO_POSE2_PRESS,784.214125932,761,738,722.214125932,688,651,919,801,838,658,635,657,0.401917751906,-0.015468085573,0.0499473242073,0.999999993529,-5.5075090673e-05,-9.57633973644e-05,-2.71626220671e-05,1793254791693986560
+129,2.150000000,POSE1_TO_POSE2_PRESS,784.361688146,760.638311854,738,722,688,651,919,801,838,657.638311854,635,657,0.402078923129,-0.0154765008879,0.0499463336664,0.999999993149,-5.69611169712e-05,-9.88582137346e-05,-2.61716011938e-05,1793254791710652928
+130,2.166666667,POSE1_TO_POSE2_PRESS,784.934665214,760.065334786,738,722,688,651,919,801,838,657.065334786,635,657,0.402251415072,-0.0154859322705,0.049947050655,0.999999993111,-5.86476301337e-05,-9.86329826091e-05,-2.47146146196e-05,1793254791727319552
+131,2.183333333,POSE1_TO_POSE2_PRESS,785,760.521514024,738,722.521514024,688,651,918.478485976,801,838.521514024,657.521514024,635,657,0.402447898323,-0.0154970490302,0.049946047464,0.999999992899,-5.96703411618e-05,-0.00010053815013,-2.30904116557e-05,1793254791743986176
+132,2.200000000,POSE1_TO_POSE2_PRESS,785,761,738,722.89156019,688,651,918.10843981,801,838.89156019,658,635.10843981,657,0.402658447302,-0.0155083600089,0.0499463374314,0.999999992957,-6.0518237921e-05,-9.98456719593e-05,-2.13208832096e-05,1793254791760652800
+133,2.216666667,POSE1_TO_POSE2_PRESS,785,761,738,722.312055329,688,651,918.687944671,801,838.312055329,658,635.687944671,657,0.402916684979,-0.0155195724116,0.0499532066375,0.999999994204,-6.09778603925e-05,-8.66778847139e-05,-1.90135453552e-05,1793254791777319424
+134,2.233333333,POSE1_TO_POSE2_PRESS,785,761,738,722.267115379,688,651,918.732884621,801,838,658,636,657,0.403196510214,-0.0155282164293,0.0499609862314,0.999999995721,-5.63294768036e-05,-7.16498810362e-05,-1.58803974048e-05,1793254791793986048
+135,2.250000000,POSE1_TO_POSE2_PRESS,785,761,738,722.84589617,688,651,918.15410383,801,838,658,636,657,0.403501523407,-0.0155338637009,0.0499698280491,0.999999997403,-4.57211637391e-05,-5.44514111211e-05,-1.17837092492e-05,1793254791810652928
+136,2.266666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,918.41912736,801,838,658,635.58087264,657,0.403821852272,-0.0155264886876,0.0499747110397,0.999999998695,-2.01227154575e-05,-4.59334181237e-05,-9.72147306002e-06,1793254791827319552
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,918.990344736,801,838,658,635.009655264,657,0.404147738776,-0.0155143882381,0.0499781574786,0.999999999082,1.09152484432e-05,-4.05653364555e-05,-8.39748470879e-06,1793254791843986688
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738,722.418076169,688,651,919,801,838,658,635,657,0.404514457394,-0.0155151117566,0.0499834101721,0.99999999926,2.72182487137e-05,-2.66689850971e-05,-5.2378496794e-06,1793254791860653312
+139,2.316666667,POSE1_TO_POSE2_PRESS,784.82933619,761,738,722,688,651,918.82933619,801,838.17066381,658,635,657,0.404892222197,-0.0155187873277,0.0499845760407,0.999999998936,4.09689316904e-05,-2.11089576918e-05,-2.21701988159e-06,1793254791877319936
+140,2.333333333,POSE1_TO_POSE2_PRESS,784.2482656,761,738,722,688,651,918.2482656,801,838.7517344,658,635,657,0.405294862188,-0.0155290316715,0.0499758393626,0.999999998144,4.91911229011e-05,-3.59484676554e-05,3.9411745089e-07,1793254791893986560
+141,2.350000000,POSE1_TO_POSE2_PRESS,784.329362418,761,738,722,688,651,918.329362418,801,838.670637582,658,635,657,0.40570863798,-0.0155329849376,0.0499585371035,0.99999999555,6.49698939235e-05,-6.83734319513e-05,1.89640356679e-06,1793254791910653184
+142,2.366666667,POSE1_TO_POSE2_PRESS,784.904422409,761,738,722,688,651,918.904422409,801,838.095577591,658,635,657,0.406130720892,-0.0155322451904,0.0499348450966,0.999999989777,8.63857184535e-05,-0.000113916784093,2.57150980431e-06,1793254791927319552
+143,2.383333333,POSE1_TO_POSE2_PRESS,785,761,738.476529306,722,688,651,919,801,838.476529306,658,635.476529306,657,0.406597914992,-0.0155293169611,0.0499241359233,0.999999984468,0.000114725000128,-0.000133722842809,4.46557690694e-06,1793254791943986176
+144,2.400000000,POSE1_TO_POSE2_PRESS,785,761,738.950231363,722,688,651,919,801,839,658,636,657,0.407080393536,-0.0155264169909,0.0499179520394,0.999999979191,0.000143857090113,-0.000144489312554,6.83782397324e-06,1793254791960652544
+145,2.416666667,POSE1_TO_POSE2_PRESS,785,761,738.358240621,722,688,651,919,801,839,658,636,657,0.407631425126,-0.0155285776774,0.0499328753751,0.999999979708,0.000166590887316,-0.000112665108624,1.17725260841e-05,1793254791977319168
+146,2.433333333,POSE1_TO_POSE2_PRESS,785,761,738,722,687.77216171,651,918.77216171,801.22783829,839,658,636,657,0.408208670937,-0.015531128653,0.0499530190098,0.999999978831,0.000191107815465,-7.42324695335e-05,1.74850004041e-05,1793254791993986048
+147,2.450000000,POSE1_TO_POSE2_PRESS,785,761,738,722,687.195143184,651,918.195143184,801.804856816,839,658,636,657,0.408826092086,-0.0155342777773,0.0499811631655,0.999999975533,0.000218357531666,-2.56718817474e-05,2.4389471969e-05,1793254792010652928
+148,2.466666667,POSE1_TO_POSE2_PRESS,784.617401618,761,738,722,687.382598382,651,918.382598382,801.617401618,839,657.617401618,636,657,0.409456040743,-0.0155384740611,0.0499927873311,0.999999970032,0.000242855557583,-8.42498229416e-06,2.97774383386e-05,1793254792027319552
+149,2.483333333,POSE1_TO_POSE2_PRESS,784.039290587,761,738,722,687.960709413,651,918.960709413,801.039290587,839,657.039290587,636,657,0.410092391097,-0.0155432054565,0.0499959695704,0.999999964019,0.000265947433996,-7.17977813838e-06,3.43904510308e-05,1793254792043986176
+150,2.500000000,POSE1_TO_POSE2_PRESS,784.546364629,761,738,722,688,651,919,801,839,657.546364629,636,657,0.410689713994,-0.0155399668985,0.0499737602614,0.9999999534,0.000297509518782,-5.82101115535e-05,3.60428011899e-05,1793254792060652544
+151,2.516666667,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651.131809602,919,801,839,658,636,657,0.411307400417,-0.0155366410512,0.0499521598662,0.999999939834,0.000328952811156,-0.000103478853965,3.76018399019e-05,1793254792077318912
+152,2.533333333,POSE1_TO_POSE2_PRESS,785,761,738,722,688,651.714652596,919,801,839,658,636,657,0.412004505902,-0.0155350051792,0.0499389788013,0.999999928452,0.000357876119323,-0.000115988439764,3.95803261916e-05,1793254792093985792
+153,2.550000000,POSE1_TO_POSE2_PRESS,784.706155356,761,738,722,688,652,919,801,839,658,636,657,0.412751605201,-0.0155378753884,0.0499484277239,0.999999953638,0.000286780248573,-9.24465147233e-05,4.39847261035e-05,1793254792110652928
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.130465099,761,738,722,688,652,919,801,839,658,636,657,0.413546656919,-0.0155450676746,0.0499795825456,0.999999990955,0.000119749438965,-3.43252272529e-05,5.07159776597e-05,1793254792127319808
+155,2.583333333,POSE1_TO_POSE2_PRESS,784,761,738,722,688,651.556197045,919,801,839,657.556197045,636,657,0.414318826543,-0.015553218793,0.0499769848802,0.999999998265,2.07529625573e-05,-4.41680843805e-05,3.29818319722e-05,1793254792143986432
+156,2.600000000,POSE1_TO_POSE2_PRESS,784,761,738.018131858,722,687.981868142,651,919,801,839,657.018131858,636,657,0.415084225764,-0.0155614850027,0.049964043584,0.999999995709,-5.47651450988e-05,-7.41829666322e-05,8.90788761469e-06,1793254792160653056
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,761,738.607508634,722,687.392491366,651,919,801,839,657.607508634,636,657,0.415847571636,-0.0155645252689,0.049936827928,0.999999993462,-1.86878234988e-05,-0.000112274989933,1.09622536626e-05,1793254792177319680
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.193770085,761,739,722,687,651,919,801,839,658,636,657,0.416645611651,-0.0155652504594,0.0499276319273,0.999999992402,2.08463268472e-05,-0.000120631939133,1.44613123389e-05,1793254792193986304
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.773821095,761,739,722,687,651,919,801,839,658,636,657,0.417512814443,-0.0155613605433,0.0499543581354,0.99999999509,6.72716677036e-05,-6.97119758279e-05,2.08403676065e-05,1793254792210652928
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,761.349953691,738.650046309,722,687,651,919,801,839,658,636,657,0.418373967657,-0.0155590956523,0.0499705299794,0.999999993195,0.000103958112886,-4.62804592207e-05,2.56980122051e-05,1793254792227319808
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,761.923581793,738.076418207,722,687,651,919,801,839,658,636,657,0.419231254223,-0.0155578694031,0.049979955955,0.999999989711,0.000134419899197,-4.04183039452e-05,2.95832403951e-05,1793254792243986176
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.502231274,762,738,722,687,651,919,801,839,658,636,657,0.420124585198,-0.0155576865498,0.0499694400297,0.999999987643,0.000147099515767,-4.75465692403e-05,2.85458503279e-05,1793254792260652800
+163,2.716666667,POSE1_TO_POSE2_PRESS,784.074389084,761.925610916,738,721.925610916,687,651.074389084,918.925610916,801,839,658,636,657,0.421029832484,-0.0155587569824,0.0499612452822,0.999999986615,0.000153897203975,-4.82892817985e-05,2.7471231017e-05,1793254792277319680
+164,2.733333333,POSE1_TO_POSE2_PRESS,784.667374798,761.332625202,738,721.332625202,687,651.667374798,918.332625202,801,839,658,636,657,0.421979532513,-0.0155674466203,0.049990599445,0.999999989838,0.000138742520176,9.40306869657e-06,3.1411480228e-05,1793254792293986048
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,761.253957726,738,721,687,652,918.253957726,801,839.253957726,658,636,657,0.422906231232,-0.0155716249396,0.0499995797505,0.999999990121,0.000134240165216,2.54834471632e-05,3.30005289242e-05,1793254792310652416
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,761.832360812,738,721,687,652,918.832360812,801,839.832360812,658,636,657,0.423803544608,-0.0155700397953,0.049982531305,0.99999998916,0.000143346761189,-1.15978145671e-05,3.1585786581e-05,1793254792327319296
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,762,738,721,687.407492584,652,919,801,840,658,636,657,0.424748136692,-0.0155736155514,0.0499831680706,0.99999998954,0.00014070984402,-9.73129724048e-06,3.20443738805e-05,1793254792343986176
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,762,738,721,687.981289247,652,919,801,840,658,636,657,0.425712023901,-0.0155792975516,0.0499910224477,0.999999990533,0.000133280215456,8.03041835471e-06,3.32674963098e-05,1793254792360653568
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,762,738,721,687.431236674,652,919,801.568763326,840,657.431236674,636,657,0.426664186963,-0.0155769601988,0.0500030541876,0.999999989826,0.000137972787969,5.27940080264e-06,3.58291647446e-05,1793254792377319936
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,762,738.154758598,721,687,652,919,802,840,657.154758598,636,657,0.427604033998,-0.0155737018309,0.0500005409891,0.999999988795,0.000144216225711,-1.58380937057e-05,3.6889338152e-05,1793254792393986304
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,762,738.735415362,721,687,652,919,802,840,657.735415362,636,657,0.428511074661,-0.0155686527261,0.0499576123732,0.999999983972,0.000153603158441,-8.55975754703e-05,3.36932030691e-05,1793254792410652928
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,762,738.686403723,721,687,652,919,801.686403723,840,657.686403723,636,657,0.429467774043,-0.0155674098929,0.0499450576686,0.999999981537,0.000162374859764,-9.74367104161e-05,3.26579898705e-05,1793254792427319808
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,762,738.110295376,721,687,652,919,801.110295376,840,657.110295376,636,657,0.430466042791,-0.0155693532976,0.049957929028,0.999999983036,0.00017063154947,-6.07906038363e-05,3.34316889296e-05,1793254792443986432
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.461962549,762,738.461962549,720.538037451,687,652,919,801,840,657.461962549,636,657,0.431409972567,-0.0155691164193,0.0499485212755,0.999999981222,0.00017296962813,-8.08380333841e-05,3.31929648945e-05,1793254792460653056
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.965402402,761.965402402,738.965402402,720,687,652,919,801,840,657.965402402,636,657,0.432344509945,-0.0155686516407,0.0499354355353,0.99999997842,0.000172805486643,-0.000110533928981,3.28603060548e-05,1793254792477319424
+176,2.933333333,POSE1_TO_POSE2_PRESS,785.371949592,761.371949592,738.371949592,720,687,652,919,801,840,657.371949592,636,657,0.433335161814,-0.0155728445467,0.0499481505105,0.999999984261,0.000154859969519,-7.92448946097e-05,3.48825485845e-05,1793254792493986048
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,761,738.21645613,720,687,652,919,801,840,657,636,657,0.434315543842,-0.0155746899646,0.0499641363488,0.99999998683,0.000149746221677,-5.06154690819e-05,3.68008316085e-05,1793254792510652672
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738.796386842,720,687,652,919,801,840,657,636,657,0.435278680846,-0.0155725934657,0.0499856146444,0.999999985099,0.000166179664005,-2.64520715986e-05,3.85445455008e-05,1793254792527319552
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,739,720,687,652,919,801.373021797,840,657.373021797,636,657,0.436184445716,-0.0155681425423,0.049972737962,0.999999980627,0.00018248096328,-6.33219377405e-05,3.78965250492e-05,1793254792543986176
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,761,739,720,687,652,919,801.947873492,840,657.947873492,636,657,0.437059168344,-0.0155624177171,0.049941272923,0.999999970738,0.000198710762569,-0.00013321490845,3.59544150921e-05,1793254792560652800
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,761.524518732,738.475481268,720,687,652,919,801.475481268,840.524518732,657.475481268,636,657,0.43803147259,-0.0155638904355,0.0499607784338,0.999999977322,0.000194023316109,-7.95189565257e-05,3.72568565086e-05,1793254792577319168
+182,3.033333333,POSE1_TO_POSE2_PRESS,785.104264224,762,738,720,687,652,919,801,840.895735776,657.104264224,636,657,0.438997648837,-0.0155647569874,0.04997940864,0.999999981391,0.000186908190259,-2.83874701732e-05,3.84426100376e-05,1793254792593985792
+183,3.050000000,POSE1_TO_POSE2_PRESS,785.697716344,762,738,720,687,652,919,801,840.302283656,657.697716344,636,657,0.439889418086,-0.0155594120038,0.0499700844705,0.999999982309,0.00017818941867,-4.71115724042e-05,3.75628571605e-05,1793254792610652416
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+185,3.083333333,POSE1_TO_POSE2_PRESS,786,762,738.859598802,719.140401198,687,652,919,801.859598802,840.859598802,658,636,657,0.44166020354,-0.0155630056821,0.0499708464591,0.99999997968,0.000190993316924,-5.01292795229e-05,4.05979967992e-05,1793254792643986176
+186,3.100000000,POSE1_TO_POSE2_PRESS,786,762,738.566402592,719.433597408,687,652,919,801.566402592,840.566402592,658,636,657,0.44252768367,-0.0155634377745,0.0499881161759,0.999999979578,0.000197101002276,-1.75271822287e-05,4.1094395602e-05,1793254792660652800
+187,3.116666667,POSE1_TO_POSE2_PRESS,786,762,738,719.993080286,687,652,918.993080286,801,840,658,636,657,0.44338878133,-0.0155626549487,0.0500089794502,0.999999978687,0.000201081720061,2.26508594276e-05,4.09695510108e-05,1793254792677319424
+188,3.133333333,POSE1_TO_POSE2_PRESS,786,762,738,719.404447002,687,652,918.404447002,801,840,658,636,657,0.444138991994,-0.0155626863525,0.0499647435886,0.999999982075,0.000174006269605,-6.39980107616e-05,3.84094395291e-05,1793254792693986048
+189,3.150000000,POSE1_TO_POSE2_PRESS,786,762,738,719,687,652,918.181887822,801,840,657.818112178,636,657,0.444898670492,-0.0155650651933,0.0499260072657,0.999999979175,0.000155061952153,-0.000127699926712,3.60408581011e-05,1793254792710652928
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,762,738,719,687,652,918.763175665,801,840,657.236824335,636,657,0.445679139162,-0.0155725986751,0.0498993471459,0.999999977623,0.000153972454129,-0.000141013583146,3.40928497654e-05,1793254792727319552
+191,3.183333333,POSE1_TO_POSE2_PRESS,786.340673922,762,738.340673922,718.659326078,687,652,919,801,840.340673922,657,636,657,0.446434956789,-0.0155790042703,0.0498859631704,0.99999997641,0.0001549270212,-0.000148481982615,3.36342331788e-05,1793254792743986432
+192,3.200000000,POSE1_TO_POSE2_PRESS,786.915566741,762,738.915566741,718.084433259,687,652,919,801,840.915566741,657,636,657,0.447173826375,-0.0155846344246,0.0498817067633,0.999999975504,0.000157286916563,-0.00015193167144,3.41995979218e-05,1793254792760653056
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+195,3.250000000,POSE1_TO_POSE2_PRESS,786.339431142,762,738.660568858,718,686,651.339431142,919,800.339431142,840,657.660568858,635.660568858,657,0.449181263784,-0.0155964020582,0.0498149298108,0.999999952519,0.000166623651097,-0.000257096482962,3.31598073907e-05,1793254792810652928
+196,3.266666667,POSE1_TO_POSE2_PRESS,786.247331024,762,738.752668976,718,686,651,919,800,840.247331024,658,635.752668976,657.247331024,0.449846750389,-0.0155999161131,0.0498207109721,0.999999953157,0.000171149478033,-0.000251293462177,3.52991154125e-05,1793254792827319296
+197,3.283333333,POSE1_TO_POSE2_PRESS,786.824978927,762,738.175021073,718,686,651,919,800,840.824978927,658,635.175021073,657.824978927,0.450494150524,-0.0156017979036,0.0498399321579,0.99999995636,0.000177761427547,-0.000232738046702,3.89046563929e-05,1793254792843985920
+198,3.300000000,POSE1_TO_POSE2_PRESS,787,761.600405839,738,718.399594161,686,651,919,800.399594161,841,658,635,657.600405839,0.451078192654,-0.0156051388894,0.0498386056666,0.999999950965,0.000182386837003,-0.000251264466097,4.08885478419e-05,1793254792860652800
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+202,3.366666667,POSE1_TO_POSE2_PRESS,787,762,739,718,686.280462396,651,919,799.280462396,841,658,634.280462396,657,0.453136067806,-0.0156058786989,0.0497437680103,0.999999894263,0.000205178870021,-0.0004097523683,3.84417358657e-05,1793254792927319552
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+215,3.583333333,POSE1_TO_POSE2_PRESS,786.270112741,762,738.270112741,717.270112741,686,650,919,798.270112741,841,658,633,658,0.457463803642,-0.0156299481731,0.0496405722721,0.999999846872,4.58683558159e-05,-0.000551410597438,9.9430217481e-06,1793254793143985920
+216,3.600000000,POSE1_TO_POSE2_PRESS,786.846719455,762,738.846719455,717.846719455,686,650,919,798.846719455,841,658,633,658,0.457650995779,-0.0156304284742,0.0496309748557,0.999999839072,4.95321384183e-05,-0.000565061863259,1.03982503095e-05,1793254793160652544
+217,3.616666667,POSE1_TO_POSE2_PRESS,787,762,739,717.570074314,686,650,919,799,841,658,633,657.570074314,0.457814201541,-0.0156296992283,0.0496270769132,0.999999836021,5.58135541906e-05,-0.000569849438087,1.0688307294e-05,1793254793177319424
+218,3.633333333,POSE1_TO_POSE2_PRESS,787,762,739,717,685.984649085,650,919,799,841,658,633,657,0.457968034541,-0.0156285761155,0.0496252773455,0.999999834711,6.2907971348e-05,-0.000571403049599,1.09374595988e-05,1793254793193986304
+219,3.650000000,POSE1_TO_POSE2_PRESS,787,762,739,717,685.405489075,650,919,799,841,658,633,657,0.458096612464,-0.0156290724631,0.0496247512938,0.99999983419,6.50511834408e-05,-0.000572055226873,1.18808331627e-05,1793254793210652672
+220,3.666666667,POSE1_TO_POSE2_PRESS,787,762,739,717,685.173566121,649.826433879,919,798.826433879,841,658,632.826433879,657.173566121,0.458216404881,-0.0156293491624,0.0496239075263,0.999999832869,6.6745414096e-05,-0.000574149614907,1.26564164126e-05,1793254793227319296
+221,3.683333333,POSE1_TO_POSE2_PRESS,787,762,739,717,685.752376514,649.247623486,919,798.247623486,841,658,632.247623486,657.752376514,0.458315684771,-0.0156291130241,0.0496223219521,0.99999982967,6.73913571771e-05,-0.000579611293912,1.30402406822e-05,1793254793243985920
+222,3.700000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649,919,798,841,658,632,657.670935391,0.458401533449,-0.0156289446381,0.049617468076,0.999999824716,6.98897102419e-05,-0.00058780626863,1.29298468984e-05,1793254793260652544
+223,3.716666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649,919,798,841,658,632,657.095834046,0.458477339818,-0.0156288269097,0.0496101705387,0.999999818372,7.37730828813e-05,-0.000598044888599,1.24499336342e-05,1793254793277319168
+224,3.733333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649,919,798.480093186,841,658,632,657.480093186,0.458533099268,-0.0156288439598,0.0496042260642,0.999999812152,7.39302125594e-05,-0.000608336780622,1.25503029483e-05,1793254793293986048
+225,3.750000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.057625072,919,799,841,657.942374928,632,658,0.458583643679,-0.0156288371963,0.0495988894244,0.999999806241,7.34657705317e-05,-0.000618027832484,1.27211073605e-05,1793254793310652672
+226,3.766666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.64847766,919,799,841,657.35152234,632,658,0.458623024215,-0.0156283606948,0.0495966737382,0.999999803694,7.41443625448e-05,-0.000622060510644,1.24699764444e-05,1793254793327319296
+227,3.783333333,POSE1_TO_POSE2_PRESS,787,762,739,717.233973931,686,650,919,798.766026069,841,657.233973931,632,658,0.45865698132,-0.0156280356064,0.0495942813247,0.999999800775,7.52807280827e-05,-0.000626600853863,1.24438944849e-05,1793254793343985920
+228,3.800000000,POSE1_TO_POSE2_PRESS,787,762,739,717.811602941,686,650,919,798.188397059,841,657.811602941,632,658,0.458682972625,-0.0156279329097,0.049591629339,0.999999797307,7.70894599248e-05,-0.000631886842625,1.27483588395e-05,1793254793360652800
+229,3.816666667,POSE1_TO_POSE2_PRESS,787,762,739,718,686,650,919,798,841,658,632,658,0.458707466438,-0.0156277056026,0.0495916860149,0.999999797456,7.71990933749e-05,-0.000631636101146,1.28128653875e-05,1793254793377319424
+230,3.833333333,POSE1_TO_POSE2_PRESS,787,762,739,718,686,650,919,798,841,658,632,658,0.45873123543,-0.0156274179813,0.0495930537442,0.999999799358,7.64863248304e-05,-0.000628705457205,1.27612269362e-05,1793254793393986048
+231,3.850000000,POSE1_TO_POSE2_PRESS,787,762,739,717.45007746,686,650,919,798,841,658,632,658,0.458742636651,-0.0156275111819,0.049592760571,0.999999799094,7.57907087998e-05,-0.000629210835417,1.27046978666e-05,1793254793410652672
+232,3.866666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,919,798,841,658,632,658,0.458752165212,-0.0156277466392,0.0495923014025,0.999999798663,7.53283382379e-05,-0.000629949758199,1.27749376533e-05,1793254793427319552
+233,3.883333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,650,919,798,841,658,632,658,0.458758337186,-0.0156283623295,0.0495916712772,0.999999798172,7.56255368029e-05,-0.000630682774453,1.32611893333e-05,1793254793443985920
+234,3.900000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.706743529,919,798,841,658,632,658,0.458762499252,-0.0156271242644,0.049590929082,0.999999797702,7.65065013365e-05,-0.000631327015643,1.30072895405e-05,1793254793460652544
+235,3.916666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.131059039,919,798,841,658,632,658,0.458764725626,-0.0156241008935,0.049590078955,0.99999979725,7.79496764008e-05,-0.000631885759862,1.2040568317e-05,1793254793477319424
+236,3.933333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.44241205,919,798,841,658,632,657.55758795,0.458766767039,-0.0156234217994,0.0495900156234,0.999999797067,7.79693450656e-05,-0.000632176048232,1.18293201564e-05,1793254793493985792
+237,3.950000000,POSE1_TO_POSE2_PRESS,787,762,738.984220926,717,685.984220926,649.984220926,919,798,841,658,632,657.015779074,0.458768700503,-0.015623429583,0.0495901504882,0.99999979693,7.75267366512e-05,-0.00063244682544,1.18375191835e-05,1793254793510652416
+238,3.966666667,POSE1_TO_POSE2_PRESS,787,762,738.390777244,717,685.390777244,649.390777244,919,798,841,658,632,657.609222756,0.458768677982,-0.0156232862491,0.0495890508219,0.99999979553,7.5521619031e-05,-0.000634900250434,1.17271706639e-05,1793254793527319296
+239,3.983333333,POSE1_TO_POSE2_PRESS,787,762,738.197434039,717,685.197434039,649,919,798,840.802565961,657.802565961,632,658,0.458768490642,-0.0156230261583,0.0495881399297,0.99999979448,7.51275202494e-05,-0.000636598782192,1.1717863992e-05,1793254793543986176
+240,4.000000000,POSE1_TO_POSE2_PRESS,787,762,738.775556285,717,685.775556285,649,919,798,840.224443715,657.224443715,632,658,0.458767985503,-0.0156225409396,0.049587593028,0.999999794116,7.78397546026e-05,-0.000636841744371,1.19033841157e-05,1793254793560652800
+241,4.016666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649,919,798,840.350495869,657.350495869,632,658,0.458769160343,-0.0156230729398,0.0495879091412,0.999999794739,7.81462461466e-05,-0.000635819547498,1.21891552429e-05,1793254793577319424
+242,4.033333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649,919,798,840.92341572,657.92341572,632,658,0.458771401295,-0.0156242504652,0.0495887729221,0.999999795988,7.69260579831e-05,-0.000633994483196,1.25385454505e-05,1793254793593985792
+243,4.050000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649,919,798,841,658,632,657.501057544,0.458772008353,-0.0156244720669,0.0495882985625,0.999999795578,7.55761294707e-05,-0.000634803024002,1.25117746584e-05,1793254793610652416
+244,4.066666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.077258013,919,798,841,658,631.922741987,657.077258013,0.458772229827,-0.0156243866069,0.0495877031307,0.999999794941,7.44935581e-05,-0.00063593631019,1.23625636086e-05,1793254793627319296
+245,4.083333333,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.671544858,919,798,841,658,631.328455142,657.671544858,0.458771558054,-0.0156232333126,0.0495876792305,0.999999794512,7.53341752756e-05,-0.000636523386899,1.17823803749e-05,1793254793643985920
+246,4.100000000,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.742494656,919,798,841,658,631.257505344,658,0.458771253865,-0.0156227164834,0.0495872397507,0.999999794137,7.63942613593e-05,-0.000636986851967,1.16919514332e-05,1793254793660652544
+247,4.116666667,POSE1_TO_POSE2_PRESS,787,762,739,717,686,649.166821937,919,798,841,658,631.833178063,658,0.458771403854,-0.0156229860549,0.0495862867905,0.999999793831,7.77255180296e-05,-0.000637297585558,1.22066509687e-05,1793254793677319168
+248,4.133333333,POSE1_TO_POSE2_PRESS,786.59110521,762,739,717,686,649.40889479,919,798,841,658,631.59110521,658,0.458771680483,-0.0156230404245,0.0495862185937,0.999999793879,7.69087792362e-05,-0.000637320023171,1.22238525153e-05,1793254793693985792
+249,4.150000000,POSE1_TO_POSE2_PRESS,786.015370561,762,739,717,686,649.984629439,919,798,841,658,631.015370561,658,0.458772008783,-0.015623006986,0.0495865114036,0.999999794071,7.52156015586e-05,-0.000637224828402,1.20380617295e-05,1793254793710652416
+250,4.166666667,HOLD_POSE2,786,762,739,717,686,650,919,798,840,658,631,657,0.458773647365,-0.0156244349298,0.0495880142611,0.999999795288,7.40914846081e-05,-0.000635446557117,1.18933118167e-05,1793254793739597312
+251,4.183333333,HOLD_POSE2,786.584718951,761.415281049,738.415281049,717,686,649.415281049,919,798,840.584718951,657.415281049,631.584718951,657,0.458773417604,-0.0156230762492,0.0495875193394,0.999999794843,7.42498177965e-05,-0.000636131491944,1.17550833452e-05,1793254793756264192
+252,4.200000000,HOLD_POSE2,787,761.167103131,738.167103131,717,686,649,919,797.832896869,841,657.167103131,632,657,0.458773699638,-0.0156219982158,0.0495873808088,0.999999794813,7.45852967044e-05,-0.000636139068838,1.17309369407e-05,1793254793772931072
+253,4.216666667,HOLD_POSE2,787,761.743765062,738.743765062,717,686,649,919,797.256234938,841,657.743765062,632,657,0.45877523605,-0.0156216080304,0.0495881157697,0.999999795802,7.53549481717e-05,-0.000634486486053,1.19863981631e-05,1793254793789597696
+254,4.233333333,HOLD_POSE2,787,762,739,717,686,649,919,797.31751933,841,658,632,657.31751933,0.458774658495,-0.015621029093,0.0495873490255,0.999999795178,7.64137418451e-05,-0.000635343216764,1.19910543515e-05,1793254793806264320
+255,4.250000000,HOLD_POSE2,787,762,739,717,686,649,919,797.888948401,841,658,632,657.888948401,0.458772390472,-0.0156202992171,0.0495853814173,0.999999793258,7.77037529619e-05,-0.000638206562846,1.17951500075e-05,1793254793822930688
+256,4.266666667,HOLD_POSE2,787,762,739,717,686,649,919,798,841,658,631.522056735,657.522056735,0.458773008435,-0.0156199164612,0.0495856679395,0.999999793553,7.78212169598e-05,-0.000637733358623,1.15459851669e-05,1793254793839597568
+257,4.283333333,HOLD_POSE2,787,762,738.930841399,717,686,649,919,798,841,657.930841399,631.069158601,657.069158601,0.458774042071,-0.0156198775137,0.0495863238849,0.9999997942,7.74649969946e-05,-0.000636765184855,1.13410854572e-05,1793254793856264192
+258,4.300000000,HOLD_POSE2,787,762,738.354418292,717,686,649,919,798,841,657.354418292,631.645581708,657.645581708,0.458773018433,-0.0156217461768,0.0495857012652,0.999999793501,7.57089758167e-05,-0.000638069833531,1.15550948767e-05,1793254793872930816
+259,4.316666667,HOLD_POSE2,787,762,738,717.221802485,686,649,919,798,841,657.221802485,632,658,0.458772827975,-0.0156225322197,0.0495853641334,0.99999979329,7.4593225029e-05,-0.000638529930901,1.16610806513e-05,1793254793889597696
+260,4.333333333,HOLD_POSE2,787,762,738,717.797700199,686,649,919,798,841,657.797700199,632,658,0.458773967641,-0.0156215899203,0.0495854827669,0.999999793864,7.44996301818e-05,-0.000637641749351,1.15946127147e-05,1793254793906264320
+261,4.350000000,HOLD_POSE2,787,762,738.382130043,717.617869957,686,649,919,798,841,658,632,658,0.458775247497,-0.0156208110443,0.049586677206,0.999999794553,7.51545759068e-05,-0.000636479360643,1.18166404118e-05,1793254793922930944
+262,4.366666667,HOLD_POSE2,787,762,738.971180012,717.028819988,686,649,919,798,841,658,632,658,0.458776603265,-0.0156201206604,0.0495884541841,0.999999795302,7.62148495008e-05,-0.000635168491183,1.21948858515e-05,1793254793939597568
+263,4.383333333,HOLD_POSE2,787,761.448952754,739,717,686,649,919,798,841,658,632,657.448952754,0.458774699997,-0.0156221645586,0.0495872707828,0.99999979409,7.39723900441e-05,-0.000637336141686,1.23093926393e-05,1793254793956264192
+264,4.400000000,HOLD_POSE2,787,761.130108395,738.869891605,717,686,649,919,797.869891605,841,658,632,657,0.458773406315,-0.0156236184298,0.0495863743848,0.999999793297,7.22103548504e-05,-0.000638781829872,1.22577793276e-05,1793254793972930816
+265,4.416666667,HOLD_POSE2,787,761.708021193,738.291978807,717,686,649,919,797.291978807,841,658,632,657,0.458774787724,-0.015622557438,0.0495869899414,0.999999794325,7.26866018618e-05,-0.000637126791019,1.1681113788e-05,1793254793989597440
+266,4.433333333,HOLD_POSE2,787,761.717271912,738.282728088,717,686,649,919,797.282728088,841,658,632,657.282728088,0.458776324877,-0.0156215444475,0.0495877141756,0.999999795177,7.39219526716e-05,-0.000635645652809,1.17029811326e-05,1793254794006264064
+267,4.450000000,HOLD_POSE2,787,761.145838726,738.854161274,717,686,649,919,797.854161274,841,658,632,657.854161274,0.458778021069,-0.015620580473,0.0495885493848,0.999999795846,7.59324550726e-05,-0.000634342091683,1.23360346704e-05,1793254794022930944
+268,4.466666667,POSE2_TO_POSE3_RETREAT,787,762,739,717,686,649,919,798,841,658,632,657,0.458776464356,-0.015621235136,0.0495874514066,0.999999795047,7.62117338586e-05,-0.000635573597399,1.2022997797e-05,1793254794055424000
+269,4.483333333,POSE2_TO_POSE3_RETREAT,787,762,739,717.580310632,686,649,919,798,841,658,632,657.580310632,0.458776620235,-0.0156218926466,0.0495874204663,0.999999795009,7.32403334588e-05,-0.000635977667693,1.2230076196e-05,1793254794072090624
+270,4.500000000,POSE2_TO_POSE3_RETREAT,787,762,738.840481748,717.840481748,686,649.159518252,919,798,841,658,632,658,0.458776851309,-0.0156220334383,0.0495874593019,0.999999794946,7.18588208471e-05,-0.000636234465994,1.22823892334e-05,1793254794088757248
+271,4.516666667,POSE2_TO_POSE3_RETREAT,787,762,738.264156077,717.264156077,686,649.735843923,919,798,841,658,632,658,0.458777278859,-0.0156208240883,0.049587680456,0.999999794828,7.4631547121e-05,-0.000636106455389,1.19303137877e-05,1793254794105424640
+272,4.533333333,POSE2_TO_POSE3_RETREAT,787,761.682968801,738.317031199,717,686,649.682968801,919,798,841,658,631.682968801,657.682968801,0.458777465861,-0.0156212048845,0.0495879238015,0.999999794988,7.52547688487e-05,-0.000635779200217,1.20598829266e-05,1793254794122091520
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,786.518080038,761.481919962,739,717,686,649,919,798,841,658,631,657,0.458776451453,-0.0156220697171,0.049587688128,0.99999979475,7.3242525097e-05,-0.000636384823009,1.22574444164e-05,1793254794155424512
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,786,761,737.864064259,721,687,651,919,800.864064259,840,658,635.135935741,658,0.431927875666,-0.0153707675699,0.049795248593,0.99999994512,4.41002791371e-05,-0.000325346345985,-4.43316265745e-05,1793254795122090752
+333,5.550000000,POSE2_TO_POSE3_RETREAT,786,761,737.289051819,721,687,651,919,800.289051819,840,658,635.710948181,658,0.430988610055,-0.0153774768554,0.0498054629076,0.999999951877,3.35903346955e-06,-0.000306436711629,-4.82766527064e-05,1793254795138757376
+334,5.566666667,POSE2_TO_POSE3_RETREAT,786,761,737.291395165,720.708604835,687,651,918.708604835,800,840,657.708604835,635.708604835,657.708604835,0.430013412085,-0.0153792697961,0.0497938198798,0.999999945923,-2.41136326822e-05,-0.000323809472332,-5.21609778723e-05,1793254795155424256
+335,5.583333333,POSE2_TO_POSE3_RETREAT,786,761,737.877335405,720.122664595,687,651,918.122664595,800,840,657.122664595,635.122664595,657.122664595,0.429001893394,-0.0153760932472,0.0497600832365,0.999999926316,-3.81742867659e-05,-0.000377856832637,-5.59839456262e-05,1793254795172091136
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,785.04277383,761,738,721,687,651,919,800,839,658,636,657,0.427071123169,-0.0153696458296,0.0497800555293,0.999999934611,-3.2367184754e-05,-0.000356000033511,-5.47295860702e-05,1793254795205424384
+338,5.633333333,POSE2_TO_POSE3_RETREAT,785.618975749,761,738,721,687,651,919,800,839,658,636,657,0.426091854069,-0.0153638867102,0.0497627775625,0.999999925566,-8.56508960469e-06,-0.000381508337307,-5.69657527625e-05,1793254795222091008
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,784.342945371,761,738,721,687.342945371,651.657054629,918,801,839,658,635.342945371,657,0.423388441548,-0.0153764884295,0.0498169895438,0.999999964014,-4.71570466269e-05,-0.000258143123595,-5.57725482472e-05,1793254795272090880
+342,5.700000000,POSE2_TO_POSE3_RETREAT,784.91665177,761,738,721,687.91665177,651.08334823,918,801,839,658,635.91665177,657,0.422477167482,-0.015377603579,0.0498355583192,0.999999971127,-5.2496807036e-05,-0.000228109226729,-5.43644011531e-05,1793254795288757760
+343,5.716666667,POSE2_TO_POSE3_RETREAT,785,761,738,721.509285186,687.490714814,651,918.509285186,801,839.509285186,658,635.490714814,657,0.42151737659,-0.0153735057421,0.0498107829824,0.999999959182,-4.04682300584e-05,-0.000277259750797,-5.59044672691e-05,1793254795305424128
+344,5.733333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.101776861,651,919,800.898223139,839.898223139,657.898223139,635,657,0.420564950689,-0.0153691691099,0.0497869625427,0.999999944538,-2.87622114586e-05,-0.000326785650603,-5.75130115342e-05,1793254795322091008
+345,5.750000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,687.678591314,651,919,800.321408686,839.321408686,657.321408686,635,657,0.419685391031,-0.0153678536095,0.0498019858493,0.999999948158,-3.23407935547e-05,-0.000315243062579,-5.71022252942e-05,1793254795338757888
+346,5.766666667,POSE2_TO_POSE3_RETREAT,785,761,738,721.745715295,688,651,919,800,839,657,635.254284705,657,0.418799212235,-0.0153650658873,0.0498016819029,0.999999944405,-3.45173064916e-05,-0.00032666350517,-5.73572648319e-05,1793254795355424768
+347,5.783333333,POSE2_TO_POSE3_RETREAT,785,761,738,721.171432718,688,651,919,800,839,657,635.828567282,657,0.417904703824,-0.0153604254864,0.0497820897786,0.999999930344,-3.49294222144e-05,-0.000366981167787,-5.84501952094e-05,1793254795372091648
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,784.00469638,761,738,721.00469638,688,651,919,800,839,658,635,657.99530362,0.416236053148,-0.0153669943848,0.0497730714194,0.999999931714,-3.09334529168e-05,-0.000363219395175,-6.07261422664e-05,1793254795405424384
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784.582544539,761,738,721.582544539,688,651,919,800,839,658,635,657.417455461,0.415471688356,-0.0153679067985,0.049798359217,0.999999948101,-4.27669446142e-05,-0.00031364615273,-5.99586694539e-05,1793254795422090752
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,784.26443487,761,738,721.26443487,688,651,919,800,839,658,635,657,0.413899331278,-0.0153667344306,0.049793315575,0.99999994454,-5.4678385146e-05,-0.000322724346414,-6.14773652312e-05,1793254795455424000
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.317840734,761,738,721.317840734,688,651,919,800.317840734,839,657.682159266,635.317840734,657,0.413136439232,-0.0153654134701,0.0497786652377,0.99999993584,-5.5112753236e-05,-0.000348347381855,-6.2739426673e-05,1793254795472090624
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784.905655938,761,738,721.905655938,688,651,919,800.905655938,839,657.094344062,635.905655938,657,0.412403804301,-0.0153641881867,0.0497670702674,0.999999929594,-5.36804506455e-05,-0.000365888235486,-6.36951403901e-05,1793254795488757760
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,761,738,722,688,651,919,801,839,658,635,657,0.411017213802,-0.0153670415569,0.049812803206,0.999999949365,-5.95330560804e-05,-0.000307181710627,-5.80080226171e-05,1793254795522090752
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,688,651,918.783375455,801,839,658,635,657,0.409691212135,-0.015368076548,0.0497988718021,0.999999941145,-6.42477442035e-05,-0.000331802791337,-5.9062669294e-05,1793254795555425280
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,784.7185832,761,738,722.7185832,688,651,919,800.7185832,838,657.7185832,635,657,0.40588923413,-0.0153719967761,0.0497800805152,0.999999923309,-9.73190716224e-05,-0.000374051998929,-6.32174073461e-05,1793254795672090624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784.131010704,761,738,722.131010704,688,651,919,800.131010704,838,657.131010704,635,657,0.405429397108,-0.0153716644096,0.0497595375223,0.999999909729,-0.000104984215687,-0.000406363623851,-6.6243811062e-05,1793254795688757504
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.181294153,688,651,919,801,838,658,635,657,0.40397913582,-0.0153837926818,0.0498334966601,0.999999945937,-0.000139403245754,-0.000291672706101,-6.01688389006e-05,1793254795755424256
+371,6.183333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.756548023,688,651,919,801,838,658,635,657,0.403672857613,-0.0153869257222,0.0498498883433,0.999999950871,-0.000148583803085,-0.000269595354325,-5.91548838859e-05,1793254795772091392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.660308758,688,651,919,801,838,657.660308758,635,657,0.403376275638,-0.0153883852573,0.0498516724739,0.999999949025,-0.000158375516846,-0.000270721959035,-5.98025187858e-05,1793254795788758528
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,784.337086996,761,738.662913004,722,688,651,918,801,838.662913004,657,635,657,0.402335106248,-0.0153917984516,0.0498154682625,0.999999922043,-0.000188238003682,-0.000340887548738,-6.53875335318e-05,1793254795855424256
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,800,838,658,635,657,0.401570587381,-0.0153917685816,0.0498231911983,0.999999939738,-0.000133319521549,-0.000316578241709,-5.02813027414e-05,1793254795938758144
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c825d9d0f84733c9388436556ecdbc12e9c148fe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e04aff4893ee3e9e70f5c037cc9ad280d8b0f185
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6d4b4ad27c2b7c825928878e73f531d45326909
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+61,1.016666667,BASELINE,784.603291357,761,738,723,688,651.396708643,919,801,838,658,635,657,0.4009848885,-0.0154127373835,0.0498504449221,0.999999966397,1.19472777644e-05,-0.00025544517955,-4.25672201204e-05,1793254797685767936
+62,1.033333333,BASELINE,784.023886677,761,738,723,688,651.976113323,919,801,838,658,635,657,0.400984458815,-0.0154133532823,0.0498503922622,0.999999966271,1.13049878593e-05,-0.000255970071728,-4.25289738574e-05,1793254797702434560
+63,1.050000000,BASELINE,784.551232361,761,738,723,688,651.448767639,919,801,838,658,635,657,0.40098482491,-0.0154133757494,0.0498501810698,0.999999966057,1.1467636136e-05,-0.000256814685965,-4.24454351576e-05,1793254797719100928
+64,1.066666667,BASELINE,784.874020667,761,738.125979333,723,688,651,919,801,838,657.874020667,635,657,0.400985480207,-0.0154129678889,0.0498502839293,0.999999966031,1.18312843836e-05,-0.0002569076854,-4.2377642998e-05,1793254797735767552
+65,1.083333333,BASELINE,784.299941671,761,738.700058329,723,688,651,919,801,838,657.299941671,635,657,0.400987042464,-0.015411120145,0.0498515280967,0.999999966692,1.27867648398e-05,-0.000254278343963,-4.23727873961e-05,1793254797752433920
+66,1.100000000,BASELINE,784,761,738.716737094,723,688,651,919,801,838.283262906,657.283262906,635,657,0.40098794292,-0.0154108290799,0.0498522218321,0.999999967097,1.30951652765e-05,-0.000252666459211,-4.23612037738e-05,1793254797769100544
+67,1.116666667,BASELINE,784,761,738.123547989,723,688,651,919,801,838.876452011,657.876452011,635,657,0.40098811928,-0.0154122412226,0.0498523133237,0.999999967229,1.26955765491e-05,-0.000252167803635,-4.23422588287e-05,1793254797785767168
+68,1.133333333,BASELINE,784.456645733,761,738.456645733,723,688,651,919,801,838.543354267,657.543354267,635,657,0.400987562796,-0.0154129471406,0.0498521393279,0.99999996714,1.1917448079e-05,-0.000252575551617,-4.22304135011e-05,1793254797802434048
+69,1.150000000,BASELINE,785,761,738.966696709,723,688,651,919,801,838,657.033303291,635,657,0.400986885905,-0.0154134135275,0.049851899368,0.999999966997,1.10767092806e-05,-0.000253196135276,-4.21248958175e-05,1793254797819100928
+70,1.166666667,BASELINE,785,761,738.391949866,723,688,651,919,801,838,657.608050134,635,657,0.40098738582,-0.0154130061234,0.0498517224466,0.999999966931,1.08370562653e-05,-0.000253400336481,-4.2519584474e-05,1793254797835767552
+71,1.183333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400987670858,-0.0154128685578,0.0498515144228,0.999999966877,1.03082727231e-05,-0.000253596572135,-4.27615834079e-05,1793254797852434176
+72,1.200000000,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400987495162,-0.0154133095749,0.0498512397097,0.999999966846,9.15954068419e-06,-0.000253775728233,-4.2676187872e-05,1793254797869100800
+73,1.216666667,BASELINE,785,761,738,723,688,651,919,801,838.358826723,658,635,657,0.400987172287,-0.0154131949849,0.0498509889755,0.999999966836,9.40681781236e-06,-0.000253835622318,-4.25070426289e-05,1793254797885767168
+74,1.233333333,BASELINE,785,761,738,723,688,651,919,801,838.9389212,658,635,657,0.400986758653,-0.015412737784,0.0498507530277,0.999999966838,1.05149333839e-05,-0.000253821974384,-4.22862537744e-05,1793254797902434048
+75,1.250000000,BASELINE,784.484024884,761,738.515975116,723,688,651,919,801,838.484024884,658,635,657,0.400986176995,-0.0154138579576,0.0498508376939,0.999999966663,1.02716173658e-05,-0.000254529869192,-4.22292039348e-05,1793254797919100672
+76,1.266666667,BASELINE,784.091702772,761,739,723,688,651,919,801,838,658,635,657,0.400985497472,-0.0154146196914,0.0498508436898,0.999999966469,9.92619568885e-06,-0.000255295406867,-4.22802263464e-05,1793254797935767296
+77,1.283333333,BASELINE,784.662372219,761,739,723,688,651,919,801,838,658,635,657,0.400984410075,-0.0154125397378,0.0498502417204,0.999999966288,9.87813964193e-06,-0.000255918513844,-4.27950704431e-05,1793254797952434176
+78,1.300000000,BASELINE,785,761,738.75694651,723,688,651,919,801,838,658,635,657,0.400984118987,-0.0154118828467,0.0498505077948,0.99999996633,9.67758594583e-06,-0.000255754386176,-4.28544220127e-05,1793254797969100800
+79,1.316666667,BASELINE,785,761,738.161760291,723,688,651,919,801,838,658,635,657,0.400984981581,-0.0154132876702,0.0498520314797,0.999999966692,9.25609564586e-06,-0.000254449723154,-4.22538618963e-05,1793254797985767680
+80,1.333333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635,657,0.400985515128,-0.0154133176354,0.0498516401582,0.999999966654,1.08228450505e-05,-0.000254525945915,-4.2332679788e-05,1793254798002434304
+81,1.350000000,BASELINE,785,761,738,723,688,651,919,801,838,657.99972888,635,657,0.400985926293,-0.0154128349678,0.0498505353905,0.999999966462,1.31296662132e-05,-0.000255116225393,-4.26648150907e-05,1793254798019100928
+82,1.366666667,BASELINE,785,761,738,723,688,651,919,801,838,657.426002856,635,657,0.400987230668,-0.0154133730188,0.0498520950737,0.999999967044,1.1278570423e-05,-0.000252939540312,-4.24988853852e-05,1793254798035767552
+83,1.383333333,BASELINE,785,761,738,723,688,651,919,801,838,657.148137421,635.148137421,657,0.400987822317,-0.0154138444702,0.04985299856,0.999999967378,9.76560341326e-06,-0.00025170127526,-4.23594975044e-05,1793254798052433920
+84,1.400000000,BASELINE,785,761,738,723,688,651,919,801,838,657.72347245,635.72347245,657,0.400986358614,-0.0154141238622,0.0498520097108,0.999999967016,9.22772926574e-06,-0.000253169218485,-4.22966507042e-05,1793254798069100544
+85,1.416666667,BASELINE,785,761,738,723,688,651,919,801,838,658,635.692067476,657,0.400986080234,-0.0154132330903,0.0498515549208,0.999999966836,1.10186307096e-05,-0.000253805856826,-4.22905015038e-05,1793254798085767168
+86,1.433333333,BASELINE,785,761,738,723,688,651,919,801,838,658,635.099162781,657,0.400986898796,-0.0154112594055,0.0498515943691,0.999999966817,1.49646674265e-05,-0.000253673174725,-4.2336822367e-05,1793254798102434048
+87,1.450000000,BASELINE,785,760.518732233,738,722.518732233,688,651,919,801,838,657.518732233,635,657,0.400986464573,-0.0154112723941,0.0498512151125,0.999999966703,1.46345211249e-05,-0.000254101890975,-4.25663160313e-05,1793254798119101184
+88,1.466666667,BASELINE,785,760.058342093,738,722.058342093,688,651,919,801,838,657,635,657,0.400985745911,-0.0154116764424,0.0498507153902,0.999999966553,1.34706278486e-05,-0.000254719174333,-4.27978867297e-05,1793254798135767808
+89,1.483333333,BASELINE,785,760.627959467,738,722.627959467,688,651,919,801,838,657,635,657,0.400984739545,-0.0154120108863,0.0498498969143,0.999999966241,1.2526508664e-05,-0.000256000866126,-4.27252686497e-05,1793254798152434432
+90,1.500000000,BASELINE,785,761,738.206171755,723,688,651,919,801,838,657.206171755,635,657,0.400984108392,-0.0154124603754,0.049849628858,0.999999966116,1.15827246959e-05,-0.000256552714702,-4.25893012813e-05,1793254798169101056
+91,1.516666667,BASELINE,785,761,738.800568345,723,688,651,919,801,838,657.800568345,635,657,0.400984183773,-0.0154131264964,0.0498503972509,0.999999966348,1.06395720526e-05,-0.000255730256249,-4.23340461598e-05,1793254798185767168
+92,1.533333333,BASELINE,785,761,739,723,688,651,919,801,838,658,635,657,0.400984509767,-0.0154130975786,0.0498507121619,0.999999966439,9.4351051559e-06,-0.000255408277204,-4.2428261868e-05,1793254798202433792
+93,1.550000000,BASELINE,785,761,739,723,688,651,919,801,838,658,635,657,0.400984962304,-0.0154127177114,0.0498507980941,0.999999966457,8.09869140274e-06,-0.000255339007764,-4.26989376848e-05,1793254798219100416
+94,1.566666667,BASELINE,785,761,738.459869704,723,688,651,919,801,838,658,635,657,0.400985731413,-0.0154123035142,0.0498512679227,0.999999966628,1.12680350822e-05,-0.00025456356587,-4.25918759674e-05,1793254798235767552
+95,1.583333333,BASELINE,785,761,738,723,688,651,918.882164381,801,838,657.882164381,635,657,0.400986381766,-0.0154122412187,0.0498515957975,0.999999966758,1.37448231159e-05,-0.000253955383057,-4.24497064385e-05,1793254798252434432
+96,1.600000000,BASELINE,785,761,738,723,688,651,918.295813366,801,838,657.295813366,635,657,0.400986477455,-0.0154135870331,0.0498512592227,0.999999966723,1.22938453069e-05,-0.000254196245697,-4.22663829303e-05,1793254798269101568
+97,1.616666667,BASELINE,784.712846142,761,738,723,688,651,918.287153858,801,838,657.287153858,635.287153858,657,0.400986500178,-0.0154143821169,0.049851087164,0.99999996669,1.09163858132e-05,-0.0002543999362,-4.22078462703e-05,1793254798285767936
+98,1.633333333,BASELINE,784.133324188,761,738,723,688,651,918.866675812,801,838,657.866675812,635.866675812,657,0.40098644861,-0.0154146164697,0.0498510826087,0.999999966658,9.61377969232e-06,-0.000254565779564,-4.22763623916e-05,1793254798302434048
+99,1.650000000,BASELINE,784.444733855,761,738.444733855,723,688,651,919,801,838,658,635.555266145,657,0.40098660906,-0.015413418314,0.0498515025839,0.999999966822,1.11596274748e-05,-0.000253817269694,-4.25121827999e-05,1793254798319100672
+100,1.666666667,BASELINE,785,761,739,723,688,651,919,801,838.022278376,658,635,657,0.400986816481,-0.0154119129982,0.0498520263277,0.99999996703,1.33404487104e-05,-0.000252848773975,-4.27800752918e-05,1793254798335767296
+101,1.683333333,BASELINE,785,761,739,723,688,651,919,801,838.597932708,658,635,657,0.400986617042,-0.0154134100998,0.0498519767483,0.999999966985,1.01523761365e-05,-0.000253202304621,-4.26028863667e-05,1793254798352433920
+102,1.700000000,BASELINE,785,761,739,723,688,651,919,801,838.823008329,658,635,657,0.400986408034,-0.0154139527437,0.0498520088258,0.999999966942,8.56989397569e-06,-0.000253455221066,-4.24668214201e-05,1793254798369100544
+103,1.716666667,BASELINE,785,761,739,723,688,651,919,801,838.236063542,658,635,657,0.400986176863,-0.0154122846453,0.0498522300393,0.999999966918,1.07063262023e-05,-0.000253475092005,-4.24260090219e-05,1793254798385767680
+104,1.733333333,BASELINE,784.652795167,761,739,723,688,651,919,801,838,657.652795167,635,657,0.400986138946,-0.0154128003551,0.0498521654088,0.999999966872,1.10940643188e-05,-0.00025365514441,-4.23245218772e-05,1793254798402434560
+105,1.750000000,BASELINE,784.072000126,761,739,723,688,651,919,801,838,657.072000126,635,657,0.400986231044,-0.015414785273,0.0498519084702,0.999999966814,1.0305327603e-05,-0.000253942962663,-4.21822143675e-05,1793254798419101440
+106,1.766666667,BASELINE,784.503419282,761,738.496580718,723,688,651,919,801,838,657.503419282,635,657,0.400985554026,-0.0154141525004,0.049851232015,0.999999966613,1.1433024227e-05,-0.000254648035607,-4.2401562505e-05,1793254798435768064
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,761,738,723,688,651,919,801,838,658,635,657,0.400985088293,-0.015414154213,0.0498508857927,0.999999966547,1.12504016806e-05,-0.000254964692075,-4.21008600142e-05,1793254798479323648
+108,1.800000000,POSE1_TO_POSE2_PRESS,784.595657195,761,738,723,688,651,919,801,838,658,635,657,0.400986110897,-0.015414787022,0.0498519525609,0.999999966869,8.59046373389e-06,-0.000253785093443,-4.21942206135e-05,1793254798495989760
+109,1.816666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,657.814080355,635,657,0.400986623976,-0.0154149053478,0.049852489662,0.999999967052,7.14151328202e-06,-0.000253103180231,-4.22258315983e-05,1793254798512656128
+110,1.833333333,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651,919,801,838,657.235219584,635,657,0.400986060175,-0.0154139363135,0.0498519073121,0.999999966954,8.25198412194e-06,-0.000253473124821,-4.21269348053e-05,1793254798529323008
+111,1.850000000,POSE1_TO_POSE2_PRESS,785,761,738,722.658997455,688,651,919,801,838,657,635,657,0.400986037079,-0.0154131247156,0.0498514267286,0.999999966813,1.07235267199e-05,-0.000253921459686,-4.22287730643e-05,1793254798545989632
+112,1.866666667,POSE1_TO_POSE2_PRESS,785,761,738,722.08458149,688,651,919,801,838,657,635,657,0.400986384093,-0.0154124208815,0.0498510158033,0.999999966633,1.41267116039e-05,-0.000254423452022,-4.24680128105e-05,1793254798562656000
+113,1.883333333,POSE1_TO_POSE2_PRESS,785,761,738,722.501391492,688,651.501391492,919,801,838,657.501391492,635,657,0.400986509046,-0.0154119097887,0.0498514964666,0.999999966713,1.39893144344e-05,-0.000254102850098,-4.25426589015e-05,1793254798579322368
+114,1.900000000,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.91187675,919,800.91187675,838,658,635,657,0.40098670602,-0.0154117070518,0.0498520332634,0.999999966802,1.29022212599e-05,-0.000253805628035,-4.25810928852e-05,1793254798595988992
+115,1.916666667,POSE1_TO_POSE2_PRESS,785,761,738,723,688,651.332046144,919,800.332046144,838,658,635,657,0.400987518801,-0.015413039168,0.0498520242455,0.999999966677,9.92731994464e-06,-0.00025443141235,-4.257605419e-05,1793254798612655616
+116,1.933333333,POSE1_TO_POSE2_PRESS,785,761,738.246613743,723,688,651,919,800.246613743,838,658,635,657,0.400994200686,-0.0154141668297,0.0498543725503,0.999999967791,8.43757333226e-06,-0.000250130459761,-4.22144146573e-05,1793254798629322496
+117,1.950000000,POSE1_TO_POSE2_PRESS,785,761,738.823704749,723,688,651,919,800.823704749,838,658,635,657,0.401008747524,-0.0154150205102,0.0498598798094,0.999999970489,8.93802368255e-06,-0.000239227383006,-4.13749085287e-05,1793254798645989120
+118,1.966666667,POSE1_TO_POSE2_PRESS,784.603036194,761,738.603036194,723,688,651,919,801,838,658,635,657,0.401044017903,-0.0154153239249,0.0498724693753,0.999999976478,1.21420020145e-05,-0.000212813746688,-4.00833493766e-05,1793254798662656000
+119,1.983333333,POSE1_TO_POSE2_PRESS,784.031462621,761,738.031462621,723,688,651,919,801,838,658,635,657,0.401088403805,-0.015415385298,0.0498881741876,0.999999982995,1.65351628299e-05,-0.000179577584972,-3.85929486288e-05,1793254798679323392
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,761,738.560414734,723,688,651,919,801,838,658,635,657,0.401149859733,-0.0154219077575,0.0499051387727,0.999999988153,1.10003557251e-05,-0.00014920641406,-3.62017452338e-05,1793254798695990016
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,761,738.850215359,723,688,651,919,801,838,658,635,657,0.401215479248,-0.0154284974278,0.0499208542722,0.999999991769,5.6904265286e-06,-0.000123634660962,-3.38226791266e-05,1793254798712656640
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,761,738.271414815,723,688,651,919,801,838,658,635,657,0.401290176115,-0.0154342015945,0.0499327819329,0.999999993299,2.68104556755e-06,-0.000111331466567,-3.16286724582e-05,1793254798729323008
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,761,738,722.694403667,688,651,919,801,838,658,635,657,0.401373497414,-0.0154393027401,0.049939844702,0.999999994343,1.04080778503e-06,-0.000101980998348,-3.02114273986e-05,1793254798745989376
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,761,738,722.118972552,688,651,919,801,838,658,635,657,0.401464433892,-0.0154438714313,0.0499426118791,0.99999999503,6.0949324171e-07,-9.52377225968e-05,-2.94800457445e-05,1793254798762655744
+125,2.083333333,POSE1_TO_POSE2_PRESS,784.465733064,761,738,722.465733064,687.534266936,651.465733064,919,801,838,657.534266936,635,657,0.401573844411,-0.0154497704274,0.0499469545764,0.999999995542,-1.05790283431e-06,-9.00600625565e-05,-2.83567338377e-05,1793254798779322624
+126,2.100000000,POSE1_TO_POSE2_PRESS,785,761,738.052162725,723,687.052162725,651.947837275,919,801,838,657.052162725,635,657,0.401689822722,-0.0154561303239,0.0499512229112,0.999999995926,-3.02082720399e-06,-8.60341949655e-05,-2.71563629744e-05,1793254798795988992
+127,2.116666667,POSE1_TO_POSE2_PRESS,785,761,738.631584748,723,687.631584748,651.368415252,919,801,838,657.631584748,635,657,0.401823516963,-0.0154636442084,0.0499505887766,0.999999995638,-4.7144024138e-06,-8.95258904946e-05,-2.62096491723e-05,1793254798812655616
+128,2.133333333,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651,919,801,838,658,635.21020801,657,0.401967795691,-0.0154722732645,0.049949243312,0.999999995249,-7.46656717712e-06,-9.38932972158e-05,-2.50980930849e-05,1793254798829322496
+129,2.150000000,POSE1_TO_POSE2_PRESS,785,761,739,723,688,651,919,801,838,658,635.787436586,657,0.402130554789,-0.0154828493955,0.0499466558741,0.999999994667,-1.20670159287e-05,-9.97896843957e-05,-2.36987245206e-05,1793254798845989376
+130,2.166666667,POSE1_TO_POSE2_PRESS,784.637703685,761,738.637703685,723,688,651,919,801,838,658,635.637703685,657,0.402316125763,-0.015493908796,0.0499466867164,0.999999994544,-1.69767075409e-05,-0.000100668967983,-2.21469893321e-05,1793254798862656000
+131,2.183333333,POSE1_TO_POSE2_PRESS,784.064224701,761,738.064224701,723,688,651,919,801,838,658,635.064224701,657,0.402514993804,-0.0155052498954,0.049948243755,0.999999994683,-2.20666573778e-05,-9.86237804267e-05,-2.05064394442e-05,1793254798879322624
+132,2.200000000,POSE1_TO_POSE2_PRESS,784.523662356,761,738.523662356,723,688,651,919,801,838.523662356,658,635.523662356,657,0.402756775683,-0.0155158765064,0.0499543440585,0.999999995559,-2.23081695326e-05,-8.97602597938e-05,-1.81129077058e-05,1793254798895989248
+133,2.216666667,POSE1_TO_POSE2_PRESS,784.888428484,761,738.888428484,723,688,651,919,801.111571516,839,658,635.888428484,657,0.403011082044,-0.0155257560664,0.049960618499,0.999999996512,-2.09159507361e-05,-7.93409072703e-05,-1.5626102579e-05,1793254798912655872
+134,2.233333333,POSE1_TO_POSE2_PRESS,784.30806117,761,738.30806117,723,688,651,919,801.69193883,839,658,635.30806117,657,0.403295272998,-0.0155328753174,0.0499652171249,0.99999999762,-1.5228410154e-05,-6.59973994045e-05,-1.31463936993e-05,1793254798929322752
+135,2.250000000,POSE1_TO_POSE2_PRESS,784.270013095,761,738,722.729986905,688,651,919,801.729986905,839,658,635,657,0.403596367214,-0.0155319412086,0.0499699077082,0.999999998458,5.43625973411e-08,-5.44809340719e-05,-1.07932130442e-05,1793254798945989376
+136,2.266666667,POSE1_TO_POSE2_PRESS,784.845493188,761,738,722.154506812,688,651,919,801.154506812,839,658,635,657,0.403916584146,-0.0155218962982,0.0499747023234,0.999999998606,2.61922632142e-05,-4.50314107444e-05,-8.58317446834e-06,1793254798962656000
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738.420096549,722.420096549,688,651,919,801,838.579903451,658,635.420096549,657,0.40426823992,-0.0155174399779,0.0499801001222,0.999999998076,5.11982029502e-05,-3.45350809755e-05,-5.79284618685e-06,1793254798979322880
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738.994378117,722.994378117,688,651,919,801,838.005621883,658,635.994378117,657,0.404631434458,-0.0155150347978,0.049985719303,0.999999996844,7.57886866138e-05,-2.3654549551e-05,-2.78953838918e-06,1793254798995990272
+139,2.316666667,POSE1_TO_POSE2_PRESS,785,761,738.413981821,723,688,651,919,801,838.586018179,658,636,657,0.405031295612,-0.0155258033884,0.0499823126451,0.999999996112,8.41386688136e-05,-2.63756507536e-05,4.4969966509e-07,1793254799012656128
+140,2.333333333,POSE1_TO_POSE2_PRESS,784.826165954,761.173834046,738.173834046,723,688,651.173834046,919,801,839,657.826165954,636,657,0.405433175338,-0.0155336339293,0.0499735873292,0.999999994599,9.54626328856e-05,-4.09788670995e-05,3.08083683983e-06,1793254799029322240
+141,2.350000000,POSE1_TO_POSE2_PRESS,784.247652264,761.752347736,738.752347736,723,688,651.752347736,919,801,839,657.247652264,636,657,0.405838910298,-0.0155343215999,0.0499526880894,0.999999990045,0.000114083693349,-8.29301979296e-05,4.29090588011e-06,1793254799045988864
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,761.671366277,738.671366277,723,688,651.671366277,919,801,838.671366277,657,635.671366277,657,0.406274730104,-0.0155325521252,0.049934715752,0.99999998385,0.000138061045087,-0.000114934356078,5.38523623263e-06,1793254799062655488
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,761.096747681,738.096747681,723,688,651.096747681,919,801,838.096747681,657,635.096747681,657,0.40673306869,-0.0155289434584,0.0499189342215,0.999999976465,0.000166047624035,-0.000139492983257,6.39293541255e-06,1793254799079322112
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,761,738,722.511057772,687.511057772,651,919,801,838.488942228,657.488942228,635,657,0.407259900672,-0.0155290112138,0.0499206037012,0.999999972436,0.00019201137411,-0.000134756528213,1.00235688785e-05,1793254799095988736
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.075786227,919,801.075786227,839,657.924213773,635.075786227,657,0.40781001342,-0.0155304170833,0.0499292049029,0.99999996941,0.000217080132431,-0.000117659204454,1.45616800866e-05,1793254799112655872
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.65540169,919,801.65540169,839,657.34459831,635.65540169,657,0.408422710245,-0.0155357705657,0.0499604005449,0.999999969554,0.000238921558793,-5.78156112204e-05,2.16024433954e-05,1793254799129322752
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.766669128,919,801.766669128,839,657,636,657,0.409038414132,-0.0155401996928,0.0499829452457,0.999999965323,0.000261299172033,-1.74342868448e-05,2.77991308375e-05,1793254799145989632
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651.191212522,919,801.191212522,839,657,636,657,0.409658527146,-0.0155432734666,0.0499928053409,0.999999958988,0.000284462978995,-5.58988040459e-06,3.27581759958e-05,1793254799162656000
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651,919,801,839,657.376502935,635.623497065,657,0.410261412685,-0.0155424204295,0.0499861418447,0.999999978788,0.000201009249697,-2.68405026661e-05,3.60271980132e-05,1793254799179322624
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,761,738,722,687,651,919,801,839,657.940366124,635.059633876,657,0.410855725247,-0.0155396132821,0.0499712556651,0.999999995097,6.4499120669e-05,-6.45603005483e-05,3.84552081479e-05,1793254799195988992
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,761,738.539510215,722,687.539510215,651.539510215,919,801,839,658,635.539510215,657,0.411531668712,-0.015537224433,0.0499472356061,0.999999989707,8.30964307247e-05,-0.000109970994829,3.98537288014e-05,1793254799212655616
+152,2.533333333,POSE1_TO_POSE2_PRESS,784.136936535,761.136936535,739,722,687.863063465,651.863063465,919,801,839,658,636,657,0.412240792336,-0.0155363237402,0.0499344499951,0.999999983433,0.000119352361493,-0.000130759205408,4.23175895232e-05,1793254799229322240
+153,2.550000000,POSE1_TO_POSE2_PRESS,784.715371579,761.715371579,739,722,687.284628421,651.284628421,919,801,839,658,636,657,0.413025765866,-0.0155400615279,0.0499613683033,0.999999984657,0.000153398064525,-6.92292064736e-05,4.86087756954e-05,1793254799245988864
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,762,739,722,687,651.292260588,919,801,839,658,636,657,0.413794057956,-0.0155436121311,0.0499727917681,0.999999990617,0.000123459928564,-4.59176634994e-05,3.76138373014e-05,1793254799262655744
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,762,739,722,687,651.867651928,919,801,839,658,636,657,0.414546189805,-0.0155469813979,0.0499692044315,0.999999997676,3.15367284646e-05,-5.96306746328e-05,9.87277083008e-06,1793254799279322624
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,762,739,722,687,652,919,801,839,658,636,657,0.415307222054,-0.0155577171674,0.0499495172071,0.999999995523,2.52679001217e-05,-9.09637060361e-05,6.427108125e-06,1793254799295989248
+157,2.616666667,POSE1_TO_POSE2_PRESS,784.984423175,761.984423175,738.984423175,721.984423175,687,651.984423175,919,801.015576825,839,657.984423175,636,657,0.416073729059,-0.0155702106801,0.0499260969277,0.999999991018,4.52832089292e-05,-0.000125728328453,1.03117826917e-05,1793254799312655872
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.390994538,761.390994538,738.390994538,721.390994538,687,651.390994538,919,801.609005462,839,657.390994538,636,657,0.416944702125,-0.0155662771635,0.0499426070562,0.999999991421,9.11565928239e-05,-9.25334389558e-05,1.68931989674e-05,1793254799329322240
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,761,738,721.197542833,687,651,919,801.802457167,839,657.197542833,636,657,0.417816185585,-0.0155632165405,0.0499605867335,0.999999989828,0.000127260521204,-6.02080131915e-05,2.28893446848e-05,1793254799345988864
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,761,738,721.776632855,687,651,919,801.223367145,839,657.776632855,636,657,0.418688654798,-0.0155618418817,0.049981404793,0.999999988738,0.000144495079815,-2.95619291393e-05,2.77550601199e-05,1793254799362655744
+161,2.683333333,POSE1_TO_POSE2_PRESS,784.352613104,761,738.352613104,721.647386896,687,651.352613104,919,801.352613104,839,657.647386896,636,657,0.419544430702,-0.0155601507802,0.0499755904911,0.999999987454,0.000149919395344,-4.21215836875e-05,2.90141942963e-05,1793254799379322112
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.926640627,761,738.926640627,721.073359373,687,651.926640627,919,801.926640627,839,657.073359373,636,657,0.420389724434,-0.0155582609765,0.0499530530754,0.99999998532,0.000147927768683,-8.18111827982e-05,2.80086673983e-05,1793254799395988736
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,761,738.487089093,721,687,652,919,801.487089093,839.512910907,657.512910907,636,657,0.421325250432,-0.0155628611837,0.0499745776187,0.999999989059,0.000141956699052,-2.91529262647e-05,2.96743617042e-05,1793254799412655616
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,801,840,658,636,657,0.422272519705,-0.0155680278937,0.0499964393371,0.999999989843,0.000137231838904,2.21148610461e-05,3.15025525899e-05,1793254799429322240
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,761,738,721,687,652,919,801,840,658,636,657,0.423212659857,-0.0155713401546,0.049988784298,0.999999989492,0.000141331208899,1.40323884449e-06,3.22265695789e-05,1793254799445988864
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.740715096,761,738,721,687,651.740715096,919,801,840,657.740715096,636,657,0.424153596635,-0.0155738862162,0.0499830910152,0.999999989003,0.000144365219219,-9.7055819751e-06,3.25278985296e-05,1793254799462655488
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.166458895,761,738,721,687,651.166458895,919,801,840,657.166458895,636,657,0.425095501256,-0.0155755015228,0.0499797808126,0.999999988763,0.000146105064101,-9.14921890964e-06,3.23157592113e-05,1793254799479322368
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.408630687,761,738,721.408630687,687,651.408630687,919,801,840,657.408630687,636,657,0.426054975995,-0.0155785776203,0.0499931655175,0.999999989573,0.000140143189264,2.06134163994e-06,3.47802156455e-05,1793254799495988992
+169,2.816666667,POSE1_TO_POSE2_PRESS,784.984060412,761,738,721.984060412,687,651.984060412,919,801,840,657.984060412,636,657,0.427021622627,-0.0155822499981,0.0500133649202,0.999999990524,0.000131037547829,1.76208410744e-05,3.83372322172e-05,1793254799512655360
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,761.574422695,738,721.425577305,687,652,919,801.574422695,839.425577305,657.425577305,636,657,0.427904387688,-0.0155745390789,0.0499790267556,0.999999987579,0.000143595257196,-5.40604758557e-05,3.6052602514e-05,1793254799529322240
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,762,738,720.838248897,687,652,919,801.838248897,839.161751103,657,636,657,0.428826798117,-0.0155685016352,0.0499537870308,0.999999982141,0.00015667413045,-9.99874122571e-05,3.42714599745e-05,1793254799545989120
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,762,738,720.259831574,687,652,919,801.259831574,839.740168426,657,636,657,0.429857489742,-0.0155676104153,0.0499559870379,0.999999982372,0.000169505675573,-7.31693576562e-05,3.42159939364e-05,1793254799562656000
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,762,738.316625142,720,687,652,919,801,840,657,636,657,0.430838902272,-0.0155671885595,0.0499520007073,0.999999980693,0.000179379326437,-7.26733250136e-05,3.39948011385e-05,1793254799579322624
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,762,738.8914828,720,687,652,919,801,840,657,636,657,0.431780123801,-0.0155671495068,0.0499429689353,0.999999977595,0.000186840583056,-9.36449570724e-05,3.36384452404e-05,1793254799595989248
+175,2.916666667,POSE1_TO_POSE2_PRESS,784.522637947,762,738.522637947,720.477362053,687,652,919,801.477362053,840,657,636,657,0.432726028892,-0.0155676037265,0.0499413785936,0.999999981817,0.000165529048121,-8.86044016306e-05,3.33848243231e-05,1793254799612655872
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.064799826,761.935200174,738,720.935200174,687,652,919,801.935200174,840,657,636,657,0.433678340927,-0.0155682113534,0.0499450961313,0.999999986482,0.000142968405303,-7.39503376278e-05,3.35893195679e-05,1793254799629322496
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.644245916,761.355754084,738,720.355754084,687,652,919,801.355754084,840,657,636,657,0.434672881177,-0.0155691257276,0.049977216678,0.999999985433,0.000163662857083,-3.10185759412e-05,3.72423497039e-05,1793254799645988864
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738,720,687,652,919,801,840,657,636,657,0.435634039344,-0.0155674307858,0.0499846509469,0.999999982186,0.000181530134386,-3.43103142596e-05,3.86929653524e-05,1793254799662655488
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,738,720,687,652,919,801,840,657,636,657,0.436542107637,-0.0155615860531,0.0499528247818,0.999999974162,0.000194901147048,-0.000111114744567,3.66409165822e-05,1793254799679322368
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,761.376488252,738,720,687,652,919,801.376488252,840,657,636,657,0.437493651769,-0.0155621643693,0.0499548047305,0.999999974803,0.000198749543316,-9.75197268085e-05,3.71695175077e-05,1793254799695988736
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,761.948636426,738,720,687,652,919,801.948636426,840,657,636,657,0.438467790122,-0.0155660807269,0.0499743536267,0.999999979023,0.000197649060729,-3.69443568304e-05,3.90392751565e-05,1793254799712655616
+182,3.033333333,POSE1_TO_POSE2_PRESS,785.537876506,762,738,720,687,652,919,801.462123494,840,657,636,657,0.439361575258,-0.015562951907,0.0499758242117,0.999999982184,0.000180860691523,-3.73575165198e-05,3.90547369327e-05,1793254799729322496
+183,3.050000000,POSE1_TO_POSE2_PRESS,785.873693512,762,738,720,687,652,919,801,840,657.126306488,636,657,0.440248824457,-0.0155600646462,0.0499741292636,0.999999983738,0.000170360634636,-4.44278512129e-05,3.90787306433e-05,1793254799745989120
+184,3.066666667,POSE1_TO_POSE2_PRESS,785.294218204,762,738,720,687,652,919,801,840,657.705781796,636,657,0.441141057447,-0.01556053707,0.0499674740463,0.999999980094,0.000187973419687,-5.3801734766e-05,3.97894968049e-05,1793254799762655744
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+187,3.116666667,POSE1_TO_POSE2_PRESS,785.443564789,761.556435211,737.556435211,719,687,652,919,801,840,657,636.556435211,657,0.44374474351,-0.0155636910971,0.0499804980527,0.999999981595,0.000184809076232,-3.32579850599e-05,3.93564397602e-05,1793254799812655872
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+196,3.266666667,POSE1_TO_POSE2_PRESS,785.670390286,762,738,718,687,651,919,800,840,657.329609714,635,657.329609714,0.450254920189,-0.0156022013521,0.0498359666701,0.999999955853,0.000177110175509,-0.000235566397365,3.78726953082e-05,1793254799962655744
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+245,4.083333333,POSE1_TO_POSE2_PRESS,786,762,738.102661095,717,686,649.897338905,919,798,841,657.102661095,632,657,0.459242257464,-0.015626700657,0.0495748498186,0.999999780263,6.65905188431e-05,-0.000659447381436,1.30131762173e-05,1793254800779322368
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,762,738.682847449,717,686,649.317152551,919,798,841,657.682847449,632,657,0.459242372557,-0.0156271137949,0.0495741598775,0.99999978033,6.41617588425e-05,-0.000659583997287,1.30947957364e-05,1793254800795988992
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,658,632,657,0.459242872631,-0.015627691949,0.049574135101,0.999999780644,6.21183795247e-05,-0.000659302046054,1.31595729437e-05,1793254800812655616
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,658,632,657,0.459243836893,-0.0156284690712,0.0495749123457,0.999999781259,6.05396720891e-05,-0.000658515408185,1.32040425688e-05,1793254800829322240
+249,4.150000000,POSE1_TO_POSE2_PRESS,786,762,739,717,686,649,919,798,841,658,632,657,0.459244252833,-0.0156279627474,0.0495751529617,0.999999781072,6.13647784169e-05,-0.000658725196588,1.30712499768e-05,1793254800845988608
+250,4.166666667,HOLD_POSE2,786,762,738,717,686,649,919,798,841,658,631,658,0.459243840862,-0.0156265209377,0.0495741599681,0.999999779728,6.5062872793e-05,-0.000660408360592,1.30939884523e-05,1793254800891146240
+251,4.183333333,HOLD_POSE2,786,762,738,717,686,649.57594275,919,798,841,658,631,657.42405725,0.459244242754,-0.0156271577266,0.0495748238996,0.99999978041,6.21115778401e-05,-0.000659666052636,1.27719618883e-05,1793254800907813376
+252,4.200000000,HOLD_POSE2,786,762,738.153802001,717,686,649.846197999,919,798,841,658,631,657,0.459244452772,-0.0156277978932,0.0495753193147,0.999999780841,6.01384552903e-05,-0.000659198146378,1.26349365297e-05,1793254800924480256
+253,4.216666667,HOLD_POSE2,786,762,738.737012169,717,686,649.262987831,919,798,841,658,631,657,0.459244127085,-0.0156284474904,0.0495753442398,0.999999780593,6.08963447691e-05,-0.000659496356982,1.30144260187e-05,1793254800941146368
+254,4.233333333,HOLD_POSE2,786,762,739,717,686,649.317510151,919,798,841,657.682489849,631,657,0.459244832238,-0.0156288430507,0.0495755078225,0.999999780932,6.06999703468e-05,-0.00065899685673,1.32337287518e-05,1793254800957812736
+255,4.250000000,HOLD_POSE2,786,762,739,717,686,649.895780671,919,798,841,657.104219329,631,657,0.459246383986,-0.0156290299789,0.0495757852801,0.99999978175,5.97198911509e-05,-0.000657842223463,1.33214754871e-05,1793254800974479104
+256,4.266666667,HOLD_POSE2,786,761.522411081,739,717,686,649.522411081,919,797.522411081,841,657.477588919,631,657.477588919,0.459244628472,-0.0156282528639,0.049574776837,0.999999780658,5.96714791879e-05,-0.000659511418533,1.29435443171e-05,1793254800991145728
+257,4.283333333,HOLD_POSE2,786,761.059337952,739,717.059337952,685.940662048,649,919,797.059337952,841,658,631,657.940662048,0.459242526185,-0.0156272700162,0.0495736613609,0.999999779321,6.01511905065e-05,-0.000661500663873,1.25514593985e-05,1793254801007812864
+258,4.300000000,HOLD_POSE2,786,761.63382076,739,717.63382076,685.36617924,649,919,797.63382076,841,658,631,657.36617924,0.45924372568,-0.0156263410849,0.0495740709702,0.999999779524,6.34376254205e-05,-0.000660878818976,1.29253010331e-05,1793254801024479744
+259,4.316666667,HOLD_POSE2,786,762,739,717.796099712,685.203900288,649,919,798,841,658,631,657.203900288,0.459245144257,-0.015625978409,0.0495745989305,0.99999978,6.5398393129e-05,-0.000659961140581,1.32337214569e-05,1793254801041146368
+260,4.333333333,HOLD_POSE2,786,762,739,717.23376082,685.76623918,649,919,798,841,658,631,657.76623918,0.45924694796,-0.0156266111598,0.0495753349413,0.999999780969,6.50287552374e-05,-0.000658523413235,1.34271371616e-05,1793254801057812992
+261,4.350000000,HOLD_POSE2,786,762,739,717,686,649,919,798,841,658,631,657.647136431,0.459247063362,-0.0156264156368,0.0495757362056,0.999999781196,6.46772753616e-05,-0.000658213318992,1.3390386949e-05,1793254801074479360
+262,4.366666667,HOLD_POSE2,786,762,739,717,686,649,919,798,841,658,631,657.043234509,0.459245977653,-0.0156256308534,0.0495758993205,0.999999780897,6.43387136373e-05,-0.00065870545861,1.31898894115e-05,1793254801091145728
+263,4.383333333,HOLD_POSE2,786,762,739,717,686,649,919,797.460402207,841,658,631.539597793,657.539597793,0.459246155524,-0.0156276591288,0.0495751092936,0.999999781,6.14914654289e-05,-0.000658808583575,1.37601086421e-05,1793254801107812608
+264,4.400000000,HOLD_POSE2,786,762,739,717,686,649,919,797.119416407,841,657.880583593,631.880583593,658,0.459246196388,-0.0156291940188,0.0495742946469,0.999999780912,5.93342549994e-05,-0.000659133030967,1.41177563799e-05,1793254801124479232
+265,4.416666667,HOLD_POSE2,786,762,739,717,686,649,919,797.693941727,841,657.306058273,631.306058273,658,0.459245343759,-0.0156280218497,0.0495736662847,0.999999780003,6.0544116583e-05,-0.00066041528759,1.34387695737e-05,1793254801141145856
+266,4.433333333,HOLD_POSE2,786,762,739,717,686,649,919,797.726192762,841,657.273807238,631,657.726192762,0.459245603069,-0.0156274606281,0.0495739255666,0.999999780178,6.10039285967e-05,-0.000660111094717,1.32519803368e-05,1793254801157812480
+267,4.450000000,HOLD_POSE2,786,762,739,717,686,649,919,797.140239352,841,657.859760648,631,657.140239352,0.459247130012,-0.0156275959001,0.049575196782,0.99999978159,6.06086678118e-05,-0.000657998315042,1.36263070109e-05,1793254801174479360
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,762,739,717,686,649,919,797,840,658,632,657,0.459246479248,-0.0156261148724,0.0495744094913,0.999999780909,6.24695316077e-05,-0.000658869385467,1.30491195304e-05,1793254801207248640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,762,739,717,686,649,919,797.57679207,840.57679207,658,631.42320793,657,0.459245594216,-0.0156274499203,0.0495731153234,0.999999779058,6.11895950667e-05,-0.000661786695448,1.33164304112e-05,1793254801223914496
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,762,739,717.152803422,686,649,919,798,841,658,631,657.152803422,0.459245454844,-0.0156287655026,0.0495725619935,0.999999778318,5.9974544777e-05,-0.000663009729655,1.3604219056e-05,1793254801240580352
+271,4.516666667,POSE2_TO_POSE3_RETREAT,786,762,739,717.726663598,686,649,919,798,841,658,631,657.726663598,0.459247370176,-0.0156300274471,0.0495740500762,0.999999780653,5.89382912059e-05,-0.000659564110849,1.3948435168e-05,1793254801257246976
+272,4.533333333,POSE2_TO_POSE3_RETREAT,786,762,739,717.690513109,686,649,919,797.690513109,841,658,631,658,0.459247667296,-0.0156301126136,0.0495748164457,0.999999781445,5.86462747623e-05,-0.000658385770825,1.40892318333e-05,1793254801273913600
+273,4.550000000,POSE2_TO_POSE3_RETREAT,786,762,739,717.099537596,686,649,919,797.099537596,841,658,631,658,0.4592464926,-0.0156291274613,0.0495749263928,0.999999780841,5.9031166803e-05,-0.000659269596482,1.40450117251e-05,1793254801290580224
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786,762,738.51802487,717,686,649,919,797,841,658,631,658,0.45924772319,-0.0156298235826,0.049575233409,0.99999978152,5.9937127937e-05,-0.0006581492238,1.43859655326e-05,1793254801307246848
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,762,738.061203295,717,686,649,919,797,841,658,631,658,0.459248962132,-0.0156305526817,0.0495754831914,0.999999782228,6.07469511824e-05,-0.000656992749528,1.46493831245e-05,1793254801323913728
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,762,738.637335904,717,686,649,919,797,841,658,631,658,0.459246172528,-0.0156286942026,0.0495749156196,0.99999978101,5.98599794828e-05,-0.000658947861856,1.3604086476e-05,1793254801340580352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,762,738.783048472,717,685.783048472,649,919,797.216951528,841,658,631,657.783048472,0.459241253136,-0.0156288914946,0.0495728070747,0.999999778969,5.8159596216e-05,-0.000662195042172,1.3282539968e-05,1793254801357246976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,762,738.197515572,717,685.197515572,649,919,797.802484428,841,658,631,657.197515572,0.459232715424,-0.0156325813594,0.0495680805534,0.999999775513,5.50772990562e-05,-0.000667637330989,1.41905807507e-05,1793254801373913600
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,762,738.383983576,717,685.383983576,649,919,798,841,658,631,657,0.459208156492,-0.0156382435473,0.0495566969064,0.999999764262,4.92758574902e-05,-0.000684676495195,1.6303413704e-05,1793254801390580224
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,762,738.963429445,717,685.963429445,649,919,798,841,658,631,657,0.459175442146,-0.0156449097234,0.049541924528,0.999999748571,4.20902673631e-05,-0.000707618911649,1.90295319185e-05,1793254801407246592
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,762,739,717,685.457951466,649,919,798,840.457951466,657.457951466,631,657,0.45912543134,-0.0156610823036,0.0495234502752,0.999999734485,2.55262373762e-05,-0.000727931487681,2.22208379781e-05,1793254801423913728
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786,762,739,717,685.119658834,649,919,797.880341166,840.119658834,657.119658834,631,657,0.459070335294,-0.0156724860851,0.0495056054763,0.99999972031,1.31891267983e-05,-0.000747411246292,2.41423975424e-05,1793254801440580096
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786,762,739,717,685.693650496,649,919,797.306349504,840.693650496,657.693650496,631,657,0.45900035511,-0.015663351696,0.0494910974991,0.999999707436,1.92999941782e-05,-0.000764401537956,2.1123871312e-05,1793254801457246976
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,762,738.725836895,717.274163105,686,649,919,797.274163105,841,657.725836895,631,657.274163105,0.458922243631,-0.0156542315016,0.0494803193349,0.999999696696,2.54454418434e-05,-0.000778211767885,1.86433824757e-05,1793254801473913856
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,762,738.137860292,717.862139708,686,649,919,797.862139708,841,657.137860292,631,657.862139708,0.458834824884,-0.0156451275553,0.0494738104024,0.999999688586,3.16304705481e-05,-0.000788382023961,1.67787439993e-05,1793254801490580736
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,762,738,717.555723891,686,649,919,797.555723891,841,657.444276109,631,658,0.458734185051,-0.0156427812874,0.0494717959351,0.999999686413,3.07872190811e-05,-0.000791164753235,1.68785734365e-05,1793254801507247360
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,762,738,717,686,649,919,797,841,658,631,657.975545508,0.458628741051,-0.0156419469523,0.0494712421738,0.999999686248,2.83145155804e-05,-0.000791452382002,1.74720834027e-05,1793254801523913728
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,762,738,717,686,649,919,797,841,658,631,657.399187744,0.458506261089,-0.0156285241094,0.0494725876616,0.999999689883,3.7648539702e-05,-0.000786493477141,1.56283919808e-05,1793254801540580352
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,761.823309639,738.176690361,717,685.823309639,649,919,797.176690361,841,658,631.176690361,657.176690361,0.458374108989,-0.0156179680785,0.0494746173492,0.999999693559,4.36850471549e-05,-0.000781515856161,1.43763746364e-05,1793254801557246976
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761.24851235,738.75148765,717,685.24851235,649,919,797.75148765,841,658,631.75148765,657.75148765,0.458220164287,-0.0156138713592,0.04947818863,0.999999697528,4.22918088871e-05,-0.000776496066095,1.44574780851e-05,1793254801573913600
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786,761.337253708,739,717,685.337253708,649,919,797.662746292,841,657.662746292,632,657.662746292,0.45804727685,-0.0156067394302,0.0494826673867,0.999999700884,4.45639090278e-05,-0.000772037726525,1.42582563642e-05,1793254801590580480
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786,761.931374105,739,717,685.931374105,649,919,797.068625895,841,657.068625895,632,657.068625895,0.457859961808,-0.0155972957566,0.0494878373157,0.999999703755,4.96276857863e-05,-0.000768007010854,1.38455271457e-05,1793254801607247104
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786.507843422,762,738.492156578,717,686,649,919,797.507843422,840.492156578,657.507843422,632,657.507843422,0.457646005643,-0.0155852081008,0.0494936439091,0.999999708143,5.28745946564e-05,-0.000762077030457,1.25036979986e-05,1793254801623913728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,787,762,738.082409533,717.082409533,686,649.082409533,919,798,840.082409533,658,632,658,0.457422586794,-0.0155736596584,0.0494993275811,0.999999712469,5.51638262267e-05,-0.000756236436027,1.11605727954e-05,1793254801640580352
+295,4.916666667,POSE2_TO_POSE3_RETREAT,787,762,738.659387843,717.659387843,686,649.659387843,919,798,840.659387843,658,632,658,0.457163258508,-0.0155674194022,0.0495037745855,0.999999715465,5.31296410948e-05,-0.000752420795697,1.05378367578e-05,1793254801657246976
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786.759629083,762,739,717.759629083,685.759629083,649.759629083,919,798,841,658,632,657.759629083,0.456882364934,-0.0155623378447,0.0495051567467,0.999999714744,4.9302370395e-05,-0.000753650295372,9.595022773e-06,1793254801673913856
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786.172875035,762,739,717.172875035,685.172875035,649.172875035,919,798,841,658,632,657.172875035,0.456570395022,-0.0155589260142,0.0495021223587,0.99999970861,4.28911990589e-05,-0.000762150023322,8.19096499775e-06,1793254801690580224
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786,762,739,717,685.410432897,649,919,798,840.589567103,658,632,657,0.456233594227,-0.0155562923726,0.0495007004935,0.9999997049,3.24868978065e-05,-0.00076753367546,6.03432181245e-06,1793254801707246848
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786,762,739,717,685.992301391,649,919,798,840.007698609,658,632,657,0.455886421716,-0.0155539837764,0.0494999521704,0.99999970209,2.04146879868e-05,-0.00077161575932,3.56332781471e-06,1793254801723913472
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,786,762,738.858881612,717.858881612,686,649,919,798,840,658,632.141118388,657,0.455127240167,-0.0155445482741,0.0495086898795,0.999999715746,6.59976368312e-06,-0.000753965501215,-3.76639934817e-07,1793254801757247232
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,784,761,738,722.030394366,688,651,919,800.030394366,838.030394366,657.030394366,635,657,0.408163234086,-0.0154190701758,0.0497972481876,0.999999938114,-0.000124342220181,-0.000325831949293,-4.63000439363e-05,1793254802757246720
+362,6.033333333,POSE2_TO_POSE3_RETREAT,784,761,738,722,688,651,919,800.545528385,838.545528385,657.545528385,635,657,0.407640494729,-0.0154208838081,0.049812996301,0.999999943016,-0.000129141793272,-0.000308644729146,-4.50454986492e-05,1793254802773914112
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784.120551648,761,738,722,688,651,919,801,839,658,635,657,0.407120768858,-0.0154223646831,0.0498228068194,0.999999945073,-0.000133577597999,-0.000300072901977,-4.43518636702e-05,1793254802790581248
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784.693458855,761,738,722,688,651,919,801,839,658,635,657,0.406603253452,-0.0154229582231,0.049809295137,0.99999993755,-0.000136924709112,-0.000322560994805,-4.58965453876e-05,1793254802807248128
+365,6.083333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,839,658,635,657,0.406096899971,-0.0154225313762,0.0497910219078,0.999999926324,-0.000140628530957,-0.000353904523931,-4.8249580067e-05,1793254802823915008
+366,6.100000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,839,658,635,657,0.40560339196,-0.0154209302412,0.0497672689655,0.999999910011,-0.000144742864634,-0.00039543912176,-5.15328885859e-05,1793254802840582144
+367,6.116666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838.551887667,658,635,657,0.405173354366,-0.0154205636157,0.049765834171,0.999999908209,-0.000146021619178,-0.000399336946074,-5.28215427543e-05,1793254802857248256
+368,6.133333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838,658,635,657.028137579,0.404766044388,-0.0154207410037,0.0497719269394,0.999999911619,-0.000146831176752,-0.000390323408212,-5.33859237732e-05,1793254802873914368
+369,6.150000000,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838,658,635,657.602349724,0.404436385013,-0.0154244074374,0.0497963158925,0.999999926764,-0.000154771386638,-0.000346242967693,-5.13154886384e-05,1793254802890581248
+370,6.166666667,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838,658,635,657.823760097,0.404112913181,-0.0154283483582,0.0498201997458,0.999999938401,-0.000163342356896,-0.00030674802316,-4.92139936761e-05,1793254802907247872
+371,6.183333333,POSE2_TO_POSE3_RETREAT,785,761,738,722,688,651,919,801,838,658,635,657.250595126,0.40380337689,-0.0154329074744,0.0498429460171,0.999999945346,-0.000173333916354,-0.000277580476259,-4.70425466451e-05,1793254802923914496
+372,6.200000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.334076903,688,651,919,801,838,658,635,657,0.403499217938,-0.0154359274847,0.0498521857401,0.999999946207,-0.000183060826029,-0.000268167770558,-4.64881531384e-05,1793254802940580864
+373,6.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.927688493,688,651,919,801,838,658,635,657,0.40319923645,-0.0154377518085,0.0498509326187,0.999999942777,-0.000192582138079,-0.000274102026837,-4.71900015509e-05,1793254802957247488
+374,6.233333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,657.491792688,635,657,0.402922112941,-0.0154380887772,0.0498400834797,0.999999935087,-0.000199532583265,-0.000296109573988,-4.82920682716e-05,1793254802973913856
+375,6.250000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,657.086206993,635,657,0.402655718989,-0.0154383234042,0.0498286302723,0.999999926816,-0.00020630689672,-0.000318367506748,-4.94652039597e-05,1793254802990580224
+376,6.266666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,657.660228942,635,657,0.402432097745,-0.0154391463892,0.0498212910746,0.999999921533,-0.000214102502663,-0.00032942584788,-5.07263501625e-05,1793254803007246848
+377,6.283333333,POSE2_TO_POSE3_RETREAT,785,761,738.240147549,722.759852451,688,651,919,801,838,658,634.759852451,657,0.402221651152,-0.0154401531956,0.0498155295866,0.999999916871,-0.000221216994999,-0.000338591456945,-5.17325882455e-05,1793254803023913728
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,785,761,738.590085932,722,688,651.409914068,919,801,838.409914068,658,634.409914068,657,0.401872791197,-0.0154414659063,0.0498134952426,0.999999914171,-0.000229698324516,-0.000340827118129,-5.22762288116e-05,1793254803057247232
+380,6.333333333,POSE2_TO_POSE3_RETREAT,785,761,738.011739586,722,688,651.988260414,919,801,838.988260414,658,634.988260414,657,0.401729162874,-0.0154409980762,0.0498169522385,0.999999916882,-0.000230503268365,-0.000332284981843,-5.18836697901e-05,1793254803073913600
+381,6.350000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.562981662,688,652,919,801,838.437018338,658,635,657,0.401613378629,-0.0154398472459,0.0498199073245,0.999999920309,-0.000228335616488,-0.00032349371442,-5.09498386822e-05,1793254803090580480
+382,6.366666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.862558939,919,801,838,658,635,657,0.401504456485,-0.015438281625,0.0498229563719,0.999999926814,-0.000212414494235,-0.000314696569654,-4.70867576492e-05,1793254803107246848
+383,6.383333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651.288692617,919,801,838,658,635,657,0.401415492145,-0.0154354438287,0.0498263368015,0.99999994093,-0.000153016680242,-0.000305897153741,-3.39578555559e-05,1793254803123913472
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.109863081,688,651.890136919,919,801,838,658,635,657,0.401258413426,-0.015439450029,0.0498336987241,0.999999947063,-0.000132295681107,-0.000296013703261,-2.73356575758e-05,1793254803157246976
+386,6.433333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.471682358,687.528317642,651.528317642,919,801,838,658,635,657,0.401200160352,-0.0154437439432,0.0498337017912,0.99999994649,-0.000141227429167,-0.000293772235873,-2.77976275695e-05,1793254803173913600
+387,6.450000000,POSE2_TO_POSE3_RETREAT,784.949951002,761,738,723,687.050048998,651,919,801,838,658,635,657,0.401147186745,-0.015447852088,0.0498329980646,0.999999945735,-0.000150248288246,-0.000291808476121,-2.83518774771e-05,1793254803190580480
+388,6.466666667,POSE2_TO_POSE3_RETREAT,784.373804178,761,738,723,687.626195822,651,919,801,838,658,635,657,0.401109728743,-0.0154484257924,0.049833866897,0.999999945923,-0.000153505735842,-0.000289419667623,-2.87477907724e-05,1793254803207247616
+389,6.483333333,POSE2_TO_POSE3_RETREAT,784.205969833,761,738,723,688,651,919,801,838,658,635,657,0.4010762809,-0.0154489980289,0.0498346892466,0.999999946231,-0.000156056406558,-0.000286944161723,-2.91030123113e-05,1793254803223914240
+390,6.500000000,POSE2_TO_POSE3_RETREAT,784.792444609,761,738,723,688,651,919,801,838,658,635,657,0.401050241355,-0.0154495675537,0.0498354257247,0.999999946781,-0.000157301390254,-0.000284308492761,-2.93830606125e-05,1793254803240580352
+391,6.516666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,800.625327526,838,658,635,657,0.401029485901,-0.0154499447952,0.0498358545516,0.999999947007,-0.000158865806223,-0.000282623416483,-2.95219350868e-05,1793254803257247232
+392,6.533333333,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,800.045425951,838,658,635,657,0.401011624843,-0.0154502167123,0.0498361148607,0.999999947056,-0.000160605193097,-0.000281459033148,-2.95834807397e-05,1793254803273913856
+393,6.550000000,POSE2_TO_POSE3_RETREAT,784.46288758,761,738.53711242,723,688,651,919,800.53711242,838,658,635,657,0.401001684764,-0.0154498222235,0.0498360984496,0.999999946978,-0.000160747167953,-0.000281607783392,-3.00293497844e-05,1793254803290580224
+394,6.566666667,POSE2_TO_POSE3_RETREAT,784.117189823,761,738.882810177,723,688,651,919,801,838,658,635,657,0.400993874259,-0.015449789831,0.0498364918295,0.999999947092,-0.000161333627304,-0.000280833698406,-3.0318676971e-05,1793254803307246848
+395,6.583333333,POSE2_TO_POSE3_RETREAT,784.686898881,761,738.313101119,723,688,651,919,801,838,658,635,657,0.400991687365,-0.0154513743517,0.0498385584016,0.999999947973,-0.00016416068053,-0.000276065202834,-2.98773995393e-05,1793254803323913728
+396,6.600000000,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657,0.400989509369,-0.0154522977514,0.0498402830403,0.999999948596,-0.000166038336895,-0.000272691997893,-2.96401707378e-05,1793254803340580608
+397,6.616666667,POSE2_TO_POSE3_RETREAT,785,761,738,723,688,651,919,801,838,658,635,657,0.400987342231,-0.0154524144819,0.0498415904679,0.99999994893,-0.000166757583289,-0.000271021261726,-2.96519126247e-05,1793254803357247488
+398,6.633333333,POSE2_TO_POSE3_RETREAT,785,761,738.43597981,723,688,651,919,801,838,658,635,657,0.400986762095,-0.0154522112649,0.0498428313556,0.999999949311,-0.000166974514185,-0.000269472745564,-2.96931330478e-05,1793254803373913856
+399,6.650000000,POSE2_TO_POSE3_RETREAT,784.985201746,761,738.985201746,722.985201746,688,651,919,801,838,658,635,657,0.40098667969,-0.0154519352642,0.0498440091182,0.999999949691,-0.000167049907685,-0.000268007315604,-2.97359315854e-05,1793254803390580480
+400,6.666666667,POSE2_TO_POSE3_RETREAT,784.408949762,761,738.408949762,722.408949762,688,651,919,801,838,658,635,657,0.400985745131,-0.0154528767428,0.0498436193843,0.999999949495,-0.000168002204344,-0.000268174261918,-2.9472003087e-05,1793254803407246848
+401,6.683333333,POSE2_TO_POSE3_RETREAT,784.170123793,761,738,722.170123793,688,651,919,801,838,658,635,657,0.400984880067,-0.0154535965439,0.0498434403098,0.999999949443,-0.000168227681121,-0.000268248906046,-2.92523486806e-05,1793254803423913472
+402,6.700000000,POSE2_TO_POSE3_RETREAT,784.756094302,761,738,722.756094302,688,651,919,801,838,658,635,657,0.400984184875,-0.0154537744816,0.0498437761662,0.999999949747,-0.000166676535916,-0.000268097928802,-2.91409168698e-05,1793254803440580096
+403,6.716666667,POSE2_TO_POSE3_RETREAT,785,760.661885892,738,723,688,651,919,801,838,658,635,657,0.400983498477,-0.0154541777374,0.0498439303251,0.999999949743,-0.000166551210788,-0.000268173284733,-2.92970491685e-05,1793254803457246976
+404,6.733333333,POSE2_TO_POSE3_RETREAT,785,760.082683117,738,723,688,651,919,801,838,658,635,657,0.40098281835,-0.0154547416538,0.0498439549265,0.99999994952,-0.00016744255156,-0.000268410025135,-2.96439652134e-05,1793254803473913856
+405,6.750000000,POSE2_TO_POSE3_RETREAT,785,760.495513603,738,723,688,651,919,801,838,657.504486397,635,657,0.400983702468,-0.0154559511518,0.0498447750864,0.999999949702,-0.000169383756061,-0.000266524866189,-2.94867287051e-05,1793254803490580736
+406,6.766666667,POSE2_TO_POSE3_RETREAT,785,761,738.073258649,723,688,651,919,801,838,657.073258649,635,657,0.400984460777,-0.0154568894308,0.0498454024647,0.999999949905,-0.000170826956655,-0.000264856662791,-2.932184643e-05,1793254803507247360
+407,6.783333333,POSE2_TO_POSE3_RETREAT,785,761,738.649054276,723,688,651,919,801,838,657.649054276,635,657,0.400982569188,-0.0154552297471,0.0498437986213,0.999999949834,-0.000167654682278,-0.000267100621881,-2.96804219676e-05,1793254803523913984
+408,6.800000000,POSE2_TO_POSE3_RETREAT,785,761,738.770898059,723,688,651,919,801,838,658,635,657,0.400982220542,-0.0154544650982,0.049843581949,0.999999949909,-0.000166475542374,-0.000267549629922,-2.97395620524e-05,1793254803540580352
+409,6.816666667,POSE2_TO_POSE3_RETREAT,785,761,738.184213726,723,688,651,919,801,838,658,635,657,0.400984280124,-0.0154550974198,0.0498455303735,0.999999950225,-0.000168407286995,-0.000265197078061,-2.93313432289e-05,1793254803557246720
+410,6.833333333,POSE2_TO_POSE3_RETREAT,785,761,738,722.599971464,688,651,919,801,838,658,635,657,0.400984552645,-0.0154549637918,0.0498459866673,0.999999950443,-0.000167976979039,-0.000264659140634,-2.9221437884e-05,1793254803573913344
+411,6.850000000,POSE2_TO_POSE3_RETREAT,785,761,738,722.016846992,688,651,919,801,838,658,635,657,0.400984007216,-0.0154544795829,0.0498457600021,0.999999950617,-0.000166465542519,-0.00026495176542,-2.92480727874e-05,1793254803590580224
+412,6.866666667,POSE2_TO_POSE3_RETREAT,785,761,738,722.55704159,688,651,919,801,838,658,635,657,0.400983144434,-0.0154554416565,0.0498458835531,0.999999950489,-0.000167095799121,-0.000265030813083,-2.93290049053e-05,1793254803607246848
+413,6.883333333,POSE2_TO_POSE3_RETREAT,785,761,738.130793185,723,688,651,919,801,838,658,635,657,0.400982969121,-0.015455897508,0.049846262497,0.999999950469,-0.000167799150443,-0.000264647145774,-2.94579170527e-05,1793254803623913472
+414,6.900000000,POSE2_TO_POSE3_RETREAT,785,761,738.705011879,723,688,651,919,801,838,658,635,657,0.400985156525,-0.0154544912495,0.0498474719708,0.999999950846,-0.000168534297318,-0.000262716287051,-2.97440183879e-05,1793254803640580352
+415,6.916666667,POSE2_TO_POSE3_RETREAT,785,760.711252507,738.711252507,723,688,651,919,801,838,657.711252507,635,657,0.400985672163,-0.0154541770054,0.0498479683613,0.999999951144,-0.000168292756881,-0.000261728517585,-2.98054862751e-05,1793254803657247232
+416,6.933333333,POSE2_TO_POSE3_RETREAT,785,760.117462949,738.117462949,723,688,651,919,801,838,657.117462949,635,657,0.400984421693,-0.0154550164002,0.0498477114275,0.99999995136,-0.000167019412763,-0.00026173705782,-2.96296442034e-05,1793254803673913600
+417,6.950000000,POSE2_TO_POSE3_RETREAT,785,760.462506915,738,723,688,651.462506915,919,801,838,657.462506915,635,657,0.40098235273,-0.0154556679631,0.0498466780013,0.999999950792,-0.000166916026976,-0.000263974624681,-2.95523966683e-05,1793254803690580224
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12cf25bbbdd84a1e9518e5986e092643d529d549
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,419 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+1,0.016666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+2,0.033333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+3,0.050000000,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+4,0.066666667,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
+5,0.083333333,pose1_baseline,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
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+367,6.116666667,pose2_to_pose3_retreat,0.578977255398,-0.00981830700585,1.04002060117,0.549548403594,-0.00114406798405,1.03969229751
+368,6.133333333,pose2_to_pose3_retreat,0.578664756357,-0.00981826564583,1.04002067764,0.549235904067,-0.00114402831922,1.03969237271
+369,6.150000000,pose2_to_pose3_retreat,0.578381280396,-0.00981815442084,1.04002055744,0.548952427228,-0.00114391977586,1.03969226033
+370,6.166666667,pose2_to_pose3_retreat,0.578117747768,-0.00981815502755,1.04002048235,0.548688894887,-0.00114391910655,1.0396921932
+371,6.183333333,pose2_to_pose3_retreat,0.577871264887,-0.00981832601662,1.04002063394,0.548442413731,-0.0011440842165,1.03969234558
+372,6.200000000,pose2_to_pose3_retreat,0.577633108791,-0.00981826146319,1.04002066545,0.548204255475,-0.00114402723493,1.03969237062
+373,6.216666667,pose2_to_pose3_retreat,0.577404012813,-0.00981833593036,1.04002070501,0.547975162059,-0.00114409336141,1.0396924009
+374,6.233333333,pose2_to_pose3_retreat,0.577188539606,-0.00981826355794,1.04002057961,0.547759689044,-0.00114401997178,1.03969228529
+375,6.250000000,pose2_to_pose3_retreat,0.576987982001,-0.00981818543971,1.040020583,0.547559129543,-0.00114394810307,1.03969229357
+376,6.266666667,pose2_to_pose3_retreat,0.576804626993,-0.0098181856359,1.04002053189,0.547375773243,-0.001143952791,1.03969223973
+377,6.283333333,pose2_to_pose3_retreat,0.576640131919,-0.00981818576226,1.04002045591,0.547211278136,-0.0011439530645,1.03969216284
+378,6.300000000,pose2_to_pose3_retreat,0.576495028349,-0.00981814745441,1.0400205006,0.547066175181,-0.00114391256599,1.03969221024
+379,6.316666667,pose2_to_pose3_retreat,0.576367039126,-0.00981818954794,1.04002041279,0.546938187771,-0.00114394849237,1.03969212286
+380,6.333333333,pose2_to_pose3_retreat,0.57625504144,-0.00981818097928,1.04002040881,0.546826189084,-0.00114394331548,1.03969211906
+381,6.350000000,pose2_to_pose3_retreat,0.576159237166,-0.00981819673591,1.04002072267,0.546730385193,-0.00114395813706,1.0396924233
+382,6.366666667,pose2_to_pose3_retreat,0.576075268754,-0.00981826467819,1.0400205176,0.546646417024,-0.00114402516387,1.03969222105
+383,6.383333333,pose2_to_pose3_retreat,0.576002129864,-0.00981835691015,1.04002040888,0.546573279134,-0.00114411397863,1.03969211323
+384,6.400000000,pose2_to_pose3_retreat,0.575938098213,-0.00981841259939,1.04002052035,0.546509248926,-0.00114416492852,1.03969222043
+385,6.416666667,pose2_to_pose3_retreat,0.575882828446,-0.00981834308407,1.04002031469,0.54645397917,-0.0011440952679,1.0396920176
+386,6.433333333,pose2_to_pose3_retreat,0.575835750006,-0.00981820677955,1.04002051057,0.546406898213,-0.00114396738552,1.03969221658
+387,6.450000000,pose2_to_pose3_retreat,0.575796357236,-0.00981819165753,1.04002070538,0.546367504868,-0.00114395418408,1.03969241208
+388,6.466666667,pose2_to_pose3_retreat,0.575764710214,-0.00981811847978,1.04002058154,0.546335856916,-0.00114388407785,1.03969229054
+389,6.483333333,pose2_to_pose3_retreat,0.575738911073,-0.00981808724868,1.0400204368,0.546310057225,-0.00114385464918,1.03969214741
+390,6.500000000,pose2_to_pose3_retreat,0.575718498881,-0.00981816720456,1.04002051339,0.546289645471,-0.00114393316912,1.03969222269
+391,6.516666667,pose2_to_pose3_retreat,0.575702496073,-0.00981809498769,1.04002042504,0.546273641446,-0.00114386515286,1.03969213243
+392,6.533333333,pose2_to_pose3_retreat,0.575690551572,-0.00981823862096,1.04002052165,0.546261698787,-0.00114400257745,1.03969222805
+393,6.550000000,pose2_to_pose3_retreat,0.57568217595,-0.00981828561649,1.04002060397,0.546253323546,-0.00114404826608,1.03969231089
+394,6.566666667,pose2_to_pose3_retreat,0.575676575355,-0.00981826438833,1.04002062581,0.546247722397,-0.00114402894885,1.03969233177
+395,6.583333333,pose2_to_pose3_retreat,0.575673319043,-0.00981821351137,1.040020578,0.546244465223,-0.00114398114165,1.03969228005
+396,6.600000000,pose2_to_pose3_retreat,0.57567140791,-0.009818216762,1.04002056931,0.54624255443,-0.00114398335248,1.03969226842
+397,6.616666667,pose2_to_pose3_retreat,0.575670542152,-0.00981823966836,1.04002057791,0.546241689372,-0.00114400394841,1.03969227527
+398,6.633333333,pose2_to_pose3_retreat,0.575669827094,-0.00981825858749,1.04002058502,0.546240974893,-0.00114402095927,1.03969228094
+399,6.650000000,pose2_to_pose3_retreat,0.575669270027,-0.00981827332645,1.04002059055,0.546240418277,-0.00114403421159,1.03969228535
+400,6.666666667,pose2_to_pose3_retreat,0.575668905369,-0.00981827563319,1.04002057502,0.546240053738,-0.00114403609221,1.03969227037
+401,6.683333333,pose2_to_pose3_retreat,0.575668542282,-0.00981827100073,1.04002054148,0.546239690605,-0.00114403155178,1.0396922386
+402,6.700000000,pose2_to_pose3_retreat,0.575668112698,-0.00981826551984,1.04002050181,0.546239260965,-0.00114402617978,1.039692201
+403,6.716666667,pose2_to_pose3_retreat,0.575667885446,-0.00981826262043,1.04002048082,0.546239033684,-0.00114402333797,1.03969218112
+404,6.733333333,pose2_to_pose3_retreat,0.575667838799,-0.00981826202528,1.04002047651,0.546238987031,-0.00114402275464,1.03969217703
+405,6.750000000,pose2_to_pose3_retreat,0.575667659049,-0.00981825973193,1.0400204599,0.546238807258,-0.00114402050686,1.0396921613
+406,6.766666667,pose2_to_pose3_retreat,0.575667516875,-0.00981825791799,1.04002044677,0.546238665066,-0.00114401872896,1.03969214886
+407,6.783333333,pose2_to_pose3_retreat,0.575667415019,-0.00981824773015,1.04002046938,0.546238562933,-0.0011440094798,1.03969217144
+408,6.800000000,pose2_to_pose3_retreat,0.575667356692,-0.009818241683,1.04002048309,0.546238504441,-0.00114400399208,1.03969218513
+409,6.816666667,pose2_to_pose3_retreat,0.575667325575,-0.00981823845691,1.0400204904,0.546238473236,-0.00114400106444,1.03969219243
+410,6.833333333,pose2_to_pose3_retreat,0.575667286109,-0.0098182343653,1.04002049968,0.54623843366,-0.00114399735134,1.03969220169
+411,6.850000000,pose2_to_pose3_retreat,0.575667234752,-0.0098182290408,1.04002051175,0.546238382158,-0.00114399251941,1.03969221374
+412,6.866666667,pose2_to_pose3_retreat,0.575667174626,-0.00981822280713,1.04002052588,0.546238321861,-0.00114398686242,1.03969222784
+413,6.883333333,pose2_to_pose3_retreat,0.57566709782,-0.00981821484421,1.04002054394,0.546238244839,-0.00114397963616,1.03969224586
+414,6.900000000,pose2_to_pose3_retreat,0.575667069384,-0.00981821189612,1.04002055062,0.546238216323,-0.0011439769608,1.03969225254
+415,6.916666667,pose2_to_pose3_retreat,0.575667020304,-0.00981820954917,1.04002055821,0.546238167237,-0.00114397463442,1.03969226005
+416,6.933333333,pose2_to_pose3_retreat,0.575666987875,-0.00981821134934,1.04002055838,0.546238134968,-0.00114397589794,1.03969226011
+417,6.950000000,pose2_to_pose3_retreat,0.575666887505,-0.00981821692091,1.04002055892,0.546238035092,-0.00114397980863,1.03969226032
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90d899b37234a6a27d4f1075caaccd28c92032c9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf6168b04d40de72b3f73f6d0d03f217265be88c575f4c57ba7120016dbb3c6
+size 26242671
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06bc8c3f99e9e0cfba2d7bd58b47178efaa4dc86
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
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+29,0.483333333,BASELINE,784,761,738,721,686,651,918.16880058,801,839.16880058,658,636,657,0.401003637819,-0.0155042230364,0.0698338375102,0.999999981869,4.64038174503e-05,-0.00018446765308,8.95677736152e-06,1793254805740583424
+30,0.500000000,BASELINE,784,761,738,721,686,651,918,801,839,657.585723381,636,657,0.401005235078,-0.0155039987665,0.0698351611708,0.99999998225,4.63990188036e-05,-0.000182385867218,9.08896566657e-06,1793254805757250048
+31,0.516666667,BASELINE,784,761,738,721,686,651,918,801,839,657.005674617,636,657,0.401007904892,-0.0155033551659,0.0698372756177,0.999999982864,4.66421609476e-05,-0.000178915731312,9.28848325239e-06,1793254805773916672
+32,0.533333333,BASELINE,784,761,738,721,686,651,918,801,839,657,636,657,0.401006245902,-0.0155039561947,0.0698362340084,0.9999999826,4.62734237233e-05,-0.000180473122637,9.37507158982e-06,1793254805790583296
+33,0.550000000,BASELINE,784,761,738,720.861884781,686.138115219,651,918,800.861884781,839,657,636,657,0.401005164352,-0.0155043190585,0.0698355339733,0.999999982406,4.62044620579e-05,-0.00018156428043,9.38294383405e-06,1793254805807249920
+34,0.566666667,BASELINE,784,761,738,720.306413461,686.693586539,651,918,800.306413461,839,657,636,657,0.40100595694,-0.0155039250788,0.0698359603278,0.999999982453,4.70596284583e-05,-0.00018109648171,9.15632346286e-06,1793254805823916544
+35,0.583333333,BASELINE,784,761,737.724647502,720.275352498,686.724647502,651.275352498,918,800.275352498,839,657,636,657,0.401005804153,-0.0155038523273,0.0698362235572,0.99999998239,4.71089873357e-05,-0.000181439978302,8.96480803558e-06,1793254805840583424
+36,0.600000000,BASELINE,784,761,737.110531422,720.889468578,686.110531422,651.889468578,918,800.889468578,839,657,636,657,0.401004488279,-0.0155041747798,0.0698362860953,0.999999982191,4.61669689342e-05,-0.000182781603802,8.81648185928e-06,1793254805857250048
+37,0.616666667,BASELINE,784,761,737,721,686,651.525750714,918,801,839,657,636,657,0.401003709916,-0.0155039530101,0.0698358710733,0.999999982123,4.65579955716e-05,-0.000183054939592,8.76531965393e-06,1793254805873916672
+38,0.633333333,BASELINE,784,761,737.052378,721,686.052378,651,918,801,839,657,636,657,0.401003104089,-0.0155036404003,0.0698353422213,0.999999982082,4.7017346553e-05,-0.000183164786572,8.72666913981e-06,1793254805890583040
+39,0.650000000,BASELINE,784,761,737.628375786,721,686.628375786,651,918,801,839,657,636,657,0.401003043667,-0.0155036138112,0.0698347232892,0.999999982015,4.52347367738e-05,-0.000183984309468,8.5998980037e-06,1793254805907249664
+40,0.666666667,BASELINE,784,761,737.79184457,721,687,651,918,801,839,657.20815543,636,657,0.401002643848,-0.0155039557951,0.0698341675922,0.999999981913,4.33892946553e-05,-0.000184991556554,8.39216955002e-06,1793254805923916544
+41,0.683333333,BASELINE,784,761,737.205188192,721,687,651,918,801,839,657.794811808,636,657,0.401001626884,-0.0155049679764,0.0698337268794,0.999999981748,4.14296010002e-05,-0.000186340153244,8.03723177341e-06,1793254805940583168
+42,0.700000000,BASELINE,784,761,737.377417481,721,687,651,918,801,839,658,636,657,0.40100198368,-0.0155045304236,0.069833917269,0.999999981677,4.28889522449e-05,-0.000186384168829,8.15892466963e-06,1793254805957249792
+43,0.716666667,BASELINE,784,761,737.957844298,721,687,651,918,801,839,658,636,657,0.401003079408,-0.0155033130724,0.0698344471227,0.99999998165,4.61873758596e-05,-0.000185726462382,8.53699276297e-06,1793254805973916672
+44,0.733333333,BASELINE,784,761,737.465679776,721,687,651,918,801,839,658,636,657,0.4010033983,-0.015504209013,0.0698348461551,0.999999981852,4.43581728289e-05,-0.00018508192651,8.53944318038e-06,1793254805990583296
+45,0.750000000,BASELINE,784,761,737,721,687,651,918,801,839,658,636,657,0.401003735635,-0.0155050450206,0.0698352334659,0.999999982041,4.27585426465e-05,-0.000184436138524,8.52403609481e-06,1793254806007249664
+46,0.766666667,BASELINE,784,761,737,721,687,651,918,801,839,658,636,657,0.401004407131,-0.0155049308462,0.0698356145554,0.999999982116,4.38190953391e-05,-0.000183780725824,8.55735082778e-06,1793254806023916288
+47,0.783333333,BASELINE,784,761,737.263605732,721,686.736394268,651,918,801,839,658,636,657.263605732,0.401005388951,-0.0155042773334,0.0698360897714,0.9999999823,4.50434500947e-05,-0.00018248029976,8.53350214615e-06,1793254806040582912
+48,0.800000000,BASELINE,784,761,737.855918491,721,686.144081509,651,918,801,839,658,636,657.855918491,0.401006757735,-0.0155029512846,0.06983668236,0.999999982617,4.64720603741e-05,-0.000180375564746,8.43837271204e-06,1793254806057249536
+49,0.816666667,BASELINE,784,761,738,720.561750604,686.438249396,651,918,801,839,657.561750604,636,657.561750604,0.401004053682,-0.0155035287018,0.0698351008898,0.99999998208,4.5186686723e-05,-0.000183647579762,8.44858282606e-06,1793254806073916160
+50,0.833333333,BASELINE,784,761,737.982761418,720.017238582,686.982761418,651,918,801,839,657.017238582,636,657,0.40100022054,-0.0155046945391,0.0698329302296,0.999999981282,4.31075303181e-05,-0.000188427920689,8.49082650092e-06,1793254806090583296
+51,0.850000000,BASELINE,784,761,737.408075337,720.591924663,686.408075337,651,918,801,839,657.591924663,636,657,0.401002211385,-0.0155051024325,0.0698343053234,0.999999981699,4.35704840217e-05,-0.00018609404603,8.47398157817e-06,1793254806107250944
+52,0.866666667,BASELINE,784,761,737,721,686,651,918,800.833371307,839,658,636,657,0.401003586099,-0.0155053244398,0.0698351678363,0.999999981977,4.38671394258e-05,-0.000184526349269,8.48785825976e-06,1793254806123918080
+53,0.883333333,BASELINE,784,761,737,721,686,651,918,800.258623349,839,658,636,657,0.401003451741,-0.0155050911614,0.0698347748981,0.999999981924,4.37564847619e-05,-0.000184835231975,8.57698055794e-06,1793254806140584448
+54,0.900000000,BASELINE,784,761,737,721,686,651,918,800.327494436,839,657.672505564,636,657,0.401003687724,-0.0155042911216,0.0698350775641,0.999999981938,4.49875959978e-05,-0.000184466006917,8.5525647932e-06,1793254806157251072
+55,0.916666667,BASELINE,784,761,737,721,686,651,918,800.922913912,839,657.077086088,636,657,0.401004226686,-0.015503027411,0.0698359493078,0.999999982001,4.73164134706e-05,-0.000183542018065,8.43526289598e-06,1793254806173917440
+56,0.933333333,BASELINE,784,760.500729983,737.499270017,721,686,651,918,800.500729983,839,657,636,657,0.401005462387,-0.015503619825,0.0698371204289,0.99999998238,4.56054807962e-05,-0.000181896093445,8.61225115772e-06,1793254806190583808
+57,0.950000000,BASELINE,784,760.073209196,738,721,686,651,918,800.073209196,839,657.073209196,636,657,0.40100631747,-0.0155043663391,0.0698380022605,0.999999982686,4.35317746435e-05,-0.000180710379837,8.7751662304e-06,1793254806207249920
+58,0.966666667,BASELINE,784,760.650024642,738,721,686,651,918,800.650024642,839,657.650024642,636,657,0.401003841481,-0.0155042740195,0.0698365877934,0.999999982212,4.30953728568e-05,-0.000183429028472,8.54020130938e-06,1793254806223916544
+59,0.983333333,BASELINE,784,761,737.76869325,721,686,651.23130675,918.23130675,801,839.23130675,658,635.76869325,657,0.401002757424,-0.0155038397464,0.0698357858423,0.999999981916,4.41661550083e-05,-0.000184791142967,8.38445194986e-06,1793254806240583424
+60,1.000000000,BASELINE,784,761,737.180519758,721,686,651.819480242,918.819480242,801,839.819480242,658,635.180519758,657,0.40100382088,-0.0155028778974,0.0698359288984,0.999999981895,4.75622640571e-05,-0.000184060357781,8.3509186135e-06,1793254806257250048
+61,1.016666667,BASELINE,784,761,737,721,686,651.599473262,918.599473262,801,840,658,635.400526738,657,0.401002901547,-0.0155025721062,0.069834980111,0.999999981669,4.74027535038e-05,-0.000185327015135,8.28398858294e-06,1793254806273916672
+62,1.033333333,BASELINE,784,761,737,721,686,651.021582822,918.021582822,801,840,658,635.978417178,657,0.401001104182,-0.0155025568346,0.0698335478268,0.99999998135,4.56687215052e-05,-0.000187478192268,8.20226962577e-06,1793254806290583296
+63,1.050000000,BASELINE,784,761,737.55317628,721,686.55317628,651,918,801,840,658,635.44682372,657,0.401002717048,-0.0155034462655,0.0698346946856,0.999999981763,4.47955740023e-05,-0.000185460736073,8.45221074457e-06,1793254806307249920
+64,1.066666667,BASELINE,784,761,738,721,687,651,918,801,839.872322561,657.872322561,635.127677439,657,0.401004034515,-0.0155041172543,0.0698356205298,0.999999982099,4.39411562701e-05,-0.000183841743661,8.58439609208e-06,1793254806323916544
+65,1.083333333,BASELINE,784,761,738,721,687,651,918,801,839.298298472,657.298298472,635.701701528,657,0.401003856772,-0.0155039018892,0.0698354239249,0.999999982079,4.30354552804e-05,-0.000184181124033,8.25993726776e-06,1793254806340583168
+66,1.100000000,BASELINE,784,761,737.71445614,721,686.71445614,651,918,801,839,657,636,657,0.401003378287,-0.0155040791011,0.0698349831577,0.999999981995,4.24263190248e-05,-0.000184777086556,8.17647001524e-06,1793254806357250048
+67,1.116666667,BASELINE,784,761,737.119991814,721,686.119991814,651,918,801,839,657,636,657,0.401002574441,-0.0155046810291,0.0698342782394,0.999999981844,4.21380264148e-05,-0.000185650636807,8.35372360291e-06,1793254806373916672
+68,1.133333333,BASELINE,784,761,737.45930112,721,686.45930112,651,918,801,839,657,636,657,0.401002351467,-0.0155040743338,0.0698343560882,0.999999981733,4.42175966251e-05,-0.000185769107951,8.3257949626e-06,1793254806390583296
+69,1.150000000,BASELINE,784,760.965216072,738,721,686.965216072,651,918,801,839,657.034783928,635.965216072,657,0.401002327756,-0.0155031926653,0.0698346533314,0.99999998164,4.68593850858e-05,-0.000185624295975,8.26190402357e-06,1793254806407250176
+70,1.166666667,BASELINE,784,760.389319393,738,721,686.389319393,651,918,801,839,657.610680607,635.389319393,657,0.401003118638,-0.0155027882955,0.0698352840482,0.999999981774,4.89317617463e-05,-0.000184354332364,8.44578462786e-06,1793254806423916800
+71,1.183333333,BASELINE,784,760.191267643,737.808732357,721,686,651,918,801,839.191267643,658,635.191267643,657,0.401003890748,-0.0155025074765,0.0698357389911,0.999999981892,4.98002552502e-05,-0.000183472546471,8.55834231956e-06,1793254806440583168
+72,1.200000000,BASELINE,784,760.781641868,737.218358132,721,686,651,918,801,839.781641868,658,635.781641868,657,0.401004623689,-0.0155024844632,0.0698358271576,0.999999981986,4.81566792201e-05,-0.000183400747231,8.52207485237e-06,1793254806457249792
+73,1.216666667,BASELINE,784,761,737,721,686,651,918,801,839.633664923,658,636,657,0.401004234276,-0.0155023041713,0.0698353502293,0.99999998177,4.7999377996e-05,-0.000184619722045,8.45507799018e-06,1793254806473916416
+74,1.233333333,BASELINE,784,761,737,721,686,651,918,801,839.05230627,658,636,657,0.401003186087,-0.0155020315632,0.0698345416136,0.999999981369,4.87144588591e-05,-0.000186596327978,8.37004424315e-06,1793254806490583296
+75,1.250000000,BASELINE,784,760.47732177,737,721.52267823,686.52267823,651,918,801,839,658,636,657,0.401003248186,-0.0155023580983,0.0698350949271,0.999999981624,4.79794195879e-05,-0.00018543137457,8.09248592638e-06,1793254806507249920
+76,1.266666667,BASELINE,784,760.097079019,737.097079019,721.902920981,686.902920981,651,918,801,839,658,636,657,0.401003450865,-0.0155027568101,0.0698356445725,0.999999981887,4.73574577474e-05,-0.000184176384353,7.91625863888e-06,1793254806523916800
+77,1.283333333,BASELINE,784,760.671708477,737.671708477,721.328291523,686.328291523,651,918,801,839,658,636,657,0.401003805096,-0.0155032191798,0.0698355138001,0.999999981884,4.79970116177e-05,-0.000184006383211,8.33213258731e-06,1793254806540583936
+78,1.300000000,BASELINE,783.745041687,761,738,721,686,651,918,801,839.254958313,657.745041687,636,657,0.401004307823,-0.0155029023515,0.0698355724093,0.999999981922,4.83125681243e-05,-0.000183717812525,8.3692165671e-06,1793254806557250560
+79,1.316666667,BASELINE,783.150303627,761,738,721,686,651,918,801,839.849696373,657.150303627,636,657,0.401005008451,-0.0155015470959,0.069835883405,0.999999982013,4.81963373568e-05,-0.000183271225707,7.9014918729e-06,1793254806573917184
+80,1.333333333,BASELINE,783.430735348,761,738,721,686,651,918.430735348,800.569264652,840,657.430735348,636,657,0.401004637449,-0.0155010712863,0.0698361553285,0.999999982071,4.72263265723e-05,-0.0001832129391,7.78114255433e-06,1793254806590583552
+81,1.350000000,BASELINE,784,761,738,721,686.007116269,651,918.992883731,800.007116269,839.992883731,658,636,657,0.401003924304,-0.0155009116855,0.0698364089968,0.999999982116,4.59943943102e-05,-0.000183281802304,7.78506459289e-06,1793254806607250176
+82,1.366666667,BASELINE,784,761,738,721,686.581488816,651,918.418511184,800.581488816,839.418511184,658,636,657,0.401004827087,-0.0155022497423,0.0698362608097,0.999999982118,4.69002863152e-05,-0.000183018284372,8.33041122555e-06,1793254806623916800
+83,1.383333333,BASELINE,784,760.844780658,737.844780658,721,686.844780658,651,918.155219342,801,839.155219342,658,636,657,0.401005071423,-0.0155030370921,0.069835965567,0.999999982044,4.76097790421e-05,-0.000183225617633,8.6245179249e-06,1793254806640583424
+84,1.400000000,BASELINE,784,760.27277393,737.27277393,721,686.27277393,651,918.72722607,801,839.72722607,658,636,657,0.40100354773,-0.0155023457104,0.069835275458,0.999999981767,4.77919102341e-05,-0.000184697257428,8.24400756424e-06,1793254806657249792
+85,1.416666667,BASELINE,784,760.31227736,737.31227736,721,686.31227736,651,918.68772264,801,840,658,636,657,0.401002840288,-0.0155027294771,0.0698352872575,0.999999981747,4.74244585879e-05,-0.000184904605775,8.16692500306e-06,1793254806673916672
+86,1.433333333,BASELINE,784,760.909219744,737.909219744,721,686.909219744,651,918.090780256,801,840,658,636,657,0.401002876924,-0.0155040933249,0.0698359389009,0.999999981961,4.65560195642e-05,-0.000183959454357,8.36644042898e-06,1793254806690583808
+87,1.450000000,BASELINE,784,761,737.512372295,721,687,651.487627705,918,801,839.512372295,657.512372295,636,657,0.401003926646,-0.0155031199972,0.0698366272214,0.999999982104,4.70542651487e-05,-0.000183054876121,8.28581859683e-06,1793254806707250432
+88,1.466666667,BASELINE,784,761,737,721,687,651.937240566,918,801,839,657,635.937240566,657,0.401005096304,-0.0155018645842,0.06983728004,0.999999982222,4.79638508167e-05,-0.00018217511742,8.18118513562e-06,1793254806723917312
+89,1.483333333,BASELINE,784,761,737,721,687,651.361717291,918,801,839,657,635.361717291,657,0.401005761348,-0.0155017292166,0.069837589053,0.999999982244,5.02315456824e-05,-0.000181438688175,8.29086724626e-06,1793254806740583680
+90,1.500000000,BASELINE,784,761,737,721,686.780879309,651,918,801,839,657,635,657,0.401006099738,-0.0155019613696,0.0698376309752,0.999999982282,5.0704290789e-05,-0.000181089121641,8.45555497435e-06,1793254806757250048
+91,1.516666667,BASELINE,784,761,737,721,686.191049958,651,918,801,839,657,635,657,0.401005885495,-0.0155028152943,0.0698372210329,0.999999982351,4.81403374146e-05,-0.000181394050002,8.71330126384e-06,1793254806773916672
+92,1.533333333,BASELINE,784,761,737,721,686.391091915,651,918,801,839.391091915,657,635.391091915,657,0.401004375083,-0.0155034643902,0.0698361116067,0.999999982015,4.68932780876e-05,-0.000183566820452,8.59576813445e-06,1793254806790583040
+93,1.550000000,BASELINE,784,761,737,721,686.96955087,651,918,801,839.96955087,657,635.96955087,657,0.401002243693,-0.0155040153553,0.0698346670667,0.999999981479,4.62771253089e-05,-0.00018663444973,8.29844354897e-06,1793254806807249664
+94,1.566666667,BASELINE,784,761,737.544097192,721,687,651,918.544097192,801,839.455902808,657.544097192,636,657,0.401002728835,-0.0155032179615,0.0698352421271,0.999999981655,4.80870045692e-05,-0.00018522980045,8.27073983449e-06,1793254806823916800
+95,1.583333333,BASELINE,784,761,738,721,687,651,918.881937665,800.881937665,839,658,636,657,0.401003588215,-0.0155025771632,0.0698360257579,0.999999981915,4.91630640448e-05,-0.000183533826179,8.25999375698e-06,1793254806840583680
+96,1.600000000,BASELINE,784,761,738,721,687,651,918.3093728,800.3093728,839,658,636,657,0.401005328613,-0.0155028276221,0.0698371803251,0.999999982364,4.68952216462e-05,-0.000181672964562,8.25685720087e-06,1793254806857250560
+97,1.616666667,BASELINE,784,761,737.72627439,721,686.72627439,651,918,800.27372561,839.27372561,658,636,657,0.401005557543,-0.0155030654508,0.0698373495023,0.999999982425,4.63150694129e-05,-0.000181478627485,8.38000346416e-06,1793254806873917184
+98,1.633333333,BASELINE,784,761,737.130794213,721,686.130794213,651,918,800.869205787,839.869205787,658,636,657,0.401004009797,-0.0155032884331,0.0698363603892,0.999999982035,4.77187361343e-05,-0.000183243229912,8.65159061968e-06,1793254806890583808
+99,1.650000000,BASELINE,784,761,737,721,686.451465221,651,918,801,839.548534779,657.548534779,636,657,0.401004729893,-0.015503749111,0.0698364390479,0.999999982102,4.69231174232e-05,-0.000183092531043,8.42825545037e-06,1793254806907249920
+100,1.666666667,BASELINE,784,761,737.029814522,721,687,651,918,801,839,657,636,657,0.401005973861,-0.0155041959038,0.0698367913337,0.99999998228,4.56531174059e-05,-0.000182458401053,8.08959474317e-06,1793254806923916288
+101,1.683333333,BASELINE,784,761,737.604710078,721,687,651,918,801,839,657,636,657,0.401005125333,-0.0155031656864,0.0698366515234,0.999999982145,4.70276131164e-05,-0.000182841957768,8.18933206017e-06,1793254806940583168
+102,1.700000000,BASELINE,784,761,738,721,686.816249819,651,918,800.816249819,839,657.183750181,636,657,0.401004309286,-0.0155025860758,0.069836226933,0.99999998197,4.79850062179e-05,-0.00018354743689,8.25531152577e-06,1793254806957250048
+103,1.716666667,BASELINE,784,761,738,721,686.228088158,651,918,800.228088158,839,657.771911842,636,657,0.401003564727,-0.0155029981952,0.0698351755769,0.999999981707,4.80244077479e-05,-0.000184961427469,8.24699411155e-06,1793254806973916928
+104,1.733333333,BASELINE,784,761,738,721,686,651,918,800.355179176,839,658,636,657,0.401003047823,-0.015502217681,0.0698350704572,0.999999981656,4.82610496523e-05,-0.000185188464094,8.0614661238e-06,1793254806990583808
+105,1.750000000,BASELINE,784,761,738,721,686,651,918,800.935346262,839,658,636,657,0.401002675127,-0.0155006816941,0.0698355647298,0.999999981737,4.86226332871e-05,-0.000184663626011,7.76368426692e-06,1793254807007250432
+106,1.766666667,BASELINE,784,761,738,721,686.510852251,651,918,801,839,657.489147749,636,657,0.401004023852,-0.0155008121967,0.0698367716718,0.999999981978,4.93131451235e-05,-0.000183157481122,8.14603250182e-06,1793254807023916800
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,761,738,721,687,651,918,801,839,657,635,657,0.401004585416,-0.0155015764016,0.0698365584184,0.999999982096,4.70590152169e-05,-0.000183102169166,8.2009456509e-06,1793254807067582464
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,761,737.400084847,721,687,651,918,801,839,657.599915153,635.599915153,657.599915153,0.401005720934,-0.0155013434572,0.0698376625366,0.999999982298,4.8601930393e-05,-0.000181576404643,8.41944129826e-06,1793254807084248832
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,761,737.193346106,721,686.806653894,651,918,801,839,658,636,657.806653894,0.401005845963,-0.0155011630701,0.0698379528109,0.999999982308,4.97736187091e-05,-0.000181205898668,8.47239048107e-06,1793254807100915200
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,761,737.773794997,721,686.226205003,651,918,801,839,658,636,657.226205003,0.401003947867,-0.015501087909,0.0698366136695,0.999999981935,5.02020652749e-05,-0.000183148362735,8.19389523264e-06,1793254807117581824
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,761,738,721,686,651,918,801,839,658,636,657,0.401004008692,-0.0155016516753,0.069836438841,0.999999981941,4.94118680437e-05,-0.000183334752474,8.08358932776e-06,1793254807134248704
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,761,738,721,686,651,918,801,839,658,636,657,0.401005320398,-0.0155026234334,0.069837007493,0.999999982188,4.78434970741e-05,-0.000182399788275,8.08068194779e-06,1793254807150915328
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,761,737.490269609,720.490269609,686,651,918,801,839,658,636,657,0.401003619501,-0.0155033130287,0.0698358133093,0.99999998176,4.78198046761e-05,-0.000184729508424,8.28662280322e-06,1793254807167581440
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,761,737,720.09748755,686,651,918,801,839.09748755,658,636,657,0.401002163991,-0.0155037438617,0.0698349547056,0.999999981268,4.79848739255e-05,-0.00018731864809,8.51078749265e-06,1793254807184247808
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,761,737,720.678816334,686,651,918,801,839.678816334,658,636,657,0.401004253111,-0.0155031083538,0.0698371231248,0.999999981017,4.78937751985e-05,-0.000188673878294,8.66409781593e-06,1793254807200914432
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,761,737,721,686.258206252,651,918,801,839.741793748,657.741793748,636,657,0.4010105155,-0.0155029025375,0.0698408958314,0.999999980793,4.8870491886e-05,-0.000189592817671,8.95425647315e-06,1793254807217580800
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,761,737,721,686.835202339,651,918,801,839.164797661,657.164797661,636,657,0.401021930345,-0.0155032272324,0.0698466492431,0.999999980602,5.11655682185e-05,-0.000189973098105,9.41337252266e-06,1793254807234247168
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,761,737.409193208,721,687,651,918,801,839,657.409193208,636,657,0.401049693093,-0.0155051146722,0.0698577985471,0.999999982327,4.84046023402e-05,-0.000181387660838,1.00295273731e-05,1793254807250913792
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,761,737.981982634,721,687,651,918,801,839,657.981982634,636,657,0.401083991765,-0.0155076269003,0.0698711051394,0.999999984674,4.3622221422e-05,-0.000169217712706,1.07084666701e-05,1793254807267580416
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,761,738,721,687,651,918.570958144,801,839,658,636,657,0.401140477502,-0.0155091939011,0.069886301531,0.999999987535,4.72132663992e-05,-0.000150221518911,1.15795462441e-05,1793254807284247296
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,761,737.842022223,721,686.842022223,651,918.842022223,800.842022223,839,657.842022223,635.842022223,657,0.401202394489,-0.0155111387244,0.0698997189976,0.999999989766,4.98343676841e-05,-0.000133565451535,1.20675332305e-05,1793254807300914176
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,761,737.26163773,721,686.26163773,651,918.26163773,800.26163773,839,657.26163773,635.26163773,657,0.40127690707,-0.0155141758654,0.0699082158064,0.999999991068,4.91348647574e-05,-0.000123759274897,1.15145084065e-05,1793254807317580544
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,761,737,720.684737651,686,651,918,800.315262349,839,657,635,657,0.401362102593,-0.0155176766202,0.069914896231,0.999999992092,4.77858853051e-05,-0.000115844543846,1.06182675942e-05,1793254807334247168
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,761,737,720.110697726,686,651,918,800.889302274,839,657,635,657,0.401456067018,-0.0155215579241,0.069920085708,0.999999992909,4.59037944685e-05,-0.000109482373359,9.44030398426e-06,1793254807350913536
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,761,737.463625257,720.463625257,686,651,918,801,839,657.463625257,635.463625257,657,0.401567386183,-0.0155227878112,0.0699222561869,0.999999993104,4.92521405397e-05,-0.000106377181938,7.11091768417e-06,1793254807367580160
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,761,738,721,686.039446006,651,918,801,839,657.960553994,636,657,0.40168436587,-0.0155235956553,0.0699235845364,0.999999993109,5.34132092597e-05,-0.000104448954675,4.49955010862e-06,1793254807384247296
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,761,738,721,686.635445019,651,918,801,839,657.364554981,636,657,0.40182271086,-0.0155273863406,0.0699232076956,0.999999992829,5.14101188927e-05,-0.000108147981238,1.79092314041e-06,1793254807400913664
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,761,738,721,686.776456768,651,918,801,839.223543232,657.223543232,636,657,0.401974536815,-0.015529838906,0.0699229712221,0.999999992539,5.05837288074e-05,-0.000111176617426,-1.57818478291e-06,1793254807417580544
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,761,738,721,686.200803416,651,918,801,839.799196584,657.799196584,636,657,0.402147597058,-0.0155301837554,0.0699229558457,0.999999992249,5.16107973028e-05,-0.000113149299867,-5.98763720687e-06,1793254807434247424
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,761,738,721,686.366832874,651.366832874,918,801,839.633167126,658,636,657.366832874,0.402339091771,-0.0155310956165,0.0699234043922,0.999999992187,5.17611015559e-05,-0.000113302280747,-1.04230294567e-05,1793254807450914304
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,761,738,721,686.930174555,651.930174555,918,801,839.069825445,658,636,657.930174555,0.402540461666,-0.0155323112203,0.0699241014577,0.99999999224,5.14417318151e-05,-0.000112480465357,-1.48723178254e-05,1793254807467580928
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,761,738,721,687,651.47395561,918,801,839.52604439,658,636,657.47395561,0.402778277838,-0.0155265156835,0.0699277101883,0.999999993234,3.78084407539e-05,-0.000108248159613,-1.96200827913e-05,1793254807484247296
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,761,738,721,686.877738639,651,918,801,839.877738639,658,636,657,0.403032230158,-0.0155212066505,0.0699327979337,0.999999994403,2.06733529716e-05,-0.000100880940239,-2.42621109775e-05,1793254807500913920
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,761,738,721,686.297462051,651,918,801,839.297462051,658,636,657,0.403327314018,-0.0155214362914,0.0699418830831,0.999999996102,-2.523343475e-06,-8.35773861046e-05,-2.83498271947e-05,1793254807517580544
+135,2.250000000,POSE1_TO_POSE2_PRESS,784.28045917,761,738,721,686,651,918,801,839,657.71954083,636,657,0.40363699718,-0.0155239072432,0.0699481779623,0.999999996665,-1.16307092396e-05,-7.45875912167e-05,-3.11775515628e-05,1793254807534246912
+136,2.266666667,POSE1_TO_POSE2_PRESS,784.855903001,761,738,721,686,651,918,801,839,657.144096999,636,657,0.403962035751,-0.0155287355874,0.0699515380574,0.999999996685,-5.91903080417e-06,-7.43421414197e-05,-3.26800265799e-05,1793254807550913536
+137,2.283333333,POSE1_TO_POSE2_PRESS,785,761,738,721,686.4278041,651,918,801,839,657.4278041,636,657.4278041,0.404311218341,-0.0155299838495,0.0699541694658,0.99999999689,-2.27457140714e-06,-7.25934176674e-05,-3.0734960124e-05,1793254807567580416
+138,2.300000000,POSE1_TO_POSE2_PRESS,785,761,738,721,686.998521693,651,918,801,839,657.998521693,636,657.998521693,0.404668466547,-0.0155300361389,0.0699565574469,0.999999997144,6.79306621671e-07,-7.03425058138e-05,-2.76381978237e-05,1793254807584247040
+139,2.316666667,POSE1_TO_POSE2_PRESS,784.406548972,761,738,721,687,651,918,801,839,657.406548972,636,657.406548972,0.405074119989,-0.0155288194224,0.0699631551458,0.999999998024,-3.59533536015e-06,-5.48033256651e-05,-3.05802134798e-05,1793254807600913408
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,761,738,720.816357689,686.816357689,651,918,801,839.183642311,657.183642311,636,657.183642311,0.405488665621,-0.0155281146083,0.0699662640696,0.999999998343,-5.35660046483e-06,-4.69229370894e-05,-3.29136858828e-05,1793254807617579776
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,761,738,720.236524043,686.236524043,651,918,801,839.763475957,657.763475957,636,657.763475957,0.405922124076,-0.0155285212866,0.0699618226962,0.999999997876,-1.65498674019e-06,-5.56401374033e-05,-3.3900448198e-05,1793254807634246656
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,761,738,720.340840256,686.340840256,651,918,801,839.659159744,657.659159744,636,658,0.406379704379,-0.0155267533903,0.0699482695813,0.999999996362,-1.85733337645e-06,-7.71480191993e-05,-3.63432895758e-05,1793254807650913280
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,761,738,720.916503351,686.916503351,651,918,801,839.083496649,657.083496649,636,658,0.40685390354,-0.015523487315,0.0699284389064,0.999999993422,-4.74932393952e-06,-0.000107468077259,-3.97893007312e-05,1793254807667579904
+144,2.400000000,POSE1_TO_POSE2_PRESS,784.499906293,761,738,720.500093707,686.500093707,651,918,801,839.499906293,657.499906293,636,657.500093707,0.407374859589,-0.0155233288266,0.0699267044962,0.999999993588,-2.82602225006e-06,-0.00010528383296,-4.15979838668e-05,1793254807684246272
+145,2.416666667,POSE1_TO_POSE2_PRESS,785,761,738,720,686,651.084463594,918,801,839.915536406,657.915536406,636,657,0.407915473259,-0.0155240591081,0.0699301906349,0.999999994685,-1.73450844458e-06,-9.37520370993e-05,-4.28747539556e-05,1793254807700912896
+146,2.433333333,POSE1_TO_POSE2_PRESS,785,761,738,720,686,651.66808317,918,801,839.33191683,657.33191683,636,657,0.408525380098,-0.0155269261297,0.0699463855918,0.999999997262,-1.0386393176e-05,-5.95673671574e-05,-4.26496389978e-05,1793254807717579520
+147,2.450000000,POSE1_TO_POSE2_PRESS,785,761,738,720,686,652,918,801,839.247627824,657.247627824,636,657,0.409132361086,-0.0155278440997,0.0699540921295,0.999999998142,-1.50358937378e-05,-4.0811189174e-05,-4.27165399411e-05,1793254807734246400
+148,2.466666667,POSE1_TO_POSE2_PRESS,785,761,738,720,686,652,918,801,839.821798902,657.821798902,636,657,0.40973548376,-0.0155261918829,0.0699506051095,0.999999998066,-1.44075072687e-05,-4.24003440903e-05,-4.31685181276e-05,1793254807750913280
+149,2.483333333,POSE1_TO_POSE2_PRESS,785,760.602208983,738,720,686,651.602208983,918,801,840,657.602208983,636,657.397791017,0.410375685289,-0.0155240141028,0.0699464604164,0.999999997581,-1.27860756454e-05,-5.18279477603e-05,-4.45950036929e-05,1793254807767579904
+150,2.500000000,POSE1_TO_POSE2_PRESS,785,760.02539735,738,720,686,651.02539735,918,801,840,657.02539735,636,657.97460265,0.411032573651,-0.0155215997999,0.0699420197462,0.999999996765,-1.07177371244e-05,-6.47831421642e-05,-4.64600534704e-05,1793254807784246528
+151,2.516666667,POSE1_TO_POSE2_PRESS,785,760.564567015,738,720,686,651,918,801,840,657,636,658,0.411742238351,-0.0155245205852,0.0699603171901,0.99999999839,-1.27713903314e-05,-3.07120600372e-05,-4.59709961088e-05,1793254807800913152
+152,2.533333333,POSE1_TO_POSE2_PRESS,785,761,737.848184298,719.848184298,686,651.151815702,918.151815702,801.151815702,840,657.151815702,636,657.848184298,0.412469230144,-0.0155272175434,0.0699838235448,0.999999998836,-1.43067986978e-05,9.6981418277e-06,-4.50479745272e-05,1793254807817579776
+153,2.550000000,POSE1_TO_POSE2_PRESS,785,761,737.270258294,719.270258294,686,651.729741706,918.729741706,801.729741706,840,657.729741706,636,657.270258294,0.413238032128,-0.0155285965764,0.0700190105829,0.999999997059,-1.38547456494e-05,6.1821388896e-05,-4.32112475636e-05,1793254807834246400
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,761,737.306030278,719.306030278,686,652,918.693969722,801.693969722,840,658,636,657.306030278,0.413987697641,-0.015527927675,0.0700262684431,0.999999996771,-1.23154843765e-05,6.65101239851e-05,-4.33892086339e-05,1793254807850913280
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,761,737.880880581,719.880880581,686,652,918.119119419,801.119119419,840,658,636,657.880880581,0.414720553575,-0.0155254598478,0.0700089930411,0.999999998488,-9.82120860487e-06,2.95319204818e-05,-4.53368914241e-05,1793254807867579904
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,761,738,720,686.45410486,651.54589514,918.45410486,801,840,657.54589514,636,658,0.415475969068,-0.0155216788465,0.069959906941,0.999999997331,-1.70295298592e-05,-4.93185932461e-05,-5.11509182431e-05,1793254807884246528
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,761,738,719.972029913,686.972029913,651,919,801,840,657.027970087,636,657.972029913,0.416241610079,-0.0155179196411,0.0699060152273,0.999999989042,-2.6502066446e-05,-0.000133750759476,-5.76633465565e-05,1793254807900913152
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,761,738,719.376535233,686.376535233,651,919,801,840,657.623464767,636,657.376535233,0.417095086758,-0.0155215671337,0.0699233245345,0.999999991883,-3.04584719565e-05,-0.000109366049885,-5.78413758488e-05,1793254807917579776
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,761,738,719,686,651.211922642,919,801.211922642,840,658,636,657,0.417954665296,-0.015523757888,0.0699447517543,0.999999994841,-3.26097647933e-05,-7.73081532027e-05,-5.72493863407e-05,1793254807934246400
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,761,738,719,686,651.78827959,919,801.78827959,840,658,636,657,0.418824736888,-0.0155234435513,0.069973260371,0.999999997454,-3.16568823096e-05,-3.20550062718e-05,-5.53332283916e-05,1793254807950913024
+161,2.683333333,POSE1_TO_POSE2_PRESS,784.635858856,761,738,719,686.364141144,652,918.635858856,801.635858856,840,657.635858856,636,657,0.41972822416,-0.0155252382307,0.0699990608779,0.999999997849,-3.56828244331e-05,1.14109986297e-05,-5.38333420154e-05,1793254807967579648
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.060284964,761,738,719,686.939715036,652,918.060284964,801.060284964,840,657.060284964,636,657,0.420651113684,-0.0155282574765,0.070023288963,0.999999996261,-4.25996416735e-05,5.38393264117e-05,-5.25751571196e-05,1793254807984246272
+163,2.716666667,POSE1_TO_POSE2_PRESS,784.507755833,761,738,719,686.492244167,651.492244167,918.507755833,801,840,657,636,657.507755833,0.421559267581,-0.0155258762718,0.0700243284949,0.999999996375,-4.26434146048e-05,4.95454856045e-05,-5.45525471676e-05,1793254808000912896
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,761,738,719,686.079529866,651.079529866,919,801,840,657,636,657.920470134,0.422453778054,-0.0155221252871,0.0700120919269,0.99999999721,-4.14107343986e-05,2.38038440882e-05,-5.74330171829e-05,1793254808017579776
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,761,738,719,686.681624368,651.681624368,919,801,840,657,636,657.318375632,0.423269969242,-0.0155135253612,0.0699304479628,0.999999991561,-3.70743435693e-05,-0.00010694800258,-6.3760077656e-05,1793254808034246400
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,761,738,719,687,652,919,801.27139607,840.27139607,657,636,657.27139607,0.424138780772,-0.0155088909011,0.0698783291285,0.999999980372,-3.67929437526e-05,-0.000181954398779,-6.92519227809e-05,1793254808050912768
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,761,738,719,687,652,919,801.847339795,840.847339795,657,636,657.847339795,0.425066640431,-0.0155087062956,0.0698593419689,0.999999977536,-4.1061860375e-05,-0.000194405942159,-7.38065310408e-05,1793254808067579648
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,761,738,718.577724087,686.577724087,652,919,802,840.577724087,657,636,657.577724087,0.426048857714,-0.0155117014626,0.0699031360555,0.999999988254,-4.58724391758e-05,-0.000128029576692,-7.06857208526e-05,1793254808084246528
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,761,738,718.003151405,686.003151405,652,919,802,840.003151405,657,636,657.003151405,0.4270506794,-0.0155158434368,0.0699695726402,0.999999996054,-5.08783716267e-05,-3.32233712139e-05,-6.4796716337e-05,1793254808100913152
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,761,738,718,686,652,919,802,840.588373979,657.588373979,636,657.588373979,0.428060687281,-0.015520399573,0.070015360338,0.999999996749,-4.58282754247e-05,2.93544266083e-05,-5.94910397974e-05,1793254808117579520
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,761,738,718,686.175438898,652,919,802,841,658,636.175438898,658,0.4290589165,-0.0155246444602,0.0700493561528,0.999999994321,-4.46525980522e-05,7.88447764577e-05,-5.60991300852e-05,1793254808134246144
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,761,738,718,686.752089323,652,919,802,841,658,636.752089323,658,0.430030105768,-0.0155281723277,0.0700566455171,0.999999992113,-5.24641665345e-05,9.88118901948e-05,-5.70764607378e-05,1793254808150913024
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,761,738,718,687,652,919,802,841,658,636.671278893,658,0.430913606225,-0.0155243673224,0.0700102270936,0.999999996534,-5.28261991662e-05,1.86437232444e-05,-6.15924853266e-05,1793254808167579904
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,761,738,718,687,652,919,802,841,658,636.094661193,658,0.431730978369,-0.015515032419,0.0699233063188,0.999999987114,-4.75703539887e-05,-0.000137038899739,-6.87771240267e-05,1793254808184246528
+175,2.916666667,POSE1_TO_POSE2_PRESS,785,761.491551928,738,718,686.508448072,651.508448072,918.508448072,801.508448072,841,657.508448072,636,657.508448072,0.432668340203,-0.015515745197,0.0699023508992,0.999999983013,-5.11862372408e-05,-0.000162177791582,-7.10752030438e-05,1793254808200913152
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761.921537609,738,718,686.078462391,651.078462391,918,801.078462391,841,657.078462391,636,657,0.43363516527,-0.0155185857938,0.0699045359973,0.999999985018,-5.74325495571e-05,-0.000146779038887,-7.15598452414e-05,1793254808217579520
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,761.342206587,738,718,686.657793413,651.657793413,918,801.657793413,841,657.657793413,636,657,0.434639627495,-0.0155224116984,0.0699717327513,0.99999999472,-6.93470091816e-05,-3.62812149576e-05,-6.65950620243e-05,1793254808234246400
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.235046656,761,738,718,686.764953344,652,918,802,841,658,636,657.235046656,0.435621833685,-0.0155256186296,0.0700205007911,0.999999994195,-7.59382921889e-05,4.34924015712e-05,-6.28690492729e-05,1793254808250913792
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.809301432,761,738,718,686.190698568,652,918,802,841,658,636,657.809301432,0.436571921176,-0.0155279322884,0.0700426733995,0.999999992228,-7.48474233375e-05,7.89263235826e-05,-6.09307711129e-05,1793254808267581696
+180,3.000000000,POSE1_TO_POSE2_PRESS,785.229314906,760.614657453,738,717.614657453,686,652,918,801.614657453,841,657.614657453,636,657.614657453,0.437475086296,-0.0155294147157,0.0700312304577,0.999999992147,-7.83982546483e-05,7.52125861249e-05,-6.2464703844e-05,1793254808284248320
+181,3.016666667,POSE1_TO_POSE2_PRESS,784.075456461,760.03772823,738,717.03772823,686,652,918,801.03772823,841,657.03772823,636,657.03772823,0.438354922244,-0.0155304838667,0.0700030743548,0.999999992937,-8.42568714129e-05,5.20352031316e-05,-6.572496913e-05,1793254808300914432
+182,3.033333333,POSE1_TO_POSE2_PRESS,784.551263763,760.551263763,738,717,686.551263763,652,918,801.551263763,841.551263763,657,636,657.551263763,0.439140824499,-0.0155236373579,0.0699265150972,0.999999991351,-7.99249459397e-05,-7.59624989516e-05,-7.1692102521e-05,1793254808317581056
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686.861410059,651.861410059,918,801.861410059,841.861410059,657.138589941,636,658,0.439936005205,-0.0155176976431,0.0698631617398,0.999999977564,-7.57767150648e-05,-0.000182355266032,-7.66530390185e-05,1793254808334247680
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686.282065942,651.282065942,918,801.282065942,841.282065942,657.717934058,636,658,0.440781596577,-0.0155164032224,0.0698525777391,0.999999974851,-7.44803469117e-05,-0.000196713156306,-7.78116474101e-05,1793254808350914560
+185,3.083333333,POSE1_TO_POSE2_PRESS,785.294744739,761,738,717,686.294744739,651.294744739,918,801,841.294744739,657.705255261,636.294744739,658,0.441647339536,-0.0155214650685,0.069878661295,0.999999981297,-8.46991908244e-05,-0.000156594143949,-7.55661078161e-05,1793254808367581184
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.869151592,761,738,717,686.869151592,651.869151592,918,801,841.869151592,657.130848408,636.869151592,658,0.44253220284,-0.0155325579197,0.0699395360623,0.999999989844,-0.000105843991961,-6.47859093728e-05,-7.00906161216e-05,1793254808384247040
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.556265536,761,738,717,686.556265536,652,918,801,842,657.443734464,636.556265536,657.556265536,0.443330647525,-0.0155392234063,0.0699538182348,0.999999990337,-0.000109649818288,-5.11799520162e-05,-6.84412456655e-05,1793254808400913664
+188,3.133333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651.981073134,918,801,842,657.981073134,636,657.018926866,0.444102258829,-0.0155445501276,0.0699527851283,0.999999989802,-0.000108713384096,-6.27956063124e-05,-6.80734440541e-05,1793254808417580032
+189,3.150000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651.388996505,918,801,842,657.388996505,636,657.611003495,0.444833285488,-0.0155488864198,0.069904190472,0.999999980554,-0.000119062718645,-0.000139584127964,-7.23350401638e-05,1793254808434246912
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,918,800.801599619,841.801599619,657,636,657.801599619,0.445547583531,-0.0155525741253,0.0698594223774,0.999999967612,-0.000126510041849,-0.000207178231113,-7.64742984559e-05,1793254808450913792
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,918,800.223166603,841.223166603,657,636,657.223166603,0.446229838319,-0.0155550194746,0.0698219839898,0.999999955461,-0.000128398613224,-0.000257160592688,-8.0379222e-05,1793254808467580672
+192,3.200000000,POSE1_TO_POSE2_PRESS,785.352288281,761,738,717,686,651,918,800,841.352288281,657.352288281,635.647711719,657,0.446870449944,-0.0155560911413,0.0697857901983,0.999999936791,-0.000129268360157,-0.000320869588016,-8.21650787696e-05,1793254808484247296
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.925872365,761,738,717,686,651,918,800,841.925872365,657.925872365,635.074127635,657,0.447484902675,-0.0155562999059,0.0697503782228,0.999999910899,-0.000129498114877,-0.000393201194999,-8.26198076427e-05,1793254808500913920
+194,3.233333333,POSE1_TO_POSE2_PRESS,785.486373703,761,738,717,686,651,918,800,842,658,635.513626297,657.513626297,0.448115593985,-0.0155584981164,0.0697384781971,0.999999903507,-0.000129680484426,-0.000411494732889,-8.27076291417e-05,1793254808517581312
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,918,799.898331447,842,658,636,658,0.448753794997,-0.0155622686652,0.0697367613122,0.999999903065,-0.000131830918651,-0.000411939861474,-8.24447354043e-05,1793254808534248192
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,918,799.318818421,842,658,636,658,0.44941596436,-0.0155720414785,0.0697665043893,0.999999919426,-0.000143264354634,-0.000366191936911,-8.07894123798e-05,1793254808550914304
+197,3.283333333,POSE1_TO_POSE2_PRESS,785.258641777,761,738,717,686,650.741358223,918,799,842,658,636,658,0.450025196341,-0.0155794675638,0.0697793079781,0.999999925407,-0.000151252436163,-0.000346399870631,-7.94696474281e-05,1793254808567580672
+198,3.300000000,POSE1_TO_POSE2_PRESS,785.833591411,761,738,717,686,650.166408589,918,799,842,658,636,658,0.450569688115,-0.0155840237003,0.0697713952937,0.99999992069,-0.000155026995677,-0.000358350715425,-7.85602559618e-05,1793254808584248064
+199,3.316666667,POSE1_TO_POSE2_PRESS,785.591514341,761,738,716.591514341,685.591514341,650,918,799,842,658,635.591514341,658,0.451059414759,-0.0155867560871,0.0697343839653,0.999999898494,-0.000162273674546,-0.000412523683855,-8.06391452882e-05,1793254808600914944
+200,3.333333333,POSE1_TO_POSE2_PRESS,785.016642605,761,738,716.016642605,685.016642605,650,918,799,842,658,635.016642605,658,0.451526834287,-0.0155887456169,0.0696855200557,0.999999864791,-0.000170934631119,-0.000483894742514,-8.39352331466e-05,1793254808617581568
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,761,738,716.574707891,685.574707891,650,918,798.425292109,842,657.425292109,635,657.425292109,0.451968119474,-0.0155890777851,0.0696506748219,0.999999842556,-0.000163641231584,-0.000529630465286,-8.71889474057e-05,1793254808634247936
+202,3.366666667,POSE1_TO_POSE2_PRESS,785.16282084,761.16282084,738,717,685.83717916,650,918,797.83717916,842,657.16282084,635,657.16282084,0.452409493721,-0.0155901744871,0.0696239956211,0.999999823119,-0.00016292224084,-0.000564974491476,-8.95714736281e-05,1793254808650914048
+203,3.383333333,POSE1_TO_POSE2_PRESS,785.741412172,761.741412172,738,717,685.258587828,650,918,797.258587828,842,657.741412172,635,657.741412172,0.452853085076,-0.0155933496354,0.0696171015201,0.999999814002,-0.000180205899723,-0.000575734457996,-8.97326081074e-05,1793254808667580160
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.682206355,761.682206355,738,717,685,650,918,797,842,657.682206355,635,658,0.453273677378,-0.0155973719961,0.0696181741518,0.999999814106,-0.000186184635704,-0.000573736388401,-8.91610448036e-05,1793254808684246528
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.107610655,761.107610655,738,717,685,650,918,797,842,657.107610655,635,658,0.453675684625,-0.0156020789706,0.0696256845256,0.999999821777,-0.000183028111085,-0.000561428829813,-8.79974045349e-05,1793254808700913408
+206,3.433333333,POSE1_TO_POSE2_PRESS,785.477819273,761,738,717,685,650,918,796.522180727,842,657.477819273,635,658,0.454024135958,-0.0156059320508,0.0696289437681,0.999999821176,-0.000182563186075,-0.000562813378792,-8.69483192478e-05,1793254808717580544
+207,3.450000000,POSE1_TO_POSE2_PRESS,786,761.064758795,738,716.935241205,685,650,918,796,842,658,635,658,0.454354580511,-0.0156090475589,0.0696290525685,0.999999816575,-0.000183720602558,-0.000570669856106,-8.62111228982e-05,1793254808734247424
+208,3.466666667,POSE1_TO_POSE2_PRESS,786,761.643859079,738,716.356140921,685,650,918,796,842,658,635,658,0.454640027193,-0.0156078677809,0.069611919774,0.999999794624,-0.000192837095044,-0.000604869427112,-8.77414173853e-05,1793254808750914304
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,784.262867059,760,737,717,686,651,918,800,840,657.262867059,635.262867059,657.262867059,0.428778663763,-0.0154019169665,0.0697045677039,0.999999879003,0.000156391995244,-0.000466111692785,1.65663146605e-05,1793254810850477568
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,783.438043301,760,737,718.438043301,686.438043301,651,918,800,839.561956699,657.561956699,635.561956699,657.561956699,0.415444320812,-0.0154041010899,0.0697973860699,0.99999993324,0.000169768318315,-0.000322708884599,2.36165772454e-05,1793254811100478208
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,784,760,737,718.395040973,687,651,917.395040973,800,839,657,635,657.604959027,0.413788288771,-0.0153970916217,0.0697457347371,0.999999898409,0.000175873629726,-0.000414578997543,1.93455460498e-05,1793254811133811456
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,760,737.911537759,719.088462241,687,651,917.088462241,800,839.911537759,658,636,657.911537759,0.411077021083,-0.0153983355783,0.0698743178949,0.999999962816,0.000191335673785,-0.000191823418718,3.10236768283e-05,1793254811200477952
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,760.875186598,737.124813402,720,686.124813402,650.875186598,917.124813402,800,839,658,635,657,0.404636591572,-0.0153848203198,0.0698076275198,0.999999928608,0.000196770627407,-0.000322062232961,1.84616331118e-05,1793254811400478976
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,784,759.630619893,737,720,686.630619893,651,917,799.630619893,839,657.630619893,635.369380107,657,0.403667009946,-0.0153848162389,0.0698392866745,0.999999944822,0.000204634187963,-0.000260741541169,2.22239413205e-05,1793254811450477824
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,759.068233643,737.931766357,720,687,650.068233643,917,800.931766357,839.068233643,657.931766357,635.068233643,657.068233643,0.402549049982,-0.0153751149996,0.0698101880887,0.99999992612,0.000223081896783,-0.000312535473356,1.77627263913e-05,1793254811517145344
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7327aa802742723ea331a70c7afcd5ce5f87b7fa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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+413,6.883333333,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931769,1.05969225353
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f84444c8cc5a80fa0f4ccd22bcec37686713ef5f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f91d304436e28959ba0d405ad55ca616643879659e85d65d8b84da1d12b6095
+size 26480275
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c15a2c0bdc7652525b722a15bfc2ccc388e69647
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/franka_data.csv
@@ -0,0 +1,419 @@
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+56,0.933333333,BASELINE,784,760.422945664,737,720.577054336,686.422945664,651,917,800,839,657.577054336,636,657,0.400954598915,-0.0153821792333,0.0698117198394,0.999999934635,0.000202750642588,-0.000299245971542,8.57079702332e-06,1793254813258670336
+57,0.950000000,BASELINE,784,760,737.160809736,721,686.160809736,651,917,800,839,658,636,657.160809736,0.400954053436,-0.0153834384696,0.0698115600217,0.999999934622,0.000201856300592,-0.000299893118014,8.60973843256e-06,1793254813275337216
+58,0.966666667,BASELINE,784,760,737.736693222,721,686.736693222,651,917,800,839,658,636,657.736693222,0.400956658907,-0.0153831580946,0.0698130658125,0.999999935636,0.000201504802027,-0.000296725288469,8.77482008995e-06,1793254813292003840
+59,0.983333333,BASELINE,783.68287725,760,737.68287725,720.68287725,687,651,917,800,839,657.68287725,636,657.68287725,0.400957789081,-0.0153830582608,0.069813643194,0.999999935918,0.000201670835194,-0.000295657546767,8.85937065916e-06,1793254813308670464
+60,1.000000000,BASELINE,783.098618184,760,737.098618184,720.098618184,687,651,917,800,839,657.098618184,636,657.098618184,0.400957676501,-0.0153831105104,0.0698134385067,0.999999935589,0.000202272824179,-0.000296358866467,8.87608386158e-06,1793254813325337344
+61,1.016666667,BASELINE,783.478886431,760,737.478886431,720,687,651,917,800,839,657,636,657.478886431,0.400955994016,-0.0153821820417,0.0698122846009,0.999999934864,0.000202869232286,-0.000298401337107,8.54478734509e-06,1793254813342003712
+62,1.033333333,BASELINE,784,760,738,720,686.945360883,651,917,800,839,657.054639117,636,658,0.40095428321,-0.015381295735,0.0698111681739,0.99999993416,0.000203471545425,-0.000300352808156,8.21905306825e-06,1793254813358670080
+63,1.050000000,BASELINE,784,760,738,720,686.373209984,651,917,800,839,657.626790016,636,658,0.400955323637,-0.0153826950267,0.069812232404,0.999999934467,0.000204140522134,-0.000298862879661,8.61534553899e-06,1793254813375336960
+64,1.066666667,BASELINE,784,760,738,720,686.207284691,651,917,800,839,657.792715309,636,657.792715309,0.400956214602,-0.0153834658857,0.0698131254425,0.999999934931,0.000203922809399,-0.000297447250497,8.83493415551e-06,1793254813392003328
+65,1.083333333,BASELINE,784,760,738,720,686.803432121,651,917,800,839,657.196567879,636,657.196567879,0.400956825178,-0.015383057815,0.0698136973283,0.999999935693,0.000202041681516,-0.000296171005771,8.72302916468e-06,1793254813408670208
+66,1.100000000,BASELINE,784,760,738,720,687,651,917,800,839.383793084,657,635.616206916,657,0.400955810263,-0.0153829749502,0.0698127487768,0.999999935421,0.000201341020234,-0.000297568559041,8.47680767297e-06,1793254813425336832
+67,1.116666667,BASELINE,784,760,738,720,687,651,917,800,839.956388085,657,635.043611915,657,0.400953995708,-0.0153830520661,0.0698110522663,0.999999934637,0.000201221073896,-0.000300281451813,8.16451096313e-06,1793254813442003456
+68,1.133333333,BASELINE,784,760,738,720.533801917,687,651,917,800,839.466198083,657,635.533801917,657.533801917,0.400955240545,-0.0153833764159,0.0698122755412,0.999999935179,0.00020105038739,-0.000298577791689,8.51314980233e-06,1793254813458670336
+69,1.150000000,BASELINE,784,760,738,720.888945319,687,651,917,800,839.111054681,657,636,658,0.400956782702,-0.0153833221134,0.0698137157898,0.999999935754,0.000201410390959,-0.000296393098868,8.81665730452e-06,1793254813475337216
+70,1.166666667,BASELINE,784,760,738,720.31402492,687,651,917,800,839.68597508,657,636,658,0.400958513189,-0.0153816010743,0.0698150568471,0.999999936017,0.000204004513878,-0.000293720080424,8.70405208471e-06,1793254813492003584
+71,1.183333333,BASELINE,784,760,738,720,687,651,917,800,839.731025174,657.268974826,636,657.731025174,0.400958212453,-0.0153811039067,0.0698150004867,0.999999935916,0.000204529858393,-0.000293702255777,8.6303477631e-06,1793254813508670208
+72,1.200000000,BASELINE,784,760,738,720,687,651,917,800,839.138300706,657.861699294,636,657.138300706,0.400955466852,-0.0153820798431,0.0698132621344,0.999999935378,0.000202565132791,-0.000296880335969,8.60346621704e-06,1793254813525337088
+73,1.216666667,BASELINE,784,760,737.557874862,720.442125138,687,651,917,800,839,657.557874862,636,657,0.400955280609,-0.0153823723317,0.0698132887257,0.999999935423,0.000201674750564,-0.000297330349503,8.69062209984e-06,1793254813542003712
+74,1.233333333,BASELINE,784,760,737.018731918,721,687,651,917,800,839,657,636,657,0.400955861025,-0.0153824491083,0.069813819129,0.999999935641,0.000201139035105,-0.000296957254391,8.80472209873e-06,1793254813558670336
+75,1.250000000,BASELINE,784,760,737.593083622,721,687,651,917,800,839,657,636,657,0.400956077681,-0.0153822972099,0.0698133607275,0.999999935632,0.000201424882767,-0.000296796519163,8.68857721677e-06,1793254813575336960
+76,1.266666667,BASELINE,784,760,738,721,687,651,917,800,839,657,636,657.173032551,0.400956280709,-0.0153820363036,0.0698132269932,0.999999935601,0.000201817683858,-0.000296638233179,8.59595699571e-06,1793254813592003584
+77,1.283333333,BASELINE,784,760,738,721,687,651,917,800,839,657,636,657.766584321,0.400956450617,-0.0153815104768,0.0698138822942,0.999999935514,0.000202470412739,-0.000296485899581,8.5605085215e-06,1793254813608670208
+78,1.300000000,BASELINE,784,760,738,720.651377347,687,651,917,800,839,657.348622653,636,658,0.400956501005,-0.0153811813567,0.0698138211953,0.999999935381,0.000202881734295,-0.000296653369246,8.58206832565e-06,1793254813625337088
+79,1.316666667,BASELINE,784,760,738,720.076801262,687,651,917,800,839,657.923198738,636,658,0.400956473927,-0.0153809797285,0.0698132957749,0.999999935218,0.000203136592056,-0.000297028113583,8.64057700978e-06,1793254813642003456
+80,1.333333333,BASELINE,784,760,738,720,686.501476212,651,917,800,839,657.501476212,636,658,0.400956404357,-0.0153808379161,0.0698136278248,0.999999935388,0.00020297584456,-0.000296563616643,8.60458912555e-06,1793254813658670080
+81,1.350000000,BASELINE,784,760,738,720,686.073813229,651,917,800,839,657.073813229,636,657.926186771,0.40095628575,-0.015380900212,0.0698139968269,0.999999935575,0.000202633813715,-0.000296168258431,8.59381780396e-06,1793254813675336704
+82,1.366666667,BASELINE,784,760,738,720,686.648077503,651,917,800,839,657.648077503,636,657.351922497,0.400955879129,-0.0153822837835,0.0698137193842,0.99999993552,0.000201497442637,-0.000297119567929,8.8528643942e-06,1793254813692003584
+83,1.383333333,BASELINE,784,760,737.770464608,720,687,651,917.229535392,800,839.229535392,657.770464608,636,657.229535392,0.400955998858,-0.0153828930701,0.0698135479234,0.999999935422,0.000201410022048,-0.000297507758214,8.92372766621e-06,1793254813708670720
+84,1.400000000,BASELINE,784,760,737.177620575,720,687,651,917.822379425,800,839.822379425,657.177620575,636,657.822379425,0.400956951695,-0.0153822768185,0.0698135442107,0.999999935255,0.000202982880223,-0.000297004643499,8.69673440318e-06,1793254813725337344
+85,1.416666667,BASELINE,784,760,737.404687097,720.404687097,687,651,918,800,840,657,636,657.595312903,0.400957782808,-0.0153828830956,0.0698138077256,0.999999935479,0.000203218747223,-0.000296087909508,8.72346048577e-06,1793254813742003712
+86,1.433333333,BASELINE,784,760,737.982487583,720.982487583,687,651,918,800,840,657,636,657.017512417,0.40095856185,-0.015384012335,0.0698141855527,0.999999935869,0.000202882688126,-0.00029499424123,8.85872035078e-06,1793254813758670592
+87,1.450000000,BASELINE,784,760,737.443183633,720.443183633,687,651,917.443183633,800,839.443183633,657.556816367,636,657.556816367,0.400957727652,-0.0153825242905,0.0698143691227,0.999999935645,0.000203312437635,-0.000295460861046,8.78724715268e-06,1793254813775336960
+88,1.466666667,BASELINE,784,760,737.135420971,720,686.864579029,651,917.135420971,800.135420971,839,657.864579029,636,657.864579029,0.400957011227,-0.0153818074341,0.0698145823316,0.999999935637,0.000203092840248,-0.000295639030912,8.79092687888e-06,1793254813792003584
+89,1.483333333,BASELINE,784,760,737.728853947,720,686.271146053,651,917.728853947,800.728853947,839,657.271146053,636,657.271146053,0.40095686367,-0.0153839755193,0.0698149163186,0.999999936422,0.000200596108569,-0.000294676682393,9.07063817757e-06,1793254813808670208
+90,1.500000000,BASELINE,784,760,738,720,686.312984731,651,917.687015269,800.687015269,839,657.312984731,636,657.312984731,0.400956292392,-0.0153839657141,0.0698144315204,0.999999936161,0.000200842548547,-0.000295394304734,9.02793543939e-06,1793254813825337088
+91,1.516666667,BASELINE,784,760,738,720,686.889289378,651,917.110710622,800.110710622,839,657.889289378,636,657.889289378,0.400955364631,-0.0153821236088,0.069813257863,0.999999935016,0.00020339687034,-0.000297525318066,8.71397971985e-06,1793254813842003712
+92,1.533333333,BASELINE,784,760,738,720,687,651,917.467506101,800,839,658,635.532493899,658,0.400954515999,-0.0153828217938,0.0698125641867,0.99999993483,0.000202488217788,-0.000298769976987,8.64903117611e-06,1793254813858670336
+93,1.550000000,BASELINE,784,760,738,720.045739518,687,651,918,800,839,658,635,657.954260482,0.400953898419,-0.0153839770285,0.0698121258106,0.999999934917,0.000200898171254,-0.000299551605856,8.64859790358e-06,1793254813875336960
+94,1.566666667,BASELINE,784,760,738,720.618922053,687,651,918,800,839,658,635,657.381077947,0.400955728225,-0.0153834372561,0.0698133153141,0.999999935542,0.00020094610553,-0.000297424200307,8.70934416762e-06,1793254813892003584
+95,1.583333333,BASELINE,784,760,738,720.801295118,687,651,917.801295118,800,839,658,635.198704882,657,0.400956284843,-0.0153828671269,0.0698137569845,0.999999935663,0.000201348922581,-0.000296745043516,8.6452809108e-06,1793254813908670464
+96,1.600000000,BASELINE,784,760,738,720.208419177,687,651,917.208419177,800,839,658,635.791580823,657,0.400954315838,-0.0153822367788,0.0698127151778,0.999999934789,0.000202455720936,-0.000298938778765,8.33363290135e-06,1793254813925337088
+97,1.616666667,BASELINE,784,760,737.626473341,720,687,651,917,800,839,658,636,657.373526659,0.400954765145,-0.0153818306503,0.0698128697118,0.999999934611,0.000203835056568,-0.000298592864109,8.41803078572e-06,1793254813942003712
+98,1.633333333,BASELINE,784,760,737.050452896,720,687,651,917,800,839,658,636,657.949547104,0.40095652545,-0.0153815460744,0.0698136727982,0.999999934809,0.000205362138227,-0.000296870171218,8.71713045252e-06,1793254813958670592
+99,1.650000000,BASELINE,784,760,737.526536979,720,687,651,917,800,839,658,636,658,0.400954259416,-0.0153818146428,0.069812758103,0.999999934468,0.000204321263262,-0.000298746718214,8.25198873242e-06,1793254813975337216
+100,1.666666667,BASELINE,784,760,738,720.105621168,687,651,917,800,839,657.894378832,636,658,0.40095248793,-0.0153821313992,0.0698120135894,0.999999934259,0.00020316817337,-0.000300237815298,7.86375135387e-06,1793254813992003584
+101,1.683333333,BASELINE,784,760,738,720.693849511,687,651,917,800,839,657.306150489,636,658,0.400954742228,-0.0153824257114,0.0698128001483,0.999999934919,0.000202628736048,-0.000298388961895,8.16212821484e-06,1793254814008670720
+102,1.700000000,BASELINE,784,760.277507715,738,721,687,651,917.277507715,800.277507715,839.277507715,657,635.722492285,657.722492285,0.400955948576,-0.0153822645772,0.069813274544,0.999999935323,0.000202098174219,-0.000297390709869,8.28957640222e-06,1793254814025337344
+103,1.716666667,BASELINE,784,760.856205724,738,721,687,651,917.856205724,800.856205724,839.856205724,657,635.143794276,657.143794276,0.40095601754,-0.0153816091287,0.0698134101366,0.999999935451,0.000201577245354,-0.00029731564988,8.23150880012e-06,1793254814042003968
+104,1.733333333,BASELINE,784,760.567461544,737.567461544,720.567461544,687,651,918,800.567461544,839.567461544,657,635.432538456,657,0.4009568414,-0.0153817872633,0.0698141171035,0.999999935759,0.00020210936182,-0.000295904792538,8.5855208727e-06,1793254814058670592
+105,1.750000000,BASELINE,784,760,737.008099028,720,687,651,918,800,839,657.008099028,636,657.008099028,0.400957859051,-0.015382229195,0.0698149722592,0.999999936099,0.000202999093218,-0.000294128606182,9.06447272396e-06,1793254814075337472
+106,1.766666667,BASELINE,784,760,737.584349577,720,687,651,918,800,839,657.584349577,636,657.584349577,0.40095496206,-0.0153818423445,0.0698129703524,0.999999934726,0.000204551151897,-0.000297707162584,8.75015406728e-06,1793254814092003840
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,737,720,687,651,917,800,840,658,635,658,0.400954928252,-0.0153794918476,0.069812434562,0.999999933975,0.000206524858284,-0.000298883111392,8.11833888746e-06,1793254814132264448
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,759.578069164,737.578069164,720,687,651,917,800,839.421930836,657.421930836,635,658,0.400955719792,-0.015381757473,0.0698129945304,0.999999935107,0.000203500457763,-0.000297156029433,8.42456498755e-06,1793254814148931584
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,760,738,720,686.844520744,651,917,800,839,657,635.155479256,657.844520744,0.400956135625,-0.0153832579866,0.0698134830527,0.99999993586,0.000201466727308,-0.000295999996897,8.66190268915e-06,1793254814165598720
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,760,738,720,686.268891529,651,917,800,839,657,635.731108471,657.268891529,0.400955536186,-0.0153826909468,0.069813778507,0.999999935615,0.000202110073508,-0.000296387104844,8.71308406295e-06,1793254814182265088
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,760,738,720.313192969,686.313192969,651,917,800.313192969,839,657,635.686807031,657.313192969,0.400954606448,-0.0153829461008,0.0698130430814,0.999999935144,0.000202089603402,-0.000297984182179,8.76210671601e-06,1793254814198931712
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,760,738,720.900936243,686.900936243,651,917,800.900936243,839,657,635.099063757,657.900936243,0.400953387163,-0.0153839220037,0.069811403969,0.99999993447,0.000201487220547,-0.000300641939315,8.8092369945e-06,1793254814215598080
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,760,738,721,687,651,917,800.51827292,839.48172708,657,635.48172708,657.51827292,0.400954650373,-0.0153839128754,0.069812542264,0.99999993493,0.000201876360876,-0.000298854044043,8.52741505051e-06,1793254814232264448
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,760,738,720.939011505,686.939011505,651,917.060988495,800,839.939011505,657.060988495,635.939011505,657.060988495,0.400956329894,-0.0153836799483,0.069814113913,0.999999935565,0.000202420444493,-0.00029635915644,8.21984014903e-06,1793254814248931072
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,760,738,720.36076817,686.36076817,651,917.63923183,800,839.36076817,657.63923183,635.36076817,657.63923183,0.400957272122,-0.0153832424897,0.0698145857688,0.999999935784,0.000202573922467,-0.000295511467913,8.25941145897e-06,1793254814265597952
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,760,738,720,686.215507009,651,917.784492991,800.215507009,839.215507009,658,635.215507009,657.784492991,0.400959649207,-0.0153832352607,0.0698157150595,0.999999936378,0.000201958534788,-0.000293913051931,8.4524187097e-06,1793254814282264576
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,760,738,720,686.788517172,651,917.211482828,800.788517172,839.788517172,658,635.788517172,657.211482828,0.400964406567,-0.0153839417366,0.0698179349646,0.999999937586,0.000200067680944,-0.000291069259222,8.89995982469e-06,1793254814298931200
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,759.627291216,737.627291216,720,687,651,917,800.627291216,839.627291216,657.627291216,635.627291216,657.372708784,0.400983414509,-0.0153845389418,0.0698268322938,0.999999941317,0.000201350790853,-0.000276998244796,9.76679310915e-06,1793254814315597568
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,759.036558731,737.036558731,720,687,651,917,800.036558731,839.036558731,657.036558731,635.036558731,657.963441269,0.401010758624,-0.0153850722269,0.0698396357203,0.999999946172,0.000204490576169,-0.000256359634753,1.0878900048e-05,1793254814332263936
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,759.543262205,737.543262205,720,687,651,917,800,839,657.543262205,635.543262205,657.456737795,0.401059537755,-0.0153880027741,0.0698573313831,0.999999953983,0.000202216292148,-0.000225824363578,1.20596319053e-05,1793254814348930560
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.878458947,760,738,720,687,651,917,800,839,657.878458947,636,657,0.401112392174,-0.0153909690472,0.069874451134,0.999999960129,0.000200083427986,-0.000198837222293,1.31484286423e-05,1793254814365597440
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.303249112,760,738,720,687,651,917,800,839,657.303249112,636,657,0.401175179989,-0.0153934783676,0.0698882165479,0.999999962357,0.000199811600856,-0.000187530925726,1.38771669128e-05,1793254814382265088
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.271594662,760,738,720.271594662,687,651,917,800.271594662,839,657.271594662,636,657.271594662,0.401246462037,-0.0153964341276,0.0698982951797,0.999999964643,0.000199389678748,-0.000175411172997,1.37614626964e-05,1793254814398931968
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.846030227,760,738,720.846030227,687,651,917,800.846030227,839,657.846030227,636,657.846030227,0.401327215553,-0.0153998876886,0.0699042628741,0.999999966974,0.000198800393652,-0.000162384378828,1.27041650982e-05,1793254814415598592
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,760,737.566853919,720.566853919,687,651,917.433146081,800.566853919,839,658,636,657.566853919,0.401419403379,-0.0154048768199,0.0699073909092,0.999999968464,0.000196027764219,-0.000156620849017,1.07335963067e-05,1793254814432265472
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.975694269,760.024305731,737.024305731,720.024305731,687,651,918,800,839,657.975694269,635.975694269,657,0.401516902817,-0.0154103801941,0.0699095344894,0.999999969634,0.00019262391648,-0.000153479741307,8.43269615051e-06,1793254814448931840
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.398181027,760.601818973,737.601818973,720.601818973,687,651,918,800,839,657.398181027,635.398181027,657,0.401639996341,-0.0154147895884,0.0699129389032,0.999999970173,0.00019305058023,-0.000149489615708,6.22506975115e-06,1793254814465598464
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.178968778,760.821031222,738,721,687,651,918,800.178968778,839,657,635.178968778,657,0.401771054272,-0.0154200264682,0.0699149225375,0.999999970997,0.000190755517606,-0.00014698649746,3.59131542388e-06,1793254814482265088
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.755311549,760.244688451,738,721,687,651,918,800.755311549,839,657,635.755311549,657,0.401919795992,-0.0154271006578,0.0699137515381,0.999999972442,0.000182417259615,-0.000147785062062,1.14066564289e-08,1793254814498931712
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,760,738,720.670246752,687,651,917.670246752,800.670246752,839,657.329753248,636,657,0.402090443721,-0.0154338023018,0.0699145494042,0.999999974128,0.000175064364374,-0.000145192871348,-4.02460876077e-06,1793254814515597824
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,760,738,720.097207569,687,651,917.097207569,800.097207569,839,657.902792431,636,657,0.402277253321,-0.0154402290891,0.0699167998634,0.999999975965,0.000168438450932,-0.000140099043257,-8.39713172222e-06,1793254814532264192
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,760,738,720,686.505697311,651,917,800,839,657.505697311,636,657.494302689,0.402489132822,-0.0154476047742,0.0699192845284,0.999999977685,0.00016155638711,-0.000135496919249,-1.30443836074e-05,1793254814548930816
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,738,720.086693136,686.086693136,651,917,800.086693136,839,657,636,657.913306864,0.402712447377,-0.0154555634233,0.0699226716873,0.999999979819,0.000152766946336,-0.000129271221395,-1.76889066595e-05,1793254814565597696
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,738,720.662751921,686.662751921,651,917,800.662751921,839,657,636,657.337248079,0.402971400637,-0.0154657185463,0.069930883167,0.999999984426,0.000133506122593,-0.000113313746343,-2.20012170882e-05,1793254814582264576
+135,2.250000000,POSE1_TO_POSE2_PRESS,784.238028719,760,738,721,686.761971281,651,917.238028719,800.761971281,839.238028719,657,636,657,0.403249409871,-0.0154755957291,0.0699402681655,0.999999990896,9.11916371505e-05,-9.593322115e-05,-2.62412481264e-05,1793254814598931456
+136,2.266666667,POSE1_TO_POSE2_PRESS,784.812201163,760,738,721,686.187798837,651,917.812201163,800.187798837,839.812201163,657,636,657,0.403554329902,-0.0154850804046,0.0699513104048,0.999999996476,1.63208134213e-05,-7.65430677437e-05,-3.03792059929e-05,1793254814615598080
+137,2.283333333,POSE1_TO_POSE2_PRESS,784.604243112,760,737.604243112,720.604243112,686.395756888,651,917.604243112,800,839.604243112,657,636,657,0.403871823471,-0.0154933170192,0.0699530732206,0.999999996489,-8.42816131655e-06,-7.55410826932e-05,-3.52697187091e-05,1793254814632264704
+138,2.300000000,POSE1_TO_POSE2_PRESS,784.016126613,760,737.016126613,720.016126613,686.983873387,651,917.016126613,800,839.016126613,657,636,657,0.404195428462,-0.0155009470073,0.069950325726,0.999999995656,-8.81515888989e-06,-8.34767593939e-05,-4.05260144069e-05,1793254814648931072
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,760,737.566707201,720,687,651,917.566707201,800,839,657.566707201,636,657,0.404563842514,-0.0154968209738,0.0699574292723,0.999999996528,3.66264910848e-05,-6.94538400086e-05,-2.78958465673e-05,1793254814665597696
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917.852866525,800,839,658,636,657,0.404945569553,-0.0154898600485,0.0699627705557,0.999999995457,7.15036114741e-05,-5.9772039764e-05,-2.00327434995e-05,1793254814682264320
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917.278991134,800,839,658,636,657,0.405362244986,-0.015475638203,0.069962195072,0.999999994953,7.19921158219e-05,-6.44767208916e-05,-2.74585328642e-05,1793254814698930944
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.294806415,657.705193585,636,657,0.405793442521,-0.0154732724883,0.0699585375577,0.999999994932,6.33761330459e-05,-7.13246786672e-05,-3.21194363585e-05,1793254814715597568
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.868530386,657.131469614,636,657,0.406238379524,-0.0154821239058,0.0699519641215,0.999999995136,4.61463578203e-05,-8.02003997751e-05,-3.41644708859e-05,1793254814732264192
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,760,738,719.544528395,686.544528395,651,917.455471605,800,839.544528395,657.455471605,636,657.455471605,0.406717163077,-0.0154903078068,0.0699374581704,0.999999993843,3.59544559919e-05,-9.81976615492e-05,-3.71160350022e-05,1793254814748930816
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,760,738,719.045488182,686,651,917.954511818,800,839.045488182,658,636,657.954511818,0.407212272458,-0.0154976304124,0.0699226447893,0.999999992105,2.78694313643e-05,-0.000115751387021,-4.01784676237e-05,1793254814765597696
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,738,719.625473403,686,651,917.374526597,800,839.625473403,658,636,657.374526597,0.40778098823,-0.0154971642418,0.0699319273824,0.999999994315,1.9957341299e-05,-9.6231826147e-05,-4.13771162529e-05,1793254814782264320
+147,2.450000000,POSE1_TO_POSE2_PRESS,783.79599144,760,738,719.79599144,686.20400856,651,917,800,839.79599144,657.79599144,636,657,0.408364237806,-0.015496493696,0.0699428376911,0.999999996349,1.88452547031e-05,-7.21670173427e-05,-4.16991110632e-05,1793254814798930688
+148,2.466666667,POSE1_TO_POSE2_PRESS,783.220099612,760,738,719.220099612,686.779900388,651,917,800,839.220099612,657.220099612,636,657,0.408973980738,-0.0154954505986,0.0699567151305,0.999999997936,3.01287637618e-05,-3.98167649126e-05,-4.04230704564e-05,1793254814815597312
+149,2.483333333,POSE1_TO_POSE2_PRESS,783.35388002,760,738,719,687,651,917,800.35388002,839.35388002,657.35388002,636,657,0.409577376152,-0.0154937347497,0.0699544350333,0.999999997855,3.01754987988e-05,-4.04248793325e-05,-4.17762004641e-05,1793254814832264192
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.92667671,760,738,719,687,651,917,800.92667671,839.92667671,657.92667671,636,657,0.410176844854,-0.0154916027244,0.069942159587,0.999999996841,2.32709589482e-05,-6.14216450877e-05,-4.47557836792e-05,1793254814848930816
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760.518516647,738,719,686.481483353,651,917.518516647,801.518516647,839.481483353,658,636,657.518516647,0.41083836623,-0.0154947848576,0.0699423768491,0.999999996571,1.70190291344e-05,-6.70446242788e-05,-4.55316923812e-05,1793254814865597440
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,761,738,719.108723944,686.108723944,651,918,801.891276056,839.217447887,658,636,657.891276056,0.411522687429,-0.0154985544089,0.069949452396,0.999999997097,1.20815428689e-05,-5.98446616698e-05,-4.56004712856e-05,1793254814882264064
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,761,738,719.680088207,686.680088207,651,918,801.319911793,840.360176414,658,636,657.319911793,0.412265263667,-0.0155015039567,0.0699779074317,0.999999998925,1.23295934519e-05,-7.68421055131e-06,-4.40368435397e-05,1793254814898930688
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.254719373,761,738,719.745280627,687,651,918,801,840.745280627,658,636,657,0.413015222591,-0.0155047736752,0.0700028871123,0.99999999848,1.18725803661e-05,3.26274008607e-05,-4.28423736108e-05,1793254814915597312
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.833506952,761,738,719.166493048,687,651,918,801,840.166493048,658,636,657,0.413774574282,-0.0155084507333,0.0700234452558,0.999999997384,1.0518545982e-05,5.7864264041e-05,-4.21175667501e-05,1793254814932263936
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,761,738,719,687,651,917.579032023,801,840,657.579032023,636.420967977,657,0.414513302277,-0.0155061834852,0.0700012531564,0.999999998866,5.85527755396e-06,1.39231223244e-05,-4.51668995623e-05,1793254814948930560
+157,2.616666667,POSE1_TO_POSE2_PRESS,784.98830659,761,738,719,687,651,917.01169341,801,840,657.01169341,637,657.01169341,0.415244905458,-0.0155015466687,0.0699618658501,0.999999997107,-1.34043329393e-08,-5.75368538426e-05,-4.97548714155e-05,1793254814965597184
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.409134731,761,738,719,687,651,917.590865269,801,840,657.590865269,637,657.590865269,0.416034914426,-0.015498407722,0.0699257893258,0.999999992569,4.71588746585e-07,-0.000108776007768,-5.50496287044e-05,1793254814982264064
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.168757923,761,738,719,686.831242077,651,918,801,840.168757923,657.831242077,636.831242077,658,0.416847513918,-0.0154983756708,0.0699086052418,0.999999989392,-2.4059419176e-06,-0.000133410306058,-5.84192096271e-05,1793254814998930944
+160,2.666666667,POSE1_TO_POSE2_PRESS,784.743572583,761,738,719,686.256427417,651,918,801,840.743572583,657.256427417,636.256427417,658,0.417714469534,-0.0155058192745,0.0699368791895,0.999999993856,-1.33742063457e-05,-9.40293502471e-05,-5.71565289422e-05,1793254815015597312
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,760.674182828,738,718.674182828,686,651,918,801,840.674182828,657.325817172,636,658,0.41858252024,-0.0155086939492,0.0699626976021,0.999999996675,-1.92543669187e-05,-5.62795245971e-05,-5.5785931526e-05,1793254815032263936
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,760.085954242,738,718.085954242,686,651,918,801,840.085954242,657.914045758,636,658,0.419451452884,-0.0155078888327,0.0699865383384,0.999999998106,-2.10365952287e-05,-1.98434044057e-05,-5.4328418608e-05,1793254815048930560
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760.494609704,738,718,686,651.494609704,917.505390296,801,840,657.505390296,636,658,0.42039497877,-0.0155108119475,0.0700124202039,0.999999998058,-2.50872164527e-05,2.270726933e-05,-5.23312801885e-05,1793254815065597184
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,761,738,718,686.073690426,651.926309574,917.073690426,801,840,657,636.073690426,658,0.421341753731,-0.0155135608202,0.0700327184352,0.999999996711,-2.88936967976e-05,5.60883429239e-05,-5.09706450127e-05,1793254815082264064
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,761,738,718,686.651596912,651.348403088,917.651596912,801,840,657,636.651596912,658,0.422223415889,-0.015510751957,0.0700124214216,0.999999997916,-2.83735413215e-05,1.95680057032e-05,-5.45970576423e-05,1793254815098930688
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,761,738,718,687,651,918,801,840,657.227908078,636.772091922,658,0.423080933622,-0.015507148597,0.0699654353632,0.999999996249,-2.9039715851e-05,-5.52108638275e-05,-6.00949453152e-05,1793254815115597312
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,761,738,718,687,651,918,801,840,657.801797518,636.198202482,658,0.42390179846,-0.0155023391313,0.0698779333528,0.999999979477,-3.15068269221e-05,-0.000188069027912,-6.84338708161e-05,1793254815132263936
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,761,738,718.386747844,686.613252156,651,917.613252156,801,840,658,636,658,0.424817021145,-0.015501724848,0.0698618824985,0.999999976198,-3.11371204261e-05,-0.00020385193054,-7.12629939163e-05,1793254815148930560
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,761,738,718.977533564,686.022466436,651,917.022466436,801,840,658,636,658,0.425782024471,-0.0155033238316,0.069883527379,0.999999984577,-2.92707844321e-05,-0.000157869032173,-7.11852916363e-05,1793254815165597184
+170,2.833333333,POSE1_TO_POSE2_PRESS,785.555319832,761,738,717.889360336,686.555319832,651,917.555319832,801,840.555319832,657.444680168,636,657.444680168,0.426805327803,-0.0155062066544,0.0699490944077,0.999999994699,-3.5794113495e-05,-7.23863354521e-05,-6.38800078347e-05,1793254815182264064
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.867543701,761,738,717,686.867543701,651,917.867543701,801,840.867543701,657,636,657,0.427826207413,-0.0155095207011,0.0700095410646,0.99999999742,-4.16909636875e-05,8.51231776271e-06,-5.78713273132e-05,1793254815198930688
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.290863088,761,738,717,686.290863088,651,917.290863088,801,840.290863088,657,636,657,0.428831229126,-0.0155141107527,0.0700469921989,0.999999995015,-4.43744803481e-05,6.88004589254e-05,-5.71693403153e-05,1793254815215597568
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,917.284805855,800.715194145,840.284805855,657,636,657,0.429797933753,-0.0155172216716,0.0700544013162,0.999999993979,-4.55663581323e-05,8.15137554073e-05,-5.76281935212e-05,1793254815232264192
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,917.859445234,800.140554766,840.859445234,657,636,657,0.430725644821,-0.0155188273465,0.0700312380833,0.999999996171,-4.52402651019e-05,4.58123663623e-05,-5.92683793555e-05,1793254815248930560
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+176,2.933333333,POSE1_TO_POSE2_PRESS,785,760.039447085,738,717.960552915,687,651.960552915,918,801,841,657.960552915,636.039447085,658,0.432401948573,-0.0155056184706,0.0698785577445,0.999999973153,-3.92112261739e-05,-0.00021690960452,-7.1455172554e-05,1793254815282263808
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,760.615285504,738,717.384714496,687,651.384714496,918,801,841,657.384714496,636.615285504,658,0.43343313755,-0.0155119824245,0.0699174807058,0.99999998711,-5.16944657456e-05,-0.000135388177429,-6.91206615167e-05,1793254815298930432
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.191034824,761,738,717,686.808965176,651,918,801,841,657.191034824,636.808965176,657.808965176,0.434447773151,-0.0155169593347,0.0699611455172,0.999999994517,-6.09176430727e-05,-5.34035416792e-05,-6.63526705549e-05,1793254815315597312
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.7666049,761,738,717,686.2333951,651,918,801,841,657.7666049,636.2333951,657.2333951,0.435429088539,-0.0155191442565,0.0700143552371,0.999999995577,-6.3578622277e-05,2.9513503477e-05,-6.27121250605e-05,1793254815332263936
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+181,3.016666667,POSE1_TO_POSE2_PRESS,786,761,738,717,686.937510612,651.937510612,918,801,841,657.062489388,636,657,0.43729419501,-0.0155259375713,0.0700454723435,0.999999991604,-7.14836142596e-05,8.98125724248e-05,-6.01236899591e-05,1793254815365597184
+182,3.033333333,POSE1_TO_POSE2_PRESS,785.482453308,761,738,717,687,651.482453308,918,801,841,657,636,657.517546692,0.438164762795,-0.0155239633842,0.0700037622431,0.99999999441,-7.44230249675e-05,3.81494938354e-05,-6.46991757045e-05,1793254815382264064
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,716.903644782,687,651,918,801,841,657.096355218,636,658,0.439017735766,-0.0155205436375,0.0699518504454,0.999999994154,-7.55896769718e-05,-3.3318909652e-05,-6.97665173602e-05,1793254815398930688
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+187,3.116666667,POSE1_TO_POSE2_PRESS,786.41044351,761,738,717,686.41044351,651.58955649,917,801,841,657.58955649,636,658,0.442410058847,-0.0155257787699,0.0699282173348,0.999999989992,-8.65724518633e-05,-8.69246057487e-05,-7.0466117182e-05,1793254815465597184
+188,3.133333333,POSE1_TO_POSE2_PRESS,786.998979267,761,738,717,686.998979267,651.001020733,917,801,841,657.001020733,636,658,0.443244975057,-0.015536270515,0.0699728345084,0.999999992138,-0.000103862561886,-2.70505814929e-05,-6.48504274184e-05,1793254815482263808
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+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,738,716.153558947,686,651,917.846441053,800.846441053,841,657.846441053,636,658,0.444774705634,-0.0155491527897,0.0699171767907,0.999999981803,-0.000119370326294,-0.000130730964022,-7.10918903667e-05,1793254815515597056
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+192,3.200000000,POSE1_TO_POSE2_PRESS,785.311110029,761,738,717,686,651,917.311110029,800,841,657.311110029,636,658,0.446193497646,-0.0155537090641,0.0698218630796,0.999999953893,-0.000127888557807,-0.000263813881141,-7.9124445243e-05,1793254815548931072
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.900386246,761,738,717,686,651,917.900386246,800,841,657.900386246,636,658,0.446849132152,-0.0155529229971,0.0697900420606,0.999999938284,-0.000124999624647,-0.00031799973824,-8.17454794326e-05,1793254815565598976
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+196,3.266666667,POSE1_TO_POSE2_PRESS,786,761,738,717,686,650,918,799,842,658,635.363171144,658,0.448798215502,-0.0155629164126,0.0697466652544,0.999999908657,-0.000131914085268,-0.000398458784062,-8.07161898021e-05,1793254815615597568
+197,3.283333333,POSE1_TO_POSE2_PRESS,786,761,738,716.787695359,686,650.212304641,918,799,842,658,635,658,0.449462000906,-0.0155696525968,0.0697659915287,0.999999920256,-0.000136502021649,-0.000366771162482,-7.95832694228e-05,1793254815632264448
+198,3.300000000,POSE1_TO_POSE2_PRESS,786,761,738,716.214417046,686,650.785582954,918,799,842,658,635,658,0.450099812712,-0.0155783416813,0.0697867982749,0.99999993152,-0.000134580823411,-0.000335720404492,-7.83513158848e-05,1793254815648931072
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,761,738,716,685.629329955,650.629329955,918,798.629329955,842,658,635.370670045,658,0.450652506673,-0.0155831521303,0.0697690700111,0.999999919498,-0.00015052541139,-0.000363822903199,-7.73285022341e-05,1793254815665597952
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,784,760,737.000020927,719,687,650.000020927,917,800,840,658,636,658,0.415199443484,-0.0153901531539,0.0697869246449,0.999999932036,0.000181512432004,-0.000320297515466,1.97439869342e-05,1793254818211100416
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784,760,737.575573254,719,687,650.575573254,917,800,840,658,636,658,0.414331833527,-0.0153853683926,0.0697523319028,0.999999903762,0.000187511871428,-0.000396230903872,1.77828142114e-05,1793254818227767040
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,760,737.844979802,719,686.844979802,651,917,800,840,658,635.844979802,658,0.413507323251,-0.0153820088517,0.0697310225792,0.99999988244,0.000192840547539,-0.000444586911473,1.65890241512e-05,1793254818244433920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,760,737.254594933,719,686.254594933,651,917,800,840,658,635.254594933,658,0.412803855575,-0.0153826519534,0.0697470189099,0.999999894265,0.000196285430151,-0.000415493567337,1.75503808012e-05,1793254818261100800
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,784,760,737,719,686.909337379,650.090662621,917,799.090662621,840,657.090662621,635.909337379,657.090662621,0.411525988199,-0.0153870710223,0.0698421567466,0.999999948285,0.00021241706395,-0.000240067521032,2.60204361965e-05,1793254818294434048
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,760,737,719,686.527010582,650.472989418,917,799.472989418,840,657.472989418,636,657,0.410888032332,-0.0153872973596,0.06986279118,0.999999956129,0.000208122109377,-0.000208884733283,2.81793324985e-05,1793254818311100672
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,760,737,719,686,651,917,799.375502686,839.375502686,657.375502686,635.375502686,657,0.409536548684,-0.0153842599614,0.069828015697,0.999999941932,0.000201349196966,-0.000273818998245,2.48361552836e-05,1793254818344433920
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.784933268,760,737.215066732,719,686.215066732,650.784933268,917,799,839.215066732,657.215066732,635,657,0.408866730134,-0.0153819253895,0.0697886242773,0.999999921475,0.000202033880649,-0.000340302495253,2.06628403434e-05,1793254818361100800
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.389515668,760,737.610484332,719,687,650.389515668,917,799.389515668,839.610484332,658,635.389515668,657,0.407714942896,-0.0153792961606,0.0697608995984,0.999999905612,0.000204885075089,-0.000382790497964,1.64476699773e-05,1793254818394434304
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.965197056,760,737.034802944,719,687,650.965197056,917,799.965197056,839.034802944,658,635.965197056,657,0.407196670334,-0.015378826042,0.0697768377952,0.999999917196,0.000204236808592,-0.00035157833431,1.69863852918e-05,1793254818411101184
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784,760,737.540478189,719,687,650.459521811,917,800,839.540478189,658,636,657.540478189,0.406707301808,-0.0153799348381,0.0697937168172,0.999999923989,0.000205946967635,-0.000330550866006,1.85459635049e-05,1793254818427767808
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784,759.881854,737.881854,719,687,650.118146,917,800,840,658,635.881854,657.881854,0.406220841911,-0.0153803922537,0.0698051218895,0.999999926925,0.000208629214114,-0.000319743694263,1.96947604463e-05,1793254818444434432
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,759.294607417,737.294607417,719,687,650.705392583,917,800,840,658,635.294607417,657.294607417,0.405738546119,-0.0153778599659,0.0697945521964,0.999999916626,0.000214568610663,-0.000346914343649,1.89517304093e-05,1793254818461100800
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,784,760,737.449206916,719.449206916,687,651,917,800,840,658,635.550793084,657.449206916,0.404547777575,-0.0153759251947,0.0698139388627,0.999999929781,0.000211436895433,-0.000308915342725,1.74283963659e-05,1793254818511100416
+369,6.150000000,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,651,917,800,839.977442957,658,635,658,0.40421003986,-0.0153757452876,0.0698287430429,0.999999937666,0.000215844547791,-0.000278735670912,1.96526336226e-05,1793254818527767296
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,651,917,800,839.768347907,658,635.768347907,657.231652093,0.403267887566,-0.0153689916181,0.0698300668331,0.999999938203,0.000218945131371,-0.000274379733978,1.93247889691e-05,1793254818577766656
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,784,760,737.830170967,720,687,650.830170967,917,799.169829033,839.169829033,658,635.169829033,657,0.401756448356,-0.0153724472175,0.0697912335345,0.999999916986,0.000218852405043,-0.000343224127703,1.81604270289e-05,1793254818694433536
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,784,760,738,720,686.013217453,651,917,799.986782547,839,657.013217453,635.986782547,657.986782547,0.401507754674,-0.0153672706305,0.0697941269015,0.999999918858,0.000224531982936,-0.000334095147997,1.57862735302e-05,1793254818727767040
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.440493108,760,737.440493108,720,686,650.440493108,917,800,839,657.559506892,635.440493108,657.440493108,0.401415093119,-0.0153671181689,0.0697949498778,0.999999919011,0.000228046018714,-0.000331525291145,7.94542148248e-06,1793254818744433664
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.136810369,759.863189631,737.136810369,720,686.136810369,650.136810369,917,799.863189631,839,658,635,657,0.401326520519,-0.0153674875027,0.0697955753518,0.999999919342,0.000229760430229,-0.000329425144704,2.16743227033e-06,1793254818761100288
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.729653749,759.270346251,737.729653749,720,686.729653749,650.729653749,917,799.270346251,839,658,635,657,0.401249506426,-0.0153693087578,0.0697956282322,0.999999920561,0.000225570412796,-0.000328604934977,3.75710333649e-06,1793254818777766912
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784,759.315037633,738,720,687,651,917,799.315037633,839,657.684962367,635.315037633,657.315037633,0.401183441634,-0.0153682455445,0.0697955097238,0.99999992077,0.000224375093387,-0.000328772037396,4.91751811483e-06,1793254818794433536
+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,759.894168356,738,720,687,651,917,799.894168356,839,657.105831644,635.894168356,657.894168356,0.401126555531,-0.0153647643085,0.0697952475419,0.999999920143,0.000225690200765,-0.000329766794234,5.71809155118e-06,1793254818811100160
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,784,760,737.04865164,720.04865164,687,650.95134836,917,800,839,657.04865164,636,657,0.401048723037,-0.0153680687725,0.069794175042,0.999999921656,0.000219347387907,-0.000329437999256,6.70054652149e-06,1793254818844433408
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,784,760,738,720.787054589,687,650.212945411,917,800,839,657.787054589,635.787054589,657.212945411,0.401002039023,-0.0153653073072,0.0697960432948,0.999999922079,0.000221745569756,-0.000326541851586,6.39944679933e-06,1793254818877766912
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,784,760,737.623221281,720,687,651,917,800,839,657.376778719,635.376778719,658,0.400973393445,-0.0153644699805,0.0697980825849,0.999999922436,0.000224643873817,-0.000323443704342,6.92907245503e-06,1793254818911100160
+393,6.550000000,POSE2_TO_POSE3_RETREAT,784,760,737.044137542,720,687,651,917,800,839,657.955862458,635.955862458,658,0.400966373396,-0.0153640059376,0.0697993797586,0.999999923732,0.000223300755766,-0.000320359483981,6.49268310177e-06,1793254818927766784
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.470444882,760,737.529555118,720,687,651,917,799.470444882,839,657.470444882,636,657.470444882,0.400963576516,-0.0153647778348,0.0698008557785,0.999999924311,0.000225950114416,-0.000316663313882,7.05598939362e-06,1793254818944433408
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.105648624,760,738,720.105648624,687,650.894351376,917,799.105648624,839.105648624,657.105648624,636,657,0.400961115695,-0.0153656965487,0.0698022657932,0.999999924956,0.000227703111736,-0.000313339644999,7.60976950424e-06,1793254818961100032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.694764179,760,738,720.694764179,687,650.305235821,917,799.694764179,839.694764179,657.694764179,636,657,0.400958598185,-0.0153668204647,0.0698033062284,0.999999926259,0.000223846747453,-0.000311951664929,7.74249780516e-06,1793254818977766912
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783.720766284,760,738,720.720766284,687,650.279233716,917,800,839.720766284,658,636,657,0.400956995695,-0.015366733415,0.0698038893856,0.999999926726,0.000222952600218,-0.000311100567967,7.52310995603e-06,1793254818994433280
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00ad1cc688556e9e304c548d3caf84fb5692cf53
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,419 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7b8c20411bdd3046e9862439562ad8aff7513d1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a318a7e45a4c3a2ef378a3f633af453a5ba16b05bfff526eb5b9b4f32fa168c9
+size 26422203
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5515c2fe82119f2d6d60d1384c2ec19934a00f26
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+10,0.166666667,BASELINE,783,759.803190588,737.803190588,720,687,651,917,800,839,658,636,658,0.400957949045,-0.0153688316715,0.0698114482538,0.999999930646,0.000220355180237,-0.000300181920923,6.45837002747e-06,1793254819612702464
+11,0.183333333,BASELINE,783.386313759,760,738,720,686.613686241,651,917,800,839,657.613686241,636,658,0.400956545516,-0.0153695408867,0.0698103148488,0.999999930238,0.000219952939232,-0.000301834510145,6.44138801753e-06,1793254819629369088
+12,0.200000000,BASELINE,783.965699419,760,738,720,686.034300581,651,917,800,839,657.034300581,636,658,0.400954548251,-0.0153706839093,0.0698091489179,0.999999929837,0.000218911758703,-0.000303909306533,6.57884581025e-06,1793254819646035712
+13,0.216666667,BASELINE,784,760,737.457471656,720,686.542528344,651,917,800,839,657,636,657.457471656,0.400956242137,-0.01536968985,0.0698103376494,0.999999930488,0.000218167740082,-0.000302304976009,6.13741399952e-06,1793254819662702336
+14,0.233333333,BASELINE,784,760,737,720,687,650.878982521,917,800,839,657,635.878982521,657.121017479,0.400957651621,-0.0153692989453,0.0698113459379,0.999999931134,0.000217207135665,-0.000300864976632,5.85164459921e-06,1793254819679369216
+15,0.250000000,BASELINE,784,760,737,720,687,650.293503903,917,800,839,657,635.293503903,657.706496097,0.400957078122,-0.0153717390587,0.0698110930132,0.99999993151,0.000215343513693,-0.000300944227077,6.30311101654e-06,1793254819696035840
+16,0.266666667,BASELINE,784,760,737.289154541,720,687,650.289154541,917,800,839,657.289154541,635.289154541,657.710845459,0.400956806508,-0.0153719264233,0.0698107901635,0.99999993127,0.000216026799535,-0.000301246529641,6.51264255564e-06,1793254819712702464
+17,0.283333333,BASELINE,784,760,737.868978005,720,687,650.868978005,917,800,839,657.868978005,635.868978005,657.131021995,0.400956838362,-0.0153698492406,0.0698104371276,0.999999930406,0.000219270332168,-0.000301773052502,6.47897210895e-06,1793254819729369088
+18,0.300000000,BASELINE,784,760,737.551865948,720,687,651,917,800,839,657.551865948,636,657.448134052,0.400956051319,-0.0153702014242,0.069810258453,0.999999930264,0.000219087386444,-0.00030237604014,6.47720181567e-06,1793254819746035968
+19,0.316666667,BASELINE,783.973108679,760,737.026891321,720,687,650.973108679,917,800,839.026891321,657.026891321,636,657.973108679,0.40095507561,-0.0153712031924,0.069810137454,0.999999930325,0.000217989848214,-0.000302966050198,6.4909261368e-06,1793254819762702592
+20,0.333333333,BASELINE,783.398504876,760,737.601495124,720,687,650.398504876,917,800,839.601495124,657.601495124,636,657.398504876,0.400955126447,-0.0153709902632,0.0698101544064,0.999999930222,0.000218638327447,-0.000302837072524,6.63055830686e-06,1793254819779369216
+21,0.350000000,BASELINE,783.179083219,760,738,720,687,650.179083219,917,800,839.820916781,657.820916781,636,657,0.40095517649,-0.015370966603,0.0698102674802,0.999999930307,0.000218783485206,-0.000302446583561,6.74766213008e-06,1793254819796035840
+22,0.366666667,BASELINE,783.76342457,760,738,720,687,650.76342457,917,800,839.23657543,657.23657543,636,657,0.400955224736,-0.0153713712512,0.0698105980731,0.99999993082,0.00021778964659,-0.000301464305071,6.81378519019e-06,1793254819812702464
+23,0.383333333,BASELINE,784,760,738,720,687,651,917,800,839,657.347238713,636,657.347238713,0.400955525988,-0.015370474272,0.0698110798833,0.999999930924,0.000218515053612,-0.000300597776504,6.62866892751e-06,1793254819829369088
+24,0.400000000,BASELINE,784,760,738,720,687,651,917,800,839,657.930694268,636,657.930694268,0.400955999353,-0.0153686918321,0.0698116645624,0.999999930747,0.000220410015547,-0.000299809989289,6.27264154463e-06,1793254819846035712
+25,0.416666667,BASELINE,784,760,738,720,687,650.493152902,917,800,839,658,636,657.493152902,0.400957144217,-0.0153693017392,0.0698119356781,0.999999931232,0.000218914580314,-0.000299283832255,6.3848703968e-06,1793254819862702336
+26,0.433333333,BASELINE,784,760,738,720.081909989,687,650.081909989,917,800,839,658,636,657,0.400958179782,-0.0153701345244,0.0698121246687,0.999999931687,0.000217495714292,-0.000298797195638,6.53747583929e-06,1793254819879368960
+27,0.450000000,BASELINE,784,760,738,720.656338421,687,650.656338421,917,800,839,658,636,657,0.400958013875,-0.0153703684065,0.0698120739965,0.999999931433,0.000219285245521,-0.000298336134884,6.55333044784e-06,1793254819896035840
+28,0.466666667,BASELINE,784,760,737.76326669,720.76326669,686.76326669,651,917,800,839,658,636,657,0.400957247313,-0.0153706214836,0.0698118589147,0.999999931012,0.000220400526836,-0.000298925514556,6.53793260127e-06,1793254819912702464
+29,0.483333333,BASELINE,784,760,737.173986493,720.173986493,686.173986493,651,917,800,839,658,636,657,0.400955586244,-0.0153709031463,0.0698113989917,0.999999930342,0.000220511704702,-0.000301079226292,6.4759931171e-06,1793254819929369088
+30,0.500000000,BASELINE,783.591003811,760,737,720,686.408996189,650.591003811,917,800,839,657.591003811,636,657.408996189,0.400954910016,-0.0153715668322,0.0698106277687,0.99999993033,0.000219622731193,-0.000301768112723,6.52416235199e-06,1793254819946035968
+31,0.516666667,BASELINE,783.010659474,760,737,720,686.989340526,650.010659474,917,800,839,657.010659474,636,657.989340526,0.400954646385,-0.0153723905658,0.0698097261272,0.999999930593,0.000218314746233,-0.000301843313427,6.61846141938e-06,1793254819962702336
+32,0.533333333,BASELINE,783.564797534,760,737.564797534,720,687,650.564797534,917,800,839.564797534,657,636,657.435202466,0.400956740623,-0.0153716913364,0.0698117231652,0.99999993107,0.0002195591544,-0.000299343541691,6.89971433059e-06,1793254819979369216
+33,0.550000000,BASELINE,784,760,738,720,687,651,917,800,839.860975031,657.139024969,635.860975031,657,0.400958424658,-0.0153711254907,0.0698132654386,0.999999931527,0.000220321775894,-0.000297242586213,7.10489261756e-06,1793254819996035840
+34,0.566666667,BASELINE,784,760,738,720,687,651,917,800,839.290281554,657.709718446,635.290281554,657,0.400958698039,-0.0153710622786,0.0698132272745,0.999999931933,0.000219440175377,-0.000296529544055,7.06299976029e-06,1793254820012702464
+35,0.583333333,BASELINE,783.707712417,760,737.707712417,720,687,650.707712417,917,800,839,658,635,657,0.400957595005,-0.0153707194966,0.0698125892755,0.999999931636,0.000219318674511,-0.000297623921357,6.88821028115e-06,1793254820029369088
+36,0.600000000,BASELINE,783.112849562,760,737.112849562,720,687,650.112849562,917,800,839,658,635,657,0.400955067111,-0.0153700873046,0.0698113303292,0.999999930605,0.000219984026526,-0.000300589334038,6.5758465931e-06,1793254820046035712
+37,0.616666667,BASELINE,783.469467479,760,737.469467479,720,687,650.469467479,917,800,839,658,635,657,0.400955932361,-0.0153703502141,0.0698113737243,0.999999930897,0.000219224721873,-0.00030017491946,6.39972865926e-06,1793254820062702336
+38,0.633333333,BASELINE,784,760,738,720,687,651,917,799.951603759,839,657.951603759,635.048396241,657,0.400957492896,-0.0153708419804,0.0698117580545,0.999999931495,0.000218121283173,-0.000298989371366,6.27072407332e-06,1793254820079368960
+39,0.650000000,BASELINE,784,760,738,720,687,651,917,799.37757333,839,657.37757333,635.62242667,657,0.400957976873,-0.0153715433056,0.0698125337009,0.999999932048,0.000216902807473,-0.000298022736957,6.30697379433e-06,1793254820096035584
+40,0.666666667,BASELINE,784,760,738,720,687,650.798582933,917,799.201417067,839.201417067,657.201417067,636,657,0.400957985675,-0.0153717389025,0.0698127855963,0.999999932132,0.000216854877766,-0.000297774326945,6.35043111232e-06,1793254820112702208
+41,0.683333333,BASELINE,784,760,738,720,687,650.210059951,917,799.789940049,839.789940049,657.789940049,636,657,0.400957081235,-0.0153709625339,0.0698120308881,0.999999931314,0.000219056634741,-0.000298906281214,6.40774079661e-06,1793254820129369088
+42,0.700000000,BASELINE,784,760,737.627288172,720,687,650.372711828,917,800,839.627288172,657.627288172,635.627288172,657,0.400956415974,-0.0153713041101,0.0698120759939,0.999999931123,0.000219169035148,-0.000299461385131,6.50770647978e-06,1793254820146035712
+43,0.716666667,BASELINE,784,760,737.047708526,720,687,650.952291474,917,800,839.047708526,657.047708526,635.047708526,657,0.400955883465,-0.0153722661839,0.0698125650237,0.999999931281,0.000218121771101,-0.000299696317328,6.6313476999e-06,1793254820162702336
+44,0.733333333,BASELINE,783.470314285,760,737.529685715,720,687,651,917,800,839,657,635,657,0.400956340181,-0.015371685265,0.0698124570557,0.999999931577,0.000217617697365,-0.000299074916482,6.49661522543e-06,1793254820179369216
+45,0.750000000,BASELINE,783.108420588,760,738,720,687,651,917,800,839,657.108420588,635,657,0.400956703066,-0.0153710506058,0.0698121750785,0.999999931745,0.000217388349172,-0.000298684081898,6.32629340982e-06,1793254820196036352
+46,0.766666667,BASELINE,783.693916955,760,738,720,687,651,917,800,839,657.693916955,635,657,0.400956262632,-0.015370788493,0.069811363054,0.999999931292,0.000218153461074,-0.000299645785814,6.1013499149e-06,1793254820212704256
+47,0.783333333,BASELINE,783.723641494,760,738,720.276358506,687,651,917,800,839,657.723641494,635.276358506,657,0.400955904925,-0.0153705837271,0.0698109279369,0.999999930965,0.000218860476191,-0.000300220640217,6.07108389148e-06,1793254820229370880
+48,0.800000000,BASELINE,783.144546266,760,738,720.855453734,687,651,917,800,839,657.144546266,635.855453734,657,0.400955637842,-0.0153704417816,0.0698109057025,0.999999930778,0.000219503849325,-0.000300371720728,6.25407713241e-06,1793254820246035968
+49,0.816666667,BASELINE,783.434036904,759.565963096,737.565963096,720.565963096,687,651,917,800,839.434036904,657,635.565963096,657,0.400956293994,-0.0153717807265,0.0698116271342,0.999999931166,0.000219074618304,-0.000299382455212,6.67333832251e-06,1793254820262702080
+50,0.833333333,BASELINE,784,759.012391546,737.012391546,720,687,651,917,800,839.987608454,657.012391546,635.012391546,657,0.400957227592,-0.015373529766,0.0698125708579,0.99999993171,0.000218370804826,-0.000298065148398,7.15341057072e-06,1793254820279368704
+51,0.850000000,BASELINE,784,759.588102006,737.588102006,720,687,651,917,800,839.411897994,657.588102006,635.588102006,657,0.400956813093,-0.0153715282926,0.0698123745601,0.999999930743,0.000221403951,-0.000299078927636,6.82520783264e-06,1793254820296035584
+52,0.866666667,BASELINE,784,760,737.832761528,720,687,651,917,799.832761528,839,658,635.832761528,657,0.400956994187,-0.0153701137701,0.0698125335589,0.999999930406,0.00022298233794,-0.0002990390459,6.55832654374e-06,1793254820312702464
+53,0.883333333,BASELINE,784,760,737.245010585,720,687,651,917,799.245010585,839,658,635.245010585,657,0.400958672869,-0.015370175105,0.0698135859326,0.999999931669,0.000220902807994,-0.000296349788196,6.44563488084e-06,1793254820329369088
+54,0.900000000,BASELINE,784,760,737.338021897,720,686.661978103,651,917,799.338021897,839,657.661978103,635,657,0.40095920806,-0.0153710379148,0.0698140355862,0.999999932302,0.000219906679867,-0.00029494590804,6.60274226557e-06,1793254820346035712
+55,0.916666667,BASELINE,784,760,737.917681326,720,686.082318674,651,917,799.917681326,839,657.082318674,635,657,0.400958925819,-0.0153724736651,0.0698140543805,0.999999932491,0.000219685029886,-0.000294460889948,6.95271756269e-06,1793254820362702336
+56,0.933333333,BASELINE,784,760,738,720,686.493965384,650.506034616,917,800,839,657.493965384,635,657,0.400956958865,-0.0153716099409,0.0698124927584,0.999999931607,0.000219960853098,-0.000297252677882,6.62063422086e-06,1793254820379369216
+57,0.950000000,BASELINE,784,760,738,720,687,650.071032288,917,800,839,658,635.071032288,657,0.400955250592,-0.0153705894281,0.06981109071,0.999999930772,0.00022020876468,-0.000299876714218,6.23562074602e-06,1793254820396035840
+58,0.966666667,BASELINE,784,760,738,720,687,650.657839918,917,800,839,658,635.657839918,657,0.40095744541,-0.0153711940686,0.0698127467679,0.999999931649,0.000219656119325,-0.000297344462481,6.28600438192e-06,1793254820412702464
+59,0.983333333,BASELINE,783.758531237,760,738,720,687,651,917,800,839,658,635.758531237,657,0.400958010556,-0.0153712060036,0.0698134499245,0.999999931974,0.000219335145241,-0.000296486019899,6.29895177056e-06,1793254820429369088
+60,1.000000000,BASELINE,783.179348107,760,738,720,687,651,917,800,839,658,635.179348107,657,0.400956296469,-0.0153703889905,0.0698128203689,0.999999931533,0.000219338182828,-0.000297968539787,6.25954142715e-06,1793254820446035712
+61,1.016666667,BASELINE,783.399058212,760,738,720,687,651,917,800,839.399058212,657.600941788,635.399058212,657,0.400956534268,-0.0153705071298,0.0698128650669,0.999999931507,0.000219490799544,-0.0002979413432,6.30920992841e-06,1793254820462702336
+62,1.033333333,BASELINE,783.977116053,760,738,720,687,651,917,800,839.977116053,657.022883947,635.977116053,657,0.400957647594,-0.0153710447366,0.0698132122049,0.999999931668,0.000219710510755,-0.000297236955374,6.39883520959e-06,1793254820479368960
+63,1.050000000,BASELINE,783.4476246,760,737.4476246,720,687,651,917,800,839.4476246,657,636,657,0.400958201834,-0.0153718380409,0.0698132322822,0.999999932339,0.000218550440328,-0.000295832444322,6.41508621913e-06,1793254820496035840
+64,1.066666667,BASELINE,783.130406225,760,737.130406225,720,687,651,917,800,839.130406225,657.130406225,636,657,0.400958459409,-0.0153721226391,0.0698131593434,0.999999932668,0.000217982275017,-0.000295137361434,6.39741462078e-06,1793254820512702464
+65,1.083333333,BASELINE,783.718570508,760,737.718570508,720,687,651,917,800,839.718570508,657.718570508,636,657,0.400957756516,-0.0153705845563,0.0698128072173,0.999999931734,0.000219691483992,-0.000297033847755,6.27128283927e-06,1793254820529369088
+66,1.100000000,BASELINE,783.697885759,760,738,720.302114241,687,650.697885759,917,800,839.697885759,658,635.697885759,657.302114241,0.400957489485,-0.0153700424703,0.0698126589947,0.999999931496,0.000219822006157,-0.000297736438018,6.24890307072e-06,1793254820546035968
+67,1.116666667,BASELINE,783.118581418,760,738,720.881418582,687,650.118581418,917,800,839.118581418,658,635.118581418,657.881418582,0.400957622359,-0.0153704142125,0.0698126978535,0.999999931901,0.000218504081592,-0.000297343627418,6.32171587881e-06,1793254820562702592
+68,1.133333333,BASELINE,783.458583131,760,738,720.541416869,687,650,917,800,839,658,635.458583131,658,0.400957302001,-0.0153714972189,0.069812436156,0.999999931951,0.000217766456213,-0.000297711781468,6.5671024016e-06,1793254820579369216
+69,1.150000000,BASELINE,784,760,738,720,687,650.035053233,917,800,839.035053233,657.964946767,636,658,0.400956871274,-0.0153726522206,0.0698121422854,0.999999931922,0.00021719951925,-0.000298216368932,6.81653225182e-06,1793254820596035840
+70,1.166666667,BASELINE,784,760,738,720,687,650.609312125,917,800,839.609312125,657.390687875,636,658,0.400956537238,-0.0153720986762,0.0698125434648,0.999999932099,0.000216960696122,-0.000297806858347,6.44491101974e-06,1793254820612702464
+71,1.183333333,BASELINE,784,760,738,720.188884909,687,651,917,800,839.811115091,657.188884909,636,658,0.400956469497,-0.0153719134255,0.0698129676067,0.999999932182,0.00021707406957,-0.000297445607261,6.34264229834e-06,1793254820629369088
+72,1.200000000,BASELINE,784,760,738,720.77976718,687,651,917,800,839.22023282,657.77976718,636,658,0.400956968506,-0.0153725120017,0.0698134406189,0.999999932068,0.000217937011028,-0.000297187065154,6.81362734292e-06,1793254820646035712
+73,1.216666667,BASELINE,783.636610125,760,738,720.636610125,687,651,917,800,839,658,635.636610125,657.636610125,0.40095779398,-0.0153718462444,0.0698136730275,0.999999932142,0.000218973264769,-0.000296177989408,6.73044110767e-06,1793254820662702336
+74,1.233333333,BASELINE,783.057300966,760,738,720.057300966,687,651,917,800,839,658,635.057300966,657.057300966,0.400958813435,-0.0153704292444,0.0698137624739,0.999999932324,0.000220112497287,-0.000294722961002,6.31797691333e-06,1793254820679368960
+75,1.250000000,BASELINE,783.519157149,760,738,720.519157149,687,651,917,800,839,658,635.519157149,657,0.400957949769,-0.0153708294503,0.0698137964521,0.999999931998,0.000219952797966,-0.000295941163028,6.54456678564e-06,1793254820696035840
+76,1.266666667,BASELINE,784,760,738,721,687,651,917,800,839.09697195,657.90302805,636,657.09697195,0.400957296669,-0.0153712829391,0.0698137868545,0.999999931728,0.000219643047679,-0.000297080442979,6.69057732981e-06,1793254820712702720
+77,1.283333333,BASELINE,784,760,738,721,687,651,917,800,839.683210857,657.316789143,636,657.683210857,0.400958748914,-0.0153709988233,0.0698135881181,0.999999932027,0.000219295623515,-0.000296340983505,6.07609528556e-06,1793254820729369088
+78,1.300000000,BASELINE,784,760,737.733782559,720.733782559,687,651,917,800,839.733782559,657,636,657.733782559,0.400959021462,-0.0153709545183,0.0698139110841,0.999999932339,0.000218665756163,-0.00029575503861,6.0031351644e-06,1793254820746035968
+79,1.316666667,BASELINE,784,760,737.154576221,720.154576221,687,651,917,800,839.154576221,657,636,657.154576221,0.400957907052,-0.0153711921564,0.0698148474099,0.999999932665,0.000217703823504,-0.000295349579155,6.56683641263e-06,1793254820762702592
+80,1.333333333,BASELINE,784,760,737.423423234,720.423423234,687,651,917,800,839,657,636,657,0.400958333704,-0.0153712224086,0.0698147789636,0.999999932494,0.00021857184619,-0.000295285347224,6.64679474176e-06,1793254820779369216
+81,1.350000000,BASELINE,784,760,738,721,687,651,917,800,839,657.000977362,636,657,0.400959318714,-0.0153711772151,0.0698143451015,0.999999932142,0.000220101446729,-0.000295345850189,6.55057760747e-06,1793254820796036096
+82,1.366666667,BASELINE,784,760,738,721,687,651,917,800,839,657.574991522,636,657,0.400958762915,-0.0153711601949,0.0698141146678,0.999999932287,0.000218949962709,-0.000295710851287,6.40706721258e-06,1793254820812702464
+83,1.383333333,BASELINE,784,760,737.846861501,720.846861501,687,651,917,800,839,658,636,657.153138499,0.400958109154,-0.0153716172397,0.0698139802449,0.999999932513,0.000217399180018,-0.000296091694072,6.39201548284e-06,1793254820829369088
+84,1.400000000,BASELINE,784,760,737.256926363,720.256926363,687,651,917,800,839,658,636,657.743073637,0.400957175977,-0.0153734264592,0.0698141196736,0.999999932966,0.00021470947824,-0.000296517722154,6.74336611905e-06,1793254820846035712
+85,1.416666667,BASELINE,784,760,737,720,687,651,917,800.326899954,839,657.673100046,635.673100046,657.673100046,0.400957308541,-0.0153733645417,0.069814274885,0.9999999329,0.000215100378747,-0.000296454162531,6.82991060647e-06,1793254820862702336
+86,1.433333333,BASELINE,784,760,737,720,687,651,917,800.906013095,839,657.093986905,635.093986905,657.093986905,0.400958263356,-0.0153718589853,0.0698144422732,0.999999932432,0.000217868057124,-0.000296012871182,6.71214913065e-06,1793254820879368960
+87,1.450000000,BASELINE,784,759.517126267,737.482873733,720,687,651,917,800.517126267,839.482873733,657,635,657,0.400957838434,-0.0153714184906,0.069813671973,0.999999932219,0.000218459568845,-0.000296306644735,6.36391330812e-06,1793254820896035584
+88,1.466666667,BASELINE,783.941178682,759.058821318,738,720,687,651,917,800,839.941178682,657.058821318,635,657,0.400957249126,-0.0153712407573,0.0698128953486,0.999999932108,0.000218512048638,-0.00029664786497,6.03571604899e-06,1793254820912702208
+89,1.483333333,BASELINE,783.369387932,759.630612068,738,720,687,651,917,800,839.369387932,657.630612068,635,657,0.400957557371,-0.0153715550469,0.0698136478372,0.999999932463,0.000217540462109,-0.000296160934667,6.27166762735e-06,1793254820929369088
+90,1.500000000,BASELINE,783.210063631,760,738,720.210063631,687,651,917,800,839,657.789936369,635.210063631,657.210063631,0.400958237062,-0.0153725652925,0.0698146054678,0.999999933092,0.00021608059426,-0.000295100863625,6.42807182187e-06,1793254820946035712
+91,1.516666667,BASELINE,783.80349622,760,738,720.80349622,687,651,917,800,839,657.19650378,635.80349622,657.80349622,0.400959594647,-0.0153748456669,0.069815937485,0.999999934216,0.00021372960653,-0.000292994803063,6.43930094339e-06,1793254820962702336
+92,1.533333333,BASELINE,784,760,738,720.614689911,687,650.614689911,917,800,839,657.385310089,636,657.614689911,0.400959813916,-0.0153742927312,0.0698160037345,0.999999934117,0.000214420778901,-0.000292827868678,6.47499941499e-06,1793254820979369728
+93,1.550000000,BASELINE,784,760,738,720.03862796,687,650.03862796,917,800,839,657.96137204,636,657.03862796,0.400959469648,-0.0153723371353,0.0698154433522,0.99999993341,0.000216618004815,-0.000293620919166,6.52281169991e-06,1793254820996037376
+94,1.566666667,BASELINE,784,760,737.462082643,720,686.462082643,650.537917357,917,800,839,657.462082643,636,657,0.400959004819,-0.0153718676085,0.0698152011842,0.999999933097,0.00021694084465,-0.000294448290723,6.47634564182e-06,1793254821012703744
+95,1.583333333,BASELINE,784,760,737.116960753,720,686.116960753,651,917,800,839.116960753,657.116960753,636,657.116960753,0.400958539745,-0.0153717051982,0.0698149409606,0.99999993286,0.000216935856838,-0.000295258120061,6.45263290985e-06,1793254821029370368
+96,1.600000000,BASELINE,784,760,737.705945733,720,686.705945733,651,917,800,839.705945733,657.705945733,636,657.705945733,0.40095810865,-0.0153723511716,0.0698145155654,0.999999932814,0.000216151539645,-0.000295987198195,6.54809406293e-06,1793254821046036992
+97,1.616666667,BASELINE,784,760,738,720,687,651,917,800,840,657.70980736,636,658,0.400957630254,-0.0153729521659,0.0698141616473,0.999999932793,0.000215506303163,-0.000296526088194,6.59034631749e-06,1793254821062703360
+98,1.633333333,BASELINE,784,760,738,720,687,651,917,800,840,657.13028448,636,658,0.400957104698,-0.0153735083148,0.069813878994,0.999999932798,0.000214999734115,-0.000296875355219,6.57954779496e-06,1793254821079369728
+99,1.650000000,BASELINE,784,760,737.552959299,720,687,651,917,800,840,657,636,657.552959299,0.400957379358,-0.0153725993015,0.069814226549,0.999999932158,0.000217939992844,-0.000296887887367,6.57143871057e-06,1793254821096036096
+100,1.666666667,BASELINE,784,760,737.023515015,720,687,651,917,800,839.976484985,657.023515015,635.976484985,657,0.400957900335,-0.0153714074272,0.0698147279858,0.999999931423,0.000221486760371,-0.000296738769302,6.56800520506e-06,1793254821112702720
+101,1.683333333,BASELINE,784,760,737.595014057,720,687,651,917,800,839.404985943,657.595014057,635.404985943,657,0.400958753285,-0.0153735259045,0.0698145562726,0.999999933136,0.000215872606493,-0.000295098383133,6.65535335344e-06,1793254821129369344
+102,1.700000000,BASELINE,783.827173219,760,738,720,687,651,917,800,839.172826781,658,635.172826781,657.172826781,0.400959138388,-0.0153746594388,0.069814332738,0.99999993407,0.000212572027522,-0.00029432822264,6.65729334453e-06,1793254821146035968
+103,1.716666667,BASELINE,783.234004719,760,738,720,687,651,917,800,839.765995281,658,635.765995281,657.765995281,0.400958385611,-0.0153733974375,0.0698139831655,0.999999933177,0.000214898424841,-0.000295674587137,6.45150734759e-06,1793254821162703104
+104,1.733333333,BASELINE,783,760,738,720,687,651,917,800,839.64916528,658,636,658,0.400957017791,-0.0153722755291,0.0698134895055,0.999999932487,0.000216425833501,-0.000296898903154,6.09045504795e-06,1793254821179369984
+105,1.750000000,BASELINE,783,760,738,720,687,651,917,800,839.069752388,658,636,658,0.400955249253,-0.0153712448946,0.0698129019687,0.999999931931,0.000217432679978,-0.000298043701465,5.62824259236e-06,1793254821196037120
+106,1.766666667,BASELINE,783,760,738,720,687,651,917,800,839.507554677,658,635.492445323,658,0.400954852508,-0.0153725020236,0.0698120058633,0.999999931891,0.000216164723152,-0.000299089093725,6.03492498386e-06,1793254821212703488
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839,658,636,657,0.400955564663,-0.0153719820361,0.0698126285752,0.999999931264,0.000219846097118,-0.000298492727845,6.48068783886e-06,1793254821256116736
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.593752411,657.406247589,636,657,0.400956127337,-0.0153709243138,0.0698128910876,0.999999931399,0.000219708769317,-0.00029814535236,6.2069386261e-06,1793254821272783616
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,840,657.182028768,635.817971232,657.182028768,0.400956817304,-0.0153705313231,0.0698135145263,0.999999931727,0.00021932731515,-0.000297328291554,6.07450193172e-06,1793254821289450496
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,840,657.758440825,635.241559175,657.758440825,0.400957783066,-0.0153715785385,0.0698149199476,0.999999932469,0.000218416937092,-0.000295493611089,6.24823270114e-06,1793254821306117376
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.666865884,658,635.333134116,658,0.400958034866,-0.0153722993743,0.0698150470899,0.999999932811,0.000217285130245,-0.00029516866658,6.40722137132e-06,1793254821322783744
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.093412528,658,635.906587472,658,0.400957771623,-0.0153727847634,0.0698142520959,0.999999932864,0.000215993587188,-0.000295932828886,6.55557524488e-06,1793254821339450112
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,760,738,720.495388707,687,651,917,800,839,658,635.504611293,657.504611293,0.400957555405,-0.0153726533529,0.069813960331,0.999999932458,0.000217337941512,-0.000296321757356,6.49770051223e-06,1793254821356116480
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,760,738,720.914674338,687,651,917,800,839.085325662,658,635,657.085325662,0.40095723123,-0.0153722596561,0.0698137157328,0.999999931933,0.00021915382365,-0.000296758199325,6.39443394675e-06,1793254821372782848
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,760,738,720.335450905,687,651,917,800,839.664549095,658,635,657.664549095,0.40095622919,-0.0153710424945,0.0698131773274,0.99999993125,0.00022073007217,-0.000297892323037,6.26071344751e-06,1793254821389449472
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,759.758896951,738,720,687,651,917,800,839.758896951,658,635.241103049,658,0.400960684138,-0.0153710339655,0.0698153685817,0.999999932336,0.00022009190491,-0.000294700565453,6.31987513991e-06,1793254821406116096
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,759.186016467,738,720,687,651,917,800,839.186016467,658,635.813983533,658,0.400972648347,-0.0153726886134,0.0698213160699,0.999999935791,0.000216406521,-0.000285556042702,6.6444584511e-06,1793254821422782976
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.611830655,759.388169345,738,720.388169345,687,651,917,800,839,658,636,658,0.400995982405,-0.0153736262254,0.0698318623098,0.999999940187,0.000217426830209,-0.000268873326809,7.66304864764e-06,1793254821439449600
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.03701715,759.96298285,738,720.96298285,687,651,917,800,839,658,636,658,0.401024783449,-0.0153742190637,0.0698446197761,0.99999994471,0.000220709785858,-0.00024856600713,9.01533944209e-06,1793254821456116224
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.555846735,760,738,721,687,651,917,800,839.555846735,657.444153265,636,658,0.401080623709,-0.0153768115837,0.0698644936829,0.99999995244,0.00021874742955,-0.000217181314525,1.01021311216e-05,1793254821472783104
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,760,738,720.853742884,687,651,917,800,840,657.146257116,636,657.853742884,0.401140495998,-0.0153800784436,0.0698826768459,0.999999958425,0.000216544168421,-0.000190093941041,1.10871556474e-05,1793254821489449984
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,760,738,720.274279529,687,651,917,800,840,657.725720471,636,657.274279529,0.401206798366,-0.0153849349812,0.0698944012543,0.999999961042,0.000214696744407,-0.000177993397485,1.18248797364e-05,1793254821506116608
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,760,737.697294596,720,687,651,917,800,839.697294596,658,636,657.302705404,0.401282820407,-0.0153887506623,0.0699031312699,0.999999963206,0.000214215521804,-0.000166036373583,1.14349593577e-05,1793254821522782976
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,760,737.122537144,720,687,651,917,800,839.122537144,658,636,657.877462856,0.401367577858,-0.0153916308884,0.0699091701179,0.999999964955,0.000214962152815,-0.000154208336589,1.00315849881e-05,1793254821539449344
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,760,737.462176496,720,686.537823504,650.537823504,917,800,839,657.537823504,635.537823504,658,0.401463757843,-0.0153952654542,0.0699113224311,0.999999965531,0.000214630285895,-0.000151023847405,7.9374860967e-06,1793254821556115968
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,760,738,720,686.048880521,650.048880521,917,800,839,657,635,657.951119479,0.401565751338,-0.0153992094535,0.0699123951426,0.999999965909,0.00021357932321,-0.000150115802855,5.58030831539e-06,1793254821572782848
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,760,738,720,686.627912018,650.627912018,917,800,839,657,635,657.372087982,0.40169722789,-0.0154042926124,0.0699131807012,0.999999967361,0.000207898725883,-0.000148495418333,2.39976964322e-06,1793254821589449472
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.793830554,760,738,720.206169446,687,651,917,800,839,657.206169446,635,657,0.401837740962,-0.0154101055287,0.0699140032233,0.999999968871,0.000201647445341,-0.000146954860835,-8.48547975582e-07,1793254821606116352
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.216964977,760,738,720.783035023,687,651,917,800,839,657.783035023,635,657,0.401994501834,-0.0154172305604,0.0699148922066,0.999999970508,0.000194370067394,-0.000145557833846,-4.21873293732e-06,1793254821622783232
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.355960707,760,738,720.644039293,687,650.644039293,917,800,839,658,635.355960707,657,0.402170138066,-0.0154249855407,0.0699164615007,0.99999997246,0.000186184351073,-0.000142654999047,-8.0547077746e-06,1793254821639449856
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.926511294,760,738,720.073488706,687,650.073488706,917,800,839,658,635.926511294,657,0.402357153269,-0.0154331202845,0.0699184409181,0.999999974543,0.000177451044885,-0.000138844392233,-1.21714830106e-05,1793254821656116480
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.518810522,917,800.518810522,839,658,635.481189478,657,0.402579417681,-0.0154425517186,0.0699221556816,0.999999976891,0.000170393977737,-0.000130104223502,-1.60445901544e-05,1793254821672783104
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,737.889163246,720,687,651,917,801,839,658,635.110836754,657,0.402816746336,-0.0154524109477,0.0699271809598,0.999999980041,0.000159224517604,-0.000119000830045,-2.00961868433e-05,1793254821689449728
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,737.311819556,720,687,651,917,801,839,658,635.688180444,657,0.403095544975,-0.0154632638481,0.0699366422695,0.999999986172,0.000129703090555,-0.000101018284395,-2.50506685298e-05,1793254821706116352
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,760,737.265349525,720,687,651,917,800.734650475,839.265349525,658,636.265349525,657.265349525,0.40338637938,-0.0154719569819,0.0699451139013,0.999999992528,8.13615867133e-05,-8.61229850323e-05,-3.01142072414e-05,1793254821722782720
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,760,737.842313519,720,687,651,917,800.157686481,839.842313519,658,636.842313519,657.842313519,0.403691348029,-0.0154781137829,0.0699524232996,0.999999996516,1.09186382286e-05,-7.48532087976e-05,-3.53058172105e-05,1793254821739449344
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.583612805,917,800,840,658,636.583612805,657.583612805,0.404017461913,-0.0154855255259,0.0699532434529,0.999999996312,-9.96019123027e-06,-7.48902500585e-05,-4.08435935893e-05,1793254821756116736
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.010626163,917,800,840,658,636.010626163,657.010626163,0.404351528321,-0.0154934092411,0.06995162306,0.999999995709,-1.21984036539e-05,-7.91796831289e-05,-4.65115599411e-05,1793254821772784128
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.582822644,917,800,839.417177356,658,636,657,0.40473793633,-0.0154874299805,0.0699602377737,0.999999996683,3.57035919609e-05,-6.55425372309e-05,-3.26028404205e-05,1793254821789450496
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,760,737.8287021,720,687,651,917,800,839.1712979,658,636,657,0.405137171891,-0.0154784895804,0.0699660604067,0.999999995266,7.60548800083e-05,-5.5857990278e-05,-2.37508630098e-05,1793254821806117120
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,760,737.252885008,720,687,651,917,800,839.747114992,658,636,657,0.405564364016,-0.0154631750575,0.0699648328422,0.99999999339,9.63378454245e-05,-5.63074090031e-05,-2.7713911108e-05,1793254821822783744
+142,2.366666667,POSE1_TO_POSE2_PRESS,784.324295116,760,737.324295116,720,687,650.675704884,917,800,839.675704884,657.675704884,636,657.324295116,0.405998117039,-0.0154622593261,0.0699567608259,0.999999993217,8.6609035218e-05,-7.10376812955e-05,-3.19056893518e-05,1793254821839450112
+143,2.383333333,POSE1_TO_POSE2_PRESS,784.902542678,760,737.902542678,720,687,650.097457322,917,800,839.097457322,657.097457322,636,657.902542678,0.406437007887,-0.015472619151,0.0699433289838,0.999999993218,5.33782886777e-05,-9.69511552783e-05,-3.62765844021e-05,1793254821856116480
+144,2.400000000,POSE1_TO_POSE2_PRESS,784.512398051,760,738,719.512398051,687,650.487601949,917,800.487601949,839.487601949,657.487601949,636,657.512398051,0.406919138495,-0.0154815722323,0.0699316934362,0.999999992314,4.45270813595e-05,-0.000108685220684,-3.97186471793e-05,1793254821872783872
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,760,738,719.073247886,686.926752114,651,917,800.926752114,840,657.926752114,636,657,0.407422007628,-0.0154891480442,0.0699236034386,0.99999999194,3.91638637666e-05,-0.000112965859369,-4.27291578342e-05,1793254821889451008
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,738,719.653398756,686.346601244,651,917,800.346601244,840,657.346601244,636,657,0.408007739668,-0.0154891659841,0.0699375301772,0.999999995088,2.3739795565e-05,-8.55565253447e-05,-4.40561110054e-05,1793254821906116864
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,760,738,719.767426534,686,651,917,800.232573466,840,657.232573466,636,657.232573466,0.408610189614,-0.0154883839526,0.0699492003172,0.999999997019,2.08088351824e-05,-5.99297432478e-05,-4.40089867739e-05,1793254821922783232
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,760,738,719.189700534,686,651,917,800.810299466,840,657.810299466,636,657.810299466,0.409237449868,-0.0154864147169,0.069957521533,0.999999997776,3.64183734032e-05,-3.69483734531e-05,-4.19226518121e-05,1793254821939449856
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,760.392871169,738,719,686.392871169,651,917,801,840,658,636,658,0.409842411391,-0.0154847527464,0.0699532982767,0.99999999746,3.69760462462e-05,-4.24813602183e-05,-4.369157103e-05,1793254821956116480
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,760.977811855,738,719,686.977811855,651,917,801,840,658,636,658,0.410436471341,-0.0154832409937,0.0699429421935,0.999999996505,3.01750607705e-05,-6.19546393463e-05,-4.73452730696e-05,1793254821972783104
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687,651,917,801,840,658,636,658,0.411108572193,-0.0154873166697,0.0699461503653,0.999999996813,2.35874607239e-05,-5.99923106924e-05,-4.71010127218e-05,1793254821989449472
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,760.863664289,738,719,687,651,917,801,840,658,636,657.863664289,0.41180416089,-0.0154911262841,0.0699569414467,0.999999997735,1.84351332582e-05,-4.50090695828e-05,-4.65153811539e-05,1793254822006116096
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,760.286408764,738,719,687,651,917,801,840,658,636,657.286408764,0.41256575968,-0.0154933629666,0.0699905266051,0.999999998769,1.78973758565e-05,9.35145630787e-06,-4.53227695071e-05,1793254822022782720
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.290911535,760.290911535,738,719,686.709088465,651,917,801,840,658,636,657,0.413338322729,-0.015496723781,0.0700147598615,0.99999999775,1.77177022517e-05,4.69619724275e-05,-4.45121674399e-05,1793254822039449344
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.868295687,760.868295687,738,719,686.131704313,651,917,801,840,658,636,657,0.41412168283,-0.0155011915747,0.0700297839171,0.999999996551,1.78906485366e-05,6.80780678454e-05,-4.40777459424e-05,1793254822056115968
+156,2.600000000,POSE1_TO_POSE2_PRESS,784.546319518,760.546319518,737.546319518,719,686.453680482,651,917,801,840.453680482,658,636,657.453680482,0.414834108241,-0.0154992091718,0.0699906771485,0.99999999879,9.28983877165e-06,-3.27277858197e-06,-4.81930482234e-05,1793254822072782848
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,760,737.040823919,719,687,651,917,800.959176081,840.959176081,658,636,657.959176081,0.415533940987,-0.0154955781528,0.0699378951073,0.999999993831,-1.33499448382e-06,-9.7288864373e-05,-5.35870753044e-05,1793254822089449472
+158,2.633333333,POSE1_TO_POSE2_PRESS,784,760,737.619981247,719,687,651,917,800.380018753,840.380018753,658,636,657.380018753,0.416344140245,-0.0154953427433,0.0699157207738,0.99999998987,-4.4600502091e-06,-0.000129855330197,-5.8113703064e-05,1793254822106116096
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.197874575,760,738,719,686.802125425,651,917,800.197874575,840,657.802125425,636,657,0.417178140609,-0.0154975513951,0.0699124302542,0.999999989319,-1.04213109339e-05,-0.000132785040572,-6.01745395803e-05,1793254822122782720
+160,2.666666667,POSE1_TO_POSE2_PRESS,784.773355761,760,738,719,686.226644239,651,917,800.773355761,840,657.226644239,636,657,0.418057560882,-0.0155044240805,0.0699451759626,0.999999994975,-2.179493814e-05,-7.91585452768e-05,-5.75298744892e-05,1793254822139449344
+161,2.683333333,POSE1_TO_POSE2_PRESS,785.349426395,760.349426395,738.349426395,718.650573605,686,651,917,800.650573605,840,657,636,657,0.418966962422,-0.0155081203209,0.0699756465646,0.999999997656,-2.53548084719e-05,-3.20053068068e-05,-5.49527283091e-05,1793254822156115968
+162,2.700000000,POSE1_TO_POSE2_PRESS,785.92587998,760.92587998,738.92587998,718.07412002,686,651,917,800.07412002,840,657,636,657,0.419895843175,-0.0155097527805,0.0700046389971,0.999999998282,-2.38379718274e-05,1.09421645439e-05,-5.24194502025e-05,1793254822172782336
+163,2.716666667,POSE1_TO_POSE2_PRESS,785.48867422,760.48867422,738.48867422,718.51132578,686,651,917,800.51132578,840,657.51132578,636,657,0.42079963059,-0.0155115057564,0.0700248595954,0.999999997377,-2.89251651316e-05,4.16805969662e-05,-5.16874224182e-05,1793254822189449216
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,760,738,718.902730114,686,651,917,801,840,657.902730114,636,657.097269886,0.421693489262,-0.0155124320146,0.0700338421805,0.999999996585,-3.39580618183e-05,5.4429964487e-05,-5.21055347596e-05,1793254822206115840
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,760,738,718.320913397,686,651,917,801,840,657.320913397,636,657.679086603,0.42255633207,-0.0155091514226,0.0699932904514,0.999999997716,-3.38663683967e-05,-1.34587115845e-05,-5.69290739555e-05,1793254822222782720
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.741659878,760,738,718.258340122,686.258340122,651,917.258340122,801,840.258340122,657.258340122,636,657.741659878,0.42341507585,-0.0155056780686,0.069935369838,0.999999992181,-3.32260190253e-05,-0.000102718075407,-6.31132011838e-05,1793254822239449344
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.165559038,760,738,718.834440962,686.834440962,651,917.834440962,801,840.834440962,657.834440962,636,657.165559038,0.424268777903,-0.0155019676154,0.0698560853326,0.999999973153,-3.19108176201e-05,-0.000218263589465,-7.09708644659e-05,1793254822256115968
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.408370951,760,738,718.591629049,687,651,917.591629049,801,841,657.591629049,636,657.408370951,0.425241168967,-0.0155032954433,0.0698679655936,0.999999977939,-3.36664334267e-05,-0.000194693650474,-7.12943116052e-05,1793254822272783616
+169,2.816666667,POSE1_TO_POSE2_PRESS,784.981425469,760,738,718.018574531,687,651,917.018574531,801,841,657.018574531,636,657.981425469,0.426261423641,-0.0155066550567,0.0699166098326,0.999999990361,-3.66604162812e-05,-0.000115022679716,-6.85794382682e-05,1793254822289451776
+170,2.833333333,POSE1_TO_POSE2_PRESS,785.571481429,760.571481429,738,717.428518571,686.428518571,651,917,801,841,657.571481429,636,657.428518571,0.427246393513,-0.0155097964404,0.0699738630482,0.999999996236,-4.02759264066e-05,-4.53828236037e-05,-6.20162979899e-05,1793254822306117120
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.842064099,760.842064099,738,717,686,651,917,801,841,657.842064099,636,657,0.428235896101,-0.0155142956077,0.0700247761342,0.999999997128,-4.50726311383e-05,2.17424426837e-05,-5.6916441295e-05,1793254822322782976
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.266635467,760.266635467,738,717,686,651,917,801,841,657.266635467,636,657,0.429240505113,-0.0155224033076,0.0700581671737,0.999999993576,-5.29367053115e-05,8.31088375024e-05,-5.60254484234e-05,1793254822339449600
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,760,738,717.30734385,686,651,917,801,841,657,636,657,0.430185625157,-0.0155244093833,0.0700481655813,0.999999994495,-5.43040654606e-05,6.90543941653e-05,-5.73881420627e-05,1793254822356116224
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,760,738,717.880071687,686,651,917,801,841,657,636,657,0.431079377863,-0.0155211468535,0.070000695498,0.999999996854,-5.00616694883e-05,-1.01241238817e-05,-6.06968394552e-05,1793254822372782848
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.469898863,760,738,717.530101137,686.469898863,651,917,801,840.530101137,657.469898863,636,657.469898863,0.431960285912,-0.0155157609084,0.0699334416143,0.999999989033,-4.88935308764e-05,-0.00012295029988,-6.65360212365e-05,1793254822389449728
+176,2.933333333,POSE1_TO_POSE2_PRESS,786,760.062629896,738,717,687,651,917,801,840.062629896,658,636,657.937370104,0.432854639834,-0.0155111405167,0.069875141011,0.999999972118,-5.02515093459e-05,-0.000219271698798,-7.18304842721e-05,1793254822406116352
+177,2.950000000,POSE1_TO_POSE2_PRESS,786,760.64195381,738,717,687,651,917,801,840.64195381,658,636,657.35804619,0.433887987716,-0.015517475746,0.0699339338442,0.99999998998,-6.57323516379e-05,-0.000105906459988,-6.71017292793e-05,1793254822422782976
+178,2.966666667,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841,658,636,657.220040744,0.434898607252,-0.0155224894347,0.0699862455139,0.999999995223,-7.37658496127e-05,-1.21402808165e-05,-6.29715121489e-05,1793254822439449600
+179,2.983333333,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841,658,636,657.796126231,0.435872450541,-0.0155253647586,0.0700280701161,0.999999994533,-6.97489109359e-05,4.99129599423e-05,-5.98097806985e-05,1793254822456116224
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841,657.63166723,636,658,0.436823290858,-0.0155296852798,0.0700424562188,0.9999999924,-7.24779425479e-05,8.04545439075e-05,-5.894612318e-05,1793254822472782848
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841,657.061585365,636,658,0.43776153156,-0.0155347973873,0.0700418132667,0.999999990733,-7.89019848582e-05,9.37360573094e-05,-5.93412036085e-05,1793254822489449728
+182,3.033333333,POSE1_TO_POSE2_PRESS,785.467945262,761,738,717,687,651,917.532054738,801,841,657,636,658,0.438605418318,-0.0155269967755,0.069979379702,0.999999995052,-7.47518192858e-05,-1.77111839809e-07,-6.5639424638e-05,1793254822506116352
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686.875910867,651,917.875910867,801,841,657,636,658,0.43943166534,-0.0155189406743,0.0699126800006,0.999999989523,-7.02063095545e-05,-0.000104328617556,-7.16980390898e-05,1793254822522783232
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686.300107973,651,917.300107973,801,841,657,636,658,0.440235298174,-0.0155156474744,0.069857692721,0.999999975169,-6.88835991651e-05,-0.000198490230662,-7.4281861704e-05,1793254822539449600
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761,738,716.724947675,686,651,917,801,841,657,636,658,0.441093987733,-0.0155183621224,0.0698561462969,0.999999973619,-7.60067980327e-05,-0.000203693651149,-7.4122881153e-05,1793254822556116224
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761,738,716.150486911,686,651,917,801,841,657,636,658,0.442012609283,-0.0155276166184,0.0699127729643,0.99999998694,-9.23237986133e-05,-0.000112061550686,-7.09782198237e-05,1793254822572783104
+187,3.116666667,POSE1_TO_POSE2_PRESS,785,761,738,716.436637111,686,651,917,801,841,657,636,657.563362889,0.442879730065,-0.0155364095926,0.0699477854586,0.999999990282,-0.000102750181009,-6.6025012969e-05,-6.72183181896e-05,1793254822589449728
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.027569826,761,738,717,686,651,917,800.972430174,841,657,636,657,0.443724147037,-0.0155449100063,0.0699719529677,0.999999990968,-0.000111132945505,-4.08228714737e-05,-6.36110181896e-05,1793254822606116352
+189,3.150000000,POSE1_TO_POSE2_PRESS,785.604823152,761,738,717,686,651,917,800.395176848,841,657,636,657,0.444480358915,-0.0155508434831,0.069932854244,0.999999984605,-0.000120457175681,-0.000108342456181,-6.7400220504e-05,1793254822622782976
+190,3.166666667,POSE1_TO_POSE2_PRESS,785.819193992,761,738,717,686,651,917,800,841,657,636,657.180806008,0.445222756657,-0.0155564831626,0.0698912647364,0.999999974204,-0.000129055710805,-0.000172786908572,-7.12859872952e-05,1793254822639449600
+191,3.183333333,POSE1_TO_POSE2_PRESS,785.245968442,761,738,717,686,651,917,800,841,657,636,657.754031558,0.445935172479,-0.015561485189,0.0698442692496,0.999999961322,-0.000136079207214,-0.000230557138185,-7.53813377958e-05,1793254822656116224
+192,3.200000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686,650.669909758,917,799.669909758,841.330090242,657,636,658,0.446613149833,-0.0155740137155,0.0698030366017,0.99999994228,-0.000144034329846,-0.000298727097836,-7.38599062503e-05,1793254822672782848
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,785.680663458,760,737.680663458,716,685,650,917,796.680663458,841.680663458,658,635.680663458,658,0.446791368776,-0.015506392099,0.069653528194,0.99999984881,-6.97078553607e-06,-0.000549477509951,2.01665956948e-05,1793254824750744832
+315,5.250000000,POSE2_TO_POSE3_RETREAT,786,760,737.737310219,716,685,650,917.262689781,797.262689781,841.737310219,658,635.737310219,658,0.446043153888,-0.0155014783302,0.0696399175964,0.999999837931,1.41761262616e-05,-0.000568775792954,2.07392293312e-05,1793254824767411456
+316,5.266666667,POSE2_TO_POSE3_RETREAT,786,760,737.1486987,716,685,650,917.8513013,797.8513013,841.1486987,658,635.1486987,658,0.445300894359,-0.0154985806724,0.0696206388456,0.999999825262,9.68269379177e-06,-0.000590705962219,2.11598988173e-05,1793254824784078080
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,786,760.985174896,737,716,686,650,917.014825104,799,841,657.985174896,636,658,0.443820714309,-0.0154933060287,0.0696794161026,0.999999885192,3.3736272754e-06,-0.000478845910384,1.76404340182e-05,1793254824817411584
+319,5.316666667,POSE2_TO_POSE3_RETREAT,786,760.411602898,737,716,686,650,917.588397102,799,841,657.411602898,636,658,0.443031474308,-0.0154866684336,0.0697212074263,0.999999910739,2.12149643121e-05,-0.000421217125965,2.54450775633e-05,1793254824834077952
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785.837123877,760,737,716,686,650,917.837123877,799.162876123,841,657.162876123,636,658,0.442226705146,-0.0154742253205,0.0697575437028,0.999999929923,4.05607452034e-05,-0.000371026319485,2.91221576082e-05,1793254824850744576
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,785,760,737,716.913619965,686,650,917,799.086380035,840.086380035,657.086380035,636,657.086380035,0.439727236262,-0.0153849933189,0.0698250147521,0.999999957966,0.000141265612005,-0.000252374720584,2.04517199057e-05,1793254824900744192
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,786,760,737,716.185858772,686,651,917.185858772,800,840,658,635.814141228,658,0.435067004615,-0.0154081558389,0.0697516759223,0.999999922771,0.000132703329097,-0.000369487290505,1.81040782425e-05,1793254824984078592
+329,5.483333333,POSE2_TO_POSE3_RETREAT,785.603351879,760,737,716,686,651,917.396648121,800,840,658,636,658,0.434155997621,-0.0154073119727,0.0697947956869,0.999999940468,0.000137925334244,-0.000315506613757,2.22844591845e-05,1793254825000745472
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,785,760,737,716.552671581,686,651,917.447328419,800,840,658,636,657.447328419,0.432325695993,-0.0154006890637,0.0698490613753,0.999999960877,0.000153956822725,-0.000231921584778,2.74759570321e-05,1793254825034078720
+332,5.533333333,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,651,917,800,840,658,636,657,0.431386091054,-0.0153975323849,0.0698462701146,0.999999960563,0.000163328396391,-0.000226820055278,2.73944360174e-05,1793254825050745344
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,650.718602104,917,800,840,658,636,657,0.429325271617,-0.0153880864976,0.069733814877,0.999999891341,0.000183419432674,-0.000428183903639,1.82951114101e-05,1793254825084078592
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,785,760,737,717.778131107,686,650.221868893,917,800,840,658,635.221868893,657.778131107,0.423725305638,-0.0153903394812,0.0698260500296,0.999999945488,0.000179652567405,-0.000275890836533,2.51607372313e-05,1793254825184077824
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,785,760,737,718,687,651,918,800,840,658,636,657.907281191,0.419915499237,-0.0153894076,0.0696994133573,0.999999869903,0.000164934171634,-0.000482543919919,1.19363432155e-05,1793254825250744576
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,785,760,737.840347827,718,687,651,917.159652173,800,840,657.159652173,635.159652173,657,0.417507588039,-0.0153949173026,0.069872240311,0.999999959149,0.000176468145975,-0.000223094377398,2.81127574306e-05,1793254825300744960
+348,5.800000000,POSE2_TO_POSE3_RETREAT,785,760,737.577518806,718,686.577518806,650.577518806,917,800,839.577518806,657.422481194,635.422481194,657,0.416653658873,-0.0153946725283,0.0698477235311,0.999999950928,0.000179987079375,-0.000255116289268,2.57852157988e-05,1793254825317411584
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,784.72577466,760,737,719,686,650.27422534,917,799,840,657.72577466,636,657.27422534,0.413347746586,-0.0153811013895,0.0697321042031,0.999999882917,0.000196664908785,-0.000441869921017,1.55154555445e-05,1793254825384078080
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.690534025,760,737.309465975,719,686.309465975,650.309465975,917,799,840,657.690534025,636,657,0.41263006415,-0.0153814429756,0.0697504878622,0.999999896335,0.000200107738241,-0.000408655833695,1.69670082174e-05,1793254825400744704
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,651,917,799.175394331,839.175394331,657.175394331,636,657.824605669,0.403805984018,-0.0153690235243,0.0698415317477,0.999999939463,0.000232745773291,-0.000257842602987,2.04905034583e-05,1793254825684077824
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,651,917,799.765463788,839.765463788,657.765463788,636,657.234536212,0.403502726749,-0.0153670236648,0.0698394456929,0.999999941424,0.000221483235752,-0.000260203429597,1.97786996329e-05,1793254825700744448
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+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.168416109,760,738,720.168416109,687,651,917,799.831583891,839,658,636,658,0.400959161465,-0.0153639547819,0.0698059940368,0.999999927388,0.000225734730331,-0.000306986112305,5.22161502323e-06,1793254826200744448
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.755814406,760,738,720.755814406,687,651,917,799.244185594,839,658,636,658,0.400958230445,-0.0153635467023,0.0698059137726,0.99999992706,0.00022576909629,-0.000308029980373,5.12809343136e-06,1793254826217411072
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,783.081548519,760,738,720.081548519,687,651,917,799,839,658,636,658,0.400955639004,-0.0153669253429,0.0698047022917,0.999999926949,0.000222795539956,-0.000310538737869,5.43832947339e-06,1793254826250744576
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,783.070737239,760,738,720,687,651,917,800,839.929262761,658,635.070737239,657.070737239,0.400955384346,-0.0153643090588,0.0698051011616,0.999999927137,0.000225015714844,-0.000308331983026,5.0050738914e-06,1793254826284078080
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,783.772618431,760,737.772618431,720,687,651,917,800,839.227381569,658,636,658,0.400956265286,-0.0153628353822,0.0698065422069,0.999999927141,0.000225837385088,-0.000307717324409,4.95586813669e-06,1793254826317411840
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,783.399776505,760,737,720,687,651,917,800,839.600223495,657.600223495,636,658,0.400955958192,-0.0153653516336,0.0698072055631,0.999999927351,0.000225806092605,-0.00030705273241,5.37807368209e-06,1793254826350744832
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+412,6.866666667,POSE2_TO_POSE3_RETREAT,784,760,737.553358406,720,687,651,917,800,839,657.553358406,636,657.446641594,0.400955514873,-0.0153640122412,0.0698061573983,0.999999927058,0.000225635802604,-0.000308129803333,5.24873334015e-06,1793254826384077568
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78f59858563fce918c27999bd53e50c5713d059a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
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+377,6.283333333,pose2_to_pose3_retreat,0.576505904562,-0.00981820802233,1.06002059714,0.547077051548,-0.00114397272038,1.05969230394
+378,6.300000000,pose2_to_pose3_retreat,0.576378641379,-0.00981818568167,1.06002055074,0.546949788875,-0.00114394847859,1.059692262
+379,6.316666667,pose2_to_pose3_retreat,0.576264979387,-0.00981833241605,1.06002085276,0.546836128289,-0.0011440914176,1.05969253828
+380,6.333333333,pose2_to_pose3_retreat,0.576163963146,-0.00981822518779,1.0600205592,0.546735111263,-0.00114398614933,1.05969226346
+381,6.350000000,pose2_to_pose3_retreat,0.576076362844,-0.00981835056459,1.06002044575,0.546647512579,-0.00114410607719,1.05969215045
+382,6.366666667,pose2_to_pose3_retreat,0.575999904001,-0.00981833908738,1.0600204268,0.546571052967,-0.0011440972949,1.05969212891
+383,6.383333333,pose2_to_pose3_retreat,0.575934382899,-0.00981828846635,1.06002049777,0.546505531761,-0.00114404723121,1.05969219395
+384,6.400000000,pose2_to_pose3_retreat,0.575877817454,-0.00981829148734,1.06002057849,0.546448967438,-0.00114404657624,1.05969227103
+385,6.416666667,pose2_to_pose3_retreat,0.575829839787,-0.00981832165764,1.06002052719,0.546400989048,-0.00114407883499,1.0596922292
+386,6.433333333,pose2_to_pose3_retreat,0.575790166957,-0.00981839581593,1.06002040501,0.546361316049,-0.00114415334697,1.05969211283
+387,6.450000000,pose2_to_pose3_retreat,0.575757716412,-0.00981824309565,1.06002026905,0.546328864319,-0.00114400436087,1.05969198442
+388,6.466666667,pose2_to_pose3_retreat,0.575732255837,-0.00981812795873,1.06002034127,0.546303403244,-0.00114389106058,1.05969205297
+389,6.483333333,pose2_to_pose3_retreat,0.575712558124,-0.00981814319121,1.06002041426,0.546283705282,-0.00114390745873,1.05969211745
+390,6.500000000,pose2_to_pose3_retreat,0.575698112123,-0.00981827122942,1.0600204193,0.546269260404,-0.00114403175266,1.05969212089
+391,6.516666667,pose2_to_pose3_retreat,0.575687289596,-0.00981842625168,1.06002041054,0.546258440371,-0.00114417805494,1.05969211891
+392,6.533333333,pose2_to_pose3_retreat,0.57567994041,-0.00981833386928,1.06002064418,0.546251090604,-0.00114408795244,1.05969234386
+393,6.550000000,pose2_to_pose3_retreat,0.575674934934,-0.00981832574273,1.06002042001,0.546246085481,-0.00114407837156,1.05969212694
+394,6.566666667,pose2_to_pose3_retreat,0.575671846018,-0.00981831245201,1.06002038877,0.546242996101,-0.00114406660782,1.05969209712
+395,6.583333333,pose2_to_pose3_retreat,0.575670438605,-0.00981827986306,1.06002062563,0.54624158736,-0.00114403879263,1.05969232683
+396,6.600000000,pose2_to_pose3_retreat,0.575669534946,-0.00981825893863,1.0600207777,0.546240682848,-0.00114402093331,1.05969247433
+397,6.616666667,pose2_to_pose3_retreat,0.575668992829,-0.00981826734953,1.0600207806,0.546240140887,-0.00114402877875,1.05969247814
+398,6.633333333,pose2_to_pose3_retreat,0.575668779597,-0.00981827559219,1.06002076095,0.546239927875,-0.0011440362331,1.05969245971
+399,6.650000000,pose2_to_pose3_retreat,0.575668773879,-0.00981827581327,1.06002076042,0.546239922162,-0.00114403643303,1.05969245922
+400,6.666666667,pose2_to_pose3_retreat,0.575668763488,-0.00981827621491,1.06002075947,0.546239911782,-0.00114403679626,1.05969245832
+401,6.683333333,pose2_to_pose3_retreat,0.575668704842,-0.00981827848193,1.06002075406,0.546239853196,-0.00114403884647,1.05969245325
+402,6.700000000,pose2_to_pose3_retreat,0.575668569663,-0.00981828370742,1.0600207416,0.546239718156,-0.0011440435722,1.05969244157
+403,6.716666667,pose2_to_pose3_retreat,0.575668222635,-0.00981829712211,1.06002070962,0.546239371484,-0.00114405570392,1.05969241157
+404,6.733333333,pose2_to_pose3_retreat,0.575667780081,-0.0098183142295,1.06002066883,0.546238929384,-0.00114407117518,1.05969237332
+405,6.750000000,pose2_to_pose3_retreat,0.575667535564,-0.00981832275146,1.06002064586,0.546238685102,-0.00114407884876,1.0596923517
+406,6.766666667,pose2_to_pose3_retreat,0.575667478035,-0.00981831355871,1.06002063518,0.546238627438,-0.00114407012564,1.05969234074
+407,6.783333333,pose2_to_pose3_retreat,0.575667464887,-0.00981831145771,1.06002063273,0.546238614258,-0.00114406813198,1.05969233824
+408,6.800000000,pose2_to_pose3_retreat,0.575667420608,-0.00981830438235,1.06002062451,0.546238569876,-0.00114406141808,1.0596923298
+409,6.816666667,pose2_to_pose3_retreat,0.575667296634,-0.00981828457224,1.06002060149,0.54623844561,-0.00114404262003,1.05969230618
+410,6.833333333,pose2_to_pose3_retreat,0.575667251044,-0.0098182772873,1.06002059302,0.546238399913,-0.00114403570726,1.0596922975
+411,6.850000000,pose2_to_pose3_retreat,0.575667121934,-0.0098182566565,1.06002056905,0.546238270499,-0.00114401613044,1.0596922729
+412,6.866666667,pose2_to_pose3_retreat,0.575667092577,-0.00981825196557,1.0600205636,0.546238241073,-0.00114401167916,1.0596922673
+413,6.883333333,pose2_to_pose3_retreat,0.575667071007,-0.00981824851875,1.06002055959,0.546238219452,-0.00114400840843,1.05969226319
+414,6.900000000,pose2_to_pose3_retreat,0.575666849268,-0.00981831989039,1.06002054874,0.546237999163,-0.00114407494528,1.05969225015
+415,6.916666667,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.00114412931759,1.05969225353
+416,6.933333333,pose2_to_pose3_retreat,0.575666763979,-0.00981837803164,1.06002055328,0.546237914998,-0.0011441293177,1.05969225353
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5553082fc8aa3fb221860c9e06661584c03fa4bc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:191ffa1db614ad12700fbb12297a78db68a97616247615c507a3e6124e0df435
+size 26420457
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e97690d94d0dbac2484ff7bd7c673c688293c057
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,784,760,738,720,687,651,917,800,839,658,636,658,0.400957866165,-0.0153661574235,0.0698093541448,0.999999928286,0.000225872428866,-0.000303943022271,5.36295387408e-06,1793254826598064128
+1,0.016666667,BASELINE,784,760,738,720.576346139,687,651,917,800,839.576346139,658,636,658,0.400956364839,-0.0153668270859,0.0698087943135,0.999999928249,0.000224915006689,-0.000304777890762,4.98338443722e-06,1793254826614730752
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+3,0.050000000,BASELINE,783.255718807,760,738,720.255718807,687,651,917,800,839.255718807,658,636,658,0.400955074758,-0.0153655495775,0.0698086361421,0.999999927804,0.000225388723777,-0.000305884742769,5.12787571256e-06,1793254826648064256
+4,0.066666667,BASELINE,783.328453617,760,738,720,687,651,917,800,839,658,636,657.671546383,0.400955652873,-0.015365634788,0.0698090381238,0.99999992817,0.000224936116973,-0.000305016809176,5.34614791845e-06,1793254826664731136
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+6,0.100000000,BASELINE,784,760,738,720.483324846,687,651,917,800,839.483324846,658,636,657,0.400956769529,-0.0153676260153,0.069809601087,0.999999929325,0.000222476762068,-0.000303027136503,5.36134789385e-06,1793254826698064384
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+9,0.150000000,BASELINE,784,760,737.78312447,720.78312447,687,651,917,800,839.21687553,658,636,657.78312447,0.400955302965,-0.015365763276,0.0698094885471,0.999999928137,0.000226328346325,-0.000304098874015,5.0833413918e-06,1793254826748064256
+10,0.166666667,BASELINE,784,760,737.189423984,720.189423984,687,651,917,800,839.810576016,658,636,657.189423984,0.400956547185,-0.0153648801078,0.0698102045693,0.999999928569,0.000225784389512,-0.000303074046282,5.51418009048e-06,1793254826764730880
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+12,0.200000000,BASELINE,784,760,737.96958392,720,687,651,917,800,840,658,636,657.96958392,0.400954332465,-0.0153654643702,0.0698079773991,0.999999928116,0.000224931109176,-0.00030520265108,5.07315168345e-06,1793254826798064384
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+16,0.266666667,BASELINE,784,760,738,720.29253702,687,651,917,800,839,658,635,658,0.400956774544,-0.0153665122838,0.0698104397981,0.999999928942,0.000226827553793,-0.000301056757466,5.54796904373e-06,1793254826864730880
+17,0.283333333,BASELINE,784,760,738,720.874255822,687,651,917,800,839,658,635,658,0.400955432111,-0.0153662508378,0.0698095523649,0.99999992863,0.000225258388786,-0.000303262102631,5.46683127667e-06,1793254826881397760
+18,0.300000000,BASELINE,783.548494627,760,738,720.548494627,687,651,917,800,839.451505373,658,635.451505373,658,0.40095670511,-0.0153656734429,0.069810121498,0.999999928838,0.000225741077417,-0.000302220814082,5.33738799151e-06,1793254826898065152
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+21,0.350000000,BASELINE,783,759.824513268,738,721,687,651,917,800,839.175486732,658,636,657.824513268,0.400957243269,-0.0153664487578,0.0698111597351,0.9999999288,0.000227098681371,-0.00030132173688,5.56323703064e-06,1793254826948065280
+22,0.366666667,BASELINE,783,759.23152979,738,721,687,651,917,800,839.76847021,658,636,657.23152979,0.400954716597,-0.0153650922939,0.0698096254303,0.999999928099,0.000226739956259,-0.000303915442157,5.04989948813e-06,1793254826964731648
+23,0.383333333,BASELINE,783.353589947,759.353589947,738,720.646410053,687,651,917,800,839.646410053,658,636,657.353589947,0.40095375037,-0.0153651097285,0.0698087793801,0.999999927858,0.000226039593703,-0.00030523475489,4.76266023693e-06,1793254826981398016
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+25,0.416666667,BASELINE,784,760,738,720,687,651,917,800,839.506506009,658,636,657.493493991,0.400954539474,-0.0153657034981,0.0698090942795,0.999999927875,0.000226622389164,-0.000304743775452,4.91618522537e-06,1793254827014731520
+26,0.433333333,BASELINE,784,760,738,720.081021155,687,651,917,800,840,657.918978845,636,657.081021155,0.40095543142,-0.0153656092852,0.0698098739969,0.999999927974,0.000227768600881,-0.000303554821563,5.25836635208e-06,1793254827031398400
+27,0.450000000,BASELINE,784,760,738,720.672012777,687,651,917,800,840,657.327987223,636,657.672012777,0.400956593328,-0.0153678098741,0.0698101146332,0.999999929029,0.000224707922765,-0.000302355092816,5.53541697962e-06,1793254827048065280
+28,0.466666667,BASELINE,784,760,738,720.742233785,687,651,917,800,840,657,636,657.742233785,0.40095733498,-0.0153691970656,0.0698104449197,0.999999929693,0.000222879710225,-0.000301506454791,5.62132861205e-06,1793254827064731904
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+30,0.500000000,BASELINE,784,760,738,720,687,651,917,800,839.589536671,657.410463329,636,657,0.400956997746,-0.0153683965266,0.0698104705798,0.999999929579,0.000223074586137,-0.000301747873775,5.19419059354e-06,1793254827098064896
+31,0.516666667,BASELINE,784,760,738,720,687,651,917,800,839.018310583,657.981689417,636,657,0.400956140452,-0.0153666175873,0.0698097179049,0.999999929081,0.000223865146112,-0.000302816436902,4.87163333052e-06,1793254827114731264
+32,0.533333333,BASELINE,784,760,738,720,687,651,917,800,839,658,636,657,0.400957502133,-0.0153665437657,0.0698111822734,0.999999929454,0.000224784641556,-0.000300891737234,5.26216926185e-06,1793254827131397632
+33,0.550000000,BASELINE,784,760,737.866320855,720,687,651,917,800,839.133679145,657.866320855,635.866320855,657,0.400958436688,-0.0153666129037,0.0698120897962,0.999999929662,0.000225522839404,-0.000299640011489,5.52386297295e-06,1793254827148064512
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+36,0.600000000,BASELINE,784,760,737.898771685,720.898771685,687,651,917,800,840,657.898771685,635,657,0.40095638722,-0.015365920881,0.0698102969712,0.999999928569,0.000227050438341,-0.000302128253392,5.41423153462e-06,1793254827198064896
+37,0.616666667,BASELINE,784,760,738,720.527296628,687,651,917,800,839.527296628,658,635.472703372,657.472703372,0.400956317405,-0.0153661620873,0.0698103226391,0.999999928956,0.000225220993814,-0.000302211970749,5.52464266161e-06,1793254827214731520
+38,0.633333333,BASELINE,784,760,737.953272554,720,687,651,917,800,839.046727446,658,636,657.953272554,0.400956337309,-0.015366755537,0.0698103404501,0.999999929458,0.000222899550093,-0.000302270970647,5.60985330306e-06,1793254827231398400
+39,0.650000000,BASELINE,784,760,737.363682426,720,687,651,917,800,839.636317574,658,636,657.363682426,0.400956166368,-0.015368902822,0.0698103021627,0.999999929686,0.000221562343211,-0.000302501306076,5.57151258235e-06,1793254827248064768
+40,0.666666667,BASELINE,784,760,737.222048552,720,687,651,917,800,839.777951448,657.777951448,636,657.222048552,0.400956201367,-0.0153693237163,0.0698104195334,0.999999929766,0.000221894576673,-0.000301995292853,5.52160658194e-06,1793254827264731136
+41,0.683333333,BASELINE,784,760,737.801566758,720,687,651,917,800,839.198433242,657.198433242,636,657.801566758,0.400956567903,-0.0153669653432,0.0698107874937,0.999999929601,0.000224914394778,-0.000300303852848,5.45308196871e-06,1793254827281397760
+42,0.700000000,BASELINE,784,760,738,720.376593224,687,651,917,800,839,657.376593224,636,658,0.400956353795,-0.0153667257292,0.0698108065852,0.999999929712,0.000224200352341,-0.00030047311741,5.18474118047e-06,1793254827298064384
+43,0.716666667,BASELINE,784,760,738,720.949280797,687,651,917,800,839,657.949280797,636,658,0.400955837342,-0.0153675893658,0.0698106440187,0.999999929963,0.000221542066249,-0.000301611262043,4.8123549145e-06,1793254827314731264
+44,0.733333333,BASELINE,783.473290354,760,738,721,687,651,917,800,839,658,636,657.473290354,0.40095542348,-0.0153672289713,0.0698102531783,0.999999929916,0.000221320860403,-0.000301930330189,4.71546808703e-06,1793254827331398144
+45,0.750000000,BASELINE,783.106412702,760,738,720.893587298,687,651,917,800,839,658,636,657.106412702,0.400955158682,-0.0153668538963,0.0698100525634,0.999999929825,0.000221583494961,-0.000302041218413,4.65746101026e-06,1793254827348064768
+46,0.766666667,BASELINE,783.694321311,760,738,720.305678689,687,651,917,800,839,658,636,657.694321311,0.400955523259,-0.0153669505657,0.0698108130457,0.99999992966,0.000222963896871,-0.000301570258425,4.65424795832e-06,1793254827364731392
+47,0.783333333,BASELINE,783.720202058,760,737.720202058,720,687,651,917,800,839,657.720202058,636,657.720202058,0.400956045948,-0.0153666812028,0.0698110358724,0.999999929509,0.000223985432689,-0.000301313528695,4.69578830648e-06,1793254827381397760
+48,0.800000000,BASELINE,783.137359391,760,737.137359391,720,687,651,917,800,839,657.137359391,636,657.137359391,0.400956739884,-0.0153660153961,0.0698106763727,0.999999929374,0.000224618286491,-0.000301288828317,4.78580035418e-06,1793254827398064384
+49,0.816666667,BASELINE,783.43912662,760,737,720,687,651,917,800,839,657.43912662,636,657,0.400957874582,-0.0153664648585,0.0698112519316,0.999999929988,0.000224019114579,-0.000299695614693,4.78620749431e-06,1793254827414731008
+50,0.833333333,BASELINE,783.986346161,760,737,720,687,651,917,800,839,657.986346161,635.986346161,657.013653839,0.400959094903,-0.0153672622559,0.0698120887791,0.999999930812,0.000223018458594,-0.000297686088285,4.76131419465e-06,1793254827431397632
+51,0.850000000,BASELINE,783.411767957,760,737,720,687,651,917,800,839,657.411767957,635.411767957,657.588232043,0.400958249614,-0.0153682262465,0.0698118153757,0.999999931005,0.000221130276473,-0.000298442156809,4.83206550978e-06,1793254827448064512
+52,0.866666667,BASELINE,783,760,737.167038866,720,687,651,917,799.832961134,839,657.167038866,635,657.832961134,0.400957497924,-0.0153685295822,0.0698115139319,0.999999930944,0.000220443649759,-0.000299153570682,4.80781221394e-06,1793254827464731392
+53,0.883333333,BASELINE,783,760,737.756540372,720,687,651,917,799.243459628,839,657.756540372,635,657.243459628,0.400956982956,-0.0153671620375,0.0698111415707,0.999999930245,0.000222795910345,-0.000299752047188,4.54328011134e-06,1793254827481398272
+54,0.900000000,BASELINE,783.340724082,760,737.659275918,720,687,651,917,799.340724082,839,657.659275918,635.340724082,657.340724082,0.400956330808,-0.0153671580179,0.0698104498368,0.999999929891,0.000222801677759,-0.000300925853642,4.56927372765e-06,1793254827498064896
+55,0.916666667,BASELINE,783.921166403,760,737.078833597,720,687,651,917,799.921166403,839,657.078833597,635.921166403,657.921166403,0.400955582146,-0.0153681133139,0.0698095334066,0.999999929779,0.000221156557327,-0.000302504436515,4.79966826924e-06,1793254827514731520
+56,0.933333333,BASELINE,783.50421109,760,737.49578891,720,687,651,917,800,839,657.49578891,636,657.50421109,0.400956285445,-0.0153676124456,0.0698106719524,0.999999930377,0.000220677330867,-0.00030087567779,4.53908135949e-06,1793254827531397888
+57,0.950000000,BASELINE,783.069390934,760,738,720,687,651,917,800,839,658,636,657,0.40095691393,-0.0153670613063,0.0698117872941,0.999999930873,0.000220581550107,-0.000299297374088,4.26027982791e-06,1793254827548064256
+58,0.966666667,BASELINE,783.642224852,760,738,720,687,651,917,800,839,658,636,657,0.400955344063,-0.01536780581,0.0698103911319,0.999999929838,0.000221938341603,-0.00030174224973,4.40916182481e-06,1793254827564731136
+59,0.983333333,BASELINE,783.776505208,760,738,720,687,651,916.776505208,800,839,658,636,657.223494792,0.400954464528,-0.0153684038653,0.0698096790416,0.99999992927,0.000222497678405,-0.000303206198821,4.53828923986e-06,1793254827581397504
+60,1.000000000,BASELINE,783.181200873,760,738,720,687,651,916.181200873,800,839,658,636,657.818799127,0.400954733441,-0.0153687582869,0.0698101049841,0.999999929491,0.000221730356931,-0.000303038263072,4.63455263769e-06,1793254827598064128
+61,1.016666667,BASELINE,783.402269238,760,738,720,687,651,916.402269238,800,839.402269238,658,636,657.597730762,0.400955313333,-0.0153686888577,0.0698103711711,0.999999929729,0.000221059279642,-0.000302741884284,4.7280919301e-06,1793254827614731264
+62,1.033333333,BASELINE,783.980560966,760,738,720,687,651,916.980560966,800,839.980560966,658,636,657.019439034,0.400956029302,-0.0153684339625,0.0698105674534,0.999999929974,0.000220430316336,-0.000302389302195,4.8204392195e-06,1793254827631398656
+63,1.050000000,BASELINE,784,760,737.444045283,720,687,651,917,800,839.444045283,658,635.444045283,657,0.400956183303,-0.0153675729124,0.0698107584976,0.999999929851,0.000221907177753,-0.000301713633261,4.84743564329e-06,1793254827648065024
+64,1.066666667,BASELINE,783.865783025,760,737,720,687,651,917,800,839.134216975,657.865783025,635.134216975,657,0.400956498942,-0.015367072124,0.0698108312047,0.999999929877,0.000222705276395,-0.000301039956141,4.84179213805e-06,1793254827664731904
+65,1.083333333,BASELINE,783.277474846,760,737,720,687,651,917,800,839.722525154,657.277474846,635.722525154,657,0.400957427582,-0.0153678615291,0.0698105041629,0.999999930454,0.00022095912324,-0.00030041103965,4.73340986895e-06,1793254827681398272
+66,1.100000000,BASELINE,783,760,737.306003048,720,687,651,917,800,839.693996952,657,636,657,0.400957817899,-0.0153682833302,0.0698109951458,0.999999930699,0.000220614925985,-0.000299845968632,4.75594896821e-06,1793254827698064896
+67,1.116666667,BASELINE,783,760,737.88516901,720,687,651,917,800,839.11483099,657,636,657,0.400957727666,-0.0153683769785,0.0698122163634,0.99999993065,0.000221522227337,-0.00029933789125,4.89535900874e-06,1793254827714731264
+68,1.133333333,BASELINE,783,760,738,720,687,651,917,800,839,657.461387635,635.538612365,657.461387635,0.400957205915,-0.0153679711868,0.0698121687684,0.999999930304,0.000222642985705,-0.000299662168066,4.89303188695e-06,1793254827731397888
+69,1.150000000,BASELINE,783.037618973,760,737.962381027,720,687,650.962381027,917,800,839,658,635,657.962381027,0.400956618016,-0.0153674638572,0.0698118114317,0.999999929907,0.000223758433261,-0.00030015633429,4.86002646597e-06,1793254827748064768
+70,1.166666667,BASELINE,783.624681067,760,737.375318933,720,687,650.375318933,917,800,839,658,635,657.375318933,0.400956622625,-0.0153672774786,0.0698115130781,0.999999929857,0.000224025313366,-0.000300125381979,4.89089948245e-06,1793254827764731392
+71,1.183333333,BASELINE,784,760,737.208980188,720,687,650.208980188,917,800,839,657.791019812,635.208980188,657.208980188,0.400956204696,-0.0153675719545,0.0698110119236,0.999999929776,0.000223687784323,-0.000300645787948,4.87840365985e-06,1793254827781398016
+72,1.200000000,BASELINE,784,760,737.788381981,720,687,650.788381981,917,800,839,657.211618019,635.788381981,657.788381981,0.400955037812,-0.0153687187545,0.0698101513008,0.999999929639,0.0002222789279,-0.000302143487605,4.78903569859e-06,1793254827798064640
+73,1.216666667,BASELINE,784,760,738,720,687,651,917,800,839.366573134,657.366573134,636,658,0.400955290248,-0.015368722819,0.0698103692658,0.999999929816,0.000221710743273,-0.000301976357495,4.71140730308e-06,1793254827814731520
+74,1.233333333,BASELINE,784,760,738,720,687,651,917,800,839.944067666,657.944067666,636,658,0.400956359342,-0.0153680693682,0.0698112078363,0.999999930174,0.000221626270308,-0.000300851305978,4.6405337058e-06,1793254827831398144
+75,1.250000000,BASELINE,784,760,738,720.520722391,687,651,917,800,839.479277609,657.479277609,635.479277609,658,0.400956975532,-0.0153674900158,0.0698116115837,0.999999930186,0.000223188383916,-0.000299653046322,4.74615106073e-06,1793254827848064512
+76,1.266666667,BASELINE,784,760,738,720.900919171,687,651,917,800,839.099080829,657,635.099080829,657.900919171,0.400957413838,-0.0153669258974,0.0698118704417,0.999999930221,0.000224303277158,-0.000298701831962,4.79490830564e-06,1793254827864731136
+77,1.283333333,BASELINE,784,760,738,720.313723851,687,651,917,800,839.686276149,657,635.686276149,657.313723851,0.400957215086,-0.0153663976806,0.0698116452342,0.999999930569,0.00022234506348,-0.000299006344913,4.47030640357e-06,1793254827881398016
+78,1.300000000,BASELINE,784,760,738,720.269977535,687,651,917,800,839.730022465,657.269977535,635.730022465,657.269977535,0.400957626171,-0.0153669104297,0.0698117680733,0.999999930847,0.000221392943515,-0.000298781282822,4.49745550416e-06,1793254827898064896
+79,1.316666667,BASELINE,784,760,738,720.849670674,687,651,917,800,839.150329326,657.849670674,635.150329326,657.849670674,0.400958736858,-0.0153686173647,0.0698122901881,0.999999931049,0.000221595004611,-0.000297948697375,4.92812995731e-06,1793254827914732032
+80,1.333333333,BASELINE,784,760,737.574689438,720.574689438,687,651,917,800,839,658,635.425310562,657.574689438,0.400958312376,-0.0153676978133,0.0698123406257,0.999999930726,0.000223013327203,-0.000297979154762,4.72877720157e-06,1793254827931398656
+81,1.350000000,BASELINE,784,760,737.000468633,720.000468633,687,651,917,800,839,658,635.999531367,657.000468633,0.4009573504,-0.0153658586734,0.0698122259192,0.999999930215,0.000224857488746,-0.000298311781674,4.3088385989e-06,1793254827948065024
+82,1.366666667,BASELINE,783.422757905,760,737.577242095,720,687,651,917,800,839,658,636,657.577242095,0.400957551083,-0.0153674075117,0.0698120456037,0.999999930369,0.00022379849453,-0.000298590289962,4.545399393e-06,1793254827964731136
+83,1.383333333,BASELINE,783,760,737.841727601,720,687,650.841727601,917,800,839.158272399,658,636,657.841727601,0.400957821796,-0.0153685648042,0.0698118790149,0.999999930515,0.000222952407716,-0.000298731395994,4.75079372108e-06,1793254827981397504
+84,1.400000000,BASELINE,783,760,737.251648304,720,687,650.251648304,917,800,839.748351696,658,636,657.251648304,0.40095828098,-0.0153686463114,0.0698117500221,0.999999930641,0.000222693654975,-0.000298497754792,4.8696952045e-06,1793254827998064384
+85,1.416666667,BASELINE,783.33129499,760,737.33129499,720,687,650.33129499,917,800,839.66870501,658,636,657.33129499,0.400958053347,-0.0153688779889,0.069811822011,0.999999930913,0.000221638620726,-0.000298372100956,4.96296819363e-06,1793254828014731264
+86,1.433333333,BASELINE,783.908932108,760,737.908932108,720,687,650.908932108,917,800,839.091067892,658,636,657.908932108,0.400957315014,-0.0153692213291,0.0698120434446,0.99999993129,0.00021999149278,-0.000298326743662,5.03718451014e-06,1793254828031397888
+87,1.450000000,BASELINE,784,760,738,720,687,651,917,800,839,658,636,657.516055076,0.400956944044,-0.0153687984924,0.0698114849569,0.99999993048,0.000221804381342,-0.000299698455215,4.91184269673e-06,1793254828048064512
+88,1.466666667,BASELINE,783.939944131,760,737.939944131,720,687,651,917,800,839,658,636,657.060055869,0.400956616742,-0.0153683192077,0.0698108216286,0.99999992957,0.000224013860046,-0.000301091497737,4.75328007613e-06,1793254828064730880
+89,1.483333333,BASELINE,783.349805197,760,737.349805197,720,687,651,917,800,839,658,636,657.650194803,0.400956067991,-0.0153686074077,0.0698105213515,0.9999999298,0.000224007906234,-0.000300331825351,4.63116335908e-06,1793254828081397760
+90,1.500000000,BASELINE,783,760,737.236013089,720.236013089,687,651,917,800,839,658,636,658,0.400955719194,-0.0153685876263,0.0698104656216,0.999999929906,0.000223963325764,-0.000300009878225,4.6547251068e-06,1793254828098064384
+91,1.516666667,BASELINE,783,760,737.815542634,720.815542634,687,651,917,800,839,658,636,658,0.40095566143,-0.0153681195788,0.0698107658293,0.999999929833,0.000223862524297,-0.000300325039174,4.89032150259e-06,1793254828114731008
+92,1.533333333,BASELINE,783,760,738,721,687,651,917,800.391574344,839,658,636,658,0.400956547688,-0.0153682096025,0.0698115333222,0.999999930375,0.000222376083063,-0.000299621658455,5.06058065725e-06,1793254828131397888
+93,1.550000000,BASELINE,783,760,738,721,687,651,917,800.965972982,839,658,636,658,0.400957874706,-0.0153685601871,0.0698125189886,0.999999931199,0.000220242692869,-0.000298442725257,5.20033416976e-06,1793254828148065024
+94,1.566666667,BASELINE,783.537856309,760,738,721,687,651,917,800.462143691,839,658,636,658,0.400958738985,-0.0153685965268,0.0698129262986,0.99999993151,0.000220843869327,-0.000296953365298,5.07294406934e-06,1793254828164731392
+95,1.583333333,BASELINE,784,760.11417948,738,721,687,651,917,800,839,657.88582052,636,658,0.400959154393,-0.0153685132435,0.0698129745326,0.999999931513,0.000221837425415,-0.000296205349727,4.94103734084e-06,1793254828181398016
+96,1.600000000,BASELINE,784,760.709895245,738,721,687,651,917,800,839,657.290104755,636,658,0.400957799642,-0.0153680089193,0.0698116620041,0.999999930353,0.000223759581305,-0.00029866629065,4.86102654439e-06,1793254828198064640
+97,1.616666667,BASELINE,784,760.703229547,738,720.703229547,687.296770453,651,917,800,839.296770453,657,636,658,0.400957082525,-0.0153678453526,0.0698111614598,0.999999929896,0.000224618353304,-0.000299552806456,4.81751991792e-06,1793254828214731264
+98,1.633333333,BASELINE,784,760.124746373,738,720.124746373,687.875253627,651,917,800,839.875253627,657,636,658,0.400956970691,-0.0153680052538,0.0698114317006,0.999999930112,0.000224467695961,-0.000298944781205,4.80866529391e-06,1793254828231397888
+99,1.650000000,BASELINE,783.549370292,760,738,720,687.549370292,651,917,800,839.549370292,657.450629708,636,658,0.400957832417,-0.0153692879079,0.0698121445686,0.999999930675,0.00022301167954,-0.00029814409572,5.06722442175e-06,1793254828248064256
+100,1.666666667,BASELINE,783.025780067,760,738,720,687,651,917,800,839.025780067,658,636,658,0.400958863179,-0.015370821302,0.0698129395841,0.999999931289,0.000221321087287,-0.000297336935182,5.39392868067e-06,1793254828264730880
+101,1.683333333,BASELINE,783.614658878,760,738,720,687,651,917,800,839.614658878,658,636,658,0.400957739701,-0.0153710891546,0.0698128708569,0.999999930999,0.000222345681,-0.000297545298769,5.60322497297e-06,1793254828281397760
+102,1.700000000,BASELINE,784,760.200288824,738,720,687,651,917,800,840,657.799711176,635.799711176,657.799711176,0.400957037247,-0.0153707226639,0.0698125855697,0.999999930766,0.000222592728749,-0.000298141033359,5.62185383687e-06,1793254828298064640
+103,1.716666667,BASELINE,784,760.779767894,738,720,687,651,917,800,840,657.220232106,635.220232106,657.220232106,0.400957131881,-0.0153691552236,0.0698118902876,0.999999930643,0.000221367712985,-0.000299470145367,5.27950782215e-06,1793254828314731264
+104,1.733333333,BASELINE,784,760.643856671,738,720,687,651,917,800,839.643856671,657,635.356143329,657.356143329,0.400957488385,-0.015368728344,0.0698119860085,0.999999930726,0.000221206710181,-0.000299315251072,5.08401914198e-06,1793254828331398144
+105,1.750000000,BASELINE,784,760.069383829,738,720,687,651,917,800,839.069383829,657,635.930616171,657.930616171,0.400958005426,-0.0153690006718,0.0698125666445,0.999999930936,0.000221697987991,-0.000298250604147,4.97855960481e-06,1793254828348065024
+106,1.766666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839,658,636,657,0.400955723458,-0.0153705218053,0.069811131264,0.999999930625,0.000220596748519,-0.000300100235803,5.23004935785e-06,1793254828379226368
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.592421292,658,636,657,0.400955861365,-0.0153681014379,0.0698114065843,0.999999930206,0.000222503369681,-0.000300094701674,4.81757191367e-06,1793254828395893504
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.81858207,760,738,720,687,651,917,800,839.81858207,658,636,657,0.40095623275,-0.015366812534,0.0698117135326,0.999999930046,0.000223612128037,-0.000299808797571,4.61014601983e-06,1793254828412560128
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.237136699,760,738,720,687,651,917,800,839.237136699,658,636,657,0.400957118951,-0.0153680185124,0.0698120902212,0.99999993046,0.000222961595281,-0.000298904676271,4.85485974045e-06,1793254828429225984
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,839,658,636,657.339540895,0.400957766245,-0.0153694065836,0.0698126099852,0.999999931127,0.000221216015043,-0.000297965955295,5.06871357511e-06,1793254828445892608
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,839,658,636,657.91293473,0.400958248995,-0.015370920068,0.0698132282898,0.999999931962,0.000218716239762,-0.000297003404441,5.26131318048e-06,1793254828462559232
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760.488537385,738,720.488537385,687,651,917,800,839,657.511462615,636,657.511462615,0.400958518248,-0.0153711173155,0.0698132789072,0.999999932002,0.000218983557962,-0.00029667137077,5.33025986449e-06,1793254828479225856
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760.933797526,738,720.933797526,687,651,917,800,839.066202474,657.066202474,636,657,0.400958500857,-0.0153709974032,0.0698131046804,0.999999931799,0.000219721448654,-0.000296808114977,5.33530883458e-06,1793254828495892736
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760.342920968,738,720.342920968,687,651,917,800,839.657079032,657.657079032,636,657,0.400956514641,-0.0153702314222,0.0698119539505,0.9999999308,0.00022026272773,-0.000299765464672,5.00939218042e-06,1793254828512559360
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.242315765,760,738,720.242315765,687,651,917,800,839.757684235,658,636,657,0.400957465822,-0.0153701731737,0.0698123687005,0.999999930747,0.000220283323357,-0.000299927697617,5.0178978376e-06,1793254828529226240
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.819752608,760,738,720.819752608,687,651,917,800,839.180247392,658,636,657,0.400962479403,-0.0153710937147,0.0698149484989,0.999999932002,0.000219583817223,-0.000296224302601,5.48890733513e-06,1793254828545892864
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,760,738,720.617980701,687,651,917,800,839,658,636,657,0.400981188281,-0.0153711409451,0.0698238466601,0.999999936023,0.000220585157575,-0.000281528194661,6.11035404627e-06,1793254828562559232
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,760,738,720.062598284,687,651,917,800,839,658,636,657,0.401006112183,-0.0153707918611,0.0698356121402,0.999999940974,0.000222358354218,-0.000261843513761,6.80007029088e-06,1793254828579225600
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.541924648,658,636,657.541924648,0.401052837447,-0.0153740856078,0.0698529887066,0.999999948202,0.000222036726889,-0.000232863871336,8.3998622305e-06,1793254828595892480
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.855180546,760,737.855180546,720,687,651,917,800,840,657.855180546,635.855180546,657.855180546,0.401106029598,-0.0153776196147,0.0698704332244,0.999999954167,0.000221436212753,-0.000206237969225,9.85188919427e-06,1793254828612559104
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.275897206,760,737.275897206,720,687,651,917,800,840,657.275897206,635.275897206,657.275897206,0.401170314294,-0.0153804861502,0.0698859432502,0.999999957478,0.000220797353398,-0.000190215628265,1.051379133e-05,1793254828629225984
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.302698878,760,737.302698878,720,687,651,917,800,839.697301122,657,635.302698878,657,0.401242198764,-0.0153832668643,0.0698977741557,0.999999960119,0.000221361379234,-0.000175083821857,1.0367948989e-05,1793254828645892864
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.88066994,760,737.88066994,720,687,651,917,800,839.11933006,657,635.88066994,657,0.401320994409,-0.0153859695329,0.0699062592947,0.999999962164,0.000223019300263,-0.000160761862135,9.48754958484e-06,1793254828662559232
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,760,737.544756402,720,687,651,917,800,839,657,635.544756402,657.455243598,0.401415949663,-0.015390655624,0.0699097204579,0.99999996393,0.000219811261645,-0.00015415466032,7.69385184905e-06,1793254828679225856
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.970210457,760,737.029789543,720,687,651,917,800,839.029789543,657,635.029789543,658,0.401515862126,-0.0153957821246,0.069911718336,0.999999965533,0.00021544195769,-0.000149956111705,5.62104916557e-06,1793254828695892224
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.379543306,760,737.620456694,720,687,651,917,800,839.620456694,657,635.620456694,658,0.401629947814,-0.015399484461,0.0699107764515,0.999999965549,0.000213045243809,-0.00015331537256,2.76723584278e-06,1793254828712558848
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.207173451,760,738,720,687,651,917,800,840,657.207173451,636,658,0.401756431005,-0.0154046523257,0.0699109251518,0.999999966328,0.000208977708931,-0.000153859303137,-1.05701276288e-07,1793254828729225472
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.78678841,760,738,720,687,651,917,800,840,657.78678841,636,658,0.401905201519,-0.0154124548115,0.0699130344272,0.999999968461,0.000201906492678,-0.000149342035375,-3.01301747085e-06,1793254828745892352
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.636425005,658,636,657.636425005,0.402075993148,-0.0154198333379,0.0699168104761,0.99999997104,0.000194352560796,-0.000141794460865,-6.47297201761e-06,1793254828762559232
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,651,917,800,839.061284207,658,636,657.061284207,0.402259598968,-0.0154269651614,0.0699215564276,0.999999973777,0.000186517733991,-0.000132483537804,-1.02545093969e-05,1793254828779226368
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.475447768,760,738,720,687,651,917,800,839.524552232,658,636,657.524552232,0.402470106266,-0.015434598876,0.0699228960735,0.999999975337,0.000179728140232,-0.000129611257032,-1.49764613307e-05,1793254828795893248
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.110247103,760,738,720.110247103,687,651,917,800,840,658,636,657.889752897,0.402691518783,-0.015442669075,0.0699244098395,0.999999977086,0.000172014747376,-0.000125874515843,-1.98584663591e-05,1793254828812560384
+133,2.216666667,POSE1_TO_POSE2_PRESS,783.689908104,760,738,720.689908104,687,651,917,800,840,658,636,657.310091896,0.402945703331,-0.0154523428926,0.0699283947132,0.999999980281,0.000159837196301,-0.000115187481894,-2.49444069903e-05,1793254828829226496
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,738,720.730603518,687,651,917,800,840,658,636,657,0.403220165344,-0.0154614461187,0.0699356932229,0.999999988648,0.000106739264283,-0.000102078238277,-2.98340677767e-05,1793254828845892608
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,760,738,720.151313749,687,651,917,800,840,658,636,657,0.403517953001,-0.015469892979,0.0699468034879,0.99999999567,6.5696283516e-06,-8.61826681757e-05,-3.44979425967e-05,1793254828862559232
+136,2.266666667,POSE1_TO_POSE2_PRESS,783.575959621,760,738,720,687,651,917,800.424040379,840,658,636,657.424040379,0.403839457171,-0.0154786287788,0.0699522370957,0.999999995991,-1.74904231566e-05,-7.82337351002e-05,-3.98876441659e-05,1793254828879225600
+137,2.283333333,POSE1_TO_POSE2_PRESS,783.001996977,760,738,720,687,651,917,800.998003023,840,658,636,657.998003023,0.404169346463,-0.0154874667349,0.0699556636837,0.999999996185,-1.46414283997e-05,-7.3094388333e-05,-4.55339665398e-05,1793254828895892224
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800.41397643,839.41397643,657.41397643,636,657.41397643,0.404545072626,-0.015484837835,0.0699622678792,0.999999996585,-2.08269512159e-05,-6.19136735783e-05,-5.06228822391e-05,1793254828912559104
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,839.171618273,657,635.828381727,657,0.404931930577,-0.0154802566327,0.0699683648109,0.999999997533,-4.4340923608e-07,-5.15223124227e-05,-4.77366432658e-05,1793254828929226240
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,839.751327764,657,635.248672236,657,0.405344878208,-0.0154711282506,0.0699732291371,0.999999995277,8.31937398142e-05,-4.3058114195e-05,-2.58909047922e-05,1793254828945893888
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,840,657.328296524,635.328296524,657,0.405763630884,-0.0154658390951,0.0699669081302,0.999999992397,0.000108289117987,-5.46006308419e-05,-2.23321216347e-05,1793254828962560256
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,840,657.903206532,635.903206532,657,0.406186744303,-0.0154634339324,0.0699521847991,0.99999999218,8.94084378306e-05,-8.11720163549e-05,-3.25103375051e-05,1793254828979226368
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.478990088,760,738,720,687,651,917,800,840,658,636,657,0.406657318071,-0.0154709392535,0.06993705025,0.999999991922,6.53018764961e-05,-0.000102065657921,-3.8400003936e-05,1793254828995892736
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,760,738,719.943589413,687,651,917,800,840,658,636,657,0.4071457978,-0.0154799082976,0.0699240551893,0.99999999125,4.19307135129e-05,-0.000117846930027,-4.3053296209e-05,1793254829012559104
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,760,738,719.352324731,687,651,917,800,840,658,636,657,0.407712952368,-0.0154837324387,0.0699321348991,0.999999993777,3.55632297835e-05,-9.60539472557e-05,-4.42158229015e-05,1793254829029225728
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,738,719.233726629,687,651,917,800,840,658,636,657,0.408297463661,-0.0154857551647,0.0699430193963,0.999999995925,3.37943473895e-05,-7.11493922335e-05,-4.41120178708e-05,1793254829045892608
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,760,738,719.812090742,687,651,917,800,840,658,636,657,0.408907567972,-0.0154851216457,0.0699580396427,0.999999997491,3.88062519681e-05,-4.16567244765e-05,-4.21409656348e-05,1793254829062559744
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,760,738,719.611938691,686.611938691,651,917,800,840,658,636,657,0.409507622137,-0.0154842475218,0.0699564594148,0.999999997557,3.61182434173e-05,-4.15708556644e-05,-4.30401001355e-05,1793254829079226368
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,760,738,719.037120051,686.037120051,651,917,800,840,658,636,657,0.410102839579,-0.015483257605,0.0699468900873,0.999999996983,2.97245954645e-05,-5.56372238274e-05,-4.53205329632e-05,1793254829095893248
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,760,738,719,686.55027731,651,917,800,840,658,636,657,0.410758906115,-0.0154853482958,0.0699422743357,0.999999996347,2.60715599229e-05,-6.61225379721e-05,-4.74837257054e-05,1793254829112559616
+151,2.516666667,POSE1_TO_POSE2_PRESS,784.136459074,760,738,719.136459074,687,651,917,800,840,657.863540926,636,657,0.411439272589,-0.0154881678278,0.0699459560787,0.999999996675,2.23535270949e-05,-6.15182193347e-05,-4.86447065278e-05,1793254829129226240
+152,2.533333333,POSE1_TO_POSE2_PRESS,784.715875975,760,738,719.715875975,687,651,917,800,840,657.284124025,636,657,0.412184882706,-0.0154926628958,0.0699754621343,0.999999998718,1.78103542547e-05,-8.73415135717e-06,-4.65786939781e-05,1793254829145892864
+153,2.550000000,POSE1_TO_POSE2_PRESS,785,760,738,719.70531827,686.70531827,651,917,800.29468173,840,657.29468173,636,657.29468173,0.412941562261,-0.0154961389617,0.0700023796713,0.999999998271,1.54392450682e-05,3.44677625325e-05,-4.50824948393e-05,1793254829162559488
+154,2.566666667,POSE1_TO_POSE2_PRESS,785,760,738,719.127100479,686.127100479,651,917,800.872899521,840,657.872899521,636,657.872899521,0.413708892666,-0.0154986345672,0.0700268065979,0.999999996568,1.51580456394e-05,6.84499517792e-05,-4.41345570217e-05,1793254829179226112
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,760,738,719,686.444347383,651,917,801,840,657.555652617,636,658,0.414430185696,-0.0154976604899,0.0700078950763,0.999999998466,9.70249255398e-06,2.85175895456e-05,-4.64896624986e-05,1793254829195892736
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,760,738,719,687,651,917.0145006,801,840,657.0145006,636,657.9854994,0.415140569111,-0.0154956998113,0.0699764517349,0.99999999823,3.01089163929e-06,-3.23802463219e-05,-4.98290021693e-05,1793254829212559616
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,760,738,719,687,651,917.609171604,801,840,657.609171604,636,657.390828396,0.415933424253,-0.0154933777485,0.0699321495873,0.999999993567,5.1937297968e-06,-9.88935510749e-05,-5.53135009614e-05,1793254829229226240
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,760.198219072,738,718.801780928,686.801780928,651,917.801780928,801,840,657.801780928,636,657,0.416753232563,-0.0154938158224,0.0699117114517,0.99999998986,2.43399473898e-06,-0.000129777585761,-5.85743861391e-05,1793254829245892608
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,760.776484476,738,718.223515524,686.223515524,651,917.223515524,801,840,657.223515524,636,657,0.417624718256,-0.0154995459193,0.0699370278979,0.99999999403,-9.80215860621e-06,-9.23494548913e-05,-5.75719267866e-05,1793254829262559232
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,760.64663163,738,718,686.35336837,651,917,800.64663163,840,657,636,657.35336837,0.418505649373,-0.0155035017397,0.0699632779659,0.999999996832,-1.54926184138e-05,-5.45407043435e-05,-5.58725148486e-05,1793254829279225856
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,760.070618197,738,718,686.929381803,651,917,800.070618197,840,657,636,657.929381803,0.419392531688,-0.0155063396505,0.0699901162753,0.999999998275,-1.70588649834e-05,-1.64921400364e-05,-5.37339774515e-05,1793254829295892480
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,760,737.498857541,718,686.498857541,651,917,800.501142459,840,657,636,657.498857541,0.420302131343,-0.0155104529466,0.0700138474751,0.999999998,-2.51713194217e-05,2.37305505733e-05,-5.2939767776e-05,1793254829312558848
+163,2.716666667,POSE1_TO_POSE2_PRESS,785.075533161,760,737.075533161,718,686,651,917,800.924466839,840,657,636,657,0.421215002295,-0.0155136170701,0.0700323250232,0.999999996542,-3.27638979251e-05,5.53549960326e-05,-5.27120546655e-05,1793254829329225472
+164,2.733333333,POSE1_TO_POSE2_PRESS,785.672167841,760,737.672167841,718,686,651,917,800.327832159,840,657,636,657,0.422128542255,-0.0155090034195,0.0700175529467,0.999999997692,-3.04594159676e-05,2.55645052905e-05,-5.50966775035e-05,1793254829345892096
+165,2.750000000,POSE1_TO_POSE2_PRESS,785.740851344,760.259148656,738,718,686.259148656,651,917,800.259148656,840.259148656,657,636,657,0.423001199223,-0.0155044741271,0.0699702755568,0.99999999654,-2.83582774065e-05,-5.0198349319e-05,-5.99710341875e-05,1793254829362558976
+166,2.766666667,POSE1_TO_POSE2_PRESS,785.165644328,760.834355672,738,718,686.834355672,651,917,800.834355672,840.834355672,657,636,657,0.42382399531,-0.0155000477173,0.0698833546019,0.999999980777,-2.6505136322e-05,-0.000182029219638,-6.78818762381e-05,1793254829379225856
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.590321599,760.590321599,738,717.590321599,686.590321599,651,917,801,841,657,636,657.409678401,0.424754350283,-0.015500056393,0.0698667887556,0.999999977035,-2.91599801508e-05,-0.000199982261164,-7.13178643069e-05,1793254829395892480
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.014952105,760.014952105,738,717.014952105,686.014952105,651,917,801,841,657,636,657.985047895,0.425728206521,-0.0155018588032,0.0698786774653,0.999999982003,-3.36380419747e-05,-0.000171878335243,-7.29440339242e-05,1793254829412559104
+169,2.816666667,POSE1_TO_POSE2_PRESS,785.145153651,760.572576825,738,717,686.572576825,651,917.572576825,801,841,657,636,657.427423175,0.42671327154,-0.0155048308097,0.0699420808565,0.999999993603,-3.91818355739e-05,-8.29198293438e-05,-6.62047408578e-05,1793254829429225728
+170,2.833333333,POSE1_TO_POSE2_PRESS,786,760.841133161,738,717,686.841133161,651,918,801,840.841133161,657.158866839,636,657.158866839,0.427717004996,-0.0155087735849,0.07000146534,0.99999999723,-4.37552814985e-05,1.59011446669e-06,-6.01913919461e-05,1793254829445892352
+171,2.850000000,POSE1_TO_POSE2_PRESS,786,760.259008264,738,717,686.259008264,651,918,801,840.259008264,657.740991736,636,657.740991736,0.428769678693,-0.0155152195744,0.0700464807265,0.999999994905,-4.56677418641e-05,6.99223561009e-05,-5.67067658823e-05,1793254829462558976
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.36294917,760,737.681474585,717,686,651,917.681474585,800.681474585,840,657.681474585,636,657.681474585,0.429759922955,-0.0155190114635,0.0700559329088,0.99999999373,-4.70024080391e-05,8.45030261447e-05,-5.6482931254e-05,1793254829479225600
+173,2.883333333,POSE1_TO_POSE2_PRESS,784.215242452,760,737.107621226,717,686,651,917.107621226,800.107621226,840,657.107621226,636,657.107621226,0.430700124129,-0.0155206758423,0.070036877851,0.999999995553,-4.78739180738e-05,5.59967755857e-05,-5.8872926559e-05,1793254829495892480
+174,2.900000000,POSE1_TO_POSE2_PRESS,784.466864204,760.466864204,737.466864204,717,686.466864204,651,917,800.466864204,840.466864204,657,636,657,0.431554131456,-0.0155162568828,0.0699586344688,0.999999993912,-4.47652168507e-05,-7.75215473658e-05,-6.45238313887e-05,1793254829512559360
+175,2.916666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686.957320384,651,917.042679616,801,841,657.042679616,636,657.042679616,0.432399822177,-0.0155110784671,0.0698757110872,0.999999972665,-4.16665525548e-05,-0.000219040958587,-7.03892691315e-05,1793254829529226496
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686.366292443,651,917.633707557,801,841,657.633707557,636,657.633707557,0.433394287991,-0.0155141840985,0.0699081957368,0.999999984781,-5.05010946677e-05,-0.000151920786592,-6.93400602246e-05,1793254829545892864
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.220282682,761,738,717,686.220282682,651,917.779717318,801,841,657.779717318,636,658,0.434401950128,-0.0155169776561,0.0699491337105,0.999999993177,-5.74880301358e-05,-7.65062900858e-05,-6.69913735305e-05,1793254829562559232
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.799600333,761,738,717,686.799600333,651,917.200399667,801,841,657.200399667,636,658,0.435431120884,-0.0155192625707,0.0700038496172,0.999999996079,-6.14635845898e-05,1.24269941002e-05,-6.25246901361e-05,1793254829579225600
+179,2.983333333,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841.37555041,657.37555041,636.37555041,658,0.436416394316,-0.0155231013784,0.070031778711,0.999999994088,-6.50612536717e-05,6.27952236259e-05,-6.04016021985e-05,1793254829595892224
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917,801,841.949719431,657.949719431,636.949719431,658,0.43737845156,-0.0155277619988,0.0700455409694,0.999999991583,-6.84590691336e-05,9.27674174389e-05,-5.95179798849e-05,1793254829612558848
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,761,738,717,687,651,917.536392612,801,841.463607388,657.463607388,636.463607388,658,0.438235732837,-0.0155284462534,0.0700033026933,0.999999994224,-7.67713794537e-05,4.03175127314e-05,-6.35069906987e-05,1793254829629225728
+182,3.033333333,POSE1_TO_POSE2_PRESS,785.877617932,761,738,717,687,651,917.877617932,801,841,657,636,658,0.439071082026,-0.015526742835,0.0699499462736,0.99999999372,-8.17691418197e-05,-3.53327046259e-05,-6.80125582277e-05,1793254829645892608
+183,3.050000000,POSE1_TO_POSE2_PRESS,785.298656593,761,738,717,687,651,917.298656593,801,841,657,636,658,0.439862124042,-0.0155175553505,0.0698751623609,0.999999980603,-7.26413898677e-05,-0.000168025609928,-7.27005687011e-05,1793254829662559232
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,760.719778506,738,717,687,651,917,801,841.280221494,657,636,657.719778506,0.440729972288,-0.0155147660369,0.0698531298926,0.999999973283,-7.10127867129e-05,-0.000206776284315,-7.50675595767e-05,1793254829679225856
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,760.140989158,738,717,687,651,917,801,841.859010842,657,636,657.140989158,0.441679655285,-0.0155187937889,0.0698873025594,0.999999983621,-7.73743099569e-05,-0.000145434236796,-7.49615720983e-05,1793254829695892480
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.433155068,760.433155068,738,716.566844932,686.566844932,651,917,801,841.566844932,657,636.433155068,657,0.442565845514,-0.0155276446521,0.0699289771006,0.999999989804,-8.89879110966e-05,-8.66671019769e-05,-7.04363387972e-05,1793254829712559360
+187,3.116666667,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.994010691,917,800.994010691,841,657,636.988021382,657,0.443430572371,-0.0155380033651,0.0699723498998,0.999999992244,-0.000102218723931,-2.98746381062e-05,-6.45813387056e-05,1793254829729225728
+188,3.133333333,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.403020348,917,800.403020348,841,657,635.806040697,657,0.444196039651,-0.0155439290768,0.0699456269205,0.999999988235,-0.00010820522264,-8.49631947823e-05,-6.78498542354e-05,1793254829745892352
+189,3.150000000,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.184247854,917,800,841.184247854,657.184247854,635.184247854,657.184247854,0.444955442647,-0.0155493068399,0.069911889426,0.999999980618,-0.000116254202673,-0.000141872257949,-7.15654306973e-05,1793254829762558976
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.763535644,917,800,841.763535644,657.763535644,635.763535644,657.763535644,0.44570184355,-0.0155535097648,0.0698631123284,0.999999968268,-0.000128725284463,-0.000202684621485,-7.62395370357e-05,1793254829779225856
+191,3.183333333,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.660253676,917,799.660253676,842,658,635.660253676,658,0.446416405228,-0.0155580673767,0.0698201422687,0.999999951645,-0.000133775303925,-0.000269548968896,-7.84689465486e-05,1793254829795892480
+192,3.200000000,POSE1_TO_POSE2_PRESS,786,761,738,716,686,650.086165486,917,799.086165486,842,658,635.086165486,658,0.447109005582,-0.0155628696355,0.0697811776479,0.99999992994,-0.000133706604402,-0.000340587700705,-7.90121127316e-05,1793254829812559360
+193,3.216666667,POSE1_TO_POSE2_PRESS,786,761,738,716,686.500170088,650.500170088,917,799,841.499829912,658,635.500170088,657.499829912,0.447766990871,-0.0155663771657,0.06974921616,0.999999909479,-0.000132748122281,-0.000396376747924,-7.94125634128e-05,1793254829829225984
+194,3.233333333,POSE1_TO_POSE2_PRESS,785.912682614,761,737.912682614,716.087317386,686.825365229,650.912682614,917,799,841.087317386,657.912682614,635.912682614,657.087317386,0.44842754355,-0.015573333642,0.069727149328,0.999999893077,-0.000136672785359,-0.000434690169973,-7.88125461051e-05,1793254829845892352
+195,3.250000000,POSE1_TO_POSE2_PRESS,785.333151674,761,737.333151674,716.666848326,685.666303347,650.333151674,917,799,841.666848326,657.333151674,635.333151674,657.666848326,0.449137027574,-0.0156010209271,0.0697538877681,0.999999907151,-0.000169009810175,-0.00038967325259,-7.27149002485e-05,1793254829862558976
+196,3.266666667,POSE1_TO_POSE2_PRESS,785.245137067,761,737.245137067,716.754862933,685.245137067,650,917,798.754862933,841.754862933,657,635,658,0.449814204283,-0.0156245386197,0.0697732390577,0.999999915314,-0.000190294106307,-0.000358431144459,-6.84567110852e-05,1793254829879225600
+197,3.283333333,POSE1_TO_POSE2_PRESS,785.82174607,761,737.82174607,716.17825393,685.82174607,650,917,798.17825393,841.17825393,657,635,658,0.450447695298,-0.0156424182283,0.0697826015127,0.99999991865,-0.000196633009141,-0.000345815203038,-6.66858179273e-05,1793254829895892224
+198,3.300000000,POSE1_TO_POSE2_PRESS,786,761,738,716,685.602185476,650,917.397814524,798,841,657,635,657.602185476,0.451024564929,-0.0156461508517,0.0697521141215,0.999999900156,-0.000208326207065,-0.000389735967438,-6.62863354665e-05,1793254829912559616
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,761,738,716,685.026358855,650,917.973641145,798,841,657,635,657.026358855,0.451576097954,-0.0156435530531,0.0697037949168,0.999999867734,-0.000222415318459,-0.000458955497779,-6.65005247285e-05,1793254829929226752
+200,3.333333333,POSE1_TO_POSE2_PRESS,785.438363794,761,738,716,685,649.438363794,917.438363794,797.438363794,841,657,635,657.561636206,0.452073373023,-0.015642705858,0.0696594164895,0.99999984164,-0.000212211080406,-0.000516261893957,-7.18343840537e-05,1793254829945893376
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+202,3.366666667,POSE1_TO_POSE2_PRESS,785.722450437,761,738,716,685,649,917,796.277549563,841.722450437,657.722450437,635,658,0.453049223189,-0.0156435942464,0.0696127867731,0.999999799659,-0.000226701810501,-0.000585985368516,-7.68748428059e-05,1793254829979226624
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,761,738,716,685,649,917.29916809,796,842,657.70083191,635,658,0.453529191266,-0.0156478266553,0.0696130598104,0.99999979739,-0.00023076334393,-0.000588389514288,-7.59347214672e-05,1793254829995892736
+204,3.400000000,POSE1_TO_POSE2_PRESS,786,761,738,716,685,649,917.876965311,796,842,657.123034689,635,658,0.454005477138,-0.0156549199717,0.0696237657758,0.999999808789,-0.000221572699654,-0.000572651835743,-7.34623904691e-05,1793254830012558848
+205,3.416666667,POSE1_TO_POSE2_PRESS,786,761,737.545590514,716,685,649,917.545590514,796,842,657.454409486,635,657.545590514,0.454428298542,-0.0156582668162,0.0696235851734,0.999999801863,-0.000229940962705,-0.00058139180554,-7.33748269068e-05,1793254830029225472
+206,3.433333333,POSE1_TO_POSE2_PRESS,786,761,737.032509158,716,685,649,917,795.967490842,842,658,635,657.032509158,0.454832434664,-0.0156604891954,0.069619011047,0.999999788601,-0.000242912933646,-0.000598577831111,-7.41381584111e-05,1793254830045892352
+207,3.450000000,POSE1_TO_POSE2_PRESS,786,761,737.623511012,716,685,649,917,795.376488988,842,658,635,657.623511012,0.455164062431,-0.0156608069093,0.0695895575915,0.999999755462,-0.000253362885863,-0.000647094185858,-7.84353774669e-05,1793254830062558976
+208,3.466666667,POSE1_TO_POSE2_PRESS,786,761,737.790127931,716,684.790127931,649,917,795,842.209872069,657.790127931,635,658,0.455495757382,-0.0156626079542,0.0695689353785,0.999999731657,-0.000261884670118,-0.000679252170874,-8.19697701986e-05,1793254830079225600
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+213,3.550000000,POSE1_TO_POSE2_PRESS,786.88650614,761,738,716,684.88650614,648.88650614,917,794,842,657.88650614,635,658,0.456978529182,-0.0156844317467,0.0695827774426,0.999999749187,-0.000265416194737,-0.000652739411145,-7.14904368092e-05,1793254830162559232
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,650.390355826,917,800,840,657.609644174,635.390355826,657,0.426957952525,-0.0153950704947,0.069789766182,0.999999932196,0.000167465819116,-0.000327136419516,2.33443645674e-05,1793254832273793536
+338,5.633333333,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,650,917,800,840,657.81547691,635,657.18452309,0.426044933971,-0.0153940664455,0.0698439377621,0.999999953511,0.000175617047651,-0.000247586904766,2.8921935299e-05,1793254832290460416
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,650.345752105,917,799.654247895,840,657.345752105,635.345752105,657.654247895,0.424178340187,-0.0153887694689,0.0698382375212,0.999999946729,0.000185195136915,-0.000267341577792,2.77956488824e-05,1793254832323793920
+341,5.683333333,POSE2_TO_POSE3_RETREAT,785,760,737,717,686,650.93726357,917,799.06273643,840,657.93726357,635.93726357,657.06273643,0.423241870305,-0.015390741887,0.0698100229117,0.999999936438,0.000181497134913,-0.000305941776914,2.41160828863e-05,1793254832340460288
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,785,760,737,718,686.903322015,650.903322015,917,800,840,657.096677985,635.096677985,658,0.421187046291,-0.0153799056615,0.0696691661768,0.999999830382,0.000175134406926,-0.000555335520346,1.28806000115e-05,1793254832373793280
+344,5.733333333,POSE2_TO_POSE3_RETREAT,785,760,737,718,686.329947176,650.329947176,917,800,840,657.670052824,635.670052824,658,0.420317494957,-0.0153853393786,0.0696947753838,0.999999861449,0.000173602370214,-0.000496778762435,1.32607040665e-05,1793254832390460160
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,785,760,737,718,686,650,917,800,839.161441329,657.161441329,636,657.161441329,0.418727476119,-0.0153911731351,0.0698246012356,0.999999941713,0.000182373696269,-0.00028754242505,2.51709221424e-05,1793254832423793664
+347,5.783333333,POSE2_TO_POSE3_RETREAT,785,760,737,718,686,650,917,799.579701759,839.420298241,657.420298241,635.579701759,657.420298241,0.417910242494,-0.0153912349732,0.0698560834173,0.99999995198,0.000184568319931,-0.000247384743897,2.78458833293e-05,1793254832440460544
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,784.72169567,760,737,719,686.27830433,650.27830433,917,800,840,658,636,657,0.414519603331,-0.0153832331475,0.0697624411238,0.999999909316,0.000193052394768,-0.000379156502906,1.84297754552e-05,1793254832507127296
+352,5.866666667,POSE2_TO_POSE3_RETREAT,785,760,737,719,686.304344426,650,917,800,840,657.695655574,635.695655574,657.304344426,0.413708567714,-0.0153793495547,0.0697414055173,0.999999891008,0.000197859939629,-0.000422567338361,1.64788818507e-05,1793254832523793920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,785,760,737,719,686.898374516,650,917,800,840,657.101625484,635.101625484,657.898374516,0.412941590276,-0.0153774432452,0.0697323715245,0.999999879561,0.000203455470756,-0.00044635930496,1.57345004124e-05,1793254832540460288
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,784.63286912,760,737,719,687,651,917,799.36713088,840,657.36713088,636,657.36713088,0.41102297966,-0.0153831965639,0.0698630344077,0.99999995627,0.000208813326715,-0.000207647176299,2.71888266761e-05,1793254832590461184
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,784,760,737.972776306,719,687,650.972776306,917,799,840,657.027223694,635.027223694,657.027223694,0.404976444582,-0.0153743806182,0.0697959923032,0.999999918289,0.000206797816242,-0.000347040286489,1.4831660282e-05,1793254832773793536
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,784,760,737,719.337711362,687,650.662288638,917,800,840,658,635.337711362,657,0.402542316961,-0.0153560014395,0.069806111883,0.999999917969,0.000248610692668,-0.00031934084264,1.66468740268e-05,1793254832907127296
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,784,760,738,720,687,651,917,799.282996322,839,657.717003678,636,657,0.401439800349,-0.0153610173001,0.0697945249292,0.999999904444,0.000282343420385,-0.000332924582323,2.35811131415e-05,1793254833023793920
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,760.891453563,738,720,687,651,917,799.891453563,839,658,636,657,0.401265151654,-0.0153579270066,0.0697945762689,0.999999900395,0.000297167012772,-0.000332573010652,1.72326840679e-05,1793254833057127168
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c18d28bef546e403f994e9f8e39ce17e6a5c0898
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/fem_node.csv
new file mode 100644
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--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2265db53c2f80effbb5c1eafde68f2bb9a296f44
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,760,737,721,687,651,917,800,839,658,635,658,0.400957545257,-0.0153652099624,0.0698115489013,0.999999929513,0.000223274655362,-0.000301834332799,4.19303382436e-06,1793254833750005760
+1,0.016666667,BASELINE,783,760,737.58861023,720.41138977,686.41138977,651,917,800,839,658,635,658,0.400958355642,-0.0153653535109,0.0698117475956,0.999999929736,0.000222960658984,-0.000301325772495,4.36593408737e-06,1793254833766673152
+2,0.033333333,BASELINE,783.174472888,760,738,720,686.174472888,651,917,800,839.174472888,657.825527112,635.174472888,658,0.400958686372,-0.0153656177565,0.0698117244629,0.999999929869,0.000222735275716,-0.000301049029662,4.45066613309e-06,1793254833783340288
+3,0.050000000,BASELINE,783.753957599,760,738,720,686.753957599,651,917,800,839.753957599,657.246042401,635.753957599,658,0.400957903658,-0.0153661621815,0.0698111863933,0.999999929796,0.000222715594017,-0.000301310415134,4.3307293333e-06,1793254833800006656
+4,0.066666667,BASELINE,784,760,738,720,687,651,917,800,839.670038445,657.329961555,636,657.670038445,0.400957690357,-0.0153660771772,0.0698112992359,0.999999929687,0.000222883470715,-0.000301545410838,4.37531983876e-06,1793254833816673024
+5,0.083333333,BASELINE,784,760,738,720,687,651,917,800,839.096602924,657.903397076,636,657.096602924,0.400957897218,-0.0153655277259,0.0698118923775,0.999999929553,0.000223189744103,-0.00030176093389,4.54131272318e-06,1793254833833339648
+6,0.100000000,BASELINE,783.521675994,759.521675994,738,720,687,651,917,800,839,658,635.521675994,657.478324006,0.400957254652,-0.0153661407183,0.0698115166691,0.999999929304,0.000223334049005,-0.000302478525832,4.44354920342e-06,1793254833850006272
+7,0.116666667,BASELINE,783.055164869,759.055164869,737.944835131,720,687,650.944835131,917,799.944835131,839.055164869,658,635.055164869,657.944835131,0.400956628583,-0.0153669536317,0.0698110245646,0.999999929157,0.000223160320791,-0.000303095944669,4.31638772302e-06,1793254833866673152
+8,0.133333333,BASELINE,783.647706622,759.647706622,737.352293378,720,687,650.352293378,917,799.352293378,839.647706622,658,635.647706622,657.352293378,0.400957839572,-0.0153674199317,0.0698113106535,0.999999930219,0.000220208187842,-0.000301746707322,4.42337980142e-06,1793254833883339520
+9,0.150000000,BASELINE,784,760,737.234402711,720,687,650.234402711,917,799.234402711,839.765597289,658,636,657,0.400958390749,-0.0153667775212,0.0698117052458,0.999999930421,0.000220166839319,-0.000301104946195,4.45848907278e-06,1793254833900006144
+10,0.166666667,BASELINE,784,760,737.812526837,720,687,650.812526837,917,799.812526837,839.187473163,658,636,657,0.400957974395,-0.0153645093293,0.0698122589442,0.999999929363,0.000224393781867,-0.000301500608025,4.38819144782e-06,1793254833916672768
+11,0.183333333,BASELINE,784,760,738,720,687,651,917,800,839.389062216,658,636,657.389062216,0.400958593294,-0.0153647272234,0.0698126054449,0.999999929525,0.000224938227865,-0.000300555682484,4.34348677528e-06,1793254833933339648
+12,0.200000000,BASELINE,784,760,738,720,687,651,917,800,839.964835207,658,636,657.964835207,0.40095970901,-0.0153661381887,0.0698128525117,0.999999930276,0.000223715445867,-0.000298967409728,4.31106414237e-06,1793254833950006528
+13,0.216666667,BASELINE,784,760,738,720,687,651,917,800,840,657.44779051,635.44779051,658,0.400957268773,-0.0153655045207,0.0698112152831,0.999999929793,0.000222233653613,-0.000301679954886,3.84317668875e-06,1793254833966672896
+14,0.233333333,BASELINE,783.861844902,760,738,720,687,651,917,800,839.861844902,657,635.138155098,657.861844902,0.400955407864,-0.0153650691934,0.0698100799316,0.999999929347,0.000221274293293,-0.00030386002038,3.56823243393e-06,1793254833983339520
+15,0.250000000,BASELINE,783.282865608,760,738,720,687,651,917,800,839.282865608,657,635.717134392,657.282865608,0.400956133511,-0.0153656910952,0.0698109370521,0.999999929302,0.000222035662019,-0.000303448417479,3.9993106636e-06,1793254834000006400
+16,0.266666667,BASELINE,783.295508108,760,737.704491892,720,687,651,917,800,839.295508108,657.295508108,635.704491892,657,0.400956483658,-0.0153663042624,0.069811168068,0.999999929304,0.000222651137317,-0.000302986832157,4.22227093382e-06,1793254834016672768
+17,0.283333333,BASELINE,783.873303306,760,737.126696694,720,687,651,917,800,839.873303306,657.873303306,635.126696694,657,0.400956475104,-0.0153669090859,0.0698108009913,0.999999929352,0.000223127246405,-0.000302477500649,4.24642440568e-06,1793254834033339136
+18,0.300000000,BASELINE,784,760,737.447207691,720,687,651,917,800,839.552792309,658,635.447207691,657.447207691,0.400956308328,-0.0153666832945,0.0698109957377,0.999999929844,0.000221676249232,-0.000301919693214,4.06120741534e-06,1793254834050006272
+19,0.316666667,BASELINE,783.979329935,759.979329935,738,720,687,651,917,800,839.020670065,658,636,657.979329935,0.400956140543,-0.0153662240802,0.0698113583406,0.999999930422,0.000219861903545,-0.000301332336768,3.84031212205e-06,1793254834066673152
+20,0.333333333,BASELINE,783.387897561,759.387897561,738,720,687,651,917,800,839.612102439,658,636,657.387897561,0.400957171958,-0.0153657611591,0.0698119987706,0.999999930044,0.000222960005778,-0.000300304996489,4.25799548985e-06,1793254834083339776
+21,0.350000000,BASELINE,783.199380055,759.199380055,738,720,687,651,917,800,840,657.800619945,636,657,0.400957693665,-0.0153657292131,0.0698122568027,0.999999929887,0.000224140487897,-0.000299945037662,4.41828297164e-06,1793254834100006144
+22,0.366666667,BASELINE,783.778739453,759.778739453,738,720,687,651,917,800,840,657.221260547,636,657,0.400957243967,-0.0153665186211,0.0698117860591,0.999999930166,0.000221666361251,-0.000300856977313,4.0880242515e-06,1793254834116672512
+23,0.383333333,BASELINE,783.643788373,760,738,720,687,651,917,800,839.643788373,657,635.643788373,657,0.400957129256,-0.0153667683827,0.0698112702166,0.999999930236,0.000220468374022,-0.000301504626324,3.99186624188e-06,1793254834133339136
+24,0.400000000,BASELINE,783.067482211,760,738,720,687,651,917,800,839.067482211,657,635.067482211,657,0.400957221524,-0.0153666847099,0.0698107265085,0.99999993018,0.000220058882183,-0.000301988976643,4.04035335772e-06,1793254834150005760
+25,0.416666667,BASELINE,783,760,738,720,687,651,917,800,839,657.505578941,635,657.505578941,0.400957564819,-0.0153669160187,0.0698110481694,0.999999930656,0.000218872898543,-0.00030127711061,3.81167871896e-06,1793254834166672640
+26,0.433333333,BASELINE,783.080950698,760,738,720,687,651,917,800,839,658,635.080950698,658,0.400957884138,-0.0153671990215,0.0698115215505,0.999999931088,0.000218029781004,-0.000300455564542,3.66318707694e-06,1793254834183339264
+27,0.450000000,BASELINE,783.6736504,760,738,720,687,651,917,800,839,658,635.6736504,658,0.400957841419,-0.0153675447362,0.0698122285298,0.999999930807,0.000220005193199,-0.000299943573502,4.25396721873e-06,1793254834200005888
+28,0.466666667,BASELINE,783.73995928,760,737.73995928,720,687,651,917,800,839,657.73995928,636,657.73995928,0.400956847227,-0.0153672667179,0.0698120374034,0.999999930195,0.000221899367626,-0.00030058381578,4.4847877014e-06,1793254834216672768
+29,0.483333333,BASELINE,783.161299662,760,737.161299662,720,687,651,917,800,839,657.161299662,636,657.161299662,0.400954687228,-0.0153662244613,0.0698107458589,0.999999929177,0.000223694004108,-0.000302635849714,4.27456203066e-06,1793254834233339136
+30,0.500000000,BASELINE,783.415721739,760,737.415721739,720.415721739,687,651,917,800,839,657,636,657,0.400956072658,-0.0153663143915,0.0698111582452,0.999999929688,0.00022321942962,-0.000301294668984,4.40643743826e-06,1793254834250005760
+31,0.516666667,BASELINE,783.992109994,760,737.992109994,720.992109994,687,651,917,800,839,657,636,657,0.400958828313,-0.015366841885,0.0698122291599,0.999999930783,0.000221867859278,-0.000298642091829,4.67052674181e-06,1793254834266672384
+32,0.533333333,BASELINE,783.422131182,760,737.422131182,721,687,651,917,800,839,657,635.422131182,657,0.400956862529,-0.0153666252097,0.0698118533156,0.999999930164,0.00022293752792,-0.000299922481433,4.15399656127e-06,1793254834283339008
+33,0.550000000,BASELINE,783.162045633,760,737.162045633,720.837954367,687,651,917,800,839,657,635,657,0.400955356538,-0.015366512069,0.0698113431412,0.999999929503,0.000223907277484,-0.000301402327255,3.90572792742e-06,1793254834300005888
+34,0.566666667,BASELINE,783.741809048,760,737.741809048,720.258190952,687,651,917,800,839,657,635,657,0.400955204707,-0.0153666924413,0.0698105384534,0.999999928801,0.000224532834954,-0.000303255620379,4.37690584796e-06,1793254834316672768
+35,0.583333333,BASELINE,783.680121317,760,738,720,687,650.680121317,917,800,839.319878683,657.319878683,635,657.319878683,0.400956146762,-0.0153669295525,0.0698113891749,0.999999929376,0.000223398980969,-0.000302191869941,4.51612547705e-06,1793254834333339136
+36,0.600000000,BASELINE,783.103411555,760,738,720,687,650.103411555,917,800,839.896588445,657.896588445,635,657.896588445,0.400957967099,-0.0153672122196,0.0698135690269,0.999999930966,0.000220852492936,-0.000298786021019,4.38881534348e-06,1793254834350005760
+37,0.616666667,BASELINE,783.471306929,759.528693071,737.528693071,720,687,650.471306929,917,800,839.528693071,658,635.471306929,657.528693071,0.400956930051,-0.0153670419743,0.0698124727874,0.999999930701,0.000220452794544,-0.000299969596993,4.20472702132e-06,1793254834366672384
+38,0.633333333,BASELINE,783.953105484,759,737.046894516,720.046894516,687,650.953105484,917,800,839,658,635.953105484,657.046894516,0.40095555932,-0.015366731468,0.0698108937877,0.999999930084,0.000220685412768,-0.000301849172035,4.03072036876e-06,1793254834383339008
+39,0.650000000,BASELINE,783.362393413,759,737.637606587,720.637606587,687,650.362393413,917,800,839,658,635.362393413,657.637606587,0.400957558913,-0.0153659419824,0.0698120172305,0.999999930118,0.000222811313699,-0.000300171481969,4.11748906125e-06,1793254834400005632
+40,0.666666667,BASELINE,783.223841112,759.223841112,738,720.776158888,687,650.223841112,917,800,839,657.776158888,635.223841112,658,0.400958484508,-0.0153657239448,0.0698126553375,0.99999993006,0.000223968109217,-0.000299499481088,4.16555452967e-06,1793254834416672256
+41,0.683333333,BASELINE,783.802968722,759.802968722,738,720.197031278,687,650.802968722,917,800,839,657.197031278,635.802968722,658,0.400957705423,-0.0153664129247,0.0698125231066,0.999999929869,0.00022358671502,-0.000300423736629,4.152189218e-06,1793254834433339136
+42,0.700000000,BASELINE,783.621552189,760,737.621552189,720,687,651,917,800,839,657.378447811,635.621552189,657.621552189,0.400959049274,-0.0153666345505,0.0698136491377,0.999999930611,0.000223103066135,-0.000298304106198,4.29827300997e-06,1793254834450005760
+43,0.716666667,BASELINE,783.047954509,760,737.047954509,720,687,651,917,800,839,657.952045491,635.047954509,657.047954509,0.400961487835,-0.0153666151811,0.0698154240026,0.999999931823,0.000222566688751,-0.000294614869748,4.5265781042e-06,1793254834466672384
+44,0.733333333,BASELINE,783,760,737.539639658,720,687,650.460360342,917,800,839,657.460360342,635.539639658,657,0.400959517243,-0.0153668601369,0.0698139261786,0.999999931047,0.000222321711379,-0.00029742040944,4.49205134738e-06,1793254834483339008
+45,0.750000000,BASELINE,783.12638002,760,738,720,687,650.12638002,917,800,839,657.12638002,635.87361998,657,0.400957689045,-0.0153673014031,0.069812594792,0.999999930402,0.000222075729541,-0.000299762406197,4.46132864064e-06,1793254834500005888
+46,0.766666667,BASELINE,783.705487482,760,738,720,687,650.705487482,917,800,839,657.705487482,635.294512518,657,0.400957811897,-0.0153683595217,0.0698129291806,0.99999993091,0.000221730916726,-0.000298321300864,4.53012945524e-06,1793254834516672256
+47,0.783333333,BASELINE,784,760,737.716476376,720,687,651,917,800,839,657.716476376,635,657.283523624,0.400958032222,-0.0153683871889,0.0698129458691,0.999999930992,0.00022214593162,-0.000297738857893,4.3895199757e-06,1793254834533339136
+48,0.800000000,BASELINE,784,760,737.139548816,720,687,651,917,800,839,657.139548816,635,657.860451184,0.400958353416,-0.0153673484952,0.0698126337863,0.999999930634,0.000223347252872,-0.000298045000016,4.03220262147e-06,1793254834550005760
+49,0.816666667,BASELINE,783.564012331,760,737.435987669,720,687,651,917,800,839.435987669,657.435987669,635,658,0.400958294015,-0.0153679365732,0.069812934993,0.999999931042,0.00022167748347,-0.000297920868229,4.28410037601e-06,1793254834566672128
+50,0.833333333,BASELINE,783.011346812,760,737.988653188,720,687,650.988653188,917,800,839.988653188,657.988653188,635,658,0.400958111044,-0.0153690042647,0.0698134171732,0.999999931671,0.00021914072621,-0.000297678306026,4.71750477992e-06,1793254834583338752
+51,0.850000000,BASELINE,783.600272748,760,737.399727252,720,687,650.399727252,917,800,839.399727252,657.399727252,635,658,0.400957819162,-0.0153680654041,0.0698131510497,0.999999931467,0.000219100931153,-0.000298395330916,4.49591024859e-06,1793254834600006144
+52,0.866666667,BASELINE,783.81375831,760,737.18624169,720,687,650,917,800,839,657,635.18624169,658,0.400957577777,-0.0153676449772,0.0698129065412,0.999999931253,0.000219337003416,-0.000298943401093,4.35164527034e-06,1793254834616672768
+53,0.883333333,BASELINE,783.234036755,760,737.765963245,720,687,650,917,800,839,657,635.765963245,658,0.400957443081,-0.0153683198651,0.0698127076997,0.999999931015,0.000220155911002,-0.00029913451422,4.37075737744e-06,1793254834633339392
+54,0.900000000,BASELINE,783,760,738,720,687,650.342890715,917,800,839,657,636,657.657109285,0.400957652897,-0.0153683699408,0.0698129173166,0.999999930962,0.000220594811403,-0.000298991124245,4.34485516952e-06,1793254834650006016
+55,0.916666667,BASELINE,783,760,738,720,687,650.917926501,917,800,839,657,636,657.082073499,0.400958095957,-0.0153679970039,0.0698134034696,0.999999931032,0.000220776437979,-0.000298621267806,4.28847721198e-06,1793254834666672640
+56,0.933333333,BASELINE,783.489743857,760,737.510256143,720.489743857,687,650.510256143,917,800,839,657.489743857,636,657.489743857,0.400958339719,-0.0153673878836,0.0698140722285,0.99999993108,0.000221422005615,-0.000297984207953,4.32135524918e-06,1793254834683339264
+57,0.950000000,BASELINE,783.936736742,760,737.063263258,720.936736742,687,650.063263258,917,800,839,657.936736742,635.936736742,657.936736742,0.400958519405,-0.0153669170459,0.0698145957016,0.99999993113,0.000221932415961,-0.000297434885683,4.32794911266e-06,1793254834700005888
+58,0.966666667,BASELINE,783.344505898,760,737.655494102,720.344505898,687,650.655494102,917,800,839,657.344505898,635.344505898,657.344505898,0.400958440771,-0.0153679312281,0.0698136501819,0.999999931246,0.000220666878721,-0.000297991141029,3.9905189963e-06,1793254834716672256
+59,0.983333333,BASELINE,783.243135499,760,738,720.243135499,687,651,917,800,839.243135499,657.243135499,635,657,0.400958509411,-0.0153688943249,0.0698132120773,0.999999931484,0.000219524894738,-0.000298035682287,3.96093675124e-06,1793254834733339136
+60,1.000000000,BASELINE,783.824394534,760,738,720.824394534,687,651,917,800,839.824394534,657.824394534,635,657,0.40095878286,-0.0153697863786,0.0698134796244,0.999999931893,0.000218554733546,-0.000297368593372,4.35947215688e-06,1793254834750005760
+61,1.016666667,BASELINE,783.598886853,760,738,720.598886853,687,651,917,800,839.598886853,658,635.401113147,657,0.400959529277,-0.015368614971,0.069813850754,0.99999993137,0.000221573043494,-0.00029689212183,4.50597029994e-06,1793254834766672640
+62,1.033333333,BASELINE,783.024133801,760,738,720.024133801,687,651,917,800,839.024133801,658,635.975866199,657,0.40096048044,-0.0153665503013,0.0698142667241,0.999999930424,0.000226317942992,-0.000296498167643,4.54336273034e-06,1793254834783339264
+63,1.050000000,BASELINE,783,760,737.449919339,720,687,651,917,800,839.550080661,658,635.449919339,657.550080661,0.400957376911,-0.0153679099716,0.069811882771,0.999999930219,0.000222582952985,-0.000300000448581,4.39242119887e-06,1793254834800005888
+64,1.066666667,BASELINE,783,759.875740154,737.124259846,720,687,651,917,800,839.875740154,658,635,657.875740154,0.400955154238,-0.0153689854919,0.0698104309355,0.99999993017,0.000219778511981,-0.000302223859872,4.34057015199e-06,1793254834816672512
+65,1.083333333,BASELINE,783,759.301603254,737.698396746,720,687,651,917,800,839.301603254,658,635,657.301603254,0.40095676409,-0.0153684888671,0.0698127980968,0.999999930656,0.000221688716959,-0.00029919890608,4.67735753174e-06,1793254834833339136
+66,1.100000000,BASELINE,783,759.28293374,737.71706626,720,687,650.71706626,917,800,839,658,635.28293374,657,0.400957289492,-0.01536814053,0.0698132275899,0.999999930729,0.000222213579034,-0.000298565260658,4.58702159275e-06,1793254834850005760
+67,1.116666667,BASELINE,783,759.878980107,737.121019893,720,687,650.121019893,917,800,839,658,635.878980107,657,0.400956614773,-0.0153679562975,0.0698115127349,0.999999930352,0.000221205331653,-0.000300577990693,4.02400356534e-06,1793254834866672384
+68,1.133333333,BASELINE,783,760,737.458052217,720,686.541947783,650,917,799.541947783,839.458052217,657.541947783,636,657.458052217,0.400958892336,-0.0153678229057,0.069813499064,0.9999999312,0.00022098448458,-0.000297909772146,4.02505777721e-06,1793254834883339264
+69,1.150000000,BASELINE,783,760,737.966319733,720,686.033680267,650.033680267,917,799.033680267,839.966319733,657,636,657.966319733,0.400961659349,-0.0153677334162,0.0698161662656,0.99999993226,0.000220915599869,-0.000294380656675,4.15597304494e-06,1793254834900005632
+70,1.166666667,BASELINE,783,760,737.376146054,720,686.623853946,650.623853946,917,799.623853946,839.376146054,657,636,657.376146054,0.400960086028,-0.0153681553063,0.069814503526,0.999999931876,0.000220043056201,-0.000296331223004,4.05813713335e-06,1793254834916672256
+71,1.183333333,BASELINE,783.210672411,760,737.210672411,720,687,650.789327589,917,799.789327589,839.210672411,657,635.789327589,657.210672411,0.400959075947,-0.0153682430857,0.0698136440395,0.99999993159,0.000219747075967,-0.00029751543635,3.9751767323e-06,1793254834933338880
+72,1.200000000,BASELINE,783.7915943,760,737.7915943,720,687,650.2084057,917,799.2084057,839.7915943,657,635.2084057,657.7915943,0.400959055738,-0.0153677436771,0.0698141962421,0.999999931481,0.000220464385893,-0.000297352811146,3.91835951054e-06,1793254834950005504
+73,1.216666667,BASELINE,783.631354228,760,738,720,687,650.368645772,917,799.368645772,840,657,635,658,0.400959160356,-0.0153681650136,0.0698145104058,0.999999931545,0.000220656626428,-0.000296992810265,4.10053254153e-06,1793254834966672128
+74,1.233333333,BASELINE,783.056468111,760,738,720,687,650.943531889,917,799.943531889,840,657,635,658,0.40095933481,-0.0153691014647,0.0698146913975,0.999999931705,0.000220555114757,-0.000296522386783,4.41640962467e-06,1793254834983339008
+75,1.250000000,BASELINE,783,760,738,720,687,650.483076106,916.483076106,800,839.483076106,657.516923894,635.516923894,658,0.400958536403,-0.015368681306,0.0698133227373,0.999999931225,0.000220766417097,-0.000297980684534,4.39264518206e-06,1793254835000005376
+76,1.266666667,BASELINE,783,760,738,720,687,650.093509364,916.093509364,800,839,658,636,657.906490636,0.400957860108,-0.0153682154096,0.0698121443818,0.999999930806,0.000220868731906,-0.000299311049068,4.33561459193e-06,1793254835016672256
+77,1.283333333,BASELINE,783,760,738,720,687,650.688078715,916.688078715,800,839,658,636,657.311921285,0.400958405955,-0.0153682962274,0.069812890219,0.999999931096,0.000220204472479,-0.000298830185121,4.29856508777e-06,1793254835033338880
+78,1.300000000,BASELINE,783,759.725429617,737.725429617,720,687,651,917,800,839,657.725429617,636,657,0.400959347938,-0.0153673895171,0.0698139235772,0.999999931168,0.000221767089084,-0.000297428200292,4.38261918914e-06,1793254835050005760
+79,1.316666667,BASELINE,783,759.147852258,737.147852258,720,687,651,917,800,839,657.147852258,636,657,0.400960727085,-0.0153653930028,0.0698152742345,0.999999930984,0.000225787213948,-0.000295009696334,4.60031930717e-06,1793254835066672384
+80,1.333333333,BASELINE,783,759.427189097,737.427189097,720,687,651,917,800,839,657,636,657,0.400961305974,-0.0153658422156,0.0698159298137,0.999999931348,0.000225566240429,-0.000293944730116,4.59936241859e-06,1793254835083339008
+81,1.350000000,BASELINE,783,760,738,720,687,651,917,800,839,657.001390311,635.998609689,657.001390311,0.400961602826,-0.015367127002,0.0698163402802,0.999999931898,0.000223892330703,-0.000293353130324,4.5224226829e-06,1793254835100005888
+82,1.366666667,BASELINE,783,760,738,720,687,651,917,800,839,657.589239676,635.410760324,657.589239676,0.400959074544,-0.015365919139,0.0698142356629,0.999999930904,0.000224861745591,-0.000295994773203,4.12862018059e-06,1793254835116672512
+83,1.383333333,BASELINE,783,759.825136079,738,720,687,651,917,800,839.174863921,657.825136079,635.174863921,658,0.400957818612,-0.0153656868965,0.0698132077792,0.999999930579,0.000224412877734,-0.000297431234179,3.88071238497e-06,1793254835133339136
+84,1.400000000,BASELINE,783,759.244672916,738,720,687,651,917,800,839.755327084,657.244672916,635.755327084,658,0.400959513915,-0.0153677176189,0.0698146773933,0.999999931814,0.000220674283954,-0.000296072259866,3.97120926745e-06,1793254835150006784
+85,1.416666667,BASELINE,783.332523337,759.332523337,738,720,687,651,917,800,839.667476663,657.332523337,636,657.667476663,0.400959325784,-0.0153683947292,0.0698145390163,0.999999931853,0.000219649824937,-0.000296700411572,4.05031123963e-06,1793254835166673408
+86,1.433333333,BASELINE,783.907339128,759.907339128,738,720,687,651,917,800,839.092660872,657.907339128,636,657.092660872,0.400957765293,-0.0153680855326,0.0698132289798,0.999999931025,0.000220603014915,-0.00029877647869,4.1211103282e-06,1793254835183339776
+87,1.450000000,BASELINE,783.519424585,760,737.519424585,720,686.519424585,651,917,800,839,658,636,657,0.400957594689,-0.0153685585086,0.0698130239518,0.999999930972,0.000221209672355,-0.000298500688824,4.3424037687e-06,1793254835200006400
+88,1.466666667,BASELINE,783,760,737.055671295,720,686.055671295,651,917,800,839,657.944328705,635.944328705,657.055671295,0.400957645717,-0.015369033088,0.0698130689194,0.999999931041,0.00022173671697,-0.000297875241009,4.55001439781e-06,1793254835216673024
+89,1.483333333,BASELINE,783,760,737.651765678,720,686.651765678,651,917,800,839,657.348234322,635.348234322,657.651765678,0.400957255279,-0.0153680640333,0.0698134792165,0.999999930844,0.000222137410627,-0.000298243088324,4.34404235871e-06,1793254835233339392
+90,1.500000000,BASELINE,783,760,738,720,687,650.760501832,916.760501832,800,839,657,635,657.760501832,0.400957657389,-0.015367784055,0.0698139818963,0.999999930829,0.000222480280507,-0.000298035240948,4.30474318479e-06,1793254835250006016
+91,1.516666667,BASELINE,783,760,738,720,687,650.184517543,916.184517543,800,839,657,635,657.184517543,0.400959173001,-0.0153684722038,0.0698146143704,0.999999931073,0.000222741910072,-0.000297018563667,4.49961327657e-06,1793254835266672384
+92,1.533333333,BASELINE,783,760,737.610995395,720,687,650.389004605,916.389004605,800,839,657,635.389004605,657,0.400960589477,-0.0153690426008,0.0698155456944,0.999999931596,0.000222458906915,-0.00029546023311,4.78956438033e-06,1793254835283339008
+93,1.550000000,BASELINE,783,760,737.038633725,720,687,650.961366275,916.961366275,800,839,657,635.961366275,657,0.400961959227,-0.0153695574957,0.0698166178812,0.999999932249,0.000221919191507,-0.000293646594547,5.12433187369e-06,1793254835300005888
+94,1.566666667,BASELINE,783.549936336,760,737.549936336,720,687,651,916.450063664,800,839.549936336,657.549936336,635.450063664,657,0.400960356988,-0.0153691083608,0.0698155930636,0.999999931779,0.000222525973317,-0.000294790259874,4.81486226566e-06,1793254835316672512
+95,1.583333333,BASELINE,783.861951036,760,737.861951036,720,687,650.861951036,916.138048964,800,839.861951036,657.861951036,635.138048964,657,0.400958781419,-0.0153685779604,0.0698145295999,0.999999931336,0.000222691100702,-0.000296169083278,4.54121717443e-06,1793254835333339392
+96,1.600000000,BASELINE,783.27909247,760,737.27909247,720,687,650.27909247,916.72090753,800,839.27909247,657.27909247,635.72090753,657,0.400957984943,-0.0153680105558,0.0698138307017,0.999999931245,0.000221165767496,-0.00029761587622,4.53325923321e-06,1793254835350006016
+97,1.616666667,BASELINE,783,760,737.29956538,719.70043462,687,650.29956538,917,800,839,657,635.70043462,657,0.400957792696,-0.0153679040019,0.0698136076151,0.999999931182,0.000220825602462,-0.000298080550369,4.53444867475e-06,1793254835366672640
+98,1.633333333,BASELINE,783,760,737.874363685,719.125636315,687,650.874363685,917,800,839,657,635.125636315,657,0.400958155598,-0.0153682208658,0.0698138216921,0.999999931146,0.000221574339394,-0.000297642879082,4.54404249555e-06,1793254835383339264
+99,1.650000000,BASELINE,783,760,737.55259412,719.44740588,686.55259412,651,917,800,839,657.44740588,635,657,0.400958405682,-0.0153666196917,0.0698136713693,0.999999930579,0.000224808839169,-0.000297125220662,4.45252177599e-06,1793254835400005888
+100,1.666666667,BASELINE,783,760,737.020616215,720,686.020616215,651,917,800,839,657.979383785,635,657,0.400958616505,-0.0153646047083,0.0698134287231,0.999999929894,0.000228479105609,-0.000296630685535,4.32828373053e-06,1793254835416672512
+101,1.683333333,BASELINE,783,760,737.612083703,720,686.612083703,651,917,800,839,657.387916297,635,657,0.400958613975,-0.0153659869468,0.069813452002,0.999999930465,0.000224963058631,-0.000297395928345,4.08126227019e-06,1793254835433339136
+102,1.700000000,BASELINE,783.200033891,760,738,720,686.799966109,650.799966109,917,799.799966109,839,657,635.200033891,657,0.400959026358,-0.0153664937423,0.0698138747982,0.999999930906,0.000223034952331,-0.000297367622185,3.94424599717e-06,1793254835450005760
+103,1.716666667,BASELINE,783.781280946,760,738,720,686.218719054,650.218719054,917,799.218719054,839,657,635.781280946,657,0.400960229457,-0.0153653321681,0.0698150589718,0.999999931117,0.000224133053077,-0.00029582701565,4.01687135444e-06,1793254835466672640
+104,1.733333333,BASELINE,784,760,738,720,686.358328803,650,917,799.358328803,839,657,635.641671197,657,0.400960425033,-0.015366313845,0.0698153904487,0.999999931574,0.000222900020925,-0.000295211185462,4.23449671378e-06,1793254835483339264
+105,1.750000000,BASELINE,784,760,738,720,686.93284327,650,917,799.93284327,839,657,635.06715673,657,0.400960012754,-0.0153685885805,0.06981520748,0.999999932175,0.000220260578031,-0.000295153287917,4.53960296803e-06,1793254835500005888
+106,1.766666667,POSE1_TO_POSE2_PRESS,783,760,737,720,687,650,917,800,839,658,635,657,0.400959127453,-0.0153684147672,0.0698156196886,0.99999993154,0.000222143043094,-0.000295894026311,4.29999614012e-06,1793254835530387712
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,737.578810273,720,686.421189727,650.578810273,917,800,839,658,635.578810273,657.578810273,0.400957440754,-0.0153687578544,0.0698140860581,0.999999930929,0.000221799726539,-0.000298205721872,4.44812292631e-06,1793254835547054336
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.156850727,760,737.843149273,720,686.156850727,650.843149273,916.843149273,800,839,658,635.843149273,657.843149273,0.400956602777,-0.015368841949,0.0698131137747,0.999999930689,0.000221337641152,-0.000299352602767,4.42850659365e-06,1793254835563720960
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.732834221,760,737.267165779,720,686.732834221,650.267165779,916.267165779,800,839,658,635.267165779,657.267165779,0.400958032732,-0.01536823397,0.0698136415092,0.99999993145,0.000220558184453,-0.000297386894255,3.96065113956e-06,1793254835580387328
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,760,737.308339126,720,687,650.308339126,916.308339126,800,839,658,635.308339126,657,0.40095858278,-0.0153683207246,0.0698136476306,0.999999931761,0.000219562282281,-0.000297078785864,3.88331960464e-06,1793254835597054208
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,760,737.883429958,720,687,650.883429958,916.883429958,800,839,658,635.883429958,657,0.400958371598,-0.0153690085103,0.0698132024916,0.999999931684,0.00021837912789,-0.000298204707932,4.14383987594e-06,1793254835613720832
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.528635222,917,800,839,657.528635222,635.528635222,657,0.400958182906,-0.0153695514352,0.0698135858678,0.999999931682,0.000218675114263,-0.000297989957296,4.32706279337e-06,1793254835630387456
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.061384688,917,800,839,657,635.061384688,657.061384688,0.400958076102,-0.015369922426,0.069814122188,0.999999931687,0.0002193688467,-0.000297460759573,4.47831337548e-06,1793254835647054336
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.641432287,917,800,839,657,635.641432287,657.641432287,0.400958612896,-0.0153691518532,0.0698141710642,0.999999931585,0.000220245957355,-0.000297154566584,4.52545927115e-06,1793254835663720704
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.780803892,760,737.780803892,720,686.780803892,651,917,800,839,657,635.780803892,657.780803892,0.400960587391,-0.0153684348344,0.0698148534153,0.999999931643,0.000221680091535,-0.00029588983466,4.5211560857e-06,1793254835680387584
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.206737478,760,737.206737478,720,686.206737478,651,917,800,839,657,635.206737478,657.206737478,0.400964889468,-0.0153678045177,0.0698165613386,0.999999931953,0.0002240160259,-0.000293073264053,4.43355875596e-06,1793254835697054208
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760,737.36619788,720,686.36619788,651,917,800,839,657,635.36619788,657,0.400979823669,-0.0153693455594,0.069823403199,0.999999935385,0.000222482491151,-0.000282318512398,5.19241417685e-06,1793254835713720576
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,737.938496716,720,686.938496716,651,917,800,839,657,635.938496716,657,0.401000741769,-0.01537210867,0.0698331345065,0.999999940379,0.00021877116874,-0.00026709604828,6.42766427008e-06,1793254835730387200
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,738,720,687,651,917,800,839,657.528999086,636,657.528999086,0.401049222698,-0.015373483402,0.069851875974,0.999999948346,0.000219433557109,-0.000234730785977,7.58933771281e-06,1793254835747053824
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.118974006,760,738,720,687,650.881025994,917,800,839,657.881025994,635.881025994,657.881025994,0.401103001774,-0.01537547857,0.0698707674192,0.999999954925,0.000219865363258,-0.000204289764379,8.70646612537e-06,1793254835763720448
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.698424407,760,738,720,687,650.301575593,917,800,839,657.301575593,635.301575593,657.301575593,0.401164441898,-0.015380522086,0.0698860404095,0.999999958415,0.000217366480538,-0.000189285227473,9.68547638398e-06,1793254835780387328
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.27272212,917,800,839,657,635.27272212,657,0.40123230387,-0.0153839591161,0.0698969036008,0.999999961083,0.000216452602576,-0.000175757723172,9.5482640936e-06,1793254835797054208
+123,2.050000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.841427622,917,800,839,657,635.841427622,657,0.401307135425,-0.0153856526381,0.0699029808675,0.999999962945,0.000217258919197,-0.000163833232792,8.19962333361e-06,1793254835813720832
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.569647562,760,737.569647562,720,686.569647562,651,916.569647562,799.569647562,839,657.430352438,635.569647562,657,0.401396135718,-0.0153893595331,0.069905607547,0.99999996423,0.00021559013889,-0.000158177848361,6.3249151564e-06,1793254835830387456
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760,737,720,686.026232785,651,916.026232785,799.026232785,839,658,635,657,0.401491757098,-0.0153937846386,0.0699068815242,0.999999965263,0.000213087331265,-0.000155082154364,4.22867759354e-06,1793254835847053824
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760,737,720,686.603990648,651,916.603990648,799.603990648,839,658,635,657,0.40161140793,-0.0153969433974,0.0699077648732,0.99999996529,0.00021316914375,-0.000154842103983,1.75121460919e-06,1793254835863720448
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760,737,720,687,651,917,800,839,658,635.18137273,657,0.40173982359,-0.0154009714614,0.0699091495266,0.999999965972,0.000210917542766,-0.000153521059879,-1.01183083499e-06,1793254835880387328
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760,737,720,687,651,917,800,839,658,635.757935954,657,0.401887336797,-0.0154068936419,0.0699116264649,0.999999968041,0.000203581699936,-0.000149844653756,-4.39712756583e-06,1793254835897053952
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760,737,720,687,651,917,800,839,657.670209074,636,657,0.402051979478,-0.0154147345217,0.0699154720167,0.999999970548,0.000195651370367,-0.000143410076239,-7.56909328897e-06,1793254835913720576
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,760,737,720,687,651,917,800,839,657.101761224,636,657,0.402229018113,-0.0154239638907,0.0699203079814,0.999999973295,0.000187290832986,-0.000134979516475,-1.05866799707e-05,1793254835930387456
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,760,737,720,687,651,916.508322242,800,839,657.491677758,636,657,0.402433328344,-0.0154321513913,0.0699221072439,0.999999975302,0.000179269822904,-0.000130473267919,-1.53304705224e-05,1793254835947054080
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,760,737,720,687,650.912722383,916.087277617,800,839.087277617,658,635.912722383,657.087277617,0.402650847233,-0.0154404724298,0.0699238163184,0.999999977294,0.000170734372524,-0.000125880972287,-2.03850513159e-05,1793254835963720960
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,760,737,720,687,650.335579458,916.664420542,800,839.664420542,658,635.335579458,657.664420542,0.402909126231,-0.0154508180816,0.0699287356835,0.999999980333,0.00015889597391,-0.000116002919855,-2.5071387312e-05,1793254835980387328
+134,2.233333333,POSE1_TO_POSE2_PRESS,783.241095716,760,737.241095716,720.241095716,686.758904284,650.241095716,917,800,840,657.758904284,635.241095716,657.758904284,0.403184926673,-0.0154605215651,0.0699364193205,0.99999998857,0.000108395248825,-0.000101106206103,-2.97832834153e-05,1793254835997053696
+135,2.250000000,POSE1_TO_POSE2_PRESS,783.817121059,760,737.817121059,720.817121059,686.182878941,650.817121059,917,800,840,657.182878941,635.817121059,657.182878941,0.403485067849,-0.0154693329492,0.0699479430774,0.999999996256,4.1849064757e-06,-7.92375790963e-05,-3.45306870604e-05,1793254836013720576
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,760,738,720.59902806,686.40097194,651,917,800,839.59902806,657,635.59902806,657,0.403786618563,-0.0154778626693,0.0699476148302,0.99999999561,-2.61554268562e-05,-8.05636592138e-05,-4.0075210625e-05,1793254836030387200
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,738,720.011537008,686.988462992,651,917,800,839.011537008,657,635.011537008,657,0.40408882494,-0.0154862613684,0.0699417734157,0.999999994403,-2.21338307505e-05,-9.267916386e-05,-4.59905284495e-05,1793254836047053824
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,738,720,687,650.431533522,917,800,839,657,635.568466478,657,0.404465678865,-0.0154852936792,0.0699515028318,0.999999995338,-2.46173557451e-05,-7.79183204108e-05,-5.14413178599e-05,1793254836063720960
+139,2.316666667,POSE1_TO_POSE2_PRESS,783.852173724,759.852173724,738,720,687,650.147826276,917,800,839,657,636,657.147826276,0.404854292294,-0.0154811722504,0.0699602047807,0.999999996712,-2.65907563459e-06,-6.43802707027e-05,-4.92436206361e-05,1793254836080387584
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.274250446,759.274250446,738,720,687,650.725749554,917,800,839,657,636,657.725749554,0.405272769186,-0.0154684209658,0.0699650098675,0.999999994004,9.07911696975e-05,-5.59662681521e-05,-2.48199065228e-05,1793254836097054208
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,759.2999369,738,720,687,651,917,800,839.2999369,657,636,657.7000631,0.405698429919,-0.0154604095156,0.0699638545136,0.999999989982,0.000128840998915,-5.56863235999e-05,-1.83132085163e-05,1793254836113720832
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,759.870750348,738,720,687,651,917,800,839.870750348,657,636,657.129249652,0.406130578513,-0.0154566786645,0.069957316216,0.999999990812,0.000116858070983,-6.27523420245e-05,-2.7987576175e-05,1793254836130387200
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760,738,720,686.541332608,651,917,800,839.541332608,657,636,657,0.40657976485,-0.0154660812914,0.0699384255316,0.999999991833,8.0911689065e-05,-9.23403566927e-05,-3.55161808185e-05,1793254836147053824
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.0504032,760,737.9495968,719.9495968,686,651,917,800,839,657,636,657,0.407043109012,-0.0154787024998,0.0699184074954,0.999999990606,4.11382210788e-05,-0.000123807396798,-4.20384784757e-05,1793254836163720704
+145,2.416666667,POSE1_TO_POSE2_PRESS,783.629678024,760,737.370321976,719.370321976,686,651,917,800,839,657,636,657,0.407602680236,-0.015484758316,0.0699244987404,0.999999992801,3.48077527637e-05,-0.000105817999454,-4.45921559482e-05,1793254836180387328
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,917,800,839,657,636,657.20690895,0.408185978746,-0.0154886588287,0.0699350934252,0.999999995223,3.04086250861e-05,-8.11018342945e-05,-4.53002717927e-05,1793254836197054208
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,917,800,839,657,636,657.780517493,0.408811328498,-0.0154887395503,0.0699536694443,0.999999997665,2.94323648205e-05,-4.44639866565e-05,-4.27375444309e-05,1793254836213721088
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,760,737.35616051,719,686.35616051,651,917,800,839.35616051,657,635.64383949,657.64383949,0.409419347454,-0.0154886086461,0.0699553854491,0.999999998018,2.80163220614e-05,-3.71281954883e-05,-4.24224447746e-05,1793254836230387712
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,760,737.933064445,719,686.933064445,651,917,800,839.933064445,657,635.066935555,657.066935555,0.410016624994,-0.0154883465791,0.0699466518465,0.999999997558,2.63277081633e-05,-4.79534205384e-05,-4.35003942217e-05,1793254836247054336
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,760,738,719,687,651,917,800,840,657,635,657,0.41064188401,-0.0154913524815,0.0699375384877,0.999999996544,1.75808987109e-05,-6.65272950556e-05,-4.6660684812e-05,1793254836263720704
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,738,719,686.887558987,651,917,800,839.887558987,657,635.112441013,657,0.411292606236,-0.0154950399492,0.0699354313712,0.999999996071,1.00888382127e-05,-7.33145150987e-05,-4.87893597569e-05,1793254836280387072
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,760,738,719,686.309812946,651,917,800,839.309812946,657,635.690187054,657,0.41203350213,-0.0154997728533,0.0699625238579,0.999999998529,1.16229199225e-05,-2.71172803656e-05,-4.55179455818e-05,1793254836297053696
+153,2.550000000,POSE1_TO_POSE2_PRESS,784.2665982,760.2665982,738,719,686,651,917,800,839.2665982,657,636,657,0.412794711964,-0.0155038379944,0.0699901614219,0.999999998869,9.13963479952e-06,1.65661203536e-05,-4.36301478688e-05,1793254836313720320
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.841465871,760.841465871,738,719,686,651,917,800,839.841465871,657,636,657,0.413579411053,-0.0155071309968,0.070018429266,0.999999997415,2.01103888829e-06,5.73427621369e-05,-4.33422357165e-05,1793254836330387200
+155,2.583333333,POSE1_TO_POSE2_PRESS,785,761,738,719,686,651,917,800,840,657,636,657,0.414287636648,-0.0155072404036,0.0700095839234,0.999999998329,-2.06690895077e-06,3.6601794214e-05,-4.47015791067e-05,1793254836347053568
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,760.984745399,737.984745399,718.984745399,686,651,917,800,840,657,636,657.015254601,0.414969716875,-0.0155060899715,0.0699857840932,0.999999998855,-4.90413891923e-06,-8.65096113711e-06,-4.68131254885e-05,1793254836363720704
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,760.405694374,737.405694374,718.405694374,686,651,917,800,840,657,636,657.594305626,0.415761740681,-0.0155031814219,0.0699315930055,0.999999994131,-4.81891799917e-06,-9.40680732269e-05,-5.35427397878e-05,1793254836380387328
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,760.171845143,737.171845143,718.171845143,686,651,917,800,840,657.171845143,636,657.828154857,0.416576571396,-0.0155035602311,0.0699003011874,0.999999987943,-8.21900455087e-06,-0.000143951852179,-5.76590404101e-05,1793254836397053696
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,760.745847346,737.745847346,718.745847346,686,651,917,800,840,657.745847346,636,657.254152654,0.417444775461,-0.0155116322146,0.0699225989176,0.99999999213,-1.97755103204e-05,-0.000110679475055,-5.56595877689e-05,1793254836413720576
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,761,738,718.680449662,686,651,917,800,840,657.680449662,636,657,0.41833344181,-0.0155196726353,0.0699491404913,0.999999995594,-2.92092580093e-05,-7.18129394987e-05,-5.29364937042e-05,1793254836430387456
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,761,738,718.106984452,686,651,917,800,840,657.106984452,636,657,0.41923836746,-0.0155276879759,0.0699790542242,0.999999997679,-3.69562603994e-05,-2.85012841556e-05,-4.96383938257e-05,1793254836447053824
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,760.516400143,738,718,686,651,917,800,840,657.483599857,636,657,0.420153845794,-0.0155420589627,0.0700047830829,0.99999999733,-5.52028417245e-05,1.38660864183e-05,-4.58343657989e-05,1793254836463720448
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760,738,718,686,651,917,800,840,658,636,657,0.421068495475,-0.0155563876311,0.0700248357275,0.99999999518,-7.43997266167e-05,4.77058659116e-05,-4.27707242697e-05,1793254836480387072
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,760,738,718,686,651,917,800,840,658,636,657,0.421961666073,-0.0155607999088,0.0700137072259,0.999999995092,-8.39594522239e-05,2.66001072531e-05,-4.53690012954e-05,1793254836497054208
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,760,738,718,686.228008284,651,917,800.228008284,840,658,636,657,0.422828691614,-0.0155586293231,0.0699739681024,0.99999999437,-8.54777802575e-05,-3.83703960895e-05,-4.98036320877e-05,1793254836513721088
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,760,738,718,686.802282194,651,917,800.802282194,840,658,636,657,0.423656012003,-0.015546461648,0.0698907793502,0.999999981135,-7.47840105006e-05,-0.000169956259639,-5.70270481733e-05,1793254836530387712
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.624311165,760,738,718,687,651,917,801,840,657.624311165,636,657.375688835,0.424588927797,-0.0155433913833,0.0698649837075,0.9999999748,-7.4166829782e-05,-0.00020296976998,-6.08466407598e-05,1793254836547054080
+168,2.800000000,POSE1_TO_POSE2_PRESS,784.051359935,760,738,718,687,651,917,801,840,657.051359935,636,657.948640065,0.425577288369,-0.0155450978834,0.0698693233871,0.999999977946,-7.88405502078e-05,-0.00018422603023,-6.28789925623e-05,1793254836563720704
+169,2.816666667,POSE1_TO_POSE2_PRESS,785.083446979,760.541723489,738,717.458276511,686.458276511,651,916.458276511,800.458276511,840.541723489,657,636,657.458276511,0.426578047521,-0.0155485241372,0.0699324960454,0.999999990608,-8.21028892028e-05,-9.41749991279e-05,-5.6347876011e-05,1793254836580387328
+170,2.833333333,POSE1_TO_POSE2_PRESS,785.867316146,760.867316146,738,717,686,651,916.132683854,800.132683854,840.867316146,657,636,657.132683854,0.42758142717,-0.0155526469862,0.0699939190605,0.999999995094,-8.51736745e-05,-6.86656770213e-06,-5.01079486979e-05,1793254836597053952
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.290109975,760.290109975,738,717,686,651,916.709890025,800.709890025,840.290109975,657,636,657.709890025,0.428589495894,-0.0155585362637,0.0700300719219,0.999999993847,-8.80683125995e-05,4.7729911533e-05,-4.76685815868e-05,1793254836613720832
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.285584985,760.285584985,738,717,686,651,917,801,840,657,636,658,0.429575743779,-0.0155640255017,0.0700440163613,0.999999992348,-9.14935056607e-05,6.86985808637e-05,-4.70470097588e-05,1793254836630387456
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.859752834,760.859752834,738,717,686,651,917,801,840,657,636,658,0.430539941703,-0.0155691105007,0.0700355192474,0.999999992729,-9.54548231074e-05,5.56864349201e-05,-4.82623154577e-05,1793254836647054336
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.551492622,761,738,717,686,651,917,801,840.448507378,657,636,657.551492622,0.431417657402,-0.0155652549159,0.0699632838087,0.999999991843,-9.37972534531e-05,-6.82911372414e-05,-5.340575709e-05,1793254836663720960
+175,2.916666667,POSE1_TO_POSE2_PRESS,785,761,738,717.040814407,686,651,917,801,841,657,636,657,0.432278742443,-0.0155590498403,0.0698787328648,0.999999971439,-9.08182826444e-05,-0.000212961432763,-5.93501395921e-05,1793254836680387584
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761,738,717.617853425,686,651,917,801,841,657,636,657,0.433288565814,-0.0155599418311,0.0699030354096,0.999999981273,-9.43384413225e-05,-0.000158295734995,-5.91371020187e-05,1793254836697053952
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.193238648,761,738,717.806761352,686.193238648,651,917,801,841,657,636,657,0.434293033405,-0.0155613665932,0.0699372622783,0.999999989202,-9.91756713414e-05,-9.20359058393e-05,-5.7356079843e-05,1793254836713720576
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.7653812,761,738,717.2346188,686.7653812,651,917,801,841,657,636,657,0.435286999516,-0.0155638360175,0.069990948846,0.999999992936,-0.000106595426061,-3.04220053067e-06,-5.25005407239e-05,1793254836730386944
+179,2.983333333,POSE1_TO_POSE2_PRESS,786,760.660608951,738,717,686.660608951,651,917,801,841,657,636,657,0.436270613315,-0.0155693753385,0.0700225477162,0.999999990954,-0.000113815731738,5.14598012941e-05,-4.9888570004e-05,1793254836747053824
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,784.059534155,760,737,719,686.940465845,650.059534155,917,799.059534155,840,657,635.940465845,657.059534155,0.411747739756,-0.0153845733683,0.0698241702973,0.999999941734,0.000210353807709,-0.000267817969466,2.36135491904e-05,1793254839754670592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784.649226194,760,737,719,686.350773806,650.649226194,917,799.649226194,840,657,635.350773806,657.649226194,0.411123037763,-0.0153836079004,0.069864219788,0.999999956896,0.00020714467337,-0.000206231313932,2.77120010674e-05,1793254839771337728
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784.765263044,760,737,719,686.234736956,651,917,799.765263044,839.765263044,657.234736956,635,658,0.410465714447,-0.0153836171158,0.0698745337512,0.999999959507,0.000205270462922,-0.000194965402674,2.89601494965e-05,1793254839788004608
+360,6.000000000,POSE2_TO_POSE3_RETREAT,784.185891181,760,737,719,686.814108819,651,917,799.185891181,839.185891181,657.814108819,635,658,0.409760497377,-0.0153850573372,0.0698411907558,0.999999945402,0.000205356154874,-0.000257579151407,2.6023553602e-05,1793254839804670976
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.607682389,760,737.392317611,719,686.607682389,650.607682389,917,799.392317611,839,657.607682389,635.392317611,658,0.409114491658,-0.0153818937252,0.0698043666303,0.999999925931,0.000208843810546,-0.000322521577196,2.23892308709e-05,1793254839821337600
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.030023014,760,737.969976986,719,686.030023014,650.030023014,917,799.969976986,839,657.030023014,635.969976986,658,0.408496458966,-0.0153765551343,0.069765897919,0.999999901454,0.000213938648101,-0.000388564139572,1.84252822404e-05,1793254839838004224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783.54228839,760,737.45771161,719,686,650.54228839,917,800,839.54228839,657.54228839,635.45771161,657.45771161,0.407926886679,-0.015374789557,0.0697649660843,0.999999904524,0.000214239600338,-0.000380470691685,1.71752973746e-05,1793254839854670848
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784,760,737.118228689,719,686.118228689,650.881771311,917,800,839.881771311,658,635,657.118228689,0.407375661294,-0.0153734624573,0.0697700236861,0.999999910312,0.000214350199559,-0.000364895812737,1.67410838399e-05,1793254839871337984
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,760,737.709874156,719,686.709874156,650.290125844,917,800,839.290125844,658,635,657.709874156,0.40688726301,-0.0153731067657,0.0697908242067,0.999999920434,0.000214750953091,-0.000335638100425,1.89776379826e-05,1793254839888004608
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,760,738,719,687,650,917,799.705224034,839.294775966,657.705224034,635,657.705224034,0.406395461103,-0.0153724989494,0.0698018065994,0.999999923333,0.000217849702736,-0.0003247451181,2.04060833841e-05,1793254839904671232
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784,760,738,719,687,650,917,799.126811086,839.873188914,657.126811086,635,657.126811086,0.405900384217,-0.0153716485355,0.0698033418699,0.999999919839,0.000223544496801,-0.000331522901895,2.10569567073e-05,1793254839921337856
+368,6.133333333,POSE2_TO_POSE3_RETREAT,784,760,738,719,687,650.450010596,917,799,840,657,635.450010596,657,0.405454626715,-0.0153722262204,0.0697974323841,0.999999915948,0.000221906274658,-0.000344246618623,1.88535720183e-05,1793254839938004480
+369,6.150000000,POSE2_TO_POSE3_RETREAT,784,760,738,719,687,651,917,799,839.973156449,657.026843551,636,657,0.405026710382,-0.0153731895275,0.0697906072191,0.999999912532,0.000218199206065,-0.000356465849767,1.60589395791e-05,1793254839954670848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,784,760,738,719,687,651,917,799,839.386774401,657.613225599,636,657,0.404682007933,-0.0153738319974,0.0698082707026,0.999999924601,0.000214289640604,-0.000323366786364,1.76465559952e-05,1793254839971337728
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,760,738,719.196945419,687,651,917,799,839,657.803054581,636,657,0.404342782522,-0.0153735576303,0.0698247630669,0.999999933728,0.000215441920724,-0.00029285076864,1.91510892161e-05,1793254839988004352
+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,760,738,719.775506643,687,651,917,799,839,657.224493357,636,657,0.404014169858,-0.0153715067327,0.069838986183,0.999999938426,0.000226402402688,-0.000267339852855,2.04946342171e-05,1793254840004671232
+373,6.216666667,POSE2_TO_POSE3_RETREAT,784,759.646354154,738,720,687,651,917,799,839,657,635.646354154,657,0.403693017148,-0.0153688179474,0.0698420267371,0.999999940086,0.000227017070075,-0.000260526458794,2.04451434931e-05,1793254840021337856
+374,6.233333333,POSE2_TO_POSE3_RETREAT,784,759.068482474,738,720,687,651,917,799,839,657,635.068482474,657,0.40337659432,-0.0153657247152,0.0698379770939,0.99999994011,0.000221072071834,-0.000265568050721,1.95124116615e-05,1793254840038004480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.492908168,759.507091832,738,719.492908168,687,651,917,799.507091832,839.507091832,657,635.507091832,657,0.403089447896,-0.0153610417798,0.0698249830373,0.999999931194,0.000234347423781,-0.000287008112879,1.78576778703e-05,1793254840054671104
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,760,737.91573847,719.08426153,687,650.91573847,917,800,840,657,636,657,0.402813824143,-0.015356709942,0.0698123180975,0.999999921547,0.000248096826335,-0.000308357835798,1.64102933039e-05,1793254840071337472
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,760,737.32717158,719.67282842,687,650.32717158,917,800,840,657,636,657,0.402583606925,-0.0153557585375,0.0698088198218,0.999999918885,0.000249218240672,-0.000315972257427,1.67848348385e-05,1793254840088003840
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783.257207964,760,737.257207964,720,686.742792036,650.257207964,917,799.742792036,840,657,635.742792036,657.257207964,0.402366876438,-0.0153554191234,0.0698048825537,0.999999916765,0.000249682411903,-0.000322210238518,1.75645314053e-05,1793254840104670720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.83634644,760,737.83634644,720,686.16365356,650.83634644,917,799.16365356,840,657,635.16365356,657.83634644,0.402167026434,-0.0153558456978,0.0698003958273,0.999999915366,0.000249323954541,-0.000326725417887,1.88513342061e-05,1793254840121337344
+380,6.333333333,POSE2_TO_POSE3_RETREAT,784,760,738,719.586995311,686.413004689,651,917,799,840,657,635,658,0.401984213271,-0.0153583167718,0.0697953526253,0.999999913468,0.000244676938942,-0.000335846042077,2.00953770098e-05,1793254840138004224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,784,760,738,719.011314003,686.988685997,651,917,799,840,657,635,658,0.401808110681,-0.0153615931447,0.0697900902357,0.999999911241,0.000238340721778,-0.000346780684734,2.13225772312e-05,1793254840154671104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,784,760,737.43670526,719.56329474,687,651,917,799,839.43670526,657.56329474,635,658,0.401676672209,-0.0153633612055,0.0697898441699,0.999999910674,0.000242324711364,-0.000345575387629,2.25330699322e-05,1793254840171337984
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.858179726,760,737.141820274,720,686.858179726,651,917,799,839,657.858179726,635,657.858179726,0.401553193275,-0.015364272743,0.0697899580519,0.999999908727,0.000252509483114,-0.000343835027816,2.37242726671e-05,1793254840188004864
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.267180791,760,737.732819209,720,686.267180791,651,917,799,839,657.267180791,635,657.267180791,0.401452088204,-0.0153625672356,0.0697908934661,0.999999901821,0.000281678336163,-0.00034117081464,2.48554400628e-05,1793254840204671232
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.31776729,760,738,720,686,651,917,799,839,657.31776729,635.31776729,657,0.401361904364,-0.0153614833993,0.0697922025576,0.999999896685,0.000303538216038,-0.000337421189884,2.53226585037e-05,1793254840221337344
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783.897722904,760,738,720,686,651,917,799,839,657.897722904,635.897722904,657,0.401280731569,-0.0153609125005,0.0697938199687,0.999999893314,0.00031936749918,-0.00033277599686,2.52420558592e-05,1793254840238003968
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783.527472161,760,738,719.527472161,686.472527839,651,917,799,839.472527839,658,635.527472161,657,0.401210713547,-0.0153612913168,0.0697934227625,0.999999908211,0.000267514643003,-0.000334512774553,1.07413817457e-05,1793254840254670848
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.04629627,760,738,719.04629627,687,650.95370373,917,799,839.95370373,658,635,657,0.401145008241,-0.0153622081984,0.0697926383129,0.999999921876,0.00020605222093,-0.000337286006396,-5.28193970848e-06,1793254840271337216
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.620821848,760,738,719.620821848,687,650.379178152,917,799,839.379178152,658,635,657,0.401101259099,-0.0153669441442,0.0697923571696,0.999999923389,0.000200292755967,-0.000336293948549,-3.45042774643e-06,1793254840288004352
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.798613745,760,738,720,687,650.201386255,917,799.201386255,839,658,635,657.201386255,0.401063105059,-0.0153689404015,0.0697923512341,0.999999924445,0.000198005637032,-0.000334514739863,-2.0972433972e-06,1793254840304671232
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783.206327733,760,738,720,687,650.793672267,917,799.793672267,839,658,635,657.793672267,0.401035811363,-0.0153656188002,0.0697928794894,0.999999924655,0.000202458497901,-0.000331207636146,-1.67251451749e-06,1793254840321337856
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,760,738,720,687,651,917,800,839.376510378,658,635.376510378,657.623489622,0.401012450996,-0.0153640272402,0.069793902205,0.999999924524,0.000206223929984,-0.000329276688361,-1.18209120428e-06,1793254840338004480
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,760,738,720,687,651,917,800,839.954297759,658,635.954297759,657.045702241,0.40099119333,-0.0153633605354,0.0697951892519,0.99999992421,0.00020962187244,-0.000328081413739,-6.56548610718e-07,1793254840354670848
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783,760,738,720,687,651,917,800,839.47178194,658,635.47178194,657,0.400979295722,-0.0153638777334,0.0697958285814,0.999999924962,0.0002092414641,-0.000326026741267,-1.41870481699e-07,1793254840371337472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.104674319,760,737.895325681,720,686.895325681,650.895325681,917,799.895325681,839,658,635,657,0.400969291945,-0.0153645473348,0.06979659982,0.999999925731,0.000208772220729,-0.000323963291959,4.35503799462e-07,1793254840388004096
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.694421563,760,737.305578437,720,686.305578437,650.305578437,917,799.305578437,839,658,635,657,0.40096433876,-0.0153654519539,0.0697982401563,0.999999926169,0.000209395228528,-0.00032220124242,1.30774361813e-06,1793254840404670720
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784,760,737,720,686.279935052,650,917,799,839,657.720064948,635,657,0.400960493658,-0.0153659583542,0.0697994373288,0.99999992634,0.000210664312439,-0.000320836959193,1.88115084556e-06,1793254840421337600
+398,6.633333333,POSE2_TO_POSE3_RETREAT,784,760,737,720,686.860895881,650,917,799,839,657.139104119,635,657,0.40095784012,-0.0153660365332,0.069800157949,0.999999926224,0.000212628148876,-0.000319900410367,2.1332110964e-06,1793254840438004224
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.563804941,760,737.436195059,720,687,650,917,799.436195059,839,657,635,657.436195059,0.400956194998,-0.0153651615972,0.069800932982,0.999999926482,0.000213970491532,-0.000318195215483,1.90388462886e-06,1793254840454671104
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783,760,738,720,686.990317025,650.009682975,917,799.990317025,839,657,635.009682975,657.990317025,0.400954894225,-0.0153640230558,0.0698017354938,0.999999926862,0.00021507870446,-0.000316249971003,1.53533279877e-06,1793254840471337728
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783,760,738,720,686.418503523,650.581496477,917,799.418503523,839,657,635.581496477,657.418503523,0.400955154076,-0.0153650006625,0.0698031387966,0.999999927681,0.000213953443591,-0.000314416963221,1.88220101434e-06,1793254840488004352
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783,760,738,720,686.159323287,651,917,799,839,657.159323287,636,657,0.400955315731,-0.0153661891612,0.0698042167586,0.999999928362,0.000213062608452,-0.000312850555684,2.18551608948e-06,1793254840504670976
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783,760,738,720,686.753565112,651,917,799,839,657.753565112,636,657,0.400955209335,-0.0153679533501,0.0698044066098,0.999999928677,0.000212811705543,-0.000312011909969,2.3699403749e-06,1793254840521337600
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783.338530515,760,737.661469485,720,686.661469485,651,917,799,839,657.661469485,636,657.338530515,0.400954857057,-0.0153673106149,0.0698044807288,0.999999928636,0.000213283560094,-0.000311821981253,2.34466413341e-06,1793254840538004224
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783.916923184,760,737.083076816,720,686.083076816,651,917,799,839,657.083076816,636,657.916923184,0.400954330563,-0.0153649624795,0.0698044728472,0.999999928342,0.000214267516675,-0.00031209169402,2.17080683254e-06,1793254840554671104
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783.507669536,760,737.492330464,720,686.492330464,651,917,799,839.492330464,657,635.507669536,657.507669536,0.400954228304,-0.0153648113458,0.0698048970101,0.999999928391,0.000214383424861,-0.000311853849448,2.25699070617e-06,1793254840571337728
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,760,738,720,687,651,916.933259785,799,840,657.066740215,635,657,0.400954354032,-0.0153651117927,0.0698054219982,0.999999928497,0.000214549452473,-0.000311398013122,2.42817824397e-06,1793254840588004608
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783,760,738,720,687,651,916.362601441,799,840,657.637398559,635,657,0.400955663925,-0.0153660395955,0.0698061611199,0.999999928595,0.000216193198114,-0.000309939012133,2.91186549743e-06,1793254840604671232
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783.218529254,760,738,720,687,650.781470746,916,799,839.781470746,658,635.218529254,657,0.400956932641,-0.0153668189264,0.0698068154517,0.999999928964,0.000216554764122,-0.000308488936592,3.14878483392e-06,1793254840621337600
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783.817911253,760,738,720,687,650.182088747,916,799,839.182088747,658,635.817911253,657,0.400958129593,-0.0153673395007,0.069807322012,0.99999992981,0.000214681747964,-0.000307054416084,2.95563716832e-06,1793254840638004224
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1322f0af50cb3051222e9b52f4c94bb139eec5d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.575681530211,-0.00981811867034,1.06002041127,0.546252676099,-0.00114388721812,1.05969211574
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+398,6.633333333,pose2_to_pose3_retreat,0.575671858072,-0.00981815388507,1.0600205624,0.546243005379,-0.001143917576,1.05969226757
+399,6.650000000,pose2_to_pose3_retreat,0.575670647315,-0.00981816298374,1.06002062406,0.546241794293,-0.00114392773278,1.05969233085
+400,6.666666667,pose2_to_pose3_retreat,0.575670015128,-0.00981819377066,1.06002063157,0.546241162357,-0.00114395769485,1.05969233762
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+402,6.700000000,pose2_to_pose3_retreat,0.575669574098,-0.00981823953055,1.0600206138,0.546240721897,-0.00114400159473,1.05969231783
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+405,6.750000000,pose2_to_pose3_retreat,0.575669301712,-0.00981826779241,1.06002060283,0.546240449864,-0.00114402870783,1.05969230561
+406,6.766666667,pose2_to_pose3_retreat,0.575669251195,-0.00981827303389,1.06002060079,0.546240399412,-0.00114403373625,1.05969230334
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+408,6.800000000,pose2_to_pose3_retreat,0.57566859837,-0.0098183407689,1.06002057449,0.546239747432,-0.00114409871803,1.05969227405
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..003418d37e96d7bedeb596ebb4db890d0bf401ce
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2068d1362671723b331cc9f8f6e9ad1554289590b315d9df04c34f9e26b6ce19
+size 26355914
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65db7e244fcc87551178069502e9d4ca06a197bf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
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+15,0.250000000,BASELINE,784,760.216785683,737,719,686,651,917,800,840,657.216785683,635.216785683,657.216785683,0.401038230552,-0.0154978377796,0.0798594317406,0.999999981202,0.000116646316701,-0.00014912351854,4.18601325739e-05,1793254842274129920
+16,0.266666667,BASELINE,783.633272273,760,737,719,686,650.633272273,917,800,839.633272273,657.366727727,635.366727727,657.366727727,0.401039201946,-0.0154972078885,0.0798602354049,0.999999981201,0.000118060185381,-0.000148006031732,4.18897414686e-05,1793254842290796544
+17,0.283333333,BASELINE,783.053830831,760,737,719,686,650.053830831,917,800,839.053830831,657.946169169,635.946169169,657.946169169,0.401041560361,-0.015497040365,0.0798619999615,0.999999981467,0.000119083095993,-0.000145300817031,4.20959182089e-05,1793254842307462912
+18,0.300000000,BASELINE,783.522235951,760,737,719,686,650.522235951,916.477764049,800,839,658,636,657.477764049,0.401041256599,-0.0154962797379,0.0798616652596,0.99999998142,0.000119514806592,-0.000145368436023,4.17729649023e-05,1793254842324130048
+19,0.316666667,BASELINE,783.902123951,760,737,719,686,650.902123951,916.097876049,800,839.097876049,657.902123951,636,657.097876049,0.40104074257,-0.0154957000849,0.0798612331862,0.999999981364,0.000119605228469,-0.000145767058041,4.14653196688e-05,1793254842340796928
+20,0.333333333,BASELINE,783.326879249,760,737,719,686,650.326879249,916.673120751,800,839.673120751,657.326879249,636,657.673120751,0.4010405328,-0.0154962993545,0.0798613748058,0.999999981423,0.000118326400995,-0.000146395014751,4.14966420606e-05,1793254842357463296
+21,0.350000000,BASELINE,783.254987547,760,737,719,686,650.254987547,917,800,840,657.254987547,636,657.745012453,0.401040600323,-0.0154969701532,0.0798615824009,0.999999981515,0.000117290141477,-0.000146542839564,4.16947121786e-05,1793254842374129664
+22,0.366666667,BASELINE,783.845569778,760,737,719,686,650.845569778,917,800,840,657.845569778,636,657.154430222,0.401041032798,-0.015497735093,0.0798618768277,0.999999981652,0.000116573131046,-0.000146058752246,4.21122426221e-05,1793254842390796288
+23,0.383333333,BASELINE,784,760,737.427861666,719,686,651,917,800.427861666,840,658,636,657.427861666,0.401040275578,-0.0154979944283,0.0798613175407,0.99999998163,0.000115877984812,-0.00014680176051,4.19817497141e-05,1793254842407463168
+24,0.400000000,BASELINE,784,760,738,719,686,651,917,800.992817311,840,658,636,658,0.401039104432,-0.0154980720252,0.079860459207,0.999999981545,0.00011521905611,-0.000147978956704,4.16633819274e-05,1793254842424129792
+25,0.416666667,BASELINE,784,760,738,719,686,651,917,800.416311245,840,658,636,658,0.401038513026,-0.0154979342716,0.0798598570159,0.999999981182,0.00011681723107,-0.000149132755126,4.18337624462e-05,1793254842440796416
+26,0.433333333,BASELINE,784,760,738,719,686,650.841100678,917,800,839.841100678,658,636,658,0.401038349084,-0.0154979024681,0.0798598266748,0.999999981038,0.000117709053736,-0.00014934637878,4.20133781332e-05,1793254842457463040
+27,0.450000000,BASELINE,784,760,738,719,686,650.269256708,917,800,839.269256708,658,636,658,0.401039296025,-0.015498146006,0.0798612824466,0.99999998147,0.000116765221336,-0.000147116693704,4.22169940426e-05,1793254842474129664
+28,0.466666667,BASELINE,783.685910326,760,737.685910326,718.685910326,686,650.314089674,916.685910326,800,839,657.685910326,635.685910326,658,0.401039428388,-0.0154979988765,0.0798614279856,0.999999981451,0.000117444198733,-0.000146696785795,4.22454361483e-05,1793254842490796288
+29,0.483333333,BASELINE,783.092328581,760,737.092328581,718.092328581,686,650.907671419,916.092328581,800,839,657.092328581,635.092328581,658,0.401038835899,-0.0154975041125,0.0798604076166,0.99999998103,0.000119567230256,-0.000147887304636,4.21180001807e-05,1793254842507462912
+30,0.500000000,BASELINE,783,760,737,718.488687643,686,651,916,800.488687643,839.488687643,657.488687643,635.488687643,657.511312357,0.401039167277,-0.0154976072062,0.0798612302633,0.999999981294,0.000117995541553,-0.000147329572779,4.22203448569e-05,1793254842524129536
+31,0.516666667,BASELINE,783.066755145,760,737,719,686,651,916.066755145,800.933244855,840,658,636,657.066755145,0.401039336549,-0.0154976526256,0.0798620473246,0.999999981576,0.000116153571199,-0.000146855944251,4.23058629988e-05,1793254842540796160
+32,0.533333333,BASELINE,783.64001063,760,737,719,686,651,916.64001063,800.35998937,840,658,636,657.64001063,0.401036984685,-0.0154964248959,0.0798602462605,0.999999981056,0.000117424491912,-0.000149463749598,4.19425760329e-05,1793254842557462784
+33,0.550000000,BASELINE,783.780619416,760.219380584,737.219380584,719,686,651,917,800,840,657.780619416,635.780619416,657.780619416,0.401036380459,-0.0154960711175,0.0798597985662,0.999999980929,0.000117670220343,-0.000150173880967,4.17462065753e-05,1793254842574129664
+34,0.566666667,BASELINE,783.190928406,760.809071594,737.809071594,719,686,651,917,800,840,657.190928406,635.190928406,657.190928406,0.401038726213,-0.0154971925534,0.0798616353357,0.999999981471,0.000116185442766,-0.000147680772994,4.1831590866e-05,1793254842590796288
+35,0.583333333,BASELINE,783,760.608312474,737.608312474,719,686,651,916.608312474,800,840,657.391687526,635.391687526,657,0.401038374386,-0.0154977911884,0.0798615576018,0.999999981264,0.000117273632037,-0.000148201500762,4.18856391186e-05,1793254842607463168
+36,0.600000000,BASELINE,783,760.029084055,737.029084055,719,686,651,916.029084055,800,840,657.970915945,635.970915945,657,0.401036730952,-0.0154981395053,0.0798605631993,0.999999980695,0.000119593763661,-0.000150165259839,4.19246836111e-05,1793254842624129792
+37,0.616666667,BASELINE,783,760,737.544873183,719,686,651,916.544873183,800,840,657.455126817,636,657,0.401036454466,-0.0154981995617,0.0798597877672,0.999999980958,0.000117307015876,-0.000150270057702,4.17456495523e-05,1793254842640796160
+38,0.633333333,BASELINE,783.121566482,760,737.878433518,719,686,651,916.878433518,800,840,657,635.878433518,657,0.401036370728,-0.0154978822318,0.0798592571021,0.999999981159,0.000115750323198,-0.000150187121596,4.15540915469e-05,1793254842657462784
+39,0.650000000,BASELINE,783.709833665,760,737.290166335,719,686,651,916.290166335,800,840,657,635.290166335,657,0.401036749531,-0.0154961745989,0.0798596216696,0.999999980977,0.000117931349207,-0.000149760752199,4.13587137886e-05,1793254842674129408
+40,0.666666667,BASELINE,783.706483265,760,737,719,686,651,916,800,840,657.293516735,635.293516735,657.293516735,0.401037153172,-0.0154957413897,0.0798599265412,0.999999980947,0.000118625132229,-0.000149439100954,4.12469238504e-05,1793254842690796288
+41,0.683333333,BASELINE,783.127262328,760,737,719,686,651,916,800,840,657.872737672,635.872737672,657.872737672,0.401037580991,-0.0154965486829,0.0798601733058,0.999999981071,0.000117871258068,-0.000149219380606,4.12164968878e-05,1793254842707462912
+42,0.700000000,BASELINE,783.451540422,760,737.451540422,718.548459578,686,651,916.451540422,800,840,658,636,658,0.401038354076,-0.0154971112406,0.0798608710341,0.999999981225,0.000117508377113,-0.000148404377145,4.14570699864e-05,1793254842724129536
+43,0.716666667,BASELINE,784,760,737.969959522,718.030040478,686,651,917,800,840,657.969959522,636,657.969959522,0.401039133453,-0.0154975399529,0.0798616091006,0.999999981357,0.00011737999956,-0.000147530692135,4.17527943328e-05,1793254842740796160
+44,0.733333333,BASELINE,784,760,737.394815226,718.605184774,686,651,917,800,840,657.394815226,636,657.394815226,0.401038262883,-0.0154967904169,0.0798607749549,0.999999980945,0.000119509079568,-0.000148633757728,4.16646142098e-05,1793254842757463040
+45,0.750000000,BASELINE,784,760,737,719,686,651,917,800,840,657,636,657,0.401038143013,-0.015496400692,0.079860637706,0.999999980825,0.000120411491014,-0.000148718888428,4.16504959917e-05,1793254842774129920
+46,0.766666667,BASELINE,784,760,737,719,686,651,917,800,840,657,636,657,0.401039666736,-0.0154967987431,0.0798620262534,0.999999981348,0.000118628215786,-0.000146575337178,4.17985300224e-05,1793254842790796544
+47,0.783333333,BASELINE,783.645833501,760,737.354166499,719,686,651,917,800,840,657.354166499,636,657.354166499,0.401039539271,-0.0154969529451,0.0798620017283,0.999999981358,0.000118589633761,-0.000146536095956,4.17979551043e-05,1793254842807463168
+48,0.800000000,BASELINE,783.066542933,760,737.933457067,719,686,651,917,800,840,657.933457067,636,657.933457067,0.401038362238,-0.0154969521458,0.0798610789912,0.999999981044,0.000119660056614,-0.000147834448113,4.17029177049e-05,1793254842824129792
+49,0.816666667,BASELINE,783,760,737.490528489,719,686,651,917,800,840,657.490528489,636,658,0.401038541978,-0.0154965449248,0.0798608769884,0.999999981032,0.000119600158563,-0.000148046051058,4.13946401338e-05,1793254842840796928
+50,0.833333333,BASELINE,783.084698357,760,737,719,686,651,917,800,839.915301643,657,636,657.915301643,0.401038873569,-0.0154962683433,0.0798608342388,0.999999981108,0.000119053823235,-0.000148041836364,4.11542248543e-05,1793254842857464064
+51,0.850000000,BASELINE,783.657835359,760,737,719,686,651,917,800,839.342164641,657,636,657.342164641,0.40103906545,-0.0154970492986,0.0798611704742,0.999999981455,0.000116548231644,-0.000147606366332,4.14647466027e-05,1793254842874130944
+52,0.866666667,BASELINE,783.76152027,760,737.23847973,719,686,651,917,800,839,657.23847973,636,657,0.401039041317,-0.0154969752814,0.0798615100736,0.999999981558,0.000116050347019,-0.000147208512606,4.17876453999e-05,1793254842890798080
+53,0.883333333,BASELINE,783.169754448,760,737.830245552,719,686,651,917,800,839,657.830245552,636,657,0.401038697181,-0.0154956347002,0.0798618546565,0.999999981303,0.000118526698327,-0.000146866384053,4.21288796537e-05,1793254842907464704
+54,0.900000000,BASELINE,783.413218102,760,737.586781898,718.586781898,686,650.586781898,917,800,839.413218102,658,636,657,0.401039880983,-0.0154954245029,0.0798625773585,0.999999981442,0.000118913773311,-0.000145668436974,4.19086079299e-05,1793254842924131328
+55,0.916666667,BASELINE,783.992653535,760,737.007346465,718.007346465,686,650.007346465,917,800,839.992653535,658,636,657,0.4010416794,-0.0154956690036,0.0798634521593,0.999999981738,0.000118460435063,-0.000144126236177,4.14624699419e-05,1793254842940797952
+56,0.933333333,BASELINE,784,760,737,718.567590244,686,650.567590244,917,800,840,657.432409756,636,657.567590244,0.401039802445,-0.0154956621202,0.0798622870663,0.999999981284,0.000119660256499,-0.000146278917958,4.1411534597e-05,1793254842957464576
+57,0.950000000,BASELINE,784,760,737,719,686,650.85446565,917,800,840,657.14553435,636,657.85446565,0.401038166205,-0.0154962212872,0.0798613100779,0.999999980993,0.00011981356682,-0.000148121305315,4.14698661574e-05,1793254842974131456
+58,0.966666667,BASELINE,784,760,737,719,686,650.267218529,917,800,840,657.732781471,636,657.267218529,0.401037403808,-0.0154985082776,0.0798609835133,0.99999998123,0.00011672616814,-0.000148877905447,4.18444316756e-05,1793254842990798080
+59,0.983333333,BASELINE,784,760,737.315847928,719,686,650.315847928,917,800,840,657.684152072,636,657,0.401037534199,-0.0154982399624,0.0798611175323,0.999999981223,0.000117045435816,-0.000148682501765,4.18121307554e-05,1793254843007464448
+60,1.000000000,BASELINE,784,760,737.895423663,719,686,650.895423663,917,800,840,657.104576337,636,657,0.401038410055,-0.0154958380097,0.0798616361309,0.99999998101,0.00012020921334,-0.000147692190691,4.14401031152e-05,1793254843024130560
+61,1.016666667,BASELINE,783.525000602,760,737.525000602,719,686,650.525000602,917,800,840,657.474999398,636,657.474999398,0.40103898214,-0.0154951983942,0.0798617824854,0.999999981101,0.000120843357363,-0.000146524855985,4.15492272135e-05,1793254843040796672
+62,1.033333333,BASELINE,783.053990453,760,737,719,686,650.053990453,917,800,840,657.946009547,636,657.946009547,0.401039348192,-0.0154950284023,0.0798617763357,0.999999981224,0.000120850771826,-0.000145620205289,4.17305142023e-05,1793254843057463040
+63,1.050000000,BASELINE,783.627357377,760,737,719,686,650.627357377,917,800,840,657.372642623,636,657.372642623,0.401038375599,-0.0154956436305,0.0798610915043,0.999999981017,0.000120186697093,-0.000147617435681,4.15869609419e-05,1793254843074129664
+64,1.066666667,BASELINE,784,760,737,719,686,650.793876245,917,800,839.793876245,657,636,657.206123755,0.401037773758,-0.015496097396,0.0798609712555,0.999999980874,0.00012016238934,-0.00014863307971,4.14873950389e-05,1793254843090796288
+65,1.083333333,BASELINE,784,760,737,719,686,650.20508587,917,800,839.20508587,657,636,657.79491413,0.401037860216,-0.0154962514079,0.0798618991485,0.999999980854,0.000121325802417,-0.000147826418682,4.14694912194e-05,1793254843107462912
+66,1.100000000,BASELINE,784,760,737.376470496,718.623529504,686,650,917,800,839.376470496,657.376470496,635.623529504,657.623529504,0.401038573172,-0.0154961807142,0.0798621983208,0.999999980899,0.000121127680746,-0.000147670487611,4.1510418301e-05,1793254843124129536
+67,1.116666667,BASELINE,784,760,737.954160346,718.045839654,686,650,917,800,839.954160346,657.954160346,635.045839654,657.045839654,0.401039620984,-0.0154959899178,0.0798621614488,0.99999998098,0.000120201833641,-0.000147862364596,4.15827898549e-05,1793254843140796416
+68,1.133333333,BASELINE,784,760,737.469901776,718.530098224,686,650,917,800,840,657.469901776,635.530098224,657.530098224,0.401038083684,-0.0154953246667,0.0798608884886,0.999999980686,0.000121096945447,-0.000149137876639,4.14839592437e-05,1793254843157463040
+69,1.150000000,BASELINE,784,760,737,719,686,650.105257631,916.894742369,800,839.894742369,657,636,658,0.401036730323,-0.0154948985413,0.0798600046762,0.999999980509,0.000121612882129,-0.00014992596806,4.14082078865e-05,1793254843174129664
+70,1.166666667,BASELINE,784,760,737,719,686,650.677632254,916.322367746,800,839.322367746,657,636,658,0.401037182041,-0.0154957150946,0.0798613206373,0.999999980997,0.000119749593298,-0.000148136478788,4.15003624205e-05,1793254843190796544
+71,1.183333333,BASELINE,784,760,737.260041985,719,686,651,916.260041985,800,839.260041985,657,635.739958015,657.739958015,0.401037098026,-0.0154959991345,0.0798614857175,0.99999998104,0.00011949749502,-0.000148039620486,4.15384601484e-05,1793254843207463168
+72,1.200000000,BASELINE,784,760,737.855391422,719,686,651,916.855391422,800,839.855391422,657,635.144608578,657.144608578,0.40103632322,-0.0154955965327,0.0798601668108,0.99999998051,0.00012132292331,-0.000150125300958,4.1506855106e-05,1793254843224129792
+73,1.216666667,BASELINE,784,760,737.562248317,719,686,651,917,800.437751683,840,657,635.437751683,657,0.401036677297,-0.0154967125932,0.0798603660486,0.999999980652,0.000119842931289,-0.000150334628597,4.16418979074e-05,1793254843240796928
+74,1.233333333,BASELINE,784,760,737,719,686,651,917,800.984147831,840,657,636,657,0.401037413151,-0.0154982168784,0.0798610506271,0.999999980996,0.000117436329196,-0.00014989221219,4.18244381689e-05,1793254843257464064
+75,1.250000000,BASELINE,784,760,737,719,686,651,917,800.409308988,840,657,636,657,0.401038840286,-0.0154962302197,0.0798616746684,0.99999998105,0.000119749560003,-0.000147694970713,4.1796560565e-05,1793254843274130176
+76,1.266666667,BASELINE,784,760,737.16524925,719,686,651,917,800,840,657,636,657,0.401039319578,-0.0154948659644,0.0798618666716,0.999999980943,0.000121686020783,-0.000146865761482,4.16780598872e-05,1793254843290796288
+77,1.283333333,BASELINE,784,760,737.739113601,719,686,651,917,800,840,657,636,657,0.401037455118,-0.0154950407381,0.0798609903657,0.999999980456,0.000122690834707,-0.000149419312868,4.13354737394e-05,1793254843307462912
+78,1.300000000,BASELINE,784,760,738,718.674600965,686,651,917,800,840,657,636,657,0.401037549099,-0.0154963047351,0.0798610571792,0.999999980681,0.000120969988222,-0.000149294228787,4.14202179997e-05,1793254843324129792
+79,1.316666667,BASELINE,784,760,738,718.077961821,686,651,917,800,840,657,636,657,0.401039275563,-0.0154984766666,0.0798619101408,0.999999981487,0.000116977136101,-0.000146936337175,4.18611684533e-05,1793254843340796416
+80,1.333333333,BASELINE,784,760,737.500056037,718.499943963,686,651,917,800,839.500056037,657.499943963,636,657,0.401038736641,-0.0154979496978,0.0798619192188,0.999999981255,0.000118841204986,-0.000147020397247,4.18650326319e-05,1793254843357463296
+81,1.350000000,BASELINE,784,760,737.074973864,719,686,651,917,800,839.074973864,658,636,657.074973864,0.40103799403,-0.0154968932457,0.0798618221375,0.999999980882,0.000121450703306,-0.000147438614179,4.1798305414e-05,1793254843374130176
+82,1.366666667,BASELINE,784,760,737.64960302,719,686,651,917,800,839.64960302,658,636,657.64960302,0.401038163231,-0.0154950116449,0.0798618629016,0.999999980648,0.000123161054104,-0.000147637637511,4.16989664411e-05,1793254843390797312
+83,1.383333333,BASELINE,783.768874482,760,737.768874482,718.768874482,686,651,917,800,840,658,636,657.768874482,0.401038035263,-0.015494405062,0.0798614182318,0.999999980684,0.000122215559388,-0.000148248414979,4.1455468493e-05,1793254843407464192
+84,1.400000000,BASELINE,783.176579994,760,737.176579994,718.176579994,686,651,917,800,840,658,636,657.176579994,0.401037442922,-0.0154957908893,0.0798602149974,0.999999981126,0.000117119900122,-0.000149502621291,4.09867000823e-05,1793254843424130048
+85,1.416666667,BASELINE,783.406383482,760,737,718.406383482,686,651,917,800,840,658,636,657,0.401037300401,-0.0154955254636,0.079860276435,0.999999981096,0.000117546999354,-0.000149360642102,4.10052031764e-05,1793254843440796672
+86,1.433333333,BASELINE,783.985383458,760,737,718.985383458,686,651,917,800,840,658,636,657,0.401037348946,-0.0154945586474,0.0798608750582,0.999999980867,0.000120319960007,-0.000148625615493,4.12306809972e-05,1793254843457463296
+87,1.450000000,BASELINE,784,760,737,719,686,651,917,800,840,657.440435084,636,657,0.401037279392,-0.0154956138057,0.0798612835462,0.999999980931,0.000120003684714,-0.000148376759812,4.14923450501e-05,1793254843474129664
+88,1.466666667,BASELINE,784,760,737,719,686,651,916.863127985,800,839.863127985,657.136872015,636,657,0.401036961946,-0.0154961777028,0.0798612921824,0.999999980876,0.000120189499045,-0.000148566850264,4.15890151654e-05,1793254843490796544
+89,1.483333333,BASELINE,784,760,737,719,686,651,916.275107051,800,839.275107051,657.724892949,636,657,0.401035837496,-0.0154949497316,0.0798599990826,0.999999980402,0.000122293979672,-0.000150162265755,4.11387536301e-05,1793254843507463680
+90,1.500000000,BASELINE,784,760,737,719,686,650.692079476,916.307920524,800,839.307920524,658,636,657,0.401036590874,-0.0154949641898,0.0798603685108,0.999999980496,0.000122379737875,-0.000149456053847,4.115964803e-05,1793254843524130560
+91,1.516666667,BASELINE,784,760,737,719,686,650.113441982,916.886558018,800,839.886558018,658,636,657,0.401038995199,-0.0154960709647,0.0798621995969,0.999999981088,0.0001206906795,-0.000146726301542,4.15947724153e-05,1793254843540797440
+92,1.533333333,BASELINE,783.535896926,760,737,719,686,650.464103074,917,800,840,657.535896926,635.535896926,657,0.401039056406,-0.0154955663202,0.0798623294205,0.999999981176,0.000120315195394,-0.000146417228375,4.16360500945e-05,1793254843557463552
+93,1.550000000,BASELINE,783.040928061,760,737,718.959071939,686,650.959071939,917,800,840,657.040928061,635,657,0.401038530898,-0.0154948235754,0.0798620418843,0.999999981137,0.000120255240121,-0.000146742257225,4.1601427592e-05,1793254843574130176
+94,1.566666667,BASELINE,783.611877451,760,737,718.388122549,686,650.388122549,917,800,840,657.611877451,635,657,0.40103780692,-0.0154960862598,0.0798617220766,0.999999981011,0.000120133154213,-0.000147634476903,4.18276554913e-05,1793254843590796544
+95,1.583333333,BASELINE,784,760,737,718,686,650,917,800,840,658,635.190302066,657.190302066,0.401037465201,-0.0154967200787,0.0798615773473,0.999999980931,0.000120137755344,-0.000148163635747,4.18615981227e-05,1793254843607463168
+96,1.600000000,BASELINE,784,760,737,718,686,650,917,800,840,658,635.784595925,657.784595925,0.40103793498,-0.0154960188807,0.0798618042914,0.999999980949,0.00012041130006,-0.000147922053801,4.14873388682e-05,1793254843624129792
+97,1.616666667,BASELINE,784,760,737.369313814,718,686,650.369313814,916.630686186,800,840,658,636,657.630686186,0.401037236497,-0.0154956344298,0.0798614820387,0.999999980824,0.000120254471353,-0.000148925228111,4.13888453779e-05,1793254843640796672
+98,1.633333333,BASELINE,784,760,737.948587596,718,686,650.948587596,916.051412404,800,840,658,636,657.051412404,0.40103587384,-0.0154954300538,0.0798608475601,0.999999980613,0.000119852969435,-0.000150636063444,4.14471285298e-05,1793254843657463552
+99,1.650000000,BASELINE,784,760,737.476828061,718.523171939,686,651,916.523171939,800,840,657.476828061,635.476828061,657.523171939,0.401035314876,-0.0154962710632,0.0798605351078,0.999999980796,0.000118448840766,-0.00015053486218,4.14417516231e-05,1793254843674130176
+100,1.666666667,BASELINE,784,760,737,719,686,651,917,800.099675487,840,657,635.099675487,657.900324513,0.401035014831,-0.0154969550498,0.0798603383699,0.999999980935,0.000117658683338,-0.000150242973177,4.14062365561e-05,1793254843690796800
+101,1.683333333,BASELINE,784,760,737,719,686,651,917,800.687822626,840,657,635.687822626,657.312177374,0.401035600035,-0.0154963705565,0.0798605549988,0.999999980674,0.000120355927579,-0.000149881496282,4.12534113058e-05,1793254843707463424
+102,1.700000000,BASELINE,784,760,737,719,686,651,917,800.728209844,840,657,636,657.271790156,0.401035329123,-0.0154957020619,0.0798603940514,0.999999980447,0.000121494913638,-0.000150499279941,4.115941679e-05,1793254843724130048
+103,1.716666667,BASELINE,784,760,737,719,686,651,917,800.148970332,840,657,636,657.851029668,0.401034089772,-0.015494938545,0.0798598059893,0.999999980263,0.000120871195956,-0.00015222480436,4.11319716838e-05,1793254843740796416
+104,1.733333333,BASELINE,784,760,737.428433202,719,686,651,917,800,840,657,636,657.571566798,0.401035136383,-0.0154955075268,0.0798606008232,0.999999980548,0.000119823724676,-0.000151096397784,4.14291497214e-05,1793254843757463040
+105,1.750000000,BASELINE,784,760,737.994797194,719,686,651,916.994797194,800,839.994797194,657,636,657,0.401036956033,-0.0154965360589,0.0798618632668,0.999999980988,0.00011863439304,-0.000148994837564,4.1834864319e-05,1793254843774129920
+106,1.766666667,BASELINE,784,760,737.417842253,719,686,651,916.417842253,800,839.417842253,657,636,657,0.401036751391,-0.0154973672944,0.0798618965835,0.999999981135,0.000117978505225,-0.000148536325965,4.18167861651e-05,1793254843790796544
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,760,738,719,686,650,917,800,840,657,636,657,0.401038295301,-0.0154941793341,0.0798618418193,0.999999980903,0.000121334935107,-0.000147414758741,4.17232662785e-05,1793254843831257088
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,760,737.420750604,719,686,650.579249396,917,800.579249396,840,657.579249396,636,657,0.401036575453,-0.015495852576,0.0798613186584,0.99999998082,0.000120539082737,-0.000148619153801,4.17405254489e-05,1793254843847923968
+109,1.816666667,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,917,801,840,657.842390957,636,657,0.401035719522,-0.0154969095656,0.0798609712013,0.999999980766,0.000120196355329,-0.000149280314063,4.16766749781e-05,1793254843864590592
+110,1.833333333,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,917,801,840,657.266393111,636,657,0.401037156943,-0.0154963306531,0.0798610901675,0.99999998079,0.000121056492798,-0.000148499404057,4.13975109418e-05,1793254843881256704
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,760,737.309892293,719,686,651,917,800.690107707,840,657,636,657,0.401037909163,-0.0154958837585,0.0798615091808,0.999999980901,0.000120926673742,-0.000147900512289,4.12441163342e-05,1793254843897923072
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,760,737.886425087,719,686,651,917,800.113574913,840,657,636,657,0.401038071816,-0.0154955504561,0.0798621863633,0.999999981086,0.000119945066741,-0.000147458234447,4.11989374821e-05,1793254843914589696
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,760,737.527041842,719,686,651,917,800.472958158,840,657.472958158,636.472958158,657.472958158,0.401038009282,-0.0154943589141,0.0798619731755,0.999999980932,0.000120605935788,-0.000148015541448,4.10153305099e-05,1793254843931256576
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.939059062,917,800.939059062,839.939059062,657.939059062,636.939059062,658,0.401037841462,-0.0154932237427,0.0798615685056,0.999999980683,0.000121644293309,-0.000148886703848,4.08539220367e-05,1793254843947923968
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.359615182,917,800.359615182,839.359615182,657.359615182,636.359615182,658,0.401037247868,-0.0154943595835,0.0798613931136,0.999999980352,0.000122466105252,-0.000150341813323,4.11703245118e-05,1793254843964590080
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.217871989,917,800,839.217871989,657,636,657.782128011,0.401037388282,-0.0154953814113,0.0798617755975,0.999999980033,0.000122348104016,-0.000152473659589,4.14308185193e-05,1793254843981256448
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.792158148,917,800,839.792158148,657,636,657.207841852,0.401038729449,-0.0154962167266,0.0798630707039,0.999999979728,0.000120692673612,-0.000155712571293,4.15998525053e-05,1793254843997922816
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,916.624925636,800,839.624925636,657,636,657,0.401050139897,-0.0154966609683,0.0798680302277,0.999999979949,0.000120052769754,-0.000154734926598,4.1779557627e-05,1793254844014589440
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,760,737,719,686,651,916.037114522,800,839.037114522,657,636,657,0.401067261496,-0.0154968833988,0.0798750681562,0.999999980465,0.000119988857696,-0.000151365712455,4.19653152783e-05,1793254844031255808
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.457760133,760,737,719,686,651,916.542239867,800,839.542239867,657,636,657,0.401107957192,-0.0154971958592,0.0798882979691,0.999999982008,0.000122744278047,-0.000138291175777,4.23448647238e-05,1793254844047922688
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,760,737.1209049,719,686,651,917,800.1209049,840.1209049,657.1209049,636,657,0.401156065645,-0.0154983123219,0.079902481225,0.999999983818,0.000124262924915,-0.000122894640986,4.26661572857e-05,1793254844064589312
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,760,737.699118438,719,686,651,917,800.699118438,840.699118438,657.699118438,636,657,0.401226202585,-0.0155024468792,0.0799186923621,0.999999986722,0.000120384928881,-0.00010118945748,4.27176995108e-05,1793254844081256192
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.273694243,760,738,719,686,651,917,800.726305757,840.726305757,657.726305757,636,657.273694243,0.4013050581,-0.0155059612162,0.0799324238246,0.999999988828,0.000118579225961,-8.07153846206e-05,4.20555918079e-05,1793254844097923072
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.844323383,760,738,719,686,651,917,800.155676617,840.155676617,657.155676617,636,657.844323383,0.40139337252,-0.0155088026669,0.0799434650509,0.999999990196,0.000119021784464,-6.15769630645e-05,4.061923484e-05,1793254844114589696
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,760,737.568479709,719,686,650.568479709,917,800,840,657,636,658,0.401491119257,-0.0155113337319,0.0799505864009,0.999999990944,0.00011814589431,-5.17395655067e-05,3.8417291671e-05,1793254844131256320
+126,2.100000000,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650,917,800,840,657.024341341,636,658,0.401593342741,-0.0155137147508,0.0799560398029,0.999999991485,0.000116904550826,-4.55939980468e-05,3.58522347555e-05,1793254844147922688
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650,917,800,840,657.603675248,636,658,0.401716954192,-0.0155153296854,0.0799569938085,0.999999991497,0.000118608688858,-4.40630037439e-05,3.15568343738e-05,1793254844164589312
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.181954885,917,800,840,657.818045115,636,658,0.401851446498,-0.0155181929751,0.079959154647,0.999999991947,0.00011691886748,-4.1265439795e-05,2.7064305444e-05,1793254844181255936
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,760,737,719,686,650.757951317,917,800,840,657.242048683,636,658,0.402009502367,-0.0155237597028,0.079963929003,0.999999993298,0.000107879086457,-3.57249924742e-05,2.21448754341e-05,1793254844197922816
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,760,737.332452873,719,686,651,917,800,840,657.332452873,636,657.667547127,0.402176672546,-0.0155256960539,0.0799638432603,0.999999994079,0.000100915334059,-3.73178414578e-05,1.62892963448e-05,1793254844214589440
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,760,737.905870987,719,686,651,917,800,840,657.905870987,636,657.094129013,0.402350448886,-0.0155250010715,0.0799602348689,0.999999994425,9.54563074992e-05,-4.40809759678e-05,9.75518632127e-06,1793254844231256064
+132,2.200000000,POSE1_TO_POSE2_PRESS,784,760,737.504741652,719,686,651,917,800,839.504741652,657.504741652,636,657,0.402543387456,-0.0155253703579,0.0799544810116,0.999999996529,6.11690695609e-05,-5.65323112596e-05,2.05241221821e-06,1793254844247922688
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,737.085864748,719,686,651,917,800.085864748,839.085864748,657,636,657.085864748,0.402747448834,-0.0155254248565,0.0799489304974,0.999999997269,2.5686728494e-05,-6.90425837712e-05,-5.97146220076e-06,1793254844264589312
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,737.665447537,719,686,651,917,800.665447537,839.665447537,657,636,657.665447537,0.402993826943,-0.0155224675155,0.0799469719601,0.999999996921,1.58868419547e-05,-7.54683483858e-05,-1.4521936944e-05,1793254844281255936
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,760,738,718.758483011,686,651,917,800.758483011,840,657,636,657.758483011,0.403263747688,-0.0155173884557,0.0799471639692,0.99999999678,1.02184143313e-05,-7.666561732e-05,-2.14145023048e-05,1793254844297922560
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,760,738,718.187210534,686,651,917,800.187210534,840,657,636,657.187210534,0.403565812382,-0.0155094125049,0.0799502922293,0.999999997108,1.01908792976e-05,-7.07241535246e-05,-2.60434387471e-05,1793254844314589440
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,737.603082103,718.396917897,686,650.603082103,917,800,840,657.396917897,636,657,0.403885743535,-0.0155076510558,0.0799542773005,0.99999999736,1.47920785685e-05,-6.62027505798e-05,-2.60333440422e-05,1793254844331256064
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,737.012687069,718.987312931,686,650.012687069,917,800,840,657.987312931,636,657,0.404214383661,-0.015508918858,0.0799586800233,0.999999997538,2.16495486315e-05,-6.23735547055e-05,-2.37619592258e-05,1793254844347922688
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,760,737,718.433353661,686,650.566646339,917,800,839.433353661,658,636,657,0.404597429491,-0.0155148746959,0.0799599154241,0.99999999818,6.75545828687e-06,-5.33773665601e-05,-2.73106496481e-05,1793254844364589568
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,760,737.145344082,718,686,651,917,800,839.145344082,657.854655918,636,657.145344082,0.40498913832,-0.0155199947055,0.0799594154093,0.999999998352,-4.96399587223e-06,-4.84333847866e-05,-3.04273564015e-05,1793254844381256448
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,760,737.722873888,718,686,651,917,800,839.722873888,657.277126112,636,657.722873888,0.405403054012,-0.0155223232113,0.0799539619074,0.999999997914,-5.82313629739e-06,-5.58761970304e-05,-3.18794817656e-05,1793254844397923072
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,760,737.702284796,718,686,651,917,800,840,657,636,658,0.405840058847,-0.0155219120923,0.0799467220659,0.999999996926,-8.27790901488e-06,-6.9651556849e-05,-3.50474580288e-05,1793254844414589440
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,760,737.129923578,718,686,651,917,800,840,657,636,658,0.406298363755,-0.0155189736353,0.0799378343032,0.999999995149,-1.22046726541e-05,-8.92687721578e-05,-3.97983284488e-05,1793254844431255808
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,760,737.458292917,718,686,651,917,800.458292917,840,657,636,657.541707083,0.406781418546,-0.0155178471373,0.0799358442802,0.999999995055,6.95716401068e-06,-9.275678589e-05,-3.51887417235e-05,1793254844447922688
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,760,738,718,686.049936664,651,917,800.950063336,840,657,636,657,0.407273839046,-0.0155170706747,0.079934815151,0.999999994739,2.92761411337e-05,-9.3907444151e-05,-2.9100339055e-05,1793254844464589568
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,738,718,686.628571947,651,917,800.371428053,840,657,636,657,0.407788470178,-0.0155143667407,0.0799225141107,0.999999991993,1.32379010162e-05,-0.000120457753682,-3.64570580927e-05,1793254844481255936
+147,2.450000000,POSE1_TO_POSE2_PRESS,783.794020874,760,738,717.794020874,686.794020874,651,917,800,840,657,636,657.205979126,0.408333166723,-0.0155147067527,0.0799165743468,0.999999990134,1.37197413561e-07,-0.000134127157225,-4.17375993311e-05,1793254844497922816
+148,2.466666667,POSE1_TO_POSE2_PRESS,783.218815164,760,738,717.218815164,686.218815164,651,917,800,840,657,636,657.781184836,0.408931756803,-0.0155205031711,0.0799220374496,0.999999991257,-7.69784261602e-06,-0.000124706972376,-4.32965007308e-05,1793254844514589440
+149,2.483333333,POSE1_TO_POSE2_PRESS,783.363892252,760,737.636107748,717.363892252,686,651,917,800,840,657,636,658,0.409584867992,-0.0155233439252,0.0799487470284,0.999999995734,-1.46011005424e-05,-8.03599636354e-05,-4.31305991294e-05,1793254844531256064
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.95120551,760,737.04879449,717.95120551,686,651,917,800,840,657,636,658,0.410271453797,-0.0155243699731,0.0799885014274,0.999999998797,-2.09322665443e-05,-1.45687331401e-05,-4.19057101579e-05,1793254844547922688
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,737,717.468397594,686,651,917,800,840,657,636,657.468397594,0.410945102447,-0.0155252190081,0.0799989894911,0.999999998992,-1.84854939912e-05,-2.81181293422e-06,-4.08176178262e-05,1793254844564589568
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840,657,636,657,0.411615444462,-0.0155255558179,0.0799982454898,0.999999999003,-1.60337613177e-05,-7.9752015738e-06,-4.09156003325e-05,1793254844581256448
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840,657,636,657,0.412276809625,-0.0155238058269,0.0799614155856,0.999999996772,-1.69061874914e-05,-6.37090580994e-05,-4.59497032844e-05,1793254844597922816
+154,2.566666667,POSE1_TO_POSE2_PRESS,783.738110758,760,737,717.261889242,686.261889242,651,917,800.261889242,840,657,636,657.261889242,0.412975478424,-0.0155219456547,0.079932915042,0.999999993502,-1.72185606595e-05,-0.000100762220871,-5.04673851527e-05,1793254844614589440
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.161666823,760,737,717.838333177,686.838333177,651,917,800.838333177,840,657,636,657.838333177,0.413718952641,-0.0155199531438,0.0799144188734,0.999999991724,-1.68582553439e-05,-0.000115378043922,-5.43647953901e-05,1793254844631256064
+156,2.600000000,POSE1_TO_POSE2_PRESS,783.423997105,760,737.423997105,718,686.576002895,651,917,800.576002895,840,657,636,657.576002895,0.414506630789,-0.0155209687368,0.0799276996458,0.999999994271,-2.2386516208e-05,-8.97885748486e-05,-5.38020256698e-05,1793254844647922688
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,760,738,717.986974709,686,651,917,800.013025291,840.013025291,657.013025291,636,657,0.415311209203,-0.0155230596231,0.0799528080606,0.999999996978,-2.99771098672e-05,-4.98502449205e-05,-5.15740282477e-05,1793254844664589056
+158,2.633333333,POSE1_TO_POSE2_PRESS,784,760,738,717.407913846,686,651,917,800.592086154,840.592086154,657.592086154,636,657,0.416101492104,-0.0155209278694,0.0799536681305,0.999999995975,-2.74492109477e-05,-6.73560008382e-05,-5.25273800802e-05,1793254844681256448
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,801,841,658,636,657,0.416911445321,-0.0155198562932,0.0799560316143,0.999999995786,-2.5253813188e-05,-7.03245476181e-05,-5.33393250192e-05,1793254844697923840
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,801,841,658,636,657,0.417768280957,-0.0155213115571,0.0799619783521,0.999999997521,-2.38509027532e-05,-3.86449382053e-05,-5.38142390482e-05,1793254844714590464
+161,2.683333333,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,800.682956366,841,657.682956366,636,657.317043634,0.418646956292,-0.0155224575748,0.0799759953633,0.999999998284,-2.35884762039e-05,-2.76818440723e-06,-5.3557625741e-05,1793254844731256576
+162,2.700000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,800.112900907,841,657.112900907,636,657.887099093,0.419543060425,-0.0155233568031,0.0799964527324,0.999999997652,-2.42361954366e-05,3.64580347811e-05,-5.2717228171e-05,1793254844747922688
+163,2.716666667,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,800.479098697,841,657,636,658,0.420423678684,-0.0155211325449,0.0799818473458,0.999999998287,-2.07974609853e-05,1.26996236268e-05,-5.32205935012e-05,1793254844764589312
+164,2.733333333,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,801,841,657,636,657.925829276,0.421308201462,-0.0155188023005,0.0799641686108,0.999999998233,-1.72303242092e-05,-1.76842108235e-05,-5.40856332292e-05,1793254844781256192
+165,2.750000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,651,917,801,841,657,636,657.346734954,0.42224533948,-0.0155210018519,0.0799845164151,0.999999998205,-1.96593548227e-05,1.2720582308e-05,-5.51536259644e-05,1793254844797922816
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.23029175,760,738,717.23029175,686,651,917,800.76970825,841,657,636,657,0.42317172151,-0.0155220972675,0.080000343183,0.999999997779,-1.92404768224e-05,3.32765618562e-05,-5.44463865445e-05,1793254844814589696
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.804233167,760,738,717.804233167,686,651,917,800.195766833,841,657,636,657,0.424082053206,-0.015521545052,0.0800094235001,0.999999997823,-1.45718471308e-05,3.91357906838e-05,-5.10900818145e-05,1793254844831257344
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,760,738,718,686.387647932,651,917,800.387647932,841,657,636,657.387647932,0.424974563368,-0.0155181883073,0.0799760979202,0.999999998203,-9.91844328308e-06,-2.49905356404e-05,-5.35841081755e-05,1793254844847924224
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,760,738,718,686.975966661,651,917,800.975966661,841,657,636,657.975966661,0.425857847936,-0.0155133797631,0.0799208203973,0.999999990384,-5.27292147938e-06,-0.000125345759312,-5.91066312868e-05,1793254844864590592
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,760.555569712,738,717.444430288,687,651,917,801,841,657.555569712,636,658,0.426823776293,-0.0155182522439,0.0799129816142,0.99999999157,-1.84458233039e-05,-0.000113281786359,-6.07284599094e-05,1793254844881256704
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,760.865415928,738,717,687,651,917,801,841,657.865415928,636,658,0.427786362867,-0.0155246166496,0.0799103713055,0.999999992523,-3.11661900734e-05,-0.000101210599762,-6.11444141407e-05,1793254844897922816
+172,2.866666667,POSE1_TO_POSE2_PRESS,785,760.287118621,738,717,687,651,917,801,841,657.287118621,636,658,0.428726327079,-0.0155345404217,0.0799183375994,0.999999992012,-3.9892548696e-05,-0.000104901354859,-5.81324233987e-05,1793254844914589440
+173,2.883333333,POSE1_TO_POSE2_PRESS,784.711355026,760,737.711355026,717,686.711355026,651,917,801,841.288644974,657,636,657.711355026,0.429695623671,-0.0155482046676,0.0799480386781,0.999999994687,-5.18339517198e-05,-7.08096715058e-05,-5.40766879154e-05,1793254844931256320
+174,2.900000000,POSE1_TO_POSE2_PRESS,784.138089845,760,737.138089845,717,686.138089845,651,917,801,841.861910155,657,636,657.138089845,0.430693843585,-0.0155655572308,0.0799991714787,0.999999996559,-6.69455689382e-05,5.37625221823e-07,-4.89917612771e-05,1793254844947923200
+175,2.916666667,POSE1_TO_POSE2_PRESS,784.447666332,760.447666332,737,717,686.447666332,651,917,801,841.552333668,657.447666332,636,657.447666332,0.431669087697,-0.0155709119897,0.0800241932387,0.999999995909,-6.68011317933e-05,3.88525126064e-05,-4.70172906813e-05,1793254844964589568
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761,737.036775562,717,687,651,917,801,841.036775562,658,636,658,0.432630517533,-0.0155717009051,0.0800349089616,0.99999999527,-6.2905961993e-05,5.77218937916e-05,-4.65848131336e-05,1793254844981256192
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,761,737.616863411,717,687,651,917,801,841.616863411,658,636,658,0.433495568412,-0.015561280988,0.0799566796901,0.999999994143,-7.51188745045e-05,-5.58354893655e-05,-5.43515073962e-05,1793254844997923328
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738,717.195015103,687,651,917,801,841.804984897,658,636,657.804984897,0.434386746068,-0.0155552346766,0.0799072312981,0.999999987154,-8.13055811041e-05,-0.000124578584883,-5.96818415919e-05,1793254845014589952
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,738,717.769400418,687,651,917,801,841.230599582,658,636,657.230599582,0.435328749279,-0.0155576965031,0.0799137714194,0.99999998968,-7.57692865114e-05,-0.000106142783078,-6.02726354651e-05,1793254845031256064
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,761,738,717.656305886,686.656305886,651,917,801,841,657.656305886,636,657.343694114,0.436261130061,-0.0155607331874,0.0799390119452,0.999999992487,-7.71051454275e-05,-7.50327918126e-05,-5.87392323524e-05,1793254845047922688
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,761,738,717.08207368,686.08207368,651,917,801,841,657.08207368,636,657.91792632,0.437187056394,-0.0155641554662,0.0799767960535,0.999999994368,-8.30506068481e-05,-3.54213947983e-05,-5.57809914646e-05,1793254845064589312
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,651,917,801,841.510155275,657,636,658,0.438149807284,-0.0155714131811,0.0800130461871,0.99999999433,-8.80104963055e-05,2.87716622253e-05,-5.2588080947e-05,1793254845081255936
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686.101612141,651,917,801,842,657,636,657.898387859,0.439090699365,-0.0155784913241,0.0800354082924,0.999999991646,-9.42871088293e-05,7.25889803779e-05,-5.04897990105e-05,1793254845097922560
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686.67553034,651,917,801,842,657,636,657.32446966,0.439901444959,-0.0155817618165,0.0799944061247,0.999999992784,-0.000107447967995,2.64320985428e-06,-5.36613901471e-05,1793254845114589696
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686.749902925,651,917,801,842,657,635.749902925,657.250097075,0.440664680915,-0.0155811272117,0.0799187515967,0.999999984513,-0.000116423887722,-0.000117287401748,-6.05287456741e-05,1793254845131256576
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686.174492655,651,917,801,842,657,635.174492655,657.825507345,0.441366118757,-0.0155754130604,0.0797980230938,0.999999944525,-0.000119956253769,-0.000302235673811,-7.22033568828e-05,1793254845147923712
+187,3.116666667,POSE1_TO_POSE2_PRESS,784.587218824,761,737.587218824,717,686,650.587218824,917,800.587218824,842,657,635.412781176,657.587218824,0.442144550033,-0.0155780221336,0.0797624732107,0.999999929157,-0.000122945930447,-0.000347664382337,-7.54912302968e-05,1793254845164589824
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.005091066,761,737,716.994908934,686,650,917,800,842,657,636,657.005091066,0.442956849338,-0.0155843084079,0.0797645199686,0.999999934245,-0.000125770064504,-0.000331743040127,-7.50920247593e-05,1793254845181255936
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.583064307,761,737,716.416935693,686,650,917,800,842,657,636,657.583064307,0.44380941781,-0.015596745055,0.079825539636,0.999999958098,-0.00013654449957,-0.000245322680794,-7.05413642649e-05,1793254845197922816
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,737,716,686,650,917,800,842,657,636,658,0.444632014433,-0.0156081596105,0.0798718548488,0.999999970573,-0.000146386587614,-0.000181815389175,-6.60935772723e-05,1793254845214589696
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,761,737,716,686,650,917,800,842,657,636,658,0.445377012338,-0.0156169279125,0.0798800993648,0.999999970477,-0.000153814778237,-0.00017763138198,-6.19121361226e-05,1793254845231256320
+192,3.200000000,POSE1_TO_POSE2_PRESS,784.692586683,760.692586683,737,716,686,650,917,799.692586683,842,657,636,658,0.44609219979,-0.0156217592105,0.079870040426,0.999999966597,-0.00016375630717,-0.00018988450744,-6.27215368666e-05,1793254845247923200
+193,3.216666667,POSE1_TO_POSE2_PRESS,784.121271634,760.121271634,737,716,686,650,917,799.121271634,842,657,636,658,0.446781796147,-0.0156232107514,0.0798442687211,0.999999958856,-0.000175855433483,-0.000216248237707,-6.78153710281e-05,1793254845264590336
+194,3.233333333,POSE1_TO_POSE2_PRESS,784.470426469,760,737,716,685.529573531,650,917,799,842,657,635.529573531,657.529573531,0.447413743576,-0.0156266294794,0.0798003675667,0.999999942489,-0.000184965370383,-0.000274953079969,-7.21847085336e-05,1793254845281256960
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,760.0650642,737,716,685,650,917,798.9349358,842,657,635.0650642,657.0650642,0.448024273758,-0.0156299475473,0.0797508282327,0.999999918868,-0.000192394996941,-0.000345562098969,-7.63814803971e-05,1793254845297923584
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,760.639707626,737,716,685,650,917,798.360292374,842,657,635.639707626,657.639707626,0.448588730292,-0.0156283256074,0.0796953922247,0.999999880813,-0.000192973056173,-0.000441149784298,-8.07557414286e-05,1793254845314589952
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,760.785448222,737.214551778,716,685,649.785448222,917,798,842.214551778,657.214551778,635.785448222,658,0.449165480367,-0.0156283813163,0.079660401681,0.999999853765,-0.00019532595555,-0.000497448509889,-8.28439700072e-05,1793254845331256064
+198,3.300000000,POSE1_TO_POSE2_PRESS,785,760.210266734,737.789733266,716,685,649.210266734,917,798,842.789733266,657.789733266,635.210266734,658,0.449762894003,-0.0156312569041,0.0796597769349,0.99999985765,-0.000200662100241,-0.000487708318957,-8.10897177524e-05,1793254845347922432
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,784.565130975,760,737,716,685,649.434869025,917,798.434869025,841.565130975,658,635,658,0.443375587503,-0.0155070760608,0.0797267752521,0.999999901215,2.71183407244e-05,-0.000442561230085,3.12155354601e-05,1793254847376655104
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784.023809157,760,737,716,685,650,917,799,841,658,635,658,0.442591583877,-0.0155013234704,0.0797333218178,0.999999902588,4.12022347408e-05,-0.000438195417812,3.33455378102e-05,1793254847393321728
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785.175492163,760,737,716,685,650,917,799,841,658,635,658,0.441797064125,-0.0154886930274,0.0797377698958,0.99999990946,6.51066573103e-05,-0.000419329192199,3.16863382952e-05,1793254847409988352
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785.832872847,760.167127153,736.832872847,716,685.167127153,650,917,799,841,657.832872847,635,657.832872847,0.440969608235,-0.0154672161212,0.0797307055714,0.99999990637,9.27986948696e-05,-0.00042173994087,2.79819545628e-05,1793254847426654976
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785.244571811,760.755428189,736.244571811,716,685.755428189,650,917,799,841,657.244571811,635,657.244571811,0.440059150674,-0.0154234454166,0.0796946290658,0.99999987723,0.000130035825618,-0.000477770378566,1.91235420118e-05,1793254847443321600
+323,5.383333333,POSE2_TO_POSE3_RETREAT,785,760.661566824,736.338433176,716,686,650,917,799.338433176,841,657,635.338433176,657.338433176,0.439162771483,-0.0153968746303,0.0796685157868,0.99999985504,0.000161114846799,-0.000513509386596,1.64434478043e-05,1793254847459988224
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785,760.08233013,736.91766987,716,686,650,917,799.91766987,841,657,635.91766987,657.91766987,0.438276409437,-0.0153825420101,0.0796494915899,0.999999839187,0.000187812220367,-0.000534810542324,1.81593792436e-05,1793254847476655104
+325,5.416666667,POSE2_TO_POSE3_RETREAT,785.494496987,760,737,716,686,650.494496987,917,800,841,657,636,658,0.437449443262,-0.0153948079892,0.0797164453183,0.999999888631,0.000175525196064,-0.000437415896286,2.44018984074e-05,1793254847493321984
+326,5.433333333,POSE2_TO_POSE3_RETREAT,785.92909705,760,737,716,686,650.92909705,917,800,841,657,635.92909705,658,0.436627093264,-0.0154101267516,0.0797938453164,0.999999933888,0.000160083173601,-0.0003249982794,3.11917157968e-05,1793254847509988608
+327,5.450000000,POSE2_TO_POSE3_RETREAT,785.352847617,760,737,716,686,650.352847617,917,800,841,657,635.352847617,658,0.435767504618,-0.0154157936141,0.0798441685841,0.999999955011,0.000168190801168,-0.000245674106181,3.6536892655e-05,1793254847526655232
+328,5.466666667,POSE2_TO_POSE3_RETREAT,785,760,736.771749558,716,686,650,917,800,841,657.228250442,635,658,0.434870005918,-0.0154174789569,0.0798650385793,0.999999961476,0.000175746001192,-0.000211159248278,3.96565194446e-05,1793254847543321856
+329,5.483333333,POSE2_TO_POSE3_RETREAT,785,760,736.182993341,716,686,650,917,800,841,657.817006659,635,658,0.433912630778,-0.015412875766,0.079839389177,0.999999951981,0.000182428682615,-0.000247417591835,3.92610450378e-05,1793254847559988224
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784.600927088,760,736,716,686,650,917,800,840.600927088,657.600927088,635,658,0.432909765104,-0.015406151344,0.0797940175472,0.999999927035,0.000192542086713,-0.000327920463035,3.63984890735e-05,1793254847576655104
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784.021877948,760,736,716,686,650,917,800,840.021877948,657.021877948,635,658,0.431886383902,-0.0153984702773,0.0797397514738,0.999999886872,0.000204202696127,-0.000428376984268,3.2423314015e-05,1793254847593321728
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784.552892606,760,736,716,686,650,917,800,840,657,635.552892606,658,0.430890139175,-0.0153948046833,0.0797045455807,0.999999857779,0.000194592573382,-0.000495591762463,3.10568006528e-05,1793254847609988864
+333,5.550000000,POSE2_TO_POSE3_RETREAT,785,760,736.130490753,716,686,650.130490753,917,800,840.130490753,657.130490753,636,657.869509247,0.429932073798,-0.0153933084896,0.0796942769818,0.999999847977,0.000190722120823,-0.000516415395578,3.1418285177e-05,1793254847626655744
+334,5.566666667,POSE2_TO_POSE3_RETREAT,785,760,736.718593998,716,686,650.718593998,917,800,840.718593998,657.718593998,636,657.281406002,0.429104161306,-0.0153988671407,0.0797688353249,0.999999905397,0.000209908869562,-0.000379129293973,3.74803979349e-05,1793254847643322368
+335,5.583333333,POSE2_TO_POSE3_RETREAT,785,760,736.698155484,716,686,651,917,799.698155484,840.698155484,658,636,657.301844516,0.428214264168,-0.0154035336688,0.0798194767692,0.999999933194,0.000217379936042,-0.000290824057667,4.21888103437e-05,1793254847659988736
+336,5.600000000,POSE2_TO_POSE3_RETREAT,785,760,736.119357554,716,686,651,917,799.119357554,840.119357554,658,636,657.880642446,0.427267493891,-0.015407381641,0.0798481735773,0.99999994542,0.000214101435719,-0.000247460573659,4.56551531396e-05,1793254847676655104
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,784,759.480638059,737,716,686,650,917,799.519361941,840,657,635,657.519361941,0.419901800337,-0.0153972284046,0.0798457882441,0.999999945612,0.000236933082359,-0.000224499197109,4.73107821516e-05,1793254847809988608
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,784,759.251283091,737,716,686,650.251283091,917,800,840,657,636,658,0.417240703663,-0.0153909507098,0.0797778951404,0.999999908836,0.000235668371146,-0.000353708964964,4.09637232519e-05,1793254847859988224
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784,759.844260556,737,716,686,650.844260556,917,800,840,657,636,658,0.41642513049,-0.0153938896525,0.0797887429966,0.999999914866,0.000225743644245,-0.000343063622644,4.01911240287e-05,1793254847876655104
+349,5.816666667,POSE2_TO_POSE3_RETREAT,784.425227746,760,737,716,685.574772254,650.574772254,917,800,840,657,635.574772254,658,0.415584652316,-0.0153909029643,0.0797819319075,0.999999907543,0.000231022641183,-0.000360426533229,4.04258014149e-05,1793254847893321984
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784.998083456,759.998083456,737,716.001916544,685.001916544,650,917,800,840,657,635.001916544,657.998083456,0.414735662074,-0.0153858186499,0.0797688690477,0.999999894821,0.00024167391441,-0.000387646969436,4.10118688406e-05,1793254847909988864
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784.421547436,759.421547436,737,716.578452564,685.578452564,650,917,800,840,657,635.578452564,657.421547436,0.413994275577,-0.0153846379165,0.0797672459503,0.999999898645,0.000239395102466,-0.000379274955664,3.93819644838e-05,1793254847926655488
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,759.157219127,737,717,686,650,917,800,840,657.157219127,635.842780873,657.157219127,0.413268297911,-0.0153844628708,0.0797707231089,0.999999904298,0.000237579555914,-0.000365333948389,3.86045854074e-05,1793254847943322112
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,759.742052587,737,717,686,650,917,800,840,657.742052587,635.257947413,657.742052587,0.412584229977,-0.0153870231566,0.0797880722599,0.999999914573,0.000237024026715,-0.000336246045126,4.01459570955e-05,1793254847959988480
+354,5.900000000,POSE2_TO_POSE3_RETREAT,784,759.674508745,737,717,686,650,917,800,839.674508745,658,635,657.674508745,0.411871032961,-0.0153896273785,0.0797881006608,0.999999913465,0.000236366504041,-0.000339861821201,4.11584334953e-05,1793254847976655104
+355,5.916666667,POSE2_TO_POSE3_RETREAT,784,759.09217075,737,717,686,650,917,800,839.09217075,658,635,657.09217075,0.411134850084,-0.0153922662706,0.0797744611721,0.999999903182,0.000235628497802,-0.000369284232159,4.17535559374e-05,1793254847993321984
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.518729351,759,736.518729351,717,685.518729351,650,916.518729351,800,839,657.518729351,635,657,0.410453441417,-0.0153868103117,0.0797697527061,0.999999897408,0.000243965674796,-0.000379387002262,4.15852211215e-05,1793254848009988608
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783.053123486,759,736.053123486,717,685.053123486,650,916.053123486,799.946876514,839.053123486,657,635,657,0.409791799691,-0.0153804827352,0.0797696552385,0.999999894754,0.000252941298012,-0.000380520620849,4.14329320641e-05,1793254848026655232
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783.625801304,759,736.625801304,717,685.625801304,650,916.625801304,799.374198696,839.625801304,657,635,657,0.409222748654,-0.0153805174543,0.0797982293254,0.99999991319,0.000251471301201,-0.000329464577852,4.2841607555e-05,1793254848043322112
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,759.207261503,737,717,686,650,917,799.207261503,840,657.207261503,635,657,0.40865611354,-0.0153808872136,0.0798204947735,0.999999924927,0.000250912927241,-0.000291926280884,4.43524245962e-05,1793254848059988736
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.611599756,760,736.611599756,717.388400244,686,650,917,799.611599756,840,657.611599756,635.388400244,657,0.40751666856,-0.0153789433771,0.0798078173767,0.999999914822,0.000253488336134,-0.000322829357074,4.3371520361e-05,1793254848093321728
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.035671335,760,736.035671335,717.964328665,686,650,917,799.035671335,840,657.035671335,635.964328665,657,0.406931924069,-0.015374092577,0.0797686322232,0.99999988977,0.000255026398587,-0.000392344783205,3.85687604672e-05,1793254848109988352
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.312345088,759,737,717.312345088,686,650,916.312345088,800,839,657,635,657.312345088,0.405544545185,-0.0153727448756,0.0797752681993,0.999999900271,0.000265601142445,-0.000356729872327,4.07070066133e-05,1793254848159988480
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a58a7cee8af05691a24264376f66127a491478e4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,417 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.575700894298,-0.00981825084383,1.0700205173,0.546272041778,-0.00114401399473,1.06969222118
+391,6.516666667,pose2_to_pose3_retreat,0.575689938716,-0.00981824783007,1.07002043725,0.546261087144,-0.00114400789003,1.06969213782
+392,6.533333333,pose2_to_pose3_retreat,0.575681861259,-0.00981826778541,1.07002030851,0.546253009025,-0.00114402980575,1.06969201683
+393,6.550000000,pose2_to_pose3_retreat,0.575676351753,-0.00981828251689,1.07002039738,0.546247499666,-0.0011440438618,1.06969211019
+394,6.566666667,pose2_to_pose3_retreat,0.575673037571,-0.00981828677842,1.070020678,0.546244186644,-0.00114404420934,1.06969238988
+395,6.583333333,pose2_to_pose3_retreat,0.57567110707,-0.00981821314895,1.07002065911,0.546242254837,-0.00114397512713,1.06969236794
+396,6.600000000,pose2_to_pose3_retreat,0.575669945361,-0.00981814105517,1.07002058117,0.54624109162,-0.00114390826211,1.06969228725
+397,6.616666667,pose2_to_pose3_retreat,0.575669423017,-0.0098181086393,1.07002054612,0.546240568598,-0.00114387819727,1.06969225097
+398,6.633333333,pose2_to_pose3_retreat,0.575669381028,-0.00981810603354,1.07002054331,0.546240526554,-0.00114387578049,1.06969224805
+399,6.650000000,pose2_to_pose3_retreat,0.5756693365,-0.0098181032702,1.07002054032,0.546240481969,-0.00114387321758,1.06969224496
+400,6.666666667,pose2_to_pose3_retreat,0.575669265486,-0.00981809886319,1.07002053556,0.546240410862,-0.00114386913019,1.06969224003
+401,6.683333333,pose2_to_pose3_retreat,0.575669170816,-0.00981809298812,1.0700205292,0.546240316069,-0.00114386368122,1.06969223345
+402,6.700000000,pose2_to_pose3_retreat,0.575668880893,-0.00981810652193,1.07002052406,0.546240026454,-0.00114387614741,1.06969222887
+403,6.716666667,pose2_to_pose3_retreat,0.575668349413,-0.00981813449477,1.07002051606,0.546239495609,-0.00114390192507,1.06969222204
+404,6.733333333,pose2_to_pose3_retreat,0.575668002615,-0.00981815274748,1.07002051084,0.546239149224,-0.00114391874539,1.06969221759
+405,6.750000000,pose2_to_pose3_retreat,0.575667894315,-0.00981815844752,1.07002050921,0.546239041054,-0.00114392399812,1.0696922162
+406,6.766666667,pose2_to_pose3_retreat,0.575667843908,-0.00981816110055,1.07002050845,0.546238990707,-0.00114392644295,1.06969221555
+407,6.783333333,pose2_to_pose3_retreat,0.575667726586,-0.00981816727542,1.07002050668,0.546238873525,-0.00114393213325,1.06969221404
+408,6.800000000,pose2_to_pose3_retreat,0.575667294997,-0.00981817918467,1.07002050212,0.546238442198,-0.00114394312374,1.06969221025
+409,6.816666667,pose2_to_pose3_retreat,0.575667061212,-0.00981817555676,1.07002050145,0.54623820832,-0.00114393980388,1.06969220982
+410,6.833333333,pose2_to_pose3_retreat,0.57566704966,-0.00981817537749,1.07002050142,0.546238196764,-0.00114393963983,1.0696922098
+411,6.850000000,pose2_to_pose3_retreat,0.575666988003,-0.00981817442067,1.07002050125,0.546238135081,-0.00114393876426,1.06969220969
+412,6.866666667,pose2_to_pose3_retreat,0.575666973098,-0.00981817418937,1.0700205012,0.54623812017,-0.0011439385526,1.06969220966
+413,6.883333333,pose2_to_pose3_retreat,0.575666816682,-0.00981818545792,1.07002047154,0.54623796362,-0.00114395021046,1.06969218181
+414,6.900000000,pose2_to_pose3_retreat,0.57566677288,-0.00981823766515,1.07002035859,0.54623791952,-0.00114400318284,1.0696920753
+415,6.916666667,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914777,-0.0011440027144,1.06969206398
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a46096a2e57da1fb846d3f98b00643abc7c823d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e76600bbd66fa7e5c3108a75201296ea29d23fcb35cde2a78e5bb52c6e1611c
+size 26348980
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffdc610d23ef5894c1336a07d8c90b8c0930b3f1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,759,737,719,686,650,916,800,840,657,635,657,0.400981141902,-0.0153653841937,0.0798315804743,0.999999921278,0.000273753806176,-0.000284822944268,3.71362821107e-05,1793254849144989952
+1,0.016666667,BASELINE,783,759,737,718.424795247,686,650,916,799.424795247,839.424795247,657,635,657,0.400979500885,-0.0153660457164,0.0798310950429,0.999999921033,0.000272449808491,-0.000286906660882,3.72762790869e-05,1793254849161656064
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+3,0.050000000,BASELINE,783.722733088,759,737,718,686,650,916,799.722733088,839,657,635,657,0.400978493567,-0.0153678054545,0.079830668537,0.999999921967,0.000268445136251,-0.000287416965492,3.73381992527e-05,1793254849194989056
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+6,0.100000000,BASELINE,783.518972218,759.481027782,737,718,686,650,916.481027782,799.481027782,839.481027782,657,635.481027782,657,0.400980694573,-0.0153652621089,0.0798318465872,0.999999921454,0.000272830186373,-0.00028510751778,3.70150257062e-05,1793254849244989184
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+10,0.166666667,BASELINE,783,759.802879387,737,718,686,650.197120613,916.197120613,800,839,657,635.802879387,657.197120613,0.400980895358,-0.0153662727502,0.0798319519822,0.999999921826,0.000271802527213,-0.000284827115611,3.66852305048e-05,1793254849311655936
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+16,0.266666667,BASELINE,783,759,737,718,686,650,916,800,839,658,635.275992408,657,0.400977935717,-0.0153675453883,0.0798307742341,0.999999922002,0.000268406377542,-0.000287404051013,3.67845362777e-05,1793254849411655680
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+18,0.300000000,BASELINE,783,759,737,718,686,650,916,799.553996918,839,657.553996918,635.553996918,657,0.400979207748,-0.0153673122587,0.079831813558,0.999999922316,0.000269805932454,-0.000284981105117,3.68666406363e-05,1793254849444988672
+19,0.316666667,BASELINE,783,759,737,718,686,650,916,799.024765497,839.024765497,657.024765497,635.024765497,657,0.400978957389,-0.0153671285499,0.0798314539566,0.999999922332,0.0002699884279,-0.000284716827143,3.71228258822e-05,1793254849461655296
+20,0.333333333,BASELINE,783,759,737,718,686,650,916,799.600978756,839.600978756,657.600978756,635.600978756,657,0.400978077136,-0.0153667572014,0.0798306344067,0.999999921696,0.000270294242545,-0.000286681145881,3.69186765772e-05,1793254849478321920
+21,0.350000000,BASELINE,783,759,737,718,686,650,916,799.81964611,839.81964611,657.81964611,636,657.18035389,0.400977886851,-0.0153665359094,0.0798305541025,0.999999921374,0.000270731529027,-0.000287405404392,3.67977923131e-05,1793254849494989056
+22,0.366666667,BASELINE,783,759,737,718,686,650,916,799.233150784,839.233150784,657.233150784,636,657.766849216,0.400979250314,-0.0153666525317,0.0798321385163,0.999999921765,0.000271464878727,-0.000285337153744,3.68644137826e-05,1793254849511655936
+23,0.383333333,BASELINE,783,759,737,718,686,650,916,799.347913461,839,657,635.652086539,657.652086539,0.400979985439,-0.0153663913058,0.0798325266078,0.999999922017,0.000271357764489,-0.000284558820688,3.68479982401e-05,1793254849528322560
+24,0.400000000,BASELINE,783,759,737,718,686,650,916,799.92539412,839,657,635.07460588,657.07460588,0.400980305961,-0.0153658807604,0.0798321253183,0.999999922178,0.000270696078648,-0.000284631626578,3.67767915671e-05,1793254849544989440
+25,0.416666667,BASELINE,783,759,737,718,686,650,916,800,839.501443924,657.501443924,635,657.501443924,0.400978600018,-0.0153655228855,0.079830936232,0.999999921526,0.000270904584993,-0.000286729695821,3.66638945221e-05,1793254849561656064
+26,0.433333333,BASELINE,783,759,737,718,686,650,916,800,840,657.922866293,635,657.922866293,0.400977129422,-0.0153652459897,0.0798300178301,0.999999920984,0.000271037509373,-0.000288506399026,3.65358650247e-05,1793254849578322432
+27,0.450000000,BASELINE,783,759,737,718,686,650,916,800,840,657.348129361,635,657.348129361,0.400979116591,-0.0153653453853,0.0798315996526,0.999999921954,0.000269849990141,-0.000286271557325,3.63501147241e-05,1793254849594989056
+28,0.466666667,BASELINE,783,759,737,718,686,650,916,800,840,657,635,657,0.40098055135,-0.0153659959357,0.0798330621291,0.999999922743,0.000269241442009,-0.000284066878738,3.64629760542e-05,1793254849611655680
+29,0.483333333,BASELINE,783,759,737,718,686,650,916,800,840,657,635,657,0.400981137461,-0.015367493206,0.0798343412585,0.999999923257,0.000269522347099,-0.000281908538832,3.70345840504e-05,1793254849628322304
+30,0.500000000,BASELINE,783,759,737,718.409355851,686,650,916,800,839.590644149,657,635,657,0.40098057639,-0.0153679036596,0.0798336723733,0.999999923006,0.000269578142442,-0.000282755144581,3.69426134753e-05,1793254849644988928
+31,0.516666667,BASELINE,783,759,737,718.988490498,686,650,916,800,839.011509502,657,635,657,0.400979539529,-0.01536786336,0.0798321955563,0.999999922436,0.000269540574359,-0.000284848040277,3.65754261729e-05,1793254849661655808
+32,0.533333333,BASELINE,783,759,737,718.437204357,686,650,916,800,839.562795643,657.562795643,635,657,0.400979539757,-0.0153672433235,0.0798321480541,0.999999922673,0.000268968014185,-0.000284587316097,3.63336926812e-05,1793254849678322432
+33,0.550000000,BASELINE,783,759,737,718,686,650,916.137897368,800,840,657.862102632,635,657.137897368,0.400979570041,-0.0153670152667,0.0798321565838,0.999999922875,0.000268448018819,-0.000284377840527,3.62719502521e-05,1793254849694989056
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+40,0.666666667,BASELINE,783.797902402,759,737,718.797902402,686,650,916,800,839.797902402,657,635,657.202097598,0.400980211807,-0.0153673768479,0.0798329138772,0.999999922655,0.000270978689468,-0.000282708326914,3.65587506325e-05,1793254849811655936
+41,0.683333333,BASELINE,783.211412477,759,737,718.211412477,686,650,916,800,839.211412477,657,635,657.788587523,0.400980013007,-0.0153688447836,0.0798333524507,0.999999922874,0.000269613264311,-0.000283182254952,3.69957290353e-05,1793254849828322816
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+43,0.716666667,BASELINE,783.949753201,759,737,718,686,650,916,800,839,657.949753201,635.949753201,658,0.400979481341,-0.0153658729975,0.079832558867,0.99999992227,0.000270618193584,-0.000284488414496,3.59448225797e-05,1793254849861655552
+44,0.733333333,BASELINE,783.473127892,759.526872108,737,718,686,650,916,800,839,657.473127892,636,657.473127892,0.400979672047,-0.0153667727099,0.079832647476,0.999999922378,0.000269919338893,-0.000284719729604,3.6371412771e-05,1793254849878322176
+45,0.750000000,BASELINE,783,759.896451243,737,718,686,650,916,800,839,657,636,657,0.400979846255,-0.0153678543143,0.0798328016909,0.999999922648,0.000268990439712,-0.000284597894665,3.6770343775e-05,1793254849894989056
+46,0.766666667,BASELINE,783,759.320853417,737,718,686,650,916,800,839,657,636,657,0.400979741203,-0.0153684510096,0.0798329652937,0.999999923435,0.000267710791298,-0.000283065818549,3.65393529332e-05,1793254849911655936
+47,0.783333333,BASELINE,783.260574842,759.260574842,737,718,686,650,916,800,839.260574842,657.260574842,636,657,0.400979485337,-0.0153687834797,0.0798330981878,0.999999923846,0.000266547130472,-0.000282723633176,3.64428199862e-05,1793254849928322560
+48,0.800000000,BASELINE,783.849346679,759.849346679,737,718,686,650,916,800,839.849346679,657.849346679,636,657,0.400979039521,-0.0153687831551,0.0798331924038,0.999999923786,0.000265529557168,-0.000283880128589,3.65156382646e-05,1793254849944989440
+49,0.816666667,BASELINE,783.567315794,759.567315794,737,718,686,650,916.432684206,800,839.567315794,657.567315794,636,657.432684206,0.400979341622,-0.015368010176,0.0798332075506,0.999999923199,0.000267662559419,-0.000283928567428,3.66473730994e-05,1793254849961656320
+50,0.833333333,BASELINE,783,759.013931726,737,718,686,650,916.986068274,800,839.013931726,657,636,658,0.400979891331,-0.0153669991461,0.0798331977378,0.99999992244,0.000270814772064,-0.000283594222036,3.67989501475e-05,1793254849978322944
+51,0.850000000,BASELINE,783,759.586308295,737,718,686,650,916.413691705,800,839.586308295,657,636,658,0.400980057299,-0.015367095951,0.0798332772904,0.999999922392,0.000271395173768,-0.000283189202281,3.69338088537e-05,1793254849994989056
+52,0.866666667,BASELINE,783,760,737,718,686,650.159971194,916,800,840,657,635.840028806,658,0.400980026825,-0.015367109546,0.0798331895545,0.999999922223,0.000271967299735,-0.000283230598828,3.6996368385e-05,1793254850011655424
+53,0.883333333,BASELINE,783,760,737,718,686,650.736987522,916,800,840,657,635.263012478,658,0.400979484226,-0.015366906213,0.0798326656972,0.999999921735,0.000272517850809,-0.000284435803351,3.68704438541e-05,1793254850028322304
+54,0.900000000,BASELINE,783,759.677466563,737,718,686,650.677466563,916,800,839.677466563,657,635.322533437,658,0.400979430326,-0.0153668774408,0.0798326835426,0.999999921886,0.000271847356906,-0.000284577151704,3.66528773742e-05,1793254850044989184
+55,0.916666667,BASELINE,783,759.08477622,737,718,686,650.08477622,916,800,839.08477622,657,635.91522378,658,0.400979785764,-0.0153669948824,0.0798331551228,0.999999922568,0.000270154104726,-0.000283827404505,3.63585507803e-05,1793254850061655808
+56,0.933333333,BASELINE,783,759,737,718,686,650,916.494901599,800,839.494901599,657,636,658,0.400979419116,-0.0153673278853,0.0798328162915,0.999999922437,0.000270336922039,-0.000284060980643,3.67774350511e-05,1793254850078322432
+57,0.950000000,BASELINE,783,759.071912399,737,718.071912399,686,650.071912399,916.928087601,800,839.928087601,657,635.928087601,658,0.400979061354,-0.0153679138337,0.0798324980757,0.999999922389,0.000270248282082,-0.000284254080352,3.72413095444e-05,1793254850094989312
+58,0.966666667,BASELINE,783,759.645469278,737,718.645469278,686,650.645469278,916.354530722,800,839.354530722,657,635.354530722,658,0.400979606318,-0.0153700132872,0.079833267255,0.999999923859,0.000266081654306,-0.000283019912848,3.71886126211e-05,1793254850111655936
+59,0.983333333,BASELINE,783,759.774472924,737,718.774472924,686,650.774472924,916,800,839.225527076,657.225527076,635.225527076,658,0.400979881135,-0.0153704153754,0.0798338127853,0.999999924439,0.000264977437143,-0.000282025695432,3.70181389238e-05,1793254850128322560
+60,1.000000000,BASELINE,783,759.183892199,737,718.183892199,686,650.183892199,916,800,839.816107801,657.816107801,635.816107801,658,0.400979718675,-0.0153680699919,0.0798339963018,0.999999923595,0.000268830247917,-0.000281419877554,3.66570236262e-05,1793254850144989184
+61,1.016666667,BASELINE,783,759,737,718,686,650,916,800,840,658,635.601389338,657.601389338,0.400978954572,-0.015367572737,0.0798330962496,0.999999922876,0.000269664160927,-0.000283194824313,3.645732602e-05,1793254850161656064
+62,1.033333333,BASELINE,783,759,737,718,686,650,916,800,840,658,635.022539076,657.022539076,0.400977918422,-0.0153679111497,0.0798317062405,0.999999922213,0.000269133020086,-0.000286046280363,3.63306165988e-05,1793254850178322688
+63,1.050000000,BASELINE,783,759.552868398,737,718,686,650,916,800,839.447131602,658,635.552868398,657,0.400978372222,-0.015367227338,0.0798319309513,0.999999922222,0.000269882717055,-0.000285307299774,3.63216242323e-05,1793254850194989056
+64,1.066666667,BASELINE,783.12810405,759.87189595,737,718,686,650.12810405,916.12810405,800,839.12810405,657.87189595,636,657,0.400978701326,-0.0153667324188,0.07983218712,0.99999992211,0.000270970290819,-0.000284657618837,3.64136682359e-05,1793254850211655936
+65,1.083333333,BASELINE,783.703226832,759.296773168,737,718,686,650.703226832,916.703226832,800,839.703226832,657.296773168,636,657,0.400978384657,-0.0153670411594,0.0798323247758,0.999999921478,0.00027305580269,-0.000284827156813,3.68416358015e-05,1793254850228322816
+66,1.100000000,BASELINE,783.713708661,759,737,718,686,650.713708661,916.713708661,800,840,657,636,657.286291339,0.400978739078,-0.0153672445779,0.0798325014195,0.999999921601,0.000273079495694,-0.000284371178255,3.68581374991e-05,1793254850244989184
+67,1.116666667,BASELINE,783.122176818,759,737,718,686,650.122176818,916.122176818,800,840,657,636,657.877823182,0.400979809005,-0.015367335703,0.0798327196318,0.999999922527,0.000270904901205,-0.00028324828121,3.64359390331e-05,1793254850261655808
+68,1.133333333,BASELINE,783,759.458860177,737,718,686,650.458860177,916.458860177,800,840,657.458860177,636,658,0.400978746022,-0.0153680610261,0.0798321004014,0.999999922661,0.000269033926077,-0.000284546264191,3.65079434985e-05,1793254850278322688
+69,1.150000000,BASELINE,783.036908848,759.963091152,737,718,686,651,916.963091152,800,839.963091152,657.963091152,635.963091152,657.963091152,0.400977265988,-0.0153688162028,0.0798313539954,0.999999922566,0.000267511949177,-0.000286284361681,3.66851957235e-05,1793254850294989056
+70,1.166666667,BASELINE,783.611223146,759.388776854,737,718,686,651,916.388776854,800,839.388776854,657.388776854,635.388776854,657.388776854,0.400977797633,-0.015367602338,0.0798319299211,0.999999922219,0.000269920738307,-0.00028525512319,3.65217770042e-05,1793254850311655680
+71,1.183333333,BASELINE,783.810139492,759,737,718,686,650.810139492,916,799.810139492,839,657,635,657,0.400978090257,-0.0153668601995,0.0798322009197,0.999999922163,0.00027075701749,-0.000284681655937,3.63476133809e-05,1793254850328322304
+72,1.200000000,BASELINE,783.222443435,759,737,718,686,650.222443435,916,799.222443435,839,657,635,657,0.400977882033,-0.0153671065204,0.0798318329715,0.999999922724,0.000268298244547,-0.000285063215964,3.61509347516e-05,1793254850344988928
+73,1.216666667,BASELINE,783,759.360132937,737,718,686,650,916,799,839,657,635,657,0.400978350212,-0.015367501372,0.0798320205033,0.999999922835,0.000268495069077,-0.00028448272175,3.62061114009e-05,1793254850361655552
+74,1.233333333,BASELINE,783,759.939591322,737,718,686,650,916,799,839,657,635,657,0.40097923033,-0.0153679866805,0.0798325463294,0.999999922669,0.000270309185718,-0.000283316324487,3.64146710659e-05,1793254850378322688
+75,1.250000000,BASELINE,783,759.484176905,737,718,686,650,916,799.515823095,839,657,635.515823095,657,0.400979494923,-0.0153695266678,0.0798331024157,0.999999923551,0.000267765688871,-0.000282607458041,3.64926572233e-05,1793254850394989568
+76,1.266666667,BASELINE,783,759,737,718,686,650.091461956,916,800,839,657.091461956,635.908538044,657,0.400979679054,-0.0153705805074,0.079833540471,0.999999924251,0.000265578419544,-0.00028219279842,3.65130780929e-05,1793254850411656192
+77,1.283333333,BASELINE,783,759,737,718,686,650.665952724,916,800,839,657.665952724,635.334047276,657,0.400979816577,-0.0153684186535,0.0798333365824,0.999999923383,0.000267950835412,-0.00028305068557,3.63097413006e-05,1793254850428322560
+78,1.300000000,BASELINE,783,759,737,718,686,650.75256712,916,800,839,657.75256712,635.24743288,657,0.40097988684,-0.015367499163,0.0798333202862,0.999999922957,0.000269425654484,-0.00028316354303,3.62616564721e-05,1793254850444989184
+79,1.316666667,BASELINE,783,759,737,718,686,650.161376683,916,800,839,657.161376683,635.838623317,657,0.40097986366,-0.0153683056835,0.0798335646112,0.99999992315,0.000269653445549,-0.000282241333506,3.64292626228e-05,1793254850461656064
+80,1.333333333,BASELINE,783,759.42038289,737,718,686,650,916,800,839,657,636,657,0.40097883725,-0.0153672542897,0.0798329039915,0.999999922372,0.000271600529109,-0.000283125144578,3.64651882637e-05,1793254850478322432
+81,1.350000000,BASELINE,783,759.998601624,737,718,686,650,916,800,839,657,636,657,0.400977434168,-0.0153655053283,0.0798319036037,0.999999921221,0.000274193133682,-0.000284687039274,3.64516735035e-05,1793254850494988800
+82,1.366666667,BASELINE,783,759.425401355,737,718,686.574598645,650,916,800,839,657,636,657.574598645,0.400978143048,-0.0153678287974,0.0798326018262,0.999999922886,0.000269119609462,-0.000283675858695,3.64730932594e-05,1793254850511655936
+83,1.383333333,BASELINE,783,759,737,718,687,650,916,800,839,657.152920491,636,657.847079509,0.400978745881,-0.0153689224108,0.0798332668919,0.999999923828,0.000266616373802,-0.000282718518317,3.64603052959e-05,1793254850528322560
+84,1.400000000,BASELINE,783,759,737,718,687,650,916,800,839,657.737825068,636,657.262174932,0.400979034676,-0.0153665139239,0.0798338266608,0.999999922761,0.000271426428441,-0.000281930891842,3.63506449349e-05,1793254850544989440
+85,1.416666667,BASELINE,783,759.320785166,737,718,686.679214834,650.320785166,916.320785166,800,839,657.679214834,635.679214834,657,0.400979409348,-0.0153660153891,0.0798337993719,0.999999922532,0.000272557994165,-0.000281655461857,3.6318510559e-05,1793254850561656064
+86,1.433333333,BASELINE,783,759.902165599,737,718,686.097834401,650.902165599,916.902165599,800,839,657.097834401,635.097834401,657,0.400979853782,-0.0153670684362,0.0798332951766,0.999999922995,0.000270701276794,-0.000281796123421,3.6349355738e-05,1793254850578322432
+87,1.450000000,BASELINE,783,760,737,718.479644499,686,650.520355501,916.520355501,800,839.479644499,657.479644499,635,657.479644499,0.400981418338,-0.015368061513,0.079834239338,0.999999923748,0.000269942495758,-0.000279824031915,3.65262336455e-05,1793254850594988800
+88,1.466666667,BASELINE,783.056160225,760,737,718.943839775,686,650.056160225,916,800,839.943839775,657.943839775,635.056160225,657.943839775,0.400982790452,-0.015369035249,0.0798352269505,0.999999924427,0.000269343715402,-0.000277942976716,3.67098822985e-05,1793254850611655424
+89,1.483333333,BASELINE,783.631070714,760,737,718.368929286,686,650.631070714,916,800,839.368929286,657.368929286,635.631070714,657.368929286,0.400980291597,-0.0153699424138,0.0798339091044,0.999999923931,0.000268170936436,-0.000280851319632,3.66831533304e-05,1793254850628322048
+90,1.500000000,BASELINE,784,759.788776839,737,718,686,651,916,800,839.211223161,657.211223161,636,657,0.4009787922,-0.0153700994171,0.0798329101344,0.999999923475,0.000267799033353,-0.000282830633176,3.66038802441e-05,1793254850644988928
+91,1.516666667,BASELINE,784,759.199235679,737,718,686,651,916,800,839.800764321,657.800764321,636,657,0.400979082916,-0.0153689128197,0.0798324822976,0.999999923107,0.000268861564769,-0.000283145978635,3.64304963374e-05,1793254850661655808
+92,1.533333333,BASELINE,783.617091008,759.382908992,737,718,686,650.617091008,916,800,839.617091008,657.617091008,635.617091008,657,0.400979345325,-0.0153680479954,0.0798328942038,0.999999922974,0.000270009396321,-0.000282533905231,3.63511989517e-05,1793254850678322688
+93,1.550000000,BASELINE,783.038721903,759.961278097,737,718,686,650.038721903,916,800,839.038721903,657.038721903,635.038721903,657,0.400979593284,-0.0153673474236,0.079833734766,0.999999922959,0.000271200770365,-0.000281448420682,3.63199290515e-05,1793254850694989568
+94,1.566666667,BASELINE,783.537239708,760,737,718,686,650,916,800,839.537239708,657,635.537239708,657,0.400980714403,-0.0153675789201,0.0798346110689,0.999999923413,0.000270503479669,-0.000280507917274,3.62836178375e-05,1793254850711655936
+95,1.583333333,BASELINE,784,760,737,718.113242631,686,650,916,800,839.886757369,657,635.886757369,657.113242631,0.400981437851,-0.0153679331019,0.0798350876361,0.999999923789,0.000269591002141,-0.000280054701202,3.62357124797e-05,1793254850728322048
+96,1.600000000,BASELINE,784,760,737,718.690122125,686,650,916,800,839.309877875,657,635.309877875,657.690122125,0.400980276649,-0.0153685157626,0.0798339171105,0.999999923704,0.000268352350966,-0.000281553940026,3.61418194929e-05,1793254850744988928
+97,1.616666667,BASELINE,783.725188909,760,737,718.725188909,686.274811091,650,916,800,839.274811091,657,635.274811091,657.725188909,0.400979772627,-0.015368727924,0.0798333942674,0.999999923589,0.000267945524961,-0.000282345337993,3.61752050278e-05,1793254850761656064
+98,1.633333333,BASELINE,783.131436427,760,737,718.131436427,686.868563573,650,916,800,839.868563573,657,635.868563573,657.131436427,0.400980031317,-0.0153685100896,0.0798336231144,0.999999923441,0.000268504102123,-0.000282315227008,3.63563080003e-05,1793254850778322432
+99,1.650000000,BASELINE,783.448592155,760,737.448592155,718,686.551407845,650,916,800,839.551407845,657,635.551407845,657,0.40097922303,-0.0153675287205,0.0798328649856,0.999999922856,0.000269664291681,-0.000283254449473,3.6540323006e-05,1793254850794989312
+100,1.666666667,BASELINE,783.975348015,760,738,718,686,650,916,800,839.024651985,657,635.024651985,657.024651985,0.400978229479,-0.0153664350566,0.0798319585346,0.999999922214,0.000270916117401,-0.000284301168517,3.67199603576e-05,1793254850811656192
+101,1.683333333,BASELINE,783.400783612,760,738,718,686,650,916,800,839.599216388,657,635.599216388,657.599216388,0.400979869888,-0.0153676786815,0.0798340027457,0.999999923117,0.000270396716663,-0.000281598414991,3.67834775562e-05,1793254850828322816
+102,1.700000000,BASELINE,783,759.822339131,737.822339131,718,686,650,916,800,840,657,636,657.822339131,0.400981328358,-0.0153687691254,0.0798354163153,0.999999924016,0.000269242264337,-0.000279489469005,3.69088213822e-05,1793254850844989440
+103,1.716666667,BASELINE,783,759.234946264,737.234946264,718,686,650,916,800,840,657,636,657.234946264,0.400982367231,-0.015369506294,0.0798353754619,0.999999924914,0.000266623218583,-0.000278749997444,3.71767534223e-05,1793254850861655808
+104,1.733333333,BASELINE,783,759.349486608,737,718,686.349486608,650,916,800,840,657,636,657,0.4009817087,-0.0153686583878,0.0798349287089,0.999999924491,0.000267537670479,-0.000279443809042,3.67674066265e-05,1793254850878322432
+105,1.750000000,BASELINE,783,759.931946359,737,718,686.931946359,650,916,800,840,657,636,657,0.400979918654,-0.0153667538467,0.0798342113769,0.99999992318,0.000270807605948,-0.000281093069145,3.59065753765e-05,1793254850894989056
+106,1.766666667,POSE1_TO_POSE2_PRESS,784,760,737,718,686,651,916,800,840,658,636,657,0.400978620239,-0.0153691627156,0.0798327525909,0.99999992289,0.000269467542491,-0.000283317328062,3.65827978874e-05,1793254850928283392
+107,1.783333333,POSE1_TO_POSE2_PRESS,783.374386503,759.374386503,737,718,686,650.374386503,916,800,840,658,635.374386503,657,0.400978618258,-0.0153695611664,0.0798329413236,0.999999922624,0.00027044704481,-0.000283345405914,3.64177987172e-05,1793254850944951296
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.2362508,759,737,718,686,650,916,800,840,657.7637492,635,657,0.400979301133,-0.015369029389,0.0798335837003,0.999999922775,0.000270805831593,-0.000282485512453,3.62843679225e-05,1793254850961618432
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.824570187,759,737,718,686,650,916,800,840,657.175429813,635,657,0.400981004602,-0.0153671113553,0.079834902112,0.999999923545,0.000270239608141,-0.000280302335409,3.61979813176e-05,1793254850978284800
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.592397636,759,737,718.407602364,686,650,916,800,839.592397636,657,635.407602364,657.407602364,0.400980493768,-0.0153668800585,0.0798344439825,0.99999992364,0.000269271294002,-0.000280899072136,3.6165152175e-05,1793254850994950912
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.011611939,759,737,718.988388061,686,650,916,800,839.011611939,657,635.988388061,657.988388061,0.400979042114,-0.0153673654277,0.0798332310308,0.999999923446,0.000268132138381,-0.000282676947212,3.61550786948e-05,1793254851011616768
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.563236005,759,737,718.436763995,686,650,916,800,839,657.563236005,635.436763995,657.436763995,0.400978125173,-0.0153684146625,0.0798320547121,0.999999923097,0.000267941400494,-0.000284067735547,3.63248864813e-05,1793254851028283136
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.862264606,759.137735394,737,718,686,650,916,800,839.137735394,657.862264606,635.137735394,657,0.400977490772,-0.0153691892201,0.0798312408365,0.999999922806,0.000267910033694,-0.000285110434887,3.63889601283e-05,1793254851044949760
+114,1.900000000,POSE1_TO_POSE2_PRESS,783.288485208,759.711514792,737,718,686,650,916,800,839.711514792,657.288485208,635.711514792,657,0.400977716306,-0.0153690577841,0.0798315720209,0.999999922716,0.000268321950002,-0.000285076151486,3.61066816556e-05,1793254851061616640
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760,737,718,686,650,916,800,839.704238925,657.295761075,636,657,0.400980519792,-0.0153681777782,0.079833522347,0.999999923028,0.00026974813696,-0.000282623446146,3.60972446805e-05,1793254851078283264
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760,737,718,686,650,916,800,839.109408723,657.890591277,636,657,0.400985930064,-0.0153665408296,0.0798371099246,0.999999923727,0.000272199939035,-0.000277725269096,3.63637009194e-05,1793254851094950144
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,759.5306436,737,718,686,650,916,800,839,657.5306436,636,657,0.401004581137,-0.015369073655,0.0798450836627,0.99999992844,0.000269149798219,-0.000263259770533,3.70629302227e-05,1793254851111616768
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,759,737,718,686,650,916.044541344,800,839,657,636,657,0.401027997587,-0.0153724492184,0.079854652725,0.999999933975,0.000265133562967,-0.000245603294257,3.78611148646e-05,1793254851128283392
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,759,737,718,686,650,916.620211278,800,839,657,636,657,0.401072651883,-0.0153746671141,0.0798714566846,0.999999941059,0.000264384421677,-0.000215609764566,3.86761480255e-05,1793254851144950016
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,759,737,718,686,650,917,800,839,657.200973151,636,657,0.401127111639,-0.0153767556041,0.0798894916413,0.999999947703,0.000264141496502,-0.000182417033131,3.93249090583e-05,1793254851161616640
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,759,737,718,686,650,917,800,839,657.791607746,636,657,0.401200582945,-0.0153785931931,0.0799099133481,0.999999953906,0.000264880060134,-0.00014302145017,3.96512896869e-05,1793254851178283264
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.374756974,759,737,718,686,650,916.625243026,800,839.374756974,657.625243026,636,657,0.401279453929,-0.0153819199624,0.0799250752653,0.999999957068,0.000263961856989,-0.000120989129107,3.93656579732e-05,1793254851194949888
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.953825266,759,737,718,686,650,916.046174734,800,839.953825266,657.046174734,636,657,0.401361268722,-0.0153860586079,0.0799373696308,0.999999959013,0.000262140412008,-0.000108422974368,3.87463672262e-05,1793254851211616512
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.472090099,759,737,718,686,650,916,800,839.472090099,657.527909901,636,657.527909901,0.40145613568,-0.015388408732,0.0799408141622,0.999999960229,0.000262129200346,-9.76241657031e-05,3.60512712168e-05,1793254851228283392
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.101818279,759,737,718,686,650,916.101818279,800,839.101818279,657.898181721,636,657.898181721,0.401556679909,-0.01539112691,0.0799436311549,0.999999961477,0.000261254926198,-8.7764685847e-05,3.29918133205e-05,1793254851244950272
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.676914608,759,737,718,686,650,916.676914608,800,839.676914608,657.323085392,636,657.323085392,0.401678356587,-0.0153962762583,0.0799470956096,0.999999963575,0.000255639808116,-8.1559623192e-05,2.90747731088e-05,1793254851261616896
+127,2.116666667,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650.259974748,916.740025252,800,839.740025252,657,635.740025252,657,0.401812732208,-0.0154008193041,0.0799518046924,0.999999965378,0.000251291791367,-7.40078963961e-05,2.48824312394e-05,1793254851278283520
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650.853244682,916.146755318,800,839.146755318,657,635.146755318,657,0.401963388233,-0.0154045850521,0.0799581094243,0.999999966805,0.0002485682358,-6.47297074933e-05,2.03371449415e-05,1793254851294949888
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,759.434508124,737,718,686,650.565491876,916,800,839.434508124,657,635.434508124,657.434508124,0.402129723309,-0.0154103419973,0.0799598064024,0.999999968833,0.00024136116551,-6.21132478239e-05,1.48801622517e-05,1793254851311616512
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.988201817,759.988201817,737,718,686,650.011798183,916.011798183,800,840,657,636,657.988201817,0.402301650777,-0.0154167332997,0.0799598621558,0.999999970993,0.000232581566322,-6.19409036481e-05,9.08560528837e-06,1793254851328283392
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.412215975,759.412215975,737,718,686,650.587784025,916.587784025,800,840,657,636,657.412215975,0.402494579192,-0.0154221640398,0.0799538543018,0.999999973269,0.00021907077147,-7.39441962162e-05,1.47734223587e-06,1793254851344950016
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.167016784,759.167016784,737,718,686,650.832983216,917,800,839.832983216,657.167016784,636,657.167016784,0.402700130511,-0.0154287415281,0.0799490403574,0.999999979003,0.000186940901419,-8.37160051698e-05,-6.26072620086e-06,1793254851361616640
+133,2.216666667,POSE1_TO_POSE2_PRESS,783.7544223,759.7544223,737,718,686,650.2455777,917,800,839.2455777,657.7544223,636,657.7544223,0.402937454287,-0.0154382054344,0.0799472315359,0.999999990211,0.000107945980841,-8.78710720901e-05,-1.43255222015e-05,1793254851378283520
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,759.663216806,737,718,686,650.336783194,917,800,839.336783194,657.663216806,636,658,0.403201974662,-0.0154470591643,0.0799463526195,0.999999993497,6.90235468693e-05,-8.79345517532e-05,-2.25477985548e-05,1793254851394950400
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,759.084480129,737,718,686,650.915519871,917,800,839.915519871,657.084480129,636,658,0.403486033741,-0.0154554745276,0.0799461417703,0.999999994172,5.88901959709e-05,-8.50585326741e-05,-3.08832123044e-05,1793254851411617280
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,759.49459796,737,718,686,650.50540204,916.50540204,800,840,657.49459796,636,657.50540204,0.403811025705,-0.015463256687,0.0799517641495,0.999999993704,7.9443213866e-05,-7.58604573624e-05,-2.29273157809e-05,1793254851428283648
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,737,718,686,650.072618165,916,800,840,657.927381835,636,657.072618165,0.404147033559,-0.0154703631338,0.0799576385973,0.999999992806,9.87984413306e-05,-6.64605075765e-05,-1.45159067048e-05,1793254851444950272
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,737,718,686,650.642987268,916,800,840,657.357012732,636,657.642987268,0.404510592449,-0.015473579849,0.0799584067674,0.999999995029,7.39922964558e-05,-6.3083581572e-05,-2.20686929123e-05,1793254851461616896
+139,2.316666667,POSE1_TO_POSE2_PRESS,783.778529419,760,737,718,686,650.778529419,916,800,840,657,635.778529419,657.778529419,0.404893937278,-0.0154776581571,0.0799577490545,0.999999996248,5.51104806966e-05,-6.07256246733e-05,-2.78993779327e-05,1793254851478283264
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.186468522,760,737,718,686,650.186468522,916,800,840,657,635.186468522,657.186468522,0.405310390203,-0.0154831781825,0.0799547053884,0.999999996655,4.61419434914e-05,-6.00727257006e-05,-3.08484423665e-05,1793254851494949888
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,737,717.60318187,686,650,916,800,840.39681813,657.39681813,635,657,0.40574216575,-0.0154787306767,0.0799458637626,0.999999995237,5.21095454936e-05,-7.55590853363e-05,-3.3189602286e-05,1793254851511616768
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,737,717.023929072,686,650,916,800,840.976070928,657.976070928,635,657,0.406180985814,-0.0154697006609,0.0799343565605,0.999999992422,6.49439438568e-05,-9.84653687157e-05,-3.5251282123e-05,1793254851528283648
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,759.449898478,737,717,686,650.550101522,916,800,840.449898478,657.449898478,636.100203045,657,0.406660541255,-0.0154677187327,0.0799315335321,0.999999991515,6.89830365739e-05,-0.000104715363631,-3.53014015999e-05,1793254851544950272
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.124104788,759.124104788,737,717,686,651,916,800,840,657,636.875895212,657.124104788,0.407148730694,-0.0154684852761,0.0799285578866,0.9999999908,6.83178358033e-05,-0.00011159795284,-3.57640674315e-05,1793254851561616896
+145,2.416666667,POSE1_TO_POSE2_PRESS,783.698826045,759.698826045,737,717,686,651,916,800,840,657,636.301173955,657.698826045,0.407661896376,-0.0154781286112,0.0799236693876,0.999999990315,5.19477474255e-05,-0.000123383464358,-3.80393873818e-05,1793254851578283264
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,916,800.282427489,840,657,636,658,0.408208649401,-0.0154839643118,0.0799192273555,0.999999989541,4.04887877604e-05,-0.000132831085628,-4.04261351193e-05,1793254851594949632
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,916,800.875805934,840,657,636,658,0.408792381856,-0.0154856078293,0.0799152768809,0.999999988727,3.44369520548e-05,-0.000139704703224,-4.29355640494e-05,1793254851611616256
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,760,737.454159129,717,686,651,916.454159129,800.545840871,840,657,636,657.545840871,0.40943972583,-0.0154852548919,0.0799423805549,0.999999993922,3.28245295478e-05,-9.61894020738e-05,-4.27290595815e-05,1793254851628283392
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,760,738,717,686,650.971556049,916.971556049,800,840,657,636,657,0.41010451234,-0.0154845353656,0.0799768830591,0.999999997772,3.2527706344e-05,-4.06918988401e-05,-4.17301368137e-05,1793254851644950016
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,650.39901484,916.39901484,800,840,657,636,657,0.410780861148,-0.0154869123386,0.0799956757672,0.999999998555,3.49180445727e-05,-1.11300635503e-05,-3.93251540699e-05,1793254851661616640
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,737.819859176,717,686,650.180140824,916.180140824,800,840,657,636,657,0.411450560421,-0.0154887163065,0.0799997162839,0.999999998595,3.52729697339e-05,-5.84392711149e-06,-3.91284786545e-05,1793254851678283264
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,760,737.225494,717,686,650.774506,916.774506,800,840,657,636,657,0.412104969346,-0.0154892026789,0.0799698349093,0.999999996963,3.09475692461e-05,-5.63784877644e-05,-4.40096901539e-05,1793254851694950144
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840.360260425,657.360260425,636,657.360260425,0.412813955798,-0.0154910196577,0.0799407003849,0.999999994118,2.45677997568e-05,-9.39804988531e-05,-4.8242050853e-05,1793254851711617024
+154,2.566666667,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840.940751084,657.940751084,636,657.940751084,0.413556306017,-0.0154936500474,0.0799120224134,0.999999990853,1.69321767803e-05,-0.00012367673831,-5.20777640748e-05,1793254851728283648
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.514915378,760,737.514915378,717,686,651,917,800.514915378,841,658,636,657.485084622,0.414339907861,-0.0154939566453,0.0799278409582,0.99999999426,1.14489286522e-05,-9.284967283e-05,-5.22253052067e-05,1793254851744950016
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,760,737.911440218,717.088559782,686,651,917,801,841,658,636,657,0.415128504481,-0.0154941492343,0.0799469771771,0.999999996764,7.44208984611e-06,-6.10758989147e-05,-5.18317786888e-05,1793254851761616640
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,760,737.336701898,717.663298102,686,651,917,801,841,658,636,657,0.415918779954,-0.0154951660323,0.0799565600446,0.999999996745,1.0197360752e-05,-6.18727609141e-05,-5.07693841138e-05,1793254851778283264
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,760,737.245260496,717.754739504,686,651,916.754739504,801,841,658,636,657.245260496,0.416721522993,-0.0154958735864,0.0799593532722,0.999999996722,1.21042082127e-05,-6.18374086827e-05,-5.08441597193e-05,1793254851794949888
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,760,737.837441286,717.162558714,686,651,916.162558714,801,841,658,636,657.837441286,0.417541901321,-0.0154961437158,0.0799525425723,0.999999996701,1.2810962886e-05,-6.06248916707e-05,-5.25274594717e-05,1793254851811616512
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686,651,916.420127367,801,841,657.579872633,636,658,0.418450628753,-0.0155002904055,0.0799734962247,0.999999998481,5.94273889475e-06,-1.48337481541e-05,-5.27478254809e-05,1793254851828283392
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,760,738,717,686,651,916.999220864,801,841,657.000779136,636,658,0.41939278535,-0.0155059038927,0.080004955243,0.999999997476,-3.79167558299e-06,4.78248796674e-05,-5.24146521888e-05,1793254851844950528
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.425578939,760,737.425578939,716.425578939,686,651,917,801,841,657,636,658,0.420245340885,-0.015505130111,0.0799831918385,0.999999998567,-1.40076162829e-06,1.05726271874e-05,-5.24561169779e-05,1793254851861616896
+163,2.716666667,POSE1_TO_POSE2_PRESS,784.149171031,760,737.149171031,716.149171031,686,650.850828969,917,801,841,657.149171031,636,658,0.421113315425,-0.0155085340669,0.0799689202165,0.999999998549,-3.44622234359e-06,-1.44690485551e-05,-5.17842718336e-05,1793254851878283264
+164,2.733333333,POSE1_TO_POSE2_PRESS,784.722655165,760,737.722655165,716.722655165,686,650.277344835,917,801,841,657.722655165,636,658,0.422025492153,-0.0155238459661,0.0799761627384,0.999999998621,-1.81573023675e-05,-4.39517021825e-06,-4.90819996759e-05,1793254851894949888
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,760,738,717,686,650.306925896,916.693074104,801,841,658,636.306925896,658,0.422949267595,-0.0155402974847,0.0799938169027,0.999999998311,-3.14338749394e-05,1.90613633755e-05,-4.50129360285e-05,1793254851911616768
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686,650.901298724,916.098701276,801,841,658,636.901298724,658,0.423883905749,-0.0155578162988,0.0800212219384,0.999999996758,-4.33669823459e-05,5.50512269921e-05,-3.96638235682e-05,1793254851928283648
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,760.482118877,738,716.517881123,686,651,916.482118877,801,841,657.517881123,636.517881123,658,0.424780238472,-0.0155539784971,0.0799810826437,0.999999997827,-4.16113027901e-05,-2.74998941252e-05,-4.31190009068e-05,1793254851944950016
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,760.940234008,738,716.059765992,686.059765992,651,917,801,841,657.059765992,636,658,0.425676932472,-0.0155464560512,0.0799318959375,0.999999990797,-3.77090227373e-05,-0.000121096837407,-4.81710897989e-05,1793254851961616384
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,760.366664457,738,716.633335543,686.633335543,651,917,801,841,657.633335543,636,658,0.426642306921,-0.015543816835,0.0799205566829,0.999999992207,-3.87860630235e-05,-0.000106726704526,-5.18798757474e-05,1793254851978283520
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,760,738,716.786358938,687,651,917,801,841,657.786358938,636,657.786358938,0.427590247254,-0.0155423547962,0.0799140931898,0.99999999259,-4.06024718931e-05,-0.00010118615362,-5.41574427103e-05,1793254851994950400
+171,2.850000000,POSE1_TO_POSE2_PRESS,785,760,738,716.194116387,687,651,917,801,841,657.194116387,636,657.194116387,0.428507291865,-0.0155429788789,0.0799162702205,0.999999991398,-4.37291440282e-05,-0.000111292843231,-5.38986916065e-05,1793254852011617024
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.387880903,760,738,716,686.612119097,651,917,801,841,657,636,657.387880903,0.429484657867,-0.01554599956,0.0799454525523,0.999999994928,-4.43381658522e-05,-7.4158336063e-05,-5.17489946345e-05,1793254852028283648
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.964882843,760,738,716,686.035117157,651,917,801,841,657,636,657.964882843,0.430491435046,-0.0155501887627,0.0799878019941,0.999999997762,-4.37196440634e-05,-1.39902011366e-05,-4.86773195542e-05,1793254852044950272
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.457642704,760,738,716.542357296,686.542357296,651,916.457642704,801,841,657.542357296,636,658,0.431501547596,-0.0155547199734,0.0800226310203,0.999999996969,-4.97001143681e-05,3.85186919903e-05,-4.59071484775e-05,1793254852061616384
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.118860618,760,738,717,686.881139382,651,916.118860618,801,841.118860618,657.881139382,636,658,0.432479687142,-0.0155567927004,0.0800349810025,0.999999995735,-5.68878550138e-05,5.70508045921e-05,-4.51451884774e-05,1793254852078283264
+176,2.933333333,POSE1_TO_POSE2_PRESS,785.691539041,760,738,717,686.308460959,651,916.691539041,801,841.691539041,657.308460959,636,658,0.433334926089,-0.015549394147,0.0799633652723,0.999999995036,-6.70522311276e-05,-5.22475786462e-05,-5.19761119299e-05,1793254852094950144
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.725980564,760,737.725980564,717,686.274019436,651,917,801,842,657,636,657.725980564,0.43422321047,-0.0155457495362,0.079918124363,0.999999989158,-7.00556910333e-05,-0.000116264896111,-5.70797412276e-05,1793254852111617024
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.132056768,760,737.132056768,717,686.867943232,651,917,801,842,657,636,657.132056768,0.435150073899,-0.01554648747,0.0799036747645,0.999999987979,-6.46991317164e-05,-0.000127418787265,-6.01668400955e-05,1793254852128283904
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.44723184,760,737.44723184,717,687,651,917,801,841.55276816,657,636,657,0.436094778587,-0.0155519288357,0.0799330311726,0.999999992082,-6.71865755998e-05,-8.97915554483e-05,-5.70988362644e-05,1793254852144950272
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,760,738,717,687,651,917,801,841.022372418,657,636,657.022372418,0.437045640185,-0.0155587166272,0.0799746455695,0.999999995333,-7.18479489296e-05,-3.779261399e-05,-5.23798483334e-05,1793254852161616896
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,760,738,717,687,651,917,801,841.598416092,657,636,657.598416092,0.438022630812,-0.015565544596,0.0800096523149,0.999999995629,-7.48060897007e-05,2.47054105877e-05,-5.03553992161e-05,1793254852178283520
+182,3.033333333,POSE1_TO_POSE2_PRESS,786,760,737.821207387,716.821207387,686.821207387,651,917,801,842,657,636,658,0.438957866788,-0.0155708639153,0.0800273112052,0.999999993881,-8.18465211926e-05,5.5258577881e-05,-4.98493226476e-05,1793254852194950144
+183,3.050000000,POSE1_TO_POSE2_PRESS,786,760,737.230857247,716.230857247,686.230857247,651,917,801,842,657,636,658,0.439796988887,-0.0155727105179,0.0800050375691,0.999999993699,-9.82838595678e-05,1.2278801204e-05,-5.28383442433e-05,1793254852211616768
+184,3.066666667,POSE1_TO_POSE2_PRESS,786,760,737,716,686,651,916.647748678,801,842,657,636,658,0.440559668468,-0.015570534234,0.0799244776879,0.999999986461,-0.00010254570655,-0.000113920763334,-5.98672100457e-05,1793254852228283648
+185,3.083333333,POSE1_TO_POSE2_PRESS,786,760,737,716,686,651,916.069290486,801,842,657,636,658,0.441273258569,-0.0155657745543,0.0798064878586,0.999999949597,-9.89887583847e-05,-0.000293561961985,-6.94903597958e-05,1793254852244950272
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.493859015,760,737,716.506140985,686,651,916.506140985,801,842,657,636,658,0.442072364533,-0.0155728215525,0.0797689564842,0.999999933093,-0.000112812350143,-0.000340138823035,-7.34349577993e-05,1793254852261616896
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.08110518,760,737,716.91889482,686,651,917,800.91889482,842,657,636,658,0.442891389978,-0.015581770458,0.0797553759532,0.999999927268,-0.000127398865644,-0.000351482499755,-7.54614269488e-05,1793254852278283776
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.655732137,760,737,716.344267863,686,651,917,800.344267863,842,657,636,658,0.443760810647,-0.0155925155571,0.0798209095973,0.999999955328,-0.000132235315999,-0.000258621098117,-7.05184318402e-05,1793254852294950400
+189,3.150000000,POSE1_TO_POSE2_PRESS,786,760,737,716,686,650.762159124,917,800,842,657,636,658,0.44458854809,-0.0156018692251,0.079867166132,0.999999969327,-0.000137832118573,-0.000195015620215,-6.57127891026e-05,1793254852311617024
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,760,737,716,686,650.168868895,917,800,842,657,636,658,0.445353990756,-0.0156091434236,0.0798846133475,0.999999972347,-0.000144565257335,-0.000175132637106,-6.11124172304e-05,1793254852328283648
+191,3.183333333,POSE1_TO_POSE2_PRESS,786,760,737,716,685.58802174,650,917,799.58802174,842,657,636,658,0.4460787142,-0.0156148576514,0.079872341325,0.999999967966,-0.000154912270288,-0.000190139909107,-6.25821465859e-05,1793254852344950016
+192,3.200000000,POSE1_TO_POSE2_PRESS,786,760,737,716,685.012125473,650,917,799.012125473,842,657,636,658,0.446787236225,-0.0156199511974,0.0798482446042,0.99999995991,-0.000166697171825,-0.000219029324957,-6.64670494561e-05,1793254852361616640
+193,3.216666667,POSE1_TO_POSE2_PRESS,786,760,737,716,685.560381514,650,917,799,842,657.560381514,636,658,0.44743115362,-0.0156228059082,0.0798009268248,0.999999942108,-0.000176218140021,-0.000282210076875,-7.1335782899e-05,1793254852378283264
+194,3.233333333,POSE1_TO_POSE2_PRESS,786,760,737,716,686,650,917,798.863148794,842,657.863148794,636,658,0.44805639252,-0.0156247431842,0.0797497723029,0.999999917068,-0.000183838596623,-0.000355321389131,-7.62485193748e-05,1793254852394950144
+195,3.250000000,POSE1_TO_POSE2_PRESS,786,760,737,716,686,650,917,798.273321336,842,657.273321336,636,658,0.448624404986,-0.0156238031431,0.0796875713226,0.99999987425,-0.000185329548333,-0.000458861541582,-8.12368660585e-05,1793254852411617024
+196,3.266666667,POSE1_TO_POSE2_PRESS,785.687188081,760,737,716,685.687188081,650,917,798,842,657,635.687188081,658,0.449221692474,-0.0156241929321,0.0796559843298,0.999999851018,-0.000188107155729,-0.000505712287101,-8.26695390674e-05,1793254852428283648
+197,3.283333333,POSE1_TO_POSE2_PRESS,785.104245013,760,737,716,685.104245013,650,917,798,842,657,635.104245013,658,0.449844260605,-0.0156257311063,0.0796508342858,0.999999851475,-0.000191995865761,-0.000503608455348,-8.10316829129e-05,1793254852444950016
+198,3.300000000,POSE1_TO_POSE2_PRESS,785.469411375,760,737.469411375,716,685,649.530588625,916.530588625,798,842,657,635,657.530588625,0.450458441658,-0.0156333489083,0.0796862668014,0.999999874378,-0.000200785698141,-0.00045234893664,-7.94277381904e-05,1793254852461616640
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,760,737.958545653,716,685,649,916.041454347,797.958545653,842,657,635,657.041454347,0.451063967587,-0.0156419362562,0.0797270910015,0.999999896517,-0.000210326574716,-0.000395806230636,-7.78835605148e-05,1793254852478283264
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,760,737.381217122,716,685,649,916.618782878,797.381217122,842,657,635,657.618782878,0.451581219507,-0.015645942303,0.0797233706568,0.999999889972,-0.000215779174469,-0.000409344429351,-7.70165251692e-05,1793254852494949888
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+202,3.366666667,POSE1_TO_POSE2_PRESS,786,760,737,716,684.211231591,649,917,796.211231591,842,657,635,658,0.452498772417,-0.0156499915722,0.0796529538523,0.999999832336,-0.00022726279004,-0.000525916594754,-8.4214024479e-05,1793254852528283136
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,760,737,716,684,649,917,796,842,657.369353972,635,658,0.452913624811,-0.015652168897,0.0796102479827,0.999999794212,-0.000232252363678,-0.000591629109572,-8.72334647827e-05,1793254852544949760
+204,3.400000000,POSE1_TO_POSE2_PRESS,786,760,737,716,684,649,917,796,842,657.945360123,635,658,0.453320027448,-0.0156549780603,0.079572030694,0.999999757341,-0.000236741310489,-0.00064915666845,-8.86972649789e-05,1793254852561616640
+205,3.416666667,POSE1_TO_POSE2_PRESS,786,760,737.523539655,716,684.523539655,649,917,796,842,658,635,658,0.45371225978,-0.0156606622549,0.0795555396895,0.999999742699,-0.000241110022187,-0.000669720429999,-8.9116418165e-05,1793254852578283520
+206,3.433333333,POSE1_TO_POSE2_PRESS,785.898130505,760,737.898130505,716,684.898130505,648.898130505,917,795.898130505,842,657.898130505,635,657.898130505,0.454098589743,-0.0156660326446,0.0795437765782,0.999999732056,-0.000246325454377,-0.00068350289915,-8.96457760575e-05,1793254852594950144
+207,3.450000000,POSE1_TO_POSE2_PRESS,785.32016273,760,737.32016273,716,684.32016273,648.32016273,917,795.32016273,842,657.32016273,635,657.32016273,0.454464274945,-0.015668528241,0.0795434682504,0.999999729465,-0.000255557019,-0.000683697139461,-9.12018564141e-05,1793254852611616768
+208,3.466666667,POSE1_TO_POSE2_PRESS,785.262382898,760,737,716,684,648,917,795,842,657,635,657.262382898,0.454808033376,-0.0156715721981,0.0795438179842,0.99999972641,-0.000264401848799,-0.000684693583297,-9.20127433992e-05,1793254852628283648
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,785,759.943927086,737,716,686,650,916.056072914,799.943927086,840,657,635,657,0.421818518481,-0.015386324271,0.0797376689436,0.999999886371,0.000245573243142,-0.000406877178167,3.74657987656e-05,1793254854888538112
+342,5.700000000,POSE2_TO_POSE3_RETREAT,785,760,737,716,685.461576203,650,916.538423797,800,840,657.538423797,635,657,0.421008588613,-0.0153923266947,0.0798037750434,0.999999926248,0.000242479753768,-0.000294676532409,4.32725524578e-05,1793254854905204736
+343,5.716666667,POSE2_TO_POSE3_RETREAT,785,759.872259665,737,716,685,650,916.872259665,799.872259665,840,657.872259665,635,657.127740335,0.420190181341,-0.0153956980239,0.0798565743104,0.999999948784,0.000240060543012,-0.000206201413677,4.7793012836e-05,1793254854921871360
+344,5.733333333,POSE2_TO_POSE3_RETREAT,785,759.297894238,737,716,685,650,916.297894238,799.297894238,840,657.297894238,635,657.702105762,0.419306326179,-0.0153876695716,0.0798459316557,0.999999943879,0.000242166194771,-0.000226899379339,4.59802345963e-05,1793254854938537984
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,785,759.857819044,737,716,685,650,916,799.857819044,840,657,635,657.142180956,0.417496311482,-0.0153870368571,0.0797780838264,0.999999910646,0.000239577512101,-0.000345961515936,4.02546791331e-05,1793254854971870976
+347,5.783333333,POSE2_TO_POSE3_RETREAT,785,760,736.556509043,716,685.443490957,650,916,800,840,657,635,657.443490957,0.416650855688,-0.0153893214378,0.0797810177058,0.999999909509,0.000234313335774,-0.000352798132974,4.01511611524e-05,1793254854988537856
+348,5.800000000,POSE2_TO_POSE3_RETREAT,785,760,736.030900504,716,686,650,916,800,840,657,635,657.969099496,0.415827185298,-0.0153911218402,0.079796448981,0.999999914933,0.000228972946131,-0.000340626985133,4.09618410493e-05,1793254855005204480
+349,5.816666667,POSE2_TO_POSE3_RETREAT,785,760,736.611058321,716,686,650,916,800,840,657,635,657.388941679,0.415003432401,-0.0153848898726,0.0797736636842,0.999999900837,0.000238355706491,-0.000374055789743,3.99347046582e-05,1793254855021871360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,784.810262293,760,736.810262293,716.189737707,685.810262293,650,916,799.810262293,840,657.189737707,635,657.189737707,0.414213366312,-0.0153814772908,0.0797613520238,0.999999894176,0.000242888821403,-0.000388756798146,3.89916695314e-05,1793254855038538240
+351,5.850000000,POSE2_TO_POSE3_RETREAT,784.234589993,760,736.234589993,716.765410007,685.234589993,650,916,799.234589993,840,657.765410007,635,657.765410007,0.41349182048,-0.0153837994588,0.0797703441826,0.999999904307,0.000237557552562,-0.000365364676346,3.82196998461e-05,1793254855055204864
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784.341880776,759.658119224,736.341880776,717,685.341880776,650,916,799.341880776,840,657.658119224,635.341880776,657.658119224,0.412773453549,-0.0153854523508,0.0797800314732,0.999999910369,0.000240755114527,-0.000346151010191,3.84422816401e-05,1793254855071871488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784.91890068,759.08109932,736.91890068,717,685.91890068,650,916,799.91890068,840,657.08109932,635.91890068,657.08109932,0.412057273051,-0.0153866449273,0.0797901968619,0.999999913633,0.000249818645269,-0.000329811208174,3.93488971699e-05,1793254855088538112
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,784,759,736.091349347,717,686,650,916.908650653,800,839.091349347,657,635,657,0.410635067806,-0.0153830885599,0.0797695290428,0.999999899311,0.000241254971497,-0.000376346545963,3.92127075541e-05,1793254855121870848
+356,5.933333333,POSE2_TO_POSE3_RETREAT,784,759,736.673821074,717,686,650,916.326178926,800,839.673821074,657,635,657,0.409988482601,-0.0153777292147,0.0797741497116,0.999999900097,0.000249100830486,-0.000369018513716,3.9758881412e-05,1793254855138537728
+357,5.950000000,POSE2_TO_POSE3_RETREAT,784.252082872,759,736.747917128,717,686,650,916.252082872,799.747917128,840,657,635,657,0.409380702772,-0.0153761151939,0.0797903777064,0.999999909242,0.000252033901623,-0.000341053697921,4.09515943557e-05,1793254855155204608
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784.824986732,759,736.175013268,717,686,650,916.824986732,799.175013268,840,657,635,657,0.40882230984,-0.0153792677752,0.0798213781199,0.999999927013,0.000248714561736,-0.000286824847386,4.29671449441e-05,1793254855171871488
+359,5.983333333,POSE2_TO_POSE3_RETREAT,785,759,736.400953823,717.400953823,686,650,916.599046177,799.400953823,840,657,635,657.400953823,0.408249768305,-0.015377164662,0.0798276994019,0.999999927796,0.000254354466186,-0.00027884709313,4.42370431998e-05,1793254855188538112
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,784.433752875,759.566247125,737,717.433752875,686,650,916,800,840,657,635,657.433752875,0.407098762487,-0.0153680440762,0.0797835193053,0.999999899339,0.000262606257857,-0.000361648025691,3.96261652565e-05,1793254855221871616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,784.152581678,759.847418322,737,717.152581678,686,650,916,800,839.847418322,657.152581678,635,657,0.406553409774,-0.0153653287594,0.0797528937198,0.999999879809,0.000260950911179,-0.000413553388997,3.54985362125e-05,1793254855238538240
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,785,759,737,717.689869072,686,650,916.310130928,800,839,657.689869072,635.310130928,657,0.405652671688,-0.0153703628196,0.0797622974208,0.999999892846,0.000260613458477,-0.000380738710029,3.77594799732e-05,1793254855271870976
+365,6.083333333,POSE2_TO_POSE3_RETREAT,785,759,737,717.11589822,686,650,916.88410178,800,839,657.11589822,635.88410178,657,0.405257093197,-0.0153718467022,0.0797836770638,0.999999907496,0.000263701231076,-0.000337401367044,4.03707344778e-05,1793254855288537856
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784.062908958,759,737,717.468545521,686,650,916.531454479,799.531454479,839.468545521,657.468545521,635.531454479,657.468545521,0.404868821437,-0.0153712008404,0.079800176289,0.99999991092,0.00027371735813,-0.000318295531196,4.38863777174e-05,1793254855305204480
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.054877576,759.054877576,737,718,686,650,916,799.054877576,840,657.945122424,635,657.945122424,0.404485692422,-0.0153696209777,0.0798144949944,0.999999911767,0.000283900227737,-0.000306036697621,4.69909272043e-05,1793254855321871360
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.633936352,759.633936352,737,718,686,650,916,799.633936352,840,657.366063648,635,657.366063648,0.40413402757,-0.0153642667249,0.0798197804245,0.999999914946,0.00027893180152,-0.000300618136118,4.39831125153e-05,1793254855338538240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.787809187,759.787809187,737,718,686,650,916,799.787809187,840,657,635,657.212190813,0.40379167474,-0.0153598887545,0.0798213225434,0.999999915191,0.000276279995663,-0.000302538552468,4.19216903058e-05,1793254855355204864
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.21093712,759.21093712,737,718,686,650,916,799.21093712,840,657,635,657.78906288,0.403465326033,-0.0153571886699,0.0798164312285,0.999999910339,0.000277609644554,-0.000317072086757,4.14867836615e-05,1793254855371871488
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783.365714886,759,737,718,686,650,916,799.365714886,839.634285114,657.365714886,635,658,0.403179771005,-0.0153556247008,0.0798157826543,0.999999908492,0.000282559735312,-0.000318417279574,4.22749616903e-05,1793254855388538112
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.942240097,759,737,718,686,650,916,799.942240097,839.057759903,657.942240097,635,658,0.402917730792,-0.0153547156265,0.0798175797378,0.999999908387,0.000289596770303,-0.000312160271454,4.37681667015e-05,1793254855405204736
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.470819799,759,737,718,686,650,916,800,839.529180201,657.470819799,635,657.470819799,0.402678016012,-0.0153534384575,0.0798210724084,0.999999908361,0.000291243491186,-0.000310792558163,4.31763079038e-05,1793254855421871616
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.115895637,759,737,718,686,650,916,800,839.884104363,657,635.115895637,657,0.402449889845,-0.0153531162427,0.0798245552882,0.999999909041,0.000290818758448,-0.00030907914623,4.25651061312e-05,1793254855438537984
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.697054081,759,737,718,686,650,916,800,839.302945919,657,635.697054081,657,0.402258307078,-0.0153567922194,0.0798272409728,0.999999912472,0.000284487534895,-0.000303792517105,4.28082307854e-05,1793254855455204608
+376,6.266666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,800,839.274843382,657.274843382,635.725156618,657.274843382,0.402082543406,-0.0153609974441,0.0798287969699,0.999999915274,0.000278805835424,-0.000299712152572,4.34912727351e-05,1793254855471871232
+377,6.283333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,800,839.848963986,657.848963986,635.151036014,657.848963986,0.401924005174,-0.0153657789672,0.079829122849,0.999999917423,0.000273831403733,-0.00029694529103,4.46533410344e-05,1793254855488537856
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783.57727895,759,737,718,686,650,916.42272105,800,840,658,635,658,0.401788872249,-0.015367082344,0.0798310383936,0.999999919705,0.000270897334092,-0.000291865170029,4.49453443274e-05,1793254855505204736
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.003651677,759,737,718,686,650,916.996348323,800,840,658,635,658,0.401662094735,-0.0153671440651,0.0798335214292,0.999999922007,0.000268691648745,-0.000285959243862,4.49267450725e-05,1793254855521871360
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,759.591284529,737,718,686,650,916.408715471,800,840,658,635,657.408715471,0.401550169545,-0.0153639033766,0.0798350464706,0.999999920976,0.000273637731551,-0.000285116801849,4.33448459473e-05,1793254855538537728
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,759.820098685,737,718,685.820098685,650,916,799.820098685,839.820098685,657.820098685,635,657.179901315,0.401444591529,-0.0153617191908,0.0798345213015,0.999999919652,0.00027678309239,-0.000287077772708,4.09179190468e-05,1793254855555204352
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,759.24564103,737,718,685.24564103,650,916,799.24564103,839.24564103,657.24564103,635,657.75435897,0.401352725348,-0.0153618985108,0.0798295131081,0.999999917727,0.000275878651094,-0.000295115990967,3.66596586849e-05,1793254855571870976
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.329846746,759,737,718,685.329846746,650,916,799,839.329846746,657,635,658,0.401275647096,-0.0153617541243,0.0798258757905,0.999999916179,0.00027590791764,-0.000300466568277,3.51623169014e-05,1793254855588537856
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.906104128,759,737,718,685.906104128,650,916,799,839.906104128,657,635,658,0.401209616097,-0.0153613679143,0.0798232625794,0.999999914948,0.000276634706653,-0.000303809355469,3.57275073917e-05,1793254855605204736
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,799.494058245,840,657.494058245,635,657.505941755,0.40116063166,-0.0153604220798,0.0798238992276,0.999999914776,0.000277886794817,-0.000303148860509,3.64395827075e-05,1793254855621871360
+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,759.082348838,737,718,686,650,916,799.917651162,840,657.917651162,635,657,0.401116433954,-0.0153594659225,0.0798248698844,0.999999914785,0.000278973175181,-0.000302046696435,3.7050107543e-05,1793254855638537984
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.763972159,759.763972159,737,718,686.236027841,650,916,799.236027841,839.763972159,657.236027841,635,657,0.401050186353,-0.0153587856402,0.0798232211426,0.999999914607,0.000277455157423,-0.000304061015011,3.67633975398e-05,1793254855671871488
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.186370234,759.186370234,737,718,686.813629766,650,916,799.813629766,839.186370234,657.813629766,635,657,0.401025861895,-0.0153585393404,0.079822386385,0.999999914668,0.000275773335182,-0.000305390893847,3.67263436142e-05,1793254855688537856
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.396447644,759,737,718,686.603552356,650,916,800,839.396447644,657.603552356,635,657.396447644,0.40101068754,-0.0153594500905,0.0798218828844,0.999999914929,0.000275794854058,-0.000304488633696,3.69667827373e-05,1793254855705204480
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783.981750219,759,737,718,686.018249781,650,916,800,839.981750219,657.018249781,635,657.981750219,0.400999872002,-0.0153609120218,0.0798215371841,0.999999915281,0.000276627790008,-0.000302523054152,3.73394106417e-05,1793254855721871104
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.85805163,759.85805163,737,718,686.85805163,650,916,800,839.14194837,657,635.85805163,658,0.40098474325,-0.0153591559493,0.0798212880084,0.999999914952,0.000277088580164,-0.000303233760119,3.69691116539e-05,1793254855755204608
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.282462591,759.282462591,737,718,686.282462591,650,916,800,839.717537409,657,635.282462591,658,0.400982768345,-0.0153587342319,0.0798223864646,0.99999991481,0.000279365561946,-0.000301585794645,3.71505052486e-05,1793254855771871232
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e685eca7e96168acc695a404f8b35fd5eec00c94
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,417 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..76c802c67ac86b73e8ecacfd625b4626589bd90c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60673d91f3f2f0b954f8f9cc51aaecbd6e1fe5ceb156281ebf93b311f673d33
+size 26417886
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a07ac30bccd8403d35bf286dda13fd69e485b92
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
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+4,0.066666667,BASELINE,784,759,737.633810404,718,686,650,916.633810404,800,839.366189596,657.366189596,636,657.366189596,0.400974887968,-0.0153638130299,0.0798286704323,0.999999919495,0.000272521863967,-0.000292284421659,3.62156907036e-05,1793254856307588864
+5,0.083333333,BASELINE,784,759,737.058149889,718,686,650,916.058149889,800,839.941850111,657.941850111,636,657.941850111,0.400977139333,-0.0153619963585,0.0798298858682,0.999999919296,0.000275499873319,-0.000290172005361,3.61695330316e-05,1793254856324255488
+6,0.100000000,BASELINE,783.470349335,759,737.529650665,718,686,650,916,800,840,657.470349335,635.470349335,657.470349335,0.400978223696,-0.0153634810211,0.079830638313,0.999999920018,0.000274228831445,-0.00028885191243,3.64267039588e-05,1793254856340922112
+7,0.116666667,BASELINE,783,759.116758978,737.883241022,718,686,650,916,800,840,657.116758978,635,657,0.400978809064,-0.0153648190632,0.0798310712229,0.999999920625,0.000272899014296,-0.000287986481321,3.65988398869e-05,1793254856357588992
+8,0.133333333,BASELINE,783,759.695726873,737.304273127,718,686,650,916,800,840,657.695726873,635,657,0.400977938177,-0.0153641082078,0.0798304451479,0.999999920379,0.000273226559976,-0.000288568465244,3.62994267255e-05,1793254856374255616
+9,0.150000000,BASELINE,783,759.727509385,737,718.272490615,686,650,916,800,840,657.727509385,635,657.272490615,0.400977120224,-0.0153635228914,0.0798300912014,0.999999920262,0.000273049213348,-0.000289174490117,3.60387295321e-05,1793254856390921984
+10,0.166666667,BASELINE,783,759.153187169,737,718.846812831,686,650,916,800,840,657.153187169,635,657.846812831,0.400976360903,-0.0153630766317,0.0798300386854,0.999999920287,0.000272312609079,-0.000289807144562,3.58209171476e-05,1793254856407588864
+11,0.183333333,BASELINE,783,759,737,719,686,650,916,800,840,657,635,658,0.400977302197,-0.0153633306536,0.0798305751321,0.999999920636,0.000272371180354,-0.000288530983167,3.59331480223e-05,1793254856424255488
+12,0.200000000,BASELINE,783,759,737,719,686,650,916,800,840,657,635,658,0.400978862086,-0.0153638394017,0.0798313258131,0.9999999211,0.000272718995433,-0.000286560493036,3.61654316003e-05,1793254856440921856
+13,0.216666667,BASELINE,783.588570343,759,737,719,686,650,916,800,840,657,635.588570343,657.411429657,0.400978493741,-0.0153653422773,0.0798314404954,0.999999921824,0.000270126040032,-0.000286483738356,3.62079941634e-05,1793254856457588736
+14,0.233333333,BASELINE,783.822464618,759.177535382,737,718.822464618,686,650,916,800,839.822464618,657.177535382,636,657,0.400978078325,-0.0153657903448,0.0798313558084,0.999999922052,0.000268945647578,-0.000286804471388,3.61687139869e-05,1793254856474255360
+15,0.250000000,BASELINE,783.245971594,759.754028406,737,718.245971594,686,650,916,800,839.245971594,657.754028406,636,657,0.400977600896,-0.0153638454828,0.0798308375342,0.999999921167,0.000271006315352,-0.000287975455976,3.59498229514e-05,1793254856490921984
+16,0.266666667,BASELINE,783,759.67069258,737.32930742,718,686.32930742,650,916,800,839.32930742,657.67069258,636,657,0.400977765717,-0.0153631003173,0.0798309898986,0.999999920747,0.000272782057571,-0.000287750558101,3.60020924148e-05,1793254856507588864
+17,0.283333333,BASELINE,783,759.096317058,737.903682942,718,686.903682942,650,916,800,839.903682942,657.096317058,636,657,0.400978408495,-0.0153632479571,0.079831641347,0.999999920673,0.000274345760215,-0.000286486854941,3.62561574921e-05,1793254856524255488
+18,0.300000000,BASELINE,783,759,737.508050347,718,686.508050347,650.491949653,916.491949653,800,839.508050347,657.491949653,636,657.491949653,0.400979053229,-0.0153632058267,0.0798325792449,0.999999921273,0.000273515495145,-0.000285213651633,3.59987743854e-05,1793254856540921856
+19,0.316666667,BASELINE,783,759,737,718,686,650.918649319,916.918649319,800,839.081350681,658,636,657.918649319,0.400979552422,-0.0153631514406,0.0798333411231,0.999999921882,0.000272355983871,-0.00028422337513,3.56977507311e-05,1793254856557588480
+20,0.333333333,BASELINE,783,759,737,718,686,650.339434481,916.339434481,800,839.660565519,658,636,657.339434481,0.400979158492,-0.015363256041,0.079832672566,0.999999921727,0.000272133315889,-0.000284976317588,3.57602763727e-05,1793254856574255104
+21,0.350000000,BASELINE,783,759,737,718,686,650,916.238153968,800,840,657.761846032,635.761846032,657.238153968,0.400978709198,-0.0153635199244,0.0798321108775,0.999999921647,0.00027166715763,-0.000285699284345,3.57724956076e-05,1793254856590921728
+22,0.366666667,BASELINE,783,759,737,718,686,650,916.813440045,800,840,657.186559955,635.186559955,657.813440045,0.400978181533,-0.0153640092894,0.0798317004725,0.999999921674,0.000270856313174,-0.000286379817263,3.57135008021e-05,1793254856607588608
+23,0.383333333,BASELINE,783.385247791,759,737,718,686,650,917,800,839.614752209,657.385247791,635,658,0.400979458161,-0.0153642495416,0.0798325416685,0.999999921784,0.000271812910286,-0.00028505182755,3.59801440217e-05,1793254856624255232
+24,0.400000000,BASELINE,783.955386245,759,737,718,686,650,917,800,839.044613755,657.955386245,635,658,0.400981600717,-0.015364370238,0.0798339835409,0.999999921927,0.000273617749549,-0.000282759894455,3.64030695867e-05,1793254856640922112
+25,0.416666667,BASELINE,784,759,737,718.549506821,686,650.549506821,916.450493179,800,839,657.450493179,635,657.450493179,0.400979324175,-0.0153642734813,0.0798319071738,0.999999921506,0.000272049765798,-0.000285804638882,3.59547139487e-05,1793254856657588736
+26,0.433333333,BASELINE,783.858503773,759.141496227,737,718.858503773,686,650.858503773,916,800,839.141496227,657.141496227,635,657.141496227,0.40097762742,-0.0153642156544,0.079830447661,0.999999921188,0.000271007618988,-0.000287938447614,3.56326834563e-05,1793254856674255360
+27,0.450000000,BASELINE,783.279401825,759.720598175,737,718.279401825,686,650.279401825,916,800,839.720598175,657.720598175,635,657.720598175,0.400978884014,-0.0153643353181,0.0798318196119,0.999999921376,0.000272477267166,-0.000285853853848,3.59300947235e-05,1793254856690921728
+28,0.466666667,BASELINE,783.297382232,759.702617768,737,718,686,650,916,800,840,658,635,657.702617768,0.400979059718,-0.0153638596872,0.0798322522547,0.999999921111,0.000273840014393,-0.000285476518183,3.59491735723e-05,1793254856707588352
+29,0.483333333,BASELINE,783.87200535,759.12799465,737,718,686,650,916,800,840,658,635,657.12799465,0.400978227738,-0.0153628290801,0.0798318092076,0.999999920426,0.000275103100855,-0.00028669081018,3.57087711093e-05,1793254856724255232
+30,0.500000000,BASELINE,783.553836158,759.446163842,737,718,686,650,916.446163842,800,839.553836158,657.553836158,635.446163842,657,0.400979295093,-0.0153623314007,0.0798330335859,0.999999921121,0.000274158843284,-0.000285151404767,3.58324646719e-05,1793254856740922112
+31,0.516666667,BASELINE,783,760,737,718.020849572,686,650,916.979150428,800,839.020849572,657,636,657.020849572,0.400980802547,-0.0153620115732,0.0798346202998,0.999999922151,0.000272641849066,-0.000282957679841,3.60420271414e-05,1793254856757588736
+32,0.533333333,BASELINE,783,760,737,718.613651608,686,650,916.386348392,800,839.613651608,657,636,657.613651608,0.4009794512,-0.0153623810015,0.079833038177,0.999999921701,0.000272766496713,-0.000284462772522,3.57448151297e-05,1793254856774255360
+33,0.550000000,BASELINE,783,759.798612842,737,718.798612842,686,650.201387158,916,800,840,657.201387158,635.798612842,658,0.400978805895,-0.0153629637798,0.0798321339515,0.999999921522,0.000272535013767,-0.000285322417968,3.56583214766e-05,1793254856790922240
+34,0.566666667,BASELINE,783,759.220358559,737,718.220358559,686,650.779641441,916,800,840,657.779641441,635.220358559,658,0.400979481847,-0.0153639458121,0.0798324983137,0.999999921855,0.000271637083584,-0.000284974201495,3.5966156983e-05,1793254856807589632
+35,0.583333333,BASELINE,783,759,737.355138334,718,686.355138334,650.644861666,916,800,839.644861666,658,635.355138334,657.644861666,0.400980369933,-0.015364048414,0.0798327251379,0.999999922127,0.000271774563506,-0.000283895780438,3.58880203383e-05,1793254856824256000
+36,0.600000000,BASELINE,783,759,737.92893754,718,686.92893754,650.07106246,916,800,839.07106246,658,635.92893754,657.07106246,0.40098138863,-0.0153636095453,0.0798328672791,0.99999992236,0.000272549551757,-0.000282367767859,3.55722382785e-05,1793254856840922112
+37,0.616666667,BASELINE,783.517073171,759.517073171,737.482926829,718.517073171,686.482926829,650,916,800,839.517073171,657.482926829,636,657.517073171,0.400980489705,-0.0153650376783,0.0798336087472,0.999999922587,0.000271171003139,-0.000282871049272,3.57120832377e-05,1793254856857588480
+38,0.633333333,BASELINE,783.89483046,760,737,718.89483046,686,650,916,800,839.89483046,657.10516954,636,657.89483046,0.400979550361,-0.0153660261998,0.07983415832,0.999999922688,0.000269979181491,-0.000283639773304,3.58372693002e-05,1793254856874255360
+39,0.650000000,BASELINE,783.316036791,760,737,718.316036791,686,650,916,800,839.316036791,657.683963209,636,657.316036791,0.400979649684,-0.0153638464901,0.0798334621943,0.999999922229,0.000270999140354,-0.000284310848312,3.56064033707e-05,1793254856890921984
+40,0.666666667,BASELINE,783,759.738140992,737.261859008,718,686,650,916,799.738140992,839,657.738140992,635.738140992,657,0.400979208359,-0.0153627164091,0.0798329697793,0.999999921706,0.000272048982345,-0.00028516607707,3.5455875133e-05,1793254856907588608
+41,0.683333333,BASELINE,783,759.161325162,737.838674838,718,686,650,916,799.161325162,839,657.161325162,635.161325162,657,0.400978116759,-0.0153628487927,0.0798327223821,0.999999921105,0.000273134766884,-0.000286242800862,3.54019748785e-05,1793254856924255232
+42,0.700000000,BASELINE,783.413677762,759,737.586322238,718,686,650,916,799.413677762,839.413677762,657.413677762,635.413677762,657,0.400978425451,-0.0153641068534,0.0798325661126,0.999999921616,0.000271617781288,-0.000285881059866,3.55458230192e-05,1793254856940921856
+43,0.716666667,BASELINE,783.987976763,759,737.012023237,718,686,650,916,799.987976763,839.987976763,657.987976763,635.987976763,657,0.400979277843,-0.0153658019877,0.0798324452257,0.999999922554,0.000269090201906,-0.000284960797165,3.57664521611e-05,1793254856957588736
+44,0.733333333,BASELINE,784,759,737.578453147,718,686,650,916,800,840,658,635.421546853,657.578453147,0.400980458669,-0.0153645208386,0.0798334994854,0.999999923037,0.000269733690089,-0.000282639959206,3.58411671689e-05,1793254856974255104
+45,0.750000000,BASELINE,784,759.165523886,737.834476114,718.165523886,686,650,916,800,840,658,635,657.834476114,0.400981295791,-0.0153634929852,0.0798342653531,0.999999923313,0.000270439460401,-0.000280980724019,3.58640635678e-05,1793254856990921472
+46,0.766666667,BASELINE,784,759.743252003,737.256747997,718.743252003,686,650,916,800,840,658,635,657.256747997,0.400981259497,-0.0153632544033,0.0798342504605,0.999999923111,0.000271131470856,-0.000281043660327,3.5765686046e-05,1793254857007588096
+47,0.783333333,BASELINE,784,759.679734524,737,719,686,650,916,800,839.679734524,657.679734524,635.320265476,657.320265476,0.400980375535,-0.0153643069412,0.0798336583499,0.999999922707,0.000271197968782,-0.000282414501218,3.5773082544e-05,1793254857024254976
+48,0.800000000,BASELINE,784,759.103292622,737,719,686,650,916,800,839.103292622,657.103292622,635.896707378,657.896707378,0.400978813535,-0.0153663922301,0.0798326045297,0.999999922136,0.000270764126983,-0.000284831518942,3.58650863716e-05,1793254857040921600
+49,0.816666667,BASELINE,783.517709165,759.482290835,737,718.517709165,686,650,916,800,839.482290835,657,636,658,0.40097930822,-0.0153659730206,0.0798335613561,0.999999922386,0.000270998172618,-0.000283696638742,3.61114485538e-05,1793254857057588224
+50,0.833333333,BASELINE,783.068869048,759.931130952,737,718,686,650,916,800,839.931130952,657,635.931130952,657.931130952,0.400979893845,-0.0153651445069,0.0798345715813,0.999999922784,0.000270924829098,-0.000282339570464,3.62765861465e-05,1793254857074255104
+51,0.850000000,BASELINE,783.648031086,759.351968914,737,718,686,650,916,800,839.351968914,657,635.351968914,657.351968914,0.400977826441,-0.0153653344414,0.0798327250832,0.999999922955,0.000267493487602,-0.00028508166414,3.55901936272e-05,1793254857090921728
+52,0.866666667,BASELINE,783.773490195,759.226509805,737,718,686,650,916,800,839.226509805,657,635,657,0.400977338276,-0.015365746295,0.0798320898708,0.999999923048,0.000266210328244,-0.000285989446367,3.53074223628e-05,1793254857107588352
+53,0.883333333,BASELINE,783.196070111,759.803929889,737,718,686,650,916,800,839.803929889,657,635,657,0.400979296676,-0.0153665019469,0.0798333311889,0.99999992304,0.000268255145083,-0.000284055502706,3.56499434844e-05,1793254857124254976
+54,0.900000000,BASELINE,783,759.618736419,737,718.381263581,686,650,916,800,839.618736419,657,635,657,0.400979525848,-0.0153654673108,0.079833481614,0.999999922327,0.0002715772938,-0.000283388556918,3.58136814759e-05,1793254857140921856
+55,0.916666667,BASELINE,783,759.041447163,737,718.958552837,686,650,916,800,839.041447163,657,635,657,0.400978865943,-0.0153635122028,0.0798330711591,0.99999992124,0.000275556179305,-0.000283373034836,3.58854985769e-05,1793254857157588480
+56,0.933333333,BASELINE,783.544456639,759,737,718.455543361,686,650,916,800,839.544456639,657.544456639,635.544456639,657,0.400978690805,-0.015364238344,0.0798328936202,0.999999921487,0.000274384131906,-0.000283640673471,3.58794369313e-05,1793254857174256640
+57,0.950000000,BASELINE,784,759.129386771,737.129386771,718,686,650,916,800,839.870613229,658,635.870613229,657.129386771,0.40097863409,-0.0153643086421,0.0798326878981,0.999999921635,0.000273540331532,-0.00028395382152,3.57319744614e-05,1793254857190924032
+58,0.966666667,BASELINE,784,759.70861495,737.70861495,718,686,650,916,800,839.29138505,658,635.29138505,657.70861495,0.400978858732,-0.015361377709,0.0798323215548,0.999999921082,0.000275222957073,-0.000284349044584,3.51138444708e-05,1793254857207589888
+59,0.983333333,BASELINE,784,760,737.714009588,718,686,650,916,800,839.285990412,657.714009588,635.285990412,658,0.400978821196,-0.0153609222829,0.0798320866162,0.999999920823,0.000275708868671,-0.000284803719592,3.49965656457e-05,1793254857224256256
+60,1.000000000,BASELINE,784,760,737.138509569,718,686,650,916,800,839.861490431,657.138509569,635.861490431,658,0.400978518255,-0.0153629728251,0.0798319846995,0.999999920863,0.000274983340621,-0.000285318578167,3.53863010286e-05,1793254857240922624
+61,1.016666667,BASELINE,783.554382502,760,737,718,686,650,916,800,840,657,635.554382502,658,0.400980434359,-0.0153630320529,0.0798340820176,0.999999921558,0.000275223109896,-0.000282592345167,3.57440729551e-05,1793254857257588992
+62,1.033333333,BASELINE,783,759.967944333,737,718,686.032055667,650.032055667,916,800,840,657,635,657.967944333,0.400982802294,-0.0153625493434,0.0798366360311,0.999999922393,0.000275632247876,-0.000279180165603,3.60531156412e-05,1793254857274255360
+63,1.050000000,BASELINE,783,759.388731675,737,718,686.611268325,650.611268325,916,800,840,657,635,657.388731675,0.400980877011,-0.0153635897749,0.0798350870198,0.999999922256,0.000273709863233,-0.000281594605802,3.57033304568e-05,1793254857290922240
+64,1.066666667,BASELINE,783,759.190537764,737,718.190537764,686.809462236,650.809462236,916,800,840,657,635.190537764,657,0.400979535095,-0.0153642926786,0.0798339146867,0.999999922362,0.000271595702622,-0.000283293405801,3.54352041908e-05,1793254857307588608
+65,1.083333333,BASELINE,783,759.769923047,737,718.769923047,686.230076953,650.230076953,916,800,840,657,635.769923047,657,0.400979383707,-0.015364306759,0.0798335110748,0.999999922976,0.000269090167693,-0.000283531734464,3.53337266311e-05,1793254857324255232
+66,1.100000000,BASELINE,783,759.65301809,737,718.65301809,686,650,916,800,840,657,636,657,0.400978782382,-0.0153640725942,0.0798329429285,0.999999922662,0.000269359576129,-0.000284384545802,3.53175102382e-05,1793254857340921856
+67,1.116666667,BASELINE,783,759.077491581,737,718.077491581,686,650,916,800,840,657,636,657,0.400977884698,-0.0153636749193,0.0798322664092,0.999999921735,0.000271456740818,-0.000285642094936,3.53574523367e-05,1793254857357588736
+68,1.133333333,BASELINE,783,759.507833493,737,718,686,650,916,800,839.492166507,657.507833493,635.492166507,657.507833493,0.400978481583,-0.0153641847901,0.0798322949095,0.999999922001,0.000271444612801,-0.000284704270588,3.55002900255e-05,1793254857374255360
+69,1.150000000,BASELINE,783.093453902,760,737,718,686,650,916,800,839.093453902,657.906546098,635.093453902,658,0.400979323681,-0.0153645274613,0.0798325695906,0.999999922314,0.000271631496277,-0.000283403791464,3.56330223129e-05,1793254857390921984
+70,1.166666667,BASELINE,783.672684314,760,737,718,686,650,916,800,839.672684314,657.327315686,635.672684314,658,0.400980231616,-0.0153632670126,0.0798335537174,0.999999921914,0.000274558815356,-0.00028199380915,3.56300057835e-05,1793254857407588352
+71,1.183333333,BASELINE,784,759.749163092,737,718,686,650,916,800,840,657,636,657.749163092,0.400980643376,-0.0153623877337,0.0798339162028,0.999999921814,0.000275286744943,-0.00028164547653,3.55771819403e-05,1793254857424254976
+72,1.200000000,BASELINE,784,759.172410842,737,718,686,650,916,800,840,657,636,657.172410842,0.400980410453,-0.0153620037131,0.0798334709825,0.999999922111,0.000273156982325,-0.000282676557639,3.54596428688e-05,1793254857440922112
+73,1.216666667,BASELINE,784,759,737,718,686,650,916,800,839.589606341,657,635.589606341,657,0.400980829162,-0.0153630573624,0.0798339580768,0.999999922653,0.000271428233839,-0.000282439021855,3.53531219272e-05,1793254857457588736
+74,1.233333333,BASELINE,784,759,737,718,686,650,916,800,839.004221201,657,635.004221201,657,0.400981525728,-0.0153647240328,0.0798348427093,0.999999923297,0.00026987047754,-0.000281660548923,3.52512991133e-05,1793254857474255104
+75,1.250000000,BASELINE,784,759,737,718.575400368,686.575400368,650,916,800,839.575400368,657.575400368,635.575400368,657.575400368,0.400981012489,-0.0153654660902,0.0798344350498,0.99999992298,0.000270726800006,-0.000281927075961,3.55472831701e-05,1793254857490921472
+76,1.266666667,BASELINE,784,759.154519468,737,718.845480532,686.845480532,650,916,800,839.845480532,657.845480532,636,657.845480532,0.400980265713,-0.0153657861678,0.0798339063167,0.999999922681,0.000271084698557,-0.000282620754962,3.57300016661e-05,1793254857507588352
+77,1.283333333,BASELINE,784,759.732376608,737,718.267623392,686.267623392,650,916,800,839.267623392,657.267623392,636,657.267623392,0.400978903192,-0.0153649685449,0.0798330715936,0.999999922449,0.000270029024007,-0.000284463909151,3.55944898468e-05,1793254857524255488
+78,1.300000000,BASELINE,784,760,737,718.308781783,686,650,916.308781783,800,839.308781783,657.308781783,636,657,0.400978111171,-0.0153652991725,0.0798326275713,0.999999922352,0.000269379348436,-0.000285405180838,3.57127476503e-05,1793254857540922112
+79,1.316666667,BASELINE,784,760,737,718.88393439,686,650,916.88393439,800,839.88393439,657.88393439,636,657,0.400977811293,-0.0153666203394,0.0798325205873,0.999999922374,0.000269079908229,-0.000285568442851,3.60499200062e-05,1793254857557588736
+80,1.333333333,BASELINE,783.540142074,759.540142074,737,718.540142074,686,650,916.540142074,800,840,657.540142074,636,657,0.400978488548,-0.0153657919667,0.0798330609809,0.999999922587,0.000269252077373,-0.000284706481515,3.56599006872e-05,1793254857574255360
+81,1.350000000,BASELINE,783,759.036944707,737.036944707,718,686,650.036944707,916,800,840,657,636,657.036944707,0.400979308137,-0.0153645229742,0.0798336539417,0.999999922773,0.000269655422251,-0.000283734897974,3.51484837001e-05,1793254857590921984
+82,1.366666667,BASELINE,783,759.628569298,737.628569298,718,686,650.628569298,916,800,840,657,636,657.628569298,0.40097855573,-0.01536479775,0.0798325788424,0.999999921831,0.000271739473611,-0.000285008973365,3.55746740217e-05,1793254857607588608
+83,1.383333333,BASELINE,783,760,737.785280139,718,686.214719861,650.785280139,916,800,839.785280139,657,635.785280139,657.785280139,0.400978646446,-0.0153648472322,0.0798324510091,0.999999921508,0.000272876014303,-0.000285028800523,3.57874050532e-05,1793254857624255232
+84,1.400000000,BASELINE,783,760,737.208363264,718,686.791636736,650.208363264,916,800,839.208363264,657,635.208363264,657.208363264,0.40098015937,-0.0153645166814,0.0798339210572,0.999999922235,0.000272414261002,-0.000282932917845,3.56400655138e-05,1793254857640922112
+85,1.416666667,BASELINE,783.366910104,759.633089896,737,718,686.633089896,650.366910104,916,800,839.366910104,657,635,657,0.400979787472,-0.0153640819634,0.0798338057473,0.999999922568,0.000270967527029,-0.000283163090975,3.54888488931e-05,1793254857657588992
+86,1.433333333,BASELINE,783.941254273,759.058745727,737,718,686.058745727,650.941254273,916,800,839.941254273,657,635,657,0.400978349982,-0.0153635883539,0.0798327941489,0.999999922675,0.000268963930398,-0.000284708309,3.53354403578e-05,1793254857674256128
+87,1.450000000,BASELINE,783.469049699,759,737,718,686,650.469049699,916,800,839.469049699,657,635,657,0.400978916704,-0.0153648751554,0.0798332921217,0.999999922852,0.000269128733903,-0.000283913902305,3.54893669032e-05,1793254857690922496
+88,1.466666667,BASELINE,783.119590504,759.119590504,737,718,686,650,916,800,839.119590504,657,635.119590504,657,0.400979586288,-0.0153660212954,0.0798338449058,0.999999923055,0.000269406534574,-0.000282915384224,3.56347121151e-05,1793254857707588864
+89,1.483333333,BASELINE,783.697481345,759.697481345,737,718,686,650,916,800,839.697481345,657,635.697481345,657,0.400979774955,-0.0153658509973,0.0798339486092,0.999999923333,0.000269170569685,-0.000282156222119,3.56129783938e-05,1793254857724255488
+90,1.500000000,BASELINE,783.724440146,759.724440146,737,718,686,650.275559854,916,800,839.724440146,657.275559854,636,657,0.400979166245,-0.0153655856273,0.0798337921019,0.999999923289,0.000268935143659,-0.000282560454795,3.54238674047e-05,1793254857740922368
+91,1.516666667,BASELINE,783.146155507,759.146155507,737,718,686,650.853844493,916,800,839.146155507,657.853844493,636,657,0.400977681551,-0.0153652158132,0.079833349732,0.999999922889,0.000268700309633,-0.000284242770777,3.50508789511e-05,1793254857757588736
+92,1.533333333,BASELINE,783,759,737,718,686,650.562671293,916,800,839,657.562671293,636,657.437328707,0.400978096221,-0.0153644377804,0.0798331764025,0.999999922621,0.000270151834396,-0.000283813147205,3.50293412423e-05,1793254857774255360
+93,1.550000000,BASELINE,783,759.022347702,737,718,686,650,916,800,839,657,636,657.977652298,0.400979143297,-0.0153636151116,0.0798331233735,0.999999922433,0.000272022543023,-0.000282671401386,3.51363856593e-05,1793254857790921984
+94,1.566666667,BASELINE,783,759.601785896,737,718,686,650,916,800,839,657,636,657.398214104,0.400979941125,-0.0153651215562,0.0798338008747,0.999999923242,0.00027012459801,-0.000281584046896,3.54855788073e-05,1793254857807588608
+95,1.583333333,BASELINE,783.179681554,759.820318446,737,718,686,650,916,800,839.179681554,657,636,657,0.400980417482,-0.0153659814618,0.0798342378506,0.99999992363,0.000269265890395,-0.000281003799657,3.5670429338e-05,1793254857824255488
+96,1.600000000,BASELINE,783.754187823,759.245812177,737,718,686,650,916,800,839.754187823,657,636,657,0.400980187452,-0.01536542069,0.0798341463063,0.999999923102,0.000270690759106,-0.000281537848426,3.54941603595e-05,1793254857840922112
+97,1.616666667,BASELINE,783.669755958,759.330244042,737,718.330244042,686.330244042,650,916,800,839.669755958,657,635.669755958,657.330244042,0.400979388589,-0.0153652088515,0.0798338234923,0.999999922888,0.000270591562241,-0.000282384628635,3.55331624409e-05,1793254857857588736
+98,1.633333333,BASELINE,783.092540651,759.907459349,737,718.907459349,686.907459349,650,916,800,839.092540651,657,635.092540651,657.907459349,0.400978164328,-0.0153652579608,0.0798333277244,0.99999992291,0.000269352600891,-0.000283465283372,3.57331538593e-05,1793254857874255104
+99,1.650000000,BASELINE,783,759.504401648,737,718.504401648,686.504401648,650,916,800,839.495598352,657,635,658,0.400978418879,-0.015364544102,0.0798331654957,0.999999922557,0.000269974636614,-0.000284163349183,3.53644582315e-05,1793254857890921728
+100,1.666666667,BASELINE,783,759.084129631,737,718,686,650,916,800,840,657,635,657.915870369,0.400978884601,-0.0153638116376,0.079833118863,0.999999922197,0.000270951186658,-0.000284543502045,3.50134391656e-05,1793254857907588608
+101,1.683333333,BASELINE,783,759.662708274,737,718,686,650,916,800,840,657,635,657.337291726,0.400978931969,-0.0153638259958,0.0798333773299,0.99999992222,0.000271922961757,-0.000283484534051,3.540446711e-05,1793254857924255232
+102,1.700000000,BASELINE,783,759.75999653,737,718,686,650,916.24000347,800,840,657,635,657,0.400979035722,-0.0153643186048,0.0798335888192,0.999999922165,0.000272503464564,-0.00028308195238,3.57188069631e-05,1793254857940922112
+103,1.716666667,BASELINE,783,759.184495498,737,718,686,650,916.815504502,800,840,657,635,657,0.400979218296,-0.0153654797538,0.0798337346391,0.999999922003,0.000272537013115,-0.000283596924247,3.59259455512e-05,1793254857957588736
+104,1.733333333,BASELINE,783.391120498,759,737,718,686,650,916.608879502,800,840,657.391120498,635.391120498,657,0.400980021747,-0.0153662183489,0.0798341369187,0.999999922871,0.000270397610109,-0.000282612488414,3.56876728004e-05,1793254857974255360
+105,1.750000000,BASELINE,783.96679079,759,737,718,686,650,916.03320921,800,840,657.96679079,635.96679079,657,0.400981118158,-0.0153667575625,0.0798346602086,0.999999924214,0.000267232902202,-0.000280920558679,3.52392331966e-05,1793254857990921984
+106,1.766666667,BASELINE,783.442572997,759.557427003,737,718.557427003,686,650,916,800,840,658,635.442572997,657.557427003,0.400980857099,-0.0153667480258,0.079834783308,0.999999923833,0.000268779652888,-0.000280762435421,3.55537913824e-05,1793254858007588608
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650,916,800,840,657,636,657,0.400978532519,-0.0153647750986,0.0798333259361,0.999999922405,0.000271591692154,-0.000283185511801,3.51317499974e-05,1793254858048989184
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.425534405,759,737,718,686,650,916.574465595,800,839.425534405,657.574465595,636,657,0.400978263301,-0.0153640024582,0.0798334386843,0.99999992212,0.000272844886094,-0.000282986211417,3.51338308961e-05,1793254858065656576
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,759.149309818,737,718,686,650,916.850690182,800,839.149309818,658,636,657.149309818,0.400978434936,-0.0153635413479,0.0798338009561,0.999999922133,0.000273191077497,-0.000282603031958,3.51717584258e-05,1793254858082323456
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,759.725236009,737,718,686,650,916.274763991,800,839.725236009,658,636,657.725236009,0.400979866201,-0.0153639703581,0.0798348761809,0.999999922995,0.000270945730759,-0.000281694462866,3.53121089568e-05,1793254858098989824
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.310872692,760,737,718,686,650.310872692,916,800,840,657.689127308,636,658,0.400979418028,-0.0153650999616,0.0798344695306,0.999999923369,0.000268931195089,-0.000282293425883,3.53297528256e-05,1793254858115656192
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.905368663,760,737,718,686,650.905368663,916,800,840,657.094631337,636,658,0.400977255158,-0.0153668687481,0.0798327108984,0.999999923297,0.000267127238979,-0.000284267778978,3.52354458236e-05,1793254858132322048
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,759.51483379,737,718,686.48516621,650.51483379,916,800,840,657.48516621,635.51483379,658,0.400978492264,-0.0153656329475,0.0798332291338,0.999999923151,0.000268805509573,-0.000283194736908,3.52482572763e-05,1793254858148988672
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,759.062036811,737,718,686.937963189,650,916,800,839.937963189,657.937963189,635,657.937963189,0.400980245076,-0.0153642029816,0.0798341489867,0.999999923078,0.000270676307388,-0.000281659429988,3.53026230401e-05,1793254858165655296
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,759.637712438,737,718,686.362287562,650,916,800,839.362287562,657.362287562,635,657.362287562,0.400980938456,-0.0153658749175,0.079834825211,0.999999923772,0.000268682968504,-0.00028107337287,3.55331393432e-05,1793254858182321920
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.782788194,760,737,718,686.217211806,650,916.217211806,800,839.217211806,657.217211806,635,657,0.400984040416,-0.0153673282195,0.0798365545022,0.999999924743,0.000267588847183,-0.00027862293359,3.57666111364e-05,1793254858198988544
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.196796986,760,737,718,686.803203014,650,916.803203014,800,839.803203014,657.803203014,635,657,0.400991231634,-0.0153684103278,0.0798400716767,0.999999926168,0.000268021406037,-0.000273007170388,3.60051006984e-05,1793254858215655168
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,737,718.384585396,687,650,916.615414604,800,840,657.615414604,635.384585396,657.384585396,0.401012657593,-0.015368611295,0.0798486540916,0.999999929859,0.000269144984399,-0.000257901971708,3.64635726457e-05,1793254858232322048
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,737,718.963637367,687,650,916.036362633,800,840,657.036362633,635.963637367,657.963637367,0.401041281385,-0.0153683667111,0.0798597977584,0.999999934376,0.000270617978471,-0.000237998415468,3.70332792505e-05,1793254858248988928
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.542414405,759.457585595,737,719,686.457585595,650,916,800,839.457585595,657.542414405,635.457585595,657.457585595,0.401096870087,-0.0153700081821,0.0798783408799,0.999999942587,0.000269781659848,-0.000201517766832,3.78767042689e-05,1793254858265655552
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,759,737,718.879802454,686,650,916,800,839.120197546,657.879802454,635.120197546,657,0.401157912255,-0.0153722891477,0.0798972108845,0.999999949438,0.000268503043875,-0.000165973077479,3.85021752834e-05,1793254858282322176
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,759,737,718.305702838,686,650,916,800,839.694297162,657.305702838,635.694297162,657,0.401232725464,-0.0153765078112,0.0799154430248,0.99999995431,0.000266138504451,-0.000138157329808,3.8235328114e-05,1793254858298988800
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.72483139,759,737,718.27516861,686.27516861,650,916.27516861,800,839.72483139,657,636,657.27516861,0.401313468422,-0.0153800379574,0.0799302689487,0.999999957245,0.000265947273446,-0.000115578580424,3.77371552872e-05,1793254858315655168
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.136246888,759,737,718.863753112,686.863753112,650,916.863753112,800,839.136246888,657,636,657.863753112,0.401400965336,-0.015382783885,0.0799412152051,0.999999958445,0.000268231431877,-9.89647518435e-05,3.69755035419e-05,1793254858332321792
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,759.442721685,737,718.557278315,686.557278315,650,916.557278315,800,839.442721685,657,636,658,0.401502011291,-0.0153862911918,0.0799448355391,0.999999959807,0.000266279876139,-9.11662716524e-05,3.42055516952e-05,1793254858348988672
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.018900412,760,737,718.018900412,686,650.018900412,916,800,840,657,636,657.981099588,0.401607855331,-0.0153900566657,0.0799462608243,0.999999961232,0.000263018921152,-8.60685070187e-05,3.08030166759e-05,1793254858365655552
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.598238287,760,737,718.598238287,686,650.598238287,916,800,840,657,636,657.401761713,0.40173496093,-0.0153946771656,0.0799480290142,0.99999996278,0.000258762366559,-8.23192618704e-05,2.65799831893e-05,1793254858382322176
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,760,737,718.820163564,686,650.820163564,916,800,840,657.179836436,636,657.179836436,0.401870619817,-0.0153995604815,0.0799509232134,0.99999996468,0.000253574692577,-7.64555361727e-05,2.2247702457e-05,1793254858398988800
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,760,737,718.23345168,686,650.23345168,916,800,840,657.76654832,636,657.76654832,0.402025630289,-0.0154050384112,0.0799563649801,0.999999967352,0.000246280384777,-6.58078514916e-05,1.76682531293e-05,1793254858415655680
+130,2.166666667,POSE1_TO_POSE2_PRESS,784,759.649406251,737,718,686,650,916.350593749,800,840,658,635.649406251,658,0.402195778755,-0.0154107147436,0.0799579148613,0.999999969634,0.000237636514604,-6.41925855652e-05,1.18403829286e-05,1793254858432322048
+131,2.183333333,POSE1_TO_POSE2_PRESS,784,759.067122888,737,718,686,650,916.932877112,800,840,658,635.067122888,658,0.40237593117,-0.0154165221908,0.0799568927934,0.999999971622,0.000228100786425,-6.8546385675e-05,5.18749428201e-06,1793254858448988672
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.492009405,759,737,718.507990595,686.507990595,650,916.492009405,800,840,657.492009405,635.507990595,657.492009405,0.402583347014,-0.0154230219186,0.0799523951057,0.999999974159,0.00021369954449,-7.7510299794e-05,-2.67899882016e-06,1793254858465655296
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,759.082133977,737,719,686.917866023,650,916,800,840,657.082133977,636,657,0.402799772751,-0.0154298665851,0.0799479881928,0.999999978403,0.00018897283277,-8.58367636485e-05,-1.07150259895e-05,1793254858482321920
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,759.656062646,737,719,686.343937354,650,916,800,840,657.656062646,636,657,0.403048877121,-0.0154382365525,0.0799468363839,0.999999990419,0.000106216090095,-8.67496907588e-05,-1.88193604304e-05,1793254858498988800
+135,2.250000000,POSE1_TO_POSE2_PRESS,783.236897104,760,737,718.763102896,686.236897104,650,916,800,840,658,636,657,0.403316737252,-0.0154475735313,0.0799480324993,0.999999994708,5.36329321163e-05,-8.37413195706e-05,-2.63599736842e-05,1793254858515655424
+136,2.266666667,POSE1_TO_POSE2_PRESS,783.828058694,760,737,718.171941306,686.828058694,650,916,800,840,658,636,657,0.403612645409,-0.0154583566134,0.0799527397856,0.999999995585,4.61724483518e-05,-7.48688979157e-05,-3.30575775882e-05,1793254858532322304
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,737,718,686.589761468,650,916,800,840,658,635.589761468,657.410238532,0.403938482387,-0.015466022335,0.0799552594624,0.999999995049,6.3657157788e-05,-7.1490884038e-05,-2.71754381759e-05,1793254858548988928
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,737,718,686.011265469,650,916,800,840,658,635.011265469,657.988734531,0.404276594527,-0.0154724094851,0.0799568819011,0.99999999322,9.13730248316e-05,-7.03663766732e-05,-1.61337741068e-05,1793254858565655552
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,759.434550072,737,718,686,650,916,800,840,657.434550072,635.565449928,657.434550072,0.404674681769,-0.0154750987525,0.0799577682802,0.999999995182,7.10744057661e-05,-6.35677127016e-05,-2.33269182742e-05,1793254858582322176
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650.14466874,916,800,840,657,636,657.14466874,0.40507508635,-0.0154768516849,0.0799570905082,0.999999996246,5.5249423117e-05,-5.99772242698e-05,-2.93022779523e-05,1793254858598988800
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650.731649537,916,800,840,657,636,657.731649537,0.405478934132,-0.0154759663956,0.0799516751752,0.999999995754,5.60177178556e-05,-6.65399984691e-05,-3.0447118245e-05,1793254858615655424
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,759.314331215,737,718,686,650.685668785,916,800,840,657,636,657.685668785,0.405910418827,-0.0154713714584,0.07994491929,0.9999999946,5.98045142014e-05,-7.81416069929e-05,-3.34314502664e-05,1793254858632321792
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,759.893392239,737,718,686,650.106607761,916,800,840,657,636,657.106607761,0.406365179378,-0.0154636522548,0.079937034391,0.999999992676,6.6133493255e-05,-9.39869234651e-05,-3.79650026959e-05,1793254858648988416
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,760,737,718,686,650,916.470440544,800,840,657,636,657,0.406854993971,-0.0154676615368,0.0799353921564,0.999999991904,7.18862963922e-05,-9.90995479446e-05,-3.4700302638e-05,1793254858665655296
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,760,737,717.955633146,686,650,916.955633146,800,839.955633146,657,636,657,0.407354192961,-0.0154740971327,0.0799343856992,0.999999991337,7.57682952467e-05,-0.000103223093125,-3.05091694515e-05,1793254858682322432
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,760,737,717.411743327,686,650,916.411743327,800,839.411743327,657,636,657,0.407869994178,-0.0154780536754,0.0799246776449,0.999999989936,6.00508584771e-05,-0.000123477554216,-3.5699200904e-05,1793254858698989056
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759.847405818,737,717,686,650.152594182,916.152594182,800,839.152594182,657,636,657.152594182,0.408411993726,-0.0154819385675,0.0799192279459,0.999999988937,4.61482654947e-05,-0.000135621293085,-4.00504940491e-05,1793254858715655680
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759.219357232,737,717,686,650.780642768,916.780642768,800,839.780642768,657,636,657.780642768,0.409035622252,-0.0154856002096,0.0799270464715,0.999999990906,3.79003810706e-05,-0.000122493565595,-4.17884381584e-05,1793254858732322304
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759.376868295,737,717,686,650.623131705,916.623131705,800,840,657,636,658,0.409699676002,-0.0154881895253,0.0799559631814,0.999999995855,3.36991108029e-05,-7.40933218801e-05,-4.07905886155e-05,1793254858748988672
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,759.956013387,737,717,686,650.043986613,916.043986613,800,840,657,636,658,0.410385427194,-0.0154902032904,0.0799962039351,0.999999998741,3.16697828779e-05,-6.7612346531e-06,-3.83243543218e-05,1793254858765655552
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,737,717,686,650,916,800.531581681,840,657,636,657.468418319,0.411050153391,-0.0154924294617,0.0799980206246,0.999999998878,2.50389921255e-05,-8.77010605782e-06,-3.92380436013e-05,1793254858782322176
+152,2.533333333,POSE1_TO_POSE2_PRESS,784.106860824,760.106860824,737.106860824,717,686,650.106860824,916.106860824,800.893139176,840.106860824,657,636,657.106860824,0.411717498815,-0.0154943338231,0.0799896114344,0.999999998628,1.99125330299e-05,-2.59663499876e-05,-4.09032720474e-05,1793254858798989312
+153,2.550000000,POSE1_TO_POSE2_PRESS,784.682161019,760.682161019,737.682161019,717,686,650.682161019,916.682161019,800.317838981,840.682161019,657,636,657.682161019,0.412403901264,-0.0154947509538,0.0799502201391,0.999999995146,2.30384644963e-05,-8.47545146653e-05,-4.46451662077e-05,1793254858815656704
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.735218461,760.735218461,738,717,686,651,917,800,840.735218461,657.264781539,636,657.735218461,0.413114203544,-0.015496049009,0.0799241092275,0.999999991661,2.1930626786e-05,-0.000117787053301,-4.82057857359e-05,1793254858832323840
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.143560833,760.143560833,738,717,686,651,917,800,840.143560833,657.856439167,636,657.143560833,0.413854010555,-0.0154984345765,0.0799143931086,0.999999991467,1.55961490982e-05,-0.000119023960859,-5.15426201369e-05,1793254858848989952
+156,2.600000000,POSE1_TO_POSE2_PRESS,784.436930631,760,737.563069369,717,686,651,917,800.436930631,840,657.563069369,636,657,0.414640383228,-0.015503707772,0.0799333305081,0.999999995054,1.09252863917e-06,-8.5918465887e-05,-5.00820599066e-05,1793254858865656064
+157,2.616666667,POSE1_TO_POSE2_PRESS,784.986194526,760,737,717,686,651,916.986194526,800.986194526,840,657.013805474,636,657,0.415441314919,-0.0155100957797,0.0799606568565,0.999999997821,-1.58317996519e-05,-4.34590270732e-05,-4.71097667218e-05,1793254858882322176
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.410913215,760,737,717,686,651,916.410913215,800.410913215,840,657.589086785,636,657,0.416227621639,-0.0155241980555,0.0799558113162,0.999999996358,-2.4763822691e-05,-6.80506593944e-05,-4.51644765883e-05,1793254858898988800
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,916,800,840,657.831659519,636,657.168340481,0.417041387517,-0.0155363513588,0.079955216504,0.999999995679,-3.39592509686e-05,-7.44752868471e-05,-4.40778769044e-05,1793254858915655680
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,916,800,840,657.242475065,636,657.757524935,0.417923800063,-0.0155436323136,0.07996524833,0.999999997392,-4.38131805005e-05,-3.54831808326e-05,-4.51379666058e-05,1793254858932322816
+161,2.683333333,POSE1_TO_POSE2_PRESS,784.340357679,760,737.340357679,717,686,651,916,800,840,657,636,657.659642321,0.418816009942,-0.0155459309782,0.0799787952635,0.999999997967,-4.53972486267e-05,-1.44678061321e-06,-4.4754133562e-05,1793254858948989440
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.91874826,760,737.91874826,717,686,651,916,800,840,657,636,657.08125174,0.419715071658,-0.0155447452229,0.0799948005257,0.999999997787,-4.11976974102e-05,2.9123790361e-05,-4.33604771531e-05,1793254858965656320
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686,650.504706059,916,800,840,657,636,657.495293941,0.420585218753,-0.0155393925823,0.0799811591828,0.999999998562,-3.11266343704e-05,2.9952061708e-06,-4.35726728712e-05,1793254858982322944
+164,2.733333333,POSE1_TO_POSE2_PRESS,784.928547058,760,737.928547058,717,686,650.071452942,916,800,840.071452942,657,636,658,0.421460835187,-0.0155346014764,0.079968010832,0.999999998524,-2.18818986703e-05,-2.31666390506e-05,-4.3994562557e-05,1793254858998989312
+165,2.750000000,POSE1_TO_POSE2_PRESS,784.352989087,760,737.352989087,717,686,650.647010913,916,800,840.647010913,657,636,658,0.422408378315,-0.0155385767486,0.0799925252093,0.999999998587,-2.52372278288e-05,1.58150021258e-05,-4.40441956842e-05,1793254859015655680
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.228574609,760,737.228574609,717,686,651,916,800,841,657,636,657.771425391,0.423344837991,-0.0155412946461,0.0800073730919,0.999999998046,-2.72362321094e-05,3.56349454138e-05,-4.35414718634e-05,1793254859032322304
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.819663337,760,737.819663337,717,686,651,916,800,841,657,636,657.180336663,0.424263719709,-0.0155420183764,0.0800068901382,0.99999999843,-2.70841366299e-05,2.50648788694e-05,-4.21627226089e-05,1793254859048989184
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,760,738,717,686.401619573,651,916.401619573,800.401619573,841,657,636,657.401619573,0.425165423213,-0.015540861237,0.0799695900799,0.999999997611,-2.98563549024e-05,-4.1852140509e-05,-4.61973226835e-05,1793254859065655552
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686.979566244,651,916.979566244,800.979566244,841,657,636,657.979566244,0.426059584736,-0.0155388783204,0.0799161258363,0.999999989129,-3.3912463975e-05,-0.000133507730803,-5.26085999454e-05,1793254859082322176
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,760,738,717,687,651,917,801,841,657,636,658,0.427013641017,-0.0155392419017,0.0799087513222,0.999999990017,-3.78702685625e-05,-0.000124902973587,-5.41434433528e-05,1793254859098989056
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.13234396,760,738,717,687,651,917,801,841,657.13234396,636,658,0.427972726588,-0.0155398877593,0.0799080440144,0.99999999119,-4.13938178916e-05,-0.000113583270034,-5.48304284008e-05,1793254859115655936
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.721658223,760,738,717,687,651,917,801,841,657.721658223,636,658,0.428941597797,-0.0155412113292,0.0799245250392,0.999999992068,-4.34303683949e-05,-0.000105577516633,-5.32069782177e-05,1793254859132322304
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.694545795,760,738,717,686.694545795,651,917,801,841,657.694545795,636,658,0.429940225543,-0.0155450041461,0.0799605753269,0.999999995954,-4.45087059745e-05,-5.97255343922e-05,-5.04365142844e-05,1793254859148988928
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.115689084,760,738,717,686.115689084,651,917,801,841,657.115689084,636,658,0.430965487381,-0.0155510071088,0.0800141414487,0.999999997712,-4.47293768147e-05,2.00014234036e-05,-4.66393940618e-05,1793254859165655552
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.4608893,760,737.5391107,717,686,651,917,801,841,657.4608893,636,657.5391107,0.431918557566,-0.0155518595338,0.0800213058541,0.999999997625,-4.23178309621e-05,2.87434075748e-05,-4.61908069893e-05,1793254859182322176
+176,2.933333333,POSE1_TO_POSE2_PRESS,785.963222708,760,737.036777292,717,686.036777292,651,917,801,841.036777292,657.963222708,636,657.036777292,0.432849870906,-0.0155510376127,0.0800126044582,0.99999999801,-3.9644520481e-05,1.40811447776e-05,-4.70166683898e-05,1793254859198988800
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.389107845,760,737.610892155,717,686.610892155,651,917,801,841.610892155,657.389107845,636,657.610892155,0.43372675942,-0.0155445489047,0.079941432999,0.999999994131,-4.27526950564e-05,-8.34780645318e-05,-5.42428181345e-05,1793254859215655424
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,760,738,716.809330553,687,651,917,801,842,657,636,657.809330553,0.434636349598,-0.015542157113,0.0798999077228,0.999999987436,-4.87087856212e-05,-0.000138829761492,-5.90076148457e-05,1793254859232322048
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,760,738,716.217643897,687,651,917,801,842,657,636,657.217643897,0.435614718292,-0.0155483819805,0.0799207344764,0.999999990888,-6.06546326966e-05,-0.000105410366322,-5.85956802326e-05,1793254859248988672
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,760,737.633813909,716,687,651,917,801,841.633813909,657,636,657.366186091,0.436581453385,-0.0155522303092,0.0799545827178,0.999999994521,-6.42976539384e-05,-6.05630373547e-05,-5.61824564449e-05,1793254859265655552
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,760,737.054555508,716,687,651,917,801,841.054555508,657,636,657.945444492,0.437541419189,-0.0155546958032,0.0799960077573,0.999999996584,-6.31095179394e-05,-9.06615064282e-06,-5.260474459e-05,1793254859282322432
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,784.332465617,759.332465617,736.667534383,717,686,650,916,800,839.332465617,658,635.332465617,657.332465617,0.410389502663,-0.015379337025,0.0797669394316,0.999999895609,0.000251315391014,-0.000379519691994,3.98526707068e-05,1793254862261580032
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,759,736.747264953,717,686,650,916,800,839.252735047,658,635.252735047,657,0.409755630519,-0.0153764987335,0.0797747469306,0.999999899925,0.000255710626913,-0.000364900302729,4.01124297537e-05,1793254862278246912
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,759,736.173461203,717,686,650,916,800,839.826538797,658,635.826538797,657,0.409161549021,-0.0153755566114,0.0798034176499,0.999999917498,0.000252309685761,-0.000315676313694,4.11448530986e-05,1793254862294913536
+360,6.000000000,POSE2_TO_POSE3_RETREAT,784.399508118,759.399508118,736.399508118,717.399508118,686,650,916.399508118,800,840,657.600491882,635.600491882,657.399508118,0.408589502625,-0.0153751724109,0.0798206626135,0.999999925632,0.000252044202712,-0.000288748515595,4.28179400497e-05,1793254862311580160
+361,6.016666667,POSE2_TO_POSE3_RETREAT,784.972115946,759.972115946,736.972115946,717.972115946,686,650,916.972115946,800,840,657.027884054,635.027884054,657.972115946,0.408027003593,-0.0153750299477,0.0798329570043,0.999999930108,0.000253137257293,-0.000271481253421,4.47686151685e-05,1793254862328247040
+362,6.033333333,POSE2_TO_POSE3_RETREAT,785,759.437293797,737,718,685.437293797,650,916.437293797,799.437293797,840,657,635,658,0.407459478301,-0.0153697722405,0.0798031601185,0.999999912143,0.000261104303519,-0.000325284366892,4.156633238e-05,1793254862344913920
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784.848677542,759,737,718,685.151322458,650,916,799.151322458,840,657,635.151322458,658,0.40690596051,-0.0153659140879,0.0797742748816,0.999999893449,0.000266243783598,-0.000375138085474,3.85772315987e-05,1793254862361580288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784.268268755,759,737,718,685.731731245,650,916,799.731731245,840,657,635.731731245,658,0.406392891488,-0.0153667669619,0.0797540842897,0.999999883502,0.000262367720184,-0.000403477054309,3.69405825581e-05,1793254862378246912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,759,737,717.690966756,686,650,916,800,840,657,635.690966756,657.690966756,0.405926648329,-0.0153691122641,0.0797550170051,0.999999887217,0.000261576958262,-0.000394672638179,3.70980959159e-05,1793254862394913536
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,759,737,717.116334921,686,650,916,800,840,657,635.116334921,657.116334921,0.405500649685,-0.0153727402336,0.079774104146,0.999999901909,0.00026343785844,-0.000353945341426,3.87976020433e-05,1793254862411580160
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784,759,737,717.458717012,686,650,916.458717012,800,839.541282988,657,635.458717012,657,0.405108399534,-0.015370917955,0.0797926640879,0.999999909995,0.000270350883793,-0.000324326547948,4.16310663399e-05,1793254862428246784
+368,6.133333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.965052375,800,839.034947625,657.034947625,636,657.034947625,0.40472612717,-0.015367720826,0.0798103437216,0.999999915574,0.00027841717313,-0.00029889589732,4.46806732064e-05,1793254862444913408
+369,6.150000000,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.37169195,800,839.62830805,657.62830805,636,657.62830805,0.404366400643,-0.0153646619175,0.0798160956331,0.999999914858,0.000284419408885,-0.00029532935317,4.65845632217e-05,1793254862461580288
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.784164105,759.215835895,737,718,685.784164105,650,916,800,839.784164105,657.784164105,635.784164105,657.784164105,0.404013495649,-0.0153616069939,0.0798187951361,0.999999914348,0.000283823339475,-0.00029778505823,4.55201733293e-05,1793254862478247424
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783.206416342,759.793583658,737,718,685.206416342,650,916,800,839.206416342,657.206416342,635.206416342,657.206416342,0.403672028983,-0.0153585587525,0.079816376385,0.999999914029,0.000272163285121,-0.000310338821971,3.94785956924e-05,1793254862494913792
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.369503343,760,737,718,685.369503343,650,916,799.630496657,839.369503343,657.369503343,635,657.369503343,0.403363779819,-0.0153568117449,0.0798167994124,0.99999991274,0.000273703375091,-0.000313112161922,3.95767827517e-05,1793254862511580416
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.944406886,760,737,718,685.944406886,650,916,799.055593114,839.944406886,657.944406886,635,657.944406886,0.403073995629,-0.0153557880692,0.0798188021326,0.999999910956,0.00028258118456,-0.000310448743039,4.30879529739e-05,1793254862528247040
+374,6.233333333,POSE2_TO_POSE3_RETREAT,784,760,737,718,686,650,916,799.532243957,839.467756043,657.467756043,635,657.467756043,0.402830797587,-0.015352832318,0.0798232677751,0.999999910348,0.000289958931387,-0.000305565964959,4.30859021135e-05,1793254862544913408
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.880654985,759.880654985,737,718.119345015,686,650,916.119345015,799.880654985,839.119345015,657,635,657.119345015,0.40259883875,-0.015351074858,0.0798273510417,0.999999910495,0.000294392648888,-0.000300847266955,4.28153552921e-05,1793254862561580032
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.301719937,759.301719937,737,718.698280063,686,650,916.698280063,799.301719937,839.698280063,657,635,657.698280063,0.402390956189,-0.0153547284371,0.079828946466,0.999999913269,0.000288107499811,-0.000297675359425,4.29591716615e-05,1793254862578246912
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,759,737,718.724418458,686,650,916.724418458,799,840,657,635.275581542,657.724418458,0.402198254329,-0.0153584740051,0.0798278757181,0.999999914838,0.000281880651308,-0.000298320120439,4.3272229086e-05,1793254862594913792
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,759,737,718.148894985,686,650,916.148894985,799,840,657,635.851105015,657.148894985,0.402022075103,-0.0153623196934,0.0798239031182,0.999999915092,0.000275717257309,-0.000303118929586,4.37694878413e-05,1793254862611580672
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799.426313034,840,657,636,657.426313034,0.401873465493,-0.015365512685,0.0798255268331,0.999999917476,0.00027225611226,-0.00029819623321,4.47563297713e-05,1793254862628247296
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783.001451863,759.001451863,737,718.001451863,686,650,916,800,840,657,636,658,0.401734541187,-0.0153684615476,0.0798291043318,0.999999920543,0.000269759341043,-0.000289890671486,4.59100435011e-05,1793254862644913920
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783.593227729,759.593227729,737,718.593227729,686,650,916,800,840,657,636,658,0.401621394851,-0.0153647684388,0.0798329454813,0.999999920108,0.000275914361592,-0.000285641869413,4.54395682892e-05,1793254862661580288
+382,6.366666667,POSE2_TO_POSE3_RETREAT,784,759.819073764,737,718.819073764,686,650,916,800,840,657,635.819073764,658,0.401513638566,-0.0153623314848,0.0798352549344,0.999999919955,0.000279496042948,-0.000283074304169,4.28958312081e-05,1793254862678246912
+383,6.383333333,POSE2_TO_POSE3_RETREAT,784,759.240340329,737,718.240340329,686,650,916,800,840,657,635.240340329,658,0.401417733541,-0.0153626564711,0.0798341966067,0.999999920493,0.00027741965599,-0.000284203318459,3.57935596307e-05,1793254862694913536
+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,759.335701806,737,718,686,650,916.335701806,800,840,657.335701806,635,658,0.401333217108,-0.0153628036651,0.0798319891973,0.999999919523,0.00027725295146,-0.000288053968723,3.33044474717e-05,1793254862711580160
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784,759.90983253,737,718,686,650,916.90983253,800,840,657.90983253,635,658,0.4012567893,-0.0153628245837,0.0798289656638,0.999999917483,0.00027844257995,-0.000293837634379,3.40917858509e-05,1793254862728247040
+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,759.50386803,737,718,686,650,916.50386803,799.50386803,839.50386803,658,635,657.50386803,0.401198865288,-0.0153595611955,0.0798262787312,0.999999916105,0.000280677401786,-0.00029635308313,3.4432952376e-05,1793254862744913920
+387,6.450000000,POSE2_TO_POSE3_RETREAT,784,759,737,718.083187891,686,650,916.083187891,799,839.083187891,657.916812109,635.083187891,657,0.401146376858,-0.0153566056164,0.0798242217008,0.999999915194,0.000282113202192,-0.00029801413749,3.48017241851e-05,1793254862761580800
+388,6.466666667,POSE2_TO_POSE3_RETREAT,784,759,737,718.661257095,686,650,916.661257095,799,839.661257095,657.338742905,635.661257095,657,0.401105715709,-0.0153591213538,0.0798255388579,0.999999916351,0.000277637214203,-0.000298214776651,3.58292350822e-05,1793254862778247424
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.760786091,759,737,718.760786091,686,650,916.760786091,799.239213909,840,657,635.760786091,657.239213909,0.401070811252,-0.0153600436212,0.0798257455874,0.999999916596,0.000276225632051,-0.000298627620985,3.6452730884e-05,1793254862794914048
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.182988389,759,737,718.182988389,686,650,916.182988389,799.817011611,840,657,635.182988389,657.817011611,0.401044054829,-0.015358710488,0.0798243806155,0.999999915568,0.000279151415651,-0.000299340820895,3.65043829393e-05,1793254862811580416
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,800,840,657,635.392147895,658,0.401024347828,-0.0153573292998,0.0798233632665,0.999999914785,0.000281241820713,-0.000299984624405,3.66474226979e-05,1793254862828246784
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,800,840,657,635.966050635,658,0.40100790813,-0.0153559258388,0.0798225070355,0.999999914114,0.000282945039893,-0.000300596263673,3.68328193262e-05,1793254862844913664
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799.443447414,840,657,635.443447414,657.443447414,0.400998719988,-0.0153575690095,0.0798215775431,0.999999914712,0.000280713275668,-0.000300732600018,3.65516399188e-05,1793254862861580544
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799,839.855258546,657,635,657,0.400990996458,-0.0153585617079,0.079821390123,0.999999915226,0.000279302547943,-0.000300356027315,3.63944491265e-05,1793254862878247168
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799,839.277120844,657,635,657,0.400986293176,-0.0153570331393,0.0798234384673,0.99999991526,0.000281091049061,-0.000298533144465,3.66963543984e-05,1793254862894913792
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,686.299989159,650,916,799.299989159,839.299989159,657.299989159,635.299989159,657,0.400983274277,-0.0153569294719,0.0798248264843,0.999999915891,0.000280392649796,-0.000297084704091,3.65772677123e-05,1793254862911580928
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686.876153111,650,916,799.876153111,839.876153111,657.876153111,635.876153111,657,0.400981806047,-0.0153581375912,0.0798256065937,0.99999991707,0.000277404770668,-0.000295980981208,3.60706091649e-05,1793254862928247552
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.450329831,759,737,718,686.549670169,650,916,800,839.549670169,657.549670169,635.549670169,657,0.400981505329,-0.015359481317,0.0798260749393,0.999999917963,0.000275749278596,-0.000294503791819,3.60976347824e-05,1793254862944913920
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.975366129,759,737,718,686,650,916.024633871,799.975366129,839,657,635,657,0.400981440396,-0.0153607690347,0.0798264523752,0.999999918701,0.000274634803209,-0.000293014569985,3.62722932156e-05,1793254862961580288
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.385659283,759,737,718,686,650,916.614340717,799.385659283,839,657,635,657,0.400979451211,-0.015359920273,0.07982670257,0.999999917715,0.000277562195229,-0.000293594998583,3.64815246521e-05,1793254862978246912
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916.799281056,799,839,657,635,657,0.400978616416,-0.0153594431567,0.0798272829397,0.9999999173,0.00027951442657,-0.000293142927436,3.65999385359e-05,1793254862994913792
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916.21919411,799,839,657,635,657,0.400979963471,-0.0153596684671,0.0798284873552,0.999999917973,0.00027962355936,-0.000290739384416,3.65467030704e-05,1793254863011580160
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799,839,657.356956271,635,657,0.400980060688,-0.0153603646071,0.0798287883918,0.999999918606,0.000278169980381,-0.000289963592547,3.64843237922e-05,1793254863028247040
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799,839,657.930715694,635,657,0.400979398795,-0.0153613467131,0.0798285407465,0.999999919212,0.00027576726318,-0.000290176441701,3.64163908733e-05,1793254863044913920
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783.517011848,759.517011848,737,718,686,650,916,799.517011848,839.517011848,658,635,657,0.400981371506,-0.0153606512463,0.0798298762449,0.999999919591,0.000277171726651,-0.000287496040542,3.66164213512e-05,1793254863061580544
+406,6.766666667,POSE2_TO_POSE3_RETREAT,784,760,737,718,686,650,916,800,839.895951967,657.895951967,635,657,0.40098294709,-0.0153599756031,0.0798309912766,0.99999991985,0.000278411420386,-0.000285371099784,3.67358229843e-05,1793254863078246912
+407,6.783333333,POSE2_TO_POSE3_RETREAT,784,760,737,718,686,650,916,800,839.313430654,657.313430654,635,657,0.400981032528,-0.015360450619,0.0798300926136,0.999999919753,0.00027648891962,-0.000287627768882,3.63152096412e-05,1793254863094913280
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783.732417489,759.732417489,737,718,686,650,916.267582511,800,839,657.267582511,635,657.267582511,0.400980226519,-0.0153598907565,0.0798298544967,0.999999919424,0.000276891273659,-0.000288436345393,3.58886938528e-05,1793254863111579904
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783.153160906,759.153160906,737,718,686,650,916.846839094,800,839,657.846839094,635,657.846839094,0.400980711727,-0.0153581254911,0.0798303857689,0.999999918826,0.000280001565886,-0.000287558216617,3.54553029744e-05,1793254863128246784
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783.419480751,759,737,718,686,650,917,799.580519249,839.419480751,657.580519249,635.419480751,658,0.400981607351,-0.0153583320196,0.0798311419943,0.999999919377,0.000279528305544,-0.000286072466231,3.56799040094e-05,1793254863144913408
+411,6.850000000,POSE2_TO_POSE3_RETREAT,783.989744625,759,737,718,686,650,917,799.010255375,839.989744625,657.010255375,635.989744625,658,0.4009826505,-0.0153592473131,0.0798319790795,0.999999920337,0.000277766930486,-0.000284368305196,3.61410214677e-05,1793254863161580032
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..924ee2f0080686c31607d0cd3c37f96ede86c4ae
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,418 @@
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+349,5.816666667,pose2_to_pose3_retreat,0.587653130535,-0.00981831119634,1.0700205377,0.558224279632,-0.00114406896561,1.06969223784
+350,5.833333333,pose2_to_pose3_retreat,0.587012001849,-0.00981830688186,1.07002066583,0.557583150796,-0.00114406535337,1.06969236079
+351,5.850000000,pose2_to_pose3_retreat,0.586390105643,-0.00981825872446,1.07002072228,0.556961253357,-0.00114402138314,1.06969241718
+352,5.866666667,pose2_to_pose3_retreat,0.585789112397,-0.00981818585728,1.07002053488,0.556360258863,-0.00114395252914,1.06969223565
+353,5.883333333,pose2_to_pose3_retreat,0.585203563998,-0.00981824137284,1.07002049974,0.555774713103,-0.00114399869211,1.06969221094
+354,5.900000000,pose2_to_pose3_retreat,0.584632276191,-0.00981823140437,1.07002041362,0.555203423726,-0.00114399420511,1.06969212075
+355,5.916666667,pose2_to_pose3_retreat,0.584079087488,-0.00981819114652,1.07002039437,0.554650235053,-0.00114395389596,1.06969210013
+356,5.933333333,pose2_to_pose3_retreat,0.583541456486,-0.0098181701492,1.07002052202,0.55411260435,-0.0011439319679,1.06969222558
+357,5.950000000,pose2_to_pose3_retreat,0.583020938797,-0.00981818013907,1.0700206609,0.553592086835,-0.00114394151863,1.06969236047
+358,5.966666667,pose2_to_pose3_retreat,0.582523663494,-0.00981822157571,1.07002065249,0.553094811685,-0.0011439825417,1.06969234926
+359,5.983333333,pose2_to_pose3_retreat,0.582050298377,-0.00981831863214,1.07002053513,0.552621446427,-0.00114407987657,1.06969223724
+360,6.000000000,pose2_to_pose3_retreat,0.581592331041,-0.0098182500738,1.07002062378,0.552163478724,-0.00114401248755,1.06969232785
+361,6.016666667,pose2_to_pose3_retreat,0.581146991103,-0.00981818208178,1.07002063624,0.551718137819,-0.00114394768571,1.06969234268
+362,6.033333333,pose2_to_pose3_retreat,0.580714404745,-0.00981826105191,1.07002051677,0.551285552299,-0.00114402384841,1.06969222231
+363,6.050000000,pose2_to_pose3_retreat,0.580298399203,-0.00981827884648,1.07002045882,0.550869547371,-0.00114403969813,1.06969216068
+364,6.066666667,pose2_to_pose3_retreat,0.579903756028,-0.00981814266572,1.07002056414,0.550474903257,-0.00114390672348,1.06969226546
+365,6.083333333,pose2_to_pose3_retreat,0.579536603728,-0.00981816755135,1.07002060853,0.550107751514,-0.00114392936751,1.06969231917
+366,6.100000000,pose2_to_pose3_retreat,0.579196245561,-0.00981820409068,1.07002047612,0.549767394606,-0.0011439613528,1.06969219465
+367,6.116666667,pose2_to_pose3_retreat,0.578880032387,-0.00981817068178,1.07002051686,0.549451179763,-0.00114393408911,1.06969222267
+368,6.133333333,pose2_to_pose3_retreat,0.578581512073,-0.00981819502885,1.07002053432,0.549152659301,-0.00114395912163,1.06969223536
+369,6.150000000,pose2_to_pose3_retreat,0.578296228862,-0.00981821990703,1.0700205275,0.548867376614,-0.00114398214495,1.06969223062
+370,6.166666667,pose2_to_pose3_retreat,0.578024190101,-0.00981820684581,1.07002057787,0.548595338044,-0.00114396843262,1.06969228117
+371,6.183333333,pose2_to_pose3_retreat,0.577766762407,-0.00981826336447,1.07002080684,0.548337911717,-0.00114402066601,1.06969250082
+372,6.200000000,pose2_to_pose3_retreat,0.577527416993,-0.00981828296631,1.07002045829,0.548098564989,-0.00114404439304,1.06969216092
+373,6.216666667,pose2_to_pose3_retreat,0.577307114372,-0.00981826079066,1.07002036514,0.547878260968,-0.00114402656653,1.06969207846
+374,6.233333333,pose2_to_pose3_retreat,0.577107760609,-0.00981833099382,1.07002044033,0.547678909409,-0.00114408934673,1.06969215212
+375,6.250000000,pose2_to_pose3_retreat,0.576926542798,-0.00981832806897,1.07002064059,0.54749769251,-0.00114408376187,1.06969234087
+376,6.266666667,pose2_to_pose3_retreat,0.57676310258,-0.00981820938851,1.07002075771,0.547334250188,-0.00114397247773,1.06969245129
+377,6.283333333,pose2_to_pose3_retreat,0.576614391541,-0.00981810750048,1.07002050988,0.547185537051,-0.00114387710155,1.06969221947
+378,6.300000000,pose2_to_pose3_retreat,0.576480376355,-0.00981822705165,1.07002084595,0.547051524473,-0.00114398814995,1.06969254641
+379,6.316666667,pose2_to_pose3_retreat,0.576361178211,-0.00981821989615,1.07002074857,0.546932327547,-0.00114397692633,1.06969244737
+380,6.333333333,pose2_to_pose3_retreat,0.576255249689,-0.00981812490814,1.07002072373,0.546826397328,-0.00114388764947,1.06969242372
+381,6.350000000,pose2_to_pose3_retreat,0.576161855853,-0.0098180304003,1.07002074832,0.546733000952,-0.00114380170718,1.06969244963
+382,6.366666667,pose2_to_pose3_retreat,0.576078497956,-0.00981802386071,1.07002064455,0.546649642438,-0.00114379725416,1.06969234626
+383,6.383333333,pose2_to_pose3_retreat,0.576005055695,-0.00981811724473,1.07002040629,0.546576201416,-0.00114388618319,1.06969211577
+384,6.400000000,pose2_to_pose3_retreat,0.575940250514,-0.00981817113052,1.07002056473,0.546511397691,-0.00114393528245,1.0696922698
+385,6.416666667,pose2_to_pose3_retreat,0.575884017135,-0.0098182214172,1.0700205193,0.546455164615,-0.00114398453739,1.06969222405
+386,6.433333333,pose2_to_pose3_retreat,0.575836426408,-0.00981824814724,1.07002048507,0.546407573725,-0.00114401178772,1.06969219069
+387,6.450000000,pose2_to_pose3_retreat,0.575796629784,-0.00981823762044,1.0700206064,0.54636777757,-0.00114399974917,1.06969230987
+388,6.466666667,pose2_to_pose3_retreat,0.575764453188,-0.00981822016068,1.07002040324,0.546335602532,-0.00114397698361,1.06969210727
+389,6.483333333,pose2_to_pose3_retreat,0.575738389493,-0.0098182380307,1.07002048998,0.546309536457,-0.00114400290568,1.06969219454
+390,6.500000000,pose2_to_pose3_retreat,0.575717860009,-0.00981822997698,1.07002051018,0.546289006906,-0.00114399502555,1.06969221616
+391,6.516666667,pose2_to_pose3_retreat,0.575702187265,-0.00981824194648,1.07002052661,0.546273334793,-0.00114400497936,1.06969222935
+392,6.533333333,pose2_to_pose3_retreat,0.575690644031,-0.00981827666654,1.07002053999,0.54626179221,-0.00114403759729,1.06969223991
+393,6.550000000,pose2_to_pose3_retreat,0.575682364396,-0.00981831714013,1.0700205174,0.546253513259,-0.00114407550749,1.06969222385
+394,6.566666667,pose2_to_pose3_retreat,0.575676797175,-0.00981829395315,1.07002053205,0.546247944088,-0.00114405906199,1.06969223529
+395,6.583333333,pose2_to_pose3_retreat,0.575673345711,-0.00981824748726,1.07002056035,0.546244491779,-0.00114401541385,1.0696922648
+396,6.600000000,pose2_to_pose3_retreat,0.575671144243,-0.00981818231486,1.07002059971,0.546242290517,-0.00114394932039,1.06969230991
+397,6.616666667,pose2_to_pose3_retreat,0.575669944878,-0.00981816309164,1.07002060156,0.546241091436,-0.00114392905222,1.06969231386
+398,6.633333333,pose2_to_pose3_retreat,0.575669135173,-0.00981818594627,1.07002055968,0.546240282301,-0.00114395000613,1.06969227114
+399,6.650000000,pose2_to_pose3_retreat,0.575668583943,-0.0098182015052,1.07002053116,0.546239731459,-0.0011439642711,1.06969224205
+400,6.666666667,pose2_to_pose3_retreat,0.575668365885,-0.00981820766007,1.07002051988,0.546239513554,-0.0011439699141,1.06969223055
+401,6.683333333,pose2_to_pose3_retreat,0.575668194921,-0.00981821248569,1.07002051104,0.54623934271,-0.0011439743384,1.06969222153
+402,6.700000000,pose2_to_pose3_retreat,0.575667955317,-0.009818219012,1.07002049887,0.546239103265,-0.00114398033566,1.0696922091
+403,6.716666667,pose2_to_pose3_retreat,0.575667805103,-0.00981821416702,1.07002049986,0.546238952782,-0.00114397641986,1.06969220972
+404,6.733333333,pose2_to_pose3_retreat,0.57566746634,-0.00981820324056,1.0700205021,0.54623861341,-0.0011439675889,1.06969221111
+405,6.750000000,pose2_to_pose3_retreat,0.575667382714,-0.00981820054328,1.07002050265,0.546238529634,-0.00114396540892,1.06969221146
+406,6.766666667,pose2_to_pose3_retreat,0.575667369742,-0.00981820012488,1.07002050274,0.546238516639,-0.00114396507076,1.06969221151
+407,6.783333333,pose2_to_pose3_retreat,0.575667267038,-0.0098181968123,1.07002050342,0.546238413751,-0.00114396239348,1.06969221193
+408,6.800000000,pose2_to_pose3_retreat,0.57566724859,-0.00981819621726,1.07002050354,0.546238395269,-0.00114396191255,1.06969221201
+409,6.816666667,pose2_to_pose3_retreat,0.575667225389,-0.00981819546895,1.07002050369,0.546238372027,-0.00114396130775,1.06969221211
+410,6.833333333,pose2_to_pose3_retreat,0.575667130798,-0.00981820298689,1.07002048214,0.546238277634,-0.00114396811034,1.06969219168
+411,6.850000000,pose2_to_pose3_retreat,0.575667003477,-0.00981822309903,1.07002043215,0.546238150928,-0.00114398602999,1.0696921445
+412,6.866666667,pose2_to_pose3_retreat,0.575666957869,-0.00981823030339,1.07002041424,0.546238105541,-0.00114399244899,1.0696921276
+413,6.883333333,pose2_to_pose3_retreat,0.575666908563,-0.00981823809202,1.07002039488,0.546238056473,-0.00114399938856,1.06969210932
+414,6.900000000,pose2_to_pose3_retreat,0.575666790354,-0.00981825242444,1.07002034981,0.546237938478,-0.0011440129001,1.0696920668
+415,6.916666667,pose2_to_pose3_retreat,0.575666771509,-0.00981823975767,1.07002034723,0.546237918435,-0.00114400428686,1.06969206442
+416,6.933333333,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914777,-0.00114400271446,1.06969206398
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc032da85127bab71481c5637bc6486a9b8b23fe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12fe3cc988df289fd016cf44fb2751b4334d0078687ce24625a9c3175caa50e0
+size 26423584
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9dcddcbbe565a96e124b0f38f1388d912ffcba8e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,784,759.578237371,737,718,686,650,916,799.421762629,839.421762629,657,635,657,0.400980462329,-0.015360566342,0.0798324151854,0.999999921139,0.000275084231568,-0.000284266887887,3.52527266454e-05,1793254863407734528
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+20,0.333333333,BASELINE,783,759,737,718,686,650,916.600725492,799.600725492,839,657,636,657,0.400979495176,-0.0153628262369,0.0798334036844,0.999999921723,0.00027475773314,-0.000282426147137,3.60307849245e-05,1793254863724401408
+21,0.350000000,BASELINE,783.178651723,759,737,718.178651723,686,650.178651723,917,800,839.178651723,657,635.821348277,657.178651723,0.400979729955,-0.0153633513522,0.0798336724759,0.999999922336,0.000273016886536,-0.000281926275025,3.61555689549e-05,1793254863741067776
+22,0.366666667,BASELINE,783.750284382,759,737,718.750284382,686,650.750284382,917,800,839.750284382,657,635.249715618,657.750284382,0.400979905136,-0.0153632048136,0.07983338082,0.99999992264,0.000271667375562,-0.00028221046577,3.56827399381e-05,1793254863757734656
+23,0.383333333,BASELINE,784,759,737,718.675456884,686,650.675456884,917,800,840,657.324543116,635,657.675456884,0.400980720289,-0.0153626223272,0.0798336597986,0.999999922643,0.000272467188273,-0.000281446957244,3.55312350736e-05,1793254863774401536
+24,0.400000000,BASELINE,784,759,737,718.099161005,686,650.099161005,917,800,840,657.900838995,635,657.099161005,0.400982031877,-0.0153617016698,0.0798343814264,0.999999922407,0.000274934262144,-0.000279870733352,3.5628985926e-05,1793254863791068672
+25,0.416666667,BASELINE,783.509453113,759,737,718,686,650,916.509453113,800,839.509453113,657.509453113,635.490546887,657,0.400981618074,-0.0153615694244,0.0798344912812,0.999999922352,0.000274628667795,-0.000280389393455,3.54454408594e-05,1793254863807735296
+26,0.433333333,BASELINE,783,759.081056085,737,718,686.081056085,650,916,800,839.081056085,657,636,657.081056085,0.400981057944,-0.0153615696201,0.07983452444,0.99999992238,0.000273862715736,-0.000281062761631,3.52437146497e-05,1793254863824401408
+27,0.450000000,BASELINE,783,759.659381319,737,718,686.659381319,650,916,800,839.659381319,657,636,657.659381319,0.400981799963,-0.0153613771104,0.0798348670798,0.999999922688,0.000273807640252,-0.000280014296052,3.52890978052e-05,1793254863841067776
+28,0.466666667,BASELINE,783.235375587,759.764624413,737,718,686.764624413,650,916.235375587,799.764624413,839.764624413,657,636,658,0.400982188345,-0.0153619128738,0.0798350750983,0.999999923091,0.00027289021406,-0.000279460321488,3.53615930747e-05,1793254863857734656
+29,0.483333333,BASELINE,783.808029694,759.191970306,737,718,686.191970306,650,916.808029694,799.191970306,839.191970306,657,636,658,0.400982069986,-0.015363492207,0.0798350902127,0.999999923629,0.000270737093156,-0.000279614921734,3.54729383078e-05,1793254863874401280
+30,0.500000000,BASELINE,783.607452215,759.392547785,737,718,686,650,916.607452215,799.392547785,839.392547785,657,635.607452215,657.607452215,0.400983081375,-0.0153641665915,0.0798357754953,0.999999923791,0.000271287177333,-0.000278470175976,3.57067247542e-05,1793254863891067904
+31,0.516666667,BASELINE,783.0169514,759.9830486,737,718,686,650,916.0169514,799.9830486,839.9830486,657,635.0169514,657.0169514,0.400984662471,-0.0153643846307,0.0798367987285,0.999999923759,0.000273200427166,-0.000276670199216,3.60022555499e-05,1793254863907734528
+32,0.533333333,BASELINE,783,759.438486154,736.438486154,718,686.561513846,650,916,799.438486154,839.438486154,657.561513846,635,657,0.400984267206,-0.0153633227823,0.0798366650407,0.999999923528,0.000273654815134,-0.00027710521761,3.56291454019e-05,1793254863924401920
+33,0.550000000,BASELINE,783.139458875,759,736.139458875,718,686.860541125,650,916,799.139458875,839,657.860541125,635.139458875,657,0.400983398471,-0.0153624507416,0.0798362579336,0.999999923203,0.000274038726966,-0.000277941126151,3.52953507791e-05,1793254863941068544
+34,0.566666667,BASELINE,783.716887176,759,736.716887176,718,686.283112824,650,916,799.716887176,839,657.283112824,635.716887176,657,0.400981226245,-0.015362293587,0.0798350995385,0.9999999226,0.000274336717699,-0.000279828578879,3.51470882486e-05,1793254863957735168
+35,0.583333333,BASELINE,783.707258451,759,737,718,686,650,916,800,839.292741549,657.292741549,635.707258451,657,0.400981291042,-0.0153621876662,0.07983496205,0.999999922511,0.000274555770968,-0.000279930522069,3.51632113849e-05,1793254863974401536
+36,0.600000000,BASELINE,783.132918028,759,737,718,686,650,916,800,839.867081972,657.867081972,635.132918028,657,0.400983507712,-0.0153621310292,0.079835806609,0.999999922916,0.000274698891421,-0.00027831491812,3.53374631288e-05,1793254863991067904
+37,0.616666667,BASELINE,783.45565127,759,737,718,686,650,916,800,839.54434873,658,635,657,0.400983447412,-0.0153630246614,0.0798357201414,0.999999923263,0.000273415605579,-0.000278344102317,3.52553527555e-05,1793254864007734528
+38,0.633333333,BASELINE,783.952708138,759.047291862,737,718,686,650.047291862,916,800,839,657.952708138,635,657,0.40098269371,-0.0153640278396,0.0798353112376,0.999999923512,0.000271940112476,-0.000278912436837,3.50979349379e-05,1793254864024401152
+39,0.650000000,BASELINE,783.374682339,759.625317661,737,718,686,650.625317661,916,800,839,657.374682339,635,657,0.400981852753,-0.0153630492068,0.0798344299558,0.999999922897,0.00027312774757,-0.000279973251993,3.49616885758e-05,1793254864041067520
+40,0.666666667,BASELINE,783,759.797751847,737,718,686.202248153,650.797751847,916,800,839.202248153,657,635.202248153,657.202248153,0.400981673367,-0.0153626062887,0.0798341016174,0.999999922699,0.00027354208033,-0.000280271672148,3.49990095026e-05,1793254864057734400
+41,0.683333333,BASELINE,783,759.222839613,737,718,686.777160387,650.222839613,916,800,839.777160387,657,635.777160387,657.777160387,0.400982712999,-0.0153631504827,0.079834792137,0.999999923272,0.000272531519891,-0.000279165297052,3.53561469266e-05,1793254864074401536
+42,0.700000000,BASELINE,783.35919895,759,737,718.35919895,686.64080105,650,916,800,840,657,636,657.64080105,0.400982723459,-0.0153632978929,0.0798353294021,0.999999923334,0.00027303368782,-0.000278429115921,3.55310150614e-05,1793254864091068160
+43,0.716666667,BASELINE,783.945748003,759,737,718.945748003,686.054251997,650,916,800,840,657,636,657.054251997,0.40098208252,-0.0153631941641,0.0798357696668,0.999999923072,0.000274493316693,-0.000277927244082,3.55905183076e-05,1793254864107734784
+44,0.733333333,BASELINE,783.471609472,759.528390528,737,718.471609472,686,650,916,800,840,657.528390528,635.471609472,657.528390528,0.400981541667,-0.0153627547696,0.0798354500034,0.999999923053,0.000273504420127,-0.000278968942161,3.558276582e-05,1793254864124401152
+45,0.750000000,BASELINE,783,759.890336608,737,718,686,650,916,800,839.890336608,657.890336608,635.109663392,657.890336608,0.400981087135,-0.0153622713243,0.0798351067354,0.999999922926,0.000272918669611,-0.000280005046573,3.55025017153e-05,1793254864141068032
+46,0.766666667,BASELINE,783,759.313205195,737,718,686,650,916,800,839.313205195,657.313205195,635.686794805,657.313205195,0.400980957092,-0.0153617459359,0.079834993006,0.999999922241,0.000275115223231,-0.000280346683608,3.5142358526e-05,1793254864157734656
+47,0.783333333,BASELINE,783,759,737,718,686,650,916,800,839,657.262540174,635.737459826,657,0.400981427747,-0.0153618797091,0.0798353994228,0.999999922267,0.000276095870206,-0.000279287715814,3.51559239658e-05,1793254864174401536
+48,0.800000000,BASELINE,783,759,737,718,686,650,916,800,839,657.836640779,635.163359221,657,0.400982611262,-0.0153627957194,0.0798364231049,0.999999923134,0.000275633582501,-0.000276566628943,3.56129750906e-05,1793254864191068160
+49,0.816666667,BASELINE,783,759,737,718,686,650,916,800,839,657.579649384,635,657,0.400983039436,-0.0153633257113,0.0798365843888,0.999999923067,0.000275945369699,-0.000276466381511,3.58576975472e-05,1793254864207735040
+50,0.833333333,BASELINE,783.007812777,759,737,718,686,650,916,800,839,657.007812777,635.007812777,657,0.400983139236,-0.0153636999921,0.0798363855423,0.999999922638,0.000276518269329,-0.000277425744156,3.60108711607e-05,1793254864224401664
+51,0.850000000,BASELINE,783.590170931,759,737,718,686,650,916,800,839,657.590170931,635.590170931,657,0.400981182699,-0.015363913611,0.0798349262937,0.999999922819,0.000273653136652,-0.000279654043389,3.5641775956e-05,1793254864241068288
+52,0.866666667,BASELINE,784,759,737,718.169753521,686,650,916,800,839.169753521,657.830246479,636,657.169753521,0.400980423378,-0.0153637457155,0.0798342884933,0.999999922981,0.000272084974529,-0.000280637723545,3.53516309724e-05,1793254864257734656
+53,0.883333333,BASELINE,784,759,737,718.742742945,686,650,916,800,839.742742945,657.257257055,636,657.742742945,0.400982507947,-0.015362671563,0.0798356019773,0.999999923124,0.000273597662329,-0.000278664910575,3.5249025943e-05,1793254864274401280
+54,0.900000000,BASELINE,783.682436425,759,737,718.682436425,686,650,916,800,839.682436425,657,635.682436425,657.682436425,0.400982549608,-0.0153625822297,0.0798355958598,0.999999923076,0.000273701334327,-0.000278729302832,3.53027012315e-05,1793254864291067904
+55,0.916666667,BASELINE,783.106123767,759,737,718.106123767,686,650,916,800,839.106123767,657,635.106123767,657.106123767,0.400980926717,-0.0153632953219,0.0798345145381,0.999999922872,0.000272656947798,-0.000280453598984,3.54837128827e-05,1793254864307734528
+56,0.933333333,BASELINE,783,759,737,718,686,650,916,800,839.48347745,657.48347745,635,657,0.400980817481,-0.015363734002,0.0798340663703,0.999999922702,0.000272738433064,-0.00028101933536,3.51783950977e-05,1793254864324401152
+57,0.950000000,BASELINE,783,759,737,718,686,650.073859456,916,800,839.926140544,658,635,657.073859456,0.400980941584,-0.0153639756715,0.0798338876713,0.999999922534,0.000273257650498,-0.000281153670617,3.4867617329e-05,1793254864341067776
+58,0.966666667,BASELINE,783,759,737,718,686,650.649178934,916,800,839.350821066,658,635,657.649178934,0.400980330389,-0.0153633002691,0.0798345682573,0.999999922322,0.000275023519018,-0.000280134429255,3.52650182718e-05,1793254864357734656
+59,0.983333333,BASELINE,783.225146139,759,737,718,686,650.774853861,916,800,839.225146139,657.774853861,635,657.774853861,0.400980253404,-0.0153627932145,0.0798349888914,0.999999922317,0.000275646938357,-0.000279517297192,3.54137779303e-05,1793254864374401536
+60,1.000000000,BASELINE,783.802125627,759,737,718,686,650.197874373,916,800,839.802125627,657.197874373,635,657.197874373,0.400981011222,-0.0153625492352,0.0798350033016,0.999999922642,0.000274485065428,-0.000279528536671,3.51739886999e-05,1793254864391068160
+61,1.016666667,BASELINE,783.622496078,759,737.377503922,718,686,650,916,800,840,657.377503922,635.377503922,657,0.40098089756,-0.0153628548136,0.0798345926318,0.999999922687,0.000273839251414,-0.000280002204634,3.51613556332e-05,1793254864407734784
+62,1.033333333,BASELINE,783.047953561,759,737.952046439,718,686,650,916,800,840,657.952046439,635.952046439,657,0.400980329027,-0.0153634472345,0.0798339600909,0.999999922586,0.000273462794998,-0.000280717237659,3.5267286994e-05,1793254864424401408
+63,1.050000000,BASELINE,783,759,737.456434371,718,686,650,916,800,839.456434371,657.456434371,636,657,0.400981309297,-0.0153624307888,0.0798352546707,0.999999922755,0.000274458531496,-0.000279140324705,3.52470950941e-05,1793254864441068032
+64,1.066666667,BASELINE,783.132443448,759.132443448,737,718,686,650,916.132443448,800,839.132443448,657.132443448,635.867556552,657.132443448,0.400982343035,-0.0153617123666,0.0798364710684,0.999999923055,0.000274958154344,-0.000277571185258,3.52544670608e-05,1793254864457734656
+65,1.083333333,BASELINE,783.707332837,759.707332837,737,718,686,650,916.707332837,800,839.707332837,657.707332837,635.292667163,657.707332837,0.400983084229,-0.0153624789729,0.0798368400306,0.999999923716,0.000273382999856,-0.000276725255881,3.53922884288e-05,1793254864474401024
+66,1.100000000,BASELINE,784,759.717792077,737,718.282207923,686,650.282207923,916.717792077,800,839.717792077,657.717792077,635.282207923,657.717792077,0.400983258567,-0.0153632966771,0.0798368073213,0.999999923943,0.000272572213517,-0.000276691175493,3.55120324278e-05,1793254864491067648
+67,1.116666667,BASELINE,784,759.142931862,737,718.857068138,686,650.857068138,916.142931862,800,839.142931862,657.142931862,635.857068138,657.142931862,0.400982845073,-0.0153641673701,0.0798363580749,0.99999992372,0.000272554084302,-0.000277498990261,3.56130300151e-05,1793254864507734784
+68,1.133333333,BASELINE,783.556758585,759.443241415,737,718.556758585,686,651,916,800,839,657,635.556758585,657,0.400982747523,-0.0153643100401,0.0798362476389,0.999999923573,0.000272916812591,-0.000277688403047,3.54844179545e-05,1793254864524401664
+69,1.150000000,BASELINE,783,759.967432214,737,718.032567786,686,650.967432214,916,800,839.032567786,657,635,657,0.400982684818,-0.015364151519,0.0798361739132,0.999999923417,0.000273428419162,-0.00027777411395,3.52765213608e-05,1793254864541068032
+70,1.166666667,BASELINE,783,759.388022886,737,718.611977114,686,650.388022886,916,800,839.611977114,657,635,657,0.400981451699,-0.0153629808955,0.079834834033,0.999999922685,0.000274323638857,-0.000279554645531,3.50131630727e-05,1793254864557734656
+71,1.183333333,BASELINE,783,759,737,718.809812916,686,650,916,800,840,657,635,657,0.400980351749,-0.0153617947246,0.0798338289713,0.999999921981,0.000275338412219,-0.00028109444147,3.48191925813e-05,1793254864574401280
+72,1.200000000,BASELINE,783,759,737,718.234034455,686,650,916,800,840,657,635,657,0.400979521791,-0.0153605770325,0.079833502731,0.99999992134,0.000276595572678,-0.000282146162588,3.47659010806e-05,1793254864591067904
+73,1.216666667,BASELINE,783.34776457,759,737,718,686,650,916.34776457,800,840,657,635.34776457,657.34776457,0.400980526595,-0.0153606454925,0.079834542071,0.999999921752,0.000277109923453,-0.000280154547059,3.49176457897e-05,1793254864607734528
+74,1.233333333,BASELINE,783.933686586,759,737,718,686,650,916.933686586,800,840,657,635.933686586,657.933686586,0.400982787887,-0.0153615947402,0.079836516593,0.999999922874,0.000277115580418,-0.000276078782165,3.52098041735e-05,1793254864624401152
+75,1.250000000,BASELINE,784,759,737,718,686,650,916.483590773,800,840,657,635.483590773,657.483590773,0.400982834441,-0.0153625692718,0.0798361299873,0.999999923323,0.000274822850895,-0.000276746902522,3.51878164337e-05,1793254864641068288
+76,1.266666667,BASELINE,784,759,737,718,686,650,916.09743698,800,840,657,635,657.09743698,0.400982688743,-0.0153636460191,0.079835644906,0.999999923739,0.000272356238295,-0.000277682773506,3.51707522894e-05,1793254864657734912
+77,1.283333333,BASELINE,784,759,737,718,686,650,916.672162503,800,840,657,635,657.672162503,0.40098298585,-0.0153652076573,0.0798361535009,0.999999924441,0.000270474700867,-0.000276964576734,3.53741936021e-05,1793254864674401536
+78,1.300000000,BASELINE,783.756293159,759,737,718,686.243706841,650,916.756293159,800,839.756293159,657,635,658,0.400983186627,-0.0153657102992,0.0798364501491,0.999999924649,0.000270170428276,-0.000276514109828,3.53565358707e-05,1793254864691067904
+79,1.316666667,BASELINE,783.188973095,759,737,718,686.811026905,650,916.188973095,800,839.188973095,657,635,658,0.400983259492,-0.015364806722,0.0798364653576,0.999999924201,0.000271960572871,-0.000276419155881,3.50452853206e-05,1793254864707734272
+80,1.333333333,BASELINE,783,759.400782343,737,718,687,650,916.400782343,800,839.400782343,657,635.400782343,657.599217657,0.400982940859,-0.0153650124133,0.0798362975934,0.999999924325,0.000271441681025,-0.000276474904313,3.50861636969e-05,1793254864724400896
+81,1.350000000,BASELINE,783,759.998319931,737,718,687,650.001680069,916.998319931,800,839.998319931,657,635.998319931,657,0.400982424738,-0.015365768832,0.0798360367985,0.99999992473,0.000269776535257,-0.000276611072069,3.5301885265e-05,1793254864741067776
+82,1.366666667,BASELINE,783,759.419269207,737,718,687,650.580730793,916.419269207,800,839.419269207,657,635.419269207,657,0.400981239405,-0.0153653844974,0.0798352120159,0.999999924003,0.000270531258684,-0.000278516375357,3.51619927182e-05,1793254864757734400
+83,1.383333333,BASELINE,783,759,737,718,686.842004727,650.842004727,916,800,839,657,635,657,0.400980404359,-0.0153653894176,0.079834781437,0.999999923604,0.000270669942658,-0.000279813278466,3.51311781689e-05,1793254864774401024
+84,1.400000000,BASELINE,783,759,737,718,686.269427253,650.269427253,916,800,839,657,635,657,0.400980488473,-0.015366415749,0.0798353852552,0.999999924078,0.000269192129115,-0.000279513729889,3.53865860539e-05,1793254864791067904
+85,1.416666667,BASELINE,783,759,737,718,686,650,916,800,839,657,635,657.309988922,0.400981293764,-0.0153652030203,0.0798360115836,0.999999923965,0.000270640641793,-0.000278524730469,3.53269325767e-05,1793254864807734784
+86,1.433333333,BASELINE,783,759,737,718,686,650,916,800,839,657,635,657.895483012,0.400982740006,-0.0153620003087,0.079836657918,0.999999923317,0.00027468995072,-0.000276922976034,3.49872657423e-05,1793254864824401408
+87,1.450000000,BASELINE,783.479958865,759,737,718,686,650,916,800,839.479958865,657.479958865,635.479958865,657.520041135,0.400983211884,-0.0153629650154,0.0798366630521,0.999999924067,0.000272576082653,-0.000276326697385,3.47990002003e-05,1793254864841068288
+88,1.466666667,BASELINE,783.936809165,759,737,718,686,650,916,800,840,657.936809165,636,657,0.400983180231,-0.0153645731102,0.0798364161285,0.999999924853,0.000269705058287,-0.00027631353801,3.4701578745e-05,1793254864857734656
+89,1.483333333,BASELINE,783.361858971,759,737,718,686,650,916,800,840,657.361858971,636,657,0.400980785387,-0.0153640577624,0.0798352562938,0.999999923524,0.000271548333372,-0.000279253366853,3.50734275092e-05,1793254864874401536
+90,1.500000000,BASELINE,783.212760059,759,737,718,686,650,916,800,840,657,635.787239941,657,0.400979723927,-0.0153640682114,0.0798348461916,0.999999923026,0.000272121064332,-0.000280454335129,3.5273204979e-05,1793254864891068160
+91,1.516666667,BASELINE,783.786816666,759,737,718,686,650,916,800,840,657,635.213183334,657,0.400980926744,-0.0153649715373,0.0798357092407,0.999999923949,0.000270536232221,-0.000278702472935,3.51807811158e-05,1793254864907734784
+92,1.533333333,BASELINE,783.636648882,759,737,718,686,650,916,800,840,657,635.363351118,657,0.400981506267,-0.0153661588543,0.0798357558375,0.999999924307,0.000269940775309,-0.000277994124586,3.51697287865e-05,1793254864924401664
+93,1.550000000,BASELINE,783.058650605,759,737,718,686,650,916,800,840,657,635.941349395,657,0.400981717584,-0.015367513937,0.0798353201209,0.999999924334,0.000269929784798,-0.000277902224652,3.52067461188e-05,1793254864941068800
+94,1.566666667,BASELINE,783,759,737,718.532430492,686.532430492,650.532430492,916,800,839.467569508,657,636,657.532430492,0.400981317892,-0.0153651342858,0.0798351010706,0.999999923477,0.000271835460672,-0.00027913337689,3.51493694695e-05,1793254864957735168
+95,1.583333333,BASELINE,783.121299395,759.121299395,737,718.878700605,686.878700605,651,916,800,839.121299395,657.121299395,635.878700605,658,0.400981012565,-0.0153631104241,0.0798349688756,0.999999922826,0.000273289749084,-0.000280049794875,3.5102082597e-05,1793254864974401536
+96,1.600000000,BASELINE,783.696365895,759.696365895,737,718.303634105,686.303634105,651,916,800,839.696365895,657.696365895,635.303634105,658,0.400981318371,-0.0153639953161,0.0798350700626,0.999999923339,0.00027224572883,-0.000279229887985,3.5132418367e-05,1793254864991067904
+97,1.616666667,BASELINE,783.728830175,759.728830175,737,718,686,650.728830175,916,800,840,657.728830175,635,658,0.400981664068,-0.0153640651117,0.0798355343916,0.99999992357,0.000272154188623,-0.000278508623657,3.50091508674e-05,1793254865007734528
+98,1.633333333,BASELINE,783.15432,759.15432,737,718,686,650.15432,916,800,840,657.15432,635,658,0.40098205439,-0.0153632231112,0.0798364049446,0.999999923484,0.00027312812703,-0.000277897704508,3.4714057206e-05,1793254865024401408
+99,1.650000000,BASELINE,783,759,737,718.431616061,686,650,916,800,840,657,635.431616061,657.568383939,0.400981723504,-0.0153625848426,0.079836416441,0.999999923326,0.000273752301919,-0.000277844782444,3.47899451547e-05,1793254865041067776
+100,1.666666667,BASELINE,783.021332548,759.021332548,737,718.978667452,686,650,916,800,839.978667452,657,635.978667452,657.021332548,0.400981169286,-0.0153621013794,0.0798361343554,0.999999923152,0.000274247155745,-0.000277956838297,3.50045573053e-05,1793254865057734656
+101,1.683333333,BASELINE,783.60018074,759.60018074,737,718.39981926,686,650,916,800,839.39981926,657,635.39981926,657.60018074,0.400981700731,-0.0153637082147,0.0798364250633,0.999999923271,0.000274719374259,-0.000277024732774,3.52838956297e-05,1793254865074401280
+102,1.700000000,BASELINE,784,760,737,718,686,650.177514702,916.177514702,800,839.177514702,657.177514702,635,658,0.40098199826,-0.015364906236,0.0798365778167,0.999999923434,0.000274596744569,-0.000276530190178,3.54840390724e-05,1793254865091067904
+103,1.716666667,BASELINE,784,760,737,718,686,650.75146691,916.75146691,800,839.75146691,657.75146691,635,658,0.400981773391,-0.0153651912669,0.079836422481,0.999999923697,0.000273145660684,-0.000277012842011,3.55073192597e-05,1793254865107734528
+104,1.733333333,BASELINE,784,759.666179577,737,718,686.333820423,650.666179577,917,800,839.666179577,658,635.333820423,658,0.400981921896,-0.0153651485304,0.0798364699823,0.999999924345,0.000270963822134,-0.000276846192708,3.52954613229e-05,1793254865124401408
+105,1.750000000,BASELINE,784,759.077409654,737,718,686.922590346,650.077409654,917,800,839.077409654,658,635.922590346,658,0.400982355559,-0.0153648554676,0.079836672397,0.99999992528,0.000268223882354,-0.000276183651088,3.49040207653e-05,1793254865141068032
+106,1.766666667,BASELINE,783.494802926,759,737,718,686.494802926,650,917,800,839.505197074,658,636,658,0.400980955863,-0.0153642360527,0.0798351005725,0.999999924379,0.00026959107654,-0.000278131230187,3.47261497841e-05,1793254865157734400
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,759,738,718,686,650,916,800,840,657,636,658,0.400982962751,-0.0153646807409,0.0798358546567,0.999999924303,0.000271176472875,-0.00027677326165,3.54146385359e-05,1793254865200871424
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,759,737.425496325,718,686,650.574503675,916.574503675,800,839.425496325,657.574503675,636,657.425496325,0.400981178475,-0.0153638446391,0.0798349523661,0.999999923282,0.000273282416883,-0.000278399988481,3.53112469825e-05,1793254865217538304
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.152897716,759.152897716,737,718,686,650.847102284,917,800,839.152897716,658,635.847102284,657,0.40098039199,-0.0153631958328,0.0798346210036,0.999999922722,0.000274613989588,-0.000279107457493,3.52525524367e-05,1793254865234205184
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.742400988,759.742400988,737,718,686,650.257599012,917,800,839.742400988,658,635.257599012,657,0.40098245474,-0.0153630818558,0.0798359199489,0.999999923494,0.000273734314482,-0.00027718994933,3.53214919649e-05,1793254865250871808
+111,1.850000000,POSE1_TO_POSE2_PRESS,784,759.673111682,737,718,686.326888318,650,916.673111682,800,839.673111682,657.673111682,635,657.326888318,0.400983610173,-0.0153638346482,0.0798369091545,0.999999924135,0.000272957248676,-0.000275607837019,3.5568193124e-05,1793254865267538432
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,759.09251738,737,718,686.90748262,650,916.09251738,800,839.09251738,657.09251738,635,657.90748262,0.400984061414,-0.0153652601614,0.0798376579634,0.999999924675,0.0002722598205,-0.000274286033707,3.5952859409e-05,1793254865284205056
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.51514652,759,737,718.48485348,686.51514652,650,916,800,839,657,635.48485348,658,0.400983135245,-0.0153655025685,0.0798369569606,0.999999924575,0.000270801017592,-0.000276159227904,3.54082272827e-05,1793254865300871680
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,759,737,719,686,650.062413513,916.062413513,800,839.062413513,657.062413513,635.937586487,657.937586487,0.400982330927,-0.0153654511882,0.0798361852162,0.9999999244,0.000269447331475,-0.000278187257755,3.47712015199e-05,1793254865317538304
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,759,737,719,686,650.646663941,916.646663941,800,839.646663941,657.646663941,635.353336059,657.353336059,0.400984728406,-0.015364818522,0.0798371197548,0.999999924684,0.000270179195901,-0.000276446234959,3.48344851653e-05,1793254865334204928
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,759,737,718.771174947,686.228825053,650.771174947,916.771174947,800,840,657.771174947,635.228825053,657.228825053,0.400992202404,-0.0153644421301,0.0798404549428,0.999999925928,0.000271308740277,-0.000270738318238,3.51520078715e-05,1793254865350871552
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,759,737,718.192210879,686.807789121,650.192210879,916.192210879,800,840,657.192210879,635.807789121,657.807789121,0.40100744429,-0.015364457879,0.0798474635091,0.99999992855,0.000273046798635,-0.000258960417971,3.58585570915e-05,1793254865367538432
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.384093776,759.384093776,737,718.384093776,686.615906224,650,916.384093776,800,840,657,636,657.615906224,0.401040078117,-0.0153662466846,0.0798595806657,0.999999934131,0.000273189484266,-0.00023614630894,3.65991135733e-05,1793254865384205056
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.959076792,759.959076792,737,718.959076792,686.040923208,650,916.959076792,800,840,657,636,657.040923208,0.401081355498,-0.0153689166748,0.0798742367209,0.999999940563,0.000272539291928,-0.000207847357144,3.73565712298e-05,1793254865400871424
+120,2.000000000,POSE1_TO_POSE2_PRESS,784,759.463543063,737,718.463543063,686,650,916.463543063,800,840,657,635.463543063,657.536456937,0.401146777674,-0.0153713816748,0.0798940015282,0.999999948026,0.000270397604181,-0.000171492910947,3.77206547685e-05,1793254865417538304
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.883572177,759,737,718,686,650,916,800,839.883572177,657,635.116427823,657.883572177,0.401216239076,-0.0153740619181,0.0799128577047,0.999999953561,0.000268494593106,-0.000139120257017,3.78594459848e-05,1793254865434204928
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.293815395,759,737,718,686,650,916,800,839.293815395,657,635.706184605,657.293815395,0.401294600097,-0.015377681076,0.0799264284352,0.999999955521,0.000268026536256,-0.000125444731644,3.72048716565e-05,1793254865450871552
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.290818799,759,737,718.290818799,686,650,916,800,839,657,635.709181201,657,0.401382511384,-0.0153814135881,0.0799368681511,0.999999957786,0.000266563543642,-0.000109895069114,3.59715365535e-05,1793254865467538176
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.870367171,759,737,718.870367171,686,650,916,800,839,657,635.129632829,657,0.401479904324,-0.0153852586399,0.0799441993447,0.999999960262,0.00026411276283,-9.24847339308e-05,3.41635984959e-05,1793254865484204800
+125,2.083333333,POSE1_TO_POSE2_PRESS,784,759.447050002,737,718.552949998,686,650,916,800.447050002,839.447050002,657.447050002,635.447050002,657.447050002,0.401589532852,-0.0153888269026,0.0799476149794,0.999999961608,0.000262069565675,-8.45878537433e-05,3.07958359584e-05,1793254865500871680
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.977124238,759.977124238,737,718,686.022875762,650,916,800.977124238,839.977124238,657.977124238,635.977124238,657.977124238,0.401703718308,-0.0153924125937,0.0799499135368,0.999999962669,0.000260025377808,-7.95038680266e-05,2.6968442141e-05,1793254865517538304
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.402056979,759.402056979,737,718,686.597943021,650,916,800.402056979,839.402056979,657.402056979,635.402056979,657.402056979,0.401842803487,-0.0153983440583,0.0799524800565,0.999999964295,0.000255122523776,-7.61533044598e-05,2.28947430521e-05,1793254865534204928
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,759.177819843,737,718,686.822180157,650,916,800,839,657.177819843,635.177819843,657,0.401991021138,-0.0154042187007,0.0799546101784,0.999999966216,0.000248935571019,-7.25733618623e-05,1.82499281916e-05,1793254865550871808
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,759.76887348,737,718,686.23112652,650,916,800,839,657.76887348,635.76887348,657,0.402160461635,-0.0154099612936,0.0799557261595,0.999999968838,0.000239764514467,-6.84603680453e-05,1.2277903539e-05,1793254865567538432
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,759.647713162,737,718,686,650.352286838,916.352286838,800,839.352286838,657.647713162,635.647713162,657.352286838,0.402341199694,-0.0154152820571,0.079954122889,0.999999970604,0.000231297491548,-7.25366959545e-05,5.58668027139e-06,1793254865584204800
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,759.069205938,737,718,686,650.930794062,916.930794062,800,839.930794062,657.069205938,635.069205938,657.930794062,0.402529192481,-0.015420331944,0.079950773456,0.99999997172,0.000223282561685,-8.18717822852e-05,-1.56637573611e-06,1793254865600871424
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.506622269,759.506622269,737,718,686,650.493377731,916.493377731,800,840,657,635,657.493377731,0.402749884994,-0.0154285964925,0.0799484913316,0.999999982396,0.000166702863873,-8.5627107483e-05,-9.24633161484e-06,1793254865617538048
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,737,718,686,650.083821192,916.083821192,800,840,657,635.083821192,657.083821192,0.402982294386,-0.0154372457327,0.0799469185699,0.999999990273,0.000107113956211,-8.76891511484e-05,-1.70811273526e-05,1793254865634204928
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,737,718,686,650.671447026,916.671447026,800,840,657,635.671447026,657.671447026,0.403258421047,-0.0154455816527,0.0799487377101,0.99999999375,6.91024221481e-05,-8.41309240011e-05,-2.54162532849e-05,1793254865650871552
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,760,737.254800899,718,686,651,916.745199101,800,840,657.254800899,636,657.745199101,0.403552622592,-0.0154539520833,0.0799511097408,0.999999995193,4.54355950026e-05,-8.0668741146e-05,-3.22853256808e-05,1793254865667537920
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,760,737.832737088,718,686,651,916.167262912,800,840,657.832737088,636,657.167262912,0.403869746459,-0.0154623662794,0.07995418294,0.999999995516,3.99605468681e-05,-7.73283607885e-05,-3.72951669859e-05,1793254865684204800
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,760,737.590302676,718,686,651,916,800,839.590302676,658,636,657.409697324,0.404216136492,-0.0154684863349,0.0799555466235,0.999999995491,5.28392970612e-05,-7.22330460772e-05,-3.17417776836e-05,1793254865700872448
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,760,737.013739951,718,686,651,916,800,839.013739951,658,636,657.986260049,0.404574446318,-0.015473672011,0.0799562140391,0.999999994876,7.31933559911e-05,-6.64229651483e-05,-2.18860957452e-05,1793254865717540352
+139,2.316666667,POSE1_TO_POSE2_PRESS,783.44649356,759.44649356,737.55350644,718,686.55350644,651,916,800,839.55350644,657.44649356,636,658,0.404964187299,-0.0154786039207,0.0799539686487,0.999999995414,6.33601462315e-05,-6.69053242066e-05,-2.60843103645e-05,1793254865734205952
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.127452195,759,737.872547805,718,686.872547805,650.872547805,916,800,840,657,636,657.872547805,0.405367028919,-0.0154807101043,0.0799509218317,0.99999999554,5.60308272363e-05,-6.97421802013e-05,-3.02683465768e-05,1793254865750871808
+141,2.350000000,POSE1_TO_POSE2_PRESS,783.727058563,759,737.272941437,718,686.272941437,650.272941437,916,800,840,657,636,657.272941437,0.405815559981,-0.0154723711684,0.0799451695107,0.99999999435,6.07073920555e-05,-8.07323343468e-05,-3.31288534274e-05,1793254865767538432
+142,2.366666667,POSE1_TO_POSE2_PRESS,783.685146216,759.314853784,737,717.685146216,686,650.314853784,916.314853784,800,839.685146216,657,636,657,0.406276608098,-0.0154676484875,0.0799388984994,0.999999993014,6.48047264355e-05,-9.23386441963e-05,-3.52883516088e-05,1793254865784205056
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.107219612,759.892780388,737,717.107219612,686,650.892780388,916.892780388,800,839.107219612,657,636,657,0.40674811476,-0.0154659473303,0.0799321941012,0.999999991524,6.84180913285e-05,-0.000104459777775,-3.68621295645e-05,1793254865800872192
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.468196883,760,737,717,686,650.531803117,916.531803117,800,839.468196883,657,636,657,0.407249391912,-0.0154722085788,0.0799293213208,0.999999991109,6.21171480967e-05,-0.000112082298034,-3.68840383945e-05,1793254865817539584
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,759.956032249,737,717,686,650.043967751,916,800,840,657,635.956032249,657,0.407759696436,-0.0154799374816,0.0799267670723,0.999999990742,5.3437449193e-05,-0.000119599840202,-3.68255188703e-05,1793254865834206720
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,759.368817964,737,717,686,650.631182036,916,800,840,657,635.368817964,657,0.408297753517,-0.0154833906735,0.079917364748,0.99999998867,4.32697251441e-05,-0.000138481234834,-4.01408463102e-05,1793254865850872832
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759,737,716.784075566,686,651,916,800.215924434,840,657,635.215924434,657,0.408885492498,-0.015485627741,0.0799223211631,0.999999989695,3.63007275511e-05,-0.000132331313674,-4.21918061888e-05,1793254865867538944
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759,737,716.203507618,686,651,916,800.796492382,840,657,635.796492382,657,0.409557132015,-0.0154858110719,0.0799515259746,0.99999999499,3.47335965423e-05,-8.3909625978e-05,-4.21075585051e-05,1793254865884205568
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759.375067334,737.375067334,716.375067334,686,650.624932666,916,800.624932666,840,657,635.624932666,657,0.410236977007,-0.0154861887756,0.0799804522627,0.999999997847,3.58737645007e-05,-3.71480126418e-05,-4.04753722269e-05,1793254865900872192
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,759.952566602,737.952566602,716.952566602,686,650.047433398,916,800.047433398,840,657,635.047433398,657,0.41092125065,-0.0154866713864,0.0800092282247,0.9999999985,3.84751201601e-05,8.71762118058e-06,-3.80077300484e-05,1793254865917538816
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,760,737.471691728,717,686,650.528308272,916.528308272,800,840,657,635.528308272,657,0.411578631478,-0.015488460884,0.0799888840099,0.999999998243,3.14430135423e-05,-2.81674651303e-05,-4.16206299164e-05,1793254865934205184
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840,657,636,657.106252027,0.41223927203,-0.0154900872339,0.0799625355339,0.999999996051,2.46579711021e-05,-7.21562489724e-05,-4.56433264296e-05,1793254865950872064
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,760,737,717,686,651,917,800,840,657,636,657.694907556,0.412925638191,-0.0154904418992,0.0799288832747,0.999999991947,2.29085501876e-05,-0.000114776965555,-4.90561581533e-05,1793254865967539200
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.279123221,760,737,717,686,651,917,800,840,657,636,657.720876779,0.413670357033,-0.0154949226483,0.0799180025161,0.999999991047,1.7220393733e-05,-0.000122751565892,-5.04065751643e-05,1793254865984205824
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.858561999,760,737,717,686,651,917,800,840,657,636,657.141438001,0.41447785905,-0.015503842753,0.0799316221724,0.99999999438,7.29445438595e-06,-9.34495608073e-05,-4.95379897915e-05,1793254866000872192
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,760,737,716.564602259,686,650.564602259,917,800,840,657.435397741,636,657,0.415280618591,-0.0155187782035,0.0799505106835,0.99999999665,-1.50674478014e-05,-6.56822378468e-05,-4.64605954807e-05,1793254866017538560
+157,2.616666667,POSE1_TO_POSE2_PRESS,784.988624879,759.988624879,737,716,686,650.011375121,916.988624879,800,840,657.988624879,636,657,0.416081848311,-0.0155354258257,0.0799703717349,0.999999997468,-4.09116109675e-05,-3.9489731464e-05,-4.27801357412e-05,1793254866034205184
+158,2.633333333,POSE1_TO_POSE2_PRESS,784.413527781,759.413527781,737,716,686,650.586472219,916.413527781,800,840,657.413527781,636,657,0.416883160056,-0.0155406610495,0.0799541122207,0.999999995965,-4.03156781305e-05,-6.67815878641e-05,-4.45607516695e-05,1793254866050872064
+159,2.650000000,POSE1_TO_POSE2_PRESS,784.165928442,759.165928442,737.165928442,716.165928442,686,651,916,800,840,657,636,657,0.417713784658,-0.0155439789237,0.0799515954467,0.999999995979,-3.92306213226e-05,-6.66319129306e-05,-4.5416852388e-05,1793254866067538944
+160,2.666666667,POSE1_TO_POSE2_PRESS,784.756541569,759.756541569,737.756541569,716.756541569,686,651,916,800,840,657,636,657,0.418619433849,-0.0155423894466,0.0799842524585,0.999999998348,-3.6893678687e-05,3.75284837072e-06,-4.39067072855e-05,1793254866084205568
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,760,737.660377067,717,686,651,916.339622933,800.339622933,840.339622933,657,636,657,0.419516958836,-0.0155388452301,0.0799922633282,0.99999999809,-3.65540327566e-05,2.23729433291e-05,-4.45236869248e-05,1793254866100872192
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,760,737.082577728,717,686,651,916.917422272,800.917422272,840.917422272,657,636,657,0.420408786311,-0.0155339301615,0.0799829899412,0.999999998194,-3.76150843774e-05,4.69065127823e-06,-4.66324120557e-05,1793254866117538816
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760,737,717,686,651,917,801,841,657,636,657.493441701,0.421307216199,-0.0155353488195,0.0799778805072,0.999999998269,-3.48174382032e-05,-5.55269879131e-06,-4.71149755653e-05,1793254866134205440
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,760,737.070711127,716.929288873,686,651,917,801,840.929288873,657,636,658,0.422209816465,-0.015537756755,0.0799772772613,0.999999998399,-3.05401173216e-05,-8.7834301032e-06,-4.68154364795e-05,1793254866150871808
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,760,737.659308947,716.340691053,686,651,917,801,840.340691053,657,636,658,0.423134896708,-0.0155396749685,0.0800045919425,0.999999998425,-2.01381912784e-05,3.02611758697e-05,-4.2773771764e-05,1793254866167538432
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,760,738,716.243809118,686.243809118,651,917,801,840.243809118,657,636,657.756190882,0.42404419492,-0.0155404477949,0.0800056856116,0.999999998823,-1.64496134822e-05,1.93410589804e-05,-4.13527910248e-05,1793254866184205056
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,760,738,716.822678092,686.822678092,651,917,801,840.822678092,657,636,657.177321908,0.424931804474,-0.0155396465492,0.079970744502,0.999999996996,-2.19869955194e-05,-6.02441335929e-05,-4.35333401912e-05,1793254866200871680
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,760,738,717,686.59872968,651,916.59872968,800.59872968,841,657,636,657.40127032,0.425887125522,-0.0155397436045,0.0799401895877,0.999999994045,-2.72564978436e-05,-9.39522583006e-05,-4.83682727875e-05,1793254866217538816
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686.020259697,651,916.020259697,800.020259697,841,657,636,657.979740303,0.426872347692,-0.0155402373465,0.079911571605,0.999999992229,-3.24077050686e-05,-0.00010740121508,-5.43753723763e-05,1793254866234205440
+170,2.833333333,POSE1_TO_POSE2_PRESS,785,760,738,716.447622065,686,651,916,800.552377935,841,657,636,658,0.427809424254,-0.0155395247692,0.0799123175369,0.99999999104,-3.66534252804e-05,-0.000116729150838,-5.43297641837e-05,1793254866250872320
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.128827721,760,737.871172279,716.128827721,686.128827721,651,916.128827721,801,841,657,636,658,0.428753174617,-0.0155396589742,0.0799203994787,0.99999999119,-4.0543493835e-05,-0.000114354736289,-5.38408716782e-05,1793254866267538944
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.71970937,760,737.28029063,716.71970937,686.71970937,651,916.71970937,801,841,657,636,658,0.429727128433,-0.0155429872806,0.0799509704106,0.999999995195,-4.32758500284e-05,-7.05450757328e-05,-5.25499888394e-05,1793254866284205312
+173,2.883333333,POSE1_TO_POSE2_PRESS,785.695908486,760,737.304091514,717,687,651,917,801,841,657,636,657.695908486,0.430726535277,-0.0155473314304,0.0799907590639,0.999999997702,-4.44150226373e-05,-1.26692512714e-05,-4.96294040792e-05,1793254866300871936
+174,2.900000000,POSE1_TO_POSE2_PRESS,785.117391804,760,737.882608196,717,687,651,917,801,841,657,636,657.117391804,0.431748911968,-0.0155525923204,0.0800388661809,0.999999996327,-4.41164380861e-05,5.79004778061e-05,-4.52381066577e-05,1793254866317538560
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.458339105,760,738,716.541660895,687,651,917,801,841,657,636,657.458339105,0.432677795961,-0.0155490250489,0.0800031208918,0.999999997322,-5.4660856519e-05,1.91109587873e-07,-4.86566556956e-05,1793254866334205184
+176,2.933333333,POSE1_TO_POSE2_PRESS,785.965860931,760,738,716.034139069,687,651,917,801,841,657,636,658,0.433584023065,-0.0155436406284,0.0799475876118,0.999999992555,-6.67156942389e-05,-8.67582367548e-05,-5.3969628107e-05,1793254866350872064
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.377425702,760,738,716.622574298,687,651,917,801,841,657,636,658,0.434508826844,-0.015545242716,0.079917365449,0.999999989633,-5.84756456906e-05,-0.000118228706014,-5.77598799486e-05,1793254866367538688
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.207374801,760.207374801,737.792625199,717,687,651,917,801.207374801,841.207374801,657,635.792625199,657.792625199,0.435443232681,-0.0155481798417,0.0799104982606,0.999999989097,-5.65715734275e-05,-0.000123064128774,-5.88230712254e-05,1793254866384205312
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.785674088,760.785674088,737.214325912,717,687,651,917,801.785674088,841.785674088,657,635.214325912,657.214325912,0.436394813558,-0.0155535049065,0.0799454053415,0.999999993088,-6.60004522212e-05,-8.02583250636e-05,-5.5008459599e-05,1793254866400872192
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,761,737,717,687,651,917,801.636391556,841.636391556,657,635,657,0.437363962264,-0.0155579196103,0.079981289766,0.999999995826,-7.00354799727e-05,-2.60007434394e-05,-5.26078015911e-05,1793254866417538560
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,761,737,717,687,651,917,801.058672125,841.058672125,657,635,657,0.438343455736,-0.0155617982472,0.0800177496976,0.999999995572,-7.08943355166e-05,3.50002199661e-05,-5.10397508846e-05,1793254866434205184
+182,3.033333333,POSE1_TO_POSE2_PRESS,786,760.484442444,737,716.484442444,686.484442444,651,916.484442444,801,841,657,635.515557556,657.515557556,0.439261614575,-0.0155676164271,0.0800147906935,0.999999994525,-8.71993003265e-05,2.38635392655e-05,-5.27006027497e-05,1793254866450871808
+183,3.050000000,POSE1_TO_POSE2_PRESS,786,760,737.092068788,716,686,651,916.092068788,801,841,657,635.907931212,657.907931212,0.440144090849,-0.0155719893212,0.0799909670511,0.999999993093,-0.000101660276534,-1.92968710655e-05,-5.57464383482e-05,1793254866467538432
+184,3.066666667,POSE1_TO_POSE2_PRESS,786,760,737.683082085,716,686,651,916.683082085,801,841,657,635.316917915,657.316917915,0.440870766606,-0.0155673417078,0.0798782199083,0.999999974863,-9.66661822323e-05,-0.000191811863328,-6.43198874948e-05,1793254866484205056
+185,3.083333333,POSE1_TO_POSE2_PRESS,786,760,738,716.268579744,686,650.731420256,917,800.731420256,841.268579744,657,635,657.268579744,0.44163611065,-0.0155675333823,0.0797965686621,0.999999943882,-0.000104003224518,-0.000310425883014,-7.10922332394e-05,1793254866500871680
+186,3.100000000,POSE1_TO_POSE2_PRESS,786,760,738,716.847700004,686,650.152299996,917,800.152299996,841.847700004,657,635,657.847700004,0.442446164157,-0.015573320397,0.0797508714969,0.999999922,-0.000125597925108,-0.000366717862229,-7.57820864148e-05,1793254866517538304
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.575834453,760,737.575834453,716.575834453,686,650,917,800,842,657,635,658,0.443306701426,-0.0155830025294,0.0797847591387,0.999999939071,-0.000128764739448,-0.000315938112458,-7.38974335253e-05,1793254866534205440
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.000316132,760,737.000316132,716.000316132,686,650,917,800,842,657,635,658,0.444185252619,-0.0155940745367,0.0798470446076,0.999999963962,-0.000125356028444,-0.000226952520038,-6.96668339387e-05,1793254866550872576
+189,3.150000000,POSE1_TO_POSE2_PRESS,785.587248887,760,737,716.587248887,686,650,917,800,842,657,635.587248887,658,0.444996241902,-0.0156017441927,0.0798716592493,0.99999996976,-0.000133652086517,-0.000196000527569,-6.48104126307e-05,1793254866567538944
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,760.172243531,737,716.827756469,686,650,917,799.827756469,842,657,635.827756469,657.827756469,0.445789722467,-0.0156085532326,0.0798828002975,0.999999971495,-0.000143166849832,-0.000180634330129,-6.23177247261e-05,1793254866584205312
+191,3.183333333,POSE1_TO_POSE2_PRESS,786,760.751154006,737,716.248845994,686,650,917,799.248845994,842,657,635.248845994,657.248845994,0.446541952784,-0.0156133347746,0.079862179081,0.999999965364,-0.000155543789664,-0.00020199088086,-6.54066221323e-05,1793254866600871936
+192,3.200000000,POSE1_TO_POSE2_PRESS,786,760.670566861,737,716,685.670566861,650,917,799,842,657,635,657.329433139,0.447243812456,-0.015617474058,0.0798250553755,0.999999952381,-0.000167441596836,-0.000249726011318,-6.95543745478e-05,1793254866617538560
+193,3.216666667,POSE1_TO_POSE2_PRESS,786,760.092763751,737,716,685.092763751,650,917,799,842,657,635,657.907236249,0.447907696074,-0.0156211291224,0.0797754899276,0.999999930853,-0.000178978169571,-0.000317348777891,-7.4500430531e-05,1793254866634205184
+194,3.233333333,POSE1_TO_POSE2_PRESS,786,760,737,715.516797386,685,650,916.516797386,798.516797386,841.516797386,657,635,658,0.44850816414,-0.0156199459769,0.0797118747226,0.999999891121,-0.000180086546056,-0.000423073613715,-7.95973641845e-05,1793254866650871808
+195,3.250000000,POSE1_TO_POSE2_PRESS,785.939812148,760,737,715.060187852,685,650,916,798,841.060187852,657,635,658,0.449103964433,-0.0156183094279,0.0796526703829,0.999999843536,-0.000179657493201,-0.000523047192811,-8.41014916285e-05,1793254866667538432
+196,3.266666667,POSE1_TO_POSE2_PRESS,785.350788153,760,737,715.649211847,685,650,916,798,841.649211847,657,635,658,0.449765315424,-0.0156208192274,0.0796558310471,0.999999850488,-0.000183243525458,-0.000508460967939,-8.31434431236e-05,1793254866684205568
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+405,6.750000000,POSE2_TO_POSE3_RETREAT,783,759,737,718.493682611,686,650,916,799.506317389,840,657.493682611,635,657,0.400984125455,-0.0153584526449,0.0798330548147,0.999999920141,0.000279037184855,-0.000283896305511,3.54873959987e-05,1793254870213165056
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783.095287552,759,737,718,686,650,916,799.904712448,840,657,635,657,0.400986508642,-0.0153598965416,0.0798347057828,0.999999921514,0.000277008480034,-0.00028097316977,3.59599812504e-05,1793254870229831680
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..979f3a923d4938c7d5f78b5c443c0351c111c9a9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
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+385,6.416666667,pose2_to_pose3_retreat,0.57590423552,-0.00981833602662,1.07002048202,0.546475385555,-0.00114409087427,1.06969217638
+386,6.433333333,pose2_to_pose3_retreat,0.575853853809,-0.00981826541325,1.07002056205,0.546425002452,-0.00114402494913,1.06969225719
+387,6.450000000,pose2_to_pose3_retreat,0.57581145547,-0.00981816276211,1.07002054101,0.546382602629,-0.00114392706102,1.06969224333
+388,6.466666667,pose2_to_pose3_retreat,0.575777056627,-0.00981822625976,1.07002051594,0.546348205606,-0.00114398428953,1.06969222069
+389,6.483333333,pose2_to_pose3_retreat,0.575748445815,-0.00981824281466,1.07002044092,0.546319593805,-0.00114400421849,1.06969214521
+390,6.500000000,pose2_to_pose3_retreat,0.57572505705,-0.00981830469645,1.07002042961,0.546296205081,-0.00114406568605,1.06969214119
+391,6.516666667,pose2_to_pose3_retreat,0.575706962314,-0.00981832205023,1.07002056941,0.546278110805,-0.00114408146908,1.06969228122
+392,6.533333333,pose2_to_pose3_retreat,0.575693596638,-0.00981825509637,1.07002075525,0.546264744634,-0.00114401664462,1.06969245518
+393,6.550000000,pose2_to_pose3_retreat,0.575684224286,-0.00981827293272,1.07002065447,0.54625537209,-0.00114403500257,1.06969235797
+394,6.566666667,pose2_to_pose3_retreat,0.575678004782,-0.009818269009,1.07002057903,0.546249153197,-0.00114402911466,1.06969227976
+395,6.583333333,pose2_to_pose3_retreat,0.575674106871,-0.00981828668618,1.07002054229,0.546245255388,-0.00114404642619,1.06969224344
+396,6.600000000,pose2_to_pose3_retreat,0.575671711414,-0.00981831636343,1.07002052957,0.546242859698,-0.00114407679753,1.06969223324
+397,6.616666667,pose2_to_pose3_retreat,0.575670622325,-0.00981832112762,1.07002052293,0.546241770459,-0.00114408202102,1.06969222785
+398,6.633333333,pose2_to_pose3_retreat,0.575670098046,-0.00981830453548,1.07002051788,0.546241246014,-0.00114406596099,1.06969222364
+399,6.650000000,pose2_to_pose3_retreat,0.575669858726,-0.0098182969616,1.07002051557,0.546241006618,-0.00114405863002,1.06969222172
+400,6.666666667,pose2_to_pose3_retreat,0.575669594861,-0.00981828861093,1.07002051302,0.54624074267,-0.00114405054715,1.0696922196
+401,6.683333333,pose2_to_pose3_retreat,0.575669166982,-0.00981827506962,1.0700205089,0.546240314655,-0.00114403744011,1.06969221617
+402,6.700000000,pose2_to_pose3_retreat,0.575668614011,-0.00981825756945,1.07002050356,0.546239761509,-0.00114402050117,1.06969221173
+403,6.716666667,pose2_to_pose3_retreat,0.575668321443,-0.00981825037111,1.07002050788,0.546239468867,-0.00114401354391,1.06969221625
+404,6.733333333,pose2_to_pose3_retreat,0.575668267787,-0.00981825293233,1.07002052213,0.546239415234,-0.00114401604411,1.06969223002
+405,6.750000000,pose2_to_pose3_retreat,0.575668058428,-0.0098182629259,1.0700205777,0.546239205966,-0.00114402579959,1.06969228377
+406,6.766666667,pose2_to_pose3_retreat,0.575667866776,-0.00981827207421,1.07002062858,0.546239014397,-0.00114403472995,1.06969233297
+407,6.783333333,pose2_to_pose3_retreat,0.5756677951,-0.00981827549563,1.07002064761,0.546238942752,-0.00114403806986,1.06969235138
+408,6.800000000,pose2_to_pose3_retreat,0.575667619032,-0.00981828390003,1.07002069435,0.546238766761,-0.00114404627404,1.06969239658
+409,6.816666667,pose2_to_pose3_retreat,0.575667283863,-0.00981829989905,1.07002078333,0.546238431736,-0.00114406189189,1.06969248262
+410,6.833333333,pose2_to_pose3_retreat,0.575667249717,-0.00981829746352,1.07002076335,0.546238397528,-0.00114405963855,1.0696924635
+411,6.850000000,pose2_to_pose3_retreat,0.575667069077,-0.00981827704542,1.07002060385,0.546238216408,-0.00114404059382,1.06969231066
+412,6.866666667,pose2_to_pose3_retreat,0.575666902096,-0.00981825817134,1.07002045641,0.546238048984,-0.00114402298926,1.06969216938
+413,6.883333333,pose2_to_pose3_retreat,0.575666768048,-0.00981824276257,1.07002033845,0.546237914589,-0.00114400857344,1.06969205633
+414,6.900000000,pose2_to_pose3_retreat,0.575666768067,-0.00981823796458,1.07002034595,0.546237914758,-0.00114400328672,1.06969206323
+415,6.916666667,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914776,-0.00114400271446,1.06969206398
+416,6.933333333,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914777,-0.00114400271445,1.06969206398
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..490f9daef77e6e74adca6a4b26526c811c168c90
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:742558ea0f89cf623a16d688c3ebf2d1968cd6151bdb20ae2a9895c56d78dd2a
+size 26557145
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..520418d07bf1e3be7b3f1e26a5779443f9285e09
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+38,0.633333333,BASELINE,783.953385205,759.046614795,737,718,686,650.046614795,916.953385205,799.953385205,840,657.046614795,635.046614795,657.046614795,0.400984060906,-0.0153611838747,0.0798373220417,0.999999923466,0.000275488556272,-0.000275642248385,3.45727127501e-05,1793254871176421888
+39,0.650000000,BASELINE,783.374280278,759.625719722,737,718,686,650.625719722,916.374280278,799.374280278,840,657.625719722,635.625719722,657.625719722,0.400982690891,-0.0153594773845,0.079836963868,0.999999922422,0.000278005944985,-0.000276879159011,3.47402075654e-05,1793254871193088768
+40,0.666666667,BASELINE,783.203546649,759.796453351,737,718,686,651,916,799.203546649,840,657.796453351,636,658,0.400982222987,-0.0153588958224,0.0798368293775,0.99999992209,0.000278730843904,-0.000277351572621,3.47286185966e-05,1793254871209755392
+41,0.683333333,BASELINE,783.779038227,759.220961773,737,718,686,651,916,799.779038227,840,657.220961773,636,658,0.400983403529,-0.0153603698645,0.0798371036276,0.999999923065,0.00027618028963,-0.00027642700522,3.43897861786e-05,1793254871226422016
+42,0.700000000,BASELINE,784,759.352034097,737,718,686,650.647965903,916.352034097,800,840,657,635.647965903,658,0.400983857638,-0.0153616079629,0.0798373201416,0.999999923615,0.000274446507136,-0.000276145068652,3.45422356829e-05,1793254871243088640
+43,0.716666667,BASELINE,784,759.923474487,737,718,686,650.076525513,916.923474487,800,840,657,635.076525513,658,0.400983858996,-0.0153626990086,0.0798375006715,0.999999923902,0.00027322178017,-0.000276263653686,3.5000878113e-05,1793254871259755008
+44,0.733333333,BASELINE,784,759.480392936,737,718,686,650,916.480392936,800,840,657.519607064,635,658,0.40098298438,-0.0153621115991,0.0798370300762,0.999999923339,0.000274847195335,-0.000276671360054,3.5123277836e-05,1793254871276421376
+45,0.750000000,BASELINE,783.88597164,759,737,718,686,650,916,800,840,658,635,658,0.400982081772,-0.0153613022881,0.0798365427523,0.999999922656,0.000276713642318,-0.000277273189107,3.51653692129e-05,1793254871293087744
+46,0.766666667,BASELINE,783.313767606,759,737,718,686,650,916,800,840,658,635,658,0.400981610921,-0.0153606441667,0.0798363927496,0.99999992203,0.00027777780819,-0.000278475391126,3.50936792705e-05,1793254871309754880
+47,0.783333333,BASELINE,783,759,737,718,686,650,916,800,840,658,635,658,0.400982212973,-0.0153602896786,0.0798364682429,0.999999921903,0.000278388968528,-0.000278333568895,3.49928690073e-05,1793254871326422016
+48,0.800000000,BASELINE,783,759,737,718,686,650,916,800,840,658,635,658,0.400984117635,-0.0153603038318,0.0798368175111,0.999999922383,0.000278450134963,-0.000276559966899,3.48567037514e-05,1793254871343088640
+49,0.816666667,BASELINE,783.433278537,759,737.433278537,718.433278537,686,650,916,800,839.566721463,657.566721463,635,658,0.400984030151,-0.0153605729758,0.0798367483136,0.999999922658,0.000277290098331,-0.000276714713963,3.49694984901e-05,1793254871359755264
+50,0.833333333,BASELINE,783.987788947,759,737.987788947,718.987788947,686,650,916,800,839.012211053,657,635.012211053,658,0.400983292484,-0.0153609398025,0.0798365569416,0.999999922865,0.000275745145233,-0.0002774847371,3.51599084223e-05,1793254871376421632
+51,0.850000000,BASELINE,783.407406314,759,737.407406314,718.407406314,686,650,916,800,839.592593686,657,635.592593686,658,0.400983455954,-0.0153618641189,0.0798372249578,0.999999923177,0.000275387803923,-0.000276727073569,3.50683945802e-05,1793254871393088256
+52,0.866666667,BASELINE,783.170924289,759,737,718,686,650,916,800,839.829075711,657.170924289,635.829075711,657.829075711,0.400983800615,-0.0153622529906,0.0798377446643,0.999999923366,0.000275474995397,-0.000275969823256,3.4955598937e-05,1793254871409754880
+53,0.883333333,BASELINE,783.744421768,759,737,718,686,650,916,800,839.255578232,657.744421768,635.255578232,657.255578232,0.400984572026,-0.0153613807445,0.0798379150611,0.999999923267,0.000276609182503,-0.000275213546234,3.47926788693e-05,1793254871426421504
+54,0.900000000,BASELINE,783.673644375,759,737,718,686,650,916,800,839.326355625,658,635,657.326355625,0.400984572447,-0.0153611829493,0.0798378731995,0.999999923231,0.00027656988085,-0.000275384380176,3.47954465644e-05,1793254871443088128
+55,0.916666667,BASELINE,783.084928462,759,737,718,686,650,916,800,839.915071538,658,635,657.915071538,0.400983953061,-0.0153615273514,0.0798376607013,0.999999923245,0.000275587200742,-0.000276300527186,3.4931412183e-05,1793254871459754752
+56,0.933333333,BASELINE,783,759,737,718.495211932,686,650.495211932,916,800,840,657.504788068,635.495211932,657.504788068,0.400983537556,-0.0153609547238,0.0798367962205,0.999999922887,0.000276153905508,-0.000277016156131,3.50332396569e-05,1793254871476421632
+57,0.950000000,BASELINE,783.073583637,759,737,719,686,651,916,800,840,657,636,657.073583637,0.400983076787,-0.0153603215279,0.0798359734026,0.999999922512,0.00027683641926,-0.00027767580244,3.51194810193e-05,1793254871493088512
+58,0.966666667,BASELINE,783.649748765,759,737,719,686,651,916,800,840,657,636,657.649748765,0.400982072113,-0.0153603305269,0.0798361858466,0.999999922456,0.000276525934273,-0.000278183962148,3.51385751891e-05,1793254871509755136
+59,0.983333333,BASELINE,783.774386444,759,737,718.774386444,686,650.774386444,916,800,840,657.225613556,635.774386444,658,0.400982031219,-0.0153604105763,0.0798364639249,0.999999922545,0.000276537553285,-0.000277862476948,3.50513163196e-05,1793254871526421760
+60,1.000000000,BASELINE,783.198987198,759,737,718.198987198,686,650.198987198,916,800,840,657.801012802,635.198987198,658,0.400983484543,-0.0153606007806,0.079836843761,0.999999922858,0.000277048554343,-0.000276254730836,3.47991703261e-05,1793254871543088128
+61,1.016666667,BASELINE,783,759,737.386168286,718.386168286,686,650,916,800,839.613831714,658,635,657.613831714,0.400983731712,-0.015360820542,0.0798369658862,0.999999922798,0.000277656132205,-0.000275851193439,3.48982668988e-05,1793254871559754496
+62,1.033333333,BASELINE,783,759,737.976481291,718.976481291,686,650,916,800,839.023518709,658,635,657.023518709,0.400983341256,-0.0153610559287,0.0798369517745,0.99999992254,0.000278314764578,-0.00027608425127,3.51830450095e-05,1793254871576421120
+63,1.050000000,BASELINE,783,759,737.443049588,718.443049588,686,650,916,800,839.556950412,658,635.556950412,657,0.400983533247,-0.0153605580104,0.0798377846576,0.999999922273,0.000279836246147,-0.000275509468233,3.52100431411e-05,1793254871593088000
+64,1.066666667,BASELINE,783.135647151,759.135647151,737,718,686,650,916,800,840,657.864352849,635.864352849,657.135647151,0.400983570168,-0.0153606130141,0.0798382506833,0.999999922254,0.000280105823986,-0.00027529829649,3.52577557909e-05,1793254871609754880
+65,1.083333333,BASELINE,783.709933394,759.709933394,737,718,686,650,916,800,840,657.290066606,635.290066606,657.709933394,0.400983027495,-0.0153625543834,0.0798374167619,0.999999923036,0.000276211372991,-0.000276371321611,3.54070411725e-05,1793254871626422016
+66,1.100000000,BASELINE,784,759.708662986,737.291337014,718,686,650.291337014,916.291337014,800,840,657.291337014,635.291337014,657.708662986,0.400982993729,-0.0153628027546,0.0798369357424,0.999999923351,0.000274725203811,-0.000276744889449,3.51652455426e-05,1793254871643088640
+67,1.116666667,BASELINE,784,759.119995605,737.880004395,718,686,650.880004395,916.880004395,800,840,657.880004395,635.880004395,657.119995605,0.40098347934,-0.0153613232992,0.0798368148846,0.9999999232,0.000275696859587,-0.000276404610787,3.45243236182e-05,1793254871659755008
+68,1.133333333,BASELINE,784,759,737.53934462,718,686,651,917,800,840,658,636,657,0.400983002986,-0.0153614995575,0.0798373189977,0.999999922917,0.000276705489026,-0.000276413618224,3.45911235675e-05,1793254871676421376
+69,1.150000000,BASELINE,783.960845175,759,737,718,686,650.960845175,916.960845175,800,839.960845175,658,635.960845175,657,0.400982412055,-0.0153620333434,0.079837956312,0.999999922667,0.000277536076177,-0.000276453749379,3.4817006364e-05,1793254871693088000
+70,1.166666667,BASELINE,783.383707586,759,737,718,686,650.383707586,916.383707586,800,839.383707586,658,635.383707586,657,0.400983630913,-0.0153616549337,0.0798382252281,0.999999923363,0.000275790313406,-0.000275692774129,3.47389962647e-05,1793254871709754624
+71,1.183333333,BASELINE,783.192302065,759.192302065,737,718,686,650,916,800,839,658,635,657,0.400984333174,-0.0153613254226,0.0798381579363,0.999999923668,0.000275123187829,-0.000275269815035,3.46193040878e-05,1793254871726421248
+72,1.200000000,BASELINE,783.766074327,759.766074327,737,718,686,650,916,800,839,658,635,657,0.40098401066,-0.0153610929121,0.079837423708,0.9999999232,0.000276595757859,-0.000275517379495,3.44169270321e-05,1793254871743087872
+73,1.216666667,BASELINE,783.650012005,759.650012005,737,718,686,650,916,800,839.349987995,657.650012005,635.349987995,657,0.400983537167,-0.0153616759772,0.0798373159229,0.999999923086,0.000276593345638,-0.000275931430154,3.44509188274e-05,1793254871759755008
+74,1.233333333,BASELINE,783.059117766,759.059117766,737,718,686,650,916,800,839.940882234,657.059117766,635.940882234,657,0.400982959751,-0.0153628204253,0.0798376393357,0.999999923214,0.000275575662982,-0.000276460077772,3.46476097354e-05,1793254871776422400
+75,1.250000000,BASELINE,783.520551081,759.520551081,737,718.520551081,686,650,916,800,840,657,636,657.520551081,0.40098200664,-0.0153622050946,0.0798369738971,0.999999922965,0.000275229650273,-0.000277706915718,3.46027629773e-05,1793254871793089024
+76,1.266666667,BASELINE,783.901381748,760,737,719,686,650,916,800,839.901381748,657.098618252,635.901381748,658,0.400981522617,-0.0153616042497,0.0798364474593,0.999999922854,0.00027497820642,-0.000278362799511,3.45502803498e-05,1793254871809755392
+77,1.283333333,BASELINE,783.325028229,760,737,719,686,650,916,800,839.325028229,657.674971771,635.325028229,658,0.400983513324,-0.0153620212916,0.0798371269186,0.999999923614,0.000274823159499,-0.000275769155801,3.45908853421e-05,1793254871826421504
+78,1.300000000,BASELINE,783,759.75080041,737,718.75080041,686,650,916,800,839.24919959,658,635,658,0.400984461736,-0.0153620096174,0.0798377167452,0.999999923999,0.000274954231167,-0.000274233578035,3.46077153636e-05,1793254871843088128
+79,1.316666667,BASELINE,783,759.179321714,737,718.179321714,686,650,916,800,839.820678286,658,635,658,0.400984062194,-0.015361443503,0.0798381906538,0.999999923908,0.00027545532771,-0.000274066351629,3.45937982356e-05,1793254871859755008
+80,1.333333333,BASELINE,783.408968939,759,737,718,686,650,916,800,840,658,635,658,0.400984623422,-0.015361320441,0.0798384797983,0.99999992411,0.000274874884905,-0.000273923655568,3.44975769126e-05,1793254871876421632
+81,1.350000000,BASELINE,784,759,737,718,686,650,916,800,840,658,635.004779869,657.995220131,0.40098560439,-0.015361398842,0.079838674025,0.999999924436,0.000273818076138,-0.000273808174774,3.43655381376e-05,1793254871893088000
+82,1.366666667,BASELINE,784,759,737,718,686,650,916,800,840,658,635.580594196,657.419405804,0.400984245014,-0.0153613420509,0.0798376221367,0.999999923633,0.000274934349006,-0.000275603953257,3.44506677625e-05,1793254871909755392
+83,1.383333333,BASELINE,784,759,737,718,686,650,916,800,840,657.843535947,635.843535947,657.156464053,0.40098347924,-0.0153610717272,0.0798371109868,0.999999923042,0.00027610208422,-0.000276570332097,3.45219906004e-05,1793254871926422528
+84,1.400000000,BASELINE,784,759,737,718,686,650,916,800,840,657.267517059,635.267517059,657.732482941,0.400984305198,-0.0153602288205,0.0798380498144,0.999999923027,0.000277407814804,-0.000275312694878,3.45562908692e-05,1793254871943088896
+85,1.416666667,BASELINE,783.685180364,759,737,718,686,650,916,800,839.685180364,657,635,657.685180364,0.400984533717,-0.0153600799252,0.0798380944519,0.999999923177,0.0002774582369,-0.000274723569691,3.44984789292e-05,1793254871959755008
+86,1.433333333,BASELINE,783.097365222,759,737,718,686,650,916,800,839.097365222,657,635,657.097365222,0.400984244165,-0.0153605328411,0.0798373636935,0.999999923472,0.000276420119524,-0.00027471414406,3.43607919856e-05,1793254871976421120
+87,1.450000000,BASELINE,783.485437467,759,737,718.485437467,686,650,916,800,839,657.485437467,635,657.485437467,0.400984202656,-0.0153609918881,0.0798377414551,0.999999923668,0.000275558896651,-0.000274840043828,3.45656857243e-05,1793254871993087744
+88,1.466666667,BASELINE,783.933742389,759,737,718.933742389,686,650,916,800,839.066257611,657.933742389,635,657.933742389,0.400984296502,-0.0153613942129,0.0798382790105,0.999999923829,0.00027491692204,-0.000274869115031,3.47901948457e-05,1793254872009754624
+89,1.483333333,BASELINE,783.360478328,759,737,718.360478328,686,650,916,800,839.639521672,657.360478328,635,657.360478328,0.400985049283,-0.0153613531826,0.0798383553612,0.999999923874,0.000275683924966,-0.000273951676301,3.46443868727e-05,1793254872026420992
+90,1.500000000,BASELINE,783.212694291,759.212694291,737,718,686.212694291,650,916,800,840,657.212694291,635.212694291,657.212694291,0.400985317886,-0.0153619944254,0.0798383231413,0.999999923841,0.00027599709923,-0.000273752350834,3.46861180463e-05,1793254872043087872
+91,1.516666667,BASELINE,783.78571194,759.78571194,737,718,686.78571194,650,916,800,840,657.78571194,635.78571194,657.78571194,0.400984766249,-0.0153637915007,0.0798381069927,0.999999923675,0.000275541446637,-0.00027476957425,3.5045557504e-05,1793254872059754752
+92,1.533333333,BASELINE,784,760,737,718,686.628541359,650,916,800,840,658,635.628541359,657.628541359,0.400983234752,-0.0153640385911,0.0798373372999,0.999999923511,0.000274923333533,-0.000275982528803,3.50496138718e-05,1793254872076421632
+93,1.550000000,BASELINE,784,760,737,718,686.035190869,650,916,800,840,658,635.035190869,657.035190869,0.400981117935,-0.0153633597939,0.0798362369459,0.999999923347,0.00027420817415,-0.000277312403993,3.48413812007e-05,1793254872093088512
+94,1.566666667,BASELINE,783.454860008,759.454860008,737,718,686,650,916,800,840,657.454860008,635,657,0.400981977378,-0.0153642172676,0.0798369664048,0.999999923726,0.00027335062442,-0.000276791814788,3.48419380436e-05,1793254872109754624
+95,1.583333333,BASELINE,783.123548409,759,737.123548409,718,686,650,916,800,840,657.123548409,635.123548409,657,0.400982685844,-0.0153643786921,0.0798374448686,0.999999923815,0.000273439923514,-0.000276392123349,3.47434791529e-05,1793254872126421248
+96,1.600000000,BASELINE,783.697937208,759,737.697937208,718,686,650,916,800,840,657.697937208,635.697937208,657,0.400982158638,-0.0153616467164,0.0798365864435,0.999999922719,0.000277017127114,-0.000276859333302,3.42356661416e-05,1793254872143087872
+97,1.616666667,BASELINE,783.720983506,759.279016494,737.720983506,718,686,650,916,800,840,658,636,657.279016494,0.400982254406,-0.0153612094086,0.0798364589201,0.999999922673,0.000277447990347,-0.000276599302011,3.41890819891e-05,1793254872159754496
+98,1.633333333,BASELINE,783.132483195,759.867516805,737.132483195,718,686,650,916,800,840,658,636,657.867516805,0.400983041175,-0.015363317336,0.0798371421095,0.999999923796,0.000274388947063,-0.000275532618042,3.46540908015e-05,1793254872176421120
+99,1.650000000,BASELINE,783.448431496,759.551568504,737,718.448431496,686,650,916,800,840,658,636,658,0.400983977807,-0.015363796044,0.0798378461962,0.999999924275,0.000273873033988,-0.000274289985361,3.47515669578e-05,1793254872193088256
+100,1.666666667,BASELINE,784,759.027083206,737,718.972916794,686,650,916,800,840,658,636,658,0.400984848431,-0.0153637044312,0.0798385075113,0.999999924516,0.000274187028447,-0.000273098032063,3.47369977971e-05,1793254872209755392
+101,1.683333333,BASELINE,784,759.604532278,737,718.395467722,686,650,916,800,840,658,636,658,0.400983492954,-0.0153616417355,0.0798381762766,0.999999923685,0.00027635170779,-0.000273974713837,3.4615358953e-05,1793254872226422016
+102,1.700000000,BASELINE,784,759.821055265,737,718,686,650,916.178944735,800,839.821055265,657.821055265,636,658,0.400982881423,-0.0153605040367,0.0798379297163,0.999999923261,0.000277312782776,-0.000274556422797,3.45613329166e-05,1793254872243088896
+103,1.716666667,BASELINE,784,759.253241817,737,718,686,650,916.746758183,800,839.253241817,657.253241817,636,658,0.400983886582,-0.0153613764688,0.0798378671636,0.999999923731,0.000275658278567,-0.00027449711978,3.46542377656e-05,1793254872259754752
+104,1.733333333,BASELINE,783.67984358,759,737.32015642,718,686,650,916.67984358,800,839.32015642,657.32015642,635.67984358,657.67984358,0.40098327326,-0.0153618707495,0.0798374808317,0.999999923683,0.000274654191005,-0.000275712597333,3.43799427594e-05,1793254872276421120
+105,1.750000000,BASELINE,783.101949318,759,737.898050682,718,686,650,916.101949318,800,839.898050682,657.898050682,635.101949318,657.101949318,0.400981357002,-0.0153620606041,0.0798368338456,0.999999923214,0.000274173712886,-0.00027795432072,3.38100382032e-05,1793254872293087744
+106,1.766666667,BASELINE,783.493047047,759,737.506952953,718,686,650,916,800,840,658,635.493047047,657,0.400982393202,-0.015362079148,0.0798374128368,0.999999923545,0.00027450325579,-0.000276392037953,3.41360241234e-05,1793254872309754368
+107,1.783333333,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650,916,800,839,658,636,658,0.400987892114,-0.0153615932254,0.0798405659125,0.99999992515,0.000275375383654,-0.000269562254605,3.47020897251e-05,1793254872353031680
+108,1.800000000,POSE1_TO_POSE2_PRESS,784,759,737,718,686,650,916,800,839.592256224,658,636,658,0.40098521475,-0.0153631210109,0.0798386635477,0.999999924856,0.000273373293193,-0.000272673805696,3.47008756789e-05,1793254872369698304
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.819860436,759,737,718,686,650,916,800,840,657.819860436,635.819860436,657.819860436,0.40098317775,-0.0153642616037,0.0798373378528,0.999999924563,0.000272247208107,-0.00027486546837,3.47176895198e-05,1793254872386364928
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.241640378,759,737,718,686,650,916,800,840,657.241640378,635.241640378,657.241640378,0.400982555854,-0.0153645465607,0.0798372865084,0.999999924296,0.000273056958643,-0.000275024320932,3.47743421956e-05,1793254872403032832
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.335801633,759,737.335801633,718,686.335801633,650.335801633,916.335801633,800,840,657.335801633,635.335801633,657,0.400984054945,-0.0153635850683,0.0798386437124,0.999999924624,0.000273716086508,-0.00027318786788,3.4635834047e-05,1793254872419699456
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.912685026,759,737.912685026,718,686.912685026,650.912685026,916.912685026,800,840,657.912685026,635.912685026,657,0.400987076756,-0.0153617287135,0.0798410121543,0.99999992537,0.000274267077923,-0.000269918926874,3.4357214262e-05,1793254872436365312
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.511131391,759.488868609,737.511131391,718,686.511131391,650.511131391,917,800,839.511131391,658,636,657.488868609,0.400986459965,-0.0153614150117,0.0798399532714,0.999999924613,0.000275462290113,-0.000271513736811,3.42701539873e-05,1793254872453031680
+114,1.900000000,POSE1_TO_POSE2_PRESS,783.066456122,760,737,718,686,650,916.933543878,800,839,658,636,658,0.400985376921,-0.0153615273965,0.0798385167841,0.999999923719,0.000276539631536,-0.000273705288155,3.42527633455e-05,1793254872469698304
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.656078441,760,737,718,686,650,916.343921559,800,839,658,636,658,0.400985732112,-0.0153628281372,0.0798389197678,0.999999923902,0.000275784539597,-0.000273765690605,3.45148792532e-05,1793254872486365184
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,759.758878827,737,718,686,650,916,800,839.241121173,658,635.758878827,657.758878827,0.400991152939,-0.0153635667775,0.0798413903988,0.999999925251,0.000274635202074,-0.000269929393861,3.47959423202e-05,1793254872503032064
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,759.180246456,737,718,686,650,916,800,839.819753544,658,635.180246456,657.180246456,0.401003664429,-0.0153635186133,0.0798467552347,0.999999928171,0.000272934016337,-0.000260638662724,3.51035267935e-05,1793254872519698688
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.603732104,759,737,718,686,650,916,800,840,658,635.396267896,657,0.401033486991,-0.015364892872,0.0798591568972,0.999999933365,0.00027364047425,-0.000238958085265,3.59118668613e-05,1793254872536365312
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.028175981,759,737,718,686,650,916,800,840,658,635.971824019,657,0.401071141809,-0.0153669106945,0.0798747423158,0.999999938982,0.000275436250878,-0.000211671820405,3.69467697804e-05,1793254872553031680
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.545829314,759,737,718,686,650,916,799.454170686,839.454170686,657.454170686,636,657,0.401134642438,-0.0153697414309,0.0798938104832,0.99999994633,0.000274979657302,-0.00017403608432,3.79176020842e-05,1793254872569698048
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.876132095,759,737,718,686,650,916,799.123867905,839.123867905,657,636,657,0.401201343271,-0.0153724196911,0.079911961523,0.999999951748,0.000274327327203,-0.000140588107643,3.85090023609e-05,1793254872586364928
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.282494287,759,737,718,686,650,916,799.717505713,839.717505713,657,636,657,0.401275135388,-0.0153743609902,0.0799259544654,0.999999954106,0.000273372365768,-0.000125042614964,3.76739120827e-05,1793254872603031552
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.301102765,759.301102765,737,718,686,650,916,800,840,657.301102765,635.698897235,657.301102765,0.401360372408,-0.0153768606264,0.0799366786728,0.999999956262,0.000272538411851,-0.000109002980728,3.62875745841e-05,1793254872619698176
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.875583553,759.875583553,737,718,686,650,916,800,840,657.875583553,635.124416447,657.875583553,0.401456000508,-0.0153798671892,0.0799444351209,0.999999958187,0.000271814323448,-9.25147051071e-05,3.44007472933e-05,1793254872636365056
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.547417567,759.547417567,737,718,686,650.452582433,916,800,840,657.547417567,635,658,0.401563396452,-0.0153853901139,0.0799481649677,0.99999996011,0.0002675585895,-8.49299804295e-05,3.12881235409e-05,1793254872653031680
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.030724892,759.030724892,737,718,686,650.969275108,916.030724892,800,840,657.030724892,635.030724892,657.969275108,0.401675068022,-0.0153914636407,0.0799507354116,0.999999961997,0.000262382025654,-7.99390971672e-05,2.77814784075e-05,1793254872669698304
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.616957839,759.616957839,737,718,686,650.383042161,916.616957839,800,840,657.616957839,635.616957839,657.383042161,0.401805226619,-0.0153949151144,0.0799524690504,0.999999963402,0.000258208242056,-7.73443769781e-05,2.32775286501e-05,1793254872686364928
+128,2.133333333,POSE1_TO_POSE2_PRESS,784,759.798090514,737,718,686,650.201909486,917,800,840,658,636,657.201909486,0.401947115224,-0.0153992381652,0.0799549926806,0.999999965134,0.000253174899382,-7.27331630244e-05,1.85481883198e-05,1793254872703031552
+129,2.150000000,POSE1_TO_POSE2_PRESS,784,759.215554358,737,718,686,650.784445642,917,800,840,658,636,657.784445642,0.402111116461,-0.0154052042566,0.079959005551,0.999999967455,0.000246521172141,-6.43205860768e-05,1.33939568061e-05,1793254872719698432
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.637423617,759,737,718,686,651,917,800,840,658,635.637423617,658,0.402291355778,-0.0154104192616,0.0799574733499,0.999999969328,0.000238427691973,-6.66931552214e-05,6.9055345047e-06,1793254872736364800
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.061880434,759,737,718,686,651,917,800,840,658,635.061880434,658,0.402481132887,-0.0154151931009,0.0799526841357,0.999999970825,0.000229488542231,-7.54006040778e-05,-3.66553076845e-07,1793254872753031424
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.510655545,759.510655545,737.510655545,718,686,651,917,800,840,657.489344455,635.510655545,657.489344455,0.402690282111,-0.0154223153922,0.0799474570178,0.999999975279,0.000204700190343,-8.64221059881e-05,-8.43825331944e-06,1793254872769698048
+133,2.216666667,POSE1_TO_POSE2_PRESS,784,760,737.91449325,718.08550675,686,650.91449325,916.91449325,800,840,657.08550675,636,657.08550675,0.402908773786,-0.0154299531634,0.0799430944783,0.999999980863,0.000170067363875,-9.5275555135e-05,-1.65370066144e-05,1793254872786364928
+134,2.233333333,POSE1_TO_POSE2_PRESS,784,760,737.323823467,718.676176533,686,650.323823467,916.323823467,800,840,657.676176533,636,657.676176533,0.403168672129,-0.015438964897,0.0799441514183,0.999999991765,8.85547425505e-05,-8.96734807983e-05,-2.42264925472e-05,1793254872803031808
+135,2.250000000,POSE1_TO_POSE2_PRESS,784,759.737079744,737.262920256,718.737079744,686,650,916,800,840,657.737079744,636,658,0.403454163162,-0.0154484712502,0.0799469373152,0.999999995137,4.07024406665e-05,-8.40749459889e-05,-3.16313498759e-05,1793254872819698432
+136,2.266666667,POSE1_TO_POSE2_PRESS,784,759.155100409,737.844899591,718.155100409,686,650,916,800,840,657.155100409,636,658,0.403770711426,-0.0154585778339,0.0799518213366,0.999999995604,3.36976265195e-05,-7.84807073579e-05,-3.86908042998e-05,1793254872836365056
+137,2.283333333,POSE1_TO_POSE2_PRESS,784,759,737.579551163,718,686,650.420448837,916.420448837,800,840,657.420448837,636,657.579551163,0.404116204582,-0.0154645939403,0.0799533973305,0.999999994928,6.12447861177e-05,-7.39173123234e-05,-3.04980087631e-05,1793254872853031936
+138,2.300000000,POSE1_TO_POSE2_PRESS,784,759,737.00633821,718,686,650.99366179,916.99366179,800,840,657.99366179,636,657.00633821,0.404472214447,-0.0154691238296,0.0799537713994,0.999999992293,0.000101345914801,-6.97284596798e-05,-1.67635245821e-05,1793254872869698560
+139,2.316666667,POSE1_TO_POSE2_PRESS,784,759.56860827,737,718,686.56860827,651,916.43139173,800,840,657.43139173,636,657,0.404863513673,-0.015471645182,0.0799520660493,0.999999994115,7.98128225725e-05,-6.94205063285e-05,-2.41027172946e-05,1793254872886364928
+140,2.333333333,POSE1_TO_POSE2_PRESS,784,759.852551137,737,718,686.852551137,650.852551137,916,800,840,657.147448863,636,657,0.405262189233,-0.0154733027293,0.0799499831046,0.999999995084,6.28269552637e-05,-7.05184112811e-05,-3.01859576109e-05,1793254872903031296
+141,2.350000000,POSE1_TO_POSE2_PRESS,784,759.262068398,737,718,686.262068398,650.262068398,916,800,840,657.737931602,636,657,0.405681842556,-0.0154724323115,0.0799468354747,0.999999994733,6.15745659159e-05,-7.57100653223e-05,-3.1787514329e-05,1793254872919697920
+142,2.366666667,POSE1_TO_POSE2_PRESS,784,759.322246507,737.322246507,718,686,650,916.322246507,800,840,657.677753493,636,657,0.406128995298,-0.0154687380175,0.0799407152271,0.999999993568,6.27381397504e-05,-8.77363494032e-05,-3.50881883613e-05,1793254872936365312
+143,2.383333333,POSE1_TO_POSE2_PRESS,784,759.901639659,737.901639659,718,686,650,916.901639659,800,840,657.098360341,636,657,0.406598092103,-0.0154627903233,0.0799322228863,0.999999991508,6.58296065769e-05,-0.000105216540143,-3.9744726191e-05,1793254872953032960
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,759.527322142,737.527322142,717.527322142,686,650,916.527322142,800,840,657,635.527322142,657.472677858,0.407098681787,-0.0154687608159,0.079928161669,0.999999990533,6.64093839011e-05,-0.000114492921504,-3.76304448646e-05,1793254872969699328
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,759.043867313,737,717,686,650,916,800,840,657,635.043867313,657.956132687,0.407607637174,-0.0154768201711,0.0799244656736,0.999999989684,6.55034275357e-05,-0.000123029816696,-3.47048965782e-05,1793254872986365440
+146,2.433333333,POSE1_TO_POSE2_PRESS,784,759.638401513,737,717,686,650,916,800,840,657,635.638401513,657.361598487,0.408140771589,-0.0154805093615,0.079913980469,0.999999987595,5.23940616741e-05,-0.000143341536824,-3.89748894213e-05,1793254873003031808
+147,2.450000000,POSE1_TO_POSE2_PRESS,784,759.773424673,737,717,686,650.226575327,916,800,840,657,636,657,0.408712846807,-0.015483594489,0.0799162377957,0.99999998822,4.29216676813e-05,-0.000141413795078,-4.14765702407e-05,1793254873019698432
+148,2.466666667,POSE1_TO_POSE2_PRESS,784,759.195124457,737,717,686,650.804875543,916,800,840,657,636,657,0.409345371865,-0.0154857418973,0.0799382760297,0.999999992877,3.90951386603e-05,-0.000104962556745,-4.1233206321e-05,1793254873036365056
+149,2.483333333,POSE1_TO_POSE2_PRESS,784,759,737,716.617221408,686,650.617221408,916.382778592,800,840,657,636,657.382778592,0.410019084137,-0.0154898093161,0.0799692494447,0.999999997237,3.46105542069e-05,-5.26700120786e-05,-3.94262330357e-05,1793254873053031680
+150,2.500000000,POSE1_TO_POSE2_PRESS,784,759,737,716.039520625,686,650.039520625,916.960479375,800,840,657,636,657.960479375,0.410713770138,-0.015494854461,0.0800047729177,0.999999998849,2.97908684743e-05,7.68939374034e-06,-3.68230234791e-05,1793254873069698560
+151,2.516666667,POSE1_TO_POSE2_PRESS,784,759,737,716.54609957,686,650,916.45390043,800,839.45390043,657,636,657.45390043,0.411370849147,-0.0155033339874,0.0799927182521,0.999999998964,1.61039430566e-05,-2.04961781854e-05,-3.73080863447e-05,1793254873086365696
+152,2.533333333,POSE1_TO_POSE2_PRESS,784,759,737,716.869446152,686,650,916,800,839.130553848,657,636,657.130553848,0.412032707367,-0.0155137782814,0.0799720643193,0.999999997543,6.74763473121e-07,-5.86886198819e-05,-3.83399967497e-05,1793254873103032320
+153,2.550000000,POSE1_TO_POSE2_PRESS,784,759,737,716.290987238,686,650,916,800,839.709012762,657,636,657.709012762,0.412720436596,-0.0155300980632,0.0799338946693,0.99999999308,-1.84977626735e-05,-0.000108904913487,-4.04699845522e-05,1793254873119698688
+154,2.566666667,POSE1_TO_POSE2_PRESS,784.287350946,759.287350946,737.287350946,716.287350946,686,650.287350946,916,800.287350946,840.287350946,657,636,658,0.413446161771,-0.0155388214949,0.0799152280233,0.999999990335,-2.98450194054e-05,-0.000128769913573,-4.31092562563e-05,1793254873136365056
+155,2.583333333,POSE1_TO_POSE2_PRESS,784.865566992,759.865566992,737.865566992,716.865566992,686,650.865566992,916,800.865566992,840.865566992,657,636,658,0.414210347645,-0.0155398556789,0.0799163028884,0.999999991425,-3.32713100658e-05,-0.000117912445753,-4.62640404848e-05,1793254873153031680
+156,2.600000000,POSE1_TO_POSE2_PRESS,785,760,738,717,686.442572379,651,916.442572379,801,840.557427621,657.442572379,636,658,0.415016683613,-0.015535957168,0.0799398430634,0.999999995261,-3.28281145461e-05,-7.98821204279e-05,-4.49267300329e-05,1793254873169698304
+157,2.616666667,POSE1_TO_POSE2_PRESS,785,760,737.980397227,717,686.980397227,651,917,801,840.019602773,657.980397227,636,658,0.415834867823,-0.0155307047585,0.0799685832375,0.999999997954,-3.11188306686e-05,-3.6423845263e-05,-4.23877820234e-05,1793254873186364928
+158,2.633333333,POSE1_TO_POSE2_PRESS,785,760,737.391998872,717,686.391998872,651,917,801,840.608001128,657.391998872,636,658,0.416626356425,-0.0155295244089,0.0799507437709,0.999999995894,-2.66842399036e-05,-7.43088689054e-05,-4.44661754105e-05,1793254873203031808
+159,2.650000000,POSE1_TO_POSE2_PRESS,785,760,737,717,686,651,916.806613809,800.806613809,841,657,636,658,0.417459894963,-0.0155301926055,0.0799482901793,0.999999995578,-2.60488637538e-05,-7.79119623365e-05,-4.57712489362e-05,1793254873219698688
+160,2.666666667,POSE1_TO_POSE2_PRESS,785,760,737,717,686,651,916.227243088,800.227243088,841,657,636,658,0.418377362016,-0.015534550364,0.0799765456568,0.999999998333,-3.29964391738e-05,-1.30908568669e-05,-4.55328330826e-05,1793254873236365312
+161,2.683333333,POSE1_TO_POSE2_PRESS,785,760,737.34986357,717,686,651,916.34986357,800.34986357,840.65013643,657,636,658,0.419267276361,-0.0155367777991,0.0799890762874,0.99999999813,-3.76291372544e-05,1.63197486511e-05,-4.53571881585e-05,1793254873253032192
+162,2.700000000,POSE1_TO_POSE2_PRESS,785,760,737.925509109,717,686,651,916.925509109,800.925509109,840.074490891,657,636,658,0.420139409725,-0.0155376304452,0.0799914589986,0.999999997885,-4.07679454958e-05,2.28784372433e-05,-4.52220521015e-05,1793254873269698816
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760,738,717,686,651,917,800.499739318,840.500260682,657,636,658,0.421028729591,-0.0155346138148,0.0799791990449,0.999999998484,-3.11545512644e-05,1.06226776869e-07,-4.5400216099e-05,1793254873286365184
+164,2.733333333,POSE1_TO_POSE2_PRESS,785,760,737.92284702,716.92284702,686,651,916.92284702,800.07715298,841,657,636,657.92284702,0.421929337383,-0.0155321683747,0.0799703230801,0.999999998591,-2.07259988422e-05,-1.81916241926e-05,-4.5360551718e-05,1793254873303031808
+165,2.750000000,POSE1_TO_POSE2_PRESS,785,760,737.330781139,716.330781139,686,651,916.330781139,800.669218861,841,657,636,657.330781139,0.422888230448,-0.0155373733446,0.0799985571476,0.999999998646,-1.75073587324e-05,2.24683656838e-05,-4.35563237689e-05,1793254873319698176
+166,2.766666667,POSE1_TO_POSE2_PRESS,785,760,737,716.255126343,686.255126343,651,916.255126343,801,841,657,636,657,0.423817803225,-0.0155384591942,0.0800043481211,0.999999998743,-1.54181646387e-05,2.08308152863e-05,-4.29191092841e-05,1793254873336364800
+167,2.783333333,POSE1_TO_POSE2_PRESS,785,760,737,716.833237494,686.833237494,651,916.833237494,801,841,657,636,657,0.42471025724,-0.0155343303212,0.0799817265935,0.999999998344,-1.47588259971e-05,-3.43545632327e-05,-4.375931006e-05,1793254873353031680
+168,2.800000000,POSE1_TO_POSE2_PRESS,785.408701582,760,737.408701582,717,687,651,917,801,841,657.408701582,636,657.408701582,0.425629031969,-0.0155330533797,0.0799475912843,0.999999995338,-2.10193990699e-05,-8.08175124232e-05,-4.84890999923e-05,1793254873369698560
+169,2.816666667,POSE1_TO_POSE2_PRESS,785.983092504,760,737.983092504,717,687,651,917,801,841,657.983092504,636,657.983092504,0.426558477171,-0.0155329326236,0.0799087882409,0.99999999039,-3.00853334777e-05,-0.000123744348674,-5.47957456343e-05,1793254873386365184
+170,2.833333333,POSE1_TO_POSE2_PRESS,786,760,737.441588729,717,686.441588729,651,916.441588729,800.441588729,841,657.441588729,636,658,0.427519322396,-0.0155351909213,0.0799062747158,0.999999989606,-3.9506453486e-05,-0.000126755653421,-5.6211699439e-05,1793254873403031552
+171,2.850000000,POSE1_TO_POSE2_PRESS,785.862315652,760,737,716.862315652,686,650.862315652,916,800.137684348,841,657,636,658,0.428489226823,-0.0155370585602,0.079911629115,0.999999990089,-4.50961086403e-05,-0.000120750190767,-5.66327629974e-05,1793254873419698432
+172,2.866666667,POSE1_TO_POSE2_PRESS,785.270080761,760,737,716.270080761,686,650.270080761,916,800.729919239,841,657,636,658,0.429485895267,-0.0155373982759,0.0799393251389,0.999999993848,-3.80010177534e-05,-8.89733738538e-05,-5.42589831246e-05,1793254873436365056
+173,2.883333333,POSE1_TO_POSE2_PRESS,785,760,737.314999305,716,686,650.314999305,916,801,841.314999305,657,636,658,0.430500361437,-0.0155402962835,0.0799798104622,0.99999999759,-3.4323586099e-05,-3.24970432455e-05,-5.08499439532e-05,1793254873453031680
+174,2.900000000,POSE1_TO_POSE2_PRESS,785,760,737.894081032,716,686,650.894081032,916,801,841.894081032,657,636,658,0.431529748437,-0.0155453390575,0.0800310178052,0.999999997356,-3.35113791689e-05,4.46863392107e-05,-4.65729860126e-05,1793254873469698048
+175,2.916666667,POSE1_TO_POSE2_PRESS,785.467691177,760,737.532308823,716.467691177,686,651,916.467691177,801,842,657,636,657.532308823,0.432447313345,-0.0155445751642,0.0800085912316,0.999999997927,-4.18136413245e-05,7.88556267205e-06,-4.8327731601e-05,1793254873486364672
+176,2.933333333,POSE1_TO_POSE2_PRESS,785.95884289,760,737,716.95884289,686.04115711,651,917,801,841.95884289,657.04115711,636,657,0.433343540408,-0.0155424749988,0.0799690778468,0.999999995921,-5.07070933793e-05,-5.40841446626e-05,-5.15878418045e-05,1793254873503031296
+177,2.950000000,POSE1_TO_POSE2_PRESS,785.371024396,760,737,716.371024396,686.628975604,651,917,801,841.371024396,657.628975604,636,657,0.434288829872,-0.0155398909424,0.0799215469271,0.999999991356,-4.0352978107e-05,-0.000111447743034,-5.69086854723e-05,1793254873519698176
+178,2.966666667,POSE1_TO_POSE2_PRESS,785.214469158,760,737.214469158,716,687,651,917,801,841.214469158,658,636,657.214469158,0.435243045757,-0.0155395658583,0.0799035952958,0.999999988774,-3.73114574527e-05,-0.000132639536348,-5.88760122248e-05,1793254873536364800
+179,2.983333333,POSE1_TO_POSE2_PRESS,785.795983871,760,737.795983871,716,687,651,917,801,841.795983871,658,636,657.795983871,0.436212538599,-0.015543106811,0.0799362660698,0.999999993162,-4.67848132672e-05,-9.19263998562e-05,-5.51040836965e-05,1793254873553031424
+180,3.000000000,POSE1_TO_POSE2_PRESS,786,760,738,716.374209469,687,651,917,801,841.625790531,657.625790531,636,658,0.437192158904,-0.015548297045,0.079976010134,0.999999996579,-5.38090692979e-05,-3.39551356642e-05,-5.28536479889e-05,1793254873569697792
+181,3.016666667,POSE1_TO_POSE2_PRESS,786,760,738,716.950657457,687,651,917,801,841.049342543,657.049342543,636,658,0.438177252457,-0.0155543786199,0.0800195768995,0.999999996351,-5.95097281783e-05,3.33431434317e-05,-5.1425490983e-05,1793254873586364672
+182,3.033333333,POSE1_TO_POSE2_PRESS,786,760,737.476666694,716.476666694,686.476666694,651,917,801,841.523333306,657,636,658,0.439085293037,-0.0155624064509,0.0800221163266,0.999999994978,-7.80645011045e-05,3.48774555408e-05,-5.22839038176e-05,1793254873603031552
+183,3.050000000,POSE1_TO_POSE2_PRESS,786,760,737,716.098759567,686,651,917,801,841.901240433,657,636,657.901240433,0.439964760929,-0.0155685435514,0.0800028848814,0.999999994023,-9.46472149869e-05,3.31905080654e-06,-5.46383508503e-05,1793254873619698176
+184,3.066666667,POSE1_TO_POSE2_PRESS,786,760,737,716.689651083,686,651,917,801,841.310348917,657,636,657.310348917,0.440737790444,-0.015564351016,0.0798943044497,0.999999980242,-9.54068007856e-05,-0.000162467619698,-6.33811099378e-05,1793254873636364800
+185,3.083333333,POSE1_TO_POSE2_PRESS,786,760,737,716.724428897,686,650.724428897,917,800.724428897,841.275571103,657,636,657,0.441527972894,-0.0155639864673,0.0798089023307,0.999999950054,-0.000105973271832,-0.000289193370662,-7.0913756685e-05,1793254873653031424
+186,3.100000000,POSE1_TO_POSE2_PRESS,786,760,737,716.144008609,686,650.144008609,917,800.144008609,841.855991391,657,636,657,0.442337130642,-0.0155678566102,0.079749141114,0.999999919458,-0.000127388563338,-0.000372708162362,-7.7107723119e-05,1793254873669698048
+187,3.116666667,POSE1_TO_POSE2_PRESS,786,760,737.432314292,716,686,650,917,800,842,657,636,657.432314292,0.443203111446,-0.0155772876833,0.0797778387071,0.999999934937,-0.000127761908105,-0.000328751223943,-7.56697123803e-05,1793254873686364672
+188,3.133333333,POSE1_TO_POSE2_PRESS,786,760,737.992569163,716.007430837,686,650,917,799.992569163,842,657.007430837,636,657.992569163,0.444086916244,-0.0155885107838,0.0798353842818,0.999999960461,-0.000121417207753,-0.000243298449514,-7.16990884096e-05,1793254873703031552
+189,3.150000000,POSE1_TO_POSE2_PRESS,786,760,737.406101636,716.593898364,686,650,917,799.406101636,842,657.593898364,636,657.406101636,0.444898506124,-0.0155963840958,0.079866283017,0.999999968565,-0.000132640287116,-0.000202084939866,-6.66229803147e-05,1793254873719698432
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,760,737,716.821908775,685.821908775,650,917,799,842,657.821908775,636,657.178091225,0.445702404333,-0.0156031521313,0.0798824369508,0.999999971653,-0.00014309380892,-0.00017922515993,-6.40112141643e-05,1793254873736364800
+191,3.183333333,POSE1_TO_POSE2_PRESS,786,760,737,716.242837309,685.242837309,650,917,799,842,657.242837309,636,657.757162691,0.446488984567,-0.0156074315899,0.0798653923208,0.999999966695,-0.000151814640591,-0.000197689603742,-6.69480217093e-05,1793254873753031424
+192,3.200000000,POSE1_TO_POSE2_PRESS,786,760,737,716,685,650,917,799,842,657,635.663839915,658,0.44721809493,-0.0156118216193,0.0798301305606,0.999999954628,-0.00016304147134,-0.000243175167762,-7.09067549856e-05,1793254873769698048
+193,3.216666667,POSE1_TO_POSE2_PRESS,786,760,737,716,685,650,917,799,842,657,635.084896053,658,0.447905698973,-0.0156162915056,0.0797817119042,0.999999934154,-0.000176078200397,-0.00030817610345,-7.56035498689e-05,1793254873786364672
+194,3.233333333,POSE1_TO_POSE2_PRESS,786,760,737,716,685.490056954,650,917,799,842,657,635,658,0.44851708488,-0.0156144188549,0.0797157291724,0.999999894163,-0.00017770524163,-0.000416477918748,-8.14944842774e-05,1793254873803031552
+195,3.250000000,POSE1_TO_POSE2_PRESS,786,760,737,716,685.934073161,650,917,798.934073161,842.065926839,657,635,658,0.449122319039,-0.0156122890827,0.079654584145,0.999999846277,-0.000178042206807,-0.000517898111136,-8.676292295e-05,1793254873819697920
+196,3.266666667,POSE1_TO_POSE2_PRESS,786,760,737,716,685.345497867,650,917,798.345497867,842.654502133,657,635,658,0.449782614322,-0.0156167612294,0.079655718169,0.999999851571,-0.000183695020717,-0.000505775012819,-8.54696564745e-05,1793254873836364800
+197,3.283333333,POSE1_TO_POSE2_PRESS,786.238762796,760,737.238762796,716,685.238762796,650,917,797.761237204,843,657.238762796,635,658,0.450452160687,-0.0156227147254,0.0796745627491,0.99999986537,-0.000191480029953,-0.000475015839718,-8.33968721711e-05,1793254873853031680
+198,3.300000000,POSE1_TO_POSE2_PRESS,786.816890812,760,737.816890812,716,685.816890812,650,917,797.183109188,843,657.816890812,635,658,0.451134856009,-0.0156307737349,0.0797185802075,0.999999889056,-0.000202295631624,-0.0004177683035,-8.02161210404e-05,1793254873869698560
+199,3.316666667,POSE1_TO_POSE2_PRESS,787,760,737.60441864,716,685.60441864,649.60441864,917,797,842.60441864,657.60441864,635,658,0.451722439409,-0.0156365865985,0.0797193457957,0.999999884198,-0.000208228612363,-0.000426359355094,-8.03849696555e-05,1793254873886365184
+200,3.333333333,POSE1_TO_POSE2_PRESS,787,760,737.025467282,716,685.025467282,649.025467282,917,797,842.025467282,657.025467282,635,658,0.452265934157,-0.0156413582717,0.0797000621737,0.999999865848,-0.000211898276561,-0.000465469589024,-8.21065101833e-05,1793254873903031808
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+202,3.366666667,POSE1_TO_POSE2_PRESS,786,760,737,716,684.87498596,648.87498596,916.87498596,795.87498596,842,657.12501404,635,657.87498596,0.453231314559,-0.0156475514735,0.0796048621514,0.999999785,-0.000236958347559,-0.000604232729168,-9.35555572079e-05,1793254873936365312
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,760,737,716,684.285368612,648.285368612,916.285368612,795.285368612,842,657.714631388,635,657.285368612,0.453684046864,-0.0156485567173,0.0795712934045,0.999999758782,-0.000222427396578,-0.000651957681956,-8.89511788684e-05,1793254873953031936
+204,3.400000000,POSE1_TO_POSE2_PRESS,786,760.299524278,737,716,684,648,916,795,842,657.700475722,634.700475722,657.299524278,0.454137792907,-0.015651194145,0.0795491179397,0.999999736559,-0.000224946193661,-0.000684337918993,-8.92293263611e-05,1793254873969698304
+205,3.416666667,POSE1_TO_POSE2_PRESS,786,760.87998585,737,716,684,648,916,795,842,657.12001415,634.12001415,657.87998585,0.454592489752,-0.0156553624713,0.0795376287488,0.999999719308,-0.000243456717552,-0.000702325654801,-9.40870148494e-05,1793254873986364928
+206,3.433333333,POSE1_TO_POSE2_PRESS,786,760.543974388,737,716,684,648,916,794.543974388,842.456025612,657.456025612,634.456025612,658,0.455007918262,-0.0156624437024,0.0795354415785,0.999999712895,-0.000255438350634,-0.000706985320383,-9.55684802727e-05,1793254874003031552
+207,3.450000000,POSE1_TO_POSE2_PRESS,786.031632262,760,736.968367738,716,684,648,916,794,842.968367738,657.968367738,635,658,0.455409431373,-0.0156699642106,0.0795355056534,0.99999970908,-0.000264864156097,-0.000708839196913,-9.60898373524e-05,1793254874019698432
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,786.425491631,759,736,716,686,650,916.287254184,799.287254184,840.287254184,657,635,657.712745816,0.429896379366,-0.015386782919,0.0797094531046,0.99999985994,0.000209554228909,-0.000485155655613,2.88158026427e-05,1793254876209913088
+337,5.616666667,POSE2_TO_POSE3_RETREAT,785.25279843,759,736,716,686,650,916.873600785,799.873600785,840.873600785,657,635,657.126399215,0.429025419856,-0.0153944832932,0.0797831727799,0.999999916486,0.000212202354575,-0.000347520555619,3.50428543454e-05,1793254876226579968
+338,5.633333333,POSE2_TO_POSE3_RETREAT,785.455575003,759.455575003,736,716,686,650,917,799.544424997,840.544424997,657,635,657,0.428110219703,-0.0153971336974,0.0798281920329,0.999999938168,0.000218349993468,-0.000272661605261,4.05405638723e-05,1793254876243246592
+339,5.650000000,POSE2_TO_POSE3_RETREAT,786,759.964000982,736,716,686,650,917,799,840,657,635,657,0.427178626865,-0.0153981401959,0.0798600220722,0.99999994871,0.000225059217307,-0.000223347543379,4.52155272204e-05,1793254876259913216
+340,5.666666667,POSE2_TO_POSE3_RETREAT,786,759.388799326,736,716,686,650,917,799,840,657,635,657,0.426183604983,-0.0153953105858,0.0798124375826,0.999999929213,0.000225775263771,-0.000298251671299,4.05693043515e-05,1793254876276580096
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,786,759.758322463,736,716,686,650,917,799,840,657,635,657,0.424210613523,-0.0153890300923,0.0797426995174,0.999999891435,0.000231320169327,-0.000402878799214,3.61978828993e-05,1793254876309913600
+343,5.716666667,POSE2_TO_POSE3_RETREAT,786,759.657837639,736.342162361,716,685.657837639,650,917,799,840,657,635.342162361,657,0.4232387344,-0.0153849202131,0.0797225867631,0.999999875852,0.000238916405033,-0.000435874195566,3.50588435668e-05,1793254876326579968
+344,5.733333333,POSE2_TO_POSE3_RETREAT,786,759.065882193,736.934117807,716,685.065882193,650,917,799,840,657,635.934117807,657,0.422274348526,-0.0153802182316,0.0797085078344,0.999999861092,0.00024926781059,-0.000463185717205,3.37669175531e-05,1793254876343246336
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,786,759,736,716,685.903177484,650,917,799,839.903177484,658,635.903177484,657.903177484,0.420620595348,-0.0153894632102,0.0798343749112,0.999999939765,0.000247833818291,-0.000238870125941,4.46132544016e-05,1793254876376579840
+347,5.783333333,POSE2_TO_POSE3_RETREAT,786,759,736,716,685.329696246,650,917,799,839.329696246,658,635.329696246,657.329696246,0.419760155746,-0.0153865635522,0.0798543936151,0.999999947616,0.000244639446936,-0.000206873196395,4.60867914655e-05,1793254876393246464
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,785.164295962,759,736,716,685.835704038,650,917,799.835704038,839.835704038,658,635,657.835704038,0.417982961556,-0.0153826914505,0.0797992523766,0.999999922816,0.000241381849601,-0.000307315952817,4.07293039228e-05,1793254876426580224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,785,759,736,716,686,650,917,799.580734491,840,657.580734491,635.419265509,657.580734491,0.417107418775,-0.0153831842752,0.0797924914998,0.999999917263,0.000239124977358,-0.000326727249618,3.92695503789e-05,1793254876443246848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,785.001693464,759,736.001693464,716,686,650,917,799.001693464,840,657.001693464,635.998306536,657.001693464,0.416241480399,-0.0153844587461,0.0798012291977,0.999999919666,0.000236404383461,-0.000321347005909,3.89394088285e-05,1793254876459913472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,785.576903279,759,736.576903279,716,686,650,917,799.576903279,840,657.576903279,635.423096721,657.576903279,0.415410240299,-0.0153815320858,0.0797852309446,0.999999907436,0.000242675111533,-0.000353074107665,3.96926330587e-05,1793254876476580096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,785.848016008,759,736.848016008,716.151983992,686,650,917,799.848016008,839.848016008,657.848016008,635.151983992,657.848016008,0.41460166213,-0.0153790980485,0.0797727338412,0.999999898567,0.000246245378866,-0.000375038800198,3.96970742667e-05,1793254876493246720
+354,5.900000000,POSE2_TO_POSE3_RETREAT,785.273294257,759,736.273294257,716.726705743,686,650,917,799.273294257,839.273294257,657.273294257,635.726705743,657.273294257,0.413856117083,-0.0153780342232,0.0797699750501,0.999999901542,0.000242304418196,-0.00036984972653,3.7618803916e-05,1793254876509913600
+355,5.916666667,POSE2_TO_POSE3_RETREAT,785.310427388,759,736.310427388,717,686,650,916.689572612,799,839.310427388,657,636,657.310427388,0.413137861966,-0.0153787758351,0.0797802535411,0.999999909494,0.000242096015053,-0.000347825486217,3.7676049407e-05,1793254876526579968
+356,5.933333333,POSE2_TO_POSE3_RETREAT,785.902308899,759,736.902308899,717,686,650,916.097691101,799,839.902308899,657,636,657.902308899,0.412444349762,-0.0153811543768,0.0798023524995,0.999999920917,0.000245271796889,-0.000310537363658,3.96694957301e-05,1793254876543246336
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,785.942119317,759.942119317,737,717,686,650,916.942119317,800,840,658,635,657.942119317,0.410975561099,-0.0153835078611,0.0797794133214,0.999999907081,0.000237691097179,-0.000357496306812,3.92006951241e-05,1793254876576580096
+359,5.983333333,POSE2_TO_POSE3_RETREAT,785.365807132,759.365807132,737,717,686,650,916.365807132,800,840,658,635,657.365807132,0.410313435105,-0.0153774189964,0.0797756866639,0.999999901145,0.000249505716805,-0.000365955854012,3.91649153287e-05,1793254876593246720
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,785,759,736.218694448,717,686,650,916.781305552,799.218694448,840,658,635,657,0.409112561208,-0.0153729852264,0.0798103398372,0.999999919755,0.000255823455292,-0.000305632807371,4.04030727976e-05,1793254876626580480
+362,6.033333333,POSE2_TO_POSE3_RETREAT,785,759,736.369051487,717,686,650,917,799.369051487,840,658,635.369051487,657.369051487,0.408543710709,-0.0153721768053,0.079826688875,0.999999927205,0.000255771898999,-0.0002800036123,4.20633383436e-05,1793254876643247104
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,760,737.886284641,717,686,650,916.113715359,799.113715359,840,657.886284641,636,657.113715359,0.406822097895,-0.0153639321406,0.079772412142,0.999999891028,0.000265281386923,-0.000382323353478,3.74034010441e-05,1793254876693246720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,760,737.308300034,717,686,650,916.691699966,799.691699966,840,657.308300034,636,657.691699966,0.406330119923,-0.0153656075381,0.0797567038919,0.999999884879,0.00026295100193,-0.000399713406155,3.64503393296e-05,1793254876709913600
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784.274375094,759.725624906,737,717.274375094,686,650.274375094,917,800,839.725624906,657.274375094,635.725624906,658,0.40588338171,-0.0153665457051,0.0797591714001,0.999999889838,0.000263995559332,-0.000386342468383,3.70073830602e-05,1793254876726580224
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.402043609,799,840,657,635,658,0.404332037491,-0.0153617621104,0.0798192877723,0.999999918504,0.000275982800877,-0.000291580929698,4.24956842717e-05,1793254876793246464
+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,799,840,657.173480577,635,658,0.403972633156,-0.0153596507679,0.0798226686977,0.999999920295,0.000268763134998,-0.000292481488762,4.03889485201e-05,1793254876809913344
+373,6.216666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,799,840,657.75134248,635,658,0.403637389805,-0.0153572942194,0.0798223226633,0.999999915023,0.000275770957021,-0.000303743403391,4.05400605139e-05,1793254876826579712
+374,6.233333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.335779475,799,839.664220525,658,635,657.664220525,0.403339171658,-0.015353748642,0.0798227297813,0.999999912296,0.000282631721464,-0.000306290109007,4.13966102583e-05,1793254876843246592
+375,6.250000000,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.925182889,799,839.074817111,658,635,657.074817111,0.403068919684,-0.0153493049565,0.0798237057771,0.999999911535,0.000289381409818,-0.00030225396668,4.27859975325e-05,1793254876859913728
+376,6.266666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916.497294725,799,839.502705275,658,635.502705275,657,0.402824955965,-0.0153499046671,0.0798274037267,0.999999912373,0.000291715051938,-0.00029724062185,4.24838711762e-05,1793254876876580096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,799,840,658,636,657,0.402588269824,-0.015351316153,0.0798303738477,0.999999913356,0.000292118792603,-0.000293588331469,4.19615527718e-05,1793254876893246464
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,917,799,839,657,635.985288808,657.985288808,0.401735905555,-0.0153620255093,0.0798315789426,0.99999991938,0.000278003189722,-0.000285925958992,4.69094994391e-05,1793254876976579584
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,650,916,799.139274293,840,657,636,657.139274293,0.401513596207,-0.0153595259917,0.0798419480941,0.999999919511,0.000289832864692,-0.000273629994668,4.58339140953e-05,1793254877009914368
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,783.291562665,759,737,718,686,650,916,800,840,657.291562665,635.708437335,658,0.401328598085,-0.0153609065038,0.0798342854031,0.999999920838,0.000275122976181,-0.000285926870187,2.96283744833e-05,1793254877043246848
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,784,759,737,718,686,650,916,800,840,658,635.467187586,657.532812414,0.401200474692,-0.0153593231647,0.0798313903959,0.999999919119,0.000276797660949,-0.000289971716987,3.25880014011e-05,1793254877076580096
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.377569028,759.622430972,737,718.622430972,686,650,916,799.377569028,840,657.377569028,635.377569028,657,0.401110789847,-0.0153547840397,0.0798323290523,0.999999917916,0.000282203252831,-0.000288706903046,3.43254851246e-05,1793254877109913088
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b0dadac3802327cc3a9fc084ac6562da701c57f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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+416,6.933333333,pose2_to_pose3_retreat,0.57566681815,-0.00981821402435,1.07002038983,0.546237964732,-0.00114397983053,1.06969210415
+417,6.950000000,pose2_to_pose3_retreat,0.575666768058,-0.00981823658648,1.07002034677,0.546237914774,-0.00114400183146,1.06969206398
+418,6.966666667,pose2_to_pose3_retreat,0.575666768068,-0.00981823744522,1.07002034676,0.546237914776,-0.00114400271447,1.06969206398
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2148a740030703203655734a174a6d826995db10
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5efe6fcfd8d58e2d055794dfe4add68ab47d7e09327be16a9c7977ec124c38ab
+size 26284180
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bacb44fd2d6f86a4e092fb0219fc13fc675ac3e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,760,738,722,691,650,916,800,838,658,634,657,0.400913150894,0.0044039420769,0.0599285574613,0.999999968921,-0.000118742565121,-0.000217082104615,-3.05409094991e-05,1793254879332186624
+1,0.016666667,BASELINE,783,760,738,722,691,650,916,800,838,658,634.58057221,657,0.400912102512,0.0044036192404,0.0599280985623,0.999999969029,-0.000115956722195,-0.000218130964834,-3.0247727572e-05,1793254879348853248
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+22,0.366666667,BASELINE,783.750525213,760,738,722,690.249474787,650,916.249474787,800,839,658,635,657,0.400914093348,0.00440659528556,0.0599270758933,0.999999969864,-0.000112470660931,-0.000216151400385,-3.00288207167e-05,1793254879698852352
+23,0.383333333,BASELINE,784,760.324889631,738,722,690.324889631,650,916.324889631,800,839,658,634.675110369,657,0.400914022163,0.00440603275628,0.0599272295815,0.999999969757,-0.000112528985089,-0.000216632236676,-2.99022273457e-05,1793254879715518976
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+25,0.416666667,BASELINE,784,761,738,722,691,650,916.505395467,800,839,658,634.494604533,657,0.400913841754,0.00440594691171,0.0599271027629,0.999999969694,-0.000112242067205,-0.00021709944231,-2.969578638e-05,1793254879748851968
+26,0.433333333,BASELINE,784,760.912364439,738,722,691,650,916,800,839,657.912364439,635,657,0.40091382619,0.00440737729944,0.059926683006,0.999999969732,-0.000111774528858,-0.000217128872523,-2.99659345626e-05,1793254879765518592
+27,0.450000000,BASELINE,784,760.337105307,738,722,691,650,916,800,839,657.337105307,635,657,0.400914332783,0.00440761097033,0.0599268887134,0.99999997003,-0.000110727856161,-0.00021629042388,-2.99643448184e-05,1793254879782185472
+28,0.466666667,BASELINE,783.761946763,760,738,722,691,650,916.238053237,800,838.761946763,657.238053237,635,657,0.400914075451,0.00440729129877,0.0599266198098,0.999999969995,-0.000110717461581,-0.000216472504656,-2.98550113438e-05,1793254879798852352
+29,0.483333333,BASELINE,783.186930633,760,738,722,691,650,916.813069367,800,838.186930633,657.813069367,635,657,0.400912736788,0.00440618837438,0.0599256790974,0.999999969487,-0.000112173912363,-0.000218099138596,-2.95931672816e-05,1793254879815518976
+30,0.500000000,BASELINE,783.397922258,760.397922258,737.602077742,722,691,650,916.602077742,800,838,658,635,657,0.400912306421,0.00440577135512,0.0599254791187,0.999999969257,-0.000113240941332,-0.000218622079129,-2.94456717518e-05,1793254879832185600
+31,0.516666667,BASELINE,783.987513241,760.987513241,737.012486759,722,691,650,916.012486759,800,838,658,635,657,0.400912313557,0.00440568471843,0.0599256359321,0.999999969162,-0.000114120395974,-0.000218613399419,-2.93532549216e-05,1793254879848852224
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+47,0.783333333,BASELINE,783,760,737.733357924,721.733357924,691,650,916,800,838.733357924,657.266642076,634.733357924,657,0.400913501354,0.00440687171557,0.0599260829257,0.999999969678,-0.000111148139807,-0.000217813269486,-2.91173922871e-05,1793254880115519488
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+51,0.850000000,BASELINE,784,760,737.405671284,722,691,650,916,800,838.594328716,657,634.594328716,657,0.400914730632,0.00440755522806,0.0599272303463,0.999999969937,-0.000111690985095,-0.000216286864146,-2.95027494213e-05,1793254880182185472
+52,0.866666667,BASELINE,783.828647546,760,737.171352454,722,691,650,916,800,838.828647546,657,634.828647546,657,0.400913848505,0.00440831625308,0.0599268150144,0.999999969803,-0.000111206309672,-0.000217166186871,-2.94178773695e-05,1793254880198852096
+53,0.883333333,BASELINE,783.252206358,760,737.747793642,722,691,650,916,800,838.252206358,657,634.252206358,657,0.400913460574,0.00440801905285,0.0599256713748,0.999999969586,-0.000111470378614,-0.000218062377988,-2.91617827889e-05,1793254880215518976
+54,0.900000000,BASELINE,783.322195752,760,738,722,691,650,916,800,838,657,634,656.677804248,0.400913451143,0.00440790579049,0.0599255455942,0.999999969672,-0.000110863760788,-0.000217985805477,-2.91187778974e-05,1793254880232186112
+55,0.916666667,BASELINE,783.895011734,760,738,722,691,650,916,800,838,657,634,656.104988266,0.40091373613,0.00440793560435,0.0599262115561,0.999999969991,-0.000109579878531,-0.000217152567932,-2.92415250082e-05,1793254880248852992
+56,0.933333333,BASELINE,784,760,738,722,691,650,916,800,838.486355095,657,634.486355095,656.486355095,0.400914944785,0.00440770156859,0.0599272085592,0.999999970208,-0.000109814591455,-0.000216018051573,-2.93303878507e-05,1793254880265519360
+57,0.950000000,BASELINE,784,760,738,722,691,650,916.079110762,800,839,657.079110762,635,657,0.400916187042,0.00440750548426,0.0599280565248,0.999999970393,-0.000110322559658,-0.000214891135166,-2.94006914227e-05,1793254880282185728
+58,0.966666667,BASELINE,784,760,738,722,691,650,916.654637987,800,839,657.654637987,635,657,0.400916339438,0.0044079190975,0.059927503113,0.999999970524,-0.000110406701087,-0.000214236170565,-2.94022523183e-05,1793254880298852352
+59,0.983333333,BASELINE,784,760.229817557,738,721.770182443,691,650,917,800,839,657.770182443,635,657,0.400915629602,0.00440795617013,0.0599267998193,0.999999970274,-0.000111191498797,-0.00021499918805,-2.93764029104e-05,1793254880315518976
+60,1.000000000,BASELINE,784,760.804475561,738,721.195524439,691,650,917,800,839,657.195524439,635,657,0.400913625989,0.00440742824496,0.0599258716284,0.999999969445,-0.000113027628832,-0.000217889882626,-2.93094244373e-05,1793254880332185600
+61,1.016666667,BASELINE,784,760.612434918,738,721,691,650,917,800,839,657,635,657,0.400913328029,0.00440787950244,0.0599254463097,0.999999969399,-0.000111671869052,-0.000218789341105,-2.93602403153e-05,1793254880348852480
+62,1.033333333,BASELINE,784,760.02499718,738,721,691,650,917,800,839,657,635,657,0.400913909696,0.00440883573795,0.0599252803291,0.999999969755,-0.000108670007587,-0.000218661891506,-2.9471804368e-05,1793254880365519360
+63,1.050000000,BASELINE,783.441725403,760,738,721.558274597,691,650,916.441725403,800,839,657.558274597,635,657,0.400913895836,0.00440706916668,0.0599255701717,0.999999969576,-0.000111692115089,-0.000217959340918,-2.94411735344e-05,1793254880382186240
+64,1.066666667,BASELINE,783,760,738,722,691,650,916.139575726,800,838.860424274,658,635,657,0.40091379408,0.00440609644177,0.0599257036901,0.999999969426,-0.000113682119595,-0.000217613583988,-2.94878623931e-05,1793254880398852864
+65,1.083333333,BASELINE,783,760,738,722,691,650,916.715297508,800,838.284702492,658,635,657,0.400913500375,0.00440798246763,0.0599252854221,0.999999969465,-0.000111610407238,-0.000218462604906,-2.97959076109e-05,1793254880415519488
+66,1.100000000,BASELINE,783.290548231,760,738,722,691,650,917,800,838,658,635,657,0.400913263103,0.00440889165999,0.0599251756864,0.999999969599,-0.000109893575721,-0.000218727595012,-2.97202714371e-05,1793254880432185856
+67,1.116666667,BASELINE,783.865338086,760,738,722,691,650,917,800,838,658,635,657,0.400913081039,0.00440884522178,0.0599253677858,0.999999969829,-0.000108523922165,-0.000218421231162,-2.92692819966e-05,1793254880448852224
+68,1.133333333,BASELINE,783.550536822,760,738,721.550536822,691,650,916.550536822,800,838.449463178,658,635,657,0.400913778939,0.00440911339502,0.0599259880147,0.999999970036,-0.000108624561612,-0.000217413259836,-2.93456459507e-05,1793254880465519104
+69,1.150000000,BASELINE,783,760,738,721.036116683,691,650,916,800,839,657.963883317,635,657,0.400914597657,0.00440942880585,0.0599266505566,0.999999970197,-0.000109183946194,-0.000216359618567,-2.95572454683e-05,1793254880482185472
+70,1.166666667,BASELINE,783,760,738,721.617817632,691,650,916,800,839,657.382182368,635,657,0.400913174379,0.00440900369443,0.0599259735166,0.999999969801,-0.000109877670018,-0.000217858835648,-2.93743636894e-05,1793254880498852608
+71,1.183333333,BASELINE,783,760,738,722,691,650,916.196671737,800,839,657.196671737,635,657,0.400912754102,0.00440834358869,0.0599258785173,0.999999969599,-0.000110856089308,-0.000218306303625,-2.92403058229e-05,1793254880515519488
+72,1.200000000,BASELINE,783,760,738,722,691,650,916.770072748,800,839,657.770072748,635,657,0.400914255094,0.00440723334579,0.0599268984303,0.999999969771,-0.000112379849491,-0.00021673912207,-2.91997712603e-05,1793254880532186368
+73,1.216666667,BASELINE,783,760,738,722,691,650,916.655104541,800,839,658,635,657,0.400914600235,0.00440729627511,0.0599266265886,0.999999969821,-0.000111876949247,-0.000216773320369,-2.91720597435e-05,1793254880548852992
+74,1.233333333,BASELINE,783,760,738,722,691,650,916.079330152,800,839,658,635,657,0.400914171631,0.00440814454608,0.0599254900241,0.999999969787,-0.000110017367703,-0.000217879509871,-2.91529321956e-05,1793254880565519360
+75,1.250000000,BASELINE,783.512889868,760,738,722,691,650,916.512889868,800,839,658,635,657,0.400915574496,0.0044092719149,0.0599269306322,0.999999970222,-0.000110098133776,-0.000215811056896,-2.93216431508e-05,1793254880582185728
+76,1.266666667,BASELINE,783.895844059,760,738,722,691,650,916.895844059,800,838.895844059,658,634.895844059,657,0.400916466585,0.0044100820217,0.0599279722506,0.999999970494,-0.00011045257909,-0.00021434654648,-2.9466169082e-05,1793254880598852608
+77,1.283333333,BASELINE,783.320772693,760,738,722,691,650,916.320772693,800,838.320772693,658,634.320772693,657,0.400913726119,0.00440925606346,0.0599253479767,0.999999969706,-0.000110642532541,-0.000217906233811,-2.93656385529e-05,1793254880615518976
+78,1.300000000,BASELINE,783,760,738,722,691,650,916,800,838.253769373,657.746230627,634.253769373,657,0.400913622381,0.00440894637311,0.0599249231358,0.999999969746,-0.000110135709303,-0.000217985295291,-2.93357291364e-05,1793254880632185600
+79,1.316666667,BASELINE,783,760,738,722,691,650,916,800,838.827643736,657.172356264,634.827643736,657,0.400916844617,0.00440928790376,0.0599272726626,0.999999970826,-0.000108749971104,-0.0002136738909,-2.93949012831e-05,1793254880648852224
+80,1.333333333,BASELINE,783.413924515,760,738,721.586075485,691,650,916,800,839,657,635,657,0.400916387313,0.00441012710374,0.0599269234162,0.999999970666,-0.000108767618387,-0.000214394915696,-2.95529448965e-05,1793254880665519360
+81,1.350000000,BASELINE,783.994588408,760,738,721,691,650,916,800,838.994588408,657.005411592,635,657,0.40091436791,0.00441116154837,0.0599254279016,0.999999969973,-0.00010939381395,-0.000217258812329,-2.97494108504e-05,1793254880682186752
+82,1.366666667,BASELINE,783.415747882,760,738,721,691,650,916,800,838.415747882,657.584252118,635,657,0.400914190613,0.00441024778439,0.0599252263291,0.999999969617,-0.000110669442757,-0.000218283557292,-2.95199697053e-05,1793254880698852864
+83,1.383333333,BASELINE,783,760,738,721.162039934,691,650,916.162039934,800,838.162039934,657.837960066,634.837960066,657,0.400914084367,0.00440944745875,0.0599252888419,0.999999969468,-0.000111421572508,-0.000218609740883,-2.93171036131e-05,1793254880715519232
+84,1.400000000,BASELINE,783,760,738,721.737144355,691,650,916.737144355,800,838.737144355,657.262855645,634.262855645,657,0.400914159242,0.00440893630451,0.0599260245482,0.999999969853,-0.000110839223664,-0.000217155185307,-2.91819813314e-05,1793254880732185856
+85,1.416666667,BASELINE,783.309627413,760,738,722,691,650,916.690372587,799.690372587,838.690372587,657.309627413,634.309627413,657,0.400914332753,0.00440838213487,0.0599262734679,0.99999997005,-0.000110606267815,-0.000216380744727,-2.90768756504e-05,1793254880748852480
+86,1.433333333,BASELINE,783.879903736,760,738,722,691,650,916.120096264,799.120096264,838.120096264,657.879903736,634.879903736,657,0.400914589297,0.00440779175424,0.0599261126034,0.999999970089,-0.000110667436161,-0.000216178835039,-2.89970383935e-05,1793254880765518848
+87,1.450000000,BASELINE,783.527811543,760,738,722,691,650,916,799.472188457,838.472188457,658,634.527811543,657,0.400913947853,0.00441012029836,0.0599258029944,0.999999970185,-0.000108087719304,-0.000217026285826,-2.91024425019e-05,1793254880782185728
+88,1.466666667,BASELINE,783,760.067799094,737.932200906,722,691,650,916.067799094,800,838.932200906,658,634,657,0.400913199327,0.00441258910176,0.0599255376897,0.999999970256,-0.000105465346632,-0.000217970046701,-2.92155758009e-05,1793254880798852352
+89,1.483333333,BASELINE,783,760.644311387,737.355688613,722,691,650,916.644311387,800,838.355688613,658,634,657,0.40091344482,0.00441026758253,0.0599259025478,0.999999970107,-0.00010780909597,-0.000217535973032,-2.90159111395e-05,1793254880815519232
+90,1.500000000,BASELINE,783.220134357,761,737.220134357,721.779865643,691,650,916.779865643,800,838,657.779865643,634,657,0.400913661331,0.00440924103253,0.0599259319179,0.999999969985,-0.000109655934311,-0.000217163063608,-2.90944392243e-05,1793254880832186112
+91,1.516666667,BASELINE,783.794846952,761,737.794846952,721.205153048,691,650,916.205153048,800,838,657.205153048,634,657,0.400913831157,0.00441030033576,0.0599254209054,0.999999969913,-0.000110702380205,-0.000216888673655,-2.96210622814e-05,1793254880848852736
+92,1.533333333,BASELINE,784,760.620161158,738,721.379838842,691,650,916.379838842,800,838,657.379838842,634,657,0.400915104637,0.00441043175552,0.0599260004784,0.999999970122,-0.000110514307586,-0.000216018676131,-2.96253325759e-05,1793254880865519360
+93,1.550000000,BASELINE,784,760.029462883,738,721.970537117,691,650,916.970537117,800,838,657.970537117,634,657,0.400916990785,0.00441004808067,0.0599271854666,0.999999970486,-0.00010964091844,-0.000214818039742,-2.93396299234e-05,1793254880882185984
+94,1.566666667,BASELINE,783.45000297,760,737.45000297,722,691.54999703,650,916.45000297,800,838.54999703,657.45000297,634.54999703,657,0.400915384609,0.00440999053753,0.059926303518,0.999999970088,-0.000111042916172,-0.000215903274244,-2.96464269345e-05,1793254880898852352
+95,1.583333333,BASELINE,783,760.128152135,737.128152135,722,691.871847865,650,916.128152135,800,838.871847865,657.128152135,634.871847865,656.871847865,0.400913826615,0.00440985257567,0.0599254246213,0.999999969743,-0.000111894234075,-0.000217034799896,-2.9834856397e-05,1793254880915519232
+96,1.600000000,BASELINE,783,760.703811193,737.703811193,722,691.296188807,650,916.703811193,800,838.296188807,657.703811193,634.296188807,656.296188807,0.400913077081,0.00440937400616,0.0599249352877,0.999999969728,-0.000110405461431,-0.000217908934138,-2.95013311742e-05,1793254880932186112
+97,1.616666667,BASELINE,783,760.721095412,738,721.721095412,691,650.278904588,916.721095412,800,838.278904588,658,634.278904588,656.278904588,0.400912693578,0.00440904089465,0.059924834889,0.999999969743,-0.000109865863036,-0.000218147362708,-2.92308371522e-05,1793254880948852992
+98,1.633333333,BASELINE,783,760.146601554,738,721.146601554,691,650.853398446,916.146601554,800,838.853398446,658,634.853398446,656.853398446,0.400912698002,0.0044088619428,0.0599251466923,0.999999969793,-0.000110332220658,-0.000217712056259,-2.9027145015e-05,1793254880965519616
+99,1.650000000,BASELINE,783,760,737.559363707,721.440636293,691,650.559363707,916,800,838.559363707,657.559363707,634.559363707,657,0.400913513984,0.00440889384403,0.0599252673556,0.999999969795,-0.00011118905625,-0.000217247557396,-2.91731949063e-05,1793254880982186240
+100,1.666666667,BASELINE,783,760,737,721.968452537,691,650,916,800,838.031547463,657.031547463,634.031547463,657,0.400914518516,0.00440897526702,0.0599253034245,0.999999969765,-0.000112155257591,-0.000216853558991,-2.94200682691e-05,1793254880998852864
+101,1.683333333,BASELINE,783,760,737,721.389563491,691,650,916,800,838.610436509,657.610436509,634.610436509,657,0.400913970213,0.00440866251545,0.059925007986,0.999999969489,-0.000112697826833,-0.000217856255397,-2.93372478601e-05,1793254881015519488
+102,1.700000000,BASELINE,783,760,737,721.187678075,691,650,916,800,839,657.812321925,634.812321925,657,0.40091393715,0.00440856339221,0.0599249996128,0.999999969442,-0.000112864488499,-0.000217996915154,-2.92452323596e-05,1793254881032186112
+103,1.716666667,BASELINE,783,760,737,721.761529656,691,650,916,800,839,657.238470344,634.238470344,657,0.400914964264,0.00440890383876,0.0599255819157,0.999999969868,-0.000112257668454,-0.000216363815576,-2.91342967012e-05,1793254881048852224
+104,1.733333333,BASELINE,783,760,737.343350486,722,691,650,916,800,839,657,634,657,0.400915888692,0.00440926979598,0.0599264250163,0.999999970295,-0.000111429766092,-0.000214812380998,-2.91499100687e-05,1793254881065518848
+105,1.750000000,BASELINE,783,760,737.930837852,722,691,650,916,800,839,657,634,657,0.400916740107,0.00440965389241,0.0599274535551,0.999999970721,-0.000110444664685,-0.000213319013563,-2.9255505194e-05,1793254881082185472
+106,1.766666667,BASELINE,783,760,738,721.490116082,691,650,916.509883918,800,839,657.509883918,634.509883918,657,0.400916980961,0.00440953510004,0.0599277817705,0.999999970879,-0.000109301766568,-0.000213173201464,-2.91817561932e-05,1793254881098852608
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,738,722,691,650,917,800,839,658,634,657,0.400915692882,0.00441075046601,0.0599260196716,0.99999997079,-0.000108219652008,-0.000214105410318,-2.94417413489e-05,1793254881141867264
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.575462125,760,738,722,691,650,916.424537875,800,839,657.424537875,634.575462125,657,0.400914907062,0.00441070170249,0.0599256779858,0.999999970508,-0.000108017475726,-0.000215511275001,-2.95008684169e-05,1793254881158534144
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.844948328,760,738,722,691,650,916.155051672,800,839,657,634.844948328,657,0.400914355113,0.00441025362884,0.0599253379174,0.999999970203,-0.000108623347486,-0.000216626707231,-2.94575023239e-05,1793254881175200768
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.253748538,760,738,722,691,650,916.746251462,800,839,657,634.253748538,657,0.400914461027,0.00440868232732,0.0599250023986,0.999999969831,-0.000111502194576,-0.000216925176214,-2.912583107e-05,1793254881191866368
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.33109912,760,738,722,691,650,916.66890088,799.66890088,838.66890088,657,634.33109912,656.66890088,0.400915743033,0.0044077114771,0.0599256677404,0.999999970023,-0.000112232175983,-0.000215683759035,-2.89424693107e-05,1793254881208532736
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.911170217,760,738,722,691,650,916.088829783,799.088829783,838.088829783,657,634.911170217,656.088829783,0.400917909408,0.00440719213995,0.0599270856854,0.999999970639,-0.000111346304721,-0.000213284415164,-2.88706297893e-05,1793254881225199360
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.516551494,760,738,722,691,650,916.483448506,799.483448506,838.483448506,657.483448506,635,656.483448506,0.400925013885,0.00440857090816,0.0599292932659,0.999999971838,-0.000110833220892,-0.000207842303472,-2.9000166998e-05,1793254881241866240
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760,737.944939124,722,691,650,917,799.944939124,839,657.944939124,635,657,0.400934140253,0.00441001657254,0.0599319862217,0.999999973242,-0.000110435324523,-0.000201171210028,-2.91501083561e-05,1793254881258533376
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760,737.366258711,722,691,650,917,799.366258711,839,657.366258711,635,657,0.400954002716,0.00440883435838,0.0599379371292,0.99999997579,-0.000110491782698,-0.000188045161663,-2.91477951058e-05,1793254881275200000
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.217413555,760,737.217413555,722,691,650,916.782586445,799.217413555,839,657,635,656.782586445,0.400978771939,0.00440834055424,0.0599436232706,0.999999978421,-0.000110995137682,-0.000173112211666,-2.94996755233e-05,1793254881291866368
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.809692741,760,737.809692741,722,691,650,916.190307259,799.809692741,839,657,635,656.190307259,0.40101200142,0.00440903371049,0.0599488529005,0.999999981211,-0.000112269034561,-0.00015506379344,-3.04622585853e-05,1793254881308532736
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,760,737.608300315,722,691,650,916.391699685,800,839,657,634.608300315,656.391699685,0.401052736373,0.00440987404534,0.059952206167,0.99999998366,-0.000111602485936,-0.000138664156565,-3.15666502327e-05,1793254881325199360
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,760,737.031156551,722,691,650,916.968843449,800,839,657,634.031156551,656.968843449,0.401097024676,0.00441078405967,0.059954671099,0.999999985842,-0.000110017263889,-0.000123045107779,-3.27381790147e-05,1793254881341865984
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.457099711,760,737.542900289,721.457099711,691,650,916.457099711,800,838.457099711,657.542900289,634.542900289,657,0.401148430227,0.00440995712945,0.0599547524993,0.999999985683,-0.000113006899788,-0.000121537749395,-3.30571251282e-05,1793254881358532352
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.116762134,760,738,721.116762134,691.116762134,650,916,800,838.116762134,658,635,657,0.401205286315,0.00440935548319,0.0599550639443,0.999999985603,-0.000115690044557,-0.000119528802729,-3.35013725323e-05,1793254881375199232
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.690550396,760,738,721.690550396,691.690550396,650,916,800,838.690550396,658,635,657,0.401281887005,0.00441002359944,0.0599568082086,0.999999986338,-0.000116151692269,-0.000112404566185,-3.46265028963e-05,1793254881391866368
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.725253458,760.274746542,738,722,691.725253458,650,916,800,839,658,635,657,0.401368043246,0.00441041665057,0.059958412328,0.99999998678,-0.00011742003132,-0.000106647801862,-3.57468244778e-05,1793254881408533504
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.128873297,760.871126703,738,722,691.128873297,650,916,800,839,658,635,657,0.401465385745,0.0044104876951,0.0599598523862,0.999999986912,-0.000119632728195,-0.000102491877184,-3.68615165638e-05,1793254881425200384
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760.548329398,738,722,691,650,916.451670602,800,838.548329398,658,635,657,0.401585657786,0.00441041416492,0.0599637390098,0.999999987896,-0.000119557699785,-9.2139567639e-05,-3.773646182e-05,1793254881441866496
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760,738,722,691,650,916.97243582,800,838.02756418,658,635,657,0.401713277017,0.00441034986387,0.0599682301114,0.999999988965,-0.000118914720491,-8.02647563658e-05,-3.85559154109e-05,1793254881458532864
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760,738,722,691,650,916.402151282,800,838.597848718,658,635,657,0.401861105732,0.00441125196882,0.0599713440637,0.999999989481,-0.000119505971292,-7.2044251685e-05,-3.95840197012e-05,1793254881475199232
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.17489254,760,738,722,691,650,916,800,838.82510746,657.82510746,635,657,0.402018045619,0.00441196331787,0.0599730103616,0.999999989817,-0.000120218330602,-6.52052550037e-05,-4.07568545002e-05,1793254881491865856
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.768103539,760,738,722,691,650,916,800,838.231896461,657.231896461,635,657,0.40219677813,0.0044122184054,0.0599712140726,0.999999989858,-0.000121220364433,-6.16706331572e-05,-4.22758642631e-05,1793254881508532736
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.647350315,760,738,721.647350315,691,650,916.352649685,800,838.352649685,657.352649685,635,657,0.402397582751,0.00441236666512,0.0599695693946,0.999999990101,-0.000121169758628,-5.68370943668e-05,-4.34262295448e-05,1793254881525199616
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.06836533,760,738,721.06836533,691,650,916.93163467,800,838.93163467,657.93163467,635,657,0.402612553567,0.00441244636134,0.0599680220225,0.999999990454,-0.000120443554671,-5.11698928999e-05,-4.43399939994e-05,1793254881541866496
+132,2.200000000,POSE1_TO_POSE2_PRESS,783.508114774,760.508114774,738,721.508114774,691,650,917,800,839,658,635,657,0.402863636175,0.00441292721065,0.0599695369504,0.999999991026,-0.000118764180973,-4.23841099123e-05,-4.52412043214e-05,1793254881558532864
+133,2.216666667,POSE1_TO_POSE2_PRESS,783.914203144,761,738,722,690.828406289,650,917,800,839,657.914203144,635,657,0.403123357601,0.00441339959859,0.0599716814729,0.999999991501,-0.00011730483988,-3.32825207639e-05,-4.61595218924e-05,1793254881575199488
+134,2.233333333,POSE1_TO_POSE2_PRESS,783.327546174,761,738,722,689.655092347,650,917,800,839,657.327546174,635,657,0.403405285443,0.00441350905088,0.0599751079211,0.999999991633,-0.000117874987815,-2.47748094134e-05,-4.71875198838e-05,1793254881591866112
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,760.744044682,737.744044682,722,689,650,916.744044682,800,838.744044682,657,635,657,0.403702786552,0.00441444467164,0.059971752338,0.999999991782,-0.000115362527435,-2.88966226071e-05,-4.78768828099e-05,1793254881608532480
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,760.164532119,737.164532119,722,689,650,916.164532119,800,838.164532119,657,635,657,0.404019974063,0.00441642466525,0.0599598234796,0.999999991706,-0.000108953292094,-4.89836220049e-05,-4.81381716138e-05,1793254881625199104
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760,737.412939359,721.587060641,688.587060641,650,916.412939359,800,838.412939359,657,635,657,0.404356766185,0.00441732757169,0.0599475528782,0.999999990858,-0.000105156608999,-6.98715857187e-05,-4.84169240128e-05,1793254881641865728
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,737.98960157,721.01039843,688.01039843,650,916.98960157,800,838.98960157,657,635,657,0.404701331167,0.00441780343286,0.0599351467823,0.999999989424,-0.00010239575489,-9.10771165371e-05,-4.87026003859e-05,1793254881658532352
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760.563672801,738,721,688,650,917,800,839,657,635,657,0.405090232908,0.00441852065566,0.0599242943216,0.999999987967,-9.72823995909e-05,-0.00011049596043,-4.8908004542e-05,1793254881675199488
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,917,800,839,657.141863216,635,657,0.405499484666,0.00441929601178,0.0599209412186,0.999999987565,-9.3188845206e-05,-0.00011734695441,-4.91502911677e-05,1793254881691866368
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,917,800,839,657.733256989,635,657,0.405970640783,0.00442024153385,0.0599412613821,0.999999990931,-9.24636856396e-05,-8.44774031072e-05,-4.95141204216e-05,1793254881708532992
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760.682476271,738,721,687.682476271,650,916.682476271,800,839,657.682476271,635,656.682476271,0.406486737086,0.0044210820838,0.0599681136344,0.999999993973,-9.03012490974e-05,-3.77401875206e-05,-4.97591227808e-05,1793254881725199360
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760.104065255,738,721,687.104065255,650,916.104065255,800,839,657.104065255,635,656.104065255,0.407039757685,0.00442183638552,0.0600003328544,0.999999994766,-8.69579012208e-05,2.03911322648e-05,-4.9906493241e-05,1793254881741865728
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760,738,721,687,650,916.471350859,800,839,657,635,656.471350859,0.407581927429,0.00442112161593,0.060015685408,0.999999993945,-8.95089991801e-05,4.07993069193e-05,-4.93396330399e-05,1793254881758532608
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,760,738,721,687,650,917,800,839,657.047209681,635,657,0.408121753271,0.00442026118046,0.0600255141808,0.99999999312,-9.46043272494e-05,4.94488727256e-05,-4.86313903164e-05,1793254881775199232
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,760,738,721,687,650,917,800,839,657.635677549,635,657,0.408661999534,0.00442142579429,0.0600144370825,0.999999992175,-0.000114043105889,1.81699905638e-05,-4.80986796596e-05,1793254881791865856
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,760.220608655,738,721,687,650,917,800,839,657.779391345,635,657,0.409227410002,0.00442285566579,0.0600028825036,0.999999990821,-0.00012614797691,-1.12730556659e-05,-4.81374128177e-05,1793254881808532480
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,760.799791126,738,721,687,650,917,800,839,657.200208874,635,657,0.409833721936,0.00442471668283,0.0599905518359,0.999999990103,-0.000126332429499,-3.77321613101e-05,-4.91049618062e-05,1793254881825199360
+149,2.483333333,POSE1_TO_POSE2_PRESS,783.37752975,761,738,721,687.37752975,650.37752975,917,800,839.37752975,657,635.37752975,657,0.41050810616,0.00442545345518,0.0599940408041,0.999999990648,-0.0001249003243,-2.25511734085e-05,-5.09498604771e-05,1793254881841866240
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.954505583,761,738,721,687.954505583,650.954505583,917,800,839.954505583,657,635.954505583,657,0.411218452436,0.0044255962976,0.0600058871655,0.999999990958,-0.000122614203858,1.46279585935e-05,-5.32582562045e-05,1793254881858532864
+151,2.516666667,POSE1_TO_POSE2_PRESS,783.470983543,761,738,721,688,650.470983543,917,800,840,657.529016457,636,657,0.411908436703,0.00442775829664,0.0600027522511,0.999999991782,-0.000116177173769,8.80871383979e-06,-5.34849261024e-05,1793254881875199488
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.893986053,650,917,800,839.893986053,658,635.893986053,657,0.412591667381,0.00442992074503,0.0599929108866,0.999999992534,-0.000109251144823,-1.1722862204e-05,-5.34682719862e-05,1793254881891866112
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,721,687.304691237,650,917,800,839.304691237,658,635.304691237,657,0.413252056192,0.00443129733113,0.059958343094,0.999999990007,-0.000101715698252,-8.2544144565e-05,-5.31547134091e-05,1793254881908532736
+154,2.566666667,POSE1_TO_POSE2_PRESS,783.280367127,761,738,721,687,650,917,800,839,658,635,657,0.41397170273,0.00443111202468,0.0599392424775,0.999999986817,-9.62774990926e-05,-0.000119526155066,-5.30072545583e-05,1793254881925199104
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.860890096,761,738,721,687,650,917,800,839,658,635,657,0.414754789572,0.00442925458521,0.0599367007285,0.999999987027,-9.30845735644e-05,-0.000120280478347,-5.30376191711e-05,1793254881941865984
+156,2.600000000,POSE1_TO_POSE2_PRESS,784,761,738,720.562639765,687.437360235,650.437360235,917,800,839,657.562639765,635,657,0.415628639448,0.00442919322136,0.0599813440628,0.999999993653,-9.18059759131e-05,-3.80779020545e-05,-5.30601554028e-05,1793254881958532608
+157,2.616666667,POSE1_TO_POSE2_PRESS,784,761,738,720.01280121,688.01280121,650.98719879,917,800,839,657.01280121,635,657,0.416529047375,0.00442969426205,0.0600396344458,0.99999999214,-9.11552128508e-05,6.77890002883e-05,-5.30679035033e-05,1793254881975199744
+158,2.633333333,POSE1_TO_POSE2_PRESS,784,761,738,720.599362607,688.599362607,650.400637393,917,800,839,657.599362607,635,657,0.41733777116,0.00443003292278,0.0600431011907,0.99999999247,-9.16044068359e-05,6.25332249034e-05,-5.25234372238e-05,1793254881991866368
+159,2.650000000,POSE1_TO_POSE2_PRESS,783.81640518,761,737.81640518,720.81640518,688.632810359,650.18359482,917,800,839,658,635,657,0.418161073384,0.00443076092598,0.0600393707556,0.999999992921,-9.29774711372e-05,5.22370364064e-05,-5.27707404219e-05,1793254882008532992
+160,2.666666667,POSE1_TO_POSE2_PRESS,783.237192033,761,737.237192033,720.237192033,687.474384066,650.762807967,917,800,839,658,635,657,0.419015789832,0.00443232790174,0.0600201315149,0.999999993379,-9.63413324489e-05,3.10795406998e-05,-5.47241839072e-05,1793254882025199616
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.684421915,760.657789043,737.342210957,720,687,650.657789043,916.657789043,800,839,658,635,657,0.419865237132,0.00443342764667,0.0599900383282,0.99999999353,-9.78279869966e-05,-1.32442986763e-05,-5.65160384317e-05,1793254882041866240
+162,2.700000000,POSE1_TO_POSE2_PRESS,784.843491161,760.078254419,737.921745581,720,687,650.078254419,916.078254419,800,839,658,635,657,0.420711030235,0.00443420336646,0.0599524179191,0.999999990792,-9.80127962409e-05,-7.36340213027e-05,-5.81958306065e-05,1793254882058532864
+163,2.716666667,POSE1_TO_POSE2_PRESS,785,760.496358679,738,720,687,650.496358679,916.496358679,800,839.496358679,658,635,657,0.421562512096,0.00443464661414,0.0599142050385,0.99999998242,-9.70164489593e-05,-0.000149365854699,-5.86329260899e-05,1793254882075199488
+164,2.733333333,POSE1_TO_POSE2_PRESS,784.928087241,761,738,720,687,651,917,800,840,657.928087241,635.071912759,657,0.422428603759,0.00443489295216,0.0598852717214,0.999999971925,-9.63962268714e-05,-0.000208283245538,-5.89631969073e-05,1793254882091865856
+165,2.750000000,POSE1_TO_POSE2_PRESS,784.340271069,761,738,720,687,651,917,800,840,657.340271069,635.659728931,657,0.423393134959,0.00443409900194,0.0599235737023,0.999999984854,-9.97971496502e-05,-0.00012939140591,-5.99188404018e-05,1793254882108532992
+166,2.766666667,POSE1_TO_POSE2_PRESS,784.244062333,761,738.244062333,720,687.244062333,651,917,800,840,657,635.755937667,657,0.42437672164,0.00443266902504,0.0599743789633,0.999999992207,-0.000102057254679,-4.01667681664e-05,-5.96460493264e-05,1793254882125200128
+167,2.783333333,POSE1_TO_POSE2_PRESS,784.823608463,761,738.823608463,720,687.823608463,651,917,800,840,657,635.176391537,657,0.425386501785,0.0044303647769,0.0600423710189,0.999999991057,-0.000102749212047,6.32611634137e-05,-5.76846737447e-05,1793254882141867008
+168,2.800000000,POSE1_TO_POSE2_PRESS,785,761,738.597296042,720,687.597296042,651,917,800,840,657,635.402703958,657,0.42635556832,0.00443104524655,0.0600555287957,0.999999988747,-0.000102414953321,9.26305806573e-05,-5.86316728062e-05,1793254882158533120
+169,2.816666667,POSE1_TO_POSE2_PRESS,785,761,738.018397747,720,687.018397747,651,917,800,840,657,635.981602253,657,0.42730682144,0.00443303161453,0.0600446950252,0.99999998897,-0.000101631696387,8.95973036286e-05,-6.08511680775e-05,1793254882175199232
+170,2.833333333,POSE1_TO_POSE2_PRESS,784.447365419,761,738,720,687,651,917,800.552634581,840,657,635.447365419,657,0.428244764547,0.00443133855832,0.0600168785329,0.999999991419,-0.000104938811182,4.76916551264e-05,-6.22597462597e-05,1793254882191865856
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,760.871942938,738,719.871942938,687,651,917,800.871942938,840,657,635.128057062,657,0.429165401438,0.00443042474673,0.0599859506326,0.999999992319,-0.000106499042311,-1.6507038218e-06,-6.33788417087e-05,1793254882208532480
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,760.279669912,738,719.279669912,687,651,917,800.279669912,840,657,635.720330088,657,0.430024885758,0.00443277356181,0.0599457644075,0.999999990168,-0.000101239988538,-7.33262981268e-05,-6.35450315887e-05,1793254882225199104
+173,2.883333333,POSE1_TO_POSE2_PRESS,784.301021189,760,738,719,687,651,917,800,840,657,636,657,0.430950679656,0.00443187852496,0.0599398057641,0.999999989594,-0.000102026227719,-7.9217157844e-05,-6.42432872014e-05,1793254882241865984
+174,2.900000000,POSE1_TO_POSE2_PRESS,784.87135051,760,738,719,687,651,917,800,840,657,636,657,0.431935797268,0.00442808138099,0.0599644687746,0.99999999166,-0.000108220879081,-2.62538050987e-05,-6.54175546484e-05,1793254882258532864
+175,2.916666667,POSE1_TO_POSE2_PRESS,785,760.452262626,738,719,687.452262626,651,917,800,840,657,636,657,0.4329287653,0.00442439124796,0.0600006367617,0.999999990875,-0.000114455051586,3.04949859024e-05,-6.49580249082e-05,1793254882275199488
+176,2.933333333,POSE1_TO_POSE2_PRESS,785,761,738,719,687.963544306,651,917,800,840.036455694,657,636,657.036455694,0.433919243316,0.00442101047042,0.0600364983758,0.999999987325,-0.000120098576562,8.25905313768e-05,-6.40752814637e-05,1793254882291866368
+177,2.950000000,POSE1_TO_POSE2_PRESS,785,761,738,719,687.376353689,651,917,800,840.623646311,657,636,657.623646311,0.43483755972,0.00442183224491,0.0600171067595,0.99999999001,-0.000116645303065,4.77326980929e-05,-6.39881891089e-05,1793254882308532480
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738,718.79231147,687,651,917,800,840.79231147,657,635.79231147,657.79231147,0.435743285933,0.00442070234852,0.059992916089,0.99999999109,-0.000117090149951,3.39739384991e-06,-6.40141674766e-05,1793254882325199104
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,738,718.213889193,687,651,917,800,840.213889193,657,635.213889193,657.213889193,0.436626538218,0.0044160886284,0.0599601588791,0.999999988514,-0.00012449332351,-5.78556454628e-05,-6.42419823114e-05,1793254882341865728
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,761,738,718.365104105,687,651,917,800,840.365104105,657,635.365104105,657,0.437485241709,0.00441700539185,0.0599333298315,0.999999984794,-0.000120314041419,-0.000108955087598,-6.37669511364e-05,1793254882358532352
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,761,738,718.944432414,687,651,917,800,840.944432414,657,635.944432414,657,0.438329541183,0.00442116715728,0.0599099791248,0.999999980173,-0.000109338772961,-0.000154096920341,-6.28795262481e-05,1793254882375198976
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,761,738,718.480602271,687,650.480602271,917,800,841,657.519397729,636,657,0.439227336628,0.00442026051861,0.0599208436998,0.999999982293,-0.000111069137813,-0.000138250182745,-6.29681333347e-05,1793254882391866112
+183,3.050000000,POSE1_TO_POSE2_PRESS,785.096091039,761,738,718,687,650.096091039,917,800,840.903908961,657.903908961,636,657,0.440132749196,0.0044185507093,0.0599419750499,0.999999985975,-0.000114121578222,-0.000105161746485,-6.29941091961e-05,1793254882408532736
+184,3.066666667,POSE1_TO_POSE2_PRESS,785.683997746,761,738,718,687,650.683997746,917,800,840.316002254,657.316002254,636,657,0.44104809903,0.0044154822868,0.0599970748255,0.999999991075,-0.000117041410016,-1.69438198334e-05,-6.21695286646e-05,1793254882425199616
+185,3.083333333,POSE1_TO_POSE2_PRESS,786,760.731733474,738,718,686.731733474,651,917,800.268266526,840,657.268266526,636,657,0.441910551896,0.00441553417312,0.0600150883016,0.999999991384,-0.000115128748189,1.35446819898e-05,-6.1602851438e-05,1793254882441866496
+186,3.100000000,POSE1_TO_POSE2_PRESS,786,760.151692664,738,718,686.151692664,651,917,800.848307336,840,657.848307336,636,657,0.442711528844,0.00441921242358,0.0599900007778,0.999999992064,-0.000107599854144,-2.30588683875e-05,-6.13359049826e-05,1793254882458532864
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.574520957,760.425479043,737.574520957,718,686,650.574520957,917,800.574520957,840.425479043,657.574520957,635.574520957,657,0.443470279375,0.00442121216181,0.0599549405304,0.999999989703,-0.000105124262627,-7.52429872583e-05,-6.22986822871e-05,1793254882475199232
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.001633401,761,737.001633401,718,686,650.001633401,917,800,840.998366599,657.001633401,635,657,0.444214035312,0.00442262095462,0.0599164140354,0.999999983693,-0.000104434461753,-0.00013285579403,-6.36957131532e-05,1793254882491865856
+189,3.150000000,POSE1_TO_POSE2_PRESS,785.577313775,761,737.577313775,718,686,650.577313775,917,800,840.422686225,657.577313775,635,657,0.444943437188,0.0044252502423,0.0599008847654,0.999999979989,-0.000102424808911,-0.000159216053641,-6.46592578932e-05,1793254882508532480
+190,3.166666667,POSE1_TO_POSE2_PRESS,786,761,738,718,685.843321691,650.843321691,917,800,840.156678309,657.843321691,635.156678309,657,0.445654251719,0.0044284249108,0.0598800871736,0.99999997356,-9.84007971518e-05,-0.000197390718181,-6.50739625398e-05,1793254882525198848
+191,3.183333333,POSE1_TO_POSE2_PRESS,786,761,738,718,685.25377857,650.25377857,917,800,840.74622143,657.25377857,635.74622143,657,0.446313714008,0.00443310633707,0.0598447344617,0.999999958043,-8.88115913656e-05,-0.000268205772367,-6.39723529798e-05,1793254882541865728
+192,3.200000000,POSE1_TO_POSE2_PRESS,785.670582645,761,738,718,685,650,917,800,841,657.329417355,635.670582645,657.329417355,0.446988842805,0.0044368692209,0.0598246332661,0.999999949871,-8.05559815215e-05,-0.000299548868052,-6.35493052719e-05,1793254882558532864
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.09218411,761,738,718,685,650,917,800,841,657.90781589,635.09218411,657.90781589,0.447675812667,0.00443993784902,0.0598160595178,0.99999994997,-7.3308334836e-05,-0.000301058150237,-6.36391303882e-05,1793254882575199744
+194,3.233333333,POSE1_TO_POSE2_PRESS,785.483394852,760.516605148,738,718,684.516605148,650,917,800,841,657.516605148,635.483394852,658,0.448340624515,0.00444267882648,0.0598297035507,0.999999956443,-7.39175752992e-05,-0.000278402836247,-6.43662905981e-05,1793254882591866368
+195,3.250000000,POSE1_TO_POSE2_PRESS,785.941763693,760.058236307,737.941763693,717.941763693,684,649.941763693,917,800,840.941763693,657.058236307,635.941763693,657.941763693,0.448989745055,0.0044454038382,0.0598419733486,0.99999996116,-7.54363072199e-05,-0.000260274859251,-6.51688790726e-05,1793254882608532736
+196,3.266666667,POSE1_TO_POSE2_PRESS,785.368716112,760.631283888,737.368716112,717.368716112,684,649.368716112,917,800,840.368716112,657.631283888,635.368716112,657.368716112,0.449537291385,0.00444853686552,0.0598048571319,0.999999943213,-7.18265815983e-05,-0.000322669371943,-6.55700623088e-05,1793254882625199360
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,761,737.212986328,717,683.787013672,649,917,800,840.212986328,658,635,657.212986328,0.450077464366,0.0044519642592,0.0597655830232,0.999999921622,-6.77943024714e-05,-0.000384421085017,-6.61790433447e-05,1793254882641865728
+198,3.300000000,POSE1_TO_POSE2_PRESS,785,761,737.810306394,717,683.189693606,649,917,800,840.810306394,658,635,657.810306394,0.450604332086,0.00445592283651,0.0597224150033,0.999999896742,-6.29995263561e-05,-0.000445012860692,-6.71629955925e-05,1793254882658532608
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,761,738,717,683,648.609415357,917,800,841,658,635.390584643,657.609415357,0.451114807854,0.00445833177401,0.0597033825815,0.999999885635,-5.9045300331e-05,-0.000469746375517,-6.76855985194e-05,1793254882675199232
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,761,738,717,683,648.037067663,917,800,841,658,635.962932337,657.037067663,0.451617655486,0.00446001956916,0.0596955819337,0.999999882006,-5.54822335944e-05,-0.000477792842374,-6.79935073963e-05,1793254882691866112
+201,3.350000000,POSE1_TO_POSE2_PRESS,785.502347088,761,738,716.497652912,683,648,917,800,841,658,636,657.502347088,0.452106045591,0.00446080119352,0.0597169084039,0.999999898596,-5.43154628197e-05,-0.000441919105367,-6.75600621003e-05,1793254882708532992
+202,3.366666667,POSE1_TO_POSE2_PRESS,785.952852655,761,738,716,682.952852655,648,917,799.952852655,841,658,635.952852655,657.952852655,0.452590010344,0.00446143889477,0.0597383228532,0.999999913739,-5.3435291462e-05,-0.000406402513505,-6.71065670333e-05,1793254882725199616
+203,3.383333333,POSE1_TO_POSE2_PRESS,785.31142253,761,738,716,682.31142253,648,917,799.31142253,841,658,635.31142253,657.31142253,0.453030814371,0.00446105344491,0.0597354220634,0.999999910706,-5.40759908633e-05,-0.000413724312134,-6.70474559994e-05,1793254882741866496
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.295537497,761.295537497,738,716.295537497,682,648,917,799.295537497,841,658,635.295537497,657,0.453419523506,0.00446082941051,0.0597201849002,0.999999897515,-5.46681046825e-05,-0.000444464154586,-6.65795187995e-05,1793254882758532864
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.869968646,761.869968646,738,716.869968646,682,648,917,799.869968646,841,658,635.869968646,657,0.453759071561,0.00446075770114,0.0596933061137,0.999999872661,-5.52143689718e-05,-0.000497303200852,-6.57257792434e-05,1793254882775199232
+206,3.433333333,POSE1_TO_POSE2_PRESS,786,761.552666963,738,717,681.552666963,648,917,800,841,658,635.552666963,657,0.454091022091,0.0044620986556,0.0596711443193,0.99999985734,-5.33296868633e-05,-0.000527311241042,-6.6467157221e-05,1793254882791865856
+207,3.450000000,POSE1_TO_POSE2_PRESS,786,761,738,717,681,648,917,800,841,658,635,657,0.454420271494,0.00446387284707,0.0596517316059,0.999999845933,-5.07906627096e-05,-0.000548613770594,-6.76619114131e-05,1793254882808532480
+208,3.466666667,POSE1_TO_POSE2_PRESS,786,761,738,717,681,648,917,800,841,658,635,657,0.454739181796,0.00446607721618,0.059661922475,0.999999858024,-4.94832966963e-05,-0.000526120225996,-6.85678491257e-05,1793254882825199104
+209,3.483333333,POSE1_TO_POSE2_PRESS,786.198905074,761,738,717,680.801094926,647.801094926,917,800,841,658,635,657.198905074,0.455047502867,0.00446732236961,0.0596717340387,0.999999868109,-4.81786810486e-05,-0.000506668552506,-6.89093823765e-05,1793254882841865984
+210,3.500000000,POSE1_TO_POSE2_PRESS,786.778831024,761,738,717,680.221168976,647.221168976,917,800,841,658,635,657.778831024,0.455335539256,0.00446673005739,0.0596808190067,0.999999875031,-4.68793341615e-05,-0.000493043864486,-6.81697471645e-05,1793254882858532864
+211,3.516666667,POSE1_TO_POSE2_PRESS,786.644472956,761,737.644472956,717,680,647,917,800,841,657.644472956,635,657.644472956,0.455584498439,0.00446683363385,0.0596801580025,0.999999874387,-4.69613275972e-05,-0.000494374968334,-6.79246835286e-05,1793254882875199488
+212,3.533333333,POSE1_TO_POSE2_PRESS,786.069768089,761,737.069768089,717,680,647,917,800,841,657.069768089,635,657.069768089,0.455809367059,0.00446736621663,0.0596734887336,0.999999869067,-4.78948993438e-05,-0.000504926123044,-6.79845167982e-05,1793254882891866112
+213,3.550000000,POSE1_TO_POSE2_PRESS,786,761,737,717,680,647,917,799.495039158,841,657.504960842,635,657,0.456000599449,0.00446964847901,0.0596599892209,0.999999860519,-4.56273819162e-05,-0.000521676969044,-6.8801522414e-05,1793254882908532736
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,761,737,717,680,647.082059674,917,799.082059674,841,657.917940326,635,657,0.456181034209,0.00447266482359,0.0596447539428,0.999999850425,-4.24395865818e-05,-0.000540798244995,-6.98948044579e-05,1793254882925199104
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,761,737,717,680,647.673859508,917,799.673859508,841,657.326140492,635,657,0.456323266046,0.00447873940873,0.0596245987863,0.999999834681,-3.62826801642e-05,-0.000569323027975,-7.20543865365e-05,1793254882941865984
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,761,737.260029817,716.739970183,679.739970183,647.739970183,917,799.739970183,841,657.260029817,635,657.260029817,0.45645673129,0.00448651742349,0.0596079417636,0.999999820715,-2.92366284284e-05,-0.000593414702133,-7.46555191121e-05,1793254882958532608
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761,737.839288922,716.160711078,679.160711078,647.160711078,917,799.160711078,841,657.839288922,635,657.839288922,0.456579434092,0.00449638667737,0.0595955792756,0.99999980944,-2.10990052337e-05,-0.000612064006011,-7.77987273183e-05,1793254882975199232
+218,3.633333333,POSE1_TO_POSE2_PRESS,786,761,738,716.414806507,679,647,917,799.414806507,841,658,635,658,0.456683400528,0.00450653122619,0.0595850142758,0.999999799886,-1.13196222009e-05,-0.000627470496284,-7.98832232927e-05,1793254882991866112
+219,3.650000000,POSE1_TO_POSE2_PRESS,786,761,738,716.988887435,679,647,917,799.988887435,841,658,635,658,0.456780172705,0.00451678148055,0.0595751394628,0.999999790828,-9.09848208454e-07,-0.000641631833756,-8.15612024659e-05,1793254883008533248
+220,3.666666667,POSE1_TO_POSE2_PRESS,786,761,737.422588666,716.422588666,679,647,917,800,841,658,635,657.422588666,0.456858945674,0.00451504646286,0.0595706726173,0.999999786711,-5.38056078785e-07,-0.000648086948742,-8.09976322846e-05,1793254883025200384
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,761,737.163593648,716.163593648,678.836406352,647,917,800,841,658,635,657.163593648,0.456932337707,0.00451319079837,0.0595661486772,0.999999782564,-1.37488993919e-06,-0.00065451069928,-8.05341496009e-05,1793254883041867264
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,761,737.743097965,716.743097965,678.256902035,647,917,800,841,658,635,657.743097965,0.456992952832,0.00451162987602,0.059561208191,0.999999778133,-4.78071744874e-06,-0.000661241437651,-8.04376130253e-05,1793254883058533120
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,761,738,717,678.321852289,647,917,800,841,658,635,658,0.457044473989,0.00451165364272,0.0595562171787,0.999999773205,-4.84591134557e-06,-0.000668664264183,-8.03430488073e-05,1793254883075199232
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,761,738,717,678.900009425,647,917,800,841,658,635,658,0.457088753233,0.00451293936544,0.0595511859299,0.999999767858,-2.25081511218e-06,-0.00067663823105,-8.02500552503e-05,1793254883091865856
+225,3.750000000,POSE1_TO_POSE2_PRESS,786,761,738,717,679,647,917,800,841,658,635,658,0.457122010899,0.00451360357781,0.0595487433866,0.999999765338,-1.52414543291e-06,-0.000680371901595,-8.01009048463e-05,1793254883108532480
+226,3.766666667,POSE1_TO_POSE2_PRESS,786,761,738,716.952361834,679,647,917,800,841,657.952361834,635.047638166,657.952361834,0.457152066086,0.00451409766137,0.059546774248,0.999999763459,-1.21476120085e-06,-0.000683146169031,-7.99440205324e-05,1793254883125199104
+227,3.783333333,POSE1_TO_POSE2_PRESS,786,761,738,716.361702162,679,647,917,800,841,657.361702162,635.638297838,657.361702162,0.457171888181,0.00451413392932,0.059544030828,0.999999762137,-1.2082928988e-06,-0.000685091690084,-7.98328363002e-05,1793254883141865984
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+233,3.883333333,POSE1_TO_POSE2_PRESS,786,761,738,716.108801521,679,647,917,800,841,658,636,658,0.457216053726,0.00451571770768,0.0595336413389,0.999999751486,4.37607677187e-06,-0.000700560372801,-7.88871933889e-05,1793254883241865728
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,761,738,716.698848813,679,647,917,800,841,658,636,658,0.457218636839,0.00451451755868,0.0595334743459,0.999999751382,1.35982666511e-06,-0.000700784571588,-7.83220917197e-05,1793254883258532608
+235,3.916666667,POSE1_TO_POSE2_PRESS,786.283382839,761,738,716.716617161,679,646.716617161,917,800,841,658,636,657.716617161,0.457220984824,0.00451399748359,0.0595337721077,0.999999751919,6.3008757509e-09,-0.000700033293048,-7.82009576155e-05,1793254883275199488
+236,3.933333333,POSE1_TO_POSE2_PRESS,786.862169795,761,738,716.137830205,679,646.137830205,917,800,841,658,636,657.137830205,0.457223087709,0.0045141863314,0.0595345543393,0.999999753128,3.86032840951e-07,-0.000698265156849,-7.85426243893e-05,1793254883291866368
+237,3.950000000,POSE1_TO_POSE2_PRESS,786.56127508,761,738,716,679,646.43872492,917,800,841,658,635.56127508,657,0.457223639206,0.0045150447665,0.0595346283388,0.999999752999,5.50105338141e-07,-0.000698445892985,-7.85817218861e-05,1793254883308533248
+238,3.966666667,POSE1_TO_POSE2_PRESS,786,761,738,716.014873718,678.985126282,647,917,800,841,658,635.014873718,657.014873718,0.457223654427,0.00451606668129,0.059534422765,0.999999752406,6.64815652012e-07,-0.000699301726915,-7.85140446867e-05,1793254883325200128
+239,3.983333333,POSE1_TO_POSE2_PRESS,786,761,738,716.602235162,678.397764838,647,917,800,841,658,635.602235162,657.602235162,0.457221692952,0.00451532523329,0.0595319770545,0.999999750068,1.47414043723e-06,-0.00070269547843,-7.79767762936e-05,1793254883341866240
+240,4.000000000,POSE1_TO_POSE2_PRESS,786,761,738,716.812843264,678,647,917,800,841,657.812843264,635.812843264,657.812843264,0.457220891679,0.00451506105294,0.0595305722397,0.999999748834,2.30151643084e-06,-0.000704478836111,-7.76889384838e-05,1793254883358532352
+241,4.016666667,POSE1_TO_POSE2_PRESS,786,761,738,716.233040454,678,647,917,800,841,657.233040454,635.233040454,657.233040454,0.457222524459,0.0045157981578,0.0595313511755,0.999999749936,3.16676296619e-06,-0.000702883662712,-7.79243943965e-05,1793254883375198976
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,761,737.655104328,716,678,647,917,799.655104328,841,657.344895672,635,657,0.457223367075,0.00451637608248,0.0595313582881,0.999999750213,3.21464076965e-06,-0.000702491309358,-7.79081113252e-05,1793254883391865600
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,761,737.078422722,716,678,647,917,799.078422722,841,657.921577278,635,657,0.457223678665,0.00451684703064,0.0595308466995,0.999999749937,2.71320873484e-06,-0.000702907307081,-7.77226479387e-05,1793254883408532224
+244,4.066666667,POSE1_TO_POSE2_PRESS,786,761,737.496164898,716.496164898,678,646.503835102,917,799.496164898,841,658,635,657.496164898,0.457224757679,0.00451551108343,0.0595318497656,0.999999750888,3.99511595485e-06,-0.000701608738255,-7.71580874705e-05,1793254883425199616
+245,4.083333333,POSE1_TO_POSE2_PRESS,786,761,738,717,678,646.072434277,917,800,841,658,635,658,0.457225673657,0.00451424909135,0.059532839325,0.999999751734,5.13128836987e-06,-0.000700454161764,-7.66097889766e-05,1793254883441866752
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,761,738,717,678,646.663093321,917,800,841,658,635,658,0.45722455905,0.00451555087534,0.0595320266613,0.999999750476,3.21666889251e-06,-0.000702260468771,-7.66047211211e-05,1793254883458533120
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,761,738,717,678,647,917,800,841,658,635,657.751727151,0.457223726252,0.00451629242885,0.0595309043538,0.999999749298,2.62737338216e-06,-0.000703890667508,-7.7034662721e-05,1793254883475199744
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,761,738,717,678,647,917,800,841,658,635,657.17382269,0.457223267613,0.00451629016511,0.0595293709323,0.999999748233,3.79770890796e-06,-0.000705287047726,-7.80421659387e-05,1793254883491865856
+249,4.150000000,HOLD_POSE2,786,761,738,717,678,647,917,800,841,658,635,658,0.457226907931,0.00451627470507,0.0595313939516,0.999999751538,3.40685273356e-06,-0.00070068140819,-7.71895433259e-05,1793254883525964800
+250,4.166666667,HOLD_POSE2,786,761,738,717,678.591309888,647,917,800,841,657.408690112,635.591309888,658,0.457224429919,0.00451630855981,0.0595296798473,0.99999974947,3.26364529873e-06,-0.000703625484225,-7.71995521585e-05,1793254883542631168
+251,4.183333333,HOLD_POSE2,786,761,737.821233592,717,678.821233592,647,917,799.821233592,841,657.178766408,635.821233592,658,0.457223521057,0.0045163898691,0.0595288678934,0.999999748602,3.26509588229e-06,-0.000704864974193,-7.71339943738e-05,1793254883559297792
+252,4.200000000,HOLD_POSE2,786,761,737.242400524,717,678.242400524,647,917,799.242400524,841,657.757599476,635.242400524,658,0.457226123841,0.00451657737839,0.0595300748887,0.999999750431,3.59028091993e-06,-0.000702289720882,-7.68993238114e-05,1793254883575964672
+253,4.216666667,HOLD_POSE2,786,761,737.33505939,717,677.66494061,646.66494061,917,799.33505939,841,658,635,658,0.457226113641,0.00451653157317,0.0595302646513,0.999999750315,3.66334414911e-06,-0.000702472086443,-7.67364789541e-05,1793254883592631296
+254,4.233333333,HOLD_POSE2,786,761,737.911529908,717,677.088470092,646.088470092,917,799.911529908,841,658,635,658,0.457224220779,0.00451631766424,0.0595297214951,0.999999748798,3.55475296558e-06,-0.000704641323449,-7.66253847108e-05,1793254883609298176
+255,4.250000000,HOLD_POSE2,786,761,738,717,677.487221622,646.487221622,917,800,841,658,635.487221622,658,0.457224960147,0.00451672119636,0.0595301526826,0.999999749211,3.7599993952e-06,-0.000704036101097,-7.67962713353e-05,1793254883625964800
+256,4.266666667,HOLD_POSE2,786,761,738,717,678,647,917,800,841,658,635.935619717,658,0.457226045331,0.00451712084679,0.059530654112,0.99999974987,4.11583097425e-06,-0.00070307788338,-7.69644599814e-05,1793254883642631168
+257,4.283333333,HOLD_POSE2,786,761,738,717,678,647,917,800,841,658,635.345324358,658,0.45722605727,0.00451657439177,0.0595302863899,0.999999749698,5.23699887417e-06,-0.000703344909945,-7.66930109143e-05,1793254883659297536
+258,4.300000000,HOLD_POSE2,786,761,738,717,678,647,917,800,841,658,635,657.760131086,0.457225864621,0.00451608788534,0.0595298121074,0.999999749314,4.97740203533e-06,-0.000703905449761,-7.65720954761e-05,1793254883675964160
+259,4.316666667,HOLD_POSE2,786,761,738,717,678,647,917,800,841,658,635,657.182130044,0.457225383573,0.0045156858857,0.0595291876118,0.99999974863,2.7714048198e-06,-0.000704879741628,-7.66633803645e-05,1793254883692630784
+260,4.333333333,HOLD_POSE2,786,761,737.605064895,717,678,647,917,800,841,658,635.394935105,657.394935105,0.457225059289,0.00451699370322,0.0595291514308,0.999999748428,3.29546202032e-06,-0.000705120082115,-7.70621260318e-05,1793254883709297664
+261,4.350000000,HOLD_POSE2,786,761,737.028430277,717,678,647,917,800,841,658,635.971569723,657.971569723,0.457224807128,0.00451908816372,0.0595293859182,0.999999748447,5.0755470526e-06,-0.000705022750477,-7.76023265264e-05,1793254883725964544
+262,4.366666667,HOLD_POSE2,786,761,737.557510959,717,678,647,917,800,841,657.442489041,635.442489041,657.442489041,0.457224946314,0.00451816600039,0.0595296755298,0.99999974865,5.58423515945e-06,-0.000704781974597,-7.71448348001e-05,1793254883742631680
+263,4.383333333,HOLD_POSE2,786,761,737.857780656,717,678,646.857780656,917,800,841,657.142219344,635,657.142219344,0.457225282997,0.00451707393779,0.0595299054528,0.99999974897,5.01649733973e-06,-0.000704370930068,-7.67842799861e-05,1793254883759298304
+264,4.400000000,HOLD_POSE2,786,761,737.278345968,717,678,646.278345968,917,800,841,657.721654032,635,657.721654032,0.457226164438,0.00451594051122,0.0595299430911,0.999999749616,1.34227724235e-06,-0.000703459309641,-7.6880795676e-05,1793254883775964672
+265,4.416666667,POSE2_TO_POSE3_RETREAT,786,761,738,717,678,646,917,800,841,658,636,658,0.4572274205,0.00451717616328,0.0595306537539,0.999999750076,1.07996621995e-06,-0.000702733432733,-7.75427106919e-05,1793254883812910336
+266,4.433333333,POSE2_TO_POSE3_RETREAT,786,761,737.423673631,717,678,646,917,800,841,657.423673631,636,657.423673631,0.457226720561,0.00451734909101,0.0595296965425,0.999999749158,1.98011154518e-06,-0.000704083810771,-7.71065730553e-05,1793254883829577984
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,761,737,717,678,646,917,800,841,657.155738572,636,657.155738572,0.457226422798,0.00451744637648,0.0595291336633,0.999999748653,2.94352917405e-06,-0.000704841157477,-7.67095300712e-05,1793254883846245376
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,761,737,717,678,646,917,800,841,657.743715354,636,657.743715354,0.457227241237,0.00451733372378,0.059529665217,0.999999749297,4.08255351888e-06,-0.000703952600076,-7.64209906339e-05,1793254883862911488
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,761,737,716.673057776,678,646.326942224,917,799.673057776,841,658,636,658,0.45722811319,0.0045174727835,0.0595310506936,0.999999750535,4.4780233695e-06,-0.000702183145223,-7.64744200554e-05,1793254883879577856
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,761,737,716.093501,678,646.906499,917,799.093501,841,658,636,658,0.457229026491,0.00451780633088,0.0595330959606,0.999999752229,4.29897976312e-06,-0.000699733057887,-7.67920744963e-05,1793254883896244992
+271,4.516666667,POSE2_TO_POSE3_RETREAT,786,761,737.451719975,716,678,647,917,799,841,658,635.548280025,657.548280025,0.457228822126,0.00451807466771,0.059532563271,0.999999751817,3.83431396318e-06,-0.000700325965343,-7.67792990849e-05,1793254883912911104
+272,4.533333333,POSE2_TO_POSE3_RETREAT,786,761,737.990335874,716,678,647,917,799,841,658,635.009664126,657.009664126,0.457228402759,0.0045183304602,0.0595315346682,0.999999750999,3.31470393877e-06,-0.000701504243987,-7.67029599376e-05,1793254883929576960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,786,761.607537295,737.392462705,716.607537295,678,647,917,799.607537295,841,658,635,657.607537295,0.457226925649,0.00451768653299,0.0595300993356,0.999999749589,2.16459336056e-06,-0.000703523522956,-7.66292694525e-05,1793254883946243840
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786,761.784144761,737.215855239,717,678,646.784144761,917,799.784144761,841,658,635,658,0.457223016148,0.00451626140398,0.0595277493156,0.999999747285,1.14468311166e-06,-0.00070682381923,-7.63409750096e-05,1793254883962910464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,761.19373308,737.80626692,717,678,646.19373308,917,799.19373308,841,658,635,658,0.457214919448,0.00451350924149,0.059523825006,0.999999743436,3.70688068944e-07,-0.000712320300522,-7.5680211408e-05,1793254883979577088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,761,738,716.610985959,678,646,917,799.389014041,841,658,635,658,0.457193715647,0.00451422733456,0.059513660316,0.999999731979,8.91125971399e-07,-0.000728185553639,-7.60707895603e-05,1793254883996243712
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,761,738,716.031982067,678,646,917,799.968017933,841,658,635,658,0.457166110492,0.00451664025912,0.0595004478976,0.999999716449,2.04374953056e-06,-0.000749114792391,-7.69748304926e-05,1793254884012910592
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,646.543383571,917,800,841,658,635,657.456616429,0.457111886406,0.00451679500694,0.0594788196251,0.999999690517,3.29955612958e-06,-0.000782972146136,-7.6875813507e-05,1793254884029577472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,647,917,800,841,658,635,657,0.457055067262,0.00451706635858,0.0594585765674,0.99999966704,4.82681339417e-06,-0.000812392382224,-7.69134315693e-05,1793254884046244096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,647,917,800,841,658,635,657,0.456994246668,0.00451829546205,0.0594455649092,0.999999659269,7.3764925002e-06,-0.000821808696384,-7.77032900983e-05,1793254884062910464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,646.708741983,917,799.708741983,841,657.708741983,635,657,0.456919671514,0.00451953744093,0.0594335964737,0.999999648234,9.40419038813e-06,-0.000835083515525,-7.79736669824e-05,1793254884079577088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,646.130018509,917,799.130018509,841,657.130018509,635,657,0.456831520905,0.00452079212749,0.0594226576775,0.999999633825,1.09167037816e-05,-0.000852166596175,-7.77313264927e-05,1793254884096243968
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786,761,737.551217085,716.448782915,678,646,917,799.448782915,841,657.448782915,635,657,0.456737887803,0.00452189765298,0.0594227317832,0.999999633561,1.27665266136e-05,-0.000852506577906,-7.71193582949e-05,1793254884112910592
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,761,737,717,678,646.027267654,917,799.972732346,841,658,635,657.027267654,0.456642009151,0.00452300305459,0.0594263916587,0.999999637966,1.47969139871e-05,-0.000847354631514,-7.64103048323e-05,1793254884129577216
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761,737,717,678,646.598978399,917,799.401021601,841,658,635,657.598978399,0.456533013979,0.00452496897043,0.0594379309303,0.999999652983,1.84810266049e-05,-0.000829416411138,-7.59013069087e-05,1793254884146243840
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,761,737.176233961,716.823766039,678,646.823766039,917,799.176233961,841,658,635,657.823766039,0.456414480807,0.00452590540592,0.0594485303566,0.999999665701,2.17860551155e-05,-0.000813952924685,-7.4857845816e-05,1793254884162910464
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,761,737.766516583,716.233483417,678,646.233483417,917,799.766516583,841,658,635,657.233483417,0.456273538824,0.00452442315316,0.0594569216846,0.999999673623,2.42004530403e-05,-0.000804303645614,-7.25587031473e-05,1793254884179577088
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,646.350530222,917,799.649469778,841,658,635,657.350530222,0.456112965076,0.00452476634634,0.0594666836654,0.999999684491,2.74861554755e-05,-0.000790715693038,-7.09336738408e-05,1793254884196243968
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,761,738,716,678,646.930441603,917,799.069558397,841,658,635,657.930441603,0.455939544614,0.00452630408089,0.0594773425795,0.999999697112,3.13420253531e-05,-0.000774550336806,-6.97497728872e-05,1793254884212910336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786.507954166,761,738,716.507954166,678,647,917,799.507954166,841,657.492045834,635,657.492045834,0.455733694501,0.00452836314848,0.0594877281696,0.999999706062,3.90386344152e-05,-0.000762713871276,-6.79593888168e-05,1793254884229576704
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786.915196681,761,737.915196681,716.915196681,678,646.915196681,917,800,841,657.084803319,635.084803319,657.084803319,0.455517707888,0.00453025975605,0.0594980415353,0.999999714482,4.67097325387e-05,-0.000751333730449,-6.59708247568e-05,1793254884246243328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786.340291809,761,737.340291809,716.340291809,678,646.340291809,917,800,841,657.659708191,635.659708191,657.659708191,0.455268683912,0.0045308068178,0.0595081527947,0.99999972349,5.1208109772e-05,-0.000739181011959,-6.33146408467e-05,1793254884262910208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786,761,737,716,678.242345465,646.242345465,917,800,841,658,636,658,0.455005999384,0.00453222681533,0.0595174638648,0.999999731373,5.71323274868e-05,-0.000728211815964,-6.07983119622e-05,1793254884279576832
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,761,737,716,678.836198078,646.836198078,917,800,841,658,636,658,0.454723501082,0.00453491295235,0.0595256143092,0.999999737718,6.51246386015e-05,-0.000718959247143,-5.84848343311e-05,1793254884296243456
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,761,737,716,679,647,917,799.582012666,841,658,635.582012666,658,0.454398434883,0.00453723577523,0.0595306450303,0.999999739483,7.26287501332e-05,-0.000715984809866,-5.58965031679e-05,1793254884312910080
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786,761,737,716,679,647,917,799.004818234,841,658,635.004818234,658,0.454057155015,0.00453942021541,0.0595344874806,0.999999739489,7.99469112553e-05,-0.000715401648853,-5.32034831588e-05,1793254884329576704
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786,761,737,716,679,647,917,799.567901852,841,658,635,658,0.453681552274,0.00454164561305,0.059533420382,0.999999735669,9.09908234463e-05,-0.000719641262248,-4.99987110531e-05,1793254884346243584
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786.144391383,761,737,716,679.144391383,647,917,800,841,658,635,657.855608617,0.453298441861,0.00454403785922,0.0595312972687,0.99999973216,0.000101456162716,-0.000723304781992,-4.70897572187e-05,1793254884362910208
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786.732582291,761,737,716,679.732582291,647,917,800,841,658,635,657.267417709,0.452893144079,0.00454694186875,0.0595260554286,0.999999730062,0.00011004680807,-0.000725072845944,-4.51032680038e-05,1793254884379576832
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786.683093744,761,737.316906256,716.316906256,680,647,917,800,841,658,635,657,0.452475311052,0.00454966337871,0.0595348756472,0.999999741877,0.000120925785817,-0.000707005946833,-4.20294782295e-05,1793254884396243456
+301,5.016666667,POSE2_TO_POSE3_RETREAT,786.101993454,761,737.898006546,716.898006546,680,647,917,800,841,658,635,657,0.452047027771,0.00455223274526,0.0595554189283,0.999999764273,0.000133712469754,-0.000672403308935,-3.80492424691e-05,1793254884412910080
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785.52429191,761,737.52429191,717,680.47570809,647.47570809,917,799.52429191,841,657.52429191,635.47570809,657,0.451571945817,0.0045552777554,0.0595839109659,0.99999979017,0.00014491868767,-0.000630487504732,-3.38310958157e-05,1793254884429576704
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785.052344928,760.947655072,737,717,681,648,916.947655072,799.052344928,840.947655072,657.052344928,635.947655072,657.052344928,0.451082321851,0.00455861022742,0.0596115367197,0.999999812939,0.000156161088325,-0.000590640654336,-2.96505328879e-05,1793254884446243584
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785.625587059,760.374412941,737,717,681,648,916.374412941,799.625587059,840.374412941,657.625587059,635.374412941,657.625587059,0.4505471269,0.00456379568004,0.0596137028804,0.999999812802,0.000171111693263,-0.000586874997835,-2.63479738712e-05,1793254884462910464
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785.795448736,760.204551264,737,717,681,648,916.204551264,800,840,658,635,658,0.44999031599,0.00456795159582,0.0596078822436,0.999999806286,0.000184795135114,-0.000593930876675,-2.29216491543e-05,1793254884479577088
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785.205709394,760.794290606,737,717,681,648,916.794290606,800,840,658,635,658,0.449392800356,0.00457016880257,0.0595870217625,0.999999787541,0.000196092396131,-0.000621364661455,-1.9262262898e-05,1793254884496243712
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785.378151898,761,737,716.621848102,681.378151898,648,917,799.621848102,840,658,635,657.621848102,0.448769258131,0.00457354666365,0.0595801786235,0.99999977699,0.000211989378285,-0.000633141812577,-1.45458618031e-05,1793254884512910848
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785.958864536,761,737,716.041135464,681.958864536,648,917,799.041135464,840,658,635,657.041135464,0.448131774528,0.00457754624044,0.0595808440107,0.99999977084,0.000230350245424,-0.000636532334783,-9.26326055208e-06,1793254884529578496
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785.468632549,761,737,716,682.531367451,648.531367451,917,799.531367451,840,658,635,657,0.447507476343,0.00457848580461,0.0596164230697,0.999999806248,0.000242332290425,-0.000573377957453,-4.17311360387e-06,1793254884546244352
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761,737,716.106404019,683,649,917,800,840,658,635.106404019,657.106404019,0.446878658899,0.00457960243548,0.059655719793,0.99999983877,0.000254607153096,-0.00050757612408,1.25957544136e-06,1793254884562910464
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,761,737,716.695781712,683,649,917,800,840,658,635.695781712,657.695781712,0.446224765771,0.00458258167312,0.0596998096058,0.999999860895,0.00027041846955,-0.000452784673282,8.31367746876e-06,1793254884579577088
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,761,737,717,683.280110569,649,917,800,840,658,636,658,0.445509371618,0.00458640741825,0.0597093370316,0.999999859302,0.000287381663997,-0.000445653260714,1.41404524107e-05,1793254884596243968
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,683.859053219,649,917,800,840,658,636,658,0.444728365868,0.00459113624853,0.059681992059,0.999999833398,0.000305573725739,-0.000489367293367,1.8657871332e-05,1793254884612911104
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785.438075135,761,737,717.438075135,684.438075135,649,917,800,840,658,635.561924865,658,0.443975288974,0.00459061000906,0.0596860504061,0.999999837093,0.000313468735815,-0.000476480078702,2.27446939302e-05,1793254884629577472
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785.983014166,761,737,717.983014166,685,649.016985834,917,800,840,657.983014166,635,657.983014166,0.443229953163,0.0045884838446,0.0597009257976,0.999999850197,0.000318163423413,-0.000444595749212,2.67135042359e-05,1793254884646244096
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785.408589317,761,737,717.408589317,685,649.591410683,917,800,840,657.408589317,635,657.408589317,0.442443711471,0.00458934912307,0.0597391503794,0.999999871291,0.000326575140447,-0.00038701920274,3.13568391564e-05,1793254884662910720
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,760.83055342,737,717.16944658,685,650,917,800,840,657.16944658,635,657,0.441642252813,0.00458996132304,0.0597655040426,0.999999886316,0.000319287900632,-0.000352772699511,3.12208478101e-05,1793254884679577344
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,760.243620574,737,717.756379426,685,650,917,800,840,657.756379426,635,657,0.440803302297,0.00458994998252,0.0597626098693,0.999999891771,0.000273321221855,-0.000376007283024,1.93094456433e-05,1793254884696243968
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785,760,737,718,685,650,917,800,840,658,635,657,0.439956758122,0.00458735992242,0.0597701313263,0.999999897935,0.000258090401747,-0.000370404339691,1.7870244345e-05,1793254884712910848
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785,760,737,718,685,650,917,800,840,658,635,657,0.439104825384,0.00458293995661,0.0597850439015,0.999999905406,0.000264670300658,-0.000344337769157,2.38623052205e-05,1793254884729577216
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785,760.497263703,737,718,685.497263703,650,917,800,840,658,635,657.497263703,0.438223602679,0.00458421943334,0.0598007381201,0.999999910461,0.000273719404353,-0.000321487337817,2.83291936344e-05,1793254884746243840
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785,761,737,718.073921912,686,650,917,800.073921912,840,658,635,657.926078088,0.437323766695,0.00458651497206,0.0598068227273,0.999999910087,0.000282151367053,-0.000314952543209,3.19710843314e-05,1793254884762910720
+323,5.383333333,POSE2_TO_POSE3_RETREAT,785,761,737,718.647233591,686,650,917,800.647233591,840,658,635,657.352766409,0.436329976498,0.00458948874828,0.0597471399,0.999999873071,0.000283734182665,-0.000415149665916,3.16949372638e-05,1793254884779577344
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785,760.772769533,737,718.772769533,685.772769533,650,917,800.772769533,839.772769533,657.772769533,635,657,0.435380719363,0.0045865459388,0.0597121320071,0.999999855917,0.000275648168274,-0.00045964206779,3.02090672622e-05,1793254884796243968
+325,5.416666667,POSE2_TO_POSE3_RETREAT,785,760.182079466,737,718.182079466,685.182079466,650,917,800.182079466,839.182079466,657.182079466,635,657,0.434502693583,0.0045741394346,0.0597165921476,0.999999881738,0.000252096673527,-0.000415033693259,2.67882219434e-05,1793254884812910336
+326,5.433333333,POSE2_TO_POSE3_RETREAT,785,760,737,718.398879433,685.797758866,650.398879433,917,800,839.398879433,657,635,657.398879433,0.433600937868,0.00455784067021,0.0597388925658,0.999999902462,0.000229295934266,-0.00037642031776,2.83985188762e-05,1793254884829577216
+327,5.450000000,POSE2_TO_POSE3_RETREAT,785,760,737,718.975502027,686.951004053,650.975502027,917,800,839.975502027,657,635,657.975502027,0.432688607997,0.00453980749118,0.0597691427227,0.999999920128,0.000206829737567,-0.000340478353574,3.22507243217e-05,1793254884846243840
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784.446146946,760,737,719,686.446146946,650.446146946,917,800,839.446146946,657.553853054,635,657.446146946,0.431753578657,0.00454282504836,0.0597836914829,0.999999928654,0.000202308489282,-0.000317404847085,3.18916055031e-05,1793254884862910464
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.865828528,760,737.134171472,719,686.134171472,650.134171472,917,800,839.134171472,658,635,657,0.430818205613,0.0045464390049,0.059798982313,0.999999936305,0.000200268640755,-0.000293704639003,3.19380224894e-05,1793254884879577088
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.279133325,760,737.720866675,719,686.720866675,650.720866675,917,800,839.720866675,658,635,657,0.42988507035,0.00454891422889,0.0598191256422,0.999999943264,0.000203912430223,-0.00026596498545,3.39824220863e-05,1793254884896243968
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.30543003,760,737.69456997,719,686.69456997,650.69456997,917,800,839.69456997,658,635,657,0.428897252692,0.00455149601877,0.0597994276934,0.999999930557,0.000205546033088,-0.000308853446677,3.53119973297e-05,1793254884912910848
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.888058558,760,737.111941442,719,686.111941442,650.111941442,917,800,839.111941442,658,635,657,0.427859807099,0.0045541745243,0.0597435710775,0.999999891805,0.000205355253191,-0.000415841718312,3.59928205206e-05,1793254884929577728
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.536112968,760.463887032,737.463887032,719.463887032,686.463887032,650,917,800,839,657.536112968,635,657,0.426920058006,0.00455435159826,0.059728986767,0.999999890788,0.000196297260597,-0.000422776826113,3.39220185474e-05,1793254884946244096
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,761,738,719.961786764,687.038213236,650.038213236,917,800,839.038213236,657.038213236,635,657,0.426003543057,0.00455400573765,0.0597273280316,0.999999900653,0.000185769196033,-0.000403959618025,3.16282812734e-05,1793254884962910720
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,761,738,719.385843497,687.614156503,650.614156503,917,800,839.614156503,657.614156503,635,657,0.425087020829,0.00455467262579,0.0597694321762,0.999999918463,0.000184229916428,-0.000357602286433,3.54061400657e-05,1793254884979577088
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,760.805833625,738,719,687.61166725,651,917,800,839.805833625,658,635,657,0.424175343067,0.00455497640077,0.0598044844427,0.999999933375,0.000181070098969,-0.000314669480682,3.80335580522e-05,1793254884996243712
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,760.217569702,738,719,686.435139404,651,917,800,839.217569702,658,635,657,0.423273497906,0.00455454316871,0.0598252235902,0.999999945186,0.000174621092281,-0.000278687393339,3.83259386332e-05,1793254885012910336
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,760,738,719,686.732480103,651,917,800,839,658,635,657,0.422368684112,0.0045553166972,0.0598357838909,0.999999951809,0.000168404449052,-0.000257994440814,3.82189549424e-05,1793254885029577472
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,760,738,719,687.894871014,651,917,800,839,658,635,657,0.421462128007,0.0045567985035,0.0598403699718,0.999999955782,0.000162324186175,-0.000246275064382,3.78775744166e-05,1793254885046245120
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,760.521417436,738,719.521417436,686.957165127,650.478582564,917,799.478582564,839,658,635,657,0.420483861393,0.00455772535552,0.0597756106306,0.999999920127,0.000156819799151,-0.00036565437073,3.80823421327e-05,1793254885062912000
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782.903036995,760.903036995,738,720,686.096963005,649.903036995,916.903036995,799.096963005,839,657.903036995,635,657,0.419520533107,0.00455758667554,0.0597147580603,0.999999876379,0.000149582319197,-0.000472689673945,3.78287883805e-05,1793254885079578112
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782.315962261,760.315962261,738,720,686.684037739,649.315962261,916.315962261,799.684037739,839,657.315962261,635,657,0.418668754745,0.00455234105393,0.0597085062837,0.999999888605,0.000133295275318,-0.000451439507812,3.49840957471e-05,1793254885096244480
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,782.821231968,760.821231968,738,720,687.821231968,649.821231968,916,800,839,657,635,657,0.417024906578,0.00455515332126,0.0597762770937,0.999999929788,0.000129865795896,-0.000349608113376,3.65144026451e-05,1793254885129577216
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760.593281065,738,720,687.593281065,650,916,800,839,657.406718935,635,657,0.416225778995,0.00455360060363,0.0598062712573,0.99999993173,0.000186473992597,-0.000316685837464,3.84314440609e-05,1793254885146244096
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783.003193325,760,738,720,687,650,916,799.996806675,839,658,635,657,0.41543245426,0.00454953636218,0.0598274604446,0.99999991928,0.000267261577252,-0.000297305978005,4.02501752581e-05,1793254885162910208
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783.586819971,760,738,720,687,650,916,799.413180029,839,658,635,657,0.414692434599,0.00454773693579,0.0598319606939,0.999999926864,0.000250374549238,-0.000286436293241,3.92291212889e-05,1793254885179577088
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783.830948014,760,738,720,687.169051986,650,916,799.169051986,839,658,634.830948014,657,0.413934263966,0.00454691720952,0.0598305228834,0.999999929988,0.000236707769276,-0.000287232883389,3.85979432586e-05,1793254885196244224
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783.252096611,760,738,720,687.747903389,650,916,799.747903389,839,658,634.252096611,657,0.413132093359,0.00454847237679,0.0598146906053,0.999999922572,0.000230847198698,-0.000316309722755,3.89118644413e-05,1793254885212910848
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760.328743122,738,720.328743122,687.671256878,650,916,800,839,658,634.328743122,657,0.412344427437,0.00454871451752,0.0597788501496,0.999999904135,0.000222682097842,-0.000375045331738,3.85256672643e-05,1793254885229577216
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,760.911116849,738,720.911116849,687.088883151,650,916,800,839,658,634.911116849,657,0.411567952161,0.00454794363708,0.0597275730639,0.999999872394,0.000212739014093,-0.00045666315496,3.75993173089e-05,1793254885246243584
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,687,650,916,800,839,658,635,657,0.4109101799,0.0045473130122,0.0597323956774,0.999999882906,0.000200751246829,-0.000438823595648,3.63517532033e-05,1793254885262910464
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,760.938936375,738,721,687.122127251,650,916,800,839,658,634.938936375,657,0.410278623677,0.00454636704491,0.0597503629205,0.999999901314,0.00018887566984,-0.000400556690415,3.53820016464e-05,1793254885279577088
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760.363412185,738,721,688.273175629,650,916,800,839,658,634.363412185,657,0.409687813248,0.00454255149148,0.0597939459195,0.999999924739,0.000181047969412,-0.000341109665194,3.72402402626e-05,1793254885296243456
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.781868724,650,916,800,839,658,634,657,0.409096888324,0.00453970834451,0.0598270957042,0.999999940668,0.00017471744502,-0.000294329307747,3.88380585691e-05,1793254885312910336
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.190012483,650,916,800,839,658,634,657,0.408505767298,0.0045385312248,0.059842370227,0.99999994834,0.000170952038413,-0.000269250797493,3.9989697965e-05,1793254885329577216
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,650,916,800,839,658,634,657,0.407932550875,0.00453637330142,0.0598370477059,0.999999947976,0.000165071323031,-0.000274299115294,3.94884785188e-05,1793254885346244096
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,650,916,800,839,658,634,657,0.407367800624,0.00453375160319,0.0598219858374,0.99999994366,0.000158190379777,-0.000293592955044,3.82057019263e-05,1793254885362910976
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,760,738.542720038,721,687.457279962,650,916,800,839,658,634.542720038,657,0.406860393881,0.00453328164524,0.0598128080165,0.99999994168,0.000154899547395,-0.000302112966121,3.70551556437e-05,1793254885379577600
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,760,738.885386197,721,687.114613803,650,916,800,839,657.885386197,635,657,0.406366495998,0.00453311201868,0.0598065453246,0.99999994031,0.000153582247766,-0.000307381924641,3.61826644931e-05,1793254885396243968
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,760,738.31296229,721,687.68703771,650,916,800,839,657.31296229,635,657,0.405914300787,0.00453368211516,0.0598106690848,0.999999941044,0.000159380621428,-0.000301967767361,3.6392565639e-05,1793254885412910592
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,760,738,721.27098795,688,650,916,800,839,657.27098795,634.72901205,657,0.405469378707,0.00453246010319,0.0598109098074,0.9999999413,0.000161926172022,-0.000299797158314,3.60894708671e-05,1793254885429577216
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,760,738,721.868841203,688,650,916,800,839,657.868841203,634.131158797,657,0.405033229494,0.00452907645237,0.0598064668151,0.999999941031,0.000160548171452,-0.000301538913139,3.51676010963e-05,1793254885446243840
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,760,738,721.549947332,688,650,916,800,839,657.549947332,634,657,0.404619325977,0.00452751129888,0.0597887405981,0.999999931522,0.000162976549063,-0.000330450489703,3.45928785707e-05,1793254885462910464
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,687.973500957,650,916,800,838.973500957,657.026499043,634.026499043,657,0.404214466442,0.00452653492778,0.0597676246525,0.999999918513,0.000166339100314,-0.000366254349521,3.40906682511e-05,1793254885479577088
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,760,738,721,687.398877125,650,916,800,838.398877125,657.601122875,634.601122875,657,0.40386736054,0.00452716608534,0.059753611001,0.999999910765,0.000166897584071,-0.000386679886423,3.30703212828e-05,1793254885496243712
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.180500431,760.180500431,738,721.180500431,687.361000862,650,916,800,838.180500431,658,635,657,0.403548451154,0.00452712159233,0.0597507217006,0.999999910459,0.000166249319322,-0.000387822318164,3.21990015212e-05,1793254885512910592
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.770667026,760.770667026,738,721.770667026,688.541334052,650,916,800,838.770667026,658,635,657,0.403293537001,0.00452554363375,0.0597730803764,0.999999926655,0.000162862202071,-0.000345199556635,3.16659160043e-05,1793254885529577216
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.64847499,760.64847499,738,722,688.64847499,650,916,800,839,658,635,657,0.4030471129,0.004523175416,0.05979424796,0.999999938968,0.000157622619594,-0.000310167420388,3.18752424698e-05,1793254885546243584
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.073533171,760.073533171,738,722,688.073533171,650,916,800,839,658,635,657,0.402806084751,0.00452030493744,0.05981465853,0.99999994885,0.000151205675698,-0.000279959611786,3.25564195686e-05,1793254885562910208
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,760,738,721.495474281,688,650,916,800,838.495474281,657.495474281,635,657,0.402585290358,0.00451800795368,0.0598230717587,0.999999952514,0.000147608912863,-0.000268528719284,3.27921347182e-05,1793254885579576832
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649.915561301,916,800,838.084438699,657,635,657,0.402370578289,0.00451609854125,0.0598279404692,0.999999954349,0.000144948699233,-0.00026306812086,3.29769949475e-05,1793254885596243456
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649.327313012,916,800,838.672686988,657,635,657,0.402174451874,0.00451599978257,0.0598221584338,0.999999950566,0.000145408766954,-0.00027679959281,3.32482123648e-05,1793254885612910336
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,760.257053228,738,721,688,649.257053228,916,800,839,657.257053228,634.742946772,657,0.401994747208,0.00451550510672,0.059819147025,0.999999948131,0.000144938500732,-0.00028570319009,3.32272610841e-05,1793254885629577216
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,760.836549853,738,721,688,649.836549853,916,800,839,657.836549853,634.163450147,657,0.401835641729,0.00451451379882,0.0598196110455,0.999999947562,0.000143301238704,-0.000288550778951,3.28398181188e-05,1793254885646244096
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,688.414397515,650,916,800,839,658,634.414397515,657,0.401695216469,0.00451379653732,0.0598195326555,0.999999947101,0.00014107494505,-0.000291243370513,3.27599994083e-05,1793254885662910720
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,688.991597344,650,916,800,839,658,634.991597344,657,0.40156213002,0.00451318693912,0.0598192411713,0.999999946673,0.000138617241475,-0.000293875068979,3.28010355348e-05,1793254885679577088
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760.433814683,738,721.566185317,688.433814683,649.433814683,915.433814683,799.433814683,839,657.433814683,634.433814683,657,0.40146346788,0.00451102241669,0.0598210122981,0.999999948469,0.000134364559703,-0.000289750683927,3.24387322335e-05,1793254885696243968
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.144485199,760.144485199,737.855514801,721.855514801,688.144485199,649,915.144485199,799,839,657.144485199,634.144485199,657,0.401370862946,0.0045091241456,0.0598228319456,0.999999949984,0.000130956795284,-0.000286087850558,3.21822461721e-05,1793254885712910592
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783.734345862,760.734345862,737.265654138,721.265654138,688.734345862,649,915.734345862,799,839,657.734345862,634.734345862,657,0.401295361791,0.00450811740056,0.059824707233,0.999999950627,0.000130235225969,-0.00028415540067,3.22703084754e-05,1793254885729577216
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783.681598937,761,737.318401063,721,689,649,915.681598937,799,838.681598937,657.681598937,634.681598937,657,0.401226258323,0.00450743207821,0.0598247116794,0.999999950479,0.000129115923635,-0.000285197108753,3.21620256131e-05,1793254885746243840
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.102300656,761,737.897699344,721,689,649,915.102300656,799,838.102300656,657.102300656,634.102300656,657,0.401162397101,0.00450701012889,0.0598231831623,0.999999949675,0.000127670719553,-0.000288675835929,3.189285791e-05,1793254885762910464
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.473662757,761,738,721,688.526337243,649,915.473662757,799,838.473662757,657.473662757,634.473662757,657,0.401110459034,0.00450757802095,0.0598198327634,0.999999948053,0.000126818170162,-0.000294620222618,3.17712073636e-05,1793254885779577344
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.951333409,760.951333409,738,721.048666591,688,649,916,799.048666591,839,658,634.951333409,657,0.401062757616,0.00450819938451,0.0598163641229,0.999999946337,0.000126150775902,-0.000300680235676,3.1677732167e-05,1793254885796244480
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.378958726,760.378958726,738,721.621041274,688,649,916,799.621041274,839,658,634.378958726,657,0.401033129662,0.00450711168931,0.0598158278215,0.99999994586,0.000126108062804,-0.000302293982766,3.15469982065e-05,1793254885812910848
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,760.200338264,738,721.799661736,688.200338264,649,916,800,838.799661736,657.799661736,634,657,0.401008742321,0.00450621347,0.0598162728267,0.999999946199,0.000124760898357,-0.000301749910581,3.1369902321e-05,1793254885829577216
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,760.793198058,738,721.206801942,688.793198058,649,916,800,838.206801942,657.206801942,634,657,0.400994622884,0.00450568648973,0.0598186405,0.999999948115,0.000120857930412,-0.000296978036264,3.11019698083e-05,1793254885846243584
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,760.623089293,738,721.376910707,688.623089293,649,916,800,838.376910707,657.376910707,634.376910707,657,0.400984289,0.00450517441758,0.0598209265138,0.999999949478,0.000119116729914,-0.000293105106774,3.07264694032e-05,1793254885862910208
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,760.044276568,738,721.955723432,688.044276568,649,916,800,838.955723432,657.955723432,634.955723432,657,0.400975982946,0.00450467033138,0.0598231687845,0.999999950549,0.00011853353647,-0.000289713720602,3.02933474689e-05,1793254885879576832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,760,738,721.468061906,688,649,916,800,839,658,634.468061906,657,0.400970244975,0.00450450628693,0.0598243741515,0.99999995089,0.000118705660225,-0.000288458836088,3.03351147318e-05,1793254885896243968
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649,915.892420009,800,839,658,634,657,0.400965006419,0.00450444264114,0.0598251151222,0.999999951005,0.000119074144928,-0.000287908530536,3.03273841579e-05,1793254885912910592
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649,915.318328817,800,839,658,634,657,0.400961011097,0.00450469222484,0.059824214727,0.999999950402,0.000120022827221,-0.000289646154512,2.99344338249e-05,1793254885929577216
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.264245036,760,738,721.264245036,688,649.264245036,915.264245036,800,838.735754964,658,634,657,0.400958664932,0.00450485844886,0.0598241923151,0.999999950246,0.000121076278892,-0.000289751514446,2.98750136626e-05,1793254885946243840
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.85737672,760,738,721.85737672,688,649.85737672,915.85737672,800,838.14262328,658,634,657,0.400958371352,0.00450492092117,0.0598252626653,0.999999950648,0.000122260129547,-0.000287825313835,3.02307142831e-05,1793254885962910464
+395,6.583333333,POSE2_TO_POSE3_RETREAT,784,760,738,721.561756422,688,650,916,800,838.438243578,658,634,657,0.40095859472,0.00450356066054,0.0598263314131,0.999999951532,0.00011954556897,-0.000285867641732,3.04129376969e-05,1793254885979576832
+396,6.600000000,POSE2_TO_POSE3_RETREAT,784,760,738,721.015184999,688.015184999,649.984815001,915.984815001,799.984815001,839,657.984815001,634,657,0.4009589639,0.00450186729398,0.0598273905128,0.999999952524,0.000115783711172,-0.000283928365414,3.05221485399e-05,1793254885996243200
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784,760,738,721.590556137,688.590556137,649.409443863,915.409443863,799.409443863,839,657.409443863,634,657,0.400958674769,0.00450450146937,0.0598281124011,0.999999952426,0.000118915742417,-0.000283035274357,2.99639082816e-05,1793254886012909824
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.830087051,760.169912949,738,722,689,649,915,799.169912949,839,657.169912949,634,657,0.400958313583,0.00450600133357,0.0598285778959,0.999999952348,0.00012069569339,-0.000282600791011,2.9550414383e-05,1793254886029576704
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.240895182,760.759104818,738,722,689,649,915,799.759104818,839,657.759104818,634,657,0.400957774597,0.00450470215976,0.0598284107114,0.999999952339,0.000119139237163,-0.000283297972776,2.9494098107e-05,1793254886046243328
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.342483482,761,738,722,689,649.342483482,915.342483482,799.657516518,839,658,634,657.342483482,0.40095714245,0.00450411903417,0.0598283223581,0.999999952164,0.00011937064466,-0.00028378929975,2.97775248487e-05,1793254886062909952
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.921841489,761,738,722,689,649.921841489,915.921841489,799.078158511,839,658,634,657.921841489,0.400956445869,0.00450403115465,0.0598282885275,0.999999951873,0.000120838606376,-0.000284138249736,3.02959307102e-05,1793254886079576576
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.503140264,760.503140264,738,721.503140264,689,649.503140264,916,799.496859736,838.503140264,658,634,657.503140264,0.400957251875,0.0045043189499,0.05982883116,0.999999952383,0.000118496592827,-0.000283360778836,3.00009969377e-05,1793254886096244224
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.927101901,649,916,800,838.072898099,657.927101901,634,657,0.400958131852,0.00450472950747,0.0598293920566,0.999999952926,0.000116036168286,-0.000282499664335,2.96243618529e-05,1793254886112911872
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.339072966,649,916,800,838.660927034,657.339072966,634,657,0.400957878749,0.00450559357908,0.0598294467739,0.999999952882,0.000116937451329,-0.000282288761005,2.95666588103e-05,1793254886129577472
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783,760,738.245238167,721.245238167,688,649.245238167,916,800,838.754761833,657,634.245238167,657,0.400957659402,0.00450540304744,0.0598294407425,0.999999952855,0.000117215797354,-0.00028226769709,2.95712449067e-05,1793254886146243840
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04f3bea81557b7b46b78119c48079cceff0e17d7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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+346,5.766666667,pose2_to_pose3_retreat,0.586874283779,0.0101817065938,1.05002056142,0.557445432122,0.0188559463557,1.04969226393
+347,5.783333333,pose2_to_pose3_retreat,0.586270731157,0.0101817227062,1.05002046437,0.556841879059,0.0188559612792,1.04969217493
+348,5.800000000,pose2_to_pose3_retreat,0.585668904098,0.0101817361813,1.0500206317,0.556240052589,0.0188559766761,1.04969234021
+349,5.816666667,pose2_to_pose3_retreat,0.585069822548,0.010181711271,1.05002054278,0.555640970617,0.0188559502154,1.04969224809
+350,5.833333333,pose2_to_pose3_retreat,0.584483568375,0.0101817580568,1.0500203946,0.55505471683,0.018855998645,1.04969210881
+351,5.850000000,pose2_to_pose3_retreat,0.583916980612,0.0101817655498,1.050020586,0.554488129229,0.0188560063644,1.04969229158
+352,5.866666667,pose2_to_pose3_retreat,0.583383217142,0.0101817605942,1.05002053507,0.553954365257,0.0188559996295,1.04969223867
+353,5.883333333,pose2_to_pose3_retreat,0.582879961017,0.0101817704567,1.05002044806,0.553451108555,0.0188560077041,1.04969215624
+354,5.900000000,pose2_to_pose3_retreat,0.58240543766,0.010181803869,1.05002050981,0.55297658505,0.0188560407473,1.04969222141
+355,5.916666667,pose2_to_pose3_retreat,0.581944109028,0.0101818541863,1.05002054344,0.5525152568,0.0188560921755,1.04969225016
+356,5.933333333,pose2_to_pose3_retreat,0.581493193013,0.0101818581534,1.0500203356,0.552064339393,0.0188560915382,1.04969204544
+357,5.950000000,pose2_to_pose3_retreat,0.581055272705,0.0101817256255,1.05002050799,0.551626420252,0.0188559629254,1.04969221659
+358,5.966666667,pose2_to_pose3_retreat,0.580632456228,0.0101816880189,1.05002072705,0.551203604555,0.0188559276491,1.04969242733
+359,5.983333333,pose2_to_pose3_retreat,0.580231246852,0.0101817960981,1.05002077387,0.550802394929,0.0188560347575,1.04969247094
+360,6.000000000,pose2_to_pose3_retreat,0.579849967318,0.0101819043274,1.05002064168,0.550421115136,0.0188561424973,1.04969234907
+361,6.016666667,pose2_to_pose3_retreat,0.579488474684,0.0101816953561,1.05002054204,0.550059622756,0.0188559343139,1.04969224799
+362,6.033333333,pose2_to_pose3_retreat,0.579141874482,0.0101818421016,1.05002067267,0.549713021748,0.0188560780014,1.04969237005
+363,6.050000000,pose2_to_pose3_retreat,0.578808954357,0.010181824549,1.0500205681,0.549380101756,0.0188560612209,1.04969227409
+364,6.066666667,pose2_to_pose3_retreat,0.578492404316,0.0101818204388,1.05002052407,0.549063550431,0.0188560528255,1.04969223191
+365,6.083333333,pose2_to_pose3_retreat,0.578195530551,0.0101818179169,1.05002054655,0.548766676711,0.0188560502706,1.04969224946
+366,6.100000000,pose2_to_pose3_retreat,0.577926757861,0.0101818152381,1.05002055334,0.548497905196,0.0188560514989,1.04969225423
+367,6.116666667,pose2_to_pose3_retreat,0.577683849177,0.0101818625048,1.05002053135,0.548254995626,0.0188560959148,1.04969223632
+368,6.133333333,pose2_to_pose3_retreat,0.57746644901,0.0101817517257,1.05002040525,0.548037597853,0.0188559935124,1.04969211686
+369,6.150000000,pose2_to_pose3_retreat,0.57726862911,0.0101817477769,1.05002048537,0.547839777108,0.0188559865567,1.04969219329
+370,6.166666667,pose2_to_pose3_retreat,0.577087019772,0.0101818028363,1.05002053599,0.547658166994,0.0188560389061,1.04969224183
+371,6.183333333,pose2_to_pose3_retreat,0.576914597429,0.0101818561946,1.05002050481,0.547485744452,0.0188560916415,1.04969221192
+372,6.200000000,pose2_to_pose3_retreat,0.576752530766,0.0101818183654,1.05002039669,0.547323677984,0.018856054591,1.04969210708
+373,6.216666667,pose2_to_pose3_retreat,0.576603164976,0.0101816739094,1.05002048257,0.547174314181,0.0188559169492,1.04969219485
+374,6.233333333,pose2_to_pose3_retreat,0.576466424621,0.0101817607142,1.05002041213,0.5470375723,0.0188559986599,1.04969212666
+375,6.250000000,pose2_to_pose3_retreat,0.576342297566,0.0101817299304,1.05002030448,0.546913444948,0.0188559669284,1.04969202056
+376,6.266666667,pose2_to_pose3_retreat,0.576233292128,0.0101816615478,1.05002032663,0.546804440523,0.0188559017227,1.04969203582
+377,6.283333333,pose2_to_pose3_retreat,0.576137849014,0.0101816393854,1.05002047005,0.546708998657,0.0188558833773,1.04969216856
+378,6.300000000,pose2_to_pose3_retreat,0.576055329375,0.0101816129449,1.05002055684,0.54662647984,0.0188558597637,1.04969225736
+379,6.316666667,pose2_to_pose3_retreat,0.575983845819,0.0101816851568,1.05002063638,0.546554993976,0.0188559243534,1.04969234183
+380,6.333333333,pose2_to_pose3_retreat,0.57592312208,0.0101816996558,1.05002068051,0.546494269545,0.0188559362801,1.04969237989
+381,6.350000000,pose2_to_pose3_retreat,0.575869672408,0.0101817327669,1.0500207524,0.546440820097,0.0188559700497,1.04969244901
+382,6.366666667,pose2_to_pose3_retreat,0.575823196909,0.0101817429063,1.05002076487,0.546394344838,0.0188559810967,1.0496924639
+383,6.383333333,pose2_to_pose3_retreat,0.57578381369,0.010181703005,1.05002060731,0.546354961504,0.0188559410605,1.04969231301
+384,6.400000000,pose2_to_pose3_retreat,0.575751331474,0.0101817342768,1.05002036571,0.54632247973,0.0188559742878,1.04969208347
+385,6.416666667,pose2_to_pose3_retreat,0.575726660723,0.0101817315719,1.05002044357,0.546297806278,0.0188559617374,1.04969214337
+386,6.433333333,pose2_to_pose3_retreat,0.575708164804,0.0101816913199,1.0500205518,0.546279312543,0.0188559287081,1.0496922466
+387,6.450000000,pose2_to_pose3_retreat,0.575695663071,0.0101817216303,1.0500206372,0.546266811862,0.018855962658,1.0496923339
+388,6.466666667,pose2_to_pose3_retreat,0.575686788711,0.0101817240439,1.05002063047,0.546257937819,0.0188559661922,1.04969232841
+389,6.483333333,pose2_to_pose3_retreat,0.575680822402,0.0101816525873,1.05002049479,0.54625197133,0.0188558940302,1.04969219031
+390,6.500000000,pose2_to_pose3_retreat,0.575676268112,0.0101816517699,1.05002044313,0.546247416956,0.0188558931001,1.04969214319
+391,6.516666667,pose2_to_pose3_retreat,0.575672815756,0.0101816730791,1.05002042752,0.546243964549,0.0188559144528,1.0496921333
+392,6.533333333,pose2_to_pose3_retreat,0.575670625291,0.0101817139791,1.05002049998,0.546241773851,0.0188559545371,1.049692205
+393,6.550000000,pose2_to_pose3_retreat,0.575669203152,0.010181733747,1.050020541,0.546240351575,0.0188559738455,1.04969224598
+394,6.566666667,pose2_to_pose3_retreat,0.57566858294,0.0101817121658,1.05002053206,0.546239731376,0.0188559523765,1.04969223904
+395,6.583333333,pose2_to_pose3_retreat,0.575668343137,0.0101817038214,1.0500205286,0.546239491577,0.0188559440755,1.04969223636
+396,6.600000000,pose2_to_pose3_retreat,0.575668307074,0.0101817025666,1.05002052808,0.546239455514,0.0188559428272,1.04969223595
+397,6.616666667,pose2_to_pose3_retreat,0.575668245822,0.0101817004352,1.0500205272,0.546239394264,0.0188559407069,1.04969223527
+398,6.633333333,pose2_to_pose3_retreat,0.575668096759,0.0101816952484,1.05002052505,0.546239245204,0.018855935547,1.0496922336
+399,6.650000000,pose2_to_pose3_retreat,0.575667838306,0.010181686255,1.05002052132,0.546238986755,0.0188559266005,1.04969223071
+400,6.666666667,pose2_to_pose3_retreat,0.575667692258,0.0101816811731,1.05002051922,0.54623884071,0.018855921545,1.04969222907
+401,6.683333333,pose2_to_pose3_retreat,0.575667675562,0.0101816811838,1.05002052337,0.546238824031,0.0188559215975,1.04969223283
+402,6.700000000,pose2_to_pose3_retreat,0.575667666121,0.010181681233,1.05002052604,0.5462388146,0.0188559216732,1.04969223524
+403,6.716666667,pose2_to_pose3_retreat,0.57566761926,0.0101816814772,1.0500205393,0.546238767793,0.0188559220487,1.0496922472
+404,6.733333333,pose2_to_pose3_retreat,0.575667524971,0.0101816819684,1.05002056597,0.546238673611,0.0188559228043,1.04969227127
+405,6.750000000,pose2_to_pose3_retreat,0.57566742887,0.0101816824691,1.05002059315,0.546238577619,0.0188559235744,1.04969229581
+406,6.766666667,pose2_to_pose3_retreat,0.575667298281,0.0101816831494,1.05002063009,0.546238447178,0.0188559246208,1.04969232915
+407,6.783333333,pose2_to_pose3_retreat,0.575667281068,0.0101816832391,1.05002063496,0.546238429985,0.0188559247588,1.04969233354
+408,6.800000000,pose2_to_pose3_retreat,0.575667153757,0.0101816839024,1.05002067097,0.546238302818,0.018855925779,1.04969236604
+409,6.816666667,pose2_to_pose3_retreat,0.575667085504,0.010181684258,1.05002069027,0.546238234642,0.0188559263259,1.04969238347
+410,6.833333333,pose2_to_pose3_retreat,0.575666970826,0.0101816951781,1.05002071229,0.546238120011,0.0188559373133,1.04969240304
+411,6.850000000,pose2_to_pose3_retreat,0.575666897368,0.010181846069,1.0500205812,0.54623804543,0.0188560847034,1.04969228019
+412,6.866666667,pose2_to_pose3_retreat,0.575666833423,0.0101818998864,1.05002048507,0.546237980481,0.0188561353516,1.04969219039
+413,6.883333333,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ccd9414646ebc643b7924740d46202bb35a881bc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4992869f654ba67a7619a735426b3b4af403615992cdf9af0dc258912987090
+size 26282812
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f9922931fad197d66aeee0463b4b6c03b45fdda
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,783,760.423633312,738,721,689,649,915.423633312,799.576366688,838.576366688,657.576366688,634,657,0.400957532448,0.00450432332722,0.0598314588904,0.999999953641,0.000118456202479,-0.000278970687642,2.93382855809e-05,1793254886414520576
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+20,0.333333333,BASELINE,783,760.4029358,738.4029358,721,689,649.5970642,916,800,839,658,634.5970642,657,0.400958633915,0.00450345114923,0.0598325231006,0.999999954528,0.000115184555969,-0.000277189064801,2.90145510022e-05,1793254886731186688
+21,0.350000000,BASELINE,783,760.175776011,738.175776011,721.175776011,689,650,916,800,839,658,635,657,0.400958276264,0.00450366730561,0.0598321201243,0.999999954359,0.00011550000376,-0.000277671387101,2.89973280161e-05,1793254886747853312
+22,0.366666667,BASELINE,783,760.766750428,738.766750428,721.766750428,689,650,916,800,839,658,635,657,0.400958933949,0.0045032397131,0.0598326698639,0.999999954946,0.000114170058283,-0.000276088616516,2.91185847603e-05,1793254886764519936
+23,0.383333333,BASELINE,783,760.649620376,738.649620376,722,689,650,915.649620376,800,839,657.649620376,635,657,0.400958967634,0.00450376018866,0.059832915071,0.999999954937,0.000114847494664,-0.000275864322519,2.89091483567e-05,1793254886781186816
+24,0.400000000,BASELINE,783,760.070780473,738.070780473,722,689,650,915.070780473,800,839,657.070780473,635,657,0.40095859445,0.0045048988391,0.0598329617118,0.999999954536,0.000116833817012,-0.000276525804588,2.84840879853e-05,1793254886797853696
+25,0.416666667,BASELINE,783,760,738.507320841,722,689,650,915,799.492679159,838.492679159,657.507320841,635,657,0.400958756216,0.00450478744243,0.0598332177326,0.999999954622,0.000116820324311,-0.000276181949162,2.88412606517e-05,1793254886814520320
+26,0.433333333,BASELINE,783,760,738.915511256,722,689,650,915.084488744,799.084488744,838.084488744,658,635,657,0.400959026626,0.00450447415475,0.0598335080406,0.999999954774,0.000116750320965,-0.000275618858826,2.92463609921e-05,1793254886831187200
+27,0.450000000,BASELINE,783,760,738.343138952,722,689,650,915.656861048,799.656861048,838.656861048,658,635,657,0.400959494053,0.00450400067963,0.0598338278998,0.999999954911,0.000117962809544,-0.000274598563541,2.92989294431e-05,1793254886847853312
+28,0.466666667,BASELINE,783,760,738,722,689,649.763432033,916,800,839,658,635,657,0.400958613825,0.00450361206438,0.0598334968659,0.999999954788,0.000118152800765,-0.000274961425772,2.93357292056e-05,1793254886864519680
+29,0.483333333,BASELINE,783,760,738,722,689,649.172745978,916,800,839,658,635,657,0.400955716297,0.00450335047571,0.0598321915116,0.999999954273,0.000116812217785,-0.000277394733615,2.93489248485e-05,1793254886881186560
+30,0.500000000,BASELINE,783,760.408767514,738,721.591232486,689,649,915.591232486,800,838.591232486,657.591232486,635,657,0.400956909129,0.00450352646907,0.059832784387,0.999999954697,0.000115729349108,-0.000276344039114,2.90876119542e-05,1793254886897853184
+31,0.516666667,BASELINE,783,760.986489724,738,721.013510276,689,649,915.013510276,800,838.013510276,657.013510276,635,657,0.400959792618,0.00450388332695,0.0598341618523,0.999999955506,0.000114753000771,-0.000273853311935,2.87128372394e-05,1793254886914519808
+32,0.533333333,BASELINE,783,761,738,721.563628009,689,649.563628009,915.563628009,800,838.563628009,657.563628009,635,657,0.400958654237,0.00450265698161,0.0598330331606,0.999999955211,0.000113680782514,-0.000275370888914,2.87331204197e-05,1793254886931186944
+33,0.550000000,BASELINE,783,761,738,721.856891902,689,649.856891902,915.856891902,800,839,657.856891902,634.856891902,657.143108098,0.400958061433,0.00450162607538,0.0598325432594,0.999999955079,0.000112852039668,-0.000276180681865,2.88264533214e-05,1793254886947853568
+34,0.566666667,BASELINE,783,761,738,721.270108319,689,649.270108319,915.270108319,800,839,657.270108319,634.270108319,657.729891681,0.400959458644,0.00450131861882,0.0598342198397,0.999999955541,0.000112785256644,-0.000274498577946,2.91169328658e-05,1793254886964520704
+35,0.583333333,BASELINE,783.313049277,761,738.313049277,721.313049277,689,649,915.313049277,800,839,657.313049277,634.313049277,657.686950723,0.400959576218,0.00450233568332,0.0598344949887,0.999999955423,0.000114560557035,-0.000274175840315,2.92789409875e-05,1793254886981187328
+36,0.600000000,BASELINE,783.893114151,761,738.893114151,721.893114151,689,649,915.893114151,800,839,657.893114151,634.893114151,657.106885849,0.400958602325,0.00450448249894,0.0598335747863,0.999999954803,0.000117907063734,-0.000275012574907,2.93313693529e-05,1793254886997853184
+37,0.616666667,BASELINE,783.527781456,760.527781456,738.527781456,721.527781456,689,649.472218544,915.527781456,800,839,658,635,657,0.400957302321,0.00450588488754,0.0598328310197,0.999999954216,0.000120105213237,-0.000276247751507,2.88095818194e-05,1793254887014519808
+38,0.633333333,BASELINE,783.050519711,760,738,721.050519711,689,649.949480289,915.050519711,799.949480289,839,658,634.949480289,657,0.4009561736,0.00450689412653,0.0598322575782,0.999999953756,0.000121530713778,-0.000277348724492,2.82061651235e-05,1793254887031186688
+39,0.650000000,BASELINE,783.62276679,760,738,721.62276679,689,649.37723321,915.62276679,799.37723321,839,658,634.37723321,657,0.400957574502,0.00450557982938,0.0598330315286,0.999999954559,0.000117655799606,-0.00027613426478,2.80992777574e-05,1793254887047853312
+40,0.666666667,BASELINE,784,760.201146283,738,721.798853717,689,649.201146283,916,799.201146283,839,657.798853717,634,657,0.40095823148,0.00450448973243,0.0598334043083,0.999999954978,0.000115383968136,-0.000275569260605,2.81559254382e-05,1793254887064519936
+41,0.683333333,BASELINE,784,760.79138823,738,721.20861177,689,649.79138823,916,799.79138823,839,657.20861177,634,657,0.400957449417,0.00450383332651,0.0598330010665,0.99999995468,0.00011621312649,-0.000276260557795,2.85289139343e-05,1793254887081186816
+42,0.700000000,BASELINE,783.625405429,761,738,721.374594571,689,649.625405429,916,800,839,657,634.374594571,657,0.400956590196,0.0045040704592,0.0598324482838,0.999999954305,0.000117195096179,-0.000277192809218,2.86414983627e-05,1793254887097853440
+43,0.716666667,BASELINE,783.046045005,761,738,721.953954995,689,649.046045005,916,800,839,657,634.953954995,657,0.400955688797,0.00450479602985,0.059831813757,0.999999953884,0.000118260597598,-0.000278256774217,2.86117372527e-05,1793254887114519808
+44,0.733333333,BASELINE,783,761,738,722,689,649.530461802,916,800,839,657.530461802,634.469538198,657,0.400957670814,0.00450346625181,0.0598329177718,0.999999954903,0.00011464152493,-0.000276096207184,2.8665599263e-05,1793254887131186432
+45,0.750000000,BASELINE,783,760.891524238,738,722,689,650,916,800,839,657.891524238,634,657,0.400959535727,0.00450232869902,0.059834098359,0.999999955849,0.000111479169339,-0.000273951652524,2.8713924634e-05,1793254887147853056
+46,0.766666667,BASELINE,783,760.305795582,738,722,689,650,916,800,839,657.305795582,634,657,0.400959790152,0.00450281759401,0.0598349554483,0.999999956012,0.000112105643829,-0.000273102391514,2.87061264441e-05,1793254887164519680
+47,0.783333333,BASELINE,783,760.276824917,738,722,689,650,916,799.723175083,839,657,634.276824917,657,0.400959648522,0.0045027954119,0.0598349165851,0.999999955903,0.000112554896465,-0.000273314751617,2.87229273504e-05,1793254887181186304
+48,0.800000000,BASELINE,783,760.856050177,738,722,689,650,916,799.143949823,839,657,634.856050177,657,0.400959074247,0.00450221493513,0.0598338989941,0.999999955497,0.000112810554074,-0.000274686814255,2.8766600024e-05,1793254887197852928
+49,0.816666667,BASELINE,783,760.563855779,738,721.563855779,689,650,916,799,838.563855779,657.436144221,634.563855779,657,0.400959451496,0.00450349967559,0.0598343448081,0.99999995553,0.000114197742903,-0.000274006908407,2.86275282397e-05,1793254887214519552
+50,0.833333333,BASELINE,783.016250009,760.016250009,738,721,689,649.983749991,915.983749991,799.016250009,838.016250009,658,634,657,0.40096008167,0.00450532111329,0.059835206632,0.999999955684,0.000115887576095,-0.000272749872678,2.84362279914e-05,1793254887231186432
+51,0.850000000,BASELINE,783.58695443,760.58695443,738,721,689,649.41304557,915.41304557,799.58695443,838.58695443,658,634,657,0.400958604852,0.00450440787633,0.0598337499029,0.999999955165,0.000115135630454,-0.00027495522328,2.85249490562e-05,1793254887247853056
+52,0.866666667,BASELINE,783.83804262,760.83804262,738,721,689,649,915.16195738,800,839,657.83804262,634,657,0.400957587711,0.00450340647721,0.0598327235987,0.999999954817,0.000114592318174,-0.000276436943295,2.85738798876e-05,1793254887264519680
+53,0.883333333,BASELINE,783.251778123,760.251778123,738,721,689,649,915.748221877,800,839,657.251778123,634,657,0.400957774863,0.00450217410481,0.0598328249515,0.999999954933,0.00011459559802,-0.000276022845843,2.85185655155e-05,1793254887281186304
+54,0.900000000,BASELINE,783,760.332572787,738,721,689,649,916,800,839,657,634.332572787,657.332572787,0.400958122663,0.00450148445207,0.0598330786577,0.999999955223,0.000113317701235,-0.00027549144977,2.85754814442e-05,1793254887297852928
+55,0.916666667,BASELINE,783,760.915483254,738,721,689,649,916,800,839,657,634.915483254,657.915483254,0.400958591387,0.00450120332104,0.0598334470451,0.999999955642,0.000111075423723,-0.000274871759465,2.87168765457e-05,1793254887314519552
+56,0.933333333,BASELINE,783.491512971,760.508487029,738,721.491512971,689,649,915.508487029,800,839,657.491512971,634.508487029,657.508487029,0.400957246758,0.00450304655493,0.0598326500987,0.999999954959,0.000114162134148,-0.000276099583229,2.86165937152e-05,1793254887331186432
+57,0.950000000,BASELINE,783.93345637,760.06654363,738,721.93345637,689,649.06654363,915,800,839,658,634.06654363,657,0.400955919414,0.00450491046033,0.0598318630756,0.99999995422,0.000117541551402,-0.000277364400289,2.8499986831e-05,1793254887347853056
+58,0.966666667,BASELINE,783.357140802,760.642859198,738,721.357140802,689,649.642859198,915,800,839,658,634.642859198,657,0.400957080207,0.00450417297947,0.0598326659481,0.999999954606,0.000116240469405,-0.000276512522446,2.85722877421e-05,1793254887364520192
+59,0.983333333,BASELINE,783,761,738,721,689,650,915,800,839,657.775428846,634.775428846,657,0.400958019126,0.00450308881567,0.0598332513727,0.999999955009,0.000114693951507,-0.000275689975999,2.86685685568e-05,1793254887381187072
+60,1.000000000,BASELINE,783,761,738,721,689,650,915,800,839,657.184923492,634.184923492,657,0.400958596507,0.00450143973887,0.0598334824706,0.99999995544,0.000112747500514,-0.000274915224337,2.88039241558e-05,1793254887397853952
+61,1.016666667,BASELINE,783,760.601745731,738,721.398254269,689,649.601745731,915.398254269,800,839,657,634,657,0.400959348381,0.00450197991532,0.0598339285133,0.999999955522,0.000114129559766,-0.0002740562346,2.86988979904e-05,1793254887414520576
+62,1.033333333,BASELINE,783,760.021908993,738,721.978091007,689,649.021908993,915.978091007,800,839,657,634,657,0.400960179816,0.00450351827328,0.0598344725592,0.999999955439,0.000117029240298,-0.000273158836887,2.8484270696e-05,1793254887431186944
+63,1.050000000,BASELINE,783,760,738,721.446141914,689,649.553858086,916,800,838.446141914,657.553858086,634.553858086,657,0.400958624796,0.00450288402651,0.0598339359423,0.999999955418,0.00011396046934,-0.000274516952029,2.85980193394e-05,1793254887447853312
+64,1.066666667,BASELINE,783,760,738,721.131863124,689,649.868136876,915.868136876,800,838.131863124,658,634.868136876,656.868136876,0.400957563136,0.00450278990632,0.0598335428826,0.999999955359,0.000112233749505,-0.000275437806344,2.86380857605e-05,1793254887464519936
+65,1.083333333,BASELINE,783,760,738,721.718130921,689,649.281869079,915.281869079,800,838.718130921,658,634.281869079,656.281869079,0.400958524545,0.0045048510783,0.0598337907619,0.999999955188,0.00011593943666,-0.000274546628035,2.8379804782e-05,1793254887481186560
+66,1.100000000,BASELINE,783,760,738,721.699389426,689,649,915,800,839,658,634.300610574,656.300610574,0.400959073046,0.00450580294289,0.0598339463735,0.999999955111,0.000117754161663,-0.000274082282773,2.81112794986e-05,1793254887497853440
+67,1.116666667,BASELINE,783,760,738,721.120417574,689,649,915,800,839,658,634.879582426,656.879582426,0.400959239199,0.00450572760391,0.0598340165464,0.999999955131,0.000117817881391,-0.000274013179122,2.78332681433e-05,1793254887514520320
+68,1.133333333,BASELINE,783,760,738,721,689,649.457379773,915.457379773,800,839,657.542620227,635,657,0.400958654329,0.0045048707744,0.0598335560352,0.999999954947,0.000117614502494,-0.000274734709815,2.81834286994e-05,1793254887531187200
+69,1.150000000,BASELINE,783,760.034685055,738,721,689,650,916,800,838.965314945,657,634.965314945,657,0.400957975068,0.00450389399773,0.0598330076006,0.999999954757,0.000117277901895,-0.000275520894666,2.86272981205e-05,1793254887547854080
+70,1.166666667,BASELINE,783,760.60913192,738,721,689,650,916,800,838.39086808,657,634.39086808,657,0.400958896017,0.00450424424404,0.0598332595983,0.999999955325,0.000115959649521,-0.000274082231191,2.79623771627e-05,1793254887564520448
+71,1.183333333,BASELINE,783,760.816289052,738,721,688.816289052,650,915.816289052,800,838.183710948,657.183710948,634,657,0.400959129295,0.00450433977106,0.0598334037455,0.999999955571,0.000115253151909,-0.000273509701151,2.76981044801e-05,1793254887581186560
+72,1.200000000,BASELINE,783,760.241428519,738,721,688.241428519,650,915.241428519,800,838.758571481,657.758571481,634,657,0.40095789841,0.00450389296061,0.0598333182623,0.999999955137,0.000115849176433,-0.000274781305547,2.8286875047e-05,1793254887597853184
+73,1.216666667,BASELINE,783.345747427,760,738,721,688,650,915.345747427,799.654252573,838.654252573,657.654252573,634.345747427,657,0.400957979926,0.00450292647871,0.0598337325649,0.999999955296,0.000114766749248,-0.000274627030703,2.85915150972e-05,1793254887614519808
+74,1.233333333,BASELINE,783.941840572,760,738,721,688,650,915.941840572,799.058159428,838.058159428,657.058159428,634.941840572,657,0.400959011715,0.00450158371777,0.0598345087478,0.999999955879,0.000112469003654,-0.000273440317832,2.86904244163e-05,1793254887631186688
+75,1.250000000,BASELINE,784,760.50680146,738,721,688.50680146,650,916,799.50680146,838.50680146,657,634.49319854,657,0.400959495884,0.00450213671267,0.059835045535,0.999999955767,0.000115439953996,-0.000272597988825,2.87967656626e-05,1793254887647853312
+76,1.266666667,BASELINE,783.928742987,761,738,721,689,649.928742987,916,800,839,657,634,657,0.400959842734,0.00450277435629,0.0598354825997,0.999999955631,0.000118103979992,-0.000271947175576,2.88809327705e-05,1793254887664520192
+77,1.283333333,BASELINE,783.343660197,761,738,721,689,649.343660197,916,800,839,657,634,657,0.400959626326,0.00450254443379,0.0598353872135,0.999999955933,0.000114447262212,-0.000272408873047,2.87994107919e-05,1793254887681186816
+78,1.300000000,BASELINE,783,761,738,721,689,649.246304562,915.753695438,800,839,657.246304562,634.246304562,657,0.400959571652,0.00450315411575,0.0598352384229,0.99999995596,0.000113353909475,-0.000272789897152,2.85726642972e-05,1793254887697853440
+79,1.316666667,BASELINE,783,761,738,721,689,649.843218654,915.156781346,800,839,657.843218654,634.843218654,657,0.400959747203,0.00450495895761,0.0598350136122,0.999999955607,0.000115909455025,-0.000273056084326,2.81391936664e-05,1793254887714519808
+80,1.333333333,BASELINE,783,761,738,721,689,649.574295708,915.425704292,800,839,658,635,657,0.40095969478,0.00450518559112,0.0598346997008,0.999999955432,0.000116572364674,-0.000273414071457,2.81250728019e-05,1793254887731186432
+81,1.350000000,BASELINE,783.003026743,760.996973257,738,721.003026743,689,649.003026743,916,800,839,658,635,657.003026743,0.400959561154,0.00450484276396,0.0598343585958,0.999999955325,0.000116556425357,-0.000273800447745,2.82624059441e-05,1793254887747853056
+82,1.366666667,BASELINE,783.575902462,760.424097538,738,721.575902462,689,649.575902462,916,800,839,658,635,657.575902462,0.400959428713,0.00450312911349,0.0598348732314,0.99999995553,0.000115662013255,-0.000273375133166,2.87905591125e-05,1793254887764519680
+83,1.383333333,BASELINE,783.846578397,760,738,722,689,649.846578397,915.846578397,800,839,658,635,657.846578397,0.400959039162,0.00450221453743,0.0598351241985,0.999999955577,0.000115399446433,-0.000273281364936,2.90733962558e-05,1793254887781186304
+84,1.400000000,BASELINE,783.255822879,760,738,722,689,649.255822879,915.255822879,800,839,658,635,657.255822879,0.400957916709,0.00450357775193,0.0598346235687,0.999999955178,0.000116937977577,-0.000274132681652,2.8656951183e-05,1793254887797852928
+85,1.416666667,BASELINE,783,760,738,721.671347159,689,649,915.328652841,800,839,657.671347159,635,657,0.400958147719,0.0045044735793,0.0598343976964,0.999999955167,0.000117098393937,-0.000274141467531,2.83038155415e-05,1793254887814519552
+86,1.433333333,BASELINE,783,760,738,721.091668007,689,649,915.908331993,800,839,657.091668007,635,657,0.400959412509,0.00450501241449,0.059834381685,0.999999955453,0.000116206200806,-0.000273506725049,2.79990359132e-05,1793254887831186176
+87,1.450000000,BASELINE,783,760,738,721.48374743,689,649,915.51625257,800,839,657,634.51625257,657,0.400958390205,0.00450406551879,0.0598340403081,0.999999955529,0.000114105028622,-0.000274113701301,2.80048037139e-05,1793254887847853056
+88,1.466666667,BASELINE,783,760,738,721.94199922,689,649,915.05800078,800,838.94199922,657,634,657,0.400956962458,0.00450301057776,0.0598335973274,0.999999955493,0.000112144633733,-0.000275042010032,2.80865194184e-05,1793254887864519680
+89,1.483333333,BASELINE,783,760,738,721.370940841,689,649,915.629059159,800,838.370940841,657,634,657,0.40095574847,0.00450346855529,0.0598327962098,0.99999995487,0.000113438323859,-0.000276749519393,2.83240493221e-05,1793254887881187584
+90,1.500000000,BASELINE,783.208889671,760,738,721,688.791110329,649.208889671,915.791110329,800,838.208889671,657.208889671,634,657,0.40095612085,0.00450341719776,0.0598331057544,0.999999954905,0.000114051939472,-0.00027635183448,2.85011572421e-05,1793254887897854720
+91,1.516666667,BASELINE,783.804980273,760,738,721,688.195019727,649.804980273,915.195019727,800,838.804980273,657.804980273,634,657,0.400959433744,0.0045024217293,0.0598354740388,0.999999956156,0.000113404958937,-0.000272051930656,2.85662660672e-05,1793254887914520320
+92,1.533333333,BASELINE,783.610188405,760,738,721.389811595,688.389811595,649.610188405,915,799.610188405,838.610188405,658,634,657,0.40096018318,0.00450317812545,0.0598359248028,0.999999956087,0.000115867628313,-0.000271256489039,2.86295519639e-05,1793254887931186432
+93,1.550000000,BASELINE,783.030831827,760,738,721.969168173,688.969168173,649.030831827,915,799.030831827,838.030831827,658,634,657,0.400959686141,0.00450478636161,0.0598354431772,0.99999995537,0.000119842357676,-0.000272165083643,2.86919514714e-05,1793254887947853056
+94,1.566666667,BASELINE,783,760,738,722,689,649.542615453,915.542615453,799.542615453,838.542615453,658,634.542615453,657,0.400959293895,0.00450356309429,0.0598352334765,0.999999955577,0.000118087010777,-0.000272170096733,2.87038977527e-05,1793254887964520192
+95,1.583333333,BASELINE,783,760.118956787,738,722,689,649.881043213,916,799.881043213,839,657.881043213,634.881043213,657,0.40095916285,0.00450272635237,0.059835162617,0.99999995577,0.000116619962384,-0.000272092395663,2.87172421737e-05,1793254887981187072
+96,1.600000000,BASELINE,783,760.70804875,738,722,689,649.29195125,916,799.29195125,839,657.29195125,634.29195125,657,0.400960040828,0.00450404622109,0.0598355800721,0.999999955714,0.000117565220399,-0.000271888521861,2.87473201896e-05,1793254887997853696
+97,1.616666667,BASELINE,783,760.707806588,738,722,689,649.292193412,916,799.292193412,839,657.292193412,634,657,0.400959555758,0.00450439707283,0.0598351254139,0.99999995541,0.000117830202157,-0.000272898057955,2.86863443026e-05,1793254888014520320
+98,1.633333333,BASELINE,783,760.128522859,738,722,689,649.871477141,916,799.871477141,839,657.871477141,634,657,0.400957731444,0.00450379583118,0.0598338138735,0.999999954858,0.000117426788483,-0.00027509981201,2.85359047476e-05,1793254888031186688
+99,1.650000000,BASELINE,783,760,737.550746587,722,689,650,916,800,839,658,634.449253413,657,0.400958141733,0.00450280761823,0.0598342746376,0.999999955286,0.000115345051228,-0.000274416267825,2.86229880872e-05,1793254888047853312
+100,1.666666667,BASELINE,783,760,737.0262443,721.9737557,689,650,915.9737557,800,839,657.9737557,634.9737557,657,0.400959119953,0.00450180377412,0.0598351467379,0.999999955925,0.000113011367364,-0.000273041639736,2.87631342153e-05,1793254888064520192
+101,1.683333333,BASELINE,783,760,737.595873257,721.404126743,689,650,915.404126743,800,839,657.404126743,634.404126743,657,0.400958665241,0.00450276075785,0.0598340727747,0.999999955291,0.000115369076998,-0.00027439145296,2.85997315363e-05,1793254888081186816
+102,1.700000000,BASELINE,783,760,738,721,689,649.827642149,915,800,838.827642149,657,634.172357851,657,0.400958352379,0.00450349089529,0.0598335918356,0.999999954921,0.000117052371748,-0.000275039275,2.84734132839e-05,1793254888097853696
+103,1.716666667,BASELINE,783,760,738,721,689,649.234417404,915,800,838.234417404,657,634.765582596,657,0.400958385884,0.00450366711472,0.059834558955,0.99999995521,0.000117088866224,-0.000273972960548,2.84376485603e-05,1793254888114520576
+104,1.733333333,BASELINE,783,760,738,721,689,649.350717407,915.350717407,800,838.350717407,657.350717407,635,657,0.400957922118,0.00450279212393,0.0598341678115,0.99999995524,0.000115769904935,-0.000274408207493,2.85959434705e-05,1793254888131187200
+105,1.750000000,BASELINE,783,760,738,721,689,649.930566929,915.930566929,800,838.930566929,657.930566929,635,657,0.400957133471,0.00450123035225,0.0598328892824,0.999999955095,0.000113565391805,-0.000275824460493,2.88810222021e-05,1793254888147853568
+106,1.766666667,BASELINE,783,760,738,721.506341213,689,650,916,800,839,658,635,657,0.400956878442,0.00450273349963,0.0598328582453,0.99999995483,0.000116540777478,-0.000275550330906,2.88158775142e-05,1793254888164519936
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,738,721,689,650,916,800,839,657,634,657,0.400957139304,0.00450389640142,0.0598332539484,0.999999954844,0.000115630278671,-0.000275972676811,2.79503153728e-05,1793254888207745280
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760.409145673,738,721,689,649.409145673,915.409145673,800,838.409145673,657,634,657,0.40095837111,0.00450389009067,0.0598342687653,0.999999955197,0.000116450824305,-0.000274290579629,2.84601884285e-05,1793254888224412160
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,760,738,721,689,649,915.176313688,800,838,657,634.176313688,657,0.400959064237,0.0045038131208,0.0598349431019,0.999999955445,0.00011675110092,-0.000273231089844,2.87033445232e-05,1793254888241078784
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760,738,721,689,649,915.749625544,800,838,657,634.749625544,657,0.400958544444,0.00450357705076,0.0598348507933,0.999999955463,0.000115879909662,-0.000273573498817,2.83459452724e-05,1793254888257745152
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760.325036649,738.325036649,721,689,649.325036649,916,800,838.325036649,657.325036649,635,657,0.400958079175,0.00450332720043,0.0598345039331,0.999999955573,0.000113925599774,-0.000274006281677,2.82040172128e-05,1793254888274411520
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760.902075272,738.902075272,721,689,649.902075272,916,800,838.902075272,657.902075272,635,657,0.40095765618,0.00450306666621,0.0598339597181,0.999999955749,0.000111131544526,-0.000274509131685,2.82291446927e-05,1793254888291077888
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,761,738.50872884,721.49127116,689,649.50872884,915.50872884,800,838.50872884,658,634.50872884,657,0.400958135719,0.00450306731343,0.059833961395,0.999999955536,0.000114647381248,-0.000273800955147,2.85846008128e-05,1793254888307744512
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760.918769183,738,721.918769183,689,649.081230817,915.081230817,800,838,658,634.081230817,657,0.400958751639,0.00450311628185,0.0598341341876,0.999999955268,0.000118431978441,-0.000273134722794,2.89054533374e-05,1793254888324410880
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760.339364221,738,721.339364221,689,649.660635779,915.660635779,800,838,658,634.660635779,657,0.400959072668,0.00450313421249,0.0598346721428,0.999999955263,0.00011595557515,-0.000274243712196,2.86000311187e-05,1793254888341077760
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760,738,721.238340657,689,650,916,800,838,657.761659343,635,657,0.400965049669,0.00450386654319,0.0598374871422,0.999999956328,0.000115570622843,-0.000270516722518,2.84208439021e-05,1793254888357744384
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760,738,721.813641944,689,650,916,800,838,657.186358056,635,657,0.400979022956,0.00450560887657,0.0598435213751,0.99999995883,0.000118142516846,-0.000259952734857,2.84201249007e-05,1793254888374411008
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,738,721.612326036,689,650,915.612326036,800,838,657,634.612326036,657,0.401011372561,0.00450371748325,0.0598573767982,0.999999965009,0.000116124918742,-0.000235935938052,2.88140816049e-05,1793254888391077888
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,738,721.038902121,689,650,915.038902121,800,838,657,634.038902121,657,0.401052526988,0.0045000850277,0.0598749796638,0.999999972197,0.00011190831334,-0.00020547336646,2.93971430496e-05,1793254888407745024
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,760,738,721,689,650,915.552350157,800,838.552350157,657.552350157,634.552350157,657,0.401111184002,0.00450139050759,0.0598934996081,0.999999977079,0.000114077633051,-0.000178702230439,2.98879150672e-05,1793254888424411648
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,760,738,721,689,650,916,800,839,658,634.858771415,657,0.401176119257,0.00450249014067,0.0599112380598,0.999999981198,0.000115395572146,-0.000152883221539,3.02395058753e-05,1793254888441077760
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,760,738,721,689,650,916,800,839,658,634.281235126,657,0.40125651503,0.00450184357961,0.0599263559967,0.999999984857,0.000112647453686,-0.000129175690627,3.0181864815e-05,1793254888457744640
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,760,738,721,689,649.704238946,916,800,839,657.704238946,634,657,0.401345150087,0.0045002755983,0.0599377185465,0.999999987508,0.000108545373513,-0.000110966613012,2.98006803935e-05,1793254888474411008
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,760,738,721,689,649.127755447,916,800,839,657.127755447,634,657,0.40144160548,0.00449783304837,0.0599455166591,0.999999989456,0.000103158176932,-9.79764093997e-05,2.91124038837e-05,1793254888491077632
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760,738,721,688.547664232,649,915.547664232,800,839,657.452335768,634,657.452335768,0.401549744569,0.00449883514532,0.0599495559287,0.999999990254,0.000103744944281,-8.90877434509e-05,2.81319290198e-05,1793254888507744512
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760,738,721,688.033726632,649.033726632,915.033726632,800,838.966273368,658,634.033726632,657.966273368,0.401662629446,0.00450057764322,0.059952386009,0.999999990715,0.000105664682853,-8.16805034969e-05,2.70813908803e-05,1793254888524410880
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760,738,721,688.619578808,649.619578808,915.619578808,800,838.380421192,658,634.619578808,657.380421192,0.401798750332,0.00449838612427,0.0599529401609,0.999999991345,0.000101562484329,-7.94086358415e-05,2.624575393e-05,1793254888541077760
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760,738.202190913,721,689,650,916,800,838.202190913,658,635,657,0.401943227556,0.00449767005048,0.059951760406,0.9999999918,9.80519822231e-05,-7.85626019532e-05,2.4773625538e-05,1793254888557744640
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760,738.778802929,721,689,650,916,800,838.778802929,658,635,657,0.402103179193,0.00449968623524,0.0599473697686,0.999999991953,9.5637195614e-05,-8.0356955273e-05,2.21228298958e-05,1793254888574411008
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,760.354187844,738.645812156,721,689,650,916,800,839,657.645812156,635,657,0.402293199316,0.00450000704651,0.0599471388082,0.999999992768,9.18792755479e-05,-7.50214083973e-05,1.98434020346e-05,1793254888591077632
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,760.928809115,738.071190885,721,689,650,916,800,839,657.071190885,635,657,0.402501932969,0.00449927272017,0.0599494966767,0.999999993904,8.72854386068e-05,-6.52484752744e-05,1.77950994974e-05,1793254888607744512
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738,721.516506463,689,649.483493537,916,800,839,657,635,657.516506463,0.402732063448,0.00449904428576,0.0599494138097,0.999999994751,8.09669463238e-05,-6.08946013084e-05,1.52836501888e-05,1793254888624410880
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,760.895605466,738,721.895605466,688.895605466,649.104394534,916,800,839,657.104394534,635,657.895605466,0.402972355556,0.00449891403799,0.0599493853626,0.9999999955,7.49284229554e-05,-5.67939855709e-05,1.26660671321e-05,1793254888641077504
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,760.31527776,738,721.31527776,688.31527776,649.68472224,916,800,839,657.68472224,635,657.31527776,0.403245180072,0.00449890527655,0.0599511785414,0.999999996143,7.12781454657e-05,-5.03543378997e-05,9.86320863187e-06,1793254888657744384
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,760.262971621,738,721.262971621,688.262971621,650,916,800,839,658,635,657,0.403530649486,0.00449810545011,0.0599490334027,0.999999996383,6.68258734352e-05,-5.21171684378e-05,7.21436301576e-06,1793254888674411008
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,760.838748794,738,721.838748794,688.838748794,650,916,800,839,658,635,657,0.403831160029,0.00449636464942,0.0599422036232,0.999999996078,6.14196266469e-05,-6.36368724128e-05,4.74871636658e-06,1793254888691077632
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760.5803789,738,722,688.5803789,650,916,800,838.5803789,657.5803789,635,657,0.4041540511,0.00449474533264,0.0599327674758,0.999999995377,5.32100438818e-05,-8.00677794209e-05,1.6932534323e-06,1793254888707744256
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,738,721.997524623,688,650,916,800,838.002475377,657.002475377,635,657,0.404485839336,0.00449318846909,0.0599223118859,0.999999994191,4.39227302745e-05,-9.84235934901e-05,-1.59559367617e-06,1793254888724410880
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760,738,721.414677099,688,650,916,800,838.585322901,657.585322901,635,657,0.4048624361,0.00449519438263,0.0599105522553,0.999999992055,3.76296208702e-05,-0.000120165538202,-5.80934388171e-06,1793254888741077760
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,738,721.166388377,688,649.833611623,916,800,839,657.833611623,635,657.166388377,0.405257793891,0.00449603162384,0.0599043983897,0.999999990672,3.00767033237e-05,-0.000132876028205,-9.78472070074e-06,1793254888757744384
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,738,721.743059566,688,649.256940434,916,800,839,657.256940434,635,657.743059566,0.405699412834,0.00449398713603,0.0599120673006,0.999999992121,1.94173340077e-05,-0.000123316626331,-1.31723124334e-05,1793254888774411008
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760.318863238,738,721.681136762,688,649.318863238,916,799.681136762,839,657,635,657.681136762,0.406187102615,0.00449140743132,0.0599335776558,0.999999995988,8.70183258934e-06,-8.76167834108e-05,-1.64575646297e-05,1793254888791078144
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760.893969821,738,721.106030179,688,649.893969821,916,799.106030179,839,657,635,657.106030179,0.40671181567,0.00448839761796,0.0599662112071,0.999999999327,-2.05877861883e-06,-3.09100833963e-05,-1.96605755461e-05,1793254888807746048
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760.519336576,738,721,688,650,916,799.480663424,838.519336576,657.480663424,635,657,0.407260437919,0.00448593664883,0.0599923261089,0.999999999591,-1.39005926646e-05,1.0438537515e-05,-2.27169194655e-05,1793254888824412672
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,760,738,721,688,650,916,800,838.068836753,658,635,657,0.40781230572,0.00448241313196,0.060012810733,0.999999998524,-2.66811253553e-05,3.99692502486e-05,-2.53682613781e-05,1793254888841078784
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,760,738,721,688,650,916,800,838.648554128,658,635,657,0.408348151315,0.00447008304848,0.0600024451546,0.999999998657,-4.46146713485e-05,7.55639807428e-06,-2.52598781985e-05,1793254888857745152
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,760,738,721,688,650,915.773457592,800,839,657.773457592,635,657,0.40890161818,0.00445762015352,0.059991016457,0.99999999732,-6.42576188099e-05,-2.37082115738e-05,-2.5879201544e-05,1793254888874411520
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,760,738,721,688,650,915.198131456,800,839,657.198131456,635,657,0.409482214647,0.0044449527833,0.0599779509866,0.999999994459,-8.65323524618e-05,-5.32049899407e-05,-2.76188987901e-05,1793254888891078144
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,760,738,721,687.61518786,650,915.38481214,800,839,657,635.38481214,657,0.410126273427,0.00444486324017,0.0599785975962,0.999999994958,-8.35033085103e-05,-4.73999004811e-05,-2.94094016642e-05,1793254888907744768
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,760,738,721,687.028243011,650,915.971756989,800,839,657,635.971756989,657,0.410803667439,0.00445138053228,0.0599864468372,0.99999999699,-6.7182788415e-05,-2.30515745241e-05,-3.12265914699e-05,1793254888924411136
+151,2.516666667,POSE1_TO_POSE2_PRESS,782.448467342,760.551532658,738,721,688.103065316,650,916,800,839,657,635.448467342,657,0.411500880288,0.0044529111876,0.0599905276066,0.999999999113,-3.17025741907e-05,-1.36915111427e-05,-2.41176993114e-05,1793254888941077760
+152,2.533333333,POSE1_TO_POSE2_PRESS,782.130889375,761,738,721,688.869110625,649.869110625,916,800,839,657.130889375,635,657,0.412195875202,0.00445361130854,0.0599880226579,0.999999999636,-5.34828834367e-06,-1.82354469805e-05,-1.91794456802e-05,1793254888957744896
+153,2.550000000,POSE1_TO_POSE2_PRESS,782.710052318,761,738,721,688.289947682,649.289947682,916,800,839,657.710052318,635,657,0.412879842703,0.00445233032309,0.0599636151894,0.99999999734,-1.35658409144e-05,-6.78032859734e-05,-2.32206198922e-05,1793254888974412032
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,721,687.713513996,649.286486004,916,800,839,658,635,657,0.413579947816,0.00445339071759,0.0599390563016,0.99999999292,-1.53695069995e-05,-0.000114922989643,-2.67637987768e-05,1793254888991078912
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.13981641,649.86018359,916,800,839,658,635,657,0.414296231495,0.00445679842186,0.059914345608,0.999999986764,-1.07430432486e-05,-0.000159588363587,-2.98077215619e-05,1793254889007745536
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738,721,687.44516435,650,916,800,839,658,635,657,0.415143752384,0.00445595448778,0.0599487181732,0.999999995166,-8.52301075041e-06,-9.28806255025e-05,-3.11062919034e-05,1793254889024411904
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738,721,688.03323462,650,916,800,839.03323462,658,635,657,0.416030776858,0.00445388425347,0.0600003980666,0.999999999456,-6.77241138347e-06,5.62834353487e-06,-3.17830305502e-05,1793254889041078016
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688.612330411,650,916,800,839.612330411,658,635,657,0.416872026226,0.00445417540626,0.0600236307118,0.99999999882,4.55981409931e-09,3.69893504443e-05,-3.14841751403e-05,1793254889057744640
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761,738,720.809496921,688.809496921,650,916,800,839.809496921,657.809496921,635,657,0.417712964737,0.00445413401663,0.060032544734,0.999999998269,5.58679628888e-06,4.91659846829e-05,-3.18431980251e-05,1793254889074411264
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761,738,720.233193763,688.233193763,650,916,800,839.233193763,657.233193763,635,657,0.418553273663,0.00445341917386,0.0600124611876,0.999999999147,8.74949797273e-06,2.24911060226e-05,-3.35345327548e-05,1793254889091078400
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,761,738,720,688,650,916,800,839.342606418,657.342606418,635.342606418,657,0.419396264403,0.00445166199745,0.0599888765235,0.999999999195,8.75476429019e-06,-1.6663759873e-05,-3.54393689501e-05,1793254889107745280
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761,738,720,688,650,916,800,839.918064728,657.918064728,635.918064728,657,0.420241077799,0.0044491964007,0.0599629123313,0.999999997208,6.61408467714e-06,-6.43006275938e-05,-3.74893109466e-05,1793254889124411648
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.505166269,761,738,720,687.494833731,650,916,800,840,658,635.494833731,657,0.421087350725,0.00445121685782,0.0599261027896,0.999999989077,-6.39976486266e-05,-0.000127426232046,-3.88865929704e-05,1793254889141078016
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.90731857,761,738,720,687,650,916,800,840,658,635.09268143,657,0.42194772867,0.0044534150795,0.0598942736474,0.99999997417,-0.000131526492559,-0.000180967032086,-4.01484716699e-05,1793254889157744640
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.327784995,761,738,720,687,650,916,800,840,658,635.672215005,657,0.422880926592,0.00445263478944,0.0598980646379,0.999999977005,-0.000123147186802,-0.000170651413508,-4.12682698605e-05,1793254889174411264
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.250119636,761,738,720,687.250119636,650,916,800,840,658,635.749880364,657,0.423849548924,0.00445156661689,0.0599309341065,0.999999985688,-0.000116388370896,-0.000115509582188,-4.16669379053e-05,1793254889191077888
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.825903408,761,738,720,687.825903408,650,916,800,840,658,635.174096592,657,0.424864295152,0.00445012361158,0.0600016647272,0.999999992909,-0.000111739484768,-2.00251922335e-06,-4.11266701468e-05,1793254889207744512
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.599382883,650.400617117,916.400617117,800.400617117,840,657.599382883,635.400617117,657,0.425837615102,0.00444822377202,0.0600334147865,0.999999992041,-0.000106805406183,5.27070514841e-05,-4.16249495862e-05,1793254889224410880
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,761,738,720,687.025132989,650.974867011,916.974867011,800.974867011,840,657.025132989,635.974867011,657,0.426792980292,0.00444612593452,0.0600482701485,0.999999990561,-0.000101747721999,8.19330016775e-05,-4.25733493212e-05,1793254889241077504
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,760.433406097,738,719.433406097,687,650.433406097,917,800.433406097,840,657.566593903,636,657,0.427754651556,0.0044445752693,0.0600258768397,0.999999992485,-9.94843416979e-05,5.52948270005e-05,-4.55576747344e-05,1793254889257744640
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,760.155257308,738,719.155257308,687,650,916.844742692,800,840,657.844742692,636,657,0.428695848176,0.00444382876487,0.0599983978876,0.999999994204,-9.48024669679e-05,1.74453883719e-05,-4.79615853885e-05,1793254889274411008
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,760.733397703,738,719.733397703,687,650,916.266602297,800,840,657.266602297,636,657,0.429580490651,0.00444520438485,0.0599617105216,0.999999994396,-8.31848482766e-05,-4.39764505104e-05,-4.85307769765e-05,1793254889291077888
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,761,738,719.6898606,687,650,916,800.3101394,840,657.3101394,636,657.3101394,0.430498178528,0.00444374672929,0.05993985344,0.999999992699,-7.70315308941e-05,-7.90106434566e-05,-4.92467491782e-05,1793254889307744512
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,761,738,719.114315886,687,650,916,800.885684114,840,657.885684114,636,657.885684114,0.431444145335,0.00443986446593,0.0599306875447,0.999999991709,-7.55543522109e-05,-9.14633056278e-05,-5.00883306411e-05,1793254889324411136
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687.471046388,650,916,801,840,658,636,657.528953612,0.432432206022,0.00443779994929,0.0599710954851,0.999999995517,-7.62837650458e-05,-2.405329342e-05,-5.06682181509e-05,1793254889341077504
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.058022151,761,738,719,687.941977849,650,916.058022151,800.941977849,840,658,636,657,0.433428021001,0.00443606275219,0.0600184671457,0.999999994231,-7.75594124516e-05,5.38973793283e-05,-5.11592367623e-05,1793254889357744128
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.637628019,761,738,719,687.362371981,650,916.637628019,800.362371981,840,658,636,657,0.434399755395,0.00443321797131,0.060017986548,0.999999994386,-7.88290344865e-05,4.86659452118e-05,-5.14344418699e-05,1793254889374411008
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.784364123,761.215635877,738,719.215635877,687,650,917,800,840,657.784364123,636,657,0.43534215997,0.0044300763328,0.0600052938721,0.999999995178,-8.00734157764e-05,2.31246680888e-05,-5.19301408218e-05,1793254889391077888
+179,2.983333333,POSE1_TO_POSE2_PRESS,784.209021845,761.790978155,738,719.790978155,687,650,917,800,840,657.209021845,636,657,0.436235639059,0.00442643949983,0.059972229991,0.999999994645,-8.12756925017e-05,-3.62958542798e-05,-5.27936497666e-05,1793254889407744512
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,761.633418655,738,719.633418655,687,650,917,800,840,657.366581345,636,657,0.437099820632,0.004425251041,0.0599411614253,0.999999991263,-7.76790046066e-05,-9.29367009479e-05,-5.2933669617e-05,1793254889424411648
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,761.057666623,738,719.057666623,687,650,917,800,840,657.942333377,636,657,0.437947285039,0.00442545962046,0.0599112313851,0.999999985118,-7.13440355686e-05,-0.000147991465722,-5.26608677186e-05,1793254889441079296
+182,3.033333333,POSE1_TO_POSE2_PRESS,784.531638648,761,738,718.468361352,686.468361352,650.531638648,917,800.531638648,840,658,636,657.531638648,0.438815324188,0.00442304582447,0.0599034928831,0.999999982942,-6.94471761401e-05,-0.000162983094184,-5.2243505062e-05,1793254889457745408
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,718.119732911,686.119732911,650.880267089,917,801,840,657.880267089,636,658,0.439707706906,0.00442027791165,0.0599126713031,0.999999985075,-6.91224133712e-05,-0.000149575441784,-5.19615419292e-05,1793254889474411264
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,718.697425188,686.697425188,650.302574812,917,801,840,657.302574812,636,658,0.440684440548,0.00441727198815,0.0599771066092,0.999999994981,-7.29212237518e-05,-4.46012185813e-05,-5.2259004301e-05,1793254889491077632
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761,738,718.725455978,687,650,917,800.725455978,840.274544022,657.274544022,636,658,0.441587811893,0.00441723511209,0.0600071428296,0.999999996158,-7.0043556012e-05,5.11329976358e-06,-5.24492712074e-05,1793254889507744256
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761,738,718.148967859,687,650,917,800.148967859,840.851032141,657.851032141,636,658,0.442410499163,0.00442046360092,0.0599993468582,0.999999996814,-5.98230838798e-05,-5.94692975256e-06,-5.25216447687e-05,1793254889524411136
+187,3.116666667,POSE1_TO_POSE2_PRESS,785,761,738,718,686.564566397,650,917,800.435433603,841,657.564566397,636,657.564566397,0.443173680973,0.00441968441479,0.0599661181365,0.999999995227,-5.70803832979e-05,-5.86533468678e-05,-5.33651450144e-05,1793254889541078016
+188,3.133333333,POSE1_TO_POSE2_PRESS,785,761,738,718,686,650,917,801,840.977714642,657.022285358,636,657,0.443916842622,0.00441770527988,0.0599250119536,0.999999989186,-5.69449922934e-05,-0.000124155112992,-5.45113600147e-05,1793254889557744896
+189,3.150000000,POSE1_TO_POSE2_PRESS,785,761,738,718,686,650,917,801,840.398537792,657.601462208,636,657,0.44467785244,0.00442063678097,0.0599085073171,0.999999986016,-5.68522793431e-05,-0.000146772629751,-5.65076702866e-05,1793254889574411776
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,738,718,686,650,917,801,840,658,636,657.179012523,0.445416775714,0.00442533113172,0.0598865119785,0.999999979709,-5.65629885662e-05,-0.000184832767584,-5.67451005344e-05,1793254889591078400
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,761,738,718,686,650,917,801,840,658,636,657.752974376,0.446106970331,0.00443391479918,0.0598524026846,0.999999964016,-5.58399945591e-05,-0.000256963446837,-5.31019729573e-05,1793254889607744768
+192,3.200000000,POSE1_TO_POSE2_PRESS,785.328365661,761,738,718,685.671634339,649.671634339,917,801,840.328365661,658,636,657.671634339,0.446799401431,0.00445276271791,0.059828138811,0.999999952184,-7.0615468238e-05,-0.000296246167478,-5.36920839018e-05,1793254889624411392
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.904836956,761,738,718,685.095163044,649.095163044,917,801,840.904836956,658,636,657.095163044,0.447493522326,0.00447936607125,0.0598113139154,0.999999945363,-9.71012322036e-05,-0.000310709712983,-5.74807340416e-05,1793254889641078016
+194,3.233333333,POSE1_TO_POSE2_PRESS,786.493878828,761,738,717.506121172,684.506121172,649,916.506121172,800.506121172,841,658,636,657,0.44817944189,0.00448902081061,0.0598266036025,0.999999953992,-9.07886902261e-05,-0.000283472000805,-5.84631702372e-05,1793254889657744640
+195,3.250000000,POSE1_TO_POSE2_PRESS,786.916435926,761,738,717.083564074,683.916435926,649,916.083564074,800,841,658,636,657.083564074,0.448849258672,0.00449329949019,0.0598405374493,0.999999961003,-8.05493678049e-05,-0.000260879612647,-5.8711141485e-05,1793254889674411264
+196,3.266666667,POSE1_TO_POSE2_PRESS,786.337666752,761,738,717.662333248,683.337666752,649,916.662333248,800,841,658,636,657.662333248,0.449433258891,0.00448557777752,0.0598088083714,0.999999945161,-8.54689902241e-05,-0.000314676358701,-5.7894631222e-05,1793254889691078144
+197,3.283333333,POSE1_TO_POSE2_PRESS,786,761,738,717.760941015,683,649,916.760941015,800,841,658,636,658,0.450003018967,0.00448221077911,0.0597716431995,0.99999992513,-8.64230469058e-05,-0.000372601381868,-5.86424664192e-05,1793254889707744768
+198,3.300000000,POSE1_TO_POSE2_PRESS,786,761,738,717.187077184,683,649,916.187077184,800,841,658,636,658,0.45055283551,0.00448494260855,0.0597268647185,0.999999899574,-8.18232829655e-05,-0.000436308099915,-6.15811854381e-05,1793254889724411392
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,761,738,717,683,648.603880981,916.396119019,800.396119019,841,658,636,657.603880981,0.451079500624,0.00448226636392,0.0597048662267,0.999999886328,-8.48883596743e-05,-0.000464936635666,-6.30155339877e-05,1793254889741077760
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,761,738,717,683,648.016170936,916.983829064,800.983829064,841,658,636,657.016170936,0.451594968127,0.00447697439442,0.0596938857362,0.999999880196,-9.16606922518e-05,-0.00047659890079,-6.37222634748e-05,1793254889757744640
+201,3.350000000,POSE1_TO_POSE2_PRESS,786,761,738,717,682.435233058,648,917,800.435233058,841,658,636,657.564766942,0.452119936497,0.00447679899243,0.0597144037679,0.9999998954,-9.26948232898e-05,-0.000443167380603,-6.48834979072e-05,1793254889774411008
+202,3.366666667,POSE1_TO_POSE2_PRESS,786,761.144614685,738,717,682,648,917,800,841,658,636,657.855385315,0.452627712323,0.00447656522859,0.0597306231005,0.999999906358,-9.34404977455e-05,-0.000417371076675,-6.59855311204e-05,1793254889791077888
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,761.721775058,738,717,682,648,917,800,841,658,636,657.278224942,0.45308326097,0.00447572390354,0.0597313193104,0.999999905907,-9.380899935e-05,-0.00041822801502,-6.68720292976e-05,1793254889807744512
+204,3.400000000,POSE1_TO_POSE2_PRESS,786.295991192,761.704008808,738,717,681.704008808,648,917,800,841,657.704008808,635.704008808,657.295991192,0.453489960877,0.00447383988538,0.0597141079054,0.99999989046,-9.6304485673e-05,-0.000453050915688,-6.74615466858e-05,1793254889824410880
+205,3.416666667,POSE1_TO_POSE2_PRESS,786.867467032,761.132532968,738,717,681.132532968,648,917,800,841,657.132532968,635.132532968,657.867467032,0.453851196304,0.0044709854129,0.0596802295415,0.999999857692,-0.000100779596909,-0.000519486583962,-6.77746581082e-05,1793254889841077760
+206,3.433333333,POSE1_TO_POSE2_PRESS,787,761.454673291,738,717,681,647.545326709,917,800,841,657.454673291,635.454673291,657.545326709,0.454210251783,0.0044710573157,0.0596604720245,0.999999845382,-9.72103025526e-05,-0.000543264672974,-6.81920648451e-05,1793254889857744640
+207,3.450000000,POSE1_TO_POSE2_PRESS,786.954457829,761.954457829,737.954457829,717,680.954457829,647,916.954457829,800,841.045542171,658,636,657.045542171,0.454567531052,0.0044721364572,0.0596469379778,0.999999841578,-8.87601384083e-05,-0.000551696805295,-6.7800193679e-05,1793254889874411008
+208,3.466666667,POSE1_TO_POSE2_PRESS,786.376300948,761.376300948,737.376300948,717,680.376300948,647,916.376300948,800,841.623699052,658,636,657.623699052,0.454911735342,0.00447466178301,0.0596563245449,0.999999855876,-5.16342544878e-05,-0.000531288328011,-5.75755525714e-05,1793254889891077888
+209,3.483333333,POSE1_TO_POSE2_PRESS,786,761,737.202110168,717,680,647,916.202110168,800,841.797889832,658,636,658,0.455243706916,0.00447589252755,0.0596660308191,0.999999866955,-2.9106666608e-05,-0.000512456766197,-5.12914009582e-05,1793254889907744512
+210,3.500000000,POSE1_TO_POSE2_PRESS,786,761,737.780995167,717,680,647,916.780995167,800,841.219004833,658,636,658,0.455552874155,0.00447470990663,0.0596763330918,0.99999987477,-3.37933027885e-05,-0.00049656490218,-5.23531317542e-05,1793254889924411136
+211,3.516666667,POSE1_TO_POSE2_PRESS,786.356428083,761,738,716.643571917,680,647,917,800,841,658,636,657.643571917,0.455826749555,0.00447270425423,0.0596743463859,0.999999873983,-3.96662570213e-05,-0.000497539836072,-5.39875369471e-05,1793254889941077760
+212,3.533333333,POSE1_TO_POSE2_PRESS,786.929760293,761,738,716.070239707,680,647,917,800,841,658,636,657.070239707,0.456079148154,0.00447019774635,0.0596648812292,0.999999867936,-4.62611449453e-05,-0.000508779049604,-5.59704429506e-05,1793254889957744640
+213,3.550000000,POSE1_TO_POSE2_PRESS,786.478768942,761,738,716.521231058,679.478768942,647,916.478768942,800,841,658,636,657.521231058,0.456279224145,0.00447238008785,0.0596450517823,0.999999852797,-4.67227503808e-05,-0.000537448867667,-5.8072085045e-05,1793254889974411520
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,761,738,716.888549552,679,647,916.111450448,800,841,658,636,657.888549552,0.456464646191,0.00447476959922,0.0596238342572,0.999999835476,-4.65631788973e-05,-0.000568576536908,-6.00026586502e-05,1793254889991077888
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,761,738,716.314050729,679,647,916.685949271,800,841,658,636,657.314050729,0.456619535578,0.0044752999953,0.0596028616128,0.999999817125,-4.73804995868e-05,-0.000599805018953,-6.11536117582e-05,1793254890007744768
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,761,738,716.259992058,679,647,917,800,841,658,636,657.259992058,0.456765893229,0.00447488186856,0.0595847203356,0.999999800852,-4.98417459955e-05,-0.000626064986221,-6.20890710081e-05,1793254890024411392
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761,738,716.833484919,679,647,917,800,841,658,636,657.833484919,0.456901963224,0.00447332000428,0.059569993148,0.999999787683,-5.42852530552e-05,-0.0006463338714,-6.276468576e-05,1793254890041078016
+218,3.633333333,POSE1_TO_POSE2_PRESS,786.421487142,761,738,717,679,646.578512858,917,800,841,658,636,658,0.457022909171,0.00447553124271,0.0595576297083,0.999999775832,-5.27773205557e-05,-0.000664434745889,-6.38479639356e-05,1793254890057744640
+219,3.650000000,POSE1_TO_POSE2_PRESS,786.984964605,761,738,716.984964605,678.984964605,646,917,800,841,658,635.984964605,658,0.457137285965,0.0044791518627,0.0595464881804,0.999999764659,-4.89677456192e-05,-0.000681213468047,-6.50634666897e-05,1793254890074411264
+220,3.666666667,POSE1_TO_POSE2_PRESS,786.406059896,761,738,716.406059896,678.406059896,646,917,800,841,658,635.406059896,658,0.457237368942,0.00447773268948,0.0595449017374,0.999999764291,-5.01606971453e-05,-0.000681674364131,-6.49824605145e-05,1793254890091077632
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,761,738,716,678,646,917,800,841,658,635.171448067,658,0.457329416977,0.00447676952133,0.0595431406124,0.999999763083,-5.16299917485e-05,-0.000683328991052,-6.50411708329e-05,1793254890107744000
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,761,738,716,678,646,917,800,841,658,635.74567461,658,0.457402588718,0.00447687763419,0.0595409691116,0.999999759889,-5.37484917713e-05,-0.000687788018643,-6.54281134791e-05,1793254890124410880
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,761,738,716.318241904,678,646,916.681758096,800,841,657.681758096,636,658,0.457464541008,0.00447725541536,0.0595386895377,0.999999756961,-5.41264587001e-05,-0.000692000152929,-6.54599068514e-05,1793254890141077760
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,761,738,716.889490135,678,646,916.110509865,800,841,657.110509865,636,658,0.457517573702,0.00447784758625,0.0595363240443,0.999999754244,-5.31206800907e-05,-0.000696016004404,-6.52093521122e-05,1793254890157744896
+225,3.750000000,POSE1_TO_POSE2_PRESS,786,761,738,716.518829064,678,646,916.481170936,800,841,657.481170936,635.518829064,657.518829064,0.45756124295,0.00448076763429,0.0595362776698,0.999999753458,-5.09936731548e-05,-0.00069722255784,-6.60693926521e-05,1793254890174411520
+226,3.766666667,POSE1_TO_POSE2_PRESS,786,761,738,716.075526026,678,646,917,800,841,658,635,657.075526026,0.45760072946,0.00448452589299,0.059536429315,0.999999752893,-4.8283347739e-05,-0.000698111254086,-6.72499931198e-05,1793254890191077888
+227,3.783333333,POSE1_TO_POSE2_PRESS,786,761,738,716.655024076,678,646,917,800,841,658,635,657.655024076,0.457627291534,0.00449015161294,0.059534190555,0.999999750725,-4.34751677205e-05,-0.000701375234535,-6.87921237451e-05,1793254890207744512
+228,3.800000000,POSE1_TO_POSE2_PRESS,786.232254872,761,738,716.767745128,678,646,916.767745128,800,841,658,635,658,0.457648779939,0.00450136341723,0.0595318544921,0.999999748398,-3.31477830624e-05,-0.000704953199949,-7.17345624531e-05,1793254890224411392
+229,3.816666667,POSE1_TO_POSE2_PRESS,786.806150562,761,738,716.193849438,678,646,916.193849438,800,841,658,635,658,0.457662805107,0.00452079220455,0.0595293752992,0.999999745612,-1.47017935817e-05,-0.000708993028649,-7.67368174732e-05,1793254890241078016
+230,3.833333333,POSE1_TO_POSE2_PRESS,786.611294612,761,738,716,678,646,916.388705388,800,841,657.611294612,635,658,0.457674262016,0.00452860392394,0.0595279508516,0.999999744005,-4.88249951615e-06,-0.000711254954451,-7.79870932956e-05,1793254890257744640
+231,3.850000000,POSE1_TO_POSE2_PRESS,786.024323056,761,738,716,678,646,916.975676944,800,841,657.024323056,635,658,0.457684408939,0.00453049014847,0.0595270643959,0.999999743104,5.36592963647e-07,-0.000712610028882,-7.73236045593e-05,1793254890274411264
+232,3.866666667,POSE1_TO_POSE2_PRESS,786.556117752,761,738,716.556117752,678,646,916.443882248,800,841,657.556117752,635,658,0.457687092727,0.00452802120806,0.0595239466143,0.999999740086,-4.22751663165e-06,-0.000716863530586,-7.69215042662e-05,1793254890291078400
+233,3.883333333,POSE1_TO_POSE2_PRESS,786.864761727,761,738,716.864761727,678,646,916.135238273,800,841,658,635.135238273,657.864761727,0.457689748248,0.00452701406756,0.0595215306492,0.999999737638,-6.83352991294e-06,-0.000720268630292,-7.67423928679e-05,1793254890307745280
+234,3.900000000,POSE1_TO_POSE2_PRESS,786.28902221,761,738,716.28902221,678,646,916.71097779,800,841,658,635.71097779,657.28902221,0.457693362567,0.00453138157986,0.0595217148471,0.999999737454,-9.76260568405e-07,-0.000720502171664,-7.72528004779e-05,1793254890324411904
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,761,738,716,678,646,917,800,841,658,635.717650597,657,0.457696656338,0.00453085895978,0.0595223317889,0.999999738077,-1.40155492486e-06,-0.000719646772603,-7.7151354003e-05,1793254890341078272
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,761,738,716,678,646,917,800,841,658,635.150681932,657,0.457699626985,0.00452540689517,0.0595233849536,0.999999739504,-8.15991896669e-06,-0.000717693678938,-7.64331346958e-05,1793254890357744384
+237,3.950000000,POSE1_TO_POSE2_PRESS,786,761,738,716,677.559720148,646,916.559720148,800,841,657.559720148,635,657.440279852,0.457700221496,0.00452656728627,0.0595231862367,0.999999739027,-5.71544035763e-06,-0.000718395301184,-7.62941772317e-05,1793254890374411264
+238,3.966666667,POSE1_TO_POSE2_PRESS,786,761,738,716,677.038585825,646,916,800,841,657.038585825,635.038585825,658,0.457699986144,0.00453004165423,0.0595225099903,0.999999737892,-2.28133303643e-07,-0.000719985144102,-7.63962356708e-05,1793254890391077888
+239,3.983333333,POSE1_TO_POSE2_PRESS,786,761,738,716,677.618099814,646,916,800,841,657.618099814,635.618099814,658,0.457700174423,0.00453240136169,0.0595214918251,0.999999737439,1.21763292281e-06,-0.000720555846772,-7.6937678122e-05,1793254890407744512
+240,4.000000000,POSE1_TO_POSE2_PRESS,786,761,738,716,677.804353322,646,916,800,841,658,635.804353322,657.804353322,0.457700350881,0.00453233270263,0.0595205079561,0.999999736964,5.06819931793e-07,-0.000721222387204,-7.68709691639e-05,1793254890424411392
+241,4.016666667,POSE1_TO_POSE2_PRESS,786,761,738,716,677.230608075,646,916,800,841,658,635.230608075,657.230608075,0.457700504493,0.00452757108409,0.0595195903664,0.999999736435,-4.37170774273e-06,-0.000722074139632,-7.56289722511e-05,1793254890441078272
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,761,737.648245635,716.351754365,677.351754365,646,916.351754365,800,841,657.648245635,635,657.351754365,0.457701345146,0.00452809504241,0.0595195833419,0.999999736571,-4.07764950944e-06,-0.000721891854464,-7.55823964404e-05,1793254890457744640
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,761,737.060091965,716.939908035,677.939908035,646,916.939908035,800,841,657.060091965,635,657.939908035,0.457702647529,0.00453217121468,0.0595201882699,0.999999737155,-3.07313772162e-07,-0.000721014636113,-7.6339212895e-05,1793254890474411008
+244,4.066666667,POSE1_TO_POSE2_PRESS,786,761,737.518306813,717,677.481693187,646,917,800,841,657.518306813,635.518306813,657.481693187,0.457702647458,0.00453109545787,0.0595208085239,0.999999737395,-1.34419660321e-06,-0.000720705631257,-7.60992110387e-05,1793254890491077888
+245,4.083333333,POSE1_TO_POSE2_PRESS,786,761,738,717,677,646,917,800,841,657.904461207,635.904461207,657.095538793,0.457702601553,0.00452934269855,0.0595212390247,0.99999973751,-3.03421883827e-06,-0.000720579148682,-7.57428425935e-05,1793254890507744512
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,761,738,717,677,646,917,800,841,657.327515214,635.327515214,657.672484786,0.457703071534,0.00452713277758,0.0595207045965,0.999999737192,-5.25881987813e-06,-0.000721046552773,-7.53717032565e-05,1793254890524411136
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,761,738,716.751969275,677,646,916.751969275,800,841,657.248030725,635.248030725,658,0.457703031265,0.00452712046545,0.0595203715518,0.999999736699,-5.06107155652e-06,-0.000721733850684,-7.53421940892e-05,1793254890541077760
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,761,738,716.178261597,677,646,916.178261597,800,841,657.821738403,635.821738403,658,0.457702321012,0.00452999372515,0.0595203029339,0.999999735974,-1.68265568318e-06,-0.000722709880419,-7.57612626508e-05,1793254890557744640
+249,4.150000000,HOLD_POSE2,787,761,738,716,677,646,917,800,842,658,636,657,0.457702367964,0.00452906846106,0.0595203446406,0.999999736044,-1.61374696582e-06,-0.000722601328732,-7.58711931633e-05,1793254890591056640
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+255,4.250000000,HOLD_POSE2,786,761,738,716,677,645.51819752,916.51819752,800,841,658,635.51819752,657.51819752,0.457705459559,0.00453267776955,0.0595215917751,0.999999737481,4.99809942588e-07,-0.000720617452975,-7.58164948335e-05,1793254890691056128
+256,4.266666667,HOLD_POSE2,786,761,738,716.061445656,677,645.061445656,916.061445656,800,841,658,635,657,0.457706951257,0.00453275225661,0.0595225623799,0.999999738129,2.10398948583e-06,-0.000719692592351,-7.6025138376e-05,1793254890707722752
+257,4.283333333,HOLD_POSE2,786,761,738,716.639879963,677,645.639879963,916.639879963,800,841,658,635,657,0.457704477861,0.00453162743023,0.0595204808615,0.999999736387,1.05780719246e-06,-0.000722119937158,-7.59425409852e-05,1793254890724389632
+258,4.300000000,HOLD_POSE2,786,761.216917719,737.783082281,717,677.216917719,645.783082281,916.783082281,800,841,658,635,657,0.457703894952,0.00453047335985,0.0595198365232,0.999999736105,3.80782242052e-07,-0.000722532405543,-7.57423202895e-05,1793254890741056512
+259,4.316666667,HOLD_POSE2,786,761.791651738,737.208348262,717,677.791651738,645.208348262,916.208348262,800,841,658,635,657,0.457706430493,0.00452927105018,0.0595215628836,0.999999738234,3.12700342799e-07,-0.000719621237282,-7.53480742543e-05,1793254890757723136
+260,4.333333333,HOLD_POSE2,786,761.624914611,737.375085389,716.624914611,677.624914611,645.375085389,916.375085389,800,841,658,635,657.375085389,0.457705700411,0.00452903660935,0.0595207861396,0.999999737289,-1.40221097406e-06,-0.000720937075134,-7.53027787396e-05,1793254890774389504
+261,4.350000000,HOLD_POSE2,786,761.036533788,737.963466212,716.036533788,677.036533788,645.963466212,916.963466212,800,841,658,635,657.963466212,0.457703113306,0.00452935255509,0.0595185859846,0.999999734581,-4.05360557818e-06,-0.000724656634975,-7.54559168102e-05,1793254890791056128
+262,4.366666667,HOLD_POSE2,786,761,738,716,677,645.456555746,916.456555746,800,841,658,635,657.456555746,0.457703733667,0.00453170509065,0.0595188713279,0.999999734886,-3.63489184732e-07,-0.000724234708434,-7.55783621744e-05,1793254890807722752
+263,4.383333333,HOLD_POSE2,786,761.122107346,738,716,677,645.122107346,916.122107346,800,841,658,635,657.122107346,0.457704838782,0.00453318444207,0.0595195880821,0.999999735718,2.45564692385e-06,-0.000723081768211,-7.55720554648e-05,1793254890824389120
+264,4.400000000,HOLD_POSE2,786,761.697951496,738,716,677,645.697951496,916.697951496,800,841,658,635,657.697951496,0.457706956144,0.004530918138,0.0595212964726,0.999999737814,4.7829915271e-07,-0.000720231278299,-7.50948714086e-05,1793254890841055744
+265,4.416666667,HOLD_POSE2,786,761.726913899,738,716.273086101,677,646,917,800,841,658,635,658,0.457707264031,0.00453011899797,0.0595214152009,0.999999738055,-5.23811157065e-07,-0.000719901843889,-7.50338698321e-05,1793254890857722624
+266,4.433333333,HOLD_POSE2,786,761.15256209,738,716.84743791,677,646,917,800,841,658,635,658,0.457705575723,0.00453093841797,0.0595197802307,0.999999736258,-4.50049658155e-07,-0.000722353611515,-7.54319964103e-05,1793254890874389760
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,761,738,716,677,646,918,800,841,658,636,658,0.457706289147,0.00452946325341,0.0595194767171,0.999999736324,-1.09250354574e-06,-0.000722317213905,-7.48860961277e-05,1793254890907033856
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,761,738,716.581434175,677,646,917.418565825,800,841,658,636,657.418565825,0.457705813821,0.00453060839094,0.059519635813,0.999999736056,-4.55983917012e-07,-0.000722639070402,-7.53640293454e-05,1793254890923700224
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,761,738,717,677,646,917,800,841,658,636,657.159746392,0.457705858332,0.00453055097005,0.0595200115233,0.999999736143,-1.01631418423e-06,-0.000722500032557,-7.55354870951e-05,1793254890940366592
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,761,738,717,677,646,917,800,841,658,636,657.730035414,0.457707238809,0.00452740301638,0.0595209439252,0.999999737135,-4.65250660676e-06,-0.000721176512471,-7.49193137328e-05,1793254890957032704
+271,4.516666667,POSE2_TO_POSE3_RETREAT,786,761,738,717,677,646,917,800,841,658,636,658,0.45770738525,0.00452759572834,0.0595212086553,0.999999737291,-5.2460999453e-06,-0.000720944149483,-7.50379087272e-05,1793254890973699072
+272,4.533333333,POSE2_TO_POSE3_RETREAT,786,761,738,717,677,646,917,800,841,658,636,658,0.457706422406,0.00453079139727,0.0595208732086,0.999999736701,-3.1046711922e-06,-0.000721692638294,-7.58169941729e-05,1793254890990365696
+273,4.550000000,POSE2_TO_POSE3_RETREAT,786,761,738,716.529236582,677,646,917,800,841,658,636,658,0.45770529929,0.00453081625407,0.0595200821745,0.999999735964,-2.93681050567e-06,-0.000722739104817,-7.55738140708e-05,1793254891007032576
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786.062932842,761,737.937067158,716,677,646,916.937067158,800,841,658,635.937067158,658,0.457704121934,0.00453018507744,0.0595191546259,0.999999735225,-3.01224070915e-06,-0.000723805271319,-7.51489228406e-05,1793254891023699200
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786.64016828,761,737.35983172,716,677,646,916.35983172,800,841,658,635.35983172,658,0.457702844184,0.00453097588242,0.0595180860752,0.999999734781,-8.53893660362e-07,-0.000724394973918,-7.54259535539e-05,1793254891040365824
+276,4.600000000,POSE2_TO_POSE3_RETREAT,787,761,737,716,677,646,916,800,841,657.783826731,635.216173269,658,0.457697765766,0.00453084051161,0.0595152892401,0.99999973215,-2.89570943961e-08,-0.00072802623388,-7.53497704857e-05,1793254891057032448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,787,761,737,716,677,646,916,800,841,657.209858354,635.790141646,658,0.457686396743,0.00452917219834,0.0595096318677,0.999999725852,-1.41098994344e-06,-0.000736691670028,-7.46889722607e-05,1793254891073698816
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786.624187723,761,737.375812277,716,677,646,916.375812277,800,841,657.375812277,635.624187723,658,0.4576569917,0.00452970029679,0.059496231136,0.999999709524,-9.05242815951e-07,-0.000758534627011,-7.46684226411e-05,1793254891090365696
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786.031772327,761,737.968227673,716,677,646,916.968227673,800,841,657.968227673,635.031772327,658,0.457617191416,0.00453149431867,0.059478367442,0.999999686736,6.88544822069e-07,-0.000787972578625,-7.50168865174e-05,1793254891107032576
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786.546731063,761,738,716.546731063,677,646,916.453268937,800,841,658,635,658,0.457558907724,0.00453083948481,0.0594575259819,0.999999663098,7.92457162891e-07,-0.000817364554354,-7.56221032275e-05,1793254891123699200
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786.875787495,761,738,717,677,646,916.124212505,800,841,658,635,658,0.457496771255,0.00453066081611,0.0594379704429,0.999999641249,1.21467901562e-06,-0.000843622692371,-7.61634140917e-05,1793254891140365568
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786.299156508,761,738,717,677,646,916.700843492,800,841,658,635,658,0.457424417044,0.00453272195711,0.0594237132518,0.999999628585,3.10380776293e-06,-0.000858475971862,-7.641896424e-05,1793254891157032448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786,761,738,716.717875852,677,646,917,800,841,658,635,657.717875852,0.457346100315,0.00453510063599,0.0594145328482,0.999999620327,6.72133419704e-06,-0.00086801359158,-7.6499086987e-05,1793254891173699072
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,761,738,716.131582234,677,646,917,800,841,658,635,657.131582234,0.457261355158,0.00453782166519,0.0594108259356,0.999999616973,1.22023160584e-05,-0.000871820182472,-7.63900743448e-05,1793254891190365696
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761,737.55024256,716,677.44975744,646,916.55024256,800,841,658,635,657,0.457161283313,0.00453840890305,0.0594104337809,0.999999617112,1.2799899854e-05,-0.000871686663878,-7.59938980554e-05,1793254891207032320
+286,4.766666667,POSE2_TO_POSE3_RETREAT,785.970542502,761,737,716,677.970542502,645.970542502,916,800,841,658,635,657.029457498,0.457055736635,0.00453835366629,0.0594112595628,0.999999618596,1.22015048616e-05,-0.000870037008083,-7.54668019157e-05,1793254891223698944
+287,4.783333333,POSE2_TO_POSE3_RETREAT,785.394664702,761,737,716,677.394664702,645.394664702,916,800,841,658,635,657.605335298,0.45693090466,0.00453783454186,0.0594168845983,0.999999626119,1.56312313307e-05,-0.000861413373423,-7.4052637883e-05,1793254891240365568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,785.180909708,761,737.180909708,716,677,645.180909708,916,800,841,658,635,657.819090292,0.456795653373,0.00453796154432,0.0594220673033,0.999999632762,1.98459605476e-05,-0.000853698930444,-7.26670401607e-05,1793254891257032448
+289,4.816666667,POSE2_TO_POSE3_RETREAT,785.755823285,761,737.755823285,716,677,645.755823285,916,800,841,658,635,657.244176715,0.456637709846,0.00453949574884,0.0594262866546,0.999999637601,2.57703494838e-05,-0.000847964620357,-7.13436572967e-05,1793254891273699072
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761,737.660328853,716,677,646,916,800,841,658,635.339671147,657,0.456464197545,0.00454031888383,0.059433768444,0.999999645025,2.87915602772e-05,-0.000839204912533,-6.9691672912e-05,1793254891290365696
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786,761,737.069884919,716,677,646,916,800,841,658,635.930115081,657,0.456279191097,0.00454061704979,0.0594436588301,0.999999654294,2.9669410134e-05,-0.000828211610089,-6.77970880928e-05,1793254891307032320
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786,761,737.510427161,716,677.510427161,646,916,799.489572839,841,658,635.489572839,657,0.456074993657,0.00454229555549,0.0594604684201,0.999999674696,3.59838058312e-05,-0.000803104133736,-6.5851597686e-05,1793254891323699456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786,761,738,716.088808883,677.911191117,646,916.088808883,799.088808883,841,658,635.088808883,657,0.455861619083,0.00454412144446,0.0594779408726,0.999999695108,4.27241302766e-05,-0.000777096386956,-6.38719474164e-05,1793254891340366336
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,761,738,716.664067797,677.335932203,646,916.664067797,799.664067797,841,658,635.664067797,657,0.455612088883,0.0045457395893,0.0594939561056,0.999999710778,4.77997040483e-05,-0.000756536294505,-6.17426197346e-05,1793254891357032960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,761,737.755590011,716.755590011,677.244409989,646,917,800,841,658,635.755590011,657,0.455342843159,0.00454760937162,0.0595093397491,0.999999726028,5.45287219134e-05,-0.000735839792993,-5.92523398065e-05,1793254891373699584
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786,761,737.168112683,716.168112683,677.831887317,646,917,800,841,658,635.168112683,657,0.455045923651,0.00454983236608,0.0595238368577,0.999999740818,6.35786047989e-05,-0.000714951821535,-5.62554075347e-05,1793254891390365952
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786,761,737,716.413607351,678,646,917,800,841,658,635,657.413607351,0.454718014431,0.00455171025726,0.05953468436,0.999999748598,7.25441706509e-05,-0.000703342773249,-5.337940768e-05,1793254891407032320
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786,761,737,716.993019417,678,646,917,800,841,658,635,657.993019417,0.454377682226,0.00455344980522,0.0595440688271,0.999999753575,8.14759357209e-05,-0.000695453410863,-5.05518866424e-05,1793254891423699200
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786,761,737,717,678,646,917,799.429441164,841,658,635,657.429441164,0.453987064502,0.0045560708759,0.0595462069522,0.999999751601,9.07094430684e-05,-0.000697378910651,-4.72397123238e-05,1793254891440365824
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786,761,737,716.852697908,678.147302092,646.147302092,916.852697908,799.147302092,840.852697908,657.852697908,635.147302092,657,0.453583090439,0.00455917727115,0.0595442851281,0.999999746371,0.000100952478832,-0.000703644697639,-4.41776415436e-05,1793254891457032704
+301,5.016666667,POSE2_TO_POSE3_RETREAT,786,761,737,716.278197521,678.721802479,646.721802479,916.278197521,799.721802479,840.278197521,657.278197521,635.721802479,657,0.453142159456,0.0045636600043,0.0595308451142,0.999999731862,0.00011411262623,-0.000722150857425,-4.18580497093e-05,1793254891473699584
+302,5.033333333,POSE2_TO_POSE3_RETREAT,786,761,737.30347154,716,679,647,916,800,840.30347154,657.30347154,635.69652846,657.30347154,0.452697841261,0.00456683715152,0.0595309154849,0.99999973442,0.000125680734172,-0.000716824788273,-3.90635427054e-05,1793254891490366208
+303,5.050000000,POSE2_TO_POSE3_RETREAT,786,761,737.891871307,716,679,647,916,800,840.891871307,657.891871307,635.108128693,657.891871307,0.452250342775,0.00456878848981,0.0595436707006,0.999999752699,0.00013575408406,-0.000689122735645,-3.58231394472e-05,1793254891507032320
+304,5.066666667,POSE2_TO_POSE3_RETREAT,786,761,737.526612375,716,679.473387625,647,916,800,840.526612375,657.526612375,635,658,0.451777492129,0.00457149124782,0.0595733123425,0.999999780015,0.000147971618088,-0.000645829273446,-3.13031603428e-05,1793254891523698944
+305,5.083333333,POSE2_TO_POSE3_RETREAT,786,761,737,716.052896386,680.052896386,647,916.052896386,800,840.052896386,657.052896386,635,658,0.451293184022,0.00457442613526,0.0596049521787,0.99999980592,0.000160778576692,-0.00060133746206,-2.6532391823e-05,1793254891540365824
+306,5.100000000,POSE2_TO_POSE3_RETREAT,786,761,737,716.62788686,680.62788686,647,916.62788686,800,840.62788686,657.62788686,635,658,0.450752125806,0.00457798238936,0.0596187899595,0.9999998165,0.000174638500367,-0.000579664536851,-2.21297323585e-05,1793254891557032448
+307,5.116666667,POSE2_TO_POSE3_RETREAT,786,761,737,716.79748728,681,647,916.79748728,800,840.79748728,658,635,658,0.450185439722,0.00458177372098,0.0596215058575,0.999999817175,0.000189496688588,-0.000573947401087,-1.80516448971e-05,1793254891573699072
+308,5.133333333,POSE2_TO_POSE3_RETREAT,786,761,737,716.223530224,681,647,916.223530224,800,840.223530224,658,635,658,0.449571747605,0.00458599622633,0.059603822244,0.999999800137,0.000206185870727,-0.000597496021758,-1.45688804752e-05,1793254891590365952
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,785.741322995,761,737,717,683.258677005,649,916.258677005,800,840,658,635,657,0.445593469658,0.00459974396699,0.0597120435066,0.999999859383,0.000289556208152,-0.0004439267811,1.78724729476e-05,1793254891690365696
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785.171408119,761,737,717,683.828591881,649,916.828591881,800,840,658,635,657,0.444832633985,0.00460393077394,0.0596966456011,0.999999845231,0.000305209012231,-0.000464668660522,2.16555966831e-05,1793254891707032576
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,684,649,917,800,840,658,635,657.419817146,0.444056862865,0.00460428537579,0.0596980127028,0.999999846691,0.000313160998141,-0.000455947905132,2.56699544059e-05,1793254891723699200
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,761,737,717.019405547,684.019405547,649.019405547,916.980594453,800,840,658,635,657.980594453,0.443274798371,0.00460305822161,0.0597075392206,0.999999855055,0.00031806673629,-0.000433397265176,2.98391584435e-05,1793254891740365568
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,761,737,717.59594061,684.59594061,649.59594061,916.40405939,800,840,658,635,657.40405939,0.442496486347,0.00460374242105,0.0597442927133,0.999999873415,0.000330611428489,-0.000377622475331,3.55985075085e-05,1793254891757032704
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785.171446719,761,737,718,685,650,916.171446719,800,840,657.828553281,635,657,0.441694375835,0.0046051253921,0.0597707209555,0.999999881453,0.000343331026167,-0.000342795719675,4.13452653023e-05,1793254891773699584
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785.744542262,761,737,718,685,650,916.744542262,800,840,657.255457738,635,657,0.44083651257,0.00460814537775,0.0597729601956,0.99999987162,0.000356460376853,-0.000357044002053,4.70625253615e-05,1793254891790365952
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785.671472241,760.671472241,737,718,685,650,916.671472241,800,840,657.328527759,635,657,0.439982621707,0.00461056296273,0.0597810163708,0.99999988496,0.000325247446814,-0.000350495608659,3.80437255316e-05,1793254891807032320
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785.07872861,760.07872861,737,718,685,650,916.07872861,800,840,657.92127139,635,657,0.439131925659,0.00461249607158,0.0597937507702,0.999999912937,0.000258372583693,-0.000327221649964,1.7173564799e-05,1793254891823698944
+323,5.383333333,POSE2_TO_POSE3_RETREAT,785.501033441,760,737,718,685,650,916,800,840,657.498966559,635,657,0.438223253168,0.00460528847562,0.0598079946025,0.999999923708,0.00023718172841,-0.00030993911968,1.63224179461e-05,1793254891840365568
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785.921677185,760,737,718,685,650,916,800,840,657,635,657.078322815,0.43729751733,0.00459901524746,0.0598123013281,0.999999926091,0.000227766931259,-0.000309176718798,1.87069535402e-05,1793254891857032192
+325,5.416666667,POSE2_TO_POSE3_RETREAT,785.347454816,760,737,718,685,650,916,800,840,657,635,657.652545184,0.436319968583,0.00460752220446,0.0597522276482,0.999999885945,0.00024860973472,-0.000407201017373,2.21646089554e-05,1793254891873699072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,785,760.232432117,737,718.232432117,685.232432117,650,916,800,840,657,635,657.767567883,0.435381502504,0.00461401940859,0.0597171811678,0.999999863665,0.00026406438966,-0.000449820457239,2.45092737024e-05,1793254891890365696
+327,5.450000000,POSE2_TO_POSE3_RETREAT,785,760.820998426,737,718.820998426,685.820998426,650,916,800,840,657,635,657.179001574,0.434502919027,0.00461743725596,0.0597204815367,0.999999879844,0.000271263289928,-0.000407548186441,2.51486067729e-05,1793254891907032576
+328,5.466666667,POSE2_TO_POSE3_RETREAT,785,760.596586364,737,719,686,650,916,800,840,657.403413636,635.403413636,657.403413636,0.433582987112,0.00461714028146,0.0597414729256,0.999999894074,0.000269558728018,-0.000372114177465,2.68551894162e-05,1793254891923699200
+329,5.483333333,POSE2_TO_POSE3_RETREAT,785,760.016859546,737,719,686,650,916,800,840,657.983140454,635.983140454,657.983140454,0.432644983788,0.00461521973234,0.0597701962296,0.999999907053,0.000263962879781,-0.000339668854451,2.90282167494e-05,1793254891940365824
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784.440468628,760,737,719,686,650,916,800,839.440468628,657.440468628,636,657.440468628,0.431693432266,0.00461826027433,0.0597888763531,0.999999917789,0.000260876294615,-0.000309071300039,2.90044173365e-05,1793254891957032448
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,760.13572058,737,719,686.13572058,650,916.13572058,800,839,657.13572058,635.86427942,657,0.430744930855,0.00462067617809,0.0598066677016,0.999999926637,0.000258827345593,-0.000280831925547,2.94440378179e-05,1793254891973699072
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,760.711579657,737,719,686.711579657,650,916.711579657,800,839,657.711579657,635.288420343,657,0.429807636958,0.00462058449106,0.0598225523358,0.999999931911,0.000259899684136,-0.000260060586561,3.15999102615e-05,1793254891990365696
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784.293869903,760.706130097,737,719,686.706130097,650,917,800,839.293869903,657.706130097,635,657,0.428837685314,0.00461176305686,0.0598035454869,0.999999923182,0.000249457642351,-0.000300576974587,3.25725469856e-05,1793254892007032064
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784.882613246,760.117386754,737,719,686.117386754,650,917,800,839.882613246,657.117386754,635,657,0.427834964457,0.00459418206428,0.0597495280029,0.999999892568,0.000227461897718,-0.000402590380178,3.23579069722e-05,1793254892023698688
+335,5.583333333,POSE2_TO_POSE3_RETREAT,784.536468594,760.463531406,737,719.463531406,686,650,917,800,839.536468594,657.463531406,635,657,0.426890161936,0.00456587251975,0.0597392314274,0.999999902051,0.000182208315161,-0.000402121687285,3.15625295645e-05,1793254892040365824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,784.04225849,760.95774151,737.04225849,720,686,650.04225849,917,800,839,658,635,657,0.425958531911,0.00453793562019,0.0597423667487,0.999999919751,0.000135813800778,-0.000375634546242,3.0830403108e-05,1793254892057032704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,784.617926694,760.382073306,737.617926694,720,686,650.617926694,917,800,839,658,635,657,0.425011105654,0.00454842791374,0.0597776091758,0.999999929709,0.000148129390718,-0.000342883084244,3.27222266125e-05,1793254892073699584
+338,5.633333333,POSE2_TO_POSE3_RETREAT,784.807421366,760.192578634,737.807421366,720,686,651,917,800.192578634,839,658,635,657,0.42408262788,0.00455472958027,0.0598078408061,0.999999939974,0.000154032875629,-0.000308435565957,3.45350252435e-05,1793254892090366464
+339,5.650000000,POSE2_TO_POSE3_RETREAT,784.234774997,760.765225003,737.234774997,720,686,651,917,800.765225003,839,658,635,657,0.42319154613,0.00455276074592,0.0598281832762,0.999999951876,0.000147281614065,-0.000270640753551,3.61918629938e-05,1793254892107032576
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783.650014507,760.650014507,737.349985493,720,686.699970986,650.650014507,917,800.650014507,839,658,635,657,0.422299045465,0.00455179363647,0.0598377817716,0.999999957507,0.000139421229248,-0.000253427824761,3.63681493945e-05,1793254892123698944
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.056836374,760.056836374,737.943163626,720,687.886327253,650.056836374,917,800.056836374,839,658,635,657,0.421405558898,0.00455152259062,0.0598399146548,0.999999959437,0.000130790154098,-0.000250516527217,3.55156525323e-05,1793254892140365568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,760,738,720,686.954809846,650,916.477404923,799.477404923,839.522595077,658,635,657,0.420423669796,0.00455693054514,0.0597783819728,0.999999924761,0.000135727751165,-0.000361673696544,3.5330867799e-05,1793254892157032192
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,760,738,720,686,649.899961448,916,799.100038552,839.899961448,657.899961448,635,657,0.419454014255,0.00456045253763,0.0597209737833,0.999999884234,0.000137227005775,-0.000459878487862,3.48208623866e-05,1793254892173699072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,720,686,649.325039754,916,799.674960246,839.325039754,657.325039754,635,657,0.418586901648,0.00455216509087,0.0597151710093,0.999999896339,0.000115578842543,-0.000439217131139,3.24311490281e-05,1793254892190365952
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760,738,720,686.511096254,649,916,799.744451873,839,657.255548127,635,657,0.417756668212,0.00455022198755,0.0597327998132,0.999999913212,0.000106309609395,-0.000401577338935,3.17824338326e-05,1793254892207033088
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760,738,720,687.687012774,649,916,799.156493613,839,657.843506387,635,657,0.416974406276,0.00455653143623,0.059780907784,0.99999993461,0.000113142557211,-0.000341852455255,3.33983623755e-05,1793254892223699712
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760,738,720.426951276,687.573048724,649.426951276,916,799.426951276,839,658,635,657,0.416178907477,0.00455435782352,0.0598098013113,0.999999933682,0.000184078094221,-0.000312193692652,3.58586912411e-05,1793254892240366080
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760,738,720.99135107,687,650,916,800,839,658,635,657,0.415379189077,0.00454915316688,0.0598314621391,0.999999917936,0.000276592251616,-0.000293493064827,3.85637072044e-05,1793254892257032448
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760,738,720.416867535,687,650,916,800,839,658,635,657,0.414617515009,0.00454694421387,0.0598358801549,0.999999926857,0.000259746098825,-0.000278263744597,3.72400330481e-05,1793254892273699072
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.157101048,760.157101048,738,720,687.314202096,650,916,800,839,657.842898952,635,657,0.413846664093,0.00454545868187,0.0598340765486,0.999999931012,0.000245248824473,-0.000276596892006,3.63888654421e-05,1793254892290365952
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.729707794,760.729707794,738,720,688.459415587,650,916,800,839,657.270292206,635,657,0.413051541799,0.00454588647561,0.0598158178052,0.999999922949,0.000236963932705,-0.000310800469017,3.67873974624e-05,1793254892307032576
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783.685926911,760.685926911,738,720,688.371853822,649.685926911,916,800,839,657.314073089,635,657,0.41227387202,0.00454597638935,0.0597799230752,0.999999904575,0.000227119216379,-0.000371408475,3.63644754909e-05,1793254892323699200
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783.091048614,760.091048614,738,720,687.182097227,649.091048614,916,800,839,657.908951386,635,657,0.411511806163,0.00454576421268,0.0597282604341,0.999999872282,0.000215879897789,-0.000455624043269,3.52071110304e-05,1793254892340366336
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760,738,720.488988973,687,649,916,799.511011027,839,657.511011027,634.511011027,657,0.410857417208,0.00454583529917,0.0597343716782,0.999999883148,0.000204705128193,-0.000436624375036,3.40409688983e-05,1793254892357032960
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760.066064088,738,720.933935912,687.066064088,649.066064088,916,799.066064088,839,657.066064088,634.066064088,657,0.410228004647,0.00454551233527,0.0597543432093,0.999999902445,0.000193269023355,-0.000395791451016,3.32587748184e-05,1793254892373699584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760.640978226,738,720.359021774,687.640978226,649.640978226,916,799.640978226,839,657.640978226,634.640978226,657,0.409641091965,0.00454175997011,0.0598006552304,0.999999928619,0.000179730170932,-0.000330457961002,3.54461085708e-05,1793254892390365696
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783.220855512,760.779144488,738,720.220855512,688,649.779144488,916,800,838.779144488,658,635,657,0.40905432119,0.00453873072557,0.0598336038353,0.999999944726,0.000170163770972,-0.000283198893259,3.72862081536e-05,1793254892407032064
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783.80898629,760.19101371,738,720.80898629,688,649.19101371,916,800,838.19101371,658,635,657,0.40846778646,0.00453690400662,0.059844329525,0.999999949901,0.000167203427828,-0.000265996988363,3.85488690165e-05,1793254892423698944
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.608545733,760,738,721.391454267,687.608545733,649.391454267,915.608545733,799.608545733,838.391454267,658,635,657,0.407896064688,0.00453717112887,0.0598384597978,0.999999949544,0.000160533865051,-0.000271519355633,3.76468246629e-05,1793254892440365568
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783.028801518,760,738,721.971198482,687.028801518,649.971198482,915.028801518,799.028801518,838.971198482,658,635,657,0.407331467914,0.00453844539094,0.0598246076571,0.999999946334,0.000152080163107,-0.000287972122143,3.57035547372e-05,1793254892457032192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.54894583,760,738,721.45105417,687.54894583,649.45105417,915.54894583,799.54894583,839,657.45105417,634.45105417,657,0.406827542507,0.00453434073259,0.0598187457399,0.999999946865,0.000138854699442,-0.00029286218749,3.4934536713e-05,1793254892473699328
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.875199709,760,738,721,688.124800291,649.124800291,916,800,838.875199709,657.124800291,634,657,0.406337403127,0.00453065234757,0.0598152052404,0.999999947915,0.000126704523283,-0.00029485432628,3.42949174075e-05,1793254892490366464
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783.305717765,760,738,721,688.694282235,649.694282235,916,800,838.305717765,657.694282235,634,657,0.405885083993,0.00452944913466,0.0598184479519,0.999999950646,0.000119274585162,-0.000288674513712,3.38976367232e-05,1793254892507033088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,760.275107615,738,721,688.724892385,650,916,800,838.275107615,658,634,657,0.405442125512,0.00452836520086,0.0598172889588,0.999999951518,0.000113387344535,-0.000288058055403,3.36098953116e-05,1793254892523699712
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,760.869080652,738,721,688.130919348,650,916,800,838.869080652,658,634,657,0.405010016592,0.00452741951842,0.0598110281389,0.999999950283,0.000109288178764,-0.000293889842442,3.34491161915e-05,1793254892540365824
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.451168181,761,738,721,688,649.548831819,916,800,839,658,634,657,0.404591118058,0.00452728642172,0.059789350137,0.999999938642,0.000109997741113,-0.000330875474841,3.37473137801e-05,1793254892557032192
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.970231486,760.970231486,738,721,688,649,916,799.970231486,839,657.970231486,634,657,0.40418020534,0.00452729926696,0.0597642496141,0.999999922994,0.000111748465858,-0.000374643724592,3.4137764708e-05,1793254892573698560
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.393958895,760.393958895,738,721,688,649,916,799.393958895,839,657.393958895,634,657,0.403847331346,0.00452577365962,0.0597563396653,0.999999920966,0.000107653656124,-0.000381226543389,3.38395300221e-05,1793254892590365184
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,760,738.181244549,721,688,649.181244549,916,799.181244549,839,657,634,657,0.403537216717,0.00452388129884,0.0597571885905,0.999999923965,0.000104397239332,-0.000374193086252,3.3928159768e-05,1793254892607032064
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,760,738.754137617,721,688,649.754137617,916,799.754137617,839,657,634,657,0.40327628249,0.00452119642648,0.059776964431,0.99999993706,0.000102952493219,-0.000337736429736,3.48527588413e-05,1793254892623699200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,760,738.661807384,721,688,649.661807384,915.661807384,800,838.661807384,657.338192616,634,657,0.403031319788,0.00452001279571,0.0597990822441,0.999999942478,0.000149418057461,-0.00030237243997,3.59102858606e-05,1793254892640366080
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,760,738.069360758,721,688,649.069360758,915.069360758,800,838.069360758,657.930639242,634,657,0.402798364489,0.00451995780166,0.05982296076,0.999999936557,0.000231902705528,-0.000267829914128,3.70677483221e-05,1793254892657032960
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,760.510800727,738,721,688,649,915,800,838,658,634.510800727,657,0.402576697353,0.00451860549425,0.0598297177196,0.999999939927,0.000226423516952,-0.000260076759519,3.51946725258e-05,1793254892673699328
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,649,915,800,838,657.910980092,635,657,0.402359765852,0.00451655735023,0.0598323609511,0.999999944583,0.000206558168058,-0.000259080236734,3.23146301122e-05,1793254892690365440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,649,915,800,838,657.334476379,635,657,0.402160570504,0.00451164073713,0.0598249093731,0.999999946917,0.000171785564159,-0.000275631301843,2.61208777873e-05,1793254892707032064
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,649.831804452,915.831804452,800,838.831804452,657.831804452,634.168195548,657,0.401821335942,0.00450917834113,0.0598206264627,0.999999946293,0.000153273592089,-0.000288687880537,2.40792420479e-05,1793254892740365312
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760.585189463,738,721,688,649.585189463,915.585189463,799.585189463,839,658,634,657,0.401686424141,0.00450946147048,0.0598222344413,0.999999946011,0.000155248519883,-0.000288529095139,2.50288774808e-05,1793254892757032192
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,760.003329623,738,721,688,649.003329623,915.003329623,799.003329623,839,658,634,657,0.401560621289,0.0045097479649,0.0598244785272,0.999999945975,0.000157547251312,-0.000287326693847,2.59207787921e-05,1793254892773699328
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.277846073,760,738,721,688,649,915,799.277846073,838.722153927,657.277846073,634.277846073,657,0.401290735043,0.00450892461712,0.0598274713057,0.999999947718,0.000154819594867,-0.000282575315845,2.73129510457e-05,1793254892823698944
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.791675822,760.791675822,739,721.791675822,688.791675822,649,915,799.208324178,838,657.208324178,634.791675822,657,0.401010586498,0.00450605179292,0.0598175816518,0.999999943101,0.000149068976179,-0.000301304696517,2.81258186504e-05,1793254892923699200
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,760,738.620794548,721,688,649,915,800,838.379205452,657.620794548,634,657,0.400984463107,0.00450605699399,0.0598217970102,0.999999945554,0.000147904877034,-0.000293655450204,2.7987274796e-05,1793254892957032448
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,760.535853334,738,721.535853334,688,649,915.535853334,800,839,657.535853334,634.535853334,657,0.400968719853,0.00450527811469,0.0598235799207,0.999999946921,0.000145184410827,-0.000290368312587,2.76897839266e-05,1793254892990365184
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.688441179,760.311558821,738,721.311558821,688.688441179,649,915.311558821,799.311558821,839,658,634.311558821,657,0.400963414568,0.00450567444724,0.05982536866,0.999999947675,0.000145074048666,-0.000287784919508,2.80020966964e-05,1793254893023698688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.73085347,760,738,721,688.73085347,649,915,799.26914653,839,658,634.26914653,657,0.400963327545,0.00450555359652,0.0598270018223,0.999999948432,0.000144872659665,-0.000285235008495,2.80708606358e-05,1793254893040365568
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,783.438739806,760.438739806,738,721,688.438739806,649,915,800,839,658,635,657,0.400963006127,0.00450429652218,0.0598286266687,0.999999949973,0.000141160399499,-0.000281724046794,2.75660516407e-05,1793254893073699328
+398,6.633333333,POSE2_TO_POSE3_RETREAT,784,761,738.019853752,721,688.980146248,649.019853752,915,800,839,658,635,657,0.400960697015,0.00450558672289,0.0598277758535,0.999999949787,0.000141027540277,-0.000282477970795,2.72669627965e-05,1793254893090366208
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.825238642,761,739,721,688,649.825238642,915,800,839,658,635,657,0.400962237573,0.0045044147044,0.059830180646,0.999999950529,0.000140555544098,-0.000280040599171,2.76176249327e-05,1793254893123699200
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.237644085,761,739,721,688,649.237644085,915,800,839,658,635,657,0.400961876021,0.00450452417426,0.0598300804395,0.999999950592,0.000140098106551,-0.000280085319672,2.71991148517e-05,1793254893140365312
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783,760.655176386,738.655176386,721,688,649,915,800,839,658,635,657,0.400961078316,0.00450483285949,0.0598300875087,0.999999950471,0.00014060481879,-0.000280272236457,2.71330036637e-05,1793254893157031936
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783,760.076190254,738.076190254,721,688,649,915,800,839,658,635,657,0.400959984429,0.00450527682772,0.0598301674266,0.999999950223,0.000141766265037,-0.000280555715768,2.73061992244e-05,1793254893173698560
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649,915,799.499975609,839,657.499975609,635,657,0.400958121631,0.00450448851844,0.0598287811355,0.999999949945,0.000140192375347,-0.000282351788641,2.70966523433e-05,1793254893190365952
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783,760.075708128,738,721.075708128,688.075708128,649,915,799.075708128,839,657.075708128,634.924291872,657,0.400956707783,0.00450360539455,0.0598276152009,0.999999949796,0.000138342239605,-0.000283807462048,2.68946275839e-05,1793254893207033344
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783,760.650660063,738,721.650660063,688.650660063,649,915,799.650660063,839,657.650660063,634.349339937,657,0.400959022792,0.00450332839689,0.0598293674906,0.999999950569,0.000137403757178,-0.000281506958614,2.71246649159e-05,1793254893223700224
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,760.768774709,738,722,688.768774709,649,915,800,839,658,634,657,0.400960020601,0.00450367432323,0.0598301491751,0.999999950786,0.000137631519122,-0.000280614331915,2.7220355369e-05,1793254893240366592
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783,760.179517708,738,722,688.179517708,649,915,800,839,658,634,657,0.400958978843,0.00450498479171,0.0598294279645,0.999999950145,0.000139665106162,-0.000281901676236,2.71080217153e-05,1793254893257032448
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783,760,738,721.596547102,688.403452898,649,915,800,838.596547102,658,634.403452898,657,0.400958154854,0.00450442398669,0.0598289595919,0.999999950029,0.000139177231475,-0.000282553790523,2.71243245373e-05,1793254893273699072
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783,760,738,721.01633077,688.98366923,649,915,800,838.01633077,658,634.98366923,657,0.400957426276,0.00450304332695,0.0598286019946,0.999999950141,0.000137584637284,-0.000282927593577,2.71969864241e-05,1793254893290365696
+411,6.850000000,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.441060481,649,915,800,838,658,635,657,0.400956832122,0.00450264024572,0.0598287699679,0.999999950254,0.000137424091301,-0.000282610434207,2.71721052152e-05,1793254893307032320
+412,6.866666667,POSE2_TO_POSE3_RETREAT,783,760.134584763,738,721,688,649,915,800,838.134584763,657.865415237,634.865415237,657,0.400956499737,0.00450227008782,0.0598290395308,0.999999950394,0.00013701301833,-0.000282309762562,2.7205265466e-05,1793254893323698944
+413,6.883333333,POSE2_TO_POSE3_RETREAT,783,760.711934778,738,721,688,649,915,800,838.711934778,657.288065222,634.288065222,657,0.400957015724,0.00450191510128,0.0598295932343,0.999999950626,0.000135641303327,-0.000282129166892,2.74386678177e-05,1793254893340365824
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa1c51b1d1943aa42b2f29a8484c2257e2295b42
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.575686033352,0.0101817356911,1.05002054118,0.546257181943,0.018855976319,1.04969224541
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+392,6.533333333,pose2_to_pose3_retreat,0.575675036673,0.0101817565931,1.05002076873,0.546246184447,0.0188559941908,1.04969246604
+393,6.550000000,pose2_to_pose3_retreat,0.575672286896,0.0101817714726,1.05002064294,0.546243434666,0.0188560092094,1.04969234433
+394,6.566666667,pose2_to_pose3_retreat,0.575671109604,0.0101817840529,1.05002052514,0.546242257284,0.0188560215923,1.04969222948
+395,6.583333333,pose2_to_pose3_retreat,0.575670395715,0.0101817916814,1.05002045372,0.546241543339,0.018856029101,1.04969215984
+396,6.600000000,pose2_to_pose3_retreat,0.57566991107,0.0101817953172,1.05002042056,0.546241058641,0.0188560325967,1.0496921278
+397,6.616666667,pose2_to_pose3_retreat,0.575669701566,0.010181793277,1.05002044211,0.546240849075,0.0188560303581,1.04969214962
+398,6.633333333,pose2_to_pose3_retreat,0.575669571045,0.010181792006,1.05002045554,0.546240718516,0.0188560289634,1.04969216321
+399,6.650000000,pose2_to_pose3_retreat,0.575669252052,0.0101817888997,1.05002048837,0.546240399429,0.0188560255549,1.04969219643
+400,6.666666667,pose2_to_pose3_retreat,0.575669021203,0.0101817866517,1.05002051212,0.546240168512,0.0188560230882,1.04969222047
+401,6.683333333,pose2_to_pose3_retreat,0.575668935873,0.0101817858207,1.0500205209,0.546240083157,0.0188560221765,1.04969222935
+402,6.700000000,pose2_to_pose3_retreat,0.575668511565,0.0101817816888,1.05002056456,0.546239658725,0.0188560176427,1.04969227354
+403,6.716666667,pose2_to_pose3_retreat,0.575667849391,0.0101817752405,1.05002063269,0.546238996357,0.0188560105672,1.0496923425
+404,6.733333333,pose2_to_pose3_retreat,0.575667585658,0.0101817706503,1.0500205644,0.546238733202,0.0188560078826,1.04969227271
+405,6.750000000,pose2_to_pose3_retreat,0.575667488595,0.0101817689372,1.05002053814,0.54623863636,0.0188560068961,1.04969224589
+406,6.766666667,pose2_to_pose3_retreat,0.575667396317,0.0101817673085,1.05002051318,0.546238544291,0.0188560059583,1.04969222039
+407,6.783333333,pose2_to_pose3_retreat,0.575667393268,0.0101817672547,1.05002051236,0.546238541249,0.0188560059273,1.04969221955
+408,6.800000000,pose2_to_pose3_retreat,0.575667327335,0.0101817660911,1.05002049452,0.546238475466,0.0188560052572,1.04969220133
+409,6.816666667,pose2_to_pose3_retreat,0.575667126306,0.010181762543,1.05002044015,0.546238274894,0.0188560032142,1.04969214577
+410,6.833333333,pose2_to_pose3_retreat,0.575666922957,0.010181826859,1.05002054109,0.546238071664,0.0188560679779,1.04969224796
+411,6.850000000,pose2_to_pose3_retreat,0.575666845987,0.0101818882418,1.05002062093,0.546237994268,0.018856127991,1.04969232976
+412,6.866666667,pose2_to_pose3_retreat,0.575666775057,0.0101819357825,1.05002040873,0.546237921266,0.0188561685956,1.04969212003
+413,6.883333333,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717184,1.0496921039
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75fa42d9f828b1b3cc57e998cbdf6080c87783fc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae04c71abab8e67bfc40de4d335ab12d7c18777dc48729cd8753af22db3409b
+size 26344501
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44fd43957c12ed20d5d5bf43f59526dbde33d919
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,760,738,721,688,649,915,800,838,658,635,657,0.400959729001,0.00450251038948,0.0598318391658,0.999999951798,0.000136403618885,-0.000277594362316,2.72069916164e-05,1793254893491955968
+1,0.016666667,BASELINE,783,760,738.577889373,721,688,649,915,800,838,657.422110627,634.422110627,657,0.400960084334,0.00450320710031,0.0598320012276,0.999999951894,0.000136501438621,-0.000277228155836,2.68992965671e-05,1793254893508622592
+2,0.033333333,BASELINE,783,760,738.84475375,721.15524625,688,649,915,800,838.15524625,657,634,657,0.400960175154,0.0045035485908,0.0598320748128,0.999999951943,0.000136450258143,-0.000277097902751,2.6699996274e-05,1793254893525289216
+3,0.050000000,BASELINE,783,760,738.268839639,721.731160361,688,649,915,800,838.731160361,657,634,657,0.400959549228,0.0045029275475,0.0598319086544,0.999999951861,0.000135995334589,-0.000277607008087,2.67944111578e-05,1793254893541955328
+4,0.066666667,BASELINE,783,760,738,721.686854722,688.313145278,649,915,799.686854722,839,657.313145278,634,657,0.400959476837,0.00450281141639,0.0598318679015,0.999999951894,0.000135633629658,-0.00027766175768,2.68091812607e-05,1793254893558621696
+5,0.083333333,BASELINE,783,760,738,721.09955493,688.90044507,649,915,799.09955493,839,657.90044507,634,657,0.400959889058,0.00450313732922,0.0598319369394,0.999999952029,0.000135353536417,-0.000277318724851,2.67542234146e-05,1793254893575288320
+6,0.100000000,BASELINE,783,760.48360273,738,721,688.51639727,649,915,799.48360273,839,657.51639727,634,657,0.400960514931,0.00450302952576,0.0598322016169,0.999999952066,0.000135539576278,-0.000277066625154,2.70384656062e-05,1793254893591954688
+7,0.116666667,BASELINE,783,760.935022678,738,721.064977322,688.064977322,649,915,800,838.935022678,657,634.064977322,657,0.400961055347,0.00450280416781,0.0598324778811,0.999999952108,0.000135765521337,-0.000276775222915,2.73258342281e-05,1793254893608621312
+8,0.133333333,BASELINE,783,760.360993548,738,721.639006452,688.639006452,649,915,800,838.360993548,657,634.639006452,657,0.400960584632,0.00450235139983,0.0598325320749,0.999999952348,0.000135558711473,-0.000276030503416,2.70952881898e-05,1793254893625288192
+9,0.150000000,BASELINE,783,760,738,721.787607416,688.787607416,649,915,799.787607416,838.212392584,657,634.787607416,657,0.400960280644,0.00450221050755,0.0598326268381,0.999999952449,0.000135675138176,-0.0002756194617,2.69673618229e-05,1793254893641954816
+10,0.166666667,BASELINE,783,760,738,721.215310918,688.215310918,649,915,799.215310918,838.784689082,657,634.215310918,657,0.400960259178,0.00450259809558,0.059832790347,0.999999952315,0.000136339296388,-0.000275773844416,2.70133267741e-05,1793254893658621696
+11,0.183333333,BASELINE,783,760,738,721,688.371581693,649,915,799.371581693,838.628418307,657.371581693,634,657,0.400960683494,0.00450373354813,0.0598327690922,0.999999952227,0.000137086157,-0.000275751528016,2.67114264468e-05,1793254893675288576
+12,0.200000000,BASELINE,783,760,738,721,688.967277806,649,915,799.967277806,838.032722194,657.967277806,634,657,0.400961376676,0.004505320065,0.0598326363998,0.999999952167,0.000137882898496,-0.000275622637974,2.61997159361e-05,1793254893691955200
+13,0.216666667,BASELINE,783,760,738,721,688.455156119,649,915.544843881,800,838.544843881,658,634,657,0.40096085898,0.00450489470994,0.0598325227588,0.999999952127,0.000138042925441,-0.000275679548821,2.62857341279e-05,1793254893708621568
+14,0.233333333,BASELINE,783,760,738,721,688.120023299,649,915.879976701,800,838.879976701,658,634.120023299,657,0.400960177213,0.0045045012935,0.0598323151635,0.999999952024,0.000138031045574,-0.000276049064821,2.63696429377e-05,1793254893725288192
+15,0.250000000,BASELINE,783,760,738,721,688.690203845,649,915.309796155,800,838.309796155,658,634.690203845,657,0.400959144056,0.00450466624974,0.0598317510319,0.999999951682,0.000137513217721,-0.000277550527918,2.63153366132e-05,1793254893741955072
+16,0.266666667,BASELINE,783,760.271602232,738.271602232,721.271602232,688.728397768,649.271602232,915,799.728397768,838.271602232,657.728397768,634.728397768,657,0.400959644554,0.00450487256602,0.0598323828222,0.99999995194,0.000137410897027,-0.000276677315596,2.62338275694e-05,1793254893758621440
+17,0.283333333,BASELINE,783,760.866347174,738.866347174,721.866347174,688.133652826,649.866347174,915,799.133652826,838.866347174,657.133652826,634.133652826,657,0.400961969737,0.00450512809101,0.0598344374782,0.999999952905,0.000137802932058,-0.000272978798513,2.61199536968e-05,1793254893775288064
+18,0.300000000,BASELINE,783,760.551214653,738.551214653,721.551214653,688.448785347,649.551214653,915,799.448785347,839,657.448785347,634.448785347,657,0.40096101443,0.00450481192056,0.0598333301412,0.999999952691,0.000136889674565,-0.000274212146425,2.62161755868e-05,1793254893791955200
+19,0.316666667,BASELINE,783,760.027574757,738,721.027574757,688.972425243,649,915,800,839,658,635,657,0.400959200514,0.00450435127842,0.0598314130995,0.999999952153,0.000135676719366,-0.000276750469695,2.63636486403e-05,1793254893808622080
+20,0.333333333,BASELINE,783,760.604739872,738,721.604739872,688.395260128,649,915,800,839,658,635,657,0.400959225825,0.00450431398405,0.0598316253804,0.999999952091,0.000136031455763,-0.000276805756818,2.63188382263e-05,1793254893825288704
+21,0.350000000,BASELINE,783,761,738,722,688.179401641,649,915.179401641,800,839,658,634.820598359,657.179401641,0.400959309814,0.00450403644406,0.0598317544231,0.999999952074,0.00013612550517,-0.000276824884703,2.62770451098e-05,1793254893841955072
+22,0.366666667,BASELINE,783,761,738,722,688.748623834,649,915.748623834,800,839,658,634.251376166,657.748623834,0.400959521308,0.00450323687607,0.0598317025978,0.999999952155,0.000135653109623,-0.00027676544243,2.62418082636e-05,1793254893858621440
+23,0.383333333,BASELINE,783,761,738,721.667778303,689,649,916,800,839,657.667778303,634.332221697,657.667778303,0.400959410843,0.00450294493476,0.0598321128981,0.999999952198,0.000135589588083,-0.000276617473427,2.65029537466e-05,1793254893875288064
+24,0.400000000,BASELINE,783,761,738,721.072811034,689,649,916,800,839,657.072811034,634.927188966,657.072811034,0.40095904575,0.00450305446221,0.0598328886814,0.99999995221,0.0001358494344,-0.000276399490909,2.69985003672e-05,1793254893891954944
+25,0.416666667,BASELINE,783,761,738.507336437,721.507336437,689,649.507336437,915.492663563,800,839,657.507336437,635,657,0.400959754116,0.00450305986026,0.0598327756316,0.999999952392,0.000135414032518,-0.000275956122845,2.69615629909e-05,1793254893908621568
+26,0.433333333,BASELINE,783,761,738.915128268,722,689,650,915,800,838.915128268,657.915128268,634.915128268,657,0.400960340298,0.00450308606248,0.0598325912629,0.999999952546,0.000134895183097,-0.000275666598239,2.68057962818e-05,1793254893925288192
+27,0.450000000,BASELINE,783,761,738.340739944,722,689,650,915,800,838.340739944,657.340739944,634.340739944,657,0.400959358409,0.00450331600542,0.0598327104073,0.999999952402,0.000134454197468,-0.000276445670317,2.63929150471e-05,1793254893941955840
+28,0.466666667,BASELINE,783,761,738,721.760545705,689,649.760545705,915,800,838.239454295,657.239454295,634.239454295,657,0.400959128224,0.00450409449571,0.059833069096,0.999999952337,0.000135654905671,-0.000276121158324,2.61093579158e-05,1793254893958622720
+29,0.483333333,BASELINE,783,761,738,721.171884472,689,649.171884472,915,800,838.828115528,657.828115528,634.828115528,657,0.400959994281,0.00450567295719,0.0598337771231,0.999999952377,0.000139249769632,-0.000274187240142,2.60143999483e-05,1793254893975289088
+30,0.500000000,BASELINE,783,760.589422221,738,721,688.589422221,649,915,800,838.589422221,658,634.589422221,657,0.400959915388,0.00450540036325,0.0598334882826,0.999999952362,0.000139230602616,-0.000274230428721,2.62243038241e-05,1793254893991955456
+31,0.516666667,BASELINE,783,760.009516531,738,721,688.009516531,649,915,800,838.009516531,658,634.009516531,657,0.400959446783,0.00450436436861,0.0598327883202,0.999999952327,0.000137720959528,-0.000275089003315,2.65599369113e-05,1793254894008621568
+32,0.533333333,BASELINE,783.567030776,760,738,721.567030776,688.567030776,649,915,800,838.567030776,657.432969224,634,657,0.400958989647,0.00450348129345,0.0598327740542,0.999999952474,0.000135910998837,-0.000275469202553,2.6414901252e-05,1793254894025288192
+33,0.550000000,BASELINE,783.857219573,760,738,722,689,649,915,800,839,657.142780427,634.142780427,657,0.400958615479,0.00450281957559,0.0598326805404,0.999999952499,0.000134672001046,-0.000275992941819,2.63283318471e-05,1793254894041954816
+34,0.566666667,BASELINE,783.283707319,760,738,722,689,649,915,800,839,657.716292681,634.716292681,657,0.400958491028,0.0045028179392,0.0598323134434,0.999999952158,0.000135170567461,-0.000276973782035,2.64423332261e-05,1793254894058621696
+35,0.583333333,BASELINE,783,760.297983163,738.297983163,722,689,649.297983163,915.297983163,800,839,657.702016837,635,657,0.40095907317,0.00450333148516,0.0598325688745,0.9999999521,0.00013665972542,-0.000276446377803,2.64704649725e-05,1793254894075288576
+36,0.600000000,BASELINE,783,760.887679869,738.887679869,722,689,649.887679869,915.887679869,800,839,657.112320131,635,657,0.400960347036,0.00450434937394,0.0598334337354,0.999999952315,0.000139118632752,-0.000274442462973,2.64145338124e-05,1793254894091955200
+37,0.616666667,BASELINE,783,760.528276621,738.528276621,722,688.528276621,650,915.528276621,800,839,657,635,657,0.400960656458,0.00450392373025,0.0598336103955,0.999999952547,0.000138243675805,-0.000274016713454,2.66206446543e-05,1793254894108621824
+38,0.633333333,BASELINE,783,760,738,721.946378499,688.053621501,649.946378499,915,800,839,657.053621501,635,657,0.400960722545,0.00450322572056,0.0598336748633,0.999999952796,0.000136604744464,-0.000273911963738,2.68346685419e-05,1793254894125288448
+39,0.650000000,BASELINE,783,760,738,721.372391699,688.627608301,649.372391699,915,800,839,657.627608301,635,657,0.400960629336,0.00450318059721,0.0598342219496,0.999999953162,0.000135164150308,-0.00027331888054,2.65271596133e-05,1793254894141955072
+40,0.666666667,BASELINE,783,760.201263843,738,721.201263843,689,649.201263843,915.201263843,800,838.798736157,658,634.798736157,657,0.40096062679,0.00450350825044,0.0598344008047,0.999999953283,0.000134813616333,-0.00027307855863,2.62212266059e-05,1793254894158621696
+41,0.683333333,BASELINE,783,760.774307445,738,721.774307445,689,649.774307445,915.774307445,800,838.225692555,658,634.225692555,657,0.400960791717,0.00450452450618,0.0598338994533,0.999999952953,0.000136476669704,-0.000273489866502,2.5918204699e-05,1793254894175288320
+42,0.700000000,BASELINE,783,761,738,721.641220499,689,649.641220499,916,800,838.358779501,658,634.358779501,657,0.40095968993,0.00450543987555,0.0598330134275,0.999999952383,0.000137757717523,-0.000274939477319,2.57949521631e-05,1793254894191954944
+43,0.716666667,BASELINE,783,761,738,721.049322788,689,649.049322788,916,800,838.950677212,658,634.950677212,657,0.400957765093,0.00450628969362,0.0598318774581,0.999999951654,0.00013879055586,-0.000277063729017,2.57885054039e-05,1793254894208621568
+44,0.733333333,BASELINE,783.531377471,761,738,721.531377471,689,649,916,800,839,658,635,657,0.400959460729,0.00450429467755,0.059833230602,0.999999952845,0.000135500624814,-0.000274337865397,2.62307913517e-05,1793254894225288448
+45,0.750000000,BASELINE,783.890055812,761,738,721.890055812,689,649,915.890055812,800,839,658,635,657,0.400960859246,0.00450254647408,0.059834269683,0.999999953776,0.000132764013538,-0.000272245240222,2.65468046711e-05,1793254894241955072
+46,0.766666667,BASELINE,783.316196743,761,738,721.316196743,689,649,915.316196743,800,839,658,635,657,0.400959615321,0.00450293092545,0.0598330287907,0.999999952951,0.000134020283291,-0.000274684995097,2.61578802359e-05,1793254894258621696
+47,0.783333333,BASELINE,783,761,738,721.258749028,689,649,915.258749028,800,839,658,635,657,0.400959729112,0.00450390473932,0.0598331328208,0.999999952734,0.000135340124889,-0.000274856660983,2.58438423366e-05,1793254894275288320
+48,0.800000000,BASELINE,783,761,738,721.835028448,689,649,915.835028448,800,839,658,635,657,0.400961509059,0.00450560180432,0.0598348873062,0.999999953264,0.00013673798045,-0.000272244984619,2.56217032858e-05,1793254894291954688
+49,0.816666667,BASELINE,783,761,738,721.577023117,689,649,915.577023117,800,839,658,634.577023117,657,0.400961182001,0.00450446105416,0.0598346383291,0.999999953352,0.000135358007916,-0.000272593040997,2.58260848648e-05,1793254894308621056
+50,0.833333333,BASELINE,783.015167261,760.984832739,738,721,689,649,915,800,839,658,634,657,0.400960033647,0.00450228419578,0.0598336027666,0.999999953248,0.00013299650656,-0.000274099297383,2.61896082268e-05,1793254894325287680
+51,0.850000000,BASELINE,783.59114958,760.40885042,738,721,689,649,915,800,839,658,634,657,0.400959765406,0.00450388294611,0.0598331951844,0.999999952789,0.000135539071529,-0.000274536238136,2.61119623703e-05,1793254894341954304
+52,0.866666667,BASELINE,783.833333684,760.166666316,738,721.166666316,689,649,915,800,839,658,634.166666316,657,0.400959864325,0.00450486058213,0.0598331694127,0.999999952534,0.000137425937038,-0.000274521506193,2.61494242868e-05,1793254894358620928
+53,0.883333333,BASELINE,783.258955925,760.741044075,738,721.741044075,689,649,915,800,839,658,634.741044075,657,0.400960861419,0.00450431880234,0.0598340776539,0.999999952794,0.000137708781988,-0.000273401859147,2.6468471337e-05,1793254894375288064
+54,0.900000000,BASELINE,783,761,738,721.674045419,689,649.325954581,915,800,838.674045419,658,634.674045419,657,0.400961753652,0.00450324037871,0.0598347618606,0.999999953174,0.000136874422743,-0.000272407347008,2.66624741332e-05,1793254894391954688
+55,0.916666667,BASELINE,783,761,738,721.080487738,689,649.919512262,915,800,838.080487738,658,634.080487738,657,0.400962559794,0.00450172137973,0.059835262139,0.999999953653,0.000135122858064,-0.000271515568528,2.67538177329e-05,1793254894408621056
+56,0.933333333,BASELINE,783,760.501096995,738,721,689,650,915,800,838.498903005,658,634,657,0.400961428578,0.00450276273941,0.0598342524036,0.999999953601,0.000133590564777,-0.000272529086341,2.60770630907e-05,1793254894425288704
+57,0.950000000,BASELINE,783,760,738,721,689,649.924284129,915,800,838.924284129,658,634.075715871,657,0.400960098495,0.00450396879271,0.0598331147303,0.999999953414,0.000132433506322,-0.000273834642309,2.54379673027e-05,1793254894441955840
+58,0.966666667,BASELINE,783,760,738,721,689,649.349812891,915,800,838.349812891,658,634.650187109,657,0.400959460443,0.00450361392933,0.0598326947004,0.999999952913,0.000133521606963,-0.000275095043811,2.58406641276e-05,1793254894458621696
+59,0.983333333,BASELINE,783,760,738,721.225376995,688.774623005,649,915,800,838,658,634.774623005,657,0.400959414367,0.00450332060667,0.0598328902258,0.999999952748,0.000134416510508,-0.000275226628183,2.61875951241e-05,1793254894475287808
+60,1.000000000,BASELINE,783,760,738,721.801685967,688.198314033,649,915,800,838,658,634.198314033,657,0.400960290051,0.00450312310828,0.0598340442253,0.999999953108,0.0001350105892,-0.000273600544329,2.64476938402e-05,1793254894491954432
+61,1.016666667,BASELINE,783,760,738.38806076,721.61193924,688.38806076,649,915,800,838.38806076,658,634.38806076,657,0.400959747741,0.00450423517506,0.0598338236039,0.999999952796,0.000135905125759,-0.000274299407502,2.64106409599e-05,1793254894508621056
+62,1.033333333,BASELINE,783,760,738.979716525,721.020283475,688.979716525,649,915,800,838.979716525,658,634.979716525,657,0.400958461485,0.00450603430158,0.0598328817913,0.999999952129,0.000136957296671,-0.000276218047802,2.62176883007e-05,1793254894525288192
+63,1.050000000,BASELINE,783,760.558535937,738.441464063,721,689,649,915.558535937,800,839,658,635,657,0.400960241245,0.00450523621181,0.059833977051,0.9999999528,0.000136606402908,-0.000273972027069,2.60400999868e-05,1793254894541954816
+64,1.066666667,BASELINE,783,761,738,721,689,649,915.865226243,800,839,658,635,657,0.400961885487,0.0045042276362,0.0598350424836,0.99999995349,0.000135688818299,-0.000271906665836,2.59843898288e-05,1793254894558621440
+65,1.083333333,BASELINE,783,761,738,721,689,649,915.295843925,800,839,658,635,657,0.400962741736,0.00450283762138,0.059835778535,0.999999954102,0.00013310442834,-0.000270900637873,2.63199445959e-05,1793254894575288064
+66,1.100000000,BASELINE,783,760.714639736,738,721.285360264,689,649,915.285360264,800,839,658,635,657,0.400963036329,0.00450169789702,0.0598362241464,0.999999954379,0.000131962715094,-0.000270413836035,2.6547125024e-05,1793254894591954688
+67,1.116666667,BASELINE,783,760.120649708,738,721.879350292,689,649,915.879350292,800,839,658,635,657,0.400962723465,0.00450082887294,0.0598363556342,0.9999999543,0.000132381320772,-0.000270488600312,2.66570937831e-05,1793254894608621312
+68,1.133333333,BASELINE,783,760,738,721.537887957,689,649.462112043,915.537887957,800,839,658,635,657,0.400961710262,0.00450138481742,0.0598354823959,0.999999953986,0.000132352896601,-0.000271695294304,2.63194223445e-05,1793254894625287936
+69,1.150000000,BASELINE,783,760.041736246,738.041736246,721,689,650,915.041736246,800,839,658,634.958263754,657,0.400960601703,0.00450220313882,0.0598343938709,0.999999953621,0.00013221147321,-0.000273141233981,2.59246803625e-05,1793254894641954560
+70,1.166666667,BASELINE,783,760.617831669,738.617831669,721,689,650,915.617831669,800,839,658,634.382168331,657,0.400960557788,0.00450173046642,0.0598338278202,0.999999953406,0.000132082138938,-0.000273956332727,2.62600878856e-05,1793254894658621696
+71,1.183333333,BASELINE,783,760.803058664,738.803058664,721.196941336,689,649.803058664,916,800,839,657.803058664,634,657,0.400960302289,0.00450209090608,0.0598333351926,0.999999953172,0.000132379270944,-0.000274664308445,2.62914458321e-05,1793254894675288576
+72,1.200000000,BASELINE,783,760.218008783,738.218008783,721.781991217,689,649.218008783,916,800,839,657.218008783,634,657,0.400959629827,0.00450409314372,0.0598329872582,0.999999952899,0.000133516831909,-0.000275161178993,2.57236191202e-05,1793254894691955456
+73,1.216666667,BASELINE,783,760.365405039,738,722,689,649,915.634594961,800,839,657.365405039,634.365405039,657,0.400959963828,0.00450429113438,0.0598333340534,0.999999953032,0.000133433486683,-0.000274727371491,2.56366115245e-05,1793254894708621824
+74,1.233333333,BASELINE,783,760.947847067,738,722,689,649,915.052152933,800,839,657.947847067,634.947847067,657,0.400960895631,0.0045034174694,0.0598340934921,0.999999953405,0.000132624968566,-0.000273740775846,2.58351926171e-05,1793254894725287936
+75,1.250000000,BASELINE,783,760.47211913,738,721.47211913,689,649,915,800,838.47211913,658,635,657,0.400961028999,0.00450364480824,0.059834149833,0.999999953421,0.000133204106058,-0.000273405943961,2.57661208359e-05,1793254894741954560
+76,1.266666667,BASELINE,782.894187132,760,738,721.105812868,689,649,915,800,838.105812868,658,635,657,0.400961154713,0.00450392764985,0.059834200366,0.999999953424,0.000134092389303,-0.000272965313366,2.57135637422e-05,1793254894758620928
+77,1.283333333,BASELINE,782.324432165,760,738,721.675567835,689,649,915,800,838.675567835,658,635,657,0.400961591168,0.00450397907971,0.0598345286186,0.999999953521,0.000135737763941,-0.000271779754084,2.58488314335e-05,1793254894775287552
+78,1.300000000,BASELINE,782.254970079,760.254970079,738.254970079,721.745029921,689,649,915,800,839,658,635,657,0.400961573451,0.00450350570131,0.0598348110971,0.999999953551,0.000135935098794,-0.0002715594497,2.59914899005e-05,1793254894791954432
+79,1.316666667,BASELINE,782.847130517,760.847130517,738.847130517,721.152869483,689,649,915,800,839,658,635,657,0.400960955104,0.00450233827957,0.0598350330409,0.999999953491,0.0001342174439,-0.000272615666351,2.6143922438e-05,1793254894808621312
+80,1.333333333,BASELINE,783,761,738.572134895,721,689,649,915,799.572134895,838.572134895,657.572134895,635,657,0.400960846529,0.00450301708709,0.0598346745855,0.999999953514,0.000133491190726,-0.000272899791508,2.60431242852e-05,1793254894825288192
+81,1.350000000,BASELINE,783,761,738,721.004614603,689,649,915,799.004614603,838.004614603,657.004614603,635,657,0.400960910366,0.00450431795926,0.0598341188363,0.999999953563,0.000133114369072,-0.000272921872071,2.58583714284e-05,1793254894841955072
+82,1.366666667,BASELINE,783,761,738,721.580245548,689,649,915,799.580245548,838.580245548,657.580245548,635,657,0.400960357393,0.00450309359642,0.0598341422221,0.999999953301,0.000133286000397,-0.000273765175467,2.61892997802e-05,1793254894858621440
+83,1.383333333,BASELINE,783,760.844965529,738,722,689,649,915,800,839,657.844965529,634.844965529,657,0.400960204889,0.00450239735793,0.0598341976012,0.999999953182,0.000133354070266,-0.000274144346328,2.64250854324e-05,1793254894875288064
+84,1.400000000,BASELINE,783,760.272443934,738,722,689,649,915,800,839,657.272443934,634.272443934,657,0.400961130795,0.00450312328751,0.0598343391337,0.999999953449,0.000133143262998,-0.000273273670441,2.64046645751e-05,1793254894891954688
+85,1.416666667,BASELINE,783,760,738,722,689,649,915.312150207,799.687849793,839,657.312150207,634,657,0.400961356427,0.00450339442529,0.0598344654621,0.999999953496,0.00013355896979,-0.000272909403391,2.62948553074e-05,1793254894908621312
+86,1.433333333,BASELINE,783,760,738,722,689,649,915.907705113,799.092294887,839,657.907705113,634,657,0.400960946272,0.00450325265243,0.0598345779865,0.999999953342,0.00013454349579,-0.000273004910697,2.61038892932e-05,1793254894925287936
+87,1.450000000,BASELINE,783,760.488884121,738,722,689,649.488884121,915.511115879,799.488884121,839,658,634.488884121,657,0.400959474511,0.0045043940105,0.0598339664568,0.999999952797,0.000135818526847,-0.000274395742501,2.58083781357e-05,1793254894941954816
+88,1.466666667,BASELINE,783,760.933559548,738,721.933559548,689,649.933559548,915,800,839,658,635,657,0.400958414869,0.00450546449972,0.0598335303537,0.999999952396,0.000136761008877,-0.000275410853909,2.55628701049e-05,1793254894958621696
+89,1.483333333,BASELINE,783,760.363479087,738,721.363479087,689,649.363479087,915,800,839,658,635,657,0.400961955037,0.00450421398986,0.0598354306103,0.999999953652,0.000134778806273,-0.000271777142056,2.58417390389e-05,1793254894975288320
+90,1.500000000,BASELINE,783,760.214974404,738,721.214974404,689,649,915,800,839,658,635,657,0.400963679729,0.00450332827663,0.059836292714,0.999999954334,0.000133249594252,-0.000269996701372,2.60263067976e-05,1793254894991954688
+91,1.516666667,BASELINE,783,760.808158716,738,721.808158716,689,649,915,800,839,658,635,657,0.400962210406,0.00450308435948,0.0598353283685,0.999999954031,0.000132517340245,-0.000271476767948,2.60449680837e-05,1793254895008621056
+92,1.533333333,BASELINE,783,761,738,721.608357146,689,649.391642854,915,800,839,658,635,657,0.400961234249,0.00450247465804,0.059834995777,0.999999953837,0.000132217570089,-0.00027231524555,2.6262175844e-05,1793254895025287680
+93,1.550000000,BASELINE,783,761,738,721.029509623,689,649.970490377,915,800,839,658,635,657,0.400960493826,0.00450169011227,0.0598349651627,0.999999953696,0.000132124526468,-0.000272847044764,2.65742885084e-05,1793254895041954304
+94,1.566666667,BASELINE,783,761,738,721.544763493,689,649.455236507,915,800,839,658,634.455236507,657,0.400960833459,0.00450307361418,0.0598348891689,0.99999995367,0.000132850983717,-0.000272649020012,2.5946175031e-05,1793254895058621184
+95,1.583333333,BASELINE,783,760.881313137,738.118686863,721.881313137,689,649,915,800,839,657.881313137,634.118686863,657,0.400960932295,0.0045040260907,0.0598348074933,0.999999953618,0.000133348880371,-0.000272633982066,2.55472221146e-05,1793254895075287552
+96,1.600000000,BASELINE,783,760.307788213,738.692211787,721.307788213,689,649,915,800,839,657.307788213,634.692211787,657,0.400959885993,0.00450288044867,0.0598347133854,0.999999953445,0.000132802170379,-0.000273470439483,2.62200279536e-05,1793254895091954176
+97,1.616666667,BASELINE,783,760,738.725558095,721,689,649,915,800,838.725558095,657.274441905,635,657,0.400959441446,0.00450271239651,0.0598348442744,0.999999953271,0.000133604048998,-0.000273689269987,2.6510529267e-05,1793254895108621312
+98,1.633333333,BASELINE,783,760,738.133245266,721,689,649,915,800,838.133245266,657.866754734,635,657,0.400959693877,0.00450367663286,0.0598352357651,0.999999953092,0.00013596792346,-0.000273192737244,2.63582282922e-05,1793254895125288448
+99,1.650000000,BASELINE,783,760,738,721.447416118,689,649,915,800,838,658,634.552583882,657,0.400960696215,0.00450323083211,0.0598354520626,0.999999953434,0.00013499054211,-0.000272427518142,2.63274222155e-05,1793254895141955328
+100,1.666666667,BASELINE,783,760,738,722,689,649.024721502,915,800,838.024721502,657.975278498,634,657,0.400961741972,0.00450243410371,0.0598355238951,0.999999953865,0.000133145731074,-0.000271751805811,2.63146747387e-05,1793254895158621696
+101,1.683333333,BASELINE,783,760,738,722,689,649.60260561,915,800,838.60260561,657.39739439,634,657,0.40095888892,0.00450294274164,0.0598335010207,0.999999952977,0.000133591670195,-0.000274823889459,2.59169402163e-05,1793254895175288064
+102,1.700000000,BASELINE,783,760,738,721.815733195,689,650,915,800,839,657.184266805,634.184266805,657,0.400957836467,0.00450340191563,0.0598327557696,0.999999952717,0.000133476175092,-0.000275853385991,2.5592937186e-05,1793254895191954688
+103,1.716666667,BASELINE,783,760,738,721.225755852,689,650,915,800,839,657.774244148,634.774244148,657,0.400960748492,0.00450375218203,0.0598348235336,0.999999953851,0.000132124538777,-0.000272385603768,2.54312729609e-05,1793254895208621312
+104,1.733333333,BASELINE,783,760.35769588,738,721,689,649.64230412,915.35769588,800,839,657.64230412,634.64230412,657,0.400960366314,0.00450366269623,0.0598347283522,0.999999953669,0.000132653531846,-0.000272779352978,2.56029943182e-05,1793254895225287936
+105,1.750000000,BASELINE,783,760.93710289,738,721,689,649.06289711,915.93710289,800,839,657.06289711,634.06289711,657,0.400957942286,0.00450330063826,0.0598332925095,0.999999952669,0.000134348197893,-0.000275566600212,2.59813585059e-05,1793254895241954560
+106,1.766666667,BASELINE,783,761,738,721.510808618,689,649,915.489191382,800,839,657.510808618,634,657,0.400958284353,0.00450295966655,0.0598334034822,0.99999995297,0.000132823596871,-0.000275212946831,2.60057024358e-05,1793254895258621440
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,738,721,689,649,915,800,839,658,635,657,0.400961592177,0.00450338637708,0.0598354658699,0.999999953859,0.000133459590453,-0.000271646225348,2.60384796482e-05,1793254895301742080
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760.591440195,738,721.591440195,689,649.591440195,915,800,838.408559805,657.408559805,635,657,0.400961742008,0.00450260885884,0.0598349226075,0.999999954045,0.000131290855305,-0.000272028040546,2.59431254938e-05,1793254895318408704
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,761,738,721.821359187,689,649.821359187,915,800,838.178640813,657.178640813,634.821359187,657,0.400961208741,0.00450187922648,0.0598344382922,0.999999953989,0.000130240772359,-0.000272740486434,2.59405776538e-05,1793254895335075328
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,761,738,721.243629788,689,649.243629788,915,800,838.756370212,657.756370212,634.243629788,657,0.400959149417,0.00450125657236,0.0598340856663,0.999999953397,0.000131689789381,-0.00027419157063,2.61453617041e-05,1793254895351741440
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760.668024071,738,721.331975929,689,649,915,800,839,657.668024071,634,657,0.400959109658,0.00450197148841,0.0598342541641,0.999999953229,0.000133058294051,-0.000274133651859,2.62521274582e-05,1793254895368407808
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760.093967003,738,721.906032997,689,649,915,800,839,657.093967003,634,657,0.400960542592,0.00450366177794,0.0598348026719,0.999999953369,0.000134368087989,-0.000272975348537,2.62874169919e-05,1793254895385074176
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760,738,721.518794995,689,649,915,800,839,657.481205005,634,657,0.400960755242,0.00450320367028,0.0598350485343,0.9999999535,0.000134529657162,-0.000272424388946,2.62143316069e-05,1793254895401741056
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760,738,721.058344351,689,649.058344351,915.058344351,800,839,658,634.058344351,657,0.40096080253,0.0045024912379,0.0598352200366,0.999999953608,0.000134367352347,-0.000272116261824,2.61210390909e-05,1793254895418408192
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760,738,721.651517417,689,649.651517417,915.651517417,800,839,658,634.651517417,657,0.40096152341,0.00450330210559,0.0598352529014,0.999999953528,0.000133296306143,-0.000272944431504,2.60369578863e-05,1793254895435074560
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760,738,722,689,649.761903523,916,800,839,658,634.761903523,657,0.400967069392,0.00450405971629,0.0598376403362,0.999999954304,0.000134067959131,-0.000269706178113,2.60029025561e-05,1793254895451741184
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760,738,722,689,649.184715548,916,800,839,658,634.184715548,657,0.400979487175,0.00450474147954,0.0598433810948,0.999999956237,0.000137463941802,-0.000260676618882,2.60400929254e-05,1793254895468407808
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,760,738,722,688.609770173,649,915.609770173,800,839,657.609770173,634.390229827,657,0.401011709878,0.00450411997115,0.0598564385911,0.999999962125,0.000137302375751,-0.000237065117485,2.64331485757e-05,1793254895485074432
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,760,738,722,688.035880219,649,915.035880219,800,839,657.035880219,634.964119781,657,0.401053253689,0.00450288508317,0.0598729396816,0.99999996912,0.000135466463632,-0.000206590681597,2.69936907991e-05,1793254895501741056
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.552779629,760,738,721.447220371,688.552779629,649,915.552779629,800,838.447220371,657.552779629,635,657,0.401113308303,0.00450143097564,0.0598923932324,0.999999974996,0.000133001941061,-0.000177684144601,2.73456151899e-05,1793254895518407424
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.860054227,760,738,721,689,649,916,800,838.139945773,658,635,657,0.401179058738,0.00450047492103,0.0599106640088,0.999999979594,0.000131356739769,-0.000150970968836,2.76578201841e-05,1793254895535074304
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.280671245,760,738,721,689,649,916,800,838.719328755,658,635,657,0.401258817984,0.00450112868611,0.0599246025338,0.999999982288,0.00013241588942,-0.000130816720592,2.78889914056e-05,1793254895551741184
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,760.296580367,738,721.296580367,689,649,915.703419633,800,839,658,635,657,0.401345266363,0.0045013203769,0.0599346636681,0.999999984356,0.00013096813709,-0.000115668127053,2.75173463861e-05,1793254895568408064
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,760.871829298,738,721.871829298,689,649,915.128170702,800,839,658,635,657,0.401437999885,0.00450107790006,0.0599410815837,0.999999986025,0.000127164885665,-0.000105222875782,2.65792918617e-05,1793254895585074432
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,761,738,722,689,649,915,800,839,658,635,657,0.401550776894,0.00450214490531,0.0599463065868,0.999999987258,0.0001264093544,-9.41386041037e-05,2.53628750013e-05,1793254895601741056
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,761,738,721.974689376,689,649.025310624,915,800,839,658,635,657,0.401669925679,0.00450347405297,0.0599509920664,0.999999988268,0.000126346589989,-8.31998081406e-05,2.40665133595e-05,1793254895618407424
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,761,738,721.384998381,689,649.615001619,915,800,839,658,635,657,0.401803024373,0.00450227756212,0.0599512729222,0.999999989101,0.000122248542207,-7.95898211511e-05,2.27669755161e-05,1793254895635074048
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738,721.200916931,689,649.799083069,915.200916931,800,839,658,634.799083069,657,0.401948300675,0.00450153647258,0.0599512605256,0.999999989804,0.000118962048314,-7.60873203975e-05,2.12394147703e-05,1793254895651740672
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,761,738,721.779730641,689,649.220269359,915.779730641,800,839,658,634.220269359,657,0.402116481346,0.00450165192963,0.059950696562,0.999999990297,0.000117201974781,-7.27869867013e-05,1.92829748349e-05,1793254895668407552
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,760.644465583,738,721.644465583,689,649,915.644465583,800,839,658,634.355534417,657,0.402305864186,0.00450117448815,0.0599513442838,0.999999991223,0.000113247662128,-6.65568312743e-05,1.72787848991e-05,1793254895685074432
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,760.070510884,738,721.070510884,689,649,915.070510884,800,839,658,634.929489116,657,0.40250827246,0.00450033280328,0.0599527363965,0.999999992345,0.000107945332613,-5.8526758396e-05,1.52452598671e-05,1793254895701741312
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,760.5158756,738,721,688.4841244,649,915,800,839,658,635,657,0.402735991028,0.00450043802333,0.0599521782125,0.999999993027,0.000103860760964,-5.46873122037e-05,1.29462400983e-05,1793254895718407936
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,760.897330628,738,721,688.102669372,649.102669372,915,800,839,658,635,657,0.402975057006,0.00450034575691,0.0599518198036,0.999999993701,9.9407968966e-05,-5.10504821091e-05,1.05246621285e-05,1793254895735074560
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,760.316745697,738,721,688.683254303,649.683254303,915,800,839,658,635,657,0.403250443018,0.00449871687471,0.0599536628268,0.999999994656,9.24472277961e-05,-4.56247222215e-05,7.70567705576e-06,1793254895751740928
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,760,738,721,689,650,915.261801832,800,839,658,635,657,0.403539621468,0.00449819449203,0.0599509431396,0.999999995111,8.57270806867e-05,-4.90605356469e-05,4.72425338992e-06,1793254895768407552
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,760,738,721,689,650,915.837903374,800,839,658,635,657,0.403845358071,0.00449900049006,0.0599427458033,0.999999994862,7.92957732306e-05,-6.31348918908e-05,1.54781826042e-06,1793254895785073920
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760,738,721,688.587746942,649.587746942,916,800,838.587746942,658,635,657,0.404166000846,0.00449901285849,0.0599306199247,0.999999993783,7.29680360828e-05,-8.42921639006e-05,-1.87505467517e-06,1793254895801740544
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760,738,721,688.014083181,649.014083181,916,800,838.014083181,658,635,657,0.404492479873,0.00449871449467,0.0599169558922,0.999999991906,6.66808502515e-05,-0.000108222631233,-5.39441608387e-06,1793254895818407168
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760.575689657,738,721,688,649,916,800,838.575689657,657.424310343,635,657,0.404855778959,0.00449900900316,0.0599058494127,0.99999998978,6.04041786882e-05,-0.000129257780951,-9.11735961847e-06,1793254895835074048
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760.837259447,738,721,688,649.162740553,916,800,839,657,635,657,0.405244279297,0.00449921319333,0.0599000070967,0.999999988516,5.3302144379e-05,-0.000141294563506,-1.2771018003e-05,1793254895851741184
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760.258208824,738,721,688,649.741791176,916,800,839,657,635,657,0.405694876916,0.00449914816841,0.0599074664927,0.999999990381,4.40880561958e-05,-0.000130498832551,-1.62343291254e-05,1793254895868408064
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760,738,721,688,649.680615933,916,800,839,657.319384067,635,657,0.40619370252,0.00449797183936,0.0599304716071,0.999999995065,3.32481814426e-05,-9.14686123176e-05,-1.99393336604e-05,1793254895885075200
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760,738,721,688,649.104196141,916,800,839,657.895803859,635,657,0.406731341366,0.00449590114865,0.0599659876939,0.999999999052,2.10998958286e-05,-2.9715677815e-05,-2.38388499118e-05,1793254895901742336
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,760,738,721,688,649,916,800,839,657.53124656,635,657,0.407275462306,0.00449277986725,0.0599923757877,0.999999999534,9.64907473671e-06,1.04509169532e-05,-2.6996918197e-05,1793254895918408960
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,760.042675215,738,721,688,649.042675215,916,800,839,657.042675215,635,657,0.407819430569,0.00448949834387,0.0600141028199,0.999999998719,-1.51099633758e-06,4.0777162091e-05,-2.9953722793e-05,1793254895935075584
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,760.639150305,738,721,688,649.639150305,916,800,839,657.639150305,635,657,0.408342857191,0.00448714559867,0.0600014799165,0.999999999401,-1.08951046514e-05,5.21457270232e-06,-3.242177151e-05,1793254895951741952
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,649.773260975,916,800,839,657.773260975,635,657,0.408892147601,0.00447879556188,0.0599897679358,0.999999998708,-2.75648895893e-05,-2.62023447916e-05,-3.37433135958e-05,1793254895968408832
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738,721,688,649.199281366,916,800,839,657.199281366,635,657,0.409481047203,0.00446126094379,0.0599794509929,0.999999996597,-5.53923589296e-05,-5.12703507083e-05,-3.33090323884e-05,1793254895985075712
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688,649,916,800,839,657.377445422,635,657,0.410135622177,0.0044470163498,0.0599794844363,0.999999995058,-8.06329198471e-05,-4.61325332864e-05,-3.54162759046e-05,1793254896001742336
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,649,916,800,839,657.955633266,635,657,0.410825126242,0.00443452153889,0.0599850226803,0.999999993474,-0.000104497645805,-2.49299021181e-05,-3.88752163707e-05,1793254896018408960
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738,721,688,649.544224738,916,800,839,658,635,657,0.411511037178,0.00444202342867,0.0599899007104,0.999999994227,-9.74610188652e-05,-1.32975927306e-05,-4.32393392812e-05,1793254896035074816
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,916,800,839,658,635,657,0.412194906146,0.00444936900303,0.0599885771691,0.999999996403,-7.19825610131e-05,-1.53058462082e-05,-4.21586986785e-05,1793254896051740928
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,916,800,839,658,635,657,0.412872831181,0.00445051530525,0.0599662969041,0.999999997856,7.61566608232e-06,-6.11087257815e-05,-2.22580399407e-05,1793254896068407296
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,721,687.713410776,650,916,800,839,658,635,657,0.413572193417,0.00445175267767,0.059940161227,0.999999992914,4.02449317054e-05,-0.00011086346764,-1.6154517384e-05,1793254896085073920
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.139185045,650,916,800,839,658,635,657,0.414293071273,0.00445308145325,0.0599101560463,0.999999985839,2.57336065949e-05,-0.000164584518843,-2.38985476401e-05,1793254896101740544
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,760.555785203,738,720.555785203,687.444214797,649.555785203,916,800,839,658,635,657,0.4151341558,0.00445247407753,0.0599445110693,0.999999994468,1.83817659135e-05,-9.96100526366e-05,-2.83373394294e-05,1793254896118407680
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,760.030276181,738,720,688,649.030276181,916,800,839,658,635,657,0.416012106422,0.00445132576755,0.0599978230044,0.999999999404,1.41290428027e-05,-3.58548365437e-07,-3.1486829651e-05,1793254896135074816
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,760.611361012,738,720,688,649.611361012,916,800,839,658,635,657,0.416861089502,0.00445160576651,0.0600214040559,0.999999998735,2.45859804906e-05,3.16179802826e-05,-3.04185482962e-05,1793254896151740928
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,760.808179849,738,720,688,650,916,800,839,657.808179849,635,657,0.417707928592,0.00445152409396,0.0600313815549,0.999999997967,3.23346395334e-05,4.58860177428e-05,-3.02558225231e-05,1793254896168407296
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,760.228984315,738,720,688,650,916,800,839,657.228984315,635,657,0.418550437904,0.004450712036,0.0600138870619,0.999999998594,3.4614005666e-05,2.43922549465e-05,-3.19218408143e-05,1793254896185073920
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,760.345433166,738,720.345433166,688,649.654566834,916,800,839.345433166,657.345433166,635.345433166,657,0.419400040014,0.00445007343378,0.0599920030645,0.999999998949,2.83652143925e-05,-1.05508340579e-05,-3.44295247824e-05,1793254896201740544
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,760.916726512,738,720.916726512,688,649.083273488,916,800,839.916726512,657.916726512,635.916726512,657,0.42025427969,0.00444954824499,0.0599672490068,0.999999997687,1.65403192543e-05,-5.42877137044e-05,-3.74875285819e-05,1793254896218407168
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,761,738,721,687.49547029,649.50452971,916,800,840,658,635.49547029,657,0.421092479753,0.00445166681138,0.0599279730764,0.999999989553,-6.60971583324e-05,-0.000122766471562,-3.81358949127e-05,1793254896235074304
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,761,738,720.906712435,686.906712435,650,916,800,839.906712435,658,635,657,0.421944392717,0.00445349584936,0.0598935688981,0.999999972276,-0.000144277949492,-0.000182056551493,-3.85531015364e-05,1793254896251741696
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,761,738,720.327653343,686.327653343,650,916,800,839.327653343,658,635,657,0.422881963716,0.00445146815467,0.0598974364407,0.999999975202,-0.000136331741018,-0.000171514705655,-3.9907666511e-05,1793254896268408320
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.250194292,761,738,720,686.500388584,650,916,800.250194292,839.250194292,658,635.250194292,657,0.423851079084,0.00445024326124,0.0599299392681,0.999999983884,-0.000129764403971,-0.000117143047513,-4.08678166832e-05,1793254896285074944
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.826463131,761,738,720,687.652926263,650,916,800.826463131,839.826463131,658,635.826463131,657,0.424861305896,0.00445006464663,0.0599997620424,0.999999991319,-0.000124994127564,-5.64863570988e-06,-4.13139316652e-05,1793254896301741824
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.597916428,650,916,800.597916428,840,658,635.597916428,657.402083572,0.425845228787,0.00444626538655,0.0600317886736,0.999999990606,-0.000121545210554,4.79718960054e-05,-4.1399300216e-05,1793254896318407936
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,761,738,720,687.022575416,650,916,800.022575416,840,658,635.022575416,657.977424584,0.426817817281,0.00444090599369,0.0600475289774,0.999999989167,-0.000118665666716,7.66546196764e-05,-4.13292235521e-05,1793254896335074048
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,761,738,719.433503255,687,650,916,800,840,658,635,657.433503255,0.42777209733,0.00443995823854,0.0600242515537,0.999999991152,-0.000114752486319,5.08081319788e-05,-4.41143092955e-05,1793254896351740672
+171,2.850000000,POSE1_TO_POSE2_PRESS,783.846643641,761,738,719,687,650,916,800,840,657.846643641,635.153356359,657,0.428709199599,0.0044400226739,0.0599960917068,0.999999992952,-0.000108406675795,1.3522014114e-05,-4.64975437221e-05,1793254896368407296
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.267484396,761,738,719,687,650,916,800,840,657.267484396,635.732515604,657,0.429600682835,0.00444239724884,0.0599588000215,0.999999993104,-9.54237370612e-05,-4.93434545912e-05,-4.74412474567e-05,1793254896385073920
+173,2.883333333,POSE1_TO_POSE2_PRESS,783.309426732,761,738,719,687,650,916,800,840,657.309426732,636,657,0.430520203845,0.00444227910356,0.0599372688478,0.999999991442,-8.79224751959e-05,-8.39015682124e-05,-4.84426344248e-05,1793254896401740544
+174,2.900000000,POSE1_TO_POSE2_PRESS,783.884408459,761,738,719,687,650,916,800,840,657.884408459,636,657,0.431463787279,0.0044400216656,0.0599292636005,0.999999990718,-8.51256774218e-05,-9.41658516575e-05,-4.94935261414e-05,1793254896418407680
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687.938063986,650,916,800.469031993,840,658,636,657,0.432482250484,0.00443555460363,0.0599728404991,0.999999994772,-8.67430343359e-05,-2.1739394901e-05,-4.95946413681e-05,1793254896435074560
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.055370715,761,738,719,688.889258571,650,916.055370715,800.944629285,840,658,636,657,0.433511185166,0.00443109344741,0.0600236952782,0.999999992941,-8.86352177125e-05,6.16993177093e-05,-4.95517299339e-05,1793254896451741184
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.634978578,761,738,719,687.730042844,650,916.634978578,800.365021422,840,658,636,657,0.434460876394,0.00443195214251,0.0600205724202,0.999999993944,-8.26136656863e-05,5.240732594e-05,-5.04078402477e-05,1793254896468407552
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.786354567,761,738,719,687,650,916.786354567,800,840,657.786354567,635.786354567,657,0.435392476618,0.00442988098547,0.0600056107928,0.999999995262,-7.98196700108e-05,2.28114777927e-05,-5.08312225637e-05,1793254896485074176
+179,2.983333333,POSE1_TO_POSE2_PRESS,784.209288317,761,738,719,687,650,916.209288317,800,840,657.209288317,635.209288317,657,0.436293303357,0.00442282601383,0.0599705108678,0.999999994466,-8.25158965987e-05,-4.13221758963e-05,-5.05185144354e-05,1793254896501741056
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,761,738,719,687,650,916.366810869,800,840,657.366810869,635.366810869,657,0.437161987549,0.00442140350418,0.0599399432436,0.999999990825,-7.94179976103e-05,-9.71595547207e-05,-5.10123028704e-05,1793254896518407424
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687,650,916.942359703,800,840,657.942359703,635.942359703,657,0.4380123806,0.00442318621254,0.0599119547797,0.999999984991,-7.3022884299e-05,-0.000148275838511,-5.19650374841e-05,1793254896535074048
+182,3.033333333,POSE1_TO_POSE2_PRESS,784.529805278,761,738,718.470194722,687,650,916.470194722,800.529805278,840,658,636,657,0.438916790239,0.00442151676411,0.0599072732885,0.999999983976,-6.97255629065e-05,-0.000156586040408,-5.16379554574e-05,1793254896551740672
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,718.117168909,687,650,916,800.882831091,840.117168909,658,636,657.117168909,0.439837554859,0.0044189694428,0.0599184779011,0.999999986752,-6.79537124201e-05,-0.000138759426134,-5.12330139351e-05,1793254896568407552
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,761,738,718.69895726,687,650,916,800.30104274,840.69895726,658,636,657.69895726,0.440799334335,0.00441446454224,0.0599823910381,0.99999999553,-7.08638041464e-05,-3.61817359379e-05,-5.10841440231e-05,1793254896585074432
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761,738,718.723241759,687,650,916.276758241,800,840.723241759,657.723241759,636,657.723241759,0.441696256102,0.00441330139188,0.0600102747468,0.999999996292,-6.85112696394e-05,1.01892904602e-05,-5.11660153853e-05,1793254896601741056
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761,738,718.149716459,687,650,916.850283541,800,840.149716459,657.149716459,636,657.149716459,0.442523631073,0.00441572159084,0.0599995242002,0.999999996836,-6.0515636707e-05,-3.70993234259e-06,-5.14953103837e-05,1793254896618407424
+187,3.116666667,POSE1_TO_POSE2_PRESS,785,761,738,718,686.574392382,650,917,800,840.425607618,657.425607618,636,657,0.443306059276,0.00441539556713,0.0599648641834,0.999999995083,-6.09032515241e-05,-5.74209753017e-05,-5.3167311652e-05,1793254896635074048
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.001611154,761,738,718,686,650,917,800,841,658,636,657,0.444072628291,0.00441411187211,0.0599218316566,0.999999988585,-6.42285615441e-05,-0.000125079498492,-5.53111310007e-05,1793254896651740672
+189,3.150000000,POSE1_TO_POSE2_PRESS,785.593729643,761,738,718,686,650,917,800,841,658,636,657,0.444846098812,0.00441739884886,0.0599058665524,0.999999985422,-5.88288654738e-05,-0.000149998005509,-5.65343307056e-05,1793254896668407296
+190,3.166666667,POSE1_TO_POSE2_PRESS,785.819171109,761,738,717.819171109,685.819171109,650,917,800,841,658,635.819171109,657,0.445590611364,0.0044208293089,0.0598836265594,0.999999979088,-5.01666409713e-05,-0.000190104700728,-5.62733766087e-05,1793254896685074176
+191,3.183333333,POSE1_TO_POSE2_PRESS,785.243043982,761,738,717.243043982,685.243043982,650,917,800,841,658,635.243043982,657,0.446271820939,0.004424573429,0.0598476694385,0.999999963324,-3.43724148348e-05,-0.000263413307207,-5.27680108436e-05,1793254896701740800
+192,3.200000000,POSE1_TO_POSE2_PRESS,785.333287111,761,738,717.333287111,685,649.666712889,917,800,841,658,635.333287111,657.333287111,0.446973868632,0.00443824856411,0.059827059765,0.999999954853,-2.26517238552e-05,-0.000295085003624,-5.20173537079e-05,1793254896718407680
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.909767001,761,738,717.909767001,685,649.090232999,917,800,841,658,635.909767001,657.909767001,0.447691121434,0.00445917015722,0.0598176488117,0.999999954565,-1.39034090723e-05,-0.000296375096053,-5.32767513918e-05,1793254896735074304
+194,3.233333333,POSE1_TO_POSE2_PRESS,786,761,738,717.503802908,684.503802908,649,917,800.496197092,841,658,635.503802908,657.503802908,0.448376125866,0.00448500814242,0.0598272161506,0.999999957964,-5.28646963357e-05,-0.00027933678108,-5.69882004991e-05,1793254896751741184
+195,3.250000000,POSE1_TO_POSE2_PRESS,786,761,737.91698584,717,683.91698584,648.91698584,916.91698584,800.91698584,840.91698584,657.91698584,635,657,0.449044367096,0.00450653065573,0.0598332797966,0.999999957018,-9.49587482516e-05,-0.000270724832104,-6.04598461694e-05,1793254896768408064
+196,3.266666667,POSE1_TO_POSE2_PRESS,786,761,737.338873179,717,683.338873179,648.338873179,916.338873179,800.338873179,840.338873179,657.338873179,635,657,0.449648322928,0.0044968743908,0.0597974431816,0.999999937586,-0.000102934271997,-0.000332652834029,-5.97875006115e-05,1793254896785074432
+197,3.283333333,POSE1_TO_POSE2_PRESS,786,761,737.238770679,717,683,648,916,800,840.238770679,657.238770679,635.238770679,657,0.450230110192,0.00449104650326,0.0597589288974,0.999999915251,-0.000107912159901,-0.0003926570532,-6.06010698133e-05,1793254896801740800
+198,3.300000000,POSE1_TO_POSE2_PRESS,786,761,737.815750446,717,683,648,916,800,840.815750446,657.815750446,635.815750446,657,0.450780496515,0.00449064135957,0.059716621805,0.99999989086,-0.000108644016397,-0.000449936306623,-6.35193778522e-05,1793254896818407168
+199,3.316666667,POSE1_TO_POSE2_PRESS,786,761,738,716.601043101,682.601043101,648,916,800,841,658,635.601043101,657,0.451316579033,0.00449071376159,0.0597001472116,0.99999988126,-0.000109158762961,-0.000470387299573,-6.55679004254e-05,1793254896835074048
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,761,738,716.014915345,682.014915345,648,916,800,841,658,635.014915345,657,0.45184595096,0.00449101020442,0.059695791946,0.999999879609,-0.000109571652452,-0.000473560298609,-6.72083629728e-05,1793254896851741184
+201,3.350000000,POSE1_TO_POSE2_PRESS,786,761,737.436137028,716.563862972,682,648,916,800,841,658,635.563862972,657,0.452382704243,0.00448524091398,0.0597133952943,0.999999893281,-0.00011821767399,-0.000441407739163,-6.7981777381e-05,1793254896868408064
+202,3.366666667,POSE1_TO_POSE2_PRESS,786,761,737.141513783,717,681.858486217,647.858486217,916,800,841,658,635.858486217,657.141513783,0.452899089979,0.00448082550528,0.0597248455624,0.999999900698,-0.00012497901202,-0.000422170509416,-6.89634058574e-05,1793254896885074688
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,761,737.716300209,717,681.283699791,647.283699791,916,800,841,658,635.283699791,657.716300209,0.453352526435,0.00448104020653,0.0597157014449,0.999999890506,-0.000125311810283,-0.000445300274564,-7.06518408223e-05,1793254896901741824
+204,3.400000000,POSE1_TO_POSE2_PRESS,786,761,737.707421436,717,681,647,916,800,841,658,635.292578564,657.707421436,0.453768307367,0.00448002728168,0.0596942096499,0.999999872106,-0.000128383918671,-0.000483785218223,-7.25057464623e-05,1793254896918408704
+205,3.416666667,POSE1_TO_POSE2_PRESS,786,761,737.129689048,717,681,647,916,800,841,658,635.870310952,657.129689048,0.454147388329,0.00447781788407,0.0596606835238,0.999999843917,-0.000134125821711,-0.000537235671184,-7.45209234125e-05,1793254896935074816
+206,3.433333333,POSE1_TO_POSE2_PRESS,786.456074279,761,737.456074279,717,680.543925721,647,916,800.456074279,841,658,635.543925721,657,0.454520870767,0.00447585268928,0.0596496958838,0.99999983722,-0.000139456628502,-0.000547972038392,-7.64136469971e-05,1793254896951741184
+207,3.450000000,POSE1_TO_POSE2_PRESS,786.956469173,761,738,717,680,647,916,800.956469173,841,658,635.043530827,657.043530827,0.454892567452,0.00447423916131,0.0596466331384,0.999999838399,-0.00014365501592,-0.000544484159587,-7.81124889853e-05,1793254896968407808
+208,3.466666667,POSE1_TO_POSE2_PRESS,786.376789034,761,738,717,680,647,916,800.376789034,841,658,635.623210966,657.623210966,0.455262229207,0.00447608634465,0.0596608256682,0.999999853601,-0.000135371511589,-0.000518082861827,-7.78599385964e-05,1793254896985074176
+209,3.483333333,POSE1_TO_POSE2_PRESS,786.202381897,761,738,716.797618103,680,647,916,800,841,658,635.797618103,657.797618103,0.45561223629,0.0044771716796,0.059670427781,0.999999866439,-0.000110298211885,-0.000499927493804,-7.09202630803e-05,1793254897001740800
+210,3.500000000,POSE1_TO_POSE2_PRESS,786.780607111,761,738,716.219392889,680,647,916,800,841,658,635.219392889,657.219392889,0.455925742651,0.00447684218608,0.0596715050313,0.999999873663,-5.40445925797e-05,-0.000497085640006,-5.1561930858e-05,1793254897018407680
+211,3.516666667,POSE1_TO_POSE2_PRESS,786.644045826,761,738,716,680,646.644045826,916,800,841,658,635,657.355954174,0.456194376081,0.00447792519499,0.0596593266683,0.999999866157,-3.47144063864e-05,-0.000514154058439,-4.61093488844e-05,1793254897035074304
+212,3.533333333,POSE1_TO_POSE2_PRESS,786.07045843,761,738,716,680,646.07045843,916,800,841,658,635,657.92954157,0.456435573874,0.0044798718191,0.0596390437178,0.999999850432,-3.7959496266e-05,-0.000543395776213,-4.91588516802e-05,1793254897051740928
+213,3.550000000,POSE1_TO_POSE2_PRESS,786,761,737.480041436,716,679.480041436,646,916,800,841,658,635,657.480041436,0.456629096106,0.00447936825814,0.059612373806,0.999999827759,-4.2310479264e-05,-0.000583127253335,-5.15170221524e-05,1793254897068407552
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,761,737.106083839,716,678.893916161,646,916,800,841,658,635.106083839,657.106083839,0.456812754743,0.00447874859143,0.0595862437869,0.999999803937,-4.66326267023e-05,-0.000622141898728,-5.37640368032e-05,1793254897085074176
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,761,737.663898201,716,678.336101799,646,916,800,841,658,635.663898201,657.663898201,0.456982842058,0.00447909562762,0.0595662214639,0.999999784723,-5.01725140529e-05,-0.000651848800425,-5.59499837387e-05,1793254897101740800
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,761,737.76261962,716,678,646,916,800,841,658,635.76261962,657.76261962,0.457147612312,0.0044790130522,0.0595501710757,0.999999769683,-5.37974629878e-05,-0.000674084107202,-5.78872100497e-05,1793254897118407424
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+221,3.683333333,POSE1_TO_POSE2_PRESS,786,761,738,716,678,646,916,800,841,658,636,658,0.457768273247,0.00447781255115,0.0595351642166,0.999999752744,-6.41889103322e-05,-0.000697563491169,-6.16127801187e-05,1793254897201741568
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,761,738,716,678,646,916,800,841,658,636,658,0.457849894939,0.00447765433425,0.0595355394923,0.999999752196,-6.26223450621e-05,-0.000698520370995,-6.12852876906e-05,1793254897218407680
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,761,737.677308878,716,678,645.677308878,916,800,841,658,636,658,0.457917978725,0.00447768561598,0.0595334779994,0.999999749008,-6.188569507e-05,-0.000703138493504,-6.12381163405e-05,1793254897235074048
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,761,737.102741826,716,678,645.102741826,916,800,841,658,636,658,0.457975495533,0.00447786481049,0.0595295144916,0.999999743719,-6.17968336692e-05,-0.000710614391966,-6.14097490271e-05,1793254897251740416
+225,3.750000000,POSE1_TO_POSE2_PRESS,786,761,737.483761382,716.483761382,678,645,916,800,841,658,636,657.516238618,0.458019407152,0.00447733896164,0.059524814234,0.999999739248,-6.25011343421e-05,-0.000716814002244,-6.1442151279e-05,1793254897268407296
+226,3.766666667,POSE1_TO_POSE2_PRESS,786.071620268,761.071620268,738,717,678,645,916,800,841,658,636,657.071620268,0.458059567757,0.00447693473859,0.059520653313,0.999999735643,-6.30625278876e-05,-0.000721776415644,-6.14408095008e-05,1793254897285073664
+227,3.783333333,POSE1_TO_POSE2_PRESS,786.650669483,761.650669483,738,717,678,645,916,800,841,658,636,657.650669483,0.458094142352,0.00447847996319,0.0595214502316,0.999999737071,-6.1387747595e-05,-0.000719942341744,-6.14151942204e-05,1793254897301740544
+228,3.800000000,POSE1_TO_POSE2_PRESS,786.771664493,761.771664493,737.771664493,716.771664493,678,645.228335507,916.228335507,800,841.228335507,658,635.771664493,658,0.458122999691,0.00447875407667,0.0595222528574,0.999999738107,-6.04211604228e-05,-0.000718597448975,-6.12537386566e-05,1793254897318407168
+229,3.816666667,POSE1_TO_POSE2_PRESS,786.196101906,761.196101906,737.196101906,716.196101906,678,645.803898094,916.803898094,800,841.803898094,658,635.196101906,658,0.458143162868,0.00447709522657,0.059523064162,0.999999738555,-6.05315141805e-05,-0.000717996448231,-6.08857123965e-05,1793254897335073792
+230,3.833333333,POSE1_TO_POSE2_PRESS,786,761,737.377942157,716,677.622057843,645.622057843,916.622057843,800,841.622057843,658,635.377942157,658,0.458157136601,0.00447791603976,0.0595222897559,0.999999737196,-5.99752483636e-05,-0.000719911364353,-6.11483570562e-05,1793254897351740416
+231,3.850000000,POSE1_TO_POSE2_PRESS,786,761,737.951201442,716,677.048798558,645.048798558,916.048798558,800,841.048798558,658,635.951201442,658,0.458167911685,0.00448001832081,0.0595206958687,0.999999734893,-5.90744795069e-05,-0.000723126483828,-6.17369268189e-05,1793254897368407296
+232,3.866666667,POSE1_TO_POSE2_PRESS,786,761,737.458071202,716,677,645.541928798,916,800,841,658,636,658,0.458172561954,0.00448139524463,0.0595186631117,0.999999732083,-5.77719189516e-05,-0.000727097813313,-6.18437352489e-05,1793254897385073664
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,761,737.131314853,716,677,646,916,800,841,658,636,658,0.458176476819,0.00448238002819,0.059516751656,0.999999729856,-5.62873277188e-05,-0.000730270369977,-6.18397812361e-05,1793254897401740544
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,761,737.710580819,716,677,646,916,800,841,658,636,658,0.458179827051,0.00448225734354,0.0595153932908,0.999999729828,-5.43093098588e-05,-0.00073047806861,-6.16108984365e-05,1793254897418407168
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,761,738,716.286739904,677,646,916.286739904,800,841,658,635.713260096,657.713260096,0.458182680555,0.00448179746009,0.0595147506309,0.999999729705,-5.47248974298e-05,-0.000730625726123,-6.14929316359e-05,1793254897435073792
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,761,738,716.85979676,677,646,916.85979676,800,841,658,635.14020324,657.14020324,0.458185038065,0.00448100087518,0.0595148226205,0.999999729484,-5.75305595515e-05,-0.000730713431104,-6.14857172021e-05,1793254897451740416
+237,3.950000000,POSE1_TO_POSE2_PRESS,785.557272145,761.442727855,737.557272145,717,677,645.557272145,916.557272145,800,841.442727855,658,635.442727855,657.442727855,0.458184365653,0.00448016070543,0.059513470542,0.999999727833,-5.78268476124e-05,-0.000732970711486,-6.11870936953e-05,1793254897468407040
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.028643682,761.971356318,737.028643682,717,677,645,916.028643682,800,842,658,635.971356318,658,0.458182824298,0.00447943555242,0.0595117038625,0.999999725804,-5.72589509403e-05,-0.000735806793382,-6.08448085755e-05,1793254897485073664
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.610435744,761.389564256,737.610435744,717,677,645,916.610435744,800,842,658,635.389564256,658,0.458183454728,0.00448120415225,0.0595108382701,0.999999725527,-5.56986979908e-05,-0.000736249550136,-6.14821321529e-05,1793254897501741312
+240,4.000000000,POSE1_TO_POSE2_PRESS,786,761,738,717,677,645.190354357,916.809645643,800,841.809645643,658,635,658,0.458184634589,0.00448193951902,0.0595107908298,0.999999725877,-5.46265234885e-05,-0.000735837623757,-6.16759950873e-05,1793254897518408448
+241,4.016666667,POSE1_TO_POSE2_PRESS,786,761,738,717,677,645.766476251,916.233523749,800,841.233523749,658,635,658,0.458186927915,0.00448058096051,0.0595124014364,0.999999727501,-5.45434770583e-05,-0.00073369361718,-6.09711513684e-05,1793254897535074304
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,761,738,717,677,645.658868661,916,800,841.341131339,658,635.341131339,657.658868661,0.45818674879,0.00447983517596,0.0595118815397,0.999999727051,-5.48862737019e-05,-0.000734306749335,-6.06468423474e-05,1793254897551740672
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,761,738,717,677,645.085213411,916,800,841.914786589,658,635.914786589,657.085213411,0.45818488438,0.00447950707397,0.0595099094369,0.999999725187,-5.55193359618e-05,-0.000736799218387,-6.05819156116e-05,1793254897568407296
+244,4.066666667,POSE1_TO_POSE2_PRESS,786,761,738,716.493637283,677,645.506362717,916,800.506362717,841.493637283,658,636,657.506362717,0.458186906998,0.0044804073371,0.0595112471886,0.999999726933,-5.34904133521e-05,-0.000734584753822,-6.04850461625e-05,1793254897585074176
+245,4.083333333,POSE1_TO_POSE2_PRESS,786,761.097898383,738,716.097898383,677,646,916,800.902101617,841,658,636,658,0.458188916957,0.00448140424369,0.0595127091347,0.999999728672,-5.14624881647e-05,-0.000732358882164,-6.04886910475e-05,1793254897601740800
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,761.673965471,738,716.673965471,677,646,916,800.326034529,841,658,636,658,0.458187552877,0.00448182647472,0.0595119572941,0.999999727359,-5.17077659462e-05,-0.000734088167456,-6.10105008867e-05,1793254897618407936
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,762,738,717,677,645.74928664,916.25071336,800,841,658,636,658,0.458187143001,0.00448209845657,0.0595116615989,0.999999726591,-5.2094593437e-05,-0.000735089506608,-6.1221777485e-05,1793254897635074816
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,762,738,717,677,645.171650929,916.828349071,800,841,658,636,658,0.458187977377,0.00448217451825,0.0595119607027,0.999999726534,-5.26659973394e-05,-0.000735141627083,-6.10281285575e-05,1793254897651741184
+249,4.150000000,POSE1_TO_POSE2_PRESS,786,762,738.413275779,716.586724221,677,645,917,800,841,658,636,658,0.458187008164,0.00448187443244,0.059510409781,0.999999725237,-5.22473759413e-05,-0.000736972869811,-6.05638604654e-05,1793254897668407552
+250,4.166666667,HOLD_POSE2,786,761,738,716,677,646,917,800,841,658,635,657,0.458188283045,0.00448226273452,0.0595106724025,0.999999726673,-5.19104676601e-05,-0.000734991031912,-6.12138407488e-05,1793254897713895680
+251,4.183333333,HOLD_POSE2,786,761,737.425677528,716,677,646,916.425677528,800,841,658,635.574322472,657.574322472,0.458188670456,0.00448309297147,0.0595109692435,0.999999726722,-5.0129549778e-05,-0.000735076660404,-6.08710457529e-05,1793254897730562304
+252,4.200000000,HOLD_POSE2,786.148105056,761,737.148105056,716.148105056,677,645.851894944,916,800,841,658,636,658,0.45818870725,0.00448316983295,0.0595108738819,0.999999726475,-4.93391740222e-05,-0.000735496906729,-6.04907722548e-05,1793254897747228672
+253,4.216666667,HOLD_POSE2,786.720341683,761,737.720341683,716.720341683,677,645.279658317,916,800,841,658,636,658,0.458187739978,0.00448108923744,0.0595096553617,0.999999725387,-5.13854342163e-05,-0.000736875405222,-6.00031707009e-05,1793254897763894528
+254,4.233333333,HOLD_POSE2,786.695172015,761,738,716.695172015,677,645,916,800,841,658,636,658,0.458188083817,0.00448063531333,0.0595098114704,0.99999972549,-5.21347691351e-05,-0.000736691757503,-5.98964969057e-05,1793254897780560640
+255,4.250000000,HOLD_POSE2,786.098977008,761,738,716.098977008,677,645,916,800,841,658,636,658,0.45818968087,0.00448173622821,0.0595112815055,0.999999726734,-5.16444498516e-05,-0.000735014946632,-6.01539294301e-05,1793254897797227008
+256,4.266666667,HOLD_POSE2,786,761,738,716,677,645,916,800,841,657.516872814,636,657.516872814,0.458189012033,0.00448144911124,0.0595104309575,0.999999725949,-5.23198346814e-05,-0.000736032646198,-6.01717006278e-05,1793254897813893376
+257,4.283333333,HOLD_POSE2,786,761,738,716.06278731,677,645.06278731,916,800,841,657.06278731,636,657.06278731,0.45818819957,0.00448086870289,0.0595094007814,0.999999725042,-5.33733973081e-05,-0.000737190459691,-6.01408113275e-05,1793254897830559744
+258,4.300000000,HOLD_POSE2,786,761,738,716.645435356,677,645.645435356,916,800,841,657.645435356,636,657.645435356,0.458189932507,0.00448014764251,0.0595107080579,0.999999726484,-5.56368812998e-05,-0.00073506735839,-6.01020303688e-05,1793254897847226368
+259,4.316666667,HOLD_POSE2,786,761,738,717,677,645.773256319,916,800,841,657.773256319,636,658,0.458190521542,0.0044804821656,0.0595111591813,0.999999726959,-5.5635842044e-05,-0.000734420304692,-6.010382199e-05,1793254897863892992
+260,4.333333333,HOLD_POSE2,786,761,738,717,677,645.194030698,916,800,841,657.194030698,636,658,0.458189332336,0.00448245763464,0.0595102793809,0.999999725934,-5.21145124045e-05,-0.000736067825065,-6.01686852809e-05,1793254897880559616
+261,4.350000000,HOLD_POSE2,786,761,738,717,677,645,916,800,841,657.386512433,636,658,0.45819034776,0.00448308781715,0.0595111450042,0.999999726508,-5.00140743219e-05,-0.000735418701987,-6.03464886415e-05,1793254897897226240
+262,4.366666667,HOLD_POSE2,786,761,738,717,677,645,916,800,841,657.967719273,636,658,0.458192473702,0.00448304035083,0.0595128898339,0.999999727889,-4.86293687557e-05,-0.000733612711653,-6.05811822861e-05,1793254897913893120
+263,4.383333333,HOLD_POSE2,786,761,738,716.454909258,677,645,916,800,841,658,635.454909258,657.454909258,0.458193254316,0.0044837354211,0.0595132809824,0.999999728788,-4.8712805612e-05,-0.00073238085487,-6.05683487095e-05,1793254897930559488
+264,4.400000000,HOLD_POSE2,786,761,738,716.121844343,677,645.121844343,916,800,841,658,635,657,0.458193585681,0.00448412084315,0.059513242807,0.999999729257,-4.88035280133e-05,-0.000731742103036,-6.04708253311e-05,1793254897947226368
+265,4.416666667,HOLD_POSE2,786,761,738,716.697138065,677,645.697138065,916,800,841,658,635,657,0.458192539569,0.00448319138875,0.0595119031404,0.999999728232,-4.86000563224e-05,-0.000733184967515,-6.01122970355e-05,1793254897963892992
+266,4.433333333,POSE2_TO_POSE3_RETREAT,786,761,738,716,677,645,916,800,841,658,636,658,0.458194982974,0.00448310986371,0.0595148429716,0.99999973003,-4.67754859285e-05,-0.0007308664771,-5.98924604602e-05,1793254898001136128
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,761.580783748,738,716.580783748,677,645,916,800,841,658,636,658,0.458192419256,0.00448411768934,0.0595119931524,0.999999727408,-4.6676139592e-05,-0.000734418530542,-6.02902514026e-05,1793254898017804032
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,761.840011371,738,716.840011371,677,645.159988629,916,800,841,658,636,657.840011371,0.458191377596,0.00448410596649,0.0595106188859,0.999999726167,-4.79921681134e-05,-0.000736003149419,-6.05143714341e-05,1793254898034471424
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,761.264903021,738,716.264903021,677,645.735096979,916,800,841,658,636,657.264903021,0.458194285194,0.00448144883912,0.0595130732096,0.999999728514,-5.29806451938e-05,-0.000732482900735,-6.02878706528e-05,1793254898051138048
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.689980854,761.310019146,738,716.310019146,676.689980854,645.689980854,916,800,841,658,635.689980854,657.310019146,0.458193946215,0.00448072637879,0.0595129513327,0.999999728158,-5.38111679364e-05,-0.000732923927142,-6.00816632913e-05,1793254898067804672
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.115217713,761.884782287,738,716.884782287,676.115217713,645.115217713,916,800,841,658,635.115217713,657.884782287,0.45819083479,0.00448165604717,0.0595106294828,0.999999725503,-5.10909631016e-05,-0.000736747724804,-5.98927857154e-05,1793254898084471040
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.47493045,761.52506955,737.52506955,716.52506955,676.47493045,645,916,800,841,658,635.47493045,658,0.45819088942,0.00448120731942,0.0595103142956,0.99999972547,-5.1237915385e-05,-0.000736799189105,-5.96800811592e-05,1793254898101136896
+273,4.550000000,POSE2_TO_POSE3_RETREAT,786,761.066851695,737.066851695,716,677,645,916,800,841,658,635.933148305,658,0.458191694507,0.00448060927076,0.0595105568393,0.999999726119,-5.18558018154e-05,-0.00073588907051,-5.94917706733e-05,1793254898117803008
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786,761.642897584,737.642897584,716,677,645,916,800,841,658,635.357102416,658,0.458192169485,0.00448150618152,0.0595112153987,0.99999972694,-5.05853188124e-05,-0.000734858762985,-5.95347663107e-05,1793254898134469632
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,762,738,716.209230985,676.790769015,645,916.209230985,800,841,658,635,658,0.458190500319,0.00448196356627,0.0595106632461,0.999999726408,-4.96882516658e-05,-0.000735636752644,-5.96186545614e-05,1793254898151136256
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,762,738,716.759723016,676.240276984,645,916.759723016,800,841,658,635,658,0.458185334,0.00448170407286,0.0595081363914,0.999999723664,-4.9400235381e-05,-0.000739364120997,-5.97692396979e-05,1793254898167803136
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,762,738,716.652235239,676,645,917,800,841.347764761,657.652235239,635,658,0.458169199532,0.00448355934362,0.0594999410721,0.999999713819,-4.83143446657e-05,-0.000752586884218,-6.03372340547e-05,1793254898184470016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,762,738,716.035109306,676,645,917,800,841.964890694,657.035109306,635,658,0.458144569683,0.00448705260478,0.0594873552437,0.999999698148,-4.6610460319e-05,-0.000773164305028,-6.12285326908e-05,1793254898201136896
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,762,738,716.546350718,676.546350718,645.546350718,917,800,841.453649282,657.546350718,635.546350718,658,0.458096891686,0.00448752685325,0.0594673750946,0.99999967246,-4.4092582814e-05,-0.000805821184531,-6.15402174774e-05,1793254898217803776
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,761.874610861,737.874610861,716.874610861,677,645.874610861,916.874610861,800,841,658,635.874610861,658,0.458043871339,0.00448767428611,0.0594470955769,0.999999646634,-4.24597113065e-05,-0.000837324338161,-6.17740132367e-05,1793254898234470656
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,761.296547411,737.296547411,716.296547411,677,645.296547411,916.296547411,800,841,658,635.296547411,658,0.457976583632,0.00448729933647,0.0594273456026,0.999999625561,-4.41991179339e-05,-0.000862031740589,-6.18528445373e-05,1793254898251137024
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785.720625651,761,737.279374349,716,677,645.279374349,916.279374349,800,841,658,635,658,0.457902777462,0.00448708116502,0.0594112865455,0.999999607515,-4.42188901711e-05,-0.000882726334019,-6.17171029883e-05,1793254898267803392
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.14695997,761,737.85304003,716,677,645.85304003,916.85304003,800,841,658,635,658,0.457822104784,0.00448702814285,0.0593991154806,0.999999592943,-4.24272093403e-05,-0.00089919385629,-6.13553316465e-05,1793254898284469760
+284,4.733333333,POSE2_TO_POSE3_RETREAT,785.437971514,761,738,716,677,645.562028486,917,800,841,658,635,658,0.457735110737,0.00448826717142,0.059394584914,0.999999589436,-3.99530968727e-05,-0.000903215929371,-6.1094612808e-05,1793254898301136128
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761,738,716.026366689,677,645,916.973633311,800,841,658,635.026366689,658,0.457645114765,0.00448988041009,0.0593930389473,0.999999590263,-3.71827172918e-05,-0.000902436521531,-6.0824861717e-05,1793254898317802752
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,761,738,716.606025821,677,645,916.393974179,800,841,658,635.606025821,658,0.457537810582,0.00449000836892,0.0593989040245,0.99999960087,-3.31273782162e-05,-0.000890845998575,-5.96352468561e-05,1793254898334470144
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,761,737.815619949,716.815619949,677,645.184380051,916,800,841,658,636,658,0.457419226252,0.00449038768384,0.059404113515,0.999999609777,-2.96159565037e-05,-0.000880989745865,-5.85371238276e-05,1793254898351137280
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,761,737.240034448,716.240034448,677,645.759965552,916,800,841,658,636,658,0.457276708465,0.00449130030954,0.059407932024,0.999999615319,-2.72585833557e-05,-0.000874813155246,-5.76331223099e-05,1793254898367803904
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,761,737.334136628,716.334136628,677,646,916.334136628,800,841.334136628,658,636,658,0.457116765966,0.00449262776434,0.0594097112044,0.99999961709,-2.28921705732e-05,-0.000872976972962,-5.66355087591e-05,1793254898384470272
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761,737.907295962,716.907295962,677,646,916.907295962,800,841.907295962,658,636,658,0.456944358784,0.00449425196483,0.0594100315634,0.999999616157,-1.70886026502e-05,-0.000874245676064,-5.55709302877e-05,1793254898401136384
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786.498630734,761,738,717,677.498630734,646,917,800,841.501369266,658,636,658,0.456746070728,0.00449773139677,0.0594108101561,0.999999616904,-1.20619540791e-05,-0.000873537608846,-5.45681246784e-05,1793254898417803008
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786.909376332,761,738,716.909376332,677.909376332,646,917,800,841,658,636,657.909376332,0.456539341114,0.0045009328953,0.0594141696308,0.999999621002,-7.14436631589e-06,-0.000868962997212,-5.33693157141e-05,1793254898434469376
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786.332663597,761,738,716.332663597,677.332663597,646,917,800,841,658,636,657.332663597,0.456314117862,0.00450072353632,0.0594308982434,0.999999641095,-2.00768562126e-06,-0.000845694796646,-5.1055247699e-05,1793254898451136256
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,761,737.756607916,716,677.243392084,646,917,800,841,658,635.756607916,657.243392084,0.456075008183,0.00450128617938,0.0594500479798,0.999999665025,4.02509078325e-06,-0.000817045948911,-4.86799106665e-05,1793254898467803136
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,761,737.1814479,716,677.8185521,646,917,800,841,658,635.1814479,657.8185521,0.455816969921,0.00450290113902,0.0594724979511,0.999999693839,1.12793356091e-05,-0.000781062738116,-4.62210579127e-05,1793254898484470272
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786,761,737.403119406,716,678,646,917,800,841,658,635,657.596880594,0.455532581085,0.00450621603516,0.0594942501545,0.999999716355,2.12471786905e-05,-0.000751626867214,-4.353586388e-05,1793254898501136896
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786,761,737.992022181,716,678,646,917,800,841,658,635,657.007977819,0.455236048214,0.00451031437143,0.0595156807808,0.999999735679,3.24656222988e-05,-0.000725208432735,-4.07463572737e-05,1793254898517803520
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786.572177354,761,738,716.572177354,678,646,917,800,841,658,635,657.572177354,0.454887887208,0.00451191898544,0.0595316691415,0.999999748943,4.11912522697e-05,-0.000706421405879,-3.72210298206e-05,1793254898534469888
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786.848753798,761,737.848753798,717,678.151246202,646,916.848753798,800,840.848753798,658,635.151246202,658,0.454524089773,0.00451360294321,0.0595445518305,0.999999758287,4.98482980116e-05,-0.000692676132874,-3.37786113564e-05,1793254898551136256
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786.272400723,761,737.272400723,717,678.727599277,646,916.272400723,800,840.272400723,658,635.727599277,658,0.454118335978,0.00451560616738,0.0595489154891,0.999999757835,5.84087934852e-05,-0.000692807127872,-3.05976274369e-05,1793254898567802880
+301,5.016666667,POSE2_TO_POSE3_RETREAT,786,761,737.30273522,717,679,646,916,800,840.30273522,658,635.69726478,658,0.453678939139,0.00452291332388,0.0595450823323,0.999999750778,7.32700097145e-05,-0.000701596854793,-2.89218563374e-05,1793254898584469504
+302,5.033333333,POSE2_TO_POSE3_RETREAT,786,761,737.876780439,717,679,646,916,800,840.876780439,658,635.123219561,658,0.453209391505,0.00453497384191,0.0595339032256,0.999999737327,9.37779056647e-05,-0.00071814649962,-2.8595050103e-05,1793254898601136128
+303,5.050000000,POSE2_TO_POSE3_RETREAT,786,761,738,717,679,646,916,800,841,658,635,658,0.452742607879,0.00455987114086,0.0595340376858,0.999999737591,0.000125390430549,-0.000712819479692,-3.13559720889e-05,1793254898617803008
+304,5.066666667,POSE2_TO_POSE3_RETREAT,786,761,738,717,679.056821292,646.056821292,916,800,841,658,635,658,0.452274612115,0.00458555300825,0.0595401174004,0.999999743471,0.000157744783897,-0.000697860524078,-3.41260915602e-05,1793254898634469888
+305,5.083333333,POSE2_TO_POSE3_RETREAT,786,761,738,717,679.634545064,646.634545064,916,800,841,658,635,658,0.451788578346,0.0045862631517,0.0595723519588,0.999999774408,0.000169075730464,-0.000649416688925,-2.92438363777e-05,1793254898651137024
+306,5.100000000,POSE2_TO_POSE3_RETREAT,786,761,738,716.790014961,680,647,916,799.790014961,840.790014961,658,635,658,0.451281408886,0.00458574904567,0.059601665323,0.999999800295,0.000179198103553,-0.000605573823618,-2.40369467542e-05,1793254898667803904
+307,5.116666667,POSE2_TO_POSE3_RETREAT,786,761,738,716.218506944,680,647,916,799.218506944,840.218506944,658,635,658,0.450737850965,0.00458312719742,0.0596259493804,0.999999820052,0.000187239722989,-0.000569652271646,-1.82711471561e-05,1793254898684470528
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785.634746317,761,737.634746317,716.365253683,680.365253683,647,916,799.365253683,840,658,635,658,0.450136121309,0.00459014832865,0.0596250444066,0.999999817649,0.000203776042477,-0.000568286689234,-1.50632521993e-05,1793254898701137152
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785.043401371,761,737.043401371,716.956598629,680.956598629,647,916,799.956598629,840,658,635,658,0.449498383492,0.004603138444,0.0596085474746,0.999999801414,0.000225570563109,-0.000588311180582,-1.34386950499e-05,1793254898717803520
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761,737.536521111,716.463478889,681.536521111,647.536521111,916,799.463478889,840,658,635.536521111,658,0.448826188789,0.00460293275974,0.0595952312056,0.99999978722,0.000237701265969,-0.000607446878724,-8.14380924542e-06,1793254898734469888
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785.114692839,761,738,716,682,648,916,799.114692839,840,658,635.885307161,657.885307161,0.448156162791,0.00460260721741,0.0595897933982,0.999999780346,0.000249659487942,-0.000613979302922,-2.69679435929e-06,1793254898751136768
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785.689470702,761,738,716,682,648,916,799.689470702,840,658,635.310529298,657.310529298,0.447505784896,0.00460599367964,0.0596149490608,0.999999802566,0.000263996371817,-0.000570236675026,2.19427430188e-06,1793254898767803904
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785.738348163,761,737.738348163,716.261651837,682.261651837,648,916.261651837,800,840.261651837,658,635.261651837,657,0.44684081892,0.00460881148763,0.0596512182042,0.999999827068,0.000278588175827,-0.000517867389592,8.07009826759e-06,1793254898784471040
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785.169218473,761,737.169218473,716.830781527,682.830781527,648,916.830781527,800,840.830781527,658,635.830781527,657,0.446158709804,0.00461096104704,0.05970054726,0.999999853144,0.000293479548543,-0.000455360557292,1.51031493805e-05,1793254898801137408
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785,761,737.420233531,717.420233531,683.420233531,648.420233531,916.579766469,800,840.579766469,658,636,657,0.445391870099,0.00461230730928,0.0597061113808,0.999999851329,0.000305139749508,-0.00045147087158,2.01538486865e-05,1793254898817803776
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761,737.982316037,717.982316037,684,649,916,800,840,658,636,657,0.444590047965,0.00461329181573,0.0596937894977,0.999999838992,0.000315437460333,-0.000471084643397,2.43782813588e-05,1793254898834470144
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,761,737.403913111,717.403913111,684,649,916,800,840,658,636,657,0.443815825325,0.00461358355602,0.0597015289441,0.999999845461,0.000325885740015,-0.000449484441339,2.90005248858e-05,1793254898851136768
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,761,737,717.173300485,684.173300485,649,916.173300485,800,840,658,636,657.173300485,0.443038521421,0.00461461278104,0.0597179445578,0.99999985529,0.000337128842179,-0.000417879137837,3.37948423934e-05,1793254898867803136
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785,761,737,717.747760957,684.747760957,649,916.747760957,800,840,658,636,657.747760957,0.442254084986,0.00461734915279,0.0597544439642,0.99999987199,0.00035021181695,-0.000363113794028,3.89874804393e-05,1793254898884470016
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785.329455622,761,737,718,685,649.329455622,916.670544378,800,840,658,635.670544378,657.670544378,0.441417539988,0.0046188943969,0.0597731066577,0.999999874127,0.000362178953078,-0.000344368113804,4.45313638296e-05,1793254898901136640
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785.916813277,761,737,718,685,649.916813277,916.083186723,800,840,658,635.083186723,657.083186723,0.440540203786,0.00461950721107,0.0597778065447,0.999999866472,0.000373272596536,-0.00035381908561,5.03502063454e-05,1793254898917803776
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785.50275867,760.50275867,737,718,685,650,916,800,840,658,635,657.49724133,0.439665040792,0.00461977266947,0.0597899430051,0.999999900861,0.000289788114131,-0.000337120563971,2.55140485394e-05,1793254898934471168
+323,5.383333333,POSE2_TO_POSE3_RETREAT,785,760,737,718.07647208,685.07647208,650,916,800,840,658,635.07647208,658,0.438785251646,0.00461905311086,0.059802660755,0.999999928518,0.000205230101365,-0.000317558408177,7.74693116091e-07,1793254898951138048
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785,760,737,718.655348192,685.655348192,650,916,800,840,658,635.655348192,658,0.437872714395,0.00461223874731,0.0598111362457,0.999999929305,0.000216141318392,-0.000307528727921,9.90112436575e-06,1793254898967803904
+325,5.416666667,POSE2_TO_POSE3_RETREAT,785,760.232059229,737,719,685.767940771,650,916,800,840,658,636,658,0.436935066176,0.00461130253749,0.0597929203119,0.999999915586,0.000231565698799,-0.000338988883023,1.70567718459e-05,1793254898984469760
+326,5.433333333,POSE2_TO_POSE3_RETREAT,785,760.805584528,737,719,685.194415472,650,916,800,840,658,636,658,0.435960468016,0.00461901579974,0.059735428993,0.999999874513,0.000253631022725,-0.000431499703428,2.13124894119e-05,1793254899001136128
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784.610622298,761,737,719,685.389377702,650,916,800,840,657.610622298,635.610622298,658,0.435022124516,0.00462420519509,0.0597214232899,0.999999871422,0.000265669030159,-0.000431323796772,2.31611199458e-05,1793254899017803008
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784.021563579,761,737,719,685.978436421,650,916,800,840,657.021563579,635.021563579,658,0.434102373223,0.00462810029831,0.0597297179224,0.999999888991,0.000272564819256,-0.000383616195768,2.3775345749e-05,1793254899034469888
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,761,737.560876789,719,686,650,916,800,840,657.560876789,635,658,0.433157807012,0.0046272671721,0.0597546022013,0.999999900367,0.000267660065525,-0.000356368692895,2.49889874766e-05,1793254899051136512
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,760.859374944,737.859374944,719,685.859374944,650,916,800,840,657.859374944,635,657.859374944,0.432218626263,0.00462656763386,0.0597793256398,0.99999991185,0.000262465766703,-0.000326693753644,2.61489615728e-05,1793254899067803136
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,760.287117898,737.287117898,719,685.287117898,650,916,800,840,657.287117898,635,657.287117898,0.431298869762,0.00462682958073,0.0598016205484,0.999999925177,0.000257759039166,-0.000287181829376,2.7074299398e-05,1793254899084470272
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,784,761,737.043980012,719.043980012,686.043980012,650,916.956019988,800,840,658,635.043980012,657,0.427359214721,0.00459736189075,0.0597361442604,0.999999888466,0.000210975861327,-0.000421566387969,2.89665408812e-05,1793254899151136768
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,784,761,738,719.228515792,686.228515792,650,916,800.771484208,840,658,635.228515792,657,0.424590362524,0.00455774466563,0.0597943284867,0.999999937112,0.000140212130278,-0.000324176861742,3.20186874457e-05,1793254899201137152
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.644534432,761,738,719.355465568,686.355465568,650,916,800.644534432,839.644534432,658,635,657,0.423692038375,0.00456330101612,0.0598188115578,0.999999947849,0.000142226817731,-0.000288096906912,3.27755418062e-05,1793254899217803776
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783.055013743,761,738,719.944986257,686.944986257,650,916,800.055013743,839.055013743,658,635,657,0.422814414916,0.00456482303273,0.059840121456,0.999999959306,0.000137872077061,-0.000247542807953,3.3198844259e-05,1793254899234470656
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,761,738,720,687.522648522,650,916,800,839,657.477351478,635,657,0.421871470592,0.00456145623705,0.0598362469898,0.99999995847,0.000126091281305,-0.000256934421174,3.38334423472e-05,1793254899251137024
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,760.900633415,738,720,687.900633415,650,916,800,839,657.099366585,635,657,0.420916958008,0.00455923637067,0.0598183369906,0.999999950445,0.000115735157485,-0.000290773112431,3.41652793846e-05,1793254899267803392
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,760.322584254,738,720,687.322584254,650,916,800,839,657.677415746,635,657,0.419939104687,0.00456496562897,0.0597453000063,0.999999905536,0.000115924157,-0.000417617532929,3.29338484901e-05,1793254899284470016
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,760,738,720.259245938,687,650,916,800,839,658,635,657,0.41903422112,0.00456463697385,0.059707471618,0.999999882807,0.00010666981071,-0.00047118585044,3.15007679524e-05,1793254899301136640
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760,738,720.845850525,687,650,916,800,839,658,635,657,0.418221479013,0.00455665878532,0.0597141023247,0.999999902492,8.54910326958e-05,-0.000432225941377,2.98130581295e-05,1793254899317803264
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760,738,720.573015601,687.426984399,650,916,800,839,658,635,657.426984399,0.417414829991,0.00455846545938,0.0597535643016,0.999999925536,9.03785478979e-05,-0.000373932332411,3.05693641466e-05,1793254899334469888
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760,738,720.006157738,687.993842262,650,916,800,839,658,635,657.993842262,0.416610202318,0.0045636681946,0.0598043903441,0.999999946076,0.000105580397632,-0.00030929383395,3.22064594576e-05,1793254899351136512
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760,738,720.584352381,687.415647619,650,916,800,839,658,635,657.415647619,0.415791595671,0.00456034548814,0.0598237512051,0.999999932468,0.000215811686283,-0.000295437838658,3.47367625632e-05,1793254899367803648
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760.161856554,737.838143446,721,687,649.838143446,916,800,839,658,635,657,0.414990399908,0.00455723499249,0.0598380320937,0.999999917678,0.000289635852971,-0.000281852374465,3.62624520596e-05,1793254899384470272
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760.737595255,737.262404745,721,687,649.262404745,916,800,839,658,635,657,0.414233725203,0.00455466713876,0.0598393230279,0.999999926662,0.000270363678074,-0.000268958688218,3.52192533122e-05,1793254899401136896
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,761,737.313566951,721,687.313566951,649.313566951,916,800,839,658,634.686433049,657.313566951,0.413459452563,0.00455404758112,0.0598265542005,0.99999992412,0.000258277415035,-0.00028952570098,3.50369044406e-05,1793254899417803264
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,761,737.889733738,721,687.889733738,649.889733738,916,800,839,658,634.110266262,657.889733738,0.4126704424,0.00455505964403,0.0598020108824,0.999999910402,0.000252209067776,-0.000338114717004,3.55754830681e-05,1793254899434469888
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,687.520580644,650,916,800,839,658,634.479419356,657.520580644,0.411918162237,0.00455433478917,0.0597599001198,0.99999988858,0.000241620587538,-0.000404086722473,3.42612764999e-05,1793254899451136512
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760.930036447,738,721,687,650,916,800,839,658,635,657,0.411187983998,0.00455327642906,0.0597226982167,0.99999986772,0.00022983525799,-0.000458988345042,3.26559991064e-05,1793254899467803136
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760.356346814,738,721,687,650,916,800,839,658,635,657,0.410554347666,0.0045527766104,0.0597507743867,0.999999894074,0.000217135166025,-0.000404564263929,3.21122241953e-05,1793254899484470272
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760.217574023,738,721,687.217574023,650,916,800,839,658,635,657.217574023,0.409940166083,0.00455155908691,0.0597839298948,0.999999917546,0.000205880550139,-0.000348500372861,3.26858642613e-05,1793254899501137152
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,760.791873875,738,721,687.791873875,650,916,800,839,658,635,657.791873875,0.409357881804,0.00454916484281,0.0598254132839,0.999999938004,0.000196995881733,-0.000289747919852,3.50915741789e-05,1793254899517803264
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,650,916,800,839,658,635,657.621327705,0.408778580543,0.0045475186549,0.0598439984586,0.999999946557,0.00018988759715,-0.000263617502145,3.65341140412e-05,1793254899534469632
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,650,916,800,839,658,635,657.027425285,0.408200974718,0.00454629764766,0.059849568728,0.999999949635,0.00018378897474,-0.000256028823317,3.74292066462e-05,1793254899551136000
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,650,916,800,839,658,634.447601146,657,0.407636481591,0.00454350712967,0.059834651993,0.99999994672,0.000169361666901,-0.000276720027996,3.61002142549e-05,1793254899567802880
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,760.869703487,738,721,688,650,915.869703487,800,839,658,634.130296513,657,0.407086085315,0.00454080449646,0.0598212293183,0.999999944223,0.000154953788481,-0.000293842813304,3.46488710616e-05,1793254899584469760
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,760.296041741,738,721,688,650,915.296041741,800,839,658,634.703958259,657,0.406581496637,0.00453865947197,0.0598162655565,0.999999946105,0.000141984082787,-0.00029416438714,3.31475940508e-05,1793254899601137664
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,760.284343331,738,721,688,649.715656669,915,800,839,658,635,657,0.406110444333,0.00453714775597,0.0598178901153,0.999999949137,0.000134390480971,-0.000287413618796,3.25443266821e-05,1793254899617804544
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,760.871897827,738,721,688,649.128102173,915,800,839,658,635,657,0.405675153765,0.00453631137229,0.0598265401683,0.999999953379,0.000132529719551,-0.000273121217239,3.28986572046e-05,1793254899634470912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,760.546781952,738,721,688,649.453218048,915.453218048,800,839,658,635,657,0.405247390504,0.0045357668605,0.059820536187,0.999999951636,0.000129405662339,-0.000280854543831,3.32159850034e-05,1793254899651137536
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.032576698,760.032576698,738,721,688,649.967423302,916,800,839,657.967423302,635,657,0.404822466793,0.00453527536667,0.0598094639173,0.999999947474,0.000126112892654,-0.000296689556239,3.35080519773e-05,1793254899667804416
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.608211962,760.608211962,738,721,688,649.391788038,916,800,839,657.391788038,635,657,0.404409892625,0.00453431110266,0.0597820128067,0.99999993193,0.000125879316875,-0.000345207803744,3.35510017303e-05,1793254899684470528
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.815488405,760.815488405,738,721.184511595,687.815488405,649.184511595,916,800,839,657.184511595,635,657,0.404023066376,0.00453351039612,0.0597620884198,0.99999992017,0.000125809065132,-0.000377753640999,3.36854414478e-05,1793254899701136896
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.237773045,760.237773045,738,721.762226955,687.237773045,649.762226955,916,800,839,657.762226955,635,657,0.403691110329,0.00453305823918,0.0597582038744,0.999999920686,0.000126086865929,-0.000376261439928,3.4014851155e-05,1793254899717803264
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,760.345778913,738,721.654221087,687.345778913,650,915.654221087,800,839,658,635,657,0.403408224638,0.0045318529728,0.0597703097536,0.999999929764,0.000125633711016,-0.000351383511615,3.48850627603e-05,1793254899734469632
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,760.933413346,738,721.066586654,687.933413346,650,915.066586654,800,839,658,635,657,0.403159661239,0.00453012094298,0.059793600156,0.99999994348,0.000124669288024,-0.000310148404758,3.61335389566e-05,1793254899751136256
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.513846575,688,649.486153425,915.513846575,800,839,658,635,657,0.402925527504,0.00452959295863,0.0598118895957,0.999999950942,0.000129591812627,-0.000282615564277,3.80972647895e-05,1793254899767803136
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,761,738,722,688.092969235,649.092969235,915.907030765,800,839,658,634.907030765,657,0.40269580354,0.00452906798677,0.0598274984125,0.999999954939,0.000143759720696,-0.000260493842105,3.99849849537e-05,1793254899784470016
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,688.670059681,649.670059681,915.329940319,800,839,658,634.329940319,657,0.402479440187,0.00452775745296,0.0598324763161,0.999999945591,0.000202153815529,-0.000257431209737,4.10009467092e-05,1793254899801137152
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.755181347,688.755181347,649.755181347,915.244818653,800,839,658,634.244818653,657,0.4022704323,0.00452606415569,0.059831563993,0.999999935187,0.000242590802393,-0.000262785152811,4.14652683516e-05,1793254899817804032
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.18353488,688.18353488,649.18353488,915.81646512,800,839,658,634.81646512,657,0.40207124382,0.00452385987724,0.0598227883393,0.999999926571,0.000259055420544,-0.000279375050155,4.11931619804e-05,1793254899834470656
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,761,738,721.402225977,688,649,915.597774023,800,839,658,635,657,0.401902315644,0.00452182537565,0.0598176814329,0.99999993293,0.000220161698638,-0.000291138941691,3.01234459719e-05,1793254899851136768
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.994661399,688,649,915.005338601,800,839,658,635,657,0.40174769733,0.00451987116024,0.059814309448,0.99999994269,0.000155089459438,-0.000300620652156,1.39476266692e-05,1793254899867802880
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.57456699,761,738,721.42543301,688,649.57456699,915.57456699,800,839,657.42543301,634.42543301,657.57456699,0.401628324468,0.00451522361858,0.0598188387493,0.999999944714,0.000152432352655,-0.000295056367692,1.66561205889e-05,1793254899884470016
+380,6.333333333,POSE2_TO_POSE3_RETREAT,784,761,738,721.152827411,688,650,916,800,839,657.152827411,634.152827411,657.847172589,0.401514982969,0.00451245747176,0.059822458097,0.99999994602,0.000152495170564,-0.000290429553727,1.88608489377e-05,1793254899901136640
+381,6.350000000,POSE2_TO_POSE3_RETREAT,784,761,738,721.72686745,688,650,916,800,839,657.72686745,634.72686745,657.27313255,0.401417381403,0.00451494420004,0.0598233714674,0.999999945564,0.000158490206401,-0.000288763618433,1.92038510204e-05,1793254899917803264
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.690239683,761,738,721.690239683,688.309760317,650,916,800,839,658,635,657,0.401331782495,0.00451469883622,0.0598245715876,0.999999945587,0.000160327164947,-0.000287595722283,2.02530595799e-05,1793254899934470400
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.099311071,761,738,721.099311071,688.900688929,650,916,800,839,658,635,657,0.401257078344,0.00451197356278,0.0598260319897,0.999999946066,0.000158389852784,-0.000286879894241,2.19432891901e-05,1793254899951137280
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.481402456,688.518597544,650,915.518597544,800,839,658,635,657,0.401192515086,0.00451384977634,0.0598235213046,0.999999944412,0.000162117009178,-0.000290526116616,2.21003130033e-05,1793254899967803904
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783,760.940397072,738,722,688.059602928,650,915.059602928,800,839,658,635,657,0.401131927454,0.00451608093184,0.0598203777056,0.999999942448,0.000166139822945,-0.000294984358562,2.2059259925e-05,1793254899984470784
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,760.366078182,738,722,688.633921818,650,915.633921818,800,839,658,635,657,0.401087981532,0.00451334999643,0.0598186959697,0.999999941824,0.000162834211767,-0.000298845415147,2.29823379001e-05,1793254900001136896
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,760.208763245,738.208763245,722,688.791236755,650,916,800,839,658,635,657,0.401050794466,0.00451152165351,0.0598175682192,0.999999941678,0.00016017880924,-0.000300723896895,2.34999869458e-05,1793254900017803264
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,760.784523232,738.784523232,722,688.215476768,650,916,800,839,658,635,657,0.401025489181,0.00451128002922,0.0598174143512,0.999999942405,0.000158666445563,-0.000299117097716,2.33049094378e-05,1793254900034469888
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,761,739,722,688,650,915.629861677,800,839,657.629861677,634.629861677,657,0.401005078748,0.00451168831836,0.0598179321206,0.999999942466,0.000159382785719,-0.000298523595406,2.34390232526e-05,1793254900051136256
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,761,739,722,688,650,915.038352507,800,839,657.038352507,634.038352507,657,0.400987595811,0.00451248530514,0.0598188515802,0.999999942125,0.000161432060201,-0.000298536121689,2.37700185037e-05,1793254900067802880
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,761,738.460836884,721.460836884,688,650,915,800,839,657,634.539163116,657,0.400978888149,0.00451170067631,0.0598206595968,0.999999943137,0.000160783590848,-0.000295465012503,2.39789661472e-05,1793254900084470016
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,688.115858925,650,915,800,839,657.115858925,634.884141075,657,0.400971656992,0.00451151940077,0.0598227100058,0.999999944088,0.000160721291051,-0.000292254342562,2.40958352648e-05,1793254900101136896
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,688.69315364,650,915,800,839,657.69315364,634.30684636,657,0.400967883171,0.0045141778691,0.0598254804348,0.999999944451,0.000163738503158,-0.00028933935082,2.38796817277e-05,1793254900117803520
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.275325394,761,738,721.275325394,688.724674606,650,915,800,839,658,634.275325394,657,0.400965608668,0.00451442006615,0.059826894752,0.999999944956,0.000163721510406,-0.00028760327993,2.38362342039e-05,1793254900134470144
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.863030631,761,738,721.863030631,688.136969369,650,915,800,839,658,634.863030631,657,0.400965035264,0.00451192080028,0.0598267704463,0.999999945627,0.000160261957123,-0.000287204793654,2.39887361676e-05,1793254900151136512
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9bf432a3481d4f965875cb94327e914b3cdb6ee
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
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+386,6.433333333,pose2_to_pose3_retreat,0.575766950234,0.010181772822,1.05002056528,0.546338098833,0.0188560133241,1.04969226546
+387,6.450000000,pose2_to_pose3_retreat,0.575738398245,0.0101818629968,1.05002040358,0.546309545316,0.0188560987901,1.04969211637
+388,6.466666667,pose2_to_pose3_retreat,0.575716655038,0.0101817378741,1.0500204849,0.546287803225,0.0188559774416,1.04969219737
+389,6.483333333,pose2_to_pose3_retreat,0.575700375684,0.0101816969914,1.05002062052,0.546271524828,0.0188559394405,1.04969232349
+390,6.500000000,pose2_to_pose3_retreat,0.575688763486,0.0101817382047,1.05002067146,0.546259911862,0.0188559779691,1.0496923722
+391,6.516666667,pose2_to_pose3_retreat,0.575680488514,0.0101817849515,1.050020665,0.546251635851,0.0188560213109,1.04969236868
+392,6.533333333,pose2_to_pose3_retreat,0.575674936788,0.0101817885171,1.05002066432,0.546246084422,0.0188560258878,1.04969236821
+393,6.550000000,pose2_to_pose3_retreat,0.575671962826,0.010181802688,1.05002058056,0.54624310939,0.0188560364329,1.04969228463
+394,6.566666667,pose2_to_pose3_retreat,0.575670107768,0.0101817817934,1.05002054456,0.546241254475,0.0188560159908,1.0496922478
+395,6.583333333,pose2_to_pose3_retreat,0.575669178652,0.0101817244676,1.05002055213,0.546240326707,0.018855963169,1.04969225348
+396,6.600000000,pose2_to_pose3_retreat,0.575668614314,0.0101816896483,1.05002055673,0.546239763188,0.0188559310855,1.04969225693
+397,6.616666667,pose2_to_pose3_retreat,0.575668287099,0.0101816694593,1.0500205594,0.546239436448,0.0188559124827,1.04969225893
+398,6.633333333,pose2_to_pose3_retreat,0.575668123098,0.0101816800089,1.05002056873,0.546239272229,0.0188559223162,1.04969226889
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+400,6.666666667,pose2_to_pose3_retreat,0.575667813494,0.0101817228944,1.05002059525,0.546238961707,0.0188559621704,1.04969229766
+401,6.683333333,pose2_to_pose3_retreat,0.575667721258,0.0101817356706,1.05002060315,0.546238869197,0.0188559740436,1.04969230622
+402,6.700000000,pose2_to_pose3_retreat,0.575667668726,0.0101817429472,1.05002060765,0.546238816509,0.0188559808058,1.0496923111
+403,6.716666667,pose2_to_pose3_retreat,0.575667389071,0.0101817816841,1.0500206316,0.546238536025,0.0188560168046,1.04969233708
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+405,6.750000000,pose2_to_pose3_retreat,0.57566712523,0.0101818209894,1.05002065142,0.546238271741,0.018856054678,1.04969235873
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..048c3090875da66acaf3469be58ca985ce7d3c79
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f1e15850520e03e9ddd9f2068cad0f797bb8d9cfad4c2f5ca4d4f8833a2bb6a
+size 26472472
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..653d9a6f418ad236c328b7f618231222a495b70a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
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+9,0.150000000,BASELINE,783,760.224934509,738.224934509,721.775065491,689,650,915.224934509,800,838,658,635,657,0.400962714102,0.00451186905538,0.0598352178926,0.999999950316,0.000155474656274,-0.000273237083184,2.31826543339e-05,1793254900765022208
+10,0.166666667,BASELINE,783,760.815131826,738.815131826,721.184868174,689,650,915.815131826,800,838,658,635,657,0.400961382773,0.0045113998966,0.0598344750614,0.999999949954,0.000155164271935,-0.000274733621654,2.31884984502e-05,1793254900781689088
+11,0.183333333,BASELINE,783,761,738.61884234,721.38115766,689,650,915.61884234,800,838.38115766,658,635,657.38115766,0.400960568575,0.0045112683416,0.0598339144944,0.99999994988,0.000154276607441,-0.000275503630669,2.31582817413e-05,1793254900798355712
+12,0.200000000,BASELINE,783,761,738.063840924,721.936159076,689,650,915.063840924,800,838.936159076,658,635,657.936159076,0.400959990238,0.00451129076565,0.059833437057,0.999999949937,0.000153125648854,-0.000275942274027,2.31116179036e-05,1793254900815022080
+13,0.216666667,BASELINE,783,761,738.530827567,721.469172433,689,649.469172433,915,800,839,658,635,657.469172433,0.400959688361,0.00451193398725,0.0598333318231,0.999999949441,0.000155812634983,-0.000276239281162,2.30518845857e-05,1793254900831689216
+14,0.233333333,BASELINE,783.128199498,760.871800502,738.871800502,721.128199498,689,649,915,800,839,657.871800502,635,657,0.400959457279,0.00451283351112,0.0598331599103,0.999999948894,0.000158701769145,-0.000276585506973,2.29429565437e-05,1793254900848356096
+15,0.250000000,BASELINE,783.716764726,760.283235274,738.283235274,721.716764726,689,649,915,800,839,657.283235274,635,657,0.400959351388,0.00451436365661,0.0598325748232,0.999999948446,0.000160525425887,-0.000277174587583,2.2663470013e-05,1793254900865022464
+16,0.266666667,BASELINE,783.699681626,760.300318374,738,722,689,649.300318374,915,800,839,657.300318374,635,657,0.400958932802,0.00451406183677,0.0598323511143,0.999999948389,0.000160185333072,-0.000277579354309,2.26460523691e-05,1793254900881689088
+17,0.283333333,BASELINE,783.120776936,760.879223064,738,722,689,649.879223064,915,800,839,657.879223064,635,657,0.400958224148,0.00451206061876,0.0598324626329,0.999999948692,0.000157838066871,-0.000277813144697,2.28717394322e-05,1793254900898355456
+18,0.300000000,BASELINE,783,761,738,721.544962296,689,650,915,800,839,658,635,657,0.400959066412,0.00451154344543,0.0598333659093,0.999999949278,0.000156468369777,-0.000276478756284,2.2843454049e-05,1793254900915022080
+19,0.316666667,BASELINE,783,761,738.03008839,721.03008839,689,649.96991161,915,800,839,658,635,657.03008839,0.400960175219,0.00451147552098,0.0598343637553,0.999999949864,0.000155399891431,-0.000274963251528,2.27544763786e-05,1793254900931688704
+20,0.333333333,BASELINE,783,761,738.606058692,721.606058692,689,649.393941308,915,800,839,658,635,657.606058692,0.400958701811,0.00451246001001,0.0598332903943,0.999999949161,0.000155120628568,-0.000277662366875,2.27791234257e-05,1793254900948355584
+21,0.350000000,BASELINE,783,761,739,722,689,649.186497186,915,800,838.813502814,658,635,657.813502814,0.400958005815,0.00451251019143,0.0598328112432,0.999999948839,0.000155063844106,-0.000278839971288,2.29050797999e-05,1793254900965022464
+22,0.366666667,BASELINE,783,761,739,722,689,649.776605524,915,800,838.223394476,658,635,657.223394476,0.400958992272,0.00451053837453,0.0598336180619,0.999999949353,0.000155488540206,-0.000276724770825,2.32502865251e-05,1793254900981689088
+23,0.383333333,BASELINE,783,761,738.640223071,722,688.640223071,649.640223071,915,800,838,658,635,657,0.400960442934,0.00450953955037,0.0598344282854,0.999999950074,0.000154389954015,-0.000274706202421,2.35049491462e-05,1793254900998355968
+24,0.400000000,BASELINE,783,761,738.061277445,722,688.061277445,649.061277445,915,800,838,658,635,657,0.400962176381,0.00450913345317,0.059835240583,0.999999950916,0.000152363415658,-0.000272746500072,2.37044541966e-05,1793254901015022592
+25,0.416666667,BASELINE,783,760.485734518,738,722,688.514265482,649,915,800,838,658,635,657,0.400960749835,0.00450963617627,0.0598343639223,0.999999950525,0.000152058611119,-0.000274358076024,2.35669198375e-05,1793254901031689216
+26,0.433333333,BASELINE,783,760,738.091181947,722,689,649.091181947,915,800,838.091181947,658,635,657,0.4009593675,0.00451034493719,0.0598335622214,0.999999950102,0.000152140002035,-0.000275869472231,2.3349274003e-05,1793254901048355584
+27,0.450000000,BASELINE,783,760,738.677749269,722,689,649.677749269,915,800,838.677749269,658,635,657,0.400960257576,0.00451158861891,0.0598342539522,0.999999950314,0.000153212307075,-0.00027453988399,2.29131403854e-05,1793254901065022208
+28,0.466666667,BASELINE,783,760.261225871,738.738774129,721.738774129,689,649.738774129,915,800,839,658,635,657,0.400961013928,0.0045117043934,0.0598347851795,0.999999950394,0.000154130282843,-0.00027374080259,2.28560443475e-05,1793254901081688832
+29,0.483333333,BASELINE,783,760.840934279,738.159065721,721.159065721,689,649.159065721,915,800,839,658,635,657,0.400961607246,0.00451044504081,0.0598351207235,0.999999950313,0.000154860102693,-0.000273588506998,2.32610650831e-05,1793254901098355456
+30,0.500000000,BASELINE,783,761,738,721.418737421,688.581262579,649.418737421,915,800,839,657.581262579,634.581262579,657,0.400961418985,0.00450992304461,0.0598347949707,0.999999950434,0.000154067004867,-0.000273606961158,2.31325444726e-05,1793254901115022592
+31,0.516666667,BASELINE,783,761,738,721.995820075,688.004179925,649.995820075,915,800,839,657.004179925,634.004179925,657,0.400960935171,0.00450967987918,0.059834219149,0.999999950629,0.000152698016879,-0.000273689984206,2.28022656041e-05,1793254901131689984
+32,0.533333333,BASELINE,783,760.427847381,738,721.427847381,688.572152619,649.427847381,915,800,839,657.572152619,634.572152619,657,0.400958711286,0.00451154249341,0.0598329664559,0.999999949528,0.000154800821756,-0.000276486762054,2.31256373058e-05,1793254901148356352
+33,0.550000000,BASELINE,783,760,738.151636667,721.151636667,689,649.151636667,915,800,838.848363333,658,635,657,0.400957433028,0.00451286646908,0.0598323805836,0.999999948806,0.000156460058757,-0.000278146981232,2.32900171369e-05,1793254901165022976
+34,0.566666667,BASELINE,783,760,738.740217504,721.740217504,689,649.740217504,915,800,838.259782496,658,635,657,0.400958916199,0.00451259407505,0.0598337303998,0.999999949229,0.000156768155489,-0.000276475129577,2.29825164109e-05,1793254901181689344
+35,0.583333333,BASELINE,783,760.323498437,738.676501563,721.676501563,688.676501563,650,915,800,838.323498437,658,634.676501563,657,0.400959599973,0.00451189279995,0.0598339606698,0.999999949425,0.0001564003892,-0.000275973949636,2.29594061452e-05,1793254901198355968
+36,0.600000000,BASELINE,783,760.902591995,738.097408005,721.097408005,688.097408005,650,915,800,838.902591995,658,634.097408005,657,0.400959652146,0.00451085266719,0.0598333063899,0.999999949444,0.000155498625651,-0.000276397713638,2.31609918752e-05,1793254901215023104
+37,0.616666667,BASELINE,783,760.520387585,738,721,688.479612415,650,915,800,839,658,634,657,0.40096120856,0.00451072867733,0.0598344740164,0.999999950039,0.000155514957089,-0.000274212238625,2.33492829991e-05,1793254901231689472
+38,0.633333333,BASELINE,783.055931333,760.055931333,738,721,689,650,915,800,839,658,634.055931333,657,0.400962725726,0.00451075454763,0.0598357478128,0.999999950668,0.000155504419375,-0.000271902078514,2.34827416931e-05,1793254901248355584
+39,0.650000000,BASELINE,783.629637589,760.629637589,738,721,689,650,915,800,839,658,634.629637589,657,0.400961063543,0.00451045266021,0.0598345937647,0.999999950595,0.000153526427702,-0.000273322284836,2.31334866268e-05,1793254901265022464
+40,0.666666667,BASELINE,784,760.790665803,738,721,689,649.790665803,915,800,839,658,634.790665803,657,0.400960156556,0.00451026739896,0.0598342409745,0.99999995063,0.000152304531141,-0.00027389216807,2.29507777664e-05,1793254901281689088
+41,0.683333333,BASELINE,784,760.20005864,738,721,689,649.20005864,915,800,839,658,634.20005864,657,0.400960625054,0.00451029455602,0.0598353475635,0.999999950871,0.00015245975621,-0.000272913306629,2.30714095505e-05,1793254901298355712
+42,0.700000000,BASELINE,783.616621683,760.383378317,738.383378317,721.383378317,688.616621683,649.383378317,915.383378317,800,839,658,634.383378317,657,0.400960475598,0.00451132321678,0.0598354079403,0.999999950394,0.000154684194185,-0.000273402257354,2.31593737295e-05,1793254901315022592
+43,0.716666667,BASELINE,783.036857684,760.963142316,738.963142316,721.963142316,688.036857684,649.963142316,915.963142316,800,839,658,634.963142316,657,0.400960009595,0.00451286489817,0.0598349323945,0.999999949539,0.000157968587213,-0.000274643095421,2.3230603912e-05,1793254901331688960
+44,0.733333333,BASELINE,783,761,738.461035109,722,688.538964891,650,916,800,839,657.461035109,635,657,0.400959805055,0.00451426460069,0.0598345048694,0.99999994938,0.000159294225468,-0.000274491973792,2.27961932345e-05,1793254901348355584
+45,0.750000000,BASELINE,783,760.886275632,738,722,689,650,915.886275632,800,839,657,635,657,0.400959681785,0.00451516906569,0.0598340700821,0.999999949293,0.00015994065955,-0.00027445863827,2.24805359044e-05,1793254901365021952
+46,0.766666667,BASELINE,783,760.314718897,738,722,689,650,915.314718897,800,839,657,635,657,0.400959814231,0.00451411860388,0.0598335929339,0.999999949308,0.000158388096324,-0.000275279923986,2.27811536557e-05,1793254901381688576
+47,0.783333333,BASELINE,783,760,738,722,689,649.733092894,915,800,839,657.266907106,635,657,0.400960301706,0.00451344175533,0.059833968574,0.99999994944,0.000158056810184,-0.000274971985593,2.29693209854e-05,1793254901398355456
+48,0.800000000,BASELINE,783,760,738,722,689,649.139128332,915,800,839,657.860871668,635,657,0.400961224221,0.00451322271762,0.0598353891874,0.999999949718,0.000159222028686,-0.000273280340554,2.30196960368e-05,1793254901415022592
+49,0.816666667,BASELINE,783.442638818,760,738,721.557361182,689,649.442638818,915,800,839,658,635,657,0.400961671566,0.00451315749493,0.0598361442571,0.999999949915,0.00015937466143,-0.000272458095028,2.31630919155e-05,1793254901431689472
+50,0.833333333,BASELINE,783.979391803,760.020608197,738,721.020608197,689,649.979391803,915.020608197,800,839,658,634.979391803,657,0.400961977883,0.00451308635354,0.0598366702008,0.999999950106,0.000159069663853,-0.000271920266313,2.33189068997e-05,1793254901448356352
+51,0.850000000,BASELINE,783.40322078,760.59677922,738,721.59677922,689,649.40322078,915.59677922,800,839,658,634.40322078,657,0.400962400654,0.00451158726497,0.059836507491,0.999999950797,0.000154777692797,-0.000271880602757,2.30424525884e-05,1793254901465022464
+52,0.866666667,BASELINE,783,760.823647521,738,722,688.823647521,649.176352479,915.823647521,800,838.823647521,658,634.176352479,657,0.400962647524,0.00451007255195,0.0598362596377,0.999999951246,0.000151816495286,-0.000271907288456,2.29469450005e-05,1793254901481689088
+53,0.883333333,BASELINE,783,760.236142236,738,722,688.236142236,649.763857764,915.236142236,800,838.236142236,658,634.763857764,657,0.400962484293,0.00450852141174,0.0598358132788,0.999999951167,0.000151957898463,-0.000272088662567,2.3273301378e-05,1793254901498355712
+54,0.900000000,BASELINE,783,760.347441811,738,722,688,649.652558189,915,800,838,658,635,657,0.400961880532,0.00450833730945,0.0598352026558,0.999999950941,0.000152149464141,-0.000272805997784,2.3369245333e-05,1793254901515022336
+55,0.916666667,BASELINE,783,760.928390469,738,722,688,649.071609531,915,800,838,658,635,657,0.400960980704,0.00450907195881,0.0598344816349,0.999999950613,0.000152374742762,-0.00027388353889,2.33103349171e-05,1793254901531688960
+56,0.933333333,BASELINE,783,760.496798003,738,722,688.503201997,649.503201997,915,800,838,657.496798003,635,657,0.400961216712,0.00451116594157,0.0598352127729,0.999999950493,0.000154146258689,-0.000273358859959,2.29614302284e-05,1793254901548355840
+57,0.950000000,BASELINE,783,760.077168435,738,722,689,650,915,800,838.077168435,657.077168435,635,657,0.400961449511,0.00451302527554,0.0598358397272,0.999999950381,0.000155808877482,-0.000272852887554,2.26362427319e-05,1793254901565022464
+58,0.966666667,BASELINE,783,760.651248909,738,722,689,650,915,800,838.651248909,657.651248909,635,657,0.40096063335,0.00451214299457,0.0598344811359,0.999999950156,0.000155370427812,-0.000273917899601,2.27263164553e-05,1793254901581689088
+59,0.983333333,BASELINE,783,760.767640364,738,721.767640364,688.767640364,650,915,800,839,658,635,657,0.400960345135,0.00451155130328,0.0598340536859,0.999999950143,0.000154606608348,-0.000274386347301,2.28632157933e-05,1793254901598355712
+60,1.000000000,BASELINE,783,760.17564855,738,721.17564855,688.17564855,650,915,800,839,658,635,657,0.400960874045,0.00451140936898,0.0598350673999,0.999999950458,0.000153339201143,-0.000273931468983,2.30725889972e-05,1793254901615022080
+61,1.016666667,BASELINE,783,760,738,721.408304635,688.408304635,650,915,800,839,658,635,657,0.400960668773,0.00451198380547,0.0598355479373,0.999999950534,0.000153626481518,-0.000273497789484,2.30337157541e-05,1793254901631688704
+62,1.033333333,BASELINE,783,760,738,721.988866415,688.988866415,650,915,800,839,658,635,657,0.400960153761,0.00451286046726,0.0598358035361,0.999999950508,0.000154569659605,-0.000273073053451,2.28901113225e-05,1793254901648355584
+63,1.050000000,BASELINE,783,760.562094293,738.562094293,721.437905707,689,650,915,800,839,658,635,657,0.400961980103,0.00451292481091,0.0598364192618,0.999999950713,0.000156735371589,-0.000271068945019,2.3017954743e-05,1793254901665021952
+64,1.066666667,BASELINE,783,761,738.864184809,721.135815191,689,650,915,800,839,658,634.864184809,657,0.400963001828,0.00451238397273,0.0598365554409,0.99999995086,0.00015727758243,-0.000270201465403,2.31177597254e-05,1793254901681688576
+65,1.083333333,BASELINE,783,761,738.288402305,721.711597695,689,650,915,800,839,658,634.288402305,657,0.400961268734,0.00450993412573,0.0598351153399,0.999999950811,0.000152483099369,-0.000273116079916,2.31095423059e-05,1793254901698355456
+66,1.100000000,BASELINE,783,760.703128119,738.296871881,722,689,650,915.296871881,800,839,658,634.296871881,657,0.400961131904,0.00450938295454,0.0598354880125,0.999999950941,0.000151877727524,-0.000272962102686,2.32794765602e-05,1793254901715022336
+67,1.116666667,BASELINE,783,760.108328528,738.891671472,722,689,650,915.891671472,800,839,658,634.891671472,657,0.400962597014,0.00451073721199,0.0598376799059,0.999999951258,0.000155476365814,-0.000269728620051,2.36281960874e-05,1793254901731688960
+68,1.133333333,BASELINE,783,760,738.531846889,722,689,650,916,800,839,658,635,657,0.400963086973,0.00451157973846,0.059837111958,0.999999951129,0.000156101408506,-0.000269889749789,2.31157050828e-05,1793254901748355840
+69,1.150000000,BASELINE,783,760,738,722,689,650,915.959159427,800,839,658,635,657,0.400963345741,0.00451214359524,0.0598360350939,0.999999950938,0.000155876828397,-0.000270776165123,2.24895089314e-05,1793254901765022464
+70,1.166666667,BASELINE,783,760,738,722,689,650,915.382736246,800,839,658,635,657,0.400963420341,0.00451054736555,0.0598363437463,0.999999951213,0.000153193959992,-0.000271260836327,2.28871385884e-05,1793254901781688832
+71,1.183333333,BASELINE,783,760,738,722,689,650,915.199037265,800,839,658,634.800962735,657,0.400963492909,0.00450929045565,0.0598364011821,0.999999951446,0.000151341064781,-0.000271413456109,2.32278994585e-05,1793254901798355456
+72,1.200000000,BASELINE,783,760,738,722,689,650,915.791383432,800,839,658,634.208616568,657,0.40096356146,0.00450870406056,0.0598359621996,0.999999951609,0.000151128243113,-0.000270909923572,2.34562844572e-05,1793254901815022080
+73,1.216666667,BASELINE,783,760,738,722,689,650,916,800,839,658,634,657,0.400962619495,0.00450999158361,0.0598359508123,0.9999999511,0.000153494839001,-0.000271477305042,2.32249121035e-05,1793254901831688704
+74,1.233333333,BASELINE,783,760,738,722,689,650,916,800,839,658,634,657,0.400961128157,0.00451229787176,0.0598361718892,0.999999950213,0.000157263748265,-0.00027262689434,2.27435903317e-05,1793254901848355584
+75,1.250000000,BASELINE,783,760.522913018,738.522913018,721.477086982,689,650,915.477086982,800,838.477086982,658,634.522913018,657.522913018,0.400961630802,0.00451251325383,0.0598361652971,0.9999999504,0.000157136209481,-0.000272017002211,2.26957413336e-05,1793254901865022208
+76,1.266666667,BASELINE,783,760.903729552,738.903729552,721.096270448,688.903729552,650,915,800,838.096270448,658,635,657.903729552,0.400961956375,0.00451222491585,0.05983598475,0.999999950639,0.000156109619353,-0.000271726890592,2.27224564711e-05,1793254901881689088
+77,1.283333333,BASELINE,783,760.326654345,738.326654345,721.673345655,688.326654345,650,915,800,838.673345655,658,635,657.326654345,0.400960451079,0.00451041335768,0.059835043488,0.999999950616,0.000152442459088,-0.000273869057129,2.29158065253e-05,1793254901898355712
+78,1.300000000,BASELINE,783,760,738,721.742017247,688.257982753,650,915,800,839,658,635,657,0.400960040457,0.00450971686346,0.0598349649642,0.99999995072,0.000150514517395,-0.000274543946296,2.30400345955e-05,1793254901915022336
+79,1.316666667,BASELINE,783,760,738,721.147516299,688.852483701,650,915,800,839,658,635,657,0.400961057752,0.00451047488252,0.0598360118146,0.999999951007,0.00015085524971,-0.000273304887473,2.30740984639e-05,1793254901931688960
+80,1.333333333,BASELINE,783,760.43061871,738.43061871,721.43061871,689,650,915.43061871,800,839,658,634.56938129,657,0.400962037164,0.00451006084148,0.0598361620565,0.999999951235,0.000151580353719,-0.000272059529173,2.31528201124e-05,1793254901948355328
+81,1.350000000,BASELINE,783,761,738.996611311,721.996611311,689,649.996611311,915.996611311,800,838.996611311,658,634.003388689,657,0.400962989239,0.0045092644375,0.0598360154675,0.999999951441,0.000152413996354,-0.000270828503355,2.32449360957e-05,1793254901965022208
+82,1.366666667,BASELINE,783,761,738.417710428,721.417710428,689,649.417710428,915.417710428,800,838.417710428,658,634.582289572,657,0.400961422134,0.00450922324214,0.0598357113723,0.999999951366,0.000150137333183,-0.000272384708335,2.31088172823e-05,1793254901981689088
+83,1.383333333,BASELINE,783,761,738,721.164198344,689,649.164198344,915,800,838.164198344,658,635,657,0.400960106429,0.00450944061252,0.0598353003664,0.999999951155,0.00014910369107,-0.000273732739839,2.29967066717e-05,1793254901998355712
+84,1.400000000,BASELINE,783,761,738,721.753901915,689,649.753901915,915,800,838.753901915,658,635,657,0.400959442206,0.00451032803271,0.0598346123109,0.999999950606,0.000151291225627,-0.000274541308858,2.29468111276e-05,1793254902015022592
+85,1.416666667,BASELINE,783.337676608,760.662323392,738,722,689,650,915,800,839,657.662323392,635,657,0.400961217677,0.00450984647979,0.0598360089764,0.999999951259,0.000151344117569,-0.000272110598716,2.30788239305e-05,1793254902031689216
+86,1.433333333,BASELINE,783.917204869,760.082795131,738,722,689,650,915,800,839,657.082795131,635,657,0.400964740512,0.00450838443718,0.0598388987666,0.999999952757,0.000149868129873,-0.000267359843248,2.33411236238e-05,1793254902048355840
+87,1.450000000,BASELINE,783.507968294,760,738,721.507968294,689,650,915,800,839,657.492031706,635,657,0.400962624892,0.00450877276719,0.0598372477553,0.999999952091,0.000150154992711,-0.000269707170176,2.2999516113e-05,1793254902065022208
+88,1.466666667,BASELINE,783,760,738,721.065849589,689,650,915,800,838.934150411,658,635,657,0.400960107547,0.00450936112304,0.0598352000842,0.999999951204,0.00015069967379,-0.000272704041652,2.26661003757e-05,1793254902081688832
+89,1.483333333,BASELINE,783,760,738,721.637935232,689,650,915,800,838.362064768,658,635,657,0.400961726894,0.00450911617933,0.0598359215281,0.999999951453,0.000150967499648,-0.000271599038874,2.31695023191e-05,1793254902098355456
+90,1.500000000,BASELINE,783,760.218395515,738,722,689,650,915.218395515,800,838.218395515,658,635,657,0.40096207434,0.00450899962361,0.0598359681711,0.999999951453,0.000151059594685,-0.000271519878734,2.34789335011e-05,1793254902115022080
+91,1.516666667,BASELINE,783,760.813293171,738,722,689,650,915.813293171,800,838.813293171,658,635,657,0.400960229093,0.00450910440191,0.0598348514935,0.999999951026,0.000150848739194,-0.000273209216329,2.34539694547e-05,1793254902131688448
+92,1.533333333,BASELINE,783,760.604707424,738,722,689,650,916,800,839,658,635,657,0.400960832794,0.00450971193714,0.0598354728304,0.999999951206,0.000151500696748,-0.000272193319984,2.33741504259e-05,1793254902148355584
+93,1.550000000,BASELINE,783,760.02860764,738,722,689,650,916,800,839,658,635,657,0.400962556647,0.00451054943389,0.0598368891366,0.99999995166,0.000152547305808,-0.000269940047151,2.32692406725e-05,1793254902165022976
+94,1.566666667,BASELINE,783.548505537,760.548505537,738,722,689,649.451494463,916,800,839,658,635,657,0.400962780653,0.00450853520454,0.0598364057222,0.999999951697,0.000151445090802,-0.000270418957183,2.33404731095e-05,1793254902181689344
+95,1.583333333,BASELINE,783.871887089,761,738,722,688.871887089,649.128112911,916,800,839,658,635,657,0.400962831223,0.00450747162503,0.0598360120109,0.999999951645,0.000151082293915,-0.000270812092277,2.33289605722e-05,1793254902198355968
+96,1.600000000,BASELINE,783.283509008,761,738,722,688.283509008,649.716490992,916,800,839,658,635,657,0.40096254025,0.00451035873636,0.0598362971946,0.999999951358,0.000153779354469,-0.000270384172234,2.29871080373e-05,1793254902215022336
+97,1.616666667,BASELINE,783,760.699948932,738,722,688,650,915.699948932,800,839,658,635,657,0.400962669613,0.0045118251741,0.059836918441,0.999999951324,0.000155239788518,-0.000269676121934,2.29535351436e-05,1793254902231688960
+98,1.633333333,BASELINE,783,760.120869332,738,722,688,650,915.120869332,800,839,658,635,657,0.400963189861,0.00451197047501,0.0598378522044,0.999999951531,0.000155550237902,-0.000268707568226,2.32066428558e-05,1793254902248355584
+99,1.650000000,BASELINE,783,760.456059788,738.456059788,722,688.456059788,649.543940212,915,800,839,658,634.543940212,657,0.400961701337,0.00451107454934,0.0598366782024,0.999999951301,0.000153989316698,-0.000270466281067,2.30851783715e-05,1793254902265022208
+100,1.666666667,BASELINE,783,761,738.967716237,721.967716237,689,649.032283763,915,800,839,658,634,657,0.400959930015,0.00451001886031,0.0598351301801,0.999999950999,0.00015210534545,-0.000272661125073,2.28637670717e-05,1793254902281688832
+101,1.683333333,BASELINE,783,761,738.39380535,721.39380535,689,649.60619465,915,800,839,658,634,657,0.400962304104,0.00451089081273,0.0598366352198,0.999999951549,0.000153083388892,-0.000270103311872,2.2623229646e-05,1793254902298355456
+102,1.700000000,BASELINE,783.185629861,760.814370139,738,721.185629861,689,650,915.185629861,800.185629861,838.814370139,658,634.185629861,657,0.40096306175,0.00451088347228,0.0598372398078,0.999999951724,0.000153506936444,-0.000269209738156,2.26642993478e-05,1793254902315022080
+103,1.716666667,BASELINE,783.777144069,760.222855931,738,721.777144069,689,650,915.777144069,800.777144069,838.222855931,658,634.777144069,657,0.400960285004,0.00450895353577,0.0598358755356,0.999999951087,0.00015271806469,-0.000271955066167,2.33211101313e-05,1793254902331688448
+104,1.733333333,BASELINE,783.639323692,760.360676308,738.360676308,722,689,649.639323692,915.639323692,800.639323692,838,658,635,657,0.400959768622,0.00450979077134,0.059835407556,0.999999950837,0.000152948077799,-0.000272752011529,2.32213707374e-05,1793254902348355072
+105,1.750000000,BASELINE,783.06061654,760.93938346,738.93938346,722,689,649.06061654,915.06061654,800.06061654,838,658,635,657,0.400960618643,0.0045123007777,0.0598354813902,0.999999950824,0.000153794012426,-0.000272371148959,2.26642925979e-05,1793254902365021696
+106,1.766666667,BASELINE,783,761,738.485012867,722,689,649,915,800,838,658,635,657.514987133,0.400961143192,0.00451278929867,0.059836226691,0.999999950831,0.00015516139214,-0.000271584934773,2.24794923204e-05,1793254902381688576
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,760,738,722,689,650,915,800,839,658,635,657,0.400959080378,0.00450983557667,0.059835269018,0.999999951144,0.00014994181635,-0.000273309449567,2.30538336173e-05,1793254902424797696
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760.592312001,738.592312001,722,689,650,915.592312001,800,839,658,635,657,0.400960228886,0.00451077561219,0.0598356567318,0.999999951124,0.000151721602526,-0.000272409684855,2.29195551868e-05,1793254902441464576
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,760.820673583,738.820673583,721.820673583,689,649.820673583,915.820673583,800,838.820673583,657.820673583,635,657,0.400960905832,0.00451212239449,0.0598359272808,0.999999950919,0.00015417547678,-0.000271790423964,2.28420792542e-05,1793254902458131200
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760.245357223,738.245357223,721.245357223,689,649.245357223,915.245357223,800,838.245357223,657.245357223,635,657,0.400960541472,0.00451436735824,0.0598359391054,0.999999950302,0.000158117877744,-0.000271790573549,2.28900349994e-05,1793254902474797568
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760,738,721.331778391,689,649.331778391,915,800,838.331778391,657.331778391,635,657.331778391,0.400959909359,0.00451263805707,0.0598353627844,0.999999950274,0.00015599583244,-0.000273097361353,2.31334736074e-05,1793254902491463936
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760,738,721.910266766,689,649.910266766,915,800,838.910266766,657.910266766,635,657.910266766,0.400959078146,0.0045079534975,0.0598343491189,0.999999950653,0.000149364272483,-0.00027537576364,2.35222730159e-05,1793254902508130304
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760.496779051,738,722,689,650,915.496779051,800,839,658,635,657.503220949,0.400959096649,0.00450860696662,0.0598343641767,0.999999950707,0.00014978985841,-0.000274957553805,2.33811549246e-05,1793254902524796928
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,761,738.083748562,722,689,650,916,800,839,658,635,657.083748562,0.400959643507,0.00451000010451,0.0598347951998,0.999999950775,0.000151376027993,-0.000273856984191,2.32030419715e-05,1793254902541463552
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,761,738.664686817,722,689,650,916,800,839,658,635,657.664686817,0.400962400901,0.00450996624393,0.059836574425,0.999999951255,0.000152160289985,-0.000271644625984,2.33828855965e-05,1793254902558130176
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,761,738.757301657,722,689,650,915.757301657,800,839,658,635,658,0.400968029329,0.0045101600704,0.0598392287294,0.999999952157,0.000152836851241,-0.000267914470535,2.34128480505e-05,1793254902574796800
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,761,738.18328558,722,689,650,915.18328558,800,839,658,635,658,0.400977577124,0.00451066472208,0.0598430776409,0.999999953618,0.000153366385616,-0.000262112306302,2.32382013883e-05,1793254902591463680
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,761,738,722,688.610154944,650,915,800,839,658,635,658,0.401009249687,0.00451013407395,0.0598558629691,0.999999959714,0.000151395997293,-0.000238966347361,2.33733155552e-05,1793254902608130304
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,761,738,722,688.037439604,650,915,800,839,658,635,658,0.401051300637,0.00450911778273,0.0598728402325,0.999999967164,0.000148252933834,-0.000207684681972,2.36537336994e-05,1793254902624796928
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.554230104,761,738,722,688.554230104,650,915,800,839,658,635,657.445769896,0.401116331818,0.0045087821896,0.05989352086,0.999999973045,0.000149597183523,-0.000175926738049,2.41131178867e-05,1793254902641463808
+121,2.016666667,POSE1_TO_POSE2_PRESS,784,761,738.142967295,722,689,650,915.142967295,800,839,658,635,657.142967295,0.401185656694,0.00450861158259,0.0599129418994,0.999999977593,0.000150687693199,-0.000146657531543,2.44541691587e-05,1793254902658130432
+122,2.033333333,POSE1_TO_POSE2_PRESS,784,761,738.718811425,722,689,650,915.718811425,800,839,658,635,657.718811425,0.401263115337,0.00450879636397,0.0599277648671,0.999999980628,0.000150059613508,-0.000125024590284,2.43990307046e-05,1793254902674796800
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.704933854,761,738.704933854,721.704933854,689,650,916,800,839,658,635,657.704933854,0.401347609481,0.00450859398277,0.0599373333645,0.999999982624,0.000148113372406,-0.000110652288772,2.39012425345e-05,1793254902691463424
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.128287339,761,738.128287339,721.128287339,689,650,916,800,839,658,635,657.128287339,0.401438817568,0.00450802213397,0.0599418875422,0.999999983911,0.000144909215559,-0.000103208786199,2.29810356345e-05,1793254902708130304
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.553296697,916,800,839,657.553296697,635,657,0.401550340882,0.00450690008145,0.0599458271991,0.999999985324,0.000141694634524,-9.37510409648e-05,2.20165907368e-05,1793254902724796672
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.021959364,915.978040636,800,839,657.021959364,635,657.021959364,0.401668472233,0.00450571378047,0.0599495297555,0.999999986657,0.000138544770557,-8.39593561951e-05,2.10254384039e-05,1793254902741463552
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.616489816,915.383510184,800,839,657.616489816,635,657.616489816,0.401807340806,0.00450695704693,0.0599516347577,0.999999987161,0.000137160115766,-8.04877270211e-05,1.96679500364e-05,1793254902758130432
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.797308434,915,800,839,658,635,657.797308434,0.401954235648,0.00450818117794,0.0599525748251,0.999999987637,0.000135946834205,-7.69073153655e-05,1.81657451226e-05,1793254902774797056
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.226243407,915,800,839,658,635,657.226243407,0.402115717487,0.00450937053188,0.0599513977295,0.999999988073,0.000135045008033,-7.31292018376e-05,1.64005312158e-05,1793254902791463424
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.348744424,915.348744424,800,838.651255576,658,635,657,0.402300125561,0.00450835489934,0.0599508117897,0.999999989013,0.000130458459986,-6.88877754403e-05,1.44251173191e-05,1793254902808129792
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,761,738,721,689,649.926306131,915.926306131,800,838.073693869,658,635,657,0.402499575952,0.00450589253692,0.0599506137174,0.999999990234,0.000123454301713,-6.43423610296e-05,1.23117873757e-05,1793254902824796416
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738.519300636,721.519300636,689,650,916,800.519300636,838,658,635,657,0.402729857893,0.00450595351526,0.0599509564709,0.999999991075,0.000119948559239,-5.79950986469e-05,9.90367848827e-06,1793254902841463040
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,761,738.889288335,722,688.889288335,650,916,800.889288335,838.110711665,658,635,657,0.402974080439,0.00450612529754,0.059951970633,0.99999999194,0.000115941715426,-5.12110731564e-05,7.37569619539e-06,1793254902858129920
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,761,738.31399364,722,688.31399364,650,916,800.31399364,838.68600636,658,635,657,0.403257879914,0.00450521337416,0.0599554703228,0.999999993237,0.000107684963581,-4.37001089154e-05,4.52560212758e-06,1793254902874796544
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,738,722,688.261938771,649.738061229,916,800,839,657.738061229,635,657,0.403546222962,0.00450502261452,0.0599521353893,0.999999993648,0.000101654122186,-4.86539378916e-05,1.561427136e-06,1793254902891463168
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,738,722,688.838637462,649.161362538,916,800,839,657.161362538,635,657,0.403840025799,0.00450569844465,0.0599405875992,0.999999992816,9.82980567312e-05,-6.8586143043e-05,-1.5398335482e-06,1793254902908130048
+137,2.283333333,POSE1_TO_POSE2_PRESS,782.575537767,760.575537767,738,722,688.575537767,649.424462233,916,800,838.575537767,657.424462233,635,657,0.40416120958,0.0045054597901,0.059931924515,0.999999992317,9.29508348213e-05,-8.18748767375e-05,-4.79193224999e-06,1793254902924796672
+138,2.300000000,POSE1_TO_POSE2_PRESS,782.01358815,760.01358815,738,722,688,650,916,800,838.01358815,658,635,657,0.404494103438,0.00450484580653,0.0599242324977,0.999999991884,8.67198999342e-05,-9.29810148263e-05,-8.10833611691e-06,1793254902941463296
+139,2.316666667,POSE1_TO_POSE2_PRESS,782.5925444,760.5925444,738,722,688,650,916,800,838.5925444,658,635,657,0.404871612765,0.00450339792819,0.0599103129989,0.999999989771,7.5906840765e-05,-0.000120666233243,-1.16620294738e-05,1793254902958130176
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,738.170257294,722,688,650,916,800,839,658,635,657,0.405269556419,0.00450240237857,0.059902925956,0.999999988437,6.54826145054e-05,-0.000136396787053,-1.52898979095e-05,1793254902974796544
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,738.745016108,722,688,650,916,800,839,658,635,657,0.405716048401,0.00450248148298,0.0599110588867,0.999999990597,5.59821888233e-05,-0.000123725147171,-1.90939928575e-05,1793254902991463168
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,761,738.680466126,721.680466126,688,650,916,800,839,658,635,657,0.406202164277,0.00450165037851,0.0599324171174,0.999999994857,4.46946167354e-05,-8.81526610815e-05,-2.27553791219e-05,1793254903008130048
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,761,738.106140507,721.106140507,688,650,916,800,839,658,635,657,0.406719875726,0.00450009348648,0.0599643210142,0.999999998554,3.19819985135e-05,-3.43193659043e-05,-2.63029718818e-05,1793254903024796672
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,916,800,839,658,635,657,0.407260071104,0.00449655954716,0.0599908421853,0.999999999328,2.10747178762e-05,7.4736207083e-06,-2.90390223446e-05,1793254903041463552
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,916,800.073371795,839,658,635,657,0.40780569318,0.0044900220208,0.0600115757047,0.999999998795,7.78840924813e-06,3.73395189726e-05,-3.0893277249e-05,1793254903058130176
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,916,800.652084191,839,658,635,657,0.408353584568,0.00446588459263,0.0600008520604,0.999999999297,-2.47020947665e-05,3.85878581123e-06,-2.7941413465e-05,1793254903074796800
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738,721.228225666,687.771774334,650,916,800.771774334,839,658,635.228225666,657,0.408914793938,0.00444883091906,0.0599894194788,0.999999997922,-5.17310440948e-05,-2.68677321523e-05,-2.75473992823e-05,1793254903091463424
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738,721.800491554,687.199508446,650,916,800.199508446,839,658,635.800491554,657,0.409496079552,0.00444245569759,0.0599769182061,0.999999995604,-7.05269363713e-05,-5.34423889802e-05,-3.1009231884e-05,1793254903108130048
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,738,721.623699596,687,650,916,800,839,658,635.623699596,657,0.410137145342,0.00444781613999,0.0599784607209,0.999999995479,-7.41713581364e-05,-4.6392556194e-05,-3.72516421836e-05,1793254903124796928
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,738,721.045994488,687,650,916,800,839,658,635.045994488,657,0.410810206851,0.00445945778208,0.0599875197968,0.999999996331,-6.9706360858e-05,-2.13461158552e-05,-4.49822820371e-05,1793254903141463296
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738,721,687.544612157,650,916,800,839,658,635,657,0.411498927785,0.00445025201283,0.0599915642469,0.999999994903,-8.79707289417e-05,-1.00150522846e-05,-4.85335945634e-05,1793254903158129920
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.866583994,650,916,800,839,658,635,657,0.412184903549,0.00444438736434,0.059988746946,0.999999996022,-7.60346084504e-05,-1.26280868428e-05,-4.48886907398e-05,1793254903174796800
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,721,687.28752975,650,916,800,839,658,635,657,0.412857185102,0.00445570639581,0.0599644588329,0.999999997217,4.33450458149e-05,-5.78545228987e-05,-1.8414438177e-05,1793254903191464192
+154,2.566666667,POSE1_TO_POSE2_PRESS,782.710977103,761,738,721,686.710977103,650,916,800,839,658,635,657,0.413566812198,0.00446432480134,0.0599395633088,0.999999989432,9.84323819884e-05,-0.000106587147616,-9.25130318559e-06,1793254903208131328
+155,2.583333333,POSE1_TO_POSE2_PRESS,782.136891705,761,738,721,686.136891705,650,916,800,839,658,635,657,0.414313273181,0.00447027958817,0.059914068694,0.999999983188,9.01083939565e-05,-0.000158777922754,-1.71620735263e-05,1793254903224797952
+156,2.600000000,POSE1_TO_POSE2_PRESS,782.448065257,761,738,721,686.448065257,650,916,800,839,658,635,656.551934743,0.41514329821,0.0044628873114,0.0599475991055,0.999999992793,6.81073259668e-05,-9.62945673703e-05,-2.24074435547e-05,1793254903241464064
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738,720.964164971,687.071670058,650,916,800,839.035835029,657.964164971,635,656.035835029,0.41599939503,0.00445241325387,0.0599980297949,0.999999998676,4.39534107015e-05,-1.62505709572e-06,-2.66965733195e-05,1793254903258130432
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738,720.385353111,688.229293779,650,916,800,839.614646889,657.385353111,635,656.614646889,0.416854078597,0.00445856680891,0.0600245002282,0.999999997547,5.20681318261e-05,3.66788811969e-05,-2.91422321664e-05,1793254903274797056
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761,738,720.191527769,688.808472231,650,916,800,840,657.191527769,635,657,0.417710483232,0.00446127759194,0.0600355809306,0.999999996442,5.71910363674e-05,5.36279948111e-05,-3.11228745619e-05,1793254903291463680
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761,738,720.764562268,688.235437732,650,916,800,840,657.764562268,635,657,0.418570316034,0.00445713067089,0.0600160066205,0.999999997501,5.63545009994e-05,2.80401448462e-05,-3.21772443724e-05,1793254903308130048
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,761,738,720.659074166,687.659074166,650,916,800,839.659074166,658,635,657,0.419424344445,0.00445527172941,0.0599902557241,0.999999999095,-2.08010428705e-05,-1.41030371365e-05,-3.433498497e-05,1793254903324796928
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761,738,720.080388957,687.080388957,650,916,800,839.080388957,658,635,657,0.420274324877,0.00445500840963,0.059960197319,0.99999998558,-0.000151180948184,-6.77917947732e-05,-3.72622083396e-05,1793254903341463552
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.507930325,761,738,720.507930325,687,650,916,800,839.507930325,657.492069675,635,657.507930325,0.421094715056,0.00445832106265,0.059921662507,0.999999978875,-0.00015090232773,-0.000134189262531,-3.83676943698e-05,1793254903358130432
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.903910303,761,738,720.903910303,687,650,916,800,840,657.096089697,635.096089697,657.903910303,0.421932112721,0.00446095379972,0.0598894399008,0.999999972625,-0.000132560537635,-0.000188805952353,-3.91183749802e-05,1793254903374797056
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.324375358,761,738,720.324375358,687,650,916,800,840,657.675624642,635.675624642,657.324375358,0.422879095449,0.00445726324287,0.0598958552388,0.999999975737,-0.000129391114079,-0.000173836048808,-3.95626120132e-05,1793254903391463424
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.253619354,761,738,720,687.507238708,650,916,800,840,658,636,657,0.423870323251,0.00445469393903,0.0599323180993,0.999999984959,-0.000124943016667,-0.000113434543153,-4.00514480388e-05,1793254903408130048
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.829656099,761,738,720,688.659312198,650,916,800,840,658,636,657,0.424917798395,0.00445355004434,0.0600069793223,0.9999999921,-0.000118869384338,4.72256862521e-06,-4.05969808672e-05,1793254903424796672
+168,2.800000000,POSE1_TO_POSE2_PRESS,784,761,738,720,688.595686763,650,916.404313237,800,840,658,635.595686763,657.404313237,0.425906115857,0.00445265059067,0.060037510319,0.999999991266,-0.000111797677217,5.73839255291e-05,-4.09549833154e-05,1793254903441463552
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,761,738,720,688.021608933,650,916.978391067,800,840,658,635.021608933,657.978391067,0.426869593903,0.00445185377392,0.0600495117427,0.999999990303,-0.000104306895367,8.25446669585e-05,-4.12342448877e-05,1793254903458130176
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,761,738,720,687.431587802,650,916.431587802,800,840,657.431587802,635.568412198,657.431587802,0.427797693667,0.004448862334,0.0600248439859,0.99999999225,-0.000103017419426,5.40363369901e-05,-4.43489592422e-05,1793254903474797056
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687,650,916.156203025,800,840,657.156203025,636,657,0.428717349572,0.00444727590952,0.0599955804658,0.999999993864,-9.92946061264e-05,1.42915402517e-05,-4.69832010272e-05,1793254903491463936
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,761,738,720,687,650,916.736249998,800,840,657.736249998,636,657,0.429617848447,0.00444973479546,0.0599577384599,0.999999993686,-8.83109833138e-05,-5.02465257071e-05,-4.80127908639e-05,1793254903508130304
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,761,738,720,687,650,916.686683089,800,840,658,636,657,0.430564083981,0.00444877045076,0.0599380888916,0.999999992129,-8.19837524008e-05,-8.13291687806e-05,-4.90515649271e-05,1793254903524796928
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687,650,916.112101181,800,840,658,636,657,0.431548457814,0.00444495158288,0.0599336094199,0.999999992011,-7.95393392161e-05,-8.45143967882e-05,-5.00979974981e-05,1793254903541463552
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,761,738,720,687.917510303,650,916,800,840,658,636,657,0.432556897908,0.00444058857296,0.059975905702,0.999999995497,-7.9493807041e-05,-1.44505469674e-05,-4.97750634447e-05,1793254903558129920
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.030217015,761,738,719.969782985,688.93956597,650,916.030217015,800,840,658,636,657.030217015,0.433565989811,0.00443636214107,0.0600266069863,0.999999993266,-7.98391106617e-05,6.83408710189e-05,-4.9222924616e-05,1793254903574796544
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.630119493,761,738,719.369880507,687.739761015,650,916.630119493,800,840,658,636,657.630119493,0.434477390201,0.00443719727634,0.0600220115522,0.999999994199,-7.65904232575e-05,5.63508295599e-05,-5.06073383128e-05,1793254903591463168
+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738,719,687,650,916.779993634,800,840,657.779993634,636,657.779993634,0.435399267093,0.00443455840956,0.0600060851212,0.999999995455,-7.65494867533e-05,2.47525807342e-05,-5.11562838897e-05,1793254903608130048
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,738,719,687,650,916.206211989,800,840,657.206211989,636,657.206211989,0.436337990581,0.00442633326796,0.0599719381866,0.999999994661,-8.16666865337e-05,-3.83761170552e-05,-5.03617776607e-05,1793254903624796928
+180,3.000000000,POSE1_TO_POSE2_PRESS,784.63101523,761,738,719,687,650,916,800,840.36898477,657.36898477,636,657,0.437238074477,0.00442640221525,0.0599386461887,0.999999990871,-7.62283276917e-05,-9.93018638399e-05,-5.08624950579e-05,1793254903641463808
+181,3.016666667,POSE1_TO_POSE2_PRESS,784.055024605,761,738,719,687,650,916,800,840.944975395,657.944975395,636,657,0.43811648094,0.00443112426825,0.0599058338249,0.9999999839,-6.48681455997e-05,-0.000158991718901,-5.2089851832e-05,1793254903658130432
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,761,738,718.465316384,687,650,916.534683616,800.534683616,840.465316384,658,636,657,0.439016849346,0.00442709851827,0.0599068774134,0.9999999842,-6.56431193538e-05,-0.000156898317515,-5.17054527343e-05,1793254903674797056
+183,3.050000000,POSE1_TO_POSE2_PRESS,784.123048251,761,738,718,687,650,916.876951749,801,840,658,636,657,0.439930847794,0.00442249673949,0.0599233967194,0.999999987975,-6.81793924086e-05,-0.000129499917073,-5.13036183164e-05,1793254903691463680
+184,3.066666667,POSE1_TO_POSE2_PRESS,784.701087347,761,738,718,687,650,916.298912653,801,840,658,636,657,0.440886668296,0.00441918144064,0.0599839176133,0.999999995515,-7.24889900186e-05,-3.26615275417e-05,-5.14667821959e-05,1793254903708130048
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761.277248192,738,718,686.722751808,650,916.277248192,800.722751808,840,657.722751808,636,657,0.441787566043,0.00441890934136,0.0600096937536,0.999999996075,-7.11679242834e-05,1.0233849295e-05,-5.1768019897e-05,1793254903724796672
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761.851397607,738,718,686.148602393,650,916.851397607,800.148602393,840,657.148602393,636,657,0.442629647716,0.00442189616227,0.059998262218,0.99999999659,-6.38170599569e-05,-4.6376002707e-06,-5.22171193004e-05,1793254903741463808
+187,3.116666667,POSE1_TO_POSE2_PRESS,784.563441974,762,738,718.873116051,686,649.563441974,917,800,840.436558026,657.436558026,636,657,0.443429823079,0.00442004434283,0.0599633237024,0.999999994689,-6.65755306597e-05,-5.76721925332e-05,-5.35135777548e-05,1793254903758130688
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.02515512,761.97484488,738,719.949689759,686,649,916.97484488,800.02515512,841,658,636,657.02515512,0.444214590011,0.00441673411439,0.0599212368414,0.999999988286,-7.34008626722e-05,-0.000122505214614,-5.50660212194e-05,1793254903774797312
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.60474964,761.39525036,738,718.79050072,686,649,916.39525036,800.60474964,841,658,636,657.60474964,0.444982282449,0.00441852104823,0.0599025214325,0.999999982405,-9.20543686261e-05,-0.000153653962501,-5.57386958347e-05,1793254903791463936
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,738,718,685.816570797,649,916.183429203,801,841,658,636,658,0.445722563151,0.00442281310442,0.0598765492388,0.999999972049,-0.000112406378543,-0.000200595483116,-5.50360680368e-05,1793254903808130560
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,761,738,718,685.239852873,649,916.760147127,801,841,658,636,658,0.44640407077,0.00443247636872,0.0598350178419,0.999999949785,-0.000136400137075,-0.000281398135184,-5.13846680897e-05,1793254903824796928
+192,3.200000000,POSE1_TO_POSE2_PRESS,785,761,738,718,684.66450497,649,916.66450497,800.66450497,841.33549503,658,636,657.66450497,0.447119350962,0.00445620989234,0.0598156738156,0.999999943171,-0.000124309973987,-0.000308951355825,-5.24808329262e-05,1793254903841463552
+193,3.216666667,POSE1_TO_POSE2_PRESS,785,761,738,718,684.090132576,649,916.090132576,800.090132576,841.909867424,658,636,657.090132576,0.447858677677,0.00448996164564,0.0598121275241,0.999999950056,-8.65275302819e-05,-0.000298590198958,-5.69573336065e-05,1793254903858130176
+194,3.233333333,POSE1_TO_POSE2_PRESS,785,761,738,718,684,649,916,800.497628228,841.502371772,658,636,657.497628228,0.448565616426,0.00450369180134,0.0598215427135,0.99999995526,-7.0883919151e-05,-0.000284542847874,-5.90768765097e-05,1793254903874796800
+195,3.250000000,POSE1_TO_POSE2_PRESS,785.086211285,761,738.086211285,717.913788715,684,648.913788715,916.086211285,800.913788715,841,658,636,657.913788715,0.449251147341,0.0045100058414,0.0598256320602,0.999999956391,-6.31446627618e-05,-0.000282111817756,-6.03554306646e-05,1793254903891463680
+196,3.266666667,POSE1_TO_POSE2_PRESS,785.665249159,761,738.665249159,717.334750841,684,648.334750841,916.665249159,800.334750841,841,658,636,657.334750841,0.449848761989,0.0044952291296,0.0597854849185,0.99999993402,-7.70343874803e-05,-0.000350007654146,-5.93343335949e-05,1793254903908130560
+197,3.283333333,POSE1_TO_POSE2_PRESS,785.757349041,761,738.757349041,717.242650959,683.514698082,648,917,800,841,658,636,657,0.450432197477,0.00448929580134,0.0597468919127,0.999999911025,-8.35724800315e-05,-0.000409016720515,-6.05907901723e-05,1793254903924797440
+198,3.300000000,POSE1_TO_POSE2_PRESS,785.182189229,761,738.182189229,717.817810771,682.364378458,648,917,800,841,658,636,657,0.450996202964,0.00449548071745,0.0597104285696,0.999999890788,-8.00365015699e-05,-0.000455848086148,-6.49682186472e-05,1793254903941464320
+199,3.316666667,POSE1_TO_POSE2_PRESS,785.391361961,761,738,717.608638039,682,648,916.608638039,800,841,658,635.608638039,657.391361961,0.451560134423,0.00449300893622,0.0597019764922,0.999999885939,-8.32225769285e-05,-0.00046560925259,-6.63696786425e-05,1793254903958130944
+200,3.333333333,POSE1_TO_POSE2_PRESS,785.964167411,761,738,717.035832589,682,648,916.035832589,800,841,658,635.035832589,657.964167411,0.452124031611,0.00448652373183,0.0597065110128,0.999999888822,-8.95251350223e-05,-0.000458183913382,-6.6391418605e-05,1793254903974797568
+201,3.350000000,POSE1_TO_POSE2_PRESS,786,761,738,717,681.44366938,648,916,800,841,658,635.55633062,658,0.452671067544,0.00448660278914,0.0597225896952,0.999999901715,-9.35786481063e-05,-0.000427886073367,-6.87547308928e-05,1793254903991463936
+202,3.366666667,POSE1_TO_POSE2_PRESS,786,761.145968859,738,717,681,647.854031141,916,800,841,658,635.854031141,658,0.453189151192,0.00448645796218,0.0597295326358,0.999999906153,-9.70542177081e-05,-0.000416236372008,-7.08711571254e-05,1793254904008130304
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,761.724301979,738,717,681,647.275698021,916,800,841,658,635.275698021,658,0.45362481018,0.00448435250131,0.0597071334306,0.999999884689,-9.92624447171e-05,-0.00046434396868,-7.17934683272e-05,1793254904024796928
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.699665314,761.699665314,738,717,681,647,916,800,841,658,635.300334686,658,0.454041026332,0.00448100610922,0.0596810578701,0.99999986332,-0.000103986887105,-0.000507144753502,-7.31470582321e-05,1793254904041463552
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.1257283,761.1257283,738,717,681,647,916,800,841,658,635.8742717,658,0.4544395302,0.00447652923952,0.0596516331828,0.999999842462,-0.000111003580077,-0.000545111075432,-7.48935393193e-05,1793254904058130176
+206,3.433333333,POSE1_TO_POSE2_PRESS,785,761,738,717,680.539873321,647,916,800,841,658,636,658,0.454845870578,0.00447737749726,0.05964846366,0.999999843636,-0.000111767157257,-0.000542545352581,-7.66843261738e-05,1793254904074797056
+207,3.450000000,POSE1_TO_POSE2_PRESS,785,761,738,717,680,646.951360872,916,800,841,658,635.951360872,658,0.455251489194,0.00447947554306,0.059653378904,0.99999985158,-0.000109502812652,-0.00052800041209,-7.78779207515e-05,1793254904091463936
+208,3.466666667,POSE1_TO_POSE2_PRESS,785,761,738,717,680,646.370353214,916,800,841,658,635.370353214,658,0.455625147622,0.00447890317696,0.0596661731674,0.999999864612,-9.32959138738e-05,-0.00050678477887,-7.23990514253e-05,1793254904108130304
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,761,738,716.791918586,679.791918586,646,916,800,841,658,635.208081414,657.791918586,0.455973691285,0.00447820718136,0.0596706160488,0.999999871803,-6.70555298273e-05,-0.000497858662424,-6.35086452679e-05,1793254904124796928
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,761,738,716.218007685,679.218007685,646,916,800,841,658,635.781992315,657.218007685,0.456278080452,0.00447729383188,0.0596603763016,0.999999868225,-2.31752020509e-05,-0.000510538839231,-4.86203912673e-05,1793254904141463552
+211,3.516666667,POSE1_TO_POSE2_PRESS,785.358125395,761,738,716.358125395,679,646,916,800.358125395,841,658,636,657.358125395,0.456535058832,0.00447925336679,0.0596361240823,0.999999850038,-8.28626555829e-06,-0.000545731662026,-4.50742744852e-05,1793254904158129920
+212,3.533333333,POSE1_TO_POSE2_PRESS,785.935619721,761,738,716.935619721,679,646,916,800.935619721,841,658,636,657.935619721,0.456762995868,0.00448297268068,0.0596032885527,0.99999982192,-1.11559383794e-05,-0.000594714557743,-4.84757576592e-05,1793254904174796544
+213,3.550000000,POSE1_TO_POSE2_PRESS,786,761,738,716.474339711,679,646,916,800.474339711,841,658,636,657.474339711,0.456971919713,0.00448160966685,0.059573747195,0.999999794223,-1.61464446035e-05,-0.000639335102058,-5.04463370373e-05,1793254904191463424
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,761,738,716.114332167,678.885667833,646,916,800,841,658,636,657.114332167,0.457176025494,0.00448023989369,0.059548473593,0.999999769459,-2.11998775397e-05,-0.000676666066068,-5.24842272261e-05,1793254904208130048
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,761,738,716.691101282,678.308898718,646,916,800,841,658,636,657.691101282,0.457370292718,0.00448142198476,0.0595387899438,0.999999762338,-2.54315398091e-05,-0.000686726859648,-5.55205308353e-05,1793254904224796672
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,761,738,717,678,646,916,800,841,658,635.733090092,657.733090092,0.457550288815,0.00448084772471,0.0595326355324,0.999999756422,-3.08486398602e-05,-0.000694923321618,-5.7320779191e-05,1793254904241463552
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761,738,717,678,646,916,800,841,658,635.158389104,657.158389104,0.457713827937,0.00447824810251,0.0595305509142,0.999999751948,-3.76327446472e-05,-0.00070096990164,-5.76956520976e-05,1793254904258130176
+218,3.633333333,POSE1_TO_POSE2_PRESS,785.58355113,761.41644887,738,717,678,646,916,800,841.41644887,658,635.41644887,657.41644887,0.457855470231,0.00447812376108,0.0595288574099,0.999999748604,-3.97488806103e-05,-0.000705537251788,-5.8558401512e-05,1793254904274796800
+219,3.650000000,POSE1_TO_POSE2_PRESS,785.008661052,761.991338948,738,717,678,646,916,800,841.991338948,658,635.991338948,657.991338948,0.457988781703,0.00447894115951,0.0595273127081,0.999999745695,-4.00890514056e-05,-0.000709541817302,-5.96067673266e-05,1793254904291463168
+220,3.666666667,POSE1_TO_POSE2_PRESS,785,761.416792624,738,716.416792624,678,645.416792624,916,800,841.416792624,658,636,657.416792624,0.45810339514,0.00448001357602,0.0595254863588,0.999999743752,-4.06962452106e-05,-0.000712198976364,-6.01008028776e-05,1793254904308129792
+221,3.683333333,POSE1_TO_POSE2_PRESS,785.170689081,761,738,716.170689081,678,645.170689081,916,800,841,658,636,657.170689081,0.458210228478,0.004480133453,0.0595243567713,0.999999742386,-4.13604852683e-05,-0.000714054168763,-6.03578690451e-05,1793254904324796672
+222,3.700000000,POSE1_TO_POSE2_PRESS,785.747125619,761,738,716.747125619,678,645.747125619,916,800,841,658,636,657.747125619,0.458299247485,0.00447797976194,0.0595248937071,0.999999742372,-4.21506216392e-05,-0.000714051986593,-6.00717874983e-05,1793254904341463552
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,761,738,717,678,645.676770081,916.323229919,800,841,658,636,657.676770081,0.458374255517,0.00447780834122,0.0595236816293,0.999999740691,-4.27284267624e-05,-0.000716351655722,-6.02639800947e-05,1793254904358130432
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,761,738,717,678,645.100925374,916.899074626,800,841,658,636,657.100925374,0.458438313522,0.00447918612958,0.0595211026401,0.999999737695,-4.31402881329e-05,-0.000720450297157,-6.08299595946e-05,1793254904374797312
+225,3.750000000,POSE1_TO_POSE2_PRESS,786,761.487862813,737.512137187,716.512137187,677.512137187,645,916.512137187,800,841.487862813,658,636,657.487862813,0.458487516568,0.0044801499591,0.059517541284,0.999999734112,-4.24839809562e-05,-0.000725389412011,-6.14920356481e-05,1793254904391463936
+226,3.766666667,POSE1_TO_POSE2_PRESS,785.922303436,761.922303436,737.077696564,716,677,645,916,800,841.922303436,658,636,658,0.458531805987,0.00448073912987,0.0595139881398,0.999999730562,-4.20415554372e-05,-0.000730245676794,-6.20453868275e-05,1793254904408130048
+227,3.783333333,POSE1_TO_POSE2_PRESS,785.343467011,761.343467011,737.656532989,716,677,645,916,800,841.343467011,658,636,658,0.458564764194,0.00447947917364,0.059511834476,0.999999728156,-4.4442780639e-05,-0.000733415539861,-6.17657489381e-05,1793254904424796928
+228,3.800000000,POSE1_TO_POSE2_PRESS,785.233269195,761,738,716,677,645,916,800,841,658,636,657.766730805,0.458594362387,0.00447835773616,0.0595112130049,0.999999727226,-4.58960723619e-05,-0.000734619470111,-6.14537338592e-05,1793254904441463808
+229,3.816666667,POSE1_TO_POSE2_PRESS,785.806940582,761,738,716,677,645,916,800,841,658,636,657.193059418,0.45861905742,0.00447743843468,0.0595128274133,0.999999728466,-4.59660752676e-05,-0.000732954577994,-6.10944718124e-05,1793254904458130176
+230,3.833333333,POSE1_TO_POSE2_PRESS,785.617928497,761,738,716.382071503,677,645,916,800,841,658,635.617928497,657.382071503,0.458637762725,0.00447893414234,0.059514541581,0.999999729986,-4.23559018665e-05,-0.00073112743797,-6.07157419372e-05,1793254904474796800
+231,3.850000000,POSE1_TO_POSE2_PRESS,785.042057269,761,738,716.957942731,677,645,916,800,841,658,635.042057269,657.957942731,0.458653429836,0.0044816548252,0.0595163063498,0.999999731621,-3.68790172459e-05,-0.00072921800029,-6.03271373232e-05,1793254904491463936
+232,3.866666667,POSE1_TO_POSE2_PRESS,785.549398661,761.549398661,737.450601339,717,677,645,916,800,841,658,635.549398661,658,0.458660953102,0.00448099316905,0.0595148893616,0.999999730131,-3.98638175633e-05,-0.000731077399085,-6.06262809786e-05,1793254904508130560
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,761.861867612,737.138132388,716.861867612,677,645,916.138132388,800,841.138132388,658,635.861867612,658,0.458666538573,0.0044802535773,0.0595131594012,0.999999728131,-4.23994619884e-05,-0.000733648067711,-6.08344545771e-05,1793254904524797184
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,761.285661271,737.714338729,716.285661271,677,645,916.714338729,800,841.714338729,658,635.285661271,658,0.458668013359,0.00448011194379,0.0595112318843,0.999999725331,-4.13963824026e-05,-0.000737532766507,-6.05822817933e-05,1793254904541463808
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,761,738,716.289718134,677,645,916.710281866,800,841.710281866,658,635,658,0.458669934719,0.00448022299799,0.0595097185076,0.99999972387,-4.08304276667e-05,-0.000739548800456,-6.0509011676e-05,1793254904558130176
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,761,738,716.864284572,677,645,916.135715428,800,841.135715428,658,635,658,0.458672295148,0.00448058249251,0.0595086123096,0.999999723737,-4.06942500941e-05,-0.000739727580143,-6.06116370472e-05,1793254904574797056
+237,3.950000000,POSE1_TO_POSE2_PRESS,786,761.450744211,738,717,676.549255789,645,916,800,841,658,635.450744211,657.549255789,0.458672864125,0.00448176896469,0.0595080931095,0.999999722999,-3.9092926017e-05,-0.000740784482498,-6.09272667537e-05,1793254904591463680
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.959858176,761.959858176,738,717,676.040141824,645,916,800,841,658,635.959858176,657.040141824,0.458672910065,0.00448306383361,0.0595077182807,0.999999722093,-3.72200397716e-05,-0.000742076677804,-6.12507381262e-05,1793254904608130048
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.380402355,761.380402355,738,717,676.619597645,645,916,800,841,658,635.380402355,657.619597645,0.458673372124,0.00448237905816,0.0595068442157,0.999999721502,-3.77861388856e-05,-0.000742881606084,-6.07945604676e-05,1793254904624796928
+240,4.000000000,POSE1_TO_POSE2_PRESS,785,761,738,716.803462632,676.803462632,645,916,800,841,658,635,657.803462632,0.458673968675,0.00448160912283,0.0595063300947,0.999999721217,-3.87391125273e-05,-0.000743247192002,-6.04019239124e-05,1793254904641463808
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+242,4.033333333,POSE1_TO_POSE2_PRESS,785.351678445,761,738,716.351678445,676.351678445,645,916.351678445,800,841,658,635.351678445,657.351678445,0.458674974949,0.00448077180183,0.0595064786261,0.999999721412,-3.90860094338e-05,-0.000743015917741,-5.98019367433e-05,1793254904674797056
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+248,4.133333333,POSE1_TO_POSE2_PRESS,785,761,738,716,676.170538353,645,916.170538353,800,841,658,635.170538353,658,0.458675283349,0.00448181595889,0.0595046661827,0.99999971947,-3.77430123686e-05,-0.000745656889321,-6.02615560328e-05,1793254904774797056
+249,4.150000000,POSE1_TO_POSE2_PRESS,785.41403239,761,738,716,676,645,916,800,841,658,635,658,0.458676425581,0.00448163927372,0.0595056781171,0.999999720742,-3.74036184663e-05,-0.000743968643715,-6.02359832109e-05,1793254904791463680
+250,4.166666667,POSE1_TO_POSE2_PRESS,786,761,738,716,676.002989665,645,916,800,841,658,635.002989665,658,0.458678267786,0.0044808381871,0.0595072161408,0.999999722539,-3.82698227734e-05,-0.00074153506531,-5.98599407409e-05,1793254904808130048
+251,4.183333333,POSE1_TO_POSE2_PRESS,786,761,738,716,676.582402295,645,916,800,841,658,635.582402295,658,0.458676309289,0.00448215174309,0.0595046870882,0.999999719848,-3.84595677215e-05,-0.000745105802656,-6.03472096584e-05,1793254904824796672
+252,4.200000000,HOLD_POSE2,785,761,738,717,677,645,916,800,841,658,635,658,0.458678177397,0.00447992468126,0.0595051246687,0.999999720741,-3.68509063149e-05,-0.000744096784516,-5.89872894285e-05,1793254904865740288
+253,4.216666667,HOLD_POSE2,785,761.57524156,738,717,677,645,916,800,841.57524156,658,635,658,0.458678000444,0.00448084684548,0.0595054966874,0.999999720911,-3.62876453032e-05,-0.00074389197137,-5.90328584069e-05,1793254904882406912
+254,4.233333333,HOLD_POSE2,785,761.845579999,738,717,677,645,916,800,841.845579999,658,635.154420001,658,0.45867798728,0.00448134444875,0.0595058492256,0.999999721051,-3.63761858152e-05,-0.000743694221287,-5.90986514881e-05,1793254904899073536
+255,4.250000000,HOLD_POSE2,785,761.255289057,738,717,677,645,916,800,841.255289057,658,635.744710943,658,0.458678436429,0.00448064367264,0.059506146778,0.999999721104,-3.83045224771e-05,-0.000743516407587,-5.9221529793e-05,1793254904915740416
+256,4.266666667,HOLD_POSE2,785,761,738,716.671674829,676.671674829,645,916,800,841,658,636,658,0.458679285693,0.00448038398967,0.0595065223481,0.999999721353,-3.91172568494e-05,-0.000743135390663,-5.92829955625e-05,1793254904932407040
+257,4.283333333,HOLD_POSE2,785,761,738,716.093148644,676.093148644,645,916,800,841,658,636,658,0.458680439865,0.00448046044287,0.059506957372,0.999999721751,-3.90798436008e-05,-0.000742599522227,-5.9297661749e-05,1793254904949073664
+258,4.300000000,HOLD_POSE2,785.482718096,761,738,716.482718096,676,645,916,800,841,658,635.517281904,658,0.458679425853,0.00448241718297,0.0595061072728,0.999999720959,-3.67389444374e-05,-0.000743775346776,-5.94135763516e-05,1793254904965740544
+259,4.316666667,HOLD_POSE2,785.94071064,761.05928936,738,716.94071064,676,645,916,800,841,658,635,658,0.458678068075,0.0044841657159,0.0595050875502,0.999999719975,-3.45011849575e-05,-0.000745198034613,-5.94960625355e-05,1793254904982407168
+260,4.333333333,HOLD_POSE2,785.353317994,761.646682006,738,716.353317994,676,645,916,800,841,658,635,658,0.458677354557,0.00448084557483,0.0595047537206,0.999999719385,-3.71196489435e-05,-0.000745893651735,-5.91077223445e-05,1793254904999074048
+261,4.350000000,HOLD_POSE2,785,761.767848067,737.767848067,716.232151933,676,645,916.232151933,800,841,658,635.232151933,658,0.458677529731,0.00447910478345,0.0595050034236,0.999999719416,-3.80733574208e-05,-0.000745831539203,-5.87670919731e-05,1793254905015740416
+262,4.366666667,HOLD_POSE2,785,761.185280391,737.185280391,716.814719609,676,645,916.814719609,800,841,658,635.814719609,658,0.458679046319,0.00447974790101,0.0595061339251,0.999999720389,-3.65142434216e-05,-0.000744625691143,-5.84984759932e-05,1793254905032406784
+263,4.383333333,HOLD_POSE2,785,761,737,717,676,645,916.607920913,800,840.607920913,658,635.607920913,658,0.458678937552,0.00448045763069,0.0595059191345,0.999999720758,-3.67340881099e-05,-0.00074409513661,-5.88017382593e-05,1793254905049073664
+264,4.400000000,HOLD_POSE2,785,761,737,717,676,645,916.0329903,800,840.0329903,658,635.0329903,658,0.458678070777,0.00448119842593,0.0595050769483,0.999999720845,-3.77835747476e-05,-0.000743879514485,-5.93717038627e-05,1793254905065740288
+265,4.416666667,HOLD_POSE2,785,761,737.539932456,716.460067544,676,645,916,800,841.079864912,658,635,658,0.458679005265,0.00448043293657,0.059505707041,0.999999720862,-3.85454611838e-05,-0.000743823554831,-5.93089675359e-05,1793254905082407168
+266,4.433333333,HOLD_POSE2,785.112923513,761.112923513,738,716.112923513,676.112923513,645,916,800,842,658,635.112923513,658,0.45867970186,0.00447984436426,0.0595061469855,0.999999720666,-3.88055144197e-05,-0.000744081522234,-5.91925125621e-05,1793254905099073792
+267,4.450000000,HOLD_POSE2,785.686692299,761.686692299,738,716.686692299,676.686692299,645,916,800,842,658,635.686692299,658,0.458678980113,0.00448035200469,0.0595054451687,0.999999719625,-3.70890157301e-05,-0.000745580973146,-5.90140123495e-05,1793254905115740416
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,761,738,716,676,645,916,800,841,658,635,658,0.458679291802,0.00447789126335,0.0595047509021,0.99999972026,-3.84025352915e-05,-0.000744748820532,-5.79231962522e-05,1793254905152848640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,761.572418147,738,716.572418147,676,645,916,800,841,658,635,658,0.458679298111,0.00447923861647,0.0595050956288,0.999999720156,-3.78510428377e-05,-0.000744901454431,-5.81068199676e-05,1793254905169515520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.854159874,761.854159874,738,716.854159874,676,645,916,800,841,658,635,658,0.458679324559,0.00448043338709,0.0595053718319,0.999999720127,-3.71831109848e-05,-0.000744954484775,-5.83602782943e-05,1793254905186182144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.27777427,761.27777427,738,716.27777427,676,645,916,800,841,658,635,658,0.458679410461,0.00448117770788,0.059505445741,0.999999720317,-3.61714295946e-05,-0.000744713468091,-5.88199006126e-05,1793254905202848512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785,761,738,716,676,645,916,800,841,658,635.307296454,658,0.45867990576,0.0044812628278,0.0595055352635,0.999999720623,-3.61860343296e-05,-0.000744287523626,-5.89883694785e-05,1793254905219515136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785,761,738,716,676,645,916,800,841,658,635.900446215,658,0.458680781887,0.00448073474585,0.0595056393099,0.999999721039,-3.71553110012e-05,-0.000743689555656,-5.88860015536e-05,1793254905236181760
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785,761,738,716,676,645,916,800,841,658,635.520267375,658,0.458680747075,0.00448033372902,0.0595056009373,0.999999720781,-3.77101178691e-05,-0.000744022436006,-5.87077107921e-05,1793254905252848640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785.056007745,761,738,716.056007745,676,645,916,800,841,658,635,658,0.458680552456,0.00448016991643,0.0595055012667,0.999999720487,-3.78196090662e-05,-0.000744423039457,-5.8574155164e-05,1793254905269515264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,785.630291692,761,738,716.630291692,676,645,916,800,841,658,635,658,0.458680579188,0.00448196395794,0.0595051001727,0.999999721107,-3.45818607279e-05,-0.000743713015172,-5.89962635277e-05,1793254905286181888
+277,4.616666667,POSE2_TO_POSE3_RETREAT,785.788149363,761,738,717,676,645,916,800,841,658,635,658,0.458677667821,0.00448323177133,0.0595034960251,0.999999719847,-3.2532190437e-05,-0.000745470855294,-5.93439740186e-05,1793254905302848512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,785.193443136,761,738,717,676,645,916,800,841,658,635,658,0.458669446737,0.00448354858725,0.0594997177238,0.999999715176,-3.26296102043e-05,-0.000751688609779,-5.95572329366e-05,1793254905319515392
+279,4.650000000,POSE2_TO_POSE3_RETREAT,785.388764971,761,738,717,676,645,916,800,841,658,635,658,0.458647522585,0.00448305519916,0.0594890818994,0.999999702196,-3.3441850173e-05,-0.000768744847477,-5.93367883119e-05,1793254905336182016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,785.964947966,761,738,717,676,645,916,800,841,658,635,658,0.458618992379,0.00448217122335,0.0594751401609,0.999999684805,-3.4598694716e-05,-0.000791026162914,-5.89072614168e-05,1793254905352848640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785.460813177,761,738,717,676,645,916,800,841,658,635.539186823,658,0.45856503725,0.00448209429495,0.0594546247158,0.999999656517,-3.51509897008e-05,-0.000825983484447,-5.90016674391e-05,1793254905369515264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785.116829814,761,738,716.883170186,676,645,916,800,841,658,636,658,0.45850698221,0.00448276461358,0.059434254357,0.999999629233,-3.46841330969e-05,-0.000858378721766,-5.93065678567e-05,1793254905386181888
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.708830481,761,738,716.291169519,676,645,916,800,841,658,636,658,0.458438950309,0.00448626151845,0.0594162059654,0.999999613146,-3.023144971e-05,-0.000877013889546,-6.03295596032e-05,1793254905402848512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,761.294106294,738,716.294106294,676,645,916,800,841,658,635.705893706,658,0.458361556516,0.00448710834336,0.0594018635372,0.99999959811,-2.83630135343e-05,-0.00089404403636,-6.05016953732e-05,1793254905419515136
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761.872873196,738,716.872873196,676,645,916,800,841,658,635.127126804,658,0.458275101507,0.00448539019957,0.0593911080506,0.999999584175,-2.89958276897e-05,-0.000909520708929,-5.98503016836e-05,1793254905436181760
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,761.551582889,738,717,676,645,916,800,841,658,635.448417111,658,0.458179412474,0.0044869761443,0.0593871453215,0.999999579852,-2.5632891242e-05,-0.000914390249893,-5.94044407086e-05,1793254905452848384
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,761.023116874,737.976883126,716.976883126,676,645,916,800,841,658,635.976883126,658,0.458080174554,0.00448935700259,0.0593853320249,0.9999995785,-2.12596594475e-05,-0.000916007364698,-5.89852682724e-05,1793254905469515264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,761.599325352,737.400674648,716.400674648,676,645,916,800,841,658,635.400674648,658,0.457958213891,0.00448850511548,0.0593891992072,0.999999582955,-1.96240493859e-05,-0.000911242232575,-5.7820459385e-05,1793254905486181888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,761.819897866,737.180102134,716.180102134,676,645,916,800,841,658,635,658,0.457828099075,0.00448861380947,0.0593924508251,0.99999958661,-1.66609528862e-05,-0.000907345549316,-5.67947091931e-05,1793254905502848512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761.228693525,737.771306475,716.771306475,676,645,916,800,841,658,635,658,0.457679371555,0.00449091513174,0.0593942973513,0.999999588467,-1.06677281334e-05,-0.0009054311933,-5.60863753719e-05,1793254905519515136
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786,761,738,717,676,645,916.354977243,800,841,658,635.354977243,658,0.457511992413,0.00449270771505,0.0593969007179,0.999999594406,-7.05296281209e-06,-0.000898948472651,-5.50377664078e-05,1793254905536181760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786,761,738,717,676,645,916.93389544,800,841,658,635.93389544,658,0.457332846692,0.00449417935553,0.0593999815451,0.999999602862,-4.9386718838e-06,-0.000889583753128,-5.37744913852e-05,1793254905552848384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786,761,738,717,676.508879161,645,917,800,841,658,635.491120839,658,0.45712598014,0.00449324669563,0.0594037607661,0.999999607643,-1.44538663227e-06,-0.00088430885743,-5.20477864241e-05,1793254905569515008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,785.916415487,761,738,716.916415487,677,645,916.916415487,800,841,657.916415487,635.083584513,658,0.456910386671,0.0044926135533,0.0594078034164,0.999999612351,2.77620403002e-06,-0.000879070273797,-5.02496105955e-05,1793254905586181888
+295,4.916666667,POSE2_TO_POSE3_RETREAT,785.340361799,761,738,716.340361799,677,645,916.340361799,800,841,657.340361799,635.659638201,658,0.456664429087,0.00449557118418,0.0594128677324,0.999999619509,1.02415380962e-05,-0.0008709394323,-4.83823097581e-05,1793254905602848512
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785.241927299,761,738,716.241927299,677,645.241927299,916,800,841,657.241927299,635.758072701,658,0.456408129443,0.00449833334845,0.0594212961983,0.999999629691,1.83311218514e-05,-0.000859145959739,-4.63614572989e-05,1793254905619514880
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785.833220893,761,738,716.833220893,677,645.833220893,916,800,841,657.833220893,635.166779107,658,0.456136894885,0.00450081323996,0.05943458282,0.999999644118,2.7322181766e-05,-0.000842063295928,-4.41188616314e-05,1793254905636181760
+298,4.966666667,POSE2_TO_POSE3_RETREAT,785.587337133,761,738,717,677.412662867,646,916,800,841.412662867,658,635.412662867,658,0.455843074769,0.00450335140112,0.0594601165727,0.999999675646,3.61903336348e-05,-0.000803544143855,-4.14213792512e-05,1793254905652848384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,785.012551322,761,738,717,677.987448678,646,916,800,841.987448678,658,635.987448678,658,0.455540381467,0.00450591245464,0.0594904618578,0.99999971202,4.50101983149e-05,-0.000756603233165,-3.85451854108e-05,1793254905669515008
+300,5.000000000,POSE2_TO_POSE3_RETREAT,785.561626292,761,738,717,678,646,916,800,841.438373708,658,636,658,0.455193177034,0.00450862337504,0.0595153252502,0.999999736369,5.55654434314e-05,-0.000723164126144,-3.47671908069e-05,1793254905686181632
+301,5.016666667,POSE2_TO_POSE3_RETREAT,786,761.140206267,738,717,678,646,916.140206267,800,840.859793733,658,635.859793733,658,0.45483196586,0.00451128478994,0.0595367657067,0.999999755004,6.59733349496e-05,-0.000696189722654,-3.09653149161e-05,1793254905702848256
+302,5.033333333,POSE2_TO_POSE3_RETREAT,786,761.733042161,738,717,678,646,916.733042161,800,840.266957839,658,635.266957839,658,0.454428744485,0.00451377558436,0.0595475509261,0.999999759322,7.57804542522e-05,-0.000689112351166,-2.71513353708e-05,1793254905719515136
+303,5.050000000,POSE2_TO_POSE3_RETREAT,786,761.682704618,738,717,678.317295382,646,916.682704618,800,840.317295382,658,635.317295382,658,0.453988322642,0.00451674390813,0.0595480618322,0.999999754778,8.56545579657e-05,-0.000694654939633,-2.37058077886e-05,1793254905736181760
+304,5.066666667,POSE2_TO_POSE3_RETREAT,786,761.105482219,738,717,678.894517781,646,916.105482219,800,840.894517781,658,635.894517781,658,0.453517426292,0.00452010342215,0.059540156066,0.99999974279,9.55835360758e-05,-0.000710535744241,-2.0562114053e-05,1793254905752848384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785.528814234,761,737.528814234,716.528814234,679,646,916,800,841,658,636,658,0.453010502523,0.00452300573814,0.0595320915271,0.999999735633,0.000108270619167,-0.000718820041759,-1.76069932733e-05,1793254905769515008
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785,761,737,716,679,646,916,800,840.952405478,658,635.952405478,658,0.452496753458,0.0045258698184,0.059526708474,0.999999732126,0.000121519177137,-0.000721642243536,-1.45936484016e-05,1793254905786181888
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785,761,737,716,679,646,916,800,840.377494915,658,635.377494915,658,0.451996637371,0.00452944292122,0.0595514278541,0.999999757861,0.000134155678555,-0.000682767355918,-1.04680522562e-05,1793254905802848512
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785,761,737.203358092,716.203358092,679.203358092,646.203358092,916,800,840.203358092,658,635.203358092,657.796641908,0.451483537519,0.00453248281012,0.0595789481768,0.999999784304,0.000146966384572,-0.000640122861393,-5.95735687722e-06,1793254905819515136
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785,761,737.795574107,716.795574107,679.795574107,646.795574107,916,800,840.795574107,658,635.795574107,657.204425893,0.450945610355,0.00453450309614,0.0596118244133,0.999999812973,0.00016011020104,-0.000590270190944,-7.10281485308e-07,1793254905836181760
+310,5.166666667,POSE2_TO_POSE3_RETREAT,784.622772121,761,738,716.622772121,680.377227879,647,916,800,841,658,635.622772121,657.377227879,0.45034762829,0.00453719511862,0.0596212337329,0.999999818443,0.000174657940886,-0.000576709232168,3.82972659503e-06,1793254905852848384
+311,5.183333333,POSE2_TO_POSE3_RETREAT,784.046686315,761,738,716.046686315,680.953313685,647,916,800,841,658,635.046686315,657.953313685,0.449717987941,0.00454024125094,0.0596182723264,0.999999812404,0.000189945767014,-0.000582279667602,7.99699975999e-06,1793254905869515008
+312,5.200000000,POSE2_TO_POSE3_RETREAT,784.528053735,761,737.471946265,716.528053735,681,647,916,800,841,658,635.528053735,658,0.449027722631,0.00454524024589,0.0596051142888,0.999999800385,0.000205398819401,-0.000597408764634,1.2015676524e-05,1793254905886181888
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,681.210826234,647.105413117,916,800,840.894586883,658,636,658,0.448336399438,0.00454983118525,0.0595959301918,0.999999791561,0.000220325151512,-0.000606692240094,1.61095251809e-05,1793254905902848768
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,761,737,717,682.390715178,647.695357589,916,800,840.304642411,658,636,658,0.447664788403,0.00455175489709,0.0596091455494,0.99999980145,0.000232763434786,-0.000585231682699,2.06091342195e-05,1793254905919515648
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785,761,737,717,683,648,916,800,840,658,636,657.719493764,0.446984605801,0.00455388078881,0.0596415064343,0.999999824199,0.000246046197103,-0.000538874361469,2.60168465526e-05,1793254905936182528
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,683,648,916,800,840,658,636,657.139465974,0.44629527049,0.00455622256631,0.0596943107096,0.999999857069,0.000260230685762,-0.000465932537899,3.23942223224e-05,1793254905952849152
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,761,737,717,683.436371583,648,916,800,840,658,635.563628417,657,0.445529102193,0.00455876424002,0.0597050165406,0.999999858903,0.000272326345106,-0.000454572089736,3.73806108739e-05,1793254905969515520
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,761,737,717,684,648.010838095,916.010838095,800,840,658,635.010838095,657,0.444738484671,0.00456133155929,0.0597024644813,0.999999851989,0.00028379843417,-0.00046230044075,4.1925473036e-05,1793254905986181888
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,684,648.582998128,916.582998128,800,840,658,635.582998128,657,0.443941303957,0.00456194974372,0.05970348386,0.999999853943,0.000297221934462,-0.000449019951623,4.64087145822e-05,1793254906002848768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785,761,737,717.161192654,684,649,916.838807346,800,840,657.838807346,635.838807346,657,0.443145542875,0.00456187791371,0.0597144377108,0.999999861055,0.000308466772629,-0.000424397051705,5.1232928584e-05,1793254906019515648
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785,761,737,717.755605405,684,649,916.244394595,800,840,657.244394595,635.244394595,657,0.442353597232,0.00455995160633,0.0597520913697,0.999999880936,0.000313856254627,-0.000369290378958,5.69735371239e-05,1793254906036182016
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785,761,737,718,684.340555884,649,916,800,840,657,635,657,0.441514772388,0.00456210678904,0.0597700166635,0.999999883829,0.000324369191837,-0.000351117742498,6.19952155421e-05,1793254906052848640
+323,5.383333333,POSE2_TO_POSE3_RETREAT,785,761,737,718,684.91889946,649,916,800,840,657,635,657,0.440643214924,0.00456711180692,0.0597741669409,0.999999876166,0.000338459499772,-0.000358733708068,6.65149123534e-05,1793254906069515264
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784.506088926,761,737,718,685,649,916,800,840,657.493911074,635.493911074,657.493911074,0.439766002025,0.00456483647582,0.0597886382661,0.999999910607,0.000250955710457,-0.00033772292935,4.18397394678e-05,1793254906086181888
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784,761,737,718.068252009,685.068252009,649.068252009,916,800,840,658,636,658,0.438880816922,0.00456150861283,0.0598036808452,0.999999937428,0.000161103850917,-0.000314490928638,1.68977762119e-05,1793254906102848512
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784,761,737,718.641650968,685.641650968,649.641650968,916,800,840,658,636,658,0.437943455274,0.00455917914397,0.0598104924408,0.999999936247,0.000176511731746,-0.000309375717114,2.52235315116e-05,1793254906119515392
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784,761,737,718.776179994,685.776179994,650,916,800,840,658,636,657.776179994,0.436986193282,0.00456172532005,0.0597925282144,0.999999921807,0.000195713222908,-0.000342157675867,3.1787248779e-05,1793254906136182016
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784,761,737,718.179396815,685.179396815,650,916,800,840,658,636,657.179396815,0.435995770139,0.00457239604209,0.05973327872,0.999999878939,0.000221236209898,-0.000438089701146,3.54147895447e-05,1793254906152848640
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,761,737.402340608,718.402340608,685.402340608,650,916,800,840,658,635.597659392,657.402340608,0.435066481131,0.00457353735381,0.0597200747679,0.999999879276,0.000227130053618,-0.000434144977014,3.71131820888e-05,1793254906169515264
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,761,737.977611182,718.977611182,685.977611182,650,916,800,840,658,635.022388818,657.977611182,0.434163468236,0.00457058283025,0.0597266616481,0.999999899069,0.000224587096447,-0.000387272234665,3.79824074956e-05,1793254906186181888
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784.554014626,760.445985374,738,719,686,650,916.554014626,800,840,658,635.554014626,658,0.433220469304,0.00457046572318,0.0597539422929,0.999999912238,0.000217517370529,-0.000355923655077,3.90853183008e-05,1793254906202848512
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784.86689868,760.13310132,737.86689868,719,685.86689868,650,916.86689868,800,840,658,636,658,0.432276804857,0.00456903631742,0.0597802495795,0.999999924669,0.000209117320725,-0.000324584610477,3.97187078233e-05,1793254906219515392
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784.278796265,760.721203735,737.278796265,719,685.278796265,650,916.278796265,800,840,658,636,658,0.431336400676,0.00456272809298,0.059800364852,0.999999937508,0.000196796255996,-0.000291129159359,3.87147102257e-05,1793254906236182016
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784,761,737.30447922,719.30447922,685.60895844,650,916,800,840,658,635.69552078,657.69552078,0.430383066138,0.0045520120585,0.0598151595934,0.999999946361,0.000179657188769,-0.00027129903971,3.73953968674e-05,1793254906252848640
+335,5.583333333,POSE2_TO_POSE3_RETREAT,784,761,737.883403871,719.883403871,686.766807742,650,916,800,840,658,635.116596129,657.116596129,0.429418076743,0.00453732300009,0.0598251586192,0.999999952068,0.000158175366903,-0.000263750252656,3.57918705234e-05,1793254906269515264
+336,5.600000000,POSE2_TO_POSE3_RETREAT,784,761,738,719.541427729,686.541427729,650,916,800,839.541427729,658,635.458572271,657,0.428413287412,0.00454957376583,0.0597831225377,0.999999928269,0.000165113602339,-0.00033933952558,3.23796783138e-05,1793254906286182144
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783.967291796,761,738,719.032708204,686.065416408,650,916,800,839.032708204,658,635.967291796,657.032708204,0.427403630378,0.00456731213963,0.059731733248,0.999999892009,0.000177842884428,-0.000428401215327,2.87517721263e-05,1793254906302848512
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783.394562679,761,738,719.605437321,687.210874641,650,916,800,839.605437321,658,635.394562679,657.605437321,0.426479325557,0.00456348093419,0.059742582652,0.999999907979,0.000167849106881,-0.000393727687475,2.90932604453e-05,1793254906319515136
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.185174709,761,738,720,687.814825291,650,916.185174709,800.185174709,840,658,635,658,0.425549072623,0.00456140122799,0.0597606636944,0.999999922308,0.000159579187154,-0.000359203765705,2.98531813257e-05,1793254906336181760
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783.780432544,761,738,720,687.219567456,650,916.780432544,800.780432544,840,658,635,658,0.424605646975,0.00456320034604,0.0597947597387,0.999999934654,0.000155126876786,-0.000325011151671,3.15397522638e-05,1793254906352848128
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.635101069,761,738,720,686.635101069,650,916.635101069,800.635101069,840,658,635,657.635101069,0.42368722862,0.00456459420345,0.0598193795279,0.999999946393,0.000151243894784,-0.000288580869573,3.25546005674e-05,1793254906369515008
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783.056941641,761,738,720,686.056941641,650,916.056941641,800.056941641,840,658,635,657.056941641,0.422783425514,0.00456575121138,0.0598384610395,0.999999957082,0.0001476936496,-0.000250842812958,3.3176869076e-05,1793254906386181888
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,761,738,720,687.039074228,650,916,800,839.480462886,658,635,657.519537114,0.421869130432,0.00456346183846,0.059837822037,0.999999957475,0.000136856785222,-0.000255309797441,3.37249834516e-05,1793254906402848768
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,761,738,720,687.80824361,650,916,799.904121805,839,658,635,657.904121805,0.420942024889,0.00456201247496,0.059823498819,0.999999951127,0.000127135726968,-0.000283599735633,3.39566384725e-05,1793254906419515392
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,761,738,720,686.655100875,650,916,799.327550438,839,658,635,657.327550438,0.419956439741,0.00456666222027,0.0597513699928,0.999999908084,0.000126999882625,-0.000408211440143,3.2642314048e-05,1793254906436182016
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760.744000657,737.744000657,720.255999343,686.255999343,650,916,799.255999343,839,658,635,657,0.419030726316,0.00456834072727,0.0597132016617,0.999999885475,0.000120121790343,-0.000462227722226,3.10863590809e-05,1793254906452848640
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760.151271846,737.151271846,720.848728154,686.848728154,650,916,799.848728154,839,658,635,657,0.418183765413,0.0045661110071,0.0597197033704,0.999999904498,0.000104375264851,-0.000423386110025,2.92125752722e-05,1793254906469515264
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760.429710386,737.429710386,720.570289614,687.429710386,650,916,800,839,658,635,657,0.41737165951,0.00456613294898,0.0597566781818,0.999999926754,9.74392530676e-05,-0.000368878275703,3.04413848721e-05,1793254906486181888
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760.993382031,738,720.006617969,687.993382031,650,916,800,839,658,635,657,0.416571619934,0.00456687142748,0.0598037494022,0.999999947179,9.34496017487e-05,-0.00030957681509,3.27334255209e-05,1793254906502848512
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760.420713054,738,720.579286946,687.420713054,650,916,800,839,658,635,657,0.415782083891,0.00456290312473,0.0598212554735,0.999999951094,8.32422949617e-05,-0.00029942617406,3.50323782345e-05,1793254906519515392
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,760.157100195,738,720.842899805,687,650,916,800,839,658,635,657.157100195,0.414997194006,0.00455958390066,0.0598346657809,0.99999995157,0.000112122679886,-0.000288052458423,3.62408876179e-05,1793254906536182016
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,760.749156276,738,720.250843724,687,650,916,800,839,658,635,657.749156276,0.41422516754,0.00455806174913,0.0598367363439,0.999999931007,0.000249223306618,-0.000273292468244,3.44303381809e-05,1793254906552848896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,761,738,720.333631943,687.333631943,650,916,800,839,657.666368057,635,657.666368057,0.413445584135,0.00455774900198,0.0598263154207,0.999999911994,0.000301467475116,-0.000289753579205,3.422656862e-05,1793254906569515520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,761,738,720.912534802,687.912534802,650,916,800,839,657.087465198,635,657.087465198,0.41266044526,0.00455832535361,0.0598067113292,0.999999902769,0.000291329058166,-0.00032916701626,3.52040303974e-05,1793254906586181888
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,761,738,720.5125542,687.5125542,649.5125542,916,800,839,657.4874458,635,657,0.411904418473,0.0045571754225,0.0597632138726,0.999999881775,0.000279375950156,-0.000396549888981,3.38619360269e-05,1793254906602848512
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,761,738,720.063033306,687,649,916,800,839,657.936966694,635,657,0.411168840444,0.00455603553406,0.0597234150738,0.999999859921,0.000267438551075,-0.000455626540126,3.22221530012e-05,1793254906619515392
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,761,738,720.650152712,687,649,916,800,839,657.349847288,635,657,0.41056020247,0.0045575336767,0.0597497256157,0.999999884429,0.000258317129952,-0.000404252872822,3.15397097973e-05,1793254906636182272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,687.234258035,649.234258035,916,800,839,657.234258035,635,657.234258035,0.409953817117,0.00455669554114,0.0597835495597,0.999999908274,0.000247031350909,-0.000348408066736,3.22328832185e-05,1793254906652849152
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,687.813919178,649.813919178,916,800,839,657.813919178,635,657.813919178,0.409350753208,0.00455241266661,0.0598284516804,0.999999931459,0.000232554322792,-0.000285970769129,3.49543425508e-05,1793254906669515776
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,761,738.968245099,721,688,650,916,800,839.968245099,658,635,657.031754901,0.408181238951,0.00454872456133,0.0598544338593,0.999999946402,0.00021152949057,-0.000247217219812,3.65421364546e-05,1793254906702849536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,760.457028659,738.457028659,721,688,650,916,800,839.457028659,657.457028659,635,657,0.407622284765,0.00454699327352,0.059836938793,0.999999943072,0.000198055924274,-0.000270901145724,3.52392290218e-05,1793254906719516416
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.294833728,761,738,721,687.294833728,650,916,800,839,658,635,657,0.406118809599,0.00454375530128,0.0598183510246,0.999999943292,0.000170430435133,-0.000288643143897,3.24768586337e-05,1793254906769515264
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.873820409,761,738,721,687.873820409,650,916,800,839,658,635,657,0.405662574187,0.00454327652612,0.0598286085055,0.999999949351,0.000164834002483,-0.00027024198228,3.31339949485e-05,1793254906786181888
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784,761,738,721,688,650,916,800,839,658,635,657,0.405229324815,0.00454087146501,0.0598203747699,0.999999947448,0.000158325480368,-0.000280921103358,3.34644604788e-05,1793254906802849024
+368,6.133333333,POSE2_TO_POSE3_RETREAT,784,760.976147227,738,721,688,650,916,800,839,658,635,657,0.404803370931,0.00453811024205,0.0598064979238,0.999999942664,0.000151867389382,-0.000300786125298,3.36986249226e-05,1793254906819516416
+369,6.150000000,POSE2_TO_POSE3_RETREAT,784,760.40062888,738,721,688,650,916,800,839,658,635,657,0.404398004924,0.00453952635385,0.059781280678,0.999999928059,0.000152453946332,-0.000345684046023,3.38108882519e-05,1793254906836182784
+370,6.166666667,POSE2_TO_POSE3_RETREAT,784,760.179685292,738.179685292,721,688,650,915.820314708,800,838.820314708,658,635,657,0.404018066596,0.00453994921706,0.0597618927323,0.999999916505,0.000152447835698,-0.000377619474954,3.394957751e-05,1793254906852849408
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,760.770985446,738.770985446,721,688,650,915.229014554,800,838.229014554,658,635,657,0.403696376885,0.00453809679157,0.0597558582846,0.999999915857,0.000151084069748,-0.000379861014875,3.41488021959e-05,1793254906869515776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.645024064,760.645024064,739,721.354975936,688,649.645024064,915,800,838.354975936,658,634.645024064,657,0.403412998296,0.00453637492835,0.0597695103755,0.999999926124,0.000148812953895,-0.000352661051533,3.51619730536e-05,1793254906886182144
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.065654234,760.065654234,739,721.934345766,688,649.065654234,915,800,838.934345766,658,634.065654234,657,0.403153837603,0.00453473559837,0.0597956070814,0.999999941595,0.000145968267009,-0.00030684998527,3.66896704405e-05,1793254906902848768
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,760,738.489904647,721.489904647,688,649,915,800,839,658,634.510095353,657,0.402918935687,0.00453358333519,0.0598138635917,0.99999994944,0.000146632468027,-0.000279526320489,3.85245167011e-05,1793254906919515136
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,760.085122944,738,721,688,649.085122944,915,800,839,658,635,657,0.402689364365,0.00453258880941,0.0598287716275,0.999999954855,0.000147717179347,-0.000258548400472,4.02787121721e-05,1793254906936182016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,760.658662849,738,721,688,649.658662849,915,800,839,658,635,657,0.402472589676,0.00453214217801,0.0598302160978,0.999999954188,0.000148641606458,-0.000260424089265,4.13449182641e-05,1793254906952848896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,760.758870898,738,721.241129102,688,650,915.241129102,800,839,658,634.758870898,657,0.402266325808,0.00453195711088,0.0598290368994,0.999999952595,0.000149268231985,-0.000265983825223,4.22189687614e-05,1793254906969515776
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760.163282983,738,721.836717017,688,650,915.836717017,800,839,658,634.163282983,657,0.402075512814,0.00453215654221,0.0598240009186,0.999999949562,0.000149457090307,-0.000276959095623,4.28105512373e-05,1793254906986182144
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,760.417188516,738,721.582811484,688,650,916,800,839,658,634.417188516,657,0.401909658758,0.00453053024076,0.0598222627716,0.999999948351,0.000146395997034,-0.000282871436504,4.30144699673e-05,1793254907002848768
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,760.991950482,738,721.008049518,688,650,916,800,839,658,634.991950482,657,0.401753231778,0.00452821435413,0.0598217702272,0.999999947828,0.000142107386544,-0.000286871492307,4.30719668351e-05,1793254907019515392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,760.432889226,738,721.567110774,688,650,915.432889226,800,838.432889226,658,635,657,0.401626487835,0.00452406638463,0.0598216250128,0.999999954735,6.89535404545e-05,-0.000291732486805,2.58273385781e-05,1793254907036181760
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,760.146192564,738.146192564,722,688.146192564,650,915.146192564,800,838.146192564,658,635,657,0.401509078235,0.00452016681744,0.0598217825538,0.999999956666,1.30721278439e-05,-0.000293814884063,1.30005067042e-05,1793254907052848640
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783,760.737188523,738.737188523,722,688.737188523,650,915.737188523,800,838.737188523,658,635,657,0.401418786395,0.00451710221261,0.0598228462438,0.999999958515,1.27197051051e-05,-0.000287405958044,1.43629402356e-05,1793254907069515264
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783,761,738.678977119,722,688.678977119,649.678977119,915.678977119,800,839,658,634.678977119,657,0.401336507165,0.00451726578717,0.0598244897124,0.999999959409,1.63279530947e-05,-0.000284050794947,1.51587847586e-05,1793254907086182144
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783,761,738.100877739,722,688.100877739,649.100877739,915.100877739,800,839,658,634.100877739,657,0.401260644456,0.00452001450131,0.0598265974705,0.999999959528,2.3107923155e-05,-0.000283141097602,1.55009025202e-05,1793254907102848768
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783.475266791,761,738.475266791,722,688.475266791,649,915.475266791,800,839,658,634.475266791,657,0.401196603088,0.00451703658199,0.0598255764703,0.999999958696,2.25575476367e-05,-0.000286036545888,1.67722926047e-05,1793254907119515392
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783.947945582,760.947945582,738.947945582,721.947945582,688.947945582,649,915.947945582,800,839,658,634.947945582,657,0.401136619733,0.00451357851427,0.0598238372172,0.99999995763,2.12027012241e-05,-0.000289762689149,1.80848805479e-05,1793254907136182016
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.360288752,760.360288752,738.360288752,721.360288752,688.360288752,649,915.360288752,800,839,658,634.360288752,657,0.401092678893,0.00451763551593,0.0598215127225,0.999999956316,2.7513962014e-05,-0.000293759878584,1.78001943489e-05,1793254907152848640
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,760.22410325,738,721.22410325,688.22410325,649,915.22410325,800,839,658,634.22410325,657.22410325,0.4010548904,0.00451952724474,0.0598200803943,0.999999955436,3.16121880158e-05,-0.000296326481524,1.78963071704e-05,1793254907169515264
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,760.803321751,738,721.803321751,688.803321751,649,915.803321751,800,839,658,634.803321751,657.803321751,0.401026850952,0.00451798786996,0.0598200617982,0.999999955315,3.22036264534e-05,-0.000296626168955,1.85958362484e-05,1793254907186181888
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,761,738.382263444,721.617736556,689,649.382263444,915.617736556,800,839,658,635,657.617736556,0.401007548422,0.00451497037244,0.059821725066,0.999999955996,3.01257895039e-05,-0.000294497233141,1.93035689516e-05,1793254907202848512
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,761,738.961062802,721.038937198,689,649.961062802,915.038937198,800,839,658,635,657.038937198,0.400992737868,0.00451119291686,0.0598242530428,0.999999957069,2.66755783652e-05,-0.000291119651395,2.00155194231e-05,1793254907219514880
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.534607936,761,738.465392064,721.534607936,689,650,915,800,839,658,635,657,0.40098403283,0.00451568799358,0.0598258217571,0.999999957745,3.24115680138e-05,-0.000288237857861,1.94714442261e-05,1793254907236181760
+394,6.566666667,POSE2_TO_POSE3_RETREAT,784,761,738.110891419,722,688.889108581,650,915.110891419,800,839.110891419,658,635,657,0.400976500758,0.00451921970837,0.059827095169,0.999999958336,3.70842633656e-05,-0.00028563871173,1.90685122591e-05,1793254907252848640
+395,6.583333333,POSE2_TO_POSE3_RETREAT,784,761,738.700635951,722,688.299364049,650,915.700635951,800,839.700635951,658,635,657,0.400972132255,0.0045160149494,0.0598273921619,0.99999995886,3.43043943727e-05,-0.000284105686546,1.96662546915e-05,1793254907269515264
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.714747657,761,739,721.714747657,688.285252343,650,915.714747657,800,839.714747657,658,635,657,0.400969143999,0.00451473830476,0.0598280267831,0.999999959189,3.39085227341e-05,-0.00028296510719,2.00593628986e-05,1793254907286181888
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783.135417984,761,739,721.135417984,688.864582016,650,915.135417984,800,839.135417984,658,635,657,0.400967578691,0.00451544942505,0.059829009478,0.999999959322,3.5970402965e-05,-0.000282229114762,2.02415060872e-05,1793254907302848768
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783,761,738.558094321,721,688.558094321,649.558094321,915,800,839,657.558094321,635,657,0.400968288093,0.00451576391868,0.059830673447,0.999999960176,3.64851095657e-05,-0.000279132272574,2.00606091693e-05,1793254907319515392
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.018471834,761,738,721,688,649.018471834,915,800,839,657.018471834,635,657.018471834,0.400969532895,0.00451601664648,0.0598324220592,0.999999961169,3.6585118984e-05,-0.000275558377158,1.97706747577e-05,1793254907336182016
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.590675554,761,738,721,688,649.590675554,915,800,839,657.590675554,635,657.590675554,0.40096602589,0.00451804484511,0.059830477991,0.999999960075,3.84021451412e-05,-0.000279273059201,1.95320041726e-05,1793254907352848640
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.83139367,761,738,721,688,649.83139367,915,800,838.83139367,657.83139367,634.83139367,657.83139367,0.400963849424,0.00451893968567,0.0598296238699,0.999999959498,3.95778841336e-05,-0.000281169717524,1.95324570792e-05,1793254907369515264
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.239070527,761,738,721,688,649.239070527,915,800,838.239070527,657.239070527,634.239070527,657.239070527,0.400965016672,0.00451698633606,0.0598315088451,0.999999960251,3.91420337327e-05,-0.000278497583823,2.01338402526e-05,1793254907386182144
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783,760.655445377,738,721.344554623,688,649.344554623,915,800,838.344554623,657.344554623,634,657,0.400964852433,0.00451584942221,0.0598320083297,0.999999960538,3.82321713603e-05,-0.000277579946321,2.02999261223e-05,1793254907402848512
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783,760.077706786,738,721.922293214,688,649.922293214,915,800,838.922293214,657.922293214,634,657,0.400963787084,0.00451526504704,0.0598315701569,0.999999960512,3.70015122866e-05,-0.000277849697977,2.01714161445e-05,1793254907419515136
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783,760,738,722,688,649.501341558,915,800,839,658,634.498658442,657,0.400962975062,0.00451698341185,0.0598311801401,0.999999960045,4.00702989198e-05,-0.000279125210824,1.98462217543e-05,1793254907436181760
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783,760.076261068,738,721.923738932,688,649,915,800,839,658,635,657,0.400962579299,0.00451843077501,0.0598311032118,0.999999959702,4.29210124189e-05,-0.000279944718686,1.96050668678e-05,1793254907452848640
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,760.663586123,738,721.336413877,688,649,915,800,839,658,635,657,0.400964709277,0.00451566385547,0.059833074296,0.999999960733,3.98326965885e-05,-0.000276660867212,2.01319381319e-05,1793254907469515264
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783.248451186,761,738,721.248451186,688.248451186,649,915,800,839,658,634.751548814,657,0.400964869393,0.00451417744676,0.0598337731115,0.999999961101,3.76939714954e-05,-0.000275610304669,2.04095067896e-05,1793254907486181888
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783.830018048,761,738,721.830018048,688.830018048,649,915,800,839,658,634.169981952,657,0.400962388381,0.00451440790703,0.0598327661085,0.999999960597,3.68284279011e-05,-0.000277554066495,2.03528182871e-05,1793254907502848512
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783.593428952,760.593428952,738,721.593428952,688.593428952,649,915,800,839,658,634.406571048,657.406571048,0.400962347428,0.00451435364456,0.0598327360605,0.999999960581,3.81358259701e-05,-0.000277427065813,2.0431446839e-05,1793254907519515392
+411,6.850000000,POSE2_TO_POSE3_RETREAT,783.018946679,760.018946679,738,721.018946679,688.018946679,649,915,800,839,658,634.981053321,657.981053321,0.400963314204,0.00451418179341,0.0598331094888,0.999999960764,4.03406350073e-05,-0.000276444853432,2.05659604664e-05,1793254907536182016
+412,6.866666667,POSE2_TO_POSE3_RETREAT,783.556741508,760.556741508,738,721.556741508,688,649,915,800,839,657.443258492,634.443258492,657.443258492,0.400963774937,0.00451517463887,0.0598341853868,0.999999961149,3.96866746514e-05,-0.000275171765788,2.0169992358e-05,1793254907552848640
+413,6.883333333,POSE2_TO_POSE3_RETREAT,784,761,738,721.863712377,688.136287623,649,915,800,839,657.136287623,634.136287623,657,0.400963860488,0.00451601647481,0.059834808626,0.999999961345,3.96255144409e-05,-0.000274489292121,1.98935527628e-05,1793254907569515264
+414,6.900000000,POSE2_TO_POSE3_RETREAT,784,761,738,721.271394959,688.728605041,649,915,800,839,657.728605041,634.728605041,657,0.400962748396,0.00451622010612,0.0598338370654,0.999999960884,4.18741531143e-05,-0.000275816256719,2.00776036508e-05,1793254907586181888
+415,6.916666667,POSE2_TO_POSE3_RETREAT,784,761,738,721.312245587,688.687754413,649.312245587,915,800,839,658,634.687754413,657,0.400963606636,0.00451615216151,0.059834348737,0.999999961109,4.26324116204e-05,-0.000274865662014,2.03186073544e-05,1793254907602848512
+416,6.933333333,POSE2_TO_POSE3_RETREAT,784,761,738,721.888548321,688.111451679,649.888548321,915,800,839,658,634.111451679,657,0.400966131127,0.00451585455291,0.0598361147356,0.999999961911,4.2130298203e-05,-0.000271989000589,2.0607774413e-05,1793254907619515136
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7fbaa1e197917bf23b84efd73d52795416377615
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+1,0.016666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+2,0.033333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+3,0.050000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+4,0.066666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+5,0.083333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+6,0.100000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+7,0.116666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+8,0.133333333,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+9,0.150000000,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
+10,0.166666667,pose1_baseline,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717183,1.0496921039
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+375,6.250000000,pose2_to_pose3_retreat,0.577046350474,0.010181731085,1.05002058909,0.547617497848,0.0188559671506,1.04969228121
+376,6.266666667,pose2_to_pose3_retreat,0.576873268746,0.0101817947669,1.05002060215,0.547444415359,0.0188560289776,1.04969231357
+377,6.283333333,pose2_to_pose3_retreat,0.57671135935,0.0101817565924,1.05002056214,0.547282507509,0.0188559959907,1.04969227196
+378,6.300000000,pose2_to_pose3_retreat,0.576561296163,0.0101817658445,1.0500205405,0.547132445019,0.0188560074834,1.04969224704
+379,6.316666667,pose2_to_pose3_retreat,0.57642582693,0.0101817563146,1.05002053556,0.546996975719,0.0188559977546,1.0496922428
+380,6.333333333,pose2_to_pose3_retreat,0.576304752408,0.0101816870793,1.05002049433,0.546875901724,0.0188559303632,1.04969220317
+381,6.350000000,pose2_to_pose3_retreat,0.576199863699,0.0101816801663,1.05002039741,0.546771013713,0.0188559258696,1.04969210761
+382,6.366666667,pose2_to_pose3_retreat,0.576108493358,0.0101816402072,1.05002039326,0.546679641179,0.0188558784823,1.04969210381
+383,6.383333333,pose2_to_pose3_retreat,0.57603011511,0.0101816451933,1.05002040688,0.54660126393,0.0188558867467,1.04969211492
+384,6.400000000,pose2_to_pose3_retreat,0.575961903445,0.0101817033042,1.05002049102,0.546533052609,0.0188559459588,1.04969219749
+385,6.416666667,pose2_to_pose3_retreat,0.575902968568,0.0101817675588,1.0500205374,0.546474116948,0.0188560075609,1.04969224413
+386,6.433333333,pose2_to_pose3_retreat,0.57585156722,0.0101817834355,1.0500205028,0.54642271446,0.0188560195327,1.04969220849
+387,6.450000000,pose2_to_pose3_retreat,0.575807431208,0.010181754958,1.05002045407,0.546378578065,0.0188559895655,1.04969215466
+388,6.466666667,pose2_to_pose3_retreat,0.575770913206,0.0101818833743,1.0500205542,0.546342059426,0.0188561158904,1.0496922567
+389,6.483333333,pose2_to_pose3_retreat,0.575741552426,0.0101818165445,1.0500205259,0.546312697856,0.0188560466172,1.04969223477
+390,6.500000000,pose2_to_pose3_retreat,0.575719422928,0.0101817770179,1.05002043617,0.546290569598,0.0188560112286,1.04969214328
+391,6.516666667,pose2_to_pose3_retreat,0.575702978072,0.0101816786114,1.050020569,0.546274126535,0.0188559188737,1.04969227537
+392,6.533333333,pose2_to_pose3_retreat,0.575691321277,0.0101816264282,1.05002058931,0.546262470271,0.0188558685595,1.04969229726
+393,6.550000000,pose2_to_pose3_retreat,0.575683310828,0.0101816355786,1.05002054989,0.546254459398,0.0188558763234,1.04969225891
+394,6.566666667,pose2_to_pose3_retreat,0.575677780725,0.0101817105578,1.05002073814,0.546248928759,0.0188559492748,1.04969244177
+395,6.583333333,pose2_to_pose3_retreat,0.575674293682,0.0101817753074,1.05002064494,0.546245440912,0.0188560113114,1.049692349
+396,6.600000000,pose2_to_pose3_retreat,0.575672180584,0.0101818237828,1.05002047641,0.546243327081,0.0188560573844,1.04969218276
+397,6.616666667,pose2_to_pose3_retreat,0.575671245428,0.0101818452357,1.05002040182,0.5462423916,0.018856077774,1.0496921092
+398,6.633333333,pose2_to_pose3_retreat,0.57567047288,0.0101818303627,1.05002043828,0.546241619171,0.0188560633043,1.0496921456
+399,6.650000000,pose2_to_pose3_retreat,0.575669803312,0.0101818172686,1.05002047049,0.546240949709,0.0188560505677,1.04969217776
+400,6.666666667,pose2_to_pose3_retreat,0.575669479311,0.0101818109324,1.05002048608,0.546240625759,0.0188560444046,1.04969219332
+401,6.683333333,pose2_to_pose3_retreat,0.575669044827,0.0101818024356,1.05002050698,0.546240191344,0.0188560361398,1.04969221419
+402,6.700000000,pose2_to_pose3_retreat,0.575668355761,0.0101817874292,1.05002055104,0.546239502456,0.0188560217118,1.04969225755
+403,6.716666667,pose2_to_pose3_retreat,0.575668050596,0.0101817781747,1.05002058914,0.546239197487,0.0188560130719,1.04969229426
+404,6.733333333,pose2_to_pose3_retreat,0.575667923549,0.0101817743218,1.05002060501,0.546239070522,0.0188560094749,1.04969230955
+405,6.750000000,pose2_to_pose3_retreat,0.575667892801,0.0101817733894,1.05002060885,0.546239039794,0.0188560086044,1.04969231325
+406,6.766666667,pose2_to_pose3_retreat,0.575667891105,0.0101817733379,1.05002060906,0.546239038099,0.0188560085564,1.04969231345
+407,6.783333333,pose2_to_pose3_retreat,0.575667751196,0.010181769095,1.05002062653,0.546238898281,0.0188560045953,1.04969233028
+408,6.800000000,pose2_to_pose3_retreat,0.575667688416,0.0101817671911,1.05002063437,0.546238835541,0.0188560028178,1.04969233783
+409,6.816666667,pose2_to_pose3_retreat,0.575667614906,0.0101817649618,1.05002064355,0.546238762078,0.0188560007366,1.04969234668
+410,6.833333333,pose2_to_pose3_retreat,0.575667521446,0.0101817621276,1.05002065522,0.546238668679,0.0188559980905,1.04969235792
+411,6.850000000,pose2_to_pose3_retreat,0.575667420528,0.0101817590671,1.05002066782,0.546238567826,0.0188559952333,1.04969237006
+412,6.866666667,pose2_to_pose3_retreat,0.575667384517,0.010181757975,1.05002067232,0.546238531838,0.0188559942138,1.04969237439
+413,6.883333333,pose2_to_pose3_retreat,0.575667280781,0.0101817629031,1.05002067946,0.546238428252,0.0188559996302,1.04969238099
+414,6.900000000,pose2_to_pose3_retreat,0.575667080689,0.0101817865147,1.05002068309,0.546238228595,0.0188560246721,1.04969238347
+415,6.916666667,pose2_to_pose3_retreat,0.575666907636,0.0101818326002,1.05002062079,0.546238055358,0.0188560702054,1.04969232302
+416,6.933333333,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717184,1.0496921039
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44e01bec64fb4e439debe7e9c3dcc81c8382a91c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c67d502e4436bed0509b817b0af6d6ba64cb039337a27415ec68fb6867849ce
+size 26539648
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e803256dd2ce63a51a89dca5b2c162b0bd4975ed
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,761,739,722,689,650,916,800,839,658,635,657,0.400966484388,0.00451607228655,0.0598378232331,0.999999962605,4.43855391014e-05,-0.000269094903511,2.01884118805e-05,1793254907766930688
+1,0.016666667,BASELINE,783,761,739,722,688.405444252,650,916,800,839,658,635,657,0.400965722989,0.00451544002564,0.0598371430751,0.999999962271,4.46657257759e-05,-0.000270267496953,2.04488383657e-05,1793254907783597824
+2,0.033333333,BASELINE,783,761,738.8160602,721.8160602,688.1839398,650,916,800,839,658,634.8160602,657.1839398,0.40096538393,0.00451502618113,0.0598368691754,0.999999962147,4.4468082777e-05,-0.000270752815478,2.05198228218e-05,1793254907800264448
+3,0.050000000,BASELINE,783,761,738.237763863,721.237763863,688.762236137,650,916,800,839,658,634.237763863,657.762236137,0.400965950344,0.00451508060895,0.0598374662705,0.999999962475,4.32460000077e-05,-0.000269764655635,2.018465432e-05,1793254907816930560
+4,0.066666667,BASELINE,783,760.662176603,738,721.337823397,689,650,915.662176603,800,838.662176603,657.662176603,634.337823397,658,0.400964662512,0.00451518787494,0.059836468933,0.999999962033,4.32978689222e-05,-0.00027138120857,2.02680198494e-05,1793254907833597184
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+6,0.100000000,BASELINE,783,760,738,722,689,650,915,800,838.49886857,657.49886857,634.50113143,657.50113143,0.400963415415,0.00451559338513,0.0598357319561,0.999999961626,4.49238034332e-05,-0.000272593896222,2.05671641201e-05,1793254907866930688
+7,0.116666667,BASELINE,783,760,738,722,689,650,915,800,839,658,634,657,0.400965213569,0.00451570307287,0.0598374123215,0.999999962349,4.55713026807e-05,-0.000269827955089,2.04467005935e-05,1793254907883597312
+8,0.133333333,BASELINE,783,760,738,722,689,650,915,800,839,658,634,657,0.400965589919,0.00451483524544,0.0598372363183,0.999999962317,4.62738639753e-05,-0.000269820368071,2.05432473462e-05,1793254907900263936
+9,0.150000000,BASELINE,783,760,738,722,689,650,915,800,839,658,634.244076313,657,0.400966094167,0.00451414919588,0.0598369917324,0.999999962303,4.65733017854e-05,-0.000269813660053,2.06188341286e-05,1793254907916930560
+10,0.166666667,BASELINE,783,760,738,722,689,650,915,800,839,658,634.820568979,657,0.400966772602,0.00451371071622,0.0598366537413,0.999999962315,4.63237110943e-05,-0.000269808149179,2.06658747621e-05,1793254907933597184
+11,0.183333333,BASELINE,783,760,738,722,689,650,915.394361646,800,839,658,635,657,0.400967292666,0.00451426833772,0.059837094703,0.999999962434,4.73931302595e-05,-0.000269192543806,2.05391989195e-05,1793254907950263552
+12,0.200000000,BASELINE,783,760,738,722,689,650,915.966934242,800,839,658,635,657,0.400967741161,0.00451527609457,0.0598378876713,0.999999962597,4.90586063497e-05,-0.000268301238396,2.03340210804e-05,1793254907966930176
+13,0.216666667,BASELINE,783,760,738,721.442245812,689,650,915.442245812,800,839,658,635,657,0.400965103268,0.00451669521531,0.059836692044,0.999999961766,5.30081761077e-05,-0.000270652740791,2.01112678186e-05,1793254907983596800
+14,0.233333333,BASELINE,783,760,738,721,688.85391584,649.85391584,915,800,839,657.85391584,635,657,0.400963473265,0.00451717458132,0.0598360468728,0.999999959883,7.6212405013e-05,-0.000272071723081,2.00786728922e-05,1793254908000263680
+15,0.250000000,BASELINE,783,760,738,721,688.276246054,649.276246054,915,800,839,657.276246054,635,657,0.400965379785,0.00451480308566,0.0598373880222,0.999999951147,0.000155888306299,-0.000270148528391,2.06110569466e-05,1793254908016930304
+16,0.266666667,BASELINE,783.301034121,760.301034121,738,721,688.301034121,649.301034121,915,800,839,657.301034121,635,657.301034121,0.40096592526,0.00451441613138,0.0598375188802,0.999999944691,0.000193383049009,-0.000269805800658,2.06278998949e-05,1793254908033596928
+17,0.283333333,BASELINE,783.877957192,760.877957192,738,721,688.877957192,649.877957192,915,800,839,657.877957192,635,657.877957192,0.400965223376,0.00451584795126,0.0598365405415,0.999999944626,0.000192219991856,-0.000270911525854,2.01722645833e-05,1793254908050263552
+18,0.300000000,BASELINE,784,760.548010527,738,721.451989473,689,650,915,800,839,658,635,657.548010527,0.40096451169,0.00451664249802,0.0598366598605,0.999999944614,0.000191855926984,-0.000271211815811,2.01916716072e-05,1793254908066930176
+19,0.316666667,BASELINE,783.973751339,760,738,721.973751339,688.973751339,650,915,800,838.973751339,657.973751339,635,657,0.400963907623,0.00451714961518,0.0598370872339,0.999999944657,0.000191643850972,-0.000271191247827,2.03410663481e-05,1793254908083596800
+20,0.333333333,BASELINE,783.377731097,760,738,721.377731097,688.377731097,650,915,800,838.377731097,657.377731097,635,657,0.400965696715,0.00451512895747,0.0598378088751,0.999999945571,0.000190077754582,-0.000268896633917,2.05454983435e-05,1793254908100263936
+21,0.350000000,BASELINE,783,760.210501762,738,721,688.210501762,650,915,800,838,657.210501762,635,657,0.400966230933,0.00451441203567,0.0598380023465,0.999999945851,0.00018962747673,-0.000268169387546,2.05922038563e-05,1793254908116930560
+22,0.366666667,BASELINE,783,760.785259149,738,721,688.785259149,650,915,800,838,657.785259149,635,657,0.400964593697,0.00451595111959,0.0598372818644,0.99999994504,0.000191108029335,-0.000270154339341,2.03659769136e-05,1793254908133596928
+23,0.383333333,BASELINE,783,761,738,721,688.640073896,649.640073896,915,800,838,658,635,657,0.400964765512,0.00451568765971,0.0598376373964,0.999999945327,0.000190338770617,-0.000269625346649,2.04589883901e-05,1793254908150263808
+24,0.400000000,BASELINE,783,761,738,721,688.065460827,649.065460827,915,800,838,658,635,657,0.40096601638,0.00451434902745,0.059838634744,0.999999946266,0.000188227555567,-0.000267596848814,2.07424176183e-05,1793254908166930688
+25,0.416666667,BASELINE,783,760.474943214,738,721.525056786,688.525056786,649.525056786,915,800,838.525056786,658,635,657,0.400964947288,0.00451429821654,0.0598372282243,0.999999945693,0.000189144452021,-0.000269107549124,2.0472165679e-05,1793254908183597056
+26,0.433333333,BASELINE,783,760,738,721.8854718,688.8854718,650,915,800,838.8854718,657.8854718,635,657,0.400963841377,0.00451470937553,0.0598359746373,0.999999945012,0.000190498808995,-0.000270693825754,2.02931380583e-05,1793254908200263680
+27,0.450000000,BASELINE,783,760,738,721.308481665,688.308481665,650,915,800,838.308481665,657.308481665,635,657,0.400963791214,0.00451631737776,0.0598365865688,0.999999944691,0.000192047560249,-0.000270747884358,2.07699183653e-05,1793254908216930048
+28,0.466666667,BASELINE,783,760,738.267779938,721.267779938,688.267779938,650,915,800,838.267779938,657.267779938,635,657,0.400964164889,0.00451666390493,0.0598372352306,0.999999944812,0.000192340882528,-0.000270079920636,2.09384023663e-05,1793254908233596672
+29,0.483333333,BASELINE,783,760,738.843204518,721.843204518,688.843204518,650,915,800,838.843204518,657.843204518,635,657,0.400965025499,0.00451556115972,0.0598379260909,0.999999945439,0.000191191878604,-0.000268582446305,2.07526936123e-05,1793254908250263296
+30,0.500000000,BASELINE,783,760,739,722,688.581551804,650,915,800,838.581551804,658,634.581551804,657,0.40096611433,0.00451523628414,0.0598383504279,0.99999994566,0.000191659460482,-0.000267436472421,2.06075681476e-05,1793254908266930176
+31,0.516666667,BASELINE,783,760,739,722,688.006375894,650,915,800,838.006375894,658,634.006375894,657,0.400967288641,0.00451520275583,0.0598386749399,0.999999945727,0.000192732526645,-0.000266422151332,2.04776429584e-05,1793254908283597312
+32,0.533333333,BASELINE,783,760.58674765,739,721.41325235,688,650,915.58674765,800,838.58674765,658,634.58674765,657,0.400965648677,0.00451470325336,0.0598375547108,0.999999945427,0.000190338364899,-0.000269256004799,2.04706625618e-05,1793254908300263936
+33,0.550000000,BASELINE,783,761,739,721.175095349,688.175095349,650,915.824904651,800,839,658,635,657,0.400964910912,0.00451419816734,0.0598371678719,0.999999945484,0.000188471440267,-0.000270358673183,2.04376197761e-05,1793254908316930304
+34,0.566666667,BASELINE,783,761,739,721.752021072,688.752021072,650,915.247978928,800,839,658,635,657,0.40096631602,0.00451369225462,0.0598385012726,0.999999946391,0.000187903677894,-0.000267389411446,2.03416030982e-05,1793254908333596928
+35,0.583333333,BASELINE,783,761,738.673271336,722,689,650,915,800,839,658,635,657,0.40096645535,0.00451406310082,0.0598388110457,0.999999946338,0.000188480979843,-0.000267179008346,2.03302443861e-05,1793254908350263808
+36,0.600000000,BASELINE,783,761,738.100235837,722,689,650,915,800,839,658,635,657,0.400965640462,0.0045150948982,0.0598383491496,0.999999945564,0.000189921496992,-0.000269048391051,2.03827057016e-05,1793254908366930432
+37,0.616666667,BASELINE,783,761,738.487777556,722,689,650,915,800,839,658,635,657,0.400965047741,0.00451476973083,0.0598378618599,0.99999994571,0.000189057915126,-0.000269107492264,2.04746732177e-05,1793254908383597056
+38,0.633333333,BASELINE,783,760.922754241,738.922754241,722,689,649.922754241,915,800,839,658,635,657,0.400964567081,0.00451428174983,0.059837404425,0.999999945965,0.000187899879991,-0.000268961840114,2.05693163456e-05,1793254908400263424
+39,0.650000000,BASELINE,783,760.344446465,738.344446465,722,689,649.344446465,915,800,839,658,635,657,0.400964507789,0.00451460374664,0.0598371755667,0.999999945671,0.000188000418811,-0.000269977516505,2.06269865991e-05,1793254908416930304
+40,0.666666667,BASELINE,783,760.233323947,738,722,689,649.233323947,915,800,838.766676053,658,635,657,0.400964812303,0.00451487924758,0.0598373241138,0.999999945697,0.000188045744572,-0.000269855387609,2.05877003944e-05,1793254908433597184
+41,0.683333333,BASELINE,783,760.810302861,738,722,689,649.810302861,915,800,838.189697139,658,635,657,0.400965652656,0.00451508626629,0.0598380285289,0.999999946191,0.000188009748879,-0.000268057423643,2.04056102913e-05,1793254908450263808
+42,0.700000000,BASELINE,783,761,738.38559948,721.61440052,688.61440052,650,915,800,838,658,634.61440052,657,0.400965356233,0.00451502772546,0.0598376868114,0.9999999457,0.000189436290849,-0.00026887838525,2.04615169144e-05,1793254908466930432
+43,0.716666667,BASELINE,783,761,738.960072065,721.039927935,688.039927935,650,915,800,838,658,634.039927935,657,0.400964502996,0.0045148391091,0.0598368326805,0.99999994472,0.000191579208344,-0.000270982140663,2.06339983386e-05,1793254908483597056
+44,0.733333333,BASELINE,783,761,738.449887738,721,688.550112262,650,915,800,838.550112262,658,634,657,0.400964275827,0.00451349533711,0.0598368193396,0.999999945516,0.000187655219947,-0.000270798448457,2.05489979031e-05,1793254908500263424
+45,0.750000000,BASELINE,783,761,738,721.1380644,689,649.8619356,915.1380644,800,839,658,634.1380644,657,0.400964408305,0.00451311196432,0.059837064004,0.999999946096,0.000185549025217,-0.000270107940991,2.05133317981e-05,1793254908516930048
+46,0.766666667,BASELINE,783,761,738,721.71566698,689,649.28433302,915.71566698,800,839,658,634.71566698,657,0.400965536873,0.00451606078681,0.0598379301091,0.999999945603,0.000190672607982,-0.000268347899839,2.06959537978e-05,1793254908533596928
+47,0.783333333,BASELINE,783,760.707754224,738,722,688.707754224,649,915.707754224,800,838.707754224,658,634.707754224,657,0.400966267944,0.00451716097755,0.0598384322518,0.999999945523,0.000192701817395,-0.000267183705934,2.07941103796e-05,1793254908550263808
+48,0.800000000,BASELINE,783,760.132167948,738,722,688.132167948,649,915.132167948,800,838.132167948,658,634.132167948,657,0.400966613631,0.00451646886815,0.0598385815228,0.999999945866,0.000191730945406,-0.000266597202498,2.08103753843e-05,1793254908566930432
+49,0.816666667,BASELINE,783,760,738,722,688.453018697,649.453018697,915.453018697,800,838,658,634.453018697,657.453018697,0.400966535958,0.00451640401727,0.0598385822629,0.999999946074,0.000189866308485,-0.00026717740971,2.04644540706e-05,1793254908583597056
+50,0.833333333,BASELINE,783,760,738,722,689,650,915.959524746,800,838,658,634.959524746,657.959524746,0.400966309306,0.00451648951743,0.0598385415134,0.999999946204,0.000188019139851,-0.000268025058458,2.00618665095e-05,1793254908600263680
+51,0.850000000,BASELINE,783,760,738,722,689,650,915.379947802,800,838,658,634.379947802,657.379947802,0.400965779115,0.00451608735275,0.059838537823,0.999999945893,0.000189952906875,-0.000267802965188,2.03424143171e-05,1793254908616930304
+52,0.866666667,BASELINE,783,760.1988387,738.1988387,722,689,650,915,800,838.1988387,658,634.1988387,657,0.400965316739,0.0045160190309,0.0598384106689,0.999999945689,0.000191048049612,-0.000267773878082,2.04669797433e-05,1793254908633596672
+53,0.883333333,BASELINE,783,760.776120743,738.776120743,722,689,650,915,800,838.776120743,658,634.776120743,657,0.400964983434,0.00451658610148,0.0598380485303,0.999999945698,0.000190547065433,-0.000268112133456,2.02946688717e-05,1793254908650263552
+54,0.900000000,BASELINE,783,761,738.648054591,721.648054591,689,649.648054591,915,800,838.648054591,657.648054591,635,657,0.400965379902,0.00451596009099,0.0598381799983,0.999999946157,0.000188877432081,-0.000267578686993,2.03099821642e-05,1793254908666930432
+55,0.916666667,BASELINE,783,761,738.073153189,721.073153189,689,649.073153189,915,800,838.073153189,657.073153189,635,657,0.400966238679,0.00451457826845,0.0598386241642,0.999999946897,0.000186467464227,-0.000266493020932,2.04441546111e-05,1793254908683597056
+56,0.933333333,BASELINE,783,761,738,721.51387079,689,649.51387079,915,800,838,657.51387079,634.48612921,657,0.400965129448,0.00451522852236,0.0598382702652,0.999999946436,0.000187347603129,-0.000267612413556,2.02932857051e-05,1793254908700263424
+57,0.950000000,BASELINE,783,761,738,721.898949343,689,649.898949343,915,800,838,657.898949343,634,657,0.400964057753,0.00451575444813,0.0598379712263,0.999999946023,0.000188086617693,-0.000268645677358,2.01660781491e-05,1793254908716930304
+58,0.966666667,BASELINE,783,761,738,721.319400694,689,649.319400694,915,800,838,657.319400694,634,657,0.400964522476,0.00451428874579,0.0598384829311,0.999999946671,0.000185885950776,-0.000267748771841,2.03476995098e-05,1793254908733596928
+59,0.983333333,BASELINE,783,761,738,721,689,649,915,800,838,657.258269303,634,657,0.400965200632,0.00451381228558,0.0598388131279,0.999999946971,0.000185329852508,-0.000267014841142,2.03685897368e-05,1793254908750263808
+60,1.000000000,BASELINE,783,761,738,721,689,649,915,800,838,657.833632833,634,657,0.400966140832,0.00451455038288,0.0598389204756,0.999999946844,0.000186792899155,-0.000266481005236,2.0192139793e-05,1793254908766930432
+61,1.016666667,BASELINE,783,760.592237418,738,721,689,649.407762582,915,800,838,658,634,657,0.400965988452,0.00451463147388,0.0598382660142,0.999999946667,0.000186914500576,-0.000267058545254,2.02315512643e-05,1793254908783596800
+62,1.033333333,BASELINE,783,760.018609567,738,721,689,649.981390433,915,800,838,658,634,657,0.400965391643,0.0045144453149,0.0598373016724,0.999999946468,0.000186490443277,-0.000268088158822,2.03587685259e-05,1793254908800263424
+63,1.050000000,BASELINE,783,760.573740999,738,721,689,649.426259001,915,800,838.573740999,657.426259001,634,657,0.40096309364,0.00451579876229,0.0598367346492,0.999999945421,0.000189415686162,-0.000269946402163,2.02315624024e-05,1793254908816930048
+64,1.066666667,BASELINE,783,761,738,721,689,649,915,800,839,657.162788671,634,657,0.400962435818,0.0045166912157,0.0598367868457,0.999999944942,0.000191290505781,-0.000270405350652,2.01372508221e-05,1793254908833596928
+65,1.083333333,BASELINE,783,761,738,721,689,649,915,800,839,657.741786616,634,657,0.400966117357,0.00451627303901,0.0598383881687,0.999999946008,0.000190192535084,-0.000267215621859,2.01488531375e-05,1793254908850263552
+66,1.100000000,BASELINE,783,761,738,721,689,649.316372309,915,800,838.683627691,658,634.316372309,657,0.400967034813,0.00451649988746,0.0598390132845,0.999999946323,0.000189955736553,-0.00026620920533,2.00969262003e-05,1793254908866930432
+67,1.116666667,BASELINE,783,761,738,721,689,649.887406363,915,800,838.112593637,658,634.887406363,657,0.40096572734,0.00451724594453,0.0598388526087,0.999999946038,0.000190412132772,-0.000266960231359,1.99938618217e-05,1793254908883597312
+68,1.133333333,BASELINE,783,761,738,721.474393325,688.525606675,649.525606675,915,800,838.474393325,658,635,657,0.400965502701,0.00451598268629,0.059838688429,0.999999946133,0.000189837464628,-0.000266987313471,2.03300871445e-05,1793254908900263936
+69,1.150000000,BASELINE,783,761,738.063901498,721.936098502,688,649.063901498,915,800,839,658,634.936098502,657,0.400965582077,0.00451445813405,0.0598385599042,0.999999946345,0.000189009693737,-0.00026675152839,2.07079427785e-05,1793254908916930304
+70,1.166666667,BASELINE,783,761,738.642165672,721.357834328,688,649.642165672,915,800,839,658,634.357834328,657,0.400965967892,0.00451480260572,0.0598387253051,0.999999946749,0.000188182955014,-0.000265831025143,2.05524521072e-05,1793254908933597440
+71,1.183333333,BASELINE,783,761,738.780073232,721,688.219926768,650,915,800,838.780073232,657.780073232,634,657,0.400966343318,0.00451485454947,0.0598389560902,0.999999946909,0.000188003571937,-0.000265355178041,2.05687283621e-05,1793254908950264064
+72,1.200000000,BASELINE,783,761,738.203128717,721,688.796871283,650,915,800,838.203128717,657.203128717,634,657,0.40096670188,0.00451443161855,0.0598392930167,0.999999946673,0.000188875072428,-0.000265601162602,2.08638421429e-05,1793254908966930432
+73,1.216666667,BASELINE,783,760.629343718,738,721,688.629343718,649.629343718,915,800,838,657.370656282,634,657,0.400966837659,0.00451499173994,0.0598393722757,0.999999946683,0.000188930979424,-0.000265536767374,2.07158914585e-05,1793254908983597056
+74,1.233333333,BASELINE,783,760.05727561,738,721,688.05727561,649.05727561,915,800,838,657.94272439,634,657,0.400966852379,0.00451608604456,0.0598393115202,0.999999946826,0.000188543699023,-0.000265303714098,2.03271828717e-05,1793254909000263680
+75,1.250000000,BASELINE,783,760,738,721.534663878,688.534663878,649,915,800,838.534663878,658,634.534663878,657,0.400966910861,0.00451604605331,0.0598395651069,0.999999946878,0.000188299430974,-0.000265278588437,2.03634886105e-05,1793254909016930560
+76,1.266666667,BASELINE,783,760,738,722,689,649.125138068,915,800,838.874861932,658,635,657,0.400967107347,0.00451601554553,0.0598398586851,0.999999946892,0.000188410238545,-0.000265146446694,2.03745343333e-05,1793254909033597184
+77,1.283333333,BASELINE,783,760,738,722,689,649.702332185,915,800,838.297667815,658,635,657,0.400967784778,0.00451647519335,0.0598401703903,0.999999946804,0.000189746262371,-0.000264544143406,2.01235072515e-05,1793254909050263808
+78,1.300000000,BASELINE,783,760,738.279181587,722,688.720818413,650,915.279181587,800,838.279181587,657.720818413,635,657,0.400967332579,0.00451631530095,0.0598399528793,0.999999946753,0.000189745976287,-0.000264740690276,2.00502189895e-05,1793254909066930688
+79,1.316666667,BASELINE,783,760,738.855663864,722,688.144336136,650,915.855663864,800,838.855663864,657.144336136,635,657,0.400965677435,0.00451549565966,0.0598391718057,0.999999946742,0.000188322652652,-0.000265787933342,2.01662049515e-05,1793254909083597056
+80,1.333333333,BASELINE,783,760.423136015,738.576863985,721.576863985,688,649.576863985,915.576863985,800,838.576863985,657,634.576863985,657,0.400964691165,0.00451577309925,0.05983829887,0.999999946347,0.000188461544745,-0.000267164000407,2.03125832345e-05,1793254909100263680
+81,1.350000000,BASELINE,783,760.987598842,738.012401158,721.012401158,688,649.012401158,915.012401158,800,838.012401158,657,634.012401158,657,0.400963928299,0.0045164169622,0.0598373952525,0.999999945821,0.000189122214504,-0.000268649894291,2.04691125178e-05,1793254909116930304
+82,1.366666667,BASELINE,783,760.409390103,738,721,688,649.590609897,915,800,838.590609897,657.590609897,634.590609897,657,0.400965876654,0.00451643385941,0.0598376594004,0.99999994601,0.000189547456846,-0.000267658411817,2.02643562827e-05,1793254909133596928
+83,1.383333333,BASELINE,783,760.186108301,738,721.186108301,688,650,915,800,838.813891699,658,634.813891699,657,0.400967160991,0.00451613640682,0.0598381743451,0.999999946335,0.000189204378938,-0.000266689972884,2.02002756753e-05,1793254909150263552
+84,1.400000000,BASELINE,783,760.763970124,738,721.763970124,688,650,915,800,838.236029876,658,634.236029876,657,0.400966919386,0.0045152069014,0.0598391619931,0.999999946911,0.000187255137507,-0.000265887182168,2.04493971815e-05,1793254909166930432
+85,1.416666667,BASELINE,783,760.660115328,738.339884672,722,688,650,915,800,838,657.660115328,634.339884672,657,0.400965774378,0.00451483601912,0.0598387838995,0.999999946716,0.000187036212921,-0.000266770035054,2.04945837317e-05,1793254909183597056
+86,1.433333333,BASELINE,783,760.085545379,738.914454621,722,688,650,915,800,838,657.085545379,634.914454621,657,0.400964005584,0.00451485085781,0.0598374627816,0.999999945986,0.000188012046324,-0.000268816799655,2.03989562335e-05,1793254909200263936
+87,1.450000000,BASELINE,782.49870115,760,739,722,688.50129885,649.49870115,915,800,838.50129885,657.50129885,634.49870115,657,0.400966369649,0.00451539969544,0.0598391021589,0.99999994659,0.000188799645066,-0.000266021066555,2.01985617942e-05,1793254909216930560
+88,1.466666667,BASELINE,782.088818397,760,738.911181603,722,688.911181603,649,915,800,838.911181603,658,634.088818397,657,0.400968538347,0.00451600227738,0.0598406564116,0.999999947166,0.000189400625252,-0.0002634269274,2.00254624972e-05,1793254909233596928
+89,1.483333333,BASELINE,782.668208575,760,738.331791425,722,688.331791425,649,915,800,838.331791425,658,634.668208575,657,0.400965634816,0.00451638575797,0.0598388800737,0.999999946364,0.000189152724502,-0.000266625059488,2.01043482696e-05,1793254909250263552
+90,1.500000000,BASELINE,783,760.245505825,738,722,688.245505825,649,915,800,838.245505825,658,635,657,0.400964568614,0.00451599012546,0.0598385369451,0.99999994617,0.000188495185407,-0.000267805369862,2.02437285613e-05,1793254909266930432
+91,1.516666667,BASELINE,783,760.81999843,738,722,688.81999843,649,915,800,838.81999843,658,635,657,0.400965964499,0.00451455045288,0.0598401143697,0.999999946799,0.000187288715975,-0.000266281725125,2.04641737143e-05,1793254909283597824
+92,1.533333333,BASELINE,783,761,738,722,689,649,915,800,838.604994314,658,634.604994314,657,0.400966060313,0.00451467545602,0.0598394669608,0.999999946641,0.000187664150903,-0.000266614527672,2.04343612937e-05,1793254909300264448
+93,1.550000000,BASELINE,783,761,738,722,689,649,915,800,838.029752178,658,634.029752178,657,0.400965562919,0.00451551440217,0.0598378043867,0.999999946122,0.000188761390084,-0.000267794405152,2.02903593039e-05,1793254909316930560
+94,1.566666667,BASELINE,783,761,738,721.438281068,689,649,915,800,838.561718932,657.438281068,634,657,0.400966008321,0.00451526784827,0.0598386186082,0.999999945984,0.000190463392961,-0.000267096920109,2.03711185417e-05,1793254909333597184
+95,1.583333333,BASELINE,783,760.849218656,738,721.150781344,688.849218656,649.150781344,915,800,839,657,634.150781344,657,0.400965628596,0.00451522261763,0.0598388607594,0.99999994583,0.000191071837921,-0.00026724009024,2.03604642585e-05,1793254909350263808
+96,1.600000000,BASELINE,783,760.2695258,738,721.7304742,688.2695258,649.7304742,915,800,839,657,634.7304742,657,0.400962755448,0.00451591848505,0.0598370913285,0.99999994557,0.000188475727228,-0.000270065854792,2.00549040299e-05,1793254909366930432
+97,1.616666667,BASELINE,783,760.307685994,738.307685994,721.692314006,688.307685994,649.692314006,915,800,838.692314006,657,634.692314006,657,0.400962498243,0.00451622789956,0.0598367872394,0.999999945522,0.000188455027074,-0.000270259181469,2.00033634222e-05,1793254909383596800
+98,1.633333333,BASELINE,783,760.882741784,738.882741784,721.117258216,688.882741784,649.117258216,915,800,838.117258216,657,634.117258216,657,0.400964514214,0.00451620149818,0.059837756488,0.999999945662,0.000190672280722,-0.000268164999306,2.01725581792e-05,1793254909400263424
+99,1.650000000,BASELINE,783,760.533054329,738.533054329,721,689,649,915,800,838.466945671,657.466945671,634.466945671,657,0.400965451135,0.00451561858448,0.0598383444015,0.99999994615,0.000190115887733,-0.000266724980029,2.03190970167e-05,1793254909416930304
+100,1.666666667,BASELINE,783,760,738,721,688.947184461,649,915.052815539,800,838.947184461,658,635,657,0.400966036154,0.0045149584145,0.0598388032372,0.999999946669,0.000188916946798,-0.000265619527691,2.04474055955e-05,1793254909433596672
+101,1.683333333,BASELINE,783,760,738,721,688.368062546,649,915.631937454,800,838.368062546,658,635,657,0.400965868629,0.00451494882169,0.0598389491298,0.999999946619,0.000188394443892,-0.000266178354249,2.04518765223e-05,1793254909450263552
+102,1.700000000,BASELINE,783,760.210496102,738.210496102,721.210496102,688,649,915.789503898,800,838.210496102,658,635,657,0.400965753431,0.00451499543271,0.0598391409679,0.999999946591,0.000188006437551,-0.000266550723991,2.05405992622e-05,1793254909466930176
+103,1.716666667,BASELINE,783,760.788072421,738.788072421,721.788072421,688,649,915.211927579,800,838.788072421,658,635,657,0.400965729487,0.00451514005654,0.0598394129291,0.999999946603,0.000187852977309,-0.000266597935121,2.07762471626e-05,1793254909483597056
+104,1.733333333,BASELINE,783,761,739,721.636984497,688,649.363015503,915,800,839,658,635,657,0.400965574312,0.00451587144365,0.0598395806911,0.999999946587,0.000188185709535,-0.000266438712612,2.05488239974e-05,1793254909500263680
+105,1.750000000,BASELINE,783,761,739,721.063567566,688,649.936432434,915,800,839,658,635,657,0.400965343075,0.00451694291495,0.0598396880599,0.999999946556,0.000188800235744,-0.000266159842511,2.00530078733e-05,1793254909516930304
+106,1.766666667,BASELINE,783,761,738.474893112,721,688.525106888,650,915,800,839,658,635,657,0.400964522998,0.00451636518775,0.0598385879354,0.999999946209,0.000188521333062,-0.000267656642032,2.0019382643e-05,1793254909533596928
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,738,722,688,650,915,801,839,657,635,657,0.400966210124,0.00451613545233,0.0598387815667,0.99999994673,0.000189232680786,-0.000265214360178,1.98147832091e-05,1793254909575822592
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,760.423239108,738,722,688,649.423239108,915,800.423239108,839,657,635,657,0.400966995983,0.00451555084304,0.0598395669816,0.999999947119,0.000188205314761,-0.000264450772653,2.01866594228e-05,1793254909592489216
+109,1.816666667,POSE1_TO_POSE2_PRESS,782.846158808,760,738,721.846158808,688.153841192,649,915,800,838.846158808,657,635,657,0.400966991724,0.00451527951302,0.0598397273521,0.999999947093,0.000187994628654,-0.000264678873104,2.0421766382e-05,1793254909609155584
+110,1.833333333,POSE1_TO_POSE2_PRESS,782.268197812,760,738,721.268197812,688.731802188,649,915,800,838.268197812,657,635,657,0.400964809219,0.00451587185233,0.0598381645584,0.999999945922,0.000190035420739,-0.000267640925861,2.02798186949e-05,1793254909625821952
+111,1.850000000,POSE1_TO_POSE2_PRESS,782.315155357,760,738,721,689,649.315155357,915,800,838,657,635,657,0.400965126404,0.00451541629702,0.0598386471325,0.999999946201,0.000189455655278,-0.000267005746316,2.03212318167e-05,1793254909642488320
+112,1.866666667,POSE1_TO_POSE2_PRESS,782.903177121,760,738,721,689,649.903177121,915,800,838,657,635,657,0.40096760786,0.00451405345823,0.0598409006179,0.999999947726,0.000186606970243,-0.00026325602696,2.05214015849e-05,1793254909659154944
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760.483448762,738.483448762,721,689,650,915,800,838,657,634.516551238,657,0.400965945643,0.00451452899499,0.0598396777842,0.999999947063,0.00018722778987,-0.000265340567629,2.03578512075e-05,1793254909675821568
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760.938309102,738.938309102,721.061690898,689,650,915,800,838.061690898,657,634.061690898,657,0.400963815924,0.00451522920303,0.0598380344289,0.999999946062,0.000188498054704,-0.00026821041286,2.01959570966e-05,1793254909692488448
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760.36423503,738.36423503,721.63576497,689,650,915,800,838.63576497,657,634.63576497,657,0.400964587206,0.00451478571531,0.0598385896996,0.999999945909,0.000189482208982,-0.000268051036208,2.06432919054e-05,1793254909709155072
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,760.215066778,738,722,689,650,915,800,839,657.215066778,635,657.215066778,0.400969180426,0.00451456963495,0.0598409417945,0.999999946792,0.000189297180672,-0.000264851066515,2.09072532087e-05,1793254909725821696
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,760.803442741,738,722,689,650,915,800,839,657.803442741,635,657.803442741,0.400980407698,0.00451474828442,0.0598464127859,0.999999949419,0.000187082705389,-0.000256373288153,2.0852917913e-05,1793254909742488576
+118,1.966666667,POSE1_TO_POSE2_PRESS,783,761,738,722,688.614247855,650,915,800,839,658,634.614247855,657.614247855,0.401008325968,0.0045146631519,0.0598578755637,0.99999995436,0.000187141200552,-0.000236269769874,2.08594913571e-05,1793254909759155200
+119,1.983333333,POSE1_TO_POSE2_PRESS,783,761,738,722,688.034981708,650,915,800,839,658,634.034981708,657.034981708,0.40104461734,0.00451444569218,0.0598723441439,0.999999959925,0.00018833993951,-0.000210334154953,2.08966198813e-05,1793254909775822080
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,760.457865969,738,722,688.542134031,650,915,800.542134031,839,657.457865969,634.542134031,657,0.401103603395,0.00451494943373,0.0598908768851,0.999999965917,0.000187474581144,-0.000180480325356,2.11017194771e-05,1793254909792488448
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,760.118695565,738,721.881304435,688.881304435,649.881304435,915,800.881304435,839,657,635,657,0.401167705809,0.00451483997602,0.0599089489946,0.999999970923,0.000185843575175,-0.000152186371717,2.13512380366e-05,1793254909809155072
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,760.693658171,738,721.306341829,688.306341829,649.306341829,915,800.306341829,839,657,635,657,0.401245868668,0.00451219519498,0.059924246351,0.99999997468,0.000181779364392,-0.000130856617918,2.17300050215e-05,1793254909825821696
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,761,738,721.275537386,688.275537386,649.275537386,915.275537386,800,839,657.275537386,635,657.275537386,0.40133039088,0.00451137732401,0.0599357359518,0.999999977045,0.000180544830543,-0.000113335814157,2.16351188663e-05,1793254909842488064
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,761,738,721.865304442,688.865304442,649.865304442,915.865304442,800,839,657.865304442,635,657.865304442,0.40142216545,0.00451264290677,0.0599428830925,0.999999978104,0.000182537330739,-0.0001001588328,2.10000669067e-05,1793254909859154688
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760.553782554,738,722,689,650,916,800,839,658,635,657.553782554,0.401529181562,0.00451289298683,0.0599465205859,0.999999979282,0.000180457306201,-9.20806439309e-05,1.98031848644e-05,1793254909875821568
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760.024406039,738.024406039,721.975593961,689,650,916,800,838.975593961,658,634.975593961,657,0.401641665688,0.00451280023359,0.0599490621011,0.999999980471,0.00017714991818,-8.56465968877e-05,1.84560085756e-05,1793254909892488448
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760.600251308,738.600251308,721.399748692,689,650,916,800,838.399748692,658,634.399748692,657,0.401775766015,0.00451175270949,0.0599503119911,0.999999981439,0.00017334666578,-8.22619308128e-05,1.74703540079e-05,1793254909909155328
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738.820258728,721.179741272,689,650,915.820258728,800,838,658,634,657,0.401917376582,0.00451124652162,0.0599505271898,0.999999982336,0.000169695160813,-7.91841604667e-05,1.61516560325e-05,1793254909925821952
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,761,738.232495188,721.767504812,689,650,915.232495188,800,838,658,634,657,0.402076035778,0.00451196919596,0.0599483935839,0.999999983109,0.000166388131131,-7.68030602438e-05,1.40769319079e-05,1793254909942488320
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,761,738.351915988,721.648084012,688.648084012,649.648084012,915,800,838,658,634.351915988,657,0.402258742858,0.00451276142084,0.0599482760816,0.999999983909,0.00016375498639,-7.22801619437e-05,1.18982861875e-05,1793254909959154944
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,761,738.934133365,721.065866635,688.065866635,649.065866635,915,800,838,658,634.934133365,657,0.402457187408,0.00451359916117,0.0599494779607,0.999999984701,0.000161562846112,-6.63556246963e-05,9.65163173426e-06,1793254909975821568
+132,2.200000000,POSE1_TO_POSE2_PRESS,782.489248485,761,738.489248485,721,688,649,915.510751515,800,838.510751515,658,635,657,0.402685758442,0.0045124422818,0.0599514797133,0.999999986259,0.000154387914047,-5.99351666072e-05,7.39042089861e-06,1793254909992488192
+133,2.216666667,POSE1_TO_POSE2_PRESS,782.086322234,761,738.086322234,721.086322234,688,649.086322234,915.913677766,800,839,658,635,657,0.402923659947,0.00451112490088,0.0599532514903,0.999999987783,0.000146658429986,-5.38481070497e-05,5.0561593073e-06,1793254910009154816
+134,2.233333333,POSE1_TO_POSE2_PRESS,782.66001206,761,738.66001206,721.66001206,688,649.66001206,915.33998794,800,839,658,635,657,0.403192543383,0.00451033787218,0.059953148776,0.999999989033,0.000139386611319,-5.00005465813e-05,2.31994234729e-06,1793254910025821440
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,738.759950903,721.759950903,688,650,915,800,839,657.759950903,635,657,0.403472385994,0.00451000714053,0.0599501106529,0.999999989829,0.00013268934509,-5.2295905693e-05,-5.73096425847e-07,1793254910042488064
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,738.17068002,721.17068002,688,650,915,800,839,657.17068002,635,657,0.40376817192,0.00451034022675,0.0599428021174,0.999999989933,0.000126827934252,-6.35279424554e-05,-3.69427833664e-06,1793254910059154688
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,915,800,838.588325102,657,635,657,0.404086889894,0.00451084443526,0.0599319386474,0.999999989475,0.00012022258593,-8.09168649739e-05,-6.95516927934e-06,1793254910075821312
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,761,738,721,688,650,915,800,838.008790177,657,635,657,0.40441495838,0.0045114184187,0.0599196256567,0.999999988445,0.000113313897944,-0.000100816251195,-1.02730263612e-05,1793254910092488192
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760.434002794,738,721,688,649.434002794,915,800,838.565997206,657,635,657,0.404774464852,0.00451080221939,0.0599065743648,0.999999986327,0.000105788155143,-0.000126327014001,-1.39942043804e-05,1793254910109154816
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,760,738,721,688,649,915,800,838.856260742,657.143739258,635,657,0.405154463392,0.00451040620519,0.0598982397018,0.999999984647,9.82625060931e-05,-0.000144011347065,-1.76569528604e-05,1793254910125821440
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,760,738,721,688,649,915,800,838.269180058,657.730819942,635,657,0.405596173077,0.00451074585479,0.0599044878221,0.999999986233,9.07664596066e-05,-0.00013728971242,-2.11203249764e-05,1793254910142488064
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,760.315189483,738,721.315189483,688,649.315189483,915,800,838.315189483,657.684810517,635,657,0.406080221148,0.00450970401549,0.0599246744888,0.999999991069,8.06807404583e-05,-0.000103665583749,-2.46172922212e-05,1793254910159154688
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,760.897263447,738,721.897263447,688,649.897263447,915,800,838.897263447,657.102736553,635,657,0.406600118997,0.00450749241019,0.0599566635224,0.999999996148,6.84022331324e-05,-4.72619561681e-05,-2.81427062283e-05,1793254910175821312
+144,2.400000000,POSE1_TO_POSE2_PRESS,782.526322828,760.526322828,738.473677172,721.526322828,688,649.526322828,915.473677172,800,839,657.473677172,635,657,0.407143902898,0.00450599853616,0.0599842295892,0.999999997803,5.82367733569e-05,-2.70963927046e-06,-3.15453463718e-05,1793254910192487936
+145,2.416666667,POSE1_TO_POSE2_PRESS,782,760.048910427,738.951089573,720.951089573,688,649.048910427,916,800,839,658,635,657,0.407691039473,0.0045045926077,0.0600081649654,0.999999997636,4.85838104881e-05,3.3905912093e-05,-3.48927030189e-05,1793254910209154560
+146,2.433333333,POSE1_TO_POSE2_PRESS,782,760.624496106,738.375503894,720.375503894,688,649.624496106,916,800,839,658,635,657,0.408219150896,0.00450247720726,0.0600032124629,0.999999998421,3.95726958437e-05,1.24092921774e-05,-3.79281160866e-05,1793254910225821440
+147,2.450000000,POSE1_TO_POSE2_PRESS,782.204745847,761,738.204745847,720.204745847,688,649.795254153,916,800,839,658,635,657,0.408768067138,0.0044949211712,0.0599949697796,0.999999998854,2.37371487941e-05,-1.22081558871e-05,-3.97466014274e-05,1793254910242488064
+148,2.466666667,POSE1_TO_POSE2_PRESS,782.793748838,761,738.793748838,720.793748838,688,649.206251162,916,800,839,658,635,657,0.40935602883,0.00447715441238,0.0599805522437,0.999999998306,-4.90616375442e-06,-4.26826226034e-05,-3.92812152284e-05,1793254910259154688
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,760.623232523,738.623232523,721,687.623232523,649,915.623232523,800,839,658,635,657,0.409991361246,0.00445808871364,0.0599789039603,0.999999997569,-3.64762263147e-05,-4.3652889396e-05,-4.03168783057e-05,1793254910275821568
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,760.043438654,738.043438654,721,687.043438654,649,915.043438654,800,839,658,635,657,0.410652220017,0.00443832306364,0.0599841365667,0.999999996275,-6.96234078448e-05,-2.87244069722e-05,-4.21614026448e-05,1793254910292488192
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,760.531947832,738,721,687,649.531947832,915.531947832,800,839,658,635,657,0.411346000198,0.00444712741526,0.0599899775826,0.999999996435,-6.75707294119e-05,-1.42647972444e-05,-4.85919865191e-05,1793254910309155072
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.109324126,650,916,800,839.109324126,658,635,657,0.412037245072,0.00445671250696,0.0599908052241,0.99999999792,-4.15821249581e-05,-9.56104574423e-06,-4.83618124967e-05,1793254910325821696
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,721,687.696967882,650,916,800,839.696967882,658,635,657,0.41270573163,0.00445958989202,0.059969482545,0.999999995789,7.665908817e-05,-4.73754075905e-05,-1.73641544027e-05,1793254910342488320
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,721,687.719300368,650,916,800,839.719300368,657.719300368,635,657,0.413403443255,0.00446308767172,0.0599435706763,0.999999986962,0.000129038712673,-9.693933891e-05,-5.30118302406e-06,1793254910359154944
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,721,687.139733742,650,916,800,839.139733742,657.139733742,635,657,0.414132271527,0.00446724599944,0.0599127725953,0.999999981074,0.000111294089092,-0.00015901329714,-1.33983800675e-05,1793254910375821568
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738,720.561358204,687,650,916,800,839,657.438641796,635.438641796,657,0.414967513777,0.00446473606004,0.0599411701988,0.999999990551,8.51619203489e-05,-0.000106066211158,-1.9877169233e-05,1793254910392488448
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738,720,687.03299987,650,916,800,839.016499935,658,635.983500065,657,0.415835880308,0.00446018274462,0.0599878613028,0.999999998052,5.3994478346e-05,-1.78452406245e-05,-2.57392007264e-05,1793254910409154816
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738,720,688.179339787,650,916,800,839.589669893,658,635.410330107,657,0.416681200476,0.00445816362052,0.0600172514043,0.99999999759,-5.71506890128e-05,2.75965907379e-05,-2.81399701137e-05,1793254910425821440
+159,2.650000000,POSE1_TO_POSE2_PRESS,783.167862664,761,738.167862664,720.167862664,688.832137336,650,916,800,839.832137336,658,635,657,0.417521173413,0.0044580456484,0.0600338339234,0.999999989457,-0.000131677098428,5.32314803804e-05,-3.02147236369e-05,1793254910442488320
+160,2.666666667,POSE1_TO_POSE2_PRESS,783.758712075,761,738.758712075,720.758712075,688.241287925,650,916,800,839.241287925,658,635,657,0.418347672145,0.00446271827175,0.0600181434058,0.999999992596,-0.000113930159313,2.89560805699e-05,-3.14679706634e-05,1793254910459154688
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.65781003,761,738.65781003,720.65781003,687.65781003,649.65781003,916,800.34218997,839,657.65781003,635.34218997,657,0.419205995085,0.00446211316176,0.0599959680011,0.999999993523,-0.000108371239141,-9.20752904352e-06,-3.35464246063e-05,1793254910475821312
+162,2.700000000,POSE1_TO_POSE2_PRESS,783.079420412,761,738.079420412,720.079420412,687.079420412,649.079420412,916,800.920579588,839,657.079420412,635.920579588,657,0.420086284931,0.00445786504955,0.0599693163464,0.999999991537,-0.000111225207198,-5.69575970252e-05,-3.61944848079e-05,1793254910492488448
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.496878276,761,738,720,687,649.496878276,916,800.503121724,839.496878276,657,635.503121724,657,0.420929758361,0.00445907181062,0.0599329228005,0.999999987717,-9.86590372911e-05,-0.000115991512218,-3.71259023097e-05,1793254910509155328
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.927259092,761,738,720,687,650,916,800,839.927259092,657.072740908,635,657,0.421777355929,0.00446077827706,0.0598992870525,0.999999981231,-8.47729405243e-05,-0.000170059154293,-3.78270882385e-05,1793254910525821696
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.35210984,761,738,720,687,650,916,800,839.35210984,657.64789016,635,657,0.42269391194,0.0044599392951,0.0598954086976,0.999999980409,-7.87225058473e-05,-0.00017742070302,-3.88253001693e-05,1793254910542488064
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,761,738,720,687.229504009,650,916,800,839.229504009,658,635,657,0.423649315834,0.00445785128452,0.0599207920008,0.999999987287,-7.51475376045e-05,-0.000134891572956,-3.97804712478e-05,1793254910559154688
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,761,738,720,687.821323534,650,916,800,839.821323534,658,635,657,0.424666048606,0.00445379144572,0.059992370369,0.999999996232,-7.54805599634e-05,-1.36005630815e-05,-4.06676939504e-05,1793254910575821312
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.402858025,761,738,720,688,650,916,800,840,657.597141975,635,657,0.425672319312,0.00445317691388,0.0600305289401,0.999999995493,-6.93636128629e-05,5.01539253045e-05,-4.10678326252e-05,1793254910592487936
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.979944401,761,738,720,688,650,916,800,840,657.020055599,635,657,0.426674065313,0.0044540524113,0.0600542340871,0.999999993359,-6.04571781699e-05,8.90249670712e-05,-4.12573168835e-05,1793254910609154816
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.448169243,761,738,720,687.448169243,650,916,800,840,657.551830757,635.551830757,657,0.427620597101,0.00444952907983,0.0600309403549,0.999999994876,-6.41864633311e-05,6.52363642391e-05,-4.32796721483e-05,1793254910625821440
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,761,738,720,687,650,916,800,840,657.872595211,636,657,0.428550761392,0.00444648323026,0.0600038820035,0.999999996238,-6.65124487686e-05,3.23779082242e-05,-4.53013235872e-05,1793254910642487808
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,761,738,720,687,650,916,800,840,657.282962984,636,657,0.429428756341,0.00444950294074,0.0599693047602,0.999999996646,-6.20966896831e-05,-2.5201259535e-05,-4.70810025836e-05,1793254910659154432
+173,2.883333333,POSE1_TO_POSE2_PRESS,783.303227193,761,738,719.696772807,686.696772807,650,916,800,840,657,635.696772807,657,0.430340885424,0.00444950397576,0.0599428290447,0.999999994543,-6.01341198563e-05,-7.0592007111e-05,-4.81082269068e-05,1793254910675821312
+174,2.900000000,POSE1_TO_POSE2_PRESS,783.886241367,761,738,719.113758633,686.113758633,650,916,800,840,657,635.113758633,657,0.431284509941,0.00444671968624,0.0599238285905,0.999999991516,-6.04351020161e-05,-0.000104736526397,-4.84411631325e-05,1793254910692487936
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,761,738,719,686.461209916,650,916,800,840.461209916,657,635.461209916,657.461209916,0.432335751235,0.00444303029116,0.0599672472367,0.999999996219,-6.4959203662e-05,-3.07162917701e-05,-4.89843200246e-05,1793254910709154816
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.034267659,761,738,719,687,650,916,800,840.965732341,657.034267659,636,658,0.43340572144,0.00443935675285,0.0600223833871,0.999999994315,-6.99522881558e-05,6.33854215589e-05,-4.9588577218e-05,1793254910725821696
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.607948776,761,738,719,687,650,916,800,840.392051224,657.607948776,636,658,0.434359836252,0.00443938673757,0.0600237733935,0.99999999469,-6.62121495919e-05,6.08327895795e-05,-5.0352422011e-05,1793254910742488320
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.812536015,761,738,719,687,650,916,800,840,658,636,657.812536015,0.435296327247,0.00443728536512,0.0600141175182,0.999999995811,-6.48985976548e-05,3.97418225436e-05,-5.08674660728e-05,1793254910759154944
+179,2.983333333,POSE1_TO_POSE2_PRESS,784.220427708,761,738,719,687,650,916,800,840,658,636,657.220427708,0.436194777105,0.00443058342058,0.0599806189125,0.999999996111,-6.88228749417e-05,-2.13644687289e-05,-5.08454693842e-05,1793254910775821568
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,761,738,719,687,650,916,800,840,657.636275745,636,657,0.437080330301,0.00443008720379,0.059947161814,0.999999993231,-6.62627941269e-05,-8.07048064726e-05,-5.13234007634e-05,1793254910792488448
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687,650,916,800,840,657.056842381,636,657,0.437958234992,0.00443327133588,0.0599137293337,0.999999987191,-5.98571209353e-05,-0.000138997829818,-5.20978177719e-05,1793254910809155072
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,761,738,719,687,650,916.518359941,800.518359941,840.518359941,657,636,657,0.438883879283,0.00442802470407,0.0599072060742,0.999999984983,-6.26931808583e-05,-0.000153012171771,-5.18674518837e-05,1793254910825821696
+183,3.050000000,POSE1_TO_POSE2_PRESS,784.091983207,761,738,719,687,650,916.908016793,801,841,657.091983207,636,657.091983207,0.439819198129,0.00442229789964,0.0599147082276,0.999999986086,-6.67662278498e-05,-0.000143947639212,-5.14809507607e-05,1793254910842488064
+184,3.066666667,POSE1_TO_POSE2_PRESS,784.659818404,761,738,719,687,650,916.340181596,801,841,657.659818404,636,657.659818404,0.440777702953,0.00441883099868,0.0599796256221,0.999999995296,-7.20382312603e-05,-4.04057803819e-05,-5.08521100511e-05,1793254910859154688
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761.240319458,738,718.759680542,687,650,916,800.759680542,841,658,636,657.759680542,0.441690082519,0.00441944083482,0.0600137520302,0.999999996044,-7.11745112587e-05,1.56291862466e-05,-5.10159828448e-05,1793254910875821312
+186,3.100000000,POSE1_TO_POSE2_PRESS,785,761.839746986,738,718.160253014,687,650,916,800.160253014,841,658,636,657.160253014,0.442533537274,0.0044261425175,0.0600018676279,0.99999999676,-6.11422133385e-05,6.74850777592e-07,-5.23644038428e-05,1793254910892488192
+187,3.116666667,POSE1_TO_POSE2_PRESS,784.577691535,761.577691535,738,718,686.577691535,649.577691535,916,800,840.577691535,658,636,657.422308465,0.443347721251,0.00442539662348,0.0599697869345,0.999999995421,-6.24042724655e-05,-4.86272311306e-05,-5.38438741456e-05,1793254910909154816
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.001284362,761.001284362,738,718,686.001284362,649.001284362,916,800,840.001284362,658,636,657.998715638,0.444151224504,0.00442193313838,0.0599303366923,0.999999990068,-6.77875973009e-05,-0.000110462672503,-5.5371163762e-05,1793254910925821440
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.574933538,761,738,718,686,649,916,800,840,658,636,657.425066462,0.444944945881,0.00442704802993,0.0599102457111,0.999999986439,-5.94774321655e-05,-0.000143348836844,-5.51019779335e-05,1793254910942488320
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,761,738,718,685.845314644,649,916,800,840.154685356,658,636,657,0.445710187135,0.00443798830089,0.0598845666209,0.999999979778,-4.36726824388e-05,-0.000188667120868,-5.42348162529e-05,1793254910959154688
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,761,738,718,685.255623425,649,916,800,840.744376575,658,636,657,0.446395398259,0.00446525682005,0.0598430510766,0.999999962425,-6.87767192762e-06,-0.000269128802192,-5.16973100475e-05,1793254910975821312
+192,3.200000000,POSE1_TO_POSE2_PRESS,785,761,738,718,685,649,916,800,841,658,636,657.328050915,0.44711576627,0.00448991238946,0.0598218813973,0.999999953231,2.27034706343e-05,-0.000300294944824,-5.33420149179e-05,1793254910992487936
+193,3.216666667,POSE1_TO_POSE2_PRESS,785,761,738,718,685,649,916,800,841,658,636,657.907121199,0.447863035733,0.00451256856944,0.0598162800543,0.999999954072,4.67646733834e-05,-0.000293740917532,-5.81868818716e-05,1793254911009154560
+194,3.233333333,POSE1_TO_POSE2_PRESS,785,761,738,718,684.035396193,649,916,800,841,658,635.517698096,657.517698096,0.448583201643,0.00450551803871,0.0598257018455,0.999999958935,3.51730008739e-05,-0.000278371842378,-5.83244220183e-05,1793254911025821440
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,761,738,718,682.943084499,648.943084499,916,800,841,658,635.056915501,657.056915501,0.449288200693,0.00449397071395,0.05983200714,0.999999961417,1.822746959e-05,-0.000271087745207,-5.783498649e-05,1793254911042488064
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,761,738,718,682.366865642,648.366865642,916,800,841,658,635.633134358,657.633134358,0.449902057414,0.0044931732267,0.0597836917034,0.999999935822,1.45760444127e-05,-0.000352936599175,-5.98298717683e-05,1793254911059154944
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,761,737.785129441,717.785129441,682,648,916,800,841,658,636,657.785129441,0.450502543603,0.00449263674364,0.059740011019,0.999999909602,1.05403761066e-05,-0.000420486062151,-6.22555043777e-05,1793254911075821824
+198,3.300000000,POSE1_TO_POSE2_PRESS,785,761,737.19372484,717.19372484,682,648,916,800,841,658,636,657.19372484,0.451079599524,0.00449255763816,0.0597044521691,0.999999890668,5.83136980978e-06,-0.0004629776077,-6.54359686303e-05,1793254911092488448
+199,3.316666667,POSE1_TO_POSE2_PRESS,785.389622165,761,737,717,682,647.610377835,916,800,841,658,635.610377835,657,0.45166434661,0.00448845793052,0.0596999317614,0.999999889676,-2.40202138687e-05,-0.000464332131485,-6.68376705033e-05,1793254911109155328
+200,3.333333333,POSE1_TO_POSE2_PRESS,785.969044061,761,737,717,682,647.030955939,916,800,841,658,635.030955939,657,0.452252840406,0.00448239963509,0.0597105313529,0.999999896244,-6.61197008465e-05,-0.000445647255191,-6.73728699703e-05,1793254911125821696
+201,3.350000000,POSE1_TO_POSE2_PRESS,785.455660656,761.544339344,737.544339344,717,681.455660656,647,916,800,841,658,635.544339344,657,0.452802341757,0.00448602169653,0.0597211562641,0.999999899937,-0.000110649682802,-0.000427753185391,-7.00733212883e-05,1793254911142488064
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,761.878209477,738,717,681,647,916,800,841,658,636,657,0.453327767968,0.00448788980938,0.0597238050691,0.999999896102,-0.000146878351272,-0.000425464955488,-7.21309561377e-05,1793254911159154688
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,761.291641969,738,717,681,647,916,800,841,658,636,657,0.453769717375,0.00448097945339,0.0596960100075,0.999999869642,-0.000150904056972,-0.000482561396394,-7.12691025386e-05,1793254911175821568
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.291372198,761,738,717,681,647,916,800,841,658,636,657,0.454209552729,0.00447725428208,0.0596713592093,0.999999849994,-0.000153993589809,-0.000520670320319,-7.21137088821e-05,1793254911192488448
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.870872551,761,738,717,681,647,916,800,841,658,636,657,0.454647297543,0.00447667883305,0.059649817669,0.99999983922,-0.000156157372907,-0.000540003125717,-7.46457762028e-05,1793254911209155328
+206,3.433333333,POSE1_TO_POSE2_PRESS,786,761,738,717,680.550029104,647,916,800,841,658,636,657,0.45507175448,0.00447664740792,0.0596504337027,0.999999843224,-0.000154759802067,-0.000532804497066,-7.56370963305e-05,1793254911225821952
+207,3.450000000,POSE1_TO_POSE2_PRESS,785.971314546,761,738,716.971314546,680,646.971314546,916,800,841,658,635.971314546,657,0.455490710128,0.00447667103719,0.0596575404797,0.999999851551,-0.000151684193083,-0.000517819176937,-7.58438593377e-05,1793254911242488576
+208,3.466666667,POSE1_TO_POSE2_PRESS,785.397700929,761,738,716.397700929,680,646.397700929,916,800,841,658,635.397700929,657,0.455877533155,0.00447477744743,0.0596672667927,0.999999863607,-0.000136128640918,-0.00049941819365,-6.95384504585e-05,1793254911259155200
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,761,738,716,679.819131054,646,916,800,841,658,635.180868946,657.180868946,0.456238086702,0.0044740409795,0.0596671382582,0.999999868363,-0.00011213233815,-0.000496906754406,-6.1518282601e-05,1793254911275821824
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,761,738,716,679.229356221,646,916,800,841,658,635.770643779,657.770643779,0.456539250539,0.00447592051608,0.0596447300263,0.999999855766,-6.90533109164e-05,-0.00053031816785,-4.9621413333e-05,1793254911292488448
+211,3.516666667,POSE1_TO_POSE2_PRESS,785.353445699,761,738,716.353445699,679,646,916,800,841,658,636,658,0.456804135811,0.00447876070729,0.0596140558988,0.999999831196,-5.29832557575e-05,-0.000576721624137,-4.68207823802e-05,1793254911309154816
+212,3.533333333,POSE1_TO_POSE2_PRESS,785.931810388,761,738,716.931810388,679,646,916,800,841,658,636,658,0.457045934856,0.00448221222165,0.0595781216771,0.999999797968,-5.41006475822e-05,-0.000631392709936,-4.9808639765e-05,1793254911325821440
+213,3.550000000,POSE1_TO_POSE2_PRESS,785.491217939,761,738,717,679,645.491217939,916,800,841,658,635.491217939,657.491217939,0.457273077341,0.00447931905808,0.0595539154816,0.999999774658,-6.2800552012e-05,-0.000666383966862,-5.16871040669e-05,1793254911342488064
+214,3.566666667,POSE1_TO_POSE2_PRESS,785.087097683,761,738,717,678.912902317,645.087097683,916,800,841,658,635,657.087097683,0.457495751162,0.00447630841255,0.0595334652484,0.999999753953,-7.12119955594e-05,-0.000695814893424,-5.35288027791e-05,1793254911359154944
+215,3.583333333,POSE1_TO_POSE2_PRESS,785.674197621,761,738,717,678.325802379,645.674197621,916,800,841,658,635,657.674197621,0.457704017737,0.00447749159777,0.0595255779873,0.999999744895,-7.21494235601e-05,-0.000708425912928,-5.60106775778e-05,1793254911375821824
+216,3.600000000,POSE1_TO_POSE2_PRESS,785.742237642,761,738,717,678,645.742237642,916,800,841,658,635.257762358,658,0.457900741107,0.00447702367326,0.0595227018052,0.99999974066,-7.51484435199e-05,-0.000713954317548,-5.74644422439e-05,1793254911392488448
+217,3.616666667,POSE1_TO_POSE2_PRESS,785.163080852,761,738,717,678,645.163080852,916,800,841,658,635.836919148,658,0.458083071666,0.00447449704049,0.0595260737544,0.999999742568,-8.07179868553e-05,-0.000710651668701,-5.76362939413e-05,1793254911409155072
+218,3.633333333,POSE1_TO_POSE2_PRESS,785,761.414772438,738,717,678,645.414772438,916,800,841,658,636,657.585227562,0.458246840941,0.00447385032912,0.0595285367295,0.999999745322,-8.22761478887e-05,-0.000706522370802,-5.84130648639e-05,1793254911425821440
+219,3.650000000,POSE1_TO_POSE2_PRESS,785,761.992114808,738,717,678,645.992114808,916,800,841,658,636,657.007885192,0.458403335124,0.00447394045245,0.0595306434325,0.9999997484,-8.22620487084e-05,-0.000702069068131,-5.94269336897e-05,1793254911442488064
+220,3.666666667,POSE1_TO_POSE2_PRESS,785,761.432952247,737.432952247,716.432952247,677.432952247,645.432952247,916,800,841,658,635.432952247,657,0.458519217394,0.00447610387274,0.0595254490342,0.999999742288,-8.32653427855e-05,-0.000710513620146,-6.05130763439e-05,1793254911459154944
+221,3.683333333,POSE1_TO_POSE2_PRESS,785,761,737,716.145703191,677,645,916,800,841,658,635.145703191,657.145703191,0.458628535049,0.00447692199411,0.0595201098992,0.999999735584,-8.44244334902e-05,-0.000719690214583,-6.12380124237e-05,1793254911475821312
+222,3.700000000,POSE1_TO_POSE2_PRESS,785,761,737,716.735814224,677,645,916,800,841,658,635.735814224,657.735814224,0.458719545224,0.00447354926835,0.059514637661,0.999999727594,-8.60157490005e-05,-0.000730554872727,-6.08581833344e-05,1793254911492488192
+223,3.716666667,POSE1_TO_POSE2_PRESS,785,761,737.318728701,717,677,645,916,799.681271299,841,658,636,658,0.458801064528,0.0044724956212,0.0595116755298,0.999999723838,-8.64761012098e-05,-0.000735609535119,-6.10240945447e-05,1793254911509155072
+224,3.733333333,POSE1_TO_POSE2_PRESS,785,761,737.895809916,717,677,645,916,799.104190084,841,658,636,658,0.45887489081,0.00447332175355,0.05951074802,0.999999723586,-8.60197265753e-05,-0.000735954779702,-6.16323674459e-05,1793254911525821696
+225,3.750000000,POSE1_TO_POSE2_PRESS,785,761,738,717,677,645,916,799.465639667,841,658,636,657.534360333,0.458933978714,0.0044744375485,0.0595104160506,0.99999972306,-8.66072725417e-05,-0.000736580794128,-6.18659231484e-05,1793254911542488064
+226,3.766666667,POSE1_TO_POSE2_PRESS,785,761.035570882,737.964429118,716.964429118,676.964429118,645,916,800,841,658,636,657.035570882,0.458988924945,0.00447544227988,0.0595102481668,0.999999722503,-8.74963747884e-05,-0.000737222168546,-6.1986335601e-05,1793254911559154688
+227,3.783333333,POSE1_TO_POSE2_PRESS,785,761.632308463,737.367691537,716.367691537,676.367691537,645,916,800,841,658,636,657.632308463,0.459029760689,0.00447368804491,0.0595105988829,0.999999722415,-8.95143101464e-05,-0.000737129946002,-6.16242639387e-05,1793254911575821312
+228,3.800000000,POSE1_TO_POSE2_PRESS,785,761.77767211,737,716.22232789,676.22232789,645,916,799.77767211,841,658,636,658,0.459065362647,0.00447273355941,0.0595104115717,0.999999722081,-9.0118774848e-05,-0.00073752541671,-6.14183522253e-05,1793254911592488192
+229,3.816666667,POSE1_TO_POSE2_PRESS,785,761.198437484,737,716.801562516,676.801562516,645,916,799.198437484,841,658,636,658,0.459092562714,0.00447306292542,0.0595093605561,0.999999721357,-8.84541709936e-05,-0.000738703789681,-6.14631267503e-05,1793254911609154816
+230,3.833333333,POSE1_TO_POSE2_PRESS,785,761.379860331,737.379860331,717,676.620139669,645,916,799.379860331,841,658,635.620139669,657.620139669,0.459112259508,0.00447384437268,0.0595083064934,0.999999720068,-8.6350186977e-05,-0.000740677519588,-6.16831790547e-05,1793254911625821696
+231,3.850000000,POSE1_TO_POSE2_PRESS,785,761.957669946,737.957669946,717,676.042330054,645,916,799.957669946,841,658,635.042330054,657.042330054,0.459128046265,0.0044748614043,0.059507250843,0.999999718476,-8.40172373061e-05,-0.000743065718466,-6.19945704842e-05,1793254911642488576
+232,3.866666667,POSE1_TO_POSE2_PRESS,785.530870463,761.469129537,737.469129537,716.469129537,676.530870463,645,916,800,841,658,635.530870463,657.530870463,0.459137625739,0.00447469390377,0.0595051900024,0.999999716066,-8.41808860449e-05,-0.00074630024524,-6.17912876105e-05,1793254911659155200
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,761.107036795,737.107036795,716,676.892963205,645,916,800,841,658,636,658,0.459146014563,0.00447431685866,0.0595031415136,0.999999713845,-8.44114188284e-05,-0.000749262914662,-6.15564946673e-05,1793254911675821824
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,761.698267373,737.698267373,716,676.301732627,645,916,800,841,658,636,658,0.459151237031,0.00447341549697,0.0595015083522,0.999999712815,-8.40517371689e-05,-0.000750693160755,-6.13632074292e-05,1793254911692488448
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,762,738,716,676,645,916.283508775,800,841.283508775,658,635.716491225,658,0.459154463804,0.0044736730594,0.0595002578814,0.999999711861,-8.28997091238e-05,-0.000752088623556,-6.13843394279e-05,1793254911709154816
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,762,738,716,676,645,916.862507961,800,841.862507961,658,635.137492039,658,0.459155610542,0.00447513852421,0.0594994062745,0.999999710985,-8.09218485409e-05,-0.000753447833228,-6.16289524159e-05,1793254911725821184
+237,3.950000000,POSE1_TO_POSE2_PRESS,786,761.561478288,738,716,676,644.561478288,916.561478288,800,841.561478288,658,635.438521712,658,0.459155786195,0.00447695069587,0.0594982289666,0.999999709868,-7.94942204899e-05,-0.000755076683001,-6.167312906e-05,1793254911742487808
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.986110188,761,738,716,676,644.013889812,916,800,841,658,636,658,0.459155694034,0.0044787582954,0.0594969787924,0.99999970869,-7.83090618081e-05,-0.000756761524329,-6.16432498779e-05,1793254911759154688
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.39901811,761,738,716,676,644.60098189,916,800,841,658,636,658,0.459157029578,0.00447592154059,0.0594969073082,0.999999708181,-8.00588093177e-05,-0.000757291759482,-6.11331411006e-05,1793254911775821568
+240,4.000000000,POSE1_TO_POSE2_PRESS,785,761,737.814380322,716,676,645,916,800,841,658,636,657.814380322,0.459157580852,0.00447433826821,0.0594965087041,0.999999707509,-8.0893692785e-05,-0.000758111454355,-6.08687536937e-05,1793254911792488192
+241,4.016666667,POSE1_TO_POSE2_PRESS,785,761,737.234949596,716,676,645,916,800,841,658,636,657.234949596,0.459156468221,0.0044754143866,0.059495416082,0.999999706494,-7.97875989347e-05,-0.000759545267468,-6.11256892235e-05,1793254911809155328
+242,4.033333333,POSE1_TO_POSE2_PRESS,785.344594843,761,737.344594843,716.344594843,676,645,916,799.655405157,841,658,636,657.344594843,0.459156849458,0.00447630062302,0.0594946911909,0.999999706155,-7.90052373368e-05,-0.000760069634628,-6.11806844286e-05,1793254911825821952
+243,4.050000000,POSE1_TO_POSE2_PRESS,785.924216817,761,737.924216817,716.924216817,676,645,916,799.075783183,841,658,636,657.924216817,0.459158249572,0.0044770573525,0.0594942171067,0.999999706277,-7.84436738133e-05,-0.0007599737241,-6.10979484414e-05,1793254911842488064
+244,4.066666667,POSE1_TO_POSE2_PRESS,785.503235171,761.496764829,738,716.503235171,676,645,916,799,841,658,635.503235171,657.503235171,0.45915905797,0.00447683154775,0.0594944820654,0.999999706609,-7.87240885134e-05,-0.000759511018023,-6.10475648932e-05,1793254911859154688
+245,4.083333333,POSE1_TO_POSE2_PRESS,785,761.929524666,738,716,676,645,916,799,841,658,635.070475334,657.070475334,0.45915983872,0.00447644928577,0.0594949242373,0.999999707091,-7.90608982686e-05,-0.000758849324964,-6.09488389458e-05,1793254911875821568
+246,4.100000000,POSE1_TO_POSE2_PRESS,785,761.339397293,738,716,676,645,916,799,841,658,635.660602707,657.660602707,0.459161071848,0.00447600307553,0.0594958534503,0.999999708441,-7.88797304778e-05,-0.0007571271954,-6.04577779252e-05,1793254911892488192
+247,4.116666667,POSE1_TO_POSE2_PRESS,785,761,738,716.246225722,676,644.753774278,916,799.246225722,841,658,636,658,0.459161558655,0.00447581221191,0.0594963013548,0.999999708699,-7.92446754758e-05,-0.00075674992932,-6.04241723394e-05,1793254911909154816
+248,4.133333333,POSE1_TO_POSE2_PRESS,785,761,738,716.825751559,676,644.174248441,916,799.825751559,841,658,636,658,0.459161035213,0.00447596699472,0.0594960977426,0.999999707482,-8.03488586308e-05,-0.000758193119247,-6.10097950397e-05,1793254911925821696
+249,4.150000000,POSE1_TO_POSE2_PRESS,785,761,737.599142579,716.599142579,676,644.400857421,916,800,841,658,636,657.599142579,0.459161341729,0.00447526142035,0.0594963767611,0.999999707307,-7.96947614531e-05,-0.000758536042838,-6.04714478323e-05,1793254911942488576
+250,4.166666667,POSE1_TO_POSE2_PRESS,785,761,737.025937113,716.025937113,676,644.974062887,916,800,841,658,636,657.025937113,0.459162005082,0.00447418593669,0.059496863286,0.999999707579,-7.82846942288e-05,-0.000758405908491,-5.94498514211e-05,1793254911959155456
+251,4.183333333,POSE1_TO_POSE2_PRESS,785,761,737.550772514,716,676,645,916,800,841,658,635.449227486,657.550772514,0.459161024875,0.00447418012363,0.0594953764894,0.999999706472,-7.82494946192e-05,-0.000759858595849,-5.95721692961e-05,1793254911975821824
+252,4.200000000,HOLD_POSE2,786,761,738,717,676,645,916,800,841,658,636,657,0.459162343643,0.00447350019439,0.0594945241305,0.999999707067,-8.02280611084e-05,-0.000758848203587,-5.98146653341e-05,1793254912016958720
+253,4.216666667,HOLD_POSE2,785.421485889,761,737.421485889,716.421485889,676,645,916,800,841,658,636,657,0.459160903722,0.00447573627576,0.0594935313867,0.999999706091,-7.75327951755e-05,-0.000760401077976,-5.99733208967e-05,1793254912033625344
+254,4.233333333,HOLD_POSE2,785.1561682,761,737.1561682,716.1561682,676,645,916,800,841,658,636,657.1561682,0.459161019228,0.00447757700238,0.0594935821363,0.999999706293,-7.55193376792e-05,-0.000760322558697,-6.01737801476e-05,1793254912050291968
+255,4.250000000,HOLD_POSE2,785.731513993,761,737.731513993,716.731513993,676,645,916,800,841,658,636,657.731513993,0.459165309723,0.00447835654128,0.0594964337703,0.999999709667,-7.53359501142e-05,-0.000755865147825,-6.04864464616e-05,1793254912066958848
+256,4.266666667,HOLD_POSE2,785.686368409,761,737.686368409,717,676,644.686368409,916,799.686368409,841,657.686368409,635.686368409,657.686368409,0.459166168476,0.0044784186951,0.0594970126462,0.999999709962,-7.53761579155e-05,-0.000755462771147,-6.05815549699e-05,1793254912083625472
+257,4.283333333,HOLD_POSE2,785.098325878,761,737.098325878,717,676,644.098325878,916,799.098325878,841,657.098325878,635.098325878,657.098325878,0.459164024636,0.00447785317513,0.0594956029796,0.999999707569,-7.56119997664e-05,-0.000758608333717,-6.04863119655e-05,1793254912100292096
+258,4.300000000,HOLD_POSE2,785,761.482502663,737.482502663,716.517497337,676,644.482502663,916,799.482502663,841,657.482502663,635,657.482502663,0.459164481368,0.00447767596704,0.0594960591512,0.999999708541,-7.52151972661e-05,-0.000757386390604,-6.02225979658e-05,1793254912116958720
+259,4.316666667,HOLD_POSE2,785.061443876,761.938556124,738,716,676,645,916,800,841,658,635.061443876,657.938556124,0.459165319734,0.00447773104493,0.0594967883081,0.999999710006,-7.4585895531e-05,-0.000755529725202,-5.99947798765e-05,1793254912133625344
+260,4.333333333,HOLD_POSE2,785.636714827,761.363285173,738,716,676,645,916,800,841,658,635.636714827,657.363285173,0.459164983075,0.00447907663264,0.059496667497,0.999999709969,-7.30745447528e-05,-0.000755698388879,-6.03500126177e-05,1793254912150291968
+261,4.350000000,HOLD_POSE2,786,761.212139059,737.787860941,716,676,645,916,800,841,658,635.787860941,657.212139059,0.459164614745,0.00447894618788,0.059496415193,0.999999709392,-7.2902100239e-05,-0.000756481284335,-6.03160550513e-05,1793254912166958848
+262,4.366666667,HOLD_POSE2,786,761.787825916,737.212174084,716,676,645,916,800,841,658,635.212174084,657.787825916,0.45916419214,0.00447628623069,0.0594959375463,0.999999707886,-7.50241716748e-05,-0.000758316803513,-5.96151326785e-05,1793254912183625984
+263,4.383333333,HOLD_POSE2,785.627216438,761.627216438,737.372783562,716,676,645,916,800,841,658,635.372783562,658,0.459164591653,0.00447467512919,0.0594962364804,0.999999707939,-7.62301568102e-05,-0.000758149600307,-5.93217610772e-05,1793254912200292608
+264,4.400000000,HOLD_POSE2,785.036847588,761.036847588,737.963152412,716,676,645,916,800,841,658,635.963152412,658,0.459165471017,0.00447367622064,0.0594969886869,0.999999708903,-7.6901443405e-05,-0.000756813453763,-5.92662675271e-05,1793254912216958976
+265,4.416666667,HOLD_POSE2,785.544420714,761,738,716.544420714,676,645,916,799.455579286,841,658,635.455579286,658,0.459165373312,0.00447480387105,0.0594966784756,0.999999708722,-7.52736541596e-05,-0.000757217810036,-5.92542525916e-05,1793254912233625856
+266,4.433333333,HOLD_POSE2,785.876358735,761,738,716.876358735,675.876358735,645,916,799,841.123641265,658,635,657.876358735,0.459165223031,0.00447580729567,0.059496233322,0.999999708389,-7.42101438435e-05,-0.000757760840438,-5.92743891786e-05,1793254912250292224
+267,4.450000000,HOLD_POSE2,785.302389845,761,738,716.302389845,675.302389845,645,916,799,841.697610155,658,635,657.302389845,0.459165118157,0.00447584265883,0.0594955542734,0.999999707791,-7.57592898584e-05,-0.000758386949373,-5.94010865853e-05,1793254912266958592
+268,4.466666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,676,645,916,800,842,658,636,657,0.459165955678,0.00447816347151,0.0594966990861,0.99999970894,-7.38423137529e-05,-0.000757034724487,-5.97074759632e-05,1793254912305050112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,785,761,737.598463591,716.401536409,676,645,916,800,841.401536409,658,636,657.598463591,0.459164311039,0.00447614153769,0.0594951787335,0.999999707215,-7.48896116048e-05,-0.000759234950224,-5.93673155443e-05,1793254912321718016
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.189981798,761,738,716,676,645,916,800,841,657.810018202,636,657.810018202,0.45916335752,0.00447529830095,0.0594942379514,0.999999706266,-7.47459840062e-05,-0.000760518456635,-5.90903345229e-05,1793254912338385408
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.767338408,761,738,716,676,645,916,800,841,657.232661592,636,657.232661592,0.459163813199,0.00447685843911,0.0594944789191,0.999999706909,-7.21740475399e-05,-0.00075993276346,-5.89421768718e-05,1793254912355051264
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.655658851,761,737.655658851,716.344341149,676,645,916,799.655658851,841,657.344341149,636,657.344341149,0.459164339438,0.00447763346721,0.0594947611848,0.999999707375,-7.13849129955e-05,-0.000759383371363,-5.908964331e-05,1793254912371717376
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785.078895,761,737.078895,716.921105,676,645,916,799.078895,841,657.921105,636,657.921105,0.459164913304,0.00447787856318,0.0594950713258,0.999999707723,-7.17991306962e-05,-0.000758858481734,-5.94366495163e-05,1793254912388383744
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785.507325906,761,737.507325906,717,676,645,916,799.507325906,841.507325906,658,636,658,0.459165251521,0.00447726420251,0.059495573932,0.999999707909,-7.27693109533e-05,-0.000758540186115,-5.91810609846e-05,1793254912405050112
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,761,737.906334797,717,676,645,916,799.906334797,842,658,636,658,0.459165197119,0.00447676082342,0.0594958323944,0.99999970783,-7.33613273622e-05,-0.000758610583705,-5.88905895927e-05,1793254912421716736
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,761,737.327149991,717,676,645,916,799.327149991,842,658,636,658,0.459163301115,0.00447753869578,0.0594946672281,0.999999706506,-7.15364307462e-05,-0.00076052609798,-5.89142814515e-05,1793254912438383360
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,761,737.250738639,717,676,645,916,799.250738639,841.749261361,658,636,658,0.459161639189,0.00447788256643,0.0594937375378,0.99999970581,-7.05690236165e-05,-0.000761528044757,-5.89445331917e-05,1793254912455049728
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,761,737.82694474,717,676,645,916,799.82694474,841.17305526,658,636,658,0.459160281105,0.00447766308775,0.0594931135039,0.999999705938,-7.07146677713e-05,-0.000761344149042,-5.89832998846e-05,1793254912471716352
+279,4.650000000,POSE2_TO_POSE3_RETREAT,785.600611584,761,738,717,676,645,916,800,841,657.600611584,635.600611584,658,0.459147095975,0.00447751927493,0.05948674572,0.999999698906,-7.14001091029e-05,-0.00077043665735,-5.93121423723e-05,1793254912488382976
+280,4.666666667,POSE2_TO_POSE3_RETREAT,785.029782906,761,738,717,676,645,916,800,841,657.029782906,635.029782906,658,0.459128834003,0.00447740794218,0.0594779123914,0.999999688654,-7.23172621371e-05,-0.00078351112661,-5.97655019116e-05,1793254912505049856
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785,761.564375002,738,716.435624998,676,644.435624998,916,799.435624998,841,657.564375002,635,658,0.459081353224,0.00447691203364,0.0594580973457,0.999999660704,-7.11295715477e-05,-0.000818541854277,-5.93511935148e-05,1793254912521716480
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785.155131653,761.844868347,737.844868347,716.155131653,676,644,916,799,841,658,635,658,0.459027927265,0.00447714617977,0.0594381287169,0.99999963305,-6.93488822491e-05,-0.000851815295386,-5.91653543516e-05,1793254912538383616
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.73311694,761.26688306,737.26688306,716.73311694,676,644,916,799,841,658,635,658,0.458962680236,0.00447942799274,0.059419389207,0.999999611452,-6.62676352277e-05,-0.000877004347096,-5.9732460044e-05,1793254912555049984
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,761,737.309263824,716.690736176,675.690736176,644.309263824,916,799,841,658,635.309263824,658,0.458891630064,0.00448099661412,0.0594039527523,0.999999594332,-6.37446956392e-05,-0.00089647734039,-6.00024698968e-05,1793254912571716864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761,737.883833575,716.116166425,675.116166425,644.883833575,916,799,841,658,635.883833575,658,0.458815601598,0.00448195341483,0.059391349867,0.999999581292,-6.17007074232e-05,-0.000911046738562,-6.0017612264e-05,1793254912588383488
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,761,738,716,675.469601743,645,916,799.469601743,841,658,636,658,0.458726531092,0.00448131186794,0.059387019254,0.999999576816,-6.27295214327e-05,-0.000915905322732,-5.95890362379e-05,1793254912605050112
+287,4.783333333,POSE2_TO_POSE3_RETREAT,785.94279269,761,738,716,676,645,916,800,841,658,636,657.94279269,0.458632220618,0.004480495157,0.0593851525199,0.999999574959,-6.40300116387e-05,-0.00091787631617,-5.9032182663e-05,1793254912621716480
+288,4.800000000,POSE2_TO_POSE3_RETREAT,785.364303351,761,738,716,676,645,916,800,841,658,636,657.364303351,0.458520278882,0.00448177316434,0.0593866350349,0.999999576965,-6.07104653188e-05,-0.000915958954125,-5.83310606953e-05,1793254912638383360
+289,4.816666667,POSE2_TO_POSE3_RETREAT,785,761.214053454,738,716.214053454,676,644.785946546,916,799.785946546,841,658,636,657.214053454,0.458397518388,0.00448312635636,0.0593875014409,0.999999578408,-5.74249931493e-05,-0.000914637719323,-5.76578854442e-05,1793254912655050240
+290,4.833333333,POSE2_TO_POSE3_RETREAT,785,761.792184779,738,716.792184779,676,644.207815221,916,799.207815221,841,658,636,657.792184779,0.458256356564,0.00448460742789,0.0593873199231,0.999999578905,-5.41974771419e-05,-0.000914330421821,-5.70322440981e-05,1793254912671716864
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785,762,737.632739016,717,676,644,916,799.367260984,841,658,635.632739016,658,0.458097211277,0.00448584035076,0.0593880621944,0.999999580206,-4.97328020564e-05,-0.000913243200427,-5.56831054138e-05,1793254912688383488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785,762,737.059377241,717,676,644,916,799.940622759,841,658,635.059377241,658,0.457927973956,0.00448693401684,0.0593893228808,0.999999581937,-4.4573853448e-05,-0.000911718298589,-5.39279519257e-05,1793254912705049856
+293,4.883333333,POSE2_TO_POSE3_RETREAT,785.529643104,761.470356896,737.529643104,717,676,644.529643104,916,799.470356896,841,658,635.529643104,658,0.45772457855,0.00448933370441,0.0593899298576,0.999999582429,-3.73473396914e-05,-0.000911579242098,-5.262772669e-05,1793254912721716736
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,761,738,717,676,645,916,799.118194626,841,658,636,658,0.457511824668,0.00449165722278,0.0593905878741,0.999999583984,-3.05712083656e-05,-0.000910194521009,-5.14032466392e-05,1793254912738383104
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,761,738,717,676,645,916,799.697853349,841,658,636,658,0.457277939166,0.00449309429533,0.0593917400096,0.999999590391,-2.64860349086e-05,-0.000903321320656,-5.02693075971e-05,1793254912755049728
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785.724332131,761,738,716.724332131,676.275667869,645,916,800,841,658,636,658,0.457028136242,0.00449419667673,0.0593959701388,0.999999598644,-2.13470364864e-05,-0.000894369517443,-4.85634840148e-05,1793254912771716352
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785.148525557,761,738,716.148525557,676.851474443,645,916,800,841,658,636,658,0.456761002933,0.00449493465662,0.0594035514928,0.999999608837,-1.50606660677e-05,-0.000883154595652,-4.62350101823e-05,1793254912788383232
+298,4.966666667,POSE2_TO_POSE3_RETREAT,785.434604243,761.434604243,738,716.434604243,677,645.434604243,916.434604243,800,841,658,635.565395757,658,0.456476159665,0.00449839781393,0.0594167034486,0.999999624636,-5.695170771e-06,-0.000865318676355,-4.38131764558e-05,1793254912805050112
+299,4.983333333,POSE2_TO_POSE3_RETREAT,785.979833557,762,738,717,677,645.979833557,917,800,841,658,635,657.979833557,0.45618348373,0.00450266302634,0.0594320599405,0.999999642433,4.65245719679e-06,-0.000844633090416,-4.13270715562e-05,1793254912821716992
+300,5.000000000,POSE2_TO_POSE3_RETREAT,785.397427065,762,738,717,677,645.397427065,917,800,841,658,635,657.397427065,0.455844064813,0.00450287912967,0.059454892732,0.999999672232,1.25413432645e-05,-0.00080866463308,-3.7953861387e-05,1793254912838383616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,785,761.81763764,738,716.81763764,677.18236236,645,916.81763764,800,841,658,635,657,0.455496268623,0.00450396979723,0.0594811843456,0.999999703263,2.12959668057e-05,-0.00076930786566,-3.4427480548e-05,1793254912855049984
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785,761.243471037,738,716.243471037,677.756528963,645,916.243471037,800,841,658,635,657,0.455130473965,0.00450693945982,0.0595149072111,0.999999737897,3.19106201823e-05,-0.000722671343387,-3.05720140808e-05,1793254912871716352
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785.331148272,761,737.668851728,716,678,645.331148272,916.331148272,799.668851728,841,658,635.331148272,657.331148272,0.454727736753,0.00450958792513,0.0595391332165,0.999999757584,4.33919778085e-05,-0.000694439850758,-2.64846281091e-05,1793254912888382976
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785.90610094,761,737.09389906,716,678,645.90610094,916.90610094,799.09389906,841,658,635.90610094,657.90610094,0.45429780094,0.00451199991266,0.0595563672631,0.999999767176,5.55114383652e-05,-0.000679758861424,-2.22264934923e-05,1793254912905049600
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785.507041628,761,737.492958372,716,678.492958372,646,917,799,841,658,635.507041628,658,0.453821350962,0.00451547866329,0.059551829156,0.999999759015,6.71938428152e-05,-0.000690723197832,-1.8883366832e-05,1793254912921716992
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785.080032807,761,738,716.080032807,679,646,916.919967193,799.080032807,841,658,635.080032807,658,0.453327428995,0.0045192289639,0.0595425418046,0.999999747159,7.88205790805e-05,-0.000706557090116,-1.57102167131e-05,1793254912938384384
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785.654102722,761,738,716.654102722,679,646,916.345897278,799.654102722,841,658,635.654102722,658,0.452781699404,0.00452337015836,0.0595301714543,0.999999735498,9.06303034528e-05,-0.00072154978716,-1.24838048423e-05,1793254912955051264
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785.769449352,761,737.769449352,717,679,646,916,800,841,658,636,658,0.452241741836,0.00452636326684,0.0595323923408,0.999999739391,0.000103134894499,-0.000714495979559,-8.77808901519e-06,1793254912971718144
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785.189396525,761,737.189396525,717,679,646,916,800,841,658,636,658,0.451710534371,0.00452761593947,0.0595567327454,0.99999976603,0.000116692864644,-0.000674020874634,-4.34577477824e-06,1793254912988384768
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761.387560187,737.387560187,717,679.387560187,646.387560187,916,800,841,658,635.612439813,658,0.451153133839,0.0045311261873,0.0595897786911,0.999999796419,0.000131452036155,-0.000624405687653,6.24367479483e-07,1793254913005050880
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,761.963015835,737.963015835,717,679.963015835,646.963015835,916,800,841,658,635.036984165,658,0.450583034499,0.00453573094414,0.0596270452236,0.999999826554,0.000146793568891,-0.000570359240621,5.85525734883e-06,1793254913021716992
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,761.446793824,737.446793824,717,680.553206176,647,916,799.446793824,841,658,635.553206176,658,0.449943274906,0.00453961150488,0.059624875859,0.999999824522,0.000160737055514,-0.000570112307237,9.56285568657e-06,1793254913038383360
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,761.141179107,737,717,681.141179107,647.141179107,916.141179107,799,840.858820893,658,636,658,0.449277474769,0.00454363792819,0.0596168507589,0.999999816628,0.000175525055758,-0.000579443842969,1.34278174798e-05,1793254913055050240
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,761.719160165,737,717,681.719160165,647.719160165,916.719160165,799,840.280839835,658,636,658,0.448545909544,0.00454826953773,0.0595990885603,0.999999796957,0.000193223031689,-0.000606978124498,1.81033598192e-05,1793254913071716864
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785,761.704601534,737,717,682.295398466,648,916.704601534,799.295398466,840,658,636,658,0.44783941471,0.00455128545877,0.0596050979512,0.999999801571,0.000206741035378,-0.000594644406331,2.26534675186e-05,1793254913088383232
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761.130010316,737,717,682.869989684,648,916.130010316,799.869989684,840,658,636,658,0.447156614806,0.00455277432936,0.0596335748078,0.999999827928,0.000216308384083,-0.000544629870082,2.70850225049e-05,1793254913105050112
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,761,737,717,683,648,916.446099874,800,840,657.553900126,636,658,0.446438552197,0.00455593177686,0.0596745629844,0.99999985219,0.000230896257497,-0.000491138418249,3.30043065022e-05,1793254913121716992
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,761,737,717,683.023384328,648,916.976615672,800,840,657.023384328,636,658,0.445707035022,0.00455942948225,0.05971685677,0.999999872199,0.00024677522952,-0.000439501363569,3.92810399767e-05,1793254913138383616
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785,761,737,717,683.618519902,648,916.381480098,800,840,657.618519902,636,658,0.44489868024,0.00455931615038,0.0597016164149,0.999999860769,0.000258324829115,-0.000458064743234,4.36601518131e-05,1793254913155049984
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784.794213587,761,737,717.205786413,684,648.205786413,916,800,840,658,636,658,0.444090477526,0.00455920403335,0.0596979930537,0.999999857931,0.000269015085484,-0.000457649627168,4.8219566695e-05,1793254913171716352
+321,5.350000000,POSE2_TO_POSE3_RETREAT,784.220997259,761,737,717.779002741,684,648.779002741,916,800,840,658,636,658,0.443282546376,0.00455909408542,0.0597151117386,0.999999870289,0.000278170990983,-0.000423348564799,5.31009108827e-05,1793254913188382976
+322,5.366666667,POSE2_TO_POSE3_RETREAT,784.353373059,761,737,718,684.353373059,649,916,800,840,657.646626941,636,658,0.44246291676,0.004560794768,0.0597405337143,0.999999881761,0.00028953418854,-0.000386303775789,5.84638558897e-05,1793254913205049600
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784.928467419,761,737,718,684.928467419,649,916,800,840,657.071532581,636,658,0.44163594706,0.00456363151726,0.0597711655276,0.999999891865,0.000302282334513,-0.000347537456877,6.41289775189e-05,1793254913221716224
+324,5.400000000,POSE2_TO_POSE3_RETREAT,785,761,737,718,685,649.516013733,916,800,840,657.516013733,636,658,0.440765414831,0.00456578129875,0.0597751234366,0.999999891668,0.000297590640223,-0.000352301807707,6.31462405232e-05,1793254913238382848
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784.896016903,761,737,718,685,649.896016903,916,800,840,658,635.896016903,658,0.439886332144,0.00456662149861,0.0597797179107,0.999999897988,0.000275367871031,-0.000353452658829,5.71556857533e-05,1793254913255049728
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784.314231624,761,737,718,685,649.314231624,916,800,840,658,635.314231624,658,0.438996395151,0.00456189257961,0.0598046483758,0.999999934627,0.000183973422496,-0.000309585511602,3.24935019421e-05,1793254913271716352
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784,761,737,718,685,649.264055754,916,800,840,658,635.264055754,657.735944246,0.438056616766,0.00456040213851,0.0598069264342,0.999999941193,0.000143822866831,-0.000310513681299,2.25674037684e-05,1793254913288382976
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784,761,737,718,685,649.838235056,916,800,840,658,635.838235056,657.161764944,0.437058301422,0.00456271516725,0.0597826000968,0.99999991986,0.000163856324685,-0.000364052261832,2.99482807411e-05,1793254913305049600
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,761,737.422536477,718,685,649.577463523,916,800,840,658,635.577463523,657.422536477,0.4361010738,0.00456711581372,0.0597474723395,0.999999899108,0.000181349349732,-0.000409574072003,3.38309197271e-05,1793254913321716992
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,760.989363862,737.989363862,718.010636138,685.021272277,649.010636138,916,800,840,657.989363862,635,657.989363862,0.435160327055,0.00457221213063,0.0597092096957,0.999999878468,0.000197556285027,-0.000450239347127,3.63314108629e-05,1793254913338384384
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,760.410454553,737.410454553,718.589545447,686.179090894,649.589545447,916,800,840,657.410454553,635,657.410454553,0.434239061358,0.004570727439,0.0597298171584,0.999999899834,0.000198288606649,-0.000399432688579,3.82974708003e-05,1793254913355050240
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,760.167878198,737.167878198,719,686.832121802,650,916.167878198,800,840,657.167878198,635.167878198,657.167878198,0.43330530082,0.00456941222341,0.059750277546,0.999999915862,0.000195990649875,-0.000358201245105,3.94279080558e-05,1793254913371716608
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784,760.744806082,737.744806082,719,686.255193918,650,916.744806082,800,840,657.744806082,635.744806082,657.744806082,0.432341095579,0.0045685099509,0.0597703795711,0.999999924,0.000186309159802,-0.000340300642845,3.85222787631e-05,1793254913388383488
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.680248781,761,738,719,686,650,916.680248781,800,840,658,636,657.680248781,0.431390588553,0.00455956389409,0.0597950345762,0.999999939611,0.000167314466318,-0.000302501943543,3.57377840915e-05,1793254913405050368
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.106876354,761,738,719,686,650,916.106876354,800,840,658,636,657.106876354,0.430450946763,0.00454423764492,0.0598233009262,0.999999958593,0.000140932698903,-0.00024892041342,3.14630054271e-05,1793254913421716992
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,761,738,719,686.481135216,650,916,800,839.518864784,658,635.518864784,657,0.429460702855,0.00455159706663,0.059812477732,0.999999948344,0.000146631444632,-0.000284333259925,3.10890452736e-05,1793254913438383360
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,761,738,719,686.929012581,650,916,800,839,658,635.070987419,657,0.428461776975,0.00456277222151,0.0597907082683,0.999999929915,0.000157360184167,-0.000338271363093,3.13052431389e-05,1793254913455049984
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,761,738,719,686.349990625,650,916,800,839,658,635.650009375,657,0.427483686184,0.00456405929163,0.0597546921561,0.999999916324,0.000151486868446,-0.000378871124991,2.93491220651e-05,1793254913471716608
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,760.771887425,738,719.228112575,686.228112575,650,916,800,839.228112575,658,635.771887425,657.228112575,0.426521455044,0.00456341600867,0.0597416184001,0.999999912983,0.000142263784307,-0.000391124900058,2.85580083083e-05,1793254913488383232
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,760.19518812,738,719.80481188,686.80481188,650,916,800,839.80481188,658,635.19518812,657.80481188,0.42558345944,0.00455982288648,0.0597636036484,0.999999926559,0.000127921802279,-0.000360062197106,2.95471823397e-05,1793254913505049856
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,760.378460086,738,719.621539914,686.621539914,650,916,800,839.621539914,658,635,658,0.42464399627,0.00456285761712,0.0597909051959,0.99999993822,0.000127015597676,-0.000326244508953,3.14853042875e-05,1793254913521716736
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,760.950547261,738,719.049452739,686.049452739,650,916,800,839.049452739,658,635,658,0.423703782325,0.00456928327847,0.0598209266577,0.999999948237,0.000132983382823,-0.000291017321737,3.39089252298e-05,1793254913538383360
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,761,738,719.541469342,686.541469342,650,916,800,839.541469342,658,635,657.458530658,0.422819664478,0.00456327169717,0.0598368665984,0.99999995966,0.000115865803754,-0.000257078370605,3.41297178553e-05,1793254913555050240
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,761,738,720,687,650.129596227,916,800,839.870403773,658,635,657,0.421923267579,0.00455917206505,0.0598407507182,0.999999964062,0.000101611764071,-0.000245727111927,3.4205230185e-05,1793254913571716864
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,761,738,720,687,650.702080109,916,800,839.297919891,658,635,657,0.420966768221,0.00456562818358,0.0598079882395,0.999999945526,0.000104608714589,-0.000311151424378,3.44965739643e-05,1793254913588383232
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,761,738,720,686.721877576,650.721877576,916,800,839,658,635,657,0.420020937065,0.0045675202916,0.059765929299,0.999999922165,9.96243079388e-05,-0.000380264861971,3.3823274125e-05,1793254913605049856
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,761,738,720,686.141974165,650.141974165,916,800,839,658,635,657,0.419086681667,0.00456446014987,0.0597137830928,0.999999893011,8.59796074761e-05,-0.000453381236589,3.21032729485e-05,1793254913621716480
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,761,738,720,686.889697818,650,916,800,839,658,635,657,0.41823792239,0.00456217770802,0.0597255190352,0.999999905822,7.29941977956e-05,-0.000426684985178,3.11165339746e-05,1793254913638383104
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783.033328093,761,738,720.033328093,688,650,916,800,839,658,635,657,0.417418224056,0.00456043901836,0.0597587131032,0.99999993009,6.11226240145e-05,-0.000367630243606,3.05287420774e-05,1793254913655049728
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.612194695,761,738,720.612194695,688,650,916,800,839,658,635,657,0.416620519621,0.00456347388373,0.059804149256,0.999999949812,6.39845218605e-05,-0.000308578771688,3.25800437137e-05,1793254913671716864
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.809912333,760.809912333,738,721,687.809912333,650,916,800,839,658,635,657,0.415826565705,0.00456371772473,0.0598358014178,0.999999956428,0.000112564367368,-0.000270728338255,3.43352943925e-05,1793254913688383744
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783.233995475,760.233995475,738,721,687.233995475,650,916,800,839,658,635,657,0.415040224235,0.00455829650298,0.0598394756226,0.999999929064,0.000253939916241,-0.000275910560571,3.54896377061e-05,1793254913705050368
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,760,738,720.657435947,687,650,916,800,839,658,635,657,0.414266631878,0.00455872512304,0.0598402462882,0.999999914876,0.000305408800365,-0.000275199258876,3.518479541e-05,1793254913721716736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,760,738,720.080436638,687,650,916,800,839,658,635,657,0.413501764481,0.00456315710907,0.0598390299032,0.999999919237,0.000295349647186,-0.00027045469977,3.38813531306e-05,1793254913738383104
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760,738,720,687.506199397,649.493800603,916,800,839,658,635,657,0.412702741385,0.00456032989133,0.0597987390157,0.999999900956,0.000282296974727,-0.000342356626824,3.44862433213e-05,1793254913755049984
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760.093437062,738,720.093437062,687.906562938,649,916,800,839,658,635,657,0.411914402628,0.00455712247571,0.059755977808,0.999999876238,0.000269483122321,-0.000416755568047,3.48803073841e-05,1793254913771716608
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,760.675656011,738,720.675656011,687.324343989,649,916,800,839,658,635,657,0.41121089779,0.00455807746316,0.0597334047881,0.999999869073,0.000260455213132,-0.000439268403159,3.25544389264e-05,1793254913788383488
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,687.253929488,649,915.746070512,800,839,657.746070512,635,657,0.410557152832,0.00455760634018,0.0597411127555,0.999999880237,0.000249294651563,-0.000419967511822,3.17080142442e-05,1793254913805050112
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,687.827240477,649,915.172759523,800,839,657.172759523,635,657,0.409965993747,0.00455534151726,0.0597869068373,0.999999911168,0.000235451732138,-0.000348075124962,3.27223698769e-05,1793254913821716992
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,649.401341637,915.401341637,799.598658363,839,657.401341637,635,657,0.409381477751,0.00455127899094,0.0598252329217,0.999999932756,0.000222957273896,-0.00028908491118,3.47446168582e-05,1793254913838384128
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,688,649.975783651,915.975783651,799.024216349,839,657.975783651,635,657,0.408799826898,0.0045464411072,0.0598603380305,0.99999994927,0.000211044411356,-0.000235659453786,3.72015717688e-05,1793254913855051264
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783,760.433798763,738,721,688,650,916,799,839,658,635,657,0.408219375784,0.00454826051103,0.0598541679033,0.999999949813,0.000201132177622,-0.000242232772224,3.5268693901e-05,1793254913871717376
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,760.154242309,738,721,687.845757691,649.845757691,915.845757691,799.154242309,838.845757691,657.845757691,634.845757691,657,0.407647517947,0.004548984399,0.0598431603819,0.999999948108,0.000190614002024,-0.000257526003196,3.36112902281e-05,1793254913888383232
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,760.733791764,738,721,687.266208236,649.266208236,915.266208236,799.733791764,838.266208236,657.266208236,634.266208236,657,0.407099209451,0.0045458796038,0.0598238233106,0.999999941644,0.000178182210845,-0.000289582181569,3.3246217125e-05,1793254913905049856
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.310403693,761,738,721,687.310403693,649.310403693,915.310403693,800,838.310403693,657.310403693,634.310403693,657,0.406598694557,0.00454355770912,0.0598191227521,0.999999941611,0.000169453927972,-0.000294890708359,3.32123788725e-05,1793254913921716736
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.884519925,761,738,721,687.884519925,649.884519925,915.884519925,800,838.884519925,657.884519925,634.884519925,657,0.406138784152,0.00454190095067,0.0598268570726,0.999999947517,0.000163872069783,-0.000277474983288,3.34599509174e-05,1793254913938383360
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.540849586,761,738,721.459150414,688.459150414,650,915.540849586,799.540849586,839,658,635,657,0.405693633293,0.00453937913017,0.059827494338,0.999999949121,0.000158694483213,-0.000274613037925,3.40936020807e-05,1793254913955050752
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,688.929678627,649.964839314,915,799,839,657.964839314,635,657,0.405252865511,0.00453695704736,0.0598251918718,0.999999949159,0.000153893934098,-0.000277111575712,3.47475462722e-05,1793254913971718144
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,761,738,722,687.737774839,649.36888742,915,799,839,657.36888742,635,657,0.40482273217,0.00453959971903,0.0598045035474,0.999999940617,0.000153483384838,-0.000306660018121,3.41746976623e-05,1793254913988383744
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,760.781331567,738,721.781331567,687,649,915,799.218668433,839,657,634.781331567,657,0.404411101267,0.0045403891951,0.0597832151149,0.999999930083,0.000152485730722,-0.000339739919481,3.40407494129e-05,1793254914005049600
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,760.207415922,738,721.207415922,687,649,915,799.792584078,839,657,634.207415922,657,0.404029529339,0.00453816798228,0.059760951753,0.999999916418,0.000150534270213,-0.000378557001553,3.46198356874e-05,1793254914021716480
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,760.367463296,738,721,687.367463296,649.367463296,915,799.632536704,839,657.367463296,634.367463296,657,0.403707848469,0.00453645063157,0.0597594258984,0.999999917189,0.000149273142751,-0.000376953893571,3.52922136934e-05,1793254914038383104
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,760.94288789,738,721,687.94288789,649.94288789,915,799.05711211,839,657.94288789,634.94288789,657,0.403420062165,0.00453501843517,0.0597696361768,0.99999992622,0.000148402700553,-0.00035247548365,3.60173890563e-05,1793254914055049728
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.532923193,761,738,721.532923193,688,650,915,799.532923193,839,657.467076807,635,657,0.4031689764,0.00453391067894,0.0597928018149,0.999999938581,0.000148753149029,-0.000315141140778,3.73719997184e-05,1793254914071716608
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.878319323,760.878319323,738.121680677,721.878319323,688,650,915.121680677,800,839,657.121680677,635,657,0.402927483513,0.00453281122545,0.0598154461581,0.999999948979,0.000149909109247,-0.000279395276054,3.88180964865e-05,1793254914088383232
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.300389472,760.300389472,738.699610528,721.300389472,688,650,915.699610528,800,839,657.699610528,635,657,0.402706796493,0.004531608858,0.05983078326,0.999999954901,0.000153580964265,-0.000254917039842,4.03471698607e-05,1793254914105050112
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,760,738.725355361,721,688.274644639,650,916,800,839,657.725355361,634.725355361,657,0.402489479393,0.00453113059779,0.0598362317926,0.999999954879,0.000162989127327,-0.000248922117378,4.14035678665e-05,1793254914121716992
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760,738.153455423,721,688.846544577,650,916,800,839,657.153455423,634.153455423,657,0.40227580966,0.00453143605845,0.0598309776592,0.999999948603,0.000178605851073,-0.000262932185308,4.19483764903e-05,1793254914138383872
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.579845675,650,915.579845675,800,839,657.420154325,634,657.420154325,0.402087569711,0.00452998623166,0.0598246591741,0.999999936705,0.000218477215309,-0.000277609403528,4.23229836536e-05,1793254914155050240
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688.005608903,650,915.005608903,800,839,657.994391097,634,657.994391097,0.401908655585,0.00452789269142,0.0598179503612,0.999999920594,0.000267243439762,-0.000292531283676,4.26351730358e-05,1793254914171716608
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,760,738.589065589,721,688,650,915,799.410934411,838.410934411,658,634,657.410934411,0.401766644183,0.00452723525464,0.0598205291867,0.999999923322,0.000259290438562,-0.000290518804931,4.15108029188e-05,1793254914188383232
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.178283923,760.178283923,739,721,688.178283923,650,915,799.178283923,838.178283923,658,634.178283923,657,0.401634617927,0.00452428048283,0.0598231855183,0.999999931138,0.000230848458444,-0.000288345447078,3.59267197831e-05,1793254914205049856
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.754862486,760.754862486,739,721,688.754862486,650,915,799.754862486,838.754862486,658,634.754862486,657,0.401524085768,0.00451616171036,0.0598258103349,0.999999946377,0.000157883031126,-0.000286185850589,2.04110854577e-05,1793254914221716480
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.670689502,760.670689502,738.670689502,721,688.670689502,649.670689502,915.329310498,799.670689502,839,658,634.670689502,657,0.401428810452,0.00451376277748,0.0598283089131,0.999999952105,0.000128659719451,-0.000281136391381,1.41161277228e-05,1793254914238383360
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.097817209,760.097817209,738.097817209,721,688.097817209,649.097817209,915.902182791,799.097817209,839,658,634.097817209,657,0.401344819259,0.00451559430226,0.059830714124,0.999999953685,0.000131788567455,-0.00027394955739,1.46408858335e-05,1793254914255050240
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,760,738,721,688,649.493756828,915.506243172,799.493756828,838.506243172,657.506243172,634,657,0.40127231033,0.00451757036895,0.0598304319198,0.99999995291,0.000133901503122,-0.000275731603192,1.48856093059e-05,1793254914271716864
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,760.085628756,738,721.085628756,688,650,915,800,838,657.085628756,634.085628756,657,0.401203786265,0.00451861318294,0.0598290293666,0.999999951587,0.000135034658248,-0.000279926836304,1.52470922305e-05,1793254914288383488
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+417,6.950000000,POSE2_TO_POSE3_RETREAT,783.517572922,760,738.517572922,721.482427078,688,650,915,800,838.517572922,658,634.482427078,657,0.400968006983,0.00451465070577,0.0598371107544,0.999999953339,0.000141882616527,-0.000269834093304,1.95313232045e-05,1793254914788382976
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ace79619dec74dddc81e2f085604dc211dbd5a2d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,419 @@
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+415,6.916666667,pose2_to_pose3_retreat,0.575666958042,0.0101818602395,1.05002052337,0.546238105243,0.0188560960956,1.04969222616
+416,6.933333333,pose2_to_pose3_retreat,0.575666790935,0.0101819235403,1.0500204519,0.546237937333,0.0188561568554,1.04969215954
+417,6.950000000,pose2_to_pose3_retreat,0.575666769603,0.0101819394386,1.05002039241,0.546237915652,0.0188561717184,1.0496921039
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..127cbb2e6b763a3e42495618051b944f80b94bae
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c850716fbd53314e7d56133daebb97806d0c1728abeb5cf33852c657b319427
+size 26232139
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59f39777e737b9a05b23419d44f3a8549ff2dab4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,784,761,739,723,691,649,915,800,838,658,635,657,0.400935115576,0.00455951496819,0.0499328527946,0.999999973825,8.57335346139e-05,-0.000210858149776,-2.31869496157e-05,1793254916066731008
+1,0.016666667,BASELINE,784,761,739,723,691,649,915,800,838,658,635,657,0.400934737712,0.00456179895187,0.0499327131399,0.999999973646,8.90937119509e-05,-0.000210275941826,-2.35272899114e-05,1793254916083397632
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+3,0.050000000,BASELINE,784,761,738.27945717,723,691,649,915,800,838,658,635,657,0.400935906652,0.0045650990587,0.049933243077,0.999999973581,9.42720756939e-05,-0.000208289159201,-2.38053348514e-05,1793254916116730624
+4,0.066666667,BASELINE,784,761,738.305175841,722.694824159,691,649,915,800,838,657.694824159,635,657,0.400935949814,0.00456451463144,0.0499328470669,0.999999973544,9.37557943269e-05,-0.000208703000393,-2.37580487094e-05,1793254916133397248
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+6,0.100000000,BASELINE,784,761,739,722.481248742,691.481248742,649,915,800.481248742,838.481248742,657.481248742,635,657,0.400935330353,0.00456117221666,0.0499315851624,0.999999973399,9.10114550847e-05,-0.000210666340893,-2.32065198278e-05,1793254916166730752
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+10,0.166666667,BASELINE,784,761,739,723,691,649,915,800.802689247,838,658,635,657,0.400934870821,0.00456216292858,0.0499317843502,0.999999973164,9.46452444945e-05,-0.000210166388746,-2.33307502239e-05,1793254916233397248
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+12,0.200000000,BASELINE,784,761,739,723,691,649,915,800.035224024,838,658,635,657,0.400936431901,0.0045619459435,0.0499325656539,0.999999973537,9.26859320183e-05,-0.0002093119016,-2.28996012742e-05,1793254916266730496
+13,0.216666667,BASELINE,784,761,739,723,691,649,915,800,838.539660868,658,635,656.460339132,0.400934922788,0.00456187400482,0.0499313617609,0.999999973295,9.14328079845e-05,-0.000211007204797,-2.2915554247e-05,1793254916283397120
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+15,0.250000000,BASELINE,784,761,738.295979736,723,691,649,915,800,838.295979736,657.295979736,635,656.704020264,0.400934250613,0.00456157099282,0.0499305837185,0.999999973134,9.09617519607e-05,-0.000211951619294,-2.31201104544e-05,1793254916316730880
+16,0.266666667,BASELINE,783.712477721,761,738,722.712477721,691,649,915,800,838,657.287522279,635,657,0.400934610717,0.00456144242951,0.0499310135734,0.999999973241,9.13643508131e-05,-0.000211266585785,-2.31695841982e-05,1793254916333397504
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+18,0.300000000,BASELINE,783.44642169,761,738.44642169,722,691,649,915,800.44642169,838.44642169,658,635,657,0.40093562291,0.00456085026645,0.0499320181289,0.999999973747,8.95429038671e-05,-0.000209632119218,-2.33021307789e-05,1793254916366730752
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+21,0.350000000,BASELINE,783.820609571,761,738.179390429,722.820609571,691,649.179390429,915,800,838,657.820609571,635,657,0.400935505484,0.00455983952123,0.0499316628506,0.999999973634,8.96909368841e-05,-0.000210183430769,-2.25917272619e-05,1793254916416730368
+22,0.366666667,BASELINE,783.233423835,761,738.766576165,722.233423835,691,649.766576165,915,800,838,657.233423835,635,657,0.400935268178,0.00455889748163,0.0499319028261,0.999999973954,8.73328302413e-05,-0.000209642810544,-2.26967406094e-05,1793254916433397248
+23,0.383333333,BASELINE,783.349043758,761,739,722.349043758,691,649.650956242,915,800,838,657.349043758,635,657,0.40093534334,0.0045599013347,0.0499315131368,0.999999973791,8.88476843367e-05,-0.000209778620114,-2.27238637145e-05,1793254916450063872
+24,0.400000000,BASELINE,783.928398221,761,739,722.928398221,691,649.071601779,915,800,838,657.928398221,635,657,0.400935624678,0.00456218915251,0.0499307079736,0.9999999733,9.29180467855e-05,-0.00021036076055,-2.26995922514e-05,1793254916466730752
+25,0.416666667,BASELINE,784,761,738.4892488,723,691,649,915,800,838,658,635,657,0.400935783941,0.00456251353932,0.049931212684,0.999999973433,9.31706086904e-05,-0.000209588674425,-2.29328699676e-05,1793254916483397376
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+27,0.450000000,BASELINE,784,761,738,723,691,649.672342678,915,800,838.672342678,658,635,657,0.400935829848,0.00456068822728,0.0499313761514,0.999999973751,8.87689346904e-05,-0.000209970917483,-2.30187440918e-05,1793254916516730624
+28,0.466666667,BASELINE,783.748316069,761,738,723,691,649.748316069,915,800,838.748316069,658,635,657,0.400936159182,0.00455929505653,0.0499314536685,0.999999973955,8.70042789612e-05,-0.000209767251229,-2.27580280973e-05,1793254916533397248
+29,0.483333333,BASELINE,783.169003607,761,738,723,691,649.169003607,915,800,838.169003607,658,635,657,0.400936999495,0.00455818057047,0.0499320979625,0.999999974289,8.76108081492e-05,-0.000207962777749,-2.23154793071e-05,1793254916550063872
+30,0.500000000,BASELINE,783.410324905,761,738.410324905,723,691,649,915,800.410324905,838,658,635,657,0.400936210806,0.00455903383925,0.0499320991161,0.999999974017,8.90288737632e-05,-0.000208659184137,-2.23777213397e-05,1793254916566730240
+31,0.516666667,BASELINE,783.989660016,761,738.989660016,723,691,649,915,800.989660016,838,658,635,657,0.400934751142,0.00456069761369,0.0499318353642,0.999999973492,9.07812060259e-05,-0.000210385686993,-2.26478834951e-05,1793254916583397120
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+33,0.550000000,BASELINE,784,761,738,723,691,649,915,800,838,658,635,657,0.400937179549,0.00456122936202,0.0499326318749,0.999999974219,9.00904688929e-05,-0.000207155685244,-2.30855946251e-05,1793254916616730880
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+35,0.583333333,BASELINE,784,760.701268781,738,723,691,649,915,800,838.298731219,657.701268781,635,657,0.400934270845,0.00455972822793,0.0499307074904,0.999999973612,8.96179847046e-05,-0.000210309088072,-2.26872019742e-05,1793254916650064128
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+39,0.650000000,BASELINE,783.622754317,761,739,722.622754317,691,649.377245683,915,800,838,658,635,657,0.400934948243,0.00455890768975,0.0499306262026,0.999999973676,8.81159634478e-05,-0.000210662586901,-2.24879164562e-05,1793254916716730624
+40,0.666666667,BASELINE,783.798663765,761,739,723,691,649,915,800,838,658,635,657,0.400934876232,0.00456014019119,0.0499302870632,0.999999973454,9.06803126635e-05,-0.000210606305499,-2.26877366147e-05,1793254916733397248
+41,0.683333333,BASELINE,783.210033843,761,739,723,691,649,915,800,838,658,635,657,0.400935232728,0.00456067625734,0.049930794709,0.999999973571,9.08775151799e-05,-0.000209951081161,-2.27977054022e-05,1793254916750064128
+42,0.700000000,BASELINE,783.373190467,761,738.626809533,723,691,649,915,800,838,658,634.626809533,657,0.400935346007,0.00456021514134,0.0499309598848,0.999999973743,8.94589104148e-05,-0.000209758641231,-2.26455286573e-05,1793254916766731008
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+48,0.800000000,BASELINE,784,761,738,722.143722616,691,649,915,800,838.143722616,658,635,657,0.400934689893,0.00455999040576,0.0499308311944,0.999999973723,8.94198037763e-05,-0.000209883486684,-2.25049253998e-05,1793254916866730240
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+52,0.866666667,BASELINE,783,761,738.168007027,722.831992973,691,649,914.168007027,800,838.168007027,658,635,657,0.400933188637,0.0045583209816,0.0499298658403,0.999999973715,8.54943891969e-05,-0.00021157334498,-2.23187445775e-05,1793254916933397504
+53,0.883333333,BASELINE,783,761,738.758042461,722.241957539,691,649,914.758042461,800,838.758042461,658,635,657,0.400936328579,0.0045593197068,0.0499311271735,0.999999974042,8.81359324756e-05,-0.000208896425341,-2.25713135292e-05,1793254916950063872
+54,0.900000000,BASELINE,783,761,738.658220828,722.341779172,691,649,915,800,839,657.658220828,635,657,0.400936912511,0.00456019735459,0.0499313350338,0.999999974035,8.91116999129e-05,-0.000208504917329,-2.26798659597e-05,1793254916966730496
+55,0.916666667,BASELINE,783,761,738.078862538,722.921137462,691,649,915,800,839,657.078862538,635,657,0.400935719697,0.00456099083845,0.049930810599,0.999999973801,8.89295454391e-05,-0.000209702055323,-2.26883089498e-05,1793254916983396864
+56,0.933333333,BASELINE,783.493537848,761,738.493537848,723,691,649,915,800,838.506462152,657.493537848,635,657,0.400935579305,0.00456066173437,0.0499305175445,0.999999973564,8.98643258894e-05,-0.000210431941211,-2.26818213415e-05,1793254917000064000
+57,0.950000000,BASELINE,784,761,739,723,691,649,915,800,838,658,635,657,0.400935589486,0.00456031127451,0.0499302849552,0.99999997337,9.08172133422e-05,-0.000210941198649,-2.27146267298e-05,1793254917016730624
+58,0.966666667,BASELINE,784,761,739,723,691,649,915,800,838,658,635,657,0.400935480503,0.00456117560925,0.0499302398757,0.999999973522,9.05368878484e-05,-0.000210302247992,-2.30727142107e-05,1793254917033397248
+59,0.983333333,BASELINE,783.756257235,761,738.756257235,723,691,649,915,800,838,658,635,657,0.400936076571,0.00456119645657,0.049930607832,0.999999973777,8.99987322766e-05,-0.00020931345669,-2.31194379353e-05,1793254917050064128
+60,1.000000000,BASELINE,783.176953599,761,738.176953599,723,691,649,915,800,838,658,635,657,0.400937643283,0.00456005607413,0.0499315444149,0.999999974172,8.91056217768e-05,-0.00020784303938,-2.27375069628e-05,1793254917066730752
+61,1.016666667,BASELINE,783.400903255,761,738,722.599096745,691,649,915,800,838,658,635,657,0.400937185792,0.00456087073176,0.0499314385492,0.999999974019,9.00477765242e-05,-0.000208179588584,-2.26650300887e-05,1793254917083397376
+62,1.033333333,BASELINE,783.97812378,761,738,722.02187622,691,649,915,800,838,658,635,657,0.400935838056,0.00456254521617,0.0499308742145,0.999999973623,9.17970810593e-05,-0.000209310841825,-2.27286511632e-05,1793254917100064256
+63,1.050000000,BASELINE,783.445664328,761,738.554335672,722.554335672,691,649,915,800,838,658,635,657,0.400935388735,0.00456119933774,0.0499308714138,0.999999973722,9.01669893059e-05,-0.000209551311451,-2.26829496101e-05,1793254917116730624
+64,1.066666667,BASELINE,783.132998788,761,739,722.867001212,691,649,915,800,838.132998788,658,635,657,0.400935251903,0.00455986916139,0.0499309149869,0.999999973868,8.86821247694e-05,-0.000209494066678,-2.26354929493e-05,1793254917133397248
+65,1.083333333,BASELINE,783.720168104,761,739,722.279831896,691,649,915,800,838.720168104,658,635,657,0.40093606132,0.00455899889924,0.0499310413826,0.999999974115,8.81477795662e-05,-0.000208539999394,-2.25967487565e-05,1793254917150064128
+66,1.100000000,BASELINE,784,761,738.696664183,722.606671633,691,649,915,800,838.696664183,658,635,657,0.400935371295,0.0045589279039,0.0499303532333,0.99999997398,8.76951579311e-05,-0.000209367863012,-2.27002588056e-05,1793254917166730752
+67,1.116666667,BASELINE,784,761,738.117139979,723.765720043,691,649,915,800,838.117139979,658,635,657,0.400933316024,0.00455958464399,0.0499289234375,0.999999973491,8.73169459374e-05,-0.00021181818139,-2.29332918726e-05,1793254917183397376
+68,1.133333333,BASELINE,783.540016424,761,738,723.540016424,691,649,915,800,838,658,635,657,0.400934796522,0.00455971467984,0.0499294381375,0.999999973829,8.77815038189e-05,-0.000210037226684,-2.28399380209e-05,1793254917200064000
+69,1.150000000,BASELINE,783.036381446,761,738,723,691,649,915,800,838.036381446,658,635,657,0.400936903007,0.00455971888372,0.0499303662246,0.999999974298,8.85435519621e-05,-0.000207486538581,-2.26620742258e-05,1793254917216730880
+70,1.166666667,BASELINE,783.611040143,761,738,723,691,649,915,800,838.611040143,658,635,657,0.400935018268,0.00455983557357,0.0499301220789,0.999999973723,9.05481706352e-05,-0.000209407213546,-2.24572328402e-05,1793254917233397248
+71,1.183333333,BASELINE,783.815080278,761,738,722.815080278,691,649,914.815080278,800,838.815080278,658,635,657,0.400934351407,0.00455997890125,0.0499302179516,0.999999973506,9.13025870982e-05,-0.000210117368284,-2.24342567787e-05,1793254917250063872
+72,1.200000000,BASELINE,783.242832511,761,738,722.242832511,691,649,914.242832511,800,838.242832511,658,635,657,0.40093623548,0.00456017802386,0.0499310260181,0.999999974048,8.94383628686e-05,-0.000208291999173,-2.27922110623e-05,1793254917266730496
+73,1.216666667,BASELINE,783,761,738.344047359,722.344047359,691,649,914.344047359,800,838,658,635,657,0.400937142088,0.00455971501768,0.049931405278,0.999999974296,8.85569039191e-05,-0.000207474787538,-2.28221760227e-05,1793254917283397120
+74,1.233333333,BASELINE,783,761,738.941713427,722.941713427,691,649,914.941713427,800,838,658,635,657,0.400937328145,0.00455876391518,0.0499314684376,0.99999997433,8.83999025034e-05,-0.000207400751602,-2.26103596287e-05,1793254917300063744
+75,1.250000000,BASELINE,783.517214762,761,739,723,691,649.517214762,915,800.517214762,838,658,635,657,0.400937759511,0.00456009356783,0.0499319693784,0.999999974175,9.0163368238e-05,-0.000207391695836,-2.25667562562e-05,1793254917316730624
+76,1.266666667,BASELINE,784,761,738.907106986,723,691,649.907106986,915,800.907106986,838,658,635,657,0.400938176987,0.00456106260945,0.0499323851743,0.999999974081,9.14075568647e-05,-0.000207308915279,-2.24890423988e-05,1793254917333397504
+77,1.283333333,BASELINE,784,761,738.317680366,723,691,649.317680366,915,800.317680366,838,658,635,657,0.400938378517,0.00455878670368,0.0499320929824,0.999999974433,8.87668012733e-05,-0.000206794525874,-2.21318378574e-05,1793254917350064384
+78,1.300000000,BASELINE,783.732965783,761,738,723,691,649,915,800.267034217,838,658,635,657,0.400938460676,0.00455836953408,0.0499321158954,0.99999997463,8.78942255491e-05,-0.000206215704432,-2.21418247265e-05,1793254917366731008
+79,1.316666667,BASELINE,783.153759767,761,738,723,691,649,915,800.846240233,838,658,635,657,0.400938403285,0.00456012528846,0.0499325071763,0.999999974649,8.90887105394e-05,-0.000205561559855,-2.25810704795e-05,1793254917383397120
+80,1.333333333,BASELINE,783.424156925,761,738.424156925,723,691,649,915,801,838,658,635,657,0.400938133357,0.00455877169909,0.0499321993315,0.999999974712,8.77853368148e-05,-0.000205841711112,-2.23239337797e-05,1793254917400063744
+81,1.350000000,BASELINE,784,761,739,723,691,649,915,801,838,658,635,657,0.400937790918,0.00455630625455,0.0499316427334,0.999999974787,8.55892128772e-05,-0.000206455635412,-2.18176496431e-05,1793254917416730368
+82,1.366666667,BASELINE,784,761,739,723,691,649,915,801,838,658,635,657,0.400938988961,0.00455809863776,0.0499324889943,0.99999997482,8.69736766077e-05,-0.000205676528244,-2.22178979854e-05,1793254917433396992
+83,1.383333333,BASELINE,783.84550961,761,739,723,691,649,915,800.84550961,838.15449039,658,634.84550961,657,0.400939669992,0.00455968743822,0.0499330695618,0.999999974816,8.82992985626e-05,-0.000205092028192,-2.25303058474e-05,1793254917450063616
+84,1.400000000,BASELINE,783.25643903,761,739,723,691,649,915,800.25643903,838.74356097,658,634.25643903,657,0.40093889667,0.00456070356247,0.0499329027362,0.999999974719,8.94593994054e-05,-0.000205054956179,-2.25956192551e-05,1793254917466730496
+85,1.416666667,BASELINE,783.327206337,761,739,723,691,649,915,800,839,658,634,657,0.400937905483,0.00456008081001,0.0499322778624,0.999999974611,8.79020287225e-05,-0.00020626198063,-2.25387031143e-05,1793254917483397376
+86,1.433333333,BASELINE,783.906669154,761,739,723,691,649,915,800,839,658,634,657,0.400936746334,0.00455819458175,0.0499312998609,0.999999974479,8.4249650244e-05,-0.000208428128912,-2.2387555311e-05,1793254917500064256
+87,1.450000000,BASELINE,784,761,738.517236315,723,691,649,915,800,838.517236315,658,634.482763685,657,0.400939395566,0.00455795672697,0.0499323583474,0.999999974929,8.57069788293e-05,-0.000205679984246,-2.21748629643e-05,1793254917516730624
+88,1.466666667,BASELINE,783.940641191,761,738.059358809,723,691,649,915,800.059358809,838,658,635,657,0.400942173015,0.0045580639304,0.0499335488008,0.999999975379,8.78865300199e-05,-0.00020256997168,-2.19987778774e-05,1793254917533397504
+89,1.483333333,BASELINE,783.353852127,761,738.646147873,723,691,649,915,800.646147873,838,658,635,657,0.400939593043,0.0045584251915,0.0499324378187,0.999999974965,8.77667652807e-05,-0.00020462783705,-2.22529532654e-05,1793254917550064128
+90,1.500000000,BASELINE,783.23128888,761,738.76871112,723,691,649,914.76871112,800.76871112,838.23128888,658,635,657,0.400937782315,0.00455867145656,0.049931529041,0.999999974616,8.74235050302e-05,-0.000206449571264,-2.24324030708e-05,1793254917566730496
+91,1.516666667,BASELINE,783.813926288,761,738.186073712,723,691,649,914.186073712,800.186073712,838.813926288,658,635,657,0.400937140138,0.00455874303229,0.0499309274299,0.999999974371,8.67407350874e-05,-0.000207912600915,-2.24983379986e-05,1793254917583397376
+92,1.533333333,BASELINE,784,761,738,723,691,649,914.390893256,800,838.609106744,658,635,657,0.400937407251,0.0045589211703,0.0499308535186,0.999999974359,8.70477811773e-05,-0.00020783447129,-2.25616771291e-05,1793254917600064000
+93,1.550000000,BASELINE,784,761,738,723,691,649,914.965199619,800,838.034800381,658,635,657,0.400938101018,0.00455914930897,0.0499310272122,0.999999974457,8.78192640597e-05,-0.000207033206243,-2.26237982777e-05,1793254917616730880
+94,1.566666667,BASELINE,783.45752658,761,738,723,691,649.54247342,915,800.54247342,838,658,635,657,0.400938433049,0.00455942565704,0.0499315610354,0.999999974556,8.80476933692e-05,-0.000206462807514,-2.2536024006e-05,1793254917633397760
+95,1.583333333,BASELINE,783,761,738.12241278,723,691,649.87758722,915,800.87758722,838.12241278,657.87758722,635,657,0.400938535032,0.00455976214676,0.0499320186932,0.999999974572,8.85533682388e-05,-0.000206183721462,-2.24117081188e-05,1793254917650064384
+96,1.600000000,BASELINE,783,761,738.711790369,723,691,649.288209631,915,800.288209631,838.711790369,657.288209631,635,657,0.400937848467,0.00456031619479,0.0499320971905,0.999999974265,9.02502695289e-05,-0.000206959090546,-2.21848814795e-05,1793254917666730752
+97,1.616666667,BASELINE,783,761,739,722.704520087,691.295479913,649,915,800,838.704520087,657.295479913,635,656.704520087,0.400937275267,0.00455957827375,0.0499317137075,0.99999997416,8.96927230496e-05,-0.000207736835899,-2.19181303781e-05,1793254917683397376
+98,1.633333333,BASELINE,783,761,739,722.126273884,691.873726116,649,915,800,838.126273884,657.873726116,635,656.126273884,0.400936810555,0.0045576039732,0.0499308881219,0.999999974244,8.69777308841e-05,-0.000208516855233,-2.1613172659e-05,1793254917700064000
+99,1.650000000,BASELINE,783.44966546,761,738.55033454,722.44966546,691.55033454,649.44966546,915,800,838.44966546,658,635,656.44966546,0.400937068668,0.0045575586522,0.0499309922159,0.999999974429,8.63054713561e-05,-0.000207904306912,-2.16442376576e-05,1793254917716730624
+100,1.666666667,BASELINE,783.975087462,761,738.024912538,723,691,650,915,800,838.975087462,658,635,657,0.400937450552,0.00455808756909,0.0499312989859,0.999999974607,8.63018002946e-05,-0.000207034648873,-2.17813562339e-05,1793254917733397248
+101,1.683333333,BASELINE,783.400893338,761,738.599106662,723,691,650,915,800,838.400893338,658,635,657,0.400936108835,0.00455939505155,0.0499303476385,0.999999973986,8.84562579978e-05,-0.000209074311016,-2.21868958071e-05,1793254917750063872
+102,1.700000000,BASELINE,783,761,738.820913456,723,691,649.820913456,915,800,838,658,635,657,0.40093561135,0.00455985377693,0.0499298420523,0.999999973662,8.95006803672e-05,-0.000210157063884,-2.23705656893e-05,1793254917766730752
+103,1.716666667,BASELINE,783,761,738.227549574,723,691,649.227549574,915,800,838,658,635,657,0.400937066808,0.00455834908927,0.0499303676367,0.999999974041,8.79772797869e-05,-0.000209026217284,-2.20409887739e-05,1793254917783397632
+104,1.733333333,BASELINE,783.356208834,761,738.356208834,723,691,649.356208834,915,800,838.356208834,658,635,657,0.400937572416,0.00455757777653,0.0499305277085,0.999999974206,8.72872144442e-05,-0.000208549627864,-2.18305767224e-05,1793254917800064000
+105,1.750000000,BASELINE,783.933992349,761,738.933992349,723,691,649.933992349,915,800,838.933992349,658,635,657,0.400937487181,0.00455726264915,0.0499304604184,0.999999974238,8.71155133843e-05,-0.000208480009784,-2.16942894616e-05,1793254917816730624
+106,1.766666667,POSE1_TO_POSE2_PRESS,784,761,738,723,691,650,915,800,838,658,635,657,0.400939172126,0.00455900192239,0.0499320717733,0.99999997494,8.38895549226e-05,-0.000206322070521,-2.26547410463e-05,1793254917847776512
+107,1.783333333,POSE1_TO_POSE2_PRESS,783.408415183,761,738,723,691,649.408415183,915,800,838,658,635.591584817,657,0.400938622103,0.00455951498498,0.0499322880566,0.999999974701,8.76925903581e-05,-0.000205921366366,-2.2447216505e-05,1793254917864443648
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,761,738.179078799,723,691,649,915,800,838,657.820921201,635.820921201,657,0.400937624434,0.00455938749228,0.0499318929648,0.999999974352,8.9926920018e-05,-0.000206678207783,-2.2200712736e-05,1793254917881110528
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,761,738.757451517,723,691,649,915,800,838,657.242548483,635.242548483,657,0.400935628647,0.00455783174669,0.0499301346834,0.999999973777,8.86634903389e-05,-0.000210016040889,-2.18672965256e-05,1793254917897777152
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.334274667,761,739,723,691,649.334274667,915,800,838,657,635,657,0.400935483092,0.00455717577096,0.0499297237857,0.999999973838,8.71349478378e-05,-0.000210347000471,-2.2020687028e-05,1793254917914444032
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.90997861,761,739,723,691,649.90997861,915,800,838,657,635,657,0.400936673865,0.00455716965248,0.0499302860334,0.999999974361,8.54149281543e-05,-0.000208506250864,-2.25256728222e-05,1793254917931110656
+112,1.866666667,POSE1_TO_POSE2_PRESS,784,761,739,722.515706503,691,649.515706503,915,800.484293497,838.484293497,657.484293497,635,657,0.400938810732,0.00455937109836,0.0499308510185,0.999999974377,8.8143380095e-05,-0.000207273484618,-2.2678288965e-05,1793254917947777024
+113,1.883333333,POSE1_TO_POSE2_PRESS,784,761,739,722.060300702,691,649,915,800.939699298,838.939699298,658,635,656.939699298,0.400941731548,0.00456161357268,0.0499317319289,0.999999974476,9.10433871499e-05,-0.000205530123105,-2.27407506185e-05,1793254917964443392
+114,1.900000000,POSE1_TO_POSE2_PRESS,784,761,739,722.653540129,691,649,915,800.346459871,838.346459871,658,635,656.346459871,0.400950031086,0.00456060238182,0.0499354005086,0.999999976201,8.81724308725e-05,-0.000198278155876,-2.2583652201e-05,1793254917981110016
+115,1.916666667,POSE1_TO_POSE2_PRESS,784,761,739,723,691,649.240174112,915,800,838,658,635,656.240174112,0.400962770448,0.00455950640261,0.0499390028178,0.999999978163,8.58899840716e-05,-0.000189174994379,-2.25930468619e-05,1793254917997776384
+116,1.933333333,POSE1_TO_POSE2_PRESS,784,761,739,723,691,649.817534502,915,800,838,658,635,656.817534502,0.400981742987,0.00455829138705,0.049942512088,0.999999980426,8.44337602815e-05,-0.000177472896816,-2.2836185219e-05,1793254918014443008
+117,1.950000000,POSE1_TO_POSE2_PRESS,784,761,738.608020162,723,691,649.608020162,915,800,838.391979838,658,635,657,0.401013835512,0.00455802868144,0.049949700156,0.999999983989,8.37599983264e-05,-0.000156420330615,-2.32314714069e-05,1793254918031109888
+118,1.966666667,POSE1_TO_POSE2_PRESS,784,761,738.034921708,723,691,649.034921708,915,800,838.965078292,658,635,657,0.401051990273,0.00455820600105,0.0499585880537,0.999999987651,8.344778134e-05,-0.000131047275937,-2.36970591913e-05,1793254918047776768
+119,1.983333333,POSE1_TO_POSE2_PRESS,784,761,738,723,691.555342521,649,915,800,838.444657479,657.444657479,635,657,0.401098556986,0.00455841964754,0.0499632454686,0.999999990348,8.40176344017e-05,-0.000107957601364,-2.4289780903e-05,1793254918064443392
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.856245348,761,738.143754652,722.856245348,691.856245348,649,915,800,838,657.143754652,635,657,0.4011481786,0.00455865863708,0.0499671679502,0.999999992253,8.45746618081e-05,-8.78742420602e-05,-2.48889649562e-05,1793254918081110016
+121,2.016666667,POSE1_TO_POSE2_PRESS,783.27682186,761,738.72317814,722.27682186,691.27682186,649,915,800,838,657.72317814,635,657,0.401205404284,0.00455896728848,0.0499696950594,0.999999993147,8.491935596e-05,-7.64529033876e-05,-2.54827326946e-05,1793254918097776640
+122,2.033333333,POSE1_TO_POSE2_PRESS,783.300613875,761,738.699386125,722.300613875,691,649,915,800,838,658,635,657,0.401270659032,0.00455855791835,0.0499716833754,0.999999993687,8.41279590017e-05,-7.00547068403e-05,-2.53301678662e-05,1793254918114443264
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.876231168,761,738.123768832,722.876231168,691,649,915,800,838,658,635,657,0.401343258814,0.00455749169769,0.0499731788001,0.999999993984,8.22972589115e-05,-6.82517122208e-05,-2.44948533929e-05,1793254918131109888
+124,2.066666667,POSE1_TO_POSE2_PRESS,784,761,738,723,691,649,915,800.451727491,838,658,635,657,0.401432324136,0.00455703983727,0.0499742036153,0.999999994202,8.09441815225e-05,-6.68161915262e-05,-2.40740309041e-05,1793254918147776768
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.972106097,761,738,723,691,649,915,800.972106097,838.027893903,658,635,657,0.401526773515,0.00455665564674,0.0499749812949,0.999999994388,7.9651624188e-05,-6.57045632051e-05,-2.37284182141e-05,1793254918164443136
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.38175972,761,738,723,691,649,915,800.38175972,838.61824028,658,635,657,0.401638843675,0.00455424268335,0.0499733750313,0.999999994397,7.69413608998e-05,-6.90942463088e-05,-2.26099907189e-05,1793254918181109760
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.203480904,839,658,634.796519096,657,0.401763627786,0.00455237250785,0.0499731241038,0.999999994588,7.39657827964e-05,-6.99446912073e-05,-2.14767068716e-05,1793254918197776640
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.779376806,839,658,634.220623194,657,0.401911681223,0.00455149575433,0.0499753537407,0.99999999512,7.05046202761e-05,-6.61477689442e-05,-2.03162327419e-05,1793254918214443520
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.355985361,760.644014639,738,722.644014639,691,649,915,800.644014639,839,658,634.355985361,657,0.402078416059,0.00455088253406,0.0499744541738,0.999999995119,6.85415902419e-05,-6.85220500849e-05,-1.92081112721e-05,1793254918231110144
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.933036526,760.066963474,738,722.066963474,691,649,915,800.066963474,839,658,634.933036526,657,0.402256752001,0.00455043296704,0.0499716113812,0.999999994765,6.75088954925e-05,-7.47286290102e-05,-1.81325005283e-05,1793254918247776768
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.47968621,760.52031379,738,722.52031379,691,649,915,800.52031379,839,658,635,657,0.402461440926,0.00454771973554,0.0499718105615,0.999999995135,6.51241189983e-05,-7.21959911024e-05,-1.66293953246e-05,1793254918264443392
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.892842405,838.892842405,658,634.892842405,657,0.402675860064,0.00454477420276,0.0499720300011,0.999999995514,6.19582137002e-05,-7.00617271425e-05,-1.49791980105e-05,1793254918281110016
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.313818659,838.313818659,658,634.313818659,657,0.402917891883,0.00454211431765,0.0499705801445,0.999999995548,5.61342370984e-05,-7.47336718128e-05,-1.29284098638e-05,1793254918297776640
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800,838.263907412,658,634.263907412,657,0.40318676055,0.00453931207071,0.0499732585928,0.999999996193,5.10726824155e-05,-6.98980302555e-05,-1.09595184457e-05,1793254918314443264
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800,838.840097902,658,634.840097902,657,0.403487385392,0.00453634136638,0.0499808220867,0.99999999741,4.69133060796e-05,-5.38120098876e-05,-9.08753599371e-06,1793254918331109632
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.411924371,838.588075629,658,635,657,0.403823390607,0.00453358606103,0.0499912728851,0.999999998617,4.03285835918e-05,-3.30714615768e-05,-6.84376525344e-06,1793254918347776512
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,915,800.982074547,838.017925453,658,635,657,0.404172985901,0.00453091349345,0.0500028327367,0.999999999396,3.281225244e-05,-1.05430455604e-05,-4.45718556943e-06,1793254918364443136
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,761,738,722.422958207,691.577041793,649,915,800.422958207,838.577041793,658,635,657,0.404548273111,0.00452444690926,0.0500088092127,0.999999999647,2.64142183147e-05,2.49580692156e-06,-1.43314950009e-06,1793254918381109760
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,761,738,722,691.831935568,649,915,800.168064432,839,657.831935568,635,657,0.404933662173,0.0045190051019,0.0500115086621,0.999999999735,2.05754553941e-05,1.02171870295e-05,1.44092610573e-06,1793254918397776640
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,738,722,691.25253893,649,915,800.74746107,839,657.25253893,635,657,0.405341734017,0.00451637282222,0.0500066312711,0.999999999848,1.6016647393e-05,5.67813173388e-06,3.89733465403e-06,1793254918414443264
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,738.325139535,722,691,649.325139535,915,801,838.674860465,657,635,657,0.40575634727,0.00451211670463,0.0499934787248,0.999999999772,1.04325789207e-05,-1.74283944761e-05,6.60572642039e-06,1793254918431109888
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,761,738.901490558,722,691,649.901490558,915,801,838.098509442,657,635,657,0.406176014635,0.00450660596624,0.049973932572,0.999999998441,4.0563663343e-06,-5.48806449724e-05,9.50880740391e-06,1793254918447776768
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.485142295,761,738.514857705,722,691,650,915,800.514857705,838,657.485142295,635,656.514857705,0.406643574986,0.00450248007162,0.0499579978147,0.999999996665,1.05897567271e-06,-8.06918937036e-05,1.25951216937e-05,1793254918464443136
+144,2.400000000,POSE1_TO_POSE2_PRESS,784,761,738,722,691,649.930409417,915,800.069590583,838.069590583,658,635,656.069590583,0.407129434729,0.004498338453,0.0499450330848,0.99999999483,-1.29943146015e-06,-0.000100445396558,1.58091259452e-05,1793254918481109760
+145,2.416666667,POSE1_TO_POSE2_PRESS,784,761,738,722,691,649.351149975,915,800.648850025,838.648850025,658,635,656.648850025,0.407677005302,0.00449199077726,0.0499483676541,0.999999995435,-4.07952756674e-06,-9.34091498635e-05,1.96816566331e-05,1793254918497776640
+146,2.433333333,POSE1_TO_POSE2_PRESS,783.772235768,761,738.227764232,722,691,649,915,801,839,658,635,656.772235768,0.408251612931,0.00448553039954,0.0499609395628,0.999999997323,1.0804215661e-05,-6.8383578533e-05,2.36756922796e-05,1793254918514443520
+147,2.450000000,POSE1_TO_POSE2_PRESS,783.19385305,761,738.80614695,722,691,649,915,801,839,658,635,656.19385305,0.408867841161,0.00447889652964,0.0499877313598,0.999999998091,5.28795359447e-05,-1.56653809393e-05,2.7856771413e-05,1793254918531110144
+148,2.466666667,POSE1_TO_POSE2_PRESS,783.381550716,761,739,722.381550716,691,649.381550716,915,800.618449284,839,657.618449284,635,656.381550716,0.409498745131,0.00447307924682,0.0500059491796,0.999999997903,5.53697247628e-05,1.3783204547e-05,3.06422957333e-05,1793254918547776768
+149,2.483333333,POSE1_TO_POSE2_PRESS,783.955452686,761,739,722.955452686,691,649.955452686,915,800.044547314,839,657.044547314,635,656.955452686,0.410137047567,0.00446767363043,0.0500198445973,0.99999999825,3.79038507075e-05,3.1500873391e-05,3.27242785792e-05,1793254918564443392
+150,2.500000000,POSE1_TO_POSE2_PRESS,783.457161085,761,738.457161085,722.457161085,691,650,915.542838915,800.542838915,839,657.542838915,635,657,0.410756878275,0.004457642794,0.0500017022746,0.999999999419,5.04608008808e-06,-1.17851334629e-05,3.15698823748e-05,1793254918581110272
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738.129402216,722,690.870597784,650,915.870597784,800.870597784,839,657.870597784,635.129402216,657,0.411388389924,0.00444837673191,0.0499799608974,0.999999997524,-2.28871368391e-05,-5.89942182634e-05,3.07818814231e-05,1793254918597777152
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738.709152219,722,690.290847781,650,915.290847781,800.290847781,839,657.290847781,635.709152219,657,0.41206596353,0.00444312686041,0.0499550770621,0.999999993854,-2.91739412445e-05,-0.000101990052055,3.22168679814e-05,1793254918614443776
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,739,722,690.287285841,649.712714159,915.287285841,800,839.287285841,657.287285841,636,657,0.412802239438,0.0044378265131,0.0499579768834,0.999999995062,-2.97224974617e-05,-8.88529766151e-05,3.31314196824e-05,1793254918631110400
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,739,722,690.863792266,649.136207734,915.863792266,800,839.863792266,657.863792266,636,657,0.413597613064,0.00443247534942,0.049988847469,0.999999998954,-2.44941615961e-05,-1.92049664005e-05,3.35220317244e-05,1793254918647777024
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738.55352721,722,691,649.44647279,916,800.44647279,839.55352721,658,636,657,0.414366239892,0.00443647637794,0.0499923470793,0.999999999139,-1.73876689289e-05,-1.64340222461e-05,3.39198537698e-05,1793254918664443648
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738.030868335,722,690.969131665,650,916,801,839,658,636,657,0.41512758892,0.0044436215757,0.049985970865,0.999999998722,-9.53585061617e-06,-3.58894036375e-05,3.43040559438e-05,1793254918681109760
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738.611790548,722,690.388209452,650,916,801,839,658,636,657,0.415906694031,0.00445524015678,0.0499544955398,0.999999995984,1.24391342637e-06,-8.27456747248e-05,3.44058158736e-05,1793254918697776384
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.191656566,761,738.808343434,722,690.191656566,650,916,801,839,658,635.808343434,657,0.416712387218,0.00446075749174,0.0499398109604,0.999999994239,6.15190186395e-06,-0.000101382408875,3.47200343917e-05,1793254918714442752
+159,2.650000000,POSE1_TO_POSE2_PRESS,783.769394902,761,738.230605098,722,690.769394902,650,916,801,839,658,635.230605098,657,0.417571640598,0.0044539841962,0.0499589504307,0.999999997376,-7.68484216774e-07,-6.31724119814e-05,3.54622393196e-05,1793254918731109632
+160,2.666666667,POSE1_TO_POSE2_PRESS,783.654264262,761,738.345735738,722,690.654264262,650,916,800.654264262,839.345735738,658,635.345735738,657,0.418431827227,0.00444643831924,0.0499757787771,0.999999998642,-8.45860693967e-06,-3.6406127662e-05,3.63228034916e-05,1793254918747776512
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.078851826,761,738.921148174,722,690.078851826,650,916,800.078851826,839.921148174,658,635.921148174,657,0.419292633792,0.00443837920678,0.0499910718132,0.999999999018,-1.66600753384e-05,-1.72420503432e-05,3.72619952145e-05,1793254918764443392
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761,739,721.492154471,690,650,916,800,839.492154471,658,636,657,0.420155405829,0.00443914479406,0.0499740232988,0.999999998219,-1.71067882913e-05,-4.33179638974e-05,3.73150528772e-05,1793254918781110016
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.094880887,761,738.905119113,721.094880887,690.094880887,650,916,800,839.094880887,658,636,657,0.421036465574,0.00444067505396,0.0499608009837,0.999999997382,-1.68384902866e-05,-5.9653648709e-05,3.73465308298e-05,1793254918797776640
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.674487883,761,738.325512117,721.674487883,690.674487883,650,916,800,839.674487883,658,636,657,0.422009358493,0.00443895278344,0.04999336314,0.999999999039,-1.92084358293e-05,1.04725690439e-05,3.79866430891e-05,1793254918814443520
+165,2.750000000,POSE1_TO_POSE2_PRESS,784,761,738,721.74707141,690.74707141,650,916,800,839.74707141,658,635.74707141,657,0.422952653931,0.00443906575827,0.0500089472835,0.999999998237,-1.82885708872e-05,4.13080345425e-05,3.85283044322e-05,1793254918831110144
+166,2.766666667,POSE1_TO_POSE2_PRESS,784,761,738,721.170124718,690.170124718,650,916,800,839.170124718,658,635.170124718,657,0.423858033189,0.00444152980243,0.0500027814842,0.999999998917,-1.31542434954e-05,2.18094807475e-05,3.89438439622e-05,1793254918847776512
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.596696828,761,738,721,690,650,916,800.403303172,839,657.596696828,635.403303172,657,0.424772924067,0.00444098733639,0.0499940925509,0.999999999061,-1.80786992428e-05,7.42534320156e-06,3.8674459861e-05,1793254918864443136
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.024740465,761,738,721,690,650,916,800.975259535,839,657.024740465,635.975259535,657,0.425691792457,0.00443918760873,0.0499843484948,0.999999998892,-2.7209534011e-05,-4.82004822378e-06,3.81186545864e-05,1793254918881109760
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.567507316,761,738,721,690.567507316,650,916,800.432492684,839.567507316,657.567507316,636,657,0.426672268717,0.00443426557608,0.0500097592374,0.999999998417,-3.17074862817e-05,2.15553311456e-05,4.11877676155e-05,1793254918897776384
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,761,738,721,690.686493603,650,916,800.156753199,840,657.843246801,636,657,0.427628211034,0.00443119803729,0.0500188632386,0.999999998288,-3.21000658009e-05,2.17904495606e-05,4.38096513958e-05,1793254918914443008
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,761,738,721,689.529101593,650,916,800.735449203,840,657.264550797,636,657,0.428510616078,0.00443350234161,0.0499797950214,0.999999997348,-2.20057617733e-05,-5.30379804821e-05,4.47865505474e-05,1793254918931110144
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,761,738,721,689.312377546,650,916,801,840,657.312377546,636,657,0.429451557001,0.00443462937624,0.0499642983794,0.999999996292,-1.6460362596e-05,-7.20686352847e-05,4.41607904506e-05,1793254918947777024
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,761,738,721,689.887817259,650,916,801,840,657.887817259,636,657,0.430441792636,0.00443476499787,0.0499686520446,0.999999998029,-1.47457283499e-05,-4.41103658834e-05,4.21853847206e-05,1793254918964443904
+174,2.900000000,POSE1_TO_POSE2_PRESS,784.473035619,761.473035619,738,721,690.473035619,650,916,800.526964381,840,657.526964381,636,657,0.431363570084,0.00443247250912,0.049961040132,0.999999997102,-2.20571727524e-05,-5.89221907782e-05,4.28611496764e-05,1793254918981110016
+175,2.916666667,POSE1_TO_POSE2_PRESS,784.94023468,761.94023468,738,721,690.820704039,650,916,800.05976532,840,657.05976532,636,657,0.432275814705,0.00442986102149,0.0499515004704,0.99999999533,-3.01441907357e-05,-8.06085469963e-05,4.39789987046e-05,1793254918997776384
+176,2.933333333,POSE1_TO_POSE2_PRESS,784.360952024,761.360952024,738,721,689.082856071,650,916,800.639047976,840,657.639047976,636,657,0.433249298877,0.00442958780408,0.0499503913243,0.999999996129,-2.59729536579e-05,-7.20209653993e-05,4.33589668317e-05,1793254919014443008
+177,2.950000000,POSE1_TO_POSE2_PRESS,784.21782004,761.21782004,738.21782004,721,688.435640081,650,916,801,840,658,636,657.21782004,0.434214806063,0.00442874815447,0.0499594398276,0.999999997235,-2.62294667432e-05,-5.43816870954e-05,4.34104562224e-05,1793254919031110144
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.795748068,761.795748068,738.795748068,721,689.591496136,650,916,801,840,658,636,657.795748068,0.435167125561,0.00442697205855,0.0499852813251,0.999999998198,-3.38060962262e-05,-2.17778142591e-05,4.4572128782e-05,1793254919047776768
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,762,738.629850716,721,689.629850716,650,916,801,840.370149284,658,636,657.629850716,0.436053111995,0.00442895969695,0.0499750495664,0.999999996849,-3.35699929235e-05,-5.53200417344e-05,4.59955242218e-05,1793254919064443392
+180,3.000000000,POSE1_TO_POSE2_PRESS,785,762,738.057377296,721,689.057377296,650,916,801,840.942622704,658,636,657.057377296,0.436902840622,0.0044330045981,0.0499451001118,0.999999990632,-2.90634379403e-05,-0.000125017825617,4.75619775336e-05,1793254919081110272
+181,3.016666667,POSE1_TO_POSE2_PRESS,785,762,738,720.467934053,689,650,916,801,840.467934053,658,636,657,0.437829170768,0.00442992630796,0.0499575627816,0.999999994923,-3.5007514223e-05,-8.24408156732e-05,4.61758183553e-05,1793254919097776896
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,762,738,720.120811035,689.120811035,650,916.120811035,801,840,658,636.120811035,657.120811035,0.438757795685,0.00442651728563,0.0499725578718,0.999999997432,-4.11972082174e-05,-3.75538013536e-05,4.50302961664e-05,1793254919114443520
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,762,738,720.699740638,689.699740638,650,916.699740638,801,840,658,636.699740638,657.699740638,0.439662765973,0.0044248629487,0.0499792411174,0.999999997485,-4.39039527251e-05,-3.1331976175e-05,4.60444572792e-05,1793254919131109888
+184,3.066666667,POSE1_TO_POSE2_PRESS,785,762,738.277251054,720.722748946,689.722748946,650,917,801,840.277251054,657.722748946,636.722748946,657.722748946,0.440534426497,0.00442316342048,0.0499769202624,0.999999997312,-4.33134929082e-05,-3.63884594838e-05,4.66550004592e-05,1793254919147776512
+185,3.083333333,POSE1_TO_POSE2_PRESS,785,762,738.853232298,720.146767702,689.146767702,650,917,801,840.853232298,657.146767702,636.146767702,657.146767702,0.441370196631,0.00442141520003,0.0499648977424,0.9999999967,-3.91703882677e-05,-5.35970024039e-05,4.68306566289e-05,1793254919164443136
+186,3.100000000,POSE1_TO_POSE2_PRESS,785.436852858,762,738.563147142,720.436852858,689,650,917,800.563147142,841,657.436852858,636,657,0.442194976305,0.00442087170606,0.0499751064465,0.999999997943,-2.89515657324e-05,-3.23249118475e-05,4.72237211831e-05,1793254919181110016
+187,3.116666667,POSE1_TO_POSE2_PRESS,785.977194814,762,738,720.977194814,689,650,917,800.022805186,840.977194814,658,636,657.022805186,0.443013584272,0.00442105046715,0.0499917159932,0.99999999872,-1.69270945656e-05,-4.3043361572e-07,4.76877712437e-05,1793254919197776384
+188,3.133333333,POSE1_TO_POSE2_PRESS,785.3980852,762,738,720.3980852,689,650,917,800.6019148,840.3980852,658,636,657.6019148,0.44377331466,0.00442879871436,0.0499790279119,0.999999998316,-1.15357200629e-05,-3.03961182171e-05,4.80699477276e-05,1793254919214443264
+189,3.150000000,POSE1_TO_POSE2_PRESS,785,762,738,720,688.63830016,650,917,801,840.18084992,658,636,657.81915008,0.444518968807,0.00443727531948,0.0499532413814,0.999999996002,-5.88027022683e-06,-7.54616254221e-05,4.76175836838e-05,1793254919231110144
+190,3.166666667,POSE1_TO_POSE2_PRESS,785,762,738,720,687.481197152,650,917,801,840.759401424,658,636,657.240598576,0.445233668469,0.00444735363589,0.0498986504451,0.999999987156,3.55900729185e-07,-0.000153732700975,4.53300067921e-05,1793254919247776768
+191,3.183333333,POSE1_TO_POSE2_PRESS,785,762,738,720,687,649.664744875,916.664744875,801,841,658,636,657,0.445961569435,0.00445142050272,0.049878493385,0.99999998452,4.16603254023e-06,-0.000170277101394,4.41488068885e-05,1793254919264443392
+192,3.200000000,POSE1_TO_POSE2_PRESS,785,762,738,720,687,649.090811853,916.090811853,801,841,658,636,657,0.446698868753,0.00445120764273,0.0498828508083,0.999999988816,6.24899599373e-06,-0.00014287647816,4.37552692642e-05,1793254919281110016
+193,3.216666667,POSE1_TO_POSE2_PRESS,785.496254203,762,738,720,687,649,916,800.503745797,840.503745797,658,636,657,0.447339919085,0.00445270944097,0.0498646971467,0.999999983732,9.18057301336e-06,-0.000174634074033,4.42152638985e-05,1793254919297776640
+194,3.233333333,POSE1_TO_POSE2_PRESS,785.915713667,761.915713667,738,719.915713667,686.915713667,648.915713667,916,800.084286333,840.084286333,658,636,657,0.447961801097,0.00445463777989,0.0498417630233,0.999999975448,1.23749626813e-05,-0.000216711688557,4.45749079059e-05,1793254919314443264
+195,3.250000000,POSE1_TO_POSE2_PRESS,785.336504285,761.336504285,738,719.336504285,686.336504285,648.336504285,916,800.663495715,840.663495715,658,636,657,0.448577362083,0.00445717819604,0.049815604783,0.999999966646,1.61759194884e-05,-0.000254092358867,4.34032227235e-05,1793254919331109888
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,761.240765146,738.240765146,719.240765146,686,648.240765146,916.240765146,801,841,658,636,657,0.449191986778,0.00445862813831,0.0498030217824,0.999999961452,1.77254169246e-05,-0.000273731939002,4.30532600434e-05,1793254919347776512
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,761.815344835,738.815344835,719.815344835,686,648.815344835,916.815344835,801,841,658,636,657,0.449805313277,0.00445856616701,0.0498092604966,0.999999962789,1.61533248524e-05,-0.000268773961385,4.38425941699e-05,1793254919364443648
+198,3.300000000,POSE1_TO_POSE2_PRESS,785.388795796,762,739,719.611204204,686,648.611204204,917,801,841,658,635.611204204,657,0.450384769198,0.00445913425853,0.0498199400409,0.999999965356,1.56720435749e-05,-0.000258975148979,4.44229801812e-05,1793254919381110528
+199,3.316666667,POSE1_TO_POSE2_PRESS,785.961712279,762,739,719.038287721,686,648.038287721,917,801,841,658,635.038287721,657,0.4509481852,0.00446000072673,0.0498327226144,0.999999968393,1.57073336714e-05,-0.00024688387863,4.49044154174e-05,1793254919397777408
+200,3.333333333,POSE1_TO_POSE2_PRESS,786,762,738.445492278,719,686,648,917,800.445492278,841,657.445492278,635.554507722,657,0.451427921004,0.00446298625644,0.0498225746625,0.999999959477,2.10592292081e-05,-0.000280179813152,4.585046583e-05,1793254919414443520
+201,3.350000000,POSE1_TO_POSE2_PRESS,786,762,738,719,685.709995046,647.854997523,916.854997523,800,841,657.145002477,636,657.145002477,0.451889233362,0.00446530027538,0.0498037609269,0.999999945984,2.55263592762e-05,-0.000324368136638,4.6540787229e-05,1793254919431110144
+202,3.366666667,POSE1_TO_POSE2_PRESS,786,762,738,719,684.551316771,647.275658385,916.275658385,800,841,657.724341615,636,657.724341615,0.452313311403,0.00446514829801,0.049763908873,0.999999921966,2.62027939742e-05,-0.0003914469988,4.63654377686e-05,1793254919447776768
+203,3.383333333,POSE1_TO_POSE2_PRESS,786,762,738,719,684,647,916,800.301105421,841,658,636,657.698894579,0.452745798871,0.00446544867813,0.049741016699,0.999999909328,2.62717130883e-05,-0.000422535995214,4.60080193639e-05,1793254919464443136
+204,3.400000000,POSE1_TO_POSE2_PRESS,786,762,738,719,684,647,916,800.875531502,841,658,636,657.124468498,0.453185919752,0.00446615967408,0.0497335194199,0.999999910031,2.57891756792e-05,-0.000420956118805,4.5485332733e-05,1793254919481109760
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.539889703,762,738,719,684,646.539889703,916,800.539889703,841,658,636,657.460110297,0.453592281103,0.0044688709556,0.0497395458876,0.999999915937,2.99590887469e-05,-0.000406447249726,4.50499852012e-05,1793254919497776384
+206,3.433333333,POSE1_TO_POSE2_PRESS,785.046867067,762,738,719,684,646,916,800,841,658,636,657.953132933,0.453985004123,0.00447175098505,0.049748150637,0.999999922196,3.46289662563e-05,-0.000390405307959,4.46330087809e-05,1793254919514443264
+207,3.450000000,POSE1_TO_POSE2_PRESS,785.626457259,762,738,719,684,646,916,800,841,658,636,657.373542741,0.454328854132,0.00447025965525,0.0497435394103,0.999999919526,3.03531607173e-05,-0.0003975898264,4.41502322174e-05,1793254919531109888
+208,3.466666667,POSE1_TO_POSE2_PRESS,786,762,738,719,683.794538291,646,916,800.205461709,841,658,636,657.205461709,0.454649927258,0.00446979240904,0.0497334166045,0.999999913253,2.8890632963e-05,-0.000413184651863,4.40273096818e-05,1793254919547776768
+209,3.483333333,POSE1_TO_POSE2_PRESS,786,762,738,719,683.216595794,646,916,800.783404206,841,658,636,657.783404206,0.454929708219,0.00447118172041,0.0497133018775,0.999999899899,3.2528286759e-05,-0.000444026491448,4.45567652376e-05,1793254919564443136
+210,3.500000000,POSE1_TO_POSE2_PRESS,786,761.641206584,738,719,683,645.641206584,916,800.641206584,841,658,636,657.641206584,0.455179807481,0.00447259193967,0.0496851045009,0.99999987913,3.45256370599e-05,-0.000488440888085,4.44145484049e-05,1793254919581109760
+211,3.516666667,POSE1_TO_POSE2_PRESS,786,761.067347791,738,719,683,645.067347791,916,800.067347791,841,658,636,657.067347791,0.45541211518,0.00447401469152,0.0496520622785,0.999999852071,3.55397686863e-05,-0.000540990851616,4.38697224938e-05,1793254919597776384
+212,3.533333333,POSE1_TO_POSE2_PRESS,786,761.520660827,738.520660827,719,683,645,916,800,841,658,636,657,0.455626472965,0.00447390438806,0.0496381173301,0.99999984077,3.76431075701e-05,-0.000561362987767,4.37547178899e-05,1793254919614443008
+213,3.550000000,POSE1_TO_POSE2_PRESS,785.891615201,761.891615201,738.891615201,719,683,645,916,800.108384799,841,658,636,657.108384799,0.455836722365,0.00447349380188,0.0496300254512,0.999999834237,3.93348992413e-05,-0.000572769892692,4.37493728922e-05,1793254919631109632
+214,3.566666667,POSE1_TO_POSE2_PRESS,785.313282924,761.313282924,738.313282924,719,683,645,916,800.686717076,841,658,636,657.686717076,0.456039506726,0.00447266505385,0.0496363020046,0.999999839321,3.86143058526e-05,-0.000563855510997,4.39717016397e-05,1793254919647776512
+215,3.583333333,POSE1_TO_POSE2_PRESS,785.26408919,761.26408919,738,719,682.73591081,645,916,801,841,658,636,658,0.456223687134,0.00447286894767,0.0496389488918,0.999999840761,3.75609362849e-05,-0.000561368842995,4.39584662653e-05,1793254919664443392
+216,3.600000000,POSE1_TO_POSE2_PRESS,785.840326375,761.840326375,738,719,682.159673625,645,916,801,841,658,636,658,0.456385878038,0.00447429340299,0.0496373055878,0.999999837945,3.61142321574e-05,-0.000566479601051,4.36667989289e-05,1793254919681110272
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761.585542077,738,719,682.414457923,644.585542077,916,800.585542077,841,658,636,657.585542077,0.456531154616,0.00447468101469,0.0496362843707,0.999999838148,3.59740177001e-05,-0.000566160337677,4.32749087955e-05,1793254919697776896
+218,3.633333333,POSE1_TO_POSE2_PRESS,786,761.012217658,738,719,682.987782342,644.012217658,916,800.012217658,841,658,636,657.012217658,0.456669947734,0.00447467119225,0.0496355016068,0.99999983951,3.63345958173e-05,-0.000563759684419,4.28446021162e-05,1793254919714443264
+219,3.650000000,POSE1_TO_POSE2_PRESS,786,761.584146856,738,719,682.415853144,644,916,800.584146856,841,658,636,657,0.456772692753,0.00447530792404,0.0496313797303,0.999999835868,3.72099477203e-05,-0.00057012565428,4.28580343681e-05,1793254919731110144
+220,3.666666667,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800.825119549,841,658,636,657.174880451,0.456868838251,0.0044757665353,0.0496281114067,0.999999832805,3.82596760651e-05,-0.000575397622282,4.29436269446e-05,1793254919747776512
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800.248474856,841,658,636,657.751525144,0.456951625468,0.00447578359581,0.04962697104,0.999999831402,3.96842599455e-05,-0.00057771773218,4.31728008391e-05,1793254919764443392
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800,841,658,636,657.67394655,0.457020679606,0.00447568329997,0.0496236318765,0.999999828294,3.96778729373e-05,-0.000583090069993,4.29470759025e-05,1793254919781109760
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800,841,658,636,657.101020614,0.457079335705,0.00447549414737,0.0496186278862,0.999999823851,3.85880215694e-05,-0.000590773412844,4.23769227806e-05,1793254919797776384
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800.484814441,841,658,636,657,0.457126740336,0.00447672308647,0.0496159067525,0.99999982195,4.01364349897e-05,-0.000593884846396,4.23065367004e-05,1793254919814443264
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+226,3.766666667,POSE1_TO_POSE2_PRESS,786,762,738,719,682,644,916,800.345127141,841,658,636,657,0.457200276074,0.00447965555657,0.0496113531784,0.999999818419,4.32778126935e-05,-0.000599622094451,4.17507336754e-05,1793254919847776768
+227,3.783333333,POSE1_TO_POSE2_PRESS,786,761.766191286,738,719,682,644,916,800,841,658,636,657,0.457227776599,0.00447981595224,0.0496105339046,0.99999981806,4.31480937591e-05,-0.00060023817412,4.16267319063e-05,1793254919864443392
+228,3.800000000,POSE1_TO_POSE2_PRESS,786,761.192081382,738,719,682,644,916,800,841,658,636,657,0.457251108533,0.00447815080646,0.0496118862225,0.999999820217,4.11579515388e-05,-0.000596742221816,4.20829495777e-05,1793254919881109760
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+232,3.866666667,POSE1_TO_POSE2_PRESS,786,762,738,719,682,643.865536311,916,800,841,658,635.865536311,657.865536311,0.457287354552,0.00447980092054,0.0496048967278,0.999999813343,4.05528981661e-05,-0.000608289160992,4.06673472472e-05,1793254919947776768
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,762,738,719,682,643.286009487,916,800,841,658,635.286009487,657.286009487,0.457291808646,0.00448215881808,0.0496051156955,0.999999813653,4.33999310671e-05,-0.000607604098527,4.03552844666e-05,1793254919964443392
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,762,738,718.709404546,682,643.290595454,916,800,841,658,635.290595454,657.290595454,0.457294241044,0.00448249680162,0.0496050876973,0.999999813486,4.37212990864e-05,-0.000607866043048,4.02021223171e-05,1793254919981110272
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,762,738,718.135646684,682,643.864353316,916,800,841,658,635.864353316,657.864353316,0.457294703459,0.00448086653814,0.0496048190502,0.999999812856,4.1581605703e-05,-0.000609050771299,4.02037962955e-05,1793254919997776896
+236,3.933333333,POSE1_TO_POSE2_PRESS,786.449440513,762,738,718.449440513,682,644,916,800,841,658,636,657.550559487,0.45729528037,0.00448151733359,0.0496033593012,0.999999811836,4.19085631149e-05,-0.000610706794834,4.01100879752e-05,1793254920014443264
+237,3.950000000,POSE1_TO_POSE2_PRESS,786.962574563,762,738,719,682,644,916,800,841,658,636,657.037425437,0.457295798289,0.00448277120486,0.0496015854889,0.999999810709,4.30134059887e-05,-0.000612480338252,4.00080720334e-05,1793254920031109888
+238,3.966666667,POSE1_TO_POSE2_PRESS,786.383419187,762,738,719,682,644,916,800,841,658,636,657.616580813,0.457294949178,0.00448253157206,0.0496006037738,0.999999809808,4.43233356506e-05,-0.000613842778967,4.02132767835e-05,1793254920047776768
+239,3.983333333,POSE1_TO_POSE2_PRESS,786.194835724,762,738,719,682,643.805164276,916,800,841,658,636,657.805164276,0.457294995129,0.00448249369174,0.0495999886341,0.99999980937,4.55103326502e-05,-0.000614464508698,4.02741151379e-05,1793254920064443392
+240,4.000000000,POSE1_TO_POSE2_PRESS,786.77132672,762,738,719,682,643.22867328,916,800,841,658,636,657.22867328,0.45729679438,0.0044828510156,0.049600091563,0.999999809845,4.64565220978e-05,-0.00061363529165,4.00521603927e-05,1793254920081109760
+241,4.016666667,POSE1_TO_POSE2_PRESS,786.65374995,761.65374995,738,719,682,643.34625005,916,800,841,658,636,657.34625005,0.457296506912,0.00448341471807,0.04959971012,0.999999809557,4.73984050207e-05,-0.000614052196626,3.97468475303e-05,1793254920097776384
+242,4.033333333,POSE1_TO_POSE2_PRESS,786.079857309,761.079857309,738,719,682,643.920142691,916,800,841,658,636,657.920142691,0.457294847526,0.00448411410445,0.049599010226,0.999999808766,4.83374565754e-05,-0.000615288366347,3.93867307626e-05,1793254920114443264
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,761.509804778,738,719,682,643.490195222,916,800,841,658,636,658,0.457296615434,0.00448292321491,0.0496002219304,0.999999809808,4.52768398752e-05,-0.000613821680159,3.94464020062e-05,1793254920131110144
+244,4.066666667,POSE1_TO_POSE2_PRESS,786.0998463,762,738,719,682,643.0998463,916,800,841,658,636,658,0.457298376026,0.00448203366631,0.0496013341372,0.999999810729,4.28954648266e-05,-0.00061248450955,3.95673300845e-05,1793254920147776768
+245,4.083333333,POSE1_TO_POSE2_PRESS,786.679462589,762,738,719,682,643.679462589,916,800,841,658,636,658,0.457297439453,0.00448406027954,0.0496004834955,0.999999809697,4.68844793377e-05,-0.000613869002751,3.96565497444e-05,1793254920164443392
+246,4.100000000,POSE1_TO_POSE2_PRESS,786.74371683,762,738,719,682,644,916,800,841,658,635.74371683,658,0.457297201766,0.00448444807567,0.0495997826195,0.999999808994,4.83975216439e-05,-0.000614891104549,3.97362024187e-05,1793254920181109760
+247,4.116666667,POSE1_TO_POSE2_PRESS,786.170355074,762,738,719,682,644,916,800,841,658,635.170355074,658,0.457297828756,0.00448280829529,0.0495992670363,0.999999808712,4.68472429163e-05,-0.000615464848759,3.98040186424e-05,1793254920197776384
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,761.586317621,738,719,682,643.586317621,916,800,841,658,635.413682379,657.586317621,0.457298674786,0.0044823924684,0.04959993752,0.9999998092,4.57262226028e-05,-0.000614771192772,3.95687128928e-05,1793254920214443264
+249,4.150000000,HOLD_POSE2,785,762,738,719,682,643,916,800,841,658,636,657,0.457297910062,0.00448278695637,0.049598868608,0.999999808349,4.62109132483e-05,-0.000616133460408,3.93286363394e-05,1793254920259799296
+250,4.166666667,HOLD_POSE2,785.577947708,762,738,719,682,643,916,800,841,658,635.422052292,657,0.457297851553,0.00448293669484,0.0495984441635,0.999999808236,4.40071803262e-05,-0.000616501617102,3.89384976435e-05,1793254920276465920
+251,4.183333333,HOLD_POSE2,786,762,738,719,682,643.154474895,916,800,841,658,635.154474895,657,0.457298232274,0.00448287601652,0.0495984028763,0.999999808425,4.28064395503e-05,-0.000616283599917,3.88788158663e-05,1793254920293132544
+252,4.200000000,HOLD_POSE2,786,762,738,719,682,643.727156466,916,800,841,658,635.727156466,657,0.457299802109,0.00448224568125,0.0495993989029,0.999999809437,4.43210781028e-05,-0.000614478646442,3.97137731591e-05,1793254920309799168
+253,4.216666667,HOLD_POSE2,786,762,738,719,682,643.690714888,916,800,841,658,635.690714888,657,0.457300569126,0.00448272883709,0.0496001288933,0.999999809695,4.62967402288e-05,-0.000613902203668,3.98952953413e-05,1793254920326465536
+254,4.233333333,HOLD_POSE2,786,762,738,719,682,643.099989725,916,800,841,658,635.099989725,657,0.457300605602,0.00448422523604,0.0496006167987,0.999999809265,4.86919197034e-05,-0.0006144436684,3.94822113831e-05,1793254920343132160
+255,4.250000000,HOLD_POSE2,786,762,738,719,682,643,916,800,841,658,635,657,0.457300705054,0.00448425115545,0.049600111093,0.999999809453,4.84134312811e-05,-0.000614166345363,3.93659176728e-05,1793254920359799040
+256,4.266666667,HOLD_POSE2,786,762,738,718.944360285,682,643,916,800,841,658,635,657,0.457300811185,0.00448409326323,0.0495994347261,0.999999809715,4.76493997589e-05,-0.000613807192454,3.9257282253e-05,1793254920376465664
+257,4.283333333,HOLD_POSE2,786,762,738,718.367111312,682,643,916,800,841,658,635,657,0.457300859631,0.00448502102218,0.0495990563994,0.999999809479,4.74406326971e-05,-0.000614244914295,3.86535264665e-05,1793254920393132288
+258,4.300000000,HOLD_POSE2,785.785916,762,738,718,682,643,916,800,841,658,635.214084,657,0.45730071572,0.0044853104973,0.0495988046933,0.999999809134,4.69585985112e-05,-0.000614864519978,3.83206416206e-05,1793254920409799168
+259,4.316666667,HOLD_POSE2,785.197826478,762,738,718,682,643,916,800,841,658,635.802173522,657,0.457300235763,0.00448448488817,0.0495987741942,0.999999808596,4.59991656947e-05,-0.000615801877341,3.84609693488e-05,1793254920426465792
+260,4.333333333,HOLD_POSE2,785.384481051,762,738,718.384481051,682,643,916,800,841,658,635.615518949,657,0.457300919132,0.00448536491246,0.0495989667741,0.999999809006,4.66856248644e-05,-0.000615092556645,3.83455419213e-05,1793254920443132672
+261,4.350000000,HOLD_POSE2,785.963857708,762,738,718.963857708,682,643,916,800,841,658,635.036142292,657,0.457302192199,0.00448710953183,0.0495992724341,0.999999809891,4.82063958464e-05,-0.000613548525665,3.81004707805e-05,1793254920459799552
+262,4.366666667,HOLD_POSE2,786,762,738,719,682,643,916,800,841,658,635,657,0.457301948041,0.00448661730674,0.049599819758,0.999999809608,4.86132960998e-05,-0.000613971908669,3.82046648955e-05,1793254920476465920
+263,4.383333333,HOLD_POSE2,786,761.887448682,738,719,682,643,916,800,841,658,635.112551318,657,0.457301141688,0.00448579843078,0.0495997942946,0.999999808973,4.85914039589e-05,-0.000614992328836,3.84283977312e-05,1793254920493132288
+264,4.400000000,HOLD_POSE2,786,761.314689412,738,719,682,643,916,800,841,658,635.685310588,657,0.457298449337,0.00448425243111,0.0495973610354,0.999999807216,4.71192514797e-05,-0.000617918743475,3.90458952047e-05,1793254920509798912
+265,4.416666667,POSE2_TO_POSE3_RETREAT,786,761,738,718,682,643,916,800,841,658,635,657,0.457300639034,0.00448476982242,0.0495983992906,0.999999808059,4.92059851388e-05,-0.000616400153796,3.88748374694e-05,1793254920547824128
+266,4.433333333,POSE2_TO_POSE3_RETREAT,786,761,738,718,682,643,916,800,841,658,635.595834729,657,0.457299638626,0.00448618852846,0.0495977274794,0.999999807524,4.74955344996e-05,-0.000617448444196,3.81381589902e-05,1793254920564491008
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,761.184803901,738,718.184803901,682,643,916,800.184803901,841,658,635.815196099,657,0.457299412936,0.00448694769727,0.0495977409255,0.999999807467,4.69458515226e-05,-0.000617600118546,3.78375474822e-05,1793254920581157632
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,761.75929607,738,718.75929607,682,643,916,800.75929607,841,658,635.24070393,657,0.457300820861,0.00448631612775,0.0495991993449,0.999999808425,4.88438305164e-05,-0.000615861136278,3.8456452047e-05,1793254920597823744
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643,916,800.665615655,841,658,635.334384345,657,0.457300645124,0.00448555183776,0.0495986929846,0.999999808104,4.9464281062e-05,-0.000616322480861,3.86298998632e-05,1793254920614490368
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643,916,800.090097548,841,658,635.909902452,657,0.457299327366,0.00448469183942,0.0495967697676,0.99999980686,4.91634705331e-05,-0.000618370541859,3.84821165084e-05,1793254920631156992
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.499597756,762,738,718.499597756,682,643,916,800,841,658,635.499597756,657,0.457299691107,0.00448584256458,0.0495971428047,0.999999807174,4.90211787341e-05,-0.000617858158687,3.87300781763e-05,1793254920647823616
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.09122955,761.90877045,738,718,682,643,916,800,841,658,635.09122955,657.09122955,0.45730017413,0.00448685926957,0.049597839546,0.999999807728,4.88643824328e-05,-0.0006169607026,3.8944834328e-05,1793254920664489984
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785.668974295,761.331025705,738,718,682,643,916,800,841,658,635.668974295,657.668974295,0.457299628893,0.00448517101085,0.0495979896838,0.999999808017,4.84733307169e-05,-0.000616544078945,3.85907939826e-05,1793254920681156864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,786,761,738,718,681.754487112,643,916,800,841,658,635.754487112,658,0.457296324194,0.00448466078156,0.0495965886529,0.999999807005,4.85622717313e-05,-0.000618183237025,3.84919388262e-05,1793254920697823488
+275,4.583333333,POSE2_TO_POSE3_RETREAT,786,761,738,718,681.179566871,643,916,800,841,658,635.179566871,658,0.457289317096,0.00448573112749,0.049593106402,0.999999804231,4.92952243214e-05,-0.000622580660179,3.87354684828e-05,1793254920714490112
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,761.405320581,738.405320581,718.405320581,681.405320581,643,916,800,841,658,635.405320581,658,0.457268357589,0.00448549573269,0.0495831271111,0.999999794222,4.9434301665e-05,-0.000638458221672,3.85119543817e-05,1793254920731156992
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,761.994735125,738.994735125,718.994735125,681.994735125,643,916,800,841,658,635.994735125,658,0.457241060989,0.00448466727905,0.0495701969067,0.999999780557,4.93036447933e-05,-0.000659549987223,3.80763120612e-05,1793254920747823360
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,762,738.426100961,718.426100961,682,643.573899039,916,800,840.426100961,658,635.426100961,657.426100961,0.457187340774,0.00448679719416,0.0495497456936,0.999999758583,5.01559165208e-05,-0.000692048812913,3.72441350986e-05,1793254920764490240
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,762,738,718,682,643.848082305,916,800,840.151917695,658,635.151917695,657,0.457128679758,0.00448850406452,0.0495295422121,0.999999737307,5.13155407224e-05,-0.000722103002617,3.63436404663e-05,1793254920781156608
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,762,738,718,682,643.2729963,916,800,840.7270037,658,635.7270037,657,0.457056919458,0.00448895826856,0.049510217604,0.999999720399,5.3306621823e-05,-0.000745061262631,3.5262801347e-05,1793254920797823488
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,762,738,718.302556508,682,643,916,800,841,658,636,657,0.45697850819,0.00449004817267,0.0494966169892,0.999999706863,5.59645664309e-05,-0.000762857178908,3.45136308346e-05,1793254920814490112
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786,762,738,718.878531129,682,643,916,800,841,658,636,657,0.456894086495,0.00449171255428,0.0494881891067,0.999999696587,5.9225150624e-05,-0.000775987921541,3.40641868983e-05,1793254920831156992
+283,4.716666667,POSE2_TO_POSE3_RETREAT,786,762,738,718.533584976,682,643,916,800.466415024,841,658,636,657,0.45680165825,0.0044948316212,0.0494867466395,0.999999695752,6.19602530873e-05,-0.000776903379632,3.28260457479e-05,1793254920847823616
+284,4.733333333,POSE2_TO_POSE3_RETREAT,786,762,738,718.056322001,682,643,916,801,841,658,635.943677999,657,0.45670449599,0.00449802125924,0.049487529756,0.999999697468,6.44993299871e-05,-0.000774538238603,3.15476729066e-05,1793254920864490240
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,762,738,718.635463638,682,643,916,801,841,658,635.364536362,657,0.456583252341,0.00449825714027,0.0494916425497,0.999999699269,6.65224008181e-05,-0.000772024528229,3.18524762534e-05,1793254920881156864
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643,916,800.787263503,841,658,635.212736497,657,0.456449355584,0.0044980760501,0.0494935593308,0.999999699202,6.73925520155e-05,-0.00077203789697,3.18191576731e-05,1793254920897823488
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643,916,800.213165073,841,658,635.786834927,657,0.456293965811,0.0044971866775,0.0494917458849,0.99999969596,6.6304311893e-05,-0.000776343854229,3.12114928908e-05,1793254920914490112
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643.369730247,916,800,841,658,636,657,0.456121006587,0.00449949693831,0.0494917586969,0.999999694577,7.19945445032e-05,-0.000777638792162,3.06711234926e-05,1793254920931156992
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,762,738,719,682,643.957821014,916,800,841,658,636,657,0.455937670932,0.00450369688382,0.0494928500859,0.999999694223,8.16881033392e-05,-0.000777155440057,3.01704982945e-05,1793254920947823616
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761.462378245,738,718.462378245,682,644,916,800,841,658,636,657,0.455724196238,0.00450789085602,0.0494911693124,0.999999693469,8.68514252279e-05,-0.000777612585484,2.89400197385e-05,1793254920964490496
+291,4.850000000,POSE2_TO_POSE3_RETREAT,786,761,738,718.116449218,682.116449218,644,916,800,840.883550782,658,635.883550782,657,0.455502291929,0.00451143403234,0.0494905482569,0.9999996938,9.15827256923e-05,-0.000776687973275,2.77202237474e-05,1793254920981157376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,786,761,738,718.693959332,682.693959332,644,916,800,840.306040668,658,635.306040668,657,0.455256231796,0.00451240232151,0.0494949710102,0.999999698581,9.59893624002e-05,-0.00077000481788,2.67659934956e-05,1793254920997824000
+293,4.883333333,POSE2_TO_POSE3_RETREAT,786,761,738.270356488,718.729643512,682.729643512,644,916,800,840.270356488,658,635.270356488,657.270356488,0.454992731885,0.00451604824841,0.0495001336556,0.999999705325,0.000103462319917,-0.000760267141454,2.52930895454e-05,1793254921014490368
+294,4.900000000,POSE2_TO_POSE3_RETREAT,786,761,738.845498919,718.154501081,682.154501081,644,916,800,840.845498919,658,635.845498919,657.845498919,0.454709571282,0.00452271280573,0.0495061304169,0.999999714119,0.000114392088867,-0.000747085956051,2.32354597087e-05,1793254921031156992
+295,4.916666667,POSE2_TO_POSE3_RETREAT,786,761.430333627,738.569666373,718.430333627,682,644,916,800,841,658,635.569666373,658,0.454402336222,0.00452647694418,0.0495159293276,0.999999723365,0.000121233958501,-0.000733547347739,2.19271014544e-05,1793254921047823872
+296,4.933333333,POSE2_TO_POSE3_RETREAT,786,762,738,719,682.018378153,644.018378153,916,800,841,658,635.018378153,658,0.454085288362,0.00452923377176,0.0495275677747,0.999999733203,0.000126716245482,-0.000719097079985,2.09006669293e-05,1793254921064490240
+297,4.950000000,POSE2_TO_POSE3_RETREAT,786,762,738,719,682.595772572,644.595772572,916,800,841,658,635.595772572,658,0.453738726924,0.00453375510485,0.0495526814936,0.999999758661,0.000136514710193,-0.000680909696643,2.00785501174e-05,1793254921081156864
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786,762,738,719,683,645,916,800,841,658,636,658,0.453377103607,0.00453919739341,0.0495757827374,0.999999779929,0.00014662130539,-0.000646752685552,1.88610960198e-05,1793254921097823744
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786,762,738,719,683,645,916,800,841,658,636,658,0.452980321079,0.00454678948705,0.0495941862147,0.999999794021,0.000157447175038,-0.000622003864284,1.67207979511e-05,1793254921114490624
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786,761.666764255,738,718.666764255,683,645,916,800,840.666764255,658,635.666764255,657.666764255,0.452544540091,0.00455155575382,0.0496051043375,0.999999798142,0.000165214868855,-0.000613332069105,1.55948451231e-05,1793254921131157504
+301,5.016666667,POSE2_TO_POSE3_RETREAT,786,761.080579149,738,718.080579149,683,645,916,800,840.080579149,658,635.080579149,657.080579149,0.452079156488,0.00455417702009,0.0496103405518,0.999999795061,0.000170661193392,-0.000616863864743,1.52388514333e-05,1793254921147824128
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785.497291556,761,738,718,683.502708444,645,916,800,840,658,635.502708444,657.502708444,0.451570678305,0.00456183023439,0.0496063027142,0.99999979006,0.000181723768783,-0.000621854814237,1.23340565436e-05,1793254921164490496
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785,761,738,718.084418859,684,645.084418859,916,800,840.084418859,658,635.915581141,657.915581141,0.451055685474,0.00457022148884,0.0496027999773,0.999999787857,0.000193305208558,-0.000621964253019,8.96023584785e-06,1793254921181156864
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.659644655,684,645.659644655,916,800,840.659644655,658,635.340355345,657.340355345,0.450542747061,0.00457824118518,0.0496110014138,0.999999804009,0.000202699413186,-0.000592340821089,5.22118331011e-06,1793254921197823744
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785,761.234813292,738,719,684.234813292,646.234813292,916,800,840.765186708,658,635,657,0.450021119315,0.00458439076308,0.0496300879974,0.999999826246,0.000211272874435,-0.00055033378544,2.11610344857e-06,1793254921214490624
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785,761.809899065,738,719,684.809899065,646.809899065,916,800,840.190100935,658,635,657,0.449486899721,0.00458783031571,0.0496649484576,0.999999855858,0.000218656979725,-0.000490381431319,-7.02741349465e-08,1793254921231157248
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785,761.604568537,738,719,685,647,916,800,840.395431463,658,635.395431463,657,0.448897635631,0.00459371455722,0.0496895004694,0.999999871384,0.000228503231405,-0.00045278127578,-2.60733078333e-06,1793254921247823872
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785,761.013877737,738,719,685,647,916,800,840.986122263,658,635.986122263,657,0.448281191241,0.00460080595682,0.0497089622914,0.999999880459,0.00023956526148,-0.000426218371203,-5.31754850409e-06,1793254921264490752
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785,761,737.436140791,719,685.563859209,647,916,799.436140791,840.436140791,658,635.436140791,657,0.447601003164,0.00460612739237,0.049694366724,0.999999870423,0.000248298180277,-0.000444323644021,-8.88322664521e-06,1793254921281157376
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761,737.140865442,719,686,647.140865442,916,799.140865442,840,658,635,657,0.446908439984,0.00461079280828,0.0496773726834,0.999999857935,0.000255122847894,-0.000467851885942,-1.24910614552e-05,1793254921297823744
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,761,737.716577971,719,686,647.716577971,916,799.716577971,840,658,635,657,0.446182409657,0.00461356456758,0.0496555040914,0.999999839629,0.000256229787954,-0.00050480313286,-1.61654964942e-05,1793254921314490368
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,761,738,719,686,648,916,800,840,657.700898393,635.299101607,657,0.445477950005,0.0046092174467,0.049663522581,0.999999858064,0.000194603633923,-0.000495589513323,-1.98162029057e-05,1793254921331156736
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,719,686,648,916,800,840,657.111770239,635.888229761,657,0.444794406463,0.00459796744033,0.0497005213439,0.999999899612,7.21477717567e-05,-0.000441611716314,-2.34439008344e-05,1793254921347823360
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,761,737.530587981,719,686.938824038,648,916,800,840,657,635.530587981,657,0.444027931531,0.00457112254069,0.0497301919221,0.999999917326,3.01299208728e-05,-0.000404907384212,-2.21293410174e-05,1793254921364489984
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785,761,737,719,687.951536528,648.048463472,915.951536528,800,840,657.048463472,635.048463472,657,0.443241035701,0.00454364606795,0.0497555152078,0.999999929406,1.03594794651e-05,-0.000375060264886,-2.02467592965e-05,1793254921381156864
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761,737,719,687.375427843,648.624572157,915.375427843,800,840,657.624572157,635.624572157,657,0.442443218576,0.00454904834916,0.0497521886922,0.999999928681,2.77520751024e-05,-0.000375836816138,-2.47788134307e-05,1793254921397823744
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784.800877913,761,737,719,687.398244174,649,915.199122087,800,840,658,635.800877913,657,0.441650187086,0.0045544187888,0.0497636362833,0.99999993651,4.33235158346e-05,-0.000352522178216,-2.88223304297e-05,1793254921414490368
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784.229244092,761,737,719,688.541511815,649,915.770755908,800,840,658,635.229244092,657,0.440866108469,0.00455972965983,0.0498027228378,0.999999957583,5.54879924733e-05,-0.000284138452298,-3.19519062014e-05,1793254921431156992
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784.355955209,761,737,719.355955209,689,649,916,800,840,657.644044791,635,657,0.440035628794,0.00456257248893,0.0498185300484,0.999999964058,6.25289185765e-05,-0.000258433141689,-3.44449077661e-05,1793254921447823360
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784.950237138,761,737,719.950237138,689,649,916,800,840,657.049762862,635,657,0.439174081725,0.00456376286179,0.0498187507747,0.999999963007,6.61394155556e-05,-0.000261302796774,-3.65116965468e-05,1793254921464489984
+321,5.350000000,POSE2_TO_POSE3_RETREAT,784.47026632,760.47026632,737,720,688.47026632,649,916,800,840,657,635,657,0.438216752078,0.00456713210679,0.0497838380941,0.999999941214,0.000112049658257,-0.000323173439629,-2.40059223601e-05,1793254921481156608
+322,5.366666667,POSE2_TO_POSE3_RETREAT,784,760.107238965,737,720,688.107238965,649,916,800,839.892761035,657.107238965,635,657,0.437265014406,0.00456990020117,0.0497572270524,0.999999919583,0.000150439442123,-0.00037151499939,-1.33263214041e-05,1793254921497823488
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,761,737,720,689,649,915.737288056,800,839.262711944,658,635,657,0.435463148078,0.00456836162057,0.0497843100706,0.99999993371,0.000128869422401,-0.000339996258868,-1.9375928295e-05,1793254921531157248
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784,761,737,720,689,649,915.149042155,800,839.850957845,658,635,657,0.434521413763,0.00456742250152,0.0497629561001,0.999999917255,0.000119683828364,-0.000388167103944,-2.21861501773e-05,1793254921547823872
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784,761,737,720,689,649,915,800,840,658,635,657.43278758,0.433605470183,0.00456750418632,0.0497656428275,0.999999923924,9.66094101944e-05,-0.000377016912457,-2.60104293373e-05,1793254921564490496
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784,761,737,720,689.012390075,649,915.012390075,800,839.987609925,658,635,657.987609925,0.432697347507,0.00456797369499,0.0497767053562,0.999999937333,6.97142018529e-05,-0.000345785111613,-3.01041534182e-05,1793254921581157120
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784,761,737,720,689.589717185,649,915.589717185,800,839.410282815,658,635,657.410282815,0.431746768578,0.00457033169201,0.0497976932454,0.999999945866,8.35055658844e-05,-0.000316776653168,-3.07931672201e-05,1793254921597823744
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,761,737,720,690,649,915.833633131,800,839,657.833633131,635,657,0.430785259541,0.00457115051745,0.0498024093617,0.999999945941,9.60371327957e-05,-0.000312974906169,-3.06753907282e-05,1793254921614490368
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,761,737,720,690,649,915.258647333,800,839,657.258647333,635,657,0.429796904779,0.00456818893471,0.0497671598607,0.999999925178,0.000105474471301,-0.000371084162236,-2.85760310309e-05,1793254921631156992
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.676092153,760.676092153,737.323907847,720.323907847,689.676092153,649,915,800,839,657.323907847,635,657,0.428848854741,0.00456926221216,0.0497572067148,0.999999919269,0.000108440644166,-0.000385844433595,-2.87519647818e-05,1793254921647823616
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.087348062,760.087348062,737.912651938,720.912651938,689.087348062,649,915,800,839,657.912651938,635,657,0.427933759037,0.0045736345059,0.0497679365881,0.999999927224,0.000106115808137,-0.000365161343056,-3.07882431571e-05,1793254921664490240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760.493538493,738,721,689,649,915,800,839,657.506461507,635,657,0.426952102687,0.00457778492946,0.0497594450022,0.999999917425,0.000111842114945,-0.000389443904943,-3.12096080139e-05,1793254921681157120
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,689,649,915.072369105,800,839,657.14473821,635,657,0.425970780516,0.0045813025357,0.0497516967854,0.999999908787,0.000117169059769,-0.000409497936518,-3.17716174058e-05,1793254921697823744
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,689,649,915.646436232,800,839,658.292872463,635,657,0.425072161288,0.00458070109497,0.0497723158629,0.999999933493,0.000110004007777,-0.000345932382773,-3.52589858316e-05,1793254921714490624
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,689.225919695,649,916,800,839,658.774080305,635,657,0.424179722696,0.00458004079007,0.0497943907337,0.999999950825,0.000106370047093,-0.000292662180742,-3.7215144442e-05,1793254921731157248
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,689.814088019,649,916,800,839,658.185911981,635,657,0.423297194241,0.00457928609995,0.0498187998845,0.999999960709,0.000108397978071,-0.000255899946875,-3.67161010076e-05,1793254921747823616
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,761,738,721,690,649,915.604014707,800,839,658,635,657,0.422375275483,0.00458062112781,0.0498110010481,0.999999955635,0.000113841727385,-0.000272855347172,-3.63311314141e-05,1793254921764490240
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,690,649,915.025015777,800,839,658,635,657,0.42143515165,0.00458292196656,0.0497883165542,0.99999994255,0.000120864174818,-0.000314637579448,-3.59988836387e-05,1793254921781156864
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.554156758,690,649,915.554156758,800,839.554156758,658,634.445843242,657,0.420532711248,0.00458204185464,0.0497936672907,0.999999942758,0.000105074412686,-0.000319619606941,-3.58787363888e-05,1793254921797823488
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,761,738,721.867916966,690,649,916,800,839.867916966,658,634.132083034,657,0.419626546888,0.00458239417366,0.0497963523973,0.999999940558,9.66095068787e-05,-0.000329073703314,-3.55015324012e-05,1793254921814490112
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.294184083,690,649,916,800,839.294184083,658,634.705815917,657,0.41870224084,0.00458734769968,0.0497858913175,0.999999928223,0.000116081353174,-0.000359037651989,-3.42327753102e-05,1793254921831156992
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.286863773,690,649,916,800,839,658,635,657,0.417830748511,0.00459005138743,0.049774505509,0.999999919528,0.000125910300431,-0.000379344940286,-3.44628808768e-05,1793254921847823872
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,761,738,721.875609528,690,649,916,800,839,658,635,657,0.417014834924,0.00459038745056,0.0497621465599,0.999999915604,0.000125591511824,-0.000389490010502,-3.62703193271e-05,1793254921864490496
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760.542857613,738.457142387,721.542857613,690,649,915.542857613,800,839,658,635,657,0.416235755102,0.00458892721145,0.0497822535419,0.999999931531,0.000118769143143,-0.000348456960022,-3.75447096341e-05,1793254921881157120
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760.036494543,738.963505457,721.036494543,690.036494543,649,915,800,839,658,635,657,0.415464769497,0.004587034904,0.049808898636,0.999999948781,0.000110668926114,-0.000297827922434,-3.85932598436e-05,1793254921897823744
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760.612174201,738.387825799,721.612174201,690.612174201,649,915,800,839,658,635,657,0.414667593708,0.00458586833433,0.0498036488597,0.999999945851,0.000109428720776,-0.000307973398832,-3.84148206297e-05,1793254921914490368
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,761,738.763106215,722,690.236893785,649,915,800,839,658,635,657,0.41307155423,0.00458643933751,0.049765484704,0.99999992337,0.000117263093898,-0.000371507994925,-3.86230380089e-05,1793254921947823616
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.936925978,761,738.063074022,722,690.936925978,649,915,800,838.063074022,657.063074022,635,657,0.411679983059,0.00458939985191,0.0497971997144,0.99999993701,0.000122980399866,-0.000330797012445,-3.78158467547e-05,1793254921981156608
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,691,649,915.517154355,800,838.517154355,657.517154355,635,657,0.411002081982,0.00459006668668,0.0498065089736,0.999999941409,0.000119043391542,-0.000318747945487,-3.75518407368e-05,1793254921997823744
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783.904529639,761,738,722,690.904529639,649,915.904529639,800,839,658,634.904529639,657,0.410326996227,0.00459051877858,0.049808938036,0.999999942346,0.000115106010466,-0.000317254581318,-3.75286047949e-05,1793254922014490368
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783.329996629,761,738,722,690.329996629,649,915.329996629,800,839,658,634.329996629,657,0.409671281753,0.00459045318523,0.0497873124044,0.999999930056,0.000114676511506,-0.000353910782822,-3.85282535417e-05,1793254922031156992
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783.250371378,761,738,722,690.250371378,649,915,800,839,658,634.250371378,657,0.409053852342,0.00458935073258,0.0497807728343,0.999999927059,0.000114684738958,-0.000362191942134,-3.93345546226e-05,1793254922047823616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.838613542,761,738,722,690.838613542,649,915,800,839,658,634.838613542,657,0.408488087852,0.00458684906062,0.0497945915813,0.999999937387,0.000115283668906,-0.000332181589973,-3.98799371387e-05,1793254922064490240
+357,5.950000000,POSE2_TO_POSE3_RETREAT,784,761,738.420159472,722,691,649,915,800,839,658,634.579840528,657,0.407942384401,0.0045838216968,0.0498089802563,0.999999943783,0.000112638107864,-0.000313377836041,-3.92493897832e-05,1793254922081157120
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,761,738.999173724,722,691,649,915,800,839,658,634.000826276,657,0.407404265623,0.00458059557807,0.0498235844121,0.999999948712,0.00010876586287,-0.000298811093957,-3.81742444247e-05,1793254922097824000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,761,738.423513752,722,691,649,915,800,838.423513752,658,634.576486248,657,0.406873169069,0.00458456478402,0.0498077410882,0.999999940965,9.95732480121e-05,-0.000326520459887,-3.9248820107e-05,1793254922114490368
+360,6.000000000,POSE2_TO_POSE3_RETREAT,784,760.847538773,738,722,691,649,915,800,838,658,635,657,0.406352746087,0.00458772914696,0.0497906366635,0.999999931561,9.39303913825e-05,-0.000355592356684,-4.01096769469e-05,1793254922131156992
+361,6.016666667,POSE2_TO_POSE3_RETREAT,784,760.275240212,738,722,691,649,915,800,838,658,635,657,0.405861687508,0.00458864887319,0.0497701793221,0.999999919006,9.80835523641e-05,-0.000388249935597,-4.03735498997e-05,1793254922147823872
+362,6.033333333,POSE2_TO_POSE3_RETREAT,784,760.308827744,738,722,691,649,915,800,838,658,634.691172256,657.308827744,0.405403673118,0.00459007208989,0.0497624583939,0.999999912451,0.000105197852812,-0.000403018593871,-4.009455035e-05,1793254922164490752
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784,760.903800627,738,722,691,649,915,800,838,658,634.096199373,657.903800627,0.404976275935,0.00459196181692,0.0497665384234,0.999999912123,0.000115055804457,-0.000401212225068,-3.93125508993e-05,1793254922181157632
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,691,649,915,800,838.482915279,658,634.482915279,657.517084721,0.404620294278,0.00459461738712,0.0497894874893,0.999999925674,0.000123900685417,-0.000363053414227,-3.86438933702e-05,1793254922197824000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,761,738,722.058751387,691,649,915,800,839,658,634.941248613,657,0.404281018858,0.0045968569596,0.0498158268184,0.999999939747,0.000131402108339,-0.00031905905196,-3.79456758237e-05,1793254922214490368
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,761,738,722.632659033,691,649,915,800,839,658,634.367340967,657,0.403967454101,0.00459415371518,0.0498399824388,0.999999950304,0.000128836826847,-0.000285374691088,-3.67965829495e-05,1793254922231156992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,784,761,738.212960075,722.787039925,691,649,915,800,838.787039925,658,634,657,0.403653296656,0.00459307864447,0.0498534222099,0.99999995474,0.000129532596327,-0.000269142395872,-3.60946934113e-05,1793254922247823616
+368,6.133333333,POSE2_TO_POSE3_RETREAT,784,761,738.804630536,722.195369464,691,649,915,800,838.195369464,658,634,657,0.403338085261,0.00459489898199,0.049847805808,0.999999949781,0.000136027546576,-0.000283945398608,-3.61880730605e-05,1793254922264490496
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.613552045,761,739,722,691,649,915,800,838.386447955,658,634.386447955,657,0.403043586667,0.00459384021542,0.0498349856701,0.999999942899,0.000133209032958,-0.000308410466764,-3.65982340587e-05,1793254922281157120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.036591951,761,739,722,691,649,915,800,838.963408049,658,634.963408049,657,0.402759299095,0.00459136210063,0.0498186142147,0.999999934397,0.000125799143704,-0.000337638766684,-3.71645627505e-05,1793254922297823744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783.53821714,761,739,722,691,649,915,800,839,658,635,657,0.402519658572,0.00458000171737,0.0498081435441,0.99999993283,8.26566072715e-05,-0.000355155226074,-3.70506936122e-05,1793254922314490368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.886884811,761.113115189,738.886884811,722.113115189,691,649,915,800,839,658,635,657,0.402293173631,0.00456892878541,0.0498001782774,0.999999930537,4.71595914275e-05,-0.000367937417764,-3.63984146518e-05,1793254922331156736
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.311026794,761.688973206,738.311026794,722.688973206,691,649,915,800,839,658,635,657,0.402108138549,0.00456149236968,0.0498008277137,0.99999993157,5.28383528442e-05,-0.0003645966459,-3.37319855874e-05,1793254922347823616
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.272489804,761.727510196,738.272489804,723,691,649,915,800,839,658,634.727510196,657,0.401940494821,0.00456141269899,0.0498046038849,0.99999993456,6.49425852124e-05,-0.000354397283243,-3.26317757669e-05,1793254922364490240
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.865000864,761.134999136,738.865000864,723,691,649,915,800,839,658,634.134999136,657,0.401793276098,0.0045699730393,0.0498120521995,0.999999939369,8.459310796e-05,-0.00033614295925,-3.33709870267e-05,1793254922381156864
+376,6.266666667,POSE2_TO_POSE3_RETREAT,784,761,739,723,691,649,915,800,838.554843104,658,634.445156896,657,0.401673491484,0.00457118200862,0.0498215148512,0.999999945198,8.92173763518e-05,-0.000317081887437,-3.32119124251e-05,1793254922397823744
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783.978348145,761,738.978348145,723,691,648.978348145,915,800,838.021651855,658,635,657.021651855,0.401562325251,0.00457022568896,0.049831270711,0.99999995094,8.93759832114e-05,-0.000298422730538,-3.28051441596e-05,1793254922414490368
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783.402248455,761,738.402248455,723,691,648.402248455,915,800,838.597751545,658,635,657.597751545,0.401464560181,0.00456936917676,0.0498333144669,0.999999951672,8.87195376596e-05,-0.000296151383214,-3.2843066136e-05,1793254922431156992
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.173379922,761,738.173379922,722.826620078,691,648.173379922,915,800,838.826620078,658,635,657.826620078,0.401371831266,0.00456945269274,0.0498343125016,0.999999951862,8.88248455896e-05,-0.000295442885737,-3.31472673784e-05,1793254922447823872
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783.74791772,761,738.74791772,722.25208228,691,648.74791772,915,800,838.25208228,658,635,657.25208228,0.40129075477,0.00457171119949,0.0498328909977,0.999999950801,9.069266108e-05,-0.000298350433131,-3.406757239e-05,1793254922464490496
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783.666959627,760.666959627,738.666959627,722,691,649,914.666959627,800,838,658,634.666959627,657,0.40122321375,0.00457261038311,0.0498327730814,0.999999951017,9.18542764635e-05,-0.0002972357695,-3.4353080762e-05,1793254922481157120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.073562112,760.073562112,738.073562112,722,691,649,914.073562112,800,838,658,634.073562112,657,0.401166254194,0.00457244690458,0.0498336742557,0.999999952225,9.24638141102e-05,-0.000292976708523,-3.41423315636e-05,1793254922497823488
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.504736867,760.504736867,738,722.504736867,691,648.495263133,914,800,838,658,634,657,0.401127416321,0.00457191176915,0.049835308176,0.999999953679,9.31333346611e-05,-0.000287741653557,-3.42405241377e-05,1793254922514490112
+384,6.400000000,POSE2_TO_POSE3_RETREAT,784,761,738.080593002,723,691,648.080593002,914,800,838.080593002,658,634.080593002,657,0.40109223192,0.00457127742601,0.0498369865376,0.99999995497,9.34908866388e-05,-0.000283098860912,-3.42745866114e-05,1793254922531156736
+385,6.416666667,POSE2_TO_POSE3_RETREAT,784,761,738.654574563,723,691,648.654574563,914,800,838.654574563,658,634.654574563,657,0.401063714751,0.00457035771026,0.049838302174,0.999999955188,9.18866096804e-05,-0.00028292740922,-3.36484026e-05,1793254922547823360
+386,6.433333333,POSE2_TO_POSE3_RETREAT,784,761,738.764779666,722.764779666,691,649,914.235220334,800,839,658,635,657,0.401039641195,0.00457072840159,0.0498393714383,0.999999955448,9.18308288741e-05,-0.000282049979798,-3.34360788629e-05,1793254922564490240
+387,6.450000000,POSE2_TO_POSE3_RETREAT,784,761,738.174062062,722.174062062,691,649,914.825937938,800,839,658,635,657,0.401022283441,0.00457304933338,0.0498400683512,0.999999955769,9.41153482077e-05,-0.000280105579887,-3.38492376463e-05,1793254922581157120
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783.591308499,761,738.408691501,722.408691501,691,649,915,800,838.591308499,658,635,657,0.401011554554,0.00457306603102,0.0498417084825,0.999999957023,9.43705996041e-05,-0.000275503280723,-3.38616814503e-05,1793254922597823744
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.011882009,761,738.988117991,722.988117991,691,649,915,800,838.011882009,658,635,657,0.401003594943,0.0045721201116,0.0498437426527,0.999999958641,9.37781038367e-05,-0.000269790617438,-3.37067225274e-05,1793254922614490368
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.566455335,761,739,722.433544665,691,649,914.433544665,800,838.566455335,658,635,657,0.4009971217,0.00457175050963,0.0498431843643,0.999999958581,9.18008661383e-05,-0.000270695645954,-3.36735835758e-05,1793254922631156736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783.856565692,761,738.856565692,722.143434308,691,649,914,800.143434308,838.856565692,658,635,657,0.400991549539,0.00457172827441,0.049842852117,0.999999958517,9.05120347788e-05,-0.000271360387306,-3.37344543463e-05,1793254922647823616
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783.283586477,761,738.283586477,722.716413523,691,649,914,800.716413523,838.283586477,658,635,657,0.400988582677,0.00457271017045,0.0498433593374,0.999999958554,9.13716036504e-05,-0.00027089062861,-3.40692197451e-05,1793254922664489984
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.299954824,761,738.299954824,723,691,649,914,800.700045176,838.299954824,658,635,657,0.400987461012,0.00457215057796,0.0498442374555,0.999999958974,9.11666818757e-05,-0.000269404355372,-3.40734611424e-05,1793254922681156608
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.893846367,761,738.893846367,723,691,649,914,800.106153633,838.893846367,658,635,657,0.400988147523,0.00457008042453,0.0498454790297,0.999999959764,8.99186268271e-05,-0.000266921962242,-3.37538100034e-05,1793254922697823488
+395,6.583333333,POSE2_TO_POSE3_RETREAT,784,761,739,722.526493152,691,649,914,800,838.526493152,658,635,657,0.400987220686,0.00457062191656,0.0498457460586,0.999999959729,9.02801135481e-05,-0.000266967065726,-3.34559823583e-05,1793254922714490368
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.950054245,761,739,722.049945755,691,649,914,800,838,658,634.950054245,657,0.400986116826,0.00457148122063,0.049845906714,0.999999959618,9.08466928442e-05,-0.000267226266381,-3.31693974187e-05,1793254922731156992
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783.374921525,761,739,722.625078475,691,649,914,800,838,658,634.374921525,657,0.400986843791,0.00456970543921,0.0498471791492,0.999999960582,8.98863064325e-05,-0.000263952384375,-3.2951086444e-05,1793254922747823616
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.205122559,761,738.794877441,722.794877441,691,649,914,800,838,658,634,657,0.40098753146,0.00456846510043,0.0498481013094,0.999999961254,8.90494264098e-05,-0.000261714345948,-3.26632781348e-05,1793254922764490240
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.794363776,761,738.205636224,722.205636224,691,649,914,800,838,658,634,657,0.40098814554,0.0045682274477,0.0498483675342,0.9999999614,8.8443828215e-05,-0.000261416059475,-3.22453270461e-05,1793254922781156864
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.62282998,761,738.37717002,722.37717002,691,649,914.37717002,800,838.37717002,658,634,657,0.400987111181,0.00456951203368,0.0498480907409,0.999999961022,9.04388926049e-05,-0.000262144284239,-3.25102527295e-05,1793254922797823488
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.043473302,761,738.956526698,722.956526698,691,649,914.956526698,800,838.956526698,658,634,657,0.400985193158,0.00457161263456,0.0498475228562,0.999999960353,9.38280743918e-05,-0.000263422783069,-3.31412429749e-05,1793254922814490112
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783,761,739,723,691.533005699,649,915,800,838.466994301,658,634.533005699,657,0.400984957588,0.00457118586405,0.049847795018,0.999999960658,9.16154788749e-05,-0.000263063194838,-3.2978991063e-05,1793254922831156992
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783.108755737,761,738.891244263,723,691.891244263,649,915,800,838,658,635,657,0.40098495666,0.00457076065691,0.04984808747,0.999999960938,8.992965103e-05,-0.000262608329515,-3.27748154705e-05,1793254922847823616
+404,6.733333333,POSE2_TO_POSE3_RETREAT,783.682387551,761,738.317612449,723,691.317612449,649,915,800,838,658,635,657,0.400985375282,0.0045712185408,0.0498481753524,0.99999996079,9.24380005354e-05,-0.0002623142367,-3.26665072458e-05,1793254922864490240
+405,6.750000000,POSE2_TO_POSE3_RETREAT,784,761,738,722.736427853,691,649,915,800,838,658,635,657,0.40098589164,0.00457114008736,0.0498487148099,0.999999961049,9.24751470294e-05,-0.000261316414195,-3.26051119752e-05,1793254922881156864
+406,6.766666667,POSE2_TO_POSE3_RETREAT,784,761,738,722.145873349,691,649,915,800,838,658,635,657,0.400986529248,0.00457039626457,0.0498498144824,0.999999961812,8.94465686153e-05,-0.000259445558608,-3.26019159668e-05,1793254922897823488
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783.562793553,761,738.437206447,722.437206447,691,649,914.562793553,800.437206447,838,658,635,657,0.400986358239,0.00457019433556,0.0498498521546,0.999999961797,8.87853800195e-05,-0.000259719555188,-3.27025017436e-05,1793254922914490112
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94e89fb2704800305d6a82c25a21ab92bb2c9a50
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,415 @@
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+348,5.800000000,pose2_to_pose3_retreat,0.58557004406,0.0101816720053,1.04002039433,0.556141195096,0.0188559213473,1.03969210863
+349,5.816666667,pose2_to_pose3_retreat,0.584986973323,0.0101818283259,1.0400205289,0.555558120554,0.0188560644053,1.03969223387
+350,5.833333333,pose2_to_pose3_retreat,0.584422139823,0.0101817634679,1.04002053416,0.554993287912,0.0188560025599,1.03969224178
+351,5.850000000,pose2_to_pose3_retreat,0.583876216686,0.0101817160194,1.04002041085,0.554447365166,0.0188559564298,1.03969211817
+352,5.866666667,pose2_to_pose3_retreat,0.583352354102,0.0101817365662,1.04002037861,0.55392350212,0.0188559753961,1.03969208569
+353,5.883333333,pose2_to_pose3_retreat,0.582844724445,0.0101817602575,1.04002048255,0.553415872569,0.0188559995587,1.03969219255
+354,5.900000000,pose2_to_pose3_retreat,0.582353114101,0.0101816629381,1.04002030359,0.55292426388,0.0188559076809,1.03969200899
+355,5.916666667,pose2_to_pose3_retreat,0.581881978509,0.0101817545965,1.04002053704,0.552453125281,0.0188559888534,1.03969223493
+356,5.933333333,pose2_to_pose3_retreat,0.581431805206,0.0101817506126,1.04002029896,0.552002952027,0.0188559853527,1.03969200524
+357,5.950000000,pose2_to_pose3_retreat,0.581000978012,0.0101817700793,1.04002036278,0.551572125789,0.018856008015,1.03969206787
+358,5.966666667,pose2_to_pose3_retreat,0.580585246958,0.0101817557552,1.04002060421,0.551156395331,0.0188559955888,1.03969230599
+359,5.983333333,pose2_to_pose3_retreat,0.580181065888,0.0101816651774,1.04002062735,0.550752214213,0.018855905129,1.03969233652
+360,6.000000000,pose2_to_pose3_retreat,0.579790386732,0.0101817207108,1.0400205132,0.550361535553,0.0188559624066,1.03969222403
+361,6.016666667,pose2_to_pose3_retreat,0.579416779144,0.0101816811247,1.04002054105,0.549987927741,0.0188559219241,1.03969224825
+362,6.033333333,pose2_to_pose3_retreat,0.57907027093,0.0101815903425,1.04002042211,0.549641421203,0.0188558370771,1.03969213591
+363,6.050000000,pose2_to_pose3_retreat,0.578751849483,0.010181773874,1.04002046848,0.54932299726,0.0188560120227,1.0396921792
+364,6.066666667,pose2_to_pose3_retreat,0.578460729667,0.010181783757,1.04002057865,0.549031877162,0.0188560208064,1.03969228559
+365,6.083333333,pose2_to_pose3_retreat,0.578191680786,0.0101815925097,1.0400206615,0.548762830925,0.0188558384614,1.03969236671
+366,6.100000000,pose2_to_pose3_retreat,0.577939990465,0.0101817502989,1.04002070425,0.548511138744,0.0188559896043,1.03969240047
+367,6.116666667,pose2_to_pose3_retreat,0.577698038757,0.0101818289661,1.04002062168,0.548269186338,0.0188560657895,1.0396923152
+368,6.133333333,pose2_to_pose3_retreat,0.577464487157,0.0101816701978,1.04002057191,0.548035635658,0.0188559103623,1.03969227129
+369,6.150000000,pose2_to_pose3_retreat,0.577242336945,0.010181641731,1.04002049182,0.547813485409,0.0188558818905,1.03969219437
+370,6.166666667,pose2_to_pose3_retreat,0.577033885965,0.0101817295193,1.04002047301,0.547605034183,0.0188559689557,1.03969217853
+371,6.183333333,pose2_to_pose3_retreat,0.576845623612,0.010181754549,1.0400205782,0.547416771977,0.0188559945481,1.03969228545
+372,6.200000000,pose2_to_pose3_retreat,0.576676842011,0.0101817454174,1.04002069161,0.547247989695,0.0188559827948,1.03969239064
+373,6.216666667,pose2_to_pose3_retreat,0.576529179595,0.0101817546584,1.04002072398,0.547100327699,0.0188559932538,1.0396924176
+374,6.233333333,pose2_to_pose3_retreat,0.576399895884,0.0101818073864,1.0400206682,0.54697104302,0.0188560431448,1.03969237361
+375,6.250000000,pose2_to_pose3_retreat,0.576288494063,0.0101818467265,1.04002040947,0.546859640636,0.0188560806804,1.03969211765
+376,6.266666667,pose2_to_pose3_retreat,0.576190574787,0.0101817274863,1.04002050103,0.546761722559,0.0188559653116,1.03969220406
+377,6.283333333,pose2_to_pose3_retreat,0.576104159106,0.0101816517793,1.04002062011,0.546675307723,0.0188558924016,1.0396923215
+378,6.300000000,pose2_to_pose3_retreat,0.576027854943,0.0101817958238,1.04002041368,0.546599002224,0.0188560322537,1.03969212463
+379,6.316666667,pose2_to_pose3_retreat,0.575959725265,0.0101817581436,1.04002043814,0.546530873144,0.0188559963156,1.03969214129
+380,6.333333333,pose2_to_pose3_retreat,0.575900009141,0.0101818191339,1.0400205174,0.546471156594,0.0188560559899,1.03969222391
+381,6.350000000,pose2_to_pose3_retreat,0.575849295259,0.0101817742431,1.04002071204,0.546420443238,0.0188560126213,1.0396924116
+382,6.366666667,pose2_to_pose3_retreat,0.575807426437,0.0101817561424,1.04002071526,0.546378574594,0.018855995146,1.03969241539
+383,6.383333333,pose2_to_pose3_retreat,0.575773650313,0.0101817928427,1.04002053399,0.546344797986,0.0188560305617,1.0396922436
+384,6.400000000,pose2_to_pose3_retreat,0.575746534299,0.0101817354334,1.04002054674,0.546317682186,0.0188559737115,1.03969225195
+385,6.416666667,pose2_to_pose3_retreat,0.575725265306,0.0101817132504,1.04002033181,0.546296413444,0.0188559527139,1.03969204584
+386,6.433333333,pose2_to_pose3_retreat,0.575708439349,0.0101817095159,1.04002028187,0.546279587104,0.0188559475904,1.03969199361
+387,6.450000000,pose2_to_pose3_retreat,0.575695800162,0.0101817528707,1.04002033351,0.546266947286,0.0188559886457,1.0396920411
+388,6.466666667,pose2_to_pose3_retreat,0.575686477111,0.0101818580525,1.04002042098,0.546257623657,0.0188560919014,1.03969212965
+389,6.483333333,pose2_to_pose3_retreat,0.575679893381,0.0101818386887,1.04002058058,0.546251040266,0.0188560736832,1.03969228843
+390,6.500000000,pose2_to_pose3_retreat,0.575675389475,0.0101817578053,1.04002061911,0.546246537243,0.0188559957564,1.03969232588
+391,6.516666667,pose2_to_pose3_retreat,0.575672281048,0.0101816317642,1.04002056126,0.546243430108,0.0188558740403,1.0396922668
+392,6.533333333,pose2_to_pose3_retreat,0.575670418006,0.0101816488385,1.04002056202,0.546241566133,0.0188558877952,1.03969226364
+393,6.550000000,pose2_to_pose3_retreat,0.575669257081,0.0101816847917,1.04002057218,0.546240404159,0.0188559200642,1.03969227048
+394,6.566666667,pose2_to_pose3_retreat,0.57566862924,0.0101817099843,1.04002058911,0.546239775943,0.0188559439459,1.0396922864
+395,6.583333333,pose2_to_pose3_retreat,0.575668435938,0.0101817226145,1.04002060401,0.546239582689,0.0188559567504,1.03969230166
+396,6.600000000,pose2_to_pose3_retreat,0.575668428107,0.0101817231262,1.04002060462,0.546239574859,0.0188559572692,1.03969230228
+397,6.616666667,pose2_to_pose3_retreat,0.575668427886,0.0101817231406,1.04002060463,0.546239574639,0.0188559572838,1.0396923023
+398,6.633333333,pose2_to_pose3_retreat,0.575668415713,0.010181723936,1.04002060557,0.546239562469,0.0188559580901,1.03969230326
+399,6.650000000,pose2_to_pose3_retreat,0.575668313035,0.0101817306449,1.04002061349,0.546239459815,0.0188559648917,1.03969231136
+400,6.666666667,pose2_to_pose3_retreat,0.575668103357,0.0101817443452,1.04002062966,0.546239250189,0.0188559787809,1.03969232792
+401,6.683333333,pose2_to_pose3_retreat,0.575667817131,0.010181763047,1.04002065172,0.546238964033,0.0188559977407,1.03969235051
+402,6.700000000,pose2_to_pose3_retreat,0.575667509178,0.0101817831685,1.04002067547,0.546238656156,0.0188560181398,1.03969237483
+403,6.716666667,pose2_to_pose3_retreat,0.575667373609,0.0101817920265,1.04002068592,0.54623852062,0.0188560271201,1.03969238553
+404,6.733333333,pose2_to_pose3_retreat,0.575667258241,0.0101818067145,1.04002070638,0.54623840523,0.0188560417243,1.03969240577
+405,6.750000000,pose2_to_pose3_retreat,0.575667166447,0.0101818264933,1.04002073577,0.546238313361,0.0188560612239,1.03969243446
+406,6.766666667,pose2_to_pose3_retreat,0.575667102822,0.0101818402027,1.04002075613,0.546238249684,0.0188560747397,1.03969245435
+407,6.783333333,pose2_to_pose3_retreat,0.575667083415,0.0101818443842,1.04002076234,0.546238230262,0.0188560788622,1.03969246041
+408,6.800000000,pose2_to_pose3_retreat,0.575667074845,0.0101818462308,1.04002076509,0.546238221685,0.0188560806828,1.03969246309
+409,6.816666667,pose2_to_pose3_retreat,0.575666985893,0.0101818653972,1.04002079356,0.546238132661,0.0188560995786,1.0396924909
+410,6.833333333,pose2_to_pose3_retreat,0.575666872491,0.0101818684968,1.04002079716,0.54623801927,0.0188561027242,1.03969249473
+411,6.850000000,pose2_to_pose3_retreat,0.575666803924,0.0101817969013,1.04002068675,0.546237951065,0.0188560325029,1.03969238816
+412,6.866666667,pose2_to_pose3_retreat,0.575666716787,0.010181705916,1.04002054643,0.546237864388,0.0188559432639,1.03969225274
+413,6.883333333,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3cc417ed81a4a9453d147dbe1d92a413d4477c9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457443b924a5af0d8bb91e568d4fa1f39da8eae438d5b68f9013f2b2381f2280
+size 26358962
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e7584439722d964dddb5743289bc3f2d7ee844d5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,783.428752845,761,738.428752845,722.428752845,691,649,914.571247155,801,838,658,634.571247155,657,0.400987353357,0.00456899358274,0.0498518260656,0.999999962647,8.83766991669e-05,-0.00025663044236,-3.21944136968e-05,1793254923148423680
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+21,0.350000000,BASELINE,783.177272029,761,738.177272029,723,691,649,914,800,838,657.822727971,634.177272029,656.177272029,0.400986960698,0.00456853527904,0.0498519982855,0.999999962809,9.11499325494e-05,-0.000255060472766,-3.18969138795e-05,1793254923481756928
+22,0.366666667,BASELINE,783.766408096,761,738.766408096,723,691,649,914,800,838,657.233591904,634.766408096,656.766408096,0.400986226435,0.00456879908693,0.0498522928478,0.999999962978,8.86560389736e-05,-0.000255250215048,-3.21196472814e-05,1793254923498423552
+23,0.383333333,BASELINE,784,761,738.650464871,723,691,648.650464871,914,800,838,657.349535129,635,657,0.400985976828,0.00456941445529,0.0498520758626,0.999999962758,9.02636182825e-05,-0.000255558942932,-3.20348651523e-05,1793254923515089920
+24,0.400000000,BASELINE,784,761,738.071285706,723,691,648.071285706,914,800,838,657.928714294,635,657,0.400986045642,0.00457026079835,0.0498515227914,0.999999962271,9.45658586517e-05,-0.000255945844185,-3.1748045819e-05,1793254923531756800
+25,0.416666667,BASELINE,783.497663301,760.497663301,738.502336699,723,691,648.502336699,914.502336699,800,838,658,634.497663301,657,0.400987049761,0.00457012855686,0.0498518789385,0.999999962621,9.27475767857e-05,-0.000255227525913,-3.18404802845e-05,1793254923548423168
+26,0.433333333,BASELINE,783,760.075976007,738.924023993,722.924023993,691,649,915,800,838,658,634,657,0.400987982721,0.00456984710653,0.0498522751032,0.999999963003,9.06339164349e-05,-0.00025447861447,-3.19321805055e-05,1793254923565089792
+27,0.450000000,BASELINE,783,760.654890322,738.345109678,722.345109678,691,649,915,800,838,658,634,657,0.400987575628,0.00456948715311,0.0498520914071,0.999999962845,9.22515890632e-05,-0.00025455405782,-3.16666510454e-05,1793254923581756672
+28,0.466666667,BASELINE,783,761,738,722,691,649,914.761751225,800,838,658,634,657,0.400987218076,0.00456936778989,0.0498521839187,0.999999962765,9.30520186748e-05,-0.000254600258704,-3.14774143901e-05,1793254923598423296
+29,0.483333333,BASELINE,783,761,738,722,691,649,914.171832994,800,838,658,634,657,0.400986933648,0.00456960355224,0.0498526841294,0.999999962804,9.26461485709e-05,-0.000254603295949,-3.14007904982e-05,1793254923615089920
+30,0.500000000,BASELINE,783.410640132,761,738,722,691,649,914,800,838,658,634,657,0.400986750394,0.00456917717484,0.0498525527896,0.999999962904,9.09513391552e-05,-0.000254792487219,-3.1629861964e-05,1793254923631756544
+31,0.516666667,BASELINE,783.990053307,761,738,722,691,649,914,800,838,658,634,657,0.400986608721,0.00456847865809,0.0498521618828,0.999999963025,8.87267758565e-05,-0.000255058187766,-3.19845741847e-05,1793254923648423424
+32,0.533333333,BASELINE,784,761,738.560178135,722.560178135,691,649,914,800,838,658,634.560178135,657,0.400986492859,0.00456985257478,0.0498521167581,0.999999962922,9.00014997837e-05,-0.000255007209031,-3.20362383406e-05,1793254923665089792
+33,0.550000000,BASELINE,783.864705832,761,738.864705832,723,691,649,914,800.135294168,838,658,635,657,0.400986410021,0.00457102599436,0.0498521634867,0.999999962871,9.10370775146e-05,-0.000254834989479,-3.20766175573e-05,1793254923681756672
+34,0.566666667,BASELINE,783.272173419,761,738.272173419,723,691,649,914,800.727826581,838,658,635,657,0.400986437268,0.00457139948033,0.0498525002297,0.999999963012,9.10578763685e-05,-0.00025427171983,-3.20967473234e-05,1793254923698423552
+35,0.583333333,BASELINE,783,761,738.313109407,722.686890593,691,649,914,800.686890593,838,658,635,657,0.400986778994,0.00457050021896,0.0498528253096,0.999999963225,8.99427702175e-05,-0.000253835804749,-3.20698757308e-05,1793254923715090176
+36,0.600000000,BASELINE,783,761,738.892233128,722.107766872,691,649,914,800.107766872,838,658,635,657,0.400987387896,0.00456851964546,0.0498531404809,0.999999963495,8.78626116492e-05,-0.000253508088649,-3.2003072302e-05,1793254923731757056
+37,0.616666667,BASELINE,783.469886896,761,739,722,691,649,914.469886896,800,838,658,635,657,0.40098704306,0.00456867553896,0.049852694592,0.999999963249,8.85346553214e-05,-0.000254237634738,-3.20303016583e-05,1793254923748423680
+38,0.633333333,BASELINE,783.953029072,761,738.953029072,722,691,649,914.953029072,800,838,658,635,657,0.400986716104,0.00456924898997,0.0498522342536,0.999999962965,8.9743012362e-05,-0.000254929733838,-3.20390823732e-05,1793254923765090304
+39,0.650000000,BASELINE,783.378568644,761,738.378568644,722,691,649,914.378568644,800,838,658,635,657,0.40098903872,0.00456902616407,0.04985356571,0.999999963584,8.99078009329e-05,-0.000252486718016,-3.15992479764e-05,1793254923781756928
+40,0.666666667,BASELINE,783,761,738.201338785,722.201338785,691,649,914.201338785,800.201338785,838,658,635,657,0.400989873335,0.00456843845851,0.0498541320478,0.999999963999,8.90588731173e-05,-0.000251162265704,-3.14283899472e-05,1793254923798423296
+41,0.683333333,BASELINE,783,761,738.791772728,722.791772728,691,649,914.791772728,800.791772728,838,658,635,657,0.400987832332,0.0045671456086,0.0498532197639,0.999999964024,8.62508983269e-05,-0.000251999481714,-3.17773394016e-05,1793254923815089920
+42,0.700000000,BASELINE,783,761,738.625295072,723,691,649,914.625295072,800.625295072,838,658,634.625295072,657,0.400986423523,0.00456691669172,0.049852627251,0.999999963679,8.62421645287e-05,-0.000253368962965,-3.17416797737e-05,1793254923831756800
+43,0.716666667,BASELINE,783,761,738.046449861,723,691,649,914.046449861,800.046449861,838,658,634.046449861,657,0.400985359136,0.00456726740854,0.0498522089503,0.999999963133,8.77584650706e-05,-0.000255028423764,-3.14964840404e-05,1793254923848423680
+44,0.733333333,BASELINE,783,761,738,722.471058763,691,649,914,800.528941237,838,658,634,657,0.400985966642,0.004568363633,0.049852588727,0.999999963217,8.85505264317e-05,-0.000254397959821,-3.1734803241e-05,1793254923865090048
+45,0.750000000,BASELINE,783,761,738,722,691,649,914.103659468,800.896340532,838,658,634,657,0.400986658468,0.00456935124793,0.0498529250207,0.99999996333,8.91558230753e-05,-0.00025371395281,-3.19522018187e-05,1793254923881756672
+46,0.766666667,BASELINE,783,761,738,722,691,649,914.676695321,800.323304679,838,658,634,657,0.400987071605,0.00456955255213,0.0498527491319,0.999999963333,8.92015549993e-05,-0.000253692156129,-3.1883853325e-05,1793254923898423552
+47,0.783333333,BASELINE,783.258366504,761,738.258366504,722,691,649,914.741633496,800,838,658,634.258366504,657,0.400987163425,0.00456888370713,0.0498524974554,0.999999963368,8.89272104836e-05,-0.000253673245557,-3.17007988057e-05,1793254923915090176
+48,0.800000000,BASELINE,783.851217159,761,738.851217159,722,691,649,914.148782841,800,838,658,634.851217159,657,0.400986839264,0.00456708835733,0.0498521476633,0.999999963444,8.82384914529e-05,-0.000253658071367,-3.13692445799e-05,1793254923931756800
+49,0.816666667,BASELINE,783.569089188,761,738.569089188,722,691,649,914.430910812,800,838,658,635,657,0.40098603638,0.0045671914833,0.0498523455126,0.999999963319,8.75377801443e-05,-0.000254392536329,-3.13544211989e-05,1793254923948423424
+50,0.833333333,BASELINE,783,761,738.006255687,722,691,649,914.993744313,800,838,658,634.993744313,657,0.400985107509,0.00456792456095,0.0498527267433,0.999999963134,8.68469624079e-05,-0.000255346218757,-3.1446186483e-05,1793254923965090304
+51,0.850000000,BASELINE,783,761,738.587060646,722,691,649,914.412939354,800,838,658,634.412939354,657,0.400987338792,0.00456809521213,0.0498530984849,0.999999963582,8.74338354452e-05,-0.000253365883546,-3.15810713011e-05,1793254923981756928
+52,0.866666667,BASELINE,783.169120236,761,738.830879764,722,691,649,914,800,838.169120236,657.830879764,634,657,0.400988844235,0.00456787956549,0.0498535645166,0.999999963961,8.7772333124e-05,-0.000251746403937,-3.15986461143e-05,1793254923998423552
+53,0.883333333,BASELINE,783.754266109,761,738.245733891,722,691,649,914,800,838.754266109,657.245733891,634,657,0.400988564153,0.00456671364939,0.0498542624962,0.999999964177,8.74998422848e-05,-0.000251014607586,-3.13276453445e-05,1793254924015090176
+54,0.900000000,BASELINE,784,761,738.337188141,722.337188141,691,649,914,800,839,657,634.337188141,656.662811859,0.400988398335,0.00456771332073,0.0498544788484,0.999999964116,8.86778294024e-05,-0.000250818324856,-3.15212264703e-05,1793254924031756800
+55,0.916666667,BASELINE,784,761,738.91850009,722.91850009,691,649,914,800,839,657,634.91850009,656.08149991,0.400988315245,0.00457028087483,0.0498543465031,0.999999963851,9.09059608277e-05,-0.000251009753375,-3.20511643415e-05,1793254924048423680
+56,0.933333333,BASELINE,784,761,738.505578834,722.505578834,691,649,914,800,838.505578834,657.494421166,634.505578834,656.494421166,0.400988233162,0.00456886325307,0.0498537704875,0.999999963918,8.95538676614e-05,-0.000251262123973,-3.17986372805e-05,1793254924065090304
+57,0.950000000,BASELINE,784,760.930532464,738,722.069467536,691,649,914,800,838,657.930532464,634.069467536,657,0.400988043977,0.004566930098,0.0498531473519,0.999999963972,8.77613343187e-05,-0.000251724816616,-3.14406482255e-05,1793254924081756928
+58,0.966666667,BASELINE,784,760.355454833,738,722.644545167,691,649,914,800,838,657.355454833,634.644545167,657,0.400987074076,0.00456597438417,0.0498527078155,0.999999963558,8.70121938342e-05,-0.000253645982588,-3.12437122151e-05,1793254924098423552
+59,0.983333333,BASELINE,783.77356945,760.22643055,738,723,691,649,914.22643055,800,838,657.22643055,634.77356945,657,0.400986907165,0.0045658101167,0.049852869697,0.999999963466,8.73750535706e-05,-0.000253892066032,-3.11721404256e-05,1793254924115089920
+60,1.000000000,BASELINE,783.180665774,760.819334226,738,723,691,649,914.819334226,800,838,657.819334226,634.180665774,657,0.400988039875,0.00456692678851,0.0498540049608,0.999999963894,8.95376623748e-05,-0.000251427063616,-3.13034679842e-05,1793254924131756544
+61,1.016666667,BASELINE,783,761,738,722.59891896,691,649,914.59891896,800,838,658,634,657,0.400989571676,0.00456688018774,0.0498548510532,0.999999964441,8.8863152404e-05,-0.000249457267192,-3.1499082702e-05,1793254924148423424
+62,1.033333333,BASELINE,783,761,738,722.022061744,691,649,914.022061744,800,838,658,634,657,0.400991278382,0.00456632377569,0.0498555704145,0.999999965038,8.69452579431e-05,-0.000247704497918,-3.17228716457e-05,1793254924165090048
+63,1.050000000,BASELINE,783,761,738,722,691,649,914,800,838.553138248,658,634.553138248,657,0.400990843089,0.0045674124587,0.0498561325289,0.999999964779,8.90524810985e-05,-0.000248040049537,-3.14365390165e-05,1793254924181756928
+64,1.066666667,BASELINE,783,761,738,722,691,649,914.131397163,800,838.868602837,658,635,657,0.400989936735,0.0045684070118,0.0498562111173,0.999999964426,9.08397520238e-05,-0.000248836801328,-3.12313046508e-05,1793254924198423552
+65,1.083333333,BASELINE,783,761,738,722,691,649,914.720541983,800,838.279458017,658,635,657,0.400987686084,0.0045688457482,0.0498546270319,0.999999963883,9.09548031143e-05,-0.000250950936648,-3.13792595946e-05,1793254924215090176
+66,1.100000000,BASELINE,783,761,738,722.304591484,691,649,914.695408516,800,838,658,634.695408516,657,0.400987222213,0.00456869046642,0.0498542278379,0.999999963802,9.00400854159e-05,-0.000251598081718,-3.14211303182e-05,1793254924231756800
+67,1.116666667,BASELINE,783,761,738,722.884042994,691,649,914.115957006,800,838,658,634.115957006,657,0.400988370713,0.00456799914909,0.049854897877,0.999999964138,8.81961156159e-05,-0.000250921430713,-3.13672717934e-05,1793254924248423424
+68,1.133333333,BASELINE,783,761,738.460203331,722.539796669,691,649,914,800,838,658,634.460203331,657,0.400987960365,0.0045681157511,0.0498542541939,0.999999964059,8.82981205189e-05,-0.000251188746162,-3.14577451828e-05,1793254924265090304
+69,1.150000000,BASELINE,783,761,738.964480839,722.035519161,691,649,914,800,838,658,634.964480839,657,0.400987213022,0.00456841062674,0.0498533421857,0.999999963875,8.88421709697e-05,-0.000251712727964,-3.15770179479e-05,1793254924281756928
+70,1.166666667,BASELINE,783,761,738.389486477,722.610513523,691,649,914,800,838,658,634.389486477,657,0.400987270628,0.00456834323777,0.0498533466651,0.999999963677,8.87058128581e-05,-0.000252548143855,-3.15852707615e-05,1793254924298423552
+71,1.183333333,BASELINE,783.190605686,761,738.190605686,723,691,649,914.190605686,800,838,658,634,657,0.400987479349,0.00456810114178,0.0498534161077,0.999999963677,8.82163866606e-05,-0.000252718056025,-3.15718648651e-05,1793254924315090176
+72,1.200000000,BASELINE,783.781401138,761,738.781401138,723,691,649,914.781401138,800,838,658,634,657,0.400988005347,0.00456749223636,0.0498536219451,0.999999964096,8.69856696735e-05,-0.000251490697456,-3.15129850168e-05,1793254924331756800
+73,1.216666667,BASELINE,783.635036949,761,739,723,691,649,915,800.364963051,838,658,634.364963051,657,0.400987627461,0.00456769782393,0.0498532867158,0.999999963971,8.80100431008e-05,-0.000251626515414,-3.15699103602e-05,1793254924348423680
+74,1.233333333,BASELINE,783.055723481,761,739,723,691,649,915,800.944276519,838,658,634.944276519,657,0.400986718705,0.00456838178027,0.0498526337068,0.999999963521,9.03588782746e-05,-0.000252562955474,-3.16948505137e-05,1793254924365090304
+75,1.250000000,BASELINE,783.519116817,761,738.480883183,722.480883183,691,649,914.480883183,800.480883183,838,658,635,657,0.400986919187,0.00456774248106,0.049852944756,0.999999963704,8.86131559035e-05,-0.000252446912502,-3.1771388701e-05,1793254924381756928
+76,1.266666667,BASELINE,783.9059727,761,738.0940273,722,691,649,914,800,838,658,634.9059727,657,0.400987373304,0.00456718509379,0.0498533825594,0.999999963939,8.70925955932e-05,-0.000252046110966,-3.17850279181e-05,1793254924398423552
+77,1.283333333,BASELINE,783.328252247,761,738.671747753,722,691,649,914,800,838,658,634.328252247,657,0.400988524892,0.0045677735231,0.0498539446124,0.999999964106,8.89719696155e-05,-0.000250756667031,-3.15016024275e-05,1793254924415090176
+78,1.300000000,BASELINE,783,761,738.745474343,722.254525657,691.254525657,649,914.254525657,800,838,658,634.254525657,657,0.400989267179,0.00456812329324,0.0498546983389,0.999999964274,9.04352317984e-05,-0.000249575780511,-3.13754503458e-05,1793254924431756800
+79,1.316666667,BASELINE,783,761,738.156041851,722.843958149,691.843958149,649,914.843958149,800,838,658,634.843958149,657,0.400989470907,0.00456815903373,0.0498557042709,0.999999964447,9.13509706442e-05,-0.000248537734783,-3.14562398588e-05,1793254924448423424
+80,1.333333333,BASELINE,783,761,738.423332782,722.576667218,691.576667218,649,915,800.423332782,838,658,634.576667218,657,0.400989295008,0.00456885678704,0.0498556519929,0.999999964398,9.11048698938e-05,-0.000248824299196,-3.14842514089e-05,1793254924465090560
+81,1.350000000,BASELINE,783,761,738.999086141,722.000913859,691.000913859,649,915,800.999086141,838,658,634.000913859,657,0.400988982426,0.00456979289747,0.0498552187075,0.999999964267,9.0440449945e-05,-0.000249587788182,-3.14932603089e-05,1793254924481757440
+82,1.366666667,BASELINE,783,761,738.422895849,722.577104151,691,649,914.422895849,800.422895849,838,657.422895849,634.577104151,657,0.400988510564,0.00456942914602,0.0498543596561,0.999999964008,9.12824172825e-05,-0.000250305383599,-3.16184303938e-05,1793254924498423808
+83,1.383333333,BASELINE,783.157584569,761,738,722.842415431,691,649,914,800,838.157584569,657.157584569,634.842415431,657,0.400988270827,0.00456932183389,0.0498538622187,0.999999963845,9.20564701435e-05,-0.000250658299201,-3.17307541414e-05,1793254924515090432
+84,1.400000000,BASELINE,783.744768194,761,738,722.255231806,691,649,914,800,838.744768194,657.744768194,634.255231806,657,0.40098866459,0.00456991924702,0.04985435244,0.999999963949,9.26388496122e-05,-0.000250017242253,-3.18075534493e-05,1793254924531757056
+85,1.416666667,BASELINE,784,761,738,722,691,649,914,800,839,658,634.327502374,657,0.400988219579,0.00456919470395,0.0498541109268,0.999999964017,9.10428198461e-05,-0.000250342297584,-3.17077815085e-05,1793254924548423424
+86,1.433333333,BASELINE,784,761,738,722,691,649,914,800,839,658,634.906815419,657,0.40098712965,0.00456745373254,0.0498533067961,0.999999964049,8.7771850448e-05,-0.00025141017927,-3.14722471122e-05,1793254924565090048
+87,1.450000000,BASELINE,784,761,738,722.483384805,691,649,914,800,838.516615195,658,634.516615195,657,0.400987637324,0.00456782850315,0.0498537423446,0.99999996399,8.92276547929e-05,-0.000251146178529,-3.13704543051e-05,1793254924581756672
+88,1.466666667,BASELINE,783.940784214,761,738,722.940784214,691,649,914,800,838.059215786,658,634,656.940784214,0.400988296089,0.00456843539702,0.0498542868142,0.99999996391,9.12491566883e-05,-0.000250748215873,-3.129424667e-05,1793254924598423552
+89,1.483333333,BASELINE,783.366800315,761,738,722.366800315,691,649,914,800,838.633199685,658,634,656.366800315,0.400987606136,0.004567534585,0.049853712401,0.999999963832,9.03118418949e-05,-0.000251405097295,-3.12175924484e-05,1793254924615090432
+90,1.500000000,BASELINE,783,761,738,722,691,648.786500653,914,800,838.786500653,658,634.213499347,656.213499347,0.40098737529,0.00456733436804,0.04985368739,0.999999963881,8.99870899416e-05,-0.000251323259253,-3.12599140098e-05,1793254924631757056
+91,1.516666667,BASELINE,783,761,738,722,691,648.195019549,914,800,838.195019549,658,634.804980451,656.804980451,0.400987957252,0.0045683744929,0.0498546350473,0.999999964153,9.07468265509e-05,-0.000249933583508,-3.1512871706e-05,1793254924648423680
+92,1.533333333,BASELINE,783,761,738,722,691,648.387918309,914,800,838,658,635,656.612081691,0.400988373007,0.00456897945647,0.0498548549276,0.999999964237,9.08108342969e-05,-0.000249551774278,-3.16847467854e-05,1793254924665090048
+93,1.550000000,BASELINE,783,761,738,722,691,648.966653794,914,800,838,658,635,656.033346206,0.400988707004,0.00456937036413,0.0498547168142,0.999999964229,9.05326127957e-05,-0.000249665734878,-3.18167373147e-05,1793254924681756672
+94,1.566666667,BASELINE,783,760.458531748,738,722,691,649,914,800.541468252,838,658,634.458531748,656.541468252,0.400988578458,0.00456806091228,0.049854220572,0.999999964319,8.77198709632e-05,-0.000250340072918,-3.15834707599e-05,1793254924698423552
+95,1.583333333,BASELINE,783,760.118769737,738,722,691,649,914,800.881230263,838,658,634,657,0.400988461554,0.0045671609523,0.0498538790079,0.999999964356,8.59450588507e-05,-0.000250833914039,-3.13727158111e-05,1793254924715090176
+96,1.600000000,BASELINE,783,760.706845937,738,722,691,649,914,800.293154063,838,658,634,657,0.400988502402,0.00456828985797,0.0498542351612,0.999999964189,8.88838500813e-05,-0.000250479155065,-3.13391579129e-05,1793254924731756800
+97,1.616666667,BASELINE,783.290434256,761,738,722,691,649,914,800,838,658,634.290434256,657,0.400988350367,0.00456901212934,0.0498544842901,0.999999963981,9.14685092883e-05,-0.000250373346068,-3.13811368319e-05,1793254924748423680
+98,1.633333333,BASELINE,783.869561564,761,738,722,691,649,914,800,838,658,634.869561564,657,0.400988006604,0.00456933020421,0.0498546270363,0.999999963735,9.37011593791e-05,-0.000250514994569,-3.14981997137e-05,1793254924765090560
+99,1.650000000,BASELINE,784,761,738.446492248,722.446492248,691,649,914.446492248,800.446492248,838,658,635,657,0.40098863741,0.00456784022932,0.0498550836641,0.999999964305,8.99598699348e-05,-0.000249633706499,-3.13069566644e-05,1793254924781756928
+100,1.666666667,BASELINE,783.977320593,761,738.977320593,723,691,649,915,800.977320593,838,658,635,657,0.400989468832,0.00456599882832,0.0498555603493,0.999999965027,8.48551075274e-05,-0.000248556839127,-3.10548822846e-05,1793254924798423552
+101,1.683333333,BASELINE,783.403682673,761,738.403682673,723,691,649,915,800.403682673,838,658,635,657,0.400988291201,0.00456838914195,0.0498543075658,0.999999964321,8.88169145567e-05,-0.000249953004223,-3.15023673272e-05,1793254924815090176
+102,1.700000000,BASELINE,783,761,738,723,691,649,914.823773972,800,838.176226028,658,634.823773972,657,0.400987741143,0.00456975758125,0.0498535057067,0.999999963852,9.15716886071e-05,-0.000250813986235,-3.16852149546e-05,1793254924831757056
+103,1.716666667,BASELINE,783,761,738,723,691,649,914.228970815,800,838.771029185,658,634.228970815,657,0.400988681714,0.00456869883486,0.0498537748964,0.999999963979,9.1459482645e-05,-0.0002504037858,-3.12394881186e-05,1793254924848423680
+104,1.733333333,BASELINE,783.355070397,761,738,723,691,649,914.355070397,800,838.644929603,658,634.355070397,657,0.400988217363,0.00456760084219,0.0498535008247,0.999999963909,9.03487532725e-05,-0.000251097024285,-3.11238137456e-05,1793254924865090304
+105,1.750000000,BASELINE,783.93237587,761,738,723,691,649,914.93237587,800,838.06762413,658,634.93237587,657,0.400986873685,0.00456647828554,0.0498528867312,0.999999963713,8.86130578845e-05,-0.000252480894318,-3.12147159271e-05,1793254924881756672
+106,1.766666667,BASELINE,784,761,738,723,691,649,915,800,838,658,635,657,0.400987188203,0.0045677063631,0.0498535056712,0.999999963814,8.939742042e-05,-0.000251780986211,-3.13967212692e-05,1793254924898423552
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,739,722,691,649,915,800,838,658,634,657,0.400988241499,0.00456664561292,0.0498543002415,0.999999964101,8.85002436533e-05,-0.000251020534149,-3.09037975383e-05,1793254924941004288
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,761,738.419812455,722,691,649,914.419812455,800,838,658,634,657,0.40098831626,0.00456790044008,0.0498541395846,0.999999963969,9.07441914037e-05,-0.000250700273559,-3.12706778733e-05,1793254924957671168
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,760.840548764,738.159451236,722.159451236,691,649,914,800,838,658,634.159451236,657,0.400988350038,0.00456874111889,0.0498539828603,0.999999963874,9.21869907646e-05,-0.000250513479279,-3.15537587329e-05,1793254924974337792
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,760.263703312,738.736296688,722.736296688,691,649,914,800,838,658,634.736296688,657,0.400988276533,0.00456849768517,0.0498538364302,0.999999963892,9.15326309266e-05,-0.000250676058618,-3.16174784612e-05,1793254924991003904
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,760.311338018,739,722.688661982,691,648.688661982,914,800,838,658,634.688661982,657,0.40098808589,0.00456828590065,0.0498538617336,0.99999996391,9.07602522462e-05,-0.00025090308048,-3.1474058303e-05,1793254925007670528
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,760.884860027,739,722.115139973,691,648.115139973,914,800,838,658,634.115139973,657,0.400987796604,0.00456810076858,0.0498540316572,0.999999963928,8.98884875705e-05,-0.000251184370674,-3.11562014867e-05,1793254925024337152
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.472367195,761,738.527632805,722,691,648.472367195,914,800,838.472367195,658,634.472367195,657,0.400987351813,0.00456828440297,0.0498539796619,0.99999996379,9.08834822307e-05,-0.000251382092127,-3.11158041083e-05,1793254925041004032
+114,1.900000000,POSE1_TO_POSE2_PRESS,783.938390988,761,738,722.061609012,691,649,914,800.061609012,838.938390988,658,635,657,0.400986810949,0.00456849122675,0.0498537984444,0.99999996359,9.21122099119e-05,-0.000251725063281,-3.11556710576e-05,1793254925057670656
+115,1.916666667,POSE1_TO_POSE2_PRESS,783.363951227,761,738,722.636048773,691,649,914,800.636048773,838.363951227,658,635,657,0.400985795521,0.00456812003288,0.049853005592,0.999999963216,9.1383358286e-05,-0.000253451818589,-3.12835214245e-05,1793254925074337280
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,914,800.788724745,838,657.788724745,634.788724745,657,0.400988337403,0.00456807817102,0.0498538038842,0.999999963563,9.08507731358e-05,-0.00025226983015,-3.13028028125e-05,1793254925091003904
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,649,914,800.212138024,838,657.212138024,634.212138024,657,0.400997030152,0.00456860575004,0.0498573533901,0.999999965134,9.06575481711e-05,-0.000246058395718,-3.11343599169e-05,1793254925107670272
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.373013229,760.626986771,738,723,691,649,914,800,838,657.373013229,634,657,0.401022288183,0.00456842242039,0.0498663929367,0.999999969476,9.05490580197e-05,-0.000227803491809,-3.08996168882e-05,1793254925124336896
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.963149774,760.036850226,738,723,691,649,914,800,838,657.963149774,634,657,0.401057188526,0.00456782528549,0.0498786281234,0.999999974926,9.04898901936e-05,-0.000202538331697,-3.06262818862e-05,1793254925141003520
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.456775038,760.543224962,738,723,691,649,914,800,838,658,634,656.456775038,0.401116234368,0.00456735889738,0.0498973258875,0.999999982268,8.82644137077e-05,-0.000163477196636,-3.08140522367e-05,1793254925157670144
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,761,738,722.8784022,691,649,914,800,838,658,634.1215978,656.1215978,0.401179472959,0.00456649163837,0.0499153231352,0.999999987462,8.63548011503e-05,-0.000129186027181,-3.0498349318e-05,1793254925174336768
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,761,738,722.303874107,691,649,914,800,838,658,634.696125893,656.696125893,0.401252338743,0.00456409877004,0.0499291078367,0.999999989153,8.61591485696e-05,-0.000116084663217,-2.81929056517e-05,1793254925191003904
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,761,738,722.271728044,691,649,914,800,838.271728044,658,635,657,0.40133257653,0.004562604115,0.0499392566845,0.999999990757,8.55188719226e-05,-0.000102218478236,-2.6907902081e-05,1793254925207670272
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,761,738,722.848536049,691,649,914,800,838.848536049,658,635,657,0.401421091154,0.00456211792016,0.049945323413,0.999999992254,8.43793980346e-05,-8.74935988437e-05,-2.67685876244e-05,1793254925224336640
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.43540094,761,738,722.56459906,691,649,914,800,838.56459906,658,634.56459906,657,0.401519511095,0.00456244095447,0.0499480446412,0.999999992647,8.28584483987e-05,-8.45862088872e-05,-2.61754930795e-05,1793254925241003264
+126,2.100000000,POSE1_TO_POSE2_PRESS,783.974698501,761,738.025301499,722.025301499,691,649,914.025301499,800,838,658,634,657,0.401622653504,0.00456291291063,0.0499494915608,0.999999992698,8.11677444949e-05,-8.58551280796e-05,-2.54028822938e-05,1793254925257670144
+127,2.116666667,POSE1_TO_POSE2_PRESS,783.396714891,761,738.603285109,722.603285109,691,649,914.603285109,800,838,658,634,657,0.401751903952,0.00456034327225,0.0499491257817,0.999999992872,7.87362775784e-05,-8.642790176e-05,-2.4238692029e-05,1793254925274336768
+128,2.133333333,POSE1_TO_POSE2_PRESS,783.179505106,760.820494894,738.820494894,722.820494894,691,648.820494894,914.820494894,800,838,658,634.179505106,657,0.401892241008,0.00455785776403,0.0499496012369,0.999999993156,7.58139908412e-05,-8.61135489112e-05,-2.29209804163e-05,1793254925291003392
+129,2.150000000,POSE1_TO_POSE2_PRESS,783.751865282,760.248134718,738.248134718,722.248134718,691,648.248134718,914.248134718,800,838,658,634.751865282,657,0.402056841588,0.0045555563788,0.0499519177718,0.999999993679,7.18175229716e-05,-8.385767932e-05,-2.126728052e-05,1793254925307670016
+130,2.166666667,POSE1_TO_POSE2_PRESS,783.667616505,760.332383495,738,722.332383495,691,648.332383495,914.332383495,800,838,658,634.667616505,656.667616505,0.402229298952,0.00455329529597,0.0499501983328,0.999999993448,6.81299958728e-05,-8.98626012671e-05,-1.96875369526e-05,1793254925324336896
+131,2.183333333,POSE1_TO_POSE2_PRESS,783.080854758,760.919145242,738,722.919145242,691,648.919145242,914.919145242,800,838,658,634.080854758,656.080854758,0.402407769252,0.00455106505696,0.0499453901004,0.999999992522,6.46789055132e-05,-0.000102189635044,-1.81643931349e-05,1793254925341003520
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738,722.496755233,691,649,914.496755233,800,838,658,634.503244767,656.503244767,0.402625305351,0.00454957701866,0.0499446450386,0.999999992495,6.18517326966e-05,-0.000104451240537,-1.65507985178e-05,1793254925357670144
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,761,738.08577188,722,691,649,914,800,838,658,635,656.91422812,0.402856924866,0.00454797566614,0.0499454690764,0.999999992814,5.90007723429e-05,-0.000103304607332,-1.48297489067e-05,1793254925374337024
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,761,738.661744326,722,691,649,914,800,838,658,635,656.338255674,0.403133350606,0.004545048773,0.0499515494559,0.999999994164,5.54439712238e-05,-9.18731439687e-05,-1.2577193752e-05,1793254925391003392
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,738.762091218,722.237908782,691,649,914.237908782,800,838,658,634.762091218,656,0.403429573284,0.00454192558582,0.0499587704688,0.999999995647,5.10842155397e-05,-7.73746469903e-05,-1.04849028816e-05,1793254925407670016
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,738.185653578,722.814346422,691,649,914.814346422,800,838,658,634.185653578,656,0.403753965713,0.00453852308503,0.0499676145291,0.999999997212,4.55819074859e-05,-5.85119595928e-05,-8.62065788937e-06,1793254925424337152
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,761,738.399797087,722.600202913,691,649,915,800,838,658,634.399797087,656.399797087,0.40409659455,0.00453489909115,0.0499769137925,0.999999998281,4.00288357652e-05,-4.24027392959e-05,-6.10075145545e-06,1793254925441003520
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,761,738.989529641,722.010470359,691,649,915,800,838,658,634.989529641,656.989529641,0.404447887125,0.00453116987052,0.0499864293134,0.99999999902,3.44516474121e-05,-2.76016357622e-05,-3.269353656e-06,1793254925457670144
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,761,738.431146242,722,691,649,915,800.568853758,838,658,634.431146242,657,0.404848540771,0.00452592346402,0.049994232888,0.999999999583,2.77227650345e-05,-8.13422041598e-06,-2.95468526501e-07,1793254925474337024
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,738.147182845,722.147182845,691,649,915,800.852817155,838.147182845,658,634.147182845,657,0.405252764443,0.00452135823205,0.0499964906974,0.999999999762,2.1652597627e-05,3.86980127655e-07,2.54681169903e-06,1793254925491003648
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,738.723161063,722.723161063,691,649,915,800.276838937,838.723161063,658,634.723161063,657,0.405664789437,0.00451885739663,0.0499826818923,0.999999999564,1.75621477371e-05,-2.32277222011e-05,4.99817668216e-06,1793254925507670528
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,761,739,722.695499209,691,649,915,800,839,658,635,657,0.406089286308,0.00451573279648,0.0499636843463,0.999999998193,1.37255311316e-05,-5.80222417589e-05,7.62415125921e-06,1793254925524337152
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,761,739,722.109197595,691,649,915,800,839,658,635,657,0.406525325348,0.00451203093182,0.0499398848688,0.999999994573,1.01238245224e-05,-0.000103163146608,1.04117188838e-05,1793254925541003776
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,761,738.528881504,722.471118496,691,649,915,800.471118496,839,658,635,657,0.407017297311,0.00450593130202,0.0499278089187,0.999999992041,4.51236083572e-06,-0.00012527312508,1.42844771596e-05,1793254925557670656
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,738,722.950029388,691,649,915,801,839,658,635,657,0.407529423251,0.00449923655496,0.0499210804765,0.999999990476,-1.75462161173e-06,-0.000136771923699,1.83909854711e-05,1793254925574337280
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,738,722.37217023,691,649,915,801,839,658,635,657,0.408119218898,0.00449205240905,0.0499424973803,0.99999999548,-1.00872241976e-05,-9.18595387275e-05,2.2343009919e-05,1793254925591003904
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738.204290012,722,691,649,915,801,839,658,635,657,0.408725919432,0.00448505133774,0.0499660224303,0.999999998448,-1.61396064913e-05,-4.63143990722e-05,2.6427741176e-05,1793254925607670784
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738.778219041,722,691,649,915,801,839,658,635,657,0.409363207357,0.00447838151906,0.0499933619246,0.999999999364,-1.80661948633e-05,3.75633721566e-07,3.07525897676e-05,1793254925624337408
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,738.637852545,722,691,649,915,801,839,658,635,657,0.409998192322,0.00447186096964,0.0500029469906,0.999999998779,3.20687284295e-05,1.37573721641e-05,3.49934000585e-05,1793254925641004288
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,738.047626594,722,691,649,915,801,839,658,635,657,0.410631726871,0.00446543442943,0.0500013504133,0.999999992602,0.000114991708153,6.16172639352e-06,3.91812831586e-05,1793254925657670912
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738.532836456,722,691,649,915,801,839,658,635,656.467163544,0.411256839655,0.00445879345445,0.0499705119714,0.999999991479,0.000105855012562,-6.32612697527e-05,4.2842571068e-05,1793254925674337536
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738.887938697,722,690.887938697,649,915,801.112061303,839,658,635.112061303,656.112061303,0.41190332606,0.00445166047464,0.0499442064463,0.999999989293,7.37358265241e-05,-0.000119025315598,4.25339170288e-05,1793254925691004160
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738.310298041,722,690.310298041,649,915,801.689701959,839,658,635.689701959,656.689701959,0.41264168417,0.0044425615712,0.0499473976025,0.999999994898,-2.02963090415e-05,-9.54937047559e-05,2.59234436073e-05,1793254925707670528
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,722,690.266286994,649,915.266286994,801.733713006,839,658,635.733713006,657,0.413409881523,0.00443154980234,0.0499628694815,0.999999995613,-6.87342935381e-05,-6.03818025684e-05,2.00807562733e-05,1793254925724337152
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,722,690.841646869,649,915.841646869,801.158353131,839,658,635.158353131,657,0.414212712661,0.00441831781563,0.0499925952993,0.999999997508,-6.425226051e-05,-1.18289335149e-05,2.673597619e-05,1793254925741003776
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738,722,691,649.42633656,915.57366344,801,839,658,635.42633656,657,0.414976354056,0.00442809227028,0.049978729447,0.999999997931,-4.17900033017e-05,-3.82748359844e-05,3.04252274204e-05,1793254925757670400
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738.014323621,722,690.985676379,649.985676379,915,801,839,658,635.985676379,657,0.415726806258,0.00444662232571,0.0499488084514,0.999999995142,-1.26264134247e-05,-9.20595500094e-05,3.2886574441e-05,1793254925774337024
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738.592645022,722,690.407354978,649.407354978,915,801,839,658,635.407354978,657,0.416543907981,0.0044659080576,0.0499385062231,0.99999999435,1.1558854928e-05,-0.000100915529332,3.13468252527e-05,1793254925791003648
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761,738.82956358,722,690.17043642,649,915,801,839,658,635,657,0.417378147878,0.00447497925089,0.0499401569239,0.999999994979,2.53730683549e-05,-9.19304505549e-05,3.0780032077e-05,1793254925807670528
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761,738.253035034,722,690.746964966,649,915,801,839,658,635,657,0.418253222181,0.00445971266529,0.0499702873976,0.999999998549,1.44765772882e-05,-4.04361866111e-05,3.25314628501e-05,1793254925824337152
+161,2.683333333,POSE1_TO_POSE2_PRESS,783.329284102,761,738,722,690.670715898,649,915.329284102,801,839,658,635,657,0.419115421522,0.00444753636566,0.0499795342012,0.999999998843,1.76621328868e-07,-3.35052567972e-05,3.45292469859e-05,1793254925841003776
+162,2.700000000,POSE1_TO_POSE2_PRESS,783.916132582,761,738,722,690.083867418,649,915.916132582,801,839,658,635,657,0.419967550089,0.00443777727296,0.0499724459009,0.999999997298,-1.678550731e-05,-6.14315463543e-05,3.67197274301e-05,1793254925857670400
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.503540239,761,738,721.503540239,690,649,915.503540239,801,839,657.503540239,635,657,0.420883353043,0.0044378387225,0.0499745374555,0.99999999836,-2.26383275908e-05,-3.85668803676e-05,3.57672115715e-05,1793254925874336768
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.075422553,761,738,721,690.075422553,649,915,801,839.075422553,657.075422553,635,657,0.421812348633,0.00443955285044,0.049980281045,0.99999999907,-2.47179410535e-05,-6.89241454605e-06,3.4649355384e-05,1793254925891003392
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.652542375,761,738,721,690.652542375,649,915,801,839.652542375,657.652542375,635,657,0.422758475714,0.00444136804694,0.0500001356671,0.999999998891,-1.40205176239e-05,2.70495086787e-05,3.59176749426e-05,1793254925907670272
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.771953688,761,738,721,690.771953688,649,915,801,840,658,635.228046312,657,0.423686014566,0.00444417952524,0.0500047603286,0.999999998741,-6.68015699643e-06,3.37964089671e-05,3.64835259012e-05,1793254925924337152
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.198894349,761,738,721,690.198894349,649,915,801,840,658,635.801105651,657,0.424585431286,0.00444849828626,0.049986343468,0.999999999343,-4.41872101974e-06,-6.00245930977e-07,3.5986606904e-05,1793254925941004032
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,761,737.613540118,721,690,649,915,801,840,658,635.613540118,657,0.425538721275,0.00444558573699,0.0499906821038,0.999999999225,-1.27329953865e-05,4.32734293313e-06,3.69973923942e-05,1793254925957670656
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,761,737.021650346,721,690,649,915,801,840,658,635.021650346,657,0.426520648544,0.00443882925087,0.0500071168454,0.999999998437,-2.66689841145e-05,3.01584621899e-05,3.88096260801e-05,1793254925974337280
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.559389975,761.559389975,738.11877995,721,690,649,915.559389975,800.440610025,840,657.440610025,635,657,0.427433702931,0.00443471090992,0.0499976656635,0.999999998547,-3.1240872632e-05,-1.35153831871e-05,4.17928010232e-05,1793254925991003904
+171,2.850000000,POSE1_TO_POSE2_PRESS,783.861475062,762,738.861475062,721,689.861475062,649,916,800.138524938,840,657.138524938,635.138524938,657,0.428350787821,0.00443222921356,0.049983586311,0.999999997109,-2.98011869484e-05,-5.46641531609e-05,4.36659310661e-05,1793254926007670272
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.287039676,762,738.287039676,721,689.287039676,649,916,800.712960324,840,657.712960324,635.712960324,657,0.429288784436,0.00443458252033,0.0499580357459,0.999999995901,-1.05630475585e-05,-7.95629069759e-05,4.19060723191e-05,1793254926024336896
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,761.713351868,738,721,689.573296265,649.286648132,916,801,840,657.713351868,636,657.286648132,0.430240364021,0.0044371432921,0.049950363581,0.999999995913,-4.89919104719e-06,-8.03805000709e-05,4.10998937475e-05,1793254926041003520
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,761.140410747,738,721,690.719178507,649.859589253,916,801,840,657.140410747,636,657.859589253,0.431205509689,0.00443991127169,0.0499605476673,0.999999997435,-1.27928006857e-05,-5.7146766381e-05,4.12462139053e-05,1793254926057670144
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.447774616,761,738,721,690.104450769,649.552225384,916,801,840,657,636,657.552225384,0.432159342617,0.00443919575905,0.0499516628703,0.999999996453,-1.63204328177e-05,-7.13923258929e-05,4.16078250576e-05,1793254926074336768
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.960130936,761,738.039869064,721,689,649,916,801,840.039869064,657.039869064,636,657,0.433110991123,0.00443690496078,0.049939385632,0.99999999462,-1.89567150309e-05,-9.29028725036e-05,4.20754497587e-05,1793254926091003648
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.382070594,761,738.617929406,721,689,649,916,801,840.617929406,657.617929406,636,657,0.434082724943,0.00442861451595,0.0499648760998,0.999999997499,-2.86929309125e-05,-4.82444369305e-05,4.30307167146e-05,1793254926107670784
+178,2.966666667,POSE1_TO_POSE2_PRESS,783.194702808,761.194702808,738.805297192,721,689.194702808,649.194702808,916,800.805297192,840.805297192,657.805297192,635.805297192,657,0.435029825759,0.00442452180693,0.0499809733845,0.999999998109,-3.50979824567e-05,-2.50614294168e-05,4.38321166821e-05,1793254926124337408
+179,2.983333333,POSE1_TO_POSE2_PRESS,783.768967497,761.768967497,738.231032503,721,689.768967497,649.768967497,916,800.231032503,840.231032503,657.231032503,635.231032503,657,0.435928906126,0.00442861234002,0.0499787592055,0.999999997448,-3.50091232988e-05,-4.3743521043e-05,4.43335621456e-05,1793254926141003776
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,762,738,720.647532444,689.295064887,649.647532444,916,800.352467556,840,657.352467556,635.352467556,657.352467556,0.436818397542,0.00443202228017,0.0499675368328,0.99999999617,-2.96596149968e-05,-6.90708778886e-05,4.48250415025e-05,1793254926157670144
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,762,738,720.057816013,688.115632027,649.057816013,916,800.942183987,840,657.942183987,635.942183987,657.942183987,0.437701434501,0.00443497410725,0.0499502509693,0.99999999387,-2.07691195435e-05,-9.88712174228e-05,4.53098125321e-05,1793254926174337024
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,762,738,720,689.564893809,649.52163127,916,801,840.52163127,658,636,657.47836873,0.438656710413,0.00443223539607,0.049968055778,0.999999996872,-3.02663522593e-05,-5.74321255539e-05,4.51813267068e-05,1793254926191003392
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,762,738,720.098960924,690.802078153,650,916,801,840.901039076,658,636,657,0.439599650491,0.00442913876055,0.0499836770972,0.999999997963,-4.03381905254e-05,-2.03711309228e-05,4.50824945071e-05,1793254926207670272
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,762,738,720.671498356,689.657003288,650,916,801,840.328501644,658,636,657,0.440445981092,0.00442728932175,0.0499705962795,0.999999997164,-4.35950770371e-05,-4.13180019104e-05,4.54445669211e-05,1793254926224336896
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,762,738,721,688.752722414,649.752722414,916.247277586,801,840,658,636,657.247277586,0.44130025128,0.00442513845733,0.0499674439069,0.999999997206,-3.68106754835e-05,-4.63313330876e-05,4.56837343567e-05,1793254926241003520
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,762,738,721,688.17257938,649.17257938,916.82742062,801,840,658,636,657.82742062,0.442165209038,0.00442258183783,0.0499776564197,0.99999999837,-1.65094891345e-05,-2.98961966897e-05,4.57574568416e-05,1793254926257670400
+187,3.116666667,POSE1_TO_POSE2_PRESS,784.414632662,762,738,721,688.829265325,649.414632662,916.585367338,801,840.414632662,658,636,658,0.442989756897,0.00442588501336,0.0499893520698,0.999999998852,-1.45991828309e-05,-7.94823496881e-06,4.49517848729e-05,1793254926274337280
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.995260745,762,738,720.990521489,689.985782234,649.995260745,916,801,840.995260745,658,635.995260745,657.995260745,0.443796431958,0.00443169134298,0.0500010980024,0.999999998717,-2.03568773915e-05,1.52618996388e-05,4.37926493709e-05,1793254926291003904
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.417109585,762,738,719.834219171,688.251328756,649.417109585,916,801,840.417109585,658,635.417109585,657.417109585,0.44451095507,0.004440144126,0.0499429419551,0.999999994759,-1.1660610833e-05,-9.12541707316e-05,4.49213173215e-05,1793254926307670528
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,762,738,719,687.160179557,649,916.160179557,801,840.160179557,658,635.160179557,657,0.445234816393,0.00444799270802,0.0498966625849,0.999999985068,-3.0080016969e-07,-0.000166779260861,4.52553821033e-05,1793254926324337152
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,762,738,719,687.735236136,649,916.735236136,801,840.735236136,658,635.735236136,657,0.445982864534,0.00445427636609,0.0498811446833,0.999999985764,1.795779033e-05,-0.000162035421718,4.35313666808e-05,1793254926341003776
+192,3.200000000,POSE1_TO_POSE2_PRESS,784.317399826,761.682600174,738,719.317399826,688,648.682600174,916.682600174,801,841,658,636,657,0.446696746264,0.00445808852614,0.0498731206728,0.999999985749,2.53369230088e-05,-0.000161238200937,4.31445762932e-05,1793254926357670400
+193,3.216666667,POSE1_TO_POSE2_PRESS,784.905627775,761.094372225,738,719.905627775,688,648.094372225,916.094372225,801,841,658,636,657,0.447381474734,0.00445979182781,0.0498714909843,0.999999985345,2.34329268108e-05,-0.000163808516171,4.38988015987e-05,1793254926374337280
+194,3.233333333,POSE1_TO_POSE2_PRESS,785,761,738,719.513662744,687.513662744,648,916,800.513662744,841,658,636,657.486337256,0.448022364531,0.00446125285692,0.0498419334312,0.999999976352,2.64110052455e-05,-0.000211181117109,4.47349790218e-05,1793254926391003904
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,761.065404119,738,719.065404119,686.934595881,648,916,800.065404119,841,658,636,658,0.448655527531,0.00446282316069,0.0498102459027,0.999999964238,3.04931985746e-05,-0.000261760061961,4.55565132069e-05,1793254926407670784
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,761.642859053,738,719.642859053,686.357140947,648,916,800.642859053,841,658,636,658,0.449293782961,0.00446561143593,0.0498036647872,0.999999961729,3.59156133443e-05,-0.000270414196962,4.61407998682e-05,1793254926424337152
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,762,738,720,686,647.781028261,916.218971739,801,841,658,636,658,0.449917545057,0.00446683507435,0.0498059465744,0.99999996183,3.95457726314e-05,-0.00026930120935,4.74679604024e-05,1793254926441003520
+198,3.300000000,POSE1_TO_POSE2_PRESS,785,762,738,720,686,647.207091489,916.792908511,801,841,658,636,658,0.450517812611,0.00446552235159,0.0498225956067,0.999999966098,4.02705883107e-05,-0.000252355186836,4.99993596057e-05,1793254926457670144
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,761.622760278,738,720,686,647,916.622760278,800.622760278,841,658,636,657.622760278,0.451067524192,0.00446647380334,0.0498277017402,0.999999965244,4.15385116823e-05,-0.000255180704713,5.16572298879e-05,1793254926474337024
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,761.032561144,738,720,686,647,916.032561144,800.032561144,841,658,636,657.032561144,0.451588695964,0.00446870342703,0.0498262916768,0.99999996145,4.31130303393e-05,-0.00026916765334,5.28219757536e-05,1793254926491003904
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,761.547148452,738,719.452851548,685.452851548,646.452851548,916,800,841,658,636,657.547148452,0.452036229012,0.00446663680173,0.049785335651,0.999999936855,3.79988589166e-05,-0.000349175281206,5.4058868031e-05,1793254926507670528
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,762,738,719,685,646,916.125440157,800.125440157,841,658,636,657.874559843,0.45248419356,0.00446467607804,0.0497477769554,0.999999911354,2.2444277496e-05,-0.000417265989406,5.17474522927e-05,1793254926524337152
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,762,738,719,685,646,916.700843018,800.700843018,841,658,636,657.299156982,0.452949129928,0.00446399509386,0.049730687744,0.999999906975,-2.91598244504e-05,-0.000428781645266,3.66928952079e-05,1793254926541004032
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.281861533,762,738,719,685,646,916.718138467,801,841,658,636,657,0.453395654062,0.00446057153572,0.049725769612,0.999999906322,-5.95792262496e-05,-0.000427690718358,2.9796421718e-05,1793254926557670400
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.868961415,762,738,719,685,646,916.131038585,801,841,658,636,657,0.453822238876,0.00445417794219,0.0497340319958,0.999999911985,-6.70569245126e-05,-0.000412947653902,3.17346416715e-05,1793254926574337024
+206,3.433333333,POSE1_TO_POSE2_PRESS,785.550054574,761.550054574,738,719,684.550054574,646,916,800.550054574,841,658,636,657,0.454219052262,0.0044518497763,0.0497372200673,0.999999915643,-6.75908344627e-05,-0.000403750187182,3.3619575922e-05,1793254926591003904
+207,3.450000000,POSE1_TO_POSE2_PRESS,785,761.029107686,738,719,684,645.970892314,916,800.029107686,841,658,636,657.029107686,0.454603105204,0.00445088269015,0.0497377939821,0.999999917895,-6.50005340494e-05,-0.00039840744229,3.54387248479e-05,1793254926607670784
+208,3.466666667,POSE1_TO_POSE2_PRESS,785,761.607053936,738,719,684,645.392946064,916,800.607053936,841,658,636,657.607053936,0.454907846226,0.00445355421263,0.0497165677666,0.999999903577,-4.11210215497e-05,-0.000435702971682,3.63061468404e-05,1793254926624337152
+209,3.483333333,POSE1_TO_POSE2_PRESS,785.182697538,762,738,719,684,644.817302462,916,801,841,658,636,657.817302462,0.455197837528,0.0044595874347,0.0496905974096,0.999999884824,-4.64533854519e-06,-0.000478497174669,3.70178988621e-05,1793254926641003520
+210,3.500000000,POSE1_TO_POSE2_PRESS,785.753450174,762,738,719,684,644.246549826,916,801,841,658,636,657.246549826,0.455456499941,0.00447276100804,0.0496545503555,0.999999855556,5.85849885643e-05,-0.000532970721369,3.73990030045e-05,1793254926657670400
+211,3.516666667,POSE1_TO_POSE2_PRESS,786,762,738,718.663070865,684,644,916,801,841,658,636,657.336929135,0.455707079355,0.004487315416,0.0496347680197,0.999999836312,9.35508468814e-05,-0.000563263346791,3.68570776351e-05,1793254926674337024
+212,3.533333333,POSE1_TO_POSE2_PRESS,786,762,738,718.069913723,684,644,916,801,841,658,636,657.930086277,0.455951511834,0.00450291992303,0.0496273546798,0.999999828231,0.000107022137265,-0.000575166862922,3.56132065748e-05,1793254926691003904
+213,3.550000000,POSE1_TO_POSE2_PRESS,785.488832161,762,738,718.511167839,684,644,916,801,841,658,636,658,0.456177173704,0.00450022604696,0.0496261139341,0.999999827369,9.95289289781e-05,-0.000577919368496,3.69428322759e-05,1793254926707670528
+214,3.566666667,POSE1_TO_POSE2_PRESS,785,762,738,719,684,644,916,800.909982288,841,658,636,657.909982288,0.456396612877,0.00449539494481,0.0496266777857,0.999999828445,8.96789666859e-05,-0.000577577835498,3.83660374256e-05,1793254926724336896
+215,3.583333333,POSE1_TO_POSE2_PRESS,785,762,738,719,684,644,916,800.334466352,841,658,636,657.334466352,0.456596017726,0.00449222354969,0.0496325262678,0.999999835055,8.22260249609e-05,-0.000567143612861,3.84393866421e-05,1793254926741003520
+216,3.600000000,POSE1_TO_POSE2_PRESS,785.241032406,762,738,719,683.758967594,644,916.241032406,800,841,658,636,657.241032406,0.456778840582,0.0044914086781,0.0496363036701,0.99999983867,7.76517212786e-05,-0.000561388950827,3.83863331636e-05,1793254926757670144
+217,3.616666667,POSE1_TO_POSE2_PRESS,785.816507293,762,738,719,683.183492707,644,916.816507293,800,841,658,636,657.816507293,0.456938655223,0.00449386358103,0.0496372073629,0.999999838308,7.70716479764e-05,-0.000562127374335,3.81578906953e-05,1793254926774336768
+218,3.633333333,POSE1_TO_POSE2_PRESS,786,762,738,718.597285504,683,644,916.597285504,800,841,658,636,657.597285504,0.457070803987,0.00449119480608,0.0496326707328,0.999999834572,7.30066189273e-05,-0.000569236298309,3.86900762937e-05,1793254926791003648
+219,3.650000000,POSE1_TO_POSE2_PRESS,786,762,738,718.006054361,683,644,916.006054361,800,841,658,636,657.006054361,0.457190001938,0.0044861275612,0.0496255874066,0.999999829141,6.73102302457e-05,-0.000579327348256,3.95783232103e-05,1793254926807670272
+220,3.666666667,POSE1_TO_POSE2_PRESS,786,762,738.570619987,718.570619987,683.570619987,644,916,800,841,658,635.429380013,657.570619987,0.457284149063,0.00448663001804,0.0496174631792,0.999999823008,6.5854145487e-05,-0.0005900163905,3.9079973822e-05,1793254926824337152
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,762,738.853185844,719,683.853185844,643.853185844,916,800,841,658,635.146814156,657.853185844,0.457373287863,0.00448707833136,0.0496100606537,0.999999817359,6.42641551093e-05,-0.000599716376563,3.86183700714e-05,1793254926841004032
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,762,738.277953496,719,683.277953496,643.277953496,916,800,841,658,635.722046504,657.277953496,0.457448568176,0.00448720049217,0.0496047955531,0.999999813406,6.21553950967e-05,-0.000606512143236,3.83058568997e-05,1793254926857670656
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,762,738,719,683,643,916,800,841,658,635.695143531,657,0.457516294398,0.00448682413166,0.0496013438579,0.999999811274,6.05641315699e-05,-0.000610191510231,3.80941964241e-05,1793254926874337024
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,762,738,719,683,643,916,800,841,658,635.105248483,657,0.457576957608,0.00448598165736,0.0495995876829,0.999999810877,5.94567232475e-05,-0.000610957067017,3.79768324505e-05,1793254926891003648
+225,3.750000000,POSE1_TO_POSE2_PRESS,785.52403047,762,738,719,682.52403047,643,916,800.47596953,841,658,635,657,0.457627035556,0.00448685235819,0.0496007716184,0.999999812482,6.14569857925e-05,-0.000608128128695,3.79429248959e-05,1793254926907670272
+226,3.766666667,POSE1_TO_POSE2_PRESS,785.055040857,761.944959143,738,719,682,642.944959143,915.944959143,800.944959143,841,658,635.055040857,657.055040857,0.457673143508,0.00448800003284,0.0496024468438,0.999999814329,6.37438389875e-05,-0.000604849353828,3.79000020139e-05,1793254926924336896
+227,3.783333333,POSE1_TO_POSE2_PRESS,785.63162678,761.36837322,738,719,682,642.36837322,915.36837322,800.36837322,841,658,635.63162678,657.63162678,0.457703415466,0.00448824687632,0.0496027272581,0.999999814515,6.23514321728e-05,-0.000604704759426,3.75999191784e-05,1793254926941003520
+228,3.800000000,POSE1_TO_POSE2_PRESS,785.788475203,761,738,718.788475203,682,642.211524797,915,800,841,658,636,657.788475203,0.457729074731,0.0044887355873,0.0496022940171,0.999999813638,6.30178149301e-05,-0.000606087133217,3.75763019256e-05,1793254926957670144
+229,3.816666667,POSE1_TO_POSE2_PRESS,785.202717413,761,738,718.202717413,682,642.797282587,915,800,841,658,636,657.202717413,0.457746573146,0.00448965221405,0.0496005981658,0.999999810856,6.73266406304e-05,-0.000610171043126,3.80418119433e-05,1793254926974336768
+230,3.833333333,POSE1_TO_POSE2_PRESS,785.378876841,761,738,718,682,642.621123159,914.621123159,800,841,658,635.621123159,657,0.457760393151,0.00448894071927,0.0495998440899,0.999999809986,6.71163115799e-05,-0.000611600509423,3.83224435423e-05,1793254926991003392
+231,3.850000000,POSE1_TO_POSE2_PRESS,785.958267597,761,738,718,682,642.041732403,914.041732403,800,841,658,635.041732403,657,0.45777226642,0.00448736756973,0.0495995884321,0.999999810135,6.45142990989e-05,-0.000611625157927,3.85052314703e-05,1793254927007670016
+232,3.866666667,POSE1_TO_POSE2_PRESS,785.462740249,761.537259751,738,718.537259751,682,642,914.537259751,800,841,658,635,657.537259751,0.457779283324,0.00449028272863,0.0495998672587,0.999999810376,6.76906108984e-05,-0.000610920959592,3.79797521991e-05,1793254927024336896
+233,3.883333333,POSE1_TO_POSE2_PRESS,785.115194742,762,738,718.884805258,682,642,914.884805258,800,841,658,635,658,0.457784778103,0.00449285783589,0.0495998465902,0.999999810289,7.03808033579e-05,-0.000610789529166,3.74671900449e-05,1793254927041003520
+234,3.900000000,POSE1_TO_POSE2_PRESS,785.689043616,762,738,718.310956384,682,642,914.310956384,800,841,658,635,658,0.457785713288,0.00449269192555,0.0495984682868,0.999999808917,6.9349730589e-05,-0.000613163850946,3.72249436373e-05,1793254927057670400
+235,3.916666667,POSE1_TO_POSE2_PRESS,785.730253654,762,738,718,682,642,914.269746346,800,841,658,635.269746346,658,0.45778683696,0.00449217386009,0.0495972624114,0.999999807974,6.91559120172e-05,-0.000614721875451,3.72434352096e-05,1793254927074337024
+236,3.933333333,POSE1_TO_POSE2_PRESS,785.141443919,762,738,718,682,642,914.858556081,800,841,658,635.858556081,658,0.457788183579,0.00449123925584,0.0495962604884,0.999999807542,6.99524205742e-05,-0.000615314361432,3.75703347952e-05,1793254927091003904
+237,3.950000000,POSE1_TO_POSE2_PRESS,785.440211608,762,738,718.440211608,682,642,915,800,841,658,636,658,0.457789609211,0.0044922258202,0.0495961625785,0.999999807515,7.02789480238e-05,-0.000615331778099,3.73820407455e-05,1793254927107670528
+238,3.966666667,POSE1_TO_POSE2_PRESS,786,762,738,719,682,642,915,800,841,658,636,658,0.45779107607,0.00449379383346,0.0495963811419,0.999999807634,7.05150463237e-05,-0.000615132042461,3.70472263063e-05,1793254927124337152
+239,3.983333333,POSE1_TO_POSE2_PRESS,786,762,738,719,682,642,915,800,841,658,636,658,0.457793006818,0.00449462037777,0.0495974748874,0.999999808236,7.24119396504e-05,-0.00061392345884,3.71797886832e-05,1793254927141003520
+240,4.000000000,POSE1_TO_POSE2_PRESS,786,762,738,718.828446068,682,642,915,800,841,658,636,658,0.457794143658,0.00449545011438,0.049597853428,0.999999808439,7.41126391073e-05,-0.000613394596585,3.71026430754e-05,1793254927157670144
+241,4.016666667,POSE1_TO_POSE2_PRESS,786,762,738,718.25381245,682,642,915,800,841,658,636,658,0.457793415146,0.00449628735152,0.0495965515373,0.999999807711,7.53523652578e-05,-0.000614462794137,3.65327717728e-05,1793254927174337024
+242,4.033333333,POSE1_TO_POSE2_PRESS,786,762,738,718.329935475,682,642,915,800,840.670064525,658,635.670064525,658,0.457794062926,0.00449670550094,0.0495963844709,0.99999980775,7.59950245796e-05,-0.000614323800877,3.64701848208e-05,1793254927191003904
+243,4.050000000,POSE1_TO_POSE2_PRESS,786,762,738,718.920894009,682,642,915,800,840.079105991,658,635.079105991,658,0.457795799537,0.00449679209593,0.0495971152023,0.999999808397,7.61653241818e-05,-0.000613229758291,3.68089276167e-05,1793254927207670528
+244,4.066666667,POSE1_TO_POSE2_PRESS,786,762,738,718.498303781,682,642,915,800,840.501696219,658,635.501696219,657.498303781,0.45779578172,0.00449732381448,0.049597167579,0.999999808559,7.70224575726e-05,-0.00061286402211,3.66940609963e-05,1793254927224337152
+245,4.083333333,POSE1_TO_POSE2_PRESS,786,762,738,718.079919709,682,642,915,800,841,658,635.920080291,657,0.457795537772,0.00449769282226,0.049597050936,0.999999808539,7.76820577069e-05,-0.000612822856247,3.65543660706e-05,1793254927241003776
+246,4.100000000,POSE1_TO_POSE2_PRESS,786,762,738,718.651929755,682,642,915,800,841,658,635.348070245,657,0.45779557099,0.00449663638875,0.0495965391098,0.999999807851,7.64717915778e-05,-0.000614087112214,3.66934514156e-05,1793254927257670400
+247,4.116666667,POSE1_TO_POSE2_PRESS,786,762,738,718.768834542,682,642,914.768834542,800,841,658.231165458,635,657.231165458,0.457795394656,0.00449576166121,0.0495961261903,0.999999807193,7.55892757897e-05,-0.000615260663518,3.67962028668e-05,1793254927274337280
+248,4.133333333,POSE1_TO_POSE2_PRESS,786,762,738,718.178367891,682,642,914.178367891,800,841,658.821632109,635,657.821632109,0.457794892613,0.00449516935966,0.0495958670017,0.999999806584,7.52161831966e-05,-0.000616293232474,3.68424804541e-05,1793254927291004160
+249,4.150000000,POSE1_TO_POSE2_PRESS,786,762,738,718,682,642,914,800,841,658.595649214,635.404350786,658,0.457794522399,0.00449611651024,0.0495951019751,0.999999806016,7.58686192468e-05,-0.000617158870987,3.64349889216e-05,1793254927307670528
+250,4.166666667,POSE1_TO_POSE2_PRESS,786,762,738,718,682,642,914,800,841,658.016284111,635.983715889,658,0.457794209244,0.00449772997873,0.0495941180077,0.999999805464,7.69649327638e-05,-0.000617952257278,3.58310934354e-05,1793254927324337152
+251,4.183333333,HOLD_POSE2,785,762,738,718,682,642,915,800,841,658,636,658,0.457795265899,0.00449804590012,0.0495955360984,0.999999806634,7.6820217044e-05,-0.000616051266982,3.62210766784e-05,1793254927353717504
+252,4.200000000,HOLD_POSE2,785,761.423210565,738,718.576789435,682,642,915,800,841,658,635.423210565,658,0.457795178055,0.00449782214933,0.0495950920775,0.999999806078,7.63454335304e-05,-0.000617002418143,3.63652132604e-05,1793254927370383872
+253,4.216666667,HOLD_POSE2,785,761.15665383,738,719,682,642,915,800.15665383,841,658,635.15665383,658,0.457795397776,0.00449773966178,0.0495950449764,0.999999806048,7.58245483104e-05,-0.000617112228984,3.64233678803e-05,1793254927387050496
+254,4.233333333,HOLD_POSE2,785,761.744991887,738,719,682,642,915,800.744991887,841,658,635.744991887,658,0.457796465037,0.0044980464472,0.0495960916502,0.999999807464,7.51766224917e-05,-0.000614903594671,3.62445857336e-05,1793254927403717120
+255,4.250000000,HOLD_POSE2,785.32816211,762,738,719,682,642,915,800.67183789,841,658,635.67183789,658,0.457796507355,0.00449883724441,0.0495957847821,0.999999807099,7.63280111045e-05,-0.000615377990843,3.58687924423e-05,1793254927420384000
+256,4.266666667,HOLD_POSE2,785.907378739,762,738,719,682,642,915,800.092621261,841,658,635.092621261,658,0.457795765559,0.00449999832612,0.0495944424109,0.999999805363,7.88559328928e-05,-0.000617904991353,3.53422793296e-05,1793254927437050624
+257,4.283333333,HOLD_POSE2,786,762,738,719,682,642,915,800,841,658,635.48297365,658,0.457794838901,0.00449868905165,0.0495937980421,0.999999804786,7.72913481831e-05,-0.000619009749827,3.57985230752e-05,1793254927453717504
+258,4.300000000,HOLD_POSE2,785.940885885,761.940885885,738,718.940885885,682,642,915,800,841,658,636,658,0.45779403867,0.00449720126424,0.0495934076881,0.999999804508,7.52440852794e-05,-0.000619678284812,3.63560429493e-05,1793254927470384128
+259,4.316666667,HOLD_POSE2,785.35371392,761.35371392,738,718.35371392,682,642,915,800,841,658,636,658,0.457794682101,0.0044983192652,0.0495940995759,0.999999804971,7.58437362128e-05,-0.000618868378196,3.61472376414e-05,1793254927487051008
+260,4.333333333,HOLD_POSE2,785,761.230398549,738,718.230398549,682,642,915,800,841,658,636,658,0.45779529581,0.004498442691,0.0495946121716,0.999999805378,7.57367469911e-05,-0.000618230377322,3.60417999727e-05,1793254927503717632
+261,4.350000000,HOLD_POSE2,785,761.809875504,738,718.809875504,682,642,915,800,841,658,636,658,0.457795864486,0.00449705922913,0.0495948531205,0.999999805698,7.45591224193e-05,-0.00061785283208,3.60929753349e-05,1793254927520383744
+262,4.366666667,HOLD_POSE2,785.387133514,762,738,718.612866486,682,642,915,800,841,658,635.612866486,657.612866486,0.457797054538,0.00449733503526,0.0495953867171,0.999999806363,7.5233618425e-05,-0.000616688733617,3.61727759956e-05,1793254927537050624
+263,4.383333333,HOLD_POSE2,785.963308043,762,738,718.036691957,682,642,915,800,841,658,635.036691957,657.036691957,0.457798548015,0.00449842107778,0.0495960632165,0.999999807193,7.68125226041e-05,-0.000615140553621,3.62665546691e-05,1793254927553717248
+264,4.400000000,HOLD_POSE2,785.458888787,762,738,718,682,641.458888787,914.458888787,800,841.541111213,658,635,657.541111213,0.457797005969,0.00449948047026,0.04959563781,0.999999806227,7.94263445549e-05,-0.000616399118181,3.59221930412e-05,1793254927570383872
+265,4.416666667,HOLD_POSE2,785.120947164,761.879052836,738,718,682,641.120947164,914.120947164,800,841.879052836,658,635.120947164,657.879052836,0.457795846355,0.00450056306927,0.0495952373137,0.999999805286,8.14689955727e-05,-0.000617678907654,3.5539128361e-05,1793254927587050752
+266,4.433333333,HOLD_POSE2,785.708193395,761.291806605,738,718,682,641.708193395,914.708193395,800,841.291806605,658,635.708193395,657.291806605,0.457796957138,0.00450174212701,0.0495952217955,0.999999804949,8.10381839835e-05,-0.000618304549362,3.51217362505e-05,1793254927603717376
+267,4.450000000,POSE2_TO_POSE3_RETREAT,786,762,738,718,682,642,915,800,841,658,636,658,0.457797816185,0.00449972235729,0.0495948947432,0.999999806103,7.68654004303e-05,-0.0006169361944,3.5710278546e-05,1793254927640706816
+268,4.466666667,POSE2_TO_POSE3_RETREAT,786,762,738,718,682,642,914.422955468,800,841,658,636,658,0.457797986402,0.00450149156223,0.0495949984648,0.999999805995,8.08556295362e-05,-0.000616603137314,3.56685123136e-05,1793254927657373696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,762,737.847298919,718.152701081,682,642,914,800,841,658,636,657.847298919,0.4577979771,0.00450250740648,0.0495950033302,0.999999805866,8.3501491881e-05,-0.000616459015121,3.56887443125e-05,1793254927674040320
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,762,737.275452084,718.724547916,682,642,914,800,841,658,636,657.275452084,0.457797475042,0.00450145536832,0.049594736847,0.999999805715,8.24572331089e-05,-0.000616833496003,3.58791538504e-05,1793254927690707200
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.693449504,762,737.306550496,718.693449504,681.693449504,642,914,800,841,658,635.693449504,657,0.457797400663,0.00450113247487,0.049594335166,0.999999805487,8.19060840228e-05,-0.000617272608821,3.59295474913e-05,1793254927707373824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.102008799,762,737.897991201,718.102008799,681.102008799,642,914,800,841,658,635.102008799,657,0.457797723742,0.00450148720619,0.0495938078399,0.99999980519,8.18132024745e-05,-0.00061777178678,3.5849818486e-05,1793254927724040192
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785,762,738,718,681.480161998,642,914.480161998,800,841,658,635.480161998,657,0.457799050948,0.00450081558609,0.0495951056837,0.999999806153,8.16047460184e-05,-0.000616247963201,3.5669698805e-05,1793254927740706816
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785.059918449,761.940081551,738,718,682,642,914.940081551,800,841,658,636,657,0.457800186672,0.00449995442709,0.0495964072772,0.999999807149,8.14281474101e-05,-0.00061466198213,3.55320913583e-05,1793254927757373440
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785.635524152,761.364475848,738,718,682,642,914.364475848,800,841,658,636,657,0.457797873209,0.0044993030615,0.0495944671752,0.999999806181,8.17330498092e-05,-0.000616169879943,3.59404444444e-05,1793254927774040064
+276,4.600000000,POSE2_TO_POSE3_RETREAT,786,761.214879969,738,718.214879969,682,642,914.214879969,800,841,658,636,657.214879969,0.457793022294,0.00449942453552,0.0495915579645,0.999999803873,8.09758442609e-05,-0.000620004002256,3.59435097239e-05,1793254927790706432
+277,4.616666667,POSE2_TO_POSE3_RETREAT,786,761.80070959,738,718.80070959,682,642,914.80070959,800,841,658,636,657.80070959,0.457783790944,0.00450088017113,0.049586975771,0.999999799206,7.83851100565e-05,-0.000627853911304,3.52469221653e-05,1793254927807373056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,786,762,738,718.617953726,682,642,915,800,841,658,635.617953726,658,0.457763468261,0.00450207678014,0.0495785885791,0.999999790069,7.8990847914e-05,-0.000642188094431,3.48773570522e-05,1793254927824039936
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,762,738,718.038933439,682,642,915,800,841,658,635.038933439,658,0.457737427149,0.00450313984132,0.0495682396197,0.999999778387,8.124461082e-05,-0.000659865416286,3.46763968965e-05,1793254927840706816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,761.46035905,738.53964095,718,682,642,915,800,841,658,635.53964095,657.46035905,0.457685207061,0.00450382185179,0.0495482785217,0.999999758674,8.16684390871e-05,-0.000689072058586,3.40875152564e-05,1793254927857373696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,786,761.117520676,739,718,682,642,915,800,841,658,636,657.117520676,0.457626735996,0.00450466119712,0.0495277190816,0.999999738331,8.24217382531e-05,-0.00071794087527,3.32605883205e-05,1793254927874040064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,786,761.692819859,739,718,682,642,915,800,841,658,636,657.692819859,0.457551266579,0.00450622040922,0.0495075280208,0.999999720418,8.49722757234e-05,-0.000742256312971,3.16153321667e-05,1793254927890706688
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.726244216,761.726244216,738.726244216,718,682,642,915,800.273755784,841,658,636,658,0.457469833131,0.00450731951938,0.0494915833615,0.999999704366,8.72201607229e-05,-0.000763363664272,3.06030398508e-05,1793254927907373568
+284,4.733333333,POSE2_TO_POSE3_RETREAT,785.13885039,761.13885039,738.13885039,718,682,642,915,800.86114961,841,658,636,658,0.457381566782,0.0045078914973,0.0494805037442,0.999999690748,8.91213010386e-05,-0.000780795556169,3.03159251538e-05,1793254927924039936
+285,4.750000000,POSE2_TO_POSE3_RETREAT,785,761.444776762,738,718,682,642,915,800.555223238,841,658,636,658,0.45728293293,0.00450879816934,0.049476140016,0.999999683822,9.16016613468e-05,-0.000789343108394,3.00252788333e-05,1793254927940706816
+286,4.766666667,POSE2_TO_POSE3_RETREAT,785.026754771,762,738.026754771,718,681.973245229,642,915,800,841,658,635.973245229,658,0.457180011619,0.00450987012766,0.0494740753016,0.999999679324,9.42769651594e-05,-0.000794721036007,2.97080332558e-05,1793254927957373696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,785.598884601,762,738.598884601,718,681.401115399,642,915,800,841,658,635.401115399,658,0.457055113836,0.00451219936256,0.0494764962082,0.999999681577,9.72711010963e-05,-0.000791549771562,2.88708674713e-05,1793254927974040320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,762,738.828168343,718.171831657,681.171831657,642,915,800,841,658,635,657.828168343,0.456922070662,0.0045147265346,0.049480007595,0.999999684581,0.000101344538056,-0.000787256975114,2.81830056922e-05,1793254927990706944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,762,738.253304558,718.746695442,681.746695442,642,915,800,841,658,635,657.253304558,0.456769922445,0.00451771796904,0.0494860767087,0.999999689325,0.000107949481278,-0.000780333619396,2.78453374241e-05,1793254928007373568
+290,4.833333333,POSE2_TO_POSE3_RETREAT,785.667231967,761.667231967,738,718.667231967,682,642,915,800,841,658,635,657.332768033,0.456601897942,0.00451985678764,0.0494910183301,0.999999692322,0.000112001081105,-0.000775922217118,2.74847052209e-05,1793254928024040192
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785.072329703,761.072329703,738,718.072329703,682,642,915,800,841,658,635,657.927670297,0.456421367059,0.00452132396814,0.049495071783,0.999999693987,0.000114041314452,-0.000773489576856,2.71059834044e-05,1793254928040706560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785,761,738,718,682,642,914.492919264,800,841,657.492919264,635.507080736,658,0.456209268468,0.00452356186204,0.0494966518973,0.999999694377,0.000119552772482,-0.000772168899158,2.66264579447e-05,1793254928057373440
+293,4.883333333,POSE2_TO_POSE3_RETREAT,785,761,738,718,682,642.083813294,914.083813294,800,841,657.083813294,636,657.916186706,0.455985919354,0.00452622942763,0.0494967083439,0.999999693262,0.000125727314233,-0.000772654135576,2.59596228509e-05,1793254928074040064
+294,4.900000000,POSE2_TO_POSE3_RETREAT,785,761,738,718,682,642.657427497,914.657427497,800,841,657.657427497,636,657.342572503,0.455722356688,0.00453078457097,0.0494898611497,0.999999684482,0.000132969131465,-0.000782793618912,2.42796956166e-05,1793254928090706688
+295,4.916666667,POSE2_TO_POSE3_RETREAT,785,761,738,718,682,643,915,800,841,658,636,657,0.455449493436,0.00453509803958,0.0494879744384,0.999999682032,0.000139927554337,-0.000784754614718,2.27300266958e-05,1793254928107373312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785,761,738,718,682,643,915,800,841,658,636,657,0.455162839939,0.00453905316951,0.0494934427844,0.999999689051,0.000146465779456,-0.000774589120921,2.13734957907e-05,1793254928124040192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785.410433168,761,738,718.410433168,682.410433168,643,915,800,841,658,636,657,0.454853241401,0.00454320616972,0.0495015146838,0.999999701285,0.000153578637122,-0.000757273060091,1.95182881441e-05,1793254928140707072
+298,4.966666667,POSE2_TO_POSE3_RETREAT,785.989299528,761,738,718.989299528,682.989299528,643,915,800,841,658,636,657,0.454534226705,0.00454744037166,0.0495106550269,0.999999715298,0.000160927311757,-0.000737022555989,1.74584340125e-05,1793254928157373440
+299,4.983333333,POSE2_TO_POSE3_RETREAT,785.435249454,761,738,719,683,643,915,800,841,658,636,657.564750546,0.454183910771,0.00455232307503,0.0495271461075,0.999999728612,0.000170990133109,-0.000716415005965,1.69937435715e-05,1793254928174040064
+300,5.000000000,POSE2_TO_POSE3_RETREAT,785,761,738,718.857006358,683,643,915,800,840.857006358,658,636,658,0.453822444862,0.00455725968088,0.0495461733616,0.999999744678,0.000180091552737,-0.000691336958641,1.62776824493e-05,1793254928190706688
+301,5.016666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.269891737,683,643,915,800,840.269891737,658,636,658,0.453428179481,0.00456232576683,0.0495726476858,0.999999769776,0.000186048211221,-0.000652394976037,1.4687586723e-05,1793254928207373568
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785.312415429,761.312415429,738,718.312415429,683.312415429,643.312415429,915,800,840.312415429,658,635.687584571,658,0.453003140978,0.0045681052965,0.0495937383526,0.999999785385,0.000193188658606,-0.00062588942374,1.30324178243e-05,1793254928224040448
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785.890632499,761.890632499,738,718.890632499,683.890632499,643.890632499,915,800,840.890632499,658,635.109367501,658,0.452551920797,0.00457449182144,0.0496102486308,0.999999793639,0.000201336269051,-0.000609964726474,1.13218847977e-05,1793254928240707072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,786,762,738,719,684,644,915,800,840.531234511,658,635.468765489,658,0.452051860945,0.00458214362803,0.0496140720319,0.999999790889,0.000212363811671,-0.000610762985852,9.5731139552e-06,1793254928257373952
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785.953593823,761.953593823,738,718.953593823,684,644,914.953593823,800,840.046406177,658,635.953593823,658,0.451538083827,0.00458981579604,0.0496141257967,0.999999785738,0.000223740642903,-0.000615146310781,7.63760103458e-06,1793254928274040576
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785.381309253,761.381309253,738,718.381309253,684,644,914.381309253,800,840.618690747,658,635.381309253,658,0.450997964408,0.0045943740508,0.0496049983525,0.999999783508,0.000231462811029,-0.000615950272312,3.68698930635e-06,1793254928290707200
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.197761038,684.197761038,644.197761038,914.197761038,800,840.802238962,658,635.197761038,657.802238962,0.450454491235,0.00459907247188,0.0496084177046,0.999999792332,0.000239200678504,-0.000598430523647,8.99550962388e-08,1793254928307373824
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785,761,738,718.790379946,684.790379946,644.790379946,914.790379946,800,840.209620054,658,635.790379946,657.209620054,0.449904321854,0.00460405075458,0.0496368885098,0.999999821354,0.000246969891045,-0.000544324896055,-2.80111138047e-06,1793254928324040192
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761.952879044,738,719,685.952879044,645,915,800,840.952879044,658,636,657.952879044,0.44873398236,0.00461320726672,0.0497033802336,0.999999867665,0.000264388762255,-0.000441275570332,-6.65657648097e-06,1793254928357373184
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,762,738,719,686,645.528716436,914.471283564,800,840.471283564,658,635.471283564,657.471283564,0.448068627278,0.00461744476088,0.0497019172481,0.999999866688,0.000272017119147,-0.000438786737146,-9.84031056133e-06,1793254928374040064
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,762,738,719,686.104099487,646.104099487,914.104099487,800,840.104099487,658,635.104099487,657.104099487,0.44738641328,0.00462212362765,0.0496931930827,0.999999860318,0.000279908026468,-0.000448150247941,-1.32911484746e-05,1793254928390706944
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,762,738,719,686.67861843,646.67861843,914.67861843,800,840.67861843,658,635.67861843,657.67861843,0.446657116993,0.00462889908085,0.049665967642,0.999999837081,0.000289499252096,-0.0004916573508,-1.73630966324e-05,1793254928407373568
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,762,737.739230367,719,686.739230367,646.739230367,915,800,840.739230367,658,636,657.739230367,0.445928653697,0.00463019212357,0.0496592262824,0.999999846978,0.000230366843664,-0.000502496133172,-2.17268731097e-05,1793254928424040192
+315,5.250000000,POSE2_TO_POSE3_RETREAT,785,762,737.147389217,719,686.147389217,646.147389217,915,800,840.147389217,658,636,657.147389217,0.445201247862,0.00462452473268,0.0496784913823,0.999999884798,8.39833307299e-05,-0.000471859415963,-2.64611532815e-05,1793254928440706816
+316,5.266666667,POSE2_TO_POSE3_RETREAT,785,761.56578319,737.43421681,719,686.86843362,646.86843362,915,800,840,658,636,657,0.444460099062,0.00459499431016,0.0497165931802,0.999999910769,2.30060221327e-05,-0.000421053583667,-2.54315599256e-05,1793254928457373440
+317,5.283333333,POSE2_TO_POSE3_RETREAT,785,761.012342298,738,719.012342298,687.987657702,648,915,800,840,658,635.987657702,657.012342298,0.443712794383,0.00455812857847,0.0497597496954,0.999999933009,-8.96111054174e-06,-0.000365226508599,-2.2619309522e-05,1793254928474039808
+318,5.300000000,POSE2_TO_POSE3_RETREAT,785,761.586537801,738,719.586537801,687.413462199,648,915,800,840,658,635.413462199,657.586537801,0.442892722731,0.00454758175599,0.0497486474621,0.999999925398,-9.6198372804e-06,-0.000385296412275,-2.56685163893e-05,1793254928490706432
+319,5.316666667,POSE2_TO_POSE3_RETREAT,785,761.835010273,738,720,687.329979453,648,914.835010273,800.164989727,840,658,635.164989727,657.835010273,0.44208579137,0.00454274945609,0.0497497605183,0.999999926431,-4.2451736223e-06,-0.000382451955155,-2.91508754535e-05,1793254928507373312
+320,5.333333333,POSE2_TO_POSE3_RETREAT,785,761.245609376,738,720,688.508781249,648,914.245609376,800.754390624,840,658,635.754390624,657.245609376,0.441312661475,0.00455261690367,0.049782295564,0.999999947879,1.66494763019e-05,-0.000320663761291,-3.37474529366e-05,1793254928524039936
+321,5.350000000,POSE2_TO_POSE3_RETREAT,785,761,738,719.66298057,689,648,914.33701943,800.66298057,840,658,636,657,0.440478378782,0.00456056025342,0.0498075419071,0.999999960202,3.24651799671e-05,-0.000277723267017,-3.75655984323e-05,1793254928540706816
+322,5.366666667,POSE2_TO_POSE3_RETREAT,785,761,738,719.085189864,689,648,914.914810136,800.085189864,840,658,636,657,0.43960040773,0.00456712900103,0.0498275811003,0.999999967356,4.46524143063e-05,-0.000248247829374,-4.0827621352e-05,1793254928557373440
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784.509078034,761,738,719,688.509078034,648,915,800,840,658,635.509078034,657.490921966,0.438671696452,0.00457381230749,0.0497980034271,0.99999995289,5.34192326196e-05,-0.000298919571008,-4.48669518852e-05,1793254928574040064
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,761,737.933322355,719.066677645,688.066677645,648.066677645,914.933322355,800,840,658,635,657.933322355,0.437737335445,0.00457920798529,0.0497652538631,0.999999934051,5.64500272919e-05,-0.000355428606601,-4.88147740037e-05,1793254928590706688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784,761,737.358068942,719.641931058,688.641931058,648.641931058,914.358068942,800,840,658,635,657.358068942,0.436826812273,0.00457463131444,0.0497737592729,0.999999936983,2.02417558309e-05,-0.000350741053388,-5.10393016031e-05,1793254928607373312
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784.223419567,761,737,720,689,648.776580433,914.223419567,800,840,658,635,657,0.435902863651,0.00456898781898,0.0497776800372,0.99999993556,3.55204311964e-05,-0.000354789714738,-4.17411141501e-05,1793254928624039936
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784.815187883,761,737,720,689,648.184812117,914.815187883,800,840,658,635,657,0.434956780533,0.00456158546382,0.0497740421612,0.99999992105,0.000135684917814,-0.000373241649385,-1.34455858406e-05,1793254928640706560
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784.203348255,761,737.398325873,720,688.601674127,648.398325873,915,800.398325873,840,658,635,657,0.434013194818,0.00456435327959,0.0497697570533,0.999999919224,0.000152685195183,-0.000371681093778,-9.66341842602e-06,1793254928657373184
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.04491097,761,737.977544515,720,688.022455485,648.977544515,915,800.977544515,840,658,635,657,0.43307074331,0.00457173970209,0.0497651780166,0.999999925982,0.000131917887383,-0.000361032213648,-1.70135693516e-05,1793254928674039808
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.554164697,761,738,720.554164697,689.108329394,649,915,801,839.445835303,658,635,657,0.432151874195,0.00457507319157,0.0497917353538,0.999999939038,0.000122450671025,-0.0003263240242,-2.10495420529e-05,1793254928690706432
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,761,738,720.867273197,689.867273197,648.867273197,914.867273197,800.867273197,839.132726803,658,635,657,0.431224572216,0.00457775200586,0.0498069070483,0.99999994526,0.000116685774375,-0.000308636889806,-2.4638299522e-05,1793254928707373312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,761,738,720.281728402,689.281728402,648.281728402,914.281728402,800.281728402,839.718271598,658,635,657,0.430265255343,0.00457875497613,0.0497789505113,0.999999930121,0.000121997026792,-0.000352330267261,-2.71573424024e-05,1793254928724040192
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.697802527,760.697802527,738,720.302197473,689.302197473,648,914,800,839.697802527,658,635,657,0.429302393131,0.00457829349489,0.0497650080803,0.999999923118,0.000121005071916,-0.000371858297591,-2.90347385998e-05,1793254928740707072
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.115377907,760.115377907,738,720.884622093,689.884622093,648,914,800,839.115377907,658,635,657,0.428336243387,0.00457647403047,0.0497640609049,0.999999924951,0.000114168164663,-0.000368977845118,-3.03171369332e-05,1793254928757373440
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.460827266,760.460827266,738,721,690,648,914.460827266,800,839.460827266,658,635,657,0.427332602126,0.00457886525075,0.0497555448063,0.999999915083,0.000114615589182,-0.000394676587697,-3.04552352769e-05,1793254928774040064
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783.964565706,761,738,721,689.964565706,648,915,800,839.964565706,658,635,657,0.426327137187,0.00458214332159,0.0497464384619,0.999999903388,0.000116726447478,-0.000422693094914,-3.04945458673e-05,1793254928790706688
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783.390896713,761,738,721,689.390896713,648,915,800,839.390896713,658,635,657,0.425434655897,0.00458309212844,0.0497567682008,0.99999992093,0.000116770492895,-0.000378674767098,-3.33271874894e-05,1793254928807373568
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783.189176293,761,738,721.189176293,689.189176293,648.189176293,915,800,839,658,635,657.189176293,0.424550383907,0.00458321061756,0.0497772243501,0.999999938903,0.000115892105604,-0.00032790907996,-3.52041949607e-05,1793254928824040192
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.782945733,761,738,721.782945733,689.782945733,648.782945733,915,800,839,658,635,657.782945733,0.423683669059,0.00458155329841,0.0498193379523,0.999999958488,0.000113040902757,-0.00026271274302,-3.50373790959e-05,1793254928840706816
+340,5.666666667,POSE2_TO_POSE3_RETREAT,784,761,738,721.634724815,690,649,915,800,839,658,635,657.634724815,0.422767041256,0.00458266489339,0.049823634167,0.999999959208,0.000118872476207,-0.000257333909558,-3.51031927269e-05,1793254928857373440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,784,761,738,721.058986845,690,649,915,800,839,658,635,657.058986845,0.421821654859,0.00458537187026,0.049806140909,0.999999949947,0.000129706857004,-0.000286420488491,-3.53030419252e-05,1793254928874040064
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783.482167053,761,738,721,690,649,915,800,839,658,635,657,0.420886650008,0.00458549405992,0.0497977385032,0.99999994573,0.000111151406326,-0.000308098457821,-3.55142181546e-05,1793254928890706688
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783.093996791,760.906003209,738,721.093996791,690,648.906003209,914.906003209,800,839,658,635,657,0.419959434587,0.00458590814292,0.0497917109433,0.999999940919,9.53836321791e-05,-0.000328333078215,-3.5514608771e-05,1793254928907373312
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783.66619529,760.33380471,738,721.66619529,690,648.33380471,914.33380471,800,839,658,635,657,0.419065818494,0.00458930826669,0.0497924859347,0.999999933567,0.000110865418087,-0.000345527146122,-3.44360654033e-05,1793254928924039936
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783.751386035,760.248613965,738,721.751386035,690,648.248613965,914,800,839,658,635,657,0.418190228177,0.00459155902814,0.0497831925193,0.999999924036,0.000123394328978,-0.00036814811972,-3.4201221075e-05,1793254928940706560
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783.154656872,760.845343128,738,721.154656872,690,648.845343128,914,800,839,658,635,657,0.417339878058,0.00459220042478,0.049759801081,0.99999991135,0.0001317885526,-0.000398367974477,-3.51477443305e-05,1793254928957373184
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783.426114009,761,738,721,690.426114009,648.573885991,914,800,839,658,635,657,0.416541455243,0.00459007457422,0.0497718080665,0.99999992288,0.000125953614575,-0.000370186630065,-3.65838736653e-05,1793254928974039808
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783.998697894,761,738,721.001302106,691,648.001302106,914,800,839,658,634.998697894,657,0.415761146573,0.00458698529053,0.049796154571,0.999999940907,0.00011515123242,-0.000321664124623,-3.81870971798e-05,1793254928990706432
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783.423465963,761,738,721.576534037,691,648.576534037,914,800,839,658,634.423465963,657,0.414957780553,0.00458595673772,0.0498009080038,0.999999944383,0.000109003817261,-0.000312909323997,-3.79425151446e-05,1793254929007373568
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783.155017802,761,738,722,690.844982198,649,914,800,839,658,634.155017802,657,0.414160672015,0.00458648157705,0.0497969539325,0.999999942189,0.000108864347007,-0.000319909755969,-3.77989937509e-05,1793254929024040448
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.74257515,761,738,722,690.25742485,649,914,800,839,658,634.74257515,657,0.413381023281,0.00459134077982,0.0497687036857,0.999999922634,0.000125488587026,-0.000370871337484,-3.79374574317e-05,1793254929040707072
+352,5.866666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,690,648.673046097,914,800,839,658,634.673046097,657,0.412648690567,0.00459424939696,0.0497667063939,0.999999919427,0.000134307635617,-0.000376382906546,-3.79873782798e-05,1793254929057373440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,784,761,738,722,690,648.091145925,914,800,839,658,634.091145925,657,0.411953253141,0.00459563702104,0.0497851801636,0.999999929874,0.000137040490729,-0.000346454274942,-3.79682568071e-05,1793254929074039808
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783.516176462,761,738,722,690.483823538,648,914,800,839,658,634.483823538,657,0.411270872416,0.00459628505932,0.0498008120204,0.9999999387,0.00012819477064,-0.000323653001781,-3.76179105041e-05,1793254929090706688
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,839,658,634.942321008,657,0.410590364616,0.00459649615031,0.0498120913541,0.999999944605,0.000118310220531,-0.000308873740361,-3.72725824244e-05,1793254929107373568
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,839,658,634.366910832,657,0.409904901582,0.00459401812636,0.0497890398297,0.999999929551,0.000118403613001,-0.00035421871957,-3.75244810264e-05,1793254929124040448
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783.213809888,761,738,722,691,648.213809888,914,800,838.786190112,658,634,657,0.409264956922,0.00459078977915,0.0497779911849,0.999999922828,0.000117965611584,-0.000372823383744,-3.78392412233e-05,1793254929140707328
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783.803875877,761,738,722,691,648.803875877,914,800,838.196124123,658,634,657,0.408705114178,0.00458624103628,0.0497880648429,0.999999933175,0.000116592479727,-0.000344371255358,-3.82646233965e-05,1793254929157373952
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,761,738.386703271,722,691,648.613296729,914,800,838,658,634.386703271,657,0.408157706327,0.00458443012416,0.0498028136466,0.999999940475,0.000113066648804,-0.000323812188284,-3.75586620794e-05,1793254929174040576
+360,6.000000000,POSE2_TO_POSE3_RETREAT,784,761,738.965926981,722,691,648.034073019,914,800,838,658,634.965926981,657,0.407616489144,0.00458398224219,0.049819889975,0.999999946278,0.000108469095336,-0.000307182683612,-3.62894608174e-05,1793254929190707200
+361,6.016666667,POSE2_TO_POSE3_RETREAT,784,761,739,722,691,648,914,800,838,658,635,657,0.407085728983,0.00458421731983,0.0498149063202,0.999999943353,0.00010433826767,-0.000317859783822,-3.70542096774e-05,1793254929207373568
+362,6.033333333,POSE2_TO_POSE3_RETREAT,784,761,738.880941885,722,691,648,913.880941885,800,838.119058115,658,635,657,0.406559392796,0.00458523758622,0.0498043411504,0.999999937308,0.000101626500584,-0.000337060003021,-3.80312602859e-05,1793254929224039936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,784,761,738.293159918,722,691,648,913.293159918,800,838.706840082,658,635,657,0.406047900221,0.00458918103508,0.0497772301453,0.999999920397,0.000104386633497,-0.000383095941454,-3.93436424008e-05,1793254929240706560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,784,761,738.291589711,722,691,648.291589711,913.291589711,800,838.708410289,658,635,657,0.405573231937,0.00459295414829,0.0497636813525,0.999999910433,0.000110581725972,-0.0004065849899,-3.99368219237e-05,1793254929257373184
+365,6.083333333,POSE2_TO_POSE3_RETREAT,784,761,738.873322015,722,691,648.873322015,913.873322015,800,838.126677985,658,635,657,0.405135205221,0.00459655777097,0.0497636274664,0.999999908899,0.000120194730798,-0.000407639043128,-3.98143681336e-05,1793254929274039808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,784,761,738.54952848,722,691,648.54952848,914,800,838.45047152,658,635,657,0.404768228369,0.00459747556078,0.0497837116985,0.999999921919,0.000123761834198,-0.000373146859901,-4.00848721468e-05,1793254929290706688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.973716434,761,738,722,691,648,914,800,839,658,635,657.026283566,0.404422198591,0.0045976310541,0.0498095090845,0.999999937136,0.000125713322997,-0.000329079291844,-4.03893715296e-05,1793254929307373568
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.180758051,761,738,722,691,648,914,800,838.819241949,658,635,657.819241949,0.40378009168,0.00459855123598,0.049855433647,0.99999995428,0.000133002945848,-0.000268812799716,-3.85948347961e-05,1793254929340706816
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.773056265,761,738,722,691,648,914,800,838.226943735,658,635,657.226943735,0.403462419608,0.00460239583937,0.0498502441038,0.999999950735,0.000138239075381,-0.000278998352927,-3.9757352548e-05,1793254929357373440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,784,761,738,722.355536122,691,648.355536122,914,800,838,658,635,657,0.40316070466,0.00460318379486,0.0498394380933,0.999999944184,0.000141594069157,-0.000299903942148,-4.05181881296e-05,1793254929374040064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,784,761,738,722.931917262,691,648.931917262,914,800,838,658,635,657,0.402868901616,0.0046020730816,0.0498251433543,0.999999935204,0.000143780576021,-0.000327468395773,-4.10295146794e-05,1793254929390706688
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,784,761,739,722,691,648,913,800,838,658,635,657,0.402185622411,0.00458026879519,0.0498038664531,0.999999927908,0.000115632422571,-0.000360136461033,-3.33902376244e-05,1793254929440707072
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,784,761,738.161476111,722.838523889,691,648,913,800,838,658,634.161476111,657,0.401853439958,0.00456380820657,0.0498126386174,0.999999939891,7.81347348861e-05,-0.000336935289047,-2.42411651197e-05,1793254929474040320
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783.585256296,761,738.414743704,722.585256296,691.414743704,648,913,800,838,658,634.414743704,657,0.401723679459,0.00456587101063,0.0498195579906,0.999999944693,7.6777052858e-05,-0.00032263710393,-2.5002099433e-05,1793254929490706944
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.010379583,761,738.989620417,722.010379583,691.989620417,648,913,800,838,658,634.989620417,657,0.401603592212,0.00457080607953,0.0498267085293,0.999999948664,8.17129820446e-05,-0.00030862609043,-2.72960139358e-05,1793254929507373312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,761,738.435102141,722,691.435102141,648,913,800,838,658,634.435102141,657,0.40150601279,0.00456942940765,0.0498324118546,0.999999951815,8.09257233179e-05,-0.000298453865659,-2.73244784309e-05,1793254929524039936
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,913,800,838,658,634.144145733,657,0.401412160663,0.00456903592635,0.0498368118755,0.999999954139,8.11352223492e-05,-0.000290468432725,-2.7714791071e-05,1793254929540706560
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,783,761,738.694575629,723,691,648,913,800,839,658,635,657,0.400995201474,0.00457139137585,0.0498438874881,0.999999960281,8.68291293999e-05,-0.000266314021171,-3.12446119827e-05,1793254929757373440
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,783,761,739,723,691,648,913,800,839,658,634.141512328,657,0.400993467092,0.00457334150922,0.0498459693879,0.99999996092,9.22282720598e-05,-0.000262080883652,-3.10995705958e-05,1793254929790706688
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.015628308,761,739,722.984371692,691,648,913,800,838.984371692,658,635,657,0.400989430803,0.00457280013888,0.0498469327799,0.999999960711,9.18218233193e-05,-0.000263024980012,-3.10539785654e-05,1793254929824039936
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.840103807,761,739,722,691,648,913,800,838.159896193,658,635,657,0.400989786931,0.00457136682664,0.0498472954017,0.999999961607,8.6218630392e-05,-0.000261491495921,-3.12085458512e-05,1793254929857373440
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.244925104,761,739,722,691,648,913,800,838.755074896,658,635,657,0.400990136415,0.0045719097311,0.0498474980871,0.999999961542,8.98183716258e-05,-0.000260590156515,-3.06863463012e-05,1793254929874040320
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.341240399,761,739,722.341240399,691,648,913,800,838.658759601,658,635,657,0.400990405649,0.00457244980318,0.0498481164563,0.999999961661,9.23983346952e-05,-0.000259257929454,-3.04308470055e-05,1793254929890707200
+403,6.716666667,POSE2_TO_POSE3_RETREAT,783.921103135,761,739,722.921103135,691,648,913,800,838.078896865,658,635,657,0.400990618766,0.00457298789463,0.0498490255046,0.999999961911,9.4265187886e-05,-0.000257624391627,-3.036184569e-05,1793254929907373824
+404,6.733333333,POSE2_TO_POSE3_RETREAT,784,761,738.503832511,723,691,648,913,800,838,658,634.503832511,657,0.400988924051,0.00457392517761,0.0498474145051,0.999999961265,9.4367307614e-05,-0.00026000548007,-3.10294518095e-05,1793254929924040448
+405,6.750000000,POSE2_TO_POSE3_RETREAT,784,761,738,722.92789834,691,647.92789834,913,800,838,658,634,657,0.400987327456,0.00457458119511,0.049845756614,0.999999960639,9.40579171669e-05,-0.000262435109075,-3.16630961907e-05,1793254929940706816
+406,6.766666667,POSE2_TO_POSE3_RETREAT,784,761,738,722.340343706,691,647.340343706,913,800,838,658,634,657,0.400988580331,0.00457277700692,0.0498466007897,0.999999961227,9.27935439421e-05,-0.000260691730227,-3.12246107061e-05,1793254929957373184
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783.755059025,761,738,722,691,647.244940975,913,800,838.244940975,658,634.244940975,657,0.400988917168,0.00457188944662,0.0498470562519,0.999999961629,9.08824947357e-05,-0.00025984468456,-3.10421147076e-05,1793254929974039808
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783.172899384,761,738,722,691,647.827100616,913,800,838.827100616,658,634.827100616,657,0.400987992862,0.00457226383918,0.0498469765588,0.999999961774,8.80811442769e-05,-0.000260231651373,-3.1212048179e-05,1793254929990706432
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783.403495711,761,738.403495711,722,691,648,913,800,838.596504289,658,635,657,0.400988766784,0.00457224617903,0.0498481608459,0.999999962104,8.88819696192e-05,-0.000258695968977,-3.11096671656e-05,1793254930007373312
+410,6.833333333,POSE2_TO_POSE3_RETREAT,783.977455435,761,738.977455435,722,691,648,913,800,838.022544565,658,635,657,0.400990258153,0.00457206288914,0.0498498791241,0.999999962507,9.12045990192e-05,-0.000256348028852,-3.08922419948e-05,1793254930024040192
+411,6.850000000,POSE2_TO_POSE3_RETREAT,783.44640507,761,739,722,691,648,913,800.55359493,838.55359493,658,635,657,0.400990511897,0.00457179617118,0.0498497414944,0.999999962583,9.01832546281e-05,-0.00025642577974,-3.07638888674e-05,1793254930040706560
+412,6.866666667,POSE2_TO_POSE3_RETREAT,783.132659923,761,738.867340077,722,691,647.867340077,913,800.867340077,838.867340077,658,634.867340077,657,0.400990361857,0.00457154485612,0.0498494353836,0.99999996257,8.92196359377e-05,-0.000256828806526,-3.06367839726e-05,1793254930057373184
+413,6.883333333,POSE2_TO_POSE3_RETREAT,783.721477923,761,738.278522077,722,691,647.278522077,913,800.278522077,838.278522077,658,634.278522077,657,0.400988997372,0.00457135823344,0.0498488108545,0.999999962297,8.89246224811e-05,-0.000258009295852,-3.05014490096e-05,1793254930074039808
+414,6.900000000,POSE2_TO_POSE3_RETREAT,783.693553054,761,738,722,691,647.306446946,912.693553054,800,838,658,634.306446946,657,0.4009890107,0.00457154151692,0.0498488990003,0.999999962387,8.89566861697e-05,-0.000257637549955,-3.05848131947e-05,1793254930090706688
+415,6.916666667,POSE2_TO_POSE3_RETREAT,783.112038909,761,738,722,691,647.887961091,912.112038909,800,838,658,634.887961091,657,0.400990260755,0.00457205682868,0.0498496268442,0.999999962803,8.92823347679e-05,-0.000255872515528,-3.08644820424e-05,1793254930107373312
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd8f1ce5e9d459336f056c84271aac4405984e06
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,417 @@
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+393,6.550000000,pose2_to_pose3_retreat,0.575672700843,0.0101816952789,1.04002042795,0.546243849352,0.0188559356773,1.03969213353
+394,6.566666667,pose2_to_pose3_retreat,0.575671576381,0.0101816943044,1.04002037785,0.546242724746,0.0188559343185,1.03969208609
+395,6.583333333,pose2_to_pose3_retreat,0.575670718066,0.0101816973117,1.04002033652,0.546241866278,0.018855936896,1.03969204708
+396,6.600000000,pose2_to_pose3_retreat,0.575669921092,0.0101817001042,1.04002029815,0.546241069163,0.0188559392893,1.03969201086
+397,6.616666667,pose2_to_pose3_retreat,0.575669231891,0.010181702519,1.04002026497,0.546240379839,0.0188559413589,1.03969197953
+398,6.633333333,pose2_to_pose3_retreat,0.575668730534,0.0101817403621,1.04002034785,0.546239878236,0.0188559782011,1.03969205802
+399,6.650000000,pose2_to_pose3_retreat,0.57566837177,0.0101817703939,1.04002041592,0.546239519283,0.0188560074553,1.03969212248
+400,6.666666667,pose2_to_pose3_retreat,0.575668245888,0.0101817809313,1.0400204398,0.546239393335,0.0188560177199,1.03969214509
+401,6.683333333,pose2_to_pose3_retreat,0.575668117927,0.0101817916429,1.04002046408,0.546239265306,0.0188560281541,1.03969216808
+402,6.700000000,pose2_to_pose3_retreat,0.575668047027,0.0101817975778,1.04002047753,0.546239194369,0.0188560339353,1.03969218081
+403,6.716666667,pose2_to_pose3_retreat,0.575667782104,0.0101818197542,1.04002052779,0.546238929307,0.0188560555375,1.03969222841
+404,6.733333333,pose2_to_pose3_retreat,0.57566761449,0.010181833785,1.04002055959,0.546238761605,0.018856069205,1.03969225852
+405,6.750000000,pose2_to_pose3_retreat,0.575667464214,0.0101818438604,1.04002057198,0.546238611096,0.0188560784711,1.03969227043
+406,6.766666667,pose2_to_pose3_retreat,0.575667212958,0.0101818570247,1.04002056901,0.546238359224,0.0188560895714,1.03969226816
+407,6.783333333,pose2_to_pose3_retreat,0.575667197911,0.0101818578131,1.04002056883,0.546238344139,0.0188560902362,1.03969226802
+408,6.800000000,pose2_to_pose3_retreat,0.575666917492,0.0101818725055,1.04002056551,0.546238063032,0.0188561026248,1.03969226549
+409,6.816666667,pose2_to_pose3_retreat,0.575666790881,0.0101818558748,1.04002060432,0.54623793664,0.0188560867404,1.03969230455
+410,6.833333333,pose2_to_pose3_retreat,0.575666734369,0.0101818261744,1.04002066024,0.546237880729,0.0188560590837,1.03969236048
+411,6.850000000,pose2_to_pose3_retreat,0.575666709304,0.0101817676953,1.04002062463,0.546237856326,0.0188560029457,1.03969232744
+412,6.866666667,pose2_to_pose3_retreat,0.575666708756,0.0101817387729,1.04002058698,0.546237856032,0.0188559749498,1.03969229142
+413,6.883333333,pose2_to_pose3_retreat,0.57566670875,0.0101817384643,1.04002058658,0.546237856029,0.0188559746511,1.03969229103
+414,6.900000000,pose2_to_pose3_retreat,0.575666708185,0.0101817086851,1.04002054782,0.546237855727,0.0188559458259,1.03969225394
+415,6.916666667,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..940d6991c785050d4dc9d616b353a92f0743c1c6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92925bf57482e0fd1f40feee8680bb39f30f89f2cb5449223ff52726e9608f72
+size 26495803
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ea76e236170204446ecd21ec06716181248f6d5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,761,739,723,691,648,913,800,839,658,635,657,0.400988626665,0.00457197025887,0.0498498290682,0.999999962798,8.84647670097e-05,-0.000256247816857,-3.02407497571e-05,1793254930225629952
+1,0.016666667,BASELINE,783,761,738.426095086,722.426095086,691,648,913,800,839,658,635,657,0.400990170775,0.00457358138909,0.0498503680525,0.999999963012,9.11735710943e-05,-0.000254416764947,-3.05844854795e-05,1793254930242296832
+2,0.033333333,BASELINE,783.151848102,761,738.151848102,722.151848102,691.151848102,648,913,800,838.848151898,658,635,657,0.400991294876,0.00457419565918,0.0498508349999,0.999999963226,9.22605851994e-05,-0.000253162885845,-3.07346383263e-05,1793254930258963712
+3,0.050000000,BASELINE,783.741432661,761,738.741432661,722.741432661,691.741432661,648,913,800,838.258567339,658,635,657,0.400991208204,0.00457193625516,0.0498510942847,0.999999963459,8.86724239335e-05,-0.000253572837336,-3.03267448817e-05,1793254930275630080
+4,0.066666667,BASELINE,784,761,738.674727306,722.674727306,692,648,913,800,838.325272694,658,635,657,0.400989788156,0.00457148984511,0.0498505182234,0.999999963123,8.82198113955e-05,-0.000255053519607,-3.03243324793e-05,1793254930292296704
+5,0.083333333,BASELINE,784,761,738.09537453,722.09537453,692,648,913,800,838.90462547,658,635,657,0.400987326568,0.00457245961818,0.0498492896484,0.999999962341,9.02164685568e-05,-0.000257370581209,-3.0638653289e-05,1793254930308963328
+6,0.100000000,BASELINE,784,761,738.480045768,722.480045768,691.519954232,648,913,800,839,658,635,657,0.400989231804,0.0045717293601,0.0498506153761,0.999999963,8.92999625194e-05,-0.000255133403279,-3.05431874522e-05,1793254930325629952
+7,0.116666667,BASELINE,783.944030467,761,739,723,691,648,913,800.055969533,838.944030467,658,635,657,0.400991741409,0.00457067643975,0.0498522085138,0.999999963853,8.78614499322e-05,-0.000252292792961,-3.0360816334e-05,1793254930342296576
+8,0.133333333,BASELINE,783.355952642,761,739,723,691,648,913,800.644047358,838.355952642,658,635,657,0.400991815533,0.00456974095225,0.0498515584486,0.999999963955,8.69179920753e-05,-0.000252247678321,-3.01199648983e-05,1793254930358963200
+9,0.150000000,BASELINE,783.228818431,761,738.771181569,723,691,648,913,800.771181569,838.228818431,658,635,657,0.400991337152,0.00456940623281,0.0498509279818,0.999999963789,8.69772206654e-05,-0.000252887087763,-3.00781726654e-05,1793254930375629824
+10,0.166666667,BASELINE,783.808518707,761,738.191481293,723,691,648,913,800.191481293,838.808518707,658,635,657,0.400990011533,0.00456999276181,0.0498503275684,0.999999963212,8.85740198533e-05,-0.00025457618133,-3.03416279838e-05,1793254930392296448
+11,0.183333333,BASELINE,783.613364442,761,738.386635558,723,691,648,913,800,839,658,634.613364442,657,0.400989869776,0.00457081207371,0.0498504234566,0.999999963231,8.88216135895e-05,-0.000254384320564,-3.06292953822e-05,1793254930408963328
+12,0.200000000,BASELINE,783.036028531,761,738.963971469,723,691,648,913,800,839,658,634.036028531,657,0.400990311936,0.00457174620122,0.0498508627819,0.999999963543,8.84037385309e-05,-0.000253264716378,-3.09289049342e-05,1793254930425629952
+13,0.216666667,BASELINE,783.539065164,761,738.460934836,723,691,648,913,800,838.460934836,658,634.539065164,657,0.400990794445,0.00457159344386,0.0498517894806,0.999999963533,9.01295709741e-05,-0.000252762266507,-3.0349507852e-05,1793254930442296320
+14,0.233333333,BASELINE,784,761,738,722.883143244,691,648,913,800,838,657.883143244,634.883143244,657,0.400991139837,0.00457120832646,0.049852484565,0.999999963558,9.07567541119e-05,-0.00025249736661,-2.9882398225e-05,1793254930458963200
+15,0.250000000,BASELINE,784,761,738,722.293840655,691,648,913,800,838,657.293840655,634.293840655,657,0.400990920011,0.00457017626134,0.0498521120964,0.999999963806,8.63653008321e-05,-0.000253026797559,-3.0105794454e-05,1793254930475629824
+16,0.266666667,BASELINE,784,761,738,722,691,648,913,800,838,657.290546116,634,657,0.4009907484,0.00456982528347,0.0498517270499,0.999999963878,8.53757487716e-05,-0.000253062432014,-3.02492747548e-05,1793254930492296448
+17,0.283333333,BASELINE,784,761,738,722,691,648,913,800,838,657.870044011,634,657,0.400990624739,0.00457015165552,0.0498513294946,0.999999963784,8.77694306593e-05,-0.000252606979597,-3.03132776436e-05,1793254930508963072
+18,0.300000000,BASELINE,783.554121375,761,738.445878625,722.445878625,691,648,913,800,838.445878625,658,634.445878625,657,0.400990690483,0.00457094832286,0.049851539139,0.999999963673,8.95063154745e-05,-0.000252436315545,-3.02942869583e-05,1793254930525629696
+19,0.316666667,BASELINE,783,761,739,722.978939594,691,648,913,800,838.978939594,657.978939594,634.978939594,657,0.400990821619,0.00457183979898,0.0498519209936,0.999999963565,9.10117966352e-05,-0.000252334489184,-3.02487910308e-05,1793254930542296320
+20,0.333333333,BASELINE,783,761,739,722.392860701,691,648,913,800,838.392860701,657.392860701,634.392860701,657,0.400991238192,0.00457162737211,0.0498522137102,0.999999963649,9.14030054297e-05,-0.000251870734351,-3.01358747717e-05,1793254930558963200
+21,0.350000000,BASELINE,783.19145631,761,738.80854369,722,691,648,913,800,838,657,634,657,0.400991216059,0.00457104120971,0.0498521288704,0.999999963728,9.05046442824e-05,-0.000251900181922,-2.99738520409e-05,1793254930575629824
+22,0.366666667,BASELINE,783.772190902,761,738.227809098,722,691,648,913,800,838,657,634,657,0.400990301929,0.00456969515009,0.0498512763645,0.999999963788,8.69842667414e-05,-0.000252932432676,-2.97119836563e-05,1793254930592296448
+23,0.383333333,BASELINE,784,761,738.35130038,722,691,648,913,800,838.35130038,657,634,656.64869962,0.400989751019,0.00456951367365,0.0498505338325,0.999999963487,8.68903523454e-05,-0.000254150195021,-2.97255494955e-05,1793254930608963072
+24,0.400000000,BASELINE,784,761,738.929360922,722,691,648,913,800,838.929360922,657,634,656.070639078,0.400989434563,0.0045700839215,0.0498498622872,0.999999962954,8.90081782855e-05,-0.000255487702965,-2.99169047822e-05,1793254930625629696
+25,0.416666667,BASELINE,784,761,738.495546586,722.504453414,691,648,913,800,838.495546586,657,634,656.504453414,0.400989656704,0.00456934185636,0.0498507776743,0.999999963525,8.71140151042e-05,-0.000253879352913,-3.01036805786e-05,1793254930642296576
+26,0.433333333,BASELINE,783.918963711,761,738.081036289,722.918963711,691,648,913,800,838,657.081036289,634,657,0.400990056322,0.00456849933653,0.0498518412285,0.999999964168,8.48832829333e-05,-0.000252077919208,-3.0262563375e-05,1793254930658963456
+27,0.450000000,BASELINE,783.330459999,761,738.669540001,722.330459999,691,648,913,800,838,657.669540001,634,657,0.400991097818,0.00456817178921,0.0498524491889,0.999999964351,8.40424342091e-05,-0.000251635479211,-3.02507663177e-05,1793254930675629824
+28,0.466666667,BASELINE,783.254101986,761,739,722.254101986,691,648,913,800,838,658,634.254101986,657,0.400991861039,0.00456876892373,0.0498530087849,0.999999964462,8.45165023433e-05,-0.000251041193034,-3.02029471724e-05,1793254930692296448
+29,0.483333333,BASELINE,783.83361602,761,739,722.83361602,691,648,913,800,838,658,634.83361602,657,0.400992267894,0.00457055023875,0.0498535064437,0.999999964477,8.66744998633e-05,-0.000250252447257,-3.0108996859e-05,1793254930708963328
+30,0.500000000,BASELINE,784,761,739,723,691,648,913,800,838,658,634.589612243,657,0.400991485278,0.00457027204571,0.0498528248174,0.999999964222,8.62530444136e-05,-0.000251423695645,-3.00423947151e-05,1793254930725630208
+31,0.516666667,BASELINE,784,761,739,723,691,648,913,800,838,658,634.013944953,657,0.400990223613,0.0045691644065,0.0498516682459,0.999999963854,8.47927402253e-05,-0.000253384311948,-2.99868067728e-05,1793254930742296832
+32,0.533333333,BASELINE,783.440036235,761,738.440036235,722.440036235,691,648,913,800,838.559963765,658,634.559963765,657,0.400989905146,0.00456825348489,0.0498518464354,0.999999963803,8.52193254408e-05,-0.000253474896222,-2.97017371561e-05,1793254930758963456
+33,0.550000000,BASELINE,783.138225021,760.861774979,738,722,691,648,913,800,838.861774979,658,635,657,0.400989726204,0.00456770537073,0.0498520194549,0.999999963822,8.56688391234e-05,-0.000253267948294,-2.95240621484e-05,1793254930775630336
+34,0.566666667,BASELINE,783.730941079,760.269058921,738,722,691,648,913,800,838.269058921,658,635,657,0.400989929036,0.00456833412899,0.0498520665225,0.999999964046,8.60397215174e-05,-0.000252235344214,-2.9718238151e-05,1793254930792296960
+35,0.583333333,BASELINE,784,760.31566005,738,722.31566005,691,648,913,800,838.31566005,658,635,657,0.400989266721,0.0045696051006,0.0498513118967,0.999999963771,8.66519462465e-05,-0.000253059054921,-3.01862867018e-05,1793254930808963328
+36,0.600000000,BASELINE,784,760.893731039,738,722.893731039,691,648,913,800,838.893731039,658,635,657,0.4009878852,0.00457140994981,0.0498498908164,0.999999963077,8.74648009925e-05,-0.000255425936099,-3.08820078993e-05,1793254930825629952
+37,0.616666667,BASELINE,784,761,738,722.531001308,691,648,913,800,838.531001308,658,634.531001308,657,0.400989614751,0.00456974706659,0.0498512570016,0.999999963833,8.57438226097e-05,-0.000253097633274,-3.03915945795e-05,1793254930842296576
+38,0.633333333,BASELINE,784,761,738.044714155,722,691,648,913,800,838,658,634.044714155,657,0.400991821117,0.00456763818998,0.0498530884589,0.999999964792,8.38596894017e-05,-0.000250002119905,-2.97040551464e-05,1793254930858963456
+39,0.650000000,BASELINE,784,761,738.633563478,722,691,648,913,800,838,658,634.633563478,657,0.400991302496,0.00456960697269,0.0498529420188,0.999999964415,8.69353183813e-05,-0.000250439751554,-2.98688394256e-05,1793254930875630080
+40,0.666666667,BASELINE,784,761,739,722,691,648,913,800,838,657.782338836,635,657,0.400990587041,0.00457061104832,0.0498525592698,0.999999964103,8.8329890749e-05,-0.000251193356728,-2.98983372185e-05,1793254930892296704
+41,0.683333333,BASELINE,784,761,739,722,691,648,913,800,838,657.206069753,635,657,0.400989547292,0.00457002571948,0.0498517871899,0.999999963908,8.69548360279e-05,-0.000252467544451,-2.97049435833e-05,1793254930908963584
+42,0.700000000,BASELINE,783.640570119,761,738.640570119,722,691,648,913,800,838,657.359429881,635,657,0.400989541459,0.00457006623094,0.0498516713472,0.999999963977,8.72594870526e-05,-0.000252067638953,-2.98829938915e-05,1793254930925630208
+43,0.716666667,BASELINE,783.081065269,761,738.081065269,722,691,648,913,800,838,657.918934731,635,657,0.400990111151,0.0045704551135,0.0498519207959,0.999999964192,8.84991385028e-05,-0.000250735857217,-3.0267806747e-05,1793254930942296832
+44,0.733333333,BASELINE,783,761,738.514979283,722,691,648,913,800.514979283,838.514979283,658,635,657,0.400991933967,0.00457025359649,0.0498532399375,0.999999964706,8.70804924705e-05,-0.000249188590931,-3.01593330813e-05,1793254930958963456
+45,0.750000000,BASELINE,783,761,739,722,691,648,913,800.886253928,838.886253928,658,634.886253928,657,0.400993343744,0.00456987861982,0.0498542940666,0.999999965097,8.55314173271e-05,-0.000248172704943,-3.0000202852e-05,1793254930975630080
+46,0.766666667,BASELINE,783,761,739,722,691,648,913,800.301841313,838.301841313,658,634.301841313,657,0.400992165843,0.0045691998232,0.049853501638,0.999999964785,8.53063963622e-05,-0.000249506680265,-2.99773092713e-05,1793254930992296704
+47,0.783333333,BASELINE,783,761,739,722.280034382,691,648,913,800,838,658,634.280034382,657,0.400990628174,0.00456881722786,0.0498522351938,0.999999964288,8.54933159197e-05,-0.00025143034956,-2.9953369022e-05,1793254931008963328
+48,0.800000000,BASELINE,783,761,739,722.859200223,691,648,913,800,838,658,634.859200223,657,0.400988706202,0.00456875103332,0.0498504624081,0.99999996359,8.6120268452e-05,-0.000253983927456,-2.99283107232e-05,1793254931025629952
+49,0.816666667,BASELINE,783.435439706,761,738.564560294,723,691,648,913,800,838,658,635,657,0.40098893705,0.00456960304152,0.0498510666614,0.999999963657,8.71329437462e-05,-0.000253352767896,-3.01041379644e-05,1793254931042296832
+50,0.833333333,BASELINE,783.989033867,761,738.010966133,723,691,648,913,800,838,658,635,657,0.400989855014,0.00457075002741,0.0498524194244,0.999999963966,8.82596138736e-05,-0.000251711375335,-3.03407141746e-05,1793254931058963456
+51,0.850000000,BASELINE,783.40157924,761,738.59842076,723,691,648,913,800,838,658,635,657,0.400990544053,0.00457190007168,0.0498529848721,0.999999964156,8.88660389196e-05,-0.000250736561126,-3.03788972423e-05,1793254931075630080
+52,0.866666667,BASELINE,783,761,739,722.816764546,691,648,913,800,838,658,634.816764546,657,0.40099037044,0.00457276738195,0.0498528189934,0.99999996407,8.92475886043e-05,-0.000250935418783,-3.04512373755e-05,1793254931092296704
+53,0.883333333,BASELINE,783,761,739,722.237653396,691,648,913,800,838,658,634.237653396,657,0.400988333088,0.00457302385232,0.0498510731018,0.999999963384,8.9143300561e-05,-0.000253669965718,-3.05973730071e-05,1793254931108963328
+54,0.900000000,BASELINE,783.340732819,761,738.659267181,722,691.340732819,648,913,800,838,658,634.340732819,657,0.400988960531,0.00457211103847,0.0498513287216,0.999999963546,8.86798648085e-05,-0.000253203925885,-3.05303309369e-05,1793254931125629952
+55,0.916666667,BASELINE,783.918614457,761,738.081385543,722,691.918614457,648,913,800,838,658,634.918614457,657,0.40099144266,0.00457038440699,0.0498529773864,0.999999964294,8.79664635427e-05,-0.000250510289024,-3.03149179445e-05,1793254931142296576
+56,0.933333333,BASELINE,783.505261266,761,738.494738734,722.494738734,691.505261266,648,913,800.494738734,838,658,635,657,0.400992317924,0.00456993876551,0.049853666155,0.999999964607,8.7797416464e-05,-0.000249341518717,-3.01169236182e-05,1793254931158963200
+57,0.950000000,BASELINE,783,761,738.927947216,723,691,648,913,800.927947216,838.072052784,658,635,657,0.400992749424,0.00456966925491,0.0498540121877,0.999999964789,8.76047440596e-05,-0.000248695877647,-2.99570702489e-05,1793254931175629824
+58,0.966666667,BASELINE,783,761,738.34005329,723,691,648,913,800.34005329,838.65994671,658,635,657,0.400991889647,0.00456915741405,0.0498530309746,0.999999964547,8.66041134186e-05,-0.00025000594335,-3.00498347268e-05,1793254931192296704
+59,0.983333333,BASELINE,783.244203237,761,738.244203237,723,691,648,913,800,838.755796763,658,635,656.755796763,0.400990850664,0.00456944341432,0.0498522391934,0.999999964158,8.74148728725e-05,-0.000251278984716,-3.00213043011e-05,1793254931208963584
+60,1.000000000,BASELINE,783.823469102,761,738.823469102,723,691,648,913,800,838.176530898,658,635,656.176530898,0.400989565799,0.00457082410411,0.0498517073248,0.999999963563,9.07109764843e-05,-0.000252501226484,-2.98263494397e-05,1793254931225630208
+61,1.016666667,BASELINE,783.600218937,761,738.600218937,723,691,648,913,800,838.399781063,658,635,656.399781063,0.400989476277,0.00457011090598,0.0498518296291,0.999999963792,8.88221478873e-05,-0.000252286809668,-2.96144614598e-05,1793254931242296576
+62,1.033333333,BASELINE,783.025201795,761,738.025201795,723,691,648,913,800,838.974798205,658,635,656.974798205,0.400989910709,0.00456847989365,0.0498522386771,0.999999964373,8.46606071733e-05,-0.000251442662057,-2.93951511954e-05,1793254931258963200
+63,1.050000000,BASELINE,783.548959044,761,738.548959044,723,691,648,913,800,838.451040956,658,634.451040956,657,0.4009911235,0.00456883234435,0.049852837416,0.999999964574,8.55522392943e-05,-0.000250308319083,-2.9652134819e-05,1793254931275630080
+64,1.066666667,BASELINE,784,761,739,723,691,648,913,800,838,658,634.126988425,657.126988425,0.400992062091,0.00456958887722,0.0498533072295,0.999999964706,8.6821241502e-05,-0.000249303103144,-2.99543504748e-05,1793254931292296704
+65,1.083333333,BASELINE,784,761,739,723,691,648,913,800,838,658,634.719338262,657.719338262,0.400991865108,0.0045714930391,0.0498532727204,0.999999964657,8.86243537022e-05,-0.000248819830953,-3.03423185254e-05,1793254931308963328
+66,1.100000000,BASELINE,784,761,739,722.696039782,691,648,913,800,838,658,635,657.696039782,0.400991310603,0.00457225181624,0.0498531888255,0.99999996441,9.01638933886e-05,-0.000249253897016,-3.03907062903e-05,1793254931325629952
+67,1.116666667,BASELINE,784,761,739,722.118376482,691,648,913,800,838,658,635,657.118376482,0.400990434163,0.00457197922365,0.0498530604607,0.999999963984,9.14660972837e-05,-0.000250513986683,-3.01333166164e-05,1793254931342296832
+68,1.133333333,BASELINE,784,761,738.543119657,722.456880343,691,648,913,800,838.456880343,658,635,657,0.40099046133,0.00457080092629,0.0498524291676,0.999999964024,8.9462642023e-05,-0.000251109154083,-2.98758934308e-05,1793254931358963712
+69,1.150000000,BASELINE,784,761,738.031785089,723,691,648,913,800,839,658,635,657,0.400990740211,0.0045694562131,0.049851773676,0.99999996419,8.67575446973e-05,-0.000251426138629,-2.96449853419e-05,1793254931375630592
+70,1.166666667,BASELINE,784,761,738.611310261,723,691,648,913,800,839,658,635,657,0.400991343394,0.00456926643704,0.049852934955,0.999999964575,8.66435084924e-05,-0.000249902577434,-2.98711507871e-05,1793254931392296960
+71,1.183333333,BASELINE,784,761,739,722.80579241,691,648,913,800,838.80579241,658,634.80579241,657,0.400991552135,0.0045694984269,0.0498535318413,0.999999964743,8.63656544397e-05,-0.000249298069488,-3.01044893247e-05,1793254931408963584
+72,1.200000000,BASELINE,784,761,739,722.216026635,691,648,913,800,838.216026635,658,634.216026635,657,0.400990957484,0.00457058946121,0.0498529791837,0.999999964471,8.57541394069e-05,-0.000250565470782,-3.03524379166e-05,1793254931425630208
+73,1.216666667,BASELINE,783.63382386,761,739,722,691,648,913,800,838,658,634.36617614,657,0.40098986715,0.00457058860949,0.0498525735729,0.999999964217,8.62583176403e-05,-0.000251434758268,-3.01167555463e-05,1793254931442296832
+74,1.233333333,BASELINE,783.055992644,761,739,722,691,648,913,800,838,658,634.944007356,657,0.400988490305,0.00456995663186,0.0498522529573,0.999999963971,8.74073826653e-05,-0.000252073930171,-2.96015275087e-05,1793254931458963200
+75,1.250000000,BASELINE,783,761,738.48884623,722.51115377,691,648,913,800,838,658,635,657,0.400989167922,0.00457000084947,0.0498520434702,0.999999963962,8.75402612128e-05,-0.000252054492889,-2.96754224517e-05,1793254931475630336
+76,1.266666667,BASELINE,783.081389395,761,738.081389395,722.918610605,691,648,913,800,838,658,635,657,0.400990035515,0.00457016458973,0.0498519568708,0.999999964004,8.76409245992e-05,-0.000251837279868,-2.98144550651e-05,1793254931492297216
+77,1.283333333,BASELINE,783.678462272,761,738.678462272,722.321537728,691,648,913,800,838,658,635,657,0.400990710077,0.00457062591769,0.0498525733375,0.999999964205,8.82283223774e-05,-0.000250814711566,-2.99656875915e-05,1793254931508963584
+78,1.300000000,BASELINE,783.733850081,761,738.733850081,722,691,648,913,800,838,658,635,657,0.400991711014,0.00457018568323,0.0498535316185,0.999999964594,8.78241044141e-05,-0.000249390494044,-3.00471722504e-05,1793254931525630208
+79,1.316666667,BASELINE,783.157114636,761,738.157114636,722,691,648,913,800,838,658,635,657,0.400993092818,0.0045686933641,0.0498548887821,0.9999999652,8.62627134183e-05,-0.0002474975692,-3.00472641321e-05,1793254931542296832
+80,1.333333333,BASELINE,783.419401918,761,738,722.419401918,691.419401918,648,913,800,838.419401918,658,635,657,0.40099135379,0.00456947711489,0.0498531981146,0.999999964559,8.6628705515e-05,-0.000249971115011,-2.98511091665e-05,1793254931558963456
+81,1.350000000,BASELINE,783.995836563,761,738,722.995836563,691.995836563,648,913,800,838.995836563,658,635,657,0.400988446258,0.00457111307308,0.0498503662764,0.999999963437,8.77163494541e-05,-0.000254079557312,-2.95814753344e-05,1793254931575630080
+82,1.366666667,BASELINE,783.444891587,761,738.555108413,722.444891587,691.444891587,648,913,800,839,658,635,657,0.400989392977,0.00457041405267,0.0498516855795,0.99999996379,8.86999356933e-05,-0.000252354776324,-2.95022564738e-05,1793254931592296704
+83,1.383333333,BASELINE,783,761,738.874938408,722,691.125061592,648,913,800,838.874938408,658,635,657,0.400990070442,0.00456967635854,0.049852624269,0.999999964074,8.89365113192e-05,-0.00025114539166,-2.94750504771e-05,1793254931608963328
+84,1.400000000,BASELINE,783,761,738.262907529,722,691.737092471,648,913,800,838.262907529,658,635,657,0.400989590293,0.00456885422217,0.0498519633151,0.99999996406,8.62672984862e-05,-0.000252108123139,-2.96449797807e-05,1793254931625629952
+85,1.416666667,BASELINE,783,761,738,722.328397125,691.671602875,648,913,800,838,658,634.671602875,657,0.400988779929,0.00456858892362,0.0498515160631,0.999999963928,8.53555542924e-05,-0.000252935090896,-2.96881742828e-05,1793254931642296832
+86,1.433333333,BASELINE,783,761,738,722.90409385,691.09590615,648,913,800,838,658,634.09590615,657,0.400987720895,0.00456874295208,0.0498512297394,0.999999963711,8.57672727899e-05,-0.000253659821665,-2.9635931077e-05,1793254931658963968
+87,1.450000000,BASELINE,783.479036159,761,738.479036159,723,691,648,913,800.479036159,838,657.520963841,634.479036159,657,0.400989982881,0.00456873762201,0.0498531938032,0.999999964494,8.51230501301e-05,-0.000250774765382,-2.9629842383e-05,1793254931675630336
+88,1.466666667,BASELINE,784,761,738.944501981,722.944501981,691,648,913,800.944501981,838,657.055498019,635,657,0.400992445162,0.00456876234006,0.0498552042818,0.999999965313,8.44232346537e-05,-0.00024772364741,-2.96505384735e-05,1793254931692296960
+89,1.483333333,BASELINE,784,761,738.351873801,722.351873801,691,648,913,800.351873801,838,657.648126199,635,657,0.400990421042,0.00456938617378,0.0498533103235,0.999999964661,8.52282216872e-05,-0.00025004890779,-2.9841175848e-05,1793254931708963328
+90,1.500000000,BASELINE,784,761,738.234093627,722,691,648,913,800.234093627,838,658,635,657,0.400989223484,0.00456981646456,0.0498522447198,0.999999964205,8.63563019519e-05,-0.000251481879758,-2.98308259452e-05,1793254931725629952
+91,1.516666667,BASELINE,784,761,738.810326006,722,691,648,913,800.810326006,838,658,635,657,0.400989233983,0.00456996388327,0.0498523897949,0.999999964042,8.79565979696e-05,-0.000251610730401,-2.95267237475e-05,1793254931742296576
+92,1.533333333,BASELINE,784,761,739,722.386874232,691,648,913,800.613125768,838,658,635,657,0.400989235585,0.00456923990379,0.0498519049462,0.999999964081,8.71857047129e-05,-0.000251720150257,-2.95454260098e-05,1793254931758963456
+93,1.550000000,BASELINE,784,761,739,722.963577488,691,648,913,800.036422512,838,658,635,657,0.400989232822,0.00456808835213,0.0498511110103,0.999999964218,8.52513313036e-05,-0.000251820035947,-2.97225199145e-05,1793254931775630080
+94,1.566666667,BASELINE,784,761,739,723,691,648,913,800,838,658,634.448899982,657,0.400989294664,0.00456942136514,0.0498514705063,0.999999964048,8.69747448176e-05,-0.000251898381773,-2.97651125334e-05,1793254931792296960
+95,1.583333333,BASELINE,784,761,738.862686221,723,691,648,913,800,838,658,634.137313779,657,0.400989693053,0.00457044952835,0.0498520204469,0.999999964009,8.80261396203e-05,-0.000251679624136,-2.98450218259e-05,1793254931808963840
+96,1.600000000,BASELINE,784,761,738.28303786,723,691,648,913,800,838,658,634.71696214,657,0.400991161542,0.00456995610937,0.0498529333918,0.999999964462,8.61183946572e-05,-0.000250508472461,-3.00743496723e-05,1793254931825630208
+97,1.616666667,BASELINE,784,761,738.29345436,722.70654564,691,648,913,800,838,658,635,657,0.400991871667,0.00456999989817,0.0498536008865,0.999999964739,8.58909510346e-05,-0.000249463661604,-3.02015034792e-05,1793254931842296832
+98,1.633333333,BASELINE,784,761,738.866934828,722.133065172,691,648,913,800,838,658,635,657,0.400991858127,0.00457055631255,0.0498540341628,0.999999964849,8.72669195339e-05,-0.000248539410372,-3.02311586405e-05,1793254931858963456
+99,1.650000000,BASELINE,783.558696651,761,738.558696651,722.441303349,691,648,913,800,838.441303349,658,635,656.558696651,0.400991318035,0.00457073422732,0.0498539049221,0.999999964793,8.69419468345e-05,-0.000248870616285,-3.02968918649e-05,1793254931875630080
+100,1.666666667,BASELINE,783,761,738,723,691,648,913,800,838.983522076,658,634.983522076,656.016477924,0.400990608801,0.00457076165949,0.0498535837991,0.999999964684,8.60711193676e-05,-0.000249604623129,-3.0368896355e-05,1793254931892296704
+101,1.683333333,BASELINE,783,761,738,723,691,648,913,800,838.389499544,658,634.389499544,656.610500456,0.400989547332,0.00456952294717,0.0498524941791,0.999999964466,8.40808158605e-05,-0.000251161684046,-3.02786491491e-05,1793254931908963328
+102,1.700000000,BASELINE,783,761,738,723,691,648,913,800,838,658,634,657.198053996,0.400988964509,0.00456906589931,0.0498520364352,0.999999964282,8.39529190354e-05,-0.000251955001916,-3.01235452598e-05,1793254931925630208
+103,1.716666667,BASELINE,783,761,738,723,691,648,913,800,838,658,634,657.773287733,0.400989293235,0.00457009747593,0.0498527820547,0.999999964163,8.73718434375e-05,-0.000251293825317,-2.98449264426e-05,1793254931942296832
+104,1.733333333,BASELINE,783,761,738.348979496,722.651020504,691,648,913,800.348979496,838,658,634.348979496,657.651020504,0.400990178712,0.00456963823992,0.0498533933758,0.999999964374,8.76588518097e-05,-0.000250367961164,-2.97122512065e-05,1793254931958963456
+105,1.750000000,BASELINE,783,761,738.924969259,722.075030741,691,648,913,800.924969259,838,658,634.924969259,657.075030741,0.400991426354,0.00456820923423,0.0498539173364,0.999999964802,8.5908557171e-05,-0.000249269918369,-2.96745118684e-05,1793254931975630080
+106,1.766666667,BASELINE,783.500193375,761,739,722.500193375,691.500193375,648,913,801,838.500193375,658,635,657,0.400992124433,0.0045680604825,0.0498544511458,0.999999965122,8.61769803444e-05,-0.000247894727706,-2.96370417707e-05,1793254931992296704
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913,800,838,658,635,657,0.400990760637,0.00456797106235,0.049853629433,0.999999964814,8.36231437452e-05,-0.000250002033677,-2.96349173701e-05,1793254932034826496
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,761,738,722.573292767,691,648,913,800,838.573292767,658,635,657,0.400990744331,0.00456851570303,0.049853624572,0.999999964906,8.50398268182e-05,-0.000249146537377,-2.97051718976e-05,1793254932051493376
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,761,738.147634456,722.852365544,691,648,913,800,839,658,634.852365544,656.852365544,0.400990623256,0.00456894431074,0.0498536443251,0.999999964924,8.61249789881e-05,-0.000248704493394,-2.96693750058e-05,1793254932068160000
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,761,738.72502967,722.27497033,691,648,913,800,839,658,634.27497033,656.27497033,0.4009901972,0.00456903514907,0.0498537357293,0.999999964734,8.62450520956e-05,-0.0002494660001,-2.93248647077e-05,1793254932084826880
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691.309851625,648,913,800,838.690148375,658,634,656.309851625,0.400989803628,0.00456860109342,0.0498535469757,0.999999964556,8.60125072655e-05,-0.000250264031236,-2.92855054138e-05,1793254932101493248
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,761,739,722,691.901426075,648,913,800,838.098573925,658,634,656.901426075,0.40098943959,0.00456768979444,0.0498531034975,0.999999964388,8.54593556794e-05,-0.000251095271015,-2.95235950758e-05,1793254932118159616
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,761,739,722,691.517310023,648,913,800,838,658,634.482689977,657,0.400989413867,0.00456796149931,0.0498528978293,0.999999964593,8.4346485477e-05,-0.00025060396644,-2.99678229763e-05,1793254932134826240
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,761,738.938545583,722,691,648,913,800.061454417,838,658,635,657,0.400989437451,0.00456851990544,0.0498527264781,0.999999964781,8.35109549425e-05,-0.000250079634473,-3.04009385363e-05,1793254932151492608
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,761,738.363441177,722,691,648,913,800.636558823,838,658,635,657,0.400989307763,0.00456949758801,0.0498524445283,0.999999964223,8.59288950073e-05,-0.000251489490283,-3.03966760936e-05,1793254932168159232
+116,1.933333333,POSE1_TO_POSE2_PRESS,783,761,738.211521994,722.211521994,691,648,913,800.788478006,838,657.788478006,635,657,0.4009914936,0.00456979047865,0.0498532727631,0.999999964294,8.71995276091e-05,-0.000250810115264,-3.00577505603e-05,1793254932184825856
+117,1.950000000,POSE1_TO_POSE2_PRESS,783,761,738.786242596,722.786242596,691,648,913,800.213757404,838,657.213757404,635,657,0.400997655359,0.00456890753178,0.0498560072656,0.999999965442,8.65001498159e-05,-0.000246543379202,-2.91441842223e-05,1793254932201492480
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.371388464,761,738.628611536,722.628611536,691,648,913,800,838,657.371388464,634.628611536,657,0.401016130743,0.00456846270073,0.049862554204,0.999999968733,8.46769291762e-05,-0.000233505141586,-2.89607114327e-05,1793254932218159360
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.962708086,761,738.037291914,722.037291914,691,648,913,800,838,657.962708086,634.037291914,657,0.401041898087,0.00456827731578,0.0498713588151,0.999999973025,8.21881841157e-05,-0.000215272540494,-2.92095899415e-05,1793254932234826496
+120,2.000000000,POSE1_TO_POSE2_PRESS,783.45836037,761,738.54163963,722.54163963,691,648,913,800,838.54163963,657.45836037,634.54163963,657,0.401097732223,0.0045674276212,0.0498893002254,0.999999980332,8.31082393798e-05,-0.000177729595257,-2.90036260161e-05,1793254932251493120
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,913,800,839,657.119170058,634.880829942,657,0.401158606172,0.00456647704481,0.0499072437942,0.999999985903,8.35373755227e-05,-0.000142824894764,-2.85898629158e-05,1793254932268160000
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,913,800,839,657.694529119,634.305470881,657,0.40123102554,0.00456531145893,0.0499228413684,0.999999988761,8.1208909686e-05,-0.000122995179994,-2.74978325807e-05,1793254932284826368
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.2759369,761,738.7240631,722.7240631,691,648,913,800,838.7240631,657.7240631,634,657,0.401310583228,0.00456443729219,0.0499367735016,0.999999991209,8.00252804834e-05,-0.000102363973853,-2.64313630748e-05,1793254932301492992
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.864190842,761,738.135809158,722.135809158,691,648,913,800,838.135809158,657.135809158,634,657,0.401398220366,0.00456389296601,0.0499488206174,0.9999999932,8.01374258983e-05,-8.08256071068e-05,-2.53938244616e-05,1793254932318159616
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.55428741,761,738,722.44571259,691,648,913.44571259,800.44571259,838,657.44571259,634.44571259,656.55428741,0.40149451821,0.0045633104399,0.0499513399082,0.9999999936,7.82878635801e-05,-7.79223783873e-05,-2.44790705867e-05,1793254932334826240
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,648,913.974918689,801,838.025081311,658,635,656.025081311,0.401594607992,0.00456274845342,0.0499509649451,0.999999993584,7.59849797595e-05,-8.06331205758e-05,-2.36007772483e-05,1793254932351492864
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,761,738,723,691,648,913.398456904,801,838.601543096,658,635,656.601543096,0.40172090848,0.0045628900778,0.0499498356818,0.999999993293,7.6661309409e-05,-8.379036764e-05,-2.27137904555e-05,1793254932368159488
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738,722.822422323,691,648,913,800.822422323,839,658,634.822422323,657,0.401856179612,0.00456184363405,0.0499498033559,0.99999999334,7.48846253065e-05,-8.5110242875e-05,-2.16614847611e-05,1793254932384826368
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,761,738,722.247344096,691,648,913,800.247344096,839,658,634.247344096,657,0.402011531154,0.00455813774711,0.049952226481,0.999999994121,6.76169676539e-05,-8.23172341189e-05,-2.02391194172e-05,1793254932401493248
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,761,738,722.336444997,691,648,913,800,838.663555003,658,634,657,0.402177153867,0.00455505832986,0.0499513099231,0.999999993983,6.38520602596e-05,-8.72498038554e-05,-1.85349421756e-05,1793254932418159616
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,761,738,722.926808326,691,648,913,800,838.073191674,658,634,657,0.402350528351,0.00455245171503,0.0499478728741,0.999999993091,6.27307120085e-05,-9.80129430151e-05,-1.6618078585e-05,1793254932434826240
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,648,913,800,838.507642517,658,634.507642517,657,0.402567877388,0.00455037765129,0.0499497251146,0.999999993707,5.78446963918e-05,-9.49290114115e-05,-1.51060915491e-05,1793254932451492608
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,761,738,722.913303123,691,648,913,800.086696877,839,658,634.913303123,657,0.402797696684,0.00454822926507,0.049952166167,0.999999994413,5.28217389521e-05,-9.05590923994e-05,-1.35459157962e-05,1793254932468159232
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,761,738,722.336685442,691,648,913,800.663314558,839,658,634.336685442,657,0.403062816783,0.00454523498153,0.0499537045121,0.999999994634,5.00356853117e-05,-8.99961757381e-05,-1.13896304265e-05,1793254932484825856
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.243570631,800.756429369,839,658,634.243570631,657,0.403342924759,0.00454227405795,0.0499573230681,0.999999995378,4.71148175456e-05,-8.33027476356e-05,-9.21859575514e-06,1793254932501492736
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.828932251,800.171067749,839,658,634.828932251,657,0.40364406449,0.00453935994698,0.0499638606844,0.999999996695,4.40047717393e-05,-6.80066667342e-05,-7.02686422378e-06,1793254932518159616
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,761,738.410228837,722.410228837,691,648,914,800.410228837,839,658,635,657,0.403981029061,0.00453696463152,0.0499729695991,0.999999997933,3.98895916347e-05,-5.02010888408e-05,-4.72653118887e-06,1793254932534826496
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,761,738.9898469,722.9898469,691,648,914,800.9898469,839,658,635,657,0.404332786203,0.00453478353404,0.0499831402387,0.99999999888,3.53593775846e-05,-3.13593049022e-05,-2.38135512714e-06,1793254932551493376
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,761,739,722.43219633,691,648,913.43219633,801,838.43219633,658,635,657,0.404725955818,0.00453047756882,0.0499905033975,0.999999999424,3.0643099857e-05,-1.45885794592e-05,1.97650619269e-07,1793254932568159744
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,739,722.144688286,691,648,913.144688286,800.855311714,838,658,635,657,0.40512611968,0.00452615412252,0.0499933657104,0.999999999645,2.56551909028e-05,-6.60457679071e-06,2.86532881423e-06,1793254932584826112
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,739,722.718480934,691,648,913.718480934,800.281519066,838,658,635,657,0.405544836684,0.00452189118826,0.0499830282404,0.999999999484,1.98715401116e-05,-2.45699914435e-05,5.78361978685e-06,1793254932601492736
+142,2.366666667,POSE1_TO_POSE2_PRESS,783.300424185,761,738.699575815,722.699575815,691,648,914,800,838.300424185,658,635,657,0.405963553671,0.00451762057307,0.0499662426974,0.999999998283,1.55540580218e-05,-5.58102757419e-05,8.78755430084e-06,1793254932618159360
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.890218198,761,738.109781802,722.109781802,691,648,914,800,838.890218198,658,635,657,0.40638227069,0.00451334255907,0.0499432463423,0.999999994866,1.2648795047e-05,-9.98369719632e-05,1.18739813648e-05,1793254932634825984
+144,2.400000000,POSE1_TO_POSE2_PRESS,783.52817034,761,738.47182966,722.47182966,691,648,914,800.47182966,839,658,635,657,0.406858309372,0.00450706984378,0.0499276519897,0.999999991895,5.7378533784e-06,-0.000126268731586,1.52837617496e-05,1793254932651493120
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,738.948845495,723,691,648,914,800.948845495,839,658,635,657,0.40735559291,0.00450058188938,0.0499165863348,0.999999989539,-1.7671852985e-06,-0.000143413277932,1.87452833866e-05,1793254932668159744
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,738.373772844,723,691,648,914,800.373772844,839,658,635,657,0.407936194791,0.00449656182914,0.0499345647215,0.999999994053,-5.97407022431e-06,-0.000106653397873,2.19793181195e-05,1793254932684826624
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738.201359738,722.798640262,691.201359738,648,913.798640262,800,839,658,635,657,0.408538812224,0.00449051398071,0.0499557926741,0.999999997397,-1.30334190453e-05,-6.60719085455e-05,2.59007306674e-05,1793254932701493248
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738.776603567,722.223396433,691.776603567,648,913.223396433,800,839,658,635,657,0.409182308024,0.00448070094215,0.0499830544091,0.999999999025,-2.53892130538e-05,-1.83944701642e-05,3.10984638617e-05,1793254932718159872
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,738.638827604,722,691.638827604,648,913.361172396,800.361172396,839,658,635,657,0.409813309579,0.00447293705868,0.0499974232492,0.99999999933,7.05296731384e-06,2.77812230613e-06,3.58083274605e-05,1793254932734826752
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,738.048338129,722,691.048338129,648,913.951661871,800.951661871,839,658,635,657,0.41043637821,0.00446647423367,0.0500036060779,0.999999996858,6.79384642305e-05,7.12214600416e-06,4.02084305983e-05,1793254932751493376
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738.530918775,722,691,648,914,801,839,658,635,657,0.41105268399,0.00446189127071,0.0499782197842,0.999999990539,0.000120411539207,-4.95641906007e-05,4.43438386251e-05,1793254932768159744
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738.891490906,722,690.891490906,648,914,800.891490906,839,658,635.108509094,657,0.4116879033,0.00445694343467,0.0499540260816,0.999999981161,0.000159307653905,-9.98597965495e-05,4.82408815363e-05,1793254932784826624
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738.316758393,722,690.316758393,648,914,800.316758393,839,658,635.683241607,657,0.412406977634,0.00444970772476,0.0499470502249,0.999999983519,0.00014309127144,-9.9316853406e-05,5.12151588613e-05,1793254932801493504
+154,2.566666667,POSE1_TO_POSE2_PRESS,783.264395985,761,738,722,690.264395985,648,914,800.264395985,839,658,635.735604015,656.735604015,0.413164517882,0.00444086673815,0.0499573737222,0.99999999369,7.1667282551e-05,-7.57001399604e-05,4.18646211704e-05,1793254932818159872
+155,2.583333333,POSE1_TO_POSE2_PRESS,783.853435649,761,738,722,690.853435649,648,914,800.853435649,839,658,635.146564351,656.146564351,0.413969289333,0.00443005468078,0.049988938562,0.999999997286,-6.75444282267e-05,-2.37518537672e-05,1.73808226893e-05,1793254932834826496
+156,2.600000000,POSE1_TO_POSE2_PRESS,783.56316994,761,738,722,691,648,914,800.56316994,839,658,635,656.43683006,0.414739908539,0.00443660328869,0.0499804638286,0.99999999578,-8.21297085826e-05,-3.80978587185e-05,1.55992217569e-05,1793254932851493120
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738.018167812,722,690.981832188,648,914,800.018167812,839,658,635,657,0.415500151687,0.00444917772944,0.0499587850214,0.999999995503,-5.51235617793e-05,-7.42040868387e-05,2.11950488375e-05,1793254932868159744
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738.593776929,722,690.406223071,648,914,800.593776929,839,658,635,657,0.416289129058,0.00447020018108,0.0499389019965,0.999999994146,-1.85903627762e-05,-0.000104206868967,2.2422014368e-05,1793254932884826368
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761.168754595,738.831245405,722,690.168754595,648,914,800.831245405,839,658,635,657,0.41710389427,0.00447969226302,0.049933304602,0.999999993624,8.82210258006e-06,-0.000109809589034,2.48257159295e-05,1793254932901492736
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761.742217876,738.257782124,722,690.742217876,648,914,800.257782124,839,658,635,657,0.417980504054,0.00446153211425,0.0499619671277,0.999999997827,1.4361145639e-05,-5.6895873825e-05,3.0051475709e-05,1793254932918159360
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,761.675150883,738.324849117,722,691,648,914,800.324849117,839,658,635.324849117,657,0.418849247726,0.00444953974586,0.0499771348309,0.999999998743,5.72958596321e-06,-3.71893409662e-05,3.31246234083e-05,1793254932934825984
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761.085033206,738.914966794,722,691,648,914,800.914966794,839,658,635.914966794,657,0.419711567969,0.0044425839265,0.0499812827949,0.999999998308,-1.44735472868e-05,-4.45994657591e-05,3.4439969267e-05,1793254932951493120
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.4953799,761.4953799,738.5046201,721.5046201,690.5046201,648,914.4953799,801,839,658,636,657,0.420610531224,0.00444241209042,0.0499747980924,0.999999998389,-2.28852262462e-05,-3.91342924175e-05,3.41491497491e-05,1793254932968159744
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.926130386,761.926130386,738,721.073869614,690.073869614,648,914.926130386,800.926130386,839.073869614,658,635.926130386,657,0.421521661113,0.00444331447796,0.0499710255613,0.999999998734,-2.66205089142e-05,-2.61288971916e-05,3.37668523073e-05,1793254932984826368
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.349611438,761.349611438,738,721.650388562,690.650388562,648,914.349611438,800.349611438,839.650388562,658,635.349611438,657,0.422473601677,0.00444375490451,0.0499978886604,0.999999999054,-1.20430295495e-05,2.34346670033e-05,3.46020733061e-05,1793254933001492736
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,761,738,721.774786838,690.774786838,648,914,800,839.774786838,658,635,657,0.423407338387,0.00444643728986,0.0500079118078,0.999999998581,-1.1589647855e-06,4.01147882759e-05,3.50359496812e-05,1793254933018159616
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,761,738,721.202572745,690.202572745,648,914,800,839.202572745,658,635,657,0.424313027351,0.00445257401064,0.0499919885231,0.999999999366,4.03441212499e-06,6.12920493787e-06,3.48514478579e-05,1793254933034826240
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.385178286,761,738,721,690,648,914,800,839.385178286,658,635.385178286,657,0.425267319582,0.00445069607517,0.0499924489103,0.999999999328,-5.72269388605e-06,7.41965993729e-06,3.54304060635e-05,1793254933051492864
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.981443915,761,738,721,690,648,914,800,839.981443915,658,635.981443915,657,0.426248247566,0.00444442590708,0.0500018879606,0.999999998663,-2.36730390945e-05,2.80422690312e-05,3.64277594812e-05,1793254933068159488
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.442663226,761,738,721,690,648,914,800,840,658,636,657,0.42717449802,0.00443728803502,0.0500023878337,0.999999998626,-3.42149497689e-05,1.56418594318e-07,3.97086812984e-05,1793254933084826368
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,761,738,721,689.736177492,648.131911254,914,800,840,658,636,657,0.42809512299,0.00443229886736,0.0499947649642,0.999999997954,-3.50599164881e-05,-3.29247165621e-05,4.2174544087e-05,1793254933101492992
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,761,738,721,688.591462751,648.704268624,914,800,840,658,636,657,0.429002828693,0.00443457719272,0.0499609793056,0.999999996069,-4.32173277019e-06,-7.8150268861e-05,4.16740516713e-05,1793254933118159616
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,761,738,721,688.571505926,649,914,800,840,657.714247037,636,657,0.429961348273,0.00443772209689,0.0499503341913,0.999999995552,4.51867799217e-06,-8.48426057611e-05,4.09615797817e-05,1793254933134826240
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,761,738,721,689.753989187,649,914,800,840,657.123005406,636,657,0.430974191165,0.00444179343053,0.0499644278394,0.999999997882,-1.00510693474e-05,-5.03404042308e-05,4.0022488015e-05,1793254933151492864
+175,2.916666667,POSE1_TO_POSE2_PRESS,783,761,738,720.541796296,690,649,914,800,840,657.458203704,636,657,0.431923217129,0.00444261701553,0.0499545815152,0.999999996753,-1.66411304723e-05,-6.76842466224e-05,4.04513970143e-05,1793254933168159232
+176,2.933333333,POSE1_TO_POSE2_PRESS,783,761.036660323,738,720.036660323,689.963339677,648.963339677,914.036660323,800.036660323,840,658,635.963339677,657,0.432858156499,0.00444212646491,0.0499405773997,0.999999994482,-2.09599108789e-05,-9.43312927372e-05,4.12023804969e-05,1793254933184826112
+177,2.950000000,POSE1_TO_POSE2_PRESS,783,761.613393353,738,720.613393353,689.386606647,648.386606647,914.613393353,800.613393353,840,658,635.386606647,657,0.433832547753,0.00443484523318,0.0499579701196,0.999999997239,-2.27003053184e-05,-5.73851651631e-05,4.14038879277e-05,1793254933201492736
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,761.806847119,738,721,689.193152881,648.193152881,914.806847119,800.806847119,840,658,635.193152881,657,0.434783555637,0.00442976960916,0.0499725019827,0.99999999832,-2.48066966545e-05,-3.16170270161e-05,4.17658668278e-05,1793254933218159104
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,761.220933349,738,721,689.779066651,648.779066651,914.220933349,800.220933349,840,658,635.779066651,657,0.435687015491,0.00442917891017,0.0499812165261,0.999999998308,-2.76573136937e-05,-2.85784272064e-05,4.24541517219e-05,1793254933234825984
+180,3.000000000,POSE1_TO_POSE2_PRESS,783.362839326,761,738,720.637160674,689.274321348,649,914.362839326,800,840,658,636,657.362839326,0.436599628555,0.0044321453492,0.0499675090564,0.999999996697,-2.33942629755e-05,-6.45919935408e-05,4.34239265828e-05,1793254933251492864
+181,3.016666667,POSE1_TO_POSE2_PRESS,783.945315897,761,738,720.054684103,688.109368205,649,914.945315897,800,840,658,636,657.945315897,0.43751778227,0.00443726502784,0.0499402288866,0.999999991179,-1.48251010741e-05,-0.000124244977079,4.45640953764e-05,1793254933268159744
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,761.521686716,738,720.521686716,689.043373432,649,915,800,840,658,636,657.478313284,0.438473254938,0.00443619033331,0.0499619563492,0.99999999625,-2.53020532254e-05,-7.01805171453e-05,4.39728854726e-05,1793254933284826368
+183,3.050000000,POSE1_TO_POSE2_PRESS,784.097357328,761.902642672,738,721,690,649,915,800.097357328,840,658,636,657,0.439416564209,0.00443451817104,0.0499824577988,0.999999998254,-3.53304384047e-05,-1.8873422038e-05,4.34396079594e-05,1793254933301492992
+184,3.066666667,POSE1_TO_POSE2_PRESS,784.672696056,761.327303944,738,721,690,649,915,800.672696056,840,658,636,657,0.440281173344,0.00443306362834,0.049972011117,0.99999999771,-3.34682793824e-05,-3.89489732244e-05,4.40714624349e-05,1793254933318159616
+185,3.083333333,POSE1_TO_POSE2_PRESS,784.745164797,761,738,720.745164797,689.490329595,649,915,801,840.254835203,658,636,657,0.441142259241,0.00443113726486,0.0499694848792,0.999999997664,-2.60120993127e-05,-4.49709197147e-05,4.44101007217e-05,1793254933334826240
+186,3.100000000,POSE1_TO_POSE2_PRESS,784.15405194,761,738,720.15405194,688.30810388,649,915,801,840.84594806,658,636,657,0.441998695846,0.0044285882921,0.0499774103708,0.999999998427,-1.11741124145e-05,-3.24478866198e-05,4.43618141946e-05,1793254933351492864
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,761,738,720,688.428307195,648.571692805,915,800.571692805,841,658,636,657,0.442860886582,0.00443040311748,0.0499896649326,0.999999998877,-1.36181581638e-05,-9.56762642188e-06,4.43734507071e-05,1793254933368159232
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,761,738,720,688.985077136,648,915,800.007461432,840.992538568,658,636,657,0.443722982718,0.00443382443384,0.0500025674756,0.999999998659,-2.1783584393e-05,1.53321265254e-05,4.44062330211e-05,1793254933384826112
+189,3.150000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.844792114,648,915,800.577603943,840.422396057,658,636,657,0.444424991188,0.00444240181661,0.0499492660359,0.999999995584,-2.04199878133e-06,-8.27760685723e-05,4.44408704815e-05,1793254933401492992
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,761.153497993,738,720,687,648,915,800.846502007,840.153497993,657.846502007,636,657,0.445138319865,0.00445060707883,0.0499043633998,0.999999986632,1.59477468522e-05,-0.000156663523114,4.40177374837e-05,1793254933418159616
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,761.745835403,738,720,687,648,915,800.254164597,840.745835403,657.254164597,636,657,0.445884012342,0.00445774847789,0.0498834723097,0.999999985678,2.89291160135e-05,-0.000161305695644,4.22858736952e-05,1793254933434826240
+192,3.200000000,POSE1_TO_POSE2_PRESS,784.330651736,761.669348264,738,720,687.330651736,648,915,800.330651736,841,657.330651736,636,657,0.446622306763,0.00446212015185,0.0498749076336,0.999999985482,3.35155261242e-05,-0.000161588729097,4.24476441249e-05,1793254933451492864
+193,3.216666667,POSE1_TO_POSE2_PRESS,784.909815329,761.090184671,738,720,687.909815329,648,915,800.909815329,841,657.909815329,636,657,0.447355040895,0.00446441015016,0.0498756072682,0.999999985949,3.17924362802e-05,-0.000158595512307,4.40326358447e-05,1793254933468159488
+194,3.233333333,POSE1_TO_POSE2_PRESS,785,761.487939616,738,720,687.024120768,647.512060384,915,801,841,658,636,657.487939616,0.448024891543,0.0044673344537,0.0498433205757,0.999999976679,3.49812514774e-05,-0.00020839394276,4.46225583468e-05,1793254933484826112
+195,3.250000000,POSE1_TO_POSE2_PRESS,784.934769369,762,738,720,686,647,915,800.934769369,841,658,636,658,0.448680256765,0.00447003074621,0.0498087871402,0.999999963884,3.90206389509e-05,-0.00026205308448,4.51314192988e-05,1793254933501492992
+196,3.266666667,POSE1_TO_POSE2_PRESS,784.362465752,762,738,720,686,647,915,800.362465752,841,658,636,658,0.449313175663,0.00447004517564,0.0498040813999,0.999999961554,4.26297357672e-05,-0.000270035688426,4.64367872803e-05,1793254933518159872
+197,3.283333333,POSE1_TO_POSE2_PRESS,784.216684648,762,738,719.783315352,686,646.783315352,915,800,841,658,636,657.783315352,0.449938178134,0.00447071392788,0.0498082389392,0.999999961863,4.69808476867e-05,-0.00026783558043,4.82738084026e-05,1793254933534826496
+198,3.300000000,POSE1_TO_POSE2_PRESS,784.807661851,762,738,719.192338149,686,646.192338149,915,800,841,658,636,657.192338149,0.450549506017,0.00447251293164,0.0498277065605,0.99999996655,5.26136869903e-05,-0.000248046254605,5.10291861499e-05,1793254933551493120
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,761.609584738,738,719,685.609584738,646,915,800,841,658,635.609584738,657,0.451123107847,0.00447516039347,0.0498309475939,0.999999964673,5.70434557207e-05,-0.000254198940628,5.27505294717e-05,1793254933568160000
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,761.030799148,738,719,685.030799148,646,915,800,841,658,635.030799148,657,0.451678507397,0.00447821722551,0.0498263595097,0.999999959461,6.08927589121e-05,-0.000272868310874,5.397296476e-05,1793254933584826624
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,761.543007825,738,719.543007825,685,645.456992175,915,800.543007825,841,658,635.543007825,657,0.452148609893,0.00447664426164,0.0497802591501,0.999999933073,5.97021376266e-05,-0.00035668484874,5.53697838949e-05,1793254933601493504
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,762,738,720,685,645,915.119692444,800.880307556,841,658,636,657,0.452613781388,0.00447446628759,0.049739054851,0.99999990534,5.75848883873e-05,-0.000427560978858,5.65376440933e-05,1793254933618159872
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,762,738,720,685,645,915.708759235,800.291240765,841,658,636,657,0.453078415983,0.00447093619377,0.0497261999714,0.999999903099,5.29446901574e-05,-0.000433332524772,5.6769207782e-05,1793254933634826240
+204,3.400000000,POSE1_TO_POSE2_PRESS,785,762,738,719.707191828,684.707191828,644.707191828,915.707191828,800,841,658.292808172,636,657,0.453540763087,0.00446738832631,0.0497251939334,0.999999906708,4.74825353525e-05,-0.00042554487883,5.69229385751e-05,1793254933651492864
+205,3.416666667,POSE1_TO_POSE2_PRESS,785,762,738,719.12804983,684.12804983,644.12804983,915.12804983,800,841,658.87195017,636,657,0.454000873253,0.00446382307842,0.0497357747457,0.999999915717,4.12165986944e-05,-0.000404497850753,5.70005574203e-05,1793254933668159488
+206,3.433333333,POSE1_TO_POSE2_PRESS,785,762,738,719,684,644,915,800,841,658.54893999,636,657,0.454411601033,0.00446162704625,0.04973344874,0.999999916326,-1.07356951164e-05,-0.0004068213674,4.15898081573e-05,1793254933684826112
+207,3.450000000,POSE1_TO_POSE2_PRESS,785,761.970127376,738,719,684,644,915.029872624,800,841,658,636,657.029872624,0.454804230266,0.00445969829801,0.0497262294373,0.999999909982,-6.91380997259e-05,-0.000418008909153,2.28984842978e-05,1793254933701492992
+208,3.466666667,POSE1_TO_POSE2_PRESS,785,761.396558116,738,719,684,644,915.603441884,800,841,658,636,657.603441884,0.455122591438,0.00445556018778,0.0496966328508,0.999999889312,-8.89688234325e-06,-0.000469782078805,2.45198234669e-05,1793254933718159616
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,761.181782458,738,719,684,644,915.818217542,800,841,658,636,658,0.455427080325,0.00445457027778,0.0496674046628,0.999999864858,3.4423358276e-05,-0.000518086809951,2.61616506977e-05,1793254933734826240
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,761.770812129,738,719,684,644,915.229187871,800,841,658,636,658,0.455700491089,0.00446063328086,0.0496390018021,0.99999984279,3.98355289084e-05,-0.00055862119695,2.78493773784e-05,1793254933751492864
+211,3.516666667,POSE1_TO_POSE2_PRESS,785,762,738,718.646448525,684,644,915.353551475,800,841,658,636,657.646448525,0.455971923954,0.0044757846944,0.0496244242389,0.999999830499,5.26581800591e-05,-0.000579175052248,2.8017530128e-05,1793254933768159232
+212,3.533333333,POSE1_TO_POSE2_PRESS,785,762,738,718.067715511,684,644,915.932284489,800,841,658,636,657.067715511,0.456242097097,0.00449672463552,0.049618652185,0.999999824879,7.02006633062e-05,-0.000587003050929,2.72178466297e-05,1793254933784825856
+213,3.550000000,POSE1_TO_POSE2_PRESS,785.509630882,762,738,718.509630882,684,643.490369118,915.490369118,800,841,658,636,657,0.45649782691,0.00450698167738,0.0496254870655,0.999999832093,7.81828701116e-05,-0.000573556757936,2.70888811049e-05,1793254933801492736
+214,3.566666667,POSE1_TO_POSE2_PRESS,786,762,738,718.912164456,683.912164456,643,915.087835544,800,841,658,635.912164456,657,0.456743971279,0.00451331650583,0.0496331792185,0.999999839599,8.24989533328e-05,-0.000559682890511,2.73955572099e-05,1793254933818159616
+215,3.583333333,POSE1_TO_POSE2_PRESS,786,762,738,718.328072369,683.328072369,643,915.671927631,800,841,658,635.328072369,657,0.456946772783,0.00450548939746,0.0496362764367,0.999999840457,7.32594948759e-05,-0.000559320638471,2.96613937013e-05,1793254933834826240
+216,3.600000000,POSE1_TO_POSE2_PRESS,786,761.745388217,738,718.254611783,683,643,916,800,841,658,635.254611783,657.254611783,0.457133904897,0.00450160472698,0.0496352324214,0.999999839033,6.8721258477e-05,-0.000562363343049,3.09721893225e-05,1793254933851492608
+217,3.616666667,POSE1_TO_POSE2_PRESS,786,761.164508274,738,718.835491726,683,643,916,800,841,658,635.835491726,657.835491726,0.457300957715,0.00450277203037,0.0496288816891,0.999999834735,7.02073277616e-05,-0.000569769274375,3.10591631013e-05,1793254933868159232
+218,3.633333333,POSE1_TO_POSE2_PRESS,785.584876209,761.415123791,738,719,683,643,916,800,841,658,636,657.584876209,0.457442253843,0.00450182702553,0.0496203065473,0.99999982968,6.78399784036e-05,-0.000578848588795,3.11641979577e-05,1793254933884825856
+219,3.650000000,POSE1_TO_POSE2_PRESS,785.005737194,761.994262806,738,719,683,643,916,800,841,658,636,657.005737194,0.457573373511,0.00450004744864,0.0496108525425,0.999999824248,6.3950145029e-05,-0.000588589055904,3.12763687332e-05,1793254933901492480
+220,3.666666667,POSE1_TO_POSE2_PRESS,785.568653063,761.431346937,738,719,683,643,916,800,841,658,636,657,0.457687195901,0.00450001573717,0.0496050463405,0.99999981897,6.36347633873e-05,-0.000597507352605,3.15487284312e-05,1793254933918159104
+221,3.683333333,POSE1_TO_POSE2_PRESS,786,761.146389731,738,719,683,643,916,800.146389731,841,658,636,657,0.457795355014,0.00450037541281,0.0496013343119,0.999999815253,6.40017140771e-05,-0.000603645190727,3.17889693131e-05,1793254933934825728
+222,3.700000000,POSE1_TO_POSE2_PRESS,786,761.734364066,738,719,683,643,916,800.734364066,841,658,636,657,0.457886952897,0.00450186295405,0.0496038292618,0.999999816438,6.63190371598e-05,-0.000601420588923,3.19274889717e-05,1793254933951492608
+223,3.716666667,POSE1_TO_POSE2_PRESS,786,762,738,719,683,643,916,801,841,658,636,657.317401639,0.457968013925,0.0045012814354,0.0496057551238,0.999999817933,6.58237816659e-05,-0.000598958421826,3.24165876117e-05,1793254933968159488
+224,3.733333333,POSE1_TO_POSE2_PRESS,786,762,738,719,683,643,916,801,841,658,636,657.896370936,0.458040391643,0.00449899482443,0.0496072120062,0.999999819677,6.30107072852e-05,-0.000596300479191,3.31945950566e-05,1793254933984826368
+225,3.750000000,POSE1_TO_POSE2_PRESS,785.52564176,761.52564176,738,719,683,643,916,800.52564176,841,658,635.52564176,657.52564176,0.458093702908,0.00449811774416,0.0496057958783,0.999999818666,6.22847040733e-05,-0.000598059638456,3.33546226106e-05,1793254934001492992
+226,3.766666667,POSE1_TO_POSE2_PRESS,785,761.051744281,738,718.948255719,683,642.948255719,916,800.051744281,841,658,635,657,0.458141283373,0.00449791178218,0.0496037352347,0.999999816927,6.2311968158e-05,-0.000600958202744,3.33401796414e-05,1793254934018159616
+227,3.783333333,POSE1_TO_POSE2_PRESS,785,761.625226776,738,718.374773224,683,642.374773224,916,800.625226776,841,658,635,657,0.458172992033,0.00450137428276,0.0496014913819,0.999999813926,6.53466346177e-05,-0.00060563572822,3.29249919522e-05,1793254934034826240
+228,3.800000000,POSE1_TO_POSE2_PRESS,785,761.795213026,738,718.204786974,683,642,916,800.795213026,841,658,635,657.204786974,0.458202271065,0.00450354881267,0.0496001425452,0.999999812198,6.71135456676e-05,-0.000608306517098,3.25977606841e-05,1793254934051492864
+229,3.816666667,POSE1_TO_POSE2_PRESS,785,761.204190088,738,718.795809912,683,642,916,800.204190088,841,658,635,657.795809912,0.458226967726,0.00450329418107,0.0496004817431,0.999999812922,6.64894219742e-05,-0.000607192524742,3.24364185732e-05,1793254934068159488
+230,3.833333333,POSE1_TO_POSE2_PRESS,785,761.380005064,738,719,682.619994936,642,915.619994936,800,841,658,635,658,0.458245252499,0.00450367111229,0.0495999147589,0.999999812929,6.657724073e-05,-0.00060717906564,3.22933940073e-05,1793254934084826112
+231,3.850000000,POSE1_TO_POSE2_PRESS,785,761.960596143,738,719,682.039403857,642,915.039403857,800,841,658,635,658,0.45826015275,0.00450438141454,0.0495988694458,0.999999812558,6.70408589703e-05,-0.000607746524045,3.21600383791e-05,1793254934101492736
+232,3.866666667,POSE1_TO_POSE2_PRESS,785,762,738,718.465522422,682,642,915,800.534477578,841,658,635.534477578,657.465522422,0.458268497454,0.00450458203526,0.0495986756882,0.999999811573,6.81941306764e-05,-0.000609227265806,3.23449137231e-05,1793254934118159616
+233,3.883333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,801,841,658,636,657.109857816,0.458275786511,0.00450507651899,0.0495986368542,0.999999810803,6.96331015703e-05,-0.000610318837794,3.24901905053e-05,1793254934134826240
+234,3.900000000,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,801,841,658,636,657.693814362,0.458280579712,0.00450699933846,0.0495989990303,0.999999811167,7.20883255116e-05,-0.00060944395252,3.23645835642e-05,1793254934151492864
+235,3.916666667,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.722205329,841,658,636,658,0.458283697622,0.00450748887509,0.0495984443076,0.999999810775,7.22637787716e-05,-0.000610072277754,3.22474243674e-05,1793254934168159744
+236,3.933333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.138198753,841,658,636,658,0.458284968866,0.00450639851028,0.0495968788912,0.999999809548,6.99262506475e-05,-0.000612357585537,3.21395770683e-05,1793254934184826368
+237,3.950000000,POSE1_TO_POSE2_PRESS,785.438453718,762,738,718,682,642,915.438453718,800,841,658,636,658,0.458285948985,0.00450724937983,0.0495957362868,0.999999808868,7.16925750502e-05,-0.000613279600813,3.18116045261e-05,1793254934201492992
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.987176991,761.987176991,738,718,682,642,915.987176991,800,841,658,635.987176991,658,0.458286806368,0.00450868604149,0.0495947336065,0.999999808343,7.46399533547e-05,-0.000613804493112,3.14231539547e-05,1793254934218159616
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.412956522,761.412956522,738,718,682,642,915.412956522,800,841,658,635.412956522,658,0.458286241433,0.00450942295193,0.0495941185559,0.999999807413,7.35978444059e-05,-0.00061544546457,3.13744375293e-05,1793254934234826240
+240,4.000000000,POSE1_TO_POSE2_PRESS,785.166111591,761,738,718,682,642,915,800,841,658,635.166111591,658,0.458285454927,0.00451016260422,0.0495933195093,0.999999806361,7.32911639863e-05,-0.000617194719271,3.12570271857e-05,1793254934251493120
+241,4.016666667,POSE1_TO_POSE2_PRESS,785.757593268,761,738,718,682,642,915,800,841,658,635.757593268,658,0.45828410103,0.00451090927769,0.0495920492953,0.999999805001,7.48677314847e-05,-0.000619221260077,3.09637089642e-05,1793254934268160000
+242,4.033333333,POSE1_TO_POSE2_PRESS,785.659078584,761.340921416,737.659078584,718,682,642,915.340921416,800.340921416,841,658,635.659078584,658,0.458283928277,0.0045104108556,0.0495914282756,0.999999804398,7.49526253757e-05,-0.000620170460453,3.12118763351e-05,1793254934284826624
+243,4.050000000,POSE1_TO_POSE2_PRESS,785.081412481,761.918587519,737.081412481,718,682,642,915.918587519,800.918587519,841,658,635.081412481,658,0.45828457574,0.00450904780676,0.0495912580732,0.999999804325,7.4001662306e-05,-0.000620371527571,3.1836065377e-05,1793254934301493248
+244,4.066666667,POSE1_TO_POSE2_PRESS,785,761.506002383,737.493997617,718.493997617,682,642,915.506002383,800.506002383,841,658,635,658,0.458286374942,0.00450928540331,0.0495919575203,0.999999805517,7.38344831086e-05,-0.000618481045486,3.15617163263e-05,1793254934318159616
+245,4.083333333,POSE1_TO_POSE2_PRESS,785,761.068828088,738,719,682,642,915,800,841,658,635.068828088,658,0.458288162153,0.00450983992822,0.0495927081735,0.999999806703,7.38604163111e-05,-0.000616577747025,3.11598552788e-05,1793254934334825984
+246,4.100000000,POSE1_TO_POSE2_PRESS,785,761.64212261,738,719,682,642,915,800,841,658,635.64212261,658,0.458288476601,0.00451079270005,0.0495927884563,0.999999806354,7.43593091523e-05,-0.000617095420945,3.09038264073e-05,1793254934351492864
+247,4.116666667,POSE1_TO_POSE2_PRESS,785.224734722,762,738,718.775265278,682,642,915,800,841,658.224734722,636,658,0.458289187839,0.00451121040283,0.0495930882909,0.999999806446,7.4741273488e-05,-0.000616897928976,3.0951430794e-05,1793254934368159488
+248,4.133333333,POSE1_TO_POSE2_PRESS,785.822826453,762,738,718.177173547,682,642,915,800,841,658.822826453,636,658,0.458290558272,0.00451073918315,0.0495937528721,0.999999807269,7.49289818632e-05,-0.000615512315398,3.15034681182e-05,1793254934384826112
+249,4.150000000,POSE1_TO_POSE2_PRESS,786,761.596763992,738,718,682,641.596763992,915.403236008,800,841,658.596763992,635.596763992,657.596763992,0.458289767695,0.00451015033301,0.0495933661524,0.999999806494,7.49921151435e-05,-0.000616744376789,3.18540077593e-05,1793254934401492736
+250,4.166666667,POSE1_TO_POSE2_PRESS,786,761.02379728,738,718,682,641.02379728,915.97620272,800,841,658.02379728,635.02379728,657.02379728,0.458288067502,0.00450951196971,0.0495925369177,0.999999805042,7.50028120769e-05,-0.000619078273924,3.21197326609e-05,1793254934418159616
+251,4.183333333,HOLD_POSE2,786,762,738,718,682,642,915,800,840,657,635,657,0.458288275804,0.0045147212881,0.0495928084912,0.999999804908,7.8608611833e-05,-0.000618933787589,3.04346288799e-05,1793254934447748352
+252,4.200000000,HOLD_POSE2,785.411187395,762,738,718.588812605,682,642,915,800,840.588812605,657.588812605,635.588812605,657,0.458289817556,0.00451370852417,0.0495934707375,0.999999805727,7.78101197166e-05,-0.000617709971958,3.04345815924e-05,1793254934464414720
+253,4.216666667,HOLD_POSE2,785,761.825174461,738,718.825174461,682,642,915,800.174825539,841,658,635.825174461,657,0.458290673074,0.00451306478122,0.04959383283,0.999999806218,7.69114888164e-05,-0.000617023554731,3.04979725827e-05,1793254934481081344
+254,4.233333333,HOLD_POSE2,785,761.245642418,738,718.245642418,682,642,915,800.754357582,841,658,635.245642418,657,0.458289940016,0.00451327529081,0.0495935000918,0.999999805954,7.5781044846e-05,-0.000617581169632,3.07082178817e-05,1793254934497747712
+255,4.250000000,HOLD_POSE2,785,761.331451709,738,718.331451709,682,642,915,800.668548291,841,658,635.331451709,657.331451709,0.458289250983,0.00451431266669,0.0495930314289,0.999999805439,7.63840896551e-05,-0.000618340598139,3.06918472072e-05,1793254934514414336
+256,4.266666667,HOLD_POSE2,785,761.906752228,738,718.906752228,682,642,915,800.093247772,841,658,635.906752228,657.906752228,0.458288594339,0.00451595836755,0.0495924627665,0.999999804738,7.82624611099e-05,-0.00061924850075,3.05087552942e-05,1793254934531080960
+257,4.283333333,HOLD_POSE2,785.475436161,761.524563839,738,718.524563839,682,642,915,800,841,658,636,658,0.458288878255,0.00451566486205,0.0495922852053,0.999999804788,7.93155648879e-05,-0.000619022619433,3.07273170947e-05,1793254934547747840
+258,4.300000000,HOLD_POSE2,785.954487571,761.045512429,738,718.045512429,682,642,915,800,841,658,636,657.954487571,0.458289369828,0.00451510083803,0.0495922480354,0.999999805004,8.01140547833e-05,-0.000618558270111,3.09789113944e-05,1793254934564414720
+259,4.316666667,HOLD_POSE2,785.351690576,761.648309424,738,718.648309424,682,642,915,800,841,658,636,657.351690576,0.458290176283,0.00451581760016,0.0495930035507,0.999999805474,7.97496077102e-05,-0.000617859434822,3.06836224987e-05,1793254934581081344
+260,4.333333333,HOLD_POSE2,785,761.759564777,738,718.759564777,682,642,915,800,841,658,635.759564777,657,0.458290838053,0.00451559334779,0.0495934541122,0.999999805866,7.90012800382e-05,-0.000617321671404,3.06749732941e-05,1793254934597747968
+261,4.350000000,HOLD_POSE2,785,761.182384717,738,718.182384717,682,642,915,800,841,658,635.182384717,657,0.458291297182,0.00451405114463,0.0495934775664,0.999999806147,7.77153031798e-05,-0.000617009499456,3.10677812495e-05,1793254934614414336
+262,4.366666667,HOLD_POSE2,785,761,738,718,682,642,915,800,841,658,635.391886508,657.391886508,0.458290803008,0.00451430415972,0.0495928809524,0.999999805601,7.86342558525e-05,-0.000617791706481,3.07985445677e-05,1793254934631081216
+263,4.383333333,HOLD_POSE2,785,761,738,718,682,642,915,800,841,658,635.964813981,657.964813981,0.458289868434,0.00451538651692,0.0495919978835,0.999999804668,8.05718261993e-05,-0.000619079486951,3.022346121e-05,1793254934647747840
+264,4.400000000,HOLD_POSE2,785,761.554885505,738,718,682,642,915,800,841,658,635.445114495,658,0.458290596189,0.00451432947556,0.0495923294902,0.999999804858,7.87069066189e-05,-0.000618987714421,3.07162736201e-05,1793254934664414464
+265,4.416666667,HOLD_POSE2,785,762,738,718.143233007,682,642,915.143233007,800,841,658.143233007,635,658,0.458291526093,0.00451363109127,0.0495927805095,0.999999805264,7.73113608573e-05,-0.000618492974515,3.09909496154e-05,1793254934681081088
+266,4.433333333,HOLD_POSE2,785,762,738,718.722909229,682,642,915.722909229,800,841,658.722909229,635,658,0.458292740533,0.00451445211847,0.0495933532074,0.999999806116,7.81041765953e-05,-0.000617045413584,3.0388028549e-05,1793254934697747968
+267,4.450000000,HOLD_POSE2,785.300841573,761.699158427,738,718.699158427,682,642,915.699158427,800,841,658.699158427,635.300841573,657.699158427,0.458292309227,0.00451444195148,0.0495929253009,0.999999805781,7.7186542337e-05,-0.000617715286475,3.01453021646e-05,1793254934714414592
+268,4.466666667,HOLD_POSE2,785.877176935,761.122823065,738,718.122823065,682,642,915.122823065,800,841,658.122823065,635.877176935,657.122823065,0.458290370841,0.00451367062356,0.0495915810971,0.999999804352,7.47025741409e-05,-0.000620324186231,3.0232421844e-05,1793254934731081472
+269,4.483333333,POSE2_TO_POSE3_RETREAT,786,762,738,718,682,642,915,800,841,658,635,658,0.458290709332,0.00451304811427,0.049592744116,0.999999804613,7.93304388861e-05,-0.00061930182706,3.07527525387e-05,1793254934763181312
+270,4.500000000,POSE2_TO_POSE3_RETREAT,786,762,738.58095605,718.58095605,682,642,915.58095605,800.58095605,841,658,635.58095605,658,0.458289745336,0.00451457769665,0.0495916780117,0.999999803777,8.08379059596e-05,-0.000620447133108,3.09395186482e-05,1793254934779847936
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.838738516,762,739,719,682,642,915.838738516,800.838738516,841,658,635.838738516,658,0.458289335114,0.00451579440753,0.049591065594,0.999999803276,8.18973033563e-05,-0.000621113141344,3.09856576114e-05,1793254934796514304
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.260116813,762,739,719,682,642,915.260116813,800.260116813,841,658,635.260116813,658,0.458290358115,0.00451620137728,0.0495916273603,0.99999980365,8.17970536872e-05,-0.000620538681025,3.06678400435e-05,1793254934813180160
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785.316303413,762,738.683696587,718.683696587,682,642,915,800.316303413,841,658,635,658,0.458291613705,0.00451623810832,0.0495923641251,0.999999804554,8.15144377041e-05,-0.000619126285788,3.05069582211e-05,1793254934829846528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785.890925699,762,738.109074301,718.109074301,682,642,915,800.890925699,841,658,635,658,0.458293059244,0.00451597247254,0.0495932438078,0.999999805886,8.10828866885e-05,-0.000617029565359,3.04742428023e-05,1793254934846513408
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785.523218708,762,738,718,682,642,915.476781292,801,841,658,635.476781292,657.523218708,0.458292692843,0.00451485709462,0.0495930379856,0.999999806403,7.80005426684e-05,-0.000616586189077,3.05110955856e-05,1793254934863180288
+276,4.600000000,POSE2_TO_POSE3_RETREAT,785.064270073,762,738,718,682,642,915.935729927,800.935729927,841,658,636,657,0.458291641691,0.00451379505072,0.0495923804828,0.999999806443,7.50840340537e-05,-0.000616882469963,3.0526725491e-05,1793254934879846912
+277,4.616666667,POSE2_TO_POSE3_RETREAT,785.643753018,762,738,718,682,642,915.356246982,800.356246982,841,658,636,657,0.458288504461,0.004514756516,0.0495901409073,0.999999804262,7.84755749976e-05,-0.000620002850018,3.02415636907e-05,1793254934896513280
+278,4.633333333,POSE2_TO_POSE3_RETREAT,785.777986091,762,738,718.222013909,682,641.777986091,915,800,841,658,635.777986091,657.222013909,0.458281057926,0.00451608215222,0.0495863340933,0.99999980032,8.11639018582e-05,-0.000626002450844,2.98902635917e-05,1793254934913179904
+279,4.650000000,POSE2_TO_POSE3_RETREAT,785.201675446,762,738,718.798324554,682,641.201675446,915,800,841,658,635.201675446,657.798324554,0.458266734468,0.00451798894372,0.0495800262314,0.999999793517,8.2730017372e-05,-0.000636596801852,2.94334179535e-05,1793254934929846272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,785,762,738,718.629790021,682,641.370209979,915,800,841,658,635,658,0.458234591837,0.00451813681369,0.0495661228777,0.999999778586,8.20828942302e-05,-0.000659724671822,2.92112533463e-05,1793254934946513152
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785,762,738,718.060286749,682,641.939713251,915,800,841,658,635,658,0.458192856699,0.00451733781236,0.0495481306803,0.999999758583,8.02443294467e-05,-0.000689599649073,2.91154233455e-05,1793254934963180032
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785,761.466765823,738,718,682,642,915,800,841,658,635.533234177,657.466765823,0.458133049736,0.00452007094072,0.0495280026813,0.999999738943,8.43244115071e-05,-0.000717085894196,2.81347606537e-05,1793254934979846400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.125678367,761.125678367,738,718,682,642,915,800,841,658,635.874321633,657,0.458068358534,0.00452229115527,0.0495088156596,0.999999720116,8.76223209892e-05,-0.000742534763772,2.70712311667e-05,1793254934996513024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,785.70400356,761.70400356,738,718,682,642,915,800,841,658,635.29599644,657,0.457993781948,0.00452115794149,0.0494939283912,0.999999705932,8.55794190295e-05,-0.000761664329778,2.60865396436e-05,1793254935013180160
+285,4.750000000,POSE2_TO_POSE3_RETREAT,786,761.718910431,738,718.281089569,681.718910431,642,915,800.281089569,841,658,635.281089569,657.281089569,0.457911326382,0.00452133423374,0.0494837618962,0.999999696146,8.67256882636e-05,-0.0007742985445,2.54642994857e-05,1793254935029847040
+286,4.766666667,POSE2_TO_POSE3_RETREAT,786,761.14312363,738,718.85687637,681.14312363,642,915,800.85687637,841,658,635.85687637,657.85687637,0.457820610416,0.00452288342582,0.0494785447102,0.999999691226,9.12155179304e-05,-0.000780122964348,2.52220571787e-05,1793254935046513664
+287,4.783333333,POSE2_TO_POSE3_RETREAT,785.558330028,761.441669972,738,718.558330028,681.441669972,642,915.441669972,801,841,658,636,658,0.457715429432,0.00452316663555,0.0494782220129,0.999999689245,9.16403980104e-05,-0.000782611657021,2.5118111793e-05,1793254935063180032
+288,4.800000000,POSE2_TO_POSE3_RETREAT,785.029022741,762,738,718,682,642,915.970977259,800.970977259,841,658,635.970977259,657.970977259,0.457604030623,0.00452320305213,0.0494794397547,0.999999688264,9.09657993876e-05,-0.000783946537992,2.49976558724e-05,1793254935079846144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,785.608406372,762,738,718,682,642,915.391593628,800.391593628,841,658,635.391593628,657.391593628,0.457465460691,0.00452650092814,0.0494791661912,0.999999687628,9.49408361058e-05,-0.000784326370969,2.36965820122e-05,1793254935096513024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,785.812855626,762,738,718,682,642,915.187144374,800.187144374,841,658,635.187144374,657.187144374,0.457317416739,0.00452988773285,0.0494790510345,0.999999686114,9.98444958139e-05,-0.00078567838223,2.26585308831e-05,1793254935113179904
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785.235464013,762,738,718,682,642,915.764535987,800.764535987,841,658,635.764535987,657.764535987,0.457149616877,0.00453345997783,0.0494792661994,0.999999682757,0.000106684588115,-0.000789057651234,2.21689542984e-05,1793254935129846528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785.332352574,762,738,718,682,642,915.667647426,800.667647426,841,658,635.667647426,657.667647426,0.456965616422,0.00453577421986,0.0494791994871,0.99999968016,0.000112078173881,-0.000791611948073,2.16439463399e-05,1793254935146513408
+293,4.883333333,POSE2_TO_POSE3_RETREAT,785.893575501,762,738,718,682,642,915.106424499,800.106424499,841,658,635.106424499,657.106424499,0.456770459617,0.00453722215461,0.0494789386637,0.999999678095,0.000116475642098,-0.00079359813872,2.10945389692e-05,1793254935163180032
+294,4.900000000,POSE2_TO_POSE3_RETREAT,785.509780455,762,738,718.490219545,682,642,915,800,841,658,635.490219545,657.490219545,0.456534901566,0.00454102414795,0.0494810140585,0.999999675226,0.000123669287574,-0.000796147234304,2.00687439668e-05,1793254935179846656
+295,4.916666667,POSE2_TO_POSE3_RETREAT,785,761.909098298,738,718.909098298,682,642,915,800,841,658,636,658,0.456286801364,0.00454525688466,0.0494836651086,0.999999673553,0.000131361463098,-0.000797043831716,1.89784036279e-05,1793254935196513280
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785,761.331188386,738,718.331188386,682,642,915,800,841,658,636,658,0.45602215644,0.00454884610395,0.0494864713762,0.999999679511,0.000138219015829,-0.000788381425778,1.8139497522e-05,1793254935213179904
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785.245444395,761,738,718,682,642,915,800,841,658,636,657.754555605,0.455740673661,0.00455249058259,0.0494890253341,0.999999682834,0.000144938907166,-0.0007829634031,1.71290626182e-05,1793254935229846528
+298,4.966666667,POSE2_TO_POSE3_RETREAT,785.820362777,761,738,718,682,642,915,800,841,658,636,657.179637223,0.45543658849,0.00455620923878,0.049491240602,0.999999682717,0.000151474007378,-0.000781900501388,1.58883748948e-05,1793254935246513664
+299,4.983333333,POSE2_TO_POSE3_RETREAT,785.594933392,761,738,718.405066608,682,642.405066608,915,800,841,658,636,657,0.455105511069,0.00456091066084,0.04949691198,0.999999689945,0.000158987531218,-0.000771130108967,1.381610497e-05,1793254935263180032
+300,5.000000000,POSE2_TO_POSE3_RETREAT,785.005782539,761,738,718.994217461,682,642.994217461,915,800,841,658,636,657,0.454762166915,0.00456605870493,0.0495041540017,0.999999700271,0.000166945703629,-0.000755948105881,1.13659190015e-05,1793254935279846400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.426335189,682,643,915,800,841,658,635.426335189,657.573664811,0.454387964979,0.00457124327727,0.0495156515939,0.999999711589,0.000176564307076,-0.000738612375373,9.94371060315e-06,1793254935296513280
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785,761.15253826,738,718.15253826,682.15253826,643.15253826,915.15253826,800,841,658,635,657.84746174,0.454004928893,0.00457684061814,0.0495305904836,0.999999726417,0.000186387610454,-0.000715788548223,8.48021191192e-06,1793254935313180160
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785,761.730080594,738,718.730080594,682.730080594,643.730080594,915.730080594,800,841,658,635,657.269919406,0.45359813127,0.00458358701029,0.0495550000289,0.999999750963,0.000196735392232,-0.000677733199509,6.87327936963e-06,1793254935329846784
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785,762,738,719,683.306376173,644,915.693623827,800,841,658,635,657,0.45316657576,0.00458959678665,0.0495791668952,0.999999771042,0.00020642481509,-0.00064441849495,5.46820441149e-06,1793254935346513152
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785,762,738,719,683.881577868,644,915.118422132,800,841,658,635,657,0.452713296738,0.00459496023046,0.0496031208288,0.999999787488,0.000215536571266,-0.000615263398761,4.24024641178e-06,1793254935363179520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785,761.53212903,738,719,683.53212903,644,915,800,840.53212903,658,635.46787097,657.46787097,0.452199699619,0.00459903032759,0.0496147897489,0.999999789796,0.000222902726785,-0.000608862943833,2.97823310704e-06,1793254935379846144
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785.055738669,761,738,719,683.055738669,644,915,800,840,658,636,658,0.451666280829,0.00460320082365,0.0496210000243,0.999999787733,0.000230281772006,-0.000609509132543,1.4568334256e-06,1793254935396513024
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785.631470489,761,738,719,683.631470489,644,915,800,840,658,636,658,0.451093829245,0.00461143606768,0.0496059986641,0.999999777981,0.000242003011702,-0.00062085957783,-2.40204886721e-06,1793254935413179904
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785.79306948,761,737.79306948,718.79306948,684,644.20693052,915,800,840,658,635.79306948,657.79306948,0.450525881597,0.00461806503481,0.0496046858573,0.99999978148,0.000251611972899,-0.000611306942719,-5.97300082951e-06,1793254935429846784
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785.218092886,761,737.218092886,718.218092886,684,644.781907114,915,800,840,658,635.218092886,657.218092886,0.44996594467,0.00462183708163,0.0496277194761,0.999999807442,0.000257464040164,-0.000564576142766,-9.03184043043e-06,1793254935446513664
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,761,737.356522199,718.356522199,684.356522199,645,915,800,840,658,635.356522199,657.356522199,0.449385630493,0.0046247262729,0.0496597881692,0.999999834597,0.000265876949772,-0.000509895990404,-1.10226437631e-05,1793254935463180288
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,761,737.930916343,718.930916343,684.930916343,645,915,800,840,658,635.930916343,657.930916343,0.448792863729,0.00462707594798,0.0496973782266,0.999999860465,0.000275854798209,-0.000450357962077,-1.23607663153e-05,1793254935479846912
+313,5.216666667,POSE2_TO_POSE3_RETREAT,784.477668829,761,738,719,685.522331171,645.522331171,915,800,840,658,635.477668829,657.477668829,0.448112080424,0.00463373732993,0.0497035568918,0.999999864308,0.000285886942049,-0.000435190717091,-1.61653254171e-05,1793254935496513280
+314,5.233333333,POSE2_TO_POSE3_RETREAT,784.112836271,761,737.887163729,719,686.112836271,646,915,800,840,658,635,657,0.447407235629,0.00464037549584,0.0496996963639,0.999999860639,0.000295713529528,-0.000436887282756,-2.01207284083e-05,1793254935513179904
+315,5.250000000,POSE2_TO_POSE3_RETREAT,784.690021328,761,737.309978672,719,686.690021328,646,915,800,840,658,635,657,0.446652891702,0.00464449228186,0.0496721946797,0.999999836665,0.000304663651603,-0.00048301880305,-2.33092312853e-05,1793254935529846528
+316,5.266666667,POSE2_TO_POSE3_RETREAT,784.734131693,761,737,718.734131693,686.734131693,646.265868307,915,800,840,658,635,657,0.445908678856,0.00464096128999,0.049664109328,0.999999830842,0.000300262982463,-0.000497398468024,-2.74230317944e-05,1793254935546513152
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784.159836906,761,737,718.159836906,686.159836906,646.840163094,915,800,840,658,635,657,0.4451762187,0.00462855832278,0.0496785483239,0.999999847378,0.000280374430794,-0.000474943689362,-3.26102449696e-05,1793254935563179776
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784,761,737.426160566,718.426160566,686.852321132,647.426160566,915,800,840,658,635,657,0.444432943914,0.00459677083873,0.0497133528602,0.999999898091,0.000136754689686,-0.000429142223517,-3.08780588804e-05,1793254935579846400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784.016357095,761,737.983642905,719,687.983642905,648,915,800,840,658,635,657,0.443682521721,0.00455846010823,0.0497546203992,0.999999927679,-4.89551507355e-05,-0.000376206761408,-2.6705240627e-05,1793254935596513280
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784.595742594,761,737.404257406,719,687.404257406,648,915,800,840,658,635,657,0.442829636389,0.00455293361569,0.0497480073743,0.999999923571,-4.09711213031e-05,-0.000387629492699,-3.03754434917e-05,1793254935613179904
+321,5.350000000,POSE2_TO_POSE3_RETREAT,784.826268625,761,737.173731375,719,687.34746275,648,915,800,840,658,635.173731375,657,0.441994209816,0.00455118594698,0.0497536553066,0.999999928338,-3.02128526067e-05,-0.000375826316063,-3.4143313599e-05,1793254935629846528
+322,5.366666667,POSE2_TO_POSE3_RETREAT,784.251503998,761,737.748496002,719,688.496992004,648,915,800,840,658,635.748496002,657,0.441199084265,0.00455816113602,0.0497876058505,0.999999951011,-1.30506621743e-05,-0.000310409555247,-3.81366338245e-05,1793254935646513152
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784,761,737.677360141,719,689,648,915,800,840,658,635.677360141,657,0.440363122632,0.00456597957285,0.049811315571,0.99999996249,5.56681991645e-06,-0.000270620793767,-4.18767238077e-05,1793254935663179776
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,761,737.103699283,719,689,648,915,800,840,658,635.103699283,657,0.439495389656,0.00457445407492,0.0498270577013,0.999999967205,2.53165505181e-05,-0.00025077119038,-4.54197949096e-05,1793254935679846656
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784,761,737,719.485910631,689,648,915,800,840,658,635.485910631,657,0.438567713723,0.00457976562507,0.0497973189224,0.999999952198,3.81585343389e-05,-0.000302895734207,-4.90178275706e-05,1793254935696513024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783.922998793,761,737.077001207,720,689,648,915,800,840,658,635.922998793,657.077001207,0.437626901834,0.00458307497863,0.0497646201722,0.999999932928,4.51709536765e-05,-0.000359689398621,-5.222541134e-05,1793254935713179648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783.345167763,761,737.654832237,720,689,648,915,800,840,658,635.345167763,657.654832237,0.436686680614,0.00457790108204,0.0497779424936,0.999999939298,2.41806759365e-05,-0.000343556065476,-5.28145644981e-05,1793254935729846272
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783.231341999,761,737.768658001,720,689,648.231341999,915,800,840,657.768658001,635.231341999,657.768658001,0.435734579869,0.00457336109967,0.0497820327886,0.999999937454,4.85642586297e-05,-0.000347751311644,-4.2455238495e-05,1793254935746512896
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.805891681,761,737.194108319,720,689,648.805891681,915,800,840,657.194108319,635.805891681,657.194108319,0.4347648551,0.00456976156067,0.0497724269026,0.999999917035,0.000140262279478,-0.000382105039837,-1.58532837477e-05,1793254935763179520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.61873563,761,737.38126437,720,688.61873563,649,915,800,840,657.38126437,635.61873563,657,0.433831566489,0.00457215352685,0.0497685575073,0.999999914508,0.00016040710047,-0.000380951918524,-1.1380092634e-05,1793254935779846144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.042943061,761,737.957056939,720,688.042943061,649,915,800,840,657.957056939,635.042943061,657,0.432916868344,0.00457760247102,0.0497676149772,0.999999924053,0.000144044138134,-0.000361682538845,-1.81974114449e-05,1793254935796513024
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.548804507,761,738,720,689.097609014,649,915,800,840,658,635,657.548804507,0.432004541184,0.0045816559419,0.049794719426,0.999999939214,0.000130202522935,-0.000322654922714,-2.26535929016e-05,1793254935813179904
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784,761,738,720,689.862061379,648.862061379,915,800,840,658,635,657.862061379,0.431065648,0.00458440406363,0.0498089702096,0.999999945843,0.000120528048302,-0.000305098331372,-2.65090834086e-05,1793254935829846528
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.775166472,761,738,721,690.550332944,648.224833528,915,800,839.224833528,658,635,657,0.423451008915,0.0045880759682,0.0498225601337,0.999999958653,0.000123619645912,-0.00025708575574,-3.63093403961e-05,1793254935963179776
+342,5.700000000,POSE2_TO_POSE3_RETREAT,784,761,738,721,690.649966616,648,915,800,839.350033384,658,635,657,0.422516736407,0.00458732789302,0.0498205766534,0.99999995594,0.000128481821889,-0.000265150813972,-3.61562096656e-05,1793254935979846400
+343,5.716666667,POSE2_TO_POSE3_RETREAT,784,761,738,721,690.075966527,648,915,800,839.924033473,658,635,657,0.421570703827,0.0045855594655,0.0497941023304,0.99999994154,0.000131802151116,-0.000313459006614,-3.59306007371e-05,1793254935996513024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783.486853355,761,738,721,690,648,915,800.513146645,839.486853355,658,635,657,0.420683570782,0.00458809800819,0.04979334991,0.999999941499,0.000111023740707,-0.000321547021718,-3.58153449916e-05,1793254936013179648
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783.102314615,761,738.102314615,721.102314615,690.102314615,648.102314615,915,800.897685385,839,658,634.897685385,657,0.419799124243,0.0045917666428,0.0497950857996,0.999999941223,9.56750320262e-05,-0.000327324272238,-3.54918836203e-05,1793254936029846528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783.681004532,761,738.681004532,721.681004532,690.681004532,648.681004532,915,800.318995468,839,658,634.318995468,657,0.418885356121,0.0045976381964,0.0497901397566,0.99999993032,0.00012272164335,-0.000350906649933,-3.41206481784e-05,1793254936046513152
+347,5.783333333,POSE2_TO_POSE3_RETREAT,784,760.741098716,738.741098716,721.741098716,690.741098716,648.741098716,915,800,839,658,634.258901284,657,0.417992629719,0.00460003528317,0.0497799303926,0.999999920496,0.00013870214316,-0.000372286759161,-3.42496381382e-05,1793254936063179776
+348,5.800000000,POSE2_TO_POSE3_RETREAT,784,760.164176289,738.164176289,721.164176289,690.164176289,648.164176289,915,800,839,658,634.835823711,657,0.417125749961,0.00459816451151,0.0497632558335,0.999999912965,0.000141089593662,-0.000390961712638,-3.62214286609e-05,1793254936079846400
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783.580768982,760.419231018,738.419231018,721.419231018,690.419231018,648,915,800,839,658,634.580768982,657,0.416339717911,0.00459387910018,0.0497776641991,0.99999992641,0.000130739059222,-0.000358727373912,-3.74456040174e-05,1793254936096513024
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,761,738.99481349,721.99481349,691,648,915,800,839,658,634.00518651,657,0.41558551133,0.00458866260539,0.0498041926326,0.99999994557,0.000115364589789,-0.000306724594466,-3.83629577487e-05,1793254936113179648
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,761,738.412344843,721.412344843,691,648,915,800,839,658,634.587655157,657,0.414794249256,0.00458671601497,0.0498036008311,0.999999946252,0.000104754077713,-0.000308319263887,-3.82289418904e-05,1793254936129846272
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.16820362,691,648.16820362,915,800,839,658,635,657,0.41400368163,0.00458623342044,0.0497963749954,0.999999942461,0.00010223679305,-0.000321192476429,-3.82172508658e-05,1793254936146512896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,761,738,721.74409807,691,648.74409807,915,800,839,658,635,657,0.413214797038,0.00458929924915,0.0497730696308,0.999999926832,0.000119335817684,-0.000361402547897,-3.8502049906e-05,1793254936163179520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.680815651,690.680815651,648.680815651,915,800,839,658,634.680815651,657,0.412472904296,0.00459346109588,0.0497745017207,0.999999924745,0.000131533388978,-0.00036293235152,-3.8595291396e-05,1793254936179846400
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,761,738,721.106375711,690.106375711,648.106375711,915,800,839,658,634.106375711,657,0.411768591552,0.00459849944134,0.0497957166539,0.999999933863,0.000139811207659,-0.00033352907395,-3.85353419889e-05,1793254936196513024
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.479463418,761,738,721.479463418,690.479463418,648,915,800,838.520536582,658,634.479463418,657,0.411098058087,0.00459987806436,0.0498084378907,0.999999941643,0.000128550071996,-0.000314201457582,-3.82937252293e-05,1793254936213179648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,784,761,738,722,691,648,915,800,838.067125753,658,635,657,0.410435382015,0.00460011136308,0.0498154737495,0.999999946558,0.000114569200671,-0.000303828399686,-3.80226836128e-05,1793254936229846272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,784,761,738,722,691,648,915,800,838.64890401,658,635,657,0.409774089546,0.0045979403786,0.0497937197658,0.999999933452,0.000113781919791,-0.000344553454458,-3.78425894092e-05,1793254936246512896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,784,761,738.22744835,722,691,648.22744835,915,800,838.77255165,658,634.77255165,657,0.409149102051,0.00459448511501,0.0497840163706,0.9999999281,0.000113197297338,-0.000359927965,-3.79117854846e-05,1793254936263179520
+360,6.000000000,POSE2_TO_POSE3_RETREAT,784,761,738.801070648,722,691,648.801070648,915,800,838.198929352,658,634.198929352,657,0.408579370398,0.0045890751926,0.0497926538435,0.999999936199,0.000112921119093,-0.000336719215971,-3.83603987701e-05,1793254936279846400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.637882863,761,739,722,691,649,914.637882863,800,838.362117137,658,634.362117137,657,0.408033181357,0.00458516372329,0.049807852933,0.99999994353,0.000111163097402,-0.000314899827771,-3.76916652653e-05,1793254936296513024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.083512982,761,739,722,691,649,914.083512982,800,838.916487018,658,634.916487018,657,0.407499491347,0.00458204780191,0.0498265356718,0.999999950273,0.000108618345521,-0.000293818067293,-3.64297177118e-05,1793254936313179648
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783,761,739,722,691,649,914,800,839,658,635,657,0.406963143437,0.00458489935622,0.0498161460802,0.999999944028,0.000107499620622,-0.000314584879359,-3.77278122276e-05,1793254936329846528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783,761,738.871947995,722.128052005,691,648.871947995,914,800,839,658,634.871947995,656.871947995,0.406435110053,0.00458843460772,0.0497986408647,0.999999933905,0.000106877039121,-0.000345282609466,-3.93236439891e-05,1793254936346513408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,761,738.293427698,722.706572302,691,648.293427698,914,800,839,658,634.293427698,656.293427698,0.405937984183,0.00459065165995,0.0497742433098,0.999999919411,0.000107110062252,-0.000384804867243,-4.03695595999e-05,1793254936363180032
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.282674194,761,738,722.717325806,690.717325806,648,914,800,838.717325806,658,634.282674194,656.282674194,0.405478131563,0.00459408243273,0.049765385403,0.999999912373,0.000112434273888,-0.000401154321063,-4.10885593951e-05,1793254936379846912
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.856286942,761,738,722.143713058,690.143713058,648,914,800,838.143713058,658,634.856286942,656.856286942,0.405056641956,0.00459876241065,0.0497725214682,0.999999914094,0.000122998521877,-0.000393653480876,-4.14710855325e-05,1793254936396513792
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.55798079,761,738,722,690.44201921,648,914,800,838.44201921,658,635,657,0.404690634079,0.00460072452903,0.049793274739,0.99999992576,0.000129921941049,-0.000360434507726,-4.10723401167e-05,1793254936413180160
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.031177077,761,738,722.031177077,691,648.031177077,914,800.031177077,838.968822923,658,635,657,0.404344607129,0.00460165786681,0.0498184267108,0.999999939122,0.000135290425072,-0.000319087457492,-4.04435858806e-05,1793254936429846528
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783.609353914,761,738,722.609353914,691,648.609353914,914,800.609353914,838.390646086,658,635,657,0.404023734191,0.00460048203417,0.0498408863405,0.999999949218,0.000134731770962,-0.000285975131523,-4.03616358698e-05,1793254936446513152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783.813759417,761,738.186240583,722.813759417,691,648.813759417,914,800.813759417,838,658,634.813759417,657,0.403706171673,0.00460063002315,0.0498536837008,0.99999995372,0.000135730812492,-0.000269242055896,-4.05728652931e-05,1793254936463179776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.239560373,761,738.760439627,722.239560373,691,648.239560373,914,800.239560373,838,658,634.239560373,657,0.40339550514,0.0046035356701,0.049846353549,0.999999948269,0.000139974695972,-0.000286628662956,-4.13948179789e-05,1793254936479846400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.343837451,760.656162549,738.656162549,722,691,648,914,800,838.343837451,657.656162549,634.343837451,657,0.403098698948,0.00460510839314,0.0498362329347,0.999999941691,0.000141682852135,-0.000307795858285,-4.24942028401e-05,1793254936496513280
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783.933820537,760.066179463,738.066179463,722,691,648,914,800,838.933820537,657.066179463,634.933820537,657,0.402811815036,0.00460572690569,0.0498241146894,0.999999934017,0.000141575737528,-0.000331669494932,-4.37921953385e-05,1793254936513179904
+375,6.250000000,POSE2_TO_POSE3_RETREAT,784,760.514042074,738.514042074,722,691,648,914,800,838.485957926,657.514042074,634.485957926,657,0.402568181062,0.00460527923318,0.0498162489019,0.999999929728,0.000140145594641,-0.000344811985231,-4.4816512845e-05,1793254936529846272
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.90718556,761,739,722,691,648,914,800,838,658,634.09281444,657,0.402337692393,0.00460412734609,0.0498098861284,0.999999926979,0.000135304136695,-0.000354439642132,-4.59034348203e-05,1793254936546512896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783.329540539,761,739,722,691,648,914,800,838,658,634.670459461,657,0.402147326175,0.00460000054331,0.0498085680513,0.999999930199,0.000113516315554,-0.000352789344031,-4.7498000659e-05,1793254936563179520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,761,738.752576139,722,691,648,914,800,838,658,634.752576139,657,0.401976301052,0.00458797364263,0.0498109378212,0.999999937019,6.6386390522e-05,-0.000345361143467,-4.77581385798e-05,1793254936579846144
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,761,738.176515795,722,691,648,914,800,838,658,634.176515795,657,0.40183096542,0.00456545357318,0.0498182059104,0.999999944292,-1.44037466997e-05,-0.000330258542036,-4.62458452925e-05,1793254936596513024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,838,658,634,657,0.401704879632,0.00455799568722,0.04982565372,0.999999948588,-3.80876739717e-05,-0.000315024887025,-4.61844694023e-05,1793254936613179904
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,838,658,634,657,0.401587298284,0.00455719216137,0.0498331809286,0.999999953319,-3.65425045997e-05,-0.000299733334495,-4.6764098039e-05,1793254936629846528
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.577456263,761,738,722,691,648,913.422543737,800,838.577456263,658,634,657,0.40148967634,0.00456543683877,0.0498380303901,0.99999995656,4.43821730416e-05,-0.000289688453903,-3.14770419262e-05,1793254936646513152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.842650056,761,738,722,691,648,913,800,838.842650056,658,634,657,0.401395169515,0.00457227109036,0.0498396296881,0.999999953829,0.000104198550485,-0.000284697804327,-2.07954638968e-05,1793254936663180032
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.266922831,761,738,722,691,648,913,800,838.266922831,658,634,657,0.401308577477,0.00457518833195,0.0498326365079,0.999999951141,0.000106426512935,-0.000293049101566,-2.26519320382e-05,1793254936679846656
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,913,800,838.312746828,658,634.312746828,657,0.401238744685,0.00457633283318,0.0498303276023,0.999999950282,0.000107744541731,-0.000295422034299,-2.35238054697e-05,1793254936696513024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,913,800,838.895824292,658,634.895824292,657,0.401183398162,0.00457594502175,0.0498320676672,0.999999951046,0.000108276046595,-0.000292627417289,-2.35446197501e-05,1793254936713179648
+387,6.450000000,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,913,800,838.522873798,658,635,657,0.401141165466,0.0045744167162,0.0498345744609,0.999999952819,0.000107070291422,-0.000286935614163,-2.3776608332e-05,1793254936729846784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,783,761,738.057705035,722.057705035,691,648,913,800,838,658,635,657,0.401102916729,0.0045728404901,0.0498371608472,0.999999954662,0.000105743584934,-0.000280919871172,-2.4041169927e-05,1793254936746513408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783,761,738.63524977,722.63524977,691,648,913,800,838,658,635,657,0.401074859386,0.00457306752261,0.0498389617413,0.999999955463,0.000106731679584,-0.000277663325241,-2.41853427767e-05,1793254936763180288
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783,761,738.784668772,722.784668772,691,648,913,800,838,658,635,657,0.40105005031,0.00457420284459,0.0498400658665,0.999999956005,0.000107901828773,-0.000275208991523,-2.46447809447e-05,1793254936779847168
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,761,738.200239163,722.200239163,691,648,913,800,838,658,635,657,0.40103080908,0.00457689506184,0.0498399756631,0.999999956115,0.00010938403685,-0.000274129726694,-2.56446141032e-05,1793254936796513792
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783.38104963,761,738.38104963,722,691,648,913.38104963,800,838.38104963,658,635,657,0.401017865222,0.0045765672688,0.0498404260155,0.999999956417,0.000109699486166,-0.000272897167903,-2.5670410048e-05,1793254936813180160
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783.960701418,761,738.960701418,722,691,648,913.960701418,800,838.960701418,658,635,657,0.401008203539,0.0045746654535,0.0498411581043,0.999999956819,0.000109406823552,-0.000271584712699,-2.51885400892e-05,1793254936829846528
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783.459975581,761,739,722.540024419,691,648,913.459975581,800,838.459975581,657.459975581,634.459975581,657,0.401003927744,0.00457463607096,0.0498428169617,0.999999957852,0.000108378471809,-0.000268161408924,-2.53015144924e-05,1793254936846513152
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783.119112912,761,738.880887088,722.880887088,691,648,913,800,838.119112912,657.119112912,634.119112912,657,0.401000450249,0.00457510863179,0.0498445213852,0.99999995878,0.000108111917952,-0.000264765948897,-2.54963310026e-05,1793254936863179776
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783.697389446,761,738.302610554,722.302610554,691,648,913,800,838.697389446,657.697389446,634.697389446,657,0.400998540136,0.00457699116884,0.0498461416355,0.999999959167,0.000110988242565,-0.000262069609749,-2.58398699657e-05,1793254936879846656
+397,6.616666667,POSE2_TO_POSE3_RETREAT,784,761,738,722.273094404,691,648,913,800,838.726905596,658,634.726905596,657,0.400996246811,0.00457702699883,0.0498466452245,0.999999959419,0.000110753538497,-0.000261197246755,-2.59225748001e-05,1793254936896513536
+398,6.633333333,POSE2_TO_POSE3_RETREAT,784,761,738,722.845976503,691,648,913,800,838.154023497,658,634.154023497,657,0.400993532817,0.00457503561778,0.0498459230055,0.999999959526,0.000107103722264,-0.000262327141984,-2.57189506237e-05,1793254936913180416
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e14488370c2eeeea5639bb851ff66a56ebea44b8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,419 @@
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+353,5.883333333,pose2_to_pose3_retreat,0.585341956096,0.0101817551596,1.04002061683,0.555913104687,0.0188559957765,1.03969231975
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+359,5.983333333,pose2_to_pose3_retreat,0.582129567817,0.0101817213378,1.04002044781,0.552700715612,0.0188559593346,1.03969215282
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+365,6.083333333,pose2_to_pose3_retreat,0.579581728182,0.0101817434247,1.04002055546,0.550152876951,0.0188559846645,1.03969225898
+366,6.100000000,pose2_to_pose3_retreat,0.579222306754,0.0101817728297,1.04002061467,0.549793454821,0.0188560118185,1.03969232164
+367,6.116666667,pose2_to_pose3_retreat,0.578891855323,0.0101817302431,1.04002060443,0.549463004172,0.0188559719346,1.03969231272
+368,6.133333333,pose2_to_pose3_retreat,0.57858937649,0.0101816520559,1.04002044417,0.549160526203,0.0188558966855,1.03969215261
+369,6.150000000,pose2_to_pose3_retreat,0.578309329795,0.0101816091504,1.04002019716,0.548880478954,0.0188558519622,1.0396919073
+370,6.166666667,pose2_to_pose3_retreat,0.578047123972,0.0101816925083,1.04002049702,0.548618272774,0.0188559339421,1.03969220275
+371,6.183333333,pose2_to_pose3_retreat,0.577795733282,0.0101816871507,1.04002053906,0.548366882234,0.0188559291484,1.03969224624
+372,6.200000000,pose2_to_pose3_retreat,0.577553897413,0.0101816803534,1.04002046907,0.548125045949,0.0188559210047,1.03969217799
+373,6.216666667,pose2_to_pose3_retreat,0.577324302817,0.0101817360923,1.04002045753,0.547895451041,0.018855975767,1.03969216864
+374,6.233333333,pose2_to_pose3_retreat,0.577108511779,0.0101818068122,1.04002056074,0.547679659858,0.0188560460044,1.03969227224
+375,6.250000000,pose2_to_pose3_retreat,0.576911945005,0.0101817933519,1.04002056988,0.54748309252,0.0188560304809,1.03969227735
+376,6.266666667,pose2_to_pose3_retreat,0.576735267285,0.0101817609175,1.04002034399,0.547306414362,0.0188559964467,1.03969204851
+377,6.283333333,pose2_to_pose3_retreat,0.576581026164,0.0101818700221,1.04002053521,0.547152172367,0.0188561026887,1.03969224238
+378,6.300000000,pose2_to_pose3_retreat,0.576445627173,0.0101817432086,1.04002054453,0.547016774713,0.0188559803171,1.03969224935
+379,6.316666667,pose2_to_pose3_retreat,0.57632789263,0.0101817544124,1.04002052523,0.546899040853,0.0188559940823,1.03969223652
+380,6.333333333,pose2_to_pose3_retreat,0.576224830938,0.0101817574114,1.04002051417,0.546795979375,0.0188559979061,1.0396922281
+381,6.350000000,pose2_to_pose3_retreat,0.57613395285,0.0101817536243,1.04002048429,0.546705101528,0.0188559948402,1.03969219589
+382,6.366666667,pose2_to_pose3_retreat,0.576052454009,0.0101817666815,1.0400204431,0.546623602748,0.0188560078658,1.03969214887
+383,6.383333333,pose2_to_pose3_retreat,0.575979761508,0.0101817669508,1.04002057862,0.546550907193,0.0188559974323,1.03969227529
+384,6.400000000,pose2_to_pose3_retreat,0.575917088239,0.0101819012584,1.04002032894,0.54648823447,0.0188561341469,1.03969204019
+385,6.416666667,pose2_to_pose3_retreat,0.575863196452,0.0101819146788,1.04002071917,0.546434341485,0.0188561431795,1.0396924218
+386,6.433333333,pose2_to_pose3_retreat,0.575818131974,0.0101817806089,1.04002067023,0.546389278959,0.0188560157282,1.0396923727
+387,6.450000000,pose2_to_pose3_retreat,0.575782243594,0.0101816943624,1.04002045428,0.546353392691,0.0188559368722,1.03969216269
+388,6.466666667,pose2_to_pose3_retreat,0.575753449856,0.0101817603208,1.04002053057,0.546324598083,0.0188559998763,1.03969223886
+389,6.483333333,pose2_to_pose3_retreat,0.575730364486,0.0101818233566,1.04002056091,0.546301511041,0.0188560569638,1.03969226192
+390,6.500000000,pose2_to_pose3_retreat,0.575711985447,0.0101817304703,1.04002055907,0.546283134542,0.0188559728177,1.03969226342
+391,6.516666667,pose2_to_pose3_retreat,0.575697972552,0.0101817832163,1.04002055569,0.546269121367,0.0188560246444,1.03969226088
+392,6.533333333,pose2_to_pose3_retreat,0.575687631732,0.010181820585,1.04002059031,0.546258779958,0.0188560599586,1.03969229401
+393,6.550000000,pose2_to_pose3_retreat,0.575680589461,0.0101817243415,1.04002067359,0.546251738933,0.0188559678635,1.03969237523
+394,6.566666667,pose2_to_pose3_retreat,0.575676213902,0.0101816445793,1.04002061573,0.546247362865,0.018855886281,1.03969231492
+395,6.583333333,pose2_to_pose3_retreat,0.575673308072,0.0101816223168,1.04002057812,0.54624445642,0.0188558618673,1.03969227563
+396,6.600000000,pose2_to_pose3_retreat,0.575671398325,0.0101817497512,1.04002058558,0.546242545368,0.0188559848318,1.03969228201
+397,6.616666667,pose2_to_pose3_retreat,0.575670024994,0.0101818413914,1.04002059095,0.546241171098,0.0188560732577,1.03969228661
+398,6.633333333,pose2_to_pose3_retreat,0.575669251622,0.0101818187181,1.04002054537,0.546240398339,0.0188560527668,1.03969224377
+399,6.650000000,pose2_to_pose3_retreat,0.575668598174,0.0101817707088,1.04002048799,0.546239745852,0.0188560081524,1.03969218994
+400,6.666666667,pose2_to_pose3_retreat,0.575668165616,0.0101817389285,1.04002045,0.54623931393,0.0188559786194,1.0396921543
+401,6.683333333,pose2_to_pose3_retreat,0.575668155391,0.0101817381773,1.0400204491,0.54623930372,0.0188559779212,1.03969215346
+402,6.700000000,pose2_to_pose3_retreat,0.575668137966,0.010181736897,1.04002044757,0.54623928632,0.0188559767315,1.03969215202
+403,6.716666667,pose2_to_pose3_retreat,0.575667961208,0.0101817239105,1.04002043205,0.546239109822,0.0188559646633,1.03969213746
+404,6.733333333,pose2_to_pose3_retreat,0.575667909673,0.0101817201242,1.04002042752,0.546239058363,0.0188559611448,1.03969213322
+405,6.750000000,pose2_to_pose3_retreat,0.575667896937,0.0101817191885,1.0400204264,0.546239045646,0.0188559602752,1.03969213217
+406,6.766666667,pose2_to_pose3_retreat,0.575667810522,0.0101817128395,1.04002041882,0.546238959358,0.0188559543752,1.03969212505
+407,6.783333333,pose2_to_pose3_retreat,0.575667701067,0.0101817187347,1.04002042853,0.54623884972,0.0188559596476,1.03969213467
+408,6.800000000,pose2_to_pose3_retreat,0.575667563363,0.010181733171,1.04002045048,0.546238711613,0.0188559727003,1.03969215616
+409,6.816666667,pose2_to_pose3_retreat,0.575667388593,0.010181751493,1.04002047835,0.546238536333,0.0188559892663,1.03969218343
+410,6.833333333,pose2_to_pose3_retreat,0.57566720326,0.0101817709223,1.0400205079,0.546238350458,0.0188560068336,1.03969221235
+411,6.850000000,pose2_to_pose3_retreat,0.575667067516,0.0101817851531,1.04002052954,0.546238214317,0.0188560197004,1.03969223353
+412,6.866666667,pose2_to_pose3_retreat,0.575667047178,0.0101817872853,1.04002053278,0.546238193919,0.0188560216283,1.03969223671
+413,6.883333333,pose2_to_pose3_retreat,0.575666883364,0.0101818016319,1.04002057553,0.546238029773,0.0188560348102,1.03969227846
+414,6.900000000,pose2_to_pose3_retreat,0.57566675372,0.0101818049068,1.04002065687,0.546237900286,0.0188560385388,1.03969235779
+415,6.916666667,pose2_to_pose3_retreat,0.575666708935,0.01018174493,1.04002059927,0.546237856128,0.0188559808044,1.03969230318
+416,6.933333333,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
+417,6.950000000,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f85c98b63a84a68ae78fb9d46000ec3fd9f6205a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aa313cdd2bfc87a183a3569f517da5c8708408a59337b475de2690ec4d84234
+size 26481037
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71d87d8cda6a6075bce2afbbc08ea1af0c4db091
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,783,761,739,723,691,648,913,800,838.64730403,658,634.35269597,657,0.400991739546,0.0045729912064,0.0498509533681,0.999999962216,0.00010347996887,-0.000253394688984,-2.55200536719e-05,1793254937367580160
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+6,0.100000000,BASELINE,784,760.4208335,738.5791665,723,691.5791665,648,914,800,838,658,634.4208335,657,0.40099339462,0.00457440661976,0.0498524591663,0.99999996261,0.000104161756475,-0.000251504200198,-2.59887848694e-05,1793254937450913280
+7,0.116666667,BASELINE,784,760.16607061,738.83392939,722.83392939,691.83392939,648,914,800,838,658,634,657,0.40099407642,0.00457380722075,0.0498533887635,0.999999963012,0.000103273319597,-0.000250279474333,-2.58840484778e-05,1793254937467580160
+8,0.133333333,BASELINE,784,760.743829354,738.256170646,722.256170646,691.256170646,648,914,800,838,658,634,657,0.400991798941,0.00457412382971,0.0498514143646,0.999999962649,0.000101409979363,-0.000252450128031,-2.6222934101e-05,1793254937484246784
+9,0.150000000,BASELINE,784,761,738,722,691,648,914,800,838,658,634,657,0.400990725334,0.00457445263887,0.0498505083625,0.999999962458,0.000101572348381,-0.000253137269436,-2.62461107973e-05,1793254937500913920
+10,0.166666667,BASELINE,784,761,738,722,691,648,914,800,838,658,634,657,0.400990610707,0.00457479116645,0.0498504534241,0.999999962407,0.000103348356779,-0.000252642674653,-2.60178000897e-05,1793254937517581568
+11,0.183333333,BASELINE,783.521695154,761,738.478304846,722.478304846,691,648,913.521695154,800,838,658,634.478304846,657,0.400990958429,0.00457325653352,0.0498510828245,0.999999962492,0.000102948144669,-0.000252503729371,-2.567265834e-05,1793254937534247936
+12,0.200000000,BASELINE,783,761,738.930849165,723,691,648,913,800,838,658,635,657,0.400991497331,0.00457168619687,0.0498518074965,0.999999962627,0.000102122516989,-0.000252337379166,-2.53538391462e-05,1793254937550913792
+13,0.216666667,BASELINE,783,761,738.351806126,723,691,648,913,800,838,658,635,657,0.400992632352,0.00457314866134,0.0498520304815,0.999999962889,0.000101989374329,-0.000251343144581,-2.54346919432e-05,1793254937567580160
+14,0.233333333,BASELINE,783,761,738,722.774207676,691,648,913,800,838,657.774207676,635,657,0.400993259309,0.00457418097399,0.0498523836875,0.999999963028,0.000102341755756,-0.000250634559586,-2.55446866608e-05,1793254937584246528
+15,0.250000000,BASELINE,783,761,738,722.198845635,691,648,913,800,838,657.198845635,635,657,0.400993099686,0.00457454732957,0.0498529385003,0.999999962977,0.000103445821335,-0.000250368214653,-2.56997986593e-05,1793254937600913152
+16,0.266666667,BASELINE,783,761,738,722,691,648,913.376820857,800,838,657.376820857,634.623179143,657,0.400992546672,0.00457485406881,0.0498521231634,0.999999962713,0.000104732823411,-0.000250869260191,-2.58849733142e-05,1793254937617579776
+17,0.283333333,BASELINE,783,761,738,722,691,648,913.9526481,800,838,657.9526481,634.0473519,657,0.4009917859,0.00457512932349,0.0498505842238,0.999999962334,0.000106116437728,-0.000251775579504,-2.60860246304e-05,1793254937634246656
+18,0.300000000,BASELINE,783,761,738,722.542156425,691,648,913.457843575,800,838,657.457843575,634.542156425,657,0.400991835298,0.00457396692141,0.0498514158372,0.999999962589,0.00010367907839,-0.000251806443566,-2.58250299962e-05,1793254937650913536
+19,0.316666667,BASELINE,783,761,738.130330568,722.869669432,691,648,913.130330568,800,838,657,634.869669432,657,0.400991896874,0.00457329455144,0.0498520933897,0.999999962782,0.000101927589702,-0.000251767441414,-2.5680595386e-05,1793254937667580416
+20,0.333333333,BASELINE,783,761,738.709684735,722.290315265,691,648,913.709684735,800,838,657,634.290315265,657,0.400991750306,0.00457475427648,0.0498515083735,0.99999996259,0.000103718640257,-0.000251757983877,-2.60803744183e-05,1793254937684246784
+21,0.350000000,BASELINE,783.285958514,760.714041486,739,722.285958514,691,648,914,800,838,657.285958514,634.285958514,657,0.400991475036,0.00457558698514,0.0498515138625,0.999999962507,0.00010448307434,-0.000251750039653,-2.63083388588e-05,1793254937700913408
+22,0.366666667,BASELINE,783.859138269,760.140861731,739,722.859138269,691,648,914,800,838,657.859138269,634.859138269,657,0.400991070497,0.00457578990859,0.0498521124643,0.999999962535,0.000104216358546,-0.000251743615427,-2.636372999e-05,1793254937717580032
+23,0.383333333,BASELINE,784,760.43545456,738.56454544,723,691,648,913.56454544,800,838,658,635,657,0.400991401118,0.00457516465436,0.0498523581518,0.999999962548,0.000104406893942,-0.000251634112207,-2.61622002077e-05,1793254937734246656
+24,0.400000000,BASELINE,784,760.986906217,738,722.986906217,691,648,913,800,838.013093783,658,634.986906217,657,0.400991963394,0.00457427870365,0.0498524878426,0.999999962562,0.000104695522661,-0.000251485579957,-2.58847245969e-05,1793254937750913536
+25,0.416666667,BASELINE,784,760.395987808,738,722.395987808,691,648,913,800,838.604012192,658,634.395987808,657,0.400992177908,0.00457379644507,0.0498525730843,0.999999962861,0.000102738286079,-0.000251096854381,-2.59499808094e-05,1793254937767579904
+26,0.433333333,BASELINE,784,760.190185319,738,722.190185319,691,648,913,800,838.809814681,658,634,657,0.400991837943,0.00457402483019,0.049852234285,0.999999962804,0.000102252620465,-0.000251514067919,-2.60118368624e-05,1793254937784246784
+27,0.450000000,BASELINE,784,760.766718846,738,722.766718846,691,648,913,800,838.233281154,658,634,657,0.400990371595,0.00457569683835,0.0498510340758,0.999999962025,0.000104756348247,-0.00025356849047,-2.60667857402e-05,1793254937800913408
+28,0.466666667,BASELINE,783.658816556,761,738.341183444,723,691.341183444,648,913,800,838,658,634.341183444,657,0.400990644262,0.00457513970735,0.0498508591488,0.999999962126,0.000104488535798,-0.000253282863623,-2.60248608389e-05,1793254937817580032
+29,0.483333333,BASELINE,783.085758079,761,738.914241921,723,691.914241921,648,913,800,838,658,634.914241921,657,0.400992098798,0.00457306760908,0.0498513810241,0.999999962825,0.000102337129505,-0.000251406892684,-2.59170985931e-05,1793254937834246400
+30,0.500000000,BASELINE,783.503136736,761,739,722.496863264,691.496863264,648,913,800,838,658,634.496863264,657,0.400993470889,0.0045727249573,0.0498525330473,0.999999963339,0.000102348971958,-0.000249351796558,-2.58756700529e-05,1793254937850913024
+31,0.516666667,BASELINE,784,761,739,722.093042113,691.093042113,648.093042113,913,800,838.093042113,658,634.093042113,657,0.400994368861,0.00457273653113,0.0498533936417,0.999999963667,0.000102690095552,-0.000247897309787,-2.58496148953e-05,1793254937867579648
+32,0.533333333,BASELINE,784,761,739,722.673638821,691.673638821,648.673638821,913,800,838.673638821,658,634.673638821,657,0.400992858412,0.00457300941621,0.0498521459866,0.999999963197,0.000102761768083,-0.000249755293985,-2.58429460658e-05,1793254937884246272
+33,0.550000000,BASELINE,783.749519365,761,738.749519365,723,691.749519365,648.749519365,913,800,839,658,635,657,0.400992239886,0.0045732222541,0.0498518060705,0.999999963013,0.000103103562049,-0.000250356430685,-2.58041150205e-05,1793254937900913408
+34,0.566666667,BASELINE,783.177497736,761,738.177497736,723,691.177497736,648.177497736,913,800,839,658,635,657,0.400992766317,0.00457335800964,0.0498526314154,0.999999963196,0.00010379210982,-0.00024934415712,-2.57239974678e-05,1793254937917580032
+35,0.583333333,BASELINE,783.408596793,761,738.408596793,723,691.408596793,648,913.408596793,800.408596793,838.591403207,658,635,657,0.400992442422,0.00457358886045,0.0498527094767,0.999999963198,0.000103016638113,-0.000249635542896,-2.59393250299e-05,1793254937934246656
+36,0.600000000,BASELINE,783.99900042,761,738.99900042,723,691.99900042,648,913.99900042,801,838.00099958,658,635,657,0.400991739037,0.00457385969601,0.0498524529567,0.999999963117,0.000101583233911,-0.000250509945751,-2.62859823304e-05,1793254937950913536
+37,0.616666667,BASELINE,783.420037197,761,738.420037197,723,691.420037197,648,913.420037197,801,838.579962803,658,635,657,0.400992813433,0.00457251214075,0.0498531356591,0.999999963522,0.0001005749981,-0.000249358265854,-2.57120626822e-05,1793254937967580416
+38,0.633333333,BASELINE,783,761,738.158102442,722.841897558,691,648,913,800.841897558,838.841897558,658,635,657,0.400993561279,0.00457213127058,0.0498534597075,0.999999963683,0.00010078198122,-0.000248655382199,-2.54427672753e-05,1793254937984247040
+39,0.650000000,BASELINE,783,761,738.734065493,722.265934507,691,648,913,800.265934507,838.265934507,658,635,657,0.400993446062,0.00457430532349,0.0498528358429,0.999999963199,0.000104200755899,-0.000249138654991,-2.59785856271e-05,1793254938000913408
+40,0.666666667,BASELINE,783,761,739,722.309188084,691,648,913,800.309188084,838.309188084,658,635,657,0.40099307485,0.00457384931172,0.0498524238501,0.999999963237,0.000102749435298,-0.000249566427421,-2.61695726058e-05,1793254938017580032
+41,0.683333333,BASELINE,783,761,739,722.883589716,691,648,913,800.883589716,838.883589716,658,635,657,0.400992484052,0.00457113729831,0.0498521935954,0.999999963707,9.71206726244e-05,-0.000249946593042,-2.60647721125e-05,1793254938034246912
+42,0.700000000,BASELINE,783.471711724,761,738.528288276,723,691.471711724,648,913.471711724,800.528288276,839,658,635,657,0.400993865306,0.00457183996582,0.0498532550158,0.999999963944,9.85879590111e-05,-0.00024840045342,-2.62596296848e-05,1793254938050913536
+43,0.716666667,BASELINE,783.938065088,761,738.061934912,723,691.938065088,648,914,800,838.938065088,658,635,657,0.400995328634,0.00457340613076,0.0498543409584,0.999999964009,0.000101731255113,-0.000246844342821,-2.64741717013e-05,1793254938067580160
+44,0.733333333,BASELINE,783.359406997,761,738.640593003,723,691.359406997,648,914,800,838.359406997,658,635,657,0.40099329479,0.00457493532308,0.0498528923767,0.999999963195,0.000103809702887,-0.000249289945807,-2.62174895386e-05,1793254938084247040
+45,0.750000000,BASELINE,783,761,738.782711107,723,691,648,913.782711107,800,838.217288893,658,634.782711107,657,0.40099224026,0.00457543249802,0.0498520697127,0.99999996286,0.00010472952704,-0.000250267836566,-2.60208523962e-05,1793254938100913664
+46,0.766666667,BASELINE,783,761,738.209231808,723,691,648,913.209231808,800,838.790768192,658,634.209231808,657,0.400992791069,0.00457423794026,0.0498522730832,0.999999963321,0.000103750079427,-0.000248839782612,-2.59226439647e-05,1793254938117580288
+47,0.783333333,BASELINE,783,761,738.363682031,722.636317969,691,648,913,800,839,658,634.363682031,657,0.400993135791,0.00457369010445,0.0498528231929,0.999999963564,0.000102802999394,-0.000248250327117,-2.59736126623e-05,1793254938134246656
+48,0.800000000,BASELINE,783,761,738.936271111,722.063728889,691,648,913,800,839,658,634.936271111,657,0.400993362132,0.00457351376001,0.0498535724773,0.999999963683,0.000101874511926,-0.000248142581096,-2.61102720116e-05,1793254938150913280
+49,0.816666667,BASELINE,783,761,738.470148574,722,691,648,913,800,838.470148574,658,635,657,0.400993217424,0.00457242899603,0.0498532790654,0.999999963779,0.000100046601859,-0.000248505425618,-2.60258723249e-05,1793254938167579904
+50,0.833333333,BASELINE,783,761,738,722,691,648,913,800,838,658,635,657,0.400992935276,0.00457172638629,0.0498528267079,0.999999963766,9.91519801662e-05,-0.000248925730327,-2.59203623105e-05,1793254938184246784
+51,0.850000000,BASELINE,783,761,738,722,691,648,913,800,838,658,635,657,0.400992313851,0.00457287334405,0.0498522685802,0.999999963363,0.000102158202503,-0.000249340530847,-2.58393731771e-05,1793254938200913408
+52,0.866666667,BASELINE,783,761,738,722,691,648,913,800,838,658,634.73104853,657,0.400991987476,0.0045738556424,0.0498521430458,0.999999963141,0.000103551650796,-0.0002496461448,-2.59293850482e-05,1793254938217580032
+53,0.883333333,BASELINE,783,761,738,722,691,648,913,800,838,658,634.157738049,657,0.400991994992,0.0045746516038,0.0498525070557,0.999999963133,0.000103120002678,-0.000249828197721,-2.62129102628e-05,1793254938234246912
+54,0.900000000,BASELINE,783,760.568786015,738,722,691,648,913,800,838,658,634,657,0.400991936045,0.0045739055709,0.0498526423156,0.999999963172,0.000102499983827,-0.000249931179155,-2.61590029421e-05,1793254938250913536
+55,0.916666667,BASELINE,783,760.025407232,738,722.025407232,691.025407232,648,913.025407232,800,838.025407232,658,634,657,0.400991859272,0.0045726844292,0.0498526903487,0.999999963227,0.000101842479507,-0.000249994817814,-2.59974808697e-05,1793254938267580160
+56,0.933333333,BASELINE,783,760.604438749,738,722.604438749,691.604438749,648,913.604438749,800,838.604438749,658,634,657,0.400991943767,0.00457386417914,0.0498527296541,0.999999963246,0.000101926142157,-0.00024985516081,-2.62818672931e-05,1793254938284246784
+57,0.950000000,BASELINE,783,761,738.181849014,722.818150986,691.818150986,648,913.818150986,800,838.818150986,658,634,657,0.400991894916,0.00457424706653,0.0498526604136,0.999999963266,0.000101547196727,-0.000249919531474,-2.64034228239e-05,1793254938300913408
+58,0.966666667,BASELINE,783,761,738.755763789,722.244236211,691.244236211,648,913.244236211,800,838.244236211,658,634,657,0.40099155857,0.00457291192122,0.0498523571486,0.999999963284,0.00010017087008,-0.00025042378501,-2.61739155502e-05,1793254938317579776
+59,0.983333333,BASELINE,783,761,738.671243135,722.328756865,691,648,913,800,838,658,634,657,0.40099217627,0.0045730703215,0.0498527192161,0.999999963405,0.000101531452685,-0.000249400118046,-2.61048726566e-05,1793254938334246400
+60,1.000000000,BASELINE,783,761,738.098932821,722.901067179,691,648,913,800,838,658,634,657,0.400993500758,0.00457433518729,0.0498535741827,0.999999963589,0.000104919623785,-0.000247244519468,-2.61547068095e-05,1793254938350913024
+61,1.016666667,BASELINE,783.492399679,760.507600321,738,722.507600321,691,648,913.492399679,800,838,658,634,657,0.400993038157,0.00457357307051,0.0498534283736,0.999999963654,0.000102177498178,-0.000248129241208,-2.61318686153e-05,1793254938367580160
+62,1.033333333,BASELINE,783.914629374,760.085370626,738.085370626,722.085370626,691,648,913.914629374,800,838,658,634.085370626,657,0.400992400228,0.00457250342077,0.0498532122684,0.999999963698,9.89634537974e-05,-0.000249262082272,-2.60539998911e-05,1793254938384246784
+63,1.050000000,BASELINE,783.335183747,760.664816253,738.664816253,722.664816253,691,648,913.335183747,800,838,658,634.664816253,657,0.400992909138,0.00457210564982,0.0498537998007,0.999999963835,0.000100433006593,-0.000248153529421,-2.57455462915e-05,1793254938400913408
+64,1.066666667,BASELINE,783,761,738.759007214,722.759007214,691,648,913,800,838,658,634.759007214,656.759007214,0.40099334554,0.00457197991679,0.0498538539158,0.999999963892,0.000101790589985,-0.000247374250198,-2.56996126035e-05,1793254938417580032
+65,1.083333333,BASELINE,783,761,738.187316667,722.187316667,691,648,913,800,838,658,634.187316667,656.187316667,0.400993682444,0.00457222748263,0.0498531760592,0.999999963842,0.000102994525408,-0.000247046810504,-2.60139168811e-05,1793254938434246656
+66,1.100000000,BASELINE,783,761,738,722.396767078,691,648,913,800,838,658,634.396767078,656.396767078,0.400992762282,0.00457353620562,0.0498529962819,0.999999963439,0.000103532946639,-0.000248438939377,-2.61150222539e-05,1793254938450913024
+67,1.116666667,BASELINE,783,761,738,722.986890376,691,648,913,800,838,658,634.986890376,656.986890376,0.400991229514,0.00457536206155,0.0498530592331,0.99999996286,0.000103747043275,-0.000250669064394,-2.61122295458e-05,1793254938467579648
+68,1.133333333,BASELINE,783,761,738,722.438716679,691,648,913,800,838,657.438716679,635,657,0.400993480262,0.00457448176236,0.0498541259593,0.999999963607,0.00010276615056,-0.000248091416565,-2.59797792979e-05,1793254938484246528
+69,1.150000000,BASELINE,783,761,738.135917126,722,691,648,913,800,838,657.135917126,635,657,0.400994809157,0.00457338565951,0.0498545489519,0.99999996409,0.000101902523748,-0.000246508404355,-2.5875133496e-05,1793254938500913152
+70,1.166666667,BASELINE,783,761,738.712490404,722,691,648,913,800,838,657.712490404,635,657,0.400992870626,0.00457178923551,0.0498528109619,0.999999963636,0.000101507106782,-0.0002485042342,-2.58701828912e-05,1793254938517580032
+71,1.183333333,BASELINE,783,761,739,722,691,648,913,800,838,658,634.710487599,657,0.400991942044,0.00457202011591,0.04985202825,0.999999963273,0.000101975522971,-0.000249767722639,-2.589908483e-05,1793254938534246912
+72,1.200000000,BASELINE,783,761,739,722,691,648,913,800,838,658,634.133019225,657,0.40099201798,0.00457406847688,0.0498521956805,0.999999963001,0.000103303128274,-0.000250302807001,-2.59616573197e-05,1793254938550913536
+73,1.216666667,BASELINE,783,761,738.5429532,722,691,648,913,800,838,658,634,657,0.400992302736,0.00457290424907,0.0498522986758,0.999999963312,0.000101795088505,-0.000249685430454,-2.58888076237e-05,1793254938567580160
+74,1.233333333,BASELINE,783,761,738.049450703,722,691,648,913,800,838,657.950549297,634.049450703,657,0.400992589811,0.00457103396217,0.0498524231675,0.999999963747,9.96752218041e-05,-0.000248807110861,-2.58004641789e-05,1793254938584246528
+75,1.250000000,BASELINE,783,761,738.626569665,722,691,648,913,800,838,657.373430335,634.626569665,657,0.400992234739,0.00457188933665,0.0498529828209,0.999999963697,0.000100082720819,-0.00024882487577,-2.59792777954e-05,1793254938600913408
+76,1.266666667,BASELINE,783,761,738.796602793,722,691,648,913,800,838,657.203397207,634.796602793,657,0.400992885597,0.00457231297356,0.0498538233319,0.999999963883,0.00010007165714,-0.000248069302135,-2.6084451601e-05,1793254938617580032
+77,1.283333333,BASELINE,783,761,738.220309559,722,691,648,913,800,838,657.779690441,634.220309559,657,0.400995380661,0.00457194508913,0.04985517875,0.999999964499,9.9293226138e-05,-0.000245895936805,-2.60546186604e-05,1793254938634246656
+78,1.300000000,BASELINE,783,761,738,722,691,648,913,800,838,658,634,657,0.400995221833,0.00457160408195,0.0498549701881,0.999999964461,9.9752329508e-05,-0.000245874890978,-2.59273870579e-05,1793254938650913280
+79,1.316666667,BASELINE,783,761,738,722,691,648,913,800,838,658,634,657,0.400993420575,0.00457127970847,0.0498537937173,0.99999996402,0.000100977312479,-0.00024718586281,-2.5739877821e-05,1793254938667580160
+80,1.333333333,BASELINE,783,760.46852749,738,722,691,648,913,800.53147251,838,658,634.53147251,657,0.400993599464,0.0045716955747,0.0498539019931,0.999999964074,9.99774903298e-05,-0.000247363584849,-2.58529231774e-05,1793254938684246784
+81,1.350000000,BASELINE,783.110320271,760.110320271,738,722.110320271,691,648,913,800.889679729,838,658,634.889679729,657,0.400993629367,0.00457214967235,0.0498540330303,0.999999964126,9.90226313226e-05,-0.000247523689309,-2.59841921201e-05,1793254938700913664
+82,1.366666667,BASELINE,783.68667823,760.68667823,738,722.68667823,691,648,913,800.31332177,838,658,634.31332177,657,0.400992274974,0.00457248306121,0.0498537704159,0.999999963987,9.91059141178e-05,-0.000248041417292,-2.60778595157e-05,1793254938717580288
+83,1.383333333,BASELINE,783.737809303,761,738.262190697,723,691,648,913.262190697,800,838.262190697,657.737809303,634.262190697,657,0.400991172691,0.00457280598019,0.0498533522085,0.999999963689,9.99682163812e-05,-0.000248898528272,-2.60525894923e-05,1793254938734246912
+84,1.400000000,BASELINE,783.163303885,761,738.836696115,723,691,648,913.836696115,800,838.836696115,657.163303885,634.836696115,657,0.400990370714,0.00457311642778,0.0498527486629,0.999999963198,0.000101758466326,-0.000250159903493,-2.588564433e-05,1793254938750913536
+85,1.416666667,BASELINE,783,761,738.577552096,722.577552096,691.422447904,648,913.577552096,800.422447904,838.577552096,657.422447904,635,657,0.40099147674,0.00457399855809,0.0498529200225,0.999999963272,0.000102992038233,-0.000249337510995,-2.60603306938e-05,1793254938767580160
+86,1.433333333,BASELINE,783,761,738,722,691.987569355,648,913.012430645,801,838,658,635,657,0.400993291498,0.00457505420602,0.0498533990843,0.999999963565,0.000103968150371,-0.000247720138287,-2.63564413744e-05,1793254938784246784
+87,1.450000000,BASELINE,783,761,738,722,691.408319456,648,913.591680544,801,838,658,635,657,0.400992871463,0.0045736694457,0.0498538762156,0.999999963678,0.000103285318036,-0.000247587622727,-2.60027439155e-05,1793254938800913664
+88,1.466666667,BASELINE,783,761,738,722.169672146,691,648,913.830327854,800.830327854,838.169672146,658,635,657,0.400992169826,0.00457263180792,0.0498537606437,0.999999963609,0.000102384751728,-0.000248270185216,-2.57206271585e-05,1793254938817580288
+89,1.483333333,BASELINE,783,761,738,722.744657885,691,648,913.255342115,800.255342115,838.744657885,658,635,657,0.400990795495,0.00457242337813,0.0498522292194,0.9999999631,0.000100964061559,-0.000250899809856,-2.56095027287e-05,1793254938834246912
+90,1.500000000,BASELINE,783,761,738.326252913,723,691,648,913,800,838.673747087,658,635,657,0.400990607068,0.00457221341865,0.049852222016,0.999999963155,9.96757452807e-05,-0.000251183260535,-2.57240429076e-05,1793254938850913280
+91,1.516666667,BASELINE,783,761,738.913127636,723,691,648,913,800,838.086872364,658,635,657,0.400991365982,0.00457200223721,0.0498534324116,0.999999963663,9.84931737892e-05,-0.000249592508344,-2.60188515781e-05,1793254938867579904
+92,1.533333333,BASELINE,783,761,739,723,691,648,913,800,838,658,635,657,0.400992697373,0.00457263308112,0.0498541438801,0.999999963841,0.000100057440481,-0.000248270889547,-2.58578680333e-05,1793254938884246528
+93,1.550000000,BASELINE,783,761,738.926854175,722.926854175,691,648,913,800,838,658,634.926854175,657,0.400993856373,0.00457332962043,0.0498546510522,0.999999963936,0.000101726152222,-0.000247226477766,-2.56821482696e-05,1793254938900913408
+94,1.566666667,BASELINE,783,761,738.347710935,722.347710935,691,648,913,800,838,658,634.347710935,657,0.40099313476,0.00457346858709,0.0498543446336,0.999999963885,0.000100815952675,-0.000247776217065,-2.59523052536e-05,1793254938917580032
+95,1.583333333,BASELINE,783,760.770232517,738.229767483,722.229767483,691,648,913,800,838,658,634.229767483,657.229767483,0.400992809447,0.00457360799073,0.0498538568538,0.999999963875,0.000100714823378,-0.000247837011467,-2.61318150524e-05,1793254938934246912
+96,1.600000000,BASELINE,783,760.195255293,738.804744707,722.804744707,691,648,913,800,838,658,634.804744707,657.804744707,0.400993079546,0.00457374805093,0.0498530965913,0.999999963928,0.000101829265995,-0.000247163200085,-2.61751337699e-05,1793254938950913792
+97,1.616666667,BASELINE,783,760.388113994,738.611886006,722.611886006,691,648,913,800,838,658,634.611886006,657.611886006,0.400993204857,0.00457306620974,0.0498532488501,0.999999964,0.00010153983405,-0.000246990419037,-2.61673739736e-05,1793254938967580416
+98,1.633333333,BASELINE,783,760.975798493,738.024201507,722.024201507,691,648,913,800,838,658,634.024201507,657.024201507,0.400993255718,0.004571961742,0.0498538703327,0.999999964082,0.000100528521452,-0.000247075270784,-2.61333493012e-05,1793254938984246784
+99,1.650000000,BASELINE,783,761,738.55561727,722.55561727,691,648,913,800,838,658,634.55561727,657,0.400993154819,0.00457110461233,0.0498538284295,0.999999964227,9.92510026265e-05,-0.000247044174721,-2.57824958979e-05,1793254939000913152
+100,1.666666667,BASELINE,783,761,738.865322184,722.865322184,691,648,913.134677816,800,838,658,635,657,0.40099281734,0.00457053329819,0.0498535302831,0.999999964282,9.79350653409e-05,-0.000247365343192,-2.56144900771e-05,1793254939017579776
+101,1.683333333,BASELINE,783,761,738.287644503,722.287644503,691,648,913.712355497,800,838,658,635,657,0.400991723111,0.00457086718285,0.0498524829886,0.999999964034,9.65303657205e-05,-0.000248861606859,-2.60926908006e-05,1793254939034246400
+102,1.700000000,BASELINE,783,761,738,722,691,648,913.706497678,800,838,658,634.706497678,657,0.400991840364,0.00457171114923,0.0498525598258,0.999999963897,9.80524753315e-05,-0.000248801795578,-2.62678991709e-05,1793254939050913280
+103,1.716666667,BASELINE,783,761,738,722,691,648,913.121910314,800,838,658,634.121910314,657,0.40099315912,0.00457306099628,0.0498537515366,0.999999963854,0.000102477289103,-0.000247198725063,-2.61426105994e-05,1793254939067579904
+104,1.733333333,BASELINE,783.458441461,761,738.458441461,722.458441461,691,648,913,800,838,658,634.458441461,657,0.400994251965,0.00457266517113,0.0498545530504,0.999999964288,0.000101880639653,-0.000245708568836,-2.58990982203e-05,1793254939084246528
+105,1.750000000,BASELINE,784,761,739,723,691,648,913.037584998,800,838,658,635,657,0.40099517825,0.00457190611631,0.0498551894592,0.999999964798,0.000100136386269,-0.000244371642311,-2.56591704372e-05,1793254939100913408
+106,1.766666667,BASELINE,784,761,739,723,691,648,913.615402566,800,838,658,635,657,0.400994566062,0.00457253750571,0.049854930497,0.999999964606,0.00010091465394,-0.000244809543957,-2.5918514594e-05,1793254939117580032
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,913,800,838,658,635,657,0.400993548046,0.004575230014,0.0498545228747,0.999999964204,0.000101853361222,-0.000246007387041,-2.64217071512e-05,1793254939157954048
+108,1.800000000,POSE1_TO_POSE2_PRESS,783.594726557,761,738.405273443,723,691,648,913,800,838,658,635,657,0.400995367318,0.00457442346538,0.0498554874321,0.999999964633,0.000101871256098,-0.000244284740061,-2.61024293498e-05,1793254939174620416
+109,1.816666667,POSE1_TO_POSE2_PRESS,783.81572336,761,738,722.81572336,691,648,913.18427664,800,838,658,634.81572336,657,0.400996267265,0.00457361308143,0.0498559366378,0.999999964851,0.000101782857346,-0.000243458876941,-2.57971125626e-05,1793254939191286784
+110,1.833333333,POSE1_TO_POSE2_PRESS,783.237246556,761,738,722.237246556,691,648,913.762753444,800,838,658,634.237246556,657,0.400995200616,0.0045727944929,0.0498552834157,0.999999964624,0.00010146707782,-0.000244551392002,-2.5521660782e-05,1793254939207953408
+111,1.850000000,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.660175731,800,838,658,634.339824269,657,0.400994514767,0.00457274281917,0.0498547710319,0.999999964534,0.000100702219231,-0.000245214355405,-2.57003561118e-05,1793254939224620800
+112,1.866666667,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.084082474,800,838,658,634.915917526,657,0.400994093676,0.00457322435692,0.0498543565684,0.99999996454,9.96251302939e-05,-0.000245578665156,-2.61948054781e-05,1793254939241288704
+113,1.883333333,POSE1_TO_POSE2_PRESS,783,760.510842881,738,722,691,648,913,800,838,658,635,656.510842881,0.400993384722,0.00457303735329,0.0498542060934,0.999999964376,9.94368477044e-05,-0.000246316035171,-2.62255013437e-05,1793254939257955072
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,760.064221688,738.064221688,722,691,648,913,800,838,657.935778312,634.935778312,656.064221688,0.400992645641,0.00457272177839,0.0498540664801,0.99999996413,9.95977867612e-05,-0.000247260688491,-2.61285893616e-05,1793254939274621184
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,760.658369159,738.658369159,722,691,648,913,800,838,657.341630841,634.341630841,656.658369159,0.400992063899,0.00457228803783,0.0498536442306,0.999999963434,0.000101386984048,-0.000249389672139,-2.56326804903e-05,1793254939291287552
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.24564408,761,738.75435592,722,691,648,913,800,838,657.24564408,634.24564408,657,0.400993083552,0.00457278375278,0.049853985206,0.999999963261,0.000102823394092,-0.000249502736076,-2.55763629964e-05,1793254939307953664
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.823621049,761,738.176378951,722,691,648,913,800,838,657.823621049,634.823621049,657,0.400996269741,0.00457453693195,0.0498553587513,0.999999963797,0.000103782516671,-0.000246888453739,-2.61147705332e-05,1793254939324620288
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.59962435,761,738.40037565,722,691,648,913.40037565,800.40037565,838,658,635,657,0.401012002986,0.00457350537757,0.0498610778428,0.999999966743,0.000101979939419,-0.000235456437254,-2.59615018378e-05,1793254939341286912
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.023406554,761,738.976593446,722,691,648,913.976593446,800.976593446,838,658,635,657,0.401033246809,0.00457125078812,0.0498687054676,0.999999970544,9.89644432534e-05,-0.000220151734207,-2.55044538887e-05,1793254939357953536
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,913.436493567,800.436493567,838.563506433,658,635,657,0.401080936718,0.00457198074148,0.0498836720119,0.999999976961,0.000100118317514,-0.000188180561017,-2.53455868484e-05,1793254939374620672
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,761,738.851214,722.148786,691,648.148786,913.148786,800.148786,838.851214,658,635,657,0.401135073885,0.00457244424457,0.0498993867033,0.999999982239,0.000100550267095,-0.000157448819237,-2.49449532312e-05,1793254939391287296
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,761,738.27197014,722.72802986,691,648.72802986,913.72802986,800.72802986,838.27197014,658,635,657,0.40120462425,0.00457177127077,0.0499163668848,0.999999986119,9.83828524909e-05,-0.000132344521777,-2.38083299098e-05,1793254939407954176
+123,2.050000000,POSE1_TO_POSE2_PRESS,783,761,738,723,691,648.693792822,913.693792822,800.693792822,838.306207178,658,634.693792822,657,0.401283730636,0.00456959663731,0.0499304591052,0.999999989064,9.6152658528e-05,-0.000110047118326,-2.27257994702e-05,1793254939424620544
+124,2.066666667,POSE1_TO_POSE2_PRESS,783,761,738,723,691,648.116559543,913.116559543,800.116559543,838.883440457,658,634.116559543,657,0.401371295117,0.0045660928745,0.0499419951702,0.999999991288,9.38668982594e-05,-9.02341177929e-05,-2.16911470869e-05,1793254939441286912
+125,2.083333333,POSE1_TO_POSE2_PRESS,783,760.542069149,738.457930851,723,691,648,913.457930851,800,838.542069149,658,634.457930851,657,0.401466100845,0.00456572517967,0.0499460473709,0.999999991863,9.24696734633e-05,-8.53746473698e-05,-2.08583396928e-05,1793254939457953792
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,760,738.967347001,723,691,648,914,800,838.032652999,658,634.967347001,657,0.401563698073,0.0045660025658,0.0499479755607,0.999999992058,9.1230755671e-05,-8.46067142239e-05,-2.0056450528e-05,1793254939474620416
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,760,738.376807891,723,691,648,914,800,838.623192109,658,634.376807891,657,0.401677685603,0.00456374438994,0.0499459665193,0.999999991904,8.88554946173e-05,-8.91010372199e-05,-1.89102491915e-05,1793254939491287296
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,760.209682626,738,723,691,648,913.790317374,800,838.790317374,658,634.209682626,657,0.401806016145,0.00456243666058,0.0499463000053,0.999999992036,8.68448271282e-05,-8.98075118313e-05,-1.79114681831e-05,1793254939507953920
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,760.789035417,738,723,691,648,913.210964583,800,838.210964583,658,634.789035417,657,0.401959633387,0.00456280456729,0.0499507633639,0.999999992685,8.5476937819e-05,-8.38360147436e-05,-1.71725891216e-05,1793254939524620544
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,761,738.366376232,722.633623768,691.366376232,648,913,800,838,658,635,657,0.40212882974,0.00456159089431,0.049951144635,0.999999992603,8.39491263472e-05,-8.66186363296e-05,-1.56030785306e-05,1793254939541287936
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,761,738.942564904,722.057435096,691.942564904,648,913,800,838,658,635,657,0.402306947789,0.00455947149915,0.04994918822,0.999999992062,8.23297322213e-05,-9.4414472831e-05,-1.3557890648e-05,1793254939557955328
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,739,722.517194699,691.482805301,648,913.517194699,800.517194699,838,658,635,657,0.402516456447,0.0045574573779,0.049949780383,0.999999992596,7.8327531755e-05,-9.23439491641e-05,-1.20353751545e-05,1793254939574621440
+133,2.216666667,POSE1_TO_POSE2_PRESS,783.094262299,761,738.905737701,722.905737701,691,648,914,801,838,657.905737701,634.905737701,656.905737701,0.402734523786,0.00455511070678,0.0499506906088,0.999999993182,7.37075691579e-05,-8.9967914708e-05,-1.04054448242e-05,1793254939591287296
+134,2.233333333,POSE1_TO_POSE2_PRESS,783.685081228,761,738.314918772,722.314918772,691,648,914,801,838,657.314918772,634.314918772,656.314918772,0.402979368532,0.00455095082287,0.0499517899003,0.999999993501,6.72230935523e-05,-9.17369558981e-05,-7.90482889587e-06,1793254939607953920
+135,2.250000000,POSE1_TO_POSE2_PRESS,783.729462961,761,738,722.270537039,691,648,913.729462961,801,838,657,634.270537039,656.270537039,0.403252292639,0.00454699647807,0.0499560158316,0.99999999449,6.17167350364e-05,-8.4733177363e-05,-5.54674305075e-06,1793254939624620544
+136,2.266666667,POSE1_TO_POSE2_PRESS,783.150128772,761,738,722.849871228,691,648,913.150128772,801,838,657,634.849871228,656.849871228,0.403557267153,0.00454327674057,0.0499638105807,0.999999996058,5.73268220686e-05,-6.77159020411e-05,-3.35134444462e-06,1793254939641287168
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,760.575071432,738.424928568,723,691,648,913.424928568,800.575071432,838.424928568,657.424928568,635,657,0.403894089402,0.00454188790579,0.0499714388083,0.999999997039,5.57386940963e-05,-5.3047610086e-05,-1.32075457782e-06,1793254939657953792
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,760.001510072,738.998489928,723,691,648,913.998489928,800.001510072,838.998489928,657.998489928,635,657,0.40424205144,0.00454131438125,0.0499790087893,0.999999997712,5.51305829811e-05,-3.92009529405e-05,6.52187947122e-07,1793254939674620160
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,760.587959927,739,722.412040073,691,648,914,800.587959927,838.412040073,658,635,657,0.40461738158,0.00453503640971,0.0499860357586,0.999999998513,4.87597769707e-05,-2.41858320625e-05,3.39636619081e-06,1793254939691287040
+140,2.333333333,POSE1_TO_POSE2_PRESS,783.1744354,761,738.8255646,722.1744354,691,648,914,800.8255646,838,658,635,657,0.405003433131,0.00452977005128,0.0499900017427,0.999999998928,4.35358373261e-05,-1.45528985982e-05,6.07605980284e-06,1793254939707953664
+141,2.350000000,POSE1_TO_POSE2_PRESS,783.753860842,761,738.246139158,722.753860842,691,648,914,800.246139158,838,658,635,657,0.405414209007,0.00452688733661,0.0499868643054,0.99999999897,4.1009918586e-05,-1.74230570893e-05,8.60131109924e-06,1793254939724620288
+142,2.366666667,POSE1_TO_POSE2_PRESS,783.668617911,761,738.331382089,722.668617911,691,648.331382089,914,800.331382089,838.331382089,658,635,657,0.405830154741,0.00452248624009,0.0499731326184,0.999999998385,3.50148944689e-05,-4.32613215046e-05,1.15332412323e-05,1793254939741286912
+143,2.383333333,POSE1_TO_POSE2_PRESS,783.092502892,761,738.907497108,722.092502892,691,648.907497108,914,800.907497108,838.907497108,658,635,657,0.40624991857,0.00451696378503,0.0499515768456,0.999999995838,2.64578597529e-05,-8.60620353039e-05,1.47655128378e-05,1793254939757953536
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648.518610829,914,800.518610829,839,658,635,657,0.406730112856,0.00451176825311,0.0499342265051,0.999999993117,2.02152303165e-05,-0.000114216086128,1.765829356e-05,1793254939774620160
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,738.943372795,722,691,648,914,800.056627205,839,658,635,657,0.407227327974,0.00450668448137,0.0499201125415,0.999999990528,1.42226632903e-05,-0.000135350400875,2.05599970636e-05,1793254939791287040
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,738.351389728,722,691,648,914,800.648610272,839,658,635,657,0.407776181339,0.0045020661096,0.0499289906325,0.999999992889,6.40900466233e-06,-0.000116605736582,2.41599672903e-05,1793254939807953920
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738.234858313,722,691,648,914,801,839,658,635,657,0.408355621569,0.00449607387565,0.0499468039718,0.99999999624,-2.58913274646e-06,-8.20810070593e-05,2.7861528574e-05,1793254939824620544
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738.812730239,722,691,648,914,801,839,658,635,657,0.408979734279,0.00448807509843,0.0499776673563,0.999999999108,-1.3317216311e-05,-2.45092884965e-05,3.1711464646e-05,1793254939841287168
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,800.611446039,839,658,635,657,0.409609067566,0.0044799524017,0.0499926658827,0.999999999103,-2.18407269533e-05,-1.70281048873e-06,3.62503899721e-05,1793254939857954304
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,800.036604322,839,658,635,657,0.410240903781,0.00447177029342,0.0500000581832,0.999999998715,-2.9307280013e-05,4.43586861571e-06,4.11196432437e-05,1793254939874621440
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,800.551322322,839,658,635,657,0.410862286649,0.00446652462682,0.0499800842381,0.999999992374,0.000106848450537,-4.25675535555e-05,4.49867770213e-05,1793254939891288064
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,801,839,658,635,657,0.411501475135,0.00446097520056,0.0499595814621,0.999999972314,0.000213270248126,-8.67304517157e-05,4.86297320178e-05,1793254939907954688
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,801,839,658,635,657,0.412199947201,0.00445381386372,0.0499433442247,0.999999973917,0.000193221909327,-0.000110227880058,5.1773143417e-05,1793254939924621056
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738.701917802,722,691,648,914,801,839,658,635,657,0.412944541179,0.00444356997496,0.0499510801612,0.999999989149,0.000108330563537,-9.13999121507e-05,4.01516138067e-05,1793254939941287424
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738.129146762,722,691,648,914,801,839,658,635,657,0.413731637521,0.00443048545072,0.049980907866,0.999999998666,-3.63149444852e-05,-3.35682265962e-05,1.49238885526e-05,1793254939957953792
+156,2.600000000,POSE1_TO_POSE2_PRESS,783.446163433,761,738.446163433,722,691,648,914,801,839,658,635,657,0.414501111924,0.00443359604525,0.0499795421186,0.999999997138,-6.4099548747e-05,-3.75355487052e-05,1.43977370412e-05,1793254939974620672
+157,2.616666667,POSE1_TO_POSE2_PRESS,783.977123435,761,738.977123435,722,690.977123435,648,914,801,839,658,635,657,0.415266486798,0.00444222783092,0.0499684266795,0.999999996364,-5.66080862038e-05,-6.02741339134e-05,2.08368822927e-05,1793254939991287040
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.383860132,761,738.383860132,722,690.383860132,648,914,801,839,658,635,657,0.416057557174,0.00447096852377,0.0499406375269,0.999999994357,-1.78049422752e-05,-0.000102473005257,2.1647060472e-05,1793254940007953664
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761,738.202779847,722,690.202779847,648.202779847,914.202779847,801,839,658,635,657,0.416875326547,0.00448468941995,0.0499312116722,0.999999993326,9.52448191548e-06,-0.000112668138851,2.37405050059e-05,1793254940024620288
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761,738.777278477,722,690.777278477,648.777278477,914.777278477,801,839,658,635,657,0.417742038208,0.00447087729962,0.0499554478563,0.999999997417,1.58212557738e-05,-6.41967380588e-05,2.81863243837e-05,1793254940041287168
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,761,739,721.648543413,690.648543413,648.648543413,914.648543413,800.648543413,839,658,635,657,0.418601300299,0.00446010001265,0.0499725591895,0.999999998674,1.36178809638e-05,-3.90581442032e-05,3.06663005359e-05,1793254940057953792
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761,739,721.074568256,690.074568256,648.074568256,914.074568256,800.074568256,839,658,635,657,0.419455845793,0.00445124417767,0.0499851595475,0.999999999061,6.03278599494e-06,-2.86923094132e-05,3.19016374123e-05,1793254940074620416
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,761.501976644,738.498023356,722.003953288,690,648.501976644,914,800.501976644,839,658,635,657,0.420333080655,0.00444885456249,0.0499702722454,0.99999999849,-8.33664037592e-06,-4.4171893305e-05,3.16069066787e-05,1793254940091287040
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,761.918774949,738,722.918774949,690,648.918774949,914,800.918774949,839,658,635,657,0.421228032801,0.00444788105506,0.0499584225678,0.999999997944,-2.12566352283e-05,-5.17946273772e-05,3.12764275788e-05,1793254940107953920
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,761.324884951,738,722.324884951,690,648.324884951,914,800.324884951,839,658,635,657,0.422213427201,0.00444975166458,0.0499916501898,0.999999999204,-1.86346347835e-05,1.45295764703e-05,3.21622788141e-05,1793254940124620544
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.26153226,761.26153226,738,722,690.26153226,648,914.26153226,800.26153226,839,658,635,657,0.42316287266,0.00445407177276,0.0500032180673,0.999999998803,-6.316242756e-06,3.58095766072e-05,3.27398456383e-05,1793254940141287168
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.838924453,761.838924453,738,722,690.838924453,648,914.838924453,800.838924453,839,658,635,657,0.424068901691,0.00446135021026,0.0499886268608,0.999999999297,1.77127568833e-05,2.68842227685e-06,3.29450888399e-05,1793254940157953792
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.586263476,761.586263476,738,721.586263476,690.586263476,648,914.586263476,800.586263476,839,658,635.413736524,657,0.425009430536,0.00445995876757,0.0499901319142,0.999999999374,1.00212552975e-05,5.57699391805e-06,3.34659306018e-05,1793254940174620672
+169,2.816666667,POSE1_TO_POSE2_PRESS,783.012449705,761.012449705,738,721.012449705,690.012449705,648,914.012449705,800.012449705,839,658,635.987550295,657,0.425963307519,0.00445521289361,0.0499978647122,0.999999999118,-9.94310792836e-06,2.2397955608e-05,3.41088794012e-05,1793254940191287808
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,761,738,721,690,648.579111735,914.579111735,800,839.579111735,658,636,657,0.426926678635,0.00444476735378,0.0500078625032,0.999999998833,-2.60874392766e-05,1.53996417679e-05,3.76452903426e-05,1793254940207953920
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,761.166710244,738,721,689.833289756,649,915,800,840,658,636,657,0.42787189077,0.00443775328821,0.050003140544,0.999999998768,-2.77768299866e-05,-9.02279449401e-06,4.01348603735e-05,1793254940224620288
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,761.743590023,738,721,689.256409977,649,915,800,840,658,636,657,0.428771906918,0.00443949293624,0.0499620789052,0.999999996373,5.88989841075e-06,-7.50153835736e-05,3.9890927748e-05,1793254940241286912
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,761.682965402,738,721,689.317034598,649,915,800.317034598,840,658,636,657,0.429727505052,0.00444353112235,0.0499514436222,0.999999995763,1.42672514616e-05,-8.22062509203e-05,3.88836299675e-05,1793254940257953792
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,761.112269384,738,721,689.887730616,649,915,800.887730616,840,658,636,657,0.430727574647,0.00444940838348,0.0499651526641,0.999999998406,2.41041111081e-06,-4.23494796524e-05,3.72655589034e-05,1793254940274620672
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.475051807,761,738,721,690.475051807,649,915,801,840,658,636,657,0.431662824414,0.00445237861692,0.0499572756874,0.999999997499,-1.96425110223e-06,-5.96828469125e-05,3.78888484945e-05,1793254940291287296
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.934960002,761.065039998,738,720.934960002,690.869920003,649,915,801,840,658,635.934960002,657,0.43259083247,0.00445294928345,0.0499461554347,0.999999995556,-5.33418172994e-06,-8.56527967721e-05,3.90256028453e-05,1793254940307953920
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.356068709,761.643931291,738,720.356068709,689.712137419,649,915,801,840,658,635.356068709,657,0.433587043505,0.00444018674467,0.0499511773659,0.999999996694,-1.52431159794e-05,-6.92017917565e-05,3.98822990553e-05,1793254940324620288
+178,2.966666667,POSE1_TO_POSE2_PRESS,783.222385696,761.777614304,738.222385696,720.222385696,689,648.777614304,915,801,840,658,635.222385696,657,0.434566848976,0.00443273750285,0.0499623806052,0.99999999773,-2.14226266128e-05,-4.94194705038e-05,4.04835268524e-05,1793254940341286912
+179,2.983333333,POSE1_TO_POSE2_PRESS,783.800142052,761.199857948,738.800142052,720.800142052,689,648.199857948,915,801,840,658,635.800142052,657,0.435520438635,0.00443377886735,0.0499834615289,0.999999998643,-2.16425480919e-05,-2.43137285736e-05,4.06765181955e-05,1793254940357953792
+180,3.000000000,POSE1_TO_POSE2_PRESS,784,761.375512663,738.624487337,721,688.624487337,648,915,801,840,658,636,657,0.436423810146,0.00443794516024,0.0499694256832,0.999999997079,-1.52275084088e-05,-6.22074674658e-05,4.17183876757e-05,1793254940374620672
+181,3.016666667,POSE1_TO_POSE2_PRESS,784,761.9496215,738.0503785,721,688.0503785,648,915,801,840,658,636,657,0.43730062289,0.00444376412389,0.0499368177435,0.999999990152,-5.30345810689e-06,-0.000133419540157,4.32092004221e-05,1793254940391287296
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,761.461816452,738,720.461816452,688.538183548,648.538183548,915,800.461816452,840,658,636,657,0.438253726759,0.00444349319304,0.0499563025781,0.99999999592,-1.84546148844e-05,-7.80700541122e-05,4.15168296179e-05,1793254940407953920
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,761,738,720,689.251665709,649,915,800.125832855,840,657.874167145,636,657,0.439203476658,0.0044421605228,0.0499748769232,0.999999998349,-3.08021127996e-05,-2.72498354468e-05,4.01431318203e-05,1793254940424620288
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,761,738,720,690.41036357,649,915,800.705181785,840,657.294818215,636,657,0.440114689372,0.00443911250212,0.0499721099302,0.999999997968,-3.22532832119e-05,-3.66307248151e-05,4.10215335757e-05,1793254940441287168
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,761,738,720,689.874768653,648.718692163,915,801,840,657,636,657,0.441003700082,0.00443550673393,0.0499709090715,0.999999997898,-2.76824891567e-05,-4.13625656903e-05,4.15595776775e-05,1793254940457953792
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.58362221,648.145905552,915,801,840,657,636,657,0.441869705996,0.00443132305256,0.0499713309723,0.999999998134,-1.68720010142e-05,-4.12772669681e-05,4.17449581339e-05,1793254940474620416
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,761,738,720,687.8607051,648,915,800.56964745,840,657.43035255,636,657.43035255,0.442733626346,0.00443351979601,0.0499846515169,0.99999999886,-1.46884036043e-05,-1.67643029608e-05,4.22190080551e-05,1793254940491287040
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,761,738,720,688.983946144,648,915,800,840,658,635.991973072,657.991973072,0.443594921299,0.00443796266282,0.0500015128121,0.999999998866,-1.50784991919e-05,1.44319997965e-05,4.27944473551e-05,1793254940507953664
+189,3.150000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.79503581,648,915,800,840,658,635.397517905,657.397517905,0.44431648397,0.004447178352,0.0499549648454,0.999999996086,1.19228934965e-05,-7.60785995739e-05,4.35688783651e-05,1793254940524620544
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,761.189131325,738,719.810868675,686.810868675,648,915,800.189131325,840,658,635,657.189131325,0.445057397092,0.00445460356725,0.0499140860037,0.999999988603,2.90999803731e-05,-0.000141647685874,4.33842740456e-05,1793254940541287424
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,761.760024371,738,719.239975629,686.239975629,648,915,800.760024371,840,658,635,657.760024371,0.445837369246,0.00445841471119,0.0498846502862,0.999999986494,2.64467036412e-05,-0.000156872326793,4.12638569792e-05,1793254940557954304
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,762,738,719,686.334174869,648,915,800.665825131,840.334174869,658,635.334174869,657.665825131,0.446593469182,0.00446431355553,0.049872191626,0.999999985574,2.92575407098e-05,-0.000162190437993,4.11201944051e-05,1793254940574620672
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,762,738,719,686.910687581,648,915,800.089312419,840.910687581,658,635.910687581,657.089312419,0.447332257351,0.00447172636392,0.0498720444363,0.9999999856,3.6030858891e-05,-0.000160324504047,4.24100401769e-05,1793254940591287296
+194,3.233333333,POSE1_TO_POSE2_PRESS,784.503005186,762,738,719,686.496994814,647.496994814,915,800.503005186,841,658,636,657,0.447994942543,0.00447630374408,0.0498437748282,0.999999976927,4.42179140708e-05,-0.000205771120024,4.30111653976e-05,1793254940607953920
+195,3.250000000,POSE1_TO_POSE2_PRESS,785,762,738,719.094943659,686,647,915,801,841,658,636,657,0.448645014389,0.00447972272171,0.0498140775591,0.999999965558,5.16154536869e-05,-0.000253618876472,4.35487376975e-05,1793254940624620288
+196,3.266666667,POSE1_TO_POSE2_PRESS,785,762,738,719.670303262,686,647,915,801,841,658,636,657,0.449301854881,0.00447991028302,0.0498032423657,0.999999961195,5.37066691174e-05,-0.000269729814196,4.4403581924e-05,1793254940641287168
+197,3.283333333,POSE1_TO_POSE2_PRESS,785,762,738,719.755098925,686,646.755098925,915,800.755098925,840.755098925,658,636,657.244901075,0.449956202116,0.00447995664895,0.0498045153571,0.999999960392,5.5931088518e-05,-0.000271968263105,4.60628395744e-05,1793254940657953792
+198,3.300000000,POSE1_TO_POSE2_PRESS,785,762,738,719.181523531,686,646.181523531,915,800.181523531,840.181523531,658,636,657.818476469,0.450607203173,0.00447981352079,0.0498220383779,0.999999964445,5.83342767692e-05,-0.000255588863539,4.88016760592e-05,1793254940674620416
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,762,738,719.405216905,685.594783095,646,915.405216905,800.405216905,840.405216905,658,636,657.594783095,0.451193890745,0.00447958236396,0.0498240542379,0.999999961796,5.96153039675e-05,-0.000264984335488,5.13467031055e-05,1793254940691287040
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,762,738,719.998052925,685.001947075,646,915.998052925,800.998052925,840.998052925,658,636,657.001947075,0.451750800644,0.00447931044905,0.0498188901428,0.999999955742,6.03767605762e-05,-0.000286313806058,5.38019948424e-05,1793254940707953664
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,761.422397326,738,719.422397326,685,645.422397326,915.422397326,801,841,658,635.422397326,657,0.452231220228,0.00448440065522,0.049773494966,0.999999929411,6.62975898879e-05,-0.000365907770636,5.38003151711e-05,1793254940724620800
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,761.156562064,738,719,684.843437936,645,915,800.843437936,841,658,635.156562064,657.156562064,0.45271566307,0.00448722839592,0.0497365218403,0.999999905183,6.98951890024e-05,-0.000426441299102,5.38158663689e-05,1793254940741287168
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,761.734052068,738,719,684.265947932,645,915,800.265947932,841,658,635.734052068,657.734052068,0.453211600474,0.00448392583831,0.0497225483897,0.999999901584,6.72009170462e-05,-0.000435213368764,5.38995117221e-05,1793254940757953536
+204,3.400000000,POSE1_TO_POSE2_PRESS,785.308581508,762,738,719,684,645,915,800.308581508,841,658,636,658,0.453702780665,0.00447994530094,0.0497215220535,0.999999905072,6.2019083494e-05,-0.000427892707579,5.40138677514e-05,1793254940774620416
+205,3.416666667,POSE1_TO_POSE2_PRESS,785.880583628,762,738,719,684,645,915,800.880583628,841,658,636,658,0.454189899831,0.00447538600634,0.0497315480227,0.99999991428,5.4713743066e-05,-0.000406834485649,5.4154439927e-05,1793254940791287296
+206,3.433333333,POSE1_TO_POSE2_PRESS,785.531630039,762,738,719,684,644.531630039,915,800.531630039,841,658,635.531630039,658,0.454609199361,0.00447084582975,0.0497284423211,0.999999914648,-7.56660198294e-06,-0.000411389977602,3.74924797453e-05,1793254940807953920
+207,3.450000000,POSE1_TO_POSE2_PRESS,785,761.940963235,738,719,683.940963235,644,915,800,841,658,635.059036765,658,0.455002314492,0.00446606881525,0.0497187729744,0.999999905284,-7.67512417526e-05,-0.000428007481881,1.87221473681e-05,1793254940824620544
+208,3.466666667,POSE1_TO_POSE2_PRESS,785,761.361614929,738,719,683.361614929,644,915,800,841,658,635.638385071,658,0.45532236748,0.00445916000774,0.0496817927664,0.999999875953,-7.89451255843e-05,-0.000491368728954,2.0443167863e-05,1793254940841287424
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,761.216724588,738,719,683.216724588,644,915,800.216724588,841,658,636,658,0.455639554555,0.00445735272506,0.0496512594519,0.999999851562,-5.90113869513e-05,-0.00054123158891,2.14747273204e-05,1793254940857954048
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,761.793388634,738,719,683.793388634,644,915,800.793388634,841,658,636,658,0.455951981848,0.00446401813231,0.0496314332386,0.999999838073,-2.32775978036e-06,-0.000568676119256,2.13612193886e-05,1793254940874620416
+211,3.516666667,POSE1_TO_POSE2_PRESS,785.368360452,762,738,719,683.631639548,644,915,800.631639548,841,658,636,657.631639548,0.456255773593,0.00446979987178,0.0496235696358,0.999999831637,3.37647877695e-05,-0.000578809874165,2.37867197677e-05,1793254940891287040
+212,3.533333333,POSE1_TO_POSE2_PRESS,785.942387501,762,738,719,683.057612499,644,915,800.057612499,841,658,636,657.057612499,0.456554743884,0.00447508823387,0.0496223851124,0.999999830133,5.83607283759e-05,-0.000579278511363,2.76298240218e-05,1793254940907953920
+213,3.550000000,POSE1_TO_POSE2_PRESS,785.46845097,762,738,718.46845097,683,643.46845097,915.53154903,800,841,658.53154903,636,657.53154903,0.456815583025,0.00449776134746,0.0496247216404,0.999999832277,8.10692236953e-05,-0.000572885412591,2.59881648023e-05,1793254940924620544
+214,3.566666667,POSE1_TO_POSE2_PRESS,785.119653948,762,738,718.119653948,683,643,915.880346052,800,841,658.880346052,636,658,0.457064570268,0.00451824795646,0.0496278223426,0.999999834313,9.93088737424e-05,-0.000566502552329,2.42088879756e-05,1793254940941287168
+215,3.583333333,POSE1_TO_POSE2_PRESS,785.697253045,762,738,718.697253045,683,643,915.302746955,800,841,658.302746955,636,658,0.457284478583,0.00452294338824,0.0496323443201,0.999999836046,0.000101251054255,-0.000563088680998,2.42447829387e-05,1793254940957954048
+216,3.600000000,POSE1_TO_POSE2_PRESS,785.726004842,762,738,718.726004842,683,643,915,800,841,658.273995158,636,657.726004842,0.457483847426,0.00452476768017,0.0496287188839,0.999999833207,9.99289730481e-05,-0.000568340051788,2.42879745289e-05,1793254940974620672
+217,3.616666667,POSE1_TO_POSE2_PRESS,785.150206722,762,738,718.150206722,683,643,915,800,841,658.849793278,636,657.150206722,0.45766059223,0.00452342943964,0.0496161191519,0.999999825166,9.50113396599e-05,-0.000583136101314,2.43392032759e-05,1793254940991287296
+218,3.633333333,POSE1_TO_POSE2_PRESS,785,762,738,718,683,642.575820107,915,800.424179893,841,658.575820107,636,657.424179893,0.457823571894,0.00451969946629,0.0496112792112,0.999999822243,8.99946428234e-05,-0.000588878784829,2.52240918787e-05,1793254941007953920
+219,3.650000000,POSE1_TO_POSE2_PRESS,785,762,738,718,683,642.001931674,915,800.998068326,841,658.001931674,636,657.998068326,0.457981693333,0.00451512536332,0.0496091779839,0.999999821151,8.4942982993e-05,-0.000591426205321,2.64032094184e-05,1793254941024620544
+220,3.666666667,POSE1_TO_POSE2_PRESS,785,761.407644203,738,718.592355797,682.407644203,642,915,800.407644203,841,658,636,658,0.458104165443,0.00451524181773,0.0496085906083,0.99999982008,8.25973535245e-05,-0.000593559621622,2.65413928478e-05,1793254941041287168
+221,3.683333333,POSE1_TO_POSE2_PRESS,785,761.181143422,738,719,682.181143422,642,915,800.181143422,841,658,636,658,0.458219316267,0.00451576041239,0.0496080967707,0.999999819154,8.1406651202e-05,-0.000595276123391,2.66751641526e-05,1793254941057953792
+222,3.700000000,POSE1_TO_POSE2_PRESS,785,761.757772873,738,719,682.757772873,642,915,800.757772873,841,658,636,658,0.458318745555,0.0045171224038,0.0496077959899,0.999999818561,8.2717520385e-05,-0.000596085438228,2.68069779813e-05,1793254941074620416
+223,3.716666667,POSE1_TO_POSE2_PRESS,785,761.666839852,738,718.666839852,682.666839852,642,915,800.666839852,841,658,636,658,0.458402854123,0.00451855998316,0.0496051596118,0.999999816226,8.48771440248e-05,-0.000599691916948,2.67265132562e-05,1793254941091287040
+224,3.733333333,POSE1_TO_POSE2_PRESS,785,761.092352297,738,718.092352297,682.092352297,642,915,800.092352297,841,658,636,658,0.458475865007,0.00452005231544,0.0496008314239,0.999999812599,8.76515703576e-05,-0.000605324545349,2.64922827553e-05,1793254941107953920
+225,3.750000000,POSE1_TO_POSE2_PRESS,785,761.495449027,738,718,682,642,915,800,841,658,635.504550973,657.504550973,0.458531725823,0.0045182041465,0.0495963647796,0.999999807998,8.51370410507e-05,-0.000613207529308,2.70411493452e-05,1793254941124620800
+226,3.766666667,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.08400138,841,658,635,657,0.458582083323,0.00451611806604,0.0495918797382,0.999999803216,8.2231055211e-05,-0.000621323051074,2.76427459301e-05,1793254941141287424
+227,3.783333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.661973739,841,658,635,657,0.458619396435,0.00451639569417,0.0495874424678,0.999999798812,8.29805996021e-05,-0.000628271210071,2.76723391302e-05,1793254941157953792
+228,3.800000000,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.760593984,841,658,635.239406016,657.239406016,0.458652240116,0.00451834115095,0.0495844691411,0.999999795468,8.48298196243e-05,-0.000633341447756,2.73244652892e-05,1793254941174620416
+229,3.816666667,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.18392259,841,658,635.81607741,657.81607741,0.458678787446,0.00452263617634,0.0495835581585,0.999999793659,8.82282175467e-05,-0.000635766146502,2.64448313562e-05,1793254941191287040
+230,3.833333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.399446646,841,658,636,658,0.458700689366,0.00452278027575,0.0495823568406,0.999999793262,8.85159417908e-05,-0.000636355899503,2.63217303249e-05,1793254941207953920
+231,3.850000000,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.985952436,841,658,636,658,0.458720415859,0.00452098051429,0.0495810195598,0.99999979353,8.7346950852e-05,-0.000636086355248,2.65529104185e-05,1793254941224620544
+232,3.866666667,POSE1_TO_POSE2_PRESS,785.565956446,761.434043554,738.565956446,718,682,642,915,801,841,658,636,658,0.45872907888,0.00451897071433,0.0495795640492,0.99999979154,8.62846711558e-05,-0.000639335436515,2.69228696422e-05,1793254941241287424
+233,3.883333333,POSE1_TO_POSE2_PRESS,785.854908949,761,738.854908949,718,682,642,915.145091051,800.854908949,841,658,636,658,0.458736025817,0.00451873783954,0.0495778640632,0.99999978921,8.66093679888e-05,-0.000642924256308,2.69693921793e-05,1793254941257954048
+234,3.900000000,POSE1_TO_POSE2_PRESS,785.277887671,761,738.277887671,718,682,642,915.722112329,800.277887671,841,658,636,658,0.458738672248,0.00452381014363,0.0495754449212,0.999999786038,9.10552429552e-05,-0.000647267421922,2.60429185853e-05,1793254941274620928
+235,3.916666667,POSE1_TO_POSE2_PRESS,785,761,738,718,682,642,915.702472362,800,841,658,635.702472362,658,0.458741851507,0.004525970778,0.0495744271961,0.99999978463,9.2963679635e-05,-0.000649177148649,2.58310192824e-05,1793254941291287808
+236,3.933333333,POSE1_TO_POSE2_PRESS,785,761,738,718,682,642,915.128548892,800,841,658,635.128548892,658,0.458745525752,0.00452542654364,0.0495747113523,0.999999784887,9.25148992802e-05,-0.000648826271218,2.62829417557e-05,1793254941307954176
+237,3.950000000,POSE1_TO_POSE2_PRESS,785.458417204,761.458417204,738,718,682,641.541582796,915,800,841,658,635.458417204,657.541582796,0.458747887877,0.00452416264823,0.0495752308824,0.999999785464,9.12050039875e-05,-0.000648120270534,2.63297561862e-05,1793254941324620544
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.951819536,762,738,718,681.951819536,641.048180464,915,800,841,658,636,657,0.458749843232,0.00452291864232,0.0495757148541,0.999999786065,8.99204310593e-05,-0.000647374521784,2.62722104814e-05,1793254941341287168
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.372715434,762,738,718,681.372715434,641.627284566,915,800,841,658,636,657,0.458751489467,0.00452418273445,0.0495750583691,0.999999785941,9.16537265314e-05,-0.000647320261309,2.63531419788e-05,1793254941357953792
+240,4.000000000,POSE1_TO_POSE2_PRESS,785,761.795040681,738,718,681.204959319,641.795040681,915,800,841,658,635.795040681,657,0.458751609715,0.00452546013345,0.0495737904631,0.999999784944,9.35901402746e-05,-0.000648584464019,2.63004110292e-05,1793254941374620672
+241,4.016666667,POSE1_TO_POSE2_PRESS,785,761.21994721,738,718,681.78005279,641.21994721,915,800,841,658,635.21994721,657,0.4587489742,0.00452676156313,0.0495714183975,0.999999782362,9.58933633343e-05,-0.00065222966729,2.60063002878e-05,1793254941391287296
+242,4.033333333,POSE1_TO_POSE2_PRESS,785.352789742,761.352789742,738,718,682,641.352789742,915.352789742,800.352789742,841,658,635,657.352789742,0.458749564105,0.00452603167221,0.0495714044741,0.999999782357,9.61291817457e-05,-0.000652199126681,2.60925688846e-05,1793254941407953920
+243,4.050000000,POSE1_TO_POSE2_PRESS,785.924067247,761.924067247,738,718,682,641.924067247,915.924067247,800.924067247,841,658,635,657.924067247,0.458752151559,0.00452404375518,0.049572850982,0.999999783951,9.50846266332e-05,-0.000649892144878,2.6414411888e-05,1793254941424620800
+244,4.066666667,POSE1_TO_POSE2_PRESS,785.483332036,762,738,718,682,641.483332036,915.483332036,800.483332036,841,658,635.516667964,657.483332036,0.458751057934,0.00452473087363,0.0495719422025,0.999999782871,9.58478842338e-05,-0.00065142669598,2.67420357725e-05,1793254941441287424
+245,4.083333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,641.109369127,915,800.109369127,841,658,636,657.109369127,0.458750177505,0.0045255737577,0.0495711971131,0.999999782006,9.65615511575e-05,-0.000652638655894,2.69732167293e-05,1793254941457954304
+246,4.100000000,POSE1_TO_POSE2_PRESS,785,762,738,718,682,641.688462947,915,800.688462947,841,658,636,657.688462947,0.458752636235,0.00452532446854,0.0495727057013,0.999999783837,9.58720227579e-05,-0.000649935981238,2.67863831082e-05,1793254941474620672
+247,4.116666667,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.735332853,841,658,636,657.735332853,0.458753222876,0.00452596147626,0.0495727831831,0.99999978399,9.64660080246e-05,-0.000649617714329,2.6673213897e-05,1793254941491287040
+248,4.133333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,642,915,800.162493186,841,658,636,657.162493186,0.458751629697,0.00452763046825,0.0495711943168,0.999999782187,9.8554487874e-05,-0.000652075798241,2.6645817857e-05,1793254941507953664
+249,4.150000000,POSE1_TO_POSE2_PRESS,785,762,738.422192272,718,682,641.577807728,915,800,841,658,636,657.422192272,0.458751129005,0.00452899410507,0.0495710085483,0.99999978146,9.90956417668e-05,-0.000653115922471,2.64475795094e-05,1793254941524620544
+250,4.166666667,POSE1_TO_POSE2_PRESS,785,761.988629413,738.988629413,718,682,641,915,800.011370587,841,658,636,658,0.458751074926,0.00453020499128,0.0495713703783,0.999999781169,9.9043741776e-05,-0.000653579568842,2.61871601696e-05,1793254941541287168
+251,4.183333333,POSE1_TO_POSE2_PRESS,785,761.40933677,738.40933677,718,682,641,915,800.59066323,841,658,636,658,0.458751720044,0.00452982593409,0.0495713319225,0.999999781262,9.99743926133e-05,-0.000653295030894,2.61999921994e-05,1793254941557954816
+252,4.200000000,HOLD_POSE2,785,761,738,718,682,642,915,801,841,658,636,658,0.458751974257,0.00453094275043,0.0495697385447,0.999999780771,9.8971611176e-05,-0.00065423356087,2.53012785966e-05,1793254941598579712
+253,4.216666667,HOLD_POSE2,785.573613967,761.573613967,738,718,682,642,915,800.426386033,841,658,635.426386033,658,0.458752697556,0.00453048976538,0.0495704285859,0.999999781222,9.86803214108e-05,-0.000653591240179,2.52429975842e-05,1793254941615245312
+254,4.233333333,HOLD_POSE2,785.848496808,762,738,718,682,641.848496808,915,800.151503192,841,658,635.151503192,658,0.458753491821,0.00452999810046,0.0495711389176,0.999999781841,9.85422586241e-05,-0.000652665250947,2.51923851624e-05,1793254941631911168
+255,4.250000000,HOLD_POSE2,785.258225894,762,738,718,682,641.258225894,915,800.741774106,841,658,635.741774106,658,0.458754491614,0.00452939441481,0.0495719080123,0.999999782951,9.88479557437e-05,-0.000650917730358,2.51639816989e-05,1793254941648577792
+256,4.266666667,HOLD_POSE2,785,761.674000019,738.325999981,718,682,641,915,800.674000019,841,658,635.674000019,657.674000019,0.458754876946,0.00453049977323,0.0495724528194,0.999999783158,0.000100332500046,-0.000650367034126,2.52810529762e-05,1793254941665244416
+257,4.283333333,HOLD_POSE2,785,761.094475305,738.905524695,718,682,641,915,800.094475305,841,658,635.094475305,657.094475305,0.458754784424,0.00453293422668,0.0495728232017,0.999999782662,0.00010273381407,-0.000650747088284,2.55112575283e-05,1793254941681911040
+258,4.300000000,HOLD_POSE2,785.480267675,761.480267675,738.519732325,718,682,641,915.480267675,800,841,658,635.480267675,657.480267675,0.458755207993,0.00453064964444,0.0495729264697,0.999999782988,0.000100601845549,-0.000650559259263,2.59936655226e-05,1793254941698577920
+259,4.316666667,HOLD_POSE2,785.944521954,761.944521954,738,718.055478046,681.944521954,641,915.944521954,800,841,658,635.944521954,658,0.458755524648,0.00452802218099,0.0495728442806,0.999999783296,9.80781142266e-05,-0.00065045541175,2.64066712081e-05,1793254941715245312
+260,4.333333333,HOLD_POSE2,785.355868768,761.355868768,738,718.644131232,681.355868768,641,915.355868768,800,841,658,635.355868768,658,0.458753847721,0.00453093296728,0.0495714797536,0.999999781946,0.000100275143114,-0.00065222169032,2.56805838974e-05,1793254941731911424
+261,4.350000000,HOLD_POSE2,785.229139447,761,738,718.770860553,681.229139447,641,915,800.229139447,841,658,635,658,0.458753296259,0.00453265265527,0.0495709497633,0.999999781267,0.000102063647404,-0.000652998209125,2.53442797154e-05,1793254941748578048
+262,4.366666667,HOLD_POSE2,785.808575364,761,738,718.191424636,681.808575364,641,915,800.808575364,841,658,635,658,0.458754465349,0.00453255145386,0.0495716955694,0.999999781622,0.000103227620331,-0.000652261634518,2.56038557768e-05,1793254941765244672
+263,4.383333333,HOLD_POSE2,786,761,738,718,681.613549651,641,915,801,841,658,635.386450349,658,0.458756213491,0.00453263491971,0.0495728454167,0.99999978293,0.000102667990865,-0.000650336641694,2.57192574623e-05,1793254941781911040
+264,4.400000000,HOLD_POSE2,786,761,738,718,681.036444697,641,915,801,841,658,635.963555303,658,0.458758247308,0.00453280949081,0.0495741945971,0.999999784703,0.000101258025271,-0.000647825344745,2.57635309944e-05,1793254941798577664
+265,4.416666667,HOLD_POSE2,786,761.53850774,738,718,681.53850774,641,915,800.46149226,841,658,636,658,0.458756588961,0.00453368607943,0.049572078448,0.999999782876,0.000102040406404,-0.000650538222109,2.52054670787e-05,1793254941815244544
+266,4.433333333,HOLD_POSE2,786,762,738,718,681.883855366,641,915,800.116144634,841,658,636,657.883855366,0.458755244255,0.00453432817173,0.0495704404207,0.999999781335,0.00010279206871,-0.000652802157753,2.47728572271e-05,1793254941831911168
+267,4.450000000,HOLD_POSE2,786,762,738,718,681.294694516,641,915,800.705305484,841,658,636,657.294694516,0.458756190501,0.00453382251981,0.0495717009446,0.999999781977,0.000102816763603,-0.000651803530215,2.5016535982e-05,1793254941848578048
+268,4.466666667,POSE2_TO_POSE3_RETREAT,785,762,738,718,682,641,915,800,841,658,636,658,0.458753635048,0.00452825444699,0.0495701562424,0.999999780524,9.51176611333e-05,-0.000655143292289,2.63116083354e-05,1793254941885746176
+269,4.483333333,POSE2_TO_POSE3_RETREAT,785.570771615,761.429228385,738,718,682,641,915,800,841,658,636,658,0.458754828621,0.00453208817753,0.0495710471556,0.999999781412,0.000102115085275,-0.00065275565368,2.56556141251e-05,1793254941902412544
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.852971947,761.147028053,738,718,682,641,915,800,841,658,636,657.852971947,0.458755502832,0.00453480670653,0.0495714225286,0.999999781899,0.000106619138868,-0.000651304811914,2.52084548379e-05,1793254941919079168
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.260082698,761.739917302,738,718,682,641,915,800,841,658,636,657.260082698,0.458754602085,0.00453414339819,0.049570234531,0.99999978131,0.000103562071258,-0.00065269479734,2.53945853502e-05,1793254941935745280
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785,761.674955907,738,718,682,641,915,800,841,658,636,657.325044093,0.45875509889,0.00453409802238,0.0495707875311,0.99999978156,0.000102268864583,-0.000652512326041,2.54756360879e-05,1793254941952411648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785,761.09589538,738,718,682,641,915,800,841,658,636,657.90410462,0.458756687858,0.00453453555037,0.0495727010912,0.999999782471,0.000102354085427,-0.000651101006462,2.5474568757e-05,1793254941969078272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785,761.483914938,738.483914938,718,681.516085062,641,915,800,841,658,636,657.516085062,0.458755507184,0.00453500990018,0.0495717039308,0.999999781729,0.000103864810067,-0.000652008671394,2.52886797383e-05,1793254941985745152
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785,762,738.936761025,718,681,641,915.063238975,800.063238975,841,658,636,657,0.458754056219,0.00453537182506,0.0495703592283,0.999999780858,0.000105281659773,-0.000653122740543,2.51051456357e-05,1793254942002412032
+276,4.600000000,POSE2_TO_POSE3_RETREAT,785,762,738.362568365,718,681,641,915.637431635,800.637431635,841,658,636,657,0.45875486279,0.0045347663393,0.0495708741416,0.999999781636,0.000103654073306,-0.000652185752463,2.5237020544e-05,1793254942019078656
+277,4.616666667,POSE2_TO_POSE3_RETREAT,785.216587088,762,738,718,681,641.216587088,915.783412912,801,841,658,635.783412912,657,0.458752398069,0.00453387474811,0.0495696586881,0.999999780679,0.000102600081071,-0.000653817383369,2.52509446073e-05,1793254942035745280
+278,4.633333333,POSE2_TO_POSE3_RETREAT,785.804245058,762,738,718,681,641.804245058,915.195754942,801,841,658,635.195754942,657,0.458744328756,0.0045324929828,0.049565478659,0.999999776729,0.000102528807408,-0.000659849737053,2.50627877083e-05,1793254942052411904
+279,4.650000000,POSE2_TO_POSE3_RETREAT,786,762,738.387525163,718,681.387525163,642,915.387525163,800.612474837,841,658,635,657,0.458722375454,0.00453406580023,0.0495550372457,0.99999976574,0.000104165847533,-0.000676058233045,2.47943510416e-05,1793254942069078528
+280,4.666666667,POSE2_TO_POSE3_RETREAT,786,762,738.968618585,718,681.968618585,642,915.968618585,800.031381415,841,658,635,657,0.458693487117,0.00453711442734,0.0495414682796,0.999999750864,0.00010665618788,-0.000697349697683,2.44858147209e-05,1793254942085745152
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785.45803985,762,739,718,682,641.45803985,915.45803985,800,841,658,635,657.54196015,0.458642202484,0.00453535139474,0.0495224036999,0.999999729285,0.000106486856664,-0.000727661852451,2.44590489816e-05,1793254942102411520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785,762,739,718,681.885279366,641,915,800,841,658,635,658,0.458586658819,0.00453435945599,0.0495033279217,0.999999708462,0.000106521934027,-0.000755747079813,2.40008382398e-05,1793254942119078400
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785,762,739,718,681.313071226,641,915,800,841,658,635,658,0.458519229407,0.00453753790826,0.0494854585774,0.999999695248,0.00010797764474,-0.000772898094187,2.17579478829e-05,1793254942135745280
+284,4.733333333,POSE2_TO_POSE3_RETREAT,785,762,738.729271099,718,681,641,915,800.270728901,841,658,635.270728901,658,0.458444394919,0.00453987491101,0.0494714742756,0.999999682403,0.000110059475189,-0.000789089095522,2.04721820562e-05,1793254942152411648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,785,762,738.131466375,718,681,641,915,800.868533625,841,658,635.868533625,658,0.458360614137,0.0045411953328,0.0494621836127,0.999999670115,0.000112897739871,-0.000804120274948,2.03427476409e-05,1793254942169078272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,785.447643335,762,738,718.447643335,681.447643335,641,915,800.552356665,841,658,636,657.552356665,0.45827129416,0.00454276406738,0.0494630210335,0.999999671133,0.000114865754364,-0.000802588573566,1.97678128153e-05,1793254942185744896
+287,4.783333333,POSE2_TO_POSE3_RETREAT,786,761.978463231,738,718.978463231,682,641.021536769,915,800,841,658,635.978463231,657,0.458179406473,0.00454441391576,0.0494667617623,0.999999675931,0.000116683996026,-0.000796341180026,1.9087377202e-05,1793254942202411520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,786,761.403179254,738,718.403179254,682,641.596820746,915,800,841,658,635.403179254,657,0.458061649072,0.00454634945927,0.0494717387039,0.999999681323,0.000120959278786,-0.000788900313697,1.89235184658e-05,1793254942219078144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,786,761.171578394,738,718,682,641.828421606,915,800.171578394,841,658.171578394,635.171578394,657.171578394,0.457934293761,0.00454776623923,0.0494765905666,0.999999686176,0.000124440956877,-0.00078218369831,1.87241250411e-05,1793254942235744768
+290,4.833333333,POSE2_TO_POSE3_RETREAT,786,761.745102963,738,718,682,641.254897037,915,800.745102963,841,658.745102963,635.745102963,657.745102963,0.457784454035,0.00454796774334,0.0494811494136,0.999999689892,0.000126063505429,-0.000777163742315,1.84414867077e-05,1793254942252411392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785.668739779,762,738,718,682,641.331260221,915,801,841,658.668739779,635.668739779,658,0.457613958815,0.00455021780007,0.0494823604952,0.999999688923,0.000130436035574,-0.00077770371877,1.78146153073e-05,1793254942269078272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785.072476503,762,738,718,682,641.927523497,915,801,841,658.072476503,635.072476503,658,0.457426939503,0.00455410666722,0.0494808934169,0.999999684168,0.000137008508633,-0.000782691554629,1.69123627456e-05,1793254942285745152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,785,761.498593623,738,718,682,642,915,800.498593623,841,658,635,658,0.457207949289,0.00455854851509,0.0494761090982,0.999999673577,0.000142864533924,-0.000795106114428,1.55702558075e-05,1793254942302411520
+294,4.900000000,POSE2_TO_POSE3_RETREAT,785,761,738.073287051,718,682,642,915,800.073287051,841,658,635,657.926712949,0.456981140227,0.00456263560129,0.0494720108488,0.999999664059,0.000148594051223,-0.00080597643036,1.42665978903e-05,1793254942319078144
+295,4.916666667,POSE2_TO_POSE3_RETREAT,785,761,738.652727621,718,682,642,915,800.652727621,841,658,635,657.347272379,0.456730883465,0.00456374409045,0.0494758210139,0.99999966876,0.000154134521526,-0.000799084177021,1.36488313838e-05,1793254942335745024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785,761.237879178,738.762120822,718,682,642,915,800.762120822,841,658,635.237879178,657.237879178,0.456462973666,0.00456675226502,0.0494795915723,0.999999671272,0.000161531636579,-0.000794481038926,1.2759946496e-05,1793254942352411648
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785,761.831573072,738.168426928,718,682,642,915,800.168426928,841,658,635.831573072,657.831573072,0.456168658838,0.00457260194934,0.0494833028877,0.999999670529,0.000171705881831,-0.000793301912146,1.14655284207e-05,1793254942369078016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,785.412980332,761.587019668,738,718,682,642,915,800,841,658,635.587019668,658,0.455851301045,0.00457619963083,0.0494862594811,0.999999673774,0.000179804555287,-0.000787411593673,1.02131879086e-05,1793254942385744640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,785.989521457,761.010478543,738,718,682,642,915,800,841,658,635.010478543,658,0.455524817096,0.00457890540682,0.0494889171669,0.999999678529,0.000187081198613,-0.000779655408466,8.97751223857e-06,1793254942402411264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,786,761,738,718,682,642.563111689,915,800,840.436888311,658,635.563111689,658,0.455167942394,0.004583523362,0.0494975908365,0.999999685503,0.000194925955684,-0.000768723897973,7.88945046645e-06,1793254942419078400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,785.862787303,761.137212697,738,718,682.137212697,643,915,800,840.137212697,658,636,657.862787303,0.454799444408,0.00458884511293,0.0495052914077,0.999999692029,0.000202605689445,-0.000758191175994,6.30192070913e-06,1793254942435745024
+302,5.033333333,POSE2_TO_POSE3_RETREAT,785.286878704,761.713121296,738,718,682.713121296,643,915,800,840.713121296,658,636,657.286878704,0.454395583224,0.00459630386519,0.0495095247394,0.999999697412,0.000209724186514,-0.000749121390625,3.1087576613e-06,1793254942452411648
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785,761.702025651,738,718.297974349,683,643,915,800,841,658,635.702025651,657.297974349,0.453976915104,0.00460138838906,0.0495237448081,0.999999712989,0.000217422530721,-0.000725773883583,1.33153973461e-06,1793254942469078272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785,761.108294645,738,718.891705355,683,643,915,800,841,658,635.108294645,657.891705355,0.453543550201,0.00460411635576,0.0495478772874,0.999999737683,0.00022569640715,-0.000688254915857,9.59728288707e-07,1793254942485744640
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785,761,738,718.530918387,683.469081613,643,915,800,840.530918387,658,635.469081613,658,0.453079921573,0.00461111920327,0.049577412724,0.999999761644,0.000235603788501,-0.000648999792633,-1.09301025895e-06,1793254942502411264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785,761,738,718.042838997,684,643.042838997,915,800,840.042838997,658,635.957161003,657.957161003,0.452604569138,0.0046189089606,0.0496066619056,0.999999782499,0.000245886994534,-0.000611988206252,-3.39838560581e-06,1793254942519078144
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.616964698,684,643.616964698,915,800,840.616964698,658,635.383035302,657.383035302,0.452067549439,0.00462463055888,0.0496174125551,0.999999782552,0.000256311726392,-0.000607604255754,-4.18630429976e-06,1793254942535744768
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785,761,737.801843889,718.801843889,684,644,915,800,840.801843889,658,635,657.198156111,0.451504729096,0.00462982300818,0.0496188546843,0.999999778606,0.000265316946139,-0.000610211461641,-5.99600912175e-06,1793254942552411392
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785,761,737.206489489,718.206489489,684,644,915,800,840.206489489,658,635,657.793510511,0.450890192128,0.00463395479307,0.0496016381489,0.999999766642,0.000271476793611,-0.000626832241902,-9.85385512552e-06,1793254942569078016
+310,5.166666667,POSE2_TO_POSE3_RETREAT,785,761,737.377293701,718,684,644.377293701,915,800,840,658,635,657.622706299,0.450301016626,0.00463756633085,0.0496120312331,0.999999782113,0.000279674230714,-0.000597815692251,-1.31268444792e-05,1793254942585744896
+311,5.183333333,POSE2_TO_POSE3_RETREAT,785,761,737.954932495,718,684,644.954932495,915,800,840,658,635,657.045067505,0.449725308226,0.00464090161433,0.0496370851823,0.999999809848,0.000288953638616,-0.000544565459926,-1.60892714851e-05,1793254942602411520
+312,5.200000000,POSE2_TO_POSE3_RETREAT,785,761,738,718,685.057398564,645.528699282,915,800,840,658,635.528699282,657,0.449110258873,0.00464553758088,0.0496744044598,0.999999837689,0.000298522538123,-0.00048494042354,-1.8408582469e-05,1793254942619077888
+313,5.216666667,POSE2_TO_POSE3_RETREAT,785,761,738,718.105171636,686,646,915,800,840,658,636,657.105171636,0.448478909469,0.00465097478647,0.0497057089409,0.999999857553,0.000308540582367,-0.000435034048053,-2.10165020054e-05,1793254942635744768
+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,761,738,718.695640128,686,646,915,800,840,658,636,657.695640128,0.447787708108,0.00465960128785,0.0497044698239,0.999999854805,0.000320518091378,-0.000432462036103,-2.52072783615e-05,1793254942652411392
+315,5.250000000,POSE2_TO_POSE3_RETREAT,784.719406856,761,738,719,686.280593144,646.280593144,915,800,840,658,635.719406856,657.719406856,0.447046062595,0.00466274567558,0.0496900599302,0.999999842849,0.000327545550711,-0.000454018923514,-2.97195567341e-05,1793254942669078016
+316,5.266666667,POSE2_TO_POSE3_RETREAT,784.140321085,761,738,719,686.859678915,646.859678915,915,800,840,658,635.140321085,657.140321085,0.446250754931,0.00466005823797,0.049661639075,0.999999819558,0.000329307189804,-0.000501243930148,-3.45738467228e-05,1793254942685744640
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784,761,738,719,686.564863138,647,915,800,840,658,635,657,0.445498984659,0.00462843327465,0.049673830563,0.999999867385,0.000167596693999,-0.000485769119488,-3.42024639543e-05,1793254942702411520
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784,761,737.99052027,719,686.018959459,647.00947973,915,800,840,658,635,657.00947973,0.444760228962,0.00458795132158,0.049699134759,0.999999897252,-4.28896554748e-05,-0.000450133920837,-3.21863821213e-05,1793254942719078144
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784,761,737.413473161,719,687.173053678,647.586526839,915,800,840,658,635,657.586526839,0.443967041645,0.00457126844554,0.0497318929221,0.99999991531,-4.35814064903e-05,-0.000408009972933,-3.17581947478e-05,1793254942735744768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784,761,737,719,687.832819372,648,915,800,840,658,635,658,0.443166629612,0.00456182130642,0.0497544617437,0.999999927077,-3.88410220103e-05,-0.00037849470006,-3.28398478798e-05,1793254942752411392
+321,5.350000000,POSE2_TO_POSE3_RETREAT,784,761,737,719,687.243048852,648,915,800,840,658,635,658,0.442347955394,0.00457066426155,0.0497512745129,0.999999926557,-2.03695877299e-05,-0.000380850938518,-3.77379919904e-05,1793254942769078272
+322,5.366666667,POSE2_TO_POSE3_RETREAT,784,761,737.340438649,719.340438649,687.680877297,648,915,800,840,658,635,658,0.441517399675,0.00457522971536,0.0497739945821,0.999999941475,-4.76879077343e-06,-0.000339557762222,-4.15549048064e-05,1793254942785744896
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784,761,737.919521784,719.919521784,688.839043568,648,915,800,840,658,635,658,0.440678515163,0.00457679667813,0.0498148754399,0.999999963143,8.81971401254e-06,-0.000267666730051,-4.46138836572e-05,1793254942802411520
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,761,737.505701288,720,688.505701288,648,915,800,840,658,635,657.505701288,0.439792850405,0.00458428730786,0.049821189767,0.999999964705,2.54366323051e-05,-0.000259963600507,-4.85948691475e-05,1793254942819078400
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783.931604406,760.931604406,737.068395594,720,688,648.068395594,915,800,840,658,635,657,0.438891833111,0.00459158136359,0.0498175093567,0.99999996138,4.09176531591e-05,-0.000269811127004,-5.2604289952e-05,1793254942835745024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783.357396855,760.357396855,737.642603145,720,688,648.642603145,915,800,840,658,635,657,0.437933118303,0.00459035079532,0.0497811748709,0.999999942073,4.4383349206e-05,-0.000332833659118,-5.5723430843e-05,1793254942852411648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760.223896225,737.776103775,720,688,648.776103775,915,800,840,658,635,657,0.436994566314,0.00458721127712,0.0497671712767,0.999999931957,7.73284104456e-05,-0.000357776368694,-4.58411700218e-05,1793254942869078528
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,760.816869386,737.183130614,720,688,648.183130614,915,800,840,658,635,657,0.436089251144,0.00458092499111,0.049789978557,0.999999936092,0.000158868100296,-0.000319947219949,-1.45270274683e-05,1793254942885745152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.399133352,761,737,720,688,648,915,800,840,658,635.399133352,657,0.435110021682,0.00457999281745,0.0497818913087,0.999999924047,0.00018150753818,-0.00034480856657,-8.21983026456e-06,1793254942902411520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.976612076,761,737,720,688,648,915,800,840,658,635.976612076,657,0.434097765037,0.00458145303047,0.0497599994091,0.999999905027,0.000177828480775,-0.000397682006223,-1.30865269032e-05,1793254942919078144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.447265516,761,737.552734484,720,688.552734484,648.552734484,915,800,839.447265516,658,635.447265516,657,0.433186263629,0.00458339285172,0.0497759334818,0.999999922348,0.000150973676197,-0.000363549064524,-1.85447458064e-05,1793254942935744768
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.131509623,761,738,720,689.131509623,649,915,800,839.131509623,658,635,657.131509623,0.432275168352,0.00458557223928,0.0497920744531,0.999999937035,0.000128397936953,-0.000329972152831,-2.3726997563e-05,1793254942952411392
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.719695327,761,738,720,689.719695327,649,915,800,839.719695327,658,635,657.719695327,0.431350715189,0.00458851323813,0.0498033895308,0.999999943529,0.000124078541807,-0.000311079103394,-2.7864231848e-05,1793254942969078272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.696970543,761,738,720.303029457,689.696970543,648.696970543,915,800,839.696970543,658,635,658,0.430379423349,0.00458836557866,0.0497919137761,0.999999937118,0.000123631656522,-0.000330976597222,-3.05403105442e-05,1793254942985744896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.118053473,761,738,720.881946527,689.118053473,648.118053473,915,800,839.118053473,658,635,658,0.429365488143,0.00458540590669,0.0497596885252,0.999999916892,0.000126710426827,-0.000386190230402,-3.18861066325e-05,1793254943002411776
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782.540664912,761,738,721,689,648.459335088,914.540664912,800,839,657.540664912,635,657.540664912,0.428384940694,0.00458569429187,0.0497667062773,0.999999920759,0.000122373571063,-0.000377456521878,-3.21518090932e-05,1793254943019078400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,782.03620946,761,738,721,689,648.96379054,914,800,839.03620946,657.03620946,635,657,0.427412021632,0.004587013267,0.0497812660847,0.999999929216,0.000116965826448,-0.000356161327925,-3.22013684775e-05,1793254943035744768
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782.611258003,761,738,721,689,648.388741997,914,800,839.611258003,657.611258003,635,657,0.42642535162,0.00459128730051,0.0497584694144,0.999999915062,0.000123889760013,-0.000391698517852,-3.31516932503e-05,1793254943052411392
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,689,648,914,800,839.808985011,658,635,657,0.425480937434,0.00459396589375,0.0497532075154,0.99999991421,0.000127092644007,-0.000392733352152,-3.4470984435e-05,1793254943069078272
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,761,738,721,689,648,914,800,839.219403413,658,635,657,0.424624692908,0.00459331548612,0.0497845331828,0.999999940055,0.000122531289696,-0.000321776528561,-3.65601509015e-05,1793254943085744896
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.363410088,761,738,721,689.363410088,648,914.363410088,800,839,658,635,657,0.423729205326,0.0045927333445,0.0498109471327,0.999999954008,0.000127211960647,-0.000272789079754,-3.72511375467e-05,1793254943102411520
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783.942212125,761,738,721,689.942212125,648,914.942212125,800,839,658,635,657,0.422810458569,0.00459219166395,0.0498344499222,0.999999961833,0.000137370349572,-0.000236822810781,-3.71134275766e-05,1793254943119078144
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783.48149597,761,738,721,690,648.51850403,915,800,839,658,635,657,0.421840189061,0.00459323190456,0.0498084440406,0.999999948568,0.000139757379551,-0.000286316096426,-3.68073627195e-05,1793254943135745024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,760.905912035,738,721,690,648.905912035,914.905912035,800,839,658,635,657,0.420880015933,0.00459464048347,0.049784291938,0.999999934047,0.00013756594271,-0.000334140388898,-3.64951514798e-05,1793254943152411904
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,760.332516405,738,721,690,648.332516405,914.332516405,800,839,658,635,657,0.420000387958,0.00459703164529,0.0497975570774,0.999999939694,0.00011644166135,-0.000325175648262,-3.62467542597e-05,1793254943169078528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760.248928545,738,721,690,648,914.248928545,800,839,658,634.751071455,657,0.419115618,0.0046000368593,0.0497980171398,0.999999936283,0.000114951780504,-0.000336074747622,-3.56816544651e-05,1793254943185745408
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760.841484954,738,721,690,648,914.841484954,800,839,658,634.158515046,657,0.418223749978,0.00460388972777,0.0497808007179,0.999999919434,0.000140565771931,-0.000374394442664,-3.46793696466e-05,1793254943202412032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,761,738,721,690,648,914.576051866,800,839,658,634.423948134,657,0.417375515726,0.00460389733025,0.0497704671379,0.99999991452,0.000148384601261,-0.000384235978646,-3.61070739309e-05,1793254943219078656
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760.997314607,738,721,690.002685393,648,914,800,839,657.997314607,635,657,0.416543488186,0.00460248635644,0.0497628264361,0.999999914575,0.000149567432079,-0.00038341012461,-3.84154594318e-05,1793254943235745280
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760.427000314,738,721,690.572999686,648,914,800,839,657.427000314,635,657,0.415768830703,0.00459806174353,0.0497930676012,0.999999938625,0.000121775467668,-0.000326155123211,-3.92931237913e-05,1793254943252411904
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783,760.149846411,738,721,690.850153589,648.149846411,914.149846411,800,839,657,634.850153589,657,0.414988357658,0.00459416884708,0.0498117392038,0.999999951612,0.000102676581606,-0.000290947182568,-3.9796150114e-05,1793254943269078528
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783,760.746156492,738,721,690.253843508,648.746156492,914.746156492,800,839,657,634.253843508,657,0.414190557105,0.00459186018561,0.0497959395886,0.999999941582,0.000109478501665,-0.000321427902729,-3.91829522899e-05,1793254943285745152
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783,761,738,721.330199839,690,648.669800161,914.669800161,800,839,657.330199839,634,657,0.413418767575,0.00459363289405,0.049781765756,0.99999993175,0.00012172068421,-0.000346649558871,-3.89753858581e-05,1793254943302411776
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783,761,738,721.905150787,690,648.094849213,914.094849213,800,839,657.905150787,634,657,0.412666258014,0.00459843080038,0.0497687969887,0.999999922013,0.000137995304025,-0.00036797308361,-3.90684820332e-05,1793254943319078144
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760.51836645,738,721.51836645,690,648,914,800,839,658,634,657.48163355,0.411971283546,0.00460196675599,0.0497879936353,0.999999929567,0.000145539782683,-0.000343773788088,-3.87842049427e-05,1793254943335745024
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783,760.058046841,738,721.058046841,690.058046841,648,914,800,839,658,634,657.941953159,0.411286064921,0.00460447754149,0.0498104053134,0.999999938706,0.000147709519981,-0.000315112571543,-3.83946504694e-05,1793254943352411648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783,760.631158425,738,721.631158425,690.631158425,648,914,800,839,658,634,657.368841575,0.410586552971,0.0046001039344,0.0498049586033,0.999999939032,0.000117491778322,-0.000326661398216,-3.77324806625e-05,1793254943369078272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783,761,738.212664591,722,690.787335409,648,914,800,839,657.787335409,634.212664591,657,0.409915479116,0.00459742402477,0.049796755148,0.99999993605,0.000103991588656,-0.000340123123269,-3.74424097262e-05,1793254943385744896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783,761,738.809328426,722,690.190671574,648,914,800,839,657.190671574,634.809328426,657,0.409295754776,0.00459780235182,0.0497835739578,0.999999928265,0.000120677562313,-0.000357038885245,-3.78242217279e-05,1793254943402411520
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783.389852796,761,739,722,690.389852796,648.389852796,914.389852796,800,839,657.389852796,634.610147204,657,0.408725400178,0.00459484598126,0.0497921719239,0.999999933399,0.000124341473284,-0.000341006481505,-3.81464990126e-05,1793254943419078400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783.962797423,761,739,722,690.962797423,648.962797423,914.962797423,800,839,657.962797423,634.037202577,657,0.408178231704,0.00459032349166,0.049810998328,0.999999943937,0.000121889658546,-0.000309500187164,-3.84408162128e-05,1793254943435745280
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.460569322,761,738.460569322,722,691,649,915,800,839,657.460569322,634.539430678,657,0.407644329649,0.00458922546427,0.0498229599769,0.999999948561,0.000117084031584,-0.000296148789703,-3.82908082373e-05,1793254943452411904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783.118667575,761,738.118667575,722.118667575,691,648.881332425,914.881332425,800,838.881332425,657.118667575,634.881332425,657,0.407110019553,0.0045885176449,0.0498268926301,0.999999949096,0.000112822519074,-0.000295998955891,-3.82507867096e-05,1793254943469078272
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783.707199571,761,738.707199571,722.707199571,691,648.292800429,914.292800429,800,838.292800429,657.707199571,634.292800429,657,0.406570446025,0.00458841328976,0.0498009219499,0.999999934179,0.000111362613585,-0.000343128991232,-3.87684249271e-05,1793254943485744896
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783.719282478,761,738.719282478,722.719282478,690.719282478,648.280717522,914,800,838.280717522,658,634.280717522,657,0.406061890945,0.00459050085742,0.0497807201157,0.999999921511,0.000113128476227,-0.000377621485722,-3.9784215904e-05,1793254943502411520
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783.160629793,761,738.160629793,722.160629793,690.160629793,648.839370207,914,800,838.839370207,658,634.839370207,657,0.405584046905,0.00459475862243,0.0497662299505,0.999999912334,0.000118088134714,-0.000399601695171,-4.12932221692e-05,1793254943519078144
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783,761,738.424892699,722,690.424892699,648.575107301,914,800,839,658,635,657,0.40516826564,0.00459899541187,0.0497710549589,0.999999914135,0.000125724211615,-0.000392669723096,-4.16396317259e-05,1793254943535744768
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783,761,738.979374217,722,691,648,914,800,839,658,634.979374217,657,0.404779513868,0.00460308975337,0.0497842897469,0.999999920543,0.000134197543137,-0.00037307026292,-4.15095121525e-05,1793254943552411392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783,761,738.400771289,722,691,648,914,800,839,658,634.400771289,657,0.404444403182,0.00460355953864,0.0498141555456,0.999999936611,0.000136100783394,-0.000326434041293,-4.11808045028e-05,1793254943569078272
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,839,658,634.180701255,657,0.404113442499,0.00460410835051,0.0498387346226,0.999999947806,0.000138128166261,-0.000289182452096,-4.10108391054e-05,1793254943585745152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,839,658,634.768640848,657,0.403791834541,0.00460483526106,0.0498513992468,0.999999952004,0.00014043532406,-0.000273080596987,-4.11986242329e-05,1793254943602411776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783.350354708,761,738,722,691,648,914,800,839,657.649645292,634.649645292,657,0.403480032577,0.00460669330261,0.0498523418184,0.999999950449,0.000144721210779,-0.000276448987255,-4.16439082241e-05,1793254943619078400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783.9280292,761,738,722,691,648,914,800,839,657.0719708,634.0719708,657,0.403174592981,0.00460928525318,0.0498456788007,0.99999994505,0.000150290951527,-0.000292450207314,-4.22562645835e-05,1793254943635744768
+374,6.233333333,POSE2_TO_POSE3_RETREAT,784,761,738,722,691,648,914,800,839,657.505998894,634,657,0.402898773604,0.00460985714698,0.0498327278684,0.999999938383,0.000147645953761,-0.000315584297029,-4.2911618151e-05,1793254943652411648
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783.916192227,761,738.083807773,722,691,648,914,800,838.916192227,658,634.083807773,657,0.40263380494,0.00461022721043,0.049819970158,0.999999931676,0.000143998989834,-0.000337647384185,-4.36742024426e-05,1793254943669078016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783.339575783,761,738.660424217,722,691,648,914,800,838.339575783,658,634.660424217,657,0.402407852749,0.00461110097611,0.0498136107521,0.99999992864,0.000141334845766,-0.000347443511831,-4.50313452884e-05,1793254943685744896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,760.758117889,739,722.241882111,691,648,914,800,838.241882111,658,635,657,0.4022002283,0.00460987937533,0.0498099067007,0.999999930817,0.000109475955452,-0.0003525123618,-4.60072034746e-05,1793254943702411520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760.169724348,739,722.830275652,691,648,914,800,838.830275652,658,635,657,0.402018859516,0.00460565602943,0.0498100066129,0.999999936748,3.57937432024e-05,-0.000350809085426,-4.6436847004e-05,1793254943719078400
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783,760.412699378,738.587300622,722.587300622,691,648,914,800,838.587300622,658,634.587300622,657,0.401866312123,0.00459195797953,0.0498133770128,0.99999994082,3.50414620223e-06,-0.0003408348108,-4.6679982616e-05,1793254943735745280
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783,760.992702986,738.007297014,722.007297014,691,648,914,800,838.007297014,658,634.007297014,657,0.401725448641,0.00457441897883,0.049818073236,0.9999999452,-1.20052938081e-05,-0.000327507556029,-4.68475098091e-05,1793254943752411904
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783,761,738,722,691,648,914,800,838,658,634.567768719,657,0.40161800152,0.00456370875591,0.0498271223102,0.999999950948,4.37146018083e-05,-0.00030869739494,-2.99915507015e-05,1793254943769078784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783.146551772,761,738.146551772,722,691,648,913.853448228,800,838,658,635,657,0.401513638313,0.00455933049897,0.049834041481,0.999999952562,9.03340857622e-05,-0.000293916307438,-1.81629973913e-05,1793254943785745152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783.736779123,761,738.736779123,722,691,648,913.263220877,800,838,658,635,657,0.401417322481,0.00457385843389,0.0498343446071,0.999999951567,0.000106655124346,-0.000291544468382,-2.22112315764e-05,1793254943802411520
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783.67922971,761,739,722.32077029,691.32077029,648,913,800,838,658,634.67922971,657,0.401331411017,0.00457674332153,0.0498327253405,0.999999950586,0.000110870596349,-0.000293229710158,-2.34911066041e-05,1793254943819078400
+385,6.416666667,POSE2_TO_POSE3_RETREAT,783.100258241,761,739,722.899741759,691.899741759,648,913,800,838,658,634.100258241,657,0.401253874445,0.00457025624384,0.0498295586612,0.999999949742,0.000105341802425,-0.000298180662695,-2.25426160926e-05,1793254943835745024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,783.475538843,761,739,722.524461157,691.524461157,648,913,800,838.475538843,658,634.475538843,657,0.401195894518,0.00457335950542,0.0498295891193,0.99999994967,0.00010896179041,-0.000297008447634,-2.39253844753e-05,1793254943852411392
+387,6.450000000,POSE2_TO_POSE3_RETREAT,784,761,739,722,691,648,913,800,838.948230694,658,634.948230694,657,0.401143693907,0.00457795240285,0.0498304052976,0.999999949865,0.000113871573757,-0.000294357381514,-2.56240752881e-05,1793254943869078272
+388,6.466666667,POSE2_TO_POSE3_RETREAT,784,761,739,722,691,648,913,800,838.360633139,658,634.360633139,657,0.401108918132,0.00457717457505,0.0498324235075,0.999999951413,0.000112299382982,-0.00028967290204,-2.55392065502e-05,1793254943885745152
+389,6.483333333,POSE2_TO_POSE3_RETREAT,783.776248013,761,739,722,691,648,913,800,838,658,634,657,0.401078582063,0.0045757816875,0.0498349645534,0.999999953176,0.00011002411579,-0.000284425339295,-2.53897591137e-05,1793254943902412032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,783.196967285,761,739,722,691,648,913,800,838,658,634,657,0.401055300427,0.00457341150622,0.0498383363548,0.999999955278,0.000106631701631,-0.000278283070645,-2.51376999294e-05,1793254943919078400
+391,6.516666667,POSE2_TO_POSE3_RETREAT,783,761,739,722,691,648,913,800,838,658,634.379045993,657,0.401035192747,0.0045745941937,0.0498391962394,0.999999955797,0.000107328630399,-0.000276072666419,-2.58814713833e-05,1793254943935745024
+392,6.533333333,POSE2_TO_POSE3_RETREAT,783,761,739,722,691,648,913,800,838,658,634.953375867,657,0.401016720284,0.00457760731348,0.0498387619885,0.99999995551,0.000110132382118,-0.000275887952564,-2.71382931756e-05,1793254943952411904
+393,6.550000000,POSE2_TO_POSE3_RETREAT,783,761,739,722.528127254,691,648,913,800,838,657.471872746,635,657,0.401006943601,0.00457630229837,0.0498387989945,0.999999955699,0.000109771207656,-0.000275421211687,-2.63601971925e-05,1793254943969078528
+394,6.566666667,POSE2_TO_POSE3_RETREAT,783,761,739,723,691,648,913,800,838,657.105789405,635,657,0.400999286537,0.00457508088065,0.0498392578498,0.999999956132,0.000109319200216,-0.000274091168002,-2.56951782159e-05,1793254943985744896
+395,6.583333333,POSE2_TO_POSE3_RETREAT,783,761,739,723,691,648,913,800,838,657.696626577,635,657,0.400997825339,0.00457599203268,0.0498414599916,0.999999957473,0.000109732829645,-0.000268917102694,-2.63729645375e-05,1793254944002411520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,783,761,738.718232887,723,691,648,913,800.281767113,838.281767113,658,635,657,0.400996815401,0.00457606630477,0.0498435269396,0.999999958573,0.000109015800421,-0.000265069186705,-2.65996693249e-05,1793254944019078400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,783,761,738.139104195,723,691,648,913,800.860895805,838.860895805,658,635,657,0.400996281698,0.00457525737972,0.0498454512117,0.999999959432,0.000107105536037,-0.000262620815431,-2.63503274527e-05,1793254944035745024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,783.43556103,761,738,722.56443897,691,648,913.43556103,800.56443897,839,657.56443897,634.56443897,657,0.400993580232,0.00457699845249,0.0498452323053,0.999999958748,0.000110472089185,-0.000263809499909,-2.65501216066e-05,1793254944052411648
+399,6.650000000,POSE2_TO_POSE3_RETREAT,783.991118521,761,738.008881479,722,691,648,913.991118521,800,839,657.008881479,634,657,0.400990258396,0.00457950739831,0.0498443694476,0.999999957582,0.000115429980777,-0.000266061309722,-2.68835182471e-05,1793254944069078272
+400,6.666666667,POSE2_TO_POSE3_RETREAT,783.413553731,761,738.586446269,722,691,648,913.413553731,800,839,657.586446269,634,657,0.400991093505,0.00457956697729,0.0498456559655,0.999999958455,0.000115469542862,-0.000262764849763,-2.66802069618e-05,1793254944085744896
+401,6.683333333,POSE2_TO_POSE3_RETREAT,783.168136823,761,739,722.168136823,691,648,913,800,839,658,634.168136823,657,0.400991449348,0.00457907813156,0.0498466060364,0.999999959196,0.000114021525742,-0.000260584737893,-2.65182035157e-05,1793254944102411776
+402,6.700000000,POSE2_TO_POSE3_RETREAT,783.760230455,761,739,722.760230455,691,648,913,800,839,658,634.760230455,657,0.400990596722,0.0045772064335,0.0498467077564,0.999999959611,0.000108822579359,-0.000261219496655,-2.64603577516e-05,1793254944119078400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,784,761,738.65623962,723,691,648,913,800,838.65623962,657.65623962,635,657,0.400990321497,0.00457669032286,0.0498468036338,0.999999959792,0.000107207580718,-0.000261188868813,-2.65231064722e-05,1793254944135744768
+404,6.733333333,POSE2_TO_POSE3_RETREAT,784,761,738.078537636,723,691,648,913,800,838.078537636,657.078537636,635,657,0.400990439214,0.00457709673947,0.0498468955351,0.999999959825,0.000108031590772,-0.00026070542085,-2.66679241854e-05,1793254944152411392
+405,6.750000000,POSE2_TO_POSE3_RETREAT,783.505147584,761,738,722.505147584,691,648,913,800,838.494852416,657.494852416,635,657,0.40098913825,0.00457757208728,0.04984619875,0.999999959582,0.000108418517469,-0.000261481336984,-2.66347229405e-05,1793254944169078272
+406,6.766666667,POSE2_TO_POSE3_RETREAT,783,761,738,722.069459678,691,648,913,800,838.930540322,658,635,657,0.400987885637,0.00457768925076,0.0498455594826,0.999999959403,0.00010839580431,-0.000262178846352,-2.65776662025e-05,1793254944185744896
+407,6.783333333,POSE2_TO_POSE3_RETREAT,783,761,738,722.658239543,691,648,913,800,838.341760457,658,635,657,0.400988663385,0.00457504733631,0.0498462780221,0.999999960037,0.000105824552873,-0.000260808688057,-2.65516648909e-05,1793254944202411520
+408,6.800000000,POSE2_TO_POSE3_RETREAT,783.243586783,761,738.243586783,722.756413217,691,648,913,800,838,658,634.756413217,657,0.400989157218,0.0045740034315,0.0498470520904,0.999999960464,0.000104629372707,-0.000259658670936,-2.65080399697e-05,1793254944219078400
+409,6.816666667,POSE2_TO_POSE3_RETREAT,783.824184941,761,738.824184941,722.175815059,691,648,913,800,838,658,634.175815059,657,0.400989258245,0.00457517043212,0.0498479029851,0.99999996061,0.000105338037973,-0.000258813227129,-2.64400321256e-05,1793254944235744768
+410,6.833333333,POSE2_TO_POSE3_RETREAT,784,761,739,722.401914328,691,648,913,800,838,658,634,657,0.400988465476,0.0045771487145,0.0498478284738,0.999999960087,0.000108876931248,-0.00025934871779,-2.66390562426e-05,1793254944252411648
+411,6.850000000,POSE2_TO_POSE3_RETREAT,784,761,739,722.978397647,691,648,913,800,838,658,634,657,0.400987284494,0.00457947937201,0.0498473520181,0.999999959253,0.000113645116425,-0.000260484008803,-2.69540640359e-05,1793254944269078272
+412,6.866666667,POSE2_TO_POSE3_RETREAT,783.447531115,761,739,723,691,648,913,800,838,658,634.552468885,657,0.400986625461,0.00457626777453,0.0498473406812,0.999999959816,0.0001080623848,-0.000260718357269,-2.67513950297e-05,1793254944285744896
+413,6.883333333,POSE2_TO_POSE3_RETREAT,783,760.870037566,739,723,691,648,913,800,838,658,635,657,0.400986400236,0.00457397344151,0.0498473931112,0.999999960316,0.000103854260135,-0.000260530375533,-2.65877106871e-05,1793254944302411520
+414,6.900000000,POSE2_TO_POSE3_RETREAT,783,760.280099101,739,723,691,648,913,800,838,658,635,657,0.400987638466,0.0045756892516,0.0498476071425,0.999999960501,0.000105937537813,-0.000258971781702,-2.6633335607e-05,1793254944319078400
+415,6.916666667,POSE2_TO_POSE3_RETREAT,783,760.304385611,739,722.695614389,691,648,913,800,838,657.695614389,635,657,0.400987951567,0.00457664614611,0.0498480806436,0.999999960503,0.000107235177596,-0.000258417326353,-2.67313266397e-05,1793254944335745024
+416,6.933333333,POSE2_TO_POSE3_RETREAT,783,760.883940024,739,722.116059976,691,648,913,800,838,657.116059976,635,657,0.400987428339,0.00457691697035,0.0498487887089,0.999999960345,0.000107822589742,-0.000258770626164,-2.68766573602e-05,1793254944352411648
+417,6.950000000,POSE2_TO_POSE3_RETREAT,783,761,739,722.46037117,691,648,913,800,838,657.46037117,634.53962883,657,0.400988256871,0.00457556468457,0.0498486985075,0.999999960604,0.000107573368172,-0.000257913201901,-2.64571693401e-05,1793254944369078272
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd861ff5ce3953e3e23908b4b5ae585d07e6b0ff
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,419 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+1,0.016666667,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+2,0.033333333,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+3,0.050000000,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+4,0.066666667,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
+5,0.083333333,pose1_baseline,0.575666707958,0.0101816966969,1.04002053221,0.546237855606,0.0188559342217,1.03969223901
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+368,6.133333333,pose2_to_pose3_retreat,0.578712498064,0.0101816865347,1.04002080069,0.549283647931,0.0188559314495,1.0396925028
+369,6.150000000,pose2_to_pose3_retreat,0.578425384626,0.0101818624797,1.04002056683,0.548996531398,0.0188560972064,1.03969227729
+370,6.166666667,pose2_to_pose3_retreat,0.578155054621,0.0101818072317,1.04002055549,0.548726202332,0.0188560448843,1.03969225901
+371,6.183333333,pose2_to_pose3_retreat,0.577898125384,0.0101818493843,1.04002057893,0.548469273056,0.0188560867486,1.0396922784
+372,6.200000000,pose2_to_pose3_retreat,0.577650793771,0.0101819168011,1.04002055993,0.548221940541,0.0188561512659,1.03969226381
+373,6.216666667,pose2_to_pose3_retreat,0.577414182395,0.0101818255943,1.0400205008,0.547985329458,0.0188560612731,1.03969221054
+374,6.233333333,pose2_to_pose3_retreat,0.577192925041,0.0101818392239,1.04002042615,0.547764071447,0.0188560724471,1.03969213
+375,6.250000000,pose2_to_pose3_retreat,0.576988618189,0.0101818519464,1.04002032477,0.547559764671,0.0188560853919,1.03969202764
+376,6.266666667,pose2_to_pose3_retreat,0.576804123516,0.0101818979424,1.04002040786,0.547375270934,0.0188561347281,1.0396921151
+377,6.283333333,pose2_to_pose3_retreat,0.57663947514,0.0101817470141,1.04002044848,0.547210623358,0.018855986239,1.03969214852
+378,6.300000000,pose2_to_pose3_retreat,0.576494738252,0.010181801749,1.04002061143,0.547065886577,0.0188560413777,1.03969231251
+379,6.316666667,pose2_to_pose3_retreat,0.576369117697,0.0101817725857,1.04002067484,0.546940266396,0.01885601358,1.03969237851
+380,6.333333333,pose2_to_pose3_retreat,0.576260023507,0.0101817642855,1.04002055897,0.546831171696,0.0188560037904,1.039692269
+381,6.350000000,pose2_to_pose3_retreat,0.576164499612,0.010181826498,1.04002039195,0.546735646673,0.018856062463,1.03969210969
+382,6.366666667,pose2_to_pose3_retreat,0.576079892187,0.0101816302028,1.04002053739,0.546651041481,0.0188558733935,1.03969224571
+383,6.383333333,pose2_to_pose3_retreat,0.576005353632,0.0101816576736,1.04002056071,0.546576502208,0.0188558981889,1.03969226332
+384,6.400000000,pose2_to_pose3_retreat,0.575938824744,0.0101817149053,1.04002054298,0.546509973623,0.0188559565886,1.03969224931
+385,6.416666667,pose2_to_pose3_retreat,0.575880728799,0.0101817327508,1.04002047122,0.546451877596,0.0188559742509,1.03969217992
+386,6.433333333,pose2_to_pose3_retreat,0.575832460506,0.0101817179011,1.0400205074,0.546403609116,0.0188559587232,1.03969221498
+387,6.450000000,pose2_to_pose3_retreat,0.575793053627,0.0101817254311,1.04002067004,0.54636420193,0.0188559650186,1.03969237253
+388,6.466666667,pose2_to_pose3_retreat,0.575762334062,0.0101817934807,1.04002073166,0.546333480631,0.0188560267016,1.0396924213
+389,6.483333333,pose2_to_pose3_retreat,0.575737619869,0.01018173843,1.04002050948,0.546308768761,0.0188559797658,1.03969220539
+390,6.500000000,pose2_to_pose3_retreat,0.575718214987,0.0101817248025,1.04002052067,0.546289364353,0.0188559679459,1.03969222193
+391,6.516666667,pose2_to_pose3_retreat,0.575702825614,0.0101817358477,1.04002049195,0.546273974646,0.0188559781167,1.03969220004
+392,6.533333333,pose2_to_pose3_retreat,0.575691058809,0.0101817489165,1.04002039826,0.546262207437,0.0188559900044,1.03969211139
+393,6.550000000,pose2_to_pose3_retreat,0.575682666081,0.0101817283586,1.04002042084,0.546253814966,0.0188559700879,1.03969212805
+394,6.566666667,pose2_to_pose3_retreat,0.575677208038,0.0101818077246,1.04002044394,0.546248355861,0.0188560456766,1.03969214635
+395,6.583333333,pose2_to_pose3_retreat,0.575674329761,0.0101818523582,1.0400204605,0.546245476982,0.0188560881786,1.03969216041
+396,6.600000000,pose2_to_pose3_retreat,0.57567259262,0.0101818107451,1.04002050704,0.546243740336,0.0188560482346,1.03969220673
+397,6.616666667,pose2_to_pose3_retreat,0.575671419027,0.0101817826318,1.04002053849,0.546242567077,0.0188560212488,1.03969223803
+398,6.633333333,pose2_to_pose3_retreat,0.575670543937,0.010181761669,1.04002056194,0.546241692237,0.0188560011269,1.03969226136
+399,6.650000000,pose2_to_pose3_retreat,0.575669875875,0.0101817645013,1.0400205166,0.546241024073,0.0188560037013,1.03969221831
+400,6.666666667,pose2_to_pose3_retreat,0.575669186648,0.0101817797896,1.0400204283,0.54624033455,0.0188560181328,1.03969213393
+401,6.683333333,pose2_to_pose3_retreat,0.57566879157,0.0101817885532,1.04002037769,0.546239939302,0.0188560264052,1.03969208556
+402,6.700000000,pose2_to_pose3_retreat,0.575668769648,0.0101817890394,1.04002037488,0.546239917371,0.0188560268642,1.03969208288
+403,6.716666667,pose2_to_pose3_retreat,0.5756685326,0.0101817942976,1.04002034451,0.54623968022,0.0188560318277,1.03969205386
+404,6.733333333,pose2_to_pose3_retreat,0.575668100548,0.0101818038813,1.04002028916,0.546239247982,0.0188560408743,1.03969200096
+405,6.750000000,pose2_to_pose3_retreat,0.575667895483,0.0101818030353,1.04002031718,0.546239042739,0.0188560393735,1.03969202764
+406,6.766666667,pose2_to_pose3_retreat,0.575667781351,0.010181800596,1.04002035259,0.546238928476,0.0188560364241,1.03969206138
+407,6.783333333,pose2_to_pose3_retreat,0.575667665584,0.0101817981218,1.0400203885,0.546238812576,0.0188560334323,1.0396920956
+408,6.800000000,pose2_to_pose3_retreat,0.575667599634,0.0101817967123,1.04002040896,0.546238746549,0.0188560317279,1.0396921151
+409,6.816666667,pose2_to_pose3_retreat,0.575667540705,0.0101817954528,1.04002042724,0.546238687553,0.0188560302051,1.03969213252
+410,6.833333333,pose2_to_pose3_retreat,0.575667340933,0.0101817911833,1.04002048922,0.54623848755,0.0188560250424,1.03969219158
+411,6.850000000,pose2_to_pose3_retreat,0.575667070674,0.0101817854072,1.04002057306,0.546238216978,0.0188560180581,1.03969227147
+412,6.866666667,pose2_to_pose3_retreat,0.575666969723,0.0101817820755,1.04002066759,0.546238116643,0.0188560167836,1.03969236516
+413,6.883333333,pose2_to_pose3_retreat,0.575666937956,0.0101817810187,1.04002069778,0.546238085075,0.0188560163921,1.03969239509
+414,6.900000000,pose2_to_pose3_retreat,0.575666929064,0.0101817807229,1.04002070624,0.546238076239,0.0188560162825,1.03969240347
+415,6.916666667,pose2_to_pose3_retreat,0.575666828218,0.0101817773681,1.04002080209,0.546237976025,0.0188560150395,1.0396924985
+416,6.933333333,pose2_to_pose3_retreat,0.575666720232,0.0101817075089,1.04002057268,0.546237867926,0.0188559451383,1.03969227804
+417,6.950000000,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a8acf66992e18e61e1bcead805e2dbc518d5537
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2d3d5276ec39b96f1050a0e96de0c8d61bea5bd54ce3cf111ee2e674a0a243
+size 26486694
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15103403aa4480d93ee6f778baf2db11cc4f97a6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,783,761,738,723,691,648,913,800,838,658,635,657,0.400985203332,0.00457587677155,0.0498471106991,0.999999959893,0.000107339739616,-0.000260707416856,-2.68947553251e-05,1793254944499763968
+1,0.016666667,BASELINE,783,761,738,722.406502409,691,648,913,800,838,658,635,657,0.400987835602,0.00457523916887,0.0498485484249,0.9999999608,0.000106411810175,-0.000257644948462,-2.63561697596e-05,1793254944516430848
+2,0.033333333,BASELINE,783,761,738,722,691,648,913,800,838,658,634.818626863,657,0.400989536071,0.00457486276938,0.0498494247164,0.999999961302,0.000106358225976,-0.000255753585854,-2.59618116584e-05,1793254944533097472
+3,0.050000000,BASELINE,783,761,738,722,691,648,913,800,838,658,634.242972775,657,0.400989210931,0.00457505419058,0.0498490805251,0.999999960938,0.000108205351259,-0.000256408050066,-2.58809846791e-05,1793254944549763840
+4,0.066666667,BASELINE,783,761,738.332139165,722.332139165,691,648,913,800,838,658,634,657,0.400988746971,0.00457595661833,0.0498486497228,0.999999960763,0.000108317937413,-0.000257019662107,-2.61317164175e-05,1793254944566430208
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+6,0.100000000,BASELINE,783,761,738.504756725,723,691,648,913,800,838,658,634.495243275,657,0.400988972246,0.00457605140583,0.0498492590893,0.999999961184,0.000106405924138,-0.000256147502215,-2.64257444951e-05,1793254944599763712
+7,0.116666667,BASELINE,783.084421099,761,738.084421099,723,691,648,913,800,838,657.915578901,635,657,0.400989797338,0.00457465746815,0.0498503423509,0.999999961646,0.00010561323007,-0.000254689108512,-2.62129809436e-05,1793254944616430592
+8,0.133333333,BASELINE,783.662747441,761,738.662747441,723,691,648,913,800,838,657.337252559,635,657,0.400989289679,0.00457598179197,0.0498494999424,0.999999961579,0.000104167680457,-0.000255496383397,-2.67016256076e-05,1793254944633097216
+9,0.150000000,BASELINE,784,761,739,722.759578375,691,648,913.240421625,800,838.240421625,657.240421625,635,657,0.40098943249,0.00457716374689,0.0498496401952,0.999999961607,0.000104590266114,-0.000255176930984,-2.70329922691e-05,1793254944649763840
+10,0.166666667,BASELINE,784,761,739,722.182816585,691,648,913.817183415,800,838.817183415,657.817183415,635,657,0.400990485282,0.00457814653334,0.0498511551515,0.999999961764,0.000107626297858,-0.000253281232411,-2.71443333014e-05,1793254944666430464
+11,0.183333333,BASELINE,783.606949338,761,739,722,691,648,913.606949338,800,839,658,634.606949338,657,0.400989588939,0.00457823176434,0.0498508871393,0.999999961496,0.000108251782895,-0.000254094934462,-2.69220899771e-05,1793254944683097088
+12,0.200000000,BASELINE,783.031497167,761,739,722,691,648,913.031497167,800,839,658,634.031497167,657,0.400987788068,0.00457790047032,0.049849791712,0.999999961031,0.000107758615065,-0.000256165977466,-2.65450414541e-05,1793254944699763712
+13,0.216666667,BASELINE,783.558093932,761,738.441906068,722,691,648,913,800,838.441906068,658,634,657,0.400987738739,0.00457601389402,0.0498491284769,0.999999961058,0.00010546419996,-0.000257016344965,-2.65357027888e-05,1793254944716430336
+14,0.233333333,BASELINE,784,761,738.145253013,722.145253013,691,648,913,800,838,658,634.145253013,657,0.400987744167,0.0045745330108,0.0498487636436,0.999999961113,0.00010381747497,-0.000257475946835,-2.65054721838e-05,1793254944733097216
+15,0.250000000,BASELINE,784,761,738.722738995,722.722738995,691,648,913,800,838,658,634.722738995,657,0.400987610733,0.00457452734302,0.0498492123026,0.999999961182,0.000104408463148,-0.000256983068118,-2.63497141841e-05,1793254944749764096
+16,0.266666667,BASELINE,784,761,738.701208379,722.701208379,691,648,913,800,838,658,635,657,0.40098761661,0.00457524405522,0.0498493908114,0.999999961171,0.000105053488503,-0.000256750973103,-2.64691368416e-05,1793254944766430720
+17,0.283333333,BASELINE,784,761,738.126479507,722.126479507,691,648,913,800,838,658,635,657,0.400987751142,0.00457662789304,0.0498493198337,0.999999961086,0.000105748417731,-0.00025675971465,-2.68426917821e-05,1793254944783097344
+18,0.300000000,BASELINE,783.566468717,761,738.433531283,722.433531283,691,648,913,800.433531283,838,658,634.566468717,657,0.400988102646,0.00457648387646,0.0498496740254,0.99999996123,0.000105868067278,-0.000256155028993,-2.67816218281e-05,1793254944799763968
+19,0.316666667,BASELINE,783.010610838,761,738.989389162,722.989389162,691,648,913,800.989389162,838,658,634.010610838,657,0.40098851537,0.00457590875549,0.0498501481843,0.999999961438,0.000105825394028,-0.000255377256723,-2.65979166948e-05,1793254944816430592
+20,0.333333333,BASELINE,783,761,739,722.395657916,691,648,913,800.395657916,838,658,634.604342084,656.395657916,0.400988197394,0.00457685069549,0.0498500268374,0.999999961304,0.000106451991559,-0.000255625612327,-2.6736733268e-05,1793254944833097216
+21,0.350000000,BASELINE,783,761,739,722,691,648,913,800,838,658,634.793911881,656.206088119,0.400987697895,0.00457686720734,0.0498496975232,0.999999961246,0.000106053647347,-0.000256014690187,-2.67847252013e-05,1793254944849763840
+22,0.366666667,BASELINE,783,761,739,722,691,648,913,800,838,658,634.217933901,656.782066099,0.40098689812,0.00457516975947,0.0498490157461,0.999999961331,0.00010379234678,-0.000256620497536,-2.66584386827e-05,1793254944866430464
+23,0.383333333,BASELINE,783,761,739,722.357301406,691,648,913,800.357301406,838,658,634.357301406,657,0.40098717242,0.0045750203323,0.0498492117372,0.999999961406,0.000103793126735,-0.000256326133991,-2.66898135514e-05,1793254944883097088
+24,0.400000000,BASELINE,783,761,739,722.93208472,691,648,913,800.93208472,838,658,634.93208472,657,0.400988100487,0.00457581315286,0.0498499420073,0.999999961474,0.000105170787667,-0.00025548385527,-2.68171536033e-05,1793254944899763968
+25,0.416666667,BASELINE,783,761,739,722.500523711,691,648,913,800.500523711,838,658,635,657,0.400988853124,0.0045770350544,0.0498503178649,0.999999961578,0.00010672521269,-0.000254393826788,-2.71420592065e-05,1793254944916430848
+26,0.433333333,BASELINE,783,761,738.929827298,722,691.070172702,648,913,800,838.070172702,658,635,657,0.400989363438,0.00457800616645,0.049850546485,0.999999961661,0.000107814301229,-0.000253580802439,-2.74128800227e-05,1793254944933097216
+27,0.450000000,BASELINE,783,761,738.326495997,722,691.673504003,648,913,800,838.673504003,658,635,657,0.400988211222,0.0045766350115,0.0498500172253,0.999999961557,0.000105187902871,-0.000255124618106,-2.70716475177e-05,1793254944949764096
+28,0.466666667,BASELINE,783.264598071,761,738.264598071,722,691.735401929,648,913,800,838.735401929,658,634.735401929,657,0.400987738295,0.00457557371399,0.0498498034912,0.999999961488,0.000104049659582,-0.000255888295848,-2.679478414e-05,1793254944966430720
+29,0.483333333,BASELINE,783.841259668,761,738.841259668,722,691.158740332,648,913,800,838.158740332,658,634.158740332,657,0.400988066515,0.00457487785838,0.0498499618841,0.999999961469,0.000104666527206,-0.000255731888966,-2.65938368955e-05,1793254944983097344
+30,0.500000000,BASELINE,784,761,738.584210016,722.415789984,691,648,913,800,838,658,634.415789984,657,0.400987325742,0.00457421506003,0.0498496525321,0.999999961429,0.000103874450993,-0.000256234115972,-2.63707823362e-05,1793254944999763712
+31,0.516666667,BASELINE,784,761,738.010489245,722.989510755,691,648,913,800,838,658,634.989510755,657,0.40098617893,0.00457356481793,0.049849165515,0.999999961379,0.000102547211298,-0.000256986513913,-2.61393306921e-05,1793254945016430336
+32,0.533333333,BASELINE,783.436297445,761,738.563702555,722.436297445,691,648,913,800,838,658,635,657,0.400987124257,0.00457402222469,0.0498495652727,0.999999961439,0.000103002298783,-0.000256549130157,-2.63473302865e-05,1793254945033097216
+33,0.550000000,BASELINE,783.142945774,761,739,722,691,648,913,800,838,658,634.857054226,657,0.40098820405,0.00457473562739,0.0498500921715,0.999999961617,0.000103624226629,-0.000255584549901,-2.65306887045e-05,1793254945049764096
+34,0.566666667,BASELINE,783.738142792,761,739,722,691,648,913,800,838,658,634.261857208,657,0.400989585998,0.00457619368576,0.0498509690697,0.999999962158,0.000104668987779,-0.000253022130076,-2.66101947853e-05,1793254945066430720
+35,0.583333333,BASELINE,783.67720948,761,739,722.32279052,691,648,913,800,838.32279052,658,634,657,0.400989931907,0.00457662392828,0.049850906872,0.999999962198,0.000105259965654,-0.000252617269637,-2.66416932498e-05,1793254945083097088
+36,0.600000000,BASELINE,783.100848751,761,739,722.899151249,691,648,913,800,838.899151249,658,634,657,0.400989463949,0.00457624676347,0.0498501069613,0.999999961846,0.000105494471216,-0.000253907293843,-2.66354790252e-05,1793254945099763712
+37,0.616666667,BASELINE,783.472477652,761,739,723,691,648,913,800,838.527522348,658,634,657,0.400987976524,0.00457670300058,0.0498493740522,0.999999961295,0.000105977282235,-0.000255849976148,-2.68093340054e-05,1793254945116430592
+38,0.633333333,BASELINE,783.953019838,761,738.953019838,723,691.046980162,648,913.046980162,800,838,658,634.046980162,657,0.400986553483,0.00457719020236,0.0498487737489,0.99999996079,0.000106520347069,-0.000257577352526,-2.69741686002e-05,1793254945133096960
+39,0.650000000,BASELINE,783.35726157,761,738.35726157,723,691.64273843,648,913.64273843,800,838,658,634.64273843,657,0.400988408113,0.00457597445769,0.049849556433,0.999999961349,0.00010715209564,-0.000255172851631,-2.6587537173e-05,1793254945149763584
+40,0.666666667,BASELINE,783,761,738.230571452,722.769428548,692,648,913.769428548,800,838,658,634.769428548,657,0.400988955826,0.00457583262583,0.0498497883821,0.999999961546,0.000107636508291,-0.000254204859029,-2.65018922519e-05,1793254945166430464
+41,0.683333333,BASELINE,783,761,738.806532637,722.193467363,692,648,913.193467363,800,838,658,634.193467363,657,0.400987545814,0.00457729948609,0.0498491953454,0.999999961206,0.000107900215723,-0.000255388716737,-2.68671169148e-05,1793254945183097344
+42,0.700000000,BASELINE,783.381244768,761,739,722.381244768,692,648,913,800,838,657.618755232,634.381244768,657,0.400987342504,0.00457685117898,0.0498495495862,0.999999961088,0.000107721371434,-0.000255942330252,-2.67257894961e-05,1793254945199763968
+43,0.716666667,BASELINE,783.955325104,761,739,722.955325104,692,648,913,800,838,657.044674896,634.955325104,657,0.400987749551,0.0045754341703,0.0498503829649,0.999999961081,0.000107318682197,-0.000256177162974,-2.63282454149e-05,1793254945216430848
+44,0.733333333,BASELINE,783.453901812,760.453901812,738.453901812,722.453901812,691.453901812,648,913.546098188,800,838,657.546098188,635,657,0.400988467957,0.0045758804478,0.0498501248361,0.999999961425,0.000106299441841,-0.000255212636402,-2.67893895481e-05,1793254945233097472
+45,0.750000000,BASELINE,783.134782755,760.26956551,738.134782755,722.134782755,691,648,913.865217245,800.134782755,838,658,635,657,0.400988943117,0.00457631267885,0.0498498377174,0.999999961698,0.000105519353128,-0.000254430985599,-2.71168112249e-05,1793254945249764096
+46,0.766666667,BASELINE,783.711987802,761.423975603,738.711987802,722.711987802,691,648,913.288012198,800.711987802,838,658,635,657,0.400988533579,0.00457618267457,0.0498497577861,0.99999996165,0.000105695060081,-0.000254581842921,-2.67674353399e-05,1793254945266430720
+47,0.783333333,BASELINE,783.712422652,761.712422652,738.712422652,722.712422652,691.287577348,648,913,800.712422652,838,658,634.712422652,657,0.400988302965,0.00457588641378,0.0498498204559,0.999999961665,0.000105377656888,-0.000254667095512,-2.66356195981e-05,1793254945283097088
+48,0.800000000,BASELINE,783.138441941,761.138441941,738.138441941,722.138441941,691.861558059,648,913,800.138441941,838,658,634.138441941,657,0.400988250545,0.00457542457519,0.0498500251448,0.999999961743,0.000104569156607,-0.000254687011209,-2.67204758051e-05,1793254945299763712
+49,0.816666667,BASELINE,783.436890171,761,738.436890171,722,692,648,913,800,838.436890171,657.563109829,634.436890171,657,0.400987915416,0.00457524537297,0.0498501649945,0.999999961701,0.000104115962964,-0.000255051411609,-2.65782173599e-05,1793254945316430592
+50,0.833333333,BASELINE,783.986939645,761,739,722,691.986939645,648,913,800,839,657.013060355,634.986939645,657,0.400987501071,0.00457514429341,0.0498502751095,0.999999961624,0.000103755966648,-0.000255521761341,-2.63748829114e-05,1793254945333097472
+51,0.850000000,BASELINE,783.392585809,761,739,722,691.392585809,648,913,800,839,657.607414191,634.392585809,657,0.400987560593,0.00457452170303,0.0498499791008,0.999999961664,0.000102517299449,-0.000255834115607,-2.66662787366e-05,1793254945349764096
+52,0.866666667,BASELINE,783,761,739,722,691,648,913,800,838.803678011,658,634.196321989,657,0.400988211815,0.00457452928713,0.0498502998901,0.999999961878,0.000102322900569,-0.000255052828661,-2.6856614127e-05,1793254945366430720
+53,0.883333333,BASELINE,783,761,739,722,691,648,913,800,838.225366759,658,634.774633241,657,0.400990014322,0.00457576301967,0.0498518208011,0.999999962427,0.000104160364261,-0.000252143612966,-2.68503133445e-05,1793254945383097088
+54,0.900000000,BASELINE,783,761,738.649650205,722,691,648,913.350349795,800,838.350349795,658,634.649650205,657,0.40098986676,0.00457703259499,0.0498517069441,0.999999962257,0.000105746916123,-0.000252139770129,-2.69842625922e-05,1793254945399763456
+55,0.916666667,BASELINE,783,761,738.075590473,722,691,648,913.924409527,800,838.924409527,658,634.075590473,657,0.400988474014,0.00457832505705,0.0498505492336,0.999999961631,0.000107173252409,-0.000253991104105,-2.72077661249e-05,1793254945416430080
+56,0.933333333,BASELINE,783,761,738.511927242,722,691,648,913.488072758,800,838.488072758,658,634.511927242,657,0.400988483153,0.00457648032374,0.0498507584925,0.999999961842,0.000105969617637,-0.000253701166874,-2.68669431011e-05,1793254945433096960
+57,0.950000000,BASELINE,783,761,738.900663606,722.099336394,691,648,913,800,838,658,634.900663606,657,0.400988913499,0.00457479216527,0.0498512495014,0.999999962177,0.000104739016842,-0.000252918678887,-2.66022844682e-05,1793254945449763840
+58,0.966666667,BASELINE,783,761,738.323591702,722.676408298,691,648,913,800,838,658,634.323591702,657,0.400990347142,0.00457614498329,0.0498520985873,0.999999962506,0.000105296774688,-0.000251329016539,-2.71154859547e-05,1793254945466430720
+59,0.983333333,BASELINE,783.253075451,761,738,722.746924549,691,648,913,800,838,658,634,657,0.400990626458,0.00457715048846,0.0498519417404,0.999999962384,0.000106438914225,-0.000251311219755,-2.73157010851e-05,1793254945483097344
+60,1.000000000,BASELINE,783.829225979,761,738,722.170774021,691,648,913,800,838,658,634,657,0.400989432164,0.00457771261569,0.0498505007238,0.999999961685,0.000108327073094,-0.000253300059851,-2.71163591945e-05,1793254945499763968
+61,1.016666667,BASELINE,784,761,738.414118957,722,691.414118957,648,913,800,838.414118957,658,634,657,0.400988744543,0.00457632129579,0.0498500704213,0.999999961825,0.000106706880877,-0.000253455726976,-2.69218301518e-05,1793254945516430336
+62,1.033333333,BASELINE,784,761,739,722.002650613,691.997349387,648,913,800.002650613,839,658,634.002650613,657,0.400988276861,0.00457412319947,0.0498500713841,0.99999996231,0.000103625307361,-0.000252839686776,-2.6730243329e-05,1793254945533096960
+63,1.050000000,BASELINE,784,761,739,722.581564064,691.418435936,648,913,800.581564064,839,658,634.581564064,657,0.400989220472,0.00457543780148,0.0498512635685,0.99999996238,0.000104150684025,-0.000252345004915,-2.67375162952e-05,1793254945549763584
+64,1.066666667,BASELINE,783.83981203,761,739,722.83981203,691.16018797,648,913,800.83981203,838.83981203,658,635,657,0.400989284871,0.00457677305634,0.0498516203081,0.999999962196,0.000105042335292,-0.000252693498343,-2.68256016966e-05,1793254945566430208
+65,1.083333333,BASELINE,783.261943129,761,739,722.261943129,691.738056871,648,913,800.261943129,838.261943129,658,635,657,0.400987056777,0.00457816216221,0.0498497986733,0.999999961346,0.000106889026517,-0.000255240522927,-2.71244008799e-05,1793254945583096832
+66,1.100000000,BASELINE,783.313677341,761,739,722.313677341,691.686322659,648,913.313677341,800.313677341,838.313677341,658,634.686322659,657,0.400987236486,0.00457794012852,0.0498499856866,0.999999961674,0.000105737446646,-0.000254412233851,-2.72996273917e-05,1793254945599763968
+67,1.116666667,BASELINE,783.887433545,761,739,722.887433545,691.112566455,648,913.887433545,800.887433545,838.887433545,658,634.112566455,657,0.400989412574,0.00457638225282,0.0498518381276,0.999999962967,0.000102099914295,-0.000250785375474,-2.73723962493e-05,1793254945616430848
+68,1.133333333,BASELINE,784,761,739,723,691,648,913.525714189,800.525714189,838.525714189,658,634.474285811,657,0.400989814098,0.00457615852333,0.0498519108993,0.999999962831,0.000103949509239,-0.000250599787891,-2.70440429114e-05,1793254945633097216
+69,1.150000000,BASELINE,783.936908357,761,738.936908357,722.936908357,691,648,913,800,838,658,635,657,0.400989546995,0.00457637288009,0.0498514530305,0.99999996233,0.000106677790107,-0.000251487088728,-2.67291989673e-05,1793254945649763840
+70,1.166666667,BASELINE,783.358259312,761,738.358259312,722.358259312,691,648,913,800,838,658,635,657,0.400987355519,0.00457750612906,0.0498502085525,0.999999961718,0.00010564221953,-0.000254277943216,-2.73247872828e-05,1793254945666430464
+71,1.183333333,BASELINE,783,761,738.219239985,722.219239985,691,648,913,800,838,658,635,657,0.400986786184,0.00457755052147,0.0498499957772,0.99999996162,0.000105276793734,-0.000254796377139,-2.74842591255e-05,1793254945683097088
+72,1.200000000,BASELINE,783,761,738.794870374,722.794870374,691,648,913,800,838,658,635,657,0.400988853757,0.00457582489921,0.0498514601092,0.999999962363,0.000106000736436,-0.000251620828021,-2.69347922888e-05,1793254945699763968
+73,1.216666667,BASELINE,783,761,738.629660324,723,691,648,913,800,838,658,635,657,0.400989234703,0.00457591147569,0.0498516668901,0.999999962386,0.00010648535323,-0.000251340203237,-2.67844119574e-05,1793254945716430848
+74,1.233333333,BASELINE,783,761,738.054280243,723,691,648,913,800,838,658,635,657,0.40098868184,0.00457700138513,0.0498511774214,0.999999962013,0.000106837466,-0.000252662367918,-2.68549878899e-05,1793254945733097216
+75,1.250000000,BASELINE,783,761,738,722.464870489,691,648,912.464870489,800,838,658,635,657,0.400990619273,0.00457597433052,0.0498522154952,0.999999962754,0.000104584114856,-0.000250655071522,-2.69524771615e-05,1793254945749763840
+76,1.266666667,BASELINE,783,760.877639024,738,722.122360976,691,648,912.122360976,800,838,658,635,657,0.400991804234,0.00457493411904,0.0498527982323,0.99999996324,0.000102618051764,-0.000249517020955,-2.70257586241e-05,1793254945766430208
+77,1.283333333,BASELINE,783,760.30383594,738,722.69616406,691,648,912.69616406,800,838,658,635,657,0.400989255962,0.00457465893351,0.0498511139899,0.99999996239,0.000102713219472,-0.000252865531207,-2.69993840713e-05,1793254945783097088
+78,1.300000000,BASELINE,783,760.272515765,738,722.727484235,691,648,913.272515765,800.272515765,838,658,635,657,0.400987949382,0.0045750885328,0.0498503759647,0.999999961937,0.000103369133343,-0.000254398391204,-2.68792073244e-05,1793254945799763712
+79,1.316666667,BASELINE,783,760.85173579,738,722.14826421,691,648,913.85173579,800.85173579,838,658,635,657,0.40098804027,0.00457631133579,0.0498507028646,0.999999961939,0.000104656141845,-0.000253887818112,-2.66534604204e-05,1793254945816430336
+80,1.333333333,BASELINE,783,761,738,722,691.437986407,648,913.562013593,800.562013593,838,658,635,657,0.400988731942,0.00457635375483,0.0498511330625,0.999999962042,0.00010621425321,-0.000252856553215,-2.64093122248e-05,1793254945833096960
+81,1.350000000,BASELINE,783,761,738,722,691.973974341,648,913,800,838,658,634.973974341,657,0.400989583354,0.00457594349454,0.0498515993729,0.999999962184,0.000107687826447,-0.00025169393002,-2.6163378906e-05,1793254945849763584
+82,1.366666667,BASELINE,783,761,738,722,691.399222008,648,913,800,838,658,634.399222008,657,0.400989444822,0.00457455103273,0.0498520777905,0.99999996247,0.000105412498228,-0.000251538669709,-2.60132852989e-05,1793254945866430464
+83,1.383333333,BASELINE,783,761,738,722,691,648,913,800,838,657.823210092,634,657,0.400989341639,0.00457419102698,0.0498522312308,0.999999962584,0.000104148621715,-0.000251599261408,-2.6123857959e-05,1793254945883097088
+84,1.400000000,BASELINE,783,761,738,722,691,648,913,800,838,657.244333297,634,657,0.400989318852,0.00457617921521,0.04985164555,0.999999962318,0.000105185167184,-0.000252150781911,-2.68272839353e-05,1793254945899763968
+85,1.416666667,BASELINE,783.33274735,761,738,722.33274735,691,648,913,800,838,657.33274735,634.33274735,657,0.400988775981,0.00457608974673,0.0498513202012,0.999999962346,0.00010336653956,-0.000252765310026,-2.70840999245e-05,1793254945916430592
+86,1.433333333,BASELINE,783.908516149,761,738,722.908516149,691,648,913,800,838,657.908516149,634.908516149,657,0.400987853266,0.00457448286517,0.0498511849856,0.999999962576,9.94626411678e-05,-0.000253425855604,-2.70147350436e-05,1793254945933097472
+87,1.450000000,BASELINE,783.502141553,761,738,723,691,648,913,800,838,658,634.502141553,657,0.400986953777,0.00457473402431,0.0498506170312,0.999999962186,0.000101499413019,-0.000254190426126,-2.67147725464e-05,1793254945949764096
+88,1.466666667,BASELINE,783,761,738.087628214,723,691,648,913,800.087628214,838,658,634,657,0.400986627097,0.00457539673605,0.0498503032373,0.999999961824,0.000104514641084,-0.000254420211753,-2.64488650828e-05,1793254945966430464
+89,1.483333333,BASELINE,783,761,738.665445727,723,691,648,913,800.665445727,838,658,634,657,0.400989480146,0.00457639821513,0.0498518684955,0.999999962312,0.000106725646263,-0.000251548502455,-2.66171393651e-05,1793254945983097088
+90,1.500000000,BASELINE,783,761,738.756750075,722.756750075,691.243249925,648,913,800.756750075,838,658,634,657,0.400990407735,0.00457658197876,0.0498523181285,0.999999962456,0.000107102154253,-0.000250798744746,-2.67884866187e-05,1793254945999763968
+91,1.516666667,BASELINE,783,761,738.178964237,722.178964237,691.821035763,648,913,800.178964237,838,658,634,657,0.400988687283,0.00457564115744,0.0498512334681,0.999999962132,0.000104955721124,-0.000252967257503,-2.69640600439e-05,1793254946016430336
+92,1.533333333,BASELINE,783.404528232,761,738,722,691.595471768,648,913,800,838,658,634.404528232,657,0.400988694539,0.0045752883431,0.0498511230882,0.999999962095,0.000104887941187,-0.000253165470523,-2.67402118461e-05,1793254946033097216
+93,1.550000000,BASELINE,783.990581503,761,738,722,691.009418497,648,913,800,838,658,634.990581503,657,0.400989477074,0.00457519938664,0.0498514498997,0.999999962188,0.000105752920688,-0.000252479545844,-2.63371301269e-05,1793254946049764352
+94,1.566666667,BASELINE,783.430311981,761,738,722.569688019,691.569688019,648,913,800,838,658,635,657,0.400989120044,0.00457422286574,0.0498509647201,0.999999962551,0.000101493632533,-0.000252779643461,-2.64337559965e-05,1793254946066430976
+95,1.583333333,BASELINE,783,761,738.148627848,722.851372152,691.851372152,648,913,800.148627848,838,658,635,657,0.40098856008,0.00457411716503,0.0498505707349,0.999999962682,9.90650305357e-05,-0.000253205627655,-2.66309682866e-05,1793254946083097600
+96,1.600000000,BASELINE,783,761,738.72741378,722.27258622,691.27258622,648,913,800.72741378,838,658,635,657,0.400987466654,0.00457657374552,0.0498504790694,0.999999962168,0.000102177028567,-0.000253949340574,-2.70956749571e-05,1793254946099763968
+97,1.616666667,BASELINE,783,761,739,722,691,648,913,801,838,657.6962133,635,657,0.400987713499,0.00457712712527,0.0498507439353,0.999999962023,0.000104452771553,-0.000253599815213,-2.70412341128e-05,1793254946116430592
+98,1.633333333,BASELINE,783,761,739,722,691,648,913,801,838,657.121988533,635,657,0.400989153485,0.00457598623081,0.0498513261939,0.99999996221,0.000105984060437,-0.000252277063373,-2.652463591e-05,1793254946133097216
+99,1.650000000,BASELINE,783,761,739,722.463724526,691,648,913,800.536275474,838,657.463724526,635,657,0.400989487574,0.00457625618843,0.0498514841092,0.999999962241,0.000106504376743,-0.000251934452246,-2.65394623217e-05,1793254946149763840
+100,1.666666667,BASELINE,783,761,738.948327462,722.948327462,691,648,913,800,838,658.051672538,635,657,0.400989435097,0.00457675261376,0.0498514865793,0.999999962229,0.000106439167057,-0.00025199193501,-2.66946042921e-05,1793254946166430464
+101,1.683333333,BASELINE,783,761,738.369198404,722.369198404,691,648,913,800,838,658.630801596,635,657,0.400988481729,0.0045756760077,0.049851070732,0.999999962203,0.000103180781596,-0.00025343465741,-2.68187797069e-05,1793254946183097344
+102,1.700000000,BASELINE,783.209457151,761,738,722,691,648,913,800,838,658.790542849,634.790542849,657,0.400987836162,0.00457535694745,0.0498507113477,0.999999962043,0.000102404534056,-0.000254368251656,-2.68978585964e-05,1793254946199763968
+103,1.716666667,BASELINE,783.787279907,761,738,722,691,648,913,800,838,658.212720093,634.212720093,657,0.400987731914,0.00457637015896,0.0498504512632,0.99999996166,0.000105993543597,-0.000254406458315,-2.68976276537e-05,1793254946216430848
+104,1.733333333,BASELINE,783.630228731,761,738,722,691,648,913,800,838,658,634.369771269,657,0.400987737421,0.00457620889007,0.0498506836663,0.999999961665,0.000107036736696,-0.00025396821667,-2.67240871229e-05,1793254946233097472
+105,1.750000000,BASELINE,783.045017241,761,738,722,691,648,913,800,838,658,634.954982759,657,0.400987806873,0.00457536333253,0.0498512030079,0.9999999619,0.000106596658433,-0.000253252381454,-2.64495710455e-05,1793254946249764096
+106,1.766666667,BASELINE,783,761,738.53471675,722,691,648,913,800,838,658,635,657,0.400988517576,0.00457448344697,0.0498509772769,0.999999962014,0.000105861156257,-0.000253117997082,-2.63972072812e-05,1793254946266430464
+107,1.783333333,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,913,800,838,658,634,657,0.400988900666,0.00457616908516,0.0498523252423,0.999999962304,0.000104484822653,-0.00025250712606,-2.67516898144e-05,1793254946308660480
+108,1.800000000,POSE1_TO_POSE2_PRESS,783,761,738.424423981,722.424423981,691,648,913,800,838.575576019,658,634.575576019,657,0.400989200285,0.00457552441293,0.049852535448,0.999999962332,0.000105863054565,-0.00025185390474,-2.64140249814e-05,1793254946325327360
+109,1.816666667,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913,800,838.845563482,658,634.845563482,657,0.400989320722,0.00457486576965,0.0498524495101,0.999999962346,0.000106404618925,-0.000251598424996,-2.6167240884e-05,1793254946341994240
+110,1.833333333,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913,800,838.257480268,658,634.257480268,657,0.40098893803,0.00457416789648,0.0498515320224,0.999999962319,0.000104596880963,-0.000252459774997,-2.61756433142e-05,1793254946358660352
+111,1.850000000,POSE1_TO_POSE2_PRESS,783.325714118,761,738,722.325714118,691.325714118,648,913,800,838,658,634,657,0.400988126147,0.00457458708937,0.0498508613678,0.999999962115,0.000104396860644,-0.00025333790215,-2.62956171653e-05,1793254946375326720
+112,1.866666667,POSE1_TO_POSE2_PRESS,783.905100952,761,738,722.905100952,691.905100952,648,913,800,838,658,634,657,0.400986980003,0.00457587627584,0.0498503829518,0.999999961773,0.000105448963318,-0.000254229095633,-2.65024850859e-05,1793254946391993088
+113,1.883333333,POSE1_TO_POSE2_PRESS,783.517319719,761,738,723,691.517319719,648,913,800,838,658,634,656.517319719,0.400988400188,0.00457593017091,0.0498510807274,0.999999962352,0.000103949234892,-0.000252519352455,-2.69304467311e-05,1793254946408659968
+114,1.900000000,POSE1_TO_POSE2_PRESS,783,761,738,722.940367471,691,648,913,800,838,658,634,656.059632529,0.400990036678,0.00457582637904,0.0498519116509,0.999999962962,0.000102319341953,-0.000250721471132,-2.732042344e-05,1793254946425326592
+115,1.916666667,POSE1_TO_POSE2_PRESS,783,761,738,722.365773018,691,648,913,800,838,658,634,656.634226982,0.40098920015,0.0045764503579,0.0498519028612,0.999999962346,0.000103881813338,-0.000252561938362,-2.70083988354e-05,1793254946441992960
+116,1.933333333,POSE1_TO_POSE2_PRESS,783.21396042,761,738.21396042,722,691,648,913,800,838,658,634.21396042,657,0.400991905773,0.00457683362627,0.0498532183455,0.999999962488,0.000105705215998,-0.000251271468219,-2.66975756822e-05,1793254946458659584
+117,1.950000000,POSE1_TO_POSE2_PRESS,783.802695278,761,738.802695278,722,691,648,913,800,838,658,634.802695278,657,0.401000815854,0.00457679526455,0.0498568534368,0.999999963932,0.000107985667378,-0.000244496827973,-2.63888570309e-05,1793254946475326464
+118,1.966666667,POSE1_TO_POSE2_PRESS,783.615920372,761,738.615920372,722.384079628,691,648,913,800,838,658,635,657,0.40102513217,0.00457614529468,0.0498654031574,0.999999968231,0.000106545898496,-0.000226918662437,-2.63269346727e-05,1793254946491993344
+119,1.983333333,POSE1_TO_POSE2_PRESS,783.038241075,761,738.038241075,722.961758925,691,648,913,800,838,658,635,657,0.401057214172,0.00457518703681,0.0498764301527,0.999999973537,0.000103230910784,-0.00020389485739,-2.63894127309e-05,1793254946508660224
+120,2.000000000,POSE1_TO_POSE2_PRESS,783,761,738,722.463825537,691,648,913,800,838,658,635,657,0.401115711046,0.0045751723807,0.0498945054278,0.999999980447,0.000103128391024,-0.000166704250865,-2.60664241071e-05,1793254946525326592
+121,2.016666667,POSE1_TO_POSE2_PRESS,783,761,738,722.113552295,691,648,913,800,838,658,634.886447705,657,0.40117782322,0.00457466074928,0.0499119156252,0.999999985474,0.000102809388103,-0.000133551076865,-2.5423513516e-05,1793254946541993472
+122,2.033333333,POSE1_TO_POSE2_PRESS,783,761,738,722.704352941,691,648,913,800,838,658,634.295647059,657,0.401247259948,0.00457177924098,0.0499244305732,0.999999987268,0.000100623389298,-0.00012158773126,-2.35508526613e-05,1793254946558660096
+123,2.050000000,POSE1_TO_POSE2_PRESS,783.287263667,761,738.287263667,723,691,648,913,800,838,658,634.287263667,657,0.401326474754,0.00457046010628,0.0499348473797,0.999999989154,9.88049891516e-05,-0.000106862759155,-2.25634146291e-05,1793254946575326464
+124,2.066666667,POSE1_TO_POSE2_PRESS,783.862271246,761,738.862271246,723,691,648,913,800,838,658,634.862271246,657,0.401415483981,0.00457070595733,0.0499431625361,0.999999991015,9.7354802334e-05,-8.93715443806e-05,-2.24626794414e-05,1793254946591993088
+125,2.083333333,POSE1_TO_POSE2_PRESS,783.559795588,761,739,722.559795588,691,648,913,800,838,657.559795588,634.559795588,657,0.401518477478,0.00457007895326,0.0499464478236,0.999999991601,9.59836181488e-05,-8.43555058014e-05,-2.16613314541e-05,1793254946608659968
+126,2.100000000,POSE1_TO_POSE2_PRESS,783,761,738.981046839,722,691,648,913,800.018953161,838.018953161,657.018953161,634.018953161,657,0.401626491169,0.00456912819634,0.0499480713033,0.999999991836,9.45955904901e-05,-8.33926673066e-05,-2.06235140614e-05,1793254946625326848
+127,2.116666667,POSE1_TO_POSE2_PRESS,783,761,738.405407718,722,691,648,913,800.594592282,838.594592282,657.594592282,634.594592282,657,0.401752586026,0.00456674317387,0.049947416689,0.999999991883,9.19819774327e-05,-8.6069599984e-05,-1.91216552564e-05,1793254946641993472
+128,2.133333333,POSE1_TO_POSE2_PRESS,783,761,738.174879796,722,691,648,913,800.825120204,839,658,634.825120204,657,0.401888628708,0.00456486503566,0.0499484959928,0.999999992099,8.96396246184e-05,-8.63177476088e-05,-1.77809368823e-05,1793254946658660096
+129,2.150000000,POSE1_TO_POSE2_PRESS,783,761,738.766237414,722,691,648,913,800.233762586,839,658,634.233762586,657,0.402048362207,0.00456419404727,0.0499537046386,0.999999992729,8.79432809114e-05,-8.07817211868e-05,-1.68239761234e-05,1793254946675326720
+130,2.166666667,POSE1_TO_POSE2_PRESS,783,761,738.649748765,722,691,648,913.350251235,800,838.649748765,658,634.350251235,657,0.402221969975,0.00456310357544,0.0499528502942,0.99999999255,8.57611965984e-05,-8.54751400527e-05,-1.54637298819e-05,1793254946691993344
+131,2.183333333,POSE1_TO_POSE2_PRESS,783,761,738.070535584,722,691,648,913.929464416,800,838.070535584,658,634.929464416,657,0.402404647477,0.00456173888396,0.0499480325265,0.999999991747,8.32615797103e-05,-9.68556260236e-05,-1.38398526985e-05,1793254946708659968
+132,2.200000000,POSE1_TO_POSE2_PRESS,783,761,738.503071905,722.503071905,691,648,913.496928095,800,838,658,635,657,0.4026253908,0.00455790712337,0.0499474071739,0.999999992018,7.705901668e-05,-9.94288258308e-05,-1.18120066164e-05,1793254946725326848
+133,2.216666667,POSE1_TO_POSE2_PRESS,783,761,739,722.921828352,691,648,913,800.078171648,838.078171648,658,634.921828352,657,0.402857168307,0.00455412085225,0.0499483615331,0.999999992516,7.12464037355e-05,-9.89798639579e-05,-9.72839985951e-06,1793254946741993472
+134,2.233333333,POSE1_TO_POSE2_PRESS,783,761,739,722.331869575,691,648,913,800.668130425,838.668130425,658,634.331869575,657,0.403126628952,0.00455287208287,0.0499558522008,0.999999993664,7.13484327033e-05,-8.67404536784e-05,-7.64646502361e-06,1793254946758660096
+135,2.250000000,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,913,800.74640691,838.74640691,658,634.25359309,657,0.403414142164,0.00455024424839,0.049962878251,0.999999995021,6.77596433828e-05,-7.30402464721e-05,-5.57746014095e-06,1793254946775326720
+136,2.266666667,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,913,800.166725701,838.166725701,658,634.833274299,657,0.403724868642,0.00454584311353,0.0499693068626,0.999999996577,5.94249361426e-05,-5.74616429156e-05,-3.52508164082e-06,1793254946791993344
+137,2.283333333,POSE1_TO_POSE2_PRESS,783,761,738.589512912,722.410487088,691,648,913.410487088,800,838,657.589512912,635,657,0.404067535525,0.00454266522597,0.0499764514264,0.999999997516,5.51029062749e-05,-4.39445543331e-05,-9.66058800103e-07,1793254946808660224
+138,2.300000000,POSE1_TO_POSE2_PRESS,783,761,738.01329673,722.98670327,691,648,913.98670327,800,838,657.01329673,635,657,0.404423097945,0.00453998120952,0.0499838850471,0.999999998137,5.24009455524e-05,-3.1259777344e-05,1.79751538811e-06,1793254946825327104
+139,2.316666667,POSE1_TO_POSE2_PRESS,783,761,738,722.438786768,691,648,913.438786768,800,838.561213232,657.561213232,635,657,0.404825823181,0.004536098364,0.0499895288534,0.99999999864,4.92919937758e-05,-1.64358765848e-05,4.38031651656e-06,1793254946841993984
+140,2.333333333,POSE1_TO_POSE2_PRESS,783,761,738.139566126,722.139566126,691,648,913.139566126,800.139566126,838.860433874,658,635,657,0.40522912024,0.00453230513722,0.0499908651126,0.999999998867,4.58906499292e-05,-1.05833064513e-05,7.00007368573e-06,1793254946858660352
+141,2.350000000,POSE1_TO_POSE2_PRESS,783,761,738.730476951,722.730476951,691,648,913.730476951,800.730476951,838.269523049,658,635,657,0.405630663756,0.00452889330697,0.049978407859,0.999999998513,4.15748255814e-05,-3.3906645451e-05,9.75315191028e-06,1793254946875326720
+142,2.366666667,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,914,800.684942082,838,658,634.684942082,657,0.406050958746,0.00452332414011,0.0499611287206,0.999999997118,3.54130209257e-05,-6.59192219176e-05,1.28426414036e-05,1793254946891993344
+143,2.383333333,POSE1_TO_POSE2_PRESS,783,761,739,723,691,648,914,800.105669412,838,658,634.105669412,657,0.406486979193,0.00451594578122,0.0499398058385,0.999999993949,2.77031345996e-05,-0.000105218793496,1.62142533471e-05,1793254946908659968
+144,2.400000000,POSE1_TO_POSE2_PRESS,783,761,739,722.529359296,691,648,914,800,838.470640704,658,634.470640704,657,0.40697472925,0.00451210491006,0.0499260163102,0.999999991471,2.22835069615e-05,-0.00012729227502,1.89326371377e-05,1793254946925326848
+145,2.416666667,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,800,839,658,635,656.952814887,0.407481153965,0.00450879015875,0.0499165243226,0.999999989709,1.69434246457e-05,-0.000140816886772,2.15901393395e-05,1793254946941993472
+146,2.433333333,POSE1_TO_POSE2_PRESS,783,761,739,722,691,648,914,800,839,658,635,656.366031697,0.408069148679,0.00450246599839,0.0499369564614,0.999999994606,6.66934597649e-06,-0.000100531425139,2.52181442885e-05,1793254946958660352
+147,2.450000000,POSE1_TO_POSE2_PRESS,783,761,738.782087818,722,691,648,914,800,838.782087818,658,635,656,0.408676935108,0.00449584254996,0.0499608466644,0.999999998027,-4.18167011508e-06,-5.55594802189e-05,2.90224858645e-05,1793254946975326976
+148,2.466666667,POSE1_TO_POSE2_PRESS,783,761,738.202851884,722,691,648,914,800,838.202851884,658,635,656,0.409317538468,0.00448872284746,0.0499904707387,0.99999999932,-1.59893149531e-05,-2.81680320048e-06,3.31192138725e-05,1793254946991993600
+149,2.483333333,POSE1_TO_POSE2_PRESS,783,761,738.375974849,722,691,648,914,800,838.375974849,657.624025151,635,656.375974849,0.409949582669,0.00448230307392,0.0500008873644,0.999999998935,-2.39157012673e-05,1.25741597343e-05,3.74178171626e-05,1793254947008660224
+150,2.500000000,POSE1_TO_POSE2_PRESS,783,761,738.954581025,722,691,648,914,800,838.954581025,657.045418975,635,656.954581025,0.410577013899,0.00447626052674,0.0500009521508,0.999999998652,-2.97502862155e-05,7.83444621265e-06,4.18252208679e-05,1793254947025326848
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,738.471576812,722,690.471576812,648,914,800,839,657.528423188,635,657,0.411194506555,0.00446847364437,0.0499697755334,0.99999999045,0.000114697218546,-6.1586068639e-05,4.63806756889e-05,1793254947041993472
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,722,690.104789954,648,913.895210046,800.104789954,839,658,635,656.895210046,0.411833959921,0.00446102197944,0.0499426870677,0.999999962814,0.000240240454862,-0.000118804399041,5.04156829677e-05,1793254947058660096
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,722,690.694723443,648,913.305276557,800.694723443,839,658,635,656.305276557,0.412579003591,0.00445581018541,0.0499468462256,0.999999970249,0.000218995679634,-9.40221313184e-05,5.1982803535e-05,1793254947075326976
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.279601591,800.720398409,839,657.720398409,635,656.279601591,0.413350897931,0.00444471254895,0.0499622145497,0.9999999884,0.000133306662252,-6.12127380951e-05,4.10132080199e-05,1793254947091993600
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,913.859058278,800.140941722,839,657.140941722,635,656.859058278,0.414151588017,0.00442730271652,0.0499896039991,0.999999999435,-2.14947518776e-05,-1.97947539346e-05,1.65987734039e-05,1793254947108659712
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738,722,691,648,914,800,839,657.436168253,635,657,0.41491227913,0.00443766695725,0.0499756503896,0.999999998008,-4.31577322386e-05,-4.37845363825e-05,1.42820657211e-05,1793254947125326336
+157,2.616666667,POSE1_TO_POSE2_PRESS,783,761,738,722,690.975074403,648,914,800.012462798,839,657.987537202,635,656.987537202,0.415661516745,0.00445709520855,0.0499487764018,0.999999995701,-2.18813284934e-05,-8.80872640902e-05,1.89724064357e-05,1793254947141992960
+158,2.633333333,POSE1_TO_POSE2_PRESS,783,761,738,722,689.827990884,648,914,800.586004558,839,657.413995442,635,656.413995442,0.416473895037,0.00448270176929,0.0499384502172,0.999999994749,6.04810900362e-06,-0.000100445500965,1.93717470249e-05,1793254947158660096
+159,2.650000000,POSE1_TO_POSE2_PRESS,783,761,738,721.835517533,689.328964933,648,914,800.835517533,839,657.164482467,635,656.164482467,0.417306977445,0.00449626014064,0.0499386903843,0.999999994828,2.68883801855e-05,-9.58001306524e-05,2.10604677073e-05,1793254947175326976
+160,2.666666667,POSE1_TO_POSE2_PRESS,783,761,738,721.244231197,690.511537605,648,914,800.244231197,839,657.755768803,635,656.755768803,0.418193783446,0.0044785555196,0.0499663484272,0.999999998123,2.93334755539e-05,-4.70333071443e-05,2.60949091929e-05,1793254947191993344
+161,2.683333333,POSE1_TO_POSE2_PRESS,783,761,738,721,690.659972459,648,914,800,839,657.659972459,635,657,0.41906180136,0.00446704017241,0.0499755422878,0.999999998548,2.25651004143e-05,-3.95819934254e-05,2.87791246931e-05,1793254947208660224
+162,2.700000000,POSE1_TO_POSE2_PRESS,783,761,738,721,690.080659238,648,914,800,839,657.080659238,635,657,0.419916597599,0.00445988036906,0.0499717424513,0.999999997639,9.31298110115e-06,-6.1205414522e-05,2.98094286048e-05,1793254947225326848
+163,2.716666667,POSE1_TO_POSE2_PRESS,783,761,738,721.49630959,690,648,914,800,839,657,635,657,0.420827868952,0.00445869200623,0.0499726128823,0.99999999874,-2.44874525142e-06,-4.07626279745e-05,2.91920559709e-05,1793254947241993728
+164,2.733333333,POSE1_TO_POSE2_PRESS,783,761,738,721.925996417,690.074003583,648,914,800,839,657.074003583,635,657,0.421748023952,0.00445869316615,0.0499767986795,0.999999999456,-1.11086467082e-05,-1.2144533704e-05,2.85816323685e-05,1793254947258660352
+165,2.750000000,POSE1_TO_POSE2_PRESS,783,761,738,721.340672094,690.659327906,648,914,800,839,657.659327906,635,657,0.422666441321,0.00446023939916,0.0499986720846,0.999999999218,-2.47559347151e-09,2.59458830812e-05,2.98607048421e-05,1793254947275326976
+166,2.766666667,POSE1_TO_POSE2_PRESS,783,761.243463096,738,721,690.756536904,648,914,800,839,658,635,657,0.423603845215,0.00446383809522,0.0500041180025,0.999999998895,1.17547241438e-05,3.38220414044e-05,3.04597902843e-05,1793254947291993344
+167,2.783333333,POSE1_TO_POSE2_PRESS,783,761.825942532,738,721,690.174057468,648,914,800,839,658,635,657,0.424567687506,0.00447029479555,0.0499866890542,0.999999999248,2.44184667293e-05,-3.74402594687e-07,3.01120108064e-05,1793254947308660224
+168,2.800000000,POSE1_TO_POSE2_PRESS,783,761.596798027,738,721,690,648,914,800,839,658,635,657,0.425538059612,0.00446802774345,0.0499922755724,0.99999999941,1.24279540264e-05,8.09871230531e-06,3.09691275946e-05,1793254947325326848
+169,2.816666667,POSE1_TO_POSE2_PRESS,783,761.021763228,738,721,690,648,914,800,839,658,635,657,0.426511214475,0.00446204288418,0.0500076706067,0.999999998822,-1.0069478124e-05,3.47563406168e-05,3.23397357432e-05,1793254947341993472
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,761,738,721,690.554064323,648,914.554064323,800.554064323,839,658,635,657,0.427418443652,0.00445453185714,0.0499960447268,0.999999999077,-1.96284025526e-05,-1.37769110682e-05,3.56413044832e-05,1793254947358660096
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,761,738,721,690.73484131,648,914.867420655,800.867420655,839.132579345,657.867420655,635.132579345,657,0.428335904564,0.0044491999494,0.0499798851366,0.999999997307,-1.92445619121e-05,-5.97793297695e-05,3.79653318026e-05,1793254947375326976
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,761,738,721,689.55957695,648,914.279788475,800.279788475,839.720211525,657.279788475,635.720211525,657,0.429297384596,0.00445155349582,0.0499518126029,0.999999995457,1.3519039956e-05,-8.69435165237e-05,3.66734362676e-05,1793254947391993600
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,761.304258187,738,721,689.304258187,648,914,800,840,657.304258187,635.695741813,657,0.430277119257,0.00445618760967,0.0499449089623,0.999999995371,2.37835932396e-05,-8.62050275528e-05,3.55236872088e-05,1793254947408660224
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,761.885046063,738,721,689.885046063,648,914,800,840,657.885046063,635.114953937,657,0.431273444862,0.00446289445183,0.0499572449944,0.999999997506,1.35995415646e-05,-6.01067651014e-05,3.45031302342e-05,1793254947425326848
+175,2.916666667,POSE1_TO_POSE2_PRESS,783.462158751,761.537841249,738,721,690,648.462158751,914,800,840,658,635.462158751,657,0.432232983292,0.00446132853196,0.0499494755634,0.999999996815,3.76191576168e-06,-7.16631173819e-05,3.49440029183e-05,1793254947441993216
+176,2.933333333,POSE1_TO_POSE2_PRESS,783.962144684,761,738,720.962144684,689.962144684,649,914,800,840,658,636,657,0.433184466272,0.0044574578941,0.0499391893951,0.999999995446,-5.46757456965e-06,-8.83238077389e-05,3.57326763883e-05,1793254947458659840
+177,2.950000000,POSE1_TO_POSE2_PRESS,783.393587232,761,738,720.393587232,689.393587232,649,914,800,840,658,636,657,0.434150283308,0.00444989674428,0.0499631759238,0.999999998242,-7.3699371511e-06,-4.62761900927e-05,3.63413912614e-05,1793254947475326464
+178,2.966666667,POSE1_TO_POSE2_PRESS,783,761,738,720.184287561,689.184287561,649,914.184287561,800,840,657.815712439,635.815712439,657,0.435108189844,0.00444548357226,0.0499780013732,0.999999998945,-6.89182993467e-06,-2.61621637564e-05,3.71165966853e-05,1793254947491993344
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,761,738,720.783121387,689.783121387,649,914.783121387,800,840,657.216878613,635.216878613,657,0.43604830227,0.00444815162786,0.0499722194072,0.999999997733,-1.05896743826e-06,-5.53867189756e-05,3.82663150508e-05,1793254947508660224
+180,3.000000000,POSE1_TO_POSE2_PRESS,783.367830661,761,738,720.632169339,688.896508018,648.632169339,914.632169339,800,840,657,635.367830661,657,0.436981470484,0.00444986781916,0.0499614440869,0.999999996259,-3.22873393568e-06,-7.71554204701e-05,3.89665940239e-05,1793254947525326848
+181,3.016666667,POSE1_TO_POSE2_PRESS,783.944519814,761,738,720.055480186,687.166440558,648.055480186,914.055480186,800,840,657,635.944519814,657,0.437910695637,0.00445104353078,0.0499478334828,0.999999994691,-9.94248584314e-06,-9.46906004561e-05,3.94116760583e-05,1793254947541993472
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,761,738,720,688.040462371,648,914,800,840,657,635.479768814,657,0.438862165831,0.00445031819246,0.0499672571311,0.99999999754,-1.87108671191e-05,-5.51575272832e-05,3.90798059201e-05,1793254947558660096
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,761,738,720,689,648,914,800,840,657.097552155,635.097552155,657,0.439800158916,0.00444911837553,0.0499842180994,0.999999998774,-2.32760276017e-05,-2.04243485088e-05,3.86349593545e-05,1793254947575326720
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,761,738,720,689,648,914,800,840,657.683451802,635.683451802,657,0.440658831736,0.00444655631706,0.0499712480209,0.999999998455,-5.70496165098e-06,-4.01292520503e-05,3.80385630304e-05,1793254947591993344
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,761,738,720,688.464756437,648.267621781,914.267621781,800,840,657.732378219,636,657,0.44154709904,0.00444377708968,0.0499715152315,0.999999998564,-8.24157979323e-07,-3.74026680735e-05,3.83590864178e-05,1793254947608659968
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,761,738,720,687.300482051,648.849758974,914.849758974,800,840,657.150241026,636,657,0.442470146417,0.00444074264047,0.0499873392166,0.999999999116,-1.08572502202e-05,-8.314071045e-06,3.97571954534e-05,1793254947625326848
+187,3.116666667,POSE1_TO_POSE2_PRESS,784,761,738,720.425681817,687.851363633,648.574318183,914.574318183,800,840,657,636,657,0.443310064124,0.00444567178522,0.0499886004746,0.999999999127,-4.26999510443e-06,-9.03961544901e-06,4.0563671907e-05,1793254947641993728
+188,3.133333333,POSE1_TO_POSE2_PRESS,784,761,738,720.999442958,688.998885917,648.000557042,914.000557042,800,840,657,636,657,0.444121064096,0.00445337117634,0.0499847958871,0.999999998917,8.09887757789e-06,-2.0136420167e-05,4.11643408719e-05,1793254947658660608
+189,3.150000000,POSE1_TO_POSE2_PRESS,784,761,738,719.846878286,687.270317429,648,914,800,840,657.576560857,635.423439143,657,0.444858006956,0.00446281038609,0.0499267290473,0.999999992478,2.74650993065e-05,-0.000112532211608,4.03148385456e-05,1793254947675327232
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,761,738,719,686.156723183,648,914.156723183,800,840,658,635.156723183,657,0.445606934535,0.00447072530827,0.0498835150584,0.999999983174,4.14498507241e-05,-0.0001743080557,3.93753239916e-05,1793254947691993600
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,761,738,719,686.745264946,648,914.745264946,800,840,658,635.745264946,657,0.446389082012,0.00447443571233,0.0498813703327,0.999999986971,4.05883334918e-05,-0.000151499253056,3.81916828498e-05,1793254947708659968
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,761,738,719,687,647.671056921,915,800,840,657.671056921,636,657,0.447140814643,0.00447717999008,0.0498689753984,0.999999985518,4.18638607068e-05,-0.000160421849204,3.84336340556e-05,1793254947725326592
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687,647.091090363,915,800,840,657.091090363,636,657,0.447869337011,0.00447918699601,0.0498487583114,0.999999979475,4.47702121405e-05,-0.000193559353739,3.97634852322e-05,1793254947741993216
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,761.482946319,738,719,686.034107362,647,915,800,840.482946319,657.482946319,636,657,0.44854070976,0.00448399752218,0.0498219702865,0.999999968906,5.18936248684e-05,-0.000240541970965,4.04346246473e-05,1793254947758659840
+195,3.250000000,POSE1_TO_POSE2_PRESS,784,761.944026221,738,719,685,646.944026221,915,800,840.944026221,658,636,657,0.449201822866,0.00448905753649,0.0497975241809,0.999999956936,5.97755705065e-05,-0.000284366760039,4.11086923246e-05,1793254947775326720
+196,3.266666667,POSE1_TO_POSE2_PRESS,784,761.370113496,738,719,685,646.370113496,915,800,840.370113496,658,636,657,0.449866533839,0.00449159251989,0.0498060775068,0.999999958966,6.74056867791e-05,-0.000275100771369,4.29455548209e-05,1793254947791993600
+197,3.283333333,POSE1_TO_POSE2_PRESS,784.21223035,761,738,719,684.78776965,646,915,800,840.21223035,657.78776965,636,657,0.450517249668,0.00449296016271,0.0498157419335,0.99999996119,7.10613851705e-05,-0.000265650891634,4.47123021418e-05,1793254947808660224
+198,3.300000000,POSE1_TO_POSE2_PRESS,784.809885632,761,738,719,684.190114368,646,915,800,840.809885632,657.190114368,636,657,0.451142549279,0.00449220783439,0.0498274241947,0.999999963914,6.74992661881e-05,-0.000255867054112,4.6351715282e-05,1793254947825326848
+199,3.316666667,POSE1_TO_POSE2_PRESS,785,761,738,719,684,645.607922225,915,800,841,657.392077775,636,657,0.451702971014,0.00449230897361,0.0498062833575,0.999999949696,6.91263836171e-05,-0.000305740822968,4.84916111818e-05,1793254947841993472
+200,3.333333333,POSE1_TO_POSE2_PRESS,785,761,738,719,684,645.032943454,915,800,841,657.967056546,636,657,0.452233127819,0.00449280824822,0.0497698308209,0.999999922514,7.31742356859e-05,-0.000383444362903,5.08649779944e-05,1793254947858660096
+201,3.350000000,POSE1_TO_POSE2_PRESS,785,761,738,718.461151717,684,645,915,800,840.461151717,658,636,657,0.452742869789,0.00449728960296,0.0497395329597,0.999999908667,7.95681173027e-05,-0.000417006338318,4.94094588436e-05,1793254947875326720
+202,3.366666667,POSE1_TO_POSE2_PRESS,785,761.115086089,738,718.115086089,684,645,915,800,840.115086089,657.884913911,635.884913911,657,0.453250868515,0.0044999811256,0.0497169183601,0.999999898929,8.36970020166e-05,-0.000439104205671,4.82213439645e-05,1793254947891993344
+203,3.383333333,POSE1_TO_POSE2_PRESS,785,761.71069673,738,718.71069673,684,645,915,800,840.71069673,657.28930327,635.28930327,657,0.453756769344,0.00449418895811,0.0497248221964,0.999999905653,7.7773393441e-05,-0.000424537085788,4.91213777662e-05,1793254947908659968
+204,3.400000000,POSE1_TO_POSE2_PRESS,785,761.702970063,738,718.702970063,683.702970063,644.702970063,915,800,841,657.297029937,635,657,0.454245938536,0.00448954088058,0.0497310398144,0.999999912795,6.49040463006e-05,-0.000409786202492,4.76744014883e-05,1793254947925326592
+205,3.416666667,POSE1_TO_POSE2_PRESS,785,761.125399304,738,718.125399304,683.125399304,644.125399304,915,800,841,657.874600696,635,657,0.454719304888,0.00448597338116,0.0497356648213,0.99999992004,4.54745418585e-05,-0.000394861757855,4.4010705357e-05,1793254947941993472
+206,3.433333333,POSE1_TO_POSE2_PRESS,784.550301978,761,738,718,683.449698022,644,915,800,841,658,635,657,0.455109663078,0.00448064522567,0.049709112521,0.999999901637,-4.03267788632e-06,-0.000442381821313,3.17408557311e-05,1793254947958660352
+207,3.450000000,POSE1_TO_POSE2_PRESS,784.024114726,761,738,718,683.975885274,644,915,800,841,657.975885274,635.024114726,657,0.455475592626,0.00447503507651,0.049674234952,0.999999869977,-5.95355488629e-05,-0.000506150537241,1.77218060191e-05,1793254947975327488
+208,3.466666667,POSE1_TO_POSE2_PRESS,784.598653222,761,738,718,683.401346778,644,915,800,841,657.401346778,635.598653222,657,0.455809378769,0.00447413339262,0.0496466851105,0.999999849145,-6.14971530016e-05,-0.000545521726997,1.82542339038e-05,1793254947991993856
+209,3.483333333,POSE1_TO_POSE2_PRESS,785,761,738,718.179273154,683,643.820726846,915,800,841,657.179273154,635.820726846,657.179273154,0.456138249278,0.00447431804197,0.0496253732871,0.999999831979,-6.17496545616e-05,-0.000576084781558,1.88353995804e-05,1793254948008660224
+210,3.500000000,POSE1_TO_POSE2_PRESS,785,761,738,718.773985854,683,643.226014146,915,800,841,657.773985854,635.226014146,657.773985854,0.45645572847,0.00447702011126,0.0496185171698,0.999999826288,-5.80415585788e-05,-0.000586236255899,1.9529508004e-05,1793254948025326848
+211,3.516666667,POSE1_TO_POSE2_PRESS,785,761.359067788,738,718.640932212,683,643,915,800,841,658,635.359067788,657.640932212,0.456764723834,0.00447839312191,0.0496215987659,0.999999830675,-5.34468512722e-05,-0.000579077682384,2.14998813715e-05,1793254948041993472
+212,3.533333333,POSE1_TO_POSE2_PRESS,785,761.938246067,738,718.061753933,683,643,915,800,841,658,635.938246067,657.061753933,0.457068518596,0.00447895141269,0.0496307722332,0.999999841006,-4.8308646067e-05,-0.000561307956946,2.42526121005e-05,1793254948058660352
+213,3.550000000,POSE1_TO_POSE2_PRESS,785,762,738,718.510054537,682.489945463,643,915,800,841,658,636,657.510054537,0.457331450106,0.00449981476994,0.0496300667137,0.99999984096,4.83995262716e-05,-0.00056137903811,2.43277133611e-05,1793254948075326976
+214,3.566666667,POSE1_TO_POSE2_PRESS,785,761.916095478,738,718.916095478,682,642.916095478,915,800,841,658,636,658,0.457582208437,0.0045217729508,0.0496273849326,0.999999830142,0.000142037341294,-0.000564776452546,2.38459759354e-05,1793254948091993600
+215,3.583333333,POSE1_TO_POSE2_PRESS,785,761.324572788,738,718.324572788,682,642.324572788,915,800,841,658,636,658,0.457788825221,0.00453569341956,0.0496198800262,0.99999982281,0.000150981255081,-0.000575416030347,2.19287861653e-05,1793254948108660480
+216,3.600000000,POSE1_TO_POSE2_PRESS,785,761,738,718,682.260885934,642,915,800,841,658,636,657.739114066,0.457984276318,0.00454108739483,0.0496144953209,0.999999818072,0.000153408698215,-0.000582975955282,2.14621572377e-05,1793254948125327104
+217,3.616666667,POSE1_TO_POSE2_PRESS,785,761,738,718,682.838971705,642,915,800,841,658,636,657.161028295,0.458166151531,0.00453611437742,0.0496116884763,0.99999981664,0.00014791304815,-0.000586791463953,2.27592021429e-05,1793254948141993728
+218,3.633333333,POSE1_TO_POSE2_PRESS,785,761,738,718,682.58605251,642,915,800,841,658,636,657.41394749,0.458326196228,0.00453405604268,0.0496109068879,0.999999816839,0.000144173710121,-0.000587357480056,2.33885573624e-05,1793254948158660096
+219,3.650000000,POSE1_TO_POSE2_PRESS,785,761,738,718,682.012277522,642,915,800,841,658,636,657.987722478,0.458477812032,0.00453312308375,0.0496109072626,0.999999817671,0.000141112494365,-0.000586668848367,2.37601137371e-05,1793254948175326464
+220,3.666666667,POSE1_TO_POSE2_PRESS,785,761.554340435,738,718,682,642,915,800,841,658,636,657.445659565,0.458590404238,0.0045313800846,0.0496023216717,0.99999980869,0.000136412775789,-0.000602857713288,2.39674550434e-05,1793254948191993344
+221,3.683333333,POSE1_TO_POSE2_PRESS,785,761.871212053,738,718.128787947,682,642,915,800.128787947,841,658,636,657,0.458696972945,0.00452981789089,0.0495934443852,0.999999799521,0.000132176164886,-0.000618786966107,2.4301104571e-05,1793254948208660480
+222,3.700000000,POSE1_TO_POSE2_PRESS,785,761.267302735,738,718.732697265,682,642,915,800.732697265,841,658,636,657,0.458784467775,0.00452898806357,0.0495841835823,0.9999997913,0.000129780212765,-0.000632397015394,2.51139739252e-05,1793254948225326848
+223,3.716666667,POSE1_TO_POSE2_PRESS,785,761.320982844,738.320982844,718.679017156,681.679017156,642,915,800.679017156,841,658,636,657.320982844,0.45885969019,0.00452896210236,0.0495753667292,0.999999782359,0.000128675576217,-0.000646592449982,2.53708235148e-05,1793254948241993472
+224,3.733333333,POSE1_TO_POSE2_PRESS,785,761.896861514,738.896861514,718.103138486,681.103138486,642,915,800.103138486,841,658,636,657.896861514,0.458925166963,0.00452957449952,0.0495669024201,0.999999772787,0.000128596386579,-0.000661252746574,2.51861320912e-05,1793254948258660096
+225,3.750000000,POSE1_TO_POSE2_PRESS,785,762,738.528909714,718,681.471090286,642,915,800.471090286,841,658,636,657.528909714,0.458982737836,0.00452776959324,0.0495648151154,0.999999770766,0.000124034877688,-0.000665168971747,2.51840715728e-05,1793254948275326720
+226,3.766666667,POSE1_TO_POSE2_PRESS,785.046073323,761.953926677,738,718.046073323,682,642,915,800.953926677,841,658,636,657,0.459037268435,0.004525624133,0.0495642655895,0.999999770385,0.000118871919156,-0.000666679536558,2.52551550283e-05,1793254948291993344
+227,3.783333333,POSE1_TO_POSE2_PRESS,785.634164837,761.365835163,738,718.634164837,682,642,915,800.365835163,841,658,636,657,0.459076324022,0.0045256766217,0.0495654394971,0.999999769936,0.00011813778736,-0.000667465318314,2.57179774762e-05,1793254948308660224
+228,3.800000000,POSE1_TO_POSE2_PRESS,785.779931117,761.220068883,738,718.779931117,682,642,915,800,841,658,636,657.220068883,0.459111465419,0.00452767122398,0.0495657551427,0.999999769182,0.000119741860018,-0.000668305308693,2.58122271106e-05,1793254948325326848
+229,3.816666667,POSE1_TO_POSE2_PRESS,785.197627689,761.802372311,738,718.197627689,682,642,915,800,841,658,636,657.802372311,0.459140164037,0.00453286255544,0.0495646580844,0.999999767906,0.000125194629599,-0.000669234526688,2.52998039187e-05,1793254948341993472
+230,3.833333333,POSE1_TO_POSE2_PRESS,785,762,738,718,682,641.620917952,915.379082048,800.379082048,841,658,635.620917952,658,0.459162991784,0.00453446235962,0.049564892226,0.999999768433,0.000125933631885,-0.000668316093095,2.50811534725e-05,1793254948358660096
+231,3.850000000,POSE1_TO_POSE2_PRESS,785,762,738,718,682,641.047081999,915.952918001,800.952918001,841,658,635.047081999,658,0.459182803362,0.00453421701173,0.0495658102733,0.999999769891,0.000124250929808,-0.000666448426025,2.50134291795e-05,1793254948375326720
+232,3.866666667,POSE1_TO_POSE2_PRESS,785.524602105,761.475397895,738,718,682,641,915.475397895,800.475397895,841,658,635,657.475397895,0.459190826455,0.00453221580034,0.0495639213433,0.99999976721,0.000123135477611,-0.000670657737483,2.52332022126e-05,1793254948391993344
+233,3.883333333,POSE1_TO_POSE2_PRESS,786,761,738.100368923,718,682,641,915,800.100368923,841,658,635.100368923,657.100368923,0.459197617036,0.0045309820975,0.049561968714,0.999999764526,0.000122671227705,-0.000674727632244,2.53467323964e-05,1793254948408659968
+234,3.900000000,POSE1_TO_POSE2_PRESS,786,761,738.697285175,718,682,641,915,800.697285175,841,658,635.697285175,657.697285175,0.459203522845,0.00453432185498,0.0495609421666,0.999999763761,0.000125177788387,-0.000675420623755,2.48075272419e-05,1793254948425326592
+235,3.916666667,POSE1_TO_POSE2_PRESS,786,761.283832624,738.716167376,718,682,641,915,800.716167376,841,658,636,658,0.45920778398,0.00453571333294,0.0495600593473,0.999999763187,0.000126221458548,-0.000676087605445,2.44800487506e-05,1793254948441993472
+236,3.933333333,POSE1_TO_POSE2_PRESS,786,761.859711294,738.140288706,718,682,641,915,800.140288706,841,658,636,658,0.45921035285,0.00453510015334,0.0495593244151,0.999999762815,0.000125759906014,-0.00067672782474,2.43704237095e-05,1793254948458660096
+237,3.950000000,POSE1_TO_POSE2_PRESS,786,762,738,718,682,641.435078327,915,800,841,658,636,658,0.459211955756,0.00453469140568,0.0495587654374,0.999999762758,0.000124629471862,-0.000677016306384,2.4491696522e-05,1793254948475326976
+238,3.966666667,POSE1_TO_POSE2_PRESS,785.98944147,761.98944147,738.01055853,718.01055853,682,641.98944147,915,800,841,658,635.98944147,657.98944147,0.459213238111,0.00453437677696,0.0495582696412,0.999999762786,0.00012335447706,-0.000677201596731,2.46831842716e-05,1793254948491993856
+239,3.983333333,POSE1_TO_POSE2_PRESS,785.398685722,761.398685722,738.601314278,718.601314278,682,641.398685722,915,800,841,658,635.398685722,657.398685722,0.459214001304,0.00453561605945,0.0495581317108,0.999999761959,0.000125973459564,-0.00067794141746,2.46466605151e-05,1793254948508660224
+240,4.000000000,POSE1_TO_POSE2_PRESS,785.187807896,761,739,718.812192104,682,641.187807896,915,800.187807896,841,658,635.187807896,657.187807896,0.459214891882,0.00453694964431,0.0495579741533,0.999999761528,0.000128244044169,-0.000678155650342,2.45266353537e-05,1793254948525326592
+241,4.016666667,POSE1_TO_POSE2_PRESS,785.765454443,761,739,718.234545557,682,641.765454443,915,800.765454443,841,658,635.765454443,657.765454443,0.459216046876,0.00453847897545,0.0495577758551,0.99999976193,0.000129791448334,-0.000677278904254,2.42332837486e-05,1793254948541993472
+242,4.033333333,POSE1_TO_POSE2_PRESS,785.658662042,761.341337958,738.658662042,718,682,641.658662042,915,800.658662042,841.341337958,658,636,658,0.459216206411,0.00453924945592,0.0495576530978,0.999999761914,0.000129843628943,-0.000677299520572,2.40605205578e-05,1793254948558660096
+243,4.050000000,POSE1_TO_POSE2_PRESS,785.083983769,761.916016231,738.083983769,718,682,641.083983769,915,800.083983769,841.916016231,658,636,658,0.459215685446,0.00453950118226,0.0495575819807,0.999999761612,0.000128873667271,-0.000677933578303,2.39701922151e-05,1793254948575326720
+244,4.066666667,POSE1_TO_POSE2_PRESS,785,762,738,718,682,641,915,800,841.497003598,658,635.497003598,658,0.459216383261,0.00453818119532,0.0495571863079,0.999999761521,0.00012817243332,-0.000678182512403,2.44700322037e-05,1793254948591993344
+245,4.083333333,POSE1_TO_POSE2_PRESS,785.090541365,762,738.090541365,718,682,641.090541365,915.090541365,800,841,658,635.090541365,658,0.459217047588,0.00453691917966,0.0495568108558,0.999999761341,0.000127694985924,-0.000678521126217,2.49324258971e-05,1793254948608660224
+246,4.100000000,POSE1_TO_POSE2_PRESS,785.669770268,762,738.669770268,718,682,641.669770268,915.669770268,800,841,658,635.669770268,658,0.459216405285,0.00453742197524,0.0495568443602,0.999999760486,0.000128177158082,-0.00067969954621,2.46475214095e-05,1793254948625326848
+247,4.116666667,POSE1_TO_POSE2_PRESS,785.751810515,761.751810515,738.751810515,718,682,641.751810515,915.751810515,800.248189485,841,658,635.751810515,658,0.459215356771,0.00453869332398,0.0495563938132,0.999999759449,0.000129303334525,-0.000681023376113,2.42728816395e-05,1793254948641993472
+248,4.133333333,POSE1_TO_POSE2_PRESS,785.174465045,761.174465045,738.174465045,718,682,641.174465045,915.174465045,800.825534955,841,658,635.174465045,658,0.45921376953,0.00454098394996,0.0495553013033,0.999999758169,0.000131283607916,-0.000682540052951,2.37792323347e-05,1793254948658660096
+249,4.150000000,POSE1_TO_POSE2_PRESS,785,761,738,718,682,641,915,800.599267085,841,658,635,658,0.459215769637,0.00454121053888,0.0495563786506,0.999999759337,0.000131938680172,-0.000680702349835,2.37229112732e-05,1793254948675326720
+250,4.166666667,POSE1_TO_POSE2_PRESS,785,761,738,718,682,641,915,800.024999126,841,658,635,658,0.459219323225,0.00454054330849,0.0495583956419,0.999999761557,0.000132019881712,-0.000677412052013,2.38559726777e-05,1793254948691993344
+251,4.183333333,POSE1_TO_POSE2_PRESS,785.564448366,761.564448366,738,718,682,641.564448366,915.564448366,800.564448366,841,658,635.564448366,658,0.459218787075,0.00453932916989,0.0495576204032,0.999999761506,0.000128137204636,-0.000678230810384,2.39232406529e-05,1793254948708659968
+252,4.200000000,HOLD_POSE2,785,762,738,718,682,641,915,800,841,658,635,658,0.459218304423,0.00454123080126,0.0495564897304,0.999999760578,0.000129939283102,-0.000679265768417,2.36237390997e-05,1793254948749732608
+253,4.216666667,HOLD_POSE2,785,762,738,718,682,641,915,800,841,658,635.575349071,658,0.459218042197,0.00454099179315,0.0495563480201,0.999999760254,0.000129732104899,-0.000679782579147,2.35964965178e-05,1793254948766399232
+254,4.233333333,HOLD_POSE2,785.149575667,762,738,718,682,641,915,800,841,658,636,658,0.459218051244,0.00454120091044,0.0495563889864,0.999999760163,0.000129962471783,-0.00067987364911,2.35817292684e-05,1793254948783065856
+255,4.250000000,HOLD_POSE2,785.720639382,762,738,718,682,641,915,800,841,658,636,658,0.459218824711,0.00454267279656,0.0495569447156,0.999999760724,0.000131425793349,-0.000678765027758,2.36021161505e-05,1793254948799732480
+256,4.266666667,HOLD_POSE2,786,762,738,718,682,641,915,800,841,658,636,658,0.459219146256,0.00454386728669,0.0495572756405,0.999999760552,0.000132667831064,-0.000678781696616,2.3458951996e-05,1793254948816399360
+257,4.283333333,HOLD_POSE2,786,762,738,718,682,641,915,800,841,658,636,658,0.459219035001,0.00454479611788,0.0495573912729,0.999999759679,0.000133697947783,-0.000679876042575,2.31591569595e-05,1793254948833065728
+258,4.300000000,HOLD_POSE2,785.523095518,762,738,717.523095518,682,641,915,800.476904482,841,658,636,657.523095518,0.459219275468,0.00454361565859,0.0495572428345,0.999999760105,0.000132903363095,-0.000679389825586,2.3566758716e-05,1793254948849732608
+259,4.316666667,HOLD_POSE2,785,761.949782027,738,717.050217973,681.949782027,641,915,800.949782027,841,658,636,657,0.459219554475,0.00454220241227,0.0495570103301,0.999999760695,0.000131925858197,-0.000678696495406,2.4027113943e-05,1793254948866399232
+260,4.333333333,HOLD_POSE2,785,761.371209309,738,717.628790691,681.371209309,641,915,800.371209309,841,658,636,657,0.45921949476,0.00454280300726,0.0495564520956,0.999999760259,0.000132884692894,-0.00067916839252,2.35457199388e-05,1793254948883066368
+261,4.350000000,HOLD_POSE2,785.205537705,761.205537705,738,718,681.205537705,641,915,800,841,658,635.794462295,657,0.459219240269,0.0045431793471,0.0495559893703,0.99999975968,0.000133417526886,-0.000679923516527,2.33387870186e-05,1793254948899733248
+262,4.366666667,HOLD_POSE2,785.779016392,761.779016392,738,718,681.779016392,641,915,800,841,658,635.220983608,657,0.459218637104,0.00454315423907,0.04955569762,0.999999758845,0.000133187760467,-0.000681185655883,2.36231775339e-05,1793254948916399616
+263,4.383333333,HOLD_POSE2,785.633953341,762,738,718,682,641,915,800,841,658,635.366046659,657.366046659,0.459219360137,0.00454418625811,0.0495565954662,0.999999759577,0.000132156005668,-0.000680320758423,2.33412000877e-05,1793254948933065984
+264,4.400000000,HOLD_POSE2,785.038427361,762,738,718,682,641,915,800,841,658,635.961572639,657.961572639,0.459220914582,0.00454588100358,0.0495582390856,0.999999761286,0.000130621474095,-0.00067812239456,2.27041593666e-05,1793254948949732864
+265,4.416666667,HOLD_POSE2,785.540497757,761.459502243,738,718,681.459502243,641,915,800.540497757,841,658,635.459502243,657.459502243,0.459220863017,0.00454377475296,0.049557473879,0.999999760507,0.000132693585378,-0.000678843185935,2.34546861816e-05,1793254948966399744
+266,4.433333333,HOLD_POSE2,786,761.118106934,738,718,681.118106934,641,915,800.881893066,841,658.118106934,635.118106934,657.118106934,0.459220597282,0.00454181966482,0.0495566358834,0.999999759738,0.000134039072918,-0.00067968835002,2.41081021757e-05,1793254948983066368
+267,4.450000000,HOLD_POSE2,786,761.695052528,738,718,681.695052528,641,915,800.304947472,841,658.695052528,635.695052528,657.695052528,0.459219929881,0.00454147040264,0.0495561606101,0.999999759694,0.000131595182139,-0.000680234436746,2.40124160625e-05,1793254948999732992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,785,761,738,718,681,641,915,800,841,658,635,657,0.459220025136,0.00454394294354,0.0495564112736,0.999999759552,0.000131619484881,-0.000680466755501,2.31644889344e-05,1793254949037216512
+269,4.483333333,POSE2_TO_POSE3_RETREAT,785,761.586396628,738.586396628,718,681,641,915,800.586396628,841,658,635,657.586396628,0.459220936297,0.0045432416776,0.0495571678724,0.999999760162,0.000133171101312,-0.000679249676091,2.36855568728e-05,1793254949053882880
+270,4.500000000,POSE2_TO_POSE3_RETREAT,785.169147864,761.830852136,738.830852136,718,681.169147864,641,915,800.830852136,841,657.830852136,635.169147864,658,0.459221232499,0.00454312526987,0.0495574367106,0.999999760276,0.000134652159753,-0.000678777525279,2.40185651387e-05,1793254949070549248
+271,4.516666667,POSE2_TO_POSE3_RETREAT,785.743173489,761.256826511,738.256826511,718,681.743173489,641,915,800.256826511,841,657.256826511,635.743173489,658,0.459220056717,0.00454440879742,0.0495565380298,0.999999759211,0.00013596432864,-0.000680088459254,2.39014278361e-05,1793254949087216128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,785.680809406,761.319190594,738,718,681.680809406,641,915,800,841,657.319190594,636,658,0.459219256696,0.00454442624259,0.0495558141718,0.99999975848,0.000135883293725,-0.000681180948788,2.38279350658e-05,1793254949103882752
+273,4.550000000,POSE2_TO_POSE3_RETREAT,785.103179896,761.896820104,738,718,681.103179896,641,915,800,841,657.896820104,636,658,0.459218760916,0.00454341857928,0.0495552318627,0.999999758021,0.000134674223988,-0.000682096570423,2.37897799531e-05,1793254949120548864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,785,762,738,718,681,641,915,800,841,658,636,658,0.459218842734,0.00454330501886,0.0495549250005,0.999999758076,0.000134602677563,-0.000682033915245,2.36514044333e-05,1793254949137215488
+275,4.583333333,POSE2_TO_POSE3_RETREAT,785.074754164,762,738,718,681,641,915,800,841,658,635.925245836,657.925245836,0.459219041134,0.00454354725655,0.049554778256,0.999999758306,0.00013476266433,-0.000681671093837,2.34984081182e-05,1793254949153882368
+276,4.600000000,POSE2_TO_POSE3_RETREAT,785.650131048,762,738,718,681,641,915,800,841,658,635.349868952,657.349868952,0.45921917906,0.00454487007611,0.0495553026472,0.999999758947,0.000134816523594,-0.000680722843596,2.33934583167e-05,1793254949170549248
+277,4.616666667,POSE2_TO_POSE3_RETREAT,785.774343505,762,738,718,681,641,915,800,841,658,635.225656495,657,0.459216652146,0.00454547305719,0.0495545555104,0.999999758318,0.000135013536944,-0.00068160622431,2.33965981651e-05,1793254949187216128
+278,4.633333333,POSE2_TO_POSE3_RETREAT,785.19858762,762,738,718,681,641,915,800,841,658,635.80141238,657,0.459209990814,0.00454495922998,0.0495518356353,0.999999755712,0.000135432649629,-0.000685331326465,2.35674359242e-05,1793254949203882752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,785,762,738,718,681.385388076,641,915,800,841,658,636,657,0.459188722761,0.00454437023569,0.0495412093884,0.999999744331,0.000134023892535,-0.000702020632903,2.32731834095e-05,1793254949220549376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,785,762,738,718,681.973691743,641,915,800,841,658,636,657,0.459159763938,0.00454374166419,0.0495264202565,0.999999727874,0.00013165272039,-0.000725535887878,2.27340502887e-05,1793254949237216000
+281,4.683333333,POSE2_TO_POSE3_RETREAT,785.554915652,761.445084348,738,718,681.445084348,641,915,800,841,658,636,657,0.459109565924,0.00454689082219,0.049507145758,0.999999705054,0.000136148565493,-0.000755557032699,2.20974406737e-05,1793254949253882880
+282,4.700000000,POSE2_TO_POSE3_RETREAT,785.865266134,761,738,718,681,641,915,800,841,658,635.865266134,657.134733866,0.45905460009,0.00454948348324,0.0494880179538,0.999999683417,0.000139884486851,-0.000783034993994,2.13193164296e-05,1793254949270549760
+283,4.716666667,POSE2_TO_POSE3_RETREAT,785.288968502,761,738,718,681,641,915,800,841,658,635.288968502,657.711031498,0.458987267124,0.00454967276452,0.0494700590415,0.999999669043,0.000140076385829,-0.000801180060859,2.00923603249e-05,1793254949287216128
+284,4.733333333,POSE2_TO_POSE3_RETREAT,785.286362774,761.286362774,738,718,681.286362774,641,915,800,841,658,635,657.713637226,0.458910318419,0.00455004058606,0.0494556570782,0.999999655325,0.000140761359858,-0.000818030203435,1.90404798486e-05,1793254949303882496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,785.860722143,761.860722143,738,718,681.860722143,641,915,800,841,658,635,657.139277857,0.458823699117,0.00455058796651,0.049444832359,0.999999642335,0.000141942222142,-0.000833578032586,1.81646739573e-05,1793254949320549120
+286,4.766666667,POSE2_TO_POSE3_RETREAT,785.552483331,762,738,718,682,641,915,800,841,658,635.447516669,657.447516669,0.458731451198,0.00455257684105,0.0494413751161,0.9999996389,0.000144629199756,-0.000837245838179,1.73857990054e-05,1793254949337216256
+287,4.783333333,POSE2_TO_POSE3_RETREAT,785,761.962442475,738,718,681.962442475,641,915,800,840.962442475,658,635.962442475,658,0.458636190325,0.00455494081435,0.0494406166576,0.999999639039,0.000147750392434,-0.00083654853407,1.66661784612e-05,1793254949353883136
+288,4.800000000,POSE2_TO_POSE3_RETREAT,785,761.382997527,738,718,681.382997527,641,915,800,840.382997527,658,635.382997527,658,0.458523455041,0.00455605890052,0.0494447683357,0.999999646011,0.000150180171133,-0.000827741305019,1.6353793249e-05,1793254949370549504
+289,4.816666667,POSE2_TO_POSE3_RETREAT,785,761.19442345,738,718,681.19442345,641,915,800,840,658,635.19442345,657.80557655,0.458400667601,0.00455757110733,0.0494499335175,0.99999965277,0.000153062111586,-0.000819009208539,1.59630286891e-05,1793254949387215872
+290,4.833333333,POSE2_TO_POSE3_RETREAT,785,761.767898388,738,718,681.767898388,641,915,800,840,658,635.767898388,657.232101612,0.458258282311,0.00455985169876,0.0494570746441,0.999999659191,0.000156825594532,-0.00081042359298,1.54194543673e-05,1793254949403882752
+291,4.850000000,POSE2_TO_POSE3_RETREAT,785,761.649265379,738,718,682,641,915,800,840.350734621,658,636,657.350734621,0.458097135401,0.00456197867927,0.0494652337376,0.999999666372,0.000161392486668,-0.000800615182711,1.49423146038e-05,1793254949420549376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,785,761.060064289,738,718,682,641,915,800,840.939935711,658,636,657.939935711,0.457923232347,0.00456400121907,0.0494740849532,0.999999674002,0.000166505621659,-0.000789975386429,1.45103440193e-05,1793254949437216000
+293,4.883333333,POSE2_TO_POSE3_RETREAT,785.520105316,761.520105316,738,718,682,641,915,800.520105316,841,658,635.479894684,658,0.457717581352,0.00456683108101,0.0494798386448,0.999999678906,0.000172883010266,-0.000782375104815,1.375983333e-05,1793254949453882624
+294,4.900000000,POSE2_TO_POSE3_RETREAT,785.901434785,762,738,718,682,641.098565215,915,800.901434785,841,658,635,657.901434785,0.457499876078,0.00457013882846,0.0494837479547,0.999999681032,0.000179545848494,-0.000778159218308,1.29114009882e-05,1793254949470549248
+295,4.916666667,POSE2_TO_POSE3_RETREAT,785.32628444,762,738,718,682,641.67371556,915,800.32628444,841,658,635,657.32628444,0.457241310876,0.00457531415106,0.0494804393846,0.99999967149,0.000186894998587,-0.000788639364161,1.17643303898e-05,1793254949487215872
+296,4.933333333,POSE2_TO_POSE3_RETREAT,785.248225842,761.751774158,738,718,682,642,915,800,841,658,635.248225842,657,0.456966035896,0.00457896335735,0.0494768365324,0.999999663543,0.000193948711382,-0.000796984527425,1.06519704501e-05,1793254949503882496
+297,4.950000000,POSE2_TO_POSE3_RETREAT,785.821896913,761.178103087,738,718,682,642,915,800,841,658,635.821896913,657,0.45666885299,0.00458061169478,0.0494728478515,0.999999657803,0.000200615080288,-0.000802530546062,9.58511921192e-06,1793254949520549376
+298,4.966666667,POSE2_TO_POSE3_RETREAT,786,761.408680544,738,718,682,642,915,800,841,658,636,657,0.456349551262,0.00458411252308,0.049476591989,0.999999658533,0.000207460850114,-0.000799888017301,8.59933719032e-06,1793254949537216000
+299,4.983333333,POSE2_TO_POSE3_RETREAT,786,762,737.998664072,718.001335928,682,642,915,800,841,658,636,657,0.456020200284,0.00458845072046,0.04948380975,0.99999966212,0.000214391538385,-0.000793560021427,7.64853583033e-06,1793254949553882880
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,786,762,737.15768668,719,682,642.15768668,915,800,841,658,636,657,0.455277330246,0.00459996452686,0.0494931780479,0.999999670757,0.000230625538017,-0.000777998206764,4.14152974868e-06,1793254949587215872
+302,5.033333333,POSE2_TO_POSE3_RETREAT,786,762,737.732094068,719,682,642.732094068,915,800,841,658,636,657,0.45488680886,0.0046056955918,0.0495038088351,0.999999685657,0.000234940558858,-0.000757289007539,1.47357650877e-06,1793254949603882752
+303,5.050000000,POSE2_TO_POSE3_RETREAT,785.685993858,761.685993858,738,718.685993858,682,643,915,800,841,658,635.685993858,657.314006142,0.454466512162,0.00461075471139,0.0495122311186,0.999999695125,0.00024087237449,-0.000742784548604,-8.21286920898e-07,1793254949620549376
+304,5.066666667,POSE2_TO_POSE3_RETREAT,785.097522042,761.097522042,738,718.097522042,682,643,915,800,841,658,635.097522042,657.902477958,0.454020189494,0.00461522649937,0.0495187230001,0.99999970003,0.00024821739445,-0.000733703510776,-2.79004127686e-06,1793254949637216256
+305,5.083333333,POSE2_TO_POSE3_RETREAT,785,761.483256592,738,718.483256592,682.483256592,643,915,800,840.516743408,658,635.483256592,658,0.453559616969,0.00462182982499,0.0495480840705,0.999999727572,0.000259712117111,-0.00069093216709,-4.17408803178e-06,1793254949653882624
+306,5.100000000,POSE2_TO_POSE3_RETREAT,785,762,738,718.938357725,683.061642275,643.061642275,915,800,840.061642275,658,635.938357725,657.938357725,0.453089968221,0.00462871622742,0.0495809993783,0.999999755546,0.000272015119246,-0.00064411772312,-5.37287159774e-06,1793254949670549248
+307,5.116666667,POSE2_TO_POSE3_RETREAT,785,762,738,718.36712083,683.63287917,643.63287917,915,800,840.63287917,658,635.36712083,657.36712083,0.452568686742,0.00463444252315,0.0496057429089,0.999999767895,0.000284185732482,-0.000619203507129,-6.00026690728e-06,1793254949687216128
+308,5.133333333,POSE2_TO_POSE3_RETREAT,785,761.79332448,737.79332448,718,684,644,915,800,840.79332448,658,635,657,0.452020802439,0.00464020581015,0.0496197926763,0.999999772157,0.000294939568719,-0.000607157750175,-7.42275266494e-06,1793254949703882752
+309,5.150000000,POSE2_TO_POSE3_RETREAT,785,761.214924761,737.214924761,718,684,644,915,800,840.214924761,658,635,657,0.451425070635,0.00464603562891,0.0496146087636,0.999999762878,0.000303145205788,-0.000618257056958,-1.02752788772e-05,1793254949720549376
+310,5.166666667,POSE2_TO_POSE3_RETREAT,784.627896772,761,737,718,683.627896772,644,915,800,840,658,635,657,0.450814378757,0.00465039429936,0.0496102748933,0.999999762953,0.000311252231838,-0.000614023939505,-1.38054561973e-05,1793254949737216000
+311,5.183333333,POSE2_TO_POSE3_RETREAT,784.035766861,761,737,718,683.035766861,644,915,800,840,658,635,657,0.450194840929,0.00465388307154,0.0496064436581,0.999999768431,0.000319300948319,-0.000600724674873,-1.77363322383e-05,1793254949753882368
+312,5.200000000,POSE2_TO_POSE3_RETREAT,784.544019463,761,737.544019463,718,684.088038927,644.544019463,915,800,840.544019463,658,635.544019463,657.544019463,0.44958261169,0.00465850183992,0.0496453959986,0.999999803824,0.000327365411588,-0.00053364240205,-2.02460324699e-05,1793254949770548736
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,785,761,738,718,685.695391113,645.695391113,915,799.304608887,840.304608887,658,636,658,0.448283938295,0.00466753693126,0.0497035162978,0.999999844445,0.000345146261601,-0.000437427609204,-2.53051600196e-05,1793254949803882240
+315,5.250000000,POSE2_TO_POSE3_RETREAT,784.73070894,761,738,718,686.26929106,646,915,799.26929106,840,658,635.73070894,657.73070894,0.447572444788,0.00467024980031,0.0497056124957,0.999999850914,0.000332150427288,-0.000432452892936,-2.88663069189e-05,1793254949820548864
+316,5.266666667,POSE2_TO_POSE3_RETREAT,784.156398718,761,738,718,686.843601282,646,915,799.843601282,840,658,635.156398718,657.156398718,0.446818194011,0.00467104647544,0.0496864687087,0.99999985057,0.000293757651911,-0.000459829532878,-3.35140709223e-05,1793254949837215744
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,784.974192981,761,737,719,686.025807019,647,915,800,840,658,636,657,0.445238264856,0.00461103184925,0.0496696519637,0.999999879996,7.10422575271e-06,-0.000488481296589,-3.66510249419e-05,1793254949870549248
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,784,761,737,719.235676981,688,648,915,800,840,658,635,658,0.437505917275,0.00459373964176,0.0497726834573,0.999999933811,7.80319135503e-05,-0.000351931287062,-4.93338061378e-05,1793254950020549120
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784,761,737,719.809995317,688,648,915,800,840,658,635,658,0.436569880826,0.00457592336646,0.0497759212674,0.999999930073,0.000116066891709,-0.000354725069322,-2.35042950731e-05,1793254950037215744
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,760.604089757,737.395910243,720,688.395910243,648,914.604089757,800,839.604089757,658,635,657.604089757,0.435611053141,0.004578172621,0.0497720022299,0.999999919463,0.000153160147961,-0.000370705204883,-1.39210618989e-05,1793254950053882368
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,760.012441511,737.987558489,720,688.987558489,648,914.012441511,800,839.012441511,658,635,657.012441511,0.434640957528,0.00459034227347,0.0497645448471,0.999999904609,0.00018978781453,-0.000393204672301,-1.23699891604e-05,1793254950070548992
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783.433876148,760.566123852,738,720,688.433876148,648,914.566123852,800,839,658,635,657,0.433685040388,0.00459517465316,0.0497630807485,0.99999991096,0.000184024714588,-0.000379292931909,-1.87719204021e-05,1793254950087215616
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.143025599,761,738,719.856974401,688.286051199,648.143025599,915,800,839.143025599,658,635,657,0.432738205573,0.00459808680047,0.0497694840009,0.999999921141,0.000170522018213,-0.000357823371462,-2.45503432246e-05,1793254950103882240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.7157733,761,738,719.2842267,689.431546601,648.7157733,915,800,839.7157733,658,635,657,0.43181774372,0.00459570311735,0.0497991380098,0.999999940367,0.000136501415486,-0.000315996147254,-2.79421587074e-05,1793254950120548864
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784,761,738,719.297645292,689.702354708,648.702354708,915,800,839.702354708,658,635,657,0.430864191123,0.00459425605265,0.0497991774411,0.99999994034,0.000123503957464,-0.000321133772487,-3.06719738134e-05,1793254950137215488
+335,5.583333333,POSE2_TO_POSE3_RETREAT,784,761,738,719.888505736,689.111494264,648.111494264,915,800,839.111494264,658,635,657,0.429878040357,0.0045937316659,0.0497700430756,0.999999921463,0.000131216738481,-0.000372537226576,-3.27496415315e-05,1793254950153882112
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783.530229858,761,738,720.469770142,689,648,914.530229858,800,839,657.530229858,635,657,0.428904412798,0.00459138884166,0.0497645282382,0.99999991926,0.000132619410331,-0.000377828204949,-3.37469356993e-05,1793254950170548992
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,761,738,720.951776999,689,648,914,800,839,657,635,657,0.427930026204,0.00458937295634,0.049763872956,0.999999920271,0.000132562010304,-0.000375103886192,-3.43722164347e-05,1793254950187215616
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,761,738,720.379622211,689,648,914,800,839,657,635,657,0.426915747482,0.00459550438518,0.0497563290157,0.999999909913,0.000132586926353,-0.000401821550777,-3.36857628e-05,1793254950203882240
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.198560132,761,738,720.198560132,688.801439868,648,914.198560132,800,839,657.198560132,635,657,0.425946663326,0.00459968402705,0.0497562397473,0.999999909996,0.000131900828138,-0.000401782796026,-3.43691454742e-05,1793254950220548864
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783.788627291,761,738,720.788627291,688.211372709,648,914.788627291,800,839,657.788627291,635,657,0.425066690482,0.00460001527253,0.04977084908,0.999999929965,0.000129812801474,-0.000348987603351,-3.77534757416e-05,1793254950237215488
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783.628052842,760.628052842,738,721,688.743894317,648,914.628052842,800,839,657.628052842,635,657,0.424176308354,0.00459840742582,0.0497989593237,0.999999947134,0.000132121529887,-0.000294558623279,-3.88618936633e-05,1793254950253882368
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783.048499088,760.048499088,738,721,689.903001823,648,914.048499088,800,839,657.048499088,635,657,0.423280116218,0.00459571725242,0.0498346052555,0.99999996127,0.000136884357764,-0.000239217728699,-3.86999846104e-05,1793254950270548992
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,760.530638754,738,720.469361246,690,648,914,800,839,657.530638754,634.469361246,657,0.422321149366,0.00459734555151,0.0498164755143,0.999999950763,0.000145255047731,-0.000275524701575,-3.82312971853e-05,1793254950287215616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,761,738,720.108721829,690,648,914,800,839,657.891278171,634.108721829,657,0.421365137042,0.0045992138992,0.0497978151612,0.999999939656,0.000146353355682,-0.000312788301904,-3.78505916401e-05,1793254950303881984
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,761,738,720.682456016,690,648,914,800,839,657.317543984,634.682456016,657,0.420446281873,0.00460042212116,0.0497978905918,0.999999942002,0.000114937815264,-0.000318345008977,-3.79660225661e-05,1793254950320548864
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,760.743739147,738,721,690,648,914,800,839,657.256260853,635,657,0.419535334029,0.00460405594302,0.0497963613546,0.999999938302,0.000110743554017,-0.000331236508734,-3.76055639941e-05,1793254950337215488
+347,5.783333333,POSE2_TO_POSE3_RETREAT,783,760.169846782,738,721,690,648,914,800,839,657.830153218,635,657,0.418634187266,0.00461069625977,0.0497928431557,0.999999927106,0.000140289665423,-0.00035321937442,-3.6655247465e-05,1793254950353882368
+348,5.800000000,POSE2_TO_POSE3_RETREAT,783,760,738,721,689.579503206,648,914,800,838.579503206,658,635,657,0.417772833148,0.00461063810268,0.0497787220864,0.999999916641,0.000153598095599,-0.000376509440075,-3.6970426214e-05,1793254950370549248
+349,5.816666667,POSE2_TO_POSE3_RETREAT,783,760.017171328,738,721.017171328,689.034342657,648,914.017171328,800,838.017171328,658,635,657,0.41693009058,0.00460776274093,0.0497614207291,0.999999907333,0.000159452643936,-0.000398092608485,-3.78362469493e-05,1793254950387215360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,783,760.594765781,738,721.594765781,690.189531563,648,914.594765781,800,838.594765781,658,635,657,0.416148841885,0.00460484175924,0.0497857902625,0.999999928873,0.000144807049266,-0.0003460332951,-3.93114518845e-05,1793254950403881984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,783.171134132,761,738,722,691,648,914.828865868,800,839,658,635,657,0.415360398242,0.00460181026343,0.0498028967299,0.999999942707,0.000130270200465,-0.00030981793245,-4.0346691574e-05,1793254950420548864
+352,5.866666667,POSE2_TO_POSE3_RETREAT,783.744619923,761,738,722,691,648,914.255380077,800,839,658,635,657,0.414555038477,0.00459851893849,0.0498029270844,0.999999944144,0.000115989020817,-0.000310853107249,-4.03475341235e-05,1793254950437215488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,783.673847549,761,738,721.673847549,690.673847549,648,914,800,839,658,634.673847549,657,0.413769204302,0.00459843703165,0.0497900648038,0.999999935897,0.000119408858065,-0.000335165688409,-4.0146141731e-05,1793254950453882112
+354,5.900000000,POSE2_TO_POSE3_RETREAT,783.085855016,761,738,721.085855016,690.085855016,648,914,800,839,658,634.085855016,657,0.412999045613,0.00460093169405,0.0497668521222,0.999999918314,0.000137039338029,-0.000378165720195,-3.9782392029e-05,1793254950470548736
+355,5.916666667,POSE2_TO_POSE3_RETREAT,783,760.503621084,738,721.496378916,690,648,914,800,839,658,634,657,0.412294400464,0.00460622401467,0.049778016331,0.99999992264,0.00015048158206,-0.000361169915941,-4.03812288136e-05,1793254950487215616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,783.076588432,760.076588432,738,721.923411568,690.076588432,648,914.076588432,800,839,658,634,657,0.411603319307,0.00461113367984,0.0497948394352,0.999999930672,0.000157923512948,-0.0003347345511,-4.08430470686e-05,1793254950503882496
+357,5.950000000,POSE2_TO_POSE3_RETREAT,783.650052049,760.650052049,738,721.349947951,690.650052049,648,914.650052049,800,839,658,634,657,0.410927565409,0.00461045754323,0.0498102428323,0.999999941459,0.000131083582972,-0.000313609112491,-3.93482005113e-05,1793254950520549120
+358,5.966666667,POSE2_TO_POSE3_RETREAT,783.775383218,760.775383218,738,721.224616782,690.775383218,648,914.775383218,800,839,658,634.224616782,656.775383218,0.410252954317,0.00460959170508,0.0498098184288,0.999999941674,0.000119785330906,-0.000317494080978,-3.87514507327e-05,1793254950537215744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,783.199094572,760.199094572,738,721.800905428,690.199094572,648,914.199094572,800,839,658,634.800905428,656.199094572,0.409580132523,0.00460842886025,0.0497846131858,0.999999925404,0.000132819950813,-0.000360536661989,-3.95608087131e-05,1793254950553882368
+360,6.000000000,POSE2_TO_POSE3_RETREAT,783,760.388104589,738,722,690.388104589,648,914,800,839,658,635,656.388104589,0.408980422062,0.00460361305765,0.0497843662879,0.999999926052,0.000135389882754,-0.000357759211943,-3.96622774886e-05,1793254950570549248
+361,6.016666667,POSE2_TO_POSE3_RETREAT,783,760.981062709,738,722,690.981062709,648,914,800,839,658,635,656.981062709,0.408419301947,0.00459686911155,0.0497972931694,0.999999935741,0.000132436231965,-0.000330796545228,-3.93901006634e-05,1793254950587216128
+362,6.033333333,POSE2_TO_POSE3_RETREAT,783.558257337,760.441742663,738,722,691,648,914,800,838.441742663,658,634.441742663,657,0.407888864987,0.00459274186663,0.049816649447,0.999999944,0.000125660318645,-0.000307778589865,-3.85049561825e-05,1793254950603882496
+363,6.050000000,POSE2_TO_POSE3_RETREAT,783.865258358,760,738,722,691,648,914,800,838,658,634.134741642,656.865258358,0.407358223056,0.00459085958392,0.0498275132995,0.999999947967,0.000120718123315,-0.000296684962991,-3.836704497e-05,1793254950620548864
+364,6.066666667,POSE2_TO_POSE3_RETREAT,783.289396839,760,738,722,691,648,914,800,838,658,634.710603161,656.289396839,0.406823596007,0.00459604428471,0.0498098800774,0.999999939151,0.000122192013471,-0.000324203385601,-4.0741644506e-05,1793254950637215488
+365,6.083333333,POSE2_TO_POSE3_RETREAT,783,760.293013647,738.293013647,722,691,648,914,800,838.293013647,658,635,656.293013647,0.406304432686,0.00459814747933,0.0497899777818,0.999999927494,0.00012273692205,-0.000358031869688,-4.19711955079e-05,1793254950653882112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,783,760.882040097,738.882040097,722,691,648,914,800,838.882040097,658,635,656.882040097,0.405800891406,0.00459713762652,0.0497677831886,0.999999912337,0.000122343340242,-0.000398235000365,-4.20439775967e-05,1793254950670548736
+367,6.116666667,POSE2_TO_POSE3_RETREAT,783.462054542,760.537945458,739,722,691,648,914,800,838.537945458,658,634.537945458,657,0.405365836371,0.00460126674006,0.0497707230723,0.999999912092,0.000130163823573,-0.00039633140527,-4.23767351998e-05,1793254950687215616
+368,6.133333333,POSE2_TO_POSE3_RETREAT,783.961833109,760.038166891,738.961833109,722,691,648,914,800,838,658,634.038166891,657,0.404952976787,0.00460635029033,0.0497809653914,0.999999916407,0.000139503493354,-0.000381965449463,-4.2738230869e-05,1793254950703882240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,783.407953357,760.592046643,738.407953357,722,691,648,914,800,838,658,634.592046643,657,0.404608296114,0.00460694225794,0.049804834668,0.999999930698,0.000141577738545,-0.000341677924121,-4.26083950726e-05,1793254950720549120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,783,761,738.161443815,722,691,648,914,800,838.161443815,658,635,657,0.404269111802,0.00460778615707,0.0498279730877,0.99999994238,0.000143972781266,-0.000304482194151,-4.24652926969e-05,1793254950737215744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,783,761,738.774221547,722,691,648,914,800,838.774221547,658,635,657,0.403945293229,0.00460933435833,0.0498490683127,0.999999950194,0.000147264648848,-0.000275929925648,-4.22851023098e-05,1793254950753882368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,783,761,738.634166585,722.365833415,691,648,914,800,838.634166585,658,635,657,0.403630764525,0.0046116720898,0.0498556039943,0.999999951364,0.000150299914578,-0.000269958501572,-4.24775191588e-05,1793254950770548736
+373,6.216666667,POSE2_TO_POSE3_RETREAT,783,761,738.054902996,722.945097004,691,648,914,800,838.054902996,658,635,657,0.403321655577,0.00461447043974,0.0498536455225,0.999999948938,0.000153185477063,-0.000277160922265,-4.288731808e-05,1793254950787215360
+374,6.233333333,POSE2_TO_POSE3_RETREAT,783,760.479259808,738,722.479259808,691,648,914,800,838,658,634.479259808,657,0.403033797895,0.00461638469248,0.0498417320072,0.999999941256,0.000156697358742,-0.00030175863099,-4.33195602952e-05,1793254950803881984
+375,6.250000000,POSE2_TO_POSE3_RETREAT,783,760,738.096019276,722.096019276,691,648,914,800,838,657.903980724,634.096019276,657,0.402756243618,0.00461793282593,0.049829171888,0.999999933015,0.00015964962907,-0.000326440918554,-4.37979983848e-05,1793254950820548608
+376,6.266666667,POSE2_TO_POSE3_RETREAT,783,760,738.671373293,722.671373293,691,648,914,800,838,657.328626707,634.671373293,657,0.402519016656,0.00461811537897,0.0498185873018,0.999999927656,0.000159480910826,-0.000342453048932,-4.4495318749e-05,1793254950837215488
+377,6.283333333,POSE2_TO_POSE3_RETREAT,783,760.253433144,738.746566856,723,691,648,914,800,838,657.253433144,635,657,0.402300785299,0.00461782593062,0.0498119578603,0.999999925029,0.000156899599151,-0.000351124436746,-4.51173646713e-05,1793254950853882368
+378,6.300000000,POSE2_TO_POSE3_RETREAT,783,760.844424751,738.155575249,723,691,648,914,800,838,657.844424751,635,657,0.402107855015,0.00461690780338,0.0498105964461,0.999999926286,0.000151104850973,-0.000350018374164,-4.56391493085e-05,1793254950870548992
+379,6.316666667,POSE2_TO_POSE3_RETREAT,783.426523496,761,738.426523496,723,691,648.426523496,913.573476504,800,838,658,635,657,0.401944797832,0.00461387619617,0.0498131034552,0.999999935886,9.60344409209e-05,-0.000341878582036,-4.60965282834e-05,1793254950887215616
+380,6.333333333,POSE2_TO_POSE3_RETREAT,783.994596009,761,739,723,691,648.994596009,913,800,838,658,635,657,0.401792735921,0.00460993554761,0.0498170153311,0.999999943789,2.39532070979e-05,-0.000331187596419,-4.65014660427e-05,1793254950903882496
+381,6.350000000,POSE2_TO_POSE3_RETREAT,783.42001267,761,739,723,691,648.42001267,913,800,838,658,635,657,0.401674540666,0.004589786294,0.0498233149915,0.999999948851,1.45914018391e-05,-0.000316491636124,-4.38068038462e-05,1793254950920549120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,783,761,738.845500323,723,691,648,913,800,838.154499677,658,634.845500323,657,0.401561503349,0.00457363054271,0.0498286528091,0.999999952602,2.05825198041e-05,-0.000304781041892,-3.84776075171e-05,1793254950937215488
+383,6.383333333,POSE2_TO_POSE3_RETREAT,783,761,738.271180977,723,691,648,913,800,838.728819023,658,634.271180977,657,0.401462481638,0.00456832627896,0.0498313770248,0.999999951975,6.82919086018e-05,-0.00030118254049,-2.59896312852e-05,1793254950953882112
+384,6.400000000,POSE2_TO_POSE3_RETREAT,783,761,738,722.686830704,691,648,913,800,838.686830704,658,634.313169296,657,0.401373478461,0.00457063869029,0.0498326967987,0.999999951063,9.61310689066e-05,-0.000296937071258,-2.14748405484e-05,1793254950970548736
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dfa45713affa02e22b7207aa6da40db5b3e44975
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,419 @@
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+416,6.933333333,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342217,1.03969223901
+417,6.950000000,pose2_to_pose3_retreat,0.575666707958,0.0101816966969,1.04002053221,0.546237855605,0.0188559342216,1.03969223901
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a47aebe789737c1186d4c13f1e0bca2fbb977dc4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18cd60a614fa980f0b6692d4e84267109dea3958b91ff1e9bbe7c77739dd1255
+size 26253852
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa5ababebecedb5115243d1f67ce22b6ebff2e93
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,782,761,738,720,687,648,913,800,839,657,635,658,0.401029468434,0.00446590444976,0.0698487708832,0.999999987942,2.56293196983e-06,-0.000154026756285,1.96181035305e-05,1793254953086658304
+1,0.016666667,BASELINE,782,760.425737567,737.425737567,720.574262433,687,648,912.425737567,799.425737567,839,657,635,657.425737567,0.401027475167,0.00446575791888,0.0698478738309,0.999999987497,-3.83541282534e-07,-0.000156926711802,1.94667959082e-05,1793254953103324928
+2,0.033333333,BASELINE,782.152337891,760.152337891,737.152337891,720.847662109,686.847662109,648,912.152337891,799.152337891,839,657.152337891,635.152337891,657,0.401026265719,0.00446597582827,0.0698473377048,0.999999987207,-1.54292529374e-06,-0.00015877089054,1.9353365259e-05,1793254953119991296
+3,0.050000000,BASELINE,782.741343291,760.741343291,737.741343291,720.258656709,686.258656709,648,912.741343291,799.741343291,839,657.741343291,635.741343291,657,0.401027303045,0.00446723838402,0.069847836152,0.999999987393,2.42027506418e-06,-0.000157588748591,1.93485066666e-05,1793254953136657664
+4,0.066666667,BASELINE,782.673570466,761,738,720,686,648,913,800,839,658,636,657,0.401028403063,0.00446772053922,0.0698480138233,0.99999998755,3.91658721751e-06,-0.000156554755456,1.93970534689e-05,1793254953153324544
+5,0.083333333,BASELINE,782.091552883,761,738,720,686,648,913,800,839,658,636,657,0.401029552169,0.00446759165571,0.069847940333,0.999999987693,3.48137308891e-06,-0.000155636760067,1.94874156691e-05,1793254953169991168
+6,0.100000000,BASELINE,782,761,738,720,686,648,912.514185011,799.514185011,839.485814989,658,635.514185011,657.485814989,0.40102932386,0.00446736966416,0.0698485893273,0.999999987771,2.87305531738e-06,-0.000155161820057,1.93667768959e-05,1793254953186658304
+7,0.116666667,BASELINE,782,761,738,720,686,648,912.061772685,799.061772685,839.938227315,658,635,657.938227315,0.401028762711,0.0044672370707,0.0698492039222,0.999999987801,2.42347993031e-06,-0.000154992683148,1.92169636015e-05,1793254953203324928
+8,0.133333333,BASELINE,782,761,738,720,686,648,912.633256207,799.633256207,839.366743793,658,635,657.366743793,0.401027576731,0.00446798554593,0.0698484218654,0.999999987538,3.55037382712e-06,-0.000156664431745,1.91514143758e-05,1793254953219991552
+9,0.150000000,BASELINE,782,761,738,720,686.212998095,648,913,799.787001905,839,658,635,657,0.401026861701,0.00446828300099,0.0698477851719,0.999999987387,3.81869762304e-06,-0.000157631532665,1.90775200579e-05,1793254953236657920
+10,0.166666667,BASELINE,782,761,738,720,686.807532867,648,913,799.192467133,839,658,635,657,0.401026990268,0.00446777255794,0.0698474088634,0.999999987439,2.54909212315e-06,-0.000157336420553,1.89886774505e-05,1793254953253324288
+11,0.183333333,BASELINE,782,761,738,720,687,648,913,799,839,658,635,657.39045243,0.401026713898,0.0044674885497,0.069847240584,0.999999987441,2.80476298366e-06,-0.000157321241723,1.89850244534e-05,1793254953269991168
+12,0.200000000,BASELINE,782,761,738,720,687,648,913,799,839,658,635,657.96781192,0.401026243688,0.0044673129343,0.0698471718869,0.999999987418,3.79057368636e-06,-0.000157440065123,1.90221511656e-05,1793254953286657792
+13,0.216666667,BASELINE,782.538413565,760.461586435,738,720,687,648,913,799.538413565,839,658,635,657.461586435,0.401027076209,0.00446739484926,0.069847852158,0.999999987601,2.09790212131e-06,-0.000156333995479,1.87944551055e-05,1793254953303324672
+14,0.233333333,BASELINE,783,760.113191505,738,720.113191505,687,648,913,800,839,658,635,657,0.401028009844,0.00446757029328,0.0698486352364,0.999999987794,9.29179222025e-07,-0.000155121668093,1.86592570048e-05,1793254953319991296
+15,0.250000000,BASELINE,783,760.70741326,738,720.70741326,687,648,913,800,839,658,635,657,0.401029046309,0.00446807859073,0.0698496672902,0.999999987994,2.65914379013e-06,-0.000153765116251,1.89835947345e-05,1793254953336657920
+16,0.266666667,BASELINE,782.706277063,761,738,720.706277063,686.706277063,648,913,799.706277063,839,658,635,657.293722937,0.401028579927,0.00446819827753,0.0698496312482,0.999999987885,3.45510177724e-06,-0.00015443883603,1.91289942637e-05,1793254953353324800
+17,0.283333333,BASELINE,782.127642156,761,738,720.127642156,686.127642156,648,913,799.127642156,839,658,635,657.872357844,0.40102665578,0.00446794101101,0.0698485591507,0.999999987475,3.34507098286e-06,-0.000157081924351,1.91008232795e-05,1793254953369991168
+18,0.300000000,BASELINE,782,761,738,720,686,648,912.550541215,799,839,657.550541215,635,657.550541215,0.401027685514,0.0044675073188,0.0698491105165,0.999999987692,2.51050853147e-06,-0.000155725176026,1.89573999352e-05,1793254953386657792
+19,0.316666667,BASELINE,782.025998267,761,738,720,686.025998267,648,912,799,839,657.025998267,635,657.025998267,0.401029422884,0.0044670511466,0.069850051216,0.999999988055,1.56330552446e-06,-0.000153410361438,1.87928680694e-05,1793254953403324672
+20,0.333333333,BASELINE,782.599855168,761,738,720,686.599855168,648,912,799,839,657.599855168,635,657.599855168,0.401028454764,0.00446717348548,0.0698495137171,0.999999987843,2.56365683019e-06,-0.000154761953129,1.88709011545e-05,1793254953419991296
+21,0.350000000,BASELINE,782.821156271,761,738,720,686.821156271,648,912.178843729,799,839,658,635,657.821156271,0.401027709079,0.00446744186736,0.0698490913582,0.999999987667,3.3339197616e-06,-0.00015587154848,1.89418265071e-05,1793254953436657920
+22,0.366666667,BASELINE,782.230347039,761,738,720,686.230347039,648,912.769652961,799,839,658,635,657.230347039,0.401027475774,0.00446804665845,0.0698489342236,0.999999987579,3.57417530571e-06,-0.000156423706466,1.89963792277e-05,1793254953453324800
+23,0.383333333,BASELINE,782,761,738,720.353610427,686.353610427,648,913,799.353610427,839,658,635,657,0.401027262679,0.00446834227304,0.069848797049,0.999999987524,3.57284815855e-06,-0.000156765267914,1.90664097911e-05,1793254953469991424
+24,0.400000000,BASELINE,782,761,738,720.933189447,686.933189447,648,913,799.933189447,839,658,635,657,0.4010270625,0.00446844031382,0.0698486726294,0.999999987491,3.41714181723e-06,-0.000156972251359,1.91463312061e-05,1793254953486658048
+25,0.416666667,BASELINE,782.507619126,760.492380874,738,720.492380874,686.492380874,648,913,800,839,658,635,657,0.401026375802,0.00446782198387,0.0698482850454,0.999999987462,3.30541850251e-06,-0.000157163749049,1.90972452018e-05,1793254953503324672
+26,0.433333333,BASELINE,782.916567624,760,738,720,686,648,913,799.916567624,839,658,635,657,0.401025859448,0.00446730452993,0.0698480759072,0.99999998745,3.31256688769e-06,-0.000157242477839,1.90825840588e-05,1793254953519991040
+27,0.450000000,BASELINE,782.32832328,760,738,720,686,648,913,799.32832328,839,658,635,657,0.401026757312,0.00446796218181,0.0698491539299,0.999999987534,4.00428068799e-06,-0.00015665110074,1.93779152482e-05,1793254953536657664
+28,0.466666667,BASELINE,782,760.255785473,738,720,686,648,913,799.255785473,839,658,635,657,0.401026519833,0.00446848271082,0.0698491428352,0.999999987447,4.32415027383e-06,-0.000157204760926,1.93555913613e-05,1793254953553324544
+29,0.483333333,BASELINE,782,760.834670256,738,720,686,648,913,799.834670256,839,658,635,657,0.401024848227,0.00446883003096,0.0698477560055,0.999999987139,4.1743191444e-06,-0.000159204792405,1.89320166168e-05,1793254953569991168
+30,0.500000000,BASELINE,782,761,738,720,686,648,913,800,839,658,635,657,0.401025171404,0.00446796648187,0.0698477231962,0.999999987197,2.80519368916e-06,-0.000158885813056,1.87784479723e-05,1793254953586657792
+31,0.516666667,BASELINE,782,761,738,720,686,648,913,800,839,658,635,657,0.401026292048,0.00446661885528,0.0698482316929,0.999999987399,9.48622595638e-07,-0.00015763974682,1.87328215253e-05,1793254953603324672
+32,0.533333333,BASELINE,782,760.436022613,737.436022613,720,686,648,913,799.436022613,839,658,635,657,0.401026630932,0.0044666195984,0.0698484038932,0.999999987378,1.82965764622e-06,-0.000157724589449,1.90726882581e-05,1793254953619991552
+33,0.550000000,BASELINE,782,760.142924163,737.142924163,720,686.142924163,648,912.857075837,799.142924163,839,658,635.142924163,657,0.401026952651,0.00446669572451,0.0698487405087,0.999999987412,2.70566767215e-06,-0.000157467804757,1.93235548173e-05,1793254953636658176
+34,0.566666667,BASELINE,782,760.732595812,737.732595812,720,686.732595812,648,912.267404188,799.732595812,839,658,635.732595812,657,0.401027270707,0.00446692125318,0.0698496125533,0.999999987631,3.39090311615e-06,-0.00015605806261,1.92715756676e-05,1793254953653324800
+35,0.583333333,BASELINE,782,761,738,720,687,648,912,799.683700325,839,658,635.683700325,657,0.401026426109,0.0044671627075,0.0698493802072,0.999999987491,4.41111626384e-06,-0.000156932789521,1.92315853305e-05,1793254953669991424
+36,0.600000000,BASELINE,782,761,738,720,687,648,912,799.104948219,839,658,635.104948219,657,0.401024616788,0.00446741737628,0.0698482314834,0.999999987047,5.70928017463e-06,-0.000159703074516,1.92015428102e-05,1793254953686658048
+37,0.616666667,BASELINE,782,760.528241815,738,720,686.528241815,648,912.471758185,799.471758185,839,658,635,657.471758185,0.401025611395,0.00446682922324,0.0698487041519,0.999999987223,4.72227528088e-06,-0.000158603611077,1.94048192715e-05,1793254953703324672
+38,0.633333333,BASELINE,782,760,738,720,686,648,913,799.951959497,839,657.951959497,635.048040503,657.951959497,0.4010271372,0.00446616912011,0.069849496056,0.999999987525,3.31253529844e-06,-0.000156699414065,1.96028717302e-05,1793254953719991040
+39,0.650000000,BASELINE,782,760,738,720,686,648,913,799.375357257,839,657.375357257,635.624642743,657.375357257,0.401027674147,0.00446677139112,0.0698498489082,0.999999987742,2.82075881567e-06,-0.000155371974374,1.91748374299e-05,1793254953736657920
+40,0.666666667,BASELINE,782.205553251,760.205553251,738,720,686.205553251,648,913,799,839,657.205553251,635.794446749,657.205553251,0.401027545484,0.00446703266084,0.0698495481065,0.999999987774,2.27597978264e-06,-0.000155201500251,1.89354352374e-05,1793254953753324544
+41,0.683333333,BASELINE,782.794499401,760.794499401,738,720,686.794499401,648,913,799,839,657.794499401,635.205500599,657.794499401,0.401026175341,0.00446665790326,0.0698480281254,0.999999987463,1.63234171835e-06,-0.000157188970095,1.90478650657e-05,1793254953769991168
+42,0.700000000,BASELINE,782.623032408,760.623032408,738,720,686.623032408,648,912.623032408,799,839,657.623032408,635,657.623032408,0.401025924032,0.00446648774314,0.0698480817738,0.999999987367,2.14901533444e-06,-0.000157758516845,1.93310141032e-05,1793254953786657792
+43,0.716666667,BASELINE,782.044035978,760.044035978,738,720,686.044035978,648,912.044035978,799,839,657.044035978,635,657.044035978,0.40102627234,0.00446642723329,0.06984897878,0.999999987387,3.28753664655e-06,-0.000157568153763,1.97056569531e-05,1793254953803324416
+44,0.733333333,BASELINE,782,760.531343278,737.468656722,720,686,648,912,799,839,657,635,657,0.401026006672,0.00446714342383,0.0698486645757,0.999999987351,4.3864016092e-06,-0.000157836044515,1.91363175852e-05,1793254953819991040
+45,0.750000000,BASELINE,782.106156845,761,737.106156845,720,686,648,912.106156845,799,839,657.106156845,635,657,0.401025891123,0.00446772220831,0.0698484909299,0.999999987339,5.2127492189e-06,-0.000157944439124,1.86900673548e-05,1793254953836657408
+46,0.766666667,BASELINE,782.679790357,761,737.679790357,720,686,648,912.679790357,799,839,657.679790357,635,657,0.401026659206,0.00446741435818,0.0698493753073,0.999999987452,4.85340293762e-06,-0.00015718435669,1.91280433091e-05,1793254953853324032
+47,0.783333333,BASELINE,782.737964923,761,738,720,686,648,913,799,839,658,635.262035077,657,0.401026720112,0.00446696079089,0.0698495161513,0.99999998745,4.4637352811e-06,-0.000157178706387,1.93484079333e-05,1793254953869991168
+48,0.800000000,BASELINE,782.144839571,761,738,720,686,648,913,799,839,658,635.855160429,657,0.401025887478,0.00446632310495,0.0698487175153,0.999999987304,4.03575548178e-06,-0.000158126306763,1.92938132633e-05,1793254953886658048
+49,0.816666667,BASELINE,782,761,738,720,686.43308545,647.56691455,912.56691455,799,839,658,635.56691455,657.43308545,0.401024353459,0.00446662229647,0.069847667682,0.99999998701,3.83248939861e-06,-0.000159987002665,1.91980655096e-05,1793254953903324928
+50,0.833333333,BASELINE,782,761,738,720,686.993863612,647.006136388,912.006136388,799,839,658,635.006136388,657.993863612,0.401022627114,0.00446721084742,0.0698465610204,0.999999986673,3.68628201605e-06,-0.000162096424932,1.90915320519e-05,1793254953919991552
+51,0.850000000,BASELINE,782,761,738,720,686.417361893,647.582638107,912.582638107,799,839,658,635.582638107,657.417361893,0.401024087816,0.00446655925256,0.0698477160298,0.999999987029,2.09514833932e-06,-0.000159903143864,1.92183639399e-05,1793254953936658432
+52,0.866666667,BASELINE,782.163463204,760.836536796,738,720.163463204,686.163463204,648,913,799.163463204,839,658,635.836536796,657,0.401025380385,0.00446653887351,0.0698487472053,0.999999987328,1.65770330631e-06,-0.000158023824394,1.9215491469e-05,1793254953953325312
+53,0.883333333,BASELINE,782.755626804,760.244373196,738,720.755626804,686.755626804,648,913,799.755626804,839,658,635.244373196,657,0.401026232006,0.00446817392799,0.0698494536127,0.999999987493,4.24593490288e-06,-0.000156967904197,1.88724549124e-05,1793254953969991680
+54,0.900000000,BASELINE,782.659576815,760,738,721,686.659576815,648,913,799.659576815,839,658,635.340423185,657,0.4010259832,0.00446829416404,0.0698489585216,0.99999998733,4.07558176521e-06,-0.000158013740356,1.88210698075e-05,1793254953986658304
+55,0.916666667,BASELINE,782.079956999,760,738,721,686.079956999,648,913,799.079956999,839,658,635.920043001,657,0.401024961185,0.00446735002051,0.0698476192036,0.999999986932,1.96692288598e-06,-0.000160536365046,1.89746121368e-05,1793254954003324672
+56,0.933333333,BASELINE,782,760.495247022,738,720.504752978,686,648,913,799,839,658,636,657,0.401024730837,0.00446858405347,0.069848200507,0.999999987099,4.56823517174e-06,-0.000159444706465,1.89261511668e-05,1793254954019991296
+57,0.950000000,BASELINE,782,761,738,720,686.071290198,648,913,799.071290198,839,658,635.928709802,657,0.401024774751,0.00446973926727,0.0698489654206,0.999999987322,7.01371733759e-06,-0.000157961453406,1.88664328548e-05,1793254954036658176
+58,0.966666667,BASELINE,782,761,738,720,686.658520166,648,913,799.658520166,839,658,635.341479834,657,0.401025886708,0.00446780149093,0.069848834868,0.999999987361,2.87677776258e-06,-0.000157829888977,1.89591846171e-05,1793254954053324800
+59,0.983333333,BASELINE,782,760.75778407,738,720,686.75778407,648,913,799.75778407,839,658,635,657,0.40102608643,0.00446717414224,0.0698485493318,0.999999987324,1.32990566685e-06,-0.000158089557655,1.89352372668e-05,1793254954069991424
+60,1.000000000,BASELINE,782,760.178999144,738,720,686.178999144,648,913,799.178999144,839,658,635,657,0.401025018563,0.00446836768639,0.0698480484397,0.999999987195,3.38203824949e-06,-0.000158892860805,1.87491317141e-05,1793254954086658048
+61,1.016666667,BASELINE,782,760.398571133,738,720,686,648,913,799.398571133,839,658,635,657.398571133,0.4010261669,0.00446790442101,0.0698493001091,0.999999987471,2.66247706352e-06,-0.000157147479047,1.88757768426e-05,1793254954103324672
+62,1.033333333,BASELINE,782,760.97559753,738,720,686,648,913,799.97559753,839,658,635,657.97559753,0.401028307515,0.00446669933971,0.0698513364661,0.999999987918,7.01924362479e-07,-0.000154260955289,1.91424522076e-05,1793254954119991040
+63,1.050000000,BASELINE,782.553107447,761,738,720,686,648,913,799.446892553,839,658,635,658,0.401027246878,0.00446691226566,0.0698504106439,0.999999987733,1.29097681995e-06,-0.000155508016677,1.87113596127e-05,1793254954136657664
+64,1.066666667,BASELINE,782.86730794,761,738,720,686,648,913,799,839,658,635,658,0.401025860523,0.00446717449762,0.0698492840903,0.999999987456,2.05069426064e-06,-0.000157303337881,1.84488488942e-05,1793254954153324288
+65,1.083333333,BASELINE,782.280699218,761,738,720,686,648,913,799,839,658,635,658,0.401023843505,0.00446739119973,0.0698479183216,0.999999986961,3.00909637371e-06,-0.000160349762354,1.8868429124e-05,1793254954169991168
+66,1.100000000,BASELINE,782,761,738,720,686.302928362,648,913,799,839,658,635,658,0.401023831431,0.0044677736894,0.0698479328705,0.999999986952,4.14257287667e-06,-0.000160363394099,1.90147513583e-05,1793254954186657792
+67,1.116666667,BASELINE,782,761,738,720,686.883820447,648,913,799,839,658,635,658,0.401025659071,0.00446830830388,0.0698492139837,0.999999987388,5.43669565584e-06,-0.000157594168524,1.89103350471e-05,1793254954203324416
+68,1.133333333,BASELINE,782,761,738,720,686.538908449,648,913,799,839,658,635,657.538908449,0.401025530311,0.00446873391649,0.0698490288802,0.999999987362,5.23662598167e-06,-0.000157793201107,1.8723007905e-05,1793254954219991296
+69,1.150000000,BASELINE,782,760.962777007,738,720,686.037222993,648,913,799,839,658,635,657,0.401025041486,0.00446903406853,0.0698485614487,0.999999987242,4.69486900022e-06,-0.000158587350058,1.85440436681e-05,1793254954236657920
+70,1.166666667,BASELINE,782,760.390018643,738,720,686.609981357,648,913,799,839,658,635,657,0.401026409212,0.00446792125467,0.0698493058619,0.999999987446,4.61156675491e-06,-0.000157267191805,1.87836163373e-05,1793254954253324544
+71,1.183333333,BASELINE,782.188284736,760.188284736,738,720,686.811715264,648,913,799,839,658,635.188284736,657.188284736,0.401027113971,0.00446685511226,0.0698496641191,0.999999987553,4.38806276432e-06,-0.0001565692905,1.89748035599e-05,1793254954269990912
+72,1.200000000,BASELINE,782.77842287,760.77842287,738,720,686.22157713,648,913,799,839,658,635.77842287,657.77842287,0.401026403769,0.00446588857986,0.069849198209,0.999999987455,3.86532819499e-06,-0.000157199462977,1.90627224668e-05,1793254954286657536
+73,1.216666667,BASELINE,782.63683466,761,738,720,686,648,912.63683466,799,839,658,635.63683466,657.63683466,0.401024901484,0.00446594575436,0.06984844164,0.99999998725,2.66470404146e-06,-0.000158534270621,1.89568167803e-05,1793254954303324416
+74,1.233333333,BASELINE,782.055336071,761,738,720,686,648,912.055336071,799,839,658,635.055336071,657.055336071,0.401022923003,0.00446661837656,0.0698475103284,0.999999986977,1.05653597511e-06,-0.000160292701486,1.87343846792e-05,1793254954319991296
+75,1.250000000,BASELINE,782.517887594,761,738,720,686,648,912.517887594,799,839,658,635,657,0.401022997164,0.00446741330991,0.069847428504,0.999999986967,2.73896931637e-06,-0.000160331306919,1.87734862844e-05,1793254954336657920
+76,1.266666667,BASELINE,782.906774545,760.906774545,738,720.093225455,686,648,913,799,839,657.906774545,635,657.093225455,0.401023190499,0.00446808680839,0.0698475279049,0.99999998699,4.29287919378e-06,-0.000160145227558,1.88247882136e-05,1793254954353324544
+77,1.283333333,BASELINE,782.315492216,760.315492216,738,720.684507784,686,648,913,799,839,657.315492216,635,657.684507784,0.401022867209,0.00446804281869,0.0698481182033,0.999999987062,3.3112751467e-06,-0.000159725081604,1.87943234292e-05,1793254954369991168
+78,1.300000000,BASELINE,782,760.269609984,738,720.730390016,686,648,913,799.269609984,839,657.269609984,635,657.730390016,0.401023162527,0.00446777225715,0.0698485071852,0.999999987142,2.9978181243e-06,-0.000159223573819,1.88403857673e-05,1793254954386657792
+79,1.316666667,BASELINE,782,760.847642339,738,720.152357661,686,648,913,799.847642339,839,657.847642339,635,657.152357661,0.401024165505,0.00446724250704,0.0698486658693,0.999999987232,3.44869298659e-06,-0.000158628991583,1.89739918851e-05,1793254954403324416
+80,1.333333333,BASELINE,782,761,738,720.411982364,686.411982364,648,913,799.588017636,839.411982364,658,635.411982364,657,0.401023916592,0.00446658621915,0.0698482621696,0.999999987158,1.80790153716e-06,-0.00015913270902,1.89097151418e-05,1793254954419991040
+81,1.350000000,BASELINE,782,761,738,720.97142167,686.97142167,648,913,799.02857833,839.97142167,658,635.97142167,657,0.401023219602,0.00446588464076,0.0698476571813,0.999999987019,-5.81540171077e-07,-0.000160029530401,1.87746120724e-05,1793254954436657408
+82,1.366666667,BASELINE,782.562616157,760.437383843,738,720.437383843,686.437383843,648,912.437383843,799,839.437383843,658,635.437383843,657,0.401024050466,0.00446631869418,0.0698483505001,0.999999987063,5.82974327811e-07,-0.000159783992079,1.85325582995e-05,1793254954453324288
+83,1.383333333,BASELINE,782.844846897,760.155153103,738,720.155153103,686,648,912.155153103,799.155153103,839,658,635,657,0.401025034148,0.00446683837406,0.0698490510495,0.999999987177,2.00046489506e-06,-0.000159072666392,1.8382627435e-05,1793254954469990912
+84,1.400000000,BASELINE,782.253342094,760.746657906,738,720.746657906,686,648,912.746657906,799.746657906,839,658,635,657,0.401026216292,0.00446742693224,0.0698495753674,0.999999987463,3.59134735482e-06,-0.000157224318706,1.85079750294e-05,1793254954486657792
+85,1.416666667,BASELINE,782,760.670946624,738,721,686,648,912.670946624,799.670946624,839,658,635,657,0.401026029948,0.00446734798897,0.0698491877442,0.999999987427,4.58294353322e-06,-0.00015740146937,1.87060829201e-05,1793254954503324672
+86,1.433333333,BASELINE,782,760.095375648,738,721,686,648,912.095375648,799.095375648,839,658,635,657,0.40102481837,0.00446676897222,0.0698481169203,0.999999987151,5.1255710704e-06,-0.000159096066942,1.89587007849e-05,1793254954519991296
+87,1.450000000,BASELINE,782,760,738,720.519915107,686,648,912.480084893,799,839,658,635,657,0.401025411638,0.00446708584054,0.0698489959407,0.99999998736,5.01848230881e-06,-0.000157781566435,1.89481903473e-05,1793254954536657920
+88,1.466666667,BASELINE,782,760.056964894,738,720,686,648,912.943035106,799,839,658,635,657,0.401026135241,0.00446762251522,0.0698500040874,0.999999987592,4.76562024836e-06,-0.000156323668221,1.88496429436e-05,1793254954553324544
+89,1.483333333,BASELINE,782,760.647341948,738,720,686,648,912.352658052,799,839,658,635,657,0.401024722567,0.00446855122788,0.0698485949623,0.999999987161,4.35612246504e-06,-0.000159119447604,1.84161044714e-05,1793254954569990912
+90,1.500000000,BASELINE,782,760.766879191,738,720.233120809,686.233120809,648,912,799,839,657.766879191,635.233120809,657,0.401023980939,0.00446890579397,0.0698479812233,0.999999986972,4.43804334942e-06,-0.000160312932599,1.83425859261e-05,1793254954586657536
+91,1.516666667,BASELINE,782,760.187921841,738,720.812078159,686.812078159,648,912,799,839,657.187921841,635.812078159,657,0.40102423481,0.00446840860905,0.0698485474463,0.999999987148,5.24898770652e-06,-0.000159129401092,1.8803159796e-05,1793254954603324416
+92,1.533333333,BASELINE,782,760.388000414,738,720.611999586,686.611999586,648,912,799,839,657.388000414,635.611999586,657,0.401024560816,0.00446839705388,0.069848826176,0.999999987215,5.62948302633e-06,-0.000158680652111,1.89267751301e-05,1793254954619991296
+93,1.550000000,BASELINE,782,760.962464128,738,720.037535872,686.037535872,648,912,799,839,657.962464128,635.037535872,657,0.401024921487,0.00446861888018,0.0698489667438,0.99999998723,5.80311537022e-06,-0.00015858502114,1.88884566553e-05,1793254954636657920
+94,1.566666667,BASELINE,782.538970902,760.461029098,737.461029098,720,686.538970902,648,912,799,839,658,635,657,0.401025288414,0.00446872975695,0.0698491484826,0.999999987267,5.78801160368e-06,-0.000158376159328,1.87071093098e-05,1793254954653324800
+95,1.583333333,BASELINE,782.881624974,760.118375026,737.118375026,720,686.881624974,648,912.118375026,799,839,658,635,657,0.401025319854,0.0044687448343,0.0698491409545,0.999999987275,5.77554447309e-06,-0.000158342059394,1.85498873613e-05,1793254954669991168
+96,1.600000000,BASELINE,782.291237198,760.708762802,737.708762802,720,686.291237198,648,912.708762802,799,839,658,635,657,0.401024011823,0.0044684088455,0.0698483672601,0.999999987165,5.82620207303e-06,-0.000159036374855,1.852873397e-05,1793254954686657792
+97,1.616666667,BASELINE,782,761,738,720,686.293205076,647.706794924,912.706794924,799,839,658,635,657,0.401023330522,0.00446774699281,0.0698479167259,0.999999987061,5.08903703863e-06,-0.000159712240661,1.85648700571e-05,1793254954703324160
+98,1.633333333,BASELINE,782,761,738,720,686.871859089,647.128140911,912.128140911,799,839,658,635,657,0.401023259375,0.00446676789633,0.0698477808034,0.99999998696,3.5848896012e-06,-0.00016037014482,1.86567801478e-05,1793254954719991040
+99,1.650000000,BASELINE,782,760.553360508,738,720,687,647.446639492,912.446639492,799.446639492,839,658,635,657.446639492,0.401024929295,0.00446689728863,0.0698485149819,0.999999987205,3.09064660828e-06,-0.000158861546833,1.85417386968e-05,1793254954736657664
+100,1.666666667,BASELINE,782,760.020282597,738,720,686.979717403,648,913,799.979717403,839,658,635.020282597,657.979717403,0.401027045478,0.00446733282627,0.0698495015674,0.99999998754,2.93755534827e-06,-0.000156757909057,1.83901056507e-05,1793254954753324544
+101,1.683333333,BASELINE,782,760.592958722,738,720,686.407041278,648,913,799.407041278,839,658,635.592958722,657.407041278,0.401027828395,0.00446751928105,0.0698506221841,0.999999987765,4.25245841036e-06,-0.000155231253907,1.88450555203e-05,1793254954769991424
+102,1.700000000,BASELINE,782,761,738,720,686.172219369,648,913,799,839,658,635.827780631,657.172219369,0.401027928271,0.00446774355147,0.069851194698,0.999999987858,5.45753721859e-06,-0.000154559555772,1.91009681652e-05,1793254954786658048
+103,1.716666667,BASELINE,782,761,738,720,686.767661139,648,913,799,839,658,635.232338861,657.767661139,0.401026349603,0.00446806075234,0.0698504202701,0.999999987635,6.39272700198e-06,-0.000155988881465,1.88677545074e-05,1793254954803324672
+104,1.733333333,BASELINE,782,760.648420897,738,720.351579103,687,648,912.648420897,799.351579103,839,658,635,657.648420897,0.401025934029,0.00446848286315,0.0698500170022,0.99999998754,6.66728087066e-06,-0.000156588593798,1.8878739387e-05,1793254954819991296
+105,1.750000000,BASELINE,782,760.07187662,738,720.92812338,687,648,912.07187662,799.92812338,839,658,635,657.07187662,0.401026262686,0.0044689721028,0.0698498512286,0.999999987527,6.51911325266e-06,-0.000156657460976,1.90459797374e-05,1793254954836657920
+106,1.766666667,BASELINE,782.502669402,760.502669402,738,720.497330598,687,648,912.502669402,800,839,658,635,657,0.401025394843,0.00446808268358,0.0698490503772,0.99999998734,4.73289266564e-06,-0.000157957346874,1.86449775085e-05,1793254954853324288
+107,1.783333333,POSE1_TO_POSE2_PRESS,782,761,738,720,687,648,913,799,839,657,635,657,0.401024810528,0.00446639512659,0.0698492717715,0.999999987363,4.90728581071e-06,-0.00015778020939,1.88442624129e-05,1793254954896781312
+108,1.800000000,POSE1_TO_POSE2_PRESS,782,761,738,720,687,648,913,799,839,657.598738762,635,657,0.40102598246,0.0044671700948,0.0698497103251,0.999999987512,4.74027260259e-06,-0.000156843136399,1.87840490222e-05,1793254954913448192
+109,1.816666667,POSE1_TO_POSE2_PRESS,782.189472926,761,738,719.810527074,686.810527074,648,913,799.189472926,839,658,635,657,0.40102608919,0.00446738769617,0.0698496974109,0.999999987471,4.38721855498e-06,-0.000157111771006,1.88092967965e-05,1793254954930115072
+110,1.833333333,POSE1_TO_POSE2_PRESS,782.763942382,761,738,719.236057618,686.236057618,648,913,799.763942382,839,658,635,657,0.401024031503,0.00446647276489,0.0698487671437,0.99999998704,3.65614171929e-06,-0.00015983032403,1.900819603e-05,1793254954946781696
+111,1.850000000,POSE1_TO_POSE2_PRESS,782.660621506,761,738,719.339378494,686.339378494,648,913,799.660621506,839,658,635,657,0.401023673416,0.00446771829181,0.069848539119,0.999999986989,5.69741170185e-06,-0.000160087328384,1.90057359158e-05,1793254954963447808
+112,1.866666667,POSE1_TO_POSE2_PRESS,782.084511142,761,738,719.915488858,686.915488858,648,913,799.084511142,839,658,635,657,0.401024500877,0.00447047083621,0.0698488009403,0.999999987194,9.67251918882e-06,-0.000158627290895,1.88628185255e-05,1793254954980114176
+113,1.883333333,POSE1_TO_POSE2_PRESS,782,760.49853191,738,720.50146809,686.49853191,648,913,799,839,658,635,657,0.401025858448,0.00446961885936,0.0698502127,0.999999987443,8.25387071607e-06,-0.000157128831663,1.88701708701e-05,1793254954996781056
+114,1.900000000,POSE1_TO_POSE2_PRESS,782,760.088174878,738,720.911825122,686,648,913,799,839,658,635.088174878,657,0.401026847456,0.00446828148663,0.0698513646782,0.99999998755,6.23635210752e-06,-0.000156537007361,1.89242729085e-05,1793254955013447680
+115,1.916666667,POSE1_TO_POSE2_PRESS,782,760.669462544,738,720.330537456,686,648,913,799,839,658,635.669462544,657,0.401025265648,0.00446769495344,0.0698499582922,0.99999998683,6.05524543599e-06,-0.000161052423907,1.90953504989e-05,1793254955030114304
+116,1.933333333,POSE1_TO_POSE2_PRESS,782,761,738,720,686.24759479,648,912.75240521,799,839,658,635.75240521,657,0.40102747881,0.00446758574649,0.0698509278919,0.999999986312,5.87162962709e-06,-0.000164217551489,1.93617002348e-05,1793254955046781184
+117,1.950000000,POSE1_TO_POSE2_PRESS,782,761,738,720,686.821567535,648,912.178432465,799,839,658,635.178432465,657,0.401034694478,0.00446810574813,0.0698550295017,0.999999986077,5.68470630292e-06,-0.000165602735975,1.97536371231e-05,1793254955063448064
+118,1.966666667,POSE1_TO_POSE2_PRESS,782,760.602186203,738,720,686.602186203,648,912.397813797,799.397813797,839,658,635,657,0.401055273747,0.00446687867892,0.0698641889233,0.99999998692,3.9282895593e-06,-0.000160409331704,2.03353747969e-05,1793254955080114688
+119,1.983333333,POSE1_TO_POSE2_PRESS,782,760.024914282,738,720,686.024914282,648,912.975085718,799.975085718,839,658,635,657,0.401081881482,0.00446486348713,0.069875629979,0.999999988189,1.46385727725e-06,-0.000152248254731,2.10027336987e-05,1793254955096781312
+120,2.000000000,POSE1_TO_POSE2_PRESS,782,760,738,720,686.565835999,648,913,799.434164001,839,658,635,657,0.401132776658,0.00446576895978,0.0698900350187,0.999999990474,2.00044890518e-06,-0.000136437638281,2.0795650363e-05,1793254955113447936
+121,2.016666667,POSE1_TO_POSE2_PRESS,782,760.153312685,738,720.153312685,687,648,913,799,839,658,635,657.153312685,0.40119068122,0.00446638359241,0.0699043073013,0.999999992633,2.00127067172e-06,-0.00011962655672,2.04775022553e-05,1793254955130114560
+122,2.033333333,POSE1_TO_POSE2_PRESS,782,760.730068847,738,720.730068847,687,648,913,799,839,658,635,657.730068847,0.401264919731,0.00446583108292,0.0699178436666,0.9999999947,1.4845275108e-07,-0.000101005200265,1.99615349349e-05,1793254955146780928
+123,2.050000000,POSE1_TO_POSE2_PRESS,782,761,738,720.694027792,687,648,913,799.305972208,839,658,635.305972208,657.694027792,0.401346496177,0.00446538966694,0.0699264286427,0.999999995846,-1.39284532945e-06,-8.91524392807e-05,1.89134367952e-05,1793254955163447808
+124,2.066666667,POSE1_TO_POSE2_PRESS,782,761,738,720.118874723,687,648,913,799.881125277,839,658,635.881125277,657.118874723,0.40143452821,0.00446504598616,0.069930657604,0.999999996379,-2.66008187564e-06,-8.32543913625e-05,1.73971934525e-05,1793254955180114432
+125,2.083333333,POSE1_TO_POSE2_PRESS,782,761,738,720,687,648,912.532096513,799.532096513,839,658,635.532096513,657,0.401529357391,0.00446516030778,0.0699280842223,0.999999995777,-6.00541413144e-06,-9.04285232891e-05,1.52497717924e-05,1793254955196781312
+126,2.100000000,POSE1_TO_POSE2_PRESS,782,761,738,720,687,648,912.056693699,799,839,658,635.056693699,657,0.40162947908,0.00446550240341,0.0699240560363,0.999999994841,-9.6743875061e-06,-0.000100285986648,1.28926348552e-05,1793254955213447936
+127,2.116666667,POSE1_TO_POSE2_PRESS,782,761,738,720,687,648,912.636109779,799,839,658,635.636109779,657,0.401762070687,0.00446684442153,0.0699229544802,0.99999999453,-1.13355195102e-05,-0.000103483037341,1.01180693934e-05,1793254955230114560
+128,2.133333333,POSE1_TO_POSE2_PRESS,782.213517841,761,738,720,687,648.213517841,913,799,839,658,636,657,0.401907754633,0.00446820511039,0.0699229020594,0.999999994332,-1.33522696469e-05,-0.000105404043092,6.92128952504e-06,1793254955246781184
+129,2.150000000,POSE1_TO_POSE2_PRESS,782.787535539,761,738,720,687,648.787535539,913,799,839,658,636,657,0.402075543444,0.00446959732245,0.0699246209809,0.999999994338,-1.59694391655e-05,-0.000105170596152,3.01165038263e-06,1793254955263447808
+130,2.166666667,POSE1_TO_POSE2_PRESS,782.629083147,761,738,720.370916853,686.629083147,648.629083147,913,799,839,658,635.629083147,657,0.402261753801,0.00447071478203,0.0699278026023,0.999999994673,-2.03999013746e-05,-0.000101174864063,-1.10274897513e-06,1793254955280114432
+131,2.183333333,POSE1_TO_POSE2_PRESS,782.040199307,761,738,720.959800693,686.040199307,648.040199307,913,799,839,658,635.040199307,657,0.40245878948,0.00447167078515,0.0699318437704,0.999999995141,-2.5895934028e-05,-9.4968248427e-05,-5.33747477507e-06,1793254955296781056
+132,2.200000000,POSE1_TO_POSE2_PRESS,782,761,738,720.460012015,686.539987985,648,913,799.539987985,839,658,635,657.539987985,0.402685901799,0.00447129208168,0.0699312542524,0.999999994645,-3.3468565894e-05,-9.73783727369e-05,-1.03495642153e-05,1793254955313447680
+133,2.216666667,POSE1_TO_POSE2_PRESS,782.118925975,761,738,720,686.881074025,648,913,800,839,658,635,657.881074025,0.402924480992,0.00447115439788,0.0699312568796,0.999999994208,-4.00758334131e-05,-9.87123357755e-05,-1.5295688324e-05,1793254955330114304
+134,2.233333333,POSE1_TO_POSE2_PRESS,782.695508427,761,738,720,686.304491573,648,913,800,839,658,635,657.304491573,0.403198707767,0.00447232052606,0.0699348438089,0.999999994538,-4.23826640018e-05,-9.34755507087e-05,-1.97687921127e-05,1793254955346780928
+135,2.250000000,POSE1_TO_POSE2_PRESS,782.728951738,761,738,720.271048262,686,648,913,799.728951738,839,658,635.271048262,657,0.403499717295,0.00447247511046,0.0699426379092,0.999999995379,-4.51079294383e-05,-8.15223268422e-05,-2.37128367619e-05,1793254955363447552
+136,2.266666667,POSE1_TO_POSE2_PRESS,782.15457871,761,738,720.84542129,686,648,913,799.15457871,839,658,635.84542129,657,0.403830698858,0.00447149769612,0.0699551401714,0.999999996542,-4.83014569122e-05,-6.20528690547e-05,-2.70648214869e-05,1793254955380114176
+137,2.283333333,POSE1_TO_POSE2_PRESS,782,761,738,720.571055232,686.428944768,648,913,799,839,658,635.571055232,657,0.404169684483,0.00447253607618,0.0699602078015,0.999999997555,-3.21785951763e-05,-5.63124162283e-05,-2.61346986308e-05,1793254955396780800
+138,2.300000000,POSE1_TO_POSE2_PRESS,782.015726326,761,738,720,686.984273674,648,913,799,839,658,635,657,0.404513098103,0.00447435883805,0.0699626007593,0.999999998141,-9.29567207658e-06,-5.54029943823e-05,-2.37190389179e-05,1793254955413447680
+139,2.316666667,POSE1_TO_POSE2_PRESS,782.598493614,761,738,720,686.401506386,648,913,799,839,658,635,657,0.404909901326,0.00447770017545,0.0699672632911,0.99999999862,8.69542872238e-07,-4.64049453896e-05,-2.45932603633e-05,1793254955430114304
+140,2.333333333,POSE1_TO_POSE2_PRESS,782.821176102,761,738,719.821176102,686,648,913,799,839,658,635,657,0.405316464897,0.00448172391251,0.0699704616746,0.999999998848,1.34755416609e-06,-4.05759477614e-05,-2.56023005375e-05,1793254955446780928
+141,2.350000000,POSE1_TO_POSE2_PRESS,782.246244041,761,738,719.246244041,686,648,913,799,839,658,635,657,0.405744648309,0.00448725921487,0.0699704168604,0.999999998573,-1.96323086189e-05,-4.17666345425e-05,-2.6909974054e-05,1793254955463448320
+142,2.366666667,POSE1_TO_POSE2_PRESS,782.328005892,761,738,719.328005892,686,648,913,799.328005892,839,658,635.328005892,657,0.406193294845,0.00449219276127,0.0699630228347,0.999999997891,-2.1115890197e-05,-5.45066046887e-05,-2.83051011735e-05,1793254955480115200
+143,2.383333333,POSE1_TO_POSE2_PRESS,782.901744853,761,738,719.901744853,686,648,913,799.901744853,839,658,635.901744853,657,0.406657271842,0.0044966754891,0.06995012298,0.999999996645,-7.99339177888e-06,-7.58989830787e-05,-2.97657462773e-05,1793254955496781568
+144,2.400000000,POSE1_TO_POSE2_PRESS,782.511290389,761,738,720,686.488709611,648,913,800,839,658,636,657,0.407150102888,0.00450002601306,0.0699356136124,0.999999994994,3.79663958089e-06,-9.48726733453e-05,-3.15659696537e-05,1793254955513448192
+145,2.416666667,POSE1_TO_POSE2_PRESS,782.077169293,761,738,720,687,648,913,799.922830707,839,658,636,657.077169293,0.407661214051,0.00450329710216,0.0699245920826,0.999999993601,1.46547665585e-05,-0.000107094880173,-3.33789509929e-05,1793254955530114816
+146,2.433333333,POSE1_TO_POSE2_PRESS,782.657555726,761,738,720,687,648,913,799.342444274,839,658,636,657.657555726,0.408252648188,0.00450757585257,0.0699384833918,0.999999996083,2.12315027907e-05,-7.85502011519e-05,-3.48175437527e-05,1793254955546781440
+147,2.450000000,POSE1_TO_POSE2_PRESS,782.764406914,761,738,720,687,648,913,799,839,658,636,657.764406914,0.408859070169,0.00451229673851,0.0699516315653,0.99999999785,2.3238874051e-05,-4.96366394506e-05,-3.60122781288e-05,1793254955563447808
+148,2.466666667,POSE1_TO_POSE2_PRESS,782.189750352,761,738,720,687,648,913,799,839,658,636,657.189750352,0.409487062484,0.00451765394168,0.0699637102234,0.999999998943,1.86700554789e-05,-2.01921868251e-05,-3.68560536128e-05,1793254955580114432
+149,2.483333333,POSE1_TO_POSE2_PRESS,782.382629098,761,737.617370902,719.617370902,687,648,913,799.382629098,839,658,636,657.382629098,0.410116203881,0.00452328932825,0.0699592703038,0.99999999863,2.4678333706e-05,-2.66935968109e-05,-3.76666263008e-05,1793254955596781056
+150,2.500000000,POSE1_TO_POSE2_PRESS,782.953885964,761,737.046114036,719.046114036,687,648,913,799.953885964,839,658,636,657.953885964,0.41074591173,0.00452906185298,0.0699466870868,0.99999999732,3.59008892065e-05,-5.09155309266e-05,-3.84608307006e-05,1793254955613447936
+151,2.516666667,POSE1_TO_POSE2_PRESS,783,761,737.54870584,719,686.45129416,648,913,800,839.54870584,658,636,658,0.411426343224,0.00453668351638,0.0699513411808,0.99999999691,4.97546411703e-05,-4.66481778861e-05,-3.90929517765e-05,1793254955630114816
+152,2.533333333,POSE1_TO_POSE2_PRESS,783,761,738,719,686,648,913,800,839.859532224,658,636,657.859532224,0.412129163276,0.00454432033151,0.0699641177905,0.999999996984,6.03563531824e-05,-2.85615153272e-05,-3.96738814688e-05,1793254955646781440
+153,2.550000000,POSE1_TO_POSE2_PRESS,783,761,738,719,686,648,913,800,839.283662548,658,636,657.283662548,0.412887573659,0.00455150079645,0.0699973796179,0.999999997082,6.01616737578e-05,2.46058151469e-05,-4.01402524346e-05,1793254955663448064
+154,2.566666667,POSE1_TO_POSE2_PRESS,783,761,738,719,686.291278521,648.291278521,913,800,839.291278521,658,636,657,0.41365374805,0.0045589107706,0.0700223060449,0.999999995053,6.56357060345e-05,6.26286475781e-05,-4.07988531474e-05,1793254955680114688
+155,2.583333333,POSE1_TO_POSE2_PRESS,783,761,738,719,686.865318204,648.865318204,913,800,839.865318204,658,636,657,0.414427459508,0.00456654354368,0.0700391408135,0.999999992504,7.66126896414e-05,8.59498329522e-05,-4.1644062679e-05,1793254955696781568
+156,2.600000000,POSE1_TO_POSE2_PRESS,783,761,738,719,687,649,913,800,840,658,635.54936317,657.45063683,0.415157790151,0.00457296754414,0.0699991828514,0.999999995311,8.56274316699e-05,1.37514458788e-05,-4.30842722836e-05,1793254955713447936
+157,2.616666667,POSE1_TO_POSE2_PRESS,783.039019918,761,738,719,687,648.960980082,913.039019918,800,840,658,635,657.960980082,0.415882746386,0.00457870310054,0.0699443591085,0.999999991249,9.31718588949e-05,-8.25804629426e-05,-4.47481889782e-05,1793254955730114304
+158,2.633333333,POSE1_TO_POSE2_PRESS,783.621925472,761,738,719,687,648.378074528,913.621925472,800,840,658,635,657.378074528,0.416718148358,0.00458000750356,0.0699249896492,0.999999989228,8.86063253244e-05,-0.000107166355131,-4.6987979604e-05,1793254955746780928
+159,2.650000000,POSE1_TO_POSE2_PRESS,784,761,738,719,687,648,914,800,840,658,635.201905867,657,0.417564321313,0.00458162169862,0.0699233654168,0.999999989407,8.64809266502e-05,-0.000106468366527,-4.86997285216e-05,1793254955763447808
+160,2.666666667,POSE1_TO_POSE2_PRESS,784,761,738,719,687,648,914,800,840,658,635.776487008,657,0.418430375164,0.00458380770381,0.0699544950987,0.999999993083,8.88594980569e-05,-5.91017118521e-05,-4.94368246302e-05,1793254955780114432
+161,2.683333333,POSE1_TO_POSE2_PRESS,784,761,738,719,687,648,913.649063207,800,840,658,636,657,0.419324753206,0.0045810299763,0.0699845183933,0.999999994971,8.62291157453e-05,-1.3468674431e-05,-4.94081274505e-05,1793254955796781312
+162,2.700000000,POSE1_TO_POSE2_PRESS,784,761,738,719,687,648,913.074697072,800,840,658,636,657,0.420237164248,0.00457509201147,0.0700138372882,0.99999999509,8.04097053866e-05,3.10606269152e-05,-4.88918760631e-05,1793254955813447936
+163,2.716666667,POSE1_TO_POSE2_PRESS,783.4841036,761,738,719,687,648,913,800,840,658,636,657,0.421165440885,0.0045668426803,0.0700319839135,0.999999994851,6.85922319609e-05,5.66459602247e-05,-4.88323405327e-05,1793254955830114560
+164,2.733333333,POSE1_TO_POSE2_PRESS,783.105930854,761,738,719,687,648,913.105930854,800,840,658,636,657,0.422081786763,0.00456054803334,0.0700365485885,0.999999995148,5.96494252204e-05,6.09896155321e-05,-4.92538188422e-05,1793254955846780928
+165,2.750000000,POSE1_TO_POSE2_PRESS,783.682698013,761,738,719,687,648,913.682698013,800,840,658,636,657,0.422934561055,0.00456447728394,0.0699881683884,0.999999996261,6.74692716034e-05,-1.64932115776e-05,-5.15098147332e-05,1793254955863447552
+166,2.766666667,POSE1_TO_POSE2_PRESS,783.741859026,761,738,719,687,648,914,800,840,658,636,657,0.423785224379,0.00457014921215,0.0699287902764,0.99999999014,7.58572521316e-05,-0.00010523936182,-5.3762430212e-05,1793254955880114176
+167,2.783333333,POSE1_TO_POSE2_PRESS,783.168035362,761,738,719,687,648,914,800,840,658,636,657,0.424633306299,0.00457795227548,0.0698559627223,0.999999973242,8.49400093894e-05,-0.000207759531174,-5.60109119491e-05,1793254955896780800
+168,2.800000000,POSE1_TO_POSE2_PRESS,783.417675895,761,738,718.582324105,686.582324105,648,913.582324105,800,840,658,636,657.417675895,0.425599809926,0.00458043128408,0.0698714819,0.999999978728,8.53261614739e-05,-0.000178735233441,-5.75871829679e-05,1793254955913447680
+169,2.816666667,POSE1_TO_POSE2_PRESS,784,761,738,718,686,648,913,800,840,657.99186493,636,657.99186493,0.426615099687,0.00458071064636,0.0699236535218,0.999999990339,8.22321097644e-05,-9.54057789931e-05,-5.88045771007e-05,1793254955930114560
+170,2.833333333,POSE1_TO_POSE2_PRESS,784,761,738,718,686,648,913,800,840,657.413644912,636,657.413644912,0.427612745753,0.0045813420859,0.069980619013,0.9999999944,8.76193036001e-05,-2.37717134548e-05,-5.43795606901e-05,1793254955946781184
+171,2.850000000,POSE1_TO_POSE2_PRESS,784,760.835935289,738,717.835935289,686,648,913,800.164064711,840.164064711,657.164064711,635.835935289,657.164064711,0.428611112059,0.00458170923817,0.0700295541624,0.999999993909,8.71479017878e-05,4.34584142966e-05,-5.19554595406e-05,1793254955963447808
+172,2.866666667,POSE1_TO_POSE2_PRESS,784,760.259508534,738,717.259508534,686,648,913,800.740491466,840.740491466,657.740491466,635.259508534,657.740491466,0.429611288562,0.00458141212786,0.0700583057594,0.999999990961,7.19514418484e-05,9.96196319053e-05,-5.45604815221e-05,1793254955980114432
+173,2.883333333,POSE1_TO_POSE2_PRESS,784,760.314271188,738,717.314271188,686,648,913,800.685728812,841,658,635.314271188,657.685728812,0.430537058396,0.00458164106297,0.0700423563858,0.999999993123,7.07273243838e-05,7.54064777625e-05,-5.53676846115e-05,1793254955996781056
+174,2.900000000,POSE1_TO_POSE2_PRESS,784,760.88588336,738,717.88588336,686,648,913,800.11411664,841,658,635.88588336,657.11411664,0.431401900275,0.00458230075043,0.0699898036181,0.999999995121,8.09444609365e-05,-1.46212391939e-05,-5.4702743211e-05,1793254956013447680
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+176,2.933333333,POSE1_TO_POSE2_PRESS,784.068338664,761,738,718,686,648,913,800.068338664,841,658,635.931661336,658,0.433175224857,0.00458295869628,0.0698728319522,0.999999972327,8.39794860975e-05,-0.000212406000341,-5.63694872055e-05,1793254956046780928
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+178,2.966666667,POSE1_TO_POSE2_PRESS,785,761,738,717.775882441,686,648,913.224117559,800.775882441,841,658,635.224117559,658,0.435191082227,0.00458128419103,0.0699892685945,0.999999995593,7.43083571311e-05,1.50719606852e-06,-5.73648198278e-05,1793254956080114688
+179,2.983333333,POSE1_TO_POSE2_PRESS,785,761,738,717.201337197,686,648,913.798662803,800.201337197,841,658,635.798662803,658,0.43615624138,0.00458191395917,0.0700333826133,0.99999999352,7.14130105001e-05,6.77985362652e-05,-5.71322837739e-05,1793254956096781568
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+181,3.016666667,POSE1_TO_POSE2_PRESS,785,761,738,717,686,648,914,800,841,658,636,658,0.437985903516,0.00457980694687,0.0700470589853,0.999999990039,7.0874970063e-05,0.00010689691988,-5.89215512738e-05,1793254956130114304
+182,3.033333333,POSE1_TO_POSE2_PRESS,785,761,738,717,686,648,914,800,841,658,635.44944625,658,0.438819572854,0.00458212385261,0.0699843391678,0.999999995488,7.27681630125e-05,1.30650397482e-05,-5.9641663774e-05,1793254956146780928
+183,3.050000000,POSE1_TO_POSE2_PRESS,785,761,738,717,686,648,914,800,841,658,635.129357746,658,0.439636215894,0.00458479046416,0.0699186136397,0.999999991419,7.60787990814e-05,-8.82216139826e-05,-5.99252966778e-05,1793254956163447552
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+185,3.083333333,POSE1_TO_POSE2_PRESS,785,761,738,717,685.719711947,648.280288053,914.280288053,800.280288053,841,658,636,658,0.441234715884,0.00459247900658,0.069846461446,0.99999997237,8.9743164533e-05,-0.000209117521198,-5.8964273592e-05,1793254956196781056
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+187,3.116666667,POSE1_TO_POSE2_PRESS,785.436109906,761,738,717,685,648.563890094,915,800.563890094,841,658,636,658,0.442954961538,0.00460256335667,0.0699362099996,0.999999990584,9.99987132357e-05,-7.28336839119e-05,-5.9395994128e-05,1793254956230114560
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+190,3.166666667,POSE1_TO_POSE2_PRESS,784,760.190317729,738,717,684.809682271,648,914.190317729,800,841,658,636,657.190317729,0.445252944619,0.00461264350327,0.0698914590385,0.999999978035,0.000115901612334,-0.000164412875348,-5.88649699237e-05,1793254956280114432
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+192,3.200000000,POSE1_TO_POSE2_PRESS,784,761,738,717,683.653070204,648,915,800,841,658,636,657.653070204,0.446589158477,0.00461834199737,0.0698074125069,0.999999951932,0.000121822044239,-0.000278466657875,-6.1246837025e-05,1793254956313447424
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,761,738,717,683.068292223,648,915,800,841,658,636,657.068292223,0.447208065507,0.0046194370553,0.0697761231401,0.999999933514,0.000123079459618,-0.000337831819523,-6.07648446993e-05,1793254956330114304
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,761,738,717,683,647.487040725,915,800.512959275,841.512959275,658,636,657.512959275,0.44783231902,0.00462169453547,0.069746926229,0.999999915087,0.000123861648174,-0.000388454826126,-5.98979781238e-05,1793254956346781184
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+197,3.283333333,POSE1_TO_POSE2_PRESS,784.751042904,760.751042904,737,717,682.751042904,647.751042904,915,800,841,658,636,657.751042904,0.449756769681,0.00462503310318,0.0697641310931,0.999999924049,0.000128747605843,-0.000363219634008,-5.8288538936e-05,1793254956396781056
+198,3.300000000,POSE1_TO_POSE2_PRESS,784.174911754,760.174911754,737,717,682.174911754,647.174911754,915,800,841,658,636,657.174911754,0.450345112366,0.00462293957839,0.0697804268789,0.999999933391,0.000126445489448,-0.00033739078642,-5.82760882113e-05,1793254956413447424
+199,3.316666667,POSE1_TO_POSE2_PRESS,784,760,737,716.591008664,681.591008664,647,915,800,841,658,636,657.408991336,0.450849493055,0.00462315600552,0.0697592096601,0.99999992076,0.000130406113771,-0.000371731574837,-5.73607549052e-05,1793254956430114304
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+235,3.916666667,POSE1_TO_POSE2_PRESS,784.291472573,760,737.291472573,717,675.291472573,645,915,799.708527427,841.708527427,658,635.708527427,657.291472573,0.457194797039,0.00468265418187,0.0695233156828,0.999999705731,0.000186272040674,-0.000740856381116,-7.05176660193e-05,1793254957030114560
+236,3.933333333,POSE1_TO_POSE2_PRESS,784.862533139,760,737.862533139,717,675.862533139,645,915,799.137466861,841.137466861,658,635.137466861,657.862533139,0.457196247832,0.00468259110387,0.0695230320006,0.999999704521,0.000187697837984,-0.00074210456281,-7.07653564213e-05,1793254957046781184
+237,3.950000000,POSE1_TO_POSE2_PRESS,785,760,737.547586665,717,676,645,915,799.452413335,841.452413335,658,635,658,0.457196892378,0.00468053326353,0.0695229286318,0.999999704625,0.000186572116866,-0.000742338635945,-6.98154292084e-05,1793254957063447808
+238,3.966666667,POSE1_TO_POSE2_PRESS,784.953125481,760,737,717,675.953125481,645,915,800,842,658,635,658,0.457197119198,0.0046782571865,0.0695227456311,0.999999704852,0.000185073348233,-0.000742518936145,-6.86233867669e-05,1793254957080114176
+239,3.983333333,POSE1_TO_POSE2_PRESS,784.374385695,760,737,717,675.374385695,645,915,800,842,658,635,658,0.457195506593,0.00468068067975,0.0695210104336,0.999999701788,0.000188520411277,-0.000745737177247,-6.89923862131e-05,1793254957096780800
+240,4.000000000,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645,915,799.797406681,841.797406681,658,635.202593319,658,0.457195543537,0.00468159968502,0.0695204609476,0.999999700667,0.00018985107991,-0.000746894040869,-6.90763492254e-05,1793254957113447680
+241,4.016666667,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645,915,799.223653515,841.223653515,658,635.776346485,658,0.457198602525,0.00467976240217,0.0695220837373,0.999999703131,0.00018730442092,-0.000744274370328,-6.86381129642e-05,1793254957130114560
+242,4.033333333,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645,915,799.359736734,841,657.640263266,636,658,0.457199762782,0.00467961257712,0.0695222401546,0.999999703676,0.000187399804107,-0.00074350916191,-6.87218127662e-05,1793254957146780928
+243,4.050000000,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645,915,799.9492834,841,657.0507166,636,658,0.457199710078,0.00468054074758,0.069521459812,0.999999703,0.000189182998152,-0.000743928636093,-6.91389400041e-05,1793254957163447296
+244,4.066666667,POSE1_TO_POSE2_PRESS,784,760,737,716.471669887,675,645,915,799.471669887,841.528330113,657.528330113,635.471669887,658,0.457199706149,0.00467954293177,0.0695212213586,0.999999703382,0.000186852928732,-0.000744041738814,-6.87340586008e-05,1793254957180114176
+245,4.083333333,POSE1_TO_POSE2_PRESS,784.106412608,760,737,716.106412608,675,645,915,799.106412608,842,658,635,658,0.457199884433,0.00467909974751,0.0695211572691,0.99999970365,0.00018528099261,-0.000744104774639,-6.84014749006e-05,1793254957196781056
+246,4.100000000,POSE1_TO_POSE2_PRESS,784.684601675,760,737,716.684601675,675,645,915,799.684601675,842,658,635,658,0.457200850198,0.00468191920383,0.0695216400889,0.999999702995,0.000188786651489,-0.000744073687461,-6.87324393589e-05,1793254957213447680
+247,4.116666667,POSE1_TO_POSE2_PRESS,784.73979594,760,737,717,675,645,915,799.73979594,841.73979594,658,635,657.73979594,0.45720113624,0.00468307113369,0.0695216655212,0.999999702494,0.000190127702312,-0.000744400835039,-6.87840687276e-05,1793254957230114816
+248,4.133333333,POSE1_TO_POSE2_PRESS,784.167297983,760,737,717,675,645,915,799.167297983,841.167297983,658,635,657.167297983,0.457200606485,0.004682221718,0.0695211420023,0.999999702188,0.000188870816106,-0.000745157931826,-6.85004434047e-05,1793254957246781952
+249,4.150000000,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645,915,799.419110802,841.419110802,658,635,657.419110802,0.457200259107,0.00468028284494,0.0695211411294,0.999999702138,0.000187612496165,-0.000745595503894,-6.79220859542e-05,1793254957263448576
+250,4.166666667,HOLD_POSE2,784,760,737,717,675,645,915,800,841,658,635,658,0.457201989841,0.00468166458469,0.0695209561298,0.999999702428,0.000189291552048,-0.00074476402023,-6.81178642568e-05,1793254957308601344
+251,4.183333333,HOLD_POSE2,784.57667518,760,737,716.42332482,675,645,915,800,841.57667518,658,635,657.42332482,0.457203752306,0.00468258243529,0.0695225068744,0.999999703738,0.000190844384328,-0.000742578301243,-6.84119061382e-05,1793254957325267456
+252,4.200000000,HOLD_POSE2,784.844306682,759.844306682,737,716.155693318,675,645,915,800,842,658,635.155693318,657,0.457204607204,0.00468293755942,0.0695231593585,0.999999704189,0.000192020097546,-0.000741660412811,-6.84802216184e-05,1793254957341933568
+253,4.216666667,HOLD_POSE2,784.25882066,759.25882066,737,716.74117934,675,645,915,800,842,658,635.74117934,657,0.457202956756,0.00468173927263,0.0695213321873,0.999999702283,0.000192154770801,-0.000744242380723,-6.79254175521e-05,1793254957358600192
+254,4.233333333,HOLD_POSE2,784,759.324814403,737,717,675,645,915,800,842,658,635.675185597,657.324814403,0.457202674175,0.00468088463521,0.0695209085652,0.999999701953,0.000191153683481,-0.000744974946158,-6.75830124338e-05,1793254957375266816
+255,4.250000000,HOLD_POSE2,784,759.906982896,737,717,675,645,915,800,842,658,635.093017104,657.906982896,0.45720347537,0.00468030227513,0.0695215969906,0.999999702871,0.000189252720332,-0.000744242209146,-6.74088934145e-05,1793254957391933696
+256,4.266666667,HOLD_POSE2,784,760,737.482331531,716.517668469,675,645,915,799.517668469,842,658,635.482331531,658,0.457202411812,0.00468009088347,0.0695212395159,0.999999702504,0.000187934788592,-0.000745034636651,-6.77917283837e-05,1793254957408600320
+257,4.283333333,HOLD_POSE2,784,760,737.943760357,716,675,645,915,799,842,658,636,658,0.457201425607,0.00467990836946,0.0695208720069,0.999999702136,0.000186918140155,-0.000745749094552,-6.81708744878e-05,1793254957425266944
+258,4.300000000,HOLD_POSE2,784,760,737.371171173,716,675,645,915,799,842,658,636,658,0.457204405274,0.00467934331209,0.0695222384131,0.999999704025,0.000187649727507,-0.000743084901739,-6.75437631713e-05,1793254957441933568
+259,4.316666667,HOLD_POSE2,784,760,737.208365905,716.208365905,675,645,915,799,841.791634095,658,635.791634095,658,0.457205952795,0.00467915165813,0.0695231574905,0.999999705162,0.000188253859844,-0.000741440866896,-6.70954964256e-05,1793254957458600192
+260,4.333333333,HOLD_POSE2,784,760,737.80070643,716.80070643,675,645,915,799,841.19929357,658,635.19929357,658,0.457204861173,0.00467964810832,0.0695232522347,0.999999704925,0.000188623119262,-0.000741676769331,-6.69768027501e-05,1793254957475266816
+261,4.350000000,HOLD_POSE2,784.386468123,760,737.613531877,717,675,645,915,799.386468123,841.386468123,658,635,658,0.457203657469,0.00467984496891,0.069522399517,0.999999703831,0.000188718864455,-0.000743122369381,-6.70254963703e-05,1793254957491933440
+262,4.366666667,HOLD_POSE2,784.968894086,760,737.031105914,717,675,645,915,799.968894086,841.968894086,658,635,658,0.457202396935,0.00467988992328,0.0695210663909,0.999999702298,0.000188675924872,-0.000745181344054,-6.71590633523e-05,1793254957508599808
+263,4.383333333,HOLD_POSE2,784.456595844,759.456595844,737,716.456595844,675,645,915,800,842,658,635,657.456595844,0.457203499215,0.00467864813838,0.0695215500886,0.999999703055,0.00018842055823,-0.000744282114327,-6.65668422268e-05,1793254957525266432
+264,4.400000000,HOLD_POSE2,784,759.117454115,737,716.117454115,675,645,915,800,842,658,635,657.117454115,0.45720466539,0.00467774870347,0.0695221711109,0.999999703881,0.000188322566486,-0.000743236858142,-6.6115371916e-05,1793254957541933312
+265,4.416666667,HOLD_POSE2,784,759.691451806,737,716.691451806,675,645,915,800,842,658,635,657.691451806,0.457205561748,0.00467846217231,0.0695229274702,0.999999704475,0.000188882876945,-0.000742272753468,-6.63701698229e-05,1793254957558599936
+266,4.433333333,POSE2_TO_POSE3_RETREAT,784,760,737,716,675,645,915,800,842,658,635,658,0.457208772647,0.00467912971512,0.0695246094573,0.999999706871,0.000189486203846,-0.000738896859476,-6.62114606906e-05,1793254957595763456
+267,4.450000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.577883963,675,645,915,800,841.422116037,658,635,657.422116037,0.457207270406,0.00467940912149,0.0695235628335,0.999999705322,0.000188425949544,-0.000741222846453,-6.66308250952e-05,1793254957612430080
+268,4.466666667,POSE2_TO_POSE3_RETREAT,784.154884955,759.845115045,737,717,674.845115045,645,915,799.845115045,841,658,635,657.154884955,0.457206248012,0.00467915577098,0.0695227214066,0.999999704334,0.000187486285228,-0.000742770050647,-6.68881200203e-05,1793254957629096960
+269,4.483333333,POSE2_TO_POSE3_RETREAT,784.729493309,759.270506691,737,717,674.270506691,645,915,799.270506691,841,658,635,657.729493309,0.457206525954,0.00467745870042,0.069522436043,0.999999704879,0.000186873408001,-0.000742206828587,-6.67062222666e-05,1793254957645763328
+270,4.500000000,POSE2_TO_POSE3_RETREAT,784.688177586,759.311822414,737,716.688177586,674,645,915,799.311822414,841,658,635,658,0.457205990966,0.00467721439377,0.0695220642839,0.999999704558,0.000186770447221,-0.000742652719709,-6.68350788773e-05,1793254957662430208
+271,4.516666667,POSE2_TO_POSE3_RETREAT,784.098980698,759.901019302,737,716.098980698,674,645,915,799.901019302,841,658,635,658,0.457204732854,0.00467826236003,0.0695216156737,0.999999703467,0.000187121070958,-0.000743996244346,-6.72403599142e-05,1793254957679096832
+272,4.533333333,POSE2_TO_POSE3_RETREAT,784,760,737,716.482407331,674.482407331,645,915,799.517592669,841,658,635.482407331,658,0.457206044729,0.00467859170616,0.0695221798105,0.999999704449,0.000187476778072,-0.000742599079105,-6.70832632546e-05,1793254957695763712
+273,4.550000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645,915,799.061777389,841,658,635.938222611,658,0.457207601752,0.00467875050014,0.0695227981561,0.99999970566,0.000187687621872,-0.000740934830341,-6.68515887435e-05,1793254957712430592
+274,4.566666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645,915,799.637476619,841,658,635.362523381,658,0.457206881357,0.00467869754518,0.0695221663551,0.99999970531,0.000186684819223,-0.000741652254724,-6.69441291273e-05,1793254957729096960
+275,4.583333333,POSE2_TO_POSE3_RETREAT,784,759.791519777,737,717,675,645,915,799.791519777,841,658,635,657.791519777,0.457203807531,0.0046785505015,0.069520409867,0.999999703855,0.000186490884708,-0.00074365562372,-6.69918979338e-05,1793254957745763328
+276,4.600000000,POSE2_TO_POSE3_RETREAT,784,759.228501535,737,717,675,645,915,799.228501535,841,658,635,657.228501535,0.457196731499,0.00467824345209,0.0695167407548,0.999999700511,0.000187672498061,-0.000747845848771,-6.6963528927e-05,1793254957762429952
+277,4.616666667,POSE2_TO_POSE3_RETREAT,784,759.359710204,737,717,675,645,915,799.359710204,841.359710204,658,635,657.359710204,0.457176228604,0.00467826446052,0.0695079452354,0.999999689444,0.000188478749178,-0.000762314344983,-6.68241599029e-05,1793254957779096832
+278,4.633333333,POSE2_TO_POSE3_RETREAT,784,759.965131168,737,717,675,645,915,799.965131168,841.965131168,658,635,657.965131168,0.457146554091,0.00467850955858,0.0694956479704,0.999999672742,0.000189028598002,-0.000783803720314,-6.66089689872e-05,1793254957795763456
+279,4.650000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645,915,799.455390774,841.455390774,657.455390774,635,658,0.457093067414,0.0046812834891,0.0694770170817,0.999999648298,0.000192742961018,-0.000813495801673,-6.692834887e-05,1793254957812430080
+280,4.666666667,POSE2_TO_POSE3_RETREAT,784,759.878412638,737,717,675,644.878412638,915,799.121587362,841,657.121587362,635,658,0.457034960481,0.00468316964524,0.0694589943763,0.99999962589,0.000195293667877,-0.00083998632668,-6.71097253646e-05,1793254957829096960
+281,4.683333333,POSE2_TO_POSE3_RETREAT,784,759.304833711,737,717,675,644.304833711,915,799.695166289,841,657.695166289,635,658,0.456965087916,0.00468118105151,0.0694446714581,0.999999615634,0.000192799637787,-0.000852711775398,-6.66566376067e-05,1793254957845763584
+282,4.700000000,POSE2_TO_POSE3_RETREAT,784,759.277165795,737,717,675,644.277165795,915,799.722834205,841,658,635,657.722834205,0.456887668366,0.00468021345496,0.0694337975256,0.999999604676,0.000192008487108,-0.000865708564804,-6.57918829433e-05,1793254957862430208
+283,4.716666667,POSE2_TO_POSE3_RETREAT,784,759.868716603,737,717,675,644.868716603,915,799.131283397,841,658,635,657.131283397,0.456801688389,0.00468040396032,0.069426835727,0.999999592937,0.000193148887217,-0.000879013131139,-6.44601806968e-05,1793254957879096576
+284,4.733333333,POSE2_TO_POSE3_RETREAT,784.450128874,760,737,716.549871126,675,645,915,799,841,658,635,657.450128874,0.456702477749,0.00467968840497,0.0694251588621,0.999999589044,0.000194999374906,-0.000883160111265,-6.25713060992e-05,1793254957895763200
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,784.8176897,760,737,716.1823103,675,645,915,799,841,657.8176897,635,658,0.456343032731,0.00467921147857,0.0694358306454,0.999999599183,0.000208032012709,-0.000869080982209,-5.52641969334e-05,1793254957945763584
+288,4.800000000,POSE2_TO_POSE3_RETREAT,784.229570129,760,737,716.770429871,675,645,915,799,841,657.229570129,635,658,0.456189747335,0.00468188239619,0.0694407530918,0.999999602703,0.000212518171222,-0.000864061627119,-5.31679922798e-05,1793254957962430208
+289,4.816666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.646980862,675,645,915,799,841,657.353019138,635,658,0.456017224035,0.00468223481795,0.0694458220078,0.99999960663,0.000216419818796,-0.000858714331469,-5.01105792035e-05,1793254957979096832
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.509488129,675,645,915,799.509488129,841,658,635,658,0.455614414196,0.00467916322607,0.0694506849779,0.999999606977,0.000223832169985,-0.000856803718778,-4.28174456704e-05,1793254958012430336
+292,4.866666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645,915,800,841.086481222,658,635,658,0.455386014548,0.00467730201212,0.069450017233,0.999999602648,0.00022783248692,-0.000860973345171,-3.90042767156e-05,1793254958029096704
+293,4.883333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645,915,800,841.662279933,658,635,658,0.455123510129,0.00467649121115,0.0694513750421,0.999999601642,0.000232216672421,-0.000861180490291,-3.40602086741e-05,1793254958045763328
+294,4.900000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,675.243456792,645,915,799.756543208,841.756543208,658,635,658,0.454848279036,0.00467546062009,0.0694529116808,0.99999960369,0.000236790380877,-0.000857726458399,-2.92566295871e-05,1793254958062429952
+295,4.916666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,675.832262643,645,915,799.167737357,841.167737357,658,635,658,0.454554994882,0.00467411825178,0.0694547019931,0.999999610035,0.000241632931731,-0.000849078962656,-2.46523376094e-05,1793254958079096832
+296,4.933333333,POSE2_TO_POSE3_RETREAT,784,760,737,716.5861769,676,645.4138231,915,799,841,657.5861769,635,658,0.454246309444,0.00467281599315,0.0694631778008,0.99999962557,0.000247737694821,-0.000828919285956,-1.94723679462e-05,1793254958095763712
+297,4.950000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.007502742,676,645.992497258,915,799,841,657.007502742,635,658,0.45393148874,0.00467152971268,0.0694743168502,0.999999644208,0.000254345274018,-0.000804173602986,-1.40630707391e-05,1793254958112430336
+298,4.966666667,POSE2_TO_POSE3_RETREAT,784.567885249,759.432114751,737,716.567885249,676.567885249,645.432114751,915,799.567885249,841,657.567885249,635,658,0.453579315442,0.00466889963456,0.0694940032631,0.999999666562,0.000258899717483,-0.00077445643618,-7.94243621145e-06,1793254958129096960
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,784.699286441,760,737.699286441,716.300713559,677.300713559,645.300713559,915,799.300713559,841,658,635,658,0.452352921259,0.00466673603153,0.0695171638924,0.999999693544,0.000276024727226,-0.000732565717226,8.3987965456e-06,1793254958179096576
+302,5.033333333,POSE2_TO_POSE3_RETREAT,784.106512179,760,737.106512179,716.893487821,677.893487821,645.893487821,915,799.893487821,841,658,635,658,0.451876347051,0.00466603718715,0.0695129061008,0.999999684939,0.000280182262629,-0.000742589082138,1.35001656395e-05,1793254958195763200
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.948732103,678,646,915,799.948732103,841,658,635.948732103,658,0.450844099796,0.00466122279158,0.0695074939971,0.999999683747,0.000223610367373,-0.000763218302071,1.52163291307e-06,1793254958229096448
+305,5.083333333,POSE2_TO_POSE3_RETREAT,784,760,737,716.375561494,678,646,915,799.375561494,841,658,635.375561494,658,0.450312542713,0.00465644911114,0.0695227210822,0.999999697101,0.000217432520645,-0.000747313987838,6.53282576965e-06,1793254958245763328
+306,5.100000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.198781878,678.198781878,646,915,799,841,658,635,658,0.449772589787,0.00465227444594,0.0695434817686,0.999999717867,0.000212706859382,-0.000720338001087,1.16045151279e-05,1793254958262430208
+307,5.116666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.775354083,678.775354083,646,915,799,841,658,635,658,0.449216680366,0.00464923822567,0.0695747592125,0.999999751646,0.000210741115952,-0.000672320001916,1.67911794089e-05,1793254958279096832
+308,5.133333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,679.361762291,646,915,799,841,658,635.361762291,658,0.448636120821,0.00464677305126,0.0696116034441,0.999999791153,0.000200719358161,-0.000614032620216,1.92518357483e-05,1793254958295763456
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.465196488,680.534803512,646.534803512,915,799.534803512,841,658,635.465196488,658,0.447351076304,0.00464265710606,0.0696459350942,0.999999827181,0.000173423731445,-0.000561349585792,2.12001221718e-05,1793254958329096448
+311,5.183333333,POSE2_TO_POSE3_RETREAT,784,760,737,716.112648104,681.112648104,647,915,800,841,658,635,658,0.44665114784,0.00464025482746,0.0696335170553,0.999999817482,0.000161120522387,-0.000581876038214,2.22850737877e-05,1793254958345763328
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,682,647,915,799.742929691,840.742929691,658,635,658,0.445229598544,0.00463255240433,0.0696136670759,0.999999804489,0.000177942869048,-0.000599048664267,2.23485148852e-05,1793254958379096576
+314,5.233333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,682,647,915,799.169292822,840.169292822,658,635,658,0.444530400096,0.00462924625548,0.0696474322356,0.999999819818,0.000264073391322,-0.000538677676302,2.13442464849e-05,1793254958395763456
+315,5.250000000,POSE2_TO_POSE3_RETREAT,784.420682043,760,737,717,682.420682043,647.420682043,915,799,840.420682043,658,635.420682043,658,0.443789022153,0.00462217902381,0.0696885227779,0.999999852167,0.000270550826122,-0.000471098803635,2.31177653436e-05,1793254958412430336
+316,5.266666667,POSE2_TO_POSE3_RETREAT,784.983151513,760,737,717,683,648,915,799.016848487,841,658,636,657.983151513,0.443029017635,0.0046136717742,0.06973213844,0.999999889279,0.000243576444545,-0.000401791653552,2.59881902713e-05,1793254958429096960
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784.408468107,760,737,717,683,648,915,799.591531893,841,658,636,657.408468107,0.442237006829,0.00460962398875,0.0697578121907,0.999999906534,0.000213216418652,-0.000375180179808,2.6669726028e-05,1793254958445763328
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.833982401,683.166017599,648,915,800,840.833982401,658,635.833982401,657.166017599,0.441445969313,0.00460425493587,0.0697825209494,0.999999924659,0.000184010881857,-0.000340722438254,2.70260178867e-05,1793254958462429952
+319,5.316666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.259982569,683.740017431,648,915,800,840.259982569,658,635.259982569,657.740017431,0.440657323668,0.00459563891643,0.0698048582732,0.999999946042,0.000157642462269,-0.000286982779983,2.65830346422e-05,1793254958479096832
+320,5.333333333,POSE2_TO_POSE3_RETREAT,784,760,737,716.324682248,684,648,915,800,840,658,635,658,0.439792341931,0.00458878226832,0.0698037592789,0.999999948575,0.000142795495864,-0.000285796424433,2.79090798554e-05,1793254958495763456
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,684,648.497202698,915,800,840,658,635,657.502797302,0.43792941188,0.00458116201426,0.0697327454501,0.999999906609,0.000152758805107,-0.000403115801873,3.07190603352e-05,1793254958529096704
+323,5.383333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.073758618,649,915,800,840,658,635,657.073758618,0.43700003867,0.00457875154096,0.0696880340307,0.999999876363,0.000166108068834,-0.000467709391432,3.04930661648e-05,1793254958545763328
+324,5.400000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.649251761,649,915,800,840,658,635,657.649251761,0.436114368271,0.00457158802687,0.0697154193061,0.999999898393,0.000143996147091,-0.000426004556694,3.16130556064e-05,1793254958562430464
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,784.820928678,760,737.820928678,717,685,649,915,800,840,658,635.820928678,658,0.434369222069,0.00456286068064,0.0698064355716,0.999999945379,0.000121714172352,-0.000305157085723,3.61542418301e-05,1793254958595763456
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784.596498501,760,737.596498501,717,685,649,915,800,840,658,636,658,0.433453101923,0.00455610659676,0.0698337753995,0.9999999567,0.000122107150186,-0.000265124341071,3.74061833873e-05,1793254958612429824
+328,5.466666667,POSE2_TO_POSE3_RETREAT,784.017321685,760,737.017321685,717,685,649,915,800,840,658,636,658,0.432515523129,0.00454777749519,0.0698497468121,0.999999963199,0.000125428192553,-0.000237541461407,3.79950598904e-05,1793254958629096448
+329,5.483333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,685,649,915,800,840,658,636,658,0.431541484507,0.00454430520202,0.0698276765686,0.999999956886,0.000112774137925,-0.000268528866694,3.74573592055e-05,1793254958645763328
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,685,649,915,800,840,657.868106511,635.868106511,658,0.430553227724,0.00454070763608,0.069793021315,0.999999942487,0.000102435812827,-0.000321227454434,3.66976865149e-05,1793254958662429696
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,685,649,915,800,840,657.292599869,635.292599869,658,0.429520929958,0.00453618511146,0.0697199820223,0.999999897035,0.000101542753928,-0.000440876564276,3.53082461284e-05,1793254958679096576
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783.70891474,760,737,717,685,649,915,800,840,657.29108526,635,658,0.428564832639,0.0045292953671,0.0697078156115,0.999999888683,9.27581960721e-05,-0.000461316545798,3.48938051277e-05,1793254958695763200
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783.116770944,760,737,717,685,649,915,800,840,657.883229056,635,658,0.427687546641,0.00451995729668,0.0697586077374,0.99999992462,7.58117583361e-05,-0.000379148252546,3.54877696159e-05,1793254958712430080
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783.462414417,760,737,717.462414417,685.462414417,649,915,800,840,658,635,657.537585583,0.426782632642,0.00451597308123,0.069812573795,0.999999952924,7.58350895061e-05,-0.000294993125005,3.71480593958e-05,1793254958729096704
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783.961683996,760,737.038316004,718,686,649,915,800,840,658,635,657,0.425869611828,0.00451253111385,0.0698628561007,0.999999972576,7.83816719821e-05,-0.000217232975667,3.89029379949e-05,1793254958745763328
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783.38719153,760,737.61280847,718,686,649,915,800,840,658,635,657,0.424938116981,0.00449827386733,0.0698506796091,0.999999969791,5.79058706633e-05,-0.000235790817406,3.83160809077e-05,1793254958762429952
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,760,737.813381218,718,686,649,915,800,840,658,635,657,0.423987626041,0.00448781381746,0.0698250415336,0.99999995965,4.204479028e-05,-0.000278393811678,3.77978925928e-05,1793254958779096576
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,760,737.240980961,718,686,649,915,800,840,658,635,657,0.42299786589,0.00448520339355,0.0697715754441,0.999999929951,3.57233344366e-05,-0.000370703350769,3.74216572423e-05,1793254958795763200
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783,759.653777733,737,718,686,649,915,800,839.653777733,658,635.346222267,657.346222267,0.422011160341,0.00447988972807,0.0697137125673,0.999999888037,2.90146318968e-05,-0.000470893692164,3.66491941892e-05,1793254958812430080
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,759.055811033,737,718,686,649,915,800,839.055811033,658,635.944188967,657.944188967,0.421026675907,0.0044726104872,0.0696526527105,0.999999832767,2.20243555876e-05,-0.000576814298703,3.55886267121e-05,1793254958829096960
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,759,737,718,686,649,915,800,839,658,636,657.480893428,0.420200662525,0.00446168156284,0.0697112571725,0.999999886883,1.33469758034e-05,-0.000474144138668,3.52466644027e-05,1793254958845763328
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,759.092291202,737,718.092291202,686.092291202,649.092291202,915,800,839.092291202,658,635.907708798,657.092291202,0.419394011769,0.00445229061616,0.0697811405427,0.999999936722,5.70600343475e-06,-0.000353935502664,3.53928572567e-05,1793254958862429952
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,759.668832652,737,718.668832652,686.668832652,649.668832652,915,800,839.668832652,658,635.331167348,657.668832652,0.418603359967,0.00445294074713,0.0698455687601,0.999999966927,4.41431340978e-06,-0.000254370863232,3.77122467675e-05,1793254958879096576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782.747469067,759.747469067,737,719,687,649.747469067,915,800,839.747469067,658,635,657.747469067,0.417787606589,0.00444844831462,0.0698725538607,0.99999997594,-2.02325574681e-06,-0.000215910327512,3.87064899723e-05,1793254958895763200
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782.154111669,759.154111669,737,719,687,649.154111669,915,800,839.154111669,658,635,657.154111669,0.416937975121,0.00443701526014,0.0698490041366,0.999999965384,-1.54059216038e-05,-0.000259918493452,3.79122596435e-05,1793254958912429824
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782,759.426225509,737.426225509,719,687,649.426225509,915,800,839.426225509,658,635,657,0.416097652792,0.00443239589618,0.0698184739202,0.999999956378,-2.31108917514e-05,-0.000292238415825,3.61437723065e-05,1793254958929096448
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782,759.99801328,737.99801328,719,686.99801328,649.99801328,915,800,839.99801328,658,635,657.00198672,0.415260495426,0.00443023118464,0.0697854929504,0.999999947609,-2.8727875702e-05,-0.000320621055488,3.40462147176e-05,1793254958945763584
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,782,759.149744986,737,719,686,649,915,800,839.149744986,658,635,657.850255014,0.413572597482,0.00446149129262,0.0697344364235,0.999999903247,1.42797242552e-05,-0.000438136993005,3.65705573361e-05,1793254958979096832
+350,5.833333333,POSE2_TO_POSE3_RETREAT,782,759.726050769,737,719,686,649,915,800,839.726050769,658,635,657.273949231,0.4128780012,0.00447292828122,0.0697619188904,0.999999924665,3.25822322484e-05,-0.000385136787225,3.57631290488e-05,1793254958995763456
+351,5.850000000,POSE2_TO_POSE3_RETREAT,782,760,737,719.310846373,686.310846373,649,914.689153627,800,840,658,635,657.310846373,0.41222492973,0.00447226155824,0.0698045822904,0.999999951664,3.02749117064e-05,-0.000307382375584,3.56530784813e-05,1793254959012430080
+352,5.866666667,POSE2_TO_POSE3_RETREAT,782,760,737,719.903334116,686.903334116,649,914.096665884,800,840,658,635,657.903334116,0.411609481725,0.00446062830506,0.0698610003252,0.999999977837,9.29412004611e-06,-0.000207199495547,3.6174884626e-05,1793254959029096704
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781.515595947,759.515595947,737.484404053,720,687.484404053,649,914,800,840,658,635,657.515595947,0.410937899533,0.00445313504556,0.0698710061023,0.999999979947,5.74493165977e-06,-0.000196774358841,3.67936153112e-05,1793254959045763584
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781.062565156,759.062565156,738,719.937434844,687.937434844,649,914,800,839.937434844,658,635,657.062565156,0.410254568338,0.00444777001333,0.0698665346976,0.999999976843,5.9794275654e-06,-0.000211883502288,3.71845657025e-05,1793254959062430464
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.635160044,759.635160044,738,719.364839956,687.364839956,649,914,800,839.364839956,658,635,657.635160044,0.409564674533,0.00445317447924,0.0698178094231,0.999999956547,9.35408913139e-06,-0.000292494012466,3.55646120171e-05,1793254959079097088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.793136429,760,738,719,686.793136429,649,914.206863571,800,839,658,635,657.793136429,0.408909022263,0.00445764754601,0.0697795973687,0.999999936668,1.05272216078e-05,-0.000354102358386,3.41291281084e-05,1793254959095763456
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781.222998287,760,738,719,686.222998287,649,914.777001713,800,839,658,635,657.222998287,0.408313501867,0.00446048497566,0.0697598476589,0.999999926332,7.8342331172e-06,-0.000382340864332,3.30175933525e-05,1793254959112430080
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781.365426259,760,738,719.365426259,686,649,914.634573741,800,839,658,635,657.365426259,0.407764507736,0.00446320591117,0.0697650041413,0.999999930629,1.28509502185e-05,-0.00037085288531,3.23129692122e-05,1793254959129096704
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781.965597819,760,738,719.965597819,686,649,914.034402181,800,839,658,635,657.965597819,0.407245401442,0.00446585201257,0.0697861600511,0.999999943505,2.28202864099e-05,-0.000333845106943,3.18697392745e-05,1793254959145763328
+360,6.000000000,POSE2_TO_POSE3_RETREAT,782,760,738,719.455929407,686.544070593,649,914,799.455929407,839,657.455929407,635,658,0.40674176867,0.00446867894957,0.0697973543807,0.999999946233,2.79235051705e-05,-0.00032508739412,3.27539165866e-05,1793254959162429952
+361,6.016666667,POSE2_TO_POSE3_RETREAT,782,760,737.880090998,719,686.880090998,649,914.119909002,799.119909002,839,657.119909002,635,658,0.406242979066,0.0044701265844,0.0698034723071,0.999999946414,2.96643868829e-05,-0.000324305118636,3.34514661545e-05,1793254959179096320
+362,6.033333333,POSE2_TO_POSE3_RETREAT,782,760,737.309198011,719,686.309198011,649,914.690801989,799.690801989,839,657.690801989,635,658,0.405758866012,0.00446634523681,0.0697927757801,0.999999939029,1.98722003338e-05,-0.000347058238305,3.31435285023e-05,1793254959195763200
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781.726460398,760,737.273539602,719.273539602,686,649,914.726460398,799.726460398,839,658,635,658,0.405320301931,0.0044651881609,0.0697926331463,0.999999938782,1.40064869768e-05,-0.000348152216157,3.20840997947e-05,1793254959212430336
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781.129728151,760,737.870271849,719.870271849,686,649,914.129728151,799.129728151,839,658,635,658,0.404935554923,0.00446713171597,0.0698049601543,0.999999947088,1.2779982731e-05,-0.000323655472886,3.01367690316e-05,1793254959229096960
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781.44935464,760,738,720,686,649,914,799.44935464,839,658,635,658,0.404586372099,0.00446729689904,0.0698211490812,0.999999956894,2.10008906611e-05,-0.000291342934069,2.98225869482e-05,1793254959245763328
+366,6.100000000,POSE2_TO_POSE3_RETREAT,782,760,738,720,686.02360898,649,914,799.97639102,839,658,635,657.97639102,0.404247353068,0.00446687046614,0.0698378775549,0.999999965771,3.10845517378e-05,-0.000258059479066,2.9963106364e-05,1793254959262430208
+367,6.116666667,POSE2_TO_POSE3_RETREAT,782,760,738,720,686.599603227,649,914,799.400396773,839,658,635,657.400396773,0.403914990157,0.00446416033234,0.0698421294985,0.999999967305,2.3348285529e-05,-0.000252857831174,3.01277802594e-05,1793254959279096832
+368,6.133333333,POSE2_TO_POSE3_RETREAT,782,760,738,720,687,649,914,799.180390052,839,658,635,657.180390052,0.40358991283,0.00446297152898,0.069841299843,0.99999996683,1.64599144207e-05,-0.000255294630867,2.98949763644e-05,1793254959295763456
+369,6.150000000,POSE2_TO_POSE3_RETREAT,782,760,738,720,687,649,914,799.772104815,839,658,635,657.772104815,0.403281448107,0.00446525165784,0.0698288831443,0.999999961667,1.15049115468e-05,-0.000275148590323,2.87558451006e-05,1793254959312430080
+370,6.166666667,POSE2_TO_POSE3_RETREAT,782,760,738,720,686.644757725,649,914,800,839,658,635,657.644757725,0.402998973758,0.0044657619556,0.0698205265057,0.999999957512,8.72871376688e-06,-0.000289955892881,2.8722881972e-05,1793254959329096704
+371,6.183333333,POSE2_TO_POSE3_RETREAT,782,760,738,720,686.066992997,649,914,800,839,658,635,657.066992997,0.402732779653,0.00446516363789,0.0698147130725,0.99999995406,7.31731098415e-06,-0.000301601990114,2.93828183766e-05,1793254959345763328
+372,6.200000000,POSE2_TO_POSE3_RETREAT,782,760,738,720,686.508206211,649,914,800,839,658,635,657,0.402501792642,0.00446768946606,0.069805444333,0.999999949915,7.59383295969e-06,-0.000315082009601,2.88964299677e-05,1793254959362429952
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781.917137707,759.917137707,738,720.082862293,687,649,914,800,839,658,635,657,0.402280918393,0.00447132191327,0.0697966630619,0.999999945848,9.45220409006e-06,-0.000327743708179,2.82562707091e-05,1793254959379096576
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781.343704717,759.343704717,738,720.656295283,687,649,914,800,839,658,635,657,0.402092576088,0.00447907996124,0.0697934508335,0.999999943608,1.93649264052e-05,-0.000334136637406,2.7595872684e-05,1793254959395763200
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781,759.238179325,738,720.761820675,686.761820675,649,914.238179325,800,839,658,635,657,0.401920890851,0.00448631870595,0.0697927732438,0.999999942544,3.7553045313e-05,-0.000335837086144,2.67559258482e-05,1793254959412430080
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,759.832707254,738,720.167292746,686.167292746,649,914.832707254,800,839,658,635,657,0.401774126859,0.004492780502,0.0697958878179,0.99999994273,6.81222803557e-05,-0.000330516946477,2.56473496423e-05,1793254959429096704
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.41401747,649,914.58598253,800,839,658,635,657.41401747,0.401641561616,0.00449328808678,0.0697966628823,0.999999943462,6.96542482666e-05,-0.000328035644986,2.48316906549e-05,1793254959445763584
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.990152006,649,914.009847994,800,839,658,635,657.990152006,0.401514556189,0.00449146417739,0.0697965218634,0.999999944565,5.98160756743e-05,-0.000326665949207,2.41307294653e-05,1793254959462430208
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781.565919783,760,738,720,687,649,914,799.434080217,839,658,635,658,0.401416336559,0.00448850421935,0.0697954316916,0.9999999449,4.738698005e-05,-0.000327785743825,2.26213306582e-05,1793254959479096832
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781.854908109,760,738,720,687,649,914,799.145091891,839,658,635,658,0.401323648735,0.00448646196322,0.0697942558103,0.999999944929,3.72559332898e-05,-0.000329087882883,2.13158177907e-05,1793254959495763456
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781.265286443,760,738,720,687,649,914,799.734713557,839,658,635,658,0.40124637545,0.00448729187467,0.0697928679058,0.999999944478,3.43036532168e-05,-0.000330816043696,2.06780411334e-05,1793254959512430080
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781.318180444,760,737.681819556,720,687,649.318180444,914,800,839,658,635,658,0.401183388535,0.00448720529849,0.0697943746921,0.999999945524,3.24071051308e-05,-0.000327831155127,2.06960968336e-05,1793254959529096704
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781.89661316,760,737.10338684,720,687,649.89661316,914,800,839,658,635,658,0.401132086994,0.00448636909119,0.0697982491595,0.999999947764,3.13740813432e-05,-0.000320991278695,2.12505834853e-05,1793254959545763584
+384,6.400000000,POSE2_TO_POSE3_RETREAT,781.528722141,760,737.471277859,720,687,649.528722141,914,800,839,658,635,658,0.401094698807,0.00448540654113,0.0698011182451,0.999999949161,3.04385841117e-05,-0.000316687452892,2.14581532752e-05,1793254959562430464
+385,6.416666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649.045447255,914,800,839,658,635,658,0.401061097281,0.00448448282627,0.0698037256584,0.999999950383,2.96103646084e-05,-0.000312875098786,2.1597260031e-05,1793254959579097088
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649.62342234,914,800,839,658,635,658,0.401036384881,0.00448433635377,0.0698058307962,0.999999951777,2.97904637271e-05,-0.000308354268136,2.18188391176e-05,1793254959595763456
+387,6.450000000,POSE2_TO_POSE3_RETREAT,781.205736394,760,738,720,687,649.794263606,914,800,839,658,635,657.794263606,0.401015225787,0.00448412194077,0.0698083447464,0.999999953103,2.95893984358e-05,-0.000304028855094,2.20434446069e-05,1793254959612429824
+388,6.466666667,POSE2_TO_POSE3_RETREAT,781.796163518,760,738,720,687,649.203836482,914,800,839,658,635,657.203836482,0.401000710749,0.00448378049102,0.0698116231033,0.99999995432,2.86756229915e-05,-0.000300068838753,2.22737089219e-05,1793254959629096192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,781.620774307,760,738,720,687,649,914.379225693,800,839,658,635,657,0.40098969299,0.00448463652653,0.0698123485883,0.999999954775,3.08438963412e-05,-0.000298346932514,2.20837626251e-05,1793254959645763072
+390,6.500000000,POSE2_TO_POSE3_RETREAT,781.041595444,760,738,720,687,649,914.958404556,800,839,658,635,657,0.400980519232,0.00448612395643,0.0698117280282,0.999999954821,3.46372321486e-05,-0.000297805107859,2.16722531583e-05,1793254959662429440
+391,6.516666667,POSE2_TO_POSE3_RETREAT,781.533707619,760,738,720,687,649,915,800,839,657.466292381,635,657,0.400978768386,0.00448581962736,0.0698147535601,0.999999956155,3.33719852342e-05,-0.000293419595425,2.19224336375e-05,1793254959679096320
+392,6.533333333,POSE2_TO_POSE3_RETREAT,781.889003231,760,738,720,687,649,914.889003231,800,839,657.110996769,635,657,0.400977222587,0.00448561133275,0.069817321579,0.999999957264,3.29412889327e-05,-0.000289647782769,2.21406787713e-05,1793254959695763200
+393,6.550000000,POSE2_TO_POSE3_RETREAT,781.301909022,760,738,720,687,649,914.301909022,800,839,657.698090978,635,657,0.400974092758,0.00448640961292,0.0698167171128,0.999999957057,3.77690826718e-05,-0.000289783964171,2.20023399883e-05,1793254959712430592
+394,6.566666667,POSE2_TO_POSE3_RETREAT,781.281586288,760,738,720.281586288,687,649,914,800,839.281586288,657.718413712,635,657,0.400971970724,0.00448700565685,0.0698167965688,0.999999957095,3.8149123046e-05,-0.000289627238233,2.16880594849e-05,1793254959729097472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,781.861271725,760,738,720.861271725,687,649,914,800,839.861271725,657.138728275,635,657,0.400970915584,0.00448738760506,0.0698176000535,0.999999957397,3.38205842678e-05,-0.000289160428218,2.11875196209e-05,1793254959745763328
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781.560391668,760,738,720.560391668,687,649,914,800,839.560391668,657.439608332,635,657,0.400970922815,0.00448603637325,0.0698184737973,0.999999957829,3.24280907821e-05,-0.000287824933963,2.11546564787e-05,1793254959762429952
+397,6.616666667,POSE2_TO_POSE3_RETREAT,781,759.982663816,738,720,687,649,914,800,838.982663816,657.982663816,635,657,0.4009712905,0.00448424412028,0.069819367034,0.999999958301,3.19774293739e-05,-0.000286222012184,2.12630790401e-05,1793254959779096576
+398,6.633333333,POSE2_TO_POSE3_RETREAT,781,759.410832971,738,720,687,649,914,800,838.410832971,657.410832971,635,657,0.400972496953,0.0044857862704,0.0698201767561,0.999999958703,3.21066913555e-05,-0.000284806734147,2.11844310575e-05,1793254959795763456
+399,6.650000000,POSE2_TO_POSE3_RETREAT,781,759,738,720.166644045,687,649,914,799.833355955,838.166644045,657,635,657,0.400973169041,0.00448669124093,0.0698209858393,0.999999958985,3.18393420957e-05,-0.000283848546062,2.11071914553e-05,1793254959812430080
+400,6.666666667,POSE2_TO_POSE3_RETREAT,781,759,738,720.758528877,687,649,914,799.241471123,838.758528877,657,635,657,0.400972477541,0.00448597026222,0.0698217932921,0.999999958968,3.0559923799e-05,-0.000284056756127,2.1033545751e-05,1793254959829096448
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,759.342002883,738,720.657997117,687,649,914,799.342002883,839,657.342002883,635,657.342002883,0.400971954558,0.00448649334695,0.0698220094142,0.999999959005,3.11049505224e-05,-0.000283885255313,2.07775132639e-05,1793254959845763328
+402,6.700000000,POSE2_TO_POSE3_RETREAT,781,759.919680939,738,720.080319061,687,649,914,799.919680939,839,657.919680939,635,657.919680939,0.400971547699,0.00448787371942,0.0698218180485,0.999999959078,3.2907207625e-05,-0.000283452094625,2.03957975217e-05,1793254959862430208
+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,760,737.500511919,720,687,649,914,800,839,658,635,657.500511919,0.400971151446,0.00448774275196,0.0698216173393,0.999999959213,3.40162728261e-05,-0.00028283226873,2.05801519059e-05,1793254959879097088
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,759.919820731,737,720,687,649,914,799.919820731,839,658,635,657,0.400970934763,0.00448740205049,0.0698216044828,0.999999959391,3.48801489016e-05,-0.00028207501353,2.08350102424e-05,1793254959895763712
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781,759.335734663,737,720,687,649,914,799.335734663,839,658,635,657,0.400971835866,0.0044872771297,0.0698227817173,0.999999959791,3.49066141194e-05,-0.000280643501967,2.09584458372e-05,1793254959912430080
+406,6.766666667,POSE2_TO_POSE3_RETREAT,781,759.246241012,737.246241012,720,687,649,914,799.246241012,839,657.753758988,635,657.246241012,0.40097253682,0.00448777924514,0.0698236279674,0.999999960077,3.5381036737e-05,-0.000279567447002,2.08868657237e-05,1793254959929096448
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781,759.825363828,737.825363828,720,687,649,914,799.825363828,839,657.174636172,635,657.825363828,0.400972967201,0.00448912902178,0.0698240267754,0.999999960211,3.64610321893e-05,-0.000278971917124,2.05516529373e-05,1793254959945763328
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781,759.596136908,738,720,687,649,914,800,839,657.403863092,635,657.596136908,0.400972649534,0.00448929015088,0.0698239888348,0.999999960222,3.57143114488e-05,-0.000279050730653,2.02688831399e-05,1793254959962429952
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6f3ac723892d7b8239e45746aed2b078f645630
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,416 @@
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+349,5.816666667,pose2_to_pose3_retreat,0.585615955463,0.0101817063983,1.06002029691,0.556187104409,0.0188559483934,1.05969200444
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+351,5.850000000,pose2_to_pose3_retreat,0.584498166416,0.0101817042109,1.06002053895,0.555069315095,0.0188559451542,1.05969224265
+352,5.866666667,pose2_to_pose3_retreat,0.583976406046,0.0101817544059,1.06002058738,0.554547554792,0.0188559954649,1.05969228803
+353,5.883333333,pose2_to_pose3_retreat,0.583455476691,0.0101818235625,1.0600206738,0.554026624839,0.0188560626723,1.05969237659
+354,5.900000000,pose2_to_pose3_retreat,0.582934133531,0.0101816370065,1.06002074743,0.553505282634,0.0188558794727,1.05969245328
+355,5.916666667,pose2_to_pose3_retreat,0.582416047601,0.0101817166837,1.06002054531,0.552987196024,0.0188559570579,1.0596922569
+356,5.933333333,pose2_to_pose3_retreat,0.581917302481,0.0101817807918,1.06002061294,0.552488449697,0.0188560168214,1.05969231784
+357,5.950000000,pose2_to_pose3_retreat,0.581444409614,0.0101817901545,1.06002071916,0.552015556313,0.0188560243797,1.0596924228
+358,5.966666667,pose2_to_pose3_retreat,0.581000850534,0.0101817885181,1.0600206126,0.551571997352,0.0188560232556,1.05969231904
+359,5.983333333,pose2_to_pose3_retreat,0.580582014671,0.010181786071,1.06002039344,0.551153162167,0.0188560231899,1.05969210204
+360,6.000000000,pose2_to_pose3_retreat,0.580180745297,0.010181759699,1.06002036785,0.550751894119,0.0188560013863,1.05969207831
+361,6.016666667,pose2_to_pose3_retreat,0.579796880085,0.0101818154803,1.06002026413,0.550368029126,0.018856058007,1.05969197723
+362,6.033333333,pose2_to_pose3_retreat,0.579434269545,0.0101817360944,1.06002026471,0.550005417254,0.0188559739793,1.05969197449
+363,6.050000000,pose2_to_pose3_retreat,0.579095999434,0.0101817227242,1.0600203256,0.549667148105,0.0188559639553,1.05969203757
+364,6.066666667,pose2_to_pose3_retreat,0.578782828877,0.0101817756963,1.06002041585,0.549353977634,0.0188560173258,1.05969213074
+365,6.083333333,pose2_to_pose3_retreat,0.578493522409,0.0101818083886,1.06002049537,0.549064670283,0.0188560469875,1.05969220938
+366,6.100000000,pose2_to_pose3_retreat,0.578222157951,0.0101817129985,1.06002051954,0.54879330614,0.0188559524069,1.05969222664
+367,6.116666667,pose2_to_pose3_retreat,0.577962842505,0.0101817632965,1.06002029189,0.548533989939,0.0188560003845,1.0596920054
+368,6.133333333,pose2_to_pose3_retreat,0.577714059818,0.0101818274531,1.0600204043,0.548285206939,0.0188560635568,1.05969211981
+369,6.150000000,pose2_to_pose3_retreat,0.577476909493,0.0101818265624,1.0600205273,0.54804805623,0.0188560609723,1.05969223258
+370,6.166666667,pose2_to_pose3_retreat,0.577255768124,0.0101818029264,1.06002055534,0.547826915038,0.0188560377269,1.05969225529
+371,6.183333333,pose2_to_pose3_retreat,0.577050985495,0.0101817927233,1.0600205765,0.547622133448,0.018856031187,1.05969228004
+372,6.200000000,pose2_to_pose3_retreat,0.576865095382,0.0101817719786,1.06002062754,0.547436244326,0.01885601371,1.05969232869
+373,6.216666667,pose2_to_pose3_retreat,0.576696640398,0.0101817810791,1.06002038332,0.547267789121,0.0188560224297,1.05969209421
+374,6.233333333,pose2_to_pose3_retreat,0.576547083196,0.010181855675,1.06002048928,0.547118229541,0.0188560889817,1.05969220076
+375,6.250000000,pose2_to_pose3_retreat,0.57641303434,0.0101819420947,1.06002051905,0.546984180114,0.0188561733241,1.05969222689
+376,6.266666667,pose2_to_pose3_retreat,0.576293734452,0.0101818264611,1.06002052905,0.546864882008,0.0188560636722,1.05969223524
+377,6.283333333,pose2_to_pose3_retreat,0.576188664092,0.0101818206336,1.06002052715,0.546759811968,0.0188560589449,1.05969223372
+378,6.300000000,pose2_to_pose3_retreat,0.57609607831,0.0101818290243,1.0600205529,0.546667225783,0.0188560660464,1.05969226176
+379,6.316666667,pose2_to_pose3_retreat,0.576014421136,0.0101817246808,1.06002055772,0.546585569252,0.018855964065,1.05969227172
+380,6.333333333,pose2_to_pose3_retreat,0.575943640153,0.0101818957453,1.06002034341,0.546514787164,0.0188561316337,1.05969206399
+381,6.350000000,pose2_to_pose3_retreat,0.575884784962,0.0101816978534,1.06002041577,0.546455932698,0.018855935526,1.05969211844
+382,6.366666667,pose2_to_pose3_retreat,0.575835497205,0.0101816892847,1.06002029185,0.546406644408,0.0188559253733,1.05969200041
+383,6.383333333,pose2_to_pose3_retreat,0.575795485612,0.0101817055626,1.060020522,0.546366633058,0.0188559423298,1.05969222677
+384,6.400000000,pose2_to_pose3_retreat,0.57576370449,0.0101817270904,1.06002048217,0.546334852902,0.0188559671551,1.05969218746
+385,6.416666667,pose2_to_pose3_retreat,0.575738388323,0.0101816998309,1.06002028349,0.546309537645,0.0188559430703,1.05969199109
+386,6.433333333,pose2_to_pose3_retreat,0.575718641496,0.0101815784298,1.06002030858,0.546289790937,0.0188558218858,1.05969201124
+387,6.450000000,pose2_to_pose3_retreat,0.575703239472,0.0101818186577,1.06002069923,0.546274386641,0.0188560543334,1.05969240004
+388,6.466666667,pose2_to_pose3_retreat,0.575691599182,0.0101817731408,1.0600206705,0.546262746193,0.0188560080847,1.05969236624
+389,6.483333333,pose2_to_pose3_retreat,0.575683378201,0.0101817380359,1.06002052646,0.546254525093,0.0188559726397,1.05969222394
+390,6.500000000,pose2_to_pose3_retreat,0.575678012597,0.0101818071454,1.06002040967,0.546249158746,0.0188560395822,1.05969211668
+391,6.516666667,pose2_to_pose3_retreat,0.575674403017,0.0101817320845,1.060020398,0.54624555092,0.0188559705105,1.05969210582
+392,6.533333333,pose2_to_pose3_retreat,0.575672029626,0.0101816572863,1.06002040433,0.546243179155,0.0188559012093,1.05969211151
+393,6.550000000,pose2_to_pose3_retreat,0.575670859897,0.0101817202764,1.06002036809,0.546242008135,0.0188559598362,1.05969207571
+394,6.566666667,pose2_to_pose3_retreat,0.575669943741,0.010181806809,1.06002032504,0.546241090188,0.018856040317,1.05969203329
+395,6.583333333,pose2_to_pose3_retreat,0.575669251029,0.0101818722368,1.06002029249,0.546240396123,0.018856101169,1.05969200121
+396,6.600000000,pose2_to_pose3_retreat,0.575669064681,0.0101818898377,1.06002028374,0.54624020941,0.0188561175389,1.05969199259
+397,6.616666667,pose2_to_pose3_retreat,0.575668924749,0.0101819030545,1.06002027716,0.546240069205,0.0188561298314,1.05969198611
+398,6.633333333,pose2_to_pose3_retreat,0.575668749695,0.0101819107575,1.06002028059,0.546239893979,0.0188561369514,1.05969198948
+399,6.650000000,pose2_to_pose3_retreat,0.575668644875,0.0101819018183,1.06002030053,0.546239789319,0.0188561285429,1.05969200911
+400,6.666666667,pose2_to_pose3_retreat,0.575668618745,0.0101818995899,1.0600203055,0.546239763229,0.0188561264467,1.059692014
+401,6.683333333,pose2_to_pose3_retreat,0.575668482048,0.0101818879322,1.0600203315,0.546239626741,0.0188561154811,1.0596920396
+402,6.700000000,pose2_to_pose3_retreat,0.575668255057,0.010181868574,1.06002037468,0.546239400096,0.0188560972722,1.05969208212
+403,6.716666667,pose2_to_pose3_retreat,0.575668189866,0.0101818630144,1.06002038708,0.546239335004,0.0188560920427,1.05969209433
+404,6.733333333,pose2_to_pose3_retreat,0.575668130711,0.0101818579695,1.06002039833,0.54623927594,0.0188560872974,1.0596921054
+405,6.750000000,pose2_to_pose3_retreat,0.575667986497,0.0101818456707,1.06002042577,0.546239131946,0.0188560757287,1.05969213241
+406,6.766666667,pose2_to_pose3_retreat,0.575667834299,0.010181832691,1.06002045472,0.54623897998,0.0188560635196,1.05969216092
+407,6.783333333,pose2_to_pose3_retreat,0.575667725172,0.0101818233845,1.06002047547,0.546238871019,0.0188560547656,1.05969218136
+408,6.800000000,pose2_to_pose3_retreat,0.575667653701,0.0101818172893,1.06002048907,0.546238799657,0.0188560490323,1.05969219474
+409,6.816666667,pose2_to_pose3_retreat,0.575667432474,0.010181793312,1.06002052711,0.546238578833,0.0188560263983,1.05969223211
+410,6.833333333,pose2_to_pose3_retreat,0.575667164998,0.0101817106273,1.06002053065,0.54623831254,0.0188559476821,1.05969223456
+411,6.850000000,pose2_to_pose3_retreat,0.575666983656,0.0101816545691,1.06002053305,0.546238131999,0.0188558943145,1.05969223622
+412,6.866666667,pose2_to_pose3_retreat,0.575666953317,0.0101816451904,1.06002053345,0.546238101794,0.0188558853859,1.0596922365
+413,6.883333333,pose2_to_pose3_retreat,0.575666904139,0.0101816511674,1.0600204777,0.546238052772,0.0188558918942,1.05969218083
+414,6.900000000,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c7c8e9e135c17ab4b7a990cd3d466b1559c7a1f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1770ca537c3b2a3e10f8ea3d4b97d03a367edf1e9f0a76c841341d395d2628ef
+size 26315378
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3a1804340b0b2b22fb579ee85627d94417377a1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400971046851,0.00448823669711,0.0698236610167,0.999999960052,3.29039773725e-05,-0.000280022112077,2.00166050495e-05,1793254960180625152
+1,0.016666667,BASELINE,781,760,738,720.572696448,687,649,914,800,839,658,635,657,0.400971793195,0.00448595497941,0.0698241356739,0.999999960359,2.97880450936e-05,-0.000279255756043,2.02582478261e-05,1793254960197291776
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+3,0.050000000,BASELINE,781,760,738,721,687,649,914,799.259267703,839,658,635,657.740732297,0.400970818063,0.00448605163169,0.0698237336142,0.999999960173,3.01252721638e-05,-0.000279881882446,2.02962199293e-05,1793254960230624768
+4,0.066666667,BASELINE,781.324827365,760,738,720.675172635,687,649,914,799.324827365,839,657.675172635,634.675172635,657.675172635,0.40097060475,0.00448730981302,0.0698238725279,0.999999960175,3.23521117888e-05,-0.000279628582013,2.02795933246e-05,1793254960247291136
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+16,0.266666667,BASELINE,781,760,737.272740545,720.272740545,687,649,914,800,839,658,635,657,0.400970292446,0.00448878147737,0.0698247441759,0.999999960697,3.73006693016e-05,-0.00027714174457,2.01569581523e-05,1793254960447293184
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+21,0.350000000,BASELINE,781,759.821198514,738,720,687,649,914,799.178801486,839,657.821198514,635,658,0.400970580895,0.00448549096461,0.0698247882687,0.99999996077,3.29439241927e-05,-0.000277416557798,2.03706319785e-05,1793254960530625024
+22,0.366666667,BASELINE,781,759.232120751,738,720,687,649,914,799.767879249,839,657.232120751,635,658,0.400971082047,0.00448601050557,0.0698252934475,0.999999961048,3.36194405615e-05,-0.000276335377682,2.03159817067e-05,1793254960547291392
+23,0.383333333,BASELINE,781,759.35114729,738,720,687,649,914,800,838.64885271,657,635,658,0.400971662846,0.00448648104722,0.069825723559,0.999999961252,3.34958515059e-05,-0.000275627696666,2.00990918489e-05,1793254960563958016
+24,0.400000000,BASELINE,781,759.930637462,738,720,687,649,914,800,838.069362538,657,635,658,0.400972295437,0.00448691972582,0.0698261048561,0.999999961407,3.28526229211e-05,-0.000275162893284,1.97767013716e-05,1793254960580625152
+25,0.416666667,BASELINE,781,759.494379088,738,720.505620912,687,649,914,800,838,657.505620912,635,657.494379088,0.400971930946,0.00448726662248,0.0698260250691,0.999999961349,3.34869331462e-05,-0.000275288640785,1.99120564506e-05,1793254960597292288
+26,0.433333333,BASELINE,781,759.080258902,737.919741098,720.919741098,687.080258902,649,914,800,838.080258902,658,635,657,0.400971271285,0.00448767563314,0.0698257424285,0.999999961179,3.43751937165e-05,-0.000275785831531,2.00716957269e-05,1793254960613959424
+27,0.450000000,BASELINE,781,759.656549301,737.343450699,720.343450699,687.656549301,649,914,800,838.656549301,658,635,657,0.400969625257,0.00448854566222,0.0698245935468,0.999999960496,3.57593827912e-05,-0.000278082415655,1.9996752735e-05,1793254960630625536
+28,0.466666667,BASELINE,781,760,737.23884471,720,687.76115529,649,914,800,839,658,635,657,0.40096918261,0.00448882729074,0.0698242073207,0.9999999603,3.57464768e-05,-0.000278793994594,1.98812457172e-05,1793254960647291904
+29,0.483333333,BASELINE,781,760,737.829997787,720,687.170002213,649,914,800,839,658,635,657,0.400970515013,0.00448824099779,0.0698249460513,0.999999960828,3.36727828621e-05,-0.000277167608335,1.97059046566e-05,1793254960663958272
+30,0.500000000,BASELINE,781,760,738,720.412108238,687.412108238,649,914,800,839,658,635,657,0.400971905762,0.00448726624259,0.069825539037,0.999999961283,3.28635725988e-05,-0.000275611297582,1.98158230513e-05,1793254960680624640
+31,0.516666667,BASELINE,781,760,738,720.990568518,687.990568518,649,914,800,839,658,635,657,0.400973320063,0.00448613468033,0.069826073191,0.999999961708,3.25647851875e-05,-0.000274083273619,2.004088958e-05,1793254960697291264
+32,0.533333333,BASELINE,781,760,738,720.435241038,687.435241038,649,914,800,839,658,635,657,0.400972054257,0.00448703303389,0.0698256095568,0.999999961219,3.21911790208e-05,-0.000275910991687,1.99654610748e-05,1793254960713958400
+33,0.550000000,BASELINE,781.142487563,760,738,720,687,649,914,800,839,658,635,657,0.400971205695,0.0044877631568,0.0698255118947,0.999999960944,3.21946079711e-05,-0.000276906664495,1.99739266056e-05,1793254960730625280
+34,0.566666667,BASELINE,781.731526311,760,738,720,687,649,914,800,839,658,635,657,0.400971803982,0.00448786060737,0.0698266130062,0.999999961392,3.33835386745e-05,-0.000275120422844,2.02609222922e-05,1793254960747291904
+35,0.583333333,BASELINE,781.684163776,760,738,720,687,649,914,800,839,658,635,657,0.400972148302,0.00448768732348,0.0698267946672,0.999999961534,3.3388597026e-05,-0.000274598293649,2.03123891982e-05,1793254960763958272
+36,0.600000000,BASELINE,781.103814206,760,738,720,687,649,914,800,839,658,635,657,0.400972279923,0.00448728729905,0.069826206287,0.999999961422,3.24021605034e-05,-0.000275134860478,2.0166600402e-05,1793254960780624896
+37,0.616666667,BASELINE,781,759.527259358,737.527259358,720,687,649,914,799.527259358,839,658,635,657,0.400972723321,0.00448747813512,0.0698262062533,0.999999961519,3.26815797056e-05,-0.000274763588859,1.99530346572e-05,1793254960797291264
+38,0.633333333,BASELINE,781,759.0483766,737.0483766,720,687,649,914,799.0483766,839,658,635,657,0.400973044477,0.00448779624845,0.0698262732831,0.999999961612,3.31502345021e-05,-0.00027438562272,1.97549806428e-05,1793254960813957888
+39,0.650000000,BASELINE,781,759.623009956,737.623009956,720,687,649,914,799.623009956,839,658,635,657,0.40097129696,0.00448809866541,0.0698256755501,0.999999961157,3.267754763e-05,-0.000276086287438,1.98862905958e-05,1793254960830624512
+40,0.666666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400970218127,0.0044883336917,0.0698255449251,0.999999960983,3.19738681519e-05,-0.000276798574705,1.98331661448e-05,1793254960847291392
+41,0.683333333,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400970414757,0.00448844017523,0.0698263052739,0.999999961351,3.08295873776e-05,-0.000275625604928,1.94282466909e-05,1793254960863958016
+42,0.700000000,BASELINE,781,760,738,720,687,649,914,799.623587226,839,657.623587226,635,657,0.400971530443,0.00448754323928,0.0698266842809,0.999999961515,3.11116617106e-05,-0.000274990691836,1.95320765809e-05,1793254960880625152
+43,0.716666667,BASELINE,781,760,738,720,687,649,914,799.047568001,839,657.047568001,635,657,0.400973133492,0.00448611420393,0.0698268610675,0.999999961571,3.21501123309e-05,-0.000274641102745,1.99056891762e-05,1793254960897292288
+44,0.733333333,BASELINE,781,760,738,720,687,649,914,799.530466891,838.469533109,657,635,657,0.400972543021,0.00448683753394,0.0698262842479,0.999999961293,3.41612331482e-05,-0.000275397785914,2.00784545304e-05,1793254960913958656
+45,0.750000000,BASELINE,781,759.892169751,738,720,687,649,914,800,838,657,635,657,0.400971884646,0.00448743150608,0.0698258528334,0.999999961067,3.5769523433e-05,-0.000275999663256,2.02494366259e-05,1793254960930624768
+46,0.766666667,BASELINE,781,759.318491556,738,720,687,649,914,800,838,657,635,657,0.40097178592,0.0044866296185,0.0698263426594,0.999999961218,3.52592555665e-05,-0.000275502543525,2.04908197576e-05,1793254960947291392
+47,0.783333333,BASELINE,781,759.263816961,738,720.263816961,687,649,914,800,838.263816961,657.263816961,635,657.263816961,0.400971690914,0.0044869618106,0.0698266077335,0.999999961282,3.54145920489e-05,-0.000275257797175,2.03814387611e-05,1793254960963958272
+48,0.800000000,BASELINE,781,759.856896829,738,720.856896829,687,649,914,800,838.856896829,657.856896829,635,657.856896829,0.40097160055,0.00448870941716,0.0698265923008,0.999999961238,3.64006514864e-05,-0.00027532803124,1.98342784504e-05,1793254960980624640
+49,0.816666667,BASELINE,781,759.563602383,737.563602383,720.127204766,687,649,914,800,839,658,635,657.563602383,0.400972424026,0.00448787585645,0.069827549368,0.999999961785,3.33653203645e-05,-0.000273731708015,1.96689043442e-05,1793254960997291776
+50,0.833333333,BASELINE,781,759.011611218,737.011611218,719.023222437,687,649,914,800,839,657.988388782,635,657,0.400973507693,0.00448626060248,0.0698287690994,0.999999962476,2.92003349603e-05,-0.000271678854277,1.96315366709e-05,1793254961013959424
+51,0.850000000,BASELINE,781,759.588348959,737.588348959,720.176697918,687,649,914,800,839,657.411651041,635,657,0.400973110265,0.00448655219607,0.0698277201149,0.99999996196,3.22990776985e-05,-0.000273202022841,1.9914881863e-05,1793254961030625280
+52,0.866666667,BASELINE,781,760,738,720.831894795,687,649,914,800,839,657,635,657,0.400972800438,0.0044871177651,0.069826990409,0.999999961589,3.40097896315e-05,-0.000274347996964,1.99809890228e-05,1793254961047291136
+53,0.883333333,BASELINE,781,760,738,720.244611808,687,649,914,800,839,657,635,657,0.400972709049,0.00448836650403,0.0698270568384,0.9999999616,3.22593850094e-05,-0.000274553419932,1.95054034979e-05,1793254961063957760
+54,0.900000000,BASELINE,781,760,738,720,687,649,914,800,839,657,635,657,0.400972793944,0.00448818924883,0.0698272005008,0.999999961662,3.17616689555e-05,-0.00027438999404,1.94467510237e-05,1793254961080624640
+55,0.916666667,BASELINE,781,760,738,720,687,649,914,800,839,657,635,657,0.400973004677,0.00448699406449,0.0698273992953,0.999999961761,3.21581699438e-05,-0.000273963269731,1.96857213133e-05,1793254961097291264
+56,0.933333333,BASELINE,781,760,738,720,687,649,914,800,838.505897818,657,635,657,0.400973065558,0.00448764962804,0.0698279498662,0.999999961908,3.39003738539e-05,-0.00027319634887,1.99813554871e-05,1793254961113958144
+57,0.950000000,BASELINE,781,760,738,720.066891947,687,649,914,799.933108053,838.066891947,657.066891947,634.933108053,657,0.400973047359,0.00448826914805,0.0698283454565,0.999999962006,3.54375660468e-05,-0.000272620920925,2.02464546878e-05,1793254961130624512
+58,0.966666667,BASELINE,781,760,738,720.640632271,687,649,914,799.359367729,838.640632271,657.640632271,634.359367729,657,0.400972610489,0.00448638585459,0.0698271429335,0.999999961712,3.38001097447e-05,-0.000273906313551,2.02119201686e-05,1793254961147291136
+59,0.983333333,BASELINE,781,759.778194311,738,720.778194311,687,649,914,799,839,658,634.221805689,657.221805689,0.400972448066,0.00448531377452,0.0698264433931,0.999999961553,3.29955670876e-05,-0.000274584932127,2.02008500869e-05,1793254961163957760
+60,1.000000000,BASELINE,781,759.184560182,738,720.184560182,687,649,914,799,839,658,634.815439818,657.815439818,0.400972745718,0.00448560158806,0.0698265870374,0.999999961626,3.35872957547e-05,-0.000274246372991,2.02291150833e-05,1793254961180624384
+61,1.016666667,BASELINE,781,759.395467819,737.604532181,720,687.395467819,649,914,799.395467819,839,658,635,657.604532181,0.400972630277,0.00448661941322,0.0698267504409,0.999999961645,3.48380932693e-05,-0.000274022936653,2.01987979193e-05,1793254961197291264
+62,1.033333333,BASELINE,781,759.969357166,737.030642834,720,687.969357166,649,914,799.969357166,839,658,635,657.030642834,0.400972328463,0.00448796659459,0.0698269227589,0.999999961638,3.63862400272e-05,-0.000273851439796,2.01420504907e-05,1793254961213957888
+63,1.050000000,BASELINE,781,759.464562191,737,720,687.464562191,649,914,800,839,657.464562191,635,657,0.400972331784,0.00448708887837,0.0698269044973,0.999999961622,3.46081486645e-05,-0.000274152434362,1.99806249376e-05,1793254961230624768
+64,1.066666667,BASELINE,781,759.107725306,737.107725306,720,687,649,914,800,839,657.107725306,635,657.107725306,0.400972536733,0.0044862239648,0.0698270273311,0.999999961693,3.28387078305e-05,-0.000274120602608,1.98508892018e-05,1793254961247291392
+65,1.083333333,BASELINE,781,759.710564359,737.710564359,720,687,649,914,800,839,657.710564359,635,657.710564359,0.400973589276,0.00448599469856,0.0698278480579,0.99999996218,3.19713537479e-05,-0.000272436582067,1.98939401319e-05,1793254961263957760
+66,1.100000000,BASELINE,781.301286666,760,738,720,687,649,914,800,839,658,635,658,0.40097366079,0.00448632749545,0.0698278878032,0.999999962269,3.23765205245e-05,-0.000272055716596,1.99907426968e-05,1793254961280624640
+67,1.116666667,BASELINE,781.88081883,760,738,720,687,649,914,800,839,658,635,658,0.400972826302,0.00448717937121,0.0698272062931,0.999999961989,3.3956891039e-05,-0.000272878346343,2.01371861897e-05,1793254961297291264
+68,1.133333333,BASELINE,781.542744654,759.542744654,738,720,687,649,914,800,838.542744654,658,635,658,0.40097233397,0.00448687620128,0.0698271869445,0.999999961872,3.40475738842e-05,-0.000273304127119,2.00534550031e-05,1793254961313957888
+69,1.150000000,BASELINE,781,759.032862708,738,720.032862708,687.032862708,649,914,800,838.032862708,658,635,657.967137292,0.40097199194,0.00448630807413,0.0698273493191,0.999999961815,3.36930835742e-05,-0.00027356403044,1.99139578484e-05,1793254961330624512
+70,1.166666667,BASELINE,781,759.608012021,738,720.608012021,687.608012021,649,914,800,838.608012021,658,635,657.391987979,0.400972668373,0.004486302236,0.0698276815775,0.999999962075,3.23566671273e-05,-0.000272782082207,1.98375695966e-05,1793254961347291136
+71,1.183333333,BASELINE,781,759.810996428,738,720.810996428,687.810996428,649,914,800,838.810996428,658,635,657,0.400973102877,0.00448631925505,0.0698277733276,0.999999962212,3.12208293709e-05,-0.000272413519171,1.97944044003e-05,1793254961363957760
+72,1.200000000,BASELINE,781,759.217501648,738,720.217501648,687.217501648,649,914,800,838.217501648,658,635,657,0.400973019623,0.0044863851913,0.0698273503597,0.999999962093,3.05142547668e-05,-0.000272929651847,1.98223406704e-05,1793254961380624640
+73,1.216666667,BASELINE,781,759.365392484,738,720,687.365392484,649,914,800,838.365392484,657.634607516,635,657,0.400972785797,0.00448725663367,0.0698269391551,0.999999961972,3.21121158544e-05,-0.000273194166046,1.97600152532e-05,1793254961397291264
+74,1.233333333,BASELINE,781,759.9421544,738,720,687.9421544,649,914,800,838.9421544,657.0578456,635,657,0.400972464871,0.00448859403901,0.0698265347553,0.999999961843,3.50430292021e-05,-0.000273313125893,1.96454759482e-05,1793254961413957888
+75,1.250000000,BASELINE,781,760,738,720,687.483437546,649,914,800,839,657.516562454,635,657,0.400972921092,0.00448805514779,0.0698267874295,0.999999961919,3.4512469338e-05,-0.000273090585812,1.97921050451e-05,1793254961430624256
+76,1.266666667,BASELINE,781,760,738,720,687.090392798,649,914,800,838.909607202,658,634.909607202,657,0.400973187137,0.0044873312385,0.0698270555026,0.999999961954,3.37765715733e-05,-0.000273043717833,1.99519508049e-05,1793254961447291136
+77,1.283333333,BASELINE,781,760,738,720,687.662542622,649,914,800,838.337457378,658,634.337457378,657,0.400971977911,0.00448673598532,0.0698270152709,0.999999961646,3.40028035403e-05,-0.000274135999745,2.00270731324e-05,1793254961463957760
+78,1.300000000,BASELINE,781,760,738,720,687.75427472,649,914,800,838.24572528,658,634.24572528,657,0.400971096968,0.00448759945074,0.0698268076288,0.999999961328,3.50747251313e-05,-0.00027517179856,1.9872208688e-05,1793254961480624384
+79,1.316666667,BASELINE,781,760,738,720,687.155228325,649,914,800,838.844771675,658,634.844771675,657,0.400970688054,0.00449056036456,0.0698263592721,0.999999960991,3.73626388098e-05,-0.000276126381901,1.93866530575e-05,1793254961497291008
+80,1.333333333,BASELINE,781,760,738,720,687.42475284,649,914.42475284,800,839,657.57524716,635,657,0.400971389528,0.00448983987207,0.0698269274237,0.999999961274,3.58225373927e-05,-0.000275299459188,1.94659747564e-05,1793254961513957888
+81,1.350000000,BASELINE,781,760,738,720,687.99806586,649,914.99806586,800,839,657.00193414,635,657,0.400972479369,0.00448783178305,0.0698278511058,0.999999961766,3.29435619714e-05,-0.00027384944275,1.9742866085e-05,1793254961530624768
+82,1.366666667,BASELINE,781,760,738,720,687.425568219,649,914.425568219,800,839,657.574431781,635,657.574431781,0.400972237824,0.00448746077633,0.0698276798476,0.999999961828,3.34298477085e-05,-0.000273560078831,1.97576286209e-05,1793254961547291136
+83,1.383333333,BASELINE,781,760,738,720,687,649,914,800,839,658,635,658,0.400972225252,0.00448717665837,0.0698276406626,0.999999961924,3.36709788769e-05,-0.000273182000257,1.97459638309e-05,1793254961563957504
+84,1.400000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,658,0.400972871539,0.00448712209562,0.0698279846365,0.999999962116,3.3188157328e-05,-0.000272542488956,1.96622271575e-05,1793254961580624384
+85,1.416666667,BASELINE,781.324786993,760,738,720,687.324786993,649,914,800,839,658,635,658,0.400973081367,0.0044869284323,0.0698277122004,0.999999962031,3.26661002635e-05,-0.000272917004104,1.9697218373e-05,1793254961597291264
+86,1.433333333,BASELINE,781.903418445,760,738,720,687.903418445,649,914,800,839,658,635,658,0.40097295007,0.00448662605186,0.0698269579953,0.999999961727,3.21133778427e-05,-0.000274084054095,1.98250040016e-05,1793254961613958144
+87,1.450000000,BASELINE,781.518679345,759.518679345,738,720,688,649,914,800,839,658,635,657.518679345,0.400973726746,0.00448761919346,0.0698278102195,0.99999996194,3.33639932349e-05,-0.000273160175974,1.97685312486e-05,1793254961630624768
+88,1.466666667,BASELINE,781,759.058708449,738,720.058708449,687.941291551,649,914,799.941291551,838.941291551,658,635,657,0.400974310051,0.00448864791346,0.0698286286325,0.999999962133,3.46575666771e-05,-0.000272299042614,1.96512273027e-05,1793254961647291136
+89,1.483333333,BASELINE,781,759.632862615,738,720.632862615,687.367137385,649,914,799.367137385,838.367137385,658,635,657,0.400971598408,0.0044877100819,0.0698263243613,0.999999961268,3.31560935488e-05,-0.000275666893597,1.93239649085e-05,1793254961663957760
+90,1.500000000,BASELINE,781,760,738,720.785902742,687.214097258,649,914,799.214097258,838.214097258,658,635,657.214097258,0.400970388924,0.0044870499993,0.0698255976818,0.999999960987,3.220443094e-05,-0.000276796006848,1.92968868455e-05,1793254961680624384
+91,1.516666667,BASELINE,781,760,738,720.192111175,687.807888825,649,914,799.807888825,838.807888825,658,635,657.807888825,0.400971843467,0.00448688249528,0.0698276688088,0.999999961759,3.22278390181e-05,-0.000273954793424,1.9802175667e-05,1793254961697291264
+92,1.533333333,BASELINE,781,759.611581688,738,720,688,649,914,799.611581688,839,657.611581688,635,657.611581688,0.400972430674,0.00448769910959,0.069827792098,0.999999961959,3.37046768659e-05,-0.000273037708888,1.9932485728e-05,1793254961713958144
+93,1.550000000,BASELINE,781,759.037394988,738,720,688,649,914,799.037394988,839,657.037394988,635,657.037394988,0.400972603061,0.00448898639705,0.0698269837973,0.999999961883,3.58766449311e-05,-0.000273040875051,1.98834551651e-05,1793254961730625280
+94,1.566666667,BASELINE,781,759.538429563,738,720,688,649,914,799.538429563,839,657.538429563,635,657,0.400973862183,0.00448868091324,0.0698278842639,0.999999962398,3.55015656755e-05,-0.000271200469061,1.98504085505e-05,1793254961747292160
+95,1.583333333,BASELINE,781.117615286,760,738,720,688,649,914,800,839,658,635,657,0.400974814173,0.0044881189317,0.0698286762082,0.999999962786,3.48583597906e-05,-0.000269844633654,1.99126469865e-05,1793254961763958784
+96,1.600000000,BASELINE,781.709905817,760,738,720,688,649,914,800,839,658,635,657,0.400974221094,0.00448696957893,0.0698285497529,0.99999996251,3.38491465449e-05,-0.000270962764994,2.03549457231e-05,1793254961780624896
+97,1.616666667,BASELINE,781.705274847,759.705274847,738,720,688,649,914,800,839,658,635,657,0.40097394094,0.00448679232506,0.0698283805881,0.999999962378,3.34473074145e-05,-0.000271501809101,2.0303628249e-05,1793254961797291264
+98,1.633333333,BASELINE,781.127627539,759.127627539,738,720,688,649,914,800,839,658,635,657,0.40097396118,0.00448754824003,0.0698281704242,0.999999962387,3.36285186596e-05,-0.000271484956892,1.97784626209e-05,1793254961813957888
+99,1.650000000,BASELINE,781,759.448248524,738,720,687.551751476,649,914,800,838.551751476,658,635,657,0.400974338785,0.00448725430378,0.0698285852664,0.999999962576,3.26313744444e-05,-0.000270918351779,1.96363277911e-05,1793254961830625024
+100,1.666666667,BASELINE,781,760,737.976392169,720.023607831,687.023607831,649,914,800,838.023607831,657.976392169,635,657,0.400974835767,0.00448673712298,0.0698292073199,0.999999962821,3.14897219094e-05,-0.000270150717817,1.96062177456e-05,1793254961847291904
+101,1.683333333,BASELINE,781,760,737.401369531,720.598630469,687.598630469,649,914,800,838.598630469,657.401369531,635,657,0.400975753807,0.00448796000725,0.0698305290831,0.999999963202,3.4778439838e-05,-0.000268329283198,1.96554198093e-05,1793254961863958528
+102,1.700000000,BASELINE,781,760,737,720.821280341,688,649,914,800,839,657.178719659,635.178719659,657,0.400975778389,0.00448813815596,0.069830938349,0.999999963297,3.55610899516e-05,-0.000267868691439,1.97053327335e-05,1793254961880625152
+103,1.716666667,BASELINE,781,760,737,720.229480758,688,649,914,800,839,657.770519242,635.770519242,657,0.400973737896,0.00448590157691,0.069829238533,0.999999962739,3.05513925009e-05,-0.000270553455436,1.97568886831e-05,1793254961897292032
+104,1.733333333,BASELINE,781.353463478,760,737,720,688,649,914,800,839,658,635.646536522,657,0.400972959248,0.00448647454655,0.0698281931406,0.999999962338,3.19956432738e-05,-0.000271858897941,1.9842932996e-05,1793254961913958912
+105,1.750000000,BASELINE,781.930799089,760,737,720,688,649,914,800,839,658,635.069200911,657,0.400972979813,0.00448882699162,0.0698275622383,0.999999962026,3.75276119091e-05,-0.000272290723877,1.99508211079e-05,1793254961930625536
+106,1.766666667,BASELINE,781.491633097,760,737.508366903,720,687.491633097,649,914,800,839,658,635,657,0.400972469477,0.00448804383768,0.0698283614743,0.999999962117,3.41580499667e-05,-0.000272409139683,1.98317466262e-05,1793254961947291904
+107,1.783333333,POSE1_TO_POSE2_PRESS,781,760,738,720,688,649,914,799,839,658,635,657,0.400971710292,0.00448892366376,0.0698270735581,0.999999961677,3.70295797087e-05,-0.000273635095509,1.99707613204e-05,1793254961989825536
+108,1.800000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687.421285775,649,914,799.578714225,839,658,635,657,0.40097172988,0.00448967539207,0.0698270386799,0.999999961645,3.72124914786e-05,-0.000273757738722,1.95463236601e-05,1793254962006492416
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,759.843391154,738,720,687,649,914,800,839,657.843391154,635,657.156608846,0.400972025448,0.00448989778098,0.0698272011008,0.99999996177,3.6282423536e-05,-0.000273446320309,1.92781886862e-05,1793254962023159296
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,759.267689702,738,720,687,649,914,800,839,657.267689702,635,657.732310298,0.400973059549,0.00448870363307,0.069827891503,0.999999962302,3.23739697962e-05,-0.000271973332676,1.94283269268e-05,1793254962039825664
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,759.306077774,737.693922226,720.306077774,687,649,914,800,839,657.306077774,635,657.693922226,0.400973589901,0.00448860134618,0.0698284550765,0.999999962483,3.19056417658e-05,-0.000271363075508,1.94698897748e-05,1793254962056492288
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,759.878164419,737.121835581,720.878164419,687,649,914,800,839,657.878164419,635,657.121835581,0.400973682449,0.00448944798392,0.0698289084244,0.999999962362,3.44270898672e-05,-0.000271502608108,1.94170909191e-05,1793254962073158656
+113,1.883333333,POSE1_TO_POSE2_PRESS,781,759.53213068,737,720.53213068,687,649,914,800,839,658,635,657,0.40097461927,0.00448842047872,0.0698290753236,0.999999962688,3.35749904089e-05,-0.000270417357407,1.92525284484e-05,1793254962089825024
+114,1.900000000,POSE1_TO_POSE2_PRESS,781,759.060427577,737.060427577,720,687.060427577,649,914,800,839,658,635,657.060427577,0.400975580435,0.00448718290982,0.0698291920298,0.999999963051,3.22487962884e-05,-0.000269244107038,1.91267111448e-05,1793254962106491136
+115,1.916666667,POSE1_TO_POSE2_PRESS,781,759.636648067,737.636648067,720,687.636648067,649,914,800,839,658,635,657.636648067,0.400974799348,0.00448848104363,0.0698295419188,0.999999962717,3.46678171943e-05,-0.000270148624086,1.95897545541e-05,1793254962123158016
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,759.786667638,738,720,688,649,914,800,839,658,635,657.786667638,0.400977405915,0.00448875596836,0.0698310071463,0.999999962931,3.60302498459e-05,-0.000269149312111,1.99574920628e-05,1793254962139824640
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,759.209191721,738,720,688,649,914,800,839,658,635,657.209191721,0.400985794976,0.004487284346,0.0698343761796,0.999999964077,3.55891593316e-05,-0.000264900295857,2.01625489573e-05,1793254962156491520
+118,1.966666667,POSE1_TO_POSE2_PRESS,781,759.362900029,738,720,688,649,914.362900029,800,839,658,635,657.362900029,0.401010253557,0.00448748689161,0.0698447837379,0.999999968503,3.49504118749e-05,-0.000247728247303,2.00982617021e-05,1793254962173158144
+119,1.983333333,POSE1_TO_POSE2_PRESS,781,759.931933534,738,720,688,649,914.931933534,800,839,658,635,657.931933534,0.401043839905,0.00448864039336,0.0698591893002,0.999999974305,3.41993918071e-05,-0.000223215692999,1.98809823341e-05,1793254962189824768
+120,2.000000000,POSE1_TO_POSE2_PRESS,781,760,738,720.525989543,687.474010457,649,914.474010457,800,839,658,635.525989543,657.474010457,0.401095695593,0.00448873185469,0.0698751648815,0.999999979748,3.45921867964e-05,-0.00019729817711,1.95269127347e-05,1793254962206491392
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,760,738,721,687.119109135,649,914,800,839,658,635.880890865,657.119109135,0.401153016059,0.00448867080431,0.069890351378,0.999999984114,3.43526992555e-05,-0.000173860141639,1.91033554727e-05,1793254962223158272
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,760,738,721,687.695578471,649,914,800,839,658,635.304421529,657.695578471,0.401221788941,0.00448857822068,0.0699016888085,0.999999986438,3.10885962209e-05,-0.000160675907146,1.84843427059e-05,1793254962239824640
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759.729050932,738,720.729050932,688,649,914.270949068,799.729050932,839,658,635,658,0.40129774263,0.00448815849565,0.069909371525,0.999999988209,2.86482093843e-05,-0.000149865721082,1.73884834215e-05,1793254962256491264
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759.154909859,738,720.154909859,688,649,914.845090141,799.154909859,839,658,635,658,0.401381731637,0.0044873726994,0.0699129646158,0.999999989467,2.71295611665e-05,-0.000141712096002,1.57590329263e-05,1793254962273157888
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,759.430615715,738,720,687.569384285,649,914.569384285,799.430615715,839,658,635,657.569384285,0.40147491383,0.00448767720748,0.0699115790589,0.999999989133,2.60294311159e-05,-0.000144453224054,1.37460372489e-05,1793254962289824512
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,658,635,657,0.401572700662,0.00448841540642,0.0699084725381,0.999999988216,2.49933352919e-05,-0.000151029257086,1.15483635499e-05,1793254962306491392
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,658,635,657,0.40170428107,0.0044900158328,0.0699086873243,0.999999988145,2.14216951152e-05,-0.000152266023298,8.14871987114e-06,1793254962323158016
+128,2.133333333,POSE1_TO_POSE2_PRESS,781.176805089,760,738,720.176805089,687,649,914,800,839,658,635,657.176805089,0.401845497323,0.0044908906959,0.069910000518,0.999999988397,1.70164994992e-05,-0.000151308034416,4.80643163041e-06,1793254962339824896
+129,2.150000000,POSE1_TO_POSE2_PRESS,781.7524384,760,738,720.7524384,687,649,914,800,839,658,635,657.7524384,0.402008449623,0.00449012886879,0.0699137914451,0.999999989371,1.07310110079e-05,-0.000145399224785,1.59352342582e-06,1793254962356491520
+130,2.166666667,POSE1_TO_POSE2_PRESS,781.672058577,760,738,720.672058577,687.327941423,649,914,800,839,658,635,657.672058577,0.402190301231,0.00449138859637,0.0699172153686,0.999999990133,8.42622874555e-06,-0.000140205562083,-2.29163562367e-06,1793254962373157888
+131,2.183333333,POSE1_TO_POSE2_PRESS,781.09665381,760,738,720.09665381,687.90334619,649,914,800,839,658,635,657.09665381,0.402386414203,0.00449417378133,0.0699203623528,0.999999990749,9.12527154433e-06,-0.000135551545904,-6.68407293232e-06,1793254962389824512
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,737.507878653,720,687.507878653,649,914,800,839,658,635,657,0.402605443979,0.00449554577557,0.0699223104696,0.999999991172,3.8593811099e-06,-0.000132303518695,-1.16818673373e-05,1793254962406490880
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,737.081514584,720,687,649,914.081514584,800,839,658,635,657,0.402836544262,0.00449654724923,0.0699243872849,0.999999991606,-2.83012916865e-06,-0.000128436026917,-1.68430690947e-05,1793254962423157760
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,760,737.65826372,720,687,649,914.65826372,800,839,658,635,657,0.403112869334,0.00449703100649,0.069928716467,0.999999992603,-1.08524334805e-05,-0.000119080517888,-2.22545395529e-05,1793254962439824384
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,760,738,720.234422072,687.234422072,649,915,800,839,658,635,657,0.403407954379,0.00449727147679,0.0699370312586,0.999999994146,-1.75962128983e-05,-0.000103214358941,-2.72997051541e-05,1793254962456491264
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,760,738,720.80972132,687.80972132,649,915,800,839,658,635,657,0.403730318608,0.00449715817928,0.0699511415935,0.999999996209,-2.24808667475e-05,-7.78809522789e-05,-3.18122202178e-05,1793254962473158144
+137,2.283333333,POSE1_TO_POSE2_PRESS,781.394577643,760,738,720.605422357,687.605422357,649,915,800,839,658,635,657,0.404061035865,0.00448619599557,0.0699584325569,0.999999996444,-3.6461903547e-05,-6.83850595706e-05,-3.32466820756e-05,1793254962489825024
+138,2.300000000,POSE1_TO_POSE2_PRESS,781.984157093,760,738,720.015842907,687.015842907,649,915,800,839,658,635,657,0.404395881212,0.00446987225006,0.06996235336,0.999999995716,-5.49384080683e-05,-6.67161286695e-05,-3.31599579188e-05,1793254962506491904
+139,2.316666667,POSE1_TO_POSE2_PRESS,781.434172087,760,738,720,687,649,914.434172087,800,839,658,635,657,0.404790640412,0.0044610446651,0.069966934013,0.999999997839,-2.03291172447e-05,-5.86248993726e-05,-2.17102102269e-05,1793254962523158016
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,760,738,720,686.854612408,649,914,800,839,658,635,657.145387592,0.405194309248,0.00445898338042,0.0699695902401,0.99999999836,1.24441766077e-05,-5.39643565585e-05,-1.46195180084e-05,1793254962539824640
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760,738,720,686.280632547,649,914,800,839,658,635,657.719367453,0.405619365827,0.00447625846023,0.0699665196821,0.999999997347,3.5483742917e-05,-5.99400280121e-05,-2.13039951248e-05,1793254962556491008
+142,2.366666667,POSE1_TO_POSE2_PRESS,781,760,738,720,686.294221137,649,914.294221137,800,839,658,635,658,0.406060356788,0.00448265320883,0.0699613947104,0.99999999644,4.37355486043e-05,-6.76929582062e-05,-2.50001431711e-05,1793254962573157632
+143,2.383333333,POSE1_TO_POSE2_PRESS,781,760,738,720,686.869910837,649,914.869910837,800,839,658,635,658,0.40651659153,0.00447863921992,0.0699543043701,0.999999995974,3.78405497157e-05,-7.71461152457e-05,-2.58374875858e-05,1793254962589824512
+144,2.400000000,POSE1_TO_POSE2_PRESS,781,760,738,720,686.543072367,649,915,800,839,658,635,657.543072367,0.406993175844,0.00448573663067,0.0699380973799,0.999999994638,-2.2242535363e-06,-9.98080196012e-05,-2.75219408836e-05,1793254962606491392
+145,2.416666667,POSE1_TO_POSE2_PRESS,781.04628167,760,738,720,686.04628167,649,915,800,839,657.95371833,635,657,0.407484016474,0.00449589562551,0.0699215730845,0.999999991028,-4.59500810716e-05,-0.000122319216348,-2.95072360557e-05,1793254962623158272
+146,2.433333333,POSE1_TO_POSE2_PRESS,781.6244922,760,738,720,686.6244922,649,915,800,839,657.3755078,635,657,0.408070429227,0.0045039594987,0.0699319915923,0.99999999446,-1.71009636367e-05,-9.87781224096e-05,-3.21078370952e-05,1793254962639824896
+147,2.450000000,POSE1_TO_POSE2_PRESS,781.798535237,760,738,719.798535237,687,649,914.798535237,800,839,657,635,657,0.408675543822,0.00451058180153,0.0699438749878,0.999999996803,7.39475485159e-06,-7.20536174416e-05,-3.38889431792e-05,1793254962656491520
+148,2.466666667,POSE1_TO_POSE2_PRESS,781.223856047,760,738,719.223856047,687,649,914.223856047,800,839,657,635,657,0.409315303633,0.00451453358797,0.0699584720942,0.999999998356,2.38257794227e-05,-3.94318300151e-05,-3.41519308615e-05,1793254962673157888
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,738,719.357203245,687,649,914,800,839,657.357203245,635,657,0.409928695514,0.00452239827896,0.0699575576021,0.999999998061,3.40390609891e-05,-3.83652053564e-05,-3.53255052515e-05,1793254962689824512
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,738,719.942333581,687,649,914,800,839,657.942333581,635,657,0.41052526231,0.0045327597471,0.0699467453451,0.999999996852,4.02848749698e-05,-5.74335514579e-05,-3.70801140566e-05,1793254962706491392
+151,2.516666667,POSE1_TO_POSE2_PRESS,781.526610358,760,738,720,687.526610358,649,914,800,839,658,635,657.526610358,0.41119495516,0.00453923398157,0.0699460869353,0.999999995973,5.17305625466e-05,-6.31831822612e-05,-3.72323768095e-05,1793254962723158272
+152,2.533333333,POSE1_TO_POSE2_PRESS,782,760,738,720,687.890501692,649,914.109498308,800,839,658,635,657.890501692,0.41188998654,0.00454555453839,0.0699528601574,0.999999995839,6.15227556348e-05,-5.58725846848e-05,-3.76094812029e-05,1793254962739824896
+153,2.550000000,POSE1_TO_POSE2_PRESS,782,760,738,720,687.313149242,649,914.686850758,800,839,658,635,657.313149242,0.41265912281,0.00455303429879,0.0699866434442,0.999999997301,6.18210564027e-05,1.01903058685e-06,-3.9695764135e-05,1793254962756491776
+154,2.566666667,POSE1_TO_POSE2_PRESS,782,760,737.738034164,720,686.738034164,649,915,800,839.261965836,658,635.261965836,657,0.413435735789,0.00456088179996,0.0700136601448,0.999999996017,6.60539592309e-05,4.38216754761e-05,-4.10122306434e-05,1793254962773158400
+155,2.583333333,POSE1_TO_POSE2_PRESS,782,760,737.165570875,720,686.165570875,649,915,800,839.834429125,658,635.834429125,657,0.414221210709,0.00456916517027,0.0700326566902,0.999999993889,7.49503860616e-05,6.9925244195e-05,-4.14162654203e-05,1793254962789825280
+156,2.600000000,POSE1_TO_POSE2_PRESS,782,760,737,719.579787651,686,649,915,800,839.579787651,657.579787651,636,657,0.414946613428,0.00457673700236,0.0700026633706,0.99999999502,8.93580201751e-05,1.36723333681e-05,-4.22896080545e-05,1793254962806491648
+157,2.616666667,POSE1_TO_POSE2_PRESS,782,760,737.011191273,719,686,649,914.988808727,800,839.011191273,657.011191273,635.988808727,657,0.415649601013,0.0045840048113,0.0699531076033,0.999999990659,0.000105580990928,-7.51868611452e-05,-4.33835796311e-05,1793254962823158272
+158,2.633333333,POSE1_TO_POSE2_PRESS,782,760,737.590775514,719,686,649,914.409224486,800,839.590775514,657.590775514,635.409224486,657,0.41645565085,0.00459053685678,0.0699224600503,0.999999986966,0.000100103978019,-0.000118038992908,-4.59839820387e-05,1793254962839824896
+159,2.650000000,POSE1_TO_POSE2_PRESS,782,760,738,718.831380711,686,649,914.168619289,800,840,657.831380711,635,657,0.417283534454,0.00459558962734,0.0699106249765,0.999999985231,9.7202446103e-05,-0.000133340844536,-4.80656423073e-05,1793254962856491264
+160,2.666666667,POSE1_TO_POSE2_PRESS,782,760,738,718.257717775,686,649,914.742282225,800,840,657.257717775,635,657,0.418163865323,0.00459708900271,0.0699439797236,0.999999990355,0.000100487527311,-8.24636344603e-05,-4.89012220177e-05,1793254962873158144
+161,2.683333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686.315579315,649,915,800,840,657.315579315,635,657,0.419065940702,0.00459924379634,0.069974123288,0.999999992421,0.000106686837133,-3.70166377677e-05,-4.90437419247e-05,1793254962889824768
+162,2.700000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686.888577953,649,915,800,840,657.888577953,635,657,0.419985753124,0.00460193321723,0.070001647476,0.999999992167,0.000115263294878,4.00090936644e-06,-4.86209301138e-05,1793254962906491136
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760,738,718.4790759,687,649,915,800,840,658,635,657,0.420907579822,0.00458925501869,0.0700266078069,0.999999993168,9.79669737991e-05,4.10316129495e-05,-4.88224099889e-05,1793254962923158272
+164,2.733333333,POSE1_TO_POSE2_PRESS,782.071637742,760,738,718.928362258,687,649,915,800,840,657.928362258,635,657,0.421822119532,0.00457347490907,0.0700434446653,0.999999993806,7.54070254008e-05,6.52791384583e-05,-4.94056300406e-05,1793254962939825408
+165,2.750000000,POSE1_TO_POSE2_PRESS,782.648949915,760,738,718.351050085,687,649,915,800,840,657.351050085,635,657,0.422681789347,0.00456198475924,0.0700073084581,0.999999996862,5.97782314831e-05,6.08649240249e-06,-5.16197059376e-05,1793254962956491776
+166,2.766666667,POSE1_TO_POSE2_PRESS,782.773837619,760,738,718,686.773837619,649.226162381,915,800,840,657,635.226162381,657.226162381,0.423535563959,0.00455904590212,0.0699517098864,0.999999993805,5.62382764872e-05,-7.97549177633e-05,-5.35468289635e-05,1793254962973158144
+167,2.783333333,POSE1_TO_POSE2_PRESS,782.196779761,760,738,718,686.196779761,649.803220239,915,800,840,657,635.803220239,657.803220239,0.424380192179,0.00456937454565,0.0698659150597,0.99999997452,7.14543952204e-05,-0.000206942429431,-5.50287388217e-05,1793254962989824512
+168,2.800000000,POSE1_TO_POSE2_PRESS,782.387427017,760,737.612572983,718,686,649.612572983,915,800.387427017,840,657.387427017,636,658,0.425326595019,0.00457702791588,0.069862422729,0.999999974263,7.9738577825e-05,-0.000204709321508,-5.66626645315e-05,1793254963006491392
+169,2.816666667,POSE1_TO_POSE2_PRESS,782.975333061,760,737.024666939,718,686,649.024666939,915,800.975333061,840,657.975333061,636,658,0.426325662378,0.00458329693138,0.0699015188745,0.999999985551,8.44357413363e-05,-0.000135505864869,-5.83752527744e-05,1793254963023158016
+170,2.833333333,POSE1_TO_POSE2_PRESS,783.554452048,760,737,717.445547952,686,649,915,800.445547952,840,658,635.445547952,657.445547952,0.427329175711,0.00458532097557,0.0699631789053,0.999999992554,9.21588637639e-05,-5.82359687962e-05,-5.48329823571e-05,1793254963039824896
+171,2.850000000,POSE1_TO_POSE2_PRESS,783.867615903,760,737.132384097,717,686,649,915,800,840,658,635,657,0.428333907617,0.00458701909566,0.0700198770233,0.999999994004,9.45380399114e-05,1.7604827587e-05,-5.23837112183e-05,1793254963056491776
+172,2.866666667,POSE1_TO_POSE2_PRESS,783.29236719,760,737.70763281,717,686,649,915,800,840,658,635,657,0.4293420646,0.00458824881851,0.0700566702861,0.999999991607,7.85967861453e-05,8.74830630055e-05,-5.43607245991e-05,1793254963073158656
+173,2.883333333,POSE1_TO_POSE2_PRESS,783.289206851,760,738,717,686,649,915,800,840,658,635.289206851,657,0.430303144318,0.00458934487782,0.0700560118717,0.999999991654,7.59500412857e-05,8.87482427013e-05,-5.52077654683e-05,1793254963089825024
+174,2.900000000,POSE1_TO_POSE2_PRESS,783.877318287,760,738,717,686,649,915,800,840,658,635.877318287,657,0.431215568104,0.00459030279147,0.0700166459417,0.999999994523,8.70436001087e-05,1.90996175798e-05,-5.48869432853e-05,1793254963106491392
+175,2.916666667,POSE1_TO_POSE2_PRESS,784,760,737.541931704,717,686,649,915,800.458068296,840,658,636,657,0.432072384051,0.00459264892098,0.0699429729358,0.999999988236,9.41127878873e-05,-0.000107715707541,-5.53945974233e-05,1793254963123158016
+176,2.933333333,POSE1_TO_POSE2_PRESS,784,760,737.036878838,717,686.036878838,649.036878838,915.036878838,800.963121162,840,657.963121162,636,657.036878838,0.432926111995,0.00459500900054,0.0698689563843,0.999999966188,9.91163679458e-05,-0.000233772489255,-5.61331958107e-05,1793254963139824640
+177,2.950000000,POSE1_TO_POSE2_PRESS,784,760,737.615702197,717,686.615702197,649.615702197,915.615702197,800.384297803,840,657.384297803,636,657.615702197,0.433949856793,0.00459219682591,0.0699227798156,0.999999986284,8.93536910175e-05,-0.000127247048975,-5.70564936895e-05,1793254963156491264
+178,2.966666667,POSE1_TO_POSE2_PRESS,784.19237749,760.19237749,738,717.19237749,686.80762251,649.80762251,915.80762251,800,840.19237749,657.19237749,636,658,0.434953889719,0.00458830433059,0.0699752015454,0.999999994644,8.03115120517e-05,-3.11948990365e-05,-5.73516521773e-05,1793254963173157888
+179,2.983333333,POSE1_TO_POSE2_PRESS,784.764809241,760.764809241,738,717.764809241,686.235190759,649.235190759,915.235190759,800,840.764809241,657.764809241,636,658,0.435918980737,0.00458227759089,0.0700248541325,0.999999994792,7.26927233472e-05,4.41666006363e-05,-5.6405881402e-05,1793254963189824512
+180,3.000000000,POSE1_TO_POSE2_PRESS,784.651757023,760.651757023,738,717.651757023,686,649,915,800,841,658,636,657.651757023,0.436875141655,0.00457614023492,0.0700451081817,0.999999992933,6.57245790603e-05,8.1221134773e-05,-5.67262840013e-05,1793254963206491648
+181,3.016666667,POSE1_TO_POSE2_PRESS,784.060650574,760.060650574,738,717.060650574,686,649,915,800,841,658,636,657.060650574,0.437825074692,0.00456992573589,0.0700448597875,0.999999992377,5.92101926303e-05,9.15605167599e-05,-5.79297118251e-05,1793254963223158272
+182,3.033333333,POSE1_TO_POSE2_PRESS,784,760,738,717,686,649,915,800,841,658,636,657.520001225,0.438669648447,0.00457360012831,0.0699951016611,0.999999996226,5.99442809304e-05,2.1569349767e-05,-5.90737298153e-05,1793254963239824896
+183,3.050000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,649,915,800,841,658,635.901149374,658,0.439491512322,0.00457845258937,0.0699368904735,0.999999994052,6.41750865233e-05,-6.47643927235e-05,-5.98527789297e-05,1793254963256491520
+184,3.066666667,POSE1_TO_POSE2_PRESS,784,760,738,717,686,649,915,800,841,658,635.325229706,658,0.440261912657,0.00458353383655,0.0698652032851,0.99999997773,8.12818526122e-05,-0.00018564304862,-5.89032132192e-05,1793254963273158144
+185,3.083333333,POSE1_TO_POSE2_PRESS,784,760,738,717,686,649,915,800,841,658,635.249415145,657.750584855,0.441087934813,0.00458909148476,0.0698449735097,0.999999970037,9.12227483131e-05,-0.000219390024035,-5.8930358744e-05,1793254963289824768
+186,3.100000000,POSE1_TO_POSE2_PRESS,784,760,738,717,686,649,915,800,841,658,635.822406081,657.177593919,0.441986117224,0.00459526718583,0.0698915014062,0.999999984153,9.18670862982e-05,-0.00014009773629,-6.02246297433e-05,1793254963306491392
+187,3.116666667,POSE1_TO_POSE2_PRESS,784.409168903,760,738,717,685.590831097,649,915,800.409168903,841,658,636,657.409168903,0.4428533884,0.00460152719817,0.0699316467449,0.999999990204,9.48773922627e-05,-8.38937310648e-05,-5.96020175663e-05,1793254963323158016
+188,3.133333333,POSE1_TO_POSE2_PRESS,784.997934272,760,738,716.997934272,685,649,915,800.997934272,841.002065728,658,636,658,0.443706392886,0.00460781111529,0.0699686814661,0.999999992673,9.89813774023e-05,-3.84429538038e-05,-5.81235630901e-05,1793254963339824640
+189,3.150000000,POSE1_TO_POSE2_PRESS,784.419474012,760,738,716.419474012,685,649,915,800.419474012,841.580525988,658,636,658,0.444452564111,0.00461019856555,0.0699376689193,0.999999987084,0.000111734158742,-9.98738963167e-05,-5.80771994975e-05,1793254963356491520
+190,3.166666667,POSE1_TO_POSE2_PRESS,784,760,738,716.15828549,684.84171451,648.84171451,915,800,841.84171451,657.84171451,635.84171451,657.84171451,0.445187694608,0.00461227424661,0.0699018378748,0.999999978104,0.000120721366311,-0.000160611698211,-5.85034715491e-05,1793254963373157888
+191,3.183333333,POSE1_TO_POSE2_PRESS,784,760,738,716.734196218,684.265803782,648.265803782,915,800,841.265803782,657.265803782,635.265803782,657.265803782,0.445893695077,0.00461352734689,0.0698532935532,0.999999966922,0.000119773373324,-0.000219520710884,-6.0176760205e-05,1793254963389824256
+192,3.200000000,POSE1_TO_POSE2_PRESS,784,760,737.683656133,717,683.683656133,648,915,800,841,657,635.316343867,657.316343867,0.446561411537,0.00461563339127,0.0698122297492,0.99999995218,0.000114659630314,-0.000280887354162,-5.9959829022e-05,1793254963406490880
+193,3.216666667,POSE1_TO_POSE2_PRESS,784,760,737.096162632,717,683.096162632,648,915,800,841,657,635.903837368,657.903837368,0.447196313364,0.00461847052444,0.0697775777672,0.999999933403,0.000105975274019,-0.000344360516596,-5.81227226966e-05,1793254963423157760
+194,3.233333333,POSE1_TO_POSE2_PRESS,784,760,737,717,683,648,915,800,841,657.484522104,635.515477896,658,0.44784503094,0.00462460315378,0.069748228894,0.999999912499,0.000119061022961,-0.00039684957957,-5.77626788999e-05,1793254963439824384
+195,3.250000000,POSE1_TO_POSE2_PRESS,784,760,737.063632539,717,683,647.936367461,915,800,841,658,635.063632539,658,0.448497677421,0.00463066713525,0.0697252867132,0.999999893346,0.000134910661912,-0.000437920297369,-5.7731912066e-05,1793254963456491008
+196,3.266666667,POSE1_TO_POSE2_PRESS,784,760,737.640792437,717,683,647.359207563,915,800,841,658,635.640792437,658,0.449160209156,0.00463097191479,0.0697456716223,0.999999907015,0.000138679807102,-0.000404191951514,-5.80254731612e-05,1793254963473157632
+197,3.283333333,POSE1_TO_POSE2_PRESS,784,759.784521286,738,716.784521286,682.784521286,647,915,800,841,658,635.784521286,658,0.449800288965,0.00463015497422,0.0697654441186,0.999999919096,0.000140687979889,-0.000372405553466,-5.77043938711e-05,1793254963489824256
+198,3.300000000,POSE1_TO_POSE2_PRESS,784,759.213911844,738,716.213911844,682.213911844,647,915,800,841,658,635.213911844,658,0.450403365664,0.00462748932538,0.0697842072946,0.999999929534,0.000139793891712,-0.00034381968566,-5.63703250518e-05,1793254963506490880
+199,3.316666667,POSE1_TO_POSE2_PRESS,784,759.371813674,737.628186326,716.371813674,681.628186326,647,915,800,841,657.628186326,635.371813674,657.628186326,0.450937190181,0.00462980533831,0.0697651704324,0.999999917902,0.000148597447446,-0.000372850306093,-5.56531087032e-05,1793254963523157760
+200,3.333333333,POSE1_TO_POSE2_PRESS,784,759.966604371,737.033395629,716.966604371,681.033395629,647,915,800,841,657.033395629,635.966604371,657.033395629,0.451429484153,0.00463510885841,0.0697234648521,0.999999889914,0.000163216689163,-0.000436433586935,-5.53058190824e-05,1793254963539824640
+201,3.350000000,POSE1_TO_POSE2_PRESS,784,760,737,716.453913446,681,647,914.453913446,800,841,657.546086554,635.453913446,657,0.451905422937,0.00463653916554,0.0696755773221,0.999999858596,0.000164525188104,-0.000502470310667,-5.71242941354e-05,1793254963556491264
+202,3.366666667,POSE1_TO_POSE2_PRESS,784,760,737,716,680.876217105,647,914.123782895,800,841,658,635.123782895,657.123782895,0.452372991811,0.00463749007415,0.0696334232201,0.999999827532,0.000165586452907,-0.000560413832425,-5.8763237305e-05,1793254963573157888
+203,3.383333333,POSE1_TO_POSE2_PRESS,784,760,737,716,680.30170739,647,914.69829261,800,841,658,635.69829261,657.69829261,0.452813626384,0.00463753433165,0.0696134851161,0.999999810943,0.000168630682748,-0.000588356419139,-5.92793366607e-05,1793254963589824512
+204,3.400000000,POSE1_TO_POSE2_PRESS,784.279200308,760,737,716,680,646.720799692,915,800,841,658,635.720799692,658,0.453244510147,0.00463831303262,0.0696055500868,0.999999803797,0.000173423526925,-0.000599008941597,-5.93199404576e-05,1793254963606492160
+205,3.416666667,POSE1_TO_POSE2_PRESS,784.867183859,760,737,716,680,646.132816141,915,800,841,658,635.132816141,658,0.453664609918,0.0046399039957,0.0696108899308,0.999999807674,0.000180150261454,-0.000590539413193,-5.88346671132e-05,1793254963623160320
+206,3.433333333,POSE1_TO_POSE2_PRESS,785,760,737,716.448922997,679.551077003,646,915,800,841,658,635.448922997,658,0.454060891197,0.00464133619439,0.0696205128143,0.999999812447,0.000188669501355,-0.000579799802013,-5.78171481082e-05,1793254963639826688
+207,3.450000000,POSE1_TO_POSE2_PRESS,784.971379722,760,737,717,678.971379722,646,915,800,841,658,635.971379722,657.971379722,0.45444672166,0.00464263844979,0.0696301421825,0.99999981635,0.00019673253412,-0.000570418453427,-5.67281444214e-05,1793254963656492800
+208,3.466666667,POSE1_TO_POSE2_PRESS,784.395881467,760,737,717,678.395881467,646,915,800,841,658,635.395881467,657.395881467,0.45476566125,0.00464234295781,0.0696160146919,0.999999801259,0.000186083935873,-0.000599648076201,-5.72408278765e-05,1793254963673158912
+209,3.483333333,POSE1_TO_POSE2_PRESS,784,760,737,716.820623017,678,646,915,800,841,658,635,657.179376983,0.455066879931,0.00464251915263,0.0695984912735,0.999999785034,0.000161721591721,-0.000632788331234,-5.79328997299e-05,1793254963689825280
+210,3.500000000,POSE1_TO_POSE2_PRESS,784,760,737,716.245893179,678,646,915,800,841,658,635,657.754106821,0.455329041096,0.00464373496092,0.0695734831185,0.999999765012,0.000107133695373,-0.000674547745503,-5.90203494532e-05,1793254963706491648
+211,3.516666667,POSE1_TO_POSE2_PRESS,784,760,737.338326764,716,677.661673236,646,915,800,841,658,635.338326764,658,0.455588502227,0.00464430436108,0.0695610422928,0.99999975426,8.69722858462e-05,-0.000693047108386,-6.00202237694e-05,1793254963723158016
+212,3.533333333,POSE1_TO_POSE2_PRESS,784,760,737.929643155,716,677.070356845,646,915,800,841,658,635.929643155,658,0.455845944389,0.00464439039862,0.0695579989,0.999999752935,9.25538655125e-05,-0.000694153375869,-6.09546123384e-05,1793254963739824384
+213,3.550000000,POSE1_TO_POSE2_PRESS,784.509500366,760,737.490499634,716,677,646,915,800,841,658,635.490499634,658,0.456086163422,0.0046449891727,0.0695679661059,0.999999762419,0.000102466176291,-0.000679100087146,-5.90401397993e-05,1793254963756492032
+214,3.566666667,POSE1_TO_POSE2_PRESS,784.912570365,760,737,716.087429635,677,646,915,799.912570365,841,658,635,658,0.456317731623,0.00464609258888,0.0695780222001,0.999999771097,0.000115712827582,-0.000664274857038,-5.61700819291e-05,1793254963773159168
+215,3.583333333,POSE1_TO_POSE2_PRESS,784.336765487,760,737,716.663234513,677,646,915,799.336765487,841,658,635,658,0.456513970024,0.00464962809284,0.0695787597242,0.999999768603,0.000144317782962,-0.000662914186216,-5.01113560939e-05,1793254963789825536
+216,3.600000000,POSE1_TO_POSE2_PRESS,784,760,737,716.756030124,676.756030124,645.756030124,915,799,841,658,635,657.756030124,0.456689621935,0.00465144471394,0.0695746763592,0.999999762976,0.00015946212771,-0.000668098510868,-4.75808198958e-05,1793254963806492160
+217,3.616666667,POSE1_TO_POSE2_PRESS,784,760,737,716.168348588,676.168348588,645.168348588,915,799,841,658,635,657.168348588,0.456836271003,0.00465083972404,0.069563801189,0.999999753731,0.000155642781948,-0.000682503610842,-5.00208974349e-05,1793254963823158784
+218,3.633333333,POSE1_TO_POSE2_PRESS,784.412698842,760,737,716,676,645,915,799,841,658,635,657.412698842,0.456961075445,0.00464972277315,0.0695520090073,0.999999741043,0.000154730008845,-0.000700967748952,-5.11484792198e-05,1793254963839825152
+219,3.650000000,POSE1_TO_POSE2_PRESS,784.99108288,760,737,716,676,645,915,799,841,658,635,657.99108288,0.457077109975,0.00464840028654,0.0695398486753,0.999999726686,0.000154984130407,-0.000721061458629,-5.17491364697e-05,1793254963856491008
+220,3.666666667,POSE1_TO_POSE2_PRESS,785,760,737,716.56987584,676,645.56987584,915,799.56987584,841,658,635.56987584,658,0.45717376949,0.00464972178868,0.0695337965509,0.999999717601,0.000154912127205,-0.000733518740397,-5.24425857318e-05,1793254963873157632
+221,3.683333333,POSE1_TO_POSE2_PRESS,784.85377944,760,737,716.85377944,676,646,915,800,841.14622056,657.85377944,635.85377944,658,0.457267026064,0.00465018703274,0.069529348008,0.999999711596,0.000154159361582,-0.000741762533735,-5.32141940402e-05,1793254963889824256
+222,3.700000000,POSE1_TO_POSE2_PRESS,784.284536211,760,737,716.284536211,676,646,915,800,841.715463789,657.284536211,635.284536211,658,0.457351315472,0.00464805530707,0.0695292619894,0.99999971462,0.000151451893573,-0.000738162453933,-5.42077162817e-05,1793254963906490880
+223,3.716666667,POSE1_TO_POSE2_PRESS,784,760,737,716,675.702500024,646,915,799.702500024,842,657,635,658,0.457424627937,0.00464716341826,0.0695300030853,0.999999716375,0.000151107754272,-0.000735830546503,-5.44938608355e-05,1793254963923157760
+224,3.733333333,POSE1_TO_POSE2_PRESS,784,760,737,716,675.107678483,646,915,799.107678483,842,657,635,658,0.457486970053,0.00464751062253,0.0695315707996,0.999999716874,0.000153125526067,-0.0007347660505,-5.4073052036e-05,1793254963939825408
+225,3.750000000,POSE1_TO_POSE2_PRESS,784,760,737,716,675,645.526032756,915,799,841.526032756,657.473967244,635,658,0.457534789926,0.00464729056267,0.0695314661969,0.999999717281,0.000153813991435,-0.000734064211674,-5.41273167562e-05,1793254963956492288
+226,3.766666667,POSE1_TO_POSE2_PRESS,784,760,737,716,675,645,915,799.052508774,841.052508774,658,635,658,0.457577454529,0.00464677476568,0.0695305359985,0.999999717053,0.000153926899308,-0.000734344097231,-5.42187355456e-05,1793254963973159168
+227,3.783333333,POSE1_TO_POSE2_PRESS,784,760,737,716,675,645,915,799.62913617,841.62913617,658,635,658,0.457600702424,0.0046445586262,0.0695250547606,0.999999710639,0.000151227741451,-0.000743622966428,-5.36328412734e-05,1793254963989825280
+228,3.800000000,POSE1_TO_POSE2_PRESS,784,760,737,716.209206078,674.790793922,645,915,799.790793922,841.790793922,658,635,658,0.457622640512,0.00464267093251,0.0695208308427,0.999999706117,0.000149345881851,-0.0007500829703,-5.3259740709e-05,1793254964006491392
+229,3.816666667,POSE1_TO_POSE2_PRESS,784,760,737,716.79548066,674.20451934,645,915,799.20451934,841.20451934,658,635,658,0.457642217828,0.00464137522255,0.0695188730916,0.999999705142,0.000148937103112,-0.000751462311899,-5.32701749578e-05,1793254964023158016
+230,3.833333333,POSE1_TO_POSE2_PRESS,784,760,737,717,674.376740031,645.376740031,915,799.376740031,841,657.623259969,635,658,0.457656402053,0.00463772260923,0.0695170982939,0.999999703932,0.000146183545604,-0.000753617357468,-5.31781981897e-05,1793254964039824640
+231,3.850000000,POSE1_TO_POSE2_PRESS,784,760,737,717,674.955312563,645.955312563,915,799.955312563,841,657.044687437,635,658,0.457667697014,0.00463280732234,0.0695154215107,0.999999702577,0.000142173810037,-0.000756187974089,-5.30313563409e-05,1793254964056491264
+232,3.866666667,POSE1_TO_POSE2_PRESS,784,760,737,717,675,645.466092662,915,799.466092662,841,657.533907338,635,658,0.457670699406,0.00462061418217,0.0695128107617,0.999999700718,0.000128401178415,-0.000761119667099,-5.26628908991e-05,1793254964073158400
+233,3.883333333,POSE1_TO_POSE2_PRESS,784.111820705,760,737,716.888179295,675,645.111820705,915,799,841,657.888179295,635.111820705,658,0.457672893626,0.00460876844437,0.069510345643,0.999999699046,0.000115103207126,-0.000765464471268,-5.2186898238e-05,1793254964089825280
+234,3.900000000,POSE1_TO_POSE2_PRESS,784.686903198,760,737,716.313096802,675,645.686903198,915,799,841,657.313096802,635.686903198,658,0.457674615282,0.00460088570604,0.0695088077286,0.999999699134,0.000107157191723,-0.000766559102834,-5.13422838935e-05,1793254964106491904
+235,3.916666667,POSE1_TO_POSE2_PRESS,784.731723194,760,737,716,675,645.731723194,915,799,841,657.268276806,635.731723194,657.731723194,0.457675925577,0.00459777223766,0.0695073049459,0.999999698151,0.00010361907617,-0.000768337166816,-5.11798686873e-05,1793254964123158272
+236,3.933333333,POSE1_TO_POSE2_PRESS,784.142831052,760,737,716,675,645.142831052,915,799,841,657.857168948,635.142831052,657.142831052,0.457676744256,0.00460035848229,0.0695058441486,0.999999695939,0.000105348803311,-0.000770931995265,-5.18327437782e-05,1793254964139824640
+237,3.950000000,POSE1_TO_POSE2_PRESS,784,759.561064948,737,716.438935052,674.561064948,645,915,799.438935052,841,657.561064948,635,657.438935052,0.457678191054,0.0046015139738,0.0695059388567,0.999999696184,0.000107238016247,-0.000770351309369,-5.18715907068e-05,1793254964156491520
+238,3.966666667,POSE1_TO_POSE2_PRESS,784,759.018287541,737,716.981712459,674,645,915,800,841,657,635,658,0.457679802302,0.00460217159862,0.0695065057039,0.999999697158,0.000109090237523,-0.000768836551069,-5.1714056586e-05,1793254964173157888
+239,3.983333333,POSE1_TO_POSE2_PRESS,784,759.593625827,737,716.406374173,674,645,915,800,841,657,635,658,0.457680296297,0.00460161895594,0.0695062823507,0.999999696482,0.000108260101117,-0.000769842215104,-5.15636475594e-05,1793254964189824768
+240,4.000000000,POSE1_TO_POSE2_PRESS,784.168559061,760,737,716,674,645,915,799.831440939,841,657.168559061,635,658,0.457680922238,0.00460162802897,0.0695062675635,0.999999696256,0.000107811611958,-0.000770208404175,-5.14194129616e-05,1793254964206491648
+241,4.016666667,POSE1_TO_POSE2_PRESS,784.742518074,760,737,716,674,645,915,799.257481926,841,657.742518074,635,658,0.457681865521,0.00460298807963,0.0695067543964,0.999999697114,0.000108281019367,-0.000769036597436,-5.12900284383e-05,1793254964223158528
+242,4.033333333,POSE1_TO_POSE2_PRESS,784.673300223,760,737,716,674,645,915,799,841,657.673300223,635,658,0.457683132456,0.00460182586562,0.0695071313515,0.999999698272,0.00010674991508,-0.000767759438915,-5.10418483249e-05,1793254964239825152
+243,4.050000000,POSE1_TO_POSE2_PRESS,784.080801492,760,737,716,674,645,915,799,841,657.080801492,635,658,0.45768466271,0.00459861156775,0.0695074189113,0.999999699667,0.000103591218846,-0.000766396567516,-5.06970175736e-05,1793254964256492032
+244,4.066666667,POSE1_TO_POSE2_PRESS,784.500327248,760,737,716.500327248,674,645,915,799.500327248,841,657,635,658,0.457685008779,0.0046007576663,0.0695074268873,0.99999969845,0.000108906787485,-0.00076726188492,-5.04805292568e-05,1793254964273158400
+245,4.083333333,POSE1_TO_POSE2_PRESS,784.921178244,760,737,716.921178244,674,645,915,799.921178244,841,657,635,658,0.457685026887,0.00460316958573,0.0695073200621,0.999999696983,0.000114207854673,-0.000768415040692,-5.02792984445e-05,1793254964289824768
+246,4.100000000,POSE1_TO_POSE2_PRESS,784.347945439,760,737,716.347945439,674,645,915,799.347945439,841,657,635,658,0.457684160765,0.00460193947281,0.0695067700676,0.999999696776,0.00011102431721,-0.000769166678138,-5.00466493423e-05,1793254964306491648
+247,4.116666667,POSE1_TO_POSE2_PRESS,784.231207888,760,737,716.231207888,674,645,915,799.231207888,841,657.231207888,635,658,0.457684423167,0.00460124536968,0.069506900699,0.99999969705,0.000108411911286,-0.000769172841464,-5.01944446403e-05,1793254964323158016
+248,4.133333333,POSE1_TO_POSE2_PRESS,784.819505263,760,737,716.819505263,674,645,915,799.819505263,841,657.819505263,635,658,0.457686428521,0.00460137910777,0.0695080825243,0.999999698079,0.000106681590128,-0.000768027655913,-5.09298180209e-05,1793254964339824640
+249,4.150000000,POSE1_TO_POSE2_PRESS,784.598085306,760,737,717,674,645,915,800,841,658,635,658,0.457686581119,0.00460229786425,0.0695076138073,0.999999698037,0.000107365266872,-0.000767982045133,-5.100812453e-05,1793254964356491520
+250,4.166666667,POSE1_TO_POSE2_PRESS,784.018281932,760,737,717,674,645,915,800,841,658,635,658,0.457685913681,0.00460356407229,0.0695064145552,0.99999969752,0.000109117386618,-0.000768423109599,-5.07956111756e-05,1793254964373158400
+251,4.183333333,HOLD_POSE2,784,760,737,717,674,645,915,800,841,658,636,658,0.457685567863,0.004600468526,0.069506285997,0.999999696815,0.000109266812514,-0.000769391277807,-4.96839916583e-05,1793254964402610688
+252,4.200000000,HOLD_POSE2,784,760,737,716.430118505,674,645,915,800,841,657.430118505,635.430118505,658,0.45768462716,0.004601382384,0.0695055725369,0.999999695886,0.000108784452387,-0.0007706339853,-5.01727046387e-05,1793254964419277056
+253,4.216666667,HOLD_POSE2,784,760,737,716,674,645,915,799.853727578,841,657.146272422,635,658,0.457684208721,0.00460230300726,0.0695051127881,0.999999695407,0.000108561171988,-0.00077126078483,-5.05716954403e-05,1793254964435943168
+254,4.233333333,HOLD_POSE2,784,760,737,716,674,645,915,799.257303823,841,657.742696177,635,658,0.457685397538,0.0046032444507,0.0695054338321,0.999999696316,0.000109135205701,-0.000769992136523,-5.06945676113e-05,1793254964452609536
+255,4.250000000,HOLD_POSE2,784,760,737,716,674,645,915,799,841,657.67159353,635,657.67159353,0.45768610789,0.00460287878936,0.0695061544082,0.999999696755,0.000109895587008,-0.000769340463887,-5.02707219175e-05,1793254964469275904
+256,4.266666667,HOLD_POSE2,784,760,737,716,674,645,915,799,841,657.094012002,635,657.094012002,0.457686455211,0.00460152137554,0.0695071781251,0.999999696839,0.000110797357614,-0.000769156915321,-4.94320596161e-05,1793254964485942528
+257,4.283333333,HOLD_POSE2,784,760,737,716.482399152,674,645,915,799,841,657.482399152,635,657,0.457686628062,0.00460152336288,0.0695063905016,0.999999696281,0.000111108110375,-0.000769847612838,-4.92707524601e-05,1793254964502609408
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+261,4.350000000,HOLD_POSE2,784,760,737,716,674,645,915,799.190286795,841,658,635,657,0.457686662158,0.00460219595441,0.069505338826,0.999999696028,0.000108748598934,-0.000770486211227,-4.96910732317e-05,1793254964569276416
+262,4.366666667,HOLD_POSE2,784,760,737,716.387915505,674.387915505,645,915,799.387915505,841,658,635,657.387915505,0.457688002783,0.00460108422539,0.0695063079199,0.999999697109,0.00010772671371,-0.000769238010879,-4.94913894989e-05,1793254964585943040
+263,4.383333333,HOLD_POSE2,784,760,737,716.965923122,674.965923122,645,915,799.965923122,841,658,635,657.965923122,0.457689665487,0.00459975047937,0.0695075460179,0.999999698698,0.000106975430016,-0.000767289537285,-4.92570857545e-05,1793254964602609408
+264,4.400000000,HOLD_POSE2,784.539201089,760,737,717,674.460798911,645,915,800,841.539201089,658,635,658,0.457686424138,0.00460091079616,0.0695058137613,0.999999695777,0.000109114704639,-0.000770795476969,-4.91380998526e-05,1793254964619275776
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,784.576584008,760,737,716,674,645,915,800,841.576584008,658,635.576584008,658,0.457687018951,0.00460193682874,0.0695057877746,0.999999696096,0.00010705850859,-0.000770688689379,-4.88379175222e-05,1793254964706317824
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,784.324227666,760,737,716.324227666,674,645,915,799,841.675772334,657.675772334,635,657,0.457687402284,0.00460197634747,0.0695056995031,0.99999969602,0.000108759733005,-0.000770553141642,-4.87765454453e-05,1793254964756316928
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.529596684,676.470403316,646,915,800,841,658,635.529596684,658,0.452196921535,0.00465499693337,0.0695273060499,0.999999708186,0.000265987436817,-0.000715995115072,1.51342797964e-05,1793254965306316800
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,784.622636098,760,737,716.622636098,677.622636098,646,915.622636098,800,841,658,635,658,0.451137064093,0.00465029604362,0.0695119713638,0.999999693865,0.000209254203331,-0.000753961911504,4.88525950573e-06,1793254965339649792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,784.79847895,760.20152105,737,717,678.20152105,646.20152105,915.79847895,800,841,657.79847895,635,658,0.450578571817,0.00464743244061,0.069512238139,0.999999694125,0.000177890380867,-0.000761645559413,-7.92486669572e-07,1793254965356316416
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,784.944785799,760,737,716.055214201,684,649,915,800,840,658,635,658,0.438094166546,0.00457865832026,0.0697377542567,0.999999908701,0.000147033558623,-0.000399910905521,3.24239305867e-05,1793254965639650048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,784.361865342,760,737,716.638134658,684,649,915,800,840,658,635,658,0.437169152896,0.00457512725361,0.0697052347631,0.999999891479,0.000145818096443,-0.000441318801802,3.18934471557e-05,1793254965656316672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,784.224299012,760,737,717,684,649,915,800,840,658,635.224299012,657.775700988,0.436253502063,0.00457059420012,0.0697036644317,0.999999893046,0.000140850821073,-0.000439365408274,3.20380158207e-05,1793254965672983552
+327,5.450000000,POSE2_TO_POSE3_RETREAT,784.815773693,760,737,717,684,649,915,800,840,658,635.815773693,657.184226307,0.435353177938,0.00456442090174,0.0697527576234,0.999999923894,0.000129741857456,-0.000366429939879,3.32876391772e-05,1793254965689650432
+328,5.466666667,POSE2_TO_POSE3_RETREAT,785,760,737,717,684.397960694,649,915,800,840,658,635.602039306,657.397960694,0.434449981059,0.00455920792513,0.0697940103533,0.999999942326,0.000124081968113,-0.000314149170254,3.55281007847e-05,1793254965706317056
+329,5.483333333,POSE2_TO_POSE3_RETREAT,785,760,737,717,684.975946207,649,915,800,840,658,635.024053793,657.975946207,0.433545484691,0.00455442936807,0.0698317163034,0.999999955185,0.000120887068149,-0.000271211936928,3.82167861748e-05,1793254965722983936
+330,5.500000000,POSE2_TO_POSE3_RETREAT,784.44726682,760,737,717,685,649,915,800.55273318,840,658,635.55273318,657.44726682,0.432628648356,0.00454703233746,0.0698470075591,0.999999964323,0.000120286370788,-0.000235418928229,3.82434969818e-05,1793254965739650560
+331,5.516666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.86827376,649,915,800.86827376,840,658,635.86827376,657,0.43168691904,0.00454068383493,0.0698439785416,0.999999965117,0.000117231998209,-0.000233581072001,3.82501364061e-05,1793254965756316928
+332,5.533333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.281479676,649,915,800.281479676,840,658,635.281479676,657,0.430661044444,0.00453835043572,0.0697810219342,0.999999933167,0.000105311873818,-0.000347974597294,3.85867689902e-05,1793254965772983808
+333,5.550000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.301084315,649,915,800,840,657.698915685,635,657,0.429645986175,0.00453163288256,0.0697321097599,0.999999904042,9.7004773403e-05,-0.000425516798829,3.79609826669e-05,1793254965789650432
+334,5.566666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,684.879748408,649,915,800,840,657.120251592,635,657,0.4286408999,0.00452087343022,0.0696961456254,0.999999885081,9.20286430184e-05,-0.000469084519291,3.64479101869e-05,1793254965806316800
+335,5.583333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,685,649,915,800,840,657.458557299,635,657,0.427736211713,0.00451583678363,0.0697488694671,0.999999921986,7.92436030506e-05,-0.000385276336372,3.6211003756e-05,1793254965822983424
+336,5.600000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,685.03721428,649,915,800,840,658,635,657.03721428,0.426855316606,0.0045121514761,0.0698215273214,0.99999995974,6.53227138846e-05,-0.000273723944918,3.64552508562e-05,1793254965839650048
+337,5.616666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,685.613121804,649,915,800,840,658,635,657.613121804,0.425937603767,0.00450629662699,0.0698459706155,0.999999967333,6.46121165687e-05,-0.000244236918961,3.88185260563e-05,1793254965856316928
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783.807111175,760,737,717,686,649,915,800,839.807111175,658,635,657.807111175,0.425018269784,0.00449856039861,0.0698549099685,0.999999970289,5.82520250528e-05,-0.000233366363473,3.96078884057e-05,1793254965872983808
+339,5.650000000,POSE2_TO_POSE3_RETREAT,783.219444978,760,737,717,686,649,915,800,839.219444978,658,635,657.219444978,0.424095617707,0.00448697363007,0.069832118068,0.99999996454,4.03293535078e-05,-0.000260597342612,3.71759905997e-05,1793254965889650176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,783,759.63880217,737,717.36119783,685.63880217,649,915,800,839.36119783,658,635,657.36119783,0.423087147219,0.00448027485779,0.0697758625073,0.99999993372,3.25805443433e-05,-0.000360660331709,3.77132105209e-05,1793254965906316800
+341,5.683333333,POSE2_TO_POSE3_RETREAT,783,759.06234505,737,717.93765495,685.06234505,649,915,800,839.93765495,658,635,657.93765495,0.422027532486,0.00447648913415,0.069699663961,0.999999871649,3.08949459452e-05,-0.000504128243806,4.00199039765e-05,1793254965922983424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,783,759.518397905,737,717.481602095,685,649,915,800,840,658,635.518397905,658,0.42110643167,0.00446852647464,0.069684201957,0.999999864141,2.03530689638e-05,-0.000519581800852,3.65976461445e-05,1793254965939649792
+343,5.716666667,POSE2_TO_POSE3_RETREAT,783,759.901903409,737,717.098096591,685,649,915,800,840,657.901903409,635.901903409,657.901903409,0.420225439726,0.00445975918246,0.0696927186765,0.999999876954,9.58054148085e-06,-0.000494841095884,3.36541186998e-05,1793254965956316672
+344,5.733333333,POSE2_TO_POSE3_RETREAT,783,759.32976266,737,717.67023734,685,649,915,800,840,657.32976266,635.32976266,657.32976266,0.41945709952,0.00444955131452,0.0697815181632,0.999999937775,2.88332939321e-06,-0.000350883119636,3.63812721237e-05,1793254965972983552
+345,5.750000000,POSE2_TO_POSE3_RETREAT,783,759.251535581,737,718,685.503071162,649,915,800,840,657.251535581,635,657.251535581,0.418667177819,0.00444322340819,0.0698451941126,0.999999967526,-3.88118343728e-06,-0.000251971215537,3.80031406728e-05,1793254965989650176
+346,5.766666667,POSE2_TO_POSE3_RETREAT,783,759.845292815,737,718,686.69058563,649,915,800,840,657.845292815,635,657.845292815,0.417847893913,0.0044421743061,0.0698746887335,0.999999976244,-1.07372603464e-05,-0.000214345853675,3.81212367715e-05,1793254966006317056
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782.154145249,759.577072625,737.422927375,718.422927375,687,649.422927375,915,800,839.577072625,658,635,657.577072625,0.416990208706,0.00443383389526,0.0698525296538,0.999999970058,-1.98086876498e-05,-0.000241049028525,3.72409844609e-05,1793254966022983680
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781.010238265,759.005119132,737.994880868,718.994880868,687,649.994880868,915,800,839.005119132,658,635,657.005119132,0.416118992039,0.0044229242597,0.0698121694601,0.99999995674,-2.9660734287e-05,-0.000290419524329,3.60089459545e-05,1793254966039650048
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781,759.574888729,737.425111271,719,686.425111271,649.425111271,915,800,839,658,635,657,0.415273806631,0.00442470244464,0.0697846887649,0.999999942899,-3.33397166902e-05,-0.000334417485584,3.54345365794e-05,1793254966056316672
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,760,737,719,685.84324553,649,915,800,839,657.84324553,635,657,0.414442322191,0.00443258325501,0.0697580828751,0.999999926281,-2.6360847582e-05,-0.000381454569255,3.51621791661e-05,1793254966072983552
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,760,737,719,685.256482667,649,915,800,839,657.256482667,635,657,0.413647777115,0.00445689044075,0.0697335576654,0.999999903848,9.7016751222e-06,-0.000436961674329,3.57021175825e-05,1793254966089650176
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,760,737,719.325454673,685,649,914.674545327,800,839,657.325454673,635,657,0.412931396263,0.0044708371056,0.0697511526784,0.99999991692,2.9147840509e-05,-0.000405018220898,3.56485606411e-05,1793254966106316800
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,760,737,719.903644668,685,649,914.096355332,800,839,657.903644668,635,657,0.412275714726,0.00447673819523,0.069801456604,0.999999952183,3.56903928439e-05,-0.000305164091614,3.5134118282e-05,1793254966122983424
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,759.521020064,737,719.521020064,686.436939807,649,914,800,839,658,635,657,0.411625054295,0.00446432734136,0.0698481428116,0.99999997365,1.72811563766e-05,-0.000226110776935,3.5708807973e-05,1793254966139650048
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.05398634,759.05398634,737.05398634,719.05398634,688,649,914,800,839.05398634,658,635,657.05398634,0.41097135504,0.00444961613433,0.0698871540452,0.999999985989,-3.19412933962e-06,-0.000163352302722,3.64344496879e-05,1793254966156316928
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.631338955,759.631338955,737.631338955,719.631338955,688,649,914,800,839.631338955,658,635,657.631338955,0.410278461938,0.00444810479738,0.0698587743478,0.999999975509,4.67423628464e-06,-0.000218237353572,3.65120386418e-05,1793254966172983296
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781.78648045,760,737.78648045,719.78648045,687.5729609,649,914,800,839.78648045,658,635,658,0.409602205336,0.00444826119123,0.0698233828399,0.999999959667,8.30815339069e-06,-0.00028160422889,3.60049579557e-05,1793254966189650176
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781.195771121,760,737.195771121,719.195771121,686.391542243,649,914,800,839.195771121,658,635,658,0.408955337768,0.00445136369023,0.0697756047256,0.999999934612,4.46176772793e-06,-0.000359954538916,3.44650378323e-05,1793254966206316800
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737,719.387052012,686,649,914,800,839,658,635,658,0.408360450316,0.00445534228342,0.0697610196455,0.999999927826,5.28283357948e-06,-0.00037843504411,3.32810536911e-05,1793254966222983424
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737,719.965966006,686,649,914,800,839,658,635,658,0.407791329391,0.00445975515745,0.0697628883737,0.999999932012,8.4175584139e-06,-0.000367238048563,3.22735072183e-05,1793254966239650048
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737,720,686,649,914,800,839,658,635,658,0.407271079419,0.00446797464006,0.0697851914582,0.999999943048,2.60186126967e-05,-0.000334949737771,3.21942184612e-05,1793254966256316416
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781,759.883100129,737.116899871,720,686.233799743,649,914,800,839,658,635,657.883100129,0.406760249966,0.00447441932993,0.0698038421638,0.999999950612,4.00908202764e-05,-0.000310026812512,3.24446965265e-05,1793254966272983296
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781,759.293644143,737.706355857,720,687.412711715,649,914,800,839,658,635,657.293644143,0.406275162235,0.00447272845253,0.0698025689418,0.999999947507,3.62453571443e-05,-0.00032020315273,3.37938446741e-05,1793254966289650176
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781,759.290284674,738,719.709715326,687.419430651,649,914,800,839,658,635,657,0.405809480029,0.00447061467311,0.0697994489434,0.999999944071,2.97443257178e-05,-0.00033141819056,3.36917955725e-05,1793254966306316800
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781,759.868726791,738,719.131273209,686.262546419,649,914,800,839,658,635,657,0.405363061173,0.00446808109084,0.0697944957019,0.999999940218,2.06071864717e-05,-0.000343664313688,3.21491836433e-05,1793254966322983424
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,759.554340573,737.554340573,719.445659427,686,649,914.445659427,800,839,657.554340573,635,657,0.404979751238,0.00446978198797,0.0698084123334,0.999999949482,2.4145678941e-05,-0.000315452277851,3.07011547656e-05,1793254966339650048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781,759,737,720,686,649,914.977898458,800,839,657.022101542,635,657,0.404615467026,0.00447243180188,0.0698275269036,0.999999960926,3.0930758279e-05,-0.000276275607992,2.93874106435e-05,1793254966356316672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781,759,737,720,686,649,914.4026422,800,839,657.5973578,635,657,0.404263675155,0.00446771894487,0.0698380919947,0.99999996541,2.58391887002e-05,-0.000259936164408,3.07395983602e-05,1793254966372983296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781,759.177353845,737.177353845,720,686.177353845,649,914,800,839,658,635,657.177353845,0.403923447891,0.00446356126989,0.069844151335,0.999999968196,1.84687526268e-05,-0.000249572841898,3.12957186022e-05,1793254966389650176
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,759.768405911,737.768405911,720,686.768405911,649,914,800,839,658,635,657.768405911,0.403610196449,0.0044606986214,0.0698397004927,0.999999967491,5.78259936473e-06,-0.000253149510784,2.99949198254e-05,1793254966406316800
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,759.647351646,738,720,686.647351646,649,914,800,839,658,635,657.647351646,0.403308626198,0.00446114974588,0.0698309611614,0.999999963759,-1.07103168298e-06,-0.000267636822632,2.91622680093e-05,1793254966422983424
+372,6.200000000,POSE2_TO_POSE3_RETREAT,781,759.067496495,738,720,686.067496495,649,914,800,839,658,635,657.067496495,0.403014581957,0.00446373589135,0.0698194588113,0.999999957777,-4.1668449836e-06,-0.000289153721592,2.86312371178e-05,1793254966439650048
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781,759.509279763,738,720,686,649,914,800,839,658,635,657,0.402756351836,0.00446449097836,0.0698104143063,0.999999953272,-6.29834620115e-06,-0.000304285272276,2.87420684892e-05,1793254966456316928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,657.086953261,0.402509360388,0.00446486024625,0.0698022461631,0.999999949086,-8.79831418486e-06,-0.000317667830318,2.89486236538e-05,1793254966472983552
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,657.672091424,0.40229972778,0.00446440104408,0.0697972438958,0.999999946384,-1.41371839429e-05,-0.000325849257025,2.92191579329e-05,1793254966489649920
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781.2544718,759.7455282,737.7455282,720,686.2544718,649,914,799.7455282,839,658,635,657.7455282,0.402106017488,0.00446713893992,0.0697946561915,0.999999944873,-1.32934800667e-05,-0.000330456261774,2.9581319067e-05,1793254966506316544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781.833336598,759.166663402,737.166663402,720,686.833336598,649,914,799.166663402,839,658,635,657.166663402,0.401932604497,0.0044739524002,0.0697951464998,0.99999994492,-4.5684169413e-06,-0.000330506700431,3.0060283345e-05,1793254966522983168
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781.587404445,759.412595555,737.412595555,720,686.587404445,649,914,799.412595555,839,658,635,657,0.401781488144,0.00448767858235,0.0697953269439,0.999999943719,5.2600999044e-05,-0.00033004392685,2.94364088855e-05,1793254966539650048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781.007986134,759.992013866,737.992013866,720,686.007986134,649,914,799.992013866,839,658,635,657,0.401639386888,0.00450419975158,0.069795382102,0.999999936987,0.000129357684388,-0.000329373646999,2.83666288378e-05,1793254966556316928
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781,759.434455311,738,720,686,649,914,800,838.434455311,657.434455311,635,657,0.401529649685,0.00450196043428,0.0697966374796,0.99999994177,0.000104404792487,-0.000324061945546,2.33284365445e-05,1793254966572983552
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781.142782651,759.142782651,738,720.142782651,686,649,914,800,838.142782651,657,635,657,0.401425230364,0.00449858982511,0.0697974102829,0.999999945209,7.97534118066e-05,-0.000320708600287,1.91488572048e-05,1793254966589650432
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781.731865203,759.731865203,738,720.731865203,686,649,914,800,838.731865203,657,635,657,0.401336019532,0.00449250263903,0.0697966222593,0.999999945628,6.04875686382e-05,-0.000323679303989,1.78264269164e-05,1793254966606317312
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781.682884931,759.682884931,738,720.682884931,686,649,914,800,839,657.317115069,635,657.317115069,0.401258271292,0.00449261281491,0.0697961159835,0.999999945797,5.48994237868e-05,-0.000324169153813,1.74841707451e-05,1793254966622983680
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649,914,800,839,657.65785472,635,657,0.400973020239,0.00449183620251,0.0698207809523,0.999999958941,4.78045022408e-05,-0.000281802710571,2.0508380694e-05,1793254966939650048
+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649,914,800,839,657.07875913,635,657,0.400974045502,0.00449174940336,0.069821649779,0.99999995941,4.73971680739e-05,-0.000280217804511,2.02980730599e-05,1793254966956316672
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,759.503595946,738,720,687,649,914,799.503595946,839,657.496404054,635,657,0.400972977234,0.00449170390954,0.0698211662603,0.999999959083,4.83273000123e-05,-0.000281218694949,2.0373789949e-05,1793254966972983296
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781,759.070920447,737.929079553,720,687,649,914,799.070920447,839,658,635,657,0.400971858855,0.0044917198428,0.0698206615275,0.999999958765,4.92401991448e-05,-0.000282184781941,2.04314375834e-05,1793254966989650176
+406,6.766666667,POSE2_TO_POSE3_RETREAT,781,759.645239357,737.354760643,720,687,649,914,799.645239357,839,658,635,657,0.400972723944,0.00449212563841,0.0698215172242,0.999999959417,4.85363948562e-05,-0.000280014658046,2.00412461791e-05,1793254967006317312
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781,760,737,720,687,649,914,799.77377795,838.77377795,658,635,657,0.400973364055,0.00449235622931,0.0698222893319,0.999999959769,4.85989562508e-05,-0.000278755924874,1.98950409386e-05,1793254967022984448
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781,760,737,720,687,649,914,799.182027871,838.182027871,658,635,657,0.40097364065,0.0044923037257,0.0698229263772,0.99999995964,4.98998059193e-05,-0.000278969810211,2.01430667976e-05,1793254967039651072
+409,6.816666667,POSE2_TO_POSE3_RETREAT,781,759.598284785,737,720,687,649,914,799.401715215,838.401715215,658,635,657,0.400973468001,0.0044937989504,0.0698228162492,0.999999959585,5.09177274602e-05,-0.000279010457736,1.97488199146e-05,1793254967056317440
+410,6.833333333,POSE2_TO_POSE3_RETREAT,781,759.018099012,737,720,687,649,914,799.981900988,838.981900988,658,635,657,0.400973095765,0.00449598178644,0.0698223741734,0.999999959563,5.18099520634e-05,-0.000278974140654,1.90692296426e-05,1793254967072983552
+411,6.850000000,POSE2_TO_POSE3_RETREAT,781,759.554774508,737.554774508,720,686.445225492,649,914,800,839,658,635,657,0.400972548797,0.00449370030723,0.069822417793,0.999999959627,5.01283370523e-05,-0.000279011315736,1.9659638291e-05,1793254967089650176
+412,6.866666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.131246288,649,914,800,839,657.868753712,635,657.131246288,0.400972185241,0.00449189843008,0.0698225888534,0.999999959698,4.89717831573e-05,-0.000278925626616,2.01389717876e-05,1793254967106316800
+413,6.883333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.721114411,649,914,800,839,657.278885589,635,657.721114411,0.400972482252,0.00449227476817,0.0698231505891,0.999999959797,4.99395835666e-05,-0.000278402336551,2.00872718163e-05,1793254967122983680
+414,6.900000000,POSE2_TO_POSE3_RETREAT,781.305068484,759.694931516,738,720,687,649,914,800,839,657,635,657.694931516,0.40097246557,0.00449271205531,0.0698235182266,0.999999959923,4.90700255037e-05,-0.000278128308492,1.9759930929e-05,1793254967139650560
+415,6.916666667,POSE2_TO_POSE3_RETREAT,781.883718875,759.116281125,738,720,687,649,914,800,839,657,635,657.116281125,0.400972167572,0.00449320400085,0.0698237117991,0.999999960069,4.65527454503e-05,-0.000278077815758,1.91853984426e-05,1793254967156317440
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6cd3a88367f38ec269e8a13a185b5cffe18184d0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,417 @@
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+414,6.900000000,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
+415,6.916666667,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3885e7c48df6812b1f83062e2dbcd95f4992bc9d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a501ec0940b6218f05f31d98fffd863c8b02610571c872b6ce1dc8823e81e567
+size 26314553
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29eb09093c31f39f51a21c406035ba3c3f5f011e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,782,760,738,721,687,649,914,800,838,657,635,657,0.400972158763,0.00449264162117,0.0698240185757,0.99999996011,4.79500437558e-05,-0.000277670464955,1.94795119162e-05,1793254967303554304
+1,0.016666667,BASELINE,781.410886798,760,738,720.410886798,687,649,914,800,838.589113202,657.589113202,635,657,0.400974596683,0.00449210870081,0.0698255238221,0.999999960847,4.80659303225e-05,-0.000274972060466,1.96237772818e-05,1793254967320220928
+2,0.033333333,BASELINE,781.17498135,760,738,720,687,649,914,800,839,657.82501865,635,657,0.400975648611,0.00449163831555,0.069826254422,0.999999961199,4.79922104105e-05,-0.000273694916492,1.97438961124e-05,1793254967336887296
+3,0.050000000,BASELINE,781.753368399,760,738,720,687,649,914,800,839,657.246631601,635,657,0.400973505244,0.00449131209994,0.0698251991358,0.999999960673,4.74813677452e-05,-0.00027569437597,1.98083470401e-05,1793254967353553408
+4,0.066666667,BASELINE,781.669479461,760,738,720,687,649,914,800,839,657.330520539,635,657,0.400972420554,0.00449175377212,0.0698242071319,0.999999960393,4.73734113052e-05,-0.000276729273773,1.97436703382e-05,1793254967370219520
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+6,0.100000000,BASELINE,781,760,738,720,687,649,914,800,838.52240812,658,635,657,0.400973687018,0.00449209933616,0.0698246879836,0.999999960934,4.56076349866e-05,-0.000275088609683,1.94266312144e-05,1793254967403552256
+7,0.116666667,BASELINE,781,760,738,720,687,649,914.049572458,800,838.049572458,657.950427542,635,657,0.400975213243,0.00449123349001,0.0698262653634,0.999999961563,4.35843390625e-05,-0.000273131014187,1.93113310348e-05,1793254967420218880
+8,0.133333333,BASELINE,781,760,738,720,687,649,914.645643134,800,838.645643134,657.354356866,635,657,0.400972359278,0.00449174967111,0.069824467899,0.99999996068,4.54073676961e-05,-0.0002760280805,1.96396006873e-05,1793254967436886016
+9,0.150000000,BASELINE,781,759.765219557,737.765219557,720,687,649,914.765219557,800,839,657,635,657,0.400971627017,0.00449209514432,0.0698242616506,0.999999960559,4.58566672849e-05,-0.000276390455947,1.96799702969e-05,1793254967453552896
+10,0.166666667,BASELINE,781,759.18624674,737.18624674,720,687,649,914.18624674,800,839,657,635,657,0.400974005213,0.00449219035662,0.069826388154,0.999999961558,4.42920551048e-05,-0.000273036928513,1.92982732112e-05,1793254967470219776
+11,0.183333333,BASELINE,781,759.389870054,737.389870054,720,687,649,914.389870054,800,838.610129946,657.389870054,635,657,0.400974754478,0.00449182859091,0.0698268436838,0.999999961732,4.38107550317e-05,-0.000272473151468,1.9351912611e-05,1793254967486886400
+12,0.200000000,BASELINE,781,759.964632456,737.964632456,720,687,649,914.964632456,800,838.035367544,657.964632456,635,657,0.400974731239,0.00449125010753,0.0698265067698,0.999999961519,4.38432057903e-05,-0.00027323238802,1.96120063686e-05,1793254967503552512
+13,0.216666667,BASELINE,781,760,738,720,687,649,914.447308463,800,838.552691537,658,635,657,0.400974268744,0.00449272014442,0.0698260337108,0.999999961429,4.67685913273e-05,-0.000273071391665,1.96827886471e-05,1793254967520219136
+14,0.233333333,BASELINE,781,760,738,720.13916437,687,649,914,800,839,658,635,657,0.400973867819,0.00449380794173,0.0698256767536,0.999999961405,4.86474471053e-05,-0.000272832821544,1.96490379525e-05,1793254967536885760
+15,0.250000000,BASELINE,781,760,738,720.717873551,687,649,914,800,839,658,635,657,0.400973752325,0.00449326421,0.0698257146939,0.999999961588,4.66217661462e-05,-0.0002725398151,1.93243300573e-05,1793254967553552384
+16,0.266666667,BASELINE,781,760,738,720.704173369,687,649,914,800,839,658,635,657,0.400973511974,0.00449331713504,0.0698256821857,0.999999961491,4.70358456784e-05,-0.000272831639657,1.9197815514e-05,1793254967570219264
+17,0.283333333,BASELINE,781,760,738,720.126939571,687,649,914,800,839,658,635,657,0.400973152851,0.00449393763409,0.0698255826628,0.999999961126,4.9770764701e-05,-0.000273679788842,1.92598338136e-05,1793254967586886144
+18,0.300000000,BASELINE,781.448101103,760,738,720,687,649,914.448101103,800,839,658,635,657,0.40097381619,0.00449418723325,0.069826051031,0.999999961332,4.95998800469e-05,-0.000272954178401,1.92612787976e-05,1793254967603552768
+19,0.316666667,BASELINE,781.976838874,760,738,720.023161126,687,649,915,800,839,658,635,657.023161126,0.400974722746,0.00449429903049,0.0698266517848,0.999999961679,4.86827650135e-05,-0.000271849431695,1.92489104605e-05,1793254967620219392
+20,0.333333333,BASELINE,781.386155373,760,738,720.613844627,687,649,915,800,839,658,635,657.613844627,0.40097452621,0.00449359624478,0.0698265736796,0.999999961505,4.95525765133e-05,-0.00027232544328,1.93164842781e-05,1793254967636885760
+21,0.350000000,BASELINE,781,760,738,720.800553058,687,649,914.800553058,800,839,658,635,658,0.400974100853,0.00449280563373,0.0698263531122,0.999999961398,4.89553830952e-05,-0.000272827505463,1.93189015153e-05,1793254967653552128
+22,0.366666667,BASELINE,781,760,738,720.224544244,687,649,914.224544244,800,839,658,635,658,0.400973243477,0.00449184920586,0.069825863572,0.999999961409,4.55884398193e-05,-0.00027337875191,1.91983011455e-05,1793254967670218752
+23,0.383333333,BASELINE,781,760,738,720.350571736,687,649.350571736,914,800,839,658,635,657.649428264,0.400973057102,0.00449173922211,0.0698259487414,0.999999961514,4.53454707024e-05,-0.000273039796255,1.91090098162e-05,1793254967686885632
+24,0.400000000,BASELINE,781,760,738,720.925117356,687,649.925117356,914,800,839,658,635,657.074882644,0.400973299416,0.00449217001597,0.069826401082,0.999999961682,4.70983513456e-05,-0.000272132106771,1.90397212498e-05,1793254967703552512
+25,0.416666667,BASELINE,781,759.48579576,737.48579576,720.48579576,687.51420424,649.48579576,914,800,839,657.48579576,635,657.51420424,0.400973926492,0.00449246745838,0.0698262967459,0.999999961462,4.7328441505e-05,-0.000272893074232,1.91183125854e-05,1793254967720219136
+26,0.433333333,BASELINE,781,759.103052209,737.103052209,720,687.896947791,649,914,800,839,657.103052209,635,658,0.400974557388,0.00449256297669,0.0698262079436,0.999999961269,4.73855650748e-05,-0.000273576476445,1.9311898263e-05,1793254967736885760
+27,0.450000000,BASELINE,781,759.680762343,737.680762343,720,687.319237657,649,914,800,839,657.680762343,635,658,0.400974940287,0.00449182048407,0.0698265749543,0.999999961467,4.76971624438e-05,-0.000272750767701,1.99330682598e-05,1793254967753552384
+28,0.466666667,BASELINE,781,760,737.742227737,720,687,649,914,800,839,657.742227737,635,657.742227737,0.400975046164,0.00449159405896,0.0698267495776,0.999999961607,4.80394915068e-05,-0.00027217380805,1.99994445071e-05,1793254967770219008
+29,0.483333333,BASELINE,781,760,737.16608268,720,687,649,914,800,839,657.16608268,635,657.16608268,0.400974809894,0.00449200502543,0.0698266865845,0.999999961674,4.84197770603e-05,-0.000271904076784,1.93805986796e-05,1793254967786885888
+30,0.500000000,BASELINE,781,759.591801624,737.408198376,720,687,649,914,800,839,657.408198376,635,657.408198376,0.400975188065,0.00449309040348,0.0698270849487,0.999999961737,4.97266591735e-05,-0.000271437323772,1.93789381932e-05,1793254967803552512
+31,0.516666667,BASELINE,781,759.018275535,737.981724465,720,687,649,914,800,839,657.981724465,635,657.981724465,0.400975815096,0.00449444893039,0.069827670171,0.999999961795,5.14088296144e-05,-0.0002708907734,1.96272489287e-05,1793254967820218880
+32,0.533333333,BASELINE,781,759.575285441,738,720,687,649,914.575285441,800,839,658,635,657.424714559,0.400975774746,0.00449370523422,0.0698280208402,0.99999996212,4.78596826468e-05,-0.000270377016419,1.91101024276e-05,1793254967836885504
+33,0.550000000,BASELINE,781.164700099,759.835299901,738,720,687,649,914.835299901,800,839,658,635,657.164700099,0.400975243988,0.00449314995154,0.0698277741323,0.99999996211,4.60169251868e-05,-0.000270756878302,1.88143767761e-05,1793254967853552384
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+35,0.583333333,BASELINE,781.682360974,759.317639026,738,720,687,649,914,800,839,658,635,657.682360974,0.400972644676,0.00449273006152,0.0698253531965,0.999999960943,4.92219222109e-05,-0.000274442235668,1.93298829021e-05,1793254967886886144
+36,0.600000000,BASELINE,781.108254753,759.891745247,738,720,687,649,914,800,839,658,635,657.108254753,0.400972403578,0.00449173534905,0.0698254859341,0.999999961072,4.75252724372e-05,-0.000274262252622,1.94191330597e-05,1793254967903552768
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+38,0.633333333,BASELINE,781,759,737.067448015,720,687,649.067448015,914,799.067448015,839,657,635,657,0.400976520172,0.00449236346267,0.0698282193821,0.999999962204,4.74385921684e-05,-0.000270117150403,1.94297585985e-05,1793254967936885760
+39,0.650000000,BASELINE,781,759,737.644967215,720,687,649.644967215,914,799.644967215,839,657,635,657,0.400976332951,0.00449327806206,0.0698283134022,0.999999962344,4.93216408503e-05,-0.000269277094835,1.92127638e-05,1793254967953552384
+40,0.666666667,BASELINE,781,759.22269423,738,720,687,649.77730577,914,800,839,657.22269423,634.77730577,657,0.400975575731,0.00449378780274,0.0698278671449,0.999999962242,4.97486383951e-05,-0.000269589155579,1.90581306821e-05,1793254967970219008
+41,0.683333333,BASELINE,781,759.800752833,738,720,687,649.199247167,914,800,839,657.800752833,634.199247167,657,0.400973908932,0.00449365148995,0.0698265587396,0.999999961753,4.78521418636e-05,-0.000271739706263,1.90030112441e-05,1793254967986885888
+42,0.700000000,BASELINE,781,759.623736024,737.623736024,720,687,648.623736024,914.376263976,800,838.623736024,657.623736024,634.376263976,657,0.400973849301,0.00449423150329,0.0698267175678,0.999999961799,4.84917170543e-05,-0.00027147121325,1.88028325206e-05,1793254968003552512
+43,0.716666667,BASELINE,781,759.049564812,737.049564812,720,687,648.049564812,914.950435188,800,838.049564812,657.049564812,634.950435188,657,0.400974635006,0.00449518828968,0.0698276481312,0.999999962124,5.0465214698e-05,-0.000269930352147,1.85263555506e-05,1793254968020219136
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+45,0.750000000,BASELINE,781,759.871633134,737.128366866,720,687,648.871633134,914,800,839,658,635,657,0.400973573693,0.00449266960173,0.0698263853531,0.999999961539,4.63363166264e-05,-0.000272777534084,1.91518298676e-05,1793254968053552640
+46,0.766666667,BASELINE,781,759.293353671,737.706646329,720,687,648.293353671,914,800,839,658,635,657,0.400974971649,0.00449333051421,0.0698276936327,0.999999962027,4.83843282435e-05,-0.00027062505761,1.91496962522e-05,1793254968070219008
+47,0.783333333,BASELINE,781,759.283537491,738,720.283537491,687,648.283537491,914,800,839,657.716462509,635,657.283537491,0.400975675328,0.00449372545254,0.0698281392032,0.999999962243,4.86403536267e-05,-0.000269790979411,1.90006351531e-05,1793254968086885888
+48,0.800000000,BASELINE,781,759.858999358,738,720.858999358,687,648.858999358,914,800,839,657.141000642,635,657.858999358,0.400975664195,0.00449384654945,0.0698276965462,0.999999962183,4.70513870483e-05,-0.000270314296732,1.87003005352e-05,1793254968103552256
+49,0.816666667,BASELINE,781,760,738,720.556106963,687,649,914,800,839,657.443893037,635,657.556106963,0.400974651652,0.00449241824917,0.069827241545,0.999999961921,4.57746508247e-05,-0.000271483164684,1.89731872938e-05,1793254968120218880
+50,0.833333333,BASELINE,781,760,737.968720148,720,687,649,914,800,839,658,635,657,0.400973433016,0.00449064626482,0.0698267911634,0.999999961616,4.47596679785e-05,-0.000272742421466,1.93905100746e-05,1793254968136885760
+51,0.850000000,BASELINE,781,760,737.391248653,720,687,649,914,800,839,658,635,657,0.400974290649,0.00449165343303,0.069826491399,0.999999961764,4.65458798945e-05,-0.000271921688038,1.90814713426e-05,1793254968153552640
+52,0.866666667,BASELINE,781,760,737.186143938,720,687,649,914,800,839,658,635,657,0.400974917822,0.00449257529974,0.0698266096745,0.999999961886,4.80351573315e-05,-0.000271227709814,1.88617296703e-05,1793254968170219264
+53,0.883333333,BASELINE,781,760,737.76337072,720,687,649,914,800,839,658,635,657,0.400975060809,0.0044933179505,0.0698276062392,0.999999961961,4.89005842076e-05,-0.00027080004053,1.88295984665e-05,1793254968186885888
+54,0.900000000,BASELINE,781,760,737.655661363,720,687,649,914,800,839,658,635,657,0.400975301793,0.00449336347514,0.069827819087,0.99999996209,4.87138393308e-05,-0.000270355503286,1.88259175757e-05,1793254968203552512
+55,0.916666667,BASELINE,781,760,737.072094326,720,687,649,914,800,839,658,635,657,0.400975610862,0.00449292467312,0.0698274874496,0.999999962257,4.77961007444e-05,-0.000269899247088,1.88420024694e-05,1793254968220218880
+56,0.933333333,BASELINE,781,760,737.511150094,720,687,649,914.511150094,800,839,657.488849906,635,657,0.400973598454,0.00449354378289,0.0698263488417,0.999999961514,4.86844740997e-05,-0.000272488491783,1.87457120543e-05,1793254968236885760
+57,0.950000000,BASELINE,781,760,738,720,687.093528237,649,914.906471763,800,839,657.093528237,635,657,0.400971913611,0.00449412882902,0.0698254286988,0.999999960867,4.9476579773e-05,-0.000274716128506,1.86965598961e-05,1793254968253552384
+58,0.966666667,BASELINE,781,760,738,720,687.671653366,649,914.328346634,800,839,657.671653366,635,657,0.400973621406,0.00449376476126,0.0698262298375,0.999999961424,4.84508446143e-05,-0.000272845961435,1.89737153014e-05,1793254968270219008
+59,0.983333333,BASELINE,781.247693752,760,738,720,687.752306248,649,914,800,839,658,635,657,0.400974410162,0.00449346391454,0.0698267107886,0.999999961686,4.85135727437e-05,-0.000271863061877,1.91239871976e-05,1793254968286885376
+60,1.000000000,BASELINE,781.820993717,760,738,720,687.179006283,649,914,800,839,658,635,657,0.400973990793,0.00449324617508,0.0698267708365,0.999999961562,5.00071418668e-05,-0.000272046520975,1.91074642149e-05,1793254968303552000
+61,1.016666667,BASELINE,781.604462867,760,738,720,687,649,914,800,839,658,635,657.395537133,0.40097303568,0.00449325254507,0.0698262327822,0.999999961258,4.94665031883e-05,-0.000273263603123,1.91052797423e-05,1793254968320218880
+62,1.033333333,BASELINE,781.029354969,760,738,720,687,649,914,800,839,658,635,657.970645031,0.400971837344,0.004493360659,0.0698254231941,0.999999960867,4.80023499828e-05,-0.000274949942042,1.91096048422e-05,1793254968336886016
+63,1.050000000,BASELINE,781,760,737.438747617,720,687.561252383,649,914,800,839,658,635,657.438747617,0.400973695168,0.00449403238525,0.0698267154562,0.999999961471,4.84841843449e-05,-0.000272668349067,1.8961893002e-05,1793254968353552640
+64,1.066666667,BASELINE,781,760,737.149499397,720.149499397,688,649,914.149499397,800,839,658,635,657.149499397,0.400975060838,0.00449416454133,0.0698276508079,0.999999961927,4.85736577887e-05,-0.000270980511242,1.88637390042e-05,1793254968370219520
+65,1.083333333,BASELINE,781,760,737.728568716,720.728568716,688,649,914.728568716,800,839,658,635,657.728568716,0.400974540015,0.00449265919388,0.0698272357683,0.999999961819,4.72349656933e-05,-0.000271612022409,1.89314818749e-05,1793254968386885632
+66,1.100000000,BASELINE,781,760,738,721,687.695156254,649,914.695156254,800,839,658,635,658,0.400974500407,0.00449307318988,0.069827382167,0.999999961815,4.78277185408e-05,-0.000271527379717,1.88646192624e-05,1793254968403552256
+67,1.116666667,BASELINE,781,760,738,721,687.121346676,649,914.121346676,800,839,658,635,658,0.400974885378,0.00449518063648,0.0698280239268,0.9999999619,5.0124599241e-05,-0.000270810869285,1.8678993259e-05,1793254968420218880
+68,1.133333333,BASELINE,781,759.544957666,738,720.544957666,687,649,914,800,839,658,635,657.544957666,0.400974930739,0.0044953641127,0.0698279047348,0.999999962055,4.92980160128e-05,-0.000270409635736,1.84100830235e-05,1793254968436885760
+69,1.150000000,BASELINE,781,759.032984142,738,720,687.032984142,649,914,800,838.967015858,658,635,657.032984142,0.400974923179,0.00449490827125,0.0698276649107,0.999999962229,4.77069952604e-05,-0.00027006565911,1.81840650436e-05,1793254968453552384
+70,1.166666667,BASELINE,781,759.62553204,738,720,687.62553204,649,914,800,838.37446796,658,635,657.62553204,0.400975562981,0.00449236026243,0.0698288407592,0.999999962447,4.73586147317e-05,-0.000269258588545,1.906462263e-05,1793254968470219008
+71,1.183333333,BASELINE,781,760,738,720,688,649,914,800,838.211973454,657.788026546,635,658,0.400975363273,0.00449133976264,0.0698289690546,0.999999962376,4.74382472921e-05,-0.000269466166424,1.96175538274e-05,1793254968486885888
+72,1.200000000,BASELINE,781,760,738,720,688,649,914,800,838.78792944,657.21207056,635,658,0.400973722032,0.00449294216918,0.0698272985823,0.99999996181,4.82528269523e-05,-0.000271416010954,1.96079133937e-05,1793254968503552256
+73,1.216666667,BASELINE,781,760,738,720,688,649,914,800,839,657.364367065,635,657.635632935,0.400972502348,0.00449234732349,0.0698265819719,0.999999961593,4.63396133371e-05,-0.00027256204315,1.94261875697e-05,1793254968520219136
+74,1.233333333,BASELINE,781,760,738,720,688,649,914,800,839,657.941085352,635,657.058914648,0.400971528344,0.00449047193058,0.0698264212673,0.999999961569,4.28366559923e-05,-0.000273239617594,1.9144171279e-05,1793254968536885760
+75,1.250000000,BASELINE,781,760,738,720,688,649,914,800,839,657.469741694,635,657.530258306,0.400973538448,0.0044916822492,0.0698271694729,0.999999961868,4.58469804896e-05,-0.000271655312772,1.91002652801e-05,1793254968553552128
+76,1.266666667,BASELINE,781,760,738,720.118524223,687.881475777,649,914,800,839,657.118524223,635,657.881475777,0.400974929133,0.00449296203118,0.069827531405,0.999999961963,4.87186463134e-05,-0.000270804435004,1.90961935078e-05,1793254968570218752
+77,1.283333333,BASELINE,781,760,738,720.697756252,687.302243748,649,914,800,839,657.697756252,635,657.302243748,0.40097259236,0.00449314713603,0.0698259899044,0.999999961172,4.81707836677e-05,-0.000273804750313,1.91416523614e-05,1793254968586885376
+78,1.300000000,BASELINE,781,760,737.725546015,720.725546015,687,649,914,800,839,657.725546015,635,657.274453985,0.400972119185,0.00449303765283,0.0698258752671,0.999999961085,4.75818238851e-05,-0.00027422465412,1.91675916472e-05,1793254968603552256
+79,1.316666667,BASELINE,781,760,737.15161369,720.15161369,687,649,914,800,839,657.15161369,635,657.84838631,0.400973679528,0.00449260672139,0.0698273175927,0.999999961769,4.69480198184e-05,-0.000271828867679,1.91722315933e-05,1793254968620219392
+80,1.333333333,BASELINE,781,760,737.433071267,720,687.433071267,649,914,800,839,657,635,658,0.400974132687,0.00449415274591,0.0698277299058,0.999999961908,4.841610329e-05,-0.000271073771404,1.89197982097e-05,1793254968636886272
+81,1.350000000,BASELINE,781,759.978735421,738,720,687.978735421,649,914,800,838.978735421,657.021264579,635,657.978735421,0.40097413569,0.00449628555094,0.0698277268994,0.999999961836,5.04817966592e-05,-0.000270986702539,1.85806617086e-05,1793254968653552640
+82,1.366666667,BASELINE,781,759.399771856,738,720,687.399771856,649,914,800,838.399771856,657.600228144,635,657.399771856,0.400972757202,0.00449519370992,0.0698265294844,0.999999961401,4.84305754216e-05,-0.000272971923157,1.83880543156e-05,1793254968670219264
+83,1.383333333,BASELINE,781,759.179265854,738,720,687.179265854,649,914,800,838.179265854,658,635,657.179265854,0.400972163538,0.00449427906632,0.069825952684,0.999999961221,4.7093007584e-05,-0.000273864978978,1.83926984475e-05,1793254968686885632
+84,1.400000000,BASELINE,781,759.758469092,738,720,687.758469092,649,914,800,838.758469092,658,635,657.758469092,0.400973320794,0.00449375974527,0.069826760458,0.999999961622,4.73475812248e-05,-0.000272321444388,1.88374054817e-05,1793254968703552256
+85,1.416666667,BASELINE,781,760,738,720,688,649,914,800,838.667168966,658,635,658,0.400973181893,0.00449318732742,0.0698267058322,0.999999961566,4.71394160643e-05,-0.000272555867235,1.89313299319e-05,1793254968720219136
+86,1.433333333,BASELINE,781,760,738,720,688,649,914,800,838.096269951,658,635,658,0.400972115875,0.00449257693042,0.0698260343475,0.999999961183,4.66002622445e-05,-0.000274062030777,1.87743459564e-05,1793254968736886016
+87,1.450000000,BASELINE,781,760,738,720,687.508089328,649,914,800,838,658,635,658,0.400971670861,0.00449190073454,0.0698259355445,0.999999961135,4.62526021128e-05,-0.000274274896989,1.90589282746e-05,1793254968753552640
+88,1.466666667,BASELINE,781,760,738,720,687,649,914.081748373,800,838.081748373,658,635,657.918251627,0.40097166727,0.00449141997725,0.0698260772357,0.999999961226,4.59818700871e-05,-0.000273973352839,1.93039523577e-05,1793254968770219264
+89,1.483333333,BASELINE,781,760,738,720,687,649,914.660353048,800,838.660353048,658,635,657.339646952,0.400973581022,0.0044922081871,0.069826974625,0.999999961739,4.59426264219e-05,-0.000272139647734,1.87641892182e-05,1793254968786886144
+90,1.500000000,BASELINE,781,760,737.770590014,720.229409986,687,649,914.770590014,800,839,658,635,657,0.400974840691,0.00449305450573,0.0698275682121,0.999999962049,4.67374355807e-05,-0.000270876513299,1.85147026445e-05,1793254968803552768
+91,1.516666667,BASELINE,781,760,737.215103976,720.784896024,687,649,914.215103976,800,839,658,635,657,0.400975170665,0.00449398341826,0.0698277299844,0.999999962074,4.87177408848e-05,-0.000270424370013,1.86778059901e-05,1793254968820219136
+92,1.533333333,BASELINE,781,760,737.374060818,720.625939182,687.374060818,649,914,800,839,658,635,657,0.400974452525,0.00449362485216,0.0698277887505,0.999999962007,4.85881798472e-05,-0.000270689665861,1.87879659279e-05,1793254968836885504
+93,1.550000000,BASELINE,781,760,737.984508915,720.015491085,687.984508915,649,914,800,839,658,635,657,0.400973072029,0.00449245266561,0.0698277824219,0.99999996188,4.71252915331e-05,-0.000271408346455,1.88646683595e-05,1793254968853552128
+94,1.566666667,BASELINE,781,760,738,720,688,649,914,800,839,657.436382757,635,657,0.400971797514,0.00449368142087,0.0698263499832,0.999999961221,4.85073969147e-05,-0.00027360518697,1.85641020663e-05,1793254968870218752
+95,1.583333333,BASELINE,781,760,738,720,688,649,914,800,839,657.141400881,635,657,0.400971591086,0.00449448846286,0.0698255963575,0.999999960892,4.96402559215e-05,-0.000274612850028,1.84305647972e-05,1793254968886885376
+96,1.600000000,BASELINE,781,760,738,720,688,649,914,800,839,657.71762041,635,657,0.40097466062,0.00449380646857,0.0698270443176,0.999999961634,4.97788739608e-05,-0.000271845349493,1.88408613077e-05,1793254968903552512
+97,1.616666667,BASELINE,781,760,738,720,688,649,914,800,839,657.706818439,635,657,0.400975216799,0.00449335567961,0.0698275771651,0.9999999619,4.88971982692e-05,-0.000271002084714,1.91367867482e-05,1793254968920219136
+98,1.633333333,BASELINE,781,760,738,720,688,649,914,800,839,657.131890021,635,657,0.400973357649,0.00449312707852,0.0698272305912,0.999999961713,4.70350224686e-05,-0.000272008006564,1.93228018097e-05,1793254968936886016
+99,1.650000000,BASELINE,781,760,738,720,687.544373574,649,914,800,839,657,635,657,0.400973426161,0.00449231374544,0.0698273871708,0.999999961787,4.62405645479e-05,-0.000271874581612,1.92923916905e-05,1793254968953552384
+100,1.666666667,BASELINE,781,760,738,720.045708286,687,649,914,800,839,657.045708286,635,657,0.400974141675,0.00449149627731,0.06982775084,0.999999961977,4.60154009808e-05,-0.000271221684428,1.91925185094e-05,1793254968970219008
+101,1.683333333,BASELINE,781,760,738,720.622068104,687,649,914,800,839,657.622068104,635,657,0.400975706386,0.00449265168964,0.0698287797765,0.999999962593,4.87093456623e-05,-0.000268475646043,1.90341970269e-05,1793254968986885632
+102,1.700000000,BASELINE,781,760,737.800918777,720.800918777,687.199081223,649,914,800,839,657.800918777,635,657,0.400975961651,0.00449392300764,0.069828898932,0.999999962695,5.05643120386e-05,-0.000267761421566,1.88718965366e-05,1793254969003552256
+103,1.716666667,BASELINE,781,760,737.222661424,720.222661424,687.777338576,649,914,800,839,657.222661424,635,657,0.400973722902,0.00449541508294,0.0698272852909,0.999999961836,5.08213346067e-05,-0.000270917051738,1.87020175258e-05,1793254969020219136
+104,1.733333333,BASELINE,781,760,737,720,687.647441804,649,914,799.647441804,839,657,635,657,0.400972800473,0.00449474553265,0.0698267672684,0.99999996155,4.85068474041e-05,-0.000272399721415,1.85708190467e-05,1793254969036886016
+105,1.750000000,BASELINE,781,760,737,720,687.074124248,649,914,799.074124248,839,657,635,657,0.400972702277,0.00449272244968,0.0698269352829,0.999999961616,4.45821725766e-05,-0.000272834843237,1.84638409193e-05,1793254969053552640
+106,1.766666667,POSE1_TO_POSE2_PRESS,781,759,737,720,688,649,914,800,839,657,635,658,0.400972164356,0.00449285100017,0.0698263634269,0.999999961343,4.47471328654e-05,-0.000273802043505,1.85576900703e-05,1793254969083811584
+107,1.783333333,POSE1_TO_POSE2_PRESS,781,759.578768164,737.578768164,720,688,649,914,800,839,657.578768164,635,657.421231836,0.400972194259,0.00449414839203,0.0698266373641,0.99999996142,4.78004326455e-05,-0.000273002942677,1.85524226381e-05,1793254969100478464
+108,1.800000000,POSE1_TO_POSE2_PRESS,781,759.843432279,738,720,687.843432279,649,914,800,839,657.843432279,635,657,0.400972499584,0.00449467541236,0.0698269725947,0.99999996156,4.90680979819e-05,-0.00027226407606,1.85544591113e-05,1793254969117145344
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,759.268222524,738,720,687.268222524,649,914,800,839,657.268222524,635,657,0.400973541351,0.00449314255815,0.0698274717159,0.999999961883,4.55612061616e-05,-0.000271686267835,1.85760252911e-05,1793254969133811968
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,759.313463548,738,720,687.313463548,649.313463548,914,800,839,657,635,657.313463548,0.400974080663,0.00449312181524,0.0698280417389,0.999999962081,4.58457855659e-05,-0.000270898328368,1.87189542935e-05,1793254969150478592
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,759.900808107,738,720,687.900808107,649.900808107,914,800,839,657,635,657.900808107,0.400974180968,0.00449442224223,0.0698286737104,0.999999962168,4.94430692469e-05,-0.000269926791966,1.89679210546e-05,1793254969167144960
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687.519897208,649.519897208,914,800,839,657.480102792,635,657.519897208,0.40097367922,0.00449447361585,0.0698280168802,0.999999961936,4.93962465292e-05,-0.000270802904921,1.88295707094e-05,1793254969183811840
+113,1.883333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687.057884865,649,914,800,839,658,635,657,0.400973151421,0.0044941013987,0.0698272409026,0.999999961688,4.85225269352e-05,-0.000271881920835,1.86963322542e-05,1793254969200478464
+114,1.900000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687.636775057,649,914,800,839,658,635,657,0.400973490252,0.00449220099486,0.069827749644,0.999999961884,4.6870966182e-05,-0.000271407983336,1.93174812633e-05,1793254969217145344
+115,1.916666667,POSE1_TO_POSE2_PRESS,781,760,738,720,688,649,914,800,839,658,635,657,0.400975172124,0.00449179388462,0.0698288417877,0.999999962241,4.70926736998e-05,-0.000270031660505,1.95790588083e-05,1793254969233811968
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,760,738,720,688,649,914,800,839,658,635,657,0.400979115956,0.00449390178986,0.0698309165016,0.999999962861,5.0469352602e-05,-0.000267135534182,1.92350435746e-05,1793254969250478336
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,760,738,720.373329883,688,649,914,800,839,658,635,657.373329883,0.400993776322,0.00449412687886,0.0698373030581,0.999999965448,5.04079258011e-05,-0.000257283041433,1.91825494791e-05,1793254969267144960
+118,1.966666667,POSE1_TO_POSE2_PRESS,781,760,738,720.963234013,688,649,914,800,839,658,635,657.963234013,0.401014653509,0.00449325971821,0.0698461909791,0.999999969024,4.83520027764e-05,-0.00024339505617,1.929917112e-05,1793254969283811328
+119,1.983333333,POSE1_TO_POSE2_PRESS,781,760,738,720.457875267,687.457875267,649,914,800,838.457875267,657.457875267,635,657.457875267,0.401059940858,0.00449357599471,0.0698629549508,0.99999997545,4.79944757658e-05,-0.000215482094137,1.90588977502e-05,1793254969300477952
+120,2.000000000,POSE1_TO_POSE2_PRESS,781,759.879896781,738,720,687,649,914,800,838.120103219,657.120103219,635,657,0.401109646994,0.00449378548804,0.0698792711075,0.999999980607,4.77049481315e-05,-0.000190144029541,1.88708943662e-05,1793254969317144576
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,759.302604066,738,720,687,649,914,800,838.697395934,657.697395934,635,657,0.401169997617,0.00449328906377,0.0698918898046,0.999999982834,4.72445420449e-05,-0.000178156254499,1.89721653226e-05,1793254969333811456
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,759,738,720,687,649,914,800,839,658,635,657,0.401238319383,0.00449359589236,0.0699014181269,0.999999985174,4.53095753196e-05,-0.000165156909083,1.7936160988e-05,1793254969350478080
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759,738,720,687,649,914,800,839,658,635,657,0.401315422362,0.00449478760485,0.0699075420128,0.999999987599,4.17501949665e-05,-0.000151043192625,1.56473051442e-05,1793254969367144960
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759,738,720,687,649,914,800,838.554988117,658,635,657,0.40140804303,0.0044951369932,0.0699103623912,0.999999988199,4.0173055397e-05,-0.000147627774716,1.39046803729e-05,1793254969383811328
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,759.023683048,738,720,687,649,914,800,838.023683048,657.976316952,634.976316952,657,0.4015059931,0.00449519807716,0.0699120407623,0.999999988268,3.90324652484e-05,-0.000147611631118,1.22838650172e-05,1793254969400478208
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,759.601206215,738,720,687,649,914,800,838.601206215,657.398793785,634.398793785,657,0.401619540215,0.00449443553561,0.0699102245294,0.99999998783,3.41727572519e-05,-0.000151918553435,9.67357764799e-06,1793254969417144576
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.177668015,634.177668015,657,0.401743927265,0.00449475990761,0.069909754092,0.999999987714,3.05917572051e-05,-0.000153595945275,6.71049995261e-06,1793254969433810944
+128,2.133333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.75176154,634.75176154,657,0.40189250113,0.00449750947856,0.0699122864898,0.999999988389,2.98639019261e-05,-0.000149406141149,2.9602517423e-06,1793254969450477568
+129,2.150000000,POSE1_TO_POSE2_PRESS,781,760,738,720.335488668,687,649,914,800,839,658,635,657.335488668,0.402058054026,0.00449974427264,0.0699145237609,0.999999989056,2.84456981321e-05,-0.000145182217613,-8.05265189786e-07,1793254969467144448
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,760,738,720.926554798,687,649,914,800,839,658,635,657.926554798,0.402236541676,0.00450158690664,0.0699165362027,0.999999989707,2.65015822446e-05,-0.000140932301244,-4.58241433043e-06,1793254969483811328
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,760,738,720.49461551,687.50538449,649,914,800,839,658,635,658,0.402448467601,0.00450326791933,0.0699199590519,0.99999999046,2.17791613239e-05,-0.000136078509946,-9.42900906508e-06,1793254969500478208
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687.917387757,649.082612243,914,800,839,658,635,657.917387757,0.402670845698,0.00450468860701,0.0699235463506,0.999999991246,1.629666918e-05,-0.000130504963138,-1.44915701028e-05,1793254969517144832
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687.33935444,649.66064556,914,800,839,658,635,657.33935444,0.402927452155,0.00450468566516,0.0699269197205,0.999999992428,8.62014644663e-06,-0.000121128920976,-1.99392734366e-05,1793254969533811200
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,759.763012854,738,720,687,649.763012854,914,800,839,658,635,657,0.4032005903,0.00450539502644,0.0699327827934,0.999999993711,2.54165419431e-06,-0.000109257007155,-2.51857278805e-05,1793254969550477824
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,759.189076611,738,720,687,649.189076611,914,800,839,658,635,657,0.403497233239,0.00450711714262,0.0699421857338,0.999999995142,-1.26475264415e-06,-9.3836455423e-05,-3.01460456685e-05,1793254969567144448
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,759.396778674,738,720,687,649,914,800,839,658,635,657,0.403811017034,0.00450844214644,0.0699479916335,0.999999995704,-5.49931461137e-06,-8.56205356828e-05,-3.50744538782e-05,1793254969583811072
+137,2.283333333,POSE1_TO_POSE2_PRESS,781,759.988489613,738,720,687,649,914,800,839,658,635,657,0.404133221903,0.00450957205401,0.069952030353,0.999999995875,-9.94422358146e-06,-8.09441595538e-05,-3.99871851766e-05,1793254969600477696
+138,2.300000000,POSE1_TO_POSE2_PRESS,781,759.43433474,738,720,687,649,914,800,839,657.43433474,635,657,0.40451363181,0.00451346622441,0.0699568847824,0.999999996067,-1.08023382115e-05,-7.51756238012e-05,-4.5805742222e-05,1793254969617144576
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,759.14194765,737.85805235,720,687,649,914,800,839,657.14194765,635,657.14194765,0.404901907741,0.00451384552566,0.0699613927956,0.999999996591,3.35529059374e-06,-6.89472427796e-05,-4.5316752084e-05,1793254969633811200
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,759.716386911,737.283613089,720,687,649,914,800,839,657.716386911,635,657.716386911,0.405310631896,0.00450334850015,0.0699647960278,0.999999995802,6.30466656947e-05,-6.13838039667e-05,-2.55549282335e-05,1793254969650478080
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760,737.292001853,720,687,649,914,800,839,658,635,657.707998147,0.405737959156,0.00449035641214,0.0699654060633,0.999999995042,7.78957580989e-05,-5.9296809418e-05,-1.82364982393e-05,1793254969667144704
+142,2.366666667,POSE1_TO_POSE2_PRESS,781,760,737.868763384,720,687,649,914,800,839,658,635,657.131236616,0.406183428178,0.00447493114247,0.069963292179,0.999999996577,4.90147449429e-05,-6.25504326288e-05,-2.30528410865e-05,1793254969683811328
+143,2.383333333,POSE1_TO_POSE2_PRESS,781.458675826,760,738,720,686.541324174,649,914,800,839,657.541324174,635,657,0.406641962762,0.00448336062284,0.0699490377785,0.999999995301,3.35988237945e-05,-8.71617018322e-05,-2.59377247536e-05,1793254969700477952
+144,2.400000000,POSE1_TO_POSE2_PRESS,781.949298309,760,737.949298309,720,686.050701691,649,914,800,839,657,635.050701691,657.050701691,0.407112465556,0.00449780951322,0.0699323630785,0.999999992759,1.95266076699e-05,-0.000115350741718,-2.81982736458e-05,1793254969717144320
+145,2.416666667,POSE1_TO_POSE2_PRESS,781.375436474,760,737.375436474,720,686.624563526,649,914,800,839,657,635.624563526,657.624563526,0.407666749247,0.00450186371392,0.0699276152681,0.999999992645,-2.16072308322e-05,-0.000115541127388,-2.98872673338e-05,1793254969733811200
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,737.199697387,720,687,649,914,800,839,657.199697387,635.800302613,658,0.408244009217,0.00450622883484,0.0699312347535,0.999999993503,-4.047160687e-05,-0.000101652331954,-3.19779333675e-05,1793254969750477824
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,737.777237985,720,687,649,914,800,839,657.777237985,635.222762015,658,0.408864742082,0.0045111822411,0.069950685823,0.999999997377,-1.72004006002e-05,-6.11246152808e-05,-3.48285951003e-05,1793254969767144704
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.362666508,914.362666508,800,839,657.637333492,635,658,0.409475640161,0.00452096717799,0.0699586851935,0.999999998442,1.47485703624e-05,-3.98948005914e-05,-3.61414330795e-05,1793254969783811328
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.953047759,914.953047759,800,839,657.046952241,635,658,0.41008036305,0.0045337857854,0.0699594941538,0.999999997501,5.21462237715e-05,-3.07819508232e-05,-3.6488686489e-05,1793254969800478464
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,738,720,686.469735071,649.469735071,915,800.530264929,839,657.530264929,635,657.469735071,0.410723091245,0.00453694192285,0.0699523555549,0.999999996645,5.48827771244e-05,-4.77084917195e-05,-3.77100543503e-05,1793254969817144832
+151,2.516666667,POSE1_TO_POSE2_PRESS,781.106192295,760,738,719.893807705,686.106192295,649,915,800.893807705,839,658,635,657,0.411387238758,0.00454090360459,0.0699493568201,0.999999996003,5.65704895269e-05,-5.72332278004e-05,-3.8952341991e-05,1793254969833811456
+152,2.533333333,POSE1_TO_POSE2_PRESS,781.681446205,760,738,719.318553795,686.681446205,649,915,800.318553795,839,658,635,657,0.412131493047,0.00455211100787,0.0699676773489,0.999999996676,6.68533260341e-05,-2.41258793076e-05,-3.99534396042e-05,1793254969850478080
+153,2.550000000,POSE1_TO_POSE2_PRESS,782,760,738,719,686.743251446,649,915,800,839.256748554,658,635.256748554,657,0.412889086825,0.00456089849125,0.0699923738359,0.999999996494,7.14779411804e-05,1.55598049041e-05,-4.07498536438e-05,1793254969867144448
+154,2.566666667,POSE1_TO_POSE2_PRESS,782,760,738,719,686.167888909,649,915,800,839.832111091,658,635.832111091,657,0.413663234438,0.00456668295895,0.070024982617,0.999999994751,6.90809467529e-05,6.34089270591e-05,-4.12922642291e-05,1793254969883811072
+155,2.583333333,POSE1_TO_POSE2_PRESS,781.579037476,760,738,719,686.420962524,649,914.579037476,800,839.579037476,658,635.579037476,657,0.414405002981,0.00457194898871,0.0700223676743,0.9999999945,8.0431244132e-05,5.2927351063e-05,-4.15965943424e-05,1793254969900477696
+156,2.600000000,POSE1_TO_POSE2_PRESS,781.014814704,760,738,719,686.985185296,649.014814704,914.014814704,800,839.014814704,657.985185296,635,657,0.415133778908,0.0045771426,0.0700041361636,0.999999994256,9.72289793091e-05,1.6788976025e-05,-4.18663960076e-05,1793254969917144320
+157,2.616666667,POSE1_TO_POSE2_PRESS,781.587686445,760,738,719,686.412313555,649.587686445,914.587686445,800,839.587686445,657.412313555,635,657,0.415875678114,0.00458765474256,0.0699443348845,0.999999990166,0.000105860984172,-8.04922130019e-05,-4.45306907777e-05,1793254969933811200
+158,2.633333333,POSE1_TO_POSE2_PRESS,781.838207408,760,738,718.838207408,686,649.838207408,915,800,840,657.161792592,635.161792592,657,0.41666074236,0.00459652907443,0.0699067493394,0.999999982674,0.000109914265047,-0.000142702585454,-4.69828658792e-05,1793254969950478080
+159,2.650000000,POSE1_TO_POSE2_PRESS,781.260931343,760,738,718.260931343,686,649.260931343,915,800,840,657.739068657,635.739068657,657,0.41755665441,0.00460119750688,0.0699262138157,0.999999986986,0.000102209381637,-0.00011485107575,-4.88903182999e-05,1793254969967144448
+160,2.666666667,POSE1_TO_POSE2_PRESS,781.324125631,760,738,718.324125631,686,649.324125631,915,800,840,658,635.675874369,657.324125631,0.418438709727,0.00460675151249,0.0699518485849,0.999999989744,0.000110759757,-7.60994244674e-05,-4.95232318728e-05,1793254969983811072
+161,2.683333333,POSE1_TO_POSE2_PRESS,781.915600521,760,738,718.915600521,686,649.915600521,915,800,840,658,635.084399479,657.915600521,0.41930933552,0.00461303596712,0.0699825728094,0.999999989585,0.000132717993526,-2.83569866074e-05,-4.91048645798e-05,1793254970000477696
+162,2.700000000,POSE1_TO_POSE2_PRESS,782,760,738,718.503630647,686,650,915,800,840,657.503630647,635,657.503630647,0.420225288568,0.00461275554926,0.0700082601895,0.999999991285,0.000121480043726,1.47702540029e-05,-4.95491940384e-05,1793254970017144320
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760.074773369,738,718,686.074773369,649.925226631,915,800.074773369,840,657,635.074773369,657.074773369,0.421146804022,0.00460850049726,0.0700297573525,0.999999992066,0.000103829140112,5.06652507016e-05,-5.02075429706e-05,1793254970033810944
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760.649281678,738,718,686.649281678,649.350718322,915,800.649281678,840,657,635.649281678,657.649281678,0.422055072503,0.00458498441033,0.070028852882,0.999999994523,8.02457251497e-05,4.33587044309e-05,-5.13365927729e-05,1793254970050477568
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760.776087094,738,718,686.776087094,649,915,800.776087094,840,657.223912906,636,657.776087094,0.422935237187,0.00456797729379,0.0699936734038,0.999999996347,6.5759444727e-05,-1.6307292371e-05,-5.211086848e-05,1793254970067144192
+166,2.766666667,POSE1_TO_POSE2_PRESS,782,760.201263141,738,718,686.201263141,649,915,800.201263141,840,657.798736859,636,657.201263141,0.423771358402,0.00456117087914,0.0699047789385,0.999999983997,6.55299753996e-05,-0.000158029791838,-5.23291500455e-05,1793254970083810816
+167,2.783333333,POSE1_TO_POSE2_PRESS,782,760.384559773,738,717.615440227,686,649.384559773,915,800.384559773,840,658,635.615440227,657,0.424672869172,0.00456538774152,0.0698659010151,0.999999974234,6.70250390459e-05,-0.000209971112675,-5.43297908809e-05,1793254970100477696
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,760.976308555,738,717.023691445,686,649.976308555,915,800.976308555,840,658,635.023691445,657,0.425609609779,0.00457554360784,0.0698539704756,0.999999973147,6.94492286493e-05,-0.000213541081509,-5.72907125862e-05,1793254970117144576
+169,2.816666667,POSE1_TO_POSE2_PRESS,782.554101408,760.445898592,738,717.554101408,686,649.445898592,915,800.445898592,840,658,635.554101408,657.554101408,0.426613376505,0.00457968513438,0.0699210848994,0.999999988386,8.19222948042e-05,-0.000115819718929,-5.5703883052e-05,1793254970133810944
+170,2.833333333,POSE1_TO_POSE2_PRESS,783,760,738,718,686,649.130837843,915,800,840,658,636,658,0.427621900214,0.00458358702636,0.0699858882722,0.999999994248,8.984986574e-05,-2.24663979752e-05,-5.40917997614e-05,1793254970150477568
+171,2.850000000,POSE1_TO_POSE2_PRESS,783,760,738,718,686,649.705963423,915,800,840,658,636,658,0.428637084853,0.00458752695007,0.0700316494803,0.99999999445,8.09191013015e-05,4.17092317366e-05,-5.30380246772e-05,1793254970167144192
+172,2.866666667,POSE1_TO_POSE2_PRESS,783,760,738,718,686,649.711187858,915,800,840,658,635.711187858,657.711187858,0.429633549647,0.00458939787562,0.070055066784,0.99999999269,7.5640287867e-05,7.77435385871e-05,-5.34350340046e-05,1793254970183811072
+173,2.883333333,POSE1_TO_POSE2_PRESS,783,760,738,718,686,649.120260293,915,800,840,658,635.120260293,657.120260293,0.430610432259,0.00458910450048,0.0700551109742,0.99999999216,7.41816426166e-05,8.43402716307e-05,-5.53496540913e-05,1793254970200477696
+174,2.900000000,POSE1_TO_POSE2_PRESS,783,760,737.539229521,717.539229521,686,649,915,800,840,658,635,657,0.431472099993,0.00458875149264,0.0699813501093,0.999999993907,8.56219174505e-05,-4.31424533677e-05,-5.47126192055e-05,1793254970217144576
+175,2.916666667,POSE1_TO_POSE2_PRESS,782.961030553,760,737.038969447,717,686,649.038969447,915,800.038969447,840,658,635.038969447,657.038969447,0.432313122152,0.00458839963444,0.069895234143,0.999999975159,9.85091376128e-05,-0.000192606589985,-5.36768251236e-05,1793254970233811456
+176,2.933333333,POSE1_TO_POSE2_PRESS,782.38699348,760,737.61300652,717,686,649.61300652,915,800.61300652,840,658,635.61300652,657.61300652,0.433274875232,0.00458827276912,0.0698984051705,0.999999979676,8.60107036868e-05,-0.000173498420279,-5.61177984765e-05,1793254970250477824
+177,2.950000000,POSE1_TO_POSE2_PRESS,782.18734028,760,738,717,686,649.81265972,915,800.81265972,840,658,635.81265972,657.81265972,0.434253328464,0.00458663022023,0.0699226223864,0.999999987657,7.6427862182e-05,-0.000124772323574,-5.72442303211e-05,1793254970267144192
+178,2.966666667,POSE1_TO_POSE2_PRESS,782.762287989,760,738,717,686,649.237712011,915,800.237712011,840,658,635.237712011,657.237712011,0.435266334523,0.00458185171888,0.0699903842106,0.999999995687,7.28773846441e-05,-1.47666692426e-05,-5.56508730714e-05,1793254970283810816
+179,2.983333333,POSE1_TO_POSE2_PRESS,783,760,738,716.65255081,686,649,915,800.34744919,840,658,635.34744919,657.34744919,0.436253723407,0.00457832109837,0.070028316253,0.999999994677,7.26454002986e-05,4.82749485642e-05,-5.51228988966e-05,1793254970300477440
+180,3.000000000,POSE1_TO_POSE2_PRESS,783,760,738,716.06019032,686,649,915,800.93980968,840,658,635.93980968,657.93980968,0.4372230551,0.00457567008913,0.0700452217619,0.999999992616,7.47525685939e-05,7.82123719744e-05,-5.53458963665e-05,1793254970317144320
+181,3.016666667,POSE1_TO_POSE2_PRESS,783,760,738,716.518420625,686,649,915,800.481579375,840.518420625,658,635.481579375,658,0.438118244789,0.00457532784436,0.0700183412001,0.999999994817,6.60208811473e-05,5.219199303e-05,-5.7296287716e-05,1793254970333810944
+182,3.033333333,POSE1_TO_POSE2_PRESS,783,760,738,717,686,649,915.095556796,800.095556796,841,657.904443204,635.095556796,658,0.438985270111,0.00457635532339,0.0699782351096,0.99999999642,6.05443558758e-05,1.70101870178e-06,-5.90923888654e-05,1793254970350477824
+183,3.050000000,POSE1_TO_POSE2_PRESS,783,760,738,717,686,649,915.673098214,800.673098214,841,657.326901786,635.673098214,658,0.439752532723,0.00458297450795,0.0698963994841,0.999999985394,7.76701917393e-05,-0.000140295307,-5.91247957375e-05,1793254970367144448
+184,3.066666667,POSE1_TO_POSE2_PRESS,783,760,738,717.254981328,686,649,916,801,841,657.254981328,636,657.745018672,0.440570750257,0.00458826677715,0.0698509742663,0.999999970881,8.93550495221e-05,-0.000216136725353,-5.94784717895e-05,1793254970383810816
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,760,738,717.842527138,686,649,916,801,841,657.842527138,636,657.157472862,0.441455426704,0.00459182839002,0.0698530380555,0.999999972617,9.39434034518e-05,-0.000205694278576,-6.02511708049e-05,1793254970400477440
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,760,738,717.576091123,685.576091123,649,915.576091123,801,841,657.576091123,635.576091123,657.423908877,0.442346993258,0.00459558653551,0.0698973542422,0.999999984476,9.30344806517e-05,-0.000137494134307,-5.90601976243e-05,1793254970417144320
+187,3.116666667,POSE1_TO_POSE2_PRESS,783,760,738,717,685,649,915,800.996982782,841,657.003017218,635.003017218,657.996982782,0.443240513002,0.0045994219205,0.069956787335,0.99999999311,9.02027544823e-05,-4.875698841e-05,-5.71582987188e-05,1793254970433810944
+188,3.133333333,POSE1_TO_POSE2_PRESS,783,760,738,717,685,649,915,800.420997497,841,657.579002503,635.579002503,657.420997497,0.444025842676,0.00460425959461,0.0699490004956,0.999999990036,0.000104470807395,-7.60881610376e-05,-5.67909681373e-05,1793254970450477568
+189,3.150000000,POSE1_TO_POSE2_PRESS,782.844479851,760,738,717,684.844479851,648.844479851,915,800.155520149,841,658,635.844479851,657.155520149,0.444795635552,0.00460905015409,0.0699302657259,0.99999998517,0.000114909246649,-0.000114909119002,-5.70217207167e-05,1793254970467143936
+190,3.166666667,POSE1_TO_POSE2_PRESS,782.26651601,760,738,717,684.26651601,648.26651601,915,800.73348399,841,658,635.26651601,657.73348399,0.445523225566,0.00461371273586,0.0698817927877,0.999999974559,0.000114945203184,-0.000184940105499,-5.88770630404e-05,1793254970483810816
+191,3.183333333,POSE1_TO_POSE2_PRESS,782.316605225,760,737.683394775,717,683.683394775,648,915,801,841,658,635,658,0.446229051052,0.00461628265158,0.0698364731703,0.999999960494,0.000112287499358,-0.000250551971002,-6.02245435262e-05,1793254970500477440
+192,3.200000000,POSE1_TO_POSE2_PRESS,782.904139774,760,737.095860226,717,683.095860226,648,915,801,841,658,635,658,0.446916251882,0.00461706180506,0.0697938519542,0.99999994358,0.000107324743317,-0.000312382247553,-6.11374301159e-05,1793254970517144320
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,760,737.483976224,717,683,648,915,801,841,658,635,658,0.447558695677,0.00461979084432,0.0697544623098,0.999999917574,0.000117583640528,-0.000384099898985,-5.90984793472e-05,1793254970533810944
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,760,737.938014771,717,682.938014771,647.938014771,915,800.938014771,841,658,635,658,0.448197603687,0.00462284052231,0.0697211012628,0.9999998899,0.000129985944344,-0.000447293445825,-5.68604250278e-05,1793254970550477568
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,760,737.362710182,717,682.362710182,647.362710182,915,800.362710182,841,658,635,658,0.44887949471,0.00462539725925,0.0697324473028,0.999999899285,0.000135561862277,-0.000423932206447,-5.77395191883e-05,1793254970567144192
+196,3.266666667,POSE1_TO_POSE2_PRESS,783.21171714,760,737,717,682,647.21171714,915,800,841,657.78828286,635.21171714,657.78828286,0.449547081123,0.00462668348392,0.0697506385462,0.99999991144,0.000137554846059,-0.000393433704874,-5.83874982643e-05,1793254970583810816
+197,3.283333333,POSE1_TO_POSE2_PRESS,783.784647685,760,737,717,682,647.784647685,915,800,841,657.215352315,635.784647685,657.215352315,0.450190262183,0.00462580207061,0.0697805084801,0.999999927862,0.000133434937984,-0.000350758228339,-5.86411687291e-05,1793254970600477696
+198,3.300000000,POSE1_TO_POSE2_PRESS,783.627344479,760,737,717,681.627344479,647.627344479,915,800,841,657.372655521,635.627344479,657,0.450773295127,0.00462707368822,0.0697703022064,0.999999920739,0.000141850444116,-0.000367653012556,-5.68512327293e-05,1793254970617144576
+199,3.316666667,POSE1_TO_POSE2_PRESS,783.030256251,760,737,717,681.030256251,647.030256251,915,800,841,657.969743749,635.030256251,657,0.451320103783,0.00462964197393,0.0697359599408,0.99999989772,0.000157815433717,-0.000420424128445,-5.3830529625e-05,1793254970633811200
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,759.454074899,737,717,681,647,915,800,841,658,635,657.545925101,0.451808907806,0.00463354722452,0.0696880676399,0.999999866667,0.000162097978084,-0.000486982956172,-5.69057390103e-05,1793254970650478080
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,759.121349371,737,716.878650629,680.878650629,647,915,800,841,658,635,658,0.452289867508,0.00463699561982,0.0696434228348,0.999999833739,0.000166372405397,-0.000548893741831,-5.96423392463e-05,1793254970667145216
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,759.698120682,737,716.301879318,680.301879318,647,915,800,841,658,635,658,0.452753007588,0.00463846161811,0.0696136802305,0.999999808846,0.000172956669634,-0.000590598501059,-5.98869779363e-05,1793254970683811840
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,760,737,716.274434031,679.725565969,647,915,800,841,658,635,658,0.453214089431,0.00463989925347,0.0696017834766,0.999999798273,0.000179440908259,-0.000606390297202,-5.95542993303e-05,1793254970700478208
+204,3.400000000,POSE1_TO_POSE2_PRESS,783,760,737,716.850244425,679.149755575,647,915,800,841,658,635,658,0.453672910943,0.00464130574131,0.0696094845762,0.999999804765,0.000185815301178,-0.000593725145173,-5.85876258533e-05,1793254970717144576
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,760,737.408838492,716.591161508,679,647,915,800,841,658,635,658,0.454091330467,0.00464206871316,0.0696167195542,0.999999807858,0.000189484476033,-0.00058737871238,-5.80117241324e-05,1793254970733811200
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,737.961381117,716.038618883,679,647,915,800,841,658,635,658,0.454495548939,0.00464260549319,0.0696237906932,0.99999980978,0.000192202783783,-0.000583253269558,-5.75731762242e-05,1793254970750477568
+207,3.450000000,POSE1_TO_POSE2_PRESS,783.573530772,760,737.426469228,716.573530772,678.426469228,646.426469228,915,800,841,658,635,658,0.454842078945,0.00464357601757,0.0696118751333,0.999999794539,0.000185490908664,-0.000610859512375,-5.80169407301e-05,1793254970767144192
+208,3.466666667,POSE1_TO_POSE2_PRESS,784,760,737,717,678,646,915,800,841.176188116,658,635,657.823811884,0.455166918072,0.00464526468374,0.0695936714012,0.999999776673,0.000162256372637,-0.000645630395339,-5.90629304285e-05,1793254970783811072
+209,3.483333333,POSE1_TO_POSE2_PRESS,784,760,737,717,678,646,915,800,841.74751164,658,635,657.25248836,0.455452833307,0.00464849082177,0.0695645650249,0.999999753934,0.000103555866746,-0.0006911216864,-6.13108308825e-05,1793254970800477952
+210,3.500000000,POSE1_TO_POSE2_PRESS,783.66682681,760,737,717,677.66682681,646,915,800,842,657.66682681,635.33317319,657.33317319,0.45574301695,0.00464923960509,0.069553335643,0.999999746056,7.88548174202e-05,-0.000705467629236,-6.31214152149e-05,1793254970817144576
+211,3.516666667,POSE1_TO_POSE2_PRESS,783.069810789,760,737,717,677.069810789,646,915,800,842,657.069810789,635.930189211,657.930189211,0.456036580817,0.00464802654939,0.0695562632101,0.999999753011,8.10782360159e-05,-0.000695149299093,-6.45856854278e-05,1793254970833811200
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,737,716.493848927,677,646,915,800,841.493848927,657.506151073,635.493848927,657.493848927,0.456305312201,0.00464741454359,0.0695663037971,0.999999762349,8.98381533327e-05,-0.000680575349269,-6.36311144631e-05,1793254970850477824
+213,3.550000000,POSE1_TO_POSE2_PRESS,783.080061564,760,737.080061564,716.080061564,676.919938436,646,915,800,841,657.919938436,635,657.080061564,0.456563097025,0.00464747638504,0.0695755292598,0.99999976977,0.000103634608785,-0.00066782071464,-6.11108581039e-05,1793254970867144192
+214,3.566666667,POSE1_TO_POSE2_PRESS,783.658557804,760,737.658557804,716.658557804,676.341442196,646,915,800,841,657.341442196,635,657.658557804,0.456773203972,0.00465123786528,0.0695738162295,0.999999764043,0.000143398200905,-0.000669900724247,-5.0837246008e-05,1793254970883811072
+215,3.583333333,POSE1_TO_POSE2_PRESS,783.765086361,760,737.765086361,717,676,646,915,800,841,657,635.234913639,658,0.456965895147,0.00465518620064,0.0695677922984,0.999999753987,0.000167419216541,-0.000679617675071,-4.60139806868e-05,1793254970900477696
+216,3.600000000,POSE1_TO_POSE2_PRESS,783.191813505,760,737.191813505,717,676,646,915,800,841,657,635.808186495,658,0.457133501404,0.00465940367362,0.0695555591368,0.999999739322,0.000168765319082,-0.000700334539245,-4.90411545142e-05,1793254970917144064
+217,3.616666667,POSE1_TO_POSE2_PRESS,783.397176976,760.397176976,737.397176976,717,675.602823024,646,915,800,841,657.397176976,636,658,0.457281274925,0.00466077501723,0.0695447139438,0.999999726335,0.000170098503527,-0.000718219358252,-5.05689446063e-05,1793254970933810944
+218,3.633333333,POSE1_TO_POSE2_PRESS,783.994070909,760.994070909,737.994070909,717,675.005929091,646,915,800,841,657.994070909,636,658,0.457419075723,0.00466071520954,0.0695345666791,0.999999714111,0.000171425192167,-0.00073468010751,-5.13427826466e-05,1793254970950477824
+219,3.650000000,POSE1_TO_POSE2_PRESS,783.431667378,760.431667378,737.431667378,716.431667378,675,646,915,800,841,658,635.431667378,658,0.457535852761,0.0046623588902,0.0695292934852,0.999999708649,0.00017176099653,-0.000741869745553,-5.32001509399e-05,1793254970967144704
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,737,716,675,645.857706882,915,800,841,658,635,658,0.457646276497,0.00466477685394,0.0695243085576,0.999999703398,0.00017255092454,-0.000748597576977,-5.50616452947e-05,1793254970983811328
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,737,716,675,645.283971318,915,800,841,658,635,658,0.457738076117,0.00466949067567,0.0695200494025,0.999999698698,0.000174747929523,-0.000754207209231,-5.69026883509e-05,1793254971000477952
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759.701574952,737,716.298425048,675,645,915,800,841,658,635.298425048,657.701574952,0.45781724365,0.00467290132552,0.0695145971423,0.99999969289,0.000177596874108,-0.000761120314334,-5.81028141431e-05,1793254971017144832
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759.110690859,737,716.889309141,675,645,915,800,841,658,635.889309141,657.110690859,0.457884031643,0.00467503485657,0.0695079756288,0.999999685963,0.000181084725215,-0.000769310834382,-5.86748358686e-05,1793254971033811456
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759.472202118,737,716.527797882,675,645,915,800,841,658,635.527797882,657.472202118,0.457932147156,0.00468141626551,0.0694984563224,0.999999673078,0.000187402142861,-0.000784250012762,-6.06356926176e-05,1793254971050477824
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,759.947478257,737,716,674.947478257,645,915,799.947478257,841,658,635,657.947478257,0.457975228312,0.00468970509377,0.0694889743462,0.999999659264,0.000195302927966,-0.000799588403292,-6.31381985384e-05,1793254971067144448
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,759.374406209,737,716,674.374406209,645,915,799.374406209,841,658,635,657.374406209,0.458011073328,0.00470719371949,0.069486482784,0.999999652357,0.00021243212993,-0.000803465145031,-6.7836067311e-05,1793254971083811072
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,759.199811573,737,716,674,645,915,799.199811573,841,657.800188427,635,657.199811573,0.458042366346,0.00471929417919,0.0694837639783,0.999999645994,0.000225272270744,-0.000807608794348,-7.09444969747e-05,1793254971100477952
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,759.776188572,737,716,674,645,915,799.776188572,841,657.223811428,635,657.776188572,0.458065080655,0.00472124008576,0.069480616909,0.999999641139,0.000230029234511,-0.000812255458557,-7.10574651903e-05,1793254971117144576
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+232,3.866666667,POSE1_TO_POSE2_PRESS,783.933083646,760,737,717,674,645,915,800,841,657.066916354,635.933083646,657.066916354,0.458116211578,0.00471626260456,0.0694756604909,0.999999635409,0.000225926130017,-0.00082053565014,-6.97146967873e-05,1793254971183811072
+233,3.883333333,POSE1_TO_POSE2_PRESS,783.331753181,760,737,717,674,645,915,800,841,657.668246819,635.331753181,657.668246819,0.458118010786,0.00471575551626,0.0694734468352,0.999999632162,0.00022562416801,-0.00082463784453,-6.88605383481e-05,1793254971200477696
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645,915,800,841,658,635,657.734614749,0.458119703493,0.0047155392965,0.0694716924314,0.999999629659,0.000226140944875,-0.00082756235659,-6.84372830393e-05,1793254971217144576
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645,915,800,841,658,635,657.14263513,0.458121265134,0.00471568103184,0.0694705032021,0.999999628083,0.000227665296552,-0.000829037563287,-6.85443153213e-05,1793254971233811456
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645,915,800,841,658,635,657,0.458123960504,0.00471533316117,0.0694705525867,0.999999628742,0.000226863805631,-0.000828476200827,-6.83736584271e-05,1793254971250478080
+237,3.950000000,POSE1_TO_POSE2_PRESS,783.016892712,760,737.016892712,717,674,645,915.016892712,800,841,658,635,657,0.458126907362,0.00471482546304,0.0694709403859,0.999999630035,0.00022536659477,-0.000827344816097,-6.81246377875e-05,1793254971267144448
+238,3.966666667,POSE1_TO_POSE2_PRESS,783.592009992,760,737.592009992,717,674,645,915.592009992,800,841,658,635,657,0.458126272455,0.00471417196329,0.0694695187036,0.999999628895,0.000225276144223,-0.000828739561513,-6.8198897043e-05,1793254971283811328
+239,3.983333333,POSE1_TO_POSE2_PRESS,783.834061694,759.834061694,737.834061694,717,674,645,915.834061694,800,841,658,635,657.165938306,0.458126046483,0.00471407153045,0.0694687311426,0.999999627987,0.000226212472751,-0.000829583512532,-6.8153346426e-05,1793254971300477952
+240,4.000000000,POSE1_TO_POSE2_PRESS,783.263035911,759.263035911,737.263035911,717,674,645,915.263035911,800,841,658,635,657.736964089,0.458126818803,0.00471532124085,0.0694694915944,0.99999962764,0.000229655367457,-0.00082908286789,-6.78153167495e-05,1793254971317144576
+241,4.016666667,POSE1_TO_POSE2_PRESS,783.322449991,759.322449991,737,717,674,645,915,800,841,658,635,658,0.458127122292,0.00471522464947,0.0694689924067,0.999999627032,0.000229354548501,-0.000829910898772,-6.76790776623e-05,1793254971333811200
+242,4.033333333,POSE1_TO_POSE2_PRESS,783.920285394,759.920285394,737,717,674,645,915,800,841,658,635,658,0.458127025378,0.00471397826151,0.0694674174356,0.999999626195,0.000225856445578,-0.000831873672634,-6.77151759657e-05,1793254971350477824
+243,4.050000000,POSE1_TO_POSE2_PRESS,783.500277256,760,737,717,674,645,915,800,841.499722744,657.500277256,635,658,0.45812706267,0.00471400147737,0.0694671733922,0.999999625898,0.000226298025211,-0.000832127811117,-6.75039002357e-05,1793254971367144448
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,737.075601588,717,674,645,915,800,842,657,635,658,0.458127089058,0.0047141836325,0.0694671872264,0.999999625727,0.000227317107776,-0.000832074181821,-6.72704156846e-05,1793254971383811072
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,760,737.646709352,717,674,645,915,800,842,657,635,658,0.458126908645,0.00471412725815,0.0694675491526,0.999999625836,0.0002281485417,-0.00083172634505,-6.71408181967e-05,1793254971400477952
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,760,737.773362864,717,674,645,915,800,841.773362864,657.226637136,635,658,0.458127671405,0.00471379562801,0.0694679585734,0.999999626368,0.000228520299911,-0.000830994213142,-6.70163957803e-05,1793254971417144576
+247,4.116666667,POSE1_TO_POSE2_PRESS,783,760,737.179129266,717,674,645,915,800,841.179129266,657.820870734,635,658,0.458129963955,0.00471301754384,0.0694684450283,0.999999627586,0.000228146482445,-0.000829638769685,-6.69003671046e-05,1793254971433811456
+248,4.133333333,POSE1_TO_POSE2_PRESS,783,760,737.403127377,717,674,645,915,799.596872623,841,658,635.403127377,658,0.458130546347,0.00471133571478,0.0694685030758,0.999999628233,0.000226786037654,-0.000829263417852,-6.6513205958e-05,1793254971450478080
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,760,737.980215592,717,674,645,915,799.019784408,841,658,635.980215592,658,0.458130390758,0.00470926389434,0.0694683762533,0.999999628631,0.000224999835357,-0.000829311003286,-6.60090435075e-05,1793254971467144704
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,760,737.444092193,717,674,645,915,799.555907807,841,658,635.444092193,658,0.458130823141,0.00471157356219,0.069469287122,0.999999628952,0.000226556873842,-0.000828474439598,-6.63109415089e-05,1793254971483811328
+251,4.183333333,HOLD_POSE2,783,760,737,717,673,645,915,800,841,657,635,657,0.458129367104,0.00471418001119,0.0694674200185,0.999999625096,0.000230986973925,-0.00083190850322,-6.61872772788e-05,1793254971525739520
+252,4.200000000,HOLD_POSE2,783,760,737,717,673.596055747,645,915,799.403944253,841,657.596055747,635,657.596055747,0.458130955175,0.0047135773841,0.0694683950631,0.999999626969,0.000230051789986,-0.000829896283729,-6.64086420313e-05,1793254971542405888
+253,4.216666667,HOLD_POSE2,783,759.81393679,737,717,674,645,915,799,841,658,635,658,0.458132233799,0.00471327531784,0.0694691635346,0.999999628289,0.000229414812826,-0.000828473000866,-6.6499732251e-05,1793254971559072256
+254,4.233333333,HOLD_POSE2,783,759.236646674,737,717,674,645,915,799,841,658,635,658,0.458132861763,0.00471360522749,0.0694694976544,0.999999628457,0.000229404861738,-0.000828288048707,-6.63168999972e-05,1793254971575738880
+255,4.250000000,HOLD_POSE2,783.34030344,759.34030344,737.34030344,717,673.65969656,645,915,799,841,658,635,658,0.45813213514,0.00471281091871,0.0694685534673,0.999999627566,0.000228094847577,-0.00082974190441,-6.60953943599e-05,1793254971592405248
+256,4.266666667,HOLD_POSE2,783.917017317,759.917017317,737.917017317,717,673.082982683,645,915,799,841,658,635,658,0.45813046748,0.00471123560996,0.0694667212341,0.999999625931,0.000225881673338,-0.000832334247828,-6.58470221475e-05,1793254971609071872
+257,4.283333333,HOLD_POSE2,783.509036844,760,737.509036844,716.509036844,673,645,915,799.490963156,841,658,635.490963156,658,0.458130977611,0.00471115279282,0.0694674730918,0.999999626693,0.000224980949394,-0.000831644094122,-6.60718309225e-05,1793254971625738496
+258,4.300000000,HOLD_POSE2,783.066740479,760,737,716.066740479,673,645,915,800,841,658,635.933259521,658,0.458131901456,0.00471154682625,0.0694686256627,0.999999627852,0.000224670493234,-0.000830311365043,-6.63452552918e-05,1793254971642405120
+259,4.316666667,HOLD_POSE2,783.660659414,760,737,716.660659414,673,645,915,800,841,658,635.339340586,658,0.458133201972,0.00471372604674,0.069469512816,0.999999628961,0.000227280120759,-0.000828260800289,-6.63744987277e-05,1793254971659071744
+260,4.333333333,HOLD_POSE2,784,760,737,717,673.246489453,645,915,800,841,658,635,658,0.458133942382,0.00471423663594,0.0694699329823,0.999999629422,0.000228130939055,-0.000827477050645,-6.6283835415e-05,1793254971675738368
+261,4.350000000,HOLD_POSE2,784,760,737,717,673.821537342,645,915,800,841,658,635,658,0.458133936199,0.00471252302073,0.0694697306777,0.999999629029,0.000226637350114,-0.000828381904008,-6.60333422456e-05,1793254971692405248
+262,4.366666667,HOLD_POSE2,784,760,737,717,674,645,915,799.603801296,841,658,635.396198704,658,0.458133681236,0.00471171692835,0.0694701590108,0.999999629113,0.000226472183454,-0.000828344166818,-6.58011594855e-05,1793254971709071872
+263,4.383333333,HOLD_POSE2,784,760,737,717,674,645,915,799.02931382,841,658,635.97068618,658,0.458133314324,0.00471131921963,0.0694708711299,0.999999629412,0.000226904804528,-0.00082788226549,-6.55772163581e-05,1793254971725738496
+264,4.400000000,HOLD_POSE2,783.4410726,760,737,717,673.4410726,645,915,799.5589274,841.5589274,657.4410726,636,657.4410726,0.458132669371,0.00471162354215,0.0694689997417,0.999999628022,0.0002271968117,-0.00082945848639,-6.58536644256e-05,1793254971742404864
+265,4.416666667,HOLD_POSE2,783,760,737,717,673.146210637,645,915,800,841.853789363,657.146210637,636,657.146210637,0.458132494635,0.00471162043307,0.0694678366617,0.999999627284,0.000227255135088,-0.000830319573973,-6.60082907445e-05,1793254971759071488
+266,4.433333333,HOLD_POSE2,783,760,737,717,673.728431899,645,915,800,841.271568101,657.728431899,636,657.728431899,0.458133766704,0.00471058797365,0.0694692000597,0.999999628768,0.000226639143461,-0.000828721280155,-6.57194006601e-05,1793254971775738368
+267,4.450000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,673,645,915,799,842,658,635,657,0.458135130193,0.00470930380521,0.0694684432778,0.999999630367,0.000223290054234,-0.000827709632187,-6.56090455547e-05,1793254971812569600
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783.575060805,760,737,717,673,645,915,799.575060805,841.424939195,658,635,657.575060805,0.458134172012,0.00471096606422,0.0694685453951,0.999999628471,0.000226095752861,-0.000829255534212,-6.53703504068e-05,1793254971829236480
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783.846015433,760,737,716.846015433,673,645,915,799.846015433,841,657.846015433,635,658,0.45813377698,0.0047115415482,0.069468819238,0.999999627522,0.000227427983162,-0.000830051746642,-6.51625673137e-05,1793254971845903360
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783.256156919,760,737,716.256156919,673,645,915,799.256156919,841,657.256156919,635,658,0.458134976016,0.00470904077024,0.0694695791732,0.999999629271,0.000224589364627,-0.000828725862611,-6.50422848795e-05,1793254971862569984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783.328096117,760,737,716,673,645,915,799,841,657,635,658,0.458134612831,0.00470833824618,0.069469043888,0.999999629284,0.000223379708631,-0.000829026368777,-6.51862818058e-05,1793254971879236608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783.908046227,760,737,716,673,645,915,799,841,657,635,658,0.458133050451,0.00470901610259,0.0694675143622,0.999999627967,0.000223420481262,-0.000830575328893,-6.55331455488e-05,1793254971895903232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,784,760,737,716.481975391,673,645,915,799.481975391,841,657.481975391,635,658,0.458134015391,0.00470885957691,0.069468673999,0.999999629018,0.000223899447111,-0.000829205536763,-6.52005184215e-05,1793254971912570112
+274,4.566666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841,658,635,658,0.458135339501,0.00470865561913,0.069470156251,0.999999630407,0.000224511076543,-0.000827394643464,-6.47994537121e-05,1793254971929236480
+275,4.583333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841,658,635,658,0.458135556468,0.00470949008958,0.0694698971844,0.999999630798,0.000225596506602,-0.000826613585382,-6.49620940704e-05,1793254971945903360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841,658,635,658,0.458133406837,0.00470971010306,0.0694681199977,0.999999629165,0.000226043156457,-0.000828461659487,-6.50062806193e-05,1793254971962569984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841,658,635,658,0.458127150014,0.00470886373643,0.0694637081385,0.999999623993,0.000225381213618,-0.000834872549469,-6.48448925051e-05,1793254971979236608
+278,4.633333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841.391676377,658,635,658,0.458111290222,0.00470739017275,0.0694558984187,0.9999996149,0.00022350191388,-0.000846197239253,-6.47780266381e-05,1793254971995903232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841.967080509,658,635,658,0.458090925864,0.00470562240309,0.0694464948284,0.99999960382,0.000221051575651,-0.000859826897208,-6.47554992917e-05,1793254972012569856
+280,4.666666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,800,841.458877974,658,635,658,0.458044064834,0.00470818693409,0.0694266355727,0.999999576548,0.000224768584789,-0.000890003052816,-6.5405759003e-05,1793254972029236480
+281,4.683333333,POSE2_TO_POSE3_RETREAT,784,759.881222721,737,717,673,645,915,800,841,658,635,658,0.457994008068,0.0047106117292,0.0694071906636,0.999999551312,0.000228578361539,-0.000916943358164,-6.59029995021e-05,1793254972045903360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,784,759.288828024,737,717,673,645,915,800,841,658,635,658,0.457937619858,0.00471143105352,0.0693919278799,0.999999541461,0.000231265737995,-0.000926977171465,-6.56272916136e-05,1793254972062569728
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783.703869647,759.296130353,736.703869647,717,673,645,915,799.703869647,841,658,635,657.703869647,0.45787058406,0.00471103274856,0.0693816088049,0.999999531469,0.000231433314732,-0.00093769723175,-6.49950643443e-05,1793254972079236352
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783.125986581,759.874013419,736.125986581,717,673,645,915,799.125986581,841,658,635,657.125986581,0.457793417636,0.00470947593227,0.0693759934141,0.999999521316,0.0002292034322,-0.000949070219916,-6.40236273394e-05,1793254972095902976
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783.449071522,760,736.449071522,717,673,645,915,799,841,658,635,657,0.457708213723,0.00470821795628,0.0693791364613,0.999999523976,0.000230489745086,-0.000946069690163,-6.2244884492e-05,1793254972112569856
+286,4.766666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,799.023960731,841,658,635,657.023960731,0.457620179914,0.00470716537174,0.0693848935459,0.999999530522,0.000232796586925,-0.000938685451827,-6.02589113442e-05,1793254972129236224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,673,645,915,799.613452792,841,658,635,657.613452792,0.457518242321,0.00470899408122,0.0693947156008,0.999999544991,0.000236052966299,-0.000922416304009,-5.86940687736e-05,1793254972145902848
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783.800554909,760,737,717,673.199445091,645,915,800,841,657.800554909,635,658,0.457402549542,0.00470943109368,0.0694034165639,0.999999556771,0.000238568584379,-0.000909024695315,-5.67177292109e-05,1793254972162569728
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783.221228639,760,737,717,673.778771361,645,915,800,841,657.221228639,635,658,0.457260657403,0.00470721735378,0.0694099821926,0.999999563819,0.000239673281147,-0.000901113910387,-5.39576154211e-05,1793254972179236608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,674,645,915,800,841,657.353653474,635,658,0.457099643852,0.00470440679945,0.0694166918865,0.999999570968,0.000240007068117,-0.000893232297998,-5.09527902835e-05,1793254972195903232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,674,645,915,800,841,657.925790094,635,658,0.456926817293,0.00470122753965,0.069423490583,0.999999578151,0.000239864595772,-0.000885368707283,-4.77967849533e-05,1793254972212569856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783.503989697,760,737,717,674,645,915,799.496010303,841,658,635.503989697,657.496010303,0.456724541419,0.00469187359722,0.0694282868425,0.999999584941,0.00023337562587,-0.000879552009152,-4.51949025913e-05,1793254972229236480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,674,645.084494783,915,799,841,658,636,657.084494783,0.45651372186,0.00468015891943,0.0694330508648,0.999999591729,0.000225092153215,-0.000874132066035,-4.20630610549e-05,1793254972245903104
+294,4.900000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,674,645.673368366,915,799,841,658,636,657.673368366,0.456278101821,0.00465984554498,0.0694394039394,0.999999599154,0.000211742881501,-0.000869259454186,-3.52747272737e-05,1793254972262569728
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783.741425324,760,737,716.741425324,674,645.741425324,915,799.258574676,841,658,635.741425324,658,0.456022459709,0.00464878106467,0.0694454343709,0.999999605541,0.000207037009758,-0.00086323657929,-2.96001003511e-05,1793254972279236608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783.160786766,760,737,716.160786766,674,645.160786766,915,799.839213234,841,658,635.160786766,658,0.455741879411,0.00464923640952,0.0694510629386,0.999999610794,0.000213096798461,-0.000855781011618,-2.53126350263e-05,1793254972295902976
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783.41645896,760,737,716.41645896,674.41645896,645,915,800,841,658,635,658,0.455429666085,0.00465204312647,0.0694567011093,0.999999615634,0.000222848597495,-0.000847725522457,-2.07706306644e-05,1793254972312569600
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783.992405352,760,737,716.992405352,674.992405352,645,915,800,841,658,635,658,0.455105338559,0.00465575032662,0.0694623429574,0.999999620158,0.000234014291365,-0.000839440286956,-1.61311479399e-05,1793254972329236224
+299,4.983333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,675,645.566823563,915,800,841,658,635.566823563,658,0.454735870517,0.0046538590881,0.069455370852,0.999999611911,0.000242314265512,-0.000846975627116,-9.66673462496e-06,1793254972345903104
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783.854874688,760,737,717,675,645.854874688,915,800,841,657.854874688,635.854874688,658,0.454366733643,0.00465318684915,0.069453252284,0.999999611255,0.000250774522199,-0.000845333924916,-3.67068486605e-06,1793254972362569728
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783.264598213,760,737,717,675,645.264598213,915,800,841,657.264598213,635.264598213,658,0.454000462856,0.00465648318541,0.0694665382685,0.999999634214,0.000259843880682,-0.00081489450383,8.13925462927e-07,1793254972379236352
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783.318745446,760,737,717,675.318745446,645,915,799.681254554,841,657.318745446,635,657.681254554,0.45360406559,0.00465662654618,0.0694854262261,0.999999659125,0.000266822599956,-0.000781354299589,6.33978841702e-06,1793254972395902720
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783.896456581,760,737,717,675.896456581,645,915,799.103543419,841,657.896456581,635,657.103543419,0.453183191939,0.00465420826296,0.0695088655247,0.999999685167,0.000272102774023,-0.000745294851155,1.27116206602e-05,1793254972412569600
+304,5.066666667,POSE2_TO_POSE3_RETREAT,784,760,737,716.527954726,676.472045274,645.472045274,915,799.472045274,841,657.527954726,635,657.472045274,0.452710817306,0.00465431336975,0.0695257659976,0.999999704547,0.000275185379308,-0.00071755636868,1.71053129797e-05,1793254972429236224
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783.951665952,760,736.951665952,716.048334048,677,646,915,800,841,657.048334048,635,658,0.452222889679,0.00465480498766,0.0695390591969,0.999999720579,0.000273490863763,-0.000695457193552,1.96120788784e-05,1793254972445902848
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783.362353674,760,736.362353674,716.637646326,677,646,915,800,841,657.637646326,635,658,0.451686758011,0.00465345523547,0.0695279595197,0.999999718535,0.000223699541268,-0.000716138691437,5.83419881096e-06,1793254972462569472
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783.223266074,760,736.223266074,717,677.223266074,646,915,800,841,658,635,658,0.451133520874,0.00465002943754,0.0695218337074,0.999999714738,0.000190308422713,-0.000730963050306,-3.899555054e-07,1793254972479236096
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783.802990432,760,736.802990432,717,677.802990432,646,915,800,841,658,635,658,0.450552973815,0.00464328910253,0.0695236489832,0.999999712053,0.000183101261743,-0.000736436121111,5.44588773566e-06,1793254972495902976
+309,5.150000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,678.38017728,646.38017728,915,800,841,658,635,658,0.449961324598,0.0046425248302,0.0695374965084,0.999999721441,0.000187412489491,-0.000722392690171,1.20022135526e-05,1793254972512570112
+310,5.166666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,678.956057881,646.956057881,915,800,841,658,635,658,0.449363960358,0.0046448368474,0.0695575378577,0.999999736474,0.000197653022009,-0.000698302776674,1.89294209782e-05,1793254972529236736
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783.47061459,760,737,717,679,647,915,800,841,658,635,658,0.448757761073,0.00464210285733,0.069605720386,0.999999792741,0.000183143740455,-0.000616886118444,2.06994562502e-05,1793254972545904384
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.893958357,679.212083285,647,915,800,841,658,635,658,0.448137302903,0.00463891428076,0.0696494028801,0.999999838201,0.000166124586089,-0.000543619804837,2.18598751223e-05,1793254972562571776
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.301051011,680.397897977,647,915,800,841,658,635,658,0.447454729432,0.00463555239235,0.0696617512921,0.99999984876,0.000146968885876,-0.000529516466299,2.21773593048e-05,1793254972579237632
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,760,736.716141031,716.283858969,681.283858969,647.283858969,915,800,841,658,635,658,0.44673349078,0.00463265794845,0.0696512617088,0.999999841375,0.000131990297836,-0.000547066451672,2.34044044532e-05,1793254972595904000
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,760,736.139480297,716.860519703,681.860519703,647.860519703,915,800,841,658,635,658,0.445972368742,0.00463024567518,0.0696172146353,0.99999981395,0.000121320416703,-0.000597266976313,2.55696657127e-05,1793254972612570368
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783.43391716,760,736.43391716,717,682,648,915,800,841,657.56608284,635,657.56608284,0.445237645497,0.00462528291861,0.0696241131843,0.999999828752,0.000103014972646,-0.00057549093897,2.63529526165e-05,1793254972629236736
+317,5.283333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,682.006500404,648,915,800,840.993499596,657.006500404,635,657,0.444510863036,0.00461953134789,0.0696443755638,0.999999855454,8.40101086477e-05,-0.000530398122097,2.66725725827e-05,1793254972645903360
+318,5.300000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,682.599562882,648,915,800,840.400437118,657.599562882,635,657,0.443740617596,0.0046160270561,0.0696917381085,0.999999872301,0.000221713014009,-0.000453451667221,2.49389315144e-05,1793254972662569984
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783.811912112,760,737,717,683,648,915,800,840,657.811912112,635.188087888,657.188087888,0.442956436349,0.00461151486584,0.0697341791781,0.999999876065,0.000308109046002,-0.000390264625972,2.51629231086e-05,1793254972679236608
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783.232819816,760,737,717,683,648,915,800,840,657.232819816,635.767180184,657.767180184,0.442143284854,0.00460490741729,0.0697663892914,0.999999894884,0.000287846357733,-0.000355681212043,2.94565186828e-05,1793254972695903232
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,683.344140091,648.344140091,915,800,840.344140091,657.344140091,635.655859909,658,0.441331318841,0.00459751278897,0.069793007048,0.999999918297,0.000256420250884,-0.00031100578041,3.05066621288e-05,1793254972712570112
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,683.919666243,648.919666243,915,800,840.919666243,657.919666243,635.080333757,658,0.440520149932,0.00458958889267,0.0698158647258,0.999999942236,0.000217488307158,-0.00025954487952,2.9376037582e-05,1793254972729237248
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783.505103969,760,737,717,684,649,915,800,841,658,635,657.494896031,0.439610207046,0.00458680042863,0.0698065321972,0.999999941593,0.000193157886951,-0.000280223341483,3.12769309133e-05,1793254972745904128
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783.909016094,760,736.909016094,717,684,649,915,800,840.909016094,658,635,657.090983906,0.438677706549,0.00458463091354,0.069784065997,0.999999932695,0.000171564211879,-0.000322609053586,3.31639393075e-05,1793254972762570752
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783.329396943,760,736.329396943,717,684,649,915,800,840.329396943,658,635,657.670603057,0.43771011636,0.00458131124535,0.0697191103438,0.999999900269,0.000151946798212,-0.000418723372373,3.23351574962e-05,1793254972779237120
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,760,736.249239907,717,684,649,915,800,840,658,635,657.750760093,0.436772386607,0.00457595988542,0.0696942002162,0.999999886662,0.000142159860091,-0.000453236756404,3.22820052563e-05,1793254972795903488
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760,736.826583717,717,684,649,915,800,840,658,635,657.173416283,0.435873965536,0.00456793396942,0.0697220067308,0.999999906204,0.000145313935615,-0.000406657577094,3.32499059125e-05,1793254972812569856
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783.403026729,760,736.596973271,717.403026729,684.403026729,649,915,800,840.403026729,658,635,657.403026729,0.434980118043,0.00456336059673,0.0697678928345,0.999999929158,0.000141141885361,-0.000347082134207,3.6008408093e-05,1793254972829236480
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783.979082971,760,736.020917029,717.979082971,684.979082971,649,915,800,840.979082971,658,635,657.979082971,0.434088234155,0.00456026948821,0.0698215409591,0.999999950523,0.000133824544393,-0.000281927070174,3.95356603845e-05,1793254972845903104
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783.433262964,759.433262964,736.566737036,717.433262964,684.433262964,649,915,800,840.433262964,658,635,658,0.433163093298,0.00455148552027,0.0698420011141,0.999999960583,0.000126893711373,-0.00024734975187,3.93689498185e-05,1793254972862570240
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,759.152539635,737,717,684.152539635,649,915,800,840.152539635,658,635,658,0.432217699269,0.00454389723229,0.0698493234912,0.999999965026,0.000118707717462,-0.000233096424413,3.90191841104e-05,1793254972879236864
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,759.731938292,737,717,684.731938292,649,915,800,840.731938292,658,635,658,0.431219136431,0.00454025512119,0.0698233810839,0.99999995641,0.00010696859393,-0.000272492627265,3.85466529166e-05,1793254972895903488
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,685,649,915,800,840.690111567,658,635,658,0.43019682913,0.00453606358424,0.0697711320609,0.999999931481,9.98160368487e-05,-0.000354503858579,3.74354336479e-05,1793254972912570368
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,685,649,915,800,840.11340863,658,635,658,0.429154077856,0.0045313989908,0.0696962329955,0.999999882731,9.66125214337e-05,-0.000473206701401,3.57743024438e-05,1793254972929236480
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,760,737.459417193,717.459417193,685,649,915,800,840,658,635,657.540582807,0.428237494097,0.00452311408711,0.0697233034887,0.999999902436,8.54048619219e-05,-0.00043191841895,3.57908770762e-05,1793254972945902848
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,759.967521292,737.967521292,718,685.032478708,649,915,800,840,658,635,657.032478708,0.427350465834,0.00451428158748,0.0697755894619,0.999999935057,7.29331720261e-05,-0.000351063282251,3.6336579048e-05,1793254972962569728
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,759.373994555,737.373994555,718,685.626005445,649,915,800,840,658,635,657.626005445,0.426440485838,0.0045112983715,0.0698322736215,0.999999961967,7.24720647504e-05,-0.000263246106896,3.8928358548e-05,1793254972979236352
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782.785810998,759.214189002,737,717.785810998,685.785810998,649,915,800,840,657.785810998,635,658,0.425516152692,0.00450503452341,0.0698619033577,0.999999973333,6.76003015389e-05,-0.000217141376718,4.01820463745e-05,1793254972995903488
+339,5.650000000,POSE2_TO_POSE3_RETREAT,782.206729975,759.793270025,737,717.206729975,685.206729975,649,915,800,840,657.206729975,635,658,0.424567367396,0.00449318179555,0.0698454432334,0.999999968403,5.52145530128e-05,-0.000242097885879,3.91561643111e-05,1793254973012570624
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782,760,737,717.369054156,685.369054156,649.369054156,915,800,839.630945844,657.369054156,635,657.630945844,0.423585491577,0.00448606353874,0.0698033487317,0.999999948813,4.57000604002e-05,-0.000314269007374,3.89912958162e-05,1793254973029237248
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782,760,737,717.943007812,685.943007812,649.943007812,915,800,839.056992188,657.943007812,635,657.056992188,0.422585243899,0.0044815738691,0.0697470219808,0.999999913372,3.77796943837e-05,-0.0004126537588,3.93044632931e-05,1793254973045903872
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782,760,737,717.469392934,685.469392934,649.469392934,915,800,839.530607066,657.469392934,635,657.530607066,0.421620293641,0.00447464516414,0.0696940132205,0.99999987297,2.64390045992e-05,-0.000501921295607,3.78834921682e-05,1793254973062570496
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782,759.882267928,737,717.117732072,685.117732072,649.117732072,915,800.117732072,839.882267928,657.117732072,635,657.882267928,0.420687544065,0.00446648903706,0.069666977138,0.999999849865,1.6161226122e-05,-0.000546509095853,3.65485123723e-05,1793254973079237120
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782,759.302901154,737,717.697098846,685.697098846,649.697098846,915,800.697098846,839.302901154,657.697098846,635,657.302901154,0.419865797158,0.00445457444829,0.0697403472388,0.999999911139,1.15297119758e-05,-0.000419846052788,3.63003364492e-05,1793254973095903488
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782,759.27455003,737,718.27455003,686.27455003,649.72544997,915,800.72544997,839.27455003,658,635,657,0.419055652281,0.00444719191738,0.0698060485417,0.999999950662,2.4872143543e-06,-0.000311984254678,3.65379808926e-05,1793254973112570112
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782,759.849902417,737,718.849902417,686.849902417,649.150097583,915,800.150097583,839.849902417,658,635,657,0.418258218868,0.00444477479805,0.0698633477556,0.999999973989,-1.13880422249e-05,-0.000224721478241,3.73078998802e-05,1793254973129236736
+347,5.783333333,POSE2_TO_POSE3_RETREAT,781.57463225,759.57463225,737,718.57463225,687.42536775,649,915,800,839.57463225,658,635,657.42536775,0.41741077516,0.00443532957551,0.0698575738447,0.999999970929,-1.7731948529e-05,-0.000237549799883,3.73959209563e-05,1793254973145903360
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781.000896647,759.000896647,737.000896647,718,687.998206707,649,915,800,839,658,635,658,0.416545751071,0.00442341684671,0.0698295374188,0.999999958273,-2.14353397083e-05,-0.000285671048974,3.72396814764e-05,1793254973162570240
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781.591993424,759.591993424,737.591993424,718,686.816013152,649,915,800,839,658,635,658,0.415727646177,0.00442014549616,0.0698013199448,0.999999950465,-3.68181875777e-05,-0.000310657387309,3.47280211926e-05,1793254973179236864
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781.821019629,760,737.821019629,718.178980371,686,649,915,800,839.178980371,658,635,658,0.414893154745,0.00441951029142,0.0697714651034,0.999999936712,-4.35464596376e-05,-0.000351440634123,3.41928805867e-05,1793254973195903488
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781.243191103,760,737.243191103,718.756808897,686,649,915,800,839.756808897,658,635,658,0.414022146634,0.00442474959555,0.0697379614711,0.999999907449,-3.09884767278e-05,-0.000427426447983,3.80623074743e-05,1793254973212570112
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,760,737,719,685.666457889,649,915,800,840,658,635,657.666457889,0.413260231178,0.0044428655015,0.0697420514155,0.999999909911,-2.70071807245e-06,-0.000422735639858,3.8278049347e-05,1793254973229236736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,760,737,719,685.090520707,649,915,800,840,658,635,657.090520707,0.412577596685,0.00447033922053,0.0697734617436,0.999999934083,3.70183403599e-05,-0.000359414701834,3.58385482762e-05,1793254973245903360
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,760,737.495303761,719,685.990607522,649,914.504696239,800,839.504696239,657.504696239,635,657,0.411955338324,0.00447383510251,0.0698257854156,0.999999963046,3.39559129301e-05,-0.000267325068988,3.59535607025e-05,1793254973262569984
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.081658512,760,738,719,687.081658512,649,914.081658512,800,839,657.081658512,635,657,0.411334063954,0.00447109990681,0.0698733275101,0.99999998178,2.4250259173e-05,-0.000185780409895,3.65674378962e-05,1793254973279236608
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.660023588,760,738,719,687.660023588,649,914.660023588,800,839,657.660023588,635,657,0.410650289652,0.00445766106368,0.0698680623467,0.999999978844,2.2663142815e-05,-0.000201010600636,3.73181648409e-05,1793254973295903232
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781.76242655,760,738,719,687.524853101,649,915,800,839,658,635,657.23757345,0.40996358964,0.0044506264478,0.0698462144596,0.999999969799,2.03201638882e-05,-0.000242032669374,3.75532713676e-05,1793254973312570368
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781.186039351,760,738,719,686.372078703,649,915,800,839,658,635,657.813960649,0.409272717205,0.00445272517792,0.0698007172352,0.999999948023,1.68992167811e-05,-0.000319837646254,3.70530291475e-05,1793254973329238016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737.610761974,719,686,649,914.610761974,800,839,657.610761974,635,657.610761974,0.408647685491,0.00445425688007,0.0697733518373,0.999999933661,9.36585170966e-06,-0.000362398707604,3.54591552134e-05,1793254973345904640
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737.036013487,719,686,649,914.036013487,800,839,657.036013487,635,657.036013487,0.40805403334,0.00445551833743,0.069754628046,0.999999924109,-1.27488019628e-07,-0.000388162560631,3.33440574776e-05,1793254973362570240
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737.553633599,719.553633599,686,649,914.553633599,800,839,657.553633599,635,657,0.407541344627,0.00446083794952,0.0697736477876,0.999999935943,1.71622645086e-05,-0.000356003995173,3.28704487867e-05,1793254973379236608
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781.135568183,760,738,720,686.271136366,649,914.864431817,800,839,658,635,657,0.407035694555,0.00446635059739,0.069791772461,0.999999944976,3.41600532855e-05,-0.000328324373914,3.29368224499e-05,1793254973395903232
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781.690560506,760,738,720,687.381121013,649,914.309439494,800,839,658,635,657,0.406535076089,0.00447162117124,0.0697993219623,0.999999945116,4.47153712482e-05,-0.000326481135772,3.43343193323e-05,1793254973412570112
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781.734971586,760,737.734971586,720,687.469943173,649,914,800,839,658,635,657.265028414,0.406044459297,0.00447326092678,0.0698009212729,0.999999943223,4.61949703225e-05,-0.000331984207547,3.47377172129e-05,1793254973429236736
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781.135961075,760,737.135961075,720,686.27192215,649,914,800,839,658,635,657.864038925,0.405566446392,0.00447032521669,0.0697950223031,0.999999938653,3.62375775638e-05,-0.000346744913181,3.38883766087e-05,1793254973445903360
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781.456009978,760,737,720,686,649,914,800,839,658,635,658,0.405164646559,0.00446938985098,0.0698013165333,0.999999943742,2.64919804339e-05,-0.00033287537006,3.17636624663e-05,1793254973462570240
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781.954909297,759.954909297,737,720,686,649,914.045090703,800,839,658,635,657.954909297,0.404788176283,0.00446919954913,0.0698118648527,0.999999951442,1.79632926731e-05,-0.000309708589128,2.95577791526e-05,1793254973479236608
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781.375584068,759.375584068,737,720,686,649,914.624415932,800,839,658,635,657.375584068,0.404446678777,0.00447087792023,0.0698303976421,0.999999961173,2.31157430924e-05,-0.000275987690279,3.08270006548e-05,1793254973495903232
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781.202764266,759.202764266,737.202764266,720,686.202764266,649,914.797235734,800,839,657.797235734,635,657,0.404109660533,0.00447017658011,0.0698429776194,0.999999967292,2.27136837273e-05,-0.000252801457175,3.14932629661e-05,1793254973512569856
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781.779311694,759.779311694,737.779311694,720,686.779311694,649,914.220688306,800,839,657.220688306,635,657,0.403780899565,0.00446508839195,0.0698445839602,0.999999968436,1.20722346437e-05,-0.000249035221511,3.1048007871e-05,1793254973529236736
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781.648706726,760,738,720,687,649,914,800,839,657.351293274,635,657,0.403465353924,0.00446137528701,0.0698374470095,0.999999965692,1.68270768079e-06,-0.000260154342881,3.05464000411e-05,1793254973545903360
+372,6.200000000,POSE2_TO_POSE3_RETREAT,781.07955663,760,738,720,687,649,914,800,839,657.92044337,635,657,0.403158003822,0.00445851494843,0.0698248878494,0.999999960172,-8.55058916603e-06,-0.000280504715334,3.00098446397e-05,1793254973562569984
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.487107789,649,914,800,839,658,635,657.512892211,0.402884884569,0.00445959915418,0.0698144262167,0.999999954012,-1.1500136501e-05,-0.000301579606714,2.98917868317e-05,1793254973579236608
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781,760,737.894204259,720,686,649,914,800,839,658,635,657.894204259,0.402626937644,0.00446047954607,0.0698053132117,0.9999999484,-1.44073828307e-05,-0.000319531161905,2.98764350945e-05,1793254973595903488
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781,760,737.31617016,720,686,649,914,800,839,658,635,657.31617016,0.402411886495,0.00445758909414,0.0698006986528,0.999999947129,-2.2408911721e-05,-0.000323015637302,3.00159828412e-05,1793254973612569856
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,760,737,720,686.260626338,649,914,800,839,658,635,657.260626338,0.402210441512,0.00445647964526,0.0697980257915,0.99999994601,-2.65770653924e-05,-0.000326103952841,3.04865349472e-05,1793254973629236480
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781,760,737,720,686.835928545,649,914,800,839,658,635,657.835928545,0.402025424398,0.00445752054976,0.0697976973037,0.999999945141,-2.61168656684e-05,-0.000328713951428,3.13567361562e-05,1793254973645903104
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781,760,737.420772616,720,686.579227384,649,914,800,839,658,635,657.579227384,0.401863314765,0.00446147456377,0.0697974154794,0.999999944995,-1.51978606379e-05,-0.000329703020845,3.2791315205e-05,1793254973662569984
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,657,0.401710869419,0.00446688145229,0.0697971346625,0.999999944954,1.07054455158e-06,-0.000330011093872,3.44105694031e-05,1793254973679236352
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,657,0.401590676955,0.00449015088268,0.0697957714264,0.999999941557,8.9657840108e-05,-0.000328211923149,3.35405810215e-05,1793254973695902976
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781,760,738,719.833784101,686,649,914,800,839,658,635,657,0.401477562939,0.00450626613195,0.0697944981209,0.999999936436,0.000137883175223,-0.000327499594239,2.93367647019e-05,1793254973712569856
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781,760,738,719.258311306,686,649,914,800,839,658,635,657,0.401381877502,0.00450476634833,0.0697934462426,0.999999941823,8.67292526988e-05,-0.000329463293072,1.69243956425e-05,1793254973729236736
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781,760,738,719.635596002,686.317798001,649,914,800,839,658,635,657.317798001,0.401298245586,0.00449786105211,0.0697933140755,0.999999943872,5.9565473032e-05,-0.000329437967683,1.33427684244e-05,1793254973745903616
+384,6.400000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.788851553,686.894425776,649,914,800,839,658,635,657.894425776,0.401224430621,0.00448655324973,0.0697939309649,0.999999944783,5.19403987726e-05,-0.000327792687309,1.6953315119e-05,1793254973762570240
+385,6.416666667,POSE2_TO_POSE3_RETREAT,781,760,738,720.518280062,686.518280062,649,914.481719938,800,839,657.518280062,635,658,0.401167874012,0.00449035272435,0.0697960053778,0.99999994536,5.72774700254e-05,-0.000325073199188,1.80971116386e-05,1793254973779237120
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,760,738,720.070005606,686,649,914.929994394,800,839,657.070005606,635,657.929994394,0.401117684482,0.00449597633005,0.0697986159671,0.999999946149,6.35419770903e-05,-0.00032142244043,1.87582031308e-05,1793254973795903488
+387,6.450000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.64813653,686,649,914.35186347,800,839,657.64813653,635,657.35186347,0.401085634078,0.00449026408911,0.0698027472623,0.999999949355,5.54517397858e-05,-0.000312759677221,1.99284823305e-05,1793254973812570112
+388,6.466666667,POSE2_TO_POSE3_RETREAT,781,760,738,721,686,649,914,800,839,657.773537509,634.773537509,657.226462491,0.401056763373,0.00448638561784,0.0698063203717,0.999999951728,4.98026024138e-05,-0.000305982044107,2.09411161457e-05,1793254973829236992
+389,6.483333333,POSE2_TO_POSE3_RETREAT,781,760,738,721,686,649,914,800,839,657.194908287,634.194908287,657.805091713,0.401032837348,0.00448535880092,0.0698090254585,0.999999952972,4.79495652007e-05,-0.000302135935024,2.17085990978e-05,1793254973845903616
+390,6.500000000,POSE2_TO_POSE3_RETREAT,781.379587804,760,737.620412196,720.620412196,686.379587804,649,914.379587804,800,839,657.379587804,634.379587804,657.620412196,0.40101445512,0.00448472958598,0.0698117573415,0.999999953906,4.69310813355e-05,-0.000299172270158,2.19275536587e-05,1793254973862570496
+391,6.516666667,POSE2_TO_POSE3_RETREAT,781.951984483,760,737.048015517,720.048015517,686.951984483,649,914.951984483,800,839,657.951984483,634.951984483,657.048015517,0.400998888825,0.00448430233013,0.0698145028353,0.999999954685,4.6336502855e-05,-0.000296656836556,2.1867887173e-05,1793254973879237120
+392,6.533333333,POSE2_TO_POSE3_RETREAT,781.458483209,760,737.541516791,720.541516791,686.458483209,649,914.458483209,800,839.541516791,658,635,657.541516791,0.400989519245,0.00448378595068,0.0698140735799,0.999999954957,4.66986252646e-05,-0.000295657889981,2.21644435576e-05,1793254973895903744
+393,6.550000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.869796258,686.130203742,649,914,800,839.869796258,658,635,658,0.400982253632,0.00448342565172,0.0698139283944,0.999999955392,4.68630520126e-05,-0.000294142108264,2.23469764282e-05,1793254973912570368
+394,6.566666667,POSE2_TO_POSE3_RETREAT,781,760,738,720.289456428,686.710543572,649,914,800,839.289456428,658,635,658,0.400980300155,0.00448363316211,0.0698157702819,0.999999956543,4.60411592867e-05,-0.000290359483431,2.20225452689e-05,1793254973929236992
+395,6.583333333,POSE2_TO_POSE3_RETREAT,781,760,737.711483979,720,687,649,914,800,839,658,635,657.711483979,0.400978021208,0.00448274500466,0.0698167718619,0.999999957184,4.41425727362e-05,-0.000288448248118,2.19251892243e-05,1793254973945903872
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781,760,737.135867228,720,687,649,914,800,839,658,635,657.135867228,0.400975418389,0.0044807665541,0.0698169372564,0.999999957322,4.11725738969e-05,-0.000288399221925,2.20537943568e-05,1793254973962570240
+397,6.616666667,POSE2_TO_POSE3_RETREAT,781,760,737.448587033,720.448587033,687,649,914.448587033,800,839,658,635,657,0.400972217875,0.00448113220125,0.0698165157528,0.999999956907,4.03854625141e-05,-0.000289948052858,2.20438292055e-05,1793254973979236608
+398,6.633333333,POSE2_TO_POSE3_RETREAT,781,760,738,720.964778894,686.964778894,649,914.964778894,800,839,658,635,657.035221106,0.400969167458,0.00448214247173,0.069816059916,0.999999956416,4.04181048059e-05,-0.000291633080563,2.19972400864e-05,1793254973995902976
+399,6.650000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.386632689,686.386632689,649,914.386632689,800,839,658,635,657.613367311,0.400971277344,0.00448192540577,0.069817870014,0.999999957429,4.26907863641e-05,-0.000287807559343,2.20460591504e-05,1793254974012569856
+400,6.666666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.190920188,649,914,800,839,658,635,657.809079812,0.40097305974,0.0044814609913,0.06981932128,0.999999958233,4.33041751361e-05,-0.000284905463738,2.20965786114e-05,1793254974029236736
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.767275202,649,914,800,839,658,635,657.232724798,0.400974180993,0.00448049722303,0.0698200481259,0.999999958641,4.05677387352e-05,-0.000283867604908,2.21505308777e-05,1793254974045903872
+402,6.700000000,POSE2_TO_POSE3_RETREAT,781,759.655843542,738,720,687,649,914,800,839,658,635,657.344156458,0.400974799784,0.00447984096426,0.0698210451612,0.999999959174,3.92590601911e-05,-0.000282159851709,2.22737044606e-05,1793254974062570496
+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,759.07860591,738,720,687,649,914,800,839,658,635,657.92139409,0.400975078279,0.00447939296743,0.0698222251831,0.999999959791,3.89173357984e-05,-0.000279998410227,2.2443758422e-05,1793254974079236864
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,759.508126026,738,720.508126026,687,649,914.508126026,800,839,658,635,657.491873974,0.40097321324,0.00448030192814,0.0698213930443,0.99999995915,4.08567584301e-05,-0.000282015876178,2.23151632698e-05,1793254974095903488
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781.09501326,760,738,721,686.90498674,649,914.90498674,800,839,657.90498674,635,657,0.400971749158,0.00448107135888,0.0698206176255,0.999999958586,4.22337368226e-05,-0.000283819040642,2.21475937396e-05,1793254974112569856
+406,6.766666667,POSE2_TO_POSE3_RETREAT,781.675052597,760,738,721,686.324947403,649,914.324947403,800,839,657.324947403,635,657,0.400974056889,0.00448003651368,0.0698217510211,0.999999959474,3.89038022487e-05,-0.000281165294146,2.20214020968e-05,1793254974129236480
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781.747019841,760,738,720.747019841,686,649,914,800,839,657.252980159,635,657,0.400974795927,0.00447938051948,0.0698225288469,0.999999959945,3.6970293563e-05,-0.000279758475323,2.18835453337e-05,1793254974145903360
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781.171782272,760,738,720.171782272,686,649,914,800,839,657.828217728,635,657,0.400973536694,0.00447920712241,0.0698228537322,0.999999959903,3.68156140046e-05,-0.000279940048232,2.17308290034e-05,1793254974162569984
+409,6.816666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.412163926,649,914,800,839,658,635,657,0.400973268639,0.00447976756267,0.0698233158845,0.999999959972,3.83741558526e-05,-0.00027948043942,2.17539170888e-05,1793254974179236864
+410,6.833333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.999818027,649,914,800,839,658,635,657,0.400973422605,0.00448064045444,0.0698238364819,0.999999960084,4.06621490449e-05,-0.00027874782977,2.18518587692e-05,1793254974195903744
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb1a48013d9ae9b0dd0081ea39bce3aebd9c5748
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,417 @@
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+352,5.866666667,pose2_to_pose3_retreat,0.585635545618,0.0101817258619,1.06002024592,0.556206693874,0.018855965805,1.05969196102
+353,5.883333333,pose2_to_pose3_retreat,0.585060019219,0.0101817654164,1.06002046839,0.555631166215,0.0188560008702,1.05969217779
+354,5.900000000,pose2_to_pose3_retreat,0.584514839706,0.010181722006,1.06002053496,0.555085988974,0.0188559649073,1.05969223745
+355,5.916666667,pose2_to_pose3_retreat,0.583981818189,0.0101817286237,1.06002051573,0.55455296728,0.0188559710799,1.0596922224
+356,5.933333333,pose2_to_pose3_retreat,0.583447518312,0.0101818272258,1.06002054064,0.554018664859,0.0188560611472,1.05969224986
+357,5.950000000,pose2_to_pose3_retreat,0.582912905381,0.0101819364275,1.06002070953,0.553484050287,0.0188561642324,1.0596924042
+358,5.966666667,pose2_to_pose3_retreat,0.582382765842,0.010181802784,1.06002080548,0.552953911377,0.0188560326924,1.05969249929
+359,5.983333333,pose2_to_pose3_retreat,0.581880163438,0.0101818586475,1.0600206217,0.552451310947,0.0188560958739,1.05969233195
+360,6.000000000,pose2_to_pose3_retreat,0.581407160821,0.0101818797995,1.06002054457,0.551978307796,0.0188561150074,1.05969224938
+361,6.016666667,pose2_to_pose3_retreat,0.580964865282,0.0101818825392,1.06002064094,0.551536011604,0.0188561152908,1.05969233935
+362,6.033333333,pose2_to_pose3_retreat,0.580544343499,0.0101818102457,1.06002046075,0.551115490169,0.0188560444549,1.05969216654
+363,6.050000000,pose2_to_pose3_retreat,0.580142592043,0.0101817351417,1.06002030303,0.550713739206,0.0188559712432,1.05969201462
+364,6.066666667,pose2_to_pose3_retreat,0.579758842495,0.0101817627498,1.06002045595,0.550329989111,0.018855996761,1.05969216135
+365,6.083333333,pose2_to_pose3_retreat,0.579396044083,0.0101819041715,1.06002063988,0.549967189204,0.0188561330051,1.05969234252
+366,6.100000000,pose2_to_pose3_retreat,0.57905891894,0.0101817934669,1.06002042311,0.549630065236,0.0188560263834,1.05969212833
+367,6.116666667,pose2_to_pose3_retreat,0.578746825965,0.0101818169283,1.06002047834,0.549317972738,0.0188560516424,1.0596921883
+368,6.133333333,pose2_to_pose3_retreat,0.578458839082,0.0101817887383,1.06002060361,0.549029987289,0.0188560280973,1.05969230773
+369,6.150000000,pose2_to_pose3_retreat,0.578184803903,0.0101817420348,1.06002062012,0.548755953115,0.0188559847334,1.05969232247
+370,6.166666667,pose2_to_pose3_retreat,0.57792198737,0.0101817626485,1.06002045236,0.548493135821,0.0188560031307,1.0596921643
+371,6.183333333,pose2_to_pose3_retreat,0.577670288552,0.0101819315494,1.0600202539,0.548241434614,0.0188561641677,1.05969197253
+372,6.200000000,pose2_to_pose3_retreat,0.577431629713,0.0101817844506,1.06002064084,0.548002777872,0.0188560235858,1.0596923437
+373,6.216666667,pose2_to_pose3_retreat,0.577211267182,0.0101818190004,1.06002056367,0.54778241405,0.0188560537551,1.05969226651
+374,6.233333333,pose2_to_pose3_retreat,0.577009415579,0.010181648991,1.06002050568,0.547580566139,0.0188558965652,1.05969221634
+375,6.250000000,pose2_to_pose3_retreat,0.576827359911,0.0101816411803,1.06002052347,0.547398510384,0.0188558882704,1.05969222911
+376,6.266666667,pose2_to_pose3_retreat,0.576663342419,0.0101816723962,1.06002052549,0.547234491878,0.0188559160374,1.05969223091
+377,6.283333333,pose2_to_pose3_retreat,0.576516410116,0.0101817082317,1.06002051276,0.54708755882,0.0188559494826,1.05969222281
+378,6.300000000,pose2_to_pose3_retreat,0.5763847819,0.0101817870446,1.06002055129,0.546955929397,0.0188560241503,1.05969225992
+379,6.316666667,pose2_to_pose3_retreat,0.576267504833,0.0101817877952,1.06002063325,0.546838652797,0.0188560263969,1.05969233955
+380,6.333333333,pose2_to_pose3_retreat,0.576164709553,0.0101817920062,1.06002056806,0.546735856133,0.0188560255923,1.05969226594
+381,6.350000000,pose2_to_pose3_retreat,0.576074683524,0.0101818078939,1.06002074584,0.546645830252,0.0188560420552,1.05969244633
+382,6.366666667,pose2_to_pose3_retreat,0.575997333894,0.0101817490598,1.06002079015,0.546568482342,0.0188559890482,1.05969249035
+383,6.383333333,pose2_to_pose3_retreat,0.575930176698,0.0101817188543,1.06002070747,0.546501325767,0.0188559610799,1.05969241102
+384,6.400000000,pose2_to_pose3_retreat,0.575873280865,0.0101817275338,1.0600206083,0.546444429405,0.0188559678944,1.05969231002
+385,6.416666667,pose2_to_pose3_retreat,0.575826681894,0.0101817265112,1.06002063327,0.5463978304,0.0188559665944,1.05969233072
+386,6.433333333,pose2_to_pose3_retreat,0.575788759702,0.0101816948979,1.06002074589,0.546359909054,0.0188559379231,1.0596924452
+387,6.450000000,pose2_to_pose3_retreat,0.575758877966,0.0101817171374,1.06002046764,0.546330024983,0.0188559521327,1.05969216405
+388,6.466666667,pose2_to_pose3_retreat,0.575735180819,0.0101817227082,1.06002048451,0.546306329183,0.0188559626531,1.05969219101
+389,6.483333333,pose2_to_pose3_retreat,0.575716987407,0.0101817270424,1.06002069499,0.546288137342,0.0188559722859,1.05969240065
+390,6.500000000,pose2_to_pose3_retreat,0.575702410498,0.0101817483259,1.06002085101,0.546273560793,0.0188559946196,1.05969255229
+391,6.516666667,pose2_to_pose3_retreat,0.575691263386,0.0101818073618,1.06002066702,0.546262411375,0.0188560459418,1.05969237125
+392,6.533333333,pose2_to_pose3_retreat,0.575683610069,0.0101818205408,1.06002067124,0.546254757988,0.0188560587557,1.05969237218
+393,6.550000000,pose2_to_pose3_retreat,0.575678344293,0.01018181245,1.06002063246,0.546249491925,0.0188560497295,1.05969233441
+394,6.566666667,pose2_to_pose3_retreat,0.575674983878,0.0101817892306,1.06002054646,0.546246130907,0.0188560246618,1.05969225341
+395,6.583333333,pose2_to_pose3_retreat,0.575672584432,0.0101817829071,1.06002047794,0.546243731372,0.0188560181353,1.05969218741
+396,6.600000000,pose2_to_pose3_retreat,0.575670866061,0.0101817915263,1.06002041974,0.546242013376,0.0188560280408,1.05969212967
+397,6.616666667,pose2_to_pose3_retreat,0.575669681259,0.0101817974692,1.06002037962,0.546240828831,0.0188560348706,1.05969208986
+398,6.633333333,pose2_to_pose3_retreat,0.575669116481,0.0101817468385,1.06002038337,0.546240264435,0.0188559855054,1.05969209289
+399,6.650000000,pose2_to_pose3_retreat,0.575668977539,0.0101817330215,1.06002038488,0.546240125593,0.0188559720213,1.0596920942
+400,6.666666667,pose2_to_pose3_retreat,0.575668687628,0.0101817041914,1.06002038802,0.546239835891,0.0188559438856,1.05969209692
+401,6.683333333,pose2_to_pose3_retreat,0.575668023926,0.01018163819,1.0600203952,0.546239172668,0.0188558794741,1.05969210315
+402,6.700000000,pose2_to_pose3_retreat,0.575667806552,0.0101816165735,1.06002039756,0.546238955452,0.0188558583782,1.05969210519
+403,6.716666667,pose2_to_pose3_retreat,0.575667691804,0.0101816409096,1.06002041526,0.546238840539,0.0188558821311,1.05969212224
+404,6.733333333,pose2_to_pose3_retreat,0.575667681637,0.0101816440542,1.06002041729,0.54623883035,0.0188558852003,1.05969212419
+405,6.750000000,pose2_to_pose3_retreat,0.575667681321,0.0101816441519,1.06002041735,0.546238830034,0.0188558852957,1.05969212425
+406,6.766666667,pose2_to_pose3_retreat,0.575667555027,0.0101816832132,1.06002044249,0.546238703474,0.0188559234204,1.0596921485
+407,6.783333333,pose2_to_pose3_retreat,0.575667550488,0.0101816846169,1.06002044339,0.546238698926,0.0188559247905,1.05969214937
+408,6.800000000,pose2_to_pose3_retreat,0.575667413392,0.0101817270193,1.06002047068,0.54623856154,0.0188559661762,1.05969217569
+409,6.816666667,pose2_to_pose3_retreat,0.575667251205,0.0101817771816,1.06002050297,0.546238399012,0.0188560151357,1.05969220682
+410,6.833333333,pose2_to_pose3_retreat,0.575667001263,0.0101817632043,1.06002048606,0.546238149254,0.0188560017492,1.05969218902
+411,6.850000000,pose2_to_pose3_retreat,0.575666955954,0.0101817336199,1.06002046325,0.546238104189,0.0188559729962,1.0596921663
+412,6.866666667,pose2_to_pose3_retreat,0.575666950658,0.0101817301621,1.06002046058,0.546238098922,0.0188559696355,1.05969216364
+413,6.883333333,pose2_to_pose3_retreat,0.575666928331,0.0101817155839,1.06002044934,0.546238076715,0.0188559554671,1.05969215245
+414,6.900000000,pose2_to_pose3_retreat,0.575666861476,0.0101816719316,1.06002041567,0.54623801022,0.0188559130416,1.05969211892
+415,6.916666667,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec2dd35fcfb105e7dba60c53c76f1e6ce8a74a13
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dbd60c4e1412a78803f393ed31b60590362fa2dc30787a321dfa25d536ee738
+size 26435467
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67cbf47545a8e892b3188d5d843a8173e3c405bf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,781,760,738,721,687,649,914,800,839,657,635,658,0.400975994223,0.0044815743736,0.0698254247113,0.999999961187,4.11035602557e-05,-0.000274713685384,2.16362768608e-05,1793254974425725440
+1,0.016666667,BASELINE,781,760,738,721,686.420920164,649,914,800,839,657.579079836,635,658,0.40097444407,0.00448133673558,0.0698248422613,0.999999960668,4.10673467122e-05,-0.000276603394825,2.16331259017e-05,1793254974442391808
+2,0.033333333,BASELINE,781,760,738,720.843169656,686.156830344,649,914.156830344,800,839,658,635,657.843169656,0.400973358667,0.00448072115736,0.0698243936495,0.999999960347,4.04989663649e-05,-0.000277840741382,2.16957525858e-05,1793254974459058688
+3,0.050000000,BASELINE,781,760,738,720.268956843,686.731043157,649,914.731043157,800,839,658,635,657.268956843,0.400973510136,0.00447909974304,0.0698243012296,0.999999960559,3.85142969881e-05,-0.00027734191394,2.19334374527e-05,1793254974475725824
+4,0.066666667,BASELINE,781,760,737.687107424,720,687,649,914.687107424,800,839,658,635,657.312892576,0.400973642436,0.0044788682903,0.0698241688884,0.999999960538,3.76609975161e-05,-0.000277535210696,2.18942832875e-05,1793254974492392704
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+6,0.100000000,BASELINE,781.482284519,760,737.482284519,720,687,649,914.482284519,800,839,658,635,658,0.400972049447,0.00447944089879,0.0698232585698,0.999999959862,3.86145885753e-05,-0.000279841257533,2.17471803124e-05,1793254974525725696
+7,0.116666667,BASELINE,781.938549401,760,738,720,687,649,914.938549401,800,839,658,635,657.938549401,0.400970456329,0.00447881079757,0.0698226804021,0.999999959522,3.91617596374e-05,-0.000280967028323,2.1929059295e-05,1793254974542392064
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+9,0.150000000,BASELINE,781.216210736,760,738,720,687,649,914.216210736,800,839,658,635,657.216210736,0.400975075585,0.0044789394974,0.0698259584938,0.999999961377,3.54126872383e-05,-0.000274812700638,2.16568119145e-05,1793254974575725312
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+12,0.200000000,BASELINE,782,760,738,720,687,649,915,800,839,658,635,657.039727245,0.400974346495,0.00448041201917,0.0698255368385,0.999999961059,4.11258226208e-05,-0.000275174736316,2.16723398576e-05,1793254974625725952
+13,0.216666667,BASELINE,782,760,738,720,687,649.541604891,914.458395109,800,839,658,635,657,0.4009743976,0.00447916170735,0.0698251378668,0.999999961059,3.83181306168e-05,-0.000275563138005,2.18761029595e-05,1793254974642392576
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+16,0.266666667,BASELINE,781,759.266718475,738,720.266718475,687,649,914.266718475,800,839,657.266718475,635,657.733281525,0.400972663313,0.00448042358894,0.0698246556682,0.999999960817,3.75682405783e-05,-0.000276557388532,2.16937221551e-05,1793254974692392192
+17,0.283333333,BASELINE,781,759.845380504,738,720.845380504,687,649,914.845380504,800,839,657.845380504,635,657.154619496,0.400973436121,0.00447979107069,0.0698248476061,0.99999996098,3.87137497922e-05,-0.000275781448662,2.20428245335e-05,1793254974709058816
+18,0.300000000,BASELINE,781,760,738,721,687,649,915,800,839,657.567099866,635,657,0.400973908127,0.00448028751517,0.0698249432355,0.999999961102,3.90047885231e-05,-0.000275312450996,2.18745634398e-05,1793254974725725184
+19,0.316666667,BASELINE,781,760,738,720.976883002,687,649.023116998,914.976883002,800,839,657.023116998,635,657.023116998,0.400974226639,0.00448111190414,0.0698250230811,0.999999961205,3.88890759577e-05,-0.000274979761666,2.15336042536e-05,1793254974742391808
+20,0.333333333,BASELINE,781,760,738,720.399435631,687,649.600564369,914.399435631,800,839,657.600564369,635,657.600564369,0.400973494579,0.00447992894705,0.0698255665282,0.999999961225,3.64909143145e-05,-0.000275231865281,2.15750963981e-05,1793254974759058944
+21,0.350000000,BASELINE,781,760,738,720,687,649.822454205,914,800,839,658,635,658,0.400973254212,0.00447914579582,0.0698258805848,0.999999961254,3.52554940819e-05,-0.000275290378025,2.15661700756e-05,1793254974775725824
+22,0.366666667,BASELINE,781,760,738,720,687,649.246518382,914,800,839,658,635,658,0.400974117141,0.00447925975792,0.0698256799186,0.99999996131,3.66291170124e-05,-0.000274914497613,2.14441111636e-05,1793254974792392448
+23,0.383333333,BASELINE,781.336782467,760,738,720,687,649,914.336782467,800,839,658,635,658,0.400974210424,0.00447912314749,0.0698257171681,0.99999996124,3.75880626352e-05,-0.000275029686287,2.15868022328e-05,1793254974809059072
+24,0.400000000,BASELINE,781.925594969,760,738,720,687,649,914.925594969,800,839,658,635,658,0.400973727747,0.00447879902196,0.0698259324611,0.999999961075,3.82366860245e-05,-0.000275512364832,2.19276180532e-05,1793254974825725440
+25,0.416666667,BASELINE,781.494213126,759.494213126,738,720,687,649,914.494213126,800,839,658,635,658,0.40097398388,0.00447784746654,0.0698258436111,0.999999961154,3.66500772334e-05,-0.000275432169246,2.20577456216e-05,1793254974842391808
+26,0.433333333,BASELINE,781,759.084397877,738,720,687,649,914,800,839,657.915602123,635,657.915602123,0.400974458562,0.00447721473813,0.0698258612318,0.999999961302,3.54173311761e-05,-0.00027505261802,2.20721907689e-05,1793254974859058432
+27,0.450000000,BASELINE,781,759.661061005,738,720,687,649,914,800,839,657.338938995,635,657.338938995,0.400975584669,0.00447897095482,0.0698267564512,0.999999961666,3.81343054116e-05,-0.000273401892223,2.15896454743e-05,1793254974875725056
+28,0.466666667,BASELINE,781,760,737.765225567,720,687.234774433,649,914,800,839,657.234774433,635,657,0.400976225742,0.00447970249622,0.0698273808808,0.999999961903,3.90970483205e-05,-0.000272412702968,2.13646334656e-05,1793254974892391936
+29,0.483333333,BASELINE,781,760,737.195717757,720,687.804282243,649,914,800,839,657.804282243,635,657,0.400976175269,0.00447897309047,0.0698276192276,0.999999961972,3.75586678874e-05,-0.000272366710051,2.15068036595e-05,1793254974909058816
+30,0.500000000,BASELINE,781,759.608742593,737.391257407,720,687.608742593,649,914,800,839,658,635,657,0.400974884476,0.00447990196555,0.0698265241116,0.999999961514,3.7691950089e-05,-0.000274033261646,2.13736114298e-05,1793254974925725440
+31,0.516666667,BASELINE,781,759.012621481,737.987378519,720,687.012621481,649,914,800,839,658,635,657,0.400972944248,0.00448169912212,0.0698247307901,0.999999960776,3.87005205594e-05,-0.000276596507353,2.10962384974e-05,1793254974942392064
+32,0.533333333,BASELINE,781,759,738,720,687,649,914.567041779,800,839,658,635,657.567041779,0.400974389738,0.00448045403724,0.0698262408916,0.999999961391,3.7479748462e-05,-0.000274522831543,2.1217725227e-05,1793254974959058944
+33,0.550000000,BASELINE,781.145176275,759.145176275,738,720.145176275,687,649,914.854823725,800,839,658,635,658,0.400975610924,0.00447942355715,0.0698272719528,0.999999961897,3.62736592735e-05,-0.000272823830277,2.13667629919e-05,1793254974975725568
+34,0.566666667,BASELINE,781.719841154,759.719841154,738,720.719841154,687,649,914.280158846,800,839,658,635,658,0.400975951866,0.0044792226419,0.0698266744315,0.99999996201,3.52536682508e-05,-0.00027252999021,2.15717837164e-05,1793254974992392192
+35,0.583333333,BASELINE,781.699683928,759.699683928,738,720.699683928,687,649,914.300316072,800,839,658,635,658,0.400975143158,0.00447974026008,0.0698260886439,0.99999996178,3.54509476908e-05,-0.000273351310474,2.1517079924e-05,1793254975009058560
+36,0.600000000,BASELINE,781.113681945,759.113681945,738,720.113681945,687,649,914.886318055,800,839,658,635,658,0.400973240805,0.00448094140768,0.0698255140184,0.999999961221,3.68061970773e-05,-0.000275233465021,2.12153043457e-05,1793254975025725184
+37,0.616666667,BASELINE,781,759.466503822,738,720,687,649,914.533496178,800,839,658,635,658,0.400972997328,0.00448000388688,0.0698255847974,0.999999961216,3.57474745072e-05,-0.000275389462775,2.12474357304e-05,1793254975042392320
+38,0.633333333,BASELINE,781,760,738,720,687,649,914.04519225,800,839,658,635,658,0.400973168215,0.0044787026329,0.0698257852658,0.999999961331,3.43585784876e-05,-0.000275138295988,2.13473651172e-05,1793254975059058944
+39,0.650000000,BASELINE,781,760,738,720,687,649,914.622733283,800,839,658,635,658,0.40097351689,0.0044791803338,0.0698256835631,0.99999996132,3.59245062867e-05,-0.000274984915888,2.12992300271e-05,1793254975075725568
+40,0.666666667,BASELINE,781,760,738,720,687,649,914.801642756,800,839,657.801642756,635,658,0.400973490796,0.00447991662817,0.0698255967577,0.999999961209,3.79584209623e-05,-0.000275110263741,2.13452189092e-05,1793254975092392192
+41,0.683333333,BASELINE,781,760,738,720,687,649,914.229630114,800,839,657.229630114,635,658,0.400972758735,0.00448114004789,0.069825538015,0.99999996091,4.08739056821e-05,-0.000275760665305,2.15685137989e-05,1793254975109058816
+42,0.700000000,BASELINE,781,760,738,720,687,649,914,800,839,657,635,658,0.400973573246,0.00448159603977,0.0698258542365,0.999999961187,4.10697654978e-05,-0.000274733920336,2.14745728922e-05,1793254975125725184
+43,0.716666667,BASELINE,781,760,738,720,687,649,914,800,839,657,635,658,0.400975425016,0.00448153733092,0.06982642194,0.999999961848,3.94416194023e-05,-0.000272582341918,2.11678673669e-05,1793254975142391808
+44,0.733333333,BASELINE,781,760,738,720.529840731,687,649,914.529840731,800,839,657.529840731,635,658,0.400976954846,0.00448143197713,0.0698282815644,0.999999962444,3.94439955252e-05,-0.000270376327603,2.12585331628e-05,1793254975159058688
+45,0.750000000,BASELINE,781,760,738,720.893704753,687,649,914.893704753,800,839,657.893704753,635,658,0.400977692097,0.00448110856954,0.0698294299362,0.999999962737,3.94002934947e-05,-0.000269289287845,2.13636210167e-05,1793254975175725056
+46,0.766666667,BASELINE,781,760,738,720.319398964,687,649,914.319398964,800,839,657.319398964,635,658,0.400975065689,0.00447984334374,0.0698269410396,0.999999961724,3.85155072544e-05,-0.000273150322313,2.13766724106e-05,1793254975192392192
+47,0.783333333,BASELINE,781,760,737.745191469,720,687,649,914,800,839,657.254808531,635,657.745191469,0.400973434882,0.00447926958345,0.0698257359939,0.999999961171,3.78655090845e-05,-0.000275257556162,2.14046055112e-05,1793254975209058816
+48,0.800000000,BASELINE,781,760,737.17110706,720,687,649,914,800,839,657.82889294,635,657.17110706,0.400973051563,0.00447956223142,0.0698261396169,0.999999961208,3.75097009745e-05,-0.000275167272932,2.14511854386e-05,1793254975225725440
+49,0.816666667,BASELINE,781,760,737.417515049,720,687,649,914,800,839,658,635,657,0.40097278553,0.00447940008968,0.069825967916,0.999999961322,3.70847773523e-05,-0.000274792191879,2.16705966324e-05,1793254975242391808
+50,0.833333333,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.011904771,0.40097259799,0.00447907160306,0.0698255774545,0.999999961468,3.66499853799e-05,-0.000274296044381,2.1949356359e-05,1793254975259058176
+51,0.850000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.587122844,0.400973768184,0.0044800094511,0.069826394844,0.999999961597,3.71368855228e-05,-0.000273793306205,2.15639169445e-05,1793254975275725056
+52,0.866666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,658,0.400974279419,0.00448057718986,0.069826796227,0.999999961604,3.70381019758e-05,-0.000273799394465,2.13024564805e-05,1793254975292391680
+53,0.883333333,BASELINE,781,760,738,720,687,649,914,800,839,658,635,658,0.400973114742,0.00448020363997,0.0698261395921,0.999999961304,3.54497654291e-05,-0.000275099566816,2.13563082417e-05,1793254975309058560
+54,0.900000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.679806501,0.400973435843,0.00447994872756,0.0698262328869,0.999999961387,3.50346640958e-05,-0.000274859868294,2.1244461558e-05,1793254975325725440
+55,0.916666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.087301261,0.400975020541,0.0044797947116,0.0698269639668,0.999999961796,3.56173523834e-05,-0.000273310571226,2.09916949835e-05,1793254975342392320
+56,0.933333333,BASELINE,781.493429445,760,738,720.493429445,687,649,914.493429445,800,839,658,635,657.493429445,0.400975131198,0.00448057749289,0.0698270513069,0.999999962007,3.61981557594e-05,-0.000272477568329,2.078142897e-05,1793254975359058688
+57,0.950000000,BASELINE,781.928453907,759.928453907,738,720.928453907,687,649,914.928453907,800,839,658,635,657.928453907,0.400974950864,0.00448136078621,0.0698269924752,0.99999996213,3.67129336349e-05,-0.000271967019398,2.06306226905e-05,1793254975375725312
+58,0.966666667,BASELINE,781.354406731,759.354406731,738,720.354406731,687,649,914.354406731,800,839,658,635,657.354406731,0.400974515782,0.00448101070153,0.0698266883079,0.999999961883,3.67662714791e-05,-0.000272851859982,2.08458473862e-05,1793254975392392192
+59,0.983333333,BASELINE,781,759,738,720,687,649,914,800,839,657.779649402,635,657,0.400973757033,0.00448074424715,0.0698262317127,0.999999961575,3.76110094232e-05,-0.000273849450177,2.10303022664e-05,1793254975409059072
+60,1.000000000,BASELINE,781,759,738,720,687,649,914,800,839,657.203746097,635,657,0.400972476018,0.00448061273665,0.0698255291634,0.999999961166,3.97327325565e-05,-0.000275028970714,2.11651077068e-05,1793254975425725696
+61,1.016666667,BASELINE,781.383064497,759.383064497,738,720,687,649.383064497,914,800,839,657,635.383064497,657.383064497,0.400972627506,0.00448112570816,0.0698260562813,0.999999961231,4.14876935121e-05,-0.000274518312954,2.13491041431e-05,1793254975442392320
+62,1.033333333,BASELINE,781.975846503,759.975846503,738,720,687,649.975846503,914,800,839,657,635.975846503,657.975846503,0.40097356325,0.00448199151624,0.0698272566091,0.999999961554,4.30418619126e-05,-0.000273082327967,2.15600313183e-05,1793254975459058944
+63,1.050000000,BASELINE,781.445620766,760,737.445620766,720,687,649.445620766,914.554379234,800,839,657.554379234,635.445620766,657.445620766,0.400973480653,0.00448074175526,0.0698270340907,0.999999961458,3.98490530803e-05,-0.000273934926173,2.13545024764e-05,1793254975475726080
+64,1.066666667,BASELINE,781,760,737.13110539,720,687,649,914.86889461,800,839,658,635,657,0.400973702835,0.0044796177192,0.0698269294625,0.99999996151,3.73021396547e-05,-0.000274114579476,2.12279152734e-05,1793254975492392960
+65,1.083333333,BASELINE,781,760,737.703785392,720,687,649,914.296214608,800,839,658,635,657,0.400975097223,0.00447921980083,0.069827425459,0.999999962153,3.7609788248e-05,-0.000271700277174,2.14267910313e-05,1793254975509059584
+66,1.100000000,BASELINE,781,760,738,720.285761492,687,649,914,800,839,658,635,657.285761492,0.400974771958,0.00447959601343,0.0698272685033,0.999999962071,3.84816885139e-05,-0.000271889721085,2.12906952752e-05,1793254975525726208
+67,1.116666667,BASELINE,781,760,738,720.877697715,687,649,914,800,839,658,635,657.877697715,0.400972604199,0.00448080165673,0.069826411952,0.999999961209,3.99581474896e-05,-0.000274868908769,2.0795699457e-05,1793254975542392576
+68,1.133333333,BASELINE,781,760,737.540277655,721,687.459722345,649,914,800,839,658,635,657.540277655,0.400973907708,0.00448087181622,0.0698272184808,0.999999961695,3.96569332438e-05,-0.000273129092409,2.09030281362e-05,1793254975559058944
+69,1.150000000,BASELINE,781.038880568,760,737,720.961119432,687.961119432,649,914,800,839,658,635,657,0.400975860388,0.00448064872269,0.0698283028842,0.999999962427,3.89814442405e-05,-0.000270515758481,2.11591992481e-05,1793254975575725568
+70,1.166666667,BASELINE,781.614103625,760,737,720.385896375,687.385896375,649,914,800,839,658,635,657,0.40097429793,0.00448045942891,0.0698272460107,0.99999996178,3.95290930678e-05,-0.000272805139138,2.13048036524e-05,1793254975592391936
+71,1.183333333,BASELINE,781.810342297,760,737.189657703,720,687,649.189657703,914.189657703,800,839,658,635,657,0.400974079104,0.00448027664702,0.0698269553236,0.999999961634,4.00150512872e-05,-0.000273263139983,2.13866068724e-05,1793254975609058560
+72,1.200000000,BASELINE,781.234113404,760,737.765886596,720,687,649.765886596,914.765886596,800,839,658,635,657,0.400976598947,0.004480107138,0.0698282263212,0.99999996251,4.03752682779e-05,-0.000269988318067,2.13383668925e-05,1793254975625725440
+73,1.216666667,BASELINE,781,760,738,720,687,649.649414766,915,800,839,657.649414766,635,657,0.400976651895,0.00447987524924,0.0698281424074,0.999999962443,3.9452662003e-05,-0.000270378259495,2.13022042979e-05,1793254975642392320
+74,1.233333333,BASELINE,781,760,738,720,687,649.058920221,915,800,839,657.058920221,635,657,0.400975016722,0.00447960067337,0.0698271313127,0.999999961725,3.76522057166e-05,-0.000273276038753,2.12743063933e-05,1793254975659058944
+75,1.250000000,BASELINE,781,760,738,720.521375181,687,649,914.478624819,800,839,657.521375181,635,657.521375181,0.40097416422,0.00447930457133,0.0698274682363,0.999999961731,3.79580211018e-05,-0.000273194960371,2.14834919329e-05,1793254975675725824
+76,1.266666667,BASELINE,781,760,738,720.900489934,687,649,914.099510066,800,839,658,635,657.900489934,0.400973462901,0.00447923910871,0.0698276912091,0.999999961743,3.83922396516e-05,-0.000273075698966,2.16650704031e-05,1793254975692392192
+77,1.283333333,BASELINE,781,760,738,720.327258583,687,649,914.672741417,800,839,658,635,657.327258583,0.40097306831,0.00448028297199,0.0698266604162,0.999999961399,3.83263254712e-05,-0.000274346497469,2.15901243585e-05,1793254975709058560
+78,1.300000000,BASELINE,781,760,737.747025545,720,687,649.252974455,914.747025545,800,839,657.747025545,635.252974455,657.252974455,0.400973567903,0.00448104817529,0.0698266494511,0.999999961501,3.89970797475e-05,-0.000273896267432,2.14243880615e-05,1793254975725725184
+79,1.316666667,BASELINE,781,760,737.157477044,720,687,649.842522956,914.157477044,800,839,657.157477044,635.842522956,657.842522956,0.400975257178,0.00448144263071,0.0698279953331,0.999999962188,4.06479467563e-05,-0.000271156266415,2.11378583783e-05,1793254975742392064
+80,1.333333333,BASELINE,781,760,737.424588849,720.424588849,687,649.575411151,914,800,839,657.424588849,635.575411151,658,0.400974925844,0.00448188804506,0.0698281634187,0.999999962088,4.00451094913e-05,-0.000271622536944,2.10238767064e-05,1793254975759058944
+81,1.350000000,BASELINE,781,759.996095801,738,720.996095801,687,649,914.003904199,800,839,658,635,657.996095801,0.40097387313,0.00448233569885,0.0698279059106,0.999999961706,3.86180962996e-05,-0.000273234117725,2.09749946618e-05,1793254975775725568
+82,1.366666667,BASELINE,781,759.42020943,738,720.42020943,687,649,914.57979057,800,839,658,635,657.42020943,0.400975028658,0.0044803904074,0.069828187188,0.999999962259,3.67854974829e-05,-0.000271435167325,2.12500445984e-05,1793254975792392448
+83,1.383333333,BASELINE,781,759.155266092,738,720,687,649,914.844733908,800,839,658,635,657,0.400975923865,0.00447920273361,0.0698285034462,0.999999962662,3.63927499718e-05,-0.000269977024605,2.15380597972e-05,1793254975809059072
+84,1.400000000,BASELINE,781,759.72963276,738,720,687,649,914.27036724,800,839,658,635,657,0.400976116402,0.0044800600519,0.069828914126,0.999999962667,3.9886507515e-05,-0.000269438803498,2.18610714226e-05,1793254975825725440
+85,1.416666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400975406296,0.00448032001682,0.0698284181229,0.999999962351,4.0596587457e-05,-0.000270508807317,2.18080187076e-05,1793254975842392320
+86,1.433333333,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400973893407,0.00448004871502,0.0698271157457,0.99999996175,3.88309548608e-05,-0.000273009114116,2.14205065792e-05,1793254975859059712
+87,1.450000000,BASELINE,781,760,738,720,687,649,914,800,839.485345022,658,635,657,0.400974835832,0.0044797039866,0.0698278337174,0.999999962123,3.8400890521e-05,-0.000271700969803,2.14060955497e-05,1793254975875726080
+88,1.466666667,BASELINE,781,760,738,720.063423717,687,649,914,800,839.936576283,658,635,657.063423717,0.400976108269,0.00447946473845,0.0698288070055,0.9999999626,3.84967314409e-05,-0.000269923274971,2.14479713237e-05,1793254975892392448
+89,1.483333333,BASELINE,781,760,738,720.637804622,687,649,914,800,839.362195378,658,635,657.637804622,0.400976241219,0.0044801888496,0.0698287118946,0.999999962422,4.07633965861e-05,-0.000270254081725,2.13661551025e-05,1793254975909059328
+90,1.500000000,BASELINE,781.217660341,760,738,721,687,649.217660341,914,800,839,658,635,658,0.400975616921,0.00448009395178,0.0698282236855,0.999999962188,4.09026064899e-05,-0.000271099331562,2.13417462885e-05,1793254975925725952
+91,1.516666667,BASELINE,781.806861368,760,738,721,687,649.806861368,914,800,839,658,635,658,0.400973700017,0.00447860102637,0.0698270644676,0.999999961855,3.74103039839e-05,-0.00027282272267,2.14153304723e-05,1793254975942392576
+92,1.533333333,BASELINE,781.610443209,760,738,720.610443209,687,650,914.389556791,800,839,658,635,658,0.400973753964,0.00447878719944,0.0698267931342,0.999999961838,3.72938518953e-05,-0.000272898362768,2.14599812551e-05,1793254975959059200
+93,1.550000000,BASELINE,781.030920173,760,738,720.030920173,687,650,914.969079827,800,839,658,635,658,0.400974768989,0.00447979217992,0.0698269547749,0.999999961977,3.88236232089e-05,-0.000272170481996,2.14905227553e-05,1793254975975725568
+94,1.566666667,BASELINE,781,760,738.543656655,720.543656655,687,649.456343345,915,800,839,658,635,657.456343345,0.400974611779,0.0044784034824,0.0698274169924,0.999999962017,3.89191290064e-05,-0.000271964496656,2.20588770389e-05,1793254975992392704
+95,1.583333333,BASELINE,781.118772119,760,738.881227881,720.881227881,687.118772119,649,915,800,839,658,635,657.118772119,0.400974583583,0.0044775743324,0.06982789548,0.999999962086,3.89202919596e-05,-0.00027168063827,2.24131075167e-05,1793254976009059840
+96,1.600000000,BASELINE,781.697050158,760,738.302949842,720.302949842,687.697050158,649,915,800,839,658,635,657.697050158,0.40097531013,0.0044794319078,0.0698283713724,0.999999962291,3.88692057794e-05,-0.000270981703927,2.18216641139e-05,1793254976025726208
+97,1.616666667,BASELINE,781.719559475,760,738,720.280440525,687.719559475,649,915,800,839,658,635,657.719559475,0.400974957981,0.00448032376072,0.069827770933,0.999999962135,3.87156754077e-05,-0.00027161953053,2.1325889407e-05,1793254976042392576
+98,1.633333333,BASELINE,781.130543932,760,738,720.869456068,687.130543932,649,915,800,839,658,635,657.130543932,0.400973418921,0.00448015300735,0.0698259861816,0.999999961578,3.84494233905e-05,-0.000273728225317,2.09353811539e-05,1793254976059059456
+99,1.650000000,BASELINE,781,760,738,720.549184528,687.450815472,649,914.549184528,800,839,658,635,657.450815472,0.400973622715,0.00447898676362,0.0698268695523,0.999999961875,3.85483573286e-05,-0.000272597133715,2.1334783975e-05,1793254976075726080
+100,1.666666667,BASELINE,781,760,738,720,688,649,914,800,839,658,635,658,0.40097429255,0.0044776537244,0.0698283852025,0.999999962367,3.86837093184e-05,-0.0002707180932,2.19171718783e-05,1793254976092392960
+101,1.683333333,BASELINE,781,760,738,720,688,649,914,800,839,658,635,658,0.40097440914,0.00447845660198,0.0698275676272,0.999999962056,3.75820137951e-05,-0.000272034732275,2.17318153617e-05,1793254976109059328
+102,1.700000000,BASELINE,781,759.820102137,738,720,687.820102137,649,914,800,839,658,635,658,0.400974687557,0.00447927486014,0.0698272361648,0.999999961946,3.69588598461e-05,-0.000272547789222,2.14225404081e-05,1793254976125725696
+103,1.716666667,BASELINE,781,759.244832741,738,720,687.244832741,649,914,800,839,658,635,658,0.40097532163,0.00448012692093,0.0698279730601,0.999999962283,3.7387423466e-05,-0.000271294768875,2.08409230402e-05,1793254976142392576
+104,1.733333333,BASELINE,781,759,738,720,687,649,914,800,839,658,635,657.659895149,0.400975193651,0.00448064449389,0.0698280964765,0.999999962314,3.79741954544e-05,-0.000271110870889,2.06881265093e-05,1793254976159058944
+105,1.750000000,BASELINE,781,759,738,720,687,649,914,800,839,658,635,657.067793973,0.400974501037,0.00448091423248,0.0698277653437,0.999999962119,3.8678189948e-05,-0.00027171912527,2.08530592147e-05,1793254976175725568
+106,1.766666667,BASELINE,781,759.509908003,738,720,687,649,914.509908003,800,839,658,635,657,0.400974175868,0.0044809263583,0.0698271343362,0.999999962043,3.79097670221e-05,-0.000272109840521,2.08020185292e-05,1793254976192392448
+107,1.783333333,POSE1_TO_POSE2_PRESS,781,760,738,721,688,649,914,800,839,658,635,658,0.400973660457,0.00447966760558,0.0698277494474,0.999999961918,3.89926458279e-05,-0.000272339046492,2.17853538205e-05,1793254976235539968
+108,1.800000000,POSE1_TO_POSE2_PRESS,781,760,738,720.413565036,687.413565036,649,914,800,839,658,635,658,0.400974797913,0.00448072101985,0.0698278525973,0.999999962027,3.78767561506e-05,-0.000272147096215,2.1136512754e-05,1793254976252206592
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.82810095,635,657.82810095,0.400975275995,0.00448136884646,0.0698278066249,0.99999996203,3.73022892249e-05,-0.000272244341783,2.0756487031e-05,1793254976268873216
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.244959427,635,657.244959427,0.400974176626,0.00448104636613,0.0698274039002,0.999999961783,3.80230941065e-05,-0.000273033444629,2.10195612227e-05,1793254976285539328
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687.334233785,649,914.334233785,800,839,657.334233785,635,657.334233785,0.400973378721,0.00448050524102,0.0698269049236,0.999999961584,3.76079223784e-05,-0.000273795108916,2.13047622471e-05,1793254976302205696
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687.910567035,649,914.910567035,800,839,657.910567035,635,657.910567035,0.400972799179,0.00447980574241,0.0698263362276,0.99999996142,3.63699153884e-05,-0.000274536898262,2.1605990643e-05,1793254976318872064
+113,1.883333333,POSE1_TO_POSE2_PRESS,781.483909092,760,738,720,687.516090908,649,915,800,839,657.516090908,635,657.516090908,0.400972683514,0.00447944197924,0.0698266176296,0.999999961439,3.68227904323e-05,-0.000274397046545,2.17166210623e-05,1793254976335538944
+114,1.900000000,POSE1_TO_POSE2_PRESS,781.941442058,760,738,720,687,649,914.941442058,800,839,657.058557942,635,657.058557942,0.400972920797,0.00447924854433,0.0698271426425,0.999999961524,3.77913290904e-05,-0.000273949370598,2.17945192032e-05,1793254976352205824
+115,1.916666667,POSE1_TO_POSE2_PRESS,781.349898241,760,738,720,687,649,914.349898241,800,839,657.650101759,635,657.650101759,0.400975595052,0.00448004412584,0.0698284637626,0.999999961896,4.06265257679e-05,-0.000272173861541,2.1893136932e-05,1793254976368872704
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,759.763396203,737.763396203,720,687,649,914,800,839,658,635,657.763396203,0.40098265289,0.00448085791696,0.0698319272735,0.999999963181,4.2224921192e-05,-0.000267165815833,2.18550433728e-05,1793254976385539328
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,759.184194615,737.184194615,720,687,649,914,800,839,658,635,657.184194615,0.400996058074,0.00448169807516,0.0698384929255,0.999999965736,4.20324517207e-05,-0.00025747711879,2.16189944635e-05,1793254976402206208
+118,1.966666667,POSE1_TO_POSE2_PRESS,781,759.392658742,737.392658742,720,687,649.392658742,914,800,839,657.607341258,635.392658742,657.392658742,0.401025316081,0.00448020806122,0.0698501255095,0.999999970796,3.96802625732e-05,-0.000237415913636,2.16003143162e-05,1793254976418872576
+119,1.983333333,POSE1_TO_POSE2_PRESS,781,759.968417153,737.968417153,720,687,649.968417153,914,800,839,657.031582847,635.968417153,657.968417153,0.401061966378,0.00447763147089,0.0698641208418,0.999999976523,3.63209801643e-05,-0.000212517930423,2.16829947953e-05,1793254976435538944
+120,2.000000000,POSE1_TO_POSE2_PRESS,781.554775554,760,738,720,687,649.445224446,914,800,839,657,635.445224446,658,0.401119669175,0.00447945781977,0.069880802545,0.999999980856,3.92191282425e-05,-0.000190511910612,2.13542158917e-05,1793254976452205824
+121,2.016666667,POSE1_TO_POSE2_PRESS,781.860033161,759.860033161,738,720.139966839,687,649,914.139966839,800,839,657.139966839,635,658,0.401182170435,0.0044804557738,0.0698960421454,0.999999984485,4.0006187366e-05,-0.000170273719296,2.08754118274e-05,1793254976468872448
+122,2.033333333,POSE1_TO_POSE2_PRESS,781.280439871,759.280439871,738,720.719560129,687,649,914.719560129,800,839,657.719560129,635,658,0.401255905631,0.004478049169,0.0699062624944,0.999999987233,3.30217703762e-05,-0.000155060967691,2.00003950541e-05,1793254976485538816
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759.297387233,738,720.702612767,687,649,914.702612767,800,839,658,635,657.702612767,0.401336697695,0.00447806548013,0.0699122695301,0.999999988722,3.01074141642e-05,-0.000145943672128,1.87183276999e-05,1793254976502205696
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759.873558601,738,720.126441399,687,649,914.126441399,800,839,658,635,657.126441399,0.401424105177,0.00448035314149,0.0699143268164,0.999999989215,3.10085159442e-05,-0.000142540531461,1.70546729261e-05,1793254976518872832
+125,2.083333333,POSE1_TO_POSE2_PRESS,781.448736847,760,737.551263153,720.448736847,687.448736847,649,914.448736847,800.448736847,839,657.551263153,635,657,0.401522022854,0.00448052483432,0.0699105213796,0.999999988301,2.89982820613e-05,-0.000149484549313,1.45201875125e-05,1793254976535539712
+126,2.100000000,POSE1_TO_POSE2_PRESS,782,760,737.024269677,720.975730323,687.975730323,649,915,800.975730323,839,657.024269677,635,657.024269677,0.401624488521,0.0044802539142,0.0699053691769,0.999999986973,2.62427805551e-05,-0.000158835991734,1.17128262291e-05,1793254976552206592
+127,2.116666667,POSE1_TO_POSE2_PRESS,782,760,737.614584878,720.385415122,687.385415122,649,915,800.385415122,839,657.614584878,635,657.614584878,0.401764109255,0.00448353489518,0.0699072497537,0.999999987404,2.51957747566e-05,-0.000156486795065,8.25143169681e-06,1793254976568872960
+128,2.133333333,POSE1_TO_POSE2_PRESS,781.798982593,760,738,720,687.201017407,649,914.798982593,800,839,658,635,658,0.401913974347,0.00448547061346,0.0699095986256,0.999999987943,2.30595651669e-05,-0.00015348776192,4.81344333227e-06,1793254976585539328
+129,2.150000000,POSE1_TO_POSE2_PRESS,781.219853399,760,738,720,687.780146601,649,914.219853399,800,839,658,635,658,0.402083108959,0.00448487590534,0.0699128283558,0.999999988681,1.88745739621e-05,-0.000149266392948,1.41948213222e-06,1793254976602205952
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687.643325711,649.356674289,914.356674289,800,839,658,635,657.643325711,0.402274640676,0.00448445034966,0.0699168938027,0.999999990021,1.2608788658e-05,-0.000140685010894,-2.63949830483e-06,1793254976618872576
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687.068389922,649.931610078,914.931610078,800,839,658,635,657.068389922,0.402479877983,0.00448412830423,0.0699214706543,0.999999991585,5.06969209152e-06,-0.000129435583555,-7.10542765453e-06,1793254976635538944
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.482631725,915,800.517368275,839,658,635,657,0.402708391576,0.00448559563202,0.0699242291633,0.999999992173,-1.27858720754e-06,-0.00012455006424,-1.18498378108e-05,1793254976652205824
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,738,720.102971746,687,649.102971746,915,800.897028254,839,658,635,657,0.402949361555,0.0044866467397,0.0699271287582,0.999999992635,-8.07401908785e-06,-0.000119949757844,-1.66498226507e-05,1793254976668872704
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,760,738,720.681118734,687,649.681118734,915,800.318881266,839,658,635,657,0.403233311246,0.00448466231787,0.0699318122936,0.999999993261,-1.76748063187e-05,-0.000112700692183,-2.15327630861e-05,1793254976685539584
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,760,738,720.740316401,687,649.740316401,914.740316401,800,839,657.740316401,635,657.259683599,0.403536194636,0.0044815530428,0.0699393825595,0.999999994213,-2.83272321902e-05,-0.000100410088138,-2.62589356605e-05,1793254976702205952
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,760,738,720.161237606,687,649.161237606,914.161237606,800,839,657.161237606,635,657.838762394,0.403862365319,0.00447706026608,0.0699505033299,0.99999999536,-4.02731097054e-05,-8.19186957633e-05,-3.0792292904e-05,1793254976718872064
+137,2.283333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914.413100649,800,839,657.413100649,635,657.586899351,0.404207936215,0.00446766121727,0.0699560460422,0.999999994987,-5.7984317272e-05,-7.40139737915e-05,-3.44404395982e-05,1793254976735538688
+138,2.300000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914.985609599,800,839,657.985609599,635,657.014390401,0.404560993305,0.00445636892415,0.0699594362794,0.999999993788,-7.79202643797e-05,-7.01944628142e-05,-3.77469989411e-05,1793254976752205312
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914.424508077,800,839,658,635,657,0.404951089714,0.00445861405442,0.0699627411275,0.999999994756,-6.9968758293e-05,-6.30753962949e-05,-4.01610080605e-05,1793254976768872448
+140,2.333333333,POSE1_TO_POSE2_PRESS,781.162801925,760,737.837198075,720,687,649,914,800,839,658,635,657.162801925,0.405356656493,0.00446448719461,0.0699653668645,0.99999999685,-3.90846876437e-05,-5.7879801874e-05,-3.7708142628e-05,1793254976785539328
+141,2.350000000,POSE1_TO_POSE2_PRESS,781.742379877,760,737.257620123,720,687,649,914,800,839,658,635,657.742379877,0.405799382801,0.00447875454486,0.0699662596999,0.999999996883,4.8666418186e-05,-5.78261270885e-05,-2.28548996212e-05,1793254976802206208
+142,2.366666667,POSE1_TO_POSE2_PRESS,781.680218768,760,737.319781232,720,687,649,914.319781232,800,839,657.680218768,635,657.680218768,0.406247302177,0.00448482453314,0.069958387003,0.999999993517,8.58230273639e-05,-7.2302959364e-05,-1.92924964474e-05,1793254976818873088
+143,2.383333333,POSE1_TO_POSE2_PRESS,781.104558994,760,737.895441006,720,687,649,914.895441006,800,839,657.104558994,635,657.104558994,0.406699376924,0.00448433526051,0.0699435004124,0.999999991449,8.24955754002e-05,-9.84066310841e-05,-2.47646546052e-05,1793254976835539712
+144,2.400000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,915,800,839,657,635,657,0.407192684012,0.00449125478894,0.0699312529803,0.9999999934,-8.04545564526e-06,-0.000111073733818,-2.82635653156e-05,1793254976852205824
+145,2.416666667,POSE1_TO_POSE2_PRESS,781,760,738,720,686.933527056,649.066472944,915,800,839,657.066472944,635,657.066472944,0.407706154091,0.00449978828888,0.0699224635271,0.999999987569,-0.000101679964693,-0.000116393697454,-3.12495810312e-05,1793254976868872192
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,738,720,686.354365381,649.645634619,915,800,839,657.645634619,635,657.645634619,0.408304554333,0.00450808745544,0.0699358268231,0.999999993116,-6.98803562232e-05,-8.80479787353e-05,-3.36576047834e-05,1793254976885538816
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,738,720,686.22501917,649.77498083,914.77498083,800,839,658,635,658,0.408921711675,0.00451401270841,0.0699486663458,0.999999996913,-3.73707804945e-05,-5.97051237836e-05,-3.48194155565e-05,1793254976902205440
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,738,720,686.804755021,649.195244979,914.195244979,800,839,658,635,658,0.409568437379,0.00451619576082,0.0699606801997,0.999999998922,-3.74202553244e-06,-3.13667850326e-05,-3.40167156624e-05,1793254976918872064
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914.378744409,800,839,658,635.378744409,657.621255591,0.41019457745,0.00452500567567,0.0699576405257,0.99999999836,2.67799886983e-05,-3.63151518804e-05,-3.52756163985e-05,1793254976935538944
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914.949815716,800,839,658,635.949815716,657.050184284,0.410810264091,0.00453718071975,0.0699469566504,0.99999999605,5.57243949382e-05,-5.81665515543e-05,-3.75814005986e-05,1793254976952206080
+151,2.516666667,POSE1_TO_POSE2_PRESS,781,760,738,720,686.461159421,649,915,800,839,658,636,657,0.411482451368,0.00454059446958,0.069950566261,0.999999995995,6.03704780939e-05,-5.39984717484e-05,-3.8072414366e-05,1793254976968872960
+152,2.533333333,POSE1_TO_POSE2_PRESS,781.127058614,760,738,719.872941386,686.127058614,649,915,800,839,658,635.872941386,657,0.412181747094,0.00454455767922,0.0699622534544,0.999999996741,6.07411970106e-05,-3.66985094312e-05,-3.84925715352e-05,1793254976985539840
+153,2.550000000,POSE1_TO_POSE2_PRESS,781.706250318,760,738,719.293749682,686.706250318,649,915,800,839,658,635.293749682,657,0.412958136563,0.00455347980617,0.0699977840875,0.999999997589,5.42285383546e-05,1.84103267383e-05,-3.9282756697e-05,1793254977002206208
+154,2.566666667,POSE1_TO_POSE2_PRESS,782,760.28530343,738,719,686.71469657,649,914.71469657,800,839,658,635.28530343,657.28530343,0.413740037462,0.00456259212824,0.0700195747555,0.999999995847,6.25098524838e-05,5.27337021209e-05,-4.023027821e-05,1793254977018872832
+155,2.583333333,POSE1_TO_POSE2_PRESS,782,760.864213985,738,719,686.135786015,649,914.135786015,800,839,658,635.864213985,657.864213985,0.414527610295,0.00457190018211,0.0700272255642,0.99999999329,8.60157141514e-05,6.56666670298e-05,-4.13397154845e-05,1793254977035539456
+156,2.600000000,POSE1_TO_POSE2_PRESS,782,761,738,719,686.438352238,649,914.438352238,800,839.438352238,658,635.561647762,657.561647762,0.415257799119,0.00457855906037,0.0699843251289,0.999999994148,9.85665373677e-05,-1.21283714998e-05,-4.29072416638e-05,1793254977052206080
+157,2.616666667,POSE1_TO_POSE2_PRESS,782,760.988632931,738,718.988632931,686.988632931,649,915,800,840,658,635.011367069,657,0.415972490523,0.00458441988315,0.0699268772597,0.99999998654,0.00010720328457,-0.000115914142443,-4.46234798539e-05,1793254977068872704
+158,2.633333333,POSE1_TO_POSE2_PRESS,782,760.398354156,738,718.398354156,686.398354156,649,915,800,840,658,635.601645844,657,0.416793456399,0.0045909798541,0.0699174505748,0.999999986957,8.74656450545e-05,-0.000127472226878,-4.6764515872e-05,1793254977085539328
+159,2.650000000,POSE1_TO_POSE2_PRESS,782,760.188774107,738,718.188774107,686.188774107,649,915,800.188774107,840,658,636,657,0.417637586409,0.00459763213328,0.0699219120091,0.99999998844,8.23260564804e-05,-0.000118314969346,-4.84161211722e-05,1793254977102205952
+160,2.666666667,POSE1_TO_POSE2_PRESS,782,760.769363211,738,718.769363211,686.769363211,649,915,800.769363211,840,658,636,657,0.418529795288,0.00460447600483,0.06995519929,0.999999990832,0.000107485832404,-6.61614454296e-05,-4.90518756545e-05,1793254977118872576
+161,2.683333333,POSE1_TO_POSE2_PRESS,782,760.653274168,738,718.653274168,686.653274168,649,915,800.653274168,840,658,636,657.346725832,0.419450081922,0.00461041383919,0.0699862641663,0.999999990682,0.000126028410479,-1.85223157576e-05,-4.90807614082e-05,1793254977135539200
+162,2.700000000,POSE1_TO_POSE2_PRESS,782,760.078037988,738,718.078037988,686.078037988,649,915,800.078037988,840,658,636,657.921962012,0.420388873221,0.00461575454766,0.0700158643612,0.999999988643,0.000140209910153,2.61415913393e-05,-4.87096890874e-05,1793254977152205568
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,914.493912831,800,840,658,636,658,0.421293366602,0.0046044388432,0.0700308473335,0.999999990877,0.000116116538138,4.77748206599e-05,-4.98099009306e-05,1793254977168872448
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760.091257144,738,718,686,649,914.091257144,800,839.908742856,658,636,657.908742856,0.422185254593,0.00458923729874,0.0700329108195,0.999999993606,8.81171107065e-05,4.91787433314e-05,-5.10297071072e-05,1793254977185539072
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760.674537912,738,718,686,649,914.674537912,800,839.325462088,658,636,657.325462088,0.423038203212,0.00456718018582,0.0699776871078,0.999999995353,7.14476182867e-05,-3.89964536456e-05,-5.1649254285e-05,1793254977202205696
+166,2.766666667,POSE1_TO_POSE2_PRESS,782,761,738,718,686,649.253340267,915,800,839.253340267,658,635.746659733,657,0.423902942316,0.00455610056397,0.0699180298252,0.999999988644,5.84951628951e-05,-0.000128579585606,-5.25210717174e-05,1793254977218872320
+167,2.783333333,POSE1_TO_POSE2_PRESS,782,761,738,718,686,649.826489292,915,800,839.826489292,658,635.173510708,657,0.424782565473,0.00455887857747,0.0698527757352,0.999999973109,5.02349756772e-05,-0.000219940062041,-5.37113473365e-05,1793254977235539200
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,761,738,718,686,650,915,800.399337967,840,658,635.399337967,657,0.425768275595,0.00456440282312,0.069875780979,0.999999980296,5.74925691401e-05,-0.000182144668895,-5.40881629113e-05,1793254977252206080
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,761,738,718,686,650,915,800.972056206,840,658,635.972056206,657,0.426800045365,0.00457111939819,0.0699371057166,0.999999992085,7.14875061593e-05,-8.82737608991e-05,-5.41117987832e-05,1793254977268872448
+170,2.833333333,POSE1_TO_POSE2_PRESS,782.562808814,760.437191186,738,717.437191186,686,649.437191186,915,801,840,658,636,657,0.427793931818,0.00457463756908,0.0699900732518,0.999999995008,8.3071044426e-05,-2.18926156115e-05,-5.10288850478e-05,1793254977285539072
+171,2.850000000,POSE1_TO_POSE2_PRESS,782.848298065,760,737.848298065,717.151701935,686,649,915,801,840,658,636,657,0.428790537387,0.0045772355167,0.0700350928816,0.999999994351,8.56190107461e-05,3.91673647403e-05,-4.93331907558e-05,1793254977302205952
+172,2.866666667,POSE1_TO_POSE2_PRESS,782.267285141,760,737.267285141,717.732714859,686,649,915,801,840,658,636,657,0.429800337078,0.0045776935487,0.070058833362,0.999999992691,6.29466758929e-05,8.91590747954e-05,-5.20142273255e-05,1793254977318872320
+173,2.883333333,POSE1_TO_POSE2_PRESS,782,760,737.310364069,718,686,649.310364069,915,801,840.310364069,658,636,657.310364069,0.430734302195,0.00457900421452,0.0700330814469,0.999999995371,6.4369676993e-05,4.8313523895e-05,-5.27254521174e-05,1793254977335538944
+174,2.900000000,POSE1_TO_POSE2_PRESS,782,760,737.885147482,718,686,649.885147482,915,801,840.885147482,658,636,657.885147482,0.431603658855,0.00458104129454,0.0699651637387,0.99999999249,8.63210631414e-05,-6.99222030615e-05,-5.17584654635e-05,1793254977352205568
+175,2.916666667,POSE1_TO_POSE2_PRESS,782,760,738,718,686,650,915,800.540006208,841,658,636,658,0.432520580539,0.00457773250622,0.0699131648923,0.999999983818,8.07867743493e-05,-0.000151783510196,-5.29097504426e-05,1793254977368872448
+176,2.933333333,POSE1_TO_POSE2_PRESS,782,760,738,717.964184941,686,650,915,800.035815059,841,657.964184941,636,658,0.433454662235,0.00457330270986,0.0698722110881,0.999999973492,6.88872482848e-05,-0.000212844830738,-5.44701941229e-05,1793254977385539072
+177,2.950000000,POSE1_TO_POSE2_PRESS,782,760,738,717.3735031,686,650,915,800.6264969,841,657.3735031,636,658,0.434470577963,0.0045721874834,0.0699407871219,0.999999992171,6.47092330233e-05,-9.23847734936e-05,-5.41744818875e-05,1793254977402205696
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,738,717,686,649.787107887,915,801,841,657.212892113,636,658,0.435473849715,0.00457131236114,0.0699979658665,0.999999996494,6.39968713406e-05,5.19585242873e-06,-5.37472787322e-05,1793254977418872320
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,738,717,686,649.208084704,915,801,841,657.791915296,636,658,0.436455376568,0.00457085016903,0.0700355436064,0.999999994182,6.92447283783e-05,6.34285347705e-05,-5.30939389083e-05,1793254977435538944
+180,3.000000000,POSE1_TO_POSE2_PRESS,782.374089008,760.374089008,738,717.374089008,685.625910992,649,915,801,841,658,636,658,0.437400572672,0.00456846538895,0.0700377100605,0.999999993594,6.25213830242e-05,7.72322659066e-05,-5.42067370599e-05,1793254977452205568
+181,3.016666667,POSE1_TO_POSE2_PRESS,782.958030031,760.958030031,738,717.958030031,685.041969969,649,915,801,841,658,636,658,0.438325388323,0.0045650020983,0.0700200119093,0.999999995025,4.90825742929e-05,6.61127675216e-05,-5.6310282441e-05,1793254977468872192
+182,3.033333333,POSE1_TO_POSE2_PRESS,782.462629239,761,738,718,685.537370761,649.537370761,915,801,841,657.462629239,636,658,0.439136629569,0.00456776569125,0.0699477064062,0.999999995393,5.69983475535e-05,-5.27901161535e-05,-5.63759588982e-05,1793254977485538816
+183,3.050000000,POSE1_TO_POSE2_PRESS,782.116050214,761,738,718,685.883949786,649.883949786,915,801,840.883949786,657.116050214,636,657.883949786,0.439946924755,0.00457168842854,0.0698798703368,0.99999998259,6.75445130106e-05,-0.000164570579343,-5.63419363436e-05,1793254977502205696
+184,3.066666667,POSE1_TO_POSE2_PRESS,782.693516833,761,738,718,685.306483167,649.306483167,915,801,840.306483167,657.693516833,636,657.306483167,0.440788427921,0.00457830267393,0.0698466183699,0.999999971962,8.1974062609e-05,-0.000214845749587,-5.65389726972e-05,1793254977518872320
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,760.73008214,738,718,685,649,915,801,840.26991786,657.73008214,636,657.26991786,0.441665328994,0.00458372955015,0.0698584092425,0.999999975591,8.58942468819e-05,-0.00019548822961,-5.67912458901e-05,1793254977535539200
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,760.154886341,738,718,685,649,915,801,840.845113659,657.154886341,636,657.845113659,0.442582265153,0.00458781350769,0.0699211437091,0.999999990592,7.79283048238e-05,-9.73759155898e-05,-5.71059918375e-05,1793254977552206080
+187,3.116666667,POSE1_TO_POSE2_PRESS,783,760,738,717.581175227,684.581175227,649,915,801,841,657.418824773,636,657.581175227,0.443428611359,0.00459319170775,0.0699455836801,0.99999999205,8.9361683745e-05,-6.93150232737e-05,-5.57689905552e-05,1793254977568872448
+188,3.133333333,POSE1_TO_POSE2_PRESS,783,760,738,717.008011182,684.008011182,649,915,801,841,657.991988818,636,657.008011182,0.444248944848,0.00459904684375,0.0699559119201,0.999999990477,0.000107943820492,-6.70684639038e-05,-5.38233113142e-05,1793254977585538816
+189,3.150000000,POSE1_TO_POSE2_PRESS,783,760.587255352,738,717,684,649,915,801,841,658,636,657,0.445014532434,0.00460160244375,0.0699114534763,0.999999983403,0.00010329145753,-0.000139492093941,-5.53746338246e-05,1793254977602205696
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,760.831215954,737.831215954,717.168784046,683.831215954,648.831215954,915,800.831215954,841,658,636,657.168784046,0.445760799478,0.00460434320876,0.0698670932206,0.999999971695,0.000100780897483,-0.000207824776464,-5.71128839725e-05,1793254977618872320
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,760.281407172,737.281407172,717.718592828,683.281407172,648.281407172,915,800.281407172,841,658,636,657.718592828,0.446465203026,0.00460760756428,0.0698247077966,0.999999957869,0.000103848899052,-0.000264532827847,-5.91612135151e-05,1793254977635538944
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,760,737,717.705481728,683,648,915,800.294518272,841,658,636,658,0.447139984275,0.00461032425478,0.069783112146,0.999999936657,0.000109547429803,-0.000333502233661,-5.88336992122e-05,1793254977652205824
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,760,737,717.102174159,683,648,915,800.897825841,841,658,636,658,0.447783707818,0.00461246674267,0.0697423445403,0.99999990522,0.000118003952828,-0.000415327119415,-5.60152181435e-05,1793254977668872704
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,760,737,717,682.508824763,648,915,801,841,658,635.508824763,657.508824763,0.448476722155,0.00461523408742,0.0697318814684,0.999999898906,0.000123163590384,-0.000428744073719,-5.65488185629e-05,1793254977685539072
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,760,737,717,682,648,915,801,841,657.919227781,635,657,0.449177209448,0.00461790138252,0.0697330118406,0.999999901562,0.000127063658223,-0.000421192638729,-5.76823185599e-05,1793254977702205952
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,760,737,717,682,648,915,801,841,657.340252585,635,657,0.449861803332,0.00461916577051,0.0697675405075,0.999999921618,0.000127340763251,-0.000370335926382,-5.8300522648e-05,1793254977718872576
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,760,737,717,681.763388663,648,915,800.763388663,841,657.236611337,635,657.236611337,0.450497301968,0.00462042659382,0.0697787909393,0.999999926339,0.000134621888101,-0.000354955539682,-5.66224535141e-05,1793254977735538944
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,737,717,681.189534,648,915,800.189534,841,657.810466,635,657.810466,0.451062824845,0.00462168233626,0.0697568627828,0.999999911026,0.000151885877773,-0.000390139743081,-5.16714946811e-05,1793254977752205568
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,759.614769462,737,717,680.614769462,647.614769462,915,800,841,658,635,658,0.451593236743,0.00462375871546,0.0697171155635,0.999999887432,0.000155619884441,-0.000445093345646,-5.30170724538e-05,1793254977768871936
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,759.039556153,737,717,680.039556153,647.039556153,915,800,841,658,635,658,0.452106333136,0.00462623980528,0.0696685805786,0.999999856747,0.000152681358712,-0.000509796554113,-5.74678901295e-05,1793254977785538560
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,759.549533937,737,716.450466063,679.450466063,647,915,800,841,658,635,658,0.452598269934,0.00462979845955,0.0696312330874,0.999999827226,0.0001594066865,-0.000562757124359,-5.86668391511e-05,1793254977802205440
+202,3.366666667,POSE1_TO_POSE2_PRESS,783.137359707,760,737,716.137359707,679,647,915,800,841,657.862640293,635.137359707,658,0.453086098039,0.00463242740498,0.0696036740929,0.999999803137,0.00016584142902,-0.000602264226824,-5.91691027066e-05,1793254977818872320
+203,3.383333333,POSE1_TO_POSE2_PRESS,783.717801765,760,737,716.717801765,679,647,915,800,841,657.282198235,635.717801765,658,0.453565713165,0.00463180069973,0.0696050249996,0.999999803316,0.000169036845782,-0.000601171547046,-5.81986765943e-05,1793254977835538944
+204,3.400000000,POSE1_TO_POSE2_PRESS,783.704735531,760,737,717,678.704735531,647,915,800,841,657.295264469,636,658,0.454026126938,0.00463274736085,0.0696126968519,0.999999807554,0.000173630973528,-0.000592853438823,-5.71791736363e-05,1793254977852205824
+205,3.416666667,POSE1_TO_POSE2_PRESS,783.130091927,760,737,717,678.130091927,647,915,800,841,657.869908073,636,658,0.454468372371,0.00463518274068,0.0696263495804,0.999999815439,0.000179548560883,-0.000577698632728,-5.61132342311e-05,1793254977868872448
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,737,717,678,647,915,800,841,658,635.543683551,657.543683551,0.454838973855,0.00463697451379,0.0696164138014,0.999999801007,0.000178287235425,-0.000602477527454,-5.67550145296e-05,1793254977885539072
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,760,737,717,677.954774748,647,915,800,841,658,635,657.045225252,0.455187101355,0.00463869110732,0.0695988344304,0.999999779601,0.000170031705923,-0.000639155646072,-5.8022648382e-05,1793254977902205696
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,760,737,717,677.376963525,647,915,800,841,658,635,657.623036475,0.455517465894,0.00464174034304,0.069572531881,0.999999762654,0.000104150118299,-0.000678344201858,-6.0775425809e-05,1793254977918872320
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760.200761114,737,716.799238886,677,646.799238886,915,800,841,657.799238886,635,658,0.455841716821,0.00464446911246,0.0695555665787,0.999999749097,6.35929719642e-05,-0.000702689404526,-6.31637852615e-05,1793254977935538944
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760.778323181,737,716.221676819,677,646.221676819,915,800,841,657.221676819,635,658,0.456154493301,0.00464659641046,0.0695561260058,0.999999750983,7.05663216364e-05,-0.000699175679941,-6.48681826204e-05,1793254977952205824
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760.646042319,737,716.353957681,676.646042319,646,915,800,841,657,635,658,0.456447671404,0.00464876314725,0.0695608544872,0.999999756806,8.18939407029e-05,-0.00068954560572,-6.48759482948e-05,1793254977968872448
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760.071608423,737,716.928391577,676.071608423,646,915,800,841,657,635,658,0.456728641932,0.00465095445023,0.0695681798251,0.999999764802,9.59337853238e-05,-0.000676105726318,-6.38269015315e-05,1793254977985539328
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,760,737,717,676,646,915,800,841.516659937,657,635,658,0.456966548029,0.00465345132629,0.0695691389732,0.999999760985,0.00013106170314,-0.000676657480377,-5.46511612708e-05,1793254978002205696
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,760,737,717,675.895625212,646,915,800,842,657.104374788,635,658,0.457190674899,0.0046593405534,0.0695665173253,0.999999751785,0.000166223310172,-0.000683046598766,-4.74049151848e-05,1793254978018872320
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,760,737,717,675.319321063,646,915,800,842,657.680678937,635,658,0.457380229052,0.0046803714933,0.0695518044325,0.999999731074,0.000187958339117,-0.000706819878691,-5.41157469274e-05,1793254978035539200
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,760,737,717,675,646,915,800,841.742214246,658,635,658,0.457555241054,0.00469744762971,0.069538039244,0.999999712782,0.000206419585137,-0.000726826812852,-5.95725428266e-05,1793254978052205824
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,737,717,675,646,915,800,841.164110088,658,635,658,0.457712183316,0.00470960962074,0.069525451651,0.99999969821,0.000220812905724,-0.000742153775036,-6.34711034533e-05,1793254978068872192
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,737,717,675,646,915,800,841,657.578728992,635,658,0.457844977363,0.00470727867982,0.0695153393065,0.999999687224,0.000217857585514,-0.00075758459819,-6.44609531678e-05,1793254978085539072
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,737,716.990623407,674.990623407,646,915,800,841.009376593,657,635,657.990623407,0.45796773581,0.00469939296923,0.0695061382818,0.999999677381,0.000208218557399,-0.000773139384827,-6.43271835618e-05,1793254978102205696
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,737,716.412234828,674.412234828,646,915,800,841.587765172,657,635,657.412234828,0.458062392622,0.00470305716287,0.0694926962843,0.999999660712,0.00021031660392,-0.000793718392277,-6.59783595817e-05,1793254978118872576
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,737,716.165289854,674,646,915,799.834710146,841.834710146,657,635,657.165289854,0.458152784839,0.00470594517824,0.0694808284536,0.999999645671,0.000212308687524,-0.000811820542468,-6.73132686957e-05,1793254978135539200
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,760,737,716.740671083,674,646,915,799.259328917,841.259328917,657,635,657.740671083,0.458232596393,0.00470690746079,0.069472866202,0.999999635486,0.000214037872349,-0.000823777498812,-6.78635055606e-05,1793254978152205824
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,760,737,717,674,646,915,799.314836344,841,657,635.314836344,657.685163656,0.458303623965,0.0047062101519,0.069467717351,0.999999629886,0.000213927627856,-0.000830581633082,-6.7798012318e-05,1793254978168872448
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,760,737,717,674,646,915,799.888003937,841,657,635.888003937,657.111996063,0.458367444064,0.004704151106,0.0694648769661,0.999999628127,0.000212308084911,-0.000833157746818,-6.72272968869e-05,1793254978185539072
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,737,717,674,646,915,800,841.477654759,657.477654759,636,657.477654759,0.458413326879,0.00470617446845,0.0694623259583,0.999999622114,0.000215752417043,-0.000839433544296,-6.76254572585e-05,1793254978202205696
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,760,737,717,673.930336154,646,915.069663846,800,842,658,635.930336154,658,0.458453873747,0.00470843578769,0.0694596686809,0.999999615562,0.000219486579737,-0.0008462084638,-6.80692321967e-05,1793254978218872320
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,737,717,673.350374486,646,915.649625514,800,842,658,635.350374486,658,0.458487243041,0.00470517789688,0.0694557181824,0.999999613047,0.000216335564875,-0.000850058085645,-6.71235878213e-05,1793254978235539200
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,737,717,673.227099362,646,915.772900638,800,842,658,635,658,0.458516293291,0.00470277778509,0.0694529120452,0.999999610998,0.000214954505489,-0.00085286962829,-6.64165010277e-05,1793254978252205824
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,760,737,717,673.800776495,646,915.199223505,800,842,658,635,658,0.458538752221,0.00470168673546,0.0694518523252,0.999999609689,0.000216274586543,-0.000854096951493,-6.60734785275e-05,1793254978268872448
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645.625287903,915,800,841.625287903,658,635,658,0.458554332355,0.00470390511537,0.0694497799742,0.999999606816,0.000218964012728,-0.000856755626371,-6.62810167765e-05,1793254978285539072
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645.051214805,915,800,841.051214805,658,635,658,0.458566252708,0.00470788423696,0.0694471688652,0.999999603092,0.000222381982243,-0.000860175834396,-6.6781474168e-05,1793254978302205952
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,737,717,674,645.539021472,915,800,841,658,635,657.460978528,0.458574510904,0.00470757462458,0.0694470268933,0.99999960264,0.000221871709565,-0.000860877688025,-6.62046472416e-05,1793254978318872320
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,737,716.877657226,673.877657226,645.877657226,915,800,841.122342774,658,635,657,0.458581145215,0.0047068595342,0.0694465229414,0.999999602009,0.00022082562779,-0.000861915728076,-6.5726061009e-05,1793254978335538688
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,737,716.324276832,673.324276832,645.324276832,915,800,841.675723168,658,635,657,0.458583322084,0.00470619591909,0.0694438915568,0.999999599611,0.000219247432592,-0.000865076330299,-6.59653699378e-05,1793254978352205568
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,737,716.249852581,673,645,915,800,842,658,635.249852581,657,0.458584759242,0.00470592015447,0.0694419147028,0.999999597403,0.000218884771996,-0.000867726609648,-6.58243466879e-05,1793254978368872192
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,737,716.853350571,673,645,915,800,842,658,635.853350571,657,0.458585149404,0.00470619335966,0.0694408642815,0.999999595475,0.000220242598636,-0.000869654570161,-6.51449951164e-05,1793254978385539072
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,737,717,673,645,915,800,841.567153141,657.567153141,635.567153141,657.432846859,0.458585469973,0.00470567016577,0.0694396774809,0.999999594283,0.000220982703634,-0.000870826641022,-6.52849534386e-05,1793254978402205952
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760.004852567,737,716.995147433,673,645,915,800,841.004852567,657,635,657.995147433,0.458585776216,0.00470490017515,0.0694384635642,0.99999959334,0.000221527496238,-0.000871741044035,-6.5677858118e-05,1793254978418872576
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760.603031042,737,716.396968958,673,645,915,800,841.603031042,657,635,657.396968958,0.458587062249,0.00470521217328,0.0694392869027,0.999999593997,0.000222436372923,-0.000870818272479,-6.48414596997e-05,1793254978435539200
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760.806831091,737,716.193168909,673,645,915,800,841.806831091,657,635,657,0.458588925134,0.00470492505031,0.0694401827626,0.999999595232,0.000222038787014,-0.000869547246781,-6.42116388239e-05,1793254978452205824
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760.232556681,737,716.767443319,673,645,915,800,841.232556681,657,635,657,0.458591926098,0.00470345591338,0.0694412217005,0.999999597603,0.000219063663683,-0.000867589145923,-6.39893775695e-05,1793254978468872448
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,737,716.657472009,673,645,915,800,841,657.342527991,635,657.342527991,0.458591860234,0.00470372848895,0.0694407990899,0.999999596776,0.000219773401596,-0.000868351743798,-6.41282962286e-05,1793254978485538816
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,760,737,716.081835934,673,645,915,800,841,657.918164066,635,657.918164066,0.458589707234,0.00470518639037,0.0694393818197,0.999999593766,0.000222990879037,-0.000870965918505,-6.45130165815e-05,1793254978502205440
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,737,716.50545663,673,645,915.50545663,800,841,658,635,658,0.458588305876,0.00470529842493,0.0694380965279,0.999999591988,0.000223149311537,-0.000872967045867,-6.44800194724e-05,1793254978518872576
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,760,737,716.907345057,673,645,915.907345057,800,841,658,635,658,0.458587454447,0.00470487594021,0.0694370665074,0.999999590785,0.000222547701715,-0.000874509645058,-6.4309943415e-05,1793254978535539200
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,760,737,716.330729511,673,645,915.330729511,800,841,658,635,658,0.458588824794,0.00470282655181,0.0694372555903,0.999999591526,0.000220624208431,-0.000874187907521,-6.37854591753e-05,1793254978552205568
+247,4.116666667,POSE1_TO_POSE2_PRESS,783,760,737,716.246470022,673,645.246470022,915,800,841,657.753529978,635,658,0.458589873496,0.00470239496576,0.0694375855189,0.999999592218,0.000220071289224,-0.000873558318926,-6.34619413894e-05,1793254978568871936
+248,4.133333333,POSE1_TO_POSE2_PRESS,783,760,737,716.82445513,673,645.82445513,915,800,841,657.17554487,635,658,0.458590489569,0.00470413940828,0.0694381048922,0.999999592848,0.000221361863639,-0.000872514654494,-6.34087339319e-05,1793254978585538816
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,760,737,716.599385824,673,646,915,800,841.400614176,657,635.400614176,658,0.45859086162,0.00470346427681,0.069437640043,0.999999592763,0.000220816247287,-0.000872745945695,-6.34782161457e-05,1793254978602205440
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,760,737,716.024023341,673,646,915,800,841.975976659,657,635.975976659,658,0.458591127228,0.00470173372462,0.0694367458749,0.999999592364,0.0002194696826,-0.000873533373886,-6.36012157204e-05,1793254978618872320
+251,4.183333333,POSE1_TO_POSE2_PRESS,783,760,737,716.570262775,673,646,915,800,841.429737225,657,635.429737225,658,0.458591165741,0.00470333466022,0.0694378245769,0.999999592768,0.000220144609357,-0.000872907817605,-6.35039863301e-05,1793254978635538944
+252,4.200000000,HOLD_POSE2,784,760,737,717,672,645,915,800,841,658,636,658,0.458592004112,0.00470541722693,0.0694379653378,0.999999592868,0.000223545154211,-0.000871905637628,-6.38073340462e-05,1793254978676561664
+253,4.216666667,HOLD_POSE2,784,760,737,717,672.575886968,645,915.575886968,800,841.575886968,658,635.424113032,658,0.458590562446,0.00470555711528,0.0694372393572,0.999999591264,0.000223596171657,-0.000873727056245,-6.38625725573e-05,1793254978693228288
+254,4.233333333,HOLD_POSE2,783.845278692,760,737,717,673,645.154721308,915.845278692,800,842,658,635.154721308,658,0.458589745086,0.00470528840166,0.0694365883343,0.999999590421,0.000222816355727,-0.000874894629893,-6.37938428962e-05,1793254978709894912
+255,4.250000000,HOLD_POSE2,783.258208162,760,737,717,673,645.741791838,915.258208162,800,842,658,635.741791838,658,0.458590672266,0.00470387790128,0.0694361467709,0.999999591711,0.000219714880508,-0.000874235116482,-6.3378699793e-05,1793254978726561536
+256,4.266666667,HOLD_POSE2,783,760,737,717,673,645.674117774,915,800,842,658,635.674117774,658,0.458592358501,0.00470336942757,0.0694370892774,0.999999592945,0.000219629169893,-0.000872846287441,-6.33418545584e-05,1793254978743228416
+257,4.283333333,HOLD_POSE2,783,760,737,717,673,645.092367296,915,800,842,658,635.092367296,658,0.458594640713,0.00470356918524,0.069439118494,0.999999594135,0.000221911303895,-0.000870884832194,-6.3602032034e-05,1793254978759895040
+258,4.300000000,HOLD_POSE2,783,760,737,717,673,645,915,800,841.516699612,658,635,658,0.458594811494,0.00470386650075,0.0694392971578,0.999999593853,0.000222836552573,-0.000870987292429,-6.33923254784e-05,1793254978776561664
+259,4.316666667,HOLD_POSE2,783,760,737,717,673,645,915,800,841,657.94221155,635.05778845,658,0.458594460171,0.00470421747269,0.0694390280202,0.999999593192,0.000223504460804,-0.000871594130215,-6.31275506422e-05,1793254978793228288
+260,4.333333333,HOLD_POSE2,783,760,737,717,673,645,915,800,841,657.368005319,635.631994681,658,0.458593004421,0.00470488338968,0.0694378784397,0.999999591618,0.000224161298547,-0.000873227124021,-6.31632042564e-05,1793254978809894912
+261,4.350000000,HOLD_POSE2,783,760,737,717,673,645,915,800,841,657.213276538,636,658,0.458592104512,0.00470478886859,0.0694372065746,0.999999590862,0.000223305102342,-0.000874313779539,-6.31290186496e-05,1793254978826561280
+262,4.366666667,HOLD_POSE2,783,760,737,717,673,645,915,800,841,657.807186154,636,658,0.458592196607,0.00470333719911,0.0694373872847,0.999999591563,0.000219748605437,-0.000874425388932,-6.29701914915e-05,1793254978843228160
+263,4.383333333,HOLD_POSE2,783,760,737,717,673,645.389183523,915.389183523,800,841.389183523,658,635.610816477,658,0.458593113993,0.00470210609866,0.0694380629287,0.999999592978,0.000218297122344,-0.000873181168658,-6.28007793359e-05,1793254978859894784
+264,4.400000000,HOLD_POSE2,783,760,737,717,673,645.965454514,915.965454514,800,841.965454514,658,635.034545486,658,0.458594428112,0.00470098102953,0.0694389764964,0.999999594739,0.000217857556661,-0.000871285176865,-6.26262787688e-05,1793254978876561664
+265,4.416666667,HOLD_POSE2,783,760,737,717,673,646,915.460351989,800,842,658,635,658,0.458594848169,0.00470171174674,0.0694384448772,0.999999594026,0.000219402051343,-0.000871703683226,-6.27972987077e-05,1793254978893228288
+266,4.433333333,HOLD_POSE2,783,760,737,717,673,645.882931901,915,800,841.882931901,658,635,658,0.458595209639,0.00470238692421,0.0694381133623,0.999999593487,0.00022072236693,-0.000871973917944,-6.2994109477e-05,1793254978909894912
+267,4.450000000,HOLD_POSE2,783,760,737,717,673,645.291912407,915,800,841.291912407,658,635,658,0.458595564735,0.00470235813871,0.069438965077,0.999999594304,0.000220622865052,-0.00087104633755,-6.3206131412e-05,1793254978926561536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783,759,737,717,673,645,915,800,842,658,636,658,0.458595742126,0.00470145484559,0.069438289512,0.99999959389,0.000221398353414,-0.000871371491788,-6.25634158469e-05,1793254978963741696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,759.576179369,737,717,673,645,915,800.576179369,841.423820631,658,636,658,0.458596862458,0.00470081328499,0.0694393001685,0.999999595708,0.00021864498194,-0.000869956142412,-6.28905778056e-05,1793254978980408832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.847084861,673,645,915,800.847084861,841,657.847084861,635.847084861,658,0.458597285971,0.00470063807162,0.0694398935935,0.99999959664,0.000216880851261,-0.000869314343076,-6.30494760005e-05,1793254978997075712
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.268801204,673,645,915,800.268801204,841,657.268801204,635.268801204,658,0.458595771118,0.00470176010989,0.0694393263933,0.999999595131,0.000217868520024,-0.000870824350212,-6.27403100366e-05,1793254979013742336
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.314344825,673,645.314344825,915,800,841,657.314344825,635,658,0.458594321684,0.00470231039084,0.0694383325287,0.999999593299,0.000219399055775,-0.000872557567266,-6.25178525013e-05,1793254979030408960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.901714037,673,645.901714037,915,800,841,657.901714037,635,658,0.458592929069,0.00470236407158,0.0694369680846,0.999999591184,0.000221401098913,-0.000874484653334,-6.23707056416e-05,1793254979047075840
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.516301642,672.516301642,645.516301642,915,800,841,657.516301642,635,658,0.458593931589,0.00470253401491,0.0694370881911,0.999999591541,0.000222617568916,-0.000873769358886,-6.23394574913e-05,1793254979063742208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783.063871127,760,737,716.063871127,672.063871127,645.063871127,915,799.936128873,841,657,635,658,0.458595225813,0.00470291945849,0.0694374431344,0.99999959231,0.000223636108315,-0.000872623682447,-6.24012599427e-05,1793254979080408832
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783.638214346,760,737,716.638214346,672.638214346,645.638214346,915,799.361785654,841,657,635,658,0.458595004535,0.00470484049669,0.0694372905896,0.999999592413,0.000224334462162,-0.000872282260488,-6.30205968293e-05,1793254979097075456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783.787003602,760,737,716.787003602,672.787003602,646,915,799.212996398,841,657,635,658,0.458592027756,0.00470507097248,0.069435752358,0.999999591118,0.000223590128114,-0.000873940029259,-6.32390764462e-05,1793254979113742336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783.211474688,760,737,716.211474688,672.211474688,646,915,799.788525312,841,657,635,658,0.45858436095,0.00470242401049,0.0694318556053,0.999999587423,0.000220390253532,-0.000879000539367,-6.2775273125e-05,1793254979130409216
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783.372830126,760,737,716.372830126,672,645.627169874,915,800,841,657,635.372830126,658,0.458563595165,0.00470113163789,0.0694213673068,0.99999957465,0.000218432181866,-0.000893903129556,-6.26481561997e-05,1793254979147076096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783.96223281,760,737,716.96223281,672,645.03776719,915,800,841,657,635.96223281,658,0.45853522034,0.0047006261298,0.0694070500577,0.99999955627,0.000217195458275,-0.000914522866454,-6.27166163075e-05,1793254979163742464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783.457421132,760,737,717,672,645.542578868,915,800,841,657.542578868,635.457421132,658,0.458483981521,0.00470261600517,0.0693883896797,0.999999529688,0.000221664264926,-0.000942100474225,-6.27369879089e-05,1793254979180409088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.876958677,915,800,841,658,635,658,0.45842904498,0.00470402797906,0.0693703978852,0.999999504932,0.000224874192635,-0.000967280869881,-6.27366078952e-05,1793254979197075456
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.293741734,915,800,841,658,635,658,0.458366133377,0.00470263963884,0.0693560186782,0.999999491532,0.000221914968334,-0.000981714076439,-6.2670930171e-05,1793254979213742080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,672.289055865,645.289055865,915,800,841,658,635,658,0.458293498918,0.0047022990237,0.0693461000793,0.99999948026,0.000222238242487,-0.000993096329118,-6.20386886937e-05,1793254979230408704
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672.871427903,645.871427903,915,800,841,658,635,658,0.458210998304,0.00470302157584,0.0693407078331,0.999999471252,0.000225892395056,-0.00100138266006,-6.08315330602e-05,1793254979247075328
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.550470015,673,645.550470015,915,800,841,657.550470015,635,657.550470015,0.458119903001,0.00470436116796,0.069344153082,0.999999475971,0.0002283575728,-0.000996166087855,-5.97031804754e-05,1793254979263741952
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.026365408,673,645,915,800,841.026365408,657.026365408,635,657.026365408,0.458025480829,0.00470571450382,0.069350287916,0.999999484701,0.000230483121633,-0.000986940126489,-5.85152774863e-05,1793254979280408832
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.602015981,673,645,915,800,841.602015981,657.602015981,635,657.602015981,0.457912479423,0.00470371201121,0.0693602918947,0.999999497185,0.000232551074099,-0.00097388699629,-5.56215822658e-05,1793254979297075456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,673,645,915,800,841.818021772,658,635,657.818021772,0.457792890599,0.00470269226085,0.0693704292083,0.999999510391,0.000235848743397,-0.000959583574062,-5.28523440887e-05,1793254979313741824
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,673,645,915,800,841.22840119,658,635,657.22840119,0.457658545572,0.00470387391341,0.0693808651993,0.99999952534,0.0002419010533,-0.000942479423161,-5.03618976911e-05,1793254979330408448
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,759.645175127,736.645175127,717,672.645175127,645,915,800,841,658,635,657.354824873,0.457498071291,0.00470428298084,0.0693911172813,0.999999537249,0.000245971708477,-0.000928842033115,-4.74615150066e-05,1793254979347075328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.065992299,736.065992299,717,672.065992299,645,915,800,841,658,635,657.934007701,0.45732107531,0.00470420353802,0.0694012530775,0.999999547262,0.000248789351754,-0.000917396695683,-4.4301926838e-05,1793254979363742208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759.511281745,736.511281745,717,672.511281745,645.511281745,915,800,841,658,635,658,0.457114331855,0.00470386600545,0.0694144961677,0.999999561793,0.000253756604474,-0.000900226569769,-4.01645110654e-05,1793254979380409088
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,673.087877905,646,915,800,841,658,635,657.912122095,0.456898106347,0.00470303865357,0.0694270359344,0.999999575676,0.000258527280025,-0.000883473859571,-3.58502838917e-05,1793254979397075712
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,673.662081183,646,915,800,841,658,635,657.337918817,0.456650575663,0.00469968425875,0.0694334721599,0.999999584378,0.000260680326401,-0.000873105167923,-3.12534262651e-05,1793254979413742336
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.75702185,674,646,915,800,841,658,635,657.24297815,0.456389135546,0.00469706393879,0.0694405463622,0.999999591934,0.000264219051631,-0.000863495109409,-2.63785786328e-05,1793254979430409216
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.166552033,674,646,915,800,841,658,635,657.833447967,0.456107803069,0.00469549344551,0.0694485329572,0.999999597911,0.000269739485196,-0.000854969999705,-2.11061679159e-05,1793254979447075840
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783.415921232,760,737,716.415921232,674,646,915,800,841,657.584078768,635,658,0.455788917625,0.00469318882427,0.0694532346851,0.999999599416,0.000276449003312,-0.000851180125031,-1.53885167302e-05,1793254979463742464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783.995252738,760,737,716.995252738,674,646,915,800,841,657.004747262,635,658,0.455455278095,0.00469059577332,0.0694566458294,0.99999959912,0.0002836256978,-0.000849250665405,-9.49593623198e-06,1793254979480408832
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783.430163284,760,737,717,674,646,915,800,841,657,635,658,0.455072950044,0.00467246301162,0.0694575333545,0.999999605768,0.000268994694207,-0.000846214336134,-5.26432939866e-06,1793254979497075456
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,674.144734219,646,915,800,841.144734219,657.144734219,635.144734219,658,0.454683945387,0.00465501488948,0.0694575184546,0.999999612213,0.000255572253369,-0.000842767494562,-4.21112626996e-07,1793254979513742080
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,674.720682582,646,915,800,841.720682582,657.720682582,635.720682582,658,0.454276247337,0.00463998907277,0.0694548770337,0.999999618425,0.000246287359494,-0.000838124839789,6.28519043747e-06,1793254979530408704
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.696284321,675.303715679,646,915,800,841.696284321,658,635.696284321,658,0.453866567306,0.00463717727837,0.0694661064012,0.999999636364,0.000250450489894,-0.00081511442703,1.1651640465e-05,1793254979547075584
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.106579937,675.893420063,646,915,800,841.106579937,658,635.106579937,658,0.45345502093,0.00464586660867,0.0694903969603,0.999999663993,0.000267276722301,-0.000774808325588,1.57564414255e-05,1793254979563741952
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.471175996,676,646.471175996,915,800,841,657.528824004,635,657.528824004,0.452995263227,0.00464747353754,0.0695151668202,0.999999693584,0.000273119320458,-0.000733371534828,2.00790154034e-05,1793254979580408832
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,676,646.953263195,915.046736805,800,841,657.046736805,635,657.046736805,0.452516815336,0.00464744997835,0.0695375685374,0.999999720528,0.000271441503654,-0.000696236504649,2.27675690653e-05,1793254979597075712
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,676,646.37266718,915.62733282,800,841,657.62733282,635,657.62733282,0.451946363167,0.00464664886694,0.0695317119642,0.999999724783,0.000211538171859,-0.00071108828329,6.24248043864e-06,1793254979613742336
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783.209860735,760,737,717,676.209860735,646.209860735,915.790139265,800,841,658,635,658,0.451370467074,0.00464430039724,0.0695252520051,0.999999720928,0.000174116500996,-0.000726515931344,-1.59454158804e-06,1793254979630408960
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783.795851125,760,737,717,676.795851125,646.795851125,915.204148875,800,841,658,635,658,0.450784813968,0.00463917862491,0.0695177106083,0.999999708312,0.000176988315115,-0.000742975703109,6.13990432223e-06,1793254979647075328
+310,5.166666667,POSE2_TO_POSE3_RETREAT,784,760,737,717,677.37738787,647,915,799.62261213,841,657.62261213,635,657.62261213,0.450185474574,0.00463857720397,0.0695271436637,0.999999712783,0.000180374237943,-0.000736027438677,1.27727350133e-05,1793254979663742208
+311,5.183333333,POSE2_TO_POSE3_RETREAT,784,760,737,717,677.956543488,647,915,799.043456512,841,657.043456512,635,657.043456512,0.449578817923,0.00464039255701,0.0695456519898,0.999999726156,0.000184035025211,-0.000716564233063,1.88165946913e-05,1793254979680409088
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783.468025973,760,737,717,678.531974027,647,915,799.531974027,841,657.531974027,635,657,0.448968090855,0.00463844931366,0.069588397243,0.999999776432,0.000179009051023,-0.000643882323446,2.25401461848e-05,1793254979697075968
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,679.107684277,647,915,800,840.892315723,658,635,657.107684277,0.448339752012,0.0046365516073,0.0696302363956,0.999999820565,0.00017014651095,-0.000573837900329,2.511987459e-05,1793254979713742592
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,679.685937175,647,915,800,840.314062825,658,635,657.685937175,0.447635894718,0.00463618528006,0.069659524213,0.999999846154,0.000147597973583,-0.000534184568831,2.35237467339e-05,1793254979730408960
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,680.268941169,647.268941169,915,800,840,658,635,658,0.446904606047,0.00463413392936,0.0696603237854,0.999999847897,0.000129772006795,-0.000535536328112,2.37865478627e-05,1793254979747075328
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,680.857593226,647.857593226,915,800,840,658,635,658,0.446140707514,0.00463007946264,0.0696272572109,0.999999821261,0.000117560117072,-0.000585633962503,2.62591995119e-05,1793254979763741952
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,681.438869289,648,915,800,840,658,635,658,0.445391258713,0.00462653355169,0.0696245249096,0.999999826178,0.00010222522734,-0.0005800335217,2.74881576656e-05,1793254979780408576
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,682.017674348,648,915,800,840.017674348,657.982325652,635,657.982325652,0.444645678866,0.00462311566325,0.0696326954873,0.999999841567,9.04217561844e-05,-0.000554882394612,2.81907179504e-05,1793254979797075456
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,682.592785436,648,915,800,840.592785436,657.407214564,635,657.407214564,0.443876686698,0.00461861694939,0.0696794241207,0.999999862976,0.000221429421059,-0.000473711271894,2.48086970086e-05,1793254979813742080
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,760,736.832626102,717,683,648.167373898,915,800,840.832626102,657.167373898,635.167373898,657.167373898,0.443089576356,0.00461329160349,0.0697230086693,0.999999869849,0.000310058231457,-0.000404462365838,2.40155316882e-05,1793254979830408704
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,760,736.259305247,717,683,648.740694753,915,800,840.259305247,657.740694753,635.740694753,657.740694753,0.442258522424,0.00460596135289,0.0697589675836,0.999999889491,0.000295901800459,-0.00036412951083,2.95013519543e-05,1793254979847075328
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,760,736.324293888,717,683,649,915,800,840,658,635.675706112,658,0.441438300133,0.00459871299354,0.0697899029518,0.999999913047,0.000270641003157,-0.000315670151493,3.17953489007e-05,1793254979863742208
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,760,736.916380508,717,683,649,915,800,840,658,635.083619492,658,0.440627022345,0.00459153225805,0.0698166900157,0.999999937677,0.000236210533939,-0.000260500155757,3.14536279652e-05,1793254979880409088
+324,5.400000000,POSE2_TO_POSE3_RETREAT,783,760,737.496915969,717,683.496915969,649,915,800,840,657.503084031,635,657.503084031,0.439729831106,0.00458722772594,0.0698120969878,0.999999941531,0.000205940246503,-0.000271033203759,3.26822101161e-05,1793254979897075968
+325,5.416666667,POSE2_TO_POSE3_RETREAT,783,760.074631084,737.925368916,717,684,649,915,800.074631084,840,657.074631084,635,657,0.438809879405,0.00458363099068,0.0697947445282,0.999999937726,0.000177554335611,-0.000303105248574,3.38989998004e-05,1793254979913742848
+326,5.433333333,POSE2_TO_POSE3_RETREAT,783,760.646215105,737.353784895,717,684,649,915,800.646215105,840,657.646215105,635,657,0.437832451793,0.00458159769833,0.0697267929192,0.999999904412,0.000157160439436,-0.000406651858033,3.33176801908e-05,1793254979930409472
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760.774449109,737,717,684,649,915,800.774449109,840,657.774449109,635,657,0.43687793901,0.0045766104616,0.0696928029606,0.999999884902,0.000141943275063,-0.000457093015508,3.33855615411e-05,1793254979947075840
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,760.182521547,737,717,684,649,915,800.182521547,840,657.182521547,635,657,0.43596064809,0.00456682494467,0.0697139790617,0.999999901539,0.000135135004614,-0.000421271628795,3.45079817021e-05,1793254979963742464
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,684,649,915,800,840,657,635,657.401134969,0.43505013142,0.00456312886448,0.069759376795,0.99999992487,0.000135470877771,-0.000361348538445,3.6541294788e-05,1793254979980409088
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,684,649,915,800,840,657,635,657.98110405,0.434142634902,0.00456214757938,0.0698155730223,0.999999947333,0.000138991755037,-0.000290680420192,3.89807022195e-05,1793254979997075712
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,760,736.444820605,717,684,649,915,800,840,657,635,657.444820605,0.433232277603,0.00455409801499,0.0698371824218,0.999999958129,0.000131625440132,-0.000254672014241,3.94739427908e-05,1793254980013743104
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,760,736.128322062,717,684.128322062,649,914.871677938,800,840,657.128322062,635,657,0.432304323639,0.00454693575735,0.0698482812747,0.999999964065,0.000123391902597,-0.000234675450999,3.96434536956e-05,1793254980030410496
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,736.698934166,717,684.698934166,649,914.301065834,800,840,657.698934166,635,657,0.431316051046,0.00454365227836,0.0698271680476,0.999999957472,0.000113433072023,-0.000265843928647,3.89230694729e-05,1793254980047076608
+334,5.566666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,685,649,914.283549781,800,840,657.716450219,635,657.283549781,0.430285337614,0.00453960367774,0.0697778774156,0.999999934581,0.000104724541597,-0.000344144372621,3.78752937774e-05,1793254980063742720
+335,5.583333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,685,649,914.883806376,800,840,657.116193624,635,657.883806376,0.429207220569,0.00453470048582,0.0696971144415,0.999999881736,9.74125152056e-05,-0.000475088176719,3.64618425269e-05,1793254980080409088
+336,5.600000000,POSE2_TO_POSE3_RETREAT,783,760,737.462678822,717,685,649,915,800,840,657.462678822,635,658,0.428274406346,0.00452575272123,0.0697224388397,0.999999900968,8.90753821998e-05,-0.000434478750136,3.68469355285e-05,1793254980097075456
+337,5.616666667,POSE2_TO_POSE3_RETREAT,783,759.963619283,737.963619283,717,685,649,915,800,840,658,635,657.963619283,0.427377146714,0.00451628043524,0.0697733556852,0.999999933795,8.05936910979e-05,-0.000352832644979,3.77258620852e-05,1793254980113742336
+338,5.633333333,POSE2_TO_POSE3_RETREAT,783,759.390471834,737.390471834,717,685,649,915,800,840,658,635,657.390471834,0.426489867139,0.00451339339244,0.0698261524681,0.999999959166,7.3609658903e-05,-0.000273291429257,3.95212314397e-05,1793254980130408960
+339,5.650000000,POSE2_TO_POSE3_RETREAT,782.811353187,759,737,717.188646813,685.188646813,649,915,800,840,658,635,657.188646813,0.425578589264,0.00450804048804,0.0698576864011,0.999999971563,6.79788240672e-05,-0.000225021642761,4.02214984705e-05,1793254980147075328
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782.219470905,759,737,717.780529095,685.780529095,649,915,800,840,658,635,657.780529095,0.424616014489,0.00449741676592,0.0698437706744,0.999999967458,6.52404689544e-05,-0.000243595006348,3.85809681854e-05,1793254980163742208
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782,759.365109627,737.365109627,718,686,649,915,800,840,658,635,657.634890373,0.423626081608,0.00449077675131,0.0698049154711,0.999999949815,5.36096351803e-05,-0.000309949348386,3.77687398261e-05,1793254980180408832
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782,759.945387028,737.945387028,718,686,649,915,800,840,658,635,657.054612972,0.422620026004,0.00448648443079,0.0697513628427,0.999999916829,3.6738252302e-05,-0.000404462152438,3.74446492832e-05,1793254980197075456
+343,5.716666667,POSE2_TO_POSE3_RETREAT,781.479562436,760,737.479562436,718,685.479562436,649,915,800,840,658,635,657.520437564,0.421641541587,0.00447782800375,0.0696985001329,0.999999877128,2.86861949948e-05,-0.000493463213234,3.76155653565e-05,1793254980213741824
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781.095114622,759.904885378,737,718,685,649,915,800,839.904885378,657.904885378,635,657.904885378,0.420696515897,0.00446814143608,0.0696662796148,0.999999849591,2.15024540465e-05,-0.000546751830837,3.76668587488e-05,1793254980230408448
+345,5.750000000,POSE2_TO_POSE3_RETREAT,781.670648092,759.329351908,737,718,685,649,915,800,839.329351908,657.329351908,635,657.329351908,0.419906020234,0.00445554178832,0.0697379596594,0.999999909947,1.40765119836e-05,-0.000422551160521,3.68541860304e-05,1793254980247075328
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782,759.254134793,737,718,685.254134793,649,915,800,839.254134793,657.254134793,635,657.254134793,0.419103158325,0.00444775090508,0.0698054537135,0.999999950736,3.62362800478e-06,-0.00031170704033,3.67989017761e-05,1793254980263741952
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782,759.848261607,737,718,685.848261607,649,915,800,839.848261607,657.848261607,635,657.848261607,0.418283752406,0.00444639338663,0.0698673475707,0.999999975306,-1.087882312e-05,-0.000218731878902,3.77568835205e-05,1793254980280408832
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781.572454259,760,737,718,686.427545741,649,915,800,839.572454259,658,635,658,0.417431320599,0.00443750702668,0.0698609515622,0.999999972066,-1.40459675346e-05,-0.00023291586473,3.76946639813e-05,1793254980297075456
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,686.998255443,649,915,800,839,658,635,657.998255443,0.416567653196,0.00442606303083,0.0698311317002,0.999999958949,-1.33809270152e-05,-0.000283783528373,3.72777888286e-05,1793254980313742080
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,686.422197574,649,915,800,839,658,635,657.422197574,0.41573436789,0.00442276465007,0.0698011287511,0.99999995052,-3.10867049571e-05,-0.000311043630446,3.53042923367e-05,1793254980330408704
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,760,737,718.15714899,686,649,915,800,839,658,635,657,0.414900851638,0.00442190627475,0.0697703732372,0.999999936867,-4.1219195043e-05,-0.000351240414943,3.46046307084e-05,1793254980347075328
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,760,737,718.745519967,686,649,915,800,839,658,635,657,0.414066701474,0.00442774335373,0.0697375526535,0.999999907696,-3.05703384654e-05,-0.00042693588652,3.74004132944e-05,1793254980363741952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,759.669794244,737,719,685.669794244,649,915,800,839,658,635,657,0.413299001025,0.00444509884088,0.0697392710069,0.99999990788,-2.43557704843e-06,-0.000427568612614,3.76720833159e-05,1793254980380408576
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,759.087917212,737,719,685.087917212,649,915,800,839,658,635,657,0.412581946273,0.00447123325545,0.0697673137319,0.999999929773,3.90263286615e-05,-0.000370991135105,3.60199628456e-05,1793254980397075200
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.48963147,759,737.48963147,719,685.97926294,649,915,800,839,657.51036853,635,657.48963147,0.411942928288,0.00447141133724,0.0698219144971,0.999999960867,2.78572048712e-05,-0.000275992554622,3.63012937849e-05,1793254980413741824
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.934295084,759.065704916,738,719,687.065704916,649,915,800,839,657.065704916,635,658,0.411312185054,0.00446623666327,0.0698735191409,0.999999981556,1.0825046088e-05,-0.000188159365664,3.69638002122e-05,1793254980430408704
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781.363638552,759.636361448,738,719,687.636361448,649,915,800,839,657.636361448,635,658,0.410638292893,0.00445542932002,0.0698657711118,0.999999977446,2.07252745327e-05,-0.000207947031301,3.79110514984e-05,1793254980447075584
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781,760,737.783942389,719,687.567884778,649,915,800,839,658,635,657.783942389,0.409965988236,0.00444905875412,0.0698444283953,0.999999968109,2.38735014336e-05,-0.000248536766474,3.79749608995e-05,1793254980463742208
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737.188367676,719,686.376735351,649,915,800,839,658,635,657.188367676,0.409296472184,0.00445048163333,0.0697992058618,0.99999994619,1.51614643457e-05,-0.000325666480446,3.64872313625e-05,1793254980480408832
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737.391437663,719.391437663,686,649,914.608562337,800,839,658,635,657,0.408669243761,0.00445303209227,0.0697716888917,0.999999931892,9.01083203971e-06,-0.000367289454682,3.51177137535e-05,1793254980497075456
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737.963948382,719.963948382,686,649,914.036051618,800,839,658,635,657,0.408061576889,0.00445610415242,0.0697523622397,0.999999922397,4.04506553947e-06,-0.000392487563098,3.38028790846e-05,1793254980513742080
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781,759.456458918,737.456458918,719.456458918,686,649,914.543541082,800,839,658,635,657,0.407533055142,0.00446410098699,0.0697699837456,0.999999933084,2.0551342239e-05,-0.000363743033876,3.31702614012e-05,1793254980530408704
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781,759.121400867,737,719.121400867,686.121400867,649,915,800,839,658,634.878599133,657,0.407017342074,0.00447050802927,0.0697881690646,0.999999942253,3.67392585153e-05,-0.000336231010048,3.30646736344e-05,1793254980547075328
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781,759.691104121,737,719.691104121,686.691104121,649,915,800,839,658,634.308895879,657,0.406529287125,0.00446982222922,0.0697992672332,0.999999944967,4.64229850194e-05,-0.000326656884364,3.4735971524e-05,1793254980563742208
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781,760,737.27356638,720,686.452867239,649,914.72643362,800,839,657.72643362,634.27356638,657.27356638,0.406051965508,0.00446962322599,0.0698020863954,0.999999944108,4.57803654194e-05,-0.000329354341353,3.48507965891e-05,1793254980580408832
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,760,737.871140154,720,685.257719691,649,914.128859846,800,839,657.128859846,634.871140154,657.871140154,0.405587356297,0.00447000077673,0.0697951000418,0.999999938849,3.29073955793e-05,-0.000346586053797,3.31221614633e-05,1793254980597075456
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,685.453003534,649,914.453003534,800,839,657.453003534,635,658,0.405174506947,0.00447033979025,0.069801756999,0.999999943307,2.56671458652e-05,-0.000334253466395,3.166522938e-05,1793254980613742336
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,915,799.969710533,839,658,635,657.969710533,0.404779281814,0.00447069891412,0.0698125727143,0.999999950352,2.0454259974e-05,-0.000312974908961,3.04038702895e-05,1793254980630408704
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,915,799.397049874,839,658,635,657.397049874,0.404444835513,0.00447160785163,0.0698306925691,0.999999960849,2.38149680768e-05,-0.0002770474332,3.13069451451e-05,1793254980647075072
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.181668538,649,914.818331462,799.181668538,839,657.818331462,635,657,0.404112693613,0.00447004880113,0.0698432142172,0.999999967414,2.16013544164e-05,-0.000252374369318,3.18059980957e-05,1793254980663741952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.774083239,649,914.225916761,799.774083239,839,657.225916761,635,657,0.403785761925,0.00446290971658,0.0698430785149,0.999999967443,6.78439525799e-06,-0.000253147139675,3.13915717055e-05,1793254980680408576
+372,6.200000000,POSE2_TO_POSE3_RETREAT,781.358054205,759.641945795,738,720,687,649,914,800,838.641945795,657,635,657,0.403472407938,0.00445815833976,0.0698353679853,0.999999964167,-4.75797097548e-06,-0.000265858724542,3.10242393602e-05,1793254980697075200
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781.936820339,759.063179661,738,720,687,649,914,800,838.063179661,657,635,657,0.403167423493,0.00445487879408,0.0698229881774,0.999999958549,-1.42818126572e-05,-0.000285929638604,3.06859366966e-05,1793254980713742080
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781.488651959,759.511348041,738,720,686.488651959,649,914,800,838.511348041,657.511348041,635,657.511348041,0.402891154176,0.0044527683617,0.0698139917148,0.999999953064,-2.24580743466e-05,-0.000303958919735,3.1264162323e-05,1793254980730408704
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781.087643802,760,738,720,686,649,914.087643802,800,839,658,635,658,0.402626905115,0.00445042705358,0.0698058618205,0.999999947808,-3.04203675568e-05,-0.000320059009134,3.19401603393e-05,1793254980747075584
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781.677035001,760,738,720,686,649,914.677035001,800,839,658,635,658,0.402411325857,0.00444594386057,0.0698003194108,0.999999945428,-3.81030806613e-05,-0.000326547022902,3.25329283125e-05,1793254980763742208
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781.737984195,760,738,720,686,649,914.737984195,800,839,658,635.262015805,658,0.402209922822,0.0044445569163,0.0697964284553,0.999999943515,-4.03723013756e-05,-0.000332013454856,3.32700184394e-05,1793254980780408832
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781.158349758,760,738,720,686,649,914.158349758,800,839,658,635.841650242,658,0.402025704383,0.00444692328133,0.0697945394124,0.999999942236,-3.60792226675e-05,-0.000336241512988,3.41820575404e-05,1793254980797075456
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914.418482888,800,839,658,635.581517112,658,0.401865747748,0.00444719843772,0.0697950699523,0.999999942718,-2.98372766979e-05,-0.00033524993724,3.58062003675e-05,1793254980813742080
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914.994262403,800,839,658,635.005737597,658,0.401714910486,0.00444668756416,0.0697965099493,0.999999943818,-2.28628032704e-05,-0.00033229643934,3.76980040905e-05,1793254980830408704
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914.43171459,800,839,657.43171459,635,657.43171459,0.401593350241,0.00446444222338,0.0697956804109,0.999999942493,6.91268925166e-05,-0.000329740375137,3.88117256555e-05,1793254980847075328
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,657.145906529,635,657,0.401478084594,0.00448036222576,0.0697944593975,0.999999935291,0.00014019732302,-0.000328946425574,3.94468971927e-05,1793254980863742208
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,657.734497967,635,657,0.401381022907,0.0044901580232,0.0697921199449,0.999999933104,0.000145201831422,-0.00033348665725,3.86538950839e-05,1793254980880408832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.318815808,649,914.318815808,800,839,657.681184192,635,657,0.401295845279,0.00448949518271,0.0697903430032,0.999999936778,0.000111751615609,-0.000336196465808,3.04692959596e-05,1793254980897075456
+385,6.416666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.89962184,649,914.89962184,800,839,657.10037816,635,657,0.401220433491,0.00448023784823,0.0697890283106,0.999999941858,4.6700828274e-05,-0.000337402104383,1.62105745134e-05,1793254980913742080
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.525173724,649,914.525173724,800,839,657.474826276,635,657.474826276,0.401165660638,0.00447716459625,0.0697913823497,0.99999994392,3.29961529613e-05,-0.000332929297431,1.51580791971e-05,1793254980930408704
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,657.374650773,0.401083904122,0.00447784899858,0.0697993702642,0.999999948572,3.65626368095e-05,-0.000318125604368,1.77751317384e-05,1793254980963742208
+389,6.483333333,POSE2_TO_POSE3_RETREAT,781,760,738,720.206008414,686,649,914,800,839,658,635,657.206008414,0.401053883596,0.00447782608673,0.069803049887,0.999999950505,3.92865901962e-05,-0.000311582428061,1.90291108434e-05,1793254980980408832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.79477356,686,649,914,800,839,658,635,657.79477356,0.401029025684,0.00447379855873,0.0698047773302,0.999999951271,3.63020045164e-05,-0.000309364413913,2.08055493307e-05,1793254980997075200
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,781,760,738,720.042112292,686.957887708,649,914.957887708,800,839,658,635,658,0.400990107024,0.0044772080854,0.069806876659,0.999999951176,3.95714926487e-05,-0.000309245156055,2.11899846331e-05,1793254981030408960
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,781.893933593,760,738,720.893933593,686,649,915,800,839,658,635,657,0.400980801806,0.00447402272941,0.069811848159,0.999999954611,3.49087744278e-05,-0.000298487186581,2.15576218518e-05,1793254981063742464
+395,6.583333333,POSE2_TO_POSE3_RETREAT,781.318216251,760,738,720.318216251,686,649,915,800,839,658,635,657,0.400978267184,0.00447480463002,0.0698144926551,0.999999955563,3.90939253986e-05,-0.000294719783207,2.2039499255e-05,1793254981080409088
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781.265837595,760,738,720,686,649,914.734162405,800,839,657.734162405,635,657,0.400975738455,0.00447568340455,0.0698160865086,0.999999956214,4.11342054366e-05,-0.000292211827207,2.22018784668e-05,1793254981097075456
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,781.56063167,760,738,720,686,649,914,800,839,657.43936833,635,657,0.400971283838,0.00447581131506,0.069816985004,0.99999995677,3.81302572942e-05,-0.000290722089824,2.20703993771e-05,1793254981130408960
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649.588095998,914.588095998,800,838.411904002,657.411904002,635,657,0.40097103761,0.00447659409665,0.0698190139026,0.999999957738,3.83293381834e-05,-0.000287360236133,2.18800771928e-05,1793254981163742208
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649.831643656,914.831643656,800,838.168356344,657.168356344,635,657,0.400971728299,0.00447721459929,0.069819794127,0.999999958128,3.95272415313e-05,-0.000285850850885,2.16951334487e-05,1793254981180409088
+402,6.700000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649.23607879,914.23607879,800,838.76392121,657.76392121,635,657,0.400970545055,0.00447397525387,0.0698192138968,0.999999957676,3.61579641473e-05,-0.000287847137278,2.20045450723e-05,1793254981197075456
+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914.346989169,800.346989169,839,658,635,657,0.400968886708,0.00447401117188,0.069818734474,0.99999995742,3.59792327317e-05,-0.000288758864423,2.20064304572e-05,1793254981213742080
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914.921850238,800.921850238,839,658,635,657,0.400966916355,0.0044761979943,0.0698183212527,0.999999957296,3.78957707937e-05,-0.000288958348581,2.18063597049e-05,1793254981230408704
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781.498060988,760,738,720,686,649,914.501939012,800.501939012,839,658,635,657.498060988,0.400969359548,0.00447560857788,0.0698198233524,0.999999958081,3.81444502283e-05,-0.0002861826431,2.19723723205e-05,1793254981247075328
+406,6.766666667,POSE2_TO_POSE3_RETREAT,782,760,738,720,686,649,914.07384279,800,839,657.92615721,635,657.92615721,0.400972150487,0.00447456367945,0.0698214842697,0.99999995893,3.76781750433e-05,-0.000283247689662,2.21447428842e-05,1793254981263742464
+407,6.783333333,POSE2_TO_POSE3_RETREAT,782,760,738,720,686,649,914.645302696,800,839,657.354697304,635,657.354697304,0.400972605344,0.00447339287115,0.0698221847064,0.999999959302,3.41622696403e-05,-0.000282394049462,2.19718165764e-05,1793254981280409088
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781.772875103,759.772875103,738,720,686,649,914.772875103,800,839,657.227124897,635,657,0.400971833943,0.00447318324611,0.0698221915309,0.999999959246,3.32310184079e-05,-0.000282704863926,2.19544655349e-05,1793254981297075712
+409,6.816666667,POSE2_TO_POSE3_RETREAT,781.174096568,759.174096568,738,720,686,649,914.174096568,800,839,657.825903432,635,657,0.400969055963,0.00447454644387,0.0698210633701,0.999999958497,3.65291405799e-05,-0.000284921122429,2.21916885547e-05,1793254981313742336
+410,6.833333333,POSE2_TO_POSE3_RETREAT,781,759,737.593139914,720,686,649,914,800,839,658,635,657,0.400967848616,0.00447448382089,0.069820748181,0.999999958201,3.63736692126e-05,-0.000285976208273,2.21902910421e-05,1793254981330408960
+411,6.850000000,POSE2_TO_POSE3_RETREAT,781,759,737.019489299,720,686,649,914,800,839,658,635,657,0.400967285143,0.00447383668881,0.0698207662662,0.999999958093,3.48024119408e-05,-0.000286555276284,2.20910720618e-05,1793254981347075584
+412,6.866666667,POSE2_TO_POSE3_RETREAT,781,759,737.555240656,720,686,649,914.555240656,800,839,658,635.555240656,657,0.400969340608,0.0044754648112,0.0698220696425,0.999999958605,3.76001020763e-05,-0.000284412346125,2.2030977014e-05,1793254981363742208
+413,6.883333333,POSE2_TO_POSE3_RETREAT,781,759.133450674,738,720,686,649,915,800,839,658,635.866549326,657.133450674,0.400971519253,0.00447628122955,0.069823491373,0.999999959255,3.91002293105e-05,-0.000281912064172,2.20555683308e-05,1793254981380408832
+414,6.900000000,POSE2_TO_POSE3_RETREAT,781,759.723436105,738,720,686,649,915,800,839,658,635.276563895,657.723436105,0.4009738042,0.00447404706526,0.0698251633555,0.999999960329,3.56357519083e-05,-0.000278516774013,2.23651645819e-05,1793254981397075456
+415,6.916666667,POSE2_TO_POSE3_RETREAT,781,759.691915042,738,720,686,649.308084958,914.691915042,800,839,657.691915042,634.691915042,657.691915042,0.400973512285,0.00447319914799,0.0698249246869,0.999999960301,3.35356018529e-05,-0.000278886276595,2.22543579365e-05,1793254981413742080
+416,6.933333333,POSE2_TO_POSE3_RETREAT,781,759.111975229,738,720,686,649.888024771,914.111975229,800,839,657.111975229,634.111975229,657.111975229,0.400970946541,0.0044735744583,0.0698230000557,0.999999959305,3.26393374761e-05,-0.00028257784087,2.17725868209e-05,1793254981430408704
+417,6.950000000,POSE2_TO_POSE3_RETREAT,781.463227553,759.463227553,738,720,686.463227553,649.536772447,914.463227553,800,839,657.463227553,634.463227553,657,0.40097072014,0.00447327591535,0.069822634378,0.999999959111,3.27287612762e-05,-0.000283253085934,2.1793093941e-05,1793254981447075328
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30e332077fa3bff58d41a4afe9e898a8408274a1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,419 @@
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+408,6.800000000,pose2_to_pose3_retreat,0.575669580288,0.0101818030608,1.06002053348,0.546240727346,0.0188560384831,1.05969223757
+409,6.816666667,pose2_to_pose3_retreat,0.57566900965,0.0101817771944,1.06002053952,0.546240156563,0.0188560120579,1.05969224182
+410,6.833333333,pose2_to_pose3_retreat,0.575668626741,0.0101817598375,1.06002054358,0.546239773557,0.0188559943262,1.05969224467
+411,6.850000000,pose2_to_pose3_retreat,0.575668589833,0.0101817581645,1.06002054397,0.546239736639,0.018855992617,1.05969224495
+412,6.866666667,pose2_to_pose3_retreat,0.575668044125,0.0101817441199,1.06002054697,0.54623919083,0.0188559781883,1.05969224691
+413,6.883333333,pose2_to_pose3_retreat,0.575667448896,0.0101817830743,1.06002053611,0.546238595676,0.0188560174863,1.05969223837
+414,6.900000000,pose2_to_pose3_retreat,0.575667094623,0.0101818025437,1.0600205637,0.546238241415,0.0188560369732,1.05969226543
+415,6.916666667,pose2_to_pose3_retreat,0.575666997499,0.010181803074,1.06002061533,0.54623814425,0.0188560372664,1.05969231441
+416,6.933333333,pose2_to_pose3_retreat,0.575666941238,0.0101818033812,1.06002064523,0.546238087966,0.0188560374363,1.05969234279
+417,6.950000000,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020493,1.05969211612
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b486218ac7f90921f5685d1106a4f29d00106370
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918d3a495657dfe95cf7044461e2599414888e6e4dd8a64e1d1853c510ae49a3
+size 26502678
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e26015f7454da2d8c4bbcb5b5df49f6d1bea38e3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.400970154623,0.00447614806407,0.069823366688,0.999999959243,3.86545036592e-05,-0.000282016949701,2.20433762232e-05,1793254981578877440
+1,0.016666667,BASELINE,781,759.383919926,737.383919926,720,687,649,914.616080074,800,839,657.383919926,635,657,0.400971899139,0.00447670311272,0.0698250689603,0.999999960219,3.79280039007e-05,-0.000278663683823,2.16888674766e-05,1793254981595544320
+2,0.033333333,BASELINE,781,759,737.219672958,720,687,649,914.780327042,800,839,657.219672958,635,657.219672958,0.400972839546,0.00447645412141,0.0698260113743,0.999999960737,3.7113852569e-05,-0.000276914259377,2.16039119682e-05,1793254981612211200
+3,0.050000000,BASELINE,781,759,737.802616046,720,687,649,914.197383954,800,839,657.802616046,635,657.802616046,0.400972450208,0.00447487550041,0.0698256972214,0.999999960514,3.61547529283e-05,-0.000277817084782,2.19647128636e-05,1793254981628877824
+4,0.066666667,BASELINE,781,759.380413617,738,720,687,649,914,800,839,657.619586383,635.380413617,658,0.400971058019,0.00447408483058,0.0698244878769,0.999999960087,3.38750293191e-05,-0.0002796481343,2.18235947404e-05,1793254981645544192
+5,0.083333333,BASELINE,781,759.955576948,738,720,687,649,914,800,839,657.044423052,635.955576948,658,0.400969152428,0.00447369754615,0.0698228202463,0.999999959543,3.09192228728e-05,-0.000281954380682,2.14255231621e-05,1793254981662210816
+6,0.100000000,BASELINE,781,760,738,720,687,649,914,800,839,657.530815766,635.469184234,657.469184234,0.400969276115,0.00447440817903,0.0698228498931,0.999999959335,3.42713221332e-05,-0.000282297152265,2.15363814821e-05,1793254981678877440
+7,0.116666667,BASELINE,781,760,737.891953525,720,687,649,914,800,839,658,635,657,0.400969658227,0.00447513298543,0.069823035831,0.999999959281,3.73018806944e-05,-0.000282098045414,2.16211686849e-05,1793254981695544064
+8,0.133333333,BASELINE,781,760,737.305939214,720,687,649,914,800,839,658,635,657,0.400970432169,0.0044755139695,0.0698232847129,0.999999959838,3.65744255029e-05,-0.000280228826609,2.14021847537e-05,1793254981712210688
+9,0.150000000,BASELINE,781,759.721244825,737,720,687,649,914.278755175,800,839,658,634.721244825,657,0.400971436766,0.00447559454185,0.0698240820134,0.999999960347,3.599115656e-05,-0.000278477884161,2.14445356779e-05,1793254981728877824
+10,0.166666667,BASELINE,781,759.137992287,737,720,687,649,914.862007713,800,839,658,634.137992287,657,0.400972693316,0.00447534696035,0.0698254783772,0.999999960806,3.55653890732e-05,-0.00027685614065,2.17723549472e-05,1793254981745544704
+11,0.183333333,BASELINE,781,759.437860588,737,720.437860588,687,649,914.562139412,800,839,657.562139412,634.437860588,657,0.400972458177,0.00447486545575,0.0698252885766,0.99999996062,3.57582684162e-05,-0.000277488532449,2.19610962858e-05,1793254981762211328
+12,0.200000000,BASELINE,781,760,737,721,687,649,914.011263543,800,839,657.011263543,635,657.011263543,0.400971788078,0.00447433326585,0.0698246328889,0.999999960249,3.61073172793e-05,-0.000278764158316,2.20931886288e-05,1793254981778877696
+13,0.216666667,BASELINE,781,760,737,721,687,649,914.576952906,800,839,657.576952906,635,657.576952906,0.400972463524,0.00447487466708,0.0698252415947,0.999999960714,3.47061086552e-05,-0.000277315110279,2.15584643026e-05,1793254981795544320
+14,0.233333333,BASELINE,781,760,737.151360282,720.848639718,687,649,914.848639718,800,838.848639718,658,635,657.848639718,0.400973120525,0.00447543597346,0.0698258867178,0.999999961128,3.40316766955e-05,-0.000275927486264,2.12301112327e-05,1793254981812210944
+15,0.250000000,BASELINE,781,760,737.751623601,720.248376399,687,649,914.248376399,800,838.248376399,658,635,657.248376399,0.400973722824,0.0044760563145,0.0698266398466,0.999999961402,3.55127124419e-05,-0.000274722032741,2.15138121494e-05,1793254981828877824
+16,0.266666667,BASELINE,781,760,737.662362466,719.662362466,687,649,914,800,838,658,635,657,0.40097306686,0.00447540072408,0.0698264328,0.999999961127,3.52528461927e-05,-0.000275749614565,2.15835285966e-05,1793254981845544192
+17,0.283333333,BASELINE,781,760,737.086406376,719.086406376,687,649,914,800,838,658,635,657,0.400971522761,0.00447384452835,0.0698255480218,0.999999960459,3.376417912e-05,-0.000278353365297,2.15022059252e-05,1793254981862211072
+18,0.300000000,BASELINE,781,759.5090491,737.4909509,719.4909509,687,649,914,800,838.4909509,657.5090491,635,657,0.400971299678,0.00447447078065,0.0698254252963,0.999999960345,3.44807626622e-05,-0.000278662352413,2.16361738426e-05,1793254981878877696
+19,0.316666667,BASELINE,781,759,738,720,687,649,914,800,839,657.06982719,635,657,0.400971435091,0.00447532955494,0.0698254935794,0.999999960373,3.54967978186e-05,-0.000278421856864,2.17899725331e-05,1793254981895544576
+20,0.333333333,BASELINE,781,759,738,720,687,649,914,800,839,657.658146334,635,657,0.400972501148,0.00447505459666,0.0698259814313,0.999999960725,3.58461920275e-05,-0.000277108746694,2.18088644085e-05,1793254981912211968
+21,0.350000000,BASELINE,781,759,737.75605905,720,687,649,914,800,839,657.75605905,635,657,0.400972605852,0.00447463582705,0.0698258968105,0.99999996084,3.56439156807e-05,-0.00027671751097,2.18223292131e-05,1793254981928878848
+22,0.366666667,BASELINE,781,759,737.173766064,720,687,649,914,800,839,657.173766064,635,657,0.400971377135,0.00447401758766,0.0698250181559,0.999999960628,3.46764588185e-05,-0.00027760493765,2.18282665366e-05,1793254981945544448
+23,0.383333333,BASELINE,781,759.403216344,737.403216344,720,687,649,914,800,839,657,635,657,0.400972897059,0.00447424890087,0.0698263036187,0.999999961191,3.47043317214e-05,-0.000275563769925,2.18743339564e-05,1793254981962210816
+24,0.400000000,BASELINE,781,759.977939959,737.977939959,720,687,649,914,800,839,657,635,657,0.400975586111,0.00447484156954,0.0698285095843,0.999999962074,3.51555660784e-05,-0.000272276930465,2.19374706332e-05,1793254981978877440
+25,0.416666667,BASELINE,781,760,738,720.552094049,687,649.552094049,914.552094049,800,839,657.552094049,635,657,0.400972865141,0.0044754422059,0.0698267859596,0.99999996108,3.64895367736e-05,-0.000275733463421,2.19197684074e-05,1793254981995544064
+26,0.433333333,BASELINE,781,759.869455745,738,720.869455745,687,649.869455745,914.869455745,800,839,657.869455745,634.869455745,657.130544255,0.400970670342,0.00447590545681,0.0698253774024,0.999999960306,3.71550048948e-05,-0.000278442357209,2.18438608038e-05,1793254982012210944
+27,0.450000000,BASELINE,781,759.275680107,738,720.275680107,687,649.275680107,914.275680107,800,839,657.275680107,634.275680107,657.724319893,0.400971108915,0.00447588007223,0.0698256434368,0.999999960628,3.53232864265e-05,-0.00027754315177,2.15728636157e-05,1793254982028878080
+28,0.466666667,BASELINE,781.308456412,759.308456412,738,720,687,649,914,800,839,657.308456412,634.308456412,658,0.40097190464,0.00447615174508,0.0698258126101,0.999999960838,3.59207425157e-05,-0.000276709689181,2.15720124466e-05,1793254982045544960
+29,0.483333333,BASELINE,781.884239075,759.884239075,738,720,687,649,914,800,839,657.884239075,634.884239075,658,0.400973009895,0.00447668086517,0.0698258978377,0.999999960947,3.86234625452e-05,-0.00027593320322,2.18052855315e-05,1793254982062211584
+30,0.500000000,BASELINE,781.539989367,760,738,720.460010633,687,649,914.460010633,800,839,658,635,658,0.400971961466,0.00447627773084,0.0698255119377,0.999999960671,3.75731860487e-05,-0.000277083466593,2.17111390794e-05,1793254982078877952
+31,0.516666667,BASELINE,781,760,738,720.963558488,687,649,914.963558488,800,839,658,635,657.963558488,0.400970510586,0.00447562640439,0.0698250629584,0.999999960319,3.55975347332e-05,-0.000278624581287,2.15433814922e-05,1793254982095544320
+32,0.533333333,BASELINE,781,760,738,720.377134722,687,649,914.377134722,800,839,658,635,657.377134722,0.400971165173,0.00447476986181,0.0698254512378,0.999999960344,3.39092056522e-05,-0.000278747025823,2.15081554627e-05,1793254982112210944
+33,0.550000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.40097173888,0.00447413021461,0.0698257968559,0.999999960458,3.36752366594e-05,-0.000278354670279,2.16407021017e-05,1793254982128877568
+34,0.566666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657,0.40097216684,0.00447388140865,0.0698260655991,0.999999960732,3.60619955463e-05,-0.000277034655308,2.20755717269e-05,1793254982145543936
+35,0.583333333,BASELINE,781,759.631891033,738,720,687,649,914.368108967,800,838.631891033,658,635,657,0.400972275001,0.0044748992194,0.0698263458594,0.999999960806,3.6956924673e-05,-0.000276669379374,2.18437380998e-05,1793254982162210560
+36,0.600000000,BASELINE,781,759.057455553,738,720,687,649,914.942544447,800,838.057455553,658,635,657,0.400972203912,0.00447662697372,0.0698266325751,0.999999960769,3.70156776201e-05,-0.000276839238274,2.12382147383e-05,1793254982178877440
+37,0.616666667,BASELINE,781,759,737.483289879,720,687,649,914.483289879,800,838.516710121,658,635,657,0.400972481432,0.00447504772948,0.0698263122163,0.999999960943,3.46642348426e-05,-0.000276497942142,2.14729263006e-05,1793254982195544320
+38,0.633333333,BASELINE,781,759.093927935,737.093927935,720,687,649,914,800,839,658,635,657,0.400972739998,0.00447350179812,0.0698259725491,0.999999961087,3.27456205681e-05,-0.000276189348277,2.17371765244e-05,1793254982212210944
+39,0.650000000,BASELINE,781,759.687542549,737.687542549,720,687,649,914,800,839,658,635,657,0.400972691618,0.00447408830571,0.0698258890875,0.999999960982,3.45546031022e-05,-0.000276356940456,2.16617917764e-05,1793254982228877568
+40,0.666666667,BASELINE,781,759.726723419,737.726723419,720,687,649,914,800,838.726723419,658,635,657,0.400972666646,0.00447422179361,0.0698258734891,0.999999960985,3.44778338175e-05,-0.000276363614329,2.15489433735e-05,1793254982245543936
+41,0.683333333,BASELINE,781,759.149747321,737.149747321,720,687,649,914,800,838.149747321,658,635,657,0.400972667689,0.00447385182867,0.0698259333089,0.999999961108,3.23053783861e-05,-0.000276191455412,2.13944606214e-05,1793254982262210560
+42,0.700000000,BASELINE,781,759,737,720,687,649,914,800,838.425507689,657.574492311,635,657,0.400971890715,0.00447402986509,0.0698259968561,0.99999996094,3.22968429664e-05,-0.000276805107308,2.13666432668e-05,1793254982278877184
+43,0.716666667,BASELINE,781,759.000162655,737.000162655,720,687,649,914,800,839,657.000162655,635,657,0.400970841633,0.00447440002514,0.0698260617468,0.999999960668,3.30472326302e-05,-0.000277693708364,2.13832542342e-05,1793254982295543808
+44,0.733333333,BASELINE,781,759.586433504,737.586433504,720,687,649,914,800,839,657.586433504,635,657,0.400971924333,0.0044749304968,0.0698262599642,0.999999960822,3.54289700291e-05,-0.000276837557793,2.15116522988e-05,1793254982312211200
+45,0.750000000,BASELINE,781,760,737.828392343,720,687,649,914.171607657,800,839,658,635,657.171607657,0.400972659092,0.0044750872342,0.0698264713049,0.999999960967,3.69835578316e-05,-0.000276092406883,2.17292825697e-05,1793254982328878592
+46,0.766666667,BASELINE,781,760,737.245844479,720,687,649,914.754155521,800,839,658,635,657.754155521,0.400972560653,0.0044743490089,0.0698267140714,0.999999961105,3.65574118444e-05,-0.000275613061395,2.21605926897e-05,1793254982345545216
+47,0.783333333,BASELINE,781,760,737,720,687,649,914.66733796,800,839,658,635,658,0.400972125201,0.00447416958345,0.0698265427772,0.999999961138,3.4760202074e-05,-0.000275739771827,2.19943453554e-05,1793254982362211584
+48,0.800000000,BASELINE,781,760,737,720,687,649,914.091782176,800,839,658,635,658,0.400971443679,0.00447439816657,0.069826069156,0.999999961087,3.19619077421e-05,-0.000276308994953,2.139179049e-05,1793254982378877952
+49,0.816666667,BASELINE,781,760,737.483725433,720,687,649,914,800,839,658,635,658,0.40097193983,0.00447456601309,0.0698264103951,0.999999961203,3.22729151493e-05,-0.000275849114783,2.1454340294e-05,1793254982395544576
+50,0.833333333,BASELINE,781,760,738,720,687,649,914.059056804,800,839,658,635,658,0.4009725412,0.00447469073444,0.0698268429901,0.999999961303,3.31533133251e-05,-0.000275367705237,2.16260413815e-05,1793254982412211200
+51,0.850000000,BASELINE,781,760,738,720,687,649,914.632931858,800,839,658,635,658,0.400972112087,0.0044745399692,0.0698267242957,0.999999960994,3.3854918405e-05,-0.000276400614778,2.16492578282e-05,1793254982428877568
+52,0.866666667,BASELINE,781,760,738,720,687,649,914.785493925,800,839,658,635,658,0.400971971465,0.00447472132214,0.0698264837082,0.999999960819,3.45015779929e-05,-0.000276961975666,2.15464664896e-05,1793254982445544192
+53,0.883333333,BASELINE,781,760,738,720,687,649,914.19025426,800,839,658,635,658,0.400972342895,0.00447549216211,0.0698260267688,0.999999960883,3.50507130541e-05,-0.000276686369932,2.12200199605e-05,1793254982462211072
+54,0.900000000,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.60818831,0.400973124181,0.00447628941351,0.0698263924471,0.999999961119,3.63045793328e-05,-0.000275679632831,2.10797064387e-05,1793254982478877952
+55,0.916666667,BASELINE,781,760,738,720,687,649,914,800,839,658,635,657.032311132,0.40097409801,0.00447709907246,0.0698271445753,0.999999961433,3.7889514573e-05,-0.000274329424486,2.10268345816e-05,1793254982495545088
+56,0.933333333,BASELINE,781,760,737.446332927,720,687,649,914,800,839,657.446332927,635.553667073,657,0.400972968847,0.00447644609249,0.0698265958605,0.999999961288,3.60240624602e-05,-0.000275082787412,2.13625897562e-05,1793254982512211200
+57,0.950000000,BASELINE,780.861290816,760,737.138709184,720,687,649,914.138709184,800,839,657,635.861290816,657,0.400972214009,0.00447594516765,0.0698263836373,0.999999961251,3.41371376839e-05,-0.000275443238697,2.15137618242e-05,1793254982528877568
+58,0.966666667,BASELINE,780.281138836,760,737.718861164,720,687,649,914.718861164,800,839,657,635.281138836,657,0.400973048305,0.00447620485741,0.0698274883904,0.99999996166,3.28346114784e-05,-0.000274155298217,2.10039775736e-05,1793254982545543936
+59,0.983333333,BASELINE,780.594976416,760,738,720,687,649,915,800,839,657.297488208,635,657,0.400972290023,0.00447565036656,0.0698270231419,0.999999961391,3.27257544546e-05,-0.000275140814818,2.10889504395e-05,1793254982562210560
+60,1.000000000,BASELINE,781.749363082,760,738,720,687,649,915,800,839,657.874681541,635,657,0.400970034361,0.00447433036477,0.0698250817427,0.999999960479,3.37392119717e-05,-0.000278263886902,2.17331273041e-05,1793254982578877184
+61,1.016666667,BASELINE,781.551098319,760,738,720,687,649,915,800,839,658,635,657,0.400971051093,0.00447406272039,0.0698254872185,0.999999960795,3.34346491779e-05,-0.000277165610479,2.17162064034e-05,1793254982595543808
+62,1.033333333,BASELINE,781,759.977032047,738,720.022967953,687,649,914.977032047,800,839,658,635,657,0.400972909494,0.00447412716998,0.0698265072525,0.99999996143,3.28233487064e-05,-0.000274952615934,2.15102000461e-05,1793254982612210944
+63,1.050000000,BASELINE,781,759.386388199,738,720.613611801,687,649,914.386388199,800,839,658,635,657,0.40097314004,0.00447518628261,0.0698266300807,0.999999961638,3.36650734653e-05,-0.000274123428768,2.11622441529e-05,1793254982628878080
+64,1.066666667,BASELINE,781,759,738,720.599056389,687,649,914,800,839,657.799528194,635.200471806,657,0.40097261064,0.00447608357894,0.0698264891324,0.999999961507,3.52073919778e-05,-0.000274419020544,2.10088507834e-05,1793254982645544704
+65,1.083333333,BASELINE,781,759,738,719.439652155,687,649,914,800,839,657.219826078,635.780173922,657,0.400970643656,0.00447667476911,0.0698258492011,0.999999960729,3.80750159424e-05,-0.00027684234433,2.12235092215e-05,1793254982662210816
+66,1.100000000,BASELINE,781,759,738,719.356247701,687,649,914.356247701,800,838.643752299,657.356247701,635.643752299,657.356247701,0.40097041602,0.00447717102074,0.0698256716951,0.999999960674,3.79765860272e-05,-0.000277059555061,2.1177556512e-05,1793254982678877440
+67,1.116666667,BASELINE,781,759,738,719.930105131,687,649,914.930105131,800,838.069894869,657.930105131,635.069894869,657.930105131,0.400971250846,0.00447760928027,0.069825776656,0.999999961061,3.60663767942e-05,-0.000275929187426,2.09724125326e-05,1793254982695543808
+68,1.133333333,BASELINE,781,759,737.483252542,720,687,649,914.483252542,800,838.516747458,658,635,658,0.400971840027,0.00447693608166,0.0698260359431,0.999999961102,3.62395041507e-05,-0.000275742401336,2.11779044971e-05,1793254982712210688
+69,1.150000000,BASELINE,781,759.103536499,737,720,687,649,914,800,839,658,635,657.896463501,0.400972394154,0.00447625807929,0.0698264241326,0.999999961158,3.63162845927e-05,-0.000275515398024,2.13674675136e-05,1793254982728877312
+70,1.166666667,BASELINE,781,759.682851452,737,720,687,649,914,800,839,658,635,657.317148548,0.400972943744,0.00447626635835,0.0698273063081,0.9999999615,3.46225700968e-05,-0.000274502221159,2.12221256206e-05,1793254982745543936
+71,1.183333333,BASELINE,781,760,737.26109617,720,687,649.26109617,914.26109617,800,839,658,635,657,0.400972659589,0.00447572641778,0.0698272335404,0.999999961469,3.33321997196e-05,-0.000274770468769,2.12681153046e-05,1793254982762210816
+72,1.200000000,BASELINE,781,760,737.838046277,720,687,649.838046277,914.838046277,800,839,658,635,657,0.400971366836,0.00447452328353,0.0698260055562,0.999999960988,3.25297636145e-05,-0.000276588884396,2.15455631024e-05,1793254982778878208
+73,1.216666667,BASELINE,781,760,738,720,687,649.586900959,914.586900959,800,839,658,635,657,0.400972013881,0.00447475291337,0.069826550293,0.999999961247,3.30042649203e-05,-0.000275595047957,2.15241364954e-05,1793254982795544576
+74,1.233333333,BASELINE,781,760,738,720,687,649.012588673,914.012588673,800,839,658,635,657,0.400973417937,0.00447554168413,0.06982778684,0.999999961792,3.39770952501e-05,-0.000273503720897,2.13860731636e-05,1793254982812210944
+75,1.250000000,BASELINE,781,760,738,720,687,649,914.577369815,800,839,657.422630185,635,657,0.400974765997,0.00447457532102,0.0698285364907,0.999999962435,3.30683699329e-05,-0.00027124924618,2.14435354644e-05,1793254982828877568
+76,1.266666667,BASELINE,781,760,737.835466616,720,687,649,914.835466616,800,839,657,635,657,0.40097500604,0.00447435960599,0.0698284561653,0.99999996251,3.30840717495e-05,-0.00027097439992,2.14043841636e-05,1793254982845544192
+77,1.283333333,BASELINE,781,760,737.256231387,720,687,649,914.256231387,800,839,657,635,657,0.400972456519,0.00447613501888,0.069826311411,0.999999961141,3.55360478155e-05,-0.000275698368112,2.11106765267e-05,1793254982862210560
+78,1.300000000,BASELINE,781,760,737.321149622,720,687,649,914,800,839,657.321149622,635,657,0.400972600915,0.00447655389355,0.0698265133918,0.999999961193,3.55832931093e-05,-0.000275507549517,2.1076271428e-05,1793254982878877440
+79,1.316666667,BASELINE,781,760,737.897059693,720,687,649,914,800,839,657.897059693,635,657,0.400974882332,0.00447589665824,0.0698285769825,0.999999962372,3.37229218652e-05,-0.000271417945816,2.12475649544e-05,1793254982895544064
+80,1.333333333,BASELINE,781,759.52664648,738,720,687,649,914.47335352,800,839,658,635,657,0.400973856927,0.00447648654552,0.0698275757896,0.9999999619,3.46175092488e-05,-0.000273054549305,2.10598612547e-05,1793254982912210688
+81,1.350000000,BASELINE,781,759,737.949244957,720,687,649,915,800,839,657.949244957,635,657,0.400972206299,0.0044772301882,0.0698260771237,0.999999961129,3.61403151152e-05,-0.000275682713322,2.08517998046e-05,1793254982928877312
+82,1.366666667,BASELINE,781,759,737.360997977,720,687,649,915,800,839,657.360997977,635,657,0.400971556369,0.00447672764307,0.069826374161,0.999999961072,3.79661063996e-05,-0.000275613309098,2.12555904657e-05,1793254982945543936
+83,1.383333333,BASELINE,781.224251097,759.224251097,737.224251097,720,687,649,914.775748903,800,839,657,634.775748903,657,0.400971673923,0.00447647103838,0.0698268051415,0.999999961207,3.82527981564e-05,-0.000275068598908,2.14340182647e-05,1793254982962210816
+84,1.400000000,BASELINE,781.804737915,759.804737915,737.804737915,720,687,649,914.195262085,800,839,657,634.195262085,657,0.40097301067,0.00447660512411,0.0698274488983,0.999999961648,3.60945423861e-05,-0.000273768837942,2.12544443041e-05,1793254982978877440
+85,1.416666667,BASELINE,782,760,738,720,687,649,914,800,839,657.379836306,634.379836306,657.379836306,0.4009739456,0.00447538409158,0.0698276637513,0.99999996186,3.41298157714e-05,-0.000273227864689,2.14919785309e-05,1793254982995543808
+86,1.433333333,BASELINE,782,760,738,720,687,649,914,800,839,657.952203386,634.952203386,657.952203386,0.400974676857,0.00447347617902,0.0698276612022,0.999999961955,3.2263185012e-05,-0.000273071504526,2.194093585e-05,1793254983012210432
+87,1.450000000,BASELINE,781.468970136,759.468970136,738,720,687,649,914,800,839,657.468970136,635,658,0.400973972314,0.00447578140024,0.0698273241126,0.999999961679,3.55520677056e-05,-0.000273714707438,2.14011774219e-05,1793254983028877312
+88,1.466666667,BASELINE,781,759,738,720.112520669,687,649,914,800,839,657,635,657.887479331,0.400972998208,0.00447752856975,0.0698269478334,0.99999996137,3.79293749126e-05,-0.000274556239396,2.09751707004e-05,1793254983045544192
+89,1.483333333,BASELINE,781,759,738,720.702825583,687,649,914,800,839,657,635,657.297174417,0.400971434989,0.00447527610576,0.0698265345795,0.999999961109,3.44413174124e-05,-0.00027593056761,2.14147043831e-05,1793254983062210816
+90,1.500000000,BASELINE,781,759,738,720.713513373,687,649,914,800,839,657.286486627,635,657.286486627,0.400970570611,0.0044746880736,0.0698259821811,0.999999960776,3.43391924859e-05,-0.000277139066345,2.15324083541e-05,1793254983078877184
+91,1.516666667,BASELINE,781,759,738,720.13658789,687,649,914,800,839,657.86341211,635,657.86341211,0.400970414715,0.00447578743508,0.0698252887185,0.999999960371,3.76697109977e-05,-0.000278179447816,2.13238427829e-05,1793254983095543808
+92,1.533333333,BASELINE,781,759.437900867,738,720,687,649,914.437900867,800,838.562099133,658,635,657.562099133,0.400970962439,0.0044754609485,0.0698258720051,0.999999960742,3.64522511673e-05,-0.000277005413169,2.13181815666e-05,1793254983112210688
+93,1.550000000,BASELINE,781,760,737.988032296,720,687,649,914.988032296,800,838.011967704,657.988032296,635,657,0.400971741984,0.00447470930296,0.0698268454206,0.999999961342,3.38541644666e-05,-0.000275158957097,2.13722342245e-05,1793254983128877312
+94,1.566666667,BASELINE,781,760,737.397833747,720,687,649,914.397833747,800,838.602166253,657.397833747,635,657,0.400973176945,0.00447478499664,0.0698275335372,0.999999961698,3.27106928176e-05,-0.000274011454263,2.12704759594e-05,1793254983145544192
+95,1.583333333,BASELINE,781,760,737,720,687,649,914,800,839,657.187737136,635,657,0.400974406037,0.00447502049691,0.0698282070128,0.999999962002,3.2546749865e-05,-0.000272923290912,2.12238110931e-05,1793254983162210816
+96,1.600000000,BASELINE,781,760,737,720,687,649,914,800,839,657.763737549,635,657,0.400975209365,0.00447558649669,0.0698288502088,0.999999962201,3.44085914279e-05,-0.000271957848637,2.12910860714e-05,1793254983178877440
+97,1.616666667,BASELINE,781,760,737,720.340131189,687,649,914.340131189,800,839,658,635,657.340131189,0.400974941989,0.00447541240008,0.0698288269479,0.99999996213,3.52752888926e-05,-0.000272098712922,2.13816196227e-05,1793254983195544064
+98,1.633333333,BASELINE,781,760,737,720.916798253,687,649,914.916798253,800,839,658,635,657.916798253,0.400973930018,0.00447472362159,0.0698283402156,0.999999961874,3.54499377403e-05,-0.000273008930976,2.14883277729e-05,1793254983212210944
+99,1.650000000,BASELINE,781,760,737,720.495684979,687,649.504315021,914.495684979,800,839,657.495684979,635,658,0.400972978619,0.00447561362577,0.0698278031608,0.999999961658,3.53823564643e-05,-0.000273810711101,2.14484169171e-05,1793254983228877568
+100,1.666666667,BASELINE,781.092137004,760,737.092137004,720,687.092137004,649.907862996,914.092137004,800,838.907862996,657.092137004,635,657.907862996,0.400972417325,0.00447630294692,0.0698274697263,0.999999961553,3.49546239127e-05,-0.000274253497637,2.14023335573e-05,1793254983245544448
+101,1.683333333,BASELINE,781.671892841,760,737.671892841,720,687.671892841,649.328107159,914.671892841,800,838.328107159,657.671892841,635,657.328107159,0.40097386654,0.00447452140403,0.0698282588199,0.999999961995,3.28370018668e-05,-0.000272893135648,2.14544148527e-05,1793254983262210816
+102,1.700000000,BASELINE,781.749292478,760,738,720,687.749292478,649,914.749292478,800,838,657.749292478,635,657.250707522,0.400974704543,0.00447337159169,0.0698287115619,0.999999962259,3.13057692994e-05,-0.000272103490355,2.14712059128e-05,1793254983278877440
+103,1.716666667,BASELINE,781.171704951,760,738,720,687.171704951,649,914.171704951,800,838,657.171704951,635,657.828295049,0.400974745631,0.00447304544877,0.0698287257584,0.999999962296,3.05390891339e-05,-0.000272057962759,2.14419844988e-05,1793254983295544320
+104,1.733333333,BASELINE,781.40336667,759.59663333,737.59663333,720,687,649,914,800,838.40336667,657.40336667,635,657.59663333,0.400973428201,0.00447336123626,0.0698279271396,0.999999961809,3.08093350955e-05,-0.000273805312458,2.15251552107e-05,1793254983312210688
+105,1.750000000,BASELINE,781.977374009,759.022625991,737.022625991,720,687,649,914,800,838.977374009,657.977374009,635,657.022625991,0.400971536061,0.00447394858665,0.0698267846666,0.999999961095,3.15182433324e-05,-0.000276311122886,2.16558724054e-05,1793254983328877312
+106,1.766666667,BASELINE,781.433370234,759.566629766,737.566629766,720,687,649,914,800,839,657.433370234,634.433370234,657,0.400972780941,0.00447524468803,0.0698277290496,0.999999961576,3.43073169931e-05,-0.000274239389223,2.15223221778e-05,1793254983345544192
+107,1.783333333,POSE1_TO_POSE2_PRESS,781,759,737,720,687,649,915,800,839,658,634,657,0.400973234233,0.00447569953169,0.0698279897564,0.999999962138,3.28618770142e-05,-0.000272375346709,2.13432753247e-05,1793254983386682368
+108,1.800000000,POSE1_TO_POSE2_PRESS,781,759,737,720,687,649,914.421030421,800,839,657.421030421,634.578969579,657,0.400972632016,0.00447588876822,0.0698270094297,0.999999961533,3.39267050509e-05,-0.000274456722783,2.13831890453e-05,1793254983403348736
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,759.155467071,737,720,687,649,914,800,839,657.155467071,635,657,0.400972123737,0.00447619411037,0.0698265378462,0.999999961213,3.49284781194e-05,-0.000275497310189,2.13436533093e-05,1793254983420015616
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,759.725374658,737,720,687,649,914,800,839,657.725374658,635,657,0.400971865877,0.00447680896425,0.0698274224584,0.999999961665,3.57621609487e-05,-0.000273763387733,2.10923230613e-05,1793254983436683520
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,760,737.308431565,720,687,649,914.308431565,800,839,657.691568435,635,657,0.400972549789,0.00447608751622,0.0698282353756,0.999999962016,3.48644012222e-05,-0.000272599282994,2.10323489276e-05,1793254983453349888
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,760,737.903717876,720,687,649,914.903717876,800,839,657.096282124,635,657,0.40097410959,0.00447412324937,0.0698289816133,0.99999996227,3.23563247033e-05,-0.000271965133573,2.11503443025e-05,1793254983470015488
+113,1.883333333,POSE1_TO_POSE2_PRESS,781,759.516411245,738,720,687,649,914.516411245,800,839,657.483588755,635,657,0.400973710837,0.00447523957768,0.0698286113017,0.999999962053,3.36627810589e-05,-0.000272606681308,2.11358376482e-05,1793254983486682112
+114,1.900000000,POSE1_TO_POSE2_PRESS,781,759,737.939680262,720,687,649,914,800,839,658,635,657.060319738,0.400973099593,0.00447670048401,0.0698281472952,0.999999961777,3.54144928492e-05,-0.000273397099863,2.10973787683e-05,1793254983503348992
+115,1.916666667,POSE1_TO_POSE2_PRESS,781,759,737.364362347,720,687,649,914,800,839,658,635,657.635637653,0.400973900571,0.00447602849056,0.0698287226938,0.999999961814,3.46838116411e-05,-0.000273357019952,2.10726985892e-05,1793254983520015616
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,759.209026457,737,720,687,649,914.209026457,800,839,658,635,657.790973543,0.400977798932,0.00447556692096,0.0698305346417,0.999999962475,3.43167420149e-05,-0.000270972488854,2.11282159323e-05,1793254983536682240
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,759.779083242,737,720,687,649,914.779083242,800,839,658,635,657.220916758,0.400987047092,0.00447546879535,0.0698344823566,0.999999964185,3.45777020961e-05,-0.00026453862355,2.13222503736e-05,1793254983553348864
+118,1.966666667,POSE1_TO_POSE2_PRESS,781.366778071,760,737.366778071,720,687,649,914.633221929,800,839,657.633221929,635,657,0.401011747585,0.00447417331657,0.0698454115047,0.999999968893,3.409703769e-05,-0.000246135633761,2.16387659343e-05,1793254983570015488
+119,1.983333333,POSE1_TO_POSE2_PRESS,781.965633349,760,737.965633349,720,687,649,914.034366651,800,839,657.034366651,635,657,0.401046225474,0.00447212021785,0.0698607581244,0.999999974973,3.31471136651e-05,-0.000220159232432,2.20327808916e-05,1793254983586681856
+120,2.000000000,POSE1_TO_POSE2_PRESS,781.457089447,760,738,720,687,649,914,800,839,657.542910553,635,657,0.401097271807,0.00447524120662,0.0698760992958,0.999999980286,3.32101958888e-05,-0.000194653695718,2.08384728448e-05,1793254983603348480
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,760,737.88095814,720,687,649.11904186,914,800,839,657.88095814,635,657,0.401151936753,0.00447762414731,0.0698902322721,0.999999984323,3.32764467201e-05,-0.000172776570211,1.98514468616e-05,1793254983620015104
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,760,737.30418146,720,687,649.69581854,914,800,839,657.30418146,635,657,0.401216637229,0.00447595793756,0.0698997208266,0.999999985681,3.31177395038e-05,-0.000164741025873,2.00332749457e-05,1793254983636681728
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759.721755043,737.278244957,720,687,649.721755043,914,800,839,657.278244957,635,657,0.401291241171,0.00447537689331,0.0699067046454,0.999999987188,3.20063957007e-05,-0.000155663872582,1.91679724701e-05,1793254983653348352
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759.133024276,737.866975724,720,687,649.133024276,914,800,839,657.866975724,635,657,0.401376896109,0.00447600675517,0.0699108934986,0.999999988834,2.98320312315e-05,-0.000145424417306,1.7134206112e-05,1793254983670014976
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,759,738,720,687,649.450699186,914,800,839,658,634.549300814,657.450699186,0.401470931817,0.00447674850588,0.069908867871,0.999999988341,2.65297493827e-05,-0.000149666453897,1.46654539635e-05,1793254983686681856
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,759.032452093,738,720,687,649.967547907,914,800,839,657.967547907,634,658,0.401569064078,0.00447745926476,0.0699053133747,0.999999987237,2.2988726065e-05,-0.0001576432861,1.2088110321e-05,1793254983703348480
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,759.605724515,738,720,687,649.394275485,914,800,839,657.394275485,634,658,0.401694696263,0.00447710923354,0.0699065115689,0.999999987343,2.09560084032e-05,-0.000157413102178,9.8171430802e-06,1793254983720015616
+128,2.133333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.177822911,634.177822911,657.822177089,0.401831560199,0.00447762745924,0.0699086719523,0.999999987823,1.92379265995e-05,-0.000154705234809,7.13786661103e-06,1793254983736682752
+129,2.150000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649,914,800,839,657.747335212,634.747335212,657.252664788,0.401993164223,0.00448005818893,0.0699129517437,0.999999989091,1.82128914562e-05,-0.000146539789974,3.55921031492e-06,1793254983753349120
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.333761516,914.333761516,800,839,657.666238484,635,657,0.402177141075,0.00448177273144,0.069918575182,0.999999990599,1.40266122049e-05,-0.000136396969518,-6.55447285877e-07,1793254983770016000
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.933675676,914.933675676,800,839,657.066324324,635,657,0.402378958788,0.00448291616251,0.0699252700898,0.999999992187,7.31945060822e-06,-0.000124677322427,-5.37727407512e-06,1793254983786682624
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.48771931,915,800,839,657.51228069,635,657,0.402599574101,0.00448480900521,0.0699274224069,0.999999992496,2.35344171896e-06,-0.000122062529905,-1.01255473672e-05,1793254983803348992
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.087717833,914.912282167,800,839,658,635,657,0.402828731204,0.00448667868495,0.0699292521106,0.999999992758,-2.4590573913e-06,-0.000119388590269,-1.50090277764e-05,1793254983820015616
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,649.660285492,914.339714508,800,839,658,635,657,0.403092187341,0.00448790545611,0.0699324195684,0.999999993694,-7.61930018391e-06,-0.000110132284528,-2.06216812928e-05,1793254983836681984
+135,2.250000000,POSE1_TO_POSE2_PRESS,781.241058165,760,738,720,687,649.758941835,914.241058165,800,839,658,635,657.241058165,0.403379698592,0.00448924988926,0.0699394970353,0.999999994998,-1.31676279897e-05,-9.56391890931e-05,-2.61553561363e-05,1793254983853348864
+136,2.266666667,POSE1_TO_POSE2_PRESS,781.833801274,760,738,720,687,649.166198726,914.833801274,800,839,658,635,657.833801274,0.403702304349,0.00449076598195,0.0699522788984,0.999999996614,-1.92821410621e-05,-7.35060289827e-05,-3.1573806951e-05,1793254983870015232
+137,2.283333333,POSE1_TO_POSE2_PRESS,781.582954544,760,738,720,687,649.417045456,914.582954544,800,839,658,635,658,0.404034120979,0.00449196880981,0.0699557268976,0.999999996504,-2.50757377549e-05,-7.05582157904e-05,-3.72150900718e-05,1793254983886681856
+138,2.300000000,POSE1_TO_POSE2_PRESS,781.003411538,760,738,720,687,649.996588462,914.003411538,800,839,658,635,658,0.404369526525,0.00449304957715,0.0699555380506,0.999999995786,-3.07442924793e-05,-7.50857797977e-05,-4.29431974254e-05,1793254983903348480
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,760,738,720,687,650,914.570604712,800,839,657.429395288,635,657.429395288,0.40475394982,0.00449549065966,0.0699604877761,0.999999995925,-3.52010600898e-05,-6.69693422253e-05,-4.92615370698e-05,1793254983920016384
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,760,738,720,687,650,914.851737573,800,839,657,635,657,0.405147423977,0.00449738892891,0.069966029752,0.999999997135,-1.35836385724e-05,-5.73870749946e-05,-4.74606780361e-05,1793254983936683776
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760,738,720,687,650,914.263168416,800,839,657,635,657,0.40556691513,0.00449765124028,0.0699732402162,0.999999995164,8.54470686931e-05,-4.36739679566e-05,-2.15372075896e-05,1793254983953350144
+142,2.366666667,POSE1_TO_POSE2_PRESS,781.320322168,760,738,720,687,649.679677832,914,800,839,657,635,657,0.40600921955,0.0044944573537,0.0699701273594,0.999999991544,0.000120229157276,-4.7569419072e-05,-1.38965352408e-05,1793254983970016512
+143,2.383333333,POSE1_TO_POSE2_PRESS,781.899705512,760,738,720,687,649.100294488,914,800,839,657,635,657,0.406469974289,0.00448846826034,0.0699586654975,0.99999999231,0.000103050062051,-6.57058245422e-05,-2.10421086457e-05,1793254983986682880
+144,2.400000000,POSE1_TO_POSE2_PRESS,781.525288242,760,738,720.474711758,687,649.474711758,914.474711758,800,839,657,635,657,0.406951787303,0.00448643948785,0.0699416130705,0.999999992076,8.44782621067e-05,-8.9748254076e-05,-2.5617415987e-05,1793254984003348992
+145,2.416666667,POSE1_TO_POSE2_PRESS,781,760,738,720.902229681,686.95111484,650,915,800,839,657.04888516,635,657,0.407445507554,0.00448643277974,0.0699256592552,0.999999991602,5.98345794795e-05,-0.00011109849799,-2.95322441677e-05,1793254984020015104
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,738,719.752085054,686.376042527,650,915,800,839,657.623957473,635,657,0.408019943381,0.00449926714867,0.0699341279689,0.999999995054,-2.70270644107e-05,-9.01625708384e-05,-3.21294988946e-05,1793254984036681984
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,738,719.204887357,686.204887357,650,915,800,839.204887357,658,635,657,0.408608674418,0.00450807977944,0.0699454733453,0.999999994473,-7.55638050118e-05,-6.46927865235e-05,-3.40549102308e-05,1793254984053348864
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,738,719.796884372,686.796884372,650,915,800,839.796884372,658,635,657,0.409224414476,0.004509293826,0.0699622538244,0.999999997592,-5.16903129752e-05,-3.06568346613e-05,-3.47109556775e-05,1793254984070016000
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,738,720,686.619319637,650,915,800,839.619319637,657.619319637,635,657,0.409852648782,0.0045175146272,0.0699627085478,0.999999998939,-1.25739143153e-05,-2.73970379544e-05,-3.48411130136e-05,1793254984086683136
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,738,720,686.03980712,650,915,800,839.03980712,657.03980712,635,657,0.410487408906,0.00452939510788,0.0699546362084,0.999999997994,3.45039658998e-05,-4.02118545859e-05,-3.46965950517e-05,1793254984103350016
+151,2.516666667,POSE1_TO_POSE2_PRESS,781.53405037,760,738,720,686,650,915,800,839.53405037,657,635,657,0.411146605709,0.00453798993456,0.0699521654764,0.999999996497,5.62980452661e-05,-4.99098590146e-05,-3.66915085608e-05,1793254984120016384
+152,2.533333333,POSE1_TO_POSE2_PRESS,782,760,738,719.891914291,686,650,915,800,840,657.108085709,635,657,0.411824537684,0.00454522418757,0.0699555639736,0.999999995692,6.89095542485e-05,-4.8849700449e-05,-3.84986788617e-05,1793254984136682496
+153,2.550000000,POSE1_TO_POSE2_PRESS,782,760,738,719.315300141,686,650,915,800,840,657.684699859,635,657,0.412575869505,0.00454761113607,0.0699826133712,0.999999998005,4.98003498066e-05,-2.15171411007e-06,-3.88079999103e-05,1793254984153349120
+154,2.566666667,POSE1_TO_POSE2_PRESS,781.731908843,760,738,719,686,649.731908843,915,800,840,658,635.268091157,657.268091157,0.413334508747,0.00455296740465,0.0700089650326,0.999999997358,4.70524417541e-05,3.89663205099e-05,-3.93791587381e-05,1793254984170015488
+155,2.583333333,POSE1_TO_POSE2_PRESS,781.140340194,760,738,719,686,649.140340194,915,800,840,658,635.859659806,657.859659806,0.414101965188,0.00456190644078,0.0700344748124,0.999999994448,6.40459922664e-05,7.33516185594e-05,-4.02662498543e-05,1793254984186681856
+156,2.600000000,POSE1_TO_POSE2_PRESS,781.440006964,760.440006964,738,719,686.440006964,649.440006964,915,800,839.559993036,657.559993036,635.559993036,658,0.4148528978,0.00456937994287,0.0700086546553,0.999999995302,8.39746202684e-05,2.54977187003e-05,-4.11689777212e-05,1793254984203348992
+157,2.616666667,POSE1_TO_POSE2_PRESS,782,760.983177935,738,719,686.983177935,649.983177935,915,800.016822065,839,657.016822065,635.016822065,657.983177935,0.415600125198,0.00457646123106,0.0699670333686,0.999999992603,0.000103797438259,-4.7366491244e-05,-4.21413634803e-05,1793254984220015872
+158,2.633333333,POSE1_TO_POSE2_PRESS,782,760.407755327,738,719,686.407755327,649.407755327,915,800.592244673,839,657.592244673,635.592244673,657.407755327,0.416394971987,0.00458565425004,0.0699308381712,0.999999989805,8.97938604469e-05,-0.000101384051901,-4.5265353516e-05,1793254984236682496
+159,2.650000000,POSE1_TO_POSE2_PRESS,781.828341178,760,738,718.828341178,685.828341178,649,915,800.828341178,839.171658822,658,636,657.171658822,0.417210360545,0.00459377475599,0.0699148691105,0.999999987541,8.37363042625e-05,-0.00012507196773,-4.75650730181e-05,1793254984253349120
+160,2.666666667,POSE1_TO_POSE2_PRESS,781.239219911,760,738,718.239219911,685.239219911,649,915,800.239219911,839.760780089,658,636,657.760780089,0.418075705227,0.00459928698353,0.0699480886253,0.999999991337,9.70029273627e-05,-7.50002708584e-05,-4.78602233079e-05,1793254984270015488
+161,2.683333333,POSE1_TO_POSE2_PRESS,781.344270887,760,738,718.344270887,685.344270887,649,915,800.344270887,840,658,636,657.655729113,0.418963783333,0.00460519217643,0.0699760383875,0.999999991595,0.000115898149692,-3.30450800526e-05,-4.78090521426e-05,1793254984286682112
+162,2.700000000,POSE1_TO_POSE2_PRESS,781.923912233,760,738,718.923912233,685.923912233,649,915,800.923912233,840,658,636,657.076087767,0.419867403748,0.00461136603093,0.0700003853339,0.999999989254,0.000138641521345,3.36103140806e-06,-4.75211085699e-05,1793254984303348480
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760,738,718.50143761,686,649,914.50143761,801,840,658,636,657,0.420815477865,0.00461651584299,0.0700262707327,0.999999990133,0.00012517285589,4.14416715289e-05,-4.84614359796e-05,1793254984320015104
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649.072531832,914.072531832,800.927468168,840,657.927468168,636,657,0.421759508008,0.00461906322195,0.0700449667751,0.999999990507,0.000108840635273,6.83297240816e-05,-4.97073079561e-05,1793254984336681984
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649.647009367,914.647009367,800.352990633,840,657.352990633,636,657,0.422629067806,0.004604671666,0.0700123012149,0.99999999242,0.000110557686869,1.60101138418e-05,-5.17832815084e-05,1793254984353348864
+166,2.766666667,POSE1_TO_POSE2_PRESS,782,760,738,718,686,650,915,800.228642971,840,657.228642971,636,657.228642971,0.423480483734,0.00458522830338,0.0699585147257,0.999999991436,9.87119837669e-05,-6.77707612854e-05,-5.28316946073e-05,1793254984370015744
+167,2.783333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,650,915,800.82168152,840,657.82168152,636,657.82168152,0.424302983336,0.0045577337135,0.069871067135,0.999999976167,6.52508862731e-05,-0.000201692462838,-5.22424517309e-05,1793254984386682624
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,760,738,717.596020379,686,650,915,801,840,657.596020379,636,657.596020379,0.425255841451,0.00455078464464,0.0698676443869,0.999999977434,5.13473252715e-05,-0.000199277599515,-5.27616585629e-05,1793254984403349248
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,760,738,717.018340415,686,650,915,801,840,657.018340415,636,657.018340415,0.426264750161,0.00455266959739,0.0699003500601,0.999999987948,4.58529796366e-05,-0.000138241682826,-5.37574690197e-05,1793254984420015616
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,760.55703497,738,717,686,649.44296503,915,801,840,657,635.44296503,657.55703497,0.427297872587,0.00456174554958,0.0699657639914,0.999999994742,7.01150462837e-05,-5.50804671057e-05,-5.06640443115e-05,1793254984436682240
+171,2.850000000,POSE1_TO_POSE2_PRESS,782,760.864634788,738,717.135365212,686,649.135365212,915,801,840.135365212,657,635.135365212,658,0.428325987029,0.00456876086676,0.0700259623309,0.999999995085,8.23968366345e-05,2.60348975958e-05,-4.8611223132e-05,1793254984453348864
+172,2.866666667,POSE1_TO_POSE2_PRESS,782,760.276160826,738,717.723839174,686,649.723839174,915,801,840.723839174,657,635.723839174,658,0.429334680559,0.00456808935134,0.0700651125525,0.999999992619,5.13110286859e-05,9.78737792405e-05,-5.04904401101e-05,1793254984470015232
+173,2.883333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,650,915,801,840.692491371,657.307508629,636,657.692491371,0.430297034427,0.0045696942882,0.0700638113269,0.999999992651,4.89179718897e-05,9.83398062719e-05,-5.13202498467e-05,1793254984486681856
+174,2.900000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686,650,915,801,840.1130703,657.8869297,636,657.1130703,0.431218412708,0.00457331216272,0.0700267411784,0.999999995467,7.18962893636e-05,3.5694861994e-05,-5.12221282029e-05,1793254984503348736
+175,2.916666667,POSE1_TO_POSE2_PRESS,782.463247287,760,738,718,685.536752713,650,915,801,840,658,636,657,0.432080543023,0.00457483979241,0.0699475504447,0.999999990224,8.32105841819e-05,-0.000100164589367,-5.09329326857e-05,1793254984520015616
+176,2.933333333,POSE1_TO_POSE2_PRESS,782.961838883,760,738,717.961838883,685.038161117,650,915,801,840,657.961838883,636,657.038161117,0.432941257759,0.00457550433892,0.0698677765995,0.999999966758,8.96989675495e-05,-0.000236363130439,-5.07049565759e-05,1793254984536682496
+177,2.950000000,POSE1_TO_POSE2_PRESS,782.395932646,760,738,717.395932646,685.604067354,650,915,801,840,657.395932646,636,657.604067354,0.433981055919,0.00457124164578,0.0699211708595,0.999999987619,6.85578914354e-05,-0.000131759626147,-5.19643005723e-05,1793254984553349120
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,738,717,686,650,915,801,840.180811345,657.180811345,636,658,0.435010091195,0.00456793051378,0.0699737944398,0.999999996463,5.56800930921e-05,-3.43672029841e-05,-5.28453798543e-05,1793254984570015488
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,738,717,686,650,915,801,840.782800676,657.782800676,636,658,0.436014055852,0.00456683592659,0.0700246228265,0.99999999561,6.2050590076e-05,4.62279040813e-05,-5.28453387948e-05,1793254984586682112
+180,3.000000000,POSE1_TO_POSE2_PRESS,782.36876607,760,738,717,686,650,915,801,841,658,636,657.63123393,0.43698389772,0.00456557719397,0.0700449987449,0.999999993186,6.01347881884e-05,8.46316770031e-05,-5.33744816861e-05,1793254984603348480
+181,3.016666667,POSE1_TO_POSE2_PRESS,782.945686525,760,738,717,686,650,915,801,841,658,636,657.054313475,0.437934478515,0.00456422580758,0.0700481854031,0.999999992175,5.35416863059e-05,9.92200458604e-05,-5.42023288614e-05,1793254984620015360
+182,3.033333333,POSE1_TO_POSE2_PRESS,782.479156826,760,738,717,686,650,915,801,840.479156826,658,635.479156826,657,0.438786841753,0.00456179749701,0.0699889892636,0.999999997239,4.78139083863e-05,1.33807363792e-05,-5.5296378199e-05,1793254984636682240
+183,3.050000000,POSE1_TO_POSE2_PRESS,782.098277738,760.098277738,738,717,686,649.901722262,915,801,840.098277738,658,635.098277738,657.098277738,0.439623526909,0.00456069982607,0.0699234922895,0.999999993724,4.67531341889e-05,-8.50041049881e-05,-5.60349318531e-05,1793254984653348864
+184,3.066666667,POSE1_TO_POSE2_PRESS,782.688020314,760.688020314,738,717,686,649.311979686,915,801,840.688020314,658,635.688020314,657.688020314,0.440432855148,0.00456681608368,0.0698589078686,0.999999977339,6.8581270102e-05,-0.000193932019823,-5.48573827686e-05,1793254984670015744
+185,3.083333333,POSE1_TO_POSE2_PRESS,783,761,738,717.2729671,685.7270329,649.2729671,915,801,841,657.7270329,635.7270329,657.7270329,0.441308548782,0.00457262065917,0.0698515422978,0.999999973846,7.71792008776e-05,-0.000208188642594,-5.48522059848e-05,1793254984686682624
+186,3.100000000,POSE1_TO_POSE2_PRESS,783,761,738,717.852527276,685.147472724,649.852527276,915,801,841,657.147472724,635.147472724,657.147472724,0.442258783108,0.00457807515697,0.0699084441954,0.999999989167,7.09171370888e-05,-0.000116111701826,-5.61638227524e-05,1793254984703349248
+187,3.116666667,POSE1_TO_POSE2_PRESS,783,761,738,718,684.570842351,649.570842351,915,801,841,657.429157649,635.429157649,657.429157649,0.443136260297,0.00458283077873,0.0699460610028,0.999999993284,7.84769865513e-05,-6.51998272481e-05,-5.49763353859e-05,1793254984720015616
+188,3.133333333,POSE1_TO_POSE2_PRESS,783,760.995216079,738,717.995216079,684,649,915,800.995216079,841,658,636,658,0.443988201846,0.00458735632089,0.0699764851702,0.999999994063,9.06177695132e-05,-2.92756985665e-05,-5.29660574629e-05,1793254984736682240
+189,3.150000000,POSE1_TO_POSE2_PRESS,783,760.420090087,738,717.420090087,684,649,915,800.420090087,841,658,636,658,0.444756273739,0.00459288909745,0.0699341151091,0.999999989241,8.64816792601e-05,-0.000105179349897,-5.45516163462e-05,1793254984753348608
+190,3.166666667,POSE1_TO_POSE2_PRESS,783,760,737.841149468,717,683.841149468,649,915,800.158850532,841,657.841149468,636,658,0.445514647475,0.00459766753665,0.0698896492376,0.999999978888,8.54314836534e-05,-0.000178236616391,-5.61864164767e-05,1793254984770015232
+191,3.183333333,POSE1_TO_POSE2_PRESS,783,760,737.251872486,717,683.251872486,649,915,800.748127514,841,657.251872486,636,658,0.44624674295,0.00460040200059,0.0698395044825,0.999999964354,9.27429262417e-05,-0.000243581246019,-5.7954643195e-05,1793254984786682112
+192,3.200000000,POSE1_TO_POSE2_PRESS,783,760,737.332149976,717,683,648.667850024,915,800.667850024,841,657.332149976,635.667850024,658,0.446943946706,0.00460335119868,0.0697938019903,0.999999942374,0.000104114866459,-0.000318039922835,-5.71138530711e-05,1793254984803348992
+193,3.216666667,POSE1_TO_POSE2_PRESS,783,760,737.912249905,717,683,648.087750095,915,800.087750095,841,657.912249905,635.087750095,658,0.44761510375,0.00460646069566,0.0697514156504,0.99999991178,0.00011851796734,-0.000399302230805,-5.43254316267e-05,1793254984820015616
+194,3.233333333,POSE1_TO_POSE2_PRESS,783,760,737.511384525,717,682.511384525,648,915,800.488615475,841,658,635.488615475,658,0.448300130434,0.00460918524932,0.0697316062196,0.99999989918,0.000119257068349,-0.000429379760085,-5.52350300955e-05,1793254984836682240
+195,3.250000000,POSE1_TO_POSE2_PRESS,783,760,737,717,682,648,915,801,841,658,635.935881412,657.935881412,0.448990531887,0.00461193751324,0.0697215168608,0.99999989374,0.000117797309082,-0.000442049233381,-5.689133152e-05,1793254984853348864
+196,3.266666667,POSE1_TO_POSE2_PRESS,783,760,737,717,682,648,915,801,841,658,635.361943825,657.361943825,0.449704014255,0.00461545561673,0.069756719496,0.99999991566,0.000118217489707,-0.000388838812248,-5.92442801318e-05,1793254984870015488
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,760,737,717,681.781130246,648,915,800.781130246,841,657.781130246,635,657.218869754,0.450378783146,0.00461793188951,0.0697747725658,0.999999924938,0.000126927749234,-0.000361442119998,-5.80694869202e-05,1793254984886682112
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,737,717,681.188577124,648,915,800.188577124,841,657.188577124,635,657.811422876,0.4509874552,0.00461862941088,0.0697635456277,0.999999916001,0.000149791927335,-0.000378118043696,-5.08716666411e-05,1793254984903348736
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,760,737,717,680.606445942,648,915,800,841,657,635,658,0.451550256285,0.0046204014826,0.0697273983068,0.999999895597,0.000154280674069,-0.000426956297579,-5.20761691762e-05,1793254984920015360
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,760,737,717,680.0291797,648,915,800,841,657,635,658,0.452091644721,0.00462267515764,0.0696796180774,0.999999866639,0.000150191717286,-0.000490808021236,-5.72028997432e-05,1793254984936681984
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,760,737.544772046,716.455227954,680,647.455227954,915,800,841,657.544772046,635,658,0.45259423882,0.00462393338773,0.0696418510874,0.999999837838,0.000151304553202,-0.00054586747203,-5.8821956838e-05,1793254984953348864
+202,3.366666667,POSE1_TO_POSE2_PRESS,783,760.118702264,737.881297736,716.118702264,679.881297736,647,915,800,841,658,635.118702264,658,0.453093673173,0.00462546647472,0.0696114605361,0.999999812065,0.000153658353513,-0.000590496729171,-5.97803030359e-05,1793254984970015744
+203,3.383333333,POSE1_TO_POSE2_PRESS,783,760.693227605,737.306772395,716.693227605,679.306772395,647,915,800,841,658,635.693227605,658,0.45358890525,0.00462826262639,0.0696073487732,0.999999807382,0.000159714063524,-0.000596871008249,-5.891859875e-05,1793254984986682624
+204,3.400000000,POSE1_TO_POSE2_PRESS,782.722292008,760.722292008,737,717,678.722292008,647,915,800,841,657.722292008,635.722292008,658,0.454070204769,0.00463141767488,0.0696093010136,0.999999806136,0.00016582552987,-0.000597401057179,-5.78042160824e-05,1793254985003348992
+205,3.416666667,POSE1_TO_POSE2_PRESS,782.126405868,760.126405868,737,717,678.126405868,647,915,800,841,657.126405868,635.126405868,658,0.45453554132,0.00463498392176,0.0696182009597,0.999999808838,0.000172000877512,-0.000591235200736,-5.64003324729e-05,1793254985020015872
+206,3.433333333,POSE1_TO_POSE2_PRESS,782.452390788,760.452390788,737,717,678,647,915,800,841,657,635,657.547609212,0.454930723311,0.00463486122519,0.0696058537559,0.999999791422,0.000170962773567,-0.000620235003913,-5.6890772334e-05,1793254985036682240
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,760.973341127,737,717,677.973341127,647,915,800,841.026658873,657,635,657,0.455305932244,0.00463401296877,0.0695877227247,0.999999767601,0.00016823095714,-0.000658131934311,-5.79538320164e-05,1793254985053349120
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,760.397575212,737,717,677.397575212,647,915,800,841.602424788,657,635,657,0.455658809495,0.00463867815428,0.0695682917987,0.999999749517,0.000170617287967,-0.000684265646246,-6.03058885058e-05,1793254985070015744
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760,737,716.816833181,676.816833181,647,915,800,841.816833181,657.183166819,635.183166819,657.183166819,0.456008171335,0.00464271359009,0.0695556333374,0.999999741022,0.000154684186252,-0.000700092186726,-6.24500437267e-05,1793254985086682368
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760,737,716.224988626,676.224988626,647,915,800,841.224988626,657.775011374,635.775011374,657.775011374,0.456349689619,0.00464534394176,0.0695580854511,0.999999753083,9.78771733106e-05,-0.000692921591216,-6.41303338894e-05,1793254985103348992
+211,3.516666667,POSE1_TO_POSE2_PRESS,782.641864833,760,737,716.358135167,676,646.641864833,915,800,841,658,635.641864833,657.641864833,0.456667880385,0.00464973643444,0.0695641835547,0.999999761269,7.99632127025e-05,-0.000683282480473,-6.47517499039e-05,1793254985120015616
+212,3.533333333,POSE1_TO_POSE2_PRESS,782.06408933,760,737,716.93591067,676,646.06408933,915,800,841,658,635.06408933,657.06408933,0.456971764675,0.00465520962897,0.0695725177038,0.999999768337,8.59019254662e-05,-0.00067212945682,-6.47237703604e-05,1793254985136682496
+213,3.550000000,POSE1_TO_POSE2_PRESS,782.510821941,760,737,717,675.489178059,646,915,800,841,658,635,657.510821941,0.457225329591,0.00467609940032,0.0695674126646,0.99999975666,0.000124780346866,-0.000683249567081,-6.54208123741e-05,1793254985153349120
+214,3.566666667,POSE1_TO_POSE2_PRESS,782.918069333,760,737,717,675,646,915,800,841.081930667,657.918069333,635,658,0.45746586372,0.00469633799246,0.0695597803347,0.999999740941,0.000164936939355,-0.000697581450588,-6.55304369953e-05,1793254985170015488
+215,3.583333333,POSE1_TO_POSE2_PRESS,782.366700311,760,737,717,675,646,915,800,841.633299689,657.366700311,635,658,0.457667706629,0.00470182486332,0.069547274493,0.999999725078,0.000188869867898,-0.000714393718055,-6.17560479676e-05,1793254985186682112
+216,3.600000000,POSE1_TO_POSE2_PRESS,782.41644905,760,737,717,674.791775475,646,915,800,841.791775475,657.208224525,635,658,0.457856400748,0.00470283023549,0.0695310119251,0.999999705985,0.000202200234781,-0.00073729295285,-5.95374240683e-05,1793254985203348736
+217,3.616666667,POSE1_TO_POSE2_PRESS,783.659849141,760,737,717,674.17007543,646,915,800,841.17007543,657.82992457,635,658,0.458018985044,0.00469493660755,0.0695072895533,0.999999681057,0.000194476885822,-0.000772279197378,-6.04081137426e-05,1793254985220015104
+218,3.633333333,POSE1_TO_POSE2_PRESS,783.58258274,760,737,717,674,646,915,800,841,658,635,658,0.458157412907,0.0046965596981,0.0694878039838,0.999999656883,0.000197146168418,-0.000802174208329,-6.23140408817e-05,1793254985236682240
+219,3.650000000,POSE1_TO_POSE2_PRESS,783.007972068,760,737,717,674,646,915,800,841,658,635,658,0.458286743799,0.00470176664984,0.0694699139345,0.999999632584,0.000203729168531,-0.000830151931908,-6.46098236997e-05,1793254985253349120
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,737,716.435289031,674,646,915,800,841,658,635,658,0.458401086314,0.00470170084857,0.0694619832243,0.99999962233,0.000203862881885,-0.000842364019304,-6.48291030127e-05,1793254985270015488
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,737.142573597,716.142573597,674,646,915,800,841.142573597,658,635,658,0.458512036496,0.0047018221513,0.0694558207508,0.999999614729,0.000204179672561,-0.000851229912851,-6.52656266771e-05,1793254985286682368
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,760,737.736935169,716.736935169,674,646,915,800,841.736935169,658,635,658,0.458612905224,0.00470277142055,0.069454817469,0.999999615287,0.000205364122357,-0.000850195232401,-6.64831302508e-05,1793254985303348736
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,760,737.677448825,717,674,646,915,800,841.677448825,658,635,658,0.458701544887,0.00470344576966,0.0694519783124,0.99999961277,0.000206361014834,-0.00085285063134,-6.72319552134e-05,1793254985320015104
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,760,737.098777137,717,674,646,915,800,841.098777137,658,635,658,0.458780474121,0.0047039018196,0.0694476813865,0.99999960779,0.000207208978269,-0.000858436123401,-6.76086278691e-05,1793254985336681728
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,737,717,674,646,915,800,841,658,635,658,0.458837322383,0.00470057153714,0.0694418391346,0.999999601383,0.000203700645954,-0.000866753460418,-6.6918320248e-05,1793254985353348864
+226,3.766666667,POSE1_TO_POSE2_PRESS,783.051085995,760,737,717,673.948914005,646,915,800,841,658,635,658,0.458888344728,0.00469719299436,0.0694358922024,0.99999959461,0.000199906115407,-0.000875464315142,-6.61844835983e-05,1793254985370015744
+227,3.783333333,POSE1_TO_POSE2_PRESS,783.625274594,760,737,717,673.374725406,646,915,800,841,658,635,658,0.458926250417,0.00470130049104,0.0694321303627,0.999999587907,0.000202362499376,-0.00088244692413,-6.72537306795e-05,1793254985386682624
+228,3.800000000,POSE1_TO_POSE2_PRESS,783.793690124,760,737,717,673,646,915,800,841.206309876,658,635,658,0.458960444529,0.00470387498852,0.0694285011472,0.999999582839,0.000204294048651,-0.000887675751705,-6.79496753315e-05,1793254985403349248
+229,3.816666667,POSE1_TO_POSE2_PRESS,783.199792226,760,737,717,673,646,915,800,841.800207774,658,635,658,0.458987665814,0.00470356948729,0.069425121089,0.999999580927,0.000205239606989,-0.000889609803691,-6.79443081242e-05,1793254985420015616
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,737,717,673,646,915,800,842,658,635,658,0.459009271787,0.00470151268039,0.0694229609451,0.999999578684,0.000204113037881,-0.000892437073431,-6.7277848305e-05,1793254985436681984
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,737,717,673,646,915,800,842,658,635,658,0.459028031071,0.00469856804759,0.0694214192379,0.99999957626,0.000201936001959,-0.000895717160605,-6.62762470196e-05,1793254985453348608
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,737,717,672.465006985,645.465006985,915,800,841.465006985,658,635,658,0.459035372707,0.00470179277503,0.0694184257737,0.999999571132,0.00020523425309,-0.000900668668448,-6.64194529259e-05,1793254985470015232
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,737,717,672.113618369,645.113618369,915,800,841,657.886381631,635,657.886381631,0.459041494775,0.00470424430382,0.0694155368616,0.999999566611,0.000207469643837,-0.00090516148738,-6.64597922021e-05,1793254985486682112
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,737,717,672.70194544,645.70194544,915,800,841,657.29805456,635,657.29805456,0.459046204902,0.00470147498568,0.069413553142,0.999999565631,0.000203497872975,-0.000907198627528,-6.57010092572e-05,1793254985503348736
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,737,717,672.714163835,646,915,800,841,657,635,657.285836165,0.459049140723,0.00470151427193,0.0694111016689,0.999999562917,0.000203301512894,-0.000910234462492,-6.56320525734e-05,1793254985520015360
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,737,717,672.134828322,646,915,800,841,657,635,657.865171678,0.45905025467,0.0047044374601,0.0694081699017,0.999999558415,0.000206981780763,-0.000914295767232,-6.62714160972e-05,1793254985536681984
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,737,717,672.441963861,645.558036139,915,800,841,657,635,657.558036139,0.459051854502,0.00470415368472,0.0694085480153,0.999999558726,0.000207477363778,-0.000913855770241,-6.60958234299e-05,1793254985553348608
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760,737,717,672.982022506,645.017977494,915,800,841,657.017977494,635,657.017977494,0.459053563117,0.00470288555977,0.0694098732975,0.999999560415,0.000206965916568,-0.000912151606918,-6.56766530047e-05,1793254985570015488
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,737,717,672.406228251,645.593771749,915,800,841,657.593771749,635,657.593771749,0.459054074143,0.00470125717509,0.0694094365428,0.999999559493,0.000205180782874,-0.000913586685014,-6.53696654144e-05,1793254985586682112
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,737,717,672,646,915,800,841,657.826457441,635,657.826457441,0.459054753104,0.00470075222309,0.0694089189268,0.999999558636,0.00020494941784,-0.000914590228205,-6.51801016129e-05,1793254985603348736
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,737,717,672,646,915,800,841,657.237160055,635,657.237160055,0.459055834388,0.00470293867184,0.069408207592,0.999999557936,0.000208440406791,-0.00091455994584,-6.52718492682e-05,1793254985620015360
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,737,717,672,645.653683228,915,800,841,657,635,657.346316772,0.459056430264,0.00470275265226,0.0694076260858,0.999999557769,0.000207488992358,-0.000914951599404,-6.53709688957e-05,1793254985636681984
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,760,737,717,672,645.074126498,915,800,841,657,635,657.925873502,0.459056699223,0.00470096880522,0.0694071320175,0.999999557954,0.000203545675378,-0.000915627421466,-6.5475053449e-05,1793254985653348608
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,737.501416388,717,672,645.501416388,915,800,841,657.501416388,635,658,0.459056652107,0.00470170065588,0.0694070913703,0.999999557852,0.0002045007247,-0.000915528602773,-6.544874688e-05,1793254985670015232
+245,4.083333333,POSE1_TO_POSE2_PRESS,782.922174184,760,738,716.922174184,672,645.922174184,915,800,841.077825816,658,635,658,0.45905669872,0.00470272819933,0.0694071252902,0.999999557784,0.000205997530433,-0.000915269141841,-6.54081968462e-05,1793254985686682112
+246,4.100000000,POSE1_TO_POSE2_PRESS,782.336264697,760,738,716.336264697,672,645.336264697,915,800,841.663735303,658,635,658,0.459057659871,0.0047032774668,0.0694072118834,0.999999558233,0.000206341152876,-0.000914702625607,-6.53995039701e-05,1793254985703348736
+247,4.116666667,POSE1_TO_POSE2_PRESS,782.247320184,760,737.752679816,716.247320184,672,645,915,800,841.752679816,658,635.247320184,657.752679816,0.45905873279,0.0047033501185,0.0694075590116,0.999999558829,0.000206637450802,-0.000913997036045,-6.52050945856e-05,1793254985720015360
+248,4.133333333,POSE1_TO_POSE2_PRESS,782.827773968,760,737.172226032,716.827773968,672,645,915,800,841.172226032,658,635.827773968,657.172226032,0.459059956258,0.00470278078174,0.0694082570733,0.999999559626,0.00020687000393,-0.000913104118393,-6.4760530086e-05,1793254985736681984
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,760,737.406300393,717,672,645,915,800,841,657.593699607,636,657.406300393,0.459058578363,0.00470210038876,0.069407350309,0.999999558525,0.000206581336921,-0.000914392007001,-6.45121432515e-05,1793254985753348608
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,760,737.984013657,717,672,645,915,800,841,657.015986343,636,657.984013657,0.459056102987,0.00470137314264,0.0694057664894,0.999999556619,0.000206072773877,-0.000916599949558,-6.43465212577e-05,1793254985770015232
+251,4.183333333,POSE1_TO_POSE2_PRESS,783,760,737.440983761,717,672,645.559016239,915,800,841,657.559016239,635.440983761,658,0.459056819639,0.00470091953581,0.0694058998373,0.999999556191,0.000205472488023,-0.000917203351075,-6.43167242721e-05,1793254985786681856
+252,4.200000000,HOLD_POSE2,783,760,737,717,672,646,915,800,841,658,635,658,0.459059861234,0.00470048253422,0.0694077014208,0.999999558295,0.000204579084638,-0.000915112855314,-6.42332771997e-05,1793254985827803648
+253,4.216666667,HOLD_POSE2,783,760,737,717,672,645.421189587,915,800,841.578810413,657.421189587,635,658,0.459061223823,0.0047014403612,0.0694079851305,0.999999559055,0.000207269591444,-0.000913697508807,-6.39204248505e-05,1793254985844470272
+254,4.233333333,HOLD_POSE2,783,760,737,716.849272694,672,645,915,800,842,657.150727306,635,657.849272694,0.459062078612,0.00470200618121,0.0694083025758,0.999999559535,0.000208962322186,-0.000912801808665,-6.36962480752e-05,1793254985861137152
+255,4.250000000,HOLD_POSE2,783,760,737,716.295776337,672,645,915,800,842,657.704223663,635,657.295776337,0.459061576475,0.00470152449201,0.069408710169,0.999999559287,0.000207988825823,-0.000913294691885,-6.37090274799e-05,1793254985877804800
+256,4.266666667,HOLD_POSE2,783,760,737,716.275340592,672,645.275340592,915,800,841.724659408,658,635,657.275340592,0.459061352336,0.00470113347255,0.0694084398049,0.999999559221,0.000205893883156,-0.000913817487829,-6.40490012233e-05,1793254985894471680
+257,4.283333333,HOLD_POSE2,783,760,737,716.866680005,672,645.866680005,915,800,841.133319995,658,635,657.866680005,0.459061447243,0.00470084651164,0.069407391373,0.999999559357,0.000202511895627,-0.00091437461353,-6.47644845279e-05,1793254985911137536
+258,4.300000000,HOLD_POSE2,783,760,737,717,672,645.532983057,915,800,841.467016943,658,635,658,0.459062472985,0.00470160115909,0.0694079992271,0.999999560031,0.000203563540109,-0.000913413677031,-6.46122441517e-05,1793254985927803904
+259,4.316666667,HOLD_POSE2,783,760,737,717,672,645.066548887,915,800,842,658,635,657.933451113,0.459063519877,0.00470228330946,0.0694088288518,0.999999560603,0.000205656793436,-0.000912347188321,-6.42050347683e-05,1793254985944470528
+260,4.333333333,HOLD_POSE2,783,760,737,717,672,645.640000369,915,800,842,658,635,657.359999631,0.459062664068,0.0047001038477,0.0694076754664,0.999999559224,0.000205853949015,-0.000913842480733,-6.377960123e-05,1793254985961137920
+261,4.350000000,HOLD_POSE2,783,760,737,717,672,645.785962357,915.214037643,800,841.785962357,658,635,657.214037643,0.459061618319,0.00469912958573,0.0694068010065,0.99999955813,0.000205704154894,-0.000915089194281,-6.35367085798e-05,1793254985977804800
+262,4.366666667,HOLD_POSE2,783,760,737,717,672,645.210937165,915.789062835,800,841.210937165,658,635,657.789062835,0.459060252225,0.00470018796699,0.0694063969715,0.999999557519,0.000204969208913,-0.000915916664251,-6.36016823201e-05,1793254985994470912
+263,4.383333333,HOLD_POSE2,783,760,737,717,672,645,915.624335763,800,841,658,635,658,0.459061565107,0.0047015740896,0.0694074611811,0.999999558839,0.000205639406375,-0.000914322911594,-6.36197173602e-05,1793254986011137280
+264,4.400000000,HOLD_POSE2,783,760,737,717,672,645,915.031027539,800,841,658,635,658,0.459064430072,0.00470315009181,0.0694093760296,0.999999561269,0.00020712368451,-0.000911326404912,-6.36105581062e-05,1793254986027803904
+265,4.416666667,HOLD_POSE2,783,760,737,717,672,645.546380078,915,800,841,658,635,658,0.459063834799,0.00470223340469,0.069408734102,0.999999560571,0.000206172522945,-0.000912320688067,-6.34193721422e-05,1793254986044470272
+266,4.433333333,HOLD_POSE2,783,760,737,717,672,646,915,800,841.122672372,658,635,657.877327628,0.459063189171,0.00470120580766,0.0694080123477,0.999999559815,0.00020538423829,-0.000913342604024,-6.31792954961e-05,1793254986061137152
+267,4.450000000,HOLD_POSE2,783,760,737,717,672,646,915,800,841.698086815,658,635,657.301913185,0.459063062403,0.00470027653194,0.069407516684,0.999999559492,0.000205693069801,-0.000913653753363,-6.27958508091e-05,1793254986077803776
+268,4.466666667,HOLD_POSE2,783,760,737,717,672,646,915,800,842,657.726686219,635,657.273313781,0.459062936555,0.00470054805315,0.0694072896401,0.999999559182,0.000205749225169,-0.000913971394332,-6.29174228029e-05,1793254986094470400
+269,4.483333333,HOLD_POSE2,783,760,737,717,672,646,915,800,842,657.151666241,635,657.848333759,0.459062811724,0.00470214511271,0.0694073591208,0.999999558888,0.000205526455843,-0.000914296201277,-6.35964737088e-05,1793254986111137280
+270,4.500000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,672,645,915,800,841,657,635,658,0.459062360087,0.00470164261438,0.0694056236189,0.999999557236,0.000204789730588,-0.000916258165748,-6.37146983245e-05,1793254986146160896
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783.396827198,760,737.603172802,717,672,645.603172802,915,800,841,657,635,658,0.459063105933,0.00469981353933,0.0694066650194,0.999999558922,0.000203183692942,-0.00091480784684,-6.32325963401e-05,1793254986162828032
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,737.795625576,716.795625576,672,646,915,800,841,657,635,658,0.459063714927,0.00469922364817,0.0694076157853,0.99999956006,0.000202976552031,-0.000913617188458,-6.31250798983e-05,1793254986179494912
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,737.198214664,716.198214664,672,646,915,800,841,657,635,658,0.459064060737,0.00470101685567,0.06940839225,0.999999560145,0.000205459656751,-0.000912925888107,-6.37379362195e-05,1793254986196161024
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.394332382,672,645.605667618,915,800,841,657.394332382,635,658,0.459064105174,0.00470098516689,0.0694088532638,0.99999956074,0.000204452562279,-0.00091249881827,-6.37514680761e-05,1793254986212827136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.984464316,672,645.015535684,915,800,841,657.984464316,635,658,0.459063999969,0.00470004735442,0.0694091576454,0.999999561585,0.000201712464058,-0.000912202947982,-6.34674147448e-05,1793254986229493248
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,760,737,717.566474666,672,645.566474666,915,800,841,658,635,658,0.459063745286,0.00470098637789,0.0694080011678,0.999999560132,0.000204485902487,-0.000913181850612,-6.34025613511e-05,1793254986246160128
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,760,737,717.853947583,672,645.853947583,915,800,841,658,635,658,0.45906323298,0.0047016804311,0.0694070381189,0.99999955906,0.000206237864205,-0.000913968292282,-6.33091830167e-05,1793254986262827008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,760,737,717.280840669,672,645.280840669,915,800,841,658,635,658,0.459061979201,0.0047015098182,0.0694067561436,0.999999559303,0.000204567161762,-0.000914091201574,-6.31150689394e-05,1793254986279493632
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645,915,800,841,658,635,658,0.459054858397,0.00470112899136,0.069403291212,0.99999955499,0.000203822850186,-0.000918967489711,-6.30494757798e-05,1793254986296160512
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645,915,800,841,658,635,658,0.459042099927,0.00470054616852,0.0693967677558,0.999999546233,0.000203968714028,-0.000928411332082,-6.31073792578e-05,1793254986312826880
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645,915.459505793,800,841.459505793,658,635.459505793,658,0.459009912296,0.00470181908725,0.0693813026207,0.99999952363,0.000206124960362,-0.000951967122574,-6.33242216731e-05,1793254986329493248
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645,915.947276257,800,841.947276257,658,635.947276257,658,0.458970229948,0.00470336814927,0.0693629479666,0.999999496567,0.000208642607535,-0.000979437331383,-6.35311046703e-05,1793254986346159872
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645,915.372764424,800,841.372764424,658,635.372764424,658,0.458913118819,0.00470223032524,0.0693421113603,0.99999947175,0.000208865497129,-0.00100443255187,-6.31752347551e-05,1793254986362826240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.202031214,915,800,841,658,635,658,0.458852215325,0.00470153668887,0.0693253954805,0.999999451182,0.000209337365948,-0.00102462636396,-6.28897008955e-05,1793254986379492864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.777351328,915,800,841,658,635,658,0.458784304748,0.00470166376868,0.0693162933782,0.999999439331,0.000210269268758,-0.00103594871806,-6.27341255068e-05,1793254986396159744
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.639341259,915,800,841,657.639341259,635.360658741,658,0.458706884964,0.00470225056035,0.0693114524129,0.999999433051,0.000212182678581,-0.0010416670439,-6.16862193638e-05,1793254986412826880
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.050991337,915,800,841,657.050991337,635.949008663,658,0.458623461829,0.00470312757744,0.0693093015903,0.999999430335,0.000214715733653,-0.00104384743234,-6.00749667189e-05,1793254986429493760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672.531016894,645,915,800,841,657.531016894,636,658,0.458523302538,0.00470317424687,0.0693150415838,0.999999437266,0.000217125227444,-0.00103678836333,-5.82578316659e-05,1793254986446160384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783.111159695,760,737,717,672.888840305,645,915,800,841,658,635.888840305,658,0.458417700001,0.00470285016375,0.0693221122954,0.99999944601,0.000219237462369,-0.00102798170904,-5.62946540085e-05,1793254986462826752
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783.68603106,760,737,717,672.31396894,645,915,800,841,658,635.31396894,658,0.458296015569,0.00470130815123,0.0693316106098,0.999999458654,0.000220158569802,-0.00101554231966,-5.38037468494e-05,1793254986479493376
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783.740189771,760,737,716.740189771,672,645,915,800,841,657.740189771,635,658,0.458161300477,0.00470048540135,0.0693404322468,0.999999470125,0.00022295212896,-0.00100370738025,-5.11193862072e-05,1793254986496159744
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783.167724988,760,737,716.167724988,672,645,915,800,841,657.167724988,635,658,0.458010904352,0.00470052820927,0.0693484395725,0.999999480219,0.000227998988725,-0.00099259983436,-4.82022246252e-05,1793254986512826624
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.421446932,672,645,915.421446932,800,841,657.421446932,635,657.578553068,0.457840967806,0.00470057408724,0.0693565893631,0.999999491252,0.000232504603905,-0.000980504157345,-4.52662683065e-05,1793254986529493504
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.016957518,915.983042482,800,841,658,635,657,0.457661868747,0.00470059220948,0.0693650173682,0.999999502793,0.000236811819684,-0.000967753290596,-4.2273244183e-05,1793254986546160384
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,672,645.593179377,915.406820623,800,841,658,635,657,0.457447648664,0.00469965298,0.0693806738656,0.999999521707,0.000241972998514,-0.000946898993284,-3.76549837759e-05,1793254986562827008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.83048018,672.16951982,646,915,800,841,657.83048018,635,657.16951982,0.457224344809,0.00469811420541,0.0693975879069,0.999999542441,0.000246225509503,-0.000923801607632,-3.28847165937e-05,1793254986579493632
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,760,737,716.253854838,672.746145162,646,915,800,841,657.253854838,635,657.746145162,0.45697922603,0.00469513561011,0.0694175219704,0.999999567993,0.000248295836148,-0.000895317392907,-2.77494009229e-05,1793254986596160000
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,760,737,716.329582312,673,646,915,800,841,657,635,658,0.456710392788,0.00469412440205,0.0694318264809,0.999999585225,0.000253351622594,-0.000874553310388,-2.27843188187e-05,1793254986612826624
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,760,737,716.918376826,673,646,915,800,841,657,635,658,0.456422908444,0.00469466051868,0.0694417034199,0.999999596162,0.000260755434291,-0.000859861013401,-1.79531235166e-05,1793254986629493248
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783.478146273,760,737,717,673.478146273,646,915,800,841,657.478146273,635.478146273,658,0.456091117917,0.00469103296432,0.0694493593884,0.999999601397,0.000264432909759,-0.000852708354305,-1.29891895637e-05,1793254986646159616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783.964151125,760,737,717,674,646,915,800,841,658,635.964151125,658,0.455748861625,0.00468533221726,0.069456285419,0.999999605903,0.00026607129869,-0.000846958508547,-7.86797626309e-06,1793254986662826240
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783.365566108,760,737,717,674,646,915,800,841,658,635.365566108,658,0.455354250921,0.00465760637607,0.0694573641594,0.999999613638,0.00024511512756,-0.000844181738883,-6.13216918634e-07,1793254986679493120
+303,5.050000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,674.223824588,646,915,800,841,658,635,657.776175412,0.454944310189,0.00463691707842,0.0694538172061,0.999999614245,0.00023142489403,-0.000847296899559,6.33934572107e-06,1793254986696160000
+304,5.066666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,674.798790942,646,915,800,841,658,635,657.201209058,0.454510319355,0.00462726689372,0.0694430133456,0.999999604163,0.00022913365222,-0.000859655472639,1.2817813721e-05,1793254986712826624
+305,5.083333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,675,646,915.384446516,800,841,658,635.384446516,657.384446516,0.45407863499,0.00463009993959,0.0694484278787,0.999999614852,0.000239927995362,-0.000844060143057,1.71254005585e-05,1793254986729493248
+306,5.100000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,675,646,915.975856595,800,841,658,635.975856595,657.975856595,0.453648192253,0.00463965322723,0.0694625734472,0.99999963575,0.000257766853139,-0.000813416064385,2.02643122827e-05,1793254986746159616
+307,5.116666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,675.557219622,646,915.442780378,800,841,658,636,658,0.453181399148,0.00463964118664,0.0694993545558,0.999999681554,0.000258813266053,-0.000754520359932,2.46324333565e-05,1793254986762826496
+308,5.133333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,676,646.136232968,915,800,841,658,635.863767032,658,0.452690041911,0.00463974573084,0.0695281231293,0.999999717366,0.000246814799393,-0.000709767614212,2.41100550972e-05,1793254986779493120
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,676,646.709086319,915,800,841,658,635.290913681,658,0.452124916042,0.00464152869062,0.0695281242866,0.999999725861,0.000195298685093,-0.000714196077803,7.74618183204e-06,1793254986796159744
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783.281680878,760.281680878,737,717,676.281680878,647,915,800,841,658,635,657.718319122,0.451538933153,0.00464078780115,0.0695241688158,0.999999721636,0.000169751684691,-0.000726569587499,2.88503368922e-06,1793254986812826624
+311,5.183333333,POSE2_TO_POSE3_RETREAT,783.854008373,760.854008373,737,717,676.854008373,647,915,800,841,658,635,657.145991627,0.45093142941,0.00463744272967,0.0695161307797,0.999999706221,0.00017100038352,-0.000747141030641,9.89273674983e-06,1793254986829493504
+312,5.200000000,POSE2_TO_POSE3_RETREAT,783.557105643,761,737,717,677.442894357,647,915,800,841,658,635,657.442894357,0.450311654488,0.00463869429405,0.069521197439,0.999999705333,0.000174368667764,-0.000747458491576,1.53202237434e-05,1793254986846160384
+313,5.216666667,POSE2_TO_POSE3_RETREAT,783,760.963576354,737,717,678.036423646,647,915,800,841,658,635,658,0.449687741274,0.00464132176914,0.0695327740716,0.999999712734,0.000177625617436,-0.000736600509192,2.00292463288e-05,1793254986862827008
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,760.385322487,737,717,678.614677513,647,915,800,841,658,635,658,0.449064776551,0.00464100189464,0.0695744368036,0.999999766004,0.000168429286462,-0.000662672121958,2.21001140665e-05,1793254986879493376
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783.191556405,760,737,717,679,647.191556405,915,800,841,658,635,658,0.448419083778,0.00463945737857,0.0696162383011,0.999999811689,0.0001545993595,-0.000593439261232,2.34655800793e-05,1793254986896160000
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783.765689126,760,737,717,679,647.765689126,915,800,841,658,635,658,0.447727998634,0.00463546700926,0.0696583169359,0.999999848721,0.000131515220088,-0.000533584315996,2.34222181558e-05,1793254986912826368
+317,5.283333333,POSE2_TO_POSE3_RETREAT,783.660551799,760,737,717,679.339448201,648,915,800,840.660551799,658,635,657.660551799,0.446981402265,0.00463282650588,0.0696582326725,0.999999848855,0.000115855251714,-0.000536890069396,2.48194805994e-05,1793254986929493248
+318,5.300000000,POSE2_TO_POSE3_RETREAT,783.0870503,760,737,717,679.9129497,648,915,800,840.0870503,658,635,657.0870503,0.446196530221,0.00463111674962,0.0696290766275,0.999999823705,0.000105314329267,-0.000583745818707,2.72100695125e-05,1793254986946160128
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,680.504956688,648,915,800,840,658,635.504956688,657,0.445432546407,0.00462930672836,0.0696198349167,0.999999821853,9.46063292331e-05,-0.000588665228505,2.85951027893e-05,1793254986962826496
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,681.096957665,648,915.096957665,800,840,658,635.903042335,657.096957665,0.444671295913,0.00462688709557,0.0696237769861,0.999999830552,0.000109528240385,-0.000571031352372,2.86821040718e-05,1793254986979493376
+321,5.350000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,681.672580559,648,915.672580559,800,840,658,635.327419441,657.672580559,0.443905085471,0.00462154648158,0.0696752121008,0.999999853427,0.000251128720378,-0.000479103878463,2.32492744953e-05,1793254986996160000
+322,5.366666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,682.248910661,648.248910661,915.751089339,800,840,657.751089339,635,657.751089339,0.443104155974,0.00461452202255,0.0697205367603,0.999999864962,0.000320477236132,-0.000408457928027,2.30761984931e-05,1793254987012826624
+323,5.383333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,682.82617365,648.82617365,915.17382635,800,840,657.17382635,635,657.17382635,0.442257426627,0.00460527630727,0.0697578007651,0.999999889249,0.000294514041641,-0.000365885674019,2.98415659953e-05,1793254987029493248
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782.585862064,760,737,717,683.414137936,649,915,800.414137936,840,657,635,657.414137936,0.441433071066,0.00459986079358,0.0697886754328,0.999999914912,0.000264523624463,-0.000314961144104,3.16562305371e-05,1793254987046159872
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782.006540387,760,737,717,684,649,915,800.993459613,840,657.006540387,635,658,0.440617273786,0.00459606595716,0.0698164410428,0.999999938301,0.000232831227022,-0.000261159294175,3.13584304045e-05,1793254987062826752
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782.583877502,760,737,717,684,649,915,800.416122498,840,657.583877502,635,658,0.439707064998,0.00458968618768,0.0698131270202,0.99999994211,0.000204036731278,-0.000270313731933,3.2859790715e-05,1793254987079493376
+327,5.450000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,684,649,915,800.160753383,840,658,635.160753383,658,0.43877214717,0.00458478696427,0.0697907283874,0.999999936222,0.000177516234794,-0.000308063922725,3.37796238455e-05,1793254987096160000
+328,5.466666667,POSE2_TO_POSE3_RETREAT,783,760,737,717,684,649,915,800.736438649,840,658,635.736438649,658,0.437773451238,0.00458370928366,0.0697190691229,0.999999899103,0.000156865321334,-0.000419624623251,3.31984357573e-05,1793254987112826624
+329,5.483333333,POSE2_TO_POSE3_RETREAT,783,760,736.68138002,717,684,649,915,800.68138002,840,658,636,658,0.436816937561,0.00457890956693,0.0696932016262,0.999999884641,0.000140778920907,-0.000458041943553,3.31217999149e-05,1793254987129493504
+330,5.500000000,POSE2_TO_POSE3_RETREAT,783,760,736.093713265,717,684,649,915,800.093713265,840,658,636,658,0.435896043009,0.0045709669153,0.0697060012743,0.999999896697,0.000128546852351,-0.00043469607614,3.34712146056e-05,1793254987146160384
+331,5.516666667,POSE2_TO_POSE3_RETREAT,783,760,736.487581793,717.487581793,684,649,915,800.487581793,840,657.512418207,635.512418207,657.512418207,0.434983595423,0.00456601226926,0.0697575636504,0.999999922799,0.00013605132382,-0.000366865659359,3.6089897059e-05,1793254987162827008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,783,760,737,717.932801618,684.067198382,649,915,800.932801618,840,657.067198382,635,657.067198382,0.434071001682,0.00456142566976,0.0698117163589,0.999999944997,0.000144235364728,-0.000296129962945,3.88462745193e-05,1793254987179493376
+333,5.550000000,POSE2_TO_POSE3_RETREAT,783,760,737,717.356740981,684.643259019,649,915,800.356740981,840,657.643259019,635,657.643259019,0.433145165212,0.00455533334191,0.0698297953146,0.999999955151,0.000129210625304,-0.000267303432854,3.93851710271e-05,1793254987196160000
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782.781863802,760,737,717,685,649,915,800,840,658,635,657.781863802,0.432197275708,0.00454993852417,0.0698357771065,0.999999959416,0.000118288656051,-0.000256193408375,3.92447776138e-05,1793254987212826624
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782.208911645,760,737,717,685,649,915,800,840,658,635,657.208911645,0.431213515236,0.00454567826275,0.069822081894,0.999999955265,0.000114040171376,-0.000273900697998,3.7999464877e-05,1793254987229493248
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782,760,737,717,685,649,915,800,840,657.623120195,635,657,0.430173015661,0.00454100513313,0.069764683989,0.999999926576,0.00010731233063,-0.000366010364516,3.69838468593e-05,1793254987246159616
+337,5.616666667,POSE2_TO_POSE3_RETREAT,782,760,737,717,685,649,915,800,840,657.029960688,635,657,0.4290999553,0.00453609507132,0.0696822064565,0.999999869023,9.91616624284e-05,-0.000500817255402,3.61000430551e-05,1793254987262826240
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782,760,737,717,685,649,915,800,840,657.546764965,635,657,0.42819367182,0.00452531065999,0.0697286034211,0.999999905438,8.92708842482e-05,-0.000424046366764,3.65958940995e-05,1793254987279493376
+339,5.650000000,POSE2_TO_POSE3_RETREAT,782.122516921,760,737,717.122516921,685,649,915,800,840,658,635,657.122516921,0.427295400715,0.00451616662879,0.0697815773174,0.999999938708,8.0179157372e-05,-0.000338744230814,3.75136769426e-05,1793254987296160256
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782.697901109,760,737,717.697901109,685,649,915,800,840,658,635,657.697901109,0.426393952001,0.00451424115758,0.0698335204671,0.999999961726,7.43831896785e-05,-0.000263511506478,3.97197833654e-05,1793254987312826624
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782.71958,760,737,718,685.28042,649,915,800,840,657.71958,635,657.71958,0.425463584419,0.00450727289195,0.0698537334097,0.999999969631,7.01972321538e-05,-0.000232752434235,4.04459813165e-05,1793254987329493248
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782.129174091,760,737,718,685.870825909,649,915,800,840,657.129174091,635,657.129174091,0.424501248812,0.00449473014774,0.0698388706969,0.999999965381,6.77910348273e-05,-0.000251156057772,3.95362380209e-05,1793254987346159616
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782,760,737,718,685.54767926,649.45232074,915,800,839.54767926,657.45232074,635,657,0.423504916884,0.00448917433516,0.0697942275661,0.999999943667,5.4623439334e-05,-0.000328936050723,3.85045618738e-05,1793254987362826240
+344,5.733333333,POSE2_TO_POSE3_RETREAT,782,759.968866273,737,718,685,650,915,800.031133727,839.031133727,657.968866273,635,657.031133727,0.42250003252,0.00448537161324,0.069741044289,0.999999908884,3.8677242656e-05,-0.000423473841021,3.74903689913e-05,1793254987379493120
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782,759.393308282,737,718,685,650,915,800.606691718,839.606691718,657.393308282,635,657.606691718,0.421512086083,0.00447800699414,0.0696843680835,0.999999863605,2.68451377601e-05,-0.00052026156015,3.73790533254e-05,1793254987396159744
+346,5.766666667,POSE2_TO_POSE3_RETREAT,781.818651802,759.181348198,737,718,685,650,915,800.818651802,840,657.181348198,635,658,0.420585090014,0.00446937863593,0.0696665589874,0.999999847984,1.84268789002e-05,-0.00054984814243,3.68611392488e-05,1793254987412826368
+347,5.783333333,POSE2_TO_POSE3_RETREAT,781.245940885,759.754059115,737,718,685,650,915,800.245940885,840,657.754059115,635,658,0.419789629371,0.00445802303644,0.0697326279694,0.999999904864,1.73759513274e-05,-0.000434409737461,3.54657562848e-05,1793254987429493248
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781.338616759,760,737,718.338616759,685.338616759,650,915,800,840,658,635,658,0.418988041142,0.00445137724494,0.0698008609517,0.999999947038,7.22493010248e-06,-0.000323371858971,3.60919863321e-05,1793254987446160128
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781.932090722,760,737,718.932090722,685.932090722,650,915,800,840,658,635,658,0.418181841072,0.00444827625341,0.0698707226487,0.999999975969,-9.77520398848e-06,-0.000215646006589,3.82397672772e-05,1793254987462826496
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781.508061043,760,737,718.508061043,686.491938957,650,915,800,839.508061043,658,635,658,0.417321277981,0.00443939874199,0.0698544956733,0.999999969421,-7.90731444712e-06,-0.000244274132407,3.77454617666e-05,1793254987479493376
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781.051275926,760,737.051275926,718.051275926,686.948724074,649.948724074,915,800,839.051275926,658,635,657.948724074,0.416456046357,0.00443027325024,0.069826521732,0.999999957349,-5.89997281843e-06,-0.000289677014943,3.6796417988e-05,1793254987496160000
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781.651666392,760,737.651666392,718.651666392,686.348333608,649.348333608,915,800,839.651666392,658,635,657.348333608,0.415616043901,0.00442648530339,0.069791873159,0.999999945842,-2.85075509495e-05,-0.000326043420313,3.46335201417e-05,1793254987512826624
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781.754073527,760,738,719,685.754073527,649.245926473,915,800,839.754073527,658,635,657,0.414781813514,0.00442579510475,0.0697595600525,0.999999927969,-3.79402670452e-05,-0.000376054929045,3.47217227962e-05,1793254987529493504
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781.168285334,760,738,719,685.168285334,649.831714666,915,800,839.168285334,658,635,657,0.413955559801,0.00442938588443,0.0697304744733,0.999999899877,-2.9165791196e-05,-0.000444923494457,3.79208666663e-05,1793254987546160384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.413791436,760,738,719,685.413791436,649.586208564,914.586208564,800,839.413791436,658,635,657,0.413204785222,0.00444827835191,0.0697399786166,0.999999907775,1.70159699539e-06,-0.000427806986745,3.77838499135e-05,1793254987562827264
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.994372187,760,738,719,685.994372187,649.005627813,914.005627813,800,839.994372187,658,635,657,0.412484434505,0.00447333855921,0.069765037345,0.999999927781,4.14741029501e-05,-0.000376031971755,3.63021072665e-05,1793254987579493888
+357,5.950000000,POSE2_TO_POSE3_RETREAT,782,760,737.428985703,719,686.571014297,649,914,800,839.428985703,657.428985703,635.571014297,657,0.411858041057,0.00447272389192,0.0698240985949,0.999999961215,2.67381904433e-05,-0.00027477366082,3.6815921346e-05,1793254987596160256
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781.852888597,760,737.147111403,719,687.147111403,649.147111403,914.147111403,800,839,657.147111403,635.852888597,657.147111403,0.411219345793,0.00446888251673,0.0698663840289,0.999999978392,1.75258056782e-05,-0.000203727205326,3.74588031987e-05,1793254987612826880
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781.2782633,760,737.7217367,719,687.7217367,649.7217367,914.7217367,800,839,657.7217367,635.2782633,657.7217367,0.410542228158,0.00445639448028,0.0698589507948,0.99999997431,2.59156114799e-05,-0.000221885660046,3.84199997883e-05,1793254987629493504
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737.695763273,719,687.391526546,650,915,800,839,658,635,657.695763273,0.409874303294,0.00444954369614,0.069833685852,0.999999963187,2.53114539263e-05,-0.00026741505596,3.8392713077e-05,1793254987646160384
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737.105869456,719,686.211738913,650,915,800,839,658,635,657.105869456,0.409215009838,0.00444798589986,0.0697916781774,0.999999941827,1.62625908478e-05,-0.000338643856686,3.74373092226e-05,1793254987662827008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781,759.525631587,737.474368413,719,686,649.525631587,914.525631587,800,839,658,635,657,0.408592074893,0.00445289351968,0.0697676605046,0.999999929465,7.25022140897e-06,-0.000373828233638,3.56482329473e-05,1793254987679493376
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781,759.052251481,738,719.052251481,686,649,914.052251481,800,839.052251481,658,635,657,0.407986039708,0.00445923733638,0.0697513253349,0.999999921201,1.01873419789e-06,-0.000395542452062,3.38144342539e-05,1793254987696160000
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781,759.627703135,738,719.627703135,686,649,914.627703135,800,839.627703135,658,635,657,0.407469593842,0.00446580176083,0.0697725152798,0.999999933913,2.2552625286e-05,-0.000361320872754,3.33586891297e-05,1793254987712826624
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781,760,738,719.792293309,686.207706691,649,914.792293309,800,839.792293309,658,635,657.207706691,0.406964130495,0.00447055434766,0.0697894918237,0.999999941782,4.09028358606e-05,-0.000337086099951,3.36946841779e-05,1793254987729493504
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,760,738,719.203947941,686.796052059,649,914.203947941,800,839.203947941,658,635,657.796052059,0.406478793381,0.00447198660215,0.0697987469863,0.999999943113,5.34187078296e-05,-0.000331152922347,3.54816047122e-05,1793254987746160384
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781,760,738,719.378700325,686.621299675,649,914,800,839,658,635,658,0.406000376363,0.00447066571214,0.069796784529,0.999999940429,4.49910840718e-05,-0.000340455457577,3.47489569728e-05,1793254987762826752
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781,760,738,719.958325872,686.041674128,649,914,800,839,658,635,658,0.405525630938,0.00446788409932,0.0697888703922,0.999999935117,2.54515691163e-05,-0.000357841532329,3.26795138127e-05,1793254987779493120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781,760,737.46460835,720,685.46460835,649,914.53539165,800.53539165,839,657.46460835,635,658,0.40512341016,0.00446941504872,0.0697988979008,0.999999942461,1.87135887841e-05,-0.000337277300451,3.11820956167e-05,1793254987796159744
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,760,737.111995459,720,685.111995459,649,915,800.888004541,839,657.111995459,635,657.888004541,0.404737775179,0.00447111446946,0.0698114977584,0.999999950722,1.5248352485e-05,-0.000312101581899,3.02577176481e-05,1793254987812826368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,760,737.687508003,720,685.687508003,649,915,800.312491997,839,657.687508003,635,657.312491997,0.404397531315,0.00447212845679,0.0698289914044,0.999999960076,2.12236544916e-05,-0.000280007820461,3.15215870546e-05,1793254987829492992
+372,6.200000000,POSE2_TO_POSE3_RETREAT,781,759.731656686,738,720,686.268343314,649,914.731656686,800,839,658,635,657,0.404066481129,0.00446904823226,0.0698385438133,0.999999965071,1.63554876535e-05,-0.000261852636299,3.20060358934e-05,1793254987846159872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781,759.144497491,738,720,686.855502509,649,914.144497491,800,839,658,635,657,0.40374635388,0.00446110371743,0.0698386613202,0.999999965634,-1.39569138311e-06,-0.000260257732338,3.15644632512e-05,1793254987862826496
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781,759.438234759,738,720,686.561765241,649.438234759,914.438234759,800,839,658,635,657.438234759,0.403435417836,0.0044583682278,0.0698298395636,0.999999961811,-1.08460032765e-05,-0.000274445481632,3.06618479341e-05,1793254987879493120
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649.980682863,914.980682863,800,839,658,635,658,0.403128609319,0.00445729737243,0.0698181618049,0.999999956236,-1.75360207928e-05,-0.000293836876373,2.96764288907e-05,1793254987896159744
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649.405494845,914.405494845,800,839,658,635,658,0.402854239428,0.00445519803029,0.0698082690632,0.999999949748,-2.27684302462e-05,-0.000314716935774,3.06389738123e-05,1793254987912826368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,658,0.402598587419,0.00445297589811,0.0698008034124,0.999999945083,-2.758651096e-05,-0.000328762754282,3.14439765812e-05,1793254987929492736
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686,649,914,800,839,658,635,658,0.402387663182,0.00445046034919,0.0697991374809,0.999999945705,-3.14145221946e-05,-0.000326477630197,3.18725204169e-05,1793254987946159360
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781,759.671761355,738,720,686.328238645,649,914,800,839,657.671761355,635,657.671761355,0.40219290394,0.00444670129374,0.0697976637386,0.999999945145,-3.45824442831e-05,-0.000327732818111,3.3233563622e-05,1793254987962825984
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781,759.082083357,738,720,686.917916643,649,914,800,839,657.082083357,635,657.082083357,0.402011019997,0.00444195179581,0.0697963430734,0.999999943635,-3.72246106227e-05,-0.000331807835243,3.53373347985e-05,1793254987979492608
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781,759.500446687,738,720,686.499553313,649,914,800,839,657.500446687,635,657.500446687,0.401852274099,0.00443919363296,0.0697955268877,0.999999943252,-3.41492032418e-05,-0.000333027848269,3.77217051017e-05,1793254987996159488
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781,759.919055889,738,720,686,649,914,800,839,658,635,658,0.401701468186,0.00443895790599,0.0697945008682,0.999999943273,-1.84296085512e-05,-0.000333931845146,4.00530054139e-05,1793254988012826368
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781,759.343911256,738,720,686,649,914,800,839,658,635,658,0.401576294928,0.00445215671827,0.0697916956371,0.999999940402,6.88434371179e-05,-0.000335725208916,4.17832492687e-05,1793254988029492992
+384,6.400000000,POSE2_TO_POSE3_RETREAT,781,759.231650441,738,720,686,649,914.231650441,800,839,658,635,658,0.401463824068,0.00446684051031,0.0697905323924,0.999999934412,0.000128301375759,-0.000336017673956,4.24991125343e-05,1793254988046159872
+385,6.416666667,POSE2_TO_POSE3_RETREAT,781,759.80783238,738,720,686,649,914.80783238,800,839,658,635,658,0.401370245375,0.00448373289745,0.0697918112587,0.999999932611,0.000146390163075,-0.000334077869384,4.17062974097e-05,1793254988062826496
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,759.605556279,738,720,686.394443721,649,915,800.394443721,839,658,635,658,0.401288869169,0.00448383570266,0.0697913382656,0.999999934264,0.000135015409887,-0.000334143632586,3.98892855663e-05,1793254988079493120
+387,6.450000000,POSE2_TO_POSE3_RETREAT,781,759.013725826,738,720,686.986274174,649,915,800.986274174,839,658,635,658,0.401213599298,0.0044755367006,0.0697899886105,0.999999937182,0.000108896572656,-0.000335213017645,3.75597471732e-05,1793254988096159744
+388,6.466666667,POSE2_TO_POSE3_RETREAT,781,759.564289979,738,720,685.871420041,649,914.435710021,800.435710021,839,658,635,657.435710021,0.401157884341,0.00447417321193,0.0697908007995,0.999999942062,6.06850000332e-05,-0.000334044919896,2.46406353087e-05,1793254988112826112
+389,6.483333333,POSE2_TO_POSE3_RETREAT,781,760,738,720.141171794,685.141171794,649.141171794,914.141171794,800.141171794,839,658,635,657,0.401107921964,0.00447272435306,0.0697923535551,0.999999944615,2.39463972081e-05,-0.000331615845948,1.50615105748e-05,1793254988129493248
+390,6.500000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.71558027,685.71558027,649.71558027,914.71558027,800.71558027,839,658,635,657,0.401074188604,0.00447050815962,0.0697960214877,0.999999946607,2.40264895781e-05,-0.000325480043215,1.65039328436e-05,1793254988146159872
+391,6.516666667,POSE2_TO_POSE3_RETREAT,781,759.702473734,738,720.702473734,686,649.702473734,914.702473734,800.702473734,839,658,635,657.297526266,0.401047319826,0.00446909457869,0.0698003643175,0.999999949085,2.33260250329e-05,-0.00031775715056,1.77634727844e-05,1793254988162826752
+392,6.533333333,POSE2_TO_POSE3_RETREAT,781,759.113135006,738,720.113135006,686,649.113135006,914.113135006,800.113135006,839,658,635,657.886864994,0.401027183803,0.00446846819674,0.0698053690835,0.999999952004,2.18599936701e-05,-0.000308477647397,1.88436424495e-05,1793254988179493376
+393,6.550000000,POSE2_TO_POSE3_RETREAT,781,759.466740975,738,720,686.466740975,649,914.466740975,800,839,658,635,658,0.401008953918,0.00446946741015,0.0698067968225,0.999999952483,2.32240415779e-05,-0.000306807749571,1.90502456171e-05,1793254988196159744
+394,6.566666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649,915,800,839,658,635,657.955783427,0.400992051864,0.00447058430363,0.0698075072758,0.999999952485,2.50151262467e-05,-0.0003066592701,1.9102104992e-05,1793254988212826624
+395,6.583333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,687,649,915,800,839,658,635,657.380137665,0.40098566596,0.00446847386878,0.0698098106188,0.999999953594,2.38577077891e-05,-0.000303068034013,1.97885009619e-05,1793254988229493248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.805473831,649,915,800,839,658,635,657.194526169,0.400980265781,0.00446743682243,0.069811949968,0.999999954681,2.30364828516e-05,-0.000299493915595,2.02525623748e-05,1793254988246159872
+397,6.616666667,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.232719285,649,915,800,839,658,635,657.767280715,0.400976782202,0.00446848682712,0.0698137704545,0.999999955739,2.28689383751e-05,-0.000295953080467,2.02843258888e-05,1793254988262826496
+398,6.633333333,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.353386323,649.353386323,915,800,839,658,635,657.646613677,0.400974600428,0.00446904941032,0.0698152918624,0.999999956383,2.41137292891e-05,-0.000293647793018,2.05681875246e-05,1793254988279493376
+399,6.650000000,POSE2_TO_POSE3_RETREAT,781,760,738,720,686.948629426,649.948629426,915,800,839,658,635,657.051370574,0.400973309605,0.00446927840351,0.0698166085818,0.999999956746,2.63251192518e-05,-0.000292188111177,2.10245845333e-05,1793254988296160000
+400,6.666666667,POSE2_TO_POSE3_RETREAT,780.473758149,760,737.473758149,720,687,649.473758149,915,800,839,658,635,657.526241851,0.400972308754,0.00446807610194,0.069817896817,0.999999957243,2.40890621471e-05,-0.000290670238527,2.10727703892e-05,1793254988312827392
+401,6.683333333,POSE2_TO_POSE3_RETREAT,780.102417141,760,737.102417141,720,686.897582859,649,914.897582859,800,839,658,635,657.897582859,0.400971431663,0.0044671309128,0.0698189586037,0.999999957672,2.22623948182e-05,-0.000289335870384,2.1077948074e-05,1793254988329494784
+402,6.700000000,POSE2_TO_POSE3_RETREAT,780.679650314,760,737.679650314,720,686.320349686,649,914.320349686,800,839,658,635,657.320349686,0.400971001357,0.00446800447884,0.069818983026,0.999999957758,2.4281213237e-05,-0.00028887772832,2.10624892497e-05,1793254988346161152
+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,760,737.738302271,720,686,649,914,800,839,657.738302271,635,657,0.400970470804,0.00446892253298,0.0698189343902,0.999999957739,2.52281584293e-05,-0.000288875201073,2.09180642749e-05,1793254988362827520
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,760,737.150251233,720,686,649,914,800,839,657.150251233,635,657,0.400969815237,0.00446989606648,0.0698187946464,0.999999957591,2.48384110707e-05,-0.000289440853804,2.06128105086e-05,1793254988379493888
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781,760,737,720,686.431452712,649,914.431452712,800,839,657,635,657,0.400968921864,0.00446950284754,0.0698184135324,0.999999957561,2.43507802279e-05,-0.000289576944287,2.07261992676e-05,1793254988396160512
+406,6.766666667,POSE2_TO_POSE3_RETREAT,781,760,737.01086518,720.01086518,687,649,914.98913482,800,839,657,635,657,0.400968002183,0.00446864604986,0.0698179910821,0.999999957584,2.38582904375e-05,-0.000289520372424,2.0981391076e-05,1793254988412826880
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781,760,737.584416873,720.584416873,687,649,914.415583127,800,839,657,635,657,0.400969946637,0.00446807333541,0.0698197178916,0.999999958248,2.48538931737e-05,-0.0002871210017,2.11395593623e-05,1793254988429493504
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781,760,738,720.841866468,686.841866468,649,914,800,839,657,635,657.158133532,0.400971094464,0.00446797228113,0.0698209989497,0.999999958722,2.55961888039e-05,-0.000285394298009,2.12258230351e-05,1793254988446160128
+409,6.816666667,POSE2_TO_POSE3_RETREAT,781,760,738,720.267715906,686.267715906,649,914,800,839,657,635,657.732284094,0.400970146528,0.00446911206854,0.0698211073264,0.99999995871,2.56720850108e-05,-0.000285437244296,2.11229203292e-05,1793254988462826496
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780.683130042,760,738,720,686,649,914.316869958,800.316869958,839,657,635,657.683130042,0.400969402692,0.0044696503716,0.0698209619044,0.999999958607,2.63675917068e-05,-0.000285740487956,2.1068124245e-05,1793254988479493376
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..452289e9b5d8db2934c518140e3e0ff495886216
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.591273947631,0.0101817329547,1.06002040957,0.561845097279,0.0188559773089,1.05969211638
+348,5.800000000,pose2_to_pose3_retreat,0.590577999026,0.0101817215106,1.06002051122,0.561149148037,0.0188559636108,1.05969221557
+349,5.816666667,pose2_to_pose3_retreat,0.589892441623,0.0101817143353,1.06002064429,0.560463590103,0.0188559543131,1.05969234018
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+351,5.850000000,pose2_to_pose3_retreat,0.588501092601,0.0101817824484,1.06002056296,0.559072239204,0.0188560160824,1.05969225947
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+354,5.900000000,pose2_to_pose3_retreat,0.586456371301,0.010181855874,1.06002038565,0.557027518341,0.0188560915632,1.05969209716
+355,5.916666667,pose2_to_pose3_retreat,0.585832546304,0.0101817776887,1.06002031778,0.556403693724,0.0188560143177,1.05969202008
+356,5.933333333,pose2_to_pose3_retreat,0.585241270248,0.0101818004307,1.060020494,0.55581241705,0.0188560347798,1.0596921915
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+359,5.983333333,pose2_to_pose3_retreat,0.5835794325,0.0101816652366,1.06002032858,0.554150581773,0.0188559084089,1.05969203764
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+362,6.033333333,pose2_to_pose3_retreat,0.581991255875,0.0101817833045,1.06002061715,0.552562403055,0.0188560193594,1.0596923258
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+365,6.083333333,pose2_to_pose3_retreat,0.580625065975,0.0101819207069,1.06002061116,0.551196212135,0.0188561529663,1.05969231093
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+369,6.150000000,pose2_to_pose3_retreat,0.579114485153,0.0101817564211,1.06002076725,0.54968563231,0.0188559921794,1.05969247068
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+371,6.183333333,pose2_to_pose3_retreat,0.578499560937,0.0101816863528,1.06002059794,0.549070710073,0.0188559284788,1.05969229228
+372,6.200000000,pose2_to_pose3_retreat,0.578220088528,0.0101816693716,1.06002048595,0.548791237962,0.0188559126761,1.05969218482
+373,6.216666667,pose2_to_pose3_retreat,0.577953791942,0.01018178922,1.06002053126,0.548524939661,0.0188560269405,1.05969223626
+374,6.233333333,pose2_to_pose3_retreat,0.577698587979,0.0101818796805,1.06002050233,0.548269734951,0.0188561151505,1.05969221485
+375,6.250000000,pose2_to_pose3_retreat,0.57745591047,0.0101817293542,1.06002053629,0.548027058164,0.0188559669064,1.05969223898
+376,6.266666667,pose2_to_pose3_retreat,0.577231461286,0.0101817616205,1.06002042275,0.547802610086,0.0188560029581,1.05969212633
+377,6.283333333,pose2_to_pose3_retreat,0.577026297635,0.0101819117694,1.06002073026,0.547597445389,0.0188561494829,1.05969243176
+378,6.300000000,pose2_to_pose3_retreat,0.576841854426,0.0101819019935,1.06002067107,0.547413000858,0.0188561355071,1.05969238019
+379,6.316666667,pose2_to_pose3_retreat,0.576676752097,0.0101818931583,1.06002057472,0.547247897789,0.0188561240505,1.05969228096
+380,6.333333333,pose2_to_pose3_retreat,0.576528985407,0.0101818395134,1.06002054779,0.547100132101,0.0188560735855,1.05969224828
+381,6.350000000,pose2_to_pose3_retreat,0.576395460509,0.0101817456529,1.06002054128,0.546966609219,0.0188559865807,1.0596922422
+382,6.366666667,pose2_to_pose3_retreat,0.57627570064,0.010181709946,1.06002051551,0.546846850108,0.0188559536645,1.05969222229
+383,6.383333333,pose2_to_pose3_retreat,0.576170550625,0.010181755884,1.06002046371,0.546741698914,0.0188559957541,1.0596921745
+384,6.400000000,pose2_to_pose3_retreat,0.57607833547,0.010181654739,1.06002027818,0.546649485103,0.018855899159,1.05969198872
+385,6.416666667,pose2_to_pose3_retreat,0.575998593427,0.0101818450832,1.06002055005,0.546569741513,0.018856083754,1.0596922482
+386,6.433333333,pose2_to_pose3_retreat,0.575930485941,0.0101817711735,1.06002043454,0.546501633299,0.0188560076393,1.05969213939
+387,6.450000000,pose2_to_pose3_retreat,0.575872721752,0.0101818251498,1.06002057423,0.546443868504,0.0188560596785,1.05969228215
+388,6.466666667,pose2_to_pose3_retreat,0.575824819489,0.0101818263436,1.06002055876,0.546395966383,0.0188560613956,1.05969226766
+389,6.483333333,pose2_to_pose3_retreat,0.575785898098,0.0101817672119,1.06002064566,0.546357046102,0.0188560059254,1.05969235183
+390,6.500000000,pose2_to_pose3_retreat,0.575756080356,0.0101817379237,1.06002061906,0.546327228653,0.0188559775767,1.05969232378
+391,6.516666667,pose2_to_pose3_retreat,0.575732507244,0.0101817818732,1.06002030189,0.546303654248,0.0188560172481,1.05969200951
+392,6.533333333,pose2_to_pose3_retreat,0.575714332577,0.010181868128,1.06002050755,0.546285479991,0.0188561047668,1.05969221184
+393,6.550000000,pose2_to_pose3_retreat,0.575700567636,0.0101818988078,1.06002036381,0.546271714395,0.0188561333395,1.05969207119
+394,6.566666667,pose2_to_pose3_retreat,0.575690293006,0.0101818717357,1.06002042258,0.546261439305,0.0188561047029,1.05969212955
+395,6.583333333,pose2_to_pose3_retreat,0.57568270005,0.0101818174072,1.06002065496,0.546253846189,0.0188560497272,1.05969235873
+396,6.600000000,pose2_to_pose3_retreat,0.575677611813,0.0101818601801,1.06002063968,0.546248757812,0.0188560921649,1.05969234778
+397,6.616666667,pose2_to_pose3_retreat,0.5756748693,0.0101818743654,1.06002060977,0.546246015498,0.018856107054,1.05969231896
+398,6.633333333,pose2_to_pose3_retreat,0.575673011971,0.0101818579091,1.06002052583,0.546244159107,0.0188560936739,1.05969223209
+399,6.650000000,pose2_to_pose3_retreat,0.575671783581,0.0101818470254,1.06002047032,0.546242931337,0.0188560848246,1.05969217463
+400,6.666666667,pose2_to_pose3_retreat,0.57567097975,0.0101818399033,1.06002043399,0.546242127912,0.0188560790339,1.05969213704
+401,6.683333333,pose2_to_pose3_retreat,0.575670441264,0.0101818291026,1.06002040756,0.546241589419,0.0188560682037,1.05969211046
+402,6.700000000,pose2_to_pose3_retreat,0.575670004217,0.0101818169893,1.06002038496,0.546241152212,0.0188560555552,1.05969208813
+403,6.716666667,pose2_to_pose3_retreat,0.575669580613,0.0101818052486,1.06002036304,0.546240728452,0.0188560432958,1.05969206648
+404,6.733333333,pose2_to_pose3_retreat,0.575669151682,0.0101817933603,1.06002034085,0.546240299363,0.0188560308822,1.05969204456
+405,6.750000000,pose2_to_pose3_retreat,0.575669019767,0.0101817897041,1.06002033403,0.546240167399,0.0188560270645,1.05969203782
+406,6.766666667,pose2_to_pose3_retreat,0.575668941765,0.0101817875422,1.06002033,0.546240089368,0.018856024807,1.05969203383
+407,6.783333333,pose2_to_pose3_retreat,0.575668900329,0.0101817863938,1.06002032785,0.546240047918,0.0188560236079,1.05969203171
+408,6.800000000,pose2_to_pose3_retreat,0.575668840191,0.010181784727,1.06002032474,0.546239987758,0.0188560218674,1.05969202864
+409,6.816666667,pose2_to_pose3_retreat,0.575668735758,0.0101817818325,1.06002031934,0.546239883286,0.018856018845,1.0596920233
+410,6.833333333,pose2_to_pose3_retreat,0.575668463629,0.0101817742901,1.06002030526,0.546239611057,0.0188560109694,1.0596920094
+411,6.850000000,pose2_to_pose3_retreat,0.575668006623,0.0101817729996,1.0600203738,0.546239153622,0.018856008147,1.059692076
+412,6.866666667,pose2_to_pose3_retreat,0.575667807791,0.0101817747456,1.06002042231,0.546238954549,0.0188560090294,1.05969212322
+413,6.883333333,pose2_to_pose3_retreat,0.575667788527,0.0101817749148,1.06002042701,0.546238935262,0.0188560091148,1.0596921278
+414,6.900000000,pose2_to_pose3_retreat,0.575667702209,0.0101817756728,1.06002044807,0.546238848839,0.0188560094979,1.0596921483
+415,6.916666667,pose2_to_pose3_retreat,0.575667436539,0.0101817780057,1.06002051289,0.546238582849,0.0188560106768,1.0596922114
+416,6.933333333,pose2_to_pose3_retreat,0.575667099883,0.0101817069965,1.06002055822,0.546238246656,0.018855941199,1.05969225566
+417,6.950000000,pose2_to_pose3_retreat,0.575666925187,0.0101816391708,1.06002052203,0.546238072988,0.0188558769196,1.05969222102
+418,6.966666667,pose2_to_pose3_retreat,0.575666855895,0.0101816608371,1.06002041286,0.54623800467,0.0188559020494,1.05969211612
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..033729b66a585562c027dbb4d6b8317cd7ae9890
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c537b18e2b67a9bb370d12291d6947fcb6583bfeccaabf4d230be139599f145
+size 26369909
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e3bbaf0bce38724838f4bb0e953b4f77a77fea4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
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+18,0.300000000,BASELINE,781,760.550257413,737.550257413,718.449742587,685,649,914,800,839.449742587,658,635,657.550257413,0.401035698053,0.00447329496559,0.0798560373645,0.999999981888,0.000101278942422,-0.000152487727388,5.20955781431e-05,1793254990177663744
+19,0.316666667,BASELINE,781,760,737.028849957,719,685,649,914,800,840,658,635,657,0.401035956405,0.00447408148117,0.0798569444076,0.999999981933,0.000102504901037,-0.000151423930749,5.19336495491e-05,1793254990194330368
+20,0.333333333,BASELINE,781,760,737.616248378,719,685,649,914,800,840,658,635,657,0.401034532301,0.0044737802991,0.0798552388447,0.999999981694,0.000101299909889,-0.00015377949545,5.19874662609e-05,1793254990210996992
+21,0.350000000,BASELINE,781,760,738,718.798976033,685,649,914,800,839.798976033,657.798976033,635,657,0.401034005211,0.00447364781346,0.0798545875386,0.999999981594,0.000100793660934,-0.000154741247305,5.20445458614e-05,1793254990227663872
+22,0.366666667,BASELINE,781,760,738,718.219142972,685,649,914,800,839.219142972,657.219142972,635,657,0.401035168455,0.00447383321903,0.0798559228718,0.999999981764,0.000101604120277,-0.000153076501211,5.21077740358e-05,1793254990244330240
+23,0.383333333,BASELINE,780.651048152,760,737.651048152,718.348951848,685.348951848,649.348951848,914,800,839,657.348951848,635,657,0.40103639593,0.00447353299811,0.0798571661619,0.999999982045,0.000101539006363,-0.00015122398229,5.22677383717e-05,1793254990260996608
+24,0.400000000,BASELINE,780.090085032,760,737.090085032,718.909914968,685.909914968,649.909914968,914,800,839,657.909914968,635,657,0.401037662431,0.00447293772708,0.0798583535298,0.999999982389,0.000100941923999,-0.000149257378828,5.24864763148e-05,1793254990277663232
+25,0.416666667,BASELINE,780.477437803,760,737,719,686,649.522562197,914,800,839,658,635,657.477437803,0.40103598762,0.0044733720843,0.0798571076055,0.999999981977,0.000101883943898,-0.000151423585522,5.23183759982e-05,1793254990294329856
+26,0.433333333,BASELINE,781,759.950182734,737,719,686,649,914,800,839.049817266,657.950182734,635,658,0.401033904641,0.00447384995864,0.0798555242928,0.999999981462,0.000102863306737,-0.000154207442603,5.21139557611e-05,1793254990310996224
+27,0.450000000,BASELINE,781,759.337078529,737,719,686,649,914,800,839.662921471,657.337078529,635,658,0.401033569086,0.00447259260635,0.079855389773,0.999999981519,0.000100935544326,-0.000155035074586,5.23356670086e-05,1793254990327662848
+28,0.466666667,BASELINE,781,759.261410678,737,719,685.738589322,649,914,800,839.738589322,657,635,657.738589322,0.40103364948,0.00447260634811,0.0798554714826,0.999999981547,0.000100393045131,-0.000155256085834,5.21845831306e-05,1793254990344329728
+29,0.483333333,BASELINE,781,759.84205223,737,719,685.15794777,649,914,800,839.15794777,657,635,657.15794777,0.401034237822,0.00447417233129,0.0798558172482,0.999999981543,0.000101542209103,-0.000154736300716,5.15782473184e-05,1793254990360996608
+30,0.500000000,BASELINE,781,760,737,718.581058256,685.418941744,649,914,800,839.418941744,657,635,657.418941744,0.401035033187,0.00447431972372,0.0798559916746,0.999999981641,0.000102160857418,-0.000153698103548,5.15631319719e-05,1793254990377664000
+31,0.516666667,BASELINE,781,760,737,718.005570776,685.994429224,649,914,800,839.994429224,657,635,657.994429224,0.40103590591,0.00447393703209,0.0798561020767,0.999999981776,0.000102581268208,-0.000152466191641,5.17689376712e-05,1793254990394331648
+32,0.533333333,BASELINE,781,760,737.566845606,718.566845606,685.433154394,649,914,800,839.433154394,657.566845606,635,658,0.401035045322,0.00447191158767,0.0798561975773,0.999999981896,0.000100440770651,-0.000152966114697,5.2163946616e-05,1793254990410997504
+33,0.550000000,BASELINE,781,760,737.855521946,718.855521946,685,649,914,800,839,657.855521946,635,657.855521946,0.401034603962,0.00447064241782,0.0798563891263,0.99999998197,9.94616277103e-05,-0.00015303751294,5.24142478802e-05,1793254990427663616
+34,0.566666667,BASELINE,781,760,737.261568898,718.261568898,685,649,914,800,839,657.261568898,635,657.261568898,0.401035519539,0.0044717759934,0.079856879937,0.999999981907,0.000102173365373,-0.000151723095149,5.22086061448e-05,1793254990444330240
+35,0.583333333,BASELINE,781,760,737,718,685,649,914,800,839,657.323302855,635,657.323302855,0.40103565377,0.0044726215488,0.0798570785077,0.999999981947,0.000101800382622,-0.00015181347512,5.19145290725e-05,1793254990460996864
+36,0.600000000,BASELINE,781,760,737,718,685,649,914,800,839,657.901028168,635,657.901028168,0.401035173122,0.00447324044749,0.0798570471008,0.999999982065,9.89998863359e-05,-0.000153009357408,5.15508579876e-05,1793254990477663744
+37,0.616666667,BASELINE,781,760,737,718.475971496,685,649,914,800,839,658,635,658,0.401035048067,0.00447359433406,0.0798565883384,0.999999981914,0.000100257235923,-0.000153117484148,5.17200992634e-05,1793254990494330112
+38,0.633333333,BASELINE,781,760,737,719,685,649.051609712,914,800,839,658,635,658,0.401034824301,0.00447379466515,0.0798559653531,0.999999981695,0.000102074406489,-0.000153258916776,5.19823109949e-05,1793254990510996736
+39,0.650000000,BASELINE,781,760,737,719,685,649.640468877,914,800,839,658,635,658,0.401032807741,0.00447296681521,0.0798545525035,0.999999981364,0.000100986708589,-0.000156087919034,5.20654990618e-05,1793254990527663616
+40,0.666666667,BASELINE,781,760,737.225831132,718.774168868,685,649.774168868,914,800,839,658,635,657.774168868,0.401032329424,0.00447218144323,0.0798542991799,0.999999981358,0.000100174453549,-0.000156670320605,5.19904644667e-05,1793254990544329984
+41,0.683333333,BASELINE,781,760,737.805711043,718.194288957,685,649.194288957,914,800,839,658,635,657.194288957,0.401034262701,0.0044714626665,0.0798558637139,0.999999981869,9.97940265846e-05,-0.000153730593672,5.1667374872e-05,1793254990560996608
+42,0.700000000,BASELINE,781,760,738,718,685.383840736,649,914,800,839,658,635,657,0.401034140587,0.0044714705485,0.0798560301533,0.999999981869,9.94215002435e-05,-0.000153921381148,5.18309973919e-05,1793254990577663488
+43,0.716666667,BASELINE,781,760,738,718,685.961088524,649,914,800,839,658,635,657,0.401032982816,0.00447184457438,0.0798554921301,0.99999998161,9.90529548263e-05,-0.000155689550963,5.22398611026e-05,1793254990594330112
+44,0.733333333,BASELINE,781,760,737.464932967,718,685.464932967,649,914,800,839,658,635,657.535067033,0.4010339865,0.00447192313039,0.0798562636241,0.999999981711,9.972954512e-05,-0.000154638510114,5.21478223331e-05,1793254990610996736
+45,0.750000000,BASELINE,781,759.888027352,737.111972648,718,685.111972648,649,914,800,839,657.888027352,635,657.888027352,0.401034880465,0.00447211506483,0.0798570559818,0.999999981786,0.000100714178056,-0.000153536626719,5.2066116751e-05,1793254990627663104
+46,0.766666667,BASELINE,781,759.297604899,737.702395101,718,685.702395101,649,914,800,839,657.297604899,635,657.297604899,0.40103463804,0.00447288271187,0.0798575330435,0.999999981648,0.000102692260558,-0.000153088212639,5.21832680918e-05,1793254990644329728
+47,0.783333333,BASELINE,781,759.28728778,737.71271222,718,685.71271222,649,914,800,839.28728778,657.28728778,635.28728778,657,0.401034595061,0.00447376107068,0.079857530545,0.999999981459,0.000104453545218,-0.000153141949804,5.21377576065e-05,1793254990660996608
+48,0.800000000,BASELINE,781,759.866560349,737.133439651,718,685.133439651,649,914,800,839.866560349,657.866560349,635.866560349,657,0.40103475479,0.00447475195143,0.0798570406458,0.999999981222,0.000105994487743,-0.000153706048075,5.19269258718e-05,1793254990677664000
+49,0.816666667,BASELINE,781,760,737,718,685,649,914,800,839.556538864,658,635.556538864,657.443461136,0.401033583867,0.00447507444746,0.0798558625708,0.999999981186,0.000104289176964,-0.000155149129697,5.1776076132e-05,1793254990694330880
+50,0.833333333,BASELINE,781,760,737,718,685.019992945,649,914,800,839.019992945,658,635,657.980007055,0.401032121539,0.00447514102184,0.0798545627489,0.999999981216,0.000101653076807,-0.000156738927955,5.16523434787e-05,1793254990710996992
+51,0.850000000,BASELINE,781,760,737,718,685.606180134,649,914,800,839.606180134,658,635,657.393819866,0.401033685537,0.00447362533717,0.0798556482097,0.999999981624,0.000100173202112,-0.000155033257727,5.17881387284e-05,1793254990727663616
+52,0.866666667,BASELINE,781,760,737,718,685.809978856,649,914,800,839.809978856,658,635,657.190021144,0.401034992285,0.00447261748958,0.0798566754199,0.999999981916,9.97849849841e-05,-0.00015334288532,5.1932147815e-05,1793254990744330240
+53,0.883333333,BASELINE,781,760,737,718,685.230941042,649,914,800,839.230941042,658,635,657.769058958,0.401035772383,0.00447264930054,0.0798575833779,0.999999981975,0.000101631640238,-0.00015168383115,5.20929724931e-05,1793254990760996608
+54,0.900000000,BASELINE,781,760,737.346583769,718,685,649,914,800,839,658,635.346583769,657.653416231,0.401035016949,0.0044732413658,0.0798571157848,0.999999981755,0.00010240131577,-0.000152638080705,5.20087426191e-05,1793254990777663488
+55,0.916666667,BASELINE,781,760,737.923104772,718,685,649,914,800,839,658,635.923104772,657.076895228,0.401033242783,0.00447420512568,0.0798557355975,0.999999981349,0.000102456480742,-0.000155326098273,5.17619339598e-05,1793254990794330368
+56,0.933333333,BASELINE,781,760,737.500172628,718,685,649,914,800,839,658,636,657.499827372,0.401034081508,0.00447355095055,0.0798558060282,0.999999981526,0.000101334964443,-0.000155004743551,5.14979450999e-05,1793254990810997248
+57,0.950000000,BASELINE,781,760,737.077940919,718.077940919,685.077940919,649.077940919,914,800,839.077940919,658,635.922059081,657.922059081,0.401035044998,0.00447274952538,0.0798560852135,0.999999981747,0.000100197081142,-0.000154371414687,5.13448606457e-05,1793254990827663616
+58,0.966666667,BASELINE,781,760,737.664936228,718.664936228,685.664936228,649.664936228,914,800,839.664936228,658,635.335063772,657.335063772,0.401034196885,0.00447261271971,0.0798562696718,0.999999981668,0.000100135102915,-0.000154725520179,5.19333942159e-05,1793254990844329984
+59,0.983333333,BASELINE,781,760,737.749857639,718.749857639,686,649.749857639,914,800,839.749857639,658,635,657,0.40103318708,0.00447215465356,0.0798561059751,0.999999981627,9.94600751352e-05,-0.000155324591625,5.222596628e-05,1793254990860996608
+60,1.000000000,BASELINE,781,760,737.167030992,718.167030992,686,649.167030992,914,800,839.167030992,658,635,657,0.401031962227,0.00447126931745,0.0798554792395,0.999999981636,9.79697038264e-05,-0.000156249462888,5.21249156034e-05,1793254990877663232
+61,1.016666667,BASELINE,781,760,737.409670921,718,686,649,914,800,839,658,635,657.409670921,0.401031512571,0.00447268425178,0.0798551335096,0.999999981275,0.00010071335,-0.000156809984029,5.21218913026e-05,1793254990894329856
+62,1.033333333,BASELINE,781,760,737.983912406,718,686,649,914,800,839,658,635,657.983912406,0.401031374324,0.00447502323714,0.0798549006638,0.999999980751,0.000105157860571,-0.000157224140551,5.21582455794e-05,1793254990910996480
+63,1.050000000,BASELINE,781,760,738,718.557585539,685.442414461,649,914,800,839.557585539,657.442414461,635,658,0.401033794314,0.00447284453614,0.0798566922227,0.999999981432,0.000102829209335,-0.000154338619059,5.23699635619e-05,1793254990927663360
+64,1.066666667,BASELINE,781,760,737.86459426,719,685,649.13540574,914,800,839.86459426,657.13540574,635,658,0.401035771756,0.00447163647351,0.0798580446512,0.999999981939,0.000101213338688,-0.000152091819173,5.24005717368e-05,1793254990944330240
+65,1.083333333,BASELINE,781,760,737.272739211,719,685,649.727260789,914,800,839.272739211,657.727260789,635,658,0.401036008815,0.00447413935181,0.0798577200885,0.999999981788,0.000102658321591,-0.000152318734251,5.18036248035e-05,1793254990960996864
+66,1.100000000,BASELINE,781,760,737.309402188,719,685,649.690597812,914,800,839,658,635,657.690597812,0.401034543767,0.00447401061643,0.079856635502,0.999999981576,0.000102203833619,-0.000154072207907,5.16174694207e-05,1793254990977663488
+67,1.116666667,BASELINE,781,760,737.883241579,719,685,649.116758421,914,800,839,658,635,657.116758421,0.401031623975,0.00447163271596,0.0798549013449,0.999999981302,0.000100125922135,-0.000157130387508,5.17824058584e-05,1793254990994330112
+68,1.133333333,BASELINE,781,760,738,718.538278647,685,649,914,800,839,657.538278647,635,657.461721353,0.4010319368,0.00447065807337,0.079855270936,0.999999981651,9.74852279095e-05,-0.000156556198793,5.18057804297e-05,1793254991010996480
+69,1.150000000,BASELINE,781,760,738,718,685,649,914,800,839,657.041946733,635,657.958053267,0.401033038678,0.00447022643784,0.0798561532979,0.999999982116,9.50342528219e-05,-0.000155103275187,5.17720022963e-05,1793254991027663104
+70,1.166666667,BASELINE,781,760,738,718,685,649,914,800,839,657.629458225,635,657.370541775,0.401033663267,0.00447219513381,0.0798567154685,0.999999982076,9.69205446521e-05,-0.00015428935021,5.14652042946e-05,1793254991044330240
+71,1.183333333,BASELINE,781,760,737.785511388,718.214488612,685,649,914,800,839,657.785511388,635,657,0.401033932619,0.00447309435455,0.0798568953404,0.999999981981,9.82322231255e-05,-0.000154092486686,5.1425082867e-05,1793254991060997120
+72,1.200000000,BASELINE,781,760,737.204718148,718.795281852,685,649,914,800,839,657.204718148,635,657,0.401033595298,0.00447216712094,0.0798564223207,0.999999981794,9.85625745988e-05,-0.000154949443392,5.18403928574e-05,1793254991077664000
+73,1.216666667,BASELINE,781,760,737,719,685,649,914,800,839,657.372348388,635.372348388,657,0.40103397315,0.00447319256372,0.0798566695691,0.999999981671,0.000100839530469,-0.000154230773132,5.19906233414e-05,1793254991094330368
+74,1.233333333,BASELINE,781,760,737,719,685,649,914,800,839,657.947386242,635.947386242,657,0.40103474031,0.00447528095446,0.0798573088985,0.99999998157,0.000104176128896,-0.000152654403422,5.19965566168e-05,1793254991110996736
+75,1.250000000,BASELINE,781,760,737.523019682,719,685,649,914,800,839,658,635.476980318,657.523019682,0.401035053304,0.00447532379463,0.0798572699516,0.999999981384,0.000105338542151,-0.00015308193066,5.19793599576e-05,1793254991127663360
+76,1.266666667,BASELINE,781,760,738,719,685,649,914,800,839,658,635.101505403,658,0.401035290441,0.00447519892562,0.0798572928241,0.99999998127,0.000105842945701,-0.000153502828628,5.19148150312e-05,1793254991144329984
+77,1.283333333,BASELINE,781,760,738,719,685,649,914,800,839,658,635.693483451,658,0.401035382053,0.00447525912107,0.0798579444793,0.999999981544,0.000104225886522,-0.000152916531218,5.16327397534e-05,1793254991160996608
+78,1.300000000,BASELINE,781,760,738,718.723457236,685.276542764,649,914,800,839,658,635.723457236,657.723457236,0.401034643441,0.00447460398916,0.0798574587382,0.999999981664,0.000102243899263,-0.000153504076955,5.15213183077e-05,1793254991177663232
+79,1.316666667,BASELINE,781,760,738,718.149974524,685.850025476,649,914,800,839,658,635.149974524,657.149974524,0.401033013369,0.00447318076891,0.0798557517089,0.999999981615,9.98700677342e-05,-0.000155352045962,5.15931377632e-05,1793254991194330112
+80,1.333333333,BASELINE,781,760,737.573995067,718,685.573995067,649,914,800,839,658,635,657.426004933,0.401033532225,0.00447258292116,0.079856069854,0.999999981587,0.000100750935304,-0.000154917468355,5.17301523045e-05,1793254991210996992
+81,1.350000000,BASELINE,781,760,737.002919648,718,685.002919648,649.002919648,914,800,839,658,635,658,0.401034801521,0.00447228781325,0.0798571029568,0.999999981563,0.000102781524159,-0.000153679502688,5.18883728198e-05,1793254991227663872
+82,1.366666667,BASELINE,781,760,737.590050236,718,685.590050236,649.590050236,914,800,839,658,635,658,0.401033960286,0.00447408480146,0.0798576946707,0.999999981462,0.000104242481521,-0.000153425444996,5.16701719879e-05,1793254991244330496
+83,1.383333333,BASELINE,781,760,738,718.17576097,685.82423903,649.82423903,914,800,839,658,635.17576097,658,0.401033266443,0.00447478461287,0.0798577140531,0.999999981481,0.000103885791041,-0.000153592721629,5.15297446273e-05,1793254991260996864
+84,1.400000000,BASELINE,781,760,738,718.758186648,685.241813352,649.241813352,914,800,839,658,635.758186648,658,0.401032913624,0.00447294584577,0.0798564092109,0.999999981766,9.93235412718e-05,-0.000154734855149,5.15692646031e-05,1793254991277663488
+85,1.416666667,BASELINE,781,760,738,719,685.336275208,649.336275208,914,800,839.336275208,658,635.663724792,657.663724792,0.40103302386,0.00447265673675,0.079856007025,0.999999981784,9.85160061393e-05,-0.00015509316432,5.17055748485e-05,1793254991294329856
+86,1.433333333,BASELINE,781,760,738,719,685.911284653,649.911284653,914,800,839.911284653,658,635.088715347,657.088715347,0.401033462835,0.00447346778757,0.0798562456682,0.999999981619,0.000100374082391,-0.000154895007459,5.19106000923e-05,1793254991310996480
+87,1.450000000,BASELINE,781,760,737.514532326,718.514532326,685.514532326,649.514532326,914,800,839.514532326,658,635,657.485467674,0.401032732224,0.00447232337204,0.079856242876,0.999999981417,0.000100376500684,-0.000156167869768,5.19894732351e-05,1793254991327663360
+88,1.466666667,BASELINE,781,760,737.061621861,718,685.061621861,649,914,800,839.061621861,658,635,658,0.401031964291,0.0044709767548,0.07985619385,0.99999998126,9.99737830622e-05,-0.000157414657484,5.20274390863e-05,1793254991344329728
+89,1.483333333,BASELINE,781,760,737.65612572,718,685.65612572,649,914,800,839.65612572,658,635,658,0.40103271874,0.00447096651258,0.0798561259003,0.999999981567,9.8995086819e-05,-0.000156115287251,5.19106716627e-05,1793254991360996352
+90,1.500000000,BASELINE,781,760,737.756177894,718,685.756177894,649,914,800,840,657.756177894,635,658,0.40103330004,0.00447188219558,0.0798565730552,0.999999981673,0.000100064073371,-0.000154771691558,5.18431339643e-05,1793254991377662976
+91,1.516666667,BASELINE,781,760,737.177821694,718,685.177821694,649,914,800,840,657.177821694,635,658,0.401033643775,0.00447406828659,0.0798577269554,0.999999981493,0.000103942566152,-0.000153367416794,5.18431415105e-05,1793254991394329856
+92,1.533333333,BASELINE,781,760,737.396575078,718.396575078,685,649,914,800,840,657.396575078,635,658,0.401034319029,0.00447396840191,0.0798578918012,0.999999981633,0.000103590343236,-0.000152717117868,5.17659643396e-05,1793254991410996224
+93,1.550000000,BASELINE,781,760,737.969214069,718.969214069,685,649,914,800,840,657.969214069,635,658,0.401035141465,0.00447285363311,0.0798576175454,0.999999981916,0.000101359847411,-0.000152401554771,5.16545201559e-05,1793254991427663104
+94,1.566666667,BASELINE,781,760,737.456035712,719,685.543964288,649,914,800,839.456035712,657.456035712,635,658,0.40103444128,0.00447290247104,0.0798569862858,0.999999981665,0.000101313917964,-0.000154071981141,5.16374442339e-05,1793254991444329728
+95,1.583333333,BASELINE,781,760,737.122875796,718.877124204,685.877124204,649,914,800,839,657,635,657.877124204,0.401033981631,0.00447306692218,0.0798566967485,0.999999981469,0.000101777185826,-0.000155035763163,5.16407029106e-05,1793254991460996352
+96,1.600000000,BASELINE,781,760,737.717296405,718.282703595,685.282703595,649,914,800,839,657,635,657.282703595,0.40103477704,0.00447342133979,0.0798577964347,0.999999981602,0.000103718222242,-0.000152854730201,5.1701421448e-05,1793254991477663232
+97,1.616666667,BASELINE,781,760,737.700323699,718,685,649,914,800,839,657,635,657.299676301,0.401034164417,0.00447338618662,0.0798573300513,0.999999981527,0.000103628923335,-0.000153425992192,5.16464062122e-05,1793254991494329856
+98,1.633333333,BASELINE,781,760,737.128863847,718,685,649,914,800,839,657,635,657.871136153,0.401032274815,0.00447299772245,0.0798554433621,0.999999981258,0.000101698265014,-0.000156493375933,5.14864292669e-05,1793254991510996736
+99,1.650000000,BASELINE,781,760,737.447991446,718,685.447991446,649,914,800,839,657,635,657.552008554,0.401032252196,0.00447349908385,0.0798556675731,0.999999981239,0.000102340085525,-0.000156156627669,5.16091146554e-05,1793254991527663360
+100,1.666666667,BASELINE,781,760,738,718,685.973078456,649,914,800,839,657,635,657.026921544,0.401032791258,0.00447421372389,0.0798564809292,0.999999981296,0.000103633670036,-0.000154872231448,5.18008903958e-05,1793254991544329728
+101,1.683333333,BASELINE,781,760,738,718,685.383619045,649,914,800,839,657,635,657.616380955,0.401033708515,0.00447397139106,0.0798567624312,0.999999981434,0.000102895695415,-0.000154496382014,5.17166774376e-05,1793254991560996352
+102,1.700000000,BASELINE,781,760,737.796543006,718.203456994,685,649,914,800,839,657.203456994,635,658,0.401033701511,0.00447360858297,0.0798566977085,0.999999981498,0.000101996456888,-0.000154704076455,5.16469628457e-05,1793254991577662976
+103,1.716666667,BASELINE,781,760,737.213908857,718.786091143,685,649,914,800,839,657.786091143,635,658,0.401031971985,0.0044730212485,0.0798559877364,0.999999981421,0.000100796675377,-0.000155999305465,5.16042684662e-05,1793254991594329600
+104,1.733333333,BASELINE,780.636983458,760,737.363016542,718.636983458,685,649,914,800,839,658,635.363016542,658,0.401031806554,0.00447325140615,0.0798559719217,0.999999981403,0.00010103140478,-0.000155986334412,5.15228740933e-05,1793254991610996480
+105,1.750000000,BASELINE,780.063369827,760,737.936630173,718.063369827,685,649,914,800,839,658,635.936630173,658,0.401032548502,0.00447395581613,0.079856358809,0.99999998142,0.000102098338084,-0.000155214436289,5.14190286568e-05,1793254991627663104
+106,1.766666667,BASELINE,780.512815403,760,737.487184597,718,685,649,914,800,839,658,635.487184597,658,0.401031780353,0.00447311585291,0.0798554346656,0.999999981323,0.00010120639483,-0.000156375171846,5.15573424723e-05,1793254991644329728
+107,1.783333333,POSE1_TO_POSE2_PRESS,782,759,738,718,685,649,914,800,839,657,635,657,0.401032688184,0.00447330538718,0.079856443498,0.999999981614,0.000100632817451,-0.000154959502338,5.1309365218e-05,1793254991686743808
+108,1.800000000,POSE1_TO_POSE2_PRESS,781.41967096,759.58032904,737.41967096,718,685,649,914,800,839,657,635,657.58032904,0.401032069238,0.00447482349705,0.0798555594771,0.999999981204,0.000102790491031,-0.000156219434133,5.12084212266e-05,1793254991703411456
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,760,737,718,685,649,914,800,839,657,635,658,0.401031868517,0.00447579103723,0.0798550777977,0.999999980957,0.00010419127063,-0.000156874383018,5.11942606914e-05,1793254991720078592
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,760,737,718,685,649,914,800,839,657,635,658,0.401032760282,0.00447532037943,0.079855647115,0.999999981151,0.000103614891994,-0.000155948995633,5.14067959071e-05,1793254991736744448
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,760,737,718.315332393,685.315332393,649,914,800,839,657.315332393,635,658,0.401032637621,0.0044744380564,0.0798560261391,0.999999981304,0.000102526351528,-0.000155630273053,5.15623576775e-05,1793254991753410816
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,760,737,718.906236982,685.906236982,649,914,800,839,657.906236982,635,658,0.401031628443,0.00447319597497,0.0798562388638,0.999999981422,0.000100990227648,-0.000155841721088,5.16681297597e-05,1793254991770077440
+113,1.883333333,POSE1_TO_POSE2_PRESS,781,760,737,718.517386568,686,649,914,800,839,657.517386568,635,657.517386568,0.401031569808,0.00447450211201,0.0798559512736,0.999999981028,0.000103318855274,-0.000156886998148,5.15240464213e-05,1793254991786744064
+114,1.900000000,POSE1_TO_POSE2_PRESS,781,760,737.056791802,718,685.943208198,649,914,800,839,657,635,657,0.401031692972,0.00447600981875,0.0798557078059,0.99999998058,0.000106015211773,-0.000157993033241,5.13687042195e-05,1793254991803410688
+115,1.916666667,POSE1_TO_POSE2_PRESS,781,760,737.635955414,718,685.364044586,649,914,800,839,657,635,657,0.401031839344,0.00447495095622,0.0798567381171,0.999999980603,0.000105389432045,-0.000158211407807,5.15432481911e-05,1793254991820077824
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,760,738,718.218739934,685,649,914,800,839,657.218739934,635,657,0.401033108226,0.00447463406628,0.0798578623453,0.999999980394,0.000105092953128,-0.000159671411987,5.17052495221e-05,1793254991836744448
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,760,738,718.807652032,685,649,914,800,839,657.807652032,635,657,0.401036276726,0.00447557281184,0.0798591455088,0.999999979784,0.000105353747886,-0.000163232617838,5.1846025006e-05,1793254991853410816
+118,1.966666667,POSE1_TO_POSE2_PRESS,781,760,738,719,685,649,914,800,839,657.610058733,635,657.389941267,0.401052466548,0.00447573847361,0.0798652544288,0.999999980203,0.00010449676735,-0.000161152803944,5.20042720242e-05,1793254991870077184
+119,1.983333333,POSE1_TO_POSE2_PRESS,781,760,738,719,685,649,914,800,839,657.030981775,635,657.969018225,0.401074972186,0.00447552916173,0.0798737040164,0.999999981104,0.000103097625176,-0.00015633689069,5.21709933835e-05,1793254991886744064
+120,2.000000000,POSE1_TO_POSE2_PRESS,781,760,737.453659624,718.453659624,685,649,914,800,839,657.546340376,635,657.453659624,0.401123696779,0.00447393338272,0.0798886229326,0.999999983818,0.00010093061578,-0.000139534745016,5.20387644565e-05,1793254991903410688
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,760,737.123045194,718,685.123045194,649,914,800,839.123045194,658,635,657,0.401178586505,0.00447288802557,0.0799033152604,0.99999998637,9.87812474851e-05,-0.000121864844927,5.14861994947e-05,1793254991920077568
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,760,737.697847835,718,685.697847835,649,914,800,839.697847835,658,635,657,0.401250670038,0.00447415126868,0.0799158330678,0.999999988731,9.68560067197e-05,-0.000103496561339,4.94524235611e-05,1793254991936744192
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,760,737.721044488,718,685.721044488,649,914,800,839.721044488,658,635,657.278955512,0.401332283152,0.00447539146023,0.079926635629,0.999999990393,9.63267153281e-05,-8.77255742907e-05,4.73310392306e-05,1793254991953410816
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,760,737.132949585,718,685.132949585,649,914,800,839.132949585,658,635,657.867050415,0.401424456972,0.0044766061059,0.0799355373481,0.999999991444,9.73444196253e-05,-7.48329206894e-05,4.51125671248e-05,1793254991970077696
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,760,737,718,685,649,914,800,839.44925121,658,635,658,0.4015316904,0.00447806097799,0.0799409721281,0.999999992247,9.58569523422e-05,-6.75802963172e-05,4.18280233443e-05,1793254991986744320
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,760,737.029543955,718,685,649,914,800,839.970456045,657.970456045,635,657.970456045,0.401644589542,0.00447957798997,0.0799455022537,0.999999992977,9.36324909956e-05,-6.18045078678e-05,3.82072946029e-05,1793254992003410688
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,760,737.606384581,718,685,649,914,800,839.393615419,657.393615419,635,657.393615419,0.401780955019,0.00448094622717,0.0799520340077,0.999999993851,9.13112473829e-05,-5.28676986846e-05,3.4127490256e-05,1793254992020077568
+128,2.133333333,POSE1_TO_POSE2_PRESS,781,760,737.817964926,718,685,649,914,800,839,657,635,657,0.401926515425,0.00448258557437,0.0799578193495,0.999999994614,8.86126301875e-05,-4.51260725748e-05,2.9710927026e-05,1793254992036743936
+129,2.150000000,POSE1_TO_POSE2_PRESS,781,760,737.244871221,718,685,649,914,800,839,657,635,657,0.402091828912,0.00448480733609,0.0799620012029,0.999999995279,8.51033168069e-05,-3.99520113739e-05,2.45709187559e-05,1793254992053410560
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,760,737.338999917,718,685,649,914,800,839,657,635,657,0.402274952114,0.00448751235023,0.0799655425064,0.999999995989,8.07944692721e-05,-3.40322825318e-05,1.83133078706e-05,1793254992070077184
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,760,737.93091165,718,685,649,914,800,839,657,635,657,0.402471362321,0.00449057789639,0.0799686059262,0.999999996678,7.58891267237e-05,-2.75562457638e-05,1.12219059599e-05,1793254992086743808
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685.511240925,649.511240925,914,800,839,657,635,657.511240925,0.402680525349,0.00449313234889,0.0799634771631,0.999999996739,6.88686387757e-05,-4.19951848151e-05,3.99305118843e-06,1793254992103410688
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,738,718,686,649.910680426,914,800.089319574,839,657.089319574,635.089319574,658,0.402897135483,0.0044959334116,0.0799573823383,0.999999996411,6.12217407954e-05,-5.84558111717e-05,-3.46929244211e-06,1793254992120077568
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,760,738,718,686,649.336510263,914,800.663489737,839,657.663489737,635.663489737,658,0.403145022772,0.00450043975777,0.0799519198605,0.999999996078,5.16917482403e-05,-7.08880377297e-05,-1.21004817046e-05,1793254992136743936
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,760,737.756542121,718,686,649,914,801,839.243457879,658,635.756542121,657.756542121,0.403416579596,0.0045047123821,0.079948723503,0.999999995568,4.84654477518e-05,-7.84894268854e-05,-1.88188668725e-05,1793254992153410560
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,760,737.168364471,718,686,649,914,801,839.831635529,658,635.168364471,657.168364471,0.403721650853,0.00450865407196,0.0799487358179,0.999999995132,5.41647463664e-05,-7.92506786675e-05,-2.28288512424e-05,1793254992170077184
+137,2.283333333,POSE1_TO_POSE2_PRESS,781,760,737.413974957,718,686,649,914,801,840,658,635,657.413974957,0.404060530237,0.00451624221128,0.0799529515683,0.999999996007,4.50896775251e-05,-7.36379966019e-05,-2.30349973866e-05,1793254992186743808
+138,2.300000000,POSE1_TO_POSE2_PRESS,781,760,737.993972974,718,686,649,914,801,840,658,635,657.993972974,0.404412968233,0.004525292745,0.0799588530903,0.999999997168,3.00894054329e-05,-6.54690729065e-05,-2.17156287747e-05,1793254992203410432
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,760,738,718,686,649,914,801,840,658,635.571186673,658,0.404811156995,0.00453331370152,0.0799602248983,0.99999999693,4.73126987563e-05,-5.71493747996e-05,-2.51963280743e-05,1793254992220077312
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,760.146874018,738,718,685.853125982,649,914,801,840,658,635.853125982,658,0.405215556648,0.00454119552341,0.0799600637319,0.999999996122,6.50135370089e-05,-5.22980558818e-05,-2.81731582807e-05,1793254992236743936
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760.718234384,738,718,685.281765616,649,914,801,840,658,635.281765616,658,0.405636518123,0.00454870647121,0.079955609524,0.999999994458,8.31166186836e-05,-5.74754125913e-05,-2.95480630398e-05,1793254992253410816
+142,2.366666667,POSE1_TO_POSE2_PRESS,781.300654241,761,738,718,685,649,914,800.699345759,839.699345759,658,635,658,0.406083562349,0.00455801650891,0.079949136346,0.999999993007,9.0145849845e-05,-6.92831324746e-05,-3.25473567639e-05,1793254992270077696
+143,2.383333333,POSE1_TO_POSE2_PRESS,781.893834669,761,738,718,685,649,914,800.106165331,839.106165331,658,635,658,0.406555984243,0.0045690769998,0.0799406987795,0.999999991746,8.6400609292e-05,-8.75419672006e-05,-3.71271249761e-05,1793254992286744064
+144,2.400000000,POSE1_TO_POSE2_PRESS,782,761,738,718,685.474875926,649.474875926,914,800.474875926,839.474875926,658,635.474875926,658,0.407057950738,0.00457684917337,0.0799374403094,0.999999989177,0.00010953127612,-9.28170336585e-05,-3.21499945973e-05,1793254992303410688
+145,2.416666667,POSE1_TO_POSE2_PRESS,781.947234689,760.947234689,738,718,685.947234689,649.947234689,914,801,840,657.947234689,635.947234689,658,0.407567726756,0.00458431326673,0.0799342401861,0.999999985544,0.000136596893305,-9.7786294167e-05,-2.63042175242e-05,1793254992320077312
+146,2.433333333,POSE1_TO_POSE2_PRESS,781.374329254,760.374329254,738,718,685.374329254,649.374329254,914,801,840,657.374329254,635.374329254,658,0.408090998595,0.00459580662761,0.0799204859661,0.999999980859,0.000144698658268,-0.000127641598352,-3.24322787748e-05,1793254992336744192
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,737.795450866,718,685,649,914,801,839.795450866,657.204549134,635,657.795450866,0.408641955433,0.00460598581593,0.0799144017892,0.999999978087,0.000148893358884,-0.000142461673707,-3.68965940489e-05,1793254992353410816
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,737.205313103,718,685,649,914,801,839.205313103,657.794686897,635,657.205313103,0.40924510029,0.00461368770148,0.0799227761509,0.999999980339,0.00014572298482,-0.000128939347868,-3.8224637928e-05,1793254992370077440
+149,2.483333333,POSE1_TO_POSE2_PRESS,781.377889955,760,737.377889955,718,685,649,914,801,839.377889955,658,635.377889955,657.377889955,0.409924150838,0.00461899801278,0.0799527206712,0.999999984795,0.000150237238577,-7.88542619599e-05,-4.02507280229e-05,1793254992386744064
+150,2.500000000,POSE1_TO_POSE2_PRESS,781.957393163,760,737.957393163,718,685,649,914,801,839.957393163,658,635.957393163,657.957393163,0.410643698854,0.00462303236226,0.0799941733824,0.999999986431,0.000158851423038,-9.26207648816e-06,-4.26492421268e-05,1793254992403410688
+151,2.516666667,POSE1_TO_POSE2_PRESS,782,760,737.465931027,718,685,649,914,800.465931027,840,658,636,658,0.411318677041,0.0046145953477,0.0799968129186,0.999999988239,0.000147068971434,-9.12397904021e-06,-4.25352732594e-05,1793254992420077056
+152,2.533333333,POSE1_TO_POSE2_PRESS,781.89004662,760,737.10995338,718,685,649,914,800.10995338,840,657.89004662,635.89004662,658,0.411990507902,0.00460399891404,0.0799888362014,0.99999999,0.000132702382963,-2.50424264421e-05,-4.1989103336e-05,1793254992436743680
+153,2.550000000,POSE1_TO_POSE2_PRESS,781.316552837,760,737.683447163,718,685,649,914,800.683447163,840,657.316552837,635.316552837,658,0.412663981184,0.00458847118485,0.0799490887363,0.999999989005,0.000114265419819,-8.54156710182e-05,-4.04614286674e-05,1793254992453410304
+154,2.566666667,POSE1_TO_POSE2_PRESS,781.265125023,760,738,718,685.265125023,649,914,801,840,657.265125023,635.265125023,658,0.413370107754,0.00457505376575,0.0799215437492,0.999999987033,9.82891292398e-05,-0.000120925894851,-4.06107919948e-05,1793254992470076928
+155,2.583333333,POSE1_TO_POSE2_PRESS,781.856885796,760,738,718,685.856885796,649,914,801,840,657.856885796,635.856885796,658,0.41411646348,0.00456423626031,0.0799090322888,0.999999987528,8.53444011698e-05,-0.000125804724197,-4.28262769607e-05,1793254992486743552
+156,2.600000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.560923889,649,914.439076111,801,840,658,635.560923889,658,0.414932633952,0.0045673629732,0.0799296598183,0.999999990728,9.33339754461e-05,-8.8985904279e-05,-4.37452454537e-05,1793254992503410176
+157,2.616666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685,649,914.98195122,801,840,657.98195122,635,658,0.415769256145,0.00457490992886,0.0799596471357,0.999999992364,0.000107740288641,-4.13482969005e-05,-4.42179839288e-05,1793254992520076800
+158,2.633333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685,649,914.408051444,801,840,657.408051444,635,658,0.41654987371,0.00458159960048,0.079952331449,0.999999990075,0.000114105055012,-7.01610166666e-05,-4.36851079805e-05,1793254992536743680
+159,2.650000000,POSE1_TO_POSE2_PRESS,782,760,737.834276077,718,685,649.165723923,914,801,840,657.165723923,635,657.834276077,0.417361165606,0.00458689027961,0.0799517352017,0.999999989024,0.000119012424903,-7.63893944161e-05,-4.41992681935e-05,1793254992553410048
+160,2.666666667,POSE1_TO_POSE2_PRESS,782,760,737.260806836,718,685,649.739193164,914,801,840,657.739193164,635,657.260806836,0.418247928246,0.00458873889256,0.0799676713896,0.999999991276,0.000120334032175,-2.70515038589e-05,-4.72895446996e-05,1793254992570076928
+161,2.683333333,POSE1_TO_POSE2_PRESS,781.676109191,760,737,718,685,649.676109191,914,801,840,657.676109191,635.323890809,657.323890809,0.419132723477,0.00458914482542,0.0799823760788,0.999999992769,0.000109532902036,8.5992440249e-06,-4.88889394242e-05,1793254992586743808
+162,2.700000000,POSE1_TO_POSE2_PRESS,781.082045421,760,737,718,685,649.082045421,914,801,840,657.082045421,635.917954579,657.917954579,0.420015877552,0.00458834734908,0.0799960535148,0.999999994322,8.8619611338e-05,3.28328828687e-05,-4.92447175503e-05,1793254992603410688
+163,2.716666667,POSE1_TO_POSE2_PRESS,781.497984261,760,737,717.502015739,685,649,914,801,840.497984261,657,636,657.502015739,0.420907685316,0.00458826496476,0.0799791671522,0.999999994033,9.78746266866e-05,2.1825511881e-06,-4.84743910828e-05,1793254992620077056
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760,737.07497108,717.07497108,685,649,914,801,840.92502892,657,635.92502892,657.07497108,0.421805063864,0.00458855914632,0.0799629219691,0.999999992446,0.000109696072566,-2.80673100775e-05,-4.78236232335e-05,1793254992636743680
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760,737.646696294,717.646696294,685,649,914,801,840.353303706,657,635.353303706,657.646696294,0.422730165763,0.0045905891931,0.0799833759,0.999999993118,0.000106491759685,2.60862831086e-06,-4.91606706716e-05,1793254992653410560
+166,2.766666667,POSE1_TO_POSE2_PRESS,782,760,737.773792197,718,685.226207803,649,914,801,840.226207803,657,635.226207803,657.773792197,0.423642792585,0.00459320596704,0.0799952017808,0.999999992788,0.000108219742715,1.7120144538e-05,-4.91923077186e-05,1793254992670077184
+167,2.783333333,POSE1_TO_POSE2_PRESS,782,760,737.181686014,718,685.818313986,649,914,801,840.818313986,657,635.818313986,657.181686014,0.424535240713,0.00459677179133,0.0799930715172,0.999999991922,0.000117925872237,5.48519413978e-06,-4.71124018403e-05,1793254992686743808
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,760,737.399675556,718,686,649,914,801.399675556,841,657.399675556,636,657.399675556,0.425429623285,0.00459951953697,0.0799564362628,0.999999989451,0.000122815466542,-6.09434249318e-05,-4.79591938109e-05,1793254992703410944
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,760,737.976280634,718,686,649,914,801.976280634,841,657.976280634,636,657.976280634,0.42632486215,0.00460190513299,0.0799045262402,0.999999979365,0.000125572861779,-0.000151628261461,-5.01015845816e-05,1793254992720077568
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,914,802,841,657.46511038,636,658,0.427296425364,0.00459934642728,0.0799030353242,0.999999982904,0.000118075868542,-0.000132412251198,-5.21319427711e-05,1793254992736744192
+171,2.850000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.900899967,649,914,801.900899967,841,657.099100033,635.900899967,658,0.428269630062,0.00459703010128,0.0799065771287,0.999999986249,0.000110904183786,-0.000110982299044,-5.37122702609e-05,1793254992753410560
+172,2.866666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685.304720635,649,914,801.304720635,841,657.695279365,635.304720635,658,0.429234644147,0.00459699349434,0.0799245131059,0.999999987595,0.00010757085489,-0.000102096787195,-5.30593812744e-05,1793254992770076928
+173,2.883333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685.289371045,649,914.289371045,801,841,658,635.289371045,658,0.4302101538,0.00459582931859,0.0799552220881,0.999999991311,0.000102369047629,-6.46569918555e-05,-5.21288658684e-05,1793254992786743808
+174,2.900000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.881280045,649,914.881280045,801,841,658,635.881280045,658,0.431196636528,0.0045934862676,0.0799992852693,0.999999994168,9.52137426978e-05,2.63635851096e-06,-5.09080914022e-05,1793254992803410688
+175,2.916666667,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,915,801,841,657.53950232,636,658,0.432141637616,0.00459555814167,0.0800103488041,0.999999993755,9.80921796606e-05,1.47733114132e-05,-5.14731264079e-05,1793254992820077568
+176,2.933333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,914.96370752,801,841,657.03629248,635.96370752,658,0.433073356048,0.00459867272876,0.0800082210018,0.999999993283,0.000103080243238,6.87149793721e-06,-5.2546592752e-05,1793254992836744704
+177,2.950000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,914.391437904,801,841,657.608562096,635.391437904,658,0.43396261184,0.00460082793531,0.0799335522353,0.99999998902,0.000102046214259,-9.25994425013e-05,-5.4511820406e-05,1793254992853411072
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685.81737391,648.81737391,914.18262609,801.18262609,841,658,635,658,0.434870877955,0.00460145228203,0.0798901619912,0.999999982516,9.88116780637e-05,-0.000148495062758,-5.61540137651e-05,1793254992870077440
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685.239425601,648.239425601,914.760574399,801.760574399,841,658,635,658,0.435820295,0.00459876284796,0.0799144788982,0.999999988189,9.08138076145e-05,-0.00011006523124,-5.7096951088e-05,1793254992886744064
+180,3.000000000,POSE1_TO_POSE2_PRESS,782,760,738,717.652365944,685,648.347634056,915,801.652365944,841,657.652365944,635.347634056,658,0.436752874848,0.00459766481988,0.0799467680906,0.999999992095,8.90548799469e-05,-6.82465618433e-05,-5.67650802949e-05,1793254992903410688
+181,3.016666667,POSE1_TO_POSE2_PRESS,782,760,738,717.058862175,685,648.941137825,915,801.058862175,841,657.058862175,635.941137825,658,0.437673546264,0.00459769233915,0.0799846958071,0.999999993964,9.17085441406e-05,-2.4031085257e-05,-5.55315810974e-05,1793254992920077312
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,760,737.480795602,717.519204398,685,649,915,801.519204398,841,657,636,658,0.438601278627,0.0045995248555,0.0800100545902,0.999999993975,9.22112573178e-05,2.10253861726e-05,-5.57224800349e-05,1793254992936743936
+183,3.050000000,POSE1_TO_POSE2_PRESS,782,760,737.095592119,717.904407881,685,649,915,801.904407881,841,657,636,658,0.439509156402,0.00460222418616,0.0800195902535,0.999999993123,9.45312306708e-05,4.13087188312e-05,-5.57811144487e-05,1793254992953410816
+184,3.066666667,POSE1_TO_POSE2_PRESS,782,760,737.672084112,717.327915888,685,649,915,801.327915888,841,657,636,658,0.440313239892,0.00460828451145,0.0799564853145,0.999999990761,0.00010718472501,-6.35011717801e-05,-5.4385431146e-05,1793254992970077696
+185,3.083333333,POSE1_TO_POSE2_PRESS,782,760,737.752065007,717,685,649,915,801,841.247934993,657.247934993,636,658,0.44107159665,0.00461563853891,0.0798720004953,0.999999971992,0.000118417259344,-0.00019736956453,-5.51223000019e-05,1793254992986744320
+186,3.100000000,POSE1_TO_POSE2_PRESS,782,760,737.177059912,717,685,649,915,801,841.822940088,657.822940088,636,658,0.441769631699,0.00462469918787,0.0797593118383,0.999999921824,0.000127775293942,-0.000369571250053,-5.86723818738e-05,1793254993003410688
+187,3.116666667,POSE1_TO_POSE2_PRESS,782,760,737.411456916,717,684.588543084,649,915,801,841.588543084,657.588543084,636,657.588543084,0.442560428081,0.00462966968021,0.0797426611692,0.999999916059,0.00012852509126,-0.00038432246338,-6.04906150628e-05,1793254993020077312
+188,3.133333333,POSE1_TO_POSE2_PRESS,782,760,737.994213902,717,683.994213902,648.994213902,915,801,841,657,636,657.005786098,0.443392331651,0.00463283821588,0.0797690718548,0.999999936183,0.000125504549824,-0.000328783707255,-6.15135626373e-05,1793254993036744192
+189,3.150000000,POSE1_TO_POSE2_PRESS,782,760,737.41950519,717,683.41950519,648.41950519,915,801,841,657,636,657.58049481,0.444207943806,0.00463776664974,0.0798279938196,0.999999958663,0.000128360988006,-0.000250170504663,-6.01053829047e-05,1793254993053410816
+190,3.166666667,POSE1_TO_POSE2_PRESS,782,760,737,717,683,648,915,801,841.154993798,657.154993798,635.845006202,658,0.445005950741,0.00464208462969,0.0798715173621,0.99999997063,0.000133825691557,-0.000193461049051,-5.83354011782e-05,1793254993070077440
+191,3.183333333,POSE1_TO_POSE2_PRESS,782,760,737,717,683,648,915,801,841.728926043,657.728926043,635.271073957,658,0.445756372063,0.00464475259236,0.0798734199544,0.999999968548,0.000146340374192,-0.00019595602461,-5.55874920568e-05,1793254993086743808
+192,3.200000000,POSE1_TO_POSE2_PRESS,782,760,737,717,683,648,915,801,841.686467893,657.686467893,635,658,0.446466073833,0.00464503472189,0.07985901194,0.999999964991,0.000146386168601,-0.000213229904903,-5.58836491063e-05,1793254993103410432
+193,3.216666667,POSE1_TO_POSE2_PRESS,782,760,737,717,683,648,915,801,841.092308243,657.092308243,635,658,0.447139329439,0.00464318140652,0.0798300050841,0.999999959413,0.000135271658625,-0.000243731673365,-5.89044038426e-05,1793254993120077056
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,760,737,717.48590766,682.51409234,648,915,801,841.48590766,657.48590766,635,658,0.447747566108,0.00464255060128,0.0797835454147,0.999999941486,0.000131248856093,-0.000309930109015,-6.12001140737e-05,1793254993136743680
+195,3.250000000,POSE1_TO_POSE2_PRESS,782.061125113,760,737,717.938874887,682,647.938874887,915,801,842,658,635,658,0.448339001012,0.00464217126426,0.0797336545927,0.999999915943,0.000129126110545,-0.000384010293088,-6.3065565644e-05,1793254993153410560
+196,3.266666667,POSE1_TO_POSE2_PRESS,782.635789522,760,737,717.364210478,682,647.364210478,915,801,842,658,635,658,0.4488897521,0.00464201545044,0.0796819073679,0.999999879289,0.000132007613692,-0.000469145678071,-6.24366528813e-05,1793254993170077184
+197,3.283333333,POSE1_TO_POSE2_PRESS,783,760,737,717,681.782663576,647.217336424,915.217336424,801,842,658,635.217336424,658,0.449456374653,0.00464220262446,0.0796491588743,0.999999853638,0.000135021637062,-0.000520225475881,-6.21250485377e-05,1793254993186743808
+198,3.300000000,POSE1_TO_POSE2_PRESS,783,760,737,717,681.189205927,647.810794073,915.810794073,801,842,658,635.810794073,658,0.450050464222,0.00464298337139,0.0796492894861,0.999999857236,0.000138265000257,-0.000512368857015,-6.23625771093e-05,1793254993203410432
+199,3.316666667,POSE1_TO_POSE2_PRESS,783,760,737,717,681,648,915.607827257,801,841.607827257,658,636,657.607827257,0.450638378643,0.00464308863011,0.0796777246698,0.99999987764,0.000137958224592,-0.000470941712346,-6.24608738745e-05,1793254993220077312
+200,3.333333333,POSE1_TO_POSE2_PRESS,783,760,737,717,681,648,915.03210198,801,841.03210198,658,636,657.03210198,0.4512234029,0.0046428777334,0.0797194075254,0.999999903184,0.000135989841823,-0.000413802216585,-6.24940044348e-05,1793254993236743936
+201,3.350000000,POSE1_TO_POSE2_PRESS,783,760,737,717,680.457792897,647.457792897,915,800.457792897,841.542207103,657.457792897,635.457792897,657.542207103,0.451696862315,0.00464204379409,0.0797089392797,0.999999894933,0.000132110984374,-0.000434470001606,-6.25867595783e-05,1793254993253410816
+202,3.366666667,POSE1_TO_POSE2_PRESS,782.879968816,759.879968816,737,717,679.879968816,647,915,800,842,657.120031184,635,658,0.452151214013,0.00464126646295,0.0796888713705,0.999999879471,0.000128607587151,-0.000469658384706,-6.27660060105e-05,1793254993270077440
+203,3.383333333,POSE1_TO_POSE2_PRESS,782.287995379,759.287995379,737,717,679.287995379,647,915,800,842,657.712004621,635,658,0.452556340891,0.00464085636452,0.0796431677553,0.999999842031,0.000127024012303,-0.000543873853606,-6.32714777003e-05,1793254993286743808
+204,3.400000000,POSE1_TO_POSE2_PRESS,782.297469103,759.297469103,737,717,679,647,915,800,842,658,635,658,0.452949454592,0.0046431485386,0.0796046130016,0.99999980653,0.000131676392569,-0.000604636112695,-6.33760153884e-05,1793254993303410688
+205,3.416666667,POSE1_TO_POSE2_PRESS,782.876766825,759.876766825,737,717,679,647,915,800,842,658,635,658,0.453331186727,0.00464800090375,0.0795728312356,0.999999774916,0.000142236851055,-0.000652652508366,-6.3100699688e-05,1793254993320077312
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,737,717,678.548140657,647,915,800,842,657.548140657,635,658,0.453691571293,0.00464891727685,0.0795545963521,0.999999758767,0.000141918115351,-0.000676936024182,-6.3891987865e-05,1793254993336743680
+207,3.450000000,POSE1_TO_POSE2_PRESS,783,760,737,717.025773119,678,646.974226881,915,800,841.974226881,657,635,658,0.454044584342,0.00464876728837,0.0795403803025,0.999999747069,0.000138762050399,-0.000694542928784,-6.4941379791e-05,1793254993353410048
+208,3.466666667,POSE1_TO_POSE2_PRESS,783,760,737,717.598785651,678,646.401214349,915,800,841.401214349,657,635,658,0.454363557014,0.00464855747801,0.0795337726846,0.999999738767,0.000137778904862,-0.000706549622204,-6.53515915628e-05,1793254993370076928
+209,3.483333333,POSE1_TO_POSE2_PRESS,783,760,737,717.821599979,677.821599979,646.178400021,915,800,841.178400021,657.178400021,635,658,0.454675002889,0.00464807338281,0.0795289781572,0.999999732786,0.000136821128904,-0.000715134753634,-6.54958147426e-05,1793254993386743808
+210,3.500000000,POSE1_TO_POSE2_PRESS,783,760,737,717.22656788,677.22656788,646.77343212,915,800,841.77343212,657.77343212,635,658,0.454968870774,0.00464694872794,0.0795284178882,0.999999732515,0.000135922600769,-0.000715729231613,-6.50188530938e-05,1793254993403410432
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,736.643307203,717,677,647,915,800,841.643307203,657.643307203,635,657.643307203,0.455228328935,0.00464767218814,0.0795248754414,0.999999726572,0.000136318796264,-0.000723906440294,-6.50560247765e-05,1793254993420077568
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,736.067284693,717,677,647,915,800,841.067284693,657.067284693,635,657.067284693,0.455466628649,0.00464953205061,0.0795194992594,0.999999717009,0.000137511114721,-0.000736746255438,-6.54093359996e-05,1793254993436744448
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,760,736.510421638,717,676.489578362,647,915,800,841.510421638,657.510421638,635.510421638,657.510421638,0.455677838,0.00465236109285,0.0795155613189,0.999999711741,0.000139723240869,-0.000743387969351,-6.61049056339e-05,1793254993453410816
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,760,736.910144147,717,676,646.910144147,915,800.089855853,842,658,636,658,0.455878384542,0.00465878625787,0.079510800587,0.999999705068,0.000145346457862,-0.000751093771369,-6.78042088429e-05,1793254993470077440
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,760,736.322368999,717,676,646.322368999,915,800.677631001,842,658,636,658,0.456039699303,0.00468442836564,0.0795004264463,0.999999687036,0.000169124193362,-0.0007692385042,-7.48146774581e-05,1793254993486744320
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,760,736.261513581,717.261513581,676,646,915.261513581,800.738486419,842,657.738486419,635.738486419,658,0.456187689071,0.00470032051297,0.0794873893555,0.999999665812,0.000182261986934,-0.000792999224735,-7.94314284844e-05,1793254993503410688
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,736.840668117,717.840668117,676,646,915.840668117,800.159331883,842,657.159331883,635.159331883,658,0.45631949396,0.00470437011225,0.0794711177794,0.999999640916,0.000182476238755,-0.000823581263864,-8.11407096775e-05,1793254993520077312
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,736.582876536,717.582876536,676,646.417123464,915.582876536,800,842,657.417123464,635,658,0.4564426503,0.00469921608348,0.0794647881622,0.999999634258,0.000172424981677,-0.000833688430308,-8.19559572029e-05,1793254993536744192
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,736.007445604,717.007445604,676,646.992554396,915.007445604,800,842,657.992554396,635,658,0.456562524323,0.0046905690767,0.0794622317359,0.999999634576,0.000158477739694,-0.000836024934577,-8.24318993839e-05,1793254993553410816
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,736,717.5676254,675.4323746,646.4323746,915.5676254,800,842,657.4323746,635,658,0.456666128799,0.00469551319836,0.0794690003918,0.999999641743,0.000163113775542,-0.000826395424462,-8.3536737856e-05,1793254993570077440
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,759.853590182,736.146409818,718,675,645.853590182,915.707180364,800,842,657.146409818,635,658,0.45676242136,0.00469924678481,0.079474833037,0.999999647548,0.000166528613896,-0.000818560227457,-8.44509293123e-05,1793254993586744064
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759.263539443,736.736460557,718,675,645.263539443,914.527078885,800,842,657.736460557,635,658,0.456837204095,0.00469877243187,0.0794774590409,0.999999649263,0.000165504909801,-0.000816637342701,-8.47624545428e-05,1793254993603410688
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759.321192712,737,717.678807288,675,645,914,800.321192712,842,657.678807288,635,658.321192712,0.45690123751,0.00469774510753,0.079478631826,0.999999649004,0.000164862603364,-0.000817119524265,-8.44267920168e-05,1793254993620077312
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759.901632103,737,717.098367897,675,645,914,800.901632103,842,657.098367897,635,658.901632103,0.456956594754,0.00469627145919,0.079478631664,0.999999647148,0.00016452813716,-0.0008195429248,-8.35687600265e-05,1793254993636743936
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,760,737,717,675,645,914,800.523521437,842,657,635,658.523521437,0.456997544546,0.00469864949549,0.0794757972542,0.99999964419,0.000167657655769,-0.000822575922037,-8.29482536026e-05,1793254993653410560
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,760,737,717.050308955,674.949691045,645,914,800,842,657.050308955,635,658,0.457034362426,0.00470108653865,0.0794724709364,0.999999641037,0.000171236464257,-0.000825748294511,-8.21196030543e-05,1793254993670077184
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,737,717.625445665,674.374554335,645,914,800,842,657.625445665,635,658,0.45705874491,0.0046959400874,0.0794700462355,0.999999638411,0.000172128542672,-0.00082907699948,-7.86139535758e-05,1793254993686744064
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,737,718,674.206760653,645,914,800,841.793239347,658,635,658,0.457079647492,0.00469300630652,0.0794679775059,0.999999634722,0.000180517561422,-0.000832188355483,-7.37055628971e-05,1793254993703410688
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,760,737,718,674.799612517,645,914,800,841.200387483,658,635,658,0.45709405193,0.00469420432069,0.0794665734939,0.999999628701,0.000202905872147,-0.000834893847876,-6.61777859716e-05,1793254993720077312
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,737,718,674.618640346,645,914,800,841,657.618640346,635,658,0.457104662294,0.00469532788563,0.079464856317,0.999999624972,0.000211984807184,-0.000837326082949,-6.32710179832e-05,1793254993736744192
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,737,718,674.042563162,645,914,800,841,657.042563162,635,658,0.45711333545,0.00469641343768,0.0794629792421,0.999999622598,0.00021426813874,-0.000839618796281,-6.27236803224e-05,1793254993753410816
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,736.468458526,718,674.531541474,645,914,800,841,657.531541474,635,658,0.457117980372,0.00469501880569,0.0794614319311,0.999999622012,0.000213102623692,-0.000840624810283,-6.25508375602e-05,1793254993770077184
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,736.217376216,718,674.891311892,645,914,800,841.108688108,658,635,658,0.457122085627,0.00469339968714,0.0794603534592,0.999999621744,0.00021170777543,-0.000841308982981,-6.23840911589e-05,1793254993786743808
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,737.400084864,718,674.299957568,645,914,800,841.700042432,658,635,658,0.457125221451,0.00469166235305,0.079461240196,0.999999622255,0.000210516371129,-0.000841019768946,-6.21117397733e-05,1793254993803410688
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,760,737.714784546,717.714784546,674,645,914,800,842,657.714784546,635.285215454,658,0.457128116562,0.00469153801086,0.0794621047044,0.999999623282,0.000209708766549,-0.00084001023601,-6.19673547566e-05,1793254993820077312
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,760,737.135974354,717.135974354,674,645,914,800,842,657.135974354,635.864025646,658,0.457130763888,0.0046930740481,0.0794629463316,0.999999624839,0.000209296237118,-0.00083825922204,-6.19546955725e-05,1793254993836744192
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,737,717.436417099,674,644.563582901,914,800,842,657,635.563582901,657.563582901,0.457131209102,0.00469220856737,0.0794619119768,0.999999624139,0.000206901754086,-0.000839685731217,-6.19718444686e-05,1793254993853410816
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760,737,718,674,644.00694651,914,800,842,657.00694651,635,657.00694651,0.457130999042,0.00469063293723,0.0794603274114,0.999999622761,0.000203948660317,-0.000842044464887,-6.19970555911e-05,1793254993870077440
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,737,718,674,644.586451109,914,800,842,657.586451109,635,657.586451109,0.457132511009,0.00469130297104,0.0794608707272,0.999999623555,0.000205113061445,-0.000840822262977,-6.19323875852e-05,1793254993886744064
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,737,718,674,645,914,800,842.169697071,658,635,658,0.457133464511,0.0046913745624,0.0794611815486,0.999999623916,0.000205895115729,-0.000840216198964,-6.17391114246e-05,1793254993903410688
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,737,718,674,645,914,800,842.76226619,658,635,658,0.457133026358,0.00468995488117,0.0794609130117,0.999999623202,0.000205724391022,-0.000841145503275,-6.12253536394e-05,1793254993920077056
+242,4.033333333,POSE1_TO_POSE2_PRESS,783.346720977,760,736.653279023,718,674,645,914,800,842.653279023,658,635,658,0.457132681913,0.00468961845009,0.0794606623544,0.999999622554,0.000205262686311,-0.000842033147461,-6.11527544151e-05,1793254993936743680
+243,4.050000000,POSE1_TO_POSE2_PRESS,783.925739272,760,736.074260728,718,674,645,914,800,842.074260728,658,635,658,0.457132400252,0.00469000777872,0.0794604236762,0.99999962195,0.000204606029818,-0.000842892880016,-6.13757241478e-05,1793254993953410560
+244,4.066666667,POSE1_TO_POSE2_PRESS,783.4973193,760,736,717.4973193,674,645,914,800,841.4973193,658,635,658,0.457133971353,0.0046909534405,0.0794609448177,0.999999622602,0.000205812937223,-0.000841840834878,-6.11689936385e-05,1793254993970077440
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,759.920810261,736.079189739,717,674,645,914,800,841.079189739,658,635,658,0.457135482242,0.00469151490754,0.0794614251706,0.999999623248,0.000206629180568,-0.000840892214749,-6.09023208837e-05,1793254993986744064
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,759.345096738,736.654903262,717,674,645,914,800,841.654903262,658,635,658,0.457134906492,0.00468915425811,0.0794609488742,0.999999622718,0.000203276876289,-0.000842355613698,-6.06561885e-05,1793254994003410688
+247,4.116666667,POSE1_TO_POSE2_PRESS,783,759.236160601,736.763839399,717,674,645,914,800,842,658,635,658,0.457134923876,0.00468819475199,0.0794609893198,0.999999622681,0.000202692014789,-0.000842540407493,-6.06542849024e-05,1793254994020077312
+248,4.133333333,POSE1_TO_POSE2_PRESS,783,759.825713835,736.174286165,717,674,645,914,800,842,658,635,658,0.45713582883,0.00468933192772,0.0794618030224,0.999999623387,0.000206248376562,-0.000840811886412,-6.10178472005e-05,1793254994036743936
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,760,736.816240516,717,674,645,914,800,842,658,635,658,0.457136171866,0.00469001658774,0.0794614013928,0.99999962275,0.000208958738448,-0.00084090002253,-6.10154863667e-05,1793254994053410816
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,760,737.975054307,717,674,645,914,800,842,658,635,658,0.457136279068,0.00469051132843,0.0794604896927,0.999999621549,0.000211314036941,-0.000841750603389,-6.08595488593e-05,1793254994070077440
+251,4.183333333,HOLD_POSE2,783,760,737,718,674,645,914,801,842,658,635,658,0.457136439731,0.00468862603822,0.0794602048286,0.999999621938,0.000204444650608,-0.000842984034715,-6.08590942626e-05,1793254994099511040
+252,4.200000000,HOLD_POSE2,783,760,736.412177297,718,674,645,914,800.412177297,842,657.412177297,635.587822703,658,0.457136934213,0.00468919383406,0.0794603889038,0.999999623221,0.000202836937828,-0.000841847720616,-6.08818723563e-05,1793254994116177664
+253,4.216666667,HOLD_POSE2,783,759.826581088,736.173418912,718,674,645,914,800,842,657.173418912,635.826581088,658,0.457137513411,0.00468970473347,0.0794606411371,0.99999962421,0.000202548682752,-0.000840743229661,-6.08703937655e-05,1793254994132844032
+254,4.233333333,HOLD_POSE2,783,759.24620955,736.75379045,718,674,645,914,800,842,657.75379045,635.24620955,658,0.457138291408,0.00469008211725,0.0794610533132,0.999999624508,0.000205356726191,-0.000839713416101,-6.07785269013e-05,1793254994149510656
+255,4.250000000,HOLD_POSE2,783,759.331397106,736.668602894,717.668602894,674,645,914,800,842,658,635,658,0.457139234134,0.0046903562577,0.0794618434878,0.99999962474,0.000206315941301,-0.000839204194645,-6.07390958483e-05,1793254994166177536
+256,4.266666667,HOLD_POSE2,783,759.906966571,736.093033429,717.093033429,674,645,914,800,842,658,635,658,0.457140298232,0.00469055432876,0.0794629121704,0.999999624929,0.000205912945268,-0.000839078543903,-6.0738299344e-05,1793254994182844416
+257,4.283333333,HOLD_POSE2,783,760,736.481338162,717.481338162,674,645,914,800,842,658,635,658,0.457139197612,0.0046895340216,0.0794619411384,0.999999624426,0.000205607486322,-0.000839771070931,-6.04832476434e-05,1793254994199511040
+258,4.300000000,HOLD_POSE2,783,760,737,717.942825928,674,645,914,800,842,658,635,658,0.457137872934,0.00468849237095,0.0794606822778,0.99999962377,0.000205347236246,-0.000840633933298,-6.02302815696e-05,1793254994216177408
+259,4.316666667,HOLD_POSE2,783,760,737,717.351141198,674,645,914,800,842,658,635,658,0.457138355393,0.00468944726621,0.079460409069,0.999999622934,0.000205333829132,-0.00084161449605,-6.04550994098e-05,1793254994232844032
+260,4.333333333,HOLD_POSE2,783,760,737,717.235601123,674,645,914,800,842,658,635,658,0.457138341553,0.00468995158578,0.0794603403768,0.999999622429,0.000205173485638,-0.000842245384695,-6.05632443971e-05,1793254994249510912
+261,4.350000000,HOLD_POSE2,783,760,737,717.815128552,674,645,914,800,842,658,635,658,0.457137603227,0.00468979816294,0.0794605702345,0.999999622408,0.000204798647044,-0.000842365825247,-6.05010724206e-05,1793254994266177536
+262,4.366666667,HOLD_POSE2,783,760,737,718,674,645,914.391985438,800,842,657.608014562,635,658,0.457137830413,0.00468955763252,0.0794605196415,0.999999622593,0.000204791805078,-0.000842150121894,-6.0473521715e-05,1793254994282844416
+263,4.383333333,HOLD_POSE2,783,760,737,718,674,645,914.967591394,800,842,657.032408606,635,658,0.45713850988,0.00468927629766,0.0794603376748,0.999999622874,0.000204957346349,-0.000841776956279,-6.04621888913e-05,1793254994299511296
+264,4.400000000,HOLD_POSE2,783,760,737,718,673.446448531,644.446448531,914.446448531,800,842,657,635,658,0.457138118747,0.00468814962954,0.0794594916276,0.999999622128,0.000204276014202,-0.000842826763339,-6.0478205052e-05,1793254994316177664
+265,4.416666667,HOLD_POSE2,783,760,737,717.861649253,673.138350747,644.138350747,914,800,841.861649253,657,635,658,0.45713772973,0.00468768480881,0.0794589624528,0.999999621295,0.000204591094093,-0.000843745218351,-6.03844237854e-05,1793254994332844288
+266,4.433333333,HOLD_POSE2,783,760,737,717.282516255,673.717483745,644.717483745,914,800,841.282516255,657,635,658,0.457137550955,0.00468948930235,0.0794595690569,0.999999620375,0.000208241696285,-0.000843974704916,-5.99356318812e-05,1793254994349510656
+267,4.450000000,POSE2_TO_POSE3_RETREAT,784,760,737,717,674,645,914,800,842,658,635,658,0.457140834991,0.00469044461115,0.0794626035688,0.999999624713,0.000205531105785,-0.000839456687286,-6.03660443731e-05,1793254994386849280
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783.417492144,760,737,717,673.417492144,645,914,800,842,658,635,658,0.457139132151,0.00468857187047,0.0794621086512,0.999999624406,0.000203613445538,-0.00084033321405,-5.97409795025e-05,1793254994403515904
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,737,717,673.166575031,645,914,800,841.833424969,657.833424969,635,658,0.457138233297,0.00468766756516,0.0794617760299,0.999999623945,0.000203199479772,-0.000841013989607,-5.92875826898e-05,1793254994420182528
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,737,717,673.754587432,645,914,800,841.245412568,657.245412568,635,658,0.457139368541,0.00468921341572,0.0794618540207,0.999999623096,0.000206589883588,-0.000841199511804,-5.92685085509e-05,1793254994436849408
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,736.661915029,717,674,645,914,800,841,657,635,658,0.457139909811,0.00468899682953,0.0794616743723,0.999999623374,0.000205940050389,-0.000840993273434,-5.97518101582e-05,1793254994453516032
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,736.081651628,717,674,645,914,800,841,657,635,658,0.457140025603,0.00468751776723,0.0794613101705,0.999999624456,0.000202396097647,-0.000840506407495,-6.05949756451e-05,1793254994470182912
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,736.493916702,717.493916702,673.506083298,645,914,800,841,657.493916702,635,658,0.457139427297,0.00468822915551,0.0794611267118,0.999999623647,0.000204086177855,-0.000841078319595,-6.03542640141e-05,1793254994486849280
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,760,736.931186393,718,673,644.931186393,914,800,841.068813607,657.931186393,635.068813607,658,0.457138838393,0.0046892325712,0.0794609456385,0.999999622681,0.000206221310617,-0.00084172732798,-6.00499156362e-05,1793254994503515648
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,760,736.355571923,718,673,644.355571923,914,800,841.644428077,657.355571923,635.644428077,658,0.457139179979,0.00468974492748,0.0794605641472,0.999999622884,0.000205321676173,-0.000841667198478,-6.05841032029e-05,1793254994520182272
+276,4.600000000,POSE2_TO_POSE3_RETREAT,782.772906926,760,736,717.772906926,673,644,914,800,841.772906926,657.227093074,635.772906926,657.772906926,0.457137131774,0.00468968370259,0.0794593504295,0.999999622025,0.000204098080334,-0.000842972093014,-6.07650690101e-05,1793254994536849152
+277,4.616666667,POSE2_TO_POSE3_RETREAT,782.178848872,760,736,717.178848872,673,644,914,800,841.178848872,657.821151128,635.178848872,657.178848872,0.45713122185,0.00468869561448,0.0794567918979,0.999999619438,0.000202350987832,-0.00084648276163,-6.03752555117e-05,1793254994553515776
+278,4.633333333,POSE2_TO_POSE3_RETREAT,782.401877881,760,736.401877881,717.401877881,673,644.803755761,914,800,841.401877881,658,635.401877881,657.401877881,0.457111273695,0.0046887920668,0.0794480006102,0.999999606628,0.000204445789978,-0.000861013688362,-6.00160085827e-05,1793254994570182656
+279,4.650000000,POSE2_TO_POSE3_RETREAT,782.976862305,760,736.976862305,717.976862305,673,645.95372461,914,800,841.976862305,658,635.976862305,657.976862305,0.457085278654,0.00468935567847,0.0794365245991,0.99999958909,0.000208195465531,-0.00088029152677,-5.96699279716e-05,1793254994586849280
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783.552126104,760,737,718,673,645.447873896,914.552126104,800,842,658,635.447873896,658,0.457035623401,0.00468700674336,0.0794186106321,0.999999560798,0.000205084476416,-0.000912625297244,-5.88089622417e-05,1793254994603516160
+281,4.683333333,POSE2_TO_POSE3_RETREAT,784,760,736.868960616,718,673,645,914.868960616,800,842,658,635,658,0.456980599516,0.00468549579421,0.0794007948156,0.99999953282,0.000203458272348,-0.000943191593783,-5.79143676435e-05,1793254994620182784
+282,4.700000000,POSE2_TO_POSE3_RETREAT,784,760,736.277258794,718,673,645,914.277258794,800,842,658,635,658,0.456910189858,0.00468736003704,0.0793842729597,0.999999510521,0.000208062983252,-0.000965620056871,-5.69774438292e-05,1793254994636849152
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783.69327573,760,736,718,673,645,914,800,842,657.69327573,635,658,0.456834565853,0.00468775660672,0.0793730481384,0.999999494854,0.000209790372694,-0.000981410240608,-5.57993503719e-05,1793254994653516032
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783.116098683,760,736,718,673,645,914,800,842,657.116098683,635,658,0.456754344124,0.00468685906194,0.0793664939551,0.999999485299,0.000208980696354,-0.000991347149599,-5.44086067124e-05,1793254994670182656
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782.540105413,760,736.459894587,718,673,645,914,800,841.540105413,657.459894587,635,658,0.456662924401,0.00468639923641,0.0793681045552,0.999999487468,0.000209694532082,-0.000989124491088,-5.21922155646e-05,1793254994686849024
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782.035515687,760,737,718,673.035515687,645,914,800,841.035515687,657.964484313,635,658,0.4565670448,0.00468606265485,0.0793716073919,0.999999492295,0.000211030224708,-0.000984074270647,-4.97281711081e-05,1793254994703515648
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782.610012396,760,737,718,673.610012396,645,914,800,841.610012396,657.389987604,635,658,0.456446273074,0.00468592377015,0.0793726268402,0.999999492857,0.000215981404376,-0.000982578156109,-4.66607828173e-05,1793254994720182272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,736.810106261,718,673.810106261,645,914,800,841.810106261,657.189893739,635,658,0.45631439233,0.00468593267686,0.0793728016236,0.999999492454,0.000220463298907,-0.000982147037758,-4.32911137603e-05,1793254994736849152
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,760,736.21884376,718,673.21884376,645,914,800,841.21884376,657.78115624,635,658,0.456159031034,0.00468625396277,0.0793711910814,0.999999490055,0.00022395328864,-0.000983966948035,-3.92825295778e-05,1793254994753515776
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,736.362681342,718,673.362681342,645,914,800,841.362681342,658,635,658,0.455990665156,0.00468491059833,0.0793713762616,0.999999490942,0.000227385547905,-0.000982445067352,-3.48456883983e-05,1793254994770182656
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,760,736.938484528,718,673.938484528,645,914,800,841.938484528,658,635,658,0.455814657404,0.00468258903816,0.0793726166591,0.999999493734,0.000230783883434,-0.000978959455652,-3.01571908759e-05,1793254994786849280
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,760,737,718,674,645,914,800,841.485550583,658,635,658,0.455615785935,0.00468045861635,0.0793825595461,0.999999508086,0.000235912724285,-0.00096310539419,-2.45236404964e-05,1793254994803515904
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,760,737,717.910083508,674,645,914,800,841,658,635,658,0.45541031311,0.00467817658024,0.0793948681807,0.999999525237,0.000240849963852,-0.00094401825836,-1.86012364598e-05,1793254994820182528
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,737,717.337392885,674,645,914,800,841,658,635,658,0.455184080117,0.00467495775254,0.0794142899467,0.999999551165,0.000243647109236,-0.000915515539655,-1.17348653367e-05,1793254994836849408
+295,4.916666667,POSE2_TO_POSE3_RETREAT,782.754723182,759.754723182,736.754723182,717.245276818,674.245276818,645,914,800,841,657.754723182,635,658,0.454931870467,0.00467364977797,0.0794274120412,0.999999568346,0.000250060760616,-0.000894848716732,-4.77242999962e-06,1793254994853516288
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782.157744534,759.157744534,736.157744534,717.842255466,674.842255466,645,914,800,841,657.157744534,635,658,0.454642412968,0.00467508177125,0.0794315010508,0.999999573782,0.000261660111122,-0.000885417768046,2.32775115779e-06,1793254994870182912
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782.420797207,759.420797207,736,717.579202793,675,645,914,800,841,657,635,658,0.45432266671,0.00467373988952,0.0794300476693,0.999999573163,0.000269146036258,-0.000883823370319,9.51589008052e-06,1793254994886849536
+298,4.966666667,POSE2_TO_POSE3_RETREAT,782.992717589,759.992717589,736,717.007282411,675,645,914,800,841,657,635,658,0.453992042693,0.00467140181104,0.0794266038189,0.999999570354,0.000275154684457,-0.000885043355677,1.67356175974e-05,1793254994903516160
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,760,736,717,675,645,914,800,841.568207172,657.568207172,635,658,0.453617577507,0.00466911093923,0.079424461855,0.99999956836,0.000274268008992,-0.000887468607519,2.13398902878e-05,1793254994920182784
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,760,736,717.148167342,675,645.148167342,914,800,841.851832658,658,635,658,0.453236153955,0.00466636866744,0.0794261263677,0.999999575349,0.000260209686534,-0.000883821145649,2.12878337719e-05,1793254994936849408
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,760,736,717.741418439,675,645.741418439,914,800,841.258581561,658,635,658,0.452835526598,0.00466226859489,0.0794391748165,0.999999607156,0.000206851854743,-0.00086188500203,7.34983802728e-06,1793254994953516032
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782.674562471,760,736,717.674562471,675.325437529,645.674562471,914,800,841,657.674562471,635,658,0.452407130967,0.00465971954592,0.0794566379321,0.999999634358,0.000187936346216,-0.000834223310606,5.88985605789e-06,1793254994970182656
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782.097676408,760,736,717.097676408,675.902323592,645.097676408,914,800,841,657.097676408,635,658,0.451957280203,0.00465836889119,0.079477512031,0.999999659052,0.000195632611641,-0.000802137786828,1.40709803712e-05,1793254994986849280
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782,759.521397486,736,717,676,645,914,800,841,657,635,658,0.451485337858,0.00465870714102,0.0794988635957,0.999999683626,0.000195266193618,-0.000770919376275,1.74111994224e-05,1793254995003516160
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782,759.056252145,736,717,676.056252145,645.056252145,914,800,841,657.056252145,635,658,0.451007672522,0.00465959557347,0.0795211959157,0.999999708125,0.000198637344909,-0.000737507694013,1.9395775067e-05,1793254995020182784
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782,759.648132284,736,717,676.648132284,645.648132284,914,800,841,657.648132284,635,658,0.450518389144,0.00466244491427,0.0795519402341,0.999999735533,0.000253245629686,-0.000681528931421,1.78674260987e-05,1793254995036849408
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.23494984,760,736,717,677.23494984,646,914,800,841,657.76505016,635,658,0.449997374519,0.00466384664414,0.079579544089,0.99999976051,0.000277225850543,-0.000633887160731,1.76761446752e-05,1793254995053516032
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.814345416,760,736,717,677.814345416,646,914,800,841,657.185654584,635,658,0.449429840663,0.00466312611909,0.0796025438985,0.999999787883,0.000256304119521,-0.000598467756526,1.94450572236e-05,1793254995070182400
+309,5.150000000,POSE2_TO_POSE3_RETREAT,783,760,736,717.391067305,678.391067305,646,914,800,841,657.391067305,635,658,0.44879623457,0.00466075538412,0.0796000383374,0.999999786664,0.00023946334384,-0.00060736263076,2.09731986427e-05,1793254995086849024
+310,5.166666667,POSE2_TO_POSE3_RETREAT,783,760,736,717.966528496,678.966528496,646,914,800,841,657.966528496,635,658,0.448131474477,0.00465760655133,0.0795855066247,0.999999771557,0.000224546798082,-0.000637152328507,2.23878129357e-05,1793254995103515904
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782.447920302,760,736,717.447920302,679.552079698,646,914,800,841,657.447920302,635,657.447920302,0.447465884818,0.00464991796955,0.0795570680157,0.999999750398,0.000215311538985,-0.000672532084378,2.33582736993e-05,1793254995120182784
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.136608422,760,736,717,680,646,914,800,841,657,635,657.136608422,0.446802894524,0.00464245251509,0.0795445115017,0.999999742941,0.000209173839339,-0.000685396477481,2.43916522738e-05,1793254995136849408
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.715805541,760,736,717,680,646,914,800,841,657,635,657.715805541,0.446148491859,0.00463661827794,0.0795861928686,0.999999782401,0.000211935001569,-0.000624196344345,2.57177409135e-05,1793254995153516288
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,760,736,717,680.294606073,646.294606073,914,800,841,657.294606073,635.294606073,658,0.445471678204,0.00462970378115,0.0796364918154,0.999999826349,0.000204708970599,-0.000551940399638,2.75336450714e-05,1793254995170182912
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,760,736,717,680.873024615,646.873024615,914,800,841,657.873024615,635.873024615,658,0.444773274563,0.00462174860192,0.0796950926211,0.999999871913,0.00018786165105,-0.000469033690969,2.98214192579e-05,1793254995186849536
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782.549690453,760,736,717,681.450309547,647,914,800.450309547,841,657.549690453,635.549690453,658,0.444012166979,0.00461310086271,0.0797230300912,0.999999887829,0.000181700749577,-0.000436155644548,3.3100545489e-05,1793254995203516160
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782,760,736.027675405,717.027675405,682.027675405,647.027675405,914,800.972324595,841,657,635,658,0.443233921532,0.00460421042193,0.0797415893491,0.999999896321,0.000178174598926,-0.00041746691565,3.65246777484e-05,1793254995220182528
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782,760,736.613098682,717.613098682,682.613098682,647.613098682,914,800.386901318,841,657,635,658,0.442465723336,0.00459435446365,0.0797449596948,0.99999990487,0.000167172212157,-0.000401155848071,3.7251770161e-05,1793254995236849152
+319,5.316666667,POSE2_TO_POSE3_RETREAT,782,760,737,717.803315329,683,648,914,800,841,657.196684671,635,658,0.44167069662,0.00458515557888,0.0797442914258,0.999999909505,0.000157387593523,-0.000393433343223,3.77995350711e-05,1793254995253515776
+320,5.333333333,POSE2_TO_POSE3_RETREAT,782,760,737,717.22331008,683,648,914,800,841,657.77668992,635,658,0.440823383599,0.00457723727135,0.0797357522632,0.999999907049,0.000149976295235,-0.000402449169009,3.79978069273e-05,1793254995270182400
+321,5.350000000,POSE2_TO_POSE3_RETREAT,782,759.645519215,736.645519215,717,683,648,914,800,840.645519215,658,635,658,0.439927518276,0.00456750544964,0.07969881348,0.999999884601,0.000140679793348,-0.000457735867197,3.85235019457e-05,1793254995286849280
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782,759.069114694,736.069114694,717,683,648,914,800,840.069114694,658,635,658,0.439001256675,0.00455663827235,0.0796440950312,0.999999843876,0.00013020305367,-0.000541990578092,3.9254180968e-05,1793254995303515904
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782,759.505565897,736.505565897,717.505565897,683.505565897,648,914,800,840.505565897,657.494434103,635,658,0.438155167335,0.00454399604875,0.0796909156162,0.999999883519,0.000115951986674,-0.000466806151096,4.01230348498e-05,1793254995320182784
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782.082273378,760,736.917726622,717.917726622,684,648,914,800.082273378,840.917726622,657,635,658,0.437323126018,0.00453193641913,0.0797546755472,0.999999926611,0.000103295824367,-0.000366584133192,4.1513745437e-05,1793254995336849408
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782.672957249,760,736.327042751,717.327042751,684,648,914,800.672957249,840.327042751,657,635,658,0.436510396768,0.0045249713919,0.0798376251207,0.99999996334,0.000103673099604,-0.000245876286833,4.60129526518e-05,1793254995353516032
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782.741775861,760,736,717,684,648,913.741775861,800.741775861,840,657,635,658,0.435646234719,0.00451563814507,0.0798789512806,0.999999976861,9.52471669526e-05,-0.000186670254804,4.85744454634e-05,1793254995370182656
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782.163228574,760,736,717,684,648,913.163228574,800.163228574,840,657,635,658,0.434718270947,0.00450336715663,0.0798686442352,0.999999975174,7.59009892422e-05,-0.00020375628213,4.87322340403e-05,1793254995386849280
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782,760,736,717.414413306,683.585586694,648,913.414413306,800,840,657,635,657.585586694,0.433746874303,0.00449262350289,0.0798333895357,0.999999963856,6.33810074504e-05,-0.000256891100365,4.7716844291e-05,1793254995403515904
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782,760,736,717.991699308,683.008300692,648,913.991699308,800,840,657,635,657.008300692,0.432758407729,0.00448248012291,0.0797883299111,0.999999944947,5.35438577571e-05,-0.000324193810597,4.62403718633e-05,1793254995420182784
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782,759.43767114,736,717.43767114,683.56232886,648,914,800,840,657,635,657,0.431696196159,0.00447163626537,0.0797260342807,0.99999989667,4.68549046984e-05,-0.000449415898113,4.98998408297e-05,1793254995436849664
+331,5.516666667,POSE2_TO_POSE3_RETREAT,782,759.138449624,736.138449624,717.138449624,684,648,913.861550376,800.138449624,840,657,635,657,0.430681980606,0.0044599997037,0.0796912211932,0.999999862534,3.78761614845e-05,-0.000520332437281,5.24509540439e-05,1793254995453516288
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782,759.732979376,736.732979376,717.732979376,684,648,913.267020624,800.732979376,840,657,635,657,0.429829417392,0.00444578548356,0.0797477693015,0.999999914595,2.12031090245e-05,-0.000409572421819,5.11041070565e-05,1793254995470182656
+333,5.550000000,POSE2_TO_POSE3_RETREAT,782,760,737,718,684,648,913,801,840,657.319621269,635,657.319621269,0.428958063124,0.00443675550774,0.0798063589651,0.999999950964,1.18058561257e-05,-0.000308611354886,5.18897059005e-05,1793254995486849280
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782,760,737,718,684,648,913,801,840,657.899832102,635,657.899832102,0.428071388413,0.00443195228501,0.0798666131207,0.999999975235,8.34061681551e-06,-0.000215639448614,5.44139035622e-05,1793254995503515904
+335,5.583333333,POSE2_TO_POSE3_RETREAT,781.525855011,760,736.525855011,717.525855011,684,648,913,801,840,657.525855011,635,657.525855011,0.427103688635,0.00444185395368,0.079840403216,0.999999965606,2.2047862429e-05,-0.0002556128424,5.44472094785e-05,1793254995520182272
+336,5.600000000,POSE2_TO_POSE3_RETREAT,781,759.951518727,736,717,684,648,913,801,839.951518727,657,635,657,0.426119547669,0.004455084819,0.0797973365758,0.999999946107,4.00705652983e-05,-0.000321345969575,5.40042409574e-05,1793254995536848896
+337,5.616666667,POSE2_TO_POSE3_RETREAT,781,759.363219151,736,717,684,648,913,801,839.363219151,657,635,657,0.42514059469,0.00447121966535,0.079767467121,0.999999929726,6.62456562604e-05,-0.000365018952556,5.40454742355e-05,1793254995553515520
+338,5.633333333,POSE2_TO_POSE3_RETREAT,781,759,736.221598606,717,684,648,913.221598606,801,839.221598606,657.221598606,635,657.221598606,0.424161406587,0.00447732299938,0.0797393926168,0.999999911766,7.97129910876e-05,-0.000408811564307,5.46467859116e-05,1793254995570182400
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781,759,736.800797738,717,684,648,913.800797738,801,839.800797738,657.800797738,635,657.800797738,0.423181838901,0.00446723817424,0.0797142146753,0.99999989327,7.26734309873e-05,-0.000452797232261,5.6151913538e-05,1793254995586849280
+340,5.666666667,POSE2_TO_POSE3_RETREAT,781,759.378294873,737,717,684,648,913.621705127,800.621705127,840,658,635,657.621705127,0.42230946314,0.00445858313261,0.0797435019467,0.999999917262,6.31275767927e-05,-0.000397907154053,5.62156809942e-05,1793254995603516160
+341,5.683333333,POSE2_TO_POSE3_RETREAT,781,759.954899752,737,717,684,648,913.045100248,800.045100248,840,658,635,657.045100248,0.421493279663,0.00445067761372,0.0798013410122,0.999999954698,5.22678711993e-05,-0.000291184356172,5.5523857017e-05,1793254995620182784
+342,5.700000000,POSE2_TO_POSE3_RETREAT,781.530669231,760,737,717.530669231,684,648,913.530669231,800.530669231,839.469330769,657.469330769,635,657,0.420650087433,0.00445585246111,0.0798464044072,0.999999973401,5.70567059126e-05,-0.000216346520294,5.59994993401e-05,1793254995636849408
+343,5.716666667,POSE2_TO_POSE3_RETREAT,781.891032884,760,737,717.891032884,684.108967116,648,914,801,839.108967116,657,635,657,0.419789370831,0.00446149010687,0.0798743512973,0.999999981682,6.25286677338e-05,-0.000171932162153,5.62591636621e-05,1793254995653516032
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781.301266058,760,737,717.301266058,684.698733942,648,914,801,839.698733942,657,635,657,0.418861443004,0.00446427243214,0.0798315576505,0.999999965153,6.51559396794e-05,-0.000249818605638,5.51287566959e-05,1793254995670182400
+345,5.750000000,POSE2_TO_POSE3_RETREAT,781,760,737,717.283334062,685,648.283334062,914,800.716665938,840,657.283334062,635,657.283334062,0.417966817318,0.00446606975236,0.0798064423564,0.999999951942,6.92256104603e-05,-0.000297127102533,5.51237555051e-05,1793254995686849024
+346,5.766666667,POSE2_TO_POSE3_RETREAT,781,760,737,717.86253883,685,648.86253883,914,800.13746117,840,657.86253883,635,657.86253883,0.417106967347,0.00446683848399,0.0797997876293,0.999999946788,7.48015018382e-05,-0.000312504670926,5.62939560886e-05,1793254995703515648
+347,5.783333333,POSE2_TO_POSE3_RETREAT,781,759.562598021,737,718,685,649,914,800.437401979,840,657.562598021,635.437401979,658,0.416268115297,0.00446571402906,0.0797968436957,0.999999942196,7.09525429108e-05,-0.000327649455373,5.67486289447e-05,1793254995720182528
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781,759.010944335,737,718,685,648.989055665,914,800.989055665,839.989055665,657,635.989055665,658,0.415436712053,0.00446398453761,0.0797947361265,0.99999993752,6.4554635564e-05,-0.000342853943136,5.696279438e-05,1793254995736849408
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781,759.586042445,737,718,685,648.413957555,914,800.413957555,839.413957555,657,635.413957555,658,0.414652462752,0.00446143455444,0.0797762181233,0.999999928815,7.79439906292e-05,-0.000364869903665,5.62568108283e-05,1793254995753516032
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,760,737,717.833703274,685,648.166296726,913.833703274,800,839.166296726,657,635,658,0.413886833617,0.00446027294594,0.0797689799733,0.999999926939,8.6029351375e-05,-0.00036831726642,5.53433119781e-05,1793254995770182912
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,760,737,717.240203063,685,648.759796937,913.240203063,800,839.759796937,657,635,658,0.413169038087,0.0044626779645,0.0797907188938,0.9999999428,8.04891619701e-05,-0.00032406333596,5.38967221638e-05,1793254995786849280
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,760,737,717.343500269,685,649,913,800.343500269,840,657.343500269,635,658,0.412440623486,0.00446500715905,0.0797945544787,0.999999944433,8.21441684419e-05,-0.000318483724224,5.43481281927e-05,1793254995803516160
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,760,737,717.920542768,685,649,913,800.920542768,840,657.920542768,635,658,0.411704989132,0.00446728480151,0.0797862177722,0.999999936966,8.86911135203e-05,-0.000339198379097,5.60899618105e-05,1793254995820183040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781.493827886,760,737.493827886,718,685,649,913.493827886,801,840,658,635,658,0.411020914513,0.00446564002936,0.0797845169549,0.999999934992,8.32638969102e-05,-0.000346299149827,5.62104033812e-05,1793254995836849408
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781.931271438,760,737.931271438,718,685,648.931271438,914,800.931271438,839.931271438,658,635,657.931271438,0.410351738588,0.00446400278102,0.0797858076487,0.999999935262,7.68219935928e-05,-0.000347026039972,5.60959562969e-05,1793254995853515776
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781.339510091,760,737.339510091,718,685,648.339510091,914,800.339510091,839.339510091,658,635,657.339510091,0.409733286739,0.00446718941576,0.0798017999941,0.99999994558,7.72095299155e-05,-0.00031579088305,5.61643378556e-05,1793254995870182656
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781,760,737.246751934,718,685,648,913.753248066,800,839,657.753248066,635.246751934,657,0.409132147778,0.00446939325597,0.0798195583201,0.999999954469,8.12937314832e-05,-0.000285066868521,5.64848481871e-05,1793254995886849280
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781,760,737.825612263,718,685,648,913.174387737,800,839,657.174387737,635.825612263,657,0.408554310634,0.00447027433299,0.0798396935136,0.999999961765,9.03533492227e-05,-0.000255030813467,5.71447037234e-05,1793254995903515904
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737.597238802,718,685,648.402761198,913,800,839,657,635.597238802,657.402761198,0.407965571157,0.00447196791309,0.0798237811235,0.999999953273,9.48989449135e-05,-0.000285027287369,5.66346941885e-05,1793254995920182784
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737.020827682,718,685,648.979172318,913,800,839,657,635.020827682,657.979172318,0.407372131105,0.00447401180284,0.0797923268705,0.999999935592,9.74983269248e-05,-0.000340906698082,5.56202989021e-05,1793254995936849408
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,759.434890601,737,718,685,648.434890601,913,800.565109399,839.565109399,657,635.565109399,658,0.406850771928,0.00447325394847,0.0797665027756,0.999999922051,8.95349222028e-05,-0.000380576928862,5.51604607672e-05,1793254995953516032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,780.850355929,759,737,718,684.850355929,648,913,800.850355929,840,657,635.850355929,658,0.406352612678,0.00447347751225,0.0797532348776,0.999999916085,8.58773154157e-05,-0.000396809938568,5.47421899387e-05,1793254995970182656
+363,6.050000000,POSE2_TO_POSE3_RETREAT,780.270875146,759,737,718,684.270875146,648,913,800.270875146,840,657,635.270875146,658,0.405913330957,0.00447682178753,0.0797754270609,0.999999933573,9.57250568386e-05,-0.000347467435035,5.43836020091e-05,1793254995986849280
+364,6.066666667,POSE2_TO_POSE3_RETREAT,780.306718884,759.306718884,737,718,684.306718884,648,913,800,840,657,635,657.693281116,0.405491472377,0.00447904588297,0.0797942370046,0.999999944063,0.000102813063243,-0.000313454784393,5.5217004312e-05,1793254996003516160
+365,6.083333333,POSE2_TO_POSE3_RETREAT,780.882656803,759.882656803,737,718,684.882656803,648,913,800,840,657,635,657.117343197,0.405084906788,0.004480286753,0.0798100782244,0.9999999497,0.00010747874295,-0.000292897742309,5.70966626642e-05,1793254996020182784
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,685.457461547,648,913,800,839.542538453,657.457461547,635,657.457461547,0.404699903957,0.00448150915842,0.0798190000959,0.999999951673,0.000110246089149,-0.0002845405292,5.94639119147e-05,1793254996036849408
+367,6.116666667,POSE2_TO_POSE3_RETREAT,780.967090074,760,737,718,685.967090074,648,913,800,839,658,635,657.967090074,0.404322267541,0.00448261222134,0.0798257725654,0.999999952677,0.000111470086634,-0.000280088398722,6.14022957821e-05,1793254996053516032
+368,6.133333333,POSE2_TO_POSE3_RETREAT,780.375801557,760,737,718,685.375801557,648,913,800,839,658,635,657.375801557,0.403976003336,0.00448177057755,0.0798261161217,0.999999952316,9.47497225896e-05,-0.000288928865429,5.39473432138e-05,1793254996070182400
+369,6.150000000,POSE2_TO_POSE3_RETREAT,780,760,737,718.211189551,685,648,913,800,839,657.788810449,635,657,0.403644828977,0.00448107208022,0.079826956281,0.999999951953,9.04209187026e-05,-0.000292150234791,5.06610734293e-05,1793254996086849024
+370,6.166666667,POSE2_TO_POSE3_RETREAT,780,760,737,718.79068607,685,648,913,800,839,657.20931393,635,657,0.403339970802,0.00448062322524,0.0798286624983,0.999999951931,0.000107702550989,-0.000285572100038,5.46448370028e-05,1793254996103515648
+371,6.183333333,POSE2_TO_POSE3_RETREAT,780.367485413,760,737,718.632514587,685,648,913,800,839.367485413,657.367485413,635,657,0.40306186047,0.00447940099888,0.0798280681145,0.999999951183,0.000108474878576,-0.000287577709457,5.62749396799e-05,1793254996120182272
+372,6.200000000,POSE2_TO_POSE3_RETREAT,780.942759734,760,737,718.057240266,685,648,913,800,839.942759734,657.942759734,635,657,0.402798874263,0.00447774148166,0.0798261728919,0.999999950062,9.9912278363e-05,-0.000294436862832,5.65742018071e-05,1793254996136849152
+373,6.216666667,POSE2_TO_POSE3_RETREAT,780.471505202,760,737,718.528494798,685,648,913,800,839.471505202,658,635,657.528494798,0.402581013358,0.00447365201051,0.0798274415324,0.999999951678,9.05928392152e-05,-0.000291867111743,5.7014597133e-05,1793254996153515776
+374,6.233333333,POSE2_TO_POSE3_RETREAT,780,759.886140671,737,718.886140671,685,648,913,800,839,657.886140671,635,658,0.40237385902,0.00446807571827,0.0798291886687,0.999999953532,8.09601127248e-05,-0.000288173026204,5.7768770095e-05,1793254996170182656
+375,6.250000000,POSE2_TO_POSE3_RETREAT,780,759.307013328,737,718.307013328,685,648,913,800,839,657.307013328,635,658,0.402190080275,0.00445752094228,0.0798314625515,0.99999995537,7.03889131926e-05,-0.000284141873863,5.97414209497e-05,1793254996186849280
+376,6.266666667,POSE2_TO_POSE3_RETREAT,780,759.271773219,737,718,685,648,913,800,839,657,635,658,0.402021255492,0.00445133452252,0.079836022556,0.999999957535,6.61783496608e-05,-0.000277216918004,6.0838874329e-05,1793254996203515904
+377,6.283333333,POSE2_TO_POSE3_RETREAT,780,759.850175226,737,718,685,648,913,800,839,657,635,658,0.401869302563,0.00445007671187,0.0798431618829,0.9999999601,6.91441896713e-05,-0.0002670270216,6.09488839298e-05,1793254996220182784
+378,6.300000000,POSE2_TO_POSE3_RETREAT,780.42603152,760,737.42603152,718.42603152,685,648,913,800,839,657,635,657.57396848,0.401735186632,0.00445733854991,0.079843762231,0.999999958616,9.40251791043e-05,-0.000265099360332,6.04122858484e-05,1793254996236849408
+379,6.316666667,POSE2_TO_POSE3_RETREAT,780.998978223,760,737.998978223,719,685,648,913,800,839,657.001021777,635,657.001021777,0.401607338259,0.00446757386506,0.0798420679562,0.999999954819,0.000126513575759,-0.000266078546059,5.96499041252e-05,1793254996253515776
+380,6.333333333,POSE2_TO_POSE3_RETREAT,780.410227491,760,737.410227491,719,685,648,913,800,839,657.589772509,635,657.589772509,0.401497886898,0.00447500447411,0.0798353780859,0.999999951505,0.00012803864903,-0.000277688739821,5.90380244286e-05,1793254996270182400
+381,6.350000000,POSE2_TO_POSE3_RETREAT,780,759.824405532,737,718.824405532,685,648,912.824405532,800,839,657.824405532,635,658,0.401394691417,0.00447991782027,0.0798287154945,0.999999948752,0.000126445354832,-0.000288338312784,5.80376321248e-05,1793254996286849024
+382,6.366666667,POSE2_TO_POSE3_RETREAT,780,759.245313664,737,718.245313664,685,648,912.245313664,800,839,657.245313664,635,658,0.4013058713,0.00447904676316,0.0798221155876,0.99999994746,0.000117686383872,-0.000296780479832,5.61444792908e-05,1793254996303515904
+383,6.383333333,POSE2_TO_POSE3_RETREAT,780,759,737,718,685,648,912.332867628,800,839,657,635,658,0.401232139113,0.00447666890457,0.0798180366681,0.999999946809,0.000109913147281,-0.000302033760077,5.54728416246e-05,1793254996320182784
+384,6.400000000,POSE2_TO_POSE3_RETREAT,780,759,737,718,685,648,912.910379743,800,839,657,635,658,0.401169495946,0.00447318360665,0.0798158105736,0.999999946663,0.000102864385399,-0.000304943336046,5.56989689041e-05,1793254996336849408
+385,6.416666667,POSE2_TO_POSE3_RETREAT,780,759.483232324,737,718,685,648,913,800,839,657.483232324,635,657.516767676,0.401123905031,0.00447226591612,0.0798155792678,0.999999946537,0.000100937788435,-0.000306008124167,5.56507040125e-05,1793254996353516288
+386,6.433333333,POSE2_TO_POSE3_RETREAT,780,760,737,718.057229298,685,648,913,800,839,657.942770702,635,657,0.401082566575,0.00447189222746,0.0798156368154,0.999999946412,9.99651594256e-05,-0.00030674836225,5.55739868616e-05,1793254996370182912
+387,6.450000000,POSE2_TO_POSE3_RETREAT,780,760,737,718.649943059,685,648,913,800,839,657.350056941,635,657,0.401051709162,0.00447219560957,0.0798149685834,0.999999946221,9.91149522572e-05,-0.000307622560335,5.57026566261e-05,1793254996386849536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,780.237051382,760,737.237051382,719,685,648,913,800,839,657.237051382,635,657.237051382,0.401026388464,0.00447266774846,0.0798146556001,0.999999946257,9.86633864178e-05,-0.00030765489036,5.56829382057e-05,1793254996403515904
+389,6.483333333,POSE2_TO_POSE3_RETREAT,780.816073264,760,737.816073264,719,685,648,913,800,839,657.816073264,635,657.816073264,0.401009055038,0.00447338333596,0.0798148550988,0.99999994662,9.87869009045e-05,-0.000306472740848,5.54491548724e-05,1793254996420182528
+390,6.500000000,POSE2_TO_POSE3_RETREAT,780.608023442,760,737.608023442,719,685,648,913,800,839,657.608023442,635,658,0.400996687524,0.00447392913281,0.0798159355668,0.999999947107,0.000100043144005,-0.000304469853405,5.54623567724e-05,1793254996436849408
+391,6.516666667,POSE2_TO_POSE3_RETREAT,780.033571944,760,737.033571944,719,685,648,913,800,839,657.033571944,635,658,0.400986631767,0.00447439588782,0.0798174261482,0.999999947643,0.000101826700742,-0.000302084891857,5.55905365123e-05,1793254996453516032
+392,6.533333333,POSE2_TO_POSE3_RETREAT,780,759.461218028,737,718.461218028,685,648.538781972,913,800,839,657,635.538781972,658,0.400980656646,0.00447418582094,0.0798181268898,0.999999948109,0.000100261737691,-0.000301103394628,5.5370106218e-05,1793254996470182912
+393,6.550000000,POSE2_TO_POSE3_RETREAT,780.116008141,759.116008141,737,718.116008141,685,649,913,800,839,657,635.883991859,658,0.400975361428,0.0044742683204,0.0798184931289,0.99999994839,9.92787715501e-05,-0.000300546191676,5.51036233393e-05,1793254996486849536
+394,6.566666667,POSE2_TO_POSE3_RETREAT,780.714018839,759.714018839,737,718.714018839,685,649,913,800,839,657,635.285981161,658,0.40097183878,0.00447574095114,0.0798176732352,0.999999947925,0.000101577500854,-0.000301389949136,5.47357000286e-05,1793254996503516160
+395,6.583333333,POSE2_TO_POSE3_RETREAT,780.69921132,759.69921132,737.30078868,718.69921132,685,648.69921132,913,800,839,657,635,657.69921132,0.40097019228,0.00447475060231,0.0798184279716,0.999999948315,0.000100596576893,-0.000300418894985,5.47556766741e-05,1793254996520182784
+396,6.600000000,POSE2_TO_POSE3_RETREAT,780.122743878,759.122743878,737.877256122,718.122743878,685,648.122743878,913,800,839,657,635,657.122743878,0.400970265306,0.00447150288426,0.0798206258875,0.999999949476,9.66097862498e-05,-0.000297784530267,5.51311712424e-05,1793254996536849408
+397,6.616666667,POSE2_TO_POSE3_RETREAT,780,759.450257381,737.549742619,718.450257381,685,648.450257381,913,800,839,657,635,657,0.400970585055,0.00447128024689,0.0798214314218,0.999999950082,9.59590901448e-05,-0.000295970320866,5.50325923919e-05,1793254996553515776
+398,6.633333333,POSE2_TO_POSE3_RETREAT,780,760,737.023186625,719,685.023186625,648.976813375,913,800,839,657.023186625,635.023186625,657.023186625,0.400970946491,0.00447193001617,0.079821868291,0.999999950513,9.6369122831e-05,-0.000294418424426,5.48163279243e-05,1793254996570182400
+399,6.650000000,POSE2_TO_POSE3_RETREAT,780,760,737.617437554,719,685.617437554,648.382562446,913,800,839,657.617437554,635.617437554,657.617437554,0.400970690781,0.00447391085377,0.0798225024325,0.99999995025,0.000100676197277,-0.000293862520997,5.48602299769e-05,1793254996586849280
+400,6.666666667,POSE2_TO_POSE3_RETREAT,780,760,737.795005928,718.795005928,685.795005928,648,913,800,839,658,635.795005928,657.795005928,0.400970463475,0.00447490734241,0.0798230619613,0.999999950258,0.000102056277672,-0.000293386472307,5.47060849039e-05,1793254996603515904
+401,6.683333333,POSE2_TO_POSE3_RETREAT,780,760,737.219547553,718.219547553,685.219547553,648,913,800,839,658,635.219547553,657.219547553,0.400970287501,0.00447412492019,0.0798234866501,0.999999950775,9.81467082057e-05,-0.000293054736754,5.41940300145e-05,1793254996620182784
+402,6.700000000,POSE2_TO_POSE3_RETREAT,780,759.64349436,737,718,685,648,913,800,839,658,635.35650564,657.35650564,0.400969804972,0.00447403365029,0.0798231768422,0.999999950764,9.71903534734e-05,-0.000293465553871,5.3889416511e-05,1793254996636849408
+403,6.716666667,POSE2_TO_POSE3_RETREAT,780,759.067074269,737,718,685,648,913,800,839,658,635.932925731,657.932925731,0.400969133343,0.0044743687254,0.0798224139518,0.999999950434,9.80557220967e-05,-0.000294334422836,5.37127655428e-05,1793254996653516288
+404,6.733333333,POSE2_TO_POSE3_RETREAT,780,759.505906269,737.505906269,718,685.505906269,648.505906269,913,800,839.505906269,658,635.494093731,658,0.400970004293,0.00447426382013,0.0798229028298,0.999999950817,9.87674891917e-05,-0.000292726420722,5.40563711882e-05,1793254996670182912
+405,6.750000000,POSE2_TO_POSE3_RETREAT,780.081720863,760,737.918279137,718.081720863,685.918279137,648.918279137,913,800,839.918279137,658,635,657.918279137,0.400970596708,0.00447424095102,0.0798233751884,0.999999951122,9.93951246674e-05,-0.000291407149825,5.43894434218e-05,1793254996686849536
+406,6.766666667,POSE2_TO_POSE3_RETREAT,780.678241639,760,737.321758361,718.678241639,685.321758361,648.321758361,913,800,839.321758361,658,635,657.321758361,0.400968154832,0.00447509985895,0.0798227050635,0.999999950361,9.96201953509e-05,-0.000293961457245,5.42245753481e-05,1793254996703515904
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781,760,737,718.735015754,685,648,912.735015754,800,839,657.735015754,635,657.264984246,0.400967209833,0.00447516084907,0.0798226459009,0.999999950234,9.88841560416e-05,-0.00029467924574,5.40146281518e-05,1793254996720182784
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781,760,737,718.15972372,685,648,912.15972372,800,839,657.15972372,635,657.84027628,0.400968017738,0.00447428744373,0.079823302201,0.999999950852,9.70226162071e-05,-0.000293246393034,5.37518913699e-05,1793254996736849408
+409,6.816666667,POSE2_TO_POSE3_RETREAT,780.585294771,759.585294771,737,718,685,648,912,800,839,657.414705229,635,657.585294771,0.400968787629,0.00447510684472,0.0798235619311,0.999999951008,9.79321826574e-05,-0.000292441206683,5.35834533035e-05,1793254996753516032
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780.011197582,759.011197582,737,718,685,648,912,800,839,657.988802418,635,657.011197582,0.400969542908,0.00447657687591,0.0798236692395,0.999999950985,9.99068239505e-05,-0.000291877263989,5.34512589653e-05,1793254996770182912
+411,6.850000000,POSE2_TO_POSE3_RETREAT,780.580686731,759.580686731,737,718.580686731,685,648,912.580686731,800,839,657.419313269,635,657.580686731,0.400969662757,0.00447546697374,0.0798239676059,0.999999951018,0.000101115127788,-0.00029133572009,5.35117096333e-05,1793254996786849536
+412,6.866666667,POSE2_TO_POSE3_RETREAT,781,760,737,719,685,648,913,800,839,657.168703154,635.168703154,657.831296846,0.400969185165,0.00447484276822,0.0798237749864,0.99999995088,0.000101483617223,-0.000291681656716,5.35093802404e-05,1793254996803516160
+413,6.883333333,POSE2_TO_POSE3_RETREAT,781,760,737,719,685,648,913,800,839,657.746482588,635.746482588,657.253517412,0.400967289532,0.00447552074057,0.0798223825943,0.999999950321,9.98526657016e-05,-0.000294178501335,5.33455274474e-05,1793254996820182784
+414,6.900000000,POSE2_TO_POSE3_RETREAT,780.676971966,759.676971966,737,718.676971966,685,648,913,800,839,657.676971966,635.676971966,657,0.400966976738,0.00447516358146,0.0798225539215,0.999999950457,9.8573369578e-05,-0.000294127261733,5.34599723098e-05,1793254996836849408
+415,6.916666667,POSE2_TO_POSE3_RETREAT,780.101391315,759.101391315,737,718.101391315,685,648,913,800,839,657.101391315,635.101391315,657,0.400967901456,0.00447399712676,0.0798239478095,0.999999951137,9.75690078457e-05,-0.000292083856412,5.3791998299e-05,1793254996853516032
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c52175453b2eb090aacca68c6378185ad7b3ef25
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,417 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+14,0.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+18,0.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+19,0.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+20,0.333333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+21,0.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+22,0.366666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+23,0.383333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+25,0.416666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+26,0.433333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+27,0.450000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+28,0.466666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+29,0.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+30,0.500000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+31,0.516666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+32,0.533333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+33,0.550000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+34,0.566666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+35,0.583333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+36,0.600000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+37,0.616666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+395,6.583333333,pose2_to_pose3_retreat,0.575669469698,0.0101818380105,1.07002057885,0.546240616834,0.0188560735296,1.0696922783
+396,6.600000000,pose2_to_pose3_retreat,0.575668944104,0.0101818635298,1.0700206002,0.546240090568,0.0188560968379,1.06969230162
+397,6.616666667,pose2_to_pose3_retreat,0.575668807436,0.0101818701655,1.07002060575,0.546239953725,0.0188561028987,1.06969230769
+398,6.633333333,pose2_to_pose3_retreat,0.575668775151,0.010181871733,1.07002060706,0.546239921398,0.0188561043305,1.06969230912
+399,6.650000000,pose2_to_pose3_retreat,0.575668772509,0.0101818718613,1.07002060716,0.546239918752,0.0188561044477,1.06969230924
+400,6.666666667,pose2_to_pose3_retreat,0.575668679641,0.0101818763704,1.07002061094,0.546239825765,0.0188561085661,1.06969231336
+401,6.683333333,pose2_to_pose3_retreat,0.575668463787,0.0101818868508,1.0700206197,0.546239609636,0.0188561181384,1.06969232294
+402,6.700000000,pose2_to_pose3_retreat,0.575668382062,0.0101818908188,1.07002062302,0.546239527805,0.0188561217627,1.06969232656
+403,6.716666667,pose2_to_pose3_retreat,0.5756683662,0.0101818915889,1.07002062366,0.546239511924,0.0188561224661,1.06969232727
+404,6.733333333,pose2_to_pose3_retreat,0.575668112309,0.0101819039162,1.07002063397,0.546239257707,0.0188561337254,1.06969233853
+405,6.750000000,pose2_to_pose3_retreat,0.575667817136,0.0101819083601,1.07002063448,0.546238962348,0.0188561375811,1.06969234024
+406,6.766666667,pose2_to_pose3_retreat,0.57566771008,0.0101818950718,1.07002061736,0.546238855513,0.018856125064,1.06969232368
+407,6.783333333,pose2_to_pose3_retreat,0.575667593326,0.0101818805797,1.07002059869,0.546238739,0.018856111413,1.06969230562
+408,6.800000000,pose2_to_pose3_retreat,0.575667492201,0.0101818680276,1.07002058252,0.546238638084,0.0188560995893,1.06969228998
+409,6.816666667,pose2_to_pose3_retreat,0.575667347498,0.0101818500662,1.07002055939,0.546238493679,0.0188560826703,1.0696922676
+410,6.833333333,pose2_to_pose3_retreat,0.57566715794,0.0101818265374,1.07002052908,0.546238304513,0.0188560605071,1.06969223828
+411,6.850000000,pose2_to_pose3_retreat,0.57566708806,0.0101818178635,1.0700205179,0.546238234777,0.0188560523366,1.06969222747
+412,6.866666667,pose2_to_pose3_retreat,0.575666956754,0.0101818023133,1.07002051848,0.546238103431,0.018856036543,1.06969222518
+413,6.883333333,pose2_to_pose3_retreat,0.575666871217,0.0101817929641,1.07002054136,0.546238017544,0.0188560257943,1.06969224249
+414,6.900000000,pose2_to_pose3_retreat,0.575666773668,0.0101817789997,1.07002055215,0.546237919902,0.0188560113982,1.06969225027
+415,6.916666667,pose2_to_pose3_retreat,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..803e2ce4179278ce8e05d4c3565c5543cbb85a69
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54c842e6cdfc9eb9f87684a4bf25eb4a0c01db64a14a84ab2123a8692061b6b2
+size 26436352
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..316db465b971a19febbc19093e60ab96361366cf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,781,760,737,719,685,648,913,800,839,658,635,658,0.400969302569,0.0044747815403,0.0798261638977,0.999999951732,9.98839030472e-05,-0.000289257266256,5.37542462043e-05,1793254996971505408
+1,0.016666667,BASELINE,781,760,737,718.424053469,685,648,913,800,839,658,635,657.424053469,0.400969817271,0.00447606145802,0.0798258688481,0.999999951716,0.000101884723013,-0.000288656704667,5.35209468574e-05,1793254996988172288
+2,0.033333333,BASELINE,780.843333998,759.843333998,737.156666002,718,685,648,913,800,839,658,635,657.156666002,0.400970286298,0.00447703055093,0.079825805327,0.999999951818,0.000102923334305,-0.000287969149245,5.3324996117e-05,1793254997004838912
+3,0.050000000,BASELINE,780.249289347,759.249289347,737.750710653,718,685,648,913,800,839,658,635,657.750710653,0.400970627809,0.00447713188644,0.079826388185,0.999999952259,0.000101275661079,-0.000287038725131,5.32333148069e-05,1793254997021505536
+4,0.066666667,BASELINE,780,759.333516127,737.666483873,718.333516127,685,648,913,800,839,658,635,658,0.400970731068,0.00447735624114,0.0798263736174,0.999999952326,0.000101063452701,-0.000286880095673,5.32317986795e-05,1793254997038172416
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+6,0.100000000,BASELINE,780,760,737,719,685.482017243,648.482017243,913,800,839,658,635,657.517982757,0.400970178671,0.00447744070017,0.0798260844956,0.999999952139,0.000101529492381,-0.000287370579904,5.32092450474e-05,1793254997071505664
+7,0.116666667,BASELINE,780.057614799,760,737.057614799,719,685.942385201,648.942385201,912.942385201,800,839,658,635,657,0.400969644518,0.00447705208304,0.0798262884696,0.99999995218,0.000100948532064,-0.000287452398278,5.31045205425e-05,1793254997088172288
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+9,0.150000000,BASELINE,780.762605884,760,737.762605884,718.762605884,685,648.237394116,912.237394116,800,839,658,635,657,0.400969550537,0.00447523717856,0.0798257599492,0.99999995206,0.000100323586817,-0.000288077087544,5.31661288191e-05,1793254997121505280
+10,0.166666667,BASELINE,780.187089332,760,737.187089332,718.187089332,685,648.812910668,912.812910668,800,839,658,635,657,0.400970375773,0.00447436273198,0.0798261390753,0.999999952156,0.000100895786908,-0.000287507215038,5.33600080671e-05,1793254997138171904
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+17,0.283333333,BASELINE,780,760,737.128261067,718.128261067,685,648,913,800.128261067,839,657.128261067,635,657,0.400969335841,0.00447670191811,0.0798259244349,0.999999951865,0.000101582489545,-0.000288340406914,5.30120757704e-05,1793254997254838784
+18,0.300000000,BASELINE,780,759.554297224,737,718.445702776,685.445702776,648,913,800,839,657.445702776,635,657.445702776,0.400968806353,0.00447575936907,0.0798257351025,0.999999951905,0.000100052228991,-0.000288738122293,5.30149187155e-05,1793254997271505664
+19,0.316666667,BASELINE,780.019864604,759.019864604,737,719,686,648,913,800,839,658,635,658,0.400968493288,0.00447479301811,0.0798257105182,0.999999952014,9.88597239738e-05,-0.000288758647922,5.30717128792e-05,1793254997288172032
+20,0.333333333,BASELINE,780.593948919,759.593948919,737,719,686,648,913,800,839,658,635,658,0.400968663476,0.0044750595673,0.079825684833,0.999999951902,0.000100117820631,-0.000288711418873,5.30796572186e-05,1793254997304838656
+21,0.350000000,BASELINE,781,760,737,719,685.825629547,648,912.825629547,800,839,658,635,657.825629547,0.400968793678,0.00447541972932,0.0798257699922,0.999999951872,0.000101243205211,-0.000288416819314,5.31267703181e-05,1793254997321505280
+22,0.366666667,BASELINE,781,760,737,719,685.229894256,648,912.229894256,800,839,658,635,657.229894256,0.400968827255,0.00447600610594,0.0798261230062,0.999999952039,0.000102047891907,-0.000287524450859,5.32685344187e-05,1793254997338171904
+23,0.383333333,BASELINE,781,759.646389153,737,719,685,648,912.353610847,800,839,657.646389153,635,657.353610847,0.400969702682,0.0044769298033,0.0798263202257,0.999999952192,0.000102382231368,-0.000286900736737,5.31195630171e-05,1793254997354838784
+24,0.400000000,BASELINE,781,759.070569434,737,719,685,648,912.929430566,800,839,657.070569434,635,657.929430566,0.400971107127,0.0044780654729,0.079826419544,0.999999952336,0.000102421004952,-0.000286445844768,5.27878935923e-05,1793254997371505664
+25,0.416666667,BASELINE,780.481199355,759.518800645,737,718.481199355,685.518800645,648,913,800,839,657,635,658,0.400970916569,0.00447731579556,0.0798265022264,0.99999995236,0.000102043281511,-0.00028647299121,5.29124717979e-05,1793254997388172032
+26,0.433333333,BASELINE,780,760,737,718.107618446,686,648.107618446,913,800,839,657.107618446,635,658,0.400970608092,0.00447657522839,0.07982675729,0.999999952388,0.000101927659375,-0.000286391101031,5.30553795687e-05,1793254997404838656
+27,0.450000000,BASELINE,780,760,737,718.685747324,686,648.685747324,913,800,839,657.685747324,635,658,0.400970758059,0.00447702577848,0.0798277761674,0.999999952503,0.000103212284371,-0.000285538143228,5.29998169228e-05,1793254997421505280
+28,0.466666667,BASELINE,780,759.736552653,737,719,685.736552653,648.736552653,913,800,839,657.736552653,635,657.736552653,0.40096991015,0.00447722942751,0.0798275273887,0.999999952281,0.000103529242553,-0.000286214997659,5.29303972628e-05,1793254997438172160
+29,0.483333333,BASELINE,780,759.159363393,737,719,685.159363393,648.159363393,913,800,839,657.159363393,635,657.159363393,0.400967873859,0.00447713903974,0.0798257689462,0.999999951653,0.00010269379719,-0.000288713719858,5.2844475158e-05,1793254997454838784
+30,0.500000000,BASELINE,780,759.41286117,737,719,685.41286117,648,913,800.41286117,839,657,635,657,0.400968224198,0.00447685239089,0.0798256486778,0.999999951761,0.00010170668819,-0.000288692338202,5.28330383395e-05,1793254997471505408
+31,0.516666667,BASELINE,780,759.98319213,737,719,685.98319213,648,913,800.98319213,839,657,635,657,0.400969484824,0.0044764908859,0.079826153227,0.999999952149,0.000100661733034,-0.000287709761174,5.285001103e-05,1793254997488172288
+32,0.533333333,BASELINE,780,759.425287401,737.574712599,719,685.425287401,648,913,800.425287401,839,657.574712599,635.574712599,657,0.400970030809,0.00447670419863,0.0798266935942,0.999999952374,0.000100682415527,-0.000286925859898,5.28038392251e-05,1793254997504838912
+33,0.550000000,BASELINE,780.163990388,759,737.836009612,718.836009612,685,648,913,800,839,657.836009612,635.836009612,657,0.400970271683,0.00447681223726,0.0798269372794,0.999999952446,0.000101007814197,-0.000286558290721,5.2816701792e-05,1793254997521505792
+34,0.566666667,BASELINE,780.745912801,759,737.254087199,718.254087199,685,648,913,800,839,657.254087199,635.254087199,657,0.40096979028,0.00447660750016,0.0798264220944,0.999999952139,0.000102027320949,-0.000287236375637,5.29849008914e-05,1793254997538172416
+35,0.583333333,BASELINE,780.676466301,759.323533699,737,718.323533699,685.323533699,648.323533699,913,800.323533699,839,657,635,657.323533699,0.40096879451,0.00447644978125,0.0798260092863,0.999999951874,0.000102061869648,-0.000288132918113,5.30466345946e-05,1793254997554838784
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+37,0.616666667,BASELINE,780.470208506,759.529791494,737,718.529791494,686,648.529791494,913,800.529791494,839,657.470208506,635,657.529791494,0.400968647977,0.00447577218581,0.079826322962,0.999999952156,0.000100633798436,-0.000287689052972,5.28736142443e-05,1793254997588172544
+38,0.633333333,BASELINE,780.956186665,759.043813335,737,718.043813335,685.956186665,648,913,800,839,658,635,657,0.400970318998,0.00447534107529,0.0798271094453,0.99999995275,0.00010015975867,-0.000285812336229,5.27137070428e-05,1793254997604839168
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+40,0.666666667,BASELINE,780,760,737.225823073,719,685.225823073,648.225823073,913,800,839,657.774176927,635,657,0.400970005646,0.00447856141611,0.0798268975263,0.999999952225,0.000102933462628,-0.000286632174186,5.28826983818e-05,1793254997638172160
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+46,0.766666667,BASELINE,780.290625784,760,737.290625784,718.709374216,686,648,913,800,839,657.290625784,635,657,0.400969051624,0.00447612537474,0.0798265692404,0.999999952468,9.90808167635e-05,-0.00028717334965,5.27174985594e-05,1793254997738171904
+47,0.783333333,BASELINE,780.287026445,760,737,719,686,648.287026445,912.712973555,800,839.287026445,657.287026445,635.287026445,657,0.400969428118,0.0044763206404,0.0798269056554,0.999999952653,9.89691255231e-05,-0.000286590068114,5.25784263895e-05,1793254997754838528
+48,0.800000000,BASELINE,780.862904996,760,737,719,686,648.862904996,912.137095004,800,839.862904996,657.862904996,635.862904996,657,0.40097138513,0.00447470695945,0.0798284776928,0.999999953538,9.727633273e-05,-0.000284035091358,5.27741781037e-05,1793254997771505152
+49,0.816666667,BASELINE,780.553141018,760,737.446858982,719,686,648.553141018,912.446858982,800,839.553141018,658,636,657,0.400971351465,0.00447508191892,0.0798287286194,0.999999953384,9.8994441743e-05,-0.000283969384546,5.28584682509e-05,1793254997788172032
+50,0.833333333,BASELINE,780,760,737.967066551,719,686,648.032933449,913,800,839,658,635.967066551,657,0.400970660602,0.00447602518426,0.0798284985433,0.99999995291,0.00010151207117,-0.000284742621111,5.28939679939e-05,1793254997804839424
+51,0.850000000,BASELINE,780,760,737.38767235,719,686,648.61232765,913,800,839,658,635.38767235,657,0.400969385269,0.0044760885034,0.0798271363282,0.9999999526,9.96127919794e-05,-0.000286531135589,5.26977485971e-05,1793254997821506048
+52,0.866666667,BASELINE,780,760,737,719,686,649,913,800,839,658,635,657.191630211,0.400968800937,0.0044755762158,0.0798265031154,0.999999952502,9.79998729033e-05,-0.000287439938394,5.26299010205e-05,1793254997838172416
+53,0.883333333,BASELINE,780,760,737,719,686,649,913,800,839,658,635,657.770747437,0.400969613845,0.00447390001914,0.0798273439861,0.999999952843,9.69659901273e-05,-0.000286569914834,5.28216284647e-05,1793254997854839040
+54,0.900000000,BASELINE,780,760,737,718.653403716,686,648.653403716,913,800,839,658,635,657.653403716,0.400969618522,0.00447385186664,0.0798275049295,0.999999952805,9.7703324885e-05,-0.000286441441838,5.28759659296e-05,1793254997871505664
+55,0.916666667,BASELINE,780,760,737,718.079696532,686,648.079696532,913,800,839,658,635,657.079696532,0.400969093595,0.00447487050745,0.0798272203434,0.999999952517,9.96012688002e-05,-0.000286798877764,5.28402771426e-05,1793254997888172288
+56,0.933333333,BASELINE,780,760,737.507428462,718,686,648,913,800,839,658,635,657,0.400969020788,0.0044754827248,0.0798271752283,0.999999952795,9.92531596844e-05,-0.000285989581606,5.26283152093e-05,1793254997904838912
+57,0.950000000,BASELINE,780.094944289,760,737.905055711,718.094944289,686,648,913,800,839,658,635,657.094944289,0.400969008884,0.00447609447553,0.0798272137779,0.999999953041,9.91364184786e-05,-0.00028519746741,5.24596459206e-05,1793254997921505280
+58,0.966666667,BASELINE,780.673426193,760,737.326573807,718.673426193,686,648,913,800,839,658,635,657.673426193,0.400968935682,0.00447703777034,0.0798274816679,0.999999952666,0.000102043375595,-0.000285451454953,5.26562873142e-05,1793254997938172160
+59,0.983333333,BASELINE,780.749770137,760,737,719,686,648.250229863,913,800,839,657.749770137,635,657.749770137,0.400968719341,0.00447711867365,0.0798273049575,0.999999952413,0.000103135531705,-0.000285931573941,5.27352551347e-05,1793254997954839040
+60,1.000000000,BASELINE,780.175142052,760,737,719,686,648.824857948,913,800,839,657.175142052,635,657.175142052,0.400968317431,0.00447608157195,0.0798265518667,0.999999952324,0.000101874978533,-0.000286704849976,5.26616708548e-05,1793254997971505920
+61,1.016666667,BASELINE,780.398773201,760,737,719,686,648.601226799,913,800,839,657,635,657.398773201,0.400969271164,0.00447535177464,0.0798274719379,0.999999952608,0.00010117623534,-0.000285889409158,5.30535866605e-05,1793254997988172288
+62,1.033333333,BASELINE,780.972375901,760,737,719,686,648.027624099,913,800,839,657,635,657.972375901,0.400970819235,0.00447475670527,0.0798291255542,0.999999953053,0.000100723800041,-0.000284377445634,5.36495862605e-05,1793254998004838656
+63,1.050000000,BASELINE,780.433636189,759.433636189,737,718.433636189,686,648,913,800,839,657.566363811,635.566363811,657.433636189,0.400971156079,0.00447575066387,0.0798290010246,0.999999953161,0.000101701208649,-0.000283760539623,5.30550427985e-05,1793254998021505280
+64,1.066666667,BASELINE,780,759.156804272,737.156804272,718.156804272,686,648.156804272,913,800,839.156804272,658,635.843195728,657,0.40097115326,0.00447709907528,0.0798285834442,0.99999995312,0.00010259450192,-0.000283688442491,5.2489662214e-05,1793254998038171904
+65,1.083333333,BASELINE,780,759.734941338,737.734941338,718.734941338,686,648.734941338,913,800,839.734941338,658,635.265058662,657,0.400970402435,0.00447918387199,0.0798276201763,0.999999952727,0.000103067389806,-0.000284958562594,5.2164496838e-05,1793254998054838784
+66,1.100000000,BASELINE,780,760,737.688256226,718.688256226,686,648.688256226,912.688256226,800,839.688256226,657.688256226,635,657,0.400969143048,0.00447908160025,0.0798269052476,0.999999952468,0.000101705403246,-0.000286366727922,5.21053116126e-05,1793254998071505664
+67,1.116666667,BASELINE,780,760,737.112583747,718.112583747,686,648.112583747,912.112583747,800,839.112583747,657.112583747,635,657,0.4009674531,0.00447712771117,0.079826400568,0.999999952313,9.87899741227e-05,-0.000287891765116,5.22713106828e-05,1793254998088172288
+68,1.133333333,BASELINE,780,760,737,718.472844985,686,648,912,800,839,657.472844985,635,657,0.400968396448,0.00447608352421,0.0798271440972,0.999999952541,9.99870495256e-05,-0.000286620086296,5.26343507657e-05,1793254998104838912
+69,1.150000000,BASELINE,780,760,737,719,686,648,912.059783924,800,839,657.940216076,635,657.059783924,0.40096986349,0.00447542393848,0.0798281041461,0.999999952863,0.000101853727776,-0.000284773493385,5.29574143799e-05,1793254998121505792
+70,1.166666667,BASELINE,780,760,737,719,686,648,912.639232412,800,839,657.360767588,635,657.639232412,0.400970317892,0.00447618502835,0.0798283084933,0.999999953253,0.000100850110797,-0.00028383968067,5.25165908554e-05,1793254998138172160
+71,1.183333333,BASELINE,780,760,737.217441599,719,686,648.217441599,913,800,839,657.217441599,635,657.782558401,0.400970742437,0.00447668598779,0.0798284007018,0.999999953483,0.000100504712954,-0.000283200229422,5.22608820643e-05,1793254998154838784
+72,1.200000000,BASELINE,780,760,737.793606348,719,686,648.793606348,913,800,839,657.793606348,635,657.206393652,0.400971117725,0.00447675779853,0.07982830791,0.999999953449,0.000101245208561,-0.000283046399329,5.23105652742e-05,1793254998171505408
+73,1.216666667,BASELINE,780,760,737.632232527,719,686,649,913,800,839.367767473,658,635,657.367767473,0.400970294639,0.00447694705839,0.0798278158736,0.999999953129,0.000101402396435,-0.00028409376114,5.24434085377e-05,1793254998188171776
+74,1.233333333,BASELINE,780,760,737.059189793,719,686,649,913,800,839.940810207,658,635,657.940810207,0.40096880266,0.00447720187433,0.0798271009926,0.999999952647,0.000101234001779,-0.000285811587318,5.2622668904e-05,1793254998204838400
+75,1.250000000,BASELINE,780,760,737.531668495,718.468331505,686,648.468331505,913,800,840,657.468331505,635,658,0.40096829012,0.00447754610776,0.0798267533264,0.999999952193,0.000102883259643,-0.000286792093654,5.27212613756e-05,1793254998221505280
+76,1.266666667,BASELINE,780,760,738,718.121324561,686,648.121324561,913,800,839.878675439,657.121324561,635,658,0.400968227269,0.00447781254376,0.07982665656,0.999999951985,0.000104043407808,-0.000287091949058,5.27481282026e-05,1793254998238172160
+77,1.283333333,BASELINE,780,760,738,718.698746425,686,648.698746425,913,800,839.301253575,657.698746425,635,658,0.400969430813,0.00447774779431,0.0798273439906,0.999999952703,0.000102577742403,-0.00028515230353,5.25402872174e-05,1793254998254839040
+78,1.300000000,BASELINE,780.274435575,760,737.725564425,718.725564425,686,648.725564425,913,800,839,657.725564425,635.274435575,657.725564425,0.400970090712,0.00447732926243,0.0798277128343,0.999999953096,0.000101639209838,-0.000284131313527,5.24196091873e-05,1793254998271505664
+79,1.316666667,BASELINE,780.848234583,760,737.151765417,718.151765417,686,648.151765417,913,800,839,657.151765417,635.848234583,657.151765417,0.400970157585,0.00447652481293,0.0798277341528,0.999999953139,0.000101275691369,-0.000284112423592,5.23940114156e-05,1793254998288172032
+80,1.333333333,BASELINE,780.56542174,760,737,718.43457826,686,648,913,800,839,657,635.56542174,657,0.400970442863,0.00447707529162,0.0798280806367,0.999999953191,0.00010237220214,-0.000283527920015,5.24477245017e-05,1793254998304838912
+81,1.350000000,BASELINE,780.024934615,759.975065385,737,719,686,648,913,800,839,657.024934615,635.024934615,657.024934615,0.400970731043,0.00447803171379,0.0798284944248,0.99999995323,0.000103845277879,-0.000282838383409,5.25262021669e-05,1793254998321505280
+82,1.366666667,BASELINE,780.604208574,759.395791426,737,719,686,648,913,800,839,657.604208574,635.604208574,657.604208574,0.400969337662,0.00447718079454,0.0798278049185,0.999999952994,0.000102017631074,-0.000284335660107,5.25211772056e-05,1793254998338171904
+83,1.383333333,BASELINE,780.818860416,759.181139584,737,719,686,648.181139584,913,800,839,658,635.818860416,658,0.400968785719,0.0044768407432,0.0798275329414,0.999999952811,0.000101207129745,-0.000285276273591,5.24696394994e-05,1793254998354838528
+84,1.400000000,BASELINE,780.246983285,759.753016715,737,719,686,648.753016715,913,800,839,658,635.246983285,658,0.400970048851,0.00447760268868,0.0798281616196,0.999999952752,0.000102590720161,-0.000285016104992,5.23177688042e-05,1793254998371505408
+85,1.416666667,BASELINE,780,760,737.329091634,719,686,648.670908366,913,800,839,657.670908366,635,658,0.40097031835,0.00447730872375,0.0798284786014,0.999999952932,0.000102179174375,-0.000284537778808,5.22801859955e-05,1793254998388172288
+86,1.433333333,BASELINE,780,760,737.908357666,719,686,648.091642334,913,800,839,657.091642334,635,658,0.400969832491,0.0044762120591,0.0798285586325,0.999999953293,0.000100402971768,-0.00028389360995,5.23294844777e-05,1793254998404838912
+87,1.450000000,BASELINE,780.496943516,760,738,719,686,648,913,800,839,657.496943516,635,658,0.400970169519,0.00447597020594,0.0798284969475,0.999999953474,9.95051115654e-05,-0.000283551116702,5.24272792076e-05,1793254998421505536
+88,1.466666667,BASELINE,781,760,737.91497783,718.91497783,686,648.08502217,913,800.08502217,839,658,635,657.91497783,0.400970725312,0.00447612566416,0.0798285384481,0.999999953609,9.92791776819e-05,-0.00028313424951,5.25371112477e-05,1793254998438172160
+89,1.483333333,BASELINE,781,760,737.339917714,718.339917714,686,648.660082286,913,800.660082286,839,658,635,657.339917714,0.400971650642,0.00447764515342,0.0798293281812,0.999999953663,0.000101974570291,-0.000281961941817,5.26637909575e-05,1793254998454838784
+90,1.500000000,BASELINE,780.763503727,760,737.236496273,718,686,649,913,801,839.236496273,658,635,657,0.400971767815,0.00447858111425,0.0798294547406,0.999999953532,0.0001035694346,-0.000281851820303,5.26297003512e-05,1793254998471505408
+91,1.516666667,BASELINE,780.185132655,760,737.814867345,718,686,649,913,801,839.814867345,658,635,657,0.400970716728,0.00447867353665,0.0798286226278,0.999999953142,0.00010357339458,-0.000283277176302,5.23632030306e-05,1793254998488172288
+92,1.533333333,BASELINE,780.40000934,759.59999066,738,718.40000934,686,649,913,800.59999066,839.59999066,658,635,657.40000934,0.400970433865,0.0044778738595,0.079828608485,0.999999953144,0.000102409697881,-0.000283705035429,5.23044593148e-05,1793254998504838912
+93,1.550000000,BASELINE,780.98833907,759.01166093,738,718.98833907,686,649,913,800.01166093,839.01166093,658,635,657.98833907,0.400970512674,0.00447665419082,0.0798289794342,0.999999953328,0.000100696280118,-0.000283663283152,5.23435238907e-05,1793254998521505792
+94,1.566666667,BASELINE,780.431804259,759.568195741,738,719,686,648.431804259,913,800.568195741,839,657.431804259,635.568195741,658,0.400969110441,0.00447669716996,0.0798279449362,0.999999953067,0.000100566608241,-0.000284647802842,5.22305623954e-05,1793254998538172416
+95,1.583333333,BASELINE,780,760,738,718.852958765,686,648.147041235,913,800.852958765,839.147041235,657,635.852958765,658,0.400968473934,0.00447663057443,0.0798274601143,0.999999952993,0.000100362784261,-0.000284990446554,5.21723096457e-05,1793254998554838784
+96,1.600000000,BASELINE,780,760,738,718.276565427,686,648.723434573,913,800.276565427,839.723434573,657,635.276565427,658,0.400970160745,0.00447616947432,0.0798286632993,0.999999953491,9.98489284421e-05,-0.000283398252923,5.22827796569e-05,1793254998571505408
+97,1.616666667,BASELINE,780.298265218,760,737.701734782,718.298265218,686,648.701734782,913,800,839.701734782,657,635,658,0.400971144084,0.00447694490943,0.0798290099528,0.999999953517,0.000101417706487,-0.000282748593131,5.22810133925e-05,1793254998588172288
+98,1.633333333,BASELINE,780.871654377,760,737.128345623,718.871654377,686,648.128345623,913,800,839.128345623,657,635,658,0.400971478531,0.00447886094166,0.0798285665298,0.999999953101,0.000104907534699,-0.000282968339616,5.21757188357e-05,1793254998604838656
+99,1.650000000,BASELINE,781,760,737,719,686,648,913,800,839,657.459827811,635,658,0.400970452945,0.00447776984169,0.0798276883423,0.999999952871,0.000103778385439,-0.000284192115517,5.21734103611e-05,1793254998621505024
+100,1.666666667,BASELINE,781,760,737,719,686,648,913,800,839,657.94901625,635,658,0.400969157659,0.00447595109493,0.0798268124094,0.999999952716,0.000101509167837,-0.00028554610482,5.22259808139e-05,1793254998638171904
+101,1.683333333,BASELINE,781,760,737,719,686,648,913,800,839,657.371100922,635,658,0.400969128634,0.00447557491384,0.0798272556307,0.999999952812,0.000101224258052,-0.000285253295336,5.25387822e-05,1793254998654838784
+102,1.700000000,BASELINE,780.79484745,760,737,719,686,648.20515255,913,800.20515255,839,657.20515255,635.20515255,657.79484745,0.400969692816,0.00447623793536,0.0798278000792,0.999999953082,0.000101230077261,-0.000284302943246,5.25332084026e-05,1793254998671505664
+103,1.716666667,BASELINE,780.221576019,760,737,719,686,648.778423981,913,800.778423981,839,657.778423981,635.778423981,657.221576019,0.400971321427,0.00447876566738,0.0798285261664,0.999999953662,0.000101757570897,-0.000282172718703,5.19563527785e-05,1793254998688172544
+104,1.733333333,BASELINE,780.354070567,759.645929433,737,718.645929433,686,648.645929433,913,800.645929433,839,658,635.645929433,657,0.400970687358,0.00447816042057,0.0798279493615,0.999999953483,0.000100834222901,-0.000283138573008,5.1942370942e-05,1793254998704838912
+105,1.750000000,BASELINE,780.931213612,759.068786388,737,718.068786388,686,648.068786388,913,800.068786388,839,658,635.068786388,657,0.40096862775,0.00447558132638,0.0798265517051,0.999999952819,9.89968118659e-05,-0.000286055026903,5.22830122839e-05,1793254998721505536
+106,1.766666667,BASELINE,781,759,737.522308099,718.522308099,686,648.522308099,913,800.522308099,839,658,635,657,0.400969060877,0.00447682803013,0.0798269949056,0.999999952743,0.000100589211504,-0.000285755185975,5.23497416267e-05,1793254998738171904
+107,1.783333333,POSE1_TO_POSE2_PRESS,780,760,738,718,686,648,913,800,839,657,635,657,0.400968832237,0.00447678440318,0.0798275610821,0.999999952886,0.000101113452301,-0.000285024123998,5.25779876124e-05,1793254998780492032
+108,1.800000000,POSE1_TO_POSE2_PRESS,780.57358096,760,738,718.57358096,686,648.57358096,913,800,839.57358096,657,635,657.57358096,0.400969820116,0.00447680000543,0.0798280492227,0.999999953018,0.000102536864232,-0.000284075538841,5.24448846505e-05,1793254998797158912
+109,1.816666667,POSE1_TO_POSE2_PRESS,780.85217059,760,737.85217059,718.85217059,686,649,913,800,840,657.14782941,635,658,0.400970807209,0.00447691010365,0.0798284693731,0.999999953218,0.00010307300202,-0.000283212315815,5.22558982811e-05,1793254998813825792
+110,1.833333333,POSE1_TO_POSE2_PRESS,780.275987874,760,737.275987874,718.275987874,686,649,913,800,840,657.724012126,635,658,0.400971792027,0.00447729401516,0.0798286925144,0.999999953618,0.000101038157743,-0.000282596439507,5.19049830581e-05,1793254998830492416
+111,1.850000000,POSE1_TO_POSE2_PRESS,780,760,737,718.309846914,686,648.690153086,913,800,839.690153086,658,635,658,0.400971668001,0.00447761115287,0.0798287396553,0.999999953597,0.000101276295181,-0.00028260049679,5.18260990003e-05,1793254998847158784
+112,1.866666667,POSE1_TO_POSE2_PRESS,780,760,737,718.904555419,686,648.095444581,913,800,839.095444581,658,635,658,0.400970524545,0.00447786690122,0.0798286249881,0.999999953187,0.000103604126582,-0.000283174497721,5.19973101785e-05,1793254998863825408
+113,1.883333333,POSE1_TO_POSE2_PRESS,780.484164286,760,737,719,686,648.484164286,913,800.484164286,839.484164286,658,635,658,0.400969879178,0.00447702420759,0.0798280710406,0.999999953138,0.000102410029933,-0.000283747308519,5.21793706044e-05,1793254998880492032
+114,1.900000000,POSE1_TO_POSE2_PRESS,781,760,737.060544257,719,686,649,913,801,840,658,635,657.939455743,0.400969594902,0.00447629966446,0.0798276571443,0.999999953177,0.000101002122558,-0.000284088310265,5.23308863614e-05,1793254998897158400
+115,1.916666667,POSE1_TO_POSE2_PRESS,781,760,737.63402435,719,686,649,913,801,840,658,635,657.36597565,0.400971563112,0.00447835515254,0.0798291412364,0.999999953389,0.000103486952855,-0.000282467334603,5.22060536483e-05,1793254998913825024
+116,1.933333333,POSE1_TO_POSE2_PRESS,781,760,738,718.787188437,686,648.787188437,913,800.787188437,840,657.787188437,635,657.212811563,0.400975611073,0.00447894228028,0.0798315540412,0.999999954189,0.000104485100767,-0.000279257081748,5.21537727369e-05,1793254998930491648
+117,1.950000000,POSE1_TO_POSE2_PRESS,781,760,738,718.199041118,686,648.199041118,913,800.199041118,840,657.199041118,635,657.800958882,0.400983327091,0.00447693966067,0.0798356048165,0.999999956015,0.000102861186685,-0.000273243820864,5.22294514514e-05,1793254998947158528
+118,1.966666667,POSE1_TO_POSE2_PRESS,780.616311348,760,738,718,686,648,913,800,840,657,635,657.616311348,0.40100473252,0.00447666088434,0.0798447103549,0.999999960356,0.000101219763573,-0.000257548780085,5.2077004528e-05,1793254998963825408
+119,1.983333333,POSE1_TO_POSE2_PRESS,780.036352788,760,738,718,686,648,913,800,840,657,635,657.036352788,0.401033140553,0.00447726391279,0.0798564015784,0.99999996564,9.95693838111e-05,-0.000236901176107,5.18078635033e-05,1793254998980492032
+120,2.000000000,POSE1_TO_POSE2_PRESS,780,760,738,718.540212928,686,648,913,800.540212928,839.459787072,657.540212928,635,657,0.401088639343,0.00447784965101,0.0798746832958,0.999999973436,9.99855531433e-05,-0.000201322175069,5.09963425659e-05,1793254998997158656
+121,2.016666667,POSE1_TO_POSE2_PRESS,780.116137321,760,738,719,686,648,913,800.883862679,839.116137321,657.883862679,635,657,0.401149084247,0.00447825243842,0.0798926491739,0.999999979607,0.000100030232198,-0.000168145342431,5.00709057671e-05,1793254999013825280
+122,2.033333333,POSE1_TO_POSE2_PRESS,780.690426982,760,738,719,686,648,913,800.309573018,839.690426982,657.309573018,635,657,0.401221894366,0.00447793806118,0.0799076304572,0.99999998299,9.8064235779e-05,-0.000148383916409,4.88391654869e-05,1793254999030491648
+123,2.050000000,POSE1_TO_POSE2_PRESS,780.726103224,760,737.726103224,718.726103224,686,648.273896776,913,800.273896776,839.726103224,657,635.273896776,657.273896776,0.401300968727,0.00447801685457,0.07991905027,0.999999985607,9.62970950008e-05,-0.000131569948063,4.69288815594e-05,1793254999047158272
+124,2.066666667,POSE1_TO_POSE2_PRESS,780.131897754,760,737.131897754,718.131897754,686,648.868102246,913,800.868102246,839.131897754,657,635.868102246,657.868102246,0.401387368806,0.00447855544152,0.0799263051191,0.999999987546,9.476250617e-05,-0.000118202886485,4.42250745788e-05,1793254999063824896
+125,2.083333333,POSE1_TO_POSE2_PRESS,780.447138864,760,737.447138864,718.447138864,686,648.552861136,913,800.552861136,839,657.447138864,635.552861136,658,0.401488667887,0.0044809308796,0.0799310334477,0.99999998861,9.41444795848e-05,-0.000110546982961,4.11823850676e-05,1793254999080491520
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,760,737.978131115,718.978131115,686,648.021868885,913,800.021868885,839,658,635,658,0.401595313823,0.00448380011544,0.0799350914813,0.999999989433,9.38086432385e-05,-0.000104356993728,3.79920604772e-05,1793254999097158400
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,760,737.402866379,718.402866379,686,648.597133621,913,800.597133621,839,658,635,658,0.401729697423,0.00448590358534,0.0799404281556,0.9999999906,9.39964296387e-05,-9.40297097722e-05,3.35124137069e-05,1793254999113825280
+128,2.133333333,POSE1_TO_POSE2_PRESS,781,759.822595281,737.177404719,718.177404719,686,648.822595281,913,801,839,657.822595281,635.177404719,658,0.401873040056,0.00448794524687,0.0799462358418,0.999999991751,9.3065571563e-05,-8.3678350616e-05,2.88827642862e-05,1793254999130491904
+129,2.150000000,POSE1_TO_POSE2_PRESS,781,759.230625229,737.769374771,718.769374771,686,648.230625229,913,801,839,657.230625229,635.769374771,658,0.40203731844,0.00448984247224,0.079953144204,0.999999993023,8.95206273229e-05,-7.32707331838e-05,2.39025842442e-05,1793254999147158528
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,759.353681658,737.646318342,718.646318342,686,648.353681658,913,800.646318342,839,657.353681658,635.646318342,657.646318342,0.402219651568,0.00449150251614,0.0799587191189,0.999999994358,8.32972056765e-05,-6.34395670502e-05,1.79243373544e-05,1793254999163825152
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,759.933097652,737.066902348,718.066902348,686,648.933097652,913,800.066902348,839,657.933097652,635.066902348,657.066902348,0.402413508002,0.00449301118116,0.0799634429731,0.999999995639,7.53642680475e-05,-5.39763150699e-05,1.1309082221e-05,1793254999180491776
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,760,737.506932517,718.506932517,686,649,913,800.506932517,839.506932517,658,635,657.506932517,0.402620267725,0.00449601517119,0.0799619033679,0.999999995869,6.90897440311e-05,-5.89061851607e-05,4.23966076174e-06,1793254999197158656
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,760,737.919644805,718.919644805,686,649,913,801,839.919644805,658,635,658,0.402833248676,0.00449937910222,0.0799587200775,0.999999995792,6.27345224758e-05,-6.68651640412e-05,-3.09712549765e-06,1793254999213825280
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,760,737.344272992,718.344272992,686,649,913,801,839.344272992,658,635,658,0.40307417841,0.0045037579208,0.079950447915,0.999999995089,5.45485450896e-05,-8.19101810779e-05,-1.17157554284e-05,1793254999230492160
+135,2.250000000,POSE1_TO_POSE2_PRESS,780.761704912,760,737.238295088,718,686,649,913,800.761704912,839.238295088,658,635,657.761704912,0.403339045092,0.00450929358646,0.0799448712837,0.999999994286,5.16058016445e-05,-9.14746870838e-05,-1.99382924685e-05,1793254999247158528
+136,2.266666667,POSE1_TO_POSE2_PRESS,780.168416429,760,737.831583571,718,686,649,913,800.168416429,839.831583571,658,635,657.168416429,0.403639571154,0.00451655263224,0.0799433102446,0.999999993712,5.64740187747e-05,-9.28747552944e-05,-2.75707607703e-05,1793254999263825152
+137,2.283333333,POSE1_TO_POSE2_PRESS,780.41290985,760,738,718.41290985,686,649,913,800.41290985,839.58709015,657.58709015,635.41290985,657,0.403970873337,0.00452338104515,0.0799473680452,0.999999991439,9.33355539384e-05,-8.8672097835e-05,-2.33916695022e-05,1793254999280492032
+138,2.300000000,POSE1_TO_POSE2_PRESS,780.989494376,760,738,718.989494376,686,649,913,800.989494376,839.010505624,657.010505624,635.989494376,657,0.40431437496,0.00453003875792,0.0799536531159,0.999999986305,0.000142879024108,-8.22485575088e-05,-1.45305555115e-05,1793254999297158912
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,760,737.43493429,718.43493429,686,649,913,801,839.56506571,657,636,657,0.40469927962,0.00453844347776,0.0799557941357,0.999999994695,6.86327080074e-05,-7.40558634805e-05,-2.03957937608e-05,1793254999313825536
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,760,737,718,686,648.855922805,913,801,839.855922805,657,635.855922805,657,0.405096575978,0.00454592397479,0.0799569047884,0.99999999726,1.83097797153e-05,-6.70662992827e-05,-2.54312772602e-05,1793254999330491904
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760,737,718,686,648.266212828,913,801,839.266212828,657,635.266212828,657,0.405529823341,0.00455044555449,0.0799550663776,0.999999996388,4.90880168862e-05,-6.38995880698e-05,-2.70549953283e-05,1793254999347158528
+142,2.366666667,POSE1_TO_POSE2_PRESS,781,760,737,718,686,648,913,800.682992216,839,657,635,657.317007784,0.405975610731,0.00455959703318,0.0799488729968,0.999999993946,7.57780591538e-05,-7.39221456845e-05,-3.00076900228e-05,1793254999363825152
+143,2.383333333,POSE1_TO_POSE2_PRESS,781,760,737,718,686,648,913,800.10511178,839,657,635,657.89488822,0.406431717632,0.00457255855771,0.0799390958155,0.999999990016,9.91038395842e-05,-9.47984413035e-05,-3.40540288792e-05,1793254999380492032
+144,2.400000000,POSE1_TO_POSE2_PRESS,781,760,737,718,686,648.471062553,913,800.471062553,839.471062553,657.471062553,635,658,0.406919754505,0.00458038463063,0.079932533215,0.999999986735,0.000119271962511,-0.000106818099152,-2.99031137726e-05,1793254999397158656
+145,2.416666667,POSE1_TO_POSE2_PRESS,781,760,737.046493481,718,685.953506519,649,913,801,839.953506519,658,635,658,0.407417123681,0.00458756398163,0.0799266264718,0.999999983292,0.000138032683355,-0.000117228576973,-2.49062525977e-05,1793254999413825280
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,737.617814988,718,685.382185012,649,913,801,839.382185012,658,635,658,0.407939702472,0.0046003316236,0.0799200554354,0.999999979773,0.000148831253151,-0.000131702109474,-3.09330989225e-05,1793254999430491904
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,737.802650559,718,685,649,913,800.802650559,839.197349441,658,635,658,0.408492589742,0.00461164692074,0.079916240342,0.999999977332,0.000155651277113,-0.000140860258809,-3.55929431006e-05,1793254999447158784
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,737.206520379,718,685,649,913,800.206520379,839.793479621,658,635,658,0.409106720825,0.00462002748802,0.0799179941372,0.999999977673,0.000154431918974,-0.000139277700797,-3.74905083833e-05,1793254999463825152
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,737.375306595,718,685,649,913,800.375306595,839.624693405,657.624693405,635,657.624693405,0.409766175861,0.0046263760113,0.0799435162676,0.999999981343,0.000162269683614,-9.73521294643e-05,-3.87910418138e-05,1793254999480491776
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,737.949551854,718,685,649,913,800.949551854,839.050448146,657.050448146,635,657.050448146,0.410449655733,0.00463164740932,0.0799816372729,0.999999983333,0.00017490835432,-3.40419478399e-05,-3.9775106541e-05,1793254999497158400
+151,2.516666667,POSE1_TO_POSE2_PRESS,781,760,737.475172618,718,685,648.475172618,913,800.475172618,839.524827382,657,635.524827382,657,0.411133210387,0.00462786257703,0.0799948308635,0.999999984414,0.000171210783041,-1.53173198189e-05,-4.03082413815e-05,1793254999513825280
+152,2.533333333,POSE1_TO_POSE2_PRESS,781,760.099766731,737.099766731,718,685,648.099766731,913,800.099766731,840,657,635.900233269,657.099766731,0.411813821579,0.00462056122799,0.0799980447107,0.999999986057,0.000161398849329,-1.2408203946e-05,-4.10087680344e-05,1793254999530491904
+153,2.550000000,POSE1_TO_POSE2_PRESS,781,760.672641151,737.672641151,718,685,648.672641151,913,800.672641151,840,657,635.327358849,657.672641151,0.412480440102,0.0046007202917,0.0799653182411,0.999999988574,0.000130052958796,-6.4135035378e-05,-4.27090413604e-05,1793254999547158784
+154,2.566666667,POSE1_TO_POSE2_PRESS,781,760.744706412,738,718,685,649,913,801,840,657.255293588,635.255293588,658,0.41318601669,0.00458411762056,0.0799357317467,0.999999987928,0.000107114330584,-0.000104012243597,-4.30288422973e-05,1793254999563825664
+155,2.583333333,POSE1_TO_POSE2_PRESS,781,760.149016347,738,718,685,649,913,801,840,657.850983653,635.850983653,658,0.413943538226,0.00457183269728,0.0799103319433,0.999999986386,9.5385547068e-05,-0.000128089728311,-4.15079865763e-05,1793254999580492032
+156,2.600000000,POSE1_TO_POSE2_PRESS,781,760,738,718.432074556,685.432074556,648.567925444,913,800.567925444,840,658,635.567925444,658,0.414735484648,0.00456893852617,0.0799221711462,0.999999989074,9.54872083032e-05,-0.000104937614623,-4.14894016104e-05,1793254999597158656
+157,2.616666667,POSE1_TO_POSE2_PRESS,781,760,737.991720626,718.991720626,685.991720626,648,913,800.008279374,840,657.991720626,635.008279374,658,0.415538723174,0.00456931109187,0.0799461067769,0.999999991927,9.9609705639e-05,-6.6807148993e-05,-4.19664777141e-05,1793254999613825280
+158,2.633333333,POSE1_TO_POSE2_PRESS,781,760,737.416581952,718.416581952,685.416581952,648,913,800.583418048,840,657.416581952,635.583418048,658,0.416328785323,0.00457884829418,0.0799476536697,0.999999989839,0.000108801550243,-8.19486154637e-05,-4.20658563165e-05,1793254999630491904
+159,2.650000000,POSE1_TO_POSE2_PRESS,781,760,737,718,685.163727937,648.163727937,913,801,840,657.163727937,636,658,0.417138040379,0.00458687577035,0.0799501866399,0.999999988634,0.000116646481702,-8.53791818613e-05,-4.28391746984e-05,1793254999647158528
+160,2.666666667,POSE1_TO_POSE2_PRESS,781,760,737,718,685.757624311,648.757624311,913,801,840,657.757624311,636,658,0.417997721617,0.00459093668686,0.0799553103672,0.999999989971,0.000120952618113,-5.80412682839e-05,-4.5383159887e-05,1793254999663825408
+161,2.683333333,POSE1_TO_POSE2_PRESS,781.342418712,760,737.342418712,718.342418712,686,648.657581288,913,801,840,658,635.657581288,658,0.418901560731,0.00459229515655,0.0799722043455,0.999999992526,0.000111052688541,-1.97261497371e-05,-4.71849631345e-05,1793254999680492032
+162,2.700000000,POSE1_TO_POSE2_PRESS,781.920937221,760,737.920937221,718.920937221,686,648.079062779,913,801,840,658,635.079062779,658,0.419835846935,0.00459179027246,0.0799972139837,0.99999999431,9.13575891839e-05,2.61578177131e-05,-4.84750272105e-05,1793254999697158656
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760,738,718.50537157,685.50537157,648.49462843,913,801,840,657.50537157,635.49462843,658,0.420708670335,0.00458976238643,0.0799840928906,0.999999993709,0.000101788886635,4.43071542981e-06,-4.69228126316e-05,1793254999713825280
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685,649,913,801,840.068909726,657.068909726,635.931090274,657.931090274,0.421576664914,0.00458793988425,0.0799689980511,0.999999992212,0.000114224526354,-2.12402344937e-05,-4.55769313066e-05,1793254999730492160
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685,649,913,801,840.653321541,657.653321541,635.346678459,657.346678459,0.422481319687,0.00458945736387,0.0799842923612,0.99999999317,0.000105978633574,3.65058602925e-06,-4.91404215893e-05,1793254999747158784
+166,2.766666667,POSE1_TO_POSE2_PRESS,782,760,737.762204283,718,685.237795717,649,913,801,841,657.762204283,635.237795717,657,0.423403394765,0.00459194200011,0.079998906472,0.999999992904,0.000105544998448,2.35010850671e-05,-4.99939661065e-05,1793254999763825408
+167,2.783333333,POSE1_TO_POSE2_PRESS,782,760,737.177639084,718,685.822360916,649,913,801,841,657.177639084,635.822360916,657,0.42435087342,0.00459583700847,0.0800125286732,0.999999991466,0.000116503714301,3.60014567709e-05,-4.68956885714e-05,1793254999780492032
+168,2.800000000,POSE1_TO_POSE2_PRESS,782,760.399115228,737.399115228,718,685.600884772,648.600884772,913,801,841,657,636,657.399115228,0.425259163062,0.00459906104503,0.0799765650591,0.999999990571,0.000124876808735,-3.34857379241e-05,-4.62972660154e-05,1793254999797158656
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,760.97245975,737.97245975,718,685.02754025,648.02754025,913,801,841,657,636,657.97245975,0.42615034512,0.00460199217612,0.0799189553106,0.99999998055,0.000132121177205,-0.000138763689096,-4.67901269705e-05,1793254999813825280
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,760.451307817,738,718,685.548692183,648.548692183,913,801,841,657,636,657.451307817,0.427119215166,0.00460021837066,0.0799138897294,0.9999999836,0.000122619866311,-0.000123692576697,-4.96466170453e-05,1793254999830491904
+171,2.850000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,913,801,841,657,636,657,0.428081389243,0.00459791044384,0.0799142877886,0.999999986459,0.000113807959254,-0.000106989009283,-5.1790126558e-05,1793254999847158528
+172,2.866666667,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,913,801,841,657,636,657,0.42900525631,0.00459453182614,0.079924834062,0.999999986944,0.00011053268315,-0.000106307352582,-5.09305372082e-05,1793254999863825408
+173,2.883333333,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,913.303815435,801,841,657.303815435,636,657.303815435,0.429979075394,0.00459313618745,0.0799551801875,0.999999990667,0.000105759138078,-7.03954087084e-05,-5.02558528883e-05,1793254999880492288
+174,2.900000000,POSE1_TO_POSE2_PRESS,782,760,738,718,686,649,913.881294253,801,841,657.881294253,636,657.881294253,0.430997888976,0.00459352672791,0.0800033611356,0.999999993795,9.96360189905e-05,-2.74959429712e-06,-4.97477226361e-05,1793254999897158912
+175,2.916666667,POSE1_TO_POSE2_PRESS,781.543879128,760,738,718,685.543879128,649,913.543879128,801,841,658,635.543879128,658,0.43198211706,0.00459622586868,0.0800241673375,0.99999999301,0.000102482139681,3.10779623824e-05,-5.0118505944e-05,1793254999913825536
+176,2.933333333,POSE1_TO_POSE2_PRESS,781.03007698,760,738,718,685,648.96992302,913.03007698,801,841,658,635.03007698,658,0.432951053078,0.00459957863124,0.0800330569003,0.999999991747,0.00010737795006,4.89419370206e-05,-5.08005095595e-05,1793254999930491904
+177,2.950000000,POSE1_TO_POSE2_PRESS,781.600720572,760,738,718,685,648.399279428,913.600720572,801,841,658,635.600720572,658,0.433805982854,0.00460394290469,0.0799550745236,0.999999990854,0.000107401942468,-6.28360113799e-05,-5.29887170468e-05,1793254999947158784
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685,648,913.820217511,801,841,657.820217511,636,658,0.434688133553,0.00460529973716,0.0799040367222,0.999999984045,0.000104065544599,-0.00013440825117,-5.4911323353e-05,1793254999963825152
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685,648,913.221540732,801,841,657.221540732,636,658,0.435633709337,0.0045996492148,0.0799157799291,0.999999987799,9.28994196496e-05,-0.000112300970312,-5.62150790279e-05,1793254999980491776
+180,3.000000000,POSE1_TO_POSE2_PRESS,782,760,738,717.635475818,685,648.364524182,913,801,841,657,636,658,0.436584974453,0.00459821970577,0.0799465269401,0.999999991518,9.16922405968e-05,-7.38300709824e-05,-5.57213146132e-05,1793254999997158656
+181,3.016666667,POSE1_TO_POSE2_PRESS,782,760,738,717.056819515,685,648.943180485,913,801,841,657,636,658,0.437539581591,0.00459926974324,0.0799884373383,0.999999993561,9.63352369154e-05,-2.57467068096e-05,-5.41716343786e-05,1793255000013825536
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,760.515682513,738,717,685,649,913.515682513,801.515682513,841,657,636,658,0.438490313546,0.00460153993881,0.0800158780698,0.999999993324,9.89311465412e-05,2.48510646818e-05,-5.4279501852e-05,1793255000030491904
+183,3.050000000,POSE1_TO_POSE2_PRESS,782.090448075,760.909551925,737.909551925,717,685,648.909551925,913.909551925,801.909551925,841,657.090448075,635.909551925,658,0.439417468288,0.00460485296166,0.0800305309104,0.999999991644,0.00010333483157,5.55145405217e-05,-5.43348896444e-05,1793255000047158784
+184,3.066666667,POSE1_TO_POSE2_PRESS,782.681448777,760.318551223,737.318551223,717,685,648.318551223,913.318551223,801.318551223,841,657.681448777,635.318551223,658,0.440216478431,0.0046132018999,0.0799831328285,0.999999991183,0.000118976535182,-2.56563643728e-05,-5.31010460484e-05,1793255000063825408
+185,3.083333333,POSE1_TO_POSE2_PRESS,782.462536711,760,737.268731645,717.268731645,685,648,913,801,841,658,635,658,0.44097273592,0.00462180846634,0.0799011941594,0.999999977705,0.000130701580591,-0.00015683583931,-5.39481096318e-05,1793255000080492032
+186,3.100000000,POSE1_TO_POSE2_PRESS,781.296664929,760,737.851667535,717.851667535,685,648,913,801,841,658,635,658,0.441679006438,0.00463071625415,0.0797788702266,0.999999928835,0.000137847218748,-0.000346485922782,-5.7228193735e-05,1793255000097158656
+187,3.116666667,POSE1_TO_POSE2_PRESS,781.427740094,760,737.572259906,717.572259906,684.572259906,648,913,801,841.427740094,658,635.427740094,658,0.442486354884,0.00463574752043,0.0797573148163,0.999999919999,0.000141008902381,-0.000369683376452,-5.87566408569e-05,1793255000113825280
+188,3.133333333,POSE1_TO_POSE2_PRESS,782.001465191,760,737.001465191,717.001465191,684,648,913.001465191,801,841.998534809,658,635.998534809,658,0.443328204147,0.00463944564757,0.0797702683012,0.999999931593,0.000142791696133,-0.000335950848303,-5.96816682829e-05,1793255000130491904
+189,3.150000000,POSE1_TO_POSE2_PRESS,782.573238145,760,737.573238145,717.573238145,684,648,913.573238145,801,841.426761855,658,635.426761855,658,0.444170953616,0.00463922726375,0.0798283970046,0.999999956131,0.000137122114879,-0.000255971912364,-5.84358650085e-05,1793255000147158528
+190,3.166666667,POSE1_TO_POSE2_PRESS,782.849515756,760,737.849515756,717.849515756,683.849515756,648,913.849515756,801,841,657.849515756,635,658,0.444989061128,0.00463894031896,0.0798733568638,0.999999970277,0.000134520371601,-0.000195218762169,-5.69125314188e-05,1793255000163825152
+191,3.183333333,POSE1_TO_POSE2_PRESS,782.256162267,760,737.256162267,717.256162267,683.256162267,648,913.256162267,801,841,657.256162267,635,658,0.445734648524,0.00463845160184,0.0798795613434,0.999999970329,0.000140947156433,-0.000191046332837,-5.45724376332e-05,1793255000180491776
+192,3.200000000,POSE1_TO_POSE2_PRESS,782,759.670608155,737,717.329391845,683,647.670608155,913.329391845,801,841.329391845,657,635,658,0.446450721014,0.00463849066031,0.0798644652503,0.999999966517,0.000141149254932,-0.000209690257065,-5.54297449798e-05,1793255000197158144
+193,3.216666667,POSE1_TO_POSE2_PRESS,782,759.090979222,737,717.909020778,683,647.090979222,913.909020778,801,841.909020778,657,635,658,0.447144371154,0.00463893066689,0.0798331872342,0.999999958767,0.000136622494527,-0.000245667633807,-5.87160996473e-05,1793255000213825024
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,759.483590733,737,718,682.516409267,647,914,801,842,657.483590733,635,658,0.447774945839,0.00463599920264,0.0797877616123,0.999999941509,0.000131201403104,-0.000310101891487,-6.00478599183e-05,1793255000230492416
+195,3.250000000,POSE1_TO_POSE2_PRESS,782,760,737,717.941289497,681.941289497,647,914,801,842,657.941289497,635,658,0.448388143525,0.00463318655935,0.079738861827,0.999999917161,0.000126420277551,-0.000382070465601,-6.09763384034e-05,1793255000247159552
+196,3.266666667,POSE1_TO_POSE2_PRESS,782,760,737,717.352706679,681.352706679,647,914,801,842,657.352706679,635,658,0.448950499742,0.00463711154968,0.0796823800637,0.999999877354,0.000128917747333,-0.000474219997876,-6.15495364654e-05,1793255000263825920
+197,3.283333333,POSE1_TO_POSE2_PRESS,782,759.768016197,737,717,680.768016197,647,914,801,842,657,635,658,0.449534439239,0.00464055469427,0.0796512300958,0.999999852859,0.000133515649374,-0.000522142206993,-6.18352909602e-05,1793255000280492544
+198,3.300000000,POSE1_TO_POSE2_PRESS,782,759.189145996,737,717,680.189145996,647,914,801,842,657,635,658,0.45015065226,0.00464327733245,0.0796579588776,0.999999861147,0.000141254338041,-0.000503931102302,-6.16912303861e-05,1793255000297159168
+199,3.316666667,POSE1_TO_POSE2_PRESS,782,759.388119011,737,717.388119011,680,647,913.611880989,801,842,657.388119011,635.388119011,658,0.450752264898,0.00464598644829,0.0796869123076,0.999999880545,0.00014468714739,-0.000462832210095,-6.13292134916e-05,1793255000313825792
+200,3.333333333,POSE1_TO_POSE2_PRESS,782,759.964605017,737,717.964605017,680,647,913.035394983,801,842,657.964605017,635.964605017,658,0.451346791543,0.00464868900153,0.0797266520953,0.999999903179,0.000146030171451,-0.000410625114883,-6.08614150401e-05,1793255000330492672
+201,3.350000000,POSE1_TO_POSE2_PRESS,782,760,737,718,679.462169525,646.462169525,913.537830475,800.462169525,842,657.462169525,635.462169525,658,0.451836737786,0.00465257817801,0.0797142803902,0.999999892796,0.000142419101942,-0.000436264084032,-6.16277711578e-05,1793255000347159040
+202,3.366666667,POSE1_TO_POSE2_PRESS,782,760,737,718,679,646,914,800.114820896,841.885179104,657,635,658,0.452307574803,0.00465622521592,0.0796917461384,0.999999874943,0.000140269444542,-0.000475952217951,-6.25215179459e-05,1793255000363825664
+203,3.383333333,POSE1_TO_POSE2_PRESS,782,760,737,718,679,646,914,800.70839921,841.29160079,657,635,658,0.452727258483,0.00465853898128,0.0796410515578,0.999999834485,0.000145564525218,-0.000552987211021,-6.36098167441e-05,1793255000380492032
+204,3.400000000,POSE1_TO_POSE2_PRESS,782.294096903,760,737,718,678.705903097,646,914,801,841.294096903,657,635,658,0.453134097993,0.00466065698788,0.0795987047346,0.999999795056,0.000154488285351,-0.000618059173355,-6.34383596377e-05,1793255000397158656
+205,3.416666667,POSE1_TO_POSE2_PRESS,782.87218474,760,737,718,678.12781526,646,914,801,841.87218474,657,635,658,0.453528534667,0.00466258596239,0.0795644188202,0.999999758635,0.000166916033602,-0.000671579183688,-6.20504353319e-05,1793255000413825280
+206,3.433333333,POSE1_TO_POSE2_PRESS,783,760,736.554901571,718,678,646,914,801,841.554901571,657,635,658,0.453905642352,0.0046678652301,0.079547205404,0.99999974206,0.000174322333681,-0.000693863256325,-6.36075428491e-05,1793255000430491904
+207,3.450000000,POSE1_TO_POSE2_PRESS,782.982845651,759.982845651,736.017154349,718,677.982845651,646,914,801,841,657.017154349,635,658,0.454277239309,0.00467390924375,0.0795351709738,0.999999731686,0.000180160386231,-0.000706981621546,-6.59287444652e-05,1793255000447158784
+208,3.466666667,POSE1_TO_POSE2_PRESS,782.390295977,759.390295977,736.609704023,718,677.390295977,646,914,801,841,657.609704023,635,658,0.454628989991,0.00467370518312,0.0795342978177,0.999999729315,0.000181206952332,-0.000710070432773,-6.58386473743e-05,1793255000463825152
+209,3.483333333,POSE1_TO_POSE2_PRESS,782.197267261,759.197267261,737,718,677,646,914,800.802732739,841.197267261,658,635,658,0.454963089939,0.0046731900479,0.0795333590562,0.999999726823,0.000182834271131,-0.00071317848628,-6.55834124524e-05,1793255000480491776
+210,3.500000000,POSE1_TO_POSE2_PRESS,782.775207934,759.775207934,737,718,677,646,914,800.224792066,841.775207934,658,635,658,0.455263128622,0.00467207462141,0.0795322936937,0.999999724107,0.000185582288249,-0.000716323671927,-6.5009505394e-05,1793255000497158400
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,760,737,718,676.64834085,646,914,800,841.64834085,657.64834085,635,658,0.455534226467,0.00467375537661,0.0795298985429,0.999999719053,0.000182963470616,-0.000724060105233,-6.44673942941e-05,1793255000513825280
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,760,737,718,676.072837672,646,914,800,841.072837672,657.072837672,635,658,0.45578690243,0.00467721600456,0.0795266569327,0.999999712398,0.000176928464823,-0.000734719037363,-6.39455224318e-05,1793255000530491904
+213,3.550000000,POSE1_TO_POSE2_PRESS,782.500842075,760,737,717.500842075,676,645.500842075,914,800,841.499157925,657,635,658,0.455999016685,0.00467720714503,0.0795140707457,0.999999701142,0.000151624921052,-0.000755350530465,-6.45851335743e-05,1793255000547158272
+214,3.566666667,POSE1_TO_POSE2_PRESS,782.073843067,760,737,717.073843067,675.926156933,645,914,800,842,657,635,658,0.456201768023,0.00467656601792,0.0794998127174,0.999999686928,0.000127057587773,-0.000778263419173,-6.5629285984e-05,1793255000563824896
+215,3.583333333,POSE1_TO_POSE2_PRESS,782.671199443,760,737,717.671199443,675.328800557,645,914,800,842,657,635,658,0.456379809515,0.00467500659033,0.0794833017315,0.999999663826,0.00012750409853,-0.00080710561016,-6.83482652491e-05,1793255000580491776
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,760,737,718,675,645,914,800,841.741372232,657.258627768,635,658,0.456547316871,0.00467459593962,0.0794728852073,0.999999647986,0.000127938361845,-0.000826006581372,-7.32989704396e-05,1793255000597158400
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,760,737,718,675,645,914,800,841.166099137,657.833900863,635,658,0.456701926975,0.00467559176918,0.079469930307,0.999999641758,0.000128357630333,-0.000832736233498,-8.09820410019e-05,1793255000613825024
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,737,717.590348892,675,645,914,800,841.409651108,657.590348892,635,658,0.456847264523,0.00467955610493,0.0794743327927,0.999999645655,0.000136933692938,-0.000826486406887,-8.28225322298e-05,1793255000630491648
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,737,717.014404968,675,645,914,800,841.985595032,657.014404968,635,658,0.456988837987,0.00468472546914,0.0794817219186,0.999999653454,0.000148820905488,-0.000814967720605,-8.22913002212e-05,1793255000647158272
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,737,717.562348456,675,645,914,800,842,657.562348456,635,658,0.457101652437,0.00468401474668,0.0794859352301,0.999999655139,0.000176094161921,-0.000808457320214,-7.14747219682e-05,1793255000663824896
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,737,718,675,645,914,800,842,657.856983501,635,658,0.457204664371,0.00468412056984,0.0794871780035,0.999999653013,0.000197558767037,-0.000806800531255,-6.33871906153e-05,1793255000680491776
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,760,737,718,675,645,914,800,842,657.264066305,635,658,0.45727916036,0.00468726959032,0.079479332352,0.999999641797,0.000199508913029,-0.000820008057031,-6.47146929611e-05,1793255000697158144
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,760,736.681366826,718,674.681366826,645,914,800,842,657,635.318633174,658,0.457344944441,0.00468889229822,0.0794737454893,0.999999634955,0.000198949578687,-0.000828354303531,-6.58643518633e-05,1793255000713825024
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,760,736.106872083,718,674.106872083,645,914,800,842,657,635.893127917,658,0.457403732891,0.00468928938162,0.0794699724269,0.999999631707,0.000196375138707,-0.000832796957518,-6.6871203114e-05,1793255000730491904
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,759.533317268,736.466682732,717.533317268,674,645,914,800,841.533317268,657,635.533317268,658,0.457449979175,0.00468937859121,0.0794672533986,0.999999627879,0.000196661315204,-0.000837285929914,-6.72243276062e-05,1793255000747158528
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,759,736.95868175,717,674,645,914,800,841.082636499,657.04131825,635,658,0.457492753748,0.00468926489966,0.0794651869626,0.999999624439,0.000197310009285,-0.000841220817455,-6.73731518202e-05,1793255000763825152
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,759,736.366782484,717,674,645,914,800,842.266435033,657.633217516,635,658,0.457527462749,0.00468738508189,0.0794686065752,0.999999628123,0.000194077589981,-0.000837631263335,-6.67904755999e-05,1793255000780491776
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,759.220499357,736.220499357,717,674,645,914,800,842.559001285,658,635,658,0.457556094953,0.00468695706264,0.0794701707617,0.999999629354,0.000192961541068,-0.000836436304006,-6.65754151644e-05,1793255000797158656
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,759.800257997,736.800257997,717,674,645,914,800,841.399484006,658,635,658,0.45757482624,0.00468889445672,0.0794687119048,0.999999626608,0.000195293691561,-0.000839142854725,-6.69593106298e-05,1793255000813825536
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,736.626135264,717,673.626135264,645,914,800,841.373864736,658,635,658,0.457588175025,0.00469030183165,0.0794668021546,0.999999623778,0.000197084199509,-0.00084207994627,-6.71014339682e-05,1793255000830492160
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,736.055762067,717,673.055762067,645,914,800,841.944237933,658,635,658,0.457598694692,0.00469143062115,0.0794646554087,0.999999620899,0.000198590012592,-0.000845138213162,-6.71164785304e-05,1793255000847159040
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,759.477958224,736.522041776,717,673.522041776,645,914,800,841.477958224,657.477958224,635,658,0.457605934493,0.00469037796507,0.0794639221098,0.999999620188,0.000197311122002,-0.000846333384599,-6.64247090744e-05,1793255000863825408
+233,3.883333333,POSE1_TO_POSE2_PRESS,782.8969909,759,736.8969909,717.1030091,673.8969909,645,913.8969909,800,841,657.1030091,635,658,0.457612384085,0.00468912607339,0.0794636500123,0.999999620001,0.000195621261343,-0.000846995252984,-6.57989837104e-05,1793255000880491776
+234,3.900000000,POSE1_TO_POSE2_PRESS,782.304824887,759,736.304824887,717.695175113,673.304824887,645,913.304824887,800,841,657.695175113,635,658,0.457616768898,0.00468805055163,0.0794648407142,0.999999621199,0.000193412721993,-0.000846083303439,-6.58505757281e-05,1793255000897158400
+235,3.916666667,POSE1_TO_POSE2_PRESS,782.281456147,759.281456147,736,718,673,645,913,800,841.281456147,658,635,658,0.457618926171,0.00468706001911,0.0794639145537,0.999999620518,0.000192138082265,-0.000847200100573,-6.55718632903e-05,1793255000913825024
+236,3.933333333,POSE1_TO_POSE2_PRESS,782.861494191,759.861494191,736,718,673,645,913,800,841.861494191,658,635,658,0.457618720364,0.00468615964701,0.0794607427264,0.999999617838,0.000191854166836,-0.000850469087337,-6.49427483815e-05,1793255000930491904
+237,3.950000000,POSE1_TO_POSE2_PRESS,782.562667466,759.562667466,736,718,673.437332534,645,913.437332534,800,842,657.562667466,635,658,0.457619423643,0.00468733309586,0.079460289574,0.999999617459,0.000192087993732,-0.000850855156374,-6.50400280468e-05,1793255000947158528
+238,3.966666667,POSE1_TO_POSE2_PRESS,782.011847258,759.011847258,736.011847258,717.988152742,674,645,913.988152742,800,841.988152742,657,635,658,0.45762041825,0.00468910986245,0.0794606956651,0.999999617815,0.000192433910053,-0.00085033341641,-6.53626603201e-05,1793255000963825152
+239,3.983333333,POSE1_TO_POSE2_PRESS,782.586069329,759.586069329,736.586069329,717.413930671,674,645,913.413930671,800,841.413930671,657,635,658,0.457621704918,0.00468864485093,0.0794614061639,0.999999618776,0.000190391056549,-0.000849647606467,-6.55660199352e-05,1793255000980491776
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,759.834421784,736.834421784,717.165578216,673.834421784,645,913,800,841.165578216,657,635.165578216,658,0.45762244827,0.00468806505412,0.0794616546388,0.999999619066,0.000189345124619,-0.000849539050622,-6.55704943757e-05,1793255000997158400
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,759.241260456,736.241260456,717.758739544,673.241260456,645,913,800,841.758739544,657,635.758739544,658,0.457621788587,0.00468718884004,0.0794607100003,0.999999617634,0.000190873606536,-0.000850921174648,-6.50613750214e-05,1793255001013825280
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,759.34261404,736,717.65738596,673,645,913,800,841.65738596,657,635.65738596,657.65738596,0.457622253675,0.00468759579012,0.0794606950446,0.999999617509,0.000192193936908,-0.000850784448605,-6.48782022136e-05,1793255001030491904
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,759.920121533,736,717.079878467,673,645,913,800,841.079878467,657,635.079878467,657.079878467,0.457623489899,0.00468888246735,0.0794613174721,0.999999618281,0.000193371560176,-0.000849606411016,-6.49184957782e-05,1793255001047158528
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,759.505322057,736,717,673,645,913.494677943,800,841.494677943,657,635,657.494677943,0.457624815556,0.00468817364063,0.0794624920961,0.999999619446,0.00019246458926,-0.000848462163623,-6.4632563559e-05,1793255001063825152
+245,4.083333333,POSE1_TO_POSE2_PRESS,782.929326647,759,736,717,673,645,914,800,842,657,635,658,0.457626034058,0.00468734049099,0.0794634997776,0.999999620507,0.000191313518572,-0.000847496598811,-6.43069772438e-05,1793255001080491776
+246,4.100000000,POSE1_TO_POSE2_PRESS,782.339275093,759,736,717,673,645,914,800,842,657,635,658,0.457626359581,0.00468794768342,0.0794626292021,0.999999620353,0.000190827645349,-0.000847804311698,-6.40748045456e-05,1793255001097158400
+247,4.116666667,POSE1_TO_POSE2_PRESS,782.246541663,759,736,717,673,645,914,800,842,657,635,657.753458337,0.45762547005,0.00468791858978,0.079461169591,0.999999619189,0.000189302110038,-0.000849512217052,-6.41495043125e-05,1793255001113825280
+248,4.133333333,POSE1_TO_POSE2_PRESS,782.82662925,759,736,717,673,645,914,800,842,657,635,657.17337075,0.457622936675,0.00468702866555,0.0794589130742,0.999999616642,0.000186370017047,-0.000853114441168,-6.46393714402e-05,1793255001130492160
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,759,736,717,673,645,914,800,842,657,635,657.400576717,0.457623981768,0.00468653679342,0.0794598485662,0.999999618165,0.000185749205965,-0.00085147104071,-6.45248830834e-05,1793255001147158528
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,759,736,717,673,645,914,800,842,657,635,657.971906807,0.457626552252,0.00468621459855,0.0794621447124,0.999999621417,0.000186113622525,-0.000847591593709,-6.41527767831e-05,1793255001163825152
+251,4.183333333,POSE1_TO_POSE2_PRESS,783,759.560522663,736,717.560522663,673,645,913.439477337,800,841.439477337,657,635,658,0.45762686113,0.00468685706352,0.079461971233,0.99999962084,0.000187102188901,-0.00084805680937,-6.41340760378e-05,1793255001180491776
+252,4.200000000,HOLD_POSE2,782,760,736,717,673,644,914,800,841,657,635,658,0.457624050308,0.00469026990519,0.0794587616472,0.999999614722,0.000194178262082,-0.000853665438516,-6.40726979421e-05,1793255001221507328
+253,4.216666667,HOLD_POSE2,782.575203899,760,736,717.575203899,673,644.575203899,914,800,841.575203899,657.575203899,635,658,0.457624318683,0.00468798046869,0.0794595287663,0.999999616447,0.000190313774028,-0.000852487762578,-6.44300396701e-05,1793255001238173952
+254,4.233333333,HOLD_POSE2,783,759.849544117,736.150455883,717.849544117,673,644.849544117,914,800,841.849544117,657.849544117,635,658,0.457624674821,0.00468607575815,0.0794600680328,0.999999617799,0.000187473094025,-0.00085152570065,-6.45007920029e-05,1793255001254841088
+255,4.250000000,HOLD_POSE2,783,759.274156194,736.725843806,717.274156194,673,644.274156194,914,800,841.274156194,657.274156194,635,658,0.457625278829,0.0046852576273,0.079459963776,0.999999618137,0.000187523950734,-0.000851172596404,-6.37621309665e-05,1793255001271508992
+256,4.266666667,HOLD_POSE2,783,759,737,717.307705795,673,644,914,800.307705795,841.307705795,657,635,658,0.457625882802,0.00468631553173,0.0794602370061,0.999999618438,0.000188228186413,-0.000850665929127,-6.37358097557e-05,1793255001288176128
+257,4.283333333,HOLD_POSE2,783,759,737,717.89545991,673,644,914,800.89545991,841.89545991,657,635,658,0.457626486743,0.0046890808481,0.0794608537935,0.999999618702,0.000189527073486,-0.000850019501523,-6.43578012752e-05,1793255001304842240
+258,4.300000000,HOLD_POSE2,782.522779544,759.477220456,736.522779544,718,673,644.477220456,914,800.522779544,842,657,635,658,0.457625755158,0.00468845441579,0.0794600144716,0.999999618009,0.000188455355692,-0.000851084548448,-6.4195834752e-05,1793255001321509120
+259,4.316666667,HOLD_POSE2,782.057041692,759.942958308,736.057041692,718,673,645,913.942958308,800,842,657.057041692,635.057041692,658,0.457625108414,0.00468722145487,0.0794592058138,0.999999617446,0.000187110449287,-0.000852065429164,-6.38919688309e-05,1793255001338176000
+260,4.333333333,HOLD_POSE2,782.631038835,759.368961165,736.631038835,718,673,645,913.368961165,800,842,657.631038835,635.631038835,658,0.457627849094,0.0046871417608,0.0794615300054,0.999999619963,0.000187937667737,-0.000848927898045,-6.38391834445e-05,1793255001354842112
+261,4.350000000,HOLD_POSE2,783,759.205228631,737,717.794771369,673,645,913.205228631,800,842,658,635.794771369,658,0.457629090992,0.00468709263101,0.079462627943,0.99999962113,0.00018808656087,-0.000847529046126,-6.37067199068e-05,1793255001371507968
+262,4.366666667,HOLD_POSE2,783,759.779765042,737,717.220234958,673,645,913.779765042,800,842,658,635.220234958,658,0.457627635843,0.00468709850147,0.0794615192435,0.999999619881,0.000187014811275,-0.00084925893812,-6.34308759854e-05,1793255001388174592
+263,4.383333333,HOLD_POSE2,783,760,736.634302518,717.365697482,673,645,914,800,841.634302518,658,635,658,0.457627024131,0.00468654114072,0.0794605644861,0.999999618997,0.000185671838682,-0.000850592716094,-6.34264881686e-05,1793255001404841216
+264,4.400000000,HOLD_POSE2,783,760,736.04128621,717.95871379,673,645,914,800,841.04128621,658,635,658,0.457626936701,0.00468563367349,0.0794597054197,0.999999618341,0.000184160272823,-0.000851680268385,-6.3590838383e-05,1793255001421507840
+265,4.416666667,HOLD_POSE2,783,760,736,718,673,645,914,800,841.538626566,658,635,658,0.457626764693,0.00468667937822,0.0794601449444,0.99999961895,0.000184211721967,-0.000850933118363,-6.38604675661e-05,1793255001438174464
+266,4.433333333,HOLD_POSE2,783,759.883381869,736,717.883381869,672.883381869,645,914,800,842,658,635,658,0.457626568747,0.00468756854387,0.0794605188943,0.999999619339,0.000184320913339,-0.000850432872846,-6.41250178668e-05,1793255001454841344
+267,4.450000000,HOLD_POSE2,783,759.309081898,736,717.309081898,672.309081898,645,914,800,842,658,635,658,0.457626303696,0.00468726974391,0.0794602541166,0.99999961849,0.000184197693146,-0.000851440450732,-6.43387171274e-05,1793255001471508480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,783,760,736,717,672,645,914,800,842,657,635,658,0.457629119652,0.00468492700576,0.079461617689,0.999999621033,0.000184164276527,-0.000848550117375,-6.3092294997e-05,1793255001508810752
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,760,736,717.57938854,672.57938854,645,913.42061146,800,842,657,635,658,0.45763014404,0.00468553348883,0.0794622703868,0.999999621312,0.000184581084494,-0.000848093245789,-6.35866228758e-05,1793255001525477632
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,736,717.842217567,673,645,913.157782433,800.157782433,842,657,635,658,0.457630597469,0.00468586305804,0.0794624583078,0.999999621343,0.000185074094326,-0.000847927184891,-6.38847773276e-05,1793255001542144512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,736,717.26645844,673,645,913.73354156,800.73354156,842,657,635,658,0.457629538389,0.00468545906323,0.0794614150029,0.999999620716,0.000185768968316,-0.000848531501731,-6.36632547661e-05,1793255001558810624
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,759.693782801,736,717.306217199,673,645,913.693782801,800.693782801,842,657,635,658,0.457629242833,0.00468414926473,0.0794608630185,0.999999620817,0.000184820664404,-0.000848634874961,-6.34558889434e-05,1793255001575476992
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,759.123763581,736,717.876236419,673,645,913.123763581,800.123763581,842,657,635,658,0.457629605044,0.00468205912849,0.0794607343001,0.999999621542,0.000182456784665,-0.000848306691927,-6.32607189751e-05,1793255001592143360
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,759.466916906,736,718,672.533083094,645,913.466916906,800,841.533083094,657,635.466916906,658,0.457629704237,0.00468281847408,0.0794604973866,0.999999621234,0.000181896386054,-0.000848793965151,-6.31940807968e-05,1793255001608809984
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.938723254,736,718,672.061276746,645,914,800,841.061276746,657,635.938723254,658,0.45762972225,0.00468440985821,0.0794603105621,0.999999620667,0.000182279952263,-0.00084937896869,-6.3207655073e-05,1793255001625476864
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,759.361626727,736,718,672.638373273,645,914,800,841.638373273,657,635.361626727,658,0.457629670938,0.00468635285153,0.0794607979732,0.999999620304,0.000186399296053,-0.000848882893878,-6.35963778837e-05,1793255001642143488
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,759,736.214183519,717.785816481,672.785816481,645,914,800,842,657,635,658,0.457626506379,0.00468771020482,0.0794594200438,0.999999618064,0.000189003161939,-0.000850922141252,-6.38917253573e-05,1793255001658810112
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,759,736.787834919,717.212165081,672.212165081,645,914,800,842,657,635,658,0.457618116806,0.0046880846682,0.0794549114813,0.999999612667,0.000189063574799,-0.000857216463468,-6.40303593589e-05,1793255001675476480
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,759.373206131,737,717.373206131,672.373206131,645,914,800,842,657.373206131,635,658,0.45759522231,0.00468701932186,0.079443914408,0.999999598293,0.000187770924134,-0.000874125253757,-6.37264020429e-05,1793255001692143104
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,759.965456042,737,717.965456042,672.965456042,645,914,800,842,657.965456042,635,658,0.45756381452,0.00468510891612,0.0794291090691,0.999999578225,0.000185684127417,-0.000897263934414,-6.31626770762e-05,1793255001708809728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,782.454399738,759.454399738,736.454399738,718,673,645,913.454399738,800,842,658,635,658,0.457507999462,0.0046865404871,0.0794085610879,0.999999545673,0.000187257885021,-0.000932540979909,-6.28966691693e-05,1793255001725476352
+282,4.700000000,POSE2_TO_POSE3_RETREAT,782.123244567,759.123244567,736,718,672.876755433,645,913.123244567,800,841.876755433,658,635,658,0.457447884636,0.00468769386805,0.0793885141537,0.999999514972,0.00018875942474,-0.000964636277238,-6.24736737325e-05,1793255001742142976
+283,4.716666667,POSE2_TO_POSE3_RETREAT,782.69452681,759.69452681,736,718,672.30547319,645,913.69452681,800,841.30547319,658,635,658,0.457377634433,0.00468708341189,0.0793715817772,0.999999497635,0.00018917417527,-0.000982431591209,-6.14129357407e-05,1793255001758810112
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,760,736,718,672.267113383,645,914,800,841.267113383,657.732886617,635,658,0.457300136201,0.00468648056714,0.0793588783389,0.999999481966,0.000189850758872,-0.000998209358701,-6.00194280926e-05,1793255001775476992
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,736,718,672.841198885,645,914,800,841.841198885,657.158801115,635,658,0.457214308391,0.00468588646961,0.0793510348831,0.999999468359,0.000190828246352,-0.00101166851993,-5.82434948782e-05,1793255001792143360
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,759.567892058,736,717.567892058,673,644.567892058,914,800,842,657.432107942,635,658,0.457117988216,0.00468539215275,0.0793511671314,0.999999466847,0.000193568958688,-0.00101277879986,-5.58160507318e-05,1793255001808809984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782.971631263,759.028368737,736,717.028368737,673,644.028368737,914,800,841.971631263,658,635,658,0.457016567369,0.00468498808953,0.0793544120614,0.999999470135,0.000197047159509,-0.00100900119911,-5.30984288312e-05,1793255001825476608
+288,4.800000000,POSE2_TO_POSE3_RETREAT,782.396223868,759.603776132,736,717.603776132,673,644.603776132,914,800,841.396223868,658,635,658,0.456894157088,0.00468558864757,0.0793588687914,0.999999476391,0.000201744957834,-0.00100202690237,-4.95893158858e-05,1793255001842143232
+289,4.816666667,POSE2_TO_POSE3_RETREAT,782.178734168,760,736,718,673,645,914,800,841.178734168,657.821265832,635,658,0.456762050661,0.00468505125726,0.0793630421796,0.999999481417,0.000205463299558,-0.000996418548295,-4.58374842918e-05,1793255001858809856
+290,4.833333333,POSE2_TO_POSE3_RETREAT,782.752698473,760,736,718,673,645,914,800,841.752698473,657.247301527,635,658,0.456608503419,0.00468199755181,0.0793665890209,0.999999483859,0.000207015794226,-0.000993830668175,-4.15489358461e-05,1793255001875476480
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,759.662769042,736,718,673,645,914,800,842,657.337230958,635,658,0.456437857328,0.00467981462244,0.0793679035524,0.9999994856,0.000209020712977,-0.000991828362459,-3.7230559424e-05,1793255001892143360
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.070235807,736,718,673,645,914,800,842,657.929764193,635,658,0.45625426646,0.00467829091787,0.0793675281036,0.999999486804,0.000211368141664,-0.000990269368312,-3.28896011402e-05,1793255001908809984
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759,736.509189215,718,673,645,913.490810785,800,842,657.490810785,635,658,0.456034702463,0.004678915495,0.0793673654426,0.9999994869,0.000218900580465,-0.000988705493078,-2.72639152124e-05,1793255001925476608
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,759,736.91325699,718,673.08674301,645,913.08674301,800,842,657,635,658,0.455807286747,0.00467953822332,0.0793688150738,0.999999488754,0.000227145874266,-0.000985111240249,-2.1280309739e-05,1793255001942143232
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,759,736.336316129,718,673.663683871,645,913.663683871,800,842,657,635,658,0.455562836997,0.00467851794531,0.0793792143063,0.999999501678,0.000235479341517,-0.000970046726042,-1.42503566609e-05,1793255001958809856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,759.238897398,736.238897398,718,674,645,913.761102602,800,841.761102602,657,635,658,0.455310212804,0.00467648220069,0.0793945936714,0.999999523726,0.000242856059699,-0.000945261539722,-6.9520670961e-06,1793255001975476736
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,759.811696632,736.811696632,718,674,645,913.188303368,800,841.188303368,657,635,658,0.45504616338,0.00467302715995,0.0794169336621,0.9999995578,0.000248895549283,-0.00090688997593,7.21270280659e-07,1793255001992143360
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,759.600532722,736.600532722,718,674.399467278,645,913.399467278,800,841,657.399467278,635,658,0.454744220454,0.00466979849706,0.0794293997299,0.999999576491,0.000254747897046,-0.000884338351675,8.13578276968e-06,1793255002008810240
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,759.005429979,736.005429979,718,674.994570021,645,913.994570021,800,841,657.994570021,635,658,0.454423719537,0.00466668070075,0.0794370301334,0.999999587904,0.000260508593694,-0.000869534400191,1.54235378998e-05,1793255002025476864
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,759.569621407,736,718,675,645,914,800,841,658,635,658,0.454030323774,0.00466347871217,0.0794338812754,0.999999585053,0.000264463851469,-0.00087145891383,2.26182732395e-05,1793255002042143488
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,759.855183126,736,717.855183126,675,645,914,800,841.144816874,657.855183126,635,658,0.453629686864,0.00466140443815,0.0794315932244,0.99999958581,0.000259355838229,-0.000872040300821,2.56741609097e-05,1793255002058810112
+302,5.033333333,POSE2_TO_POSE3_RETREAT,783,759.279008617,736,717.279008617,675,645,914,800,841.720991383,657.279008617,635,658,0.453209480648,0.00466269153205,0.0794321648708,0.99999959718,0.000227301104458,-0.000868162153154,1.64044527946e-05,1793255002075476736
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782.705582417,759.294417583,736.294417583,717,675.294417583,645,913.705582417,800,842,657.294417583,635,658,0.452774718661,0.00465814307759,0.0794399935377,0.999999614756,0.00019623302482,-0.000855484387135,1.12739747229e-05,1793255002092143360
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782.134736534,759.865263466,736.865263466,717,675.865263466,645,913.134736534,800,842,657.865263466,635,658,0.452326290228,0.00464811563425,0.0794546358122,0.999999637924,0.000166091309746,-0.000834544669816,1.00298134781e-05,1793255002108809984
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782,760,736.544218274,717,676,645.455781726,913.455781726,800,841.544218274,657.544218274,635,658,0.451852224627,0.00464283309187,0.0794740157641,0.999999663236,0.000158280883322,-0.000805138199563,1.50717000731e-05,1793255002125476352
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782.050565613,760,736,717.050565613,676.050565613,646,914,800,841,657,635,658,0.451366522478,0.00463934170506,0.0794955248658,0.99999968951,0.000158771990852,-0.000771560341644,2.15981887412e-05,1793255002142142976
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.626520902,760,736,717.626520902,676.626520902,646,914,800,841,657,635,658,0.450842210723,0.00463922935597,0.0795239480576,0.999999724106,0.000173832878117,-0.000721819657283,2.33713442908e-05,1793255002158810112
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.79875423,760,736,718,677.20124577,646,914,800,841,657.20124577,635,658,0.45031077098,0.00463667241229,0.0795547669505,0.999999756673,0.000198076848795,-0.000668416146585,2.52680409575e-05,1793255002175476992
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.226298978,760,736,718,677.773701022,646,914,800,841,657.773701022,635,658,0.449766183282,0.00462960627226,0.0795900048511,0.999999786014,0.000239259547978,-0.000608256343963,2.7392616274e-05,1793255002192143872
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782.359112381,759.640887619,736,718,678.359112381,646,913.640887619,800,841,657.640887619,635,657.640887619,0.449169636241,0.00462542208555,0.0796053150814,0.999999797388,0.000236768153723,-0.00059026408712,2.74470832589e-05,1793255002208810240
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782.952993745,759.047006255,736,718,678.952993745,646,913.047006255,800,841,657.047006255,635,657.047006255,0.448539120907,0.0046231219702,0.0796075976366,0.999999798593,0.000205724909136,-0.000599838780246,2.61482211237e-05,1793255002225476864
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.466044946,759.533955054,736.533955054,718,679,646,913.533955054,800,841,657,635,657.533955054,0.447829280761,0.00461609006525,0.0795712337963,0.999999768867,0.000189371882967,-0.000652322771134,2.96427800502e-05,1793255002242143488
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.112706456,760,736.887293544,717.887293544,679.112706456,646.112706456,914,800,841.112706456,657.112706456,635,658,0.447118133697,0.00460911707848,0.0795437935222,0.999999745781,0.000175919296157,-0.000690235040209,3.26446102164e-05,1793255002258809856
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782.686955672,760,736.313044328,717.313044328,679.686955672,646.686955672,914,800,841.686955672,657.686955672,635,658,0.446429556438,0.00460405091264,0.0795664991948,0.999999771733,0.000169173453605,-0.000653371175458,3.19414349034e-05,1793255002275476480
+315,5.250000000,POSE2_TO_POSE3_RETREAT,783,759.738056846,736.261943154,717,680,647,914,800,841.738056846,658,635.261943154,658,0.445738745752,0.00459805856302,0.0796061605413,0.999999809375,0.000164306820278,-0.00059429117362,3.27315137996e-05,1793255002292143360
+316,5.266666667,POSE2_TO_POSE3_RETREAT,783,759.162184503,736.837815497,717,680,647,914,800,841.162184503,658,635.837815497,658,0.445045258295,0.00459095621569,0.0796661426391,0.999999856975,0.000161692348191,-0.000508585945325,3.53112024475e-05,1793255002308809984
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782.57466591,759,736.57466591,717,680.85066818,647,914,800,841.42533409,657.57466591,635.57466591,658,0.444323273325,0.0045859085933,0.0797096318831,0.99999988524,0.000153077436599,-0.000452389688498,3.78181848305e-05,1793255002325476608
+318,5.300000000,POSE2_TO_POSE3_RETREAT,781.983034261,759,736,717,682,647,914,800.016965739,841.983034261,657.016965739,635,657.983034261,0.44358786656,0.00458196588064,0.079745474051,0.999999905286,0.000143077949239,-0.000409076199177,4.01783351197e-05,1793255002342142976
+319,5.316666667,POSE2_TO_POSE3_RETREAT,781.406340204,759,736,717,682,647,914,800.593659796,841.406340204,657.593659796,635,657.406340204,0.442778244442,0.00458789967701,0.0797423489865,0.999999901954,0.000165010107745,-0.00040911054754,3.86346529517e-05,1793255002358809856
+320,5.333333333,POSE2_TO_POSE3_RETREAT,781.169658005,759.169658005,736,717.169658005,682.169658005,647.169658005,914,801,841,658,635,657.169658005,0.441955175086,0.00458984872639,0.0797401259147,0.999999901697,0.000176189512048,-0.000405160978268,3.75138838379e-05,1793255002375476736
+321,5.350000000,POSE2_TO_POSE3_RETREAT,781.743996395,759.743996395,736,717.743996395,682.743996395,647.743996395,914,801,841,658,635,657.743996395,0.441100030464,0.00458229307243,0.0797400543405,0.999999909506,0.000161720678207,-0.000391708684545,3.74018772531e-05,1793255002392143360
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782,760,736.327777287,718,683,648,914,801,841,657.672222713,635.327777287,658,0.440204677702,0.00457140338317,0.0797063878452,0.999999891348,0.000140786305092,-0.000442829572015,3.72166376846e-05,1793255002408809984
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782,760,736.919151776,718,683,648,914,801,841,657.080848224,635.919151776,658,0.439276989753,0.00455783247624,0.0796457044471,0.999999843751,0.000114652370265,-0.000545879954017,3.69725041263e-05,1793255002425476608
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782,760,737,718,683.499966294,648,913.500033706,801,841,657,635.500033706,658,0.438429835268,0.00454919138772,0.0796714676566,0.999999868638,0.000117196962126,-0.000497526426492,3.81733990372e-05,1793255002442143232
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782,759.921519969,737,718,684,648,913,801,841,657,635,657.921519969,0.437595756642,0.00454114608807,0.0797174868486,0.999999904539,0.000121569427668,-0.000417804750495,3.97752540479e-05,1793255002458810112
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782,759.346979003,737,718,684,648,913,801,841,657,635,657.346979003,0.436763716075,0.00453193200513,0.079805009267,0.999999950735,0.000108788796539,-0.000291362860398,4.24650656885e-05,1793255002475476480
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782,759,736.773721467,718,684,648,913,801,840.773721467,657,635.226278533,657,0.435891794401,0.00452132284449,0.0798602670057,0.999999971871,9.54447534907e-05,-0.000212529719601,4.44851349338e-05,1793255002492143104
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782,759,736.202420777,718,684,648,913,801,840.202420777,657,635.797579223,657,0.434959063185,0.00450858651329,0.0798663286223,0.999999974388,8.12416384137e-05,-0.000206288839362,4.54840039781e-05,1793255002508809984
+329,5.483333333,POSE2_TO_POSE3_RETREAT,781.614784639,759,736,717.614784639,684,648,913.385215361,801,840,657,636,657,0.434002064584,0.00449796778005,0.0798420984271,0.99999996753,7.16714901501e-05,-0.000240194380845,4.59268009845e-05,1793255002525476608
+330,5.500000000,POSE2_TO_POSE3_RETREAT,781.01818455,759,736,717.01818455,684,648,913.98181545,801,840,657,636,657,0.433031749452,0.00448851106735,0.079801245773,0.999999953003,6.46436566009e-05,-0.000296130041427,4.60644564641e-05,1793255002542143488
+331,5.516666667,POSE2_TO_POSE3_RETREAT,781.560348419,759.560348419,736,717,684,648,914,801,840,657,636,657,0.43197197636,0.00447666650834,0.0797317272902,0.999999903714,5.24181451216e-05,-0.000433036501994,4.80069398922e-05,1793255002558810112
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782,760,736.137265092,717.137265092,684,648,914,801,840,657,635.862734908,657.137265092,0.430950501225,0.00446523260493,0.0796869965664,0.999999862327,4.04334056863e-05,-0.000520840293738,4.93648495228e-05,1793255002575476736
+333,5.550000000,POSE2_TO_POSE3_RETREAT,782,760,736.710849571,717.710849571,684,648,914,801,840,657,635.289150429,657.710849571,0.430059702187,0.00445534266128,0.0797239224138,0.999999899595,2.97334198805e-05,-0.00044447167281,4.86842376146e-05,1793255002592143104
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782,759.707236955,736.707236955,718,684,648,913.707236955,801,840,657.292763045,635,658,0.429172905976,0.00444537681621,0.0797775201249,0.999999937006,1.92668401589e-05,-0.000350983323406,4.9270831105e-05,1793255002608809728
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782,759.116856415,736.116856415,718,684,648,913.116856415,801,840,657.883143585,635,658,0.428290179021,0.00443533381176,0.079848066142,0.999999969829,9.0375373237e-06,-0.000240091377841,5.11456419718e-05,1793255002625476096
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782,759,736.462489706,718,684,648,913.462489706,801,840,657.537510294,635,658,0.427333383474,0.00443532846414,0.0798398484402,0.999999966729,1.37371922172e-05,-0.00025198082545,5.34737003233e-05,1793255002642143232
+337,5.616666667,POSE2_TO_POSE3_RETREAT,781.960919164,759.039080836,737,718,684.039080836,648,913.960919164,801,840,657,635,657.960919164,0.426357975006,0.00443943032033,0.0798114118715,0.999999954546,2.39852118973e-05,-0.000295369438865,5.55815208262e-05,1793255002658810112
+338,5.633333333,POSE2_TO_POSE3_RETREAT,781.384767202,759.615232798,737,718,684.615232798,648,913.384767202,801,840,657,635,657.384767202,0.425377974041,0.00446593404819,0.0797722350399,0.999999933701,5.98520184586e-05,-0.000355237268388,5.3125563144e-05,1793255002675476736
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781,760,737,717.808319983,684.808319983,648,913,801,840,657,635.191680017,657,0.424395109327,0.00448358818058,0.0797381287102,0.999999911125,8.58869458558e-05,-0.000409447407435,5.22096700395e-05,1793255002692143360
+340,5.666666667,POSE2_TO_POSE3_RETREAT,781,760,737,717.231279068,684.231279068,648,913,801,840,657,635.768720932,657,0.423406487046,0.00448345074963,0.0797142163062,0.999999891995,9.2155490998e-05,-0.000452283120562,5.43899820957e-05,1793255002708809728
+341,5.683333333,POSE2_TO_POSE3_RETREAT,781,759.645499024,737,717.354500976,684.354500976,648.354500976,913,801,840,657.354500976,635.645499024,657,0.422503154666,0.00447685526513,0.0797317884705,0.999999908038,8.32876297832e-05,-0.000417188073582,5.42253215426e-05,1793255002725476352
+342,5.700000000,POSE2_TO_POSE3_RETREAT,781,759.05387344,737,717.94612656,684.94612656,648.94612656,913,801,840,657.94612656,635.05387344,657,0.421656872498,0.00446594000856,0.079777109536,0.999999942117,6.42950722345e-05,-0.000329965376804,5.24921156191e-05,1793255002742142976
+343,5.716666667,POSE2_TO_POSE3_RETREAT,781.522883496,759.522883496,737,718,684.477116504,649,913,801,839.477116504,657.477116504,635,657,0.420821837698,0.00446242529588,0.0798280799308,0.999999967123,6.00683303232e-05,-0.000243507055764,5.33781266005e-05,1793255002758809856
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781.901792642,760,737,718,684.098207358,648.901792642,913,801,839.098207358,657,635,657.098207358,0.419974618608,0.00446100700417,0.0798646690331,0.999999980023,5.86895424404e-05,-0.000183259580851,5.40902502831e-05,1793255002775476736
+345,5.750000000,POSE2_TO_POSE3_RETREAT,781.326194115,760,737,718,684.673805885,648.326194115,913,801,839.673805885,657,635,657.673805885,0.419062693676,0.0044661755113,0.0798285987248,0.999999965304,6.39639596603e-05,-0.000250052180411,5.26815591475e-05,1793255002792143104
+346,5.766666667,POSE2_TO_POSE3_RETREAT,781,759.750477098,737,718,684.750477098,648,913,801,840,657,635,657.750477098,0.418169971074,0.00447048588388,0.0798022794293,0.999999951733,7.09088914114e-05,-0.000297923152475,5.24092651891e-05,1793255002808809728
+347,5.783333333,POSE2_TO_POSE3_RETREAT,781,759.174605153,737,718,684.174605153,648,913,801,840,657,635,657.174605153,0.417302363118,0.00447367390859,0.0797887134098,0.999999943824,8.00386758525e-05,-0.000321046672372,5.36232565026e-05,1793255002825476352
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781,759.414482302,737,718,684,648,913,800.585517698,840,657,635,657.414482302,0.416444590973,0.00447447742047,0.0797866922957,0.999999938739,8.11760350434e-05,-0.000336075991147,5.46434525525e-05,1793255002842142976
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781,759.990980395,737,718,684,648,913.009019605,800,839.990980395,657,635,658,0.415592047119,0.00447417821201,0.0797893334239,0.999999934861,7.88744845102e-05,-0.000347809241672,5.55462086347e-05,1793255002858809600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,759.415335632,737,718,684,648,913.584664368,800,839.415335632,657,635,658,0.414799087068,0.0044697870765,0.0797692741135,0.999999925559,7.90149943497e-05,-0.000373740120557,5.43687571876e-05,1793255002875476224
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,759.160059805,736.839940195,718,684,648,914,800.160059805,839.160059805,657,635,657.839940195,0.414029903226,0.00446674736872,0.0797601555487,0.999999922775,7.94511941665e-05,-0.000381185357686,5.32489859011e-05,1793255002892142848
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,759.734809403,736.265190597,718,684,648,914,800.734809403,839.734809403,657,635,657.265190597,0.413322319632,0.00446720899677,0.0797793827314,0.99999993733,8.06534802962e-05,-0.000340737208867,5.22786546144e-05,1793255002908809472
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,760,736.31676154,718,684,648.31676154,913.68323846,801,839.68323846,657.31676154,635,657,0.412598054994,0.00447027067547,0.0797868377111,0.999999941241,8.6429634056e-05,-0.00032756708211,5.24255443994e-05,1793255002925476096
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,760,736.904883856,718,684,648.904883856,913.095116144,801,839.095116144,657.904883856,635,657,0.411859500213,0.00447555974503,0.0797842077716,0.999999936905,9.61240926529e-05,-0.000337765278818,5.35295264223e-05,1793255002942142976
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781,759.514435518,737,717.514435518,684,648.514435518,913,801,839.485564482,658,635,657.485564482,0.41115466522,0.004476434208,0.0797785837762,0.999999932087,9.34516463867e-05,-0.000352422133514,5.37725527948e-05,1793255002958809600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781,759.064502344,737,717.064502344,684.064502344,648.064502344,913,801,840,658,635.064502344,657.935497656,0.41046612369,0.00447684161781,0.0797750507837,0.999999928823,8.94278977906e-05,-0.000362564162107,5.38803204271e-05,1793255002975476224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781,759.641003111,737,717.641003111,684.641003111,648.641003111,913,801,840,658,635.641003111,657.358996889,0.40985527505,0.00448030234057,0.0797927006502,0.999999939684,9.36169105115e-05,-0.000330040896071,5.42329354534e-05,1793255002992142848
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,649,913,801,840,657.784354469,635.784354469,657.215645531,0.409261139057,0.00448228423568,0.0798121761955,0.999999950024,9.72278004739e-05,-0.00029583807006,5.45741547147e-05,1793255003008809728
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,649,913,801,840,657.212779367,635.212779367,657.787220633,0.408694587863,0.00448182527998,0.0798346650779,0.99999996,9.9884480697e-05,-0.000258863082124,5.48965649074e-05,1793255003025476608
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737.373706985,718,685,649,913,801,840,657.373706985,635,658,0.408100808782,0.00448157029803,0.0798241812749,0.999999953975,0.000104290247605,-0.000279596085787,5.47721967323e-05,1793255003042143232
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737.969036326,718,685,649,913,801,840,657.969036326,635,658,0.407490882481,0.00448143628016,0.0797941434262,0.999999936538,0.000109733289031,-0.000334552103943,5.43828720364e-05,1793255003058809856
+362,6.033333333,POSE2_TO_POSE3_RETREAT,781,759.454470665,738,718,685,648.454470665,913,801,840,657.454470665,635,657.454470665,0.406953805042,0.00447804890831,0.0797685165552,0.999999923442,9.73090276608e-05,-0.000375142216536,5.39909321558e-05,1793255003075476480
+363,6.050000000,POSE2_TO_POSE3_RETREAT,780.879039291,759.120960709,737.879039291,718,685,648.120960709,913,801,839.879039291,657.120960709,635,657.120960709,0.406440784497,0.00447614649916,0.0797519121047,0.999999915098,8.8542911317e-05,-0.000398879475025,5.34638782907e-05,1793255003092143360
+364,6.066666667,POSE2_TO_POSE3_RETREAT,780.303713636,759.696286364,737.303713636,718,685,648.696286364,913,801,839.303713636,657.696286364,635,657.696286364,0.406003115487,0.00448049253399,0.0797682895333,0.999999928281,9.72001228694e-05,-0.000362272976697,5.24298345976e-05,1793255003108809984
+365,6.083333333,POSE2_TO_POSE3_RETREAT,780.270251335,759.729748665,737,718,685,648.729748665,913,800.729748665,839,658,635,657.729748665,0.405585241089,0.00448544239702,0.079786640232,0.999999939146,0.000108199869814,-0.000327458798007,5.26383865409e-05,1793255003125476608
+366,6.100000000,POSE2_TO_POSE3_RETREAT,780.84269477,759.15730523,737,718,685,648.15730523,913,800.15730523,839,658,635,657.15730523,0.405189500836,0.0044910674539,0.079807197419,0.9999999477,0.000121819013828,-0.000294648773928,5.42363954705e-05,1793255003142142976
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,913,800,839.434596129,657.565403871,635,657.434596129,0.404792486218,0.00449161189082,0.0798185616322,0.99999995092,0.000124152325114,-0.000281978211003,5.68807480385e-05,1793255003158809856
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781,759.032473795,737,718.032473795,685,648.032473795,913,800.032473795,839.967526205,657.032473795,635,658,0.404397319309,0.00449040768793,0.0798259494787,0.99999995224,0.000121580489131,-0.000277881840844,5.93223219215e-05,1793255003175476480
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781,759.607035762,737,718.607035762,685,648.607035762,913,800.607035762,839.392964238,657.607035762,635,658,0.404041057093,0.00449215017819,0.0798251086066,0.99999995086,0.000108513858177,-0.000289525332027,5.17603605125e-05,1793255003192143360
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,759.817680851,737,718.817680851,685,648.817680851,912.817680851,800.817680851,839,658,635,657.817680851,0.403700303494,0.00449232136705,0.0798232422979,0.999999948997,0.000102232777242,-0.000298763598471,4.79017054389e-05,1793255003208809984
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,759.240836437,737,718.240836437,685,648.240836437,912.240836437,800.240836437,839,658,635,657.240836437,0.403393109452,0.00448909237472,0.0798191570195,0.999999946682,0.00011063513054,-0.00030279713368,5.20567346239e-05,1793255003225476352
+372,6.200000000,POSE2_TO_POSE3_RETREAT,780.657089104,759.342910896,737,718,685,648.342910896,912.342910896,800.342910896,839,657.657089104,634.657089104,657.342910896,0.403116095418,0.0044881202299,0.0798194974085,0.999999946456,0.000112464474554,-0.000302442378206,5.44843788186e-05,1793255003242143232
+373,6.216666667,POSE2_TO_POSE3_RETREAT,780.068393985,759.931606015,737,718,685,648.931606015,912.931606015,800.931606015,839,657.068393985,634.068393985,657.931606015,0.402860713122,0.00448876569886,0.0798230099306,0.999999947763,0.000109582560652,-0.00029894227951,5.56739059607e-05,1793255003258809856
+374,6.233333333,POSE2_TO_POSE3_RETREAT,780,760,737.512315414,718,685,648.487684586,912.487684586,800.487684586,839,657.512315414,634.512315414,658,0.40263135979,0.00448554060371,0.0798276807674,0.999999951199,9.65710684415e-05,-0.000292006826818,5.48398102466e-05,1793255003275476480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,780,760,737.908600197,718,685,648,912.091399803,800,839.091399803,658,635,658,0.40241148671,0.0044807104456,0.0798316623561,0.999999954287,8.26065369889e-05,-0.00028572742999,5.44252749648e-05,1793255003292143360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,780,760,737.332565941,718,685,648,912.667434059,800,839.667434059,658,635,658,0.402223739079,0.00447006744748,0.0798311819621,0.999999955139,7.06489513169e-05,-0.000285321111945,5.76458619755e-05,1793255003308809984
+377,6.283333333,POSE2_TO_POSE3_RETREAT,780,760,737,718,685,648,913,800,840,658,635.247815192,658,0.402052518422,0.00445864072533,0.0798325200466,0.999999956671,5.53809012528e-05,-0.00028280227974,6.01169295468e-05,1793255003325476608
+378,6.300000000,POSE2_TO_POSE3_RETREAT,780,760,737,718,685,648,913,800,840,658,635.834133911,658,0.401903872822,0.00444614347483,0.0798363420846,0.999999958997,3.55909181721e-05,-0.000277397855683,6.15641897308e-05,1793255003342142976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,780,760,737,718,685,648.415176989,913,800,840,658,635.584823011,658,0.401767373766,0.0044495801408,0.0798373458021,0.999999958103,6.75058227585e-05,-0.000274666908853,6.16007873157e-05,1793255003358809600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,780,760,737,718,685,648.994138845,913,800,840,658,635.005861155,658,0.401635666453,0.00445930264287,0.0798372377086,0.999999953694,0.000119818000043,-0.000272990632489,6.1080886676e-05,1793255003375476736
+381,6.350000000,POSE2_TO_POSE3_RETREAT,780.571316708,759.428683292,737,718,685,649,913,800,839.428683292,658,635,657.428683292,0.40151643742,0.00447241160567,0.0798304448475,0.999999948009,0.000137848099928,-0.000285555328206,5.86426316379e-05,1793255003392143360
+382,6.366666667,POSE2_TO_POSE3_RETREAT,780.851368373,759.148631627,737,718.148631627,685,649,912.851368373,800,839,658,635,657.148631627,0.401405380157,0.00448130658747,0.0798240688863,0.99999994376,0.000146150527424,-0.000296607184475,5.60765885831e-05,1793255003408809984
+383,6.383333333,POSE2_TO_POSE3_RETREAT,780.273605168,759.726394832,737,718.726394832,685,649,912.273605168,800,839,658,635,657.726394832,0.40131754812,0.0044779348997,0.0798190939934,0.999999944607,0.000127379338021,-0.000302870639869,5.31982392734e-05,1793255003425476608
+384,6.400000000,POSE2_TO_POSE3_RETREAT,780,759.690826947,737.309173053,719,685,648.690826947,912.309173053,800,839,658,635,658,0.401244168749,0.00447692036975,0.0798158581506,0.999999944648,0.000117298188518,-0.000306976273866,5.20567705588e-05,1793255003442142976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,780,759.103537406,737.896462594,719,685,648.103537406,912.896462594,800,839,658,635,658,0.401183790257,0.00447802621974,0.0798141866691,0.999999944223,0.000115034158639,-0.000309140841326,5.24777117376e-05,1793255003458809600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,780,759,737.523078361,719,685,648.476921639,913,800,839.476921639,658,635,657.523078361,0.401135094468,0.00447787719044,0.0798140412882,0.999999944237,0.00011306573195,-0.000309739399212,5.29404565272e-05,1793255003475476480
+387,6.450000000,POSE2_TO_POSE3_RETREAT,780.055637156,759,737.055637156,718.944362844,685,648.944362844,913,800.055637156,840,658,635,657.055637156,0.401090204455,0.00447730560593,0.0798141691222,0.999999944314,0.000111175386827,-0.00031009429146,5.34207524874e-05,1793255003492143360
+388,6.466666667,POSE2_TO_POSE3_RETREAT,780.631718899,759,737.631718899,718.368281101,685,648.368281101,913,800.631718899,840,658,635,657.631718899,0.401057524801,0.00447529371209,0.0798137972872,0.999999944101,0.000109423611359,-0.000311305166142,5.3981532347e-05,1793255003508809728
+389,6.483333333,POSE2_TO_POSE3_RETREAT,780.792781911,759.207218089,737.792781911,718,685,648,913,801,840,658,635,657.792781911,0.401030092005,0.00447462730509,0.07981396571,0.999999944359,0.000108810888683,-0.000310623462583,5.43693229018e-05,1793255003525476608
+390,6.500000000,POSE2_TO_POSE3_RETREAT,780.218315201,759.781684799,737.218315201,718,685,648,913,801,840,658,635,657.218315201,0.401011958116,0.00447634547853,0.0798150916213,0.999999945446,0.000110216887383,-0.000306587579065,5.44505278167e-05,1793255003542143232
+391,6.516666667,POSE2_TO_POSE3_RETREAT,780,760,737.366349791,718,685,648,913,800.633650209,840,657.633650209,635,657.366349791,0.400997782472,0.00447676816332,0.0798144350424,0.999999945632,0.000109296974477,-0.000306311250466,5.44478275441e-05,1793255003558810112
+392,6.533333333,POSE2_TO_POSE3_RETREAT,780,760,737.957266147,718,685,648,913,800.042733853,840,657.042733853,635,657.957266147,0.40098603317,0.00447639673422,0.0798126858255,0.999999945265,0.000106951314894,-0.000308339469072,5.43936947303e-05,1793255003575476992
+393,6.550000000,POSE2_TO_POSE3_RETREAT,780,759.463353718,737.463353718,718.536646282,685,648,913,800,839.463353718,657,635.536646282,657.463353718,0.400979818314,0.0044769796172,0.0798150192663,0.999999946122,0.000107316045898,-0.000305441847967,5.42625300097e-05,1793255003592143360
+394,6.566666667,POSE2_TO_POSE3_RETREAT,780,759.114377207,737,718.885622793,685,648.114377207,912.885622793,800,839,657.114377207,635.885622793,657,0.400974273821,0.00447778738194,0.0798169774309,0.999999946741,0.000108198513462,-0.000303126883696,5.4081113971e-05,1793255003608809984
+395,6.583333333,POSE2_TO_POSE3_RETREAT,780,759.689089862,737,718.310910138,685,648.689089862,912.310910138,800,839,657.689089862,635.310910138,657,0.400969690925,0.00447920081697,0.0798161442872,0.999999946051,0.000110314340743,-0.000304702422279,5.37216194838e-05,1793255003625476352
+396,6.600000000,POSE2_TO_POSE3_RETREAT,780.270217502,759.729782498,737,718.270217502,685,648.729782498,912.270217502,800,839.270217502,657.729782498,635,657,0.400967399778,0.00447920787619,0.0798165107235,0.999999946247,0.000110216546811,-0.000304140302743,5.34535086336e-05,1793255003642142976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,780.858905738,759.141094262,737,718.858905738,685,648.141094262,912.858905738,800,839.858905738,657.141094262,635,657,0.40096780962,0.00447755742068,0.0798182909509,0.999999947483,0.00010750984157,-0.000301058799789,5.32930999156e-05,1793255003658809600
+398,6.633333333,POSE2_TO_POSE3_RETREAT,780.558675534,759,737.441324466,719,685.441324466,648,913,800,839.558675534,657.441324466,635,657.441324466,0.400969040652,0.00447685777419,0.0798198768967,0.99999994824,0.000106612215038,-0.000298850580162,5.33102636758e-05,1793255003675476480
+399,6.650000000,POSE2_TO_POSE3_RETREAT,780.021609967,759.021609967,737.978390033,718.978390033,685.978390033,648,912.978390033,800,839,657.978390033,635,658,0.400970401885,0.00447652034576,0.079821334017,0.999999948807,0.000106409979521,-0.000297008852446,5.33819371533e-05,1793255003692143104
+400,6.666666667,POSE2_TO_POSE3_RETREAT,780.597869323,759.597869323,737.402130677,718.402130677,685.402130677,648,912.402130677,800,839,657.402130677,635,658,0.400968460836,0.00447778696751,0.0798210565452,0.999999948332,0.000109419076177,-0.000297508108572,5.3415980182e-05,1793255003708809728
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,759.830035293,737,718.169964707,685,648.169964707,912.169964707,800,839.169964707,657,634.830035293,657.830035293,0.40096742016,0.00447876825405,0.0798211893271,0.999999948106,0.000111313112818,-0.000297560930868,5.34263830426e-05,1793255003725476608
+402,6.700000000,POSE2_TO_POSE3_RETREAT,781,759.267556167,737,718.732443833,685,648.732443833,912.732443833,800,839.732443833,657,634.267556167,657.267556167,0.400968458792,0.00447909059086,0.0798222695438,0.999999948475,0.000110632043296,-0.000296582764304,5.33821915864e-05,1793255003742143232
+403,6.716666667,POSE2_TO_POSE3_RETREAT,780.683531179,759.316468821,737,719,685,648.683531179,912.683531179,800,839.683531179,657.316468821,634.316468821,657.316468821,0.400969075713,0.00447899761138,0.0798225755398,0.999999948846,0.000109428049266,-0.000295811541416,5.31926976011e-05,1793255003758809856
+404,6.733333333,POSE2_TO_POSE3_RETREAT,780.079959667,759.920040333,737,719,685,648.079959667,912.079959667,800,839.079959667,657.920040333,634.920040333,657.920040333,0.400969310055,0.00447852785407,0.0798221791574,0.999999949218,0.000107749654566,-0.000295228059304,5.28713841648e-05,1793255003775476480
+405,6.750000000,POSE2_TO_POSE3_RETREAT,780,759.498343292,737,719,685,648,912.501656708,800,839,658,635,657.498343292,0.400968314367,0.00447764119999,0.0798227067951,0.999999949519,0.000105310774262,-0.00029507065206,5.29659638074e-05,1793255003792143104
+406,6.766666667,POSE2_TO_POSE3_RETREAT,780.079563485,759.079563485,737,718.920436515,685,648.079563485,912.920436515,800,839,657.920436515,635,657.079563485,0.400967227323,0.00447701081635,0.0798232329503,0.999999949701,0.000103647919269,-0.000295017226086,5.31121321723e-05,1793255003808809728
+407,6.783333333,POSE2_TO_POSE3_RETREAT,780.655244714,759.655244714,737,718.344755286,685,648.655244714,912.344755286,800,839,657.344755286,635,657.655244714,0.400966741878,0.00447837537937,0.0798228699996,0.999999949229,0.000107548109201,-0.000295206462379,5.31839643967e-05,1793255003825476352
+408,6.800000000,POSE2_TO_POSE3_RETREAT,780.764271455,759.764271455,737,718,685,649,912,800,839.235728545,657,635,657.764271455,0.40096651338,0.00447884242955,0.079822574968,0.999999949012,0.000108776291426,-0.000295497825201,5.31400196809e-05,1793255003842143232
+409,6.816666667,POSE2_TO_POSE3_RETREAT,780.176617609,759.176617609,737,718,685,649,912,800,839.823382391,657,635,657.176617609,0.400966668485,0.00447796955959,0.0798223813345,0.999999949189,0.000106015364132,-0.000295941655421,5.2923228558e-05,1793255003858810112
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780,759,737,718.407087465,685,648.592912535,912,800,839.592912535,657.407087465,635,657.407087465,0.4009677146,0.00447778763596,0.0798231785038,0.99999994979,0.000105063562006,-0.000294303487283,5.25974834067e-05,1793255003875476736
+411,6.850000000,POSE2_TO_POSE3_RETREAT,780,759,737,718.98909576,685,648.01090424,912,800,839.01090424,657.98909576,635,657.98909576,0.400969143573,0.00447790260413,0.0798244014098,0.99999995057,0.000104889120453,-0.000291770708217,5.22249219673e-05,1793255003892143104
+412,6.866666667,POSE2_TO_POSE3_RETREAT,780.564093013,759,737,718.435906987,685,648.564093013,912.564093013,800,839,658,635,657.435906987,0.400967199618,0.00447832624593,0.0798234075476,0.999999949865,0.000106809861765,-0.000293444335814,5.24691921077e-05,1793255003908809984
+413,6.883333333,POSE2_TO_POSE3_RETREAT,781,759.138265265,737,718.138265265,685.138265265,649,913,800.138265265,839,657.861734735,635.138265265,657.138265265,0.400966215904,0.00447909552681,0.0798230091062,0.99999994945,0.00010890577327,-0.000294059753117,5.26086971213e-05,1793255003925476864
+414,6.900000000,POSE2_TO_POSE3_RETREAT,781,759.710269387,737,718.710269387,685.710269387,649,913,800.710269387,839,657.289730613,635.710269387,657.710269387,0.400968446495,0.00448093059107,0.0798246112779,0.99999995005,0.000111425702096,-0.000291103613588,5.2382607834e-05,1793255003942143488
+415,6.916666667,POSE2_TO_POSE3_RETREAT,781,759.70770256,737,718.70770256,685.70770256,649,913,801,839,657.29229744,635.70770256,658,0.400969164825,0.00448116693386,0.0798251003393,0.999999950365,0.000110900371543,-0.000290257678857,5.2160811848e-05,1793255003958810112
+416,6.933333333,POSE2_TO_POSE3_RETREAT,781,759.115385802,737,718.115385802,685.115385802,649,913,801,839,657.884614198,635.115385802,658,0.400968330944,0.00447976232023,0.0798244468841,0.999999950391,0.000107249332151,-0.000291577696247,5.19434225974e-05,1793255003975476736
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c498f744e6ff67a6bcf4c7f2e1b54c35ef6a4cbd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+14,0.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+18,0.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+19,0.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+20,0.333333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+21,0.350000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+22,0.366666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+23,0.383333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+25,0.416666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+26,0.433333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+27,0.450000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+28,0.466666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+29,0.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+30,0.500000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+31,0.516666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+32,0.533333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+33,0.550000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+35,0.583333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+36,0.600000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+38,0.633333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+39,0.650000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+41,0.683333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+42,0.700000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+44,0.733333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+48,0.800000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+191,3.183333333,pose1_to_pose2_press,0.611651808643,0.0101817941605,1.07002046658,0.582222955855,0.0188560302616,1.06969217458
+192,3.200000000,pose1_to_pose2_press,0.612232046785,0.0101818529231,1.07002053304,0.58280319445,0.0188560905614,1.06969224117
+193,3.216666667,pose1_to_pose2_press,0.612779248129,0.0101817629259,1.0700208113,0.583350397418,0.0188560059103,1.06969251505
+194,3.233333333,pose1_to_pose2_press,0.613296945106,0.0101818139536,1.07002042969,0.583868093052,0.0188560522114,1.06969212904
+195,3.250000000,pose1_to_pose2_press,0.613793211973,0.01018187664,1.07002070517,0.584364358352,0.0188561098309,1.06969241125
+196,3.266666667,pose1_to_pose2_press,0.614277072398,0.010181728275,1.07002060806,0.584848221531,0.0188559706214,1.06969230935
+197,3.283333333,pose1_to_pose2_press,0.614756247732,0.0101816614731,1.07002059624,0.585327397671,0.0188559065838,1.06969229868
+198,3.300000000,pose1_to_pose2_press,0.615232334739,0.0101818177234,1.07002069887,0.585803481701,0.0188560528683,1.06969240376
+199,3.316666667,pose1_to_pose2_press,0.615696621905,0.0101818658824,1.0700205724,0.586267767248,0.0188560956607,1.06969227869
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+205,3.416666667,pose1_to_pose2_press,0.61794006575,0.0101818786429,1.07002060302,0.588511212883,0.0188561151546,1.06969231637
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+208,3.466666667,pose1_to_pose2_press,0.618818027999,0.0101817890203,1.07002068222,0.589389176133,0.0188560284899,1.06969237825
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+211,3.516666667,pose1_to_pose2_press,0.619541240583,0.0101817253968,1.07002054215,0.590112389356,0.0188559674863,1.06969224455
+212,3.533333333,pose1_to_pose2_press,0.619739850316,0.0101817205323,1.07002054904,0.590310998667,0.0188559610048,1.069692246
+213,3.550000000,pose1_to_pose2_press,0.61991867183,0.010181805856,1.07002056143,0.590489818238,0.018856039734,1.06969225641
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+229,3.816666667,pose1_to_pose2_press,0.621181062943,0.0101817371405,1.07002056397,0.591752210739,0.0188559764849,1.06969227009
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+232,3.866666667,pose1_to_pose2_press,0.621207357036,0.0101818452788,1.07002059755,0.591778504242,0.0188560824292,1.06969229727
+233,3.883333333,pose1_to_pose2_press,0.621211800288,0.0101819059431,1.07002066168,0.591782946716,0.0188561404922,1.06969236224
+234,3.900000000,pose1_to_pose2_press,0.621214626979,0.0101818254234,1.07002053249,0.591785774587,0.0188560639267,1.06969223182
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+238,3.966666667,pose1_to_pose2_press,0.621218603503,0.0101818386352,1.07002056923,0.591789751142,0.018856077285,1.0696922693
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+268,4.466666667,pose2_to_pose3_retreat,0.62122187956,0.0101816811524,1.07002051128,0.591793029014,0.0188559262072,1.06969221781
+269,4.483333333,pose2_to_pose3_retreat,0.621221853748,0.0101816890525,1.07002054165,0.591793003017,0.0188559334659,1.06969224778
+270,4.500000000,pose2_to_pose3_retreat,0.621221846155,0.0101816913765,1.07002055058,0.59179299537,0.0188559356012,1.0696922566
+271,4.516666667,pose2_to_pose3_retreat,0.621221816234,0.0101817005342,1.07002058579,0.591792965236,0.0188559440154,1.06969229134
+272,4.533333333,pose2_to_pose3_retreat,0.621221789124,0.0101817088317,1.07002061769,0.591792937932,0.0188559516393,1.06969232283
+273,4.550000000,pose2_to_pose3_retreat,0.621221743998,0.0101817175233,1.07002063512,0.591792892543,0.0188559594509,1.06969234056
+274,4.566666667,pose2_to_pose3_retreat,0.621221738509,0.0101817176475,1.07002063074,0.591792887033,0.018855959512,1.06969233641
+275,4.583333333,pose2_to_pose3_retreat,0.621221625186,0.0101817202119,1.07002054033,0.591792773275,0.0188559607746,1.06969225055
+276,4.600000000,pose2_to_pose3_retreat,0.621220410391,0.010181811559,1.07002049746,0.591791557402,0.0188560484414,1.06969220702
+277,4.616666667,pose2_to_pose3_retreat,0.621216002357,0.0101817878323,1.07002063401,0.591787149659,0.0188560255831,1.06969234028
+278,4.633333333,pose2_to_pose3_retreat,0.621206932468,0.0101818839738,1.07002054709,0.591778077661,0.018856114525,1.0696922524
+279,4.650000000,pose2_to_pose3_retreat,0.621188963649,0.0101817144968,1.07002064897,0.591760112343,0.0188559566353,1.06969234653
+280,4.666666667,pose2_to_pose3_retreat,0.621161986374,0.0101817515935,1.07002054005,0.59173313376,0.0188559893798,1.06969224026
+281,4.683333333,pose2_to_pose3_retreat,0.621125033812,0.0101817484716,1.07002053485,0.591696182409,0.0188559903656,1.06969223652
+282,4.700000000,pose2_to_pose3_retreat,0.621079227611,0.0101817397887,1.07002086568,0.591650376338,0.0188559823307,1.0696925736
+283,4.716666667,pose2_to_pose3_retreat,0.621024431133,0.01018166702,1.07002066233,0.591595579817,0.0188559090955,1.06969236114
+284,4.733333333,pose2_to_pose3_retreat,0.620962918696,0.0101819771022,1.07002064421,0.591534063983,0.0188562076654,1.0696923498
+285,4.750000000,pose2_to_pose3_retreat,0.620894959225,0.0101817003141,1.07002063549,0.59146610723,0.0188559401224,1.0696923419
+286,4.766666667,pose2_to_pose3_retreat,0.620818373587,0.0101817053759,1.07002045197,0.591389521561,0.018855945409,1.06969216052
+287,4.783333333,pose2_to_pose3_retreat,0.620732950818,0.010181665927,1.07002051448,0.591304099272,0.0188559075737,1.06969222299
+288,4.800000000,pose2_to_pose3_retreat,0.620636583466,0.0101816287903,1.07002058277,0.591207732466,0.018855872203,1.06969229205
+289,4.816666667,pose2_to_pose3_retreat,0.620528235588,0.0101816982544,1.07002053164,0.591099384066,0.0188559398805,1.06969224142
+290,4.833333333,pose2_to_pose3_retreat,0.620406806369,0.0101818863252,1.07002065781,0.590977952922,0.0188561210737,1.06969235955
+291,4.850000000,pose2_to_pose3_retreat,0.620269496241,0.0101819224934,1.0700207261,0.590840643082,0.0188561584235,1.06969243428
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+294,4.900000000,pose2_to_pose3_retreat,0.619769051428,0.0101817390376,1.07002055128,0.590340198759,0.0188559764503,1.06969225845
+295,4.916666667,pose2_to_pose3_retreat,0.619575464645,0.0101817121408,1.07002059142,0.590146613045,0.0188559531956,1.06969230072
+296,4.933333333,pose2_to_pose3_retreat,0.619368766834,0.0101819425406,1.07002052402,0.589939912222,0.0188561731441,1.06969222933
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+300,5.000000000,pose2_to_pose3_retreat,0.618336396301,0.0101817769179,1.07002058444,0.588907543685,0.0188560138487,1.06969228476
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+302,5.033333333,pose2_to_pose3_retreat,0.617683032826,0.0101818109139,1.07002051133,0.588254179916,0.0188560469867,1.06969221961
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+304,5.066666667,pose2_to_pose3_retreat,0.616969168669,0.010181859025,1.07002051629,0.587540316055,0.018856095773,1.06969221877
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+307,5.116666667,pose2_to_pose3_retreat,0.61578052952,0.0101816507704,1.07002040546,0.58635167867,0.0188558935512,1.06969211466
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d0e70accde2528a9f341486f72bb212c51ed492
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3945cd31b66f399966ffc420e317d7e2292586ef2fdb81dafd270157b965fc61
+size 26565305
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61e479b282deca51d9b03e3b0622983420c504c9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,780,759,737,719,685,648,912,800,839,658,635,658,0.400968128082,0.00447804665874,0.0798250609324,0.999999951254,0.000105839458845,-0.000289125496019,5.19260691481e-05,1793255004095538432
+1,0.016666667,BASELINE,780,759.614251245,737.614251245,718.385748755,685,648.614251245,912,800.614251245,839,658,635,657.385748755,0.400967251573,0.00447702375181,0.0798241792102,0.999999950472,0.000105779498239,-0.0002917258905,5.25593309514e-05,1793255004112205312
+2,0.033333333,BASELINE,780,760,737.785064435,718,685,649,912,800.785064435,839,657.785064435,635,657,0.400967547041,0.00447713964546,0.0798244520764,0.999999950295,0.00010630176993,-0.000292092734736,5.28388895913e-05,1793255004128871936
+3,0.050000000,BASELINE,780,760,737.207283164,718,685,649,912,800.207283164,839,657.207283164,635,657,0.400969820996,0.00447917801696,0.0798266740729,0.999999951139,0.000107806943113,-0.000288688988338,5.2521340663e-05,1793255004145538560
+4,0.066666667,BASELINE,780,759.621494982,737,718,685,648.621494982,912.378505018,800.378505018,839,657.378505018,635,657.378505018,0.400970250711,0.00447962134403,0.0798267078886,0.999999951105,0.000108553900874,-0.000288564518222,5.23079004592e-05,1793255004162205184
+5,0.083333333,BASELINE,780,759.031227198,737,718,685,648.031227198,912.968772802,800.968772802,839,657.968772802,635,657.968772802,0.400969648627,0.0044791722891,0.0798255174794,0.999999950583,0.000108876658631,-0.000290274709906,5.21527061381e-05,1793255004178871552
+6,0.100000000,BASELINE,780.548760587,759,737,718,685,648,913,800.451239413,839.548760587,657.451239413,635,658,0.400966667182,0.00447816428639,0.0798242872827,0.999999949974,0.000108125529204,-0.000292630832404,5.22255111604e-05,1793255004195538176
+7,0.116666667,BASELINE,780.872532488,759.127467512,737.127467512,718.127467512,685,648.127467512,913,800.127467512,840,657,634.872532488,658,0.400964494769,0.00447745309309,0.0798234573915,0.999999949528,0.000107712051261,-0.000294280709901,5.23469223657e-05,1793255004212205056
+8,0.133333333,BASELINE,780.296313313,759.703686687,737.703686687,718.703686687,685,648.703686687,913,800.703686687,840,657,634.296313313,658,0.400965638466,0.00447789674035,0.0798240446075,0.999999949692,0.000108698462494,-0.000293317216123,5.25946162014e-05,1793255004228871680
+9,0.150000000,BASELINE,780.276718195,760,737.723281805,719,685.276718195,648.723281805,913,800.723281805,840,657,634.276718195,658,0.400966963982,0.00447810369736,0.0798246690554,0.999999950095,0.000108684915019,-0.000291939096196,5.26132240959e-05,1793255004245538304
+10,0.166666667,BASELINE,780.846375145,760,737.153624855,719,685.846375145,648.153624855,913,800.153624855,840,657,634.846375145,658,0.400968481973,0.00447806008986,0.0798253329178,0.999999950752,0.00010761279358,-0.000290122045787,5.23893175624e-05,1793255004262205184
+11,0.183333333,BASELINE,780.564958395,759.564958395,737,719,685.564958395,648.435041605,913,800,839.564958395,657.435041605,635,658,0.400968322253,0.00447864823738,0.0798256205966,0.99999995079,0.00010731776696,-0.00029011145571,5.23203174922e-05,1793255004278871552
+12,0.200000000,BASELINE,780,759,737,718.970146725,685,649,912.970146725,800,839.029853275,657.970146725,635,657.970146725,0.400967540515,0.00447943648687,0.0798257158078,0.999999950587,0.000107432704244,-0.000290772248369,5.2305078289e-05,1793255004295538176
+13,0.216666667,BASELINE,780,759,737,718.391410475,685,649,912.391410475,800,839.608589525,657.391410475,635,657.391410475,0.400966712754,0.00447961466563,0.0798248263136,0.999999950117,0.000109809348263,-0.000291512569303,5.22265873624e-05,1793255004312205056
+14,0.233333333,BASELINE,780.185696643,759.185696643,737,718.185696643,685,648.814303357,912.185696643,800,839.814303357,657,635,657.185696643,0.400966000855,0.00447944572895,0.0798241816679,0.999999949841,0.00011036666483,-0.000292256420438,5.21922312238e-05,1793255004328871680
+15,0.250000000,BASELINE,780.759399857,759.759399857,737,718.759399857,685,648.240600143,912.759399857,800,839.240600143,657,635,657.759399857,0.400965531047,0.00447855150685,0.0798240486246,0.999999949971,0.000107122561434,-0.000293007647946,5.22500931501e-05,1793255004345538304
+16,0.266666667,BASELINE,781,759.657781189,737,718.657781189,685,648.342218811,912.657781189,800,839,657,635.342218811,657.657781189,0.400965405127,0.00447797773757,0.0798239488742,0.999999950081,0.000105581289643,-0.000293191325721,5.22464797393e-05,1793255004362204672
+17,0.283333333,BASELINE,781,759.068377978,737,718.068377978,685,648.931622022,912.068377978,800,839,657,635.931622022,657.068377978,0.400965527598,0.00447763543119,0.0798238731714,0.999999950183,0.000105269972086,-0.00029296506269,5.21984627335e-05,1793255004378871296
+18,0.300000000,BASELINE,781,759.513003209,737,718.513003209,685,648.486996791,912,800,839.513003209,657,635.486996791,657.513003209,0.400966873113,0.00447812991612,0.0798248568644,0.999999950702,0.000105901493955,-0.000290952732121,5.22304063963e-05,1793255004395538432
+19,0.316666667,BASELINE,780.907467593,759.907467593,737,718.907467593,685,648.092532407,912.092532407,800,840,657.092532407,635,658,0.400968250088,0.00447879438212,0.0798259682203,0.999999951215,0.000106795632943,-0.000288854092617,5.22268230573e-05,1793255004412204800
+20,0.333333333,BASELINE,780.332108567,759.332108567,737,718.332108567,685,648.667891433,912.667891433,800,840,657.667891433,635,658,0.400968953696,0.00447977277275,0.0798270202507,0.999999951436,0.000108414443629,-0.000287528174077,5.1983106753e-05,1793255004428871424
+21,0.350000000,BASELINE,780.241489407,759,737,718,685.241489407,649,913,800,840,658,635,657.758510593,0.40096934534,0.00448085040769,0.0798274038461,0.999999951395,0.000110289237241,-0.000286991179266,5.18005705393e-05,1793255004445538304
+22,0.366666667,BASELINE,780.812682978,759,737,718,685.812682978,649,913,800,840,658,635,657.187317022,0.400969311061,0.00448206354025,0.0798268748309,0.999999950997,0.000112513522806,-0.000287531297809,5.17015631877e-05,1793255004462204928
+23,0.383333333,BASELINE,780.598309285,759.401690715,737.401690715,718,685.598309285,648.598309285,913,800.401690715,840,657.598309285,635.401690715,657.401690715,0.400968813239,0.00448098566072,0.0798263982227,0.999999950923,0.00011164896971,-0.000288107754177,5.17996696253e-05,1793255004478871552
+24,0.400000000,BASELINE,780.000608865,759.999391135,737.999391135,718,685.000608865,648.000608865,913,800.999391135,840,657.000608865,635.999391135,657.999391135,0.400968089224,0.00447878985503,0.0798259471871,0.999999951003,0.000109277181693,-0.000288701942061,5.19939600434e-05,1793255004495538176
+25,0.416666667,BASELINE,780.576338758,759.423661242,737.423661242,718.576338758,685,648,912.423661242,800.423661242,839.423661242,657,636,657.423661242,0.400968221437,0.00447889885106,0.079826312535,0.999999951163,0.000108160709318,-0.000288597743146,5.18257852775e-05,1793255004512204800
+26,0.433333333,BASELINE,780.848080241,759,737,719,685.151919759,648,912.151919759,800.151919759,839.151919759,657.151919759,635.848080241,657.151919759,0.400968346698,0.0044792947431,0.0798265914674,0.999999951268,0.000107725514718,-0.000288415536947,5.1724778139e-05,1793255004528871424
+27,0.450000000,BASELINE,780.276218278,759,737,719,685.723781722,648,912.723781722,800.723781722,839.723781722,657.723781722,635.276218278,657.723781722,0.400968450328,0.00448047718706,0.0798266292262,0.999999951221,0.000109169994613,-0.000288019668691,5.18104598933e-05,1793255004545538304
+28,0.466666667,BASELINE,780.304867366,759,737.304867366,718.695132634,685.695132634,648.304867366,913,801,839.695132634,657.695132634,635,657.695132634,0.400968161617,0.00448058779247,0.0798261594986,0.999999950997,0.000109866932601,-0.000288527818397,5.18278736392e-05,1793255004562204928
+29,0.483333333,BASELINE,780.894570609,759,737.894570609,718.105429391,685.105429391,648.894570609,913,801,839.105429391,657.105429391,635,657.105429391,0.400967506344,0.00447969698506,0.0798252156293,0.999999950609,0.000109865446275,-0.000289880587056,5.17815049611e-05,1793255004578871552
+30,0.500000000,BASELINE,781,759.478620109,738,718,685,648.521379891,913,800.521379891,839,657.478620109,635,657,0.400966938702,0.0044783935603,0.0798250805143,0.99999995062,0.000108899001835,-0.000290155453073,5.20672278685e-05,1793255004595538176
+31,0.516666667,BASELINE,781,760,737.939297649,718.060702351,685,648.060702351,913,800,839,657.939297649,635,657.060702351,0.400966527275,0.00447714599425,0.0798251582594,0.999999950714,0.000107892348274,-0.000290151113256,5.2371668888e-05,1793255004612204800
+32,0.533333333,BASELINE,781,760,737.363464616,718.636535384,685,648.636535384,913,800,839,657.363464616,635,657.636535384,0.400967279616,0.00447713476217,0.0798255482047,0.999999950786,0.000108327225529,-0.00028976880091,5.22214185045e-05,1793255004628871424
+33,0.550000000,BASELINE,780.788757549,760,737.211242451,719,685,649,913,800,839.211242451,657,635,657.788757549,0.400967317602,0.00447748731582,0.0798256890764,0.999999950704,0.000108634549839,-0.000289968942399,5.20456337602e-05,1793255004645538304
+34,0.566666667,BASELINE,780.215977611,760,737.784022389,719,685,649,913,800,839.784022389,657,635,657.215977611,0.400966132983,0.00447846248192,0.0798254036632,0.999999950358,0.000108723569639,-0.000291165942724,5.18261474529e-05,1793255004662205184
+35,0.583333333,BASELINE,780.367579559,759.632420441,737.632420441,719,685.367579559,648.632420441,913,800,839.632420441,657.367579559,635,657.367579559,0.400966216706,0.00447877224967,0.079825584016,0.999999950469,0.000108597649879,-0.000290839039272,5.17811290438e-05,1793255004678871808
+36,0.600000000,BASELINE,780.957660402,759.042339598,737.042339598,719,685.957660402,648.042339598,913,800,839.042339598,657.957660402,635,657.957660402,0.400967068173,0.00447867924216,0.0798260463037,0.999999950856,0.000108341624067,-0.000289589694692,5.18417185839e-05,1793255004695538432
+37,0.616666667,BASELINE,781,759.539187389,737,719,685.460812611,648,913,800,839.539187389,658,635,657.460812611,0.400967824168,0.00447924842725,0.0798270798256,0.999999951181,0.000109327543031,-0.000288065047047,5.20002203254e-05,1793255004712205312
+38,0.633333333,BASELINE,781,759.881468912,737.118531088,719,685,648.118531088,912.881468912,800,839.881468912,658,635,657,0.40096863398,0.00447980941595,0.0798279658992,0.99999995151,0.000110357792676,-0.000286501486543,5.21433260168e-05,1793255004728871936
+39,0.650000000,BASELINE,781,759.307967432,737.692032568,719,685,648.692032568,912.307967432,800,839.307967432,658,635,657,0.400969678696,0.00448014246911,0.0798281165198,0.999999951881,0.000111189712856,-0.000284870245549,5.21982846148e-05,1793255004745538304
+40,0.666666667,BASELINE,780.727943322,759,737.727943322,719,685,649,912.272056678,800,839,657.727943322,635,657.272056678,0.40096983023,0.00448050455726,0.0798278256546,0.999999951878,0.000111169112805,-0.000284895287525,5.21483196494e-05,1793255004762204928
+41,0.683333333,BASELINE,780.140354275,759,737.140354275,719,685,649,912.859645725,800,839,657.140354275,635,657.859645725,0.400968945849,0.00448090032029,0.0798270227526,0.999999951443,0.000110159756497,-0.000286841292886,5.19766639326e-05,1793255004778871552
+42,0.700000000,BASELINE,780.44094716,759.44094716,737.44094716,718.55905284,685.44094716,649,912.55905284,800.44094716,839,657.44094716,635,658,0.400968450734,0.00447971070707,0.0798268991331,0.999999951324,0.0001098355161,-0.000287357140835,5.20941443646e-05,1793255004795538176
+43,0.716666667,BASELINE,781,760,737.979803112,718.020196888,686,648.979803112,912,801,839,658,635,658,0.400968116386,0.00447809483525,0.0798270027959,0.999999951315,0.000109725921703,-0.000287396032209,5.22945542576e-05,1793255004812205056
+44,0.733333333,BASELINE,781,760,737.402717195,718.597282805,686,648.402717195,912,801,839,658,635,658,0.400968846459,0.00447844422923,0.0798274953809,0.99999995154,0.000109606352412,-0.000286659162562,5.22796404529e-05,1793255004828871680
+45,0.750000000,BASELINE,780.826491011,759.826491011,737,719,686,648,912,800.826491011,839,658,635,657.826491011,0.400968905423,0.00447883187888,0.0798276124628,0.999999951559,0.000109691171644,-0.000286563246474,5.22635669809e-05,1793255004845538560
+46,0.766666667,BASELINE,780.25225052,759.25225052,737,719,686,648,912,800.25225052,839,658,635,657.25225052,0.40096741441,0.0044793078827,0.0798268622932,0.999999951101,0.000110248040904,-0.000287947658883,5.22448151762e-05,1793255004862205184
+47,0.783333333,BASELINE,780.331007838,759.331007838,737,718.668992162,685.668992162,648.331007838,912.331007838,800,839,658,635,657.331007838,0.400967171176,0.004479849847,0.0798262667162,0.999999950876,0.000110584313691,-0.000288631806734,5.20643790581e-05,1793255004878871552
+48,0.800000000,BASELINE,780.921330957,759.921330957,737,718.078669043,685.078669043,648.921330957,912.921330957,800,839,658,635,657.921330957,0.400967905468,0.00448044348554,0.0798257922487,0.999999950835,0.000110747768769,-0.000288767359567,5.175727762e-05,1793255004895538176
+49,0.816666667,BASELINE,780.497730073,759.497730073,737,718,685,649,913,800,839.502269927,658,635,658,0.400968610503,0.0044796430594,0.0798266542835,0.999999951232,0.000110148712462,-0.00028757804719,5.19846651109e-05,1793255004912204800
+50,0.833333333,BASELINE,780.081320063,759.081320063,737,718.081320063,685.081320063,648.918679937,913,800.081320063,839.918679937,658,635,658,0.400969167315,0.00447873244873,0.0798275011595,0.999999951638,0.000109191005197,-0.000286491436747,5.21843347757e-05,1793255004928871424
+51,0.850000000,BASELINE,780.65765566,759.65765566,737,718.65765566,685.65765566,648.34234434,913,800.65765566,839.34234434,658,635,658,0.400968849242,0.00447845587941,0.0798270048737,0.999999951702,0.00010676376548,-0.000287269993909,5.17150290568e-05,1793255004945538048
+52,0.866666667,BASELINE,781,760,737,719,686,648.232613897,912.767386103,800.767386103,839,658,635.232613897,657.767386103,0.400968517899,0.0044783835678,0.0798267853788,0.999999951703,0.000105788868346,-0.000287665060509,5.14990534874e-05,1793255004962204672
+53,0.883333333,BASELINE,781,760,737,719,686,648.805556933,912.194443067,800.194443067,839,658,635.805556933,657.194443067,0.400968167142,0.00447861009845,0.0798269708468,0.99999995162,0.000106938842265,-0.000287499055628,5.16537163014e-05,1793255004978871552
+54,0.900000000,BASELINE,780.608700005,759.608700005,737.391299995,719,686,648.608700005,912,800.391299995,839.391299995,658,635.608700005,657.391299995,0.400967764192,0.00447865593514,0.0798265787355,0.999999951401,0.000107553751324,-0.000288029382055,5.16595384517e-05,1793255004995538432
+55,0.916666667,BASELINE,780.016381331,759.016381331,737.983618669,719,686,648.016381331,912,800.983618669,839.983618669,658,635.016381331,657.983618669,0.400967334429,0.00447860894569,0.0798258899101,0.999999951112,0.000107893786766,-0.000288917427886,5.15888981539e-05,1793255005012205312
+56,0.933333333,BASELINE,780.557328295,759.557328295,737.442671705,719,686,648,912.557328295,800.442671705,839.442671705,658,635.557328295,657.442671705,0.400968462601,0.00447752155006,0.0798267125503,0.999999951667,0.000106971104577,-0.000287322631137,5.16538940311e-05,1793255005028871680
+57,0.950000000,BASELINE,781,760,737.132189429,719,686,648.132189429,912.867810571,800,839.132189429,657.867810571,635.867810571,657,0.400968788236,0.00447696525314,0.0798271049952,0.999999951933,0.000106219520229,-0.000286677252432,5.1657940826e-05,1793255005045538304
+58,0.966666667,BASELINE,781,760,737.712751547,719,686,648.712751547,912.287248453,800,839.712751547,657.287248453,635.287248453,657,0.400966241446,0.00447831076118,0.0798258924436,0.999999951138,0.000106170103154,-0.000289491733712,5.14421691591e-05,1793255005062204928
+59,0.983333333,BASELINE,780.70304933,759.70304933,737.70304933,718.70304933,686,648.70304933,912,800.29695067,840,657,635,657,0.400966059277,0.00447912670228,0.079826126662,0.999999951024,0.000107218188971,-0.000289505307037,5.14135277409e-05,1793255005078871296
+60,1.000000000,BASELINE,780.11528834,759.11528834,737.11528834,718.11528834,686,648.11528834,912,800.88471166,840,657,635,657,0.400968192832,0.004479424027,0.0798277777341,0.999999951572,0.000109341083493,-0.000286775889959,5.15681470635e-05,1793255005095537920
+61,1.016666667,BASELINE,780,759.463073512,737.463073512,718,685.536926488,648.463073512,912.463073512,800.536926488,839.536926488,657.463073512,635,657,0.400968249138,0.00447858418216,0.0798274401553,0.999999951708,0.000107474592763,-0.000286985807016,5.16940941052e-05,1793255005112204800
+62,1.033333333,BASELINE,780.039317,760,738,718.039317,685.039317,648.960683,913,800,839.039317,657.960683,635,657,0.400967875301,0.00447765326294,0.0798266970855,0.999999951729,0.00010500639244,-0.000287806679927,5.17953359154e-05,1793255005128871936
+63,1.050000000,BASELINE,780.617963272,760,738,718.617963272,685.617963272,648.382036728,913,800,839.617963272,657.382036728,635,657,0.400968553964,0.00447927937362,0.0798270481315,0.99999995164,0.000107637554862,-0.000287169760148,5.1653656881e-05,1793255005145538816
+64,1.066666667,BASELINE,780.805638268,759.805638268,737.805638268,718.805638268,685.805638268,648,913,800,839.805638268,657.194361732,635,657,0.400968658856,0.00448024672703,0.0798271960404,0.999999951525,0.000109197440427,-0.000286998770351,5.15480608489e-05,1793255005162205440
+65,1.083333333,BASELINE,780.233607623,759.233607623,737.233607623,718.233607623,685.233607623,648,913,800,839.233607623,657.766392377,635,657,0.400967648838,0.00447993403338,0.0798269492287,0.999999951373,0.000108675702243,-0.000287733140245,5.15125785673e-05,1793255005178871808
+66,1.100000000,BASELINE,780.353413021,759,737,718.353413021,685,648,912.646586979,800,839,657.646586979,635.353413021,657,0.400967729021,0.00447908255315,0.0798265900734,0.99999995126,0.000108006766919,-0.000288315996516,5.18425981712e-05,1793255005195538432
+67,1.116666667,BASELINE,780.950780979,759,737,718.950780979,685,648,912.049219021,800,839,657.049219021,635.950780979,657,0.400968561753,0.00447785915781,0.0798261533692,0.999999951175,0.00010723622396,-0.000288794265502,5.24249174501e-05,1793255005212205312
+68,1.133333333,BASELINE,780.471350894,759.528649106,737,719,685.528649106,648.528649106,912,800.528649106,839.528649106,657.528649106,635.471350894,657.528649106,0.400968815683,0.00447927947682,0.07982724425,0.999999951519,0.000109324417679,-0.000286883070957,5.20426687182e-05,1793255005228871424
+69,1.150000000,BASELINE,780,759.895771632,737,718.895771632,685.895771632,649,912.104228368,800.895771632,839.895771632,657.895771632,635,658,0.400968955765,0.00448068474708,0.0798281851243,0.999999951803,0.000111026639362,-0.000285314258492,5.16013011865e-05,1793255005245538048
+70,1.166666667,BASELINE,780,759.32261281,737,718.32261281,685.32261281,649,912.67738719,800.32261281,839.32261281,657.32261281,635,658,0.400968817461,0.00448095431115,0.0798278339985,0.999999951683,0.000109837481607,-0.00028625113559,5.12836178471e-05,1793255005262204928
+71,1.183333333,BASELINE,780.256821887,759,737,718,685.256821887,649,912.743178113,800,839,657,635,658,0.400968811171,0.004480741706,0.0798274159759,0.999999951621,0.000109152742109,-0.000286737587773,5.12444500633e-05,1793255005278871552
+72,1.200000000,BASELINE,780.844337728,759,737,718,685.844337728,649,912.155662272,800,839,657,635,658,0.40096897487,0.00447990824084,0.0798269118141,0.999999951635,0.000109117511218,-0.000286644055264,5.15639098094e-05,1793255005295538432
+73,1.216666667,BASELINE,780.571300365,759,737.428699635,718.428699635,686,649,912.428699635,800,839,657,635,657.571300365,0.400968878837,0.00447971263656,0.0798269560635,0.999999951606,0.000108741060732,-0.000286882597202,5.15993307109e-05,1793255005312204800
+74,1.233333333,BASELINE,780,759,737.988198472,718.988198472,685.988198472,649,912.988198472,800,839,657,635,657,0.400968706291,0.00447976959316,0.0798271931765,0.999999951563,0.000108268448806,-0.000287220702912,5.15291836394e-05,1793255005328871424
+75,1.250000000,BASELINE,780,759,737.410995984,718.410995984,685.410995984,649,912.410995984,800,839,657,635,657,0.400969353316,0.00448091135462,0.0798271997583,0.999999951666,0.000109081317806,-0.000286594256803,5.13064102408e-05,1793255005345538304
+76,1.266666667,BASELINE,780.164902414,759.164902414,737,718,685.164902414,648.835097586,912.164902414,800.164902414,839,657.164902414,635.164902414,657.164902414,0.400969660463,0.00448123346934,0.0798272063751,0.999999951745,0.000109161609598,-0.000286312440952,5.1176912841e-05,1793255005362204928
+77,1.283333333,BASELINE,780.73757602,759.73757602,737,718,685.73757602,648.26242398,912.73757602,800.73757602,839,657.73757602,635.73757602,657.73757602,0.400969127161,0.004479528759,0.0798272130784,0.999999951764,0.000107430382188,-0.000286882827894,5.12780686299e-05,1793255005378871552
+78,1.300000000,BASELINE,780.680642503,759.680642503,737,718,685.680642503,648.319357497,913,800.680642503,839.319357497,657.680642503,635.680642503,657.680642503,0.400969039104,0.00447899598785,0.0798272165083,0.999999951819,0.000107320948542,-0.00028672326447,5.13222092166e-05,1793255005395538432
+79,1.316666667,BASELINE,780.091157183,759.091157183,737,718,685.091157183,648.908842817,913,800.091157183,839.908842817,657.091157183,635.091157183,657.091157183,0.400969327656,0.00447945449894,0.0798272171695,0.999999951905,0.000108583305603,-0.00028594627414,5.13181236177e-05,1793255005412205056
+80,1.333333333,BASELINE,780,759.489912113,737,718.489912113,685,649,912.510087887,800.489912113,839.510087887,657.489912113,635,657,0.400969206759,0.00448016147528,0.0798272580503,0.999999951772,0.000108957386475,-0.000286272040297,5.13048730063e-05,1793255005428871680
+81,1.350000000,BASELINE,780,759.930953581,737,719,685.069046419,648.930953581,912,800.930953581,839,658,635,657.069046419,0.40096902754,0.0044807604792,0.0798273659856,0.999999951639,0.000109154943168,-0.000286662248637,5.13121188311e-05,1793255005445538304
+82,1.366666667,BASELINE,780,759.35472459,737,719,685.64527541,648.35472459,912,800.35472459,839,658,635,657.64527541,0.400968970092,0.00448023250799,0.0798279124281,0.999999951796,0.000109249402651,-0.000286044057347,5.14822367851e-05,1793255005462204928
+83,1.383333333,BASELINE,780.21975693,759,737,718.78024307,685.78024307,648,912.21975693,800.21975693,839,658,635,658,0.400969184116,0.00448061936969,0.0798280441885,0.999999951835,0.000110021029706,-0.000285613672236,5.14885296017e-05,1793255005478871552
+84,1.400000000,BASELINE,780.791440079,759,737,718.208559921,685.208559921,648,912.791440079,800.791440079,839,658,635,658,0.400969832883,0.00448247127583,0.0798275118629,0.999999951679,0.000111877095941,-0.000285484046228,5.12324673012e-05,1793255005495538176
+85,1.416666667,BASELINE,780.620587303,759,737.379412697,718,685,648,912.620587303,800.620587303,839.379412697,658,635,658,0.400969748292,0.00448133979234,0.0798273564089,0.999999951822,0.000109807064434,-0.000285764129295,5.13593929549e-05,1793255005512204544
+86,1.433333333,BASELINE,780.023258859,759,737.976741141,718,685,648,912.023258859,800.023258859,839.976741141,658,635,658,0.400969242497,0.00447849479842,0.0798274174112,0.999999952122,0.000105482077911,-0.000286279528843,5.17062878198e-05,1793255005528871168
+87,1.450000000,BASELINE,780,759.551655345,737.448344655,718.551655345,685.551655345,648.551655345,912.551655345,800,839.448344655,657.448344655,635.551655345,657.448344655,0.400968436011,0.00447942915725,0.0798272821762,0.999999951636,0.000107713474468,-0.000287163865796,5.16045563025e-05,1793255005545537792
+88,1.466666667,BASELINE,780.125771654,759.874228346,737,719,685.874228346,649,913,800,839.125771654,657,635.874228346,657.125771654,0.400967982623,0.00448027257215,0.0798272021987,0.999999951319,0.000109218373984,-0.000287729642478,5.14220405579e-05,1793255005562204672
+89,1.483333333,BASELINE,780.700281235,759.299718765,737,719,685.299718765,649,913,800,839.700281235,657,635.299718765,657.700281235,0.400968832507,0.00448024518487,0.0798273477408,0.99999995174,0.000107183460878,-0.00028710550307,5.10161478472e-05,1793255005578871552
+90,1.500000000,BASELINE,781,759,737.283303556,718.716696444,685.283303556,649,913,800.283303556,840,657.283303556,635,658,0.400968715808,0.0044794855483,0.0798270028205,0.999999951871,0.000105341701421,-0.00028735845717,5.08503765642e-05,1793255005595538176
+91,1.516666667,BASELINE,781,759,737.875610821,718.124389179,685.875610821,649,913,800.875610821,840,657.875610821,635,658,0.400967544843,0.00447792723573,0.0798261229452,0.999999951689,0.000103710617867,-0.000288568071194,5.09465095797e-05,1793255005612204800
+92,1.533333333,BASELINE,781,759.456899182,738,718.456899182,686,649,912.543100818,800.543100818,840,658,635,658,0.400967903038,0.00447824265239,0.0798262335345,0.999999951597,0.000105311813315,-0.000288251762543,5.12478267972e-05,1793255005628871680
+93,1.550000000,BASELINE,780.964940263,760,737.964940263,719,686,649,912,800,840,658,635,658,0.400968667316,0.00447901669275,0.0798266403302,0.999999951552,0.000107675422261,-0.000287476652942,5.15626161724e-05,1793255005645538304
+94,1.566666667,BASELINE,780.389839375,760,737.389839375,719,686,649,912,800,840,658,635,658,0.400969425111,0.00447918260658,0.0798275539885,0.999999951931,0.000108547348395,-0.000285882746823,5.12447380006e-05,1793255005662204928
+95,1.583333333,BASELINE,780,760,737.189411176,719,685.810588824,649,912,800.189411176,840,658,635,658,0.400969772555,0.00447931063655,0.0798281378404,0.999999952117,0.000109530787944,-0.000284876293298,5.11345352667e-05,1793255005678871296
+96,1.600000000,BASELINE,780,760,737.777393829,719,685.222606171,649,912,800.777393829,840,658,635,658,0.400969256511,0.00447935894884,0.0798280276921,0.9999999519,0.000110748881535,-0.00028510599594,5.14613368149e-05,1793255005695538176
+97,1.616666667,BASELINE,780,759.639899878,738,719,685,648.639899878,912.360100122,800.639899878,840,658,635,657.639899878,0.400968726392,0.00447949823928,0.079827943877,0.999999951793,0.000110018866303,-0.000285771717592,5.14186292618e-05,1793255005712204800
+98,1.633333333,BASELINE,780,759.06040825,738,719,685,648.06040825,912.93959175,800.06040825,840,658,635,657.06040825,0.400968187698,0.00447969295829,0.0798278761054,0.999999951749,0.000108101962958,-0.000286703084426,5.11507977494e-05,1793255005728871424
+99,1.650000000,BASELINE,780,759,738,719,685.516559691,648.516559691,913,800,839.483440309,657.483440309,635,657.516559691,0.400967970863,0.00448026009032,0.0798273735432,0.999999951577,0.000107804980586,-0.000287418673125,5.11322009433e-05,1793255005745538304
+100,1.666666667,BASELINE,780,759.093283316,737.906716684,719,686,649,913,800,839.093283316,657,635,658,0.400967657911,0.00448065946506,0.0798268104118,0.999999951411,0.000107591997756,-0.000288066509044,5.11752984068e-05,1793255005762205184
+101,1.683333333,BASELINE,780,759.670262969,737.329737031,719,686,649,913,800,839.670262969,657,635,658,0.400966652358,0.00447996425233,0.0798261955807,0.999999951358,0.000106837061393,-0.000288493237883,5.13878993715e-05,1793255005778871552
+102,1.700000000,BASELINE,780,759.747985522,737.252014478,718.747985522,686,648.747985522,913,800.252014478,839.747985522,657.252014478,635,658,0.400966152574,0.00447922606306,0.0798259851102,0.999999951364,0.000106255970566,-0.000288657813292,5.15572798176e-05,1793255005795538176
+103,1.716666667,BASELINE,780,759.15987004,737.84012996,718.15987004,686,648.15987004,913,800.84012996,839.15987004,657.84012996,635,658,0.400966327316,0.00447843055788,0.0798263139182,0.999999951449,0.000105906730208,-0.00028847276577,5.16690188772e-05,1793255005812204800
+104,1.733333333,BASELINE,780.421642551,759.421642551,738,718.421642551,686,648.421642551,913,800.578357449,839,658,635,657.578357449,0.40096820537,0.00447860575275,0.079827531095,0.999999952045,0.000106529388959,-0.000286173808765,5.16354665656e-05,1793255005828871424
+105,1.750000000,BASELINE,780.999316431,760,737.999316431,719,686,649,913,800,839,657.999316431,635,657.000683569,0.400970716097,0.00447914211939,0.0798290775751,0.999999952822,0.000107514127904,-0.000283089778101,5.1547814583e-05,1793255005845538304
+106,1.766666667,BASELINE,780.425862409,760,737.425862409,719,686,649,913,800,839,657.425862409,635,657.574137591,0.400970548091,0.00447866943858,0.0798286655271,0.999999952687,0.000107875898042,-0.000283423342047,5.15771739867e-05,1793255005862204928
+107,1.783333333,POSE1_TO_POSE2_PRESS,780,760,738,719,686,648,913,801,839,658,635,658,0.400967166946,0.00448110098371,0.0798263599495,0.999999951097,0.000110266155595,-0.000288202482512,5.08628450518e-05,1793255005904473600
+108,1.800000000,POSE1_TO_POSE2_PRESS,780,759.387083318,737.387083318,718.387083318,686,648,913,800.387083318,839,657.387083318,635,658,0.400967797554,0.00447950715931,0.0798275730933,0.999999951734,0.000108268790998,-0.000286692293371,5.11693658775e-05,1793255005921139968
+109,1.816666667,POSE1_TO_POSE2_PRESS,780,759.212548816,737,718.212548816,685.787451184,648.212548816,912.787451184,800.212548816,839,657.212548816,635,657.787451184,0.400967829229,0.00447854233125,0.0798277536605,0.999999951835,0.000107209034026,-0.000286701641322,5.1366856902e-05,1793255005937806592
+110,1.833333333,POSE1_TO_POSE2_PRESS,780,759.789411039,737,718.789411039,685.210588961,648.789411039,912.210588961,800.789411039,839,657.789411039,635,657.210588961,0.400966834321,0.00447865561669,0.0798261643685,0.999999951023,0.000107756357088,-0.000289315509465,5.13774684681e-05,1793255005954473216
+111,1.850000000,POSE1_TO_POSE2_PRESS,780,760,737,719,685.365454213,648.634545787,912.365454213,800.634545787,839.365454213,658,634.634545787,657.365454213,0.400967631984,0.00447972670293,0.0798266924137,0.999999951298,0.000108609763558,-0.000288051431694,5.13348416112e-05,1793255005971139840
+112,1.866666667,POSE1_TO_POSE2_PRESS,780,760,737,719,685.941026441,648.058973559,912.941026441,800.058973559,839.941026441,658,634.058973559,657.941026441,0.400969460287,0.00448134847704,0.0798284378226,0.999999952189,0.000109639152747,-0.000284557727545,5.12616053051e-05,1793255005987806720
+113,1.883333333,POSE1_TO_POSE2_PRESS,780.528442237,759.471557763,737,719,686,648,913,800,839.471557763,658,634.528442237,657.471557763,0.400969168766,0.0044808986644,0.0798276290627,0.99999995175,0.000110105233088,-0.00028589184986,5.13977824668e-05,1793255006004473088
+114,1.900000000,POSE1_TO_POSE2_PRESS,780.884573119,759.115426881,737.115426881,718.884573119,685.884573119,648.115426881,913,800,839.115426881,658,635,657.115426881,0.400968796808,0.00448075290413,0.0798268578039,0.999999951288,0.000110747833807,-0.000287240459966,5.14964671598e-05,1793255006021139712
+115,1.916666667,POSE1_TO_POSE2_PRESS,780.304762564,759.695237436,737.695237436,718.304762564,685.304762564,648.695237436,913,800,839.695237436,658,635,657.695237436,0.400969074819,0.00448278183344,0.0798274104878,0.999999951348,0.000112359323026,-0.000286430050782,5.13481340748e-05,1793255006037806336
+116,1.933333333,POSE1_TO_POSE2_PRESS,780,759.7269921,738,718.2730079,685.2730079,649,913,800,839.7269921,657.7269921,635,657.7269921,0.400971584458,0.00448287295878,0.079828802905,0.9999999519,0.000111414835434,-0.000284896061173,5.11965711417e-05,1793255006054473216
+117,1.950000000,POSE1_TO_POSE2_PRESS,780,759.151482165,738,718.848517835,685.848517835,649,913,800,839.151482165,657.151482165,635,657.151482165,0.400976566818,0.00448081693132,0.0798311257751,0.999999952984,0.000107638238528,-0.000282560319901,5.1041429436e-05,1793255006071139840
+118,1.966666667,POSE1_TO_POSE2_PRESS,780.418663162,759.418663162,738,718.581336838,685.581336838,649,913,800,839,657.418663162,635,657.418663162,0.400997890291,0.00448018875628,0.0798405944056,0.999999957494,0.000107843344384,-0.000266029928578,5.10955524112e-05,1793255006087806464
+119,1.983333333,POSE1_TO_POSE2_PRESS,780.986892051,759.986892051,738,718.013107949,685.013107949,649,913,800,839,657.986892051,635,657.986892051,0.401025051561,0.00448007067561,0.0798526158304,0.999999962823,0.000109470897157,-0.000244428555417,5.12244343172e-05,1793255006104473344
+120,2.000000000,POSE1_TO_POSE2_PRESS,780.41536688,760,737.41536688,718.58463312,685,648.41536688,912.41536688,800.58463312,839,657.41536688,635.58463312,657.41536688,0.401077970124,0.00448131933614,0.079871128068,0.999999970979,0.000109477423688,-0.000208619120273,5.03409007352e-05,1793255006121139968
+121,2.016666667,POSE1_TO_POSE2_PRESS,780.176520024,759.823479976,737,718.823479976,685,648.176520024,912,800.823479976,839,657,636,657.176520024,0.401136519232,0.0044820108587,0.0798889875163,0.999999977435,0.000108788352035,-0.000175661407281,4.93689931071e-05,1793255006137806592
+122,2.033333333,POSE1_TO_POSE2_PRESS,780.753543519,759.246456481,737,718.246456481,685,648.753543519,912,800.246456481,839,657,636,657.753543519,0.401206463467,0.00448136507738,0.0799050181217,0.999999981913,0.000106607894893,-0.000149935106763,4.82508147555e-05,1793255006154472960
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759,737,718.330702265,685,649,912,800.330702265,839.330702265,657.330702265,635.669297735,657.669297735,0.401284347687,0.00448152312239,0.0799174857595,0.999999984639,0.000105868376373,-0.000131716701825,4.65291901382e-05,1793255006171139584
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759,737,718.907961815,685,649,912,800.907961815,839.907961815,657.907961815,635.092038185,657.092038185,0.401368151612,0.00448228046554,0.079927297002,0.999999986285,0.000106203159432,-0.000119095860204,4.43576622013e-05,1793255006187806464
+125,2.083333333,POSE1_TO_POSE2_PRESS,780.506455853,759.493544147,737.493544147,718.506455853,685.493544147,648.506455853,912.493544147,800.506455853,840,658,635,657,0.401463061996,0.00448328856288,0.0799311275953,0.99999998746,0.000103385706599,-0.000112607559382,4.13672158448e-05,1793255006204473344
+126,2.100000000,POSE1_TO_POSE2_PRESS,780,760,737.92035834,718.07964166,686,648.07964166,913,800.07964166,839.92035834,657.92035834,635,657.07964166,0.401565184563,0.00448458200396,0.0799341965995,0.999999988552,0.0001002973312,-0.000106713154762,3.80668663462e-05,1793255006221139712
+127,2.116666667,POSE1_TO_POSE2_PRESS,780,760,737.340934745,718.659065255,686,648.659065255,913,800.659065255,839.340934745,657.340934745,635,657.659065255,0.40169934597,0.00448736760545,0.0799396053032,0.999999989774,9.92610224769e-05,-9.72459121934e-05,3.37965412684e-05,1793255006237806336
+128,2.133333333,POSE1_TO_POSE2_PRESS,780.236962381,760,737.236962381,719,685.763037619,649,913,800.763037619,839,657,635,657.763037619,0.401842429376,0.00449017640946,0.0799451113114,0.999999991043,9.73394207158e-05,-8.71759201289e-05,2.89839675456e-05,1793255006254473216
+129,2.150000000,POSE1_TO_POSE2_PRESS,780.812677276,760,737.812677276,719,685.187322724,649,913,800.187322724,839,657,635,657.187322724,0.401998267324,0.00449301838269,0.0799507564221,0.999999992387,9.41522373877e-05,-7.62442608505e-05,2.33962159048e-05,1793255006271139840
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,759.612802631,737.612802631,719,685,648.612802631,913,800,839.387197369,657.387197369,635,657,0.402175856561,0.00449467442939,0.079957836042,0.999999993909,8.82057784479e-05,-6.39451420032e-05,1.76737828702e-05,1793255006287806720
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,759.038858744,737.038858744,719,685,648.038858744,913,800,839.961141256,657.961141256,635,657,0.402363936528,0.00449575850022,0.0799656075308,0.999999995355,8.09285118407e-05,-5.0986492091e-05,1.18863920731e-05,1793255006304473088
+132,2.200000000,POSE1_TO_POSE2_PRESS,781,759,737,718.448128986,685.551871014,648.551871014,913,800,840,658,635,657.551871014,0.402569860239,0.00450019246898,0.0799623599611,0.999999995442,7.58620434026e-05,-5.78081730493e-05,4.42985663264e-06,1793255006321139968
+133,2.216666667,POSE1_TO_POSE2_PRESS,781,759.140352464,737.140352464,718,686,649,913,800,840,657.859647536,635,658,0.402784244957,0.00450457601808,0.0799577274773,0.99999999528,7.04537491714e-05,-6.68199201706e-05,-3.2618358348e-06,1793255006337806592
+134,2.233333333,POSE1_TO_POSE2_PRESS,781,759.7180302,737.7180302,718,686,649,913,800,840,657.2819698,635,658,0.403020955717,0.00450804444306,0.0799512731452,0.999999994865,6.34800919762e-05,-7.81797757135e-05,-1.13085599491e-05,1793255006354473216
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,760,737.707054607,718,685.707054607,648.707054607,913,800.292945393,840,657,635,658,0.403281208857,0.0045123961302,0.0799480123451,0.999999994585,5.83938411537e-05,-8.3938894301e-05,-1.93472769743e-05,1793255006371139584
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,760,737.134773648,718,685.134773648,648.134773648,913,800.865226352,840,657,635,658,0.403563910616,0.00451759004419,0.0799477967103,0.999999994549,5.51073109157e-05,-8.43574775298e-05,-2.73783584268e-05,1793255006387806464
+137,2.283333333,POSE1_TO_POSE2_PRESS,781,760,737,718,685.439171686,648,913,801,840,657,635,657.560828314,0.403884582328,0.00452375812985,0.0799493841944,0.999999990829,0.000104637709801,-8.37053019867e-05,-1.96373278263e-05,1793255006404473088
+138,2.300000000,POSE1_TO_POSE2_PRESS,780.985799308,760,737.014200692,718,685.985799308,648.014200692,913,801,840,657.014200692,635.014200692,657.014200692,0.404218259504,0.00453033469117,0.0799515848411,0.999999982312,0.000168853128302,-8.25040414381e-05,-7.55146298606e-06,1793255006421140224
+139,2.316666667,POSE1_TO_POSE2_PRESS,780.387276178,760,737.612723822,718,685.387276178,648.612723822,913,801,840,657.612723822,635.612723822,657.612723822,0.404605793211,0.0045413709486,0.0799561602666,0.999999983164,0.000167842577938,-7.22816676403e-05,-1.66050020464e-05,1793255006437806848
+140,2.333333333,POSE1_TO_POSE2_PRESS,780.202843767,760,737.797156233,718.202843767,685.202843767,649,913,801,839.797156233,658,636,658,0.405005430963,0.00454933835152,0.079958976999,0.999999988307,0.000136805651839,-6.41517184133e-05,-2.35487693819e-05,1793255006454473472
+141,2.350000000,POSE1_TO_POSE2_PRESS,780.777558206,760,737.222441794,718.777558206,685.777558206,649,913,801,839.222441794,658,636,658,0.40542725885,0.00455167966473,0.0799585695432,0.999999996568,5.07217859998e-05,-5.98577830042e-05,-2.6624720312e-05,1793255006471140352
+142,2.366666667,POSE1_TO_POSE2_PRESS,781,760,737.35173672,718.64826328,686,648.64826328,913,801,839.35173672,658,636,658,0.405864217446,0.00456046644999,0.0799536101364,0.99999999645,4.12809355593e-05,-6.70790092518e-05,-2.995464384e-05,1793255006487806976
+143,2.383333333,POSE1_TO_POSE2_PRESS,781,760,737.925576881,718.074423119,686,648.074423119,913,801,839.925576881,658,636,658,0.406310730339,0.0045733232158,0.0799457764094,0.999999992895,8.02361539533e-05,-8.15714607437e-05,-3.34449382022e-05,1793255006504473344
+144,2.400000000,POSE1_TO_POSE2_PRESS,781,760,737.482261743,718,685.482261743,648.517738257,913,801,840,657.482261743,636,658,0.406800238663,0.0045810571725,0.079937629498,0.999999988294,0.000114116181278,-9.74194644161e-05,-2.99771699712e-05,1793255006521139968
+145,2.416666667,POSE1_TO_POSE2_PRESS,781,760,737.108938283,718,685,649,913,801,840,657.108938283,635.891061717,658,0.407301577666,0.00458896328807,0.0799303415158,0.999999983177,0.000142626915605,-0.000112112923846,-2.7097616216e-05,1793255006537806848
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,737.684331788,718,685,649,913,801,840,657.684331788,635.315668212,658,0.407826139337,0.00460087531393,0.0799269311559,0.999999980735,0.000151385629566,-0.000120997878112,-3.11764840231e-05,1793255006554473216
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685,649,913,801,840,658,635.259685944,658,0.408374191857,0.00461120281342,0.0799226003437,0.999999978452,0.000157687703163,-0.000130615803953,-3.41995724578e-05,1793255006571139840
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,738,718,685,649,913,801,840,658,635.834992241,658,0.408950794948,0.00461960449071,0.079917150821,0.999999976435,0.000161003993919,-0.000141124577438,-3.59394742966e-05,1793255006587806464
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,737.589728109,718,685,649,913,801,840,657.589728109,635.589728109,657.589728109,0.409592124517,0.0046263448217,0.0799376853209,0.999999979878,0.000165217158379,-0.000107297689581,-3.78832900066e-05,1793255006604473344
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,737.014459188,718,685,649,913,801,840,657.014459188,635.014459188,657.014459188,0.410259484803,0.00463241701703,0.0799686696877,0.999999983241,0.00016979101367,-5.56405462985e-05,-3.99091126274e-05,1793255006621140480
+151,2.516666667,POSE1_TO_POSE2_PRESS,781,760,737.579772893,718,685,649,913,801,840,657.579772893,635,657,0.410969577042,0.00462982867282,0.0799927085219,0.999999983672,0.000175371925114,-1.59259194543e-05,-4.05953057994e-05,1793255006637807104
+152,2.533333333,POSE1_TO_POSE2_PRESS,781,760,738,718,685,649,913,801,840,657.831284991,635,657,0.411667578848,0.00462269302399,0.0800014334831,0.99999998489,0.000168770968256,-2.78931081977e-06,-4.15881151448e-05,1793255006654473728
+153,2.550000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685,649,913,801,840,657.256260038,635,657,0.412333810328,0.00460514402054,0.0799737098807,0.999999988844,0.000132770350578,-5.29180105953e-05,-4.3402516091e-05,1793255006671140096
+154,2.566666667,POSE1_TO_POSE2_PRESS,781,760,737.681898611,718,685,648.681898611,913,801,839.681898611,657,635,657.318101389,0.413031117759,0.00458836283716,0.0799447905161,0.999999988676,0.000110530201491,-9.28996013962e-05,-4.24465097044e-05,1793255006687806720
+155,2.583333333,POSE1_TO_POSE2_PRESS,781,760,737.108070542,718,685,648.108070542,913,801,839.108070542,657,635,657.891929458,0.413753407705,0.00457219891445,0.0799149098566,0.999999986516,9.93523045474e-05,-0.000124723778121,-3.92633297975e-05,1793255006704473088
+156,2.600000000,POSE1_TO_POSE2_PRESS,781,760,737.478941218,718,685,648.478941218,913,800.521058782,839.478941218,657.478941218,635,658,0.414524991352,0.00456771000442,0.0799235226632,0.999999989088,9.46675154464e-05,-0.000105918607107,-4.053537778e-05,1793255006721139712
+157,2.616666667,POSE1_TO_POSE2_PRESS,781,760,738,718,685.067236804,649,913,800.067236804,840,657.932763196,635,658,0.415311963295,0.00456739907318,0.0799402437582,0.99999999162,9.35944035089e-05,-7.8703989122e-05,-4.24928883903e-05,1793255006737806592
+158,2.633333333,POSE1_TO_POSE2_PRESS,781,760,738,718,685.6421294,649,913,800.6421294,840,657.3578706,635,658,0.41612876365,0.00457817952028,0.0799507478329,0.999999990308,0.000108415129221,-7.6693429196e-05,-4.18207046959e-05,1793255006754473728
+159,2.650000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685.781144271,649,913,801,840,657,635.218855729,657.781144271,0.416957207072,0.00458617745155,0.0799559626047,0.999999989488,0.000118501940485,-7.21419594484e-05,-4.21616552385e-05,1793255006771140608
+160,2.666666667,POSE1_TO_POSE2_PRESS,781,760,738,718,685.201394141,649,913,801,840,657,635.798605859,657.201394141,0.417804849934,0.00458958699702,0.0799524552837,0.99999998972,0.000120782497768,-6.34005144119e-05,-4.41732702219e-05,1793255006787806976
+161,2.683333333,POSE1_TO_POSE2_PRESS,781,760,737.624712966,718,685.375287034,649,913.375287034,801,840,657,635.624712966,657,0.418698295213,0.00459069484343,0.0799713213515,0.999999992765,0.000108943084048,-2.16085785689e-05,-4.62057696802e-05,1793255006804473344
+162,2.700000000,POSE1_TO_POSE2_PRESS,781,760,737.049665376,718,685.950334624,649,913.950334624,801,840,657,635.049665376,657,0.419616120514,0.00459057752432,0.080002096492,0.99999999411,8.95877873332e-05,3.77757167006e-05,-4.82493854696e-05,1793255006821139712
+163,2.716666667,POSE1_TO_POSE2_PRESS,781.540410775,760,737.540410775,718,686,649,913.459589225,801,840,657.540410775,635.540410775,657.540410775,0.420471171245,0.00458747359389,0.0799867390876,0.999999993855,9.92853596371e-05,1.01996313836e-05,-4.82620292098e-05,1793255006837806336
+164,2.733333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685.870984644,649,913,801,840,657.870984644,635.870984644,657.870984644,0.421342577904,0.00458441456908,0.0799728315323,0.99999999301,0.000106812605471,-1.54724977175e-05,-4.82928472484e-05,1793255006854473216
+165,2.750000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.292457299,649,913,801,840,657.292457299,635.292457299,657.292457299,0.422291647058,0.0045824956911,0.0799791699815,0.999999994055,9.72090375171e-05,-5.86914562771e-06,-4.90559202377e-05,1793255006871139840
+166,2.766666667,POSE1_TO_POSE2_PRESS,781.716738225,760,737.716738225,718,685.283261775,649,913,801,840.283261775,657,635.283261775,657.283261775,0.423232315799,0.00458579176791,0.0799923067653,0.999999993692,0.000100716869915,1.18654532647e-05,-4.82734628683e-05,1793255006887806464
+167,2.783333333,POSE1_TO_POSE2_PRESS,781.143890052,760,737.143890052,718,685.856109948,649,913,801,840.856109948,657,635.856109948,657.856109948,0.424164396681,0.0045944192379,0.0800123936765,0.999999991309,0.000117628850609,3.79128532459e-05,-4.59109668599e-05,1793255006904473344
+168,2.800000000,POSE1_TO_POSE2_PRESS,781.431586754,760,737,718,686,649,913.431586754,801,841,657.431586754,636,658,0.425049118434,0.00460061590429,0.079976260347,0.999999990053,0.000128183916346,-3.696582547e-05,-4.5778606673e-05,1793255006921139968
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,760,737.008228661,718,686,649,913.991771339,801,841,658,636,658,0.42591943256,0.00460589680577,0.0799219081994,0.999999979275,0.000136309296468,-0.000143922053114,-4.64316626791e-05,1793255006937806592
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,760,737.605144315,718,686,649,913.394855685,801,841,658,636,658,0.426895527851,0.00460399685357,0.0799133237698,0.999999983522,0.000123164436243,-0.000123737839718,-4.97559299954e-05,1793255006954473216
+171,2.850000000,POSE1_TO_POSE2_PRESS,781.80619395,760,738,718,686,649,913,801,840.80619395,657.80619395,636,658,0.427866475928,0.00460124100484,0.0799105550622,0.999999985819,0.000114878790319,-0.00011182448821,-5.1575852717e-05,1793255006971139840
+172,2.866666667,POSE1_TO_POSE2_PRESS,781.233661651,760,738,718,686,649,913,801,840.233661651,657.233661651,636,658,0.428827365516,0.00459681260534,0.0799191511532,0.999999985252,0.000116088782858,-0.000116073649481,-5.04560590788e-05,1793255006987806464
+173,2.883333333,POSE1_TO_POSE2_PRESS,781.340287666,760,738,718,686,649,913.340287666,801,840.340287666,657,636,658,0.429814671211,0.00459414605068,0.0799495891727,0.999999989765,0.000109080703742,-7.77735595269e-05,-5.02251639027e-05,1793255007004473088
+174,2.900000000,POSE1_TO_POSE2_PRESS,781.915214035,760,738,718,686,649,913.915214035,801,840.915214035,657,636,658,0.430820191575,0.00459269434184,0.0799950878664,0.999999994021,9.6406013597e-05,-1.01344651626e-05,-5.06071911314e-05,1793255007021139712
+175,2.916666667,POSE1_TO_POSE2_PRESS,782,760.507012065,738,718,686,649,913.492987935,801,840.492987935,657,635.492987935,658,0.43179220331,0.00459480059236,0.0800254734884,0.999999992941,0.000101690942401,3.57167703917e-05,-5.00126301336e-05,1793255007037806592
+176,2.933333333,POSE1_TO_POSE2_PRESS,782,760.901433043,738,718,685.901433043,649,913,801,840.098566957,657.098566957,635.098566957,658,0.432742020133,0.00459822471163,0.080035593945,0.999999991497,0.00010922610195,5.11331515113e-05,-4.96113935752e-05,1793255007054473472
+177,2.950000000,POSE1_TO_POSE2_PRESS,782,760.325200047,738,718,685.325200047,649,913,801,840.674799953,657.674799953,635.674799953,658,0.433612367787,0.00460505274645,0.0799601764295,0.999999990397,0.000112610672706,-6.26764129386e-05,-5.09656964061e-05,1793255007071140352
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685.250134054,648.749865946,913,801,841,657.749865946,635.749865946,657.749865946,0.43452788822,0.00460743424999,0.0799157215856,0.999999984662,0.000110986105068,-0.000124761337082,-5.28405774647e-05,1793255007087806720
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685.824303763,648.175696237,913,801,841,657.175696237,635.175696237,657.175696237,0.435501927756,0.00460405550453,0.0799113772615,0.999999985994,0.000102872461182,-0.000119839697414,-5.53898413897e-05,1793255007104473088
+180,3.000000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.600941278,648.399058722,913,801,841,657,635.399058722,657.399058722,0.436455527129,0.0046013320545,0.0799384947008,0.999999989884,9.88394662778e-05,-8.60755972873e-05,-5.52524334265e-05,1793255007121139712
+181,3.016666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685.025928302,648.974071698,913,801,841,657,635.974071698,657.974071698,0.437400113901,0.00459889753962,0.0799794843623,0.999999993096,9.66057245378e-05,-3.95941869827e-05,-5.39304092114e-05,1793255007137806336
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,760,737.432172034,717.432172034,685,649,913.567827966,801.567827966,841,657,636,658,0.438341508714,0.00459980363826,0.0800125451238,0.999999993469,9.9156790679e-05,1.82168725942e-05,-5.38356648654e-05,1793255007154473216
+183,3.050000000,POSE1_TO_POSE2_PRESS,782,760,737.156769189,717.156769189,685,648.843230811,913.843230811,801.843230811,841.156769189,657,636,658,0.43925699976,0.0046024914908,0.080027243767,0.999999992167,0.000103477186927,4.54435671944e-05,-5.37897009559e-05,1793255007171139840
+184,3.066666667,POSE1_TO_POSE2_PRESS,782,760,737.730547936,717.730547936,685,648.269452064,913.269452064,801.269452064,841.730547936,657,636,658,0.440103987093,0.00460949923817,0.0799940947017,0.999999992245,0.000111903027351,-1.01079410493e-05,-5.37193372514e-05,1793255007187806720
+185,3.083333333,POSE1_TO_POSE2_PRESS,782,760,738,717.693878405,685,648,913,801.306121595,841.693878405,657.306121595,636,657.693878405,0.440889018775,0.0046193208246,0.0799114333368,0.999999981045,0.000122078337878,-0.000141323688742,-5.50883223078e-05,1793255007204473344
+186,3.100000000,POSE1_TO_POSE2_PRESS,782,760,738,717.116715555,685,648,913,801.883284445,841.116715555,657.883284445,636,657.116715555,0.441619194634,0.00463163379476,0.0797849335901,0.999999931741,0.000133802632246,-0.000339532843814,-5.77317108508e-05,1793255007221139712
+187,3.116666667,POSE1_TO_POSE2_PRESS,782,760,737.545615787,717.454384213,684.545615787,648.454384213,913,801.545615787,841,657.545615787,636,657.454384213,0.442426183433,0.00463413414608,0.0797580149463,0.999999920249,0.000139352298474,-0.000369695543179,-5.83729904881e-05,1793255007237806336
+188,3.133333333,POSE1_TO_POSE2_PRESS,782,760,737.025267026,718,684,648.974732974,913,801,841,657.025267026,636,658,0.443253609047,0.00463426693727,0.0797590842084,0.999999925384,0.000143005950395,-0.0003540646362,-5.84845070729e-05,1793255007254473216
+189,3.150000000,POSE1_TO_POSE2_PRESS,782,760,737.626222451,718,684,648.373777549,913,801,841,657.626222451,636,658,0.444103043754,0.0046371286298,0.0798227140557,0.999999953364,0.000139121405196,-0.000265599754545,-5.8088782265e-05,1793255007271139840
+190,3.166666667,POSE1_TO_POSE2_PRESS,782,760,737.782721115,717.782721115,683.782721115,648,913,801,841.217278885,657.782721115,635.782721115,658,0.444925514233,0.00463863627919,0.0798672460372,0.999999967745,0.000137777047167,-0.000205617002236,-5.69940594465e-05,1793255007287806208
+191,3.183333333,POSE1_TO_POSE2_PRESS,782,760,737.207951478,717.207951478,683.207951478,648,913,801,841.792048522,657.207951478,635.207951478,658,0.44570362038,0.00463791611061,0.0798803561519,0.999999970088,0.000140612080964,-0.000192496122106,-5.47492699443e-05,1793255007304473088
+192,3.200000000,POSE1_TO_POSE2_PRESS,782,760,737,717.365872713,683,648,913,801,841.634127287,657.365872713,635.365872713,658,0.446450784435,0.00463974239649,0.0798671805465,0.999999966905,0.000143487236065,-0.000206095940672,-5.59043872874e-05,1793255007321139968
+193,3.216666667,POSE1_TO_POSE2_PRESS,782,760,737,717.93916089,683,648,913,801,841.06083911,657.93916089,635.93916089,658,0.447180407184,0.00464301228291,0.0798391034059,0.99999995997,0.000146385135918,-0.000234843886382,-5.89869325838e-05,1793255007337806848
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,760,737,717.467769241,682.467769241,648,913.532230759,801,841,658,635.467769241,658.532230759,0.447814812332,0.00464169963741,0.0797877452193,0.999999941212,0.000137908301589,-0.000307949815812,-6.10338340089e-05,1793255007354473472
+195,3.250000000,POSE1_TO_POSE2_PRESS,782,760,737,717.122876976,681.877123024,647.877123024,913.877123024,801,841.122876976,658,635.122876976,658.877123024,0.448425875618,0.00463951409743,0.079733235841,0.999999913738,0.000128929367675,-0.000389859407345,-6.25322430814e-05,1793255007371139840
+196,3.266666667,POSE1_TO_POSE2_PRESS,782,760,737,717.696035566,681.303964434,647.303964434,913.303964434,801,841.696035566,658,635.696035566,658.303964434,0.448992827882,0.00463612350437,0.0796773075242,0.999999872994,0.00012305915049,-0.000484731706618,-6.24712712157e-05,1793255007387806464
+197,3.283333333,POSE1_TO_POSE2_PRESS,782.270468457,760,737,718,681,647,913,801,842,658,635.729531543,658,0.449591528841,0.00463763181807,0.0796500465034,0.999999851219,0.000128051112425,-0.000526525366442,-6.27347457877e-05,1793255007404473344
+198,3.300000000,POSE1_TO_POSE2_PRESS,782.846340203,760,737,718,681,647,913,801,842,658,635.153659797,658,0.450226079251,0.00464467180195,0.0796551555698,0.999999858208,0.000145308259082,-0.000508384525892,-6.33645741141e-05,1793255007421139968
+199,3.316666667,POSE1_TO_POSE2_PRESS,782.578510054,760,737,718,680.578510054,647,913.421489946,801,842,657.578510054,635,658,0.450858966872,0.00464825801144,0.0796886877648,0.999999881194,0.000145217714956,-0.000461101465357,-6.25258312091e-05,1793255007437806336
+200,3.333333333,POSE1_TO_POSE2_PRESS,782.00362303,760,737,718,680.00362303,647,913.99637697,801,842,657.00362303,635,658,0.45149124939,0.00465058725462,0.0797325642754,0.999999907205,0.000138813652112,-0.00040321238059,-6.11526162703e-05,1793255007454473216
+201,3.350000000,POSE1_TO_POSE2_PRESS,782,760,737,717.409715777,679.409715777,647,914,801,842,657.590284223,635,658,0.451977830407,0.00465451164056,0.0797105024195,0.999999889832,0.000135850279347,-0.000444868830346,-6.30219829405e-05,1793255007471139840
+202,3.366666667,POSE1_TO_POSE2_PRESS,782,760,737,717,679,646.821345823,914,801,841.821345823,657.821345823,635.178654177,658,0.45244613671,0.00465787107324,0.0796786310775,0.999999864396,0.000137975460632,-0.000498043472628,-6.42216838836e-05,1793255007487806464
+203,3.383333333,POSE1_TO_POSE2_PRESS,782,760,737,717,679,646.24555302,914,801,841.24555302,657.24555302,635.75444698,658,0.452875873533,0.00465995215733,0.0796258833842,0.99999982095,0.000151363715596,-0.000575419031039,-6.38870396558e-05,1793255007504473344
+204,3.400000000,POSE1_TO_POSE2_PRESS,782,760,737,717.330272359,678.669727641,646,914,801,841.330272359,657.330272359,635.669727641,658,0.453302339194,0.00466211022535,0.0795874908652,0.999999784605,0.00016254071801,-0.000632759611317,-6.31362771556e-05,1793255007521140224
+205,3.416666667,POSE1_TO_POSE2_PRESS,782,760,737,717.906121925,678.093878075,646,914,801,841.906121925,657.906121925,635.093878075,658,0.453726372525,0.0046643255354,0.0795597722781,0.999999755319,0.000172073521663,-0.000675202986173,-6.20761060229e-05,1793255007537806848
+206,3.433333333,POSE1_TO_POSE2_PRESS,782.496746904,760,737,717.503253096,677.503253096,645.503253096,913.503253096,801,842,657.503253096,635,658,0.454124820085,0.00466911513215,0.0795420374985,0.999999735265,0.000178809405592,-0.000702404094273,-6.42303268895e-05,1793255007554473472
+207,3.450000000,POSE1_TO_POSE2_PRESS,782.911911214,760,736.911911214,717.088088786,677,645.088088786,913.088088786,801,842,657.088088786,635,658,0.454513278309,0.00467348276636,0.0795296245142,0.999999720914,0.000184822320768,-0.000720834299746,-6.64073529141e-05,1793255007571140096
+208,3.466666667,POSE1_TO_POSE2_PRESS,782.332619774,760,736.332619774,717.667380226,677,645.667380226,913.667380226,801,842,657.667380226,635,658,0.454873823317,0.00467270142659,0.0795360433034,0.999999729992,0.000189841627867,-0.000706911128625,-6.52202893058e-05,1793255007587806720
+209,3.483333333,POSE1_TO_POSE2_PRESS,782.242540009,760,736,718,676.757459991,646,914,800.757459991,842,658,635,658,0.455215078472,0.00467348430783,0.0795372296947,0.999999729293,0.000195573581399,-0.000706402528841,-6.45076399324e-05,1793255007604473600
+210,3.500000000,POSE1_TO_POSE2_PRESS,782.812128489,760,736,718,676.187871511,646,914,800.187871511,842,658,635,658,0.45553032256,0.00467637643327,0.079531360558,0.999999715393,0.000202266489077,-0.000723982554287,-6.44347055247e-05,1793255007621140480
+211,3.516666667,POSE1_TO_POSE2_PRESS,783,759.602728331,736.397271669,718,676,646,914,800.397271669,842,657.602728331,635,658,0.455816552153,0.00467904008191,0.0795233814587,0.999999706339,0.000187697410797,-0.000740170894652,-6.51064429178e-05,1793255007637807104
+212,3.533333333,POSE1_TO_POSE2_PRESS,783,759.009929464,736.990070536,718,676,646,914,800.990070536,842,657.009929464,635,658,0.456088501564,0.00468159128022,0.0795143638878,0.999999699061,0.000162663714334,-0.00075567428349,-6.6144689134e-05,1793255007654473472
+213,3.550000000,POSE1_TO_POSE2_PRESS,783,759.568091499,737,718,676,646,914,801,842,657,635,658,0.456305663056,0.0046833677338,0.0794924235641,0.999999673307,0.000139944157364,-0.000793185759051,-6.82441465113e-05,1793255007671140352
+214,3.566666667,POSE1_TO_POSE2_PRESS,783,759.854733059,737,717.854733059,675.854733059,646,913.854733059,801,842,657.145266941,635,658,0.456516480404,0.00468560914067,0.0794732223478,0.999999648625,0.00012489638958,-0.000825958346397,-7.03061779568e-05,1793255007687807232
+215,3.583333333,POSE1_TO_POSE2_PRESS,783,759.279315696,737,717.279315696,675.279315696,646,913.279315696,801,842,657.720684304,635,658,0.45671127585,0.00468926640375,0.0794627837795,0.999999632801,0.000132448843378,-0.000843588436612,-7.22038566178e-05,1793255007704473600
+216,3.600000000,POSE1_TO_POSE2_PRESS,783,759.302714281,737,717,675,646,913.302714281,800.697285719,842,657.697285719,635,658,0.456900938555,0.00469827696551,0.079462664323,0.999999630322,0.000147092715268,-0.00084379556169,-7.56929841466e-05,1793255007721140224
+217,3.616666667,POSE1_TO_POSE2_PRESS,783,759.890981969,737,717,675,646,913.890981969,800.109018031,842,657.109018031,635,658,0.457085759485,0.00471233734718,0.0794722789886,0.999999640127,0.0001684259922,-0.000827567428348,-8.06833411571e-05,1793255007737806848
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,737,717.471584845,674.528415155,645.528415155,914,800,842,657,635,658,0.457246956958,0.0047163220781,0.0794784153008,0.999999642405,0.00020120285043,-0.000818084611234,-7.37898292691e-05,1793255007754473472
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,736.949730304,717.949730304,674,645,914,800,842,657.050269696,635,658,0.4573991472,0.00471583644256,0.0794828894118,0.999999641846,0.000231093657412,-0.000811590174405,-6.50048949527e-05,1793255007771139840
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,760,736.372872928,717.372872928,674,645,914,800,842,657.627127072,635,658,0.457513276142,0.00469253159632,0.0794782400251,0.999999640735,0.000203483753465,-0.00082032654531,-6.47245905646e-05,1793255007787806720
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,760,736.20325191,717.20325191,674,645,914,800.20325191,842,658,635,658,0.457616312818,0.00467895729853,0.0794730257884,0.999999636295,0.000185572590711,-0.000829871650749,-6.54614714129e-05,1793255007804473600
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,760,736.778037642,717.778037642,674,645,914,800.778037642,842,658,635,658,0.457699073401,0.0046831699351,0.0794667790362,0.999999626947,0.000185390221015,-0.000840895080472,-6.80577135853e-05,1793255007821139968
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759.637511552,737,718,674,645,914,801,842,657.637511552,635,658,0.457772485052,0.0046879146933,0.0794630956895,0.999999619974,0.000189278773659,-0.000848167724341,-6.95470717991e-05,1793255007837806592
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759.046980358,737,718,674,645,914,801,842,657.046980358,635,658,0.457840015266,0.00469299421149,0.0794610249896,0.999999614498,0.00019572835771,-0.000853080736843,-7.03400857127e-05,1793255007854473216
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,759,736.466976051,718.533023949,673.466976051,645,913.466976051,800.466976051,842,657.533023949,635.533023949,658,0.457897348366,0.00468935149113,0.0794604470008,0.999999616069,0.000189007379758,-0.000852758808939,-7.02882898647e-05,1793255007871140096
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,759,736,718.888821454,673,645,913.111178546,800,842,657.888821454,636,658,0.457950083058,0.00468687200665,0.0794600164439,0.999999617362,0.000183737115114,-0.000852394247078,-7.02835601391e-05,1793255007887806720
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,759,736,718.314581161,673,645,913.685418839,800,842,657.314581161,636,658,0.457987336165,0.00469237737564,0.0794596625788,0.999999615154,0.00018925041973,-0.000853736655473,-7.07789877098e-05,1793255007904473344
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,759.260823272,736,718,673,644.739176728,914,800,842,657,635.739176728,658,0.458018003762,0.00469414143377,0.0794581275745,0.999999612754,0.000191589632048,-0.000856020935941,-7.07991411423e-05,1793255007921140224
+229,3.816666667,POSE1_TO_POSE2_PRESS,783,759.837638044,736,718,673,644.162361956,914,800,842,657,635.162361956,658,0.458040692906,0.00469137283456,0.0794551616014,0.999999610143,0.000190083381251,-0.000859446309193,-7.02434924457e-05,1793255007937806848
+230,3.833333333,POSE1_TO_POSE2_PRESS,783,760,736,718,673,644.424234107,913.575765893,800.424234107,842,657,635,658,0.458056992287,0.00469009513344,0.0794534353482,0.999999608666,0.000186304696431,-0.000862001925841,-7.00826129044e-05,1793255007954473472
+231,3.850000000,POSE1_TO_POSE2_PRESS,783,760,736.014397642,718,673,645,913.014397642,800.985602358,842,657,635,658,0.458070638321,0.00468953733863,0.0794521462152,0.99999960752,0.000181940689183,-0.000864259174544,-7.00910772325e-05,1793255007971140352
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,760,736.594180908,718,673,645,913.594180908,800.405819092,842,657,635,658,0.458078387798,0.00469431415298,0.0794489509438,0.99999960267,0.000189550048914,-0.00086817984822,-7.06765253825e-05,1793255007987806720
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,760,736.827186371,718,673,644.827186371,913.827186371,800,841.827186371,657,635,658,0.458084447585,0.00469648094053,0.0794462075949,0.999999598666,0.000193649446588,-0.000871863325427,-7.08613028433e-05,1793255008004473344
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,760,736.251237691,718,673,644.251237691,913.251237691,800,841.251237691,657,635,658,0.458086565703,0.0046925591261,0.0794445184794,0.999999596769,0.000189560896769,-0.000874993476559,-7.01114062673e-05,1793255008021139968
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,759.676689587,736,718,672.676689587,644.323310413,913,800,841.323310413,657,635,658,0.458089878693,0.00469222904631,0.0794441476651,0.999999596681,0.000187815640523,-0.000875491286115,-6.98493682237e-05,1793255008037806592
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,759.103225087,736,718,672.103225087,644.896774913,913,800,841.896774913,657,635,658,0.458094116187,0.00469467798916,0.0794447968561,0.999999598006,0.000187883454015,-0.000873952381521,-6.99647995578e-05,1793255008054473216
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,759,736.486142028,718,672.486142028,645,913.486142028,800,842,657,635,658,0.458097285625,0.00469594525505,0.0794456364108,0.999999599013,0.000189540620807,-0.000872470738738,-6.9590434317e-05,1793255008071139840
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,759.076062343,737,718,672.923937657,645,914,800.076062343,842,657.076062343,635,658,0.458099921726,0.00469653906874,0.0794463361376,0.999999599775,0.000190872506413,-0.000871337977087,-6.91898914575e-05,1793255008087806720
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,759.646874696,737,718,672.353125304,645,914,800.646874696,842,657.646874696,635,658,0.458100613742,0.00469443964746,0.0794458545404,0.999999599425,0.000187819233882,-0.000872392762362,-6.93184308557e-05,1793255008104473344
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,759.775696168,736.775696168,718,672,645,914,800.775696168,842,657.775696168,635,658,0.458100221694,0.00469357553081,0.0794450741364,0.999999598189,0.000186806360845,-0.000874028894332,-6.92743624081e-05,1793255008121139968
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,759.187533525,736.187533525,718,672,645,914,800.187533525,842,657.187533525,635,658,0.458098071108,0.00469471528766,0.0794438090176,0.999999595522,0.000189103361603,-0.000876608069058,-6.89502947884e-05,1793255008137806848
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,759.394586912,736.394586912,718,672,645,914,800,842,657,635,658,0.45809805192,0.00469395661894,0.0794431657504,0.999999595442,0.000187266783697,-0.000877117127194,-6.86528423821e-05,1793255008154473472
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,759.973878991,736.973878991,718,672,645,914,800,842,657,635,658,0.458099030434,0.00469230930183,0.0794428135705,0.999999596564,0.000183495287677,-0.000876657168746,-6.83678485005e-05,1793255008171140096
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,760,737,718,672,645,913.447814812,800.552185188,842,657,635,658,0.458100733396,0.0046928735699,0.0794438863421,0.999999597746,0.000185845388268,-0.00087483129741,-6.81118315749e-05,1793255008187806720
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,759.869289289,736.869289289,718,672,645,913.130710711,801,842,657,635,658,0.458102295093,0.00469321391322,0.0794448144154,0.999999598736,0.000187594516968,-0.00087334058112,-6.79129698709e-05,1793255008204473088
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,759.289851136,736.289851136,718,672,645,913.710148864,801,842,657,635,658,0.458103254389,0.00469242701331,0.0794450147468,0.999999599084,0.000186288165692,-0.000873221870445,-6.79056236691e-05,1793255008221139968
+247,4.116666667,POSE1_TO_POSE2_PRESS,782.712803865,759,736.287196135,717.712803865,672.287196135,645,914,800.712803865,842,657,635,658,0.458102973053,0.00469206418046,0.0794443688907,0.999999598416,0.000183899511417,-0.0008744686439,-6.82200231507e-05,1793255008237806848
+248,4.133333333,POSE1_TO_POSE2_PRESS,782.138149587,759,736.861850413,717.138149587,672.861850413,645,914,800.138149587,842,657,635,658,0.458101449953,0.00469212580145,0.0794428760752,0.999999596716,0.000180427566604,-0.000877082147185,-6.88564618411e-05,1793255008254473472
+249,4.150000000,POSE1_TO_POSE2_PRESS,782.44967687,759.44967687,736.55032313,717.44967687,672.55032313,645,914,800,841.55032313,657,635,658,0.4581018408,0.00469223328089,0.0794430417754,0.999999596653,0.000181576659866,-0.000876951123888,-6.84081454299e-05,1793255008271140096
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,760,736.040713434,718,672,644.959286566,913.959286566,800,841.040713434,657.040713434,635,658,0.458102839276,0.00469238372146,0.0794437196238,0.999999597139,0.00018401135147,-0.000875945993976,-6.76791718459e-05,1793255008287806720
+251,4.183333333,POSE1_TO_POSE2_PRESS,783,760,736.619089082,718,672,644.380910918,913.380910918,800,841.619089082,657.619089082,635,658,0.458103862617,0.00469290983853,0.079444229015,0.999999598058,0.000184109686119,-0.00087486836182,-6.77776535671e-05,1793255008304473344
+252,4.200000000,HOLD_POSE2,783,760,736,718,672,645,914,800,841,658,635,658,0.458102318253,0.00469483168945,0.0794437349569,0.999999597491,0.000182645966555,-0.000875804594914,-6.8010823234e-05,1793255008344535552
+253,4.216666667,HOLD_POSE2,783,760,736,718,672,645,914,800,841.590072674,658,635,658,0.458102692984,0.00469332962136,0.0794430478386,0.999999597261,0.000180764351572,-0.000876446543806,-6.81507248827e-05,1793255008361202176
+254,4.233333333,HOLD_POSE2,783,760,736.176963817,718,672,645,913.823036183,800,842,658,635,658,0.458103473225,0.00469229961394,0.079443104498,0.9999995976,0.000180046574607,-0.000876206980418,-6.81426954241e-05,1793255008377868800
+255,4.250000000,HOLD_POSE2,783,760,736.756615384,718,672,645,913.243384616,800,842,658,635,658,0.458105176221,0.00469234379782,0.0794448536511,0.999999599239,0.000181977153975,-0.000873961503167,-6.77980432551e-05,1793255008394535424
+256,4.266666667,HOLD_POSE2,783,760,736.665270763,718,672,645,913.334729237,800,842,657.665270763,635.334729237,658,0.458105369509,0.00469281658441,0.0794451771596,0.999999598752,0.000183646040759,-0.000874172841447,-6.7767039073e-05,1793255008411201792
+257,4.283333333,HOLD_POSE2,783,760,736.088269916,718,672,645,913.911730084,800,842,657.088269916,635.911730084,658,0.458104470094,0.0046935995867,0.0794444688095,0.999999596724,0.000185125518565,-0.000876162383222,-6.79630482535e-05,1793255008427868672
+258,4.300000000,HOLD_POSE2,782.514262915,759.514262915,736,718,672,645,914,800,842,657,635.514262915,658,0.458105584931,0.00469241301015,0.0794449763294,0.999999598465,0.000182782317129,-0.000874684973503,-6.77239064115e-05,1793255008444535296
+259,4.316666667,HOLD_POSE2,782.061054573,759,736.061054573,718,672,645,914,800,842,657,635,658,0.458106938276,0.00469128934168,0.079445642183,0.999999600659,0.00018014763684,-0.000872739343224,-6.74906927811e-05,1793255008461201920
+260,4.333333333,HOLD_POSE2,782.652452361,759,736.652452361,718,672,645,914,800,842,657,635,658,0.458107203325,0.00469380209244,0.0794457758636,0.999999600975,0.000180978274659,-0.00087216570173,-6.79916609687e-05,1793255008477868544
+261,4.350000000,HOLD_POSE2,783,759.238556585,736.761443415,718,672,645,914,800,842,657,635,658,0.458107150858,0.00469507980554,0.0794454575584,0.999999600829,0.000181223271944,-0.000872257731852,-6.83148440277e-05,1793255008494535168
+262,4.366666667,HOLD_POSE2,783,759.817116102,736.182883898,718,672,645,914,800,842,657,635,658,0.45810664585,0.00469459728017,0.0794444950601,0.999999600022,0.000180633584594,-0.000873298510941,-6.83846386704e-05,1793255008511202048
+263,4.383333333,HOLD_POSE2,782.607252437,759.607252437,736,718,672,645,913.607252437,800,842,657,635,658,0.458107733906,0.0046938290081,0.0794448897262,0.999999600414,0.000181975271057,-0.000872595178956,-6.806982061e-05,1793255008527868416
+264,4.400000000,HOLD_POSE2,782.032974292,759.032974292,736,718,672,645,913.032974292,800,842,657,635,658,0.458109558285,0.00469292866194,0.0794459116829,0.999999601355,0.000184209651513,-0.000871085707117,-6.75772319617e-05,1793255008544535040
+265,4.416666667,HOLD_POSE2,782.555187528,759.555187528,736,718,672,645,913,800,842,657.555187528,635,658,0.458108541062,0.00469316580323,0.0794456906553,0.999999600739,0.000182416173935,-0.000872173252253,-6.75223972528e-05,1793255008561201664
+266,4.433333333,HOLD_POSE2,782.858183295,760,736.141816705,718,672,645,913,800,842,658,635,658,0.458107646815,0.00469347052953,0.0794453652855,0.999999600184,0.000181085097844,-0.000873082007017,-6.75787840734e-05,1793255008577868544
+267,4.450000000,HOLD_POSE2,782.278890813,760,736.721109187,718,672,645,913,800,842,658,635,658,0.458107665903,0.00469376999122,0.0794449516161,0.999999600122,0.000181937330201,-0.00087295121214,-6.78960063071e-05,1793255008594535424
+268,4.466666667,HOLD_POSE2,782.298342216,760,736.701657784,718,672,645,913,800,841.701657784,657.701657784,635,658,0.4581078768,0.00469442955455,0.0794447063694,0.999999599974,0.000183279251094,-0.000872831453405,-6.80177093089e-05,1793255008611202048
+269,4.483333333,HOLD_POSE2,782.873663229,760,736.126336771,718,672,645,913,800,841.126336771,657.126336771,635,658,0.458108265772,0.00469542343367,0.0794446174851,0.999999599742,0.000185075795298,-0.000872721940554,-6.79578936235e-05,1793255008627868672
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,737,718,672,645,913,800,842,658,635,658,0.458106601615,0.00469440417317,0.0794436668855,0.999999599101,0.000182936174558,-0.000873898408226,-6.8070597016e-05,1793255008660465152
+271,4.516666667,POSE2_TO_POSE3_RETREAT,782.409426035,760,736.409426035,718,672,644.409426035,913,800,842,657.409426035,635,658,0.458107976818,0.00469496572761,0.0794447204073,0.999999600162,0.000184045503544,-0.000872441105559,-6.81895468876e-05,1793255008677131520
+272,4.533333333,POSE2_TO_POSE3_RETREAT,782.17770371,759.82229629,736.17770371,718,672,644,913.17770371,800.17770371,841.82229629,657.17770371,635,658,0.458108921284,0.00469496244338,0.0794454414315,0.999999600967,0.000184306085282,-0.000871471174542,-6.80848601076e-05,1793255008693798144
+273,4.550000000,POSE2_TO_POSE3_RETREAT,782.757049031,759.242950969,736.757049031,718,672,644,913.757049031,800.757049031,841.242950969,657.757049031,635,658,0.458108892209,0.00469368252462,0.079445410953,0.999999601198,0.000182648349324,-0.000871602788813,-6.74747152234e-05,1793255008710464768
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,759.333080141,736.666919859,718,672,644.333080141,914,800.666919859,841.333080141,658,635,658,0.458108541763,0.00469249842189,0.0794451768537,0.999999600882,0.000182045901959,-0.000872120891436,-6.70784334722e-05,1793255008727131392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.906717627,736.093282373,718,672,644.906717627,914,800.093282373,841.906717627,658,635,658,0.458107959216,0.00469138351954,0.0794447956953,0.999999600174,0.00018220560587,-0.00087291812391,-6.68366081212e-05,1793255008743798016
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,760,736.482905754,718,672,645,913.517094246,800.482905754,842,657.517094246,635,658,0.458109466056,0.00469142679217,0.079446005291,0.999999601722,0.000181605470462,-0.000871243110197,-6.71577788097e-05,1793255008760464640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,760,737,718,672,644.938930477,913.061069523,801,841.938930477,657,635.061069523,658,0.458111042765,0.00469175579588,0.0794472864451,0.999999603438,0.000181046861325,-0.000869360499541,-6.75103965191e-05,1793255008777131264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,760,737,718,672,644.347920973,913.652079027,801,841.347920973,657,635.652079027,658,0.458109704831,0.00469261257207,0.0794465078946,0.999999602844,0.000182129048104,-0.000869842548092,-6.71871660643e-05,1793255008793798144
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,759.762070073,736.762070073,718,672,644.237929927,913.762070073,801,841.237929927,657.237929927,635.762070073,658,0.458101800633,0.0046930479035,0.0794423635537,0.999999597914,0.000182383163349,-0.000875454325911,-6.69933397383e-05,1793255008810464768
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,759.183602485,736.183602485,718,672,644.816397515,913.183602485,801,841.816397515,657.816397515,635.183602485,658,0.458084498456,0.00469288004124,0.0794334019191,0.99999958666,0.000181452099515,-0.000888408038374,-6.69847233381e-05,1793255008827131392
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,759.391852206,736,718,672,645,913.391852206,800.608147794,842,657.608147794,635,658,0.458050075794,0.00469303447042,0.0794182807654,0.999999563923,0.000182682676807,-0.000913418891425,-6.66819981204e-05,1793255008843798272
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,759.965906026,736,718,672,645,913.965906026,800.034093974,842,657.034093974,635,658,0.458007692527,0.00469333875714,0.0794002955865,0.999999535106,0.000184918363701,-0.000944036017995,-6.62425195048e-05,1793255008860464896
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,760,736.554398802,718,671.445601198,645,913.445601198,800,842,657.554398802,635,658,0.457947873552,0.00469343414794,0.079382481085,0.999999507918,0.00018562227547,-0.000972300596819,-6.58819461455e-05,1793255008877131776
+284,4.733333333,POSE2_TO_POSE3_RETREAT,782.858643802,760,736.858643802,718,671.141356198,645,913.141356198,800,842,657.858643802,635,658,0.457884649391,0.00469366804618,0.0793666030046,0.999999484614,0.000186711719468,-0.000995812290232,-6.5331789738e-05,1793255008893798400
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782.279268998,760,736.279268998,718,671.720731002,645,913.720731002,800,842,657.279268998,635,658,0.457814285015,0.00469437200745,0.0793566918888,0.999999474955,0.000189295509137,-0.00100505657924,-6.41787365408e-05,1793255008910465024
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782.29822716,759.70177284,736,718,672,645,914,800,841.70177284,657,635,658,0.457734604025,0.00469416307531,0.0793524303686,0.999999470045,0.00019078830746,-0.00100976818446,-6.22657074851e-05,1793255008927131648
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782.873975075,759.126024925,736,718,672,645,914,800,841.126024925,657,635,658,0.457646253293,0.00469310463342,0.079353426184,0.999999469615,0.000191265863628,-0.00101026181714,-5.96454690274e-05,1793255008943798272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,759.457943023,736,717.542056977,672,644.542056977,914,800,841.457943023,657,635,658,0.457543880664,0.00469356188052,0.0793552227263,0.99999946947,0.000194519046024,-0.00100993556208,-5.70288928621e-05,1793255008960465152
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,760,736,717.043703459,672,644.043703459,914,800,841.956296541,657,635,658,0.457435344326,0.00469420657237,0.0793572629037,0.999999469804,0.000198440645781,-0.00100898992031,-5.43365732269e-05,1793255008977131520
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,760,736,717.623199318,672,644.623199318,914,800,841.376800682,657,635,658,0.457299415067,0.00469194211043,0.0793595390711,0.999999475237,0.000201021148389,-0.00100326750605,-5.07030772102e-05,1793255008993798144
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,759.797427575,736,718,672,645,913.797427575,800,841.202572425,657.202572425,635,658,0.457152288411,0.00469029539185,0.0793602213036,0.999999477295,0.000203578919116,-0.00100088290748,-4.68897260639e-05,1793255009010464768
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.218282725,736,718,672,645,913.218282725,800,841.781717275,657.781717275,635,658,0.456984346347,0.00468979702883,0.0793579404871,0.999999473135,0.000206094432091,-0.00100470314898,-4.27420332618e-05,1793255009027131392
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759.357254214,736,718,672.357254214,644.642745786,913.357254214,800,841.642745786,657.642745786,635,658,0.456798714419,0.00468769436696,0.0793599118948,0.99999947415,0.000208631638695,-0.00100336934138,-3.77217156782e-05,1793255009043798016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,759.93060881,736,718,672.93060881,644.06939119,913.93060881,800,841.06939119,657.06939119,635,658,0.45660238201,0.00468462127676,0.0793644554405,0.999999478265,0.000211181967846,-0.00099891788866,-3.21735535402e-05,1793255009060464640
+295,4.916666667,POSE2_TO_POSE3_RETREAT,782.482312155,760,736,718,673,644,914,800,841.517687845,657.517687845,635,658,0.456377928321,0.00468345955534,0.0793686129784,0.999999482219,0.000215391126747,-0.000994226562025,-2.61075045951e-05,1793255009077131520
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782,759.895333458,736,718,673,644.104666542,914,800,842,657.895333458,635,658,0.456141250319,0.00468230288337,0.0793715687585,0.999999485356,0.000220514883701,-0.000990085042221,-1.98348027898e-05,1793255009093798144
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782,759.317353862,736,718,673,644.682646138,914,800,842,657.317353862,635,658,0.455866802411,0.00467997892617,0.0793693304137,0.99999948511,0.000228741675257,-0.000988579163234,-1.29500567725e-05,1793255009110464768
+298,4.966666667,POSE2_TO_POSE3_RETREAT,782.259688278,759.259688278,736,717.740311722,673,645,914,800,841.740311722,657,635,658,0.455587486265,0.00467855592274,0.0793765384388,0.999999497587,0.00023849979471,-0.000973607493681,-5.58606196933e-06,1793255009127131392
+299,4.983333333,POSE2_TO_POSE3_RETREAT,782.835588883,759.835588883,736,717.164411117,673,645,914,800,841.164411117,657,635,658,0.455302242273,0.00467822997586,0.0793952489415,0.999999524809,0.000250122551969,-0.000942239053545,2.36149505084e-06,1793255009143798016
+300,5.000000000,POSE2_TO_POSE3_RETREAT,782.589459893,760,736,717.410540107,673.410540107,645,913.589459893,800,841.410540107,657,635.410540107,658,0.454988650131,0.00467588500595,0.0794123798402,0.999999551937,0.00025690402678,-0.000911061968239,9.6003524295e-06,1793255009160464896
+301,5.016666667,POSE2_TO_POSE3_RETREAT,782.014888008,760,736,717.985111992,673.985111992,645,913.014888008,800,841.985111992,657,635.985111992,658,0.454663731459,0.00467273333306,0.0794288796058,0.99999957844,0.000261751161123,-0.0008799613392,1.65560478444e-05,1793255009177131520
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782,759.422776831,736,718,674,645,913.577223169,800,841.422776831,657,635.422776831,658,0.454286199261,0.00467148087918,0.0794363418251,0.999999588812,0.000265700204577,-0.000866754633413,2.27199924442e-05,1793255009193798144
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782.164480706,759.164480706,736,718,674.164480706,645,914,800,841,657,635,658,0.453887567759,0.00467023664999,0.0794415364101,0.999999599919,0.000250874196257,-0.000858343289093,2.16998292718e-05,1793255009210464768
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782.738491722,759.738491722,736,718,674.738491722,645,914,800,841,657,635,658,0.453439887145,0.00466888711089,0.079441683523,0.999999611677,0.000189360831738,-0.000860686475753,2.84483961012e-06,1793255009227131392
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782.68663529,760,736.31336471,718,675,645,913.68663529,800,841,657.31336471,635,658,0.452978572346,0.00466303434943,0.079444989466,0.999999622936,0.000164089679626,-0.000852762173657,1.60718185544e-07,1793255009243798272
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782.111040923,760,736.888959077,718,675,645,913.111040923,800,841,657.888959077,635,658,0.452505848149,0.00465341320417,0.0794509387791,0.99999963598,0.000169146706079,-0.000836245840356,1.10086902739e-05,1793255009260465152
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.478283822,760,736.521716178,718,675,645,913,800,841,657.521716178,635,658,0.452015956532,0.00465084430819,0.0794687702736,0.999999657786,0.000169820463352,-0.000809501193294,1.72459818699e-05,1793255009277131776
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.930715463,760,736,717.930715463,675.138569073,645,913,800,841,657,635,658,0.45151685817,0.00464959549257,0.0794900861408,0.999999680546,0.0001781497679,-0.000778903505275,2.18862525897e-05,1793255009293798400
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.351533501,760,736,717.351533501,676.296932999,645,913,800,841,657,635,658,0.450980202253,0.00464565606,0.0795161430463,0.999999696076,0.000250530506743,-0.000737942232316,2.28840103483e-05,1793255009310465024
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782,760,736,717.225711807,677,645.225711807,913,800,841,657.225711807,635.225711807,658,0.450430213788,0.00464055917439,0.0795463472311,0.999999723322,0.000284284493088,-0.000686972343031,2.46356423762e-05,1793255009327131392
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782,760,736,717.799966509,677,645.799966509,913,800,841,657.799966509,635.799966509,658,0.449859637313,0.00463367495662,0.0795829556199,0.999999773698,0.000258391263827,-0.000620547211334,2.75514028352e-05,1793255009343798272
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.37697225,759.62302775,736.37697225,717.62302775,677.753944499,646,913,800,841,657.62302775,635.62302775,658,0.449240732995,0.00463021441976,0.0796033437999,0.999999798111,0.000227812165458,-0.000592573333937,2.71299171341e-05,1793255009360465152
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.955448491,759.044551509,736.955448491,717.044551509,678.910896982,646,913,800,841,657.044551509,635.044551509,658,0.448595995883,0.00462858395252,0.0796150617471,0.999999809528,0.000194728317921,-0.000585152911718,2.49245641875e-05,1793255009377132288
+314,5.233333333,POSE2_TO_POSE3_RETREAT,783,759.542995663,736.457004337,717,679,646,913,800,841,657,635,658,0.447891759797,0.00462094061808,0.07958008814,0.999999779656,0.000183427338259,-0.000637320127424,2.94348131033e-05,1793255009393798656
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782.87053001,760,736,717.12946999,679.12946999,646.12946999,913,800,841,657,635,658,0.447184001048,0.00461325056035,0.0795523587902,0.999999755253,0.000172615906116,-0.00067720139608,3.30973837867e-05,1793255009410465024
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782.290424433,760,736,717.709575567,679.709575567,646.709575567,913,800,841,657,635,658,0.446481261593,0.00460714418458,0.0795634044843,0.999999771306,0.000157182047207,-0.000657014039692,3.18591094405e-05,1793255009427131648
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782,760,736.285703659,718,680.285703659,647,913.285703659,800,841,657,635,658,0.445771706083,0.00460083989243,0.0796015098178,0.999999807437,0.000155892422079,-0.000599795309271,3.27042115836e-05,1793255009443798272
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782,760,736.857844128,718,680.857844128,647,913.857844128,800,841,657,635,658,0.445055316942,0.00459433717528,0.0796667442306,0.999999857381,0.000168783323833,-0.000505450171212,3.56380360758e-05,1793255009460464896
+319,5.316666667,POSE2_TO_POSE3_RETREAT,782.431051113,760,737,718,681,647,913.568948887,800.431051113,841,657,635.431051113,657.568948887,0.444309746573,0.00458508359904,0.0797118056552,0.999999887656,0.000153103763209,-0.000446918058591,3.88869179435e-05,1793255009477131264
+320,5.333333333,POSE2_TO_POSE3_RETREAT,782.990420713,759.995210356,736.995210356,717.995210356,681.004789644,647,913,801,841,657,635.995210356,657.004789644,0.443554150011,0.0045749280232,0.0797498767882,0.999999910654,0.000128290913648,-0.000400563107104,4.22330059989e-05,1793255009493798144
+321,5.350000000,POSE2_TO_POSE3_RETREAT,781.798771405,759.399385702,736.399385702,717.399385702,681.600614298,647,913,801,841,657,635.399385702,657.600614298,0.442751819514,0.00456569210787,0.0797483418626,0.999999910583,0.000142015599129,-0.000395808944994,4.4721014778e-05,1793255009510464768
+322,5.366666667,POSE2_TO_POSE3_RETREAT,781.19081778,759.19081778,736,717.19081778,682,647.19081778,913,801,841,657,635,658,0.441930486943,0.00455592590814,0.0797462146994,0.999999911834,0.000144181282193,-0.000391687336563,4.61053345756e-05,1793255009527131392
+323,5.383333333,POSE2_TO_POSE3_RETREAT,781.769592662,759.769592662,736,717.769592662,682,647.769592662,913,801,841,657,635,658,0.44107052076,0.00454508157256,0.0797428834409,0.999999915828,0.000122846025092,-0.000388851791466,4.52457125014e-05,1793255009543798272
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782,760,736.345674908,718,682.345674908,648,913,801,841,657,635,658,0.4401448997,0.00453484065773,0.0797046245679,0.999999894128,0.000100318283866,-0.000446847422175,4.48108773782e-05,1793255009560464896
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782,760,736.919976245,718,682.919976245,648,913,801,841,657,635,658,0.439175855101,0.00452499884067,0.0796432648695,0.999999847484,7.70018438615e-05,-0.000545076269104,4.465699239e-05,1793255009577131520
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782,760,737,718,683.506436624,648,913,801,841,657.506436624,635,658,0.43833306315,0.00451482350552,0.0796737690807,0.999999875706,8.26594102084e-05,-0.000489522822909,4.60770257495e-05,1793255009593798144
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782.093408793,760,736.906591207,718,684,648,913,801,841,657.906591207,635,658,0.437508378832,0.00450491335726,0.0797256315141,0.999999914175,8.87716589653e-05,-0.00040182600279,4.80088212224e-05,1793255009610464768
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782.672801544,760,736.327198456,718,684,648,913,801,841,657.327198456,635,658,0.436671558189,0.00449666384995,0.0798112360188,0.999999957825,7.28438405566e-05,-0.000276430227532,5.12774361602e-05,1793255009627131392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782.74885104,760,736,718,683.74885104,648,913,801,840.74885104,657.25114896,635,658,0.435791778227,0.00448644033762,0.0798614770321,0.999999975688,5.84260734732e-05,-0.000205804758929,5.34283129402e-05,1793255009643798016
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782.171859767,760,736,718,683.171859767,648,913,801,840.171859767,657.828140233,635,658,0.434856262448,0.00447365573708,0.0798658372307,0.999999976211,4.59674558563e-05,-0.000206238633519,5.4129030163e-05,1793255009660464896
+331,5.516666667,POSE2_TO_POSE3_RETREAT,781.598104033,760,736.401895967,717.598104033,683.401895967,648,913,800.598104033,840,657.598104033,635,658,0.433872081546,0.00446271353042,0.0798359830966,0.999999966725,3.42160665035e-05,-0.000249993938929,5.36908347913e-05,1793255009677131776
+332,5.533333333,POSE2_TO_POSE3_RETREAT,781.025720874,760,736.974279126,717.025720874,683.974279126,648,913,800.025720874,840,657.025720874,635,658,0.432867256601,0.00445255288142,0.0797916149933,0.999999949637,2.27646891565e-05,-0.00031212650959,5.27695041896e-05,1793255009693798656
+333,5.550000000,POSE2_TO_POSE3_RETREAT,781.566074028,760,736.433925972,717.566074028,684,648,913,800.566074028,840,657,635,657.433925972,0.431809635982,0.00444299598151,0.0797214565842,0.999999896401,1.63264734583e-05,-0.000451539289671,5.51652631782e-05,1793255009710465024
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782,760,736.154964873,718,684,648,913,801,840,657.154964873,635,657.154964873,0.430798740016,0.0044320431885,0.0796822528552,0.999999858229,7.14733480563e-06,-0.000529382696237,5.69549657809e-05,1793255009727131648
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782,760,736.733423372,718,684,648,913,801,840,657.733423372,635,657.733423372,0.429922323506,0.00441719801743,0.079730959372,0.99999990631,-1.01668989325e-05,-0.000429030250878,5.66618995391e-05,1793255009743798016
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782,759.68921338,737,718,684,648,912.68921338,801,840.31078662,657.68921338,635.31078662,657.68921338,0.42903640228,0.00440538782032,0.079787539975,0.999999943555,-2.18230732776e-05,-0.000330327805689,5.74246651649e-05,1793255009760464896
+337,5.616666667,POSE2_TO_POSE3_RETREAT,782,759.112786312,737,718,684,648,912.112786312,801,840.887213688,657.112786312,635.887213688,657.112786312,0.428142357077,0.00439617172485,0.0798508508387,0.999999970691,-2.86431007762e-05,-0.000233035679901,5.90898880469e-05,1793255009777131520
+338,5.633333333,POSE2_TO_POSE3_RETREAT,782,759.457018683,737,718,684,648,912.457018683,800.542981317,840.542981317,657.457018683,636,657.457018683,0.427169670791,0.00439551120085,0.0798353386649,0.999999965027,-2.89746367988e-05,-0.000255945847355,5.9978718674e-05,1793255009793798144
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781.973461205,760,736.973461205,718,684,648,913,800.026538795,840,657.973461205,636,658,0.426178363966,0.00439805009249,0.0798007944915,0.999999950421,-2.61006494671e-05,-0.000307905166165,6.05827012183e-05,1793255009810465024
+340,5.666666667,POSE2_TO_POSE3_RETREAT,781.37538497,760,736.37538497,718,684,648,913,800.62461503,840,657.37538497,636,658,0.425198039293,0.00442466975566,0.0797693229682,0.999999934907,1.18148242819e-05,-0.000355739553877,5.91196417231e-05,1793255009827131648
+341,5.683333333,POSE2_TO_POSE3_RETREAT,781,759.784686786,736.215313214,717.784686786,684,648,913,801,840,657,636,657.784686786,0.424218796288,0.00444780946373,0.0797405223573,0.999999916539,4.47933488198e-05,-0.000401963804124,5.77932917109e-05,1793255009843798272
+342,5.700000000,POSE2_TO_POSE3_RETREAT,781,759.2064255,736.7935745,717.2064255,684,648,913,801,840,657,636,657.2064255,0.423241376465,0.00446508310329,0.0797162240312,0.999999896758,6.94497883428e-05,-0.000445473895011,5.66973894025e-05,1793255009860465152
+343,5.716666667,POSE2_TO_POSE3_RETREAT,781,759.368443189,736.631556811,717.368443189,684,648,913,801,839.631556811,657,635.631556811,657,0.422355909588,0.0044712818337,0.0797380772493,0.999999914854,7.67326050889e-05,-0.000401728086757,5.49347016742e-05,1793255009877131520
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781,759.941428437,736.058571563,717.941428437,684,648,913,801,839.058571563,657,635.058571563,657,0.421521490654,0.00447133230252,0.0797855516018,0.999999947932,7.43704144298e-05,-0.000309541966291,5.28018462649e-05,1793255009893798144
+345,5.750000000,POSE2_TO_POSE3_RETREAT,781.530090422,759.469909578,736.530090422,717.469909578,684,648,913,801,839.530090422,657,635,657.530090422,0.420677757434,0.00446794085193,0.0798355501008,0.999999970273,6.8957263173e-05,-0.000227643171015,5.36492523426e-05,1793255009910464768
+346,5.766666667,POSE2_TO_POSE3_RETREAT,781.881593604,759,737,717,684.118406396,648,913,801,840,657,635,657.881593604,0.419815399903,0.00446453141554,0.0798671546074,0.999999980489,6.34464090463e-05,-0.00017901675203,5.43012518081e-05,1793255009927131392
+347,5.783333333,POSE2_TO_POSE3_RETREAT,781.301585167,759,737,717,684.698414833,648,913,801,840,657,635,657.301585167,0.418884570792,0.00446257966618,0.0798259305339,0.999999964218,5.89089303319e-05,-0.000255534860339,5.28685857751e-05,1793255009943798016
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781,759,737,717.274883038,684.725116962,648.274883038,913,801,839.725116962,657,635.274883038,657.274883038,0.41799403208,0.00446383359711,0.0798004590775,0.999999950755,6.15579489909e-05,-0.000303214795386,5.25427103544e-05,1793255009960464896
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781,759,737,717.847516461,684.152483539,648.847516461,913,801,839.152483539,657,635.847516461,657.847516461,0.417147135561,0.00446855988702,0.0797920506913,0.999999944892,7.19913058039e-05,-0.000319657523829,5.34156990975e-05,1793255009977131520
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,759,736.577224758,718,684,648.577224758,913,801,839.422775242,657,635.577224758,658,0.416300304748,0.00447187039557,0.0797886136848,0.999999939966,7.39889972604e-05,-0.000334146968491,5.42142481586e-05,1793255009993798400
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,759,736.001013118,718,684,648.001013118,913,801,839.998986882,657,635.001013118,658,0.415453497711,0.00447466707973,0.0797869809237,0.999999935302,7.29251618749e-05,-0.000347927515752,5.4985781143e-05,1793255010010465024
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,759.591807797,736.591807797,718,684,648,913,801,840,657,635,657.408192203,0.414661046209,0.00447166928476,0.079770847218,0.999999927537,8.22709933386e-05,-0.000367703612103,5.43253673547e-05,1793255010027131648
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,684,648.180309723,913,801,840,657,635,657,0.413892710349,0.00446926275736,0.079766154631,0.999999926927,8.67918561965e-05,-0.0003684730437,5.32993817144e-05,1793255010043798272
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,684,648.759199828,913,801,840,657,635,657,0.413177471101,0.00446818580594,0.0797868094577,0.999999941895,8.06064441476e-05,-0.000327204297748,5.14708629862e-05,1793255010060464896
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,684,649,913,801,840,657.334208512,635,657.334208512,0.412458845802,0.00446771728027,0.0797925593648,0.99999994479,7.9249265795e-05,-0.000318516713183,5.18387551221e-05,1793255010077131520
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,684,649,913,801,840,657.906452669,635,657.906452669,0.411737808875,0.00446768209796,0.0797876934365,0.999999939791,8.13309342131e-05,-0.000333034637671,5.37710123339e-05,1793255010093798400
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,684.494083494,648.505916506,912.505916506,801,840,657.505916506,635,657.505916506,0.411031128897,0.00447070916304,0.0797787768054,0.999999933023,8.50560816542e-05,-0.000351820436671,5.42452641697e-05,1793255010110465024
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912,800.916871202,840,657,635,657,0.410341432609,0.00447441159919,0.0797735396626,0.999999928657,8.86750249543e-05,-0.000363141290568,5.432020919e-05,1793255010127131648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912,800.337334962,840,657,635,657,0.409736401149,0.0044785735109,0.0797950017802,0.999999941749,8.97418838073e-05,-0.000324904423545,5.37121157276e-05,1793255010143798272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912.241180191,800.241180191,840,657,635,657.241180191,0.409142840844,0.00448082673922,0.0798165360675,0.999999952406,9.21557440275e-05,-0.000289479954013,5.38122165425e-05,1793255010160465152
+361,6.016666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912.818273135,800.818273135,840,657,635,657.818273135,0.408565257471,0.00448042157684,0.07983817087,0.999999960567,9.64456909014e-05,-0.000257972560035,5.48986815915e-05,1793255010177131776
+362,6.033333333,POSE2_TO_POSE3_RETREAT,780.608298902,759.608298902,737,718,685,648,912.608298902,801,839.608298902,657,635,657.608298902,0.407983928175,0.00447993261604,0.0798227480127,0.999999952235,0.00010264103022,-0.000286336488245,5.48368903495e-05,1793255010193798400
+363,6.050000000,POSE2_TO_POSE3_RETREAT,780.036555468,759.036555468,737,718,685,648,912.036555468,801,839.036555468,657,635,657.036555468,0.407400877043,0.00447940513793,0.0797902918949,0.999999933953,0.000109712168352,-0.000342219796307,5.42473120817e-05,1793255010210465024
+364,6.066666667,POSE2_TO_POSE3_RETREAT,780.554863158,759,737,718,685,648,912,800.445136842,839,657.554863158,635,657,0.406860357328,0.00447665807936,0.0797656775142,0.99999992218,9.35149624647e-05,-0.000379549422196,5.32603389161e-05,1793255010227131648
+365,6.083333333,POSE2_TO_POSE3_RETREAT,780.856309714,759,737,718,684.856309714,648,912,800,839.143690286,658,635,657.143690286,0.406349734314,0.00447579874634,0.0797525638815,0.999999916757,8.41924570258e-05,-0.000395786979471,5.24504480054e-05,1793255010243798016
+366,6.100000000,POSE2_TO_POSE3_RETREAT,780.279348861,759,737,718,684.279348861,648,912,800,839.720651139,658,635,657.720651139,0.40592049929,0.00448108862729,0.0797725134829,0.999999931557,0.000100391583381,-0.000352246720136,5.22563611336e-05,1793255010260464896
+367,6.116666667,POSE2_TO_POSE3_RETREAT,780,759.29706068,737,718,684.29706068,648,912,800,839.70293932,657.70293932,635,658,0.405505491132,0.00448639118099,0.0797922095263,0.999999942092,0.000113377025322,-0.000316441466973,5.31565680247e-05,1793255010277131520
+368,6.133333333,POSE2_TO_POSE3_RETREAT,780,759.872952708,737,718,684.872952708,648,912,800,839.127047292,657.127047292,635,658,0.405103836823,0.00449170562945,0.0798116675701,0.999999949434,0.00012334599191,-0.000287896558907,5.50839166424e-05,1793255010293797888
+369,6.150000000,POSE2_TO_POSE3_RETREAT,780,759.540660073,737,718,685,648,912,800,839,657.459339927,635,657.540660073,0.404721252069,0.00448928676578,0.0798202352008,0.999999951372,0.000123203198147,-0.000280536547189,5.80970292218e-05,1793255010310464768
+370,6.166666667,POSE2_TO_POSE3_RETREAT,780,759,737,718,685,648,912,800,839,657.952048374,635,657,0.404345011808,0.00448536382176,0.0798249861194,0.999999951718,0.000119298069163,-0.00028049168032,6.04693894087e-05,1793255010327131392
+371,6.183333333,POSE2_TO_POSE3_RETREAT,780,759,737,718,685,648,912,800,839,657.37172145,635,657,0.403979282985,0.00448904447589,0.0798215863956,0.999999949539,0.000105399043816,-0.000295087197335,5.23158181235e-05,1793255010343798016
+372,6.200000000,POSE2_TO_POSE3_RETREAT,780,759.206560612,737,718.206560612,684.793439388,648,912,800,839,657,635,657,0.403638366517,0.00449082519287,0.0798200498571,0.99999994787,9.97428264292e-05,-0.000303221439313,4.86709458353e-05,1793255010360464640
+373,6.216666667,POSE2_TO_POSE3_RETREAT,780,759.781198802,737,718.781198802,684.218801198,648,912,800,839,657,635,657,0.403341664091,0.004489220345,0.0798218333941,0.999999947724,0.000108774758361,-0.000299842107963,5.30602828693e-05,1793255010377131264
+374,6.233333333,POSE2_TO_POSE3_RETREAT,780.355930027,759.644069973,737.355930027,718.644069973,684.355930027,648,912,800,839.355930027,657,635,657,0.403068744907,0.00448634013025,0.0798232939521,0.999999948327,0.000105561615932,-0.000298612877759,5.50763897696e-05,1793255010393798144
+375,6.250000000,POSE2_TO_POSE3_RETREAT,780.930718515,759.069281485,737.930718515,718.069281485,684.930718515,648,912,800,839.930718515,657,635,657,0.402810449813,0.0044826757027,0.0798245559131,0.999999949345,9.48190783753e-05,-0.00029870572681,5.56332173083e-05,1793255010410465024
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,759,737.479729357,718.520270643,685,648,912.520270643,800,839.479729357,657,635,657.520270643,0.402590824615,0.00447023914021,0.0798264361044,0.999999952303,7.47049291392e-05,-0.000294248520439,5.68503687803e-05,1793255010427131648
+377,6.283333333,POSE2_TO_POSE3_RETREAT,780.891067046,759,737,718.891067046,685,648,912.891067046,800,839.108932954,657,635,657.891067046,0.402381187302,0.00445715013849,0.0798281079578,0.999999954799,5.40118106669e-05,-0.000290005948316,5.81462400473e-05,1793255010443798272
+378,6.300000000,POSE2_TO_POSE3_RETREAT,780.314899927,759,737,718.314899927,685,648,912.314899927,800,839.685100073,657,635,657.314899927,0.402191657828,0.00444641938177,0.079828522785,0.999999955712,3.63444630527e-05,-0.000289358724883,5.93915856415e-05,1793255010460464896
+379,6.316666667,POSE2_TO_POSE3_RETREAT,780,759,737,718.260819666,685,648,912,800,839.739180334,657,635,657.260819666,0.402021020162,0.0044438288521,0.0798306828965,0.999999956962,3.04926036737e-05,-0.000285476305491,6.04145178422e-05,1793255010477131520
+380,6.333333333,POSE2_TO_POSE3_RETREAT,780,759,737,718.835999828,685,648,912,800,839.164000172,657,635,657.835999828,0.401873152409,0.00445104956878,0.0798349465627,0.999999958816,3.88817066346e-05,-0.000277694572058,6.1169379761e-05,1793255010493797888
+381,6.350000000,POSE2_TO_POSE3_RETREAT,780.421998366,759.421998366,737,718.578001634,685,648,912,800,839,657.421998366,635,657.578001634,0.401740292477,0.00445936354345,0.0798360119717,0.999999958555,5.63584333134e-05,-0.000275551862078,6.15226078252e-05,1793255010510464512
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781,759.987962525,737,718,685,648.012037475,912,800,839,657.987962525,635,657,0.401613716941,0.00446818506357,0.0798357033087,0.999999957,7.80695532514e-05,-0.000275875597646,6.16257554432e-05,1793255010527131392
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781,759.410803326,737,718,685,648.589196674,912,800,839,657.410803326,635,657,0.401501154413,0.00448036314181,0.0798307732457,0.999999949089,0.000128407567715,-0.000286401214707,5.75089548939e-05,1793255010543798272
+384,6.400000000,POSE2_TO_POSE3_RETREAT,780.833749076,759.166250924,737,718.166250924,685,648.833749076,912,800,839,657,635,657,0.401396398311,0.00448816425485,0.0798262357258,0.999999942598,0.000158161792232,-0.000294802144868,5.36645140585e-05,1793255010560464896
+385,6.416666667,POSE2_TO_POSE3_RETREAT,780.256954071,759.743045929,737,718.743045929,685,648.256954071,912,800,839,657,635,657,0.401310919605,0.00448515678165,0.0798226675622,0.99999994494,0.000137085897958,-0.000297956321432,5.04926458483e-05,1793255010577131520
+386,6.433333333,POSE2_TO_POSE3_RETREAT,780.318920107,760,737,719,685,648,912,800,839,657,635,657,0.401236921954,0.00448158405102,0.0798180799004,0.999999944903,0.000125202821637,-0.000303395332999,4.96901739338e-05,1793255010593798400
+387,6.450000000,POSE2_TO_POSE3_RETREAT,780.894054574,760,737,719,685,648,912,800,839,657,635,657,0.401172147956,0.004477557203,0.0798126731927,0.999999943167,0.00012070507848,-0.000310669938034,5.0791229687e-05,1793255010610465024
+388,6.466666667,POSE2_TO_POSE3_RETREAT,780.517442601,759.517442601,737,719,685,648,912,800,839.482557399,657.482557399,635,657.482557399,0.401123857175,0.00447912106936,0.0798116370919,0.999999942334,0.000121567498999,-0.000312903482979,5.14344991263e-05,1793255010627131392
+389,6.483333333,POSE2_TO_POSE3_RETREAT,780,759.07248573,737.07248573,719,685,648,912,800,839.92751427,658,635,657.92751427,0.401081130932,0.00448142319327,0.0798117658662,0.99999994191,0.000122797452876,-0.000313691760988,5.19405555174e-05,1793255010643798016
+390,6.500000000,POSE2_TO_POSE3_RETREAT,780,759.651286213,737.651286213,719,685,648,912,800,839.348713787,658,635,657.348713787,0.401051274859,0.00448006407471,0.0798131377548,0.999999942882,0.00011814028321,-0.000312335857948,5.22102219609e-05,1793255010660464896
+391,6.516666667,POSE2_TO_POSE3_RETREAT,780.226950551,759.773049449,737.773049449,719,685,648,912,800.226950551,839.226950551,657.773049449,635,657,0.401026529121,0.00447988541302,0.0798143116757,0.999999943801,0.000116510582193,-0.000309961008641,5.24116728083e-05,1793255010677131520
+392,6.533333333,POSE2_TO_POSE3_RETREAT,780.797861789,759.202138211,737.202138211,719,685,648,912,800.797861789,839.797861789,657.202138211,635,657,0.401009528487,0.0044814958229,0.0798151855614,0.999999944654,0.000119469238657,-0.000306041869461,5.25097377564e-05,1793255010693798400
+393,6.550000000,POSE2_TO_POSE3_RETREAT,780.617575708,759,737.382424292,719,685,648,912,800.617575708,839.617575708,657,635,657,0.400996824272,0.00448100278586,0.0798159156302,0.999999945098,0.000119373737169,-0.000304559447005,5.2883417784e-05,1793255010710465024
+394,6.566666667,POSE2_TO_POSE3_RETREAT,780.025530459,759,737.974469541,719,685,648,912,800.025530459,839.025530459,657,635,657,0.400986475086,0.0044793567714,0.0798165668674,0.999999945325,0.000117604138178,-0.00030441267962,5.34081726705e-05,1793255010727131648
+395,6.583333333,POSE2_TO_POSE3_RETREAT,780,759.557149008,737.442850992,718.442850992,685,648,912.557149008,800,839,657,635,657,0.400979065795,0.00447906845604,0.0798162220115,0.999999945451,0.000115835897643,-0.000304693299817,5.33034909556e-05,1793255010743798016
+396,6.600000000,POSE2_TO_POSE3_RETREAT,780.138139555,759.861860445,737,718.138139555,685,648,912.861860445,800.138139555,839.138139555,657.138139555,635,657.138139555,0.400973715583,0.00447906319203,0.0798167790229,0.99999994587,0.000114765045548,-0.000303754918121,5.31282447171e-05,1793255010760464640
+397,6.616666667,POSE2_TO_POSE3_RETREAT,780.715105621,759.284894379,737,718.715105621,685,648,912.284894379,800.715105621,839.715105621,657.715105621,635,657.715105621,0.400974485551,0.00447976272591,0.0798203435877,0.999999947222,0.000115909386048,-0.000298882960659,5.28189471491e-05,1793255010777131264
+398,6.633333333,POSE2_TO_POSE3_RETREAT,781,759.289308241,737.289308241,719,685,648,912,800.710691759,839.710691759,658,635.289308241,658,0.400974333072,0.00447907335141,0.0798220623105,0.999999948114,0.000115228454564,-0.000296167056786,5.27301415329e-05,1793255010793797888
+399,6.650000000,POSE2_TO_POSE3_RETREAT,781,759.860815391,737.860815391,719,685,648,912,800.139184609,839.139184609,658,635.860815391,658,0.400973280815,0.00447702919903,0.0798219805505,0.999999948569,0.000112767104655,-0.00029555422403,5.2856409562e-05,1793255010810464512
+400,6.666666667,POSE2_TO_POSE3_RETREAT,781,760,737.553566089,718.553566089,685,648,912,800.446433911,839.446433911,658,635.553566089,657.553566089,0.40097139252,0.00447721266946,0.0798212121487,0.999999948241,0.00011208921907,-0.000296940214287,5.27233596549e-05,1793255010827131136
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,759.964013892,737.035986108,718,685,648.035986108,912,801,839.964013892,657.964013892,635,657,0.400969476643,0.00447813285167,0.0798204051001,0.999999947747,0.000112088099896,-0.000298634666497,5.25225990448e-05,1793255010843797760
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,759.771281383,737.228718617,718,685,648.228718617,912,801,839.771281383,657,635,657,0.400968374552,0.00447881699408,0.079821899867,0.999999948148,0.000112421681019,-0.000297100971144,5.28741132021e-05,1793255010893799936
+405,6.750000000,POSE2_TO_POSE3_RETREAT,780.656701994,759.656701994,737,718.343298006,685,648,912,800.656701994,839.656701994,657.343298006,635,657,0.400967779052,0.00447878451029,0.0798213939764,0.999999948039,0.000112255902806,-0.000297587475745,5.25514959737e-05,1793255010910466304
+406,6.766666667,POSE2_TO_POSE3_RETREAT,780.087355256,759.087355256,737,718.912644744,685,648,912,800.087355256,839.087355256,657.912644744,635,657,0.400968753616,0.00447938735674,0.0798214147622,0.999999948336,0.0001130837415,-0.000296392402731,5.18745108697e-05,1793255010927131648
+407,6.783333333,POSE2_TO_POSE3_RETREAT,780,759.507429819,737.507429819,719,685,648,912,800,839,657.492570181,635,657,0.400969742762,0.00447862402337,0.0798230391714,0.999999948957,0.000112982872117,-0.000294255779265,5.22993516996e-05,1793255010943798016
+408,6.800000000,POSE2_TO_POSE3_RETREAT,780.102419974,759.897580026,737.897580026,719,685,648,912,800,839,657.102419974,635,657.102419974,0.400970423115,0.0044780475642,0.0798245084976,0.999999949486,0.000112695549154,-0.000292488703258,5.27035637457e-05,1793255010960464896
+409,6.816666667,POSE2_TO_POSE3_RETREAT,780.677097079,759.322902921,737.322902921,719,685,648,912,800,839,657.677097079,635,657.677097079,0.400969667438,0.00447947447825,0.0798239226115,0.999999949348,0.000112324600393,-0.00029321244767,5.20918751708e-05,1793255010977131520
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780.747228993,759.252771007,737,718.747228993,685.252771007,648,912,800,839,657.747228993,635,657.747228993,0.400969060075,0.00448084524833,0.0798234869598,0.999999949153,0.000113720247934,-0.000293394161843,5.17889606978e-05,1793255010993798144
+411,6.850000000,POSE2_TO_POSE3_RETREAT,780.170276548,759.829723452,737,718.170276548,685.829723452,648,912,800,839,657.170276548,635,657.170276548,0.400968642927,0.00448214401339,0.0798232439851,0.999999948875,0.000117381573492,-0.000292880716711,5.18820521268e-05,1793255011010465024
+412,6.866666667,POSE2_TO_POSE3_RETREAT,780.416046551,760,737,718.416046551,685.583953449,648,912,800.416046551,839,657,635,657,0.400968674175,0.00448224563919,0.0798234597587,0.999999948954,0.000117127465452,-0.000292712639122,5.18885304758e-05,1793255011027131648
+413,6.883333333,POSE2_TO_POSE3_RETREAT,781,760,737.006166608,719,685.006166608,648,912,801,839,657.006166608,635,657.006166608,0.400968895187,0.00448183491864,0.0798238641568,0.999999949183,0.000115230979445,-0.000292686986559,5.18621492386e-05,1793255011043798272
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+415,6.916666667,POSE2_TO_POSE3_RETREAT,781,759.838563002,737.838563002,719,685.838563002,648,912,800.838563002,839,657.838563002,635,657.838563002,0.40096935912,0.00447947267862,0.079823981273,0.999999949702,0.000111353836561,-0.000292339801773,5.22937638625e-05,1793255011077135616
+416,6.933333333,POSE2_TO_POSE3_RETREAT,781,759.265465626,737.265465626,719,685.265465626,648,912,800.265465626,839,657.265465626,635,657.265465626,0.400968514857,0.00447987517198,0.0798238858365,0.999999949724,0.000110841362404,-0.000292498578113,5.20592491498e-05,1793255011093799168
+417,6.950000000,POSE2_TO_POSE3_RETREAT,781,759.309042476,737,718.690957524,685,648,912,800.309042476,839,657.309042476,635,657.309042476,0.400968974297,0.004480296966,0.0798244099714,0.999999949884,0.000111878333124,-0.000291584955439,5.18897400998e-05,1793255011110464512
+418,6.966666667,POSE2_TO_POSE3_RETREAT,781,759.884767912,737,718.115232088,685,648,912,800.884767912,839,657.884767912,635,657.884767912,0.400970558744,0.00448073541516,0.0798254687549,0.999999950156,0.000114252371032,-0.000289745924225,5.17763265949e-05,1793255011127131136
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42aa83e3efb968a6e5ed44c631baf4b8dfbe87d4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,420 @@
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+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+10,0.166666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+13,0.216666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+14,0.233333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+15,0.250000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+16,0.266666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+17,0.283333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+18,0.300000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+19,0.316666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+24,0.400000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+29,0.483333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c98438020cefc9f5280f179ea131ef325dcebe6c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56fe9a71efdbd3b4ba04c454312ee39b52e68aaccff28ed0a2d9631f05ba0b91
+size 26574644
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1027dc7def0057fd75ae2ee91248ed065d66981
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
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+3,0.050000000,BASELINE,780.183549255,759,737.183549255,719,685,648.816450745,912,801,839.183549255,658,635,657,0.400969192885,0.00448012293762,0.0798255927221,0.999999950207,0.00011337609961,-0.000289908864267,5.18210293326e-05,1793255011297152000
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+5,0.083333333,BASELINE,780.966725735,759,737,718.033274265,685,648.033274265,912,800.033274265,839,658,635.966725735,657,0.400970118518,0.00447971403642,0.0798258750449,0.999999950624,0.000112606412188,-0.000288770356083,5.17978478806e-05,1793255011330484736
+6,0.100000000,BASELINE,781,759.557265215,737,718,685,648,912,800.557265215,839,657.442734785,635.442734785,657.557265215,0.40096931086,0.00448003567482,0.0798253659467,0.999999950146,0.000113992922471,-0.000289851470004,5.19580412732e-05,1793255011347151360
+7,0.116666667,BASELINE,781,760,737.145447272,718.145447272,685,648,912,800.854552728,839.145447272,657,635,657.854552728,0.400969051876,0.00448008762718,0.0798252916168,0.999999949915,0.00011499719299,-0.00029022927468,5.20782377765e-05,1793255011363818240
+8,0.133333333,BASELINE,781,760,737.723790933,718.723790933,685,648,912,800.276209067,839.723790933,657,635,657.276209067,0.40097070426,0.00447924884106,0.0798266511209,0.999999950565,0.000114557937184,-0.000288164569096,5.20325582127e-05,1793255011380484864
+9,0.150000000,BASELINE,781,760,738,719,685,648,912,800,840,657,635,657,0.400971029257,0.00447918476371,0.0798271115034,0.999999950847,0.000113420857596,-0.000287673296197,5.18256141034e-05,1793255011397151488
+10,0.166666667,BASELINE,781,760,738,719,685,648,912,800,840,657,635,657,0.400970140765,0.00447982891899,0.0798267499161,0.999999950792,0.000111645833102,-0.000288620443015,5.14712432362e-05,1793255011413818112
+11,0.183333333,BASELINE,780.552556481,759.552556481,737.552556481,719,685,648,912,800,839.552556481,657,635,657.447443519,0.400970509838,0.00448103482942,0.0798268714787,0.999999950815,0.000113828978353,-0.000287706402303,5.13681889988e-05,1793255011430485504
+12,0.200000000,BASELINE,780,759.022883631,737.022883631,719,685,648,912,800.022883631,839,657.022883631,635.022883631,657.977116369,0.400971190654,0.0044822850632,0.0798271126826,0.999999950842,0.000116937867892,-0.000286364630422,5.13506742313e-05,1793255011447153152
+13,0.216666667,BASELINE,780,759.618107495,737.618107495,719,685,648,912,800.618107495,839,657.618107495,635.618107495,657.381892505,0.400970726599,0.00448064952903,0.0798269108058,0.9999999507,0.000115056077384,-0.000287558802391,5.16856041473e-05,1793255011463818752
+14,0.233333333,BASELINE,780.206117857,760,738,719,685,648,912,800.793882143,839,657.793882143,635.793882143,657,0.400970273876,0.00448010763413,0.0798266461809,0.999999950615,0.000113918284524,-0.000288296325086,5.1738676208e-05,1793255011480484864
+15,0.250000000,BASELINE,780.781215153,760,738,719,685,648,912,800.218784847,839,657.218784847,635.218784847,657,0.400969841437,0.0044815235043,0.0798262692281,0.99999995064,0.000114112349922,-0.000288216382703,5.12871838266e-05,1793255011497151488
+16,0.266666667,BASELINE,781,760,737.648071987,719,685,648,912,800,839,657.351928013,635.351928013,657.351928013,0.400969370403,0.00448104020789,0.0798259861578,0.999999950678,0.0001132254143,-0.0002884303521,5.13035141858e-05,1793255011513818112
+17,0.283333333,BASELINE,781,760,737.080051315,719,685,648,912,800,839,657.919948685,635.919948685,657.919948685,0.40096887567,0.00447939077531,0.0798257607336,0.999999950723,0.000111674716832,-0.000288824790734,5.1607099509e-05,1793255011530484736
+18,0.300000000,BASELINE,780.485740644,759.485740644,737,718.485740644,685,648,912,800.514259356,839,657.485740644,635.485740644,658,0.400968762011,0.00448097223188,0.0798250461061,0.999999950405,0.000113052034111,-0.000289444530318,5.12972503439e-05,1793255011547151360
+19,0.316666667,BASELINE,780,759,737,718.104601072,685,648,912,800.895398928,839,657,635,658,0.40096902198,0.00448277372113,0.079824749537,0.999999950199,0.000114837387838,-0.000289508338151,5.09748872175e-05,1793255011563818240
+20,0.333333333,BASELINE,780,759,737,718.65930567,685,648,912,800.34069433,839,657,635,658,0.400970620678,0.00448324128971,0.0798265972293,0.999999950743,0.000116311613772,-0.00028702090122,5.10317083131e-05,1793255011580484608
+21,0.350000000,BASELINE,780.230180579,759.230180579,737,718.769819421,685,648,912,800,839.230180579,657,635,658,0.400971251759,0.00448312269884,0.0798274978605,0.999999951002,0.000116744742745,-0.000285927854253,5.11023536473e-05,1793255011597151488
+22,0.366666667,BASELINE,780.826797809,759.826797809,737,718.173202191,685,648,912,800,839.826797809,657,635,658,0.400970342442,0.00448207096962,0.0798268908152,0.999999950817,0.000115520494198,-0.000287054610741,5.1195006514e-05,1793255011613818368
+23,0.383333333,BASELINE,780.611083134,760,737,718.388916866,685.388916866,648,912,800,840,657,635,658,0.400971013448,0.00448131706924,0.0798274584014,0.999999951113,0.000114859035853,-0.000286265008789,5.13274874081e-05,1793255011630484736
+24,0.400000000,BASELINE,780.063075856,760,737,718.936924144,685.936924144,648,912,800,840,657,635,658,0.400972330902,0.00448068499868,0.0798285064826,0.999999951604,0.000114427792476,-0.000284691500963,5.14762603706e-05,1793255011647151360
+25,0.416666667,BASELINE,780.555627609,760,737,719,685.444372391,648,912,800.555627609,839.444372391,657.555627609,635,658,0.400971759555,0.00448137135248,0.0798278401445,0.999999951291,0.000114981546724,-0.000285581932987,5.13904769644e-05,1793255011663817984
+26,0.433333333,BASELINE,780.832704203,759.832704203,737,719,685,648,912,801,839,658,635,658,0.400971127824,0.00448166521907,0.0798273066713,0.999999951072,0.000115309676693,-0.000286237347117,5.12669860052e-05,1793255011680484608
+27,0.450000000,BASELINE,780.260335595,759.260335595,737,719,685,648,912,801,839,658,635,658,0.400970944748,0.00448059353022,0.0798276348461,0.999999951337,0.00011478128607,-0.000285547714686,5.11260655415e-05,1793255011697151488
+28,0.466666667,BASELINE,780.315208211,759.315208211,737.315208211,719,685,648,912,801,839.315208211,657.684791789,635,658,0.400971035036,0.00448091032813,0.0798278767308,0.999999951382,0.000115119997987,-0.000285268108005,5.10498367581e-05,1793255011713818112
+29,0.483333333,BASELINE,780.893401114,759.893401114,737.893401114,719,685,648,912,801,839.893401114,657.106598886,635,658,0.400971353397,0.00448238556915,0.0798280466219,0.999999951242,0.000116182151417,-0.000285330594281,5.10275815825e-05,1793255011730484736
+30,0.500000000,BASELINE,781,759.517645551,737.517645551,718.517645551,685,648,912,801,839.517645551,657.482354449,635,658,0.400969913928,0.00448149291947,0.0798273455942,0.999999950945,0.000114826146667,-0.000286889330946,5.11874973172e-05,1793255011747151360
+31,0.516666667,BASELINE,780.927925055,759,737,718.072074945,685.072074945,648,912,800.927925055,839.072074945,658,635,658,0.400968417058,0.004480391465,0.0798266202425,0.999999950658,0.000113145790437,-0.000288523863049,5.13451939739e-05,1793255011763818240
+32,0.533333333,BASELINE,780.349893476,759,737,718.650106524,685.650106524,648,912,800.349893476,839.650106524,658,635,658,0.400969306511,0.00448158152071,0.0798271060854,0.999999950739,0.000113025584726,-0.000288316267433,5.11982500893e-05,1793255011780485120
+33,0.550000000,BASELINE,780,759,737,719,685.773560215,648,912,800.226439785,839.773560215,658,635,657.773560215,0.400970400734,0.00448163333984,0.079827439066,0.999999951027,0.000112564219818,-0.000287530970945,5.10034720727e-05,1793255011797151744
+34,0.566666667,BASELINE,780,759,737,719,685.199831702,648,912,800.800168298,839.199831702,658,635,657.199831702,0.400971809012,0.00447993945532,0.0798275376028,0.99999995163,0.00011157962203,-0.000285859659669,5.07353312776e-05,1793255011813818368
+35,0.583333333,BASELINE,780.374944992,759.374944992,737,718.625055008,685,648.374944992,912,800.625055008,839,657.625055008,635.374944992,657.374944992,0.400971872868,0.00447980343507,0.0798277119545,0.99999995182,0.000111463192455,-0.000285215564913,5.08698116142e-05,1793255011830484736
+36,0.600000000,BASELINE,780.950281947,759.950281947,737,718.049718053,685,648.950281947,912,800.049718053,839,657.049718053,635.950281947,657.950281947,0.40097121819,0.00448050002607,0.0798279268259,0.999999951791,0.000111810761339,-0.000285120473029,5.12194755949e-05,1793255011847151360
+37,0.616666667,BASELINE,780.458625151,760,737,718,685.541374849,648.458625151,912,800.541374849,839,657.541374849,635.458625151,657.458625151,0.400970929564,0.00448188261535,0.0798278528957,0.999999951349,0.000114425328329,-0.000285627788174,5.12439036389e-05,1793255011863818240
+38,0.633333333,BASELINE,780.130561892,760,737,718,686,648,912,801,839,657.869438108,635,657,0.400970804133,0.00448318565991,0.0798276779759,0.999999950953,0.000116784993388,-0.000286065291948,5.11965900841e-05,1793255011880485120
+39,0.650000000,BASELINE,780.708121678,760,737,718,686,648,912,801,839,657.291878322,635,657,0.400971118881,0.00448399421717,0.0798272508292,0.999999950874,0.000117537817325,-0.0002860687021,5.10089833995e-05,1793255011897151488
+40,0.666666667,BASELINE,780.714639733,760,737,718,685.714639733,648,912.285360267,800.714639733,839.285360267,657.285360267,635.285360267,657.285360267,0.400971178639,0.00448373823014,0.0798272662355,0.999999951002,0.000116918605872,-0.000285885931126,5.09421224865e-05,1793255011913818112
+41,0.683333333,BASELINE,780.137729342,760,737,718,685.137729342,648,912.862270658,800.137729342,839.862270658,657.862270658,635.862270658,657.862270658,0.400970977876,0.00448239460732,0.0798277337945,0.99999995134,0.000114897597652,-0.000285512940501,5.0998626498e-05,1793255011930484736
+42,0.700000000,BASELINE,780.447588764,759.552411236,737,718,685,648,912.552411236,800,840,657.552411236,635.552411236,657.552411236,0.400971329385,0.0044809158244,0.0798280853973,0.999999951678,0.000112720641558,-0.000285218769967,5.08682920917e-05,1793255011947151104
+43,0.716666667,BASELINE,781,759.034959927,737.034959927,718.034959927,685,648,912.034959927,800.034959927,839.965040073,657.034959927,635,657.034959927,0.400971783658,0.00447952529736,0.0798283347915,0.999999951955,0.000110801833272,-0.000285029939507,5.07122165261e-05,1793255011963817984
+44,0.733333333,BASELINE,781,759.613260343,737.613260343,718.613260343,685,648,912.613260343,800.613260343,839.386739657,657.613260343,635,657.613260343,0.400971143285,0.0044801651945,0.079827560846,0.999999951312,0.000113655196237,-0.000286094116095,5.10667249121e-05,1793255011980484608
+45,0.750000000,BASELINE,780.809208315,760,737.809208315,719,685,648,912.809208315,800.809208315,839.190791685,657.809208315,635,658,0.400970936354,0.00448085993845,0.0798272884099,0.99999995102,0.000115309424701,-0.000286425890347,5.12212731334e-05,1793255011997151488
+46,0.766666667,BASELINE,780.233229718,760,737.233229718,719,685,648,912.233229718,800.233229718,839.766770282,657.233229718,635,658,0.400971604493,0.00448166541185,0.0798280284649,0.999999951449,0.0001145427354,-0.000285279026691,5.0972124274e-05,1793255012013818112
+47,0.783333333,BASELINE,780.342223225,760,737.342223225,719,685.342223225,648,912,800,839.657776775,657,635,657.657776775,0.400971839735,0.00448152257095,0.0798282458968,0.999999951725,0.000113265874203,-0.000284826660921,5.09447629471e-05,1793255012030484992
+48,0.800000000,BASELINE,780.917318537,760,737.917318537,719,685.917318537,648,912,800,839.082681463,657,635,657.082681463,0.400971780404,0.00448073443223,0.0798281077004,0.999999951895,0.000111641857081,-0.00028484687889,5.10683209995e-05,1793255012047151616
+49,0.816666667,BASELINE,780.490979833,760,737.490979833,719,685.490979833,648,912,800.509020167,839,657.509020167,635,657.509020167,0.400972131614,0.00448180892342,0.0798276162227,0.999999951527,0.00011344812739,-0.000285416581364,5.11146394407e-05,1793255012063817984
+50,0.833333333,BASELINE,780.100046984,760,737,719,685,648,912,801,839,658,635,658,0.400972182035,0.00448269375752,0.0798272195533,0.999999951167,0.000114987494626,-0.0002860568979,5.11332392105e-05,1793255012080484608
+51,0.850000000,BASELINE,780.674647057,760,737,719,685,648,912,801,839,658,635,658,0.400970478752,0.00448119549897,0.0798275539596,0.999999951296,0.000112528807163,-0.000286594521401,5.10818784697e-05,1793255012097151232
+52,0.866666667,BASELINE,780.751468902,760,737,719,685,648,912,800.751468902,839,658,635,658,0.400970348691,0.00448081315429,0.0798282022422,0.999999951543,0.000112137410138,-0.000285910665366,5.0936466075e-05,1793255012113818112
+53,0.883333333,BASELINE,780.178519562,760,737,719,685,648,912,800.178519562,839,658,635,658,0.400972272224,0.00448188745967,0.0798292602407,0.999999951944,0.00011444453563,-0.000283632359969,5.06682840487e-05,1793255012130484992
+54,0.900000000,BASELINE,780.409015011,759.590984989,737.409015011,719,685,648.409015011,912,800,839,658,635,658,0.400973054508,0.00448140892671,0.0798294997308,0.999999952173,0.000113890035541,-0.000283035386415,5.07286041681e-05,1793255012147151872
+55,0.916666667,BASELINE,780.99693431,759.00306569,737.99693431,719,685,648.99693431,912,800,839,658,635,657.99693431,0.400973307477,0.00448022653803,0.0798293604607,0.999999952321,0.000112043225177,-0.000283213293802,5.09353120557e-05,1793255012163818496
+56,0.933333333,BASELINE,780.418859968,759.581140032,737.418859968,719,685,648.418859968,912,800,839,658,635,657.418859968,0.400971162872,0.00447884934846,0.0798276640335,0.999999951685,0.000110733986732,-0.000285999709094,5.07119700135e-05,1793255012180485376
+57,0.950000000,BASELINE,780.157677149,760,737,718.842322851,685,648,912,800,839.157677149,657.842322851,635,657,0.400969445945,0.0044784428914,0.0798264952607,0.999999951141,0.000110501118201,-0.000287999141151,5.06394473765e-05,1793255012197152000
+58,0.966666667,BASELINE,780.730170051,760,737,718.269829949,685,648,912,800,839.730170051,657.269829949,635,657,0.400968854149,0.00448059022972,0.0798267146371,0.999999950854,0.000113099955053,-0.000287928183706,5.0963699235e-05,1793255012213818368
+59,0.983333333,BASELINE,781,759.696303524,737,718.303696476,685,648,912,800,840,657.303696476,635.303696476,657.303696476,0.400969189878,0.00448088309425,0.0798271970029,0.999999950982,0.000113723784366,-0.000287197473187,5.11982341463e-05,1793255012230484992
+60,1.000000000,BASELINE,781,759.12185563,737,718.87814437,685,648,912,800,840,657.87814437,635.87814437,657.87814437,0.400970352515,0.00447952265894,0.079827913829,0.99999995148,0.000112586855664,-0.000285878579736,5.13527846604e-05,1793255012247151360
+61,1.016666667,BASELINE,781,759,737,719,685,648,912,800,840,658,635.530515286,658,0.400970526095,0.00448058495218,0.0798279517789,0.999999951349,0.000113875874122,-0.000285841572903,5.12757335775e-05,1793255012263818240
+62,1.033333333,BASELINE,780.936915654,759.063084346,737,718.936915654,685,648,912,800,839.936915654,658,635,657.936915654,0.400970549859,0.00448209309534,0.0798279084294,0.999999951154,0.000115380301666,-0.000285951892346,5.110376898e-05,1793255012280484864
+63,1.050000000,BASELINE,780.361889927,759.638110073,737,718.361889927,685,648,912,800,839.361889927,658,635,657.361889927,0.400971518844,0.00448192590856,0.0798286886146,0.999999951836,0.000113332296126,-0.000284456962709,5.0667595997e-05,1793255012297151744
+64,1.066666667,BASELINE,780.213475603,759.786524397,737.213475603,718.213475603,685,648,912,800,839,658,635.213475603,657.213475603,0.400971784667,0.00448193420365,0.0798288831962,0.999999951988,0.000112836605314,-0.000284136597633,5.05726056826e-05,1793255012313818624
+65,1.083333333,BASELINE,780.789418059,759.210581941,737.789418059,718.789418059,685,648,912,800,839,658,635.789418059,657.789418059,0.400970856568,0.00448224045486,0.0798280834633,0.999999951243,0.000114976638,-0.000285810562287,5.10569200408e-05,1793255012330484992
+66,1.100000000,BASELINE,780.625516428,759,737.625516428,719,685,648,912,800,839,658,635.625516428,658,0.400970445091,0.00448250759866,0.0798278063307,0.999999951034,0.000115567434428,-0.000286313538831,5.09944588048e-05,1793255012347151616
+67,1.116666667,BASELINE,780.035192703,759,737.035192703,719,685,648,912,800,839,658,635.035192703,658,0.40097033138,0.00448275220222,0.0798278304081,0.999999951137,0.000115265301377,-0.000286141595848,5.06168538789e-05,1793255012363817984
+68,1.133333333,BASELINE,780.545007317,759.545007317,737.545007317,719,685,648,912,800,839,657.454992683,635.545007317,657.454992683,0.40096982333,0.00448160436781,0.0798276260982,0.99999995098,0.000115702811501,-0.000286430963342,5.10989747163e-05,1793255012380484608
+69,1.150000000,BASELINE,781,759.876660748,737.876660748,719,685,648,912,800.123339252,839,657,635.876660748,657.123339252,0.400969253587,0.00448094182367,0.0798273773129,0.999999950814,0.000115966810647,-0.000286850936586,5.13873640165e-05,1793255012397151232
+70,1.166666667,BASELINE,781,759.30280814,737.30280814,719,685,648,912,800.69719186,839,657,635.30280814,657.69719186,0.400968549815,0.00448237430128,0.079827018961,0.999999950681,0.000115425765537,-0.00028764114395,5.07690443853e-05,1793255012413817856
+71,1.183333333,BASELINE,781,759.27021781,737,719,685,648,912,800.72978219,839,657.27021781,635,658,0.4009684545,0.00448246464233,0.079827121273,0.999999950697,0.000114776219985,-0.000287871825063,5.06269928717e-05,1793255012430484736
+72,1.200000000,BASELINE,781,759.842320297,737,719,685,648,912,800.157679703,839,657.842320297,635,658,0.400969038946,0.00448105556181,0.0798277382344,0.999999950878,0.000114005458737,-0.000287477409055,5.10170233326e-05,1793255012447151616
+73,1.216666667,BASELINE,780.568552243,759.568552243,737,718.568552243,685,648,912,800,839,658,635,657.568552243,0.400969510074,0.00448081472199,0.0798275905947,0.999999951099,0.000112776686094,-0.000287198411525,5.09923054479e-05,1793255012463818240
+74,1.233333333,BASELINE,780.026224666,759,737,718.026224666,685.026224666,648,912.026224666,800,839.026224666,658,635,657.026224666,0.400970021984,0.00448100246126,0.0798272438618,0.999999951359,0.000111503599758,-0.000286820034379,5.08205654795e-05,1793255012480484864
+75,1.250000000,BASELINE,780.603596216,759,737,718.603596216,685.603596216,648,912.603596216,800,839.603596216,658,635,657.603596216,0.400972297114,0.00448085575783,0.0798288269004,0.999999952159,0.00011296159992,-0.000283430137845,5.08754128821e-05,1793255012497151744
+76,1.266666667,BASELINE,781,759.180844249,737,718.819155751,686,648,912.819155751,800,839.819155751,657.819155751,635,657.819155751,0.400973404568,0.00448061584569,0.0798294521438,0.999999952481,0.000114015041848,-0.000281855108663,5.09543502605e-05,1793255012513818368
+77,1.283333333,BASELINE,781,759.757821685,737,718.242178315,686,648,912.242178315,800,839.242178315,657.242178315,635,657.242178315,0.400971954266,0.00448017176305,0.0798279793689,0.999999951776,0.000114182312616,-0.000284255485003,5.10860559103e-05,1793255012530484992
+78,1.300000000,BASELINE,780.659178511,760,737,718.340821489,686,648,912,800.340821489,839,657,635.340821489,657.340821489,0.400971091025,0.00448013795692,0.0798276082661,0.99999995153,0.000113534634941,-0.000285370786644,5.11119749689e-05,1793255012547151616
+79,1.316666667,BASELINE,780.071822429,760,737,718.928177571,686,648,912,800.928177571,839,657,635.928177571,657.928177571,0.400970652438,0.00448040092598,0.0798280340624,0.99999995162,0.000112297461029,-0.000285556524238,5.10613728659e-05,1793255012563818240
+80,1.333333333,BASELINE,780.508208621,759.491791379,737.508208621,719,685.491791379,648,912,801,839,657,636,657.491791379,0.400969787953,0.00448078306622,0.0798274447574,0.999999951212,0.000113361578255,-0.000286538486284,5.11918214291e-05,1793255012580485120
+81,1.350000000,BASELINE,781,759.086976058,738,719,685.086976058,648.086976058,912,801,839,657.086976058,635.913023942,657.086976058,0.400968960004,0.0044811048634,0.0798268486652,0.999999950802,0.000114580027884,-0.000287459935721,5.13341927062e-05,1793255012597152000
+82,1.366666667,BASELINE,781,759.664372451,738,719,685.664372451,648.664372451,912,801,839,657.664372451,635.335627549,657.664372451,0.400968672624,0.00448099279756,0.0798270117116,0.999999950779,0.000114860919721,-0.000287414709119,5.1401567255e-05,1793255012613818624
+83,1.383333333,BASELINE,781,760,738,719,685.772254767,649,912,801,839.227745233,658,635.227745233,657.772254767,0.400969057422,0.00448111314495,0.0798274324133,0.999999950972,0.000114705635831,-0.00028684621465,5.11707948619e-05,1793255012630484992
+84,1.400000000,BASELINE,781,760,738,719,685.228349719,649,912,801,839.771650281,658,635.771650281,657.228349719,0.400970375347,0.00448155613232,0.0798282107962,0.999999951462,0.000113944845402,-0.000285551310802,5.05261298121e-05,1793255012647151360
+85,1.416666667,BASELINE,781,760,737.636903513,719,685,649,912,800.636903513,839.636903513,657.636903513,635.636903513,657.363096487,0.400970490078,0.00448109168316,0.0798282376468,0.999999951421,0.000113142800044,-0.000285981019385,5.07140709776e-05,1793255012663817984
+86,1.433333333,BASELINE,781,760,737.011054472,719,685,649,912,800.011054472,839.011054472,657.011054472,635.011054472,657.988945528,0.400969734123,0.00447997057305,0.0798277206556,0.999999950993,0.000112310900857,-0.000287658733292,5.15045225819e-05,1793255012680484864
+87,1.450000000,BASELINE,781,759.43033244,737.56966756,718.43033244,685.56966756,648.43033244,912,800.56966756,839,657.56966756,635,657.43033244,0.400969762691,0.00447943056687,0.0798279765732,0.999999951383,0.00011153186489,-0.000286629092997,5.13595871549e-05,1793255012697151488
+88,1.466666667,BASELINE,780.851936786,759.148063214,737.851936786,718.148063214,686,648,912,801,839.148063214,658,635,657.148063214,0.400969786025,0.004479654707,0.0798281729299,0.999999951578,0.000111914911398,-0.000285833471052,5.11664949081e-05,1793255012713818112
+89,1.483333333,BASELINE,780.277899669,759.722100331,737.277899669,718.722100331,686,648,912,801,839.722100331,658,635,657.722100331,0.400969753717,0.00448204721504,0.0798281579485,0.999999951164,0.000115638503513,-0.000285851165564,5.08832445076e-05,1793255012730484736
+90,1.500000000,BASELINE,780.296251273,759.703748727,737,719,686,648,912,801,840,657.703748727,635,657.703748727,0.400969852209,0.00448253848867,0.079828254307,0.999999951168,0.000116318671545,-0.000285609832601,5.06062713885e-05,1793255012747151616
+91,1.516666667,BASELINE,780.870508997,759.129491003,737,719,686,648,912,801,840,657.129491003,635,657.129491003,0.400970073446,0.00448124561647,0.0798284551483,0.999999951571,0.000114142846482,-0.000285125424535,5.03351889767e-05,1793255012763818496
+92,1.533333333,BASELINE,781,759.459670245,737.459670245,719,685.540329755,648,912,801,840,657.459670245,635.459670245,657.459670245,0.40097069103,0.00448128420086,0.0798284551623,0.999999951827,0.000113591008532,-0.000284439280312,5.03688612846e-05,1793255012780484864
+93,1.550000000,BASELINE,780.948658443,760,737.948658443,719,685,648.051341557,912,800.948658443,839.948658443,658,635.948658443,657.948658443,0.400971220472,0.00448163822494,0.0798283611985,0.999999951969,0.000113546383876,-0.000283931921778,5.0509541864e-05,1793255012797151488
+94,1.566666667,BASELINE,780.375574256,760,737.375574256,719,685,648.624425744,912,800.375574256,839.375574256,658,635.375574256,657.375574256,0.400969681536,0.0044812584833,0.0798279063935,0.999999951375,0.000113851336303,-0.000285838285968,5.08359960412e-05,1793255012813818112
+95,1.583333333,BASELINE,780.197845233,759.802154767,737,719,685,648.802154767,912,800.197845233,839,658,635,657.197845233,0.400968498689,0.00448134238164,0.0798273526727,0.999999950881,0.000114080236422,-0.000287443183588,5.09953502628e-05,1793255012830484992
+96,1.600000000,BASELINE,780.771902414,759.228097586,737,719,685,648.228097586,912,800.771902414,839,658,635,657.771902414,0.400967992959,0.00448230791299,0.0798266108589,0.999999950582,0.00011416451958,-0.000288474828784,5.08369561735e-05,1793255012847151872
+97,1.616666667,BASELINE,780.642724617,759,737,718.642724617,685,648,912,800.642724617,839.357275383,658,635,658,0.40096859587,0.00448205257687,0.0798270121962,0.99999995094,0.000113221729585,-0.000287632706792,5.06863374835e-05,1793255012863818496
+98,1.633333333,BASELINE,780.049890973,759,737,718.049890973,685,648,912,800.049890973,839.950109027,658,635,658,0.400969929727,0.00448099230019,0.0798281672342,0.999999951724,0.000111601771283,-0.000285555175415,5.05408452671e-05,1793255012880485376
+99,1.650000000,BASELINE,780.532094392,759,737,718,685,648,912,800,839.467905608,657.467905608,635,657.467905608,0.400969440266,0.00448008146378,0.0798279551957,0.999999951401,0.000113064352488,-0.000286036148824,5.09715616177e-05,1793255012897151744
+100,1.666666667,BASELINE,780.888340378,759,737,718,685,648.111659622,912,800.111659622,839,657.111659622,635,657,0.400969099852,0.00447937559994,0.0798277265236,0.999999951138,0.000114060601506,-0.000286501021829,5.13009987872e-05,1793255012913818368
+101,1.683333333,BASELINE,780.314664331,759,737,718,685,648.685335669,912,800.685335669,839,657.685335669,635,657,0.400970069403,0.00447946103618,0.0798279488094,0.999999951556,0.000111955269928,-0.000285926493897,5.09922877408e-05,1793255012930484992
+102,1.700000000,BASELINE,780,759.260131756,737,718.260131756,685.260131756,648.739868244,912,801,839.260131756,657.739868244,635,657,0.400970457284,0.00447988541269,0.0798278822199,0.999999951678,0.000111027425244,-0.000285898658232,5.0784652443e-05,1793255012947151616
+103,1.716666667,BASELINE,780,759.836288499,737,718.836288499,685.836288499,648.163711501,912,801,839.836288499,657.163711501,635,657,0.400970138514,0.0044807215559,0.0798274646858,0.999999951444,0.000111530068418,-0.000286534979955,5.06998105648e-05,1793255012963818240
+104,1.733333333,BASELINE,780,760,737.424558412,719,685.575441588,648,912,800.575441588,839.575441588,657.424558412,635,657,0.400971661131,0.00448158778859,0.0798285071396,0.999999952106,0.000112227242112,-0.00028395336186,5.06228500077e-05,1793255012980485120
+105,1.750000000,BASELINE,780,759.982894509,737.982894509,718.982894509,685,648.017105491,912,800,839,657.982894509,635,657,0.400973780483,0.00448240934049,0.0798300499002,0.999999953047,0.000113057094578,-0.000280298446737,5.0560133239e-05,1793255012997151744
+106,1.766666667,BASELINE,780,759.407671353,737.407671353,718.407671353,685,648.592328647,912,800,839,657.407671353,635,657,0.400971522312,0.00448138335694,0.0798290083631,0.999999951884,0.000115696621996,-0.000283299546077,5.08600918181e-05,1793255013013818624
+107,1.783333333,POSE1_TO_POSE2_PRESS,780,760,737,718,685,648,912,800,840,658,635,658,0.400972165698,0.00448187267694,0.0798296685544,0.999999951966,0.000114138943039,-0.000283598764762,5.11098993271e-05,1793255013054737152
+108,1.800000000,POSE1_TO_POSE2_PRESS,780.595794984,760,737,718.595794984,685,648,912,800,839.404205016,657.404205016,635.595794984,657.404205016,0.400971485053,0.00448256953256,0.0798291331993,0.999999951777,0.000114613438511,-0.00028409280257,5.10021882795e-05,1793255013071404544
+109,1.816666667,POSE1_TO_POSE2_PRESS,781,760,737,719,685,648,912,800,839.186211629,657,635.813788371,657,0.40097091666,0.00448234730918,0.0798286279124,0.999999951607,0.000114558416628,-0.000284712780144,5.09974334428e-05,1793255013088071680
+110,1.833333333,POSE1_TO_POSE2_PRESS,781,760,737,719,685,648,912,800,839.765281485,657,635.234718515,657,0.400970585089,0.00448018606769,0.0798281860615,0.999999951477,0.000113386250589,-0.000285598458046,5.12098894808e-05,1793255013104738048
+111,1.850000000,POSE1_TO_POSE2_PRESS,781,760,737,719,685.339403644,648,912,800,839.660596356,657.339403644,635,657,0.400970609978,0.0044801386695,0.0798280936856,0.99999995149,0.000112783054675,-0.000285808820604,5.11219146169e-05,1793255013121404160
+112,1.866666667,POSE1_TO_POSE2_PRESS,781,760,737,719,685.910153294,648,912,800,839.089846706,657.910153294,635,657,0.400970877839,0.00448153211985,0.0798282395205,0.999999951601,0.000112567683086,-0.000285558871294,5.08291585297e-05,1793255013138070272
+113,1.883333333,POSE1_TO_POSE2_PRESS,780.510877415,759.510877415,737,718.510877415,685.510877415,648,912,800,839,658,635,657.489122585,0.400969982425,0.00448065966869,0.0798281347514,0.999999951524,0.000112471045538,-0.000285780676105,5.13039171101e-05,1793255013154737152
+114,1.900000000,POSE1_TO_POSE2_PRESS,780,759,737,718.070848023,685,648,912,800.070848023,839,657.929151977,635,657.929151977,0.400969136184,0.00447974454839,0.0798280697755,0.999999951438,0.000112682189146,-0.000285914756253,5.17693130983e-05,1793255013171404032
+115,1.916666667,POSE1_TO_POSE2_PRESS,780,759,737,718.661528467,685,648,912,800.661528467,839,657.338471533,635,657.338471533,0.40097024538,0.00448162249486,0.0798286403073,0.999999951539,0.000114988849088,-0.000284758485334,5.11138887951e-05,1793255013188070656
+116,1.933333333,POSE1_TO_POSE2_PRESS,780,759.246661648,737.246661648,718.753338352,685.246661648,648.246661648,912,800.753338352,839,657,635,657.246661648,0.400972831718,0.00448251962167,0.0798298827701,0.999999951971,0.000115994389996,-0.000282902573662,5.06821424687e-05,1793255013204737280
+117,1.950000000,POSE1_TO_POSE2_PRESS,780,759.824350196,737.824350196,718.175649804,685.824350196,648.824350196,912,800.175649804,839,657,635,657.824350196,0.400977400422,0.00448210046061,0.0798320269833,0.99999995285,0.000115253792211,-0.000280107724424,5.05505783595e-05,1793255013221403648
+118,1.966666667,POSE1_TO_POSE2_PRESS,780.400111944,760,737.599888056,718,686,648.599888056,912,800,839,657.400111944,635,658,0.400994171,0.00448192147389,0.0798393279667,0.999999956195,0.000114835919929,-0.000268049907411,5.07046395378e-05,1793255013238070272
+119,1.983333333,POSE1_TO_POSE2_PRESS,780.975031927,760,737.024968073,718,686,648.024968073,912,800,839,657.975031927,635,658,0.401016272551,0.00448184741878,0.079848881932,0.9999999604,0.000114559045629,-0.000251945119593,5.09834897616e-05,1793255013254736896
+120,2.000000000,POSE1_TO_POSE2_PRESS,781,759.436344432,737,718.563655568,686,648,912,800.563655568,839,658,635,657.436344432,0.401065616268,0.00448207354515,0.0798664569008,0.999999968532,0.000112101226054,-0.000218774912136,5.00642087904e-05,1793255013271403776
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,759,737.150190283,718.849809717,685.849809717,648,912,800.849809717,839.150190283,657.849809717,635.150190283,657.150190283,0.401122316373,0.0044826822254,0.0798849631318,0.999999975579,0.00011074147306,-0.000184870677832,4.89982602988e-05,1793255013288070400
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,759,737.728988354,718.271011646,685.271011646,648,912,800.271011646,839.728988354,657.271011646,635.728988354,657.728988354,0.401196480335,0.00448434373239,0.0799050877513,0.999999981089,0.000112797912017,-0.000151082730376,4.76689896262e-05,1793255013304737280
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759.306685522,737.693314478,718.306685522,685.306685522,648,912,800,839.693314478,657,635.693314478,657.693314478,0.40127345171,0.00448525056673,0.0799190158576,0.999999984087,0.000112826800597,-0.000130256030945,4.61456696751e-05,1793255013321403904
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759.883413289,737.116586711,718.883413289,685.883413289,648,912,800,839.116586711,657,635.116586711,657.116586711,0.40135289506,0.00448549289781,0.0799274878189,0.999999985542,0.000111070393713,-0.000120841951017,4.44514858755e-05,1793255013338070528
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,759.540191116,737,718.540191116,685.540191116,648,912,800.459808884,839,657,635,657.459808884,0.401448247187,0.00448549590513,0.079931373828,0.999999986877,0.000108326937117,-0.000113193920268,4.12236114537e-05,1793255013354737408
+126,2.100000000,POSE1_TO_POSE2_PRESS,780.96310057,759.03689943,737,718.03689943,685.03689943,648,912,801,839,657.03689943,635,657.96310057,0.401549280258,0.00448563281695,0.0799341533884,0.999999988096,0.000105561829317,-0.000106071998328,3.75884401979e-05,1793255013371403520
+127,2.116666667,POSE1_TO_POSE2_PRESS,780.374358012,759.625641988,737,718.625641988,685.625641988,648,912,801,839,657.625641988,635,657.374358012,0.401674991272,0.00448867917367,0.0799377629937,0.99999998878,0.000106213105196,-0.000100126191802,3.36735577914e-05,1793255013388070144
+128,2.133333333,POSE1_TO_POSE2_PRESS,780.210884672,759.789115328,737,719,686,648,912,800.789115328,839,658,635,657.210884672,0.401811805832,0.00449091819168,0.0799424195291,0.99999998992,0.000104186490931,-9.19016182084e-05,2.93143867423e-05,1793255013404737024
+129,2.150000000,POSE1_TO_POSE2_PRESS,780.790015819,759.209984181,737,719,686,648,912,800.209984181,839,658,635,657.790015819,0.401968009373,0.00449174743586,0.0799489042117,0.99999999178,9.74837491517e-05,-7.96978658628e-05,2.41793999924e-05,1793255013421403904
+130,2.166666667,POSE1_TO_POSE2_PRESS,780.635048095,759,737,718.635048095,685.635048095,648,912,800,839,658,635,657.635048095,0.402138400963,0.00449453705358,0.0799544760152,0.999999993068,9.2459026121e-05,-7.05362275344e-05,1.84427478965e-05,1793255013438070528
+131,2.183333333,POSE1_TO_POSE2_PRESS,780.062498257,759,737,718.062498257,685.062498257,648,912,800,839,658,635,657.062498257,0.402316863247,0.00449844180323,0.0799595285404,0.999999994026,8.8388820628e-05,-6.31050532875e-05,1.23638461596e-05,1793255013454737152
+132,2.200000000,POSE1_TO_POSE2_PRESS,780,759.511560665,737.511560665,718,685,648,912,800.511560665,839,657.488439335,635,657,0.402519814288,0.00450126965069,0.0799599920225,0.999999994591,8.23386973254e-05,-6.32913465605e-05,5.61684803249e-06,1793255013471403776
+133,2.216666667,POSE1_TO_POSE2_PRESS,780.088689087,760,737.911310913,718,685.088689087,648,912,800.911310913,839,657,635,657.088689087,0.402730567441,0.00450416743671,0.0799591254568,0.999999994947,7.60683337103e-05,-6.57075688599e-05,-1.34940815367e-06,1793255013488070400
+134,2.233333333,POSE1_TO_POSE2_PRESS,780.682238165,760,737.317761835,718,685.682238165,648,912,800.317761835,839,657,635,657.682238165,0.402968652656,0.00450821450415,0.0799538885682,0.999999994663,6.99252817859e-05,-7.55042859568e-05,-9.09777871294e-06,1793255013504737024
+135,2.250000000,POSE1_TO_POSE2_PRESS,781,759.73490398,737,718,685.73490398,648.26509602,912,800.26509602,839.26509602,657,635,658,0.403225212317,0.00451249435709,0.0799501772799,0.999999994509,6.36833039636e-05,-8.14034952063e-05,-1.73344811385e-05,1793255013521403648
+136,2.266666667,POSE1_TO_POSE2_PRESS,781,759.16436458,737,718,685.16436458,648.83563542,912,800.83563542,839.83563542,657,635,658,0.403503058203,0.00451704242502,0.079948223787,0.999999994586,5.73273441906e-05,-8.28119990506e-05,-2.61338386102e-05,1793255013538070272
+137,2.283333333,POSE1_TO_POSE2_PRESS,781,759.414168709,737,718.414168709,685,648.585831291,912,801,839.585831291,657,635,658,0.403819102324,0.0045209008062,0.0799512544373,0.999999993171,7.91489260586e-05,-8.22110421669e-05,-2.51832947504e-05,1793255013554736896
+138,2.300000000,POSE1_TO_POSE2_PRESS,781,759.995936827,737,718.995936827,685,648.004063173,912,801,839.004063173,657,635,658,0.40415060391,0.00452448009546,0.0799563019939,0.999999990216,0.000112372961274,-8.07969275755e-05,-2.02873108523e-05,1793255013571403520
+139,2.316666667,POSE1_TO_POSE2_PRESS,781,760,737,718.413664206,685,648.586335794,912,801,839,657.586335794,635.586335794,657.413664206,0.404530047893,0.00453776452216,0.0799590245871,0.99999998655,0.000146190347201,-7.16578535981e-05,-1.98564422899e-05,1793255013588070144
+140,2.333333333,POSE1_TO_POSE2_PRESS,781,760,737.172988858,718,685,649,912,800.827011142,839.172988858,658,635.827011142,657.172988858,0.404921073482,0.00454854492846,0.0799607269769,0.999999987237,0.000144992938842,-6.37879992056e-05,-2.08300643713e-05,1793255013604737280
+141,2.350000000,POSE1_TO_POSE2_PRESS,781,760,737.750735179,718,685,649,912,800.249264821,839.750735179,658,635.249264821,657.750735179,0.405338408573,0.00455330674092,0.0799600805662,0.999999996032,6.18585228485e-05,-5.90149776394e-05,-2.50164186101e-05,1793255013621403904
+142,2.366666667,POSE1_TO_POSE2_PRESS,780.672536849,760,737.672536849,718,685,648.672536849,912,800.327463151,839.672536849,657.672536849,635,657.672536849,0.40577082743,0.00455967090576,0.0799545008572,0.999999996392,4.42639189334e-05,-6.67565826336e-05,-2.82849425714e-05,1793255013638070272
+143,2.383333333,POSE1_TO_POSE2_PRESS,780.09658158,760,737.09658158,718,685,648.09658158,912,800.90341842,839.09658158,657.09658158,635,657.09658158,0.406214692494,0.00456725100007,0.0799451775643,0.999999993078,7.6403533288e-05,-8.39947857198e-05,-3.08569807734e-05,1793255013654736896
+144,2.400000000,POSE1_TO_POSE2_PRESS,780.467831186,760,737,718,685,648,912,801,839,657.467831186,635,657.467831186,0.406676732236,0.00457623107941,0.0799356404394,0.999999988619,0.000106315807099,-0.000102486052688,-3.09250079553e-05,1793255013671403776
+145,2.416666667,POSE1_TO_POSE2_PRESS,781,760,737.032161019,718,685,648.032161019,912,801,839.032161019,657.967838981,635,657.967838981,0.407146479442,0.00458560794136,0.0799263912795,0.999999983183,0.000134701945027,-0.000120645599811,-3.05749330354e-05,1793255013688070400
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,737.636381183,718,685,648.636381183,912,801,839.636381183,657.363618817,635,657.363618817,0.407688189942,0.00459702540108,0.0799230305523,0.999999980893,0.000143924325402,-0.000128414153651,-3.17615477033e-05,1793255013704737024
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,737.76987711,718,685,648.76987711,912,800.76987711,840,657,635,657.23012289,0.408243175557,0.00460780447334,0.0799191298437,0.999999978444,0.00015322893747,-0.00013610541081,-3.32766977594e-05,1793255013721403904
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,737.191971441,718,685,648.191971441,912,800.191971441,840,657,635,657.808028559,0.408818223709,0.00461761875534,0.0799144130657,0.999999975827,0.000162657825057,-0.00014367984969,-3.52883605012e-05,1793255013738070784
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,737,718,685.385921109,648,912,800.385921109,839.614078891,657.385921109,635.385921109,657.614078891,0.409455887151,0.00462432320059,0.0799336749402,0.999999979389,0.000164769104763,-0.000112561417838,-3.74626606508e-05,1793255013754737664
+150,2.500000000,POSE1_TO_POSE2_PRESS,781,760,737,718,685.963807116,648,912,800.963807116,839.036192884,657.963807116,635.963807116,657.036192884,0.410124696676,0.0046294807504,0.0799648642773,0.999999983953,0.000163240458968,-6.21963758245e-05,-3.97178597705e-05,1793255013771404288
+151,2.516666667,POSE1_TO_POSE2_PRESS,781,760,737,718,685.448735264,648.551264736,912.551264736,801,839.551264736,657.448735264,636,657,0.410809075384,0.00463196810454,0.0799944149514,0.999999983349,0.000177411461469,-1.61881797149e-05,-3.95711108191e-05,1793255013788070656
+152,2.533333333,POSE1_TO_POSE2_PRESS,781,759.862762779,737.137237221,718,685,649,913,801,840,657,635.862762779,657,0.411494227331,0.00462911425083,0.0800098622525,0.99999998314,0.000179134917483,6.45729666015e-06,-3.98722644636e-05,1793255013804737280
+153,2.550000000,POSE1_TO_POSE2_PRESS,781,759.283631652,737.716368348,718,685,649,913,801,840,657,635.283631652,657,0.412178519392,0.00460963655361,0.0799802502467,0.999999988652,0.000137400591606,-4.51861799407e-05,-4.21323811204e-05,1793255013821403904
+154,2.566666667,POSE1_TO_POSE2_PRESS,781,759.293736585,737.706263415,718,685,649,912.706263415,801,840,657.293736585,635.293736585,657,0.412877439307,0.00458826193507,0.0799482651212,0.999999989147,0.000108352069653,-9.06053249761e-05,-4.19079951179e-05,1793255013838070528
+155,2.583333333,POSE1_TO_POSE2_PRESS,781,759.869412803,737.130587197,718,685,649,912.130587197,801,840,657.869412803,635.869412803,657,0.413590399677,0.00456506657645,0.079914002181,0.999999986587,9.14798638612e-05,-0.000130050124152,-3.92988885792e-05,1793255013854736896
+156,2.600000000,POSE1_TO_POSE2_PRESS,781,760,737,718,685,648.555018768,912.444981232,801,840,657.555018768,635.555018768,657,0.414367605461,0.00456243692678,0.0799187177985,0.999999988575,8.89498688303e-05,-0.000115344602238,-4.04282434432e-05,1793255013871403520
+157,2.616666667,POSE1_TO_POSE2_PRESS,781,760,737.021047765,718,685,648.021047765,912.978952235,801,840,657,635.021047765,657.021047765,0.415163408354,0.00456615308349,0.0799349074051,0.999999991303,9.1082688764e-05,-8.5352504441e-05,-4.25750037201e-05,1793255013888070400
+158,2.633333333,POSE1_TO_POSE2_PRESS,781,760,737.611444597,718,685,648.611444597,912.388555403,801,840,657,635.611444597,657.611444597,0.415952389995,0.00457830668341,0.0799521208557,0.999999990962,0.000105519959557,-7.16147522727e-05,-4.25728081429e-05,1793255013904737024
+159,2.650000000,POSE1_TO_POSE2_PRESS,781.198670759,760,737.801329241,717.801329241,685,648.801329241,912.198670759,801,840,657,636,657.801329241,0.416764341748,0.00458724033121,0.0799590498106,0.999999990087,0.000116594659785,-6.62621311089e-05,-4.29141286239e-05,1793255013921403392
+160,2.666666667,POSE1_TO_POSE2_PRESS,781.77979318,760,737.22020682,717.22020682,685,648.22020682,912.77979318,801,840,657,636,657.22020682,0.417620512127,0.00458997540108,0.0799461805696,0.999999988723,0.000121196233984,-7.7051329073e-05,-4.39167356103e-05,1793255013938070016
+161,2.683333333,POSE1_TO_POSE2_PRESS,782,760.354934132,737.354934132,717.354934132,685,648,913,801,840,657.354934132,636,657.354934132,0.41851184352,0.00459132179364,0.0799615334058,0.999999991744,0.00011256946259,-4.17807247762e-05,-4.57597938162e-05,1793255013954736640
+162,2.700000000,POSE1_TO_POSE2_PRESS,782,760.926425566,737.926425566,717.926425566,685,648,913,801,840,657.926425566,636,657.926425566,0.419424627804,0.00459182090717,0.079994105485,0.999999994014,9.58716301885e-05,2.15925211617e-05,-4.81156395056e-05,1793255013971403264
+163,2.716666667,POSE1_TO_POSE2_PRESS,782,760.489596916,737.489596916,718,685,648.510403084,913,801,840,657.489596916,636,658,0.420274421495,0.00458760551652,0.0799860597573,0.999999994023,9.76658424878e-05,6.86665064142e-06,-4.86622207031e-05,1793255013988070144
+164,2.733333333,POSE1_TO_POSE2_PRESS,781.904383918,760,737,718,685,648.904383918,912.904383918,801,840,657,636,657.904383918,0.421130026741,0.00458352185147,0.079974572973,0.99999999363,0.000100648088175,-1.46318005769e-05,-4.89419266694e-05,1793255014004736768
+165,2.750000000,POSE1_TO_POSE2_PRESS,781.322272364,760,737,718,685,648.322272364,912.322272364,801,840,657,636,657.322272364,0.422062558951,0.00458365290002,0.079976115625,0.999999994132,9.57722409293e-05,-1.18721798231e-05,-4.92240226965e-05,1793255014021403392
+166,2.766666667,POSE1_TO_POSE2_PRESS,781,760,737.259257904,718,685,648,912.259257904,801.259257904,840.259257904,657.259257904,636,657.259257904,0.423014556085,0.00458763954451,0.0799881471007,0.999999993514,0.000103229004815,4.33259194896e-06,-4.79286274933e-05,1793255014038070016
+167,2.783333333,POSE1_TO_POSE2_PRESS,781,760,737.840067295,718,685,648,912.840067295,801.840067295,840.840067295,657.840067295,636,657.840067295,0.423990695233,0.00459640819408,0.0800131876185,0.999999990374,0.000125981615774,3.72130690204e-05,-4.46767069621e-05,1793255014054736640
+168,2.800000000,POSE1_TO_POSE2_PRESS,781,760,737.584840005,718,685,648.415159995,913,801.584840005,840.584840005,658,636,657.584840005,0.424884766484,0.00460165797876,0.0799841397787,0.999999989694,0.000133873484547,-2.78457238622e-05,-4.37506675582e-05,1793255014071403264
+169,2.816666667,POSE1_TO_POSE2_PRESS,781,760,737.011919677,718,685,648.988080323,913,801.011919677,840.011919677,658,636,657.011919677,0.425747651968,0.00460557059819,0.079934538422,0.999999981315,0.000136118285404,-0.000130121331409,-4.37084601963e-05,1793255014088069888
+170,2.833333333,POSE1_TO_POSE2_PRESS,781.560020107,760,737,718,685,649,913,801,840.560020107,657.439979893,636,657.560020107,0.426719555769,0.00460367756127,0.0799220166907,0.999999983688,0.000126537609743,-0.000119724757899,-4.77350383292e-05,1793255014104736768
+171,2.850000000,POSE1_TO_POSE2_PRESS,781.862402199,760,737.137597801,718,685,649,913,801,841,657,636,658,0.427684914593,0.00460071175826,0.079913309439,0.999999985465,0.000117969594137,-0.000112069259706,-5.09249387651e-05,1793255014121403392
+172,2.866666667,POSE1_TO_POSE2_PRESS,781.265954212,760,737.734045788,718,685,649,913,801,841,657,636,658,0.42862072338,0.00459457993081,0.0799146951943,0.999999984858,0.000113616392124,-0.000121537685967,-5.10364656657e-05,1793255014138070016
+173,2.883333333,POSE1_TO_POSE2_PRESS,781.319074734,760,738,718,685,649,913,801,841,657.319074734,636,657.680925266,0.429608502246,0.00459191548671,0.0799378671459,0.999999988475,0.000107248535806,-9.46859533096e-05,-5.08192733813e-05,1793255014154736640
+174,2.900000000,POSE1_TO_POSE2_PRESS,781.894914546,760,738,718,685,649,913,801,841,657.894914546,636,657.105085454,0.430638102306,0.00459204130759,0.0799785708349,0.999999993062,9.92594515026e-05,-3.86067460554e-05,-5.0337554829e-05,1793255014171403520
+175,2.916666667,POSE1_TO_POSE2_PRESS,781.522657922,760,738,717.522657922,685.477342078,648.522657922,913,801,841,658,636,657.477342078,0.431615661398,0.00459503912373,0.0800133457795,0.999999993196,0.000104124183748,1.6391635122e-05,-4.99700748568e-05,1793255014188069888
+176,2.933333333,POSE1_TO_POSE2_PRESS,781.061034744,760,738,717.061034744,685.938965256,648.061034744,913,801.061034744,841,658,636,658,0.432572010804,0.00459909630837,0.0800358148777,0.999999991141,0.000111284933552,5.34204690506e-05,-4.98051668302e-05,1793255014204736512
+177,2.950000000,POSE1_TO_POSE2_PRESS,781.642973798,760,738,717.642973798,685.357026202,648.642973798,913,801.642973798,841,658,636,658,0.433446490223,0.00460672314768,0.079964554192,0.999999990393,0.000113552721976,-6.08536641343e-05,-5.11514791849e-05,1793255014221403392
+178,2.966666667,POSE1_TO_POSE2_PRESS,781.776274984,760,738,718,685,648.776274984,913,802,841,657.776274984,636,658,0.43435753517,0.00461075899226,0.0799165091508,0.999999983438,0.000113576677885,-0.000131934676268,-5.30837575815e-05,1793255014238070016
+179,2.983333333,POSE1_TO_POSE2_PRESS,781.197409247,760,738,718,685,648.197409247,913,802,841,657.197409247,636,658,0.435326624312,0.00460909449893,0.0799053165745,0.999999983342,0.000110038780005,-0.000134451018014,-5.5946198576e-05,1793255014254736640
+180,3.000000000,POSE1_TO_POSE2_PRESS,781.377769192,760,737.622230808,718,685,648.377769192,913,802,841,657,636,657.622230808,0.436299498464,0.00460515263177,0.0799295254243,0.999999987694,0.000105721797456,-0.000101832721813,-5.5361264936e-05,1793255014271403264
+181,3.016666667,POSE1_TO_POSE2_PRESS,781.951039366,760,737.048960634,718,685,648.951039366,913,802,841,657,636,657.048960634,0.437274331357,0.00460003219104,0.0799720550212,0.999999992193,0.000101001627387,-5.10317454777e-05,-5.29922651187e-05,1793255014288069888
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,760.539228467,737.539228467,718,685,648.460771533,913,801.460771533,841,657,636,657.539228467,0.438224519563,0.00459849836275,0.0800072905487,0.999999993686,9.87404678744e-05,7.94955677425e-06,-5.30634048214e-05,1793255014304736768
+183,3.050000000,POSE1_TO_POSE2_PRESS,781.873128026,760.873128026,738,718,685,648,913,801.126871974,841,657,636,657.873128026,0.439153565705,0.00459933092651,0.0800283711878,0.999999992658,9.96789709997e-05,4.36739748141e-05,-5.32986765668e-05,1793255014321403392
+184,3.066666667,POSE1_TO_POSE2_PRESS,781.292419651,760.292419651,738,718,685,648,913,801.707580349,841,657,636,657.292419651,0.440015216296,0.00460743030428,0.080001254557,0.999999992371,0.000111241658044,-6.52681869472e-06,-5.33059751922e-05,1793255014338070016
+185,3.083333333,POSE1_TO_POSE2_PRESS,781,760,737.714864135,718,684.714864135,648,913,801.714864135,841,657,636,657,0.440809573489,0.00461841600173,0.0799268185745,0.999999983204,0.000122226120262,-0.000125085624054,-5.48365920871e-05,1793255014354736640
+186,3.100000000,POSE1_TO_POSE2_PRESS,781,760,737.14050669,718,684.14050669,648,913,801.14050669,841,657,636,657,0.441535672984,0.00463232937645,0.0798043852024,0.99999994055,0.000132624068619,-0.000312981938762,-5.79123535678e-05,1793255014371403264
+187,3.116666667,POSE1_TO_POSE2_PRESS,781,760,737,718,684,648,913,801,841.434430131,657,635.565569869,657,0.442361606005,0.00463557615614,0.0797664385245,0.999999923308,0.000140374830178,-0.000360881610013,-5.86819267558e-05,1793255014388070144
+188,3.133333333,POSE1_TO_POSE2_PRESS,781.009817325,760,737,718,683.990182675,648,913,801,841.990182675,657,635,657.009817325,0.443219739683,0.00463539411325,0.0797570742869,0.999999921983,0.000147044767025,-0.000361889157078,-5.87136261271e-05,1793255014404737024
+189,3.150000000,POSE1_TO_POSE2_PRESS,781.600754004,760,737,718,683.399245996,648,913,801,841.399245996,657,635,657.600754004,0.444070092507,0.00463673070902,0.0798199626481,0.999999951661,0.000140484442533,-0.000270976469694,-5.92784643644e-05,1793255014421403392
+190,3.166666667,POSE1_TO_POSE2_PRESS,782,760,737,718,683,648,913,801,841,657,635,658,0.444900123519,0.00463822657184,0.079866667147,0.999999967523,0.000137587175492,-0.000206377267725,-5.85932907713e-05,1793255014438070016
+191,3.183333333,POSE1_TO_POSE2_PRESS,782,760,737,718,683,648,913,801,841,657,635,658,0.445687829187,0.00464005415027,0.0798796645214,0.999999969021,0.000142319186761,-0.000196582784936,-5.53046407794e-05,1793255014454736640
+192,3.200000000,POSE1_TO_POSE2_PRESS,782,760,737,718,682.657624917,647.657624917,913.342375083,801,841,657,635,658,0.44643999816,0.00464146242747,0.0798704593015,0.999999966071,0.000148277976262,-0.000206884692726,-5.54175122972e-05,1793255014471403520
+193,3.216666667,POSE1_TO_POSE2_PRESS,782,760,737,718,682.086558653,647.086558653,913.913441347,801,841,657,635,658,0.447168430168,0.00464259063015,0.0798464237449,0.999999959718,0.000155056198187,-0.0002306100875,-5.78024476128e-05,1793255014488070144
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,760,737,718,682,647,913.510528453,801,841.489471547,657.489471547,635.489471547,658,0.447836811107,0.00464270178835,0.0797922606149,0.999999941358,0.000137734896279,-0.000307574764632,-6.09245743157e-05,1793255014504737280
+195,3.250000000,POSE1_TO_POSE2_PRESS,782,760,737,718,682,647,913,801,842,657.931728055,636,658,0.448485592372,0.00464221867291,0.0797331778829,0.999999913018,0.000119335993879,-0.000394545256581,-6.36889969038e-05,1793255014521404160
+196,3.266666667,POSE1_TO_POSE2_PRESS,782,760,737,718,682,647,913,801,842,657.338444472,636,658,0.449066152691,0.00463856284759,0.0796776538847,0.99999987236,0.000125759262963,-0.000485318216646,-6.26898919173e-05,1793255014538070528
+197,3.283333333,POSE1_TO_POSE2_PRESS,782,760,737,717.752721889,681.505443777,647,913.247278111,801,842,657.247278111,635.752721889,658,0.449672794674,0.00463860396695,0.0796492511097,0.999999848327,0.000136047783972,-0.000530045568262,-6.23560318775e-05,1793255014554736896
+198,3.300000000,POSE1_TO_POSE2_PRESS,782,760,737,717.177040898,680.354081797,647,913.822959102,801,842,657.822959102,635.177040898,658,0.45031407491,0.00464355489148,0.0796568672481,0.999999854647,0.000151469634357,-0.000513621081232,-6.29056649309e-05,1793255014571403520
+199,3.316666667,POSE1_TO_POSE2_PRESS,782.396734837,760,737,717.396734837,680,646.603265163,913.603265163,801,842,657.603265163,635.396734837,658,0.450948869271,0.00464761612471,0.0796866372379,0.999999876529,0.000148729849373,-0.000470032084042,-6.23741948754e-05,1793255014588070144
+200,3.333333333,POSE1_TO_POSE2_PRESS,782.969664476,760,737,717.969664476,680,646.030335524,913.030335524,801,842,657.030335524,635.969664476,658,0.45158078323,0.00465128223558,0.079726246025,0.999999902751,0.000137924260587,-0.000414378992477,-6.13625935722e-05,1793255014604737280
+201,3.350000000,POSE1_TO_POSE2_PRESS,782.438388601,760,737,718,679.438388601,646,913,801,841.438388601,657.561611399,635.438388601,658,0.452098330034,0.00465430987397,0.079705525433,0.999999885265,0.000132250889839,-0.000455970895218,-6.37967805381e-05,1793255014621404160
+202,3.366666667,POSE1_TO_POSE2_PRESS,782.151217328,760,737,718,678.848782672,646,913,801,841.151217328,657.848782672,635,657.848782672,0.452595942392,0.00465755909425,0.0796744008833,0.999999859437,0.000133628183074,-0.000508919814071,-6.53404086321e-05,1793255014638070784
+203,3.383333333,POSE1_TO_POSE2_PRESS,782.73117163,760,737,718,678.26882837,646,913,801,841.73117163,657.26882837,635,657.26882837,0.453055164705,0.00466153775878,0.0796233416525,0.999999818658,0.000154182254226,-0.000578653949452,-6.38128885298e-05,1793255014654737408
+204,3.400000000,POSE1_TO_POSE2_PRESS,782.691814888,759.691814888,737,718,678,646,913,801,842,657,635.308185112,657.308185112,0.453492806321,0.00466527967777,0.0795808200475,0.999999777935,0.000169277761442,-0.00064147929197,-6.30866016309e-05,1793255014671403776
+205,3.416666667,POSE1_TO_POSE2_PRESS,782.117342456,759.117342456,737,718,678,646,913,801,842,657,635.882657544,657.882657544,0.453911801109,0.00466881703655,0.0795456753803,0.999999738038,0.000179656795831,-0.000698335088807,-6.30526203536e-05,1793255014688070400
+206,3.433333333,POSE1_TO_POSE2_PRESS,782,759.456860874,737,718,677.543139126,646,913,801,842,657.456860874,635.543139126,658,0.454330064484,0.00467090627466,0.0795337157413,0.999999724986,0.000181333403436,-0.000716193982209,-6.49040724775e-05,1793255014704737280
+207,3.450000000,POSE1_TO_POSE2_PRESS,782,760,737,718,676.968022965,646,913,801,842,657.968022965,635.031977035,658,0.454746143655,0.00467268421129,0.0795281017066,0.999999719599,0.00018146131875,-0.000723448696454,-6.70519870518e-05,1793255014721403904
+208,3.466666667,POSE1_TO_POSE2_PRESS,782,760,737,718,676.375700347,646,913,801,842,657.375700347,635.624299653,658,0.455127238261,0.00467552094903,0.0795293945084,0.999999719675,0.000193595674082,-0.000720296034587,-6.59139758215e-05,1793255014738070272
+209,3.483333333,POSE1_TO_POSE2_PRESS,782,760,737,718,676,645.788735212,913,801,841.788735212,657,635.788735212,658,0.455487297943,0.00467830447138,0.0795293317584,0.999999716791,0.000201777004683,-0.000722119466208,-6.5178074964e-05,1793255014754737152
+210,3.500000000,POSE1_TO_POSE2_PRESS,782,760,737,718,676,645.211061921,913,801,841.211061921,657,635.211061921,658,0.455810875521,0.00468099569896,0.079526917998,0.999999708921,0.000203102379105,-0.000732573219365,-6.51395770553e-05,1793255014771403776
+211,3.516666667,POSE1_TO_POSE2_PRESS,782,760,737,718,676,645.365343798,913.365343798,801,841.365343798,657,635.365343798,658,0.456095258179,0.00468312234781,0.0795126424612,0.999999692211,0.000175517184977,-0.000761878017333,-6.56762864057e-05,1793255014788070400
+212,3.533333333,POSE1_TO_POSE2_PRESS,782,760,737,718,676,645.941019817,913.941019817,801,841.941019817,657,635.941019817,658,0.456357075944,0.00468492396308,0.0794915379762,0.999999667537,0.000131287875669,-0.000802035556533,-6.6544148361e-05,1793255014804737280
+213,3.550000000,POSE1_TO_POSE2_PRESS,782.528167788,760,737,718,675.471832212,645.471832212,913.471832212,801,842,657,635.471832212,658,0.456599552551,0.00468851769865,0.0794724148212,0.999999644846,0.000127849618296,-0.000830129561671,-6.96163871502e-05,1793255014821403648
+214,3.566666667,POSE1_TO_POSE2_PRESS,782.884626358,760,736.884626358,718,675,645,913,800.884626358,841.884626358,657,635,658,0.45683823993,0.00469198307003,0.0794586468941,0.999999628202,0.000131355844229,-0.000849190671681,-7.22316946078e-05,1793255014838070272
+215,3.583333333,POSE1_TO_POSE2_PRESS,782.302484041,760,736.302484041,718,675,645,913,800.302484041,841.302484041,657,635,658,0.457070529255,0.00469410149319,0.0794656296739,0.999999636507,0.000144119616541,-0.000837278385538,-7.19803799181e-05,1793255014854737152
+216,3.600000000,POSE1_TO_POSE2_PRESS,782.275510948,759.724489052,736.275510948,718,674.724489052,645,913,800,841.275510948,657,635.275510948,658,0.457281978558,0.0047041291688,0.0794710302785,0.99999963874,0.000174680803195,-0.000828969539414,-6.94002665434e-05,1793255014871404032
+217,3.616666667,POSE1_TO_POSE2_PRESS,782.84902007,759.15097993,736.84902007,718,674.15097993,645,913,800,841.84902007,657,635.84902007,658,0.45747088686,0.00472271165051,0.0794747195702,0.999999632786,0.00022449202948,-0.000824558245734,-6.43012776573e-05,1793255014888070656
+218,3.633333333,POSE1_TO_POSE2_PRESS,782.576534967,759,737,718,674,645,913,800.423465033,841.576534967,657,635.576534967,658,0.457633793406,0.00472699410992,0.0794766538303,0.999999630228,0.000236447386424,-0.00082419619066,-6.58627237884e-05,1793255014904737280
+219,3.650000000,POSE1_TO_POSE2_PRESS,782.001755618,759,737,718,674,645,913,800.998244382,841.001755618,657,635.001755618,658,0.457787408892,0.00472616682449,0.0794779609751,0.999999629436,0.000234875923126,-0.000825281027198,-6.98041048678e-05,1793255014921404160
+220,3.666666667,POSE1_TO_POSE2_PRESS,782,759,736.407839033,717.407839033,673.407839033,645,913,801,841.592160967,657,635,658,0.457912359409,0.0046992612876,0.0794724727853,0.999999628221,0.000203867130014,-0.000835002301529,-6.90450367391e-05,1793255014938070784
+221,3.683333333,POSE1_TO_POSE2_PRESS,782,759.180513976,736,717,673,645,913,800.819486024,841.819486024,657.180513976,635,658,0.458028642015,0.00468276223879,0.0794672948196,0.999999624949,0.000183756234206,-0.000843517208747,-6.9378746997e-05,1793255014954737152
+222,3.700000000,POSE1_TO_POSE2_PRESS,782,759.756548213,736,717,673,645,913,800.243451787,841.243451787,657.756548213,635,658,0.458126124959,0.00468923968668,0.0794628421968,0.999999619097,0.000187721101534,-0.000849330895246,-7.21383745307e-05,1793255014971403520
+223,3.716666667,POSE1_TO_POSE2_PRESS,782,759.668178458,736.331821542,717.331821542,672.668178458,645,913,800,841.331821542,657.668178458,635,658,0.458210691236,0.00469537693115,0.0794586858846,0.999999612744,0.000192570554212,-0.000855562318069,-7.37661778972e-05,1793255014988070400
+224,3.733333333,POSE1_TO_POSE2_PRESS,782,759.093462057,736.906537943,717.906537943,672.093462057,645,913,800,841.906537943,657.093462057,635,658,0.458285802463,0.00470126514588,0.0794547464726,0.999999605997,0.000198067527742,-0.000862099526338,-7.45654811751e-05,1793255015004737024
+225,3.750000000,POSE1_TO_POSE2_PRESS,782.495058754,759,736.504941246,718,672,645,913,800,841.504941246,657,635,658,0.458348977185,0.00469689407088,0.0794520666067,0.999999605173,0.000194022269535,-0.000863992513448,-7.4344274312e-05,1793255015021403648
+226,3.766666667,POSE1_TO_POSE2_PRESS,782.916342591,759.083657409,736.083657409,718,672.083657409,645,913,800,841.083657409,657,635,658,0.45840662446,0.00469219979065,0.0794491438408,0.999999604225,0.00018929998946,-0.000866154270383,-7.41061794648e-05,1793255015038070528
+227,3.783333333,POSE1_TO_POSE2_PRESS,782.342981092,759.657018908,736.657018908,718,672.657018908,645,913,800,841.657018908,657,635,658,0.458445485435,0.00469727648614,0.0794433673426,0.999999595903,0.000191462391699,-0.000875168944343,-7.49293592967e-05,1793255015054737408
+228,3.800000000,POSE1_TO_POSE2_PRESS,782,760,736.767941805,718,672.767941805,645,913.232058195,800,841.767941805,657,635,658,0.45847990122,0.00469906205702,0.0794399303345,0.999999590414,0.000190894988676,-0.000881538946483,-7.49659292388e-05,1793255015071404288
+229,3.816666667,POSE1_TO_POSE2_PRESS,782,760,736.190404729,718,672.190404729,645,913.809595271,800,841.190404729,657,635,658,0.458507699183,0.00469594793403,0.0794399762651,0.999999589224,0.000186263561572,-0.000883971667424,-7.38314260613e-05,1793255015088070656
+230,3.833333333,POSE1_TO_POSE2_PRESS,782.385206746,760,736,718,672.385206746,644.614793254,913.614793254,800,841.385206746,657.385206746,635,658,0.458529908904,0.00469613709776,0.0794394378384,0.999999588766,0.000185265146234,-0.000884708544141,-7.37208934299e-05,1793255015104737024
+231,3.850000000,POSE1_TO_POSE2_PRESS,782.959871129,760,736,718,672.959871129,644.040128871,913.040128871,800,841.959871129,657.959871129,635,658,0.458549370138,0.00469795092913,0.0794386120052,0.999999588677,0.000186053568445,-0.00088461134755,-7.41139839966e-05,1793255015121403648
+232,3.866666667,POSE1_TO_POSE2_PRESS,782.472295663,760,736,718,672.472295663,644.527704337,913,800,842,657.472295663,635,658,0.458562328577,0.00470148187113,0.0794389132198,0.999999588264,0.00019115976082,-0.000883972656337,-7.43175204296e-05,1793255015138070016
+233,3.883333333,POSE1_TO_POSE2_PRESS,782.100979141,759.899020859,736.100979141,718,672,645,913,800.100979141,842,657,635.100979141,658,0.458573790607,0.0047037482062,0.0794393123322,0.999999588138,0.000194556102841,-0.000883374079144,-7.43089879112e-05,1793255015154736896
+234,3.900000000,POSE1_TO_POSE2_PRESS,782.703848694,759.296151306,736.703848694,718,672,645,913,800.703848694,842,657,635.703848694,658,0.458580241494,0.00469908844035,0.0794397774869,0.999999589669,0.000187842999058,-0.000883176925209,-7.33171499934e-05,1793255015171403520
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,759.290672868,736.709327132,718,672,645,913,800.709327132,842,657,635.709327132,658,0.458583389614,0.00469833920553,0.0794386746723,0.999999588438,0.000185284841438,-0.000885127527912,-7.30903077324e-05,1793255015188070400
+236,3.933333333,POSE1_TO_POSE2_PRESS,783,759.86200452,736.13799548,718,672,645,913,800.13799548,842,657,635.13799548,658,0.458583348752,0.00470136577798,0.0794360579073,0.99999958456,0.00018673848553,-0.000889151894051,-7.36021058505e-05,1793255015204737280
+237,3.950000000,POSE1_TO_POSE2_PRESS,783,760,736,718,671.549853283,644.549853283,913,800,841.549853283,657,635,658,0.458584436218,0.00470255052464,0.0794347703524,0.99999958248,0.000190351119921,-0.000890764593176,-7.3112152827e-05,1793255015221403648
+238,3.966666667,POSE1_TO_POSE2_PRESS,783,760,736,718,671.042753337,644,913,800,841.042753337,657,635,658,0.458585766695,0.00470289992238,0.079433829053,0.999999581037,0.00019384028527,-0.000891691743202,-7.2373916895e-05,1793255015238070272
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,736,718,671.624161347,644,913,800,841.624161347,657,635,658,0.458585631845,0.00470011438969,0.0794319172416,0.999999580553,0.000187111596062,-0.000893657615109,-7.2526737868e-05,1793255015254736896
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,736.202488166,718,672,644.202488166,913.202488166,800.202488166,842,657,635.202488166,658,0.458586515027,0.00469891787991,0.0794312901668,0.999999580692,0.000183301446574,-0.000894301617042,-7.2397933878e-05,1793255015271403520
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,736.775181666,718,672,644.775181666,913.775181666,800.775181666,842,657,635.775181666,658,0.458589259457,0.00470062655122,0.0794330119523,0.999999582041,0.000184827209229,-0.00089252886871,-7.17542402179e-05,1793255015288070400
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,736.650526471,717.650526471,672,645,913.650526471,800.650526471,842,657.349473529,635.650526471,658,0.458589710309,0.00470111093593,0.0794334232845,0.99999958245,0.000185245338219,-0.00089199683,-7.15884555382e-05,1793255015304737024
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,760,736.07520167,717.07520167,672,645,913.07520167,800.07520167,842,657.92479833,635.07520167,658,0.45858867891,0.00470080411132,0.0794329877211,0.999999582255,0.000184947646206,-0.000892266614168,-7.17315250362e-05,1793255015321403648
+244,4.066666667,POSE1_TO_POSE2_PRESS,782.486612434,760,736.513387566,717.513387566,672,645,913.513387566,800,842,657.486612434,635.513387566,658,0.458589689183,0.00470133178818,0.0794329306994,0.999999582258,0.000184854118272,-0.000892245330096,-7.21914215853e-05,1793255015338070272
+245,4.083333333,POSE1_TO_POSE2_PRESS,782.102242388,760,736.897757612,718,672,645,914,800,842,657,635.897757612,658,0.458590609958,0.00470142111285,0.0794328093336,0.999999582126,0.000184565776622,-0.000892430840832,-7.24666492215e-05,1793255015354737152
+246,4.100000000,POSE1_TO_POSE2_PRESS,782.683005149,760,736.316994851,718,672,645,914,800,842,657,635.316994851,658,0.458589675025,0.00469887155503,0.0794321204221,0.999999581218,0.000183221976259,-0.000893789043892,-7.16546113716e-05,1793255015371403776
+247,4.116666667,POSE1_TO_POSE2_PRESS,783,759.739562897,736,718,671.739562897,644.739562897,914,800,842,657.260437103,635,658,0.458589885793,0.00469793614921,0.0794321253925,0.999999581233,0.000183036694818,-0.00089384755229,-7.11908689135e-05,1793255015388070400
+248,4.133333333,POSE1_TO_POSE2_PRESS,783,759.166133813,736,718,671.166133813,644.166133813,914,800,842,657.833866187,635,658,0.458591473459,0.00469894062269,0.0794329642668,0.999999582357,0.000184243715324,-0.00089234409446,-7.11457059717e-05,1793255015404736768
+249,4.150000000,POSE1_TO_POSE2_PRESS,782.591494431,759.408505569,736,718,671.408505569,644.408505569,913.591494431,800,841.591494431,657.591494431,635,658,0.458591937927,0.00469972222811,0.0794331221204,0.999999582593,0.000185074692974,-0.00089190901476,-7.1130911158e-05,1793255015421403648
+250,4.166666667,POSE1_TO_POSE2_PRESS,782.016361408,759.983638592,736,718,671.983638592,644.983638592,913.016361408,800,841.016361408,657.016361408,635,658,0.458591944248,0.00470041292665,0.0794330021888,0.999999582467,0.00018575228448,-0.000891909721445,-7.112850336e-05,1793255015438070528
+251,4.183333333,POSE1_TO_POSE2_PRESS,782.576809063,759.423190937,736,718,672,645,913,800,841.576809063,657,635.576809063,658,0.458591176274,0.00470119201226,0.0794317758034,0.999999581234,0.000184719171199,-0.000893512274982,-7.10320598564e-05,1793255015454736896
+252,4.200000000,HOLD_POSE2,782,759,737,718,671,644,914,800,842,657,635,658,0.458592916844,0.00469898074838,0.0794337785022,0.999999582556,0.000183299411427,-0.000892357449894,-7.06203628157e-05,1793255015495661824
+253,4.216666667,HOLD_POSE2,782.576143956,759.576143956,736.423856044,718,671.576143956,644.576143956,913.423856044,800,841.423856044,657,635,658,0.458592532161,0.00470094655897,0.0794323870049,0.999999581017,0.000185350190378,-0.000893643029637,-7.08010866893e-05,1793255015512328704
+254,4.233333333,HOLD_POSE2,783,759.843138253,736,718,671.843138253,644.843138253,913,800.156861747,841.156861747,657,635,658,0.458592636408,0.00470193510102,0.0794317589741,0.999999580411,0.000186469818085,-0.00089408027905,-7.08968164484e-05,1793255015528995584
+255,4.250000000,HOLD_POSE2,783,759.249690176,736,718,671.249690176,644.249690176,913,800.750309824,841.750309824,657,635,658,0.458594101469,0.00470020365542,0.0794332558651,0.999999582413,0.000184997814386,-0.000892156408666,-7.07559859075e-05,1793255015545661952
+256,4.266666667,HOLD_POSE2,782.664766702,759.335233298,736,718,671,644.335233298,913,800.664766702,841.664766702,657.335233298,635,658,0.458594355882,0.00469979663774,0.0794335908518,0.999999582765,0.000185066561686,-0.000891754953973,-7.06572808547e-05,1793255015562328576
+257,4.283333333,HOLD_POSE2,782.08603515,759.91396485,736,718,671,644.91396485,913,800.08603515,841.08603515,657.91396485,635,658,0.458593730937,0.00470035162449,0.0794330818838,0.999999581921,0.000186254440681,-0.000892459313069,-7.05891738531e-05,1793255015578995456
+258,4.300000000,HOLD_POSE2,782,759.512589129,736,717.512589129,671.487410871,645,913,800,841.487410871,657.512589129,635,658,0.458592874769,0.00470127808869,0.0794323658935,0.999999580764,0.00018778373026,-0.000893435235502,-7.05897390103e-05,1793255015595661824
+259,4.316666667,HOLD_POSE2,782.06021154,759,736,717.06021154,671.93978846,645,913,800.06021154,842,657,635,658,0.45859225566,0.00470215475664,0.0794318469592,0.999999579839,0.000188963064342,-0.000894218551243,-7.06187558857e-05,1793255015612328448
+260,4.333333333,HOLD_POSE2,782.635386522,759,736,717.635386522,671.364613478,645,913,800.635386522,842,657,635,658,0.458594009334,0.00470205075244,0.0794333225401,0.999999581398,0.00018663949682,-0.000892949016109,-7.07885490617e-05,1793255015628995328
+261,4.350000000,HOLD_POSE2,783,759,736,718,671,644.782364236,913,800.782364236,842,657,635,658,0.458595336822,0.00470169889568,0.0794338921665,0.999999582551,0.000184897135817,-0.000892014517181,-7.08525079186e-05,1793255015645661952
+262,4.366666667,HOLD_POSE2,783,759,736,718,671,644.187865091,913,800.187865091,842,657,635,658,0.45859592632,0.00470091785141,0.0794328930198,0.999999583012,0.000184161206394,-0.000891660175235,-7.07332014794e-05,1793255015662328576
+263,4.383333333,HOLD_POSE2,783,759.394755655,736,717.605244345,671,644,913.394755655,800,841.605244345,657.394755655,635,658,0.458595167695,0.00469980860056,0.0794326335227,0.999999582474,0.000183524504081,-0.000892421653181,-7.03845377107e-05,1793255015678995200
+264,4.400000000,HOLD_POSE2,783,759.971888627,736,717.028111373,671,644,913.971888627,800,841.028111373,657.971888627,635,658,0.458593786237,0.00469854771804,0.0794327157441,0.999999581474,0.000182933644681,-0.00089369864046,-6.99299107267e-05,1793255015695662080
+265,4.416666667,HOLD_POSE2,783,760,736,717.546211723,671.546211723,644.546211723,914,800,841.546211723,657.453788277,635,658,0.458593665115,0.00469964626902,0.0794324684219,0.999999581926,0.000182890672998,-0.000893169914592,-7.03295958894e-05,1793255015712328448
+266,4.433333333,HOLD_POSE2,783,759.876253767,736.123746233,718,671.876253767,644.876253767,914,800,842,657.123746233,635,658,0.458593856238,0.00470041926947,0.0794323940026,0.99999958247,0.000182816625714,-0.000892554392922,-7.06053676256e-05,1793255015728995072
+267,4.450000000,HOLD_POSE2,783,759.286072042,736.713927958,718,671.286072042,644.286072042,914,800,842,657.713927958,635,658,0.458594981055,0.0046995098104,0.0794330349053,0.999999583079,0.000182519704374,-0.00089196021105,-7.02491934776e-05,1793255015745661696
+268,4.466666667,HOLD_POSE2,783,759.298415929,736.701584071,718,671,644.298415929,914,800,842,657.701584071,635,658,0.458595528013,0.00469926838791,0.0794327986581,0.999999582903,0.000183125112644,-0.00089205491582,-6.99800869678e-05,1793255015762328832
+269,4.483333333,HOLD_POSE2,783,759.877547826,736.122452174,718,671,644.877547826,914,800,842,657.122452174,635,658,0.458595531385,0.00469965537873,0.0794317372872,0.999999581986,0.000184579330609,-0.000892797647293,-6.97928838696e-05,1793255015778995712
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,645,914,800,842,657,635,658,0.458594836906,0.00470024486849,0.0794322940661,0.99999958155,0.000187953352396,-0.000892636399327,-6.90866064161e-05,1793255015811505664
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,645,913.414319344,800,841.414319344,657,635,658,0.45859511292,0.00470207057028,0.0794324623859,0.99999958192,0.000186937489745,-0.000892362784126,-7.0018412731e-05,1793255015828172288
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,760,736,718,671.830011691,644.830011691,913.169988309,800,841.169988309,657,635,658,0.458595733568,0.00470238611831,0.0794330117306,0.999999582795,0.000185434664366,-0.000891655681385,-7.05277150701e-05,1793255015844839168
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,760,736,718,671.249023583,644.249023583,913.750976417,800,841.750976417,657,635,658,0.45859718748,0.00469905039862,0.0794344823219,0.999999584888,0.000182754454381,-0.000889900487145,-7.00154823557e-05,1793255015861505792
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783.329748284,760,736,718,671,644.329748284,913.670251716,800,841.670251716,657,635,658,0.458596805436,0.00469718716492,0.0794339863212,0.999999584679,0.000180956371907,-0.000890545876863,-6.94564207661e-05,1793255015878172416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783.9068576,760,736,718,671,644.9068576,913.0931424,800,841.0931424,657,635,658,0.458595046146,0.00469642851839,0.0794320150792,0.999999582744,0.000179820018502,-0.000892992067337,-6.88622304757e-05,1793255015894839040
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783.516533365,760,736,717.516533365,671,644.516533365,913.483466635,800,841.483466635,657,635,658,0.458594923634,0.00469836691316,0.0794313761426,0.999999582065,0.000181655691375,-0.000893337870539,-6.94155342867e-05,1793255015911505664
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,760,736.061139711,717,671,644.061139711,914,800,842,657,635,658,0.458595204984,0.00470057157713,0.0794311137081,0.999999581756,0.000184021241775,-0.000893148056842,-7.00816619945e-05,1793255015928172288
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,760,736.648805333,717,671,644.648805333,914,800,842,657,635,658,0.458596251532,0.00470059922696,0.0794318854862,0.999999582583,0.000186024171887,-0.000891826779875,-6.98175518623e-05,1793255015944838912
+279,4.650000000,POSE2_TO_POSE3_RETREAT,782.767012542,759.767012542,736.767012542,717.232987458,671,644.767012542,913.767012542,800,842,657,635,658,0.458593181861,0.0047004497335,0.0794306653373,0.999999580894,0.000186812438903,-0.000893569080926,-6.96291810352e-05,1793255015961505280
+280,4.666666667,POSE2_TO_POSE3_RETREAT,782.188003983,759.188003983,736.188003983,717.811996017,671,644.188003983,913.188003983,800,842,657,635,658,0.458583998991,0.00470003715586,0.0794264868797,0.999999575446,0.000185796749999,-0.000899861252051,-6.95532943872e-05,1793255015978172160
+281,4.683333333,POSE2_TO_POSE3_RETREAT,782.389933313,759,736.389933313,718,671,644,913,800,842,657,635,658,0.458556416676,0.00469956471456,0.0794136779191,0.999999557283,0.00018406909483,-0.000920168006258,-6.95974977926e-05,1793255015994838784
+282,4.700000000,POSE2_TO_POSE3_RETREAT,782.967355572,759,736.967355572,718,671,644,913,800,842,657,635,658,0.458519987483,0.00469906348941,0.0793967192128,0.999999532403,0.000181999109631,-0.000947213295812,-6.96994432217e-05,1793255016011505408
+283,4.716666667,POSE2_TO_POSE3_RETREAT,782.457407453,759.542592547,736.457407453,718,671,644.542592547,913,800,842,657,635,658,0.458464647635,0.0047002962135,0.0793779054071,0.999999501933,0.000185573225774,-0.000978228679411,-6.90337774491e-05,1793255016028172032
+284,4.733333333,POSE2_TO_POSE3_RETREAT,782,760,736.120502809,718,671.120502809,645,913,800.120502809,842,657.120502809,635,658,0.458405311609,0.00470133052172,0.0793599314181,0.999999474181,0.000188547351264,-0.00100569319151,-6.83237589729e-05,1793255016044838656
+285,4.750000000,POSE2_TO_POSE3_RETREAT,782,760,736.709311234,718,671.709311234,645,913,800.709311234,842,657.709311234,635,658,0.458334849181,0.00470118994165,0.0793456531774,0.999999461462,0.000187875390031,-0.00101843356173,-6.76201312662e-05,1793255016061505536
+286,4.766666667,POSE2_TO_POSE3_RETREAT,782.294178642,760,737,717.705821358,671.705821358,645,913,800.705821358,842,657.705821358,635.294178642,658,0.458255561117,0.00470102650977,0.0793363402582,0.999999448955,0.000189531349685,-0.00103044372435,-6.59849132179e-05,1793255016078172160
+287,4.783333333,POSE2_TO_POSE3_RETREAT,782.875203234,760,737,717.124796766,671.124796766,645,913,800.124796766,842,657.124796766,635.875203234,658,0.45816766741,0.0047008407957,0.0793318688959,0.999999436662,0.00019345720454,-0.00104174187975,-6.34413256804e-05,1793255016094839040
+288,4.800000000,POSE2_TO_POSE3_RETREAT,783,760,736.549631942,717.450368058,671.450368058,645,913.450368058,800,841.549631942,657,635.549631942,658,0.458069078676,0.00470029368293,0.0793343233934,0.999999439792,0.00019593234855,-0.00103843657305,-6.0622855443e-05,1793255016111505664
+289,4.816666667,POSE2_TO_POSE3_RETREAT,783,759.976013623,736.023986377,718,671.976013623,645,914,800,841,657.023986377,635,658.023986377,0.457966792152,0.00469966531781,0.0793388842192,0.999999447267,0.000198065709236,-0.00103097202976,-5.77244191926e-05,1793255016128172288
+290,4.833333333,POSE2_TO_POSE3_RETREAT,783,759.401100219,736.598899781,718,671.401100219,645,914,800,841,657.598899781,635,658.598899781,0.457846767883,0.00469944130533,0.0793483103222,0.999999458288,0.000201463357368,-0.00101972692216,-5.47163203564e-05,1793255016144839168
+291,4.850000000,POSE2_TO_POSE3_RETREAT,783,759.179353434,736.820646566,718,671.179353434,644.820646566,914,800,841.179353434,657.820646566,635.179353434,658.820646566,0.457714013225,0.00469880709031,0.0793551522839,0.999999465937,0.000204816985141,-0.00101169771062,-5.14172578924e-05,1793255016161505792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.772591967,736.227408033,718,671.772591967,644.227408033,914,800,841.772591967,657.227408033,635.772591967,658.227408033,0.457551881289,0.00469722627107,0.0793560309483,0.999999466077,0.000208069028887,-0.00101108966611,-4.74467534066e-05,1793255016178172416
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,644,914,800,842,657,635.645427374,658,0.457375687625,0.00469584339668,0.0793574147088,0.999999468542,0.000211273035904,-0.00100820112802,-4.25366862639e-05,1793255016194839040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,644,914,800,842,657,635.070444794,658,0.457190752873,0.00469458356888,0.0793591124478,0.999999472417,0.000214447182571,-0.0010038949861,-3.70425664217e-05,1793255016211505664
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,644,914,800,841.495278863,657,635,658,0.456968665197,0.00469284830582,0.0793588625147,0.99999946799,0.000219040864011,-0.00100751041891,-3.10434242253e-05,1793255016228172288
+296,4.933333333,POSE2_TO_POSE3_RETREAT,782.917632661,760,736,718,672,644.082367339,914,800,841,657.082367339,635,658,0.456737353102,0.0046913113359,0.0793588453437,0.999999463586,0.000224400652745,-0.00101086563261,-2.49514823717e-05,1793255016244838912
+297,4.950000000,POSE2_TO_POSE3_RETREAT,782.324772769,760,736,718,672,644.675227231,914,800,841,657.675227231,635,658,0.456481020337,0.00469141475321,0.0793619561842,0.999999466845,0.00023328020043,-0.00100575317483,-1.87214072742e-05,1793255016261505536
+298,4.966666667,POSE2_TO_POSE3_RETREAT,782,760,736,718,672.261106053,645,914,800.261106053,841,657.738893947,635,658,0.456204557228,0.00469064215168,0.0793650727989,0.999999472136,0.000241835100574,-0.00099855165466,-1.17621771859e-05,1793255016278172160
+299,4.983333333,POSE2_TO_POSE3_RETREAT,782,760,736,718,672.838527657,645,914,800.838527657,841,657.161472343,635,658,0.455903707335,0.00468880830175,0.0793681964087,0.999999479861,0.000249996707621,-0.000988819351151,-3.91961649954e-06,1793255016294838784
+300,5.000000000,POSE2_TO_POSE3_RETREAT,782.413843712,760,736,718,673,645,914,801,841.413843712,657.413843712,635,658,0.455589473822,0.00468571925633,0.0793773963199,0.999999495354,0.000256281906068,-0.000971391118255,3.30447385864e-06,1793255016311505408
+301,5.016666667,POSE2_TO_POSE3_RETREAT,782.988342377,760,736,718,673,645,914,801,841.988342377,657.988342377,635,658,0.455270044768,0.00468214294157,0.0793889550634,0.99999951349,0.000261838678683,-0.000950975310139,1.02884726218e-05,1793255016328172288
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782.422065846,760,736,718,673.577934154,645,914,800.422065846,841.422065846,658,635,658,0.454933429497,0.00468027270342,0.0794125344832,0.999999552398,0.000268593026618,-0.000907071563948,1.67885335303e-05,1793255016344838912
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782,760,736,718,674,645,914,800,841.164937485,657.835062515,635,658,0.454573835989,0.00467811165491,0.0794321578765,0.999999584875,0.000266243915129,-0.000871174950581,2.04401618971e-05,1793255016361505536
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782,760,736,718,674,645,914,800,841.744645403,657.255354597,635,658,0.45415735401,0.00467513044111,0.079441206898,0.999999603916,0.000240939840374,-0.000856637357633,1.69540049591e-05,1793255016378172160
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782,759.679163448,736,718,674.320836552,645,914,800,841.679163448,657.320836552,635,658,0.453706849298,0.0046707182696,0.0794458764701,0.999999616449,0.000212004836388,-0.000849702541615,1.26830285087e-05,1793255016394838784
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782,759.105740894,736,718,674.894259106,645,914,800,841.105740894,657.894259106,635,658,0.453229559359,0.00466517954321,0.07944709822,0.999999623541,0.000180211296561,-0.000848753185858,7.79418435728e-06,1793255016411505664
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782.46785246,759,736,718,675,645,914,800,841,657.53214754,635,658,0.452729063954,0.00466157389377,0.0794519466054,0.999999631474,0.000176947110344,-0.000839990589942,1.25788899168e-05,1793255016428172544
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782.956983146,759.043016854,736,718,675.043016854,645,913.956983146,800,841,657.043016854,635,658,0.452221976396,0.00465847681865,0.0794586665037,0.999999640691,0.000180543829919,-0.000828042516416,1.91840132446e-05,1793255016444839168
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.362160905,759.637839095,736,718,675.637839095,645,913.362160905,800,841,657.637839095,635,658,0.451697628907,0.00465629709264,0.0794788752727,0.999999663524,0.000189406774221,-0.000797892808342,2.10848314726e-05,1793255016461506048
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782.225574729,760,736,718,676,645.225574729,913,800,841,657.774425271,635,658,0.451162468311,0.00465230553938,0.0795042152701,0.999999690512,0.000214388377146,-0.000756631852599,2.28487248929e-05,1793255016478172672
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782.802279307,760,736,718,676,645.802279307,913,800,841,657.197720693,635,658,0.450610476053,0.00464549369413,0.0795375425417,0.999999721078,0.000264460299102,-0.000698075117206,2.43994808404e-05,1793255016494839552
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.623071681,759.623071681,736,718,676.753856637,646,913,800,841.376928319,657,635.376928319,658,0.450024317737,0.00463957778721,0.0795751256407,0.999999762055,0.000266686570078,-0.000635603477741,2.78734958983e-05,1793255016511506176
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.049495103,759.049495103,736,718,677.901009793,646,913,800,841.950504897,657,635.950504897,658,0.449420334574,0.00463412930281,0.0796149290575,0.999999806649,0.000243951159252,-0.000571089384171,3.23508993961e-05,1793255016528172800
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782,759,736,718,678,646,913,800,841.45971007,657,635.45971007,658,0.448742690763,0.00463159464276,0.0796086799015,0.999999803415,0.000212121791696,-0.000589371084461,2.85502277672e-05,1793255016544839680
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782,759.128732265,736,718,678.128732265,646,913,800,841,657,635,658,0.448047010897,0.00462847834057,0.0795934101829,0.999999790868,0.000185191565304,-0.000619097218452,2.62232232601e-05,1793255016561506304
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782,759.707137258,736,718,678.707137258,646,913,800,841,657,635,658,0.44731262982,0.0046223690645,0.0795618232783,0.999999764805,0.000178374491986,-0.000661486007412,3.17747399078e-05,1793255016578172672
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782,759.714666702,736,718,679.285333298,646.285333298,913.285333298,800.285333298,841,657,635,658,0.446589131077,0.00461498460363,0.0795621967687,0.999999766456,0.000181323379097,-0.00065802566313,3.48198624661e-05,1793255016594839040
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782,759.136684902,736,718,679.863315098,646.863315098,913.863315098,800.863315098,841,657,635,658,0.445876793574,0.00460629226479,0.0795953500319,0.99999979595,0.000194288599523,-0.000607540737886,3.52943341637e-05,1793255016611505920
+319,5.316666667,POSE2_TO_POSE3_RETREAT,782.437764854,759.437764854,736.437764854,718,680.437764854,647,914,801,841,657,635.437764854,658,0.445135170546,0.00459804243642,0.0796525432203,0.999999843043,0.000183750188294,-0.000527969838567,3.73732779274e-05,1793255016628172544
+320,5.333333333,POSE2_TO_POSE3_RETREAT,782.98887515,760,737,718,681,647.01112485,913.98887515,801,841,657,636,658,0.4443837415,0.00458990834,0.0797163233907,0.999999888383,0.000165799333784,-0.00044062260965,3.99550655252e-05,1793255016644839168
+321,5.350000000,POSE2_TO_POSE3_RETREAT,782.415299164,760,737,718,681,647.584700836,913.415299164,801,841,657,636,658,0.443595135815,0.00458069587361,0.0797366736684,0.999999902763,0.000141146696645,-0.000415593272643,4.28343260554e-05,1793255016661505536
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782,760,736.835387975,717.835387975,681.164612025,647.835387975,913.164612025,801,840.835387975,657,635.835387975,658,0.442798994441,0.00457116202777,0.0797520391207,0.999999913199,0.000130598875764,-0.000393082500261,4.50708791648e-05,1793255016678172160
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782,760,736.238854019,717.238854019,681.761145981,647.238854019,913.761145981,801,840.238854019,657,635.238854019,658,0.441983080379,0.00456078492191,0.0797543249958,0.999999915493,0.000157060379027,-0.000377180137563,4.56210460928e-05,1793255016694838784
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782,760,736.343931608,717.343931608,682.343931608,647,913.656068392,801,840.343931608,657,635.343931608,658,0.441107090381,0.00455041437538,0.0797365216335,0.999999908391,0.000143360254141,-0.000400747926069,4.5462679974e-05,1793255016711505408
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782,760,736.917536257,717.917536257,682.917536257,647,913.082463743,801,840.917536257,657,635.917536257,658,0.44019098249,0.00454004820951,0.0797053029404,0.999999892154,0.000102840716505,-0.000450673366066,4.48311645787e-05,1793255016728172288
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782,760,737,718,683,647.492956595,913.492956595,801,841,657.492956595,635.507043405,658,0.439250294227,0.00452990708308,0.0796729384972,0.999999871701,9.69547024269e-05,-0.000495053792276,4.60350541307e-05,1793255016744838912
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782,760,737,718,683,648,913.929186775,801,841,658,635.070813225,657.929186775,0.438320099353,0.00451948981978,0.0796538895407,0.999999859617,9.52474686941e-05,-0.000519076245205,4.74736707681e-05,1793255016761505792
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782,760,737,718,683,648,913.335595143,801,841,658,635.664404857,657.335595143,0.437497840707,0.004506755037,0.0797345623411,0.999999915641,8.14604636093e-05,-0.000399679263029,4.83701025712e-05,1793255016778172160
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782.250360077,760,737,718,683.250360077,648,913,801,840.749639923,657.749639923,635.749639923,657.250360077,0.436657198885,0.00449652006803,0.0798068712438,0.999999954206,7.07255391195e-05,-0.000289950826862,5.01423297639e-05,1793255016794838784
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782.82638213,760,737,718,683.82638213,648,913,801,840.17361787,657.17361787,635.17361787,657.82638213,0.435792644585,0.00448953679108,0.0798683006137,0.999999977961,6.39606816654e-05,-0.000192798974703,5.30537696679e-05,1793255016811505408
+331,5.516666667,POSE2_TO_POSE3_RETREAT,782.599174291,760,736.599174291,718,684,648,913,801,840,657,635,658,0.434859264896,0.00447806578704,0.0798693502406,0.999999979291,5.21380792472e-05,-0.000189143418851,5.40743814922e-05,1793255016828172288
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782.025411782,760,736.025411782,718,684,648,913,801,840,657,635,658,0.433896190449,0.00446465854741,0.0798443489411,0.999999972301,3.81333063358e-05,-0.000225826974096,5.42791928509e-05,1793255016844838912
+333,5.550000000,POSE2_TO_POSE3_RETREAT,781.438768533,760,736,718,684,648,913,801,840,657,635,657.438768533,0.432855156157,0.0044557963325,0.0797864535578,0.999999942862,3.16650236351e-05,-0.00033200889419,5.51693011836e-05,1793255016861505792
+334,5.566666667,POSE2_TO_POSE3_RETREAT,781.147757207,760,736,717.852242793,684,648,913,801,840,657,635,657.147757207,0.431814580351,0.00444691620307,0.0797326433779,0.999999904953,2.38026641344e-05,-0.00043177727616,5.56446513236e-05,1793255016878172416
+335,5.583333333,POSE2_TO_POSE3_RETREAT,781.732171611,760,736,717.267828389,684,648,913,801,840,657,635,657.732171611,0.430786036298,0.0044373606819,0.0796954108482,0.999999871898,1.07883439216e-05,-0.000503074206206,5.48004423255e-05,1793255016894839040
+336,5.600000000,POSE2_TO_POSE3_RETREAT,781.689245444,760,736,717.310754556,684,648.310754556,913,801,840,657.310754556,635.310754556,657.689245444,0.429856407128,0.00442478842479,0.0797205279942,0.999999893789,-4.07329784424e-06,-0.000457567289663,5.5106573948e-05,1793255016911505920
+337,5.616666667,POSE2_TO_POSE3_RETREAT,781.11559588,760,736,717.88440412,684,648.88440412,913,801,840,657.88440412,635.88440412,657.11559588,0.429010458938,0.00440966404204,0.0797983922962,0.999999949139,-2.04977530551e-05,-0.00031324556678,5.63858806763e-05,1793255016928173056
+338,5.633333333,POSE2_TO_POSE3_RETREAT,781.460420619,760,736,717.539579381,684,648.539579381,913,801,840,658,635.539579381,657.460420619,0.428091903659,0.00440230193083,0.0798350047424,0.99999996567,-2.04922415925e-05,-0.000254643785927,5.82853296155e-05,1793255016944839680
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781.961998224,760,736.038001776,717.038001776,684.038001776,648.038001776,913,801,840,658,635,658,0.427150579782,0.00439732960379,0.0798563296398,0.999999972744,-1.6864186198e-05,-0.000224950481761,6.02030049643e-05,1793255016961506048
+340,5.666666667,POSE2_TO_POSE3_RETREAT,781.370324045,760,736.629675955,717.629675955,684.629675955,648.629675955,913,801,840,658,635,658,0.426144491337,0.00439863494534,0.0798065968958,0.999999952596,-2.08673440037e-05,-0.000301264788544,6.01060636911e-05,1793255016978172672
+341,5.683333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648.783563656,913,801,840,658,635,658,0.425139289566,0.00441147697377,0.0797646483399,0.999999931501,-4.05489678693e-06,-0.000365223477415,5.99463642559e-05,1793255016994839296
+342,5.700000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648.205024061,913,801,840,658,635,658,0.42413557106,0.00444362015924,0.0797357229115,0.999999913646,4.75825614804e-05,-0.000408510931587,5.96816691694e-05,1793255017011505664
+343,5.716666667,POSE2_TO_POSE3_RETREAT,781.370566609,759.629433391,737,718,684.629433391,648,913,801,840,658,635,658,0.423192922653,0.00446185392635,0.0797250166884,0.999999906372,6.59503503838e-05,-0.000423878751186,5.68707154107e-05,1793255017028172288
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781.944538568,759.055461432,737,718,684.055461432,648,913,801,840,658,635,658,0.422283795904,0.00447245276154,0.0797243110546,0.999999906577,6.60562945777e-05,-0.000423921380604,5.26621111823e-05,1793255017044839168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,782,759,737,718,684,648.521077563,913,801,840,658,635,658,0.4214563141,0.00447134290606,0.0797899243999,0.999999947496,7.13995110659e-05,-0.00031154632675,5.33852712654e-05,1793255017061505792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,782,759.100426278,737,718,684.100426278,648.899573722,912.899573722,801,840,658,635,658,0.420625112582,0.00446866530662,0.0798506224421,0.999999974098,7.50154916275e-05,-0.000207864345301,5.4490370217e-05,1793255017078172416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782,759.692177897,737,718,684.692177897,648.307822103,912.307822103,801,840,658,635,658,0.419732987514,0.00446444490172,0.0798525677761,0.999999975096,6.74404573847e-05,-0.00020554115136,5.48832503018e-05,1793255017094839040
+348,5.800000000,POSE2_TO_POSE3_RETREAT,781.723989761,760,737,718,685,648,912.276010239,801,840,657.723989761,635,658,0.418831350886,0.00446281439405,0.0798337855724,0.999999967741,6.35388006438e-05,-0.000239797842703,5.45612368498e-05,1793255017111505920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781.148743139,760,737,718,685,648,912.851256861,801,840,657.148743139,635,658,0.417919402361,0.00446399172264,0.0797925316173,0.999999947339,6.36196348184e-05,-0.000313712600585,5.34641716253e-05,1793255017128172544
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648.425025188,913,801,840,657.425025188,635,658,0.417072444874,0.00446662882179,0.07979213754,0.999999943413,6.40377985731e-05,-0.000325983363737,5.29950371223e-05,1793255017144839168
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648.998278006,913,801,840,657.998278006,635,658,0.416248152952,0.00446977501635,0.0798059933508,0.999999946357,6.45736061718e-05,-0.000316755776389,5.27448935689e-05,1793255017161505536
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,759.41134826,737,718,685,649,913,801,840,657.41134826,635,658,0.415396019621,0.00447271094674,0.0797776458649,0.999999930622,6.90221108977e-05,-0.000362078335595,5.37706840805e-05,1793255017178172416
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,759.175757636,737,718,685,649,913,801,839.824242364,657,635.175757636,658,0.414578537748,0.00447431120778,0.0797605440851,0.999999921051,7.64325170431e-05,-0.000386164044772,5.41637832371e-05,1793255017194839040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,759.755238782,737,718,685,649,913,801,839.244761218,657,635.755238782,658,0.413840844413,0.00447284482965,0.0797695662969,0.999999929291,9.06194710409e-05,-0.00036109019113,5.30947305599e-05,1793255017211505408
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,649,913,801,839.331551912,657.331551912,636,658,0.413118242824,0.00447080788404,0.0797819678167,0.999999937953,9.14657332434e-05,-0.000336067056448,5.27830386642e-05,1793255017228172288
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,649,913,801,839.905548423,657.905548423,636,658,0.412406676994,0.00446835371575,0.0797968404271,0.999999946801,8.25567238507e-05,-0.000311081011059,5.30251606448e-05,1793255017244839424
+357,5.950000000,POSE2_TO_POSE3_RETREAT,781,759.518154165,737,718,685,648.518154165,913,801,839.518154165,658,635.518154165,658,0.411688160198,0.00446839854105,0.079789065149,0.999999940296,8.34612799749e-05,-0.000330932626254,5.40880256239e-05,1793255017261506048
+358,5.966666667,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648.06011466,913,801,839.06011466,658,635,658,0.410973892234,0.00446942029541,0.0797783064691,0.999999931266,8.64339161761e-05,-0.0003563033994,5.51749855103e-05,1793255017278172160
+359,5.983333333,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648.6518088,913,801,839.6518088,658,635,658,0.410309301982,0.00447472835783,0.0797806115993,0.999999932293,9.06020222562e-05,-0.000352386020911,5.50455416727e-05,1793255017294838784
+360,6.000000000,POSE2_TO_POSE3_RETREAT,780.762156926,759,737,717.762156926,685,648.762156926,912.762156926,800.762156926,839.762156926,658,635,658,0.409680753649,0.00447897551732,0.0797940537361,0.999999940297,9.24125906641e-05,-0.000328472189096,5.45086295429e-05,1793255017311505664
+361,6.016666667,POSE2_TO_POSE3_RETREAT,780.184215892,759,737,717.184215892,685,648.184215892,912.184215892,800.184215892,839.184215892,658,635,658,0.409103742646,0.00448170566385,0.0798234209661,0.999999956369,9.08520544811e-05,-0.000275964911475,5.33890678763e-05,1793255017328172544
+362,6.033333333,POSE2_TO_POSE3_RETREAT,780,759,737,717.390148333,685,648,912,800,839.390148333,658,635,657.609851667,0.408522910856,0.00448082317583,0.0798298922653,0.999999957965,9.55002589247e-05,-0.000268324041142,5.43320371618e-05,1793255017344839168
+363,6.050000000,POSE2_TO_POSE3_RETREAT,780,759,737,717.962839094,685,648,912,800,839.962839094,658,635,657.037160906,0.407940291347,0.00447825041023,0.0798256510292,0.999999953438,0.000103053406071,-0.000281675240892,5.62400224408e-05,1793255017361505792
+364,6.066666667,POSE2_TO_POSE3_RETREAT,780.536743126,759.536743126,737.536743126,718,685,648,912.536743126,800,839.463256874,657.463256874,635,657,0.407366534135,0.00447689437668,0.0797875650642,0.99999993323,9.63419103663e-05,-0.000348321749466,5.41326908716e-05,1793255017378172416
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781,759.884538587,737.884538587,718,685,648,913,800,839.115461413,657.115461413,635,657,0.40681043695,0.00447639438425,0.0797554474068,0.999999913682,8.98114721981e-05,-0.000402294336378,5.22360324452e-05,1793255017394839040
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,759.28603137,737.28603137,718,685,648,913,800,839.71396863,657.71396863,635,657,0.406325649527,0.00447912251275,0.0797581241069,0.999999919556,8.81796007256e-05,-0.000387772296486,5.23864143721e-05,1793255017411505664
+367,6.116666667,POSE2_TO_POSE3_RETREAT,780.700373699,759.299626301,737.299626301,718,685,648,912.700373699,800,840,657.700373699,635.299626301,657.299626301,0.405879560084,0.00448286742469,0.0797714560734,0.999999929564,9.87277902942e-05,-0.000358200399937,5.30732358682e-05,1793255017428172288
+368,6.133333333,POSE2_TO_POSE3_RETREAT,780.126478167,759.873521833,737.873521833,718,685,648,912.126478167,800,840,657.126478167,635.873521833,657.873521833,0.40546889368,0.00448754307057,0.0797945415618,0.999999941711,0.00012042525463,-0.000314852301111,5.42510985008e-05,1793255017444838912
+369,6.150000000,POSE2_TO_POSE3_RETREAT,780.446921698,759.553078302,737.553078302,718,685,648,912,800,839.553078302,657.446921698,635.553078302,657.553078302,0.40507483241,0.00448949309996,0.0798104144533,0.999999947221,0.000126856938135,-0.000293752755726,5.63388147198e-05,1793255017461505536
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,759.020983072,737,718,685,648,912,800,839.020983072,657.979016928,635,657,0.404686253144,0.00449067756063,0.0798238439582,0.999999950935,0.00012863149971,-0.000279576325718,5.84894643633e-05,1793255017478172416
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,759.617013459,737,718,685,648,912,800,839.617013459,657.382986541,635,657,0.404319268631,0.00449199691362,0.0798261881948,0.999999951165,0.000121041259078,-0.000282768915495,5.53161283107e-05,1793255017494839040
+372,6.200000000,POSE2_TO_POSE3_RETREAT,780.795185213,759.795185213,737,718,685,648,912,800.204814787,840,657,635,657,0.403962371347,0.00449238289747,0.0798260833084,0.999999950136,0.000114974678226,-0.000289272963425,5.31961759794e-05,1793255017511505920
+373,6.216666667,POSE2_TO_POSE3_RETREAT,780.222177237,759.222177237,737,718,685,648,912,800.777822763,840,657,635,657,0.403623607799,0.0044910909742,0.0798215756615,0.999999946844,0.000111647163883,-0.000301729981303,5.29698798098e-05,1793255017528172288
+374,6.233333333,POSE2_TO_POSE3_RETREAT,780.353721241,759.353721241,737,718,685,648,912,800.646278759,839.646278759,657.353721241,635,657.353721241,0.403325178126,0.00448731110957,0.0798230742456,0.999999947706,0.000107034659739,-0.000300298345982,5.43427938642e-05,1793255017544838912
+375,6.250000000,POSE2_TO_POSE3_RETREAT,780.931450299,759.931450299,737,718,685,648,912,800.068549701,839.068549701,657.931450299,635,657.931450299,0.403052291425,0.00448195565861,0.0798283765101,0.999999951158,0.000101608385193,-0.000290071178769,5.67284703454e-05,1793255017561505792
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,760,737,718.520833898,685,648.520833898,912,800.520833898,839,658,635,657.479166102,0.402808874196,0.00446843041168,0.0798301016995,0.999999952904,7.66532555004e-05,-0.000291408754799,5.82822625262e-05,1793255017578172416
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781,759.891155568,737,719,685,648.891155568,912,801,839,657.891155568,635,657,0.402575705265,0.00445493378537,0.0798305174606,0.999999953623,5.13425646307e-05,-0.000294252299881,5.94479001908e-05,1793255017594838784
+378,6.300000000,POSE2_TO_POSE3_RETREAT,781,759.315755945,737,719,685,648.315755945,912,801,839,657.315755945,635,657,0.402369458907,0.00444627441267,0.0798273846733,0.999999953526,3.57773698488e-05,-0.000296877379723,5.94297960711e-05,1793255017611505408
+379,6.316666667,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648,912,800.739877205,839.260122795,657,635,657.260122795,0.40218041809,0.00444270775495,0.0798274899523,0.999999954535,2.8058142799e-05,-0.00029422810812,5.97707349592e-05,1793255017628172288
+380,6.333333333,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648,912,800.163415839,839.836584161,657,635,657.836584161,0.402012301159,0.00444533441191,0.0798315330842,0.999999957061,2.98804958016e-05,-0.000285164631905,6.05483105338e-05,1793255017644838912
+381,6.350000000,POSE2_TO_POSE3_RETREAT,780.57760461,759,737,719,685,648,912,800.42239539,840,657.42239539,635,658,0.401865338424,0.00444801064349,0.079833663576,0.999999957899,3.617151336e-05,-0.000281225242227,6.169499009e-05,1793255017661505536
+382,6.366666667,POSE2_TO_POSE3_RETREAT,780,759.011706463,737,718.988293537,685,648,912,801,840,657.988293537,635.011706463,657.988293537,0.40172711647,0.00445088929798,0.0798349601258,0.999999957939,4.55532453871e-05,-0.000279437147656,6.29463711423e-05,1793255017678172160
+383,6.383333333,POSE2_TO_POSE3_RETREAT,780,759.591349084,737,718.408650916,685,648,912,801,840,657.408650916,635.591349084,657.408650916,0.401606913358,0.00446263690666,0.079832509791,0.99999995074,0.000119107787696,-0.000283665851589,6.21926645248e-05,1793255017694839040
+384,6.400000000,POSE2_TO_POSE3_RETREAT,780.170193298,759.829806702,737,718.170193298,685,648,912,800.829806702,839.829806702,657.170193298,635.829806702,657.170193298,0.401492488322,0.00447484585676,0.0798298083295,0.99999994288,0.000165563013065,-0.000288694922216,5.90188336938e-05,1793255017711505664
+385,6.416666667,POSE2_TO_POSE3_RETREAT,780.747129325,759.252870675,737,718.747129325,685,648,912,800.252870675,839.252870675,657.747129325,635.252870675,657.747129325,0.401391872253,0.00448815735897,0.0798265067042,0.999999944205,0.000147253927073,-0.000295636781151,5.00611805267e-05,1793255017728172544
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,759.319950344,737,719,685,648,912,800.319950344,839,657.680049656,635,658,0.401305512614,0.00448928300118,0.0798226786663,0.999999944712,0.000133508633792,-0.000300863886935,4.72488534377e-05,1793255017744839168
+387,6.450000000,POSE2_TO_POSE3_RETREAT,781,759.889560452,737,719,685,648,912,800.889560452,839,657.110439548,635,658,0.401230277369,0.00448089992266,0.0798184398642,0.999999944746,0.00012332450183,-0.000304752958176,4.92317715451e-05,1793255017761505536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,780.520167067,760,737.479832933,719,685,648,912,800.520167067,839,657,635,658,0.401174605918,0.00448092648677,0.07981715478,0.999999944564,0.000122459751113,-0.000305533070059,5.0243835931e-05,1793255017778172160
+389,6.483333333,POSE2_TO_POSE3_RETREAT,780.072919647,759.927080353,737.927080353,718.927080353,685,648,912,800.072919647,839,657,635,658,0.401125053029,0.00448275715379,0.0798166975681,0.999999944302,0.000123572884619,-0.000305817374852,5.10008361591e-05,1793255017794838784
+390,6.500000000,POSE2_TO_POSE3_RETREAT,780.651072171,759.348927829,737.348927829,718.348927829,685,648,912,800.651072171,839,657,635,658,0.40108529085,0.00448307335258,0.0798170540895,0.999999943736,0.000122859562463,-0.00030784740738,5.16084919954e-05,1793255017811505664
+391,6.516666667,POSE2_TO_POSE3_RETREAT,781,759,737.227961259,718,685,648,912,801,839,657.227961259,635,658,0.40105189059,0.00448274389685,0.0798172508306,0.999999943667,0.000121489215343,-0.000308535987607,5.20814491304e-05,1793255017828172544
+392,6.533333333,POSE2_TO_POSE3_RETREAT,781,759,737.802927103,718,685,648,912,801,839,657.802927103,635,658,0.4010281745,0.00448143162025,0.079817204353,0.999999944355,0.000119118739233,-0.000307182597516,5.23493667107e-05,1793255017844839424
+393,6.550000000,POSE2_TO_POSE3_RETREAT,780.623376462,759.376623538,737.623376462,718.376623538,685,648,912,800.623376462,839,657.623376462,635,658,0.40100986302,0.00448175431275,0.079816676869,0.999999944487,0.000118878949429,-0.000306821856527,5.2478272544e-05,1793255017861505792
+394,6.566666667,POSE2_TO_POSE3_RETREAT,780.050342047,759.949657953,737.050342047,718.949657953,685,648,912,800.050342047,839,657.050342047,635,658,0.400994370069,0.00448292964907,0.0798158985381,0.999999944332,0.000119750322234,-0.000306978786574,5.25346831149e-05,1793255017878172416
+395,6.583333333,POSE2_TO_POSE3_RETREAT,780.542563351,760,737,719,685,648,912,800.542563351,839.542563351,657.542563351,635,658,0.400985826054,0.00448111737919,0.0798169735051,0.999999944939,0.000116987763375,-0.000306040549736,5.26733914322e-05,1793255017894838784
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781,759.867188502,737.132811498,719,685,648,912,800.867188502,839.867188502,657.867188502,635.132811498,658,0.400978423038,0.00447981207795,0.0798180004568,0.999999945404,0.00011541156848,-0.000305079945129,5.28922828543e-05,1793255017911505664
+397,6.616666667,POSE2_TO_POSE3_RETREAT,781,759.292160613,737.707839387,719,685,648,912,800.292160613,839.292160613,657.292160613,635.707839387,658,0.40097259071,0.00448115289962,0.079818273202,0.999999945174,0.000118950917685,-0.000304396071637,5.33517643053e-05,1793255017928172288
+398,6.633333333,POSE2_TO_POSE3_RETREAT,780.714894941,759.285105059,738,718.714894941,685,648,912,800,839.285105059,657.285105059,635.714894941,658,0.400969417064,0.00448145306648,0.0798188599406,0.999999945444,0.000119458872594,-0.000303329661716,5.32228138873e-05,1793255017944838912
+399,6.650000000,POSE2_TO_POSE3_RETREAT,780.135317896,759.864682104,738,718.135317896,685,648,912,800,839.864682104,657.864682104,635.135317896,658,0.400968989449,0.0044806783887,0.0798197709889,0.999999946235,0.000116835839303,-0.000301868147318,5.24860991402e-05,1793255017961505536
+400,6.666666667,POSE2_TO_POSE3_RETREAT,780,759.563867284,737.563867284,718.436132716,685,648,912,800,840,657.563867284,635,657.563867284,0.400970031436,0.00448057049736,0.0798216924488,0.999999947049,0.000117230491265,-0.000299023149392,5.23780991596e-05,1793255017978172416
+401,6.683333333,POSE2_TO_POSE3_RETREAT,780,759,737.005370162,719,685,648,912,800,840,657,635.005370162,657.005370162,0.400971494478,0.00448067582307,0.0798239048375,0.999999947852,0.000118543704445,-0.000295790294401,5.24602389404e-05,1793255017994839040
+402,6.700000000,POSE2_TO_POSE3_RETREAT,780,759,737.603542304,719,685,648,912,800,840,657,635.603542304,657.603542304,0.400970024137,0.00448189817523,0.0798242588831,0.999999947568,0.000119790436181,-0.000296259978315,5.2392043326e-05,1793255018011505664
+403,6.716666667,POSE2_TO_POSE3_RETREAT,780,759.193530012,738,719,685,648,912,800.193530012,839.806469988,657,635.806469988,658,0.400969251214,0.00448251778395,0.0798246887778,0.999999947603,0.000120194057007,-0.000295977304645,5.23880704556e-05,1793255018028172544
+404,6.733333333,POSE2_TO_POSE3_RETREAT,780,759.76743167,738,719,685,648,912,800.76743167,839.23256833,657,635.23256833,658,0.400969849022,0.00448195273646,0.0798252677491,0.999999948266,0.000118940593763,-0.000294215917174,5.25103235461e-05,1793255018044839168
+405,6.750000000,POSE2_TO_POSE3_RETREAT,780.341264606,759.658735394,738,719,685.341264606,648,912.341264606,801,839,657.341264606,635,657.658735394,0.400970842387,0.00448133538223,0.0798263295017,0.999999948898,0.000117954249336,-0.000292450767696,5.25720187792e-05,1793255018061505536
+406,6.766666667,POSE2_TO_POSE3_RETREAT,780.915050696,759.084949304,738,719,685.915050696,648,912.915050696,801,839,657.915050696,635,657.084949304,0.400972105266,0.00448068238868,0.0798277201985,0.999999949507,0.000117149907025,-0.000290683055034,5.25924527613e-05,1793255018078172160
+407,6.783333333,POSE2_TO_POSE3_RETREAT,780.493826834,759,737.493826834,718.493826834,685.493826834,648,912.493826834,800.493826834,839,658,635,657,0.400970878227,0.00448134960947,0.0798269669106,0.999999949554,0.000116567755811,-0.000290855434191,5.2035833583e-05,1793255018094838784
+408,6.800000000,POSE2_TO_POSE3_RETREAT,780.09748393,759,737,718,685,648,912,800,839,657.90251607,635,657,0.400969296478,0.00448218074968,0.0798258613563,0.999999949395,0.000116147444864,-0.000291669077606,5.14741553573e-05,1793255018111505664
+409,6.816666667,POSE2_TO_POSE3_RETREAT,780.674889745,759,737,718,685,648,912,800,839,657.325110255,635,657,0.400968098645,0.00448268940077,0.0798248558007,0.999999948701,0.000116333797476,-0.000293979920694,5.13812555056e-05,1793255018128172544
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780.748121149,759,737,718,685,648,912,800,839,657,635,657,0.400968499598,0.00448278851225,0.0798253491317,0.999999948625,0.000117304963322,-0.000293840688934,5.1460520271e-05,1793255018144839168
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d37061c934fd721e96b372ca9b505660bf682abe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,420 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.591120831461,0.0101818280578,1.07002042425,0.561691979181,0.018856066143,1.06969213844
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+349,5.816666667,pose2_to_pose3_retreat,0.589672623662,0.0101817411021,1.07002047643,0.560243771562,0.0188559795685,1.06969218444
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+355,5.916666667,pose2_to_pose3_retreat,0.585677476881,0.0101818350713,1.07002053728,0.556248624466,0.0188560723195,1.06969224131
+356,5.933333333,pose2_to_pose3_retreat,0.585081787147,0.0101818361513,1.07002046365,0.555652933368,0.0188560688584,1.06969217
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+359,5.983333333,pose2_to_pose3_retreat,0.583384869793,0.0101818528428,1.07002054363,0.553956015376,0.0188560831727,1.06969224442
+360,6.000000000,pose2_to_pose3_retreat,0.582861916345,0.0101818548249,1.07002067755,0.553433064907,0.0188560955602,1.06969238619
+361,6.016666667,pose2_to_pose3_retreat,0.582360917921,0.0101818157512,1.07002076137,0.55293206707,0.0188560583119,1.0696924656
+362,6.033333333,pose2_to_pose3_retreat,0.581874962446,0.0101817814643,1.07002077521,0.552446111229,0.0188560227211,1.06969247777
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+365,6.083333333,pose2_to_pose3_retreat,0.580505971356,0.0101817882923,1.07002026144,0.551077119516,0.0188560279462,1.06969197751
+366,6.100000000,pose2_to_pose3_retreat,0.580098227623,0.0101817501843,1.07002051767,0.550669375413,0.0188559881378,1.06969222203
+367,6.116666667,pose2_to_pose3_retreat,0.579720094186,0.0101817488027,1.07002063136,0.550291241762,0.0188559859427,1.06969233339
+368,6.133333333,pose2_to_pose3_retreat,0.579369676493,0.0101818116025,1.07002048511,0.549940823853,0.0188560480896,1.06969218928
+369,6.150000000,pose2_to_pose3_retreat,0.579038732376,0.0101818351589,1.07002037333,0.549609879591,0.0188560714242,1.0696920847
+370,6.166666667,pose2_to_pose3_retreat,0.578722630402,0.010181855495,1.07002040823,0.54929377699,0.018856089692,1.06969212118
+371,6.183333333,pose2_to_pose3_retreat,0.578418573227,0.0101818985337,1.0700205325,0.548989718936,0.0188561293618,1.06969223525
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+373,6.216666667,pose2_to_pose3_retreat,0.577861119753,0.0101817995763,1.07002029694,0.548432267101,0.0188560361348,1.06969200424
+374,6.233333333,pose2_to_pose3_retreat,0.577612473759,0.0101817821698,1.07002045015,0.548183620902,0.0188560181545,1.06969216067
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+378,6.300000000,pose2_to_pose3_retreat,0.576819104325,0.0101818075512,1.07002046004,0.547390251477,0.0188560436349,1.06969217262
+379,6.316666667,pose2_to_pose3_retreat,0.576664222728,0.010181771605,1.07002036978,0.547235371318,0.0188560126419,1.06969208432
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+382,6.366666667,pose2_to_pose3_retreat,0.576287761487,0.0101818451891,1.0700204998,0.546858908206,0.0188560797413,1.06969221079
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+384,6.400000000,pose2_to_pose3_retreat,0.576095127045,0.0101818681658,1.07002048032,0.546666274103,0.0188561040101,1.06969219521
+385,6.416666667,pose2_to_pose3_retreat,0.576014346823,0.0101817431183,1.07002051507,0.546585495638,0.0188559846416,1.0696922229
+386,6.433333333,pose2_to_pose3_retreat,0.575944237972,0.0101817376812,1.07002061173,0.546515387906,0.0188559831752,1.06969232405
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+388,6.466666667,pose2_to_pose3_retreat,0.575835350018,0.010181765801,1.07002044726,0.546406497978,0.0188560043761,1.06969215364
+389,6.483333333,pose2_to_pose3_retreat,0.575794670272,0.0101817902762,1.07002032823,0.546365818223,0.0188560289864,1.06969203906
+390,6.500000000,pose2_to_pose3_retreat,0.575762443407,0.0101818157963,1.07002042127,0.546333591689,0.0188560556403,1.06969213233
+391,6.516666667,pose2_to_pose3_retreat,0.575736391764,0.0101818036817,1.07002054362,0.546307540116,0.0188560435464,1.069692249
+392,6.533333333,pose2_to_pose3_retreat,0.575715963042,0.0101817014565,1.07002062423,0.546287110553,0.0188559381636,1.0696923215
+393,6.550000000,pose2_to_pose3_retreat,0.575700465737,0.0101815175299,1.07002031842,0.54627161551,0.0188557620909,1.06969202055
+394,6.566666667,pose2_to_pose3_retreat,0.575689248747,0.0101817633421,1.07002055328,0.546260395063,0.0188559962987,1.06969225871
+395,6.583333333,pose2_to_pose3_retreat,0.575680949168,0.0101817342389,1.0700205014,0.546252096773,0.0188559715751,1.06969220712
+396,6.600000000,pose2_to_pose3_retreat,0.575675104869,0.0101817537245,1.07002048636,0.546246252858,0.0188559924554,1.06969219451
+397,6.616666667,pose2_to_pose3_retreat,0.575671587304,0.0101818973394,1.07002060583,0.546242733296,0.0188561294585,1.06969231831
+398,6.633333333,pose2_to_pose3_retreat,0.575669580481,0.0101817866807,1.0700205266,0.54624072797,0.0188560238337,1.06969223783
+399,6.650000000,pose2_to_pose3_retreat,0.575668714679,0.0101817526315,1.07002050088,0.546239862683,0.0188559915024,1.06969221136
+400,6.666666667,pose2_to_pose3_retreat,0.57566841447,0.0101817604891,1.07002050413,0.546239562463,0.0188559993039,1.06969221404
+401,6.683333333,pose2_to_pose3_retreat,0.57566839507,0.0101817609969,1.07002050434,0.546239543063,0.0188559998081,1.06969221421
+402,6.700000000,pose2_to_pose3_retreat,0.575668294527,0.0101817636285,1.07002050542,0.546239442516,0.0188560024209,1.06969221511
+403,6.716666667,pose2_to_pose3_retreat,0.575668199671,0.0101817661112,1.07002050645,0.546239347656,0.0188560048859,1.06969221595
+404,6.733333333,pose2_to_pose3_retreat,0.575668128228,0.0101817679812,1.07002050722,0.546239276211,0.0188560067425,1.06969221659
+405,6.750000000,pose2_to_pose3_retreat,0.575668028325,0.010181770596,1.0700205083,0.546239176305,0.0188560093387,1.06969221748
+406,6.766666667,pose2_to_pose3_retreat,0.575668023031,0.0101817707346,1.07002050836,0.54623917101,0.0188560094762,1.06969221753
+407,6.783333333,pose2_to_pose3_retreat,0.575667818291,0.0101817760934,1.07002051057,0.546238966264,0.0188560147968,1.06969221935
+408,6.800000000,pose2_to_pose3_retreat,0.575667544257,0.0101817832659,1.07002051353,0.54623869222,0.0188560219181,1.0696922218
+409,6.816666667,pose2_to_pose3_retreat,0.575667410385,0.0101817867699,1.07002051497,0.546238558344,0.018856025397,1.06969222299
+410,6.833333333,pose2_to_pose3_retreat,0.575667372969,0.0101817877435,1.07002051149,0.546238520886,0.0188560262238,1.06969221935
+411,6.850000000,pose2_to_pose3_retreat,0.575667330018,0.0101817888556,1.0700205038,0.546238477849,0.0188560270342,1.06969221139
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+413,6.883333333,pose2_to_pose3_retreat,0.575666798526,0.0101818037163,1.07002041287,0.546237945256,0.0188560380246,1.06969211692
+414,6.900000000,pose2_to_pose3_retreat,0.575666797302,0.0101818055495,1.07002041964,0.546237943967,0.0188560396244,1.06969212336
+415,6.916666667,pose2_to_pose3_retreat,0.57566679657,0.0101818066461,1.0700204237,0.546237943196,0.0188560405814,1.06969212721
+416,6.933333333,pose2_to_pose3_retreat,0.575666775747,0.0101818378362,1.070020539,0.546237921268,0.0188560678007,1.06969223671
+417,6.950000000,pose2_to_pose3_retreat,0.575666773093,0.0101818418112,1.0700205537,0.546237918473,0.0188560712696,1.06969225067
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diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e9ae5b040ff9959e1ed58f98d6ddabe06f7d529
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce25ceb84ea1d8c0542b9d73edd2987197124bdebe1d0be160cd310aae44b1a
+size 26567316
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b3ab5f1e21adad63782ac7e91fc0007f1fa86369
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
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+15,0.250000000,BASELINE,780.69590746,759,738,719,685.69590746,648,912,800.30409254,839,657,635,657.69590746,0.400970627004,0.00448463346121,0.0798300115224,0.99999995079,0.000118369199554,-0.000285978043502,5.12427957182e-05,1793255018674818304
+16,0.266666667,BASELINE,780.727398898,759,737.727398898,719,685.727398898,648,912,800.272601102,839.272601102,657.272601102,635,658,0.400971873106,0.004484439282,0.0798309479079,0.999999951282,0.000118038419888,-0.000284400693503,5.11847006345e-05,1793255018691484928
+17,0.283333333,BASELINE,780.153721093,759,737.153721093,719,685.153721093,648,912,800.846278907,839.846278907,657.846278907,635,658,0.400973001818,0.00448406806325,0.0798316052301,0.999999951677,0.000118200386884,-0.000282995080293,5.08853172945e-05,1793255018708151552
+18,0.300000000,BASELINE,780.437067566,759.437067566,737,718.562932434,685,648.437067566,912,800.562932434,839.562932434,658,635,658,0.400972576576,0.00448371690119,0.079831422788,0.999999951572,0.000118103926887,-0.000283389109936,5.0966608908e-05,1793255018724818176
+19,0.316666667,BASELINE,781,760,737.032778199,718.032778199,685,648.967221801,912,800,839,658,635.032778199,657.967221801,0.400971660463,0.00448333130701,0.0798309709888,0.999999951317,0.000117828849409,-0.000284363694058,5.11752113391e-05,1793255018741484800
+20,0.333333333,BASELINE,781,760,737.606359282,718.606359282,685,648.393640718,912,800,839,658,635.606359282,657.393640718,0.40097203025,0.00448225649474,0.0798311466528,0.999999951601,0.000116167491846,-0.000284048275875,5.11853067003e-05,1793255018758151424
+21,0.350000000,BASELINE,780.819250847,759.819250847,737.819250847,719,685,648,912,800,839,657.819250847,635.819250847,657.180749153,0.400972326602,0.00448161493506,0.0798312881484,0.999999951818,0.00011492193184,-0.000283794628638,5.11620323597e-05,1793255018774818048
+22,0.366666667,BASELINE,780.243091734,759.243091734,737.243091734,719,685,648,912,800,839,657.243091734,635.243091734,657.756908266,0.400972462305,0.00448192116632,0.0798313548964,0.999999951895,0.000114585977947,-0.000283676112627,5.10657578841e-05,1793255018791484672
+23,0.383333333,BASELINE,780.342181285,759,737,719,685,648,912,800.342181285,839,657,635,658,0.40097252091,0.00448158898134,0.0798317651675,0.999999952107,0.000114019406503,-0.000283150319501,5.10961022811e-05,1793255018808151296
+24,0.400000000,BASELINE,780.934106219,759,737,719,685,648,912,800.934106219,839,657,635,658,0.400972523245,0.00448079084336,0.0798324261616,0.999999952417,0.000113284517026,-0.000282327272021,5.12188604283e-05,1793255018824818432
+25,0.416666667,BASELINE,780.486468679,759,737,719,685,648,912,801,839,657,635,657.486468679,0.400970690419,0.00448132698541,0.079830246571,0.999999951527,0.000113953367642,-0.000285206106454,5.11663207703e-05,1793255018841484800
+26,0.433333333,BASELINE,780.090720609,759,737,719,685,648,912,800.909279391,839,657,635,657,0.400969064668,0.00448182153838,0.0798283048061,0.999999950694,0.000114735387065,-0.000287810879738,5.11165583168e-05,1793255018858151424
+27,0.450000000,BASELINE,780.664343677,759,737,719,685,648,912,800.335656323,839,657,635,657,0.400969764836,0.0044812050353,0.0798295230399,0.999999951018,0.000115183806064,-0.00028648847416,5.1198464903e-05,1793255018874818048
+28,0.466666667,BASELINE,780.754920644,759,737,718.754920644,685,648.245079356,912,800.245079356,839,657.245079356,635.245079356,657.245079356,0.400970037341,0.00448085976039,0.079830070734,0.999999951157,0.000115491905032,-0.000285863645541,5.12846761249e-05,1793255018891484672
+29,0.483333333,BASELINE,780.164152535,759,737,718.164152535,685,648.835847465,912,800.835847465,839,657.835847465,635.835847465,657.835847465,0.400969706619,0.00448089705762,0.0798296726201,0.999999951037,0.000115602080096,-0.000286222761603,5.13769591068e-05,1793255018908151296
+30,0.500000000,BASELINE,780.418472851,759,737,718.418472851,685,648.581527149,912,800.581527149,839,657.581527149,635.581527149,658,0.400970527486,0.00448079267968,0.0798304142936,0.999999951483,0.000114224849703,-0.000285230580248,5.12814927151e-05,1793255018924817920
+31,0.516666667,BASELINE,780.997965078,759,737,718.997965078,685,648.002034922,912,800.002034922,839,657.002034922,635.002034922,658,0.400971791458,0.00448063378817,0.0798315945327,0.999999952143,0.000112275297595,-0.000283718448626,5.11137843897e-05,1793255018941484544
+32,0.533333333,BASELINE,780.429191979,759.570808021,737,719,685.570808021,648.570808021,912,800,839,657,635,657.429191979,0.400970690561,0.00448297025183,0.0798304593863,0.999999951176,0.000117239614252,-0.000285113320863,5.11201531262e-05,1793255018958151424
+33,0.550000000,BASELINE,780.144398407,760,737,719,685.855601593,648.855601593,912,800,839,657,635,657.144398407,0.400970147952,0.00448427971245,0.0798298125934,0.99999995059,0.000120328093747,-0.000285885153137,5.11059461583e-05,1793255018974818304
+34,0.566666667,BASELINE,780.720292241,760,737,719,685.279707759,648.279707759,912,800,839,657,635,657.720292241,0.400971298534,0.00448249397607,0.0798306494941,0.999999951221,0.000117738337171,-0.000284764587764,5.10284212011e-05,1793255018991484928
+35,0.583333333,BASELINE,780.695097552,759.695097552,737.304902448,719,685.304902448,648,912,800.304902448,839,657,635,657.695097552,0.400971812165,0.00448229665229,0.0798311139936,0.999999951413,0.00011807071629,-0.000283935707725,5.11352339026e-05,1793255019008151296
+36,0.600000000,BASELINE,780.102255839,759.102255839,737.897744161,719,685.897744161,648,912,800.897744161,839,657,635,657.102255839,0.400971724284,0.00448359936992,0.0798312268102,0.999999951185,0.000121162658421,-0.000283382285036,5.14161286683e-05,1793255019024817920
+37,0.616666667,BASELINE,780.477478626,759,738,719,685.522521374,648,912,801,839.477478626,657.477478626,635,657.477478626,0.400971386481,0.00448370605921,0.0798313641149,0.999999951245,0.000120240552684,-0.000283538387269,5.15499113232e-05,1793255019041484544
+38,0.633333333,BASELINE,781,759.05442904,737.94557096,719,685.05442904,648,912,801,839.94557096,657.94557096,635,658,0.400970886701,0.00448354801808,0.0798313481956,0.999999951306,0.000118557001166,-0.000284017312821,5.16345925788e-05,1793255019058151168
+39,0.650000000,BASELINE,781,759.63088085,737.36911915,719,685.63088085,648,912,801,839.36911915,657.36911915,635,658,0.400969333045,0.00448324194272,0.0798298137693,0.99999995081,0.000117594941836,-0.000286173997971,5.15424379382e-05,1793255019074817792
+40,0.666666667,BASELINE,780.788760612,760,737,719,685.788760612,648,912,801,839.211239388,657,635,657.788760612,0.400968845426,0.00448292549652,0.0798292258083,0.999999950722,0.000116668006663,-0.000286887172083,5.13747072888e-05,1793255019091484416
+41,0.683333333,BASELINE,780.201446871,760,737,719,685.201446871,648,912,801,839.798553129,657,635,657.201446871,0.400970255699,0.0044825905869,0.0798303228614,0.999999951369,0.000115803603896,-0.000285030430088,5.10724269341e-05,1793255019108151296
+42,0.700000000,BASELINE,780.380838625,760,737,719,685,648,912,800.619161375,839.619161375,657,635,657.380838625,0.40097185674,0.004482505428,0.0798311723647,0.999999951921,0.000116257939704,-0.000282915961841,5.0997231759e-05,1793255019124818176
+43,0.716666667,BASELINE,780.960499042,760,737,719,685,648,912,800.039500958,839.039500958,657,635,657.960499042,0.400973557373,0.00448255065475,0.0798318926312,0.999999952419,0.00011740074028,-0.000280666944286,5.10405893849e-05,1793255019141484800
+44,0.733333333,BASELINE,781,760,737,719,685.515404937,648,912,800.515404937,839.515404937,657.515404937,635,657.484595063,0.400971199334,0.00448279494978,0.0798307803626,0.999999951651,0.000116945327831,-0.000283601403988,5.09046591179e-05,1793255019158151424
+45,0.750000000,BASELINE,780.925535539,759.925535539,737,719,686,648,912,801,839.925535539,658,635,657,0.400968911697,0.0044829876154,0.079829745525,0.999999950901,0.000116535724681,-0.000286423328718,5.0793328517e-05,1793255019174818048
+46,0.766666667,BASELINE,780.324285836,759.324285836,737,719,686,648,912,801,839.324285836,658,635,657,0.400969221799,0.00448271205351,0.0798302064896,0.999999950994,0.000117276999672,-0.000285767559946,5.09487753812e-05,1793255019191484416
+47,0.783333333,BASELINE,780.271389746,759,737.271389746,719,685.728610254,648,912,801,839,658,635,657,0.400969534869,0.00448258107012,0.0798305731932,0.999999951167,0.00011704436799,-0.000285238151565,5.10516526754e-05,1793255019208151040
+48,0.800000000,BASELINE,780.860538891,759,737.860538891,719,685.139461109,648,912,801,839,658,635,657,0.400969851415,0.00448261936788,0.0798308295304,0.999999951433,0.000115671428028,-0.00028485669343,5.10929783828e-05,1793255019224817920
+49,0.816666667,BASELINE,781,759,737.558540715,719,685,648,912,800.558540715,839,658,635,657.441459285,0.400971011023,0.00448317379543,0.0798317028182,0.999999951658,0.000117097112506,-0.000283453860591,5.12460587501e-05,1793255019241484544
+50,0.833333333,BASELINE,780.98030555,759,737,719,685,648,912,800.01969445,839,658,635,657.98030555,0.400972321663,0.00448384039832,0.0798326802006,0.999999951839,0.000119278162606,-0.00028186987713,5.14256270016e-05,1793255019258151424
+51,0.850000000,BASELINE,780.405823183,759,737,719,685,648,912,800.594176817,839,658,635,657.405823183,0.400970521659,0.00448315791759,0.0798312000725,0.999999951326,0.000118288209457,-0.000284105903216,5.13750365774e-05,1793255019274818048
+52,0.866666667,BASELINE,780,759,737,719,685,648,912,800.830372673,839,658,635,657,0.40096907118,0.00448246529078,0.0798300621322,0.999999950985,0.00011692460322,-0.000285876961652,5.13031376889e-05,1793255019291484672
+53,0.883333333,BASELINE,780,759,737,719,685,648,912,800.252592678,839,658,635,657,0.400968461717,0.00448174825079,0.079829747555,0.999999951067,0.00011466192313,-0.000286529227423,5.11799669556e-05,1793255019308151296
+54,0.900000000,BASELINE,780,759,737,719,685.332290485,648,912,800,839,658,635,657,0.400968803248,0.00448163607875,0.0798298987412,0.999999951239,0.000114670608125,-0.000285950551849,5.10351923768e-05,1793255019324817920
+55,0.916666667,BASELINE,780,759,737,719,685.922691082,648,912,800,839,658,635,657,0.400969883474,0.00448199374426,0.0798304117139,0.99999995148,0.000116443599823,-0.000284415729674,5.0873636791e-05,1793255019341484544
+56,0.933333333,BASELINE,780,759,737.503238432,719,686,648,912,800,839,658,635.503238432,657.503238432,0.40096996675,0.0044820173193,0.0798304466223,0.99999995175,0.000114674544896,-0.000284194580063,5.08250642269e-05,1793255019358151168
+57,0.950000000,BASELINE,780.081418548,759.081418548,737.918581452,719,686,648,912,800,839,658,635.918581452,657.918581452,0.400970000797,0.00448216534323,0.0798305018116,0.999999951968,0.00011305231526,-0.000284085320636,5.07882819224e-05,1793255019374817792
+58,0.966666667,BASELINE,780.654271033,759.654271033,737.345728967,719,686,648,912,800,839,658,635.345728967,657.345728967,0.400970644368,0.00448336836464,0.0798311141874,0.999999951865,0.000115537605277,-0.000283456705919,5.07199125809e-05,1793255019391484672
+59,0.983333333,BASELINE,780.766363109,760,737,719,686,648,912.233636891,800,839,657.766363109,635,657,0.400970679436,0.00448304620615,0.0798312940839,0.999999951863,0.000115827132737,-0.000283335258161,5.07804099333e-05,1793255019408151296
+60,1.000000000,BASELINE,780.177082461,760,737,719,686,648,912.822917539,800,839,657.177082461,635,657,0.400969788235,0.00448040240801,0.0798308156572,0.999999952015,0.000112774255,-0.0002839858235,5.10370690846e-05,1793255019424817920
+61,1.016666667,BASELINE,780.405321454,760,737,719,686,648.405321454,912.594678546,800,839,657.405321454,635,657,0.40097020533,0.00448131042846,0.0798310305734,0.999999951962,0.000114304140842,-0.000283563076809,5.10179376079e-05,1793255019441484800
+62,1.033333333,BASELINE,780.984771056,760,737,719,686,648.984771056,912.015228944,800,839,657.984771056,635,657,0.400971184475,0.00448374432829,0.0798315433532,0.999999951813,0.000117802805276,-0.000282679229802,5.08803250667e-05,1793255019458151424
+63,1.050000000,BASELINE,780.438224521,759.438224521,737.561775479,718.438224521,686,648.438224521,912,800.561775479,839,658,635,657,0.400971250044,0.00448196387964,0.0798315512616,0.999999952057,0.000116177722821,-0.000282453717496,5.10708522039e-05,1793255019474818048
+64,1.066666667,BASELINE,780.137601775,759,738,718.137601775,686,648,912,800.862398225,839,657.862398225,635,657,0.400971157573,0.00448061968275,0.0798315662849,0.99999995224,0.000114639608774,-0.000282419995321,5.11607356344e-05,1793255019491484416
+65,1.083333333,BASELINE,780.709914609,759,738,718.709914609,686,648,912,800.290085391,839,657.290085391,635,657,0.400970643723,0.00448101304951,0.0798316468358,0.999999952201,0.000113813148234,-0.00028293603953,5.09046852522e-05,1793255019508151040
+66,1.100000000,BASELINE,781,759.2921365,737.7078635,719,685.7078635,648.2921365,912,800,839,657.2921365,635.2921365,657.2921365,0.400970042416,0.00448173118568,0.0798312308138,0.999999951897,0.000114186665112,-0.000283892970521,5.07181073511e-05,1793255019524817920
+67,1.116666667,BASELINE,781,759.884543305,737.115456695,719,685.115456695,648.884543305,912,800,839,657.884543305,635.884543305,657.884543305,0.400969351215,0.00448278313359,0.0798303043932,0.999999951317,0.000115793569805,-0.000285303063643,5.06029362328e-05,1793255019541484544
+68,1.133333333,BASELINE,781,760,737,719,685.466583363,648.533416637,912,800.466583363,839,657.533416637,635.533416637,658,0.400969529155,0.00448254685704,0.0798304658506,0.999999951336,0.000116546574743,-0.000284904140043,5.07322735825e-05,1793255019558151168
+69,1.150000000,BASELINE,781,760,737,719,686,648.044942374,912,800.955057626,839,657,635,658,0.400969976314,0.00448211803792,0.0798309101629,0.999999951522,0.000117093879845,-0.000283999915806,5.08884373671e-05,1793255019574818048
+70,1.166666667,BASELINE,781,760,737,719,686,648.60974929,912,800.39025071,839,657,635,658,0.400971103918,0.00448306922432,0.0798315801439,0.999999951944,0.000117652823013,-0.000282316206011,5.06702530706e-05,1793255019591484928
+71,1.183333333,BASELINE,781,759.821501759,737,719,685.821501759,649,912,800.178498241,839,657.178498241,635,657.821501759,0.400971346066,0.00448364789954,0.0798316731814,0.999999951991,0.000117915780818,-0.000282058451571,5.05718623585e-05,1793255019608151552
+72,1.200000000,BASELINE,781,759.243939591,737,719,685.243939591,649,912,800.756060409,839,657.756060409,635,657.243939591,0.400969608622,0.0044833937613,0.0798304763617,0.999999951198,0.000117517011873,-0.000284988668514,5.07412910395e-05,1793255019624817920
+73,1.216666667,BASELINE,781,759,737,718.653692767,685.346307233,648.653692767,912,800.653692767,839,658,635,657,0.400969551313,0.00448319529601,0.0798302906902,0.999999951188,0.000116950398531,-0.000285255421046,5.0760696784e-05,1793255019641484800
+74,1.233333333,BASELINE,781,759,737,718.054171156,685.945828844,648.054171156,912,800.054171156,839,658,635,657,0.400970722493,0.0044830375379,0.0798308443544,0.999999951751,0.00011626106004,-0.00028357469031,5.06704081176e-05,1793255019658151424
+75,1.250000000,BASELINE,780.475914674,759,737,718.524085326,685.475914674,648.524085326,912,800.524085326,839,657.475914674,635,657,0.400971184025,0.00448390724495,0.0798308230448,0.999999951846,0.000116566968965,-0.000283189671681,5.0228711964e-05,1793255019674818304
+76,1.266666667,BASELINE,780,759,737,718.900216988,685,648.900216988,912,800.900216988,839,657.099783012,635.099783012,657,0.400971518365,0.00448435350151,0.0798308523361,0.999999951926,0.000116808124162,-0.000282855170216,4.99591172247e-05,1793255019691484928
+77,1.283333333,BASELINE,780,759,737,718.32663928,685,648.32663928,912,800.32663928,839,657.67336072,635.67336072,657,0.400971583477,0.00448230449834,0.079831393083,0.999999952152,0.000116272397337,-0.000282149405589,5.06724467525e-05,1793255019708151808
+78,1.300000000,BASELINE,780,759.253419926,737,718.253419926,685.253419926,648,912,800,839,657.746580074,635.746580074,657.253419926,0.40097158255,0.0044815829109,0.0798316882738,0.999999952248,0.000116055815512,-0.000281826089074,5.1082406022e-05,1793255019724818432
+79,1.316666667,BASELINE,780,759.842052524,737,718.842052524,685.842052524,648,912,800,839,657.157947476,635.157947476,657.842052524,0.400971494271,0.00448261717045,0.079831658654,0.999999952172,0.000116261384622,-0.000282008658064,5.10910804716e-05,1793255019741484800
+80,1.333333333,BASELINE,780,759.573802373,737,718.573802373,686,648,912,800.426197627,839,657,635,658,0.400971299854,0.00448264503095,0.0798317927691,0.999999952309,0.00011558878888,-0.00028183800115,5.08837842917e-05,1793255019758151424
+81,1.350000000,BASELINE,780,759.008584078,737,718.008584078,685.991415922,648,912,801,839.008584078,657,635,658,0.400971072685,0.00448231778814,0.0798319810911,0.999999952515,0.000114624167953,-0.000281550866305,5.06008270097e-05,1793255019774818048
+82,1.366666667,BASELINE,780,759.583516754,737,718.583516754,685.416483246,648,912,801,839.583516754,657,635,658,0.400971252809,0.00448291282371,0.079831784075,0.999999952238,0.000115640761257,-0.000282125553359,5.05516245591e-05,1793255019791484928
+83,1.383333333,BASELINE,780.158166409,759.841833591,737,719,685,648,912,800.841833591,839.841833591,657,635,657.841833591,0.400971710571,0.00448318494184,0.0798318954591,0.999999952204,0.000116253778493,-0.000281991396276,5.05780846746e-05,1793255019808151296
+84,1.400000000,BASELINE,780.732072272,759.267927728,737,719,685,648,912,800.267927728,839.267927728,657,635,657.267927728,0.400972898103,0.0044826082736,0.0798328174711,0.999999952806,0.000115805998687,-0.000279994046776,5.08034233778e-05,1793255019824817920
+85,1.416666667,BASELINE,780.682435849,759,737,719,685,648,912,800,839,657.317564151,635,657,0.400972515289,0.00448179349935,0.0798324324474,0.9999999529,0.000114018843504,-0.000280421462443,5.06353161311e-05,1793255019841484800
+86,1.433333333,BASELINE,780.086798786,759,737,719,685,648,912,800,839,657.913201214,635,657,0.400970757413,0.00448077022923,0.0798309029267,0.99999995254,0.000111058873313,-0.000282972107526,5.01226905718e-05,1793255019858151424
+87,1.450000000,BASELINE,780,759,737,719,685.492756635,648,912,800,839,657.507243365,635.492756635,657.492756635,0.400970784538,0.00448122598676,0.0798311242844,0.999999952536,0.000112509257504,-0.000282384565078,5.02932423553e-05,1793255019874818304
+88,1.466666667,BASELINE,780.069300835,759,737,719,686,648,912,800,839,657,635.930699165,657.930699165,0.400971006643,0.00448187523091,0.0798315750781,0.999999952544,0.000114582948579,-0.00028146873415,5.05729875452e-05,1793255019891484672
+89,1.483333333,BASELINE,780.643891147,759,737,719,686,648,912,800,839,657,635.356108853,657.356108853,0.400970430289,0.00448209568213,0.079831521078,0.999999952235,0.000115715913184,-0.000282062414806,5.0799181949e-05,1793255019908151296
+90,1.500000000,BASELINE,780.782858047,759,737,719,686,648,912,800,839.217141953,657,635,657.217141953,0.400970493854,0.00448243911636,0.0798317016378,0.999999952137,0.000116436533453,-0.00028210201081,5.08607298216e-05,1793255019924818176
+91,1.516666667,BASELINE,780.211790594,759,737,719,686,648,912,800,839.788209406,657,635,657.788209406,0.40097160044,0.00448298300386,0.0798322645133,0.999999952385,0.000116485062504,-0.000281238489305,5.06539158697e-05,1793255019941485056
+92,1.533333333,BASELINE,780,759,737,718.624075065,686,648,912,800,839.624075065,657,635,658,0.40097136909,0.00448282127352,0.0798318858463,0.999999952321,0.00011578839654,-0.00028176193378,5.06047178942e-05,1793255019958151936
+93,1.550000000,BASELINE,780,759,737,718.026545581,686,648,912,800,839.026545581,657,635,658,0.400970349038,0.00448224358752,0.0798309521481,0.999999952071,0.000114652444466,-0.000283102982807,5.06484331749e-05,1793255019974818304
+94,1.566666667,BASELINE,780.547999502,759.547999502,737,718.547999502,685.452000498,648,912,800,839,657,635,657.452000498,0.400971211832,0.00448218348619,0.0798317217594,0.999999952461,0.000116111183384,-0.000281120626364,5.0666756537e-05,1793255019991484928
+95,1.583333333,BASELINE,781,760,737,719,685.122424052,648,912,800.122424052,839,657,635,657,0.400971762838,0.00448211823134,0.0798322304214,0.999999952662,0.000117370173237,-0.000279868715422,5.07357252225e-05,1793255020008151808
+96,1.600000000,BASELINE,781,760,737,719,685.700376309,648,912,800.700376309,839,657,635,657,0.400970828005,0.0044819442646,0.0798314734634,0.999999952067,0.000117437064996,-0.000281909632305,5.09975328306e-05,1793255020024818432
+97,1.616666667,BASELINE,780.715032152,759.715032152,737.284967848,718.715032152,685.715032152,648,912,801,839,657,635,657.284967848,0.400971187715,0.00448196302383,0.0798317378074,0.999999952102,0.000116977280046,-0.000281976070202,5.10031856533e-05,1793255020041485056
+98,1.633333333,BASELINE,780.123293391,759.123293391,737.876706609,718.123293391,685.123293391,648,912,801,839,657,635,657.876706609,0.400972941016,0.00448218925462,0.0798331015939,0.999999952814,0.000115950522026,-0.00027991696039,5.07330851147e-05,1793255020058151424
+99,1.650000000,BASELINE,780.456069222,759,737.543930778,718,685.456069222,648,912.456069222,801,839,657.456069222,635,658,0.400972400715,0.00448252657713,0.0798325682864,0.999999952564,0.000116051243774,-0.000280795918308,5.05795663051e-05,1793255020074818304
+100,1.666666667,BASELINE,780.968011372,759.031988628,737.031988628,718.031988628,686,648,912.968011372,800.968011372,839.031988628,658,635.031988628,657.968011372,0.400971344758,0.00448293578814,0.0798316241069,0.999999952087,0.000116538881935,-0.000282305955839,5.04735636482e-05,1793255020091484928
+101,1.683333333,BASELINE,780.395233674,759.604766326,737.604766326,718.604766326,686,648,912.395233674,800.395233674,839.604766326,658,635.604766326,657.395233674,0.400971776715,0.00448406601718,0.0798321750193,0.999999952094,0.000118550856468,-0.000281411824616,5.06521204827e-05,1793255020108151552
+102,1.700000000,BASELINE,780.183817729,760,738,719,686,648.183817729,912,800,840,657.816182271,635.816182271,657.183817729,0.400971969115,0.00448485358734,0.0798323396872,0.999999952055,0.000119819508874,-0.00028098630561,5.07959257115e-05,1793255020124818432
+103,1.716666667,BASELINE,780.77683505,760,738,719,686,648.77683505,912,800,840,657.22316495,635.22316495,657.77683505,0.400971628234,0.00448487835894,0.0798316445304,0.999999951924,0.000119433439716,-0.00028160397189,5.08623698105e-05,1793255020141485056
+104,1.733333333,BASELINE,781,760,738,719,686,648.638871058,912,800.361128942,839.638871058,657.361128942,635.361128942,658,0.400971632221,0.00448344348868,0.0798319593838,0.999999952117,0.000118152048221,-0.000281449214224,5.09204834704e-05,1793255020158151680
+105,1.750000000,BASELINE,781,760,738,719,686,648.059840733,912,800.940159267,839.059840733,657.940159267,635.940159267,658,0.400971844296,0.00448112788598,0.0798328836665,0.999999952502,0.000116330428666,-0.000280828384182,5.09735706376e-05,1793255020174818304
+106,1.766666667,POSE1_TO_POSE2_PRESS,781,760,737,719,686,648,912,801,839,657,635,658,0.400972520639,0.00448404044722,0.0798317962934,0.999999952105,0.000117914821358,-0.000281659798182,5.05257563014e-05,1793255020205832448
+107,1.783333333,POSE1_TO_POSE2_PRESS,780.423848078,759.423848078,737,719,686,648,912,800.423848078,839.576151922,657,635,658,0.400972872789,0.00448450141394,0.0798325916822,0.999999952348,0.000118386788972,-0.00028055634646,5.07635432425e-05,1793255020222499328
+108,1.800000000,POSE1_TO_POSE2_PRESS,780.15775476,759,737,719,685.84224524,648.15775476,912.15775476,800.15775476,840,657,635,657.84224524,0.40097231307,0.0044846363639,0.0798327112599,0.999999952282,0.000118809404173,-0.000280585103429,5.09246315704e-05,1793255020239165952
+109,1.816666667,POSE1_TO_POSE2_PRESS,780.754527148,759,737,719,685.245472852,648.754527148,912.754527148,800.754527148,840,657,635,657.245472852,0.4009692157,0.00448386403799,0.0798309501147,0.999999951353,0.000119094676057,-0.00028376469738,5.08722744556e-05,1793255020255832576
+110,1.833333333,POSE1_TO_POSE2_PRESS,780.658973089,759.341026911,737.341026911,719,685.341026911,648.658973089,912.658973089,800.658973089,839.658973089,657.341026911,635,657.341026911,0.40096871648,0.00448357151857,0.0798305061738,0.999999951246,0.000118364710707,-0.000284486674752,5.06461910504e-05,1793255020272499200
+111,1.850000000,POSE1_TO_POSE2_PRESS,780.079651425,759.920348575,737.920348575,719,685.920348575,648.079651425,912.079651425,800.079651425,839.079651425,657.920348575,635,657.920348575,0.400970032734,0.00448361426708,0.0798309826381,0.999999951716,0.000116925341775,-0.0002834913765,5.02987152823e-05,1793255020289166080
+112,1.866666667,POSE1_TO_POSE2_PRESS,780,759.503904052,738,718.503904052,685.503904052,648,912,800,839,657.503904052,635,658,0.400971867355,0.00448368655069,0.0798319609423,0.999999952409,0.000116506487233,-0.000281201887377,5.03278157418e-05,1793255020305833216
+113,1.883333333,POSE1_TO_POSE2_PRESS,780.072686279,759,738,718.072686279,685.072686279,648,912,800.072686279,839,657,635,657.927313721,0.400973463264,0.00448361704022,0.0798328837016,0.999999953015,0.000116174949215,-0.0002791605663,5.04305373487e-05,1793255020322500096
+114,1.900000000,POSE1_TO_POSE2_PRESS,780.659264611,759,738,718.659264611,685.659264611,648,912,800.659264611,839,657,635,657.340735389,0.400972787272,0.00448251175896,0.0798328481769,0.999999952777,0.000115310604508,-0.00028033236547,5.06293536344e-05,1793255020339166208
+115,1.916666667,POSE1_TO_POSE2_PRESS,780.756996127,759,738,719,686,648,912,801,839.243003873,657.243003873,635.243003873,657.243003873,0.400973672408,0.00448242692022,0.0798334469596,0.999999952825,0.000115508727008,-0.000280046314085,5.08072756995e-05,1793255020355832576
+116,1.933333333,POSE1_TO_POSE2_PRESS,780.177191831,759,738,719,686,648,912,801,839.822808169,657.822808169,635.822808169,657.822808169,0.40097672125,0.00448375640254,0.0798349248848,0.999999953267,0.000117179416255,-0.000277739699395,5.09562386112e-05,1793255020372499200
+117,1.950000000,POSE1_TO_POSE2_PRESS,780.401110096,759,737.598889904,718.598889904,686,648,912,800.598889904,839.598889904,657.598889904,635.598889904,658,0.400990270113,0.00448374281341,0.0798407717794,0.999999955865,0.000117492304607,-0.000268127588786,5.07254117659e-05,1793255020389165824
+118,1.966666667,POSE1_TO_POSE2_PRESS,780.978750872,759,737.021249128,718.021249128,686,648,912,800.021249128,839.021249128,657.021249128,635.021249128,658,0.401008440091,0.00448313813154,0.0798485414808,0.999999959276,0.000117207617713,-0.000255300290458,5.0327437441e-05,1793255020405832448
+119,1.983333333,POSE1_TO_POSE2_PRESS,781,759,737,718,685.44601042,648,912,800,839.55398958,657.55398958,635,657.44601042,0.401054035589,0.00448338236293,0.0798656514937,0.999999966959,0.000116866864255,-0.000223499221242,4.9713967529e-05,1793255020422499328
+120,2.000000000,POSE1_TO_POSE2_PRESS,781,759,737,718.132158707,685.132158707,648,912,800.132158707,839.867841293,657.867841293,635.132158707,657,0.401105325389,0.00448364828256,0.0798830512611,0.999999973824,0.000116333394222,-0.000190854010442,4.89224440141e-05,1793255020439165952
+121,2.016666667,POSE1_TO_POSE2_PRESS,781,759,737,718.720765881,685.720765881,648,912,800.720765881,839.279234119,657.279234119,635.720765881,657,0.401172664601,0.00448387713423,0.0799002197645,0.999999979791,0.000115141717117,-0.000157796011156,4.75443852704e-05,1793255020455832576
+122,2.033333333,POSE1_TO_POSE2_PRESS,781,759,737,718.695651759,686,648,912,801,839,657,635.695651759,657,0.401245490734,0.00448459442334,0.0799136148492,0.999999983037,0.000114577393349,-0.000136699995985,4.59492390591e-05,1793255020472499200
+123,2.050000000,POSE1_TO_POSE2_PRESS,781,759,737,718.116604731,686,648,912,801,839,657,635.116604731,657,0.401323269252,0.00448575256656,0.0799236041187,0.999999984472,0.00011457930661,-0.000126400636412,4.41581540474e-05,1793255020489165824
+124,2.066666667,POSE1_TO_POSE2_PRESS,781,759,737,718.461082596,685.538917404,648,912,800.538917404,839.461082596,657.461082596,635,657.461082596,0.401416852794,0.00448775395777,0.07992963248,0.99999998609,0.000113401822136,-0.000115177013656,4.11674790023e-05,1793255020505832448
+125,2.083333333,POSE1_TO_POSE2_PRESS,781,759,737.037961739,718.962038261,685.037961739,648.037961739,912,800,840,658,635,657.962038261,0.401515827814,0.00448983820382,0.0799345197978,0.999999987608,0.000111778825871,-0.000104192896175,3.78581544692e-05,1793255020522499072
+126,2.100000000,POSE1_TO_POSE2_PRESS,781,759,737.608314915,718.391685085,685.608314915,648.608314915,912,800,840,658,635,657.391685085,0.401634524609,0.00449010250158,0.0799374114234,0.999999988587,0.000108078435586,-9.98361304262e-05,3.4322011066e-05,1793255020539165696
+127,2.116666667,POSE1_TO_POSE2_PRESS,781,759,737.81409589,718.18590411,686,648.81409589,912,800.18590411,839.81409589,658,635,657.18590411,0.401763725735,0.00449128709511,0.0799415960496,0.999999989693,0.0001054103589,-9.26288941997e-05,3.03777893653e-05,1793255020555832576
+128,2.133333333,POSE1_TO_POSE2_PRESS,781,759,737.220643608,718.779356392,686,648.220643608,912,800.779356392,839.220643608,658,635,657.779356392,0.401915954962,0.00449448920643,0.0799486152553,0.999999991027,0.000105005371547,-7.9172716392e-05,2.55389587314e-05,1793255020572499200
+129,2.150000000,POSE1_TO_POSE2_PRESS,781,759.363265833,737,718.636734167,685.636734167,648,912,801,839,657.636734167,635,657.636734167,0.402082011579,0.00449632975705,0.079953798908,0.999999992352,9.95425990761e-05,-7.05885959024e-05,2.01194395751e-05,1793255020589166080
+130,2.166666667,POSE1_TO_POSE2_PRESS,781,759.941527479,737,718.058472521,685.058472521,648,912,801,839,657.058472521,635,657.058472521,0.402256251836,0.00449736447978,0.0799578962049,0.999999993643,9.10864191747e-05,-6.48879600863e-05,1.43562443606e-05,1793255020605832448
+131,2.183333333,POSE1_TO_POSE2_PRESS,781,760,737,718.515832313,685.515832313,648,912,801,839,657,635.515832313,657,0.402454220276,0.00450138675472,0.0799590705297,0.999999994438,8.5494768112e-05,-6.13027765725e-05,7.4828079411e-06,1793255020622499072
+132,2.200000000,POSE1_TO_POSE2_PRESS,780.908390062,760,737.091609938,718.908390062,686,648.091609938,912,801,839,657.091609938,636,657.091609938,0.402658999116,0.00450560396963,0.0799590092638,0.999999994985,7.99626461044e-05,-6.03041562609e-05,3.24347390267e-07,1793255020639165696
+133,2.216666667,POSE1_TO_POSE2_PRESS,780.322259152,760,737.677740848,718.322259152,686,648.677740848,912,801,839,657.677740848,636,657.677740848,0.402886132438,0.00450905930672,0.0799540531089,0.999999994714,7.30123847164e-05,-7.19834938683e-05,-7.69851607378e-06,1793255020655832320
+134,2.233333333,POSE1_TO_POSE2_PRESS,780,760,737.737718843,718,685.737718843,648.737718843,912,801,839,657.737718843,635.737718843,657.737718843,0.403133095358,0.00451349608519,0.0799500863041,0.999999994382,6.70756447294e-05,-8.05337215734e-05,-1.58617187534e-05,1793255020672499200
+135,2.250000000,POSE1_TO_POSE2_PRESS,780,760,737.155121123,718,685.155121123,648.155121123,912,801,839,657.155121123,635.155121123,657.155121123,0.40340427559,0.00451913147005,0.0799473277649,0.999999994127,6.23766902009e-05,-8.52624551399e-05,-2.41963132685e-05,1793255020689165824
+136,2.266666667,POSE1_TO_POSE2_PRESS,780.422962396,759.577037604,737,718.422962396,685,648,912,800.577037604,839,657,635,657.422962396,0.403716512873,0.00452354008291,0.0799508698397,0.999999994282,6.35659827948e-05,-8.03452274409e-05,-3.06612751126e-05,1793255020705832448
+137,2.283333333,POSE1_TO_POSE2_PRESS,780.999407806,759.000592194,737,718.999407806,685,648,912,800.000592194,839,657,635,657.999407806,0.404043648779,0.0045275035292,0.0799566982578,0.999999994512,6.68919806108e-05,-7.19277092344e-05,-3.64477914517e-05,1793255020722499328
+138,2.300000000,POSE1_TO_POSE2_PRESS,781,759.575996898,737,718.424003102,685,648,912,800,839,657,635,657.424003102,0.404400590237,0.00453779768606,0.0799573717959,0.99999998856,0.000131923455775,-6.97664566939e-05,-2.46817346425e-05,1793255020739165952
+139,2.316666667,POSE1_TO_POSE2_PRESS,780.844254846,759.844254846,737,718,685,648,912,800.155745154,839,657,635.155745154,657,0.404768908429,0.00454642772919,0.079958256761,0.999999985882,0.0001534065076,-6.62558671955e-05,-1.76731263618e-05,1793255020755832320
+140,2.333333333,POSE1_TO_POSE2_PRESS,780.255728483,759.255728483,737,718,685,648,912,800.744271517,839,657,635.744271517,657,0.405168754809,0.00455041547712,0.0799597439658,0.999999996532,5.37018156959e-05,-5.89778923805e-05,-2.39345723747e-05,1793255020772498944
+141,2.350000000,POSE1_TO_POSE2_PRESS,780.328267997,759.328267997,737,718,685.328267997,648,912,801,839,657,635.671732003,657.328267997,0.405600271015,0.00455796502156,0.0799569322095,0.999999997212,3.15216342509e-05,-6.17550712725e-05,-2.77134379618e-05,1793255020789165824
+142,2.366666667,POSE1_TO_POSE2_PRESS,780.908783688,759.908783688,737,718,685.908783688,648,912,801,839,657,635.091216312,657.908783688,0.40605612299,0.00456825152209,0.0799508170457,0.999999994577,6.89128262805e-05,-7.22588307968e-05,-2.95846398842e-05,1793255020805832448
+143,2.383333333,POSE1_TO_POSE2_PRESS,780.515135068,759.515135068,737,718,685.515135068,648,912,801,839.484864932,657,635,657.515135068,0.406531153473,0.00457795155644,0.0799422803128,0.999999990816,9.88242616708e-05,-8.69882490337e-05,-3.21671479229e-05,1793255020822498816
+144,2.400000000,POSE1_TO_POSE2_PRESS,780.059516582,759.059516582,737.059516582,718,685.059516582,648,912.059516582,801,840,657.059516582,635.059516582,657.059516582,0.407012060438,0.00458734856742,0.0799338055725,0.99999998626,0.000125989311859,-0.000102136648228,-3.42684456988e-05,1793255020839165440
+145,2.416666667,POSE1_TO_POSE2_PRESS,780.629002476,759.629002476,737.629002476,718,685.629002476,648,912.629002476,801,840,657.629002476,635.629002476,657.629002476,0.407512685404,0.00459508592064,0.0799297301399,0.999999982983,0.000141569803701,-0.000114125190292,-3.11102683484e-05,1793255020855833088
+146,2.433333333,POSE1_TO_POSE2_PRESS,781,760,738,718,685.79244863,648.20755137,912.79244863,801,839.79244863,658,635.79244863,657.79244863,0.408036735487,0.00460386197706,0.0799235513958,0.999999979412,0.000154061259839,-0.00012854787997,-3.02746586484e-05,1793255020872500224
+147,2.450000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685.196959985,648.803040015,912.196959985,801,839.196959985,658,635.196959985,657.196959985,0.408604569769,0.00461457948821,0.0799134413218,0.999999975623,0.000160778953689,-0.000147520269551,-3.37801940018e-05,1793255020889166848
+148,2.466666667,POSE1_TO_POSE2_PRESS,781,760,738,718,685,648.631758778,912.368241222,801,839,658,635,657,0.409223504416,0.00462317735507,0.0799250073835,0.999999977583,0.000163321107072,-0.000129734304245,-3.64644657062e-05,1793255020905833216
+149,2.483333333,POSE1_TO_POSE2_PRESS,781,760,738,718,685,648.08152618,912.91847382,801,839,658,635,657,0.409867693758,0.00463072765563,0.0799472861783,0.999999981437,0.000163799633572,-9.3781704034e-05,-3.87428541377e-05,1793255020922499584
+150,2.500000000,POSE1_TO_POSE2_PRESS,781.515842743,760,737.484157257,718,685,648,912.484157257,801,839.515842743,657.484157257,635,657,0.410570547532,0.00463556026495,0.0799836401142,0.999999982704,0.000178639870124,-3.2825825182e-05,-4.00372993024e-05,1793255020939166208
+151,2.516666667,POSE1_TO_POSE2_PRESS,781.884717204,760,737.115282796,718,685,648.115282796,912.115282796,801,840,657,635,657.115282796,0.411273688639,0.00463470599106,0.0800112537812,0.999999982211,0.000183655247779,1.27356204692e-05,-4.10671254498e-05,1793255020955832576
+152,2.533333333,POSE1_TO_POSE2_PRESS,781.309713181,760,737.690286819,718,685,648.690286819,912.690286819,801,840,657,635,657.690286819,0.411937284098,0.00461305880117,0.0799942503547,0.999999989186,0.000139529673477,-2.04353647742e-05,-4.17242021405e-05,1793255020972498944
+153,2.550000000,POSE1_TO_POSE2_PRESS,781.274341298,760,737.725658702,718,685,649,913,801,840,657.274341298,635.274341298,658,0.412623304761,0.00459020614213,0.0799656510073,0.999999991166,0.000109075350767,-6.415200539e-05,-4.06817822175e-05,1793255020989165824
+154,2.566666667,POSE1_TO_POSE2_PRESS,781.868961785,760,737.131038215,718,685,649,913,801,840,657.868961785,635.868961785,658,0.413335505768,0.00456594615776,0.0799235140233,0.999999987597,9.45814972716e-05,-0.000120180154188,-3.76552885272e-05,1793255021005832960
+155,2.583333333,POSE1_TO_POSE2_PRESS,781.549333827,760,737,718,685,648.549333827,913,801,840,657.549333827,636,658,0.414104869977,0.00456240606428,0.079919791447,0.999999988606,8.85700445044e-05,-0.000115729493772,-3.93675079758e-05,1793255021022499584
+156,2.600000000,POSE1_TO_POSE2_PRESS,781.028406128,760,737,718,685.028406128,648,913,801,840,657,636,658,0.414891223241,0.00456523186659,0.0799276132352,0.999999990994,8.61059307694e-05,-9.38680920886e-05,-4.22616440228e-05,1793255021039166464
+157,2.616666667,POSE1_TO_POSE2_PRESS,781.600150131,760,737,718,685.600150131,648,913,801,840,657,636,658,0.415693473396,0.00457779585484,0.0799485560737,0.999999991357,0.000105632037545,-6.59712973433e-05,-4.21422668833e-05,1793255021055832576
+158,2.633333333,POSE1_TO_POSE2_PRESS,781.822484755,760,737,718,685.822484755,648,912.822484755,801,840,657,636,657.822484755,0.416491341336,0.00458719831565,0.0799578823005,0.999999990435,0.000119091495004,-5.63136079099e-05,-4.21340962035e-05,1793255021072499200
+159,2.650000000,POSE1_TO_POSE2_PRESS,781.232044182,760,737,718,685.232044182,648,912.232044182,801,840,657,636,657.232044182,0.417279015583,0.00458924661996,0.0799401866598,0.99999998812,0.000118439075272,-8.90826343293e-05,-4.23846074021e-05,1793255021089165824
+160,2.666666667,POSE1_TO_POSE2_PRESS,781,760,737.35261627,718,685,648.35261627,912.35261627,801,840,657,636,657.35261627,0.418169072302,0.0045901441958,0.0799542751424,0.999999991032,0.000112768355424,-5.72408413964e-05,-4.40673651083e-05,1793255021105832448
+161,2.683333333,POSE1_TO_POSE2_PRESS,781,760,737.933534352,718,685,648.933534352,912.933534352,801,840,657,636,657.933534352,0.419125416641,0.00459029673108,0.0799889422933,0.999999993383,0.000103848530928,1.6433302937e-05,-4.66774322933e-05,1793255021122499072
+162,2.700000000,POSE1_TO_POSE2_PRESS,781,760,738,718,685,649,912.489869841,801,840,657,636,658,0.42000741325,0.00458546850411,0.0799883598864,0.999999993718,0.000100372754007,1.53612880341e-05,-4.74611358765e-05,1793255021139165952
+163,2.716666667,POSE1_TO_POSE2_PRESS,781.08545726,760,737.91454274,718,685,648.91454274,912.08545726,801,840,657,635.91454274,658,0.42088326741,0.00458099570686,0.0799828847354,0.999999994006,9.84131113648e-05,3.86120130003e-06,-4.78298338545e-05,1793255021155832832
+164,2.733333333,POSE1_TO_POSE2_PRESS,781.656746122,760,737.343253878,718,685,648.343253878,912.656746122,801,840,657,635.343253878,658,0.421778808929,0.00458220190394,0.0799754845529,0.999999993707,0.00010107419315,-1.20226570971e-05,-4.71806451288e-05,1793255021172499200
+165,2.750000000,POSE1_TO_POSE2_PRESS,781.761905323,760,737,718,685,648.238094677,912.761905323,801,840.238094677,657,635.238094677,657.761905323,0.422693797574,0.00458594169671,0.0799814292302,0.999999993243,0.000106331617265,-7.142490787e-06,-4.64412361901e-05,1793255021189165568
+166,2.766666667,POSE1_TO_POSE2_PRESS,781.165414137,760,737,718,685,648.834585863,912.165414137,801,840.834585863,657,635.834585863,657.165414137,0.423638059506,0.00459349523243,0.0800074615087,0.999999991872,0.000115497235023,2.89931133837e-05,-4.55660214438e-05,1793255021205832192
+167,2.783333333,POSE1_TO_POSE2_PRESS,781.414964626,760,737.414964626,718,685,649,912,801,840.585035374,657.414964626,636,657.414964626,0.424550326753,0.00460061681637,0.0799876817153,0.999999990708,0.000127098379384,-2.09256126312e-05,-4.46259896587e-05,1793255021222498816
+168,2.800000000,POSE1_TO_POSE2_PRESS,781.989160649,760,737.989160649,718,685,649,912,801,840.010839351,657.989160649,636,657.989160649,0.425450316853,0.0046075726501,0.0799503227831,0.999999983904,0.000139634089601,-0.000103865350891,-4.3661085894e-05,1793255021239165440
+169,2.816666667,POSE1_TO_POSE2_PRESS,782,760,738,718,685,649,912.563829994,801,840.563829994,658,636,657.436170006,0.426410764157,0.00460490298964,0.079924442576,0.999999983433,0.00013423141564,-0.000113604142522,-4.70060528934e-05,1793255021255832064
+170,2.833333333,POSE1_TO_POSE2_PRESS,782,760,738,718,685.142115249,649,913,801.142115249,841,657.857884751,635.857884751,657,0.427365367197,0.00460154770323,0.0799060031869,0.999999983328,0.000127800128433,-0.000120562124457,-4.97597806124e-05,1793255021272498432
+171,2.850000000,POSE1_TO_POSE2_PRESS,782,760,738,718,685.731758469,649,913,801.731758469,841,657.268241531,635.268241531,657,0.428297903216,0.00459661655341,0.079910299811,0.999999984035,0.0001192165701,-0.000123198427252,-5.03905321879e-05,1793255021289165312
+172,2.866666667,POSE1_TO_POSE2_PRESS,782,760,738,717.683433886,685.683433886,648.683433886,913,801.683433886,840.683433886,657,635.316566114,657.316566114,0.429271072079,0.00459367057021,0.0799293591879,0.99999998761,0.000108480809929,-0.000102185118151,-5.06983019673e-05,1793255021305832192
+173,2.883333333,POSE1_TO_POSE2_PRESS,782,760,738,717.102662039,685.102662039,648.102662039,913,801.102662039,840.102662039,657,635.897337961,657.897337961,0.430278153021,0.00459238140518,0.0799607395423,0.999999992223,9.59488247235e-05,-6.14338683886e-05,-5.07365113904e-05,1793255021322498816
+174,2.900000000,POSE1_TO_POSE2_PRESS,782,760,738,717.472611056,685,648,913,801,840,657,636,658,0.43131182843,0.00459381077279,0.0800058844749,0.999999993854,9.86935938821e-05,5.19739650144e-06,-5.02499744887e-05,1793255021339165440
+175,2.916666667,POSE1_TO_POSE2_PRESS,782,760,737.953225275,718,685,648,913,801,840.046774725,657.046774725,636,658,0.432338041498,0.00459618467996,0.0800450650735,0.999999991256,0.000104750330234,6.35366834394e-05,-4.97804652388e-05,1793255021355831808
+176,2.933333333,POSE1_TO_POSE2_PRESS,782,760,737.378257017,718,685,648,913,801,840.621742983,657.621742983,636,658,0.433215502318,0.00460263287774,0.0799835192346,0.999999991937,0.000111164681306,-3.45116170813e-05,-5.07756099429e-05,1793255021372498688
+177,2.950000000,POSE1_TO_POSE2_PRESS,782,760,737,718,685,648,913,801,841,657.79653793,636,658,0.434113789962,0.00460670768455,0.0799339849212,0.99999998639,0.000113669498185,-0.000107498835467,-5.23691544423e-05,1793255021389165568
+178,2.966666667,POSE1_TO_POSE2_PRESS,782,760,737,718,685,648,913,801,841,657.201837539,636,658,0.435052125773,0.00460621868605,0.0799075476247,0.999999983827,0.000108656653258,-0.000132295980304,-5.5113366102e-05,1793255021405831936
+179,2.983333333,POSE1_TO_POSE2_PRESS,782,760,737.379997891,718,685,648.379997891,913,801.379997891,841,657,636,658,0.436009926708,0.00460278714375,0.0799238962341,0.999999987007,0.000104976033021,-0.000109528686871,-5.44852455665e-05,1793255021422498560
+180,3.000000000,POSE1_TO_POSE2_PRESS,782,760,737.955223771,718,685,648.955223771,913,801.955223771,841,657,636,658,0.436977728002,0.00459784383805,0.0799622265628,0.999999991499,0.00010197985763,-6.23246516598e-05,-5.21245529561e-05,1793255021439165184
+181,3.016666667,POSE1_TO_POSE2_PRESS,782,760,737.470576941,718.529423059,685,649,913,801.470576941,841,657,636,658,0.437975305747,0.00459877469706,0.0800019400513,0.999999993579,9.9903637399e-05,5.11586126794e-06,-5.32533173673e-05,1793255021455832064
+182,3.033333333,POSE1_TO_POSE2_PRESS,782,760,737,718.893728455,685,649,913,801,841,657,636,658,0.438951754339,0.00460084041564,0.0800319274226,0.99999999202,9.9425513811e-05,5.58045097385e-05,-5.44185835696e-05,1793255021472498688
+183,3.050000000,POSE1_TO_POSE2_PRESS,782,760,737,718.304445342,685,649,913,801,841,657,636,658,0.439820745461,0.00460581048157,0.0800171782526,0.999999992662,0.000105857904711,2.25908858958e-05,-5.44109969114e-05,1793255021489165312
+184,3.066666667,POSE1_TO_POSE2_PRESS,782,760,737,718,685,648.719240172,913,801,841,657,635.719240172,658,0.440625951307,0.00461320462353,0.0799512843195,0.999999988348,0.000115165577456,-8.38974407332e-05,-5.47856395068e-05,1793255021505832192
+185,3.083333333,POSE1_TO_POSE2_PRESS,782,760,737,718,685,648.138393698,913,801,841,657,635.138393698,658,0.441362981,0.00462318970864,0.079830724944,0.999999954221,0.000127546456229,-0.000268704517824,-5.55688217417e-05,1793255021522498816
+186,3.100000000,POSE1_TO_POSE2_PRESS,782,760.438064562,737,718,684.561935438,648,913,801,841.438064562,657,635.438064562,658,0.442169636767,0.00462962254214,0.0797735444755,0.999999929021,0.000137793632582,-0.000345914463281,-5.75629251448e-05,1793255021539165440
+187,3.116666667,POSE1_TO_POSE2_PRESS,782,760.986832467,737.013167533,718,684,648,913,801.013167533,841.986832467,657,636,657.986832467,0.442999782421,0.00463492284065,0.0797385795422,0.999999912772,0.000147146556269,-0.000386287657321,-5.98789310737e-05,1793255021555832320
+188,3.133333333,POSE1_TO_POSE2_PRESS,782,760.410992655,737.589007345,718,684,648,913,801.589007345,841.410992655,657,636,657.410992655,0.443903070231,0.00463930716149,0.0798058037682,0.999999945185,0.000146805403826,-0.000290700304507,-5.97652523933e-05,1793255021572498688
+189,3.150000000,POSE1_TO_POSE2_PRESS,782,760,737.830257334,718,683.830257334,648,913,801.830257334,841.169742666,657,635.830257334,657.169742666,0.444777658852,0.00464246099438,0.0798598365042,0.999999964498,0.000146582365113,-0.000214613107387,-5.88190700303e-05,1793255021589165568
+190,3.166666667,POSE1_TO_POSE2_PRESS,782,760,737.237316534,718,683.237316534,648,913,801.237316534,841.762683466,657,635.237316534,657.762683466,0.445580695565,0.00464254700668,0.079880980564,0.999999970178,0.000146653807295,-0.00018714319234,-5.57973115855e-05,1793255021605832448
+191,3.183333333,POSE1_TO_POSE2_PRESS,782,760,737,717.654407028,683,647.654407028,913,801,841.654407028,657.345592972,635,658,0.446346162414,0.00464277791992,0.0798754499789,0.999999968617,0.000150787683609,-0.000192018689804,-5.62004779684e-05,1793255021622498816
+192,3.200000000,POSE1_TO_POSE2_PRESS,782,760,737,717.078191677,683,647.078191677,913,801,841.078191677,657.921808323,635,658,0.447086557954,0.00464310552899,0.0798521187702,0.999999961975,0.000157632518423,-0.000218479048971,-5.88891780002e-05,1793255021639165184
+193,3.216666667,POSE1_TO_POSE2_PRESS,782,760,737,717.497227834,682.502772166,647,913,801,841.497227834,657.502772166,635.497227834,658,0.447767915407,0.00464201315554,0.0798041696562,0.999999947994,0.000139090363554,-0.000284526766462,-6.09049520455e-05,1793255021655832832
+194,3.233333333,POSE1_TO_POSE2_PRESS,782,760,737,718,681.926055236,647,913,801,841.926055236,657.073944764,636,658,0.448429970316,0.0046406146035,0.0797505549221,0.999999925391,0.000120103287934,-0.000361772519715,-6.25594715574e-05,1793255021672500224
+195,3.250000000,POSE1_TO_POSE2_PRESS,782,760,737,718,681.339477524,647,913,801,841.339477524,657.660522476,636,658,0.449022467675,0.00463863900744,0.0796844578734,0.999999878025,0.00012566427956,-0.000473561336603,-6.24419907606e-05,1793255021689166080
+196,3.266666667,POSE1_TO_POSE2_PRESS,782,760,737,718,680.754615046,647,913,801,841,657.754615046,635.754615046,658,0.449651165491,0.00463911590557,0.0796507622677,0.999999849853,0.000135621024395,-0.000527252466195,-6.2501609217e-05,1793255021705832448
+197,3.283333333,POSE1_TO_POSE2_PRESS,782,760,737,718,680.172109084,647,913,801,841,657.172109084,635.172109084,658,0.450329597093,0.00464296215191,0.0796615812432,0.99999986097,0.000151616856057,-0.000501126348078,-6.28045354974e-05,1793255021722499328
+198,3.300000000,POSE1_TO_POSE2_PRESS,782,760,736.594862788,718,680,647,913.405137212,801,841.405137212,657,635,658,0.450983930094,0.00464713614182,0.0796925530359,0.99999988229,0.000149927011763,-0.000457213956834,-6.24250093466e-05,1793255021739166464
+199,3.316666667,POSE1_TO_POSE2_PRESS,782,760,736.019822201,718,680,647,913.980177799,801,841.980177799,657,635,658,0.451628156864,0.00465144757867,0.0797319763653,0.999999905824,0.000140820283741,-0.000405842489961,-6.1759281363e-05,1793255021755833088
+200,3.333333333,POSE1_TO_POSE2_PRESS,782,760,736.554813352,718,679.445186648,646.445186648,913.445186648,800.445186648,841.445186648,657,635,658,0.452154186115,0.0046557367516,0.0797072757797,0.99999988662,0.000130646392024,-0.000453342372753,-6.4594870316e-05,1793255021772499456
+201,3.350000000,POSE1_TO_POSE2_PRESS,782,759.866501612,737,717.866501612,679,646,913,800.133498388,841,657,635,658,0.452666133345,0.00465925704802,0.0796743697925,0.999999859472,0.000128377237934,-0.000510124495224,-6.59395126456e-05,1793255021789166080
+202,3.366666667,POSE1_TO_POSE2_PRESS,782,759.273838584,737,717.273838584,679,646,913,800.726161416,841,657,635,658,0.453144159978,0.00466013554633,0.0796211155991,0.999999814221,0.000153427287678,-0.000586691782674,-6.17261353285e-05,1793255021805832448
+203,3.383333333,POSE1_TO_POSE2_PRESS,782.310720316,759.310720316,737,717,678.689279684,646,913,800.689279684,841.310720316,657,635,658,0.453607086337,0.0046633149685,0.0795790423386,0.999999774261,0.000169249337942,-0.000647359876481,-6.13020452455e-05,1793255021822499072
+204,3.400000000,POSE1_TO_POSE2_PRESS,782.888318538,759.888318538,737,717,678.111681462,646,913,800.111681462,841.888318538,657,635,658,0.454057043029,0.0046684706558,0.0795465723928,0.999999741177,0.000177145451575,-0.000694372138027,-6.4132577126e-05,1793255021839165696
+205,3.416666667,POSE1_TO_POSE2_PRESS,783,760,736.537220997,717.462779003,677.537220997,646,913,800,842,657,635,657.537220997,0.454486871727,0.00467274936279,0.0795313866259,0.999999724044,0.000184677318055,-0.000716548793902,-6.60670173423e-05,1793255021855832832
+206,3.433333333,POSE1_TO_POSE2_PRESS,782.962673414,760,736,718,676.962673414,645.962673414,913,800.037326586,842,657,635,657.037326586,0.454910549699,0.00467663096485,0.0795213810304,0.999999711901,0.00019199611244,-0.000731273152404,-6.76347355527e-05,1793255021872499712
+207,3.450000000,POSE1_TO_POSE2_PRESS,782.375769132,760,736,718,676.375769132,645.375769132,913,800.624230868,842,657,635,657.624230868,0.455314704486,0.00467776088724,0.0795266452945,0.999999716228,0.000197463265236,-0.000723924967233,-6.69655653703e-05,1793255021889166336
+208,3.466666667,POSE1_TO_POSE2_PRESS,782,759.791538024,736.208461976,718,676,645,913,800.791538024,841.791538024,657,635,658,0.455692378806,0.00467999448407,0.0795274490446,0.999999713554,0.000201499468231,-0.000726546659284,-6.64818522637e-05,1793255021905832704
+209,3.483333333,POSE1_TO_POSE2_PRESS,782,759.212064574,736.787935426,718,676,645,913,800.212064574,841.212064574,657,635,658,0.456022924312,0.00468419235206,0.079520314167,0.999999698259,0.000202988928986,-0.000746912301737,-6.63282075783e-05,1793255021922499328
+210,3.500000000,POSE1_TO_POSE2_PRESS,782,759.366292772,737,718,675.633707228,645,913,800,841,657,635.366292772,658,0.456320027076,0.00468677840256,0.0794992581987,0.999999672174,0.000183653358844,-0.000785720009329,-6.75761436512e-05,1793255021939165952
+211,3.516666667,POSE1_TO_POSE2_PRESS,782,759.94400597,737,718,675.05599403,645,913,800,841,657,635.94400597,658,0.456597827064,0.00468843412895,0.0794701671192,0.999999637222,0.000152297794391,-0.000835172287377,-6.96330575506e-05,1793255021955832576
+212,3.533333333,POSE1_TO_POSE2_PRESS,782,759.480642869,736.480642869,718,674.480642869,645,913,800.519357131,841,657,635.480642869,658,0.456865441619,0.00468995696986,0.0794605289992,0.999999628921,0.000140080073416,-0.000847128447904,-7.00579745988e-05,1793255021972499200
+213,3.550000000,POSE1_TO_POSE2_PRESS,782.096649121,759.096649121,736,718.096649121,674,645,913,801,841,657.096649121,635,657.903350879,0.457129431112,0.00469190614656,0.0794560164257,0.999999626009,0.000136152958014,-0.000851247202532,-6.94472844361e-05,1793255021989165824
+214,3.566666667,POSE1_TO_POSE2_PRESS,782.685107432,759.685107432,736,718.685107432,674,645,913,801,841,657.685107432,635,657.314892568,0.457380536856,0.00469609735223,0.0794669616991,0.999999635064,0.00016396152084,-0.00083596261174,-6.44580964683e-05,1793255022005832704
+215,3.583333333,POSE1_TO_POSE2_PRESS,782.729066141,760,736.270933859,718.458132282,674,645,913,801,841.270933859,657.729066141,635,657.270933859,0.457611511555,0.00471069251907,0.0794747809991,0.999999637614,0.000196176990928,-0.000825928341163,-6.42494491065e-05,1793255022022499584
+216,3.600000000,POSE1_TO_POSE2_PRESS,782.146269222,760,736.853730778,717.292538445,674,645,913,801,841.853730778,657.146269222,635,657.853730778,0.457819314054,0.00473726334337,0.0794790020931,0.999999632538,0.000233465105386,-0.000821937542401,-6.95435251779e-05,1793255022039166208
+217,3.616666667,POSE1_TO_POSE2_PRESS,782.429331753,760,736.570668247,717.858663507,673.570668247,645,913,801,842,657,635,658,0.457993522717,0.0047337114666,0.0794751453104,0.999999627007,0.00023410061236,-0.000828333000241,-7.1042951955e-05,1793255022055832576
+218,3.633333333,POSE1_TO_POSE2_PRESS,783,760,736,718.997474544,673,645,913,800.997474544,841.997474544,657,635,658,0.458156337883,0.00472001640393,0.0794685777716,0.999999621426,0.000222378321908,-0.000838222819651,-7.12668965305e-05,1793255022072499200
+219,3.650000000,POSE1_TO_POSE2_PRESS,783,760,736,718.423395054,673,645,913,800.423395054,841.423395054,657,635,658,0.458288133499,0.00469504113285,0.0794610897695,0.999999616439,0.000193354081095,-0.000851324934496,-7.0587234013e-05,1793255022089165824
+220,3.666666667,POSE1_TO_POSE2_PRESS,783,759.843810324,736.156189676,717.843810324,673,645,913.156189676,800.156189676,841.156189676,657,635,658,0.458414747883,0.00468044089035,0.0794539136453,0.99999960934,0.000175120112585,-0.000863486924939,-7.10176546691e-05,1793255022105832192
+221,3.683333333,POSE1_TO_POSE2_PRESS,783,759.248757002,736.751242998,717.248757002,673,645,913.751242998,800.751242998,841.751242998,657,635,658,0.458526803956,0.00469499253312,0.0794476138408,0.999999598626,0.000187204787377,-0.000873007342211,-7.45672007657e-05,1793255022122498816
+222,3.700000000,POSE1_TO_POSE2_PRESS,783,759,736.665810414,717.334189586,672.665810414,645,913.665810414,800.665810414,842,657.334189586,635.334189586,658,0.458624522336,0.00470087562185,0.0794439364739,0.999999594106,0.000191821946,-0.000877049614427,-7.5999892434e-05,1793255022139165696
+223,3.716666667,POSE1_TO_POSE2_PRESS,783,759,736.091560466,717.908439534,672.091560466,645,913.091560466,800.091560466,842,657.908439534,635.908439534,658,0.45871194145,0.0047005317789,0.0794421428972,0.999999594162,0.00019107492127,-0.000877156739715,-7.59119720391e-05,1793255022155832576
+224,3.733333333,POSE1_TO_POSE2_PRESS,783,759,736.482918052,718,672,644.517081948,913,800,841.517081948,657.517081948,635.517081948,658,0.458780493179,0.00469970604816,0.0794383892398,0.999999588542,0.000189827229116,-0.000883801680516,-7.59995854826e-05,1793255022172499456
+225,3.750000000,POSE1_TO_POSE2_PRESS,783,759.059241038,736.940758962,718,672,644.059241038,913,800.059241038,841,657.059241038,635,657.940758962,0.458843730957,0.00469954903721,0.0794342935068,0.999999582085,0.000189152577029,-0.000891203734529,-7.62067119232e-05,1793255022189166080
+226,3.766666667,POSE1_TO_POSE2_PRESS,783,759.651778234,736.348221766,718,672,644.651778234,913,800.651778234,841,657.651778234,635,657.348221766,0.458891349761,0.00470623480661,0.0794304653916,0.999999578259,0.000194491450831,-0.000894257464554,-7.71899698343e-05,1793255022205832448
+227,3.783333333,POSE1_TO_POSE2_PRESS,783,760,736.238170263,718,672,645,913,800.761829737,841,657.761829737,635.238170263,657.238170263,0.458932249026,0.00470768649947,0.0794273663415,0.99999957452,0.000193941354075,-0.000898559684506,-7.7046335937e-05,1793255022222499072
+228,3.800000000,POSE1_TO_POSE2_PRESS,783,760,736.815803577,718,672,645,913,800.184196423,841,657.184196423,635.815803577,657.815803577,0.458963570958,0.00470167808512,0.079425306425,0.999999570865,0.000184997732584,-0.000904641371561,-7.52965479291e-05,1793255022239165696
+229,3.816666667,POSE1_TO_POSE2_PRESS,782.607773289,759.607773289,736.607773289,718,671.607773289,644.607773289,913,800,841,657.392226711,635.607773289,658,0.458988322648,0.00470248162029,0.0794226934044,0.999999566697,0.000185782323929,-0.000909098795026,-7.50371139642e-05,1793255022255832064
+230,3.833333333,POSE1_TO_POSE2_PRESS,782.031916745,759.031916745,736.031916745,718,671.031916745,644.031916745,913,800,841,657.968083255,635.031916745,658,0.459009998329,0.00470647432437,0.0794198214356,0.99999956229,0.000191121399085,-0.000912795782473,-7.54754231081e-05,1793255022272498688
+231,3.850000000,POSE1_TO_POSE2_PRESS,782.555298557,759,736,718,671.555298557,644.555298557,913.555298557,800,841,657.444701443,635,658,0.459022154327,0.00470901122176,0.0794165159501,0.999999558364,0.000193002116314,-0.000916638301725,-7.61267835819e-05,1793255022289165312
+232,3.866666667,POSE1_TO_POSE2_PRESS,783,759,736,718,672,645,913.858876733,800,841.141123267,657,635,658,0.459032606426,0.00470960004527,0.0794137979078,0.999999555212,0.000192515693933,-0.000920155929297,-7.633077824e-05,1793255022305832192
+233,3.883333333,POSE1_TO_POSE2_PRESS,783,759,736,718,672,645,913.279441219,800,841.720558781,657,635,658,0.459039501312,0.00470440369192,0.0794129834012,0.99999955438,0.000185307478599,-0.000922637958547,-7.51064799424e-05,1793255022322498816
+234,3.900000000,POSE1_TO_POSE2_PRESS,783,759,736.298035967,718,672,645,913,800,842,657,635,658,0.459044548268,0.00470366097648,0.079411999586,0.999999552667,0.000183833939582,-0.000924825204801,-7.46269923156e-05,1793255022339165440
+235,3.916666667,POSE1_TO_POSE2_PRESS,783,759,736.873689061,718,672,645,913,800,842,657,635,658,0.4590478739,0.00470706677369,0.0794108580617,0.999999550162,0.000187702185744,-0.000926737864348,-7.48412872496e-05,1793255022355832320
+236,3.933333333,POSE1_TO_POSE2_PRESS,782.551141065,759.448858935,736.551141065,718,671.551141065,644.551141065,913,800,841.551141065,657,635,658,0.459052455319,0.00470757314145,0.0794119809256,0.999999552464,0.000187793092435,-0.000924250677465,-7.46051041838e-05,1793255022372498688
+237,3.950000000,POSE1_TO_POSE2_PRESS,782.024552315,760,736,718,671,644.024552315,913,800.024552315,841,657.024552315,635,658,0.459057146896,0.00470722691938,0.0794135759453,0.999999555819,0.000186941366148,-0.000920817326092,-7.42340269767e-05,1793255022389165312
+238,3.966666667,POSE1_TO_POSE2_PRESS,782.615455597,760,736,718,671,644.615455597,913,800.615455597,841,657.615455597,635,658,0.459056236708,0.00470601441904,0.079411379473,0.999999552487,0.000188838877678,-0.000924088212179,-7.36723246394e-05,1793255022405832192
+239,3.983333333,POSE1_TO_POSE2_PRESS,783,760,736,718,671,644.797911625,913,800.797911625,841.202088375,657.797911625,635,658,0.459056141238,0.00470533267613,0.0794101578319,0.999999550574,0.000189137067092,-0.000926117207737,-7.33933112714e-05,1793255022422499072
+240,4.000000000,POSE1_TO_POSE2_PRESS,783,760,736,718,671,644.219236858,913,800.219236858,841.780763142,657.219236858,635,658,0.459057563974,0.00470563998586,0.0794107527635,0.999999551323,0.000186454961531,-0.000925831972651,-7.36410814266e-05,1793255022439165440
+241,4.016666667,POSE1_TO_POSE2_PRESS,783,760,736,718,671,644.357312882,913,800.357312882,842,657,635.357312882,658,0.459058798458,0.00470578907108,0.0794112052735,0.999999551922,0.000186173140405,-0.000925250934751,-7.35298855536e-05,1793255022455832064
+242,4.033333333,POSE1_TO_POSE2_PRESS,783,760,736,718,671,644.932566454,913,800.932566454,842,657,635.932566454,658,0.45905991812,0.00470584164828,0.0794115709144,0.999999552429,0.000187355357408,-0.000924489473839,-7.31997406549e-05,1793255022472498688
+243,4.050000000,POSE1_TO_POSE2_PRESS,783,759.491233304,736,718,671,644.491233304,913,800.491233304,841.491233304,657,635.491233304,658,0.459059581906,0.00470720042677,0.0794105836226,0.99999955151,0.000187758303263,-0.000925371324134,-7.35859070555e-05,1793255022489165824
+244,4.066666667,POSE1_TO_POSE2_PRESS,783,759,736,718,671,644.087174311,913,800,841,657,635.087174311,658,0.459059284317,0.00470804458852,0.0794096210281,0.999999550713,0.000187797137082,-0.000926205670204,-7.38174043278e-05,1793255022505832192
+245,4.083333333,POSE1_TO_POSE2_PRESS,783,759,736,718,671,644.677598981,913,800,841,657,635.677598981,658,0.459060325761,0.00470491659052,0.0794098381504,0.999999551724,0.000186331360511,-0.000925506035887,-7.26068935463e-05,1793255022522498816
+246,4.100000000,POSE1_TO_POSE2_PRESS,783,759,736,718,671,644.737819785,913,800,841.262180215,657,635.737819785,658,0.45906124374,0.0047037751349,0.0794098627749,0.999999552136,0.000185815464308,-0.000925190045991,-7.22776685981e-05,1793255022539165440
+247,4.116666667,POSE1_TO_POSE2_PRESS,783,759,736,718,671,644.160267445,913,800,841.839732555,657,635.160267445,658,0.459062013208,0.00470502325693,0.079409655847,0.999999551832,0.000186442162866,-0.00092533553536,-7.30085272454e-05,1793255022555832320
+248,4.133333333,POSE1_TO_POSE2_PRESS,783,759.414233134,736,718,671,644,913,800,842,657,635,658,0.459061427166,0.00470552432345,0.0794091903079,0.999999551043,0.000186924211027,-0.000926067561417,-7.32988227574e-05,1793255022572498944
+249,4.150000000,POSE1_TO_POSE2_PRESS,783,759.987561581,736,718,671,644,913,800,842,657,635,658,0.459060320513,0.00470573846687,0.0794086254434,0.999999550067,0.000187350702996,-0.000927024859737,-7.34199102977e-05,1793255022589165312
+250,4.166666667,POSE1_TO_POSE2_PRESS,783,759.436406901,736,718,671,644,913,800,842,657,635,658,0.459062151347,0.00470547723648,0.0794095281576,0.999999551588,0.000186213601246,-0.000925625690961,-7.32524603716e-05,1793255022605832192
+251,4.183333333,POSE1_TO_POSE2_PRESS,783,759,736.144001295,717.855998705,671,644,913,800,842,657.144001295,635,658,0.459063373107,0.00470536329442,0.0794101661155,0.999999552566,0.000185511451268,-0.000924731647286,-7.29684150906e-05,1793255022622499072
+252,4.200000000,POSE1_TO_POSE2_PRESS,783,759,736.737895934,717.262104066,671,644,913,800,842,657.737895934,635,658,0.459062488456,0.00470574245085,0.0794098752339,0.999999551686,0.000186276522722,-0.000925578995907,-7.23400898904e-05,1793255022639165440
+253,4.216666667,HOLD_POSE2,782,759,736,718,671,645,914,800,842,657,636,658,0.459064866541,0.00470891923635,0.0794118674664,0.999999552161,0.000192183532904,-0.000923827458728,-7.27018597951e-05,1793255022675385088
+254,4.233333333,HOLD_POSE2,782.573610591,759.573610591,736.573610591,718,671,645,913.426389409,800.573610591,841.426389409,657,636,658,0.459064737115,0.00470822740367,0.0794111388247,0.999999553248,0.000189537638014,-0.000923180216153,-7.29216535447e-05,1793255022692051712
+255,4.250000000,HOLD_POSE2,783,760,737,718,671,645,913.151421804,801,841.151421804,657,635.848578196,658,0.459064333177,0.00470769171102,0.0794103579399,0.999999553613,0.000187517184063,-0.000923191690138,-7.29914704717e-05,1793255022708718336
+256,4.266666667,HOLD_POSE2,783,760,737,718,671,645,913.741399209,801,841.741399209,657,635.258600791,658,0.459063134184,0.00470760823898,0.0794094257457,0.999999551905,0.000187308163644,-0.000925110972691,-7.2626916881e-05,1793255022725384960
+257,4.283333333,HOLD_POSE2,783,759.674677439,737,718,671,644.674677439,914,800.674677439,842,657.325322561,635,658,0.459063166029,0.00470629898568,0.0794095308597,0.999999551529,0.000186365362092,-0.000925734361518,-7.22880709035e-05,1793255022742051840
+258,4.300000000,HOLD_POSE2,783,759.095478603,737,718,671,644.095478603,914,800.095478603,842,657.904521397,635,658,0.459064158399,0.00470403315324,0.0794104454717,0.999999552192,0.000184849930059,-0.000925346456489,-7.19692867385e-05,1793255022758719488
+259,4.316666667,HOLD_POSE2,783,759.480166481,736.519833519,718,670.519833519,644,913.519833519,800,842,658,635.480166481,657.519833519,0.459065589435,0.00470642274449,0.0794112646158,0.999999553273,0.000188940443469,-0.000923350868792,-7.19552690205e-05,1793255022775386112
+260,4.333333333,HOLD_POSE2,783,759.945054238,736,718,670.054945762,644.054945762,913,800,842,657.945054238,636,657.054945762,0.459066859167,0.00470939631993,0.0794118652891,0.999999554132,0.000193424466421,-0.000921486346065,-7.201740295e-05,1793255022792052480
+261,4.350000000,HOLD_POSE2,783,759.371825174,736,718,670.628174826,644.628174826,913,800,842,657.371825174,636,657.628174826,0.459065790648,0.00470921070181,0.0794105829559,0.999999552365,0.000191182888758,-0.000923851376325,-7.22304179904e-05,1793255022808718848
+262,4.366666667,HOLD_POSE2,783,759,736,718,671,645,913.208645842,800,842,657.208645842,635.791354158,658,0.459065109725,0.00470833214531,0.079409710002,0.999999551373,0.000189498797525,-0.00092528075842,-7.21112046605e-05,1793255022825385216
+263,4.383333333,HOLD_POSE2,783,759,736,718,671,645,913.802486642,800,842,657.802486642,635.197513358,658,0.459065144371,0.00470617430926,0.0794095928306,0.999999551825,0.000188843919299,-0.000924982777996,-7.13786424305e-05,1793255022842051840
+264,4.400000000,HOLD_POSE2,782.61351926,759.38648074,736,717.61351926,670.61351926,644.61351926,914,800,841.61351926,657.61351926,635,658,0.4590646282,0.00470649783701,0.0794092591709,0.999999551007,0.000190056016064,-0.000925618460359,-7.13780303208e-05,1793255022858718464
+265,4.416666667,HOLD_POSE2,782.034432301,759.965567699,736,717.034432301,670.034432301,644.034432301,914,800,841.034432301,657.034432301,635,658,0.459063837525,0.00470805797495,0.0794088176222,0.999999549552,0.000192198536859,-0.000926719442094,-7.17421921933e-05,1793255022875385344
+266,4.433333333,HOLD_POSE2,782.539943662,759.460056338,736,717,670,644,913.460056338,800,841.539943662,657,635,658,0.459066361495,0.00470667212279,0.0794099112941,0.999999552202,0.000188823492249,-0.000924545608071,-7.18156938057e-05,1793255022892051968
+267,4.450000000,HOLD_POSE2,783,759.116881263,736,717.116881263,670.116881263,644,913,800,841.883118737,657,635,658,0.459068215202,0.0047057898865,0.0794107389342,0.999999554194,0.000186328292007,-0.000922890036479,-7.1882848349e-05,1793255022908719104
+268,4.466666667,HOLD_POSE2,783,759.705356424,736,717.705356424,670.705356424,644,913,800,841.294643576,657,635,658,0.459066519049,0.00470769109377,0.0794101015901,0.99999955255,0.000188790490774,-0.000924160879631,-7.19985338865e-05,1793255022925385728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,783,759,737,717,671,644,913,800,842,657,635,658,0.459066296045,0.00470581360271,0.0794096235442,0.999999551477,0.000191078986794,-0.000924926631349,-7.10328335247e-05,1793255022963555584
+270,4.500000000,POSE2_TO_POSE3_RETREAT,783,759,736.39991976,717.60008024,670.39991976,644,913,800,842,657,635,657.39991976,0.459066056374,0.00470754633866,0.0794090869338,0.999999551447,0.000188789364504,-0.000925355865165,-7.19764096617e-05,1793255022980222976
+271,4.516666667,POSE2_TO_POSE3_RETREAT,783,759,736,718,670.188996515,644,913,800,841.811003485,657,635,657.188996515,0.459066506483,0.00470864609735,0.0794092947843,0.999999552065,0.000187876383162,-0.000924835745691,-7.2470034289e-05,1793255022996890112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,783,759,736,718,670.755607339,644,913,800,841.244392661,657,635,657.755607339,0.459068334766,0.00470848117023,0.0794109900644,0.999999553979,0.000189713924709,-0.000922418822093,-7.20646577074e-05,1793255023013556480
+273,4.550000000,POSE2_TO_POSE3_RETREAT,783,759,736.338958224,718,671,644,913.338958224,800,841,657,635,658,0.459068542257,0.00470743652196,0.0794113925284,0.999999554343,0.000190078847983,-0.000922000383135,-7.14072868856e-05,1793255023030223104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,783,759,736.935005898,718,671,644,913.935005898,800,841,657,635,658,0.459067520428,0.00470572463209,0.079410814431,0.999999553534,0.000189326835206,-0.000923097733834,-7.05587861602e-05,1793255023046889728
+275,4.583333333,POSE2_TO_POSE3_RETREAT,783,759.516103622,736.483896378,718,671,644,913.483896378,800,841.516103622,657,635.516103622,658,0.459067907414,0.00470736567655,0.0794104968153,0.999999553199,0.000190249294664,-0.000923212732722,-7.13076905767e-05,1793255023063556352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,783,759.905275431,736,717.905275431,671,644.094724569,913,800,842,657.094724569,635.905275431,658,0.459068222957,0.00470889787315,0.0794102961761,0.999999553038,0.000190903957407,-0.000923194572602,-7.20482854716e-05,1793255023080223232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,783,759.329937736,736,717.329937736,671,644.670062264,913,800,842,657.670062264,635.329937736,658,0.459067301185,0.00470779573586,0.0794105273005,0.999999553468,0.000189160082043,-0.000923110799043,-7.17547834567e-05,1793255023096889600
+278,4.633333333,POSE2_TO_POSE3_RETREAT,783,759.250369107,736,717.250369107,671,644.749630893,913.250369107,800,842,658,635,658,0.459065143324,0.00470700538503,0.0794092946321,0.999999552228,0.000187762105143,-0.00092475623705,-7.15155203754e-05,1793255023113555968
+279,4.650000000,POSE2_TO_POSE3_RETREAT,783,759.83735687,736,717.83735687,671,644.16264313,913.83735687,800,842,658,635,658,0.459061323554,0.00470663422797,0.0794060939097,0.999999548735,0.000186829185266,-0.000928726582001,-7.13491809987e-05,1793255023130222592
+280,4.666666667,POSE2_TO_POSE3_RETREAT,783,760,736.419818021,718,671,644.419818021,914,800,842,657.580181979,635,658,0.459046601005,0.00470827390277,0.0793993280524,0.999999538644,0.000188825168096,-0.000939122871049,-7.14492356511e-05,1793255023146889216
+281,4.683333333,POSE2_TO_POSE3_RETREAT,783,759.99946081,736.99946081,717.99946081,671,644.99946081,914,800,842,657,635,658,0.459027674969,0.00471068035689,0.0793911865694,0.999999525862,0.000191939343811,-0.000951998672462,-7.16504173444e-05,1793255023163555840
+282,4.700000000,POSE2_TO_POSE3_RETREAT,783,759.424140796,736.424140796,717.424140796,671,644.424140796,914,800,842,657,635,658,0.458982462718,0.00470889308746,0.0793732619383,0.999999496682,0.000190363751568,-0.000982539039012,-7.08104619206e-05,1793255023180222720
+283,4.716666667,POSE2_TO_POSE3_RETREAT,783,759.150924051,736,717.150924051,671,644,914,800,842,657.150924051,635,658,0.458933249972,0.00470765139104,0.0793554947165,0.999999468548,0.000189855203397,-0.00101091248772,-7.01012582744e-05,1793255023196889600
+284,4.733333333,POSE2_TO_POSE3_RETREAT,783,759.725273143,736,717.725273143,671,644,914,800,842,657.725273143,635,658,0.458872813622,0.00470794032678,0.0793381691104,0.999999445311,0.000192340301221,-0.00103320654798,-6.97588852846e-05,1793255023213556224
+285,4.750000000,POSE2_TO_POSE3_RETREAT,783,760,736.309835878,718,671,644.309835878,914,800.309835878,841.690164122,657.690164122,635,658,0.458804516823,0.00470698046104,0.0793266135963,0.999999429472,0.00019325244822,-0.00104833466817,-6.8583826955e-05,1793255023230222592
+286,4.766666667,POSE2_TO_POSE3_RETREAT,783,760,736.903763575,718,671,644.903763575,914,800.903763575,841.096236425,657.096236425,635,658,0.458729012696,0.0047048755559,0.0793203487422,0.999999420697,0.000192722339746,-0.00105689226046,-6.66452706007e-05,1793255023246888960
+287,4.783333333,POSE2_TO_POSE3_RETREAT,783,759.518125471,736.518125471,718,671,644.518125471,913.518125471,800.518125471,841,657,635,658,0.45864268317,0.00470445457534,0.0793220658853,0.999999423514,0.000194868948702,-0.00105395323795,-6.46621800582e-05,1793255023263555584
+288,4.800000000,POSE2_TO_POSE3_RETREAT,782.9431117,759,736.0568883,718,671,644,913,800,841.0568883,657,635,658,0.458551673395,0.00470436895358,0.079325364511,0.999999428231,0.000197569240449,-0.00104909103047,-6.25436251373e-05,1793255023280222208
+289,4.816666667,POSE2_TO_POSE3_RETREAT,782.36845074,759,736.63154926,718,671,644,913,800,841.63154926,657,635,658,0.458437117955,0.00470437203144,0.0793290093428,0.999999430063,0.000200598075535,-0.00104695807414,-5.92705091422e-05,1793255023296888576
+290,4.833333333,POSE2_TO_POSE3_RETREAT,782.2056299,759.2056299,736.7943701,718,671,644,913,800,841.7943701,657.2056299,635,658,0.458314538412,0.00470389301369,0.0793329203491,0.999999434039,0.000202568827248,-0.00104295825143,-5.59102405264e-05,1793255023313555456
+291,4.850000000,POSE2_TO_POSE3_RETREAT,782.778673575,759.778673575,736.221326425,718,671,644,913,800,841.221326425,657.778673575,635,658,0.458177621636,0.00470255260093,0.0793373069482,0.999999441837,0.000202649024742,-0.0010356227641,-5.23942503867e-05,1793255023330222592
+292,4.866666667,POSE2_TO_POSE3_RETREAT,783,759.636308128,736,718,671,644.363691872,913.363691872,800.363691872,841.363691872,657.636308128,635,658,0.458017186712,0.00470228416963,0.0793418517736,0.999999446929,0.000207102971576,-0.00103001747611,-4.80973873096e-05,1793255023346889472
+293,4.883333333,POSE2_TO_POSE3_RETREAT,783,759.043754458,736,718,671,644.956245542,913.956245542,800.956245542,841.956245542,657.043754458,635,658,0.45784195242,0.00470269030813,0.0793464961671,0.999999450272,0.000214309204655,-0.00102550095661,-4.33091409381e-05,1793255023363556096
+294,4.900000000,POSE2_TO_POSE3_RETREAT,783,759.535662674,736,718,671,644.464337326,913.464337326,800.464337326,841.464337326,657,635,658,0.457640089523,0.00470322542233,0.0793486381341,0.999999451043,0.000219205614111,-0.00102390762178,-3.84103204976e-05,1793255023380222464
+295,4.916666667,POSE2_TO_POSE3_RETREAT,783,760,736,718,671.113574104,644.113574104,913.113574104,800,841.113574104,657,635,658,0.457429531527,0.00470291723257,0.0793505857095,0.999999451819,0.000223676082572,-0.00102236584709,-3.31365070913e-05,1793255023396888832
+296,4.933333333,POSE2_TO_POSE3_RETREAT,783,760,736,718,671.68961929,644.68961929,913.68961929,800,841.68961929,657,635,658,0.457192212176,0.0046991332572,0.0793525541374,0.999999453564,0.000227162012749,-0.00102008501482,-2.63716274072e-05,1793255023413555456
+297,4.950000000,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,645,913.726953507,800,841.726953507,657.273046493,635,658,0.456939627965,0.0046958435508,0.0793560691625,0.999999457105,0.000232528415555,-0.00101555007166,-1.94389384574e-05,1793255023430222080
+298,4.966666667,POSE2_TO_POSE3_RETREAT,783,760,736,718,672,645,913.134901794,800,841.134901794,657.865098206,635,658,0.456669209552,0.00469313130813,0.0793613911051,0.999999462685,0.00024009180876,-0.00100838160955,-1.23101952735e-05,1793255023446888960
+299,4.983333333,POSE2_TO_POSE3_RETREAT,783,759.556156662,736,718,672.443843338,644.556156662,913,800,841.443843338,658,635,658,0.456356328769,0.00469084496518,0.0793647000375,0.999999465847,0.000248992823362,-0.00100314044862,-4.1474824485e-06,1793255023463555840
+300,5.000000000,POSE2_TO_POSE3_RETREAT,783,759,736,718,673,644.018771855,913,800,841.981228145,658,635,658,0.45603020475,0.00468875737596,0.0793674055479,0.999999468359,0.000258267016871,-0.000998279696769,4.25470689992e-06,1793255023480222720
+301,5.016666667,POSE2_TO_POSE3_RETREAT,783,759,736,718,673,644.596980806,913,800,841.403019194,658,635,658,0.455682835307,0.0046888475199,0.0793698310219,0.999999476444,0.000266899164451,-0.000987806525029,1.07006790799e-05,1793255023496889088
+302,5.033333333,POSE2_TO_POSE3_RETREAT,782.826238155,759,736,717.826238155,673,645,913,800,841,657.826238155,635.173761845,657.826238155,0.455331311227,0.00468754356656,0.0793788505827,0.999999495608,0.000271211860403,-0.000966930855569,1.65102734816e-05,1793255023513555712
+303,5.050000000,POSE2_TO_POSE3_RETREAT,782.252742063,759,736,717.252742063,673,645,913,800,841,657.252742063,635.747257937,657.252742063,0.454970229567,0.00468303253156,0.0794030396548,0.999999539357,0.000265587777732,-0.00092212453275,2.08558977684e-05,1793255023530222336
+304,5.066666667,POSE2_TO_POSE3_RETREAT,782.332219164,759,736,717.332219164,673.332219164,645,913,800,841,657,635.667780836,657.332219164,0.454580845236,0.0046792144416,0.0794261412972,0.999999579935,0.000243064656519,-0.000883575649223,1.85584919621e-05,1793255023546889216
+305,5.083333333,POSE2_TO_POSE3_RETREAT,782.926214548,759,736,717.926214548,673.926214548,645,913,800,841,657,635.073785452,657.926214548,0.454169159426,0.00467594236581,0.0794483860884,0.999999617254,0.000207225727081,-0.000849957387302,1.1026628484e-05,1793255023563555840
+306,5.100000000,POSE2_TO_POSE3_RETREAT,782.493932134,759,736,717.493932134,674,645,913,800,841,657,635.506067866,658,0.453680160999,0.00467113791507,0.0794522017641,0.999999625176,0.000189664720633,-0.000844717731558,1.12395826331e-05,1793255023580222464
+307,5.116666667,POSE2_TO_POSE3_RETREAT,782,759.083380438,736,717,674.083380438,645,913.083380438,800,841,657,635.916619562,658,0.453175919822,0.00466635581133,0.0794533395244,0.999999629056,0.000176338547671,-0.000842985414221,1.29569044327e-05,1793255023596889344
+308,5.133333333,POSE2_TO_POSE3_RETREAT,782,759.657544984,736,717,674.657544984,645,913.657544984,800,841,657,635.342455016,658,0.452646504279,0.00466298457445,0.0794541007552,0.999999633651,0.000172679272087,-0.00083820515518,1.70631489555e-05,1793255023613556480
+309,5.150000000,POSE2_TO_POSE3_RETREAT,782.237695932,759.762304068,736,717.237695932,675.237695932,645,913.762304068,800,841,657.237695932,635,658,0.452112917037,0.00465972078391,0.079462651745,0.999999639161,0.000206734498038,-0.000823723839302,2.04423148577e-05,1793255023630223360
+310,5.166666667,POSE2_TO_POSE3_RETREAT,782.826694448,759.173305552,736,717.826694448,675.826694448,645,913.173305552,800,841,657.826694448,635,658,0.451573164265,0.00465661579382,0.0794827156051,0.999999639839,0.000296529851581,-0.000794904846513,2.2746894911e-05,1793255023646889728
+311,5.183333333,POSE2_TO_POSE3_RETREAT,782.588685452,759,736,717.588685452,676,645.411314548,913,800,841,657.588685452,635,658,0.451007888122,0.00465135102101,0.0795124877261,0.999999677067,0.00030240282729,-0.000744183471313,2.46801666348e-05,1793255023663556352
+312,5.200000000,POSE2_TO_POSE3_RETREAT,782.00589076,759,736,717.00589076,676,645.99410924,913,800,841,657.00589076,635,658,0.450431971106,0.00464518581856,0.0795463072938,0.999999728152,0.000273287927046,-0.000684330827198,2.64586370165e-05,1793255023680222720
+313,5.216666667,POSE2_TO_POSE3_RETREAT,782.566246897,759.566246897,736,717,676.566246897,646,913,800,841,657,635,658,0.449814967257,0.00464003070239,0.0795890679785,0.999999778841,0.000252962754906,-0.000614302699096,3.09754697963e-05,1793255023696889344
+314,5.233333333,POSE2_TO_POSE3_RETREAT,782.860432171,760,736,717.139567829,677.139567829,646,913.139567829,800,841,657.139567829,635,658,0.449173452036,0.00463510795085,0.0796182906636,0.999999811129,0.000229167706107,-0.000569307966262,3.33498582005e-05,1793255023713555712
+315,5.250000000,POSE2_TO_POSE3_RETREAT,782.28305822,760,736,717.71694178,677.71694178,646,913.71694178,800,841,657.71694178,635,658,0.44845636398,0.00463088174428,0.0796047600081,0.999999798819,0.00019420657299,-0.000603165685601,2.89159655952e-05,1793255023730222336
+316,5.266666667,POSE2_TO_POSE3_RETREAT,782,759.698270087,736.301729913,718,678.301729913,646,913.698270087,800,841,658,635,658,0.447728504153,0.00462412506364,0.0795819479987,0.999999779518,0.000172653428835,-0.000640538193743,2.94126305271e-05,1793255023746889216
+317,5.283333333,POSE2_TO_POSE3_RETREAT,782,759.106351291,736.893648709,718,678.893648709,646,913.106351291,800,841,658,635,658,0.446990284484,0.00461493469792,0.0795502096413,0.999999753874,0.000163995420167,-0.000681291055809,3.46512609131e-05,1793255023763556096
+318,5.300000000,POSE2_TO_POSE3_RETREAT,782.473315454,759.473315454,737,718,679.473315454,646.473315454,913.473315454,800,841,657.526684546,635,658,0.446261744356,0.00460952751184,0.0795743012618,0.999999774319,0.000190342527061,-0.00064329109199,3.61826000668e-05,1793255023780222720
+319,5.316666667,POSE2_TO_POSE3_RETREAT,783,760,737,718,680.050109739,647,914,800,841,657,635,658,0.445532026189,0.00460461238771,0.0796131364367,0.999999804349,0.0002186778084,-0.000584899521101,3.70733569372e-05,1793255023796889344
+320,5.333333333,POSE2_TO_POSE3_RETREAT,783,760,737,718,680.624925801,647,914,800,841,657,635,658,0.444767772682,0.00459617321825,0.0796783108441,0.999999859802,0.000187549462105,-0.000493599315105,3.97589342466e-05,1793255023813556224
+321,5.350000000,POSE2_TO_POSE3_RETREAT,782.801782152,760,736.801782152,717.801782152,681.198217848,647,913.801782152,800.198217848,841,657,635,658,0.443990962379,0.00458656322756,0.0797268007146,0.999999895601,0.000157323400215,-0.000426900887582,4.24548275245e-05,1793255023830222848
+322,5.366666667,POSE2_TO_POSE3_RETREAT,782.231351928,760,736.231351928,717.231351928,681.768648072,647,913.231351928,800.768648072,841,657,635,658,0.443190573043,0.00457475467575,0.0797439604504,0.999999908106,0.000128791647376,-0.000406399555356,4.51700924526e-05,1793255023846889472
+323,5.383333333,POSE2_TO_POSE3_RETREAT,782,759.644456387,736,717.355543613,682,647,913,801,841,657,635,658,0.442370664025,0.00456517119904,0.0797522569857,0.999999913837,0.000136271394201,-0.00038939735661,4.61156378986e-05,1793255023863555840
+324,5.400000000,POSE2_TO_POSE3_RETREAT,782,759.046326643,736,717.953673357,682,647,913,801,841,657,635,658,0.44153743683,0.00455710588355,0.0797545061904,0.999999914552,0.000168321659119,-0.000374782604771,4.58537099637e-05,1793255023880222464
+325,5.416666667,POSE2_TO_POSE3_RETREAT,782.532225726,759.532225726,736,718,682.532225726,647.532225726,913,801,841,657.532225726,635,658,0.440599562075,0.0045470665354,0.0797161702908,0.999999895323,0.000135556564533,-0.000434546014719,4.63487213117e-05,1793255023896889088
+326,5.433333333,POSE2_TO_POSE3_RETREAT,782.891335413,759.891335413,736,718,683,648,913,801,841,657.891335413,635,657.891335413,0.439655828761,0.00453631683277,0.0796791757835,0.999999873102,0.000103815911571,-0.000490725481946,4.69721420551e-05,1793255023913555712
+327,5.450000000,POSE2_TO_POSE3_RETREAT,782.316910763,759.316910763,736,718,683,648,913,801,841,657.316910763,635,657.316910763,0.438724642022,0.00452323275377,0.0796625353167,0.999999866474,9.9790026866e-05,-0.000504778436984,4.7873570011e-05,1793255023930222336
+328,5.466666667,POSE2_TO_POSE3_RETREAT,782,759.263712481,736,717.736287519,683,648,913,801,841,657,635,657.263712481,0.43784215663,0.0045126731713,0.0796926995626,0.999999890101,9.20931266953e-05,-0.000457103657348,4.87194074957e-05,1793255023946888960
+329,5.483333333,POSE2_TO_POSE3_RETREAT,782,759.851964133,736,717.148035867,683,648,913,801,841,657,635,657.851964133,0.437019605685,0.0045052203722,0.0797804642757,0.999999939986,7.98784701812e-05,-0.000333463308335,4.94968318584e-05,1793255023963555328
+330,5.500000000,POSE2_TO_POSE3_RETREAT,782.430981591,760,736,717.430981591,683.430981591,648,913,801,840.569018409,657,635,657.569018409,0.436147450619,0.00449495936025,0.0798383717404,0.999999965887,6.7056126946e-05,-0.000247070882844,5.18224413206e-05,1793255023980222208
+331,5.516666667,POSE2_TO_POSE3_RETREAT,782.993049319,760,736,717.993049319,683.993049319,648,913,801,840,657,635,657.006950681,0.435257515549,0.00448374789029,0.0798853296684,0.999999981816,5.40693495371e-05,-0.000174530111882,5.4630490432e-05,1793255023996888832
+332,5.533333333,POSE2_TO_POSE3_RETREAT,782.412380059,760,736,717.412380059,683.412380059,648,913,801,840,657,635,657.587619941,0.434276853271,0.00447203190885,0.0798572466753,0.99999997519,4.43774704384e-05,-0.000211431744763,5.4286769682e-05,1793255024013555712
+333,5.550000000,POSE2_TO_POSE3_RETREAT,782,759.83366024,736,717.16633976,683.16633976,648,913,801,840,657,635,658,0.433262761772,0.0044612515122,0.0798161860663,0.999999959308,3.60566933924e-05,-0.000277668037888,5.4624739448e-05,1793255024030222336
+334,5.566666667,POSE2_TO_POSE3_RETREAT,782,759.259717415,736,717.740282585,683.740282585,648,913,801,840,657,635,658,0.43216675454,0.00445276369638,0.0797433247879,0.999999911474,3.10956989872e-05,-0.000415786704104,5.66331400463e-05,1793255024046888960
+335,5.583333333,POSE2_TO_POSE3_RETREAT,782,759.325285099,736,718,684,648,913,801,840,657.325285099,635,658,0.431143251226,0.00444112419811,0.0797041749497,0.999999879005,1.87638126727e-05,-0.000488249883237,5.70098039832e-05,1793255024063555584
+336,5.600000000,POSE2_TO_POSE3_RETREAT,782,759.919428772,736,718,684,648,913,801,840,657.919428772,635,658,0.43017967478,0.00442687973356,0.0796928887024,0.999999870186,3.39648200835e-07,-0.000506446693202,5.60377857258e-05,1793255024080222208
+337,5.616666667,POSE2_TO_POSE3_RETREAT,781.501403934,760,736,718,684,648,913,801,840,657.501403934,635,657.501403934,0.429310627751,0.00441363715404,0.0797646326426,0.999999926147,-1.68534106098e-05,-0.000379786169209,5.64317476235e-05,1793255024096889088
+338,5.633333333,POSE2_TO_POSE3_RETREAT,781.075125533,759.924874467,736,718,684,648,913,801,840,657,635,657.075125533,0.428443100071,0.00440140841442,0.0798389130163,0.999999966803,-3.11370774051e-05,-0.00024928639872,5.7272456593e-05,1793255024113555712
+339,5.650000000,POSE2_TO_POSE3_RETREAT,781.649738087,759.350261913,736,718,684,648,913,801,840,657,635,657.649738087,0.427487073358,0.00439487535697,0.0798434507465,0.999999967991,-2.73612018977e-05,-0.000244357598348,5.9658641512e-05,1793255024130222592
+340,5.666666667,POSE2_TO_POSE3_RETREAT,782,759.230133586,736.230133586,718,684,648.230133586,913,801,840,657,635,658,0.426512630636,0.00439614033328,0.0798280606455,0.999999961602,-2.24476952815e-05,-0.000269575100404,6.01823351693e-05,1793255024146889216
+341,5.683333333,POSE2_TO_POSE3_RETREAT,782,759.819557656,736.819557656,718,684,648.819557656,913,801,840,657,635,658,0.42550943622,0.00440957979982,0.0797815587017,0.999999939772,-1.57580889956e-05,-0.000341857784964,5.77982596234e-05,1793255024163556608
+342,5.700000000,POSE2_TO_POSE3_RETREAT,782,760,737,717.598211694,684,648.598211694,912.598211694,801,840,657.401788306,635.401788306,657.598211694,0.424497929175,0.0044335776971,0.0797445060743,0.999999917263,2.42761066249e-05,-0.000401808598501,5.86054876421e-05,1793255024180223488
+343,5.716666667,POSE2_TO_POSE3_RETREAT,782,760,737,717.019154809,684,648.019154809,912.019154809,801,840,657.980845191,635.980845191,657.019154809,0.423482754667,0.00446223396212,0.0797116224782,0.999999890915,7.90218995376e-05,-0.000456318597681,6.08207153786e-05,1793255024196889856
+344,5.733333333,POSE2_TO_POSE3_RETREAT,781.443737928,759.443737928,737,717,684,648,912.556262072,801,840,657.443737928,635.443737928,657.556262072,0.42260529588,0.00446896807665,0.0797302778385,0.99999990805,7.44480424322e-05,-0.000418514306799,5.65900230937e-05,1793255024213556736
+345,5.750000000,POSE2_TO_POSE3_RETREAT,781.134212903,759,737,717.134212903,684,648,913,801,840,657,635.134212903,658,0.421743549265,0.00447230005171,0.0797627124328,0.999999931938,6.9189010813e-05,-0.000358445923167,5.34251742711e-05,1793255024230223104
+346,5.766666667,POSE2_TO_POSE3_RETREAT,781.721130846,759,737,717.721130846,684,648,913,801,840,657,635.721130846,658,0.42091890873,0.00446668619075,0.0798356775524,0.999999968804,6.8464048523e-05,-0.000233932541557,5.45992811394e-05,1793255024246889472
+347,5.783333333,POSE2_TO_POSE3_RETREAT,782,759.304005848,737,718,684,648,913,801,840,657,635.695994152,658,0.42005198356,0.00446347704541,0.0798621391524,0.999999978166,6.49571699584e-05,-0.0001909866872,5.45186258505e-05,1793255024263555840
+348,5.800000000,POSE2_TO_POSE3_RETREAT,782,759.883220842,737,718,684,648,913,801,840,657,635.116779158,658,0.419146779179,0.00446244483128,0.0798465022364,0.999999972227,5.89318905455e-05,-0.000221881951953,5.33020651799e-05,1793255024280222464
+349,5.816666667,POSE2_TO_POSE3_RETREAT,781.538772657,759.538772657,737,718,684,648,912.538772657,801,840,657,635,658,0.418245681843,0.0044628189896,0.0798166348161,0.999999958909,6.20293831465e-05,-0.000274738185438,5.3425396869e-05,1793255024296889344
+350,5.833333333,POSE2_TO_POSE3_RETREAT,781,759.038692404,737,718,684,648,912.038692404,801,840,657.038692404,635,657.961307596,0.417350453452,0.00446382748297,0.0797861798461,0.99999994215,6.71036912764e-05,-0.000329084439611,5.3859557592e-05,1793255024313556480
+351,5.850000000,POSE2_TO_POSE3_RETREAT,781,759.612887057,737,718,684,648,912.612887057,801,840,657.612887057,635,657.387112943,0.416522097924,0.00446869986496,0.0797973291033,0.999999942696,6.76528369244e-05,-0.000327298520923,5.39126405345e-05,1793255024330222848
+352,5.866666667,POSE2_TO_POSE3_RETREAT,781,759.808111087,737,718,684,648,913,801,840,658,635,657.191888913,0.415692057986,0.00447265940373,0.0797961479225,0.99999993879,7.01362630098e-05,-0.00033848856687,5.40986113205e-05,1793255024346889472
+353,5.883333333,POSE2_TO_POSE3_RETREAT,781,759.219161968,737,718,684,648,913,801,840,658,635,657.780838032,0.414858532481,0.00447473007075,0.0797694523659,0.999999924689,7.66221391852e-05,-0.000376528726229,5.45595561293e-05,1793255024363556352
+354,5.900000000,POSE2_TO_POSE3_RETREAT,781,759,737,717.636116762,684,648,913,801,840,657.636116762,635,658,0.414092332862,0.0044727372138,0.0797695105445,0.999999927702,7.84114447452e-05,-0.00036821434721,5.35308801388e-05,1793255024380223232
+355,5.916666667,POSE2_TO_POSE3_RETREAT,781,759,737,717.056570667,684,648,913,801,840,657.056570667,635,658,0.413366035357,0.00446833602598,0.0797854248741,0.999999940417,7.74172310649e-05,-0.000332426998694,5.16193498059e-05,1793255024396889856
+356,5.933333333,POSE2_TO_POSE3_RETREAT,781,759,737,717,684.516360308,648,913,801,839.483639692,657,635.516360308,658,0.412649827006,0.00446561000573,0.079794566345,0.99999994447,7.69585529262e-05,-0.000319919672568,5.28063805763e-05,1793255024413556224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,780.911465824,759,737,717.088534176,684.911465824,648,913,800.911465824,839,657.088534176,635.911465824,657.911465824,0.411936270557,0.00446399971761,0.0797996149955,0.999999945783,7.73071678788e-05,-0.000315468359623,5.4190083462e-05,1793255024430222592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,780.339518803,759,737,717.660481197,684.339518803,648,913,800.339518803,839,657.660481197,635.339518803,657.339518803,0.411231235025,0.00446749212348,0.0797863163659,0.999999936929,8.1747446549e-05,-0.00034125442156,5.48175416064e-05,1793255024446889216
+359,5.983333333,POSE2_TO_POSE3_RETREAT,780,759,737.243030294,717.756969706,684.243030294,648,913,800.243030294,839.243030294,657.756969706,635,657.243030294,0.41054706991,0.0044724422975,0.0797822486006,0.999999933205,8.75245490034e-05,-0.00035055987227,5.51064083618e-05,1793255024463556096
+360,6.000000000,POSE2_TO_POSE3_RETREAT,780,759,737.841066291,717.158933709,684.841066291,648,913,800.841066291,839.841066291,657.158933709,635,657.841066291,0.409893391248,0.00447952190127,0.0797916647911,0.999999937578,9.52544120628e-05,-0.000335791322286,5.49006788375e-05,1793255024480222720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,780.423361205,759,737.576638795,717.423361205,685,648,913,800.576638795,840,657,635,657.576638795,0.409300359498,0.00448073956355,0.0798137831505,0.999999950395,9.29181972436e-05,-0.000295990850139,5.44615783297e-05,1793255024496889344
+362,6.033333333,POSE2_TO_POSE3_RETREAT,780.999958658,759,737.000041342,717.999958658,685,648,913,800.000041342,840,657,635,657.000041342,0.408729278939,0.00447983548755,0.0798404990806,0.99999996423,8.6938550298e-05,-0.000247130032962,5.39380087031e-05,1793255024513555968
+363,6.050000000,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,912.424269844,800,839.424269844,657.575730156,635,657.575730156,0.408136575125,0.00448001454856,0.0798253520047,0.999999953873,0.000102124396988,-0.000280765786488,5.47231039985e-05,1793255024530222336
+364,6.066666667,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,912.154999326,800,839,657.845000674,635,658,0.407555178704,0.00447995207111,0.0798051296572,0.999999940898,0.000110588692438,-0.000320873822203,5.48930563534e-05,1793255024546888960
+365,6.083333333,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,912.744063786,800,839,657.255936214,635,658,0.407005452078,0.00447921296408,0.0797707027576,0.9999999217,0.000100225491532,-0.000379090488738,5.33400799484e-05,1793255024563555584
+366,6.100000000,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,913,800.327354026,839,657,635,658,0.406500091518,0.0044789754524,0.0797597271694,0.999999917492,9.42318239281e-05,-0.000391628214973,5.25745477016e-05,1793255024580222208
+367,6.116666667,POSE2_TO_POSE3_RETREAT,781,759,737,718,685,648,913,800.906208008,839,657,635,658,0.406028816606,0.00447912330706,0.0797667687857,0.999999926325,9.15951875368e-05,-0.000369071665657,5.24139941992e-05,1793255024596888832
+368,6.133333333,POSE2_TO_POSE3_RETREAT,781,759.483120015,737,718,685,648,912.516879985,801,839,657,635,658,0.405613513986,0.00448193544596,0.0797877843593,0.999999938583,0.000105579759511,-0.000329818115778,5.39102671942e-05,1793255024613555712
+369,6.150000000,POSE2_TO_POSE3_RETREAT,781,759.940537841,737,718.059462159,685,648,912,800.940537841,839,657,635.059462159,658,0.405210992363,0.00448549320949,0.0798102362891,0.999999948859,0.000121577686019,-0.000290527758533,5.56305327854e-05,1793255024630222592
+370,6.166666667,POSE2_TO_POSE3_RETREAT,781,759.365879675,737,718.634120325,685,648,912,800.365879675,839,657,635.634120325,658,0.404825436628,0.00449104770899,0.0798217222048,0.999999951426,0.000127173848617,-0.000278891479807,5.65157999463e-05,1793255024646889216
+371,6.183333333,POSE2_TO_POSE3_RETREAT,781,759,737,718.785630705,685,648,912,800,839,657.214369295,636,658,0.404449332713,0.00449391820842,0.0798289548667,0.999999952724,0.00012579452257,-0.000274923562003,5.60766920298e-05,1793255024663555584
+372,6.200000000,POSE2_TO_POSE3_RETREAT,781,759,737,718.195584039,685,648,912,800,839,657.804415961,636,658,0.40408979294,0.00449208505746,0.0798287337957,0.999999951845,0.000112190808907,-0.000284394275557,5.33166464728e-05,1793255024680222720
+373,6.216666667,POSE2_TO_POSE3_RETREAT,781,759,737,718.363324588,684.636675412,648,912,800,839,657.636675412,635.636675412,658,0.403754830283,0.00449087971276,0.079826785292,0.999999949977,0.000109341732987,-0.000291975620759,5.32952086059e-05,1793255024696889088
+374,6.233333333,POSE2_TO_POSE3_RETREAT,781,759,737,718.906794276,684.093205724,648,912,800,839,657.093205724,635.093205724,658,0.403432053522,0.00448998564939,0.0798239802854,0.999999947668,0.000111825064837,-0.000298620172391,5.46316382904e-05,1793255024713555456
+375,6.250000000,POSE2_TO_POSE3_RETREAT,781,759.511588772,737,718.488411228,684.511588772,648,912,800,839.511588772,657,635.511588772,657.488411228,0.403150983389,0.00448130693294,0.0798262635514,0.999999949539,9.96613005728e-05,-0.000296249292824,5.67963178653e-05,1793255024730222336
+376,6.266666667,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912,800.118977012,839.881022988,657,635.881022988,657.118977012,0.402887249186,0.00447013836681,0.0798292199853,0.999999952164,8.17649787901e-05,-0.000292479314582,5.86671586463e-05,1793255024746888704
+377,6.283333333,POSE2_TO_POSE3_RETREAT,781,760,737,718,685,648,912,800.688146059,839.311853941,657,635.311853941,657.688146059,0.402656444145,0.00445564602816,0.0798307381116,0.999999954645,5.36500683282e-05,-0.000290476840278,5.87774147778e-05,1793255024763555584
+378,6.300000000,POSE2_TO_POSE3_RETREAT,780.728969865,759.728969865,737,718.271030135,685,648,912,801,839,657,635,658,0.402441172079,0.00444650321529,0.0798304804768,0.999999955329,3.5063673806e-05,-0.000290889575424,5.91335838366e-05,1793255024780222208
+379,6.316666667,POSE2_TO_POSE3_RETREAT,780.129463846,759.129463846,737,718.870536154,685,648,912,801,839,657,635,658,0.402244725269,0.00444384377904,0.0798280707021,0.999999954535,2.80253979237e-05,-0.000294229432102,5.97877879286e-05,1793255024796888832
+380,6.333333333,POSE2_TO_POSE3_RETREAT,780.451522031,759.451522031,737,719,685,648,912,800.548477969,839,657,635,657.548477969,0.402073321537,0.00444557819017,0.0798298706715,0.999999955649,3.28423734394e-05,-0.000289661516045,6.09927357918e-05,1793255024813555712
+381,6.350000000,POSE2_TO_POSE3_RETREAT,781,759.972584996,737.027415004,719,685,648,912,800.027415004,839,657,635,657.027415004,0.401910300936,0.00444843706009,0.0798328681984,0.999999957197,4.06333864605e-05,-0.000282969190634,6.23217634568e-05,1793255024830222336
+382,6.366666667,POSE2_TO_POSE3_RETREAT,781,759.39652967,737.60347033,719,685,648,912,800.60347033,839,657,635,657.60347033,0.401777008892,0.00444958007059,0.0798366275302,0.999999958641,4.25956338134e-05,-0.000277350142976,6.30982147689e-05,1793255024846888960
+383,6.383333333,POSE2_TO_POSE3_RETREAT,781,759.182838412,737.817161588,718.817161588,685,648,912,800.817161588,839,657,635,658,0.401649734857,0.00445370585252,0.0798383438246,0.999999957846,6.72181293262e-05,-0.000275262861355,6.34007107962e-05,1793255024863555584
+384,6.400000000,POSE2_TO_POSE3_RETREAT,781,759.76952351,737.23047649,718.23047649,685,648,912,800.23047649,839,657,635,658,0.401535753197,0.00446441986891,0.0798355475332,0.999999948497,0.000141891737848,-0.000280976412968,6.26563516835e-05,1793255024880222208
+385,6.416666667,POSE2_TO_POSE3_RETREAT,781,759.646193776,737.353806224,718.353806224,685,648,912.353806224,800,839,657,635,658,0.401430195475,0.0044773375685,0.0798302582902,0.999999943563,0.000158967452455,-0.000290545784724,5.64495191073e-05,1793255024896888832
+386,6.433333333,POSE2_TO_POSE3_RETREAT,781,759.063465411,737.936534589,718.936534589,685,648,912.936534589,800,839,657,635,658,0.401330088256,0.00449168111144,0.07982335604,0.999999943493,0.000138775788458,-0.000302609976934,4.67083193544e-05,1793255024913555456
+387,6.450000000,POSE2_TO_POSE3_RETREAT,781,759,737.488182702,719,685,648.511817298,912.488182702,800.511817298,839,657.511817298,635.511817298,658,0.401256009043,0.00448764546963,0.0798196172824,0.999999943365,0.000130328438113,-0.000306657441784,4.73911081244e-05,1793255024930222080
+388,6.466666667,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648.913744053,912,801,839.086255947,658,635.913744053,658,0.401188591174,0.00448233966657,0.0798169572344,0.999999943301,0.000124455788834,-0.000309009048067,4.9210773772e-05,1793255024946888960
+389,6.483333333,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648.338931559,912,801,839.661068441,658,635.338931559,658,0.401140884938,0.00448256298477,0.0798182170404,0.999999943702,0.000125036092339,-0.000307304996706,5.02535334374e-05,1793255024963556608
+390,6.500000000,POSE2_TO_POSE3_RETREAT,780.757024506,759.242975494,737,719,685,648,912,801,839.757024506,658,635,657.757024506,0.401099078284,0.00448258694423,0.0798191846344,0.999999944092,0.000124943908698,-0.000305933926595,5.10917210842e-05,1793255024980223488
+391,6.516666667,POSE2_TO_POSE3_RETREAT,780.164923492,759.835076508,737,719,685,648,912,801,839.164923492,658,635,657.164923492,0.401065748598,0.00448232445002,0.0798197323561,0.999999944468,0.000123885444755,-0.000305041309166,5.16359641583e-05,1793255024996889600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,780.416699028,760,737,719,685,648,912,800.583300972,839.416699028,658,635,657.416699028,0.401039075382,0.00448153652923,0.0798198318592,0.999999944644,0.000122006132899,-0.000305153280909,5.20378314012e-05,1793255025013555968
+393,6.550000000,POSE2_TO_POSE3_RETREAT,780.994276027,760,737,719,685,648,912,800.005723973,839.994276027,658,635,657.994276027,0.401014972078,0.00448054575325,0.0798197583154,0.999999944739,0.00011980991045,-0.00030565310159,5.2384730577e-05,1793255025030222336
+394,6.566666667,POSE2_TO_POSE3_RETREAT,781,759.430820612,737,719,685,648,912,800,839.430820612,658,635,658,0.401001214477,0.00448259392086,0.0798189396138,0.999999945077,0.000120263866962,-0.000304427723565,5.20319773771e-05,1793255025046888960
+395,6.583333333,POSE2_TO_POSE3_RETREAT,781,759,737.146672315,719,685,648,912,800,839,658,635,658,0.4009888796,0.00448370286643,0.0798185969652,0.999999945362,0.000120632745824,-0.000303355507995,5.19449959296e-05,1793255025063555840
+396,6.600000000,POSE2_TO_POSE3_RETREAT,781,759,737.731989648,719,685,648,912,800,839,658,635,658,0.400980489893,0.00448191196016,0.0798197003292,0.999999945491,0.000120667854528,-0.000302792991081,5.26737879053e-05,1793255025080222976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,781,759.315951238,737.684048762,719,685,648,912,800.315951238,839,658,635,658,0.400975942062,0.0044812188455,0.0798213139465,0.999999946129,0.000120038148517,-0.000300919766839,5.27361590549e-05,1793255025096889856
+398,6.633333333,POSE2_TO_POSE3_RETREAT,781,759.898767777,737.101232223,719,685,648,912,800.898767777,839,658,635,658,0.400974639236,0.0044814529702,0.0798233585449,0.999999947189,0.000118846912889,-0.000297939465677,5.22356440799e-05,1793255025113556736
+399,6.650000000,POSE2_TO_POSE3_RETREAT,781,760,737,719,685,648,912,800.52368827,839,657.52368827,635,657.52368827,0.40097280463,0.0044813399627,0.079823915138,0.999999947478,0.000119207679033,-0.000296816482342,5.22806361904e-05,1793255025130223104
+400,6.666666667,POSE2_TO_POSE3_RETREAT,781,759.947523587,737,719,685,648,912,800,839,657,635.052476413,657,0.400971001713,0.00448104015182,0.079824186774,0.999999947646,0.000119518335282,-0.000296109471211,5.23782550476e-05,1793255025146889216
+401,6.683333333,POSE2_TO_POSE3_RETREAT,781,759.374048471,737,719,685,648,912,800,839,657,635.625951529,657,0.400970623229,0.00447961017006,0.0798247347284,0.99999994821,0.000116092487087,-0.000295656142687,5.18599011655e-05,1793255025163556096
+402,6.700000000,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648,912,800.204630327,839,657.204630327,635.795369673,657.204630327,0.400970235144,0.00447943974552,0.0798253325666,0.999999948512,0.000115340353947,-0.000294943940488,5.17732795103e-05,1793255025180222976
+403,6.716666667,POSE2_TO_POSE3_RETREAT,781,759,737,719,685,648,912,800.793069218,839,657.793069218,635.206930782,657.793069218,0.40096982905,0.00448163177074,0.0798260239678,0.999999948326,0.000119603092228,-0.000293746189891,5.2496423128e-05,1793255025196889344
+404,6.733333333,POSE2_TO_POSE3_RETREAT,781,759.375664073,737,719,685,648,912,800.624335927,839,658,635.375664073,657.624335927,0.400969411755,0.004481570363,0.0798264452518,0.999999948386,0.000119730004148,-0.000293477343539,5.25654984037e-05,1793255025213555968
+405,6.750000000,POSE2_TO_POSE3_RETREAT,781,759.955089092,737,719,685,648,912,800.044910908,839,658,635.955089092,657.044910908,0.400968988384,0.00448028668863,0.0798267200237,0.999999948583,0.00011761363543,-0.000293712336749,5.22798056773e-05,1793255025230222848
+406,6.766666667,POSE2_TO_POSE3_RETREAT,781,760,737,719,685,648,912,800,839,657.467176468,635.467176468,657.532823532,0.400969925783,0.00448072495264,0.0798276575204,0.999999949301,0.00011573456775,-0.000292046352936,5.20724507797e-05,1793255025246889216
+407,6.783333333,POSE2_TO_POSE3_RETREAT,781,759.888601053,737,719,685,648,912,800,839,657.111398947,635,658,0.400970539815,0.00448129163314,0.0798282901895,0.999999949783,0.000114777784714,-0.000290807775126,5.18716565965e-05,1793255025263555840
+408,6.800000000,POSE2_TO_POSE3_RETREAT,781,759.305866576,737,719,685,648,912,800,839,657.694133424,635,658,0.400969301911,0.0044817894991,0.0798273975146,0.999999949098,0.00011763888212,-0.00029205337856,5.16707720039e-05,1793255025280222464
+409,6.816666667,POSE2_TO_POSE3_RETREAT,780.722274159,759.277725841,737,719,685,648,912,800.277725841,839,657.722274159,635,658,0.400968832132,0.00448208210893,0.0798273994005,0.999999948969,0.000118303132606,-0.000292233270393,5.16336572624e-05,1793255025296888832
+410,6.833333333,POSE2_TO_POSE3_RETREAT,780.137733869,759.862266131,737,719,685,648,912,800.862266131,839,657.137733869,635,658,0.400969210929,0.00448214796447,0.0798283895421,0.99999994946,0.000116540441942,-0.000291235829679,5.17774653665e-05,1793255025313555456
+411,6.850000000,POSE2_TO_POSE3_RETREAT,780,759.560260459,737.439739541,719,685,648,912,801,839,657,635,658,0.400970018206,0.00448198611566,0.0798289489296,0.999999949713,0.000117811562925,-0.00028982987418,5.18905084316e-05,1793255025330222080
+412,6.866666667,POSE2_TO_POSE3_RETREAT,780.015062488,759,737.984937512,719,685,648,912,800.984937512,839,657,635,657.984937512,0.400970915578,0.00448177208198,0.0798293574988,0.99999994988,0.000119927508375,-0.000288366757223,5.19859711006e-05,1793255025346888960
+413,6.883333333,POSE2_TO_POSE3_RETREAT,780.591429994,759,737.408570006,719,685,648,912,800.408570006,839,657,635,657.408570006,0.400970248182,0.00448222911533,0.0798290940768,0.999999949722,0.000118675168067,-0.000289466302016,5.17797107148e-05,1793255025363555584
+414,6.900000000,POSE2_TO_POSE3_RETREAT,780.828576466,759.171423534,737.171423534,718.828576466,685.171423534,648,912,800,839,657.171423534,635.171423534,657.171423534,0.400969915822,0.00448249788603,0.079829056923,0.99999994973,0.000117904767814,-0.000289782105037,5.16274938136e-05,1793255025380222464
+415,6.916666667,POSE2_TO_POSE3_RETREAT,780.239753931,759.760246069,737.760246069,718.239753931,685.760246069,648,912,800,839,657.760246069,635.760246069,657.760246069,0.400970399244,0.00448230825617,0.0798295707091,0.999999950143,0.000118307843021,-0.000288189575901,5.16068673539e-05,1793255025396890112
+416,6.933333333,POSE2_TO_POSE3_RETREAT,780.34411373,759.65588627,738,718.34411373,685.65588627,648,912,800.34411373,839,658,635.65588627,657.65588627,0.40097056202,0.00448239712521,0.0798298221336,0.999999950235,0.000118920213972,-0.000287638005819,5.15102862098e-05,1793255025413556736
+417,6.950000000,POSE2_TO_POSE3_RETREAT,780.924578168,759.075421832,738,718.924578168,685.075421832,648,912,800.924578168,839,658,635.075421832,657.075421832,0.400970504565,0.00448267727815,0.0798298933577,0.999999950105,0.00011967633737,-0.000287801407005,5.13615364323e-05,1793255025430222592
+418,6.966666667,POSE2_TO_POSE3_RETREAT,781,759.498617439,738,719,685,648,912,800.501382561,839.498617439,657.501382561,635,657,0.400968974788,0.00448257816394,0.0798291430035,0.999999949874,0.000118489959768,-0.000289146677828,5.1058542602e-05,1793255025446889216
diff --git a/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..487a8f28ca5b079190da81dbab4cd771e5ee25e7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_10/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,420 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+1,0.016666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+2,0.033333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+3,0.050000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+4,0.066666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+5,0.083333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+6,0.100000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+7,0.116666667,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+8,0.133333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+9,0.150000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+11,0.183333333,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
+12,0.200000000,pose1_baseline,0.575666710057,0.0101817643616,1.07002053355,0.546237856742,0.0188559984291,1.06969223533
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+248,4.133333333,pose1_to_pose2_press,0.624221514713,0.010181724899,1.07002052645,0.594792662727,0.0188559659162,1.0696922299
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+269,4.483333333,pose2_to_pose3_retreat,0.624221784366,0.0101818411451,1.07002010207,0.594792930481,0.0188560763086,1.06969182044
+270,4.500000000,pose2_to_pose3_retreat,0.624221709196,0.0101817441981,1.07002028214,0.594792855417,0.0188559793399,1.06969198971
+271,4.516666667,pose2_to_pose3_retreat,0.62422159021,0.0101817406172,1.07002041449,0.594792737887,0.0188559805858,1.06969211909
+272,4.533333333,pose2_to_pose3_retreat,0.624221525352,0.0101817386653,1.07002048663,0.594792673823,0.0188559812649,1.06969218962
+273,4.550000000,pose2_to_pose3_retreat,0.624221367998,0.0101817367523,1.070020541,0.594792516786,0.0188559804269,1.06969224377
+274,4.566666667,pose2_to_pose3_retreat,0.624221182142,0.0101817356774,1.07002055458,0.594792330633,0.018855978394,1.06969225866
+275,4.583333333,pose2_to_pose3_retreat,0.624221070229,0.0101817350301,1.07002056277,0.59479221854,0.0188559771699,1.06969226762
+276,4.600000000,pose2_to_pose3_retreat,0.624220702201,0.0101817329015,1.07002058967,0.594791849922,0.0188559731443,1.06969229709
+277,4.616666667,pose2_to_pose3_retreat,0.624219965499,0.0101817742223,1.07002056949,0.594791111998,0.0188560103747,1.06969227845
+278,4.633333333,pose2_to_pose3_retreat,0.624217205391,0.0101819207766,1.07002039902,0.594788349347,0.0188561481061,1.06969210403
+279,4.650000000,pose2_to_pose3_retreat,0.624211505451,0.0101817412656,1.07002042382,0.594782652626,0.018855979288,1.06969212336
+280,4.666666667,pose2_to_pose3_retreat,0.62419866771,0.0101817210585,1.07002055397,0.594769815644,0.0188559619097,1.06969225923
+281,4.683333333,pose2_to_pose3_retreat,0.624178287166,0.0101818646412,1.07002034707,0.594749434124,0.0188561026546,1.06969206446
+282,4.700000000,pose2_to_pose3_retreat,0.624148276611,0.0101817861429,1.070020626,0.594719424371,0.018856026555,1.06969233362
+283,4.716666667,pose2_to_pose3_retreat,0.62410935316,0.0101818014693,1.07002064672,0.59468050009,0.0188560389088,1.06969235091
+284,4.733333333,pose2_to_pose3_retreat,0.624060803878,0.0101817253552,1.07002041569,0.594631952097,0.0188559676822,1.06969213091
+285,4.750000000,pose2_to_pose3_retreat,0.624005406855,0.0101818501097,1.07002042703,0.594576552784,0.0188560845496,1.06969214079
+286,4.766666667,pose2_to_pose3_retreat,0.623942949245,0.010181869253,1.07002052203,0.594514094741,0.0188561019659,1.06969223002
+287,4.783333333,pose2_to_pose3_retreat,0.623871332327,0.010181808892,1.07002041708,0.594442478712,0.0188560445666,1.06969212736
+288,4.800000000,pose2_to_pose3_retreat,0.623790549765,0.0101818210939,1.07002050519,0.594361695489,0.0188560541377,1.06969221412
+289,4.816666667,pose2_to_pose3_retreat,0.623699551445,0.0101818002388,1.07002049222,0.59427069869,0.0188560386851,1.06969220342
+290,4.833333333,pose2_to_pose3_retreat,0.623596116337,0.0101816427209,1.07002054765,0.594167265055,0.018855885748,1.06969224747
+291,4.850000000,pose2_to_pose3_retreat,0.62347860197,0.0101817651927,1.07002063291,0.594049748603,0.0188560011275,1.0696923333
+292,4.866666667,pose2_to_pose3_retreat,0.623346268365,0.0101818329381,1.0700203921,0.593917414341,0.0188560668155,1.06969209854
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+295,4.916666667,pose2_to_pose3_retreat,0.62285629591,0.0101817757224,1.07002049075,0.593427443956,0.0188560165112,1.06969219914
+296,4.933333333,pose2_to_pose3_retreat,0.622661160988,0.0101818976476,1.07002075615,0.593232307414,0.0188561325556,1.06969245673
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+298,4.966666667,pose2_to_pose3_retreat,0.622213980453,0.0101816430417,1.07002052194,0.59278512909,0.0188558854685,1.06969222547
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+302,5.033333333,pose2_to_pose3_retreat,0.621114177159,0.0101818420665,1.07002060188,0.591685324232,0.0188560789925,1.06969230963
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+304,5.066666667,pose2_to_pose3_retreat,0.620468998737,0.0101819173681,1.07002074981,0.591040145429,0.0188561526554,1.06969245376
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+306,5.100000000,pose2_to_pose3_retreat,0.619720533225,0.0101818649278,1.07002050074,0.590291679576,0.0188560990811,1.06969221098
+307,5.116666667,pose2_to_pose3_retreat,0.619308049866,0.0101818629136,1.07002052712,0.58987919636,0.0188560972068,1.06969223079
+308,5.133333333,pose2_to_pose3_retreat,0.618874095743,0.0101818498529,1.07002052267,0.589445242289,0.0188560842564,1.06969222746
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+314,5.233333333,pose2_to_pose3_retreat,0.615933303596,0.0101818903745,1.0700206522,0.586504450507,0.0188561253886,1.06969235741
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+322,5.366666667,pose2_to_pose3_retreat,0.610954864373,0.0101817953815,1.07002053174,0.581526012717,0.0188560350303,1.06969223351
+323,5.383333333,pose2_to_pose3_retreat,0.610257145221,0.0101818345395,1.07002052653,0.580828292397,0.0188560701791,1.06969222679
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+325,5.416666667,pose2_to_pose3_retreat,0.608783635938,0.0101818655767,1.0700206079,0.57935478226,0.0188560986183,1.06969231515
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+327,5.450000000,pose2_to_pose3_retreat,0.607269140505,0.0101818539828,1.0700206064,0.577840287553,0.0188560893598,1.06969231011
+328,5.466666667,pose2_to_pose3_retreat,0.606523753511,0.01018190508,1.07002058206,0.577094900063,0.0188561387735,1.06969228565
+329,5.483333333,pose2_to_pose3_retreat,0.605787371273,0.0101818890331,1.07002045993,0.576358518034,0.0188561235938,1.06969216772
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+331,5.516666667,pose2_to_pose3_retreat,0.604275957225,0.0101816490431,1.07002050652,0.57484710594,0.0188558902232,1.06969221388
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+337,5.616666667,pose2_to_pose3_retreat,0.599353200927,0.0101817962431,1.07002049604,0.569924348367,0.0188560329946,1.06969220035
+338,5.633333333,pose2_to_pose3_retreat,0.598577803603,0.0101817498182,1.0700205856,0.569148952412,0.0188559911875,1.06969228921
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+341,5.683333333,pose2_to_pose3_retreat,0.596159476303,0.0101816472139,1.07002071823,0.566730625617,0.0188558903032,1.06969242185
+342,5.700000000,pose2_to_pose3_retreat,0.595342056164,0.01018178744,1.07002055557,0.56591320396,0.0188560256407,1.06969226605
+343,5.716666667,pose2_to_pose3_retreat,0.594543532117,0.0101818010241,1.0700204798,0.565114680042,0.0188560397801,1.06969219333
+344,5.733333333,pose2_to_pose3_retreat,0.593774943894,0.0101818640502,1.07002050548,0.564346090625,0.0188560985474,1.06969221355
+345,5.750000000,pose2_to_pose3_retreat,0.593030597859,0.0101818837468,1.07002058073,0.563601744274,0.0188561169229,1.06969228213
+346,5.766666667,pose2_to_pose3_retreat,0.592304678701,0.0101817503196,1.07002068237,0.562875827439,0.0188559913492,1.06969238305
+347,5.783333333,pose2_to_pose3_retreat,0.5915747566,0.0101816448458,1.07002074571,0.562145906047,0.0188558884625,1.0696924511
+348,5.800000000,pose2_to_pose3_retreat,0.590839201097,0.0101817512673,1.07002044986,0.561410348662,0.0188559883623,1.06969215163
+349,5.816666667,pose2_to_pose3_retreat,0.590103151041,0.0101819027539,1.07002049847,0.560674297669,0.0188561367248,1.06969220169
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+351,5.850000000,pose2_to_pose3_retreat,0.588655548732,0.0101817716226,1.07002076555,0.559226697839,0.0188560141429,1.06969247241
+352,5.866666667,pose2_to_pose3_retreat,0.587960379445,0.0101818426793,1.07002067001,0.558531526971,0.0188560797434,1.06969237443
+353,5.883333333,pose2_to_pose3_retreat,0.587293474394,0.0101818391941,1.07002046246,0.557864620714,0.0188560719965,1.0696921624
+354,5.900000000,pose2_to_pose3_retreat,0.586645276193,0.0101817289909,1.07002054394,0.557216424523,0.0188559686406,1.06969224457
+355,5.916666667,pose2_to_pose3_retreat,0.586016720665,0.0101818235892,1.07002052026,0.556587868277,0.0188560609953,1.06969222594
+356,5.933333333,pose2_to_pose3_retreat,0.58540972915,0.0101818073254,1.07002052134,0.555980874409,0.0188560367323,1.06969222663
+357,5.950000000,pose2_to_pose3_retreat,0.584816518884,0.0101817027131,1.07002049387,0.555387666992,0.0188559419926,1.06969220465
+358,5.966666667,pose2_to_pose3_retreat,0.584235457074,0.0101817239815,1.07002045142,0.554806606295,0.0188559667839,1.0696921555
+359,5.983333333,pose2_to_pose3_retreat,0.583675069482,0.010181773626,1.07002038812,0.554246217704,0.0188560132154,1.06969209679
+360,6.000000000,pose2_to_pose3_retreat,0.583138567107,0.0101818089894,1.07002036428,0.553709713465,0.0188560424398,1.06969207789
+361,6.016666667,pose2_to_pose3_retreat,0.582620898239,0.010181835935,1.07002045523,0.553192043777,0.01885606624,1.06969215925
+362,6.033333333,pose2_to_pose3_retreat,0.582120566361,0.0101818015876,1.0700206439,0.552691714228,0.0188560397318,1.06969234625
+363,6.050000000,pose2_to_pose3_retreat,0.581637653546,0.0101816930757,1.07002057081,0.552208801777,0.0188559321058,1.0696922639
+364,6.066666667,pose2_to_pose3_retreat,0.581169460895,0.0101817625064,1.0700207885,0.551740607762,0.0188559967848,1.0696924784
+365,6.083333333,pose2_to_pose3_retreat,0.580717929094,0.0101818314593,1.07002060476,0.551289076114,0.018856066682,1.06969230583
+366,6.100000000,pose2_to_pose3_retreat,0.58029621037,0.0101818072906,1.0700205996,0.550867358541,0.0188560465503,1.06969230419
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+368,6.133333333,pose2_to_pose3_retreat,0.579540247692,0.0101816046009,1.07002058717,0.550111396567,0.0188558463149,1.06969229353
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+372,6.200000000,pose2_to_pose3_retreat,0.578266789554,0.0101816615953,1.07002057137,0.548837938282,0.0188559026092,1.06969227283
+373,6.216666667,pose2_to_pose3_retreat,0.577987420592,0.0101817954429,1.07002053504,0.548558567895,0.0188560316444,1.0696922371
+374,6.233333333,pose2_to_pose3_retreat,0.577726904822,0.0101818351847,1.07002059155,0.548298051555,0.0188560694661,1.06969229402
+375,6.250000000,pose2_to_pose3_retreat,0.577488021052,0.01018175868,1.07002048053,0.548059168066,0.018855993989,1.06969218503
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+379,6.316666667,pose2_to_pose3_retreat,0.576729769918,0.0101818732387,1.07002054104,0.547300916242,0.0188561060467,1.06969224126
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+384,6.400000000,pose2_to_pose3_retreat,0.576132521964,0.0101816786666,1.07002049173,0.546703670744,0.0188559202355,1.06969220332
+385,6.416666667,pose2_to_pose3_retreat,0.57604657596,0.0101817422649,1.07002040253,0.546617722759,0.0188559769002,1.06969210955
+386,6.433333333,pose2_to_pose3_retreat,0.575970743828,0.0101818006649,1.07002040257,0.546541890554,0.0188560349726,1.06969210719
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+388,6.466666667,pose2_to_pose3_retreat,0.575851828823,0.0101818315438,1.07002040077,0.546422975056,0.0188560642172,1.06969210612
+389,6.483333333,pose2_to_pose3_retreat,0.57580881376,0.010181760999,1.070020499,0.546379961222,0.0188559978193,1.06969220367
+390,6.500000000,pose2_to_pose3_retreat,0.575773690756,0.0101817449487,1.07002059012,0.546344839315,0.0188559853626,1.06969229146
+391,6.516666667,pose2_to_pose3_retreat,0.575745771032,0.0101816953198,1.07002040791,0.546316920602,0.0188559392521,1.06969211156
+392,6.533333333,pose2_to_pose3_retreat,0.575723611326,0.010181886158,1.07002058757,0.546294756528,0.0188561146382,1.06969227452
+393,6.550000000,pose2_to_pose3_retreat,0.575706151936,0.0101817964498,1.07002043932,0.54627729896,0.0188560316924,1.06969214162
+394,6.566666667,pose2_to_pose3_retreat,0.575692843282,0.0101817281056,1.07002044382,0.546263991717,0.0188559685088,1.06969215604
+395,6.583333333,pose2_to_pose3_retreat,0.575683259395,0.0101817151882,1.0700204411,0.546254407623,0.0188559547884,1.06969215074
+396,6.600000000,pose2_to_pose3_retreat,0.575677311915,0.0101817278928,1.0700204738,0.54624845951,0.0188559651272,1.06969217763
+397,6.616666667,pose2_to_pose3_retreat,0.5756732214,0.0101817415385,1.07002072511,0.546244369221,0.0188559795649,1.06969242923
+398,6.633333333,pose2_to_pose3_retreat,0.575670781494,0.0101817871477,1.07002070216,0.54624192915,0.0188560245931,1.06969240592
+399,6.650000000,pose2_to_pose3_retreat,0.575669459541,0.0101818191089,1.07002065629,0.546240607049,0.0188560560357,1.06969235974
+400,6.666666667,pose2_to_pose3_retreat,0.575668743908,0.0101818488379,1.07002061088,0.546239890955,0.0188560842261,1.06969231496
+401,6.683333333,pose2_to_pose3_retreat,0.575668157132,0.0101818776612,1.07002056628,0.546239303666,0.0188561113377,1.06969227116
+402,6.700000000,pose2_to_pose3_retreat,0.575667743248,0.0101818979918,1.07002053483,0.54623888942,0.018856130461,1.06969224027
+403,6.716666667,pose2_to_pose3_retreat,0.575667508094,0.0101818972555,1.07002051356,0.546238654195,0.018856129484,1.06969221911
+404,6.733333333,pose2_to_pose3_retreat,0.575667441711,0.0101818785229,1.07002050244,0.546238587993,0.0188561113546,1.06969220769
+405,6.750000000,pose2_to_pose3_retreat,0.575667412712,0.0101818703398,1.07002049758,0.546238559073,0.0188561034349,1.0696922027
+406,6.766666667,pose2_to_pose3_retreat,0.575667362539,0.0101818561815,1.07002048917,0.546238509036,0.0188560897325,1.06969219407
+407,6.783333333,pose2_to_pose3_retreat,0.57566730737,0.0101818406134,1.07002047992,0.546238454018,0.0188560746658,1.06969218458
+408,6.800000000,pose2_to_pose3_retreat,0.575667286188,0.0101818346361,1.07002047637,0.546238432894,0.0188560688809,1.06969218094
+409,6.816666667,pose2_to_pose3_retreat,0.575667277391,0.0101818321537,1.0700204749,0.546238424121,0.0188560664785,1.06969217943
+410,6.833333333,pose2_to_pose3_retreat,0.575667241626,0.0101818220612,1.07002046891,0.546238388453,0.0188560567109,1.06969217327
+411,6.850000000,pose2_to_pose3_retreat,0.575667151559,0.0101817966454,1.07002045381,0.546238298632,0.0188560321136,1.06969215778
+412,6.866666667,pose2_to_pose3_retreat,0.575667048413,0.0101817675387,1.07002043653,0.546238195767,0.0188560039441,1.06969214004
+413,6.883333333,pose2_to_pose3_retreat,0.575666935308,0.0101817356219,1.07002041758,0.546238082971,0.0188559730551,1.06969212059
+414,6.900000000,pose2_to_pose3_retreat,0.57566688609,0.010181722892,1.07002041151,0.546238033861,0.0188559606801,1.06969211423
+415,6.916666667,pose2_to_pose3_retreat,0.575666873972,0.0101817317785,1.07002043268,0.546238021496,0.0188559686969,1.06969213452
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+417,6.950000000,pose2_to_pose3_retreat,0.575666808685,0.0101817796566,1.07002054673,0.546237954881,0.0188560118892,1.06969224383
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..509b5747e7aaedcb1e29a3723eb5264623207da2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6505fc9047349a9eb4fda0baadba5112139497a1df04474b62df6e39de56607
+size 25555903
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e3de16cc60dfac2b2c186a76d9c1bc44d18cdbb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+27,0.450000000,BASELINE,766,745.347156676,717,679,662,637,877.652843324,783.652843324,812,651.347156676,630,653,0.400773081469,-0.00544805064717,0.0598679401526,0.999999929638,-9.65562067104e-05,-0.000360758607768,-3.54179740841e-05,1793249478044987904
+28,0.466666667,BASELINE,766,745,717,679,662,637,878,783.76148424,812.23851576,651,630,653,0.400773064841,-0.00544789371009,0.0598674331339,0.999999929539,-9.6106589473e-05,-0.000361149285754,-3.54560963806e-05,1793249478061654272
+29,0.483333333,BASELINE,766,745,717,679,662,637,878,783.173207749,812.826792251,651,630,653,0.400769899076,-0.00544930747912,0.0598652848516,0.999999928331,-9.71478604868e-05,-0.000364182961371,-3.56386588741e-05,1793249478078320896
+30,0.500000000,BASELINE,766.407162555,745.407162555,717,679,662,637,878,783,812.592837445,651,630,653,0.400769545816,-0.00544982944362,0.0598651172062,0.99999992816,-9.74871956167e-05,-0.000364570958384,-3.5556901178e-05,1793249478094987776
+31,0.516666667,BASELINE,766.9842336,745.9842336,717,679,662,637,878,783,812.0157664,651,630,653,0.400770366212,-0.00544997925902,0.0598657760784,0.999999928423,-9.75336136419e-05,-0.000363854916526,-3.53648429505e-05,1793249478111654656
+32,0.533333333,BASELINE,766.440775548,745.440775548,717,679,662,637,877.440775548,783,812,651,630,653,0.400770916761,-0.00545157612012,0.0598662822782,0.999999928697,-9.92728638641e-05,-0.000362665697683,-3.49960057704e-05,1793249478128321024
+33,0.550000000,BASELINE,766.137308832,745.137308832,717,678.862691168,662,636.862691168,877.137308832,783.137308832,812.137308832,651,630,653,0.400771422865,-0.00545264042976,0.05986664333,0.999999928887,-0.000100804237549,-0.000361739721198,-3.47807022316e-05,1793249478144987648
+34,0.566666667,BASELINE,766.725748922,745.725748922,717,678.274251078,662,636.274251078,877.725748922,783.725748922,812.725748922,651,630,653,0.400771807847,-0.00545182148641,0.0598665415843,0.999999928812,-0.000101496402209,-0.000361722301515,-3.50861513203e-05,1793249478161654272
+35,0.583333333,BASELINE,766.690908766,745.690908766,717.309091234,678.309091234,662,636.309091234,878,783.690908766,812.690908766,651,630,653,0.400771473801,-0.00545099997393,0.0598664421537,0.999999928722,-0.000101268193036,-0.000362020208669,-3.52545336944e-05,1793249478178320896
+36,0.600000000,BASELINE,766.112016167,745.112016167,717.887983833,678.887983833,662,636.887983833,878,783.112016167,812.112016167,651,630,653,0.400770512124,-0.0054501762188,0.0598663447439,0.999999928616,-0.000100236602642,-0.000362593360158,-3.53032725068e-05,1793249478194987520
+37,0.616666667,BASELINE,766,745.463750394,718,679,662,637,878,783.463750394,812.463750394,651,630,653.463750394,0.400770347383,-0.00544955255577,0.0598666495552,0.999999928604,-9.93709042651e-05,-0.000362866388524,-3.52921552677e-05,1793249478211654144
+38,0.633333333,BASELINE,766,745.961202977,717.961202977,679,662,637,878.038797023,783.961202977,812.961202977,651.038797023,630.038797023,653.961202977,0.400770487388,-0.00544890903463,0.0598670886484,0.99999992866,-9.84139177157e-05,-0.000362974600799,-3.52846407623e-05,1793249478228321024
+39,0.650000000,BASELINE,766,745.38573966,717.38573966,679,662,637,878.61426034,783.38573966,812.38573966,651.61426034,630.61426034,653.38573966,0.400772197941,-0.00544732675137,0.059868050317,0.999999929346,-9.56436045399e-05,-0.000361799024002,-3.55256135578e-05,1793249478244987648
+40,0.666666667,BASELINE,766,745,717.194835119,679,662,637,878.805164881,783,812,652,630.805164881,653.194835119,0.400772739958,-0.00544718557997,0.0598682516216,0.999999929481,-9.4671978056e-05,-0.000361678483402,-3.5564312787e-05,1793249478261654272
+41,0.683333333,BASELINE,766,745,717.785802313,679,662,637,878.214197687,783,812,652,630.214197687,653.785802313,0.400770906149,-0.00544997442782,0.0598669069804,0.999999928502,-9.73573797648e-05,-0.000363703006247,-3.51917563317e-05,1793249478278320896
+42,0.700000000,BASELINE,766.370352435,745.370352435,717.629647565,679,662,637,878,783,812,651.629647565,630.370352435,653.629647565,0.400770644871,-0.00545041981412,0.0598663572914,0.999999928372,-9.74419338722e-05,-0.000364043464264,-3.51242719911e-05,1793249478294987520
+43,0.716666667,BASELINE,766.95125436,745.95125436,717.04874564,679,662,637,878,783,812,651.04874564,630.95125436,653.04874564,0.400771277595,-0.0054495329163,0.0598662595417,0.999999928727,-9.60478770165e-05,-0.000363426512572,-3.52302245633e-05,1793249478311654144
+44,0.733333333,BASELINE,766.47457411,745.47457411,717,679,662,637,878,783,812,651.52542589,630.47457411,653,0.400771025793,-0.00544933968238,0.059866511388,0.999999928649,-9.74963891744e-05,-0.00036325392502,-3.52440857102e-05,1793249478328321024
+45,0.750000000,BASELINE,766.099176802,745,717,679,662,637,878,783,812,652,630.099176802,653,0.400770708008,-0.0054492623744,0.059866653145,0.999999928545,-9.86945489141e-05,-0.000363218793525,-3.52463415559e-05,1793249478344987392
+46,0.766666667,BASELINE,766.673866727,745,717,679,662,637,878,783,812,652,630.673866727,653,0.400770462341,-0.00544943623717,0.0598661135298,0.999999928512,-9.74439503604e-05,-0.000363647550201,-3.52333999309e-05,1793249478361654272
+47,0.783333333,BASELINE,767,745.255361024,717.255361024,679,662,637,878,783.255361024,812,652,630.744638976,653,0.400770252156,-0.00544983935757,0.0598657710354,0.999999928372,-9.72554153042e-05,-0.000364081958034,-3.52326403899e-05,1793249478378320896
+48,0.800000000,BASELINE,767,745.845783477,717.845783477,679,662,637,878,783.845783477,812,652,630.154216523,653,0.400770088528,-0.00545054328892,0.0598656871849,0.999999928093,-9.84604228614e-05,-0.00036452378086,-3.5247865066e-05,1793249478394987520
+49,0.816666667,BASELINE,766.572173585,746,717.572173585,679,662,637,877.572173585,784,812,652,630,653,0.40077037313,-0.00545083979373,0.0598660054711,0.9999999282,-9.95002917362e-05,-0.000363954291694,-3.51603882008e-05,1793249478411654144
+50,0.833333333,BASELINE,766.00686377,745.99313623,717,679,662,637,877.00686377,783.99313623,812,651.99313623,630,653,0.400770812831,-0.00545096149691,0.0598664580374,0.999999928443,-0.000100425041112,-0.000363044856107,-3.50413551993e-05,1793249478428320768
+51,0.850000000,BASELINE,766.582334856,745.417665144,717,679,662,637,877.582334856,783.417665144,812,651.417665144,630,653,0.400770973523,-0.00544853500236,0.0598662568609,0.999999928606,-9.66496592156e-05,-0.000363592890997,-3.53160715106e-05,1793249478444987392
+52,0.866666667,BASELINE,766.839070874,745,717,679,662,637,878,783,812,651.160929126,630,653,0.400770973234,-0.00544738386701,0.0598663001003,0.999999928698,-9.46274693608e-05,-0.000363865833696,-3.53700457226e-05,1793249478461654016
+53,0.883333333,BASELINE,766.252210506,745,717,679,662,637,878,783,812,651.747789494,630,653,0.400770546879,-0.005449608226,0.0598669902357,0.999999928631,-9.72454544452e-05,-0.000363410689668,-3.48397816368e-05,1793249478478320640
+54,0.900000000,BASELINE,766,745.331816609,717.331816609,679,662,637,878,783,812,652,630,653,0.400769963079,-0.00545034562533,0.0598667820008,0.999999928462,-9.78247431291e-05,-0.00036371027515,-3.49387708749e-05,1793249478494987264
+55,0.916666667,BASELINE,766,745.913708404,717.913708404,679,662,637,878,783,812,652,630,653,0.400769260619,-0.00544996237026,0.0598658967046,0.999999928219,-9.68675583294e-05,-0.000364578666184,-3.55119999365e-05,1793249478511654144
+56,0.933333333,BASELINE,766,746,717.510666426,679.489333574,662,637,878,783,812,652,630,653,0.400769125712,-0.00544985210458,0.0598652264046,0.999999927825,-9.71915691493e-05,-0.00036558122584,-3.54038284543e-05,1793249478528320768
+57,0.950000000,BASELINE,766.063960655,746,717.063960655,679.936039345,662.063960655,637,878,783,812,652,630,653,0.400769142735,-0.00544971201292,0.0598647518957,0.999999927495,-9.76375065739e-05,-0.00036638301542,-3.52173739517e-05,1793249478544987392
+58,0.966666667,BASELINE,766.639331237,746,717.639331237,679.360668763,662.639331237,637,878,783,812,652,630,653,0.400769584417,-0.00544895339319,0.0598655435609,0.999999927888,-9.72746854686e-05,-0.000365392722039,-3.53536199697e-05,1793249478561654016
+59,0.983333333,BASELINE,766.779031807,745.779031807,717.779031807,679,662.779031807,637,877.779031807,783,812,652,630.220968193,653,0.400770357768,-0.00544852299959,0.0598664400814,0.999999928358,-9.69374128158e-05,-0.000364188004107,-3.54233265825e-05,1793249478578320640
+60,1.000000000,BASELINE,766.186868129,745.186868129,717.186868129,679,662.186868129,637,877.186868129,783,812,652,630.813131871,653,0.400771688273,-0.00544864397961,0.0598675127441,0.999999928956,-9.66430579114e-05,-0.000362623082928,-3.53812563756e-05,1793249478594987264
+61,1.016666667,BASELINE,766.395538984,745,717.395538984,679,662,637,877.395538984,783,812,651.604461016,630.604461016,653,0.400770836571,-0.00544861285002,0.0598670136815,0.999999928618,-9.67869814273e-05,-0.000363513580666,-3.54195261791e-05,1793249478611654144
+62,1.033333333,BASELINE,766.973447639,745,717.973447639,679,662,637,877.973447639,783,812,651.026552361,630.026552361,653,0.400768978727,-0.00544851158782,0.0598657899492,0.999999927844,-9.71329803422e-05,-0.000365536189254,-3.54948380514e-05,1793249478628320768
+63,1.050000000,BASELINE,767,745,717.455887873,679,662,637,878,783,812,651,630,653,0.400769109086,-0.00544813536206,0.0598660192594,0.999999928063,-9.59876349437e-05,-0.000365245182352,-3.54580412944e-05,1793249478644987392
+64,1.066666667,BASELINE,766.881133407,745,717,679,662,636.881133407,878,783.118866593,812,651,630,653,0.400769326196,-0.00544808392465,0.0598662461641,0.99999992832,-9.52792764309e-05,-0.000364731893514,-3.54031817679e-05,1793249478661654528
+65,1.083333333,BASELINE,766.288694314,745,717,679,662,636.288694314,878,783.711305686,812,651,630,653,0.400769507457,-0.00544937922194,0.0598661846964,0.999999928545,-9.65980410118e-05,-0.000363776922096,-3.52978687616e-05,1793249478678321408
+66,1.100000000,BASELINE,766.296581905,745,717.296581905,679,662,636.296581905,878.296581905,784,812,651.296581905,630,653,0.400769029203,-0.00545029526964,0.0598655295035,0.999999928034,-9.82916349806e-05,-0.000364732707144,-3.52123626254e-05,1793249478694988032
+67,1.116666667,BASELINE,766.875050136,745,717.875050136,679,662,636.875050136,878.875050136,784,812,651.875050136,630,653,0.400767924113,-0.00545085085944,0.0598643100043,0.999999926818,-0.000100341485532,-0.000367504571071,-3.51456819383e-05,1793249478711654400
+68,1.133333333,BASELINE,767,745.450568124,717.549431876,679,662,637,878.549431876,784,812,651.549431876,630.450568124,653,0.400767587723,-0.00545082047171,0.0598636489943,0.999999926464,-9.98922472053e-05,-0.000368581060159,-3.52292028475e-05,1793249478728321280
+69,1.150000000,BASELINE,766.97452703,746,717.02547297,679,662,637,878,783.97452703,812,651,630.97452703,653,0.400767482353,-0.0054505730592,0.0598632237136,0.999999926392,-9.87410276305e-05,-0.000369076555775,-3.53507551791e-05,1793249478744987648
+70,1.166666667,BASELINE,766.395282043,746,717.604717957,679,662,637,878,783.395282043,812,651,630.395282043,653,0.400767795082,-0.00544911734323,0.0598645780079,0.99999992726,-9.7297376437e-05,-0.000367095977148,-3.53994588646e-05,1793249478761654272
+71,1.183333333,BASELINE,766,745.813374028,717.813374028,679,662,637,878,783,812,651.186625972,630.186625972,653.186625972,0.400768365469,-0.00544833227565,0.0598656086117,0.999999927926,-9.65481321614e-05,-0.000365478618093,-3.53825113673e-05,1793249478778321152
+72,1.200000000,BASELINE,766,745.225743843,717.225743843,679,662,637,878,783,812,651.774256157,630.774256157,653.774256157,0.400769489488,-0.00544898823357,0.0598659437,0.999999928165,-9.72909634301e-05,-0.00036464171048,-3.5224498836e-05,1793249478794988032
+73,1.216666667,BASELINE,766.356928731,745,717,679,662,637,878,783.356928731,812,652,630.643071269,654,0.40076897771,-0.00544910956479,0.0598654830852,0.999999927766,-9.71113438505e-05,-0.000365788366131,-3.5162141789e-05,1793249478811654912
+74,1.233333333,BASELINE,766.936508725,745,717,679,662,637,878,783.936508725,812,652,630.063491275,654,0.400767445526,-0.00544889739717,0.0598645261129,0.999999926964,-9.63563016621e-05,-0.000368172363702,-3.51594544065e-05,1793249478828321792
+75,1.250000000,BASELINE,767,745.509087232,717,679,662,637,878,784,812,651.490912768,630,654,0.400767570458,-0.00544905762407,0.0598649508593,0.999999927261,-9.67997034866e-05,-0.000367238848975,-3.52695646596e-05,1793249478844988160
+76,1.266666667,BASELINE,766.91659119,745.91659119,717.08340881,679,662.08340881,636.91659119,878,783.91659119,812,651.08340881,630,653.91659119,0.400767993698,-0.0054493582436,0.0598655641027,0.999999927621,-9.76122608647e-05,-0.000366031951781,-3.53532022831e-05,1793249478861654528
+77,1.283333333,BASELINE,766.326446928,745.326446928,717.673553072,679,662.673553072,636.326446928,878,783.326446928,812,651.673553072,630,653.326446928,0.400768990709,-0.00545023346218,0.0598662898156,0.999999927556,-9.97718280838e-05,-0.000365643710558,-3.51917040225e-05,1793249478878320896
+78,1.300000000,BASELINE,766,745.258126582,717.741873418,679,662.741873418,636,878,783.258126582,812,651.741873418,630,653,0.400770069566,-0.00545048105145,0.0598669994719,0.999999927899,-0.000100103813412,-0.000364622512706,-3.50843289747e-05,1793249478894987776
+79,1.316666667,BASELINE,766,745.835803677,717.164196323,679,662.164196323,636,878,783.835803677,812,651.164196323,630,653,0.400771249744,-0.00544995166037,0.0598676892506,0.999999928749,-9.81733243884e-05,-0.000362817739578,-3.50439563384e-05,1793249478911654400
+80,1.333333333,BASELINE,766,745.584843466,717.415156534,679,662,636.415156534,878,783.584843466,812,651.415156534,630,653,0.400770569912,-0.00545028943135,0.0598669899635,0.999999928416,-9.81521232098e-05,-0.000363736157167,-3.50611711856e-05,1793249478928321024
+81,1.350000000,BASELINE,766,745.004825103,717.995174897,679,662,636.995174897,878,783.004825103,812,651.995174897,630,653,0.400769151455,-0.00545097155896,0.0598657390677,0.999999927613,-9.88891146501e-05,-0.000365735974429,-3.51012544587e-05,1793249478944987904
+82,1.366666667,BASELINE,766.569322005,745,717.430677995,679,662,637,878,783,812,652,630,653,0.400769228703,-0.00544976741773,0.0598659897787,0.999999927881,-9.82497024658e-05,-0.000365175254389,-3.50963333591e-05,1793249478961654528
+83,1.383333333,BASELINE,767,745.146840597,717.146840597,679,662.146840597,637,877.853159403,783,812.146840597,652,630,653,0.400769003852,-0.00544911283946,0.0598660162987,0.999999927939,-9.7969416963e-05,-0.000365089917742,-3.5128718186e-05,1793249478978321152
+84,1.400000000,BASELINE,767,745.734631519,717.734631519,679,662.734631519,637,877.265368481,783,812.734631519,652,630,653,0.400767834139,-0.00545015606963,0.0598653317654,0.999999927337,-9.88022316712e-05,-0.000366496619629,-3.5274263345e-05,1793249478994987520
+85,1.416666667,BASELINE,767,745.68231171,717.68231171,679,662.68231171,637,877.31768829,783,812.68231171,652,630,653,0.40076775323,-0.00544937479494,0.0598651863232,0.999999927365,-9.80785296787e-05,-0.00036657797624,-3.56422256483e-05,1793249479011654144
+86,1.433333333,BASELINE,767,745.103151398,717.103151398,679,662.103151398,637,877.896848602,783,812.103151398,652,630,653,0.400768568456,-0.00544709186906,0.0598654845778,0.99999992791,-9.60737430552e-05,-0.000365568512864,-3.61932474459e-05,1793249479028320768
+87,1.450000000,BASELINE,766.52568086,745,717,679,662,637,878,783,812,652,630,653,0.400767431383,-0.00544859429625,0.0598648356534,0.999999927426,-9.67802465851e-05,-0.000366742797263,-3.57841922055e-05,1793249479044987648
+88,1.466666667,BASELINE,766,745.051216234,717,679,662,637,878,783,812,652,630.051216234,653.051216234,0.400766156634,-0.00545065803723,0.0598641664146,0.999999926858,-9.77570368079e-05,-0.000368087447116,-3.52068525904e-05,1793249479061654272
+89,1.483333333,BASELINE,766,745.625994558,717,679,662,637,878,783,812,652,630.625994558,653.625994558,0.400767799294,-0.00545007439225,0.0598653877378,0.999999927726,-9.54906990597e-05,-0.00036633614852,-3.5036012388e-05,1793249479078320896
+90,1.500000000,BASELINE,766,746,717,679,662,636.794230159,878,783,812,651.794230159,630.794230159,654,0.400768820456,-0.00544953241701,0.0598659985948,0.999999928202,-9.47395869008e-05,-0.000365234325746,-3.49896667817e-05,1793249479094987520
+91,1.516666667,BASELINE,766,746,717,679,662,636.205146461,878,783,812,651.205146461,630.205146461,654,0.400768683875,-0.00544906806544,0.0598654722579,0.999999927958,-9.68110798986e-05,-0.000365342365028,-3.51752332347e-05,1793249479111654144
+92,1.533333333,BASELINE,766,745.622126322,717.377873678,679,662,636.377873678,877.622126322,783,812,651,630,653.622126322,0.400768171723,-0.0054498569168,0.0598651587321,0.999999927603,-9.82816006057e-05,-0.000365914514062,-3.52449947815e-05,1793249479128321536
+93,1.550000000,BASELINE,766,745.042346027,717.957653973,679,662,636.957653973,877.042346027,783,812,651,630,653.042346027,0.400767458896,-0.00545131538332,0.0598649589161,0.999999927188,-9.94310081552e-05,-0.000366734647645,-3.52528791143e-05,1793249479144988672
+94,1.566666667,BASELINE,766,745,717.464737949,679,662,637,877.535262051,783,812,651,630,653.535262051,0.400767576459,-0.00544960603891,0.0598650550963,0.999999927528,-9.68945251877e-05,-0.000366473457157,-3.53941523274e-05,1793249479161654784
+95,1.583333333,BASELINE,766,745,717,679,662,637,878,783,812.111482382,651.111482382,630,653.888517618,0.400767608585,-0.00544821139478,0.0598650482793,0.999999927771,-9.48067363528e-05,-0.000366343516383,-3.55251571179e-05,1793249479178321152
+96,1.600000000,BASELINE,766,745,717,679,662,637,878,783,812.682686015,651.682686015,630,653.317313985,0.400767018588,-0.00544914376668,0.0598645205565,0.999999927398,-9.57668494642e-05,-0.000367106154726,-3.55704773017e-05,1793249479194987776
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+98,1.633333333,BASELINE,766,745.860130975,717,679,662,637,878.860130975,783,812.139869025,652,630.860130975,653.860130975,0.40076889761,-0.00544849438298,0.059865715367,0.999999928306,-9.41091465071e-05,-0.000365118080647,-3.49417362222e-05,1793249479228321280
+99,1.650000000,BASELINE,766.440246465,746,717.440246465,679,662,637,878.559753535,783,812,652,630.559753535,653.559753535,0.400768300421,-0.00544979233717,0.0598654513502,0.999999927732,-9.68006353203e-05,-0.000365974122037,-3.50464057917e-05,1793249479244987648
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+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,717,679,662,637,878,783,812,651,630,653,0.400768928283,-0.00544613760195,0.059866870142,0.999999928579,-9.47712477424e-05,-0.000364059980253,-3.63506088144e-05,1793249479405454080
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.597461582,717,679,662,636.402538418,878,783,812,651,630,653,0.400767853846,-0.00544814770163,0.0598650209136,0.999999927719,-9.53545031792e-05,-0.000366318573595,-3.57843341538e-05,1793249479422120704
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,717,679.188177343,662,636.188177343,878.188177343,783,812,651,630.188177343,653,0.400767426805,-0.0054493592498,0.0598640542492,0.999999927224,-9.56762236093e-05,-0.000367617239878,-3.5430741373e-05,1793249479438787072
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,717,679.764962327,662,636.764962327,878.764962327,783,812,651,630.764962327,653,0.400768336708,-0.00544892169854,0.0598649101798,0.999999927493,-9.54578445782e-05,-0.0003669335479,-3.55163607879e-05,1793249479455453952
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,717,680,662,637,878.658228158,783,812,651,631,653.341771842,0.400768639304,-0.00544895517519,0.059865325173,0.999999927434,-9.65859399697e-05,-0.000366793395394,-3.55770037963e-05,1793249479472120320
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,717,680,662,637,878.081401807,783,812,651,631,653.918598193,0.400768524223,-0.00544931260258,0.0598654369102,0.999999927146,-9.86400768036e-05,-0.000367027063673,-3.56204692082e-05,1793249479488786944
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.495476203,717,679.495476203,662,637,878,783,812,651,630.495476203,653.495476203,0.400770187165,-0.0054501872762,0.0598662893366,0.999999927924,-9.70460154114e-05,-0.000365375029224,-3.51373537075e-05,1793249479505453824
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+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.601229253,717,679,662,637,878,783,812,651.601229253,630,653.601229253,0.400823564026,-0.00545140620231,0.0598735105871,0.999999929059,-9.94632490976e-05,-0.000361617501024,-3.49672784283e-05,1793249479588787200
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+120,2.000000000,POSE1_TO_POSE2_PRESS,766.437958224,745.562041776,717.562041776,679,662,637,878,783,812,651.562041776,630,653,0.400893510311,-0.0054529353788,0.0598711788528,0.99999992762,-9.90185023779e-05,-0.000365651962379,-3.54093176395e-05,1793249479622120704
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.150172991,746,718,679.150172991,662,637,878,783,812,652,630,653,0.400940262576,-0.00545489291151,0.0598670323284,0.999999925524,-0.000100911117962,-0.000370774262193,-3.59797915037e-05,1793249479638787584
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+124,2.066666667,POSE1_TO_POSE2_PRESS,766.118727818,745.118727818,717.118727818,679.118727818,662,637,878,783,812,651.118727818,630,653.881272182,0.40116804606,-0.00545897353457,0.0598642187812,0.999999925841,-0.000103839716918,-0.000368805161513,-3.8970824591e-05,1793249479688787456
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717,679,662,637,878,783.455848124,812.455848124,651.455848124,630.455848124,653.544151876,0.401281300234,-0.00546142890155,0.0598687533056,0.999999929777,-0.000104864770242,-0.000357585446488,-3.97697257548e-05,1793249479705454080
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.031055701,717,679,662,637,878,783.968944299,812.968944299,651.968944299,630.968944299,653,0.401403218677,-0.00546438580284,0.0598746284067,0.999999934482,-0.000106234373859,-0.000343660982252,-4.05788433445e-05,1793249479722120704
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.621410108,717,679,662,637,878,783.378589892,812.378589892,651.378589892,630.378589892,653,0.401560835457,-0.0054672255799,0.0598838505835,0.999999940967,-0.000109590471598,-0.000322957734731,-4.18797407476e-05,1793249479738787328
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.207768819,745.792231181,717,679,662,637,878,783,812,651,630.207768819,653,0.401722911122,-0.00546977630058,0.0598893847497,0.999999945112,-0.000112359119544,-0.000308674128349,-4.3265605399e-05,1793249479755453696
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.786984013,745.213015987,717,679,662,637,878,783,812,651,630.786984013,653,0.401892958305,-0.00547181024973,0.0598883255378,0.999999945712,-0.000114077532147,-0.00030586747484,-4.48033732724e-05,1793249479772120320
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+154,2.566666667,POSE1_TO_POSE2_PRESS,766.704913785,745,717.704913785,679.295086215,663.295086215,637,881,783.704913785,813,651,630,654,0.41357256588,-0.00549591929561,0.0598665775298,0.99999992736,-0.000188465281087,-0.0003205164011,-8.38490005109e-05,1793249480188787200
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+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.802023173,717,680,663.802023173,637,882,784,813.197976827,651,630,654,0.417666926048,-0.00550803160303,0.0599730376553,0.999999973484,-0.000173487666685,-0.000130510282698,-7.6813042339e-05,1793249480272120832
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+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.500364312,717,680,663.499635688,637,882.500364312,784,813.499635688,651,629,653.499635688,0.42100466552,-0.0055045948576,0.0598700783803,0.999999940429,-0.000167467808924,-0.00029030137022,-8.25889442533e-05,1793249480338787328
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.974787182,887,782.025212818,815.025212818,651.974787182,629,654,0.449907801781,-0.00556903069063,0.0596657959216,0.999999845019,-0.000144301436171,-0.000532333580568,-7.58904237707e-05,1793249481072120832
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.38449339,887,782.61550661,815.61550661,651.38449339,629,654,0.450109257426,-0.00556993782374,0.0596655697349,0.99999984554,-0.000142231098452,-0.000531975579093,-7.54477916016e-05,1793249481088787456
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.201648102,887,782.798351898,816,651.201648102,629,654,0.450299014916,-0.00557146512987,0.0596665631549,0.999999846812,-0.000140935639353,-0.000530007813043,-7.4865871346e-05,1793249481105454080
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.780031859,887,782.219968141,816,651.780031859,629,654,0.450466916926,-0.00557415109439,0.0596698351453,0.999999849478,-0.00014108787278,-0.000525032551773,-7.4023721621e-05,1793249481122120448
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,717,684,662,634.644987257,887.355012743,782.355012743,816,652,629,654,0.450613090998,-0.00557479466665,0.0596707047514,0.999999850148,-0.000140130101781,-0.000524056192189,-7.37102420129e-05,1793249481138787328
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766.078722462,746,717,683.078722462,662,634.078722462,887.078722462,782.921277538,816.921277538,652,629,654,0.450959450599,-0.00557923921514,0.0596693854748,0.999999848263,-0.000144955918189,-0.000526503383846,-7.24916412894e-05,1793249481188787456
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683.230192778,661.769807222,633.769807222,887,782,816,651.769807222,628.230192778,654,0.451383628282,-0.00557292846812,0.0596490742358,0.999999835982,-0.000130158458718,-0.000553489085635,-6.88805367036e-05,1793249481638788096
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+244,4.066666667,HOLD_POSE2,765,746,717,684,662,634,888,782,816,652,629,654,0.451384783274,-0.00557506232713,0.059649303533,0.999999836347,-0.000130006835173,-0.000552951597198,-6.81834545999e-05,1793249481703340544
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+247,4.116666667,HOLD_POSE2,766,746,717,684,661.755723196,634,887,782,816.755723196,651.244276804,628.755723196,654,0.45138421067,-0.00557336761462,0.0596477371975,0.999999834798,-0.000131771991773,-0.000555219099828,-6.90829259082e-05,1793249481753341184
+248,4.133333333,HOLD_POSE2,766,746,717,684,661.667936736,634,887,782,816.667936736,651.332063264,628.667936736,654,0.4513841692,-0.00557328561384,0.0596479303712,0.999999834908,-0.000131017958125,-0.000555222950692,-6.8893588145e-05,1793249481770008064
+249,4.150000000,HOLD_POSE2,766,746,717,684,661.092567976,634,887,782,816.092567976,651.907432024,628.092567976,654,0.451385344955,-0.00557171460756,0.0596490696809,0.999999836118,-0.000128393729814,-0.000553702754145,-6.84996681915e-05,1793249481786674432
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+256,4.266666667,HOLD_POSE2,766,746,717,684,661.964726239,634,887.035273761,782,816,651,628.035273761,654,0.451386027306,-0.00557181556471,0.0596484737967,0.999999835625,-0.000129919578411,-0.000554207694385,-6.87381609021e-05,1793249481903340544
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.921182036,745.921182036,717.078817964,680,662.921182036,636,879,784,813,651,629,654,0.419952137068,-0.00538400591619,0.0597527239872,0.999999892326,0.000199637957703,-0.000418097161514,2.62084934611e-05,1793249483141794560
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,717.176554342,680,662.823445658,636.823445658,879.823445658,784.823445658,813,651,629,654,0.417507686062,-0.00538818284612,0.0597695081482,0.999999914977,0.000201970151515,-0.00035866158803,2.48092054622e-05,1793249483191794688
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.709452665,717,680,662,636,878.290547335,784.709452665,813,651.290547335,630,654,0.413586290273,-0.00538345808939,0.0598325848318,0.999999933219,0.000221692367866,-0.000288931433856,3.05595482776e-05,1793249483275128320
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.323456464,745,717.323456464,679.676543536,662,636,878,784,812,651,629.676543536,653.676543536,0.406173096051,-0.00537042161151,0.0598180320362,0.999999929104,0.000233424311189,-0.00029424969022,2.68644787241e-05,1793249483475128576
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.427318801,745.572681199,717,679.572681199,662,636,877.572681199,784,812,651.572681199,630,653.427318801,0.404866489799,-0.00536362095721,0.059808028879,0.99999992458,0.000242492217635,-0.000302317071334,2.53200695892e-05,1793249483525128448
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.834971798,717.165028202,678.834971798,662,636,878,784,812,652,630,654,0.400970827092,-0.00537303459509,0.0598347982267,0.999999928766,0.00025719905398,-0.000275293437888,2.30089234524e-05,1793249484025127936
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.581390302,717,679,662,636,878,784.418609698,812.418609698,652,630,654,0.400970630572,-0.00537273505605,0.0598353501227,0.999999929083,0.000257270904632,-0.000274090131731,2.28265891214e-05,1793249484041794560
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.002006072,717,679,662,636,878,784.997993928,812.997993928,652,630,654,0.40097110919,-0.00537199128214,0.0598363412417,0.999999929482,0.000257662787362,-0.000272272343889,2.26825615805e-05,1793249484058461440
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,717.57212507,678.42787493,662,636,877.42787493,784.42787493,812.42787493,651.42787493,630,654,0.400970904857,-0.00537331816304,0.0598367963818,0.99999992976,0.000257261729055,-0.000271603108382,2.29743831383e-05,1793249484075128064
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,717.850439081,678.149560919,662,636.149560919,877,784,812,651,630,654,0.400970340883,-0.00537425605637,0.0598369410911,0.999999929938,0.000256693278116,-0.000271478472911,2.30855494068e-05,1793249484091794688
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,717.263280755,678.736719245,662,636.736719245,877,784,812,651,630,654,0.400968731583,-0.00537403476835,0.0598361829653,0.99999992982,0.000255643117275,-0.000272935596308,2.26637090313e-05,1793249484108461568
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,717,679,662,637,877.319289047,784,812,651,630,653.680710953,0.400969223686,-0.00537463926533,0.0598370597173,0.999999930297,0.00025493434833,-0.00027184952438,2.26510286702e-05,1793249484125128448
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,717,679,662,637,877.89812889,784,812,651,630,653.10187111,0.400971424025,-0.00537591504479,0.0598392654651,0.999999931251,0.000254503097522,-0.000268696083313,2.29709553748e-05,1793249484141795328
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.476618783,717,679,661.523381217,636.523381217,878,784,812,651,630,653.476618783,0.400970326167,-0.00537543612062,0.0598388995267,0.999999931033,0.000255211623135,-0.000268843971118,2.28993892016e-05,1793249484158461952
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.94539261,717,679,661,636,878,784,812,651.05460739,630,653.94539261,0.400968650245,-0.00537445350153,0.059838030398,0.999999930527,0.000256230758446,-0.000269768889134,2.27366889915e-05,1793249484175128064
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.371460127,717,679,661,636,878,784,812,651.628539873,630,653.371460127,0.400968176076,-0.0053722447857,0.0598375994127,0.999999929671,0.000257888748423,-0.000271377887866,2.25024828948e-05,1793249484191794688
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,717,679,661.207721543,636,877.792278457,784,812,652,630,653.207721543,0.400968611146,-0.00537180481391,0.059837922525,0.999999929728,0.000257590049962,-0.000271448269714,2.25347980732e-05,1793249484208461312
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,717,679,661.796533447,636,877.203466553,784,812,652,630,653.796533447,0.400970714324,-0.00537460981771,0.0598396291207,0.999999931453,0.000253701569173,-0.000268695872201,2.30560788664e-05,1793249484225127936
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.620519077,745.379480923,717,679,662,636.379480923,877.379480923,784,812,652,630,654,0.400969810142,-0.00537516839105,0.0598396350338,0.999999931555,0.000253475550447,-0.000268534782634,2.29887847538e-05,1793249484241794816
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.040668102,745.959331898,717,679,662,636.959331898,877.959331898,784,812,652,630,654,0.400967318041,-0.0053745408246,0.0598387429678,0.999999930805,0.000255183351618,-0.000269741931916,2.26107166779e-05,1793249484258461952
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.535934324,746,717.535934324,678.464065676,662,636.464065676,877.464065676,784,812,652,630.535934324,654,0.40096870554,-0.00537505668993,0.0598392491185,0.999999931472,0.000253645424324,-0.00026873106945,2.24526583419e-05,1793249484275128576
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.888910267,746,717.888910267,678.111089733,662,636,877.111089733,783.888910267,812,652,630.888910267,654,0.400969810098,-0.0053754239695,0.0598396916872,0.999999931948,0.000252638829268,-0.000267910370236,2.24066465442e-05,1793249484291795200
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.318722465,746,717.318722465,678.681277535,662,636,877.681277535,783.318722465,812,652,630.318722465,654,0.400968536044,-0.00537482077385,0.0598394356554,0.999999931205,0.000254839782449,-0.000268566929038,2.27551080021e-05,1793249484308461824
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.262055449,745.737944551,717,679,662,636,878,783.262055449,812,651.737944551,629.737944551,654,0.400968322698,-0.00537509810654,0.0598392703449,0.999999931143,0.000254900311428,-0.000268723673257,2.29713289416e-05,1793249484325128448
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.856255998,745.143744002,717,679,662,636,878,783.856255998,812,651.143744002,629.143744002,654,0.400969453757,-0.00537649147461,0.0598392200198,0.999999931942,0.000252247936209,-0.000268246922008,2.30199402106e-05,1793249484341795072
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04f8be571e1fbab35a54e715f67cacc272a8c78e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b6aa455eda0f1864fe7021eaf02f6a50aef10da
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:150521ba9064a03434dd9ba71e9ef198c1c92219edf4b4af94963e8ac68700cf
+size 25568450
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..792a25353ee9698f85d2e687b007d3ba76e3be69
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+8,0.133333333,BASELINE,766.636332417,745.636332417,717.363667583,678.636332417,662,636.636332417,877,784,812,652,630,654,0.400970301859,-0.00537517692612,0.0598415529768,0.999999932743,0.000251895498195,-0.000265653186098,2.214436709e-05,1793249484594081536
+9,0.150000000,BASELINE,767,745.789575088,717,678.789575088,662,636.789575088,877,784,812,651.789575088,630,653.789575088,0.400970305893,-0.00537543026085,0.0598416943115,0.999999932793,0.000251721090961,-0.00026563760274,2.20509373845e-05,1793249484610748160
+10,0.166666667,BASELINE,767,745.215659641,717,678.215659641,662,636.215659641,877,784,812,651.215659641,630,653.215659641,0.400969228752,-0.00537666947573,0.0598413189812,0.999999932464,0.000252232880279,-0.000266363502991,2.2373877331e-05,1793249484627414528
+11,0.183333333,BASELINE,767,745,717,678,662,636,877.369506669,784,812,651,630,653.369506669,0.400968216817,-0.00537659675178,0.0598403525563,0.999999931931,0.000252904934187,-0.000267718720666,2.24488306428e-05,1793249484644081152
+12,0.200000000,BASELINE,767,745,717,678,662,636,877.961445731,784,812,651,630,653.961445731,0.400967244135,-0.00537573427848,0.0598390303094,0.999999931272,0.000253673462819,-0.000269452769407,2.23745031607e-05,1793249484660747776
+13,0.216666667,BASELINE,766.45899433,745,717,678.54100567,662,636,877.45899433,784,812,651,630,654,0.400967416602,-0.00537570738439,0.0598393272049,0.999999931364,0.00025363540168,-0.000269140225924,2.24552129285e-05,1793249484677414656
+14,0.233333333,BASELINE,766,745,717,679,662,636,877,784,812,651.118835938,630,654,0.400967550677,-0.00537567007367,0.059839683438,0.999999931481,0.000253753903449,-0.000268590943039,2.2494997862e-05,1793249484694081536
+15,0.250000000,BASELINE,766,745,717,679,662,636,877,784,812,651.693341078,630,654,0.400967231619,-0.00537536960016,0.0598398346519,0.999999931491,0.000254688212632,-0.000267680634111,2.23364415908e-05,1793249484710748928
+16,0.266666667,BASELINE,766.274629891,745,717.274629891,679,662,636.274629891,877,784,812,651.725370109,630,654,0.400967768557,-0.0053754054305,0.059840319754,0.999999931919,0.00025414661786,-0.000266598715793,2.22997643284e-05,1793249484727415552
+17,0.283333333,BASELINE,766.863685341,745,717.863685341,679,662,636.863685341,877,784,812,651.136314659,630,654,0.400969285529,-0.00537582629733,0.059841187127,0.999999932821,0.000251915250933,-0.000265320320814,2.24026271505e-05,1793249484744081664
+18,0.300000000,BASELINE,767,745,717.554993408,679,662,636.554993408,877.445006592,784,812,651.445006592,630,654,0.40097008874,-0.00537659358389,0.0598412157096,0.99999993332,0.000250358603032,-0.000264925267682,2.22431648318e-05,1793249484760748032
+19,0.316666667,BASELINE,766.976103987,745,717.023896013,679,662,636.023896013,877.976103987,784,812,652,630,654,0.400970640482,-0.00537736592338,0.0598410402886,0.999999933665,0.000249154615515,-0.000264778241656,2.20311250497e-05,1793249484777414656
+20,0.333333333,BASELINE,766.39959995,745,717.60040005,679,662,636.60040005,877.39959995,784,812,652,630,654,0.400970346676,-0.00537584305936,0.0598419875171,0.99999993324,0.000251408144968,-0.000264216431197,2.24297240189e-05,1793249484794081024
+21,0.350000000,BASELINE,766.176037389,745,718,678.823962611,662,636.823962611,877.176037389,784,812,651.823962611,630,654,0.400969790012,-0.00537496246818,0.059842308087,0.999999932916,0.000252636105204,-0.000264257181221,2.26193513635e-05,1793249484810747904
+22,0.366666667,BASELINE,766.749716906,745,718,678.250283094,662,636.250283094,877.749716906,784,812,651.250283094,630,654,0.400968639595,-0.00537553267543,0.0598412131288,0.999999932825,0.000251547457684,-0.000265659025325,2.23369430126e-05,1793249484827414528
+23,0.383333333,BASELINE,767,745.331990455,717.668009545,678.331990455,662,636,878,784,812,651,630,654,0.40096855599,-0.00537560063427,0.0598411025437,0.999999932967,0.000250673708712,-0.000265965341657,2.21749452573e-05,1793249484844081408
+24,0.400000000,BASELINE,767,745.920915164,717.079084836,678.920915164,662,636,878,784,812,651,630,654,0.400969298015,-0.00537527989277,0.0598417537851,0.999999933289,0.000249966274036,-0.000265423806628,2.21061357126e-05,1793249484860748288
+25,0.416666667,BASELINE,767,746,717.503463429,679,662,636,877.496536571,784,812.503463429,651,630,654,0.400970158743,-0.00537506135729,0.0598421829922,0.999999933119,0.000251834686869,-0.000264310187118,2.19386173373e-05,1793249484877414656
+26,0.433333333,BASELINE,767,745.915880357,717.915880357,678.915880357,662,636,877.084119643,783.915880357,812.915880357,651,630,654,0.400970946401,-0.00537507767226,0.0598425795982,0.999999933006,0.000253463823088,-0.000263186314446,2.18193436553e-05,1793249484894081280
+27,0.450000000,BASELINE,767,745.340497221,717.340497221,678.340497221,662,636,877.659502779,783.340497221,812.340497221,651,630,654,0.40097119979,-0.00537637293956,0.0598429869504,0.999999933706,0.00025136213122,-0.000262520809086,2.20712412003e-05,1793249484910747648
+28,0.466666667,BASELINE,767,745,717.233040725,678,662,636,878,783.233040725,812.233040725,651,630,654,0.400970733682,-0.00537706831245,0.0598428276662,0.999999934072,0.000249614919121,-0.000262786460606,2.21749185238e-05,1793249484927414272
+29,0.483333333,BASELINE,767,745,717.803903799,678,662,636,878,783.803903799,812.803903799,651,630,654,0.400969224572,-0.00537689406157,0.0598418469699,0.999999933956,0.000248381570933,-0.000264401943214,2.20637316556e-05,1793249484944080896
+30,0.500000000,BASELINE,766.607996885,745,717.607996885,678.392003115,661.607996885,636,877.607996885,784,812.607996885,651.392003115,630,654,0.400968456133,-0.00537700891777,0.0598414143604,0.999999933445,0.000249744353766,-0.00026504705227,2.20668492412e-05,1793249484960747264
+31,0.516666667,BASELINE,766.010878752,745,717.010878752,678.989121248,661.010878752,636,877.010878752,784,812.010878752,651.989121248,630,654,0.400968075249,-0.00537727504881,0.0598412685365,0.999999932724,0.000252465558149,-0.000265184414826,2.21297764574e-05,1793249484977413888
+32,0.533333333,BASELINE,766,745,717.564721225,679,661,636,877,784,812,652,630,653.435278775,0.400968604955,-0.00537766656916,0.059841175317,0.999999932897,0.000251912630509,-0.000265062231104,2.20691562944e-05,1793249484994081280
+33,0.550000000,BASELINE,766.140036072,745.140036072,718,679,661.140036072,636,877.140036072,784,812,651.859963928,630,653,0.400969306407,-0.00537799858328,0.0598413274022,0.999999933112,0.000251249874574,-0.00026487838777,2.21075386044e-05,1793249485010748672
+34,0.566666667,BASELINE,766.715706007,745.715706007,718,679,661.715706007,636,877.715706007,784,812,651.284293993,630,653,0.400970489573,-0.00537813824281,0.0598422395619,0.999999933404,0.000250434466108,-0.00026451771255,2.2461036771e-05,1793249485027414784
+35,0.583333333,BASELINE,766.701183862,745.701183862,717.701183862,678.701183862,662,636,878,784,812,651.298816138,630.298816138,653.298816138,0.400970810065,-0.00537779306012,0.0598426800441,0.999999933536,0.000250448371691,-0.000263998519379,2.25333633754e-05,1793249485044081408
+36,0.600000000,BASELINE,766.110814301,745.110814301,717.110814301,678.110814301,662,636,878,784,812,651.889185699,630.889185699,653.889185699,0.40097028885,-0.00537697481928,0.0598426603131,0.999999933512,0.000251271434781,-0.000263324660988,2.23313523232e-05,1793249485060747776
+37,0.616666667,BASELINE,766.469467992,745,717,678.469467992,662,636,878,784,812,651.530532008,631,654,0.400969797086,-0.00537677646563,0.0598424785655,0.99999993354,0.000251011276639,-0.000263473252135,2.2230963372e-05,1793249485077413888
+38,0.633333333,BASELINE,767,745,717.047209795,679,662,636,877.952790205,784,812,651.047209795,630.952790205,653.952790205,0.400969377146,-0.00537677628036,0.0598423323347,0.999999933607,0.000250461481757,-0.000263748154042,2.2168377852e-05,1793249485094080768
+39,0.650000000,BASELINE,767,745,717.622607531,679,662,636,877.377392469,784,812,651.622607531,630.377392469,653.377392469,0.400969684634,-0.00537739061915,0.0598430023334,0.999999933968,0.000249471669919,-0.0002633099423,2.22660156947e-05,1793249485110747392
+40,0.666666667,BASELINE,767,745.202005987,717.797994013,679,662,636,877,784,812,651.797994013,630,653.202005987,0.400969706339,-0.00537781848554,0.0598431311414,0.9999999341,0.000248991085763,-0.000263253487858,2.23870317304e-05,1793249485127414016
+41,0.683333333,BASELINE,767,745.789029668,717.210970332,679,662,636,877,784,812,651.210970332,630,653.789029668,0.400969183351,-0.00537789094081,0.0598422284552,0.999999933797,0.000249481075214,-0.000263924652057,2.25526059346e-05,1793249485144081152
+42,0.700000000,BASELINE,767,745.629227688,717,678.629227688,662,636,877.370772312,783.629227688,812,651,630,654,0.400968783517,-0.00537689383412,0.0598421904798,0.99999993344,0.000250731289309,-0.000264107247944,2.24047227641e-05,1793249485160748288
+43,0.716666667,BASELINE,767,745.050447786,717,678.050447786,662,636,877.949552214,783.050447786,812,651,630,654,0.400968452774,-0.0053752966907,0.0598426376173,0.999999933049,0.000252407998273,-0.00026401575129,2.20809863474e-05,1793249485177414912
+44,0.733333333,BASELINE,767,745,717,678,662,636,877.471975663,783.528024337,811.471975663,651.528024337,630,653.471975663,0.400968679318,-0.00537693595055,0.0598426086686,0.999999933421,0.000250726171236,-0.000264198741443,2.22080918143e-05,1793249485194081280
+45,0.750000000,BASELINE,766.894076133,745,717,678,662,636,877.105923867,784,811.105923867,652,630,653.105923867,0.400968912451,-0.00537861830044,0.0598425455651,0.999999933832,0.000248939957282,-0.000264321513289,2.23348860681e-05,1793249485210747648
+46,0.766666667,BASELINE,766.318584838,745,717,678,662,636,877.681415162,784,811.681415162,652,630,653.681415162,0.400968938894,-0.00537912172974,0.059842532574,0.999999934108,0.000248112628627,-0.000264061145535,2.22694632417e-05,1793249485227414272
+47,0.783333333,BASELINE,766,745.262341541,717,678,661.737658459,636,878,784,812,651.737658459,630,653.737658459,0.400969488256,-0.00537961158925,0.0598429825313,0.999999934372,0.000248003837906,-0.000263155720181,2.23566299492e-05,1793249485244080640
+48,0.800000000,BASELINE,766,745.850007944,717,678,661.149992056,636,878,784,812,651.149992056,630,653.149992056,0.400970686082,-0.0053800846212,0.0598440065824,0.999999934618,0.000248786092598,-0.000261450370868,2.26330200893e-05,1793249485260747264
+49,0.816666667,BASELINE,766.430926742,745.569073258,717,678,661,636,878,784,812,651,630,653,0.400970913987,-0.00537881594949,0.059843635836,0.999999934123,0.000250452925601,-0.000261773976237,2.23988924307e-05,1793249485277414400
+50,0.833333333,BASELINE,767,745,717,678.009538873,661.009538873,636,877.990461127,784,812,651,630,653,0.400970788407,-0.00537699845709,0.0598427932847,0.999999933388,0.000252348900379,-0.000262792368544,2.20006563316e-05,1793249485294081536
+51,0.850000000,BASELINE,767,745,717,678.588496647,661.588496647,636,877.411503353,784,812,651,630,653,0.400969403803,-0.00537805019865,0.0598423205717,0.999999933756,0.000249827165161,-0.000263778485721,2.22499401607e-05,1793249485310748160
+52,0.866666667,BASELINE,767,745,717,679,662,636,877,784,812,651,629.833812399,653.166187601,0.40096878851,-0.00537863070543,0.059842108009,0.999999933953,0.000248516522865,-0.000264261435755,2.23647301583e-05,1793249485327414784
+53,0.883333333,BASELINE,767,745,717,679,662,636,877,784,812,651,629.259234566,653.740765434,0.400970063723,-0.00537805319746,0.0598425347408,0.999999933741,0.000250182026453,-0.000263507900306,2.21490143354e-05,1793249485344081152
+54,0.900000000,BASELINE,766.687403487,745.312596513,717,679,662,636,877.312596513,784,812,651.312596513,629.312596513,654,0.400970084018,-0.005377912992,0.059842651197,0.999999933759,0.000250140046982,-0.000263496002631,2.19709508317e-05,1793249485360747520
+55,0.916666667,BASELINE,766.117830463,745.882169537,717,679,662,636,877.882169537,784,812,651.882169537,629.882169537,654,0.40096907268,-0.00537813228026,0.0598425125847,0.999999933965,0.000248694395211,-0.00026409378386,2.18238402163e-05,1793249485377414144
+56,0.933333333,BASELINE,766.475142995,746,717.475142995,679,661.524857005,636,878,784,812,651.524857005,630,654,0.400969539618,-0.00537828810573,0.0598427975559,0.99999993423,0.000248387018381,-0.000263360415984,2.20444995669e-05,1793249485394080768
+57,0.950000000,BASELINE,767,745.9287227,718,679,661.0712773,636,877.9287227,784,812,651,630,654,0.400970117148,-0.00537842457389,0.0598431040092,0.999999934457,0.000248369235902,-0.000262487948044,2.23368027032e-05,1793249485410747392
+58,0.966666667,BASELINE,767,745.35339919,718,679,661.64660081,636,877.35339919,784,812,651,630,654,0.400968750028,-0.00537854121327,0.0598427810639,0.999999934314,0.000248299773476,-0.000263087161693,2.24573808522e-05,1793249485427414272
+59,0.983333333,BASELINE,766.774067777,745.225932223,717.774067777,679,661.774067777,636,877,784,812,651.225932223,630,654,0.400968296795,-0.00537908563301,0.0598425110607,0.999999934377,0.000247641070891,-0.000263472382843,2.2428226416e-05,1793249485444081152
+60,1.000000000,BASELINE,766.188353962,745.811646038,717.188353962,679,661.188353962,636,877,784,812,651.811646038,630,654,0.400969298866,-0.00538031126371,0.0598423253639,0.999999934765,0.000246044043696,-0.000263516835688,2.21606331117e-05,1793249485460748032
+61,1.016666667,BASELINE,766.392738425,745.607261575,717,679,661.392738425,636,877.392738425,784,812,652,630,654,0.400970408976,-0.00537984075559,0.0598426320119,0.999999934676,0.000246848727805,-0.000263112852131,2.20519753756e-05,1793249485477414912
+62,1.033333333,BASELINE,766.971640159,745.028359841,717,679,661.971640159,636,877.971640159,784,812,652,630,654,0.400971570298,-0.00537856625473,0.0598431720379,0.999999934357,0.000248791855542,-0.000262496303672,2.20186552571e-05,1793249485494081536
+63,1.050000000,BASELINE,767,745.551309409,717,679,662,636.551309409,877.448690591,784,812,651.448690591,630,653.448690591,0.400970879972,-0.00537904255662,0.059843159687,0.999999934571,0.000248010509664,-0.000262386044346,2.2398741127e-05,1793249485510747904
+64,1.066666667,BASELINE,766.870392901,745.870392901,717.129607099,678.870392901,661.870392901,636.870392901,877.129607099,784,812,651.129607099,630,653,0.400970306885,-0.00537958158201,0.0598432026978,0.999999934826,0.000247084877372,-0.000262265901645,2.26744863487e-05,1793249485527414272
+65,1.083333333,BASELINE,766.296927745,745.296927745,717.703072255,678.296927745,661.296927745,636.296927745,877.703072255,784,812,651.703072255,630,653,0.400970461951,-0.00538002654992,0.0598435327486,0.999999935125,0.000246145746179,-0.000262022596316,2.25199721887e-05,1793249485544080896
+66,1.100000000,BASELINE,766,745,718,678,661.277209201,636,878,784,812,651.722790799,630,653.277209201,0.400970141632,-0.00538005132967,0.0598432388726,0.999999935119,0.000245918175,-0.000262272794334,2.23375613397e-05,1793249485560747776
+67,1.116666667,BASELINE,766,745,718,678,661.852067434,636,878,784,812,651.147932566,630,653.852067434,0.400969310877,-0.00537962493896,0.0598422750648,0.999999934787,0.000246454630289,-0.000263052883848,2.21251968685e-05,1793249485577414400
+68,1.133333333,BASELINE,766,745.440503411,717.559496589,678.440503411,662,636,878,784.440503411,812,651,630,654,0.400968186577,-0.00537872773317,0.059841948679,0.999999934234,0.000247473499981,-0.000264203089254,2.20345189797e-05,1793249485594081280
+69,1.150000000,BASELINE,766.032772993,745.967227007,717.032772993,679,662,636,877.967227007,784.967227007,812,651.032772993,630,653.967227007,0.400967086949,-0.00537775293515,0.0598419026666,0.99999993368,0.000248527428396,-0.000265312918652,2.19882445897e-05,1793249485610747904
+70,1.166666667,BASELINE,766.610554324,745.389445676,717.610554324,679,662,636,877.389445676,784.389445676,812,651.610554324,630,653.389445676,0.400968089125,-0.00537820078991,0.0598428461681,0.999999934412,0.000247384540975,-0.000263618569282,2.19791926388e-05,1793249485627414528
+71,1.183333333,BASELINE,766.813486549,745.186513451,717.813486549,678.813486549,662,636,877,784,812,652,630,653.186513451,0.400969037862,-0.00537856824856,0.059843609077,0.999999934946,0.000246679223345,-0.0002622478323,2.19974731588e-05,1793249485644080896
+72,1.200000000,BASELINE,766.241295324,745.758704676,717.241295324,678.241295324,662,636,877,784,812,652,630,653.758704676,0.400969876098,-0.00537876946196,0.0598439985516,0.999999935079,0.000246878724666,-0.000261546269833,2.2072272532e-05,1793249485660747520
+73,1.216666667,BASELINE,766,746,717.343484104,678.343484104,662,636,877,784,812,651.656515896,630,654,0.40097026153,-0.00537980091798,0.0598440968383,0.999999935403,0.000245413379289,-0.000261686821193,2.20521369156e-05,1793249485677414144
+74,1.233333333,BASELINE,766,746,717.937443042,678.937443042,662,636,877,784,812,651.062556958,630,654,0.400970316768,-0.00538143780196,0.0598439827854,0.999999935861,0.000242733997509,-0.00026244145726,2.19627729793e-05,1793249485694080768
+75,1.250000000,BASELINE,766.516225695,745.483774305,717.483774305,679,661.483774305,636,877,784,812,651.516225695,630.516225695,654,0.400968525465,-0.0053795450508,0.0598427199777,0.999999934545,0.000246373607414,-0.000264065757501,2.18906708172e-05,1793249485710747904
+76,1.266666667,BASELINE,766.907087523,745,717.092912477,679,661,636.092912477,877,784,812,652,630.907087523,654,0.400967121782,-0.00537771614548,0.059841772096,0.999999933375,0.000249861559891,-0.000265222693397,2.18313194297e-05,1793249485727414784
+77,1.283333333,BASELINE,766.332005918,745,717.667994082,679,661,636.667994082,877,784,812,652,630.332005918,654,0.40096885772,-0.00537837486043,0.0598431603087,0.99999993414,0.000248702145964,-0.000263422955609,2.18275927629e-05,1793249485744081408
+78,1.300000000,BASELINE,766.241745476,745,718,679,661,636.758254524,877.241745476,784,812,651.758254524,630,654,0.400970436785,-0.00537913428108,0.0598439933437,0.99999993459,0.000248347969131,-0.000262023458641,2.20708186169e-05,1793249485760748032
+79,1.316666667,BASELINE,766.813679949,745,718,679,661,636.186320051,877.813679949,784,812,651.186320051,630,654,0.400971801583,-0.00538003125094,0.0598440680868,0.999999934615,0.000249093628609,-0.000261170632304,2.26513455317e-05,1793249485777414656
+80,1.333333333,BASELINE,767,745.402211078,717.597788922,679,661.402211078,636.402211078,877.597788922,784,812,651.402211078,630,654,0.400971347023,-0.00537912981498,0.0598439651384,0.999999934595,0.000249046533495,-0.000261313802922,2.2387100444e-05,1793249485794081024
+81,1.350000000,BASELINE,767,745.998761383,717.001238617,679,661.998761383,636.998761383,877.001238617,784,812,651.998761383,630,654,0.40097001339,-0.00537735943038,0.0598437763335,0.999999934553,0.000248616397494,-0.000261938216495,2.17146808275e-05,1793249485810747648
+82,1.366666667,BASELINE,767,745.42536045,717,678.42536045,662,636.42536045,877,784,812,651.42536045,630,653.42536045,0.400971042597,-0.00537830130379,0.0598441402774,0.99999993481,0.000248274544127,-0.000261274346174,2.17955187612e-05,1793249485827414272
+83,1.383333333,BASELINE,767,745,717,678,662,636,877.150424581,784,812,651,630,653,0.400971157809,-0.00537908562883,0.0598440963095,0.999999934865,0.000247989499521,-0.000261327591407,2.18919026727e-05,1793249485844080896
+84,1.400000000,BASELINE,767,745,717,678,662,636,877.726068052,784,812,651,630,653,0.400968675455,-0.00537940864563,0.0598428960093,0.999999934345,0.00024786452211,-0.00026341554947,2.20278015694e-05,1793249485860747520
+85,1.416666667,BASELINE,767,745,717,678.308778136,662,636,878,784,812,651,630,653,0.400967751176,-0.00537930172042,0.0598421343024,0.999999934117,0.000247477893885,-0.000264650049058,2.1917971269e-05,1793249485877414400
+86,1.433333333,BASELINE,767,745,717,678.897904151,662,636,878,784,812,651,630,653,0.400968241515,-0.0053788044394,0.0598417708061,0.999999934157,0.000246853705937,-0.00026510967088,2.15850368892e-05,1793249485894080768
+87,1.450000000,BASELINE,767,745,717,679,662,636,877.521074019,784,812,651,630,653.478925981,0.400968944663,-0.0053783721283,0.0598424724127,0.999999934023,0.000248684365167,-0.000263889203686,2.17313382052e-05,1793249485910747392
+88,1.466666667,BASELINE,767,745,717.057737801,679,662,636,877.057737801,784,812,651.057737801,630,654,0.400969424662,-0.00537802449781,0.0598432159268,0.999999933862,0.000250662647385,-0.000262609706874,2.19391379725e-05,1793249485927414016
+89,1.483333333,BASELINE,767,745,717.631977229,679,662,636,877.631977229,784,812,651.631977229,630,654,0.40096750938,-0.00537831255358,0.0598423369758,0.999999933837,0.000249358012107,-0.000263952771825,2.17983847516e-05,1793249485944080640
+90,1.500000000,BASELINE,767,745,717.789001699,678.789001699,662,636,878,784,812,651.789001699,630,654,0.400967564302,-0.0053787585391,0.0598426113163,0.999999934284,0.00024810546845,-0.00026343769878,2.18346468848e-05,1793249485960747520
+91,1.516666667,BASELINE,767,745,717.201447168,678.201447168,662,636,878,784,812,651.201447168,630,654,0.400971135331,-0.00537948637247,0.0598449438683,0.999999935565,0.000246945889772,-0.000259606516255,2.21868178995e-05,1793249485977414144
+92,1.533333333,BASELINE,767,745.380132437,717,678,661.619867563,636,877.619867563,784,812,651,630,654,0.400970981819,-0.00537898861466,0.0598448130205,0.999999934876,0.000249121568187,-0.000260170053939,2.231766504e-05,1793249485994080768
+93,1.550000000,BASELINE,767,745.958594745,717,678,661.041405255,636,877.041405255,784,812,651,630,654,0.400968885071,-0.00537785141834,0.0598433969215,0.999999933145,0.00025303737978,-0.000263026487655,2.23330389428e-05,1793249486010747392
+94,1.566666667,BASELINE,767,745.463777003,717.536222997,678.536222997,661.536222997,636.536222997,877.536222997,784,812.536222997,651,630.536222997,654,0.400967901631,-0.00537864452889,0.0598427320926,0.999999933675,0.000249736676415,-0.000264173888822,2.22123484859e-05,1793249486027414016
+95,1.583333333,BASELINE,766.886495591,745.113504409,718,678.886495591,662,637,877.886495591,784,813,651,630.886495591,654,0.400967564822,-0.00537929723966,0.059842564566,0.999999934316,0.000246973622849,-0.000264353544648,2.21348759563e-05,1793249486044080896
+96,1.600000000,BASELINE,766.310365577,745.689634423,718,678.310365577,662,637,877.310365577,784,813,651,630.310365577,654,0.400969513738,-0.00537877113755,0.0598441878887,0.99999993474,0.000248669609824,-0.000261125862017,2.22763085969e-05,1793249486060748288
+97,1.616666667,BASELINE,766.270979284,745.729020716,717.729020716,678,662,636.729020716,877.270979284,784,812.729020716,651,630,654,0.400969806999,-0.00537839918786,0.0598443772422,0.999999934588,0.000249841637716,-0.000260585700575,2.23144265807e-05,1793249486077415168
+98,1.633333333,BASELINE,766.858414123,745.141585877,717.141585877,678,662,636.141585877,877.858414123,784,812.141585877,651,630,654,0.40096816675,-0.00537820726076,0.0598428919749,0.999999933769,0.000250401774595,-0.000263184085543,2.22318914331e-05,1793249486094081024
+99,1.650000000,BASELINE,767,745.441820406,717,678.441820406,662,636,878,784,812,651.441820406,630,653.558179594,0.400969273012,-0.00537886528804,0.0598433554512,0.999999934461,0.000248439955876,-0.000262419026532,2.2183167563e-05,1793249486110747648
+100,1.666666667,BASELINE,767,745.976314763,717,678.976314763,662,636,877.976314763,784,812,652,630,653.023685237,0.400971126482,-0.00537973461519,0.0598443597841,0.999999935551,0.000245876173957,-0.000260679088479,2.21336776079e-05,1793249486127414272
+101,1.683333333,BASELINE,767,745.400559489,717,678.400559489,662,636,877.400559489,784,812,652,630,653.599440511,0.400970066706,-0.005379237694,0.0598435461516,0.999999934933,0.000247948958732,-0.000261112256666,2.18160604568e-05,1793249486144080896
+102,1.700000000,BASELINE,767,745.174183176,717.174183176,678.174183176,662,636,877,784,812,651.825816824,630,654,0.400969885264,-0.00537888610117,0.0598432965713,0.999999934752,0.000248798587215,-0.000261012995929,2.16135982689e-05,1793249486160747776
+103,1.716666667,BASELINE,767,745.746610583,717.746610583,678.746610583,662,636,877,784,812,651.253389417,630,654,0.400971712006,-0.00537886678038,0.0598443366134,0.999999935576,0.000246851648339,-0.000259696414665,2.16744210222e-05,1793249486177414912
+104,1.733333333,BASELINE,767,745.670217457,718,678.670217457,662,636.329782543,877.329782543,784,812,651,630,654,0.400970866957,-0.00537861250834,0.0598439327598,0.999999935191,0.000247374053264,-0.000260676715795,2.17163597313e-05,1793249486194081792
+105,1.750000000,BASELINE,767,745.07851179,718,678.07851179,662,636.92148821,877.92148821,784,812,651,630,654,0.400967899892,-0.00537817163101,0.0598423821214,0.999999933838,0.000249857684411,-0.00026348126923,2.1743300176e-05,1793249486210747904
+106,1.766666667,BASELINE,767,745,718,678.502443235,662,637,878,784,812,651,630,653.497556765,0.400969362284,-0.00537827533928,0.0598438064178,0.999999934345,0.000249639805305,-0.00026175026372,2.18463665294e-05,1793249486227414528
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,679,661,636,877,784,812,651,630,654,0.40097103181,-0.00537769741481,0.0598443380908,0.99999993498,0.000248045500662,-0.000260859315983,2.15717339126e-05,1793249486271188480
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,717,678.402899922,661,636,877,784,812,651,630,654,0.400970052463,-0.00537993445075,0.059843832906,0.999999935324,0.000245244110108,-0.000262152129791,2.20071855524e-05,1793249486287855104
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.811745387,745,717,678,661,636.188254613,877,784,812,651.188254613,630,653.811745387,0.400969275345,-0.00538123699011,0.0598434613527,0.999999935441,0.000243719888637,-0.000263104279776,2.2261356872e-05,1793249486304522240
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.232925747,745,717,678,661,636.767074253,877,784,812,651.767074253,630,653.232925747,0.400968917782,-0.00538060076369,0.0598433670398,0.999999935104,0.000244845363092,-0.000263349667102,2.21394325579e-05,1793249486321188864
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.344718705,745,717,678.344718705,661.344718705,636.655281295,877.344718705,784,812,652,630,653.344718705,0.400969075913,-0.00537959455314,0.0598434115089,0.999999934886,0.000246228042325,-0.000262891274256,2.2078040834e-05,1793249486337855488
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.921571749,745,717,678.921571749,661.921571749,636.078428251,877.921571749,784,812,652,630,653.921571749,0.400969581313,-0.00537833919449,0.059843549434,0.999999934747,0.000247783923756,-0.000261958954272,2.20574118973e-05,1793249486354522368
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.502291114,745,717,679,662,636,878,784,812,652,630,654,0.400969286367,-0.00538017764919,0.0598431522344,0.999999934936,0.000246581591485,-0.000262362907895,2.21564462254e-05,1793249486371188480
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.075140497,745,717,678.924859503,662,636,877.924859503,784,812,651.924859503,630,654,0.400969148891,-0.00538201037528,0.0598428837057,0.999999935196,0.000245140554874,-0.000262718354423,2.22122521129e-05,1793249486387855104
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.66215781,745,717,678.33784219,662,636,877.33784219,784,812,651.33784219,630,654,0.400970942055,-0.00538048774158,0.0598440653307,0.9999999356,0.000245029999019,-0.000261310973153,2.1845304487e-05,1793249486404521728
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,717,678.243474398,662,636,877.243474398,784,812,651.243474398,630,653.756525602,0.4009748118,-0.00537914064126,0.0598459635007,0.999999935873,0.000246537071709,-0.000258844382202,2.17445105472e-05,1793249486421188352
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,717,678.817061655,662,636,877.817061655,784,812,651.817061655,630,653.182938345,0.40098149706,-0.00537803153661,0.0598488331927,0.999999935951,0.000250237393412,-0.000254941670195,2.20045790312e-05,1793249486437854720
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.604238774,745.395761226,717,678.604238774,662,636,878,784,812,652,630,653.395761226,0.401005945901,-0.00537941555412,0.0598589357349,0.999999940544,0.000248927606133,-0.000237559580803,2.26265017979e-05,1793249486454521600
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.023145089,745.976854911,717,678.023145089,662,636,878,784,812,652,630,653.976854911,0.401038713313,-0.00538196708475,0.0598724253749,0.999999946778,0.000245271616968,-0.000213865184465,2.34178786303e-05,1793249486471188480
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.545608801,745.454391199,717,678.545608801,662,636,878,784,812.545608801,651.454391199,630,654,0.401095002762,-0.00538306585796,0.0598885056999,0.999999952265,0.000245481378106,-0.000186072550241,2.41983422584e-05,1793249486487855360
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,717,678.880389104,662.119610896,636,877.880389104,784,812.880389104,651,630,654,0.401156306836,-0.00538448853046,0.0599043583228,0.99999995677,0.000245682415055,-0.000159613453562,2.49770376316e-05,1793249486504521984
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,717,678.283397676,662.716602324,636,877.283397676,784,812.283397676,651,630,654,0.40123373052,-0.00538744444204,0.0599188732495,0.999999959923,0.000245208615146,-0.000139155156513,2.57504827976e-05,1793249486521188352
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.695615308,745,717,678.304384692,662.695615308,636,877.304384692,784,812,651.304384692,630,654,0.401317861162,-0.00539031814058,0.0599281731859,0.999999962093,0.000243955732446,-0.000125008214718,2.59209202757e-05,1793249486537854720
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.116155291,745,717,678.883844709,662.116155291,636,877.883844709,784,812,651.883844709,630,654,0.401408052939,-0.00539311754225,0.0599327602854,0.999999963598,0.000241998785338,-0.000116564905615,2.55464139623e-05,1793249486554521344
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.457604356,745,717,679,662,636.457604356,878,784,812,652,630,654,0.401515284004,-0.00539691656377,0.0599362221122,0.999999965398,0.000237436634101,-0.000110517624844,2.47901225438e-05,1793249486571188224
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662,637,878,784,812,652,630.029956654,654,0.401628373418,-0.00540087351269,0.0599394331937,0.999999967202,0.000232473731132,-0.000104786065421,2.39175923031e-05,1793249486587855104
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662,637,878,784,812,652,630.602703922,654,0.401770207558,-0.00540315103629,0.059943212717,0.999999968404,0.000232084111902,-9.38907544814e-05,2.26732315587e-05,1793249486604521728
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.184040912,717,679,662.184040912,636.815959088,878,784,812.184040912,651.815959088,630.815959088,654,0.401918811325,-0.00540607933611,0.0599448206041,0.999999969343,0.000230955330982,-8.67195623356e-05,2.12830209436e-05,1793249486621188352
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.784828602,717,679,662.784828602,636.215171398,878,784,812.784828602,651.215171398,630.215171398,654,0.402082744381,-0.00541048126932,0.0599415109841,0.999999969911,0.000228152774207,-8.79813581244e-05,1.95625444586e-05,1793249486637854976
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,717,679,662.632077458,636,878,784,812.632077458,651,630.367922542,654,0.402271318614,-0.00541643569824,0.0599408802122,0.999999971597,0.000222167667311,-8.44499294047e-05,1.77462025699e-05,1793249486654521600
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,717,679,662.058856462,636,878,784,812.058856462,651,630.941143538,654,0.402473642484,-0.00542325641038,0.0599417442202,0.999999973828,0.000214406717278,-7.82439118108e-05,1.58763682297e-05,1793249486671188480
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.485304509,745.485304509,717,679,661.485304509,636,878,784,812,651.514695491,630.485304509,654,0.402711747564,-0.00542828139012,0.0599438975469,0.999999975459,0.000210099792479,-6.89788073146e-05,1.35089549872e-05,1793249486687855104
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.091438412,717,679,661.091438412,636,877.908561588,784,812.091438412,651.908561588,630,654,0.402960410509,-0.00543413693079,0.0599462109774,0.999999977117,0.000205099857901,-5.97838034684e-05,1.12247633142e-05,1793249486704521728
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.685514147,717,679,661.685514147,636,877.314485853,784,812.685514147,651.314485853,630,654,0.403244603868,-0.00544568758204,0.0599485935208,0.999999979713,0.000194117869739,-5.28982986811e-05,9.71101608765e-06,1793249486721188608
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.271785617,746,717.271785617,679,662,636,877.271785617,784,812.728214383,651,630,654,0.403535237836,-0.00545576687953,0.059944712345,0.999999981531,0.00018309108581,-5.79789376451e-05,7.33224035542e-06,1793249486737855488
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.849278727,746,717.849278727,679,662,636,877.849278727,784,812.150721273,651,630,654,0.403833116257,-0.0054641911812,0.0599337856678,0.99999998227,0.000172013915727,-7.65192290137e-05,3.98047099788e-06,1793249486754522368
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,717.577556174,679,662,636,878,784,812,651,630,654,0.404158814624,-0.00547327286193,0.0599219307925,0.999999982244,0.000161462816442,-9.71645188465e-05,7.50387652501e-07,1793249486771188992
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,717.005919594,679,662,636,878,784,812,651,630,654,0.404494338041,-0.00548258670634,0.0599097481096,0.999999981554,0.000151097507597,-0.000118553221926,-2.43672027189e-06,1793249486787855616
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.414026336,717,679,662,636.585973664,878,784,812,651,630,653.414026336,0.404865350137,-0.00549114497172,0.0598978835068,0.999999980425,0.000140523610032,-0.000139149855898,-6.33063079825e-06,1793249486804521984
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.173650487,717.173650487,678.826349513,662,637,878,784,812.173650487,651,630,653.173650487,0.405265399345,-0.00549982560643,0.0598926273989,0.999999980766,0.000127014097748,-0.000149111634018,-1.00752701157e-05,1793249486821188608
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.751031378,717.751031378,678.248968622,662,637,878,784,812.751031378,651,630,653.751031378,0.405732095247,-0.00550880912552,0.0599027280393,0.999999985191,0.000106684475344,-0.000134367066292,-1.34556641605e-05,1793249486837855488
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.670017633,717.670017633,678.329982367,662,637,878,784,812.670017633,651,630,653.670017633,0.406235466061,-0.0055142283911,0.0599261371149,0.999999994099,5.02138899175e-05,-9.50458464766e-05,-1.56847997413e-05,1793249486854522112
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.089876295,717.089876295,678.910123705,662,637,878,784,812.089876295,651,630,653.089876295,0.406766640102,-0.0055169456042,0.0599596352895,0.999999998601,-3.3655089651e-05,-3.70931136889e-05,-1.70411688269e-05,1793249486871188736
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.485132341,717.485132341,679,662.485132341,637,878.485132341,784,812.485132341,651,630,653.485132341,0.407312737701,-0.00550656981334,0.0599827018207,0.999999999445,-2.62398474516e-05,-4.04979747784e-06,-2.01474217867e-05,1793249486887855360
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.939440769,717.939440769,679,663,637,879,784,813,651,630,654,0.407859523286,-0.00549520855551,0.0600007959542,0.999999999544,-4.25958751038e-06,1.84720063795e-05,-2.35123781643e-05,1793249486904522496
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.352192551,717.352192551,679,663,637,879,784,813,651,630,654,0.408388499047,-0.00549615164165,0.0599922765795,0.999999999594,-1.14655652042e-06,-1.079796079e-05,-2.63373471207e-05,1793249486921189888
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,717,679,663,637,879,784,812.767992731,651,630,654,0.408949772352,-0.00550203285432,0.0599820616594,0.999999998774,-8.30638117321e-06,-3.90005961824e-05,-2.93514681321e-05,1793249486937856768
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717,679,663,637,879,784,812.188360471,651,630,654,0.409559438219,-0.00551531304281,0.0599693062423,0.999999996839,-3.08584019417e-05,-6.56040075062e-05,-3.26490024308e-05,1793249486954522880
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,717,679,663,637,879,784,812.389135304,651,629.610864696,654,0.41021692287,-0.00551986473926,0.0599740285932,0.99999999774,-2.95989174502e-05,-5.20845459902e-05,-3.05055272363e-05,1793249486971188992
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,717,679,663,637,879,784,812.965602546,651,629.034397454,654,0.410897427737,-0.00552021448982,0.059987164841,0.999999999341,-1.6876438811e-05,-1.92497054718e-05,-2.57427191441e-05,1793249486987855616
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,717,679,663,637,879,784,813,651,629.53923969,654,0.411584974619,-0.00551712420968,0.0599871818855,0.999999999539,-1.07976918589e-06,-1.71102601609e-05,-2.50745516066e-05,1793249487004522496
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.115941224,717,679,663,637,879.115941224,784,813,651,629.884058776,654,0.412268152104,-0.00551330937703,0.0599811561832,0.999999999204,1.32044618123e-05,-2.74741492573e-05,-2.57282564877e-05,1793249487021189120
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745.705905534,717,679,663,637,879.705905534,784,813,651,629.294094466,654,0.41293163826,-0.00550742470142,0.0599538284598,0.999999996038,2.05075569367e-05,-8.09941043813e-05,-3.07241039306e-05,1793249487037855744
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.708999894,717,679,663,637,880,784,813,651,629.291000106,654,0.413638104728,-0.00550541245565,0.0599278270647,0.999999991054,5.74481154328e-06,-0.000129010278238,-3.48534185334e-05,1793249487054522368
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.128745772,717,679,663,637,880,784,813,651,629.871254228,654,0.414387293692,-0.00550724940325,0.0599031440362,0.999999984079,-3.09513717305e-05,-0.000171555701508,-3.81214003425e-05,1793249487071189248
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.551334066,745.448665934,717,679.448665934,663,637,880,784,813,651,629.551334066,654,0.41522901847,-0.00551569568279,0.0599402620833,0.999999993433,-3.63697675214e-05,-0.000102384289416,-3.64580517637e-05,1793249487087855872
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,717.02560906,680,663,637,880.02560906,784,813,651,629,654,0.416094295215,-0.00552568917353,0.0599935563206,0.999999998901,-3.25257476478e-05,-4.45801371117e-06,-3.34720253938e-05,1793249487104522240
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,717.610013827,680,663,637,880.610013827,784,813,651,629,654,0.416897729272,-0.00552832024879,0.0600152956156,0.999999998921,-2.11825167465e-05,2.58095454602e-05,-3.23073591209e-05,1793249487121188864
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.193624252,745.806375748,717.806375748,680,663,637,881.193624252,784,813,651,629,654,0.417712595286,-0.00552894263011,0.0600231813125,0.999999998674,-1.51182754897e-05,3.68619582539e-05,-3.26284324565e-05,1793249487137855488
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.775641267,745.224358733,717.224358733,680,663,637,881.775641267,784,813,651,629,654,0.418550392722,-0.00552553575265,0.0600032779413,0.999999999118,-1.96432113647e-05,9.37052115591e-06,-3.5929765363e-05,1793249487154521856
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.645120044,745.354879956,717,680.354879956,663.354879956,637,882,784,813,651,629,654,0.419400267192,-0.00552426180797,0.0599800920974,0.999999998565,-2.35924811094e-05,-2.86129876566e-05,-3.8649416615e-05,1793249487171188736
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.067624217,745.932375783,717,680.932375783,663.932375783,637,882,784,813,651,629,654,0.420257717544,-0.00552432585018,0.0599548471622,0.999999996112,-2.71806358193e-05,-7.3178162337e-05,-4.10041793261e-05,1793249487187855616
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.494508822,717,681,664,637,882,784,813,651,629,654,0.421064591385,-0.00552232468631,0.0599164884323,0.999999988771,-3.09331617715e-05,-0.000139909802399,-4.3897405898e-05,1793249487204522496
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.080359781,745,717,681,664,637,882.080359781,784,813,651,628.919640219,654,0.421875090137,-0.00552064309832,0.0598821599451,0.999999978432,-3.43536642857e-05,-0.000199480349015,-4.65217852399e-05,1793249487221189120
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.670021666,745,717,681,664,637,882.670021666,784,813,651,628.329978334,654,0.422751075918,-0.0055227228782,0.0598843974124,0.999999979246,-3.55317096726e-05,-0.000195032830809,-4.69896505319e-05,1793249487237856000
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.744741871,745.255258129,717,680.744741871,664,637,883,784,813.255258129,651,628.255258129,654,0.423679998334,-0.00552540780122,0.0599176550339,0.999999988502,-3.55463263913e-05,-0.000140094490133,-4.58957906757e-05,1793249487254522880
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.165128686,745.834871314,717,680.165128686,664,637,883,784,813.834871314,651,628.834871314,654,0.42467618715,-0.00552886167646,0.0599903297897,0.999999998282,-3.40825806986e-05,-2.09977455344e-05,-4.28174551242e-05,1793249487271189248
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.411785613,746,717,680.823571226,664,637,883.411785613,784,814,651,629,654,0.425635604536,-0.00553108126678,0.0600245616513,0.999999997471,-4.38549658529e-05,3.7070115584e-05,-4.19515323366e-05,1793249487287855616
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.987624654,746,717,681.975249308,664,637,883.987624654,784,814,651,629,654,0.426580372299,-0.00553280912365,0.0600434780425,0.999999994923,-5.81037722196e-05,7.08243529045e-05,-4.19670245515e-05,1793249487304521984
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,717,681.427838842,664,637,884,784,814,651,629,654,0.427460038826,-0.00553356740133,0.0600250219424,0.999999996043,-5.43468156827e-05,5.42975912111e-05,-4.4849139703e-05,1793249487321188608
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.84419211,717,681,664,637,884,784,814.15580789,651,629,654,0.428331223199,-0.00553357761309,0.0600032020285,0.999999997196,-4.97646645816e-05,2.96971687797e-05,-4.74266814158e-05,1793249487337855232
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.263492759,717,681,664,637,884,784,814.736507241,651,629,654,0.429183175647,-0.00553160590451,0.0599744472941,0.999999997734,-4.40106192301e-05,-1.39087918933e-05,-4.90019524492e-05,1793249487354522368
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.683639712,745,717,681,663.683639712,637,884.316360288,784,815,651,628.683639712,654,0.430033974121,-0.00552966203618,0.0599449951181,0.999999995374,-4.79805235666e-05,-6.59730503434e-05,-5.0963067473e-05,1793249487371189248
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.104489689,745,717,681,663.104489689,637,884.895510311,784,815,651,628.104489689,654,0.430883813984,-0.0055277412939,0.0599149636024,0.99999998896,-6.00277824836e-05,-0.00012506332686,-5.32446898172e-05,1793249487387855872
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.471314302,745,717,681.471314302,663.942628604,636.528685698,885,783.528685698,815,651,628,654,0.431843718476,-0.0055309511723,0.0599518782031,0.999999995214,-6.23866940927e-05,-5.37041076549e-05,-5.28752020668e-05,1793249487404522240
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.953747703,745.046252297,717,682,664.953747703,636.046252297,885,783.046252297,815,651,628.046252297,654,0.432817772885,-0.00553514761074,0.0600002320633,0.999999995925,-6.27029436468e-05,3.89707677865e-05,-5.19514100342e-05,1793249487421188608
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.380285334,745.619714666,717,682,664.380285334,636.619714666,885,783.619714666,815,651,628.619714666,654,0.433676937556,-0.00553771550028,0.0600109937209,0.999999995512,-6.40460863536e-05,4.72854637078e-05,-5.13615986532e-05,1793249487437855232
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.800698082,717,682.199301918,664,636.800698082,885,784,815,651,629,654,0.434519272521,-0.00553953991012,0.0600094593687,0.999999995731,-6.61168987899e-05,3.87853870112e-05,-5.15988062083e-05,1793249487454521600
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.209053371,717,682.790946629,664,636.209053371,885,784,815,651,629,654,0.435328476931,-0.00553990071736,0.0599837192763,0.999999996143,-6.9620191204e-05,-2.81599954473e-06,-5.34640707822e-05,1793249487471188224
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.625035804,745,717,683,664.374964196,636.374964196,885,783.625035804,815,651,629,654,0.436129906675,-0.00553910168424,0.059958208845,0.99999999479,-7.0283970441e-05,-4.92562636587e-05,-5.52640991871e-05,1793249487487855104
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.045185853,745,717,683,664.954814147,636.954814147,885,783.045185853,815,651,629,654,0.436927088185,-0.00553766889787,0.0599328239054,0.999999991131,-6.93961990942e-05,-9.83405565367e-05,-5.70284814375e-05,1793249487504522240
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.5284376,745,717,683,664.4715624,636.4715624,885.5284376,783.5284376,815,651,628.4715624,654,0.437694101717,-0.00553843040073,0.0599145727475,0.999999986284,-7.47288083754e-05,-0.000136346700674,-5.70688157745e-05,1793249487521189120
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.101295941,717,683,664.101295941,636,886,784,815,651,628.101295941,654,0.438462253044,-0.0055389223828,0.0599030109092,0.999999982212,-7.85065516143e-05,-0.000161702975471,-5.71375701341e-05,1793249487537856000
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.673044754,717,683,664.673044754,636,886,784,815,651,628.673044754,654,0.439247529734,-0.00553730134828,0.0599197165047,0.999999986881,-7.26214346994e-05,-0.000132657177336,-5.80150150071e-05,1793249487554522368
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.743437274,717,683,664.743437274,636,886,784,815,651,628.743437274,654,0.440031534449,-0.00553816574249,0.0599504231372,0.99999999225,-7.17011295466e-05,-8.414945172e-05,-5.72520315906e-05,1793249487571188736
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.144200028,717,683,664.144200028,636,886,784,815,651,628.144200028,654,0.440813840205,-0.00554234976593,0.059999830063,0.999999995483,-7.74120080137e-05,-9.64766917024e-06,-5.42980321728e-05,1793249487587855104
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.436541567,717,683,664,636,886,784,815,651,628,654,0.441507486592,-0.00554671883107,0.0599951825835,0.999999994717,-8.51591204983e-05,-1.86735756187e-05,-5.44526221054e-05,1793249487604521728
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+249,4.150000000,HOLD_POSE2,766,746,717,684,661.904590389,633,887,782,816,651.904590389,628,654,0.451892617944,-0.00556310081261,0.059650995142,0.999999842539,-0.000120288999277,-0.000544089249115,-6.64715059282e-05,1793249488652311040
+250,4.166666667,HOLD_POSE2,766,746,717,683.52017997,662,633,887,782,816,652,628,654,0.451893397089,-0.00556157778514,0.0596513378483,0.999999843195,-0.000119417967947,-0.000543068951309,-6.65168785033e-05,1793249488668977408
+251,4.183333333,HOLD_POSE2,766,746,717,683.054553355,662,633,887,782,816,652,628,654,0.451894527493,-0.00555995729982,0.0596518961858,0.999999844113,-0.000118393043093,-0.000541591122047,-6.66012630216e-05,1793249488685644032
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+253,4.216666667,HOLD_POSE2,766,746,717,684,661.789739577,633.210260423,887,782,816,651.789739577,628,654,0.451895234432,-0.00556113453886,0.0596519780429,0.999999844329,-0.000118504010223,-0.000541189144202,-6.64363262392e-05,1793249488718977792
+254,4.233333333,HOLD_POSE2,766,746,717,684,661.191277555,633.808722445,887,782,816,651.191277555,628,654,0.451894845067,-0.00556027577647,0.0596512515684,0.999999844206,-0.000116206692851,-0.000541956509647,-6.60804517836e-05,1793249488735644416
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+256,4.266666667,HOLD_POSE2,766,746,717,683.034737861,661,633.034737861,887.965262139,782,816,651.965262139,628,654,0.451897805663,-0.00556099389304,0.0596533341543,0.999999845589,-0.000118701879033,-0.00053881440183,-6.64172808056e-05,1793249488768977664
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.634045586,661.365954414,633,887,782,816,651.634045586,628,654,0.451894471922,-0.0055601911892,0.0596506403851,0.999999843915,-0.000118200449669,-0.000542034614063,-6.63042802113e-05,1793249488989411840
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.17935572,746,717,684,661,633,887,782,816,651.17935572,628,654,0.450943254094,-0.0055304732133,0.0595588576739,0.999999761581,-9.54635905086e-05,-0.000680770316966,-6.54015666304e-05,1793249489206079232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.768773912,746,717,684,661,633,887,782,816,651.768773912,628,654,0.450773027428,-0.00552641817243,0.0595549256256,0.999999757888,-9.23823011697e-05,-0.000686717106256,-6.41029163262e-05,1793249489222745600
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,661.351881577,633,887,782,816,651.648118423,628,654,0.450585182939,-0.00552031262253,0.0595541842358,0.99999975866,-8.65801019989e-05,-0.000686461773836,-6.28842158716e-05,1793249489239412224
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,661.930915623,633,887,782,816,651.069084377,628,654,0.450385965481,-0.00551288339343,0.0595555025326,0.999999762273,-7.90214553873e-05,-0.000682202744841,-6.17171258476e-05,1793249489256078592
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,717,683,662,634,887,782,815.341735516,651,628,653.658264484,0.449631711856,-0.00548969565182,0.0595511390551,0.999999759691,-6.10970180592e-05,-0.000688128259816,-5.79975912331e-05,1793249489306078976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.239171573,662,634,887,782,815,651,628,654,0.449338658789,-0.005481344514,0.0595512531678,0.999999761864,-5.30289663308e-05,-0.000685798292909,-5.60369386554e-05,1793249489322745344
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.828375085,662,634,887,782,815,651,628,654,0.449027471238,-0.00547248396383,0.0595568162044,0.999999768222,-4.23053053768e-05,-0.000677420069819,-5.35583625893e-05,1793249489339411968
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.010599089,662,634,886.010599089,782,815,651,628,654,0.448346720501,-0.00545512576962,0.0595767759132,0.999999790056,-1.82921195763e-05,-0.000645947888957,-4.79999360053e-05,1793249489372744960
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.565051094,662.565051094,634,886.565051094,782.565051094,815,651,628,654,0.447979674005,-0.00544814552061,0.0595951197484,0.999999808978,-1.2677711464e-05,-0.000616368436885,-4.44145625248e-05,1793249489389411584
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.024194233,745.024194233,717,682,663,636,880,785,813,651,629,653.024194233,0.426590702116,-0.00538567099453,0.0597378950246,0.999999907658,0.00019332404912,-0.000383464527694,1.62978149839e-05,1793249489889412352
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.551516648,717,681.448483352,663,636,880,784.448483352,813,651,629,653.551516648,0.425708393951,-0.00538564579555,0.0597703193727,0.999999921194,0.000191281388313,-0.000347323986513,1.97207979001e-05,1793249489906078976
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.71558967,745.28441033,717,681,662.28441033,636,879.28441033,784,813,651,629,653.28441033,0.423969385161,-0.00538435026115,0.0598205316474,0.999999935863,0.000202063617494,-0.000294599509194,2.56099446986e-05,1793249489939412224
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.702229832,745.297770168,717,681,662,636,879,784,813,651,629,653.297770168,0.423103913581,-0.00538533596522,0.059835049047,0.999999941843,0.000205047869309,-0.000271187059442,2.69572694615e-05,1793249489956078592
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.274699504,745,717,679,662,636,877.274699504,784.274699504,812,651,629,654,0.409099178002,-0.0053717222776,0.0598462152552,0.999999934424,0.00025035629145,-0.000260054615757,2.90648664943e-05,1793249490256077824
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745.496609576,717,678.496609576,661.503390424,636,877.496609576,784,812,651.496609576,629.496609576,653.503390424,0.40155330777,-0.00537391294224,0.059831748674,0.999999947125,0.000169722523277,-0.000276696232339,1.95565799849e-05,1793249490622744576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.079700628,745,717,678.079700628,661.920299372,636,877.079700628,784,812,651.079700628,629.079700628,654,0.401444390452,-0.00537390453692,0.0598328122379,0.99999994714,0.000172231636193,-0.000275008452355,2.06332289304e-05,1793249490639411200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.65415858,745,717,678.65415858,661.34584142,636,877.65415858,784,812,651.65415858,629.65415858,654,0.401358296984,-0.00537197339861,0.0598343354755,0.999999946103,0.000183392697654,-0.000271527402798,2.08140364339e-05,1793249490656077824
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.234615333,717.234615333,679,661,636,877.765384667,784,812,652,630,654,0.40127932008,-0.00537023143986,0.0598341593577,0.99999993954,0.000216566554733,-0.000271254545011,2.09867944516e-05,1793249490672744704
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.824146782,717.824146782,679,661,636,877.175853218,784,812,652,630,654,0.401211108817,-0.00536877566402,0.0598314125271,0.999999921678,0.000283040433263,-0.00027583490295,2.11473754762e-05,1793249490689411328
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.439542187,745,717,679,662,636,877.439542187,784,812,651.439542187,630,653,0.401068218317,-0.00536960238925,0.0598270493842,0.999999916768,0.000291083902973,-0.000285113152893,2.10914107254e-05,1793249490739411456
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.135051425,745,717,679,662,636,877.135051425,784,812,651,630.135051425,653.135051425,0.401037663974,-0.0053697324578,0.0598275539198,0.999999916932,0.000289991407022,-0.000285624162155,2.1435281417e-05,1793249490756078080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.706612473,745,717,679,662,636,877.706612473,784,812,651,630.706612473,653.706612473,0.401015967464,-0.00537042589368,0.0598277692626,0.999999917926,0.000287114698921,-0.000285060403041,2.12777198733e-05,1793249490772744704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,717,678.711228835,661.711228835,636,877.711228835,784,811.711228835,651,630.711228835,654,0.401000416872,-0.00537046304111,0.0598288866459,0.99999991908,0.000285256228985,-0.000282878945524,2.11828256648e-05,1793249490789411584
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,717,678.117892815,661.117892815,636,877.117892815,784,811.117892815,651,630.117892815,654,0.400991348334,-0.00536980800597,0.0598309554049,0.999999920396,0.000284471687106,-0.000278991313146,2.11540262215e-05,1793249490806078208
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,717.465143331,678.465143331,661.465143331,636,877,784,811.465143331,651,630,654,0.400985933601,-0.00536943549893,0.0598332687116,0.999999921172,0.000285142356017,-0.000275510795724,2.10694084406e-05,1793249490822744832
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.954826759,745,718,678.954826759,662,636,877,784,811.954826759,651.045173241,630,653.954826759,0.400981491636,-0.00536926730418,0.0598354376787,0.999999921819,0.000285855101326,-0.000272411675624,2.09959104982e-05,1793249490839411456
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.380097872,745,718,678.380097872,662,636,877,784,811.380097872,651.619902128,630,653.380097872,0.40097783223,-0.00537067295563,0.0598352037293,0.999999922623,0.000282831054887,-0.000272600174771,2.1215022018e-05,1793249490856078080
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,717.805204083,678.194795917,662,636,877,784,811.194795917,651.805204083,630,653.194795917,0.400975114629,-0.00537095196273,0.0598352068169,0.999999923016,0.000281276397528,-0.000272759339313,2.1292135532e-05,1793249490872744704
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,717.229988288,678.770011712,662,636,877,784,811.770011712,651.229988288,630,653.770011712,0.40097423629,-0.00536903072907,0.0598356728175,0.999999922622,0.000282591332413,-0.000272861215857,2.10919389889e-05,1793249490889411584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.355842277,745.355842277,717.355842277,679,662,636,877.355842277,784,812,651,630,654,0.400974080523,-0.00536929427655,0.0598366196301,0.999999923086,0.000282291346508,-0.000271464523158,2.11363350243e-05,1793249490906078208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.948744308,745.948744308,717.948744308,679,662,636,877.948744308,784,812,651,630,654,0.400974406127,-0.00537101331076,0.0598378867565,0.999999924116,0.000280915511084,-0.000269069493614,2.13436770131e-05,1793249490922744832
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.47529082,717.47529082,679,662,636.52470918,877.47529082,784,812,651,630,654.52470918,0.400973369921,-0.00537124040733,0.0598377520314,0.999999924032,0.000280619724953,-0.00026971478725,2.10188441929e-05,1793249490939411456
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.90082497,745,717,679,662,636.90082497,877.09917503,784,812,651,630.09917503,654.80164994,0.400972397791,-0.0053711292012,0.0598376021884,0.999999923826,0.000280743390088,-0.000270376042365,2.07076569697e-05,1793249490956078080
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.325861651,745,717,679,662,636.325861651,877.674138349,784,812,651,630.674138349,653.651723301,0.400972351299,-0.00537007231261,0.059838016232,0.999999923536,0.000282389034293,-0.000269733622736,2.07035313383e-05,1793249490972744704
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.255841071,745,717,679,662,636,878,784,812,651,630.744158929,653,0.400972508664,-0.00536994052335,0.0598383567461,0.999999923857,0.000282106741302,-0.000268838747618,2.06538051537e-05,1793249490989411328
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.846360004,745,717,679,662,636,878,784,812,651,630.153639996,653,0.400972932705,-0.00537101890035,0.059838601073,0.999999924976,0.000279302422277,-0.000267613623387,2.05444267181e-05,1793249491006078208
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,717.428692518,678.571307482,662,636,878,784,812,651,630,653.428692518,0.400972589712,-0.00537164792215,0.0598386777697,0.999999925255,0.000277936849843,-0.000267979390333,2.07010195904e-05,1793249491022744832
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.991919004,745,717.991919004,678.008080996,662,636,877.991919004,784,812,651,630,654,0.400971989096,-0.00537210625688,0.0598387036519,0.999999925246,0.00027708759292,-0.000268871683732,2.09462125501e-05,1793249491039411456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.417091344,745,717.417091344,678.582908656,662,636,877.417091344,784,812,651,630,654,0.400972238771,-0.005371676744,0.0598393002071,0.999999925663,0.000276963674272,-0.000267452923595,2.0845247341e-05,1793249491056078080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.157572257,717.157572257,679,662,636,877.157572257,784,812,651.157572257,630,654,0.400972439889,-0.0053714840445,0.0598399121085,0.999999925896,0.000277176510597,-0.000266355254829,2.08903976113e-05,1793249491072744704
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.73180201,717.73180201,679,662,636,877.73180201,784,812,651.73180201,630,654,0.400972512609,-0.00537191753434,0.0598405645886,0.999999925646,0.000278279804976,-0.000266106626015,2.13219110143e-05,1793249491089411328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,718,678.685162369,662,636,877.685162369,784,812,652,630,653.685162369,0.40097169188,-0.00537190070912,0.0598396672148,0.999999925398,0.000278207212895,-0.000267124998758,2.11663296956e-05,1793249491106078208
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,718,678.094409553,662,636,877.094409553,784,812,652,630,653.094409553,0.400970088155,-0.00537148923993,0.059837411591,0.999999925148,0.000277104105663,-0.000269253737415,2.04962344173e-05,1793249491122744832
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.487904195,746,717.512095805,678.487904195,662,636,877,784,812,652,630,653.487904195,0.400970456548,-0.00537136082523,0.0598383778949,0.999999925365,0.000277228941435,-0.000268327091027,2.03840424816e-05,1793249491139411200
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,746,717,679,662,636,877.067765106,784,812,652,630,654,0.400971120084,-0.00537139133463,0.059839706175,0.999999925632,0.000277510765966,-0.000267033519203,2.04203922876e-05,1793249491156077824
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,746,717,679,662,636,877.641299307,784,812,652,630,654,0.400971186733,-0.00537220614691,0.0598391620915,0.999999925623,0.00027722104169,-0.00026733894155,2.07733675622e-05,1793249491172744704
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,746,717.219784124,678.780215876,662,636,878,784,812,652,630,654,0.400972018449,-0.00537221300089,0.059839617678,0.999999925874,0.000277179452123,-0.000266429527902,2.09457999191e-05,1793249491189411584
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,717.806534923,678.193465077,662,636,878,784,812,652,630,654,0.400974127575,-0.00537087083228,0.0598417423823,0.999999926552,0.000277552165265,-0.000263491740653,2.08167854722e-05,1793249491206078208
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1dd0b305e8b042ffebbd36dd14d7ae58bc8ef0f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+395,6.583333333,pose2_to_pose3_retreat,0.575665445347,0.000150074870957,1.05003346192,0.546236125318,0.00882271371294,1.04970485585
+396,6.600000000,pose2_to_pose3_retreat,0.575665305231,0.000150086656779,1.05003349287,0.546235985123,0.00882272525185,1.04970488733
+397,6.616666667,pose2_to_pose3_retreat,0.57566516447,0.000150098496815,1.05003352396,0.546235844283,0.00882273684383,1.04970491897
+398,6.633333333,pose2_to_pose3_retreat,0.5756651298,0.000150101413067,1.05003353162,0.546235809593,0.00882273969899,1.04970492676
+399,6.650000000,pose2_to_pose3_retreat,0.575664700958,0.000150137484975,1.05003362636,0.54623538051,0.00882277501519,1.04970502313
+400,6.666666667,pose2_to_pose3_retreat,0.575664442741,0.000150043194522,1.0500337129,0.546235123073,0.00882268336012,1.04970510939
+401,6.683333333,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511742,1.04970501047
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6a36b58d7ef75cd888bca85744535766756d44f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d5abe25c9e15931ef9a5229d3bab47559ee186793eabcf16d3a08361c95dd63
+size 25692277
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4740b8770a1e55194b04ae5a279ce8fee396dc75
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/franka_data.csv
@@ -0,0 +1,405 @@
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+12,0.200000000,BASELINE,767,745.027318202,718,678.972681798,662,636,877.027318202,784.027318202,812,651.027318202,630,653.027318202,0.400970818807,-0.00537312323019,0.0598403582659,0.9999999272,0.000273760498678,-0.000265044464524,2.01843224597e-05,1793249491527473920
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+52,0.866666667,BASELINE,767,745.203511283,717.203511283,678.796488717,662,636,877.203511283,784,812,651,630,654,0.400970312074,-0.00537317731559,0.0598421938748,0.999999927785,0.000273385472195,-0.000263212734089,2.02433595462e-05,1793249492194140672
+53,0.883333333,BASELINE,767,745.779181681,717.779181681,678.220818319,662,636,877.779181681,784,812,651,630,654,0.40097133144,-0.00537383956634,0.0598424911635,0.999999928481,0.000271660519053,-0.00026235735799,2.01804380722e-05,1793249492210807296
+54,0.900000000,BASELINE,767,745.648459767,717.648459767,678.351540233,662,636,877.648459767,784,812,651,630,654,0.400971898432,-0.00537383556661,0.0598427672331,0.99999992886,0.000271200875797,-0.000261392326677,2.01220391746e-05,1793249492227473920
+55,0.916666667,BASELINE,767,745.07816214,717.07816214,678.92183786,662,636,877.07816214,784,812,651,630,654,0.400972183919,-0.00537341697073,0.0598430300985,0.999999929041,0.000271528613021,-0.000260359058857,2.00664546004e-05,1793249492244140800
+56,0.933333333,BASELINE,767,745,717,679,661.485348844,636,877,784,812,651.514651156,630,654,0.400970897687,-0.00537279859152,0.0598427473272,0.999999928442,0.000272347483604,-0.000261791164012,2.01876972705e-05,1793249492260807424
+57,0.950000000,BASELINE,767,745,717.107573005,679,661.107573005,636,877,784,811.892426995,651.892426995,630,653.892426995,0.400969653336,-0.00537234595113,0.0598423970709,0.999999927886,0.000272871284182,-0.000263360543092,2.02763127096e-05,1793249492277474048
+58,0.966666667,BASELINE,767,745,717.685338773,679,661.685338773,636,877,784,811.314661227,651.314661227,630,653.314661227,0.400969683129,-0.0053727564312,0.0598421306242,0.99999992807,0.000271764413133,-0.000263818473577,2.00995637438e-05,1793249492294140672
+59,0.983333333,BASELINE,766.738606665,745,717.738606665,679,662,636,877.261393335,784,811.261393335,651,630,653,0.400970100755,-0.00537324117886,0.0598423632307,0.999999928437,0.000270832076283,-0.000263395285442,1.99546578948e-05,1793249492310807296
+60,1.000000000,BASELINE,766.164598556,745,717.164598556,679,662,636,877.835401444,784,811.835401444,651,630,653,0.400970982215,-0.00537381474729,0.0598431926825,0.999999929023,0.000270108474409,-0.000261918318781,1.98478349705e-05,1793249492327474176
+61,1.016666667,BASELINE,766,745.409133953,717,679,662,636,878,784,812,651.409133953,630,653.409133953,0.40097045488,-0.00537384142137,0.0598424586695,0.999999928701,0.000270327582747,-0.000262926059861,1.97557322512e-05,1793249492344141056
+62,1.033333333,BASELINE,766,745.982755624,717,679,662,636,878,784,812,651.982755624,630,653.982755624,0.400969361154,-0.00537364822267,0.0598410960828,0.999999928012,0.000270925697201,-0.000264932749922,1.96695476317e-05,1793249492360807680
+63,1.050000000,BASELINE,766.575840702,746,717,678.424159298,662,636,877.424159298,784,811.424159298,651.424159298,630,653.424159298,0.400970393418,-0.005375184975,0.0598419736775,0.999999928887,0.000268918990012,-0.000263638017387,2.00695772328e-05,1793249492377474304
+64,1.066666667,BASELINE,767,745.835173129,717,678,662,636,877.164826871,784,811.164826871,651,630,653.164826871,0.400971167435,-0.00537571350582,0.0598426399526,0.99999992939,0.00026821020369,-0.000262437872589,2.02360256538e-05,1793249492394140928
+65,1.083333333,BASELINE,767,745.257951724,717,678,662,636,877.742048276,784,811.742048276,651,630,653.742048276,0.400971130459,-0.00537358532854,0.0598426037904,0.999999928846,0.000270950792539,-0.000261730399286,1.9780352921e-05,1793249492410807552
+66,1.100000000,BASELINE,767,745,717.318807711,678.318807711,662,636,878,784,812,651.318807711,630,654,0.400970621786,-0.00537278333384,0.0598421954055,0.999999928463,0.00027176118044,-0.000262362301827,1.96389185011e-05,1793249492427474176
+67,1.116666667,BASELINE,767,745,717.895193873,678.895193873,662,636,878,784,812,651.895193873,630,654,0.40096973201,-0.00537305281914,0.0598414862858,0.999999928213,0.000271012075903,-0.000264076343713,1.97513707424e-05,1793249492444140800
+68,1.133333333,BASELINE,767,745.479995721,717.520004279,679,662,636,878,784,812,651.520004279,630.479995721,654,0.400970687532,-0.00537396743407,0.0598426157993,0.999999928694,0.000270950779864,-0.00026229271014,1.99904726451e-05,1793249492460807424
+69,1.150000000,BASELINE,767,746,717,679,662,636,878,784,812,651,630.933878133,654,0.400971832886,-0.00537481233735,0.0598438532532,0.999999929219,0.000271085854207,-0.000260128184379,2.01875319944e-05,1793249492477474048
+70,1.166666667,BASELINE,767,746,717,679,662,636,878,784,812,651,630.352011406,654,0.400971260097,-0.00537399517024,0.0598427453828,0.999999928856,0.000271560292165,-0.0002610559154,1.98371171242e-05,1793249492494140672
+71,1.183333333,BASELINE,767,745.773159329,717.226840671,678.773159329,662.226840671,636,878,784,811.773159329,651.226840671,630,654,0.40097090459,-0.005373389887,0.0598421724026,0.999999928758,0.000271193887478,-0.000261830163187,1.95863998916e-05,1793249492510807296
+72,1.200000000,BASELINE,767,745.198923943,717.801076057,678.198923943,662.801076057,636,878,784,811.198923943,651.801076057,630,654,0.400970881839,-0.00537310909278,0.0598424185786,0.999999929065,0.00026953977599,-0.000262369359505,1.94883643638e-05,1793249492527473920
+73,1.216666667,BASELINE,766.616825574,745,717.616825574,678.383174426,662.616825574,636,878,784,811.383174426,651.616825574,630,653.616825574,0.400970407165,-0.0053726576637,0.0598422765207,0.999999928912,0.000269996940751,-0.000262486977103,1.94483722183e-05,1793249492544141312
+74,1.233333333,BASELINE,766.030559674,745,717.030559674,678.969440326,662.030559674,636,878,784,811.969440326,651.030559674,630,653.030559674,0.40096969296,-0.00537211579414,0.0598419286898,0.999999928513,0.000271573131769,-0.000262381148015,1.94391444388e-05,1793249492560808704
+75,1.250000000,BASELINE,766.549143813,745,717,679,661.450856187,636,878,784,812,651,630,653.549143813,0.400971697357,-0.00537237940722,0.0598428567728,0.999999929065,0.000271165700107,-0.000260694027766,1.94559223911e-05,1793249492577474816
+76,1.266666667,BASELINE,767,745,717,679,661.128126427,636,878,784,812,651,630,653.871873573,0.400973214773,-0.00537258813428,0.0598436177298,0.999999929546,0.000270723292626,-0.000259304491567,1.94453863552e-05,1793249492594140928
+77,1.283333333,BASELINE,767,745,717,679,661.705845818,636,878,784,812,651,630,653.294154182,0.400972498781,-0.00537244883545,0.0598435460352,0.999999929608,0.000270540930524,-0.000259264309546,1.93339878411e-05,1793249492610807552
+78,1.300000000,BASELINE,767,745,717.282345141,679,662,636,877.717654859,784,812,651,630,653.282345141,0.400972394351,-0.00537298455286,0.0598436603493,0.99999992976,0.000270168129203,-0.000259047268627,1.95720629805e-05,1793249492627474688
+79,1.316666667,BASELINE,767,745,717.857578799,679,662,636,877.142421201,784,812,651,630,653.857578799,0.400972924322,-0.0053742204931,0.059843967618,0.999999930006,0.000269597777265,-0.000258646764516,2.01726618809e-05,1793249492644141824
+80,1.333333333,BASELINE,766.558678186,745,718,678.558678186,662,636.441321814,877.441321814,784,812,651,630,654,0.400971686648,-0.00537311354341,0.05984316717,0.999999929097,0.000271438239547,-0.000260231206683,2.01634576701e-05,1793249492660808192
+81,1.350000000,BASELINE,766.027726619,745,718,678,662.027726619,636.972273381,878,783.972273381,812,651,630,653.972273381,0.400970008878,-0.00537139145206,0.059842067126,0.999999927898,0.000273855639794,-0.000262314160512,1.99480834675e-05,1793249492677474304
+82,1.366666667,BASELINE,766.61135768,745,718,678,662.61135768,636.38864232,878,783.38864232,812,651,630,653.38864232,0.400971169415,-0.00537279326075,0.0598422684759,0.999999928695,0.000271935045036,-0.00026129636849,1.96222715694e-05,1793249492694140928
+83,1.383333333,BASELINE,766.808632742,745,717.808632742,678,662.808632742,636,878,783.191367258,812,651,630,653,0.400971746881,-0.00537404932183,0.0598425456021,0.999999929318,0.000270345360524,-0.000260571297268,1.94883525828e-05,1793249492710807552
+84,1.400000000,BASELINE,766.23584123,745,717.23584123,678,662.23584123,636,878,783.76415877,812,651,630,653,0.400971162197,-0.00537501488582,0.0598429737618,0.999999929601,0.000269415230473,-0.000260429663253,1.97369055012e-05,1793249492727474176
+85,1.416666667,BASELINE,766.338268631,745,717.338268631,678,662,636,878,784,812,651,630,653,0.400971444855,-0.00537555657813,0.0598433293781,0.999999929749,0.000269092354245,-0.000260189995269,1.98248152458e-05,1793249492744140544
+86,1.433333333,BASELINE,766.913301208,745,717.913301208,678,662,636,878,784,812,651,630,653,0.400972334591,-0.00537580159039,0.0598436342191,0.999999929802,0.000269194512493,-0.000259881710498,1.98002861974e-05,1793249492760807424
+87,1.450000000,BASELINE,767,745,717.49611852,678.50388148,662,636,877.49611852,784,811.49611852,651,630,653,0.400971667002,-0.00537477895953,0.0598433462547,0.99999992985,0.000268763665165,-0.000260162999346,1.95408269167e-05,1793249492777474048
+88,1.466666667,BASELINE,767,745,717.094692594,678.905307406,662,636,877,784,811.094692594,651,630,653.094692594,0.400970972265,-0.00537384040429,0.0598429591382,0.999999929738,0.000268702388497,-0.000260667193171,1.94069939334e-05,1793249492794140928
+89,1.483333333,BASELINE,767,745,717.672595839,678.327404161,662,636,877,784,811.672595839,651,630,653.672595839,0.400971549899,-0.00537447933635,0.0598426031221,0.999999928811,0.000271009899158,-0.000261774718128,2.01270656261e-05,1793249492810807552
+90,1.500000000,BASELINE,766.750634006,745.249365994,717.750634006,678.249365994,662,636,877,784,812,651,630,654,0.400971806943,-0.00537453127314,0.05984250036,0.999999928436,0.000272313618101,-0.000261834019232,2.03843337032e-05,1793249492827474176
+91,1.516666667,BASELINE,766.175344852,745.824655148,717.175344852,678.824655148,662,636,877,784,812,651,630,654,0.400971644974,-0.00537381600281,0.059842728603,0.999999928788,0.000272305373818,-0.000260523284085,2.00367140463e-05,1793249492844140800
+92,1.533333333,BASELINE,766,745.619529078,717,679,661.619529078,636,877,784,812,651,630,654,0.400971065765,-0.00537372648505,0.0598423511055,0.999999929046,0.000270829657093,-0.000261083288787,1.98865928607e-05,1793249492860807424
+93,1.550000000,BASELINE,766,745.07225084,717,679,661.07225084,636,877,784,812,651,630,654,0.400970303629,-0.00537391131174,0.0598417080374,0.999999929257,0.000268710566255,-0.000262463469314,1.98230595766e-05,1793249492877474304
+94,1.566666667,BASELINE,766,745,717,678.458213801,661,636,877,784,812,651,630,654,0.40097067551,-0.00537341926652,0.0598425567015,0.999999929352,0.000269515503648,-0.000261280335644,1.97533139174e-05,1793249492894140672
+95,1.583333333,BASELINE,766,745,717,678.153319482,661.153319482,636,877,784,812,651,630,653.846680518,0.400971104222,-0.00537338031968,0.059843287182,0.99999992955,0.00026974879355,-0.000260282764234,1.97236087006e-05,1793249492910807296
+96,1.600000000,BASELINE,766,745,717,678.729908856,661.729908856,636,877,784,812,651,630,653.270091144,0.400971213659,-0.00537487646125,0.0598430650162,0.999999930085,0.000267176138605,-0.000260873806823,1.98070518922e-05,1793249492927473920
+97,1.616666667,BASELINE,766.309034343,745,717.309034343,678.690965657,662,636,877,784,812,651,630,653.309034343,0.400971749463,-0.00537549415423,0.0598436461383,0.999999930369,0.000266825597431,-0.000260126194385,2.00287515565e-05,1793249492944140544
+98,1.633333333,BASELINE,766.890394659,745,717.890394659,678.109605341,662,636,877,784,812,651,630,653.890394659,0.400972660989,-0.00537533774427,0.0598449351307,0.999999930431,0.000268433218366,-0.000258198937835,2.03722850161e-05,1793249492960807168
+99,1.650000000,BASELINE,766.527705867,745,717.527705867,678,661.527705867,636,876.527705867,784,812,651,630,653.527705867,0.400971862996,-0.00537384736905,0.0598437460786,0.999999929725,0.000269514305484,-0.000259839981271,1.98888318106e-05,1793249492977473792
+100,1.666666667,BASELINE,766.054093631,745,717,678.054093631,661.054093631,636,876.054093631,783.945906369,811.945906369,651,630,653,0.400970740077,-0.00537223625455,0.0598421124578,0.99999992896,0.000270276632692,-0.000262028962524,1.92620406801e-05,1793249492994140672
+101,1.683333333,BASELINE,766.633704947,745,717,678.633704947,661.633704947,636,876.633704947,783.366295053,811.366295053,651,630,653,0.40097031913,-0.00537246309428,0.059841753134,0.999999929414,0.000269130673771,-0.00026148702587,1.91093425043e-05,1793249493010807296
+102,1.700000000,BASELINE,766.788402232,745,717,679,662,636,877,783.211597768,811.211597768,651.211597768,630,653.211597768,0.400970191592,-0.00537256986396,0.0598417194205,0.999999929337,0.000269636493452,-0.000261251157249,1.92101891363e-05,1793249493027474176
+103,1.716666667,BASELINE,766.213460373,745,717,679,662,636,877,783.786539627,811.786539627,651.786539627,630,653.786539627,0.40097056788,-0.00537247045592,0.0598422448271,0.999999928345,0.000272978656933,-0.00026154085193,1.97464090317e-05,1793249493044141568
+104,1.733333333,BASELINE,766.361728873,745,717.361728873,679,662,636,877,784,812,651.638271127,630,653.638271127,0.400971272764,-0.00537357073684,0.0598426970911,0.999999928893,0.000271908085553,-0.000260548608804,1.98455627083e-05,1793249493060808448
+105,1.750000000,BASELINE,766.937064259,745,717.937064259,679,662,636,877,784,812,651.062935741,630,653.062935741,0.400972171689,-0.00537537945272,0.0598431061632,0.999999930344,0.000268231726067,-0.000258799361533,1.96866220503e-05,1793249493077475072
+106,1.766666667,BASELINE,767,745,717.474163042,679,662,636,877,784.525836958,812,651,630,653.525836958,0.400971894268,-0.00537462091431,0.0598436724994,0.999999930329,0.000268198606183,-0.000258897832947,1.95976266501e-05,1793249493094141696
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,636,877,784,812,651,630,654,0.400971403675,-0.00537385442039,0.0598429874831,0.999999929536,0.000269263068243,-0.000260819973687,1.9937028504e-05,1793249493136405760
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,717.423964668,678.423964668,662,636,877,784,812,651,630,653.423964668,0.400971787488,-0.00537344636165,0.0598434351371,0.999999929208,0.000271205871978,-0.000260064529929,1.99539907252e-05,1793249493153072384
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,717,678,661.844596836,636,877,784,812,651,630,653.155403164,0.400971818817,-0.00537338863346,0.0598435905917,0.999999928953,0.000272318997578,-0.000259881541761,1.99387329045e-05,1793249493169739008
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,717,678,661.255938042,636,877,784,812,651,630,653.744061958,0.400970867435,-0.00537430760785,0.0598429314107,0.999999928913,0.000271119025781,-0.000261294528704,1.98336473501e-05,1793249493186405632
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.67292821,745,717,678.32707179,661.32707179,636,877.32707179,784,812,651,630,654,0.400970500104,-0.00537458263672,0.0598429814828,0.99999992927,0.000269799483177,-0.000261296924811,1.97841051318e-05,1793249493203072000
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.09426375,745,717,678.90573625,661.90573625,636,877.90573625,784,812,651,630,654,0.400970582041,-0.00537436232484,0.0598435771321,0.999999929933,0.000268387963472,-0.000260214255335,1.97772883906e-05,1793249493219738624
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,717,678.517558038,662.482441962,636.482441962,877.517558038,784,812,651.482441962,630,654,0.400971403877,-0.00537439372125,0.0598438960405,0.999999929955,0.000269087973494,-0.000259386270437,2.00189505287e-05,1793249493236405504
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.058723992,745,717,678.058723992,662.941276008,636.941276008,877,784,811.941276008,651.941276008,630,653.941276008,0.40097236065,-0.00537446380353,0.0598441177091,0.999999929899,0.000269867185364,-0.000258773898245,2.02461045255e-05,1793249493253071872
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.634631641,745,717,678.634631641,662.365368359,636.365368359,877,784,811.365368359,651.365368359,630,653.365368359,0.400973237744,-0.00537444320663,0.0598439572729,0.999999930261,0.000267725115093,-0.000259623944976,1.99196330249e-05,1793249493269738496
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877.216359559,784,811.216359559,651,630,653.216359559,0.40097631883,-0.00537441444051,0.0598450152898,0.999999930832,0.00026688212367,-0.000258291706284,1.98685550867e-05,1793249493286405120
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877.808187869,784,811.808187869,651,630,653.808187869,0.400983224707,-0.00537437149758,0.059848187801,0.999999931755,0.000268293544116,-0.000253172345807,2.02953930976e-05,1793249493303071744
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.608738493,745,717,678.608738493,662,636,877.608738493,784,812,651,630,653.608738493,0.401006054035,-0.00537472520259,0.0598571761411,0.999999935437,0.000268948621211,-0.000237416609056,2.06394463178e-05,1793249493319738368
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.029862763,745,717,678.029862763,662,636,877.029862763,784,812,651,630,653.029862763,0.401036518835,-0.00537526910468,0.0598689532358,0.999999940086,0.000269241023331,-0.00021656061165,2.09438033455e-05,1793249493336404736
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,717.542506997,678.542506997,661.457493003,636,877,783.457493003,812,651,630,653,0.401093925113,-0.00537728829646,0.0598874658916,0.999999946418,0.000268685798149,-0.000185717127175,2.19486659502e-05,1793249493353071616
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.118052767,745,717.881947233,679,661.118052767,636,877,783.118052767,812,651,630,653.118052767,0.401156373913,-0.0053796749,0.0599056432529,0.999999951599,0.000267880086213,-0.000156572331398,2.29653842211e-05,1793249493369738240
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.70769984,745,717.29230016,679,661.70769984,636,877,783.70769984,812,651,630,653.70769984,0.401233112355,-0.00538320866596,0.0599210176235,0.999999954968,0.000266257917524,-0.000136383588091,2.38772507334e-05,1793249493386404864
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,717.291514519,679,662,636,877.291514519,784,812,651,630,654,0.401315870903,-0.00538608641089,0.059931055173,0.999999957436,0.000264156636092,-0.00012151547497,2.41655317607e-05,1793249493403072000
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,717.869595758,679,662,636,877.869595758,784,812,651,630,654,0.401404547372,-0.00538831926907,0.059935846481,0.999999959244,0.000261584373929,-0.000111877687652,2.38408112026e-05,1793249493419739392
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,717.551403603,679,662,636,878,784,812,651,630,654,0.401513364221,-0.00539054252998,0.0599402423914,0.999999960793,0.000259350531115,-0.000103060068487,2.30279572039e-05,1793249493436405760
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,717.027571223,679,662.027571223,636,878,784,812,651,630,654,0.401629107029,-0.00539283373495,0.0599443883406,0.99999996221,0.000257166875761,-9.46467731309e-05,2.20523434084e-05,1793249493453072128
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,717.600735785,679,662.600735785,636,878,784,812,651,630,654,0.401765810824,-0.00539652477242,0.0599458670884,0.999999963516,0.000254025633959,-8.95068166275e-05,2.06696607537e-05,1793249493469738752
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.821400517,745,717.821400517,679,662.821400517,636,877.821400517,784,812,651,630,654,0.401911126309,-0.00540046555703,0.0599466605391,0.99999996482,0.000250577833542,-8.48627426927e-05,1.92194216413e-05,1793249493486405376
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.232747981,745,717.232747981,679,662.232747981,636,877.232747981,784,812,651,630,654,0.402076213668,-0.00540497974469,0.0599458805911,0.999999966172,0.00024642619449,-8.13571843038e-05,1.76140773906e-05,1793249493503072256
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.351310119,745,717,679,662,636,877,784,812,651,630,654,0.402265883598,-0.00540953109596,0.0599466121846,0.999999967466,0.000243291865158,-7.50099155137e-05,1.58534986118e-05,1793249493519738880
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.932363692,745,717,679,662,636,877,784,812,651,630,654,0.402471629612,-0.00541410675127,0.0599483322687,0.999999968673,0.000240822817258,-6.68042758778e-05,1.39914021972e-05,1793249493536405760
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,717.507037125,678.492962875,662,636,877.507037125,784,812,651,630,654,0.40270472144,-0.00541887590274,0.0599494482701,0.999999970524,0.000234630343526,-6.13573913238e-05,1.16713323274e-05,1793249493553072384
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.918902696,745,717.918902696,678.081097304,662,636,878,784,812,651.081097304,630,654,0.402946750567,-0.00542412778803,0.0599501143144,0.999999972426,0.000227699409955,-5.67111221184e-05,9.24731943274e-06,1793249493569739008
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.343457022,745,717.343457022,678.656542978,662,636,878,784,812,651.656542978,630,654,0.40322129954,-0.00543216691225,0.0599485226375,0.999999974444,0.000219257064355,-5.47298113866e-05,6.5574656042e-06,1793249493586405632
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.238843163,717,679,662,636,877.761156837,784,812,651.761156837,630,654,0.403508812146,-0.00543972021064,0.0599454201992,0.999999976325,0.000209785879751,-5.76875949206e-05,3.56100031993e-06,1793249493603072000
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.831291354,717,679,662,636,877.168708646,784,812,651.168708646,630,654,0.403815517272,-0.00544655424802,0.0599400810929,0.999999977932,0.000198791509296,-6.79576605625e-05,1.10599858536e-07,1793249493619738624
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.412073569,746,717,679,662,636.412073569,877.412073569,784,812,651,630,654,0.404140113046,-0.00545446262023,0.0599283498914,0.99999997812,0.000189141241261,-8.92996886337e-05,-3.48069264894e-06,1793249493636405760
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.988211052,746,717,679,662,636.988211052,877.988211052,784,812,651,630,654,0.404471831836,-0.00546279873041,0.0599140737267,0.999999977152,0.00018002611739,-0.000115049932865,-7.12808015349e-06,1793249493653072640
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.436970173,746,717.563029827,679,662.563029827,636.436970173,878,784,812,651,629.436970173,653.436970173,0.404843701942,-0.00546920910664,0.0599013250068,0.999999976185,0.000170915295637,-0.000135175554326,-1.20950924931e-05,1793249493669739264
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.14139463,745.85860537,717.85860537,678.85860537,662.85860537,636,878,784,812,651,629.14139463,653,0.405236453493,-0.00547619500015,0.0598932209222,0.999999975789,0.0001618549289,-0.000148142070034,-1.66984776572e-05,1793249493686405888
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.731089563,745.268910437,717.268910437,678.268910437,662.268910437,636,878,784,812,651,629.731089563,653,0.405692751586,-0.00548513314909,0.0598997417745,0.999999978471,0.000152954249922,-0.000138782726942,-2.00615591542e-05,1793249493703072512
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.685082263,745,717,678,662,636.314917737,878,784,812.314917737,651,630,653.314917737,0.406187673128,-0.00549148986579,0.0599209183359,0.999999990893,8.34203818682e-05,-0.000103768553598,-2.20761086136e-05,1793249493719739392
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.106172069,745,717,678,662,636.893827931,878,784,812.893827931,651,630,653.893827931,0.406714972378,-0.00549568259413,0.0599543806356,0.999999997938,-3.69416973489e-05,-4.72481846581e-05,-2.29601969427e-05,1793249493736406272
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,717.471420312,678,662,636.528579688,878,784,812.528579688,651,630,654,0.407266687894,-0.00548944041901,0.0599812643054,0.999999998528,-4.85319694349e-05,-5.70274100722e-06,-2.35677314314e-05,1793249493753072640
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.048446478,745.048446478,717.951553522,678.048446478,662,636.048446478,878.048446478,784,812.048446478,651,630,654,0.407821752996,-0.00548253078556,0.0600036717248,0.99999999867,-3.69513551263e-05,2.65390018521e-05,-2.42972157296e-05,1793249493769739008
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.622540834,745.622540834,717.377459166,678.622540834,662,636.622540834,878.622540834,784,812.622540834,651,630,654,0.408353663836,-0.00549380709108,0.0599935424093,0.999999998857,-3.90215445116e-05,-5.67396477587e-06,-2.70237748621e-05,1793249493786405888
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.798446482,746,717,679.201553518,662,637,879.201553518,784,813,651,630,654,0.408908706853,-0.00550555449108,0.059983215599,0.999999997989,-4.34597453534e-05,-3.49172148257e-05,-3.02327494343e-05,1793249493803072768
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.209992653,746,717,679.790007347,662,637,879.790007347,784,813,651,630,654,0.409508154153,-0.0055182061991,0.05997250968,0.999999996325,-5.24435594998e-05,-5.84598218532e-05,-3.43677641918e-05,1793249493819739648
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.627604951,717,679.627604951,662.372395049,637,879.627604951,784,812.627604951,651,630,654,0.410157992104,-0.00552616131808,0.0599755342058,0.999999995908,-6.54755682327e-05,-4.91695412813e-05,-3.84492258482e-05,1793249493836406016
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.048583116,717,679.048583116,662.951416884,637,879.048583116,784,812.048583116,651,630,654,0.410835789746,-0.00553151049141,0.0599861771944,0.999999995602,-8.07537542865e-05,-2.16616329942e-05,-4.25009729179e-05,1793249493853072640
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.527752306,745,717,679,663,637,879,784,812.527752306,651,630,654,0.411533784153,-0.00553023184321,0.0599908803514,0.999999998139,-4.9853916079e-05,-1.14483081112e-05,-3.32477938114e-05,1793249493869739008
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,717,679.10291736,663,636.89708264,879,784,812.89708264,651,630,654,0.412225453018,-0.00552582074174,0.0599884232327,0.999999999508,-1.21025932384e-05,-1.55777649657e-05,-2.44079181835e-05,1793249493886405376
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,717,679.673878661,663,636.326121339,879,784,812.326121339,651,630,654,0.412879942005,-0.00550992467854,0.0599558769921,0.999999996009,3.75730449972e-05,-7.7731078305e-05,-2.29895772553e-05,1793249493903072512
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.254460268,717.254460268,680,663,636.254460268,879.254460268,784,812.254460268,650.745539732,629.745539732,654,0.413572186299,-0.00550200044915,0.0599276468743,0.999999990167,4.54266524083e-05,-0.000130335345349,-2.47985359713e-05,1793249493919739136
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.847855987,717.847855987,680,663,636.847855987,879.847855987,784,812.847855987,650.152144013,629.152144013,654,0.414314719918,-0.00550469452398,0.0599051657319,0.999999985032,-2.4257536459e-06,-0.000170220502765,-3.09061863594e-05,1793249493936405504
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.568176977,717.568176977,680,663,637,880,784,812.568176977,650,629,654,0.415155214695,-0.0055176601647,0.059939156933,0.999999993668,-2.59075250702e-05,-0.000104762605007,-3.1886647612e-05,1793249493953072128
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,717,680,663,637,880.012427653,784,812.012427653,650,629,654,0.416028510937,-0.00553381513708,0.0599919359068,0.999999998693,-4.03163739242e-05,-4.56068633787e-06,-3.10939400404e-05,1793249493969739008
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,717,680,663,637,880.587986618,784,812.587986618,650,629,654,0.416857600836,-0.00553400582774,0.0600137235704,0.99999999896,-2.43700587139e-05,2.41213599287e-05,-3.00606731386e-05,1793249493986405632
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.833056307,745.166943693,717.166943693,680.166943693,663,637,881.166943693,784,813.166943693,650.166943693,629,654,0.417681635997,-0.00553343953371,0.0600244914874,0.999999998711,-1.43489810097e-05,3.84283951756e-05,-2.99145283459e-05,1793249494003072256
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.245538555,745.754461445,717.754461445,680.754461445,663,637,881.754461445,784,813.754461445,650.754461445,629,654,0.418492936924,-0.00553096620073,0.0600074978299,0.999999999166,-1.92551000964e-05,1.65210822897e-05,-3.20032722166e-05,1793249494019738880
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.337561473,746,717.662438527,680.662438527,663.337561473,636.662438527,882,784,813.662438527,651,629,654,0.419335049764,-0.0055287412879,0.05998585721,0.999999998958,-2.31388051684e-05,-1.83042180924e-05,-3.48482092328e-05,1793249494036405248
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.917489582,746,717.082510418,680.082510418,663.917489582,636.082510418,882,784,813.082510418,651,629,654,0.420199285295,-0.00552669473901,0.0599608801064,0.999999996976,-2.62884243154e-05,-6.24045367776e-05,-3.8236087187e-05,1793249494053072128
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.504966495,717,680.495033505,663.504966495,636.495033505,882.495033505,784,813.495033505,651,628.504966495,654,0.421015769894,-0.00552654280866,0.059922197949,0.999999990471,-2.81003667574e-05,-0.00012889819686,-4.06611001831e-05,1793249494069738496
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.071613759,717,680.928386241,663.071613759,637,882.928386241,784,814,651,628.071613759,654,0.421834725324,-0.00552698972589,0.0598864763781,0.999999980617,-3.01687560534e-05,-0.000189818031905,-4.27272704129e-05,1793249494086405376
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.644218853,717,680.355781147,663.644218853,637,882.355781147,784,814,651,628.644218853,654,0.422726377572,-0.00552942744173,0.0598873701659,0.999999981172,-3.55834698232e-05,-0.000185758752161,-4.34004129784e-05,1793249494103072512
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.776310257,717,680.447379485,664,637,882.223689743,784,814,651,629,654,0.423648586205,-0.00553275822548,0.0599148991189,0.99999998863,-3.72864574848e-05,-0.000139750415639,-4.26463788294e-05,1793249494119739392
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.185573354,717,681.628853291,664,637,882.814426646,784,814,651,629,654,0.424620934222,-0.00553755442342,0.0599861330791,0.999999998366,-3.28989628637e-05,-2.49088707336e-05,-3.95505241812e-05,1793249494136406016
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.602998597,745,717.397001403,681.602998597,664,636.602998597,883,784,814.397001403,651,629,654,0.425581466008,-0.00553736154947,0.0600231446924,0.999999997691,-4.23345486021e-05,3.62846547036e-05,-3.88444856708e-05,1793249494153072384
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.024162306,745,717.975837694,681.024162306,664,636.024162306,883,784,814.975837694,651,629,654,0.426536585655,-0.00553488357671,0.0600444817559,0.999999994885,-5.81013925334e-05,7.2906266281e-05,-3.92330328661e-05,1793249494169738752
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.551522266,745.551522266,717.448477734,681,664,636.551522266,883.551522266,784,814.448477734,651,628.448477734,654,0.427443615539,-0.00553604226191,0.0600254135854,0.999999995965,-5.4151533319e-05,5.77431808113e-05,-4.24607202369e-05,1793249494186405376
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,717,681,664,637,884,784,814.129359126,651,628,654,0.42833091834,-0.00553689883738,0.0600024251442,0.999999997219,-4.89459536729e-05,3.32119612998e-05,-4.54159694865e-05,1793249494203071744
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,717,681,664,637,884,784,814.715276776,651,628,654,0.429155990111,-0.00553613003371,0.0599718126368,0.999999997866,-4.23397871955e-05,-1.64214160252e-05,-4.69731761839e-05,1793249494219738368
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,717.299317327,681.299317327,664.299317327,637,884,784,815,651,628,654,0.429999875533,-0.0055348179492,0.0599423425672,0.999999995382,-4.58940211627e-05,-6.91313719042e-05,-4.84780703208e-05,1793249494236405248
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,717.881583398,681.881583398,664.881583398,637,884,784,815,651,628,654,0.430861545707,-0.00553299229396,0.0599139524613,0.999999989228,-5.90530203648e-05,-0.000124749656473,-4.99335125579e-05,1793249494253072384
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,637,884.457676767,784,815,651,628,654,0.431827449712,-0.00553687434929,0.0599504859337,0.99999999535,-6.16794320263e-05,-5.53974742904e-05,-4.92593198995e-05,1793249494269739264
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.967709263,746,717.967709263,682.032290737,665,636.967709263,885,784,815,651,628,654,0.432813231696,-0.00554195201938,0.0600012888146,0.999999996113,-6.16565676156e-05,4.07752028645e-05,-4.80650634224e-05,1793249494286405888
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.391471525,746,717.391471525,682.608528475,665,636.391471525,885,784,815,651,628,654,0.43368561021,-0.00554262442807,0.060013263263,0.999999995625,-6.23007668101e-05,5.13173446836e-05,-4.72685806075e-05,1793249494303072256
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717,682.815614065,664.815614065,636,885,784,815,651,628,654,0.43454470554,-0.00554435264534,0.0600124998727,0.999999995793,-6.48843837567e-05,4.42185959322e-05,-4.74144780488e-05,1793249494319738880
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717,682.240562209,664.240562209,636,885,784,815,651,628,654,0.435375657412,-0.005548317847,0.0599847483117,0.99999999621,-7.15771234208e-05,-2.56617771729e-07,-4.95570343722e-05,1793249494336405504
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,682,664.344680308,636.344680308,885,784,815,651,628.344680308,654,0.436178543337,-0.00554856171275,0.0599581585227,0.999999994741,-7.43325350668e-05,-4.83000442708e-05,-5.15778601642e-05,1793249494353071872
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,717,682,664.937251829,636.937251829,885,784,815,651,628.937251829,654,0.436961244418,-0.0055461292244,0.0599324042721,0.99999999092,-7.42562526519e-05,-9.89096970136e-05,-5.35111381891e-05,1793249494369738752
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.514956403,746,717,682,664.485043597,637,885.514956403,784,815,651,628.485043597,654,0.43774219332,-0.00554537201836,0.0599141079004,0.999999986517,-7.5244044184e-05,-0.000135780322776,-5.35520961973e-05,1793249494386405376
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.908994535,717,682.091005465,664,636.908994535,886,784,815,651,628.091005465,654,0.438526830921,-0.00554497304629,0.0599025449101,0.999999982888,-7.55655922967e-05,-0.000160196812487,-5.33980321807e-05,1793249494403071744
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.332384071,717,682.667615929,664,636.332384071,886,784,815,651,628.667615929,654,0.439332258693,-0.00554542690831,0.0599221981939,0.999999987962,-7.16596208958e-05,-0.000126840490608,-5.33991909369e-05,1793249494419738368
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+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745,717,683,664,636,886,784,815.840724792,651,629,654,0.440904508841,-0.00555191616953,0.0600010336405,0.999999995187,-8.44230877428e-05,-6.03151650519e-06,-4.96145758516e-05,1793249494453071616
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745.422875251,717,683,664,636,886,784,816,651,629,654.422875251,0.441605605113,-0.00555349161287,0.0599924172502,0.999999994523,-8.90866505946e-05,-2.11798884724e-05,-5.06761696937e-05,1793249494469738240
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.998106493,746,717,683,664,636,886,784,816,651,629,654.998106493,0.442278024032,-0.00555404285194,0.0599630247965,0.99999999206,-9.15663173918e-05,-6.83771964956e-05,-5.31144228727e-05,1793249494486404608
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,683,664,636,886.147458842,783.852541158,815.852541158,651,628.852541158,654,0.443518250129,-0.0055600112437,0.0598652577506,0.999999971984,-9.18007948216e-05,-0.000209976976548,-5.92742801028e-05,1793249494519738368
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664,636,886.716764468,783.283235532,815.283235532,651,628.283235532,654,0.444119281453,-0.00556003064289,0.0598521731835,0.99999996702,-9.83839252005e-05,-0.000229197942765,-6.12248715012e-05,1793249494536406272
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.699385988,717,683,664,635.699385988,887,783,815.300614012,651,628,654,0.444706829664,-0.00555718749607,0.0598469245752,0.999999964288,-0.000100670082894,-0.000239490461242,-6.271322134e-05,1793249494553073152
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.101136671,717,683,664,635.101136671,887,783,815.898863329,651,628,654,0.445281028327,-0.00555151016747,0.0598494342819,0.999999964071,-9.87018451417e-05,-0.000240943000605,-6.37439097546e-05,1793249494569739776
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.47966056,717,683,663.52033944,635,886.52033944,783,816,651,628.47966056,653.52033944,0.445793281725,-0.005549662354,0.0598249136222,0.999999951227,-9.71650564892e-05,-0.000289269205264,-6.6541395324e-05,1793249494586406144
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,886.05640846,783,816,651,629,653.05640846,0.446292599495,-0.00554923182499,0.0597962189867,0.999999933997,-9.65047933075e-05,-0.000343285259796,-6.96215321522e-05,1793249494603072768
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,886.628596135,783,816,651,629,653.628596135,0.446788872677,-0.00555463655848,0.0597796424603,0.999999926529,-0.000103056567552,-0.000362130158383,-7.19994345938e-05,1793249494619739136
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,887,783,815.792618766,651,628.792618766,654,0.447275941538,-0.00556038082366,0.0597724454743,0.999999923749,-0.000110200101325,-0.000367254098994,-7.40494041938e-05,1793249494636405504
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,887,783,815.201630015,651,628.201630015,654,0.447745984469,-0.00556675314366,0.0597825984797,0.999999929933,-0.000118438253228,-0.000346997425789,-7.54927733279e-05,1793249494653072384
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.618233932,717,683,663,635,887,783,815.381766068,651,628.381766068,654,0.448184783046,-0.00557247872799,0.0597875362297,0.999999932322,-0.000123911956068,-0.000337837926207,-7.66019273728e-05,1793249494669739008
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662.886334259,634,887,783,816,651,628,654,0.449263660894,-0.00558582702975,0.0597235417249,0.999999888698,-0.000140315833476,-0.000444112571486,-7.53566788342e-05,1793249494719739392
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662,634,887,783,816,651,628.268288374,654,0.449852453152,-0.0055737133685,0.0596675935509,0.999999851897,-0.00013444776598,-0.000524893859398,-5.11529373537e-05,1793249494753072128
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662,634,887,783,816,651,628.859720474,654,0.45011864711,-0.00556156002103,0.0596553593395,0.999999845519,-0.00012032536743,-0.000539976252939,-5.39403966089e-05,1793249494769738496
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+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662,634,886.978622214,782.978622214,816,651,628,654,0.450675468359,-0.00554822541823,0.0596678128959,0.99999986123,-0.000100786724523,-0.000513702129954,-5.90898743509e-05,1793249494803071744
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662,634,886.403815226,782.403815226,816,651,628,654,0.450899158919,-0.00555538165649,0.0596759577113,0.9999998648,-0.000106124876739,-0.000505582282574,-5.93621653386e-05,1793249494819738880
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+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,717,683.740575043,662,633.259424957,886.740575043,782,816,651,628,654,0.451281720803,-0.00556460467331,0.0596695900866,0.999999858284,-0.000113082277924,-0.000516561166228,-6.17103666251e-05,1793249494853071616
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.079070777,746,717,683,662,633.920929223,887.079070777,782.079070777,816,651,628,654,0.451849302562,-0.0055730327974,0.0596710882669,0.999999859841,-0.000116823836176,-0.00051244021253,-6.38345154308e-05,1793249494919738368
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,717,683.523993536,661.523993536,633.523993536,887,782,816,651.476006464,628,654,0.452377228488,-0.00556995739289,0.0596465166795,0.999999843568,-0.000106218473709,-0.000545533875385,-6.30406491548e-05,1793249495219738368
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717,683.901799151,661.901799151,633.901799151,887,782,815.901799151,651.098200849,628,654,0.452379825495,-0.00556975325404,0.0596471223151,0.999999844547,-0.000105341509586,-0.000543931692955,-6.28227448629e-05,1793249495236405248
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,717,683.332781694,661.332781694,633.332781694,887,782,815.332781694,651.667218306,628,654,0.452380226678,-0.00556819746819,0.0596476911574,0.999999845199,-0.000102466235244,-0.000543284214023,-6.28139043043e-05,1793249495253072384
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,717,683.247022004,661,633,887.247022004,782,815.247022004,651.752977996,628,654,0.452379660457,-0.00556809532985,0.0596472677836,0.999999844723,-0.000101724176797,-0.000544305611923,-6.27571649697e-05,1793249495269739264
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,717,683.8420202,661,633,887.8420202,782,815.8420202,651.1579798,628,654,0.452377731466,-0.00557004092273,0.0596454466898,0.999999842656,-0.000103987147156,-0.000547677931482,-6.26329513463e-05,1793249495286406144
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,717,683.573909064,661,633,887.573909064,782,816,651,628,654,0.452378175828,-0.00556931676162,0.0596445152666,0.999999842287,-0.000104166083599,-0.000548327945266,-6.2541341414e-05,1793249495303072768
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,717,683,661.006150743,633,887,782,816,651,628,654,0.452379459681,-0.00556762713325,0.0596439202158,0.999999842534,-0.000103584729089,-0.000547996212994,-6.24650037922e-05,1793249495319739648
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661.58060428,633,887,782,816,651,628,654,0.452379037668,-0.00556590372083,0.0596446890257,0.999999842707,-0.00010236363253,-0.000547881871837,-6.27107806879e-05,1793249495336406272
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662,633,887,782,816,651.155192774,628,654,0.452378381376,-0.00556489071571,0.0596450021726,0.999999842479,-0.00010188921086,-0.000548367493786,-6.28731782639e-05,1793249495353072896
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662,633,887,782,816,651.73014626,628,654,0.452377091415,-0.00556579919885,0.0596440828557,0.999999841166,-0.000103434372889,-0.000550475877777,-6.28100539677e-05,1793249495369739264
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661.685922059,633,887.314077941,782,816,651.685922059,628,654,0.452377445762,-0.00556539460524,0.059643800873,0.999999841369,-0.000102597384398,-0.000550272728103,-6.27287873145e-05,1793249495386405888
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,717,683,661.094049404,633,887.905950596,782,816,651.094049404,628,654,0.452379254461,-0.0055638286254,0.0596440825976,0.999999842907,-9.96534384752e-05,-0.000548025079948,-6.26314741665e-05,1793249495403072512
+244,4.066666667,HOLD_POSE2,766,746,717,684,662,633,887,782,816,651,628,654,0.452382146503,-0.00556412525786,0.0596461024626,0.999999844398,-0.000101539745814,-0.000544925498631,-6.28422671845e-05,1793249495434651904
+245,4.083333333,HOLD_POSE2,766,746,717,683.424896393,661.424896393,633,887,782.575103607,816,651,628,654,0.452380270326,-0.00556579222032,0.0596443340502,0.999999843099,-0.000100927307552,-0.000547468640409,-6.23939662337e-05,1793249495451318784
+246,4.100000000,HOLD_POSE2,766,746,717.150773923,683,661,633,887,782.849226077,816,651.150773923,628,654,0.452379367674,-0.00556681648595,0.0596433870291,0.999999842395,-0.000100844241018,-0.000548804349724,-6.20877165258e-05,1793249495467985408
+247,4.116666667,HOLD_POSE2,766,746,717.728047443,683,661,633,887,782.271952557,816,651.728047443,628,654,0.452381218868,-0.00556602273241,0.0596447635069,0.999999843384,-0.000102258627118,-0.000546724552163,-6.21832921558e-05,1793249495484651776
+248,4.133333333,HOLD_POSE2,766,746,717.685324905,683,661.314675095,633,887,782,816,652,628,654,0.452382440722,-0.00556540088959,0.0596456100572,0.999999843963,-0.000101790834365,-0.000545746473207,-6.22357260971e-05,1793249495501318400
+249,4.150000000,HOLD_POSE2,766,746,717.090365466,683,661.909634534,633,887,782,816,652,628,654,0.452383102016,-0.00556493216945,0.0596459845955,0.999999844176,-9.96465654617e-05,-0.000545749706465,-6.2249733287e-05,1793249495517985024
+250,4.166666667,HOLD_POSE2,766,746,717,683,661.513051657,633,887,782,816,651.513051657,628,654,0.452383512111,-0.00556433430165,0.0596459070071,0.999999844324,-9.97551332072e-05,-0.000545445620969,-6.23713747753e-05,1793249495534651648
+251,4.183333333,HOLD_POSE2,766,746,717,683.061157676,661,633,887,782,816,651,628,654,0.452383746199,-0.00556393764663,0.0596457446535,0.99999984435,-0.000100418646821,-0.000545264002133,-6.24707835233e-05,1793249495551318272
+252,4.200000000,HOLD_POSE2,766,746,717,683.635833874,661,633,887,782,816,651,628,654,0.452382880141,-0.00556542470254,0.0596455504279,0.999999843455,-0.000102354212341,-0.000546572810682,-6.2221660802e-05,1793249495567985152
+253,4.216666667,HOLD_POSE2,766,746,717,683.783144591,661,633,887,782,816,651,628,654,0.452382419176,-0.00556639122921,0.0596454285924,0.99999984305,-0.00010286349227,-0.000547249230779,-6.19424674552e-05,1793249495584651776
+254,4.233333333,HOLD_POSE2,766,746,717,683.191146174,661,633,887,782,816,651,628,654,0.452382658993,-0.00556645728057,0.0596454319859,0.999999843499,-0.000100905408752,-0.00054683166786,-6.16112542888e-05,1793249495601318400
+255,4.250000000,HOLD_POSE2,766,746,717,683.390676049,661,633,887.390676049,782,816,651.390676049,628,654,0.452382873959,-0.00556591037254,0.0596452766018,0.999999843543,-0.000100213913579,-0.000546856329384,-6.18061648067e-05,1793249495617985024
+256,4.266666667,HOLD_POSE2,766,746,717,683.96764581,661,633,887.96764581,782,816,651.96764581,628,654,0.452383077075,-0.00556507117509,0.0596450455046,0.999999843395,-0.000100126390359,-0.000547091865414,-6.22519571564e-05,1793249495634651904
+257,4.283333333,HOLD_POSE2,766,746,717,683.456920818,661,633,886.913841636,782,816,651.456920818,628,654,0.452383356811,-0.00556503582758,0.0596449732192,0.999999843566,-0.000100105050255,-0.000546771485199,-6.2355677444e-05,1793249495651318272
+258,4.300000000,HOLD_POSE2,766,746,717,683,661.121191172,633,886.121191172,782,816,651,628,654,0.452383637664,-0.0055649497526,0.0596450538464,0.999999843827,-9.97734654376e-05,-0.000546357927759,-6.23206148874e-05,1793249495667984640
+259,4.316666667,HOLD_POSE2,766,746,717,683,661.709990776,633,886.709990776,782,816,651,628,654,0.452383905264,-0.00556448369075,0.059645688074,0.999999844363,-9.82296506376e-05,-0.000545712278735,-6.18284772076e-05,1793249495684651264
+260,4.333333333,HOLD_POSE2,766,746,717,683,662,633,886.706289127,782,816,651,628,654,0.452383777848,-0.00556410285781,0.0596455339419,0.999999844195,-9.80071000838e-05,-0.000546074976761,-6.17038236702e-05,1793249495701317888
+261,4.350000000,HOLD_POSE2,766,746,717,683,662,633,886.127499291,782,816,651,628,654,0.452383267025,-0.00556380474901,0.0596446146194,0.999999843342,-9.90669830491e-05,-0.000547416387423,-6.19358542617e-05,1793249495717984512
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,746,717,683,661,633,886,782,816,651,628,654,0.45238397059,-0.00556405386545,0.059645534459,0.99999984361,-9.67729520865e-05,-0.000547334619322,-6.19646860483e-05,1793249495750835456
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.579648684,746,717,683,661,633,886.579648684,782,815.420351316,651,628,654,0.452384438701,-0.00556509042652,0.0596464068406,0.999999844207,-9.96260321692e-05,-0.00054577143425,-6.15991590699e-05,1793249495767501824
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887,782,815.161976884,651,628,654,0.452384882141,-0.00556533707547,0.0596469035568,0.999999844694,-0.00010070933242,-0.000544699420522,-6.14185068381e-05,1793249495784168192
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887,782,815.751375878,651,628,654,0.45238526048,-0.00556349931669,0.0596464089727,0.999999844908,-9.71225654833e-05,-0.000544923501847,-6.17256991669e-05,1793249495800834816
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887,782.335841327,816,651,628,654,0.452385005549,-0.00556234932955,0.0596456009643,0.999999844561,-9.61232106284e-05,-0.000545705918262,-6.19960266135e-05,1793249495817501184
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887,782.916707301,816,651,628,654,0.452384288594,-0.00556170113009,0.0596445642863,0.99999984381,-9.70115919008e-05,-0.000546895687328,-6.22394579929e-05,1793249495834167296
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.492324176,661,633,887,782.507675824,816,651,628,654,0.452382482802,-0.00556322774748,0.0596439058478,0.999999842811,-9.81369211991e-05,-0.000548542989578,-6.20373950618e-05,1793249495850834176
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.932789645,661,633,887,782,816,651,628,654,0.45238041437,-0.00556465787784,0.0596431818517,0.999999841774,-9.90825915182e-05,-0.000550280208377,-6.18619824249e-05,1793249495867501312
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.356783135,661,633,887,782,816,651,628,654,0.452377737521,-0.00556260157535,0.0596414822511,0.999999840794,-9.83679374947e-05,-0.000552118311371,-6.24528644298e-05,1793249495884167936
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.225040999,661,633,886.774959001,782,816,651,628,654,0.452368452436,-0.00556158868581,0.059637404459,0.999999837464,-9.75526713337e-05,-0.000558228414076,-6.27378813696e-05,1793249495900834560
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.816333181,661,633,886.183666819,782,816,651,628,654,0.452348412535,-0.00556227393693,0.0596294561925,0.999999830195,-9.65736603381e-05,-0.000571291138324,-6.25251069859e-05,1793249495917501440
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.602899777,661,633,886.397100223,782,816,651,628,654,0.452311767754,-0.00556162272206,0.0596163859971,0.999999817553,-9.67731959144e-05,-0.000592937261648,-6.28866444839e-05,1793249495934167808
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.026875077,661,633,886.973124923,782,816,651,628,654,0.452267641183,-0.00556036932558,0.0596010079743,0.999999801989,-9.75037580802e-05,-0.000618450873439,-6.35069540193e-05,1793249495950834432
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887.549806679,782,816,651,628,654,0.452207940724,-0.00555649905959,0.0595879517998,0.999999795028,-9.41955969159e-05,-0.000629994677295,-6.4628892818e-05,1793249495967501312
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887.871107102,782,816,651.128892898,628,654,0.452143457352,-0.00555324347719,0.0595764003626,0.999999787832,-9.17924798414e-05,-0.000641582162323,-6.54429954238e-05,1793249495984167936
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887.283579435,782,816,651.716420565,628,654,0.452064667131,-0.00555263079928,0.0595697988473,0.99999977852,-9.3313047107e-05,-0.000655757773341,-6.50743829552e-05,1793249496000834048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.299385295,661,633,887,782,816,652,628,654,0.451978052181,-0.00555122287498,0.0595666297795,0.999999774368,-9.24352302467e-05,-0.000662243986074,-6.44420416755e-05,1793249496017500672
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.878092833,661,633,887,782,816,652,628,654,0.451884136874,-0.00554907299709,0.0595666631373,0.999999775163,-8.93197548504e-05,-0.000661556098233,-6.35636451769e-05,1793249496034167552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.544437119,746,717,683.544437119,661,633,886.544437119,782,816,651.544437119,628,654,0.451767438189,-0.00554634881902,0.0595669658058,0.999999775033,-8.8160671869e-05,-0.000662005726209,-6.25376080034e-05,1793249496050834432
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,717,683,661.032508618,633,886.032508618,782,815.967491382,651,628,654,0.451643043883,-0.00554328573318,0.0595675449569,0.999999774891,-8.72292295507e-05,-0.000662441587484,-6.14901915205e-05,1793249496067501056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,717,683,661.606223765,633,886.606223765,782,815.393776235,651,628,654,0.451491756595,-0.00553713204103,0.059571530492,0.999999778627,-8.13954989212e-05,-0.000657594381524,-6.0742803982e-05,1793249496084167424
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.184807456,746,717,683.184807456,661.815192544,633,887,782,815.184807456,651,628,654,0.451329488496,-0.00553140911718,0.0595723919897,0.999999778924,-7.61293909747e-05,-0.00065785380947,-5.98694279394e-05,1793249496100833792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.774045333,746,717,683.774045333,661.225954667,633,887,782,815.774045333,651,628,654,0.451143190144,-0.00552662888227,0.0595664168806,0.999999771703,-7.21054624663e-05,-0.000669288534449,-5.87203402641e-05,1793249496117500416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.642652358,661,633,887,782.357347642,816,651,628,654,0.450936189995,-0.00552021070415,0.0595597887146,0.999999764595,-6.64046251143e-05,-0.000680498254834,-5.76444857244e-05,1793249496134167040
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.063041794,661,633,887,782.936958206,816,651,628,654,0.450716313734,-0.00551277375838,0.0595527543599,0.999999757485,-5.96607843722e-05,-0.000691568028024,-5.66141805807e-05,1793249496150833664
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,717,683,661.513554571,633.513554571,886.486445429,782.486445429,815.486445429,650.486445429,627.486445429,654,0.450465905125,-0.00550534679205,0.0595512377611,0.999999757288,-5.19953863708e-05,-0.000692592417516,-5.50967916845e-05,1793249496167500288
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717,683,662,633.910534471,886.089465529,782,815,650.089465529,627.089465529,654,0.45020492464,-0.00549769224751,0.0595506195882,0.999999758083,-4.46284753827e-05,-0.00069208194163,-5.35151396166e-05,1793249496184166912
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,683,662,633.336343815,886.663656185,782,815,650.663656185,627.663656185,654,0.449906853859,-0.00548879808064,0.0595512206929,0.999999759894,-3.94881110327e-05,-0.000689897670319,-5.19073736903e-05,1793249496200833280
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.244687294,662,633.244687294,887,782,815.244687294,651,628,654,0.449597455715,-0.00547920613947,0.0595517806393,0.99999976229,-3.15013945186e-05,-0.000686966006232,-5.0059414829e-05,1793249496217499904
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.835391583,662,633.835391583,887,782,815.835391583,651,628,654,0.449272039351,-0.00546862746281,0.0595522823829,0.999999765435,-1.94895971236e-05,-0.000682977439756,-4.78717946239e-05,1793249496234166528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,662,634,886.580601089,782,816,651,628,654,0.448918815293,-0.00546024414063,0.059559185871,0.999999773689,-1.03434808986e-05,-0.00067116473392,-4.53168206036e-05,1793249496250833152
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,662,634,886,782,815.425544602,651,628,654,0.448159918665,-0.0054474488026,0.0595839608981,0.999999797916,7.00451277669e-06,-0.0006345644871,-3.80320220407e-05,1793249496284166656
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,662.741239929,634,886,782,815,651.741239929,628,654,0.44732876587,-0.00543354907812,0.0596288567555,0.999999842388,2.33119997187e-05,-0.000560178901037,-2.96738174382e-05,1793249496317499904
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.218178358,745,717,679.781821642,662,636,877.781821642,784,812,651,630,653.218178358,0.405784594614,-0.00536768520484,0.0598244981178,0.999999929058,0.000248232054867,-0.000282095629179,2.619853558e-05,1793249497250833408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.808946105,745,717,679.191053895,662,636,877.191053895,784,812,651,630,653.808946105,0.405355285238,-0.00536526087806,0.0598262340224,0.99999993044,0.000246925771526,-0.000278274860857,2.66583799814e-05,1793249497267500032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.608274343,745.391725657,717,679,662,636,877.391725657,784,812,651,630,654,0.404927839992,-0.0053613133031,0.0598135013822,0.999999924132,0.000251829801699,-0.000295997918357,2.64976591403e-05,1793249497284166656
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.029312909,745.970687091,717,679,662,636,877.970687091,784,812,651,630,654,0.404501285718,-0.00535663765061,0.0597938531133,0.999999913444,0.000259702217367,-0.000324018424261,2.60403225319e-05,1793249497300833280
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.545786126,745.454213874,717,679.545786126,662,636,877.454213874,784,812,651,630,654,0.404107456931,-0.00535105628304,0.0597695997653,0.999999895981,0.000270790440398,-0.000366127053789,2.57354075339e-05,1793249497317499904
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,717,680,662,636,877,784,812,651,630,653.87977158,0.403738833059,-0.005346415116,0.0597535766771,0.999999882988,0.000280613930032,-0.00039320576635,2.58704803538e-05,1793249497334166784
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,717,680,662,636,877,784,812,651,630,653.307025695,0.40345850687,-0.00534549448762,0.0597694551089,0.999999893877,0.000285031708735,-0.000360886831786,2.76309908801e-05,1793249497350834176
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,717,679.725073348,662,636,877.549853304,783.725073348,812,651,629.725073348,653,0.403199716054,-0.00534485004849,0.0597889931476,0.999999905748,0.000286552324666,-0.000324846183149,2.94452059631e-05,1793249497367501312
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,717,679.132483455,662,636,878.73503309,783.132483455,812,651,629.132483455,653,0.402965808244,-0.00534452473152,0.0598127596681,0.999999918504,0.00028472542153,-0.000284505292133,3.13214737141e-05,1793249497384167680
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.44865335,717.44865335,679,662,636,878.102693299,783.44865335,812,651,629.44865335,653.44865335,0.402739365509,-0.00535045026515,0.05982947805,0.999999926978,0.000277918311778,-0.000260198110078,3.32026193793e-05,1793249497400834048
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.973594095,745.973594095,718,679,661.973594095,636,877,784,812,651,629.973594095,653.973594095,0.402515292143,-0.00535824143792,0.0598432028633,0.999999933838,0.00026923281814,-0.000242100936756,3.50079347013e-05,1793249497417500672
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.397640294,745.397640294,718,679,661.397640294,636,877,784,812,651,629.397640294,653.397640294,0.402295794491,-0.00536740125724,0.0598368628173,0.999999934739,0.000251299109722,-0.000257161731802,3.52058725357e-05,1793249497434167296
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.181393721,745,717.818606279,679,661.181393721,636,877,783.818606279,812,651,629.181393721,653.181393721,0.402090719312,-0.0053746994296,0.0598304543207,0.999999938365,0.000219681524573,-0.000272168884407,3.05769950761e-05,1793249497450833920
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.767296554,745,717.232703446,679,661.767296554,636,877,783.232703446,812,651,629.767296554,653.767296554,0.401917806363,-0.00537784611656,0.0598238931794,0.999999946273,0.000157548812137,-0.000287056411537,1.51842897353e-05,1793249497467500544
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,717,679,662,636,877,783.351353477,812,651,629.648646523,653.648646523,0.401769865449,-0.005380423772,0.0598239561598,0.999999949301,0.000132216259051,-0.000289496546643,1.03970006745e-05,1793249497484167168
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,717,679,662,636,877,783.934194289,812,651,629.065805711,653.065805711,0.401638377207,-0.0053826265244,0.0598283834063,0.99999995107,0.000131129285741,-0.000283735786981,1.25970311815e-05,1793249497500834048
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,717,679,661.491090329,636,876.491090329,784,812,651,629.508909671,653.508909671,0.401527304789,-0.00537868325497,0.0598304206782,0.999999950991,0.000138377847006,-0.000280501366818,1.37121357861e-05,1793249497517501184
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.917258849,745.082741151,717,678.917258849,661.082741151,636,876.165482302,784,812,651,630,653.917258849,0.401422437871,-0.00537459201846,0.0598323117872,0.999999950774,0.000146207479934,-0.000277233523181,1.47548290966e-05,1793249497534167808
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.342533649,745.657466351,717,678.342533649,661.657466351,636,877.314932702,784,812,651,630,653.342533649,0.401339018787,-0.00537427218097,0.0598351425016,0.999999951488,0.000151183989905,-0.000271855042294,1.61880173453e-05,1793249497550833920
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.760855722,717,678,661.760855722,636,877.760855722,784,812,651,630,653.239144278,0.401261487487,-0.00537374722599,0.0598350211592,0.999999950506,0.00015716200016,-0.000272019423329,1.71101553102e-05,1793249497567500288
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.168921026,717,678,661.168921026,636,877.168921026,784,812,651,630,653.831078974,0.401192641971,-0.00537291967763,0.0598305448833,0.999999947,0.000164617443339,-0.000280360745318,1.72783816005e-05,1793249497584166912
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.413370985,745,717,678,661.413370985,636,877,784.413370985,812,651,630,653.586629015,0.401136100139,-0.00537122069809,0.0598254034015,0.999999933642,0.000220854069339,-0.000289207880538,1.72935216499e-05,1793249497600833536
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.991812393,745,717,678,661.991812393,636,877,784.991812393,812,651,630,653.008187607,0.401084471508,-0.00536917373209,0.0598199962849,0.999999911396,0.000296570364309,-0.000298256999283,1.72475300562e-05,1793249497617500160
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.432373919,745,717,678,662,636,877.567626081,784.432373919,812,651,630,653,0.401054077885,-0.00536959015903,0.0598221790818,0.999999912885,0.000295244837765,-0.000294528973753,1.77207706287e-05,1793249497634167296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.142275674,745,717.142275674,678,662,636,877.857724326,784,812,651,630,653,0.401026882681,-0.00537013299436,0.0598242661601,0.99999991457,0.000293025832076,-0.00029097684644,1.80984209168e-05,1793249497650834432
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.713529035,745,717.713529035,678,662,636,877.286470965,784,812,651,630,653,0.401008411812,-0.00537095032398,0.0598257360634,0.999999915746,0.000291448064101,-0.000288508202644,1.81653774696e-05,1793249497667501056
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.702907131,745,718,678,662,636,877,784,812.297092869,651.297092869,630,653.297092869,0.40099593619,-0.00537134088139,0.0598278315691,0.999999917073,0.000290562908697,-0.000284764217781,1.83551601054e-05,1793249497684167424
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.106959762,745,718,678,662,636,877,784,812.893040238,651.893040238,630,653.893040238,0.400989491363,-0.0053713021361,0.0598305563869,0.999999918541,0.000290374472565,-0.000279737329332,1.86684971375e-05,1793249497700833792
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,717.525940038,678,661.525940038,636,877,784,812.525940038,651.525940038,630,654,0.400981310033,-0.00537065598291,0.0598304922214,0.999999918394,0.000289820261575,-0.000280852591414,1.83792348361e-05,1793249497717500160
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,717,678,661.05155019,636,877.05155019,784,812,651,630,653.94844981,0.400973216032,-0.00536993472204,0.059829932196,0.99999991792,0.00028936638283,-0.000283023203697,1.80025761384e-05,1793249497734166784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,717,678,661.626358403,636,877.626358403,784,812,651,630,653.373641597,0.400969863986,-0.00536979970036,0.0598305312948,0.999999917733,0.000290743045326,-0.00028226879704,1.80767443738e-05,1793249497750833408
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.206408037,745,717,678.206408037,662,636,877.793591963,784,812,651,630,653,0.400967728694,-0.00536926623408,0.0598312969084,0.999999917797,0.000291680168766,-0.000281075294385,1.80582286166e-05,1793249497767500288
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.796192915,745,717,678.796192915,662,636,877.203807085,784,812,651,630,653,0.400967853371,-0.00536799270732,0.0598323718019,0.999999918328,0.000291800903877,-0.000279066226453,1.78675640526e-05,1793249497784167168
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,717.378720279,679,661.621279721,636,877.378720279,784,812,651.378720279,630,653,0.400967490569,-0.00536809404089,0.0598326266165,0.99999991849,0.000291987804015,-0.000278281022429,1.79594907078e-05,1793249497800834304
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,717.957415455,679,661.042584545,636,877.957415455,784,812,651.957415455,630,653,0.400966870365,-0.00536892133919,0.0598324484063,0.99999991846,0.000292209641136,-0.000278142052828,1.82006334342e-05,1793249497817501184
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.466362315,745,717.466362315,679,661,636,877.466362315,784,812,651.466362315,630,653.533637685,0.400966006751,-0.00537124468853,0.0598335201439,0.999999919879,0.000287760392475,-0.000277643841851,1.86844531656e-05,1793249497834167552
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.108916598,717,679,661.108916598,636,877,784,812,651,630,653.891083402,0.400965148261,-0.00537299377205,0.0598342701421,0.999999921022,0.000283968511654,-0.000277409336719,1.90035405102e-05,1793249497850833664
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.681019105,717,679,661.681019105,636,877,784,812,651,630,653.318980895,0.40096439378,-0.00537179532906,0.0598332296576,0.999999920586,0.000284550087945,-0.000278417636136,1.85400997632e-05,1793249497867500288
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.737592762,717.262407238,678.737592762,661.737592762,636,877,784,812,651,630,653.262407238,0.400963831303,-0.00537156445504,0.0598327262367,0.999999920342,0.000285039495588,-0.000278815345137,1.82042586209e-05,1793249497884166912
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.144502911,717.855497089,678.144502911,661.144502911,636,877,784,812,651,630,653.855497089,0.400963510789,-0.00537255290027,0.0598328996171,0.999999920342,0.00028541275343,-0.000278443595187,1.80292169847e-05,1793249497900833536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,718,678.436264835,661.436264835,636,877,784,812,651,630,653.563735165,0.400964823836,-0.00537347041049,0.0598338307255,0.999999921102,0.000284540288975,-0.000276585029446,1.82510573465e-05,1793249497917500672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,717.98701462,678.98701462,662,636,877,784,812,651,630,653.01298538,0.400966597133,-0.00537434814171,0.0598349805154,0.999999922087,0.000283262705857,-0.000274304854919,1.85930508403e-05,1793249497934167552
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,717.413653949,678.413653949,662,636,877,784,812,651,630,653.586346051,0.400965523574,-0.0053744953253,0.0598350339878,0.999999922441,0.000281819611824,-0.000274499050826,1.8603011057e-05,1793249497950833920
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.164414702,745,717.164414702,678.164414702,661.835585298,636,877.164414702,784,812,651,630,654,0.400964729572,-0.00537426003507,0.0598351614349,0.999999922584,0.000281182899231,-0.000274632836821,1.85509983727e-05,1793249497967500032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.754677386,745,717.754677386,678.754677386,661.245322614,636,877.754677386,784,812,651,630,654,0.400964659648,-0.00537303410529,0.0598354804826,0.999999922185,0.000282634782843,-0.000274610156028,1.83384706341e-05,1793249497984166656
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,717.660192945,678.660192945,661.339807055,636,877.660192945,784,812,651,630,654,0.400965048795,-0.00537210697223,0.0598358083287,0.999999922015,0.000283721684178,-0.000274112287784,1.82844056823e-05,1793249498000833280
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,717.078713919,678.078713919,661.921286081,636,877.078713919,784,812,651,630,654,0.400965764435,-0.00537139234448,0.0598361424324,0.999999922008,0.000284549008774,-0.00027327646456,1.83430400298e-05,1793249498017499904
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.503249684,745.496750316,717,678.496750316,661.503249684,636,877.496750316,784,812,651,630,653.503249684,0.400965121593,-0.00537000830027,0.0598363634099,0.999999921912,0.000284959677765,-0.000273225862501,1.79542897655e-05,1793249498034167296
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.07152965,745.92847035,717,679,661.07152965,636,878,784,812,651,630,653.07152965,0.400964202738,-0.00536912829972,0.0598364004457,0.99999992183,0.000284997847532,-0.000273506499996,1.76235018177e-05,1793249498050834688
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.648121836,745.351878164,717,679,661.648121836,636,878,784,812,651,630,653.648121836,0.400962836747,-0.00537254731079,0.0598352637476,0.999999921944,0.000282866442122,-0.000275257945967,1.81965478293e-05,1793249498067501312
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,717,678.770107164,662,636,878,784,812,651.229892836,630,653.770107164,0.400962614686,-0.00537426399807,0.0598350514927,0.999999922067,0.000282275512105,-0.000275398296154,1.85262397703e-05,1793249498084167680
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745,717,678.180226605,662,636,878,784,812,651.819773395,630,653.180226605,0.400964183899,-0.00537331502792,0.0598362868175,0.999999922205,0.000284096802337,-0.000273015842019,1.84748652157e-05,1793249498100834048
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b646ceb593c89396590a5698b19dcb5e53e8d8e9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,405 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+5,0.083333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+9,0.150000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+365,6.083333333,pose2_to_pose3_retreat,0.576484662096,0.000150107787624,1.05003364103,0.547055341599,0.0088227450199,1.04970503368
+366,6.100000000,pose2_to_pose3_retreat,0.576354071811,0.000150253176046,1.05003362426,0.546924750088,0.00882288632925,1.04970501918
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+368,6.133333333,pose2_to_pose3_retreat,0.576142443004,0.000150070837256,1.05003346491,0.546713123109,0.00882271061871,1.04970487106
+369,6.150000000,pose2_to_pose3_retreat,0.57605649658,0.000149988423723,1.05003349131,0.546627175859,0.00882262508391,1.04970489028
+370,6.166666667,pose2_to_pose3_retreat,0.575981365181,0.000150038040855,1.05003358391,0.546552043502,0.00882267112326,1.04970497435
+371,6.183333333,pose2_to_pose3_retreat,0.575915510126,0.000150156327616,1.05003359433,0.546486188374,0.0088227893224,1.04970498816
+372,6.200000000,pose2_to_pose3_retreat,0.575858710572,0.000150140061588,1.05003350337,0.546429389152,0.00882277427252,1.04970489949
+373,6.216666667,pose2_to_pose3_retreat,0.575811214998,0.00015009563826,1.05003353312,0.546381893234,0.00882272830324,1.04970491921
+374,6.233333333,pose2_to_pose3_retreat,0.575772279068,0.000150179555997,1.05003337238,0.546342956288,0.00882280928496,1.04970477207
+375,6.250000000,pose2_to_pose3_retreat,0.575741907562,0.000150028721129,1.05003338303,0.546312586788,0.00882266504433,1.04970477703
+376,6.266666667,pose2_to_pose3_retreat,0.57571909681,0.000150007085591,1.05003358812,0.546289775983,0.00882264313911,1.04970497984
+377,6.283333333,pose2_to_pose3_retreat,0.575703766895,0.000150060174226,1.05003358422,0.54627444489,0.00882269216096,1.04970497416
+378,6.300000000,pose2_to_pose3_retreat,0.575692144125,0.000150106614117,1.05003353435,0.546262821428,0.00882273624843,1.04970492434
+379,6.316666667,pose2_to_pose3_retreat,0.575683727263,0.000150109361266,1.05003352076,0.546254405156,0.00882274111183,1.04970491374
+380,6.333333333,pose2_to_pose3_retreat,0.575677799032,0.000150070492386,1.05003364863,0.54624847715,0.00882270303419,1.04970504239
+381,6.350000000,pose2_to_pose3_retreat,0.575673510638,0.000150033115067,1.05003374732,0.54624418908,0.00882266677685,1.04970514165
+382,6.366666667,pose2_to_pose3_retreat,0.575670417772,0.000149998107811,1.05003365786,0.546241097947,0.0088226377455,1.04970505452
+383,6.383333333,pose2_to_pose3_retreat,0.575668480774,0.000150004955968,1.05003361162,0.546239161415,0.00882264622048,1.04970500937
+384,6.400000000,pose2_to_pose3_retreat,0.575667675086,0.000150071942937,1.05003361425,0.546238354542,0.00882270916772,1.04970501159
+385,6.416666667,pose2_to_pose3_retreat,0.575667185346,0.00015011266119,1.05003361584,0.546237864081,0.00882274743041,1.04970501293
+386,6.433333333,pose2_to_pose3_retreat,0.575666857718,0.000150139901098,1.05003361691,0.54623753597,0.00882277302758,1.04970501383
+387,6.450000000,pose2_to_pose3_retreat,0.575666418465,0.00015017642169,1.05003361833,0.546237096071,0.00882280734575,1.04970501504
+388,6.466666667,pose2_to_pose3_retreat,0.575665966371,0.000150186962391,1.05003359373,0.546236643839,0.00882281741818,1.04970499042
+389,6.483333333,pose2_to_pose3_retreat,0.575665574259,0.000150145100883,1.05003352321,0.546236252602,0.00882277854204,1.04970492033
+390,6.500000000,pose2_to_pose3_retreat,0.575665436195,0.000150130361342,1.05003349838,0.546236114847,0.00882276485366,1.04970489564
+391,6.516666667,pose2_to_pose3_retreat,0.575665267091,0.000150112307883,1.05003346796,0.546235946119,0.00882274808769,1.04970486541
+392,6.533333333,pose2_to_pose3_retreat,0.575665135227,0.00015009823025,1.05003344425,0.54623581455,0.008822735014,1.04970484184
+393,6.550000000,pose2_to_pose3_retreat,0.575665030386,0.000150087037499,1.05003342539,0.546235709943,0.00882272461947,1.0497048231
+394,6.566666667,pose2_to_pose3_retreat,0.575664896297,0.000150072722309,1.05003340128,0.546235576153,0.00882271132517,1.04970479913
+395,6.583333333,pose2_to_pose3_retreat,0.575664870041,0.00015006991924,1.05003339656,0.546235549956,0.008822708722,1.04970479443
+396,6.600000000,pose2_to_pose3_retreat,0.5756647816,0.00015006498171,1.05003339567,0.546235461667,0.00882270429504,1.04970479341
+397,6.616666667,pose2_to_pose3_retreat,0.575664754468,0.000150072272624,1.05003342477,0.546235434492,0.00882271142435,1.04970482202
+398,6.633333333,pose2_to_pose3_retreat,0.575664718908,0.000150081828053,1.0500334629,0.546235398877,0.00882272076798,1.04970485951
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+400,6.666666667,pose2_to_pose3_retreat,0.575664432272,0.00015015741844,1.05003375858,0.546235111832,0.00882279478886,1.04970515042
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffce35179c2ccdce4c7459b8755696f990a77e60
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f96f8aa09b0a499b077e8e9bde10881a0e56eb94b30d68d715273413661bfeb
+size 25762824
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e0832f73b41c2b3564cf0cf0d861e3baf599d16
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,406 @@
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+35,0.583333333,BASELINE,766.310024928,745.310024928,717.310024928,678.310024928,662,636,877,784,812,651,630.310024928,654,0.400967256806,-0.0053748393763,0.059840488508,0.999999925452,0.00027890354672,-0.00026643457884,1.79418363555e-05,1793249498833104384
+36,0.600000000,BASELINE,766.88833788,745.88833788,717.88833788,678.88833788,662,636,877,784,812,651,630.88833788,654,0.400966531185,-0.00537427218693,0.0598395269425,0.999999925282,0.000278181954541,-0.00026782939373,1.78563094228e-05,1793249498849771520
+37,0.616666667,BASELINE,766.532106336,745.532106336,718,679,662,636.467893664,877,784,812.467893664,651,630.532106336,654,0.400966152818,-0.00537358723587,0.0598392124463,0.999999924913,0.000279367592926,-0.000267974550193,1.77871582237e-05,1793249498866438144
+38,0.633333333,BASELINE,766.047021331,745,718,679,662,636.952978669,877.047021331,784,812.952978669,651,630,653.952978669,0.40096583643,-0.00537294964901,0.0598390715376,0.99999992452,0.000280875364987,-0.000267872034356,1.77316489165e-05,1793249498883104512
+39,0.650000000,BASELINE,766.61806413,745,718,679,662,636.38193587,877.61806413,784,812.38193587,651,630,653.38193587,0.400965284741,-0.00537315393487,0.059839139632,0.999999924389,0.000280887164456,-0.000268341792063,1.77845008294e-05,1793249498899771136
+40,0.666666667,BASELINE,767,745.196426772,717.803573228,679,662,636,878,784,812,651,630,653.196426772,0.400964920983,-0.00537346775277,0.0598392319501,0.999999924352,0.00028071031074,-0.000268661596277,1.78242847839e-05,1793249498916437760
+41,0.683333333,BASELINE,767,745.789573134,717.210426866,679,662,636,878,784,812,651,630,653.789573134,0.400964936782,-0.00537400279054,0.0598393731925,0.999999924504,0.000280152437605,-0.000268678542113,1.78376756162e-05,1793249498933104128
+42,0.700000000,BASELINE,767,745.627131162,717,678.627131162,662,636,877.627131162,784,812,651,630,653.627131162,0.400965060156,-0.00537385860761,0.0598391866573,0.999999924627,0.000279651403574,-0.00026874875082,1.77584202211e-05,1793249498949770752
+43,0.716666667,BASELINE,767,745.049251567,717,678.049251567,662,636,877.049251567,784,812,651,630,653.049251567,0.400965242678,-0.00537334097551,0.0598388199035,0.999999924734,0.000279181620838,-0.00026884824452,1.76282260736e-05,1793249498966437632
+44,0.733333333,BASELINE,767,745,717,678,662,636,877,784,811.473350394,651,630,653.526649606,0.400965922299,-0.00537410593846,0.0598392329931,0.999999925344,0.000278207937988,-0.000267564275664,1.79520343296e-05,1793249498983104512
+45,0.750000000,BASELINE,767,745,717.104565184,678,661.895434816,636,877.104565184,784,811.104565184,651,630,654,0.400966539519,-0.00537479822623,0.0598396517211,0.999999925797,0.000277567070567,-0.000266518011863,1.82054100127e-05,1793249498999771392
+46,0.766666667,BASELINE,767,745,717.692647693,678,661.307352307,636,877.692647693,784,811.692647693,651,630,654,0.40096665403,-0.00537460189197,0.0598397605502,0.999999925318,0.000278682256901,-0.000267166936544,1.79375071991e-05,1793249499016437760
+47,0.783333333,BASELINE,767,745,718,678.276286143,661.276286143,636,877.723713857,784,812,651,630,654,0.400966516445,-0.00537483326542,0.0598396767157,0.999999925274,0.000278344966917,-0.000267685504612,1.79221563836e-05,1793249499033104384
+48,0.800000000,BASELINE,767,745,718,678.85505917,661.85505917,636,877.14494083,784,812,651,630,654,0.400966102859,-0.00537553290691,0.059839381947,0.999999925703,0.000276417459657,-0.00026806135418,1.81833075204e-05,1793249499049771008
+49,0.816666667,BASELINE,767,745,718,679,662,636,877.434166365,784,812,651,630,654,0.400966087069,-0.00537466328237,0.0598396033897,0.999999925207,0.000278404841107,-0.000267857463401,1.8144062944e-05,1793249499066437632
+50,0.833333333,BASELINE,767,745.013239143,718,678.986760857,662,636,877.986760857,784,812,651,630,654,0.400966194778,-0.0053733017953,0.0598399803565,0.999999924414,0.000281625408472,-0.000267459361747,1.80062214455e-05,1793249499083104256
+51,0.850000000,BASELINE,767,745.586139025,718,678.413860975,662,636,877.413860975,784,812,651,630,654,0.400965904987,-0.00537331080876,0.0598396412542,0.999999924511,0.000281685819636,-0.000267039151299,1.79429304511e-05,1793249499099770880
+52,0.866666667,BASELINE,766.836800171,745.836800171,717.836800171,678,661.836800171,636.163199829,877,784,812,651,630,654,0.400965664347,-0.00537357751908,0.0598393503188,0.999999924711,0.000281115195195,-0.000266893767846,1.78761827386e-05,1793249499116437760
+53,0.883333333,BASELINE,766.248911589,745.248911589,717.248911589,678,661.248911589,636.751088411,877,784,812,651,630,654,0.400965551609,-0.00537451482423,0.0598391847265,0.99999992518,0.000278902450613,-0.000267463556335,1.78004397433e-05,1793249499133104128
+54,0.900000000,BASELINE,766.334430561,745,717.334430561,678,661.334430561,636.665569439,877,784,812,651,630,653.665569439,0.400964616452,-0.00537436430897,0.0598385555474,0.999999924726,0.000279167026183,-0.000268882387645,1.77863277061e-05,1793249499149770752
+55,0.916666667,BASELINE,766.91443423,745,717.91443423,678,661.91443423,636.08556577,877,784,812,651,630,653.08556577,0.400963077389,-0.00537341500472,0.0598375859555,0.99999992359,0.000281250703567,-0.000270924672969,1.78174714222e-05,1793249499166437376
+56,0.933333333,BASELINE,767,745,717.507133761,678.492866239,662,636,877,784,812,651,630,653.492866239,0.400964671714,-0.00537330949217,0.0598389013356,0.999999924206,0.000280877901102,-0.000269028554913,1.78884573916e-05,1793249499183104000
+57,0.950000000,BASELINE,767,745.070472768,717,679,662,636,877.140945537,784.070472768,812,651,630,653.929527232,0.400966737546,-0.00537341228963,0.0598404679228,0.999999925088,0.000280120113908,-0.000266521300685,1.79711961615e-05,1793249499199770624
+58,0.966666667,BASELINE,767,745.644127012,717,679,662,636,878.288254023,784.644127012,812,651,630,653.355872988,0.400968298237,-0.00537395981605,0.0598410047484,0.99999992575,0.000279648826308,-0.000264516929274,1.80886202317e-05,1793249499216437248
+59,0.983333333,BASELINE,767,745.776356746,717.223643254,679,662,636,878.776356746,784.776356746,811.776356746,651,630,653.223643254,0.400969099445,-0.00537427661009,0.0598413222557,0.999999926161,0.000278918637499,-0.000263731087134,1.81267142424e-05,1793249499233103616
+60,1.000000000,BASELINE,767,745.18726141,717.81273859,679,662,636,878.18726141,784.18726141,811.18726141,651,630,653.81273859,0.400968659594,-0.0053742163679,0.0598412813781,0.999999926165,0.000277765382042,-0.000264936425068,1.80351762123e-05,1793249499249770240
+61,1.016666667,BASELINE,767,745.396553226,717.603446774,678.603446774,662,636,877.603446774,784,811.396553226,651.396553226,630,654,0.400967951464,-0.00537394238764,0.0598407614189,0.999999925922,0.000277679737426,-0.000265949685998,1.79333981123e-05,1793249499266437120
+62,1.033333333,BASELINE,767,745.977906931,717.022093069,678.022093069,662,636,877.022093069,784,811.977906931,651.977906931,630,654,0.400967118312,-0.00537356880184,0.0598400181996,0.999999925563,0.000278091617506,-0.00026687343574,1.78268479731e-05,1793249499283104000
+63,1.050000000,BASELINE,766.45009334,745.45009334,717,678,662,636,877,783.45009334,812,651.45009334,630,654,0.400966801183,-0.00537379458942,0.0598401403316,0.999999925286,0.000279186606576,-0.000266760666424,1.7918340838e-05,1793249499299770624
+64,1.066666667,BASELINE,766.122639397,745,717,678,662,636,877.245278795,783.122639397,812,651,630,654,0.400966565756,-0.00537388546409,0.0598401918715,0.999999925012,0.000280159590984,-0.000266765051968,1.79940706931e-05,1793249499316436992
+65,1.083333333,BASELINE,766.699455148,745,717,678,662,636,878.398910296,783.699455148,812,651,630,654,0.400966557409,-0.0053733890226,0.059839855386,0.999999924736,0.000280580812627,-0.000267354942679,1.79824514768e-05,1793249499333103872
+66,1.100000000,BASELINE,766.716021581,745.283978419,717,678.283978419,662,636,878.716021581,783.716021581,812,651.283978419,629.716021581,654,0.400966783259,-0.00537315641106,0.0598400809195,0.999999924812,0.000280545981732,-0.000267105584126,1.79964015047e-05,1793249499349770496
+67,1.116666667,BASELINE,766.123113623,745.876886377,717,678.876886377,662,636,878.123113623,783.123113623,812,651.876886377,629.123113623,654,0.400967263883,-0.00537321081031,0.0598409178527,0.99999992527,0.000280015028248,-0.000265943237539,1.80381673614e-05,1793249499366437120
+68,1.133333333,BASELINE,766.453157137,746,717,678.546842863,662,636,878.453157137,783.453157137,812,651.546842863,629.453157137,654,0.400967045424,-0.00537291046972,0.0598404694884,0.999999925256,0.000279470800646,-0.000266577644405,1.79280292458e-05,1793249499383104256
+69,1.150000000,BASELINE,767,746,717,678,662,636,878.949465256,784,812,651,630,654,0.400966647682,-0.00537260107612,0.0598397397196,0.999999925149,0.000278862464684,-0.000267620888127,1.77974614988e-05,1793249499399771648
+70,1.166666667,BASELINE,767,746,717,678,662,636,877.79654732,784,812,651,630,654,0.400966335413,-0.00537412211751,0.0598402188777,0.999999925763,0.000276931530035,-0.000267311252356,1.8089614961e-05,1793249499416438016
+71,1.183333333,BASELINE,767,745.816927627,717,678.183072373,662,636,877.183072373,784,812,651,630,654,0.400965916209,-0.0053750651524,0.059840218005,0.999999926005,0.000275863191535,-0.000267501346718,1.82212723663e-05,1793249499433104384
+72,1.200000000,BASELINE,767,745.224658081,717,678.775341919,662,636,877.775341919,784,812,651,630,654,0.400965257987,-0.00537471624701,0.0598391441842,0.999999925421,0.000276722898389,-0.000268808420905,1.79941944724e-05,1793249499449770752
+73,1.216666667,BASELINE,766.640593379,745,717,678.640593379,662,636,878,784,811.640593379,651.359406621,630,653.640593379,0.400965146879,-0.005373767321,0.0598392865332,0.999999925111,0.000278109901758,-0.000268545727591,1.77809413227e-05,1793249499466437120
+74,1.233333333,BASELINE,766.061542932,745,717,678.061542932,662,636,878,784,811.061542932,651.938457068,630,653.061542932,0.400965370128,-0.00537245170498,0.059840172119,0.999999924965,0.000279819151294,-0.00026732370368,1.75761368894e-05,1793249499483104000
+75,1.250000000,BASELINE,766.51356419,745,717,678.51356419,662,636,877.48643581,784,811.51356419,651.48643581,630,653,0.400964700562,-0.00537285652581,0.0598393810551,0.999999924523,0.000280175415773,-0.000268605387898,1.75092440874e-05,1793249499499770880
+76,1.266666667,BASELINE,767,745.088154489,717.088154489,678.911845511,662,636,877,784,812,651,630,653.088154489,0.400964254177,-0.00537343281333,0.0598386761022,0.999999924256,0.000280100543886,-0.000269674398247,1.75083020122e-05,1793249499516437504
+77,1.283333333,BASELINE,767,745.662480747,717.662480747,678.337519253,662,636,877,784,812,651,630,653.662480747,0.400965624195,-0.00537382638466,0.0598395456879,0.999999925158,0.000278535316067,-0.000267928447095,1.77806281943e-05,1793249499533105152
+78,1.300000000,BASELINE,767,745.756429752,717.756429752,678.243570248,662,636,877,784,812,651,630,654,0.40096654186,-0.00537389247812,0.059840015696,0.999999925485,0.000278294279738,-0.000266946621634,1.79377318109e-05,1793249499549772288
+79,1.316666667,BASELINE,767,745.165700701,717.165700701,678.834299299,662,636,877,784,812,651,630,654,0.400966814791,-0.00537349181989,0.0598399161891,0.999999924997,0.000279940603499,-0.000267053898802,1.79306095667e-05,1793249499566439168
+80,1.333333333,BASELINE,766.582052872,745.417947128,717.417947128,678.582052872,662,636,877.417947128,784,812,651,630,653.582052872,0.400966020455,-0.00537358423363,0.0598394687417,0.999999924517,0.00028100908177,-0.000267721957396,1.80138246418e-05,1793249499583105792
+81,1.350000000,BASELINE,766.001165666,745.998834334,717.998834334,678.001165666,662,636,877.998834334,784,812,651,630,653.001165666,0.400964810037,-0.00537386887546,0.0598388856468,0.99999992404,0.000281852282429,-0.000268608641186,1.81322584528e-05,1793249499599771904
+82,1.366666667,BASELINE,766,745.420409845,717.420409845,678,661.420409845,636,877.420409845,784,812,651,630,653,0.400964927894,-0.00537332609411,0.059839088618,0.999999924521,0.000280324224136,-0.000268444582087,1.77048900333e-05,1793249499616438016
+83,1.383333333,BASELINE,766.160726145,745,717,678.160726145,661.160726145,636,877,784,812,651,630.160726145,653,0.40096485868,-0.00537288010234,0.0598391360756,0.999999924627,0.000279846081313,-0.000268567611868,1.74205159437e-05,1793249499633104384
+84,1.400000000,BASELINE,766.742859719,745,717,678.742859719,661.742859719,636,877,784,812,651,630.742859719,653,0.400964291985,-0.00537269224491,0.0598387716484,0.999999923746,0.000282133209716,-0.000269448898602,1.75139356297e-05,1793249499649771008
+85,1.416666667,BASELINE,767,745.323198359,717,678.676801641,662,636,877,784,812,651,630.676801641,653.323198359,0.400964135741,-0.00537315319844,0.0598386504534,0.999999923747,0.000281768472366,-0.000269811686558,1.77140374956e-05,1793249499666437376
+86,1.433333333,BASELINE,767,745.902116782,717,678.097883218,662,636,877,784,812,651,630.097883218,653.902116782,0.400964304255,-0.0053741275023,0.0598387217081,0.999999924446,0.000279305533378,-0.000269764229368,1.79985481197e-05,1793249499683104000
+87,1.450000000,BASELINE,767,745.522000503,717,678,662,636,877,784,812,651,630,654,0.400966193736,-0.00537500317949,0.0598396574,0.999999925577,0.000277116832496,-0.000267836927738,1.77565380876e-05,1793249499699771136
+88,1.466666667,BASELINE,766.946972052,745,717,678.053027948,662,636,877,784,812,651,630,654,0.400968168403,-0.00537581995175,0.0598406745832,0.999999926693,0.000275092691133,-0.000265768633017,1.74386697403e-05,1793249499716438272
+89,1.483333333,BASELINE,766.374261745,745,717,678.625738255,662,636,877,784,812,651,630,654,0.40096754599,-0.00537625612581,0.0598407665494,0.999999926877,0.000274134378861,-0.000266067333056,1.74273551552e-05,1793249499733104896
+90,1.500000000,BASELINE,766.205188024,745,717,679,662,636,877.205188024,784,812,651,629.794811976,654,0.400966843973,-0.005375760858,0.0598405165501,0.999999926528,0.000274782517334,-0.000266713151845,1.73916275299e-05,1793249499749771264
+91,1.516666667,BASELINE,766.797347936,745,717,679,662,636,877.797347936,784,812,651,629.202652064,654,0.400965991828,-0.00537350894853,0.0598396216249,0.999999925164,0.000278460322383,-0.000268013615035,1.73098584261e-05,1793249499766437632
+92,1.533333333,BASELINE,767,745,717,679,662,636,877.620262548,784,812,651,629.379737452,653.620262548,0.400963728795,-0.00537360859113,0.0598382603304,0.999999924468,0.000278739987778,-0.000270301473476,1.74562446254e-05,1793249499783104512
+93,1.550000000,BASELINE,767,745,717,679,662,636,877.042956295,784,812,651,629.957043705,653.042956295,0.400960731709,-0.00537493169284,0.0598366563943,0.999999924116,0.000277251678351,-0.00027310305144,1.77213348576e-05,1793249499799770880
+94,1.566666667,BASELINE,766.467339351,745.532660649,717,678.467339351,662,636,877.532660649,784,812,651,630,653,0.400963901462,-0.00537530830085,0.0598389710357,0.999999924942,0.000277727403716,-0.000269539747019,1.81931034209e-05,1793249499816437504
+95,1.583333333,BASELINE,766,745.894600169,717,678.105399831,661.894600169,636,878,784,812.105399831,651,630,653.105399831,0.400966739662,-0.00537549669634,0.0598409078237,0.999999925688,0.000278029648499,-0.000266424017432,1.84881727047e-05,1793249499833103872
+96,1.600000000,BASELINE,766,745.333710296,717,678.666289704,661.333710296,636,878,784,812.666289704,651,630,653.666289704,0.400966002627,-0.00537520054283,0.0598398503561,0.999999925736,0.00027689986778,-0.000267453713078,1.7947826643e-05,1793249499849771008
+97,1.616666667,BASELINE,766.247116106,745,717,679,661.247116106,636,878,784,812.752883894,651,630,654,0.400964732582,-0.00537464029385,0.05983871747,0.999999925305,0.000276957118131,-0.000269021791048,1.76555366421e-05,1793249499866437888
+98,1.633333333,BASELINE,766.857227785,745,717,679,661.857227785,636,878,784,812.142772215,651,630,654,0.400962679582,-0.00537369210788,0.0598374737998,0.999999924166,0.000278758030795,-0.000271380713405,1.77276229723e-05,1793249499883104512
+99,1.650000000,BASELINE,767,745,717,678.559233852,662,636,878,784,812,651,630,654,0.400963415724,-0.00537527252747,0.0598382597629,0.999999924893,0.000277411010498,-0.00027007801631,1.77516524107e-05,1793249499899770880
+100,1.666666667,BASELINE,767,745,717,678,662,636,878,784,812,651,630,654,0.400964984134,-0.00537748111686,0.0598396480989,0.999999926128,0.000275267236121,-0.000267686887884,1.77624025763e-05,1793249499916437248
+101,1.683333333,BASELINE,767,745,717,678,662,636,878,784,812,651,630,654,0.400965867942,-0.0053747035184,0.0598404255933,0.999999925502,0.000278822073189,-0.000266338934366,1.78215951989e-05,1793249499933103872
+102,1.700000000,BASELINE,767,745,717,678,662,636,877.830016972,784,812,651,630,654,0.400966412631,-0.00537297088454,0.0598407692182,0.999999925075,0.000280924905099,-0.000265731741384,1.78504728029e-05,1793249499949770496
+103,1.716666667,BASELINE,767,745,717,678,662,636,877.237973384,784,812,651,630,654,0.400966115302,-0.00537383285334,0.0598400355643,0.999999925168,0.000279422470038,-0.00026696382521,1.7804079509e-05,1793249499966437120
+104,1.733333333,BASELINE,767,745.346218553,717.346218553,678,661.653781447,636,877,784,812,651,630,654,0.400967005283,-0.0053741017312,0.0598407474829,0.999999925687,0.000278465500294,-0.000266018179078,1.78048913374e-05,1793249499983104000
+105,1.750000000,BASELINE,767,745.925133392,717.925133392,678,661.074866608,636,877,784,812,651,630,654,0.400968693265,-0.00537397198794,0.0598424309826,0.999999926489,0.000277875142042,-0.000263608863177,1.78374301048e-05,1793249499999770880
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,717,679,662,636,877,784,812,652,630,654,0.400966260888,-0.00537556159902,0.0598404259985,0.999999925602,0.000277943330533,-0.000266870175169,1.80159476904e-05,1793249500030946304
+107,1.783333333,POSE1_TO_POSE2_PRESS,766.575112497,745.424887503,717.575112497,679.575112497,662,636,877.575112497,784,812,651.424887503,630,653.424887503,0.400965433287,-0.00537551160748,0.0598394498598,0.999999925508,0.000277517688579,-0.000267669511489,1.79360353974e-05,1793249500047612416
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.154387128,718,679.845612872,662,636,877.845612872,784,812,651.154387128,630,653.154387128,0.400964844223,-0.00537481702555,0.0598389044782,0.999999925416,0.000277327632132,-0.000268223152263,1.77337188031e-05,1793249500064278784
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.745433827,718,679.254566173,662,636,877.254566173,784,812,651.745433827,630,653.745433827,0.40096492982,-0.00537229932167,0.0598395774249,0.999999925331,0.000277803891925,-0.000268081882227,1.71852009843e-05,1793249500080945152
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.670077554,717.670077554,679,662,636,877,784,812,651.670077554,630,653.670077554,0.400964613365,-0.00537170706527,0.0598396947623,0.999999925181,0.000278112127235,-0.000268328906423,1.70699682966e-05,1793249500097611776
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.090550523,717.090550523,679,662,636,877,784,812,651.090550523,630,653.090550523,0.400963992735,-0.00537257151658,0.0598393917506,0.999999924982,0.000278293242697,-0.000268869696699,1.72825398184e-05,1793249500114278400
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877,784,812,651,630,653.484155641,0.400964279904,-0.00537263531888,0.0598397373477,0.999999924545,0.000280276967661,-0.000268426592175,1.73765370105e-05,1793249500130945280
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.941954018,745.058045982,717.058045982,678.941954018,662,636,877.058045982,784,812,651,630,653.941954018,0.400964702089,-0.00537282506679,0.0598401221373,0.999999924245,0.000281802668788,-0.000267940072494,1.74560971835e-05,1793249500147612160
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.367379137,745.632620863,717.632620863,678.367379137,662,636,877.632620863,784,812,651,630,653.367379137,0.400964829787,-0.00537545492936,0.0598397868565,0.999999925582,0.000276282108671,-0.000268688557987,1.76025840718e-05,1793249500164279040
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.214695853,745.785304147,717.785304147,678.214695853,662,636,877.785304147,784,812,651,630,653,0.400966863652,-0.0053765088339,0.0598402704843,0.999999926489,0.000273716036396,-0.000267932062939,1.77075248839e-05,1793249500180945408
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.810069238,745.189930762,717.189930762,678.810069238,662,636,877.189930762,784,812,651,630,653,0.400972277344,-0.00537476840471,0.0598422061201,0.999999926665,0.000276388571427,-0.000264507084629,1.7738800273e-05,1793249500197611776
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877,784,811.609372509,651,630,653.390627491,0.400991633851,-0.00537516940017,0.059850527862,0.999999929925,0.000277740557546,-0.000250337355189,1.84745437114e-05,1793249500214278400
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877,784,811.035754396,651,630,653.964245604,0.401017521912,-0.0053765735523,0.0598618411946,0.999999934324,0.000278473928711,-0.00023113421442,1.95402973212e-05,1793249500230945280
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,717,678.458598291,661.458598291,636,877.541401709,784,811.541401709,651,630,653.458598291,0.401071918783,-0.0053784997802,0.0598803892937,0.999999942117,0.000276487393986,-0.000197257462134,2.02382507983e-05,1793249500247611648
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,717,678.121188536,661.121188536,636.121188536,878,784,812.121188536,651,630,653.121188536,0.401131056211,-0.00538038825721,0.0598986449997,0.999999948244,0.000274870868903,-0.00016589070729,2.09351514002e-05,1793249500264278528
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,717,678.710223454,661.710223454,636.710223454,878,784,812.710223454,651,630,653.710223454,0.401201178425,-0.00538199702036,0.0599139153104,0.999999950898,0.000275380756278,-0.000147979362835,2.1722374372e-05,1793249500280945664
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,717.294182849,678.705817151,662,636.705817151,878,784.294182849,812.411634302,651,630,654,0.401279842908,-0.00538364015315,0.0599248317126,0.999999953219,0.000275223667571,-0.000131666880574,2.18428513309e-05,1793249500297612544
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,717.873227502,678.126772498,662,636.126772498,878,784.873227502,811.253544995,651,630,654,0.401366778996,-0.00538531656647,0.0599315321569,0.999999955286,0.000274420735589,-0.000116902602399,2.13177077629e-05,1793249500314279424
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.550825042,745,717.550825042,678,662,636,877.550825042,784.101650083,811.449174958,651,630,654,0.40147087772,-0.00538866880923,0.0599368507813,0.99999995751,0.000270567629236,-0.000106488949623,2.07968535822e-05,1793249500330945536
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.024747958,745,717,678.024747958,662,636,877,783.024747958,812,651.024747958,630,653.975252042,0.401580867694,-0.00539243800937,0.0599417626494,0.999999959683,0.000266020564562,-9.72462224898e-05,2.02602746889e-05,1793249500347611904
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.611533096,745,717,678.611533096,662,636,877,783.611533096,812,651.611533096,630,653.388466904,0.40171539723,-0.00539500855647,0.0599462332483,0.99999996089,0.00026513010061,-8.69006607896e-05,1.93392751533e-05,1793249500364278528
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.195694005,717,678.804305995,661.804305995,636,877.195694005,784,812,651.804305995,630,653.195694005,0.401856979877,-0.00539785646208,0.0599488684491,0.999999962005,0.000263290884084,-7.96113632234e-05,1.81583659513e-05,1793249500380945152
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.774714493,717,678.225285507,661.225285507,636,877.774714493,784,812,651.225285507,630,653.774714493,0.40201237818,-0.00540124765877,0.0599479084612,0.999999963104,0.000259593245999,-7.83086937002e-05,1.64683443923e-05,1793249500397611776
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.646572606,745.646572606,717,678,661.353427394,636,878,784,812,651,629.646572606,653.646572606,0.402187751043,-0.00540518026422,0.0599468557758,0.99999996461,0.000254486520732,-7.62079225134e-05,1.44346911758e-05,1793249500414278656
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.068055543,745.068055543,717,678,661.931944457,636,878,784,812,651,629.068055543,653.068055543,0.402375845254,-0.00540945768061,0.0599457440535,0.999999966346,0.000248482380314,-7.35988588504e-05,1.21821868001e-05,1793249500430945536
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.50575203,745,717,678.50575203,662,636,877.49424797,784,812,651,629.50575203,653.50575203,0.402603166671,-0.00541535555822,0.0599469029491,0.999999968662,0.000241103812855,-6.66364758151e-05,1.01794520402e-05,1793249500447612416
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,717,679,661.918931618,636,877.162136765,784,812,651,630,654,0.402840765229,-0.00542167921099,0.0599484441985,0.999999971023,0.000233193373832,-5.92400312108e-05,8.11864807323e-06,1793249500464279296
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,717,679,661.330235875,636,878.339528249,784,812,651,630,654,0.403109968711,-0.00542931615342,0.0599504840772,0.999999973706,0.000223099904066,-5.27598599481e-05,5.48571701912e-06,1793249500480945408
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,717,679,661.254278007,636,878.745721993,784,812,651,629.745721993,654,0.403391685051,-0.00543702540932,0.0599497597198,0.999999975862,0.000213543085559,-5.1661389455e-05,2.63576173823e-06,1793249500497611776
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,717,679,661.833448664,636,878.166551336,784,812,651,629.166551336,654,0.403689389135,-0.00544482706016,0.0599455034798,0.999999977405,0.000204671950449,-5.74391531675e-05,-4.91486639756e-07,1793249500514278400
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,878.410960932,784,812,651,629.410960932,654,0.40400347284,-0.00545242860943,0.0599342640295,0.999999977826,0.000196320939568,-7.60981525367e-05,-4.00990641558e-06,1793249500530944768
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,878.987803789,784,812,651,629.987803789,654,0.404324168074,-0.0054599493887,0.0599202058482,0.999999977269,0.000188179873836,-9.99565855029e-05,-7.68622011009e-06,1793249500547611392
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,717.559008468,679,662,636,878.440991532,784,812,651,630,654,0.404683363699,-0.00546477004024,0.059906699971,0.999999975566,0.000182212099096,-0.000124562243011,-1.23188126568e-05,1793249500564278528
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,717.865195498,679,662,636,878,784,812,651,630,654,0.405060811798,-0.00547028529262,0.0598965180798,0.99999997411,0.00017559748136,-0.000143750746688,-1.67999384317e-05,1793249500580945408
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,717.273422707,679,662,636,878,784,812,651,630,654,0.405497314138,-0.00547835284654,0.0598975635965,0.99999997546,0.00016663103006,-0.00014452114457,-2.0697593464e-05,1793249500597612288
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.687806187,745,717,679,662,636,878,784,812.312193813,650.687806187,629.687806187,654,0.405973690256,-0.00548636498962,0.0599135568864,0.999999981247,0.000150750105136,-0.000119291182331,-2.34485206396e-05,1793249500614279168
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.107477067,745,717,679,662,636,878,784,812.892522933,650.107477067,629.107477067,654,0.406484312994,-0.00549432954263,0.0599423884378,0.999999988798,0.000128930513746,-7.17301733488e-05,-2.52145528761e-05,1793249500630945792
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,717,679,662,636.469894773,878.469894773,784,812.530105227,650.469894773,629,654,0.407028788205,-0.00548687739176,0.0599715680123,0.999999998667,3.82010888274e-05,-2.22688754808e-05,-2.66624340156e-05,1793249500647612416
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.046180014,745,717,678.953819986,662.046180014,636.953819986,878.953819986,784,812,651,629,653.953819986,0.407579555208,-0.00547605193299,0.0599982770171,0.999999997684,-5.77517846403e-05,2.22350306759e-05,-2.83281108283e-05,1793249500664279040
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.617750784,745,717,678.382249216,662.617750784,636.382249216,878.382249216,784,812,651,629,653.382249216,0.408114363879,-0.00546671500096,0.059995978363,0.999999998821,-3.49351094727e-05,5.42460789282e-06,-3.32943775458e-05,1793249500680945664
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.197438837,717,678.197438837,663,636.197438837,878.197438837,784,812,651,629,653.197438837,0.408666295035,-0.00546574143584,0.0599898003315,0.999999998909,-2.23697875154e-05,-1.54300121859e-05,-3.79957383105e-05,1793249500697612288
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.793516036,717,678.793516036,663,636.793516036,878.793516036,784,812,651,629,653.793516036,0.409252797266,-0.00548165390509,0.0599757896533,0.999999997658,-3.0502434511e-05,-4.44500570866e-05,-4.21622411391e-05,1793249500714278912
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.623698573,717,679,663,636.623698573,879,784,812,651,629.376301427,654,0.409884859961,-0.00549333067958,0.0599755755272,0.999999997157,-3.91924481057e-05,-4.52788156585e-05,-4.58163420855e-05,1793249500730945792
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.047957843,717,679,663,636.047957843,879,784,812,651,629.952042157,654,0.410541069629,-0.00550276254045,0.0599826735575,0.999999997144,-4.8177865068e-05,-3.11662255917e-05,-4.91988705238e-05,1793249500747613184
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662.474484827,636.525515173,879.525515173,784,812,651,629.474484827,654,0.411229702402,-0.00551731620717,0.0599910969015,0.999999994889,-8.71377059142e-05,-1.0819821317e-05,-5.01261093418e-05,1793249500764279552
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662.101938926,637,879.898061074,784,812,651,629.101938926,654,0.411920747744,-0.00552851225552,0.059994001905,0.999999993884,-0.000100467088446,-9.78464983329e-07,-4.62281241619e-05,1793249500780946176
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662.693525675,637,879.306474325,784,812,651,629.693525675,654,0.412609229762,-0.00552134501763,0.0599698219621,0.999999998563,2.23982231869e-05,-4.43173180955e-05,-2.02245680037e-05,1793249500797612544
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,717,679.278441935,663,637,879.278441935,784.278441935,812.278441935,651,629.721558065,654,0.413298141943,-0.00551268499794,0.0599400316467,0.999999991474,8.12261230405e-05,-0.000101652533621,-1.10065534755e-05,1793249500814279168
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,717,679.856187996,663,637,879.856187996,784.856187996,812.856187996,651,629.143812004,654,0.413987516602,-0.00550242034927,0.0599042106,0.999999982124,7.12186401164e-05,-0.000174032791213,-1.98317299154e-05,1793249500830946304
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,717,680,663,636.565651073,880,784.565651073,813,651,629.434348927,654,0.414797002675,-0.00550873147111,0.0599238289889,0.999999990224,2.91984093323e-05,-0.000134502829422,-2.46525962303e-05,1793249500847613184
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.012510458,717.012510458,680,663,636.012510458,880.012510458,784,813,651,629.987489542,654,0.415646014042,-0.00552050265768,0.0599618148144,0.999999997661,-2.22783513826e-05,-5.82539322363e-05,-2.80806760095e-05,1793249500864279552
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.584551013,717.584551013,680,663,636.584551013,880.584551013,784,813,651,629.415448987,654,0.416482443916,-0.00553078074959,0.0599995327664,0.999999999345,-2.218929219e-05,1.45919675204e-06,-2.85703217062e-05,1793249500880946176
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,717.838211744,680,663,637,881.161788256,784,813,651,629,654,0.41731982073,-0.00553787624437,0.0600235828046,0.999999998611,-1.98775445278e-05,3.91128989533e-05,-2.92157729795e-05,1793249500897613056
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,717.247187338,680,663,637,881.752812662,784,813,651,629,654,0.418159709795,-0.00553652807421,0.0600113708599,0.999999999307,-1.1668840991e-05,1.8241315195e-05,-3.02745881058e-05,1793249500914279424
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,717,679.662482083,663.337517917,637,882,784.337517917,813,651,629,654,0.419002627927,-0.00553302747932,0.0599933853971,0.999999999286,-1.59964799751e-05,-1.10335912661e-05,-3.23985215601e-05,1793249500930945792
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,717,679.082319743,663.917680257,637,882,784.917680257,813,651,629,654,0.419847723646,-0.00552797948855,0.059971249305,0.999999997873,-2.93365996887e-05,-4.63497150537e-05,-3.52881773216e-05,1793249500947612416
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,717,679.983703752,663.508148124,637,882,784.508148124,813,651,628.508148124,654,0.420669632755,-0.00552723913235,0.0599371697236,0.999999994191,-2.43183570723e-05,-9.76562969496e-05,-3.85907489714e-05,1793249500964279040
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,717,681.065407478,663.065407478,637,882.065407478,784,813.065407478,651,628.065407478,654,0.421490833215,-0.00552732294797,0.059902679593,0.99999998755,-1.8686821832e-05,-0.000151036681383,-4.16958574235e-05,1793249500980945664
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,717,681.641889515,663.641889515,637,882.641889515,784,813.641889515,651,628.641889515,654,0.422336453591,-0.00552828105218,0.0598804127859,0.999999978584,-3.19825537563e-05,-0.000199961142093,-4.27245510066e-05,1793249500997612288
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.775190808,717,681.775190808,664,637,883,784,813.775190808,651,628.775190808,654,0.423248282777,-0.00553050800839,0.0598932163636,0.99999998175,-3.66640626938e-05,-0.000182600789951,-4.25818976809e-05,1793249501014279168
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.181713865,717,681.181713865,664,637,883,784,813.181713865,651,628.181713865,654,0.424268688855,-0.00553481577296,0.0599635323545,0.99999999721,-2.72189881766e-05,-5.65390484341e-05,-4.05183359439e-05,1793249501030945792
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.399971374,717,681,664,637,883,784,813.399971374,651,628,654,0.42523339075,-0.00553587472679,0.0600109055443,0.999999998417,-3.46864229442e-05,2.14987957771e-05,-3.87284527266e-05,1793249501047612416
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.976452819,717,681,664,637,883,784,813.976452819,651,628,654,0.426173509951,-0.00553549995822,0.0600481539168,0.999999995014,-4.96174629288e-05,7.83433619043e-05,-3.70593458831e-05,1793249501064279040
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,717,681,664,637,883.550212602,784,814,651,628,654,0.42708381315,-0.00553711175121,0.0600319133554,0.999999995693,-5.23044121843e-05,6.51681626112e-05,-4.03819574859e-05,1793249501080945920
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.872417938,745.872417938,717,681,664,637,883.872417938,784,814,651,628,654,0.42798217277,-0.00553855186459,0.0600116150676,0.999999996755,-5.1975152582e-05,4.36117295758e-05,-4.34262504678e-05,1793249501097612544
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.281518986,745.281518986,717,681,664,637,883.281518986,784,814,651,628,654,0.428841770083,-0.0055390612953,0.0599848532036,0.999999998092,-4.25860342263e-05,2.44733074476e-06,-4.46878470368e-05,1793249501114279168
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.303101146,745,717,681.303101146,664.303101146,636.696898854,883.303101146,784,814.303101146,651,628,654,0.429703433634,-0.00553860660502,0.0599526810895,0.99999999636,-4.7577075126e-05,-5.36439682242e-05,-4.62392467777e-05,1793249501130945280
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.882007861,745,717,681.882007861,664.882007861,636.117992139,883.882007861,784,814.882007861,651,628,654,0.430566977303,-0.00553727461703,0.0599155859434,0.999999989087,-6.56532796947e-05,-0.000123317932564,-4.80543514564e-05,1793249501147611904
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,717,682,664.542194777,636.457805223,884.457805223,784,815,651,628,654,0.43150781568,-0.00553782186861,0.0599382207128,0.999999993936,-6.2856807664e-05,-7.62596623349e-05,-4.85900584926e-05,1793249501164278784
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.033474757,745.033474757,717,682,664.033474757,636.966525243,885,784,815,651,628,654,0.432464112035,-0.00553891872766,0.0599757648248,0.99999999728,-5.53789851755e-05,-1.15993389694e-06,-4.8692120754e-05,1793249501180946176
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.620186104,745.620186104,717,682,664.620186104,636.379813896,885,784,815,651,628,654,0.433348859703,-0.00554114818356,0.0600070078536,0.999999996216,-5.884145085e-05,4.35054405948e-05,-4.70402687348e-05,1793249501197612800
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.591869826,746,717,682,664.795934913,636,885,784,814.795934913,651,628,654,0.434224474698,-0.00554335486253,0.0600197954963,0.999999995242,-6.19103087281e-05,5.93733641915e-05,-4.64522462667e-05,1793249501214279168
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.434510739,746,717,682,664.21725537,636,885,784,814.21725537,651,628,654,0.435083324453,-0.00554551972891,0.0599987034909,0.999999996542,-6.42565980007e-05,2.23760966241e-05,-4.78171589987e-05,1793249501230945536
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717,682,664,636.359230886,885.359230886,784,814.359230886,651,628,654,0.435920397221,-0.00554728375424,0.0599701909892,0.99999999594,-6.89661115521e-05,-2.95411797369e-05,-4.99174292678e-05,1793249501247612160
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,682,664,636.934398703,885.934398703,784,814.934398703,651,628,654,0.436744379595,-0.00554880683026,0.0599372179613,0.999999991716,-7.5096180247e-05,-9.04270058266e-05,-5.24597293875e-05,1793249501264278528
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.48870811,717,682.51129189,664,636.48870811,885.48870811,784,815,651,628,654,0.437521935693,-0.00554722664184,0.0599181751746,0.999999987195,-7.7740944742e-05,-0.000129379751628,-5.3178069466e-05,1793249501280945152
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,717,683,664,636,885,784,815,651,628.088007322,654,0.438298716795,-0.00554545377947,0.0599048334408,0.999999983091,-7.79290976576e-05,-0.000157729290578,-5.3535520485e-05,1793249501297611776
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,717,683,664,636,885,784,815,651,628.662512249,654,0.439104253554,-0.00554482430434,0.0599130930673,0.999999986104,-6.70176504772e-05,-0.000143074057439,-5.31960472395e-05,1793249501314278656
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.243631067,716.756368933,683,664,636,885.243631067,783.756368933,815,651,629,653.756368933,0.43991218035,-0.00554566187416,0.0599393318534,0.999999991339,-6.72130476121e-05,-0.000100468574172,-5.20599999046e-05,1793249501330945536
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.834167324,716.165832676,683,664,636,885.834167324,783.165832676,815,651,629,653.165832676,0.440723510237,-0.00554858836283,0.0599911710841,0.999999995134,-8.32234315553e-05,-1.80648548965e-05,-4.97897140573e-05,1793249501347612160
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.584933165,746,716.415066835,683,664.415066835,636,886,783,815,651,628.584933165,653.415066835,0.441464321425,-0.00555230934054,0.0599942092026,0.999999994868,-8.67985751269e-05,-1.68931458444e-05,-4.94432176711e-05,1793249501364278784
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.007796436,746,716.992203564,683,664.992203564,636,886,783,815,651,628.007796436,653.992203564,0.442177597457,-0.00555634054023,0.0599781921024,0.999999993976,-8.55181693592e-05,-4.7439847654e-05,-4.98478974045e-05,1793249501380945408
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.56822952,746,717,683,664.43177048,636,886,783.56822952,815,651,628,654,0.442807660445,-0.00555738643881,0.0599243144472,0.999999987328,-8.43024006216e-05,-0.000123652401749,-5.42814416849e-05,1793249501397612288
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,717,683,664,635.851639196,886,783.851639196,815.148360804,651,628,654,0.443431905479,-0.00555870896199,0.0598784382609,0.999999976651,-8.56905400937e-05,-0.000189706950424,-5.80237380547e-05,1793249501414278912
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,683,664,635.2591733,886,783.2591733,815.7408267,651,628,654,0.444042146131,-0.00556098190809,0.0598580657089,0.999999968756,-9.48706024639e-05,-0.000223482519709,-5.95316980758e-05,1793249501430945280
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664,635.322239171,886.322239171,783,815.677760829,651,628.322239171,654,0.44464700206,-0.00556015962671,0.0598497155683,0.999999964883,-9.8132795142e-05,-0.000238524193549,-6.09157431141e-05,1793249501447611904
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,683,664,635.8950563,886.8950563,783,815.1049437,651,628.8950563,654,0.445247670713,-0.00555693045041,0.0598507142343,0.999999964821,-9.67931641028e-05,-0.000238998110602,-6.22034299746e-05,1793249501464278784
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663.527055839,635.527055839,887,783,815,651,628.527055839,654,0.445793494792,-0.00555283624442,0.0598261389217,0.99999995254,-9.41912502165e-05,-0.000285998343082,-6.52141232973e-05,1793249501480945664
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,887,783,815.051551044,651,628.051551044,654,0.446324581104,-0.00554928821739,0.0597970680857,0.999999935632,-9.18718243107e-05,-0.000340002124751,-6.85191367506e-05,1793249501497612032
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,887,783,815.625915303,651,628.625915303,654,0.4468309607,-0.0055532470937,0.0597805800381,0.999999928436,-9.52886987038e-05,-0.00035919697489,-7.08896076582e-05,1793249501514278912
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.791883776,717,683,663,635,887,783,815.791883776,651,629,654,0.44733430243,-0.00555865533932,0.0597742594911,0.999999926084,-0.000101738084289,-0.000363562478706,-7.28281401441e-05,1793249501530945792
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.195045502,717,683,663,635,887,783,815.195045502,651,629,654,0.44783196994,-0.00556677073432,0.0597869299291,0.999999932906,-0.000113851631275,-0.000340229544604,-7.39598924652e-05,1793249501547612416
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.386573243,717,683.386573243,663,635,887,783,815.386573243,651,628.613426757,654,0.448288270268,-0.00557275029856,0.05978832258,0.999999932616,-0.000123168289025,-0.000337587988161,-7.50494842018e-05,1793249501564278784
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.9608039,717,683.9608039,663,635,887,783,815.9608039,651,628.0391961,654,0.44872448943,-0.00557769304971,0.0597842405635,0.999999928996,-0.000131127231019,-0.000344990814602,-7.61186096904e-05,1793249501580945152
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+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.829839823,717,683.170160177,661.829839823,633,887,782,815.829839823,651.829839823,628,654,0.452520813094,-0.00557053746153,0.0596549167087,0.999999851308,-0.000107555595251,-0.000530856615292,-6.33027257275e-05,1793249501864278272
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,717,683,661.590223074,633,887,782,816,652,628,654,0.452587012183,-0.00557248211109,0.0596523157928,0.999999849034,-0.000109069285198,-0.000534826493523,-6.32124554036e-05,1793249501880944896
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661.015616899,633,887,782,816,652,628,654,0.452648493585,-0.005576326503,0.0596509938903,0.999999847272,-0.00011324324869,-0.000537291248161,-6.28445195257e-05,1793249501897611520
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,717,683,661.558956018,633,887,782,816,651.441043982,628,654,0.452694527403,-0.0055751649825,0.0596509671783,0.999999846546,-0.000109813606448,-0.000539319407865,-6.31214590932e-05,1793249501914278144
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.862562622,717,683,662,633,887,782.137437378,816,651,628,654,0.452735875973,-0.00557398240496,0.0596502470222,0.999999845275,-0.000106815796941,-0.000542247860602,-6.33082942008e-05,1793249501930945024
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.271168702,717,683,662,633,887,782.728831298,816,651,628,654,0.45276317461,-0.00557319221444,0.0596471168973,0.999999842138,-0.000105945984174,-0.000548190274971,-6.313800547e-05,1793249501947612672
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745.31320751,717,683.31320751,661.68679249,633,887,782.68679249,816,651,628,654,0.452786998975,-0.00557346443788,0.0596454285243,0.999999840717,-0.000105491401965,-0.000550903237803,-6.27895879764e-05,1793249501964279552
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745.891641149,717,683.891641149,661.108358851,633,887,782.108358851,816,651,628,654,0.452807881307,-0.00557463632019,0.0596449610356,0.999999840771,-0.00010538843956,-0.000550881481032,-6.22903298868e-05,1793249501980945408
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,717,683.630215206,661.630215206,633,887,782,816,651,628,654,0.452840899487,-0.00557119562879,0.0596424379457,0.999999840359,-0.000103041633839,-0.00055208131889,-6.22119461737e-05,1793249502030944768
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661.331185848,633,886.668814152,782,815.331185848,651,628,654,0.452850686442,-0.00556936627306,0.0596368177978,0.999999835936,-0.000101170544767,-0.00056037459995,-6.22371780796e-05,1793249502147611648
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,717,683.8472137,661,633,887,782,815.8472137,651,628,654,0.452854722147,-0.00556985312621,0.0596395689679,0.999999837326,-0.000102620740616,-0.000557656520771,-6.19340409665e-05,1793249502180945152
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,717,683,661,633,887,782,816,651,628,654,0.452852314829,-0.00556789951902,0.0596365464773,0.999999835065,-9.8681073739e-05,-0.000562449650386,-6.15083566355e-05,1793249502230945280
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661,633,887,782,816,651,628,654,0.452852671137,-0.00556670622481,0.0596366247735,0.999999834948,-9.9373526643e-05,-0.000562479824738,-6.20177957113e-05,1793249502247611904
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683,661,633,887,782,816,651,628,654,0.45285466529,-0.00556689184482,0.0596370527707,0.999999836566,-9.84688618783e-05,-0.000559799623872,-6.16099745291e-05,1793249502280944896
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+244,4.066666667,HOLD_POSE2,766,746,717,683.407761433,661.592238567,633,887,782,815.407761433,651,628,654.407761433,0.452853632697,-0.00556647084703,0.0596364713065,0.999999835085,-9.96105232112e-05,-0.000562262868929,-6.13926181916e-05,1793249502346894336
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+247,4.116666667,HOLD_POSE2,766,745.368019036,717,683,661,633,887,782,816,651,628,654,0.452858174424,-0.00556799058493,0.0596390700524,0.999999837325,-0.000101065109521,-0.000558071951784,-6.07577715187e-05,1793249502396894208
+248,4.133333333,HOLD_POSE2,766,745.944068131,717,683,661,633,887,782,816,651,628,654,0.452858808856,-0.00556718541817,0.0596393669836,0.999999837927,-9.98210007653e-05,-0.000557234549029,-6.05900119798e-05,1793249502413560832
+249,4.150000000,HOLD_POSE2,766,746,717,683.513715682,661,633,887.513715682,782.513715682,816,651,628,654,0.452858193215,-0.00556764911589,0.0596391020155,0.999999837232,-9.95321174323e-05,-0.000558553609619,-6.03861493209e-05,1793249502430227456
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+251,4.183333333,HOLD_POSE2,766,745.31825887,717,683.31825887,661,633,887.31825887,782.31825887,816,651,628,654,0.452856412071,-0.00556737374414,0.059637407426,0.999999836031,-9.78061429921e-05,-0.000561007047798,-6.03533484669e-05,1793249502463560192
+252,4.200000000,HOLD_POSE2,766,745.270322228,716.729677772,683,661,633,887,782,815.729677772,651,628,654,0.452855852106,-0.00556750417156,0.0596366697682,0.999999835698,-9.80418831262e-05,-0.000561561498249,-6.03412298367e-05,1793249502480226816
+253,4.216666667,HOLD_POSE2,766,745.851244725,716.148755275,683,661,633,887,782,815.148755275,651,628,654,0.452855792479,-0.00556857531337,0.0596365055857,0.999999835468,-0.00010012040272,-0.000561621531111,-6.01699633381e-05,1793249502496893440
+254,4.233333333,HOLD_POSE2,766,745.573724597,716.426275403,683,661,633,887,782,815.426275403,651,627.573724597,654,0.452856831285,-0.00556738650521,0.0596371796981,0.999999836083,-0.00010005947174,-0.000560502648616,-6.04965658614e-05,1793249502513560832
+255,4.250000000,HOLD_POSE2,766,745.00072188,716.99927812,683,661,633,887,782,815.99927812,651,627.00072188,654,0.45285824818,-0.00556541980475,0.0596381423581,0.999999836985,-9.92621253827e-05,-0.000558977974278,-6.09945387646e-05,1793249502530228480
+256,4.266666667,HOLD_POSE2,766,745.576580769,717,683,661,633,887,782,816,651,627.576580769,654,0.452858367259,-0.00556688660064,0.0596378449204,0.999999836738,-9.89995350443e-05,-0.000559508597897,-6.05998559515e-05,1793249502546894848
+257,4.283333333,HOLD_POSE2,766,746,717,683,661,633,887,782,816,651,627.842225434,654,0.452858089251,-0.00556774151373,0.059637344018,0.999999836434,-9.83130028726e-05,-0.000560212638092,-6.02276345308e-05,1793249502563561216
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+259,4.316666667,HOLD_POSE2,766,746,717,683,661,633,887,782,816,651,627.332387011,654,0.452855866277,-0.00556704842699,0.0596353030168,0.999999835111,-9.66171651894e-05,-0.000562911924857,-5.9772072293e-05,1793249502596893952
+260,4.333333333,HOLD_POSE2,766,746,717,683,661,633,887,782,816,651,627.908401404,654,0.452855382591,-0.00556792013101,0.0596343709284,0.999999833949,-9.82522598327e-05,-0.000564694553318,-5.97404323183e-05,1793249502613560576
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.58972692,661,633,887,781.58972692,815.41027308,651,628,654,0.452858601287,-0.00556670032307,0.0596374646675,0.99999983627,-9.92330014704e-05,-0.000560287156202,-6.0754385962e-05,1793249502661914880
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.519315747,745,717.480684253,680,662,636,878.519315747,784,812.480684253,651,629,654,0.416265885275,-0.00538014660322,0.05982028397,0.999999933032,0.000213676719159,-0.00029584694609,2.74514810857e-05,1793249503895248384
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,717,680,662,636,878.902219855,784,812,651,629,653.902219855,0.415484621196,-0.00537902244861,0.0598421633041,0.999999938058,0.000226248971371,-0.000267964302904,2.98580131296e-05,1793249503911914496
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,717,680,662,636,878.315526594,784,812,651,629,653.315526594,0.414729423679,-0.00538428969275,0.0598389801934,0.999999938127,0.000216887168104,-0.000275359084756,2.97296988903e-05,1793249503928581376
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,717,679.731416933,662,636,878,784.268583067,812,651,629,653,0.413957089247,-0.00538652216669,0.0598345189911,0.999999936784,0.000211134299325,-0.000284574377094,2.95286729331e-05,1793249503945248000
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,717,679.150313564,662,636,878,784.849686436,812,651,629,653,0.413164814542,-0.00538522341501,0.0598285706158,0.99999993383,0.000209580747698,-0.000295907994909,2.92430404305e-05,1793249503961914368
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,717,679.426680049,662,636,878,784.573319951,812,651,629,653.426680049,0.412387666766,-0.00537909278293,0.0597908547154,0.999999911306,0.000220574531259,-0.000357793071598,2.6828251348e-05,1793249503978581248
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.997762607,745,717,680,662,636,878,784,812,651,629,653.997762607,0.411616282426,-0.00537130749265,0.0597422698141,0.999999876471,0.000235821229411,-0.000436905213891,2.36800331548e-05,1793249503995248128
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.422798356,745,717,680,662,636,878,784,812,651,629,653.422798356,0.410969131576,-0.00537153664122,0.0597488495218,0.999999891434,0.000219026693287,-0.000410647538915,2.29606511403e-05,1793249504011915264
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.15657147,745,717,680,661.84342853,636,878,784,812,651.15657147,629,653,0.41033769172,-0.0053724837579,0.0597660700037,0.999999907918,0.000207230473854,-0.000375057347171,2.34814562704e-05,1793249504028582400
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.748182473,745,717,680,661.251817527,636,878,784,812,651.748182473,629,653,0.409749905292,-0.00537542577518,0.0598128562656,0.999999928563,0.000209322255658,-0.000313536411625,2.7448166403e-05,1793249504045248512
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,717,679.668307064,661,636,878,784,812,651.668307064,629,653,0.409151755422,-0.00537585238691,0.0598426407004,0.999999937026,0.000225226705161,-0.000272652924675,2.96730214246e-05,1793249504061915136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,717,679.090799866,661,636,878,784,812,651.090799866,629,653,0.408545925347,-0.00537441485699,0.0598598252511,0.999999937419,0.000251367582329,-0.000247063645059,3.06070051207e-05,1793249504078581504
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.516072249,745.483927751,717,679,661,636,877.516072249,784,812,651,629,653.483927751,0.407975313076,-0.00537526823573,0.0598512909609,0.99999993865,0.000239490797879,-0.000253918787269,2.94745333027e-05,1793249504095247872
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.940303601,717,679,661,636,877,784,812,651,629,654,0.407416545566,-0.00537637580384,0.0598380289522,0.999999939002,0.00022308904646,-0.000267289579982,2.80093240606e-05,1793249504111913984
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.350690689,717,679,661,636,877,784,812,651,629,654,0.406904599429,-0.00537594588788,0.0598253916521,0.999999932758,0.000229479412952,-0.000284768904221,2.70126304838e-05,1793249504128580608
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.234657475,745,717,679.234657475,661.234657475,636,877.234657475,784,812,651,629.234657475,654,0.406411259381,-0.00537419437873,0.059820305242,0.999999929616,0.000236167014463,-0.000290338377327,2.64081398914e-05,1793249504145247232
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.813745782,745,717,679.813745782,661.813745782,636,877.813745782,784,812,651,629.813745782,654,0.405945229443,-0.00537050303181,0.059826302048,0.999999931296,0.000243290897778,-0.000278426539618,2.63793259179e-05,1793249504161913856
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,717,679.609521527,661.609521527,636,877.609521527,784,812,651,630,653.609521527,0.405491703794,-0.00536613355137,0.0598254530332,0.999999930094,0.000247852914446,-0.000278687715099,2.67313239163e-05,1793249504178580480
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,717,679.033905651,661.033905651,636,877.033905651,784,812,651,630,653.033905651,0.405044106756,-0.00536144254743,0.0598213582126,0.999999927545,0.000251200274937,-0.000284720475419,2.72638761409e-05,1793249504195247360
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.539541994,717,679,661,636,877.539541994,784.539541994,812,651,630,653.539541994,0.404630839881,-0.0053555713161,0.0598001056131,0.999999915171,0.000260044120862,-0.000318293627943,2.69044790083e-05,1793249504211914496
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.883498352,717,678.883498352,661,636,877.883498352,784.883498352,812,651,629.883498352,653.883498352,0.40423179368,-0.00534964796403,0.0597794028534,0.999999901817,0.000269471622313,-0.000350781845987,2.65067991493e-05,1793249504228581888
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.291655373,717,678.291655373,661,636,877.291655373,784.291655373,812,651,629.291655373,653.291655373,0.403882002424,-0.00534381335173,0.0597653251715,0.99999989137,0.000279876849862,-0.000371810276918,2.618070262e-05,1793249504245248000
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.293386167,717,678.293386167,661.293386167,636,877.293386167,784,811.706613833,651,629,653.293386167,0.403568295256,-0.00534071652663,0.0597668955328,0.999999891597,0.000286783311182,-0.00036581545845,2.72120826867e-05,1793249504261914368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.87181955,717,678.87181955,661.87181955,636,877.87181955,784,811.12818045,651,629,653.87181955,0.403289646575,-0.00534027967262,0.0597836691719,0.999999901796,0.000290290451389,-0.000333565474259,2.95623556368e-05,1793249504278581504
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745.552298221,717,679,662,636,878,784,811.447701779,651,629,654,0.403040156236,-0.00534122832745,0.0598046802094,0.999999912557,0.000291233215948,-0.000298412666144,3.19178246736e-05,1793249504295248384
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.976672022,745,717,679,661.976672022,636,877.976672022,784,812,651,629,653.976672022,0.402800038371,-0.00534279516312,0.0598264146626,0.99999992239,0.000290999968215,-0.000263376724846,3.42253544141e-05,1793249504311915008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.38968328,745,717,679,661.38968328,636,877.38968328,784,812,651,629,653.38968328,0.402585810931,-0.0053497682637,0.0598364808406,0.999999928644,0.000279990959804,-0.000251132199659,3.53388132965e-05,1793249504328581376
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.194832628,745,717,678.805167372,661,636,877,784,812,651,629.194832628,653.194832628,0.402374731457,-0.00535873408648,0.059841180066,0.999999932976,0.000267409154145,-0.000247393302584,3.65651534949e-05,1793249504345248000
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.774464559,745,717,678.225535441,661,636,877,784,812,651,629.774464559,653.774464559,0.402169869321,-0.00537163558454,0.0598352794246,0.999999933678,0.000251721036011,-0.000260453234855,3.80144369841e-05,1793249504361914624
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,717,678,661.352678243,636,876.647321757,784,812,651,629.647321757,654,0.401985309606,-0.00537588015265,0.0598295626684,0.999999932058,0.000243953682119,-0.000273709614899,3.81259471759e-05,1793249504378581248
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,717,678,661.929988656,636,876.070011344,784,812,651,629.070011344,654,0.40181368114,-0.0053746108436,0.059823963034,0.999999928994,0.000241231317405,-0.000287091120171,3.73853864674e-05,1793249504395247872
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.494614933,745,717,678,662,636,876.505385067,784,812,650.494614933,629.505385067,653.494614933,0.401680565704,-0.00537429703289,0.0598246310773,0.999999942413,0.000182582580053,-0.000285237665423,2.18395282034e-05,1793249504411914496
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.082322524,661.917677476,636,877.082322524,784,812,650.082322524,629.917677476,653,0.401556782233,-0.00537533174389,0.0598264221658,0.999999952549,0.000124844620156,-0.000281542613016,7.08227274483e-06,1793249504428581120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,717,678.670349468,661.329650532,636,877.670349468,784,812,650.670349468,629.329650532,653,0.401457674124,-0.00538384032601,0.0598297984812,0.999999953693,0.00012011469015,-0.000279450567651,9.72098383452e-06,1793249504445248000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,877.74548748,784,812,651,629,653.25451252,0.401368238573,-0.00538511449797,0.0598321523957,0.999999954057,0.000124077452165,-0.000276343871705,1.11865123921e-05,1793249504461914624
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,877.166254224,784,812,651,629,653.833745776,0.401291143798,-0.00537715862054,0.0598332018761,0.999999953283,0.000139130817614,-0.000271942630158,1.11552315302e-05,1793249504478581248
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.412355311,745.412355311,717.412355311,678.587644689,661.412355311,636,877,784,812,651,629.412355311,654,0.401223405246,-0.00537660788181,0.0598324524861,0.999999943485,0.000194510526578,-0.000273954323779,1.20483326152e-05,1793249504495247872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.990713738,745.990713738,717.990713738,678.009286262,661.990713738,636,877,784,812,651,629.990713738,654,0.401159433259,-0.0053790382522,0.0598309789194,0.999999925706,0.000266124531556,-0.000278547690887,1.33135648652e-05,1793249504511914496
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745.435334394,717.435334394,678,662,636,877,784,812,651,630,654,0.401111785467,-0.00537698416256,0.0598284617213,0.999999923609,0.000269123326728,-0.000283158667451,1.32677869539e-05,1793249504528581120
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.857063933,745,717,678,661.857063933,636,877,784,812,651.142936067,630,654,0.401068326087,-0.00537520214458,0.0598259865486,0.999999921957,0.000270660331961,-0.000287496300101,1.32148480492e-05,1793249504545248256
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.264997862,745,717,678,661.264997862,636,877,784,812,651.735002138,630,654,0.401037190417,-0.00537450496319,0.0598236969396,0.999999920826,0.000271122368161,-0.00029097413476,1.32066298263e-05,1793249504561915136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.318661943,745,717.318661943,678,661.318661943,636,877,784,812.318661943,651.681338057,630,654,0.401014918856,-0.00537500702923,0.0598233940131,0.999999921013,0.000270356087349,-0.000291025562931,1.36274182881e-05,1793249504578581760
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.895510868,745,717.895510868,678,661.895510868,636,877,784,812.895510868,651.104489132,630,654,0.400999829192,-0.00537648075211,0.0598247007407,0.999999922266,0.000268594596864,-0.000288300840846,1.43957974925e-05,1793249504595248128
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.470709137,718,678.470709137,662,636,877,784,812.529290863,651,630,654,0.400989421815,-0.00537496560954,0.0598257286685,0.999999922562,0.000268881816929,-0.000287007498509,1.43146174895e-05,1793249504611914752
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,717.953331687,678.953331687,661.953331687,636,877,784,812,651,629.953331687,654,0.400980580936,-0.00537317516431,0.0598268692489,0.999999922804,0.000269347639416,-0.000285735920344,1.41191365203e-05,1793249504628581632
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,717.364285215,678.364285215,661.364285215,636,877,784,812,651,629.364285215,654,0.400977908348,-0.00537586910782,0.0598300358296,0.999999924856,0.00026662222979,-0.00028103740845,1.47793489786e-05,1793249504645248256
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.779053615,717,678,661.220946385,636,877.220946385,784,812,651,629,653.779053615,0.400975691117,-0.00537657467988,0.0598324135975,0.999999925802,0.000266761058047,-0.000277497178441,1.51568819136e-05,1793249504661915136
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.200005059,717,678,661.799994941,636,877.799994941,784,812,651,629,653.200005059,0.400974211913,-0.00537405756889,0.0598335128852,0.999999924977,0.000271542143023,-0.000275834251475,1.50762577279e-05,1793249504678581760
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.376855824,717,678.376855824,662,636,877.623144176,784,812,651,629.376855824,653,0.400972573238,-0.00537441312015,0.0598335820543,0.999999925379,0.000270431533468,-0.000275457007629,1.52472932178e-05,1793249504695248128
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.952562348,717,678.952562348,662,636,877.047437652,784,812,651,629.952562348,653,0.400970850416,-0.00537628445249,0.059833107674,0.999999926423,0.000266212128571,-0.000275758163824,1.55511187562e-05,1793249504711914496
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745.471880843,717.528119157,679,661.471880843,636,877.528119157,783.471880843,812,651,630,653.528119157,0.400969480088,-0.0053765424427,0.0598334489615,0.999999925858,0.00026748460461,-0.000276572617481,1.55947848209e-05,1793249504728581376
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.893911571,745,717.893911571,678.893911571,661.106088429,636,877.893911571,783.106088429,812,651,630,654,0.400968789409,-0.00537667124514,0.0598341287573,0.999999925493,0.000268813011018,-0.000276604092662,1.56360717255e-05,1793249504745248256
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.304899532,745,717.304899532,678.304899532,661.695100468,636,877.304899532,783.695100468,812,651,630,654,0.400971048463,-0.00537687145895,0.0598360160512,0.999999926696,0.000268151102752,-0.00027286156214,1.57728737676e-05,1793249504761915136
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.279283719,745.279283719,717.279283719,678,662,636,877,784,812,651,630,654,0.400971300836,-0.00537764459688,0.0598365891028,0.999999927387,0.000266799767577,-0.000271651565171,1.58087378863e-05,1793249504778581760
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.858284957,745.858284957,717.858284957,678,662,636,877,784,812,651,630,654,0.400969399709,-0.00537903257695,0.0598357517559,0.999999927533,0.00026470856348,-0.000273159394158,1.57362789736e-05,1793249504795247872
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.565147032,717.565147032,678.434852968,662,636,877,784,812,651,630,654,0.400968358571,-0.00537879246043,0.0598351575991,0.999999927237,0.000264799162239,-0.000274157842156,1.56328163031e-05,1793249504811914240
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.419579707,745.580420293,717.580420293,678.419579707,662,636,877,784,812,651,630,654,0.400968233269,-0.00537609897742,0.0598354340592,0.999999926402,0.000267907358884,-0.000274187261955,1.56101207946e-05,1793249504845248000
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..23599ee75e23129ae41c80b258bd60c5d402ffb8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,406 @@
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+372,6.200000000,pose2_to_pose3_retreat,0.575884523989,0.000150159212619,1.05003369041,0.546455203009,0.00882279423533,1.04970506859
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+374,6.233333333,pose2_to_pose3_retreat,0.575790822037,0.000150051856488,1.05003350903,0.546361502222,0.00882269149118,1.04970490462
+375,6.250000000,pose2_to_pose3_retreat,0.57575590043,0.000150056317006,1.05003356811,0.546326580584,0.00882269600667,1.04970496796
+376,6.266666667,pose2_to_pose3_retreat,0.575729430361,0.000150091222208,1.05003362683,0.546300108997,0.00882272558217,1.04970502203
+377,6.283333333,pose2_to_pose3_retreat,0.575709276258,0.000150102780532,1.05003352265,0.5462799547,0.00882273647583,1.04970491781
+378,6.300000000,pose2_to_pose3_retreat,0.575694957265,0.000150105467718,1.05003340793,0.546265636386,0.00882274157571,1.04970480612
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+380,6.333333333,pose2_to_pose3_retreat,0.575679337478,0.000150037868923,1.05003349957,0.546250017238,0.00882267609018,1.04970489606
+381,6.350000000,pose2_to_pose3_retreat,0.575675355865,0.000149974542254,1.0500334844,0.546246036836,0.00882261698653,1.04970488366
+382,6.366666667,pose2_to_pose3_retreat,0.575672953719,0.000150034976142,1.05003356094,0.546243633674,0.0088226737859,1.04970495531
+383,6.383333333,pose2_to_pose3_retreat,0.575671570033,0.00015007158423,1.0500336066,0.546242249371,0.0088227081878,1.04970499802
+384,6.400000000,pose2_to_pose3_retreat,0.575670371529,0.000150103292965,1.05003364614,0.546241050332,0.00882273798561,1.04970503502
+385,6.416666667,pose2_to_pose3_retreat,0.575669381408,0.000150129135202,1.05003364172,0.546240059955,0.00882276297645,1.0497050311
+386,6.433333333,pose2_to_pose3_retreat,0.575668922104,0.000150140902518,1.05003361652,0.546239600648,0.00882277480286,1.04970500776
+387,6.450000000,pose2_to_pose3_retreat,0.575668737363,0.000150145635565,1.05003360638,0.546239415905,0.00882277955968,1.04970499837
+388,6.466666667,pose2_to_pose3_retreat,0.575668526734,0.000150151031865,1.05003359482,0.546239205274,0.00882278498308,1.04970498766
+389,6.483333333,pose2_to_pose3_retreat,0.575668363899,0.000150155203654,1.05003358588,0.546239042439,0.00882278917582,1.04970497939
+390,6.500000000,pose2_to_pose3_retreat,0.575668194332,0.000150159547962,1.05003357657,0.54623887287,0.00882279354194,1.04970497077
+391,6.516666667,pose2_to_pose3_retreat,0.575667785591,0.000150170019845,1.05003355414,0.546238464127,0.00882280406641,1.04970495
+392,6.533333333,pose2_to_pose3_retreat,0.575667432829,0.000150179057565,1.05003353478,0.546238111362,0.00882281314952,1.04970493207
+393,6.550000000,pose2_to_pose3_retreat,0.575667406339,0.00015017973623,1.05003353333,0.546238084872,0.00882281383159,1.04970493072
+394,6.566666667,pose2_to_pose3_retreat,0.57566727994,0.000150182974575,1.05003352639,0.546237958471,0.0088228170862,1.0497049243
+395,6.583333333,pose2_to_pose3_retreat,0.575667207385,0.00015018483342,1.05003352241,0.546237885916,0.00882281895438,1.04970492061
+396,6.600000000,pose2_to_pose3_retreat,0.575666916825,0.000150192277534,1.05003350646,0.546237595354,0.00882282643588,1.04970490584
+397,6.616666667,pose2_to_pose3_retreat,0.575666406296,0.000150202509986,1.0500334803,0.54623708486,0.00882283685807,1.0497048816
+398,6.633333333,pose2_to_pose3_retreat,0.575666219213,0.000150188268963,1.05003348244,0.546236898032,0.00882282347044,1.04970488345
+399,6.650000000,pose2_to_pose3_retreat,0.575666129278,0.000150181422949,1.05003348347,0.546236808219,0.00882281703467,1.04970488435
+400,6.666666667,pose2_to_pose3_retreat,0.575666026074,0.000150173566936,1.05003348465,0.546236705156,0.00882280964943,1.04970488537
+401,6.683333333,pose2_to_pose3_retreat,0.575665700778,0.000150148804856,1.05003348836,0.546236380302,0.00882278637122,1.0497048886
+402,6.700000000,pose2_to_pose3_retreat,0.575664911873,0.00015008878791,1.05003349744,0.54623559247,0.00882272995041,1.04970489649
+403,6.716666667,pose2_to_pose3_retreat,0.57566450373,0.000150175277232,1.05003370522,0.546235182462,0.00882280999047,1.04970510105
+404,6.733333333,pose2_to_pose3_retreat,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511741,1.04970501047
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b21b9751b3c838f9bf12b18e69a142b662eb0b5d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a95a5b1d50de894a5b91d3069927cad35448ccb9e3dbf39e908742ed6ee73729
+size 25746566
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12c3a61874ad550d95ba51baf1baa69fa000b247
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
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+15,0.250000000,BASELINE,766,745,717,678,661.283174277,636,877.716825723,784,812,651,630,653.283174277,0.400967970563,-0.00537761115941,0.0598386866768,0.999999928962,0.000264621369655,-0.000267967018998,1.56538580475e-05,1793249505394433536
+16,0.266666667,BASELINE,766.29740973,745,717,678.29740973,661.29740973,636,877.70259027,784,812,651,629.70259027,653,0.400968075911,-0.00537691174789,0.0598387301842,0.999999929004,0.000264611436232,-0.000267812841036,1.57531589861e-05,1793249505411100160
+17,0.283333333,BASELINE,766.876378731,745,717,678.876378731,661.876378731,636,877.123621269,784,812,651,629.123621269,653,0.400968953984,-0.00537596188395,0.059839399717,0.999999928923,0.00026584523834,-0.000266880064244,1.59555520859e-05,1793249505427766784
+18,0.300000000,BASELINE,766.549285929,745,717,679,662,636,877.450714071,784,811.549285929,651,629.450714071,653,0.400968548679,-0.00537588891169,0.0598390939094,0.999999928279,0.000267657260959,-0.000267479431605,1.60118308324e-05,1793249505444433920
+19,0.316666667,BASELINE,766.023909305,745,717,678.976090695,661.976090695,636,877.976090695,784,811.023909305,651,630,653.023909305,0.400967871104,-0.00537605022525,0.0598385655513,0.999999927536,0.000269495330853,-0.000268408829287,1.60176935803e-05,1793249505461101056
+20,0.333333333,BASELINE,766.599826168,745,717,678.400173832,661.400173832,636,877.400173832,784,811.599826168,651,630,653.599826168,0.400968951682,-0.00537612428112,0.0598390124677,0.999999928141,0.000268310490739,-0.000267354362969,1.57754167201e-05,1793249505477767680
+21,0.350000000,BASELINE,767,745,717,678,661,636,877,784,812,651,630,654,0.400969390443,-0.0053760465885,0.0598392270609,0.999999928544,0.000267362444316,-0.000266807351786,1.55944150495e-05,1793249505494434304
+22,0.366666667,BASELINE,767,745,717,678,661,636,877,784,812,651,630,654,0.400968367762,-0.00537562335862,0.0598389126451,0.999999928491,0.000266953586553,-0.000267415835937,1.5552939415e-05,1793249505511100672
+23,0.383333333,BASELINE,766.640412613,745,717.359587387,678.359587387,661.359587387,636,877,784,812,651,630,653.640412613,0.400967110204,-0.0053764324675,0.0598381159772,0.999999928395,0.000265821831292,-0.000268896584945,1.56145586615e-05,1793249505527767296
+24,0.400000000,BASELINE,766.063277403,745,717.936722597,678.936722597,661.936722597,636,877,784,812,651,630,653.063277403,0.400965710546,-0.00537798713256,0.0598370275502,0.999999928267,0.000264252728122,-0.000270905048075,1.57385495772e-05,1793249505544433664
+25,0.416666667,BASELINE,766,745,718,679,662,636,877,784,812,651,630,653.509607692,0.400967447867,-0.00537629882868,0.0598386543251,0.999999928158,0.000267533861777,-0.000268067952655,1.5774896543e-05,1793249505561100544
+26,0.433333333,BASELINE,766.084729268,745.084729268,718,679,662,636.084729268,877.084729268,784,812,651,630,654,0.400969111446,-0.00537458616032,0.0598401363811,0.999999928092,0.00027040154375,-0.000265424043475,1.57740953311e-05,1793249505577767424
+27,0.450000000,BASELINE,766.676362217,745.676362217,718,679,662,636.676362217,877.676362217,784,812,651,630,654,0.400968022802,-0.00537511686134,0.059838752317,0.999999928395,0.000267222472647,-0.000267505674914,1.56156187484e-05,1793249505594433792
+28,0.466666667,BASELINE,767,745.738044609,717.738044609,679,662,636.738044609,878,784,812,651,630,653.738044609,0.400967502577,-0.00537580689118,0.059838109739,0.999999928568,0.000265575693545,-0.000268500029083,1.55575619823e-05,1793249505611100416
+29,0.483333333,BASELINE,767,745.159745256,717.159745256,679,662,636.159745256,878,784,812,651,630,653.159745256,0.400967668788,-0.00537668933051,0.0598383625983,0.999999928598,0.00026577934925,-0.000268181359575,1.56207747386e-05,1793249505627767808
+30,0.500000000,BASELINE,767,745,717,678.584899782,662,636,878,784,812,651,630,653.415100218,0.400966994956,-0.00537626705041,0.0598379010004,0.999999928395,0.000265795861942,-0.000268928112127,1.54968366701e-05,1793249505644434432
+31,0.516666667,BASELINE,767,745,717,678.011372529,662,636,878,784,812,651,630,653.988627471,0.400966000515,-0.00537534681141,0.0598371667229,0.999999928102,0.000265740949677,-0.00027008149338,1.53014706674e-05,1793249505661100800
+32,0.533333333,BASELINE,767,745.563462387,717,678.563462387,662,636,878,784,812,651,630,654,0.4009670146,-0.00537628586835,0.0598383432717,0.999999928438,0.000265899407631,-0.000268669697859,1.54457106261e-05,1793249505677766912
+33,0.550000000,BASELINE,766.85741722,745.85741722,717,678.85741722,662,636,877.85741722,784.14258278,812,651,630,654,0.400968108567,-0.00537680493331,0.0598392848085,0.999999928765,0.000265980265473,-0.000267365581466,1.5522694623e-05,1793249505694433280
+34,0.566666667,BASELINE,766.264855839,745.264855839,717,678.264855839,662,636,877.264855839,784.735144161,812,651,630,654,0.4009693264,-0.00537587983417,0.0598393626716,0.999999929028,0.000265802601632,-0.000266565064494,1.53657426477e-05,1793249505711099904
+35,0.583333333,BASELINE,766,745,717,678,661.679787305,636,877.320212695,784.679787305,812,651,630,653.679787305,0.400969312129,-0.0053754321962,0.059839167918,0.999999928859,0.000266235822082,-0.00026676803383,1.53162376168e-05,1793249505727766528
+36,0.600000000,BASELINE,766,745,717,678,661.100774521,636,877.899225479,784.100774521,812,651,630,653.100774521,0.400968302056,-0.00537537044847,0.059838752832,0.999999928341,0.000267162767186,-0.000267782033835,1.53535725943e-05,1793249505744433152
+37,0.616666667,BASELINE,766.474722631,745,717,678.474722631,661.474722631,636,877.525277369,784,812,651,629.525277369,653,0.400968740958,-0.00537616584758,0.0598390233269,0.999999928696,0.000266870038932,-0.000266734707812,1.55086115239e-05,1793249505761100544
+38,0.633333333,BASELINE,766.950780408,745.049219592,717,679,661.950780408,636,877,784,812,651,629.049219592,653,0.40096940631,-0.00537705767896,0.0598393917148,0.999999929162,0.000266344121235,-0.00026550295794,1.56619797777e-05,1793249505777767680
+39,0.650000000,BASELINE,766.379036621,745.620963379,717,679,661.379036621,636,877,784,812,651,629.620963379,653,0.400969234288,-0.00537705577719,0.0598392656771,0.999999928858,0.000266071086164,-0.000266924609821,1.55343028595e-05,1793249505794434304
+40,0.666666667,BASELINE,766.2015079,745.7984921,717,678.7984921,661,636,877,784,811.7984921,651,630,653,0.400969069867,-0.00537662319979,0.0598391970907,0.9999999286,0.000266259276358,-0.000267707659808,1.54551283644e-05,1793249505811100672
+41,0.683333333,BASELINE,766.799362589,745.200637411,717,678.200637411,661,636,877,784,811.200637411,651,630,653,0.400968920396,-0.00537534352454,0.0598392415058,0.999999928434,0.000267354652611,-0.00026723464079,1.54713535102e-05,1793249505827767040
+42,0.700000000,BASELINE,766.617258104,745.382741896,717,678,661.382741896,636,877,784,811.382741896,651,630,653,0.400968747871,-0.0053756384554,0.059839420994,0.999999929012,0.000265554274794,-0.00026687148263,1.53617463693e-05,1793249505844433408
+43,0.716666667,BASELINE,766.041190439,745.958809561,717,678,661.958809561,636,877,784,811.958809561,651,630,653,0.400968563702,-0.00537672873154,0.0598396687086,0.999999929958,0.000262291230086,-0.000266563816016,1.51885804067e-05,1793249505861100032
+44,0.733333333,BASELINE,766.533015016,745.466984984,717,678.533015016,662.533015016,636,876.466984984,784,812,651,630,653.533015016,0.40096894997,-0.00537730477076,0.0598395618756,0.999999929509,0.000264750920277,-0.000265791836968,1.55878253576e-05,1793249505877766400
+45,0.750000000,BASELINE,767,745,717.110201098,678.889798902,662.889798902,636,876.220402195,784,812,651,630,654,0.40096897522,-0.00537745845684,0.0598392948998,0.99999992895,0.0002670565544,-0.000265573313039,1.58593775688e-05,1793249505894432768
+46,0.766666667,BASELINE,767,745,717.701011566,678.298988434,662.298988434,636,877.402023131,784,812,651,630,654,0.400967234421,-0.00537594288262,0.0598384485841,0.999999928407,0.000266768322916,-0.000267924460045,1.53817900276e-05,1793249505911099392
+47,0.783333333,BASELINE,767,745.285836808,718,678,661.714163192,636,877.714163192,784,812,651,630,654,0.400967112415,-0.00537548974098,0.0598384123156,0.999999928451,0.000266629558948,-0.000267906938285,1.52810352681e-05,1793249505927766016
+48,0.800000000,BASELINE,767,745.864529914,718,678,661.135470086,636,877.135470086,784,812,651,630,654,0.400968648956,-0.0053761251226,0.0598392059872,0.999999929094,0.000266643933038,-0.000265462579032,1.55663673717e-05,1793249505944432640
+49,0.816666667,BASELINE,766.56021477,745.56021477,717.56021477,678,661.43978523,636,877,784,812,651,630,654,0.400970078157,-0.00537639918629,0.0598405531532,0.999999929309,0.000266980929189,-0.000264297282943,1.57898188549e-05,1793249505961100032
+50,0.833333333,BASELINE,766.013954585,745,717.013954585,678.013954585,662,636,877,784,812,651,630,654,0.400971412721,-0.00537656702764,0.0598420054211,0.999999929393,0.000267369478734,-0.00026357440389,1.59846232145e-05,1793249505977767424
+51,0.850000000,BASELINE,766.586715429,745,717.586715429,678.586715429,662,636,877,784,812,651,630,654,0.40097027143,-0.00537690360309,0.0598408919361,0.999999929442,0.000265873717368,-0.000264912794653,1.57896553863e-05,1793249505994433792
+52,0.866666667,BASELINE,766.834608267,745.165391733,717.834608267,678.834608267,662,636,877,784,812,651,630,653.834608267,0.400969502615,-0.00537718539406,0.0598401932021,0.999999929611,0.000264461319238,-0.000265694285988,1.56756027914e-05,1793249506011100160
+53,0.883333333,BASELINE,766.240602016,745.759397984,717.240602016,678.240602016,662,636,877,784,812,651,630,653.240602016,0.400969699073,-0.00537732521039,0.0598405693001,0.9999999301,0.000263264957954,-0.000265032566175,1.57712429361e-05,1793249506027766784
+54,0.900000000,BASELINE,766.344655234,745.655344766,717,678,661.655344766,636,877,784,811.655344766,651,630,653.344655234,0.400969033761,-0.00537669192393,0.0598402247238,0.999999929483,0.000264882058338,-0.000265754473628,1.56833542216e-05,1793249506044433664
+55,0.916666667,BASELINE,766.923956032,745.076043968,717,678,661.076043968,636,877,784,811.076043968,651,630,653.923956032,0.400967781745,-0.00537553229948,0.0598393895036,0.999999928101,0.000268414598406,-0.000267418371726,1.54705167769e-05,1793249506061100544
+56,0.933333333,BASELINE,767,745,717,678,661.497555856,636,877,784,811.497555856,651,630,654,0.400966520973,-0.0053750491902,0.0598390247378,0.999999927785,0.000268162559508,-0.000268861666989,1.52672262108e-05,1793249506077767680
+57,0.950000000,BASELINE,767,745,717.072205504,678,662,636,877.072205504,784,811.927794496,651,629.927794496,653.927794496,0.400965495966,-0.00537497285888,0.0598387694725,0.999999927731,0.000267228710247,-0.000269996850123,1.51426552986e-05,1793249506094434560
+58,0.966666667,BASELINE,767,745,717.660516045,678,662,636,877.660516045,784,811.339483955,651,629.339483955,653.339483955,0.400966165598,-0.00537707339581,0.0598387887735,0.999999928406,0.000265508994274,-0.000269167993595,1.55704397828e-05,1793249506111100672
+59,0.983333333,BASELINE,767,745.24618758,718,678.24618758,662,636,877.75381242,784,811.24618758,651,629.24618758,653,0.400967164573,-0.00537801351938,0.0598390041882,0.999999928974,0.000264544207066,-0.000267998483576,1.56451656416e-05,1793249506127767040
+60,1.000000000,BASELINE,767,745.828258698,718,678.828258698,662,636,877.171741302,784,811.828258698,651,629.828258698,653,0.400968612883,-0.00537737044502,0.059839487169,0.9999999294,0.000264609399051,-0.000266364206289,1.52381995913e-05,1793249506144434176
+61,1.016666667,BASELINE,767,745.595226406,717.595226406,678.595226406,661.595226406,636,877.404773594,784,812,651,630,653,0.40096906818,-0.00537585777555,0.0598399343272,0.999999929362,0.000265849362994,-0.000265280291044,1.50328718733e-05,1793249506161100544
+62,1.033333333,BASELINE,767,745.021037069,717.021037069,678.021037069,661.021037069,636,877.978962931,784,812,651,630,653,0.400969107857,-0.00537398114191,0.059840366492,0.999999929128,0.000267581021216,-0.000264426726875,1.49119387847e-05,1793249506177766912
+63,1.050000000,BASELINE,767,745,717,678,661.553950447,636,877.446049553,784,812,651,630,653,0.400966624473,-0.00537510348748,0.0598389807848,0.999999928615,0.000266386486891,-0.000267538338029,1.51921877366e-05,1793249506194434048
+64,1.066666667,BASELINE,767,745,717.132619011,678,662,636,877.132619011,784,812,651,630,653.132619011,0.4009653693,-0.0053762753209,0.0598382614394,0.999999928342,0.000265619710314,-0.000269302281225,1.54590314857e-05,1793249506211101184
+65,1.083333333,BASELINE,767,745,717.723913822,678,662,636,877.723913822,784,812,651,630,653.723913822,0.400968693881,-0.00537722384281,0.0598400858851,0.999999928962,0.000266717271822,-0.000265883624602,1.56267426279e-05,1793249506227767296
+66,1.100000000,BASELINE,767,745,717.692469606,678.307530394,662,636,877.692469606,784,812,651,630,653.692469606,0.4009693695,-0.0053774528822,0.0598402527468,0.999999928894,0.000267287751896,-0.000265552870722,1.5841972243e-05,1793249506244433664
+67,1.116666667,BASELINE,767,745,717.115578311,678.884421689,662,636,877.115578311,784,812,651,630,653.115578311,0.400967724935,-0.00537705173845,0.0598389677575,0.999999928228,0.000267396569803,-0.000267926761122,1.60988225115e-05,1793249506261100288
+68,1.133333333,BASELINE,767,745,717,679,662,636,877,784,812,651,630,653.461197931,0.400969032533,-0.00537758604383,0.0598398789682,0.999999928817,0.000266759381129,-0.000266355516302,1.61415390888e-05,1793249506277766912
+69,1.150000000,BASELINE,767,745,717,679,662,636,877.038645901,784,812,651,630,654,0.400970870771,-0.00537819099022,0.0598411928218,0.999999929592,0.000266150370196,-0.000264047539735,1.61053770926e-05,1793249506294433536
+70,1.166666667,BASELINE,767,745,717,679,662,636,877.626040693,784,812,651,630,654,0.400969741311,-0.00537647108995,0.0598404108766,0.999999928609,0.000268595422327,-0.000265313423379,1.57109771977e-05,1793249506311100160
+71,1.183333333,BASELINE,766.789662048,745,717,678.789662048,662,636,877.789662048,784,812,651,630,654,0.400969380754,-0.00537579226229,0.0598402908545,0.999999928292,0.000269710108274,-0.000265385694218,1.5577280888e-05,1793249506327767040
+72,1.200000000,BASELINE,766.210791867,745,717,678.210791867,662,636,877.210791867,784,812,651,630,654,0.400970367387,-0.00537693749321,0.0598413305851,0.999999929148,0.000268493865713,-0.000263366641365,1.59003621532e-05,1793249506344433920
+73,1.216666667,BASELINE,766,745,717.366269478,678,662.366269478,636,877,783.633730522,812,651,630,653.633730522,0.400970045197,-0.00537696511336,0.0598412053269,0.999999929373,0.000266969148539,-0.000264068737523,1.5791992802e-05,1793249506361100544
+74,1.233333333,BASELINE,766,745,717.9422949,678,662.9422949,636,877,783.0577051,812,651,630,653.0577051,0.400968973468,-0.00537635269785,0.0598404129004,0.999999929232,0.000265267773573,-0.000266329186916,1.54365394203e-05,1793249506377767168
+75,1.250000000,BASELINE,766,745,717.481986399,678.518013601,662.481986399,636,877,783.518013601,812,651,630,653.518013601,0.4009694169,-0.00537665419085,0.0598404392654,0.999999929282,0.000265464364472,-0.00026594216483,1.5461742548e-05,1793249506394434048
+76,1.266666667,BASELINE,766,745,717.095954845,678.904045155,661.904045155,636,877,784,812,651,630,653.904045155,0.400969523536,-0.00537703325596,0.0598403968275,0.999999929251,0.00026584176342,-0.000265676152054,1.55436744877e-05,1793249506411100672
+77,1.283333333,BASELINE,766,745,717.685504561,678.314495439,661.314495439,636,877,784,812,651,630,653.314495439,0.400967029967,-0.00537728796812,0.0598395315518,0.999999928691,0.000266062298588,-0.000267548795939,1.56994230747e-05,1793249506427767040
+78,1.300000000,BASELINE,766.270064342,745,717.729935658,678,661,636,877,784,812,651,630,653.270064342,0.400965537362,-0.00537726696403,0.0598388948133,0.999999928269,0.000266528561602,-0.000268662326757,1.56715057417e-05,1793249506444433152
+79,1.316666667,BASELINE,766.84891862,745,717.15108138,678,661,636,877,784,812,651,630,653.84891862,0.400965189251,-0.00537693070765,0.059838519383,0.999999928007,0.000267275788336,-0.000268907892156,1.54335858957e-05,1793249506461099776
+80,1.333333333,BASELINE,766.574328991,745,717,678,661.425671009,636,877,784,812,651,630,653.574328991,0.400965218139,-0.00537677800151,0.0598383721932,0.999999928012,0.000266926464876,-0.00026922810358,1.55538207975e-05,1793249506477766912
+81,1.350000000,BASELINE,766.001673496,745,717,678,661.998326504,636,877,784,812,651,630,653,0.400965382476,-0.00537668813867,0.059838306962,0.999999928111,0.000266196615277,-0.000269570070668,1.57990018607e-05,1793249506494433792
+82,1.366666667,BASELINE,766.575079043,745,717,678,661.424920957,636,877,784,812,651,630,653,0.400966333233,-0.00537592073834,0.0598387023178,0.999999928025,0.000267774514139,-0.000268337782742,1.55155261956e-05,1793249506511100672
+83,1.383333333,BASELINE,767,745,717,678.153876915,661,636,877,783.846123085,811.846123085,651,630,653.153876915,0.400967149123,-0.00537534389617,0.0598390588964,0.99999992812,0.000268343544049,-0.000267428555411,1.52866359987e-05,1793249506527767296
+84,1.400000000,BASELINE,767,745,717,678.748106233,661,636,877,783.251893767,811.251893767,651,630,653.748106233,0.40096757906,-0.00537531237765,0.0598393045061,0.999999928736,0.000266025475451,-0.000267443836262,1.52139539763e-05,1793249506544433664
+85,1.416666667,BASELINE,767,745,717,678.668994541,661.331005459,636,877.331005459,783.331005459,811.331005459,651,630,653.668994541,0.400967570006,-0.00537620915333,0.0598393710213,0.999999929302,0.000264074742244,-0.000267264838628,1.51523448022e-05,1793249506561100288
+86,1.433333333,BASELINE,767,745,717,678.094432138,661.905567862,636,877.905567862,783.905567862,811.905567862,651,630,653.094432138,0.400967237936,-0.00537778897667,0.0598393057573,0.999999929831,0.000262394298026,-0.00026694288905,1.50988831388e-05,1793249506577767168
+87,1.450000000,BASELINE,767,745,717,678,661.518031939,636,877.518031939,784,811.518031939,651,629.518031939,653,0.400966351715,-0.0053777626779,0.0598385392375,0.999999929145,0.000263990721035,-0.000267931557313,1.52028754718e-05,1793249506594433536
+88,1.466666667,BASELINE,767,745,717,678,661.060007721,636,877,784,811.060007721,651,629.060007721,653,0.400965511212,-0.00537752501516,0.0598378376441,0.999999928374,0.000265842558374,-0.000268967604949,1.53598894347e-05,1793249506611099904
+89,1.483333333,BASELINE,767,745,717,678,661.649320171,636,877,784,811.649320171,651,629.649320171,653,0.400966035334,-0.00537820935769,0.0598389253074,0.999999929008,0.000264262466336,-0.00026814785562,1.57114290832e-05,1793249506627766784
+90,1.500000000,BASELINE,767,745.234351453,717,678,662,636,877,784,812,651,630,653,0.400966948513,-0.00537811491981,0.0598397526986,0.999999929367,0.000263953146255,-0.000267101945776,1.58319969144e-05,1793249506644433664
+91,1.516666667,BASELINE,767,745.813091339,717,678,662,636,877,784,812,651,630,653,0.400968433427,-0.00537687603427,0.0598401976101,0.999999929325,0.000265511274367,-0.000265723684469,1.56131427837e-05,1793249506661100800
+92,1.533333333,BASELINE,766.609857581,745.609857581,717.390142419,678,662,636,877,784,811.609857581,651,630,653,0.400969481468,-0.00537707589112,0.0598404169618,0.999999929508,0.0002655416081,-0.000265000434519,1.56849219944e-05,1793249506677767424
+93,1.550000000,BASELINE,766.033612033,745.033612033,717.966387967,678,662,636,877,784,811.033612033,651,630,653,0.400970321114,-0.00537796204713,0.0598405287185,0.999999929799,0.000264843163708,-0.000264589633586,1.58953371595e-05,1793249506694433792
+94,1.566666667,BASELINE,766,745,717.46015342,678.53984658,662,636,877,784,811.53984658,651,629.46015342,653.53984658,0.400968434445,-0.00537612733174,0.0598397451843,0.99999992907,0.000266443833418,-0.000265755376195,1.55248836563e-05,1793249506711100416
+95,1.583333333,BASELINE,766.116893841,745,717,678.883106159,662,636,877,784,812,650.883106159,629.116893841,653.883106159,0.40096683636,-0.00537489346609,0.0598392973622,0.999999928555,0.000267446898454,-0.000266697054654,1.53196821604e-05,1793249506727767040
+96,1.600000000,BASELINE,766.70923984,745,717,678.29076016,662,636,877,784,812,650.29076016,629.70923984,653.29076016,0.400967098938,-0.00537678899277,0.0598404405729,0.999999929178,0.000265440029117,-0.000266330178445,1.59329700904e-05,1793249506744433408
+97,1.616666667,BASELINE,766.70577315,745,717,678,662,636,877.29422685,783.70577315,812,650.29422685,630,653,0.400967978086,-0.00537759725287,0.0598408437099,0.999999929636,0.000264260369541,-0.000265782796453,1.59508773331e-05,1793249506761100288
+98,1.633333333,BASELINE,766.127881006,745,717,678,662,636,877.872118994,783.127881006,812,650.872118994,630,653,0.40096945167,-0.00537735727476,0.0598405333386,0.999999929937,0.000263878226355,-0.000265061388132,1.53947756171e-05,1793249506777767168
+99,1.650000000,BASELINE,766,745,717,678.446080051,661.553919949,636,877.553919949,783.446080051,811.553919949,651,630,653.446080051,0.400969860625,-0.00537800023776,0.0598405441251,0.999999930226,0.000263437940267,-0.000264406693651,1.54058483616e-05,1793249506794433792
+100,1.666666667,BASELINE,766,745,717.01930696,678.98069304,661,636,877,784,811.01930696,651,630,653.98069304,0.400969961498,-0.00537887045885,0.0598406476273,0.999999930498,0.000263000926984,-0.000263801675853,1.55832700318e-05,1793249506811100672
+101,1.683333333,BASELINE,766,745,717.60374364,678.39625636,661,636,877,784,811.60374364,651,630,653.39625636,0.400969900116,-0.00537904842848,0.0598407936109,0.999999930378,0.000263143341605,-0.000264095809535,1.59121173656e-05,1793249506827767040
+102,1.700000000,BASELINE,766,745,717.811990214,678.188009786,661,636,877.188009786,784.188009786,812,651,629.811990214,653,0.400969398527,-0.00537889675235,0.0598406631311,0.999999930098,0.000263537369495,-0.000264750146674,1.60916868286e-05,1793249506844433664
+103,1.716666667,BASELINE,766,745,717.228083239,678.771916761,661,636,877.771916761,784.771916761,812,651,629.228083239,653,0.400967969982,-0.00537805093237,0.0598399504951,0.999999929481,0.000264461226095,-0.000266162973744,1.59569178807e-05,1793249506861100288
+104,1.733333333,BASELINE,766.352041221,745,717,678.647958779,661.352041221,636,877.647958779,784.647958779,812,651,629.352041221,653.352041221,0.400967995155,-0.00537779490369,0.0598401689081,0.999999929431,0.000264839363209,-0.00026598546158,1.57976485083e-05,1793249506877766656
+105,1.750000000,BASELINE,766.929741142,745,717,678.070258858,661.929741142,636,877.070258858,784.070258858,812,651,629.929741142,653.929741142,0.400968952163,-0.00537791693162,0.0598409841241,0.999999929744,0.000264867693792,-0.000264788540848,1.5622674331e-05,1793249506894433536
+106,1.766666667,BASELINE,766.494758128,745,717,678,661.494758128,636,877,784,811.494758128,651,630,654,0.400968375322,-0.00537704846407,0.0598406317061,0.999999929148,0.000266432215349,-0.000265485899956,1.53279267738e-05,1793249506911100416
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,678,662,636,877,783,811,651,630,653,0.400968475415,-0.00537536298333,0.0598393681767,0.999999928915,0.000267426362612,-0.000265368858087,1.52806858325e-05,1793249506953677056
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,717.42163782,678,661.42163782,636,877.57836218,783.57836218,811,651,630,653,0.400968437291,-0.00537579107999,0.0598400136504,0.999999929159,0.00026693878025,-0.000264934606815,1.53538695531e-05,1793249506970343168
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.1557106,745,717.1557106,678,661.1557106,636,877.8442894,784,811,651,629.8442894,653,0.400968655809,-0.00537612764388,0.0598407286086,0.999999929313,0.000266894004971,-0.000264393378749,1.53988492387e-05,1793249506987009792
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.730331811,745,717.730331811,678,661.730331811,636,877.269668189,784,811,651,629.269668189,653,0.400969564776,-0.0053762179559,0.0598416305018,0.999999929226,0.000268040520261,-0.00026356434929,1.53679511931e-05,1793249507003676416
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,717.696711776,678,661.696711776,636,877.303288224,784,811.303288224,651,629.303288224,653.303288224,0.400969383823,-0.00537682585746,0.0598417799043,0.999999929647,0.000266313696364,-0.000263724256146,1.52805964795e-05,1793249507020342528
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,717.125227568,678,661.125227568,636,877.874772432,784,811.874772432,651,629.874772432,653.874772432,0.400968239061,-0.00537789146036,0.0598412638836,0.999999930503,0.000262045995539,-0.000264758673588,1.514331747e-05,1793249507037008896
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,717,678,661.465417369,636,878,784,812,651,630,653.534582631,0.400968187614,-0.00537763954308,0.0598411440359,0.999999930317,0.000262404253482,-0.000265092280535,1.53947677299e-05,1793249507053675520
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.940533298,745.059466702,717,678.059466702,662,636,877.940533298,784,812,651,630,653.059466702,0.400968492598,-0.00537703336019,0.0598411782142,0.999999929848,0.000264133503117,-0.000265123328069,1.5721415683e-05,1793249507070342144
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.363646191,745.636353809,717,678.636353809,662,636,877.363646191,784,812,651,630,653.636353809,0.400969229378,-0.00537656164299,0.0598415852553,0.999999929456,0.000266496753788,-0.000264232942981,1.5753215402e-05,1793249507087009024
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.213026182,745.786973818,717,678.786973818,662,636,877.213026182,783.786973818,812,651,630,653.786973818,0.400972486062,-0.00537637817623,0.0598430541673,0.999999929769,0.000267596971131,-0.000261921803026,1.58167014012e-05,1793249507103675648
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.789332304,745.210667696,717,678.210667696,662,636,877.789332304,783.210667696,812,651,630,653.210667696,0.400980040015,-0.00537668627163,0.0598463339197,0.999999931278,0.000266543299613,-0.00025718780727,1.59342229609e-05,1793249507120342016
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,717,678,662,636,877.627510095,783.372489905,811.627510095,651,630,653,0.401000952535,-0.00537796070749,0.059854541425,0.999999935173,0.000264879905807,-0.000243348750613,1.65311963355e-05,1793249507137008128
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,717,678,662,636,877.040404863,783.959595137,811.040404863,651,630,653,0.401029561781,-0.00537979191408,0.059865588125,0.999999940152,0.000262865211705,-0.000224263683826,1.74044126606e-05,1793249507153675008
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.460630008,745,717,678,662,636,877,784,811.539369992,651,629.460630008,653,0.401087433635,-0.00538141847225,0.0598838658201,0.999999947044,0.000262046334793,-0.000192136099282,1.81130983544e-05,1793249507170341632
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,717,678.117313207,661.882686793,636,877,784,812,651,629.117313207,653,0.40115094568,-0.00538301577234,0.0599018769132,0.999999952513,0.000261594024998,-0.000161831612177,1.87791304178e-05,1793249507187008512
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,717,678.690246982,661.309753018,636,877,784,812,651,629.690246982,653,0.401227963592,-0.00538455818256,0.0599167770075,0.999999955301,0.000262222141803,-0.000142351363971,1.93267314298e-05,1793249507203675136
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,717,678.73464976,661.530700481,636,877,784,812,651,629.73464976,653,0.401312413106,-0.00538647663984,0.0599274797334,0.999999957405,0.000262284945605,-0.000126552303673,1.95085063286e-05,1793249507220341760
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,717,678.156993142,662.686013716,636,877,784,812,651,629.156993142,653,0.401405609304,-0.00538883768904,0.0599332423275,0.999999958953,0.000261682399159,-0.000115085852152,1.92597188301e-05,1793249507237008384
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.432484208,745,717,678,662.567515792,636,877,784,812,651,629,653.432484208,0.401513417525,-0.00539250292607,0.0599378705843,0.999999960588,0.000259353516224,-0.000105867676983,1.87510804616e-05,1793249507253674752
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.974287725,745.025712275,717,678.025712275,662,636,877.025712275,784,811.974287725,650.974287725,629.025712275,654,0.401627747207,-0.00539660771837,0.0599420163775,0.999999962229,0.000256330101768,-9.75153151913e-05,1.81231819119e-05,1793249507270341632
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.395279482,745.604720518,717,678.604720518,662,636,877.604720518,784,811.395279482,650.395279482,629.604720518,654,0.401765063311,-0.0053996974216,0.0599448898857,0.99999996402,0.000252225230286,-8.97385431392e-05,1.7015783224e-05,1793249507287008256
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.181806831,745.818193169,717,679,662,636,878,784,811.181806831,650.181806831,630,654,0.401910291,-0.00540286474789,0.0599463889617,0.999999965399,0.0002488823731,-8.37431183598e-05,1.57297247584e-05,1793249507303675136
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.754758175,745.245241825,717,679,662,636,878,784,811.754758175,650.754758175,630,654,0.402072539888,-0.0054061990743,0.059944931044,0.999999966025,0.000247178936233,-8.15801370079e-05,1.40592925888e-05,1793249507320341760
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.663304262,745,717,678.663304262,662,636,877.663304262,783.663304262,812,651,630,653.663304262,0.402256603301,-0.00541048622906,0.0599448938023,0.999999967656,0.000241813172772,-7.79071595595e-05,1.2018565632e-05,1793249507337008384
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.074641788,745,717,678.074641788,662,636,877.074641788,783.074641788,812,651,630,653.074641788,0.402456991662,-0.00541548643461,0.0599459197252,0.999999969971,0.000233706701782,-7.31041741454e-05,9.70072786677e-06,1793249507353675008
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.505337514,745,717,678,661.494662486,636,877,783.505337514,812,651,630,653.505337514,0.40269549926,-0.00542187871479,0.0599479794704,0.999999972578,0.000225018673939,-6.44348958021e-05,7.64168802421e-06,1793249507370341632
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.916352854,745,717,678.083647146,661.083647146,636,877.083647146,784,812,651,630,654,0.402943708923,-0.00542834629991,0.0599501028972,0.999999975007,0.000216447399727,-5.57311339307e-05,5.45915903055e-06,1793249507387008256
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.340448573,745,717,678.659551427,661.659551427,636,877.659551427,784,812,651,630,654,0.403216439454,-0.00543406744105,0.059951717625,0.999999976888,0.00020906018331,-5.01284128397e-05,2.32874665415e-06,1793249507403675648
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.235354905,745,717.235354905,679,662,636,877.764645095,784,812,651,629.764645095,654,0.403499958895,-0.00544150188742,0.0599488795304,0.999999978544,0.000200285024128,-5.28891913232e-05,-6.65963753694e-07,1793249507420342528
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.811012597,745,717.811012597,679,662,636,877.188987403,784,812,651,629.188987403,654,0.403799078148,-0.00545141362426,0.0599396030406,0.999999979744,0.000189503020463,-6.77428653807e-05,-3.46446069279e-06,1793249507437008896
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,717.604448915,679,662,636,877.395551085,784,812,651,629.395551085,654,0.404124037892,-0.00545840427452,0.0599294942188,0.999999979732,0.000182572279634,-8.45569972737e-05,-7.32567922592e-06,1793249507453675264
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,717.015569902,679,662,636,877.984430098,784,812,651,629.984430098,654,0.404461627319,-0.00546396722618,0.0599189785903,0.999999978938,0.000177523866533,-0.000102329314055,-1.1706309128e-05,1793249507470341888
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,878,784,812,651,630,654,0.404834340531,-0.005469521645,0.0599055149668,0.999999977137,0.000172054161872,-0.000125968757463,-1.59614797645e-05,1793249507487008768
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877.858856842,784,812,651,629.858856842,654,0.405226281847,-0.00547605869896,0.0598973885384,0.999999976171,0.000165427590606,-0.000141030939999,-2.00323821755e-05,1793249507503675392
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,877.282150294,784,812,651,629.282150294,654,0.405674616749,-0.0054856288484,0.0599059795983,0.999999979331,0.000155266274158,-0.000129132242536,-2.35451523592e-05,1793249507520342272
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,717,678.707689905,662,636,877.292310095,784,812,651,629.292310095,653.707689905,0.406160555228,-0.00549424554781,0.059926416853,0.999999984389,0.000146258900525,-9.56923905478e-05,-2.5957724721e-05,1793249507537008896
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,717,678.135381006,662,636,877.864618994,784,812,651,629.864618994,653.135381006,0.406682513578,-0.005501948955,0.0599582013748,0.99999998919,0.00013835686733,-4.1618636162e-05,-2.73164369043e-05,1793249507553675776
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,717,678.454884876,662,636,878.909769752,784,812,651,629.545115124,653.454884876,0.407235201976,-0.00549162441866,0.0599850304597,0.999999999091,3.0674660132e-05,4.0801917431e-07,-2.96009848052e-05,1793249507570342144
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,717,679,662.048874513,636.048874513,879.951125487,784,812,650.951125487,629,653.951125487,0.407795016566,-0.00547627209397,0.0600071508159,0.999999994552,-9.37647166184e-05,3.25135385034e-05,-3.23486670556e-05,1793249507587008768
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662.62308517,636.62308517,879.37691483,784,812,650.37691483,629,653.37691483,0.408329083793,-0.00546691885595,0.0599951624376,0.999999997135,-6.60087218981e-05,-1.89770759865e-06,-3.69909871823e-05,1793249507603675392
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.197947576,717.197947576,679,662.802052424,636.802052424,879,784,812.197947576,650.197947576,629.197947576,653.197947576,0.408878966862,-0.00546686624107,0.059982393838,0.999999997187,-5.18039805981e-05,-3.48897036151e-05,-4.15414812003e-05,1793249507620342016
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.774055052,717.774055052,679,662.225944948,636.225944948,879,784,812.774055052,650.774055052,629.774055052,653.774055052,0.409459064553,-0.00548458157724,0.059968134701,0.999999994807,-6.34876140116e-05,-6.51703560909e-05,-4.59165500342e-05,1793249507637008640
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.641532161,745.641532161,717.641532161,678.641532161,662.358467839,636.358467839,879,784,812.641532161,650.641532161,630,654,0.410103766948,-0.00549631983452,0.0599696316474,0.999999994658,-6.89836287195e-05,-5.85603364241e-05,-4.99506917556e-05,1793249507653675264
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.051760333,745.051760333,717.051760333,678.051760333,662.948239667,636.948239667,879,784,812.051760333,650.051760333,630,654,0.410790155976,-0.00550420133735,0.0599812953219,0.999999995674,-7.04870368419e-05,-2.81463402258e-05,-5.37648475862e-05,1793249507670342400
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.528242379,745.528242379,717,678.528242379,663,637,879,784,812,650,629.471757621,654,0.411488866398,-0.00551363846311,0.0599858637542,0.999999993908,-9.40674761363e-05,-1.69775952141e-05,-5.51943294166e-05,1793249507687009024
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.893205727,745.893205727,717,679,663.106794273,636.893205727,879.106794273,784,812,650.106794273,629,654.106794273,0.412184080618,-0.00552205382216,0.059984335267,0.999999993972,-9.54318556041e-05,-1.90655097741e-05,-5.08423097416e-05,1793249507703675648
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.316900402,745.316900402,717,679,663.683099598,636.316900402,879.683099598,784,812,650.683099598,629,654.683099598,0.41285871241,-0.00552531910409,0.0599590032725,0.999999997163,1.02123948295e-05,-7.12950457704e-05,-2.20810888179e-05,1793249507720342272
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.259183711,745,717,679.259183711,663.740816289,636.259183711,879.740816289,784,812.259183711,650.740816289,629,654.740816289,0.413551958586,-0.00552129095706,0.0599328238359,0.999999990634,6.29909909751e-05,-0.000121077063414,-1.0207610578e-05,1793249507737008896
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.83499766,745,717,679.83499766,663.16500234,636.83499766,879.16500234,784,812.83499766,650.16500234,629,654.16500234,0.414267945007,-0.0055083528364,0.0599056091234,0.99999998442,5.11865896622e-05,-0.000167869092737,-1.89649390376e-05,1793249507753675520
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.420191725,717,679.579808275,663,637,879.420191725,784,813,650.420191725,628.579808275,654,0.415102089929,-0.00551309202835,0.0599364907015,0.999999993592,2.10568454979e-05,-0.000108782301677,-2.32371794928e-05,1793249507770341888
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.991007344,717,679.008992656,663.008992656,636.991007344,880.008992656,784,812.991007344,650.991007344,628.008992656,653.991007344,0.415982973189,-0.00552490767187,0.0599902309925,0.99999999951,-1.58759748403e-05,-8.2439508053e-06,-2.56853130292e-05,1793249507787008512
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.412380739,717,679.587619261,663.587619261,636.412380739,880.587619261,784,812.412380739,650.412380739,628.587619261,653.412380739,0.416818252918,-0.00553522622317,0.0600138422609,0.999999999197,-1.75076657762e-05,2.4222893052e-05,-2.66972707754e-05,1793249507803675392
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,717,680,663.835091825,636.164908175,881.164908175,784,812.164908175,650.164908175,629,653.164908175,0.417651138581,-0.00554195255862,0.0600253629458,0.999999998602,-1.99404821631e-05,4.0129058113e-05,-2.80567145399e-05,1793249507820342272
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,717,680,663.26112115,636.73887885,881.73887885,784,812.73887885,650.73887885,629,653.73887885,0.418478085602,-0.00553976823274,0.0600068923671,0.999999999133,-2.4360527911e-05,1.49556772165e-05,-3.0278113733e-05,1793249507837009152
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,717,680,663,637,882,784,813.320177517,651,629,654,0.419303134085,-0.00553507796343,0.0599865296716,0.999999998918,-2.73461094091e-05,-1.8363260526e-05,-3.28595675916e-05,1793249507853675520
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,717,680,663,637,882,784,813.907592495,651,629,654,0.420126597906,-0.00552829609841,0.0599645877139,0.999999997227,-2.91344092723e-05,-5.84809189656e-05,-3.5741542394e-05,1793249507870342144
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,717,680.488486558,663,637,882.488486558,784,813.511513442,651,628.511513442,654,0.420961755209,-0.00552750582648,0.0599236844858,0.999999990861,-2.25559995154e-05,-0.000127626016669,-3.8479484496e-05,1793249507887008768
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,717,681,663,637,882.931918605,784,813,651,628,654,0.421806906293,-0.00552813238026,0.0598846210908,0.999999980378,-1.72620816448e-05,-0.000193041569387,-4.10041265323e-05,1793249507903675392
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,717,681,663,637,882.352938749,784,813,651,628,654,0.422710671386,-0.00553099760355,0.0598859267582,0.999999980544,-3.33280670597e-05,-0.000189805697065,-4.21298885183e-05,1793249507920342016
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,717,681,663.223708814,637,882.447417627,784,813.223708814,651,628,654,0.423646864554,-0.00553329026398,0.0599138021475,0.999999988118,-3.91535921347e-05,-0.000143090576974,-4.18991289169e-05,1793249507937008640
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,717,681,663.79671484,637,883.593429679,784,813.79671484,651,628,654,0.424633690803,-0.00553468892966,0.0599831632952,0.999999998392,-2.89897436981e-05,-2.84872934585e-05,-3.9550306791e-05,1793249507953675520
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.630821168,745,717,681,664,636.630821168,884,784,814,651,628,654,0.425579426196,-0.00553708915906,0.0600208060228,0.999999997843,-4.08871835967e-05,3.44661783145e-05,-3.8140655958e-05,1793249507970342144
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.058655238,745,717,681,664,636.058655238,884,784,814,651,628,654,0.426502568377,-0.00554004008225,0.0600410088783,0.999999994817,-6.49146719928e-05,6.90208173558e-05,-3.72473937696e-05,1793249507987009024
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,717,681,664,636,883.461889667,784,814,651,628.538110333,654,0.427447975804,-0.00554221397689,0.0600248538229,0.99999999587,-5.9062154612e-05,5.63926606577e-05,-3.98890478106e-05,1793249508003675392
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.13177107,745,717,681,664,636.13177107,883.26354214,784,814,651,628.86822893,654,0.428373893154,-0.0055436292884,0.0600023034193,0.999999997346,-5.01924237855e-05,3.12540533972e-05,-4.25571419904e-05,1793249508020341760
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.705589938,745,717,681,664,636.705589938,884.411179876,784,814,651,628.294410062,654,0.429225896124,-0.00554279755178,0.0599722305061,0.999999997966,-4.26504693506e-05,-1.77732689755e-05,-4.39594132953e-05,1793249508037008640
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.720336175,745,717,681,664,636.720336175,885.279663825,784,814.279663825,651,628,654,0.430083024934,-0.00554094441739,0.0599432868424,0.999999995625,-4.52101812989e-05,-6.8089762937e-05,-4.54945843022e-05,1793249508053675264
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.145993614,745,717,681,664,636.145993614,885.854006386,784,814.854006386,651,628,654,0.430945554734,-0.0055380150473,0.0599155330583,0.99999999001,-5.84139099036e-05,-0.000119764639846,-4.71697901848e-05,1793249508070341888
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.441927026,717,681.883854052,664,636,885.558072974,784,814.558072974,651,628,653.558072974,0.431888438279,-0.00553990235032,0.0599466370278,0.999999995379,-5.8523023429e-05,-6.00399296523e-05,-4.70329310076e-05,1793249508087008512
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,717,682.966387601,664,636.033612399,885,784,814,651,628,653.033612399,0.43285533956,-0.0055431562508,0.0599954959291,0.999999996909,-5.46254404282e-05,3.2484246084e-05,-4.62977611307e-05,1793249508103675392
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,717,682.388673902,664,636.611326098,885,784,814,651,628,653.611326098,0.433767701788,-0.00554195756015,0.0600070347703,0.999999996405,-5.8114624537e-05,4.13396902683e-05,-4.58749049503e-05,1793249508120342016
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717,682,664,637,885.187923096,784,814.187923096,651,628,654,0.434656877662,-0.00554235510432,0.0600049430391,0.999999996535,-6.15720073289e-05,3.14481833536e-05,-4.63668356788e-05,1793249508137008640
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717,682,664,637,885.762224214,784,814.762224214,651,628,654,0.435498381554,-0.0055460345762,0.0599748262631,0.999999996558,-6.49640057907e-05,-1.6987865406e-05,-4.87396077696e-05,1793249508153675264
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.654984153,717,682,664,636.654984153,885.654984153,784,815,651,628,654,0.436310675408,-0.00554920689842,0.0599494012894,0.999999994262,-7.2185771286e-05,-6.09366299958e-05,-5.05250189692e-05,1793249508170341888
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.066193486,717,682,664,636.066193486,885.066193486,784,815,651,628,654,0.437102330533,-0.00555202088815,0.0599272913632,0.999999990109,-8.21135014354e-05,-0.000101714850648,-5.18954235849e-05,1793249508187008512
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,717,682.514157841,664,636,885.514157841,784,815,651,628,654,0.437887281636,-0.00554890158429,0.0599089677411,0.999999985475,-7.67743686679e-05,-0.000143005275148,-5.20085656853e-05,1793249508203675136
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.092891272,717,683,664,636.092891272,886,784,815,651,628,654,0.438683430546,-0.00554558604895,0.0598984206374,0.999999981775,-6.95005699277e-05,-0.000170064057333,-5.19336710068e-05,1793249508220342016
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.668770446,717,683,664,636.668770446,886,784,815,651,628,654,0.439542217544,-0.00554515776616,0.0599258139284,0.999999989189,-6.22219552928e-05,-0.000122788128585,-5.17090897967e-05,1793249508237008640
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664.244222502,636.755777498,886,784,815,651,628,654,0.440373634148,-0.0055466163245,0.059958865045,0.999999993918,-6.69479857065e-05,-7.17030324732e-05,-5.04105933284e-05,1793249508253675264
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,717,683,664.819096241,636.180903759,886,784,815,651,628,654,0.441167994084,-0.00555062946466,0.0599995762525,0.999999994879,-8.79270265858e-05,-1.54607336434e-05,-4.76581300767e-05,1793249508270341888
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717,683,664.595565304,636,886,784,815,651,628,654,0.441871299929,-0.00555368086836,0.0599845683215,0.99999999441,-8.64747722869e-05,-3.72170976158e-05,-4.81455638196e-05,1793249508287008256
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664.005421591,636,886,784,815,651,628,654,0.44253279547,-0.00555629066061,0.0599439751847,0.99999999146,-7.47224791446e-05,-9.47890161071e-05,-5.01206986825e-05,1793249508303675136
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.426317531,717,682.426317531,664,636,886,784,815,651,628,654,0.443181434712,-0.00555919865787,0.0598955757653,0.99999998142,-8.29320022674e-05,-0.000165146097236,-5.48624195282e-05,1793249508320341760
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,717,682,664,635.848044051,886,783.848044051,815.151955949,651,628,654,0.4438309487,-0.00556117320799,0.0598584251244,0.999999969989,-9.06688656874e-05,-0.000219917568655,-5.86217933744e-05,1793249508337008384
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,717,682,664,635.271803743,886,783.271803743,815.728196257,651,628,654,0.444483238103,-0.00556053371073,0.0598528848878,0.999999966919,-9.65692005175e-05,-0.000230840644923,-5.95666808459e-05,1793249508353675008
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.697255023,745.302744977,717,682.302744977,663.697255023,635,886.302744977,783,816,651,628,654,0.445096219276,-0.00555919842961,0.0598457025051,0.999999962174,-9.78627128433e-05,-0.0002497462456,-6.08486980786e-05,1793249508370341888
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.124216603,745.875783397,717,682.875783397,663.124216603,635,886.875783397,783,816,651,628,654,0.445674105669,-0.00555724194643,0.0598370539999,0.999999955508,-9.50432121337e-05,-0.00027577871523,-6.24317077172e-05,1793249508387008512
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,717,683,661,633,887,782,816,652,628,654,0.453326364108,-0.00556940205061,0.0596234185958,0.999999820062,-0.000114920192391,-0.000585833456814,-5.88978980947e-05,1793249509584626176
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745,716.651743774,682,663.651743774,636,881,784,813,650.348256226,628,654,0.432005176931,-0.00539752538921,0.0597910438349,0.999999938292,0.000159893235043,-0.000312549038116,1.28023018589e-05,1793249510534626560
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.772682428,745,717,682,663.772682428,636,880.772682428,784,813,650,628,653.772682428,0.431124633438,-0.00539022241237,0.0598079412375,0.999999943408,0.000171681667887,-0.000288778340405,1.77811997424e-05,1793249510551292928
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,717,681.616879912,663,636,880.383120088,784.383120088,813,650.383120088,628.383120088,653.383120088,0.429313407855,-0.00538517840584,0.059814492411,0.999999940657,0.000192571826885,-0.000284774424474,2.24660479924e-05,1793249510584626176
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,717,681.025534792,663,636,880.974465208,784.974465208,813,650.974465208,628.974465208,653.974465208,0.428313542025,-0.00538541426437,0.0597755072498,0.999999912062,0.000191196772274,-0.000372651611842,2.12144489556e-05,1793249510601292800
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.555574053,717,681,662.444425947,636,879.444425947,784,812.555574053,650.444425947,628.444425947,653.444425947,0.422936308778,-0.00539007514575,0.0598395346444,0.999999946308,0.000194563379178,-0.000262200376836,2.79219433138e-05,1793249510701292800
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745.80902912,717,679.80902912,662,636,879.19097088,784,813,650.19097088,629,653.80902912,0.420157765305,-0.00538388203453,0.0597628504061,0.999999905964,0.000191118511099,-0.000388539995611,2.41212237731e-05,1793249510751292672
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,717,678.631404306,661.631404306,636,877.631404306,784,812,651,629.368595694,653.631404306,0.40581084943,-0.00536952965437,0.0598268340955,0.999999932605,0.000241365317189,-0.0002753057953,2.72044105012e-05,1793249511101293568
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,717,678.884180916,662,636.884180916,877,784,812.115819084,651,629.115819084,653,0.404523217142,-0.00535401448948,0.0597951004485,0.999999914341,0.000262287186341,-0.000319047357832,2.70702312986e-05,1793249511151293440
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.283438402,745.283438402,717.283438402,679,661.283438402,636,877,784,811.283438402,650.283438402,629.716561598,654,0.401059428692,-0.00537825191237,0.0598237965213,0.999999921862,0.000267745555102,-0.000290582527136,1.22550165793e-05,1793249511484626432
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,717,679,661,636,877,784,811.292048807,650.292048807,629.707951193,654,0.401031002811,-0.00537730337058,0.0598244571491,0.999999921338,0.000270223789033,-0.000290075134504,1.25911457073e-05,1793249511501293568
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,717,679,661,636,877,784,811.8655065,650.8655065,629.1344935,654,0.401010387914,-0.00537785104991,0.0598263572757,0.999999922675,0.000269184706424,-0.000286370547261,1.3490345185e-05,1793249511517960448
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.548870277,745,717,679,661,636,877,784,812,650.548870277,629.451129723,654,0.400997586157,-0.00537708111423,0.059827031732,0.999999923097,0.000269504616176,-0.000284592717338,1.34265426255e-05,1793249511534627328
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.960106324,661,636,877,784,812,650.039893676,630,653.960106324,0.400987374334,-0.00537604886422,0.0598273721223,0.999999923244,0.000270139466307,-0.000283485817223,1.31109304252e-05,1793249511551293696
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,717,678.379296184,661,636,877,784,812,650.620703816,630,653.379296184,0.400979821119,-0.00537693367977,0.0598282747348,0.999999923444,0.000269398910409,-0.000283471684621,1.33816467974e-05,1793249511567960064
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,717,678.199512287,661,636,877,784.199512287,812,651,630,653,0.400974362668,-0.00537775365704,0.0598294207839,0.999999923997,0.000268809727459,-0.00028206383912,1.3655112433e-05,1793249511584626432
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.774553117,661,636,877,784.774553117,812,651,630,653,0.400972847052,-0.00537845159351,0.0598310250375,0.999999925204,0.000268505463659,-0.000278032701681,1.39337528057e-05,1793249511601293312
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.349322512,745.349322512,717,678.650677488,661.349322512,636,877.349322512,784.650677488,812.349322512,651,630,653.349322512,0.400972244109,-0.00537754504117,0.0598326965146,0.999999925594,0.000270043355603,-0.000275117891016,1.41237698291e-05,1793249511617960192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.92391684,745.92391684,717,678.07608316,661.92391684,636,877.92391684,784.07608316,812.92391684,651,630,653.92391684,0.400972229734,-0.00537560378275,0.059834411343,0.999999925453,0.000272769220728,-0.000272922979603,1.42566352348e-05,1793249511634626816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.486170328,746,717,678.513829672,662,636,877.486170328,784,812.486170328,650.486170328,630,654,0.400970868588,-0.00537641947903,0.059834770473,0.999999925506,0.000272218425295,-0.000273268981677,1.44582285043e-05,1793249511651293696
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.103665616,746,717.103665616,678.896334384,662,636,877,784,812,650.103665616,630,654,0.400969519769,-0.00537706593056,0.0598348395975,0.999999925519,0.00027155452719,-0.000273876038641,1.45814375971e-05,1793249511667960576
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.682434222,746,717.682434222,678.317565778,662,636,877,784,812,650.682434222,630,654,0.400969169463,-0.00537500833094,0.0598345278819,0.999999925214,0.000272664189104,-0.000273902235787,1.42973365043e-05,1793249511684627200
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.74131313,717.74131313,678.25868687,662,636,877,784,812,651,630,654,0.400969067428,-0.00537450462779,0.0598346948811,0.999999925469,0.000272279898968,-0.000273357042051,1.42200984073e-05,1793249511701293824
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.16811926,717.16811926,678.83188074,662,636,877,784,812,651,630,654,0.400969267239,-0.00537589012467,0.0598354438936,0.999999926401,0.000270079288051,-0.000272117161218,1.43943607055e-05,1793249511717960704
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.416075786,717,678.583924214,661.583924214,636,877,784,812,651,629.583924214,653.583924214,0.400969663276,-0.00537620297068,0.0598357468858,0.999999926598,0.000270068905358,-0.000271403667916,1.44160800618e-05,1793249511734627072
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.995222488,717,678,661,636,877,783.995222488,812,651,629,653,0.400970133634,-0.00537608346329,0.0598358721962,0.999999926493,0.000270955148248,-0.000270906929373,1.43775502743e-05,1793249511751293440
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.413660009,717,678,661,636,877,783.413660009,812,651,629,653,0.400969744261,-0.00537751314374,0.0598368946753,0.999999926844,0.000270345439355,-0.000270203336147,1.47085943651e-05,1793249511767960064
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.834307222,745,717.165692778,678.165692778,661,636,877.165692778,783.165692778,811.834307222,651,629.165692778,653,0.400969129554,-0.00537820308211,0.0598372063103,0.999999926945,0.00027005441814,-0.000270108280436,1.4880816658e-05,1793249511784626688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.260398469,745,717.739601531,678.739601531,661,636,877.739601531,783.739601531,811.260398469,651,629.739601531,653,0.400967959691,-0.00537707052371,0.0598357666439,0.999999926435,0.000270548545251,-0.000271512473789,1.46617509346e-05,1793249511801293568
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.313724205,745,717.686275795,678.686275795,661,636.313724205,877.686275795,784,811.313724205,651.313724205,629.686275795,653.313724205,0.400967571439,-0.00537635476042,0.0598353770361,0.999999926254,0.000270703112013,-0.000272028411318,1.45413599291e-05,1793249511817960448
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.888024532,745,717.111975468,678.111975468,661,636.888024532,877.111975468,784,811.888024532,651.888024532,629.111975468,653.888024532,0.400967832385,-0.00537598518295,0.0598358595964,0.99999992635,0.000270575643394,-0.000271806572558,1.45029271479e-05,1793249511834627072
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,717,678.477781254,661.477781254,636.522218746,877.477781254,784,812,651.522218746,629.477781254,654,0.400967068336,-0.00537660167652,0.0598354787147,0.999999926544,0.00026905637532,-0.000272605348962,1.43851414632e-05,1793249511851293696
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745,717,678.932311685,661.932311685,636,878,784,812,651,630,654,0.400966425944,-0.00537728266062,0.0598351457922,0.999999926773,0.000267650308828,-0.000273156168923,1.42615865253e-05,1793249511867960320
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,717,678.368729315,661.368729315,636,878,784,812,651,630,654,0.400968493567,-0.00537668642938,0.0598366963153,0.9999999271,0.000269543178971,-0.000270079448124,1.42365688741e-05,1793249511884626944
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745,717.202802874,678,661,636,877.797197126,784,812,651,630,654,0.400970214837,-0.00537642375983,0.0598379211543,0.999999927282,0.000271042761148,-0.000267891160154,1.43533134083e-05,1793249511901293568
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,717.78937897,678,661,636,877.21062103,784,812,651,630,654,0.400971280685,-0.00537679230434,0.0598385296865,0.999999927207,0.000271798106722,-0.000267384094029,1.47383210532e-05,1793249511917959936
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.621625444,745,717.621625444,678.378374556,661.378374556,636,877,784,811.621625444,651,630,653.621625444,0.40097202061,-0.00537802509416,0.059839193892,0.999999928085,0.000270128117539,-0.000265774588205,1.49927069162e-05,1793249511934626816
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.031274425,745,717.031274425,678.968725575,661.968725575,636,877,784,811.031274425,651,630,653.031274425,0.400972577943,-0.00537974205939,0.0598398892872,0.999999929485,0.00026709938503,-0.000263547463531,1.51739146234e-05,1793249511951293696
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35e42e2c7ea90044a9a23cb21092810c936261c0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+1,0.016666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+2,0.033333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+3,0.050000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+4,0.066666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+6,0.100000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+7,0.116666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+8,0.133333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+11,0.183333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+12,0.200000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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+15,0.250000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+16,0.266666667,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+17,0.283333333,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
+18,0.300000000,pose1_baseline,0.575664316325,0.000150155232738,1.05003361032,0.546234996534,0.00882279511736,1.04970501047
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b4906a5b916856019ef4dfefc829ec4e10fba9ed
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:563ec80ac014cf83cf1238e509b6b0c3a7c98ef14ad4d2973bef78ae741ca97a
+size 25370042
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..370124873bf787ecdd1e6b59b79660d428dfd773
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,400 @@
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+57,0.950000000,BASELINE,766,745,717,677.066378132,663,636,878,784.066378132,811,651.933621868,629.066378132,653.066378132,0.400936571552,-0.00543984871063,0.049927445605,0.999999975724,5.18706646714e-05,-0.000212218197758,-2.87139345137e-05,1793249514166054656
+58,0.966666667,BASELINE,766,745,717,677.643599071,663,636,878,784.643599071,811,651.356400929,629.643599071,653.643599071,0.400935544983,-0.00544006337624,0.0499267204578,0.999999975624,5.01041649801e-05,-0.000213101148556,-2.8792115925e-05,1793249514182721280
+59,0.983333333,BASELINE,766,745.220035797,717,678,663,636,878,784.779964203,811,651,630,654,0.400935243679,-0.00544030989452,0.0499263934689,0.999999975588,4.96694028725e-05,-0.000213364176372,-2.88543126893e-05,1793249514199388416
+60,1.000000000,BASELINE,766,745.795206904,717,678,663,636,878,784.204793096,811,651,630,654,0.400936112947,-0.00544060782273,0.0499267091029,0.999999975657,5.13840500083e-05,-0.000212626655588,-2.88907104248e-05,1793249514216056064
+61,1.016666667,BASELINE,766,745.621123844,717,678,663,636,877.621123844,784,811,651,630,653.621123844,0.400935470797,-0.00543905181627,0.0499260999803,0.999999975507,5.25484310931e-05,-0.00021302504446,-2.90677304282e-05,1793249514232722688
+62,1.033333333,BASELINE,766,745.032755748,717,678,663,636,877.032755748,784,811,651,630,653.032755748,0.400933992939,-0.00543647071396,0.0499249795322,0.999999975235,5.34085535436e-05,-0.000214051511744,-2.93225046805e-05,1793249514249389056
+63,1.050000000,BASELINE,766,745.546825836,717,678,663,636,877.546825836,784.546825836,811.546825836,651,630,653.546825836,0.400935114931,-0.0054369815694,0.0499262111672,0.999999975433,5.20250786975e-05,-0.000213441292399,-2.95148903185e-05,1793249514266055680
+64,1.066666667,BASELINE,766,746,717,678,663,636.125289563,877.874710437,784.874710437,811.874710437,651.125289563,629.874710437,654,0.400936173307,-0.00543785374075,0.04992705147,0.999999975581,5.06362183639e-05,-0.000213064728562,-2.96267728641e-05,1793249514282722048
+65,1.083333333,BASELINE,766,746,717,678,663,636.701593916,877.298406084,784.298406084,811.298406084,651.701593916,629.298406084,654,0.400936450935,-0.00543937038647,0.0499259838981,0.999999975459,4.9704113463e-05,-0.000213876614854,-2.9462102295e-05,1793249514299388416
+66,1.100000000,BASELINE,766.275246836,746,717,678,663,636.724753164,877.275246836,784,811,651.724753164,629.275246836,653.724753164,0.400936395615,-0.00543993287408,0.0499256277013,0.999999975429,4.95900871591e-05,-0.000214059029466,-2.93400773201e-05,1793249514316055040
+67,1.116666667,BASELINE,766.846052621,746,717,678,663,636.153947379,877.846052621,784,811,651.153947379,629.846052621,653.153947379,0.400935982779,-0.00543947079044,0.0499260353762,0.999999975499,5.035451043e-05,-0.000213565519862,-2.92638450238e-05,1793249514332721664
+68,1.133333333,BASELINE,767,746,717,678,663,636,877.56489603,784,811,651,630,653.43510397,0.400934909939,-0.0054399912053,0.0499258898759,0.999999975316,5.11248932337e-05,-0.00021427066488,-2.90109099174e-05,1793249514349388288
+69,1.150000000,BASELINE,767,746,717,678,663,636,877,784.029753949,811,651.029753949,630,654,0.400933675958,-0.00544083800239,0.0499255533248,0.999999975053,5.18972196525e-05,-0.0002153548301,-2.86904722172e-05,1793249514366055168
+70,1.166666667,BASELINE,767,746,717,678,663,636,877,784.60356653,811,651.60356653,630,654,0.400933952383,-0.00544101815118,0.0499254588507,0.99999997504,5.26648407942e-05,-0.000215275183314,-2.83289739711e-05,1793249514382721792
+71,1.183333333,BASELINE,766.822314266,746,717.177685734,678.177685734,663,636.177685734,877.177685734,785,811,651.822314266,630,654,0.400934915639,-0.00544047992451,0.0499259840732,0.999999975236,5.30223789451e-05,-0.000214285175055,-2.82473784183e-05,1793249514399388160
+72,1.200000000,BASELINE,766.247509662,746,717.752490338,678.752490338,663,636.752490338,877.752490338,785,811,651.247509662,630,654,0.400937413927,-0.00543833616407,0.0499278942868,0.999999975894,5.24634019434e-05,-0.000211260553695,-2.87913515383e-05,1793249514416054784
+73,1.216666667,BASELINE,766,746,717.661968028,678.661968028,663,636.661968028,878,784.661968028,811.338031972,651.338031972,630,653.661968028,0.400937909593,-0.00543863178506,0.0499280612948,0.999999976006,5.18031241148e-05,-0.000210895463115,-2.87608977793e-05,1793249514432721664
+74,1.233333333,BASELINE,766,746,717.068306784,678.068306784,663,636.068306784,878,784.068306784,811.931693216,651.931693216,630,653.068306784,0.400936890819,-0.00544077213492,0.0499269100415,0.999999975709,5.10662397892e-05,-0.000212541584589,-2.82960462488e-05,1793249514449388288
+75,1.250000000,BASELINE,766,746,717.512432119,678,663,636,877.487567881,784,811.487567881,651.487567881,629.487567881,653.512432119,0.400937370947,-0.00544012827769,0.0499267266109,0.999999975872,5.22548612442e-05,-0.00021148141582,-2.83084888162e-05,1793249514466054912
+76,1.266666667,BASELINE,766,745.909179759,717.909179759,678.090820241,663,636,877.090820241,784.090820241,811.090820241,651.090820241,629.090820241,653.909179759,0.400937791093,-0.00543923208303,0.0499266738894,0.999999976016,5.32686651658e-05,-0.000210523416051,-2.8482572213e-05,1793249514482721280
+77,1.283333333,BASELINE,766,745.334365435,717.334365435,678.665634565,663,636,877.665634565,784.665634565,811.665634565,651.665634565,629.665634565,653.334365435,0.400936853004,-0.0054389203155,0.0499266471342,0.999999975752,5.2016663778e-05,-0.000211985070525,-2.91873470026e-05,1793249514499388160
+78,1.300000000,BASELINE,766,745.240335795,717,678.759664205,663,636,878,785,811.759664205,651.759664205,629.759664205,653.240335795,0.400936686862,-0.00543851289791,0.0499268882148,0.999999975646,5.20650465127e-05,-0.000212431615596,-2.94917534811e-05,1793249514516054528
+79,1.316666667,BASELINE,766,745.814879713,717,678.185120287,663,636,878,785,811.185120287,651.185120287,629.185120287,653.814879713,0.400937594181,-0.00543797247051,0.0499275017447,0.99999997576,5.39217281766e-05,-0.000211466561378,-2.92394124491e-05,1793249514532721408
+80,1.333333333,BASELINE,766,745.59940232,717,678,663,636,878,784.59940232,811,651.40059768,629.40059768,653.59940232,0.400936807241,-0.00543942839748,0.0499270752345,0.99999997568,5.25585787065e-05,-0.000212232460952,-2.89074617913e-05,1793249514549388032
+81,1.350000000,BASELINE,766,745.008372493,717,678,663,636,878,784.008372493,811,651.991627507,629.991627507,653.008372493,0.400935214899,-0.00544183333151,0.0499261543205,0.9999999755,4.96648180511e-05,-0.000213821204062,-2.85376670774e-05,1793249514566054656
+82,1.366666667,BASELINE,766,745,717.570134771,678,663,636,878,784.570134771,811,651.429865229,630,653,0.400935540669,-0.0054402990449,0.0499260106406,0.999999975456,5.141138549e-05,-0.000213596975527,-2.86495137436e-05,1793249514582721536
+83,1.383333333,BASELINE,766,745,717.852745382,678,663.147254618,636,878,784.852745382,811,651,630,653.147254618,0.400935816088,-0.00543894816688,0.0499259093321,0.999999975417,5.2784435819e-05,-0.000213421828026,-2.88259836268e-05,1793249514599388416
+84,1.400000000,BASELINE,766,745,717.279121583,678,663.720878417,636,878,784.279121583,811,651,630,653.720878417,0.40093586591,-0.00543829223601,0.0499258983708,0.999999975393,5.28829178411e-05,-0.000213464223339,-2.91695278954e-05,1793249514616055040
+85,1.416666667,BASELINE,766.292758764,745,717,677.707241236,664,636,877.707241236,784.292758764,811,651.292758764,629.707241236,654,0.400936292649,-0.00543828600592,0.0499258919239,0.999999975416,5.27960501919e-05,-0.000213362734722,-2.92771329663e-05,1793249514632721408
+86,1.433333333,BASELINE,766.86298668,745,717,677.13701332,664,636,877.13701332,784.86298668,811,651.86298668,629.13701332,654,0.400937076622,-0.00543889554538,0.0499258897558,0.999999975484,5.25335129335e-05,-0.000213124876651,-2.91611209743e-05,1793249514649388032
+87,1.450000000,BASELINE,767,745.454576447,717,677.909152893,663.545423553,636,877.454576447,784.545423553,811,651.545423553,629.454576447,654,0.400938044574,-0.00543970523742,0.0499268549993,0.999999975893,5.1034936147e-05,-0.000211574977189,-2.90900223031e-05,1793249514666054912
+88,1.466666667,BASELINE,767,746,717,678.949376265,663,636,878,784,811.050623735,651,630,654,0.400938896602,-0.00544052561219,0.0499279457172,0.999999976334,4.93546644045e-05,-0.000209888613791,-2.90271972114e-05,1793249514682721536
+89,1.483333333,BASELINE,767,746,717,678.377018698,663,636,878,784,811.622981302,651,630,654,0.400937954227,-0.00544080368185,0.0499271762849,0.999999976065,4.98307276846e-05,-0.000211072471415,-2.89032443814e-05,1793249514699388160
+90,1.500000000,BASELINE,767,745.797857893,717,678,663,636,878,784.202142107,812,651,630,653.797857893,0.40093732515,-0.00544074635176,0.0499267793316,0.999999975928,4.97560541871e-05,-0.000211755855549,-2.87717776169e-05,1793249514716054784
+91,1.516666667,BASELINE,767,745.205566393,717,678,663,636,878,784.794433607,812,651,630,653.205566393,0.400937300759,-0.00544004167501,0.0499271012908,0.999999976048,4.86184174473e-05,-0.000211473288268,-2.86258084111e-05,1793249514732721408
+92,1.533333333,BASELINE,766.621919209,745.378080791,717,678,663,636,878,784.621919209,811.621919209,651,630,653,0.400937296786,-0.00544025009904,0.0499267922084,0.999999975932,4.85843201198e-05,-0.000212024476561,-2.8667218002e-05,1793249514749388032
+93,1.550000000,BASELINE,766.042866916,745.957133084,717,678,663,636,878,784.042866916,811.042866916,651,630,653,0.400937303666,-0.00544094388816,0.0499261476914,0.999999975689,4.91368168172e-05,-0.000213018853464,-2.88082300955e-05,1793249514766054656
+94,1.566666667,BASELINE,766,745.463860539,717,678.536139461,663,636,878,784.536139461,811,651.536139461,630,653.536139461,0.400936838488,-0.00544221631886,0.0499258284774,0.999999975657,4.88469285356e-05,-0.00021325223803,-2.86829053091e-05,1793249514782721536
+95,1.583333333,BASELINE,766,745.113614685,717.113614685,678.886385315,663,636,878,784.886385315,811,652,630,653.886385315,0.400936540698,-0.00544289406242,0.0499257149755,0.999999975666,4.87514513134e-05,-0.000213242117913,-2.86267342113e-05,1793249514799388160
+96,1.600000000,BASELINE,766,745.684936486,717.684936486,678.315063514,663,636,878,784.315063514,811,652,630,653.315063514,0.400937069286,-0.00544098968759,0.0499263254306,0.999999975769,4.97104899597e-05,-0.000212496115591,-2.89349361405e-05,1793249514816055040
+97,1.616666667,BASELINE,766,746,718,678.264891451,663,636,877.735108549,784.264891451,811.264891451,652,630,653.264891451,0.400937252725,-0.00544040779741,0.0499265707085,0.999999975748,5.08173765125e-05,-0.000212337918563,-2.88695625746e-05,1793249514832721664
+98,1.633333333,BASELINE,766,746,718,678.855460651,663,636,877.144539349,784.855460651,811.855460651,652,630,653.855460651,0.400937011813,-0.00544145187083,0.0499263670096,0.999999975577,5.21060384979e-05,-0.000212902414228,-2.83448867898e-05,1793249514849388288
+99,1.650000000,BASELINE,766,745.562860228,718,678.562860228,663,636,877.437139772,784.562860228,811.562860228,651.562860228,630,654,0.40093714278,-0.00544176831199,0.049926141605,0.999999975617,5.12453084844e-05,-0.000212905159671,-2.84921953247e-05,1793249514866054656
+100,1.666666667,BASELINE,766.01589603,745.01589603,717.98410397,678.01589603,663,636.01589603,878.01589603,784.01589603,810.98410397,651,630,654,0.400937395707,-0.00544182235982,0.0499259279435,0.999999975723,4.97319640542e-05,-0.000212715701165,-2.88460776965e-05,1793249514882721280
+101,1.683333333,BASELINE,766.593170615,745.593170615,717.406829385,678.593170615,663,636.593170615,878.593170615,784.593170615,810.406829385,651,630,654,0.400937699784,-0.0054409370614,0.0499263774066,0.999999975839,4.97694108434e-05,-0.000212167275336,-2.88048570646e-05,1793249514899387904
+102,1.700000000,BASELINE,766.831035215,746,717,678.831035215,663,636.831035215,878.831035215,785,810.168964785,651,630,654,0.400937826732,-0.00544042877247,0.0499267588613,0.999999975915,4.97868488056e-05,-0.000211804606302,-2.87967485585e-05,1793249514916055040
+103,1.716666667,BASELINE,766.258774677,746,717,678.258774677,663,636.258774677,878.258774677,785,810.741225323,651,630,654,0.400937530897,-0.00544082035358,0.049926977989,0.999999975898,4.97565284385e-05,-0.000211885313326,-2.88676741589e-05,1793249514932721664
+104,1.733333333,BASELINE,766,746,717,678,663,636,878,784.675949526,811.324050474,651,630,653.675949526,0.400936783524,-0.00544035725007,0.0499266409881,0.999999975675,5.07262004111e-05,-0.000212697097154,-2.89374095379e-05,1793249514949388288
+105,1.750000000,BASELINE,766,746,717,678,663,636,878,784.08440349,811.91559651,651,630,653.08440349,0.400935663418,-0.00543918862582,0.049925844917,0.999999975278,5.25213410492e-05,-0.000214112366611,-2.90061624266e-05,1793249514966054912
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,718,678,663,637,878,784,811,651,630,654,0.400935908621,-0.00544004300579,0.0499260330629,0.999999975439,5.263894869e-05,-0.000213336433363,-2.89557203939e-05,1793249514997212928
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,717.423527593,678,663,636.423527593,877.423527593,784.576472407,811,651,629.423527593,654,0.400937201605,-0.00544108785723,0.0499267847198,0.999999975964,5.03428564484e-05,-0.000211448656295,-2.87746347591e-05,1793249515013879808
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.152363104,746,717,678,663.152363104,636.152363104,877.152363104,784.847636896,811,651,629.152363104,654,0.400937988313,-0.00544144977384,0.0499270705836,0.999999976217,4.89731364516e-05,-0.000210574531963,-2.87490597018e-05,1793249515030546432
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.726643089,746,717,678,663.726643089,636.726643089,877.726643089,784.273356911,811,651,629.726643089,654,0.400937373067,-0.00543992053902,0.0499260665944,0.999999975737,5.01686832306e-05,-0.000212507367612,-2.9154117323e-05,1793249515047212800
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.689257677,745.689257677,717,677.689257677,663.689257677,636.689257677,877.689257677,784,811,651,630,654,0.400937495836,-0.0054400276601,0.0499262954588,0.999999975734,5.02601290671e-05,-0.000212510182229,-2.90698941943e-05,1793249515063879424
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.096238725,745.096238725,717,677.096238725,663.096238725,636.096238725,877.096238725,784,811,651,630,654,0.400938289013,-0.00544162123805,0.0499276442409,0.999999976165,4.93486155649e-05,-0.000210759776162,-2.85412110801e-05,1793249515080546048
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,717,677.484913277,663,636,877,784.484913277,811,651,630,654,0.400938878342,-0.00544046059129,0.0499268751035,0.999999975969,5.21749971585e-05,-0.000211022232132,-2.84519177313e-05,1793249515097212928
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.063080793,717,678,663,636,877.063080793,784.936919207,811,651.063080793,630,653.936919207,0.400940590497,-0.00543891786842,0.0499261460666,0.999999975849,5.51895264369e-05,-0.000210820100053,-2.84671337771e-05,1793249515113879552
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.635710542,717,678,663,636,877.635710542,784.364289458,811,651.635710542,630,653.364289458,0.400951691525,-0.00543859880646,0.0499290551894,0.999999977389,5.38745931313e-05,-0.000203715317101,-2.86389657741e-05,1793249515130546176
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,717,678,663,636,878,784,811,651.785648779,629.785648779,653,0.400966981455,-0.00543902799814,0.0499327186805,0.999999979469,5.28868539123e-05,-0.000193509488734,-2.86055792786e-05,1793249515147212800
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,717,678,663,636,878,784,811,651.196497863,629.196497863,653,0.400989595809,-0.00544076553432,0.0499377012073,0.999999982404,5.24712237372e-05,-0.000177881387926,-2.82133619244e-05,1793249515163879424
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,717,678,663,636,878,784.385848602,811.385848602,651,629.385848602,653,0.401025319664,-0.00544279799743,0.0499447979873,0.999999986207,5.12098765593e-05,-0.000155456984854,-2.82081051111e-05,1793249515180546048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,717,678,663,636,878,784.964789924,811.964789924,651,629.964789924,653,0.401067603994,-0.00544497805291,0.0499529528171,0.999999989968,4.95253016695e-05,-0.000129631462637,-2.83964974247e-05,1793249515197212672
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,717,678.54254197,663,636,878,784.45745803,811.45745803,651.54254197,630,653.54254197,0.40112113854,-0.00544570466341,0.0499571174722,0.99999999283,4.79673780716e-05,-0.000105864647825,-2.8833102676e-05,1793249515213879552
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.880686171,717.119313829,678.880686171,663,636,877.880686171,784,811,652,630,653.880686171,0.401176581925,-0.00544657645015,0.0499606718461,0.999999994696,4.69687644794e-05,-8.69401913852e-05,-2.90247665945e-05,1793249515230546176
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.307350963,717.692649037,678.307350963,663,636,877.307350963,784,811,652,630,653.307350963,0.401236516741,-0.00544835882342,0.0499628871777,0.999999994754,4.80672674594e-05,-8.59349135139e-05,-2.82231991616e-05,1793249515247213056
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,717.726651261,678,663,636,877,784,811,652,630,653.273348739,0.401305660743,-0.00545043526218,0.0499646463621,0.99999999501,4.78411045775e-05,-8.32726367334e-05,-2.74965236264e-05,1793249515263879424
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,717.13744175,678,663,636,877,784,811,652,630,653.86255825,0.401385446167,-0.0054528515003,0.0499658784577,0.999999995481,4.60842596725e-05,-7.8695659554e-05,-2.68563874543e-05,1793249515280546304
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.444117985,717,677.555882015,663,636,877,784,811,652,630,653.555882015,0.401483635671,-0.00545640185255,0.0499663818856,0.999999995604,4.38458426213e-05,-7.85539497978e-05,-2.64332543488e-05,1793249515297212928
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.023287539,746,717,677.023287539,663,636,877.023287539,784.023287539,811.023287539,651.976712461,630,653.023287539,0.401588633424,-0.00546027414895,0.049966625622,0.999999995619,4.14975681736e-05,-7.97538595894e-05,-2.60620445366e-05,1793249515313879808
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.600960335,746,717,677.600960335,663,636,877.600960335,784.600960335,811.600960335,651.399039665,630,653.600960335,0.401722416538,-0.00546359679941,0.0499659645342,0.999999995616,4.00218281797e-05,-8.07698387534e-05,-2.53552695935e-05,1793249515330546432
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.822795069,746,717,678,663,636,878,784.822795069,811.822795069,651.177204931,630,654,0.401865660329,-0.00546783202889,0.0499665920054,0.999999995748,3.82494133296e-05,-8.03057671138e-05,-2.4320836946e-05,1793249515347213056
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.249740931,746,717,678,663,636,878,784.249740931,811.249740931,651.750259069,630,654,0.402030037836,-0.00547410582241,0.0499700979238,0.999999996175,3.58142715995e-05,-7.65354841003e-05,-2.25544662851e-05,1793249515363879680
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.665006821,717.334993179,678,663,636,878.334993179,784.334993179,811,651.665006821,630,654,0.402205649587,-0.00548091600234,0.049968948861,0.99999999605,3.22913551992e-05,-8.00694293894e-05,-2.11296869166e-05,1793249515380546304
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.071250539,717.928749461,678,663,636,878.928749461,784.928749461,811,651.071250539,630,654,0.402389939168,-0.00548814051082,0.0499642040912,0.999999995428,2.7928194715e-05,-8.92454735791e-05,-1.99687671282e-05,1793249515397213184
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.507121785,717.492878215,678,663,636.507121785,878.492878215,784.492878215,811.507121785,651.507121785,630,654,0.402615185122,-0.0054955640636,0.0499639495838,0.999999995567,2.47483190466e-05,-8.8923077735e-05,-1.85916242781e-05,1793249515413879808
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.916518964,717,678,663,636.916518964,878.083481036,784.083481036,811.916518964,651.916518964,630,653.916518964,0.40285456537,-0.00550349176856,0.0499653368919,0.999999995972,2.14858912312e-05,-8.54692024049e-05,-1.70030908941e-05,1793249515430546432
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.339658698,717,678,663,636.339658698,878.660341302,784.660341302,811.339658698,651.339658698,630,653.339658698,0.40314447304,-0.00551423864101,0.0499728086773,0.999999997224,1.67819438168e-05,-7.11629967232e-05,-1.43394806507e-05,1793249515447213056
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.241573566,745.241573566,717.241573566,678,663.241573566,636,878.758426434,785,811,651,630,653.241573566,0.403446201524,-0.00552430967947,0.0499813057401,0.999999998382,1.22645274772e-05,-5.42986376727e-05,-1.17102105522e-05,1793249515463879424
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.829066239,745.829066239,717.829066239,678,663.829066239,636,878.170933761,785,811,651,630,653.829066239,0.403764856699,-0.00553341296284,0.049991270939,0.999999999356,8.014212924e-06,-3.37711546417e-05,-9.13011367689e-06,1793249515480546304
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,717.589479803,678,663.589479803,636.410520197,878,785,811,651,630,654,0.40411574549,-0.00554288235075,0.049998095291,0.999999999802,5.25026803267e-06,-1.80754467717e-05,-6.44315475005e-06,1793249515497212928
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,717.010503828,678,663.010503828,636.989496172,878,785,811,651,630,654,0.404479861245,-0.00555250196838,0.0500036308052,0.999999999979,3.09625074532e-06,-4.36244439475e-06,-3.71234535225e-06,1793249515513879552
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.434197198,746,717,678,663.565802802,637,878.565802802,785,811.565802802,651,630,653.434197198,0.404885958168,-0.00555896146728,0.050009632567,0.999999999915,5.65799165413e-06,1.16815712765e-05,-9.79828907179e-07,1793249515530546432
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.141294721,745.858705279,717,678,664,637,878.858705279,785,812,651,630,653.141294721,0.405296360315,-0.00556239876784,0.0500101600524,0.999999999797,1.18096949381e-05,1.62413445324e-05,1.70030548504e-06,1793249515547213056
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.714447176,745.285552824,717,678,664,637,878.285552824,785,812,651,630,653.714447176,0.405717550144,-0.00555677738931,0.0499939294511,0.999999999476,2.86675537255e-05,-1.44313364911e-05,4.22024076847e-06,1793249515563879680
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.296848594,717,678,663.703151406,637,878.296848594,785,812,651,629.703151406,653.703151406,0.406147991677,-0.00554942002746,0.0499741581567,0.999999997538,4.75347521116e-05,-5.12775612646e-05,5.90273326136e-06,1793249515580546304
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.888433223,717,678,663.111566777,637,878.888433223,785,812,651,629.111566777,653.111566777,0.406587619124,-0.00554033903596,0.0499508713651,0.999999993196,6.83969923487e-05,-9.42533985985e-05,6.75374302697e-06,1793249515597212928
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,717,678.46930288,663.46930288,637,879,784.53069712,812,651.46930288,629.46930288,653.46930288,0.407085184101,-0.00554284475163,0.0499395759609,0.999999990243,7.98542057097e-05,-0.000114178764514,9.97627386357e-06,1793249515613879552
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.952589272,745.952589272,717,678.952589272,663.952589272,637,879,784.047410728,812,651.952589272,630,654,0.407603794859,-0.00554796641758,0.0499335817171,0.99999998831,8.90046771202e-05,-0.000123560479782,1.3810536575e-05,1793249515630546176
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.377501799,745.377501799,717,678.377501799,663.377501799,637,879,784.622498201,812,651.377501799,630,654,0.408206768609,-0.00555223045017,0.0499555691147,0.999999992317,9.68106022473e-05,-7.5220189601e-05,1.83185825444e-05,1793249515647212800
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.201729599,745,717,678,663.201729599,637,879,785,812,651,629.798270401,654,0.408821665853,-0.00555642707689,0.0499787832328,0.999999993862,0.000104105730088,-2.99967104241e-05,2.31936995857e-05,1793249515663879424
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.78887823,745,717,678,663.78887823,637,879,785,812,651,629.21112177,654,0.409459343762,-0.00556049491951,0.0500043410881,0.999999993446,0.000110424942452,9.2718721145e-06,2.87701323145e-05,1793249515680546304
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717,678.37080874,664,637,879.37080874,785,812,651.37080874,629,654,0.410093345536,-0.00556223654826,0.0500106388186,0.999999993378,0.00010990471993,1.57951119166e-05,3.02436852607e-05,1793249515697212928
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,717,678.949809494,664,637,879.949809494,785,812,651.949809494,629,654,0.410725283308,-0.005562672115,0.0500061228759,0.99999999399,0.000105544469818,3.93334982713e-06,2.94136601544e-05,1793249515713879552
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.528792193,717.528792193,679,663.471207807,637,880.528792193,784.471207807,812,652,629,654,0.411347159899,-0.00555699508413,0.0499716486627,0.999999991449,0.00010657261909,-7.08024985245e-05,2.70600846846e-05,1793249515730546176
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.893071581,746,717.893071581,679,663.106928419,637,880.893071581,784.106928419,812,652,629.106928419,654,0.411992868417,-0.00555204249562,0.0499431583876,0.999999985479,0.000108261616612,-0.000129154791864,2.52887101696e-05,1793249515747213056
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.318628994,746,717.318628994,679,663.681371006,637,880.318628994,784.681371006,812,652,629.681371006,654,0.412746950249,-0.00555279391102,0.0499532631679,0.999999989497,0.000110603929381,-8.97833595695e-05,2.66950828539e-05,1793249515763879424
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.261606531,745.738393469,717,679,664.261606531,637,880.261606531,784.738393469,812.261606531,651.738393469,629.738393469,654,0.413513950105,-0.00555587444372,0.04996869931,0.999999992019,0.00011029679207,-5.4478338383e-05,2.87952252099e-05,1793249515780546304
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.849057534,745.150942466,717,679,664.849057534,637,880.849057534,784.150942466,812.849057534,651.150942466,629.150942466,654,0.414297040131,-0.00556185601268,0.0499907759403,0.999999993511,0.000106689627974,-2.4238237457e-05,3.17594938076e-05,1793249515797212928
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.4303792,717,679.4303792,664.5696208,637,880.5696208,784,813,651,629,654.4303792,0.415056417531,-0.00556433436644,0.0499748166829,0.999999992741,0.000104058788757,-5.16317315702e-05,3.20055097573e-05,1793249515813879552
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.990459452,717,679.990459452,664,637,880.009540548,784.019081095,813,651,629,654.990459452,0.415808427765,-0.00556558382312,0.049946052984,0.999999989501,0.000101766447359,-9.82894274685e-05,3.13089435899e-05,1793249515830546432
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.413722969,717,679.413722969,664,637,880.586277031,785.172554062,813,651,629,654.413722969,0.416609936232,-0.00556579272318,0.049937988736,0.999999989029,9.95269940864e-05,-0.000105400039853,3.04563804919e-05,1793249515847213056
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.837476179,745.162523821,717,679,664.162523821,637,881,785.674952359,813,651,629,654,0.417430796417,-0.00556656671463,0.0499412467318,0.999999990289,9.72136114109e-05,-9.50838628994e-05,3.04936248536e-05,1793249515863879680
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.26247225,745.73752775,717,679,664.73752775,637,881,784.524944499,813,651,629,654,0.418300770577,-0.00556877488938,0.0499732402102,0.999999994155,9.47125983026e-05,-4.0539067409e-05,3.27891712659e-05,1793249515880546304
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.320254127,746,717,679.320254127,665,637,881,784.320254127,813,651,629,654.320254127,0.419144906977,-0.00557025424049,0.0499816736879,0.999999994505,9.29302509205e-05,-3.42176933079e-05,3.43956756732e-05,1793249515897212928
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.909465985,746,717,679.909465985,665,637,881,784.909465985,813,651,629,654.909465985,0.419967344111,-0.00557112150648,0.0499703208637,0.999999992824,9.17514578911e-05,-6.83956035549e-05,3.54235046254e-05,1793249515913879552
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.509973881,746,717.490026119,680,664.509973881,637.490026119,881.980052238,785,813,651,629,654.509973881,0.420860802847,-0.00556958753612,0.0499729238863,0.999999994022,9.29761436607e-05,-4.5720677435e-05,3.49342165071e-05,1793249515930546432
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,717.931301964,680,664.137396073,637.931301964,883,785,813,651,629,654,0.421766706111,-0.00556830978583,0.0499798036839,0.999999994902,9.40388409324e-05,-1.28289572828e-05,3.44764256137e-05,1793249515947212800
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,717.354976531,680,665.290046937,637.354976531,883,785,813,651,629,654,0.422669288846,-0.00557214658401,0.0499995638217,0.999999995044,9.06802834487e-05,1.92888659831e-05,3.62865971717e-05,1793249515963879680
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,717,680,665.550135968,637,883,785,813.224932016,651,628.775067984,654,0.423562958996,-0.00557364215612,0.0500046476319,0.999999994977,8.93595043263e-05,2.60318387267e-05,3.71957723016e-05,1793249515980546304
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,717,680,664.37882623,637,883,785,813.810586885,651,628.189413115,654,0.424442336202,-0.00557138311103,0.0499861950593,0.999999995128,9.13067042637e-05,-7.91876124796e-06,3.6660022249e-05,1793249515997212928
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.393914974,745.606085026,717,680.393914974,664.393914974,637,883.393914974,785,814,651,628.393914974,654,0.425356621121,-0.00557306453145,0.0499915674255,0.99999999526,8.98189638884e-05,9.99118396522e-07,3.75607525967e-05,1793249516013879552
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.97613077,745.02386923,717,680.97613077,664.97613077,637,883.97613077,785,814,651,628.97613077,654,0.426287592713,-0.0055766295892,0.050008328686,0.999999995014,8.66892393582e-05,3.04091633901e-05,3.91481551101e-05,1793249516030546176
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.55157156,717.55157156,681,665.55157156,637,884,785,814,651,629,654,0.42715860014,-0.00557725814295,0.0500067773526,0.999999995623,8.41631856868e-05,3.64991318256e-06,4.07065838021e-05,1793249516047213056
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.873171636,746,717.873171636,681,665.873171636,636.873171636,884,785,814,651.126828364,628.873171636,654.126828364,0.428022576566,-0.00557725536576,0.0499968133329,0.999999995232,8.30220301529e-05,-3.03331199489e-05,4.15097845219e-05,1793249516063879680
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.297541023,746,717.297541023,681,665.297541023,636.297541023,884,785,814,651.702458977,628.297541023,654.702458977,0.428870743844,-0.00557546274984,0.0499598499669,0.999999992145,8.66902346031e-05,-8.13815231311e-05,3.96448745116e-05,1793249516080546304
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,717.285137315,680.714862685,665.285137315,636.285137315,884.285137315,785,814.285137315,652,628,654.714862685,0.429763871432,-0.00557589595373,0.0499480739315,0.999999991401,8.72700749573e-05,-8.97488749364e-05,3.90694919394e-05,1793249516097213440
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,717.875356305,680.124643695,665.875356305,636.875356305,884.875356305,785,814.875356305,652,628,654.124643695,0.430705104093,-0.00557871066589,0.0499632469953,0.999999994256,8.45455307741e-05,-5.24497814506e-05,3.98738349164e-05,1793249516113881088
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.544569001,717.544569001,680.455430999,665.544569001,636.544569001,885,785,815,652,628,654,0.43156742931,-0.00557956081845,0.0499515625058,0.999999993063,8.14474779695e-05,-7.52079320409e-05,3.98053937002e-05,1793249516130547456
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.032643192,745.032643192,717,681,665,636,885,784.967356808,815,652,628,654,0.432410410635,-0.0055800324371,0.0499341832156,0.999999990054,7.80637165662e-05,-0.000110623371102,3.95078381939e-05,1793249516147213568
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.607418736,745.607418736,717,681,665,636,885,784.392581264,815,652,628,654,0.433282972549,-0.0055829523384,0.0499416408899,0.999999992685,7.15956725786e-05,-8.92197296508e-05,3.92858039287e-05,1793249516163880192
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.635604837,746,717,681.182197581,665,636,885,784,815,651.817802419,628,654,0.434150664284,-0.00558531417291,0.0499557370452,0.999999994936,6.72728524691e-05,-6.33285654739e-05,3.99093948173e-05,1793249516180547072
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.486032699,746,717,681.756983651,665,636,885,784,815,651.243016349,628,654,0.43500786221,-0.0055864735189,0.0499841374052,0.999999996434,6.75724316835e-05,-2.77679507853e-05,4.23550883422e-05,1793249516197213952
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.684574156,746,717,681.657712922,665.342287078,636,885,784,815,651,628.342287078,654,0.435819846596,-0.0055848643732,0.0499827546441,0.999999995485,7.11191576986e-05,-4.54179176438e-05,4.36840875028e-05,1793249516213880832
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.870588556,746,717,681.064705722,665.935294278,636,885,784,815,651,628.935294278,654,0.436598712693,-0.00558122734903,0.0499595561943,0.999999990849,7.70443696077e-05,-0.000102043834829,4.41951246579e-05,1793249516230547456
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.486395585,746,717.513604415,681,665.486395585,636.513604415,885,784.513604415,815,651.513604415,629,654,0.437402250529,-0.005581162901,0.0499582730384,0.999999991781,7.66298323441e-05,-9.30604545948e-05,4.3662557257e-05,1793249516247214080
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717.909851442,681.090148558,665.090148558,636.909851442,885.090148558,785,815.090148558,651.909851442,629,654,0.438205776491,-0.00558220672124,0.0499622615712,0.999999993561,7.47632294669e-05,-7.35835629879e-05,4.32981213273e-05,1793249516263880448
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717.333123335,681.666876665,665.666876665,636.333123335,885.666876665,785,815.666876665,651.333123335,629,654,0.438992928284,-0.00558687068366,0.0499802163751,0.999999995777,6.92501586888e-05,-4.08408143584e-05,4.45310891828e-05,1793249516280546816
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717.248123649,682,665.751876351,636,886.248123649,784.751876351,815.751876351,651,629,654.248123649,0.439734756852,-0.0055886188954,0.0499804820973,0.999999996047,6.6947862925e-05,-3.75841813642e-05,4.48528281781e-05,1793249516297213440
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,717.835550034,682,665.164449966,636,886.835550034,784.164449966,815.164449966,651,629,654.835550034,0.440414607009,-0.00558637989233,0.0499565584517,0.999999993866,6.90362202561e-05,-7.46490592656e-05,4.39284849456e-05,1793249516313880064
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,718,681.582878172,665,636,886.582878172,784,815.417121828,651,628.582878172,654.582878172,0.441119404267,-0.00558631277724,0.049951129262,0.99999999323,6.85766147738e-05,-8.32049046851e-05,4.37538577982e-05,1793249516330546944
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,718,681.003582549,665,636,886.003582549,784,815.996417451,651,628.003582549,654.003582549,0.441833900824,-0.00558709007549,0.0499528905741,0.99999999353,6.71263809227e-05,-8.06766581889e-05,4.38707145013e-05,1793249516347213824
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.572821052,745.427178948,717.427178948,681.572821052,665,636,886,784,816,651,628.572821052,654,0.442498061598,-0.00558747926541,0.0499649402258,0.999999995225,6.68462005724e-05,-5.59267201844e-05,4.419902679e-05,1793249516363879936
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.851389643,745.148610357,717,682,665,636,886,784.148610357,816,651,629,654,0.443136616364,-0.0055879708727,0.0499682313874,0.999999995672,6.60089783322e-05,-4.84184518911e-05,4.42014170504e-05,1793249516380546048
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.277307409,745.722692591,717,682,665,636,886,784.722692591,816,651,629,654,0.443702757986,-0.0055887626158,0.0499462636731,0.999999992934,6.35560979729e-05,-9.06690270439e-05,4.32669244352e-05,1793249516397212928
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,682,665,636,886,784.694664331,816,651,628.694664331,654,0.444234923232,-0.00558924305799,0.0499103766862,0.999999985802,6.03574440854e-05,-0.000151777903014,4.14356393152e-05,1793249516413879552
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,682,665,636,886,784.104022005,816,651,628.104022005,654,0.444735340806,-0.00558943261953,0.0498614834864,0.999999971088,5.64619368907e-05,-0.00023050803441,3.87663882331e-05,1793249516430546176
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.477100169,746,717.477100169,682,665,635.522899831,886,784.477100169,816,651.477100169,628.477100169,654,0.445271656196,-0.00559087200731,0.0498479186247,0.999999969301,5.54046283607e-05,-0.000238397662278,3.86619906318e-05,1793249516447212800
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.944210116,746,717.944210116,682,665,635,886.055789884,784.944210116,816,652,628.944210116,654,0.445812318485,-0.0055913968771,0.0498438666648,0.999999971498,5.59426610341e-05,-0.0002288189324,3.89462112544e-05,1793249516463879424
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.369218645,746,717.369218645,682,665,635,886.630781355,784.369218645,816,652,628.369218645,654,0.446322020636,-0.00558092453278,0.049858064206,0.999999977608,6.56813101093e-05,-0.000197601072789,3.77446163749e-05,1793249516480546048
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.205583902,746,717,682.205583902,665,635,886.588832195,784,816,651.794416098,628.205583902,654,0.446794799959,-0.0055755256071,0.0498603274117,0.999999978786,7.08530183518e-05,-0.000189836029241,3.70035872637e-05,1793249516497213184
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.780047399,746,717,682.780047399,665,635,885.439905202,784,816,651.219952601,628.780047399,654,0.447201328529,-0.00557922992745,0.0498411768141,0.99999997189,6.78302548068e-05,-0.000224152422529,3.70889523621e-05,1793249516513880576
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717,682.635276972,664.635276972,635,885,784,816,651.364723028,629,654.364723028,0.447570271388,-0.00558426581459,0.0498101736879,0.999999960564,6.18146136203e-05,-0.00027159135343,3.59126751526e-05,1793249516530547456
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717,682.044265274,664.044265274,635,885,784,816,651.955734726,629,654.955734726,0.447915894619,-0.00559012785909,0.0497718167796,0.999999944448,5.39420717095e-05,-0.000327172031279,3.39536248194e-05,1793249516547213824
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.46423077,746,717.53576923,682.53576923,664,635,885.53576923,784,816,652,629,655,0.448267296316,-0.00559066800718,0.0497590942627,0.999999937438,5.13886139579e-05,-0.000348411047992,3.30556030378e-05,1793249516563880192
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,717.311215186,682.311215186,664,634.311215186,886,784,816,651.311215186,628.311215186,654.311215186,0.448947408061,-0.00558470423287,0.0497667066479,0.999999941004,5.88447987418e-05,-0.00033673945639,3.37001815367e-05,1793249516597213440
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.263851652,746,717.263851652,682.263851652,664,634,886,784,816,651.263851652,628,654,0.449253345743,-0.00558023531831,0.04977654125,0.999999945783,6.33793484198e-05,-0.000321334154915,3.40746301627e-05,1793249516613880064
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.83930045,746,717.83930045,682.83930045,664,634,886,784,816,651.83930045,628,654,0.449528322873,-0.00557645199268,0.0497820785146,0.999999948131,6.42446752111e-05,-0.0003138178033,3.36146112674e-05,1793249516630546944
+205,3.416666667,POSE1_TO_POSE2_PRESS,766.574511665,746,718,682.574511665,664,634,886,784,816,651.574511665,628,654,0.449771699731,-0.00557956988653,0.0497809059799,0.999999946912,5.95164916433e-05,-0.000318547078718,3.40772791832e-05,1793249516647213568
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.015538036,746,717.984461964,682.015538036,664,634,886,784,816,651,628,654,0.450002046012,-0.00558526692425,0.0497771026517,0.999999944202,5.27677783641e-05,-0.000328017386797,3.4874937151e-05,1793249516663880960
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.594735402,746,717.405264598,682.594735402,664,634,886,784,816,651,628,654,0.450203855046,-0.0055875244099,0.0497721747068,0.999999941171,5.13423122642e-05,-0.000337354142172,3.48558041858e-05,1793249516680547328
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.834080513,746,717,682.834080513,663.834080513,634,886,783.834080513,815.834080513,651,628,654,0.450394554009,-0.00558908037163,0.0497684567482,0.999999938765,5.01119547801e-05,-0.000344595743931,3.4811331569e-05,1793249516697213952
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.281567507,746,717,682.281567507,663.281567507,634,886,783.281567507,815.281567507,651,628,654,0.450559366403,-0.00558900177761,0.0497675580669,0.999999937992,4.93362018905e-05,-0.00034695562243,3.4707817402e-05,1793249516713880576
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,717,682.916915163,663.916915163,634,885.083084837,783.916915163,815.916915163,651.916915163,628,654,0.450833834083,-0.00558591080631,0.0497654586326,0.999999933767,5.36495543834e-05,-0.000358341352871,3.43463462891e-05,1793249516747213312
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.50123577,746,717,682.49876423,664,634,885.50123577,784,816,651.49876423,628,654,0.450941988854,-0.00558694819427,0.0497630464356,0.999999930973,5.3119650505e-05,-0.000366118462524,3.4482476495e-05,1793249516763880192
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+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,717,682.19407226,663,633,885.19407226,783.19407226,816,651.19407226,628,654,0.451463990748,-0.00558454400201,0.0497332002462,0.999999908951,4.91680996814e-05,-0.000422646918811,3.24018212135e-05,1793249517013880576
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,717,682.768014492,663,633,885.768014492,783.768014492,816,651.768014492,628,654,0.451467532341,-0.00558425946253,0.0497339853059,0.999999909767,4.98651005041e-05,-0.000420629625501,3.2414427548e-05,1793249517030547456
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,717,682.64914322,663.35085678,633,886,784,816,651.64914322,628,654,0.451468957526,-0.005585307381,0.0497340328892,0.999999909949,4.8271263177e-05,-0.000420373031014,3.25322347219e-05,1793249517047213824
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,717,682.060263104,663.939736896,633,886,784,816,651.060263104,628,654,0.451468946926,-0.00558725924692,0.049733580164,0.999999909695,4.51233075327e-05,-0.000421310905206,3.27214107728e-05,1793249517063880192
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,717,682.522049466,664,633,886,783.477950534,816,651.522049466,628,654,0.45146870633,-0.00558679518131,0.0497325776984,0.999999909041,4.63706183228e-05,-0.000422756358286,3.23362744197e-05,1793249517080546816
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,717.102008416,682.897991584,664,633,885.897991584,783,816.102008416,652,628,654,0.451468477781,-0.00558604036833,0.0497316087429,0.999999908429,4.77546370188e-05,-0.000424071202089,3.20038426551e-05,1793249517097213440
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717.674564018,682.325435982,664,633,885.325435982,783,816.674564018,652,628,654,0.451468425749,-0.00558521485159,0.0497310834555,0.999999908248,4.74579309052e-05,-0.000424516647443,3.22165412518e-05,1793249517113880320
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,717.752127036,682.247872964,664,633,885,783,816.752127036,652,628,654,0.451468984167,-0.0055842719702,0.0497309423078,0.999999908237,4.82552691675e-05,-0.000424459680524,3.21130306e-05,1793249517130546944
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,717.177825917,682.822174083,664,633,885,783,816.177825917,652,628,654,0.451470346497,-0.0055831745292,0.0497313070403,0.999999908448,5.04933731812e-05,-0.000423741078331,3.15930985981e-05,1793249517147213568
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.410694369,746,717,683,664,633.410694369,885,783,816.410694369,652,628,654.410694369,0.451470712159,-0.00558336652003,0.0497312368826,0.999999908172,5.01889028609e-05,-0.000424421261252,3.16778690414e-05,1793249517163880192
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,717.005419622,682.994580378,664,633.994580378,885,783.005419622,817,651.994580378,628,655,0.451470642084,-0.0055841247013,0.0497309790129,0.999999907687,4.87666270072e-05,-0.000425700948588,3.20308773572e-05,1793249517180546816
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,717.581962922,682.418037078,664,633.418037078,885,783.581962922,817,651.418037078,628,655,0.45147176135,-0.00558360337434,0.04973149504,0.999999908343,4.97241119815e-05,-0.000424043192521,3.20696922741e-05,1793249517197213184
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663.842014758,633,885,784,816.842014758,651.157985242,628,654.842014758,0.451472121716,-0.00558322951942,0.0497315856211,0.99999990861,5.0119239994e-05,-0.000423374683296,3.19748291448e-05,1793249517213880064
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663.267366478,633,885,784,816.267366478,651.732633522,628,654.267366478,0.451470480594,-0.00558324460053,0.0497305541507,0.999999907854,4.90312334693e-05,-0.000425315168461,3.15274096612e-05,1793249517230546944
+241,4.016666667,HOLD_POSE2,767,746,717,682,664,633,886,784,816,652,628,655,0.451470781471,-0.00558376936439,0.0497297854859,0.999999907616,4.82604197852e-05,-0.000425980773441,3.13079211609e-05,1793249517266596352
+242,4.033333333,HOLD_POSE2,767,746,717,682,663.42073478,633.57926522,886,784,816,652,628,654.42073478,0.451469747857,-0.00558191525215,0.0497288494455,0.999999906648,4.84549561178e-05,-0.000428235911061,3.11354796122e-05,1793249517283263488
+243,4.050000000,HOLD_POSE2,767,746,717.157806982,682.157806982,663,633.842193018,886,783.842193018,816,652,628,654,0.45146938281,-0.0055808632426,0.0497284306563,0.999999906208,4.87899111662e-05,-0.000429235018089,3.1013151069e-05,1793249517299930368
+244,4.066666667,HOLD_POSE2,767,746,717.734428832,682.734428832,663,633.265571168,886,783.265571168,816,652,628,654,0.451470792123,-0.00558193998846,0.0497293846357,0.999999907172,4.94975332041e-05,-0.00042690065911,3.10238208614e-05,1793249517316596224
+245,4.083333333,HOLD_POSE2,766.690244731,746,717.690244731,683,663,633,886,783.309755269,816,652,628,654.309755269,0.45147177071,-0.00558324480798,0.0497300048908,0.999999907566,4.89796694438e-05,-0.000426008353495,3.13828452898e-05,1793249517333262592
+246,4.100000000,HOLD_POSE2,766.116024336,746,717.116024336,683,663,633,886,783.883975664,816,652,628,654.883975664,0.451472381548,-0.00558474435383,0.0497303402161,0.999999907477,4.7415501384e-05,-0.000426347254922,3.20392904949e-05,1793249517349928704
+247,4.116666667,HOLD_POSE2,766,746,717,683,663.470591942,633,886.470591942,784,816,652,628,654.529408058,0.451472183644,-0.00558394764321,0.0497303501623,0.999999907269,4.7526137962e-05,-0.000426846433094,3.17163007196e-05,1793249517366595328
+248,4.133333333,HOLD_POSE2,766,746,717.059202578,683,664,633,886.940797422,784,816,652,628,654.059202578,0.451472037516,-0.00558265866065,0.0497303706488,0.999999907135,4.83027854392e-05,-0.000427110360753,3.12108469665e-05,1793249517383262208
+249,4.150000000,HOLD_POSE2,766,746,717.637772645,683,664,633,886.362227355,784,816,652,628,654.637772645,0.451474142156,-0.00558215207957,0.0497312064079,0.999999907907,5.12017035338e-05,-0.000424954459202,3.12804307545e-05,1793249517399929344
+250,4.166666667,HOLD_POSE2,766,746,717.784643463,683,664,633,886,783.784643463,816,652,628,654.784643463,0.451474746363,-0.00558192565035,0.0497314265028,0.99999990816,5.19093159054e-05,-0.000424274780585,3.1251095025e-05,1793249517416596224
+251,4.183333333,HOLD_POSE2,766,746,717.208710804,683,664,633,886,783.208710804,816,652,628,654.208710804,0.451472838361,-0.0055821682855,0.0497306157777,0.999999907553,4.89479772664e-05,-0.000426066774274,3.10561361946e-05,1793249517433262592
+252,4.200000000,HOLD_POSE2,766,746.36512865,717,682.63487135,663.63487135,633,886,783,816,651.63487135,628,654,0.451471503187,-0.00558296028174,0.0497297878075,0.99999990696,4.72604781838e-05,-0.000427637251164,3.11915790469e-05,1793249517449928960
+253,4.216666667,HOLD_POSE2,766,746.937778482,717,682.062221518,663.062221518,633,886,783,816,651.062221518,628,654,0.45147049358,-0.00558406450786,0.0497289500359,0.999999906376,4.62969666329e-05,-0.00042908182896,3.15148059623e-05,1793249517466595328
+254,4.233333333,HOLD_POSE2,766,746.471736357,717,682.528263643,663,633,886,783,816,651,628,654,0.45147193785,-0.00558231450353,0.0497297507634,0.999999907082,4.80119527924e-05,-0.000427263341571,3.12402183792e-05,1793249517483261952
+255,4.250000000,HOLD_POSE2,766,746,717.117971908,682.882028092,663.117971908,633,885.882028092,783,816,651.117971908,628,654,0.451473165053,-0.0055808052344,0.0497303111875,0.999999907618,4.93634415985e-05,-0.000425877007945,3.09333231386e-05,1793249517499928832
+256,4.266666667,HOLD_POSE2,766,746,717.696167976,682.303832024,663.696167976,633,885.303832024,783,816,651.696167976,628,654,0.451472378509,-0.00558159243554,0.049729154967,0.999999906897,4.80231183599e-05,-0.000427728315498,3.07846823044e-05,1793249517516595712
+257,4.283333333,HOLD_POSE2,766,746,718,682,663.726928678,633,885,783,816,652,628,654.273071322,0.451472340968,-0.00558089246682,0.0497288251624,0.999999906483,4.90924729084e-05,-0.000428573118305,3.08015584056e-05,1793249517533262592
+258,4.300000000,HOLD_POSE2,766,746,718,682,663.151456931,633,885,783,816,652,628,654.848543069,0.451473132878,-0.0055785455994,0.0497294105347,0.999999906402,5.28303156864e-05,-0.00042830331306,3.10017287233e-05,1793249517549929728
+259,4.316666667,POSE2_TO_POSE3_RETREAT,766,746,717,682,663,633,886,783,816,651,628,654,0.451474321284,-0.00558092768039,0.0497306133425,0.999999907867,4.62368415172e-05,-0.000425627930413,3.11180425395e-05,1793249517582536448
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,746,717,682,663,633,885.422185758,783.577814242,816,651.577814242,628,654.577814242,0.451473214665,-0.00558120933217,0.0497297754989,0.999999907163,4.79420882485e-05,-0.00042708447213,3.1201772924e-05,1793249517599202816
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,746,717.154895123,682,663,633,885.154895123,783.845104877,816.154895123,652,628,655,0.451472956924,-0.00558123547746,0.0497294719121,0.999999906886,4.89551007694e-05,-0.000427625122952,3.11050529176e-05,1793249517615869440
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,717.729986685,682,663,633,885.729986685,783.270013315,816.729986685,652,628,655,0.451475002,-0.00558056848985,0.0497306176466,0.999999907776,4.80902343501e-05,-0.000425681163332,3.05188106669e-05,1793249517632536064
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,746,718,682,663,633,885.695472283,783,816.695472283,652,628,654.695472283,0.451474261976,-0.00558028207547,0.0497304918281,0.999999907505,4.78085902354e-05,-0.000426360222193,3.03524626587e-05,1793249517649202688
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,746,718,682,663,633,885.121418537,783,816.121418537,652,628,654.121418537,0.451471056964,-0.00558033249217,0.0497292406057,0.999999906204,4.80431342979e-05,-0.000429360816169,3.05577472866e-05,1793249517665869312
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,718,682,663,633,885,783,816,651.53227621,628,654.46772379,0.451473123951,-0.00557950082349,0.0497302292348,0.999999906947,5.14010003904e-05,-0.000427243353212,3.04576097431e-05,1793249517682536192
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.059212359,746,717.940787641,682,663,633.059212359,885,783,816,651,628,654.940787641,0.451475766652,-0.00557873239353,0.0497314514613,0.999999907924,5.47781217148e-05,-0.000424536305404,3.0342784399e-05,1793249517699202816
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.635835152,746,717.364164848,682,663,633.635835152,885,783,816,651,628,654.364164848,0.451471082453,-0.00558058417416,0.0497294646787,0.999999906344,5.1002401325e-05,-0.000428674114372,3.08155265197e-05,1793249517715869440
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.78735522,746,717,682,663.21264478,633.78735522,885.21264478,783,816,651.21264478,628,654,0.451461489711,-0.0055812224972,0.0497251196594,0.999999903181,4.91275259242e-05,-0.000436203288558,3.08536726771e-05,1793249517732536064
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.210225406,746,717,682,663.789774594,633.210225406,885.789774594,783,816,651.789774594,628,654,0.451443483449,-0.00557978088592,0.0497167324906,0.999999897224,5.05108054243e-05,-0.000449545451755,3.01468970206e-05,1793249517749202432
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,717,682.373226685,664,633,886,783,816,652,628,654,0.451408052425,-0.00557855924961,0.0497027443462,0.999999885877,4.9876809149e-05,-0.00047424819277,2.91114703753e-05,1793249517765869312
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717,682.96030131,664,633,886,783,816,652,628,654,0.45136263752,-0.00557746365238,0.0496855470064,0.99999987071,4.80869731397e-05,-0.000505460212444,2.78877362687e-05,1793249517782536192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.464563018,717.535436982,682.464563018,664,633,886,783.535436982,816,652,628,654,0.451296204119,-0.00557481275075,0.0496662362579,0.999999856676,4.93459914508e-05,-0.000532457536199,2.65097675515e-05,1793249517799202304
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745.111469959,718,682,663.888530041,633,886,784,816,652,628,654,0.451226088647,-0.00557175557091,0.0496482561544,0.999999843678,5.11310956967e-05,-0.000556236988055,2.51011548554e-05,1793249517815868928
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.694969473,718,682,663.305030527,633,886,784,816,652,628,654,0.45114683621,-0.00556745562681,0.0496365598412,0.999999837119,5.42076080604e-05,-0.000567684480715,2.36101449547e-05,1793249517832536064
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,717.725785173,682,663.274214827,633,886,783.725785173,816.274214827,652,628,654,0.451059126519,-0.00556370188704,0.0496291986642,0.999999832363,5.66603187999e-05,-0.000575808265395,2.25340015985e-05,1793249517849202944
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,717.151199793,682,663.848800207,633,886,783.151199793,816.848800207,652,628,654,0.450962152893,-0.00556054645105,0.049626586127,0.999999829684,5.8429727001e-05,-0.000580291312687,2.19122965363e-05,1793249517865869568
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,717.433121378,682.433121378,663.566878622,633,885.566878622,783,816.566878622,651.566878622,628,654.433121378,0.450855629663,-0.00555653663796,0.0496292671719,0.9999998333,6.27287249858e-05,-0.000573591068092,2.1414306355e-05,1793249517882536192
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,717.979382671,683,663,633.020617329,885.020617329,783,816,651.020617329,628,654.979382671,0.450744518209,-0.0055522603713,0.0496339114915,0.999999839063,6.77681081375e-05,-0.000562887197065,2.09669635621e-05,1793249517899202816
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,717.400072082,683,663,633.599927918,885.599927918,783,816,651.599927918,628,654.400072082,0.450601488768,-0.00554903178163,0.0496405292842,0.999999845141,6.83909172545e-05,-0.000551916663156,2.06948441182e-05,1793249517915869440
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,717,682.821748527,663.178251473,633.821748527,886,783.178251473,816,651.821748527,628,654,0.450448370081,-0.00554441718355,0.0496454584469,0.999999849889,7.03852686537e-05,-0.000543015220952,2.00601694912e-05,1793249517932536064
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,717,682.245628171,663.754371829,633.245628171,886,783.754371829,816,651.245628171,628,654,0.45027273156,-0.005536708925,0.0496466184766,0.999999851865,7.54409915696e-05,-0.000538732127597,1.86162481536e-05,1793249517949202432
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.329328934,746,717,682.329328934,664,633.329328934,885.670671066,784,816,651,628,654,0.4500724509,-0.00552825691742,0.0496453135452,0.999999851011,8.20086341415e-05,-0.000539400580244,1.73142599218e-05,1793249517965869056
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766.903421549,746,717,682.903421549,664,633.903421549,885.096578451,784,816,651,628,654,0.449853855703,-0.00551925214025,0.0496421766066,0.999999848016,8.96999653898e-05,-0.000543749117901,1.61177589885e-05,1793249517982535680
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.323263862,717,678,662.323263862,636,877,784.676736138,811,652,628.323263862,654,0.400990812828,-0.00543167502705,0.0498507541819,0.999999964613,6.12324590688e-05,-0.000255950886268,-3.89072636246e-05,1793249519699202048
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..702d363a33e42b050dc928e5ebc5f35b3cdf186d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,400 @@
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+263,4.383333333,pose2_to_pose3_retreat,0.617560782585,0.000150202014989,1.04003339522,0.588131460181,0.00882283457089,1.03970479603
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+265,4.416666667,pose2_to_pose3_retreat,0.617560215339,0.000150185155835,1.040033281,0.588130893114,0.00882281836222,1.039704683
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+352,5.866666667,pose2_to_pose3_retreat,0.578317933632,0.000149996173447,1.04003361185,0.548888614742,0.00882263876502,1.03970500218
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+355,5.916666667,pose2_to_pose3_retreat,0.577534443986,0.000150025059736,1.04003358702,0.548105123303,0.0088226616402,1.03970497921
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+359,5.983333333,pose2_to_pose3_retreat,0.576697987511,0.000150091962629,1.04003345561,0.547268666171,0.00882272651775,1.03970485312
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+361,6.016666667,pose2_to_pose3_retreat,0.576406689305,0.000150023768024,1.04003351363,0.54697736979,0.00882266446627,1.03970490983
+362,6.033333333,pose2_to_pose3_retreat,0.576290161134,0.000150094622226,1.04003355941,0.546860840798,0.00882273214921,1.03970494543
+363,6.050000000,pose2_to_pose3_retreat,0.576187517613,0.000150156412862,1.04003353265,0.546758196361,0.00882279105734,1.03970492472
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+365,6.083333333,pose2_to_pose3_retreat,0.576018392053,0.000150027741658,1.04003363457,0.546589070538,0.00882266156167,1.03970502936
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+368,6.133333333,pose2_to_pose3_retreat,0.575838311378,0.000150094228906,1.04003355544,0.546408989181,0.00882272548983,1.03970494326
+369,6.150000000,pose2_to_pose3_retreat,0.57579724545,0.000150101937592,1.04003349881,0.546367924154,0.00882273672633,1.03970489903
+370,6.166666667,pose2_to_pose3_retreat,0.575764891224,0.000150163292784,1.0400335544,0.546335569364,0.00882279635053,1.03970495943
+371,6.183333333,pose2_to_pose3_retreat,0.575739632788,0.00015004637678,1.04003361672,0.546310312018,0.00882268295703,1.03970501717
+372,6.200000000,pose2_to_pose3_retreat,0.575719638424,0.000149894489484,1.04003361399,0.546290318902,0.00882253501811,1.03970500689
+373,6.216666667,pose2_to_pose3_retreat,0.575703552094,0.000150197937776,1.04003341115,0.546274228181,0.00882282371191,1.03970480795
+374,6.233333333,pose2_to_pose3_retreat,0.575691032573,0.000150086144783,1.04003349306,0.546261711646,0.00882272189432,1.03970488574
+375,6.250000000,pose2_to_pose3_retreat,0.575681671633,0.000150104306984,1.04003359245,0.546252349945,0.00882273742227,1.03970498379
+376,6.266666667,pose2_to_pose3_retreat,0.575675283445,0.000150147100639,1.04003364715,0.546245960231,0.00882277508842,1.03970503993
+377,6.283333333,pose2_to_pose3_retreat,0.575671300608,0.000149985652171,1.04003363876,0.546241980662,0.00882262483308,1.03970503403
+378,6.300000000,pose2_to_pose3_retreat,0.575668983709,0.000149990790688,1.04003355383,0.546239663748,0.00882262991908,1.03970494912
+379,6.316666667,pose2_to_pose3_retreat,0.57566773823,0.000150035756429,1.04003347407,0.546238417444,0.00882267206006,1.03970486875
+380,6.333333333,pose2_to_pose3_retreat,0.575667025983,0.000150061470821,1.04003342845,0.546237704725,0.00882269615906,1.0397048228
+381,6.350000000,pose2_to_pose3_retreat,0.575666696314,0.00015007337294,1.04003340734,0.546237374837,0.00882270731349,1.03970480152
+382,6.366666667,pose2_to_pose3_retreat,0.57566637391,0.000150074599091,1.04003344441,0.546237052663,0.00882270933592,1.03970483902
+383,6.383333333,pose2_to_pose3_retreat,0.575666087987,0.000150074986189,1.04003348116,0.546236766973,0.00882271053193,1.03970487619
+384,6.400000000,pose2_to_pose3_retreat,0.575666083187,0.000150074992687,1.04003348178,0.546236762177,0.008822710552,1.03970487681
+385,6.416666667,pose2_to_pose3_retreat,0.575665947025,0.00015007517703,1.04003349928,0.546236626126,0.00882271112157,1.03970489451
+386,6.433333333,pose2_to_pose3_retreat,0.575665808001,0.000150075365247,1.04003351715,0.546236487217,0.00882271170309,1.03970491258
+387,6.450000000,pose2_to_pose3_retreat,0.575665560485,0.000150075700347,1.04003354897,0.546236239903,0.00882271273844,1.03970494476
+388,6.466666667,pose2_to_pose3_retreat,0.575665207642,0.000150076178044,1.04003359433,0.546235887348,0.00882271421437,1.03970499063
+389,6.483333333,pose2_to_pose3_retreat,0.57566513002,0.000150076283133,1.04003360431,0.54623580979,0.00882271453906,1.03970500072
+390,6.500000000,pose2_to_pose3_retreat,0.575664845589,0.000150077526995,1.04003361824,0.546235525367,0.00882271579733,1.03970501428
+391,6.516666667,pose2_to_pose3_retreat,0.575664720434,0.000150079291142,1.04003359231,0.546235399899,0.00882271644806,1.03970498706
+392,6.533333333,pose2_to_pose3_retreat,0.575664574072,0.000150081354233,1.04003356199,0.546235253169,0.00882271720906,1.03970495522
+393,6.550000000,pose2_to_pose3_retreat,0.575664398937,0.000150089709336,1.04003358903,0.546235077405,0.00882272336026,1.03970498048
+394,6.566666667,pose2_to_pose3_retreat,0.575664376354,0.000150093408312,1.04003362073,0.546235054656,0.00882272648742,1.03970501195
+395,6.583333333,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.0088227301551,1.03970504886
+396,6.600000000,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015509,1.03970504886
+397,6.616666667,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015509,1.03970504886
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b562ba3c300d2a5972c4309a8aef00ed818ce050
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e74b5b3b5fac4189a4d702d57be792cd509fa2198602936fb60fd25373c807c7
+size 25543064
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac035628f921e2da563a804b4f7f0334258a0d9c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+30,0.500000000,BASELINE,766,745,717.41228767,678,663,636,878,784.41228767,811,652,628.58771233,654,0.40098730512,-0.00543104244734,0.0498530496882,0.999999965497,6.29662330633e-05,-0.000252144492551,-3.8271509975e-05,1793249520553475072
+31,0.516666667,BASELINE,766,745,717.987099431,678,663,636,878,784.987099431,811,652,628.012900569,654,0.400986864053,-0.00543360425234,0.0498524163783,0.999999965165,6.08871412643e-05,-0.000254042668756,-3.77482066526e-05,1793249520570141952
+32,0.533333333,BASELINE,766,745,717.426051159,678,663,636,878,784.426051159,811.573948841,652,628.573948841,654,0.400987324246,-0.00543432775974,0.0498527917373,0.999999965529,6.03224644954e-05,-0.00025274091353,-3.77396659346e-05,1793249520586808320
+33,0.550000000,BASELINE,766.158855025,745.158855025,717,678,663,636,878,784,812,652,629,654,0.400988139235,-0.00543474994104,0.0498534095376,0.999999965879,6.02577138863e-05,-0.000251371436035,-3.77321294244e-05,1793249520603474944
+34,0.566666667,BASELINE,766.737890178,745.737890178,717,678,663,636,878,784,812,652,629,654,0.400989837944,-0.00543448673119,0.0498546073553,0.999999966149,6.14233304848e-05,-0.000250017149216,-3.76959895468e-05,1793249520620141568
+35,0.583333333,BASELINE,766.68395363,745.68395363,717.31604637,678,663,636,878,784,811.68395363,652,629,654,0.400990144975,-0.00543422916219,0.0498546242558,0.999999966042,6.19223555247e-05,-0.000250327098372,-3.76544437437e-05,1793249520636808960
+36,0.600000000,BASELINE,766.106524309,745.106524309,717.893475691,678,663,636,878,784,811.106524309,652,629,654,0.400989301033,-0.00543397625837,0.0498536644909,0.999999965623,6.18700828929e-05,-0.000252013436893,-3.76084270209e-05,1793249520653476352
+37,0.616666667,BASELINE,766.468262236,745.468262236,717.531737764,678,662.531737764,636,877.531737764,784,811.468262236,652,629,654,0.400988815009,-0.00543314102278,0.0498535988729,0.999999965718,6.19138314651e-05,-0.000251594156382,-3.78294968009e-05,1793249520670142976
+38,0.633333333,BASELINE,766.956458247,745.956458247,717,678,662,636,877.043541753,784,812,652,629,654,0.400988507183,-0.00543236406798,0.0498537534252,0.999999965941,6.18818315332e-05,-0.00025067826427,-3.80555906246e-05,1793249520686809344
+39,0.650000000,BASELINE,766.367514976,745.367514976,717,678,662,636,877.632485024,784,812,652,629,654,0.400989417274,-0.00543396718118,0.0498541322395,0.999999966328,6.06289324765e-05,-0.000249508150452,-3.75878213771e-05,1793249520703475968
+40,0.666666667,BASELINE,766.217752281,745.217752281,717.217752281,678,662.217752281,636,878,784,812,652,629,654,0.400989692159,-0.00543445536163,0.0498541279053,0.999999966381,6.03631821731e-05,-0.000249376604356,-3.7493287762e-05,1793249520720142336
+41,0.683333333,BASELINE,766.796918248,745.796918248,717.796918248,678,662.796918248,636,878,784,812,652,629,654,0.400988912761,-0.00543309303576,0.0498534876414,0.999999965879,6.17358490899e-05,-0.000250968817954,-3.80182308822e-05,1793249520736808960
+42,0.700000000,BASELINE,766.625717279,745.625717279,717.625717279,678,663,636,877.625717279,784,811.625717279,652,629,654,0.400990286314,-0.00543323485664,0.0498543568257,0.999999966202,6.21720621012e-05,-0.000249582907297,-3.79410825756e-05,1793249520753475584
+43,0.716666667,BASELINE,766.049325615,745.049325615,717.049325615,678,663,636,877.049325615,784,811.049325615,652,629,654,0.400992822441,-0.00543418890185,0.0498560410968,0.999999966964,6.21025992811e-05,-0.000246588839135,-3.75388108749e-05,1793249520770142464
+44,0.733333333,BASELINE,766,745.526765209,717.526765209,678,663,636,877,784,811,652,629,654,0.400990529384,-0.00543312648731,0.0498551083777,0.999999966433,6.06915840078e-05,-0.000249044454744,-3.77785495779e-05,1793249520786809600
+45,0.750000000,BASELINE,766,745.895024344,717.895024344,678,663,636,877,784,811,652,629,654,0.400988391953,-0.00543224556981,0.0498541911233,0.999999965952,5.94993303663e-05,-0.000251215775198,-3.80422555719e-05,1793249520803476736
+46,0.766666667,BASELINE,766,745.306929572,717.306929572,678,663,636,877,784,811,652,629,654,0.400989050666,-0.00543306842434,0.0498544721742,0.999999966296,5.98916665666e-05,-0.000249731542016,-3.81397510318e-05,1793249520820143104
+47,0.783333333,BASELINE,766,745,717,678,663,636.277701803,877,784,811.277701803,652,629,654,0.400988750717,-0.0054335867959,0.0498543618258,0.99999996625,6.01792416644e-05,-0.000249853452513,-3.81057612479e-05,1793249520836809472
+48,0.800000000,BASELINE,766,745,717,678,663,636.858552487,877,784,811.858552487,652,629,654,0.400987404259,-0.00543377278344,0.0498538242125,0.999999965776,6.03524559721e-05,-0.000251728684759,-3.79282376412e-05,1793249520853475840
+49,0.816666667,BASELINE,766,745.433976415,717.433976415,678,663,636.566023585,877,784,812,652,629,654,0.400989734801,-0.00543430706639,0.0498545080678,0.999999966386,5.91698959654e-05,-0.000249607276683,-3.7733964478e-05,1793249520870142208
+50,0.833333333,BASELINE,766,746,718,678,662.992329096,636,877,784,812,652.007670904,628.992329096,654,0.40099317764,-0.00543491940997,0.0498555618763,0.999999967313,5.76071290346e-05,-0.000246264811904,-3.75430934997e-05,1793249520886808832
+51,0.850000000,BASELINE,766,746,718,678,662.417339295,636,877,784,812,652.582660705,628.417339295,654,0.400991342837,-0.00543301288118,0.0498548963531,0.999999966772,6.02028249825e-05,-0.000247766150298,-3.80026020104e-05,1793249520903475712
+52,0.866666667,BASELINE,766.162768036,746,718,678,662.162768036,636,877.162768036,784.162768036,812,652.837231964,628.162768036,654,0.400989881909,-0.00543213338457,0.0498542667479,0.999999966335,6.17973920292e-05,-0.000249089077744,-3.82760118055e-05,1793249520920142848
+53,0.883333333,BASELINE,766.756422682,746,718,678,662.756422682,636,877.756422682,784.756422682,812,652.243577318,628.756422682,654,0.400989410715,-0.00543397269225,0.0498537322264,0.999999966196,6.07417270276e-05,-0.000249939707897,-3.80567729737e-05,1793249520936809728
+54,0.900000000,BASELINE,766.660699053,746,718,678,663,636,878,784.660699053,812,652,629,653.660699053,0.400990305241,-0.00543403860758,0.0498543978866,0.999999966401,6.13062570422e-05,-0.000249012087235,-3.78464581878e-05,1793249520953476352
+55,0.916666667,BASELINE,766.085318818,746,718,678,663,636,878,784.085318818,812,652,629,653.085318818,0.40099215001,-0.00543287062942,0.0498558986109,0.99999996684,6.29980886592e-05,-0.000246847192695,-3.76423525961e-05,1793249520970142720
+56,0.933333333,BASELINE,766.490342066,746,717.509657934,678,662.509657934,636,877.509657934,784,812,652,628.509657934,653.490342066,0.400992043036,-0.00543258017821,0.0498558562158,0.999999966865,6.27647012685e-05,-0.000246764267468,-3.79183711394e-05,1793249520986809344
+57,0.950000000,BASELINE,766.932247944,746,717,677.932247944,662.067752056,636,877.067752056,784,812,652,628.067752056,653.932247944,0.400991394879,-0.00543263938423,0.0498554795081,0.999999966796,6.19409706863e-05,-0.000247211213656,-3.81814682641e-05,1793249521003475456
+58,0.966666667,BASELINE,766.341719114,746,717,677.341719114,662.658280886,636,877.658280886,784,812,652,628.658280886,653.341719114,0.400989192817,-0.0054342177323,0.0498545961795,0.999999966552,5.9148372386e-05,-0.000248949855787,-3.76998899779e-05,1793249521020142080
+59,0.983333333,BASELINE,766,745.756193701,717,677.243806299,662.756193701,636,877.756193701,784,812,652,629,653,0.400988471953,-0.00543443896124,0.0498543136386,0.999999966485,5.76292449036e-05,-0.000249595319362,-3.75526966459e-05,1793249521036808704
+60,1.000000000,BASELINE,766,745.177539975,717,677.822460025,662.177539975,636,877.177539975,784,812,652,629,653,0.400989785389,-0.00543279630153,0.0498548562289,0.999999966674,5.78591219873e-05,-0.000248739394467,-3.78647528303e-05,1793249521053475840
+61,1.016666667,BASELINE,766,745,717.397864213,678,662.397864213,636,877,784,811.602135787,652,629,653.397864213,0.400990280069,-0.0054338733726,0.0498549279056,0.999999966835,5.72363846857e-05,-0.000248223557561,-3.79464276958e-05,1793249521070143232
+62,1.033333333,BASELINE,766,745,717.971830065,678,662.971830065,636,877,784,811.028169935,652,629,653.971830065,0.400990412352,-0.00543615424403,0.0498547911475,0.999999966983,5.62362653767e-05,-0.000247858249578,-3.79261317536e-05,1793249521086810368
+63,1.050000000,BASELINE,766,745,717.455387586,678,663,636,877,784,811.544612414,652,629,654,0.40099098426,-0.00543504373989,0.0498551793384,0.99999996699,5.77930896393e-05,-0.000247466134942,-3.7951045522e-05,1793249521103476224
+64,1.066666667,BASELINE,766.121753821,745.121753821,717.121753821,678,663,636,877.121753821,784,812,652,629,654,0.400991197231,-0.00543410471081,0.0498554697538,0.999999966962,5.8879530433e-05,-0.000247315779398,-3.79917246259e-05,1793249521120142848
+65,1.083333333,BASELINE,766.716050357,745.716050357,717.716050357,678,663,636,877.716050357,784,812,652,629,654,0.400989929052,-0.00543451054356,0.0498552755348,0.999999966835,5.76281557558e-05,-0.000248109092725,-3.80845348891e-05,1793249521136809216
+66,1.100000000,BASELINE,767,746,717.698348063,678,663,636,878,784.301651937,812,652,629,654,0.40098950981,-0.00543380060027,0.049854938487,0.99999996662,5.94840263643e-05,-0.000248546039582,-3.80264157273e-05,1793249521153475584
+67,1.116666667,BASELINE,767,746,717.120701901,678,663,636,878,784.879298099,812,652,629,654,0.400989867295,-0.00543206978588,0.049854470759,0.99999996631,6.4182848287e-05,-0.000248656931508,-3.78302047912e-05,1793249521170142208
+68,1.133333333,BASELINE,766.545058432,746,717.454941568,678,663,636,877.545058432,784.545058432,812,652,629,654,0.400988689168,-0.0054329692368,0.0498539475295,0.999999966104,6.23763359148e-05,-0.000249925308212,-3.79231820998e-05,1793249521186808832
+69,1.150000000,BASELINE,766,746,717.969300329,678,662.969300329,636,877,784,812,652,629,653.969300329,0.400987280648,-0.0054344373812,0.0498535041836,0.999999965963,5.90400250079e-05,-0.000251271641285,-3.80826738659e-05,1793249521203475712
+70,1.166666667,BASELINE,766,746,717.381870693,678,662.381870693,636,877,784,812,652,629,653.381870693,0.400989050049,-0.00543361888861,0.0498547753754,0.999999966655,5.91236839531e-05,-0.000248487002095,-3.80630911232e-05,1793249521220142592
+71,1.183333333,BASELINE,766,745.797325069,717.202674931,678,662,636,877.202674931,784,812,652,629,653.202674931,0.400990381831,-0.00543363454759,0.0498557327147,0.99999996708,5.94733603584e-05,-0.000246717203066,-3.78586825276e-05,1793249521236809728
+72,1.200000000,BASELINE,766,745.218137028,717.781862972,678,662,636,877.781862972,784,812,652,629,653.781862972,0.400990900642,-0.0054351998258,0.0498561070044,0.999999967022,6.03172225199e-05,-0.000246832691609,-3.73109193941e-05,1793249521253476352
+73,1.216666667,BASELINE,766.359602191,745,717.640397809,678,662.359602191,636,878,784.359602191,812,652,629,653.640397809,0.400989977573,-0.0054355071649,0.0498553914052,0.999999966642,6.02908483122e-05,-0.000248375723341,-3.7279881665e-05,1793249521270142976
+74,1.233333333,BASELINE,766.936466036,745,717.063533964,678,662.936466036,636,878,784.936466036,812,652,629,653.063533964,0.400988183362,-0.00543505449203,0.0498540173254,0.999999966065,5.97387014135e-05,-0.000250781237003,-3.75610351037e-05,1793249521286809344
+75,1.250000000,BASELINE,767,745.511433697,717,678,662.488566303,636,877.488566303,784.488566303,812,652,629,653.511433697,0.400988551795,-0.00543425163181,0.0498543943384,0.999999966222,6.0349265863e-05,-0.000250013707776,-3.75200720213e-05,1793249521303475968
+76,1.266666667,BASELINE,766.911636019,746,717,678,662,636,877.088363981,784.088363981,811.911636019,652,629,654,0.400989129041,-0.00543360575223,0.049854862377,0.999999966425,6.10041056921e-05,-0.000249048027977,-3.74537389547e-05,1793249521320142336
+77,1.283333333,BASELINE,766.32224696,746,717,678,662,636,877.67775304,784.67775304,811.32224696,652,629,654,0.400989372581,-0.00543409570553,0.0498546176718,0.999999966385,6.10940338866e-05,-0.000249185571659,-3.74696087896e-05,1793249521336808704
+78,1.300000000,BASELINE,766.263289393,746,717.263289393,678,662.263289393,636,878,784.736710607,811,651.736710607,628.736710607,653.736710607,0.40098928574,-0.00543390793147,0.0498543915239,0.999999966276,6.22154812148e-05,-0.000249324051281,-3.76087035196e-05,1793249521353475328
+79,1.316666667,BASELINE,766.844178279,746,717.844178279,678,662.844178279,636,878,784.155821721,811,651.155821721,628.155821721,653.155821721,0.400988800369,-0.0054329026316,0.0498541877616,0.999999966081,6.45812245974e-05,-0.000249463659895,-3.78964413964e-05,1793249521370142976
+80,1.333333333,BASELINE,767,745.578730943,717.578730943,678,663,636,877.578730943,784,811.421269057,651.421269057,628.421269057,653,0.400988683676,-0.00543368544419,0.0498543846639,0.999999966154,6.30988006706e-05,-0.000249583876909,-3.76738520136e-05,1793249521386809344
+81,1.350000000,BASELINE,767,745.003032434,717.003032434,678,663,636,877.003032434,784,811.996967566,651.996967566,628.996967566,653,0.400988702135,-0.00543512374569,0.0498547284426,0.999999966319,6.02057099036e-05,-0.00024969698533,-3.726418611e-05,1793249521403475200
+82,1.366666667,BASELINE,766.431278098,745.568721902,717,678.568721902,662.431278098,636,877.568721902,784,811.431278098,652,629,653.568721902,0.400990228546,-0.00543529660683,0.0498546946347,0.999999966753,5.92302998189e-05,-0.000248122547968,-3.76891124168e-05,1793249521420142080
+83,1.383333333,BASELINE,766,746,717.146284088,678.853715912,662.146284088,636,878,784,811,652,629,654,0.400991266092,-0.0054353383006,0.0498548645091,0.999999967061,5.8553282754e-05,-0.000246993769562,-3.79942656392e-05,1793249521436808704
+84,1.400000000,BASELINE,766,746,717.741743961,678.258256039,662.741743961,636,878,784,811,652,629,654,0.400990778027,-0.0054349978111,0.0498556659434,0.999999966986,5.87613219561e-05,-0.000247260857353,-3.79180770024e-05,1793249521453475072
+85,1.416666667,BASELINE,766,745.673651404,717.673651404,678,663,636,878,784,811.326348596,652,629,654,0.400990101521,-0.00543433117004,0.0498556716233,0.999999966766,6.00668848458e-05,-0.000247830857513,-3.79368677022e-05,1793249521470141696
+86,1.433333333,BASELINE,766,745.097360561,717.097360561,678,663,636,878,784,811.902639439,652,629,654,0.400989280695,-0.00543341473766,0.0498550678547,0.999999966433,6.22130137311e-05,-0.000248632850683,-3.80284007104e-05,1793249521486808320
+87,1.450000000,BASELINE,766,745.477827123,717.477827123,678,663,636,877.522172877,784,811.522172877,651.522172877,628.522172877,654,0.400989672292,-0.00543387997467,0.0498551777369,0.999999966579,6.12545937944e-05,-0.000248310798193,-3.78413046589e-05,1793249521503474944
+88,1.466666667,BASELINE,766,746,717.945856123,678,663,636,877.054143877,784,811.054143877,651.054143877,628.054143877,654,0.400990214349,-0.00543452416399,0.0498553631432,0.999999966783,5.97318519937e-05,-0.000247884703629,-3.76608127868e-05,1793249521520141824
+89,1.483333333,BASELINE,766,746,717.356153005,678,663,636,877.643846995,784,811.643846995,651.643846995,628.643846995,654,0.400989806708,-0.00543416018273,0.0498548605809,0.999999966618,5.88697993099e-05,-0.000248689717654,-3.81059129369e-05,1793249521536808448
+90,1.500000000,BASELINE,766.229254917,745.770745083,717,678,662.770745083,636,878,784,811.770745083,652,629,654,0.400990097268,-0.00543354381915,0.0498550230778,0.999999966663,5.92166721958e-05,-0.000248403095636,-3.82482217487e-05,1793249521553475072
+91,1.516666667,BASELINE,766.808112814,745.191887186,717,678,662.191887186,636,878,784,811.191887186,652,629,654,0.400991452549,-0.00543254258444,0.0498561997585,0.999999967026,6.1407099864e-05,-0.000246451779857,-3.79287879526e-05,1793249521570141696
+92,1.533333333,BASELINE,766.615123278,745.384876722,717,678,662.384876722,636,878,784,811,652,629,654,0.400990910693,-0.00543289030768,0.04985616047,0.999999966986,6.14373857982e-05,-0.000246636509242,-3.77236384381e-05,1793249521586808576
+93,1.550000000,BASELINE,766.039397663,745.960602337,717,678,662.960602337,636,878,784,811,652,629,654,0.400989428102,-0.00543390693888,0.0498555182187,0.999999966748,6.03965220443e-05,-0.000247880439568,-3.75751590632e-05,1793249521603475456
+94,1.566666667,BASELINE,766.53583443,746,717,678.53583443,663,636,878,784,811.53583443,652,629,654,0.400989197039,-0.00543386152145,0.0498551680697,0.999999966559,6.11995194887e-05,-0.000248436490432,-3.76347722894e-05,1793249521620141824
+95,1.583333333,BASELINE,766.886136761,746,717.113863239,678.886136761,663,636,877.886136761,784,811.886136761,652,629,654,0.400988730852,-0.00543370858435,0.0498548052891,0.999999966325,6.21614062475e-05,-0.000249126963237,-3.76969924192e-05,1793249521636808448
+96,1.600000000,BASELINE,766.296264448,746,717.703735552,678.296264448,663,636,877.296264448,784,811.296264448,652,629,654,0.400986897388,-0.00543343230667,0.049854299999,0.999999965893,6.32212961575e-05,-0.000250590635467,-3.77062067719e-05,1793249521653475072
+97,1.616666667,BASELINE,766,746,717.711795604,678.288204396,663,636,877.288204396,784,811,652,629,654,0.400987247254,-0.00543398569299,0.0498548885003,0.999999966133,6.23221568081e-05,-0.000249889970731,-3.74770269351e-05,1793249521670141696
+98,1.633333333,BASELINE,766,746,717.132779154,678.867220846,663,636,877.867220846,784,811,652,629,654,0.400989800204,-0.00543537625007,0.0498565806896,0.999999967042,5.9446262939e-05,-0.000247005386132,-3.70072959297e-05,1793249521686808320
+99,1.650000000,BASELINE,766.442005269,746,717.442005269,679,663,636,877.557994731,784,811.442005269,652,629,654,0.400990557252,-0.00543566823979,0.0498563741688,0.999999967213,5.8818627196e-05,-0.0002464366055,-3.71854808383e-05,1793249521703475200
+100,1.666666667,BASELINE,766.984062704,745.984062704,718,678.984062704,662.984062704,636,877,784,812,652,628.984062704,654,0.40099076399,-0.00543563112346,0.04985560307,0.999999967159,5.8854009013e-05,-0.00024659187811,-3.75511250301e-05,1793249521720141824
+101,1.683333333,BASELINE,766.395512393,745.395512393,718,678.395512393,662.395512393,636,877,784,812,652,628.395512393,654,0.40099039821,-0.00543551409161,0.0498548459299,0.999999966814,5.86753277222e-05,-0.000248003926165,-3.77252705383e-05,1793249521736808448
+102,1.700000000,BASELINE,766,745,718,678,662.190044908,636,877.190044908,784,812,652,628.190044908,653.809955092,0.400990422545,-0.00543565288536,0.0498546484718,0.999999966734,5.82438631379e-05,-0.000248420457953,-3.77872048374e-05,1793249521753475072
+103,1.716666667,BASELINE,766,745,718,678,662.769469806,636,877.769469806,784,812,652,628.769469806,653.230530194,0.400991246184,-0.00543631583616,0.0498555977375,0.999999967197,5.7294474905e-05,-0.000246797292117,-3.7619231353e-05,1793249521770141696
+104,1.733333333,BASELINE,766,745.347672697,718,678,662.652327303,636,877.652327303,784,811.652327303,652,629,653.347672697,0.400991752048,-0.00543566342755,0.0498562135763,0.999999967393,5.8000520076e-05,-0.000245856981313,-3.74814466176e-05,1793249521786808320
+105,1.750000000,BASELINE,766,745.92506821,718,678,662.07493179,636,877.07493179,784,811.07493179,652,629,653.92506821,0.400992047945,-0.00543414190253,0.0498566091052,0.999999967411,5.98003836446e-05,-0.000245367863044,-3.7363608915e-05,1793249521803474944
+106,1.766666667,BASELINE,766,745.50006868,717.50006868,678.49993132,662.49993132,636,877.49993132,784,811.49993132,652,629,654,0.400991941819,-0.00543407328879,0.049856361596,0.999999967337,5.97148335283e-05,-0.000245643663862,-3.76745034849e-05,1793249521820141568
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,717,679,663,636,878,784,811,652,629,654,0.400989201759,-0.0054327424042,0.049854955693,0.999999966387,6.3067844308e-05,-0.000248625612289,-3.78663836268e-05,1793249521862958848
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,717,678.420966577,663,636,877.420966577,784,811.579033423,652,629,654,0.400989779899,-0.00543269652698,0.0498555128147,0.999999966718,6.24736725985e-05,-0.000247436927368,-3.79077269024e-05,1793249521879625216
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,717,678,663,636,877,784,811.842348193,652,629,653.842348193,0.400990086408,-0.00543326184982,0.049855828413,0.999999966949,6.1193018041e-05,-0.000246833303129,-3.78135842994e-05,1793249521896291840
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,717,678,663,636,877,784,811.264835017,652,629,653.264835017,0.400989669504,-0.00543545493258,0.0498555007816,0.999999966916,5.80841088428e-05,-0.000247787823647,-3.73586130709e-05,1793249521912958464
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.309985523,745,717,678,662.690014477,636,877.309985523,784,811,652,629,653.309985523,0.400989563849,-0.00543561647633,0.0498553015283,0.999999966837,5.75003567344e-05,-0.000248250778339,-3.72903899716e-05,1793249521929625344
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.882525394,745,717,678,662.117474606,636,877.882525394,784,811,652,629,653.882525394,0.400989721819,-0.00543405732862,0.0498552110099,0.999999966725,5.90553852578e-05,-0.000248297382096,-3.75497383366e-05,1793249521946292992
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.531010224,745.468989776,717,677.531010224,662.468989776,636,877.531010224,784,811.468989776,652,629,654,0.40098960201,-0.00543374934664,0.0498553294864,0.99999996671,6.00338679821e-05,-0.000248120063863,-3.75858842073e-05,1793249521962959872
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.942151551,717.057848449,677.057848449,662.942151551,636,877.057848449,784.057848449,811.942151551,652,629,654,0.400989565181,-0.00543378571234,0.0498555402574,0.999999966726,6.08094651264e-05,-0.000247871665767,-3.75541878059e-05,1793249521979626240
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.364086873,717.635913127,677.635913127,662.364086873,636,877.635913127,784.635913127,811.364086873,652,629,654,0.400990919423,-0.0054340141683,0.0498560958355,0.999999966804,6.10989964383e-05,-0.000247503892187,-3.74305604827e-05,1793249521996292864
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.212865495,745.212865495,717.787134505,678,662,636,877.787134505,784.787134505,811.212865495,652,629,653.787134505,0.40099830118,-0.00543471895819,0.0498588084691,0.999999968032,6.08784676412e-05,-0.000242598754003,-3.70925804479e-05,1793249522012959232
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.787925189,745.787925189,717.212074811,678,662,636,877.212074811,784.212074811,811.787925189,652,629,653.212074811,0.401015938853,-0.00543623423819,0.0498651913685,0.999999971107,5.97900630055e-05,-0.000229973214099,-3.63898756995e-05,1793249522029625600
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.638841946,745.638841946,717,678,662,636,877.361158054,784,811.638841946,652,629,653.361158054,0.401050160881,-0.00543676692761,0.0498771761621,0.999999976516,5.94292963133e-05,-0.00020532598722,-3.57381656007e-05,1793249522046292480
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.066676355,745.066676355,717,678,662,636,877.933323645,784,811.066676355,652,629,653.933323645,0.401094072363,-0.00543672553605,0.0498924338776,0.999999982536,5.94936538419e-05,-0.000173655056971,-3.51162491656e-05,1793249522062959104
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.526883466,717,677.473116534,662.526883466,636,878,784.526883466,811,652,629,654,0.401161105623,-0.00544004652876,0.0499094641831,0.999999987638,5.87122200031e-05,-0.000141916072725,-3.37114121137e-05,1793249522079625728
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,717,677.119571573,663,636,878,784.880428427,811.119571573,652,629,654,0.401232633161,-0.00544326068632,0.0499250775824,0.999999991211,5.84025354214e-05,-0.000114571816781,-3.22413576786e-05,1793249522096292352
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,717,677.698082652,663,636,878,784.301917348,811.698082652,652,629,654,0.401309704649,-0.00544436249561,0.0499343551983,0.999999992281,6.03317222943e-05,-0.000104129848406,-3.09173596065e-05,1793249522112959232
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.72620317,717.27379683,677.72620317,663,636,877.72620317,784.27379683,812,652,629,654,0.401394048792,-0.00544753146201,0.0499400487223,0.999999993003,5.89575350351e-05,-9.81455942593e-05,-2.97512571065e-05,1793249522129626112
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.153541999,717.846458001,677.153541999,663,636,877.153541999,784.846458001,812,652,629,654,0.401486331433,-0.00545295684433,0.0499418300117,0.999999993423,5.39775326072e-05,-9.70271816843e-05,-2.87575064141e-05,1793249522146293248
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717.566542413,677.433457587,663,636,877,785,812,652,629,654,0.401593812248,-0.00545669287389,0.0499412020186,0.999999993369,5.0553190235e-05,-9.96363517779e-05,-2.79268639555e-05,1793249522162959872
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,717,678,662.974881803,636,877,784.974881803,812,652,629,654,0.401708559317,-0.00545989844895,0.0499398771572,0.999999993154,4.78028592838e-05,-0.000103294959381,-2.71343985779e-05,1793249522179625984
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,717,678,662.396261259,636,877,784.396261259,812,652,629,654,0.401860734168,-0.0054650526734,0.0499426456662,0.999999993546,4.73465520877e-05,-9.99870946479e-05,-2.58664701524e-05,1793249522196292608
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.181389441,745.181389441,717.181389441,678,662.181389441,636,877.181389441,784.181389441,812,652,629,653.818610559,0.402020033625,-0.005470515409,0.0499441778532,0.999999993779,4.56986067228e-05,-9.87315284234e-05,-2.46193871817e-05,1793249522212958976
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.756932625,745.756932625,717.756932625,678,662.756932625,636,877.756932625,784.756932625,812,652,629,653.243067375,0.402194814613,-0.00547664852927,0.0499430235497,0.999999993671,4.14612678884e-05,-0.000101935544924,-2.34176009161e-05,1793249522229625856
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.661384761,745.661384761,718,678,663,636,878,784.661384761,812,652,629,653.338615239,0.402389095182,-0.00548433832039,0.0499433094888,0.999999993897,3.70137783699e-05,-0.000101746846111,-2.19683226423e-05,1793249522246292480
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.075213653,745.075213653,718,678,663,636,878,784.075213653,812,652,629,653.924786347,0.402597631581,-0.00549316616786,0.0499446483647,0.99999999436,3.24126508038e-05,-9.90777909018e-05,-2.03381070261e-05,1793249522262959616
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.504706506,718,678,663,636,877.495293494,784,812,652,629,653.495293494,0.402841124109,-0.00550215575877,0.0499449672503,0.99999999428,2.73353766731e-05,-0.000101814905327,-1.80572024093e-05,1793249522279626496
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.083753332,745.916246668,717.916246668,678,663,636,877,784,812,652,629,653,0.403098934232,-0.00551108168201,0.0499463737596,0.999999994401,2.28310446851e-05,-0.00010212726999,-1.57074201417e-05,1793249522296293120
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.663077407,745.336922593,717.336922593,678,663,636,877,784,812,652,629,653,0.403411015456,-0.00551949000805,0.0499551041741,0.999999996187,2.21315459466e-05,-8.33835806986e-05,-1.35168326238e-05,1793249522312959744
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.75975807,745.24024193,717.24024193,677.75975807,663,636,877.24024193,784,811.75975807,652,629,653.24024193,0.403737592932,-0.00552835010772,0.049964995531,0.99999999773,2.01861610006e-05,-6.3324700187e-05,-1.10702827576e-05,1793249522329626368
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.18559522,745.81440478,717.81440478,677.18559522,663,636,877.81440478,784,811.18559522,652,629,653.81440478,0.404084319252,-0.00553783814334,0.0499765005229,0.999999998971,1.6509073937e-05,-4.14377891106e-05,-8.26796172706e-06,1793249522346292992
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.602403545,717.602403545,677.397596455,663,636,877.602403545,784.397596455,811,652,628.602403545,654,0.404448122523,-0.00554715301224,0.0499833951733,0.999999999528,1.435617549e-05,-2.66311065915e-05,-5.34392721541e-06,1793249522362959616
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.014899364,717.014899364,677.985100636,663,636,877.014899364,784.985100636,811,652,628.014899364,654,0.404820082408,-0.00555638516961,0.0499880877427,0.999999999798,1.29312896643e-05,-1.52062207222e-05,-2.36175763214e-06,1793249522379626240
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.564185492,745.564185492,717,678,663,636,877.564185492,784.435814508,811.564185492,652,628.564185492,654,0.405238585796,-0.00555865649697,0.0499852327441,0.999999999598,2.12607878774e-05,-1.87183153609e-05,1.05008240333e-06,1793249522396293120
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.856970941,745.856970941,717,678.143029059,663,636.143029059,878,784.143029059,812,652,629,654,0.405661676786,-0.00555621416645,0.0499774816445,0.999999998823,3.54831087547e-05,-3.28890034304e-05,3.74238912018e-06,1793249522412960000
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.27819516,745.27819516,717,678.72180484,663,636.72180484,878,784.72180484,812,652,629,654,0.406095054486,-0.00553996319277,0.0499554125912,0.999999994685,6.68850159317e-05,-7.83476515879e-05,4.20853214712e-06,1793249522429626880
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.298113832,745.298113832,717,679,663,636.701886168,878,784.701886168,812,652,629,654,0.406554803788,-0.00552923172699,0.0499377297923,0.999999989743,9.01034367207e-05,-0.000111220332562,5.01521697878e-06,1793249522446293504
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+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.625586886,717.374413114,678.625586886,663.374413114,636,879,784.625586886,812.625586886,652,629,654,0.408752926053,-0.00553600524486,0.0499638045669,0.999999989896,0.000131148388266,-5.14169471393e-05,1.90760185279e-05,1793249522512960000
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+148,2.466666667,POSE1_TO_POSE2_PRESS,766.222461726,745.222461726,717,678.222461726,663.777538274,636,879,784.222461726,812.222461726,652,629,654,0.41004298884,-0.00553711232262,0.0499974954545,0.999999986955,0.000158972690217,1.42959377885e-06,2.8552098796e-05,1793249522546292480
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.353465376,745.353465376,717.353465376,678.353465376,664,636.353465376,879,784.353465376,812,652,629,654,0.410671985939,-0.00553389335774,0.049987086021,0.999999984033,0.00017370160405,-2.7493570113e-05,3.171633605e-05,1793249522562958848
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.931019738,745.931019738,717.931019738,678.931019738,664,636.931019738,879,784.931019738,812,652,629,654,0.411286674392,-0.00552946685967,0.049962477869,0.999999978257,0.000187842957328,-8.38347406692e-05,3.42355990152e-05,1793249522579625472
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,717.479621567,679,663.479621567,637,879.520378433,785,812.520378433,652,628.479621567,654,0.411946586951,-0.00552263741118,0.0499399836627,0.99999997282,0.000198205802871,-0.000118236368582,3.30978583148e-05,1793249522596292096
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,717,678.891166439,663.217667122,636.891166439,880,785,812.891166439,651.891166439,628.108833561,654.108833561,0.412638930461,-0.0055181793177,0.0499279312846,0.999999972085,0.000194434253565,-0.000130974304633,2.95130918431e-05,1793249522612958720
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,717,678.313500957,664.372998086,636.313500957,880,785,812.313500957,651.313500957,628.686499043,654.686499043,0.41344455566,-0.00552534052974,0.0499596249491,0.999999989139,0.000131982448968,-6.32085879684e-05,1.7523790561e-05,1793249522629625344
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.737134904,746,717.262865096,678.262865096,665,636.262865096,880,784.737134904,812,651,628.737134904,654.737134904,0.414232380683,-0.005530634531,0.049973618422,0.999999993977,0.00010243864004,-3.72510120643e-05,1.28610971603e-05,1793249522646291968
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.162310892,746,717.837689108,678.837689108,665,636.837689108,880,784.162310892,812,651,628.162310892,654.162310892,0.414999081199,-0.00553371259404,0.0499666059431,0.999999991736,0.000111948858941,-6.09098374159e-05,1.68933591263e-05,1793249522662958592
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.421773274,746,717.578226726,679,664.578226726,636.578226726,880,784,812.421773274,651,628.421773274,654,0.415760995786,-0.00553302103771,0.0499476872821,0.999999988211,0.000121484822433,-9.20697309404e-05,1.85230457187e-05,1793249522679625472
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,717,679,664,636,880.009356816,784.009356816,813,651,628.990643184,654,0.416522341936,-0.00553088170856,0.0499247389637,0.999999983432,0.000130866192261,-0.000125066076863,1.92082717651e-05,1793249522696291840
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,717,679,664,636,880.588166446,784.588166446,813,651,628.411833554,654,0.417363701637,-0.00553090005524,0.0499416566615,0.999999987254,0.000130222594646,-9.02051624902e-05,1.99468768166e-05,1793249522712958464
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.83383601,746,717,679,664,636.16616399,881,784.83383601,813,651,628,654.16616399,0.418210458084,-0.00553184058312,0.049959128924,0.999999989792,0.000128569006647,-5.8674999877e-05,2.10589545918e-05,1793249522729625088
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.257841443,746,717,679,664,636.742158557,881,784.257841443,813,651,628,654.742158557,0.419070525139,-0.00553505559928,0.0499779689763,0.999999991368,0.000124424356142,-3.53598800604e-05,2.309217383e-05,1793249522746291712
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.68238927,717.31761073,679.635221461,664,637,881.31761073,784,813,651,628,654.68238927,0.419931474213,-0.00553503671161,0.0499751848626,0.999999991135,0.000125135485667,-3.89410561696e-05,2.3566778525e-05,1793249522762958592
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.107376696,717.892623304,680.785246608,664,637,881.892623304,784,813,651,628,654.107376696,0.420793138062,-0.00553239696519,0.0499548758359,0.99999998925,0.000129781894036,-6.43198475657e-05,2.27782322898e-05,1793249522779625216
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.482188209,745.482188209,717.517811791,680.517811791,664.482188209,637,882.482188209,784,813,651,628.482188209,654,0.421703889204,-0.00553375063958,0.0499737043743,0.999999991266,0.000127795152985,-2.3626407947e-05,2.40642744368e-05,1793249522796292096
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.926743487,746,717,680.073256513,665.073256513,637,883,784.073256513,813,651,628.926743487,654,0.422619787352,-0.00553612119745,0.0499970510515,0.9999999917,0.000124161214895,2.28978333723e-05,2.56765914059e-05,1793249522812958720
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.348349674,746,717,680.651650326,665.651650326,637,883,784.651650326,813,651,628.348349674,654,0.423493455691,-0.00553918081752,0.0499895855371,0.999999992482,0.000119671419346,5.01540910488e-06,2.62540102418e-05,1793249522829625344
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.227985492,746,717.227985492,681,665.772014508,637,883.227985492,785,813,651.227985492,628,654,0.424379269056,-0.00554177085183,0.0499831471851,0.999999992838,0.000116531520041,-6.29854839408e-06,2.65356904871e-05,1793249522846292224
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.801203393,746,717.801203393,681,665.198796607,637,883.801203393,785,813,651.801203393,628,654,0.425283473446,-0.00554364980528,0.0499782642371,0.99999999296,0.000115435732322,-7.66605289364e-06,2.63695416954e-05,1793249522862958848
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718,680.615453968,665,637,884,784.615453968,813.384546032,651.615453968,628,654,0.42620328549,-0.00554560404109,0.0499930495326,0.999999993118,0.000113723666632,6.71470948576e-06,2.80364946364e-05,1793249522879625472
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718,680.026735699,665,637,884,784.026735699,813.973264301,651.026735699,628,654,0.427131384262,-0.00554759824746,0.0500182775556,0.999999992859,0.000111684392142,2.9456912744e-05,3.06767211255e-05,1793249522896292096
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,717.447537422,680.552462578,665,637,884,784.552462578,814,651,628.552462578,654,0.427968519232,-0.00554352461002,0.0499804883576,0.999999991665,0.000115866312011,-4.85574372779e-05,2.9779968831e-05,1793249522912958464
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.868748158,746,717.131251842,681,664.868748158,637,884.131251842,785,814.131251842,651,628.868748158,654,0.42882173388,-0.00554030271745,0.0499484692186,0.999999986635,0.00011902285639,-0.000108314044099,2.88532584155e-05,1793249522929625344
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.289809224,746,717.710190776,681,664.289809224,637,884.710190776,785,814.710190776,651,628.289809224,654,0.42974455537,-0.00554097067108,0.0499463569797,0.999999988673,0.000117672435789,-8.94455333887e-05,2.83983095158e-05,1793249522946291968
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,717.713996991,681,664.572006018,636.713996991,885,785,815,651,628.286003009,654,0.430645129397,-0.00554240145363,0.049944436484,0.999999989542,0.000115239346666,-8.26671016879e-05,2.83230501489e-05,1793249522962958592
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,717.141318844,681,665.717362311,636.141318844,885,785,815,651,628.858681156,654,0.431523403623,-0.00554459685777,0.0499427081823,0.999999989477,0.000111721044776,-8.80071627819e-05,2.86283726489e-05,1793249522979625216
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+176,2.933333333,POSE1_TO_POSE2_PRESS,766.96844793,746,717.96844793,681,665,636.96844793,885,784.03155207,815,651,629,654,0.433266866239,-0.00554955540428,0.0499266601421,0.999999988475,0.000101838786902,-0.000109179671801,2.75388840599e-05,1793249523012958720
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.387705749,746,717.387705749,681,665,636.387705749,885,784.612294251,815,651,629,654,0.434162425061,-0.0055512532631,0.0499558186193,0.999999992571,9.93822475954e-05,-6.41857976685e-05,2.9354368486e-05,1793249523029625344
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717,681,665,636,885,785,815,651,629,654,0.43502782017,-0.00555163663399,0.0499754723343,0.999999993785,9.99417761146e-05,-3.84161500812e-05,3.10804582589e-05,1793249523046291968
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717,681,665,636,885,785,815,651,629,654,0.435832632844,-0.00554937990945,0.0499760361247,0.999999992477,0.000106558954553,-5.12575747634e-05,3.26270029165e-05,1793249523062958592
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.658620644,717,681,665,636,885.341379356,784.658620644,815,651.341379356,629,654.341379356,0.436627464067,-0.00554758956272,0.0499620132481,0.999999990138,0.000109020983243,-8.22679348961e-05,3.27276188389e-05,1793249523079625216
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.082942552,717,681,665,636,885.917057448,784.082942552,815,651.917057448,629,654.917057448,0.437415444678,-0.00554611930499,0.049937979111,0.999999985687,0.000108631209369,-0.000125748171254,3.18358510192e-05,1793249523096291840
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.506200432,745.506200432,717.506200432,681,665.506200432,636,886,784,815,651.493799568,629,655,0.438251959589,-0.00554885557737,0.0499606404452,0.999999991428,0.000102080151246,-7.54273842665e-05,3.21495855814e-05,1793249523112958720
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,717.904508271,681,665.904508271,636,886,784,815,651.095491729,629,654.904508271,0.439078652979,-0.00555191948721,0.0499841064403,0.999999994617,9.55953006766e-05,-2.40680742923e-05,3.23777709789e-05,1793249523129625344
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,717.325932961,681,665.325932961,636,886,784,815,651.674067039,629,654.325932961,0.439814329895,-0.00555305873167,0.049971878706,0.999999993911,9.46921504805e-05,-4.73330531546e-05,3.11466029774e-05,1793249523146291968
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.749311432,746,717,681.250688568,665,636,886,784.250688568,815.250688568,652,629,654,0.440532187382,-0.00555411980823,0.0499584517131,0.999999992754,9.31703785119e-05,-6.9828061949e-05,3.05690713433e-05,1793249523162958848
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.175210511,746,717,681.824789489,665,636,886,784.824789489,815.824789489,652,629,654,0.441227056035,-0.00555508004059,0.0499434775623,0.999999991227,9.08505250758e-05,-9.13297335402e-05,3.08347935627e-05,1793249523179625472
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717,681.601210095,665,636,886,785,816,651.601210095,628.601210095,654,0.441925389383,-0.00555473505822,0.0499502760319,0.999999992118,9.31164388352e-05,-7.78415062103e-05,3.21618379099e-05,1793249523196292096
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,717,681.027253776,665,636,886,785,816,651.027253776,628.027253776,654,0.442625244641,-0.00555381676706,0.0499666380117,0.999999993481,9.73966269897e-05,-4.89841475845e-05,3.39550625458e-05,1793249523212958720
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.434749904,717,681,665,636,886,785,816,651,628.565250096,654,0.443255631246,-0.00555376206583,0.0499602072366,0.99999999247,0.000101716181684,-5.92707555074e-05,3.46658599035e-05,1793249523229625344
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.153934569,745.153934569,717,681.153934569,665,636,886,784.846065431,816,651.153934569,629,654,0.443856083554,-0.0055533766528,0.0499405850966,0.999999989563,0.000105304346984,-9.26228223355e-05,3.47342558337e-05,1793249523246291968
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.729621445,745.729621445,717,681.729621445,665,636,886,784.270378555,816,651.729621445,629,654,0.444384009801,-0.0055519671987,0.0498879341541,0.999999976842,0.000106883263976,-0.000183823588616,3.31904316369e-05,1793249523262958848
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.694740804,746,717,682,665.305259196,635.694740804,886.305259196,784,816,651.694740804,629,654,0.444917421999,-0.00555087463706,0.0498532443756,0.999999965915,0.000109151178983,-0.000234943496839,3.25187532097e-05,1793249523279625216
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.119146591,746,717,682,665.880853409,635.119146591,886.880853409,784,816,651.119146591,629,654,0.44545569248,-0.00555006271283,0.0498344608584,0.999999961801,0.000112029265389,-0.00025056812473,3.26194401165e-05,1793249523296291840
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717.467244408,682,665.532755592,635,886.532755592,784,816,651,629,654,0.445989579162,-0.0055481714644,0.049843453882,0.99999996719,0.000118117233654,-0.000224803670466,3.36509759561e-05,1793249523312958720
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+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,717,681.794200316,664.794200316,634.794200316,885.794200316,784,816,652,629,655,0.447424362541,-0.0055443317088,0.0498231406035,0.999999962003,0.000112311490436,-0.000249997154967,2.96904561709e-05,1793249523362958592
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717,681.218580583,664.218580583,634.218580583,885.218580583,784,816,652,629,655,0.447803755442,-0.00554664545728,0.0497830067488,0.999999948936,7.68761713237e-05,-0.000309701915068,1.73979758665e-05,1793249523379625216
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717,681.363573462,664.363573462,634.363573462,885,784,816,652,629,654.636426538,0.448171104523,-0.00555166129465,0.0497585282221,0.999999938178,5.37154261389e-05,-0.000347303679962,1.17740178402e-05,1793249523396292096
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717.270278897,682,664,634,885.729721103,784,816,652,628.729721103,654,0.449871281935,-0.00555307449167,0.0497833898668,0.999999948644,6.35918983755e-05,-0.000313653009672,1.70043006109e-05,1793249523479625472
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,717.844868437,682,664,634,885.155131563,784,816,652,628.155131563,654,0.450132942096,-0.00555671341406,0.0497793758337,0.999999946006,6.19601945026e-05,-0.000322195277023,1.83982916118e-05,1793249523496292096
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.420070792,746,717.579929208,682,664,634,885.420070792,784,816,652,628.420070792,654,0.450360092691,-0.00555719319831,0.0497726144753,0.999999941306,6.24915981209e-05,-0.000336330021061,1.91094202604e-05,1793249523512958720
+207,3.450000000,POSE1_TO_POSE2_PRESS,766.995499777,746,717.004500223,682,664,634,885.995499777,784,816,652,628.995499777,654,0.450574480326,-0.00555650461276,0.0497648370512,0.999999935632,6.38230013731e-05,-0.00035253307591,1.95680003446e-05,1793249523529625600
+208,3.466666667,POSE1_TO_POSE2_PRESS,766.410776767,746,717.589223233,682.589223233,664,634,885.410776767,784,816,652,629,654,0.450762574346,-0.00555276522324,0.0497611241667,0.999999931727,7.02559338006e-05,-0.00036222553516,2.00870214793e-05,1793249523546292224
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.355401853,746,717.822299074,682.822299074,664,633.822299074,885,784,816,652,629,654.177700926,0.450940736318,-0.00555009879485,0.0497582578357,0.999999928553,7.50064472037e-05,-0.00036992528799,2.05973144928e-05,1793249523562958592
+210,3.500000000,POSE1_TO_POSE2_PRESS,767.508171587,746,717.245914207,682.245914207,664,633.245914207,885,784,816,652,629,654.754085793,0.451097080035,-0.00554989357892,0.0497572189258,0.999999927233,7.58921222331e-05,-0.000373269405361,2.10869564501e-05,1793249523579625472
+211,3.516666667,POSE1_TO_POSE2_PRESS,767.670006997,745.670006997,717.329993003,682.329993003,664,633.329993003,885.329993003,784,816,652,629,654.670006997,0.451228622153,-0.0055502175595,0.0497509952646,0.999999922207,7.61087839595e-05,-0.000386448477825,2.12553766468e-05,1793249523596292352
+212,3.533333333,POSE1_TO_POSE2_PRESS,767.094455167,745.094455167,717.905544833,682.905544833,664,633.905544833,885.905544833,784,816,652,629,654.094455167,0.451341708587,-0.00555093533287,0.0497409134566,0.999999914098,7.58276105883e-05,-0.00040694606941,2.11847650366e-05,1793249523612958976
+213,3.550000000,POSE1_TO_POSE2_PRESS,766.50788419,745.49211581,717.50788419,682.50788419,664,633.50788419,886,783.50788419,816,651.50788419,628.50788419,654,0.45144123634,-0.00555359551991,0.0497367589041,0.999999910894,7.32565761037e-05,-0.000415176780837,2.1772992867e-05,1793249523629625344
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.920486153,717,682.079513847,664,633,885.920486153,783.079513847,816,651.079513847,628,654,0.451535353739,-0.00555656529665,0.049733764773,0.999999908555,7.00975458145e-05,-0.000421277756167,2.23788140887e-05,1793249523646291968
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.341482623,717,682.658517377,664,633,885.341482623,783.658517377,816,651.658517377,628,654,0.451612206684,-0.00555908422865,0.0497307499438,0.999999905493,6.60689854615e-05,-0.000429129204513,2.22825912937e-05,1793249523662958592
+216,3.600000000,POSE1_TO_POSE2_PRESS,766.235477232,745.235477232,717.235477232,682.764522768,664,633,885.235477232,784,816,652,628.235477232,654,0.451682819868,-0.0055597926426,0.0497295428435,0.999999903872,6.54123299562e-05,-0.000432995463333,2.21741098719e-05,1793249523679625216
+217,3.616666667,POSE1_TO_POSE2_PRESS,766.809498869,745.809498869,717.809498869,682.190501131,664,633,885.809498869,784,816,652,628.809498869,654,0.451744462172,-0.00555789808392,0.049730934706,0.999999904397,6.96034449559e-05,-0.000431132235225,2.20480042931e-05,1793249523696292096
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,745.607369442,717.607369442,682,663.607369442,633,885.607369442,783.607369442,816,652,628.607369442,654,0.451790456855,-0.00555833764465,0.0497303987619,0.999999903513,6.98629132163e-05,-0.000433126561244,2.22579679182e-05,1793249523712958720
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,745.019712653,717.019712653,682,663.019712653,633,885.019712653,783.019712653,816,652,628.019712653,654,0.451828679098,-0.00555993660198,0.0497289052437,0.99999990192,6.81694660037e-05,-0.00043703699961,2.2634862797e-05,1793249523729625600
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.440358909,745.559641091,717,682,663.559641091,633,885,783,816,651.440358909,628,654,0.451859815574,-0.00555944278929,0.0497285763115,0.999999901917,6.79801136732e-05,-0.000437080658729,2.24686795967e-05,1793249523746292224
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.138620496,746,717.138620496,682,664,633,885,783,816,651.138620496,628,654,0.451888139313,-0.00555878093888,0.0497283913804,0.999999901898,6.80653142785e-05,-0.000437122822163,2.22588553184e-05,1793249523762958848
+222,3.700000000,POSE1_TO_POSE2_PRESS,766.717326281,746,717.717326281,682,664,633,885,783,816,651.717326281,628,654,0.451908314101,-0.00555781621684,0.0497285352896,0.999999901647,6.88564128254e-05,-0.000437586324144,2.19703242982e-05,1793249523779625472
+223,3.716666667,POSE1_TO_POSE2_PRESS,766.706433175,746,717.706433175,682,664,633,885,783,816,651.706433175,628.293566825,654,0.451922004676,-0.00555706929914,0.0497279272687,0.999999900896,6.91494723586e-05,-0.00043926268185,2.17892829705e-05,1793249523796291840
+224,3.733333333,POSE1_TO_POSE2_PRESS,766.13254656,746,717.13254656,682,664,633,885,783,816,651.13254656,628.86745344,654,0.451929503637,-0.00555653035735,0.0497266012483,0.999999899661,6.89669666978e-05,-0.000442097165911,2.171088089e-05,1793249523812958720
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663.039167387,633,885,783.039167387,816,652,628,654.960832613,0.451936748806,-0.00555614385582,0.0497237505475,0.999999897575,6.88908968898e-05,-0.000446794265635,2.18755513109e-05,1793249523846291712
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663.618131194,633,885,783.618131194,816,652,628,654.381868806,0.451938223078,-0.0055572519679,0.0497212072547,0.999999895802,6.77501582651e-05,-0.000450903150648,2.21933871098e-05,1793249523862958592
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663.803588151,633,885.196411849,783.803588151,816,652,628,654.196411849,0.451939532714,-0.0055565692021,0.0497193486929,0.999999894546,6.84767510952e-05,-0.000453571790387,2.21640941903e-05,1793249523879625472
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663.226631128,633,885.773368872,783.226631128,816,652,628,654.773368872,0.451940523371,-0.0055524166357,0.0497188167879,0.99999989431,7.28212722356e-05,-0.000453449975072,2.14622442781e-05,1793249523896293120
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663.925156394,633,885.074843606,783,816,651.074843606,628,654.074843606,0.451941398994,-0.00554929820951,0.049717781481,0.999999893908,7.47284228743e-05,-0.000454082782339,2.02332171243e-05,1793249523929626112
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,717,682.488581299,663.488581299,633,885,783,816,651.511418701,628,654,0.451942176193,-0.00554973232403,0.0497177973544,0.999999893779,7.47037570756e-05,-0.000454351496848,2.06584017251e-05,1793249523946292736
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717,682,663.098262064,633,885,783.098262064,816,652,628,654,0.451943089574,-0.00554996910761,0.0497180490042,0.999999893768,7.48906458756e-05,-0.000454325445681,2.10689721638e-05,1793249523962959360
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,717,682,663.680147175,633,885,783.680147175,816,652,628,654,0.451944324183,-0.00554823467364,0.0497190712105,0.999999894294,7.62287109449e-05,-0.000452962485053,2.06585521328e-05,1793249523979625984
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766.831589475,746,717.831589475,682.831589475,663.168410525,633,885,783.168410525,816,651.168410525,628.831589475,654,0.451943559495,-0.00554923885525,0.0497168253911,0.999999892693,7.52446585789e-05,-0.000456631399629,2.09567456657e-05,1793249524012959488
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.594388945,746,718,682.594388945,663,632.594388945,885,783,816,651.405611055,628.594388945,654,0.451944021933,-0.00554949146751,0.0497167882577,0.999999892616,7.54354239252e-05,-0.000456765890628,2.10513334834e-05,1793249524029626368
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.020102662,746,718,682.020102662,663,632.020102662,885,783,816,651.979897338,628.020102662,654,0.45194509053,-0.0055492878277,0.0497175407475,0.999999893049,7.61985773649e-05,-0.00045568948825,2.10350664085e-05,1793249524046292992
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717.4267089,682.5732911,663,632.5732911,885,783,816,652,628,654,0.451943698711,-0.00554826992539,0.0497161730488,0.999999892363,7.62331154175e-05,-0.000457203484111,2.06817553523e-05,1793249524062959616
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.162485554,746,717,683,663,633,885,783.162485554,816,652,628.162485554,654,0.451942996882,-0.00554755128448,0.0497154246844,0.999999891946,7.65326372233e-05,-0.000458072542298,2.05017638118e-05,1793249524079626496
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.739207374,746,717,683,663,633,885,783.739207374,816,652,628.739207374,654,0.451944281628,-0.00554767087298,0.0497164513028,0.999999892324,7.75750815145e-05,-0.00045705786179,2.07947971462e-05,1793249524096293376
+242,4.033333333,HOLD_POSE2,766,746,717,683,663,633,885,783,816,651,628,654,0.45194483691,-0.00554597864765,0.0497153613883,0.999999892015,7.79668986068e-05,-0.000457685270215,2.03835800355e-05,1793249524132855552
+243,4.050000000,HOLD_POSE2,766.589804136,746,717.589804136,682.410195864,663.589804136,633,885.589804136,783.589804136,816,651.589804136,628,654.589804136,0.4519428894,-0.00554489475201,0.0497143760431,0.999999891221,7.7946196911e-05,-0.000459447210716,1.9746828431e-05,1793249524149521664
+244,4.066666667,HOLD_POSE2,766.823765915,746,718,682,664,633,886,784,816,652,628,654.823765915,0.451942199486,-0.00554420956081,0.0497142271588,0.999999890892,7.77829227649e-05,-0.000460208720433,1.93521856655e-05,1793249524166188032
+245,4.083333333,HOLD_POSE2,766.245041945,746,718,682,664,633,886,784,816,652,628,654.245041945,0.451944381713,-0.00554443494531,0.0497159886143,0.999999891626,7.72940364081e-05,-0.000458685409873,1.95104798472e-05,1793249524182854656
+246,4.100000000,HOLD_POSE2,766,746,717.668428477,682,663.668428477,632.668428477,886,783.668428477,816,652,628,654,0.451944762189,-0.00554379719563,0.0497156809982,0.999999891424,7.83722619237e-05,-0.00045895132931,1.93204735427e-05,1793249524199521024
+247,4.116666667,HOLD_POSE2,766,746,717.093364909,682,663.093364909,632.093364909,886,783.093364909,816,652,628,654,0.451943819537,-0.00554252559684,0.0497138539438,0.999999890529,8.06013078784e-05,-0.000460531183362,1.88746901427e-05,1793249524216187648
+248,4.133333333,HOLD_POSE2,766,746,717,682,663.480894694,632.480894694,886,783.480894694,816,651.519105306,628,654.480894694,0.451944178665,-0.00554264584198,0.0497144789633,0.999999890936,7.91321762427e-05,-0.000459904598082,1.8826634976e-05,1793249524232854272
+249,4.150000000,HOLD_POSE2,766,746,717.056689981,682,663.943310019,633,885.886620039,784,816,651.056689981,628,654.943310019,0.451944820065,-0.00554325411904,0.0497154807014,0.999999891549,7.7115496726e-05,-0.000458906680826,1.89472767742e-05,1793249524249521920
+250,4.166666667,HOLD_POSE2,766,746,717.648450697,682,663.351549303,633,884.703098606,784,816,651.648450697,628,654.351549303,0.451945744203,-0.00554592244014,0.0497155522446,0.999999891776,7.66962792391e-05,-0.000458440432822,1.99325603823e-05,1793249524266198272
+251,4.183333333,HOLD_POSE2,766,746,717.764098101,682.235901899,663.235901899,633,884.235901899,783.764098101,816,652,628,654,0.451945579729,-0.00554706394635,0.0497150508031,0.999999891532,7.66448805755e-05,-0.000458964209405,2.03562999695e-05,1793249524282866944
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+256,4.266666667,HOLD_POSE2,766.866200584,746,717,682,663,633,886,783.133799416,816,651.133799416,628,654,0.451944593917,-0.00554279117756,0.0497135494528,0.999999890672,7.92554757801e-05,-0.000460438613767,1.92703664807e-05,1793249524366188032
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.82163955,746,717.82163955,682.82163955,663.17836045,632.17836045,885.17836045,783.17836045,816.82163955,651.82163955,628,654,0.45194648633,-0.00554547030386,0.0497145613514,0.999999891601,7.66288796542e-05,-0.000458822867748,2.02062964588e-05,1793249524482225664
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.244648017,746,717.244648017,682.244648017,663.755351983,632.755351983,885.755351983,783.755351983,816.244648017,651.244648017,628,654,0.451947515892,-0.00554528111769,0.0497157094821,0.999999892015,7.67965554543e-05,-0.00045790099827,1.99984206386e-05,1793249524498892288
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2bdc776961585e07612094c310548217e16facb8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d45ce256106a58ca03bb41266c66e3a17648222
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdca7807885ba454cb5f752b5d5414a522c13f67ed957e211ac7686fb7e6da21
+size 25546288
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27de8a814848febc0676ab4be3c5b1244094d507
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,403 @@
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+4,0.066666667,BASELINE,766,746,717,678,662.694957253,636,877.694957253,784.694957253,812,652,629,654,0.400995280799,-0.00540716054033,0.0498563680991,0.99999996436,9.73773671645e-05,-0.000244878279533,-4.28154291082e-05,1793249526985729024
+5,0.083333333,BASELINE,766,746,717,678,662.097503952,636,877.097503952,784.097503952,812,652,629,654,0.400996272949,-0.00540836954434,0.0498567953209,0.99999996485,9.5268708904e-05,-0.000243704967166,-4.27884499517e-05,1793249527002395904
+6,0.100000000,BASELINE,766,745.517689367,717,678,662.482310633,636,877.482310633,784,812,652,629.482310633,654,0.400996199562,-0.00540745764759,0.0498558759928,0.999999964756,9.6006472199e-05,-0.000243753699622,-4.3077177854e-05,1793249527019062272
+7,0.116666667,BASELINE,766.058500713,745.058500713,717,678,662.941499287,636,878,784,812,652,629.941499287,654,0.400995922247,-0.00540628516805,0.0498548505619,0.99999996453,9.73528396995e-05,-0.000244097280791,-4.33446416755e-05,1793249527035728896
+8,0.133333333,BASELINE,766.633063531,745.633063531,717,678,662.366936469,636,878,784,812,652,629.366936469,654,0.400995679169,-0.00540646282742,0.0498552057935,0.999999964165,9.91709198979e-05,-0.000244939417472,-4.28813732095e-05,1793249527052395520
+9,0.150000000,BASELINE,767,746,717.212926174,678.212926174,662.212926174,636,877.787073826,784,812,652,629,654,0.40099548379,-0.0054066413958,0.0498555363502,0.999999963953,9.99879378541e-05,-0.000245513515472,-4.26670407478e-05,1793249527069062144
+10,0.166666667,BASELINE,767,746,717.802155093,678.802155093,662.802155093,636,877.197844907,784,812,652,629,654,0.400995372711,-0.00540682157063,0.0498558232994,0.999999964013,9.90357862237e-05,-0.000245613910738,-4.28926509699e-05,1793249527085728768
+11,0.183333333,BASELINE,767,745.615797848,718,679,662.615797848,636,877.384202152,784,812,652,629,654,0.400996495734,-0.00540791444563,0.0498564185685,0.999999964395,9.76965607733e-05,-0.000244625791161,-4.26958536016e-05,1793249527102395392
+12,0.200000000,BASELINE,767,745.037381172,718,679,662.037381172,636,877.962618828,784,812,652,629,654,0.400998242597,-0.00540946869138,0.0498571696935,0.999999964937,9.61616690821e-05,-0.000243087426388,-4.2285528847e-05,1793249527119062272
+13,0.216666667,BASELINE,766.459496215,745,717.459496215,678.459496215,662,636,878,784,812,652,629,654,0.400996475459,-0.00540755973354,0.049856854197,0.999999964575,9.70954609837e-05,-0.000244118248338,-4.27683867083e-05,1793249527135729152
+14,0.233333333,BASELINE,766,745,717,678,662.11691079,636,878.11691079,784.11691079,812,652.11691079,629,654,0.400995118197,-0.00540574844245,0.0498567010072,0.999999964264,9.83320932874e-05,-0.000244819730899,-4.31911239815e-05,1793249527152395776
+15,0.250000000,BASELINE,766,745,717,678,662.687722518,636,878.687722518,784.687722518,812,652.687722518,629,654,0.400996294882,-0.00540524532883,0.0498574640829,0.999999964402,0.000100082275221,-0.00024355339365,-4.3140853037e-05,1793249527169062144
+16,0.266666667,BASELINE,766.268380116,745,717.268380116,678,662.731619884,636,878.731619884,784.731619884,812,652.731619884,629,654,0.400995869419,-0.005405426787,0.0498569866169,0.999999964147,0.000101063153097,-0.000244235472869,-4.29168101136e-05,1793249527185728512
+17,0.283333333,BASELINE,766.860930274,745,717.860930274,678,662.139069726,636,878.139069726,784.139069726,812,652.139069726,629,654,0.400993508758,-0.00540643512339,0.0498550107298,0.999999963414,0.00010111480655,-0.000247270998683,-4.24828720983e-05,1793249527202395136
+18,0.300000000,BASELINE,766.556889421,745.443110579,717.556889421,678,662,636,877.556889421,784,812,652,628.556889421,654,0.400993868181,-0.00540830445844,0.0498550983929,0.999999963731,9.88816748894e-05,-0.000246943265578,-4.218281598e-05,1793249527219061504
+19,0.316666667,BASELINE,766,746,717,678,662,636,877.044442117,784,812,652,628.022221058,654,0.400995038884,-0.00541029895279,0.0498558306533,0.999999964348,9.60870289626e-05,-0.000245584194111,-4.19424994785e-05,1793249527235728384
+20,0.333333333,BASELINE,766,746,717,678,662,636,878.208220559,784,812,652,628.604110279,654,0.400995633018,-0.00540879544087,0.0498568592142,0.999999964602,9.6797451095e-05,-0.000244227106659,-4.21727097851e-05,1793249527252395520
+21,0.350000000,BASELINE,766.186260956,745.813739044,717,678.186260956,662.186260956,636,878.627478089,784,811.813739044,652,629,654,0.400995699889,-0.00540777806124,0.049857257996,0.999999964687,9.72030110559e-05,-0.000243693225752,-4.23296510919e-05,1793249527269062144
+22,0.366666667,BASELINE,766.768968051,745.231031949,717,678.768968051,662.768968051,636,877.462063898,784,811.231031949,652,629,654,0.400994644511,-0.00540779538751,0.0498563163277,0.999999964413,9.69596886606e-05,-0.000244911494603,-4.23306433572e-05,1793249527285728000
+23,0.383333333,BASELINE,767,745.349551658,717.349551658,678.650448342,663.349551658,636,877.349551658,784,811.349551658,652,629,653.650448342,0.400994966095,-0.00540769158556,0.0498563564008,0.999999964603,9.61968572978e-05,-0.000244393822517,-4.25768677392e-05,1793249527302394368
+24,0.400000000,BASELINE,767,745.928740303,717.928740303,678.071259697,663.928740303,636,877.928740303,784,811.928740303,652,629,653.071259697,0.40099619227,-0.00540750820876,0.049857041426,0.999999965095,9.50927359421e-05,-0.000242735728989,-4.29841966768e-05,1793249527319060992
+25,0.416666667,BASELINE,767,745.493768174,717.493768174,678,662.987536348,636,878,784,811.493768174,652,629,653.506231826,0.400995046922,-0.00540798975023,0.0498564869399,0.999999964577,9.71146774574e-05,-0.000244121345534,-4.26484277311e-05,1793249527335727616
+26,0.433333333,BASELINE,766.917012092,745.082987908,717.082987908,678,662,636,878,784.082987908,811.082987908,652,629,654,0.400993776396,-0.00540847757842,0.0498558581536,0.999999964022,9.89852212841e-05,-0.000245701583374,-4.23002575243e-05,1793249527352394240
+27,0.450000000,BASELINE,766.343197279,745.656802721,717.656802721,678,662,636,878,784.656802721,811.656802721,652,629,654,0.400993733321,-0.00540845086413,0.0498558184248,0.999999964122,9.73664395631e-05,-0.000245907336886,-4.24953364566e-05,1793249527369060864
+28,0.466666667,BASELINE,766.236772421,745.763227579,717.763227579,678,662.236772421,636,878,785,811.763227579,652,629,654,0.400994261172,-0.00540788626751,0.049856090099,0.999999964216,9.74061390794e-05,-0.000245495435049,-4.25756242655e-05,1793249527385727488
+29,0.483333333,BASELINE,766.825901581,745.174098419,717.174098419,678,662.825901581,636,878,785,811.174098419,652,629,654,0.400995638656,-0.00540652121255,0.0498568251924,0.999999964298,9.99139345883e-05,-0.000244164359321,-4.24850837806e-05,1793249527402394112
+30,0.500000000,BASELINE,766.592152798,745,717.407847202,678,663,636,878,785,811.407847202,652,629,654,0.400996061647,-0.00540882947134,0.0498572714571,0.999999964732,9.71919534802e-05,-0.000243541241153,-4.21668672175e-05,1793249527419060736
+31,0.516666667,BASELINE,766.013220566,745,717.986779434,678,663,636,878,785,811.986779434,652,629,654,0.400996084243,-0.00541267862343,0.049857596563,0.999999965294,9.22761691098e-05,-0.000243215099285,-4.17531443762e-05,1793249527435727360
+32,0.533333333,BASELINE,766,745.542266414,717.457733586,678,662.457733586,636,877.457733586,785,812,652,629,654,0.400994970328,-0.00540995093333,0.0498567635226,0.999999964618,9.63376889106e-05,-0.000244383224971,-4.19602275237e-05,1793249527452394240
+33,0.550000000,BASELINE,766.104496592,745.895503408,717.104496592,678,662,636,877,784.895503408,812,652,629,654,0.400994082444,-0.00540766600261,0.0498560387443,0.999999964046,9.95730310415e-05,-0.000245386523741,-4.21748897552e-05,1793249527469061120
+34,0.566666667,BASELINE,766.701059901,745.298940099,717.701059901,678,662,636,877,784.298940099,812,652,629,654,0.400994383992,-0.00540818975315,0.0498559512142,0.999999964185,9.79300403566e-05,-0.000245449225326,-4.23569236612e-05,1793249527485727744
+35,0.583333333,BASELINE,767,745,718,678,662.29645162,636,877,784,812,652,629,654,0.400994272129,-0.00540792282456,0.0498559598975,0.999999964182,9.73954716504e-05,-0.000245656221223,-4.24693106373e-05,1793249527502394112
+36,0.600000000,BASELINE,767,745,718,678,662.890666638,636,877,784,812,652,629,654,0.400993745026,-0.00540686171819,0.0498560652198,0.999999964037,9.79742294136e-05,-0.000246008149931,-4.2511742523e-05,1793249527519060736
+37,0.616666667,BASELINE,766.529852014,745.470147986,717.529852014,678,662.529852014,636,877.940295972,784.470147986,811.529852014,652,629,654,0.400994501124,-0.00540722548972,0.0498566769928,0.999999964343,9.73327821308e-05,-0.000245039996197,-4.23650912709e-05,1793249527535727360
+38,0.633333333,BASELINE,766,745.953851341,717,678,662.046148659,636,878.907702682,785,811.046148659,652,629,654,0.40099547282,-0.00540784680274,0.049857300806,0.99999996471,9.65005613689e-05,-0.000243897821001,-4.22048458938e-05,1793249527552394240
+39,0.650000000,BASELINE,766,745.379663355,717,678,662.620336645,636,877.75932671,785,811.620336645,652,629,654,0.400995600738,-0.00540773871913,0.0498567557296,0.999999964623,9.66336445643e-05,-0.000244170314704,-4.23768939909e-05,1793249527569060864
+40,0.666666667,BASELINE,766.199820768,745.199820768,717,678,662.800179232,636,877.199820768,785,812,652,628.800179232,653.800179232,0.400995510244,-0.00540801633686,0.0498566070359,0.99999996458,9.68154761597e-05,-0.000244270186257,-4.24134888633e-05,1793249527585727744
+41,0.683333333,BASELINE,766.789641588,745.789641588,717,678,662.210358412,636,877.789641588,785,812,652,628.210358412,653.210358412,0.400994993465,-0.00540904674696,0.0498572319819,0.999999964621,9.70924524047e-05,-0.000244033142628,-4.2185712982e-05,1793249527602394368
+42,0.700000000,BASELINE,767,746,717,678,662.372237247,636,877.627762753,784.627762753,812,652,628.372237247,653.372237247,0.400995310953,-0.00540945188541,0.0498577529042,0.999999964877,9.64010428362e-05,-0.00024328010888,-4.20468405448e-05,1793249527619060992
+43,0.716666667,BASELINE,767,746,717,678,662.950827555,636,877.049172445,784.049172445,812,652,628.950827555,653.950827555,0.400996090923,-0.00540951039887,0.0498582161599,0.999999965251,9.51727998872e-05,-0.000242241031383,-4.19572525372e-05,1793249527635727616
+44,0.733333333,BASELINE,766.472894377,745.472894377,717.527105623,678,663,636,877.527105623,784,812,652,629,653.472894377,0.400996487121,-0.0054092183199,0.0498580775877,0.999999965246,9.4621957387e-05,-0.000242391228788,-4.24392609314e-05,1793249527652394240
+45,0.750000000,BASELINE,766,745.10229605,717.89770395,678,663,636,878,784,811.89770395,652,629,653.10229605,0.400996668635,-0.00540908369893,0.0498578787599,0.999999965207,9.41039495901e-05,-0.000242692864508,-4.27878505124e-05,1793249527669061120
+46,0.766666667,BASELINE,766,745.673485295,717.326514705,678,663,636,878,784,811.326514705,652,629,653.673485295,0.400996029492,-0.00540982007553,0.0498576599585,0.999999965171,9.3448053616e-05,-0.000243182331468,-4.22815417097e-05,1793249527685728512
+47,0.783333333,BASELINE,766,745.746025766,717,678,663,636,877.746025766,784,811.253974234,652,629,654,0.400995892136,-0.00540972178615,0.0498574843042,0.999999965088,9.45836463558e-05,-0.00024310970241,-4.21369054257e-05,1793249527702395392
+48,0.800000000,BASELINE,766,745.153126435,717,678,663,636,877.153126435,784,811.846873565,652,629,654,0.400996424406,-0.00540850964669,0.0498573662292,0.999999964934,9.81099558785e-05,-0.000242286964067,-4.2474916037e-05,1793249527719062016
+49,0.816666667,BASELINE,766.429859778,745,717,678,662.570140222,636,877.429859778,784,812,652,629,654,0.400996516271,-0.00540839511692,0.0498573181956,0.999999964871,9.85926214245e-05,-0.000242359001013,-4.24196210349e-05,1793249527735728896
+50,0.833333333,BASELINE,766.990666689,745,717,678,662.009333311,636,878,784,812,652,629,653.990666689,0.400996434316,-0.00540865546272,0.0498572908942,0.999999964845,9.79872172134e-05,-0.000242743425068,-4.22349159283e-05,1793249527752395520
+51,0.850000000,BASELINE,766.414892464,745,717,678,662.585107536,636,878,784,812,652,629,653.414892464,0.400995109865,-0.00540847241096,0.0498570417213,0.999999964953,9.56648756169e-05,-0.00024317830927,-4.25076133795e-05,1793249527769061632
+52,0.866666667,BASELINE,766.163575547,745,717,678,663,636,877.836424453,784,812,652,629,653.163575547,0.400994408039,-0.00540810275064,0.0498569557182,0.999999964981,9.49563083618e-05,-0.000243322811785,-4.26058981555e-05,1793249527785728000
+53,0.883333333,BASELINE,766.74899044,745,717,678,663,636,877.25100956,784,812,652,629,653.74899044,0.40099531188,-0.00540725185195,0.0498572905079,0.999999964809,9.8409448328e-05,-0.000242718458941,-4.22543960731e-05,1793249527802394624
+54,0.900000000,BASELINE,767,745.332505974,717.332505974,678,663,636,877.332505974,784,812,652,629,654,0.400995086611,-0.00540742145937,0.0498571752105,0.999999964638,9.81322600689e-05,-0.000243547969854,-4.21681978289e-05,1793249527819061504
+55,0.916666667,BASELINE,767,745.914595795,717.914595795,678,663,636,877.914595795,784,812,652,629,654,0.400994013814,-0.00540835707364,0.0498567220709,0.999999964465,9.50550327383e-05,-0.000245453759897,-4.2281140541e-05,1793249527835728384
+56,0.933333333,BASELINE,767,746,717.508503475,678.491496525,663,636,877.508503475,784.491496525,812,652,629,654,0.40099528096,-0.00540920941219,0.0498573520598,0.999999964982,9.51181014137e-05,-0.000243350231926,-4.20681802746e-05,1793249527852395264
+57,0.950000000,BASELINE,766.932777027,745.932777027,717,678.932777027,663,636,877.067222973,784.932777027,812,652,629,654,0.400996711656,-0.00540970519065,0.0498580888087,0.999999965479,9.59487583572e-05,-0.000240998257006,-4.18942913477e-05,1793249527869062144
+58,0.966666667,BASELINE,766.359175339,745.359175339,717,678.359175339,663,636,877.640824661,784.359175339,812,652,629,654,0.400996343531,-0.00540762292828,0.0498582268335,0.999999964975,9.84940358173e-05,-0.000241967867506,-4.24368476045e-05,1793249527885728512
+59,0.983333333,BASELINE,766,745,717,678,663,636,877.779190414,784,812.220809586,652,629,653.779190414,0.400996053,-0.00540667626381,0.0498581469135,0.999999964679,9.95405132102e-05,-0.000242721099078,-4.26573487326e-05,1793249527902395136
+60,1.000000000,BASELINE,766,745,717,678,663,636,877.188513137,784,812.811486863,652,629,653.188513137,0.400995892444,-0.00540763178533,0.0498577019244,0.999999964743,9.80764219287e-05,-0.000243111884703,-4.23383906389e-05,1793249527919061504
+61,1.016666667,BASELINE,766.393989652,745,717,678,662.606010348,636,877.393989652,784,812.606010348,652,629,653.393989652,0.400995983925,-0.00540834053227,0.0498578961466,0.999999964955,9.64869384913e-05,-0.000242901568825,-4.21739006697e-05,1793249527935728128
+62,1.033333333,BASELINE,766.972660642,745,717,678,662.027339358,636,877.972660642,784,812.027339358,652,629,653.972660642,0.400996193548,-0.00540893360438,0.0498583899971,0.999999965236,9.4838677986e-05,-0.000242409488594,-4.20818171384e-05,1793249527952394752
+63,1.050000000,BASELINE,767,745.549519936,717,678,662.549519936,636,878,784,811.450480064,652,629,654,0.400995464652,-0.00540975192749,0.0498576730739,0.999999965117,9.55261600088e-05,-0.000242659796491,-4.19115114507e-05,1793249527969061376
+64,1.066666667,BASELINE,767,745.875029172,717.124970828,678.124970828,663,636,878,784,811.124970828,652,629,654,0.400994909875,-0.00541016324786,0.0498570908553,0.999999964992,9.6362005183e-05,-0.000242846355768,-4.19010059589e-05,1793249527985728000
+65,1.083333333,BASELINE,767,745.304281692,717.695718308,678.695718308,663,636,878,784,811.695718308,652,629,654,0.400995142198,-0.00540908292793,0.049857203298,0.999999964918,9.7313917231e-05,-0.000242674205561,-4.24743511822e-05,1793249528002394624
+66,1.100000000,BASELINE,766.723028711,745.276971289,718,679,662.723028711,636,878,784.276971289,812,652,629,654,0.400995370535,-0.00540813150407,0.049857328598,0.999999964857,9.861015922e-05,-0.000242373381363,-4.26264607545e-05,1793249528019061248
+67,1.116666667,BASELINE,766.129779366,745.870220634,718,679,662.129779366,636,878,784.870220634,812,652,629,654,0.400995594321,-0.00540732726883,0.04985746858,0.999999964811,0.000100299597148,-0.000241925622238,-4.22975543915e-05,1793249528035727616
+68,1.133333333,BASELINE,766,746,717.546591217,678.546591217,662,636,878,785,812,652,629,653.546591217,0.400996221207,-0.00540791860391,0.0498583144886,0.999999965319,9.81203185793e-05,-0.000240734221557,-4.2207509899e-05,1793249528052394496
+69,1.150000000,BASELINE,766.033473437,745.966526563,717,678,662.033473437,636,878,784.966526563,812,652,629,653.033473437,0.400996897394,-0.0054088514423,0.0498592552062,0.999999965915,9.50695492063e-05,-0.000239485249974,-4.21841313587e-05,1793249528069061120
+70,1.166666667,BASELINE,766.608582838,745.391417162,717,678,662.608582838,636,878,784.391417162,812,652,629,653.608582838,0.400996544867,-0.00540898687997,0.0498585315009,0.999999965594,9.54461719244e-05,-0.000240674139383,-4.21572030954e-05,1793249528085727744
+71,1.183333333,BASELINE,767,745,717,678,663,636,877.812345215,784,812,652,629,654,0.400996169682,-0.00540900888758,0.0498578791811,0.999999965316,9.57809239804e-05,-0.000241692463129,-4.2182069569e-05,1793249528102394880
+72,1.200000000,BASELINE,767,745,717,678,663,636,877.224829644,784,812,652,629,654,0.400995746217,-0.00540878919484,0.0498573789716,0.999999965128,9.60264567685e-05,-0.000242347340356,-4.23173019115e-05,1793249528119062528
+73,1.216666667,BASELINE,766.64381816,745,717,678,662.64381816,636,877,784,811.64381816,652,628.64381816,654,0.400995568307,-0.00540880788867,0.0498573858135,0.99999996512,9.58725333043e-05,-0.000242432054983,-4.2370597543e-05,1793249528135728896
+74,1.233333333,BASELINE,766.066838607,745,717,678,662.066838607,636,877,784,811.066838607,652,628.066838607,654,0.400995542617,-0.00540897435873,0.0498577069774,0.999999965223,9.54709862319e-05,-0.000242163324829,-4.23731004634e-05,1793249528152394496
+75,1.250000000,BASELINE,766,745,717,678,662,636,877,784.512088495,811.512088495,652,628,654,0.400995070058,-0.0054089329729,0.0498572740948,0.999999965061,9.56836827847e-05,-0.000242778647102,-4.22022244833e-05,1793249528169061120
+76,1.266666667,BASELINE,766.092222731,745.092222731,717.092222731,678,662,636,877.092222731,784.907777269,812,652,628.092222731,654,0.400994932119,-0.00540887337186,0.0498570284347,0.999999964964,9.60477409384e-05,-0.000243060754658,-4.20455291919e-05,1793249528185727744
+77,1.283333333,BASELINE,766.67744594,745.67744594,717.67744594,678,662,636,877.67744594,784.32255406,812,652,628.67744594,654,0.400996895961,-0.00540886197909,0.0498583117559,0.999999965404,9.67907250421e-05,-0.000240942385752,-4.20860751479e-05,1793249528202394368
+78,1.300000000,BASELINE,767,746,717.740214276,678,662,636,877.740214276,784,812,652,629,654,0.400997672171,-0.00540951133483,0.0498587704608,0.999999965562,9.65264910187e-05,-0.000240409916888,-4.19635360855e-05,1793249528219061504
+79,1.316666667,BASELINE,767,746,717.16141534,678,662,636,877.16141534,784,812,652,629,654,0.400996989986,-0.00541097208044,0.0498582165482,0.999999965378,9.50254072646e-05,-0.0002418249111,-4.16407309145e-05,1793249528235728896
+80,1.333333333,BASELINE,767,745.582907278,717,678.417092722,662.417092722,636,877.417092722,784.417092722,812,652,629,654,0.400997669454,-0.00541044323216,0.0498585091746,0.999999965579,9.58148992835e-05,-0.000240662155998,-4.1744393669e-05,1793249528252395520
+81,1.350000000,BASELINE,767,745.004511659,717,678.995488341,662.995488341,636,877.995488341,784.995488341,812,652,629,654,0.400998875515,-0.00540914494534,0.0498591291842,0.999999965924,9.74902290027e-05,-0.000238502504132,-4.2012984981e-05,1793249528269061888
+82,1.366666667,BASELINE,766.428988502,745.571011498,717,678.428988502,663,636,878,785,812,652,629,654,0.400997482332,-0.00540835920761,0.0498587025919,0.999999965545,9.72582914749e-05,-0.000240143609774,-4.22152241931e-05,1793249528285728000
+83,1.383333333,BASELINE,766.149303054,745.850696946,717.149303054,678,662.850696946,636,878,784.850696946,812,652,629,653.850696946,0.400996655974,-0.00540803925366,0.0498584442177,0.999999965346,9.68158046526e-05,-0.000241134399684,-4.22907812434e-05,1793249528302394112
+84,1.400000000,BASELINE,766.735766764,745.264233236,717.735766764,678,662.264233236,636,878,784.264233236,812,652,629,653.264233236,0.400997549117,-0.00540907132024,0.0498587024789,0.999999965697,9.58007307836e-05,-0.00024013357055,-4.19969392105e-05,1793249528319060992
+85,1.416666667,BASELINE,767,745.319955841,717.680044159,678.319955841,662,636,877.680044159,784.319955841,811.680044159,652,629,653.319955841,0.400996637126,-0.00540980812015,0.049858213474,0.999999965507,9.60349933949e-05,-0.000240872247141,-4.17609895741e-05,1793249528335727616
+86,1.433333333,BASELINE,767,745.902279655,717.097720345,678.902279655,662,636,877.097720345,784.902279655,811.097720345,652,629,653.902279655,0.400994244902,-0.00541030279748,0.0498571117012,0.999999964869,9.72937283164e-05,-0.000243037341231,-4.15725124771e-05,1793249528352394240
+87,1.450000000,BASELINE,766.521198153,746,717.478801847,678.521198153,662.478801847,636,877.478801847,784.521198153,811.478801847,652,629,653.521198153,0.400994271665,-0.00540999132311,0.049857170381,0.999999965002,9.5915475652e-05,-0.000242978345143,-4.19239279355e-05,1793249528369060864
+88,1.466666667,BASELINE,766,746,718,678,663,636,878,784.05414947,812,652,629,653.05414947,0.400994780018,-0.00540961163183,0.0498574788795,0.999999965285,9.42837266462e-05,-0.000242386133201,-4.23029351364e-05,1793249528385727488
+89,1.483333333,BASELINE,766,746,718,678,663,636,878,784.629452153,812,652,629,653.629452153,0.400995228709,-0.00541013993654,0.0498579395701,0.999999965543,9.53299758699e-05,-0.000240978471478,-4.18996981295e-05,1793249528402394112
+90,1.500000000,BASELINE,766,745.790081262,717.790081262,678.209918738,663,636,877.790081262,784.790081262,812,652,629,654,0.400995551122,-0.00541009553809,0.0498581355909,0.999999965599,9.62026955793e-05,-0.000240426380278,-4.17513215003e-05,1793249528419060736
+91,1.516666667,BASELINE,766,745.200269549,717.200269549,678.799730451,663,636,877.200269549,784.200269549,812,652,629,654,0.400995645006,-0.00540901471038,0.0498578526349,0.999999965291,9.67613763055e-05,-0.00024142262757,-4.20641694238e-05,1793249528435727360
+92,1.533333333,BASELINE,766,745.382196783,717.382196783,678.617803217,662.617803217,636,877.382196783,784,812,652,629,654,0.400996594519,-0.00540822252453,0.0498583584899,0.999999965277,9.82294366414e-05,-0.00024087319637,-4.21654709851e-05,1793249528452394240
+93,1.550000000,BASELINE,766,745.960886794,717.960886794,678.039113206,662.039113206,636,877.960886794,784,812,652,629,654,0.400997983923,-0.00540757873379,0.0498592698846,0.999999965408,0.000100165023035,-0.000239529108237,-4.21580133449e-05,1793249528469061120
+94,1.566666667,BASELINE,766.536951826,745.463048174,718,678,663.073903652,636,877.463048174,784,812,652,628.463048174,654,0.400998848394,-0.00540784373163,0.0498596722945,0.999999965855,9.80633560148e-05,-0.000238549884641,-4.20322452406e-05,1793249528485727744
+95,1.583333333,BASELINE,767,745,718,678,663.774732645,636,877.112633678,784,812,652,628.112633678,654,0.400999226146,-0.00540794856976,0.0498598436141,0.999999966131,9.64003129761e-05,-0.000238079591787,-4.20000495747e-05,1793249528502394112
+96,1.600000000,BASELINE,767,745,718,678,662.624951933,636,877.687524033,784,812,652,628.687524033,654,0.40099776253,-0.00540712573767,0.049859217945,0.999999965624,9.77384910679e-05,-0.00023958944013,-4.23870790659e-05,1793249528519060736
+97,1.616666667,BASELINE,766.731608271,745.268391729,718,678,662.268391729,636,877.731608271,784,812,652,629,653.731608271,0.400996850753,-0.00540753671262,0.0498590024442,0.999999965443,9.7669283856e-05,-0.0002403534003,-4.24791151852e-05,1793249528535727872
+98,1.633333333,BASELINE,766.143622957,745.856377043,718,678,662.856377043,636,877.143622957,784,812,652,629,653.143622957,0.40099659609,-0.00540941687157,0.0498592753607,0.999999965653,9.59242003423e-05,-0.000240229176987,-4.22198811806e-05,1793249528552395520
+99,1.650000000,BASELINE,766.439142148,745.560857852,718,678,663,636,877.878284296,784,812,652,629,653,0.400996542333,-0.0054097959134,0.0498588439114,0.999999965643,9.56594061998e-05,-0.000240413999275,-4.20156293574e-05,1793249528569062400
+100,1.666666667,BASELINE,766.980064221,745,717.980064221,678,663,636,878.980064221,784,812,652,629,653.019935779,0.400996525272,-0.00540971176684,0.0498582323066,0.999999965565,9.58842485928e-05,-0.000240680144595,-4.18308237156e-05,1793249528585728512
+101,1.683333333,BASELINE,766.407154547,745,717.407154547,678,663,636,878.407154547,784,812,652,629,653.592845453,0.400995724912,-0.00541023756513,0.0498589383419,0.999999965579,9.64194825172e-05,-0.00024043136589,-4.16924875137e-05,1793249528602394624
+102,1.700000000,BASELINE,766.171080042,745,717,678,663,636,877.828919958,784.171080042,812,652,629,653.828919958,0.400995390407,-0.00541011381931,0.0498592282351,0.99999996558,9.66022414672e-05,-0.000240343026729,-4.17636218275e-05,1793249528619060992
+103,1.716666667,BASELINE,766.762394461,745,717,678,663,636,877.237605539,784.762394461,812,652,629,653.237605539,0.400996200213,-0.00540839455844,0.0498584959331,0.999999965547,9.59191944897e-05,-0.000240648785078,-4.23492914077e-05,1793249528635727616
+104,1.733333333,BASELINE,766.653915109,745,717,677.653915109,662.653915109,636,877,784.653915109,812,652,629,653.346084891,0.400996320064,-0.00540805287641,0.0498578907064,0.999999965359,9.61712773981e-05,-0.000241314012083,-4.24279713314e-05,1793249528652394240
+105,1.750000000,BASELINE,766.075346072,745,717,677.075346072,662.075346072,636,877,784.075346072,812,652,629,653.924653928,0.400995976434,-0.00540863658923,0.049857370843,0.999999965066,9.70515381204e-05,-0.000242220713872,-4.21660786365e-05,1793249528669060864
+106,1.766666667,BASELINE,766,745.500752985,717,677.500752985,662,636,877,784,812,652,629,654,0.400997375136,-0.00541008702777,0.0498584810089,0.999999965833,9.57980760043e-05,-0.000239556783289,-4.20655029821e-05,1793249528685727488
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,678,663,636,877,785,812,652,629,654,0.400995482024,-0.00540681714922,0.0498582938958,0.999999965396,9.65249246042e-05,-0.000240921179148,-4.29810453409e-05,1793249528729185792
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.410152947,745.589847053,717,678,662.410152947,636,877.589847053,784.410152947,812,652,629,654,0.400996504619,-0.00540802034618,0.0498588113814,0.999999965649,9.62201958086e-05,-0.000240085497799,-4.24677370981e-05,1793249528745852416
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.176161037,746,717,678,662.176161037,636,878,784,812,652,628.823838963,654,0.40099757813,-0.0054087541643,0.0498593961061,0.999999965848,9.64997723772e-05,-0.00023922526411,-4.1984036702e-05,1793249528762519296
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.754410887,746,717,678,662.754410887,636,878,784,812,652,628.245589113,654,0.400998767857,-0.00540841662213,0.0498601343047,0.999999965927,9.81130300056e-05,-0.000238308989363,-4.15679163239e-05,1793249528779186688
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.668722264,745.668722264,717,678,662.668722264,636,878,784,812,652,628.662555473,654,0.400998649679,-0.00540878095221,0.0498599767875,0.99999996594,9.74696042883e-05,-0.000238536221317,-4.14865654598e-05,1793249528795853568
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.092876458,745.092876458,717,678,662.092876458,636,878,784,812,652,629.814247085,654,0.400997565932,-0.00540966344433,0.0498591580018,0.999999965899,9.516016646e-05,-0.000239607655018,-4.16523605187e-05,1793249528812519680
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.480683131,745.480683131,717.480683131,678.480683131,662.480683131,636,878,784.480683131,812,652,629.519316869,654,0.400996145069,-0.00540980052697,0.0498584644531,0.999999965403,9.56882898388e-05,-0.000241427464214,-4.18449257867e-05,1793249528829186304
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.944118755,746,717.944118755,679,663,636,878,784.944118755,811.944118755,652,629,654,0.400994959404,-0.00540989544741,0.0498579748057,0.999999964928,9.64955720298e-05,-0.000243045201685,-4.19772699213e-05,1793249528845852928
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.348861721,746,717.348861721,679,663,636,878,784.348861721,811.348861721,652,629,654,0.400996669655,-0.00541096699741,0.0498592207942,0.999999965534,9.47304255422e-05,-0.000241323414751,-4.1478659552e-05,1793249528862520064
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.763136941,717,678.763136941,662.763136941,636,877.763136941,784,811.236863059,652,629,654,0.401003476271,-0.00541129366045,0.0498620991422,0.999999966813,9.47312846844e-05,-0.000236008112463,-4.12215952653e-05,1793249528879186944
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.190908566,717,678.190908566,662.190908566,636,877.190908566,784,811.809091434,652,629,654,0.401017498637,-0.00541056566654,0.0498672886855,0.999999968971,9.72325635779e-05,-0.000225604889801,-4.13065268477e-05,1793249528895853824
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,717,678,662.385572257,636,877,784,812,652,629,653.614427743,0.401047692671,-0.00541059515393,0.0498771965668,0.999999973433,9.73774509595e-05,-0.000204861948039,-4.10343334904e-05,1793249528912519936
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,717,678,662.964182129,636,877,784,812,652,629,653.035817871,0.401085983088,-0.00541100387597,0.0498894666951,0.999999978525,9.63426058187e-05,-0.000178942401669,-4.05833447174e-05,1793249528929185536
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.553500205,745,717,678,662.446499795,636,877.553500205,784,811.446499795,652.553500205,629,653.553500205,0.401149851197,-0.00541363210417,0.0499072051519,0.999999984386,9.53045958739e-05,-0.000143603709333,-3.90275874144e-05,1793249528945852416
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.859834212,745.140165788,717,678,662.140165788,636,878,784,811.140165788,652.859834212,629,654,0.401217564495,-0.00541653832663,0.0499234313978,0.999999988294,9.44030338324e-05,-0.000114465412076,-3.73794027153e-05,1793249528962519296
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.283618528,745.716381472,717,678,662.716381472,636,878,784,811.716381472,652.283618528,629,654,0.401291989274,-0.00541985374352,0.0499338306496,0.999999989276,9.39266052549e-05,-0.00010654989989,-3.56704741053e-05,1793249528979186688
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,717,678.293713423,663,636.293713423,878,784,812,652,629,654,0.401373769083,-0.00542367985517,0.0499400625995,0.999999990088,9.2208145271e-05,-0.000100766512284,-3.416776975e-05,1793249528995853824
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,717,678.872127355,663,636.872127355,878,784,812,652,629,654,0.40146267822,-0.00542800099016,0.0499422551252,0.999999990765,8.92857669954e-05,-9.70498231775e-05,-3.28649615373e-05,1793249529012520448
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.551585682,746,717,679,663,636.551585682,878,784.448414318,812,652,629,654,0.401571077455,-0.00543177284573,0.0499433085394,0.999999991067,8.74401627411e-05,-9.58454727709e-05,-3.21690354711e-05,1793249529029187328
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.024628344,746,717.024628344,678.975371656,662.975371656,636,878,784.975371656,811.975371656,652,629,654,0.401686102532,-0.00543535843705,0.04994399531,0.999999991253,8.59318350631e-05,-9.54369619192e-05,-3.16435381735e-05,1793249529045853952
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.612990999,746,717.612990999,678.387009001,662.387009001,636,878,784.387009001,811.387009001,652,629,654,0.40182617266,-0.00543824892192,0.0499436900214,0.999999991195,8.51483428866e-05,-9.69234279972e-05,-3.1076460605e-05,1793249529062520320
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.801418366,718,678,662,636,878,784.198581634,811.198581634,652,629,654,0.401977278733,-0.00544243653524,0.0499436833838,0.999999991263,8.32847437784e-05,-9.81304989252e-05,-3.01255597435e-05,1793249529079186688
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.221155719,718,678,662,636,878,784.778844281,811.778844281,652,629,654,0.402149596271,-0.00544911727557,0.0499442507638,0.999999991567,7.93451405479e-05,-9.88005621949e-05,-2.84369368297e-05,1793249529095853056
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.353997277,745,717.646002723,678,662,636,878,784.646002723,812,652,628.646002723,653.646002723,0.402341580617,-0.00545593090983,0.0499433514996,0.999999991747,7.59875740646e-05,-0.000100010890074,-2.70162047156e-05,1793249529112519680
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.926003554,745,717.073996446,678,662,636,878,784.073996446,812,652,628.073996446,653.073996446,0.402545676771,-0.00546282638738,0.0499415490036,0.999999991848,7.29884541624e-05,-0.000101553939639,-2.57604528177e-05,1793249529129186304
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.502015687,745.497984313,717,678,662.497984313,636,878,784,812,652.497984313,628.497984313,653.497984313,0.402778338471,-0.00547066688861,0.049942081756,0.999999992007,6.83026233027e-05,-0.000103582364838,-2.43338353023e-05,1793249529145853440
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.073271103,746,717,678.073271103,662.926728897,636,878,784,812,652.926728897,629,654,0.403023934494,-0.00547880625474,0.0499440529555,0.999999992391,6.38276014776e-05,-0.000103092158497,-2.26995190596e-05,1793249529162520576
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.672308218,746,717,678.672308218,662.327691782,636,878,784,812,652.327691782,629,654,0.403331886332,-0.00548808259707,0.0499538561062,0.999999994312,6.26636105207e-05,-8.40116955993e-05,-1.97570082066e-05,1793249529179186944
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.737777744,717,678.737777744,662.262222256,636,878.262222256,784,812,652,628.737777744,654,0.403646428978,-0.00549777253888,0.0499625390548,0.999999995875,5.96225214518e-05,-6.63937417554e-05,-1.69390689706e-05,1793249529195853312
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.158881279,717,678.158881279,662.841118721,636,878.841118721,784,812,652,628.158881279,654,0.403968931034,-0.00550796196592,0.0499698691842,0.999999997146,5.43145441778e-05,-5.05419965042e-05,-1.42715695409e-05,1793249529212519680
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.41342972,717,678.41342972,663,636,878.58657028,784.41342972,811.58657028,652,628,654,0.404337439156,-0.00551680776201,0.0499766599268,0.999999997787,5.40134042457e-05,-3.71998137657e-05,-1.11926548406e-05,1793249529229186560
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.983249587,717,678.983249587,663,636,878.016750413,784.983249587,811.016750413,652,628,654,0.404723350217,-0.00552514529581,0.0499832466325,0.999999998115,5.56062260768e-05,-2.48069362699e-05,-7.95811206792e-06,1793249529245853184
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.425721165,746,717,679,663,636.574278835,878,784.425721165,811.574278835,652,628,654,0.405133488076,-0.0055293472587,0.0499858275218,0.999999998036,5.99684579865e-05,-1.77164347205e-05,-4.19237364435e-06,1793249529262519552
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.162423125,745.837576875,717,678.837576875,663,636.837576875,878.162423125,784,812,652,628.162423125,654,0.405549404432,-0.00552744961036,0.0499816939232,0.999999997102,7.20145924197e-05,-2.46472723526e-05,-1.39353362319e-06,1793249529279186176
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.741518534,745.258481466,717,678.258481466,663,636.258481466,878.741518534,784,812,652,628.741518534,654,0.405978262294,-0.00551022563205,0.0499606465395,0.999999992384,0.000103557461985,-6.71357962494e-05,-1.11639893178e-06,1793249529295852800
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.318836918,717,678,663,636,878.681163082,784,812.318836918,652,629,653.681163082,0.406431170374,-0.00550043972728,0.0499414276419,0.999999986994,0.000125523191495,-0.000101275409047,-2.32056366691e-07,1793249529312519680
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.894722712,717,678,663,636,878.105277288,784,812.894722712,652,629,653.105277288,0.406903467978,-0.0054966504551,0.0499236828822,0.999999981952,0.000139767757501,-0.000128684067513,1.14182207802e-06,1793249529329187328
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,717.466415222,678,663,636.466415222,878,784.466415222,812.533584778,651.533584778,628.533584778,653,0.407430046139,-0.00550220512372,0.0499228507815,0.99999998092,0.000146646235399,-0.000128972374673,4.64836412475e-06,1793249529345853952
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.96134875,717.96134875,678,663,636.96134875,878.03865125,785,812,651.03865125,628,653.03865125,0.407973562996,-0.00550965745767,0.0499273435767,0.999999981201,0.000151990462013,-0.000120085604637,8.69100829474e-06,1793249529362520576
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.367843615,717.367843615,678,663,636.367843615,878.632156385,785,812,651.632156385,628,653.632156385,0.408585927181,-0.00551434470278,0.0499539645869,0.999999985056,0.000158965128734,-6.65804033635e-05,1.35808462853e-05,1793249529379186432
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,717,678.22063972,663.22063972,636.22063972,879.22063972,785,812.22063972,651.77936028,628.22063972,654,0.409215483866,-0.00551716996135,0.0499767857,0.999999985256,0.000168859178546,-2.50244169896e-05,1.86725152448e-05,1793249529395852800
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717,678.800937143,663.800937143,636.800937143,879.800937143,785,812.800937143,651.199062857,628.800937143,654,0.409873065456,-0.00551696005533,0.0499934127218,0.999999982867,0.000183512020842,-2.94646448563e-06,2.40931821196e-05,1793249529412519936
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.377570026,717.377570026,679,663.622429974,636.622429974,879.622429974,785,812.622429974,651,629,654,0.410503980377,-0.00551475604009,0.0499880444654,0.999999979972,0.000197050385565,-2.12633264834e-05,2.78566371351e-05,1793249529429186816
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.952289439,717.952289439,679,663.047710561,636.047710561,879.047710561,785,812.047710561,651,629,654,0.411120971191,-0.00551151079439,0.0499711913041,0.999999975635,0.000210006821597,-6.06724697225e-05,3.07547735169e-05,1793249529445853696
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.460695699,717.460695699,679,663,636.539304301,879,784.460695699,812.539304301,651.539304301,628.460695699,654,0.411761108247,-0.00550701741747,0.0499436915655,0.999999967258,0.000228094436456,-0.000111245259931,3.2872564454e-05,1793249529462520320
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.125520501,717.125520501,679,663.125520501,636.874479499,879,784.125520501,813,651.874479499,628.125520501,654,0.412436537757,-0.00550483826196,0.0499275709079,0.999999960205,0.000243894708033,-0.000137231871225,3.56713053985e-05,1793249529479186944
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745.704825064,717.704825064,679,663.704825064,636.295174936,879,784.704825064,813,651.295174936,628.704825064,654,0.413231981548,-0.00551143402346,0.0499560726295,0.999999965467,0.000249746352861,-7.06803200358e-05,4.11872276157e-05,1793249529495853056
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.717192471,745.717192471,717.717192471,679,664.282807529,636,879.282807529,785,812.717192471,651,628.717192471,654,0.414017363962,-0.00551571493723,0.049968386122,0.999999977783,0.000203282424416,-4.59382496321e-05,3.16186885826e-05,1793249529512519424
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.140583428,745.140583428,717.140583428,679,664.859416572,636,879.859416572,785,812.140583428,651,628.140583428,654,0.414792293966,-0.00551759101566,0.0499638820807,0.999999992641,0.000102469183607,-6.46309720236e-05,6.3792887736e-06,1793249529529186048
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.435281733,745.435281733,717.435281733,679,664.564718267,636.435281733,880,785,812.435281733,651,628,654.435281733,0.415561948999,-0.00552774465195,0.04994626377,0.999999992624,7.79456437897e-05,-9.30726683765e-05,3.700392196e-06,1793249529545852672
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664.011135156,636.988864844,880.022270312,785,813,651.011135156,628,655,0.416330892917,-0.00554024492351,0.0499250861178,0.999999989256,7.8468319899e-05,-0.000123537121084,8.31122209875e-06,1793249529562519296
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664.598800648,636.401199352,881.197601295,785,813,651.598800648,628,655,0.417151078684,-0.00553606228799,0.0499385444015,0.999999990073,0.000102232156546,-9.59865507785e-05,1.37383859777e-05,1793249529579185920
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,717.815512208,679.184487792,665,636,881.815512208,785,813.184487792,651.815512208,628,654.815512208,0.417988385864,-0.00553273461877,0.0499547798708,0.999999990453,0.000120143696859,-6.5732865237e-05,1.84283618901e-05,1793249529595852544
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,717.2340817,679.7659183,665,636,881.2340817,785,813.7659183,651.2340817,628,654.2340817,0.418862531316,-0.00553124648968,0.0499769907135,0.999999991458,0.000125463473647,-2.96631765728e-05,2.15322087217e-05,1793249529612519168
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.656538078,745.656538078,717,680,665,636,881.343461922,785,813.656538078,651,628,654,0.41971920264,-0.00553024138153,0.0499722619934,0.999999990718,0.000128037577543,-4.07927894995e-05,2.25086121043e-05,1793249529629185792
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.08161389,745.08161389,717,680,665,636,881.91838611,785,813.08161389,651,628,654,0.420564097947,-0.00552956178586,0.0499493784441,0.999999987962,0.000128761345963,-8.37304634298e-05,2.2051310908e-05,1793249529645852416
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.503830092,717,680,665,636.503830092,882,785,813,651,628,654,0.421472948965,-0.00553107674341,0.0499678268296,0.999999990678,0.000129935077113,-3.54116835458e-05,2.25227324728e-05,1793249529662519040
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.087969113,746,717,680.087969113,665.087969113,636.912030887,882.087969113,784.912030887,813,651,628,654.087969113,0.422384369366,-0.00553286220163,0.0499892265153,0.999999991102,0.000130201949951,1.74358177865e-05,2.32182033862e-05,1793249529679185664
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.655505931,746,717,680.655505931,665.655505931,636.344494069,882.655505931,784.344494069,813,651,628,654.655505931,0.423252114181,-0.00553414301482,0.0499894376216,0.999999991797,0.00012511921813,1.26666431761e-05,2.42974647463e-05,1793249529695852544
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.768163981,717.231836019,680.768163981,665.536327963,636,883,784,813.231836019,651,628,654.768163981,0.424140317955,-0.0055360663548,0.0499841439167,0.999999992366,0.000120980851588,1.87858516819e-06,2.50553846448e-05,1793249529712519168
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.178252417,717.821747583,680.178252417,664.356504835,636,883,784,813.821747583,651,628,654.178252417,0.42506012115,-0.00553898209096,0.0499703479166,0.999999992516,0.00011830107603,-1.82057639681e-05,2.53169861419e-05,1793249529729185536
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.599064888,745.400935112,717.599064888,680.400935112,664.801870223,636,883,784.400935112,813.599064888,651,628,654,0.426000872376,-0.00554219833683,0.0499835152123,0.999999992991,0.000115055216139,-6.49620487017e-06,2.71829311888e-05,1793249529745852416
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.024521005,745.975478995,717.024521005,680.975478995,665.950957989,636,883,784.975478995,813.024521005,651,628,654,0.426950694247,-0.00554554470615,0.0500083578762,0.999999993154,0.00011156423638,1.89804244461e-05,2.97435724434e-05,1793249529762519040
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.438134504,717.561865496,680.438134504,665.438134504,636.561865496,883.561865496,785,813.561865496,651,628,654,0.427779834055,-0.00554233525512,0.0499823582739,0.999999991966,0.00011535651303,-4.34227555174e-05,2.95960537111e-05,1793249529779185664
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.147665545,717.852334455,680.147665545,665,636.852334455,884,785,814,651,628,654,0.428626826941,-0.00553977562831,0.0499577811705,0.999999988201,0.000118215175861,-9.36856466361e-05,2.90933881521e-05,1793249529795852544
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.730183769,717.269816231,680.730183769,665,636.269816231,884,785,814,651,628,654,0.429542238333,-0.00553999032721,0.0499440680225,0.999999988052,0.000117368294177,-9.66597777059e-05,2.79004144762e-05,1793249529812519168
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,717,681,665.307332809,636,884,785,814.307332809,651,628,654,0.430453037184,-0.00554126253519,0.0499421439344,0.999999988887,0.000115981337798,-8.94519881381e-05,2.77949277367e-05,1793249529829186048
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,717,681,665.879848996,636,884,785,814.879848996,651,628,654,0.431359856037,-0.0055434472192,0.0499503920858,0.999999990379,0.000114128375771,-7.34586863055e-05,2.86277836288e-05,1793249529845853696
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.454588789,745.545411211,717,680.545411211,665.545411211,636,884.454588789,784.545411211,815,651,628,654,0.432249219975,-0.00554538351021,0.0499385517733,0.999999989519,0.000109153410566,-9.0846340411e-05,2.82023329621e-05,1793249529862520320
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.969222813,745.030777187,717,680.030777187,665,636.030777187,885,784.030777187,815,651,628.030777187,654,0.433133889454,-0.00554728030075,0.0499236222655,0.999999987809,0.000103608702408,-0.000113521019891,2.75650939808e-05,1793249529879186944
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.377394335,745.622605665,717,680.622605665,665,636.622605665,885,784.622605665,815,651,628.622605665,654,0.434017494442,-0.00554965969989,0.0499496438927,0.999999991775,0.000102794190911,-7.09494615772e-05,2.91596103978e-05,1793249529895853568
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.790753145,717.209246855,681,665,636.790753145,885.209246855,785,815,651,629.209246855,654,0.434883539363,-0.00555079146035,0.0499700894114,0.999999993402,0.00010249799539,-4.18264371638e-05,3.06705163067e-05,1793249529912520192
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.21324125,717.78675875,681,665,636.21324125,885.78675875,785,815,651,629.78675875,654,0.435718679503,-0.0055497274333,0.0499807212347,0.999999993509,0.000103114012777,-3.63722198763e-05,3.20342718263e-05,1793249529929187072
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.363356168,745.363356168,717.636643832,681,665,636,886,784.636643832,815.363356168,651,629.636643832,654,0.436523238057,-0.00554750897767,0.0499665246687,0.999999991334,0.000105253659662,-7.23011399898e-05,3.20332774009e-05,1793249529945853440
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.939418224,745.939418224,717.060581776,681,665,636,886,784.060581776,815.939418224,651,629.060581776,654,0.437309894337,-0.00554461472853,0.0499377937552,0.999999984877,0.000108285227115,-0.000132455428505,3.12333687463e-05,1793249529962520064
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.474544777,745.474544777,717.525455223,681,665,636,886,784.525455223,815.474544777,651,629,654,0.438157070128,-0.00554753402207,0.0499595817525,0.999999991087,0.000103346174619,-7.84629359184e-05,3.14483368099e-05,1793249529979186688
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.111069103,745,717.888930897,681,665.111069103,636,885.888930897,785,815.111069103,651,629,654.111069103,0.438992253385,-0.00555079840509,0.0499805212321,0.999999994351,9.76464712013e-05,-2.75703885675e-05,3.16766790902e-05,1793249529995853056
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.689963014,745,717.310036986,681,665.689963014,636,885.310036986,785,815.689963014,651,629,654.689963014,0.439746965703,-0.00555263850912,0.0499728790319,0.999999994141,9.26884865731e-05,-4.62394357139e-05,3.14589732334e-05,1793249530012519680
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.731454729,745.268545271,717,681,665.731454729,636,885,785,816,651,629,654.731454729,0.440482983064,-0.00555453708143,0.0499606435166,0.999999993162,9.01434631578e-05,-6.75339672581e-05,3.14458749492e-05,1793249530029186304
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.153231902,745.846768098,717,681,665.153231902,636,885,785,816,651,629,654.153231902,0.441197441966,-0.00555650307731,0.0499431111424,0.999999991195,9.03809874205e-05,-9.18561195762e-05,3.16687233856e-05,1793249530045853440
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.422067543,746,717,681.422067543,665,636,885.422067543,785,816,651,629,654,0.441914956787,-0.00555555105489,0.0499509976089,0.999999992036,9.54784270509e-05,-7.56323631347e-05,3.30418787711e-05,1793249530062520064
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.996313,746,717,681.996313,665,636,885.996313,785,816,651,629,654,0.442633573489,-0.00555354693101,0.049968048925,0.999999993155,0.000102328125947,-4.47896407992e-05,3.48297813048e-05,1793249530079186944
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.428972147,746,717,681.428972147,665,636,886,785,816,651,628.428972147,654,0.443283586746,-0.0055525624664,0.0499603681098,0.999999991964,0.000106914902356,-5.80276415827e-05,3.56867856585e-05,1793249530095853824
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,681,665,636,886,784.848992828,816,651,628.151007172,654,0.443904600934,-0.00555110826861,0.0499407208972,0.999999988945,0.000111317060496,-9.18254941554e-05,3.58743856486e-05,1793249530112520448
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,681,665,636,886,784.253527445,816,651,628.746472555,654,0.44444156737,-0.00554825211493,0.0498863234813,0.999999975613,0.000115218874061,-0.000185298591012,3.41094386181e-05,1793249530129186560
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.329452875,746,717,681,665,635.670547125,885.670547125,784.329452875,816,651,628.670547125,654,0.444990407573,-0.0055476885507,0.049852031518,0.99999996529,0.00011879238862,-0.00023277477394,3.35328769427e-05,1793249530145853184
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.903176199,746,717,681,665,635.096823801,885.096823801,784.903176199,816,651,628.096823801,654,0.445548051465,-0.00554882481049,0.0498326466003,0.999999961676,0.000122122488543,-0.000246146873427,3.38374352402e-05,1793249530162520064
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.511628489,746,717,681,665,635,885.488371511,784.511628489,816,651.488371511,628,654,0.446114182849,-0.00554663085887,0.0498419519968,0.999999966872,0.000127944998999,-0.00022064442781,3.46627373798e-05,1793249530179187200
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,681,664.925195687,635,886,784,816,651.925195687,628.074804313,654,0.446668589575,-0.0055441326685,0.0498530517266,0.999999971343,0.000133778433076,-0.000195318901841,3.56085359439e-05,1793249530195853824
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,681,664.346121821,635,886,784,816,651.346121821,628.653878179,654,0.447132341867,-0.00554414143173,0.0498369804826,0.999999964867,0.000136274276795,-0.000224391540955,3.66539088387e-05,1793249530212520448
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.76718562,717,681.23281438,664,634.76718562,886,784,815.76718562,651,629,654,0.447572699718,-0.00554533939035,0.0498119087056,0.999999955006,0.000137177577087,-0.000264200785137,3.69883428036e-05,1793249530229187328
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.188454013,717,681.811545987,664,634.188454013,886,784,815.188454013,651,629,654,0.447978297905,-0.00554830426374,0.0497734638754,0.999999938945,0.000135714664882,-0.000319962548982,3.62664586199e-05,1793249530245853440
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.38711328,717,681.61288672,664,634,885.61288672,784,815.38711328,651,628.61288672,654.38711328,0.448372080508,-0.00554808215856,0.0497530926577,0.999999928913,0.000137110237808,-0.000349422920707,3.57643574067e-05,1793249530262519808
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.961152666,717,681.038847334,664,634,885.038847334,784,815.961152666,651,628.038847334,654.961152666,0.448760157734,-0.00554632115139,0.0497414486752,0.999999922545,0.000139886092714,-0.000366183095733,3.53683831666e-05,1793249530279186432
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,717,682,664,634,885.133696586,784,816,651,629,654.866303414,0.449512534803,-0.00554521878878,0.0497668003685,0.999999944392,5.24380788868e-05,-0.000329237750008,8.26149172432e-06,1793249530312519936
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766.290671275,746,717,682,664,634,886,784,816,651,628.709328725,654.290671275,0.450149166762,-0.0055619270931,0.0497792393922,0.999999948092,2.48761974718e-05,-0.000321116925473,9.00944012398e-06,1793249530345853184
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766.556793336,746,717,682,664,634,885.556793336,784,816,651.443206664,628,654.556793336,0.450669410184,-0.0055602259445,0.0497722979165,0.999999941961,3.2709841805e-05,-0.000338954228693,1.08476793118e-05,1793249530379186944
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,717.018051439,682,664,633.981948561,885,784,816,652,628,654.018051439,0.450896719711,-0.0055565096436,0.0497636374758,0.999999935716,3.82068258543e-05,-0.000356350557041,1.10577664625e-05,1793249530395853568
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,717.606648579,682,664,633.393351421,885,784,816,652,628,654.606648579,0.451092782917,-0.00555429920052,0.0497553900857,0.999999929165,4.56043167089e-05,-0.000373408997231,1.24703979895e-05,1793249530412519936
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.193045765,746,718,681.806954235,664,633,885.193045765,784,816,652,628,654.806954235,0.451277012839,-0.00555177018316,0.0497468074234,0.999999922198,5.20562048655e-05,-0.000390781197045,1.35377417001e-05,1793249530429186304
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.775010748,746,718,681.224989252,664,633,885.775010748,784,816,652,628,654.224989252,0.45143740284,-0.00554859935109,0.049737549307,0.999999914749,5.66030357945e-05,-0.000408785510045,1.39094519214e-05,1793249530445852928
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+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,717,682,663,633,885,783.121015552,816,652,628.878984448,655,0.452423418407,-0.00554239981134,0.0497013960191,0.999999884066,7.14073331134e-05,-0.000475914814245,1.65758024139e-05,1793249530829187072
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,717,682,663,633,885,783.699838991,816,652,628.300161009,655,0.452424745862,-0.00554128988018,0.049703162271,0.999999884924,7.14011814917e-05,-0.000474120790549,1.62178374132e-05,1793249530845853440
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.721581165,746,717.278418835,682,663.278418835,633,885.278418835,784,816,652,628.278418835,655,0.4524253384,-0.00554077291971,0.0497036191811,0.999999885137,7.15992668524e-05,-0.000473643947095,1.61819595484e-05,1793249530862520064
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.143263637,746,717.856736363,682,663.856736363,633,885.856736363,784,816,652,628.856736363,655,0.452425139323,-0.00554089467717,0.0497026657345,0.999999884655,7.20173459642e-05,-0.000474585903381,1.64930176176e-05,1793249530879186688
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,717.567276975,681.567276975,663.567276975,633,885.567276975,783.567276975,816.432723025,652,628.567276975,654.567276975,0.452423684825,-0.00554071705327,0.0497004548349,0.999999883514,7.14526189133e-05,-0.000477075903417,1.62921694699e-05,1793249530895853312
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,717,681.008095738,663,633,885.016191475,783.008095738,817,652,628.008095738,654,0.452421874906,-0.00554042525387,0.0496978947649,0.999999882178,7.06181071235e-05,-0.000480003721118,1.59300872302e-05,1793249530912520192
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717,681.594442586,663,633,886.188885172,783.594442586,817,652,628.594442586,654,0.452424207035,-0.00553901998725,0.0496999709828,0.999999883017,7.36302155293e-05,-0.000477792083536,1.60920665494e-05,1793249530929187072
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.179499093,746,717,682,663.179499093,633,886.641001814,784,816.820500907,652,628.820500907,654,0.452425881844,-0.00553780367063,0.0497014905431,0.999999883517,7.6411361955e-05,-0.000476301808947,1.62139027426e-05,1793249530945853952
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.761660997,746,717,682,663.761660997,633,885.476678005,784,816.238339003,652,628.238339003,654,0.452426082116,-0.00553701121776,0.0497017613764,0.999999883281,7.86744008482e-05,-0.000476429737945,1.62456875295e-05,1793249530962520576
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.661081831,746,717.338918169,682,664,633,885.338918169,784,816.338918169,652,628,654.338918169,0.452426039244,-0.00553697179884,0.0497016225551,0.999999883126,7.88166356341e-05,-0.000476733143758,1.61638397216e-05,1793249530979187200
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.087224659,746,717.912775341,682,664,633,885.912775341,784,816.912775341,652,628,654.912775341,0.452425827825,-0.00553745438515,0.0497011997599,0.99999988303,7.74887231019e-05,-0.000477158190577,1.60032214857e-05,1793249530995853312
+244,4.066666667,HOLD_POSE2,766,746,718,682,663,632,885,784,816,652,628,654,0.452424960908,-0.00553884545409,0.0497007457638,0.999999882878,7.54832771278e-05,-0.000477793906462,1.61026686385e-05,1793249531027348224
+245,4.083333333,HOLD_POSE2,766,746,717.408952839,682,663,632.591047161,885,783.408952839,816,652,628,654,0.452426297475,-0.00553808234608,0.0497011894198,0.999999883218,7.68360165101e-05,-0.000476857006279,1.63785798471e-05,1793249531044014592
+246,4.100000000,HOLD_POSE2,766,746,717,682,663,633,885,783,816,652,628,654,0.452426700074,-0.0055374022394,0.0497010607578,0.999999883056,7.74518012574e-05,-0.000477095216352,1.64099978766e-05,1793249531060681216
+247,4.116666667,HOLD_POSE2,766,746,717,682,663,633,885,783,816,652,628,654,0.452425005141,-0.00553690853948,0.049699646767,0.999999881767,7.64125111762e-05,-0.000479972524535,1.58923257561e-05,1793249531077347840
+248,4.133333333,HOLD_POSE2,766.332890207,746,717,682,663.332890207,633,885,783.332890207,816,652,628,654,0.452424168885,-0.0055360039455,0.0496989478655,0.999999881089,7.71289457012e-05,-0.000481280251624,1.55898938567e-05,1793249531094014208
+249,4.150000000,HOLD_POSE2,766.907320129,746,717,682,663.907320129,633,885,783.907320129,816,652,628,654,0.45242395567,-0.0055348012135,0.0496987678215,0.999999880854,7.91193054848e-05,-0.000481449116048,1.54436367891e-05,1793249531110680832
+250,4.166666667,HOLD_POSE2,766.518012063,746,717,682,663.518012063,632.518012063,885,784,816,651.518012063,628,654,0.452425388318,-0.0055350831666,0.0497000153695,0.999999881907,7.80759104157e-05,-0.000479427236435,1.54803869285e-05,1793249531127347712
+251,4.183333333,HOLD_POSE2,766,746,717.058334144,682,663,632.058334144,885,783.941665856,816,651,628,654,0.452427006582,-0.00553557138116,0.0497014076819,0.999999883066,7.67525530545e-05,-0.000477215537568,1.55701666134e-05,1793249531144014080
+252,4.200000000,HOLD_POSE2,766,746,717.649595749,682,663,632.649595749,885,783.350404251,816,651,628,654,0.452427427896,-0.0055353345377,0.0497016134585,0.999999882995,7.82035148414e-05,-0.000477120046254,1.58227669271e-05,1793249531160680960
+253,4.216666667,HOLD_POSE2,766.235732661,746,718,682,663,633,885,783.235732661,816.235732661,651,628,654,0.452428121522,-0.00553555880817,0.0497019385856,0.999999883325,7.83751437539e-05,-0.000476394087752,1.59892776817e-05,1793249531177347584
+254,4.233333333,HOLD_POSE2,766.814414012,746,718,682,663,633,885,783.814414012,816.814414012,651,628,654,0.452429211312,-0.00553645391661,0.0497024373463,0.999999884237,7.66855729366e-05,-0.000474750912714,1.60305435651e-05,1793249531194013952
+255,4.250000000,HOLD_POSE2,766.610256833,746,718,682,663,632.610256833,885,783.610256833,816.610256833,651,628,654,0.452428792968,-0.00553611963957,0.0497019646139,0.999999883805,7.70531763078e-05,-0.000475605970607,1.5864885684e-05,1793249531210680576
+256,4.266666667,HOLD_POSE2,766.036510248,746,718,682,663,632.036510248,885,783.036510248,816.036510248,651,628,654,0.452427662611,-0.00553520495185,0.0497010332255,0.999999882735,7.83920013842e-05,-0.000477640480455,1.56015360878e-05,1793249531227347456
+257,4.283333333,HOLD_POSE2,766,745.462084956,717.462084956,682,663.537915044,632,885,783,816,651.537915044,628,654,0.452427405523,-0.0055371459814,0.0496999140734,0.999999882321,7.56218986907e-05,-0.000478957930403,1.54152997091e-05,1793249531244014592
+258,4.300000000,HOLD_POSE2,766.116448729,745.116448729,717,681.883551271,663.883551271,632,885.116448729,783,816.116448729,651.883551271,628,654,0.452427425578,-0.00553845877968,0.0496992130677,0.999999882111,7.35600707006e-05,-0.000479721844309,1.53166179997e-05,1793249531260681728
+259,4.316666667,HOLD_POSE2,766.711684901,745.711684901,717,681.288315099,663.288315099,632,885.711684901,783,816.711684901,651.288315099,628,654,0.452428341121,-0.00553639061558,0.0497002837656,0.999999882586,7.55584812876e-05,-0.00047841021563,1.55563766752e-05,1793249531277348096
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,746,717,682,663,632,885,783,816,651,628,654,0.452426665931,-0.00553602879431,0.04969946301,0.999999882251,7.35117844059e-05,-0.000479441246158,1.51613513565e-05,1793249531314364160
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766.574414673,746,717.574414673,682,663.574414673,632,885,783,816,651,628,654,0.45242800691,-0.00553533679248,0.0497009490894,0.999999882924,7.54055370516e-05,-0.000477724336769,1.56795608669e-05,1793249531331030784
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.846901677,746,718,682,663.846901677,632,885,783,816,651,628,654,0.45242905172,-0.00553474469341,0.0497019127231,0.999999883396,7.68504526876e-05,-0.000476494976769,1.59516384329e-05,1793249531347697152
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.256010524,746,718,682,663.256010524,632,885,783,816,651,628,654,0.452429249614,-0.0055344382715,0.0497013823956,0.999999883312,7.70118953653e-05,-0.000476659789886,1.55198886797e-05,1793249531364363520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,746,717.672290867,682,663,632.327709133,885,783,816,651.327709133,628,654,0.452429580293,-0.00553414644951,0.0497014113809,0.999999883375,7.77736978603e-05,-0.000476410105249,1.53153913884e-05,1793249531381029888
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,717.094053732,682,663,632.905946268,885,783,816,651.905946268,628,654,0.452430012483,-0.00553386578893,0.0497018679514,0.99999988355,7.89944651132e-05,-0.000475843544187,1.52846247266e-05,1793249531397696512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745.519188487,717,682,663,633,885,783,816,652,628,654,0.452429372136,-0.0055359743236,0.0497012928627,0.999999883365,7.61997764978e-05,-0.000476675698973,1.55864435314e-05,1793249531414363392
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.056365417,745.056365417,717,682,663,632.943634583,885,783.056365417,816,652,628,654,0.452428537539,-0.00553818796561,0.0497005574246,0.999999883085,7.31673039097e-05,-0.000477726950623,1.58970662474e-05,1793249531431030016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.644598161,745.644598161,717,682,663,632.355401839,885,783.644598161,816,652,628,654,0.452427835926,-0.00553701406977,0.0497001999258,0.999999882669,7.52513211351e-05,-0.000478281800789,1.56811420999e-05,1793249531447696384
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.770931008,746,717.229068992,682,663,632.229068992,885.229068992,783.770931008,816,651.770931008,628.229068992,654.229068992,0.452423681973,-0.00553549482699,0.0496983445024,0.999999881303,7.73646174656e-05,-0.000480805113671,1.53581517827e-05,1793249531464362752
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766.192202556,746,717.807797444,682,663,632.807797444,885.807797444,783.192202556,816,651.192202556,628.807797444,654.807797444,0.45241425824,-0.00553344843383,0.0496942025908,0.999999878468,7.95226063228e-05,-0.00048633316145,1.48717316876e-05,1793249531481029376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717.614112541,682,663.385887459,632.614112541,885.614112541,783,816,651.385887459,628.614112541,655,0.452385886278,-0.00553194078861,0.0496828012508,0.999999868173,8.02053806744e-05,-0.000506971225852,1.42099720662e-05,1793249531497696256
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,717.036339943,682,663.963660057,632.036339943,885.036339943,783,816,651.963660057,628.036339943,655,0.452348092182,-0.00553070103924,0.0496677901107,0.999999853519,8.01545948102e-05,-0.000535122848049,1.34610236302e-05,1793249531514362880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766.536550739,746,717,682,663.463449261,632.536550739,885,783.536550739,816,652,628,655,0.452289534611,-0.00552831432573,0.0496497667795,0.999999838311,8.0808908965e-05,-0.000562761107362,1.21782437531e-05,1793249531531029504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.887450526,746,717,682,663,632.887450526,885,783.887450526,816,651.887450526,628,654.887450526,0.452225853549,-0.00552584152092,0.0496319946501,0.999999823158,8.13785208882e-05,-0.000589020990858,1.07978011111e-05,1793249531547696128
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.296858752,746,717,682,663,632.296858752,885,783.296858752,816,651.296858752,628,654.296858752,0.452146330159,-0.00552333002486,0.0496161481758,0.999999810857,8.13873612077e-05,-0.000609572723181,9.1547287782e-06,1793249531564362496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,717,682,663,632.289560317,885,783.289560317,816,651.289560317,628,654.289560317,0.452061612028,-0.0055208894878,0.0496067315932,0.999999802734,8.31552681513e-05,-0.000622533125035,8.34815272255e-06,1793249531581029120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,717,682,663,632.871762243,885,783.871762243,816,651.871762243,628,654.871762243,0.451971643883,-0.00551852066497,0.0496038133255,0.999999799126,8.67009604616e-05,-0.000627821413898,8.38697443571e-06,1793249531597695744
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,717,681.552946577,663,633,885,783.552946577,816,652,628,654.552946577,0.451868743445,-0.00551499425823,0.0496044596099,0.999999799152,8.90238981542e-05,-0.000627463505719,7.73309392376e-06,1793249531614362368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.020925014,746,717,681,663,632.979074986,885,783,816,651.979074986,628,654.020925014,0.451761105812,-0.00551108099674,0.049606127093,0.999999800231,9.11071598576e-05,-0.000625452452201,6.89407156694e-06,1793249531631028992
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.609238073,746,717,681,663,632.390761927,885,783,816,651.390761927,628,654.609238073,0.451624074446,-0.00550554473528,0.0496081814728,0.999999802009,9.60574047948e-05,-0.000621863742103,6.34072671333e-06,1793249531647695616
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.805531697,746,717,681.194468303,663,632.194468303,885,783,816,651,628.194468303,655,0.451479404516,-0.00550007425352,0.0496106456483,0.999999804653,0.000100900781101,-0.000616829408763,5.84441497737e-06,1793249531664361984
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.226399464,746,717,681.773600536,663,632.773600536,885,783,816,651,628.773600536,655,0.451319625299,-0.00549473388656,0.0496139204116,0.999999809015,0.000105532767575,-0.000608935591248,5.46091646419e-06,1793249531681028608
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.747122995,717.252877005,682,664.252877005,633.252877005,885,784,816,652,628,654,0.449946988766,-0.00544655478531,0.0496435698458,0.999999844185,0.000135899895119,-0.000541440486602,-1.77421904538e-06,1793249531781028864
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf5cc9fad4713e40517f2e5b4e3345f6c5c43a9a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
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+236,3.933333333,pose1_to_pose2_press,0.619560264304,0.00015016300601,1.04003338769,0.590130942358,0.00882279777162,1.03970478455
+237,3.950000000,pose1_to_pose2_press,0.619560324774,0.000150156313661,1.04003338606,0.590131003085,0.00882279196309,1.03970478321
+238,3.966666667,pose1_to_pose2_press,0.619560385762,0.000150149563968,1.04003338441,0.590131064332,0.00882278610479,1.03970478185
+239,3.983333333,pose1_to_pose2_press,0.619560484309,0.000150153173551,1.04003338987,0.590131162954,0.00882278998702,1.03970478778
+240,4.000000000,pose1_to_pose2_press,0.619560694839,0.000150237273563,1.04003344423,0.590131371833,0.0088228685246,1.0397048432
+241,4.016666667,pose1_to_pose2_press,0.619561036884,0.000150297831769,1.0400335267,0.590131712854,0.0088229254751,1.03970492219
+242,4.033333333,pose1_to_pose2_press,0.619561084132,0.000150120557781,1.04003338203,0.590131762793,0.00882275754095,1.03970478305
+243,4.050000000,pose1_to_pose2_press,0.61956108147,0.000150108033868,1.04003336847,0.590131760299,0.00882274561678,1.03970477027
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+247,4.116666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.5901317603,0.0088227456172,1.03970477027
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+256,4.266666667,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.5901317603,0.00882274561708,1.03970477027
+257,4.283333333,pose2_hold,0.61956108147,0.000150108033868,1.04003336847,0.5901317603,0.00882274561707,1.03970477027
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+261,4.350000000,pose2_to_pose3_retreat,0.619560885816,0.000150316498373,1.04003337935,0.590131560568,0.00882294020023,1.03970478003
+262,4.366666667,pose2_to_pose3_retreat,0.619560673562,0.000150347459753,1.04003338992,0.590131348763,0.0088229726171,1.03970478888
+263,4.383333333,pose2_to_pose3_retreat,0.619560360851,0.000150363174444,1.04003341916,0.590131036164,0.00882298866711,1.03970481696
+264,4.400000000,pose2_to_pose3_retreat,0.619560215826,0.000150364565301,1.04003343543,0.590130891082,0.00882298985668,1.03970483296
+265,4.416666667,pose2_to_pose3_retreat,0.619560161205,0.000150365089136,1.04003344155,0.59013083644,0.00882299030471,1.03970483898
+266,4.433333333,pose2_to_pose3_retreat,0.619560011031,0.000150366529365,1.04003345839,0.590130686208,0.00882299153651,1.03970485554
+267,4.450000000,pose2_to_pose3_retreat,0.619559371593,0.000150363373839,1.04003352463,0.590130046688,0.00882298806113,1.03970492075
+268,4.466666667,pose2_to_pose3_retreat,0.619557361885,0.000150140041512,1.04003360724,0.590128040524,0.00882277676638,1.03970500362
+269,4.483333333,pose2_to_pose3_retreat,0.619551136494,0.000150325219757,1.04003327302,0.590121811465,0.00882294965521,1.03970467341
+270,4.500000000,pose2_to_pose3_retreat,0.619538830338,0.00015010256468,1.04003334768,0.590109508306,0.00882273706056,1.03970474464
+271,4.516666667,pose2_to_pose3_retreat,0.619516919091,0.000150129865179,1.04003353404,0.590087596734,0.008822763399,1.03970493633
+272,4.533333333,pose2_to_pose3_retreat,0.61948487549,0.000150003488719,1.04003335596,0.590055554867,0.00882264318827,1.0397047616
+273,4.550000000,pose2_to_pose3_retreat,0.619440883165,0.000150096790806,1.04003335379,0.590011560289,0.00882272871081,1.03970475847
+274,4.566666667,pose2_to_pose3_retreat,0.619387180781,0.00015006476126,1.04003344687,0.589957859005,0.00882269987835,1.03970484241
+275,4.583333333,pose2_to_pose3_retreat,0.619324427733,0.000150185606836,1.04003374197,0.589895103983,0.00882281363579,1.03970512737
+276,4.600000000,pose2_to_pose3_retreat,0.619253987163,0.0001501459279,1.04003373806,0.5898246641,0.00882277639052,1.03970512495
+277,4.616666667,pose2_to_pose3_retreat,0.619175917124,0.000149901953369,1.04003341552,0.589746597526,0.00882254453412,1.03970481347
+278,4.633333333,pose2_to_pose3_retreat,0.619087976033,0.00014991778964,1.04003331669,0.589658655943,0.00882255879808,1.03970471825
+279,4.650000000,pose2_to_pose3_retreat,0.618989780908,0.000150117190053,1.04003350955,0.589560458949,0.00882275175647,1.0397049096
+280,4.666666667,pose2_to_pose3_retreat,0.61887960984,0.000150101372569,1.04003366148,0.589450288118,0.00882273634009,1.03970505134
+281,4.683333333,pose2_to_pose3_retreat,0.618755545499,0.000150138958845,1.04003356609,0.589326222068,0.00882276801662,1.03970495417
+282,4.700000000,pose2_to_pose3_retreat,0.618615864973,0.000150132926544,1.04003346542,0.589186542613,0.00882276553987,1.03970485386
+283,4.716666667,pose2_to_pose3_retreat,0.618462391202,0.000150139076951,1.04003354361,0.589033068854,0.00882277170143,1.03970493319
+284,4.733333333,pose2_to_pose3_retreat,0.618294877658,0.000150101758825,1.04003359973,0.588865555701,0.00882273585281,1.03970499468
+285,4.750000000,pose2_to_pose3_retreat,0.618109638543,0.000149992771666,1.04003352292,0.58868031883,0.00882263457246,1.03970492215
+286,4.766666667,pose2_to_pose3_retreat,0.617907526294,0.000149955614434,1.04003370238,0.588478206679,0.00882259690462,1.03970508174
+287,4.783333333,pose2_to_pose3_retreat,0.617686657586,0.000150101560112,1.04003366976,0.588257334849,0.0088227325153,1.03970505793
+288,4.800000000,pose2_to_pose3_retreat,0.617443283827,0.000150009530074,1.04003354488,0.588013963553,0.00882264899466,1.03970493961
+289,4.816666667,pose2_to_pose3_retreat,0.617175758959,0.000150041233145,1.04003360885,0.587746437663,0.0088226769108,1.03970499849
+290,4.833333333,pose2_to_pose3_retreat,0.616886559881,0.000150126838072,1.04003366856,0.587457236846,0.00882275644208,1.0397050565
+291,4.850000000,pose2_to_pose3_retreat,0.61657668165,0.000150242699343,1.04003365464,0.587147357822,0.00882286962342,1.03970504662
+292,4.866666667,pose2_to_pose3_retreat,0.616243339685,0.000150242294092,1.0400335738,0.586814016386,0.00882287097445,1.03970496832
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+295,4.916666667,pose2_to_pose3_retreat,0.615119528543,0.000150199282982,1.04003357341,0.585690206827,0.00882283351446,1.03970498141
+296,4.933333333,pose2_to_pose3_retreat,0.614707036586,0.000150092174254,1.04003353333,0.585277715563,0.00882272818748,1.0397049293
+297,4.950000000,pose2_to_pose3_retreat,0.614281499491,0.000150123930368,1.04003359714,0.584852177617,0.00882275681651,1.03970498981
+298,4.966666667,pose2_to_pose3_retreat,0.613843229341,0.000150166269716,1.04003345838,0.58441390724,0.00882279832279,1.03970485267
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+304,5.066666667,pose2_to_pose3_retreat,0.610737572159,0.000150059213502,1.04003348825,0.581308251605,0.00882269648625,1.03970488861
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+307,5.116666667,pose2_to_pose3_retreat,0.6089391099,0.000150147586785,1.04003336551,0.579509787929,0.00882278007857,1.03970476658
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+325,5.416666667,pose2_to_pose3_retreat,0.595652605107,0.000150116409975,1.04003349315,0.566223284029,0.00882275193908,1.03970489302
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+327,5.450000000,pose2_to_pose3_retreat,0.594131269469,0.000150044250841,1.04003364234,0.5647019496,0.00882268363348,1.0397050355
+328,5.466666667,pose2_to_pose3_retreat,0.593359481631,0.000150147240378,1.04003368556,0.563930160861,0.00882278327263,1.03970507089
+329,5.483333333,pose2_to_pose3_retreat,0.592589094007,0.000150046934309,1.04003367951,0.563159773598,0.00882268420843,1.03970506529
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+331,5.516666667,pose2_to_pose3_retreat,0.591082179902,0.000150150838223,1.04003358913,0.561652858276,0.0088227842067,1.03970498071
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+335,5.583333333,pose2_to_pose3_retreat,0.588278678828,0.000150141803137,1.04003337262,0.558849356408,0.00882277288443,1.03970477485
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+337,5.616666667,pose2_to_pose3_retreat,0.586949244248,0.000149985778367,1.04003353861,0.557519924471,0.00882262541274,1.0397049297
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+342,5.700000000,pose2_to_pose3_retreat,0.58387981648,0.000150167198247,1.04003351772,0.554450494704,0.00882280026879,1.03970491537
+343,5.716666667,pose2_to_pose3_retreat,0.583324237929,0.000150190247296,1.0400334814,0.55389491649,0.00882282469372,1.03970488508
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+345,5.750000000,pose2_to_pose3_retreat,0.582285472059,0.000150116144979,1.04003361203,0.552856151168,0.00882275185307,1.0397050004
+346,5.766666667,pose2_to_pose3_retreat,0.581803563088,0.000150114389421,1.04003357013,0.552374241058,0.00882274643214,1.03970496383
+347,5.783333333,pose2_to_pose3_retreat,0.581332543919,0.000150144904697,1.04003356977,0.551903222079,0.00882277769819,1.03970496577
+348,5.800000000,pose2_to_pose3_retreat,0.580871738557,0.000150130216316,1.04003354419,0.551442417396,0.00882276533542,1.03970494026
+349,5.816666667,pose2_to_pose3_retreat,0.580425970247,0.000150104339522,1.04003337829,0.550996648045,0.00882273602725,1.03970477695
+350,5.833333333,pose2_to_pose3_retreat,0.580000399027,0.000150167365772,1.04003337899,0.550571076473,0.00882279785502,1.03970477765
+351,5.850000000,pose2_to_pose3_retreat,0.579598351579,0.000150106624758,1.04003337438,0.550169030493,0.00882274215844,1.03970477497
+352,5.866666667,pose2_to_pose3_retreat,0.579232180259,0.000150199440692,1.04003335472,0.549802856873,0.00882282726943,1.03970475811
+353,5.883333333,pose2_to_pose3_retreat,0.578898300905,0.000150183422186,1.04003366501,0.549468979117,0.00882281659651,1.03970506651
+354,5.900000000,pose2_to_pose3_retreat,0.578589517485,0.000150357433557,1.04003348271,0.549160193745,0.00882298408355,1.0397048869
+355,5.916666667,pose2_to_pose3_retreat,0.578299083088,0.00015017216483,1.04003336651,0.548869761728,0.00882280686077,1.03970476956
+356,5.933333333,pose2_to_pose3_retreat,0.578023538811,0.000149976086634,1.04003339878,0.548594219604,0.00882261780868,1.03970479417
+357,5.950000000,pose2_to_pose3_retreat,0.577757411337,0.000150137755181,1.04003348545,0.548328089276,0.00882276944203,1.0397048715
+358,5.966666667,pose2_to_pose3_retreat,0.577501545841,0.000150089100739,1.04003363451,0.54807222435,0.00882272277095,1.03970502188
+359,5.983333333,pose2_to_pose3_retreat,0.57726258656,0.000150008380852,1.04003339829,0.547833266628,0.00882264771292,1.03970479566
+360,6.000000000,pose2_to_pose3_retreat,0.57704255693,0.00015004876463,1.04003365713,0.547613237484,0.00882268951356,1.03970504844
+361,6.016666667,pose2_to_pose3_retreat,0.576847331435,0.000150024349501,1.04003349111,0.547418010675,0.00882266111518,1.039704895
+362,6.033333333,pose2_to_pose3_retreat,0.576674700108,0.000150095856581,1.04003363688,0.547245378108,0.00882272795098,1.03970502851
+363,6.050000000,pose2_to_pose3_retreat,0.576524899645,0.000150143009889,1.04003346576,0.54709557784,0.00882277596509,1.0397048627
+364,6.066666667,pose2_to_pose3_retreat,0.576393485686,0.000150108962124,1.04003345137,0.546964164806,0.00882274512451,1.03970485009
+365,6.083333333,pose2_to_pose3_retreat,0.576279139802,0.000150094098975,1.04003345084,0.546849819516,0.00882273223829,1.03970484859
+366,6.100000000,pose2_to_pose3_retreat,0.576178802522,0.000150112156447,1.04003341282,0.54674948203,0.00882274955341,1.0397048098
+367,6.116666667,pose2_to_pose3_retreat,0.576089778487,0.000150081530552,1.04003351343,0.546660457126,0.00882271584245,1.03970490777
+368,6.133333333,pose2_to_pose3_retreat,0.576011096158,0.000150117772848,1.04003353671,0.546581774324,0.00882275039748,1.03970492814
+369,6.150000000,pose2_to_pose3_retreat,0.575941431179,0.000150142466739,1.04003351232,0.54651210815,0.00882277119782,1.03970490802
+370,6.166666667,pose2_to_pose3_retreat,0.575881129594,0.000150134786918,1.04003350595,0.546451806784,0.00882276431139,1.03970490289
+371,6.183333333,pose2_to_pose3_retreat,0.575831192558,0.000150154961407,1.04003358493,0.546401870405,0.00882278665486,1.03970498022
+372,6.200000000,pose2_to_pose3_retreat,0.575790944207,0.000150143124732,1.04003355027,0.54636162263,0.00882277675232,1.03970494509
+373,6.216666667,pose2_to_pose3_retreat,0.575759482249,0.000150083686611,1.04003341399,0.54633016086,0.00882271800716,1.03970481016
+374,6.233333333,pose2_to_pose3_retreat,0.575734754787,0.000150069933724,1.04003351729,0.546305432518,0.0088227012545,1.03970491313
+375,6.250000000,pose2_to_pose3_retreat,0.575716160719,0.000150187964048,1.0400335193,0.546286839196,0.00882282182773,1.03970491557
+376,6.266666667,pose2_to_pose3_retreat,0.575700674144,0.00015019014384,1.04003356199,0.546271353214,0.0088228261666,1.03970496213
+377,6.283333333,pose2_to_pose3_retreat,0.575688336794,0.000150121075665,1.04003361387,0.546259015824,0.00882275699747,1.03970501505
+378,6.300000000,pose2_to_pose3_retreat,0.57567977264,0.000150079393076,1.04003363382,0.546250450912,0.0088227125491,1.03970502996
+379,6.316666667,pose2_to_pose3_retreat,0.575674061138,0.00015022521902,1.04003362971,0.546244738637,0.00882285579731,1.0397050272
+380,6.333333333,pose2_to_pose3_retreat,0.575670733717,0.000150159845966,1.04003360313,0.546241411246,0.00882279033689,1.03970499546
+381,6.350000000,pose2_to_pose3_retreat,0.575668923426,0.000150065166453,1.04003357917,0.546239601161,0.00882269616601,1.03970496634
+382,6.366666667,pose2_to_pose3_retreat,0.575668299784,0.000150032549518,1.04003357091,0.546238977589,0.0088226637243,1.03970495631
+383,6.383333333,pose2_to_pose3_retreat,0.575667938594,0.000150029199971,1.0400335684,0.546238616468,0.00882266059631,1.03970495342
+384,6.400000000,pose2_to_pose3_retreat,0.575667782348,0.000150031719851,1.04003356788,0.54623846026,0.00882266324269,1.03970495291
+385,6.416666667,pose2_to_pose3_retreat,0.575667608475,0.000150034524016,1.04003356732,0.546238286429,0.00882266618764,1.03970495235
+386,6.433333333,pose2_to_pose3_retreat,0.575667437446,0.000150037282327,1.04003356676,0.54623811544,0.00882266908442,1.0397049518
+387,6.450000000,pose2_to_pose3_retreat,0.575667305502,0.000150039410272,1.04003356633,0.546237983528,0.0088226713192,1.03970495137
+388,6.466666667,pose2_to_pose3_retreat,0.575667048126,0.00015004356115,1.04003356549,0.546237726213,0.00882267567846,1.03970495054
+389,6.483333333,pose2_to_pose3_retreat,0.575666670631,0.000150049649275,1.04003356425,0.546237348808,0.00882268207223,1.03970494932
+390,6.500000000,pose2_to_pose3_retreat,0.575666461033,0.00015005302961,1.04003356357,0.54623713926,0.00882268562227,1.03970494864
+391,6.516666667,pose2_to_pose3_retreat,0.575666299674,0.000150055631943,1.04003356304,0.54623697794,0.00882268835525,1.03970494812
+392,6.533333333,pose2_to_pose3_retreat,0.575665929231,0.000150061606339,1.04003356183,0.546236607585,0.00882269462958,1.03970494693
+393,6.550000000,pose2_to_pose3_retreat,0.575665552695,0.000150073766474,1.04003355734,0.546236231045,0.00882270681053,1.03970494337
+394,6.566666667,pose2_to_pose3_retreat,0.575665294582,0.000150092407466,1.04003354875,0.54623597277,0.00882272498492,1.03970493698
+395,6.583333333,pose2_to_pose3_retreat,0.575665055535,0.000150109671466,1.04003354079,0.546235733573,0.00882274181678,1.03970493106
+396,6.600000000,pose2_to_pose3_retreat,0.575664898331,0.000150121024779,1.04003353555,0.54623557627,0.00882275288591,1.03970492717
+397,6.616666667,pose2_to_pose3_retreat,0.575664870991,0.000150122999285,1.04003353464,0.546235548913,0.00882275481099,1.03970492649
+398,6.633333333,pose2_to_pose3_retreat,0.575664711777,0.000150134497786,1.04003352934,0.546235389599,0.00882276602167,1.03970492254
+399,6.650000000,pose2_to_pose3_retreat,0.575664458844,0.000150114088124,1.04003351671,0.546235137821,0.00882274961426,1.03970491209
+400,6.666666667,pose2_to_pose3_retreat,0.575664300118,0.000150096489028,1.04003353897,0.546234979644,0.00882273388947,1.0397049346
+401,6.683333333,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015506,1.03970504886
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dcb875c22294412ba552470a563b9dbba60c3a86
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0acbb5bb0bb0de180f0ed46971a5ede102dbbbae266f6338721e70a521d952d
+size 25682246
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..34843559d53eea8cd03e2d3d8fe258f3a83a050d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,405 @@
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+29,0.483333333,BASELINE,766,745,717,678,662.164510398,636,877,784,811.835489602,652,629,654,0.400993390089,-0.00540493076936,0.0498543048505,0.999999962254,0.000116144006923,-0.000245815295363,-3.97275384182e-05,1793249534296944384
+30,0.500000000,BASELINE,766,745,717,678,662.411838815,636,877,784.411838815,812,652,629,654,0.400994254774,-0.00540533469737,0.0498552638262,0.999999962616,0.000115774314293,-0.000244553187198,-3.94761637493e-05,1793249534313611264
+31,0.516666667,BASELINE,766,745,717,678,662.986158101,636,877,784.986158101,812,652,629,654,0.400995834836,-0.00540515846185,0.0498568678033,0.99999996306,0.000116560753903,-0.000242403048332,-3.91611437047e-05,1793249534330278400
+32,0.533333333,BASELINE,766,745.561258496,717,678.561258496,663,636,877.561258496,784.438741504,812,652,629,653.438741504,0.400995762001,-0.00540649535761,0.0498562183249,0.99999996318,0.000114095188909,-0.000243032112748,-3.94681095101e-05,1793249534346945280
+33,0.550000000,BASELINE,766.139606495,746,717,678.860393505,662.860393505,636,877.860393505,784,811.860393505,652,629,653.139606495,0.400995558628,-0.00540708278318,0.0498556352741,0.9999999632,0.00011252248349,-0.000243624118834,-3.98348225738e-05,1793249534363611648
+34,0.566666667,BASELINE,766.728340168,746,717,678.271659832,662.271659832,636,877.271659832,784,811.271659832,652,629,653.728340168,0.400995066627,-0.00540513887237,0.0498554449672,0.999999962941,0.000114080567639,-0.000243876093215,-4.03443304881e-05,1793249534380278016
+35,0.583333333,BASELINE,766.686612354,746,717.313387646,678,662,636,877.313387646,784,811.313387646,652,628.686612354,654,0.40099499076,-0.00540406182195,0.0498554070917,0.999999962684,0.000116112049259,-0.000243977382562,-4.03142193253e-05,1793249534396944640
+36,0.600000000,BASELINE,766.104723037,746,717.895276963,678,662,636,877.895276963,784,811.895276963,652,628.104723037,654,0.400995271424,-0.00540372747277,0.0498554998152,0.999999962424,0.000118549124616,-0.000243949569262,-3.98217778566e-05,1793249534413611520
+37,0.616666667,BASELINE,766.47107965,745.52892035,717.52892035,678,662,636,877.52892035,784.47107965,812,652,628.47107965,653.52892035,0.400995265401,-0.00540360089975,0.049855773191,0.999999962442,0.000118738503537,-0.000243811195341,-3.96538790558e-05,1793249534430278144
+38,0.633333333,BASELINE,766.954499738,745,717,678.045500262,662,636,877,784.954499738,811.954499738,652,629,653.045500262,0.400995177173,-0.00540358907133,0.049856012954,0.999999962527,0.000118295302661,-0.000243694414185,-3.95677896554e-05,1793249534446945024
+39,0.650000000,BASELINE,766.380615791,745,717,678.619384209,662,636,877,784.380615791,811.380615791,652,629,653.619384209,0.400994864974,-0.00540438019839,0.0498554019629,0.999999962666,0.000116234665642,-0.00024411016342,-3.96045917739e-05,1793249534463611648
+40,0.666666667,BASELINE,766,745,717,678.800532671,662,636,877,784,811.199467329,652,629,654,0.400994528765,-0.00540530537702,0.0498551218249,0.999999962817,0.000114213963987,-0.000244440162826,-3.96274389323e-05,1793249534480278272
+41,0.683333333,BASELINE,766,745,717,678.208241145,662,636,877,784,811.791758855,652,629,654,0.400994145272,-0.00540649455224,0.0498554932576,0.999999962998,0.000112271909811,-0.000244601289402,-3.96228036627e-05,1793249534496944640
+42,0.700000000,BASELINE,766.372809351,745,717,677.627190649,662,636,877,784.372809351,811.627190649,652,629,654,0.400993978709,-0.00540697661008,0.0498555170944,0.999999962987,0.000112415181569,-0.000244573364934,-3.96668208045e-05,1793249534513611264
+43,0.716666667,BASELINE,766.947764677,745,717,677.052235323,662,636,877,784.947764677,811.052235323,652,629,654,0.40099392977,-0.00540707525225,0.0498553524566,0.999999962872,0.000113689166025,-0.000244442932551,-3.9737218425e-05,1793249534530277888
+44,0.733333333,BASELINE,766.476279701,745.523720299,717,677,662.523720299,636,877,784.476279701,811.523720299,652,629.523720299,654,0.400993182875,-0.00540625569542,0.0498548665749,0.999999962734,0.000112836536522,-0.000245357666107,-3.99958265384e-05,1793249534546944512
+45,0.750000000,BASELINE,766,745.897831708,717,677.102168292,662.897831708,636,877,784,812,652,629.897831708,654,0.400992822017,-0.00540546523706,0.049854629686,0.99999996266,0.000112370346508,-0.000245848333629,-4.01388025943e-05,1793249534563611136
+46,0.766666667,BASELINE,766,745.307963738,717,677.692036262,662.307963738,636,877,784,812,652,629.307963738,654,0.400994636836,-0.00540525167446,0.0498557346007,0.999999962906,0.000114763248721,-0.000243816165163,-3.96400305704e-05,1793249534580277760
+47,0.783333333,BASELINE,766,745,717.276029637,678,662,636,877,784,812,652,629,654,0.400995578878,-0.00540464526897,0.0498560617521,0.999999963106,0.000115456039698,-0.000242643704405,-3.97848735945e-05,1793249534596944384
+48,0.800000000,BASELINE,766,745,717.853605435,678,662,636,877,784,812,652,629,654,0.400995567463,-0.00540360970566,0.0498555392427,0.999999963262,0.000114291559334,-0.000242410423558,-4.06328281827e-05,1793249534613611264
+49,0.816666667,BASELINE,766,745.430751068,717.569248932,677.569248932,662,636,877,784,811.569248932,652.430751068,629,654,0.400994866866,-0.0054046880833,0.049855379532,0.999999963131,0.000113556493357,-0.000243348318298,-4.02930878526e-05,1793249534630278144
+50,0.833333333,BASELINE,766.007728162,746,717,677.007728162,662,636,877.007728162,784,811.007728162,652.992271838,629,653.992271838,0.400993941041,-0.00540644875746,0.0498553496929,0.999999962903,0.000112998118654,-0.000244662187335,-3.95602011545e-05,1793249534646945024
+51,0.850000000,BASELINE,766.58305616,746,717,677.58305616,662,636,877.58305616,784,811.58305616,652.41694384,629,653.41694384,0.400993658801,-0.00540560738664,0.0498558115222,0.999999962776,0.000114708961088,-0.000244385009285,-3.95690806174e-05,1793249534663611392
+52,0.866666667,BASELINE,766.836782687,746,717,678,662.163217313,636,877.836782687,784,812,651.836782687,629,653,0.400993602421,-0.00540496086347,0.0498560474736,0.999999962677,0.000115608800567,-0.000244348330952,-3.96705308312e-05,1793249534680277760
+53,0.883333333,BASELINE,766.243898366,746,717,678,662.756101634,636,877.243898366,784,812,651.243898366,629,653,0.400994140614,-0.00540482727371,0.049855688805,0.99999996266,0.000114373687427,-0.000244944764361,-4.00156720894e-05,1793249534696944128
+54,0.900000000,BASELINE,766,746,717,678.339596375,663,635.660403625,877.339596375,784,811.660403625,651.339596375,629,653.339596375,0.400994132609,-0.0054052681707,0.0498553358228,0.999999962643,0.000114223237168,-0.000245096438621,-3.99274589295e-05,1793249534713610752
+55,0.916666667,BASELINE,766,746,717,678.916528927,663,635.083471073,877.916528927,784,811.083471073,651.916528927,629,653.916528927,0.400993742877,-0.00540611056342,0.0498549868149,0.999999962628,0.000114830833162,-0.000244937280807,-3.95363842145e-05,1793249534730277632
+56,0.933333333,BASELINE,766,745.50783964,717.49216036,678.50783964,662.50783964,635.49216036,877.50783964,784,811.49216036,652,629,654,0.400995255847,-0.00540517218035,0.0498562072677,0.99999996297,0.000115940557523,-0.00024300482048,-3.95882206526e-05,1793249534746944256
+57,0.950000000,BASELINE,766,745,717.930987439,678,662,636,877,784,811.930987439,652,629,654,0.400996783905,-0.00540398593385,0.0498574423687,0.999999963277,0.000117117976651,-0.000241148891053,-3.9699854411e-05,1793249534763611136
+58,0.966666667,BASELINE,766,745,717.343306675,678,662,636,877,784,811.343306675,652,629,654,0.400996006476,-0.0054032007353,0.0498567923201,0.999999962919,0.000118165809227,-0.000242122515154,-3.96978306053e-05,1793249534780278272
+59,0.983333333,BASELINE,766,745.240702099,717,678.240702099,662.240702099,636,877,784,811,652,629,653.759297901,0.400995466736,-0.0054037623611,0.0498564913289,0.999999962775,0.000118174017119,-0.000242738458718,-3.953788999e-05,1793249534796944896
+60,1.000000000,BASELINE,766,745.819552396,717,678.819552396,662.819552396,636,877,784,811,652,629,653.180447604,0.400995260911,-0.00540621606098,0.0498566807078,0.999999962933,0.000116721717689,-0.000242851918104,-3.91561013517e-05,1793249534813611520
+61,1.016666667,BASELINE,766,745.601674655,717,678.601674655,663,636,877.398325345,784,811,652,629,653.398325345,0.400994490385,-0.00540559061408,0.0498562012542,0.999999962675,0.000117491121703,-0.000243498806957,-3.94349832925e-05,1793249534830278144
+62,1.033333333,BASELINE,766,745.022936772,717,678.022936772,663,636,877.977063228,784,811,652,629,653.977063228,0.400993464092,-0.00540357053652,0.0498554188678,0.999999962225,0.000119266796579,-0.000244387300722,-4.00131011862e-05,1793249534846944512
+63,1.050000000,BASELINE,766.551266784,745.551266784,717.551266784,678,663,636,878,784.551266784,811,652,629,653.448733216,0.40099378017,-0.00540435794432,0.0498556586696,0.999999962496,0.00011731224634,-0.000244257367501,-3.98071570272e-05,1793249534863611136
+64,1.066666667,BASELINE,767,746,717.871110765,678,663,636,878,784.871110765,811,652,629,653.128889235,0.400994142591,-0.00540506669865,0.0498560109845,0.999999962767,0.000115655603093,-0.000243968936931,-3.96066700742e-05,1793249534880277760
+65,1.083333333,BASELINE,767,746,717.280572492,678,663,636,878,784.280572492,811,652,629,653.719427508,0.400994472577,-0.00540507875731,0.0498566152019,0.999999962946,0.00011561735848,-0.00024326334367,-3.95416228583e-05,1793249534896944640
+66,1.100000000,BASELINE,767,745.697566831,717.302433169,678.302433169,662.697566831,636,877.697566831,784.302433169,811.302433169,652,629,653.697566831,0.400995303944,-0.00540506267895,0.0498571256133,0.999999963032,0.00011656169645,-0.00024246283093,-3.95026392631e-05,1793249534913611520
+67,1.116666667,BASELINE,767,745.121379514,717.878620486,678.878620486,662.121379514,636,877.121379514,784.878620486,811.878620486,652,629,653.121379514,0.400996589148,-0.00540502113175,0.0498575511143,0.999999963032,0.000118395441032,-0.000241576399738,-3.94872477408e-05,1793249534930278400
+68,1.133333333,BASELINE,767,745.452550584,718,678.547449416,662,636,877,784.547449416,812,652,629,653.452550584,0.400994618478,-0.00540507641027,0.0498564219347,0.999999962773,0.000116984230845,-0.000243323268773,-3.9537271644e-05,1793249534946945024
+69,1.150000000,BASELINE,767,746,717.973324413,678.026675587,662,636,877.026675587,784,812,652,629,654,0.400991949669,-0.00540518459369,0.0498549254497,0.999999962449,0.000114812069277,-0.000245664370121,-3.96051913041e-05,1793249534963611648
+70,1.166666667,BASELINE,767,746,717.382333336,678.617666664,662,636,877.617666664,784,812,652,629,654,0.400992893915,-0.00540586530838,0.0498544361231,0.999999962429,0.000114862536797,-0.000245709220299,-3.96823688085e-05,1793249534980277760
+71,1.183333333,BASELINE,767,745.79580328,717,678.79580328,662,636,878,784,812,652,629,654,0.400993688464,-0.00540632892996,0.0498543455686,0.999999962558,0.000114403342328,-0.00024540322153,-3.9672494928e-05,1793249534996944128
+72,1.200000000,BASELINE,767,745.217447261,717,678.217447261,662,636,878,784,812,652,629,654,0.400994208717,-0.0054063947617,0.0498549857029,0.999999962955,0.000113010270116,-0.000244454345661,-3.95031126946e-05,1793249535013611008
+73,1.216666667,BASELINE,766.639095863,745,717,678,662.360904137,636,877.639095863,784,811.639095863,652,629,654,0.400994602337,-0.00540650053604,0.0498554279763,0.999999963042,0.000113763018336,-0.000243755982636,-3.94708718328e-05,1793249535030277888
+74,1.233333333,BASELINE,766.060747285,745,717,678,662.939252715,636,877.060747285,784,811.060747285,652,629,654,0.400994919661,-0.00540663037577,0.0498557510388,0.999999962938,0.000115808621664,-0.000243208553448,-3.95212585429e-05,1793249535046945024
+75,1.250000000,BASELINE,766.512835137,745,717,678,662.487164863,636,877.512835137,784.512835137,811.512835137,652,629,654,0.400995318866,-0.00540538442374,0.0498559412361,0.999999962876,0.000116821519518,-0.000242975114324,-3.9547049313e-05,1793249535063611648
+76,1.266666667,BASELINE,767,745,717,677.911772834,662.088227166,636,877.911772834,784.911772834,811.911772834,652,629,654,0.40099530423,-0.00540430676007,0.0498558818864,0.999999962757,0.000117351695461,-0.000243202022896,-3.95972040526e-05,1793249535080278272
+77,1.283333333,BASELINE,767,745,717,677.322939087,662.677060913,636,877.322939087,784.322939087,811.322939087,652,629,654,0.400992886904,-0.00540510015039,0.0498544950703,0.999999962283,0.000115830581468,-0.00024583187969,-3.98019805791e-05,1793249535096944896
+78,1.300000000,BASELINE,767,745,717,677.26311858,663,636,877.26311858,784,811.26311858,652,629,653.73688142,0.400991944163,-0.0054053680464,0.0498541796546,0.999999962135,0.000115535762725,-0.000246560305055,-3.98625331736e-05,1793249535113611776
+79,1.316666667,BASELINE,767,745,717,677.845804549,663,636,877.845804549,784,811.845804549,652,629,653.154195451,0.400992792361,-0.0054049977098,0.049855165495,0.99999996239,0.000116730325695,-0.000244979370408,-3.97479203757e-05,1793249535130278400
+80,1.333333333,BASELINE,766.577342212,745.422657788,717,678,662.577342212,635.577342212,877.577342212,784,811.577342212,652,629,653.422657788,0.400993513756,-0.00540404009938,0.0498556435864,0.999999962434,0.000117992818713,-0.00024416326501,-3.99354483481e-05,1793249535146945024
+81,1.350000000,BASELINE,766.002587877,745.997412123,717,678,662.002587877,635.002587877,877.002587877,784,811.002587877,652,629,653.997412123,0.40099418952,-0.00540287115408,0.0498559389606,0.999999962401,0.000119279756962,-0.000243622388972,-4.02317039133e-05,1793249535163611648
+82,1.366666667,BASELINE,766.572505129,746,717,678,662,635.572505129,877.572505129,784,811,652,629,653.427494871,0.400993852036,-0.00540359650065,0.0498554813469,0.999999962504,0.000117127570494,-0.000244224657737,-4.03485567162e-05,1793249535180278272
+83,1.383333333,BASELINE,766.848649184,745.848649184,717,678,662.151350816,636,878,784,811,652,629,653.151350816,0.400994085758,-0.00540446965378,0.0498553977756,0.999999962709,0.000115609114491,-0.000244114277472,-4.03138299064e-05,1793249535196944896
+84,1.400000000,BASELINE,766.258938853,745.258938853,717,678,662.741061147,636,878,784,811,652,629,653.741061147,0.400995987148,-0.00540574608635,0.0498564074129,0.999999963218,0.000115971192585,-0.000241924866814,-3.98424310961e-05,1793249535213612032
+85,1.416666667,BASELINE,766,745.325155533,717,678,662.674844467,636,878,784,811.325155533,652,629.325155533,653.674844467,0.400995080027,-0.00540630054561,0.0498560142826,0.999999963067,0.000115557451968,-0.000242788959286,-3.95674866467e-05,1793249535230278656
+86,1.433333333,BASELINE,766,745.904853537,717,678,662.095146463,636,878,784,811.904853537,652,629.904853537,653.095146463,0.400991974312,-0.00540628982031,0.0498545230194,0.999999962394,0.000114536374863,-0.000246043434795,-3.94463331752e-05,1793249535246945280
+87,1.450000000,BASELINE,766,745.520835373,717,678,662,636,877.520835373,784,811.520835373,652,629.520835373,653,0.400993356252,-0.00540691467881,0.049855326593,0.999999962907,0.000113555517478,-0.000244424565499,-3.93301197178e-05,1793249535263612160
+88,1.466666667,BASELINE,766,745,717,678,662,636,877,784,811.052604158,652,629,653.052604158,0.400995293322,-0.00540752554793,0.0498564227557,0.999999963544,0.000112740128157,-0.000242200343937,-3.9259635638e-05,1793249535280278784
+89,1.483333333,BASELINE,766,745,717,678,662,636,877,784,811.627893973,652,629,653.627893973,0.40099399053,-0.00540675734633,0.0498559487526,0.999999963136,0.000113490391719,-0.000243469462574,-3.96338896707e-05,1793249535296944896
+90,1.500000000,BASELINE,766,745,717,678,662.417909639,636,877.20895482,784,812,652,628.79104518,654,0.400993129646,-0.00540556435137,0.0498553852589,0.999999962686,0.000114945868672,-0.000244577900228,-3.99516990657e-05,1793249535313611264
+91,1.516666667,BASELINE,766,745,717,678,663.60116907,636,877.800584535,784,812,652,628.199415465,654,0.400993078062,-0.00540359340001,0.0498546578744,0.999999962159,0.000117692856608,-0.000245392070405,-4.016613705e-05,1793249535330277888
+92,1.533333333,BASELINE,766,745,717,678,663.232332691,636,878,784,811.616166346,652,628.383833654,654,0.400992906618,-0.00540377370778,0.0498545546787,0.999999962169,0.000117490506044,-0.000245487725273,-3.99242056914e-05,1793249535346944768
+93,1.550000000,BASELINE,766,745,717,678,662.074356324,636,878,784,811.037178162,652,628.962821838,654,0.400992674233,-0.00540504779117,0.0498547688424,0.999999962452,0.000115788608308,-0.00024521806176,-3.94502401281e-05,1793249535363612160
+94,1.566666667,BASELINE,766,745,717,678,662,636,878,784,811,652,629,654,0.400994262186,-0.005405643022,0.0498554772692,0.999999962781,0.000115705859377,-0.000243919784914,-3.94169758175e-05,1793249535380278528
+95,1.583333333,BASELINE,766,745,717,678,662,636,877.885209746,784,811,652,629,653.885209746,0.400995573192,-0.00540589759307,0.0498559819778,0.999999963068,0.000115611356899,-0.000242774628554,-3.94679955377e-05,1793249535396945152
+96,1.600000000,BASELINE,766,745,717,678,662,636,877.294719601,784,811,652,629,653.294719601,0.400995218882,-0.00540493348201,0.0498555019135,0.99999996318,0.000115007725208,-0.000242556511937,-3.97429770178e-05,1793249535413611520
+97,1.616666667,BASELINE,766.289935247,745.289935247,717,678,662.289935247,636,877.289935247,784,811.289935247,652,629,653.289935247,0.400995002541,-0.00540483323425,0.049855548619,0.999999963258,0.000113959523659,-0.000242711159444,-3.98597002526e-05,1793249535430277888
+98,1.633333333,BASELINE,766.868775498,745.868775498,717,678,662.868775498,636,877.868775498,784,811.868775498,652,629,653.868775498,0.400994923681,-0.00540559378021,0.0498561202225,0.9999999633,0.000112468332003,-0.000243237246524,-3.98187275736e-05,1793249535446944256
+99,1.650000000,BASELINE,766.555420363,745.555420363,717.444579637,678,662.555420363,635.555420363,877.555420363,784,811.555420363,652,629,653.555420363,0.400995148228,-0.0054056460184,0.0498563799774,0.999999963185,0.000114445284627,-0.000242803457008,-3.97257322952e-05,1793249535463611136
+100,1.666666667,BASELINE,766.019437822,745,718,678.019437822,662,635.019437822,877,784,811,652,628.980562178,653,0.400995415447,-0.00540544948714,0.0498565371995,0.999999963018,0.000117300052806,-0.000242144756934,-3.96331444382e-05,1793249535480277760
+101,1.683333333,BASELINE,766.592704131,745,718,678.592704131,662,635.592704131,877,784,811,652,628.407295869,653,0.400994364149,-0.00540408136279,0.0498563778649,0.999999962902,0.000116196755535,-0.000243095587794,-3.99867044828e-05,1793249535496944640
+102,1.700000000,BASELINE,766.828654202,745,717.828654202,678.828654202,662.171345798,636,877,784,811,652,628.171345798,653,0.40099337194,-0.00540336215126,0.0498561697162,0.999999962688,0.000116064115874,-0.00024401303575,-4.0128106873e-05,1793249535513611776
+103,1.716666667,BASELINE,766.236821353,745,717.236821353,678.236821353,662.763178647,636,877,784,811,652,628.763178647,653,0.400992524734,-0.00540423538888,0.0498558417762,0.999999962236,0.000118313495432,-0.00024484856105,-3.97488687997e-05,1793249535530278400
+104,1.733333333,BASELINE,766.348306052,745,717.348306052,678,662.651693948,636,877.348306052,784,811,652,629,653,0.400993534523,-0.0054048239341,0.0498560567744,0.999999962415,0.000118256684518,-0.000244130338973,-3.98190345136e-05,1793249535546945024
+105,1.750000000,BASELINE,766.928960444,745,717.928960444,678,662.071039556,636,877.928960444,784,811,652,629,653,0.400995783078,-0.00540522256651,0.0498566339565,0.999999963014,0.000116661458052,-0.000242375641673,-4.01889889036e-05,1793249535563611392
+106,1.766666667,BASELINE,766.49671895,745.50328105,717.49671895,678,662,636,878,784,811,652,629,653,0.400996059601,-0.00540625572561,0.049856717777,0.999999963376,0.000115856067739,-0.000241325221278,-3.98341724822e-05,1793249535580278272
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662,636,878,784,811,652,629,654,0.400992947682,-0.00540675660723,0.0498549288004,0.999999962912,0.000111037980152,-0.000245499249667,-3.96994348396e-05,1793249535623866112
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.403446215,745.596553785,717.596553785,678.403446215,662,636,878,784,811.596553785,652,629,653.403446215,0.400992218224,-0.00540572361542,0.0498548959707,0.999999962417,0.000114540627208,-0.000245877322769,-3.98870940736e-05,1793249535640532736
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,717.813757936,678,662,636,877.813757936,784,811.813757936,652,629,653,0.400991939086,-0.0054052640838,0.0498549713952,0.99999996216,0.000116691449176,-0.000245897777903,-3.99605206042e-05,1793249535657199616
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,717.238413175,678,662,636,877.238413175,784,811.238413175,652,629,653,0.400992600769,-0.00540600264284,0.0498552729875,0.999999962424,0.0001160179969,-0.000245171086561,-3.97952886631e-05,1793249535673866240
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,717,678,662,636,877.334771368,784,811.334771368,652,629,653.334771368,0.400993263224,-0.00540560738748,0.0498557443648,0.999999962667,0.000115570372469,-0.000244374526407,-3.98871861272e-05,1793249535690532608
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,717,678,662,636,877.906427305,784,811.906427305,652,629,653.906427305,0.400993926226,-0.00540440984383,0.049856335882,0.999999962895,0.000115282544096,-0.000243528527051,-4.0161028636e-05,1793249535707198720
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.502717287,717.497282713,678,662,636,877.502717287,784,812,652,629,654,0.400993523372,-0.00540466808505,0.0498558759223,0.999999962786,0.000115422316192,-0.000243951526023,-3.99046774629e-05,1793249535723865344
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.08948887,745.08948887,718,678,662,636,877,784,812,652,629,654,0.400993343739,-0.00540507996066,0.0498554954077,0.999999962685,0.000115599555683,-0.000244328968747,-3.9622542701e-05,1793249535740531712
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.668527186,745.668527186,718,678,662,636,877,784,812,652,629,654,0.400995526465,-0.00540477356617,0.0498566753286,0.999999962988,0.00011552392334,-0.000243098462468,-3.97670440203e-05,1793249535757198336
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.753836456,746,717.753836456,678,662.246163544,636,877.246163544,784,812,651.753836456,629,654,0.401003562118,-0.00540488615095,0.0498596694914,0.999999964285,0.000115314501767,-0.000237820109341,-3.96727114333e-05,1793249535773865216
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.178077269,746,717.178077269,678,662.821922731,636,877.821922731,784,812,651.178077269,629,654,0.401019434428,-0.00540555971949,0.0498650927964,0.999999966833,0.000114925945837,-0.000227121974538,-3.9258597057e-05,1793249535790532352
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.595996935,717.404003065,678.404003065,663,636,878,784,811.595996935,651.404003065,629,653.595996935,0.401055689949,-0.00540752557831,0.0498776394458,0.999999972416,0.000114063684526,-0.000201734029665,-3.82326918889e-05,1793249535807198976
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.011086015,717.988913985,678.988913985,663,636,878,784,811.011086015,651.988913985,629,653.011086015,0.401101072833,-0.00541007010967,0.0498933758461,0.999999978524,0.000112989303349,-0.000169768158265,-3.69328338795e-05,1793249535823865600
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,717.431593064,678.431593064,663,636,878,784,811.568406936,652,629,653.568406936,0.401166760442,-0.00541212130366,0.0499097926618,0.999999983104,0.000111937709799,-0.000141375773175,-3.57129017222e-05,1793249535840531968
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.147399901,745,717,678,663,636,878,784,812,652,628.852600099,653.852600099,0.401236266663,-0.00541448753691,0.0499246686791,0.999999986356,0.000111147552823,-0.00011727069143,-3.43805949672e-05,1793249535857198592
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.725238604,745,717,678,663,636,878,784,812,652,628.274761396,653.274761396,0.401315778516,-0.00541780158437,0.0499350068566,0.999999987728,0.000111119560145,-0.000105483827848,-3.27156212854e-05,1793249535873865216
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.699233931,745,717,678,662.699233931,636,878,784,811.699233931,652,628.300766069,653,0.401402748811,-0.00541998475086,0.049940939367,0.99999998852,0.000111493151473,-9.75976397474e-05,-3.17010925131e-05,1793249535890531840
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.125801804,745,717,678,662.125801804,636,878,784,811.125801804,652,628.874198196,653,0.401496480715,-0.00542114269228,0.0499428778229,0.999999988865,0.000112230807578,-9.32476950401e-05,-3.12762389034e-05,1793249535907198464
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.449555178,745,717,678,662,636,878,784,811,652,629,653,0.401607617696,-0.00542696269411,0.0499430318743,0.999999989365,0.000107268709287,-9.41025200735e-05,-3.01350996635e-05,1793249535923865344
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.97377252,745.02622748,717,678,662,636,877.97377252,784.02622748,811,652,629,653.02622748,0.401725198657,-0.00543393591811,0.0499428655123,0.999999989866,0.00010099421457,-9.61196522937e-05,-2.88039408896e-05,1793249535940531968
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.380353849,745.619646151,717,678,662,636,877.380353849,784.619646151,811,652,629,653.619646151,0.401876353066,-0.00543751386673,0.0499466150421,0.999999990319,0.00010097952654,-9.1639546669e-05,-2.77168298373e-05,1793249535957198848
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.792594437,717,678,662.207405563,636,877.207405563,784.792594437,811,652,629,654,0.402036027737,-0.00544220960322,0.0499486166215,0.999999990663,9.91517667847e-05,-9.02292400993e-05,-2.64729397402e-05,1793249535973865472
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.214937744,717,678,662.785062256,636,877.785062256,784.214937744,811,652,629,654,0.402210912383,-0.00544890076421,0.0499474978375,0.999999990816,9.40873925321e-05,-9.42990018949e-05,-2.49491748252e-05,1793249535990532096
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.359686755,717,678,662.640313245,635.640313245,878,784,811,652,629,653.640313245,0.402405197827,-0.00545435691549,0.0499453894462,0.999999990693,9.1689737891e-05,-9.81636824471e-05,-2.39099963863e-05,1793249536007198720
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.93251451,717,678,662.06748549,635.06748549,878,784,811,652,629,653.06748549,0.402610979695,-0.00545908123281,0.0499426946391,0.99999999041,9.08723113374e-05,-0.000101906837586,-2.31579711234e-05,1793249536023865344
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,717.52247388,678,662,635.52247388,878,784,811.52247388,652,629,653,0.402862101006,-0.00546673401183,0.0499455014128,0.999999990714,8.98678117534e-05,-0.000100260132613,-2.10763920222e-05,1793249536040531968
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.887923745,717.887923745,678,662,636,877.887923745,784,812,652,629,653,0.403127316855,-0.0054753965119,0.0499493992174,0.999999991334,8.78743977251e-05,-9.62219777294e-05,-1.87207594549e-05,1793249536057198336
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.309330244,717.309330244,678,662,636,877.309330244,784,812,652,629,653,0.403425998111,-0.00548663411171,0.0499547802342,0.99999999289,8.18686180985e-05,-8.52255158167e-05,-1.59634477223e-05,1793249536073865472
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,717,678,662.266900792,636,877.266900792,784,811.733099208,652,629,653.266900792,0.403746024305,-0.00549780700123,0.0499620514319,0.999999994548,7.65435570563e-05,-6.98084503527e-05,-1.31058184402e-05,1793249536090532352
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,717,678,662.840417788,636,877.840417788,784,811.159582212,652,629,653.840417788,0.40409057159,-0.00550890555074,0.0499714940734,0.999999996141,7.20005073324e-05,-4.93129866804e-05,-1.01329443049e-05,1793249536107198976
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.421825384,745.421825384,717,678,662.578174616,636,878,784,811.421825384,652,629,654,0.404456799408,-0.00551604406166,0.0499800019344,0.999999996789,7.3033998934e-05,-3.2196353833e-05,-7.16603088748e-06,1793249536123865600
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.993704408,746,717,678,662,636,878,784,812,652,628.993704408,653.993704408,0.404832023355,-0.00552158086439,0.0499880302284,0.999999996942,7.63134631239e-05,-1.65739447448e-05,-4.19795310574e-06,1793249536140531968
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.407335934,746,717,678,662,636,878,784,812,652,628.407335934,653.407335934,0.405266009259,-0.0055202058987,0.0499850768192,0.999999995915,8.84453723372e-05,-1.86054336775e-05,-9.10848102887e-07,1793249536157198336
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.824630991,717,678.175369009,662,636,878.175369009,784,811.824630991,652,628.175369009,653.175369009,0.405695188957,-0.00551449314581,0.0499761703251,0.999999993838,0.000105616213464,-3.4169517817e-05,1.40946692665e-06,1793249536173864960
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.250261413,717,678.749738587,662,636,878.749738587,784,811.250261413,652,628.749738587,653.749738587,0.40611343349,-0.00549891103488,0.0499537193384,0.999999987745,0.000134251659413,-8.05230394656e-05,1.53013544249e-06,1793249536190531840
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,717,679,662.324207994,636,878.675792006,784,811.324207994,652,629,653.675792006,0.406567349464,-0.00549491494978,0.0499347098779,0.999999982129,0.000149839790308,-0.000115242790964,3.17705773938e-06,1793249536207198976
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,717,679,662.898754546,636,878.101245454,784,811.898754546,652,629,653.101245454,0.407048809335,-0.00549986506127,0.049918357804,0.999999977977,0.000155353385578,-0.000140979483265,6.00248328306e-06,1793249536223866112
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,717,678.512724815,663,636,878,784,812,651.512724815,629,653.487275185,0.407587464323,-0.00550651219302,0.0499230986909,0.999999978724,0.000160151168973,-0.000129633397943,9.89632423658e-06,1793249536240532736
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+148,2.466666667,POSE1_TO_POSE2_PRESS,766.195826469,745.195826469,717.804173531,678.804173531,663.195826469,636.804173531,879.804173531,785,812,651,629,654,0.410063590569,-0.00551673092824,0.0499985009128,0.999999979932,0.00019829051752,2.16371160058e-06,2.84950565e-05,1793249536307198464
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+150,2.500000000,POSE1_TO_POSE2_PRESS,766.978221173,745,717.021778827,679,663,636.021778827,879.021778827,784.021778827,812,651,628.021778827,654,0.411275260714,-0.00551038675718,0.0499629019062,0.999999970339,0.000225904642847,-8.40275720215e-05,3.50399532509e-05,1793249536340531456
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.55764665,717,679,663,636.55764665,879,784.55764665,812,651,628.55764665,654,0.411961113782,-0.00550910352045,0.0499413481203,0.999999963901,0.000240169032468,-0.000114688965441,3.69178841986e-05,1793249536357197824
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,717.136354467,679,663.136354467,636.863645533,879,784.863645533,812.136354467,651,628.863645533,654,0.412680203517,-0.00550929709018,0.0499322757761,0.999999959993,0.000251990622319,-0.000122342325074,3.93213559494e-05,1793249536373864192
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,717.714056751,679,663.714056751,636.285943249,879,784.285943249,812.714056751,651,628.285943249,654,0.413496412107,-0.00551399661167,0.049963379562,0.999999964623,0.000255821141915,-5.8394923561e-05,4.35780364929e-05,1793249536390531072
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,717.709518798,679,664.290481202,636,879.290481202,784,813,651,628.290481202,654,0.414278412278,-0.00552137486877,0.0499732421476,0.999999978416,0.000200995241473,-4.06062755793e-05,3.34639781132e-05,1793249536407197952
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,717.134346639,679,664.865653361,636,879.865653361,784,813,651,628.865653361,654,0.415026886012,-0.00553137846603,0.0499622869437,0.999999993709,8.86821353591e-05,-6.8056277412e-05,9.26563716875e-06,1793249536423864576
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,717,679,664.100130957,636,880.449934521,784.449934521,813,651,628.550065479,654.449934521,0.415781448889,-0.00553361267215,0.0499426796332,0.999999992346,7.51607609701e-05,-9.81061533231e-05,5.78636252681e-06,1793249536440531456
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.963540774,717,679,663.036459226,636.036459226,881,784.963540774,813,651,628,654.963540774,0.416544314455,-0.00553339967897,0.0499231473995,0.999999988,9.17781313062e-05,-0.000124493359983,8.8074577797e-06,1793249536457198080
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.384934196,717,679,663.615065804,636.615065804,881,784.384934196,813,651,628,654.384934196,0.417403046701,-0.00553200618708,0.0499439410795,0.999999990387,0.000108853957243,-8.4634748922e-05,1.45943169684e-05,1793249536473864704
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,717,679,664,636.806097209,881.193902791,784.193902791,813,651,628,654,0.418267864748,-0.00553112921395,0.0499621946346,0.999999990985,0.00012167557687,-5.33552558715e-05,1.94500329104e-05,1793249536490531328
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,717,679,664,636.226802306,881.773197694,784.773197694,813,651,628,654,0.419144778596,-0.00553127884942,0.0499753995549,0.999999991039,0.000126041734455,-3.91272188816e-05,2.24550518139e-05,1793249536507197952
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.651307466,745.348692534,717,679.348692534,664,636,882,785,813,651,628,654,0.419999439459,-0.00553116324446,0.0499683807849,0.999999990451,0.000127102191647,-4.91534013682e-05,2.29532062695e-05,1793249536523864832
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.078257703,745.921742297,717,679.921742297,664,636,882,785,813,651,628,654,0.420839782178,-0.00553087697737,0.0499483496018,0.999999989023,0.000126035680839,-7.47853372127e-05,2.18383832369e-05,1793249536540531456
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.510529085,746,717.510529085,680,664.510529085,636.510529085,882.510529085,785,813,651.510529085,628,654.510529085,0.421751750369,-0.00553170264181,0.0499704385474,0.999999991587,0.000124537460596,-2.84821562292e-05,2.24853974327e-05,1793249536557198080
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,717.900337651,680,665.099662349,637,883,785,813,652,628,654.900337651,0.422669279698,-0.00553308270338,0.0499928511791,0.999999992027,0.000123037169017,1.60763001766e-05,2.34604927953e-05,1793249536573864448
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,717.321505749,680,665.678494251,637,883,785,813,652,628,654.321505749,0.423559079716,-0.00553628271462,0.0499847904133,0.999999992268,0.000121855207999,-2.45580331869e-06,2.46732154459e-05,1793249536590531072
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.744580223,745.744580223,717,680,665.744580223,636.744580223,883.255419777,784.744580223,813.255419777,651.744580223,628,654,0.42446877337,-0.00553955986042,0.0499791062419,0.999999992562,0.00011863265042,-1.23935185921e-05,2.54532281086e-05,1793249536607198464
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.170036463,745.170036463,717,680,665.170036463,636.170036463,883.829963537,784.170036463,813.829963537,651.170036463,628,654,0.425403322449,-0.00554293337935,0.0499763914096,0.999999993234,0.00011286055131,-1.15933232101e-05,2.56926088283e-05,1793249536623866112
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.413007511,717,680,665,636,884.413007511,784.413007511,813.586992489,651.413007511,628.413007511,654.413007511,0.426317528699,-0.00554526865652,0.0499904601887,0.999999993651,0.000109338038249,1.92235151193e-06,2.72031786193e-05,1793249536640532480
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.999624553,717,680,665,636,884.999624553,784.999624553,813.000375447,651.999624553,628.999624553,654.999624553,0.427223183695,-0.00554716750397,0.050011584033,0.999999993657,0.000106761148937,2.07830341055e-05,2.924809833e-05,1793249536657198592
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,717.578179754,680,664.421820246,636.578179754,884.421820246,785,813.578179754,651.421820246,629,654.421820246,0.428062665048,-0.00554224587972,0.0499744398844,0.999999991502,0.000114151909022,-5.59525169138e-05,2.88948702224e-05,1793249536673865728
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,717.843174864,680,664.156825136,636.843174864,884,785,814,651,628.843174864,654,0.428930848721,-0.00553976723484,0.049946749018,0.999999986968,0.000117549634501,-0.000106935562628,2.84801209754e-05,1793249536690532864
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,717.264272909,680,664.735727091,636.264272909,884,785,814,651,628.264272909,654,0.429876395399,-0.00554387534433,0.0499446010086,0.999999989629,0.000110183386997,-8.84439243386e-05,2.79039286232e-05,1793249536707199232
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.312653724,745.687346276,717,680.312653724,665.312653724,636.312653724,884.625307447,785,814,651,628,654,0.430803224356,-0.0055462425816,0.0499434432283,0.999999990426,0.000106757409533,-8.34507000943e-05,2.80534980123e-05,1793249536723865600
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.887921155,745.112078845,717,680.887921155,665.887921155,636.887921155,885.77584231,785,814,651,628,654,0.431714331303,-0.00554714757187,0.0499431171916,0.999999989867,0.00010664106496,-8.97954788427e-05,2.88126715037e-05,1793249536740531456
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745,717,681,665.055664141,636.52783207,885.52783207,785,814.47216793,651,628.47216793,654,0.432582029557,-0.00554741632363,0.0499327936568,0.999999988605,0.000106604310412,-0.000103097826514,2.82375316022e-05,1793249536757197824
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.941801123,745,717,681,664.058198877,636,885.058198877,785,815,651,629,654,0.433444260302,-0.00554790419576,0.0499243977969,0.999999987758,0.000106015775424,-0.000111717787381,2.76256166958e-05,1793249536773864448
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.359271401,745,717,681,664.640728599,636,885.640728599,785,815,651,629,654,0.434351863043,-0.00555175318809,0.0499551634879,0.99999999255,0.000100282581535,-6.29852310436e-05,2.95911894366e-05,1793249536790531072
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,717,681,665.22029159,636,885.77970841,784.77970841,815,651,628.77970841,654,0.435225453814,-0.00555264706976,0.0499717616746,0.999999993735,9.84246440426e-05,-4.33999617076e-05,3.09590077906e-05,1793249536807197952
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,717,681,665.795080554,636,885.204919446,784.204919446,815,651,628.204919446,654,0.436044312027,-0.00554878553232,0.0499655612514,0.999999991723,0.000102802841435,-7.07190476633e-05,3.13649089212e-05,1793249536823864576
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,717,681,665.262195009,636,885.368902495,784.368902495,815,651.368902495,628.368902495,654,0.436874191728,-0.0055477645394,0.0499553964119,0.999999989792,0.000104193710056,-9.25921221657e-05,3.13995324609e-05,1793249536840531200
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,717,681,664.115622717,636,885.942188642,784.942188642,815,651.942188642,628.942188642,654,0.437710177634,-0.00554831729821,0.0499430351607,0.999999987901,0.000103929503784,-0.00011144793242,3.12284564468e-05,1793249536857197824
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,717,681,664.532838117,636,885.467161883,784.467161883,815,651.467161883,629,654,0.438544252457,-0.00555044667195,0.0499633739289,0.999999992293,0.000100142425237,-6.63429070475e-05,3.13596011791e-05,1793249536873864704
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.122658909,745.122658909,717,681,665.122658909,636.122658909,885.122658909,784.122658909,815,651,629,654,0.439359377096,-0.00555230893972,0.049978678708,0.999999994318,9.68663751391e-05,-3.14282270321e-05,3.15123261798e-05,1793249536890531328
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.702140886,745.702140886,717,681,665.702140886,636.702140886,885.702140886,784.702140886,815,651,629,654,0.440104723079,-0.00555251787765,0.0499615767265,0.999999992927,9.69650385132e-05,-6.11816642098e-05,3.16191888534e-05,1793249536907197952
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.721163449,746,717,681,665.721163449,636.721163449,886,784.721163449,815,651.278836551,629,654,0.440843988535,-0.00555226102069,0.0499494171381,0.999999991487,9.7592064229e-05,-8.0625645734e-05,3.16388446247e-05,1793249536923864576
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.147414771,746,717,681,665.147414771,636.147414771,886,784.147414771,815,651.852585229,629,654,0.44157682286,-0.00555151151466,0.0499424848846,0.999999990648,9.87779136639e-05,-8.91658056135e-05,3.15662658264e-05,1793249536940531200
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717,681,665,636,886,784,815,651.563783428,629,654.436216572,0.442298847696,-0.00555219303625,0.04995139929,0.999999991924,0.00010080061797,-6.99742559692e-05,3.3078370527e-05,1793249536957198080
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.0229467,746,717,681,665.0229467,636,886.0229467,784,815.0229467,651,629,654.9770533,0.443013242719,-0.0055532830864,0.0499643416902,0.99999999309,0.000103180431939,-4.40755587603e-05,3.50789738429e-05,1793249536973864448
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.601960529,746,717,681,665.601960529,636,886.601960529,784,815.601960529,651,629,654.398039471,0.44363331711,-0.00555228225831,0.0499421134494,0.999999989746,0.000107201974895,-8.80098499012e-05,3.56391110747e-05,1793249536990531072
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.819355967,746,717,681.180644033,665.638711935,635.819355967,886.819355967,784.180644033,815.819355967,651,629,654,0.444233196682,-0.00555104262452,0.0499097628153,0.99999998272,0.000111179770936,-0.000144686814718,3.55603246232e-05,1793249537007197952
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.24139888,746,717,681.75860112,664.482797761,635.24139888,886.24139888,784.75860112,815.24139888,651,629,654,0.444788659378,-0.00554927775524,0.0498551487291,0.99999996649,0.000115061349547,-0.000229390346566,3.40762733278e-05,1793249537023864576
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,682,664.668262651,635,886,784.665868675,815,651,629,654.334131325,0.445363103798,-0.00554793166235,0.0498297060909,0.999999959117,0.000119666287903,-0.000257551793548,3.33771184402e-05,1793249537040531200
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,682,665.815841596,635,886,784.092079202,815,651,629,654.907920798,0.445951162965,-0.00554688594001,0.0498251868913,0.99999996161,0.000124790061524,-0.000245158010683,3.32409364733e-05,1793249537057197824
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.505788133,717,682,665.505788133,635,886,784,815,651,629,654.505788133,0.446516024711,-0.00554632389784,0.0498360801549,0.999999966585,0.000128005636613,-0.000221910995559,3.46289565513e-05,1793249537073864448
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.081999932,717,681.918000068,664.918000068,635,886,784,815.081999932,651,629,654,0.44706149777,-0.00554580889077,0.0498432395687,0.999999969278,0.000130840851906,-0.000207438189496,3.59740428678e-05,1793249537090531072
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.664341041,717,681.335658959,664.335658959,635,886,784,815.664341041,651,629,654,0.447515722647,-0.00554501673933,0.0498096397455,0.999999956873,0.000133580840721,-0.000259161862174,3.52794081754e-05,1793249537107197952
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717.818719657,681.818719657,664.818719657,635,886,784,816,651,629,654,0.448362232782,-0.00554531340317,0.049748541629,0.999999925203,0.000140113267031,-0.000358819029664,3.48062035165e-05,1793249537140531200
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,717.873192777,681.126807223,664,633,886.126807223,784,816,651.126807223,629,654.126807223,0.450854118553,-0.0055621717839,0.0497693765865,0.999999939497,1.85645388888e-05,-0.000347275998136,7.85499231231e-06,1793249537257198848
+206,3.433333333,POSE1_TO_POSE2_PRESS,766.458263686,746,718,681.458263686,664,633.458263686,885.541736314,784,816,651,629,654,0.451093334541,-0.00556071201073,0.0497584157296,0.999999931536,2.59844416814e-05,-0.000369008940751,9.23073094495e-06,1793249537273865728
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,717.954217678,681.954217678,664,633.954217678,885,784,816,651.045782322,629,654,0.451321989441,-0.00555857726819,0.0497466451192,0.999999922849,3.42558269882e-05,-0.000391173527845,1.05913078921e-05,1793249537290532608
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,717.375774638,681.375774638,664,633.375774638,885,784,816,651.624225362,629,654,0.451514568535,-0.00555653267499,0.0497341405958,0.999999912621,3.73853310346e-05,-0.000416228571551,1.06498350647e-05,1793249537307199232
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,717.202146551,681,664,633,885.202146551,784,816,652,629,654.202146551,0.451697278042,-0.00555555843392,0.049723255082,0.999999903236,4.01991439049e-05,-0.000437938514216,1.10532407752e-05,1793249537323865856
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,717.779100094,681,664,633,885.779100094,784,816,652,629,654.779100094,0.45186168798,-0.00555656877043,0.0497153714316,0.99999989622,4.24276224041e-05,-0.000453446185568,1.20960978494e-05,1793249537340532224
+211,3.516666667,POSE1_TO_POSE2_PRESS,766.646223852,746,718,681.353776148,664,633,885.646223852,783.646223852,816,651.646223852,629,654.646223852,0.452015850838,-0.00555498037364,0.0497127627941,0.999999893546,4.6257517478e-05,-0.000458922665952,1.26088946497e-05,1793249537357198336
+212,3.533333333,POSE1_TO_POSE2_PRESS,766.072960722,746,718,681.927039278,664,633,885.072960722,783.072960722,816,651.072960722,629,654.072960722,0.452163656302,-0.00555177969152,0.0497134268373,0.999999893651,5.10809508937e-05,-0.000458175676247,1.27928357775e-05,1793249537373864960
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,717.484705807,681.484705807,664,632.484705807,885.515294193,783,816,651.515294193,629,654,0.45229693048,-0.00555396514389,0.0497191313667,0.999999897254,5.29275859299e-05,-0.000449969716914,1.47564375025e-05,1793249537390532352
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,717,681.103787288,664,632.103787288,886,783.103787288,816,652,628.896212712,654.103787288,0.452421291436,-0.00555610139534,0.0497238856774,0.999999900513,5.41536287372e-05,-0.000442457791675,1.65007933653e-05,1793249537407199232
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,717,681.683350124,664,632.683350124,886,783.683350124,816,652,628.316649876,654.683350124,0.452514507427,-0.00555441136455,0.0497209143878,0.99999990021,5.45248394528e-05,-0.000443113884857,1.60503571309e-05,1793249537423865600
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,717,682,663.738792125,633,886,784,816,652,628,655,0.452594619894,-0.00555309063451,0.049717347415,0.999999898318,5.5611262328e-05,-0.000447239133884,1.57446538623e-05,1793249537440532480
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,717,682,663.162987998,633,886,784,816,652,628,655,0.452658950597,-0.00555221468682,0.0497130630074,0.999999894462,5.75590798219e-05,-0.000455542600769,1.56132656114e-05,1793249537457199104
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.41085153,746,717,682,663.41085153,633,886,783.58914847,816,651.58914847,628,654.58914847,0.452711784879,-0.00555105321368,0.0497096827162,0.999999891744,5.95135135243e-05,-0.000461223526066,1.55650918811e-05,1793249537473865472
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.983915382,746,717,682,663.983915382,633,886,783.016084618,816,651.016084618,628,654.016084618,0.452760080145,-0.00554977900945,0.0497066593883,0.999999889473,6.14705593904e-05,-0.000465869019802,1.55497728947e-05,1793249537490532096
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.421501676,746,717.578498324,682,664,633,886.578498324,783,816,651.578498324,628,654,0.452797879534,-0.00554970425582,0.0497057070099,0.999999889488,6.14884770263e-05,-0.000465831320059,1.56567262466e-05,1793249537507198720
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,717.831742307,682,663.831742307,632.831742307,886.831742307,783,816.168257693,652,628,654,0.452831828517,-0.00554971628223,0.0497050903286,0.99999988953,6.15020549087e-05,-0.000465733093183,1.58404800469e-05,1793249537523865344
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,717.255195717,682,663.255195717,632.255195717,886.255195717,783,816.744804283,652,628,654,0.452857169723,-0.00554985483468,0.0497051431173,0.999999889477,6.16409869006e-05,-0.000465816168825,1.62020271559e-05,1793249537540531712
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,717.319562026,682,663,632.319562026,886,783,816.680437974,652,628,654,0.452876222661,-0.00554873808001,0.0497047560115,0.99999988911,6.24058881449e-05,-0.000466505618564,1.6086316681e-05,1793249537557198592
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,717.892899245,682,663,632.892899245,886,783,816.107100755,652,628,654,0.452890281871,-0.00554662444282,0.0497040195703,0.999999888491,6.3667893112e-05,-0.000467676610834,1.55915995864e-05,1793249537573865728
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,718,682,663.480545747,632.519454253,885.519454253,783,816,652,628.480545747,654,0.452897434836,-0.00554682694387,0.0497020727849,0.999999886899,6.51440800144e-05,-0.000470860826455,1.57810739346e-05,1793249537590532352
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.930003948,718,682,663.930003948,632.069996052,885,783.069996052,816,652,628.930003948,654,0.452902603175,-0.00554717120309,0.0496998130705,0.999999885099,6.6511176237e-05,-0.000474468252224,1.60385196143e-05,1793249537607198976
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.351332301,718,682,663.351332301,632.648667699,885,783.648667699,816,652,628.351332301,654,0.452904877944,-0.00554467914714,0.0496972997538,0.999999883509,6.67279392214e-05,-0.000477790411587,1.56477555766e-05,1793249537623865600
+228,3.800000000,POSE1_TO_POSE2_PRESS,766.22511817,745.22511817,717.77488183,682,663.22511817,633,885,783.77488183,816,652,628,654,0.452906866198,-0.00554219020894,0.0496953996285,0.999999882255,6.78915030116e-05,-0.000480257460917,1.52703523685e-05,1793249537640531968
+229,3.816666667,POSE1_TO_POSE2_PRESS,766.798135982,745.798135982,717.201864018,682,663.798135982,633,885,783.201864018,816,652,628,654,0.45290841167,-0.00553970608909,0.049694447135,0.999999881528,7.05182612551e-05,-0.00048140301533,1.49135971299e-05,1793249537657198336
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746,717,682,663.050991857,633,885.949008143,783,816,652,628,654,0.452908508546,-0.00554007885509,0.0496916582139,0.99999987974,7.22817083465e-05,-0.000484838975094,1.50355602145e-05,1793249537690531840
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.46049495,746,717,682,663,632.46049495,886,783.53950505,816,652,628,654,0.45290909348,-0.00554031363717,0.049691713176,0.999999879837,7.05348568996e-05,-0.000484902722137,1.48055699555e-05,1793249537707198720
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.871449152,717,681.871449152,663.128550848,632,885.871449152,783.871449152,816,651.871449152,628,654,0.45290953562,-0.00554018844886,0.0496915936435,0.999999879729,6.95417744277e-05,-0.000485274271814,1.46506552239e-05,1793249537723865600
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.292438682,717,681.292438682,663.707561318,632,885.292438682,783.292438682,816,651.292438682,628,654,0.45290918584,-0.00553897973869,0.0496903371518,0.999999878555,7.19577068138e-05,-0.000487329115512,1.48882536152e-05,1793249537740532480
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.284118864,745.284118864,717.284118864,681.284118864,664,632,885,783,816,651.284118864,628.284118864,654,0.452909988027,-0.00553849131631,0.049690245653,0.999999878601,7.30933156946e-05,-0.000487060641083,1.50435616236e-05,1793249537757199104
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.858173336,745.858173336,717.858173336,681.858173336,664,632,885,783,816,651.858173336,628.858173336,654,0.452911965766,-0.00553873792797,0.0496913429977,0.999999879895,7.29223893941e-05,-0.000484421283656,1.5114894553e-05,1793249537773865216
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.565615429,745.565615429,718,681.565615429,663.565615429,632,885,783,816,651.565615429,628.565615429,654,0.452910509395,-0.00553821722498,0.049690325528,0.999999878717,7.31960483708e-05,-0.000486808692714,1.50308695412e-05,1793249537790531840
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.011612448,745.011612448,717.988387552,681.011612448,663,632,885.011612448,783,816,651.011612448,628,654,0.45290803671,-0.00553746425876,0.0496887016969,0.999999876794,7.36084835683e-05,-0.000490684177533,1.49006924301e-05,1793249537807198464
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.6043014,745.6043014,717.3956986,681.6043014,663,632,885.6043014,783,816,651.6043014,628,654,0.452911094306,-0.00553768781749,0.049691459855,0.99999987884,7.36653775978e-05,-0.000486485652074,1.50119742842e-05,1793249537823864832
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,717,682,663,632,885.808825098,783,816,651.808825098,628,654,0.452912781808,-0.00553776832221,0.0496925247472,0.999999879769,7.37852569239e-05,-0.000484552271393,1.50601229728e-05,1793249537840531712
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717,682,663,632,885.233633243,783,816,651.233633243,628,654,0.452911717173,-0.00553756147142,0.0496901883413,0.999999878481,7.40316561071e-05,-0.000487168933812,1.4981454769e-05,1793249537857199104
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.657176451,746,717,682,663,632,885.342823549,783,816,651,628,654,0.45291137307,-0.00553698139184,0.0496892865075,0.999999877918,7.44814142393e-05,-0.000488258446265,1.4838278712e-05,1793249537873865984
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.07985444,746,717,682,663,632,885.92014556,783,816,651,628,654,0.452911521827,-0.005536146016,0.0496893659511,0.999999877855,7.5070274127e-05,-0.000488303356159,1.46509779403e-05,1793249537890532864
+244,4.066666667,HOLD_POSE2,766,746,717,682,664,632,885,783,817,651,628,654,0.452914465289,-0.0055373759755,0.0496920104086,0.999999879362,7.40603501916e-05,-0.000485358150658,1.47752502732e-05,1793249537921159168
+245,4.083333333,HOLD_POSE2,766,746,717,682,663.423358459,632,885,783,816.423358459,651.576641541,628,654,0.452913380794,-0.00553738679777,0.0496902860645,0.999999878454,7.37665443799e-05,-0.000487263886333,1.49689135495e-05,1793249537937825280
+246,4.100000000,HOLD_POSE2,766,746,717.152982291,682,663,632,885,783,816,652,628,654,0.452912706083,-0.00553726817521,0.049689205275,0.999999877825,7.38346159078e-05,-0.000488537740806,1.5112170214e-05,1793249537954491392
+247,4.116666667,HOLD_POSE2,766,746,717.728492405,682,663,632,885,783,816,652,628,654,0.45291316317,-0.00553679203391,0.049689901944,0.999999877976,7.49021706655e-05,-0.000488066378107,1.51162069136e-05,1793249537971157760
+248,4.133333333,HOLD_POSE2,766,746,717.69776573,682,663,632,885,783,816,651.69776573,628,654,0.452912857397,-0.00553643459377,0.0496897927613,0.999999877956,7.38667976503e-05,-0.000488273783355,1.48719917349e-05,1793249537987824384
+249,4.150000000,HOLD_POSE2,766,746,717.125603139,682,663,632,885,783,816,651.125603139,628,654,0.452911870306,-0.0055361831668,0.0496889638644,0.999999877776,7.09532796373e-05,-0.000489087402783,1.44060604261e-05,1793249538004491264
+250,4.166666667,HOLD_POSE2,766.46530567,746,717,682,663,632,885.46530567,783,816,651.46530567,628.46530567,654,0.452913682223,-0.00553686165426,0.0496902545482,0.999999878473,7.14422021755e-05,-0.000487578857149,1.47174574102e-05,1793249538021157632
+251,4.183333333,HOLD_POSE2,767,745.940501181,717,681.940501181,663,632,886,783,816,652,628.940501181,654,0.452915904847,-0.00553763993209,0.0496918457275,0.999999879268,7.27848038329e-05,-0.000485731518368,1.51773567866e-05,1793249538037824256
+252,4.200000000,HOLD_POSE2,767,745.363599018,717,681.363599018,663,632,886,783,816,652,628.363599018,654,0.452914852855,-0.00553701149426,0.0496908657006,0.999999878807,7.32289279249e-05,-0.000486617853006,1.50273548853e-05,1793249538054490880
+253,4.216666667,HOLD_POSE2,766.786904723,745.213095277,717,681.213095277,663,632,885.786904723,783,816,652,628,654,0.45291329279,-0.00553652107856,0.0496895259718,0.999999877826,7.39174959292e-05,-0.000488531099026,1.48631022113e-05,1793249538071157760
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+256,4.266666667,HOLD_POSE2,766,746,717,681.039959143,663,632,885,783,816,651.039959143,628,654,0.452912774529,-0.00553536542875,0.0496895307173,0.999999877338,7.64048765181e-05,-0.000489144127271,1.4966048753e-05,1793249538121157888
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,717.970906976,680.970906976,663,636,880,785,813,651.029093024,628.029093024,654,0.427777766298,-0.00536631298524,0.0497835518973,0.99999993253,0.000102901433478,-0.00035023611697,-4.10599221007e-05,1793249539242274048
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,717.45258785,681,662.45258785,636,880,785,813,651.54741215,628.54741215,654,0.426834210175,-0.00536923744372,0.0497733500291,0.9999999248,8.79425748521e-05,-0.000375132140415,-4.40677859242e-05,1793249539258940672
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,717,681,662.722185256,636,880.722185256,785,813,651.277814744,629,654,0.425069326365,-0.00537325454246,0.0497866160538,0.99999994475,7.24298862508e-05,-0.000320842799123,-4.80966314555e-05,1793249539292273920
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,717,680.694271181,663.611457638,636,880.694271181,784.694271181,812.694271181,651,628.694271181,654,0.424203175812,-0.00537321146573,0.0498128100092,0.999999961015,7.17118240937e-05,-0.000265566300719,-4.79728428085e-05,1793249539308940544
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.544591893,746,717,679.544591893,664.089183786,636,880,784,812,651,628.455408107,654,0.422391416751,-0.0053680205304,0.0498283093958,0.999999963931,7.7166046229e-05,-0.000252775569334,-4.78374143373e-05,1793249539342274048
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745.057899571,717.942100429,680.057899571,662.057899571,636,879.057899571,785,812.057899571,652,629,654.057899571,0.41710453101,-0.0053594671372,0.0497706240723,0.999999923438,8.91278994652e-05,-0.000377512036544,-5.16316475132e-05,1793249539442273024
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745.526068532,717.473931468,680,662.526068532,636,879,785,812,652,629,654,0.416345780683,-0.00536254469521,0.0497922214106,0.999999938915,8.58447090914e-05,-0.000334928491768,-5.12244080506e-05,1793249539458939904
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24670a7c44aedad67c49a78fbb012c20e9ecb50b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,405 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e6b144b7c96d823021494a0c29b16d5eb471afe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+oid sha256:adc96bdf78122fc0a064805064e21964685c932e0b360068ade2fd7ec5cc006e
+size 25745693
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..558c8f5819d37480e88b09d2e8d8f0300b6f88e5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,718,678,662,636,878,784,811,652,629,653,0.400999824446,-0.00539978461104,0.049855179509,0.999999961056,0.000130460971477,-0.000243651349525,-3.87491499946e-05,1793249540708104704
+1,0.016666667,BASELINE,766.587406386,745.587406386,717.412593614,678,662,636,878,784,811,652,629,653.587406386,0.400998188905,-0.00540181062403,0.0498539899468,0.999999961164,0.000126539000869,-0.000245249855789,-3.88775377428e-05,1793249540724771584
+2,0.033333333,BASELINE,767,746,717,678,662,636,878,784,811,652,629,654,0.400997552009,-0.00540315988376,0.0498535106994,0.999999961367,0.00012378978508,-0.00024580363082,-3.90282023769e-05,1793249540741438464
+3,0.050000000,BASELINE,767,746,717,678,662,636,878,784,811,652,629,654,0.40099927212,-0.00540291186844,0.0498547079393,0.999999961825,0.000123808508655,-0.000243891627758,-3.92314450244e-05,1793249540758104832
+4,0.066666667,BASELINE,767,745.66673912,717,677.66673912,662,635.66673912,878,784,811.33326088,652,628.66673912,653.66673912,0.400999552355,-0.00540254699183,0.0498546568576,0.999999961918,0.000124090531463,-0.00024338076245,-3.91437697166e-05,1793249540774771200
+5,0.083333333,BASELINE,767,745.092711414,717,677.092711414,662,635.092711414,878,784,811.907288586,652,628.092711414,653.092711414,0.40099879234,-0.00540209768793,0.0498537039165,0.999999961748,0.000124562776781,-0.000243882159759,-3.88459185334e-05,1793249540791437824
+6,0.100000000,BASELINE,766.51900572,745,717,677.48099428,662,635,878,784,812,652,628.961988559,653.48099428,0.400998527798,-0.00540229484794,0.0498545447135,0.999999961712,0.000124958001237,-0.000243856361686,-3.86689797985e-05,1793249540808104704
+7,0.116666667,BASELINE,766,745.056483687,717,678,662.056483687,635.056483687,877.943516313,784,812,652,629.943516313,654,0.400998382544,-0.00540269969846,0.0498555626615,0.999999961713,0.000125218276207,-0.000243744722334,-3.85060027642e-05,1793249540824771584
+8,0.133333333,BASELINE,766,745.649505804,717,678,662.649505804,635.649505804,877.350494196,784,812,652,629.350494196,654,0.400998463831,-0.00540389456414,0.0498549813595,0.999999961823,0.000124337591535,-0.000243782287431,-3.82544141e-05,1793249540841438208
+9,0.150000000,BASELINE,766,746,717.236831241,678,662.763168759,636,877.236831241,784,812,652,629.236831241,654,0.40099892088,-0.00540443932392,0.0498548163264,0.999999961952,0.000123871596904,-0.000243503498642,-3.81764229473e-05,1793249540858104832
+10,0.166666667,BASELINE,766,746,717.815923954,678,662.184076046,636,877.815923954,784,812,652,629.815923954,654,0.40099992097,-0.00540404456987,0.0498552528728,0.999999962108,0.000124004900072,-0.000242767524615,-3.83493097814e-05,1793249540874770944
+11,0.183333333,BASELINE,766,745.608376725,717.608376725,678,662,636,877.608376725,784,811.608376725,652,629.608376725,653.608376725,0.400999889754,-0.00540364691315,0.0498552361333,0.999999962118,0.000124566260217,-0.000242415191836,-3.84998990121e-05,1793249540891437312
+12,0.200000000,BASELINE,766,745.034258658,717.034258658,678,662,636,877.034258658,784,811.034258658,652,629.034258658,653.034258658,0.400999377952,-0.00540324790377,0.0498550081644,0.99999996206,0.000125327093118,-0.000242241634193,-3.86400976691e-05,1793249540908104192
+13,0.216666667,BASELINE,766.552309162,745.552309162,717,678,662,636,877,784,811,652,629,653,0.40099821238,-0.00540318042008,0.0498546232097,0.999999961606,0.000125908485133,-0.000243855005198,-3.83375312101e-05,1793249540924770560
+14,0.233333333,BASELINE,766.862251618,746,717.137748382,678,662,636,877.137748382,784,811,652,629,653.137748382,0.400997219048,-0.00540304220466,0.0498541895993,0.999999961262,0.000125799628324,-0.00024533056192,-3.82475900685e-05,1793249540941437440
+15,0.250000000,BASELINE,766.282962297,746,717.717037703,678,662,636,877.717037703,784,811,652,629,653.717037703,0.4009969108,-0.00540260982863,0.0498536319594,0.999999961356,0.000123514736914,-0.000246000886208,-3.892926478e-05,1793249540958104576
+16,0.266666667,BASELINE,766,745.705257826,717.705257826,678,662.294742174,636,878,784,811,652,629,653.705257826,0.400997597794,-0.0054020689765,0.0498540215802,0.999999961427,0.000124076306932,-0.000245387316124,-3.91838876145e-05,1793249540974771456
+17,0.283333333,BASELINE,766,745.129066758,717.129066758,678,662.870933242,636,878,784,811,652,629,653.129066758,0.400999235143,-0.00540142454072,0.0498553157387,0.999999961471,0.000127355959152,-0.000243547757047,-3.90307191637e-05,1793249540991438080
+18,0.300000000,BASELINE,766.445220363,745.445220363,717,678,663,636,877.554779637,784,811,652,629.445220363,653.445220363,0.401000183592,-0.00540150452884,0.0498561092318,0.999999961999,0.000126920242641,-0.00024163188093,-3.88326437319e-05,1793249541008104448
+19,0.316666667,BASELINE,766.980508417,745.980508417,717,678,663,635.980508417,877.019491583,784,811,652,629.980508417,654,0.401000830045,-0.00540180726592,0.0498566733065,0.999999962614,0.000125449908646,-0.000239877580823,-3.86290344914e-05,1793249541024771072
+20,0.333333333,BASELINE,766.390619125,745.390619125,717,678,663,635.390619125,877.609380875,784,811,652,629.390619125,654,0.400998458261,-0.00540250907331,0.0498547529866,0.999999961785,0.000125087491021,-0.000243496278473,-3.8642826657e-05,1793249541041437952
+21,0.350000000,BASELINE,766.195877994,745.195877994,717,677.804122006,662.804122006,635,877.804122006,784,811.195877994,652,629,654,0.400997181214,-0.00540262880117,0.0498539560033,0.999999961315,0.000125085219633,-0.000245418627587,-3.86406983159e-05,1793249541058104576
+22,0.366666667,BASELINE,766.775725539,745.775725539,717,677.224274461,662.224274461,635,877.224274461,784,811.775725539,652,629,654,0.400998050128,-0.00540160750839,0.0498553610394,0.999999961571,0.000125788924429,-0.000244015711542,-3.8607361824e-05,1793249541074771200
+23,0.383333333,BASELINE,766.646659315,745.646659315,717.353340685,677.353340685,662,635.353340685,877.706681371,784,811.646659315,652,629,654,0.400998657841,-0.00540136665817,0.0498555450794,0.999999961805,0.000125748310931,-0.000243064525566,-3.86926383243e-05,1793249541091437824
+24,0.400000000,BASELINE,766.070452177,745.070452177,717.929547823,677.929547823,662,635.929547823,878.859095646,784,811.070452177,652,629,654,0.400999100804,-0.00540161806496,0.0498549589871,0.999999962024,0.000125238225446,-0.000242398264122,-3.88527288972e-05,1793249541108104704
+25,0.416666667,BASELINE,766,745.502578934,717.497421066,677.497421066,662,635.497421066,878.497421066,784,811,652,629,653.497421066,0.400998255595,-0.00540281474509,0.0498546206896,0.99999996189,0.000123752279637,-0.000243708485058,-3.88692852758e-05,1793249541124771840
+26,0.433333333,BASELINE,766,745.921926374,717,677.078073626,662,635.078073626,877.921926374,784,811.078073626,651.921926374,629,653,0.400997243388,-0.00540383664564,0.0498542524616,0.999999961674,0.000122517937416,-0.000245215304089,-3.88777832585e-05,1793249541141438720
+27,0.450000000,BASELINE,766,745.327200941,717,677.672799059,662,635.672799059,877.327200941,784,811.672799059,651.327200941,629,653,0.400996313537,-0.00540283056851,0.0498534577446,0.999999961264,0.000123848151031,-0.000246201142405,-3.89652680711e-05,1793249541158104832
+28,0.466666667,BASELINE,766,745,717,678,662,635.740601867,877.259398133,784,812,651.259398133,629,653,0.400997106372,-0.00540241218328,0.0498538947583,0.999999961436,0.000124698615487,-0.000245079563631,-3.89215185332e-05,1793249541174771200
+29,0.483333333,BASELINE,766,745,717,678,662,635.163941925,877.836058075,784,812,651.836058075,629,653,0.401000006171,-0.00540271258582,0.0498558382636,0.99999996231,0.000124962313553,-0.000241380468336,-3.87172603273e-05,1793249541191438080
+30,0.500000000,BASELINE,766,745,717,678,662,635.412966599,877.587033401,784,812,652,629,653.412966599,0.400998916925,-0.0054037785543,0.0498554924015,0.999999962092,0.000123966393611,-0.000242804287989,-3.86596823736e-05,1793249541208104448
+31,0.516666667,BASELINE,766,745,717,678,662,635.989973853,877.010026147,784,812,652,629,653.989973853,0.400996243129,-0.0054051486247,0.0498542371456,0.99999996143,0.000122470121908,-0.000246263057585,-3.86603694868e-05,1793249541224770816
+32,0.533333333,BASELINE,766,745,717,678,662,635.42390145,877,784,812,652,629,653.42390145,0.4009978352,-0.00540399449428,0.0498548711298,0.999999961925,0.0001229546685,-0.000243997358806,-3.8689758532e-05,1793249541241437184
+33,0.550000000,BASELINE,766.161001247,745,717,678,662,635.161001247,877.161001247,784,811.838998753,652,629,653,0.400999213638,-0.00540334137079,0.0498557225928,0.999999962398,0.000123423878949,-0.000241819979914,-3.8644531819e-05,1793249541258103808
+34,0.566666667,BASELINE,766.742292961,745,717,678,662,635.742292961,877.742292961,784,811.257707039,652,629,653,0.400999837474,-0.00540411263835,0.0498570545682,0.999999962771,0.000123761615846,-0.000240137412279,-3.84031972451e-05,1793249541274770176
+35,0.583333333,BASELINE,766.680099377,745,717.319900623,678,662,635.680099377,877.680099377,784,811.319900623,652,629,653.319900623,0.400999047512,-0.00540466458258,0.0498564487533,0.999999962669,0.000122820581844,-0.000241035478191,-3.84584398483e-05,1793249541291437312
+36,0.600000000,BASELINE,766.10542568,745,717.89457432,678,662,635.10542568,877.10542568,784,811.89457432,652,629,653.89457432,0.400997131584,-0.0054050418549,0.0498542996568,0.99999996218,0.000120861117877,-0.000243988794494,-3.87498803979e-05,1793249541308104704
+37,0.616666667,BASELINE,766,745,717.530398285,678,662,635.469601715,877.469601715,784,811.530398285,652,629,653.530398285,0.400997775622,-0.00540579360577,0.0498549359424,0.999999962418,0.000121242051078,-0.000242892432593,-3.83127202605e-05,1793249541324771328
+38,0.633333333,BASELINE,766,745,717,678,662,636,877.954000617,784,811,652,629,653.045999383,0.400998889161,-0.00540638156721,0.0498560676016,0.99999996274,0.000122221968884,-0.00024114796461,-3.77963457101e-05,1793249541341437696
+39,0.650000000,BASELINE,766,745,717,678,662,636,877.362289069,784,811,652,629,653.637710931,0.400998749398,-0.00540402829928,0.0498556520684,0.999999962165,0.00012406992458,-0.000242508553318,-3.82821950039e-05,1793249541358104576
+40,0.666666667,BASELINE,766.2234141,745.2234141,717,678,662,636,877.2234141,784.2234141,811,652,629,654,0.400998903376,-0.00540247391022,0.0498555441373,0.999999961942,0.000125188053315,-0.000242801572513,-3.86203392693e-05,1793249541374771456
+41,0.683333333,BASELINE,766.799629192,745.799629192,717,678,662,636,877.799629192,784.799629192,811,652,629,654,0.400999521214,-0.00540218105874,0.0498559219513,0.999999962279,0.000125153686752,-0.000241408755405,-3.87252373481e-05,1793249541391438336
+42,0.700000000,BASELINE,766.625645457,745.625645457,717,678,662,636,877.625645457,784.625645457,811,652,629,653.625645457,0.40099980121,-0.00540269942281,0.0498560356025,0.999999962415,0.000125107917517,-0.000240904238091,-3.85104670563e-05,1793249541408105216
+43,0.716666667,BASELINE,766.051714338,745.051714338,717,678,662,636,877.051714338,784.051714338,811,652,629,653.051714338,0.400999901095,-0.00540365026358,0.0498560084228,0.999999962444,0.000125056069269,-0.000240873292828,-3.81252745763e-05,1793249541424772096
+44,0.733333333,BASELINE,766,745.536595657,717,678,662.536595657,636,877,784.536595657,811.536595657,652,629,653,0.401000226226,-0.00540327454185,0.0498564674427,0.99999996251,0.000125432372187,-0.00024035505697,-3.84233342082e-05,1793249541441438720
+45,0.750000000,BASELINE,766,746,717,678,662.875863628,636,877,784.875863628,811.875863628,652,629,653.124136372,0.40100020473,-0.00540308939167,0.0498566657746,0.999999962574,0.000124940961766,-0.000240294925411,-3.87430319025e-05,1793249541458104832
+46,0.766666667,BASELINE,766,746,717,678,662.296368177,636,877,784.296368177,811.296368177,652,629,653.703631823,0.400998829908,-0.00540408518365,0.0498557312308,0.999999962605,0.000121111061629,-0.000242092231859,-3.88939058598e-05,1793249541474771200
+47,0.783333333,BASELINE,766,746,717,678,662.282187799,635.717812201,877,784,811,652,629,654,0.40099844429,-0.0054037909867,0.0498555541195,0.999999962568,0.000120744155439,-0.000242424619575,-3.89137205387e-05,1793249541491437824
+48,0.800000000,BASELINE,766,746,717,678,662.859760434,635.140239566,877,784,811,652,629,654,0.400999094136,-0.00540214647219,0.0498561698632,0.999999962465,0.000124002196085,-0.000241223579131,-3.87963467268e-05,1793249541508104448
+49,0.816666667,BASELINE,766,746,717,678,662.565396808,635,877,784,811,652,629,653.565396808,0.400999094657,-0.00540200269524,0.0498560444128,0.999999962142,0.000126374677574,-0.000241353969666,-3.86410967162e-05,1793249541524770560
+50,0.833333333,BASELINE,766,746,717,678,662,635.008795819,877,784,811,651.991204181,629,653,0.400998896596,-0.00540234702676,0.0498556896474,0.999999961763,0.00012837041986,-0.000241897299233,-3.84802981934e-05,1793249541541436928
+51,0.850000000,BASELINE,766,746,717,678,662,635.597851035,877,784,811,651.402148965,629,653,0.400999334361,-0.00540314437798,0.0498558866266,0.999999962365,0.000124246339501,-0.000241516336513,-3.87547186936e-05,1793249541558103552
+52,0.866666667,BASELINE,766,745.81634018,717,677.81634018,662,635.81634018,877,784,811,651.18365982,629,653,0.4009997668,-0.00540342685383,0.0498559762093,0.999999962676,0.000121867029242,-0.000241414992218,-3.89188167176e-05,1793249541574770176
+53,0.883333333,BASELINE,766,745.237516474,717,677.237516474,662,635.237516474,877,784,811,651.762483526,629,653,0.401000187784,-0.00540260151982,0.0498558347168,0.99999996239,0.000123241780043,-0.000241915277115,-3.88455440347e-05,1793249541591436800
+54,0.900000000,BASELINE,766,745,717,677.340065581,662,635,877.340065581,784,811,651.659934419,629,653.340065581,0.401000851464,-0.00540238849451,0.0498566988415,0.999999962533,0.000124122020418,-0.000240887123818,-3.87462073485e-05,1793249541608103936
+55,0.916666667,BASELINE,766,745,717,677.916783544,662,635,877.916783544,784,811,651.083216456,629,653.916783544,0.401001684038,-0.00540260157621,0.0498582627775,0.999999962972,0.000124658129846,-0.000238795327018,-3.86287326684e-05,1793249541624770816
+56,0.933333333,BASELINE,766,745,717,678,662.4915265,635,878,784,811,651.4915265,629,653.5084735,0.400999072348,-0.00540224515914,0.04985708639,0.999999962474,0.000124921989769,-0.000240708635334,-3.88122592302e-05,1793249541641437184
+57,0.950000000,BASELINE,766.067630687,745.067630687,717,678,662.932369313,635.067630687,878,784,811,652,629,653,0.400996388008,-0.00540202700384,0.0498556241144,0.999999961931,0.000124891151792,-0.00024294011114,-3.8996057452e-05,1793249541658103808
+58,0.966666667,BASELINE,766.656800013,745.656800013,717,678,662.343199987,635.656800013,878,784,811,652,629,653,0.400997622215,-0.005403615617,0.0498555206007,0.999999962307,0.000122941753045,-0.000242417079431,-3.87905406571e-05,1793249541674770688
+59,0.983333333,BASELINE,766.757908721,746,717,678,662,635.757908721,878,784,811.242091279,652,629,653.242091279,0.400999125974,-0.00540391755664,0.0498561620047,0.999999962691,0.000122530320865,-0.000241063401185,-3.86458758377e-05,1793249541691437312
+60,1.000000000,BASELINE,766.178028412,746,717,678,662,635.178028412,878,784,811.821971588,652,629,653.821971588,0.401001005838,-0.00540242420592,0.0498578427897,0.999999963081,0.000124264807228,-0.000238550724954,-3.85861175156e-05,1793249541708103680
+61,1.016666667,BASELINE,766.398866349,746,717.398866349,678,662,635.398866349,877.601133651,784,811.601133651,652,628.601133651,653.601133651,0.401000570997,-0.0054032631848,0.0498572782548,0.999999962985,0.000123582729851,-0.000239307147469,-3.85923758483e-05,1793249541724770304
+62,1.033333333,BASELINE,766.974438417,746,717.974438417,678,662,635.974438417,877.025561583,784,811.025561583,652,628.025561583,653.025561583,0.400999110695,-0.00540513543215,0.0498557189986,0.999999962669,0.000121830066601,-0.000241511845856,-3.86278808748e-05,1793249541741436928
+63,1.050000000,BASELINE,766.437877145,745.437877145,717.437877145,678,662.562122855,635.437877145,877,784,811,652,628.562122855,653.562122855,0.400999215066,-0.00540537425695,0.0498563283885,0.999999962801,0.000121962135229,-0.000240919095939,-3.84813709426e-05,1793249541758103552
+64,1.066666667,BASELINE,766,745,717.148022296,678,662.851977704,635,877.148022296,784,811,652,629,653.851977704,0.400999026451,-0.00540533861203,0.0498567306468,0.999999962861,0.000122016191804,-0.000240651246647,-3.84294898023e-05,1793249541774770432
+65,1.083333333,BASELINE,766,745,717.727084593,678,662.272915407,635,877.727084593,784,811,652,629,653.272915407,0.400997772908,-0.00540472477069,0.0498562362478,0.999999962649,0.000121588009285,-0.000241708096105,-3.867779995e-05,1793249541791437056
+66,1.100000000,BASELINE,766,745,717.695222828,678,662,635,878,784,811,652,629,653,0.400997834745,-0.00540477249551,0.0498559658959,0.999999962606,0.00012137812636,-0.00024199373016,-3.86684447471e-05,1793249541808103680
+67,1.116666667,BASELINE,766,745,717.118751318,678,662,635,878,784,811,652,629,653,0.40099906918,-0.00540540997507,0.0498558952714,0.999999962714,0.000121362847152,-0.000241591862346,-3.84293931393e-05,1793249541824770304
+68,1.133333333,BASELINE,766,745,717,677.542632825,662,635.457367175,877.542632825,784,811,652,629,653,0.401000180187,-0.0054054271679,0.0498562492176,0.999999963056,0.000121093169581,-0.000240295478825,-3.850197971e-05,1793249541841436928
+69,1.150000000,BASELINE,766.03406579,745,717,677.03406579,662,636,877.03406579,784.03406579,811.03406579,652,629,653.03406579,0.401001082414,-0.00540517526252,0.049856617576,0.999999963386,0.000120989228305,-0.000238945997027,-3.86534814308e-05,1793249541858103552
+70,1.166666667,BASELINE,766.621678531,745,717,677.621678531,662,636,877.621678531,784.621678531,811.621678531,652,629,653.621678531,0.400999112462,-0.00540316565724,0.0498554302417,0.999999962558,0.000124650873213,-0.000240504755002,-3.87735156809e-05,1793249541874770176
+71,1.183333333,BASELINE,767,745.206860655,717.206860655,677.793139345,662,636,878,784.793139345,812,652,629,653.793139345,0.400998365671,-0.00540196771665,0.0498552309565,0.999999962161,0.000126646815191,-0.00024110089886,-3.8847107078e-05,1793249541891437056
+72,1.200000000,BASELINE,767,745.78764922,717.78764922,677.21235078,662,636,878,784.21235078,812,652,629,653.21235078,0.400999829906,-0.00540223696663,0.0498568177,0.999999962565,0.000125631780115,-0.000239956991046,-3.8836746916e-05,1793249541908103936
+73,1.216666667,BASELINE,767,746,718,677.364212009,662,636,877.635787991,784,811.635787991,652,628.635787991,653.364212009,0.400998821246,-0.00540238306905,0.0498563619897,0.999999962167,0.000125365171885,-0.000241731805124,-3.89353266113e-05,1793249541924770560
+74,1.233333333,BASELINE,767,746,718,677.938339218,662,636,877.061660782,784,811.061660782,652,628.061660782,653.938339218,0.40099638732,-0.0054024581948,0.0498547291021,0.999999961298,0.000125529922832,-0.000245188837525,-3.9096694275e-05,1793249541941436928
+75,1.250000000,BASELINE,766.474623343,745.474623343,717.474623343,678.525376657,662,636,877,784,811,652,628.525376657,653.474623343,0.40099704185,-0.00540418183617,0.0498551926937,0.999999962022,0.000122586892259,-0.000243730478702,-3.90473581055e-05,1793249541958103552
+76,1.266666667,BASELINE,766,745,717,678.887932714,662,636,877,784,811,652,629,653,0.400997876061,-0.00540570057594,0.0498557684392,0.999999962746,0.00012003479285,-0.000242048133751,-3.89012637803e-05,1793249541974770432
+77,1.283333333,BASELINE,766,745,717,678.309155541,662,636,877,784,811,652,629,653,0.400997910984,-0.00540553994541,0.0498557607397,0.999999962723,0.000120668010163,-0.00024189601814,-3.84577958369e-05,1793249541991437056
+78,1.300000000,BASELINE,766,745.268811992,717.268811992,678,662.268811992,636,877,784,811.268811992,651.731188008,629,653,0.400998856479,-0.00540496377372,0.0498564524444,0.999999962876,0.000121867924917,-0.000240694718092,-3.82496333961e-05,1793249542008104192
+79,1.316666667,BASELINE,766,745.84585113,717.84585113,678,662.84585113,636,877,784,811.84585113,651.15414887,629,653,0.40100084606,-0.00540391113122,0.0498579461049,0.999999963222,0.000123717630331,-0.00023829039462,-3.83112786786e-05,1793249542024771584
+80,1.333333333,BASELINE,766,746,717.578435016,678,663,636,877,784,812,651.421564984,629,653,0.401000759002,-0.00540296792794,0.0498576298273,0.999999963021,0.000124345380467,-0.000238764116485,-3.85714365036e-05,1793249542041438208
+81,1.350000000,BASELINE,766,746,717.003204197,678,663,636,877,784,812,651.996795803,629,653,0.400999914982,-0.00540206461657,0.0498566538043,0.999999962621,0.000124527712408,-0.000240286922531,-3.89039546973e-05,1793249542058104576
+82,1.366666667,BASELINE,766,746,717,678,662.415673179,636,877,784,812,652,629,653.584326821,0.400998194493,-0.0054027223648,0.0498562221989,0.999999962361,0.000123996614692,-0.000241635371777,-3.8934643735e-05,1793249542074771200
+83,1.383333333,BASELINE,766.17015824,746,717,678,662,635.82984176,877.17015824,784,812,652,629,653.82984176,0.400997209918,-0.00540329162924,0.0498558454838,0.999999962233,0.000123336186467,-0.00024250569989,-3.89073597331e-05,1793249542091437824
+84,1.400000000,BASELINE,766.751714022,746,717,678,662,635.248285978,877.751714022,784,812,652,629,653.248285978,0.400998016458,-0.00540362582222,0.0498555941061,0.999999962426,0.000122372733133,-0.000242222419355,-3.87439999286e-05,1793249542108104192
+85,1.416666667,BASELINE,766.671011729,746,717,678,662,635.328988271,877.671011729,784,812,652,629,653.328988271,0.400998689002,-0.0054040441883,0.0498555016291,0.999999962456,0.000122791849264,-0.000241923981835,-3.85177065071e-05,1793249542124771072
+86,1.433333333,BASELINE,766.096927255,746,717,678,662,635.903072745,877.096927255,784,812,652,629,653.903072745,0.400999261719,-0.0054045252633,0.0498555275332,0.999999962362,0.000124240979448,-0.000241614252381,-3.82445275623e-05,1793249542141438208
+87,1.450000000,BASELINE,766,746,717,678,662,636,877,784,811.52061215,652,629,653.52061215,0.400999909585,-0.00540454964618,0.0498565705969,0.999999962648,0.000124134766138,-0.000240468886541,-3.83390834321e-05,1793249542158105088
+88,1.466666667,BASELINE,766.057423061,746,717,678,662,636,877.057423061,784,811.057423061,652,629,653.057423061,0.401000412109,-0.00540442071067,0.0498576100046,0.999999962941,0.000123796384739,-0.000239395560104,-3.84939554171e-05,1793249542174771712
+89,1.483333333,BASELINE,766.647204286,746,717,678,662,636,877.647204286,784,811.647204286,652,629,653.647204286,0.400999425674,-0.00540373044339,0.049856699977,0.999999962606,0.000124234677892,-0.000240563787634,-3.85154794706e-05,1793249542191437824
+90,1.500000000,BASELINE,767,746,717,678,662,636,877.767796088,784,811.767796088,652,629,653.767796088,0.400999359264,-0.00540341242016,0.0498564504599,0.99999996258,0.000124704854111,-0.000240415258287,-3.85794877548e-05,1793249542208104448
+91,1.516666667,BASELINE,767,746,717,678,662,636,877.18991479,784,811.18991479,652,629,653.18991479,0.40100066248,-0.0054036485494,0.0498571842318,0.999999963016,0.00012522249398,-0.000238306498827,-3.87067414734e-05,1793249542224770816
+92,1.533333333,BASELINE,766.613512501,746,717.386487499,678,662,636,877.386487499,784,811.386487499,652,629,653.386487499,0.400999780322,-0.00540396586118,0.0498567439879,0.999999962902,0.000124218544552,-0.000239314736208,-3.86528308526e-05,1793249542241437440
+93,1.550000000,BASELINE,766.037834156,746,717.962165844,678,662,636,877.962165844,784,811.962165844,652,629,653.962165844,0.400997828395,-0.00540432291294,0.0498557290474,0.999999962514,0.000122469756671,-0.000241848785424,-3.85102378534e-05,1793249542258104064
+94,1.566666667,BASELINE,766,745.464503911,718,678,662,636,877.464503911,784,811.464503911,652,629,654,0.400997572237,-0.00540402742819,0.0498556427621,0.999999962336,0.000122908728915,-0.000242357411897,-3.85158182122e-05,1793249542274771200
+95,1.583333333,BASELINE,766.112307556,745.112307556,717.887692444,678.112307556,662,636,877.112307556,784,811,652,629,654,0.40099769493,-0.00540380802344,0.0498558347952,0.999999962276,0.000123362180183,-0.000242378240245,-3.84965963582e-05,1793249542291438336
+96,1.600000000,BASELINE,766.704706801,745.704706801,717.295293199,678.704706801,662,636,877.704706801,784,811,652,629,654,0.400998927207,-0.00540411006691,0.0498569373295,0.999999962652,0.000123219652858,-0.000240922889842,-3.83267934661e-05,1793249542308104960
+97,1.616666667,BASELINE,766.711058995,746,717,678.711058995,662,636,877.711058995,784,811,652,629,653.711058995,0.400999729096,-0.00540410397017,0.0498576820686,0.999999962884,0.000123433429542,-0.000239828248157,-3.84507150501e-05,1793249542324771584
+98,1.633333333,BASELINE,766.134940048,746,717,678.134940048,662,636,877.134940048,784,811,652,629,653.134940048,0.401000103223,-0.00540379161342,0.0498580711955,0.999999962974,0.000124001336146,-0.000239092114302,-3.88665688704e-05,1793249542341438208
+99,1.650000000,BASELINE,766,745.558717447,717,677.558717447,662,635.558717447,877.441282553,784,811,652,629,653,0.40100029203,-0.00540450851261,0.0498573687083,0.99999996319,0.000121789796219,-0.000239317413246,-3.89266426398e-05,1793249542358104576
+100,1.666666667,BASELINE,766,745.017902011,717,677.017902011,662,635.017902011,878,784,811,652,629,653,0.401000353469,-0.00540552618901,0.0498563471259,0.999999963412,0.000118848976698,-0.000239876861834,-3.88690487979e-05,1793249542374771200
+101,1.683333333,BASELINE,766,745.606155435,717,677.606155435,662,635.606155435,878,784,811,652,629,653,0.400998162928,-0.00540609676321,0.0498557967038,0.999999962874,0.000119758349095,-0.000241713355347,-3.85295653632e-05,1793249542391437824
+102,1.700000000,BASELINE,766,745.808168428,717.191831572,678,662,636,877.808168428,784.191831572,811.191831572,652,629,653,0.400997395828,-0.00540609035527,0.0498556624664,0.999999962664,0.00012056848754,-0.000242198814316,-3.84093666066e-05,1793249542408104448
+103,1.716666667,BASELINE,766,745.227713573,717.772286427,678,662,636,877.227713573,784.772286427,811.772286427,652,629,653,0.400999512412,-0.00540491506412,0.0498563713595,0.999999963121,0.000121177592104,-0.000239947270637,-3.87334072327e-05,1793249542424771328
+104,1.733333333,BASELINE,766.350109989,745,718,678,662,636,877,784.649890011,812,652,629,653,0.400999684858,-0.00540401017432,0.0498566996789,0.999999962919,0.00012315917201,-0.00023977750378,-3.87315520279e-05,1793249542441438208
+105,1.750000000,BASELINE,766.926234964,745,718,678,662,636,877,784.073765036,812,652,629,653,0.400998602258,-0.00540327984314,0.0498567823172,0.999999962288,0.000126026759252,-0.000240951636552,-3.85193134198e-05,1793249542458104832
+106,1.766666667,BASELINE,767,745.50081839,718,678,662.50081839,636,877.50081839,784,812,652,629,653,0.400999043838,-0.00540292706043,0.0498566407675,0.999999962606,0.00012473010709,-0.000240258746274,-3.87995826841e-05,1793249542474771456
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,636,878,784,812,652,629,654,0.400998825564,-0.00540305620487,0.0498570327199,0.999999962701,0.000122754854773,-0.000240900313519,-3.86906459025e-05,1793249542517441792
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.421475326,746,717.421475326,678,662,636,877.421475326,784,812,652,629,654,0.400998712509,-0.00540300144054,0.0498568254816,0.999999962785,0.000122384479885,-0.000240739323741,-3.86859582269e-05,1793249542534108416
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.843944857,717,678,662,636,877,784,812,652,629,653.843944857,0.400998438201,-0.00540295187165,0.0498565982635,0.99999996279,0.00012221472301,-0.000240804646866,-3.86853918856e-05,1793249542550775040
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.26908242,717,678,662,636,877,784,812,652,629,653.26908242,0.400997731133,-0.00540291624581,0.0498563174254,0.999999962582,0.00012258336732,-0.000241477328946,-3.86958860238e-05,1793249542567441664
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.302985811,745.302985811,717,678,662.302985811,636,877.302985811,784,811.697014189,652,629,653,0.400997203944,-0.00540358686031,0.0498560739895,0.999999962415,0.00012307599207,-0.000241942539214,-3.85502166368e-05,1793249542584108032
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.872595145,745.872595145,717,678,662.872595145,636,877.872595145,784,811.127404855,652,629,653,0.400996835046,-0.00540487895701,0.0498558634671,0.999999962283,0.000123677717948,-0.00024222517698,-3.82671254044e-05,1793249542600774400
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.536400043,745.536400043,717,678,663,636,878,784,811.463599957,652,629,653.463599957,0.400996883637,-0.0054038951303,0.0498555555667,0.999999962203,0.000123573489037,-0.00024255713621,-3.85908024814e-05,1793249542617440768
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+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,717,678,662.363113065,636,877.363113065,784,811.363113065,652,629,653.363113065,0.400998531729,-0.0054028525005,0.0498558029945,0.999999962402,0.00012296148664,-0.000242001961409,-3.88738324111e-05,1793249542650773760
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.206685403,745,717.206685403,678,662.206685403,636,877.206685403,784,811.206685403,652,629,653.206685403,0.401003459185,-0.00540315962448,0.0498579074557,0.999999963295,0.000122953703788,-0.000238329038486,-3.86095389906e-05,1793249542667440384
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+119,1.983333333,POSE1_TO_POSE2_PRESS,766.036649556,745,717.036649556,678,662.036649556,636,877.036649556,784,811.036649556,652,629,654,0.401080589086,-0.00540466545062,0.0498853376595,0.999999974846,0.00012336874532,-0.000183630785625,-3.69744041052e-05,1793249542717440256
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.544161568,717.544161568,678,662,636,877,784,811.544161568,652,629,653.455838432,0.401142790369,-0.00540707209722,0.0499022714543,0.999999980639,0.00012210919919,-0.000150123231726,-3.56897613977e-05,1793249542734107136
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,718,678,662,636,877.122057791,784,811.877942209,652,629,653,0.401208649215,-0.00541015077066,0.0499181526386,0.999999984732,0.000120641008501,-0.000121692737766,-3.42358045159e-05,1793249542750773504
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,718,678,662,636,877.696629537,784,811.303370463,652,629,653,0.401282616935,-0.00541534331366,0.0499292195511,0.999999985985,0.000118653019849,-0.000113615504612,-3.23100404081e-05,1793249542767440384
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.277088525,746,717.722911475,678,662,636,878,784,811,652,629,653,0.401364807904,-0.00541860992325,0.0499369044782,0.999999987156,0.000116493953159,-0.000105599702004,-3.10702360915e-05,1793249542784106752
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.864133048,746,717.135866952,678,662,636,878,784,811,652,629,653,0.401456197537,-0.00541972215025,0.0499408062574,0.99999998825,0.000114143515748,-9.76526171519e-05,-3.05977583332e-05,1793249542800773632
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.555211083,746,717.444788917,677.555211083,662,635.555211083,878,784,811,652,629,653.444788917,0.401563168116,-0.0054237800735,0.0499413582769,0.999999988466,0.000113142029564,-9.69258328654e-05,-2.95196291284e-05,1793249542817440512
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.023527716,746,717.976472284,677.023527716,662,635.023527716,877.976472284,784,811,652,629,654,0.401675962043,-0.00542870427667,0.0499409780006,0.999999988446,0.000112470349686,-9.82782226895e-05,-2.82648706642e-05,1793249542834107136
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.602427238,746,717.397572762,677.602427238,662,635.602427238,877.397572762,784,811,652,629,654,0.401815460933,-0.00543313790526,0.0499424022348,0.99999998884,0.000109994895924,-9.73849131598e-05,-2.71459757199e-05,1793249542850773760
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.819968229,745.819968229,717,678,662,636,877,784,811,652,629,654,0.401964337063,-0.00543801637998,0.049943719251,0.999999989195,0.000107566859058,-9.67603088035e-05,-2.60008357964e-05,1793249542867440128
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.245203131,745.245203131,717,678,662,636,877,784,811,652,629,654,0.402133773487,-0.00544387021303,0.0499448011836,0.999999989477,0.000105242787669,-9.67248610578e-05,-2.47981519112e-05,1793249542884107008
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,717,678,662,636,877.336240403,784,811.336240403,652,629,653.663759597,0.402323512928,-0.00545012368682,0.0499448799122,0.999999989597,0.00010290452651,-9.83377571959e-05,-2.33774022623e-05,1793249542900773632
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,717,678,662,636,877.922652939,784,811.922652939,652,629,653.077347061,0.402528358393,-0.00545667450495,0.0499442122295,0.999999989588,0.000100555707528,-0.000101177066636,-2.17944055457e-05,1793249542917440256
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.50539265,717,678,662,635.49460735,878,784,811.49460735,652,629,653.50539265,0.402764189955,-0.00546470123986,0.0499451031508,0.999999989983,9.61217121891e-05,-0.000101917302102,-2.01694552375e-05,1793249542934107136
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.086325792,745.913674208,717,678.086325792,662,635.086325792,878,784,811.086325792,652,629,653.913674208,0.403011784097,-0.00547314200745,0.0499467043692,0.999999990536,9.17820387748e-05,-0.000100817657887,-1.84220597502e-05,1793249542950773760
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.660207683,745.339792317,717,678.660207683,662,635.660207683,878,784,811.660207683,652,629,653.339792317,0.403299221593,-0.00548265464583,0.0499509797596,0.999999991691,8.9764437606e-05,-9.11279115112e-05,-1.60191119482e-05,1793249542967440640
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.765766571,745.234233429,717,678.765766571,662.234233429,636,878,784,811.765766571,652.234233429,629,653.234233429,0.403605605313,-0.00549196316008,0.0499570928498,0.999999993169,8.68193412418e-05,-7.70841444588e-05,-1.34969130267e-05,1793249542984107008
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.19153205,745.80846795,717,678.19153205,662.80846795,636,878,784,811.19153205,652.80846795,629,653.80846795,0.403939490372,-0.00550097537776,0.0499658734495,0.999999994928,8.25279410787e-05,-5.67203074628e-05,-1.08016155089e-05,1793249543000773632
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.605497058,717,678.394502942,663,636,877.605497058,784.394502942,811.394502942,652.605497058,629,654,0.404305655592,-0.00550999651727,0.0499745301259,0.999999995948,7.99752021809e-05,-4.05824903117e-05,-7.76579804261e-06,1793249543017440512
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.013556272,717,678.986443728,663,636,877.013556272,784.986443728,811.986443728,652.013556272,629,654,0.404687976133,-0.00551902212163,0.0499831247818,0.999999996572,7.82926154274e-05,-2.65596801665e-05,-4.55955981334e-06,1793249543034106880
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.565786098,717,679,663,636,877.565786098,784.434213902,812,652,629,654,0.405102091999,-0.00551891097783,0.0499856222186,0.999999995836,8.9127725612e-05,-1.95711444667e-05,-1.03036436049e-06,1793249543050773760
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,717.143705353,679,663,636,878,784,812,652,629,653.856294647,0.40551599257,-0.00551553060332,0.0499817475033,0.999999994237,0.000104332589582,-2.52385955192e-05,1.75442838897e-06,1793249543067440384
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,717.71824323,679,663,636,878,784,812,652,629,653.28175677,0.405927013405,-0.00550299101037,0.0499591973451,0.999999988981,0.000131758494395,-6.83547513033e-05,2.28478745979e-06,1793249543084107264
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.703387616,717.703387616,678.406775232,663,636,878,784.296612384,812,652,628.703387616,653.296612384,0.4063601853,-0.00549619873582,0.0499388576797,0.999999983182,0.000150604110032,-0.00010460795118,3.44373830732e-06,1793249543100773888
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.121331378,717.121331378,677.242662756,663,636,878,784.878668622,812,652,628.121331378,653.878668622,0.406814674236,-0.00549493737084,0.0499206452715,0.999999977983,0.000161192518815,-0.000134256615428,5.20761224072e-06,1793249543117440512
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.461737909,745,717,677.461737909,663,636.461737909,878,784.538262091,812.461737909,652,628.461737909,654,0.407349891223,-0.00550114876311,0.0499183434536,0.99999997688,0.000165602964144,-0.000136883819267,8.88817507187e-06,1793249543134107136
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,717,678,663,636.955396703,878.044603297,784,812.955396703,651.955396703,629,654,0.407911369811,-0.00550901598226,0.0499223798587,0.999999977444,0.000168817169242,-0.000128216219757,1.31415775228e-05,1793249543150774016
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,717,678,663,636.378151654,878.621848346,784,812.378151654,651.378151654,629,654,0.408532581008,-0.00551315600116,0.0499520693905,0.999999981713,0.000177174924401,-6.96472137974e-05,1.82079987673e-05,1793249543167440640
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.198438302,717.198438302,678,663,636,879,784.198438302,812,651,629,654,0.409158675035,-0.00551620045438,0.0499775122346,0.999999981984,0.000186896468316,-2.35664272296e-05,2.33558198731e-05,1793249543184107008
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.773783962,717.773783962,678,663,636,879,784.773783962,812,651,629,654,0.409794043312,-0.00551716402494,0.0499948890547,0.999999979747,0.00019920834932,-1.20536854012e-06,2.86582490588e-05,1793249543200773632
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.643363431,717.643363431,678,663,636,879,784.643363431,812.356636569,651,629,654,0.410413228207,-0.00551464304686,0.0499924725738,0.999999976541,0.000213814617353,-1.28185739937e-05,3.21974114492e-05,1793249543217440512
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.055646775,717.055646775,678,663,636,879,784.055646775,812.944353225,651,629,654,0.411021927172,-0.00550986428062,0.049977231166,0.999999971894,0.000229907516227,-4.6445159264e-05,3.45940776278e-05,1793249543234107136
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.473210746,745.526789254,717,678.526789254,663,636,879,784.526789254,813,651,629,654,0.411691594213,-0.00550858940872,0.0499461706863,0.999999963712,0.000245262779755,-0.000105050661529,3.72449779299e-05,1793249543250773760
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.107803828,746,717,679,663.107803828,636.107803828,879,785,813,651,629,654,0.412388407702,-0.00550875645917,0.0499245855586,0.999999955828,0.000257693046197,-0.000142605819293,4.00358133488e-05,1793249543267440640
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.685033443,746,717,679,663.685033443,636.685033443,879,785,813,651,629,654,0.413175663129,-0.00551360656665,0.0499514645231,0.999999962877,0.000257722501316,-7.71227148344e-05,4.33202069732e-05,1793249543284107264
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,717,679,664.265499019,637,879.265499019,784.734500981,812.734500981,651.265499019,628.734500981,654,0.413940285263,-0.00552103709216,0.0499689384223,0.999999977711,0.000203755825507,-4.37112774832e-05,3.39287972508e-05,1793249543300773888
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,717,679,664.849850922,637,879.849850922,784.150149078,812.150149078,651.849850922,628.150149078,654,0.414677725894,-0.00553156658919,0.049975117247,0.999999995158,8.4942121423e-05,-4.88165216584e-05,9.31429403001e-06,1793249543317440512
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,717,679,664.139971761,637,880.43001412,784.43001412,812.43001412,651.56998588,628,654,0.415439339383,-0.00553443784156,0.0499527838398,0.999999994159,6.62748991591e-05,-8.52516858034e-05,4.70941738815e-06,1793249543334107136
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,717.00873388,679,663.00873388,637,881,785,813,651,628.00873388,654.00873388,0.416210721027,-0.0055346130486,0.0499212605072,0.999999987951,8.23192147404e-05,-0.000131419519962,7.067541598e-06,1793249543350774016
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,717.587784644,679,663.587784644,637,881,785,813,651,628.587784644,654.587784644,0.41707411791,-0.0055316673642,0.0499334692596,0.999999988973,0.000103619071589,-0.000105670607476,1.22721885332e-05,1793249543367440640
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,717.834471248,679,664.165528752,637,881,785,813,651,628.834471248,654.834471248,0.417936622935,-0.00552940543802,0.0499483840827,0.99999998953,0.000121304954768,-7.70406729179e-05,1.70437694865e-05,1793249543384107264
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,717.259955646,679,664.740044354,637,881,785,813,651,628.259955646,654.259955646,0.418796924313,-0.00552883293522,0.0499699850387,0.999999990474,0.000130061465431,-4.12923384479e-05,2.07453348808e-05,1793249543400773632
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.678846917,717.321153083,679,664.678846917,637,881.321153083,784.678846917,813,651.321153083,628,654,0.419624539228,-0.00552743196847,0.0499672808079,0.9999999896,0.000133127244531,-5.0965944837e-05,2.18935076643e-05,1793249543417440256
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.092289586,717.907710414,679,664.092289586,637,881.907710414,784.092289586,813,651.907710414,628,654,0.420425141666,-0.00552534635051,0.0499444905171,0.999999986317,0.000131490143336,-9.81767171684e-05,2.09315300404e-05,1793249543434106880
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.509096232,745.490903768,718,679.490903768,664,636.509096232,882.490903768,784,813.490903768,651.509096232,628.490903768,654,0.421358883403,-0.00552875885655,0.0499614589184,0.999999990181,0.000128329472234,-5.19783905103e-05,2.16145216804e-05,1793249543450773760
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.072407984,746,718,680,664.144815968,636,883,784,813.927592016,651,628.927592016,654,0.422311717583,-0.00553293629635,0.0499827811753,0.999999991912,0.000125106317453,3.30238792508e-06,2.26403476047e-05,1793249543467440384
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.646559713,746,718,680,665.293119426,636,883,784,813.353440287,651,628.353440287,654,0.423224587344,-0.00553530048401,0.049982830997,0.999999992097,0.000123421473005,6.61136830009e-07,2.39134554427e-05,1793249543484107008
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.778938118,745.778938118,717.778938118,680,665.557876236,636,883.221061882,784.221061882,813.221061882,651,628,654,0.424132251836,-0.00553716407482,0.0499786112068,0.999999992166,0.000122525393814,-6.42644857506e-06,2.47865210702e-05,1793249543500773632
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.203874674,745.203874674,717.203874674,680,664.407749348,636,883.796125326,784.796125326,813.796125326,651,628,654,0.425031580915,-0.00553822602589,0.0499675541942,0.999999991923,0.000122892418278,-2.06342546375e-05,2.50189718502e-05,1793249543517440256
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,717,680,664.38157401,636,884,784.61842599,813.61842599,651,628,654,0.425941663475,-0.00554186014265,0.0499772775488,0.999999992537,0.000118392504665,-1.35734562568e-05,2.69072831632e-05,1793249543534107136
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,717,680,664.972726731,636,884,784.027273269,813.027273269,651,628,654,0.426857652308,-0.00554690701587,0.0499984144764,0.999999993361,0.00011121943565,5.16907855948e-06,2.97050723175e-05,1793249543550774016
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.551853817,717,680,665,636,884.551853817,784.551853817,813.551853817,651,628,654.551853817,0.427729729831,-0.00554233099649,0.049979319762,0.999999991778,0.000115537368495,-4.70230495031e-05,2.97265506594e-05,1793249543567440384
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.870187287,717.129812713,680.129812713,665,636.129812713,885,785,814.129812713,651,628,654.870187287,0.428616620903,-0.00553886042376,0.0499596898542,0.99999998839,0.000118743473864,-9.08749132241e-05,2.93667237456e-05,1793249543584107008
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+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.869649141,717.130350859,681.869649141,665.869649141,636.130350859,885,784.130350859,815,651,628.869649141,654,0.431368191744,-0.00554341164102,0.0499459517363,0.999999990008,0.000113503415411,-7.93372005294e-05,2.83851367257e-05,1793249543634107136
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+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,717.031457043,681,665,636,886,784.031457043,815,651,629,654,0.433126666113,-0.00554253188798,0.0499126152694,0.999999985396,0.000109025461215,-0.000129046305193,2.58401628994e-05,1793249543667440128
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,717.610723954,681,665,636,886,784.610723954,815,651,629,654,0.434050845151,-0.00554785921636,0.0499444235738,0.999999991283,0.000102515210527,-7.82856850606e-05,2.82007613575e-05,1793249543684107008
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.180978993,745.819021007,717.819021007,681.180978993,665,636,886,784.819021007,815,651,629,654,0.434946940026,-0.00555090273877,0.0499665960653,0.999999993483,9.92403455085e-05,-4.76560923576e-05,3.02202250844e-05,1793249543700773632
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.732769527,745.267230473,717.267230473,681.732769527,665,636,886,784.267230473,815,651,629,654,0.435785492861,-0.0055492669256,0.0499690255494,0.999999992542,0.000102594527299,-5.82733625306e-05,3.15407314748e-05,1793249543717440256
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.691385672,745.308614328,717,681.691385672,665,636,886,784.308614328,815,651,629,654,0.436621071999,-0.00554798613581,0.0499588691391,0.999999990667,0.000102838301681,-8.42812636334e-05,3.14111810018e-05,1793249543734107136
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.092951535,745.907048465,717,681.092951535,665,636,886,784.907048465,815,651,629,654,0.437453858487,-0.00554703874868,0.0499368933113,0.999999986756,0.000100161091204,-0.00012474251018,2.9919881573e-05,1793249543750773760
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717,681,665.502783664,636,886,784.497216336,815,651,629,654,0.438305639615,-0.0055503233276,0.0499538472277,0.999999991696,9.62246970601e-05,-8.01511770921e-05,3.04064435996e-05,1793249543767440384
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717.094819628,681,666,636,886,784,815.094819628,651,629,654,0.439146932243,-0.00555362254289,0.0499722242501,0.999999994621,9.30139002647e-05,-3.37392175007e-05,3.11032856194e-05,1793249543784107008
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717.670608796,681,666,636,886,784,815.670608796,651,629,654,0.439917304865,-0.00555304859412,0.0499615078442,0.99999999339,9.46581897923e-05,-5.74257903743e-05,3.1021897585e-05,1793249543800773632
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,718,681,665.754199219,636,886,784,815.754199219,651,629,654,0.440681283242,-0.00555271750626,0.0499498990389,0.999999991713,9.6205907487e-05,-7.96726448726e-05,3.11613704724e-05,1793249543817440256
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717.594751982,681,665,636,886.405248018,784,815,651,629,654,0.442174642834,-0.00555219651908,0.0499473340272,0.999999991165,0.000101961220957,-7.86844390044e-05,3.28908682726e-05,1793249543850773504
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,717.004840752,681,665,636,886.995159248,784,815,651,629,654,0.442904597298,-0.00555145040935,0.0499680690016,0.999999992873,0.000107627624733,-3.84029101381e-05,3.45775462894e-05,1793249543867440128
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,717,681,665.571941379,636,887,784,815,651,629,654,0.443535865463,-0.00555251050853,0.0499427768033,0.999999990057,0.000106800771998,-8.51805782481e-05,3.49843443718e-05,1793249543884107008
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.149063048,746,717,681,665.701873904,636,887,784,815.149063048,651,629,654,0.444153649668,-0.00555286798014,0.0499102426652,0.999999983481,0.000107816911099,-0.000142082927894,3.50185664281e-05,1793249543900773888
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.727475709,746,717,681,664.545048582,636,887,784,815.727475709,651,629,654,0.444734947678,-0.00555115861407,0.0498579462832,0.999999967335,0.000114296202564,-0.00022607290966,3.40101506616e-05,1793249543917440512
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.696458114,746,717,681,664,635.696458114,887,784,816,651,629,654,0.445337459486,-0.00554924409945,0.0498307800657,0.999999959088,0.000119061281762,-0.000257935015987,3.34233932952e-05,1793249543934107136
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.122482517,746,717,681,664,635.122482517,887,784,816,651,629,654,0.445958871207,-0.00554714681252,0.0498260029973,0.999999962359,0.000122299122828,-0.000243354978509,3.32123030601e-05,1793249543950773760
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.535653697,717,681,664,635,886.535653697,784,816,651.464346303,629,654,0.446532430784,-0.00554669947224,0.0498322165899,0.999999966069,0.000125347240892,-0.000225781493015,3.42438946172e-05,1793249543967440384
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.053666119,745.053666119,717.053666119,681.053666119,664,635,886,784,816,652,629,654,0.447084602349,-0.0055466276562,0.0498373053877,0.999999968243,0.000128311014634,-0.000213999891438,3.54067506806e-05,1793249543984107008
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.633227087,745.633227087,717.633227087,681.633227087,664,635,886,784,816,652,629,654,0.44755439521,-0.00554584951364,0.0498021542236,0.999999955202,0.000130952627756,-0.000266932984334,3.45523621143e-05,1793249544000773632
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,717.788911859,682,664.211088141,634.788911859,886.211088141,784,816,652,629,654,0.448012881424,-0.00554633060696,0.0497705558979,0.999999940662,0.000131731199366,-0.000316495291454,3.39520326788e-05,1793249544017440256
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717.213980929,682,664.786019071,634.213980929,886.786019071,784,816,652,629,654,0.448451878848,-0.00554898218656,0.049745081438,0.999999926181,0.000129298533229,-0.00036024752744,3.3789613306e-05,1793249544034106880
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717,682.370059296,664.629940704,634,887,784,816,651.629940704,629,654,0.448892658047,-0.00555034230245,0.0497406821285,0.9999999231,0.000128132753305,-0.000369101395482,3.38681381471e-05,1793249544050773504
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,717,682.959499814,664.040500186,634,887,784,816,651.040500186,629,654,0.449334493572,-0.00555093680377,0.0497487767392,0.999999927443,0.000127718017855,-0.000357266565767,3.40895012819e-05,1793249544067440384
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,717.117376009,682,664,634,886,784,816,651.117376009,628.882623991,654.882623991,0.450132769112,-0.00555190928789,0.0497749006108,0.999999945737,5.37326697304e-05,-0.000324752738514,1.31813940004e-05,1793249544100773632
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,717.693008664,682,664,634,886,784,816,651.693008664,628.306991336,654.306991336,0.450475283945,-0.00555630029298,0.0497741522583,0.999999945073,2.82431020593e-05,-0.000330132605138,8.34580865349e-06,1793249544117440256
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766.141207354,746,717.141207354,682,664,634,886,784,816.858792646,652,628,654,0.451081480585,-0.00555930934573,0.0497599445704,0.999999933215,2.21830479273e-05,-0.000364725074504,7.37800681444e-06,1793249544150773760
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+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,717.018543214,682,664,633,886,783.018543214,816,652,628,654,0.451579363875,-0.00556048871844,0.0497343251564,0.999999912522,2.76121350626e-05,-0.000417248627862,9.82305834837e-06,1793249544184107008
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,717.595320738,682,664,633,886,783.595320738,816,652,628,654,0.451782839199,-0.0055597257869,0.0497171105878,0.999999898273,3.11638365757e-05,-0.000449863513461,1.0325851599e-05,1793249544200773632
+209,3.483333333,POSE1_TO_POSE2_PRESS,766.827978957,746,718,682,663.827978957,633,886,783.827978957,816,652,628,654,0.451983900622,-0.00555896451256,0.0497046104326,0.999999887483,3.48981430597e-05,-0.000472964316618,1.09545607092e-05,1793249544217440512
+210,3.500000000,POSE1_TO_POSE2_PRESS,766.251460307,746,718,682,663.251460307,633,886,783.251460307,816,652,628,654,0.452179285867,-0.00555820713516,0.049703195952,0.999999886974,3.90618342141e-05,-0.000473693297532,1.18793536846e-05,1793249544234108160
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+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,717.508055652,682.508055652,664,633,885.508055652,783,816.508055652,652,628.491944348,654.491944348,0.452682132363,-0.00555426266156,0.0497183856435,0.999999899842,5.09194145905e-05,-0.000444420460563,1.46456350524e-05,1793249544284107520
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+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,718,681.588006665,663.411993335,632,885.588006665,783,816,651.588006665,628,654,0.453391495264,-0.00554040885143,0.0496776587298,0.999999869584,7.02921076001e-05,-0.000505646663754,1.45893808594e-05,1793249544684107264
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,717.998078448,681.001921552,663.998078448,632.001921552,885.001921552,783,816,651.001921552,628,654.001921552,0.453390664139,-0.00554201121058,0.0496770546287,0.999999868745,6.93507691745e-05,-0.000507415413506,1.51351445337e-05,1793249544700773888
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717.415917038,681.584082962,663.415917038,632.584082962,885.584082962,783,816,651.584082962,628,654.584082962,0.453392151159,-0.00554180764804,0.0496777114416,0.9999998697,7.0174466656e-05,-0.000505419376373,1.5063846019e-05,1793249544717440512
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.163882844,746,717.163882844,682,663,632.836117156,886.163882844,783,816,652,628,654.836117156,0.453393102309,-0.00554113774431,0.0496780971499,0.999999870167,7.11354117206e-05,-0.000504361631267,1.50006546701e-05,1793249544734106880
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.737774523,746,717.737774523,682,663,632.262225477,886.737774523,783,816,652,628,654.262225477,0.453392712799,-0.00553930112906,0.0496778045978,0.999999869423,7.24397283794e-05,-0.000505651343836,1.49577461657e-05,1793249544750773760
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663,632,886.688651497,783,816.311348503,652,628,654,0.453393013223,-0.00553904179556,0.0496774292667,0.999999869256,7.22977845604e-05,-0.000505995950728,1.51548370777e-05,1793249544767440384
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663,632,886.115344847,783,816.884655153,652,628,654,0.453393894133,-0.00554010953391,0.0496769842883,0.999999869575,7.09390058041e-05,-0.000505545377458,1.55538554203e-05,1793249544784107008
+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663,632,885.525787361,783,816.525787361,652,628,654.474212639,0.453394829597,-0.00553755672611,0.0496775301096,0.999999869684,7.41420593063e-05,-0.000504884922172,1.50195760915e-05,1793249544800773632
+245,4.083333333,HOLD_POSE2,767,746,717,682,663,632,886,783,817,651,628,654,0.453393303317,-0.00553779859261,0.0496763974564,0.999999869153,7.26312905941e-05,-0.000506153425748,1.50939619367e-05,1793249544844396288
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+247,4.116666667,HOLD_POSE2,766,746.15109793,717,682,663.84890207,632,885.84890207,783,816,652,628,654.15109793,0.453394713953,-0.00553631428521,0.0496774324677,0.999999868872,7.59018740364e-05,-0.00050623678604,1.48061747406e-05,1793249544877729792
+248,4.133333333,HOLD_POSE2,766,746.73999902,717,682,663.26000098,632,885.26000098,783,816,652,628,654.73999902,0.453395462903,-0.00553429485881,0.0496794103452,0.999999869658,7.73065328669e-05,-0.000504463738159,1.49789750395e-05,1793249544894397184
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+251,4.183333333,HOLD_POSE2,767,746,717.479209588,682,663,632,885.520790412,783,816,652,628,654,0.453396369056,-0.00553795113974,0.0496774171446,0.999999869976,7.25822340412e-05,-0.000504530973513,1.51175665367e-05,1793249544944397568
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+253,4.216666667,HOLD_POSE2,766.37124717,746,718,682,663,632,885,783.62875283,816,652,628.62875283,654.62875283,0.45339549407,-0.00553604405286,0.04967711603,0.999999869034,7.33321151451e-05,-0.000506295209831,1.47963202216e-05,1793249544977730816
+254,4.233333333,HOLD_POSE2,766.208584238,746,718,682,663,632,885,783.791415762,816.208584238,652,629,655,0.453395529605,-0.0055350320223,0.0496770308825,0.999999868861,7.38199611836e-05,-0.000506575418644,1.44926942323e-05,1793249544994397184
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+256,4.266666667,HOLD_POSE2,767,746,718,682,663,632,885.383195314,783,816.616804686,652,628.616804686,654.616804686,0.453397189507,-0.00553807341157,0.0496769854178,0.999999870058,7.23548950955e-05,-0.000504410941644,1.47527975287e-05,1793249545027729920
+257,4.283333333,HOLD_POSE2,767,746,718,682,663,632,885.963401118,783,816.036598882,652,628.036598882,654.036598882,0.453397362022,-0.00553857009945,0.0496773941949,0.999999869982,7.41699051543e-05,-0.000504288381843,1.51265784762e-05,1793249545044396288
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+259,4.316666667,HOLD_POSE2,767,746,718,682,663,632,885.111803092,783,816,651.111803092,628,654,0.453396206015,-0.00553740426839,0.0496762115516,0.99999986919,7.22071817734e-05,-0.000506156237862,1.45362159397e-05,1793249545077730048
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,632,886,783,816.425910153,651.574089847,628,654.425910153,0.45339630357,-0.00553601848119,0.0496765321735,0.999999869111,7.46992030586e-05,-0.00050594930772,1.45952717361e-05,1793249545148200704
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,632,886,783,816,652,628,654.10081687,0.45339817427,-0.00553549930967,0.04967795266,0.999999869632,7.38935747384e-05,-0.000505038319038,1.45445877412e-05,1793249545214867456
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.942068646,632,886,783,816,652,628,654,0.453395946627,-0.0055370845127,0.0496770106393,0.999999868781,7.21642079593e-05,-0.000506953352959,1.50895584507e-05,1793249545248201216
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.368173726,632,886,783,816,652,628,654,0.453393722401,-0.00553558772621,0.049675255128,0.999999867294,7.46339104017e-05,-0.000509527344219,1.49854527626e-05,1793249545264867328
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,746,717.793209807,681.793209807,663,632,886,783,816,652,628,654,0.453388552646,-0.00553479486962,0.0496725938768,0.999999865288,7.5531393305e-05,-0.000513324602859,1.47341845273e-05,1793249545281533952
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.216332789,681.216332789,663,632,886,783,816,652,628,654,0.453378111359,-0.00553526181752,0.0496683116475,0.999999862347,7.36151170851e-05,-0.000519311109822,1.42195434661e-05,1793249545298200832
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717,681.368852506,663,632,886,783,816.368852506,652,628,654,0.453352754418,-0.00553419424574,0.0496567352205,0.999999852798,7.49240614706e-05,-0.000537222427286,1.35360470155e-05,1793249545314867456
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,746,717,681.959022967,663,632,886,783,816.959022967,652,628,654,0.453318447824,-0.00553220593536,0.0496407821469,0.999999838779,7.81681944111e-05,-0.000562288839934,1.27512343216e-05,1793249545331533824
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.538679775,682,663,632,886,783,816.461320225,652,628,654,0.453259681506,-0.0055302516715,0.0496219580599,0.999999821349,7.76718656392e-05,-0.000592571898188,1.12867222438e-05,1793249545348200448
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.270965655,746,717.729034345,682,663,632,885,783,816,651,628,654,0.453040464673,-0.00552037360327,0.0495812322952,0.999999786218,8.24015134878e-05,-0.000648627026153,7.58712005301e-06,1793249545398201088
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.85816954,746,717.14183046,682,663,632,885,783,816,651,628,654,0.452950236331,-0.00551750291243,0.0495768367217,0.999999780787,8.44759720619e-05,-0.000656688508413,7.05585700584e-06,1793249545414867712
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.364442375,745,717,678,662.635557625,636,877.364442375,784.635557625,811.364442375,652,629,653.364442375,0.405618386937,-0.00536670752426,0.0497684152059,0.999999915669,9.90257705631e-05,-0.000394664096641,-5.56484438569e-05,1793249546664867584
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.951800631,745,717,678,662.048199369,636,877.951800631,784.048199369,811.951800631,652,629,653.951800631,0.405182044867,-0.00536841780324,0.0497667668616,0.999999914306,9.29782917885e-05,-0.000399440846483,-5.6476193521e-05,1793249546681534208
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.534039674,717,678,662,636,877.465960326,784,812,652,629,654,0.404814212043,-0.00537185562646,0.0497902615065,0.999999930978,8.72055622726e-05,-0.000356811916131,-5.59040903385e-05,1793249546698201088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,717.114177351,678.114177351,662.114177351,636,877,784.114177351,812,652,629,654,0.404458752577,-0.00537569807076,0.0498157835405,0.999999946337,8.15159572893e-05,-0.000312485845378,-5.50717758092e-05,1793249546714867712
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.73221759,745.73221759,717.73221759,678.73221759,662.73221759,636,877.26778241,784.73221759,812,652,629,654,0.403803497557,-0.00538388649275,0.0498541880822,0.999999961847,7.1659573536e-05,-0.000261436856158,-5.31259091765e-05,1793249546748200704
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.144300928,745.144300928,717.144300928,678.144300928,662.144300928,636,877.855699072,784.144300928,812,652,629,654,0.403485000083,-0.00538542135046,0.0498549657745,0.999999961107,6.85144064053e-05,-0.000265006063137,-5.35187867819e-05,1793249546764867328
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.407506842,717,678,662,635.407506842,877.407506842,784,812,652,628.407506842,654,0.402637388625,-0.00538446689379,0.0498264352353,0.999999944057,6.52343633179e-05,-0.000323224994445,-5.61722065151e-05,1793249546814867200
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.743437465,717,678,662,635.743437465,877,784,811.256562535,652,628.743437465,654,0.402197600499,-0.00538331608632,0.0498157672803,0.999999939095,6.59737303517e-05,-0.000337842973199,-5.76093659056e-05,1793249546848200704
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.682268509,746,717,677.682268509,662,635.682268509,877,784,811.317731491,651.682268509,629,653.682268509,0.402020043338,-0.00538225643185,0.0498176390569,0.999999941405,6.98369808477e-05,-0.000330189642814,-5.7341956293e-05,1793249546864867328
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.349360445,717,678,663,636,877.650639555,784,812,652,629,654,0.401509540547,-0.00537857595704,0.049839044647,0.999999944584,0.000175773840548,-0.000280709234327,-3.37390457996e-05,1793249546931533568
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.802817496,745,717,678,663,636,877.197182504,784,812,652,629,653.197182504,0.401330065215,-0.00539020830515,0.0498389200285,0.999999948601,0.00015593567603,-0.00027794432112,-3.50438856636e-05,1793249546964867072
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.808901064,745.808901064,717.808901064,678,662.808901064,635.191098936,877.808901064,784,811.808901064,652,629,653.191098936,0.401008891193,-0.00539606714331,0.0498489968737,0.999999958194,0.00013627529629,-0.000252088081273,-3.86426526275e-05,1793249547148200704
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.234413999,745.234413999,717.234413999,678,662.234413999,635.765586001,877.234413999,784,811.234413999,652,629,653.765586001,0.40100430479,-0.00539784161388,0.0498485590766,0.999999958192,0.000134328028544,-0.000253172367568,-3.84240800084e-05,1793249547164867840
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.349992135,745,717,678,662,636,877,784,811.349992135,652,629,653.650007865,0.401002140789,-0.00539787100003,0.0498488022707,0.999999958204,0.000134535625768,-0.00025301973881,-3.83762111824e-05,1793249547181534464
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.941235507,745,717,678,662,636,877,784,811.941235507,652,629,653.058764493,0.401001646559,-0.00539669749116,0.0498495148753,0.999999958226,0.0001362285817,-0.000252014498602,-3.84460092981e-05,1793249547198201088
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.478555984,745,717.521444016,678,662,635.478555984,877,784,811.478555984,652,629,653,0.401001566533,-0.00539811446509,0.0498500332724,0.999999958932,0.000133360553004,-0.00025074042204,-3.84821662017e-05,1793249547214867200
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.254901757,717.254901757,678,663.745098243,636,877.254901757,784,812,652,629,653.254901757,0.400998242885,-0.00539806421406,0.0498486968291,0.999999958537,0.00013379437439,-0.000252020766122,-3.88542287583e-05,1793249547264866816
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.841238745,717.841238745,678,663.158761255,636,877.841238745,784,812,652,629,653.841238745,0.400997897659,-0.00539905828024,0.0498488907828,0.99999995886,0.000131552248363,-0.000251912903651,-3.89003778697e-05,1793249547281533696
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,718,678,663,635.000167457,878,784,811.000167457,652,629,654,0.401001114669,-0.00539782843393,0.0498521919667,0.999999960084,0.000131579911304,-0.000247017492146,-3.87521415268e-05,1793249547314868736
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.844029496,745,717.155970504,678,662,635.844029496,877,784,811.844029496,652,629,653,0.400999916458,-0.00539709969626,0.0498512748634,0.999999959642,0.000132788644493,-0.000248118827107,-3.8987301558e-05,1793249547348200960
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.267996409,745,717.732003591,678,662,635.267996409,877,784,811.267996409,652,629,653,0.40099928554,-0.00539742375298,0.0498515666824,0.999999959453,0.000133010690986,-0.000248786820179,-3.88262717118e-05,1793249547364867072
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.880381415,745,717.119618585,678,662,635.880381415,877,784,811.880381415,652,629,653.880381415,0.401000262884,-0.00540040739763,0.0498529506118,0.999999960721,0.000127947910187,-0.000246405768307,-3.83697583606e-05,1793249547398200320
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.531309344,745,717,678,662,636,877.468690656,784,812,652,629,653.531309344,0.400999951709,-0.00539991841695,0.0498524687878,0.999999960523,0.000128428829687,-0.00024692449791,-3.8572749173e-05,1793249547414866944
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,717,678,662.05934974,635.94065026,877.94065026,784,812,652,629,653.05934974,0.400999415232,-0.00539903962494,0.0498517637676,0.999999960132,0.000129625947444,-0.000247840571184,-3.88406465973e-05,1793249547431533568
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,717,678,662.636760157,635.363239843,877.363239843,784,812,652,629,653.636760157,0.400999532147,-0.00540012780827,0.0498520889515,0.999999960528,0.000128227347135,-0.000246998358896,-3.86364503107e-05,1793249547448200704
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.62739249,717,678,662,635.37260751,877,784,811,652,629,653.62739249,0.401001569658,-0.0054021315097,0.0498549451549,0.999999961611,0.000128724437132,-0.000242354653927,-3.83643548412e-05,1793249547498201088
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.034631124,717,678,662,635.965368876,877,784,811,652,629,653.034631124,0.401003639604,-0.00540143653341,0.0498563018471,0.999999962227,0.000128737109811,-0.000239832449928,-3.81156089354e-05,1793249547514867968
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca08b9c8848f7cfc1d015bdf94b45780b220739a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+2,0.033333333,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
+3,0.050000000,pose1_baseline,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
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+364,6.066666667,pose2_to_pose3_retreat,0.576719240755,0.000150140635079,1.04003353354,0.54728991829,0.00882277097965,1.03970492074
+365,6.083333333,pose2_to_pose3_retreat,0.576561913133,0.000150080690035,1.04003341818,0.54713259211,0.00882271627498,1.03970481452
+366,6.100000000,pose2_to_pose3_retreat,0.576424634387,0.000150103893043,1.04003362945,0.546995312905,0.00882273786597,1.03970502434
+367,6.116666667,pose2_to_pose3_retreat,0.576305185397,0.000150160591543,1.04003358327,0.546875862914,0.00882279114247,1.03970497748
+368,6.133333333,pose2_to_pose3_retreat,0.576200159221,0.000150136692119,1.04003348127,0.546770836933,0.00882276794594,1.03970487662
+369,6.150000000,pose2_to_pose3_retreat,0.576107736918,0.000150051330298,1.04003359779,0.546678415518,0.00882268555215,1.03970499214
+370,6.166666667,pose2_to_pose3_retreat,0.576025846998,0.000150126884596,1.0400333963,0.546596524264,0.00882275657555,1.0397047911
+371,6.183333333,pose2_to_pose3_retreat,0.575953994031,0.000150094437546,1.04003339352,0.546524672088,0.00882272684801,1.03970478903
+372,6.200000000,pose2_to_pose3_retreat,0.575892717741,0.000150136821406,1.04003325118,0.546463395543,0.00882276880937,1.03970465831
+373,6.216666667,pose2_to_pose3_retreat,0.575841541555,0.000150081235651,1.04003332444,0.546412219724,0.0088227142902,1.03970472688
+374,6.233333333,pose2_to_pose3_retreat,0.575800260739,0.000150133611316,1.0400335496,0.546370939329,0.00882276809708,1.03970495206
+375,6.250000000,pose2_to_pose3_retreat,0.575767080233,0.000150190060106,1.0400336,0.546337758929,0.00882282496661,1.03970500419
+376,6.266666667,pose2_to_pose3_retreat,0.575741373427,0.000150128131384,1.04003337813,0.546312052103,0.00882276279472,1.03970477769
+377,6.283333333,pose2_to_pose3_retreat,0.575720483125,0.000150037938123,1.04003339626,0.546291163009,0.00882267648836,1.03970479024
+378,6.300000000,pose2_to_pose3_retreat,0.575704244177,0.000150071989887,1.04003350831,0.546274923586,0.00882270872292,1.03970489701
+379,6.316666667,pose2_to_pose3_retreat,0.575692072884,0.000150136883523,1.04003360117,0.546262751182,0.00882276983559,1.03970498966
+380,6.333333333,pose2_to_pose3_retreat,0.575683281726,0.000150189121688,1.04003366474,0.546253959232,0.00882281951496,1.03970505662
+381,6.350000000,pose2_to_pose3_retreat,0.575677276422,0.000150170232948,1.0400337273,0.5462479555,0.00882280617124,1.0397051245
+382,6.366666667,pose2_to_pose3_retreat,0.575673241807,0.000150142969799,1.04003358849,0.546243920816,0.00882277867609,1.03970498563
+383,6.383333333,pose2_to_pose3_retreat,0.575671059816,0.000150120073463,1.04003341226,0.54624173816,0.00882275344057,1.03970480734
+384,6.400000000,pose2_to_pose3_retreat,0.575669387469,0.000150100161985,1.04003329074,0.546240065426,0.00882273215922,1.03970468433
+385,6.416666667,pose2_to_pose3_retreat,0.575668328966,0.00015006789256,1.04003332661,0.546239007706,0.00882270254286,1.03970472007
+386,6.433333333,pose2_to_pose3_retreat,0.575667653933,0.000150047313547,1.04003334948,0.546238333172,0.00882268365578,1.03970474287
+387,6.450000000,pose2_to_pose3_retreat,0.575667115776,0.000150030907349,1.04003336772,0.546237795414,0.00882266859843,1.03970476104
+388,6.466666667,pose2_to_pose3_retreat,0.575666598191,0.000150015128306,1.04003338526,0.546237278212,0.00882265411668,1.03970477851
+389,6.483333333,pose2_to_pose3_retreat,0.575666286599,0.000150005578599,1.04003340754,0.546236966862,0.00882264538279,1.03970480064
+390,6.500000000,pose2_to_pose3_retreat,0.57566627371,0.000150005178107,1.04003340973,0.546236953984,0.00882264501982,1.03970480281
+391,6.516666667,pose2_to_pose3_retreat,0.575666143858,0.00015000114332,1.04003343179,0.546236824246,0.00882264136298,1.03970482468
+392,6.533333333,pose2_to_pose3_retreat,0.575665947258,0.000149995034512,1.04003346519,0.546236627818,0.00882263582641,1.0397048578
+393,6.550000000,pose2_to_pose3_retreat,0.575665784219,0.000149989968526,1.04003349289,0.546236464921,0.00882263123497,1.03970488526
+394,6.566666667,pose2_to_pose3_retreat,0.575665756663,0.000149989112283,1.04003349757,0.546236437389,0.00882263045894,1.0397048899
+395,6.583333333,pose2_to_pose3_retreat,0.575665656601,0.000149986003132,1.04003351457,0.546236337414,0.00882262764103,1.03970490676
+396,6.600000000,pose2_to_pose3_retreat,0.575665589742,0.000149983925673,1.04003352593,0.546236270614,0.00882262575818,1.03970491802
+397,6.616666667,pose2_to_pose3_retreat,0.575665530861,0.000149982096119,1.04003353593,0.546236211785,0.0088226241,1.03970492794
+398,6.633333333,pose2_to_pose3_retreat,0.575665501892,0.000149981195964,1.04003354085,0.54623618284,0.00882262328417,1.03970493282
+399,6.650000000,pose2_to_pose3_retreat,0.575665465243,0.000149980057195,1.04003354708,0.546236146223,0.00882262225207,1.03970493899
+400,6.666666667,pose2_to_pose3_retreat,0.575665449305,0.000149979561963,1.04003354979,0.546236130299,0.00882262180323,1.03970494167
+401,6.683333333,pose2_to_pose3_retreat,0.575665259239,0.000149973656192,1.04003358208,0.5462359404,0.00882261645068,1.03970497369
+402,6.700000000,pose2_to_pose3_retreat,0.575664806139,0.000149987790252,1.0400336194,0.546235487006,0.00882262957436,1.03970501063
+403,6.716666667,pose2_to_pose3_retreat,0.575664464342,0.000150069176649,1.04003354813,0.54623514326,0.00882270435976,1.03970493977
+404,6.733333333,pose2_to_pose3_retreat,0.575664349867,0.000150097746665,1.0400336579,0.546235027975,0.00882273015508,1.03970504886
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d33ff0185aca98e8037e568d61f7f3f59fe0366
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0beaba5068ce38b1b30545f9ebb15194569924a0d3f73535112d12794ac286c8
+size 25394615
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44866088971b9ae29b1d35777d853fcb0ecb20ae
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+32,0.533333333,BASELINE,766.415987848,746,717.584012152,678.415987848,661.584012152,636,878,784,812.415987848,651,628.584012152,653.584012152,0.401026557253,-0.00549892193788,0.069853617092,0.999999986707,3.99476539129e-05,-0.000157275473534,1.59295000117e-05,1793249549601165312
+33,0.550000000,BASELINE,766,745.828332534,718,678.171667466,661.828332534,636,878,784,812,651,629,653.828332534,0.401026883285,-0.00549757926587,0.0698542518879,0.999999986846,4.16169169468e-05,-0.0001559799742,1.56697308658e-05,1793249549617832192
+34,0.566666667,BASELINE,766,745.250579463,718,678.749420537,661.250579463,636,878,784,812,651,629,653.250579463,0.401027049931,-0.00549892493692,0.0698543258017,0.999999986962,4.06601842103e-05,-0.000155451572887,1.60600571641e-05,1793249549634498560
+35,0.583333333,BASELINE,766,745.323988038,718,678.676011962,661,636,878,784,812,651,629,653.323988038,0.401026729732,-0.00549942896261,0.0698540737202,0.999999986867,4.09426893135e-05,-0.000155980703126,1.61392590108e-05,1793249549651165184
+36,0.600000000,BASELINE,766,745.896115801,718,678.103884199,661,636,878,784,812,651,629,653.896115801,0.401026036661,-0.00549928837931,0.0698535719615,0.999999986608,4.21743161924e-05,-0.000157319787861,1.59801732885e-05,1793249549667832320
+37,0.616666667,BASELINE,766,745.516459516,717.516459516,678,661,636,877.516459516,784,812,651,629,654,0.401027036078,-0.00550003256429,0.0698543736735,0.999999986828,4.0928662634e-05,-0.000156234834107,1.60885028143e-05,1793249549684498944
+38,0.633333333,BASELINE,766,745,717,678.072846194,661.072846194,636,877,784,812.072846194,651,629,654,0.401028046958,-0.00550063977594,0.0698552264042,0.999999987067,3.98128501064e-05,-0.000154979184856,1.62073332394e-05,1793249549701165568
+39,0.650000000,BASELINE,766,745,717,678.651645471,661.651645471,636,877,784,812.651645471,651,629,654,0.401026529463,-0.00549893227993,0.0698544249375,0.999999986719,4.34161468294e-05,-0.00015627322738,1.59870312939e-05,1793249549717832192
+40,0.666666667,BASELINE,766.229247172,745,717.229247172,678.770752828,662,636,877,783.770752828,812.770752828,651,629,654,0.40102557242,-0.00549843732459,0.0698538659295,0.999999986521,4.42200408873e-05,-0.000157310448634,1.59747282381e-05,1793249549734498816
+41,0.683333333,BASELINE,766.805038508,745,717.805038508,678.194961492,662,636,877,783.194961492,812.194961492,651,629,654,0.40102546259,-0.00549977532058,0.0698536734372,0.99999998656,4.07921850199e-05,-0.000157959442938,1.62768491449e-05,1793249549751165440
+42,0.700000000,BASELINE,766.619937778,745,718,678,661.619937778,636,877,783.380062222,812,651,629,653.619937778,0.401025913254,-0.00550105056665,0.0698540377232,0.999999986742,3.86871943906e-05,-0.00015732180251,1.64205018894e-05,1793249549767832064
+43,0.716666667,BASELINE,766.045307057,745,718,678,661.045307057,636,877,783.954692943,812,651,629,653.045307057,0.401026650856,-0.00550229368856,0.0698546870457,0.999999986998,3.72594295635e-05,-0.000156025484157,1.64830286653e-05,1793249549784498432
+44,0.733333333,BASELINE,766,745,717.456153444,678,661.543846556,636,877,784,812,651,629,653,0.401026077762,-0.00550079333989,0.0698543522617,0.999999986789,4.01300870838e-05,-0.00015666165402,1.63634173992e-05,1793249549801165312
+45,0.750000000,BASELINE,766,745,717,678,661.868375082,636,877.131624918,783.868375082,812,651,628.868375082,653,0.401025734525,-0.00549947643015,0.0698542027291,0.999999986641,4.22733981903e-05,-0.000157061048899,1.62129342065e-05,1793249549817832448
+46,0.766666667,BASELINE,766,745,717,678,661.289493823,636,877.710506177,783.289493823,812,651,628.289493823,653,0.401026553542,-0.00549958076628,0.0698549688972,0.999999986861,4.06950353344e-05,-0.000156093835176,1.60105235427e-05,1793249549834499072
+47,0.783333333,BASELINE,766,745,717,678,661,636,877.711965426,783,812,651.288034574,628.288034574,653.288034574,0.401026128127,-0.00549914915312,0.0698548262674,0.99999998685,3.98818687212e-05,-0.000156406924274,1.57253688502e-05,1793249549851165440
+48,0.800000000,BASELINE,766,745,717,678,661,636,877.135790319,783,812,651.864209681,628.864209681,653.864209681,0.401024457823,-0.00549818139351,0.0698537745057,0.999999986607,3.98341796519e-05,-0.00015800078706,1.53574396656e-05,1793249549867831808
+49,0.816666667,BASELINE,766,745.449924946,717.449924946,677.550075054,661.449924946,635.550075054,877,783.449924946,812.449924946,651.550075054,629,654,0.401024799823,-0.00549846659986,0.0698540486581,0.999999986725,3.86268035251e-05,-0.000157554500454,1.53190256605e-05,1793249549884498432
+50,0.833333333,BASELINE,766,745.962053152,717.962053152,677.037946848,661.962053152,635,877.037946848,783.962053152,813,651,628.962053152,653.962053152,0.401025705131,-0.00549911285441,0.0698546545627,0.999999986925,3.72903628273e-05,-0.000156596358215,1.5410057358e-05,1793249549901165056
+51,0.850000000,BASELINE,766,745.383084438,717.383084438,677.616915562,661.383084438,635,877.616915562,783.383084438,813,651,628.383084438,653.383084438,0.401025795259,-0.0054993984379,0.0698541614187,0.999999986732,3.92119954357e-05,-0.000157309371975,1.58980345517e-05,1793249549917831680
+52,0.866666667,BASELINE,766.194472489,745,717.194472489,678,661.194472489,635.194472489,878,783.194472489,812.805527511,651,628.194472489,653.194472489,0.401025957612,-0.00549947445545,0.0698539683837,0.999999986628,4.06102931371e-05,-0.000157580815012,1.61904888774e-05,1793249549934498560
+53,0.883333333,BASELINE,766.769268395,745,717.769268395,678,661.769268395,635.769268395,878,783.769268395,812.230731605,651,628.769268395,653.769268395,0.401026261212,-0.00549914063178,0.069854362262,0.999999986708,4.09851219447e-05,-0.000156988692737,1.61005655636e-05,1793249549951165696
+54,0.900000000,BASELINE,766.658049249,745.341950751,717.658049249,678.341950751,662,636,877.658049249,784,812,651.341950751,629,653.658049249,0.401025854686,-0.00549885837902,0.0698541069876,0.999999986611,4.16768486883e-05,-0.000157431407397,1.60174636095e-05,1793249549967832832
+55,0.916666667,BASELINE,766.086784276,745.913215724,717.086784276,678.913215724,662,636,877.086784276,784,812,651.913215724,629,653.086784276,0.401024971946,-0.00549861071004,0.0698534163876,0.999999986394,4.25810890709e-05,-0.000158568089926,1.59389361037e-05,1793249549984499712
+56,0.933333333,BASELINE,766.504292112,745.495707888,717.504292112,678.495707888,662,636,877,784,812,651.495707888,629,653,0.40102382647,-0.00549868831344,0.0698528401336,0.99999998625,4.25769693142e-05,-0.000159506731492,1.56725831202e-05,1793249550001165824
+57,0.950000000,BASELINE,766.903440808,745,718,678.096559192,661.903440808,636,877.096559192,784,812.096559192,651.096559192,629,653,0.401022866115,-0.00549878069395,0.0698522475526,0.99999998612,4.2416514161e-05,-0.000160379832354,1.5449491139e-05,1793249550017832192
+58,0.966666667,BASELINE,766.322991149,745,718,678.677008851,661.322991149,636,877.677008851,784,812.677008851,651.677008851,629,653,0.40102306932,-0.00549865513934,0.0698514705067,0.999999986007,4.22880200989e-05,-0.000161102262429,1.5611800446e-05,1793249550034498560
+59,0.983333333,BASELINE,766.254923928,745,717.745076072,678.490152144,661,636,878,783.745076072,813,651.745076072,629,653,0.401023624914,-0.00549914567557,0.0698518330127,0.999999986059,4.20433039943e-05,-0.000160818700678,1.58930805194e-05,1793249550051165184
+60,1.000000000,BASELINE,766.829659354,745,717.170340646,677.340681291,661,636,878,783.170340646,813,651.170340646,629,653,0.401024622593,-0.00550040912053,0.0698536251285,0.999999986315,4.16527830204e-05,-0.000159273085061,1.63236138428e-05,1793249550067831808
+61,1.016666667,BASELINE,767,745.403050762,717.403050762,677.403050762,661,636,877.596949238,783.403050762,812.596949238,651,629,653,0.401025077529,-0.00549948222945,0.0698536965884,0.999999986354,4.24788628367e-05,-0.000158813224227,1.63285836354e-05,1793249550084498688
+62,1.033333333,BASELINE,767,745.975876002,717.975876002,677.975876002,661,636,877.024123998,783.975876002,812.024123998,651,629,653,0.401025303848,-0.00549763271715,0.0698530432675,0.999999986299,4.38174035977e-05,-0.000158810708986,1.61542960148e-05,1793249550101165312
+63,1.050000000,BASELINE,766.429927553,745.429927553,718,678,661.570072447,636,877,783.429927553,812,651,629,653,0.401026197345,-0.00549789568949,0.0698547911062,0.999999986662,4.20192366293e-05,-0.000157032441694,1.5875708821e-05,1793249550117832192
+64,1.066666667,BASELINE,766,745,717.840536388,678,662,636,877,783,812,651.159463612,629,653,0.401026589806,-0.0054983062061,0.0698557073452,0.999999986876,4.05937953005e-05,-0.000156059471579,1.56914499578e-05,1793249550134499072
+65,1.083333333,BASELINE,766,745,717.266095339,678,662,636,877,783,812,651.733904661,629,653,0.401025602068,-0.00549885898584,0.0698541847601,0.999999986671,4.04971911837e-05,-0.000157385322578,1.5764598098e-05,1793249550151165440
+66,1.100000000,BASELINE,766.308973463,745,717.308973463,678,661.691026537,636,877.308973463,783.308973463,812,652,629,653.308973463,0.4010253312,-0.00549883055809,0.0698537599462,0.999999986573,4.04430912431e-05,-0.000158026751302,1.56989689666e-05,1793249550167832064
+67,1.116666667,BASELINE,766.884583971,745,717.884583971,678,661.115416029,636,877.884583971,783.884583971,812,652,629,653.884583971,0.401025678977,-0.00549830056149,0.0698542824838,0.999999986568,4.04256714416e-05,-0.000158077539155,1.55135782139e-05,1793249550184498432
+68,1.133333333,BASELINE,766.530181723,745.469818277,717.530181723,678,661.469818277,636,878,784,812,651.530181723,629,654,0.401024468268,-0.00549860521177,0.0698532684168,0.999999986379,4.05560004518e-05,-0.000159232677895,1.55901963393e-05,1793249550201165056
+69,1.150000000,BASELINE,766,745.943104446,717.056895554,678,662,636,877.943104446,783.943104446,812,651,629,653.943104446,0.401023060227,-0.00549908984966,0.0698520324146,0.999999986173,4.06951143203e-05,-0.000160470589527,1.57130948228e-05,1793249550217831936
+70,1.166666667,BASELINE,766,745.361292481,717.638707519,678,662,636,877.361292481,783.361292481,812,651,629,653.361292481,0.401023437713,-0.00549930379303,0.0698523043301,0.999999986268,4.05734072252e-05,-0.000159916849795,1.56567230711e-05,1793249550234498560
+71,1.183333333,BASELINE,766,745.218095077,717.781904923,678,661.781904923,636,877.218095077,783.218095077,812,651,629,653,0.401023301726,-0.00549926567458,0.0698523753273,0.999999986218,4.10066577965e-05,-0.000160125437032,1.55418332564e-05,1793249550251165440
+72,1.200000000,BASELINE,766,745.793510652,717.206489348,678,661.206489348,636,877.793510652,783.793510652,812,651,629,653,0.401022324481,-0.00549881458553,0.0698521171459,0.999999985931,4.2349134509e-05,-0.000161582998048,1.53310691761e-05,1793249550267832320
+73,1.216666667,BASELINE,766,746,717.367887515,678.367887515,661.367887515,636,878,784,812,651,629,653.367887515,0.401022372942,-0.00549909289029,0.0698522222471,0.999999986006,4.19037303383e-05,-0.000161233712877,1.53672006641e-05,1793249550284499200
+74,1.233333333,BASELINE,766,746,717.941682973,678.941682973,661.941682973,636,878,784,812,651,629,653.941682973,0.401022995493,-0.00549977943937,0.0698525306788,0.999999986281,4.04576428359e-05,-0.00015987312942,1.55415204871e-05,1793249550301165568
+75,1.250000000,BASELINE,765.468141854,746,717.468141854,678.468141854,661.468141854,636,878,783.468141854,812,651,629,654,0.401025166369,-0.00549838357543,0.0698539679821,0.999999986601,4.19195698273e-05,-0.000157475058194,1.55933197482e-05,1793249550317832192
+76,1.266666667,BASELINE,765.121205607,746,717,678.121205607,661.121205607,636,878.121205607,783.121205607,812.121205607,651,629,654,0.401026999168,-0.00549711638748,0.0698550975101,0.999999986829,4.31798804554e-05,-0.000155672466787,1.56149682562e-05,1793249550334498816
+77,1.283333333,BASELINE,765.70042292,746,717,678.70042292,661.70042292,636,878.70042292,783.70042292,812.70042292,651,629,654,0.401026892532,-0.00549722567729,0.0698545814209,0.999999986722,4.24351394648e-05,-0.000156563603117,1.55750609641e-05,1793249550351165952
+78,1.300000000,BASELINE,766.276447521,746,717.276447521,679,662,636,878.723552479,784,813,651,629,653.723552479,0.401026264197,-0.00549780397601,0.0698542866415,0.999999986565,4.22557109795e-05,-0.000157595953538,1.57434600657e-05,1793249550367832576
+79,1.316666667,BASELINE,766.849051749,746,717.849051749,679,662,636,878.150948251,784,813,651,629,653.150948251,0.401025076971,-0.00549888472139,0.0698542289499,0.999999986353,4.26818987162e-05,-0.000158779585781,1.61350166623e-05,1793249550384498944
+80,1.333333333,BASELINE,766.566040537,745.566040537,718,678.566040537,662,635.566040537,877.566040537,784,812.566040537,651,629,653,0.401025072865,-0.00549848823079,0.0698540822151,0.999999986384,4.35804997836e-05,-0.000158356713916,1.59823710625e-05,1793249550401165312
+81,1.350000000,BASELINE,766,745.022857376,718,678,661.977142624,635.022857376,877,784,812,651,629,653.022857376,0.401025547583,-0.00549763052874,0.069853968712,0.999999986514,4.45195592378e-05,-0.000157305377742,1.5639108919e-05,1793249550417832192
+82,1.366666667,BASELINE,766,745.601676654,718,678,661.398323346,635.601676654,877,784,812,651,629,653.601676654,0.401027366865,-0.00549841762731,0.0698554388391,0.99999998698,4.23291976227e-05,-0.000154956326298,1.53980511532e-05,1793249550434499072
+83,1.383333333,BASELINE,766.179850038,746,717.820149962,678,661.179850038,636,877.179850038,783.820149962,812,651,629,653.820149962,0.401028131963,-0.00549917342971,0.0698562211607,0.999999987209,4.0931699426e-05,-0.000153845484928,1.54166003373e-05,1793249550451165440
+84,1.400000000,BASELINE,766.756598157,746,717.243401843,678,661.756598157,636,877.756598157,783.243401843,812,651,629,653.243401843,0.401026570657,-0.00549986016699,0.0698554856142,0.999999986935,4.12839139117e-05,-0.000155467159627,1.60080573319e-05,1793249550467831808
+85,1.416666667,BASELINE,767,746,717.331479299,678,661.668520701,636,878,783,812,651,629,653.331479299,0.401026360495,-0.00549954057994,0.0698553762629,0.999999986813,4.29180127872e-05,-0.000155791907578,1.61821606042e-05,1793249550484498432
+86,1.433333333,BASELINE,767,746,717.904997183,678,661.095002817,636,878,783,812,651,629,653.904997183,0.401027136909,-0.00549848619788,0.0698557241452,0.999999986798,4.5488114236e-05,-0.000155169669249,1.60515217206e-05,1793249550501165056
+87,1.450000000,BASELINE,767,746,717.506819608,678,661.493180392,636,878,783.493180392,812,651,629,654,0.401027517894,-0.00549897662483,0.0698561975743,0.999999987038,4.21142072898e-05,-0.000154583426428,1.5957191784e-05,1793249550517831936
+88,1.466666667,BASELINE,767,745.917569467,717,678,662,636,877.917569467,783.917569467,812,651,629,654,0.401027399073,-0.00549923656018,0.0698562774172,0.999999987164,3.87771655034e-05,-0.000154655089444,1.58144382917e-05,1793249550534498560
+89,1.483333333,BASELINE,767,745.339412927,717,678,662,636,877.339412927,783.339412927,812,651,629,654,0.401024746617,-0.00549626589039,0.0698538403874,0.999999986385,4.27588104999e-05,-0.000158640330968,1.53371202292e-05,1793249550551165696
+90,1.500000000,BASELINE,766.762480244,745.237519756,717.237519756,678.237519756,661.762480244,636,877.237519756,783.237519756,812.237519756,651,629,654,0.401023873663,-0.00549580419853,0.0698527993995,0.999999986076,4.43587028915e-05,-0.00016015868635,1.51731905521e-05,1793249550567832832
+91,1.516666667,BASELINE,766.187287521,745.812712479,717.812712479,678.812712479,661.187287521,636,877.812712479,783.812712479,812.812712479,651,629,654,0.401025530563,-0.00549890942716,0.0698537431126,0.999999986465,4.25725462168e-05,-0.000158169961495,1.54547934794e-05,1793249550584498944
+92,1.533333333,BASELINE,766,745.612693494,718,678.612693494,661.387306506,636,877.612693494,783.612693494,812.612693494,651,629,653.612693494,0.401025545387,-0.00549866464314,0.0698540804081,0.999999986563,4.23430432921e-05,-0.000157620412956,1.53817823265e-05,1793249550601165312
+93,1.550000000,BASELINE,766,745.038388476,718,678.038388476,661.961611524,636,877.038388476,783.038388476,812.038388476,651,629,653.038388476,0.401024767388,-0.00549680241333,0.0698541249143,0.999999986522,4.28651204913e-05,-0.000157765724319,1.5137557176e-05,1793249550617831680
+94,1.566666667,BASELINE,766.552279578,745,717.447720422,678,662,636,877,783.552279578,812,651,629,653.552279578,0.40102527658,-0.00549696479657,0.0698544003017,0.999999986617,4.19757557449e-05,-0.000157383837351,1.52912830577e-05,1793249550634498304
+95,1.583333333,BASELINE,766.859962028,745.140037972,717,678.140037972,662,636,877.280075943,783.859962028,812,651.140037972,629,654,0.401025482397,-0.00549736591,0.0698543528492,0.999999986629,4.13070559909e-05,-0.000157470736889,1.54279467578e-05,1793249550651164928
+96,1.600000000,BASELINE,766.284883861,745.715116139,717,678.715116139,662,636,878.430232277,783.284883861,812,651.715116139,629,654,0.401024459314,-0.0054980581239,0.0698532510887,0.999999986353,4.16379583215e-05,-0.000159131279656,1.54230495631e-05,1793249550667832064
+97,1.616666667,BASELINE,766.292019946,745.707980054,717,678.707980054,662,636,878.415960108,783.292019946,812.292019946,651.707980054,629,654,0.401024338345,-0.00549820595599,0.0698532019771,0.999999986364,4.09510537971e-05,-0.000159251406121,1.52948523679e-05,1793249550684498944
+98,1.633333333,BASELINE,766.870715951,745.129284049,717,678.129284049,662,636,877.258568098,783.870715951,812.870715951,651.129284049,629,654,0.401025102983,-0.00549781936827,0.0698541862512,0.999999986656,3.92649679928e-05,-0.00015785930539,1.50456115295e-05,1793249550701165568
+99,1.650000000,BASELINE,767,745.458344675,717,678,661.541655325,636,877.458344675,783.541655325,813,651,629,654,0.401025313731,-0.00549721377845,0.0698544344748,0.999999986619,4.07599134045e-05,-0.000157734343307,1.48561744102e-05,1793249550717832192
+100,1.666666667,BASELINE,766.952356912,745.952356912,717.047643088,678,661,636,878,783,812.952356912,651,629,653.952356912,0.401025385237,-0.00549682118629,0.0698544297421,0.999999986505,4.27434729038e-05,-0.000157938005855,1.47748826376e-05,1793249550734499328
+101,1.683333333,BASELINE,766.373101067,745.373101067,717.626898933,678,661,636,878,783,812.373101067,651,629,653.373101067,0.40102568099,-0.00549950825387,0.0698539651344,0.999999986637,3.99682099474e-05,-0.000157741110453,1.57083361273e-05,1793249550751165952
+102,1.700000000,BASELINE,766,745.204879204,718,678.204879204,661.204879204,636,878,783,812,651,629,653,0.401026116716,-0.00550076525907,0.0698539730288,0.999999986754,3.92001816925e-05,-0.000157138962493,1.62036667495e-05,1793249550767832576
+103,1.716666667,BASELINE,766,745.780550869,718,678.780550869,661.780550869,636,878,783,812,651,629,653,0.401026805769,-0.0054994341226,0.0698548360624,0.999999986851,4.20648674495e-05,-0.000155803384362,1.59060780636e-05,1793249550784498688
+104,1.733333333,BASELINE,766,746,718,679,662,636,878,783,812,651,629,653.362433113,0.401025397675,-0.00549882291404,0.0698540461748,0.999999986523,4.19859524616e-05,-0.000157934954815,1.57641520241e-05,1793249550801165312
+105,1.750000000,BASELINE,766,746,718,679,662,636,878,783,812,651,629,653.948141412,0.401022697645,-0.00549865521348,0.069852238013,0.999999985918,4.00936465977e-05,-0.000162202445429,1.57181211839e-05,1793249550817831680
+106,1.766666667,BASELINE,766.527287536,745.472712464,718,679,661.472712464,636,878,783.527287536,812,651,629,654,0.401023451294,-0.00549894225337,0.0698533284027,0.999999986273,3.95487548205e-05,-0.000160143875971,1.56355914426e-05,1793249550834498816
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,717,678,661,636,876,783,813,651,628,653,0.401027855905,-0.00549959944149,0.0698556556879,0.99999998704,4.09677641655e-05,-0.00015492177302,1.55345336441e-05,1793249550876999936
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.845078978,745.422539489,717,678,661.577460511,636,876.577460511,783,812.422539489,651.577460511,628.577460511,653.577460511,0.401026168319,-0.0054981537211,0.0698548497778,0.999999986627,4.21751666053e-05,-0.000157256067425,1.54221004769e-05,1793249550893666048
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,717.149243997,678,661.850756003,636,877,783.149243997,812,651.850756003,629,653.850756003,0.40102536695,-0.0054970153074,0.0698546363857,0.999999986422,4.33501283124e-05,-0.000158239757612,1.53909898432e-05,1793249550910332416
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,717.7055438,678,661.2944562,636,877,783.7055438,812,651.2944562,629,653.2944562,0.401026982695,-0.00549671505759,0.0698560390581,0.999999986795,4.44366097558e-05,-0.00015553974043,1.55816824735e-05,1793249550926999040
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.288920313,718,678,661,636,877.288920313,784,812,651,629,653.288920313,0.401026585146,-0.00549745778232,0.0698560021748,0.999999986784,4.39600005846e-05,-0.000155726479518,1.57421650459e-05,1793249550943665664
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.9027459,718,678,661,636,877.9027459,784,812,651,629,653.9027459,0.401023923546,-0.00549937338388,0.0698543464392,0.999999986338,4.17256181389e-05,-0.000159159519898,1.58686748927e-05,1793249550960332288
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,718,678,661.484107308,636,877.515892692,783.515892692,812.484107308,651,629,654,0.40102361933,-0.00550019172446,0.0698540513589,0.999999986221,3.98688815817e-05,-0.000160388772848,1.56062551502e-05,1793249550976999168
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.059384725,746,718,678,662,636,877,783.059384725,813,651,629,654,0.40102382979,-0.00550065290878,0.0698540766376,0.999999986076,3.83711376505e-05,-0.000161674568574,1.53714382409e-05,1793249550993666048
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.634905417,746,718,678,662,636,877,783.634905417,813,651,629,654,0.401024656066,-0.00549980537234,0.0698546598228,0.999999985142,3.93755919791e-05,-0.000167057889822,1.6012939632e-05,1793249551010333184
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.784379783,746,718,678.215620217,662,636,877.215620217,784,813,651,629,654,0.401030771058,-0.0054994911961,0.0698574119671,0.999999984569,3.98631772688e-05,-0.000170294579251,1.65079887022e-05,1793249551026999808
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.194653135,746,718,678.805346865,662,636,877.805346865,784,813,651,629,654,0.401046062105,-0.00550010241315,0.0698639273091,0.999999984664,3.94539818355e-05,-0.000169806808606,1.67489392924e-05,1793249551043665664
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,717.612110384,679,661.612110384,636,877.612110384,783.612110384,813,651.387889616,629,654,0.401078211845,-0.00550031853725,0.0698742009758,0.999999985948,3.98701221213e-05,-0.000161936245831,1.70753207478e-05,1793249551060332288
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,717.033107095,679,661.033107095,636,877.033107095,783.033107095,813,651.966892905,629,654,0.401118667884,-0.00550033999863,0.0698863263741,0.999999987706,4.0692906252e-05,-0.000150428172571,1.74437941113e-05,1793249551076998912
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,717.542096803,678.457903197,661,635.457903197,877,783.542096803,812.457903197,652,629,654,0.40118205525,-0.00550226703883,0.0698981870923,0.99999999001,4.14363015399e-05,-0.000134013188975,1.74219161963e-05,1793249551093665536
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.117253075,745.882746925,718,678,661.117253075,635.117253075,877.117253075,784,812,651.882746925,629,653.882746925,0.401249729471,-0.00550398256848,0.069908413556,0.999999991776,4.22140278398e-05,-0.000119883544016,1.71538170267e-05,1793249551110331904
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.693124503,745.306875497,718,678,661.693124503,635.693124503,877.693124503,784,812,651.306875497,629,653.306875497,0.401328731517,-0.00550441877822,0.0699123106597,0.99999999223,4.31448672097e-05,-0.000115856646122,1.60152555663e-05,1793249551126999552
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.724698073,745,717.724698073,678,662,636,877.724698073,784,812,651,629,653.275301927,0.401416394885,-0.00550591221306,0.069912947067,0.999999992291,4.07637941143e-05,-0.000116431658871,1.41483900736e-05,1793249551143666688
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.135326689,745,717.135326689,678,662,636,877.135326689,784,812,651,629,653.864673311,0.40151393924,-0.00550861174954,0.0699098636121,0.999999991862,3.46044308329e-05,-0.000122256615426,1.14506621288e-05,1793249551160333056
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.446193468,717.446193468,678.446193468,661.553806532,635.553806532,877.446193468,784,812.446193468,651,629,654,0.401631599918,-0.00550947642884,0.0699085787061,0.999999991379,3.47628830273e-05,-0.00012633091713,8.64839584502e-06,1793249551176999424
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,718,678.974844788,661.025155212,635.025155212,878,783.974844788,812.974844788,651.025155212,629,653.974844788,0.401756577236,-0.00550995733811,0.0699079270237,0.999999990885,3.64969128433e-05,-0.000129859254481,5.81193608502e-06,1793249551193665792
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,718,678.400649181,661.599350819,635.599350819,878,783.400649181,812.400649181,651.599350819,629,653.400649181,0.401910387503,-0.00551399816765,0.0699093962186,0.999999990673,3.15209702675e-05,-0.000132859689024,2.90920845848e-06,1793249551210332672
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.174021147,745.825978853,718,678.174021147,662,636,878,783.174021147,812,651.825978853,629,653.174021147,0.402077491183,-0.0055170592238,0.0699121862176,0.99999999094,2.74549500808e-05,-0.000131781525067,-2.25455045813e-07,1793249551226999040
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.749787335,745.250212665,718,678.749787335,662,636,878,783.749787335,812,651.250212665,629,653.749787335,0.402275284002,-0.00551785837553,0.0699180254234,0.999999992312,2.54895764796e-05,-0.000121287512379,-3.89556507774e-06,1793249551243665664
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.664261947,745.335738053,718,678.664261947,662,636,877.664261947,783.664261947,812.335738053,651,629,654,0.402488844948,-0.00551958407869,0.0699210331662,0.99999999278,2.18172174259e-05,-0.00011787963901,-8.29372777746e-06,1793249551260332544
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.070483581,745.929516419,718,678.070483581,662,636,877.070483581,783.070483581,812.929516419,651,629,654,0.402714524926,-0.00552202190741,0.0699218647141,0.99999999258,1.68329095816e-05,-0.000119918003355,-1.32514549008e-05,1793249551276999424
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,717.492456128,678,662,636,877.507543872,783.507543872,813,651,629,654,0.402974888329,-0.00552322280509,0.0699232700477,0.999999992591,1.22000302189e-05,-0.000119684412478,-1.85739623037e-05,1793249551293666304
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.083148071,746,717.083148071,678,662,636,878.083148071,784,813,651,629,653.916851929,0.403247495817,-0.00552475651131,0.0699262970909,0.999999992982,5.20024615782e-06,-0.000115948484101,-2.3755573562e-05,1793249551310333184
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.656971913,746,717.656971913,678,662,636,878.656971913,784,813,651,629,653.343028087,0.403564790514,-0.00552923736916,0.0699384381419,0.999999995127,-1.60465174693e-05,-9.33503201668e-05,-2.7815781883e-05,1793249551326999552
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.762465787,717.762465787,678,662,636,878.762465787,784,812.762465787,651,629,653,0.403896496576,-0.00553228954742,0.0699482044026,0.999999996083,-3.06646430374e-05,-7.74813353065e-05,-2.98340885237e-05,1793249551343665920
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.171888258,717.171888258,678,662,636,878.171888258,784,812.171888258,651,629,653,0.404249622002,-0.00553321830169,0.0699544410495,0.999999996393,-3.54307282295e-05,-7.16138235338e-05,-2.8817549022e-05,1793249551360332800
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.589402791,745.410597209,717.410597209,678,662,636,878,783.589402791,812.410597209,651,629,653,0.404629212706,-0.00553537757525,0.0699580081041,0.999999996786,-3.29003456429e-05,-6.70472015197e-05,-2.91422372416e-05,1793249551376999168
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.010239446,745.989760554,717.989760554,678,662,636,878,783.010239446,812.989760554,651,629,653,0.405019668428,-0.00553804202484,0.069960479187,0.999999997189,-2.73744788926e-05,-6.30146455331e-05,-3.00175516737e-05,1793249551393665536
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.565302467,746,718,678.565302467,662.565302467,636,878,783.565302467,812.434697533,651,629,653.565302467,0.405445826595,-0.005538717854,0.069963736255,0.999999997425,-3.12261527874e-05,-5.66739909944e-05,-3.10403513507e-05,1793249551410332160
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.859803826,718,679,662.859803826,636,878,784,812.140196174,651,629,654,0.405878632813,-0.00553802863512,0.069964484555,0.999999997445,-3.37409917103e-05,-5.44978424498e-05,-3.16456229052e-05,1793249551426998272
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.286710495,718,679,662.286710495,636,878,784,812.713289505,651,629,654,0.406329982652,-0.00553323494192,0.0699574426106,0.999999996889,-3.16068100134e-05,-6.53091092407e-05,-3.09534563583e-05,1793249551443664896
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.702228901,745,717.702228901,679,662,636,878.297771099,783.702228901,813,651,629,654,0.406809330093,-0.00552790116601,0.0699439874525,0.999999995621,-2.49104462427e-05,-8.43612779824e-05,-3.19329544231e-05,1793249551460331520
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.106345942,745,717.106345942,679,662,636,878.893654058,783.106345942,813,651,629,654,0.407316707228,-0.00552202668877,0.0699241117406,0.999999993074,-1.36466792828e-05,-0.000111663780604,-3.45860300089e-05,1793249551476998144
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.472180312,745,717.472180312,679,662,636,878.527819688,783.472180312,813,651,629,653.527819688,0.407882588905,-0.00552828338645,0.0699281007358,0.999999994171,-2.42057222781e-05,-9.90502731183e-05,-3.55232721332e-05,1793249551493665536
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.046927764,718,679,662,636,878.046927764,783.953072236,813,651,629,653.046927764,0.4084650065,-0.00553679563071,0.0699376647882,0.999999995633,-3.85535029906e-05,-7.70702111533e-05,-3.61498476671e-05,1793249551510333184
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.621582637,718,679,662,636,878.621582637,783.378417363,813,651,629,653.621582637,0.409090455732,-0.00554103679792,0.0699516229327,0.99999999729,-4.21955441283e-05,-4.72712541452e-05,-3.74745151824e-05,1793249551526999552
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,679,662.40344336,636,879,783,813,651,629,654,0.409708558175,-0.005544060363,0.0699574230922,0.999999997623,-4.63798728004e-05,-3.31222250946e-05,-3.88154605802e-05,1793249551543666432
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,679,663.584872331,636,879,783,813,651,629,654,0.410312493297,-0.00554473594784,0.0699474916872,0.999999996653,-5.16099290116e-05,-4.91519539965e-05,-4.01877956268e-05,1793249551560333312
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.624492535,746,717.624492535,679,663.248985071,636,879,783,813,651,629,654,0.41097172365,-0.00554424668699,0.0699433192322,0.999999996126,-5.08979893587e-05,-5.90400098624e-05,-4.08797513298e-05,1793249551576999936
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.045561791,746,717.045561791,679,662.091123582,636,879,783,813,651,629,654,0.411660909014,-0.00554312639544,0.0699422665676,0.999999995896,-4.69670981145e-05,-6.56009428731e-05,-4.12031257749e-05,1793249551593666304
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.528601924,746,717.528601924,679.528601924,662.528601924,636,879,783.528601924,813,651,629,654,0.412407396906,-0.00554457169321,0.0699705237703,0.999999997798,-4.94386095639e-05,-1.58560663835e-05,-4.13390844819e-05,1793249551610332672
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718,680,663,636,879.102972509,784,813,651,629,654,0.413162171775,-0.00554613849987,0.0700001113553,0.99999999711,-5.36824192015e-05,3.44983697754e-05,-4.13243602318e-05,1793249551626999296
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718,680,663,636,879.680170999,784,813,651,629,654,0.41393256801,-0.00554725558958,0.070024295252,0.999999995006,-6.35695872792e-05,6.55091885055e-05,-4.0689416225e-05,1793249551643665664
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663,636,880,784,813,650.736969532,629,654,0.414670416163,-0.00554721566691,0.0700175469487,0.999999995912,-6.5265742648e-05,4.70367702907e-05,-4.12817685998e-05,1793249551660332288
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,680,663,636,880,784,813,650.147075172,629,654,0.415367817422,-0.00554573794303,0.0699723596825,0.999999996904,-5.67830544006e-05,-3.2927696554e-05,-4.33992629553e-05,1793249551676998912
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,680,663,636.434286475,880.434286475,783.565713525,813,650.86857295,629,654,0.416148329098,-0.00554291032658,0.0699323707095,0.999999992848,-5.75161580231e-05,-9.35829725277e-05,-4.73081840937e-05,1793249551693665792
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680.012721766,663,636.987278234,881,783,813,651.974556467,629,654,0.416957459498,-0.00553978021796,0.0698956314601,0.999999986181,-6.13052969541e-05,-0.000145632084934,-5.16810185553e-05,1793249551710332416
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680.587081369,663,636.412918631,881,783,813,650.825837263,629,654,0.417811400134,-0.00554308917175,0.0699261378115,0.999999991545,-6.48807880757e-05,-0.000100868312527,-5.02669815866e-05,1793249551726999296
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718,681,663,636.165106088,881.165106088,783.165106088,813.165106088,650.165106088,629,654,0.418664948947,-0.00554529367422,0.0699552018348,0.99999999479,-6.80005726267e-05,-5.82615445317e-05,-4.90005004443e-05,1793249551743665920
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718,681,663,636.752505069,881.752505069,783.752505069,813.752505069,650.752505069,629,654,0.419517495538,-0.00554467331437,0.0699805768042,0.999999996172,-6.99547936001e-05,-2.11717634891e-05,-4.81114240413e-05,1793249551760332544
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.664926304,746,718,681,663.335073696,637,882.335073696,784,813.664926304,651,628.664926304,654,0.420406611781,-0.00554655389569,0.0700058747221,0.999999995996,-7.36932879447e-05,1.74247681109e-05,-4.76839767475e-05,1793249551776999424
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.085874836,746,718,681,663.914125164,637,882.914125164,784,813.085874836,651,628.085874836,654,0.421322355508,-0.00555025549154,0.0700311165354,0.999999994137,-7.87309681254e-05,5.71184108797e-05,-4.75926562444e-05,1793249551793665792
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.492015682,746,717.507984318,681,663.507984318,637,883,784,813.492015682,651,628,654,0.422205228326,-0.00554852079415,0.0700165208106,0.999999995248,-7.8845098271e-05,3.00413060042e-05,-4.88267586943e-05,1793249551810332416
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.930564549,746,717.069435451,680.930564549,663.069435451,636.930564549,883.069435451,784,814,651,628.069435451,653.930564549,0.423071716349,-0.00554563032459,0.0699869861394,0.999999995468,-7.80095713744e-05,-1.96316976804e-05,-5.09267432667e-05,1793249551826999040
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.355102543,746,717.644897457,680.355102543,663.644897457,636.355102543,883.644897457,784,814,651,628.644897457,653.355102543,0.423860508606,-0.00554121546385,0.0698991336508,0.999999984274,-7.65011009105e-05,-0.000149246524352,-5.76551009017e-05,1793249551843665664
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.224685256,746,717.775314744,680.449370511,664,636.224685256,884,784,814,651.224685256,628.775314744,653.224685256,0.424694620906,-0.00553993807124,0.069851490975,0.999999971826,-7.74753256304e-05,-0.000215742788886,-6.16447404053e-05,1793249551860332288
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.811444028,746,717.188555972,681.622888056,664,636.811444028,884,784,814,651.811444028,628.188555972,653.811444028,0.425601765213,-0.00554371661326,0.0698686451869,0.999999978432,-8.24503401763e-05,-0.000180525416821,-6.12210204755e-05,1793249551876999168
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.604887988,717,682,664,636.604887988,884,784,814,651.604887988,628.395112012,654,0.426549067266,-0.00554635324066,0.0699178672363,0.999999988712,-8.73435478888e-05,-0.000107655003092,-5.79402438693e-05,1793249551893666048
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.022683581,717,682,664,636.022683581,884,784,814,651.022683581,628.977316419,654,0.427515384654,-0.00554844915145,0.0699822739621,0.999999994185,-9.21980177756e-05,-1.69552220514e-05,-5.33066009869e-05,1793249551910332672
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.446600669,745.553399331,717.553399331,681.446600669,664,636,884,783.446600669,814.553399331,651,628.446600669,654,0.428477482174,-0.00554866153096,0.0700177753892,0.999999993839,-9.09768436994e-05,3.51816815299e-05,-5.29791101978e-05,1793249551926999040
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.128960452,745.871039548,718,681.128960452,664,636.128960452,884.128960452,783,814.871039548,651.128960452,628.128960452,654,0.429422127892,-0.00554973017006,0.0700432475297,0.999999991646,-9.1761321287e-05,7.38919021043e-05,-5.31780553365e-05,1793249551943665408
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.703575982,745.296424018,718,681.703575982,664,636.703575982,884.703575982,783,814.296424018,651.703575982,628.703575982,654,0.430307055697,-0.00555402171068,0.0700381105901,0.999999990913,-0.00010032802713,7.16055141141e-05,-5.45929405334e-05,1793249551960332032
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.286059467,718,682,664,637,885,783.286059467,814.286059467,651.713940533,628.713940533,654,0.431123984952,-0.00555394399311,0.0699970164742,0.999999993266,-0.000101125821393,1.34791869307e-06,-5.69182667091e-05,1793249551976998656
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.876926529,718,682,664,637,885,783.876926529,814.876926529,651.123073471,628.123073471,654,0.431868459023,-0.00554921065908,0.069917608575,0.999999983815,-9.36455331801e-05,-0.000141335667834,-6.02137025619e-05,1793249551993665280
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,717.541653437,682.458346563,664,636.541653437,885,784,815,651,628,654,0.43271627917,-0.00555017638821,0.0698929525041,0.999999978549,-9.56033489183e-05,-0.000172946133186,-6.20574547709e-05,1793249552010332672
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717,682.963053772,664.036946228,636.036946228,885.036946228,784,815,651,628.036946228,654,0.433595111153,-0.005552648613,0.0698878199569,0.999999978921,-9.98739735707e-05,-0.000167899594996,-6.31846987172e-05,1793249552026999808
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717,682.389320717,664.610679283,636.610679283,885.610679283,784,815,651,628.610679283,654,0.434529473709,-0.0055552241206,0.0699570559219,0.999999991561,-0.000101670391645,-5.48398777813e-05,-5.94508740906e-05,1793249552043666432
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.810880802,717,682.189119198,665,636.810880802,886.189119198,784,815,651,629,654,0.435429064267,-0.00555769622147,0.0700100855785,0.9999999926,-0.000102782014462,3.18550520694e-05,-5.67556745676e-05,1793249552060332800
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.222503925,717,682.777496075,665,636.222503925,886.777496075,784,815,651,629,654,0.436255246339,-0.00555995001641,0.0700289014132,0.999999991192,-0.00010244793912,6.28901648164e-05,-5.62531618042e-05,1793249552076998912
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.35998578,717.35998578,682.64001422,665,636.35998578,886.64001422,784,815,651,629,654.35998578,0.437058436097,-0.00556149342019,0.0700267888079,0.999999990583,-0.000105224736856,6.6936319978e-05,-5.72785840978e-05,1793249552093665536
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.938895194,717.938895194,682.061104806,665,636.938895194,886.061104806,784,815,651,629,654.938895194,0.43784764314,-0.00556260480285,0.0700119486704,0.999999990719,-0.000109893397263,5.45692674737e-05,-5.92332128527e-05,1793249552110332416
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.484514327,746,717.484514327,682,664.484514327,637,886,784,815,651,629,654.484514327,0.438569406299,-0.0055610693686,0.0699682817164,0.999999992102,-0.000109444425905,-6.16286153292e-06,-6.14749414578e-05,1793249552126999296
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717,682,664,636.908868897,886,783.908868897,815,651,628.908868897,654,0.439273655569,-0.0055590570837,0.0699190864266,0.99999998911,-0.000107502440409,-7.86459063549e-05,-6.35466571247e-05,1793249552143666176
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717,682,664,636.336766975,886,783.336766975,815,651,628.336766975,654,0.439927475502,-0.00555617656796,0.0698586676193,0.999999976081,-0.000100867997546,-0.000183025146953,-6.45422698824e-05,1793249552160333056
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.756628065,746,717,682,664,636,886.243371935,783.243371935,815,651,628,654,0.440604011273,-0.00555520518389,0.0698298911552,0.999999966116,-9.7866959363e-05,-0.000232219244457,-6.52971058995e-05,1793249552176999680
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.837484802,746,717,682,664.418742401,636,887,784,815,651,628.418742401,654,0.442010384476,-0.00556086685833,0.0698817612513,0.999999980668,-0.000107838619335,-0.000151304171752,-6.43640969287e-05,1793249552210332928
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.998828947,746,717,682,664.999414474,636,887,784,815,651,628.999414474,654,0.442703186525,-0.00556559565599,0.0699244212586,0.999999986899,-0.000117767693232,-9.19047144319e-05,-6.23426899309e-05,1793249552226999040
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.425751319,746,717,682,664.425751319,636,887,784,815,651,628.425751319,654,0.44329419394,-0.00556480536124,0.0699086833895,0.999999983899,-0.000112234471406,-0.000125656075914,-6.17759705521e-05,1793249552243666176
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+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,682,664,636,887,784,815.741082318,651,628.741082318,654,0.444397374939,-0.00556591333853,0.0698391058469,0.999999962464,-9.90025154757e-05,-0.000247815168565,-6.21217237091e-05,1793249552276999680
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,682.324108296,663.675891704,636,886.675891704,783.675891704,816,651,629,654,0.444914759093,-0.00556764450703,0.0698022566446,0.999999946704,-9.99271593793e-05,-0.000304363189315,-6.30107419188e-05,1793249552293666304
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,682.902858598,663.097141402,636,886.097141402,783.097141402,816,651,629,654,0.445423434476,-0.00556967681341,0.069772564371,0.999999932759,-0.000107269345575,-0.000344766648623,-6.41213392171e-05,1793249552310333184
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635.519769221,886,783,816,651,629,654,0.445909883201,-0.00556727042964,0.0697617508776,0.999999929,-0.000106501851546,-0.000355585042533,-6.49287755618e-05,1793249552326999040
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,886.057010557,783,815.942989443,651,629,654,0.446386538723,-0.00556429144266,0.0697547582422,0.999999926999,-0.000104256206025,-0.000361702937136,-6.55958432097e-05,1793249552343664896
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663,635,886.630939389,783,815.369060611,651,629,654,0.446815047768,-0.00556423829459,0.0697478832358,0.999999920565,-0.000103439401688,-0.000379307555661,-6.55446128925e-05,1793249552360331776
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+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717,682.616491383,663,635,887,783,815.383508617,651,629,654.616491383,0.447959813658,-0.0055677643447,0.0696979510976,0.999999879779,-0.000111252837442,-0.000472956831408,-6.61486436685e-05,1793249552410331648
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.139013004,745.860986996,717,681,662,636,879.139013004,784,813,651,629,653.139013004,0.422023918864,-0.00540230259385,0.0696977303117,0.999999859954,0.000149684948714,-0.000507116978307,2.27931436232e-05,1793249554550137856
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.554279574,717.445720426,681,662,635.554279574,879.445720426,784,813,650.554279574,629,653.445720426,0.421157151019,-0.00540167149859,0.0696870824433,0.99999985443,0.0001503439922,-0.000517746690768,2.18136499123e-05,1793249554566804224
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.61077002,745,717.38922998,681,662,635.61077002,879.38922998,784,813,650.61077002,629,654,0.419569700083,-0.00540349678201,0.0697881586061,0.999999931604,0.000142024347598,-0.000340614361978,2.45583386783e-05,1793249554600137216
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745.189060124,717.189060124,680.810939876,662,636,879,784,813,651,629,654,0.418781089059,-0.00540410482634,0.0698550593951,0.999999961587,0.000143712741681,-0.000235317823969,2.82656518824e-05,1793249554616803584
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.825347549,745,717,680,661.174652451,636,878.174652451,784,812.825347549,651,629,653.174652451,0.412402331128,-0.00539483450614,0.0698080409444,0.999999942113,0.000163967458102,-0.000296931986765,2.68290432151e-05,1793249554750137856
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,718,679.12677517,661.12677517,636,878,783.87322483,812.12677517,651,629,653.12677517,0.409745604204,-0.00538833925089,0.0698353079536,0.999999948237,0.000182150176228,-0.000263776820338,2.77468804551e-05,1793249554816804608
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.209886933,717,679.209886933,661,635.790113067,878,783.209886933,812,651,628.209886933,654,0.405437130137,-0.00537704214095,0.0698005177822,0.999999926236,0.000193564937375,-0.000330899663384,2.37858087705e-05,1793249554950137088
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,717.078444907,678.921555093,661,636,877.078444907,783,812.921555093,651.921555093,629,653,0.401415732681,-0.00536254747001,0.0698035171199,0.99999992631,0.000223406598573,-0.000311678649129,1.80626445333e-05,1793249555216803840
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..555dfdbcb3ba73917f3c2f2b7dd4e3a849e53c28
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.575673668015,0.000150103918675,1.06003368003,0.546244346405,0.00882273688984,1.05970506049
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+379,6.316666667,pose2_to_pose3_retreat,0.575667250235,0.000150116611694,1.06003360421,0.546237928098,0.00882274779215,1.05970498461
+380,6.333333333,pose2_to_pose3_retreat,0.5756667746,0.000150123012408,1.06003359155,0.546237451993,0.00882275253416,1.0597049703
+381,6.350000000,pose2_to_pose3_retreat,0.575666283332,0.00015012962351,1.06003357847,0.546236960239,0.00882275743203,1.05970495552
+382,6.366666667,pose2_to_pose3_retreat,0.575665840932,0.00015009272727,1.0600335591,0.546236518042,0.00882272136925,1.05970493998
+383,6.383333333,pose2_to_pose3_retreat,0.575665483194,0.000150060980787,1.0600335431,0.546236160497,0.0088226904027,1.05970492731
+384,6.400000000,pose2_to_pose3_retreat,0.575665192135,0.000150035151494,1.06003353008,0.546235869594,0.00882266520797,1.059704917
+385,6.416666667,pose2_to_pose3_retreat,0.575664978008,0.000150016149443,1.06003352051,0.546235655583,0.00882264667276,1.05970490942
+386,6.433333333,pose2_to_pose3_retreat,0.57566486783,0.000150006371923,1.06003351558,0.546235545464,0.00882263713545,1.05970490552
+387,6.450000000,pose2_to_pose3_retreat,0.575664849949,0.000150004785169,1.06003351478,0.546235527593,0.00882263558768,1.05970490488
+388,6.466666667,pose2_to_pose3_retreat,0.575664831362,0.000150003135678,1.06003351395,0.546235509015,0.00882263397871,1.05970490422
+389,6.483333333,pose2_to_pose3_retreat,0.575664829712,0.000150002989312,1.06003351387,0.546235507367,0.00882263383594,1.05970490417
+390,6.500000000,pose2_to_pose3_retreat,0.575664821792,0.000150002286426,1.06003351352,0.546235499451,0.00882263315032,1.05970490388
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+393,6.550000000,pose2_to_pose3_retreat,0.575664642656,0.000150055941412,1.06003347862,0.546235320496,0.00882268735405,1.05970486732
+394,6.566666667,pose2_to_pose3_retreat,0.575664552785,0.000150088401959,1.06003345897,0.546235230721,0.0088227201025,1.05970484657
+395,6.583333333,pose2_to_pose3_retreat,0.575664462469,0.000150121022921,1.06003343922,0.546235140502,0.0088227530128,1.05970482572
+396,6.600000000,pose2_to_pose3_retreat,0.57566436711,0.00015015141651,1.06003342822,0.546235045398,0.00882278428239,1.05970481503
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..48660aba48272d706a3354db43ad9c47fb7819aa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e10bb9e32b15a1ef69d9633df06152705299e84c79aef50afb07423bbbce729a
+size 25516846
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05c6b087b4e02c9cf9be918bfa501042ad941959
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+11,0.183333333,BASELINE,766,745,717.613045259,678.386954741,661.386954741,636,877,783.386954741,812,651,629,654,0.400977273968,-0.00536608386957,0.0698324102838,0.9999999435,0.000207118727699,-0.000264314383741,1.54808047733e-05,1793249556116527616
+12,0.200000000,BASELINE,766,745,717.038376774,678.961623226,661.961623226,636,877,783.961623226,812,651,629,654,0.40097861111,-0.00536397649967,0.0698331435161,0.999999943648,0.000209043498155,-0.000262259768028,1.49600721712e-05,1793249556133194240
+13,0.216666667,BASELINE,766,745,717.550154578,678.449845422,661.449845422,636,877,783.449845422,812.550154578,651,629,654,0.400978825113,-0.00536484628637,0.0698334500787,0.999999943943,0.000208094232461,-0.000261876525824,1.52298637852e-05,1793249556149861120
+14,0.233333333,BASELINE,766,745,717.862242513,678,661,635.862242513,877,783,812.862242513,651,629,654,0.400978784677,-0.00536554591369,0.0698335801135,0.999999944048,0.000207429765498,-0.000261985675101,1.54890089365e-05,1793249556166527744
+15,0.250000000,BASELINE,766,745,717.280824484,678,661,635.280824484,877,783,812.280824484,651,629,654,0.400978183637,-0.0053650114003,0.0698332399565,0.999999943513,0.000208344880193,-0.000263295424639,1.55316789437e-05,1793249556183194624
+16,0.266666667,BASELINE,766.297339778,745,717,678,661.297339778,635,877,783.297339778,812,651,628.702660222,654,0.40097724145,-0.00536546424157,0.0698328835152,0.999999943333,0.000207752072742,-0.000264445418022,1.55742714099e-05,1793249556199861248
+17,0.283333333,BASELINE,766.872464227,745,717,678,661.872464227,635,877,783.872464227,812,651,628.127535773,654,0.400975980551,-0.0053668395023,0.0698325118606,0.999999943481,0.000205750514408,-0.000265446161834,1.56167914321e-05,1793249556216528128
+18,0.300000000,BASELINE,766.543094973,745.456905027,717,678,661.543094973,635.456905027,877,783.543094973,812,651,628.456905027,653.543094973,0.400976550881,-0.00536783945931,0.0698327877819,0.999999943752,0.000205607118374,-0.000264529320488,1.56757068253e-05,1793249556233194752
+19,0.316666667,BASELINE,766,745.95661698,717.04338302,678.04338302,661,636,877,783,812,651,629,653.04338302,0.40097756394,-0.00536849222673,0.069833227259,0.999999944016,0.000206091786459,-0.00026315035464,1.57126539086e-05,1793249556249861376
+20,0.333333333,BASELINE,766,745.377759501,717.622240499,678.622240499,661,636,877,783,812,651,629,653.622240499,0.400977601146,-0.00536617959223,0.0698334079762,0.999999943757,0.00020779346893,-0.000262811548653,1.54207847863e-05,1793249556266527744
+21,0.350000000,BASELINE,766.199862991,745,717.800137009,679,661.199862991,636,877,783,812,651,629,653.800137009,0.400977682683,-0.00536497109441,0.0698335115593,0.999999943673,0.000208516240487,-0.000262564892486,1.53025713834e-05,1793249556283194368
+22,0.366666667,BASELINE,766.775165509,745,717.224834491,679,661.775165509,636,877,783,812,651,629,653.224834491,0.400977847493,-0.00536583670047,0.0698334702473,0.999999943921,0.000207400142881,-0.000262491338368,1.55105675893e-05,1793249556299861504
+23,0.383333333,BASELINE,766.651148294,745,717,678.651148294,662,636,877.348851706,783,812,651,629.348851706,653,0.40097849558,-0.00536566834265,0.0698337161969,0.999999944083,0.000207629944893,-0.000261697496596,1.54614952622e-05,1793249556316528384
+24,0.400000000,BASELINE,766.078498953,745,717,678.078498953,662,636,877.921501047,783,812,651,629.921501047,653,0.400979453702,-0.00536483666963,0.0698341464325,0.999999944186,0.000208723177139,-0.000260441571158,1.52475066647e-05,1793249556333195264
+25,0.416666667,BASELINE,766,745,717,678.51137295,661.48862705,636,877.48862705,783.51137295,812.51137295,651,628.977254101,653.51137295,0.40097834864,-0.00536498151801,0.0698335528671,0.999999943588,0.000209297442507,-0.000262270238991,1.52718647841e-05,1793249556349861632
+26,0.433333333,BASELINE,766,745,717.101554917,679,661,636,877,784,813,651,628,654,0.40097693976,-0.00536520700035,0.0698327833271,0.999999943019,0.000209370576487,-0.000264374183263,1.5248349543e-05,1793249556366527744
+27,0.450000000,BASELINE,766,745,717.680337511,679,661,636,877,784,813,651,628,654,0.400975643348,-0.00536508242597,0.069831951112,0.99999994313,0.000207476198418,-0.000265469062922,1.48219417925e-05,1793249556383194368
+28,0.466666667,BASELINE,766,745,718,679,661.257264538,636,877,784,813,651.257264538,628.257264538,653.742735462,0.400975936877,-0.00536520626669,0.0698323873722,0.999999943465,0.000206961432089,-0.000264602330913,1.49254392525e-05,1793249556399860992
+29,0.483333333,BASELINE,766,745,718,679,661.831902416,636,877,784,813,651.831902416,628.831902416,653.168097584,0.400978191832,-0.0053656365637,0.0698343884819,0.999999944071,0.000208148618229,-0.00026131566466,1.56826521241e-05,1793249556416527616
+30,0.500000000,BASELINE,766.409306656,745,718,679,661.590693344,636,877,783.590693344,812.590693344,651.590693344,629,653.409306656,0.400978151722,-0.00536538237763,0.0698350671114,0.999999944165,0.000207954317767,-0.000261119417799,1.55180453692e-05,1793249556433193984
+31,0.516666667,BASELINE,766.987854726,745,718,679,661.012145274,636,877,783.012145274,812.012145274,651.012145274,629,653.987854726,0.40097716264,-0.00536484516933,0.0698351989177,0.99999994405,0.000207188795814,-0.000262201007431,1.49722816938e-05,1793249556449860608
+32,0.533333333,BASELINE,766.442475557,745,717.442475557,679,661,636,877.557524443,783,812.557524443,651,629,653.442475557,0.400978009282,-0.00536511182064,0.0698350531513,0.999999944248,0.000206970268864,-0.000261614124765,1.50111606031e-05,1793249556466528000
+33,0.550000000,BASELINE,766,745,717,678.866938104,661.133061896,636,877.866938104,783,812.866938104,651,629,653,0.400978475886,-0.00536527051797,0.0698346816866,0.999999944245,0.000207255123613,-0.000261394372672,1.508459506e-05,1793249556483195136
+34,0.566666667,BASELINE,766,745,717,678.270294581,661.729705419,636,877.270294581,783,812.270294581,651,629,653,0.400977481317,-0.00536499305545,0.0698335446355,0.999999943517,0.00020925287376,-0.000262578331605,1.52347432653e-05,1793249556499861504
+35,0.583333333,BASELINE,766,745,717.315870971,678.315870971,662,636,877,783,812,651,629,653,0.400977098562,-0.00536538109025,0.0698330761644,0.999999943304,0.000209188723971,-0.000263429643685,1.53828934802e-05,1793249556516527872
+36,0.600000000,BASELINE,766,745,717.893358333,678.893358333,662,636,877,783,812,651,629,653,0.400977222535,-0.00536632031529,0.0698331614366,0.999999943519,0.00020741683019,-0.000264005445076,1.55293888997e-05,1793249556533194496
+37,0.616666667,BASELINE,766,745,718,678.520370184,661.520370184,636,877,783.479629816,812,651,629,653,0.400978218226,-0.00536724556953,0.0698341527657,0.99999994437,0.000205852406392,-0.000261987206492,1.57100695108e-05,1793249556549861120
+38,0.633333333,BASELINE,766,745,718,678,661.066685968,636,877.066685968,784,812.066685968,651.066685968,629.066685968,653,0.400979108602,-0.00536789510942,0.0698350255307,0.999999945075,0.000204847615386,-0.000260070842384,1.58216130994e-05,1793249556566527744
+39,0.650000000,BASELINE,766,745,718,678,661.644507523,636,877.644507523,784,812.644507523,651.644507523,629.644507523,653,0.400977678452,-0.00536645560374,0.069833416608,0.999999943598,0.000207772137122,-0.000263438581981,1.53438887963e-05,1793249556583194880
+40,0.666666667,BASELINE,766,745,718,678,662,636,877.778463108,783.778463108,812.778463108,651.778463108,629.778463108,653,0.400977313178,-0.00536527278767,0.0698330046756,0.999999942999,0.000209566430214,-0.000264305101507,1.50525311841e-05,1793249556599861760
+41,0.683333333,BASELINE,766,745,718,678,662,636,877.202700435,783.202700435,812.202700435,651.202700435,629.202700435,653,0.400978650583,-0.00536450040477,0.0698345066674,0.999999943825,0.00020955354727,-0.00026117230214,1.50591640898e-05,1793249556616528384
+42,0.700000000,BASELINE,766,745.373718507,718,678,662,636,877,783.373718507,812,651,629,653.373718507,0.400977833463,-0.00536489036672,0.0698338464127,0.999999943751,0.000208865061724,-0.000261995020607,1.52599226872e-05,1793249556633195008
+43,0.716666667,BASELINE,766,745.95049401,718,678,662,636,877,783.95049401,812,651,629,653.95049401,0.400975845699,-0.00536591187956,0.0698320113185,0.999999943183,0.000207809492848,-0.000264966938507,1.55661579437e-05,1793249556649861376
+44,0.733333333,BASELINE,766,746,718,678,662,636,877,783.461502618,812,651,629,654,0.400975726386,-0.00536601442843,0.0698318861017,0.999999943087,0.000207581797074,-0.000265501779776,1.56079303107e-05,1793249556666528256
+45,0.750000000,BASELINE,766.125573232,745.874426768,717.874426768,678.125573232,661.874426768,635.874426768,877,783.125573232,812,651,629,653.874426768,0.400976260303,-0.00536607781364,0.0698322858673,0.99999994326,0.000207322571147,-0.000265055090007,1.561801431e-05,1793249556683194880
+46,0.766666667,BASELINE,766.705478943,745.294521057,717.294521057,678.705478943,661.294521057,635.294521057,877,783.705478943,812,651,629,653.294521057,0.400978522923,-0.00536631167863,0.0698340042007,0.999999944231,0.000206668034487,-0.000261885041097,1.56032869766e-05,1793249556699861504
+47,0.783333333,BASELINE,766.717968818,745,717.282031182,679,661.282031182,635.282031182,877,783.717968818,812,651.282031182,629,653.282031182,0.400979094067,-0.00536669681806,0.069834277072,0.999999944673,0.000205642881516,-0.000261008912863,1.54945311e-05,1793249556716528128
+48,0.800000000,BASELINE,766.144877339,745,717.855122661,679,661.855122661,635.855122661,877,783.144877339,812,651.855122661,629,653.855122661,0.400977919583,-0.00536723807494,0.0698330582054,0.999999944574,0.000204235247026,-0.000262500143854,1.52887363929e-05,1793249556733195008
+49,0.816666667,BASELINE,766,745,717.56951993,679.43048007,661.56951993,636,877,783,812,651.56951993,629,653.56951993,0.400976831366,-0.00536734723515,0.0698331772449,0.999999944339,0.000204139144171,-0.000263457117988,1.54691059173e-05,1793249556749861632
+50,0.833333333,BASELINE,766,745,717.006807533,679.986384933,661.006807533,636,877,783.006807533,812,651,628.993192467,653,0.400975800335,-0.00536730323758,0.0698337415397,0.999999944063,0.000204502717826,-0.000264205999238,1.57703412544e-05,1793249556766528256
+51,0.850000000,BASELINE,766,745,717.600680793,678.798638415,661.600680793,636,877,783.600680793,812,651,628.399319207,653,0.40097718394,-0.00536665843324,0.0698336679096,0.999999944138,0.000206241532607,-0.000262597302399,1.52277586261e-05,1793249556783194880
+52,0.866666667,BASELINE,766,745,717.811273303,678,662,636,877,784,812.188726697,651,628.188726697,653,0.400977540127,-0.00536674219772,0.0698332017236,0.999999944125,0.000206462275194,-0.000262489768184,1.49221925632e-05,1793249556799861248
+53,0.883333333,BASELINE,766,745,717.235187991,678,662,636,877,784,812.764812009,651,628.764812009,653,0.400975787551,-0.00536832133845,0.0698319298223,0.999999943931,0.00020356719806,-0.000265463347055,1.51030993554e-05,1793249556816527872
+54,0.900000000,BASELINE,766,745,717.340008532,678.340008532,661.659991468,636,877,783.659991468,812.659991468,651,629,653,0.400976335461,-0.00536884489687,0.0698324972879,0.999999944361,0.000202550728845,-0.000264608908878,1.52686903494e-05,1793249556833194496
+55,0.916666667,BASELINE,766,745,717.914591846,678.914591846,661.085408154,636,877,783.085408154,812.085408154,651,629,653,0.400978470494,-0.00536864019999,0.0698343337485,0.999999945221,0.000202830327354,-0.000261113489007,1.5423714836e-05,1793249556849860864
+56,0.933333333,BASELINE,766,745,717.497934739,678.497934739,661,636,877,783,812.502065261,651,629,653.502065261,0.400978408353,-0.00536801098865,0.0698343836158,0.999999945056,0.000203190352544,-0.000261477251236,1.52251595978e-05,1793249556866527744
+57,0.950000000,BASELINE,766,745,717,678.089972973,661.089972973,636,877,783,812.910027027,651,629,653.910027027,0.40097800331,-0.00536710462315,0.069834212699,0.999999944631,0.000204208574363,-0.000262318343173,1.50298438171e-05,1793249556883194880
+58,0.966666667,BASELINE,766,745,717,678.668027662,661.668027662,636,877,783,812.331972338,651,629,653.331972338,0.400977819143,-0.00536509683909,0.0698345362396,0.999999943756,0.000208721178715,-0.000262093637404,1.51869918567e-05,1793249556899861504
+59,0.983333333,BASELINE,766,745,717.245716761,678.754283239,661.754283239,635.754283239,877,783,812.245716761,651,628.754283239,653.245716761,0.400977477152,-0.00536476954373,0.069834497075,0.999999943554,0.000209450149834,-0.000262280097291,1.524182508e-05,1793249556916528128
+60,1.000000000,BASELINE,766,745,717.822912753,678.177087247,661.177087247,635.177087247,877,783,812.822912753,651,628.177087247,653.822912753,0.400976922251,-0.0053667092774,0.0698339686101,0.999999944267,0.000205074887664,-0.000263021231864,1.51586325912e-05,1793249556933194752
+61,1.016666667,BASELINE,766,745,717.594123085,678,661,635.405876915,877,783,812.594123085,651,628.405876915,653.594123085,0.400977264218,-0.00536709409827,0.0698338180735,0.999999944442,0.000204523004868,-0.000262794180034,1.49971620592e-05,1793249556949861376
+62,1.033333333,BASELINE,766,745,717.008605978,678,661,635.991394022,877,783,812.008605978,651,628.991394022,653.008605978,0.400978003135,-0.00536679071819,0.069833834807,0.999999944383,0.000205663341282,-0.000262138611077,1.48010458496e-05,1793249556966528000
+63,1.050000000,BASELINE,766,745.570351223,717,678,661,635.429648777,877,783,812,651,629,653,0.40097660486,-0.00536539249212,0.0698333123378,0.999999944048,0.000206605554107,-0.000262694293241,1.44912503687e-05,1793249556983194368
+64,1.066666667,BASELINE,766,745.850974311,717,678,661.149025689,635.149025689,877.149025689,783,812,651,629,653,0.400975883268,-0.0053644710637,0.0698331876878,0.999999943866,0.000207335330503,-0.000262822645629,1.43206768416e-05,1793249556999860992
+65,1.083333333,BASELINE,766,745.272832231,717,678,661.727167769,635.727167769,877.727167769,783,812,651,629,653,0.400977201977,-0.00536496959254,0.0698342317113,0.999999944139,0.000207461910773,-0.000261668482457,1.45558730662e-05,1793249557016527616
+66,1.100000000,BASELINE,766,745,717,678,661.696132896,636,877.696132896,783,812,651,628.696132896,653,0.400978217736,-0.00536525018655,0.069834770099,0.999999944316,0.000207736345857,-0.000260760131705,1.47638883439e-05,1793249557033194496
+67,1.116666667,BASELINE,766,745,717,678,661.120722864,636,877.120722864,783,812,651,628.120722864,653,0.400978962771,-0.00536533602875,0.0698348566386,0.999999944408,0.000208142907541,-0.000260071444888,1.49476140632e-05,1793249557049861632
+68,1.133333333,BASELINE,766,745,717,678.463920276,661,636,877.463920276,783,812,651,628.463920276,653,0.400977928419,-0.00536567599851,0.0698339599461,0.999999943906,0.000208724685026,-0.000261529525251,1.50009526805e-05,1793249557066528000
+69,1.150000000,BASELINE,766,745.050256076,717,679,661.050256076,636,877.949743924,783,812,651,629,653,0.400976721313,-0.00536596394581,0.0698330716837,0.999999943371,0.000209293675085,-0.000263111186227,1.50246081841e-05,1793249557083194624
+70,1.166666667,BASELINE,766,745.628617735,717,679,661.628617735,636,877.371382265,783,812,651,629,653,0.400978663389,-0.0053649962018,0.0698350152545,0.999999944195,0.000209239433106,-0.00026000192015,1.51001288547e-05,1793249557099860992
+71,1.183333333,BASELINE,766.206970144,745.793029856,717,679,661.793029856,636,877,783.206970144,812,651,629,653.206970144,0.400980059759,-0.00536446759223,0.0698361181763,0.999999944763,0.000209106023668,-0.000257917375158,1.50458843888e-05,1793249557116527616
+72,1.200000000,BASELINE,766.785306053,745.214693947,717,679,661.214693947,636,877,783.785306053,812,651,629,653.785306053,0.400980476973,-0.00536472691982,0.0698357127253,0.999999944889,0.000208830564344,-0.000257671482917,1.47588028294e-05,1793249557133193984
+73,1.216666667,BASELINE,766.639531236,745,717,679,661,636,877,783.639531236,812.360468764,651,629,653.639531236,0.400979550755,-0.00536548338218,0.0698350235957,0.999999944952,0.00020696553292,-0.000258936279676,1.46363828211e-05,1793249557149860864
+74,1.233333333,BASELINE,766.066242013,745,717,679,661,636,877,783.066242013,812.933757987,651,629,653.066242013,0.400977831378,-0.00536653335248,0.0698341669828,0.999999944967,0.00020416201947,-0.000261092985973,1.46111788724e-05,1793249557166527744
+75,1.250000000,BASELINE,766,745,717,678.477026346,661,636,876.477026346,783.522973654,812.477026346,651,629,653,0.400977620177,-0.00536724728189,0.0698342490158,0.99999994475,0.000204893788079,-0.000261340966495,1.48256979025e-05,1793249557183194880
+76,1.266666667,BASELINE,766,745,717,678.111842027,661,636,876.111842027,783.888157973,812.111842027,651,629,653,0.400977671675,-0.00536752823687,0.0698344294179,0.999999944533,0.000205891336276,-0.00026137778446,1.49966550264e-05,1793249557199861504
+77,1.283333333,BASELINE,766,745,717,678.690574705,661,636,876.690574705,783.309425295,812.690574705,651,629,653,0.400977997293,-0.00536618498477,0.0698345085523,0.999999944447,0.000206070341201,-0.000261574064225,1.4855021655e-05,1793249557216528128
+78,1.300000000,BASELINE,766.268146183,745.268146183,717,678.731853817,661.268146183,636,877,783,812.731853817,651,629,653,0.400978050091,-0.00536537701321,0.0698344429921,0.999999944266,0.000207029171272,-0.000261515050596,1.4710517094e-05,1793249557233194752
+79,1.316666667,BASELINE,766.844383443,745.844383443,717,678.155616557,661.844383443,636,877,783,812.155616557,651,629,653,0.400977789425,-0.00536518406133,0.0698342111826,0.999999943975,0.000208883994576,-0.000261162713308,1.45627136413e-05,1793249557249861376
+80,1.333333333,BASELINE,766.571771616,745.571771616,717.428228384,678.428228384,661.571771616,636,877,783,812.428228384,651,628.571771616,653,0.400979120028,-0.00536551518952,0.0698354376242,0.999999944897,0.00020666452202,-0.000259391574707,1.4532812108e-05,1793249557266527488
+81,1.350000000,BASELINE,766,745,718,678.985324155,661,635.985324155,877,783.014675845,812.985324155,651,628.014675845,653,0.400980970976,-0.00536605259677,0.0698371412867,0.999999946211,0.00020302130362,-0.000257193960446,1.45583954968e-05,1793249557283193856
+82,1.366666667,BASELINE,766,745,718,678.407023624,661,635.407023624,877,783.592976376,812.407023624,651,628.592976376,653,0.400980196025,-0.00536706567643,0.0698364528347,0.999999945883,0.000202589390055,-0.000258776804728,1.50396488488e-05,1793249557299860992
+83,1.383333333,BASELINE,766,745,717.828219314,678,661,635,877,783.828219314,812,651,629,653.171780686,0.400979587767,-0.00536749356228,0.0698356988881,0.999999945442,0.000203230819311,-0.0002599620573,1.52699992847e-05,1793249557316528128
+84,1.400000000,BASELINE,766,745,717.248217704,678,661,635,877,783.248217704,812,651,629,653.751782296,0.400979375641,-0.00536653078935,0.0698347892994,0.999999944731,0.000206422948497,-0.000260202470243,1.49041022259e-05,1793249557333195008
+85,1.416666667,BASELINE,766,745.328127154,717,678,661,635.328127154,877,783,812,651,629,653.671872846,0.400979106808,-0.00536585879337,0.0698344840088,0.999999944472,0.000208011744093,-0.00025993994462,1.48094062401e-05,1793249557349861376
+86,1.433333333,BASELINE,766,745.901736249,717,678,661,635.901736249,877,783,812,651,629,653.098263751,0.400978795551,-0.00536540433657,0.0698346308119,0.999999944555,0.000208401036689,-0.000259301155286,1.49176040791e-05,1793249557366527744
+87,1.450000000,BASELINE,766,745.510983017,717.489016983,678.489016983,661,636,877,783.489016983,812,651.489016983,629,653.489016983,0.400978172257,-0.00536619491802,0.0698344079098,0.999999944642,0.000206826854033,-0.000260217658773,1.50104468269e-05,1793249557383194624
+88,1.466666667,BASELINE,766,745,717.922512118,679,661,636,877,783.922512118,812,651.922512118,628.922512118,653.922512118,0.400977319025,-0.00536708020168,0.0698340277779,0.999999944647,0.000205128511094,-0.000261537194225,1.50624560257e-05,1793249557399861248
+89,1.483333333,BASELINE,766,745,717.34460681,679,661,636,877,783.34460681,812,651.34460681,628.34460681,653.34460681,0.400975397425,-0.00536691494141,0.0698331258128,0.99999994414,0.0002052495882,-0.000263383190809,1.48712609205e-05,1793249557416528128
+90,1.500000000,BASELINE,766.233016883,745,717,679,661,636,877,783,812,651,628.233016883,653,0.400975757815,-0.00536687249089,0.0698337839195,0.999999944226,0.000205808579141,-0.000262622496502,1.48585112786e-05,1793249557433194752
+91,1.516666667,BASELINE,766.810224548,745,717,679,661,636,877,783,812,651,628.810224548,653,0.400979488946,-0.00536701144346,0.0698367464186,0.999999945173,0.000207014415496,-0.00025801144163,1.510934463e-05,1793249557449861120
+92,1.533333333,BASELINE,766.606807477,745,717,678.606807477,661.786385046,636,877,783,812,651,629,653,0.400979965867,-0.00536698412582,0.0698365438248,0.99999994531,0.000206557259126,-0.000257848278885,1.51315665281e-05,1793249557466527744
+93,1.550000000,BASELINE,766.021017884,745,717,678.021017884,662.957964232,636,877,783,812,651,629,653,0.400978848781,-0.00536687536424,0.0698347908773,0.999999945051,0.000205285520928,-0.000259863821939,1.50418079467e-05,1793249557483194112
+94,1.566666667,BASELINE,766,745.558023754,717,678.558023754,661.883952493,636,877,783,812,651,629,653.558023754,0.400979364923,-0.00536790568925,0.0698352430234,0.999999945677,0.000203594312293,-0.00025878394912,1.50527198265e-05,1793249557499860736
+95,1.583333333,BASELINE,766,745.863984468,717.136015532,679,661,636,877.136015532,783.136015532,812,651,629,653.863984468,0.400979674785,-0.0053684510542,0.0698355349402,0.999999945971,0.000202681980222,-0.000258363501405,1.50556496381e-05,1793249557516527360
+96,1.600000000,BASELINE,766,745.288572847,717.711427153,679,661,636,877.711427153,783.711427153,812,651,629,653.288572847,0.400979121916,-0.00536729282022,0.0698350441381,0.999999945095,0.00020433622607,-0.000260445452992,1.50206907061e-05,1793249557533193984
+97,1.616666667,BASELINE,766.288622449,745,718,679,661,636,877.711377551,783.711377551,812,651,629,653,0.400978731437,-0.00536628173633,0.0698350159724,0.999999944615,0.000206015401736,-0.00026097215167,1.48779320108e-05,1793249557549860864
+98,1.633333333,BASELINE,766.867612166,745,718,679,661,636,877.132387834,783.132387834,812,651,629,653,0.400978504329,-0.00536541869219,0.0698354532399,0.999999944536,0.00020771965783,-0.000259934195283,1.46267218684e-05,1793249557566527488
+99,1.650000000,BASELINE,766.555079614,745.444920386,717.555079614,678.555079614,661.444920386,636,877,783.444920386,812.444920386,651,629,653,0.400978815092,-0.0053656387088,0.0698357333061,0.999999944916,0.000206975588993,-0.000259067284246,1.46347770927e-05,1793249557583194112
+100,1.666666667,BASELINE,766,746,717.022148803,678,662,636,877,783.977851197,812.977851197,651,629,653,0.400979244772,-0.00536618019875,0.0698359240971,0.9999999454,0.000205568749034,-0.000258313324357,1.47170410846e-05,1793249557599860736
+101,1.683333333,BASELINE,766,746,717.610071562,678,662,636,877,783.389928438,812.389928438,651,629,653,0.400978639275,-0.0053667323576,0.0698350247769,0.999999945141,0.000205771062064,-0.000259149429434,1.47317095854e-05,1793249557616527360
+102,1.700000000,BASELINE,766,745.804780474,718,678.195219526,662,636,877.195219526,783,812.195219526,651,629,653,0.400978336762,-0.00536716785652,0.0698345674657,0.999999944978,0.000206106927906,-0.000259506913706,1.48090252995e-05,1793249557633193984
+103,1.716666667,BASELINE,766,745.225097235,718,678.774902765,662,636,877.774902765,783,812.774902765,651,629,653,0.400978630944,-0.00536737360627,0.0698349806435,0.999999945003,0.000206705811519,-0.000258921806047,1.50097179124e-05,1793249557649860608
+104,1.733333333,BASELINE,766,745,718,679,661.649078433,636,877.649078433,783.350921567,812.649078433,651,629,653.350921567,0.400977511898,-0.00536757310287,0.0698344071819,0.999999944735,0.000206120553678,-0.000260420208206,1.49990808334e-05,1793249557666527232
+105,1.750000000,BASELINE,766,745,718,679,661.075385823,636,877.075385823,783.924614177,812.075385823,651,629,653.924614177,0.400975495708,-0.00536776862987,0.0698332073847,0.999999944274,0.000204783582539,-0.000263241258159,1.48542880525e-05,1793249557683194112
+106,1.766666667,BASELINE,766,745.500201527,718,678.499798473,661,636,877,784,812,651,629,654,0.400977753112,-0.00536802436154,0.0698351829955,0.999999944815,0.000205694019182,-0.000260435057816,1.52598837761e-05,1793249557699860992
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,679,663,636,877,783,812,651,629,653,0.400975513158,-0.00536670399494,0.0698334449903,0.999999944118,0.0002056858846,-0.000263115447677,1.50778890284e-05,1793249557742476288
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.423997994,745,717.576002006,679,662.423997994,636,877,783.576002006,812,651,629,653,0.400976660454,-0.00536586890901,0.0698338733501,0.999999943947,0.000207694385367,-0.000262200028019,1.48200510518e-05,1793249557759142656
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662,635.848658128,877,783.848658128,812.151341872,651,629,653.151341872,0.400977388088,-0.00536543247892,0.0698341199744,0.999999943909,0.000208678880076,-0.000261569884453,1.46819831851e-05,1793249557775809024
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662,635.275165095,877,783.275165095,812.724834905,651,629,653.724834905,0.400976945122,-0.00536610805434,0.0698338596679,0.999999944252,0.000206807025315,-0.000261735486311,1.48780005347e-05,1793249557792475648
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,717.691703903,679,661.691703903,635.308296097,877,783.308296097,813,651,629,653.691703903,0.400976657312,-0.00536602600002,0.0698337623056,0.999999944277,0.00020648242306,-0.000261896251357,1.48984637064e-05,1793249557809142272
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,717.099048539,679,661.099048539,635.900951461,877,783.900951461,813,651,629,653.099048539,0.400976512611,-0.00536524514007,0.0698338152361,0.99999994401,0.000207584941123,-0.000262052555122,1.47570031253e-05,1793249557825808896
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,717,678.518056717,661.481943283,636,877,784,813,651,629,653.481943283,0.400977315203,-0.00536601522893,0.0698346647019,0.999999944342,0.000206930262623,-0.000261294796202,1.48477524774e-05,1793249557842475520
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.06031781,745,717,678.06031781,662,636,877,783.93968219,812.93968219,651,628.93968219,653.93968219,0.400978620652,-0.00536691690541,0.0698357092327,0.999999944794,0.000205933631314,-0.000260345675683,1.49644476483e-05,1793249557859142400
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.636325375,745,717,678.636325375,662,636,877,783.363674625,812.363674625,651,628.363674625,653.363674625,0.400982600142,-0.00536628282603,0.0698370549634,0.999999945245,0.00020502806298,-0.000259328644402,1.49045940435e-05,1793249557875809024
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.784128378,745,717.215871622,679,662,636,877,783,812,651,628.215871622,653,0.400994023737,-0.00536662035933,0.0698419289373,0.999999947078,0.000204821796216,-0.000252307702777,1.52664556701e-05,1793249557892475392
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.198521291,745,717.801478709,679,662,636,877,783,812,651,628.801478709,653,0.401018197269,-0.00536862202837,0.0698528459314,0.999999951073,0.000205813262624,-0.000235003526349,1.63506126904e-05,1793249557909142272
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,717.615625799,679,661.615625799,636,877.384374201,783.384374201,812,651,629,653,0.401057684262,-0.00537010728931,0.0698669754739,0.999999956362,0.000204384822069,-0.000212649075286,1.68180286333e-05,1793249557925808896
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,717.034120926,679,661.034120926,636,877.965879074,783.965879074,812,651,629,653,0.401105024939,-0.00537132770468,0.0698827526092,0.999999961895,0.000201715304768,-0.000187704531905,1.69691420069e-05,1793249557942475520
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.540583086,745.540583086,717.540583086,679,661.540583086,636,877.459416914,784,812,651,629,653.540583086,0.40116296261,-0.00537157434098,0.0698921983812,0.999999963552,0.000202452569078,-0.000177864417693,1.65338227962e-05,1793249557959142144
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.884611175,745.884611175,718,679,661.884611175,636,877,784,812,651.115388825,629,653.884611175,0.401225678821,-0.00537196510012,0.0699000660347,0.999999964875,0.000203234591339,-0.000169393341242,1.58334998842e-05,1793249557975809024
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.307702807,745.307702807,718,679,661.307702807,636,877,784,812,651.692297193,629,653.307702807,0.401304865697,-0.00537317508752,0.0699032002342,0.999999965999,0.000203346257019,-0.000162632170219,1.42194528377e-05,1793249557992475648
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,717.724877056,679,661,636,877,783.724877056,812,651.724877056,628.724877056,653.275122944,0.401391608822,-0.00537519558119,0.0699038743353,0.999999966631,0.000201670636161,-0.00016098283783,1.2325670692e-05,1793249558009142272
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,717.135287756,679,661,636,877,783.135287756,812,651.135287756,628.135287756,653.864712244,0.401486988759,-0.0053781424859,0.0699017365364,0.999999966715,0.000197952141379,-0.00016517635288,1.01121505782e-05,1793249558025808896
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717.445833643,678.554166357,661,636,877.445833643,783.445833643,812.445833643,651,628.445833643,654,0.401604349842,-0.00537964314718,0.0699016690494,0.999999967101,0.000195795287173,-0.000165544817609,7.53472919416e-06,1793249558042475520
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.024297633,718,678,661.024297633,636,877.975702367,784,812.975702367,651,629,654,0.401729670334,-0.00538084129492,0.0699023974471,0.999999967636,0.000194002904981,-0.000164523044934,4.83827682e-06,1793249558059142144
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.599683416,718,678,661.599683416,636,877.400316584,784,812.400316584,651,629,654,0.401887051899,-0.00538494637463,0.0699071938769,0.99999996951,0.000189929443775,-0.000157804671636,1.8999609337e-06,1793249558075808768
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+130,2.166666667,POSE1_TO_POSE2_PRESS,766.663942327,746,718,679,662,636,877,783,812.663942327,651.336057673,628.336057673,653.663942327,0.402456190051,-0.00539389492348,0.0699152696338,0.999999973955,0.000178263997347,-0.000142166696695,-1.00473292027e-05,1793249558125808896
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.072165481,746,718,679,662,636,877,783,812.072165481,651.927834519,628.927834519,653.072165481,0.40268137265,-0.00539905764339,0.0699167036337,0.999999976182,0.000167754960424,-0.00013877546915,-1.53377252516e-05,1793249558142475520
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.507175822,745.492824178,718,679,662,636,877,783.507175822,812,651.492824178,629,653.507175822,0.402945116342,-0.00540311373008,0.0699207990518,0.99999997848,0.00016086094781,-0.000129374883414,-2.0631090817e-05,1793249558159142144
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.916036063,745.083963937,718,679,662,636,877.083963937,784,812.083963937,651,629,654,0.403220508315,-0.00540746560852,0.0699263272631,0.999999980907,0.000154078018943,-0.000117394441825,-2.57729811415e-05,1793249558175809024
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.344049221,745.655950779,718,679,662,636,877.655950779,784,812.655950779,651,629,654,0.403532475866,-0.00541443002609,0.0699380349066,0.999999984495,0.000145022576032,-9.52700662752e-05,-3.00320582492e-05,1793249558192475904
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.764527705,717.764527705,679,662,636,878,784,812.764527705,651,629,654,0.403857513216,-0.00542084804686,0.0699459130189,0.999999988755,0.00012070997917,-8.20914316471e-05,-3.43554819652e-05,1793249558209142528
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.173633382,717.173633382,679,662,636,878,784,812.173633382,651,629,654,0.404202278109,-0.00542644133552,0.0699480108337,0.999999993161,7.33682251586e-05,-8.24155051457e-05,-3.87760302055e-05,1793249558225809152
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.408529082,717.408529082,679,662,636,878,784,812.408529082,651,629,654,0.404577081834,-0.00543341313191,0.0699514060996,0.999999994034,6.73617550441e-05,-7.92280411214e-05,-3.34380791609e-05,1793249558242475776
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.987057973,717.987057973,679,662,636,878,784,812.987057973,651,629,654,0.404964385506,-0.00544095856187,0.0699553412693,0.999999993844,7.85559963387e-05,-7.45793330331e-05,-2.40393571175e-05,1793249558259142400
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.564566156,745.435433844,718,679,662,636,878,783.435433844,812.435433844,651,629,654,0.405386048367,-0.00546430325314,0.0699571138187,0.999999995487,5.67777626781e-05,-7.19747816014e-05,-2.49215585659e-05,1793249558275809024
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.859061643,745.140938357,718,679,662,636.140938357,878,783,812,651,629,653.859061643,0.405815887563,-0.0054847602031,0.0699574147591,0.999999996537,3.44360400121e-05,-7.11546967629e-05,-2.6027105812e-05,1793249558292475392
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.286100116,745.713899884,718,679,662,636.713899884,878,783,812,651,629,653.286100116,0.406268379846,-0.00549525705767,0.069953356417,0.99999999669,1.2679809029e-05,-7.56612168952e-05,-2.7096153436e-05,1793249558309142272
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.295179205,746,717.704820795,679,662,636.704820795,878,783,812.295179205,651,629,653,0.406744535211,-0.00549826367501,0.0699427265637,0.999999995451,6.97303101715e-06,-9.05977951464e-05,-2.90176725381e-05,1793249558325809152
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.884754317,746,717.115245683,679,662,636.115245683,878,783,812.884754317,651,629,653,0.407244290922,-0.00549379993274,0.0699255426371,0.999999992625,1.72731139888e-05,-0.000115936754476,-3.17894010929e-05,1793249558342475776
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.53308484,746,717,679,662,636.46691516,878,783,813,651,629,653,0.407805215216,-0.00550339569591,0.0699271644711,0.999999993785,3.22172554978e-06,-0.000106393541466,-3.31753869666e-05,1793249558359142400
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,717,679,662,636.95317059,878.09365882,783,813,650.95317059,628.95317059,653,0.408384864614,-0.00551570949468,0.0699340008313,0.999999995473,-1.55497438059e-05,-8.73883315061e-05,-3.4283515785e-05,1793249558375808768
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,717,679,662,636.378275951,879.243448098,783,813,650.378275951,628.378275951,653,0.409008077814,-0.00552015309166,0.0699481146796,0.999999997494,-2.08292186923e-05,-5.7255228645e-05,-3.60550404817e-05,1793249558392475392
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.195919211,745.804080789,717,679.195919211,662.195919211,636.195919211,879.804080789,783.195919211,813,650.195919211,628.195919211,653.195919211,0.409625040691,-0.00552508999125,0.069953937909,0.999999997942,-2.83972516569e-05,-4.34017875691e-05,-3.77601773155e-05,1793249558409142272
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.768768609,745.231231391,717,679.768768609,662.768768609,636.768768609,879.231231391,783.768768609,813,650.768768609,628.768768609,653.768768609,0.410229978495,-0.00553097595851,0.0699438107644,0.999999996559,-4.03682554392e-05,-6.0868890857e-05,-3.93375900637e-05,1793249558425809152
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.645511756,745.354488244,717.354488244,680,662.645511756,636.645511756,879,783.645511756,813,651,629,654,0.410882101389,-0.00553829356151,0.0699400804526,0.999999995585,-4.85315878319e-05,-6.97445736982e-05,-4.01263237653e-05,1793249558442476032
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.051080653,745.948919347,717.948919347,680,662.051080653,636.051080653,879,783.051080653,813,651,629,654,0.411566162484,-0.00554658019719,0.0699406799726,0.99999999507,-5.41176169042e-05,-7.28049713624e-05,-4.03812233313e-05,1793249558459142400
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.5272388,746,718,679.4727612,662,636,879.5272388,783.5272388,813,650.4727612,628.4727612,653.4727612,0.41231428017,-0.00554538828276,0.0699691505246,0.999999997287,-5.75764917213e-05,-2.29509316234e-05,-3.98119250439e-05,1793249558475809024
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.896275018,745.896275018,717.896275018,679.103724982,662.103724982,636.103724982,879.896275018,784,813,650,628,653.103724982,0.413070281133,-0.00553889976774,0.0699984944583,0.999999997371,-5.45599534522e-05,2.70082683249e-05,-3.93881037288e-05,1793249558492475904
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.321236713,745.321236713,717.321236713,679.678763287,662.678763287,636.678763287,879.321236713,784,813,650,628,653.678763287,0.413834739315,-0.00551239313473,0.0700199011957,0.999999997432,-2.30286096655e-05,5.48417216478e-05,-3.99773864017e-05,1793249558509143552
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,717,679.740279224,662.740279224,637,879,783.740279224,813,650,628.259720776,653.740279224,0.414570935706,-0.00549860732354,0.0700145080163,0.999999998371,-4.4097762567e-06,3.93970730224e-05,-4.10737691978e-05,1793249558525810688
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,717,679.151829743,662.151829743,637,879,783.151829743,813,650,628.848170257,653.151829743,0.415271361241,-0.00550092225869,0.0699751941729,0.999999998606,-2.13430882428e-06,-3.08246852122e-05,-4.28119888557e-05,1793249558542477312
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,717,679.429488547,662.429488547,637,879,783,813,650.429488547,629,653.429488547,0.416046705471,-0.00551103152676,0.0699345347035,0.999999994264,-2.00499445195e-05,-9.4666914483e-05,-4.5911408162e-05,1793249558559143680
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.008377119,745,717,680.008377119,663,636.991622881,879.008377119,783,813,651,628.991622881,654,0.416848569776,-0.00552370030241,0.0698943940856,0.999999985797,-4.46841986249e-05,-0.000154807385201,-4.94291306297e-05,1793249558575810048
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.590698994,745,717,680.590698994,663,636.409301006,879.590698994,783,813,651,628.409301006,654,0.417682496005,-0.00552603138562,0.0699218608114,0.99999999119,-4.8585242732e-05,-0.000113319012154,-4.91759590373e-05,1793249558592476160
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,717.169180097,681,663.169180097,636.169180097,880.169180097,783,813,651,628.169180097,654,0.418535927351,-0.00552779885865,0.0699498482492,0.999999994947,-5.1533784099e-05,-7.14398469452e-05,-4.84412915963e-05,1793249558609142784
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,717.738575371,681,663.738575371,636.738575371,880.738575371,783,813,651,628.738575371,654,0.41943550027,-0.00552823304616,0.0699790674906,0.999999997142,-5.22290694381e-05,-2.86362202453e-05,-4.65675899085e-05,1793249558625809664
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.679886954,745,718,681,663.679886954,637,881,783.320113046,813,650.679886954,628.679886954,654,0.420332926957,-0.00552719113819,0.0700054242154,0.999999997511,-5.18608198707e-05,1.23030691318e-05,-4.62311092652e-05,1793249558642476288
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.088042084,745,718,681,663.088042084,637,881,783.911957916,813,650.088042084,628.088042084,654,0.421228531745,-0.00552489622873,0.0700293510571,0.999999996272,-5.05897758192e-05,5.16597910575e-05,-4.71995173576e-05,1793249558659143168
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,717.508018676,681,663.491981324,637,881.491981324,783.508018676,813,650.491981324,628.491981324,654,0.42211405249,-0.00552171459246,0.0700170027781,0.999999997223,-4.94223901282e-05,2.8271572624e-05,-4.80888945721e-05,1793249558675810048
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.069474328,717,681,663.930525672,637,882,783.069474328,813,651,628.930525672,654,0.422986026926,-0.00551888463873,0.0699901244845,0.999999997407,-4.90031554448e-05,-1.78315718496e-05,-4.9670532094e-05,1793249558692476928
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.643592712,717,681,663.356407288,637,882,783.643592712,813,651,628.356407288,654,0.423772404373,-0.00551973481064,0.0699037506231,0.999999985816,-5.38867205356e-05,-0.000149283240877,-5.63808938325e-05,1793249558709143296
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,717,681,663,637,882,784,813,651,628,653.776869375,0.424591647016,-0.00552229998396,0.0698527364248,0.999999971461,-6.12163113308e-05,-0.000222732070855,-6.10005909449e-05,1793249558725809664
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,717,681,663,637,882,784,813,651,628,653.188459242,0.42546469227,-0.00552767272751,0.0698596083067,0.999999975188,-7.25502090633e-05,-0.000201226463415,-6.21977349311e-05,1793249558742476288
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.393560095,746,717,681,663.393560095,637,882.393560095,784,813.393560095,651,628.393560095,653.393560095,0.426419157787,-0.00552899274013,0.0699043611983,0.999999986284,-7.50646681622e-05,-0.000135291420397,-5.91031785744e-05,1793249558759142912
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.972568016,746,717,681,663.972568016,637,882.972568016,784,813.972568016,651,628.972568016,653.972568016,0.427411988957,-0.00552840308184,0.0699669638434,0.999999994675,-7.34233548931e-05,-4.84209671232e-05,-5.39863474006e-05,1793249558775809280
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.451389322,745.451389322,717,681,663.451389322,637,883,783.451389322,814,650.451389322,628.451389322,654,0.428388072566,-0.00552818132251,0.0700078008067,0.999999996202,-6.81968925869e-05,1.28513832824e-05,-5.27339378075e-05,1793249558792476416
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.124192329,745,717.124192329,681.124192329,663.124192329,637,883.124192329,783.124192329,814,650.124192329,628,654,0.429346691259,-0.00552925076132,0.0700394935994,0.999999994535,-6.62989624924e-05,6.17533048362e-05,-5.2155925063e-05,1793249558809143552
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.698637239,745,717.698637239,681.698637239,663.698637239,637,883.698637239,783.698637239,814,650.698637239,628,654,0.430245011502,-0.0055349350344,0.0700419592052,0.999999993125,-7.71148757158e-05,7.04224270828e-05,-5.33261188084e-05,1793249558825810176
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.280477133,718,682,664.280477133,637,884.280477133,784,814,651,628.280477133,654,0.431073279012,-0.00553911018925,0.070004663056,0.999999994957,-8.35939422495e-05,6.98629394963e-06,-5.52194102157e-05,1793249558842476800
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.870477804,718,682,664.870477804,637,884.870477804,784,814,651,628.870477804,654,0.43182423902,-0.00554161994017,0.0699234873969,0.999999985435,-8.52870333039e-05,-0.000136022365611,-5.79106828831e-05,1793249558859143424
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.546250899,746,717.546250899,682,664.546250899,637,885,784,814.453749101,651,629,654,0.432672309212,-0.00554038904808,0.0698915548846,0.999999978385,-8.57412215367e-05,-0.000179318639204,-6.10244410027e-05,1793249558875809536
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.96530726,717,682,664,637,885.03469274,784,815,651,629,654,0.433552004426,-0.00553828316033,0.0698788824273,0.999999976859,-8.57557735174e-05,-0.000186697295277,-6.38124332172e-05,1793249558892476160
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.391126237,717,682,664,637,885.608873763,784,815,651,629,654,0.43449872299,-0.00553893223873,0.0699503235485,0.999999992092,-8.43527263558e-05,-7.16816965451e-05,-5.96866571467e-05,1793249558909142784
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.187360892,717,681.812639108,664.187360892,637,885.812639108,784,815,651,629,654,0.435410822298,-0.00554061538632,0.0700057907088,0.999999994714,-8.39895571274e-05,1.74309658516e-05,-5.66967420333e-05,1793249558925809664
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.775048825,717,681.224951175,664.775048825,637,885.224951175,784,815,651,629,654,0.436248952104,-0.00554450799119,0.0700271269152,0.999999993429,-8.58482580348e-05,5.1197808837e-05,-5.6133779325e-05,1793249558942476800
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,681.357326622,664.642673378,637,885.357326622,784,815,651,629,654,0.437066377978,-0.00554783042231,0.0700272566425,0.999999992518,-9.00877024417e-05,6.01245696701e-05,-5.68546939905e-05,1793249558959143424
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,717,681.936249288,664.063750712,637,885.936249288,784,815,651,629,654,0.43787096426,-0.00555079926004,0.070014235174,0.999999992268,-9.58035644505e-05,5.36467557753e-05,-5.83718050489e-05,1793249558975810048
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717.513948703,682,664,637,885.486051297,784,815,651,629,654,0.438601229064,-0.00555031240295,0.0699676236543,0.999999993498,-9.57567582146e-05,-1.16389953358e-05,-6.08248682739e-05,1793249558992476416
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717.908847529,682,664,637,885,784,815,651,629,654,0.439313982341,-0.00554920603732,0.0699148184064,0.999999989473,-9.46532849142e-05,-9.00187188078e-05,-6.31714712423e-05,1793249559009143040
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717.333472632,682,664,637,885,784,815,651,629,654,0.439982567072,-0.00554708036999,0.0698511917445,0.999999973864,-9.17247601779e-05,-0.000199298046587,-6.43372683544e-05,1793249559025809408
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,717.246906825,682.246906825,664,637,885.246906825,783.753093175,815,651,628.753093175,654,0.440672493722,-0.00554582030589,0.0698225514899,0.999999963134,-8.84965065003e-05,-0.00024831658281,-6.5106906743e-05,1793249559042476032
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,717.834185234,682.834185234,664,637,885.834185234,783.165814766,815,651,628.165814766,654,0.44139184106,-0.00554575351291,0.0698421414943,0.999999971311,-8.48550650562e-05,-0.000214263042815,-6.53304241339e-05,1793249559059142400
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce3e0e6c5cf3703bc2319f820700f826625139cf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.575664353639,0.000150133605645,1.06003344804,0.546235032515,0.00882276873529,1.05970484195
+399,6.650000000,pose2_to_pose3_retreat,0.575664330712,0.000150139145451,1.06003345744,0.546235009781,0.00882277496734,1.05970485231
+400,6.666666667,pose2_to_pose3_retreat,0.575664284577,0.000150150292763,1.06003347634,0.546234964036,0.0088227875076,1.05970487315
+401,6.683333333,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485911,1.05970488537
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d6af5952a9a045d8cacbd9bfd16f26da950fc8a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40ee36a5a9ee8768938b4bcf7c3bbdb9f443538d036ef1c11e48fbf65793220d
+size 25577509
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b684b01116b18cd526ada47dbc6f56a0feceaa6d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,404 @@
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+55,0.916666667,BASELINE,766,745.920257165,717.920257165,679,661,636,877,782.920257165,812.920257165,651,628.079742835,654,0.400979516038,-0.00535946663848,0.0698346489367,0.999999943486,0.000213515619964,-0.000259360860607,1.3077887058e-05,1793249563715476224
+56,0.933333333,BASELINE,766,746,718,679,661,636,877,783,813,651,628.491434323,653.508565677,0.400979065785,-0.00535911341676,0.0698343178232,0.999999942877,0.000215429862797,-0.00026012422451,1.31080875573e-05,1793249563732142848
+57,0.950000000,BASELINE,766,745.937819924,717.937819924,679,661.062180076,636,877,783,812.937819924,651,629,653,0.400978747609,-0.00535891488155,0.0698341067613,0.999999942262,0.00021735330014,-0.000260882970219,1.31683919039e-05,1793249563748809472
+58,0.966666667,BASELINE,766,745.365804833,717.365804833,679,661.634195167,636,877,783,812.365804833,651,629,653,0.400979080175,-0.00536034394263,0.0698347980758,0.999999942824,0.000215473011334,-0.00026028104385,1.33294365668e-05,1793249563765476096
+59,0.983333333,BASELINE,766.216811435,745,717,678.783188565,661.783188565,636,877,783,812,651,629,653,0.400979488375,-0.00536106055144,0.0698352486128,0.99999994318,0.000214421107037,-0.000259774467207,1.34420816679e-05,1793249563782142464
+60,1.000000000,BASELINE,766.818233666,745,717,678.181766334,661.181766334,636,877,783,812,651,629,653,0.400980030745,-0.00536051331185,0.0698352720248,0.999999943178,0.000214838708063,-0.000259437035299,1.3468868806e-05,1793249563798809344
+61,1.016666667,BASELINE,766.59963246,745,717,678,661,636,877,783,812.40036754,651,629,653,0.400980347977,-0.00535937104142,0.0698350695205,0.999999942965,0.000215793577736,-0.000259475291978,1.32282701174e-05,1793249563815476224
+62,1.033333333,BASELINE,766.025853022,745,717,678,661,636,877,783,812.974146978,651,629,653,0.400980567694,-0.00535797104426,0.0698347691647,0.999999942661,0.0002169811555,-0.000259676271337,1.28718581334e-05,1793249563832142848
+63,1.050000000,BASELINE,766,745.563676567,717,678.563676567,661.563676567,636,877,783,812.436323433,651,629,653.563676567,0.400979148179,-0.00535949862202,0.0698338958866,0.999999942458,0.00021616447153,-0.000261124171714,1.3098000319e-05,1793249563848809728
+64,1.066666667,BASELINE,766,745.849017914,717,678.849017914,662,636,877,783,812,651,629,654,0.40097804238,-0.00536064010798,0.0698333170502,0.999999942298,0.000215554288889,-0.000262229878664,1.329778341e-05,1793249563865476096
+65,1.083333333,BASELINE,766,745.270122112,717,678.270122112,662,636,877,783,812,651,629,654,0.400978044924,-0.00536029583522,0.0698336493367,0.999999942253,0.000215797397137,-0.000262198992979,1.33449561342e-05,1793249563882142720
+66,1.100000000,BASELINE,766,745,717.306985473,678.306985473,661.693014527,636,877,783,812,651,629,653.693014527,0.400977955989,-0.0053601484628,0.0698339385446,0.999999942433,0.000215184260636,-0.000262019938744,1.32629516578e-05,1793249563898809344
+67,1.116666667,BASELINE,766,745,717.882528657,678.882528657,661.117471343,636,877,783,812,651,629,653.117471343,0.400977787026,-0.00536017334317,0.0698341900663,0.999999942808,0.000213822062195,-0.000261711263373,1.30679400948e-05,1793249563915475968
+68,1.133333333,BASELINE,766,745,717.543990696,679,661.456009304,636,876.543990696,783,812,651,628.543990696,653,0.400978664276,-0.00535949545007,0.0698348804227,0.999999942594,0.000216387859076,-0.000260414671954,1.31425725016e-05,1793249563932142592
+69,1.150000000,BASELINE,766,745,717,679,661.969955684,636,876.030044316,783,812,651,628.030044316,653,0.400979721156,-0.0053587497221,0.0698356280165,0.999999942274,0.00021956632681,-0.00025897029502,1.32827452817e-05,1793249563948809472
+70,1.166666667,BASELINE,766,745,717,679,661.375573317,636,876.624426683,783,812,651,628.624426683,653,0.400979112536,-0.0053601150672,0.069835336871,0.999999943055,0.000215331808608,-0.000259508765351,1.33551257365e-05,1793249563965476096
+71,1.183333333,BASELINE,766,745,717,678.787578581,661,636,876.787578581,783,812.212421419,651,629,653,0.400979065002,-0.00536036393567,0.0698354312744,0.999999943423,0.000213703377173,-0.000259437510394,1.33148449216e-05,1793249563982142720
+72,1.200000000,BASELINE,766,745,717,678.210547754,661,636,876.210547754,783,812.789452246,651,629,653,0.400979980542,-0.00535869643507,0.0698361874508,0.999999943103,0.000216548146276,-0.000258319696397,1.30811873917e-05,1793249563998809344
+73,1.216666667,BASELINE,766,745,717,678,661,636,876.365183856,783,812.634816144,651,629,653,0.400980177007,-0.00535842883611,0.0698361950722,0.999999942957,0.000217449294933,-0.00025813883182,1.29258692642e-05,1793249564015476224
+74,1.233333333,BASELINE,766,745,717,678,661,636,876.940169019,783,812.059830981,651,629,653,0.400979960356,-0.00535896549295,0.0698357726421,0.999999942912,0.000217233816535,-0.00025849625292,1.28155578202e-05,1793249564032142848
+75,1.250000000,BASELINE,766.528277234,745,717.528277234,678,661.528277234,636,876.471722766,783,812,651,629,653,0.400978936595,-0.00536051065245,0.0698349802867,0.999999943061,0.000214801265622,-0.000259944015983,1.29212068953e-05,1793249564048809216
+76,1.266666667,BASELINE,766.884201779,745.115798221,717.884201779,678.115798221,661.884201779,636,876.115798221,783,812,651,628.884201779,653.115798221,0.40097864167,-0.00536166200557,0.069834705651,0.999999943326,0.000213019957177,-0.000260383983407,1.30509732306e-05,1793249564065476096
+77,1.283333333,BASELINE,766.305127772,745.694872228,717.305127772,678.694872228,661.305127772,636,876.694872228,783,812,651,628.305127772,653.694872228,0.400981637634,-0.00536076924971,0.0698366741505,0.999999943987,0.000214874249239,-0.000256285418579,1.31768796606e-05,1793249564082142720
+78,1.300000000,BASELINE,765.727961544,745.727961544,717.272038456,679,661,636,877,783,812.272038456,651,628.272038456,654,0.400982192214,-0.0053601863699,0.0698369667524,0.999999943797,0.000216497352416,-0.000255658630388,1.3189548128e-05,1793249564098809344
+79,1.316666667,BASELINE,765.152920283,745.152920283,717.847079717,679,661,636,877,783,812.847079717,651,628.847079717,654,0.400980027524,-0.00535994863733,0.0698353927002,0.999999942668,0.000217862951877,-0.000258898788627,1.30760894912e-05,1793249564115476224
+80,1.333333333,BASELINE,765.843599135,745,718,678.578200432,661,635.578200432,877,782.578200432,812.578200432,651,629,653.578200432,0.400978764504,-0.00536053672181,0.0698344796931,0.99999994242,0.000217326040463,-0.000260303492791,1.30689120371e-05,1793249564132142592
+81,1.350000000,BASELINE,766.992806057,745,718,678.003596972,661,635.003596972,877,782.003596972,812.003596972,651,629,653.003596972,0.40097782813,-0.00536142397221,0.0698338061605,0.999999942493,0.000216099913025,-0.000261043273522,1.3100236696e-05,1793249564148809216
+82,1.366666667,BASELINE,766.412671326,745,718,678.587328674,661,635.587328674,877,782.587328674,812.587328674,651,628.412671326,653,0.400977477418,-0.00536112896496,0.0698339445041,0.999999942456,0.000214754792826,-0.00026230215432,1.29117303846e-05,1793249564165475840
+83,1.383333333,BASELINE,766,745,717.825311127,678.825311127,661.174688873,636,877,783,812.825311127,651,628.174688873,653.174688873,0.400977328197,-0.00536047124061,0.0698339726303,0.999999942328,0.000214590447483,-0.00026293224219,1.27361482857e-05,1793249564182142464
+84,1.400000000,BASELINE,766,745,717.246438212,678.246438212,661.753561788,636,877,783,812.246438212,651,628.753561788,653.753561788,0.400977636639,-0.00535899151583,0.0698337339092,0.999999941993,0.000217159838231,-0.000262099903186,1.25936734195e-05,1793249564198809088
+85,1.416666667,BASELINE,766,745,717,678.330144675,661.669855325,636,877,783,812.330144675,651,629,653.669855325,0.400978184785,-0.00535888835522,0.069833841645,0.999999942142,0.00021745382377,-0.000261278105783,1.27993960808e-05,1793249564215475968
+86,1.433333333,BASELINE,766,745,717,678.9050299,661.0949701,636,877,783,812.9050299,651,629,653.0949701,0.400978910627,-0.00535980565965,0.0698342062137,0.99999994265,0.000216061021619,-0.00026046412306,1.3263242116e-05,1793249564232142592
+87,1.450000000,BASELINE,766,745.475348541,717,679,661,636,877,783,812.524651459,651,629,653,0.400979804257,-0.00536036514629,0.06983528979,0.999999943141,0.000215740419234,-0.000258844208321,1.31930752991e-05,1793249564248809472
+88,1.466666667,BASELINE,766,745.953099827,717.046900173,678.953099827,661,636,877,783,812,651,629,653,0.400980561785,-0.00536078276438,0.0698363578786,0.999999943545,0.000215671982811,-0.000257344381443,1.30461863653e-05,1793249564265476096
+89,1.483333333,BASELINE,766,745.35650527,717.64349473,678.35650527,661,636,877,783,812,651,629,653,0.400979334986,-0.00536036751979,0.0698355768013,0.999999942997,0.00021607223855,-0.000259121297916,1.32386456949e-05,1793249564282142720
+90,1.500000000,BASELINE,766,745,718,678.233297066,661.233297066,636,877,783,812.233297066,651,629,653.233297066,0.400978970364,-0.00535998280855,0.0698354104312,0.999999942834,0.000216219121662,-0.000259623079059,1.33088350015e-05,1793249564298809344
+91,1.516666667,BASELINE,766,745,718,678.813013675,661.813013675,636,877,783,812.813013675,651,629,653.813013675,0.400979885978,-0.00535964343585,0.0698361568315,0.999999943245,0.000215989775279,-0.000258231429473,1.31974672487e-05,1793249564315475968
+92,1.533333333,BASELINE,766,745,717.610093613,679,661.610093613,636,877,783,812.610093613,651,629,653.610093613,0.400980031854,-0.00536008793585,0.0698359194529,0.999999943384,0.000215507219798,-0.000258095822031,1.32649018708e-05,1793249564332142592
+93,1.550000000,BASELINE,766,745,717.034545361,679,661.034545361,636,877,783,812.034545361,651,629,653.034545361,0.400979811244,-0.00536090565254,0.0698352136784,0.999999943392,0.000214904106617,-0.000258558240079,1.34174677028e-05,1793249564348809216
+94,1.566666667,BASELINE,766.55037931,745,717,678.44962069,661,636,877,783,812,651,629,653.55037931,0.400980302688,-0.00536158342325,0.0698356900546,0.999999943685,0.000213674699907,-0.000258438965566,1.35131921452e-05,1793249564365476096
+95,1.583333333,BASELINE,766.864973202,745,717.135026798,678.270053595,661,636,877,783,812,651,629,654,0.400980647682,-0.00536173534993,0.0698358812662,0.999999943768,0.000213090584804,-0.000258598795717,1.35277719527e-05,1793249564382142464
+96,1.600000000,BASELINE,766.283223421,745,717.716776579,679.433553158,661,636,877,783,812,651,629,654,0.400980357735,-0.00536017713754,0.0698348793026,0.999999943099,0.000214773661775,-0.000259804902252,1.32859007461e-05,1793249564398809088
+97,1.616666667,BASELINE,766,745,717.70444624,679.40889248,661,636,877,783,812.29555376,651,629,654,0.400980155333,-0.00535942224053,0.0698348131039,0.999999942982,0.000215356446438,-0.000259779613479,1.31490412221e-05,1793249564415475712
+98,1.633333333,BASELINE,766,745,717.128489314,678.256978628,661,636,877,783,812.871510686,651,629,654,0.400980035987,-0.00535942947969,0.0698356347014,0.999999943391,0.000214895341569,-0.000258586052761,1.31118103162e-05,1793249564432142336
+99,1.650000000,BASELINE,766,745,717,678.452954423,661,636,877,783,812.547045577,651,629,653.547045577,0.400980302076,-0.00535982531151,0.0698357220619,0.99999994333,0.000215499493144,-0.000258326989142,1.29277895606e-05,1793249564448809216
+100,1.666666667,BASELINE,766,745.035903104,717,679,661.035903104,636,877,783,812,651,629,653,0.400980529368,-0.00536024019126,0.0698355642019,0.999999943109,0.000216369676025,-0.000258466534828,1.27153023445e-05,1793249564465475840
+101,1.683333333,BASELINE,766,745.617778592,717,679,661.617778592,636,877,783,812,651,629,653,0.400978483642,-0.00535924789813,0.0698348834394,0.999999942501,0.000216633795788,-0.00026058708294,1.27109040189e-05,1793249564482142464
+102,1.700000000,BASELINE,766,745.801738237,717.198261763,679,661.801738237,636,877,783,812,651,629,653.198261763,0.400977872223,-0.00535909944539,0.0698345812865,0.999999942254,0.000216762864169,-0.000261422123229,1.28060093376e-05,1793249564498809344
+103,1.716666667,BASELINE,766,745.223920609,717.776079391,679,661.223920609,636,877,783,812,651,629,653.776079391,0.400980006664,-0.00536056645592,0.0698350039508,0.999999942702,0.000216633387735,-0.000259796164103,1.30916062134e-05,1793249564515475968
+104,1.733333333,BASELINE,766.351825708,745,718,679,661,636,877,783,812.351825708,651,629,654,0.400981341506,-0.0053610817291,0.0698355782028,0.999999943247,0.000216208712579,-0.000258049319992,1.30294342583e-05,1793249564532143104
+105,1.750000000,BASELINE,766.926261505,745,718,679,661,636,877,783,812.926261505,651,629,654,0.400982170419,-0.00536099481125,0.0698362483687,0.999999943852,0.000215597256818,-0.000256225988367,1.27472191432e-05,1793249564548810496
+106,1.766666667,BASELINE,766.488070067,745,718,679,661,636,877,783,813,651,629,653.488070067,0.40098107908,-0.00536110767853,0.0698361608844,0.999999943742,0.000214623955942,-0.000257459595335,1.29061711298e-05,1793249564565477376
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,679,661,636,877,783,812,652,629,653,0.40098109164,-0.00535906769625,0.0698362790069,0.999999943198,0.000217059973301,-0.000257523747063,1.3070619195e-05,1793249564608081408
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.424167848,745,717.575832152,679,661,636,876.424167848,783,812,651.424167848,629,653,0.400979458313,-0.00536066084305,0.0698352243562,0.999999943032,0.000215613358084,-0.000259371951835,1.31502369247e-05,1793249564624748288
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,717.848057796,678.848057796,661,636,876.151942204,783,812.151942204,651,629,653.151942204,0.400978529019,-0.00536181238181,0.0698344969,0.999999942999,0.000214319126039,-0.000260566334094,1.32181338572e-05,1793249564641414656
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,717.271170394,678.271170394,661,636,876.728829606,783,812.728829606,651,629,653.728829606,0.40097956873,-0.0053617288512,0.0698346845271,0.999999943349,0.00021345107214,-0.000259932135062,1.32532506042e-05,1793249564658080768
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.312920321,745,717,678.312920321,661,636,877,783.312920321,813,651,629,653.687079679,0.400979737009,-0.00536186047522,0.0698347921506,0.999999943428,0.000213329420771,-0.000259726520298,1.32592540908e-05,1793249564674747392
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.903400325,745,717,678.903400325,661,636,877,783.903400325,813,651,629,653.096599675,0.40097913233,-0.00536218294098,0.0698348288113,0.999999943268,0.000213869826969,-0.000259901058941,1.3239434173e-05,1793249564691413504
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.516876173,745,717.483123827,679,661,636,877.483123827,783.516876173,813,651,629,653,0.400980066394,-0.0053612916361,0.0698354108753,0.999999943218,0.000214754194028,-0.000259370030923,1.31180748219e-05,1793249564708079872
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636,877.878591531,783,813,651,629,653.060704235,0.400981166297,-0.0053603836155,0.0698360103329,0.999999943197,0.000215491195768,-0.000258841902591,1.30223251266e-05,1793249564724746496
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636,876.724097703,783,813,651,629,653.637951148,0.400981116358,-0.00536135348088,0.0698358500607,0.999999943254,0.000214401774292,-0.000259512748574,1.33134881434e-05,1793249564741413376
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.218148571,745,717.781851429,679,661,636,876.218148571,783,812.781851429,651,628.781851429,654,0.400986508923,-0.0053618756707,0.0698384717484,0.999999944083,0.000214437694254,-0.000256250780029,1.36159880698e-05,1793249564758080000
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.803309866,745,717.196690134,679,661,636,876.803309866,783,812.196690134,651,628.196690134,654,0.401001057946,-0.00536164469196,0.0698457738,0.999999946146,0.000216366886517,-0.000246372252028,1.39375611602e-05,1793249564774746880
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,717,679,661,636,877,783,812.384257955,651,628,654,0.401031615344,-0.00536184102875,0.0698576821185,0.999999950746,0.000216563572022,-0.000226732344155,1.41645323427e-05,1793249564791413504
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,717,679,661,636,877,783,812.963072871,651,628,654,0.401070278081,-0.00536225372333,0.0698719226764,0.999999956162,0.000215883057153,-0.000202150066799,1.43436048393e-05,1793249564808080128
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.458809562,745,717.541190438,679,661,636,877,783,813,651,628.541190438,653.458809562,0.401124571615,-0.00536289096074,0.0698845116668,0.999999959101,0.000214884847467,-0.000188181974127,1.44645494573e-05,1793249564824746752
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.118908988,718,679,661,636,877,783,813,651,629,653.118908988,0.401183460332,-0.00536362791146,0.0698954449906,0.999999961488,0.000214395909857,-0.000175648476414,1.43630629577e-05,1793249564841413632
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.695275457,718,679,661,636,877,783,813,651,629,653.695275457,0.40125592948,-0.00536468960479,0.0699004417457,0.99999996284,0.000215949492254,-0.000165851386099,1.34210956793e-05,1793249564858080256
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.722242513,717.722242513,679,661,636,877,783.277757487,812.722242513,651,629,653.722242513,0.401337117717,-0.00536673652963,0.0699035719805,0.999999964222,0.000214362433183,-0.000159578328187,1.18436078076e-05,1793249564874746624
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.13290016,717.13290016,679,661,636,877,783.86709984,812.13290016,651,629,653.13290016,0.401428086916,-0.00536988867477,0.0699046083762,0.999999965696,0.000209252241799,-0.000157258486249,9.55320095809e-06,1793249564891413248
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.432580664,717.432580664,679,661,636,877,783.567419336,812,651,629,653,0.40153334991,-0.00537170013128,0.069902154408,0.999999965493,0.000206781218204,-0.000161889174161,6.85323766177e-06,1793249564908079872
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.991113827,717.991113827,679,661,636,877,783.008886173,812,651,629,653,0.40164277476,-0.00537312122566,0.0698986841669,0.99999996476,0.000205078628892,-0.000168543615535,4.03402576068e-06,1793249564924746496
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,717.412615905,679,661,636,877,783,812.587384095,651,629,653,0.401786723696,-0.00537647841055,0.0699023255736,0.999999966196,0.000201713700153,-0.000164065549871,1.40024155267e-06,1793249564941413376
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,717,679,661.176828045,636,877,783,812.823171955,651,629,653,0.401941364158,-0.00537961715518,0.0699061295154,0.999999967634,0.000198413925807,-0.000159254479745,-1.42564563656e-06,1793249564958080000
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,717,679,661.749619852,636,877,783,812.250380148,651,629,653,0.402118695845,-0.00538219666427,0.0699100399571,0.99999996904,0.000195320229862,-0.000154100748555,-4.68841366057e-06,1793249564974746624
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,717.333424426,679,661.666575574,636,877,783,812,651,629,653,0.402316986085,-0.00538384618254,0.0699132095585,0.999999970963,0.000190377463503,-0.000147455992615,-9.29528510923e-06,1793249564991413248
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,717.925781415,679,661.074218585,636,877,783,812,651,629,653,0.402531552452,-0.00538477348375,0.0699158038344,0.999999973209,0.000183998735593,-0.000139653327966,-1.49459680865e-05,1793249565008079616
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.493902012,718,678.493902012,661.506097988,636,877,783,812.506097988,651,629,653,0.402776832536,-0.00539054180668,0.0699185579671,0.999999975763,0.000174042114112,-0.000133370231429,-1.990632004e-05,1793249565024746496
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.084120152,718,678.084120152,661.915879848,636,877,783,813,651,629,653.084120152,0.403032229982,-0.00539671333975,0.0699217240906,0.999999978171,0.000164217213845,-0.000126787579795,-2.48056567826e-05,1793249565041413120
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.658819946,718,678.658819946,661.341180054,636,877,783,813,651,629,653.658819946,0.403320973719,-0.00540119233242,0.0699271593625,0.99999998018,0.000158149340971,-0.000117188558523,-2.99258399039e-05,1793249565058079744
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,718,679,661,636,877,783.238622661,813,651,629,654,0.403631020988,-0.00540631993366,0.069934850275,0.999999982589,0.000151057185717,-0.000103788877384,-3.50808419305e-05,1793249565074746624
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,718,679,661,636,877,783.825880879,813,651,629,654,0.403972193399,-0.00541239517308,0.0699458367521,0.999999985441,0.000142468520555,-8.48363077385e-05,-4.02867152103e-05,1793249565091413248
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,717.592818898,679,661.407181102,636,877,783.592818898,813,651,629,654,0.404332632745,-0.00541765087318,0.0699513970982,0.999999993299,7.22214818969e-05,-7.8412839693e-05,-4.51458762334e-05,1793249565108079872
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,717.014029711,679,661.985970289,636,877,783.014029711,813,651,629,654,0.40470119221,-0.00542256117503,0.0699546705797,0.999999995483,-2.40117223568e-05,-7.72698109118e-05,-4.98589135229e-05,1793249565124746496
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.565772501,745.434227499,717,679,662,636,877,783,813,651,629,653.434227499,0.405112080532,-0.00542269706092,0.0699550555265,0.999999995347,5.11187553342e-05,-7.30397051046e-05,-3.68467183166e-05,1793249565141413120
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.855856302,745.144143698,717,679,662.144143698,636,877,783,812.855856302,651.144143698,629,653.144143698,0.405531084388,-0.005424398182,0.0699551501881,0.999999991314,0.000107973235109,-7.00516697068e-05,-2.83938770561e-05,1793249565158079744
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.281828027,745.718171973,717,679,662.718171973,636,877,783,812.281828027,651.718171973,629,653.718171973,0.405971155386,-0.00543112107804,0.0699545931252,0.999999992107,9.762677736e-05,-7.09966164208e-05,-3.4851760278e-05,1793249565174746368
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,717,679.300219771,662.699780229,636.300219771,877.300219771,783.300219771,812,651.699780229,629,654,0.406429306103,-0.00544004239063,0.0699464456897,0.999999992242,8.14472574805e-05,-8.60173229222e-05,-3.85113779231e-05,1793249565191412992
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,717,679.890002493,662.109997507,636.890002493,877.890002493,783.890002493,812,651.109997507,629,654,0.40690489482,-0.00545108408396,0.069930977315,0.999999990874,5.9641728791e-05,-0.000114614145851,-3.94720599877e-05,1793249565208079872
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.529394598,717,679.529394598,662,636.529394598,878,783.529394598,812.470605402,651,628.529394598,654,0.407435895339,-0.00547252253816,0.0699237008851,0.999999991555,3.48536691209e-05,-0.000119467606204,-3.74412496175e-05,1793249565224746240
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,717.048912712,679.048912712,662,636.048912712,878,783,813,651,628.048912712,653.951087288,0.407985633018,-0.00549597294995,0.069920258732,0.999999992604,9.21000467043e-06,-0.000116116911415,-3.49846394622e-05,1793249565241412864
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,717.625161249,679.625161249,662,636.625161249,878,783,813,651,628.625161249,653.374838751,0.408600416246,-0.00551541660301,0.0699379062327,0.999999995764,-1.82860710487e-05,-8.30031462882e-05,-3.53315812922e-05,1793249565258079744
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,717.79547062,679.79547062,662,637,878,783,813,651,629,653,0.409210082758,-0.0055259303132,0.0699491968258,0.999999997022,-3.33725014317e-05,-5.93216854816e-05,-3.63712588565e-05,1793249565274746624
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,717.210296725,679.210296725,662,637,878,783,813,651,629,653,0.409810226642,-0.00551982472874,0.0699486567362,0.999999997515,-2.53636494734e-05,-5.31944526884e-05,-3.87001696585e-05,1793249565291413248
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.370782458,717,679,662,637,878.370782458,783,813,651,629,653,0.410448709925,-0.00552810494286,0.0699437915931,0.999999996766,-3.49865931579e-05,-6.04342492917e-05,-3.9897418846e-05,1793249565308079872
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.94956459,717,679,662,637,878.94956459,783,813,651,629,653,0.411108700632,-0.00554445522996,0.0699365002034,0.999999994871,-5.45005329294e-05,-7.51726148379e-05,-4.04598341097e-05,1793249565324746496
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,717,679.529380425,662,637,879,783,813,651,629,653.529380425,0.411829007942,-0.00555137826342,0.0699518760698,0.999999995602,-6.84498094204e-05,-4.8698700941e-05,-4.17005534188e-05,1793249565341413376
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.891751565,717.108248435,679.891751565,662,637,879,783.108248435,813,651,629,654,0.412563351308,-0.00555589863209,0.0699723153166,0.999999995939,-7.83198906302e-05,-1.44287965566e-05,-4.21764181927e-05,1793249565358080000
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.317389904,717.682610096,679.317389904,662,637,879,783.682610096,813,651,629,654,0.413333340467,-0.00555394822353,0.0700052400647,0.999999995913,-7.29124352871e-05,3.6470324436e-05,-3.90800395819e-05,1793249565374746624
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,717.736242926,679,662,637,879,783.736242926,813,651,629,653.736242926,0.414084965972,-0.00554091978384,0.0700200000914,0.999999996212,-5.43425729207e-05,5.62557528269e-05,-3.81773312316e-05,1793249565391413504
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,717.146715216,679,662,637,879,783.146715216,813,651,629,653.146715216,0.414813910333,-0.00551420868813,0.0700123245808,0.999999998303,-1.95156077278e-05,3.76121621601e-05,-3.99840602079e-05,1793249565408081152
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,717.434671285,679.434671285,662,637,879,783,812.565328715,651,629,653.434671285,0.415558715548,-0.00550236873833,0.0699644438014,0.999999997986,-1.17371791022e-05,-4.45266423376e-05,-4.36856303899e-05,1793249565424747776
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.013319501,745,717.986680499,680,662.013319501,636.986680499,879.013319501,783,812,650.986680499,629,654,0.416311021689,-0.00549596173219,0.0699048870433,0.999999988257,-1.32781528697e-05,-0.000144952544773,-4.79347473533e-05,1793249565441414144
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.590238973,745,717.409761027,680,662.590238973,636.409761027,879.590238973,783,812,650.409761027,629,654,0.41715835901,-0.0055109549161,0.0699149392363,0.999999990042,-2.99473520253e-05,-0.00012899409827,-4.87876498379e-05,1793249565458080768
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.168262888,717,680,663,636.168262888,880.168262888,783.168262888,812.168262888,650.168262888,629,654,0.418001583083,-0.00552324716744,0.06993076971,0.999999992436,-4.35922221746e-05,-0.000104179400706,-4.87309429236e-05,1793249565474747392
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.748994127,717,680,663,636.748994127,880.748994127,783.748994127,812.748994127,650.748994127,629,654,0.418834724164,-0.00552891853304,0.0699607646725,0.999999996018,-4.98234541326e-05,-5.76550845534e-05,-4.64444805047e-05,1793249565491414272
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.66897261,746,717.33102739,680,663,637,881,783.66897261,813,651,629,654,0.419715258375,-0.00553221512592,0.0699877365152,0.999999997289,-5.50843382583e-05,-1.54488160275e-05,-4.63482621219e-05,1793249565508080640
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.085948198,746,717.914051802,680,663,637,881,783.085948198,813,651,629,654,0.420631870916,-0.00553370390543,0.0700124069846,0.9999999968,-5.96065377115e-05,2.34703050085e-05,-4.79193831342e-05,1793249565524747008
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.507449199,717.507449199,680.492550801,663,637,881.492550801,783,813,651,629,653.507449199,0.421547170162,-0.00552819578536,0.0700217730177,0.999999996432,-5.94108501422e-05,3.63090951817e-05,-4.78312413072e-05,1793249565541413632
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.070117398,745,717,681,663,637,882,783.070117398,813,651,629,653.070117398,0.422448042697,-0.00552142918421,0.0700190036376,0.999999996798,-5.68167684971e-05,2.94142665071e-05,-4.80693417871e-05,1793249565558080512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.646600991,745,717,681,663,637,882,783.646600991,813,651,629,653.646600991,0.423246369406,-0.00551431114442,0.0699477064596,0.999999993872,-4.27933776964e-05,-8.74245643011e-05,-5.27353589635e-05,1793249565574746880
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.222481437,717,681,663,637,882,784,813.222481437,650.777518563,628.777518563,654,0.424075448859,-0.00551259588679,0.0698884059538,0.999999981996,-4.29960630698e-05,-0.000175527727614,-5.78767525706e-05,1793249565591413504
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.797406497,717,681,663,637,882,784,813.797406497,650.202593503,628.202593503,654,0.424953245347,-0.00551943943703,0.0698481099467,0.99999997202,-6.57349634782e-05,-0.000218109347419,-6.37712145903e-05,1793249565608079872
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.61757558,745.61757558,717,681,663.38242442,637,882.38242442,784,814,650.38242442,628,654,0.425876786058,-0.00552563221447,0.069873705349,0.999999979809,-7.28118408186e-05,-0.000176955464831,-6.1379953105e-05,1793249565624746496
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.027065951,745.027065951,717,681,663.972934049,637,882.972934049,784,814,650.972934049,628,654,0.426825217115,-0.00553147089226,0.069935153662,0.999999991898,-7.13666786801e-05,-9.02393223921e-05,-5.44802536837e-05,1793249565641413120
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.55178735,745,717.55178735,681,664,637,883,784,814,651,628.55178735,654,0.427803565915,-0.00553049190454,0.0699836252268,0.999999995769,-6.94779343508e-05,-2.93848400681e-05,-5.26397604927e-05,1793249565658079744
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.870877062,745.129122938,717.870877062,681,664,637,883.258245875,784,814,651,628.870877062,654,0.428773302135,-0.00552997659909,0.0700251671763,0.999999996,-6.80594228412e-05,2.64181100815e-05,-5.1662729649e-05,1793249565674746624
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.296841685,745.703158315,717.296841685,681,664,637,884.40631663,784,814,651,628.296841685,654,0.42970841046,-0.00553218742352,0.0700449799738,0.999999993883,-6.83345903394e-05,6.90958029354e-05,-5.28235011364e-05,1793249565691414272
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661,633.826794248,887,781,816,651,629,654,0.452285755304,-0.00557370693405,0.069560798091,0.999999767772,-0.00011956707898,-0.000668182891109,-6.07520834587e-05,1793249566758081280
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766.004665103,746.004665103,717,683,661,634,886.995334897,781,816,651,629,654.004665103,0.452287463037,-0.00557315751404,0.0695608758974,0.999999768744,-0.000117449994953,-0.000667153913312,-6.01958710626e-05,1793249566791414528
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.582611527,746.582611527,717,683,661,634,886.417388473,781,816,651,629,654.582611527,0.452289971406,-0.00557205105668,0.0695617689629,0.999999770212,-0.000116175582669,-0.000665117630305,-6.08145001662e-05,1793249566808081152
+240,4.000000000,POSE1_TO_POSE2_PRESS,766.839757335,746.839757335,717,683,660.839757335,634,886.160242665,781,816,651,629,654.839757335,0.452291098608,-0.00557146923927,0.0695620444436,0.999999770856,-0.000115474128335,-0.000664241443819,-6.11302335917e-05,1793249566824747776
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.262945856,746.262945856,717,683,660.262945856,634,886.737054144,781,816,651,629,654.262945856,0.45228863531,-0.00557225128244,0.0695607144431,0.99999976937,-0.000116262142649,-0.000666381058716,-6.06585556302e-05,1793249566841414144
+242,4.033333333,POSE1_TO_POSE2_PRESS,766.319285711,746,717,683,660,633.680714289,886.680714289,781,816,651,629,654,0.452289354436,-0.0055715201565,0.0695612548075,0.999999770047,-0.000115846873088,-0.000665447641072,-6.05432040827e-05,1793249566858080768
+243,4.050000000,POSE1_TO_POSE2_PRESS,766.906058014,746,717,683,660,633.093941986,886.093941986,781,816,651,629,654,0.452292739685,-0.00556952134948,0.0695633620995,0.999999772528,-0.000114423533627,-0.000661939742305,-6.07263705772e-05,1793249566874747648
+244,4.066666667,HOLD_POSE2,766,746,717,683,660,633,887,781,816,651,628,654,0.452291097978,-0.00557020298536,0.0695599601406,0.999999769402,-0.000117098197277,-0.000666190289606,-6.06162999984e-05,1793249566906195456
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+256,4.266666667,HOLD_POSE2,766.959280941,746,717,683.040719059,661,634,887,781,816,651,629,654,0.452294485224,-0.00556710960185,0.0695628090026,0.999999772011,-0.00011301005807,-0.000662961279465,-6.07395691372e-05,1793249567106194688
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,717,683,660,633.752768954,887,781,816,651,628.752768954,654,0.452293062356,-0.00556782217886,0.0695610606631,0.999999770336,-0.000114855247548,-0.000665243749725,-5.98867550019e-05,1793249567229375488
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,718,679.205250003,661.794749997,636.794749997,877,783.794749997,813,651,629,654,0.404320024202,-0.00537957937591,0.0698451111314,0.999999949772,0.000196737433579,-0.000247380681116,2.35247371403e-05,1793249568779375360
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,679.785859427,661.214140573,636.214140573,877,783.214140573,813,651,629,654,0.403977575692,-0.00537429305361,0.0698538139133,0.999999951356,0.000205022045853,-0.000233866476099,2.36557767364e-05,1793249568796041984
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.064721292,718,679.064721292,661,636,876.064721292,783,813,651,629,653.064721292,0.403319582414,-0.00537121852628,0.0698369177798,0.999999945491,0.000202139572734,-0.000260203093843,2.12702121432e-05,1793249568829375744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.488398106,745,717.488398106,679,661,636,876,783,813,651,629,653,0.403036439534,-0.00536721686858,0.069830803555,0.999999941003,0.000206279408268,-0.000273884481814,2.07359235423e-05,1793249568846042112
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.681728164,745.681728164,717.681728164,679,661.681728164,636,876.681728164,783,813,651,629,653.681728164,0.402531092155,-0.00536293386334,0.0698149802085,0.99999993299,0.000208571161576,-0.000300137110018,2.08803236579e-05,1793249568879376128
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.733824933,745.733824933,717.733824933,679,662,636,877,783,813,651,629,654,0.40231203046,-0.0053612265162,0.0698071561724,0.999999929435,0.00020941461705,-0.000311129860192,2.17435287337e-05,1793249568896043008
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.985495617,745,718,679,661.014504383,636,877,783,813,651,629,653,0.400980344546,-0.00535913713289,0.0698271866825,0.99999993872,0.00022003519999,-0.000271965655335,1.3357136126e-05,1793249569262708736
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.773275346,745.773275346,717.226724654,678.226724654,661.226724654,636,877,783,813,651,629,653,0.400979835391,-0.00536014078591,0.0698285936679,0.999999939582,0.000218075863571,-0.000270372456142,1.33166434645e-05,1793249569312708608
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.650365459,745.650365459,717.349634541,678.349634541,661,636,876.650365459,783,812.650365459,651,629,653.349634541,0.400980029009,-0.0053605508288,0.0698289456382,0.999999939873,0.000217697023619,-0.000269591216181,1.34815068727e-05,1793249569329375232
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.07617506,745.07617506,717.92382494,678.92382494,661,636,876.07617506,783,812.07617506,651,629,653.92382494,0.400980167254,-0.00536160668084,0.0698293068739,0.999999940447,0.000216662584294,-0.000268277481596,1.37925584604e-05,1793249569346042112
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,717.490836661,679,661,636,877.018326678,783,812.509163339,651,629,654,0.400978800246,-0.00536142819907,0.069828879909,0.999999939907,0.000217744327142,-0.000269419336316,1.36916763628e-05,1793249569362708480
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,877.905255331,783,813,651,629,653.905255331,0.400977731149,-0.00536127387313,0.0698286692949,0.999999939512,0.000218558652389,-0.000270230731863,1.35369560656e-05,1793249569379375104
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,877.327133953,783,813,651,629,653.327133953,0.400979356623,-0.00536220602555,0.0698301775669,0.999999940743,0.000216357236615,-0.000267439891959,1.34290202606e-05,1793249569396041728
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,877,783,813,651,628.748895022,653.251104978,0.400979881581,-0.00536287007817,0.0698306504306,0.999999941305,0.000214852637812,-0.000266545577291,1.35129088904e-05,1793249569412708608
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,717.404538192,678.595461808,661.404538192,636,877,783,813,651,628.404538192,653.595461808,0.400978990037,-0.00536277702756,0.0698300695963,0.999999941023,0.000215067764855,-0.000267414320165,1.37696443514e-05,1793249569446042112
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,717.978178516,678.021821484,661.978178516,636,877,783,813,651,628.978178516,653.021821484,0.40097939557,-0.00536206744015,0.0698308555636,0.999999941168,0.00021646777935,-0.000265749707332,1.35206307727e-05,1793249569462708480
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,718,678.567139041,661.432860959,636,876.432860959,783.567139041,813,651,629,653.567139041,0.40097988002,-0.00536178957837,0.0698309624029,0.999999941424,0.00021562304756,-0.000265502938277,1.29327768564e-05,1793249569479375360
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.154652807,718,679,661,636,876,783.845347193,813,651,629,654,0.400980493165,-0.00536162239561,0.0698312587409,0.999999941729,0.000214803806778,-0.000265038660228,1.24889340286e-05,1793249569496041984
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.313734658,746,717.686265342,679,661,636,876,783,813,651,629,653.686265342,0.400981406396,-0.00536181656807,0.0698322954221,0.999999942071,0.000214717267853,-0.000263802433935,1.27361473956e-05,1793249569529375488
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.536553813,745.536553813,717.463446187,679,661.463446187,636,876.463446187,783,813,651,629,653.463446187,0.400979856234,-0.00536086541319,0.0698318679815,0.999999941064,0.000217113297657,-0.000265631175192,1.32223485609e-05,1793249569562709248
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8bff489c8487d6530a6b76a74b5778ace24bbb75
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,404 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+374,6.233333333,pose2_to_pose3_retreat,0.575740291141,0.000150041793261,1.06003340315,0.546310969897,0.00882267625484,1.05970479041
+375,6.250000000,pose2_to_pose3_retreat,0.57571948936,0.000150028971626,1.0600333976,0.546290168779,0.00882266573501,1.05970478638
+376,6.266666667,pose2_to_pose3_retreat,0.575703435429,0.000150133253526,1.06003338846,0.546274115319,0.00882277179722,1.05970478216
+377,6.283333333,pose2_to_pose3_retreat,0.575691234529,0.00015007569651,1.06003339043,0.546261915288,0.00882271718846,1.05970478432
+378,6.300000000,pose2_to_pose3_retreat,0.575682106794,0.000150107281456,1.06003354492,0.5462527863,0.00882274441451,1.05970493555
+379,6.316666667,pose2_to_pose3_retreat,0.575675537515,0.000150131923237,1.06003357007,0.546246216204,0.00882276622012,1.0597049587
+380,6.333333333,pose2_to_pose3_retreat,0.575671432877,0.000150120140792,1.06003342237,0.546242111909,0.00882275561717,1.05970481151
+381,6.350000000,pose2_to_pose3_retreat,0.575668923417,0.000150115233994,1.06003355047,0.546239602423,0.00882275053732,1.05970493731
+382,6.366666667,pose2_to_pose3_retreat,0.575667505384,0.000150112670762,1.06003364278,0.546238184353,0.00882274779474,1.05970502807
+383,6.383333333,pose2_to_pose3_retreat,0.575666772813,0.000150102251768,1.06003362939,0.546237451815,0.00882273752227,1.05970501568
+384,6.400000000,pose2_to_pose3_retreat,0.575666338754,0.000150092441931,1.06003359705,0.546237017796,0.00882272789489,1.05970498464
+385,6.416666667,pose2_to_pose3_retreat,0.575665903181,0.000150082597857,1.06003356459,0.546236582262,0.00882271823391,1.05970495349
+386,6.433333333,pose2_to_pose3_retreat,0.575665649425,0.000150076862904,1.06003354567,0.546236328529,0.00882271260562,1.05970493534
+387,6.450000000,pose2_to_pose3_retreat,0.575665626716,0.000150076349679,1.06003354398,0.546236305823,0.00882271210194,1.05970493371
+388,6.466666667,pose2_to_pose3_retreat,0.575665496747,0.000150073412345,1.0600335343,0.546236175865,0.00882270921924,1.05970492442
+389,6.483333333,pose2_to_pose3_retreat,0.575665263064,0.000150068131048,1.06003351688,0.546235942204,0.00882270403617,1.05970490771
+390,6.500000000,pose2_to_pose3_retreat,0.575665204885,0.000150066901081,1.0600335119,0.546235884016,0.0088227027824,1.05970490284
+391,6.516666667,pose2_to_pose3_retreat,0.575665191523,0.000150066748221,1.06003350977,0.546235870632,0.00882270255041,1.05970490066
+392,6.533333333,pose2_to_pose3_retreat,0.57566508321,0.000150065509075,1.06003349248,0.546235762134,0.00882270066984,1.05970488294
+393,6.550000000,pose2_to_pose3_retreat,0.575665066009,0.000150065312291,1.06003348974,0.546235744904,0.0088227003712,1.05970488013
+394,6.566666667,pose2_to_pose3_retreat,0.575664915163,0.000150063586544,1.06003346567,0.546235593801,0.00882269775214,1.05970485545
+395,6.583333333,pose2_to_pose3_retreat,0.575664867727,0.000150063043863,1.0600334581,0.546235546285,0.00882269692855,1.05970484769
+396,6.600000000,pose2_to_pose3_retreat,0.575664812299,0.000150062409745,1.06003344926,0.546235490763,0.00882269596619,1.05970483862
+397,6.616666667,pose2_to_pose3_retreat,0.575664587442,0.00015005983729,1.06003341338,0.546235265524,0.00882269206214,1.05970480184
+398,6.633333333,pose2_to_pose3_retreat,0.575664422247,0.000150029158971,1.06003348762,0.546235100795,0.00882266308288,1.05970487917
+399,6.650000000,pose2_to_pose3_retreat,0.575664362018,0.000150005864875,1.060033557,0.54623504105,0.0088226415344,1.05970495125
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+401,6.683333333,pose2_to_pose3_retreat,0.575664326823,0.00014999225274,1.06003359755,0.546235006138,0.00882262894234,1.05970499338
+402,6.700000000,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485915,1.05970488537
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdc18412ed3f21e7212e41734c51fc026bf7d52e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5acb570db4ff1fbadd00e8289c2e43eee88fc73bc12f8c780f83447392f4131
+size 25772818
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af71f01e0937e131d617816a29e643be37575364
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+40,0.666666667,BASELINE,766,745.205084282,718,679,661.205084282,636,877,783.794915718,813,651,629,654,0.400982403234,-0.00536005257923,0.0698362014826,0.999999942537,0.000218556067256,-0.000258837803297,1.2775693774e-05,1793249570359304448
+41,0.683333333,BASELINE,766,745.779845916,718,679,661.779845916,636,877,783.220154084,813,651,629,654,0.400981011292,-0.00535909388177,0.0698350972241,0.999999941842,0.000219580180698,-0.00026065600452,1.26260475289e-05,1793249570375970816
+42,0.700000000,BASELINE,766,745.637980202,718,679,661.637980202,636.362019798,877,783.362019798,813,651,629,654,0.400980376031,-0.00535918735461,0.0698345702566,0.99999994167,0.000219271365826,-0.000261581698423,1.24346739784e-05,1793249570392637184
+43,0.716666667,BASELINE,766,745.051204532,718,679,661.051204532,636.948795468,877,783.948795468,813,651,629,654,0.400980210546,-0.00535993405546,0.0698344016936,0.999999941824,0.000218135017539,-0.000261953289244,1.22173945106e-05,1793249570409304064
+44,0.733333333,BASELINE,766,745,718,679,661.528201873,636.471798127,877,783.471798127,812.471798127,651,629,654,0.40097953618,-0.00536022088369,0.069833806994,0.999999941588,0.000218523629817,-0.000262518948978,1.242910673e-05,1793249570425970432
+45,0.750000000,BASELINE,766,745,718,679,661.893022623,636,877,783,812.106977377,651,629,653.893022623,0.400978963597,-0.00536065531085,0.0698333681063,0.999999941441,0.000218758364436,-0.000262873320512,1.26628188743e-05,1793249570442637056
+46,0.766666667,BASELINE,766,745,718,679,661.313922224,636,877,783,812.686077776,651,629,653.313922224,0.400979054933,-0.00536193517635,0.0698337966689,0.99999994185,0.00021767054352,-0.000262213327977,1.28126128414e-05,1793249570459303936
+47,0.783333333,BASELINE,766.262601666,745,718,679,661,636,877,783,812.737398334,651,629.262601666,653,0.400979520409,-0.00536253853443,0.0698342321189,0.999999942382,0.000215807702253,-0.000261728757377,1.26814153652e-05,1793249570475971072
+48,0.800000000,BASELINE,766.836075519,745,718,679,661,636,877,783,812.163924481,651,629.836075519,653,0.400980428798,-0.00536234103203,0.0698346757222,0.999999943056,0.000213027378958,-0.000261451854072,1.22175756001e-05,1793249570492637440
+49,0.816666667,BASELINE,766.579692725,745.420307275,718,679,661,636,877.420307275,783,812.420307275,651,629.579692725,653.420307275,0.400980611135,-0.00536244829472,0.0698342949444,0.999999942906,0.000213189376009,-0.000261890080726,1.23356081049e-05,1793249570509303808
+50,0.833333333,BASELINE,765.991245304,746,717.991245304,679,661,636,877.991245304,783,812.991245304,651,629,653.991245304,0.400980503018,-0.00536266639596,0.0698336034915,0.999999942437,0.000214513878457,-0.000262580702532,1.26798980287e-05,1793249570525970432
+51,0.850000000,BASELINE,765.40871039,746,717.40871039,679,661,636,877.40871039,783,812.40871039,651,629,653.40871039,0.400980404851,-0.00536215403062,0.0698341761763,0.999999942767,0.000214843809974,-0.000261053482519,1.25889867576e-05,1793249570542637312
+52,0.866666667,BASELINE,765.171034024,746,717.171034024,678.828965976,661,636,877,783,812.171034024,651,629,653,0.400980402836,-0.00536175824572,0.0698346224259,0.99999994297,0.000214929788153,-0.000260210702871,1.24924836728e-05,1793249570559303936
+53,0.883333333,BASELINE,765.744217155,746,717.744217155,678.255782845,661,636,877,783,812.744217155,651,629,653,0.4009806269,-0.00536163657425,0.0698347713908,0.999999942876,0.000214442163383,-0.000260977235169,1.23828326666e-05,1793249570575971072
+54,0.900000000,BASELINE,766.316836208,746,717.683163792,678,661.316836208,636,877,783,812.683163792,651,629,653,0.400981159533,-0.00536100538434,0.0698350254394,0.999999942565,0.000216443771587,-0.000260513247323,1.24440017696e-05,1793249570592637952
+55,0.916666667,BASELINE,766.889000659,746,717.110999341,678,661.889000659,636,877,783,812.110999341,651,629,653,0.400981940832,-0.00535996358968,0.0698353641717,0.999999942065,0.000220451373665,-0.000259057622308,1.26428293824e-05,1793249570609304320
+56,0.933333333,BASELINE,767,745.519570047,717,678.480429953,661.519570047,636,877,783,812.480429953,651,629,653.480429953,0.400982039819,-0.00535904493088,0.069835652372,0.999999941927,0.000220910027006,-0.000259205823089,1.25390700064e-05,1793249570625971200
+57,0.950000000,BASELINE,767,745.073620621,717.073620621,679,661.073620621,636,877,783,813,651,629,654,0.400982100731,-0.00535838555142,0.0698359459603,0.999999942004,0.000220257676293,-0.000259471054043,1.23934225757e-05,1793249570642637568
+58,0.966666667,BASELINE,767,745.647279998,717.647279998,679,661.647279998,636,877,783,813,651,629,654,0.400983018477,-0.00535928591996,0.0698363587539,0.999999942932,0.000217861141438,-0.000257909209919,1.24579405178e-05,1793249570659304192
+59,0.983333333,BASELINE,767,745.776675801,718,679,661.776675801,636,877,783,813,651,629,654,0.400982668565,-0.00536012811606,0.0698361559583,0.999999943275,0.000216117759696,-0.000258047630188,1.23943905393e-05,1793249570675970560
+60,1.000000000,BASELINE,767,745.196824241,718,679,661.196824241,636,877,783,813,651,629,654,0.400980294892,-0.00536087744252,0.0698349704014,0.99999994269,0.00021541710809,-0.000260900448288,1.21263857117e-05,1793249570692637184
+61,1.016666667,BASELINE,767,745.387625585,717.612374415,679,661,636.387625585,877,783,813,651,629,654,0.400980767711,-0.00536141819609,0.0698350444404,0.99999994266,0.000215661027159,-0.000260803416034,1.23491436619e-05,1793249570709304320
+62,1.033333333,BASELINE,767,745.974438263,717.025561737,679,661,636.974438263,877,783,813,651,629,654,0.400982703243,-0.00536185177137,0.0698357657412,0.999999942916,0.000216390327769,-0.000259190559731,1.28240872807e-05,1793249570725970944
+63,1.050000000,BASELINE,766.446497277,745.446497277,717,679,661,636.446497277,877,783,813,651,629,654,0.400981472747,-0.00536188709755,0.0698351730219,0.999999942662,0.000216249766584,-0.000260282183623,1.28891799135e-05,1793249570742637824
+64,1.066666667,BASELINE,766,745,717.132162746,679.132162746,661.264325492,636,877.132162746,783,813,651,629,654,0.400980143315,-0.0053617196775,0.0698346045334,0.999999942326,0.000216430251725,-0.000261421158613,1.28430153171e-05,1793249570759304448
+65,1.083333333,BASELINE,766,745,717.710648651,679.710648651,662.421297302,636,877.710648651,783,813,651,629,654,0.400978966717,-0.0053609288219,0.0698343199785,0.999999941796,0.000217828723627,-0.000262304075987,1.24841645991e-05,1793249570775971072
+66,1.100000000,BASELINE,766,745,717.712580459,679.425160918,662.425160918,636,878,783,813,651,629,653.712580459,0.40097868814,-0.00536076907913,0.0698340202098,0.999999941756,0.000217906569505,-0.000262396516174,1.23923086391e-05,1793249570792637696
+67,1.116666667,BASELINE,766,745,717.137525904,678.275051808,661.275051808,636,878,783,813,651,629,653.137525904,0.400979308256,-0.00536124092236,0.0698337052159,0.999999942207,0.000216662799225,-0.000261697886518,1.25676476196e-05,1793249570809304064
+68,1.133333333,BASELINE,766,745.446968485,717,678.446968485,661.446968485,636,877.553031515,783,813,651,629,653,0.400980350976,-0.00536158046936,0.0698342720202,0.999999942359,0.000216582942426,-0.000261178428263,1.26666547769e-05,1793249570825970688
+69,1.150000000,BASELINE,766,745.96612974,717.03387026,678.96612974,661.96612974,636,877,783,813,651,629,653.03387026,0.400981450711,-0.00536189779584,0.0698351084079,0.999999942436,0.000216853234802,-0.000260651245897,1.27545724326e-05,1793249570842637312
+70,1.166666667,BASELINE,766,745.388220209,717.611779791,678.388220209,661.388220209,636,877,783,813,651,629,653.611779791,0.400981332624,-0.00536252614556,0.069835822925,0.999999942833,0.000216871392014,-0.000259095392136,1.30497509542e-05,1793249570859304192
+71,1.183333333,BASELINE,766.191337882,745,717.808662118,678.191337882,661,636,877,783,813,651,629,653.808662118,0.400980686581,-0.00536261983398,0.0698358919884,0.999999942731,0.000217383688073,-0.000259052408893,1.31801781785e-05,1793249570875971328
+72,1.200000000,BASELINE,766.774270042,745,717.225729958,678.774270042,661,636,877,783,813,651,629,653.225729958,0.400978960017,-0.00536161927865,0.0698346400591,0.999999941606,0.000218907294293,-0.000262105683299,1.29734235858e-05,1793249570892638208
+73,1.216666667,BASELINE,766.651693219,745,717.348306781,679,661.348306781,636,877,783,812.651693219,651,629,653,0.400978520336,-0.00536094937511,0.0698340958803,0.99999994133,0.000218923267762,-0.0002631486555,1.28981081985e-05,1793249570909304576
+74,1.233333333,BASELINE,766.083277876,745,717.916722124,679,661.916722124,636,877,783,812.083277876,651,629,653,0.400978893887,-0.00536048842334,0.0698339989567,0.999999941594,0.000217986509539,-0.000262921239598,1.29058543547e-05,1793249570925971200
+75,1.250000000,BASELINE,766,745,717.495866255,678.495866255,661.495866255,636,877,783,812.504133745,651,629,653,0.400979273065,-0.00536161228659,0.0698343792182,0.999999942181,0.00021610341392,-0.000262257898636,1.2552677946e-05,1793249570942637312
+76,1.266666667,BASELINE,766,745.092752515,717.092752515,678.092752515,661,636,877,783,813,651,629,653.092752515,0.400979728517,-0.00536266100532,0.0698347493781,0.999999942681,0.000214719286722,-0.000261502932917,1.22634457799e-05,1793249570959303936
+77,1.283333333,BASELINE,766,745.670629691,717.670629691,678.670629691,661,636,877,783,813,651,629,653.670629691,0.40098057786,-0.00536189380564,0.0698346382743,0.999999942448,0.000216794567338,-0.00026066012621,1.26327078914e-05,1793249570975970560
+78,1.300000000,BASELINE,766,745.752108762,718,678.752108762,661,636,877,783,813,651,628.752108762,653.752108762,0.400981112483,-0.00536146831072,0.0698347590148,0.999999942449,0.000217604750246,-0.000259971826698,1.28011700665e-05,1793249570992637184
+79,1.316666667,BASELINE,766,745.175663212,718,678.175663212,661,636,877,783,813,651,628.175663212,653.175663212,0.400981229978,-0.00536149571034,0.0698351870412,0.999999942764,0.000216738176242,-0.000259488310633,1.27034925725e-05,1793249571009304064
+80,1.333333333,BASELINE,766,745,718,678,661.407343042,636,877,783,813,651,628.407343042,653.407343042,0.400981011149,-0.00536190092958,0.0698351900488,0.999999942971,0.000215293204662,-0.000259896603639,1.26459441818e-05,1793249571025970432
+81,1.350000000,BASELINE,766,745,718,678,661.993224909,636,877,783,813,651,628.993224909,653.993224909,0.400980644909,-0.00536247174753,0.0698350067704,0.999999943128,0.000213594720827,-0.000260695777328,1.26059844049e-05,1793249571042637056
+82,1.366666667,BASELINE,766,745.574965377,717.425034623,678.574965377,662,636,877,783,813,651,629,654,0.400980645666,-0.00536254324939,0.0698358101549,0.999999943127,0.000214191220727,-0.000260204157168,1.27173138602e-05,1793249571059303936
+83,1.383333333,BASELINE,766,745.844930601,717,678.844930601,662,636,877,783,812.844930601,651,629,654,0.400980935159,-0.00536233437118,0.0698362831492,0.999999943084,0.000215112489877,-0.000259606438187,1.27975897865e-05,1793249571075970304
+84,1.400000000,BASELINE,766,745.269134914,717,678.269134914,662,636,877,783,812.269134914,651,629,654,0.400981996383,-0.00536138062935,0.0698358284278,0.999999942929,0.000216842059674,-0.000258761829219,1.27888107301e-05,1793249571092636928
+85,1.416666667,BASELINE,766,745,717,678,661.693735824,636,876.693735824,783,812.306264176,651,629,653.693735824,0.400982567459,-0.00536103078726,0.0698358863716,0.999999942934,0.000217597784634,-0.000258120412279,1.25695512422e-05,1793249571109303808
+86,1.433333333,BASELINE,766,745,717,678,661.118684836,636,876.118684836,783,812.881315164,651,629,653.118684836,0.400982708364,-0.00536121094612,0.069836394246,0.999999943079,0.000217498833462,-0.000257657322935,1.21655676868e-05,1793249571125970432
+87,1.450000000,BASELINE,766,745,717.468963092,678.468963092,661,636,876.468963092,783,813,651,629,653.468963092,0.400982178278,-0.00536081202246,0.0698358636428,0.999999942822,0.000218185160808,-0.000258066844153,1.23364812681e-05,1793249571142637312
+88,1.466666667,BASELINE,766,745,717.941328803,678.941328803,661,636,877,783,813,651,629,653.941328803,0.400981515941,-0.0053604771734,0.069835131544,0.999999942504,0.00021888367324,-0.000258692995012,1.26422761222e-05,1793249571159303936
+89,1.483333333,BASELINE,766,745,717.362401914,678.362401914,661,636,877,783,813,651,629,653.362401914,0.400981228256,-0.00536204590223,0.0698350075306,0.999999942583,0.000217879322411,-0.000259227761463,1.28183483202e-05,1793249571175970560
+90,1.500000000,BASELINE,766,745,717,678.215053151,661,636,877,783,812.784946849,651,629,653,0.400981049117,-0.00536282589033,0.0698351621779,0.999999942692,0.000217277408806,-0.000259306073133,1.2931388583e-05,1793249571192637184
+91,1.516666667,BASELINE,766,745,717,678.790044736,661,636,877,783,812.209955264,651,629,653,0.400981051653,-0.00536228574833,0.0698357832247,0.999999942854,0.000217349061924,-0.000258620407939,1.29389311127e-05,1793249571209303808
+92,1.533333333,BASELINE,766.372369738,745,717.372369738,679,661,636,877,783,812.372369738,651,629,653.372369738,0.400981158189,-0.00536242919955,0.0698357851615,0.99999994316,0.000215868259998,-0.000258684211007,1.28027138736e-05,1793249571225970688
+93,1.550000000,BASELINE,766.958912701,745,717.958912701,679,661,636,877,783,812.958912701,651,629,653.958912701,0.40098132454,-0.00536296582813,0.0698354310092,0.999999943544,0.000213494543666,-0.000259179080285,1.25838113621e-05,1793249571242637312
+94,1.566666667,BASELINE,767,745,718,678.462338129,661,636,877,783,813,651,629,654,0.400981876107,-0.00536221134449,0.0698360303945,0.999999943636,0.000214374415835,-0.000258100839024,1.24941663069e-05,1793249571259303936
+95,1.583333333,BASELINE,767,745,718,678.115928285,661,636,877,783,812.884071715,651,629,653.884071715,0.400982211292,-0.00536186888678,0.0698363905367,0.999999943694,0.000214936898108,-0.000257406792194,1.24689548229e-05,1793249571275970304
+96,1.600000000,BASELINE,767,745,718,678.694611304,661,636,877,783,812.305388696,651,629,653.305388696,0.400981566905,-0.00536355934233,0.0698355089715,0.999999943713,0.000213254144684,-0.000258719354897,1.26620793309e-05,1793249571292637184
+97,1.616666667,BASELINE,766.728218662,745.271781338,718,679,661,636,877,783,812.271781338,651,629,653,0.400981237743,-0.00536354691915,0.069835067771,0.999999943485,0.000213532252548,-0.000259370833653,1.26663228116e-05,1793249571309303808
+98,1.633333333,BASELINE,766.152739324,745.847260676,718,679,661,636,877,783,812.847260676,651,629,653,0.400981260824,-0.00536163163948,0.0698351186497,0.99999994298,0.000216001495686,-0.000259283593944,1.24595039965e-05,1793249571325970432
+99,1.650000000,BASELINE,766.433817574,745.566182426,717.566182426,679,661,636,877,783,813,651,629,653,0.400981258568,-0.00536173842885,0.0698356436508,0.999999943058,0.000216242709881,-0.000258773649331,1.26183613791e-05,1793249571342637056
+100,1.666666667,BASELINE,767,745,717,679,661,636,877.023886763,783,813,651,629,653,0.400981216782,-0.005362537779,0.0698362657707,0.999999943328,0.000215667973686,-0.000258196404335,1.28872228092e-05,1793249571359303680
+101,1.683333333,BASELINE,767,745,717,679,661,636,877.60257258,783,813,651,629,653,0.400980469515,-0.00536245386413,0.069835164846,0.999999943145,0.000214839006736,-0.000259603287457,1.26423747271e-05,1793249571375970304
+102,1.700000000,BASELINE,766.81963435,745,717.18036565,679,661,636,877.81963435,783,812.81963435,651,629,653,0.400979773181,-0.00536216593425,0.0698341441045,0.999999942743,0.000215133647567,-0.000260916971315,1.24407126556e-05,1793249571392636928
+103,1.716666667,BASELINE,766.243798795,745,717.756201205,679,661,636,877.243798795,783,812.243798795,651,629,653,0.400979188523,-0.00536143068088,0.0698332991731,0.999999941857,0.000217891912044,-0.000262026306186,1.23337403061e-05,1793249571409303552
+104,1.733333333,BASELINE,766,745.337708513,718,679,661,636,877,783,812.337708513,651,629,653.337708513,0.400979689789,-0.00536111609227,0.0698336246908,0.99999994194,0.000218320879192,-0.000261346417274,1.24141306715e-05,1793249571425970432
+105,1.750000000,BASELINE,766,745.923380381,718,679,661,636,877,783,812.923380381,651,629,653.923380381,0.400980988395,-0.00536111037779,0.0698348096137,0.999999942735,0.000217039553997,-0.000259352786254,1.26320925873e-05,1793249571442637312
+106,1.766666667,BASELINE,766,746,718,679,661,636,877,783,812.497392796,651,629,653.497392796,0.400981001476,-0.00536198277792,0.0698351982343,0.99999994295,0.00021661884129,-0.000258877558624,1.2615698092e-05,1793249571459303936
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,679,661,637,877,783,813,651,629,654,0.400980739246,-0.00536232260751,0.0698355742875,0.999999943387,0.000214383774091,-0.000259063957331,1.2299326925e-05,1793249571502646272
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.419213419,746,718,679,661,636.419213419,877,783,813,651,629,654,0.400981921929,-0.00536177490753,0.0698364231218,0.999999943338,0.000216540529176,-0.000257453468527,1.23581561018e-05,1793249571519312896
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.837029871,718,679,661,636,877,783,813,651,629,654,0.400982976321,-0.00536150676492,0.0698370111156,0.999999943323,0.000218006402333,-0.00025626654245,1.24117945244e-05,1793249571535979520
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.251221665,718,679,661,636,877,783,813,651,629,654,0.400983697854,-0.00536196395451,0.0698369223393,0.999999943417,0.000217679731593,-0.000256178580918,1.24519651637e-05,1793249571552646144
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.330736391,718,679,661.330736391,636,877,783,813,651,629,654,0.400983811531,-0.00536239899837,0.0698371484291,0.999999943573,0.000217193592818,-0.000255970027138,1.26382397107e-05,1793249571569312768
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.909803557,718,679,661.909803557,636,877,783,813,651,629,654,0.400983468802,-0.00536281741424,0.0698376109336,0.999999943777,0.000216587718763,-0.000255670927638,1.29342152063e-05,1793249571585979648
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.511721279,718,679.488278721,661.511721279,636,877,783,813,651,629,654,0.400981545052,-0.00536337787801,0.0698364553192,0.99999994341,0.000215955754311,-0.000257633528897,1.29706162077e-05,1793249571602646016
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.066027047,745.066027047,718,679.933972953,661.066027047,636,877,783,813,651,629,654,0.40097982957,-0.00536376514592,0.0698353059476,0.999999943031,0.000215345286612,-0.000259608879428,1.29303073217e-05,1793249571619312640
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.639033137,745.639033137,718,679.360966863,661.639033137,636,877,783,813,651,629,654,0.400981953005,-0.00536262132212,0.0698364968228,0.999999943415,0.000214936839621,-0.000258478078079,1.26687197771e-05,1793249571635979264
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,717.781978975,679,661.781978975,636,877,783,813,651,629,653.781978975,0.400987288198,-0.00536186528977,0.0698389963318,0.99999994424,0.000214913787994,-0.00025529032914,1.25869307311e-05,1793249571652646144
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,717.192807983,679,661.192807983,636,877,783,813,651,629,653.192807983,0.400998090951,-0.00536176941764,0.0698437236045,0.999999945787,0.000215546817517,-0.000248600917875,1.28112232331e-05,1793249571669312768
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.609386997,745.609386997,717.390613003,679,661.390613003,636.390613003,877,783,813,651,629,653.390613003,0.401025175421,-0.00536285508096,0.0698544682709,0.999999950092,0.000215561554038,-0.000230597280161,1.32084128665e-05,1793249571685979648
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.028763009,745.028763009,717.971236991,679,661.971236991,636.971236991,877,783,813,651,629,653.971236991,0.40106018002,-0.00536451549399,0.0698681400571,0.999999955291,0.00021527552618,-0.000207089914812,1.36897071235e-05,1793249571702646272
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.453371277,636.453371277,877,783,813,651,629,654,0.40111191858,-0.00536440256476,0.0698807508978,0.999999957546,0.000218250560642,-0.000192572921272,1.37646995028e-05,1793249571719312640
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.121796144,745,718,679,661,636,877,783,813,651,629,654,0.401168437738,-0.00536505990128,0.0698919763573,0.999999959695,0.000219377866166,-0.000179713225295,1.3668037022e-05,1793249571735979264
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.697143944,745,718,679,661,636,877,783,813,651,629,654,0.401239511323,-0.00536892978253,0.0698982487731,0.999999962564,0.000212991559024,-0.000171280147827,1.30110142524e-05,1793249571752645888
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.719901164,745,718,679,661,636,877,783,813,651,629,653.719901164,0.401318896973,-0.00537176080704,0.0699024137975,0.999999964693,0.000208718555696,-0.000164049314071,1.17703860304e-05,1793249571769312512
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.128491541,745,718,679,661,636,877,783,813,651,629,653.128491541,0.401407520914,-0.00537343721276,0.0699042365996,0.999999966063,0.000206794346082,-0.000158154692872,9.88112011892e-06,1793249571785979136
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.452022598,718,679,661,636,877.452022598,783,813,651,629,653.452022598,0.401509263008,-0.00537437300871,0.0699030651816,0.999999965988,0.000205676972041,-0.000160209012676,7.34070775323e-06,1793249571802646528
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.970668789,718,679,661.029331211,636.029331211,877.970668789,783,813,651.029331211,629,654,0.401616327896,-0.0053751486269,0.0699012121583,0.999999965546,0.000204767021851,-0.000164184750565,4.60385962236e-06,1793249571819313920
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.396725964,718,679,661.603274036,636.603274036,877.396725964,783,813,651.603274036,629,654,0.401754616257,-0.00537676707329,0.0699021349275,0.999999966019,0.000203550178047,-0.000162869478093,1.57553713131e-06,1793249571835980032
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662,636.822919902,877.177080098,783,813,651.822919902,629.177080098,654,0.401905127504,-0.00537885480935,0.0699040610544,0.999999966959,0.000201036890643,-0.0001601965361,-1.66895825435e-06,1793249571852646400
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662,636.24942008,877.75057992,783,813,651.24942008,629.75057992,654,0.40208300145,-0.00538199311882,0.0699082333445,0.999999968919,0.000195621324614,-0.000154484252308,-5.39738790353e-06,1793249571869313024
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,717.662953406,679,661.662953406,636.337046594,877.325906813,783,813,651,629.662953406,653.662953406,0.402279263937,-0.0053857957516,0.0699141778711,0.999999971617,0.000189337342207,-0.000144332644318,-9.26025854354e-06,1793249571885979904
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,717.066507048,679,661.066507048,636.933492952,876.133014096,783,813,651,629.066507048,653.066507048,0.402489678737,-0.00539010966508,0.0699214863571,0.999999974731,0.000182385003517,-0.000130764417121,-1.32265988373e-05,1793249571902646784
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,717.512037792,679,661,636.487962208,876.512037792,783,813,651.512037792,629,653,0.402728276842,-0.00539404500711,0.0699237426269,0.999999977095,0.000173162350453,-0.000124419848499,-1.85674521528e-05,1793249571919313664
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,717.912513211,679,661,636,877,783,812.912513211,651.912513211,629,653.087486789,0.402975751734,-0.00539809321604,0.069925504561,0.999999979156,0.000164058661121,-0.000119157532319,-2.39803623107e-05,1793249571935980544
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,717.341754985,679,661,636,877,783,812.341754985,651.341754985,629,653.658245015,0.403252723435,-0.00540302734091,0.0699280382677,0.999999980633,0.000157186012768,-0.000114865702612,-2.883843021e-05,1793249571952647168
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,717,679,661.238881624,636,877,783,812.238881624,651,628.761118376,653.761118376,0.403554907478,-0.00540795102481,0.0699340721105,0.999999982747,0.000149834718522,-0.000104388631569,-3.40333947226e-05,1793249571969313536
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,717,679,661.83426029,636,877,783,812.83426029,651,628.16573971,653.16573971,0.40389471736,-0.00541285912675,0.0699453294113,0.999999985576,0.000141769113345,-8.46809627903e-05,-3.97311294863e-05,1793249571985980160
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,717.415402085,679,662,636.415402085,877,783,813,651,628.415402085,653,0.404248812354,-0.00541818574933,0.0699493863196,0.999999993745,6.55006398101e-05,-7.84428204896e-05,-4.5463833177e-05,1793249572002646528
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,717.991051779,679,662,636.991051779,877,783,813,651,628.991051779,653,0.404608418037,-0.00542367382244,0.0699506655678,0.999999995006,-3.7078117449e-05,-7.74007505741e-05,-5.12100261185e-05,1793249572019313152
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662,636.431488316,877,783,813,651,629,653.568511684,0.405020230381,-0.00543157230214,0.069959005874,0.999999996947,2.33606292188e-05,-6.46948016792e-05,-3.70802101565e-05,1793249572035980032
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,718,679.148459019,662,636.148459019,877,783,813,651,629,653.851540981,0.405438266238,-0.00543683834238,0.0699638896854,0.999999995062,7.68265992479e-05,-5.69913506741e-05,-2.69275647258e-05,1793249572052646912
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,718,679.735673118,662,636.735673118,877,783,813,651,629,653.264326882,0.405872258701,-0.00543421199874,0.0699582286775,0.999999992269,0.000102077918746,-6.46165644108e-05,-2.94565613476e-05,1793249572069313792
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,718,679.68161829,662,637,877.31838171,783,813,651,629,653,0.406322801048,-0.00544377264298,0.0699479352762,0.999999991825,9.31704968937e-05,-8.142002856e-05,-3.22421664511e-05,1793249572085980416
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,718,679.102598004,662,637,877.897401996,783,813,651,629,653,0.406786891764,-0.0054633099881,0.0699338496322,0.999999992204,5.62995186543e-05,-0.000105737135264,-3.52378406133e-05,1793249572102646528
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.47444197,745,718,679,662.47444197,637,878,783.47444197,813,651,629,653,0.407309460013,-0.00549023488461,0.0699262244969,0.999999992929,1.63257561542e-05,-0.000112583210121,-3.46458880588e-05,1793249572119313152
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.948947879,745.051052121,718,679,662.948947879,637,878,783.948947879,813,651,629,653.051052121,0.40785015897,-0.00551617288868,0.0699217539338,0.999999992862,-2.03656954469e-05,-0.000112852221698,-3.35583011248e-05,1793249572135979776
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.372371929,745.627628071,718,679,662.372371929,637,878,783.372371929,813,651,629,653.627628071,0.408447860738,-0.00551557528631,0.0699354344979,0.999999995701,-1.63912613084e-05,-8.41475011452e-05,-3.53217502501e-05,1793249572152646400
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.791912896,718,679.208087104,662,637,878,783,813,651,628.791912896,654,0.409056828669,-0.00551704339407,0.0699463265564,0.999999997358,-1.82128301392e-05,-5.99281712405e-05,-3.68896974023e-05,1793249572169313024
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.204372982,718,679.795627018,662,637,878,783,813,651,628.204372982,654,0.409686340735,-0.00552227838358,0.0699521336939,0.999999997843,-3.06035770671e-05,-4.38880817826e-05,-3.81011410217e-05,1793249572185979904
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,717.622930601,680,662,637,878.377069399,783,812.622930601,651,628.377069399,654,0.41031772298,-0.00553306215342,0.0699474132649,0.999999996895,-4.49557622986e-05,-5.14049290176e-05,-3.93234778915e-05,1793249572202646784
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,717.044740532,680,662,637,878.955259468,783,812.044740532,651,628.955259468,654,0.410950102718,-0.00554680552264,0.0699370776592,0.999999994801,-6.03541359321e-05,-7.1486537859e-05,-4.05516249319e-05,1793249572219313664
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.532718645,745.532718645,717.532718645,680,662,637,879,783,812.532718645,651,629,654,0.411650839989,-0.00554968141691,0.069947867649,0.999999995675,-6.27225348509e-05,-5.53296496046e-05,-4.06684504514e-05,1793249572235980032
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,717.89028299,680,662.10971701,637,879,783,813,651,629,654,0.412370384816,-0.0055534577664,0.0699656862955,0.999999996639,-6.581874947e-05,-2.74915711275e-05,-4.0416106452e-05,1793249572252646912
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,717.314980113,680,662.685019887,637,879,783,813,651,629,654,0.413145410843,-0.00556492299577,0.0700058124571,0.999999995618,-7.66408892201e-05,3.70183689195e-05,-3.89927101661e-05,1793249572269313280
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.733615471,746,717,680,663,637,879,783.266384529,813,651,629,654,0.41391283212,-0.005558670949,0.0700264732952,0.999999994372,-7.10657244994e-05,6.8691435237e-05,-3.85657211404e-05,1793249572285979648
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.144916256,746,717,680,663,637,879,783.855083744,813,651,629,654,0.414671052053,-0.00553098170424,0.0700235818713,0.999999996346,-4.5650475222e-05,6.06331990227e-05,-3.93443452174e-05,1793249572302646272
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.562791841,717.437208159,680.437208159,663,637,879,783.562791841,813,651,629,654,0.415399289628,-0.00550877390197,0.0699751115918,0.999999998606,-2.13022281355e-05,-2.28478733182e-05,-4.25649347851e-05,1793249572319312896
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.016966637,717.983033363,681,663,637,879.033933273,783,813,651,629,653.983033363,0.41612116221,-0.00548940579949,0.0699136705492,0.999999990763,1.4417815876e-06,-0.000127705604566,-4.65008264662e-05,1793249572335979520
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.589556031,717.410443969,681,663,637,880.179112063,783,813,651,629,653.410443969,0.416955220079,-0.00550441476113,0.0699148730297,0.999999990772,-1.69393968336e-05,-0.000126051257863,-4.77476146091e-05,1793249572352646912
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.163745026,745.836254974,717,680.836254974,663,637,881,783,813,651,628.836254974,653,0.417801422598,-0.00551732133803,0.069926456077,0.999999992599,-3.27564024566e-05,-0.000106804702763,-4.81781153569e-05,1793249572369313792
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.741983105,745.258016895,717,680.258016895,663,637,881,783,813,651,628.258016895,653,0.418678367212,-0.0055249060799,0.0699643157869,0.999999997106,-4.20826338202e-05,-4.30264244413e-05,-4.65423213918e-05,1793249572385980416
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,717,680.327339879,663,637,881,783.327339879,813,651,628.327339879,653,0.419572093898,-0.00553072834031,0.0699938860616,0.999999997656,-5.08094487204e-05,2.83577912534e-06,-4.5800894685e-05,1793249572402647040
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,717,680.918432485,663,637,881,783.918432485,813,651,628.918432485,653,0.420479342624,-0.00553513048835,0.0700167771569,0.999999996621,-5.90532859501e-05,3.42621778886e-05,-4.57801007767e-05,1793249572419313152
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,717,681,663,637,881.497220664,784,813,651,629,653.497220664,0.421374847712,-0.00553374242762,0.0700298156003,0.999999995818,-6.09219173472e-05,5.07616301457e-05,-4.55546967987e-05,1793249572435979776
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.073480382,717.073480382,681,663,637,882,784,813.073480382,651,629,654,0.422256923502,-0.00553045147611,0.0700314363131,0.999999995908,-6.01269412027e-05,4.96042844029e-05,-4.5917296725e-05,1793249572452646400
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.645945834,717.645945834,681,663,637,882,784,813.645945834,651,629,654,0.423060570664,-0.00552053302895,0.0699662331268,0.99999999604,-4.81745970209e-05,-5.52285093029e-05,-5.04953001275e-05,1793249572469313536
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.774086524,745.774086524,717.774086524,681,663,637,882.225913476,783.774086524,814,651,629,654,0.423881209282,-0.00551492366684,0.069904330348,0.999999986343,-4.55055266561e-05,-0.000148772065362,-5.5759826336e-05,1793249572485980416
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.181957412,745.181957412,717.181957412,681,663,637,882.818042588,783.181957412,814,651,629,654,0.424729391924,-0.00551629951873,0.0698477776637,0.999999971303,-5.78850482368e-05,-0.000224015289896,-6.21372373214e-05,1793249572502647040
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.400180251,717,680.599819749,663,637,883,783.400180251,814,651,629,654,0.425678017358,-0.00552369122887,0.069869268931,0.999999978369,-6.65850764219e-05,-0.00018752756454,-6.05141038264e-05,1793249572519313664
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.977885544,717,680.022114456,663,637,883,783.977885544,814,651,629,654,0.42667120044,-0.00553375165007,0.06992538149,0.999999990608,-7.36528335429e-05,-0.000101474565296,-5.53418265184e-05,1793249572535980032
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,717,681.112347271,663.556173635,637,883,784,814,651,629,654,0.427630698427,-0.00553400425925,0.0699768503177,0.999999995009,-7.5514952422e-05,-3.80150460514e-05,-5.32384524401e-05,1793249572552646400
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+176,2.933333333,POSE1_TO_POSE2_PRESS,766.039214891,746,717,682,663.039214891,637,885,784,815,651,629,654,0.432913898953,-0.00553382772942,0.0698644948019,0.999999968906,-7.39796011679e-05,-0.000230323542909,-6.05407609159e-05,1793249572652649984
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766.216924217,745.216924217,717,682,664,637,885,784,815,651,629,654,0.435676348669,-0.00554093550513,0.0700196206558,0.999999994121,-8.11290844288e-05,4.47972184299e-05,-5.62944327731e-05,1793249572702646784
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+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.942379922,717.942379922,682,664.942379922,637,885.942379922,784,815,651,629,654,0.437387980746,-0.00554349745924,0.0700321261077,0.99999999194,-8.9378357928e-05,7.05261091938e-05,-5.61923285937e-05,1793249572735980032
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717.47459555,682,664.47459555,637.52540445,886,784,815,651,629,654,0.438170002298,-0.00554862605662,0.0700003684148,0.999999993425,-9.24808857221e-05,3.4690439632e-05,-5.82499633424e-05,1793249572752646656
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766.424598517,746,717.575401483,683,664,637,886,784,815.424598517,651,629,654.575401483,0.441812470511,-0.00554434776703,0.0698710316605,0.999999979864,-8.44680162005e-05,-0.000170604917584,-6.3495148253e-05,1793249572835980288
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,745.635099415,717,683,663,636,887,783,816,651,629,654,0.447132322005,-0.00556494389151,0.0697387087805,0.999999908902,-0.000103752793564,-0.000408817288141,-6.5571107931e-05,1793249572985979904
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,717.430577595,680,662,636,878,783.569422405,812.430577595,650,629,654,0.410836985275,-0.00537007348355,0.069874416243,0.999999960104,0.000203025972392,-0.000194061053313,3.01988879687e-05,1793249575483264000
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b529bbed600ddb26ebaa57277b6a047da2a45cd2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.575734294481,0.000150180017091,1.06003352905,0.546304971168,0.00882280759372,1.05970492005
+377,6.283333333,pose2_to_pose3_retreat,0.575715929443,0.000150171855627,1.0600335083,0.546286606679,0.00882280133503,1.05970490055
+378,6.300000000,pose2_to_pose3_retreat,0.575701051314,0.000150097389171,1.06003350554,0.546271730468,0.00882273340542,1.05970489832
+379,6.316666667,pose2_to_pose3_retreat,0.575689472759,0.000150012729192,1.06003347512,0.546260154101,0.00882265619575,1.05970486811
+380,6.333333333,pose2_to_pose3_retreat,0.575681059986,0.000150082707901,1.06003326352,0.546251740516,0.008822723772,1.05970466592
+381,6.350000000,pose2_to_pose3_retreat,0.575675232042,0.000150134840267,1.06003346754,0.546245911294,0.00882277133774,1.0597048639
+382,6.366666667,pose2_to_pose3_retreat,0.575671566241,0.000150159896697,1.0600336443,0.54624224473,0.00882279355073,1.05970503408
+383,6.383333333,pose2_to_pose3_retreat,0.575669526952,0.0001501476336,1.06003365956,0.54624020561,0.00882278171526,1.05970504545
+384,6.400000000,pose2_to_pose3_retreat,0.575668734872,0.000150142870488,1.06003366549,0.546239413595,0.00882277711824,1.05970504987
+385,6.416666667,pose2_to_pose3_retreat,0.575667960235,0.000150138212268,1.06003367129,0.546238639022,0.00882277262245,1.0597050542
+386,6.433333333,pose2_to_pose3_retreat,0.575667342548,0.000150100570583,1.06003366514,0.546238021828,0.00882273670966,1.05970504958
+387,6.450000000,pose2_to_pose3_retreat,0.575667194649,0.000150089523332,1.06003366303,0.546237874073,0.00882272617228,1.059705048
+388,6.466666667,pose2_to_pose3_retreat,0.575666852428,0.000150063961249,1.06003365813,0.546237532185,0.00882270178997,1.05970504433
+389,6.483333333,pose2_to_pose3_retreat,0.57566674919,0.000150056249962,1.06003365665,0.546237429048,0.00882269443459,1.05970504322
+390,6.500000000,pose2_to_pose3_retreat,0.57566672612,0.000150054526781,1.06003365632,0.546237406001,0.00882269279094,1.05970504297
+391,6.516666667,pose2_to_pose3_retreat,0.575666602037,0.000150045258464,1.06003365454,0.546237282039,0.00882268395038,1.05970504164
+392,6.533333333,pose2_to_pose3_retreat,0.575666150337,0.000150011518954,1.06003364808,0.54623683078,0.00882265176806,1.05970503679
+393,6.550000000,pose2_to_pose3_retreat,0.575665565669,0.000149968076536,1.06003363918,0.546236246676,0.0088226103173,1.05970502998
+394,6.566666667,pose2_to_pose3_retreat,0.575665535373,0.000149969075186,1.0600336312,0.54623621631,0.00882261107963,1.05970502199
+395,6.583333333,pose2_to_pose3_retreat,0.575665468755,0.000149971271082,1.06003361366,0.546236149539,0.0088226127559,1.05970500442
+396,6.600000000,pose2_to_pose3_retreat,0.575665455552,0.00014997170629,1.06003361018,0.546236136306,0.00882261308812,1.05970500094
+397,6.616666667,pose2_to_pose3_retreat,0.575665433751,0.000149972424897,1.06003360444,0.546236114455,0.00882261363668,1.05970499519
+398,6.633333333,pose2_to_pose3_retreat,0.57566535945,0.000149974874047,1.06003358487,0.546236039983,0.00882261550628,1.05970497559
+399,6.650000000,pose2_to_pose3_retreat,0.575664958659,0.000149988085151,1.06003347932,0.546235638273,0.00882262559118,1.05970486988
+400,6.666666667,pose2_to_pose3_retreat,0.575664573554,0.000149998888171,1.06003342084,0.546235252465,0.00882263403266,1.05970481211
+401,6.683333333,pose2_to_pose3_retreat,0.575664550477,0.00014999863735,1.06003343773,0.546235229431,0.00882263394541,1.05970482945
+402,6.700000000,pose2_to_pose3_retreat,0.575664520068,0.000149998306841,1.06003345999,0.546235199079,0.00882263383044,1.05970485231
+403,6.716666667,pose2_to_pose3_retreat,0.575664502779,0.000149998118924,1.06003347265,0.546235181822,0.00882263376507,1.0597048653
+404,6.733333333,pose2_to_pose3_retreat,0.575664348225,0.000149996439108,1.06003358579,0.546235027557,0.00882263318071,1.05970498144
+405,6.750000000,pose2_to_pose3_retreat,0.575664257532,0.000150156827693,1.06003348742,0.546234937218,0.00882279485914,1.05970488537
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7524e21396e3143b644056503968c16241e503b8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9316e04020439fb995374132e97437cd2a38c4feb1aa43efcc393c21572c522a
+size 25703294
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8631035ffbecb1c42f1ef105ce64fb19d53e1468
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
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+22,0.366666667,BASELINE,766,746,717.767970689,678,662,636,877,783,813,651,629,654,0.400979383594,-0.00536396860844,0.0698324087997,0.99999994303,0.000209946578453,-0.00026402254584,1.24598883535e-05,1793249576982566912
+23,0.383333333,BASELINE,766,745.648499141,717.648499141,678.351500859,661.648499141,636,877,783,812.648499141,651,629,653.648499141,0.400980259847,-0.00536387234332,0.0698332908376,0.999999943434,0.000209514360654,-0.000262840313204,1.23011558028e-05,1793249576999233280
+24,0.400000000,BASELINE,766,745.068399864,717.068399864,678.931600136,661.068399864,636,877,783,812.068399864,651,629,653.068399864,0.400982341165,-0.00536427321015,0.0698346548095,0.999999944065,0.000208962697275,-0.000260887149215,1.19575645303e-05,1793249577015899392
+25,0.416666667,BASELINE,766,745,717.506914457,679,661,636,877,783,812.506914457,651,629,653,0.400982085398,-0.00536444212803,0.0698343701449,0.999999943736,0.000209278690935,-0.000261888295781,1.20100084379e-05,1793249577032566016
+26,0.433333333,BASELINE,766,745.083544368,718,679,661,636,877,783,813,651,629,653.083544368,0.400981661765,-0.00536453827519,0.0698339691311,0.999999943391,0.000209608439721,-0.000262934520145,1.21447523635e-05,1793249577049232896
+27,0.450000000,BASELINE,766,745.671990836,718,679,661,636,877,783,813,651,629,653.671990836,0.400982111643,-0.0053643820108,0.0698341968086,0.999999943728,0.000209320381998,-0.000261866536179,1.24569414609e-05,1793249577065899776
+28,0.466666667,BASELINE,766.255850451,745.744149549,718,679,661,636,877,783,813,651,629,653.744149549,0.400981635884,-0.00536409284904,0.0698339912591,0.999999943521,0.000209733911861,-0.000262322359061,1.2550786625e-05,1793249577082566656
+29,0.483333333,BASELINE,766.833933094,745.166066906,718,679,661,636,877,783,813,651,629,653.166066906,0.400979994327,-0.00536363630902,0.0698332400797,0.999999942624,0.000211031059903,-0.000264697348532,1.23696373584e-05,1793249577099233024
+30,0.500000000,BASELINE,766.58814525,745,718,679,661,636,877,783,813,651,628.58814525,653.41185475,0.400979754483,-0.00536224989904,0.0698324831467,0.999999941981,0.000213854667155,-0.000264863561102,1.23111569e-05,1793249577115899648
+31,0.516666667,BASELINE,766.010288497,745,718,679,661,636,877,783,813,651,628.010288497,653.989711503,0.400980079612,-0.00536048869608,0.0698317238946,0.999999941431,0.000217293528389,-0.000264139504913,1.23021192848e-05,1793249577132566272
+32,0.533333333,BASELINE,766,745,718,679,661,636,877,783,813,651,628.563071183,653.436928817,0.400979743276,-0.00536265484931,0.0698324895316,0.999999942186,0.000214046826803,-0.000263925576059,1.24522430696e-05,1793249577149232640
+33,0.550000000,BASELINE,766,745,718,679,661,636,877.140201492,783,813,651,629,653,0.400979532772,-0.00536460361349,0.0698329558334,0.999999942878,0.000210950395164,-0.0002637901064,1.2565485001e-05,1793249577165899008
+34,0.566666667,BASELINE,766,745,718,679,661,636,877.729675824,783,813,651,629,653,0.400979763917,-0.00536562762356,0.0698323743424,0.999999943323,0.000208723856566,-0.000263876425072,1.2551294278e-05,1793249577182565888
+35,0.583333333,BASELINE,766,745.315186614,718,679,661,636,877.684813386,783,813,651,629,653,0.400981002016,-0.00536529820652,0.0698331353245,0.999999943605,0.00020921432871,-0.000262411189337,1.26760766538e-05,1793249577199232768
+36,0.600000000,BASELINE,766,745.897340297,718,679,661,636,877.102659703,783,813,651,629,653,0.400983093018,-0.00536382241964,0.0698350333984,0.999999943739,0.000212006143252,-0.000259631767295,1.29185710095e-05,1793249577215899392
+37,0.616666667,BASELINE,766,746,717.528708237,678.528708237,661,636,877,783,813,651,629,653,0.400981888774,-0.00536403191465,0.0698341369746,0.999999943264,0.000212284769939,-0.000261240536598,1.26950111442e-05,1793249577232566272
+38,0.633333333,BASELINE,766.044782454,745.955217546,717,678.044782454,661,636.044782454,876.955217546,783,813,651,629,653,0.400980137345,-0.00536445191229,0.0698328139464,0.999999942713,0.000211993160421,-0.000263590791396,1.23703307069e-05,1793249577249232896
+39,0.650000000,BASELINE,766.634021873,745.365978127,717,678.634021873,661,636.634021873,876.365978127,783,813,651,629,653,0.400980310828,-0.00536304439125,0.0698335783877,0.999999942877,0.000211310525253,-0.000263533476036,1.20293789314e-05,1793249577265899520
+40,0.666666667,BASELINE,766.780742787,745,717,679,661,636.780742787,876.219257213,783,812.780742787,651,629,653,0.400980247069,-0.00536225874143,0.0698337229387,0.999999942786,0.000211492728042,-0.000263738103086,1.18445619761e-05,1793249577282566144
+41,0.683333333,BASELINE,766.202071115,745,717,679,661,636.202071115,876.797928885,783,812.202071115,651,629,653,0.400979794414,-0.0053624924858,0.0698328513428,0.999999942278,0.000213092604953,-0.000264372115742,1.19156869621e-05,1793249577299232768
+42,0.700000000,BASELINE,766,745,717,678.623757132,661.376242868,636,877,783,812.376242868,651,629,653,0.4009800561,-0.00536300016369,0.0698329717837,0.999999942288,0.000213775971867,-0.000263779481283,1.19985572158e-05,1793249577315899136
+43,0.716666667,BASELINE,766,745,717,678.045635091,661.954364909,636,877,783,812.954364909,651,629,653,0.400980701076,-0.005363654825,0.0698336245181,0.999999942575,0.000213967570527,-0.000262528669532,1.20877295799e-05,1793249577332565760
+44,0.733333333,BASELINE,766,745,717,678.527146853,661.472853147,636,877,783,813,651,629,653,0.400981285718,-0.00536434833334,0.0698338669755,0.999999943382,0.00021082342072,-0.000262006686689,1.19407317815e-05,1793249577349232384
+45,0.750000000,BASELINE,766,745,717.100231851,678.899768149,661,636,877,783,813,651,629,653,0.40098163136,-0.00536495085448,0.0698339711947,0.99999994406,0.000208099809908,-0.000261599328203,1.18114738826e-05,1793249577365899264
+46,0.766666667,BASELINE,766,745,717.676932832,678.323067168,661,636,877,783,813,651,629,653,0.400980865448,-0.00536510502613,0.0698335854214,0.999999943969,0.000208734281228,-0.000261439932728,1.18627609323e-05,1793249577382566400
+47,0.783333333,BASELINE,766,745,717.738237121,678,661,636,877,783,813,651,629,653,0.400980901817,-0.00536509480151,0.0698336298788,0.999999943875,0.00020948127092,-0.000261196824236,1.19523685165e-05,1793249577399233280
+48,0.800000000,BASELINE,766,745,717.143052559,678,661,636,877,783,813,651,629,653,0.400981960094,-0.00536487517643,0.0698342223445,0.999999943778,0.000210371581499,-0.000260847085875,1.20907870668e-05,1793249577415899904
+49,0.816666667,BASELINE,766,745,717,678.436527712,661.436527712,636,877,783,813,651,629,653.436527712,0.400981437204,-0.00536466631966,0.0698338593398,0.999999943823,0.000209045135987,-0.000261746927597,1.19428463286e-05,1793249577432566528
+50,0.833333333,BASELINE,766,745,717,679,662,636,877,783,813,651,629,653.988777207,0.400980469865,-0.00536446596485,0.06983322459,0.999999943906,0.000207099024072,-0.00026298431076,1.17135693834e-05,1793249577449232896
+51,0.850000000,BASELINE,766,745,717,679,662,636,877,783,813,651,629,653.411460555,0.400982318524,-0.00536452260379,0.0698341314047,0.999999943891,0.000209274243462,-0.000261305166352,1.1951712416e-05,1793249577465899520
+52,0.866666667,BASELINE,766,745,717.168740464,678.831259536,661.831259536,636,877,783,812.831259536,651,629,653,0.400983426755,-0.0053644391036,0.0698349410888,0.999999943929,0.000210751111891,-0.000259961583658,1.21172607372e-05,1793249577482566400
+53,0.883333333,BASELINE,766,745,717.75609707,678.24390293,661.24390293,636,877,783,812.24390293,651,629,653,0.400982698115,-0.00536400794225,0.0698355098084,0.999999944115,0.000210495491272,-0.000259450472114,1.21027140209e-05,1793249577499233024
+54,0.900000000,BASELINE,766,745,718,678.338788223,661,636,877,783,812,651,629,653,0.400981842053,-0.00536406449908,0.0698352911637,0.999999944079,0.000210194923959,-0.000259832338064,1.21154163918e-05,1793249577515899648
+55,0.916666667,BASELINE,766,745,718,678.91816619,661,636,877,783,812,651,629,653,0.400980895503,-0.00536446740796,0.0698345133737,0.999999943884,0.000209862437858,-0.000260848350121,1.21474696452e-05,1793249577532566528
+56,0.933333333,BASELINE,766,745.495616048,718,679,661.495616048,636,877,783,812.495616048,651,629,653,0.400980553484,-0.00536465939711,0.0698335756364,0.999999943618,0.000209698647826,-0.000262002298997,1.20246926084e-05,1793249577549232896
+57,0.950000000,BASELINE,766,745.9278347,717.9278347,678.9278347,661.9278347,636,877,782.9278347,813,650.9278347,629,653,0.400980337123,-0.00536486601137,0.0698328403622,0.999999943405,0.000209517744684,-0.000262963683593,1.18934270863e-05,1793249577565899776
+58,0.966666667,BASELINE,766,745.355331119,717.355331119,678.355331119,661.355331119,636,877,782.355331119,813,650.355331119,629,653,0.400980302611,-0.0053654145461,0.0698336912058,0.999999943648,0.000209025820755,-0.000262432680462,1.18798690805e-05,1793249577582566656
+59,0.983333333,BASELINE,766,745,717,678,661,636,877,782.22368277,813,650.22368277,629,653.22368277,0.400980668597,-0.00536533139997,0.0698344654873,0.999999943855,0.000209128007698,-0.000261556990055,1.19386353341e-05,1793249577599233280
+60,1.000000000,BASELINE,766,745,717,678,661,636,877,782.813348723,813,650.813348723,629,653.813348723,0.400981689868,-0.00536421471621,0.0698351145003,0.999999944004,0.000210202261337,-0.000260117332358,1.21157364163e-05,1793249577615899648
+61,1.016666667,BASELINE,766,745.396959499,717,678.396959499,661,636,877,783,813,651,629,653.603040501,0.400981409201,-0.00536409424614,0.0698344800122,0.999999943663,0.00021075816342,-0.000260980002945,1.1997056883e-05,1793249577632566272
+62,1.033333333,BASELINE,766,745.97776586,717,678.97776586,661,636,877,783,813,651,629,653.02223414,0.400980525557,-0.00536443516013,0.0698332510865,0.999999943094,0.000211073997356,-0.000262908968364,1.17413902209e-05,1793249577649232640
+63,1.050000000,BASELINE,766,745.448315994,717.551684006,679,661,636,876.448315994,783,813,651,629,653,0.400982570256,-0.00536445900195,0.0698345422598,0.999999943424,0.000212117029842,-0.000260797378196,1.19472893053e-05,1793249577665899520
+64,1.066666667,BASELINE,766,745,717.87256824,679,661,636,876.12743176,783,813,651,629,653,0.400983989096,-0.00536438155301,0.0698355002252,0.999999943698,0.0002127162599,-0.000259244887357,1.21223571911e-05,1793249577682566144
+65,1.083333333,BASELINE,766,745,717.289294937,679,661,636,876.710705063,783,813,651,629,653,0.400982752185,-0.00536398692028,0.0698349074232,0.999999943664,0.000211624400192,-0.000260267706225,1.21214154768e-05,1793249577699232512
+66,1.100000000,BASELINE,766,745,717.295147469,678.704852531,661,636,877,783,813,651,629,653.295147469,0.400981649862,-0.0053637371014,0.0698342154706,0.999999943511,0.000211105307253,-0.000261286385584,1.19355565308e-05,1793249577715898880
+67,1.116666667,BASELINE,766,745,717.880740318,678.119259682,661,636,877,783,813,651,629,653.880740318,0.400980679982,-0.00536362978933,0.0698334259469,0.99999994324,0.000211149856222,-0.000262300991321,1.15677263282e-05,1793249577732565504
+68,1.133333333,BASELINE,766,745,717.541372599,678.458627401,661,636,877,783,813,651,629,654,0.400981278129,-0.00536364370191,0.0698339004348,0.999999943224,0.000212182357434,-0.000261522594714,1.16881888912e-05,1793249577749232128
+69,1.150000000,BASELINE,766,745,717.034281222,678.965718778,661.034281222,636,877,783,813,651,629,654,0.400982174053,-0.00536371946202,0.0698346640342,0.999999943281,0.000213307074591,-0.000260374203652,1.19321296682e-05,1793249577765898752
+70,1.166666667,BASELINE,766,745,717.605818965,678.394181035,661.605818965,636,877,783,813,651,629,654,0.400981452165,-0.00536427863593,0.0698348924968,0.999999943512,0.000211917334456,-0.000260613519112,1.21541700673e-05,1793249577782566144
+71,1.183333333,BASELINE,766,745,718,678,661.816182824,636,877.183817176,783,813,651.183817176,629,653.816182824,0.40098103183,-0.00536454585592,0.0698349790793,0.999999943698,0.000210765644203,-0.000260830614501,1.22337408537e-05,1793249577799233280
+72,1.200000000,BASELINE,766,745,718,678,661.223825898,636,877.776174102,783,813,651.776174102,629,653.223825898,0.400981281708,-0.0053641641988,0.0698347503286,0.999999943788,0.00021014302741,-0.000260998325092,1.19966682605e-05,1793249577815900160
+73,1.216666667,BASELINE,766,745,718,678.362272394,661,636,877.637727606,783,812.637727606,651.637727606,629,653.362272394,0.40098131254,-0.00536450036532,0.0698346956605,0.999999943698,0.000210656251912,-0.000260926952297,1.20060134601e-05,1793249577832566784
+74,1.233333333,BASELINE,766,745,718,678.944569495,661,636,877.055430505,783,812.055430505,651.055430505,629,653.944569495,0.400981210335,-0.00536527249922,0.0698347467205,0.999999943499,0.000211859325173,-0.000260710373141,1.21650195463e-05,1793249577849233664
+75,1.250000000,BASELINE,766,745.518456616,718,679,661,636,877,783,812.518456616,651,629,653.481543384,0.400981539875,-0.00536479394939,0.0698343628667,0.999999943482,0.000211650226488,-0.000260949152944,1.20793088911e-05,1793249577865899776
+76,1.266666667,BASELINE,766,745.908536426,717.908536426,678.908536426,661,636,877,783,812.908536426,651,629,653.091463574,0.400981817455,-0.00536420980903,0.0698339988714,0.999999943458,0.000211512581822,-0.0002611566223,1.19544029283e-05,1793249577882566144
+77,1.283333333,BASELINE,766,745.335505099,717.335505099,678.335505099,661,636,877,783,812.335505099,651,629,653.664494901,0.400981582301,-0.00536376251595,0.0698339803465,0.999999943299,0.000212533400925,-0.000260946999575,1.1758685246e-05,1793249577899232768
+78,1.300000000,BASELINE,766,745.246858231,717.246858231,678,661,636,877,783,812.246858231,651,629,654,0.400981366591,-0.00536366153659,0.0698340635669,0.999999943138,0.000213121964592,-0.000261081138005,1.18170476208e-05,1793249577915899136
+79,1.316666667,BASELINE,766,745.842402937,717.842402937,678,661,636,877,783,812.842402937,651,629,654,0.400981178347,-0.00536404972432,0.0698342905022,0.999999942976,0.000213099968723,-0.000261700838006,1.22342972945e-05,1793249577932565504
+80,1.333333333,BASELINE,766.423810957,745.576189043,718,678.423810957,661.423810957,636,877,783,813,651,629,653.576189043,0.400981218512,-0.0053638240943,0.0698345986158,0.999999943234,0.000212180014118,-0.000261463006783,1.21903680492e-05,1793249577949232384
+81,1.350000000,BASELINE,766.999868676,745,717.999868676,678.999868676,661.999868676,636.000131324,877,783,812.999868676,651,629,653,0.400981340926,-0.00536337798172,0.0698349360209,0.999999943642,0.000210937349359,-0.000260916410164,1.19806070974e-05,1793249577965899520
+82,1.366666667,BASELINE,766.426000102,745,717.426000102,678.426000102,661.426000102,636.573999898,877,783,812.426000102,651,629,653,0.40098170517,-0.00536468833751,0.069835618676,0.999999943856,0.000211545720768,-0.000259585162669,1.23179737917e-05,1793249577982566400
+83,1.383333333,BASELINE,766,745,717.151948972,678.151948972,661,636.848051028,877,783,812.151948972,651,629,653,0.400981760282,-0.00536523960058,0.0698358639504,0.999999943876,0.000212104026232,-0.000259047572332,1.24590889167e-05,1793249577999233024
+84,1.400000000,BASELINE,766,745,717.741653857,678.741653857,661,636.258346143,877,783,812.741653857,651,629,653,0.400980924801,-0.00536360396317,0.069834849157,0.999999943338,0.000212518094837,-0.000260796460566,1.20348150684e-05,1793249578015899392
+85,1.416666667,BASELINE,766,745,718,679,661,636,877,783,813,651,628.67436198,653,0.400981078154,-0.00536261859652,0.0698344806341,0.999999943165,0.000212718123588,-0.00026130576528,1.18327467616e-05,1793249578032565760
+86,1.433333333,BASELINE,766,745,718,679,661,636,877,783,813,651,628.094838052,653,0.400982002456,-0.00536214021802,0.0698346159804,0.999999943278,0.000212751274677,-0.000260848620124,1.18039225494e-05,1793249578049232384
+87,1.450000000,BASELINE,766,745,718,679,661,636,877,783,813,651,628.482505954,653,0.400981242999,-0.00536298720851,0.0698339933143,0.999999943174,0.000212008728556,-0.000261849463333,1.17952419612e-05,1793249578065899008
+88,1.466666667,BASELINE,766,745,717.941079709,679,661,636,877,783,812.941079709,651,629,653.058920291,0.400980371042,-0.00536406941391,0.0698334161497,0.99999994313,0.00021101453269,-0.000262818274376,1.17928089009e-05,1793249578082565632
+89,1.483333333,BASELINE,766,745,717.369046845,679,661,636,877,783,812.369046845,651,629,653.630953155,0.400981388513,-0.0053649415781,0.0698345268929,0.999999943992,0.00020915061208,-0.000261023715829,1.18104582205e-05,1793249578099232768
+90,1.500000000,BASELINE,766,745.209507043,717.209507043,678.790492957,661.209507043,636,877.209507043,783,812.209507043,651,629,654,0.400981971067,-0.00536522588457,0.0698351784752,0.999999944401,0.000208448761578,-0.000260011066962,1.18747846603e-05,1793249578115900160
+91,1.516666667,BASELINE,766,745.799916674,717.799916674,678.200083326,661.799916674,636,877.799916674,783,812.799916674,651,629,654,0.400981762902,-0.00536444141291,0.0698349952613,0.999999943998,0.000209859658937,-0.000260420000196,1.20239742885e-05,1793249578132566784
+92,1.533333333,BASELINE,766,745.615747438,718,678.384252562,661.615747438,636,878,783,813,651,629,654,0.40098150479,-0.00536337582422,0.0698346425309,0.99999994359,0.000211179519689,-0.000260925772992,1.18997301826e-05,1793249578149233408
+93,1.550000000,BASELINE,766,745.03452493,718,678.96547507,661.03452493,636,878,783,813,651,629,654,0.400981221073,-0.00536216613334,0.0698342029053,0.999999943178,0.000212452714709,-0.000261481186306,1.16353224766e-05,1793249578165899520
+94,1.566666667,BASELINE,766,745.539759489,718,679,661.539759489,636,877.460240511,783,813,651,629,653.460240511,0.400981420642,-0.0053637927451,0.0698345799213,0.999999943472,0.000211533203141,-0.000261098025712,1.16968012643e-05,1793249578182565888
+95,1.583333333,BASELINE,766,745.883932254,718,678.883932254,661.883932254,636,877,783,812.883932254,651,629,653,0.400981634774,-0.00536523671183,0.0698350266467,0.999999943752,0.000210798424626,-0.000260614435302,1.18019479948e-05,1793249578199232512
+96,1.600000000,BASELINE,766,745.297649779,718,678.297649779,661.297649779,636,877,783,812.297649779,651,629,653,0.400981784257,-0.00536521510298,0.0698355468489,0.999999943798,0.000211373022536,-0.000259964108354,1.20006275619e-05,1793249578215899136
+97,1.616666667,BASELINE,765.713499591,745,718,678,661,636,877,783,812,651,629,653,0.400981037821,-0.00536430102203,0.0698351103668,0.999999943401,0.000212218475118,-0.000260798432055,1.20722078284e-05,1793249578232566016
+98,1.633333333,BASELINE,765.13154834,745,718,678,661,636,877,783,812,651,629,653,0.400979367476,-0.00536246658766,0.0698336873129,0.999999942543,0.00021334324399,-0.000263163787765,1.20127181289e-05,1793249578249232896
+99,1.650000000,BASELINE,765.44584779,745,718,678.44584779,661.44584779,636.44584779,877,783,812.44584779,651,629,653.44584779,0.40098112241,-0.00536317938855,0.0698345863174,0.999999943296,0.000212753093279,-0.000260767328099,1.20263292158e-05,1793249578265899776
+100,1.666666667,BASELINE,766,745,718,678.978141695,661.978141695,636.978141695,877,783,812.978141695,651,629,653.978141695,0.40098380928,-0.00536451097331,0.0698361339548,0.999999944458,0.000211736150622,-0.000257113179254,1.20508332368e-05,1793249578282566656
+101,1.683333333,BASELINE,766,745,718,678.403527115,661.403527115,636.403527115,877,783,812.403527115,651,629,653.403527115,0.400984764416,-0.00536267692655,0.0698369339112,0.999999944353,0.000212592590299,-0.000256824512932,1.18108869583e-05,1793249578299233024
+102,1.700000000,BASELINE,766,745.175410007,718,678,661,636,877,783,812.175410007,651,629,653,0.400984885473,-0.0053617866521,0.069837311708,0.999999944234,0.000212926696817,-0.000257012914264,1.17519879184e-05,1793249578315899392
+103,1.716666667,BASELINE,766,745.764542201,718,678,661,636,877,783,812.764542201,651,629,653,0.400983039266,-0.00536312236005,0.0698366937989,0.999999944082,0.000212028827798,-0.000258326527801,1.2120107079e-05,1793249578332566016
+104,1.733333333,BASELINE,766,745.652244233,718,678.347755767,661,636,877,783,813,651,629,653,0.40098204473,-0.00536437605188,0.0698363538044,0.999999944326,0.00020998360871,-0.000259050546408,1.21223566447e-05,1793249578349232384
+105,1.750000000,BASELINE,766,745.072970919,718,678.927029081,661,636,877,783,813,651,629,653,0.400981617191,-0.00536557514182,0.0698361988307,0.999999944829,0.000207174544046,-0.000259382043771,1.18810294641e-05,1793249578365899008
+106,1.766666667,BASELINE,766,745,718,679,661,636.508824777,877.508824777,782.491175223,812.491175223,651,629,653,0.40098179262,-0.00536416670185,0.0698357861306,0.999999944333,0.000209566264255,-0.000259382027103,1.16726582034e-05,1793249578382565888
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636,877,783,812,651,629,654,0.400982998463,-0.00536269401685,0.0698363344373,0.999999944468,0.000210769477916,-0.000257885036943,1.16718685889e-05,1793249578426112000
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636,877,783,812.59264423,651,629,653.40735577,0.400983006136,-0.00536289736086,0.0698363350003,0.999999944138,0.000211769842279,-0.000258330540695,1.19426578563e-05,1793249578442778624
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,717.818558262,679,661,636,877,783,813,651,629,653,0.400982952524,-0.00536300067121,0.069836302302,0.999999943935,0.000212194794932,-0.000258762856769,1.20510800664e-05,1793249578459444992
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,717.238217644,679,661,636,877,783,813,651,629,653,0.400982764173,-0.00536288405804,0.0698361964786,0.999999944011,0.000211354707607,-0.000259166179875,1.18025390519e-05,1793249578476111360
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,717,678.662084687,661,636,877,783,813,651,629,653.337915313,0.400981948668,-0.00536319990143,0.0698357185061,0.999999943944,0.000210605423756,-0.000260036477885,1.17527659402e-05,1793249578492777984
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,717,678.088881527,661,636,877,783,813,651,629,653.911118473,0.400980696481,-0.00536381686101,0.0698349814088,0.999999943776,0.000209919365719,-0.000261231926922,1.18413934126e-05,1793249578509444608
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,717.485239815,678,661,636,877,783,813,651,629,653.514760185,0.400981313584,-0.00536429121797,0.0698349464715,0.999999944104,0.000209444966175,-0.000260359455047,1.1728475098e-05,1793249578526111744
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,678.061782468,661.061782468,636,877,783,813,651,629,653.061782468,0.400982117662,-0.00536459033834,0.069835092111,0.99999994439,0.000209339385408,-0.000259347073271,1.16304525421e-05,1793249578542778368
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,678.657805438,661.657805438,636,877,783,813,651,629,653.657805438,0.400981572157,-0.0053636004626,0.069835684964,0.999999943532,0.000212087144775,-0.0002604064545,1.19810681579e-05,1793249578559444992
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,717.755332709,678.755332709,662,636,877,783,813,651,629,654,0.400986615858,-0.00536308230267,0.0698381660174,0.999999943914,0.000213555221657,-0.00025771372646,1.22460327069e-05,1793249578576111616
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,717.180821312,678.180821312,662,636,877,783,813,651,629,654,0.400999194552,-0.00536320007859,0.0698431926165,0.999999945934,0.000213298115814,-0.000249962655096,1.23955281769e-05,1793249578592777984
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,717,678.394511831,661.605488169,636,877,783,813,651,629,653.605488169,0.401029343515,-0.00536450657584,0.0698551435404,0.999999951169,0.000211170878647,-0.000230018116358,1.270689789e-05,1793249578609444608
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,717,678.970222451,661.029777549,636,877,783,813,651,629,653.029777549,0.401067562482,-0.00536635905131,0.0698702747985,0.999999957339,0.000208184692377,-0.000204473132574,1.30926162458e-05,1793249578626110976
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,717.558817812,678.441182188,661,636,877.558817812,783,813,651,629,653,0.401121020144,-0.00536666202715,0.0698835645919,0.999999960114,0.000209193104752,-0.000189297697147,1.33222972863e-05,1793249578642777600
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.14561121,718,678,661.14561121,636,878,783,813,651,629,653,0.401178819998,-0.0053673777887,0.0698945288358,0.999999962286,0.00020982012243,-0.000176712729428,1.32951612711e-05,1793249578659444224
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.724944024,718,678,661.724944024,636,878,783,813,651,629,653,0.401247077849,-0.00536957482825,0.069898865314,0.999999963675,0.000208662116233,-0.000170159085704,1.25284138324e-05,1793249578676110848
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.699422022,717.699422022,678,661.699422022,636,877.398844045,783,812.699422022,651,629,653,0.401326773169,-0.00537071618747,0.0699021088786,0.999999964804,0.000207911210211,-0.000164459701917,1.08982889518e-05,1793249578692777984
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.127131748,717.127131748,678,661.127131748,636,876.254263497,783,812.127131748,651,629,653,0.401416807569,-0.00537090324733,0.0699043644861,0.999999965705,0.000207528309007,-0.00015953254053,8.48770019604e-06,1793249578709444864
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717.451226582,678.451226582,661,636,876.451226582,783,812.451226582,651,629,653,0.401523002505,-0.0053729931161,0.0699027554081,0.999999965748,0.00020493301403,-0.000162697931634,6.05464442408e-06,1793249578726111744
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.031931552,717.968068448,679,661,636,877,783,813,651,629,653,0.401635332764,-0.00537570669053,0.0699002471089,0.999999965595,0.000201599841213,-0.000167793983088,3.58040843614e-06,1793249578742778624
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.623389972,717.376610028,679,661,636,877,783,813,651,629,653,0.401774298874,-0.00537982711105,0.06990132194,0.999999966897,0.000196408462175,-0.000166223137795,4.9701436124e-07,1793249578759444992
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,717,679,661,636,877.209514207,783,813,651,629,653,0.401927450508,-0.00538383724555,0.0699041368843,0.999999968657,0.000191364245813,-0.000161424643215,-2.68522428594e-06,1793249578776111104
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,717,679,661,636,877.786288033,783,813,651,629,653,0.402105468076,-0.00538765405813,0.0699100020905,0.99999997118,0.000186577992962,-0.000150968369,-6.04072828103e-06,1793249578792777984
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.638736631,717.361263369,679,661,636.361263369,877.638736631,783,813,651,629,653,0.402302936079,-0.00538936359003,0.069915272463,0.999999973231,0.000182424053246,-0.000141978623511,-1.00845720573e-05,1793249578809444608
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.064819899,717.935180101,679,661,636.935180101,877.064819899,783,813,651,629,653,0.402511853363,-0.00538983269673,0.0699201926943,0.99999997498,0.000178642316635,-0.000133852131619,-1.45335991341e-05,1793249578826111232
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.477362106,877,783,812.477362106,651,629,653,0.402753450959,-0.00539497713793,0.0699217810591,0.999999976983,0.000170363108101,-0.000128952849144,-1.9513903759e-05,1793249578842778112
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661.109894591,636.109894591,877.109894591,783,812,651,629,653.109894591,0.403007443866,-0.00540058336408,0.0699238305491,0.999999979043,0.000161719528515,-0.00012310572229,-2.46289463437e-05,1793249578859445248
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661.688932781,636.688932781,877.688932781,783,812,651,629,653.688932781,0.403296589539,-0.00540561970115,0.0699296596253,0.999999981485,0.000153965023503,-0.00011145807407,-3.00304167459e-05,1793249578876111104
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,717.733407147,679,662,636.733407147,877.733407147,783,812.266592853,651,629,654,0.403606570734,-0.00541045449023,0.069938421111,0.999999983999,0.00014690384189,-9.57987730453e-05,-3.52633746649e-05,1793249578892777472
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,717.157346863,679,662,636.157346863,877.157346863,783,812.842653137,651,629,654,0.403940738291,-0.00541505531725,0.0699505866083,0.999999986448,0.000140647487294,-7.54826491002e-05,-4.03007188878e-05,1793249578909444096
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.417199004,717.417199004,679,661.582800996,636,877.417199004,783,813,651,629,654,0.404292776334,-0.00542158032302,0.0699530589789,0.999999994623,5.71924230287e-05,-7.28658901404e-05,-4.66233217312e-05,1793249578926111232
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.991175762,717.991175762,679,661.008824238,636,877.991175762,783,813,651,629,654,0.404651529858,-0.0054288284091,0.0699518888031,0.999999994088,-5.52728745825e-05,-7.69003132549e-05,-5.34289067929e-05,1793249578942778624
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.417538277,717.417538277,679,661.582461723,636,878,783.582461723,812.417538277,651,629,653.417538277,0.405065350985,-0.00543498520188,0.0699582251057,0.999999995469,-4.06273553056e-05,-6.5907893833e-05,-5.53858882929e-05,1793249578959444736
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+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,717,679,661.251252584,636.748747416,878,784,812,651,628.251252584,653.748747416,0.405924835059,-0.0054475592036,0.0699586568003,0.999999994991,7.07585180537e-05,-6.30491355979e-05,-3.21759089886e-05,1793249578992778240
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+146,2.433333333,POSE1_TO_POSE2_PRESS,766.356684275,745,717.643315725,679,662,637,878,783,813,651,629,653.643315725,0.408488725477,-0.00550984189016,0.069934336977,0.999999995653,-7.16870011016e-06,-8.59175346126e-05,-3.55095924209e-05,1793249579076111872
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,718,679.228384235,662,637,878.228384235,783,813,651,629,653.771615765,0.409099970541,-0.00551662897244,0.0699465403666,0.999999997369,-1.62710718675e-05,-6.03653189233e-05,-3.6791629832e-05,1793249579092778496
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,718,679.806345677,662,637,878.806345677,783,813,651,629,653.193654323,0.409745421397,-0.00553106585178,0.0699508303781,0.99999999716,-4.54942350047e-05,-4.65706847685e-05,-3.79571295084e-05,1793249579109445120
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,718,680,662,637,879,783,813,651,628.617112361,653,0.410384805403,-0.00553779961283,0.069947241975,0.999999996498,-5.33892557516e-05,-5.08664919815e-05,-3.95807802245e-05,1793249579126112000
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,718,680,662,637,879,783,813,651,628.0412857,653,0.411021132274,-0.00554065173307,0.0699396835987,0.999999995799,-5.05369165445e-05,-6.427816474e-05,-4.14352955444e-05,1793249579142778880
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.547766729,717.452233271,680,662,637,879,783,813,650.452233271,628,653.547766729,0.411731960061,-0.0055489477848,0.0699498740541,0.999999995726,-6.63254696923e-05,-4.89670972842e-05,-4.18360871371e-05,1793249579159445504
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.864702103,717,680,662,637,879.135297897,783,813,650.135297897,628.135297897,653.864702103,0.412463178072,-0.00555792855821,0.0699676418781,0.999999995634,-8.08267517383e-05,-2.13516206564e-05,-4.17488839996e-05,1793249579176112128
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.285513458,717,680,662,637,879.714486542,783,813,650.714486542,628.714486542,653.285513458,0.413242414582,-0.00556777630904,0.0700057723098,0.999999994678,-8.63811290616e-05,3.9354355931e-05,-4.04290192889e-05,1793249579192778240
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.291010829,717.291010829,680,662,637,879.708989171,783.291010829,813,651,629,653.291010829,0.414005694749,-0.0055599929025,0.0700226683332,0.999999994206,-7.65158671739e-05,6.42712508034e-05,-4.00239968489e-05,1793249579209444608
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.864944874,717.864944874,680,662,637,879.135055126,783.864944874,813,651,629,653.864944874,0.414753462115,-0.00553506833528,0.0700189200878,0.999999996366,-5.16595011346e-05,5.43937019081e-05,-4.05083918123e-05,1793249579226111232
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.560367801,717.560367801,680,662,637,879.439632199,783.560367801,813,650.560367801,629,654,0.415475173635,-0.00551026482667,0.0699700805057,0.999999998292,-2.39593911522e-05,-3.00658208499e-05,-4.40226626234e-05,1793249579242777600
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.014966057,717,680.014966057,662.029932114,637.014966057,880,783,813.014966057,650.014966057,629,654,0.416192587682,-0.00548655526882,0.0699091194567,0.999999989783,3.26040635766e-06,-0.000134471849051,-4.83796340093e-05,1793249579259444224
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.606272357,717,680.606272357,663.212544714,637.606272357,880,783,813.606272357,650.606272357,629,654,0.417053284195,-0.00550353889635,0.0699157190816,0.999999990963,-2.17163714463e-05,-0.000123178403046,-4.92832405902e-05,1793249579276111360
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,717,680.807072958,663.807072958,637.807072958,880.192927042,783.192927042,813.807072958,650.807072958,629,654,0.417916641329,-0.00551760757523,0.0699305900396,0.999999993095,-4.09300941102e-05,-9.86270003215e-05,-4.9062110317e-05,1793249579292778240
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,717,680.229687881,663.229687881,637.229687881,880.770312119,783.770312119,813.229687881,650.229687881,629,654,0.418785300402,-0.0055258674488,0.0699619438111,0.999999996595,-4.86594072536e-05,-4.7655621266e-05,-4.65996450122e-05,1793249579309445120
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.656515432,717.343484568,680.343484568,663,637,881,784,813,650.343484568,629,654,0.419671536228,-0.00553130693565,0.0699910339016,0.999999997508,-5.36849615642e-05,-3.34280911165e-06,-4.57307276599e-05,1793249579326111488
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.086125858,717.913874142,680.913874142,663,637,881,784,813,650.913874142,629,654,0.420569383176,-0.00553488328209,0.070018628609,0.999999996657,-5.69244195545e-05,3.65713691299e-05,-4.59145040094e-05,1793249579342777856
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,717.508620361,681,663,637,881.491379639,783.508620361,813,651,629,654,0.421468198991,-0.00553482340135,0.070033048673,0.99999999549,-6.14729445821e-05,5.63436505671e-05,-4.54642839565e-05,1793249579359444736
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.072368063,717,681,663,637,882,783.072368063,813.072368063,650.927631937,629,654,0.422358449202,-0.00553282777909,0.0700347772373,0.999999995336,-6.4055313711e-05,5.60814577861e-05,-4.55986951991e-05,1793249579376111360
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.669432976,717,681,663,637,882,783.669432976,813.669432976,650.330567024,629,654,0.423185345644,-0.00552148609796,0.0699614758253,0.999999995411,-5.06942682122e-05,-6.34660570267e-05,-5.07894355621e-05,1793249579392777728
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.74359501,717,680.48719002,663,637,882,784,813.74359501,650,629,653.74359501,0.424027600414,-0.00551556949196,0.0698975366584,0.999999984469,-4.90876156584e-05,-0.000159587744827,-5.64282436274e-05,1793249579409444352
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.169142265,717,679.33828453,663,637,882,784,813.169142265,650,629,653.169142265,0.424888905946,-0.0055163822112,0.0698452105201,0.999999970428,-6.20612486261e-05,-0.000226651778901,-6.2622841353e-05,1793249579426111232
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,717.40474982,679.80949964,663,637,882.40474982,784,813.40474982,650.40474982,629,653.40474982,0.425828561663,-0.00552265196165,0.0698725642042,0.99999997933,-6.67134834945e-05,-0.000182265655962,-6.05628313418e-05,1793249579442778368
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,717.978407899,680.956815798,663,637,882.978407899,784,813.978407899,650.978407899,629,653.978407899,0.426800914053,-0.0055311990142,0.0699331694937,0.999999992005,-6.78930711541e-05,-9.1369681669e-05,-5.50580472017e-05,1793249579459445248
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,718,681,663,637,883,783.430329589,814,651,629,654,0.427748918361,-0.00553482798689,0.0699804279914,0.999999995227,-7.5191955582e-05,-3.24287797697e-05,-5.33032092395e-05,1793249579476111616
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.158070926,745,717.841929074,681,663.158070926,637,883.316141851,783,814.158070926,651,629,654,0.428707526207,-0.00553710778069,0.0700219403839,0.999999995229,-7.88618880051e-05,2.48504076162e-05,-5.20025701734e-05,1793249579492778240
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.737017844,745,717.262982156,681,663.737017844,637,884.474035689,783,814.737017844,651,629,654,0.429696902279,-0.00553630743702,0.0700495432253,0.999999992781,-7.22322099751e-05,8.10328621387e-05,-5.15207618984e-05,1793249579509444608
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.687536825,745.312463175,717.312463175,681,664,637,885,783.312463175,814.687536825,651,629,654,0.43059428181,-0.00553549664637,0.0700322826285,0.999999994602,-7.11614431702e-05,5.43091430857e-05,-5.27462201882e-05,1793249579526110976
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.115005947,745.884994053,717.884994053,681,664,637,885,783.884994053,814.115005947,651,629,654,0.431415091216,-0.00553467716058,0.0699776815299,0.999999994817,-7.47174400355e-05,-4.14186086884e-05,-5.53926613432e-05,1793249579542777856
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,717.529423802,681.470576198,664,637.470576198,885,784,814.470576198,651,629,654,0.432224837205,-0.00553697843913,0.0699205490861,0.999999986041,-7.85022451579e-05,-0.0001355739668,-5.81005939e-05,1793249579559444736
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,717,682.058406517,664,637.941593483,885,784,815,651,629,654,0.433047300572,-0.00553987345744,0.0698739095993,0.999999972765,-8.23485321308e-05,-0.000209844880606,-6.04490452855e-05,1793249579576111616
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,717,682.637040294,664,637.362959706,885,784,815,651,629,654,0.434007807198,-0.00554106979628,0.0699263984569,0.999999988407,-8.62301577482e-05,-0.000110525305278,-5.94579224116e-05,1793249579592778496
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717.215337477,682.784662523,664,637.215337477,885,784,815.215337477,651,629,654,0.43495416641,-0.00554179477917,0.0699739189567,0.99999999424,-8.63070772132e-05,-2.62611215929e-05,-5.81464394785e-05,1793249579609445376
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717.793068298,682.206931702,664,637.793068298,885,784,815.793068298,651,629,654,0.435876716967,-0.00554172651319,0.0700130781718,0.999999994683,-7.99810246615e-05,3.26662252188e-05,-5.62958202734e-05,1793249579626111744
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.629914894,717.629914894,682,664,637.629914894,885.370085106,784,816,651,629,654,0.436753138098,-0.00554489528089,0.0700247897408,0.999999993244,-8.51883486171e-05,5.56493768595e-05,-5.62034963514e-05,1793249579642778368
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.05329659,717.05329659,682,664,637.05329659,885.94670341,784,816,651,629,654,0.43760381575,-0.00554987053827,0.0700211836143,0.999999991967,-9.68320983559e-05,5.85731670972e-05,-5.7092423524e-05,1793249579659444992
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.516831494,717,682,664,637,886,784,815.483168506,651,629,654,0.438378056997,-0.00555428595255,0.0699842752639,0.999999993453,-9.72256572372e-05,1.19187784316e-05,-5.91467743808e-05,1793249579676111360
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.909691868,717,682,664,637,886,784,815,651,628.909691868,654,0.439130085668,-0.00555732815213,0.0699393242908,0.999999992085,-9.73530246589e-05,-5.10481274579e-05,-6.12147903866e-05,1793249579692777984
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+185,3.083333333,POSE1_TO_POSE2_PRESS,766.273372811,745.273372811,717,682,664,637,886,784,815,651,628.273372811,654,0.440526182854,-0.00554889251694,0.0698321202136,0.999999964853,-9.67313252983e-05,-0.000238435096179,-6.39150381855e-05,1793249579726111232
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.850742281,745.850742281,717,682,664,637,886,784,815,651,628.850742281,654,0.441310635227,-0.00554502649038,0.0698345814345,0.999999968802,-7.91308951e-05,-0.000227880520453,-6.48464282294e-05,1793249579742777600
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.574049381,745.574049381,717,682,664,637,886,783.574049381,815,651,629,654,0.442072077987,-0.00554633046415,0.0698711474677,0.999999978511,-9.05164472823e-05,-0.000175560191901,-6.29606344092e-05,1793249579759444224
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.999581597,745.000418403,717,682,663.999581597,636.999581597,886.000418403,783,815.000418403,651,629,654,0.442825422183,-0.0055494345347,0.069919561844,0.999999986012,-0.000111980650852,-0.000108743696741,-6.00942527369e-05,1793249579776110592
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.406909654,745.593090346,717,682,663.406909654,636.406909654,886.593090346,783,815.593090346,651,629,654,0.443470467969,-0.0055491661483,0.069908483191,0.999999984712,-9.51134111555e-05,-0.000134124134744,-5.94943015607e-05,1793249579792777216
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.180873306,746,717,682,663.180873306,636,886.819126694,783,816,651,629,654,0.444100514421,-0.00554978364596,0.0698853828957,0.999999979248,-8.25302280166e-05,-0.000176409367231,-5.9778573074e-05,1793249579809444096
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,682.322052935,663.677947065,636,886,783,816,651,629,654,0.445279515384,-0.00555531513476,0.0697977148573,0.99999994551,-8.75802992822e-05,-0.000311912552204,-6.34083868468e-05,1793249579842777088
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,682.876789308,663.123210692,636,886,783,816,651,629,654,0.445850213132,-0.00555858877857,0.0697675716798,0.999999930781,-0.000104100655546,-0.0003513916949,-6.4230031199e-05,1793249579859443712
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717,682.524513616,663,636,886,783,816,651,629,654,0.446395310246,-0.00556131613088,0.0697528790216,0.999999922309,-0.00010129982499,-0.000375319762755,-6.52341026807e-05,1793249579876110592
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,682.081792516,663,636,886,782.918207484,816,651,629,654,0.446923824526,-0.00556372706406,0.0697409994398,0.999999913664,-9.64024707011e-05,-0.000398729176488,-6.62848138665e-05,1793249579892777216
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745.452232754,717,681,662.547767246,636,880,784,813.452232754,650,629,653.547767246,0.427287748713,-0.00540826309674,0.0698038256351,0.999999945431,0.000135877439573,-0.000300021691841,2.57425491673e-05,1793249582089836032
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.131948825,745.131948825,717,681,662.868051175,636,880,784,813,650,629,653.868051175,0.426417915623,-0.00541039519496,0.0698603214745,0.999999966538,0.000134414724795,-0.000219005129248,2.98832935967e-05,1793249582106502912
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.715652863,745.715652863,717,681,662.284347137,636,880,784,813,650,629,653.284347137,0.425494992913,-0.0054077177854,0.0698582529814,0.999999962503,0.000142100870426,-0.000232161320026,3.0032771907e-05,1793249582123169536
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.704211224,745.704211224,717,680.704211224,662,636,880,783.704211224,813,650.295788776,628.704211224,653.295788776,0.424567458127,-0.0054049679127,0.0698401408799,0.999999955081,0.000144637924056,-0.00026092273447,2.89190830715e-05,1793249582139836160
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.127464562,745.127464562,717,680.127464562,662,636,880,783.127464562,813,650.872535438,628.127464562,653.872535438,0.423635542568,-0.00540214921031,0.0698067895988,0.999999943161,0.000142284061249,-0.000304506923433,2.66055624198e-05,1793249582156502528
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.456614994,717,680.456614994,662,636,879.543385006,783,813.456614994,651,628.456614994,654,0.422662850038,-0.00539924327399,0.0697438504888,0.999999900707,0.00015107505333,-0.000418484653694,2.51717428457e-05,1793249582173169152
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745.957788363,717,680.957788363,662,636,879,783,814,650.957788363,629,653.957788363,0.421686726678,-0.00539680674264,0.0696791091104,0.999999841196,0.000161633998508,-0.000539354774386,2.40715477469e-05,1793249582189836032
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745.37934818,717,680.37934818,662,636,879,783,814,650.37934818,629,653.37934818,0.420813982607,-0.00540064761577,0.0696981083288,0.99999986572,0.000154485498426,-0.000494080935827,2.40390351772e-05,1793249582206502656
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.644841802,717.644841802,680.644841802,662,636,878,784,813,651,629,653.355158198,0.418405772211,-0.00540910613366,0.0698663856582,0.999999964097,0.000148502077523,-0.000220791120323,3.16993380426e-05,1793249582256503296
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745.506170401,717,680,662,636,878.506170401,784,813,651,629,654,0.416736702642,-0.00540677380496,0.0698478735046,0.999999956476,0.000157926642518,-0.000247130410593,3.21443264746e-05,1793249582289836288
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746,717.082708562,680,662,636,878.917291438,784,813,651,629,654,0.415895183673,-0.00540504161142,0.0698094165891,0.999999943548,0.000158634994467,-0.000294777048417,2.90823897883e-05,1793249582306502912
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746,717.676385624,680,662,636,878.323614376,784,813,651,629,654,0.415039511441,-0.00539991838226,0.0697811099434,0.99999992758,0.000164225316085,-0.000342213361959,2.75667475844e-05,1793249582323169536
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.837359073,746,717.162640927,680,661.162640927,636,878.837359073,784,813,651,629,653.162640927,0.413425097327,-0.00538490024772,0.0697445683698,0.999999894161,0.00018008143284,-0.000422562208854,2.62635013542e-05,1793249582356502528
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.604616369,745.604616369,717,680,661,636,878.604616369,783.604616369,813,650.604616369,629,653.395383631,0.41274753753,-0.00538015626143,0.0697778741568,0.999999918349,0.000185855847394,-0.000357838068224,2.6666832958e-05,1793249582373169152
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.053492882,745.053492882,717,680,661,636,878.053492882,783.053492882,813,650.053492882,629,653.946507118,0.412113892674,-0.00537685352824,0.0698300146389,0.999999949522,0.000190436948335,-0.000252866555331,2.73581947719e-05,1793249582389835776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,717,679.443316637,661.556683363,636,877.443316637,783.556683363,813,650,629,654,0.411474342493,-0.00537399545699,0.0698684207096,0.999999961144,0.000198225620182,-0.000193662307293,3.02185167242e-05,1793249582406503168
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,661.837262552,636,877.162737448,783.837262552,813,650,629,654,0.410813473535,-0.00537015195653,0.0698857842658,0.999999963522,0.000206208774615,-0.000171549538437,3.17031553084e-05,1793249582423170048
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,717,679,661.31911402,636.31911402,878,783,813,650,629,653.68088598,0.409420519419,-0.00535868943252,0.069815249021,0.999999931586,0.000218214326588,-0.000297530261021,2.6178596689e-05,1793249582456503552
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,661.894517958,636.894517958,878,783,813,650,629,653.105482042,0.408769213464,-0.00535493043171,0.0697733287818,0.999999907913,0.000220058413266,-0.00036771669785,2.30796533754e-05,1793249582473169920
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.199631922,718,679.199631922,661,636,877.199631922,783,813.800368078,650.800368078,629,653.800368078,0.406128118687,-0.00539811693138,0.069811126853,0.99999993583,0.00017179295514,-0.000313403576205,2.46189824418e-05,1793249582556503808
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.377013868,718,679,661.377013868,636.377013868,877.377013868,783,813.622986132,651,629,654,0.405669001997,-0.00539209539828,0.0698096411103,0.999999932549,0.000182353003329,-0.000317871189488,2.46504268047e-05,1793249582573170432
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636,877,783,813,651,629,653.872397778,0.40450759866,-0.00538557520559,0.0698351172051,0.999999945513,0.000189324583586,-0.000269213405132,2.55912041389e-05,1793249582623169280
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636,877,783,813,651,629,653.293418826,0.4041600346,-0.00537902853645,0.069846087049,0.999999947687,0.00020280125841,-0.000250787453391,2.45718435359e-05,1793249582639836160
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,717.715776695,678.715776695,661,636,877,783,812.715776695,651,629,653,0.403823134391,-0.00537549695584,0.069848428876,0.999999948587,0.000206585995453,-0.000244105772502,2.36605271913e-05,1793249582656503040
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,717.139508209,678.139508209,661,636,877,783,812.139508209,651,629,653,0.403497191526,-0.00537506343992,0.0698419052409,0.999999948533,0.000200412070094,-0.000249491568117,2.28602285727e-05,1793249582673169664
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.401230778,745,717.401230778,679,661,636,878,783,813,651,629,653.401230778,0.402663105938,-0.00536589565014,0.0698145168506,0.999999932621,0.000206850782033,-0.000302409447664,2.27927735305e-05,1793249582723169280
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,877.814007542,783,813,651,629,653,0.402431246928,-0.00536365965783,0.0698086422204,0.999999929423,0.000209347371088,-0.000311095269552,2.33794437515e-05,1793249582739835648
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.342344212,745,717.342344212,679,661,636,877,783,813,651,629,653.342344212,0.4020343867,-0.00536335832327,0.069803043007,0.999999925667,0.000212041046773,-0.000320914208344,2.68003191413e-05,1793249582773168896
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.917439425,745,717.917439425,679,661,636,877,783,813,651,629,653.917439425,0.401862979078,-0.00536131098084,0.0698035762477,0.999999924714,0.000218534960256,-0.000319354774094,2.87714418041e-05,1793249582789835520
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,717,678,661,636,877.823369444,783,813,651,629,653.823369444,0.401296126521,-0.00536110675724,0.0698010526638,0.999999925103,0.000217162412405,-0.000320281235427,7.36612280518e-06,1793249582873168896
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52c1bde1d0d63376bd0af38a7724a14d6c5c6650
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47703ab1c28efc787c6db0749ce2c3d508eeff06
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c1471fc314cb1b5736f8f6a61b7d3444c2214e49725ba64ea3f0b7546059cfa
+size 25543445
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28c19cca33e9fc58e7c14880a33c8f69dc593b19
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
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+5,0.083333333,BASELINE,765.007749287,745.992250713,717,678,661,636.007749287,877,783,813,651,629,653.992250713,0.401038281806,-0.00550362739815,0.0798650634978,0.999999981702,0.000116545476155,-0.000143874372636,4.81063831395e-05,1793249584745102592
+6,0.100000000,BASELINE,765.566878425,745.433121575,717,678.566878425,661,636,877,783,813,651,629,654,0.401041483081,-0.00550368484151,0.07986721236,0.999999982265,0.000116350582267,-0.000140055105922,4.81267691719e-05,1793249584761769472
+7,0.116666667,BASELINE,766,745.144412302,717,678.855587698,661,636.144412302,877,782.855587698,813,651,628.855587698,653.855587698,0.40104332565,-0.005503341031,0.0798685274401,0.999999982491,0.000117017939103,-0.000137883857906,4.80991596783e-05,1793249584778435840
+8,0.133333333,BASELINE,766,745.731017638,717,678.268982362,661,636.731017638,877,782.268982362,813,651,628.268982362,653.268982362,0.401040826942,-0.00550179116509,0.0798671640528,0.999999981675,0.000120319678782,-0.000140984603488,4.79222103734e-05,1793249584795102464
+9,0.150000000,BASELINE,766,745.68638209,717,678,661,637,877,782.31361791,813,651,628.31361791,653.31361791,0.401039797835,-0.0055017026493,0.0798669207542,0.999999981482,0.00012102844994,-0.000141761122021,4.7867417107e-05,1793249584811769344
+10,0.166666667,BASELINE,766,745.107173578,717,678,661,637,877,782.892826422,813,651,628.892826422,653.892826422,0.401040013276,-0.00550285169317,0.0798676260145,0.999999981827,0.000119541338468,-0.000140569344453,4.79160729667e-05,1793249584828436224
+11,0.183333333,BASELINE,766,745,717.470788528,678,661,636.529211472,877,783,813,651,629,653.529211472,0.401040962684,-0.00550183717602,0.0798679581892,0.999999982142,0.00011812196825,-0.000139621314201,4.76308455684e-05,1793249584845102592
+12,0.200000000,BASELINE,765.951900115,745,717.951900115,678.048099885,661,636,877,783,813,650.951900115,629.048099885,653.048099885,0.401041857181,-0.00550061939065,0.0798680991615,0.999999982392,0.00011692395111,-0.000138942334128,4.73365859348e-05,1793249584861769216
+13,0.216666667,BASELINE,765.378604705,745,717.378604705,678.621395295,661,636,877,783,813,650.378604705,629.621395295,653.621395295,0.401040332554,-0.00550254579201,0.0798670773325,0.999999982016,0.000117974920553,-0.000140596804711,4.77714283083e-05,1793249584878436352
+14,0.233333333,BASELINE,765.199776031,745,717,679,661,636,877,783,813,650,629.800223969,653.800223969,0.401039755693,-0.00550377410211,0.0798668250717,0.999999981826,0.000118533535385,-0.00014137400778,4.80766664376e-05,1793249584895102976
+15,0.250000000,BASELINE,765.788046038,745,717,679,661,636,877,783,813,650,629.211953962,653.211953962,0.401041021903,-0.00550364487107,0.0798680693499,0.999999982001,0.000118134694203,-0.000140445235001,4.81298700646e-05,1793249584911769344
+16,0.266666667,BASELINE,765.628067642,745,717,678.628067642,661,636,877,783,813,650.371932358,629,653.371932358,0.401040757687,-0.00550341751347,0.0798678016638,0.99999998192,0.000118086594377,-0.000141074822118,4.81068875433e-05,1793249584928436224
+17,0.283333333,BASELINE,765.046650398,745,717,678.046650398,661,636,877,783,813,650.953349602,629,653.953349602,0.401039631484,-0.00550313488767,0.079866682388,0.999999981691,0.00011823604397,-0.000142582130298,4.80409944024e-05,1793249584945102848
+18,0.300000000,BASELINE,765.529680847,745,717,678.529680847,661,636,877,782.470319153,813,651,629,653.470319153,0.401039616723,-0.00550167035679,0.0798664511352,0.999999981451,0.000120713022154,-0.000142294801059,4.77445017304e-05,1793249584961769216
+19,0.316666667,BASELINE,766,745,717.107606379,679,661,636,877,782,813,651,629,653.107606379,0.401039557512,-0.00550047028617,0.0798664022341,0.999999981311,0.000122425996147,-0.000141897095855,4.748770298e-05,1793249584978435328
+20,0.333333333,BASELINE,766,745,717.694611246,679,661,636,877,782,813,651,629,653.694611246,0.401038868312,-0.00550090775344,0.0798668206073,0.999999981652,0.000119830670746,-0.000141705124512,4.74973657357e-05,1793249584995101952
+21,0.350000000,BASELINE,766,745,717.722185186,679,661,636,877,782.277814814,813,651,629,654,0.40103874632,-0.00550162479633,0.079867042923,0.999999981856,0.000118305415217,-0.000141491532236,4.76594268549e-05,1793249585011769088
+22,0.366666667,BASELINE,766,745,717.143103841,679,661,636,877,782.856896159,813,651,629,654,0.401039239416,-0.00550264501515,0.0798670526313,0.999999981917,0.000117940559599,-0.000141254493915,4.79867510339e-05,1793249585028436736
+23,0.383333333,BASELINE,766,745,717,679,661,636,877,783,813.435106325,651,629,653.564893675,0.401039864039,-0.00550187673445,0.0798672751372,0.999999981871,0.000118906405062,-0.000140814770544,4.78608407007e-05,1793249585045103360
+24,0.400000000,BASELINE,766,745,717,678.98707616,661,636,877,783,813.98707616,651,629,653.01292384,0.40104052308,-0.00550057219212,0.0798675691315,0.99999998179,0.000120265697213,-0.000140325381043,4.75924078998e-05,1793249585061769472
+25,0.416666667,BASELINE,766,745,717,678.413886174,661,636,877,783,813.413886174,651,629,653.586113826,0.401040802577,-0.00550146945513,0.0798679342385,0.999999981818,0.000119746209149,-0.000140567008042,4.75947382097e-05,1793249585078436096
+26,0.433333333,BASELINE,766,745,717,678,660.836401129,636,877,783,813,650.836401129,629,653.836401129,0.401040618015,-0.00550196820666,0.079868083812,0.999999981814,0.000119282766536,-0.000141010317782,4.754557519e-05,1793249585095102464
+27,0.450000000,BASELINE,766,745,717,678,660.247756992,636,877,783,813,650.247756992,629,653.247756992,0.401039227785,-0.00550143158804,0.0798676734093,0.999999981723,0.000118964935165,-0.000141977618319,4.73626276539e-05,1793249585111769088
+28,0.466666667,BASELINE,765.664138363,745,717,678.335861637,660.335861637,636,877,783,813,650.335861637,629,653.335861637,0.401039591792,-0.00550176960245,0.0798678610283,0.999999981778,0.000118898882233,-0.000141611887998,4.74614995855e-05,1793249585128435712
+29,0.483333333,BASELINE,765.084172309,745,717,678.915827691,660.915827691,636,877,783,813,650.915827691,629,653.915827691,0.401041230781,-0.00550274330065,0.0798684832898,0.999999981938,0.000119015822024,-0.000140277310088,4.77651980662e-05,1793249585145102336
+30,0.500000000,BASELINE,765,745,717,678.506636154,661,636,877,783,813,650.506636154,629,654,0.40103980461,-0.00550153619305,0.0798677726918,0.999999981574,0.000120168772113,-0.000141851253939,4.7859796795e-05,1793249585161768960
+31,0.516666667,BASELINE,765.070037001,745,717.070037001,678.070037001,661,636,877.070037001,783,813,650,629,653.929962999,0.401038114885,-0.0055002441848,0.0798669265644,0.999999981195,0.000121161551972,-0.000143664598492,4.78615093848e-05,1793249585178435328
+32,0.533333333,BASELINE,765.643472364,745,717.643472364,678.643472364,661,636,877.643472364,783,813,650,629,653.356527636,0.401038271127,-0.00550100309482,0.0798667327403,0.999999981388,0.000119738889197,-0.000143649507537,4.74507491274e-05,1793249585195101952
+33,0.550000000,BASELINE,766,745,718,679,661,636,877.775411819,782.775411819,813,650.224588181,629,653,0.401037928194,-0.00550196577157,0.0798664589355,0.999999981416,0.000118843690992,-0.000144233428291,4.73301752818e-05,1793249585211768320
+34,0.566666667,BASELINE,766,745,718,679,661,636,877.181671824,782.181671824,813,650.818328176,629,653,0.401036764777,-0.00550326337623,0.0798660536677,0.999999981175,0.000118815477566,-0.000145801934514,4.7686575999e-05,1793249585228434944
+35,0.583333333,BASELINE,766,745,718,678.602833826,661,636,877,782.397166174,813,651,629,653,0.401037548128,-0.00550258396353,0.0798668109125,0.999999981311,0.000119423138534,-0.000144383895156,4.76291000477e-05,1793249585245102336
+36,0.600000000,BASELINE,766,745,718,678.030565742,661,636,877,782.969434258,813,651,629,653,0.401039189766,-0.00550103292706,0.0798680806837,0.999999981608,0.00012031114266,-0.000141649153083,4.73891549249e-05,1793249585261770240
+37,0.616666667,BASELINE,766,745,718,678.548027681,661,636,877,782.451972319,813,651,628.451972319,653,0.401040034537,-0.0055010515738,0.0798679272191,0.999999981649,0.000120047324607,-0.000141548269478,4.74814953144e-05,1793249585278436096
+38,0.633333333,BASELINE,765.870823429,745,717.870823429,679,661,636,877.129176571,782.129176571,813,650.870823429,628.129176571,653.129176571,0.401040408078,-0.00550130289058,0.079867710703,0.999999981609,0.000120104515638,-0.000141720926777,4.76629656434e-05,1793249585295102208
+39,0.650000000,BASELINE,765.28184871,745,717.28184871,679,661,636,877.71815129,782.71815129,813,650.28184871,628.71815129,653.71815129,0.401039264342,-0.00550206712524,0.0798675556058,0.999999981328,0.000121535659808,-0.000142338247295,4.80949526074e-05,1793249585311769600
+40,0.666666667,BASELINE,765,745,717.301945883,678.698054117,661,636,877.698054117,782.698054117,813,650.301945883,629,654,0.401039104596,-0.00550198024466,0.0798673538358,0.999999981294,0.000121534353486,-0.000142604217226,4.80233382504e-05,1793249585328436480
+41,0.683333333,BASELINE,765,745,717.880986654,678.119013346,661,636,877.119013346,782.119013346,813,650.880986654,629,654,0.401039847856,-0.00550111229799,0.0798671092344,0.999999981486,0.000120218491286,-0.000142547753675,4.74895703507e-05,1793249585345102848
+42,0.700000000,BASELINE,765.458709956,745,717.541290044,678.458709956,661,636,877,782.458709956,813,651,629,654,0.401039797646,-0.00550059820257,0.0798674818964,0.999999981493,0.000121161297272,-0.000141725476956,4.74190717382e-05,1793249585361768960
+43,0.716666667,BASELINE,766,745,717,678.964161442,661,636,877,782.964161442,813,651,629,654,0.4010394875,-0.00550030427652,0.0798679580429,0.999999981452,0.000122481255315,-0.000140857176587,4.74747842928e-05,1793249585378435584
+44,0.733333333,BASELINE,766,745,717,678.390839936,661,636,877,782.390839936,813,651,629,654,0.401038357645,-0.00550193937975,0.079867591229,0.999999981462,0.000120693971153,-0.000142269960476,4.7625866734e-05,1793249585395102208
+45,0.750000000,BASELINE,766,745,717.187699095,678,661,636,877,782.187699095,813,650.812300905,629,653.812300905,0.401037700067,-0.00550229696687,0.0798674312483,0.999999981343,0.000120676873017,-0.000143101055179,4.76816335505e-05,1793249585411768832
+46,0.766666667,BASELINE,766,745,717.777412973,678,661,636,877,782.777412973,813,650.222587027,629,653.222587027,0.401038054018,-0.00549991836389,0.0798677142639,0.999999980947,0.000124451167673,-0.000142686285128,4.75332529044e-05,1793249585428435456
+47,0.783333333,BASELINE,766,745,717.639550699,678,661,636,877,783,813,650.360449301,629,653.360449301,0.401038371645,-0.00549978529656,0.0798677230833,0.999999980998,0.000124186945291,-0.000142549129961,4.75509047372e-05,1793249585445102336
+48,0.800000000,BASELINE,766,745,717.060562878,678,661,636,877,783,813,650.939437122,629,653.939437122,0.401038667249,-0.00550101368548,0.0798675656591,0.999999981321,0.000121474191578,-0.000142580291204,4.76692211768e-05,1793249585461769728
+49,0.816666667,BASELINE,766,745.515554439,717,678.515554439,661,636,877,783,813,651,629,653.484445561,0.401038321455,-0.00550208027199,0.0798669054021,0.999999981472,0.000119448712163,-0.000143370920029,4.72508605648e-05,1793249585478436352
+50,0.833333333,BASELINE,766,745.909237887,717,679,661.090762113,636,877,783,813,651,629,653.090762113,0.401038107618,-0.0055029817244,0.0798665437772,0.999999981611,0.000117843862039,-0.000143840456653,4.69104488017e-05,1793249585495103232
+51,0.850000000,BASELINE,766,745.337076107,717,679,661.662923893,636,877,783,813,651,629,653.662923893,0.40103899109,-0.0055031075658,0.0798680776503,0.999999981812,0.000118044171631,-0.00014213635233,4.73160083932e-05,1793249585511769856
+52,0.866666667,BASELINE,766,745,717.244971135,678.755028865,661.755028865,636,877,783,813.244971135,651,629,654,0.401039639545,-0.00550243900381,0.0798688051933,0.99999998182,0.000119122624007,-0.000141125043756,4.7464083438e-05,1793249585528436224
+53,0.883333333,BASELINE,766,745,717.841192545,678.158807455,661.158807455,636,877,783,813.841192545,651,629,654,0.401039951022,-0.00550063139163,0.079868376585,0.999999981552,0.000121460195719,-0.000141107095983,4.7242965907e-05,1793249585545102592
+54,0.900000000,BASELINE,766,745.422223004,718,678.422223004,661,636.422223004,877,783,813.577776996,651,629,654,0.401041389554,-0.00550097209668,0.0798691392723,0.999999981564,0.000122916929116,-0.000139672688478,4.74780654809e-05,1793249585561769216
+55,0.916666667,BASELINE,766,745.997738225,718,678.997738225,661,636.997738225,877,783,813.002261775,651,629,654,0.401043237275,-0.00550209276947,0.0798703344711,0.999999981675,0.000124053865443,-0.000137724021325,4.78787991694e-05,1793249585578436096
+56,0.933333333,BASELINE,766,745.427447245,717.427447245,678.427447245,661,636.427447245,877.572552755,783,813,651,629,654,0.401042144793,-0.00550139360807,0.0798695109055,0.999999981569,0.000123673227525,-0.00013884530591,4.78400125894e-05,1793249585595102976
+57,0.950000000,BASELINE,766,745,717.151367513,678,661.151367513,636,877.848632487,783,813,651,629,654,0.401040738501,-0.00550116695151,0.0798686116557,0.999999981422,0.000123121673631,-0.00014039890756,4.77956248546e-05,1793249585611769600
+58,0.966666667,BASELINE,766,745,717.741793291,678,661.741793291,636,877.258206709,783,813,651,629,654,0.401038455615,-0.00550233167468,0.0798675159791,0.999999981158,0.000122091726741,-0.000143171358936,4.77400203912e-05,1793249585628436224
+59,0.983333333,BASELINE,766,745.326038148,718,678,661.673961852,636,877,783,813,651,629,654,0.401037978791,-0.00550260785263,0.0798673511962,0.99999998124,0.000120901843291,-0.000143598039451,4.77681110902e-05,1793249585645102336
+60,1.000000000,BASELINE,766,745.905479142,718,678,661.094520858,636,877,783,813,651,629,654,0.401038905671,-0.00550219343703,0.0798679099209,0.999999981593,0.000119587654098,-0.000142201544007,4.78612512031e-05,1793249585661768704
+61,1.016666667,BASELINE,766,745.518561451,718,678.481438549,661,636,877,783,813,650.518561451,629,654,0.40103972799,-0.00550170205596,0.079868459261,0.999999981496,0.000121684400829,-0.000141134558527,4.77637859192e-05,1793249585678435328
+62,1.033333333,BASELINE,765.942195233,745,718,679,661,636,877,783,813,650.057804767,629,654,0.401040266827,-0.0055014695136,0.079868835146,0.999999981354,0.000123691348999,-0.000140438866841,4.76320619441e-05,1793249585695101952
+63,1.050000000,BASELINE,765.355904901,745,718,679,661,636,877,783,813,650.644095099,629,654,0.401038400228,-0.00550374058681,0.0798676419273,0.999999981654,0.000118798750173,-0.00014255055057,4.75267983983e-05,1793249585711768576
+64,1.066666667,BASELINE,765.227177193,745,718,679,661,636,876.772822807,783,813,651,629,654,0.401037504619,-0.00550420655213,0.0798669091589,0.999999981649,0.000117404049684,-0.000143734656706,4.75227626121e-05,1793249585728434944
+65,1.083333333,BASELINE,765.805303089,745,718,679,661,636,876.194696911,783,813,651,629,654,0.40103810902,-0.00550188394395,0.079866887705,0.999999981199,0.000121412985599,-0.000143485818902,4.76751058716e-05,1793249585745101824
+66,1.100000000,BASELINE,765.615513418,745,717.615513418,679,661,636,876.384486582,782.615513418,813,651,629,653.615513418,0.401038267321,-0.00550063430132,0.079867253844,0.999999981045,0.000123173827201,-0.000143052754956,4.76974182926e-05,1793249585761768448
+67,1.116666667,BASELINE,765.035792917,745,717.035792917,679,661,636,876.964207083,782.035792917,813,651,629,653.035792917,0.401038199101,-0.00549992948732,0.0798678167943,0.999999981045,0.000123793135319,-0.000142526144993,4.76537038794e-05,1793249585778435072
+68,1.133333333,BASELINE,765.539203796,745,717.539203796,678.460796204,661,636,877,782.539203796,813,651,629,653.539203796,0.40103781507,-0.00550019961206,0.0798676377922,0.999999981254,0.000122148694033,-0.000142592613562,4.73125101175e-05,1793249585795101696
+69,1.150000000,BASELINE,766,745,718,678.114192767,661,636,877,783,813,651,629,654,0.401037708603,-0.00550069323152,0.0798674585413,0.999999981439,0.000120671261312,-0.000142640294181,4.70538512422e-05,1793249585811768320
+70,1.166666667,BASELINE,766,745,718,678.690407953,661,636,877,783,813,651,629,654,0.401038809238,-0.00550183153557,0.079867475824,0.999999981482,0.000120472254062,-0.000142454055145,4.72083297206e-05,1793249585828434944
+71,1.183333333,BASELINE,766,745.274331399,718,679,661,636,877,783,813.274331399,651,629,654,0.401038992986,-0.00550209671491,0.0798673408471,0.999999981475,0.000120419022986,-0.000142528648674,4.7276522113e-05,1793249585845101824
+72,1.200000000,BASELINE,766,745.867205442,718,679,661,636,877,783,813.867205442,651,629,654,0.401038112081,-0.0055013480569,0.0798670290722,0.999999981409,0.000120535061344,-0.000142906110515,4.72445225748e-05,1793249585861768448
+73,1.216666667,BASELINE,765.554508545,745.554508545,718,678.554508545,661.445491455,636,877,783,813.554508545,651,629,654,0.40103933299,-0.00550106275614,0.0798677790972,0.999999981419,0.00012163493639,-0.000141824490154,4.74554918397e-05,1793249585878435328
+74,1.233333333,BASELINE,765,745,718,678.019615554,661.980384446,636,877.019615554,783,813,651,629,654,0.401041060315,-0.00550091110836,0.0798687803378,0.999999981437,0.000123029788498,-0.000140397697047,4.7722942167e-05,1793249585895101952
+75,1.250000000,BASELINE,765,745,718,678.595120441,661.404879559,636,877.595120441,783,813,651,629,654,0.401039946954,-0.0055007569763,0.0798682156757,0.999999981129,0.000124736612316,-0.00014112377194,4.76036199398e-05,1793249585911768576
+76,1.266666667,BASELINE,765.174968945,745,718,678.825031055,661,636,877.825031055,783,813,651,629,654,0.40103939444,-0.00550045537588,0.0798681367727,0.999999980972,0.000125700032558,-0.00014140008607,4.75547109193e-05,1793249585928435200
+77,1.283333333,BASELINE,765.76512445,745,718,678.23487555,661,636,877.23487555,783,813,651,629,654,0.40104017277,-0.00549980384545,0.0798692105352,0.999999981178,0.000124899418673,-0.000140609155772,4.76728865106e-05,1793249585945101824
+78,1.300000000,BASELINE,766,745,717.653100716,678.346899284,661,636,877,783,813,651,629,654,0.401039482185,-0.00550070148608,0.0798688213745,0.999999981359,0.000122496720475,-0.000141473477731,4.75644157847e-05,1793249585961768704
+79,1.316666667,BASELINE,766,745,717.076866365,678.923133635,661,636,877,783,813,651,629,654,0.401037820501,-0.0055026232835,0.0798674650754,0.99999998151,0.000119034884595,-0.00014343208675,4.73061092059e-05,1793249585978435328
+80,1.333333333,BASELINE,766,745,717,679,661,636,877,783,813,651,629,654,0.401038529721,-0.00550162738977,0.0798681112202,0.999999981557,0.000120079572156,-0.000142176170062,4.74702847278e-05,1793249585995101696
+81,1.350000000,BASELINE,766,745,717.07723736,678.92276264,661,636,877,783,813,651,629,653.92276264,0.401039287096,-0.00550035839756,0.079868822344,0.999999981515,0.00012174310212,-0.000140981205032,4.76736315812e-05,1793249586011768576
+82,1.366666667,BASELINE,766,745,717.666424911,678.333575089,661,636,877,783,813,651,629,653.333575089,0.401037944681,-0.0055002560735,0.0798679211285,0.999999981017,0.000122910607418,-0.000143469935236,4.77055699273e-05,1793249586028435200
+83,1.383333333,BASELINE,766,745.251221774,718,678,661,636,877,783,813,651,629,653.251221774,0.401037169337,-0.00549945179652,0.0798672909807,0.999999980662,0.000124194012945,-0.000144882056368,4.75469863201e-05,1793249586045101824
+84,1.400000000,BASELINE,766,745.830288853,718,678,661,636,877,783,813,651,629,653.830288853,0.401037134023,-0.00549773146849,0.079867014577,0.999999980501,0.000125628668845,-0.000144889199182,4.71397708921e-05,1793249586061768448
+85,1.416666667,BASELINE,766,745.591930251,717.591930251,678.408069749,661,636,877,783,813,651,629,654,0.401037499373,-0.00549813863566,0.0798675295818,0.999999980566,0.000125979886132,-0.00014415307856,4.70900956221e-05,1793249586078435072
+86,1.433333333,BASELINE,766,745.014682617,717.014682617,678.985317383,661,636,877,783,813,651,629,654,0.401038030832,-0.00549942782161,0.0798683726894,0.999999980723,0.000125881930482,-0.000143108815185,4.71886496626e-05,1793249586095101696
+87,1.450000000,BASELINE,766,745.561377846,717.561377846,679,661,636,877,783,813.561377846,651,629,654,0.401038227796,-0.00550075243541,0.079868187777,0.999999981179,0.000122878001559,-0.000142471967045,4.73748221963e-05,1793249586111768320
+88,1.466666667,BASELINE,766,745.860048925,717.860048925,679,661,636.139951075,877,783,813.860048925,651,629,653.860048925,0.40103877769,-0.00550176555158,0.0798682274422,0.99999998155,0.00012064051431,-0.000141715974737,4.75595815758e-05,1793249586128434944
+89,1.483333333,BASELINE,766,745.273355746,717.273355746,679,661,636.726644254,877,783,813.273355746,651,629,653.273355746,0.40104048205,-0.00550178137499,0.0798690696357,0.999999981653,0.000121091713703,-0.000140545715852,4.77325302374e-05,1793249586145101824
+90,1.500000000,BASELINE,766,745,717.310948887,679,661,636.689051113,877,783,813,651,629,653.310948887,0.401040571965,-0.00550145352779,0.0798691903403,0.99999998165,0.000121090494847,-0.000140570095256,4.77149464673e-05,1793249586161768192
+91,1.516666667,BASELINE,766,745,717.893169722,679,661,636.106830278,877,783,813,651,629,653.893169722,0.401039253438,-0.00550082586222,0.0798686816176,0.999999981556,0.000120694586088,-0.000141636677691,4.75311421101e-05,1793249586178434816
+92,1.533333333,BASELINE,766,745,718,679,661,636,877,783,813,651,629,654,0.401038515752,-0.00550049521592,0.0798685205722,0.999999981349,0.00012140678569,-0.000142518673786,4.74427042825e-05,1793249586195101952
+93,1.550000000,BASELINE,766.041564021,745,718,679,661,636,877,783,813,651,629,653.958435979,0.401038060265,-0.00550032593832,0.0798684791045,0.999999981165,0.000122187565863,-0.000143165682655,4.73703209373e-05,1793249586211768576
+94,1.566666667,BASELINE,766.6179396,745,718,679,661,636,877,783,813,651,629,653.3820604,0.401039556357,-0.00550137418157,0.0798689709465,0.999999981621,0.000120646659752,-0.000141322804958,4.72287587424e-05,1793249586228435200
+95,1.583333333,BASELINE,766.601369476,745,718,679,661.199315262,636,877,783,813,651,629,653.199315262,0.401040108744,-0.00550217184131,0.0798690583188,0.999999981889,0.000119414168663,-0.000140469907682,4.72184960529e-05,1793249586245102080
+96,1.600000000,BASELINE,765.418955719,745,718,679,661.79052214,636,877,783,813,651,629,653.79052214,0.401038805625,-0.00550247680652,0.0798683504268,0.999999981798,0.000118788079744,-0.000141563499397,4.74663930751e-05,1793249586261769728
+97,1.616666667,BASELINE,765.373647911,745.373647911,718,679,661.626352089,636,877,782.626352089,813.373647911,651,629.373647911,654,0.401037100189,-0.0055019031913,0.0798672780783,0.999999981362,0.000119991067738,-0.000143587153672,4.7538534966e-05,1793249586278436352
+98,1.633333333,BASELINE,765.952339053,745.952339053,718,679,661.047660947,636,877,782.047660947,813.952339053,651,629.952339053,654,0.401035173976,-0.00550084744579,0.0798660057305,0.999999980729,0.00012219778101,-0.000146121189517,4.75142293601e-05,1793249586295102208
+99,1.650000000,BASELINE,765.472992343,745.472992343,718,679,661,636,877,782.527007657,813.472992343,651,628.945984686,654,0.401035836756,-0.00550044821216,0.0798669650615,0.999999980965,0.000121854971956,-0.000144912202205,4.71467189024e-05,1793249586311768832
+100,1.666666667,BASELINE,765.103522123,745,718,679,661,636,877.103522123,783,813,651,628.103522123,654,0.401036597305,-0.00550033970257,0.0798678327239,0.999999981186,0.000121438344447,-0.000143828542981,4.68513054762e-05,1793249586328435200
+101,1.683333333,BASELINE,765.690339491,745,718,679,661,636,877.690339491,783,813,651,628.690339491,654,0.401036729485,-0.00550131336031,0.0798673373365,0.999999980985,0.000121745365356,-0.000144898339077,4.70362843382e-05,1793249586345102080
+102,1.700000000,BASELINE,766.273813028,745,717.726186972,679,661.273813028,636.273813028,877.452373943,783,813,651,629,654,0.401037070856,-0.0055018249713,0.0798673534407,0.999999980983,0.000121645681457,-0.000144919432229,4.72821354575e-05,1793249586361768704
+103,1.716666667,BASELINE,766.853550548,745,717.146449452,679,661.853550548,636.853550548,876.292898903,783,813,651,629,654,0.401037645952,-0.00550182034885,0.0798679410218,0.999999981201,0.000121091596361,-0.000143768835572,4.75959976248e-05,1793249586378435072
+104,1.733333333,BASELINE,766.568467583,745,717,679,661.568467583,637,876.431532417,783,813.431532417,651,629,654,0.401039005038,-0.00550115032438,0.0798686092412,0.999999981335,0.000121563921148,-0.000142487678707,4.74277020524e-05,1793249586395101952
+105,1.750000000,BASELINE,766,745,717.009027955,679,661,636.990972045,877.009027955,783,813.990972045,651,629,654,0.401040594093,-0.00550028639993,0.0798692945656,0.999999981439,0.000122362250012,-0.000141176845198,4.710872045e-05,1793249586411768576
+106,1.766666667,BASELINE,766,745,717.593343494,679,661,636.406656506,877.593343494,783,813.406656506,651,629,654,0.401039951849,-0.00550139807875,0.0798693330756,0.999999981537,0.000121827623507,-0.000140786950238,4.75723314087e-05,1793249586428435200
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,718,679,661,636,877,783,813,651,630,654,0.401036253696,-0.00550059738634,0.0798664967245,0.999999980624,0.000124609228608,-0.000144797665652,4.75197318358e-05,1793249586468807168
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.427877324,718,679,661,636,877,783,813.572122676,651,629.427877324,653.427877324,0.401036277211,-0.00550023114259,0.0798670047253,0.999999980779,0.00012324004535,-0.000144858763927,4.76511615044e-05,1793249586485474304
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,717.864481373,679,661,636,877,782.864481373,813.864481373,651,629,653.135518627,0.40103668399,-0.00550010343545,0.0798674908971,0.999999980909,0.000122406305041,-0.000144670366967,4.76355218764e-05,1793249586502141440
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,717.326971517,679,661,636,877,782.326971517,813.326971517,651,629,653.673028483,0.401038227649,-0.00550068330343,0.079867912317,0.999999980972,0.000123160858015,-0.00014374188802,4.71836281016e-05,1793249586518808576
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.756880049,745,717,678.756880049,661,636,877.243119951,782.243119951,813,651,629,654,0.401038480406,-0.00550115502481,0.0798680037374,0.999999981099,0.000122679338294,-0.000143344642064,4.69380090544e-05,1793249586535475712
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.136188527,745,717,678.136188527,661,636,877.863811473,782.863811473,813,651,629,654,0.401036728361,-0.00550145879168,0.07986758266,0.999999981326,0.000120278165664,-0.000143772414735,4.70127400216e-05,1793249586552142336
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.464783508,745,717,678,661,636,877.535216492,783,813,650.535216492,629,654,0.401037080236,-0.00550091920763,0.0798677958689,0.999999981247,0.000121668239882,-0.000143056660749,4.72946587045e-05,1793249586568808448
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,717.058280203,678,661,636.058280203,877.058280203,783,813,650.058280203,629,654,0.40103791522,-0.00550023642943,0.0798681136085,0.999999981072,0.000123806146638,-0.000142356195576,4.75706009341e-05,1793249586585475072
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,717.63460022,678,661,636.63460022,877.63460022,783,813,650.63460022,629,654,0.401037787719,-0.00550038797541,0.0798677757106,0.999999980842,0.000123118793127,-0.0001446487752,4.72757532292e-05,1793249586602141440
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,718,678.210992501,661,636.789007499,877.789007499,783,813.210992501,651,629,654,0.40103880283,-0.00550045995184,0.0798682248014,0.999999980554,0.000122607977036,-0.000147058087504,4.72495973453e-05,1793249586618808064
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,718,678.787509914,661,636.212490086,877.212490086,783,813.787509914,651,629,654,0.401041797411,-0.0055003940814,0.0798700372774,0.999999980171,0.000122402995699,-0.000149669628098,4.76889251174e-05,1793249586635474944
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.636286345,745.363713655,718,678.636286345,661,636.363713655,877,783,813.636286345,651,629,653.636286345,0.401054265357,-0.00550100046264,0.0798750265487,0.999999980165,0.000122177286496,-0.000149818427131,4.79352746926e-05,1793249586652141824
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.060265646,745.939734354,718,678.060265646,661,636.939734354,877,783,813.060265646,651,629,653.060265646,0.401072263099,-0.00550199925083,0.0798818701802,0.99999998038,0.000121939477996,-0.000148529674172,4.80689790187e-05,1793249586668808448
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.532679024,745.467320976,718,678.532679024,661,637,877,783,813,651,629,653.532679024,0.401115742463,-0.00550242254369,0.0798928049821,0.999999982256,0.000121755760003,-0.00013561887739,4.7654338001e-05,1793249586685475072
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,717.877137762,678.877137762,661,637,877,783,813,651,629,654,0.401166595721,-0.00550289209075,0.0799035698481,0.999999984045,0.000121634884211,-0.000122092836507,4.69820144203e-05,1793249586702141440
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,717.304310321,678.304310321,661,637,877,783,813,651,629,654,0.401233550113,-0.0055037773169,0.07991196156,0.99999998536,0.000121721011214,-0.000111287131709,4.56006266011e-05,1793249586718808064
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,717.270385038,678,661,636.729614962,877,783,813.270385038,651,629,654,0.401311615399,-0.00550462999965,0.0799199492705,0.999999986593,0.000121447755114,-0.00010069636904,4.38624135215e-05,1793249586735474432
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,717.847197276,678,661,636.152802724,877,783,813.847197276,651,629,654,0.40140227265,-0.00550544580093,0.0799274791257,0.999999987756,0.000120767210357,-9.03492008059e-05,4.17198106766e-05,1793249586752140800
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717.566331118,678.433668882,661,636.433668882,877,783,814,651,629,654,0.40150669683,-0.0055070423609,0.0799331577448,0.999999989052,0.000117045979214,-8.17711973772e-05,3.88655418192e-05,1793249586768807680
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.976893326,745,717,679,661,636.976893326,877,783,813.976893326,651,629,653.976893326,0.401617338031,-0.00550889570175,0.0799382663207,0.999999990327,0.000112396823115,-7.37372830718e-05,3.57307767557e-05,1793249586785474560
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.399798118,745,717,679,661,636.399798118,877,783,813.399798118,651,629,653.399798118,0.401758086347,-0.0055101595976,0.0799457028354,0.999999991227,0.000111772260798,-6.34622805845e-05,3.20199070992e-05,1793249586802141440
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.176929136,745,717.176929136,679,661,636,877,783,813,651,629,653.176929136,0.401907994819,-0.00551161940356,0.0799521510244,0.999999992018,0.000110525125216,-5.45610023306e-05,2.7789769931e-05,1793249586818808064
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.752826591,745,717.752826591,679,661,636,877,783,813,651,629,653.752826591,0.402078559066,-0.00551352097898,0.0799563705768,0.999999992742,0.000107874111245,-4.87574201837e-05,2.23887052331e-05,1793249586835474688
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.665840569,745,718,679,661,636,877,783,813,651,629,654,0.402261125659,-0.0055146731698,0.0799597877458,0.999999993655,0.000102893954408,-4.28267714358e-05,1.63910148889e-05,1793249586852141312
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.080420706,745,718,679,661,636,877,783,813,651,629,654,0.402452717049,-0.00551526188517,0.0799626015887,0.99999999465,9.61624732518e-05,-3.6800578433e-05,9.94471051805e-06,1793249586868807936
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.502025036,745.502025036,717.497974964,679,661,636,877,783,813,651,629.502025036,654,0.402662274446,-0.00551803171788,0.0799561101382,0.999999994994,8.47531163937e-05,-5.3128698931e-05,2.63891649354e-06,1793249586885474560
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.916583312,717.083416688,679,661,636,877,783,813,651,629.916583312,653.916583312,0.402881177199,-0.00552071900299,0.0799486029359,0.999999994862,7.1437079284e-05,-7.17432970935e-05,-5.06207520472e-06,1793249586902140928
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.338632678,717.661367322,679,661,636,877,783,813,651,629.338632678,653.338632678,0.403138521964,-0.00552085770366,0.0799438590449,0.999999995157,5.12337334692e-05,-8.28084110622e-05,-1.42945417885e-05,1793249586918807808
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.237824383,877,783.237824383,813,651,629,653.237824383,0.403421141941,-0.00552172050801,0.0799417699822,0.999999995448,2.65970835649e-05,-8.89380071789e-05,-2.20392548586e-05,1793249586935474688
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.812168017,877,783.812168017,813,651,629,653.812168017,0.403739526085,-0.00552360791221,0.0799434374768,0.999999995728,-4.3126484777e-06,-8.80838915451e-05,-2.767881022e-05,1793249586952141824
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.60439727,877,783.60439727,813,651,629,654,0.404081239577,-0.0055243593607,0.0799489671508,0.999999996457,1.75703441461e-06,-7.97399414321e-05,-2.69137767024e-05,1793249586968808960
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.016544607,877,783.016544607,813,651,629,654,0.404434290356,-0.00552455877197,0.079956373717,0.999999997106,2.57974991095e-05,-6.7756177802e-05,-2.30363232051e-05,1793249586985475584
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,717.434338327,679,661,636,877.565661673,783,813.565661673,651,629,654,0.404838987254,-0.00552610559387,0.0799575337258,0.999999997907,8.04992054524e-06,-5.83076716537e-05,-2.6853796193e-05,1793249587002141952
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,717,678.854038901,661,636.145961099,878,783,813.854038901,650.854038901,629,653.854038901,0.405251856692,-0.00552762652618,0.07995639427,0.999999998018,-9.65917726542e-06,-5.36829058583e-05,-3.14343572604e-05,1793249587018808064
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,717,678.278866028,661,636.721133972,878,783,813.278866028,650.278866028,629,653.278866028,0.405684360119,-0.00552895658605,0.0799490249697,0.999999997026,-2.36965689439e-05,-6.30268902167e-05,-3.76035696704e-05,1793249587035474432
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.702982596,745.297017404,717,678.594034809,661.297017404,636.702982596,877.702982596,783,813,650.297017404,629,653,0.406143852379,-0.00553175691591,0.0799412092292,0.999999996187,-2.03404991596e-05,-7.6480514019e-05,-3.69102240131e-05,1793249587052140800
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.126430361,745.873569639,717,679.747139278,661.873569639,636.126430361,877.126430361,783,813,650.873569639,629,653,0.406628744949,-0.00553594097518,0.0799329733251,0.999999995158,-6.1475626803e-07,-9.38018831576e-05,-2.97582541553e-05,1793249587068807424
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.4601449,745.5398551,717,679.5398551,662,636.4601449,877.4601449,783,813.4601449,651,629,653.4601449,0.407126545833,-0.00554621535631,0.0799288325484,0.999999994199,-1.62601492569e-05,-0.000101995286387,-3.05852554582e-05,1793249587085474048
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,717.048638389,679,662,637,877.951361611,783,813.951361611,650.951361611,629,654,0.407630984477,-0.00555773647621,0.0799252455313,0.999999992692,-4.01003498299e-05,-0.000109049043716,-3.34085725981e-05,1793249587102140416
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,717.62735599,679,662,637,877.37264401,783,813.37264401,650.37264401,629,654,0.408168250119,-0.00556420171302,0.0799151578424,0.999999989763,-4.49747087744e-05,-0.00013162448122,-3.35637542311e-05,1793249587118807040
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.795708907,745.204291093,717.795708907,679,661.795708907,637,877.204291093,783,813,650,629,653.795708907,0.408737552741,-0.00556680991062,0.0799131415014,0.999999988778,-4.58451236687e-05,-0.000138512016289,-3.39993993584e-05,1793249587135473920
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.221997136,745.778002864,717.221997136,679,661.221997136,637,877.778002864,783,813,650,629,653.221997136,0.409364787971,-0.00556244340322,0.0799257206226,0.999999991762,-3.94751848432e-05,-0.000117031032157,-3.49422081285e-05,1793249587152140800
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.360165099,745.639834901,717.360165099,679.360165099,661.360165099,637,878.360165099,783,813.360165099,650.360165099,629,653.360165099,0.410035924727,-0.0055601816099,0.0799529566538,0.99999999601,-4.01626885299e-05,-7.15510956991e-05,-3.53113737445e-05,1793249587168807936
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.94766112,745.05233888,717.94766112,679.94766112,661.94766112,637,878.94766112,783,813.94766112,650.94766112,629,653.94766112,0.410734771456,-0.00555924828137,0.079989443911,0.99999999829,-4.5304746458e-05,-1.09233734449e-05,-3.53184640892e-05,1793249587185475072
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,717.472142308,679.472142308,662,637,879,783,813.472142308,650.472142308,629,653.472142308,0.411409448817,-0.00555683641996,0.0799882530134,0.999999998521,-3.73447744866e-05,-1.71167575339e-05,-3.56418896424e-05,1793249587202141696
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,717,679.107004795,662,637,879,783,813,650.107004795,629,653.107004795,0.412082738293,-0.00555382327037,0.0799770238141,0.999999998141,-3.04542950872e-05,-3.80233806382e-05,-3.66761970268e-05,1793249587218808320
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,717,679.684675683,662,637,879,783,813,650.684675683,629,653.684675683,0.412760320126,-0.00554880136355,0.0799378491135,0.999999994094,-3.39043007057e-05,-9.49016655704e-05,-4.07012726359e-05,1793249587235475200
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.260744051,717,680,662,637,879.260744051,783,813.260744051,650.739255949,629,654,0.413475916004,-0.00554540625304,0.0799142648901,0.999999990662,-3.74171381865e-05,-0.000123717735633,-4.43807360838e-05,1793249587252141824
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.834886365,717,680,662,637,879.834886365,783,813.834886365,650.165113635,629,654,0.414237202507,-0.00554396645069,0.0799094194533,0.999999990967,-4.10054962486e-05,-0.000118804762562,-4.76447956921e-05,1793249587268808448
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.58147668,745.58147668,717,680,662,637,880,783,814,650.41852332,629,654,0.415032525859,-0.00554563278126,0.0799287892367,0.999999994334,-4.38361786675e-05,-8.47529606447e-05,-4.71996255451e-05,1793249587285475072
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.005933625,745,717.005933625,680.005933625,662.005933625,637,880,783,814,650.994066375,629,654,0.415841321236,-0.00554849358188,0.0799575215058,0.999999997113,-4.6311563202e-05,-3.97228909089e-05,-4.52892348846e-05,1793249587302141696
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.587586299,745,717.587586299,680.587586299,662.587586299,637,880,783,814,650.412413701,629,654,0.416624145928,-0.00554559195105,0.0799462273112,0.999999995446,-4.39894880382e-05,-7.07881887222e-05,-4.64927698406e-05,1793249587318808064
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.167515372,718,681,662.832484628,637.167515372,880.167515372,783,814,650.167515372,629,654,0.417432594907,-0.0055441859111,0.0799434875129,0.999999994793,-4.4207258644e-05,-7.86148288301e-05,-4.77527082786e-05,1793249587335474688
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.743244213,718,681,662.256755787,637.743244213,880.743244213,783,814,650.743244213,629,654,0.418303486935,-0.00554642443445,0.0799615936819,0.999999997067,-5.06143077166e-05,-2.98118395258e-05,-4.91500947143e-05,1793249587352141568
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,718,681,662.315650651,637.684349349,881,783,814,650.684349349,628.684349349,654,0.419170532364,-0.00554934628541,0.0799750700671,0.999999997122,-5.7143035691e-05,2.15499237616e-06,-4.98625408238e-05,1793249587368808192
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,718,681,662.885382709,637.114617291,881,783,814,650.114617291,628.114617291,654,0.42003448145,-0.00555281817741,0.0799848197303,0.999999996504,-6.37697082342e-05,2.05696415365e-05,-5.00236476446e-05,1793249587385474816
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,717.523136535,681,663,637,881,783,814,650.476863465,628.476863465,654,0.420898962123,-0.00555234472734,0.0799689747174,0.999999996768,-6.18673981588e-05,-6.24087516239e-06,-5.09615213774e-05,1793249587402141184
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,717,681,663,637,881.142071606,783,814,651,629.071035803,654,0.421769095829,-0.00555120517558,0.0799526866027,0.99999999633,-5.86739791093e-05,-3.49244087294e-05,-5.17385455936e-05,1793249587418807808
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,717,681,663,637,882.29093437,783,814,651,629.645467185,654,0.422678340607,-0.0055523864802,0.0799789368648,0.999999996849,-6.15526507574e-05,3.83156196223e-06,-4.99894252368e-05,1793249587435474432
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.778911328,745.778911328,717,681,663.221088672,637.221088672,883,783,814,650.778911328,629.778911328,654,0.423574074226,-0.00555262606378,0.0799949164871,0.999999996404,-6.48720307118e-05,2.34108066691e-05,-4.93479660947e-05,1793249587452140800
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.201370995,745.201370995,717,681,663.798629005,637.798629005,883,783,814,650.201370995,629.201370995,654,0.424448024534,-0.00555134735162,0.0799943372073,0.999999996279,-6.89019460871e-05,1.20722553738e-05,-5.04923408212e-05,1793249587468807424
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.382543931,745.382543931,717,681,663.617456069,637.617456069,883,783.382543931,814,650,629,654,0.42530900786,-0.00554953669029,0.0799617050886,0.999999995163,-6.77017312087e-05,-4.89697922763e-05,-5.18908741003e-05,1793249587485474304
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.969871269,745.969871269,717,681,663.030128731,637.030128731,883,783.969871269,814,650,629,654,0.42616304965,-0.00554744126601,0.079911914445,0.999999987212,-6.37017224583e-05,-0.000136619113441,-5.34254631342e-05,1793249587502141440
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,717,681,663.550024651,637,883,784,814,650.550024651,629,654,0.427081804292,-0.00555019356535,0.0799063154369,0.9999999885,-6.74716104314e-05,-0.000124125712362,-5.51319450548e-05,1793249587518808064
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,717,681.128885439,663.871114561,637,883.128885439,784,814,651,629,654,0.427995373705,-0.00555225398995,0.0799059250055,0.99999998978,-7.07269713787e-05,-0.000110696984613,-5.64202644084e-05,1793249587535474688
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,717,681.704609707,663.295390293,637,883.704609707,784,814,651,629,654,0.428878834835,-0.00555100694851,0.0799153080863,0.999999989555,-7.07419189952e-05,-0.000112798685378,-5.62266130274e-05,1793249587552141568
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.285191839,746,717.285191839,682,663.285191839,637.285191839,884,784,814.285191839,651,629,654,0.429778009412,-0.00555285118664,0.0799403856458,0.999999992293,-7.45488427388e-05,-8.26837523004e-05,-5.49596548512e-05,1793249587568808192
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.870892707,746,717.870892707,682,663.870892707,637.870892707,884,784,814.870892707,651,629,654,0.430693741321,-0.00555795273201,0.0799820006083,0.999999995054,-8.23514032592e-05,-1.86218818989e-05,-5.25617441567e-05,1793249587585474816
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.549550138,745.549550138,717.549550138,682,664,637.549550138,884.450449862,784,815,650.549550138,629,654,0.431617433415,-0.00555896345228,0.0800149290989,0.999999995215,-7.82172237725e-05,3.0277951259e-05,-5.03475055737e-05,1793249587602141184
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.028489177,717,682.028489177,664,637.028489177,885,784,815,650,629,654,0.432536413187,-0.00555856796118,0.080040483296,0.999999994007,-7.12206229098e-05,6.75040950736e-05,-4.85496354444e-05,1793249587618807552
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.610792009,717,682.610792009,664,637.610792009,885,784,815,650,629,654,0.433320031662,-0.00555332268644,0.079970432534,0.999999995044,-7.41932518671e-05,-3.88581254272e-05,-5.38361421808e-05,1793249587635474176
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717,683,664,637.809658903,885,784,815,650.190341097,629,654,0.43412206396,-0.00555122335133,0.0799181845495,0.999999988767,-7.71335601028e-05,-0.000114865072837,-5.76323251583e-05,1793249587652141312
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664,637.235660242,885,784,815,650.764339758,629,654,0.43496121189,-0.00555546507115,0.0799018203962,0.999999986683,-8.00087236105e-05,-0.000129686987538,-5.84245662025e-05,1793249587668808704
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,683,664,637,885.338911716,784,815,651,628.661088284,654,0.435795272208,-0.00555798966038,0.0799170316659,0.999999988969,-8.48144588167e-05,-0.000107087356599,-5.83139505225e-05,1793249587685475584
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683,664,637,885.913882955,784,815,651,628.086117045,654,0.436625788843,-0.00555931822983,0.0799542359184,0.999999992499,-9.09648796813e-05,-5.84227885134e-05,-5.75744749679e-05,1793249587702142208
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717,683,664,637,885.49588765,784,815,651,628.50411235,654,0.437456593056,-0.00556276944205,0.0799799723712,0.999999993927,-9.27705151508e-05,-2.33335937069e-05,-5.47213999763e-05,1793249587718808576
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.905496061,717,683,664,637,885.094503939,784,815,651,629,654,0.438273711324,-0.00556627598798,0.0799981231915,0.999999994111,-9.49593927015e-05,1.62404027686e-06,-5.25147318151e-05,1793249587735474944
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.328012515,717,683,664,637,885.671987485,784,815,651,629,654,0.439020626166,-0.00556815430548,0.0799878307484,0.999999993068,-0.000103018522054,-1.29755663867e-05,-5.55145235473e-05,1793249587752141568
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+249,4.150000000,HOLD_POSE2,766,746,716.120302826,684,660,634,887,781,815.120302826,651,628.120302826,654,0.451324162083,-0.00558334386551,0.0795935560912,0.999999801437,-0.000128740171415,-0.000613686845086,-6.27702795395e-05,1793249588850299392
+250,4.166666667,HOLD_POSE2,766,746,716,683.53270723,660,634,887.46729277,781,815,651,628,654,0.451325299365,-0.00558370483332,0.0795942575961,0.999999801685,-0.000128944742501,-0.000613242339731,-6.27421327262e-05,1793249588866966016
+251,4.183333333,HOLD_POSE2,766,746,716.057624352,683.057624352,660,634,887.884751297,780.942375648,815.057624352,651,628,654,0.451326925252,-0.00558420620241,0.0795952238189,0.999999802082,-0.00012970938619,-0.000612429394296,-6.2786320354e-05,1793249588883632384
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+253,4.216666667,HOLD_POSE2,766,746,717,684,660,634,886.21349474,780.21349474,816,651,628.21349474,654,0.451326986122,-0.00558296385554,0.0795950600223,0.999999802089,-0.000132473329095,-0.000611759952629,-6.34174580117e-05,1793249588916965888
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+256,4.266666667,HOLD_POSE2,766,746,716.06890064,684,660,634,886.06890064,781,816,651,628.06890064,654,0.451329699636,-0.00558245735432,0.0795962100055,0.999999803344,-0.000129912150176,-0.000610319538726,-6.28136575444e-05,1793249588966965760
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.823024008,746,717,683.823024008,660,634.823024008,887,781,816,651,628,654,0.451329586218,-0.00558125220083,0.0795952532631,0.999999803245,-0.000126322393775,-0.000611237659108,-6.27721608311e-05,1793249589088076544
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.505708218,746,716.494291782,684,660,634,887,781,816,651,628.505708218,654,0.451327421002,-0.00558077740504,0.0795948682834,0.999999801852,-0.000128863302911,-0.000612939561462,-6.32029008383e-05,1793249589154743040
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766.608615943,746,716.391384057,684,660,634.391384057,886.608615943,780.608615943,815.608615943,651,628,654,0.451284245403,-0.00557974000189,0.0795726577215,0.999999780904,-0.000127628288573,-0.000646426562679,-6.35315526599e-05,1793249589238076416
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.034655967,746,716.965344033,684,660,634.965344033,886.034655967,780.034655967,815.034655967,651,628,654,0.451250025998,-0.00557830214876,0.0795560702584,0.999999763809,-0.000125393768004,-0.000672743571173,-6.38361450141e-05,1793249589254743040
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.825200226,634.825200226,886.174799774,781,816,651,628.174799774,654.174799774,0.45042387372,-0.00556308592289,0.0795165477678,0.999999724542,-0.000111116995861,-0.000732387551647,-4.66552883594e-05,1793249589404742912
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.226464841,634.226464841,886.773535159,781,816,651,628.773535159,654.773535159,0.45024604066,-0.00556070264473,0.0795140299846,0.999999721487,-0.000106140736416,-0.000737575825882,-4.17253749801e-05,1793249589421409536
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.931697629,634,886.068302371,781,815.068302371,651,628.068302371,654.068302371,0.4498514571,-0.00555213319398,0.0795109435472,0.999999718001,-9.24442526036e-05,-0.000744596443969,-3.20630575537e-05,1793249589454742784
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,716.675929347,684,661,634.324070653,886,781,816,651,628.324070653,654,0.44911158628,-0.00553891589387,0.0795149997074,0.999999723363,-6.30500768818e-05,-0.000741038807184,-1.26338322195e-05,1793249589504742912
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,661,634.261533887,886.261533887,781,816,651,628,654,0.448818753579,-0.00553439631783,0.0795187331271,0.999999725494,-5.16037641372e-05,-0.000739136351926,-5.09694792848e-06,1793249589521409536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,661,634.838360318,886.838360318,781,816,651,628,654,0.448500024234,-0.00552870759316,0.0795276383509,0.999999732191,-4.01351774418e-05,-0.000730752895982,2.78699890516e-06,1793249589538076160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.585801845,635,886.585801845,781,816,651,628,654,0.448155884471,-0.00552144912059,0.0795277510919,0.999999732481,-1.32591400871e-05,-0.000731282890463,9.36968135262e-06,1793249589554743040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,660.0103489,635,886.0103489,781,816,651,628,654,0.447801851981,-0.00551357951706,0.0795244407609,0.999999729368,1.96152946457e-05,-0.000735283051029,1.54457579794e-05,1793249589571409664
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.07735186,745,717.92264814,679,660.07735186,636.07735186,877,783,813,650.07735186,629,654,0.40141730099,-0.00538669944405,0.0798415019023,0.999999929203,0.000253481769545,-0.000274022665946,4.74684126955e-05,1793249590838076416
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.661651052,745,717.661651052,679,661,636.661651052,876.338348948,783,813,650,629.338348948,654,0.400975669156,-0.00538861906267,0.0798332385761,0.999999926242,0.000256296211084,-0.000282394905814,4.56178658134e-05,1793249591304743168
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.084739049,745,717.084739049,679,661,636.084739049,876.915260951,783,813,650,629.915260951,654,0.400975714528,-0.00538895015355,0.0798340812711,0.999999926922,0.000254619160468,-0.000281476404398,4.57746240431e-05,1793249591321410048
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,717.489750734,679.489750734,661,636,877,783,813,650,629.510249266,653.510249266,0.400976413413,-0.00538839391662,0.0798348241161,0.999999927167,0.000254511866855,-0.000280750835915,4.54733867529e-05,1793249591338076672
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.065493871,745,718,679.934506129,661,636,877,783,813,650.065493871,629,653.065493871,0.400977009747,-0.0053877619319,0.0798353967245,0.999999927284,0.000254788648835,-0.000280139800853,4.51376544319e-05,1793249591354743296
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.760390654,745,717.760390654,679,661,636,877,783,813.239609346,651,629,654,0.400975803489,-0.0053876299797,0.0798349079093,0.999999926926,0.000256680833233,-0.000279687139369,4.5143961342e-05,1793249591388076800
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a709a5611fcfb8397e50888eb00ffeefd5aee6a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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+400,6.666666667,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+401,6.683333333,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650647,1.0697049751
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ae6348ceffdd1bf86e8c1f0c5aed4d0d90c5fbf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03f15e3e346a98bbd61d25c08ba94133a6c4f13a8d84320fe61dfce75703d71a
+size 25523788
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4705f61948adfbc7f7c8c35af12565caad9f75f8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+53,0.883333333,BASELINE,765.751203344,745,717,678.751203344,661,636.751203344,876.248796656,783,813,650.248796656,629,653.248796656,0.400978788683,-0.00539040126558,0.079839553851,0.999999930138,0.000252412908262,-0.000272074616687,4.4585486041e-05,1793249592408240640
+54,0.900000000,BASELINE,765.664782504,745,717.335217496,679,661,636.664782504,876.335217496,783,813,650.335217496,629,653.335217496,0.400977442327,-0.00538968101713,0.0798385714951,0.999999929563,0.000253114671364,-0.000273534464934,4.45629005497e-05,1793249592424907264
+55,0.916666667,BASELINE,765.085111503,745,717.914888497,679,661,636.085111503,876.914888497,783,813,650.914888497,629,653.914888497,0.400975494682,-0.00538939265853,0.0798375945897,0.999999928896,0.000253898325123,-0.000275230166969,4.46343161598e-05,1793249592441573888
+56,0.933333333,BASELINE,765.492055591,745,718,679,661,636,877.492055591,783,813,651,629,654,0.400975799814,-0.00539047354096,0.079837987095,0.999999929438,0.000252094618361,-0.000274882638156,4.48639314609e-05,1793249592458240512
+57,0.950000000,BASELINE,765.931476014,745,718,679,661,636,877.931476014,783,813,650.931476014,629,654,0.400976406206,-0.00539150032437,0.0798385365798,0.999999930055,0.000250305553342,-0.000274238875637,4.50546453639e-05,1793249592474907136
+58,0.966666667,BASELINE,765.356985211,745,718,679,661,636,877.356985211,783,813,650.356985211,629,654,0.400976374399,-0.00539038773223,0.079838505034,0.999999929729,0.000251912406269,-0.000274004155518,4.47570921568e-05,1793249592491574016
+59,0.983333333,BASELINE,765,745,717.776620189,679,661,636,877,783,813,650.223379811,629,654,0.400976810511,-0.00538999109388,0.0798387124113,0.999999929577,0.000253072730665,-0.000273500958648,4.46871832451e-05,1793249592508240640
+60,1.000000000,BASELINE,765,745,717.1866139,679,661,636,877,783,813,650.8133861,629,654,0.400978014601,-0.0053907695285,0.0798393119256,0.999999929713,0.000253500181637,-0.00027255711903,4.49908999344e-05,1793249592524907008
+61,1.016666667,BASELINE,765,745,717,679,661,636,877,783,813,650.604150686,628.604150686,654,0.400978402009,-0.00539140683526,0.0798393305216,0.999999929946,0.000252691686906,-0.000272470431857,4.48830823537e-05,1793249592541573632
+62,1.033333333,BASELINE,765,745,717,679,661,636,877,783,813,650.025177018,628.025177018,654,0.400978411611,-0.00539197885464,0.0798390803782,0.999999930223,0.000251311429743,-0.000272780273118,4.45848843648e-05,1793249592558240256
+63,1.050000000,BASELINE,765,745,717.550018965,679,661,636.550018965,877,783,813,650,628.550018965,654,0.40097736082,-0.005391889032,0.0798385357984,0.99999992984,0.000251971864817,-0.000273550998227,4.47283176878e-05,1793249592574907136
+64,1.066666667,BASELINE,765.127149494,745,718,679,660.872850506,636.872850506,877,783,813,650,629,653.872850506,0.400976623893,-0.00539166389642,0.0798381587314,0.999999929636,0.00025221776239,-0.000274062167338,4.47769895992e-05,1793249592591574016
+65,1.083333333,BASELINE,765.711859691,745,718,679,660.288140309,636.288140309,877,783,813,650,629,653.288140309,0.400977189916,-0.00539106010171,0.0798384326473,0.999999930185,0.000250638042632,-0.000273563895676,4.44124010157e-05,1793249592608240640
+66,1.100000000,BASELINE,765.704657909,745,717.704657909,679,660.295342091,636,877,783,813,650.295342091,629,653.295342091,0.400977671019,-0.00539167449664,0.0798385136869,0.99999993054,0.000249538876629,-0.000273283886912,4.43327259506e-05,1793249592624907264
+67,1.116666667,BASELINE,765.122368443,745,717.122368443,679,660.877631557,636,877,783,813,650.877631557,629,653.877631557,0.400978069614,-0.00539347245578,0.0798384073323,0.999999930708,0.000248906605359,-0.000273215937238,4.45298661283e-05,1793249592641573888
+68,1.133333333,BASELINE,765,745,717,679,661,636,876.54425727,783,812.54425727,651,629,654,0.40097705566,-0.00539263716169,0.0798378382508,0.999999930249,0.000249576858684,-0.000274310079594,4.43496417841e-05,1793249592658241024
+69,1.150000000,BASELINE,765,745,717.032638399,679,661.032638399,636,876.032638399,783,812.032638399,650.967361601,629,653.967361601,0.400975815151,-0.00539114740073,0.0798372555772,0.999999929687,0.000250529550313,-0.000275530780348,4.40949278032e-05,1793249592674908416
+70,1.166666667,BASELINE,765,745,717.607807758,679,661.607807758,636,876.607807758,783,812.607807758,650.392192242,629,653.392192242,0.400977055965,-0.00539042472107,0.0798384934449,0.999999930206,0.000250416463303,-0.000273715675238,4.42709605282e-05,1793249592691575040
+71,1.183333333,BASELINE,765.187715098,745,718,678.812284902,661.812284902,636.187715098,877,783,813.187715098,650.187715098,629,653,0.400978060395,-0.00539000057932,0.0798394029127,0.999999930462,0.00025087291998,-0.000272327761839,4.44526576217e-05,1793249592708241664
+72,1.200000000,BASELINE,765.777777912,745,718,678.222222088,661.222222088,636.777777912,877,783,813.777777912,650.777777912,629,653,0.400978558159,-0.00539021632229,0.0798396084897,0.99999993016,0.000252550134075,-0.000271855488934,4.46464957312e-05,1793249592724908288
+73,1.216666667,BASELINE,766,745,718,678.36095148,661.36095148,636.63904852,877,783,813.63904852,650.63904852,629,653,0.400978413358,-0.00539049228106,0.0798395247743,0.999999930158,0.000252339820419,-0.000272066892434,4.45921506369e-05,1793249592741574656
+74,1.233333333,BASELINE,766,745,718,678.939963041,661.939963041,636.060036959,877,783,813.060036959,650.060036959,629,653,0.400977880368,-0.00539080461774,0.0798392662898,0.999999930337,0.000250989202547,-0.000272691322482,4.43878716674e-05,1793249592758241280
+75,1.250000000,BASELINE,766,745,718,679,661.487358007,636,876.487358007,783,813,650,629,653.512641993,0.400976544587,-0.00539070320788,0.079838076911,0.999999929661,0.00025182626645,-0.000274357549749,4.45991188822e-05,1793249592774907648
+76,1.266666667,BASELINE,765.915129185,745,718,679,661,636.084870815,876,782.915129185,813.084870815,650,629,653.915129185,0.400975547109,-0.00539067353712,0.0798372089327,0.999999929101,0.000252660816837,-0.000275590956481,4.48301199112e-05,1793249592791574272
+77,1.283333333,BASELINE,765.341273035,745,718,679,661,636.658726965,876,782.341273035,813.658726965,650,629,653.341273035,0.400977033843,-0.00539133296129,0.0798388131658,0.999999929796,0.000252022762425,-0.000273636283098,4.48979785267e-05,1793249592808240896
+78,1.300000000,BASELINE,765.240930205,745,717.759069795,679,661,636.759069795,876.240930205,782,813.759069795,650,629,653.240930205,0.400978147877,-0.00539157873734,0.079839759582,0.999999930321,0.000251505217229,-0.000272200514782,4.48244041545e-05,1793249592824907520
+79,1.316666667,BASELINE,765.835381217,745,717.164618783,679,661,636.164618783,876.835381217,782,813.164618783,650,629,653.835381217,0.400978715042,-0.00539121756074,0.0798397407728,0.999999930603,0.000251164497223,-0.000271526144474,4.45433028552e-05,1793249592841574144
+80,1.333333333,BASELINE,766,745,717,678.582316094,660.582316094,636,877,782.417683906,812.582316094,650,629,654,0.400978155828,-0.00539052420468,0.079838949951,0.999999930343,0.00025125241188,-0.000272424702322,4.44012902939e-05,1793249592858241280
+81,1.350000000,BASELINE,766,745,717,678.004665969,660.004665969,636,877,782.995334031,812.004665969,650,629,654,0.40097716523,-0.00538970362922,0.0798378634608,0.999999929873,0.000251504486693,-0.000273925666306,4.43125464595e-05,1793249592874908672
+82,1.366666667,BASELINE,765.430516272,745,717,678.569483728,660.569483728,636,877,782.430516272,812.569483728,650,629,654,0.400977854827,-0.00538906227055,0.079838792211,0.999999929705,0.000253310288028,-0.000272858504205,4.4400703238e-05,1793249592891575040
+83,1.383333333,BASELINE,765,745,717,678.852493869,661,636,876.852493869,782.147506131,813,650,629,654,0.400978178397,-0.00538871891677,0.0798394728015,0.999999929599,0.000254400701172,-0.000272224054002,4.44471790884e-05,1793249592908241152
+84,1.400000000,BASELINE,765,745,717,678.262775797,661,636,876.262775797,782.737224203,813,650,629,654,0.400977363626,-0.00538926458319,0.0798393602305,0.999999929683,0.000253308505453,-0.000272949535689,4.43643801119e-05,1793249592924907520
+85,1.416666667,BASELINE,765.320920098,745,717,678.320920098,661,636,876.320920098,783,812.679079902,650.320920098,629,653.679079902,0.40097775613,-0.00538926021886,0.079839672547,0.99999992984,0.000253300104856,-0.000272368260997,4.44253146596e-05,1793249592941574400
+86,1.433333333,BASELINE,765.899775708,745,717,678.899775708,661,636,876.899775708,783,812.100224292,650.899775708,629,653.100224292,0.400979118966,-0.00538881377418,0.0798403263614,0.999999930057,0.000254162791086,-0.000270736697177,4.46017732328e-05,1793249592958241536
+87,1.450000000,BASELINE,765.522475219,745,717,679,661,636,877,783,812.477524781,650.522475219,629,653.477524781,0.400977554812,-0.00538988890153,0.0798393333384,0.999999929765,0.000253412108343,-0.000272513925368,4.46007657778e-05,1793249592974908160
+88,1.466666667,BASELINE,765,745,717.054839179,679,661,636,877,782.945160821,813,650,629,653.945160821,0.400975687196,-0.00539116815372,0.079838148055,0.999999929458,0.000252276284196,-0.000274694806823,4.45418410865e-05,1793249592991575040
+89,1.483333333,BASELINE,765,745,717.630226987,679,661,636,877,782.369773013,813,650,629,653.369773013,0.400976756895,-0.00539136064637,0.0798384111373,0.999999930077,0.00025069142151,-0.000273931754852,4.42858922407e-05,1793249593008241152
+90,1.500000000,BASELINE,765.209901267,745,717.790098733,679,661,636,877.209901267,782,813,650.209901267,628.790098733,653,0.400977590322,-0.0053910549976,0.0798385990848,0.999999930241,0.000250597483787,-0.000273430462269,4.42201973335e-05,1793249593024907520
+91,1.516666667,BASELINE,765.797284176,745,717.202715824,679,661,636,877.797284176,782,813,650.797284176,628.202715824,653,0.400977998844,-0.00538985350266,0.0798386519115,0.999999929585,0.000253184791627,-0.00027339991187,4.44966507902e-05,1793249593041573888
+92,1.533333333,BASELINE,765.61861606,745,717,679,661,636,877.61861606,782.38138394,813,650.61861606,628.38138394,653,0.400976580298,-0.00539040324515,0.0798377846428,0.999999929479,0.000252068924466,-0.000274822389053,4.44530965622e-05,1793249593058240512
+93,1.550000000,BASELINE,765.036246429,745,717,679,661,636,877.036246429,782.963753571,813,650.036246429,628.963753571,653,0.400974198905,-0.00539187587291,0.0798364324927,0.999999929653,0.000249001519712,-0.000277010597875,4.42409013681e-05,1793249593074907136
+94,1.566666667,BASELINE,765,745,717,679,661,636,877,783,813,650.538181637,629,653,0.400976271517,-0.00539094091474,0.0798382284682,0.999999929315,0.000253588205703,-0.000274004865067,4.4538676101e-05,1793249593091574016
+95,1.583333333,BASELINE,765.112331282,745,717,679,661,636.112331282,876.887668718,783,813,650.887668718,629,653,0.400978331956,-0.00539026572944,0.0798398178614,0.99999992915,0.000257066546548,-0.000271319774133,4.47532874448e-05,1793249593108240896
+96,1.600000000,BASELINE,765.687505683,745,717,679,661,636.687505683,876.312494317,783,813,650.312494317,629,653,0.400979124206,-0.0053913192959,0.0798396951523,0.999999929959,0.000253884975156,-0.000271376216553,4.44857765916e-05,1793249593124907520
+97,1.616666667,BASELINE,766,745,717,679,661,636.729862081,876,782.729862081,813,650,629,653,0.400979425177,-0.00539165171457,0.0798396877751,0.99999993047,0.000251861347083,-0.000271403980358,4.43430584653e-05,1793249593141574144
+98,1.633333333,BASELINE,766,745,717,679,661,636.138357753,876,782.138357753,813,650,629,653,0.400979141704,-0.00539112622815,0.0798398176013,0.999999930634,0.000251215252891,-0.000271397626983,4.43487985597e-05,1793249593158240768
+99,1.650000000,BASELINE,765.557979951,745,717,679,661,636,876.442020049,782.442020049,813,650,629,653,0.400978782037,-0.00539073925863,0.0798397120943,0.99999993036,0.000251757132436,-0.000271869196888,4.45594409443e-05,1793249593174907392
+100,1.666666667,BASELINE,765.018899873,745,717,679,661,636.018899873,877,783,813.018899873,650,629,653.018899873,0.400978421249,-0.00539041296886,0.0798395649004,0.999999929976,0.000252629867499,-0.000272429738222,4.4818255525e-05,1793249593191574016
+101,1.683333333,BASELINE,765.592821215,745,717,679,661,636.592821215,877,783,813.592821215,650,629,653.592821215,0.400978710731,-0.00539062663457,0.0798403035879,0.999999930301,0.000252566854061,-0.000271317824044,4.4654489135e-05,1793249593208240640
+102,1.700000000,BASELINE,765.828723389,745,717.171276611,679,661,636.828723389,876.828723389,783,813.828723389,650,629,653.828723389,0.400978583256,-0.00539087741678,0.0798405934611,0.999999930463,0.000252460331995,-0.000270846749385,4.4503253963e-05,1793249593224907264
+103,1.716666667,BASELINE,765.239196096,745,717.760803904,679,661,636.239196096,876.239196096,783,813.239196096,650,629,653.239196096,0.400977437588,-0.00539121883597,0.0798397873469,0.999999930225,0.000252247563602,-0.000271940579544,4.4382619552e-05,1793249593241574400
+104,1.733333333,BASELINE,765,745,717.656031825,679,661,636.343968175,876.343968175,783,813,650,629,653,0.400976996056,-0.0053908234018,0.0798390777761,0.999999930129,0.000251775264849,-0.000272756072789,4.42175493571e-05,1793249593258241536
+105,1.750000000,BASELINE,765,745,717.077211984,679,661,636.922788016,876.922788016,783,813,650,629,653,0.400977035286,-0.00538992486518,0.079838434122,0.99999993013,0.000251125766141,-0.000273381525635,4.40221396632e-05,1793249593274908160
+106,1.766666667,BASELINE,765,745,717.498970805,678.501029195,661,636.501029195,876.501029195,782.501029195,813,650,628.501029195,653.498970805,0.400978119651,-0.00539105438082,0.0798393592971,0.999999930716,0.000250166447296,-0.000272067834409,4.43185122408e-05,1793249593291574784
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,717,679,661,636,878,783,813,650,629,654,0.400974848436,-0.00539182794986,0.0798372868278,0.999999929884,0.0002495902424,-0.00027564745313,4.42096575125e-05,1793249593335101184
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,717,679,661.589850079,636,877.410149921,782.410149921,813,650.589850079,629,654,0.400974789606,-0.00539145288863,0.0798372634301,0.999999929584,0.00025073573675,-0.000275696756347,4.42050214208e-05,1793249593351767808
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.823109631,745,717,678.823109631,661.823109631,636,877,782.176890369,813,651,629,654,0.400974865943,-0.00539132511376,0.0798372103909,0.999999929488,0.000251093512086,-0.000275718803361,4.42283581836e-05,1793249593368434176
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.242482325,745,717,678.242482325,661.242482325,636,877,782.757517675,813,651,629,654,0.400975250783,-0.00539176174849,0.0798370896976,0.999999929855,0.000249653387282,-0.000275678640463,4.4315540562e-05,1793249593385100800
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,717,678,661,636,877,782.664311365,813,650.664311365,629,654,0.400976226575,-0.00539144304571,0.079837780038,0.999999930201,0.000249379001536,-0.00027468245981,4.42379038914e-05,1793249593401767424
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,717,678,661,636,877,782.087901874,813,650.087901874,629,654,0.400977626137,-0.00539058269367,0.0798390519671,0.99999993053,0.000249940562272,-0.000273000722998,4.40420761944e-05,1793249593418433536
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.483756437,745,717.483756437,678.483756437,661,636.483756437,877,782.483756437,813,650,629,654,0.400978406413,-0.00539143076918,0.0798393351687,0.999999930836,0.000249462336521,-0.000272300688434,4.41440187958e-05,1793249593435100160
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.942875636,745,717.942875636,679,661,637,877,783,813,650.057124364,629,654,0.400978969103,-0.00539245390879,0.0798394385803,0.999999931102,0.000248831694319,-0.000271879450153,4.42845570279e-05,1793249593451767040
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.345242079,745,717.345242079,679,661,637,877,783,813,650.654757921,629,654,0.400978527383,-0.00539222475918,0.0798395242152,0.999999931028,0.000248529215373,-0.000272424744416,4.42833071879e-05,1793249593468433408
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,717,679,661,636.757269581,877,782.757269581,813,651,629,653.757269581,0.400982204663,-0.00539233030614,0.0798414087286,0.9999999314,0.000249680678636,-0.00026995370313,4.45391968051e-05,1793249593485100032
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,717,679,661,636.182512333,877,782.182512333,813,651,629,653.182512333,0.400991516254,-0.00539289367888,0.0798457538973,0.999999932343,0.000252820964839,-0.000263356667467,4.51468231304e-05,1793249593501766656
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,717,678.606353343,661,636,877,782.393646657,813,650.606353343,628.606353343,653,0.401016525667,-0.00539223803538,0.0798555759244,0.999999936576,0.000253578638141,-0.000246003829582,4.50272706471e-05,1793249593518433024
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,717,678.029542069,661,636,877,782.970457931,813,650.029542069,628.029542069,653,0.401048839311,-0.00539101518112,0.0798679463455,0.999999941936,0.000253227676827,-0.000223646293643,4.45693603716e-05,1793249593535099648
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,717,678.558868913,661,636,877,782.441131087,813,650.558868913,628.558868913,653,0.401105992885,-0.00539227908454,0.0798838921206,0.999999949192,0.000251561710269,-0.000190613661483,4.47020756145e-05,1793249593551766528
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.145304074,744.854695926,717.145304074,679,661,636.145304074,877,782.145304074,813,650.854695926,629,653.145304074,0.401167818302,-0.00539353534416,0.0798984086764,0.999999954484,0.000249964018927,-0.000163019387602,4.44355968753e-05,1793249593568432896
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.723978936,744.276021064,717.723978936,679,661,636.723978936,877,782.723978936,813,650.276021064,629,653.723978936,0.401239578356,-0.00539436844221,0.0799080869493,0.999999956374,0.000248781673185,-0.000153363735784,4.28834286376e-05,1793249593585099520
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.701700974,744.298299026,718,679,661.298299026,636.701700974,877,783,813.298299026,650,629,653.701700974,0.40132154506,-0.00539493706384,0.0799163505748,0.999999958248,0.000248931295786,-0.000140968936097,4.08044059434e-05,1793249593601766144
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.131352483,744.868647517,718,679,661.868647517,636.131352483,877,783,813.868647517,650,629,653.131352483,0.401412820251,-0.00539526448225,0.0799233240377,0.999999959997,0.000250295676927,-0.000126076027195,3.82448907418e-05,1793249593618433024
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.445283657,745,718,679,661.554716343,636.445283657,877,783,813.554716343,650,629,653.445283657,0.401521735799,-0.00539615847818,0.0799278761862,0.999999961585,0.000248326983084,-0.000118052331575,3.50296083464e-05,1793249593635099904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.975652662,745,718,678.975652662,661,636.975652662,877,783,813,650,629,653.975652662,0.40163701908,-0.00539728779856,0.0799318180985,0.999999963152,0.000245331880403,-0.00011184956413,3.16014414144e-05,1793249593651766528
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.383858747,745,718,678.383858747,661,636.383858747,877,783,813,650,629,653.383858747,0.401777695615,-0.00539995063135,0.0799384227073,0.999999965396,0.000241658195586,-0.000100183405029,2.77847173295e-05,1793249593668433408
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.203445024,745,717.796554976,678.203445024,661,636,876.796554976,783,813,650,629,653.203445024,0.401931335726,-0.00540287661859,0.0799448599973,0.999999967798,0.000236773834817,-8.82960994067e-05,2.33802068494e-05,1793249593685099776
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.782459698,745,717.217540302,678.782459698,661,636,876.217540302,783,813,650,629,653.782459698,0.402108907229,-0.00540628840175,0.079950988408,0.999999970581,0.000229654506349,-7.60005475913e-05,1.78906138228e-05,1793249593701766656
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.64127428,745,717,679,661,636,876.35872572,783,813,650,629,654,0.402301286881,-0.00540804881018,0.0799557586006,0.999999972558,0.000224194236139,-6.69049424875e-05,1.19957515272e-05,1793249593718433280
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.06666238,745,717,679,661,636,876.93333762,783,813,650,629,654,0.402502578301,-0.00540881539843,0.0799597113991,0.999999974058,0.000219732409822,-5.9735109107e-05,5.85699196252e-06,1793249593735099904
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,717.519019353,679,661,636,877.519019353,783,813,650,629,654,0.4027153448,-0.0054100505489,0.0799553971285,0.999999975202,0.00021196365449,-6.82944410215e-05,-1.94915214395e-06,1793249593751766528
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,717.895282227,679,661,636.104717773,877.895282227,783,813,650.104717773,629,653.895282227,0.402937661897,-0.00541160952612,0.0799497438857,0.999999976105,0.000203310870531,-7.9702855982e-05,-1.01503150359e-05,1793249593768433152
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,717.316090542,679,661,636.683909458,877.316090542,783,813,650.683909458,629,653.316090542,0.403196429097,-0.0054143571309,0.0799429396964,0.999999976785,0.000192618993452,-9.46672571719e-05,-1.91498127968e-05,1793249593785099776
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.262362007,745,717,679,661,636.737637993,877.262362007,783,813,651,629,653.262362007,0.403486371157,-0.00541726220672,0.0799400552033,0.999999983326,0.000150052431005,-0.000100523384487,-2.69669641792e-05,1793249593801766400
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.839926521,745,717,679,661,636.160073479,877.839926521,783,813,651,629,653.839926521,0.403813766774,-0.00542035646855,0.0799418798454,0.999999992496,6.91915250344e-05,-9.5436802668e-05,-3.33636403934e-05,1793249593818433024
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,717,679,661.415508476,636,878,783,813,651,629,654,0.404165367928,-0.00542113018627,0.0799471503822,0.999999992049,8.81916480478e-05,-8.53810075487e-05,-2.88674974009e-05,1793249593835099648
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,717,679,661.990330268,636,878,783,813,651,629,654,0.404526249908,-0.00542101416617,0.0799537421361,0.999999986519,0.000145480261771,-7.34199279548e-05,-2.01948542178e-05,1793249593851766528
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.419021005,745,717.580978995,679,661.419021005,636.580978995,877.419021005,783,813,650.419021005,629,653.419021005,0.404925860277,-0.00542283513163,0.0799529012511,0.999999987493,0.000139622734873,-6.943502932e-05,-2.64125813269e-05,1793249593868433152
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.168338214,745,717.831661786,678.831661786,661.168338214,637,877,783,813,650,629,653,0.405338091007,-0.00542559844638,0.0799509640108,0.99999998898,0.000127609512025,-6.86647933308e-05,-3.22565712982e-05,1793249593885100032
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.747018722,745,717.252981278,678.252981278,661.747018722,637,877,783,813,650,629,653,0.405779469892,-0.0054305780509,0.0799466642834,0.999999991161,0.000103224785739,-7.53979743954e-05,-3.65684982445e-05,1793249593901766400
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.677423134,745,717,678.322576866,662,636.677423134,877.322576866,783,813,650,629,653.322576866,0.406247156791,-0.00543259950275,0.079940573028,0.999999990332,0.000102887889169,-8.6058468753e-05,-3.6660098762e-05,1793249593918433536
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.104290172,745,717,678.895709828,662,636.104290172,877.895709828,783,813,650,629,653.895709828,0.40673527804,-0.00543232326034,0.0799330902331,0.999999987114,0.000121229732904,-9.9769437656e-05,-3.34736329314e-05,1793249593935100928
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.48128882,745,717,679,662,636,877.51871118,783,813,650,629,654,0.407235661754,-0.00543528667529,0.0799295455169,0.999999987072,0.000114745714118,-0.000106864472727,-3.56292988499e-05,1793249593951767808
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.933585745,745,717,679,662,636.066414255,877.066414255,783,813,650,629,653.933585745,0.407744345598,-0.00543901855013,0.0799256972323,0.999999987271,0.000103719943931,-0.000114921579035,-3.86454157272e-05,1793249593968434176
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.372460789,745,717,679,662,636.627539211,877.627539211,783,813,650,629,653.372460789,0.408294538096,-0.00544310666957,0.0799130625562,0.999999984275,9.99981865826e-05,-0.000141107214549,-3.92193371036e-05,1793249593985100800
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.20087145,745,717.20087145,679,662,637,878,783,813,650,628.79912855,653.20087145,0.408872919463,-0.00544774116947,0.0799102988113,0.999999983491,9.63838103208e-05,-0.000148824952913,-3.97443902169e-05,1793249594001767680
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.79830327,745,717.79830327,679,662,637,878,783,813,650,628.20169673,653.79830327,0.409506951253,-0.00545345433326,0.0799270222572,0.99999998766,9.29814260581e-05,-0.000120083371515,-4.01729676055e-05,1793249594018434560
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.619213968,745,717.619213968,679.380786032,662,637,878,783,813,650,628.380786032,653.619213968,0.410196303007,-0.0054701422281,0.0799575869201,0.999999994368,7.25746544136e-05,-6.76334778565e-05,-3.77103928191e-05,1793249594035101184
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.044350401,745,717.044350401,679.955649599,662,637,878,783,813,650,628.955649599,653.044350401,0.410913850003,-0.00549242368075,0.0799952061198,0.999999998479,4.35011529552e-05,-3.10002496984e-06,-3.37742667434e-05,1793249594051768064
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,717,680,662.530218307,637,878.530218307,783,813,650,629,653.530218307,0.411553814409,-0.00550987667739,0.0799865286876,0.999999998882,2.33226117095e-05,-2.35582409921e-05,-3.37063700471e-05,1793249594068434432
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,717.108621204,680,662.891378796,637,879,783,813,650.108621204,628.891378796,654,0.412200403254,-0.00552217966234,0.0799690440586,0.999999997798,8.27529618011e-06,-5.59091350395e-05,-3.478364215e-05,1793249594085100800
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,717.704327962,680,662.295672038,637,879,783,813,650.704327962,628.295672038,654,0.412905781751,-0.00551319874927,0.0799294213577,0.999999993115,1.29031880035e-05,-0.000109728204529,-3.95460261246e-05,1793249594101767424
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.289204543,745,718,680,662,637,879,783,813,650.710795457,628,654,0.413643625009,-0.00551300893056,0.0799100224031,0.999999990557,4.86814300971e-06,-0.000130338429718,-4.32897339393e-05,1793249594118434048
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.863408493,745,718,680,662,637,879,783,813,650.136591507,628,654,0.414413461062,-0.00552148237949,0.0799105531296,0.99999999183,-1.56457146332e-05,-0.000118222685591,-4.60295781431e-05,1793249594135100160
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,717.562163266,680,662,637,879,783,813.437836734,650,628.437836734,654,0.415224284518,-0.0055264505393,0.0799322827704,0.999999995317,-1.72295365808e-05,-8.39767089092e-05,-4.49176643694e-05,1793249594151767040
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,717,680,662,637.01272436,879,783,814,650,629,654,0.416046714497,-0.00553026812707,0.079959717869,0.999999998016,-1.31575522486e-05,-4.44038061541e-05,-4.26892020716e-05,1793249594168434176
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,717,680,662,637.605359402,879,783,814,650,629,654,0.416815057104,-0.00553151212032,0.0799456190139,0.999999995849,-2.06071331509e-05,-7.68645581147e-05,-4.43663448464e-05,1793249594185100800
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,717.19261864,680,662,638,879.19261864,783,814,650,629,654,0.417621838083,-0.00553615876809,0.0799440721009,0.999999995258,-3.23568350859e-05,-7.95489839194e-05,-4.59190108743e-05,1793249594201767424
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,717.769162843,680,662,638,879.769162843,783,814,650,629,654,0.418505234,-0.00554758755301,0.0799675435952,0.999999997236,-5.26774951099e-05,-2.28835299599e-05,-4.72235709577e-05,1793249594218434048
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,717.65564425,680,662.34435575,637.65564425,880.34435575,783,813.65564425,650,629,654,0.419376511093,-0.00555263035971,0.0799779964131,0.999999997084,-5.91700740832e-05,2.79045293399e-06,-4.81987920685e-05,1793249594235100416
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,717.081353659,680,662.918646341,637.081353659,880.918646341,783,813.081353659,650,629,654,0.420239696114,-0.00555340909053,0.0799797563383,0.999999997179,-5.64293010075e-05,7.77066268988e-06,-4.89541054384e-05,1793249594251767040
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,717,680.505570502,663,637,881,783.505570502,813.505570502,650,629,654,0.421106588804,-0.00555326048233,0.07996849723,0.999999997084,-5.68163183328e-05,-1.29421948143e-05,-4.93551644501e-05,1793249594268433920
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,717,680.906865365,663,637,881.093134635,784,814,650.093134635,629,654,0.421983607649,-0.00554970407422,0.079961853659,0.999999996977,-5.37806474614e-05,-2.65891445717e-05,-4.94732084187e-05,1793249594285100544
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,717,680.326855681,663,637,881.673144319,784,814,650.673144319,629,654,0.422910363304,-0.00552913296415,0.0799905708489,0.999999998195,-3.0153823722e-05,1.88690443923e-05,-4.84173873464e-05,1793249594301767168
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,717,680.251612385,663,637.251612385,882,783.748387615,814,650.748387615,629,654,0.423807374064,-0.00551527136436,0.0800021177915,0.99999999827,-1.46796565414e-05,3.09866063175e-05,-4.77872479794e-05,1793249594318433792
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,717,680.828090096,663,637.828090096,882,783.171909904,814,650.171909904,629,654,0.424665980303,-0.00551007263915,0.0799914956468,0.999999998815,-9.73165890616e-06,5.69546772352e-08,-4.7706720719e-05,1793249594335101184
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.402471797,745,717.402471797,681,663.402471797,637.597528203,882.402471797,783,814.402471797,650.402471797,629,654,0.425526996266,-0.00551759638194,0.0799552798066,0.999999996558,-2.12300075916e-05,-6.28417990206e-05,-4.98413148482e-05,1793249594351767808
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.975962822,745,717.975962822,681,663.975962822,637.024037178,882.975962822,783,814.975962822,650.975962822,629,654,0.426389036123,-0.00553052618499,0.0799081886359,0.999999988105,-3.97167752408e-05,-0.000139324933892,-5.29171631365e-05,1793249594368434432
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.434243173,745.565756827,717.434243173,681.565756827,663.434243173,637,882.434243173,783.565756827,814.434243173,650.434243173,629,654,0.427308983435,-0.00553267447274,0.0799023743892,0.999999988987,-4.44089764512e-05,-0.000130542123702,-5.48922634791e-05,1793249594385101056
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.846757653,717,681.846757653,663,637.153242347,882.153242347,784,814,650,629,654,0.428226237726,-0.00553496664865,0.0799035522747,0.999999990189,-4.82653202271e-05,-0.000119102212533,-5.57403486368e-05,1793249594401767680
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.26766918,717,681.26766918,663,637.73233082,882.73233082,784,814,650,629,654,0.42912896851,-0.00553896938421,0.079919142608,0.999999991118,-5.14758987296e-05,-0.000110644242103,-5.35903819305e-05,1793249594418433792
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.690446745,745,717,681,663,637.690446745,883,783.690446745,814.309553255,650.309553255,629,654,0.430052574448,-0.00554272907033,0.0799516163618,0.999999994691,-5.56781118548e-05,-6.97264690417e-05,-5.15451848721e-05,1793249594435100416
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.217201743,717.217201743,682,664,637.782798257,884,784,815,650,629,654,0.435244422157,-0.0055350532169,0.0799020880919,0.999999988378,-5.69259565893e-05,-0.00012900114874,-5.79796413733e-05,1793249594535100928
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,682.331127181,663,636,885.331127181,783,816,651,629,654,0.444484714446,-0.00555981419348,0.0798293784985,0.999999960591,-8.49542591569e-05,-0.000260766817618,-6.00045806103e-05,1793249594751767552
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717,683.875726922,660,634.124273078,887.875726922,781,816,651,629,654,0.451772440587,-0.00557932947058,0.0795607241744,0.999999768658,-0.000125555189619,-0.000665245735021,-6.60899544504e-05,1793249595435100672
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,717,683.296542967,660,634.703457033,887.296542967,781,816,651,629,654,0.451773262613,-0.0055789559828,0.0795612874049,0.99999976921,-0.000125075066009,-0.00066451748913,-6.5978536378e-05,1793249595451767296
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,717,683,660,635,887.282372232,781,816,651,629,654,0.451773243099,-0.00557881857124,0.0795611813556,0.999999768908,-0.000125176449537,-0.000664974076379,-6.57520666955e-05,1793249595468433664
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,717,683,660,635,887.861005527,781,816,651,629,654,0.451772340651,-0.00557892884755,0.0795603731072,0.99999976771,-0.000125887942296,-0.000666673774172,-6.54048864318e-05,1793249595485100288
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.564005978,746,716.564005978,683.435994022,660.435994022,634.564005978,887.564005978,781,816,651,629,654,0.451772446364,-0.00557916433994,0.0795599160518,0.999999767469,-0.000125605894837,-0.000667131010343,-6.49682348855e-05,1793249595501767424
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.010056783,746,716.010056783,684,660.989943217,634,887,781,816,651,629,654,0.451772888324,-0.00557942150699,0.0795595963133,0.999999767544,-0.000125021246883,-0.000667172034005,-6.45202095561e-05,1793249595518434560
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.597122205,746,716.597122205,684,660.402877795,634,887,781,816,651,629,654,0.451774335083,-0.00557865090643,0.0795607846757,0.999999768368,-0.000125097170625,-0.000665870438114,-6.50425731847e-05,1793249595535100928
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,887,781,816,651,628.817878025,654.182121975,0.451775834979,-0.00557818763516,0.0795619828824,0.999999769273,-0.000125124224499,-0.00066447597047,-6.53465397815e-05,1793249595551767296
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,887,781,816,651,628.237396539,654.762603461,0.451777451103,-0.00557839659223,0.0795632026215,0.999999770354,-0.000125044384198,-0.000662878362424,-6.51728015861e-05,1793249595568433920
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,887,781,816,651,628.340987476,654.659012524,0.451777097542,-0.00557856001005,0.0795627607229,0.999999769806,-0.000125019827124,-0.000663709020641,-6.5183111265e-05,1793249595585100544
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,887,781,816,651,628.917920128,654.082079872,0.451775381063,-0.00557869191712,0.0795611690596,0.999999768125,-0.000125033523102,-0.000666219909882,-6.53207722801e-05,1793249595601767424
+244,4.066666667,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,629,654,0.451775932628,-0.00557598610565,0.0795611105245,0.999999769401,-0.000120281663655,-0.000665241910827,-6.46843473184e-05,1793249595633196800
+245,4.083333333,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,629,654,0.451775506592,-0.0055769071032,0.0795604472532,0.99999976845,-0.000121630637178,-0.000666411412031,-6.48234505285e-05,1793249595649863424
+246,4.100000000,HOLD_POSE2,766,746,717,684,660,634,887.177309719,781,816,651,629,654,0.451775135741,-0.00557789754244,0.0795599443813,0.999999767715,-0.000123117390855,-0.00066724397611,-6.47882915439e-05,1793249595666530048
+247,4.116666667,HOLD_POSE2,766,746,717,684,660,634,887.756823364,781,816,651,629,654,0.451774890069,-0.00557904550128,0.0795598053543,0.999999767474,-0.000124916681074,-0.000667312242586,-6.43578415688e-05,1793249595683196416
+248,4.133333333,HOLD_POSE2,766,746,717,684,660,634,887.665797315,781,816,650.665797315,628.665797315,654,0.451774861575,-0.00557847160528,0.0795593214547,0.999999767085,-0.000125145570328,-0.000667823013355,-6.46545686522e-05,1793249595699863040
+249,4.150000000,HOLD_POSE2,766,746,717,684,660,634,887.089961179,781,816,650.089961179,628.089961179,654,0.451774990106,-0.00557665278284,0.0795585882071,0.99999976659,-0.0001242390365,-0.000668653721224,-6.54770554597e-05,1793249595716529408
+250,4.166666667,HOLD_POSE2,766,746,717,684,660,634,887,781,816,650.494157365,628.494157365,654.494157365,0.451776662427,-0.0055772867137,0.0795597425402,0.999999768091,-0.000124180085191,-0.000666464124794,-6.49878222881e-05,1793249595733196288
+251,4.183333333,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,629,654.921057456,0.451778378228,-0.00557834938068,0.0795610132429,0.99999976969,-0.00012425064175,-0.000664110520226,-6.43270876086e-05,1793249595749863424
+252,4.200000000,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,629,654.341766661,0.451778557941,-0.00557925106954,0.0795608063907,0.999999769616,-0.00012414737803,-0.00066426180937,-6.41186883325e-05,1793249595766530048
+253,4.216666667,HOLD_POSE2,766,746,717,684,660,634,887.236943752,781,816,651,629,654,0.451778117436,-0.00557963046185,0.079560759518,0.999999769075,-0.000123680006144,-0.000665186308569,-6.38732550296e-05,1793249595783196672
+254,4.233333333,HOLD_POSE2,766,746,717,684,660,634,887.814819019,781,816,651,629,654,0.451776784518,-0.00557925833671,0.0795609428348,0.999999767859,-0.000122688729554,-0.000667223357346,-6.35745345537e-05,1793249595799863296
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+256,4.266666667,HOLD_POSE2,766,746,717,684,660,634,887.033822874,781,816,651,629,654,0.451777617186,-0.00557906822342,0.0795610231667,0.999999768946,-0.000122701059066,-0.000665600233464,-6.3466860143e-05,1793249595833196800
+257,4.283333333,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,628.447239506,654,0.451778394928,-0.005577396594,0.0795613357859,0.999999769369,-0.000121710268955,-0.00066510305688,-6.39284164869e-05,1793249595849863680
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+259,4.316666667,HOLD_POSE2,766,746,717,684,660,634,887,781,816,651,628.72121031,654,0.451778447636,-0.0055772296622,0.0795609351254,0.99999976915,-0.000122392255383,-0.000665298758312,-6.40181635749e-05,1793249595883196416
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,661,634,888,781,816,651,629,654,0.451778641265,-0.00557820787801,0.0795612886821,0.999999769669,-0.000121738991128,-0.000664703785805,-6.33245130923e-05,1793249595921547776
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.797937352,660,634,887,781,816,651,628,654,0.451776837833,-0.0055748046621,0.0795597828195,0.999999767502,-0.000119987661822,-0.000668142618232,-6.46908399996e-05,1793249595954881024
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.205522587,660,634,887,781,816,651,628,654,0.45177869912,-0.00557581661883,0.079560875352,0.999999768994,-0.00012064263166,-0.000665830259934,-6.42419638048e-05,1793249595971547392
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,716.047168279,683.952831721,660,634,887,780.047168279,815.047168279,651,628,654,0.451780970847,-0.00557671148332,0.0795628377293,0.999999771061,-0.000121152442919,-0.000662693997982,-6.35377871496e-05,1793249596004880640
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,746,716.528395714,684,660,634,887,780.528395714,815.528395714,651,628.528395714,654,0.451780146334,-0.00557606390757,0.0795618261259,0.999999770141,-0.000121152467162,-0.000664056545466,-6.37887382672e-05,1793249596021547264
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,660,634,887,780.893631914,816,651,628.893631914,654,0.451779182717,-0.0055757479782,0.0795607435148,0.999999769088,-0.000121590676786,-0.000665537978357,-6.40152390268e-05,1793249596038213888
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,660,634,887,780.304388469,816,651,628.304388469,654,0.451778319189,-0.00557733272006,0.079560135387,0.999999768191,-0.000124087256159,-0.000666436544769,-6.38949705057e-05,1793249596054880768
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,660,634,887,780.280007896,816,651,628.280007896,654,0.451774937071,-0.00557773989605,0.0795585047279,0.999999766773,-0.000124571584579,-0.000668479135749,-6.38033010654e-05,1793249596071547136
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,660,634,887,780.859224761,816,651,628.859224761,654,0.451768863653,-0.00557688875645,0.0795557814193,0.999999764795,-0.000122905675142,-0.000671744200807,-6.37421918475e-05,1793249596088213760
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.563834302,634,887,781,815.563834302,651,628.563834302,654,0.451744529578,-0.00557620770101,0.0795440451627,0.999999752372,-0.000121230679831,-0.000690269042188,-6.39380715331e-05,1793249596104880640
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.987662531,745.987662531,717,684,659.012337469,634,887,781,815.012337469,651,628.012337469,654,0.451713720792,-0.00557555897578,0.0795292573279,0.999999735873,-0.000119598723698,-0.000714021037738,-6.42218493409e-05,1793249596121547264
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.413242731,745.413242731,717,684,659.586757269,634,887,781,815.586757269,651,628.586757269,654,0.451655049969,-0.00557389517353,0.0795072852396,0.999999707422,-0.000120060505844,-0.000752694946996,-6.47509119392e-05,1793249596138213888
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.165589123,745.165589123,717,684,660,634,887.165589123,781,816,651,629,654,0.451593067558,-0.00557211277017,0.0794878352579,0.99999968242,-0.000119751264609,-0.000785237139833,-6.49822495904e-05,1793249596154880768
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.75573319,745.75573319,717,684,660,634,887.75573319,781,816,651,629,654,0.451522594534,-0.00557002628438,0.079474851716,0.999999669375,-0.000117465192378,-0.000802058198751,-6.44502487786e-05,1793249596171548160
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,660,634,887.660554134,781,816,651,629,654,0.451446846509,-0.00556802453636,0.0794689425279,0.999999663923,-0.000115405614146,-0.000809230942545,-6.3094835475e-05,1793249596188214784
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,660,634,887.081383497,781,816,651,629,654,0.451367373158,-0.00556608263232,0.0794680294181,0.99999966397,-0.000113505991537,-0.000809589815047,-6.11579086602e-05,1793249596204881408
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,660,634.240767014,887,781,815.759232986,651,628.759232986,654.759232986,0.450936389054,-0.00556005044239,0.0795082133289,0.999999711082,-0.000104095000473,-0.000751563434967,-4.6387605256e-05,1793249596271548160
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.568083354,745,717.568083354,679.431916646,661,636.431916646,877,783,813,650,629,654,0.405157368445,-0.00539006810068,0.0798122711655,0.999999925897,0.00024303249422,-0.000294691348955,4.79345115597e-05,1793249597454881024
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.00876532,745,717,679.982469361,661,636.99123468,877,783,813,650,628.99123468,654,0.404750709044,-0.0053919607105,0.07982405209,0.999999928835,0.000240970035547,-0.000286050697986,4.93898571022e-05,1793249597471547392
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.582285034,745,717,678.835429932,661,636.417714966,877,783,813,650,628.417714966,654,0.404388385913,-0.00538872165404,0.0798321641237,0.999999929176,0.000249661918787,-0.000277022822639,5.07549133758e-05,1793249597488214272
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,717,678.156224958,661,636,876.843775042,783,813,650,628.156224958,653.843775042,0.40403161927,-0.00538663192833,0.0798377996545,0.999999928521,0.000256675842407,-0.00027264742915,5.23272725492e-05,1793249597504880896
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.731291596,661,636,876.268708404,783,813,650,628.731291596,653.268708404,0.403689749583,-0.00538762357655,0.0798367956416,0.999999925518,0.00025919113069,-0.000280745414134,5.44554145247e-05,1793249597521547776
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,876.317209441,783,813,650,629,653,0.403375267192,-0.00538813718177,0.0798358895926,0.999999926352,0.000251716965511,-0.000285057929705,5.17329615459e-05,1793249597538214144
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,636,876.912644899,783,813,650,629,653,0.403084806361,-0.00538823149297,0.0798350694685,0.99999993036,0.000235480999571,-0.000286050190213,4.47560268648e-05,1793249597554881024
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.510636553,745,717,679,661,636,877,783,813,650,629,653.489363447,0.402829713189,-0.00538824135149,0.079834450489,0.999999928425,0.000239449252975,-0.000289254552246,4.63140817885e-05,1793249597571547648
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,717,678.93683437,661,636.06316563,877.06316563,783,813,650,629,653.93683437,0.402585590179,-0.00538821481037,0.0798339536155,0.999999925791,0.000246268958589,-0.000292161762285,4.91072373174e-05,1793249597588214272
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,717,678.360581784,661,636.639418216,877.639418216,783,813,650,629,653.360581784,0.4023811827,-0.00538801054422,0.0798341676797,0.999999926065,0.000248033853222,-0.000289565863842,5.00131683835e-05,1793249597604880896
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.221519716,745,717.221519716,678.221519716,661,636.778480284,877.778480284,783,813,650.221519716,629,653.221519716,0.402190318119,-0.00538822413163,0.0798370532669,0.999999927756,0.000248060619063,-0.000283486065814,5.08858505714e-05,1793249597621547264
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.813400001,745,717.813400001,678.813400001,661,636.186599999,877.186599999,783,813,650.813400001,629,653.813400001,0.402022096036,-0.00538913633172,0.0798444053946,0.999999931728,0.000245181393382,-0.000271581508661,5.17029436004e-05,1793249597638213888
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.605349989,745,717.605349989,679,661,636,877,783,813,650.605349989,628.605349989,653.605349989,0.401874759723,-0.00538862411747,0.0798510028449,0.999999934215,0.000245944840969,-0.000261388300865,5.25036534264e-05,1793249597654880512
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.028994343,745,717.028994343,679,661,636,877,783,813,650.028994343,628.028994343,653.028994343,0.401737039668,-0.00538745607128,0.0798572528255,0.999999935984,0.000248385456017,-0.000251983035292,5.32968201314e-05,1793249597671547392
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.548182402,745,717.548182402,679,661,636,877,783,813,650.548182402,628,653,0.401611356715,-0.00538739858216,0.0798507903596,0.99999992921,0.000265525887941,-0.000261628760609,5.12390929891e-05,1793249597688214016
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636.127314479,877,783,813,650.872685521,628.127314479,653,0.40149201851,-0.00538764203035,0.0798439318944,0.999999923629,0.000276506585073,-0.00027194255052,4.83147426664e-05,1793249597704880640
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636.713334945,877,783,813,650.286665055,628.713334945,653,0.401393242696,-0.00538875778497,0.0798380728572,0.999999925145,0.000262488670548,-0.000281027426085,4.28121011105e-05,1793249597721547264
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.703860375,745,717.703860375,679,661,636.703860375,877,783,813,650,629,653.296139625,0.401305739842,-0.00538915152829,0.0798334046921,0.999999925227,0.000255340314242,-0.000287524432635,4.09489192072e-05,1793249597738213888
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.124135191,745,717.124135191,679,661,636.124135191,877,783,813,650,629,653.875864809,0.401229032066,-0.00538885386803,0.0798298769154,0.999999924141,0.000254770300087,-0.000291543275624,4.25709119168e-05,1793249597754880512
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.453055311,745,717,679,661,636,876.546944689,783,813,650,629,654,0.401171776393,-0.00538861704342,0.0798271211132,0.999999922935,0.00025477932607,-0.000295537044148,4.33050079732e-05,1793249597771547392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.970733408,745,717,679,660.970733408,636,876.029266592,783,813,650.029266592,629,654,0.401120697508,-0.00538834167887,0.0798247189649,0.999999921751,0.000254982672642,-0.000299273379138,4.37879572269e-05,1793249597788214016
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.399862669,745,717,679,660.399862669,636,876.600137331,783,813,650.600137331,629,654,0.401085841747,-0.00538704634567,0.0798249689535,0.999999921782,0.000255862386757,-0.00029837211355,4.41002738177e-05,1793249597804881408
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,717.177821058,679,660.177821058,636,877,783,813,650.822178942,629,654,0.401054314538,-0.00538675537259,0.0798254893835,0.999999922166,0.000255413937882,-0.000297424190415,4.43805898816e-05,1793249597821548800
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,717.771435291,679,660.771435291,636,877,783,813,650.228564709,629,654,0.40103057038,-0.00538881286222,0.0798266421776,0.999999923373,0.000251859888713,-0.000296367169586,4.45860801142e-05,1793249597838214656
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,717.643176581,679,660.643176581,636,877,783,813,650,629,653.643176581,0.401012415459,-0.00538922354005,0.0798262720448,0.999999923637,0.000251143791558,-0.000296080305323,4.45900577549e-05,1793249597854881536
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.510212496,745,717,678.489787504,660,636,877,783,813,650,629,653,0.400990542027,-0.00538939448973,0.0798256751559,0.999999923451,0.000252176408911,-0.000295847711252,4.44903844863e-05,1793249597888215040
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,717,678.082223739,660,636,877,783,813,650,629,653.082223739,0.400984864115,-0.00539016764773,0.0798267667128,0.999999923774,0.000252032324977,-0.000294868033078,4.45506615041e-05,1793249597904881408
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.652584795,660,636,877,783,813,650,629,653.652584795,0.400982957425,-0.00538981291474,0.0798285427933,0.999999924892,0.000251986756764,-0.000291063058079,4.4730562025e-05,1793249597921547520
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.766512741,745,717,679,660.233487259,636,877,783,813,650,629,654,0.400981003725,-0.00538994708181,0.0798298283699,0.999999925622,0.000251935756725,-0.000288561563735,4.48966510039e-05,1793249597938213888
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.169183698,745,717,679,660.830816302,636,877,783,813,650,629,654,0.40097897677,-0.0053908430989,0.0798303495973,0.999999925767,0.000251876292317,-0.00028809127565,4.50412175301e-05,1793249597954880512
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.414842521,745,717.414842521,679,661,636,877,783,813,650,629,653.585157479,0.400978895232,-0.00539083770223,0.0798310493376,0.99999992626,0.000251135402422,-0.000287054172975,4.48364774041e-05,1793249597971547392
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.993612051,745,717.993612051,679,661,636,877,783,813,650,629,653.006387949,0.400979582433,-0.00539047610758,0.0798318196181,0.99999992689,0.000250125243985,-0.000285793090813,4.44937070778e-05,1793249597988214272
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.432491169,745,718,679,661,636.567508831,877,783,813,650,629,653,0.400980521629,-0.00538891000229,0.0798333496845,0.999999927072,0.000252394701004,-0.000283102284733,4.47849794429e-05,1793249598004880896
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,717.854999856,679,661,637,876.854999856,782.854999856,813,650,629,653,0.400981025187,-0.00538799163266,0.079834429936,0.999999927156,0.000253945658136,-0.000281402061997,4.48693589511e-05,1793249598021548032
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,717.266344097,679,661,637,876.266344097,782.266344097,813,650,629,653,0.400980187226,-0.00538909626472,0.0798341079482,0.999999926984,0.000253186238089,-0.00028278153944,4.42990595301e-05,1793249598038214656
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.318772679,745,717,679,661,636.681227321,876.318772679,782.318772679,813,650,629,653.318772679,0.400979169382,-0.00538944687434,0.0798341666892,0.999999926886,0.000252965489893,-0.000283366777771,4.40395049121e-05,1793249598054881280
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.900965061,745,717,679,661,636.099034939,876.900965061,782.900965061,813,650,629,653.900965061,0.400978002891,-0.00538917439314,0.0798345400476,0.99999992685,0.000253189876309,-0.00028329569203,4.40367360517e-05,1793249598071547648
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.52301368,745,717,679,661,636.47698632,877,783,813,650,629,654,0.400977887356,-0.0053882445957,0.0798340267424,0.99999992634,0.000255173904288,-0.000283298940809,4.41356275073e-05,1793249598088214272
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,717.051728162,679,661,637,877.051728162,783,813,650.051728162,628.948271838,654,0.400977861766,-0.0053874955983,0.0798333527365,0.999999925857,0.000256913606454,-0.000283417422049,4.42341395034e-05,1793249598104880896
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,717.626323877,679,661,637,877.626323877,783,813,650.626323877,628.373676123,654,0.400976567875,-0.00538993600409,0.0798328914283,0.999999926656,0.000252537903642,-0.000284546659304,4.41181881249e-05,1793249598121547520
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.206834959,745,717.793165041,678.793165041,661,636.793165041,877.793165041,783,813.206834959,651,628.206834959,653.793165041,0.400975951661,-0.00539161908065,0.0798330222733,0.999999927477,0.000249378138353,-0.000284469021207,4.39827259754e-05,1793249598138214400
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.798347579,745,717.201652421,678.201652421,661,636.201652421,877.201652421,783,813.798347579,651,628.798347579,653.201652421,0.40097659581,-0.00539189365415,0.0798342544219,0.999999928366,0.000248479809224,-0.000282146801244,4.38109771364e-05,1793249598154881792
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.381589251,661.381589251,636.381589251,877,783,813.618410749,651,629,653.381589251,0.400977005269,-0.00539073511113,0.0798339709075,0.999999927937,0.000250540066241,-0.000281854350441,4.37424118222e-05,1793249598171548928
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,717,678.960552816,661.960552816,636.960552816,877,783,813.039447184,651,629,653.960552816,0.400977293336,-0.0053888352988,0.0798329034272,0.999999926818,0.000254130630836,-0.000282611783309,4.3727217454e-05,1793249598188215040
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,717.540518539,679.540518539,661.459481461,636.459481461,877,782.459481461,813,651,628.459481461,653.459481461,0.400976838686,-0.00538967943515,0.0798334243129,0.999999927048,0.000253499346762,-0.000282361450261,4.37468779163e-05,1793249598204881408
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,717.881888638,679.763777275,661,636,877.118111362,782.118111362,813.118111362,650.881888638,628.118111362,653,0.400976741502,-0.00539080975569,0.079834116997,0.999999927535,0.000252247085178,-0.000281755018486,4.37700964413e-05,1793249598221547520
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,717.313619062,678.627238124,661,636,877.686380938,782.686380938,813.686380938,650.313619062,628.686380938,653,0.400978213706,-0.00539226616396,0.0798350218324,0.99999992862,0.000249804578331,-0.000280072217239,4.37971629407e-05,1793249598238214400
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.734003268,745,717.265996732,678.265996732,661,636,877.734003268,783,813.734003268,650,629,653,0.400979075414,-0.00539258828679,0.0798356648809,0.999999929195,0.000249039985518,-0.000278679958894,4.38939839201e-05,1793249598254880768
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.140413771,745,717.859586229,678.859586229,661,636,877.140413771,783,813.140413771,650,629,653,0.400979185256,-0.00539151346143,0.0798359855216,0.99999992915,0.000250341855729,-0.000277645523344,4.40767122107e-05,1793249598271547648
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38b4899ef24e520dc28107279ea758b832643d5c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+2,0.033333333,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+3,0.050000000,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+4,0.066666667,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+5,0.083333333,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+6,0.100000000,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+7,0.116666667,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+8,0.133333333,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+9,0.150000000,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
+10,0.166666667,pose1_baseline,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
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+374,6.233333333,pose2_to_pose3_retreat,0.575731562144,0.000150229447997,1.07003371715,0.546302239286,0.00882285863241,1.0697051098
+375,6.250000000,pose2_to_pose3_retreat,0.575711404095,0.000150249784346,1.07003365249,0.546282081954,0.00882288114277,1.06970503853
+376,6.266666667,pose2_to_pose3_retreat,0.575696072514,0.000150199603355,1.07003352343,0.546266749751,0.00882282913353,1.06970491717
+377,6.283333333,pose2_to_pose3_retreat,0.575685026352,0.000150171938511,1.07003340868,0.546255703615,0.00882280168371,1.06970480519
+378,6.300000000,pose2_to_pose3_retreat,0.575677633445,0.000150167330005,1.07003334966,0.546248310891,0.00882279779448,1.06970474845
+379,6.316666667,pose2_to_pose3_retreat,0.575672897646,0.000150174270906,1.07003333397,0.546243575213,0.00882280525086,1.06970473566
+380,6.333333333,pose2_to_pose3_retreat,0.575670200207,0.000150244532728,1.07003350679,0.546240876064,0.00882286944779,1.06970490157
+381,6.350000000,pose2_to_pose3_retreat,0.575668530197,0.000150289361781,1.07003361743,0.546239204959,0.00882291039454,1.06970500775
+382,6.366666667,pose2_to_pose3_retreat,0.575667804862,0.000150283123328,1.0700336349,0.546238479968,0.0088229053248,1.06970502533
+383,6.383333333,pose2_to_pose3_retreat,0.57566748375,0.00015026912226,1.07003362925,0.546238159365,0.00882289308923,1.06970502063
+384,6.400000000,pose2_to_pose3_retreat,0.575667480921,0.000150268998895,1.0700336292,0.54623815654,0.00882289298142,1.06970502059
+385,6.416666667,pose2_to_pose3_retreat,0.575667321345,0.000150262041138,1.0700336264,0.546237997218,0.00882288690101,1.06970501826
+386,6.433333333,pose2_to_pose3_retreat,0.575667285204,0.000150260465311,1.07003362576,0.546237961135,0.00882288552389,1.06970501773
+387,6.450000000,pose2_to_pose3_retreat,0.575667076972,0.000150251386031,1.0700336221,0.546237753233,0.00882287758948,1.06970501468
+388,6.466666667,pose2_to_pose3_retreat,0.575666729695,0.000150236244108,1.070033616,0.546237406507,0.00882286435691,1.06970500961
+389,6.483333333,pose2_to_pose3_retreat,0.575666312659,0.000150218060618,1.07003360867,0.546236990133,0.0088228484663,1.06970500351
+390,6.500000000,pose2_to_pose3_retreat,0.575665835518,0.000150197256421,1.07003360028,0.54623651375,0.00882283028545,1.06970499653
+391,6.516666667,pose2_to_pose3_retreat,0.575665466327,0.000150195623714,1.07003360711,0.546236144625,0.0088228288286,1.06970500202
+392,6.533333333,pose2_to_pose3_retreat,0.575665317484,0.000150198772958,1.07003361337,0.546235995672,0.00882283156073,1.0697050071
+393,6.550000000,pose2_to_pose3_retreat,0.575665224175,0.000150200747191,1.0700336173,0.546235902295,0.00882283327348,1.06970501029
+394,6.566666667,pose2_to_pose3_retreat,0.575665164046,0.000150202019417,1.07003361982,0.546235842121,0.0088228343772,1.06970501234
+395,6.583333333,pose2_to_pose3_retreat,0.575665135399,0.00015020262553,1.07003362103,0.546235813453,0.00882283490304,1.06970501332
+396,6.600000000,pose2_to_pose3_retreat,0.575665051848,0.000150204393304,1.07003362454,0.546235729841,0.00882283643667,1.06970501617
+397,6.616666667,pose2_to_pose3_retreat,0.575664880704,0.000150208014381,1.07003363174,0.546235558571,0.00882283957814,1.06970502201
+398,6.633333333,pose2_to_pose3_retreat,0.575664661721,0.000150212647653,1.07003364095,0.546235339426,0.00882284359775,1.06970502948
+399,6.650000000,pose2_to_pose3_retreat,0.575664529869,0.000150150431922,1.07003362323,0.546235208001,0.00882278295713,1.06970501505
+400,6.666666667,pose2_to_pose3_retreat,0.5756643722,0.000150067552865,1.07003359901,0.546235050912,0.00882270221532,1.06970499532
+401,6.683333333,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650648,1.0697049751
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2619a0a6f4cef1f214a654e85a283e04bce8ff7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:920ac65b04c32308d5f71e6237beeef86ea648ccf0b480773e22e22fe62e6f92
+size 25671773
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0c41119478ee89088f519bfb114917ff15eeaab
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,405 @@
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+41,0.683333333,BASELINE,766,745,718,679,661,637,877,783,813.799093072,650.799093072,628.200906928,653.200906928,0.400974950729,-0.00539030972378,0.0798348516752,0.999999928298,0.000251712935206,-0.00027966296838,4.28183018633e-05,1793249599102831616
+42,0.700000000,BASELINE,765.621448066,745,718,678.621448066,661.378551934,636.621448066,877,783,814,651,628.378551934,653,0.400975047505,-0.00539064843723,0.0798348749302,0.99999992834,0.000251524201365,-0.000279690777548,4.27726656681e-05,1793249599119498240
+43,0.716666667,BASELINE,765.041560636,745,718,678.041560636,661.958439364,636.041560636,877,783,814,651,628.958439364,653,0.400975731458,-0.00539104387978,0.0798355031536,0.999999928476,0.00025165322878,-0.000279085311933,4.27805200442e-05,1793249599136164864
+44,0.733333333,BASELINE,765.53294436,745,717.46705564,678.53294436,661.46705564,636,877,783,813.46705564,651,629,653.53294436,0.400976560874,-0.00539098659017,0.0798359711106,0.999999928905,0.000251123198795,-0.000278040881082,4.26547816318e-05,1793249599152831744
+45,0.750000000,BASELINE,766,745,717.106635899,679,661,636,877,783,813,650.893364101,629,653.893364101,0.400977365453,-0.00539102923486,0.0798364992634,0.999999929396,0.000250403546069,-0.000276932176582,4.26100777629e-05,1793249599169498624
+46,0.766666667,BASELINE,766,745,717.678590922,679,661,636,877,783,813,650.321409078,629,653.321409078,0.400978012646,-0.0053916604748,0.0798373440794,0.999999930054,0.000249078478445,-0.000275690887736,4.29639839422e-05,1793249599186164992
+47,0.783333333,BASELINE,766,745,718,679.261940097,661,636,876.738059903,783,813,650,629,653,0.400978751075,-0.00539138162218,0.0798377309681,0.999999930192,0.000249431651859,-0.000274852542081,4.30879563716e-05,1793249599202831360
+48,0.800000000,BASELINE,766,745,718,679.859906168,661,636,876.140093832,783,813,650,629,653,0.400979606545,-0.00538993527089,0.0798375304113,0.999999929659,0.000251937731758,-0.000274531105959,4.29169617429e-05,1793249599219497984
+49,0.816666667,BASELINE,766,745,717.561043548,679.561043548,661,636,876.438956452,783,813,650,629,653.438956452,0.400977130706,-0.00538989548146,0.0798364198217,0.999999928957,0.000251982459868,-0.000277054045454,4.27975902646e-05,1793249599236164608
+50,0.833333333,BASELINE,766,745,717,679,661,636,877,783,813,650.012531526,629,654,0.400973780025,-0.00539032046268,0.079835094456,0.99999992824,0.000251258616949,-0.000280295944735,4.27066998137e-05,1793249599252831232
+51,0.850000000,BASELINE,766,745,717,679,661,636,877,783,813,650.600452059,629,654,0.400977060917,-0.00539232534556,0.0798366922375,0.99999992961,0.000249824076083,-0.000276589694231,4.31982927886e-05,1793249599269497856
+52,0.866666667,BASELINE,766,745,717.178594449,678.821405551,660.821405551,636.178594449,876.821405551,783,813,650.821405551,629,654,0.400979025318,-0.00539319958439,0.0798376528989,0.999999930402,0.000248977131244,-0.000274445956668,4.341434385e-05,1793249599286164480
+53,0.883333333,BASELINE,766,745,717.735996861,678.264003139,660.264003139,636.735996861,876.264003139,783,813,650.264003139,629,654,0.400978197372,-0.00539167566924,0.0798372621962,0.999999929997,0.000249376507733,-0.000275616389221,4.30459563883e-05,1793249599302831104
+54,0.900000000,BASELINE,765.683920863,745.316079137,717.683920863,678,660.316079137,637,876.316079137,783,813,650.316079137,629,654,0.400977744366,-0.00539176873986,0.0798371842264,0.999999929981,0.000249238186564,-0.000275817153434,4.29257059329e-05,1793249599319497984
+55,0.916666667,BASELINE,765.083431087,745.916568913,717.083431087,678,660.916568913,637,876.916568913,783,813,650.916568913,629,654,0.400977628735,-0.00539331678783,0.0798373876562,0.999999930317,0.000248616040542,-0.000275145401937,4.30287312424e-05,1793249599336164608
+56,0.933333333,BASELINE,765,745.502728233,717.497271767,678,661,637,877,783,813,650.502728233,628.502728233,654,0.400977830042,-0.00539208507904,0.0798376129453,0.999999929807,0.000250305308547,-0.00027546450894,4.30328256266e-05,1793249599352831232
+57,0.950000000,BASELINE,765.075734024,745,717.924265976,678.075734024,661,637,877,783,813,650,628.075734024,653.924265976,0.400978037301,-0.00539070813502,0.0798377809087,0.999999929272,0.000251967155007,-0.00027589806013,4.30072831483e-05,1793249599369497856
+58,0.966666667,BASELINE,765.660597017,745,717.339402983,678.660597017,661,637,877,783,813,650,628.660597017,653.339402983,0.400977940775,-0.00539137014227,0.0798375397829,0.9999999295,0.000250937378126,-0.000276026150905,4.28898182628e-05,1793249599386164736
+59,0.983333333,BASELINE,765.756603269,745,717,679,661,636.756603269,877,783,813.243396731,650.243396731,629,653,0.400977430903,-0.00539193015593,0.0798369767103,0.999999929682,0.000249533767418,-0.000276676703059,4.26555616969e-05,1793249599402831104
+60,1.000000000,BASELINE,765.176656413,745,717,679,661,636.176656413,877,783,813.823343587,650.823343587,629,653,0.400976349488,-0.00539234914085,0.0798359684748,0.999999929795,0.000247613248139,-0.000278049674312,4.22598146356e-05,1793249599419497984
+61,1.016666667,BASELINE,765.400628444,745,717.400628444,679,661,636,877.400628444,783,813.599371556,651,629,653.400628444,0.400976135766,-0.00539159065782,0.0798363425597,0.999999929425,0.000249360852469,-0.000277795455386,4.24116119003e-05,1793249599436164608
+62,1.033333333,BASELINE,765.976747212,745,717.976747212,679,661,636,877.976747212,783,813.023252788,651,629,653.976747212,0.400976302127,-0.00539031639953,0.0798373221529,0.999999928834,0.000252715232987,-0.000276828465889,4.28032541927e-05,1793249599452831232
+63,1.050000000,BASELINE,766,745,718,679.551696417,661,636,877.448303583,783,813.551696417,651,629,654,0.400978438767,-0.00539149464393,0.0798387026846,0.999999930233,0.00024973250831,-0.000274472455274,4.28176572294e-05,1793249599469497856
+64,1.066666667,BASELINE,765.870044074,745,717.870044074,679.870044074,661,636.129955926,877,783,813.870044074,651,629,654,0.400979535874,-0.00539236418755,0.0798392106503,0.999999931055,0.000247515579699,-0.000273483768983,4.28039951393e-05,1793249599486164480
+65,1.083333333,BASELINE,765.279887942,745,717.279887942,679.279887942,661,636.720112058,877,783,813.279887942,651,629,654,0.400976658333,-0.00539177528808,0.0798365689688,0.999999929582,0.000248954326509,-0.000277543932859,4.27471340715e-05,1793249599502831360
+66,1.100000000,BASELINE,765.304830549,745,717.304830549,679,661,636.695169451,876.695169451,783,813,651,629,654,0.400975756663,-0.00539113024969,0.0798358498533,0.999999928892,0.00025046421475,-0.000278678551391,4.26929840658e-05,1793249599519497984
+67,1.116666667,BASELINE,765.884643802,745,717.884643802,679,661,636.115356198,876.115356198,783,813,651,629,654,0.400976637394,-0.00539043456931,0.0798368650537,0.999999928916,0.000252038278447,-0.00027717408262,4.26412796686e-05,1793249599536164608
+68,1.133333333,BASELINE,766,745,717.539559552,678.539559552,661,636,876.460440448,783,813,650.539559552,629,654,0.400976804534,-0.00539048623144,0.0798370670326,0.999999928764,0.000252835966801,-0.000276984434765,4.27253603036e-05,1793249599552830976
+69,1.150000000,BASELINE,765.964825985,745,717,678.035174015,661,636.035174015,877,783,813,650.035174015,629,653.964825985,0.400976813436,-0.00539069847306,0.0798370835825,0.999999928614,0.000253335184578,-0.00027705293976,4.28351832806e-05,1793249599569497600
+70,1.166666667,BASELINE,765.391095695,745,717,678.608904305,661,636.608904305,877,783,813,650.608904305,629,653.391095695,0.400977113147,-0.00539052737758,0.0798373535203,0.999999929168,0.000252216867025,-0.000276074060868,4.28227876438e-05,1793249599586165248
+71,1.183333333,BASELINE,765,745,717.188245871,679,661.188245871,636.811754129,877.188245871,783,813,651,629,653,0.400977195577,-0.00539016089747,0.0798375058689,0.999999929431,0.000251754760129,-0.000275548933611,4.2788389271e-05,1793249599602832640
+72,1.200000000,BASELINE,765,745,717.779603595,679,661.779603595,636.220396405,877.779603595,783,813,651,629,653,0.400976812716,-0.00538937601845,0.0798374064107,0.999999929073,0.000252697869992,-0.000275995475087,4.27068739867e-05,1793249599619498752
+73,1.216666667,BASELINE,765,745,717.635326589,679,661.270653179,636,877.635326589,783,813,650.635326589,629,653,0.400977696331,-0.00538998240115,0.0798378258436,0.999999929442,0.000252517596651,-0.000274811003629,4.27649024728e-05,1793249599636165120
+74,1.233333333,BASELINE,765,745,717.053992594,679,660.107985189,636,877.053992594,783,813,650.053992594,629,653,0.400979332387,-0.00539141536343,0.0798385535613,0.99999993024,0.000251669896305,-0.000272657511085,4.29058370213e-05,1793249599652831744
+75,1.250000000,BASELINE,765,745,717.520196128,678.479803872,660.520196128,636,877,782.479803872,813,650.520196128,628.479803872,653.520196128,0.40097867245,-0.00539149913391,0.0798378418447,0.999999930217,0.000250095570382,-0.000274223391436,4.26487531241e-05,1793249599669498112
+76,1.266666667,BASELINE,765.093094703,745,717.906905297,678.093094703,661,636.093094703,877,782.093094703,813,650.906905297,628.093094703,653.906905297,0.400977861058,-0.00539143084206,0.0798371147256,0.999999930079,0.00024888148948,-0.000275859840296,4.24460761281e-05,1793249599686164480
+77,1.283333333,BASELINE,765.663131605,745,717.336868395,678.663131605,661,636.663131605,877,782.663131605,813,650.336868395,628.663131605,653.336868395,0.400977478084,-0.00539129121773,0.0798370637458,0.999999929801,0.000249894161817,-0.000275906845191,4.27309149973e-05,1793249599702831104
+78,1.300000000,BASELINE,766,745,717.245043455,679,661,637,877,783,813,650.245043455,629,653,0.400977638297,-0.00539079800331,0.079837427834,0.999999929537,0.000251349457699,-0.000275516759077,4.29043351715e-05,1793249599719497728
+79,1.316666667,BASELINE,766,745,717.84411149,679,661,637,877,783,813,650.84411149,629,653,0.400978583274,-0.00538979394241,0.0798383915883,0.999999929288,0.000253444230331,-0.000274495189209,4.2916784049e-05,1793249599736164608
+80,1.333333333,BASELINE,765.574724257,745,717.574724257,679,661,637,877,783,813,651,629,653.425275743,0.400978374252,-0.00539020433072,0.0798381212556,0.999999929184,0.000253100314876,-0.000275177814002,4.30122513871e-05,1793249599752831232
+81,1.350000000,BASELINE,765.000142406,745,717.000142406,679,661,636.999857594,877,783,813,651,629,654,0.40097775883,-0.00539111225349,0.0798374165317,0.999999929128,0.000251898388673,-0.000276460054345,4.3136839347e-05,1793249599769497856
+82,1.366666667,BASELINE,765.575102036,745,717.575102036,679,661,636.424897964,877,783,813,651,629,654,0.400975201379,-0.00539202633255,0.0798354979094,0.999999929102,0.000249883131464,-0.000278406461095,4.29338568914e-05,1793249599786164480
+83,1.383333333,BASELINE,765.845669685,745,718,679,661,636,877.154330315,783,813,651,629,654,0.40097409621,-0.00539258401225,0.0798347279259,0.999999929236,0.0002485844815,-0.000279113296835,4.27790933476e-05,1793249599802831104
+84,1.400000000,BASELINE,765.254354636,745,718,679,661,636,877.745645364,783,813,651,629,654,0.400977103163,-0.00539213255097,0.0798372103009,0.999999929833,0.000249314897266,-0.000276310300195,4.27608611208e-05,1793249599819497728
+85,1.416666667,BASELINE,765.328932108,745,717.671067892,679,661,636,877.671067892,783,813,650.671067892,629,654,0.4009785658,-0.00539211804156,0.0798383392433,0.999999930115,0.000249940588598,-0.000274698091891,4.28921650549e-05,1793249599836164352
+86,1.433333333,BASELINE,765.90615865,745,717.09384135,679,661,636,877.09384135,783,813,650.09384135,629,654,0.40097886271,-0.00539243336533,0.0798384465466,0.999999930164,0.000250487228638,-0.00027398475045,4.31363463763e-05,1793249599852830976
+87,1.450000000,BASELINE,765.517685952,745,717.482314048,678.517685952,661,636.482314048,877,783,812.517685952,650.482314048,629.482314048,654,0.400978364,-0.00539142529491,0.0798379263408,0.99999992966,0.000251316473496,-0.000275096369401,4.29241435013e-05,1793249599869498368
+88,1.466666667,BASELINE,765.059327329,745,718,678.059327329,661,637,877,783,812.059327329,651,629.940672671,654,0.400977922917,-0.00539039946674,0.0798374506283,0.999999929188,0.000251973463944,-0.000276245791762,4.26754006111e-05,1793249599886165760
+89,1.483333333,BASELINE,765.645811103,745,718,678.645811103,661,637,877,783,812.645811103,651,629.354188897,654,0.400979366319,-0.00539149868787,0.0798384527082,0.999999929979,0.000250612388391,-0.000274583087031,4.28892357267e-05,1793249599902832384
+90,1.500000000,BASELINE,765.770635227,745,717.770635227,679,661,637,877,783,813,650.770635227,629,653.770635227,0.400979949997,-0.0053916632791,0.0798389265734,0.999999930298,0.000250506537802,-0.000273512011362,4.29258746261e-05,1793249599919498752
+91,1.516666667,BASELINE,765.191549255,745,717.191549255,679,661,637,877,783,813,650.191549255,629,653.191549255,0.400979222819,-0.00539040280443,0.0798385950493,0.999999929899,0.000252314576622,-0.000273343015197,4.26923356905e-05,1793249599936165632
+92,1.533333333,BASELINE,765,745.386891116,717,678.613108884,661,637,877,783,813,650.386891116,629,653.386891116,0.400978915331,-0.00538980580683,0.079838469156,0.999999929629,0.000253090483256,-0.000273639707467,4.25205469851e-05,1793249599952832000
+93,1.550000000,BASELINE,765,745.965012434,717,678.034987566,661,637,877,783,813,650.965012434,629,653.965012434,0.400978815284,-0.00538953674856,0.0798384449007,0.999999929424,0.000253356233993,-0.000274166577388,4.23792797896e-05,1793249599969498368
+94,1.566666667,BASELINE,765,745.459702877,717.540297123,678.540297123,661,636.459702877,877,783.540297123,813,651,629,654,0.400976998571,-0.00538993897802,0.0798370953814,0.999999929266,0.00025139616679,-0.000276518017504,4.24872344997e-05,1793249599986164736
+95,1.583333333,BASELINE,765,745,718,679,661,636.118652648,877,783.881347352,813,650.881347352,629,653.881347352,0.400975784652,-0.00539059049731,0.0798361448585,0.999999929328,0.000249375927044,-0.00027810733851,4.25576076186e-05,1793249600002831360
+96,1.600000000,BASELINE,765,745,718,679,661,636.709969228,877,783.290030772,813,650.290030772,629,653.290030772,0.400977412538,-0.00539206282359,0.0798371238565,0.999999930285,0.000247687161902,-0.000276192475439,4.24143169203e-05,1793249600019497984
+97,1.616666667,BASELINE,765.294520662,745.294520662,718,679,661,637,877,783,813,650,629,653.294520662,0.40097878472,-0.0053921167442,0.0798383105974,0.999999930749,0.00024822506587,-0.000274017047352,4.24401296096e-05,1793249600036164608
+98,1.633333333,BASELINE,765.872559638,745.872559638,718,679,661,637,877,783,813,650,629,653.872559638,0.400979910748,-0.00539080524613,0.0798396973203,0.999999930734,0.000250906457827,-0.000271590788237,4.26287285343e-05,1793249600052831488
+99,1.650000000,BASELINE,765.552301157,745.552301157,718,679,661,637,877,783,813,650.447698843,629,654,0.400979495472,-0.00539087793594,0.079839464171,0.999999930642,0.000250979630593,-0.000271873012962,4.25587018007e-05,1793249600069498368
+100,1.666666667,BASELINE,765,745,717.978017526,679,661,637,877,783,813,650.978017526,629,654,0.40097862849,-0.00539127670878,0.0798387763724,0.99999993051,0.000250360045823,-0.000272947922178,4.24263185985e-05,1793249600086164992
+101,1.683333333,BASELINE,765,745,717.404622823,679,661,637,877,783,813,650.404622823,629,654,0.400977365459,-0.00539003499419,0.079838176126,0.999999929899,0.00025086701501,-0.000274691543143,4.25645741158e-05,1793249600102831360
+102,1.700000000,BASELINE,765.174832267,745,717.174832267,679,661,637,877,783,813,650.174832267,629,654,0.400976895797,-0.00538940850566,0.0798379833199,0.999999929648,0.000250960929626,-0.000275512428644,4.25971949448e-05,1793249600119497728
+103,1.716666667,BASELINE,765.768816769,745,717.768816769,679,661,637,877,783,813,650.768816769,629,654,0.400978328195,-0.00539025699323,0.0798387673331,0.999999930265,0.000250064565028,-0.000274121098492,4.23765614968e-05,1793249600136164352
+104,1.733333333,BASELINE,766,745,717.648519264,679,661,636.648519264,877,783,813,651,629,654,0.400978622272,-0.00539063439175,0.0798388866064,0.999999930396,0.000250083675908,-0.000273607326673,4.24898498315e-05,1793249600152830976
+105,1.750000000,BASELINE,766,745,717.073068881,679,661,636.073068881,877,783,813,651,629,654,0.400978190991,-0.00539071160422,0.079838582296,0.999999930219,0.000250686143618,-0.00027365275017,4.28159189199e-05,1793249600169497856
+106,1.766666667,BASELINE,766,745,717.500284742,679,661,636,876.499715258,783,813,651,629,653.499715258,0.400977288925,-0.00539055045616,0.0798376359013,0.999999929683,0.000250983759941,-0.000275377228314,4.25248196217e-05,1793249600186164736
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,717,679,661,637,877,782,813,651,629,653,0.400977322416,-0.00539236091997,0.0798386070667,0.999999930531,0.000249190131556,-0.000273834869572,4.30804218259e-05,1793249600229671168
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,717.596369825,678.403630175,661,637,877,782.596369825,813,650.403630175,629,653,0.400978827774,-0.00539228703181,0.0798387935722,0.999999930325,0.000251045165747,-0.000272912845229,4.29635553897e-05,1793249600246338048
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,718,678.186204226,661.186204226,636.813795774,877,783,813.186204226,650,629,653.186204226,0.400979763408,-0.00539206037243,0.0798388594943,0.999999930396,0.000251377670723,-0.000272372091539,4.27884613243e-05,1793249600263004928
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,718,678.762352424,661.762352424,636.237647576,877,783,813.762352424,650,629,653.762352424,0.400979505937,-0.0053915137836,0.079838672894,0.999999931052,0.000248521735584,-0.000272629784605,4.24914284742e-05,1793249600279671296
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.662045685,745,718,679,661.662045685,636.337954315,877,783,813.662045685,650,629,654,0.400979138455,-0.0053920616667,0.079838466026,0.99999993096,0.000248301542731,-0.000273155031002,4.25814743996e-05,1793249600296337408
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.086827368,745,718,679,661.086827368,636.913172632,877,783,813.086827368,650,629,654,0.400978693739,-0.00539337793413,0.0798382449291,0.999999930343,0.00024993179768,-0.000273868115713,4.29432726333e-05,1793249600313003776
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,717.499765435,679,661,636.499765435,877,782.499765435,813,650.500234565,629,654,0.400979498437,-0.00539174695454,0.0798389493446,0.999999930387,0.000250541965586,-0.000273146803619,4.29624330849e-05,1793249600329670656
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.087822754,745,717.087822754,679,661,636.087822754,877,782.087822754,813,650.912177246,629,654,0.400980566923,-0.00539004918252,0.0798397523417,0.999999930531,0.000250948741952,-0.000272248428923,4.2931450949e-05,1793249600346337536
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.666582341,745,717.666582341,679,661,636.666582341,877,782.666582341,813,650.333417659,629,654,0.400981868307,-0.00539090706707,0.0798401866255,0.999999930585,0.000251232324495,-0.000271785790662,4.29606875574e-05,1793249600363004160
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,717.755537271,679,661,637,877.244462729,783,813,650,629,653.755537271,0.400989487043,-0.00539186168653,0.0798434752824,0.999999932096,0.000250777438179,-0.000266577203278,4.3070973472e-05,1793249600379671040
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,717.178851755,679,661,637,877.821148245,783,813,650,629,653.178851755,0.401005691008,-0.00539294776783,0.0798506430083,0.999999935491,0.000249318978862,-0.00025491891108,4.32914047038e-05,1793249600396337920
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,717.396375967,678.603624033,661,637,877.603624033,783,813,650.396375967,629,653.396375967,0.401039343789,-0.00539183341894,0.0798626424551,0.999999940555,0.000250830387246,-0.000232648327607,4.30075951725e-05,1793249600413004288
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,717.970948367,678.029051633,661,637,877.029051633,783,813,650.970948367,629,653.970948367,0.401080840934,-0.00538972983558,0.0798768140712,0.999999945784,0.000253676941463,-0.000205606837066,4.24970970553e-05,1793249600429670656
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.436855039,745,717.436855039,678.563144961,661,636.436855039,877,782.436855039,813,651,629,654,0.401148081298,-0.00539159009026,0.0798922645468,0.999999952462,0.000251529585693,-0.000173298929203,4.21435966871e-05,1793249600446337280
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.151796823,745,717.151796823,679,661,636.151796823,877,782.151796823,813.151796823,651,629,654,0.401218192381,-0.00539353639117,0.0799054881174,0.999999957062,0.000249192431081,-0.000148529550351,4.14588227241e-05,1793249600463003904
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.727916481,745,717.727916481,679,661,636.727916481,877,782.727916481,813.727916481,651,629,654,0.401292495831,-0.00539513314331,0.0799122963705,0.999999958084,0.000247068144414,-0.000145616857656,3.98246569172e-05,1793249600479670528
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.696437716,745,717.696437716,679,661,637,877.303562284,783,813.696437716,650.696437716,629,654,0.401379078914,-0.00539672540731,0.079917619334,0.999999959589,0.000245263864303,-0.00013876760469,3.75613109532e-05,1793249600496337408
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.121216004,745,717.121216004,679,661,637,877.878783996,783,813.121216004,650.121216004,629,654,0.401476651098,-0.00539831365477,0.0799216131039,0.999999961448,0.00024374595979,-0.000128395504129,3.47349085693e-05,1793249600513004544
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.464430396,745,717,679,661,637,877.535569604,783,813,650.464430396,629,654,0.401594063323,-0.00539953936132,0.0799271122054,0.999999962925,0.00024255345194,-0.00011970945606,3.14188807647e-05,1793249600529671168
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.947966098,745,717.052033902,679,661,637,877.052033902,783,813.052033902,650.947966098,629.052033902,653.947966098,0.40172019946,-0.0054007327245,0.0799331921157,0.999999964398,0.000241115124139,-0.000110872568019,2.78339837461e-05,1793249600546337536
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.368733505,745,717.631266495,679,661,637,877.631266495,783,813.631266495,650.368733505,629.631266495,653.368733505,0.401881055124,-0.00540257910695,0.0799410845804,0.999999967216,0.000236305953075,-9.594641937e-05,2.28494446709e-05,1793249600563004160
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.209842866,745,718,679,661,637,877.790157134,783,813.790157134,650,629.790157134,653,0.40205093652,-0.00540443988449,0.0799490468822,0.999999969702,0.000231664431904,-8.13206479672e-05,1.77156677904e-05,1793249600579670784
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.787269666,745,718,679,661,637,877.212730334,783,813.212730334,650,629.212730334,653,0.402236628368,-0.00540632587783,0.0799571315174,0.999999971828,0.000227316585352,-6.72210521075e-05,1.23204700202e-05,1793249600596337408
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.638480998,745,717.638480998,679,661,637,877,783,813,650,629,653.361519002,0.402434382669,-0.0054081635107,0.0799588108025,0.99999997367,0.000220378290014,-6.3703101392e-05,5.90347162514e-06,1793249600613004032
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.066085046,745,717.066085046,679,661,637,877,783,813,650,629,653.933914954,0.402639173114,-0.00540997293468,0.0799567537959,0.999999975341,0.000211928964597,-6.63575082767e-05,-1.10955182613e-06,1793249600629670656
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.522890026,745.522890026,717,678.477109974,661,636.477109974,877,783,813,650,629,654,0.402862239444,-0.00541270997067,0.0799479306283,0.999999976511,0.000200015660524,-8.29526617194e-05,-9.54724356844e-06,1793249600646337280
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.888459261,745.888459261,717.111540739,678.111540739,661,636,877,783,813,650.111540739,629,653.888459261,0.40310059266,-0.00541542740547,0.0799397240755,0.999999977195,0.00018892364324,-9.79217962385e-05,-1.81525167381e-05,1793249600663004160
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.310219723,745.310219723,717.689780277,678.689780277,661,636,877,783,813,650.689780277,629,653.310219723,0.403392927124,-0.00541755623896,0.0799377926482,0.999999978022,0.000183159729677,-9.84741555049e-05,-2.66809302149e-05,1793249600679671040
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.267120489,745,717.732879511,679,661,636.267120489,877,783.267120489,813,650.732879511,629,653,0.403705942977,-0.00541945242722,0.0799400063238,0.999999984559,0.000144545805272,-9.46529659886e-05,-3.20705374465e-05,1793249600696337664
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.843419741,745,717.156580259,679,661,636.843419741,877,783.843419741,813,650.156580259,629,653,0.404042896498,-0.00542107933999,0.0799470177513,0.999999993444,6.79096165147e-05,-8.57696094642e-05,-3.38271309326e-05,1793249600713004032
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.582275682,745,717.417724318,679,661,637,877.417724318,784,813,650,629,653.417724318,0.404408328562,-0.00542073166742,0.0799512739736,0.999999992672,8.69073199904e-05,-7.86938720197e-05,-3.01821087923e-05,1793249600729670656
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.008715251,745,717.991284749,679,661,637,877.991284749,784,813,650,629,653.991284749,0.404784384817,-0.00541964735659,0.0799545023397,0.999999987063,0.000141582177312,-7.22924845344e-05,-2.45219614107e-05,1793249600746337280
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,717.414207337,679,661.585792663,637,878,783.414207337,813,650.585792663,629,653.414207337,0.405203159878,-0.00542365582351,0.0799534862532,0.999999988719,0.000131209146285,-6.67601427565e-05,-2.98117835323e-05,1793249600763003904
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.174363545,745,717.174363545,679.174363545,662,637,878,783.174363545,813.174363545,651,629,653.174363545,0.405634578332,-0.00542825862729,0.0799498216405,0.999999989838,0.000120627530979,-6.8193501001e-05,-3.35052577102e-05,1793249600779670784
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.748578336,745,717.748578336,679.748578336,662,637,878,783.748578336,813.748578336,651,629,653.748578336,0.406093479096,-0.00543404416922,0.0799402335971,0.999999989532,0.000111869172701,-8.55698845317e-05,-3.31505375303e-05,1793249600796337408
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,718,679.676464088,662,637,878,783.676464088,813.676464088,650.676464088,629,654,0.406565649813,-0.00543641949577,0.0799310854988,0.999999988283,0.000108243621113,-0.000102668087058,-3.42894060795e-05,1793249600813004032
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,718,679.1009279,662,637,878,783.1009279,813.1009279,650.1009279,629,654,0.407048156471,-0.00543613862563,0.0799222800703,0.999999986286,0.000108615982435,-0.000119549617839,-3.65916223298e-05,1793249600829670912
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,717.512264706,679,662,637,878,783,813.487735294,650.487735294,629,654,0.40756209515,-0.00544247609579,0.0799201877978,0.99999998624,0.000102262644126,-0.000125206590278,-3.72208914167e-05,1793249600846337792
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.922564141,745,717,679,662,637,878,783,813.922564141,650.922564141,628.922564141,654,0.408090507144,-0.00544976145136,0.0799188240072,0.999999986471,9.43095607734e-05,-0.000129429006183,-3.75717632631e-05,1793249600863004672
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.34421059,745,717,679,662,637,878,783,813.34421059,650.34421059,628.34421059,654,0.408669305784,-0.00545407414234,0.0799129378368,0.999999985853,8.52600735629e-05,-0.000139812339954,-3.84230855043e-05,1793249600879671040
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.232304536,745,717,679.232304536,662,637,878,783,813.232304536,650,628.232304536,654,0.409290367501,-0.00546815048319,0.0799220010659,0.999999989203,6.61954980815e-05,-0.000125676196932,-3.76553702295e-05,1793249600896337664
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.806116983,745,717,679.806116983,662,637,878,783,813.806116983,650,628.806116983,654,0.409973559591,-0.00549658023996,0.0799530412153,0.99999999603,3.2407870442e-05,-7.5494285319e-05,-3.45075285732e-05,1793249600913004544
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,717,679.612668407,662,637,878,783,814,650,629,654,0.41065093031,-0.00551004393755,0.0799787035383,0.999999998708,1.7743089132e-05,-3.4170123857e-05,-3.31833200787e-05,1793249600929671168
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,717,679.027676393,662,637,878,783,814,650,629,654,0.411325330286,-0.00551587025689,0.0800016214846,0.999999999377,1.28369495432e-05,2.6338093182e-06,-3.27897357379e-05,1793249600946337536
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,717.554454282,679.554454282,662,637,878.554454282,783,813.445545718,650,628.445545718,654,0.411991496247,-0.00551323361968,0.0799765892618,0.99999999844,1.51534000741e-05,-4.11551400037e-05,-3.46024035699e-05,1793249600963003904
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.86420015,745,718,679.86420015,662,637,879,783,813,650,628,654,0.412670580428,-0.00551261958058,0.0799479914982,0.999999995515,1.32563352215e-05,-8.60074422647e-05,-3.73718119537e-05,1793249600979670784
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.284954418,745,718,679.284954418,662,637,879,783,813,650,628,654,0.413393183352,-0.00551998258086,0.0799155263955,0.999999991721,-3.57093109102e-06,-0.000121262928628,-4.29076256399e-05,1793249600996337664
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.291526068,745,718,679.583052135,662,637.291526068,879,783,813.291526068,650,628,654,0.414158544412,-0.00552541142935,0.0799082735942,0.999999991271,-1.50141327535e-05,-0.000123095805146,-4.56081935904e-05,1793249601013004032
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.865329107,745,718,680.730658213,662,637.865329107,879,783,813.865329107,650,628,654,0.414965307127,-0.00552896749075,0.0799254331928,0.999999994452,-2.12440891825e-05,-9.25664578658e-05,-4.55634688485e-05,1793249601029670656
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,718,680.559056563,662,638,879.440943437,783,814,650.440943437,628.440943437,654,0.415759893384,-0.0055326109517,0.079940850746,0.999999995753,-2.46487002506e-05,-7.68988410105e-05,-4.44260823166e-05,1793249601046337280
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,718,680.017525468,662.017525468,638,879.982474532,783.017525468,814,650.982474532,629,654,0.416550948972,-0.00553636941181,0.0799549769224,0.999999996492,-2.74773403396e-05,-6.63830213245e-05,-4.30559729201e-05,1793249601063003904
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,718,680.607575205,662.607575205,638,879.392424795,783.607575205,814,650.392424795,629,654,0.417348655646,-0.00554300907408,0.079944368945,0.999999995361,-3.97958186525e-05,-7.5274483403e-05,-4.50300739031e-05,1793249601079670528
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,718,680.806741435,663,638,879.193258565,783.806741435,814,650,629,654,0.418184736624,-0.0055485028327,0.0799484928398,0.999999995939,-5.00141923854e-05,-5.86316349041e-05,-4.67154892413e-05,1793249601096337408
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,718,680.229728442,663,638,879.770271558,783.229728442,814,650,629,654,0.419097017588,-0.00555172116475,0.0799818698821,0.999999997247,-5.60623778728e-05,8.7148129648e-06,-4.78276599171e-05,1793249601113004288
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,718,680.346442873,663,637.653557127,880.346442873,783,814,650,629,654,0.419978414425,-0.00555624301609,0.0799843927773,0.999999996713,-6.27493821301e-05,1.64453114683e-05,-4.86431823543e-05,1793249601129670912
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,718,680.922057397,663,637.077942603,880.922057397,783,814,650,629,654,0.420839381401,-0.00556162714414,0.0799665056804,0.99999999623,-6.98589642631e-05,-1.52600898302e-05,-4.92624722637e-05,1793249601146337792
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,717.496003634,681,663,637.503996366,881.503996366,783,814,650,629,654,0.421698717084,-0.00556837849106,0.0799619703942,0.999999995339,-7.95523471481e-05,-2.31341324527e-05,-4.95711293366e-05,1793249601163004416
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,717,680.912457609,663,638,882,783,814.087542391,650,629,654,0.42256964881,-0.00557193021212,0.0799650061622,0.999999994961,-8.51443707126e-05,-1.9402387648e-05,-4.95140993365e-05,1793249601179671040
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,717,680.325393717,663,638,882,783,814.674606283,650,629,654,0.423508205641,-0.00555600288104,0.0799993109171,0.999999996323,-6.50248033161e-05,2.92556964636e-05,-4.76480365053e-05,1793249601196337664
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,717.255732427,680.255732427,663,638,882.255732427,783.255732427,814.744267573,650,629,654,0.424402309063,-0.00553346631415,0.08000042367,0.999999998072,-3.62110204412e-05,1.67575944626e-05,-4.75718926103e-05,1793249601213003776
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,717.829474904,680.829474904,663,638,882.829474904,783.829474904,814.170525096,650,629,654,0.42524113362,-0.00550271098528,0.0799602612934,0.999999996181,3.41425260373e-06,-7.17898389557e-05,-4.97215598929e-05,1793249601229670400
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,717.596663531,681,663,638,883.403336469,784,814,650.403336469,629,654.403336469,0.426147432503,-0.00550658234048,0.07993013809,0.999999993267,-5.56583201991e-06,-0.000103597720127,-5.198108105e-05,1793249601246337024
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,717.022751636,681,663,638,883.977248364,784,814,650.977248364,629,654.977248364,0.427082266971,-0.0055250977028,0.0799042605658,0.999999991704,-3.51016589355e-05,-0.000111409815928,-5.42870605785e-05,1793249601263003648
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.569484459,717.569484459,681,663,637.430515541,883.430515541,784,814,650.430515541,629,654.430515541,0.427967763785,-0.00553128839525,0.0799047612137,0.99999999069,-3.88852762957e-05,-0.000119305656055,-5.36056138811e-05,1793249601279670528
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,718,681.157188026,663,637.157188026,883.157188026,784,814.157188026,650,629,654,0.428859424183,-0.00553586450123,0.0799132791569,0.999999990971,-4.16118656806e-05,-0.000116461316976,-5.25679559162e-05,1793249601296337152
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,718,681.730877442,663,637.730877442,883.730877442,784,814.730877442,650,629,654,0.429772812671,-0.00553751048747,0.0799401553382,0.999999994095,-4.43543825588e-05,-8.51495458632e-05,-5.09132043692e-05,1793249601313004032
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,717.706692334,682,663.293307666,638,884,784,815,650,628.706692334,654,0.430702136775,-0.00554242495385,0.0799773645162,0.999999996996,-5.13561629625e-05,-3.07806528645e-05,-4.92228571507e-05,1793249601329670912
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,717.154211031,682,663.845788969,638,884,784,815,650,628.154211031,654,0.431645541919,-0.00555022752701,0.0800237041746,0.999999995976,-6.21215296978e-05,4.39620605123e-05,-4.75010566524e-05,1793249601346337536
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.567093569,717.432906431,681.567093569,664,638,884,784,815,650,628.432906431,654,0.432527448806,-0.00554787914992,0.0800129303999,0.999999996644,-6.18974950697e-05,2.25581089481e-05,-4.87019193667e-05,1793249601363004160
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.033175693,717.966824307,681.033175693,664,637.966824307,884.033175693,784,815,650.033175693,629,654,0.433382839855,-0.00554154081101,0.079978429776,0.999999996358,-5.72369939854e-05,-3.7261247249e-05,-5.11729985997e-05,1793249601379670528
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.629044612,717.370955388,681.629044612,664,637.370955388,884.629044612,784,815,650.629044612,629,654,0.434192374032,-0.00553419340357,0.0799165810011,0.999999990337,-4.95006439462e-05,-0.000117217092797,-5.59941181732e-05,1793249601396337408
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,717.216669382,682,664,637.216669382,885,784,815,651,629,654,0.435022162566,-0.00552952660779,0.0798892242766,0.999999986024,-4.68237931537e-05,-0.000149376183332,-5.87110376558e-05,1793249601413004032
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,717.790696965,682,664,637.790696965,885,784,815,651,629,654,0.435885357246,-0.00552928101032,0.0799187561391,0.999999991669,-5.24916994518e-05,-0.000102702910381,-5.795744875e-05,1793249601429670656
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.366359643,746,717.633640357,682,664,638,885,783.633640357,815.366359643,651,629,654,0.4367391384,-0.00553283710128,0.0799497408797,0.999999995027,-5.23496019262e-05,-6.4849030257e-05,-5.47648362321e-05,1793249601446337280
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.942960612,746,717.057039388,682,664,638,885,783.057039388,815.942960612,651,629,654,0.437587517398,-0.00553857485181,0.0799815593758,0.999999997033,-4.88733406686e-05,-3.20563022299e-05,-5.01725511455e-05,1793249601463003648
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.466070969,746,717.533929031,682.533929031,663.466070969,637.466070969,886.067858063,783.533929031,816,650.466070969,629,654,0.438407982919,-0.00554631719423,0.0799934041377,0.999999996532,-6.43054018644e-05,-7.8258275228e-06,-5.23502129031e-05,1793249601479670272
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717.87677681,683,663,637,886.87677681,784,815.87677681,650.12322319,629,654,0.439201217697,-0.00555356788369,0.0799910265458,0.999999995312,-7.96801498712e-05,-6.17599451803e-06,-5.46636850051e-05,1793249601496336896
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717.299465012,683,663,637,886.299465012,784,815.299465012,650.700534988,629,654,0.439905397451,-0.00555819580386,0.079944318923,0.999999991149,-8.71940882342e-05,-8.42739013107e-05,-5.47387614247e-05,1793249601513003776
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663.277086895,637,886,784,815,650.722913105,629,654,0.440557134698,-0.0055571455633,0.0798705370722,0.999999974415,-8.68791292753e-05,-0.000200724842747,-5.77277506398e-05,1793249601529670912
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663.852819748,637,886,784,815,650.147180252,629,654,0.441152349042,-0.00554997536589,0.0797675744547,0.999999930644,-7.81261349386e-05,-0.000358512913315,-6.38573722201e-05,1793249601546337792
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.563443836,717,683.436556164,663.563443836,637,886,783.563443836,815.436556164,650.436556164,629,654,0.441805764415,-0.00554616912205,0.0797213458064,0.999999905814,-7.80535660357e-05,-0.000421590097676,-6.7391261009e-05,1793249601563004416
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.022771235,717,684,663,636.977228765,886,783,816,651,629,654,0.442480846263,-0.00554369070393,0.0796982159625,0.999999894314,-8.07513192988e-05,-0.00044719724326,-6.975195031e-05,1793249601579671040
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.602381356,717,684,663,636.397618644,886,783,816,651,629,654,0.443196963952,-0.00554543112713,0.0797634697198,0.99999993288,-7.82931225009e-05,-0.000351931511023,-6.52232562753e-05,1793249601596337408
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,683.818226194,663,636.181773806,886,783,815.818226194,651,629,654,0.443882455108,-0.00554801156091,0.0798135055035,0.999999955927,-7.5460683863e-05,-0.000280412549697,-6.18028513266e-05,1793249601613004032
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,683.239309204,663,636.760690796,886,783,815.239309204,651,629,654,0.444501032916,-0.0055524272676,0.0798302927553,0.999999961571,-7.18105947083e-05,-0.000260776013752,-6.08038595782e-05,1793249601629670912
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662.662956666,636.662956666,886.337043334,783,815.337043334,651,629,654.337043334,0.445070720014,-0.0055559098738,0.0798218341798,0.999999956213,-8.40579136447e-05,-0.000277063971021,-6.1185120886e-05,1793249601646337536
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662.088411238,636.088411238,886.911588762,783,815.911588762,651,629,654.911588762,0.445605955581,-0.00555873495797,0.0797955857936,0.999999941491,-0.000107507553927,-0.000318666603707,-6.25389959335e-05,1793249601663004160
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717,683.496936783,662,636,886.503063217,782.503063217,816,651,629,654.503063217,0.44611602552,-0.00555797294289,0.0797672457386,0.999999928899,-9.94740581352e-05,-0.000358163254527,-6.34457744613e-05,1793249601679670528
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,684,662,635.916927835,886.083072165,782.083072165,816,651,629,654,0.446617550085,-0.0055565932737,0.0797402933811,0.99999991661,-8.8046768916e-05,-0.000393558675733,-6.43389212869e-05,1793249601696337152
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,684,662,635.337822017,886.662177983,782.662177983,816,651,629,654,0.447095377643,-0.00555542090358,0.0797238985606,0.999999911023,-9.05436234949e-05,-0.00040675215186,-6.56361932869e-05,1793249601713003776
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,717,684,661.758908888,635.241091112,887,782.758908888,815.758908888,650.758908888,629,654,0.447549302907,-0.00555350445303,0.0797065444466,0.999999902671,-9.05374060194e-05,-0.000426569642349,-6.70714092161e-05,1793249601729670656
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717,684,661.180265588,635.819734412,887,782.180265588,815.180265588,650.180265588,629,654,0.447969762477,-0.00555054621396,0.0796878472252,0.99999989004,-8.7026631712e-05,-0.00045566142836,-6.86997606016e-05,1793249601746337280
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717,683.606461819,661,635.606461819,887,782,815,650,629,654,0.448346314408,-0.00555191347737,0.0796657074634,0.999999871305,-9.39931174062e-05,-0.000493689958844,-6.94665741524e-05,1793249601763003904
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,717,683.034847883,661,635.034847883,887,782,815,650,629,654,0.448702998199,-0.00555523802739,0.079642009953,0.999999848454,-0.00010570055557,-0.000535762361885,-6.98435424769e-05,1793249601779670528
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.142347936,717,683.142347936,661,635,887,782,815.857652064,651,629,654,0.449406594077,-0.00556087099713,0.0796255960414,0.999999840648,-9.64133134835e-05,-0.000551976982799,-6.8769633395e-05,1793249601813003264
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.723464151,717,683.723464151,661,635,887,782,815.276535849,651,629,654,0.449739866575,-0.00556358884748,0.0796342200757,0.999999849271,-9.82469102149e-05,-0.000535653871281,-6.98644953378e-05,1793249601829669888
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717,684,661.301407959,635,887.301407959,781.698592041,815.301407959,651,629,654,0.450048017168,-0.00556547826467,0.0796428594727,0.99999985545,-0.000101114450395,-0.000523315373845,-7.08334084416e-05,1793249601846336768
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+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,717,684,661.548718595,635,887.548718595,781,816,651,628.548718595,654.451281405,0.450580242024,-0.00556875870543,0.0796499681791,0.999999856849,-0.000118307809556,-0.000517029252328,-7.06156747172e-05,1793249601879670528
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.973231559,716.973231559,684,661.026768441,634.973231559,887,781,816,650.973231559,628.026768441,654.973231559,0.450814618338,-0.0055711429905,0.0796453383298,0.999999851862,-0.000133210494144,-0.000523253386262,-6.88259354849e-05,1793249601896338176
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.382005107,716.382005107,684,661.617994893,634.382005107,887,781,816,650.382005107,628.617994893,654.382005107,0.45100712894,-0.00557280851367,0.0796344815851,0.999999841696,-0.000124802755643,-0.000545032007388,-6.30232878187e-05,1793249601913004800
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.204229181,716.204229181,684,661.795770819,634,887.204229181,781,816,650.204229181,629,654,0.451186907526,-0.00557379472016,0.0796242698743,0.999999831729,-0.000118840356083,-0.000564635214358,-6.00438522448e-05,1793249601929671168
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+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634.165306841,888,781.834693159,816,651,628.165306841,654,0.452177829096,-0.00557493441576,0.079554457368,0.999999761393,-0.000119943523688,-0.000676855522222,-6.85128738843e-05,1793249602129670912
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+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660.601992526,634,888,780.601992526,816,651,629,654,0.452251733319,-0.00557236808187,0.0795453348927,0.999999751374,-0.000122798105608,-0.000691161946159,-6.6834503468e-05,1793249602429670912
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+244,4.066666667,HOLD_POSE2,766,747,717,684,660,634,887,781,816,651,628,655,0.452252010242,-0.00557281601792,0.0795450486264,0.999999750624,-0.000123876022944,-0.000692125140464,-6.6105772974e-05,1793249602527747328
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+256,4.266666667,HOLD_POSE2,765.010177672,746,717,683.020355344,660,634,887.010177672,780,816,650.010177672,628.989822328,654,0.452254145114,-0.00557230528826,0.0795448475982,0.999999750218,-0.000122757737844,-0.00069302726297,-6.48670655497e-05,1793249602727745536
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.204957712,746,716.795042288,684.795042288,660.795042288,634,887.795042288,781,816,651,629,654,0.451403692447,-0.00555364423269,0.0794716824124,0.999999662893,-0.000105215224626,-0.000812825891268,-4.95798126725e-05,1793249603164926976
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.062043071,746,716.937956929,684,660,634,887,781,815.062043071,651,628.062043071,654,0.450910313735,-0.00554403196744,0.0794985726571,0.999999696038,-8.94425401829e-05,-0.000773746655491,-3.52244738201e-05,1793249603214926848
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.09176674,746,717,683.90823326,660,634,887,781,816,651,629,654,0.45048051704,-0.00553566864871,0.0795172943401,0.999999723263,-7.05005835075e-05,-0.000740252297447,-2.30304304683e-05,1793249603248260352
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.268566125,660,634,887.268566125,781,816,651,629,654,0.449926090036,-0.00552411743089,0.0795197187463,0.999999727342,-4.4762366785e-05,-0.00073704236423,-8.95422319946e-06,1793249603281593600
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.415926893,746,717,683.584073107,660.584073107,635,887.584073107,781,815.415926893,651,629,654,0.448564308824,-0.00550339324572,0.0795254946838,0.999999731812,4.37468165635e-05,-0.000730923077209,1.46434407188e-05,1793249603348260096
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,716.675942293,684,660,635,887,781,815.324057707,651,628.675942293,654,0.447294599026,-0.00548298804842,0.0795356881047,0.99999974608,3.24165553812e-05,-0.000711872094796,5.25674622478e-06,1793249603398260224
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,716.100281246,684,660,635,887,781,815.899718754,651,628.100281246,654,0.446854447093,-0.00547811199974,0.0795543729008,0.999999768225,4.40055824205e-05,-0.000679342129951,1.03911662507e-05,1793249603414926848
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.051186712,717,684,661.051186712,635,886.948813288,782,815.948813288,651,629,654,0.445891772136,-0.00546450732735,0.0796151150709,0.999999821016,6.98980284115e-05,-0.000593896102896,1.92356133968e-05,1793249603448260096
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.727348396,745.727348396,717,680,661,636.727348396,878,783,813,650,629,653.272651604,0.413815765117,-0.00541524791562,0.0797821034797,0.999999919388,0.000198015319009,-0.000346215286389,4.63598622769e-05,1793249604114927616
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.147732248,745.147732248,717,680,661,636.147732248,878,783,813,650,629,653.852267752,0.413103864557,-0.00541701877179,0.0798028277371,0.999999932667,0.000193827783406,-0.000308210143529,4.58586203552e-05,1793249604131594240
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.429439058,745.429439058,717.429439058,680.429439058,661,636,878,783,813.429439058,650.429439058,629,654,0.412375291918,-0.00541348440792,0.0798033864857,0.999999930362,0.000201333275844,-0.000310729758158,4.6772052206e-05,1793249604148260864
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.994273835,745.994273835,717.994273835,680.994273835,661,636.005726165,878,783,813.994273835,650.994273835,629,654,0.411641334308,-0.00540815485679,0.0797970095608,0.999999922702,0.000212773105314,-0.000327117304127,4.81456244023e-05,1793249604164927488
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.422724939,745.422724939,717.422724939,680.422724939,661,636.577275061,878,783,813.422724939,650.422724939,629,654,0.410938801114,-0.00540475630245,0.0797869010539,0.999999915984,0.000217746940147,-0.000344081919541,4.71704221175e-05,1793249604181594368
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.155041506,745,717,679.844958494,661,637,878,783,813.155041506,650,629,654,0.4102619699,-0.00540206469721,0.0797838500959,0.999999913354,0.000222645800817,-0.000348616544303,4.67714261194e-05,1793249604198260992
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.75046864,745,717,679.24953136,661,637,878,783,813.75046864,650,629,654,0.409658143378,-0.00540138113556,0.0798008456585,0.999999922495,0.000227331703273,-0.000317844567793,4.80091075549e-05,1793249604214927872
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,717.335002126,679.335002126,661,637,878,783,813.664997874,650.335002126,629,654,0.409072914341,-0.00539984546546,0.0798218158774,0.999999931244,0.000232990209268,-0.000284144506865,4.98891762994e-05,1793249604231594752
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,717.911676833,679.911676833,661,637,878,783,813.088323167,650.911676833,629,654,0.408501101679,-0.00539769507914,0.0798456534365,0.999999939157,0.000239350356987,-0.000248332109646,5.2232667071e-05,1793249604248261120
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,717.515345249,679.515345249,661.484654751,636.515345249,877.515345249,783,813.484654751,651,629,654,0.407911126739,-0.00539544097167,0.0798234489689,0.999999928289,0.000239552551169,-0.000288849735495,5.10054694664e-05,1793249604264927488
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,717.058946704,679,661.941053296,636,877.058946704,783,813.941053296,650.941053296,629,654,0.40732361278,-0.00539339767491,0.079793763503,0.999999912158,0.000238546160637,-0.000341125709411,4.91235658966e-05,1793249604281593856
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,717.651175281,679,661.348824719,636,877.651175281,783,813.348824719,650.348824719,629,654,0.406788080252,-0.00539343126016,0.0797717330615,0.999999900609,0.000236681605671,-0.000374885639122,4.71610383762e-05,1793249604298260480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,717.762148019,679,661,636.237851981,877.762148019,783,813,650,629,654,0.406290892906,-0.0053926542694,0.0797650742685,0.999999898678,0.00023639725088,-0.00038033154435,4.59253262527e-05,1793249604314927104
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,717.183427827,679,661,636.816572173,877.183427827,783,813,650,629,654,0.405848658496,-0.00539071563349,0.0797804447513,0.999999910961,0.000238377498093,-0.000345200316099,4.57312212226e-05,1793249604331594240
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,637,877.393964701,783,813.393964701,650.393964701,629,654,0.405432344347,-0.00539015053036,0.0797984478176,0.999999921062,0.000239057868014,-0.000313961762501,4.64347795831e-05,1793249604348261120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,661,637,877.970741202,783,813.970741202,650.970741202,629,654,0.405028057962,-0.00539022278872,0.0798176724855,0.999999929798,0.000239135054778,-0.000284529527087,4.75548814729e-05,1793249604364927744
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.456191686,745.543808314,717,678.456191686,661,637,877.456191686,783,813.456191686,650.456191686,629,654,0.404641673923,-0.00539097862185,0.0798249436618,0.999999930916,0.000239146122303,-0.000280451821042,4.82108372147e-05,1793249604381594368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.120461552,745.879538448,717,678.120461552,661,636.879538448,877.120461552,783,813.240923104,650,629,654,0.404262476349,-0.00539131657508,0.0798304715356,0.99999993073,0.000240952794958,-0.000279395544325,4.91958899639e-05,1793249604398260736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.711911255,745.288088745,717,678.711911255,661,636.288088745,877.711911255,783,814.42382251,650,629,654,0.403907636248,-0.00538987784989,0.0798316808901,0.999999926901,0.000249793852318,-0.000284855087,5.15646453715e-05,1793249604414927104
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.702888234,745.297111766,717,679,661,636.297111766,877.702888234,783,814.405776467,650,629,653.702888234,0.40357795182,-0.00538885697488,0.0798322475929,0.999999925534,0.000251362631321,-0.000288353226957,5.09989477463e-05,1793249604431593728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.123622343,745.876377657,717,679,661,636.876377657,877.123622343,783,813.247244687,650,629,653.123622343,0.403272156663,-0.00538823291409,0.0798322039973,0.999999926554,0.000246025243297,-0.000289988707731,4.76465275456e-05,1793249604448260608
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.547072796,717,679,661,637,877.452927204,783.452927204,813,650,628.547072796,653.452927204,0.403002585272,-0.00538887923348,0.0798319029643,0.999999926652,0.000243774403044,-0.000291572321839,4.74970368537e-05,1793249604464927488
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.600423647,745,717,678.399576353,661,636.399576353,877.399576353,783.399576353,813,650,628.600423647,653.399576353,0.402527194334,-0.00538848212938,0.0798344405652,0.999999927145,0.000244014897392,-0.000289353319176,4.94171179394e-05,1793249604498260992
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,717,678.179586738,661,636,877,783,813,650.179586738,629,653.179586738,0.402319696198,-0.00538771007709,0.0798370588637,0.999999927974,0.000245225107133,-0.00028526860047,5.03884553339e-05,1793249604514927616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,717,678.775639031,661,636,877,783,813,650.775639031,629,653.775639031,0.402135958066,-0.00538810436213,0.0798393657535,0.999999929337,0.000245744515818,-0.000279906352374,5.08812244458e-05,1793249604531594240
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,717,679,661.360024172,636,877,783,813.360024172,651,629,653.639975828,0.401972444698,-0.00538772966241,0.0798431474269,0.999999930882,0.000245715807042,-0.000274142007805,5.20155258626e-05,1793249604548261120
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,661.937366822,636,877,783,813.937366822,651,629,653.062633178,0.401821139424,-0.00538689078668,0.0798478193122,0.999999932519,0.000245356242601,-0.000268134948473,5.35370702796e-05,1793249604564928000
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.488148118,745,717.511851882,679,661.488148118,636.511851882,877,783,814,651,629,653,0.401692235631,-0.0053866440444,0.0798463940608,0.999999931474,0.000248422664201,-0.000269266500947,5.32272681041e-05,1793249604581594112
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,717.911713014,679,661,636.911713014,877,783,814,650.911713014,629,653.088286986,0.401568404559,-0.00538679376467,0.0798437496317,0.999999929981,0.000251562554248,-0.000272252817546,5.1318206938e-05,1793249604598260480
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,717.322233553,679,661,636.322233553,877,783,814,650.322233553,629,653.677766447,0.401457895675,-0.00538878510182,0.0798383959862,0.999999927758,0.000252752856214,-0.000280837035025,4.15954709186e-05,1793249604614926848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,717,679,661,636,877,783,813.737505056,650.262494944,629,653.737505056,0.401358336231,-0.0053897601368,0.0798325879908,0.999999925333,0.000252991771108,-0.000289745489225,3.71066218628e-05,1793249604631593472
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,717,679,661,636,877,783,813.1585051,650.8414949,629,653.1585051,0.401271979153,-0.00538950975862,0.0798262321604,0.999999922755,0.000252083544713,-0.000299044893504,3.89285671521e-05,1793249604648260096
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.418277625,745,717.418277625,679,661,636,877,783,813,651,629,653.418277625,0.401205314411,-0.00538928920062,0.0798229311278,0.999999921279,0.000251933473767,-0.000303886946426,4.02952617019e-05,1793249604664926720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.994224554,745,717.994224554,679,661,636,877,783,813,651,629,653.994224554,0.401146072676,-0.00538907988331,0.0798207815981,0.99999992023,0.000252069188731,-0.000307048805303,4.14903499299e-05,1793249604681593344
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.432826698,745.567173302,717.432826698,679,661,636,877.567173302,783,813,650.432826698,629,654,0.401108160337,-0.0053897237069,0.0798225495235,0.999999921381,0.000251781871211,-0.000303418786754,4.21913022368e-05,1793249604698259968
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.144701293,745.855298707,717,679,661,636,877.855298707,783,813,650.144701293,629,653.855298707,0.401073157285,-0.00538991730006,0.0798242447898,0.999999922297,0.000251944175665,-0.000300159979184,4.2816130775e-05,1793249604714926592
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.736471017,745.263528983,717,679,661,636,877.263528983,783,813,650.736471017,629,653.263528983,0.401046475248,-0.00538869316383,0.0798255929702,0.999999922453,0.000253508869104,-0.000298260619066,4.32212317709e-05,1793249604731593472
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,717.322123482,678.677876518,661,636,877,783,813,651,629,653.322123482,0.401024498055,-0.00538782479089,0.0798256776789,0.999999922372,0.000254498176177,-0.000297655385073,4.34404968788e-05,1793249604748260096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,717.902864752,678.097135248,661,636,877,783,813,651,629,653.902864752,0.401006298158,-0.00538724204343,0.0798247480057,0.999999922106,0.00025502553278,-0.000298089143854,4.35105631398e-05,1793249604764926720
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.52304441,745,718,678.47695559,661,636.47695559,877,783,813.47695559,651,629,653.52304441,0.400996866691,-0.00538945334233,0.07982543128,0.999999923184,0.000251905301654,-0.00029710932828,4.35982556745e-05,1793249604781593856
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.785907106,745,717.214092894,678.214092894,661,636.214092894,877.214092894,783,813.214092894,651,629,654,0.400981439752,-0.00539151685165,0.0798278604145,0.999999924621,0.000250486353801,-0.000293432092851,4.37374377561e-05,1793249604831594752
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.196951966,745,717.803048034,678.803048034,661,636.803048034,877.803048034,783,813.803048034,651,629,654,0.400978404834,-0.00539000833636,0.0798274512784,0.999999924753,0.000250035611087,-0.000293426175856,4.33315764743e-05,1793249604848260864
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,717.04122953,679,661,637,877.04122953,783,814,650.04122953,629,654,0.400977024926,-0.0053873510975,0.079828398843,0.999999924131,0.000254041624803,-0.000292169007066,4.28622838215e-05,1793249604881594368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.532305566,745,717.532305566,679,661,637,877,783,813.467694434,650.532305566,629,654,0.400976846512,-0.00539034493237,0.0798293927959,0.999999925143,0.00025189713603,-0.00029048243494,4.33823597212e-05,1793249604898260992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,717.891043691,679,661,637,877,783,813,650.891043691,629,654,0.400976830158,-0.00539272395244,0.0798304281513,0.999999926029,0.00025033875547,-0.000288720366959,4.37432615789e-05,1793249604914927616
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.71472344,745,717.28527656,678.71472344,661,637,877,783,813.28527656,650.28527656,629,654,0.400976929355,-0.00539090092597,0.0798315953146,0.999999925905,0.000252831473953,-0.000287100961491,4.28781151271e-05,1793249604948261632
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.135727694,745,717.864272306,678.135727694,661,637,877,783,813.864272306,650.864272306,629,654,0.400975029164,-0.00539272410507,0.0798305944658,0.999999926026,0.00024987609523,-0.000289252333937,4.29256007833e-05,1793249604964928256
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661.982160658,637,877,783,813,650.017839342,629,654,0.400974982975,-0.0053905913686,0.0798305789324,0.999999924837,0.000254882702492,-0.000288928189562,4.33797520659e-05,1793249604998260992
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..195aa00a28bd25570d78cc053c7a40560d866787
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,405 @@
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+338,5.633333333,pose2_to_pose3_retreat,0.586908004418,0.000150068227898,1.07003373468,0.557478683677,0.00882270446326,1.06970512264
+339,5.650000000,pose2_to_pose3_retreat,0.586265561319,0.000150213100079,1.07003363737,0.556836239809,0.0088228470548,1.06970503398
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+341,5.683333333,pose2_to_pose3_retreat,0.585008669019,0.000150217164412,1.07003373941,0.555579346044,0.00882284596674,1.06970513119
+342,5.700000000,pose2_to_pose3_retreat,0.584404313958,0.000150130705226,1.07003356911,0.554974992032,0.00882276309995,1.06970496175
+343,5.716666667,pose2_to_pose3_retreat,0.583825128356,0.00015003515001,1.07003338195,0.554395806642,0.00882266823388,1.06970477374
+344,5.733333333,pose2_to_pose3_retreat,0.583274334212,0.000150119777494,1.07003336167,0.553845011498,0.00882274961871,1.06970475746
+345,5.750000000,pose2_to_pose3_retreat,0.582743404245,0.000150210732821,1.07003340178,0.553314081241,0.00882283950329,1.0697047952
+346,5.766666667,pose2_to_pose3_retreat,0.582228239778,0.00015007449415,1.07003374094,0.552798919529,0.00882271252626,1.06970513212
+347,5.783333333,pose2_to_pose3_retreat,0.581725027339,0.000150156292782,1.07003373762,0.552295706655,0.00882279293501,1.069705131
+348,5.800000000,pose2_to_pose3_retreat,0.581237415066,0.000150226907801,1.07003362543,0.551808093367,0.00882286028634,1.06970502389
+349,5.816666667,pose2_to_pose3_retreat,0.580772557056,0.000150067551701,1.07003359623,0.551343237136,0.00882270693896,1.06970499415
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+356,5.933333333,pose2_to_pose3_retreat,0.57823348091,0.000150130950766,1.07003356011,0.548804160027,0.00882276716807,1.06970496074
+357,5.950000000,pose2_to_pose3_retreat,0.577946846398,0.000150043805749,1.07003359415,0.548517525655,0.00882268037191,1.0697049912
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+359,5.983333333,pose2_to_pose3_retreat,0.577440415141,0.000150206943724,1.07003349465,0.548011093504,0.00882284040121,1.06970488978
+360,6.000000000,pose2_to_pose3_retreat,0.577220718861,0.000150185220648,1.07003351441,0.547791397841,0.00882282075146,1.06970490906
+361,6.016666667,pose2_to_pose3_retreat,0.577022552909,0.000150069467756,1.07003345211,0.547593231799,0.0088227045304,1.06970484227
+362,6.033333333,pose2_to_pose3_retreat,0.576842960896,0.00015006003505,1.07003370437,0.54741363779,0.00882268781084,1.069705081
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+364,6.066666667,pose2_to_pose3_retreat,0.576536609792,0.000150205665362,1.07003354271,0.547107287075,0.00882283536007,1.06970493532
+365,6.083333333,pose2_to_pose3_retreat,0.576406099603,0.000150090446765,1.07003360165,0.546976778289,0.00882272468757,1.06970498857
+366,6.100000000,pose2_to_pose3_retreat,0.576288406415,0.000150054638859,1.07003357156,0.546859085646,0.00882269080724,1.06970496064
+367,6.116666667,pose2_to_pose3_retreat,0.576181927037,0.000149973733511,1.07003343956,0.546752607348,0.0088226137893,1.06970483439
+368,6.133333333,pose2_to_pose3_retreat,0.576086906032,0.000149892562969,1.07003343863,0.546657587077,0.00882253502268,1.06970483143
+369,6.150000000,pose2_to_pose3_retreat,0.576002846388,0.000150088492983,1.07003366875,0.54657352456,0.00882272091235,1.0697050543
+370,6.166666667,pose2_to_pose3_retreat,0.575930130257,0.000150176639743,1.07003370335,0.546500807268,0.00882280539803,1.06970509629
+371,6.183333333,pose2_to_pose3_retreat,0.575870136739,0.000150124529755,1.07003351151,0.546440815422,0.00882275888931,1.06970490247
+372,6.200000000,pose2_to_pose3_retreat,0.575821397566,0.000150045462607,1.07003364492,0.546392076902,0.00882268175245,1.06970502841
+373,6.216666667,pose2_to_pose3_retreat,0.575783088528,0.00015022476676,1.07003351611,0.546353765055,0.00882285192804,1.06970491025
+374,6.233333333,pose2_to_pose3_retreat,0.575752637266,0.000150288236976,1.07003340179,0.546323313624,0.00882291499451,1.06970480054
+375,6.250000000,pose2_to_pose3_retreat,0.575729237469,0.000150245923898,1.0700333427,0.546299914541,0.00882287519966,1.06970474409
+376,6.266666667,pose2_to_pose3_retreat,0.575710721555,0.000150174161587,1.07003339792,0.546281399529,0.00882280654217,1.06970480066
+377,6.283333333,pose2_to_pose3_retreat,0.575697008909,0.000150162265694,1.07003369412,0.546267688771,0.00882280085402,1.0697050917
+378,6.300000000,pose2_to_pose3_retreat,0.575687094334,0.000150241630109,1.07003349532,0.546257771127,0.00882286971602,1.06970489008
+379,6.316666667,pose2_to_pose3_retreat,0.575680253463,0.000150300864007,1.07003342916,0.546250928621,0.00882292343911,1.06970482467
+380,6.333333333,pose2_to_pose3_retreat,0.575675964178,0.000150331234297,1.07003353267,0.546246639523,0.00882295458129,1.06970493183
+381,6.350000000,pose2_to_pose3_retreat,0.575672986195,0.000150287446821,1.07003359019,0.546243662388,0.00882291363557,1.06970498838
+382,6.366666667,pose2_to_pose3_retreat,0.57567113295,0.000150195219355,1.07003361161,0.546241810392,0.00882282548613,1.06970500567
+383,6.383333333,pose2_to_pose3_retreat,0.575669884466,0.000150133088015,1.07003362604,0.546240562748,0.00882276610206,1.06970501732
+384,6.400000000,pose2_to_pose3_retreat,0.575669199328,0.000150098991833,1.07003363396,0.546239878071,0.00882273351352,1.06970502372
+385,6.416666667,pose2_to_pose3_retreat,0.575669067383,0.000150092425544,1.07003363549,0.546239746215,0.00882272723757,1.06970502495
+386,6.433333333,pose2_to_pose3_retreat,0.575669020606,0.000150090097664,1.07003363603,0.54623969947,0.00882272501262,1.06970502539
+387,6.450000000,pose2_to_pose3_retreat,0.575668737952,0.000150091707093,1.07003363799,0.546239416883,0.00882272683599,1.06970502699
+388,6.466666667,pose2_to_pose3_retreat,0.575668451142,0.000150103770447,1.07003363912,0.546239130059,0.00882273884494,1.06970502794
+389,6.483333333,pose2_to_pose3_retreat,0.575668197375,0.000150114444011,1.07003364012,0.54623887628,0.00882274947036,1.06970502877
+390,6.500000000,pose2_to_pose3_retreat,0.575667860201,0.00015012862571,1.07003364145,0.546238539089,0.0088227635881,1.06970502988
+391,6.516666667,pose2_to_pose3_retreat,0.575667633354,0.000150138167,1.07003364234,0.546238312231,0.00882277308635,1.06970503063
+392,6.533333333,pose2_to_pose3_retreat,0.57566753066,0.000150142486338,1.07003364274,0.546238209532,0.00882277738621,1.06970503097
+393,6.550000000,pose2_to_pose3_retreat,0.575667251181,0.000150154241344,1.07003364384,0.54623793004,0.0088227890882,1.06970503189
+394,6.566666667,pose2_to_pose3_retreat,0.575666814571,0.00015017260536,1.07003364556,0.546237493409,0.00882280736939,1.06970503333
+395,6.583333333,pose2_to_pose3_retreat,0.575666259351,0.000150195958192,1.07003364774,0.546236938161,0.00882283061689,1.06970503515
+396,6.600000000,pose2_to_pose3_retreat,0.575665723529,0.000150190931552,1.07003360368,0.546236401871,0.00882282410475,1.06970499383
+397,6.616666667,pose2_to_pose3_retreat,0.575665554081,0.000150183669726,1.07003358024,0.546236232184,0.00882281608837,1.06970497189
+398,6.633333333,pose2_to_pose3_retreat,0.575665486881,0.000150180789839,1.07003357094,0.546236164889,0.00882281290925,1.06970496319
+399,6.650000000,pose2_to_pose3_retreat,0.575665357637,0.000150175251015,1.07003355307,0.546236035463,0.0088228067949,1.06970494646
+400,6.666666667,pose2_to_pose3_retreat,0.575665000789,0.000150159958089,1.07003350371,0.546235678112,0.00882278991294,1.06970490026
+401,6.683333333,pose2_to_pose3_retreat,0.575664478783,0.000150233557607,1.07003353321,0.546235155588,0.00882286187062,1.0697049328
+402,6.700000000,pose2_to_pose3_retreat,0.575664290335,0.000150259742417,1.07003357771,0.546234967473,0.00882288925208,1.06970497898
+403,6.716666667,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650641,1.0697049751
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3adc02954d37b75c7f192f79fed2b5e8755f5957
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7275b6ed9267bf8abbbc3d0cf58fa239aae44eee25399662d915bb7d1571e560
+size 25790471
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f59f503348457dd779f41a23b0a5f0c8ba484a6e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+21,0.350000000,BASELINE,765.807075113,745,718,678.807075113,661.192924887,637,877.807075113,782.807075113,813.807075113,650.192924887,629,654,0.400975954734,-0.00539173290496,0.0798344385115,0.999999928544,0.000249179654682,-0.000281177938372,4.1965870058e-05,1793249605663761408
+22,0.366666667,BASELINE,765.22807287,745,718,678.22807287,661.77192713,637,877.22807287,782.22807287,813.22807287,650.77192713,629,654,0.400976541254,-0.00539190297789,0.0798350082141,0.999999928912,0.000248419412071,-0.00028052003356,4.21042789601e-05,1793249605680428288
+23,0.383333333,BASELINE,765,745,717.650640701,678,661.650640701,637,877,782.349359299,813.349359299,650.650640701,629,654,0.400976508031,-0.00539140132101,0.0798350995343,0.999999928482,0.000250140253526,-0.000280501632964,4.22376702054e-05,1793249605697095168
+24,0.400000000,BASELINE,765,745,717.074228883,678,661.074228883,637,877,782.925771117,813.925771117,650.074228883,629,654,0.400976072031,-0.00539046309941,0.0798348799484,0.999999927526,0.000253473579207,-0.000280898853246,4.23678004327e-05,1793249605713761792
+25,0.416666667,BASELINE,765.501851636,745,717.501851636,678.501851636,661,637,877.501851636,783,814,650.501851636,629,654,0.400975531957,-0.00539177108092,0.0798349059045,0.999999927738,0.000252116430744,-0.00028135166677,4.24550661281e-05,1793249605730427904
+26,0.433333333,BASELINE,766,745.079545516,718,679,661,636.920454484,877.920454484,783,813.920454484,651,629,654,0.400975068885,-0.00539320791782,0.0798349672092,0.999999928089,0.000250308367445,-0.000281708761227,4.25282624584e-05,1793249605747094528
+27,0.450000000,BASELINE,766,745.667872089,718,679,661,636.332127911,877.332127911,783,813.332127911,651,629,654,0.400975196714,-0.00539334531515,0.0798350224665,0.999999928239,0.000250050689509,-0.000281401068062,4.25519948805e-05,1793249605763761152
+28,0.466666667,BASELINE,766,745.746587628,718,679,661.253412372,636.253412372,877,783,813.253412372,650.746587628,629,654,0.400975550936,-0.00539292165313,0.0798351917975,0.99999992838,0.000249949586682,-0.0002809938029,4.25203437536e-05,1793249605780427776
+29,0.483333333,BASELINE,766,745.164659439,718,679,661.835340561,636.835340561,877,783,813.835340561,650.164659439,629,654,0.400976198643,-0.00539177065145,0.0798355090102,0.999999928509,0.000250051462916,-0.000280457455757,4.24168951367e-05,1793249605797094400
+30,0.500000000,BASELINE,766,745,718,679,661.589124116,637,877,783,814,650.410875884,629,654,0.40097738851,-0.00539210193768,0.0798360966814,0.999999928832,0.000250161979755,-0.00027919618746,4.24758389576e-05,1793249605813761792
+31,0.516666667,BASELINE,766,745,718,679,661.01611151,637,877,783,814,650.98388849,629,654,0.400978792319,-0.00539301815313,0.0798367910789,0.999999929229,0.000250275906284,-0.000277648856293,4.25988648513e-05,1793249605830429184
+32,0.533333333,BASELINE,765.427359051,745,718,678.427359051,661,636.427359051,877,783,814,651,629,654,0.400977184174,-0.00539127047804,0.0798357325769,0.999999928005,0.000252953893846,-0.000279664023836,4.23415608254e-05,1793249605847095808
+33,0.550000000,BASELINE,765,745,718,678,661,636.158952438,876.841047562,783,813.841047562,650.841047562,629,654,0.400976030234,-0.00538976759976,0.079835037933,0.999999927157,0.000254786424201,-0.000281053537241,4.21733629156e-05,1793249605863762432
+34,0.566666667,BASELINE,765,745,718,678,661,636.737616109,876.262383891,783,813.262383891,650.262383891,629,654,0.400976305698,-0.00538911460066,0.0798354379562,0.999999927455,0.000254190667703,-0.000280518878655,4.22695019891e-05,1793249605880429056
+35,0.583333333,BASELINE,765.314671339,745,718,678.314671339,661.629342679,636.685328661,876.314671339,783,813,650.314671339,629,654,0.400976173249,-0.00538994384057,0.0798353165321,0.999999927964,0.000252094074625,-0.000280599818252,4.22464152946e-05,1793249605897095424
+36,0.600000000,BASELINE,765.89039228,745,718,678.89039228,662.780784561,636.10960772,876.89039228,783,813,650.89039228,629,654,0.400975702398,-0.00539200273771,0.0798347625181,0.99999992864,0.000248752395761,-0.000281191454634,4.21244195731e-05,1793249605913761280
+37,0.616666667,BASELINE,766,745,718,678.536369854,662.072739708,636,877,783,813,650.536369854,629,654,0.400974837902,-0.00539226796062,0.0798348203627,0.999999928137,0.000250195653194,-0.000281686617093,4.21916363142e-05,1793249605930427904
+38,0.633333333,BASELINE,765.962442872,745,717.962442872,678.037557128,661,636,877,783,813.037557128,650.037557128,629,654,0.400974066525,-0.0053920906892,0.0798350477993,0.999999927422,0.000252646160042,-0.000282021566079,4.22984292824e-05,1793249605947094528
+39,0.650000000,BASELINE,765.369696944,745,717.369696944,678.630303056,661,636,877,783,813.630303056,650.630303056,629,654,0.400976040055,-0.00539160731266,0.0798356553227,0.999999927719,0.000253353210253,-0.000280323514967,4.23325283255e-05,1793249605963761664
+40,0.666666667,BASELINE,765.218011511,745,717.218011511,679,661,636.218011511,877,783,813.781988489,651,629,654,0.400976827916,-0.00539107208265,0.0798356911064,0.999999927773,0.000254095919799,-0.000279457341801,4.23352023267e-05,1793249605980428544
+41,0.683333333,BASELINE,765.79737047,745,717.79737047,679,661,636.79737047,877,783,813.20262953,651,629,654,0.400975650569,-0.00539045090712,0.079834779249,0.999999927428,0.000254897733565,-0.000279969981139,4.22857902747e-05,1793249605997095168
+42,0.700000000,BASELINE,766,745,718,679,661,636.626554746,877.373445254,783,813,650.626554746,629,654,0.400975352743,-0.00539043018734,0.0798345285706,0.999999927721,0.00025292335019,-0.000280738185583,4.21064432814e-05,1793249606013761536
+43,0.716666667,BASELINE,766,745,718,679,661,636.052246424,877.947753576,783,813,650.052246424,629,654,0.400975527979,-0.00539073243163,0.0798346335172,0.999999928348,0.000249455747983,-0.000281643849488,4.18572088538e-05,1793249606030427904
+44,0.733333333,BASELINE,766,745,718,678.47824349,660.47824349,636,877.47824349,783,813,650.52175651,629,653.47824349,0.400975870781,-0.0053916956967,0.0798355624173,0.999999928772,0.000249312898179,-0.000280219665995,4.21416306036e-05,1793249606047094784
+45,0.750000000,BASELINE,766,745,717.901269648,678,660.098730352,636.098730352,876.901269648,783,813,650.901269648,629,653,0.400976466352,-0.00539259863238,0.0798365585993,0.999999929206,0.000249298407673,-0.000278638434268,4.24162865195e-05,1793249606063761152
+46,0.766666667,BASELINE,766,745,717.309301215,678,660.690698785,636.690698785,876.309301215,783,813,650.309301215,629,653,0.40097824093,-0.00539286968563,0.0798374789598,0.999999929799,0.000248262912569,-0.000277437464472,4.23753441226e-05,1793249606080427776
+47,0.783333333,BASELINE,766,745,717,678,661,636.723773598,876.276226402,783,813.276226402,650.276226402,629,653.276226402,0.400978235479,-0.00539251726166,0.0798371716494,0.999999929474,0.000249083242493,-0.000277862796304,4.24468377335e-05,1793249606097094656
+48,0.800000000,BASELINE,766,745,717,678,661,636.145293601,876.854706399,783,813.854706399,650.854706399,629,653.854706399,0.400976282275,-0.00539148261394,0.0798355209921,0.999999928136,0.000251934260801,-0.00028006766646,4.26413615312e-05,1793249606113761280
+49,0.816666667,BASELINE,765.571828131,745,717,678.428171869,661,636.428171869,877,783,814,650.571828131,629,654,0.400976169178,-0.00539090483743,0.0798351477399,0.999999927826,0.000252462463204,-0.000280722275688,4.24826966649e-05,1793249606130428416
+50,0.833333333,BASELINE,765.000044599,745,717,678.999955401,661,636.999955401,877,783,814,650.000044599,629,654,0.400976673265,-0.0053904802986,0.0798352029378,0.999999927864,0.000252211577701,-0.000280856917071,4.22055699857e-05,1793249606147095040
+51,0.850000000,BASELINE,765,745,717,679,661,636.409210128,877,783,813.409210128,650.590789872,629.590789872,654,0.4009761508,-0.00539068046713,0.0798357448192,0.999999928041,0.000251922367515,-0.000280514558159,4.20137551888e-05,1793249606163761408
+52,0.866666667,BASELINE,765.178099204,745,717.178099204,679,661,636.178099204,877,783,813,651,629.821900796,654,0.40097545105,-0.00539098421669,0.0798358397871,0.999999928131,0.00025148752824,-0.0002806017055,4.18773061771e-05,1793249606180427776
+53,0.883333333,BASELINE,765.757462876,745,717.757462876,679,661,636.757462876,877,783,813,651,629.242537124,654,0.400974352051,-0.00539152122855,0.0798349277557,0.999999928027,0.00025072458769,-0.000281656631068,4.18655834615e-05,1793249606197094400
+54,0.900000000,BASELINE,765.665794831,745,717.665794831,679,661,636.665794831,877,783,813,651,629,654,0.400975253938,-0.00539251949549,0.0798355198444,0.999999928626,0.00024961968087,-0.000280494016773,4.1953969313e-05,1793249606213761280
+55,0.916666667,BASELINE,765.090940127,745,717.090940127,679,661,636.090940127,877,783,813,651,629,654,0.400977596593,-0.00539384989616,0.0798371949976,0.999999929726,0.000248268536047,-0.000277734628997,4.21144398668e-05,1793249606230427904
+56,0.933333333,BASELINE,765.485049387,745,717,679,661,636.485049387,877,783,813,651,629,653.514950613,0.400977368794,-0.00539338263426,0.0798370610009,0.999999929435,0.000249078139771,-0.000278061011021,4.21074885065e-05,1793249606247094528
+57,0.950000000,BASELINE,765.937335571,745,717.062664429,678.937335571,661,636.937335571,877,783,813,651,629,653.062664429,0.400976779461,-0.00539263238498,0.0798366547495,0.999999928974,0.000250155570511,-0.00027875446087,4.20707053242e-05,1793249606263761152
+58,0.966666667,BASELINE,765.347847853,745,717.652152147,678.347847853,661,636.347847853,877,783,813,651,629,653.652152147,0.400977211762,-0.00539234318029,0.0798368179208,0.999999929301,0.000250070861439,-0.000277658649122,4.20476349733e-05,1793249606280428288
+59,0.983333333,BASELINE,765.238987314,745,718,678.238987314,661.238987314,636.238987314,877.238987314,783,813,651,629,654,0.400977424017,-0.00539163388689,0.0798367278968,0.999999929215,0.000250703716046,-0.000277412209963,4.19498325111e-05,1793249606297095168
+60,1.000000000,BASELINE,765.822004139,745,718,678.822004139,661.822004139,636.822004139,877.822004139,783,813,651,629,654,0.400977319507,-0.005390319863,0.0798362733903,0.999999928533,0.000252369525393,-0.000278388468333,4.17444508967e-05,1793249606313761792
+61,1.016666667,BASELINE,765.601779651,745,718,679,661.601779651,636.601779651,877.203559303,783,813.398220349,651,629,654,0.400976253698,-0.00539058729111,0.079835388913,0.999999928214,0.000252098856595,-0.000279777053856,4.17456681992e-05,1793249606330428160
+62,1.033333333,BASELINE,765.028552164,745,718,679,661.028552164,636.028552164,876.057104328,783,813.971447836,651,629,654,0.400974765424,-0.00539154972496,0.0798343154749,0.999999928052,0.000250977157607,-0.00028134684602,4.1837680184e-05,1793249606347094528
+63,1.050000000,BASELINE,765.546855547,745,718,679,661.546855547,636.546855547,876.546855547,783,814,650.453144453,629,654,0.400974754013,-0.00539265833529,0.0798347455019,0.999999928518,0.000249048707758,-0.000281398727545,4.18794208443e-05,1793249606363760896
+64,1.066666667,BASELINE,765.874057244,745,718,679,661.874057244,636.874057244,877,783,813.874057244,650,629,654,0.400975167524,-0.00539346954771,0.0798354464721,0.999999929036,0.000247649425874,-0.000280778899742,4.19567154162e-05,1793249606380427776
+65,1.083333333,BASELINE,765.281768664,745,718,679,661.281768664,636.281768664,877,783,813.281768664,650,629,654,0.400976867784,-0.00539315116972,0.0798368588719,0.999999929635,0.000248366162374,-0.000277966473755,4.21754183223e-05,1793249606397094656
+66,1.100000000,BASELINE,765,745,717.698189484,678.698189484,661,636,877,783,813,650.301810516,629,653.698189484,0.400977297582,-0.00539247868675,0.0798371923548,0.999999929603,0.000249588988721,-0.000276987763618,4.21621826891e-05,1793249606413761536
+67,1.116666667,BASELINE,765,745,717.122513325,678.122513325,661,636,877,783,813,650.877486675,629,653.122513325,0.40097657455,-0.0053914848857,0.0798365468185,0.999999929001,0.000251271045617,-0.000277672984285,4.19384838777e-05,1793249606430428160
+68,1.133333333,BASELINE,765,745,717,678.449795731,661,636,877,783,813,650.550204269,629,653.449795731,0.400976527747,-0.00539126165181,0.0798364125717,0.999999928678,0.000252385346825,-0.000277824371252,4.19425429481e-05,1793249606447095040
+69,1.150000000,BASELINE,765,745,717.022055147,679,661,636.022055147,877,783,813.022055147,650,629,654,0.400976692477,-0.00539124152093,0.0798364241365,0.999999928447,0.000253291255178,-0.000277821514294,4.20050122166e-05,1793249606463761408
+70,1.166666667,BASELINE,765,745,717.616655948,679,661,636.616655948,877,783,813.616655948,650,629,654,0.400977602613,-0.00539108585166,0.0798366325707,0.999999928652,0.000252771994214,-0.000277561108294,4.19853311752e-05,1793249606480427776
+71,1.183333333,BASELINE,765.205692859,745,717.794307141,679,661.205692859,637,877,783,813.794307141,650.205692859,629,654,0.400978078894,-0.00539119424518,0.0798368345184,0.99999992872,0.000252537054209,-0.000277525194232,4.19989930093e-05,1793249606497094144
+72,1.200000000,BASELINE,765.784633699,745,717.215366301,679,661.784633699,637,877,783,813.215366301,650.784633699,629,654,0.400977767906,-0.00539178180407,0.0798370246958,0.999999928543,0.000252818039776,-0.000277896640706,4.20731584518e-05,1793249606513761024
+73,1.216666667,BASELINE,765.638509079,745,717.361490921,679,661.638509079,637,876.638509079,783,813,650.638509079,629,653.638509079,0.400977617329,-0.00539106858759,0.0798374596577,0.999999928828,0.000252523844154,-0.000277182325103,4.17740045494e-05,1793249606530427904
+74,1.233333333,BASELINE,765.062886141,745,717.937113859,679,661.062886141,637,876.062886141,783,813,650.062886141,629,653.062886141,0.400977561774,-0.00538958484647,0.0798380396196,0.999999929385,0.000251888935369,-0.000275824849687,4.12537119631e-05,1793249606547094784
+75,1.250000000,BASELINE,765,745,717.489134609,679,661,637,876.510865391,783.510865391,813.510865391,650,629,653.510865391,0.400978274988,-0.00539038464946,0.0798380229295,0.999999929162,0.000253133232011,-0.000275395715709,4.19046432507e-05,1793249606563761664
+76,1.266666667,BASELINE,765.08703734,745,717,679,661,637,877,783.91296266,814,650.08703734,629,654,0.400978878685,-0.00539124549675,0.0798378843358,0.999999928863,0.000254293624178,-0.000275314002558,4.25633202723e-05,1793249606580428544
+77,1.283333333,BASELINE,765.678569127,745,717,679,661,637,877,783.321430873,814,650.678569127,629,654,0.400978301067,-0.00539083679327,0.0798374633144,0.999999928685,0.000253631745377,-0.000276586082345,4.24342655971e-05,1793249606597095168
+78,1.300000000,BASELINE,765.736016222,745,717,679,661,637,877,783,813.736016222,651,629,654,0.400977545772,-0.00539075453964,0.0798368643165,0.999999928652,0.000252601442674,-0.000277690601462,4.21436508695e-05,1793249606613761536
+79,1.316666667,BASELINE,765.157881247,745,717,679,661,637,877,783,813.157881247,651,629,654,0.400976579032,-0.00539106077434,0.0798360535196,0.999999928791,0.000251132700919,-0.000278595716628,4.16607732627e-05,1793249606630428160
+80,1.333333333,BASELINE,765.417658498,745,717.417658498,679,661,636.582341502,877,783,813.417658498,650.582341502,629,654,0.400975880647,-0.00539117599962,0.0798358112633,0.999999928632,0.000251384511684,-0.000278933477255,4.16961291109e-05,1793249606647094528
+81,1.350000000,BASELINE,765.992223311,745,717.992223311,679,661,636.007776689,877,783,813.992223311,650.007776689,629,654,0.400975283077,-0.00539121946635,0.0798357825968,0.999999928361,0.000252282701029,-0.000279058093701,4.19261753248e-05,1793249606663761152
+82,1.366666667,BASELINE,765.419999012,745,717.419999012,679,661,636,877,782.419999012,814,650,629,654,0.400976210585,-0.005391685747,0.0798360278571,0.999999928875,0.000250810606033,-0.000278575232399,4.17126290689e-05,1793249606680428288
+83,1.383333333,BASELINE,765,745,717,678.834623964,661,636.165376036,877,782.165376036,814,650,629,653.834623964,0.40097680413,-0.00539174618658,0.0798360707473,0.999999928961,0.000250688838007,-0.000278393562944,4.15962221383e-05,1793249606697095168
+84,1.400000000,BASELINE,765,745,717,678.255710111,661,636.744289889,877,782.744289889,814,650,629,653.255710111,0.400976510247,-0.00539077727714,0.0798355981944,0.999999927948,0.000254025008736,-0.000278985893354,4.17379403914e-05,1793249606713761792
+85,1.416666667,BASELINE,765.322580767,745,717.322580767,678.322580767,661,637,877,783,813.677419233,650.322580767,629,653,0.40097636956,-0.00539084311264,0.0798358566148,0.999999927929,0.000254432750799,-0.000278654512711,4.19300100119e-05,1793249606730428160
+86,1.433333333,BASELINE,765.900378729,745,717.900378729,678.900378729,661,637,877,783,813.099621271,650.900378729,629,653,0.400976350079,-0.00539172761046,0.0798366933615,0.999999928698,0.000252523598953,-0.000277592316784,4.21619162667e-05,1793249606747095040
+87,1.450000000,BASELINE,765.524948126,745,717.524948126,679,661.475051874,637,877,783,813,650.524948126,629,653,0.400974900766,-0.0053917054459,0.079835637608,0.999999928218,0.000252590687662,-0.000279248574824,4.22193209719e-05,1793249606763761408
+88,1.466666667,BASELINE,765.050354617,745,717,679,661.949645383,637,877,783,813.050354617,650,629,653.050354617,0.400973359869,-0.00539151116479,0.0798343920217,0.999999927577,0.00025296833002,-0.00028119268223,4.2227499779e-05,1793249606780427776
+89,1.483333333,BASELINE,765.639356171,745,717,679,661.360643829,637,877,783,813.639356171,650,629,653.639356171,0.400974025783,-0.00539149631211,0.0798353333718,0.999999928051,0.000252263773331,-0.000280157638081,4.2097996607e-05,1793249606797094400
+90,1.500000000,BASELINE,766,745,717.225700686,678.774299314,661.225700686,637,877,783,813.774299314,650.225700686,629,654,0.400974743976,-0.00539192420697,0.0798358337219,0.999999928529,0.000251217409092,-0.000279405550672,4.20131813892e-05,1793249606813761024
+91,1.516666667,BASELINE,766,745,717.807848899,678.192151101,661.807848899,637,877,783,813.192151101,650.807848899,629,654,0.400975544731,-0.00539305132993,0.0798356376037,0.999999929012,0.000249631230626,-0.000279100334974,4.19989415595e-05,1793249606830427904
+92,1.533333333,BASELINE,766,745.384318189,717.615681811,678.384318189,661.615681811,637,877,783.384318189,813.384318189,650.615681811,629,654,0.40097625228,-0.00539268951136,0.0798357883219,0.999999928868,0.000250726591967,-0.000278624822998,4.20568473955e-05,1793249606847095040
+93,1.550000000,BASELINE,766,745.957989532,717.042010468,678.957989532,661.042010468,637,877,783.957989532,813.957989532,650.042010468,629,654,0.400976913907,-0.00539159409302,0.079836109926,0.999999928411,0.000253143144908,-0.000278065406201,4.21502993212e-05,1793249606863762432
+94,1.566666667,BASELINE,765.467483327,745.467483327,717,679,661.532516673,637,877.532516673,783.467483327,813.467483327,650.532516673,629,653.467483327,0.400977482435,-0.00539137234893,0.0798369364737,0.999999928959,0.000252231708523,-0.000276999334375,4.16323311854e-05,1793249606880428800
+95,1.583333333,BASELINE,765.110495443,745,717.110495443,678.889504557,661.889504557,637,877.889504557,783,813,650.889504557,629,653.110495443,0.400977835645,-0.00539117898025,0.0798374767487,0.999999929382,0.000251373303858,-0.000276304318945,4.1267292058e-05,1793249606897095168
+96,1.600000000,BASELINE,765.703243753,745,717.703243753,678.296756247,661.296756247,637,877.296756247,783,813,650.296756247,629,653.703243753,0.400977281212,-0.00539080815231,0.0798365934588,0.999999928926,0.000251894071597,-0.00027740349295,4.17805645775e-05,1793249606913761536
+97,1.616666667,BASELINE,765.711726899,745,718,678,661,637,877,783,813,650,629,654,0.400976940129,-0.00539141418856,0.0798361287684,0.999999928723,0.000251896377963,-0.000278080416557,4.21205056881e-05,1793249606930428160
+98,1.633333333,BASELINE,765.134436478,745,718,678,661,637,877,783,813,650,629,654,0.400976812945,-0.00539299961094,0.079836083758,0.999999928775,0.00025137888444,-0.000278333999599,4.22866678782e-05,1793249606947094528
+99,1.650000000,BASELINE,765.440582887,745,718,678.440582887,661,637,877,783,813,650,629,654,0.400977297493,-0.00539249097924,0.0798367746263,0.999999929124,0.000251080010677,-0.000277369599677,4.21444857224e-05,1793249606963760896
+100,1.666666667,BASELINE,766,745,718,679,661,637,877,783,813,650,629,654,0.400977932113,-0.00539139410791,0.0798376488581,0.999999929552,0.000250817686682,-0.000276097901454,4.19111824354e-05,1793249606980427776
+101,1.683333333,BASELINE,766,745,718,679,661,637,877,783,813,650,629,654,0.400977230144,-0.00539207716967,0.0798370216134,0.999999929607,0.000249436879223,-0.000277168590316,4.177100297e-05,1793249606997094656
+102,1.700000000,BASELINE,765.810029703,745,718,679,661.189970297,636.810029703,877,783,813.189970297,650,629,654,0.40097660646,-0.00539222962493,0.0798365211673,0.999999929444,0.000249226877109,-0.000277975537878,4.15750939946e-05,1793249607013761536
+103,1.716666667,BASELINE,765.231452089,745,718,679,661.768547911,636.231452089,877,783,813.768547911,650,629,654,0.400976142916,-0.00539129666004,0.0798362801031,0.999999928835,0.000251411899704,-0.000278242970445,4.12651835552e-05,1793249607030428160
+104,1.733333333,BASELINE,765.346371442,745,717.653628558,679,661.653628558,636.346371442,876.653628558,783,814,650.346371442,629,654,0.400976621091,-0.00539123030367,0.0798367314527,0.999999928819,0.000252123958608,-0.000277633931287,4.14096428418e-05,1793249607047094784
+105,1.750000000,BASELINE,765.923692233,745,717.076307767,679,661.076307767,636.923692233,876.076307767,783,814,650.923692233,629,654,0.400977727174,-0.00539174177395,0.0798376444817,0.999999929199,0.000251853892864,-0.000276440488968,4.18570612331e-05,1793249607063761152
+106,1.766666667,BASELINE,766,745,717.496763048,679,661.496763048,636.503236952,876.496763048,783,813.503236952,651,629,654,0.400978217942,-0.00539166330804,0.0798376677715,0.999999929457,0.000251198017508,-0.000276099428081,4.18797193624e-05,1793249607080427776
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636,877,783,813,650,629,654,0.40097808369,-0.00539213554789,0.079837445624,0.999999929903,0.000249280582097,-0.000276226179445,4.18682379008e-05,1793249607123268096
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,636.579586014,877,783,813,650.579586014,629,653.420413986,0.400978990118,-0.00539171627681,0.079837888537,0.999999929677,0.000251038580607,-0.000275422737054,4.20534692015e-05,1793249607139934720
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.842453592,745,718,679,661,636.842453592,877,783,813,650.842453592,629,653.157546408,0.400978872602,-0.0053914057322,0.079837802253,0.999999929244,0.000252408342841,-0.000275722748869,4.21694811548e-05,1793249607156601088
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.268786751,745,718,679,661,636.268786751,877,783,813,650.268786751,629,653.731213249,0.400976050586,-0.00539138236194,0.0798363182241,0.999999928269,0.000252752673975,-0.00027893726581,4.2102667116e-05,1793249607173267712
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,717.694230741,679,661,636.305769259,877,783,813,650,629,654,0.400975136268,-0.00539137778371,0.0798359722098,0.999999927973,0.000252829079345,-0.000279962239469,4.1864196495e-05,1793249607189934592
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,717.118890861,679,661,636.881109139,877,783,813,650,629,654,0.400975903803,-0.00539138977279,0.0798366294856,0.999999928283,0.000252669277449,-0.000279056879765,4.14743909415e-05,1793249607206600960
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,717.472368601,679,661,637,877,783,813,650.472368601,629,654,0.400976877987,-0.00539193543696,0.0798372218456,0.999999929166,0.000250699505808,-0.00027767849815,4.13782860355e-05,1793249607223267328
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.065563409,745,718,678.934436591,661,637,877,783,813,650.934436591,629,654,0.400977906411,-0.00539248926632,0.0798377414426,0.999999930069,0.000248623420458,-0.000276289591199,4.13717202743e-05,1793249607239933952
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.641543762,745,718,678.358456238,661,637,877,783,813,650.358456238,629,654,0.400978938063,-0.00539202448959,0.0798378262083,0.999999930016,0.000249389884628,-0.000275777925495,4.14666658709e-05,1793249607256600576
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.782720738,745,717.782720738,678.217279262,661,636.782720738,877,783,813,650.217279262,629,654,0.40098390599,-0.00539188764831,0.0798400841412,0.999999930799,0.000250222198785,-0.000272132863719,4.16586944438e-05,1793249607273267456
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.207388788,745,717.207388788,678.792611212,661,636.207388788,877,783,813,650.792611212,629,654,0.400995360474,-0.00539229120917,0.0798459232181,0.999999932906,0.000251163026496,-0.000263324304646,4.20107052341e-05,1793249607289934336
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.376535078,745,717.376535078,679,661,636,877,783,813,651,629,653.623464922,0.401023773404,-0.00539284877731,0.0798564423471,0.999999937652,0.00025150504862,-0.000244288585447,4.20099251262e-05,1793249607306601216
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.965301777,745,717.965301777,679,661,636,877,783,813,651,629,653.034698223,0.401061744857,-0.00539349315073,0.0798695993585,0.99999994341,0.000251509557723,-0.000219488391036,4.18102966679e-05,1793249607323267840
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,718,678.455031637,661,636.544968363,877,783,813.544968363,651,629,653,0.401125594491,-0.00539565212433,0.0798861944668,0.999999951022,0.000249032103698,-0.000184961614211,4.15651753374e-05,1793249607339934464
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.87683278,745,717.87683278,678.12316722,661,636.87683278,877,783,813.87683278,651,629,653,0.401192582959,-0.00539738941771,0.0799010334804,0.999999956427,0.000247115963953,-0.000156185489973,4.10544340093e-05,1793249607356600832
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.301926758,745,717.301926758,678.698073242,661,636.301926758,877,783,813.301926758,651,629,653,0.401265139835,-0.00539723223698,0.0799086420075,0.999999957147,0.000247828623657,-0.000150735017577,3.957993089e-05,1793249607373267200
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.272607011,745,717.272607011,679,661,636,877,783,813,650.727392989,629,653.272607011,0.401348787605,-0.00539731228216,0.0799158994134,0.999999958535,0.000248230018972,-0.000141091563626,3.74962007389e-05,1793249607389933824
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.846729018,745,717.846729018,679,661,636,877,783,813,650.153270982,629,653.846729018,0.401444702374,-0.00539765470933,0.0799227684639,0.999999960533,0.000248287142503,-0.000126810493307,3.47386395549e-05,1793249607406600448
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.566494678,744.566494678,717.566494678,679,661,636.433505322,877,783,813,650.433505322,629.433505322,654,0.401558397888,-0.00539993410377,0.0799275799143,0.999999962441,0.000245175601949,-0.000118387802653,3.14706298207e-05,1793249607423267328
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.02428022,717.02428022,679,661,636.97571978,877,782.97571978,813,650.97571978,629.97571978,654,0.401679897331,-0.00540283988504,0.0799318191542,0.999999964333,0.000240964075239,-0.000111746291895,2.79889978105e-05,1793249607439933952
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.60117168,717.60117168,679,661,636.39882832,877,782.39882832,813,650.39882832,629.39882832,654,0.401831628737,-0.0054039466701,0.0799400903508,0.999999966685,0.000237982004563,-9.70842327924e-05,2.38764530624e-05,1793249607456600832
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.178036812,745,718,679,661,636.178036812,877,782.178036812,813,650.178036812,629,654,0.401991750956,-0.00540462157536,0.0799478017891,0.999999968762,0.000234857149843,-8.33430470989e-05,1.92704481568e-05,1793249607473267968
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.754842896,745,718,679,661,636.754842896,877,782.754842896,813,650.754842896,629,654,0.402170667008,-0.00540432915027,0.0799542594724,0.999999970564,0.000231412485963,-7.16644481857e-05,1.35591850457e-05,1793249607489934080
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877,783,813,650.662493613,629,654,0.402361250651,-0.00540589121042,0.0799576811486,0.999999972628,0.000224542048524,-6.53419562781e-05,7.37771412998e-06,1793249607506600448
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877,783,813,650.075500227,629,654,0.402560459075,-0.00540882411857,0.0799588585884,0.999999974874,0.000215139255776,-6.29787336183e-05,8.48661834257e-07,1793249607523266816
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.492773305,745,718,679,661,637,877.507226695,783.507226695,813,650,629,654,0.402790242321,-0.00541296193771,0.0799534681797,0.999999976011,0.000205893322329,-7.4406764526e-05,-7.01641676501e-06,1793249607539933440
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.088125084,745,718,678.911874916,661,636.911874916,878,783.911874916,813,650.088125084,629,653.911874916,0.403030086801,-0.0054168080153,0.0799474886167,0.999999976792,0.000196691548346,-8.65821446249e-05,-1.52424634919e-05,1793249607556600064
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.662410431,745,718,678.337589569,661,636.337589569,878,783.337589569,813,650.662410431,629,653.337589569,0.403300538949,-0.005418063474,0.079943607107,0.999999977905,0.000187605654184,-9.16501178223e-05,-2.43719327576e-05,1793249607573266944
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.763091391,745,717.763091391,678.236908609,661,636.236908609,877.763091391,783,813.236908609,650.763091391,629,653.236908609,0.403594414214,-0.0054205532383,0.0799431538689,0.999999985441,0.000140221126004,-9.17127089851e-05,-3.23337875602e-05,1793249607589934080
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.188289696,745,717.188289696,678.811710304,661,636.811710304,877.188289696,783,813.811710304,650.188289696,629,653.811710304,0.403921696899,-0.00542480344223,0.0799475902348,0.999999994942,3.82128176082e-05,-8.46363269388e-05,-3.86303207142e-05,1793249607606600960
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,717.398282219,679,661.398282219,637,877,783,813.601717781,650,629,654,0.404273441757,-0.00542427671432,0.0799502683354,0.999999994737,5.77725747273e-05,-7.87298153526e-05,-3.14654109113e-05,1793249607623267584
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,717.990587989,679,661.990587989,637,877,783,813.009412011,650,629,654,0.404637103378,-0.00542142289952,0.0799520898953,0.999999987826,0.000136554330322,-7.33932073062e-05,-1.77427464786e-05,1793249607639934208
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.566577035,718,679,662,637,877.566577035,783,813,650.566577035,629,654,0.4050641494,-0.0054249248,0.0799561153021,0.99999998891,0.000132965085921,-6.21532820177e-05,-2.52484470882e-05,1793249607656600576
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.857508014,718,679,662,637,878,783.142491986,813,651,629,654,0.405495691634,-0.00542924913364,0.0799571939194,0.999999990024,0.000125358870076,-5.69117631194e-05,-3.15851678238e-05,1793249607673267200
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.281016385,718,679,662,637,878,783.718983615,813,651,629,654,0.405937810999,-0.00543576584283,0.0799491888691,0.999999990976,0.000109568870325,-7.02304168123e-05,-3.33174090801e-05,1793249607689933568
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.301893833,745.301893833,718,679,662,637,878,783.698106167,813.301893833,651,629,653.698106167,0.406392956625,-0.00544012694321,0.0799398394888,0.999999990279,0.000103606963115,-8.69538347343e-05,-3.38507391549e-05,1793249607706600192
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.890908621,745.890908621,718,679,662,637,878,783.109091379,813.890908621,651,629,653.109091379,0.406860491136,-0.00544243791815,0.0799292115609,0.999999988008,0.000106992218505,-0.000106915409636,-3.3243825796e-05,1793249607723267072
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.528776867,745.528776867,717.528776867,679.471223133,662,637,878,783.471223133,814,651,629,653.471223133,0.407373960977,-0.00545812168503,0.0799257526452,0.999999988773,8.95948389566e-05,-0.000115581349962,-3.26778318256e-05,1793249607739933696
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.049333931,745,717.049333931,679.950666069,662,637,878,783.950666069,814,650.950666069,629,654,0.407902130939,-0.00547651890616,0.07992324463,0.999999989688,6.74685263964e-05,-0.00012261969161,-3.21785706107e-05,1793249607756600576
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.625033255,745,717.625033255,679.374966745,662,637,878,783.374966745,814,650.374966745,629,654,0.408475737741,-0.00549143454432,0.0799134953993,0.999999988697,4.52906363408e-05,-0.000139687436753,-3.22920696623e-05,1793249607773267456
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662.200271165,637.200271165,878,783,814,650.200271165,629,654,0.409075099818,-0.00550058875082,0.0799148067879,0.999999989385,3.24499812287e-05,-0.000138247946114,-3.26332706552e-05,1793249607789934336
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662.774647122,637.774647122,878,783,814,650.774647122,629,654,0.40972257249,-0.00549898065227,0.0799367793174,0.99999999353,3.70512010068e-05,-0.000102237099267,-3.33998168941e-05,1793249607806600960
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,717.640841542,679.359158458,663,637.640841542,878,783,814,651,629,654,0.410395026506,-0.005502042035,0.079966909959,0.999999997446,3.328994351e-05,-5.3868812527e-05,-3.31225769585e-05,1793249607823267328
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,717.049786144,679.950213856,663,637.049786144,878,783,814,651,629,654,0.411083610137,-0.00550811835005,0.0800023080274,0.999999999188,2.41293060638e-05,2.47827010561e-06,-3.21713981275e-05,1793249607839933696
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.469901775,745,717,680,662.469901775,637,879.06019645,783,814,651,629.530098225,654,0.411756126088,-0.00551063102625,0.0799862547813,0.999999998792,2.07351719312e-05,-2.80420962456e-05,-3.46261368012e-05,1793249607856600576
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.108388018,745,717.108388018,680,662.108388018,637,879.891611982,783,814,651,629.891611982,654,0.412436219619,-0.00551292270404,0.0799624062477,0.99999999685,1.61952286696e-05,-6.79441856392e-05,-3.77066034618e-05,1793249607873267456
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.684232028,745,717.684232028,680,662.684232028,637,879.315767972,783,814,651,629.315767972,654,0.413155367493,-0.00551567492972,0.0799253485718,0.999999992622,4.42610733796e-06,-0.000113848059375,-4.21346061965e-05,1793249607889934080
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.750102708,745.249897292,718,680,662.750102708,637,879.249897292,783,814,650.750102708,629,654,0.413902666277,-0.00552032878256,0.0799100334131,0.999999990821,-7.74881990182e-06,-0.00012759724545,-4.4904747177e-05,1793249607906600960
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.196795762,745.803204238,718,680,662.196795762,637,879.803204238,783,814,650.196795762,629,654,0.414684144228,-0.00552729147246,0.0799211166529,0.999999993516,-2.04164528359e-05,-0.000102306228362,-4.56620168226e-05,1793249607923267840
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.396195705,745.603804295,717.603804295,680,662.396195705,637,879.603804295,783,814,650,629,654,0.415467149842,-0.0055317703933,0.0799395938603,0.99999999608,-2.09630439529e-05,-7.39313016161e-05,-4.39910087223e-05,1793249607939934208
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,717,680.010472999,663,637.010472999,879.020945999,783,814,650.010472999,629,654,0.416251285465,-0.00553491431601,0.0799614258601,0.99999999803,-1.51852272313e-05,-4.4958596622e-05,-4.10833608173e-05,1793249607956600832
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,717,680.590994331,663,637.590994331,880.181988662,783,814,650.590994331,629,654,0.417051030661,-0.00554002064798,0.0799437028754,0.999999995713,-2.93539805839e-05,-7.61069609177e-05,-4.38244968631e-05,1793249607973267200
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.83044348,745,717.16955652,681,662.83044348,638,881,783,813.83044348,650.83044348,629,654,0.417888412341,-0.00554564548052,0.0799411213728,0.999999995046,-4.3618196772e-05,-7.66442748618e-05,-4.61739045329e-05,1793249607989933824
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.256553205,745,717.743446795,681,662.256553205,638,881,783,813.256553205,650.256553205,629,654,0.418815543992,-0.0055525067576,0.0799746470779,0.99999999717,-5.81100579502e-05,-4.18480104513e-06,-4.75891750612e-05,1793249608006600448
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.325925962,745,718,681,662.325925962,638,881.325925962,783.325925962,813.325925962,650.325925962,629,654,0.419691495536,-0.0055571515313,0.079984533181,0.999999996408,-6.67272590763e-05,1.87989541476e-05,-4.87555329634e-05,1793249608023267072
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.915348844,745,718,681,662.915348844,638,881.915348844,783.915348844,813.915348844,650.915348844,629,654,0.42052607015,-0.00556000435839,0.0799753076957,0.999999996271,-7.05950533377e-05,1.7837459562e-06,-4.97206559404e-05,1793249608039933952
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,718,680.504666884,663.495333116,638,882,784,814,651,629,654,0.421393003234,-0.00556631052837,0.0799658531179,0.999999995733,-7.53961521366e-05,-1.65432945936e-05,-5.07502593113e-05,1793249608056600832
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,718,680.073491483,663.926508517,638,882,784,814,650.926508517,629,654,0.422272858291,-0.00557084824618,0.0799614076323,0.999999995264,-7.81648995582e-05,-2.72425810038e-05,-5.11854703016e-05,1793249608073267456
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,718,680.649986162,663.350013838,638,882,784,814,650.350013838,629,654,0.423204014233,-0.0055593182163,0.0799915092075,0.999999996574,-6.59522113778e-05,1.57710838975e-05,-4.74784255309e-05,1793249608089934080
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,717.774635392,681,663,638,882.225364608,784,814,650,629,654,0.424111867673,-0.00554109193854,0.0799989430966,0.999999997839,-4.42492494441e-05,1.64697102913e-05,-4.57483278528e-05,1793249608106600704
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,717.200981939,681,663,638,882.799018061,784,814,650,629,654,0.424983708497,-0.00551251696908,0.079971345304,0.999999997698,-7.87957938619e-06,-4.82272664746e-05,-4.70734946517e-05,1793249608123267328
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.383897256,717.383897256,681,663,638,883,784,814,650.383897256,629,654,0.425864800171,-0.005507970743,0.0799392896467,0.999999994458,-5.20115748632e-06,-9.23501463166e-05,-5.02806749287e-05,1793249608139933696
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.974830464,717.974830464,681,663,638,883,784,814,650.974830464,629,654,0.426750880781,-0.00551638323,0.0799048298628,0.999999990441,-2.06924420102e-05,-0.000125377403225,-5.45028258239e-05,1793249608156600064
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,717.452681209,681.547318791,664.094637583,638,883.547318791,784,814.547318791,650.452681209,629.547318791,654,0.427648157504,-0.00552648845138,0.0799028528052,0.999999990144,-2.95660108543e-05,-0.000126113106797,-5.41612203631e-05,1793249608173267200
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,717,681.879098644,664.758197288,637.879098644,884,784,815,650,629.879098644,654,0.428553610764,-0.0055348914904,0.0799072176887,0.999999990566,-3.73084385749e-05,-0.000120956988239,-5.33485039103e-05,1793249608189934080
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,717,681.298231273,663.596462545,637.298231273,884,784,815,650,629.298231273,654,0.429488276427,-0.00553653212182,0.0799302125415,0.999999992911,-4.1867533333e-05,-9.88510096487e-05,-5.15158846832e-05,1793249608206600448
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.721282521,717.278717479,681,663.278717479,637.278717479,884,784,815,650,629,654,0.430442680715,-0.00553944556407,0.0799658580811,0.999999996354,-4.7246719842e-05,-5.07026962159e-05,-4.98915844438e-05,1793249608223266816
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.148468645,717.851531355,681,663.851531355,637.851531355,884,784,815,650,629,654,0.431417912696,-0.00554370204751,0.0800148523386,0.999999997083,-5.3491248202e-05,2.49249003953e-05,-4.84870976232e-05,1793249608239933440
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,717.559826479,681.440173521,664,638,884,784,815,650,629,654,0.432298961201,-0.00554072347384,0.0800171061208,0.999999997148,-5.15923674133e-05,2.47792432767e-05,-4.92698148762e-05,1793249608256600320
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,717,682,664,637.966520123,884,784,815,650,629,654,0.433145104699,-0.00553512462847,0.0799998659825,0.999999997594,-4.67354261255e-05,-5.54245049496e-06,-5.09707227608e-05,1793249608273266944
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,717,682,664,637.387453406,884,784,815,650,629,654,0.433959431267,-0.00552807721828,0.079931448353,0.999999993106,-4.01043688025e-05,-9.55841941104e-05,-5.5163902983e-05,1793249608289933568
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.190586952,717,682.190586952,663.809413048,637.190586952,884.190586952,784,815,650.190586952,629,654,0.434796579029,-0.00552501949106,0.0798923867557,0.999999987008,-4.05897531559e-05,-0.000144779473514,-5.80975179538e-05,1793249608306600448
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.766552053,717,682.766552053,663.233447947,637.766552053,884.766552053,784,815,650.766552053,629,654,0.435679872746,-0.00553002913879,0.0799126847891,0.999999990549,-5.54650050521e-05,-0.000111380791041,-5.84842185623e-05,1793249608323267072
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663.341415848,637.658584152,885.341415848,784,815,650.658584152,629,654.341415848,0.436556732529,-0.00553572849218,0.0799418460638,0.999999993868,-5.7850411092e-05,-7.6104477679e-05,-5.59041255707e-05,1793249608339933952
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663.915528995,637.084471005,885.915528995,784,815,650.084471005,629,654.915528995,0.43742920711,-0.00554189792493,0.0799770482178,0.999999996564,-5.17231668329e-05,-3.95484376571e-05,-5.13019680478e-05,1793249608356600832
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717,682.493277386,663.493277386,637,886,784,815,650,629,654.493277386,0.438254253176,-0.00554401030849,0.0799927943151,0.999999996727,-6.01091716496e-05,-1.23725520959e-05,-5.2728010529e-05,1793249608373267456
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,717,682,663,637,886,783.902486697,815.097513303,650.097513303,629,654,0.439054908217,-0.00554561465427,0.0799964983935,0.999999996057,-6.98690369366e-05,-2.15444288466e-06,-5.47690552931e-05,1793249608389934080
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,717,682,663,637,886,783.328077385,815.671922615,650.671922615,629,654,0.439776292641,-0.00554815734119,0.0799577251884,0.999999993515,-7.41030218528e-05,-6.69555438654e-05,-5.47318142539e-05,1793249608406600448
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,717,682.247098475,663,637,886,783.247098475,815.752901525,651,629,654,0.440454753622,-0.00554736417715,0.0798923478277,0.999999981104,-7.47997871788e-05,-0.000170048288272,-5.72776796148e-05,1793249608423267072
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,717,682.823295214,663,637,886,783.823295214,815.176704786,651,629,654,0.44107604693,-0.00554212815762,0.0797915377082,0.99999994296,-7.07855029952e-05,-0.000324139775924,-6.32638562142e-05,1793249608439933696
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663,637,886,783.602454446,815,651,629,654,0.441742220753,-0.00553834765398,0.0797351412513,0.999999913918,-6.98195468209e-05,-0.00040343585336,-6.72948645323e-05,1793249608456600576
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,717,683,663,637,886,783.029064996,815,651,629,654,0.442428246354,-0.00553521095934,0.0796983900099,0.999999893962,-7.02019389559e-05,-0.000449648149151,-7.04610560557e-05,1793249608473267456
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,717,683.565839757,663,636.434160243,886,783,815.565839757,651,629,654.565839757,0.443151499313,-0.00554003793541,0.079757582031,0.999999930047,-6.92663516762e-05,-0.000361610863215,-6.59276784528e-05,1793249608489934080
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,717,683.84537045,663,636,886,783,816,651,629,655,0.443848895652,-0.00554528091696,0.0798096874515,0.99999995479,-6.90382464336e-05,-0.000285982853336,-6.21841539054e-05,1793249608506600704
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,717,683.276060351,663,636,886,783,816,651,629,655,0.444471619857,-0.0055504991569,0.0798290494916,0.999999961039,-7.08961754573e-05,-0.000262857749601,-6.16613864499e-05,1793249608523267584
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662.70207852,636,886,783,816,651,629,654.70207852,0.44506523161,-0.00555339376536,0.079824948083,0.999999957612,-8.05637401121e-05,-0.000272934247694,-6.15831933472e-05,1793249608539934464
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662.123698832,636,886,783,816,651,629,654.123698832,0.445631437361,-0.0055541009464,0.0797987585823,0.99999994394,-9.75831625314e-05,-0.000314266169326,-6.19235149299e-05,1793249608556600832
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,717,683,662,636,886.466677986,783,816,651,629,654,0.44616777005,-0.00555478009344,0.079771730748,0.999999931907,-9.39387762145e-05,-0.000351318103514,-6.27529207278e-05,1793249608573267456
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662,636,887,783,816,650.941452743,629,654,0.446692452517,-0.0055554105547,0.0797453396588,0.99999992,-8.59923170008e-05,-0.00038539942407,-6.38240678204e-05,1793249608589934336
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662,636,887,783,816,650.365246058,629,654,0.447185985026,-0.00555567798351,0.07972659507,0.999999912397,-8.9713840448e-05,-0.000403510666757,-6.58561602076e-05,1793249608606600960
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,717,683,662,635.78927883,887.21072117,782.78927883,816,650,629,654,0.447654360551,-0.00555532655544,0.0797063939017,0.999999901478,-9.19613033075e-05,-0.000428952009716,-6.7722492696e-05,1793249608623267584
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717,683,662,635.213726245,887.786273755,782.213726245,816,650,629,654,0.448079180564,-0.00555390367152,0.0796836708914,0.999999884314,-9.16566557115e-05,-0.000467084295929,-6.93018370757e-05,1793249608639934208
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717,683,661.630224337,635,887.630224337,782,816,650.369775663,629,654,0.448477196347,-0.00555199959847,0.0796569121919,0.999999862623,-9.48826721775e-05,-0.000510666314626,-7.05114573623e-05,1793249608656600576
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,717,683,661.042026807,635,887.042026807,782,816,650.957973193,629,654,0.448859379246,-0.00554981129286,0.079627769659,0.999999837039,-0.000100194207665,-0.000557467425248,-7.15026863092e-05,1793249608673267200
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746.883758608,717,683.883758608,661,635,887.116241392,782,816,651,629,654.116241392,0.449617954786,-0.00555561127676,0.0796294985959,0.999999843739,-9.22541623703e-05,-0.000546912896153,-6.99869270284e-05,1793249608706600704
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746.305624936,717,683.305624936,661,635,887.694375064,782,816,651,629,654.694375064,0.449965604695,-0.0055590118393,0.0796376390709,0.999999849406,-9.79883122832e-05,-0.000535395048082,-7.02776809968e-05,1793249608723267072
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717,683,660.728906559,635,887.728906559,781.728906559,816.271093441,651,629,654.728906559,0.450292405453,-0.00556127967787,0.0796454589448,0.999999854289,-0.000104669781636,-0.000524858115237,-7.0644960918e-05,1793249608739933952
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,717,683,660.1537755,635,887.1537755,781.1537755,816.8462245,651,629,654.1537755,0.450595823381,-0.00556227713989,0.0796529192564,0.999999858325,-0.000112413691494,-0.000515421302404,-7.1098066465e-05,1793249608756600576
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,717,683,660,635,887.433089905,781,816.566910095,651,629,654,0.450864673578,-0.00556398789841,0.0796509980287,0.999999855211,-0.000115082680774,-0.000521072006672,-6.94073808879e-05,1793249608773267456
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,717,683,660,635,888,781,816,651,629,654,0.451310489119,-0.00556582132371,0.079625845237,0.999999831867,-0.000111019553849,-0.000565425555496,-6.5070479271e-05,1793249608806600960
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,717,683.177363556,660,634.822636444,888,781,816,651,629,654,0.451493341367,-0.00556594863683,0.0796072661546,0.999999814609,-0.000107822649262,-0.000595866071816,-6.4023884745e-05,1793249608823267328
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+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888,781,816,651,628.665212596,654.334787404,0.451803468967,-0.00556720224425,0.0795765943882,0.999999784964,-0.000109306844805,-0.000643234391614,-6.612567635e-05,1793249608856600576
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888,781,816,651,628.075478957,654.924521043,0.451941244747,-0.00556806200229,0.0795657196459,0.999999773311,-0.000111749613272,-0.00066053389696,-6.77180715383e-05,1793249608873267456
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,717,683.495145595,660,634,887.495145595,781,816,651,628.504854405,654.495145595,0.452069442593,-0.00556962101696,0.0795622676375,0.999999770061,-0.000115099374488,-0.000664768666,-6.8648240254e-05,1793249608889934080
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,717,683.083272354,660,634,887.083272354,781,816.083272354,651,629,654.083272354,0.452191779596,-0.00557102150006,0.0795599131823,0.999999767852,-0.000118032670884,-0.000667486250536,-6.94684073357e-05,1793249608906600704
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,717,683.658525568,660,634,887.658525568,781,816.658525568,651,629,654.658525568,0.452287795756,-0.00557087900303,0.0795576065377,0.999999764431,-0.00011771895539,-0.000672569274262,-7.02129255196e-05,1793249608923267584
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,717,683.767094734,660,634,888,781,817,651,629,654.767094734,0.452374850541,-0.00557061594593,0.0795551206994,0.999999761588,-0.000116803098022,-0.000676904096173,-7.0577263811e-05,1793249608939934464
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,717,683.193990993,660,634,888,781,817,651,629,654.193990993,0.452448815678,-0.00557017678999,0.0795523731179,0.99999975961,-0.000115007708195,-0.00068014603947,-7.03862834884e-05,1793249608956601088
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,717,683,660,634.391977135,888,781,816.608022865,651,629,654.391977135,0.452507279547,-0.00556972854076,0.079548501037,0.999999754865,-0.000117760822746,-0.00068658254865,-7.07616427256e-05,1793249608973267456
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,717,683,660,634.984527919,888,781,816.015472081,651,629,654.984527919,0.452557811457,-0.00556927563853,0.0795440535528,0.999999748632,-0.000122841394829,-0.000694653708472,-7.1426796397e-05,1793249608989933824
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,717,683,660,634.435944491,888,780.435944491,816,651,629,654.435944491,0.452597742586,-0.005570091753,0.0795412610544,0.999999746726,-0.000121575541028,-0.000697643807065,-7.11309356928e-05,1793249609006600448
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,717,683.14154729,660,634,888,780,816,651,629,654.14154729,0.452634487284,-0.00557100165206,0.0795391898722,0.999999745432,-0.000121352111577,-0.000699565582373,-7.08344375007e-05,1793249609023267072
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,717,683.71390552,660,634,888,780,816,651,629,654.71390552,0.452662398848,-0.0055720934383,0.0795391790268,0.999999745661,-0.000124819266272,-0.000698650449356,-7.06144194671e-05,1793249609039933696
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888,780.288889759,816.288889759,651,629,654.711110241,0.452684086492,-0.00557123008574,0.0795384544278,0.999999744987,-0.000125263714415,-0.000699529053997,-7.06723839202e-05,1793249609056600576
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888,780.866498525,816.866498525,651,629,654.133501475,0.452699553896,-0.00556841275013,0.079537016497,0.99999974341,-0.000122687243042,-0.00070220033597,-7.10081665277e-05,1793249609073267456
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888.956618769,781,816.956618769,651,629,654,0.452718219663,-0.00557128751931,0.0795354414282,0.999999742584,-0.000124617808664,-0.00070322518025,-6.91074862086e-05,1793249609106601216
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888.377973199,781,816.377973199,651,629,654,0.452720737851,-0.00556841499615,0.0795328031136,0.999999739404,-0.00012306095244,-0.000707915443715,-7.00237705444e-05,1793249609123267584
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+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,717,684,659.225854534,634,888,780.225854534,816,651.774145466,629,654.774145466,0.452725074803,-0.00556621029994,0.0795293440825,0.999999736263,-0.000120376364778,-0.00071276267648,-7.03692789876e-05,1793249609156600832
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,717,683.055198692,659.944801308,634,888,780.944801308,816,651.055198692,629,654.055198692,0.452727779991,-0.00556787755573,0.0795271548919,0.999999734715,-0.000124609248352,-0.000714221723236,-7.02061899625e-05,1793249609189934080
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,717,683.524475278,660,634,888,781,816,650.475524722,629,654,0.452728373355,-0.00556823689135,0.0795280383692,0.999999734981,-0.000124625427166,-0.000713891857185,-6.97496969198e-05,1793249609206600704
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888,780.897030806,816,650.102969194,629,654,0.452728878622,-0.00556831557119,0.0795288304662,0.999999735294,-0.000124062329223,-0.000713591278872,-6.93346134889e-05,1793249609223267328
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,716.743758668,684,660,634,888,780.256241332,816,651,629,654.256241332,0.452729843484,-0.00556700844109,0.0795278123668,0.999999735249,-0.000122015438357,-0.000714009097411,-6.93185924243e-05,1793249609256600320
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,716.168343014,684,660,634,888,780.831656986,816,651,629,654.831656986,0.452730660805,-0.00556708050708,0.0795274445191,0.999999735024,-0.0001238311727,-0.000714003941565,-6.93985234316e-05,1793249609273266944
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,716.416764292,684,660,634,888,781,816.416764292,651,629,654.583235708,0.452730834136,-0.00556609221201,0.0795271861683,0.999999734859,-0.000123427710153,-0.000714271205737,-6.97437727459e-05,1793249609289933312
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888,780.99420533,816.99420533,651,629,654,0.452730747281,-0.00556468831074,0.0795269808601,0.999999734724,-0.000122126834613,-0.000714639773482,-7.01866580579e-05,1793249609306600192
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,717,684,660,634,888,780.413589878,816.413589878,651,629,654,0.45273126883,-0.00556555616128,0.0795275454084,0.999999735231,-0.000122842218615,-0.000713882000588,-6.94307195675e-05,1793249609323266816
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,717,683.834300241,660,634,888,780.165699759,816,651,629,654,0.452731772756,-0.00556624566197,0.0795279510495,0.999999735463,-0.000123422662383,-0.000713508692126,-6.88869409498e-05,1793249609339933696
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,717,683.258293632,660,634,888,780.741706368,816,651,629,654,0.452732233043,-0.00556649353148,0.0795279632032,0.999999735021,-0.000123668966199,-0.000714087397106,-6.88685140729e-05,1793249609356600320
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,717,683.316378617,660,634,888,780.683621383,816,651,628.683621383,654.316378617,0.45273263625,-0.00556716318775,0.0795282862746,0.999999734961,-0.000123940927683,-0.000714147387642,-6.86303065287e-05,1793249609373266944
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,717,683.889966032,660,634,888,780.110033968,816,651,628.110033968,654.889966032,0.452732993053,-0.00556817574729,0.0795288621152,0.999999735211,-0.000124233748269,-0.000713785674813,-6.8213422178e-05,1793249609389933568
+244,4.066666667,HOLD_POSE2,766,746,717,684,659,634,888,780,816,651,629,654,0.452732546193,-0.00556632191015,0.0795264076002,0.999999734067,-0.000123619592967,-0.00071537803342,-6.94201169773e-05,1793249609421497856
+245,4.083333333,HOLD_POSE2,766,746,717,684,659.582226021,634,888.582226021,780,816,651,629,654,0.452733464906,-0.00556741888438,0.07952695663,0.99999973424,-0.000124997697392,-0.000714935963285,-6.90101498756e-05,1793249609438164224
+246,4.100000000,HOLD_POSE2,766,746,717,684,660,634,888.837567128,780,816,651,629,654.162432872,0.452734206588,-0.00556756905432,0.079527486461,0.999999734643,-0.000125096801203,-0.000714385202772,-6.86929433317e-05,1793249609454830848
+247,4.116666667,HOLD_POSE2,766,746,717,684,660,634,888.262489656,780,816,651,629,654.737510344,0.452734498539,-0.0055653139621,0.0795279675193,0.999999735628,-0.000121946731093,-0.000713558325043,-6.86113856984e-05,1793249609471497472
+248,4.133333333,HOLD_POSE2,766,746,716.679834117,684,659.679834117,634,888.320165883,780,816,651,629,654.679834117,0.452735107133,-0.00556479927048,0.0795284486818,0.999999736284,-0.000121254112251,-0.000712772038851,-6.84512835943e-05,1793249609488164352
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+250,4.166666667,HOLD_POSE2,766,746,716.485875888,683.514124112,659.485875888,634,888.514124112,780,816,651,629,654,0.452736093906,-0.00556590140952,0.0795286877789,0.999999736526,-0.00012229920824,-0.000712277360938,-6.82058473647e-05,1793249609521497344
+251,4.183333333,HOLD_POSE2,766,746,717,683.060825311,660,634,888,780.060825311,816,651,629,654,0.452736083621,-0.00556589919049,0.0795283002268,0.999999736273,-0.000121900637315,-0.000712694197191,-6.82733048297e-05,1793249609538163712
+252,4.200000000,HOLD_POSE2,766,746,717,683.64008484,660,634,888,780.64008484,816,651,629,654,0.452736212846,-0.00556578345176,0.0795277973189,0.999999735894,-0.000123518893672,-0.000712900139034,-6.87597748503e-05,1793249609554830336
+253,4.216666667,HOLD_POSE2,766,746,717,684,660,634,888,781,816,651,629,654.218395255,0.452736278634,-0.0055658236487,0.0795274167161,0.999999735653,-0.000123978628818,-0.000713157136917,-6.87794709182e-05,1793249609571496960
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+256,4.266666667,HOLD_POSE2,766,746,717,684,660,634,888,780.029412706,816,651,629,654.029412706,0.452736744156,-0.0055681799111,0.0795286140892,0.999999736075,-0.000124485603805,-0.000712593266058,-6.75592208827e-05,1793249609621496576
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+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.57724315,745.42275685,717,684,659.42275685,634,888,780,816,651,628.57724315,654,0.452734947155,-0.00556492816105,0.0795263297899,0.99999973328,-0.000122673565447,-0.000716742515601,-6.8351082266e-05,1793249609753998848
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.795532848,717,681.795532848,662,636,880.795532848,783.795532848,814,650,629,654,0.429401490122,-0.00543145125135,0.0798033323458,0.999999935213,0.000156519520696,-0.00032104257141,4.48116031736e-05,1793249610737332480
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.619264385,717,681.619264385,662,636,880.619264385,784,814,650,629,654,0.428558478632,-0.0054362897885,0.0798479374983,0.999999956787,0.000149840255867,-0.000248418121119,4.75597722736e-05,1793249610753999360
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,717,681,662,636.551804492,880,783.448195508,814,650,629,654,0.426721847411,-0.00542715670899,0.0798205362038,0.99999994346,0.000166007799909,-0.000288486272028,4.79209313706e-05,1793249610787331840
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,717,681,662,636.870038804,880,783.129961196,813.870038804,650,629,654,0.425748659342,-0.00541820273787,0.0797699728558,0.999999916582,0.000180298977423,-0.000363668702917,4.55399514003e-05,1793249610803998464
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,717,681,662,636.296158073,880,783.703841927,813.296158073,650,629,654,0.424781286229,-0.00541274346889,0.0797441590038,0.999999899424,0.000187263585697,-0.000405055028808,4.48859499708e-05,1793249610820665088
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.127941816,745,717,681,661.127941816,636,880,784,813.872058184,650,629,654,0.422943256254,-0.00539716946292,0.0797227233976,0.999999876892,0.000212324231782,-0.000446134433589,4.58045351624e-05,1793249610853999104
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.032135746,745,717,680.967864254,661.032135746,636.032135746,879,783.032135746,814,650,629,654,0.421325587674,-0.00539840028872,0.0798253912719,0.99999994474,0.000210127142239,-0.000253011648833,4.84852025597e-05,1793249610887331840
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.239184105,745,717,680,662,637,879,784,813.239184105,650,629,654,0.418679056927,-0.00538603606624,0.0798204891057,0.999999935614,0.000229699311338,-0.000271428661648,4.83346914235e-05,1793249610937331456
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.486970121,745,717,680,661.513029879,636.513029879,879,784,813.513029879,650,629,653.513029879,0.416154355525,-0.00540313488976,0.0797938151056,0.99999992157,0.000205119253365,-0.000335604364288,4.64375053687e-05,1793249610987331840
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.092692832,745,717,680,661.907307168,636.907307168,878.907307168,783.907307168,814,650,628.907307168,654,0.415332326063,-0.00542087518256,0.0797909844048,0.999999920459,0.000187977526251,-0.000348470925569,4.81011325005e-05,1793249611003998208
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,717.573183134,680,661.573183134,636.573183134,878,783.426816866,814,650,629,654,0.410948239273,-0.00541280008739,0.0797856095409,0.999999917101,0.000207813017215,-0.000347025623992,4.67424444509e-05,1793249611103998208
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,717.367491501,679,660.367491501,636,877.367491501,783.367491501,813,650,629,653.632508499,0.406785419716,-0.00539787720754,0.0797694359425,0.999999899641,0.000232091787335,-0.000380275979428,4.73462227471e-05,1793249611220665344
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,717,679,660.208737195,636.208737195,877.208737195,783,813,650,629,654,0.406293567493,-0.0053979936337,0.0797626886981,0.999999898311,0.000229491362283,-0.000385508738869,4.57601868957e-05,1793249611237331968
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,717,679,660.783598343,636.783598343,877.783598343,783,813,650,629,654,0.405854815722,-0.00539400262759,0.0797786424335,0.999999910669,0.000235383095152,-0.000348134653565,4.53813486522e-05,1793249611253998592
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e86b83c9338f65bc33c5fd20a543073dc2e738c8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb20b28cdc1e70d4377c8d85e3eb9775844bc49a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25720199
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb7477e9ceeab7d2e2f922ea37487f17e08314
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,718,679,661,637,878,783,814,651,629,654,0.400970230393,-0.00539677446234,0.0798302103112,0.999999926138,0.000249065083942,-0.000289673607369,4.21853928104e-05,1793249612236466432
+1,0.016666667,BASELINE,765,744.422420759,717.422420759,679,661,636.422420759,877.422420759,783,813.422420759,650.422420759,629,654,0.400972300476,-0.00539724654787,0.0798321575113,0.999999927117,0.0002481226319,-0.000287065124676,4.23560168396e-05,1793249612253133568
+2,0.033333333,BASELINE,765.154192167,744.154192167,717.154192167,679.154192167,661,636.154192167,877,783,813,650.154192167,629,654,0.400973805226,-0.00539741574402,0.0798334947026,0.99999992785,0.00024739167322,-0.000285126137268,4.24380692208e-05,1793249612269800448
+3,0.050000000,BASELINE,765.72817442,744.72817442,717.72817442,679.72817442,661,636.72817442,877,783,813,650.72817442,629,654,0.400973770847,-0.00539676032021,0.0798331711382,0.999999927928,0.000247236507626,-0.00028500985849,4.2278984231e-05,1793249612286466560
+4,0.066666667,BASELINE,766,745,718,679.689897228,660.689897228,637,877.310102772,783,813.310102772,651,629,654,0.400973590091,-0.00539639021068,0.0798333090465,0.999999928085,0.000246608401585,-0.000285009202808,4.22269025307e-05,1793249612303133184
+5,0.083333333,BASELINE,766,745,718,679.100820458,660.100820458,637,877.899179542,783,813.899179542,651,629,654,0.40097327765,-0.00539627677502,0.0798338621039,0.999999928313,0.000245554829871,-0.000285112563739,4.22710829122e-05,1793249612319800064
+6,0.100000000,BASELINE,766,745,718,679,660.482030721,637,877.517969279,783,813.517969279,651,629,654,0.400973748628,-0.00539590832217,0.0798343154662,0.999999928413,0.000245778430623,-0.000284621085172,4.19190820226e-05,1793249612336466688
+7,0.116666667,BASELINE,766,745,718,679,661,637,877,783,813.062777665,651,629,654,0.400974224142,-0.00539557764105,0.0798346569723,0.999999928469,0.000246171095338,-0.000284139837829,4.15522906759e-05,1793249612353132800
+8,0.133333333,BASELINE,766,745,718,679,661,637,877,783,813.636856562,651,629,654,0.400973419062,-0.00539598348289,0.0798342551157,0.999999928383,0.000245792785113,-0.000284742316823,4.17313312128e-05,1793249612369799424
+9,0.150000000,BASELINE,765.788909628,745,718,679,661,637,877,783,814,650.788909628,629,653.788909628,0.400972979421,-0.00539604365575,0.0798338934443,0.999999928025,0.000246883002091,-0.000285030414125,4.19173295018e-05,1793249612386466048
+10,0.166666667,BASELINE,765.214409181,745,718,679,661,637,877,783,814,650.214409181,629,653.214409181,0.400973168914,-0.00539550872994,0.0798336009551,0.999999927189,0.0002505014139,-0.000284777276476,4.21153061355e-05,1793249612403132928
+11,0.183333333,BASELINE,765.37151194,745.37151194,718,679,661,637,877,783,814,650.37151194,629.37151194,653.37151194,0.400974798872,-0.00539638413611,0.0798344919876,0.999999927971,0.000249543889296,-0.000282840085617,4.22671736933e-05,1793249612419799552
+12,0.200000000,BASELINE,765.964233331,745.964233331,718,679,661,637,877,783,814,650.964233331,629.964233331,653.964233331,0.400977286529,-0.00539809929659,0.0798360877247,0.999999929705,0.000245861714026,-0.000279900158489,4.23915865302e-05,1793249612436466176
+13,0.216666667,BASELINE,765.458311012,745.458311012,717.458311012,678.458311012,661.541688988,637,877,783,814,650.458311012,629.458311012,654,0.400974045934,-0.00539564619748,0.0798345485736,0.999999928501,0.000246767483792,-0.000283485871612,4.17197588535e-05,1793249612453133312
+14,0.233333333,BASELINE,765.117599806,745,717.117599806,678.117599806,661.882400194,637,876.882400194,783,814,650,629,654,0.400971501913,-0.00539362471843,0.0798333770504,0.999999927467,0.000247798931326,-0.000286291636809,4.12167597077e-05,1793249612469800192
+15,0.250000000,BASELINE,765.691321327,745,717.691321327,678.691321327,661.308678673,637,876.308678673,783,814,650,629,654,0.400973086394,-0.00539431553236,0.0798344122331,0.999999927886,0.000248175082784,-0.000284446919447,4.15669022127e-05,1793249612486466304
+16,0.266666667,BASELINE,766,745,717.726867453,679,661,637,876,783,814,650,629,654,0.40097320563,-0.00539549456785,0.0798342023987,0.99999992806,0.000247305658,-0.000284557400941,4.17879427364e-05,1793249612503132928
+17,0.283333333,BASELINE,766,745,717.135634709,679,661,637,876,783,814,650,629,654,0.400971618389,-0.00539724220404,0.0798325425718,0.999999927946,0.000244985589344,-0.000286944978959,4.18586263288e-05,1793249612519799552
+18,0.300000000,BASELINE,766,745,717.446209692,679,661,637,876.446209692,783,813.553790308,650.446209692,629,654,0.400972734779,-0.00539672150107,0.0798336706694,0.999999928041,0.000246916247664,-0.000284946242495,4.19024616679e-05,1793249612536466176
+19,0.316666667,BASELINE,766,745,717.974934193,679,661,636.974934193,877,783,813,651,629.025065807,654,0.400974556745,-0.00539557818883,0.0798355287043,0.999999928186,0.000249908545666,-0.000281807935485,4.19384501615e-05,1793249612553132800
+20,0.333333333,BASELINE,766,745,717.400316107,679,661,636.400316107,877,783,813,651,629.599683893,654,0.400974201325,-0.00539559009595,0.0798351932645,0.999999928409,0.000248431968753,-0.000282314902807,4.19776411016e-05,1793249612569799424
+21,0.350000000,BASELINE,765.825902703,745,717,679,661,636,876.825902703,782.825902703,813,650.825902703,629.825902703,653.825902703,0.400973750142,-0.00539542077199,0.0798346837022,0.999999928192,0.000248313111093,-0.000283184138107,4.19862889776e-05,1793249612586466304
+22,0.366666667,BASELINE,765.251959468,745,717,679,661,636,876.251959468,782.251959468,813,650.251959468,629.251959468,653.251959468,0.400973079023,-0.00539483521807,0.0798337742363,0.999999926962,0.000251312501511,-0.000284885387279,4.19247891762e-05,1793249612603133440
+23,0.383333333,BASELINE,765,745,717.332397647,679,661,636.332397647,876.664795295,782,813.332397647,650,629,653.332397647,0.400972213867,-0.00539572264132,0.0798331214353,0.999999927121,0.000249198452207,-0.000286212256085,4.17150926436e-05,1793249612619800064
+24,0.400000000,BASELINE,765,745,717.92490392,679,661,636.92490392,877.84980784,782,813.92490392,650,629,653.92490392,0.400971196874,-0.00539776270224,0.0798326694801,0.999999928344,0.000243083021784,-0.000287246164021,4.13894288327e-05,1793249612636466688
+25,0.416666667,BASELINE,765.50406299,745,718,679,661,637,877.49593701,782.50406299,814,650,629,654,0.400972271128,-0.00539746917027,0.0798337863374,0.999999928363,0.000244927377898,-0.000285572063687,4.16235098744e-05,1793249612653133056
+26,0.433333333,BASELINE,765.922275304,745,718,679,661,637,877.077724696,783,814,650,629,654,0.400973437503,-0.00539693310284,0.0798348651708,0.999999928245,0.00024739898462,-0.000283810953602,4.18877517838e-05,1793249612669799680
+27,0.450000000,BASELINE,765.370334764,745,718,679,661,637,877.629665236,783,814,650,629,654,0.400973314084,-0.00539698371953,0.0798343227949,0.999999928402,0.000246649024124,-0.00028391697729,4.18403457253e-05,1793249612686466304
+28,0.466666667,BASELINE,765,745,717.797663678,679,661,637,877.797663678,783,814,650.202336322,629,654,0.400973149805,-0.0053968825531,0.0798340828662,0.999999928491,0.000246246111319,-0.000283955689352,4.18255648614e-05,1793249612703132928
+29,0.483333333,BASELINE,765,745,717.182718411,679,661,637,877.182718411,783,814,650.817281589,629,654,0.400972902205,-0.00539647186698,0.0798344596947,0.999999928442,0.000246550906296,-0.000283857137974,4.18773140577e-05,1793249612719799808
+30,0.500000000,BASELINE,765.406754032,745,717,678.593245968,661,636.593245968,877,783,813.593245968,650.593245968,629,654,0.400973648724,-0.00539627246823,0.0798351372115,0.999999928768,0.000246739082788,-0.000282534891646,4.19241359298e-05,1793249612736466432
+31,0.516666667,BASELINE,765.98545815,745,717,678.01454185,661,636.01454185,877,783,813.01454185,650.01454185,629,654,0.400974815495,-0.00539616238854,0.0798359418404,0.99999992925,0.000246877960294,-0.000280695343873,4.1968874837e-05,1793249612753133312
+32,0.533333333,BASELINE,765.435321086,745,717,678,661,636,877,783,813,650,629,654,0.40097452338,-0.00539719419995,0.0798354134364,0.999999929006,0.000246340157899,-0.000282047231909,4.18728143404e-05,1793249612769799680
+33,0.550000000,BASELINE,765,745,717,678,661,636,877.142383308,783,813,650,629,654,0.400974143512,-0.00539775775019,0.0798349220517,0.999999928721,0.000246135646853,-0.000283240436851,4.18410689162e-05,1793249612786466048
+34,0.566666667,BASELINE,765,745,717,678,661,636,877.71546046,783,813,650,629,654,0.400973611946,-0.00539681582892,0.0798346465825,0.999999928371,0.000246992066031,-0.000283704807695,4.20148476016e-05,1793249612803132672
+35,0.583333333,BASELINE,765,745,717.296280335,678.296280335,661,636,877.703719665,783,813,650,629,654,0.400973230671,-0.00539701522757,0.0798346123373,0.999999928403,0.000246794371429,-0.000283743180572,4.2155813998e-05,1793249612819799040
+36,0.600000000,BASELINE,765,745,717.884735716,678.884735716,661,636,877.115264284,783,813,650,629,654,0.400972997604,-0.00539834013179,0.0798348159735,0.999999928811,0.000245557169052,-0.000283361458206,4.22644227763e-05,1793249612836465920
+37,0.616666667,BASELINE,765,745,717.531592188,679,661,636.468407812,877,783,813,650.468407812,629,654,0.400973283034,-0.0053978518816,0.0798347595367,0.999999928741,0.000246008492496,-0.000283227461251,4.21967286245e-05,1793249612853132544
+38,0.633333333,BASELINE,765.050080351,745,717.050080351,679,661,637,877,783,813.050080351,650.949919649,629,654,0.400973717869,-0.00539691976076,0.0798346769195,0.999999928564,0.000246899393463,-0.00028309509886,4.20725258151e-05,1793249612869799168
+39,0.650000000,BASELINE,765.623041444,745,717.623041444,679,661,637,877,783,813.623041444,650.376958556,629,654,0.40097439393,-0.00539596461045,0.079834982395,0.999999928492,0.000248085464932,-0.000282349768574,4.18067122837e-05,1793249612886465792
+40,0.666666667,BASELINE,765.803405075,745,718,679,661,637,877,783,813.803405075,650,629,654,0.400974148893,-0.00539553265616,0.0798347542278,0.999999928296,0.000248679955296,-0.000282551045366,4.15983018887e-05,1793249612903132416
+41,0.683333333,BASELINE,765.228712331,745,718,679,661,637,877,783,813.228712331,650,629,654,0.400972132372,-0.00539610692968,0.0798334997418,0.999999927862,0.000248136697371,-0.000284572868041,4.15002911083e-05,1793249612919799040
+42,0.700000000,BASELINE,765,745,718,679,661,637,877,782.64303712,813,650.35696288,629,654,0.400971456911,-0.00539573534423,0.0798335891811,0.999999927604,0.000249031115166,-0.000284682371508,4.16150618081e-05,1793249612936465920
+43,0.716666667,BASELINE,765,745,718,679,661,637,877,782.05010191,813,650.94989809,629,654,0.400971667964,-0.00539473849333,0.0798345670298,0.99999992746,0.000250875916647,-0.000283527725472,4.18704929125e-05,1793249612953132544
+44,0.733333333,BASELINE,765.52906879,745,717.47093121,678.47093121,661,636.47093121,877,782.52906879,813,650.47093121,629,654,0.400973179809,-0.00539608241888,0.0798351517135,0.999999928447,0.000248281743407,-0.000282317003127,4.1937377594e-05,1793249612969799168
+45,0.750000000,BASELINE,765.894105999,745,717.105894001,678,661,636.105894001,877,783,813.105894001,650,629,653.894105999,0.400974613577,-0.00539740752356,0.0798356504388,0.99999992932,0.000245979646427,-0.000281232318722,4.19873193748e-05,1793249612986465792
+46,0.766666667,BASELINE,765.32201392,745,717.67798608,678,661,636.67798608,877,783,813.67798608,650,629,653.32201392,0.400975175059,-0.00539769862373,0.0798359304898,0.999999929266,0.000246767137269,-0.000280725302302,4.20392835487e-05,1793249613003132416
+47,0.783333333,BASELINE,765,745,717.741970076,678.258029924,661,637,877,783,813.741970076,650,629,653.258029924,0.400975066848,-0.00539777715366,0.0798357390107,0.999999929085,0.000247175981474,-0.000281022487362,4.19512145722e-05,1793249613019799296
+48,0.800000000,BASELINE,765,745,717.151687037,678.848312963,661,637,877,783,813.151687037,650,629,653.848312963,0.400974096306,-0.00539758196685,0.0798349403641,0.999999928741,0.000247097260148,-0.000282355205141,4.1682831437e-05,1793249613036466688
+49,0.816666667,BASELINE,765.430134156,745,717,679,661,637,877,783,813,650,629,653.569865844,0.400973542891,-0.00539764094744,0.0798347860394,0.999999928812,0.000247043702927,-0.000282128223881,4.18277733466e-05,1793249613053133568
+50,0.833333333,BASELINE,765.990990189,745,717,679,661,637,877,783,813,650,629,653.009009811,0.400973156014,-0.0053977728313,0.0798348619163,0.999999929022,0.000247011111422,-0.000281370248387,4.21082002692e-05,1793249613069799936
+51,0.850000000,BASELINE,765.413313795,745,717,679,661,637,877,783,813,650,629,653.586686205,0.400974175066,-0.00539695798752,0.0798354026385,0.99999992891,0.000247752502632,-0.000281143882206,4.19176448884e-05,1793249613086466560
+52,0.866666667,BASELINE,765,744.83671556,717.16328444,679,661,636.83671556,877.16328444,783,813,650,629,654,0.400975326615,-0.00539633584984,0.0798359105925,0.99999992894,0.000248175389399,-0.00028068966479,4.17384108606e-05,1793249613103133184
+53,0.883333333,BASELINE,765,744.262828545,717.737171455,679,661,636.262828545,877.737171455,783,813,650,629,654,0.400976811352,-0.00539619829983,0.0798363361458,0.999999929328,0.000247797350179,-0.000279662482177,4.15876460401e-05,1793249613119799808
+54,0.900000000,BASELINE,765.319339192,744.638678384,718,678.680660808,661,636.319339192,877.680660808,783,813.319339192,650.319339192,629,654,0.40097672729,-0.00539704023057,0.0798364735773,0.999999929611,0.000246845580361,-0.000279467084091,4.17572925975e-05,1793249613136466432
+55,0.916666667,BASELINE,765.908503687,745.817007373,718,678.091496313,661,636.908503687,877.091496313,783,813.908503687,650.908503687,629,654,0.400975317675,-0.00539870977253,0.0798363675605,0.999999929804,0.000245409037519,-0.000279974501486,4.21976704072e-05,1793249613153133056
+56,0.933333333,BASELINE,765.508918648,745.508918648,718,678.491081352,661.982162704,637,877,783,814,650.508918648,629,654,0.400975177999,-0.00539751874605,0.0798359173433,0.999999929431,0.000246411780305,-0.000280455644907,4.19945580538e-05,1793249613169799680
+57,0.950000000,BASELINE,765,745.071626042,718,679,662.928373958,637,877,783,814,650.071626042,629,654,0.400975032758,-0.00539592432663,0.0798353498466,0.999999928911,0.000247854572138,-0.000281082277263,4.17036806525e-05,1793249613186466816
+58,0.966666667,BASELINE,765,745.646396313,718,679,662.353603687,637,877,783,814,650.646396313,629,654,0.40097320834,-0.00539519058064,0.0798344030339,0.999999928096,0.000249238260348,-0.000282764842948,4.16273391789e-05,1793249613203133696
+59,0.983333333,BASELINE,765,745.77380933,718,678.77380933,661.77380933,637,877,783,813.77380933,651,629.22619067,654,0.400972253827,-0.00539580978742,0.0798339133784,0.999999928063,0.00024830852402,-0.000283699485704,4.15994396671e-05,1793249613219800064
+60,1.000000000,BASELINE,765,745.185982315,718,678.185982315,661.185982315,637,877,783,813.185982315,651,629.814017685,654,0.400972690131,-0.00539859211113,0.0798341546309,0.999999929274,0.000243680057114,-0.0002834383406,4.16489897306e-05,1793249613236466432
+61,1.016666667,BASELINE,765.395583179,745,718,678,661,637,877.395583179,783,813.395583179,651,629.604416821,654,0.400972631569,-0.00539819970998,0.0798338082784,0.999999928972,0.00024454975554,-0.00028374174463,4.17355327179e-05,1793249613253133312
+62,1.033333333,BASELINE,765.974250673,745,718,678,661,637,877.974250673,783,813.974250673,651,629.025749327,654,0.400972343973,-0.00539633797843,0.0798331899698,0.999999927967,0.000247964122181,-0.000284306434029,4.18391968144e-05,1793249613269799936
+63,1.050000000,BASELINE,766,745,718,678.551079891,661,637,877.448920109,783,814,651,629,654,0.400974106908,-0.00539637227467,0.0798348108379,0.999999928564,0.000248048445225,-0.000282141420799,4.1718375972e-05,1793249613286466048
+64,1.066666667,BASELINE,766,745,718,679,661,637,877,783,813.872628505,651,629,654,0.400975410639,-0.00539646441418,0.0798360781651,0.999999929033,0.000248038707848,-0.000280497762513,4.16119911004e-05,1793249613303132672
+65,1.083333333,BASELINE,766,745,718,679,661,637,877,783,813.297924386,651,629,654,0.400974766252,-0.00539644959658,0.0798357376175,0.999999928805,0.000248243272064,-0.000281131575045,4.15930214057e-05,1793249613319799552
+66,1.100000000,BASELINE,766,745,718,679,661,637,877.28356706,783,813.28356706,651,629,654,0.400974343835,-0.00539654688428,0.079835521239,0.999999928692,0.00024816973889,-0.00028158848916,4.16630937772e-05,1793249613336466432
+67,1.116666667,BASELINE,766,745,718,679,661,637,877.872364314,783,813.872364314,651,629,654,0.400974160345,-0.00539676484156,0.0798354385157,0.999999928702,0.000247796863033,-0.000281854990644,4.18290105938e-05,1793249613353133312
+68,1.133333333,BASELINE,766,745,718,678.546727546,661,637,877.546727546,783,814,651,629,654,0.400973989748,-0.00539664634035,0.0798353210764,0.999999928737,0.000247505451742,-0.000281969917641,4.19417014542e-05,1793249613369800192
+69,1.150000000,BASELINE,765.96806177,745.03193823,718,678.03193823,661,637,877.03193823,783,813.96806177,651,629,654,0.400973879128,-0.00539635410793,0.0798352489951,0.999999928769,0.000247373634144,-0.000281966169866,4.20040178303e-05,1793249613386466560
+70,1.166666667,BASELINE,765.390403056,745.609596944,718,678.609596944,661,637,877.609596944,783,813.390403056,651,629,654,0.400974732356,-0.00539468452004,0.0798361161091,0.999999928612,0.000249583500138,-0.000280651466867,4.14573087815e-05,1793249613403132928
+71,1.183333333,BASELINE,765.186634071,745.813365929,717.813365929,679,661,637,877.813365929,783,813,651,629,654,0.400974976105,-0.00539440481964,0.0798364409742,0.999999928568,0.000250318264645,-0.000280183556618,4.12472400735e-05,1793249613419799552
+72,1.200000000,BASELINE,765.762375378,745.237624622,717.237624622,679,661,637,877.237624622,783,813,651,629,654,0.400973949171,-0.00539702284961,0.0798356353222,0.999999928767,0.000247977639009,-0.000281481096475,4.17390216348e-05,1793249613436466432
+73,1.216666667,BASELINE,765.653769828,745,717.346230172,679,661.346230172,637,877,783.346230172,813,651,629,654,0.400973127185,-0.00539859870529,0.0798351242604,0.999999928694,0.000247436850202,-0.000282168521263,4.20545501358e-05,1793249613453133312
+74,1.233333333,BASELINE,765.064212999,745,717.935787001,679,661.935787001,637,877,783.935787001,813,651,629,654,0.400972449234,-0.00539944213249,0.0798348202331,0.999999928433,0.000248160966539,-0.000282427163993,4.2246209947e-05,1793249613469800192
+75,1.250000000,BASELINE,765.515949114,745,717.484050886,679,661.484050886,637,877.515949114,783.484050886,813,651,629,654,0.400972807352,-0.00539745361436,0.0798348756555,0.999999927904,0.000250141706583,-0.000282604808136,4.18904122322e-05,1793249613486466816
+76,1.266666667,BASELINE,766,745,717.093951483,679,661,637,878,783,813.093951483,650.906048517,629,654,0.400973042849,-0.00539564123181,0.0798348725356,0.999999927532,0.000251415092315,-0.000282849027663,4.15023008301e-05,1793249613503133440
+77,1.283333333,BASELINE,766,745,717.666798341,679,661,637,878,783,813.666798341,650.333201659,629,654,0.4009720078,-0.00539649107548,0.0798343470582,0.99999992814,0.000248299979806,-0.000283483064819,4.12905663386e-05,1793249613519800064
+78,1.300000000,BASELINE,766,745,717.753675535,679,661,637,877.753675535,783,813.753675535,650,629,654,0.400971981176,-0.00539729205235,0.0798341291484,0.999999928588,0.000246353643156,-0.000283598607454,4.13029253538e-05,1793249613536466688
+79,1.316666667,BASELINE,766,745,717.164862638,679,661,637,877.164862638,783,813.164862638,650,629,654,0.400973356664,-0.00539802508494,0.0798343388793,0.999999928825,0.000246032367481,-0.000282993237582,4.1626862994e-05,1793249613553133312
+80,1.333333333,BASELINE,765.583305829,745,717,679,661,636.583305829,876.583305829,783,813,650,629,654,0.400974227375,-0.00539791256722,0.0798348802927,0.999999928975,0.000246123516346,-0.000282345242079,4.1873332432e-05,1793249613569799936
+81,1.350000000,BASELINE,765.004570665,745,717,679,661,636.004570665,876.004570665,783,813,650,629,654,0.400974901793,-0.0053974712381,0.0798355506884,0.999999929092,0.000246375045834,-0.000281680670581,4.20896766269e-05,1793249613586466304
+82,1.366666667,BASELINE,765,745,717.574007535,679,661,636.574007535,876.574007535,783,813.574007535,650.574007535,629,654,0.400974358573,-0.00539630322981,0.0798354558798,0.999999929083,0.00024647178824,-0.000281734876603,4.13589196322e-05,1793249613603132928
+83,1.383333333,BASELINE,765,745,717.848565969,679,661,637,877,783,814,650.848565969,629,654,0.400973652792,-0.00539533923428,0.0798351427148,0.999999928763,0.000247380927369,-0.000282134346913,4.09458058283e-05,1793249613619799552
+84,1.400000000,BASELINE,765,745,717.274351238,679,661,637,877,783,814,650.274351238,629,654,0.400972520228,-0.00539496096111,0.0798342369388,0.99999992757,0.000250561594264,-0.000283481767859,4.14405521471e-05,1793249613636465920
+85,1.416666667,BASELINE,765,745,717,679,661,637,877,783,814,650,628.693149202,653.693149202,0.40097204635,-0.00539522482316,0.0798335126854,0.999999927204,0.000251152833477,-0.00028422657773,4.15959221422e-05,1793249613653132544
+86,1.433333333,BASELINE,765,745,717,679,661,637,877,783,814,650,628.105554375,653.105554375,0.400972175116,-0.00539607618777,0.079832954511,0.9999999276,0.000249374952508,-0.000284420046407,4.14407898144e-05,1793249613669799168
+87,1.450000000,BASELINE,765,745,717.477257899,679,661,636.522742101,877,783,814,650,628.477257899,653.477257899,0.400972990709,-0.00539571494355,0.0798342401645,0.999999928147,0.000248783307218,-0.000282998512725,4.15269798067e-05,1793249613686465792
+88,1.466666667,BASELINE,765,745,718,679.058440905,661,636.058440905,877,783,813.941559095,650.058440905,629,654,0.400973892523,-0.00539520003626,0.079835760889,0.999999928668,0.000248474542916,-0.000281403633058,4.16693549931e-05,1793249613703132416
+89,1.483333333,BASELINE,765,745,718,679.634469294,661,636.634469294,877,783,813.365530706,650.634469294,629,654,0.400974225958,-0.00539567588855,0.0798357876867,0.999999928686,0.000248370597077,-0.000281405577255,4.1841327652e-05,1793249613719799040
+90,1.500000000,BASELINE,765.213912569,745,718,679.786087431,661,637,877,783,813.213912569,650.786087431,629,654,0.400974463129,-0.00539643938896,0.0798358800702,0.999999928976,0.000247371290189,-0.000281255454949,4.18535725648e-05,1793249613736465664
+91,1.516666667,BASELINE,765.799285758,745,718,679.200714242,661,637,877,783,813.799285758,650.200714242,629,654,0.400974533137,-0.00539770239224,0.079836086344,0.999999929732,0.000244817182808,-0.000280841268133,4.15884491496e-05,1793249613753132544
+92,1.533333333,BASELINE,766,745,717.619314439,679,661,636.619314439,876.619314439,783,813.619314439,650.380685561,629,654,0.400973604163,-0.00539795259261,0.0798352700902,0.999999929624,0.000244105119379,-0.000281878318348,4.13519635059e-05,1793249613769799168
+93,1.550000000,BASELINE,766,745,717.039987887,679,661,636.039987887,876.039987887,783,813.039987887,650.960012113,629,654,0.400972153921,-0.00539767431449,0.0798339202836,0.999999929065,0.000244354230692,-0.000283672621206,4.11304209717e-05,1793249613786465792
+94,1.566666667,BASELINE,766,745,717,678.462494967,661,636.537505033,876.537505033,783,813,650.462494967,629,654,0.400972442124,-0.00539858145234,0.079834575873,0.999999929237,0.000244333076538,-0.000283045209703,4.13847054365e-05,1793249613803132416
+95,1.583333333,BASELINE,765.885391941,745,717,678.114608059,661,636.885391941,877,783,813.114608059,650,629,653.885391941,0.400972812678,-0.0053990144747,0.0798351635931,0.999999929354,0.00024452044136,-0.000282440884246,4.15785034026e-05,1793249613819800064
+96,1.600000000,BASELINE,765.309311253,745,717,678.690688747,661,636.309311253,877,783,813.690688747,650,629,653.309311253,0.400972995832,-0.00539718456766,0.0798348793514,0.999999929031,0.000245628097954,-0.000282652485715,4.13866990289e-05,1793249613836472320
+97,1.616666667,BASELINE,765,745,717,679,661,636,877,783,814,650.271687251,629,653.271687251,0.400973067296,-0.00539624158123,0.079834956481,0.999999928836,0.000246532140984,-0.000282551590666,4.1412797837e-05,1793249613853139712
+98,1.633333333,BASELINE,765,745,717,679,661,636,877,783,814,650.858387782,629,653.858387782,0.40097300926,-0.00539632695294,0.0798354526099,0.99999992879,0.00024720010008,-0.000282088365193,4.16915489095e-05,1793249613869800960
+99,1.650000000,BASELINE,765.441546396,745,717,679,661,636.441546396,877,783,813.558453604,650.558453604,629,654,0.400974295585,-0.00539625076202,0.0798362221715,0.999999929179,0.000247613740484,-0.000280339507874,4.16956441682e-05,1793249613886466304
+100,1.666666667,BASELINE,765.976769211,745,717.023230789,679,661,637,877,783,813,650,629,653.976769211,0.400975891441,-0.00539611565159,0.079837009063,0.999999929664,0.0002479267062,-0.000278341408192,4.16074044116e-05,1793249613903132928
+101,1.683333333,BASELINE,765.403310527,745,717.596689473,679,661,637,877,783,813,650,629,653.403310527,0.40097468768,-0.00539580253045,0.0798361458644,0.999999929212,0.000247771674844,-0.000280128280371,4.14019527874e-05,1793249613919800320
+102,1.700000000,BASELINE,765,744.829182477,718,679,661,637,877,783,813,650,629.170817523,653,0.400974256884,-0.00539561137072,0.0798359908705,0.999999928981,0.000248297556924,-0.000280490204325,4.13716981298e-05,1793249613936467200
+103,1.716666667,BASELINE,765,744.25346788,718,679,661,637,877,783,813,650,629.74653212,653,0.400975658279,-0.0053957093021,0.0798375145689,0.999999929273,0.000250437441227,-0.000277474504009,4.17567213837e-05,1793249613953133568
+104,1.733333333,BASELINE,765,744.331004295,718,679,661,636.668995705,877,783,813.331004295,650,629.668995705,653.331004295,0.400974896312,-0.00539639184529,0.0798373800383,0.999999928926,0.000251084696854,-0.000278096982126,4.20360643314e-05,1793249613969799936
+105,1.750000000,BASELINE,765,744.922364935,718,679,661,636.077635065,877,783,813.922364935,650,629.077635065,653.922364935,0.400972432719,-0.00539753422359,0.0798359412031,0.999999928075,0.000250557903456,-0.000281581123206,4.22322829057e-05,1793249613986466304
+106,1.766666667,BASELINE,765,745,717.497432603,679,661,636.502567397,877.502567397,783,813.497432603,650,629,654,0.40097277858,-0.00539720865811,0.0798360816097,0.999999928079,0.000250667836225,-0.000281494232842,4.20628729954e-05,1793249614003132928
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,718,679,661,636,878,783,814,650,629,654,0.400974818651,-0.00539752497386,0.0798360876191,0.999999929131,0.000247379839711,-0.000280717942828,4.16987630948e-05,1793249614046558720
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,718,679,661,636.574723456,878,783,813.425276544,650.574723456,629,654,0.400973038519,-0.00539732207421,0.0798355078501,0.999999928977,0.000246754699064,-0.000281857042777,4.14144821519e-05,1793249614063225344
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.154169261,745,718,679,661,637,877.845830739,783,813.154169261,650.845830739,629,654,0.400971999521,-0.00539705268547,0.0798352934379,0.999999928917,0.000246329784228,-0.000282456419785,4.1304939331e-05,1793249614079891712
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.747053449,745,718,679,661,637,877.252946551,783,813.747053449,650.252946551,629,654,0.400973069546,-0.00539659409066,0.0798361187106,0.999999929129,0.000246474645945,-0.000281519923374,4.16926435726e-05,1793249614096558336
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877.332064537,783,813.667935463,650,629,654,0.400973988751,-0.00539606466638,0.0798364882887,0.999999928964,0.000248068271052,-0.000280686752139,4.18254687056e-05,1793249614113224960
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877.911217242,783,813.088782758,650,629,654,0.400974795733,-0.00539548253815,0.0798365187858,0.999999928512,0.00025073991639,-0.000279930464894,4.17686390798e-05,1793249614129891584
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877.51426909,783,813,650,629,654,0.400974784529,-0.00539579699534,0.0798365521373,0.999999928991,0.00024889853453,-0.00027991797835,4.14045577273e-05,1793249614146557952
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.059490277,637,877,783,813.059490277,650.059490277,629,654,0.400974806178,-0.00539633642069,0.0798366118198,0.999999929626,0.000246282460603,-0.000280016764051,4.10289781805e-05,1793249614163224832
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661.633990788,637,877,783,813.633990788,650.633990788,629,654,0.400976394637,-0.00539741811522,0.0798368949767,0.999999930206,0.000244033473858,-0.000279913019738,4.10354387945e-05,1793249614179891200
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,718,678.783701781,661.783701781,637,877,783,813.783701781,651,629,654,0.400982420873,-0.00539788591134,0.0798392845353,0.99999993144,0.000243449036354,-0.000275978675914,4.10984001553e-05,1793249614196557824
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,718,678.187689262,661.187689262,637,877,783,813.187689262,651,629,654,0.400996237683,-0.00539727600082,0.0798453719092,0.999999933746,0.000245786736621,-0.000265319665488,4.1260549298e-05,1793249614213224448
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,718,678.392858013,661,637,877,783,813,651,629,654,0.401027351043,-0.00539656483196,0.0798568561088,0.999999938683,0.00024743963029,-0.000244308949853,4.14839038431e-05,1793249614229891328
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,718,678.966296606,661,637,877,783,813,651,629,654,0.401066414913,-0.00539580711878,0.0798708210065,0.999999944304,0.000248777746765,-0.000218539982407,4.17353919729e-05,1793249614246558464
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,637,877,783,813,651,629,654,0.401132416335,-0.00539902827184,0.0798879629958,0.999999952319,0.00024558241196,-0.000182556255028,4.1521470243e-05,1793249614263225088
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,717.881865117,679,661.118134883,637,877,783,813.118134883,650.881865117,629,654,0.401202140676,-0.00540205694,0.079903911226,0.99999995824,0.000242687431309,-0.000151460091141,4.10255564527e-05,1793249614279891456
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,717.289615902,679,661.710384098,637,877,783,813.710384098,650.289615902,629,654,0.401280055527,-0.00540331596133,0.0799142723018,0.999999959746,0.000242133997971,-0.000142539242542,3.95145516419e-05,1793249614296558080
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,717,679,661.703960105,637,877,783,813.703960105,650.296039895,629,654,0.401366291296,-0.00540408253306,0.0799205808996,0.9999999613,0.000241102829842,-0.000133720044368,3.72660964489e-05,1793249614313224704
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,717,679,661.124614156,637,877,783,813.124614156,650.875385844,629,654,0.401460490065,-0.00540437783732,0.0799230113318,0.999999962892,0.000239614476206,-0.000124998124768,3.43119116024e-05,1793249614329891072
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,717,679,661,637,877.447391856,783,813,651,629,654,0.401574773162,-0.00540543992821,0.0799272728024,0.999999964247,0.000238325139714,-0.000117308134342,3.07573954024e-05,1793249614346557696
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.982392148,745,717.017607852,679,661,637,877.982392148,783,813.017607852,650.982392148,629,654,0.401695601204,-0.0054067343643,0.079932156596,0.999999965538,0.000237005661475,-0.000109648538201,2.7018076765e-05,1793249614363224576
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.405138536,745,717.594861464,679,661,637,877.405138536,783,813.594861464,650.405138536,629,654,0.401849518239,-0.00540873490871,0.0799408718541,0.999999968186,0.000232994719172,-9.3966868557e-05,2.26339139822e-05,1793249614379891456
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,717.823073991,679,661,636.823073991,877.353852019,783,814,650.176926009,629,653.823073991,0.402012075696,-0.00541015239185,0.0799488778787,0.999999970325,0.000229362097688,-8.01254207853e-05,1.79929676146e-05,1793249614396558080
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,717.229685159,679,661,636.229685159,878.540629683,783,814,650.770314841,629,653.229685159,0.402194971659,-0.00541019741769,0.0799552144502,0.999999971747,0.000226619999179,-7.0615639108e-05,1.27475838022e-05,1793249614413224704
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,717.354440408,679,661,636.354440408,878.291119184,783,814,651,629,653.354440408,0.40239094063,-0.0054127009429,0.0799582023048,0.999999974001,0.000218374978651,-6.53273550008e-05,6.47268976324e-06,1793249614429891072
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,717.932716119,679,661,636.932716119,877.134567762,783,814,651,629,653.932716119,0.40259516545,-0.00541675705336,0.0799590753867,0.999999976681,0.000206654766545,-6.27050193419e-05,-4.52358464026e-07,1793249614446557952
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.509082381,745,718,679,661.509082381,637,877,783,813.490917619,650.490917619,629,654,0.402821193806,-0.00541821195658,0.0799533687141,0.999999977186,0.000200125333937,-7.42101427338e-05,-8.42411492641e-06,1793249614463224320
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.913268322,745,718,679,662,637,877.086731678,783,813.086731678,650,629,654,0.403056005576,-0.00541958404658,0.079947479838,0.999999977427,0.00019361501784,-8.5934101937e-05,-1.65883834079e-05,1793249614479890944
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.326777041,745,718,679,662,637,877.673222959,783,813.673222959,650,629,654,0.403324885912,-0.00542245253927,0.0799455332564,0.999999979001,0.000183276512852,-8.8200268326e-05,-2.50677788139e-05,1793249614496557568
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,718,679,661.742439635,637,878,783,813.742439635,650,629,654,0.403627530099,-0.00542528735604,0.0799477020751,0.999999987459,0.000129985114402,-8.4217187945e-05,-3.30605781768e-05,1793249614513224448
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,718,679,661.160812308,637,878,783,813.160812308,650,629,654,0.403972656537,-0.005428079801,0.0799550489626,0.999999996307,2.26496322368e-05,-7.23711949418e-05,-4.04411331078e-05,1793249614529891328
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.415747603,745,717.584252397,679,661,637,877.584252397,783,813.415747603,650,629,654,0.404334531122,-0.00542878550372,0.0799583849872,0.999999995949,5.35024395036e-05,-6.52672001876e-05,-3.13044240158e-05,1793249614546558720
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.990371013,745,717.009628987,679,661,637,877.009628987,783,813.990371013,650,629,654,0.404702805917,-0.00542869376857,0.0799601882809,0.999999988669,0.000137163192803,-5.99753357257e-05,-1.58557272e-05,1793249614563225856
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.577556543,717.577556543,679,661.577556543,637,877,783.577556543,814,650.577556543,629,654,0.405104406334,-0.00542976685827,0.0799581183373,0.999999988896,0.000133996030087,-6.05906092907e-05,-2.41419751975e-05,1793249614579891968
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.837451309,745.837451309,717.837451309,679,662,637,877.162548691,783.837451309,814,650.837451309,629,654,0.405520207994,-0.00543293030174,0.0799551027445,0.999999989739,0.000124895197934,-6.30874758581e-05,-3.0699576417e-05,1793249614596558336
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.258624653,745.258624653,717.258624653,679,662,637,877.741375347,783.258624653,814,650.258624653,629,654,0.405970923666,-0.00544139618329,0.0799498344464,0.999999991586,0.000104388197084,-7.01451769212e-05,-3.17942938812e-05,1793249614613224960
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,717,679,661.679613626,637,878,783,814,650.320386374,629,654,0.406447107687,-0.00545355971096,0.079942223271,0.999999992218,8.74894964008e-05,-8.31799590415e-05,-3.147787425e-05,1793249614629891584
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,717,679,661.100453621,637,878,783,814,650.899546379,629,654,0.406943862347,-0.00546870980013,0.0799327197709,0.999999991743,7.35051900155e-05,-0.000101042384706,-3.00216900627e-05,1793249614646557952
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.48097552,745,717.48097552,679.48097552,661.48097552,637,877.51902448,783,813.51902448,650.51902448,629,654,0.407444498639,-0.0054865142603,0.0799276766287,0.999999991894,5.18305923453e-05,-0.000112420385609,-2.97878582941e-05,1793249614663224832
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.93740183,745,718,679.93740183,662,637,877,783,813,650.06259817,629,654,0.407952237139,-0.00550214416187,0.0799228148088,0.999999991419,3.21487093702e-05,-0.000123397764137,-3.00179023168e-05,1793249614679891712
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.358111926,745,718,679.358111926,662,637,877,783,813,650.641888074,629,654,0.408511875005,-0.00549522747821,0.0799117239731,0.999999988473,4.22350335341e-05,-0.000142299869053,-3.19596210296e-05,1793249614696558592
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.221214562,745,717.778785438,679.221214562,662,637,877.221214562,783,813.221214562,650.778785438,629,654,0.409111156372,-0.00549366850319,0.0799144638003,0.999999988954,4.36053464465e-05,-0.000138149313963,-3.3257423838e-05,1793249614713225216
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.800600248,745,717.199399752,679.800600248,662,637,877.800600248,783,813.800600248,650.199399752,629,654,0.409774624968,-0.00550078425822,0.0799395970187,0.999999994289,3.08634614446e-05,-9.66739221852e-05,-3.35126546219e-05,1793249614729891840
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,717,680,662,637,878.379312963,783,814,650,629,654,0.410475686307,-0.00550664010206,0.0799702793172,0.999999998061,2.38471377948e-05,-4.7208391421e-05,-3.28873767897e-05,1793249614746557952
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,717,680,662,637,878.957672514,783,814,650,629,654,0.411196474627,-0.00551183480026,0.0800038735256,0.999999999277,1.98353346874e-05,6.45000800399e-06,-3.18000470964e-05,1793249614763224320
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,717.531659463,680,662,637,879,783,814,650.531659463,629,654,0.41185731812,-0.00551246621492,0.0799822358378,0.999999998761,1.68398350119e-05,-3.1751648334e-05,-3.44461932066e-05,1793249614779890944
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.107922738,718,679.892077262,662,637,879,783,814,650.892077262,629,654,0.412519676255,-0.00551417949845,0.0799550919871,0.999999996331,1.12095133501e-05,-7.61155784755e-05,-3.7666571157e-05,1793249614796557568
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.695845781,718,679.304154219,662,637,879,783,814,650.304154219,629,654,0.413209823663,-0.00552230717977,0.0799228564733,0.999999992407,-6.49644868662e-06,-0.00011562532471,-4.2129704624e-05,1793249614813224960
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,717.719843939,679.280156061,662,637,879.280156061,783.280156061,814,650,629,654,0.413949085438,-0.00552762578841,0.0799115499207,0.999999991114,-1.95765790888e-05,-0.000123926455966,-4.50744837743e-05,1793249614829891840
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,717.139405883,679.860594117,662,637,879.860594117,783.860594117,814,650,629,654,0.414740989957,-0.00552993352636,0.0799226758263,0.999999993662,-2.76985681911e-05,-9.87770034915e-05,-4.63918332157e-05,1793249614846558208
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.437117623,745.562882377,717,680,662.437117623,637.437117623,880,783.562882377,814,650,629,654,0.415556057542,-0.00553303961838,0.0799414268728,0.999999996073,-2.6315926107e-05,-7.18972349253e-05,-4.46323437155e-05,1793249614863224576
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.987672532,745,717,680,663,638,880,783,814,650,629,654,0.416377754534,-0.00553646295183,0.0799617686847,0.999999997826,-2.23293197608e-05,-4.56516202779e-05,-4.20197686773e-05,1793249614879891200
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.415924077,745,717,680,663,638,880,783,814,650,629,654,0.417168041428,-0.00554283098881,0.0799449231634,0.999999995664,-3.65108326244e-05,-7.30038241331e-05,-4.48288604866e-05,1793249614896557568
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,717.162561312,680.162561312,663,638,880.162561312,783.162561312,814,650,629,654,0.41798849411,-0.00554878995521,0.0799413954824,0.999999994949,-4.92954202863e-05,-7.38309120069e-05,-4.71371140724e-05,1793249614913224192
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,717.759028788,680.759028788,663,638,880.759028788,783.759028788,814,650,629,654,0.418889464806,-0.0055536570363,0.079973415578,0.999999997133,-5.83513556846e-05,-3.85756482714e-06,-4.81085377257e-05,1793249614929890816
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.342662754,718,681,663.342662754,638,881.342662754,784,814,650,629,654,0.419764712133,-0.00555874790987,0.0799818250228,0.999999996432,-6.68371748033e-05,1.58178847396e-05,-4.91768581613e-05,1793249614946557696
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.917597572,718,681,663.917597572,638,881.917597572,784,814,650,629,654,0.42062252298,-0.00556399047975,0.0799742301164,0.999999995926,-7.49365434991e-05,1.39917823094e-06,-5.03108596122e-05,1793249614963224320
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.507131531,745.507131531,717.507131531,681,663.507131531,638,882,784,814,650,629,654,0.421520524829,-0.00556903800102,0.0799696756833,0.999999995432,-8.06841299784e-05,-9.67981966367e-06,-5.03239211314e-05,1793249614979891456
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.069948066,745,717,681,663,638,882.069948066,783.930051934,814,650,629,654,0.422425947618,-0.00557033498082,0.0799693215301,0.999999995336,-8.14178925348e-05,-1.41814768338e-05,-4.99753775722e-05,1793249614996558080
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.660059496,745,717,681,663,638,882.660059496,783.339940504,814,650,629,654,0.423336551941,-0.0055439840154,0.0799964196605,0.99999999735,-4.77926862223e-05,2.60736900515e-05,-4.83323921926e-05,1793249615013224448
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,717,681,663.245457502,638,883,783.245457502,814,650,628.754542498,654,0.424220421666,-0.0055228304333,0.079999238205,0.999999998532,-1.98919246052e-05,1.77003800438e-05,-4.71981215715e-05,1793249615029890816
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,717,681,663.824450835,638,883,783.824450835,814,650,628.175549165,654,0.42506796366,-0.00550873922507,0.0799690648431,0.999999997297,2.30275609e-07,-5.67509186423e-05,-4.67551092195e-05,1793249615046557184
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,717.400789944,681,664,638,883,783.599210056,814.400789944,650,628.400789944,654,0.425963930025,-0.00551364509903,0.0799378744252,0.999999994187,-1.19041573988e-05,-9.4837341321e-05,-4.98975892051e-05,1793249615063224064
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,717.975974097,681,664,638,883,783.024025903,814.975974097,650,628.975974097,654,0.426880967051,-0.00552681710217,0.0799062414613,0.999999990928,-3.80742980808e-05,-0.000117100448989,-5.46002109293e-05,1793249615079890944
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,718,681.547754279,664,638,883,783.547754279,815,650,628.452245721,654,0.42780593546,-0.00553039006175,0.0799040260052,0.999999990134,-3.81502870217e-05,-0.000123861320783,-5.41824597025e-05,1793249615096557568
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.124056286,718,682,663.875943714,638,883.124056286,784,815,650.124056286,628.124056286,654,0.428730168147,-0.00553391048503,0.0799085673419,0.999999990248,-3.91499139527e-05,-0.000123005557427,-5.33047026581e-05,1793249615113224192
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.718049454,718,682,663.281950546,638,883.718049454,784,815,650.718049454,628.718049454,654,0.4296503041,-0.00553881697919,0.0799338463529,0.999999992928,-4.79572777947e-05,-9.58571367098e-05,-5.15299239588e-05,1793249615129891072
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,717.695877768,681.695877768,663,638,884,784,815,650.695877768,629,654,0.430592978824,-0.0055429095752,0.0799719978576,0.999999996392,-5.43730179084e-05,-4.21408707474e-05,-4.98456087395e-05,1793249615146557696
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,717.116961603,681.116961603,663,638,884,784,815,650.116961603,629,654,0.431556018722,-0.00554626676177,0.0800217804841,0.999999996485,-5.86277719551e-05,3.55811454466e-05,-4.82430329663e-05,1793249615163224320
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.542705615,717,681,663,638,884,784,815,650,629,654,0.43243176096,-0.00554262278594,0.0800138475805,0.999999996943,-5.74248322928e-05,1.93409320786e-05,-4.94291114275e-05,1793249615179890944
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.968631232,745,717,681.031368768,663.031368768,638,884.031368768,784,815,650.031368768,629,654,0.433284586059,-0.00553700716111,0.0799890227248,0.999999996937,-5.42409161628e-05,-2.31557400151e-05,-5.14499775122e-05,1793249615196557312
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.376718533,745,717,681.623281467,663.623281467,638,884.623281467,784,815,650.623281467,629,654,0.434122857609,-0.0055278348916,0.0799234725934,0.999999991611,-4.03504810304e-05,-0.00010972386159,-5.57712223792e-05,1793249615213224192
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.209742248,745.209742248,717,682.209742248,664,638,885,784,815.209742248,651,629,654,0.434980364293,-0.00552490659464,0.0798919722401,0.999999986498,-3.90562971813e-05,-0.000148531817411,-5.84465169776e-05,1793249615229890816
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.786659003,745.786659003,717,682.786659003,664,638,885,784,815.786659003,651,629,654,0.435871544115,-0.00553290898645,0.0799200793734,0.999999991135,-5.98130926602e-05,-0.000103730903994,-5.82404143948e-05,1793249615246557696
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,717,682.638006293,664,638,885.361993707,784,815.638006293,650.638006293,629,654,0.436740474137,-0.00553913889093,0.0799518111134,0.999999994521,-6.2312703733e-05,-6.36326181987e-05,-5.50182001989e-05,1793249615263224320
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,717,682.06359995,664,638,885.93640005,784,815.06359995,650.06359995,629,654,0.437596348247,-0.00554432872517,0.0799856697182,0.99999999694,-5.40992635515e-05,-2.62937685173e-05,-5.00261756229e-05,1793249615279890944
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,717,682,664,638,886,784,815.510062608,650.510062608,629,654,0.438427786969,-0.00554783913793,0.0799961766526,0.999999996545,-6.42443807173e-05,-5.16954596246e-06,-5.24932566325e-05,1793249615296557824
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.913162717,746,717,682.086837283,663.913162717,637.913162717,885.913162717,783.913162717,815.913162717,650.913162717,629,654,0.43924239127,-0.0055507458072,0.0799952936632,0.999999995597,-7.57640796016e-05,-9.53969342727e-07,-5.53632204348e-05,1793249615313224448
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,717.422189369,683,663,637,886,783,815.422189369,650.422189369,629,654,0.441955617751,-0.00553161640666,0.0797211905772,0.999999905302,-6.15476967715e-05,-0.000425421639243,-6.80011550318e-05,1793249615379890688
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,717.99443472,683,663,637,886,783,815.99443472,650.99443472,629,654,0.442649845468,-0.00552987160434,0.0797051808959,0.999999898812,-6.74726137552e-05,-0.000439250617791,-6.9872982493e-05,1793249615396557312
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.147497054,717,683,663.852502946,636.852502946,887,783,816,650.852502946,629,654.147497054,0.444101394498,-0.00554502327248,0.0798188056648,0.999999959667,-6.60014787746e-05,-0.000269146945109,-6.22058363063e-05,1793249615429891328
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,717,683,663,636,887,783,816,650.328912189,629,654.671087811,0.44534849601,-0.00555257425601,0.0798139952554,0.999999953668,-8.41020950324e-05,-0.000285880597047,-6.21513409017e-05,1793249615463224320
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,717,683,663,636,887,783,816,650.90806898,629,654.09193102,0.445922721023,-0.005553908757,0.0797891260396,0.999999939862,-9.12654841014e-05,-0.000328501288112,-6.35174216702e-05,1793249615479891200
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717,683,662,636,887.630065542,783,816,650.369934458,629,654,0.44747747334,-0.00556098383016,0.0797154367562,0.999999907,-9.60246852689e-05,-0.000414984824624,-6.75743064927e-05,1793249615529890816
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,717,683.212921756,662,636,887.787078244,782.787078244,816,650.212921756,628.787078244,654.212921756,0.447951158357,-0.0055608351376,0.0796921358894,0.999999891922,-9.74828950646e-05,-0.000449267006547,-6.93773364724e-05,1793249615546557952
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,717,683.80715368,662,636,887.19284632,782.19284632,816,650.80715368,628.19284632,654.80715368,0.448384622764,-0.00556072201984,0.0796651955446,0.999999867094,-0.000108464522029,-0.000498993138945,-7.10843367437e-05,1793249615563225344
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,717,683.609740065,662,635.609740065,887,782,816,651,628.390259935,654.609740065,0.448801869152,-0.0055595480863,0.0796435082174,0.999999850552,-0.000107513883213,-0.000531251905365,-7.14719859316e-05,1793249615579891968
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,717,683.031979103,662,635.031979103,887,782,816,651,628.968020897,654.031979103,0.449211323606,-0.00555786448207,0.0796243447088,0.999999838302,-0.000100830368707,-0.000555118451671,-7.12257508976e-05,1793249615596558080
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,717,683,661,635,888,781.882049506,816,651,629,654,0.449984522133,-0.00555423775196,0.0796332535973,0.999999847922,-9.05054583046e-05,-0.000539360385996,-7.10974428545e-05,1793249615629891072
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.407793239,746,717,683,660,634,888.592206761,781,816,651,629,654.592206761,0.451679742176,-0.00556358247039,0.0796021511876,0.99999981024,-9.90515623944e-05,-0.000604157332125,-6.85832009895e-05,1793249615729891840
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+242,4.033333333,POSE1_TO_POSE2_PRESS,765.337053412,746,717,684,659.662946588,634,888,780.662946588,816.337053412,651,628.662946588,654.662946588,0.453220028578,-0.00556160485278,0.0795169199149,0.999999719615,-0.000124865525328,-0.000734679035914,-7.36592287113e-05,1793249616296558080
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.915702779,746,717,684,659.084297221,634,888,780.084297221,816.915702779,651,628.084297221,654.084297221,0.453219382773,-0.00556031061944,0.079516038623,0.999999719015,-0.000123315996311,-0.000735728618611,-7.39343812465e-05,1793249616313224960
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,717,683.508717791,659,634,888,780.491282209,816.508717791,651,628.491282209,654.491282209,0.453221282055,-0.00556103186141,0.0795180288728,0.99999972078,-0.000123715456783,-0.000733296340864,-7.35585558456e-05,1793249616329891328
+245,4.083333333,HOLD_POSE2,765,746,717,684,659,634,888,780,816,651,629,654,0.453220959148,-0.0055616757927,0.0795177508042,0.999999720336,-0.000124476484208,-0.000733796278246,-7.33244732373e-05,1793249616373775360
+246,4.100000000,HOLD_POSE2,765.594561836,746,717,684,659,634,888,780,816,651,629,654,0.453222530721,-0.00556316013963,0.0795183019851,0.99999972095,-0.000126508542796,-0.000732614678131,-7.32921410005e-05,1793249616390441472
+247,4.116666667,HOLD_POSE2,766,746,717,684,659.185373829,634,888,780,816,651,629,654,0.453223703919,-0.00556363961378,0.0795188843406,0.999999721531,-0.000126947141869,-0.00073176747697,-7.30618517525e-05,1793249616407107584
+248,4.133333333,HOLD_POSE2,766,746,717,684,659.768147123,634,888,780,816,651,629,654,0.453224023091,-0.00556196486876,0.0795195335278,0.999999722048,-0.000123969725365,-0.000731637151139,-7.2407187543e-05,1793249616423774208
+249,4.150000000,HOLD_POSE2,766,746,717,684,659.656931832,634,888,780,816,651,629,654,0.453223486582,-0.00556170333205,0.0795192556009,0.999999721764,-0.000123628517704,-0.000732093998071,-7.22866525644e-05,1793249616440441088
+250,4.166666667,HOLD_POSE2,766,746,717,684,659.087198796,634,888,780,816,651,629,654,0.453222384724,-0.00556237550106,0.0795183651304,0.999999720955,-0.000125029051323,-0.000732938789592,-7.25190163861e-05,1793249616457108224
+251,4.183333333,HOLD_POSE2,765.501949467,746,717,684,659,634,888,780.498050533,816,651,629,654,0.453222218685,-0.00556181915753,0.0795178884458,0.999999720316,-0.00012490170404,-0.000733810015396,-7.27407879961e-05,1793249616473774848
+252,4.200000000,HOLD_POSE2,765,746,717,684,659,634,888,780.914910023,816.085089977,651,628.914910023,654,0.453222196171,-0.00556115443184,0.0795175758954,0.999999719813,-0.000124581462572,-0.000734533767031,-7.28874977378e-05,1793249616490441472
+253,4.216666667,HOLD_POSE2,765,746,717,684,659,634,888,780.333780814,816.666219186,651,628.333780814,654,0.453222024495,-0.00556115207767,0.0795177842699,0.999999719934,-0.00012474629664,-0.000734369957918,-7.26077864758e-05,1793249616507107840
+254,4.233333333,HOLD_POSE2,765,746,717,683.755259399,659,634,888,780,817,651,628.244740601,654,0.453222131842,-0.00556186767196,0.0795177861401,0.999999719936,-0.000126163661178,-0.000734128194612,-7.25736647446e-05,1793249616523774208
+255,4.250000000,HOLD_POSE2,765,746,717,683.180257082,659,634,888,780,817,651,628.819742918,654,0.453222615715,-0.00556355209156,0.0795175093459,0.999999719772,-0.000129271235103,-0.000733781237137,-7.28709503296e-05,1793249616540440832
+256,4.266666667,HOLD_POSE2,765,745.605066416,717,683.394933584,659,634,888,780,816.605066416,651,629,654,0.453222638996,-0.0055623749543,0.0795174900921,0.999999720047,-0.000127517871475,-0.000733709094051,-7.29123131073e-05,1793249616557107968
+257,4.283333333,HOLD_POSE2,765,745.029789692,717,683.970210308,659,634,888,780,816.029789692,651,629,654,0.453222451953,-0.00555989111102,0.0795175884418,0.999999720512,-0.000123544801372,-0.000733762442634,-7.28368108867e-05,1793249616573775104
+258,4.300000000,HOLD_POSE2,765.561121229,745.561121229,717,684,659,634,888.561121229,780,816,651,629,654,0.453221108741,-0.00556045447078,0.0795164788526,0.999999718898,-0.000124085838406,-0.000735855778725,-7.29611206471e-05,1793249616590441728
+259,4.316666667,HOLD_POSE2,766,746,717,684,659,634,888.851009608,780,816.148990392,651,629,654,0.453220906828,-0.0055613832889,0.0795163635773,0.999999718305,-0.000124948606763,-0.000736517947725,-7.29367226525e-05,1793249616607108096
+260,4.333333333,HOLD_POSE2,766,746,717,684,659,634,888.274323014,780,816.725676986,651,629,654,0.453224162411,-0.00556288349742,0.0795192919752,0.999999720971,-0.000126027277037,-0.000732751961192,-7.24541156169e-05,1793249616623774720
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,781,816,651,629,655,0.453224304327,-0.00556111772774,0.0795188576489,0.999999721219,-0.000124815828439,-0.000732661255412,-7.20395865932e-05,1793249616660605696
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,716.412823553,684,659,634,888,781,816,651,629,654.412823553,0.453225844251,-0.005559407639,0.0795194217133,0.999999721608,-0.000123858003182,-0.000732254216998,-7.24348032098e-05,1793249616677272832
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,746,716.171885452,684,659,634,888.171885452,780.828114548,816,651,629,654,0.453227215878,-0.00555832450106,0.0795200641237,0.999999722287,-0.000122973323543,-0.000731447839968,-7.27124540527e-05,1793249616693939968
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,746,716.750752295,684,659,634,888.750752295,780.249247705,816,651,629,654,0.453228189018,-0.0055587258241,0.0795208920375,0.999999723654,-0.000122261834085,-0.000729695929749,-7.27117388809e-05,1793249616710606336
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.328155699,634,888.671844301,780,816,651,629,654.328155699,0.453227468747,-0.0055600751231,0.0795202494679,0.999999723045,-0.000123210003937,-0.000730370671194,-7.27170954731e-05,1793249616727272704
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.90445246,634,888.09554754,780,816,651,629,654.90445246,0.453225467971,-0.00556214125179,0.0795184949647,0.999999720934,-0.000125413156225,-0.000732880370734,-7.27270433429e-05,1793249616743939840
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,746,716.51874888,684,659.51874888,634,888,780,816,650.51874888,629,654.51874888,0.453226152334,-0.00556149824551,0.0795192478899,0.999999721642,-0.000124928612356,-0.00073202652932,-7.24251444181e-05,1793249616760606208
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,716.059226452,684,659,634,888,780,816,650.059226452,628.940773548,654,0.453227170417,-0.00556047976679,0.079520277025,0.999999722789,-0.000124010269754,-0.000730644246257,-7.21324036654e-05,1793249616777272320
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,716.646808974,684,659,634,888,780,816,650.646808974,628.353191026,654,0.45322640482,-0.00556091504958,0.0795193245097,0.999999722864,-0.000123987351446,-0.000730511364584,-7.24742708746e-05,1793249616793938944
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.768409125,746,717,683.768409125,659,634,888.231590875,780,816,651,628.231590875,654,0.453225074305,-0.00556101878204,0.0795184341621,0.999999722684,-0.000123864023232,-0.000730759083906,-7.26682948131e-05,1793249616810605568
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.18784737,746,717,683.18784737,659,634,888.81215263,780,816,651,628.81215263,654,0.453222892551,-0.00556062292048,0.0795176374914,0.99999972212,-0.000123589393149,-0.000731580308844,-7.26395422559e-05,1793249616827272192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.38782358,746,717,683.38782358,659,634,888.61217642,780,816,651,629,654,0.453204839561,-0.00556041810825,0.0795084996161,0.999999711421,-0.0001242739722,-0.000745930089059,-7.28094231108e-05,1793249616843938816
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.961155158,746,717,683.961155158,659,634,888.038844842,780,816,651,629,654,0.453179194869,-0.00556030468077,0.0794953718849,0.999999695512,-0.000125417370544,-0.000766750994993,-7.30743164339e-05,1793249616860605440
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780,816,651,628.463093274,654,0.45312623317,-0.00555858982526,0.0794747846854,0.999999666929,-0.00012367163729,-0.000803415780613,-7.32830908028e-05,1793249616877272064
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.116393409,746,717,684,659,634,888.116393409,780,816.116393409,651,628.116393409,654,0.453068084641,-0.00555707153049,0.0794540989008,0.999999638283,-0.000122214222272,-0.000838519952066,-7.33595336797e-05,1793249616893938432
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.710488075,746,717,684,659,634,888.710488075,780,816.710488075,651,628.710488075,654,0.452996796459,-0.00555683763304,0.0794352335084,0.999999617855,-0.000122801892279,-0.000862493158272,-7.29096018753e-05,1793249616910605056
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.70417092,746,717,684,659,634,888.70417092,780,817,651,629,654,0.452921147033,-0.00555575878287,0.0794245446974,0.999999605324,-0.000122338585757,-0.000877045646032,-7.19444576808e-05,1793249616927271680
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.127150476,746,717,684,659,634,888.127150476,780,817,651,629,654,0.452841352163,-0.00555387678853,0.0794216278892,0.99999960068,-0.000120876305368,-0.000882643554371,-7.04895940233e-05,1793249616943938048
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,746,717,683.024389577,659,634,888,780,816,651,628.975610423,654,0.452653990284,-0.00554717852661,0.0794259598019,0.999999608697,-0.000112669712113,-0.000874919622218,-6.65351221808e-05,1793249616977271552
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.612233558,659,634,888,780,816,651,628.387766442,654,0.452527744862,-0.00554574336274,0.0794275731819,0.999999609493,-0.000111392856386,-0.000874476133047,-6.24296914627e-05,1793249616993938432
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780.196693787,816,651.196693787,628.196693787,654,0.452392809014,-0.00554385784543,0.0794303211784,0.999999611496,-0.000109233536132,-0.000872739493863,-5.8325170788e-05,1793249617010605056
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780.774595964,816,651.774595964,628.774595964,654,0.452241030436,-0.00554109950708,0.0794352681529,0.999999615836,-0.000105363928743,-0.000868496625925,-5.42224143278e-05,1793249617027271680
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780.649436077,816,651.649436077,629,654,0.452072406599,-0.00553768575427,0.0794413247813,0.99999962244,-9.99299481754e-05,-0.000861783448701,-4.9634130215e-05,1793249617043938304
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780.074704891,816,651.074704891,629,654,0.451893011088,-0.00553385289797,0.0794480909757,0.999999630405,-9.34956325321e-05,-0.000853490637627,-4.47353761984e-05,1793249617060604928
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659,634,888,780.502729052,816,651,629,653.497270948,0.451683851077,-0.00552977190848,0.0794530101598,0.999999636496,-8.41854553518e-05,-0.000847590933246,-3.8852238234e-05,1793249617077272064
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.082207991,634,888,781,816,651,629,653.082207991,0.451465490049,-0.00552559597869,0.0794584345699,0.999999643166,-7.46030254858e-05,-0.000840851442794,-3.27406401323e-05,1793249617093938944
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.671816912,634,888,781,816,651,629,653.671816912,0.451217785589,-0.0055210628722,0.0794686805072,0.999999655747,-6.59921301053e-05,-0.000826721893987,-2.61266794048e-05,1793249617110605056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.743273264,634,888,781,816,651,629,654,0.45095792566,-0.00551669780533,0.0794807650399,0.999999672857,-5.52587465931e-05,-0.000806775345024,-1.86244266879e-05,1793249617127271424
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.164262527,634,888,781,816,651,629,654,0.450682806278,-0.00551254368865,0.0794951576675,0.999999695243,-4.18608807881e-05,-0.000779526377992,-1.00070497664e-05,1793249617143938304
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.411400455,634,888,781,816,651,629,654,0.450375165611,-0.00550643669228,0.0795095267256,0.999999714974,-2.56408425388e-05,-0.00075457821138,-2.46615767836e-06,1793249617160605184
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,717,684,659.985737534,634,888,781,816,651,629,654,0.450054644779,-0.00549955625103,0.0795238864486,0.999999733109,-8.30307309671e-06,-0.000730541285254,4.64838853321e-06,1793249617177272064
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.427995852,660,634,888,781,816,651,629,654,0.449697701165,-0.00549531776427,0.0795355395378,0.999999747374,4.66776074678e-05,-0.000709193667735,1.08681662058e-05,1793249617193938944
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,717,683.156550733,660.156550733,634.156550733,887.843449267,781,816,651,629,654,0.44931718957,-0.00548990440501,0.0795422591993,0.999999753717,7.9959846453e-05,-0.000697123163257,1.38425997305e-05,1793249617210605312
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,717,683.685674919,660.685674919,635,887,781.314325081,815.685674919,651,629,654,0.44841297782,-0.00547397177324,0.0795270686326,0.999999734586,3.78436852019e-05,-0.00072756963919,6.10944435647e-06,1793249617243938560
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.018602076,745,718,679.018602076,661,637,878,783,814,650.018602076,629,654,0.403078557866,-0.00539267921387,0.0798358108684,0.999999930336,0.000235820094757,-0.00028574017951,4.54940867622e-05,1793249618327271424
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.593374592,745,718,679.593374592,661,637,878,783,814,650.593374592,629,654,0.402828076931,-0.00539343123188,0.0798368947848,0.999999929958,0.00023469331041,-0.000287631428022,4.76611298625e-05,1793249618343938048
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.826294839,745,718,679.826294839,661,637,877.826294839,783,813.826294839,650.826294839,629,654,0.402588212983,-0.00539356944673,0.0798370065712,0.999999929128,0.000235677854292,-0.000289416475049,4.93676272695e-05,1793249618360604672
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.232523474,745,718,679.232523474,661,637,877.232523474,783,813.232523474,650.232523474,629,654,0.402374023822,-0.00539222331889,0.0798347674835,0.999999927202,0.000241768162773,-0.000290944697794,4.99603999347e-05,1793249618377271296
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.349009853,745,717.650990147,679,661,637,877,783,813.349009853,650.349009853,629,653.650990147,0.402185753169,-0.00539238462151,0.0798349508154,0.999999927816,0.00024244029763,-0.0002880996594,5.08821638919e-05,1793249618393937920
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.922666011,745,717.077333989,679,661,637,877,783,813.922666011,650.922666011,629,653.077333989,0.402014165396,-0.00539351620801,0.0798366933798,0.999999930051,0.000239624930717,-0.000282439695009,5.20156889154e-05,1793249618410604544
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.501742468,745,717.498257532,679,661,636.501742468,877,783,813.501742468,650.501742468,629,653.498257532,0.401865040299,-0.00539297993546,0.0798391187914,0.999999930144,0.000241909058854,-0.000279909512407,5.33180911561e-05,1793249618427271424
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.07610562,745,718,679,661,636.07610562,877,783,813,650.07610562,629,654,0.401722148093,-0.00539255852718,0.0798409374157,0.999999929645,0.00024498022137,-0.000278781215655,5.45534730761e-05,1793249618443938304
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.66718263,745,718,679,661,636.66718263,877,783,813,650.66718263,629,654,0.401597748011,-0.00539467281166,0.0798379302539,0.999999927444,0.000248000373668,-0.000283839031928,5.51573093307e-05,1793249618460604672
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636.747058752,877,783,813.252941248,650.747058752,629,654,0.401483065308,-0.00539565027656,0.0798344372431,0.999999925972,0.000248680181209,-0.000289339613913,4.99698909355e-05,1793249618477271296
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,636.168153943,877,783,813.831846057,650.168153943,629,654,0.401380905331,-0.00539516273015,0.0798303181224,0.999999925327,0.000246344003127,-0.000295410784543,3.73193243823e-05,1793249618493937920
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.791459103,717.208540897,679,661,637,877.208540897,783,813,651,629.791459103,654,0.400980229612,-0.00539677263186,0.0798299232685,0.999999925122,0.000248240322134,-0.000293725589777,4.30987478746e-05,1793249618693938688
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.643962756,745.643962756,717.356037244,679,661.356037244,637,877.356037244,783,813.356037244,651,630,654,0.400977228291,-0.00539608420103,0.079830022501,0.999999925209,0.000248451458733,-0.000293277448222,4.29296122913e-05,1793249618710605568
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.087501716,745.087501716,717.912498284,679,661.912498284,637,877.912498284,783,813.912498284,651,630,654,0.400975194181,-0.00539517269646,0.0798297693711,0.99999992521,0.00024874201826,-0.000293035238963,4.28705692594e-05,1793249618727272192
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.503608687,745.503608687,718,679,661.496391313,637,877.496391313,783.503608687,813.496391313,650.496391313,630,654,0.40097545203,-0.00539448765555,0.0798305063923,0.99999992508,0.000250256236773,-0.000292220691213,4.26439566321e-05,1793249618743939072
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.446403669,745,718,678.723201835,661.276798165,637,877.723201835,783,813.276798165,650.723201835,629,654.723201835,0.400974937309,-0.00539472231884,0.0798319844512,0.999999925961,0.000249459942974,-0.000289896676422,4.25154302593e-05,1793249618793938944
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.291758487,745,718,678.145879243,661.854120757,637,877.145879243,783,813.854120757,650.145879243,629,654.145879243,0.400975224502,-0.00539379998479,0.0798328644021,0.999999925644,0.000251579723115,-0.000289177321311,4.23785807329e-05,1793249618810605824
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.429043969,745,717.570956031,678,661.570956031,637,877,783,813.570956031,650,629,654,0.400976069184,-0.00539464115607,0.0798337886298,0.999999926323,0.00025065411985,-0.000287589041797,4.26475707475e-05,1793249618827272192
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.003237732,717.003237732,678,661,636.996762268,877,783,813.003237732,650,629,654,0.400977085494,-0.00539607306097,0.0798347151371,0.999999927324,0.00024871078616,-0.000285731464908,4.30497266976e-05,1793249618843939072
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.592241883,717.592241883,678,661,636.407758117,877,783,813.592241883,650,629,654,0.400975049699,-0.00539650246713,0.079833345567,0.999999926543,0.000248933376101,-0.000288306842982,4.27180497194e-05,1793249618860605696
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.821714574,718,678,661,636.178285426,877.178285426,783,813.821714574,650,629,653.821714574,0.40097402571,-0.00539682435557,0.0798325646563,0.999999926341,0.000248489138378,-0.000289431787572,4.24325569221e-05,1793249618877272320
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.242331688,718,678,661,636.757668312,877.757668312,783,813.242331688,650,629,653.242331688,0.400975278031,-0.00539690435612,0.0798331080814,0.999999927446,0.000246544705768,-0.000287293620716,4.22509669604e-05,1793249618893938944
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.665252935,745,718,678.334747065,661,637,878,783,813.334747065,650.334747065,629,653.334747065,0.400975655425,-0.00539611663108,0.0798337225144,0.999999927583,0.000247077504502,-0.000286381544347,4.21066418775e-05,1793249618910605568
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.089830824,745,718,678.910169176,661,637,878,783,813.910169176,650.910169176,629,653.910169176,0.400975403767,-0.00539470503232,0.0798343880002,0.999999927022,0.00024939137276,-0.000286350997484,4.19891093494e-05,1793249618927272448
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.485217291,745,718,679,661,637,877.514782709,783,813.514782709,650.514782709,629,654,0.400976241366,-0.0053955019362,0.0798349200543,0.999999927467,0.000249130575691,-0.000285002058872,4.21160975347e-05,1793249618943939328
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.938149375,745,718,679,661,637,877,783,813,650,629,654,0.400977162843,-0.0053965889531,0.0798354480989,0.999999928042,0.000248527860417,-0.000283478029175,4.23092578755e-05,1793249618960605952
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.347368352,745,718,679,661,637,877,783,813,650,629,654,0.400977078422,-0.00539666306916,0.0798361529452,0.999999928155,0.000249074293942,-0.00028254237475,4.26814711583e-05,1793249618977272320
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.238521768,745,718,679,661,636.761478232,877.238521768,783,813,650,629,654,0.400976387899,-0.00539663874318,0.0798358803144,0.999999928029,0.000249472922711,-0.000282618568079,4.27903655134e-05,1793249618993938688
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.817432283,745,718,679,661,636.182567717,877.817432283,783,813,650,629,654,0.400974832424,-0.00539647393292,0.0798342127495,0.999999927563,0.000249660622904,-0.000284138745161,4.2523483738e-05,1793249619010605312
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.60648351,745,718,679,661,636.39351649,877.60648351,783,813.39351649,650.39351649,629,654,0.400974672228,-0.00539662909577,0.0798342916624,0.999999927544,0.000249166893014,-0.000284646710959,4.24731786862e-05,1793249619027271936
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.031701222,745,718,679,661,636.968298778,877.031701222,783,813.968298778,650.968298778,629,654,0.400975154742,-0.00539693164808,0.0798351750567,0.999999927731,0.000248359275459,-0.000284688421018,4.25226355507e-05,1793249619043938560
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1d3145143cafb1cff752519b7400d7854e7bcd3c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
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+269,4.483333333,pose2_to_pose3_retreat,0.622584974787,0.000150241782994,1.07003334134,0.593155651045,0.00882287168851,1.06970474038
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+271,4.516666667,pose2_to_pose3_retreat,0.622574665516,0.000150173561738,1.07003349039,0.59314534273,0.00882280650691,1.06970488573
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+274,4.566666667,pose2_to_pose3_retreat,0.622493236551,0.000150170060452,1.07003369949,0.593063914925,0.00882280665168,1.0697050956
+275,4.583333333,pose2_to_pose3_retreat,0.622443953712,0.000150212528237,1.070033726,0.593014630597,0.00882284397778,1.06970512169
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+279,4.650000000,pose2_to_pose3_retreat,0.622162545019,0.000150130098596,1.07003348007,0.59273322409,0.00882276921399,1.06970487658
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+382,6.366666667,pose2_to_pose3_retreat,0.575674256918,0.000150165891483,1.07003359079,0.546244934331,0.0088227960266,1.06970498398
+383,6.383333333,pose2_to_pose3_retreat,0.575670851774,0.000150195640283,1.07003377283,0.546241528111,0.00882282170838,1.06970515493
+384,6.400000000,pose2_to_pose3_retreat,0.575668535433,0.000150226468135,1.07003368598,0.546239212122,0.00882285403162,1.06970507618
+385,6.416666667,pose2_to_pose3_retreat,0.575667178079,0.00015024515285,1.07003362276,0.546237855037,0.00882287384206,1.06970501862
+386,6.433333333,pose2_to_pose3_retreat,0.575666499816,0.000150222877665,1.07003360532,0.546237177269,0.00882285331149,1.06970500283
+387,6.450000000,pose2_to_pose3_retreat,0.575666208491,0.000150206148751,1.07003360104,0.546236886239,0.00882283759971,1.06970499898
+388,6.466666667,pose2_to_pose3_retreat,0.575666204635,0.000150205927344,1.07003360098,0.546236882387,0.00882283739177,1.06970499893
+389,6.483333333,pose2_to_pose3_retreat,0.575666126156,0.000150201420842,1.07003359983,0.546236803988,0.00882283315926,1.06970499789
+390,6.500000000,pose2_to_pose3_retreat,0.575665975284,0.000150192757189,1.07003359761,0.546236653268,0.00882282502237,1.0697049959
+391,6.516666667,pose2_to_pose3_retreat,0.575665959224,0.000150191834996,1.07003359737,0.546236637224,0.00882282415624,1.06970499569
+392,6.533333333,pose2_to_pose3_retreat,0.575665843304,0.000150185178435,1.07003359567,0.546236521421,0.00882281790441,1.06970499416
+393,6.550000000,pose2_to_pose3_retreat,0.575665836497,0.000150184787562,1.07003359557,0.546236514621,0.0088228175373,1.06970499407
+394,6.566666667,pose2_to_pose3_retreat,0.575665783882,0.000150181766265,1.07003359479,0.54623646206,0.0088228146997,1.06970499337
+395,6.583333333,pose2_to_pose3_retreat,0.575665570031,0.000150169486174,1.07003359165,0.546236248425,0.00882280316625,1.06970499055
+396,6.600000000,pose2_to_pose3_retreat,0.575665418497,0.000150160784536,1.07003358942,0.546236097044,0.00882279499368,1.06970498854
+397,6.616666667,pose2_to_pose3_retreat,0.575665045775,0.000150176529655,1.07003356955,0.546235724033,0.00882280974356,1.06970496836
+398,6.633333333,pose2_to_pose3_retreat,0.57566485369,0.00015021775174,1.07003354648,0.546235531203,0.00882284840597,1.06970494436
+399,6.650000000,pose2_to_pose3_retreat,0.575664775542,0.000150234522601,1.07003353709,0.546235452752,0.00882286413545,1.0697049346
+400,6.666666667,pose2_to_pose3_retreat,0.575664714585,0.000150247604176,1.07003352977,0.546235391559,0.00882287640473,1.06970492698
+401,6.683333333,pose2_to_pose3_retreat,0.575664547172,0.00015028353145,1.07003350966,0.546235223498,0.00882291010111,1.06970490607
+402,6.700000000,pose2_to_pose3_retreat,0.575664379323,0.000150278680359,1.07003353137,0.546235055915,0.00882290615001,1.06970492767
+403,6.716666667,pose2_to_pose3_retreat,0.575664261331,0.000150227143393,1.07003359594,0.54623493919,0.00882285893916,1.069704993
+404,6.733333333,pose2_to_pose3_retreat,0.575664289109,0.000150194142197,1.07003357167,0.546234967065,0.00882282650643,1.0697049751
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e70c8b192a0e6a85ebb9f19121a608f6b70025c1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55d1de964a87012b6a8d49012571e43325570b222ed49751bce9ab988cbc5432
+size 25395801
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1c0d94a0d45e71f9b3bbf1ed1f44322cccb7a55
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+0,0.000000000,BASELINE,766,745,718,679,662,638,879,784,813,651,629,654,0.400920828329,-0.0154295618876,0.0599265768117,0.99999997179,-9.50546973003e-05,-0.00021314093212,-4.4214448568e-05,1793249620653138176
+1,0.016666667,BASELINE,766,745,718,679,662,638,879,784,813,651,629,654,0.400918764754,-0.0154305464406,0.0599253260029,0.99999997137,-9.40530385553e-05,-0.000215584586673,-4.40176371644e-05,1793249620669804800
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+4,0.066666667,BASELINE,765.689519385,745,718,678.689519385,662.310480615,638,879,784,813.310480615,651,629,653.310480615,0.400918991219,-0.0154298792686,0.0599248808429,0.999999971617,-9.27901994294e-05,-0.000214968053385,-4.40996803672e-05,1793249620719806464
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+11,0.183333333,BASELINE,767,745.627420088,718,679,662,638,878.627420088,784,813,651,629.372579912,653.372579912,0.400920154062,-0.0154304872665,0.059924696309,0.999999971921,-9.19467460171e-05,-0.000214023063038,-4.35751413576e-05,1793249620836472064
+12,0.200000000,BASELINE,767,745.040552722,718,679,662,638,878.040552722,784,813,651,629.959447278,653.959447278,0.400921468655,-0.0154292076304,0.0599249437618,0.999999972308,-8.97697431292e-05,-0.000213048975761,-4.39950181314e-05,1793249620853139200
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+21,0.350000000,BASELINE,766.822562641,745,718,679,661.822562641,638,879,784,813,651,629,654,0.400916374347,-0.0154310770922,0.0599223344721,0.999999971309,-8.90499137193e-05,-0.000218123555069,-4.32826136228e-05,1793249621003138816
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+27,0.450000000,BASELINE,766,745.657004709,717.657004709,679,662,638,878.657004709,784,813,651,629,653.342995291,0.400920557801,-0.0154315905874,0.0599242183831,0.999999971885,-9.34894055254e-05,-0.00021352430434,-4.35552744618e-05,1793249621103138304
+28,0.466666667,BASELINE,766,746,718,678.768704527,662,638,878.768704527,784,813,651,629,653,0.400921341148,-0.0154309209278,0.0599243193352,0.999999972141,-9.20070279848e-05,-0.000212959450863,-4.35970411048e-05,1793249621119804928
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+45,0.750000000,BASELINE,766,745.895516191,718,678,662,638,878,784,813,651,629.104483809,653.104483809,0.400920355569,-0.0154327635764,0.0599240277309,0.99999997176,-9.25885426906e-05,-0.000214577066527,-4.31802276984e-05,1793249621403138304
+46,0.766666667,BASELINE,766,745.318869702,718,678,662,638,878,784,813,651,629.681130298,653.681130298,0.400919614414,-0.0154333343317,0.0599232909929,0.999999971437,-9.35908746861e-05,-0.000215659916669,-4.30884616091e-05,1793249621419805184
+47,0.783333333,BASELINE,766,745,718,678.25776531,662,638,878,784,813,651,629.74223469,653.74223469,0.400919069011,-0.0154332667444,0.0599228344689,0.999999971334,-9.3460811255e-05,-0.000216193185374,-4.30997795913e-05,1793249621436472064
+48,0.800000000,BASELINE,766,745,718,678.834386203,662,638,878,784,813,651,629.165613797,653.165613797,0.400918765754,-0.0154324095275,0.0599227245693,0.999999971502,-9.19299752827e-05,-0.000216046622215,-4.32386125151e-05,1793249621453138688
+49,0.816666667,BASELINE,766,745,718,678.581522029,662,638,878,784,813,651,629.418477971,653,0.40091910469,-0.0154317092035,0.0599230047657,0.999999971686,-9.04032662362e-05,-0.000215832201218,-4.32709806919e-05,1793249621469805312
+50,0.833333333,BASELINE,766,745,718,678.005504501,662,638,878.005504501,784,813,651,629.994495499,653.005504501,0.400919697414,-0.0154310867756,0.0599234343495,0.999999971871,-8.89057369442e-05,-0.00021559767436,-4.32611961327e-05,1793249621486472192
+51,0.850000000,BASELINE,766,745,718,678.584656214,662,638,878.584656214,784,813,651,629.415343786,653.584656214,0.400919771006,-0.015431993855,0.0599230510218,0.999999971633,-9.02758421772e-05,-0.000216117365777,-4.33292430969e-05,1793249621503138816
+52,0.866666667,BASELINE,766,745,717.836961586,679,662,638,879,784,813,651,629,654,0.40092017035,-0.0154326967668,0.0599229743922,0.999999971534,-9.17181033444e-05,-0.000215968921523,-4.33217831996e-05,1793249621519805440
+53,0.883333333,BASELINE,766,745,717.260530565,679,662,638,879,784,813,651,629,654,0.400921395654,-0.0154328820009,0.0599236754117,0.999999971789,-9.3343319655e-05,-0.000214126383554,-4.31228716173e-05,1793249621536471552
+54,0.900000000,BASELINE,766,745,717.31457904,678.68542096,662,638,878.68542096,784,813,651,629.31457904,653.68542096,0.400921178984,-0.0154327076555,0.0599239942662,0.999999971926,-9.29383963827e-05,-0.000213692205474,-4.29657924566e-05,1793249621553138176
+55,0.916666667,BASELINE,766,745,717.888598814,678.111401186,662,638,878.111401186,784,813,651,629.888598814,653.111401186,0.400919773084,-0.0154322367563,0.0599239979404,0.999999971967,-9.0859169164e-05,-0.000214419535013,-4.28432134881e-05,1793249621569805056
+56,0.933333333,BASELINE,766,745,718,678.475782158,662,638,878.475782158,784,813,651,629.524217842,653.475782158,0.400920601108,-0.0154318160795,0.0599243240415,0.999999972219,-9.03111361416e-05,-0.000213451558496,-4.29464790799e-05,1793249621586472192
+57,0.950000000,BASELINE,766,745,718,679,662,638,879,784.065017854,813,651,629,654,0.400921607167,-0.0154315720616,0.0599244753602,0.999999972398,-9.02863671671e-05,-0.000212595600922,-4.30819565754e-05,1793249621603138816
+58,0.966666667,BASELINE,766,745,718,679,662,638,879,784.645395333,813,651,629,654,0.400919760457,-0.0154326324588,0.0599226258517,0.99999997159,-9.14865791233e-05,-0.000215863436268,-4.30416831673e-05,1793249621619805696
+59,0.983333333,BASELINE,766,745,718,679,662,638,879,784.776260029,813,651,629,654,0.40091954626,-0.015432685352,0.0599221330203,0.999999971406,-9.13911185432e-05,-0.000216743822156,-4.30906554609e-05,1793249621636472576
+60,1.000000000,BASELINE,766,745,718,679,662,638,879,784.201108136,813,651,629,654,0.40092189613,-0.0154311558328,0.059923771022,0.999999972209,-8.92606405671e-05,-0.000213874417231,-4.32797994097e-05,1793249621653139200
+61,1.016666667,BASELINE,766,745,718,679,662,638,878.627388397,784,813,651,629,653.627388397,0.400921702816,-0.0154315457271,0.0599239544617,0.999999972236,-8.99098612e-05,-0.000213501983441,-4.31426647765e-05,1793249621669805568
+62,1.033333333,BASELINE,766,745,718,679,662,638,878.054438703,784,813,651,629,653.054438703,0.400920142134,-0.0154329676121,0.0599233558427,0.999999971847,-9.20536127464e-05,-0.000214472069556,-4.28301034205e-05,1793249621686472192
+63,1.050000000,BASELINE,766,745,718,678.461722664,662,637.461722664,878,784,813,651,629,653.538277336,0.400918851558,-0.0154330860259,0.0599226710303,0.999999971486,-9.22196911516e-05,-0.000215993233528,-4.32462710015e-05,1793249621703139072
+64,1.066666667,BASELINE,766.128835532,745,717.871164468,678.128835532,662.128835532,637.128835532,878,784,813,651,629,653.871164468,0.400917755882,-0.0154330289372,0.0599219471264,0.999999971183,-9.18432026611e-05,-0.000217490586867,-4.35589976039e-05,1793249621719805696
+65,1.083333333,BASELINE,766.704705592,745,717.295294408,678.704705592,662.704705592,637.704705592,878,784,813,651,629,653.295294408,0.400917238076,-0.0154328377387,0.0599211189823,0.999999971072,-9.03045711141e-05,-0.000218704565992,-4.32473303475e-05,1793249621736472064
+66,1.100000000,BASELINE,766.719851529,745,717.280148471,678.719851529,662.719851529,638,878.280148471,784.280148471,813,651,629,653.280148471,0.400918490637,-0.015432878143,0.0599219700865,0.999999971401,-9.07180165356e-05,-0.000217051888165,-4.30990473074e-05,1793249621753138688
+67,1.116666667,BASELINE,766.144858277,745,717.855141723,678.144858277,662.144858277,638,878.855141723,784.855141723,813,651,629,653.855141723,0.400921606438,-0.0154331622996,0.0599245885307,0.999999972175,-9.31859430344e-05,-0.000212382171338,-4.3122719476e-05,1793249621769805568
+68,1.133333333,BASELINE,766,745,718,678.441291845,662,638,879,784.558708155,813,651,629,653.558708155,0.400920900489,-0.0154334502506,0.0599238954052,0.999999971979,-9.34111538912e-05,-0.00021318386498,-4.32223454252e-05,1793249621786472192
+69,1.150000000,BASELINE,766,745,718,678.969367964,662.030632036,638,879,784,813,651,629,653.030632036,0.400919026593,-0.0154336478814,0.0599222032633,0.999999971494,-9.27816893873e-05,-0.000215694183756,-4.33430831463e-05,1793249621803138816
+70,1.166666667,BASELINE,766,745,718,678.390187209,662.609812791,638,879,784,813,651,629,653.609812791,0.400919285849,-0.0154322052036,0.0599225926061,0.999999971689,-9.03724342809e-05,-0.000215804803814,-4.3383818364e-05,1793249621819805184
+71,1.183333333,BASELINE,766,745,718,678,662.812466015,638,879,784,813,651,628.812466015,653.812466015,0.400919382749,-0.015431254482,0.0599226944611,0.999999971802,-8.85743057245e-05,-0.000216030829648,-4.33666226941e-05,1793249621836471808
+72,1.200000000,BASELINE,766,745,718,678,662.237758057,638,879,784,813,651,628.237758057,653.237758057,0.400919144458,-0.0154313194303,0.0599222027819,0.999999971755,-8.80378802797e-05,-0.000216495116923,-4.32298256067e-05,1793249621853138688
+73,1.216666667,BASELINE,766,745,718,678,662,638,879,784,812.66259605,651,628.33740395,653,0.400919509648,-0.0154319666541,0.0599222819184,0.999999971829,-8.89738089923e-05,-0.000215759206578,-4.32827512294e-05,1793249621869805312
+74,1.233333333,BASELINE,766,745,718,678,662,638,879,784,812.087113691,651,628.912886309,653,0.400920300664,-0.0154330247423,0.0599227638329,0.999999971984,-9.09486577996e-05,-0.000214176414778,-4.34695486795e-05,1793249621886472192
+75,1.250000000,BASELINE,765.498981811,745,718,678.501018189,662,638,878.498981811,784,812.501018189,651,629,653,0.400920493868,-0.0154324340092,0.0599233237887,0.999999972092,-9.09275762487e-05,-0.000213703902614,-4.3347122288e-05,1793249621903139328
+76,1.266666667,BASELINE,765.089515346,745,718,679,662,638,878,784,813,651,629,653,0.400920664037,-0.0154318785869,0.0599238557159,0.999999972174,-9.08994788273e-05,-0.000213358755502,-4.32062456247e-05,1793249621919805952
+77,1.283333333,BASELINE,765.667689074,745,718,679,662,638,878,784,813,651,629,653,0.400921290579,-0.0154331214598,0.0599241586443,0.999999972155,-9.2776614992e-05,-0.000212627753475,-4.32657561727e-05,1793249621936472320
+78,1.300000000,BASELINE,766,745,718,679,662,638,878,784.244666478,813,651,629,653,0.400922053583,-0.0154334291639,0.0599245000779,0.999999972329,-9.28132891416e-05,-0.000211819915069,-4.31376184578e-05,1793249621953138944
+79,1.316666667,BASELINE,766,745,718,679,662,638,878,784.82002687,813,651,629,653,0.40092300103,-0.0154324728834,0.0599248935554,0.999999972762,-9.03623743574e-05,-0.000210908223823,-4.27558532736e-05,1793249621969805312
+80,1.333333333,BASELINE,766,745,718,678.594028016,662,638,878.405971984,784.594028016,813,651,629,653.405971984,0.40092206833,-0.0154313699999,0.0599240771015,0.999999972528,-8.99072538841e-05,-0.000212163715308,-4.29701266028e-05,1793249621986472192
+81,1.350000000,BASELINE,766,745,718,678.003264876,662,638,878.996735124,784.003264876,813,651,629,653.996735124,0.400920279821,-0.0154302003851,0.0599227099086,0.999999971988,-9.03605829196e-05,-0.000214405669367,-4.34557059239e-05,1793249622003139584
+82,1.366666667,BASELINE,766,745,718,678.57515526,662,638,879,784.57515526,812.42484474,651,629,653.42484474,0.40092139629,-0.015431843083,0.0599232447167,0.999999971975,-9.22173180151e-05,-0.000213664465893,-4.35250700012e-05,1793249622019805952
+83,1.383333333,BASELINE,766.153027114,745,718,679,662,638,879,784.846972886,812.153027114,651,629,653.153027114,0.400921816771,-0.0154329542371,0.0599233723709,0.999999971923,-9.32932613442e-05,-0.000213438114177,-4.35186598312e-05,1793249622036472576
+84,1.400000000,BASELINE,766.72957151,745,718,679,662,638,879,784.27042849,812.72957151,651,629,653.72957151,0.400920266358,-0.0154325510392,0.0599223439348,0.999999971769,-9.21867039423e-05,-0.000214682545797,-4.33089386335e-05,1793249622053139200
+85,1.416666667,BASELINE,766.695481967,745,718,679,662,638,878.695481967,784,813,650.695481967,629,653.695481967,0.400920558947,-0.0154325352113,0.0599227704861,0.999999971985,-9.12989374391e-05,-0.000214099137279,-4.30706869782e-05,1793249622069805824
+86,1.433333333,BASELINE,766.121947071,745,718,679,662,638,878.121947071,784,813,650.121947071,629,653.121947071,0.400922479678,-0.0154328615932,0.0599244824005,0.999999972528,-9.06044549297e-05,-0.000211900980896,-4.28072310014e-05,1793249622086472704
+87,1.450000000,BASELINE,766,745,718,678.534478477,662.465521523,638,878.465521523,784,813,650.465521523,629,653,0.400922724776,-0.0154332954792,0.0599250488371,0.999999972569,-9.16146488399e-05,-0.000211256991757,-4.28965618121e-05,1793249622103138816
+88,1.466666667,BASELINE,766,745,718,678.055452427,662.944547573,638,879,784,813,651,629,653,0.400922408519,-0.0154335291503,0.0599251568925,0.999999972475,-9.26005122488e-05,-0.000211223953732,-4.31164122946e-05,1793249622119805184
+89,1.483333333,BASELINE,766,745,718,678.633137096,662.366862904,638,879,784,813,651,629,653,0.400921066998,-0.0154316038655,0.0599238611902,0.999999972401,-8.90219886061e-05,-0.000212992163953,-4.36682626848e-05,1793249622136471808
+90,1.500000000,BASELINE,766,745,718,679,662.419987671,638,879,784,813,651,629,653.209993836,0.40092029,-0.0154306142947,0.0599228827421,0.99999997228,-8.74378606889e-05,-0.000214171748025,-4.38793460607e-05,1793249622153138176
+91,1.516666667,BASELINE,766,745,718,679,663.570819576,638,879,784,813,651,629,653.785409788,0.400920495358,-0.0154312530126,0.059922456366,0.999999972097,-8.93242936318e-05,-0.000214327030354,-4.3497441479e-05,1793249622169805056
+92,1.533333333,BASELINE,766,745,718,679,663.263365105,638,878.631682553,784,812.631682553,651,629.368317447,654,0.400919856619,-0.0154322107841,0.0599220460926,0.999999971894,-9.02277463316e-05,-0.000214944705417,-4.32296578585e-05,1793249622186471936
+93,1.550000000,BASELINE,766,745,718,679,662.088638741,638,878.044319371,784,812.044319371,651,629.955680629,654,0.400918715878,-0.0154333583032,0.0599216453957,0.999999971682,-9.05466012488e-05,-0.000215837374677,-4.3029744214e-05,1793249622203138560
+94,1.566666667,BASELINE,766,745,718,679,662.535603232,638,878,784,812,651,629.464396768,653.464396768,0.400919606554,-0.0154331930265,0.059921961279,0.999999971916,-8.98408379912e-05,-0.000215048600346,-4.30186615549e-05,1793249622219804928
+95,1.583333333,BASELINE,766,745,718,679,662.885404561,637.885404561,878,784,812.114595439,650.885404561,629,653.114595439,0.400920386555,-0.015432819682,0.0599222484496,0.999999972112,-8.93418443406e-05,-0.00021433970639,-4.30342788609e-05,1793249622236471552
+96,1.600000000,BASELINE,766,745,718,679,662.307718056,637.307718056,878,784,812.692281944,650.307718056,629,653.692281944,0.400920049336,-0.0154320384831,0.0599221832577,0.999999972013,-9.00163507247e-05,-0.000214508165547,-4.30955157848e-05,1793249622253138176
+97,1.616666667,BASELINE,766,745,718,679,662.268893035,637.268893035,878,784.268893035,813,650.268893035,629,654,0.400920201568,-0.0154324722664,0.0599225354697,0.999999972014,-9.07446260488e-05,-0.000214207274903,-4.30430349954e-05,1793249622269805056
+98,1.633333333,BASELINE,766,745,718,679,662.844278301,637.844278301,878,784.844278301,813,650.844278301,629,654,0.40092091169,-0.0154342909223,0.0599233634511,0.999999972129,-9.15341887601e-05,-0.000213371405467,-4.28609353907e-05,1793249622286471680
+99,1.650000000,BASELINE,766,745,718,679,662.571374991,638,878.428625009,785,813,651,629,653.571374991,0.400921247472,-0.0154333002385,0.0599236410309,0.999999972315,-9.04682265713e-05,-0.000212948218986,-4.28793871233e-05,1793249622303138048
+100,1.666666667,BASELINE,766,745,718,678.983944018,662,638,879,784.983944018,813,651,629,653,0.400921430607,-0.0154313095123,0.0599236920046,0.999999972517,-8.87272652713e-05,-0.00021271234592,-4.29757766304e-05,1793249622319804672
+101,1.683333333,BASELINE,766,745,718,678.404962024,662,638,879,784.404962024,813,651,629,653,0.400921131885,-0.0154308053431,0.0599229586049,0.999999972414,-8.74602418599e-05,-0.000213674899343,-4.31955976456e-05,1793249622336471552
+102,1.700000000,BASELINE,766,745.173359212,718,678.173359212,662,638,878.826640788,784.173359212,813,651,629,653.173359212,0.400920715406,-0.0154307440356,0.059922533881,0.999999972321,-8.68771109859e-05,-0.000214328026892,-4.32968946127e-05,1793249622353138176
+103,1.716666667,BASELINE,766,745.750142719,718,678.750142719,662,638,878.249857281,784.750142719,813,651,629,653.750142719,0.400920024896,-0.015431713312,0.0599228274766,0.999999972254,-8.78854668936e-05,-0.000214261089234,-4.31223741886e-05,1793249622369804800
+104,1.733333333,BASELINE,766,745.675667291,718,679,662,638,878,784.675667291,813,651,629,654,0.40092017192,-0.0154332974949,0.0599230197409,0.999999972123,-8.98297959083e-05,-0.000214124528692,-4.28296236635e-05,1793249622386471680
+105,1.750000000,BASELINE,766,745.103459368,718,679,662,638,878,784.103459368,813,651,629,654,0.40092095904,-0.0154353516276,0.0599231345614,0.999999971938,-9.24894538518e-05,-0.000213934758006,-4.24465143279e-05,1793249622403138304
+106,1.766666667,BASELINE,766,745,718,679,662.485204616,638,878,784,813,651,629,654,0.400920373837,-0.0154338160375,0.0599232524648,0.999999972069,-9.10312547696e-05,-0.000213950956778,-4.24217738359e-05,1793249622419804928
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,879,785,813,651,629,654,0.400919006978,-0.0154299182046,0.0599212566545,0.999999971675,-8.91291387112e-05,-0.000216340726206,-4.36129793695e-05,1793249622463142400
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,878.425673965,784.425673965,813,651,629,654,0.400919169369,-0.0154316703881,0.0599218485455,0.999999971768,-9.02510943642e-05,-0.00021555310795,-4.30862648297e-05,1793249622479809024
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.848297657,745,718,679,662,638,878.151702343,784,812.848297657,651,629,653.848297657,0.400919938974,-0.0154326322361,0.0599225132279,0.99999997199,-9.0533277606e-05,-0.000214468379405,-4.2740938951e-05,1793249622496475648
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.262186577,745,718,679,662,638,878.737813423,784,812.262186577,651,629,653.262186577,0.400922447373,-0.0154313309114,0.059923386353,0.999999972586,-8.84107225442e-05,-0.000212532857576,-4.2915030238e-05,1793249622513142272
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.645578112,745,718,679,662,638,878.677210944,784,812.322789056,651,629,653.322789056,0.400924020897,-0.0154315916782,0.0599241405446,0.999999972906,-8.81053669645e-05,-0.00021118151802,-4.27590450504e-05,1793249622529808896
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.81369123,745,718,679,662,638,878.093154385,784,812.906845615,651,629,653.906845615,0.400924837727,-0.0154331168118,0.0599247984704,0.999999973006,-8.92708642617e-05,-0.000210303019404,-4.2335893867e-05,1793249622546475520
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.516238616,745,718,679,662,638,878.483761384,784,813,651,629,654,0.400931358968,-0.0154342041276,0.05992637114,0.999999973684,-9.08251802868e-05,-0.000206406799363,-4.21733797016e-05,1793249622563142912
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,878.940705067,784,813,651,629,653.940705067,0.40094058258,-0.0154351305719,0.0599286307451,0.999999974732,-9.20731598258e-05,-0.000200727014635,-4.20410822191e-05,1793249622579810304
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,878.365407944,784,813,651,629,653.365407944,0.400963902981,-0.0154353800605,0.0599353576945,0.999999978056,-9.00132274904e-05,-0.000184509468766,-4.17413332299e-05,1793249622596476672
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,878.215625673,784,813,651,629,653.215625673,0.400990942295,-0.0154363238146,0.0599406756052,0.999999980914,-8.980718359e-05,-0.000168436717719,-4.1665265151e-05,1793249622613143040
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,878.806646215,784,813,651,629,653.806646215,0.401024456076,-0.0154384762548,0.0599435404404,0.999999983164,-9.2828678643e-05,-0.000152616049863,-4.19786157978e-05,1793249622629809664
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,879,784,813,651,629,654,0.401066445009,-0.0154400327619,0.0599465940463,0.999999985461,-9.28362974492e-05,-0.000136717074578,-4.20364415249e-05,1793249622646476544
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662,638,879,784,813,651,629,654,0.401112554741,-0.0154412995142,0.0599497394368,0.99999998765,-9.13785072778e-05,-0.000120780023166,-4.19700257506e-05,1793249622663143424
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,717.45704521,678.45704521,662,638,878.45704521,784,813,651,629,653.45704521,0.401170934981,-0.0154443889934,0.059951106349,0.999999987621,-9.33738806481e-05,-0.000119286174672,-4.25476333057e-05,1793249622679809792
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,717.115753712,678.115753712,662.115753712,638,878,784,813,651,629,653.115753712,0.401234720754,-0.0154478526708,0.0599527336295,0.999999987685,-9.5750190749e-05,-0.000116651351774,-4.30508742674e-05,1793249622696476160
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,717.683528241,678.683528241,662.683528241,638,878,784,813,651,629,653.683528241,0.401316867929,-0.0154523694969,0.0599557758524,0.999999988533,-9.88409110081e-05,-0.000106327192154,-4.3119516588e-05,1793249622713142784
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662.735196388,638,878.264803612,784,813,651,629,653.735196388,0.401410771715,-0.015457124223,0.0599592684599,0.999999989323,-0.000101082873303,-9.61798531026e-05,-4.34296687845e-05,1793249622729809408
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662.136919111,638,878.863080889,784,813,651,629,653.136919111,0.401519480883,-0.0154621785422,0.0599633282475,0.999999990082,-0.000102255973753,-8.62551891428e-05,-4.40439602724e-05,1793249622746475776
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,718,678.556397039,662,638,879,784,813,651,629,653,0.401639948911,-0.015467281886,0.0599620385064,0.999999990167,-0.000103157212157,-8.36229796345e-05,-4.50715734663e-05,1793249622763142400
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.018963806,745,718,678.018963806,662.018963806,638,879,784.018963806,813,651,629,653.018963806,0.401764984315,-0.0154724839943,0.0599592402846,0.999999990062,-0.000104127431362,-8.30460741113e-05,-4.62197275746e-05,1793249622779809536
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.597513468,745,718,678.597513468,662.597513468,638,879,784.597513468,813,651,629,653.597513468,0.401921819246,-0.0154801711343,0.059958776752,0.999999989744,-0.000109513903456,-7.92555319236e-05,-4.73052594168e-05,1793249622796476672
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.824733339,745.175266661,718,679,662.824733339,638,879,785,813,651,629,654,0.402089606114,-0.0154883219345,0.0599584528261,0.999999989521,-0.000114078933329,-7.49384841005e-05,-4.82475630978e-05,1793249622813143552
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.248800978,745.751199022,718,679,662.248800978,638,879,785,813,651,629,654,0.402282429468,-0.0154975326768,0.0599584480459,0.99999998958,-0.000116766116908,-6.94178265595e-05,-4.88624420624e-05,1793249622829809920
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.662862266,718,679,662.337137734,638,879,785,813,651,629,653.662862266,0.402502431793,-0.0155088233483,0.059960121802,0.999999989098,-0.000125692910144,-5.99065411128e-05,-4.91587753807e-05,1793249622846476288
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.069313124,718,679,662.930686876,638,879,785,813,651,629,653.069313124,0.402743105209,-0.015521695919,0.0599630721752,0.999999987956,-0.000139365262899,-4.7360167575e-05,-4.9212837628e-05,1793249622863142656
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.508181355,745.508181355,718,679,663,637.491818645,879,784.491818645,813,651,629.508181355,653.508181355,0.403006229637,-0.0155294395068,0.0599656891405,0.999999984212,-0.000166040743234,-3.94104166267e-05,-4.95270711364e-05,1793249622879809280
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,679.083352312,663,637.083352312,879.083352312,784,813,651,630,654,0.403275100417,-0.0155363847873,0.0599660517023,0.999999980204,-0.00018921959856,-3.5875846548e-05,-5.00089027944e-05,1793249622896476160
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718,679.657341444,663,637.657341444,879.657341444,784,813,651,630,654,0.403560323077,-0.0155426227344,0.0599534036489,0.99999998068,-0.000181696315083,-5.47529380953e-05,-5.12747841257e-05,1793249622913143296
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.761423165,745.761423165,718,679.761423165,662.761423165,638,879.761423165,784.238576835,813,651,629.761423165,653.761423165,0.403861270384,-0.0155458642627,0.0599416870213,0.999999981133,-0.000172284936309,-7.2837650756e-05,-5.23982630765e-05,1793249622929809920
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.169454284,745.169454284,718,679.169454284,662.169454284,638,879.169454284,784.830545716,813,651,629.169454284,653.169454284,0.404185509815,-0.0155446673437,0.0599313500693,0.999999981739,-0.000160076816,-8.97486507052e-05,-5.33108083698e-05,1793249622946476544
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,718,679,662.412298159,638,879,785,813,651,629,653.412298159,0.404545481504,-0.015536743474,0.0599195874889,0.999999981585,-0.000147388095335,-0.000110043939617,-5.47542166423e-05,1793249622963143168
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,718,679,662.98995317,638,879,785,813,651,629,653.98995317,0.404919784011,-0.0155261216845,0.0599072531443,0.999999980691,-0.000134506624678,-0.000131696535531,-5.64105334854e-05,1793249622979810048
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,718,679,662.433909308,638,879,784.433909308,813,651,629,654,0.405365339482,-0.0155313531568,0.0599192505112,0.999999982051,-0.000142749799669,-0.00011184462405,-5.48800762959e-05,1793249622996476928
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.144871634,718,679,662.144871634,638,879.144871634,784,813,651,629.144871634,653.855128366,0.40582371295,-0.0155371198547,0.0599351317199,0.999999983866,-0.000149133161172,-8.47877982068e-05,-5.326887239e-05,1793249623013143552
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.731800484,718,679,662.731800484,638,879.731800484,784,813,651,629.731800484,653.268199516,0.406317350428,-0.0155436634868,0.0599615498122,0.999999986892,-0.000148700592952,-3.79877691359e-05,-5.15833987268e-05,1793249623029810176
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,718,679.314299735,663,638,880,784,813,651,629.685700265,653.314299735,0.406838626537,-0.0155485750385,0.0599857897962,0.999999988031,-0.000146574295213,1.93776080386e-06,-4.95077766852e-05,1793249623046476544
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,718,679.893071697,663,638,880,784,813,651,629.106928303,653.893071697,0.40738315964,-0.0155521132524,0.0600081969815,0.999999988012,-0.000143022783374,3.60786454491e-05,-4.71038582739e-05,1793249623063143168
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.529300798,718,679.529300798,663,638,880,784.470699202,813,651,629,654,0.407922599296,-0.015550452803,0.0600030342058,0.999999989613,-0.000135287825181,1.40235224632e-05,-4.76971742825e-05,1793249623079810048
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+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,717.798027078,679.201972922,663,638,880.201972922,784.798027078,813,651,629,654,0.409642969922,-0.0155470371939,0.0599748496598,0.999999986197,-0.000149098332302,-5.1281486408e-05,-5.23949366525e-05,1793249623129810944
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,717.208804673,679.791195327,663,638,880.791195327,784.208804673,813,651,629,654,0.41028726529,-0.0155510970002,0.059979986903,0.999999988241,-0.000140796977284,-3.05023629131e-05,-5.25715579951e-05,1793249623146477056
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,717.373764163,679.626235837,663,638,880.626235837,784,813,651,629,654,0.410968230675,-0.0155547589055,0.0599881191661,0.999999988774,-0.000140004719304,-1.05560484822e-05,-5.23395776012e-05,1793249623163143424
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,717.952680952,679.047319048,663,638,880.047319048,784,813,651,629,654,0.411669323572,-0.0155582024098,0.0599978953434,0.999999988342,-0.000143334073881,8.93315090418e-06,-5.1883322833e-05,1793249623179810048
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.528816996,717.471183004,679.528816996,663,638,880.528816996,784,813,650.471183004,629,654,0.412350695598,-0.0155560128568,0.0599710599458,0.999999987461,-0.000142712799646,-4.21759589607e-05,-5.41569273027e-05,1793249623196476416
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,717,680,663,638,881,784,813,650.104695297,629,654,0.413035316675,-0.0155529707361,0.0599418485161,0.999999983797,-0.00014026321513,-9.76106146408e-05,-5.66058306262e-05,1793249623213143040
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,717,680,663,638,881,784,813,650.68052743,629,654,0.413742458024,-0.015548348401,0.0599166100761,0.99999997927,-0.000131168579346,-0.000144231344464,-5.87501066053e-05,1793249623229809920
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.737802368,717,680,663,638,881,784.262197632,813.262197632,651,629,654,0.414503559434,-0.015548189802,0.059922232924,0.999999981177,-0.00012882744314,-0.000132820812112,-5.83727573257e-05,1793249623246476544
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.148856745,717,680,663,638,881,784.851143255,813.851143255,651,629,654,0.415331905415,-0.0155535938644,0.059966314788,0.999999988191,-0.000134902447021,-4.90923238195e-05,-5.48529847128e-05,1793249623263143424
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,717,680,663.434089748,638,881,785,814,651,629,654,0.416170881392,-0.0155612374209,0.0600006151513,0.999999988847,-0.000139921104835,5.75623336912e-06,-5.191685727e-05,1793249623279809792
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,717.014811862,680,664,638,881,785,814.014811862,650.985188138,629,653.985188138,0.417013282284,-0.0155694259252,0.0600303724874,0.999999987133,-0.000144545548581,4.90981398702e-05,-4.92953886493e-05,1793249623296476160
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,717.588173677,680,664,638,881,785,814.588173677,650.411826323,629,653.411826323,0.417849251882,-0.0155695994874,0.0600135770304,0.999999987414,-0.000147778029894,2.68920635173e-05,-5.10951898241e-05,1793249623313142784
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,717.833743207,680,664,638,881.166256793,784.833743207,814.833743207,650.166256793,629,653.166256793,0.418679139393,-0.0155702309677,0.0599947871248,0.9999999874,-0.000149560866734,-8.41283728193e-07,-5.32119180287e-05,1793249623329809408
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+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,717,680.918458362,663.081541638,638,882.918458362,784.918458362,813.081541638,651,629.918458362,654,0.421112386636,-0.0155646588129,0.0599020607015,0.999999977103,-0.000139745826648,-0.000149503876218,-6.25600293137e-05,1793249623379810048
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+168,2.800000000,POSE1_TO_POSE2_PRESS,766.39916448,745,717.60083552,681,663.60083552,638,883.39916448,785,815,651,629.60083552,654,0.426618766463,-0.0155792833222,0.0600225379468,0.999999986999,-0.000143295684282,5.04091292147e-05,-5.41084752447e-05,1793249623479809536
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.978580138,745,717.021419862,681,663.021419862,638,883.978580138,785,815,651,629.021419862,654,0.427515074302,-0.0155808354811,0.0599998930595,0.999999987365,-0.000145389283094,3.00877409834e-05,-5.68004938001e-05,1793249623496476160
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,717.554601005,681,664.109202011,638,884.554601005,785,815,651,629,654,0.428381766461,-0.0155800652053,0.0599767138037,0.999999986861,-0.000150499937587,-5.69723753216e-06,-5.99539638375e-05,1793249623513143040
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,717.867312943,681.132687057,664.867312943,638,885,784.867312943,815,651,629.132687057,654,0.429237321436,-0.0155781085869,0.0599504983006,0.999999985137,-0.000152799845782,-4.93684386086e-05,-6.27806901564e-05,1793249623529809920
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,717.281733153,681.718266847,664.281733153,638,885,784.281733153,815,651,629.718266847,654,0.430058742867,-0.0155724069927,0.0599139893743,0.999999980442,-0.000145110694702,-0.000117931096554,-6.44317002782e-05,1793249623546476800
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,717,681.699541848,664,638,885,784,815,651,630,654,0.430948991968,-0.0155719022271,0.0599168272254,0.999999981559,-0.000143333654134,-0.000110416777881,-6.43879198637e-05,1793249623563143424
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,717,681.120492452,664,638,885,784,815,651,630,654,0.431903059513,-0.0155762160726,0.0599561482543,0.999999986696,-0.000147038449488,-3.23622505725e-05,-6.27726931285e-05,1793249623579809792
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.457605268,717,681.457605268,664,638,885.457605268,784.457605268,815,651,630,654,0.432802198135,-0.0155778379082,0.0599880644615,0.999999987613,-0.000144686175561,1.76825446257e-05,-5.93927777261e-05,1793249623596476160
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638,885.964677249,785,815.035322751,651,630,654,0.433683379155,-0.0155788676659,0.0600146915564,0.999999986947,-0.000141199576673,5.51680651089e-05,-5.59108027092e-05,1793249623613142528
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638,885.388951933,785,815.611048067,651,630,654,0.434510641906,-0.0155816611918,0.0599901681341,0.999999987764,-0.000144708561588,1.31092685672e-05,-5.79615271377e-05,1793249623629809152
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,717,681.809528896,664,638,885.190471104,785,816,651,630,654,0.435327022092,-0.0155832696683,0.0599655332772,0.999999986882,-0.00014692986457,-3.16231856503e-05,-6.03959462256e-05,1793249623646476032
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,717,681.222405319,664,638,885.777594681,785,816,651,630,654,0.436120739693,-0.0155824103023,0.0599406663554,0.999999983893,-0.000146469595133,-8.19234891405e-05,-6.36294026466e-05,1793249623663142912
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.640137286,717,681.359862714,664,638,886,785,816,651,630,654,0.436895549037,-0.0155803073473,0.0599245759899,0.999999980804,-0.000144698047155,-0.000114814803469,-6.53564663894e-05,1793249623679809792
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.060830201,717,681.939169799,664,638,886,785,816,651,630,654,0.437658828075,-0.0155774460513,0.0599138375722,0.999999978314,-0.000142126881326,-0.000137090108975,-6.6164931356e-05,1793249623696476928
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.483305435,745,717,682,664.516694565,638,886,784.483305435,816,651,630,654,0.438416754116,-0.0155775904673,0.0599082539487,0.99999997658,-0.000143831359058,-0.000147374084161,-6.65811470914e-05,1793249623713143040
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.093649985,745,717,682.093649985,664.906350015,638,886,784.093649985,816.093649985,651,630,654,0.43918274356,-0.0155793330984,0.059913107128,0.999999977082,-0.000147761859911,-0.000140082045398,-6.61791214108e-05,1793249623729809664
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.668753418,745,717,682.668753418,664.331246582,638,886,784.668753418,816.668753418,651,630,654,0.439993415588,-0.0155874791933,0.0599685065917,0.999999983967,-0.000160557397831,-4.96646846013e-05,-6.18071172757e-05,1793249623746476288
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.249518752,717,682.750481248,664,637.750481248,886.249518752,785,816.750481248,651.249518752,630,654,0.440741025205,-0.0155919331018,0.060000747645,0.999999984622,-0.000165108740532,2.96681869041e-07,-5.9122466413e-05,1793249623763142912
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745.837974964,717,682.162025036,664,637.162025036,886.837974964,785,816.162025036,651.837974964,630,654,0.441402973004,-0.015591371674,0.060001531127,0.999999985709,-0.000158461459991,-4.69595334891e-06,-5.87298575472e-05,1793249623779809536
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.580444033,745.580444033,717,682,664,637,887,785,816,651.580444033,629.580444033,654,0.442045339998,-0.0155926302605,0.0599644612102,0.999999982732,-0.000164320855275,-6.09302654596e-05,-6.1830305392e-05,1793249623796476160
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.001475259,745.001475259,717,682,664,637,887,785,816,651.001475259,629.001475259,654,0.442680267202,-0.0155945803723,0.0599130086675,0.99999997317,-0.00017493223572,-0.000136634160338,-6.62579607536e-05,1793249623813143296
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766.85029968,745.85029968,717,683,664,637.85029968,887,784.85029968,816,651.85029968,630.14970032,654,0.443838613806,-0.0156056023695,0.0598595504222,0.999999954034,-0.000198553897428,-0.000217808959149,-7.11941017029e-05,1793249623846476032
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766.306510886,745.306510886,717,682.693489114,664,637,887,784,816,651.306510886,630.693489114,654.306510886,0.444966530761,-0.0156144456227,0.0598640044451,0.999999953534,-0.000204255143773,-0.000215057694038,-7.04376243247e-05,1793249623879809024
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+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717,682.224076163,664,637,887.775923837,784,816.775923837,651,630.224076163,654,0.447714026413,-0.0156353810484,0.0598087779211,0.999999923272,-0.000234975777637,-0.000304582744988,-7.39674921589e-05,1793249623979810816
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+208,3.466666667,POSE1_TO_POSE2_PRESS,767,745,717,682.597039441,663,637,887,783,816.402960559,652,629.402960559,654,0.450377112832,-0.0156546959052,0.0596990114727,0.999999850862,-0.000261133018864,-0.000473118052832,-7.9029918998e-05,1793249624146476544
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+227,3.783333333,POSE1_TO_POSE2_PRESS,766.377755776,746,717,682,663.377755776,636,887.622244224,782,817,651.377755776,629,654,0.451434416022,-0.0156606725335,0.0596794736848,0.99999983732,-0.000265246991009,-0.000499379670939,-7.4986918221e-05,1793249624463142912
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,717.195938301,682.195938301,663,636,888,782,817,651,629,654,0.451435053123,-0.0156599532872,0.0596788467656,0.999999837092,-0.00026406003995,-0.000500461609249,-7.50072860936e-05,1793249624479809280
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,717.765825588,682.765825588,663,636,888,782,817,651,629,654,0.451435470443,-0.0156594888459,0.0596774942474,0.999999836304,-0.000263012923736,-0.000502556553172,-7.51806697671e-05,1793249624496475904
+230,3.833333333,POSE1_TO_POSE2_PRESS,766.352034497,746,717.647965503,682.647965503,663,636,887.647965503,782,817,651,629,654,0.451436129033,-0.0156592737917,0.0596774882792,0.999999836225,-0.000262477440503,-0.000503010271255,-7.50684363852e-05,1793249624513142528
+231,3.850000000,POSE1_TO_POSE2_PRESS,766.949628426,746,717.050371574,682.050371574,663,636,887.050371574,782,817,651,629,654,0.451436955919,-0.015659232696,0.0596784215884,0.999999836643,-0.000262298843658,-0.000502319162569,-7.47569726296e-05,1793249624529809152
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,745.473407856,717,682,663,636,887.526592144,782,817,651,629,654,0.451437273404,-0.015658682666,0.0596780660717,0.999999837019,-0.000261586124064,-0.000501914934057,-7.49341886712e-05,1793249624546476544
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,745.101147625,717,682.101147625,663.101147625,636,888,782,817,651,629,654.101147625,0.451437363873,-0.0156582831781,0.0596775920914,0.999999837173,-0.000261002830884,-0.000501900965272,-7.50164707496e-05,1793249624563143680
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,745.673331464,717,682.673331464,663.673331464,636,888,782,817,651,629,654.673331464,0.451436615509,-0.0156588029159,0.059677118913,0.999999836306,-0.000261251227085,-0.000503581428096,-7.44471720358e-05,1793249624579810304
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,717.255232647,683,663.744767353,636,888,782.255232647,817,651.255232647,629,654.744767353,0.45143656163,-0.0156589048775,0.0596764947253,0.999999835799,-0.000261373052685,-0.000504565790317,-7.41646412335e-05,1793249624596476672
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,717.850063253,683,663.149936747,636,888,782.850063253,817,651.850063253,629,654.149936747,0.451437431792,-0.0156584509701,0.0596756696132,0.999999835774,-0.000261326470722,-0.000504623961139,-7.42636673286e-05,1793249624613143040
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,718,682.136431146,663,636,887.568215573,782.568215573,817,651.568215573,629,654,0.451438043815,-0.0156583883191,0.0596756869695,0.999999835732,-0.000261729015579,-0.000504465353151,-7.44871054618e-05,1793249624629809408
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,717.990925859,681.009074141,663,636,887,782,817,651.009074141,629,654,0.451438583843,-0.015658425424,0.0596759944893,0.999999835703,-0.000262237776033,-0.000504219606882,-7.47513734333e-05,1793249624646476032
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,717.414469263,681.585530737,663,636,887,782,817,651.585530737,629,654,0.45144006189,-0.0156564551468,0.059676692012,0.99999983686,-0.000259923568687,-0.00050309346408,-7.49469172614e-05,1793249624663142656
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,717,681.835221124,663,636,887,782,817,651.835221124,629,654.164778876,0.451441137011,-0.015655334605,0.0596771996336,0.999999837677,-0.000258473022764,-0.000502229836305,-7.48526704971e-05,1793249624679809280
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717,681.248830432,663,636,887,782,817,651.248830432,629,654.751169568,0.451441181182,-0.0156563882404,0.0596772213646,0.999999837639,-0.000259232286102,-0.000502037893232,-7.40169504127e-05,1793249624696476160
+242,4.033333333,HOLD_POSE2,766,746,717,682,663,636,888,782,817,651,629,654,0.451439812613,-0.0156568699889,0.0596755833221,0.999999836273,-0.000260156504767,-0.000504219332746,-7.44071589199e-05,1793249624732357376
+243,4.050000000,HOLD_POSE2,766.577631247,746,717,682,663,636,887.422368753,782.577631247,817,651,629,654,0.451441561647,-0.0156559475715,0.0596769531569,0.999999837637,-0.000258708152882,-0.000502260900833,-7.4370063683e-05,1793249624749023232
+244,4.066666667,HOLD_POSE2,766.846369287,746,717,682,663,636,887.153630713,782.846369287,817,651,629,654,0.451442646839,-0.0156552954231,0.0596778166954,0.999999838458,-0.000257911279016,-0.000501037767529,-7.43412480041e-05,1793249624765689344
+245,4.083333333,HOLD_POSE2,766.274808709,746,717,682,663,636,887.725191291,782.274808709,817,651,629,654,0.451441926146,-0.0156553785017,0.059677302929,0.999999837817,-0.0002588866554,-0.000501814906017,-7.43349556428e-05,1793249624782355968
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+248,4.133333333,HOLD_POSE2,767,746,717,682,663,636,887.481966265,782,817,651.481966265,629,654.481966265,0.451441499225,-0.0156564668704,0.0596760808122,0.999999836943,-0.000260874790075,-0.000502633802866,-7.36073900907e-05,1793249624832355584
+249,4.150000000,HOLD_POSE2,767,746,717,682,663,636,887.939510083,782,816.939510083,652,629,654.939510083,0.451442101703,-0.0156574910656,0.0596766904786,0.999999836743,-0.000262872039219,-0.000502053751208,-7.31720555082e-05,1793249624849022208
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+256,4.266666667,HOLD_POSE2,767,746,717,681.115588953,663.884411047,636,887,782.884411047,817,651.115588953,629,654.115588953,0.451443934876,-0.015653852033,0.0596766239364,0.999999838477,-0.00025557854538,-0.000502250948906,-7.39599080084e-05,1793249624965689088
+257,4.283333333,HOLD_POSE2,767,746,717,681.691108149,663.308891851,636,887,782.308891851,817,651.691108149,629,654.691108149,0.451442447971,-0.0156536756195,0.0596755628111,0.999999837404,-0.000256288001875,-0.000504027135898,-7.39227120628e-05,1793249624982355712
+258,4.300000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,887,782,817,652,629,654,0.45144091519,-0.0156518385705,0.0596752304261,0.999999837636,-0.000252013045446,-0.000505701480635,-7.40551594256e-05,1793249625020169728
+259,4.316666667,POSE2_TO_POSE3_RETREAT,767,745.407790873,717,682,663,636,887,782,817,652,629,654,0.451441763792,-0.0156525426728,0.059675617086,0.999999837825,-0.000252740586969,-0.000505039054133,-7.35358830345e-05,1793249625036836864
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,745.178760534,717,682.178760534,663.178760534,636,887.178760534,782,817,651.821239466,629,654,0.451442746376,-0.0156532874829,0.0596761866414,0.999999837996,-0.000254124891234,-0.000504055500298,-7.31830734754e-05,1793249625053504000
+261,4.350000000,POSE2_TO_POSE3_RETREAT,767,745.752801541,717,682.752801541,663.752801541,636,887.752801541,782,817,651.247198459,629,654,0.451444025224,-0.0156541223076,0.0596771606205,0.999999838123,-0.000256961448454,-0.000502361860263,-7.31983600998e-05,1793249625070170624
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.671568536,663.671568536,636,888,781.671568536,816.671568536,651,629,654,0.451444859867,-0.0156534031967,0.0596776154431,0.999999838863,-0.000255664140282,-0.000501552462755,-7.3183580413e-05,1793249625086836736
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.094736914,663.094736914,636,888,781.094736914,816.094736914,651,629,654,0.451445358547,-0.0156515088092,0.0596776776159,0.999999840057,-0.000251240295882,-0.000501411838002,-7.3146060892e-05,1793249625103502592
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,887.508003037,781.491996963,816.491996963,651,629,654,0.451444895083,-0.0156520049258,0.0596766142164,0.999999839234,-0.000252302582077,-0.000502510033736,-7.32067231474e-05,1793249625120169472
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.079518016,663,636,887.079518016,782,817,651,629,654.079518016,0.451444313053,-0.0156526888738,0.0596756277383,0.999999838312,-0.000253925277373,-0.000503510937952,-7.33180287466e-05,1793249625136835840
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.659742832,663,636,887.659742832,782,817,651,629,654.659742832,0.451444174982,-0.0156515975795,0.0596765183832,0.999999839279,-0.000252288285546,-0.000502366321877,-7.36267352786e-05,1793249625153502720
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.761877189,746,717,682.761877189,663,636,887.761877189,782,816.761877189,651,629,655,0.451442219503,-0.0156509776846,0.0596763189153,0.999999839063,-0.000252127413015,-0.000502855065102,-7.37802435469e-05,1793249625170169600
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.18611311,746,717,682.18611311,663,636,887.18611311,782,816.18611311,651,629,655,0.451437687068,-0.0156510262006,0.0596745737446,0.999999837164,-0.000254059573171,-0.000505659796151,-7.37136916502e-05,1793249625186836224
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.389719719,746,717.389719719,682,663.389719719,636,887.389719719,782,816.389719719,651.389719719,629,654.610280281,0.451417511273,-0.015649789001,0.0596667229035,0.999999830789,-0.000254060224533,-0.000518041503978,-7.42146284879e-05,1793249625203502848
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.443583275,682,663.443583275,636,888,782,817,651.443583275,629,654.556416725,0.451340521811,-0.0156458251301,0.0596408475421,0.999999810657,-0.000252197678777,-0.000556166667734,-7.59047680656e-05,1793249625236836096
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,887.855691397,782,817,651,629,654.855691397,0.451284588342,-0.0156432190009,0.0596258813039,0.999999799358,-0.000251285358247,-0.000576388244506,-7.69190183285e-05,1793249625253502464
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,887.279444614,782,817,651,629,654.279444614,0.45121305203,-0.0156391852471,0.0596121658463,0.999999789769,-0.000250461332768,-0.000592972227984,-7.81931157001e-05,1793249625270169088
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.29399182,663,636,887,782,816.70600818,651,629,654,0.451133764276,-0.0156347482508,0.0596023404318,0.999999782051,-0.000248659926935,-0.000606505127486,-7.88513755317e-05,1793249625286835968
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.864782225,663,636,887,782,816.135217775,651,629,654,0.451047178403,-0.0156299315948,0.0595961775637,0.999999776196,-0.000245938300003,-0.000617165375629,-7.89298131775e-05,1793249625303503104
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.54691493,663,636,887,782,816.45308507,651,629,654,0.450947123391,-0.0156247485059,0.0595936580833,0.999999773973,-0.000243853020085,-0.000621645567216,-7.839648494e-05,1793249625320169728
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,682,663.984756711,636.984756711,887.015243289,782.984756711,816.015243289,651.984756711,629,654,0.44806539965,-0.0155066709532,0.0596054569215,0.999999799296,-0.000184175485598,-0.000603142659245,-6.08855628273e-05,1793249625536837376
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745,717,680,662.050264895,637.050264895,880.949735105,785,813,651,629,653.050264895,0.420312356748,-0.0153993078816,0.059786490081,0.999999923237,0.000161235430733,-0.000356240907985,2.49362492471e-05,1793249626170170368
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,718,679,661.513028877,637.513028877,878.513028877,785,813,651,629.513028877,654,0.40736469791,-0.01538746598,0.0598374020985,0.999999942876,0.000192463109302,-0.000276250356609,2.9861180031e-05,1793249626470170112
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.074111047,745,718,679,661.074111047,637,878.074111047,785,813,651,629.074111047,654,0.406818680025,-0.0153859730695,0.059819827646,0.999999936085,0.000190867932746,-0.000301050963902,2.77231000208e-05,1793249626486836992
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.653157953,745,718,679,661.653157953,637,878.653157953,785,813,651,629.653157953,654,0.40633703725,-0.0153873096323,0.0598213269915,0.999999939863,0.000183243070284,-0.000293103303644,2.80556639665e-05,1793249626503503360
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,717.767880919,679,661.767880919,637,879,785,813,651,629.767880919,654,0.40587395319,-0.0153879382575,0.0598243444172,0.999999941865,0.00018615446477,-0.000284291697051,2.81931081087e-05,1793249626520169728
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,717.189047971,679,661.189047971,637,879,785,813,651,629.189047971,654,0.405438590135,-0.0153875094435,0.0598296293835,0.999999941045,0.000204803757799,-0.00027418962343,2.80391037865e-05,1793249626536836352
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,717.386818789,678.613181211,661.386818789,637,879,785,813,651,629,654.386818789,0.405015547697,-0.015386361885,0.059822997598,0.999999937964,0.000209365100285,-0.000281965637923,2.70721320094e-05,1793249626553502976
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,717.961246984,678.038753016,661.961246984,637,879,785,813,651,629,654.961246984,0.404598480792,-0.0153848657313,0.0598105861179,0.999999933701,0.000207093704927,-0.000298412630154,2.57108661839e-05,1793249626570169600
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.547601027,661.452398973,637,879,784.452398973,813,651,629.547601027,653.904797946,0.404203638759,-0.0153824197494,0.0597886861205,0.99999992284,0.000199816717321,-0.000337435360537,2.30553904425e-05,1793249626586836736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,717.866926478,679,661.133073522,637,879,784,813,651,629.866926478,653,0.403828103029,-0.0153807754416,0.0597705293415,0.999999912968,0.000194127548618,-0.000368712281055,2.07440736524e-05,1793249626603503360
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,717.287307105,679,661.712692895,637,879,784,813,651,629.287307105,653,0.403511956729,-0.015382051838,0.0597672368618,0.999999912891,0.000194981676874,-0.000368516619583,1.99018105671e-05,1793249626620170240
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,717.291243224,679,662,637.291243224,878.708756776,784.291243224,813,651.291243224,629,653.291243224,0.403231598566,-0.0153834940921,0.0597760132934,0.999999919835,0.000193671476514,-0.000349868879685,2.03366557457e-05,1793249626636836864
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,717.868742778,679,662,637.868742778,878.131257222,784.868742778,813,651.868742778,629,653.868742778,0.402986415765,-0.0153850993637,0.0597966519832,0.999999932652,0.000190234006607,-0.000313085011885,2.20267415747e-05,1793249626653503232
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.55538304,745,718,679,662,637.55538304,878.44461696,785,813,651.55538304,629.44461696,653.55538304,0.402760518082,-0.0153856556128,0.0598144285569,0.999999940369,0.000194328025412,-0.00028448327928,2.38315896973e-05,1793249626670169344
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.020549995,745,718,678.979450005,661.979450005,637,878.979450005,784.979450005,813,651,629.979450005,653,0.402540899127,-0.0153858707424,0.0598309774084,0.999999946022,0.000200545942004,-0.00025899831487,2.56262782092e-05,1793249626686835968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.611383885,745,718,678.388616115,661.388616115,637,878.388616115,784.388616115,813,651,629.388616115,653,0.402338103459,-0.0153851822675,0.0598368181804,0.999999946742,0.000204227253529,-0.000253218918768,2.62022620982e-05,1793249626703502848
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,717.803718476,678,661.196281524,637.196281524,878.196281524,784.196281524,813,651,629.196281524,653.196281524,0.402142381517,-0.01538386072,0.0598380909351,0.999999945925,0.000207155133845,-0.00025407057136,2.61751425822e-05,1793249626720169728
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,717.230229014,678,661.769770986,637.769770986,878.769770986,784.769770986,813,651,629.769770986,653.769770986,0.401960253674,-0.0153813225525,0.0598305850108,0.999999942101,0.000208635092263,-0.000267665574792,2.49889969906e-05,1793249626736836352
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,717.345757656,678,661.654242344,637.654242344,878.654242344,784.654242344,813,651,630,654,0.401800626166,-0.0153825541905,0.0598260531169,0.999999940255,0.000203599843949,-0.000278275721193,2.44799780648e-05,1793249626753502976
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,717.923419294,678,661.076580706,637.076580706,878.076580706,784.076580706,813,651,630,654,0.401656089896,-0.0153863142839,0.0598235159416,0.999999939695,0.000194194765199,-0.000286883888031,2.44251163362e-05,1793249626770169856
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.488960423,745,717.488960423,678,661.511039577,637,878,784,813,651,629.488960423,654,0.401538993919,-0.0153908485836,0.0598251841958,0.999999941226,0.000186267735838,-0.000286781934492,2.46494206234e-05,1793249626786836480
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.098504054,745,717,678,661.901495946,637,878,784,813,651,629.098504054,654,0.401431027086,-0.0153944533287,0.0598276677702,0.999999942887,0.000180328298107,-0.000284762979803,2.48707292529e-05,1793249626803503104
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.677779864,745,717,678,661.322220136,637,878,784,813,651,629.677779864,654,0.401347148653,-0.0153929436676,0.0598309937608,0.999999943781,0.000182987240158,-0.000279884772359,2.48691795119e-05,1793249626820169472
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,717.258463782,678.258463782,661,637,878,784.258463782,813.258463782,651,629.741536218,654,0.401273201687,-0.0153910074065,0.0598329247704,0.999999944161,0.000185395309898,-0.000276928632918,2.4831758495e-05,1793249626836835840
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,717.84091273,678.84091273,661,637,878,784.84091273,813.84091273,651,629.15908727,654,0.401211703851,-0.0153885364011,0.0598331071667,0.999999943924,0.000187488910247,-0.000276381812094,2.47493727212e-05,1793249626853502464
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.586898953,661,637,878,785,813.586898953,651,629,654,0.401160009679,-0.0153883158283,0.0598343333294,0.99999994454,0.000187743025376,-0.00027397569261,2.46889668087e-05,1793249626870169344
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.018566302,661,637,878,785,813.018566302,651,629,654,0.401111999446,-0.0153889409042,0.0598359517098,0.999999945469,0.000187305914319,-0.000270870901675,2.46368203035e-05,1793249626886835968
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,661.570790697,637,878,784.429209303,813,651,629,653.429209303,0.401075323305,-0.0153888429002,0.0598353861676,0.999999944682,0.00018698233582,-0.000273987724729,2.45956495288e-05,1793249626903503104
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,717.841775694,678,662,637,878,784,813,651,629.158224306,653,0.401042275325,-0.0153883363328,0.0598340926263,0.999999943583,0.000187462306055,-0.000277657681213,2.44467635191e-05,1793249626920170240
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,717.261368787,678,662,637,878,784,813,651,629.738631213,653,0.401017886886,-0.015386804771,0.0598310533925,0.999999941817,0.000190076117831,-0.000282242906064,2.40094769081e-05,1793249626936836352
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.684678516,745,717.315321484,678,662,637,878,784,813,651,629.684678516,653.315321484,0.401002353284,-0.0153870498263,0.0598307990259,0.999999941836,0.000190405564732,-0.000281974437397,2.37692613008e-05,1793249626953502720
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.111033,745,717.888967,678,662,637,878,784,813,651,629.111033,653.888967,0.400994073917,-0.0153887503576,0.0598328261342,0.999999943318,0.000188863568406,-0.000277729628436,2.3690494132e-05,1793249626970169088
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.464071115,745,718,678,662,637,878,784,813,651,629.464071115,654,0.400989433395,-0.0153894442028,0.0598346775358,0.999999944477,0.000188974255486,-0.000273436388155,2.38354961384e-05,1793249626986835968
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.959226069,745,718,678,661.959226069,637,878,784.040773931,813,651,629.959226069,653.959226069,0.400985657062,-0.0153898647685,0.0598363813249,0.999999945442,0.000189622241967,-0.000269413819739,2.40110030941e-05,1793249627003502592
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.365592553,745,718,678,661.365592553,637,878,784.634407447,813,651,629.365592553,653.365592553,0.400981756245,-0.0153898560271,0.0598366554298,0.99999994501,0.000192177105049,-0.000269218939745,2.38719034809e-05,1793249627020169216
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.221106148,745,717.778893852,678,661,637,878,784.778893852,812.778893852,651,629.221106148,653.221106148,0.400978215048,-0.0153899622404,0.0598365259404,0.999999944638,0.000193359806146,-0.000269775702419,2.36088828953e-05,1793249627036836096
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.796687003,745,717.203312997,678,661,637,878,784.203312997,812.203312997,651,629.796687003,653.796687003,0.400975250389,-0.0153902527475,0.0598357494132,0.999999944368,0.000192342673562,-0.000271537489554,2.31471937115e-05,1793249627053502976
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,717.37178842,678,661.37178842,637,878,784.37178842,812.37178842,651,629.62821158,653.62821158,0.400974879158,-0.0153910331843,0.0598366861786,0.999999944647,0.000192204603021,-0.000270589174026,2.33570372058e-05,1793249627070169856
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,717.946627976,678,661.946627976,637,878,784.946627976,812.946627976,651,629.053372024,653.053372024,0.400975924322,-0.0153920811949,0.0598385586536,0.999999945221,0.000192546629621,-0.000268160743964,2.39336362821e-05,1793249627086836480
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,717.464497863,678.535502137,661.464497863,637,878,785,813,651,629.535502137,653.535502137,0.40097405671,-0.0153922304224,0.0598374779151,0.999999944792,0.000192145576109,-0.0002700555194,2.37741530337e-05,1793249627103503104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,717,679,661,637,878,784.876648689,813,651,630,653.876648689,0.40097263564,-0.0153924469313,0.0598366929392,0.999999944486,0.000191772598935,-0.000271467670665,2.35705950345e-05,1793249627120169472
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,717,679,661,637,878,784.297887178,813,651,630,653.297887178,0.40097396385,-0.0153932514671,0.0598381158509,0.999999945028,0.000191784068668,-0.000269464363212,2.3482459456e-05,1793249627136835840
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,717.280183121,678.719816879,661,637,878,784.280183121,813,651,630,653,0.400974059064,-0.0153936040386,0.0598387135245,0.999999945405,0.000191196444783,-0.000268483625977,2.34438984091e-05,1793249627153502464
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,717.857520411,678.142479589,661,637,878,784.857520411,813,651,630,653,0.4009728466,-0.0153934772701,0.0598384359744,0.99999994561,0.000189973439419,-0.000268587397092,2.34579146754e-05,1793249627170169088
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637,878,784.568196794,813,651.431803206,629.568196794,653,0.400972741158,-0.0153924331033,0.0598385724988,0.999999945366,0.000191191847186,-0.000268657993143,2.3147273154e-05,1793249627186835968
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637,878,784.005238567,813,651.994761433,629.005238567,653.005238567,0.400972998651,-0.0153910974309,0.0598388516341,0.999999944981,0.000193182794106,-0.000268703104519,2.27328757166e-05,1793249627203502848
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637,878,784.595813682,813,651.404186318,629.595813682,653.595813682,0.400973280988,-0.0153907759319,0.0598399063272,0.999999945615,0.000192114285071,-0.000267115196512,2.26108954203e-05,1793249627220169728
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,717.817160428,678.182839572,661,637.182839572,878,785,813,651.182839572,629.817160428,654,0.400973906642,-0.0153911513765,0.0598408624635,0.999999946239,0.000191079726682,-0.000265511234203,2.26806911165e-05,1793249627236836352
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,717.237831112,678.762168888,661,637.762168888,878,785,813,651.762168888,629.237831112,654,0.400975276783,-0.0153930381513,0.0598416048779,0.999999946845,0.000190118790727,-0.000263872458047,2.31663552959e-05,1793249627253502720
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.660919286,745,717.339080714,679,661,638,878,785,813,652,629,654,0.400975198773,-0.0153939909805,0.059841233356,0.999999946755,0.000190392677656,-0.000264004303972,2.32995834987e-05,1793249627270169344
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.085691107,745,717.914308893,679,661,638,878,785,813,652,629,654,0.40097411222,-0.0153942933777,0.0598400860504,0.99999994618,0.000191526537725,-0.000265369272043,2.31873631527e-05,1793249627286836224
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.498609913,745,718,678.501390087,661,638,878.498609913,785,813,651.501390087,629.498609913,654,0.400973288991,-0.0153938222935,0.0598397087639,0.999999946052,0.000190809427087,-0.000266370828886,2.31025385448e-05,1793249627303502848
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745.083948243,718,678.083948243,661.083948243,638,878.916051757,785,813,651,630,654,0.400972472622,-0.0153931810429,0.0598393562309,0.999999945974,0.000189963993978,-0.000267284952594,2.29217153653e-05,1793249627320169728
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745.666017776,718,678.666017776,661.666017776,638,878.333982224,785,813,651,630,654,0.400971423457,-0.0153923334651,0.0598383507896,0.999999945724,0.000190279668301,-0.000268057737348,2.21428133679e-05,1793249627336836608
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.754693818,745.754693818,717.754693818,679,661.754693818,637.754693818,878,785,813,651,630,654,0.400971174231,-0.0153918042999,0.0598380881628,0.999999945619,0.000190670852312,-0.000268200352677,2.1786046737e-05,1793249627353503488
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.179149362,745.179149362,717.179149362,679,661.179149362,637.179149362,878,785,813,651,630,654,0.400972001906,-0.0153917037905,0.059838825534,0.99999994571,0.000191163689693,-0.000267494615814,2.19975708313e-05,1793249627370170112
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c93fca96a70ba4396ad422beb52ba1eb5a0ccbda
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
+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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+366,6.100000000,pose2_to_pose3_retreat,0.575975265534,-0.00984983672906,1.05003379527,0.546545944707,-0.00117720048445,1.04970519202
+367,6.116666667,pose2_to_pose3_retreat,0.575913354059,-0.00984999907099,1.05003343016,0.546484034525,-0.00117735863534,1.0497048216
+368,6.133333333,pose2_to_pose3_retreat,0.575861438804,-0.00984992574078,1.05003328767,0.5464321187,-0.001177287043,1.04970468423
+369,6.150000000,pose2_to_pose3_retreat,0.575817288859,-0.00984983149005,1.05003335116,0.5463879669,-0.00117719925466,1.0497047433
+370,6.166666667,pose2_to_pose3_retreat,0.57578002865,-0.00984985441329,1.05003345174,0.546350706226,-0.00117722376872,1.04970484347
+371,6.183333333,pose2_to_pose3_retreat,0.575748999689,-0.00984995668629,1.05003342371,0.546319678227,-0.00117732250539,1.04970482262
+372,6.200000000,pose2_to_pose3_retreat,0.575723856996,-0.00984998098559,1.05003327063,0.546294535785,-0.00117734581284,1.0497046733
+373,6.216666667,pose2_to_pose3_retreat,0.575705361051,-0.00985005059745,1.05003349501,0.546276041252,-0.00117741091566,1.04970489026
+374,6.233333333,pose2_to_pose3_retreat,0.575692181597,-0.00984995007297,1.0500334992,0.546262858831,-0.00117732041387,1.04970489561
+375,6.250000000,pose2_to_pose3_retreat,0.575683561613,-0.00984995881066,1.05003351714,0.54625423965,-0.00117732655038,1.04970491038
+376,6.266666667,pose2_to_pose3_retreat,0.575678084833,-0.0098500004387,1.05003353846,0.546248764676,-0.00117736219789,1.04970492781
+377,6.283333333,pose2_to_pose3_retreat,0.57567466212,-0.00984992788166,1.05003365334,0.546245341352,-0.00117729174527,1.04970504187
+378,6.300000000,pose2_to_pose3_retreat,0.575672011042,-0.00984986363971,1.05003375062,0.546242689659,-0.00117722960998,1.04970513864
+379,6.316666667,pose2_to_pose3_retreat,0.575669983713,-0.00984986807535,1.0500337389,0.54624066211,-0.00117723470488,1.04970512932
+380,6.333333333,pose2_to_pose3_retreat,0.575668639664,-0.00984989914378,1.05003368593,0.546239318045,-0.0011772657106,1.0497050794
+381,6.350000000,pose2_to_pose3_retreat,0.575667576391,-0.0098499237219,1.05003364401,0.54623825476,-0.00117729023911,1.04970503991
+382,6.366666667,pose2_to_pose3_retreat,0.575666864898,-0.0098499679284,1.05003361043,0.546237543533,-0.00117733351134,1.0497050071
+383,6.383333333,pose2_to_pose3_retreat,0.575666720534,-0.00984998693459,1.05003360161,0.546237399323,-0.00117735200218,1.04970499813
+384,6.400000000,pose2_to_pose3_retreat,0.575666628511,-0.00984999904993,1.05003359599,0.546237307398,-0.00117736378902,1.04970499242
+385,6.416666667,pose2_to_pose3_retreat,0.575666283157,-0.00985004451748,1.05003357489,0.546236962412,-0.00117740802372,1.04970497097
+386,6.433333333,pose2_to_pose3_retreat,0.575666135538,-0.00985006395228,1.05003356587,0.54623681495,-0.00117742693155,1.0497049618
+387,6.450000000,pose2_to_pose3_retreat,0.575666094804,-0.00985006931508,1.05003356339,0.546236774259,-0.00117743214894,1.04970495927
+388,6.466666667,pose2_to_pose3_retreat,0.57566601818,-0.00985007940308,1.0500335587,0.546236697716,-0.00117744196341,1.04970495451
+389,6.483333333,pose2_to_pose3_retreat,0.575666001077,-0.00985008165483,1.05003355766,0.546236680631,-0.0011774441541,1.04970495345
+390,6.500000000,pose2_to_pose3_retreat,0.575665728384,-0.00985011755621,1.050033541,0.546236408229,-0.00117747908202,1.04970493652
+391,6.516666667,pose2_to_pose3_retreat,0.575665452613,-0.00985015386284,1.05003352416,0.546236132751,-0.0011775144042,1.04970491939
+392,6.533333333,pose2_to_pose3_retreat,0.575665327659,-0.00985017031372,1.05003351652,0.54623600793,-0.00117753040902,1.04970491163
+393,6.550000000,pose2_to_pose3_retreat,0.575665326761,-0.00985017043195,1.05003351647,0.546236007033,-0.00117753052405,1.04970491157
+394,6.566666667,pose2_to_pose3_retreat,0.575665194935,-0.00985013359319,1.05003353643,0.546235874991,-0.00117749445804,1.04970493048
+395,6.583333333,pose2_to_pose3_retreat,0.575664856132,-0.00985000383689,1.05003360588,0.546235535402,-0.00117736749254,1.04970499662
+396,6.600000000,pose2_to_pose3_retreat,0.575664511397,-0.00984992874199,1.05003358793,0.546235190527,-0.00117729292235,1.04970497734
+397,6.616666667,pose2_to_pose3_retreat,0.575664345629,-0.00984998872719,1.05003342974,0.546235025806,-0.00117734925258,1.04970482192
+398,6.633333333,pose2_to_pose3_retreat,0.57566436487,-0.00984999923942,1.05003361848,0.546235045448,-0.00117735861373,1.04970500505
+399,6.650000000,pose2_to_pose3_retreat,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850587,1.04970505684
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bb56c6a4637f319ca3102c4a201f583721dd435
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec9642f1d799e2c299359ab495bcbb36723b95b9fd4669611c52afd37da3acad
+size 25454915
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4773b2510d2416df48cc4959558e5e1f534d9c0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,402 @@
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+21,0.350000000,BASELINE,767,745,717.186180559,679,661,637,878,785,813,651.813819441,629.186180559,654,0.400973309739,-0.0153934081566,0.0598427029313,0.999999946945,0.000192700538078,-0.000261682322755,2.23410143234e-05,1793249627868853504
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+38,0.633333333,BASELINE,766.951711344,745,718,679,661.951711344,637,878.951711344,784.048288656,813,651.951711344,629,654,0.400973798346,-0.0153970642132,0.0598437029612,0.999999947907,0.000189133019497,-0.000260614701535,2.22606314083e-05,1793249628152186880
+39,0.650000000,BASELINE,766.372959239,745,718,679,661.372959239,637,878.372959239,784.627040761,813,651.372959239,629,654,0.400973473506,-0.0153971136978,0.0598431513942,0.999999947833,0.00018859932802,-0.000261274736042,2.23424597988e-05,1793249628168853504
+40,0.666666667,BASELINE,766.205706834,745,718,679,661,637.205706834,878,785,813,651.205706834,629,653.794293166,0.400973249166,-0.0153973928766,0.0598427859139,0.999999947821,0.000188052547151,-0.000261711580321,2.23844947641e-05,1793249628185520128
+41,0.683333333,BASELINE,766.784216954,745,718,679,661,637.784216954,878,785,813,651.784216954,629,653.215783046,0.400973206962,-0.0153980883312,0.0598427576794,0.99999994792,0.000187482044359,-0.000261743936052,2.23544119468e-05,1793249628202186752
+42,0.700000000,BASELINE,767,745,718,679,661,637.639529357,878,785,813,651.639529357,629.360470643,653.360470643,0.400973549179,-0.0153981012343,0.0598430774412,0.999999948098,0.000187525009413,-0.00026102407726,2.24795215973e-05,1793249628218853632
+43,0.716666667,BASELINE,767,745,718,679,661,637.064618021,878,785,813,651.064618021,629.935381979,653.935381979,0.400974120086,-0.0153977080939,0.0598436042229,0.99999994832,0.000187932920907,-0.000259856732917,2.26969538308e-05,1793249628235520768
+44,0.733333333,BASELINE,766.478255452,745,718,678.478255452,661,637,878,785,813,651,630,654,0.400975187601,-0.0153975961139,0.0598442193872,0.99999994859,0.000187556924512,-0.000259098119667,2.26056776158e-05,1793249628252187648
+45,0.750000000,BASELINE,766.108217725,745,718,678.108217725,661.108217725,637.108217725,878,785,813,651.108217725,630,654,0.40097582367,-0.0153975133813,0.0598445346437,0.999999948655,0.000187538828466,-0.000258872062503,2.24816159767e-05,1793249628268854016
+46,0.766666667,BASELINE,766.688843554,745,718,678.688843554,661.688843554,637.688843554,878,785,813,651.688843554,630,654,0.400974301814,-0.0153974029036,0.0598434918421,0.999999947797,0.000189516421369,-0.000260744859976,2.23850825774e-05,1793249628285520384
+47,0.783333333,BASELINE,767,745,718,679,661.733065035,637.733065035,878,784.733065035,813,651.733065035,630,654,0.400973713512,-0.0153973049226,0.0598433283972,0.99999994754,0.000190233737174,-0.00026120964099,2.23630566972e-05,1793249628302186752
+48,0.800000000,BASELINE,767,745,718,679,661.157900042,637.157900042,878,784.157900042,813,651.157900042,630,654,0.400974203185,-0.0153972213718,0.0598441803459,0.999999947982,0.000189495810214,-0.00026004858446,2.24270646993e-05,1793249628318853376
+49,0.816666667,BASELINE,767,745,718,679,661,637,878,784.42641951,813,651,629.57358049,654,0.400973159618,-0.0153974157522,0.0598431855916,0.999999947498,0.000190065603065,-0.000261496559987,2.2320229771e-05,1793249628335520256
+50,0.833333333,BASELINE,767,745,718,679,661,637.013985578,878.013985578,785,813,651,629,654,0.400971604012,-0.0153976673953,0.0598415469356,0.999999946689,0.000191122723517,-0.0002638264454,2.21463596436e-05,1793249628352186624
+51,0.850000000,BASELINE,767,745,718,679,661,637.592760635,878.592760635,785,813,651,629,654,0.400972801131,-0.015395984213,0.059842126214,0.999999947057,0.000191875536578,-0.000261900236721,2.18761588401e-05,1793249628368853504
+52,0.866666667,BASELINE,767,745,718,679,661.17054271,638,878.82945729,785,813,651,629,654,0.400973434957,-0.0153949713071,0.059842547114,0.99999994722,0.000192634409714,-0.000260727367684,2.17556629334e-05,1793249628385520384
+53,0.883333333,BASELINE,767,745,718,679,661.745967329,638,878.254032671,785,813,651,629,654,0.40097273148,-0.0153955496911,0.059842592011,0.999999946905,0.000193407669907,-0.000261342986781,2.19905783328e-05,1793249628402187264
+54,0.900000000,BASELINE,767,745,718,679,661.677425184,638,878.322574816,784.677425184,813,651.322574816,629.322574816,654,0.400972364354,-0.0153954866273,0.0598424584188,0.999999946804,0.000192971235712,-0.000262053115247,2.19785276695e-05,1793249628418854144
+55,0.916666667,BASELINE,767,745,718,679,661.09988277,638,878.90011723,784.09988277,813,651.90011723,629.90011723,654,0.400972263084,-0.0153949165544,0.0598421837461,0.99999994687,0.000191578642298,-0.000262837945196,2.17712716014e-05,1793249628435520256
+56,0.933333333,BASELINE,767,745,718,679,661,638,878.513700759,784.486299241,813.486299241,651.513700759,630,654,0.40097339946,-0.0153948993294,0.0598436466605,0.999999947303,0.000192291877586,-0.000260641810474,2.197357684e-05,1793249628452186880
+57,0.950000000,BASELINE,767,745,718,679,661,637.926812141,878,785,813.926812141,651,629.926812141,653.926812141,0.400974629569,-0.0153950911401,0.0598451733845,0.999999947742,0.000193204786949,-0.000258251010331,2.2230740689e-05,1793249628468853248
+58,0.966666667,BASELINE,767,745,718,679,661,637.347530371,878,785,813.347530371,651,629.347530371,653.347530371,0.400974718226,-0.0153959290212,0.0598446288238,0.999999947738,0.000192453442706,-0.000258824533866,2.22750316555e-05,1793249628485519616
+59,0.983333333,BASELINE,767,745,718,678.770258415,661,637,878,784.770258415,813.229741585,651.229741585,629.229741585,653,0.400974439544,-0.0153962306229,0.059844020119,0.999999947673,0.000191964764605,-0.000259439544154,2.22313425502e-05,1793249628502186496
+60,1.000000000,BASELINE,767,745,718,678.196000255,661,637,878,784.196000255,813.803999745,651.803999745,629.803999745,653,0.400973610008,-0.0153957280292,0.0598433152247,0.999999947519,0.000191869976071,-0.000260116767356,2.2055720032e-05,1793249628518853376
+61,1.016666667,BASELINE,767,745,718,678.377687059,661,637.377687059,878,784,814,651.622312941,630,653.377687059,0.400973597515,-0.0153961045132,0.0598433455176,0.999999947524,0.000191597536835,-0.00026029534106,2.21204918468e-05,1793249628535520768
+62,1.033333333,BASELINE,767,745,718,678.951078546,661,637.951078546,878,784,814,651.048921454,630,653.951078546,0.400974008385,-0.015396936505,0.0598437567591,0.99999994761,0.000191233045129,-0.000260215531722,2.23098277378e-05,1793249628552187904
+63,1.050000000,BASELINE,767,745,718,679,661.545862541,637.454137459,878,784,813.454137459,651,629.454137459,653.454137459,0.400974516127,-0.0153974100651,0.0598441277071,0.999999948156,0.000188581655776,-0.000260065360416,2.21631510143e-05,1793249628568854016
+64,1.066666667,BASELINE,767,745,718,679,661.862164414,637,878.137835586,784.137835586,813.137835586,651.137835586,629,653,0.400974633213,-0.0153976710283,0.059844197182,0.999999948488,0.000186793924243,-0.000260084965647,2.2072981633e-05,1793249628585520128
+65,1.083333333,BASELINE,767,745,718,679,661.285493798,637,878.714506202,784.714506202,813.714506202,651.714506202,629,653,0.400973477779,-0.0153973615793,0.0598433188058,0.999999948025,0.000188435019014,-0.000260665993842,2.22625049657e-05,1793249628602186496
+66,1.100000000,BASELINE,767,745,718,679,661.289575226,637.289575226,879,785,813.710424774,652,629.289575226,653.289575226,0.400972787671,-0.0153970357806,0.0598431413034,0.999999947725,0.000189600663087,-0.000260977186934,2.21699021202e-05,1793249628618853120
+67,1.116666667,BASELINE,767,745,718,679,661.863073883,637.863073883,879,785,813.136926117,652,629.863073883,653.863073883,0.400972553809,-0.0153966939516,0.0598436509957,0.999999947589,0.00019030013599,-0.000261023811405,2.1800679493e-05,1793249628635519744
+68,1.133333333,BASELINE,767,745,718,679,661.550429684,637.550429684,878.550429684,784.550429684,813,652,629.550429684,654,0.400973167726,-0.0153973192779,0.0598445463316,0.99999994806,0.000189132206287,-0.000260062412934,2.18142874108e-05,1793249628652186368
+69,1.150000000,BASELINE,767,745,718,679,661.03933782,637.03933782,878.078675639,784,813,651.96066218,629,654,0.400973996818,-0.0153980063423,0.0598454132819,0.999999948612,0.000187784949121,-0.000258903846195,2.1936585039e-05,1793249628668853248
+70,1.166666667,BASELINE,767,745,718,679,661.61805952,637.61805952,879.236119039,784,813,651.38194048,629,654,0.400974130439,-0.0153953806955,0.0598442325644,0.999999947688,0.000192009569025,-0.000259376779951,2.19028333334e-05,1793249628685520384
+71,1.183333333,BASELINE,767,745,718,678.80512251,662,637.80512251,879.80512251,784.19487749,813,651.19487749,629.19487749,654,0.400974563018,-0.0153940662118,0.0598437207737,0.99999994732,0.000194045725004,-0.000259275697399,2.19719288874e-05,1793249628702187520
+72,1.200000000,BASELINE,767,745,718,678.231999461,662,637.231999461,879.231999461,784.768000539,813,651.768000539,629.768000539,654,0.400975575858,-0.015395296617,0.0598445073296,0.999999948055,0.000191834204092,-0.000258060483596,2.22406448188e-05,1793249628718853632
+73,1.216666667,BASELINE,767,745,718,678.343322365,661.656677635,637,878.656677635,785,813,652,630,654,0.400975838961,-0.015396346986,0.0598449286655,0.999999948542,0.000190236236541,-0.000257355926747,2.22284119965e-05,1793249628735520000
+74,1.233333333,BASELINE,767,745,718,678.920139553,661.079860447,637,878.079860447,785,813,652,630,654,0.400975592165,-0.0153972749118,0.0598451016139,0.999999948862,0.000189055549055,-0.000256998669672,2.20251048618e-05,1793249628752186624
+75,1.250000000,BASELINE,767,745,718,678.491153205,661.508846795,637.508846795,878,785,813,651.491153205,630,653.491153205,0.400974871702,-0.0153963041003,0.0598445856044,0.999999948464,0.000190084599895,-0.000257784475629,2.20676045546e-05,1793249628768853504
+76,1.266666667,BASELINE,767,745,718,678.09750312,662,638,878.09750312,784.90249688,813,651,630,653.09750312,0.400973934812,-0.0153952573398,0.0598439833935,0.999999947988,0.000191113223113,-0.00025886716655,2.20694838682e-05,1793249628785520384
+77,1.283333333,BASELINE,767,745,718,678.676472945,662,638,878.676472945,784.323527055,813,651,630,653.676472945,0.400972305082,-0.0153953422427,0.0598435022283,0.999999947709,0.000190386250977,-0.00026050881446,2.16757272992e-05,1793249628802186752
+78,1.300000000,BASELINE,767,745,718,679,662,637.745685342,878.745685342,784.254314658,813,651,629.745685342,654,0.400972270264,-0.0153957033801,0.0598434319875,0.999999947728,0.000190116284906,-0.000260627479285,2.17598369967e-05,1793249628818853888
+79,1.316666667,BASELINE,767,745,718,679,662,637.169272468,878.169272468,784.830727532,813,651,629.169272468,654,0.400974255457,-0.0153964143779,0.0598438821962,0.999999948124,0.00019042513271,-0.00025881723379,2.24491807036e-05,1793249628835522048
+80,1.333333333,BASELINE,767,745,718,678.586349711,662,637.413650289,878.413650289,784.586349711,813,651,629,654,0.400974436396,-0.0153967229018,0.0598442478665,0.9999999482,0.000190362883636,-0.000258579691925,2.23435737695e-05,1793249628852188160
+81,1.350000000,BASELINE,767,745,718,678.000720359,662,637.999279641,878.999279641,784.000720359,813,651,629,654,0.400973867198,-0.0153968640935,0.059844578389,0.999999948143,0.000190146347515,-0.000258996016477,2.19074585645e-05,1793249628868853760
+82,1.366666667,BASELINE,767,745,718,678,661.421857406,638,878.421857406,784.578142594,813,651,629,654,0.400974487576,-0.0153962925549,0.0598447339631,0.999999948536,0.000189056818213,-0.000258289646004,2.17261883593e-05,1793249628885520128
+83,1.383333333,BASELINE,767,745,718,678,661,638,878.156844079,785,813,651,629.156844079,654,0.400974969072,-0.0153962396193,0.0598447977882,0.99999994887,0.000188024876195,-0.000257759440888,2.1607160343e-05,1793249628902186496
+84,1.400000000,BASELINE,767,745,718,678,661,638,878.735134217,785,813,651,629.735134217,654,0.400975073451,-0.0153975825485,0.0598446156589,0.999999949047,0.000187150562163,-0.000257706314009,2.16545360804e-05,1793249628918853120
+85,1.416666667,BASELINE,767,745,718,678,661.311317538,637.688682462,878.688682462,785,813.311317538,651,630,653.688682462,0.400975158558,-0.0153979145515,0.0598446789586,0.999999949114,0.000186910562847,-0.000257617892761,2.16566486674e-05,1793249628935520000
+86,1.433333333,BASELINE,767,745,718,678,661.885720417,637.114279583,878.114279583,785,813.885720417,651,630,653.114279583,0.40097522738,-0.0153973922505,0.0598449496631,0.99999994909,0.000187206604384,-0.000257499645279,2.16205106877e-05,1793249628952186880
+87,1.450000000,BASELINE,767,745,718,678,661.529244132,637,878,784.529244132,813.529244132,651.470755868,630,653.470755868,0.400974792151,-0.0153969238713,0.0598445514318,0.999999948906,0.000188068535423,-0.000257573335148,2.1765277792e-05,1793249628968853760
+88,1.466666667,BASELINE,767,745,718,678.057578235,661.057578235,637,878,784,813,652,629.942421765,654,0.400974296297,-0.0153964993021,0.059844048776,0.999999948675,0.000189052686523,-0.000257739178507,2.19222477148e-05,1793249628985520640
+89,1.483333333,BASELINE,767,745,718,678.636666808,661.636666808,637,878,784,813,652,629.363333192,654,0.400974385225,-0.0153963502367,0.0598441051197,0.999999948376,0.000189870829761,-0.000258307918867,2.17827855515e-05,1793249629002187008
+90,1.500000000,BASELINE,767,745,718,679,661.784646724,637.215353276,878,784.215353276,813,651.784646724,629.215353276,654,0.400974328532,-0.0153962736371,0.0598440912253,0.999999948105,0.000190695481108,-0.000258760695732,2.16329013228e-05,1793249629018853120
+91,1.516666667,BASELINE,767,745,718,679,661.206637463,637.793362537,878,784.793362537,813,651.206637463,629.793362537,654,0.400974026612,-0.0153963190701,0.0598439590496,0.999999947882,0.000191531092057,-0.000259018189438,2.1465466298e-05,1793249629035519744
+92,1.533333333,BASELINE,766.63152486,745,718,678.63152486,661,638,878,784.63152486,813,651,630,654,0.400974475413,-0.0153965260092,0.0598439811489,0.999999948066,0.000191009676183,-0.000258686076752,2.15812553515e-05,1793249629052186624
+93,1.550000000,BASELINE,766.058023953,745,718,678.058023953,661,638,878,784.058023953,813,651,630,654,0.400975341929,-0.0153968228131,0.0598440890894,0.999999948473,0.000189733187831,-0.000258025897172,2.18546350315e-05,1793249629068853504
+94,1.566666667,BASELINE,766.532691407,745,718,678.532691407,661.532691407,638,878.532691407,784,813,651,630,654,0.400975248594,-0.0153956621632,0.0598444736405,0.999999948222,0.000191523948566,-0.000257678583535,2.18258456359e-05,1793249629085520128
+95,1.583333333,BASELINE,767,745,718,679,662,637.877684883,878.877684883,784,813.122315117,651.122315117,629.877684883,654,0.400974874237,-0.0153951857277,0.0598446687582,0.999999948063,0.000192385400636,-0.000257655337501,2.18000029931e-05,1793249629102186752
+96,1.600000000,BASELINE,767,745,718,679,662,637.299355094,878.299355094,784,813.700644906,651.700644906,629.299355094,654,0.400973854986,-0.0153978718108,0.059844041549,0.99999994853,0.000188495009631,-0.000258708981705,2.19119544332e-05,1793249629118853888
+97,1.616666667,BASELINE,767,745,718,679,662,637,878.277101335,784.277101335,813.722898665,652,629.277101335,653.722898665,0.400973160528,-0.0153984270392,0.0598434659049,0.99999994863,0.000186724679002,-0.000259610578641,2.18377420288e-05,1793249629135520768
+98,1.633333333,BASELINE,767,745,718,679,662,637,878.851547512,784.851547512,813.148452488,652,629.851547512,653.148452488,0.400972814592,-0.0153966957443,0.0598429455931,0.999999948349,0.000187229288993,-0.000260349020506,2.1563765662e-05,1793249629152187392
+99,1.650000000,BASELINE,767,745,718,679,661.563988185,637,878.563988185,785,813,651.563988185,630,653.436011815,0.400972479511,-0.0153964011125,0.0598429468766,0.999999948031,0.000188438600704,-0.000260698127221,2.15565359593e-05,1793249629168853760
+100,1.666666667,BASELINE,767,745,718,679,661,637,878.023591367,785,813,651,630,654,0.400972157848,-0.0153966152677,0.0598430965603,0.99999994771,0.000189812731071,-0.000260928712772,2.16390817707e-05,1793249629185520128
+101,1.683333333,BASELINE,767,745,718,679,661,637,878.60232517,785,813,651,630,654,0.400972062944,-0.0153970207613,0.0598424610427,0.999999947643,0.000189286463526,-0.000261563015114,2.16467560663e-05,1793249629202186752
+102,1.700000000,BASELINE,767,745,718,678.819391221,661.180608779,637,878.819391221,785,813,651.180608779,630,654,0.400971669077,-0.0153976099081,0.0598420162561,0.999999947609,0.000188775806024,-0.000262060613211,2.16893255043e-05,1793249629218853376
+103,1.716666667,BASELINE,767,745,718,678.242096486,661.757903514,637,878.242096486,785,813,651.757903514,630,654,0.400970618576,-0.0153986024278,0.0598419903878,0.999999947644,0.000188299434213,-0.000262257956418,2.18085380204e-05,1793249629235520256
+104,1.733333333,BASELINE,767,745,718,678.332815558,662,637.332815558,878.332815558,785,813,651.667184442,629.667184442,654,0.400971475717,-0.015398495127,0.0598428096127,0.9999999478,0.000188994001814,-0.000261147772939,2.1968534148e-05,1793249629252187136
+105,1.750000000,BASELINE,767,745,718,678.906006766,662,637.906006766,878.906006766,785,813,651.093993234,629.093993234,654,0.400973710651,-0.0153975934823,0.0598442392052,0.999999948038,0.000190534278992,-0.000259093229851,2.21579862034e-05,1793249629268854016
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,718,679,662,637,879,784,814,652,630,654,0.400973143698,-0.0153992292899,0.05984388759,0.999999948516,0.000187069860298,-0.000259821361434,2.15756222407e-05,1793249629299858432
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745.418436689,718,679,662,637.581563311,879,784.581563311,813.418436689,652,629.418436689,654,0.400972621439,-0.0153975314425,0.0598435827167,0.999999948041,0.000188924612859,-0.000260300264901,2.1665791527e-05,1793249629316525312
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.839099834,637.839099834,878.839099834,785,813,651.839099834,629.160900166,654,0.400972399049,-0.0153963102763,0.0598434794802,0.999999947775,0.000190144712038,-0.000260431930895,2.16847943131e-05,1793249629333191936
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.265473942,637.265473942,878.265473942,785,813,651.265473942,629.734526058,654,0.400972945856,-0.0153963118463,0.0598438934631,0.999999948053,0.000189736859431,-0.000259672896624,2.15212476152e-05,1793249629349858304
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718,678.691676438,661,637,878.308323562,785,813,651,630,654,0.400973392707,-0.0153967096218,0.0598440442908,0.999999948261,0.000189216997109,-0.000259255742251,2.14594743444e-05,1793249629366524928
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718,678.117731123,661,637,878.882268877,785,813,651,630,654,0.400973753446,-0.0153974487295,0.0598439684096,0.999999948409,0.000188600638074,-0.000259133118568,2.14853792226e-05,1793249629383191296
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.527686891,745,717.527686891,678,661,637,878.527686891,785,813,651,630,654,0.400973092904,-0.0153968806742,0.0598435435924,0.999999947922,0.000190163616424,-0.000259841264575,2.18185605877e-05,1793249629399857920
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.064625221,745,717.064625221,678,661,637,878,784.935374779,813,651,629.935374779,654,0.400972504043,-0.0153960690217,0.0598432987226,0.999999947406,0.000191989565712,-0.000260453420019,2.21610486009e-05,1793249629416524800
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.641969417,745,717.641969417,678,661,637,878,784.358030583,813,651,629.358030583,654,0.400974574846,-0.0153960010038,0.0598451959144,0.999999947997,0.000191439909235,-0.000258603105785,2.19482593232e-05,1793249629433191680
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,718,678.218002287,661,637.218002287,878.218002287,784.218002287,813,651,629.218002287,654,0.40097725361,-0.0153960092722,0.0598466134245,0.999999948417,0.000191429719645,-0.000256991062345,2.18133279827e-05,1793249629449858304
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718,678.791894355,661,637.791894355,878.791894355,784.791894355,813,651,629.791894355,654,0.400980924873,-0.0153961420781,0.0598472478519,0.999999948564,0.000192300212397,-0.000255767997305,2.18055001202e-05,1793249629466524672
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,678.624435631,661.375564369,637.624435631,878.624435631,785,813.375564369,651,629.624435631,654,0.401002025229,-0.0153983152345,0.0598559728843,0.999999952501,0.000191315609984,-0.00024056580077,2.29169667689e-05,1793249629483191296
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,678.035202629,661.964797371,637.035202629,878.035202629,785,813.964797371,651,629.035202629,654,0.401033041462,-0.015401649201,0.0598693008789,0.99999995815,0.000189275594217,-0.00021741050151,2.46652300478e-05,1793249629499857920
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,678,661.455924269,637.544075731,878,784.455924269,813.455924269,651.544075731,629.544075731,654,0.401085479754,-0.0154043419393,0.0598866876678,0.99999996421,0.000188557236895,-0.000187995183926,2.61341827183e-05,1793249629516524544
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,678.12235754,661.12235754,637.87764246,878.12235754,784.12235754,813,651.87764246,630,654,0.4011437076,-0.0154074758169,0.059903873057,0.999999969161,0.000187789104159,-0.000160153777266,2.76389846948e-05,1793249629533191424
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,718,678.699287057,661.699287057,637.300712943,878.699287057,784.699287057,813,651.300712943,630,654,0.40121838752,-0.015412399942,0.0599193521296,0.999999972425,0.000186524066221,-0.000139637327592,2.93429040396e-05,1793249629549858560
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,637.274866464,879,785,813,651.274866464,630,654,0.401300933261,-0.0154168851091,0.0599316614416,0.999999975158,0.000185248067791,-0.000120260174783,3.00722395743e-05,1793249629566525440
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,637.848975993,879,785,813,651.848975993,630,654,0.401392042403,-0.0154208923887,0.0599405198811,0.999999977422,0.000183960136931,-0.000102123358906,2.97405599959e-05,1793249629583192576
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,718,678.56575565,662,638,879,785,813,651.56575565,629.56575565,654,0.401491825717,-0.0154248461179,0.0599424070884,0.999999978118,0.000182730168495,-9.76668945378e-05,2.88893718092e-05,1793249629599858688
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,718,678.023232583,662,638,879,785,813,651.023232583,629.023232583,654,0.401595438724,-0.0154289394713,0.0599417168495,0.999999978345,0.000181410482438,-9.81090320281e-05,2.78467023623e-05,1793249629616524800
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,718,678.60587957,662,638,879,785,813,651.60587957,629.60587957,654,0.401716710529,-0.015436855098,0.0599388834678,0.999999979011,0.000177432300123,-9.89191671321e-05,2.66586392288e-05,1793249629633191168
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878.814511724,785,813.185488276,651.814511724,629.814511724,654,0.40185246347,-0.0154443614468,0.059937203203,0.999999979809,0.000173763784829,-9.77362364073e-05,2.52287233107e-05,1793249629649857792
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878.241254706,785,813.758745294,651.241254706,629.241254706,654,0.402018489643,-0.0154510121873,0.0599379335636,0.999999980885,0.000170742638124,-9.23867423786e-05,2.32932071252e-05,1793249629666524416
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878,785,813.667858886,651,629.332141114,654,0.402206139967,-0.0154602145799,0.0599416026386,0.999999982788,0.000165034739821,-8.19213252115e-05,2.18171717152e-05,1793249629683191040
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878,785,813.094362143,651,629.905637857,654,0.402409503843,-0.0154712711719,0.0599474071773,0.999999985109,0.000157374470345,-6.7738340463e-05,2.06750251225e-05,1793249629699857920
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.504260493,638,878,785,813.495739507,651,629.504260493,654,0.402640365294,-0.0154835378168,0.0599477123496,0.999999986817,0.000148604722157,-6.26470288839e-05,1.89417006208e-05,1793249629716525056
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,717.913386385,679,661.086613615,638,878,785,814,651.086613615,629,654,0.402881181289,-0.0154954522511,0.0599470257184,0.999999988289,0.0001400719413,-5.92861749655e-05,1.69630555359e-05,1793249629733192192
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,717.33664629,679,661.66335371,638,878,785,814,651.66335371,629,654,0.403147683065,-0.0155040250624,0.0599468554909,0.99999998936,0.000134116563719,-5.55853265094e-05,1.4255037846e-05,1793249629749858560
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,717.23966452,678.76033548,662,638,878.23966452,785,813.76033548,652,629.23966452,654,0.403423696603,-0.0155133924073,0.0599414367576,0.999999990083,0.000125744869236,-6.2437867743e-05,1.11126044063e-05,1793249629766524928
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,717.815373375,678.184626625,662,638,878.815373375,785,813.184626625,652,629.815373375,654,0.403713046993,-0.0155238738026,0.0599286588599,0.999999989941,0.000113985149145,-8.40877885193e-05,7.36105738695e-06,1793249629783191552
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,718,678.400560287,662,637.599439713,878.599439713,785,813.400560287,651.599439713,630,653.599439713,0.404025171532,-0.0155212289346,0.0599177668312,0.999999991354,8.0436487241e-05,-0.000103963821151,3.56873448818e-06,1793249629799857920
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718,678.990221692,662,637.009778308,878.009778308,785,813.990221692,651.009778308,630,653.009778308,0.404348047547,-0.0155123872684,0.0599077651056,0.999999991765,3.66014506599e-05,-0.00012300241542,-2.42838257505e-07,1793249629816524544
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,717.430510212,679,662,637,878,785,813.430510212,651,630,653.569489788,0.404739455732,-0.0155019195551,0.0599010316386,0.999999989479,5.57409982704e-05,-0.000133788933635,-5.93422111707e-06,1793249629833191424
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,717.147677452,679,662.147677452,637.147677452,878.295354905,785,813,651,629.852322548,654,0.40514701823,-0.0154973016826,0.0598999787463,0.999999988524,6.64830279647e-05,-0.000135722349642,-1.05454964107e-05,1793249629849858560
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,717.723242321,679,662.723242321,637.723242321,879.446484642,785,813,651,629.276757679,654,0.405598038539,-0.0155097128547,0.0599152253313,0.99999999237,4.98168683472e-05,-0.000112407562596,-1.19353731821e-05,1793249629866525696
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662.701590679,638,879.701590679,785,813,651,629,654,0.406083079082,-0.0155201164657,0.0599382512332,0.999999996824,2.70359931232e-05,-7.38305332684e-05,-1.30552610794e-05,1793249629883192320
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662.126792121,638,879.126792121,785,813,651,629,654,0.406599629506,-0.015528660658,0.0599684824059,0.999999999679,-1.40838540471e-06,-2.11174831846e-05,-1.39250831305e-05,1793249629899858688
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662.460069093,638,879.460069093,785,813,651,629,654,0.407122742147,-0.0155306709175,0.0599880494159,0.999999999831,-5.86479194943e-06,7.12779154846e-06,-1.59046654999e-05,1793249629916525312
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,717.950635004,679,662.950635004,638,879.950635004,785,813,651,629,654,0.407649643424,-0.0155307278098,0.0600022501107,0.999999999533,-5.70594895374e-06,2.37115778098e-05,-1.84163162741e-05,1793249629933191936
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,717.371840551,679,662.371840551,638,879.371840551,785,813,651,629,654,0.408197259341,-0.0155296674745,0.0599912667765,0.999999999258,-2.8859417667e-05,-1.05054433279e-05,-2.32658734163e-05,1793249629949858304
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,717,679,662.2046086,638,879.2046086,785,813,651,629,654,0.408757525943,-0.0155297949185,0.0599803413347,0.999999997713,-4.69688856523e-05,-3.99415268525e-05,-2.78108391693e-05,1793249629966524928
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,717,679,662.776843836,638,879.776843836,785,813,651,629,654,0.409340522391,-0.0155320564826,0.0599695199104,0.999999996078,-5.60156392676e-05,-6.07875489859e-05,-3.18085358564e-05,1793249629983191808
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717.359568317,679.359568317,662.640431683,638,880,785,813.359568317,651,629.359568317,654,0.409969136234,-0.0155342646118,0.0599732335523,0.999999997352,-4.47475158563e-05,-4.89666235017e-05,-2.9931747692e-05,1793249629999858432
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,717.948998244,679.948998244,662.051001756,638,880,785,813.948998244,651,629.948998244,654,0.410626911935,-0.0155364385815,0.0599862390416,0.999999999363,-2.04926795151e-05,-1.62626636364e-05,-2.42995713094e-05,1793249630016525056
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662.529081168,638,880,785,814,651,630,654,0.41131935791,-0.015536006923,0.059989614348,0.999999999623,-1.3550069836e-05,-7.95205862236e-06,-2.25136997796e-05,1793249630033191936
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,718,680,663,638,880,785,813.892165032,651,629.892165032,654,0.412011358213,-0.0155354535952,0.059985064337,0.999999999552,-1.14704993004e-05,-1.5937724387e-05,-2.26075905179e-05,1793249630049858560
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,718,680,663,638,880,785,813.315341302,651,629.315341302,654,0.412687137092,-0.0155354445382,0.0599500133524,0.999999995706,-2.34089118142e-05,-8.47488579797e-05,-2.9292277819e-05,1793249630066524928
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,717.738693939,680,663,638,880.261306061,785,813.261306061,651,629,654,0.413386564592,-0.0155352318855,0.0599227723906,0.999999989643,-3.19581164878e-05,-0.000135997589565,-3.46169547605e-05,1793249630083191296
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,717.162259195,680,663,638,880.837740805,785,813.837740805,651,629,654,0.414114511836,-0.0155347737013,0.0599049501193,0.999999984814,-3.64200215409e-05,-0.000166066505746,-3.83014936602e-05,1793249630099857920
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,717.424353341,680,663,638,881,785.424353341,814,651,629.424353341,654,0.414927992294,-0.0155390293212,0.0599388982697,0.999999993408,-3.81320847053e-05,-0.000102263814218,-3.56778791318e-05,1793249630116524544
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,718,680.014610791,663,638,881.014610791,785.985389209,814,651,629.985389209,654,0.415774473059,-0.015545125431,0.0599922967859,0.999999998767,-3.89026230477e-05,-3.51931872011e-06,-3.066100921e-05,1793249630133190912
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,718,680.591689069,663,638,881.591689069,785.408310931,814,651,629.408310931,654,0.41660137821,-0.0155509824837,0.0600136878224,0.999999998278,-4.48996845468e-05,2.46323779101e-05,-2.86489587194e-05,1793249630149858304
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745.168277136,718,681,663,638.168277136,882,785,814.168277136,651,629,654,0.417432312793,-0.0155546813327,0.0600224574513,0.999999997668,-5.05183434747e-05,3.60308769138e-05,-2.85129223334e-05,1793249630166525440
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.743679168,718,681,663,638.743679168,882,785,814.743679168,651,629,654,0.418272996023,-0.0155531586848,0.0600006912059,0.99999999791,-5.52215057248e-05,6.89716664971e-06,-3.2915661017e-05,1793249630183191808
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.67385783,718,681,663.65228434,639,882,785,814.67385783,651,629,654,0.419099191161,-0.0155532757857,0.0599781144154,0.999999997173,-5.89004856103e-05,-2.90767174654e-05,-3.6599497271e-05,1793249630199857920
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.085722715,718,681,664.828554571,639,882,785,814.085722715,651,629,654,0.419913747844,-0.0155547101116,0.0599548865079,0.999999994816,-6.17567302936e-05,-7.05453734595e-05,-3.97058324797e-05,1793249630216524288
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718,681,664.50591204,639,882,785,814.49408796,651,629,654,0.420722626291,-0.0155530457338,0.059920683309,0.999999988827,-6.25451735175e-05,-0.000128740864089,-4.31172624522e-05,1793249630233190912
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,718,681,664,638.927489259,882.072510741,785,814.927489259,651,629,654,0.421541558603,-0.0155509014576,0.059888765472,0.999999980284,-6.28219682953e-05,-0.000182574700302,-4.63959082953e-05,1793249630249857536
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,718,681,664,638.348840315,882.651159685,785,814.348840315,651,629,654,0.422437430974,-0.015549097881,0.0598858711838,0.999999979602,-6.1990062793e-05,-0.000186042137604,-4.83843359245e-05,1793249630266524416
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663.772057052,638.227942948,883,785,814.227942948,651,629,654.227942948,0.423375428573,-0.0155516632943,0.0599126596095,0.999999986818,-6.44301360391e-05,-0.000141424777626,-4.70209258477e-05,1793249630283191296
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,718,681,663.198105733,638.801894267,883,785,814.801894267,651,629,654.801894267,0.424377370734,-0.0155608606613,0.059984505219,0.999999996313,-7.18369427605e-05,-2.38165978189e-05,-4.05695586555e-05,1793249630299858176
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.385003966,718,681,663.385003966,638.614996034,883.385003966,785,815,651,629,654.614996034,0.425311111153,-0.01556473064,0.0600190434756,0.999999996023,-7.3018456055e-05,3.37685349065e-05,-3.84962725775e-05,1793249630316524800
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.972940952,718,681,663.972940952,638.027059048,883.972940952,785,815,651,629,654.027059048,0.426208902831,-0.0155657925874,0.0600339172714,0.999999994952,-7.0918658626e-05,5.97159132468e-05,-3.87306443813e-05,1793249630333191680
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.448002237,718,681,664,638,884,785,815,651.551997763,629,654,0.427113325314,-0.0155691708741,0.0600177913586,0.99999999426,-8.49478971093e-05,5.02789350216e-05,-4.1667183117e-05,1793249630349858048
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.130545192,718,681,664,638,884.130545192,785,815,651.869454808,629,654.130545192,0.428007570229,-0.0155715294533,0.05999788339,0.999999994004,-9.52211931346e-05,3.09018576661e-05,-4.43848624285e-05,1793249630366524672
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.708814909,718,681,664,638,884.708814909,785,815,651.291185091,629,654.708814909,0.428865812449,-0.0155700075283,0.0599701335136,0.999999994762,-8.99441970173e-05,-1.67115849096e-05,-4.5904828275e-05,1793249630383191296
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.715153787,717.715153787,681.284846213,664,638,885,785,815.284846213,651.284846213,629.284846213,654.715153787,0.429726067176,-0.0155665926734,0.0599414166186,0.999999992573,-8.83694608053e-05,-6.82755651766e-05,-4.88113904144e-05,1793249630399857664
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.141392902,717.141392902,681.858607098,664,638,885,785,815.858607098,651.858607098,629.858607098,654.141392902,0.430588363102,-0.0155612578521,0.0599117188947,0.99999998682,-9.05498641434e-05,-0.000123846505682,-5.31243534769e-05,1793249630416524544
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.444320506,717,681.555679494,664,638,885,785.444320506,816,651.555679494,630,654,0.431513877849,-0.0155632905945,0.0599410382914,0.999999992003,-9.36546640079e-05,-6.73844051041e-05,-5.17826824096e-05,1793249630433191168
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.966497023,717.033502977,681,664,638,885,785.966497023,815.966497023,651,630,654,0.432456034278,-0.0155674766333,0.0599877261881,0.999999993925,-9.65607676183e-05,2.13604343168e-05,-4.868416696e-05,1793249630449857792
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.384512857,717.615487143,681,664,638,885,785.384512857,815.384512857,651,630,654,0.433332179061,-0.0155674709548,0.0600027969972,0.999999993973,-9.12650740005e-05,3.88206068177e-05,-4.70972570305e-05,1793249630466524416
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745,718,681,664,638,885.194253972,785,815.194253972,651,630,654,0.43419141371,-0.0155680081757,0.0600030850315,0.999999994205,-9.03890872865e-05,3.43888417736e-05,-4.72912943148e-05,1793249630483191040
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745,718,681,664,638,885.766756157,785,815.766756157,651,630,654,0.435017721373,-0.0155696025215,0.059974588287,0.999999993808,-9.81190818119e-05,-1.26705492375e-05,-5.09531630695e-05,1793249630499857664
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.338886034,718,681,664,638,885.661113966,785,816,651,630,654.338886034,0.435832042907,-0.0155697500676,0.0599486037231,0.999999991734,-0.000100485620629,-5.93716431415e-05,-5.39400174486e-05,1793249630516524544
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.910759913,718,681,664,638,885.089240087,785,816,651,630,654.910759913,0.436638123796,-0.015568902923,0.0599243463126,0.99999998789,-9.91647246424e-05,-0.000105826400996,-5.64627918303e-05,1793249630533191680
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.496037661,717.496037661,681,664.503962339,638,885,785.503962339,816,651,630,654.496037661,0.437363675271,-0.0155675510634,0.059905879286,0.999999982569,-0.000100411612013,-0.000146241745372,-5.82530845078e-05,1793249630549858048
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.097347832,717,681.097347832,665.097347832,638,885.097347832,785.902652168,816,651,630,654,0.43809358173,-0.0155666445902,0.0598937391157,0.999999977673,-0.00010278116357,-0.000174776569181,-5.95244472468e-05,1793249630566524160
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.672283687,717,681.672283687,665.672283687,638,885.672283687,785.327716313,816,651,630,654,0.43891790434,-0.0155683810225,0.0599073858438,0.999999981071,-0.000108329188359,-0.0001505041452,-5.89143982771e-05,1793249630583191040
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,717,682,665.753038718,638,885.753038718,785.246961282,816,651,630,654,0.43973623699,-0.0155719802758,0.0599397948509,0.999999987113,-0.000114203433602,-9.76161459236e-05,-5.65877558415e-05,1793249630599858176
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,717,682,665.17870352,638,885.17870352,785.82129648,816,651,630,654,0.440546629233,-0.0155780488998,0.059997075289,0.999999991364,-0.000120510118337,-6.79510473353e-06,-5.19855826569e-05,1793249630616524800
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664.59239555,638,885,785.59239555,816,651,630,654,0.441268557064,-0.0155817253901,0.0600030198502,0.999999991075,-0.000123352580527,1.02122566517e-06,-5.13088085323e-05,1793249630633191424
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664.000679527,638,885,785.000679527,816,651,630,654,0.44195052632,-0.0155843213739,0.0599857764236,0.99999999045,-0.000124630282685,-2.86549801683e-05,-5.24051045164e-05,1793249630649858304
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717.577714308,682,664,638,885,785,816,651,630,654,0.442566217736,-0.0155885308722,0.0599353959654,0.999999983875,-0.000137821035212,-0.000100197574755,-5.67013577417e-05,1793249630666524928
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717.844913654,682,664.155086346,638,885,785,816,651,630,654.155086346,0.443175383288,-0.0155920182914,0.0598930207857,0.999999973939,-0.000149392414085,-0.000161641040163,-6.06276409267e-05,1793249630683191296
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717.270264369,682,664.729735631,638,885,785,816,651,630,654.729735631,0.443767100376,-0.015593547216,0.0598724057492,0.999999966592,-0.000156545769699,-0.000195632616365,-6.35430739203e-05,1793249630699857920
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664.695543355,638,885,785,816.304456645,651.304456645,629.695543355,655,0.444351710191,-0.0155974150674,0.0598636846293,0.999999962114,-0.000163740780073,-0.000211421382088,-6.52855042902e-05,1793249630716524544
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664.120758688,638,885,785,816.879241312,651.879241312,629.120758688,655,0.4449300094,-0.0156033596593,0.0598655241569,0.999999960936,-0.000170972775531,-0.000211047812675,-6.59864217777e-05,1793249630733191168
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,717.467477677,682,664,637.532522323,885,785,817,651.532522323,629.467477677,655,0.445447012611,-0.0156062877587,0.0598448707891,0.999999948666,-0.000184370269475,-0.000252977934665,-6.83956539666e-05,1793249630749858048
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,885,784.941998101,817,651,630,654.941998101,0.445945998915,-0.0156085345324,0.059818998588,0.99999993177,-0.000198680181197,-0.000303145756364,-7.13301965787e-05,1793249630766524928
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,885,784.363059207,817,651,630,654.363059207,0.446429592783,-0.015611867874,0.0597999852079,0.999999922665,-0.00020645669487,-0.000326244222204,-7.49019221792e-05,1793249630783191552
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,885.214020202,784,817,651.214020202,630,654,0.446905270897,-0.0156165455038,0.0597905590265,0.99999991767,-0.000214996575615,-0.000335378844434,-7.71836171429e-05,1793249630799857920
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,885.787972331,784,817,651.787972331,630,654,0.447367636517,-0.0156234839117,0.0597972562732,0.999999920211,-0.000224820260595,-0.00032102954522,-7.72957819538e-05,1793249630816524544
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717.636734535,682,664.363265465,637,886,784,817,652,630,654.363265465,0.447809709958,-0.0156292901162,0.0598050403786,0.999999922009,-0.000235746873304,-0.00030740657124,-7.68495097007e-05,1793249630833191168
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717.060655738,682,664.939344262,637,886,784,817,652,630,654.939344262,0.44823989559,-0.0156344330379,0.0598134612035,0.999999923243,-0.000247319619694,-0.000294209102013,-7.60760859212e-05,1793249630849857792
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+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,717.154072856,682,664,637,886,783.154072856,817,651.845927144,630,654,0.449746190912,-0.0156414607804,0.0596860998277,0.999999856652,-0.000193453916779,-0.000494393851253,-6.96137852539e-05,1793249630933191680
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+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,717.400232347,682,664,637,886,783,817,652,630,654.400232347,0.450493218008,-0.0156502781906,0.0596944784956,0.99999985385,-0.000245584950972,-0.000476241036887,-7.19919774657e-05,1793249630983190784
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,717.179441012,682,664,636.820558988,886.179441012,783,817,652,629.820558988,654.179441012,0.450703454138,-0.0156496590601,0.0597013852301,0.999999854159,-0.000261425062811,-0.000467045154386,-7.21712524815e-05,1793249630999857664
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+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,717.719268434,682,663.719268434,636,886.719268434,782,817,652,629,654.280731566,0.451875013489,-0.0156587422467,0.0596802721868,0.999999844186,-0.000252632529491,-0.000492255921886,-7.40926264175e-05,1793249631216524288
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+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,636,887,782,817,652,629,654,0.451908777593,-0.0156585091178,0.0596800094654,0.99999984337,-0.000254347389172,-0.000493109718774,-7.35521308835e-05,1793249631249857536
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663.545943842,636,887,782,817,652,629,654,0.451920280335,-0.0156584341586,0.0596807063788,0.999999844417,-0.000254024929609,-0.000491184120487,-7.33174192982e-05,1793249631266524416
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+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,717.376875138,682,663.623124862,636,887,782.623124862,817.623124862,652,629,654.623124862,0.451932916214,-0.0156580590977,0.0596804560567,0.999999844716,-0.000253483005844,-0.000490931345066,-7.28131143293e-05,1793249631299857664
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746,717,682,663.798474202,636,887,782.798474202,817.798474202,652,629,654.798474202,0.451935100552,-0.0156575981562,0.0596793166589,0.999999843831,-0.000253401924779,-0.000492810106321,-7.25512259896e-05,1793249631316524288
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+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746,717,682,663,636,886.650464229,782.349535771,817,651.650464229,629,654.349535771,0.451937237325,-0.015655729326,0.0596772877021,0.999999842541,-0.00025294776168,-0.000495650902118,-7.25684061643e-05,1793249631349857536
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+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,717,682.898910499,663,636,886.898910499,782,817,651.101089501,629,654,0.451938370213,-0.0156538541633,0.0596766926344,0.999999841778,-0.000249694288055,-0.000498836146501,-7.25213695557e-05,1793249631399857664
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,717,682.321369727,663,636,886.321369727,782,817,651.678630273,629,654,0.451939130048,-0.0156534841154,0.0596767425057,0.99999984268,-0.000247516015338,-0.000498147318345,-7.2288196973e-05,1793249631416524288
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766.167331605,745.167331605,717.832668395,682,663,636,886.832668395,782,817,651.167331605,629,654.832668395,0.451941209377,-0.0156535681848,0.0596772016047,0.999999842852,-0.000250505322177,-0.000496405161943,-7.15928688442e-05,1793249631449857536
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.836726172,745.418363086,717.581636914,682,663,636,887,782,817,651.418363086,629,654.581636914,0.451941289514,-0.015654631187,0.0596764722444,0.999999842312,-0.000251324776487,-0.000497106205341,-7.13950837558e-05,1793249631466524416
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767.413210887,746,717.586789113,682,663.586789113,636,886.413210887,782,817.586789113,652,629,654,0.451941103998,-0.0156540425455,0.0596758128143,0.999999842504,-0.000249005991448,-0.000497908845217,-7.1243683627e-05,1793249631499857664
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,717.834859488,682,663.834859488,636,886,782,817.834859488,652,629,654.165140512,0.451941466765,-0.0156519698586,0.0596761461082,0.999999843211,-0.000246751999647,-0.000497586199536,-7.14058338659e-05,1793249631516524288
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+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717,682,663.31607727,636,886.31607727,782,817,652,629,655,0.451941832463,-0.0156484369987,0.0596754956929,0.999999843418,-0.000242797052983,-0.000498986266101,-7.22949710254e-05,1793249631549857792
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,717.778086424,682.221913576,663,636,886,782,817,651.221913576,629,654.221913576,0.450875557111,-0.0155904459211,0.0595914307575,0.999999774952,-0.000217091768598,-0.000630693512302,-7.20666762083e-05,1793249632252352256
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.497450122,746,718,683,664,636.502549878,887,782,817,651.502549878,629,654.502549878,0.450269968056,-0.0155605573129,0.0595837098056,0.99999976928,-0.000201002417722,-0.000645185549798,-6.90849786457e-05,1793249632302352384
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,718,682.328691132,664,636.328691132,887,782.671308868,817,651.328691132,629,654.328691132,0.449765716812,-0.0155374737517,0.0595848069947,0.999999774352,-0.000188973109639,-0.000641214240033,-6.65480103617e-05,1793249632335685376
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,664,636.587231767,886.412768233,783,817,652,629,654.587231767,0.448831746264,-0.0155136842591,0.0595833588361,0.999999780905,-0.000176636729861,-0.000635025787406,-6.10803109998e-05,1793249632385686016
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.160155519,746,717,682,664,636.160155519,886,783.160155519,817,651,629,654,0.447732410541,-0.0155190779918,0.0596206954149,0.999999815029,-0.000181248073536,-0.000578541880791,-4.87995258309e-05,1793249632435685376
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.742651119,746,717,682,664,636.742651119,886,783.742651119,817,651,629,654,0.447334868478,-0.0155161977197,0.0596504873403,0.999999847908,-0.000157905218312,-0.000526621475399,-4.38070831329e-05,1793249632452352000
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,745.103304275,717,682,664,637,886,783.103304275,817,651,629,654,0.44644394699,-0.0154977577231,0.0596993119624,0.99999988887,-8.47007703336e-05,-0.000462501709642,-3.4313937134e-05,1793249632485685248
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,745,717,682,663.530244754,637,886,783.469755246,817,651,629,654,0.445933471574,-0.0154882548109,0.0597009282079,0.999999888544,-7.68371877314e-05,-0.000464783786553,-3.13843194271e-05,1793249632502352384
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,745.898859399,717,682,664,637.101140601,885,784.898859399,816.898859399,651,629,654,0.441124187399,-0.0154432544658,0.0597780166883,0.999999935707,5.91630956665e-05,-0.000353619221451,6.1885432794e-06,1793249632635686912
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745.893723682,718,680,662,637,880,785,813.106276318,651,629.893723682,654,0.414891508051,-0.0153969677057,0.0598404675223,0.999999943495,0.000176992419603,-0.000284073950823,3.14062044646e-05,1793249633152352256
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745.334512285,718,680,662,637,880,785,813.665487715,651,629.334512285,654,0.414132690507,-0.0153969847343,0.0598410272984,0.999999945581,0.000178347385461,-0.000275792592371,3.11275241691e-05,1793249633169018880
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,637.241190107,880,785,813.758809893,651,629.241190107,654,0.413368506883,-0.0153947891137,0.059833104505,0.999999942147,0.000180662844997,-0.000286663289141,2.98499256466e-05,1793249633185685504
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,637.841442789,880,785,813.158557211,651,629.841442789,654,0.412596334777,-0.015389299496,0.0598125536097,0.999999929477,0.00018440820258,-0.000326045878411,2.70852256916e-05,1793249633202352128
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745.422060515,718,680,662,637.577939485,879.577939485,785,813,651,630,654,0.4118361844,-0.0153827337021,0.0597747863287,0.999999907931,0.000187538823911,-0.000385290689802,2.27600745941e-05,1793249633219019008
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.995629849,718,680,662,637.004370151,879.004370151,785,813,651,630,654,0.411080349449,-0.0153757815883,0.0597308388084,0.999999879704,0.000190448770463,-0.000451665527512,1.78747615574e-05,1793249633235686400
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,662,637.569038485,879.569038485,785,813.569038485,651,630,654,0.410460680914,-0.0153802899332,0.0597531786747,0.999999898224,0.000192543018396,-0.000407524132618,2.00731639695e-05,1793249633252353280
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745.852542124,718,679.852542124,662,638,879.852542124,785,813.852542124,651,629.852542124,654,0.409853110517,-0.0153844315305,0.0597806613692,0.99999991649,0.000193009824584,-0.000359506941717,2.28634957959e-05,1793249633269020160
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.258959117,718,679.258959117,662,638,879.258959117,785,813.258959117,651,629.258959117,654,0.409278979236,-0.0153871973466,0.0598221636377,0.999999936146,0.000188571850053,-0.000302330873033,2.72801318872e-05,1793249633285686528
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,717.673765049,679,662,638,879.652469903,785,813,651,629,654,0.408701800168,-0.0153879719303,0.059846306405,0.999999945488,0.000190541182221,-0.000267977617618,3.00989940727e-05,1793249633302352896
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,717.095063056,679,662,638,880.809873888,785,813,651,629,654,0.408122262511,-0.0153872055368,0.059857014981,0.999999948429,0.000197469008086,-0.000251286508425,3.16813691153e-05,1793249633319019264
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,717.481104228,679,662,638,880.037791545,785,813,651,629,654,0.407551735978,-0.0153842277304,0.0598439963792,0.99999994338,0.000202906759732,-0.000266733007599,3.03709090003e-05,1793249633335685888
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662.057630062,638,879,785,813,651.057630062,629.057630062,654,0.406991552667,-0.0153812046176,0.0598275922415,0.999999937293,0.000205888919815,-0.000286731473038,2.84443670364e-05,1793249633352352512
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662.641986601,638,879,785,813,651.641986601,629.641986601,654,0.406509715699,-0.0153817402122,0.0598228708369,0.999999939556,0.0001891044121,-0.000290598813754,2.608393902e-05,1793249633369019392
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.225821562,717.774178438,679,662.774178438,638,879,785,813.225821562,651.774178438,629.774178438,654,0.406042138855,-0.0153823388428,0.0598222226066,0.999999941583,0.000181230317174,-0.000288746752377,2.48133393916e-05,1793249633385686272
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.808831474,717.191168526,679,662.191168526,638,879,785,813.808831474,651.191168526,629.191168526,654,0.405597117697,-0.0153830371791,0.0598280170316,0.999999943512,0.00018745007572,-0.00027784815072,2.52665523686e-05,1793249633402352896
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.612847514,745.612847514,717.387152486,679,662,637.612847514,879,785.387152486,813.612847514,651.387152486,629.387152486,654,0.405166949546,-0.015381147669,0.0598242447793,0.999999939743,0.000202290920855,-0.000280995488169,2.5190362027e-05,1793249633419019264
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.036814034,745.036814034,717.963185966,679,662,637.036814034,879,785.963185966,813.036814034,651.963185966,629.963185966,654,0.404744027727,-0.0153779956202,0.0598158052101,0.999999932857,0.000221337756273,-0.000290995449908,2.48558904749e-05,1793249633435685888
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.548666305,745,718,679,662,637,878.451333695,785.451333695,813,651.451333695,629.451333695,654,0.404341592354,-0.015377276353,0.0597945189999,0.999999923222,0.000213271838886,-0.000327886623077,2.36924398265e-05,1793249633452352512
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637.133176778,878.133176778,785,813,651,629.133176778,653.866823222,0.403955355128,-0.0153772193064,0.0597750726821,0.99999991317,0.000206996939319,-0.000360964356732,2.27159666962e-05,1793249633469018880
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637.712280337,878.712280337,785,813,651,629.712280337,653.287719663,0.403618672117,-0.0153788234855,0.0597647238089,0.999999906719,0.000212917121329,-0.000375125822637,2.25550731185e-05,1793249633485685248
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.290654021,717.709345979,679,662,637.709345979,878.709345979,784.709345979,813,651,630,653.290654021,0.403324758534,-0.0153797584178,0.0597687173575,0.999999909968,0.000217494841789,-0.000363615831191,2.33299925548e-05,1793249633502351872
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.868306975,717.131693025,679,662,637.131693025,878.131693025,784.131693025,813,651,630,653.868306975,0.403073076556,-0.0153800325194,0.0597868729671,0.999999921937,0.000220746982131,-0.000326757209813,2.50289567814e-05,1793249633519018496
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.556576364,745.556576364,717.443423636,679,661.556576364,637,878.886847272,784.443423636,813,651.443423636,629.556576364,654,0.402843819101,-0.0153791487687,0.0598067843006,0.99999993328,0.000215542857227,-0.000293832206937,2.5367135501e-05,1793249633535685376
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.018214753,745,718,679,661,637,879.963570495,784.981785247,813,652,629.018214753,654,0.40262160893,-0.0153780364299,0.0598268114576,0.999999943681,0.000207168209274,-0.000262843150769,2.51418478324e-05,1793249633552352512
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.606252512,745,718,679,661,637,878.787494977,784.393747488,813,652,629.606252512,654,0.402412702629,-0.0153804694079,0.0598342424141,0.999999951221,0.000177728192343,-0.000256078221267,1.98604054052e-05,1793249633569019136
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.807555267,661,637,878,784.192444733,813,652,630,654,0.402210104398,-0.0153809535879,0.0598371455382,0.999999954435,0.000159643791331,-0.000255682617394,1.64301981869e-05,1793249633585685760
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.22510327,661,637,878,784.77489673,813,652,630,654,0.402020290086,-0.0153774883462,0.0598308725853,0.999999950353,0.000164572612564,-0.000268195049201,1.67516930439e-05,1793249633602352384
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.350798459,661.350798459,637.350798459,878,785,813,652,629.649201541,654,0.40185264774,-0.0153784317282,0.0598258806089,0.999999945907,0.000171600416177,-0.000280071246854,1.7315164253e-05,1793249633619018752
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.922574061,661.922574061,637.922574061,878,785,813,652,629.077425939,654,0.401698972079,-0.0153821522174,0.0598216955527,0.999999941147,0.000179950424268,-0.000291546665139,1.8031062738e-05,1793249633635685376
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637.500067428,878.499932572,785,813,652,629.499932572,653.500067428,0.401578807619,-0.0153890048202,0.0598237757064,0.999999939686,0.000191102242686,-0.000289387246512,1.90728813761e-05,1793249633652351744
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.920241833,637,879,785,813,652,630,653.079758167,0.401467452324,-0.0153953052301,0.0598267451504,0.999999938992,0.000200808071116,-0.000285109578936,2.01090512161e-05,1793249633669018624
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.330226751,637,879,785,813,652,630,653.669773249,0.401378875976,-0.0153949345955,0.0598291261612,0.999999940627,0.000198455707838,-0.000280942356358,2.0782512399e-05,1793249633685686016
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.255112689,637.255112689,878.744887311,785,813,651.744887311,630,654,0.40129886121,-0.0153933820873,0.0598309194723,0.99999994169,0.000197617268459,-0.000277701350762,2.11957819794e-05,1793249633702353152
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.834508708,637.834508708,878.165491292,785,813,651.165491292,630,654,0.401229729399,-0.0153903272552,0.0598319657359,0.999999942044,0.000198703234802,-0.000275637694641,2.1278312193e-05,1793249633719019520
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637.590113103,878.409886897,785,813,651,630,653.590113103,0.401174515235,-0.0153895590108,0.0598332621167,0.999999942642,0.000196618918261,-0.000274944352259,2.14885737175e-05,1793249633735686144
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637.016341374,878.983658626,785,813,651,630,653.016341374,0.401124865756,-0.0153897050115,0.0598346585018,0.99999994333,0.00019326702939,-0.000274798901646,2.17499059734e-05,1793249633752352768
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.429176282,662,637,878.429176282,785,813,651,630,653,0.401088942221,-0.0153899540591,0.0598356409229,0.999999943591,0.000195350534438,-0.000272336731437,2.21009035876e-05,1793249633769018880
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,637.156135894,878,785,813,651.156135894,630,653.156135894,0.401055678008,-0.0153894353801,0.0598357733686,0.999999943326,0.000197429620541,-0.000271795048912,2.23108221585e-05,1793249633785685504
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,637.735363066,878,785,813,651.735363066,630,653.735363066,0.401028529567,-0.0153868281583,0.0598336354669,0.999999941676,0.000199064954187,-0.000276641469376,2.21313270373e-05,1793249633802352128
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.313710941,662,637.686289059,878,785,813,651.686289059,630,654,0.401010961646,-0.0153875286646,0.0598338557385,0.999999942278,0.000197135530915,-0.000275839754615,2.22175078473e-05,1793249633819019008
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.891319206,662,637.108680794,878,785,813,651.108680794,630,654,0.40100145297,-0.0153910116703,0.059836059733,0.999999944747,0.000192207392482,-0.000270286762774,2.25271783469e-05,1793249633835685888
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,637,878,784.533790796,812.533790796,651,630,653.533790796,0.400996576024,-0.0153901428358,0.0598386410534,0.999999945855,0.000193449654909,-0.000265257560952,2.24739756321e-05,1793249633852352512
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.958489946,661.958489946,637,878,784.041510054,812.041510054,651,630,653,0.400992470929,-0.01538850183,0.0598410155846,0.999999946499,0.000195893026144,-0.000261013015254,2.2362021131e-05,1793249633869019392
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.369459734,661.369459734,637,878,784.630540266,812.630540266,651,630,653,0.400984387434,-0.0153899793636,0.0598395090758,0.999999945421,0.00019531624821,-0.000265516907317,2.25844264431e-05,1793249633885686016
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637,878.216271319,784.783728681,813,651.216271319,629.783728681,653,0.400979210794,-0.0153910225469,0.059838734684,0.999999944767,0.000195476036369,-0.000267845716858,2.26509015987e-05,1793249633902352640
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637,878.796451013,784.203548987,813,651.796451013,629.203548987,653,0.400978925368,-0.0153913348715,0.0598391921874,0.999999944853,0.000196875205598,-0.000266514629157,2.24550012675e-05,1793249633919019008
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,661.374665733,637,878.625334267,784.374665733,813,651.625334267,629,653.374665733,0.400979445006,-0.01539164449,0.0598403181081,0.99999994543,0.000196448566958,-0.000264660447068,2.24032145297e-05,1793249633935685376
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,661.951818471,637,878.048181529,784.951818471,813,651.048181529,629,653.951818471,0.40098039974,-0.0153919526461,0.0598418052729,0.99999994627,0.00019503517573,-0.000262523560184,2.24293135701e-05,1793249633952352000
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,678,661.474604946,637.525395054,878.525395054,784.474604946,813,651,629,654,0.400979140638,-0.015391423241,0.0598417660197,0.999999946217,0.000195277657413,-0.000262565785139,2.21738745079e-05,1793249633969018880
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.101337483,661,638,878.898662517,784.101337483,813,651.101337483,629,654,0.40097799798,-0.0153908261899,0.0598417334307,0.999999946187,0.000195491730209,-0.000262541186604,2.19465321698e-05,1793249633985685760
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.690229459,661,638,878.309770541,784.690229459,813,651.690229459,629,654,0.400978385727,-0.0153902707253,0.0598424018263,0.999999946653,0.000194843469831,-0.000261240136045,2.19777470635e-05,1793249634002352896
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.724405862,745,718,678.724405862,661,638,878.275594138,785,813,652,629.275594138,654,0.400978554274,-0.015390248967,0.0598428078028,0.999999946912,0.000194440274519,-0.000260558100804,2.18633501297e-05,1793249634019019520
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.142955724,745,718,678.142955724,661,638,878.857044276,785,813,652,629.857044276,654,0.400978479555,-0.015390819519,0.059842922545,0.999999946942,0.000194309053781,-0.000260563052255,2.15873523345e-05,1793249634035685632
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,718,678.433586729,661,637.566413271,878.566413271,785,813,652,629.566413271,654,0.400978182802,-0.0153917603849,0.0598434692412,0.9999999474,0.000193232646239,-0.000259589014426,2.17865436435e-05,1793249634052352000
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.008271966,745,718,679,661,637.008271966,878.008271966,785,813,652,629,654,0.400977808596,-0.0153928031233,0.0598441437042,0.999999947976,0.000191890131827,-0.000258333512069,2.21369060742e-05,1793249634069018880
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.56587673,745,718,679,661,637.56587673,878.56587673,785,813,652,629,654,0.40097709783,-0.0153925936983,0.0598439510798,0.999999947371,0.000193339321296,-0.000259581662029,2.22383944423e-05,1793249634085685504
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,744.86465332,718,679,661.13534668,637.86465332,878.86465332,784.86465332,813,651.86465332,629.13534668,654,0.400976551979,-0.0153924870676,0.0598437405897,0.999999946923,0.00019431418879,-0.000260575226367,2.22745839833e-05,1793249634102352384
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..156a06fe74c1519790786e0045ab533c6a61050d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,402 @@
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+345,5.750000000,pose2_to_pose3_retreat,0.581677014891,-0.00984973464796,1.05003360751,0.552247691929,-0.00117710566523,1.0497050029
+346,5.766666667,pose2_to_pose3_retreat,0.581209182138,-0.00984988176212,1.05003343046,0.551779859181,-0.00117725268973,1.04970482782
+347,5.783333333,pose2_to_pose3_retreat,0.580759867338,-0.00984991575233,1.05003350775,0.551330545001,-0.00117728442807,1.04970490902
+348,5.800000000,pose2_to_pose3_retreat,0.58033333258,-0.00984991327561,1.05003349062,0.55090401042,-0.0011772814006,1.04970489052
+349,5.816666667,pose2_to_pose3_retreat,0.579930606303,-0.00984986993916,1.05003343301,0.550501283764,-0.00117723949199,1.04970482912
+350,5.833333333,pose2_to_pose3_retreat,0.579551146611,-0.0098498063638,1.05003357246,0.550121823533,-0.00117717787922,1.04970496518
+351,5.850000000,pose2_to_pose3_retreat,0.579185173173,-0.00984989740831,1.05003374872,0.549755849476,-0.00117727133404,1.04970513345
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+353,5.883333333,pose2_to_pose3_retreat,0.578499329746,-0.00984984669044,1.05003336135,0.549070007363,-0.00117721557281,1.04970476154
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+355,5.916666667,pose2_to_pose3_retreat,0.577907008179,-0.00984989079854,1.05003374785,0.54847768683,-0.00117725660289,1.0497051366
+356,5.933333333,pose2_to_pose3_retreat,0.577654670517,-0.0098498228465,1.05003353603,0.548225348503,-0.00117719067517,1.04970493095
+357,5.950000000,pose2_to_pose3_retreat,0.577430060508,-0.00984983158964,1.05003348438,0.548000739151,-0.00117719711154,1.04970488143
+358,5.966666667,pose2_to_pose3_retreat,0.577227084805,-0.00984990913073,1.05003369827,0.547797764507,-0.00117727125288,1.0497050902
+359,5.983333333,pose2_to_pose3_retreat,0.57703962708,-0.00985000130907,1.05003389632,0.547610305574,-0.00117736775772,1.049705282
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+361,6.016666667,pose2_to_pose3_retreat,0.576696316011,-0.00984990331119,1.05003361886,0.547266995412,-0.00117726619596,1.04970501762
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+364,6.066666667,pose2_to_pose3_retreat,0.576277592293,-0.00984983737853,1.05003371009,0.546848269918,-0.00117720668758,1.04970509829
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+366,6.100000000,pose2_to_pose3_retreat,0.576078064745,-0.00984985268089,1.05003365168,0.546648743258,-0.00117721899081,1.04970504143
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+368,6.133333333,pose2_to_pose3_retreat,0.57593305918,-0.00984981988697,1.05003391761,0.546503736877,-0.00117718945327,1.04970529317
+369,6.150000000,pose2_to_pose3_retreat,0.575876353347,-0.00984991126025,1.05003377596,0.546447031786,-0.00117727826523,1.04970515258
+370,6.166666667,pose2_to_pose3_retreat,0.575828560288,-0.00984998806088,1.05003368041,0.546399239532,-0.00117735207346,1.04970506393
+371,6.183333333,pose2_to_pose3_retreat,0.575788704452,-0.00985003312421,1.05003366403,0.546359384176,-0.00117739537946,1.04970505091
+372,6.200000000,pose2_to_pose3_retreat,0.575755919674,-0.00985005859357,1.05003362821,0.546326599806,-0.00117741945876,1.04970501532
+373,6.216666667,pose2_to_pose3_retreat,0.575729409535,-0.00985005950558,1.0500335367,0.546300090342,-0.00117741786814,1.04970492942
+374,6.233333333,pose2_to_pose3_retreat,0.575709652396,-0.00985001139914,1.05003360092,0.546280332684,-0.00117737129227,1.04970499977
+375,6.250000000,pose2_to_pose3_retreat,0.575695269453,-0.00985006936456,1.05003353488,0.546265950949,-0.00117742537473,1.04970492819
+376,6.266666667,pose2_to_pose3_retreat,0.575685491112,-0.00985002100328,1.05003346971,0.546256171394,-0.00117738127938,1.04970485922
+377,6.283333333,pose2_to_pose3_retreat,0.575678731135,-0.009849951769,1.05003341706,0.54624941009,-0.00117731654377,1.04970480668
+378,6.300000000,pose2_to_pose3_retreat,0.575674047587,-0.00984990884691,1.05003337431,0.546244726897,-0.00117727206747,1.04970477292
+379,6.316666667,pose2_to_pose3_retreat,0.575670796602,-0.00984989782802,1.05003340028,0.546241476121,-0.00117726022873,1.04970480174
+380,6.333333333,pose2_to_pose3_retreat,0.575668384885,-0.00984990576323,1.0500334673,0.546239064527,-0.00117726777798,1.04970486794
+381,6.350000000,pose2_to_pose3_retreat,0.575666865167,-0.00984991633499,1.05003355487,0.546237544299,-0.0011772802202,1.04970495183
+382,6.366666667,pose2_to_pose3_retreat,0.575666245205,-0.00984992205518,1.05003360206,0.546236923981,-0.00117728723741,1.0497049967
+383,6.383333333,pose2_to_pose3_retreat,0.575666101899,-0.00984992337743,1.05003361296,0.546236780593,-0.00117728885946,1.04970500708
+384,6.400000000,pose2_to_pose3_retreat,0.575666038135,-0.00984992396576,1.05003361782,0.546236716792,-0.0011772895812,1.04970501169
+385,6.416666667,pose2_to_pose3_retreat,0.575665932886,-0.00984992493686,1.05003362583,0.546236611483,-0.00117729077249,1.04970501931
+386,6.433333333,pose2_to_pose3_retreat,0.575665705997,-0.00984992703029,1.0500336431,0.546236384464,-0.00117729334059,1.04970503573
+387,6.450000000,pose2_to_pose3_retreat,0.575665594503,-0.00984992559257,1.05003364396,0.546236272893,-0.00117729216669,1.04970503639
+388,6.466666667,pose2_to_pose3_retreat,0.575665573111,-0.00984992434483,1.05003364111,0.546236251483,-0.0011772909816,1.0497050336
+389,6.483333333,pose2_to_pose3_retreat,0.57566542764,-0.0098499158596,1.0500336218,0.546236105882,-0.00117728292247,1.04970501462
+390,6.500000000,pose2_to_pose3_retreat,0.575665201475,-0.00984990266761,1.05003359177,0.546235879516,-0.00117727039292,1.0497049851
+391,6.516666667,pose2_to_pose3_retreat,0.575664987583,-0.0098498901915,1.05003356337,0.546235665435,-0.00117725854331,1.04970495718
+392,6.533333333,pose2_to_pose3_retreat,0.575664826874,-0.00984988081749,1.05003354203,0.546235504583,-0.00117724964002,1.04970493621
+393,6.550000000,pose2_to_pose3_retreat,0.575664739313,-0.00984987571014,1.0500335304,0.546235416944,-0.00117724478914,1.04970492478
+394,6.566666667,pose2_to_pose3_retreat,0.575664666297,-0.00984987145119,1.0500335207,0.546235343864,-0.00117724074406,1.04970491525
+395,6.583333333,pose2_to_pose3_retreat,0.575664575863,-0.00984986617625,1.0500335087,0.546235253349,-0.001177235734,1.04970490344
+396,6.600000000,pose2_to_pose3_retreat,0.575664513896,-0.00984989691629,1.050033444,0.546235191902,-0.00117726468163,1.04970483952
+397,6.616666667,pose2_to_pose3_retreat,0.575664479474,-0.00984992126144,1.05003339611,0.54623515789,-0.00117728761345,1.0497047922
+398,6.633333333,pose2_to_pose3_retreat,0.575664444719,-0.00984994584187,1.05003334776,0.546235123549,-0.00117731076688,1.04970474443
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8df5c1e21eb9dd6df08eea332aa888cca75e5f3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49466e2f09a7c273b7c931cf024a61b3fff7daf3e5cf1511602c03b94783a727
+size 25456368
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98c3b96b8bed9974815471832feecae3e76c5ea5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/franka_data.csv
@@ -0,0 +1,402 @@
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+26,0.433333333,BASELINE,767,745,718,678.895906841,661,637.104093159,878.104093159,785,813,651.104093159,629.895906841,653.895906841,0.400976405357,-0.0153959552626,0.0598455988472,0.999999948766,0.000190486567215,-0.000256347637258,2.16455569934e-05,1793249634818281472
+27,0.450000000,BASELINE,767,745,718,678.316635239,661,637.683364761,878.683364761,785,813,651.683364761,629.316635239,653.316635239,0.400978147829,-0.0153962170946,0.0598465869413,0.99999994921,0.000190893096081,-0.000254315300487,2.15381631918e-05,1793249634834948096
+28,0.466666667,BASELINE,767,745,718,678,661.262255438,637.737744562,878.737744562,784.737744562,813,651.737744562,629.262255438,653.262255438,0.400978649933,-0.0153955722685,0.0598469176135,0.999999949169,0.000191956262358,-0.000253678967879,2.14919170584e-05,1793249634851614976
+29,0.483333333,BASELINE,767,745,718,678,661.840686834,637.159313166,878.159313166,784.159313166,813,651.159313166,629.840686834,653.840686834,0.400977656644,-0.0153938343726,0.0598464556959,0.999999948545,0.00019381107268,-0.000254725662282,2.15193907475e-05,1793249634868281600
+30,0.500000000,BASELINE,767,745,718,678.415855594,661.584144406,637.415855594,878.415855594,784.415855594,813,651.415855594,629.584144406,653.584144406,0.400976694634,-0.0153939300538,0.0598457935038,0.999999948502,0.000192593758289,-0.000255821862548,2.1426389293e-05,1793249634884947968
+31,0.516666667,BASELINE,767,745,718,678.989784163,661.010215837,637.989784163,878.989784163,784.989784163,813,651.989784163,629.010215837,653.010215837,0.400975744513,-0.0153947227054,0.0598450551843,0.999999948675,0.00019020868297,-0.000256936880714,2.1287593421e-05,1793249634901614592
+32,0.533333333,BASELINE,767,745,718,679,661.566196646,638,878.433803354,785,813,651.433803354,629.566196646,653.566196646,0.400975537737,-0.0153954943468,0.0598453869205,0.999999949338,0.000187198594382,-0.000256578049756,2.11808603353e-05,1793249634918281472
+33,0.550000000,BASELINE,767,745,717.854225246,678.854225246,661.854225246,637.854225246,878.145774754,785,813.145774754,651,629.854225246,654,0.400975511257,-0.015395865868,0.0598455942272,0.999999949625,0.000185850654024,-0.000256438333462,2.12054228841e-05,1793249634934948096
+34,0.566666667,BASELINE,767,745,717.265157643,678.265157643,661.265157643,637.265157643,878.734842357,785,813.734842357,651,629.265157643,654,0.400975992084,-0.0153950218037,0.0598453641813,0.999999948757,0.000189591657751,-0.000257046155365,2.16274811545e-05,1793249634951614720
+35,0.583333333,BASELINE,767,745,717.318596083,678.318596083,661,637,879,785,813.681403917,651,629.318596083,654,0.400976293288,-0.0153942173437,0.0598454649832,0.999999948467,0.000191489622983,-0.000256771088433,2.1607318087e-05,1793249634968281600
+36,0.600000000,BASELINE,767,745,717.897999851,678.897999851,661,637,879,785,813.102000149,651,629.897999851,654,0.400976447452,-0.0153934453045,0.0598458366222,0.999999948656,0.000191878848785,-0.000255773275102,2.12251458334e-05,1793249634984948992
+37,0.616666667,BASELINE,767,745,718,679,661.47279249,637.47279249,878.52720751,785,813,651,630,653.52720751,0.400976435578,-0.0153949101488,0.0598456529836,0.999999949058,0.000189298459034,-0.000256129037673,2.11502869958e-05,1793249635001615872
+38,0.633333333,BASELINE,767,745.048026445,718,678.951973555,661.951973555,637.951973555,878.048026445,784.951973555,813,651.048026445,629.951973555,653,0.400976529838,-0.0153966171002,0.0598455119867,0.999999949492,0.000186448549412,-0.000256526234351,2.11546153675e-05,1793249635018282496
+39,0.650000000,BASELINE,767,745.639399632,718,678.360600368,661.360600368,637.360600368,878.639399632,784.360600368,813,651.639399632,629.360600368,653,0.400978226192,-0.0153956561452,0.0598471956318,0.999999949864,0.00018772756745,-0.000254120338705,2.13119909752e-05,1793249635034948352
+40,0.666666667,BASELINE,767,745.774071454,718,678,661,637,879,784.225928546,813,651.774071454,629.225928546,653.225928546,0.400978480632,-0.0153951333866,0.0598477716894,0.999999949842,0.000188923330488,-0.000253312072577,2.13753240747e-05,1793249635051614464
+41,0.683333333,BASELINE,767,745.195112126,718,678,661,637,879,784.804887874,813,651.195112126,629.804887874,653.804887874,0.400976481968,-0.0153952953435,0.0598466170561,0.999999949213,0.000189989001093,-0.000255000225953,2.12917084912e-05,1793249635068281088
+42,0.700000000,BASELINE,767,745,718,678,661.380598555,637.380598555,879,785,813,651,629.619401445,653.619401445,0.400975049998,-0.0153944040357,0.0598461675878,0.999999948634,0.000191318800136,-0.000256280758108,2.12061495276e-05,1793249635084948480
+43,0.716666667,BASELINE,767,745,718,678,661.954657911,637.954657911,879,785,813,651,629.045342089,653.045342089,0.400973906083,-0.0153929773463,0.0598460765596,0.999999948079,0.000192782857403,-0.000257354093607,2.11196027332e-05,1793249635101615872
+44,0.733333333,BASELINE,767,745,718,678,662,638,878.459510245,785,813,651.540489755,629,653,0.400976297864,-0.0153948021037,0.0598467585716,0.99999994909,0.000190916291088,-0.000254790319033,2.12595349096e-05,1793249635118281984
+45,0.750000000,BASELINE,767,745,718,678.125583443,661.874416557,638,878,784.874416557,813,652,629.125583443,653.125583443,0.400978319503,-0.0153965907434,0.0598474444322,0.999999949989,0.000189071885364,-0.000252614040389,2.14349926149e-05,1793249635134948352
+46,0.766666667,BASELINE,767,745,718,678.704369756,661.295630244,638,878,784.295630244,813,652,629.704369756,653.704369756,0.400977911141,-0.0153972427707,0.0598479049376,0.999999950035,0.000188338227765,-0.000252961777165,2.16685624274e-05,1793249635151615488
+47,0.783333333,BASELINE,767,745,718,678.717456251,661.282543749,638,878,784.282543749,813,651.717456251,630,653.717456251,0.400978108127,-0.0153970299436,0.0598480482451,0.999999950083,0.000188098590196,-0.000252947786662,2.16970838206e-05,1793249635168282368
+48,0.800000000,BASELINE,767,745,718,678.139921483,661.860078517,638,878,784.860078517,813,651.139921483,630,653.139921483,0.400978937131,-0.0153959141616,0.0598478603808,0.999999950134,0.000188374736283,-0.000252556133275,2.15115235553e-05,1793249635184949248
+49,0.816666667,BASELINE,767,745,718,678,662,638,878.43617446,785,813,651,630,653,0.400978184158,-0.0153947017576,0.0598472868671,0.99999994945,0.000190823365163,-0.000253437777552,2.13480876284e-05,1793249635201615872
+50,0.833333333,BASELINE,767,745,718,678,661.988189548,638,878.988189548,785,813,651,629.988189548,653.011810452,0.400976947019,-0.0153935369512,0.0598465971662,0.999999948547,0.000193837983051,-0.000254720166669,2.12009124844e-05,1793249635218282496
+51,0.850000000,BASELINE,767,745,718,678,661.41254729,638,878.41254729,785,813,651,629.41254729,653.58745271,0.400976743546,-0.015396119316,0.059846247352,0.999999948893,0.000190711531571,-0.000255698146167,2.14923152219e-05,1793249635234949120
+52,0.866666667,BASELINE,767,745,718,678,661.168329284,637.831670716,878.168329284,785,813,651,629.168329284,654,0.40097677117,-0.0153975416951,0.0598461712557,0.999999949178,0.000188679427483,-0.000256080286642,2.16291706549e-05,1793249635251615488
+53,0.883333333,BASELINE,767,745,718,678,661.762445982,637.237554018,878.762445982,785,813,651,629.762445982,654,0.400977383352,-0.0153960299005,0.0598467875265,0.999999949331,0.000189415465488,-0.000254955257604,2.13751000521e-05,1793249635268282112
+54,0.900000000,BASELINE,767,745,718,678,662,637,879,785,813,651,630,654,0.400978399019,-0.0153952772801,0.0598473915561,0.999999949516,0.000189966098561,-0.000253817866227,2.13632869948e-05,1793249635284948480
+55,0.916666667,BASELINE,767,745,718,678,662,637,879,785,813,651,630,654,0.400979683501,-0.015395030447,0.0598479874303,0.999999949722,0.000190393208634,-0.00025267223869,2.15128740351e-05,1793249635301615616
+56,0.933333333,BASELINE,767,745.505534351,717.494465649,678.505534351,661.494465649,637,879,785,813.505534351,651,629.494465649,654,0.400977165393,-0.0153957993241,0.0598463188327,0.999999949275,0.000189494244603,-0.000255115112578,2.1383544804e-05,1793249635318282496
+57,0.950000000,BASELINE,766.909897518,745.909897518,717.090102482,678.909897518,661,637,879,785,813.909897518,651,629.090102482,653.909897518,0.400974875418,-0.0153964133234,0.0598449262842,0.999999948878,0.000188704923699,-0.000257262234976,2.12343572037e-05,1793249635334949120
+58,0.966666667,BASELINE,766.330613956,745.330613956,717.669386044,678.330613956,661,637,879,785,813.330613956,651,629.669386044,653.330613956,0.400977091321,-0.0153953137335,0.0598469781612,0.99999994935,0.000189650279881,-0.000254720315411,2.12170093197e-05,1793249635351615744
+59,0.983333333,BASELINE,766.247867743,745,718,678,661,637.247867743,878.752132257,785,813,651,629.752132257,653.247867743,0.400978586989,-0.0153953312741,0.0598482574362,0.999999949914,0.000189228742975,-0.000252807642935,2.1255175549e-05,1793249635368282112
+60,1.000000000,BASELINE,766.82528342,745,718,678,661,637.82528342,878.17471658,785,813,651,629.17471658,653.82528342,0.40097912508,-0.0153968340746,0.0598485095129,0.999999950605,0.000186989878988,-0.000251731573837,2.13671495297e-05,1793249635384948224
+61,1.016666667,BASELINE,767,745,718,678,661.402023251,637.597976749,878.402023251,785,813,651,629,654,0.400978593636,-0.0153965818778,0.0598482636284,0.99999995037,0.000187650206213,-0.000252170939133,2.13921483227e-05,1793249635401614848
+62,1.033333333,BASELINE,767,745,718,678,661.978469823,637.021530177,878.978469823,785,813,651,629,654,0.40097759816,-0.0153955682511,0.0598478016965,0.999999949731,0.00018956838758,-0.000253267796561,2.13794117266e-05,1793249635418281472
+63,1.050000000,BASELINE,767,745,718,678,662,637.564909506,879,785,813,651.564909506,629.564909506,654,0.400978162268,-0.0153964729073,0.0598480628799,0.999999950183,0.000187652345338,-0.000252898879323,2.15126281958e-05,1793249635434948352
+64,1.066666667,BASELINE,767,745,718,678.149710794,662,638,879,785,813,651.850289206,630,654,0.400978370684,-0.0153968687754,0.0598480903496,0.9999999504,0.000186515500261,-0.000252878483348,2.15495927789e-05,1793249635451614976
+65,1.083333333,BASELINE,767,745,718,678.728702362,662,638,879,785,813,651.271297638,630,654,0.400977385685,-0.0153955923313,0.0598473672203,0.999999949831,0.000188039491048,-0.000254020507933,2.12943270778e-05,1793249635468281856
+66,1.100000000,BASELINE,767,745,718,679,661.693417991,638,878.693417991,785,813,651,630,653.693417991,0.400977182561,-0.0153952253323,0.0598471104542,0.999999949391,0.000190025629155,-0.000254281360909,2.11797848068e-05,1793249635484948480
+67,1.116666667,BASELINE,767,745,718,679,661.116518768,638,878.116518768,785,813,651,630,653.116518768,0.400977668824,-0.0153956602026,0.0598472648864,0.999999949065,0.000192419248287,-0.000253765273734,2.11893201672e-05,1793249635501615104
+68,1.133333333,BASELINE,767,745,718,679,661.914950997,637.542524502,878,785,813,651,630,653.457475498,0.400978057279,-0.015396729416,0.0598477569341,0.999999949736,0.000189496096778,-0.000253324435791,2.11285411315e-05,1793249635518281728
+69,1.150000000,BASELINE,767,745,718,679,662.968346193,637.031653807,878.031653807,785,813,651.031653807,629.968346193,654,0.400978392048,-0.0153978213576,0.0598482800803,0.999999950559,0.000185625821325,-0.000252943787925,2.10706600345e-05,1793249635534948608
+70,1.166666667,BASELINE,767,745,718,679,662.377941874,637.622058126,878.622058126,785,813,651.622058126,629.377941874,654,0.40097821612,-0.0153964805239,0.0598478438567,0.999999949873,0.000188790018854,-0.000253289430307,2.13780674552e-05,1793249635551615232
+71,1.183333333,BASELINE,767,745,718,679,661.791288015,637.791288015,879,785,813,652,629.208711985,654,0.400977797747,-0.0153960841714,0.0598473731322,0.99999994951,0.000190008686025,-0.000253797872721,2.15312485641e-05,1793249635568281856
+72,1.200000000,BASELINE,767,745,718,679,661.21130562,637.21130562,879,785,813,652,629.78869438,654,0.400976948096,-0.0153973679231,0.0598468410353,0.999999949733,0.000187766518192,-0.000254595914453,2.1410081962e-05,1793249635584949248
+73,1.216666667,BASELINE,767,745,718,678.633702447,661,637.366297553,879,785,813,652,629.633702447,654,0.400976428381,-0.0153970795995,0.059846646027,0.999999949745,0.00018731879299,-0.00025488818985,2.1289881373e-05,1793249635601615872
+74,1.233333333,BASELINE,767,745,718,678.057462951,661,637.942537049,879,785,813,652,629.057462951,654,0.400976097767,-0.0153958902473,0.0598466442197,0.999999949638,0.000187899545375,-0.000254890587296,2.11702344576e-05,1793249635618281984
+75,1.250000000,BASELINE,766.48201979,745,717.48201979,678,661.51798021,638,878.48201979,785,813,651.48201979,629,653.48201979,0.40097681601,-0.0153957567106,0.0598472890101,0.999999949433,0.000189961779731,-0.000254158135563,2.12709550585e-05,1793249635634948096
+76,1.266666667,BASELINE,766.096007567,745,717.096007567,678,661.903992433,638,878.096007567,785,813,651,629.096007567,653.096007567,0.400977518556,-0.0153955396853,0.0598478764142,0.999999949196,0.00019211666351,-0.000253461063247,2.1376186248e-05,1793249635651614720
+77,1.283333333,BASELINE,766.687836262,745,717.687836262,678,661.312163738,638,878.687836262,785,813,651,629.687836262,653.687836262,0.400977540044,-0.0153942875224,0.0598477975721,0.999999948875,0.000193902557152,-0.000253367068141,2.13786526496e-05,1793249635668281344
+78,1.300000000,BASELINE,767,745,718,678,661.273521483,637.726478517,879,784.726478517,813,651.273521483,629.726478517,654,0.400977275712,-0.0153941218013,0.0598473589645,0.999999948745,0.000193987633723,-0.000253819608502,2.13309525095e-05,1793249635684948224
+79,1.316666667,BASELINE,767,745,718,678,661.852349285,637.147650715,879,784.147650715,813,651.852349285,629.147650715,654,0.400976692348,-0.0153951687731,0.0598465187846,0.999999948827,0.000192174247975,-0.00025488219503,2.12272561749e-05,1793249635701614848
+80,1.333333333,BASELINE,767,745,718,678.426409145,661.573590855,637.426409145,879,784.426409145,813,651.573590855,629,654,0.400977115273,-0.015395316337,0.059846979703,0.99999994901,0.000192429090819,-0.000253967672546,2.12349842337e-05,1793249635718281472
+81,1.350000000,BASELINE,767,745,718,678.998836336,661.001163664,637.998836336,879,784.998836336,813,651.001163664,629,654,0.400977882789,-0.0153951559109,0.0598478861649,0.999999949226,0.000193392170424,-0.000252376115906,2.12808680605e-05,1793249635734948096
+82,1.366666667,BASELINE,767,745,718,678.412148173,661,638,878.412148173,785,813,651,629,653.412148173,0.400977141849,-0.0153950452654,0.0598466849722,0.99999994919,0.000191774668207,-0.000253780876696,2.0922022924e-05,1793249635751614720
+83,1.383333333,BASELINE,767,745,718,678,661.173825831,638,878.173825831,785,813,651,629.173825831,653.173825831,0.400976548861,-0.015394635158,0.0598458042375,0.999999949017,0.000191112238835,-0.000254972158979,2.07477541113e-05,1793249635768281344
+84,1.400000000,BASELINE,767,745,718,678,661.752635099,638,878.752635099,785,813,651,629.752635099,653.752635099,0.400976307736,-0.015393527121,0.059845680116,0.999999948536,0.000192687206977,-0.000255651854306,2.1005436193e-05,1793249635784947968
+85,1.416666667,BASELINE,767,745,718,678,662,637.669562173,879,784.669562173,813,651,630,654,0.400976398197,-0.0153936767303,0.0598460065218,0.999999948382,0.000193576940886,-0.000255574829727,2.11191169463e-05,1793249635801614848
+86,1.433333333,BASELINE,767,745,718,678,662,637.092510683,879,784.092510683,813,651,630,654,0.400976736129,-0.0153947649514,0.0598466691668,0.999999948472,0.000193955267987,-0.00025493304692,2.11253260446e-05,1793249635818281472
+87,1.450000000,BASELINE,767,745,718,678.482635813,662,637.482635813,879,784.482635813,813.482635813,651,630,654,0.400976494464,-0.0153950174965,0.0598467313898,0.999999948831,0.000192205325983,-0.000254854255598,2.10938674366e-05,1793249635834948096
+88,1.466666667,BASELINE,767,745,718,678.940884178,661.940884178,637.940884178,878.940884178,785,813.940884178,651,630,654,0.400976291742,-0.0153951487366,0.0598467371516,0.999999949214,0.000190278875419,-0.000254797014086,2.10652373689e-05,1793249635851614720
+89,1.483333333,BASELINE,767,745,718,678.349111485,661.349111485,637.349111485,878.349111485,785,813.349111485,651,630,654,0.400977436986,-0.0153956245869,0.0598472670854,0.999999949397,0.000190423283976,-0.000253965428087,2.11268934889e-05,1793249635868281344
+90,1.500000000,BASELINE,767,745,718,678,661,637,878,785,813,651,629.763040334,653.763040334,0.400977815959,-0.015396611797,0.0598474679767,0.999999949613,0.000189610563832,-0.000253710637456,2.12957865688e-05,1793249635884948480
+91,1.516666667,BASELINE,767,745,718,678,661,637,878,785,813,651,629.18517192,653.18517192,0.400977092514,-0.0153983346896,0.0598471954813,0.999999949872,0.000187420843307,-0.000254285669924,2.16189591399e-05,1793249635901616128
+92,1.533333333,BASELINE,767,745,718,678,661.391271141,637,878.391271141,785,813,651,629,653.391271141,0.400977104353,-0.0153981015487,0.0598473694384,0.999999949693,0.000188707445693,-0.000254046195388,2.15569746643e-05,1793249635918282752
+93,1.550000000,BASELINE,767,745,718,678,661.967042143,637,878.967042143,785,813,651,629,653.967042143,0.400977462907,-0.0153969460606,0.0598477539154,0.9999999493,0.000191633272004,-0.000253422648545,2.13133733949e-05,1793249635934949376
+94,1.566666667,BASELINE,767,745,718,678.553424878,661.446575122,637,878.446575122,785,813,651,629.553424878,654,0.400977876156,-0.0153971794234,0.059847697028,0.999999949693,0.000189822136801,-0.000253258035502,2.10308657351e-05,1793249635951616000
+95,1.583333333,BASELINE,767,745,718,679,661.138521709,637.138521709,878,785,813,651.138521709,629.861478291,654,0.400977879027,-0.0153974379516,0.0598475570359,0.999999949975,0.000188203804357,-0.000253361536689,2.09001809173e-05,1793249635968282368
+96,1.600000000,BASELINE,767,745,718,679,661.717481453,637.717481453,878,785,813,651.717481453,629.282518547,654,0.400976566516,-0.015397508374,0.0598472380141,0.999999949765,0.000188112981845,-0.000254228924684,2.12597367882e-05,1793249635984948480
+97,1.616666667,BASELINE,767,745,718,678.703899901,661.703899901,637.703899901,878.296100099,784.703899901,813,652,629,653.703899901,0.400976463605,-0.015396691496,0.059847164884,0.999999949641,0.000189039621616,-0.000254019406784,2.13660918991e-05,1793249636001615104
+98,1.633333333,BASELINE,767,745,718,678.125606367,661.125606367,637.125606367,878.874393633,784.125606367,813,652,629,653.125606367,0.400977513485,-0.0153950289907,0.059847326097,0.999999949597,0.000190935937446,-0.000252783561002,2.12311380789e-05,1793249636018281728
+99,1.650000000,BASELINE,767,745,718,678,661,637.448303012,879,784.448303012,813,652,629.448303012,653.448303012,0.400977558062,-0.0153957859327,0.0598475323252,0.99999994984,0.00019012999954,-0.000252428876345,2.12204373863e-05,1793249636034949120
+100,1.666666667,BASELINE,767,745,718,678.021606898,661,637.978393102,878.978393102,785,813,651.978393102,630,654,0.400977311367,-0.0153971000023,0.0598477011091,0.999999950123,0.000188701697249,-0.000252378917869,2.12287929462e-05,1793249636051616512
+101,1.683333333,BASELINE,767,745,718,678.61096509,661,637.38903491,878.38903491,785,813,651.38903491,630,654,0.400976740609,-0.0153954135081,0.0598465577916,0.999999949379,0.000190621677576,-0.000253911634906,2.08319649995e-05,1793249636068282624
+102,1.700000000,BASELINE,767,745,718,679,661.196900867,637.196900867,878.196900867,784.803099133,813,651.196900867,629.803099133,654,0.400976423922,-0.0153949015799,0.0598460273805,0.999999949099,0.000190945231866,-0.000254785382004,2.06373170966e-05,1793249636084948992
+103,1.716666667,BASELINE,767,745,718,679,661.776190127,637.776190127,878.776190127,784.223809873,813,651.776190127,629.223809873,654,0.40097660065,-0.0153966707001,0.0598466872553,0.999999949725,0.000188168470564,-0.00025437938618,2.08353099791e-05,1793249636101615360
+104,1.733333333,BASELINE,767,745,718,679,662,638,878.645914681,784,813,651.645914681,629.354085319,654,0.400975780931,-0.0153971817568,0.0598463355425,0.999999949525,0.000187967112316,-0.000255290863872,2.10801380254e-05,1793249636118282240
+105,1.750000000,BASELINE,767,745,718,679,662,638,878.068897139,784,813,651.068897139,629.931102861,654,0.400974333847,-0.0153969007364,0.0598453469339,0.999999948806,0.000189387228333,-0.000257031823246,2.13544535244e-05,1793249636134949120
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,637,879,785,813,652,630,654,0.40097751282,-0.0153967304441,0.0598473283079,0.999999949636,0.000188836039429,-0.00025421432529,2.10919494004e-05,1793249636166187776
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.406362403,637.593637597,879,785,813,652,630,654.593637597,0.400978476527,-0.0153971291337,0.059848150091,0.999999950007,0.000189671006228,-0.000252106962199,2.12800000061e-05,1793249636182854656
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.817614317,878.817614317,785.182385683,813,651.817614317,630,654.817614317,0.40097859837,-0.0153969721739,0.0598484552017,0.999999950057,0.000190241630507,-0.000251476133761,2.13131533681e-05,1793249636199521792
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.239475712,878.239475712,785.760524288,813,651.239475712,630,654.239475712,0.400976893478,-0.015395609528,0.0598476392018,0.999999949413,0.000190238666477,-0.000254049190747,2.10102001379e-05,1793249636216188416
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.66181748,745,718,679,661.33818252,637.33818252,878.33818252,785.66181748,813.33818252,651,630,654,0.400976352025,-0.0153952848365,0.0598470562956,0.999999949283,0.000190249020961,-0.000254558087728,2.09441563522e-05,1793249636232855040
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.084498963,745,718,679,661.915501037,637.915501037,878.915501037,785.084498963,813.915501037,651,630,654,0.400976633263,-0.0153956941045,0.0598466382148,0.999999949519,0.000190268793248,-0.000253607373458,2.10456362524e-05,1793249636249521408
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.4869886,745,717.5130114,678.5130114,661.5130114,638,879,785,813.5130114,651,629.5130114,654,0.400977089902,-0.0153960717498,0.059847007604,0.999999949692,0.000189436814532,-0.000253540149115,2.1138325099e-05,1793249636266187776
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,717.060181608,678,661.060181608,638,879,785,813,651,629.060181608,654,0.400977545491,-0.015396353769,0.059847506367,0.999999949827,0.00018868251188,-0.000253565967216,2.12170230628e-05,1793249636282854400
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,717.65752037,678,661.65752037,638,879,785,813,651,629.65752037,654,0.400977723274,-0.015395830662,0.0598479547363,0.999999949718,0.000189925022861,-0.00025307016452,2.11842976672e-05,1793249636299521024
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,718,678.245812998,661.754187002,637.754187002,879,784.754187002,813,651.245812998,630,654,0.400979807847,-0.0153959030027,0.0598490992518,0.999999949867,0.000190635068085,-0.000251933264119,2.12972370577e-05,1793249636316187648
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718,678.821949386,661.178050614,637.178050614,879,784.178050614,813,651.821949386,630,654,0.400984454765,-0.0153967755055,0.0598511792483,0.999999950363,0.00019062958598,-0.000249934856968,2.16059207211e-05,1793249636332854784
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.397296278,878.602703722,784.397296278,813,651.602703722,630,654,0.401006252863,-0.0153982128234,0.0598601041252,0.999999954199,0.000190142949101,-0.000234382436644,2.2623035996e-05,1793249636349521920
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.972290105,878.027709895,784.972290105,813,651.027709895,630,654,0.40103572212,-0.0153999027645,0.0598720904922,0.999999959134,0.000189441107453,-0.00021276775205,2.39570094328e-05,1793249636366188544
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.561822782,638,878.561822782,785,813,651,630,654,0.401090514725,-0.0154026974591,0.05988940319,0.999999965062,0.000188909575138,-0.000183160362046,2.53365394158e-05,1793249636382854912
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.850902501,637.850902501,879,785,813,651,630,653.850902501,0.401150914945,-0.0154060023751,0.059906065697,0.999999969773,0.000187871727508,-0.000156348893951,2.67172929653e-05,1793249636399521280
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.272253637,637.272253637,879,785,813,651,630,653.272253637,0.401223776848,-0.0154106160943,0.0599200780481,0.999999972801,0.000185350337631,-0.000138758396327,2.80949266453e-05,1793249636416187904
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.304478085,637.304478085,878.695521915,784.695521915,813,651,630,653,0.401305209643,-0.0154147926266,0.059930127011,0.99999997524,0.000183828073202,-0.00012211581436,2.85442749806e-05,1793249636432854272
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.879506257,637.879506257,878.120493743,784.120493743,813,651,630,653,0.401394258271,-0.0154185806875,0.0599366542251,0.999999977172,0.000183193601813,-0.000106315522855,2.81687767391e-05,1793249636449520896
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.545739699,637.545739699,878,784.454260301,813,651.454260301,630,653.454260301,0.401492042725,-0.0154239288466,0.0599374569273,0.999999977854,0.000180857432762,-0.000104069230643,2.74181792738e-05,1793249636466187776
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,717.970240214,678.970240214,661,637,878.029759786,785,813,651.970240214,630,654,0.401593669984,-0.0154297199385,0.0599367057391,0.999999978224,0.000178232051174,-0.000105263978859,2.65376698915e-05,1793249636482855168
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,717.379313837,678.379313837,661,637,878.620686163,785,813,651.379313837,630,654,0.401724091227,-0.0154360646992,0.0599352688437,0.99999997836,0.000178659448801,-0.000103592055381,2.50824909394e-05,1793249636499521536
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,717.20753851,678.20753851,661,637.20753851,879,785,813,651,630,653.79246149,0.401867795699,-0.0154421834305,0.0599357634764,0.999999979026,0.000177935218272,-9.86465781953e-05,2.35915886994e-05,1793249636516188160
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,717.787088126,678.787088126,661,637.787088126,879,785,813,651,630,653.212911874,0.402035310238,-0.0154478970051,0.0599397203581,0.999999980562,0.000175146703499,-8.78332825493e-05,2.20366529088e-05,1793249636532854784
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,678.63672785,661.36327215,638,879,785,813,651,630,653.36327215,0.402223535286,-0.0154576714379,0.0599438341828,0.999999982632,0.000168386605949,-7.7126783555e-05,2.08008913146e-05,1793249636549521152
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,678.062498221,661.937501779,638,879,785,813,651,630,653.937501779,0.402423787246,-0.0154698040714,0.059948039147,0.999999984904,0.000159320151594,-6.64823019129e-05,1.97504787203e-05,1793249636566187520
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.488922785,745,718,678.511077215,661.488922785,638,879,785,813,651.511077215,630,654,0.402649766374,-0.015479752428,0.0599460511907,0.999999985914,0.000153860925254,-6.47875903454e-05,1.73741134863e-05,1793249636582854400
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.087853694,745,718,679,661,638,879,785,813,651.912146306,629.912146306,654,0.402885439408,-0.0154899104811,0.0599438965616,0.999999986912,0.000148025019058,-6.35732087608e-05,1.49331877419e-05,1793249636599521536
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.683597822,745,718,679,661,638,879,785,813,651.316402178,629.316402178,654,0.40315898924,-0.0155028230222,0.0599451508929,0.999999988737,0.000137464605155,-5.88166724379e-05,1.3055219758e-05,1793249636616187904
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.269490192,785,813,651,629,654,0.403440406919,-0.0155113636521,0.0599403303413,0.999999988955,0.000133098023016,-6.5364499286e-05,1.01364232358e-05,1793249636632854528
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.844223741,785,813,651,629,654,0.403730736253,-0.0155149523503,0.0599286289543,0.99999998718,0.000135747006621,-8.47164352531e-05,6.03871194969e-06,1793249636649521408
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,718,678.580472719,661.419527281,638,879.580472719,785,813,651.419527281,629,654,0.404046090542,-0.0155101563096,0.0599171951231,0.999999989125,0.000103089689699,-0.000105449478398,1.94277304909e-06,1793249636666188032
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718,678.00495726,661.99504274,638,879.00495726,785,813,651.99504274,629,654,0.404370749576,-0.0155022426643,0.0599058607745,0.99999999033,5.73048220919e-05,-0.00012669604266,-2.15250675763e-06,1793249636682854656
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.585821792,718,678.585821792,661.414178208,638,878.414178208,785,813.585821792,651.414178208,629,654,0.404755491426,-0.0154938057081,0.05989775158,0.99999998893,4.91841049666e-05,-0.000140224925398,-7.57699313484e-06,1793249636699521024
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.826871521,745.826871521,717.826871521,679,661.173128479,638,878.173128479,785,813.826871521,651.173128479,629,654,0.405160753276,-0.0154920156982,0.0598962416033,0.999999988761,4.27961196444e-05,-0.000143193406744,-1.18821579053e-05,1793249636716187648
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.248013263,745.248013263,717.248013263,679,661.751986737,638,878.751986737,785,813.248013263,651.751986737,629,654,0.405612880692,-0.0155058135858,0.0599101313467,0.999999991731,3.970192515e-05,-0.00012157053465,-1.35371064346e-05,1793249636732854272
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.327564662,745,717.327564662,679,662,638,879,785,813,652,629,654,0.406102684697,-0.0155159099695,0.0599352310317,0.999999996346,2.92376798349e-05,-7.90281399373e-05,-1.44362318697e-05,1793249636749520896
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.900683592,745,717.900683592,679,662,638,879,785,813,652,629,654,0.406620732478,-0.0155232315741,0.0599687340942,0.999999999587,1.32485785899e-05,-2.08037151663e-05,-1.4768765229e-05,1793249636766188288
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.486685891,718,679,662,638,879,785,813.486685891,652,629,654,0.407143419215,-0.0155223633888,0.0599872047421,0.999999999807,7.35926630061e-06,5.38901138792e-06,-1.73957377105e-05,1793249636782855424
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.925832671,745.925832671,717.925832671,679,662,638,879,785,813.925832671,651.925832671,629,654,0.407669831749,-0.0155202561811,0.0599989549138,0.999999999629,1.13692167983e-06,1.76265617275e-05,-2.07484625059e-05,1793249636799522048
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+146,2.433333333,POSE1_TO_POSE2_PRESS,766.231602349,745,717.231602349,679.231602349,662,638,879.231602349,785,813.231602349,651.231602349,629,654,0.408777623446,-0.0155228623532,0.0599747625033,0.999999997465,-4.11412361839e-05,-4.92634751043e-05,-3.08271123961e-05,1793249636832856064
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.808537004,745,717.808537004,679.808537004,662,638,879.808537004,785,813.808537004,651.808537004,629,654,0.409366304792,-0.0155247937458,0.0599644886076,0.999999995496,-5.52487294401e-05,-6.82951499563e-05,-3.59451483732e-05,1793249636849521920
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.385134944,745,718,679.614865056,662,638,880,785,813.614865056,651.614865056,629,654,0.410011951777,-0.0155289507949,0.0599694211652,0.99999999557,-6.71924010786e-05,-5.23767033551e-05,-4.00235049467e-05,1793249636866188032
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.961565621,745,718,679.038434379,662,638,880,785,813.038434379,651.038434379,629,654,0.410685893461,-0.0155342133231,0.0599819067373,0.999999995821,-7.80613064997e-05,-1.90986028107e-05,-4.35854547158e-05,1793249636882854656
+150,2.500000000,POSE1_TO_POSE2_PRESS,768,745,718,679.544343226,662.544343226,638,880.544343226,785,813.544343226,651,629,654,0.411357934716,-0.0155386303286,0.0599870648731,0.999999994937,-9.00697167614e-05,-1.04879360787e-05,-4.36299485992e-05,1793249636899521536
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.872469215,745,717.872469215,680,663,638,880.872469215,785,814,651.127530785,629,654,0.412032253383,-0.015539777203,0.0599829129936,0.99999999544,-8.38387686299e-05,-2.03818629429e-05,-4.09264877082e-05,1793249636916188416
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.289437053,745,717.289437053,680,663,638,880.289437053,785,814,651.710562947,629,654,0.412715191036,-0.0155294599025,0.0599473782354,0.99999999544,-1.21715897615e-05,-9.00744199556e-05,-2.93056831215e-05,1793249636932855040
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,717.290005577,679.709994423,663,638,880.290005577,785,814,651.709994423,629.290005577,653.709994423,0.41342107459,-0.0155226143774,0.0599208151139,0.99999998978,1.73292499431e-05,-0.000139347717809,-2.68756407479e-05,1793249636949521664
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,717.865909579,679.134090421,663,638,880.865909579,785,814,651.134090421,629.865909579,653.134090421,0.414149579158,-0.0155191914579,0.0599030965658,0.99999998523,5.26093217441e-06,-0.000168490949549,-3.3506196878e-05,1793249636966188288
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,717.55744069,679.44255931,663,638.44255931,881,785,814,651,629.55744069,653.44255931,0.414981966608,-0.0155291500406,0.0599397925288,0.999999994428,-1.41664951856e-05,-9.93510462492e-05,-3.27623969706e-05,1793249636982854656
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,717,680,663,638.980156927,881.019843073,785,814,651,629,654,0.415843871879,-0.0155429093247,0.0599917975069,0.999999998924,-3.53794684204e-05,-2.96001249461e-06,-2.98482813624e-05,1793249636999520768
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,717,680,663,638.391178462,881.608821538,785,814,651,629,654,0.41664811007,-0.0155491945966,0.0600092183659,0.999999998436,-4.37446392574e-05,1.94951571479e-05,-2.88788345375e-05,1793249637016187648
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,717,680.194464035,663,638,881.805535965,785,814,651,629,654,0.417468479171,-0.0155526532416,0.060014803018,0.999999998034,-4.86841181541e-05,2.66087127673e-05,-2.92325713808e-05,1793249637032854016
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,717,680.773509131,663,638,881.226490869,785,814,651,629,654,0.418320749458,-0.0155505218181,0.0599969798395,0.999999998378,-4.68487898783e-05,3.38198216421e-06,-3.22030974704e-05,1793249637049520896
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,717,680.649985799,663,638,881.350014201,785,814,651,629,654,0.419157833931,-0.0155497732511,0.0599749376605,0.999999997643,-4.84410188037e-05,-3.31381938356e-05,-3.56227233757e-05,1793249637066187520
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,717,680.075112537,663,638,881.924887463,785,814,651,629,654,0.419985162574,-0.0155499130704,0.0599501850765,0.999999994805,-5.22352078161e-05,-7.8198455735e-05,-3.93308635919e-05,1793249637082854400
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.501281028,745,717,680,663,638,882,785,814.498718972,651,629,654,0.420797977007,-0.0155464316599,0.0599169460797,0.999999988469,-5.19668298974e-05,-0.000135957411386,-4.33157500548e-05,1793249637099521280
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.07513994,745,717,680.07513994,663,638,882,785,814.92486006,651,629,654,0.42161822199,-0.0155431807199,0.0598867794285,0.999999979926,-5.11355538027e-05,-0.000187978235451,-4.68747749015e-05,1793249637116187904
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.670575115,745,717,680.670575115,663,638,882,785,814.329424885,651,629,654,0.422505023385,-0.0155452942871,0.059886718675,0.99999998011,-5.06345252207e-05,-0.000187050558217,-4.71969715705e-05,1793249637132854528
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,717.256864449,681,663,638,882.513728898,785,814.256864449,651,629,654,0.423444031543,-0.0155493543755,0.0599176521496,0.999999988365,-5.3317693823e-05,-0.000135616489786,-4.51117240822e-05,1793249637149521152
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,717.831827729,681,663,638,883.663655458,785,814.831827729,651,629,654,0.424447692251,-0.0155558250201,0.0599869686223,0.999999997167,-5.99441455944e-05,-2.16357183078e-05,-4.00451170643e-05,1793249637166187776
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,717.593293609,681,663.406706391,638,884,785,815,651,629,654,0.425390761606,-0.0155591888265,0.060018358594,0.999999996946,-6.0295566255e-05,3.19779057642e-05,-3.80891426156e-05,1793249637182854400
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,717.018449964,681,663.981550036,638,884,785,815,651,629,654,0.426308781716,-0.0155612682286,0.0600340692953,0.999999995777,-5.80528142685e-05,6.06350270059e-05,-3.7419141043e-05,1793249637199520768
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,717,681,664,638,884,785.571983464,815,651,629,654.571983464,0.427198009999,-0.0155649543818,0.0600157469071,0.999999995329,-7.55294941054e-05,4.43985659925e-05,-4.08168222721e-05,1793249637216188160
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.159697802,717,681.159697802,664,638,884.159697802,785.840302198,815,651,629,654.840302198,0.428080208148,-0.0155664249424,0.0599939413086,0.999999995072,-8.67894642858e-05,1.94318104169e-05,-4.41056155319e-05,1793249637232855040
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.738911231,717,681.738911231,664,638,884.738911231,785.261088769,815,651,629,654.261088769,0.428946446576,-0.015561935324,0.0599659501315,0.999999995405,-8.00008078892e-05,-2.45582233794e-05,-4.67540356859e-05,1793249637249521920
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.684322372,717,681.684322372,664,638.315677628,885,785,815,651,629.315677628,654,0.42981613101,-0.0155582858948,0.0599376071407,0.999999993042,-7.72607881377e-05,-7.41377211377e-05,-4.94951798343e-05,1793249637266188288
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.109564311,717,681.109564311,664,638.890435689,885,785,815,651,629.890435689,654,0.430688643579,-0.015555326019,0.0599089754135,0.999999987371,-7.78435335115e-05,-0.000128304557046,-5.23124234963e-05,1793249637282854912
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.463847428,717,681.463847428,664,638.536152572,884.536152572,785.463847428,815,651,629.536152572,654.463847428,0.431632620481,-0.0155595905032,0.0599449396744,0.999999993377,-8.35669241278e-05,-6.08717792513e-05,-5.05683133615e-05,1793249637299521280
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,717.038253978,682,664,638,884.038253978,785.961746022,815,651,629,654.961746022,0.432586949991,-0.015565061451,0.059993490241,0.999999994381,-8.98752110098e-05,2.94968386755e-05,-4.78646264262e-05,1793249637316187648
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717.631699963,682,664,638,884.631699963,785.368300037,815,651,629,654.368300037,0.433447247299,-0.0155633476239,0.0600039055357,0.999999994423,-8.71003528335e-05,3.70844224025e-05,-4.68260848676e-05,1793249637332854272
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717.780783167,681.780783167,664.219216833,638,885,785,815.438433666,651,629.219216833,654,0.434302387987,-0.0155631891804,0.0600004946275,0.999999994812,-8.63237565465e-05,2.6235655744e-05,-4.7280443735e-05,1793249637349520896
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,717.202965218,681.202965218,664.797034782,638,885,785,816.594069563,651,629.797034782,654,0.435149093465,-0.0155655750773,0.0599744664259,0.999999994688,-8.88159732207e-05,-1.47718147869e-05,-5.01769312611e-05,1793249637366188288
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.627929042,745.627929042,717.372070958,681.372070958,665,638,885,785,816.627929042,651,630,654,0.435978041068,-0.01556518676,0.0599502409207,0.999999992877,-8.98058775482e-05,-5.76932591609e-05,-5.34110930858e-05,1793249637382855168
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.054399099,745.054399099,717.945600901,681.945600901,665,638,885,785,816.054399099,651,630,654,0.436797373561,-0.0155632963358,0.0599269914926,0.99999998917,-8.99823499169e-05,-0.000101651028134,-5.68280894891e-05,1793249637399521792
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.533231743,718,682,664.466768257,638,885,785,816,651,630,654,0.43754926168,-0.0155618123046,0.0599072736276,0.999999984284,-8.92028636165e-05,-0.00014185708933,-5.78849583651e-05,1793249637416188160
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.120280405,745.879719595,717.879719595,682,664,638,884.879719595,785,816,651,630,654,0.438307791511,-0.0155613020986,0.0598959870217,0.999999980389,-8.9483898577e-05,-0.000166816962215,-5.81870528935e-05,1793249637432854528
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.699470243,745.300529757,717.300529757,682,664,638,884.300529757,785,816,651,630,654,0.439118626166,-0.0155643448795,0.0599154565201,0.999999984838,-9.41933684487e-05,-0.000135107542283,-5.65530225302e-05,1793249637449521152
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745,717.277267775,682,664.277267775,638,884.277267775,785.277267775,816,651,630,654,0.439930062346,-0.0155686800178,0.0599510834661,0.999999990409,-9.91659363411e-05,-8.04136982031e-05,-5.36865936268e-05,1793249637466187776
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745,717.853563694,682,664.853563694,638,884.853563694,785.853563694,816,651,630,654,0.440742147208,-0.0155744089391,0.0600041359179,0.999999993323,-0.000104422249876,-9.31581420075e-07,-4.94910456912e-05,1793249637482854400
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745,717.572370149,682,664.572370149,638,885,785.572370149,816,651,629.572370149,654,0.441464206473,-0.0155782052545,0.0599994975501,0.999999992762,-0.000109031186821,-7.93949625389e-06,-5.02439115321e-05,1793249637499521280
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.999035242,745.000964758,717,682,664.000964758,638,885,785,816.000964758,651,629.000964758,654,0.44215547384,-0.0155813433078,0.0599751679269,0.999999991189,-0.000113444838376,-4.44616811625e-05,-5.26869978417e-05,1793249637516187904
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.40840546,745.59159454,717,682,664.59159454,638,885,785,816.59159454,651,629.59159454,654,0.442771095512,-0.0155845428876,0.0599274569741,0.999999983186,-0.000133291443808,-0.000111853739938,-5.78742893808e-05,1793249637532854784
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.178869483,745.821130517,717,682,665,638,885,785,817,651.178869483,630,654,0.44338689092,-0.0155877276548,0.0598898677057,0.999999973296,-0.000148595364343,-0.000165719592755,-6.21697291676e-05,1793249637549521664
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.758625597,745.241374403,717,682,665,638,885,785,817,651.758625597,630,654,0.44400307583,-0.0155908792245,0.0598749633932,0.999999968196,-0.000153718114209,-0.000189270198352,-6.44663306754e-05,1793249637566188288
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.66305104,745.33694896,717,682,664.66305104,637.66305104,885,784.66305104,816.66305104,652,629.66305104,654,0.444599477379,-0.0155942261213,0.0598672155483,0.999999963766,-0.000159686283057,-0.000206300824597,-6.63919329363e-05,1793249637582854912
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.08574972,745.91425028,717,682,664.08574972,637.08574972,885,784.08574972,816.08574972,652,629.08574972,654,0.445181767027,-0.0155977123486,0.059864572554,0.999999959953,-0.000166257505701,-0.000218680619197,-6.80528939658e-05,1793249637599521536
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.495217967,745.504782033,717.495217967,682,664,637.495217967,885.495217967,784,816.495217967,651.504782033,629.495217967,654.495217967,0.445695945493,-0.0156023988862,0.0598388653065,0.999999945171,-0.000185424303113,-0.000264989008023,-7.11037004916e-05,1793249637616188416
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,745,717.923179896,682,664.076820104,638,886,784,817,651,630,655,0.446198456405,-0.015607232993,0.0598112523536,0.999999927558,-0.00020458560471,-0.000312243890539,-7.43808749574e-05,1793249637632855296
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,745,717.341611506,682,664.658388494,638,886,784,817,651,630,655,0.446702374988,-0.0156116609005,0.0597975543574,0.999999921687,-0.00020927364674,-0.000326828499874,-7.75523540594e-05,1793249637649521920
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,745,717,682.239545035,665,637.760454965,886,784,817,651,630,654.760454965,0.447200626699,-0.0156167776269,0.0597953698089,0.999999919688,-0.000219301284245,-0.00032590610349,-7.94721608335e-05,1793249637666188544
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,745,717,682.820115202,665,637.179884798,886,784,817,651,630,654.179884798,0.447690810803,-0.0156228749807,0.0598095762297,0.999999922887,-0.00023693056604,-0.000302907361325,-7.96100404889e-05,1793249637682855424
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,745.395367242,717,682.604632758,664.604632758,637,886,784,817,651.395367242,630,654,0.448132996653,-0.0156278908125,0.0598134869874,0.999999921482,-0.000249852011113,-0.000296879883602,-8.0445312423e-05,1793249637699522048
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,745.968231797,717,682.031768203,664.031768203,637,886,784,817,651.968231797,630,654,0.448553634072,-0.0156324211032,0.0598127755816,0.999999918157,-0.000260659907928,-0.000298471532436,-8.1593673686e-05,1793249637716188416
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,717,682.554561827,663.445438173,637,886,783.445438173,817,652,629.445438173,654.554561827,0.448890316002,-0.015633515387,0.0597756667244,0.999999898577,-0.000258752404546,-0.000358509544771,-8.58143585769e-05,1793249637732854784
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,717,682.277459771,663.722540229,637,886,783,817,651.277459771,629,654.277459771,0.449526101195,-0.0156358163376,0.0597056825637,0.999999876175,-0.000172730343743,-0.000462129991099,-6.51888548298e-05,1793249637766188032
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,717.301673307,682,663.698326693,636.698326693,886,783,817,651,629,654.301673307,0.449825954393,-0.0156382708862,0.0596866967009,0.999999868182,-0.000146362989228,-0.000488783233392,-5.74787723148e-05,1793249637782854912
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,717.878126379,682,663.121873621,636.121873621,886,783,817,651,629,654.878126379,0.450117092398,-0.0156417696661,0.0596799220819,0.999999861251,-0.000157622510853,-0.000499012931472,-6.03305935436e-05,1793249637799521280
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.066788484,746,717,682.933211516,663,636,886.933211516,782,817,651.066788484,628.066788484,654,0.452426054841,-0.015643303424,0.0596702429349,0.999999843459,-0.000231513178942,-0.000504731519493,-6.87682150305e-05,1793249638867980800
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.653636102,746,717,682.346363898,663,636,886.346363898,782,817,651.653636102,628.653636102,654,0.452428371613,-0.0156431296813,0.059672125635,0.999999844977,-0.000231579093803,-0.000501664581251,-6.89207633239e-05,1793249638884647424
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.229850346,663,636,886,782,817,651.770149654,628.770149654,654.229850346,0.452426430749,-0.015643175533,0.0596715524776,0.99999984459,-0.000231750990801,-0.000502334879333,-6.90763931308e-05,1793249638901314048
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.790749505,663,636,886,782,817,651.209250495,628.209250495,654.790749505,0.452418357697,-0.0156435376619,0.059667442198,0.999999841445,-0.000232075531722,-0.000508387843711,-6.92364611649e-05,1793249638917980416
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,745.625943701,717,682.625943701,663,636,886,781.625943701,817,651,628.374056299,655,0.452397415164,-0.0156431568899,0.0596585724375,0.999999833825,-0.000231843690595,-0.000523205826622,-6.96682449605e-05,1793249638934647040
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,745.029303062,717,682.029303062,663,636,886,781.029303062,817,651,628.970696938,655,0.452368814573,-0.0156423340506,0.0596468705203,0.999999823232,-0.000231280771107,-0.000543239484332,-7.02617147667e-05,1793249638951313664
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,745.545134599,717,682.545134599,663,636,886,781.545134599,817,651.545134599,629,654.454865401,0.452320269352,-0.0156386171463,0.0596315446284,0.999999809586,-0.000230769227497,-0.000567815490647,-7.18208259773e-05,1793249638967980288
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.289531993,746,717.710468007,682.289531993,663.710468007,636,886,781.289531993,817,652,628.289531993,654,0.452204909833,-0.0156296819852,0.0596048962174,0.999999790156,-0.000225934364157,-0.000602598301255,-7.4275586545e-05,1793249639001313792
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,663.451529211,636,886,782,817,651.451529211,628.548470789,654,0.451954815816,-0.0156160980755,0.0595868639391,0.999999777134,-0.000217002766344,-0.00062701411552,-7.41344296502e-05,1793249639051313920
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,663.972444493,636,886,782,817,651.972444493,628,654,0.451858877605,-0.0156132296457,0.059590413435,0.999999780908,-0.000218113140793,-0.000620737498687,-7.27695711426e-05,1793249639067980288
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,745.815392315,717,682,663,636.184607685,886,782,817,651,628,654,0.451591349756,-0.0155986615122,0.0595943186183,0.999999783547,-0.000211226996729,-0.000619031121251,-7.13420421714e-05,1793249639101313536
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,745.223296671,717,682,663,636.776703329,886,782,817,651,628,654,0.451434654648,-0.0155893873442,0.0595936202516,0.999999781784,-0.000204589708489,-0.000624210140176,-7.02581762819e-05,1793249639117980160
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,717.507654926,682.507654926,663,636.492345074,886.492345074,782,817,652,628.507654926,654.492345074,0.450848849559,-0.0155611907427,0.0595905261676,0.9999997789,-0.00019249402826,-0.000633049756766,-6.62882931018e-05,1793249639167981056
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,717.159148667,682,663.840851333,636.840851333,886.840851333,782.840851333,817,651,629,654,0.449768615516,-0.0155236639768,0.0595781998206,0.999999772334,-0.000174682213201,-0.000648836130069,-6.1885947803e-05,1793249639234646784
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,717.143856641,682,664,636,886,783,817.856143359,651.856143359,628.143856641,655,0.448344757027,-0.0155174326431,0.0595916576374,0.999999792164,-0.000172457892011,-0.000619124108522,-5.11438584735e-05,1793249639301314560
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,664,637,886,783.524478245,816.524478245,651.524478245,629,654,0.446601605292,-0.0154949395109,0.0596822011904,0.999999880379,-7.4069767531e-05,-0.000482427950203,-3.19180200762e-05,1793249639367980544
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.052680031,664,637,885.947319969,783.052680031,816.052680031,651,629,654,0.446100735022,-0.0154852994325,0.059702347863,0.99999989024,-6.84010822844e-05,-0.000462738647052,-2.67183795769e-05,1793249639384647168
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.625120827,664,637,885.374879173,783.625120827,816.625120827,651,629,654,0.445531139922,-0.0154738672215,0.0596913072851,0.999999881316,-5.85594017615e-05,-0.000483041841665,-2.46955205533e-05,1793249639401313792
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,745.61722567,717,682,664,637,886,784,817,651,629.38277433,654,0.443739922133,-0.0154555231394,0.0596818035305,0.999999882715,5.07585685562e-07,-0.000484094199436,-1.49309365529e-05,1793249639451314432
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,745.041881842,717,682,664,637,886,784,817,651,629.958118158,654,0.443154808185,-0.0154531128702,0.0597145765206,0.999999906972,1.69046965027e-05,-0.000430928046274,-8.4921489292e-06,1793249639467981312
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,717.889792393,682,664.110207607,638,885.889792393,784.110207607,816,651,629,654,0.441876459204,-0.015451562864,0.0597776913898,0.999999940749,3.17251076744e-05,-0.000342701298969,7.17727567803e-06,1793249639501314048
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,717.299819249,682,664.700180751,638,885.299819249,784.700180751,816,651,629,654,0.441140569651,-0.0154398215305,0.0597751620091,0.999999932903,7.96331260664e-05,-0.000357408515755,1.05554675718e-05,1793249639517980672
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,745.559101839,717.559101839,682,664,637.559101839,885,785,816,651,630,654,0.438894728137,-0.0154230411465,0.0597924765472,0.999999934403,0.000129491132731,-0.000337448813345,2.35335652858e-05,1793249639567980544
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745,717,681,662.868053406,638,882,785,814.868053406,651,629.868053406,654,0.42587119758,-0.0154056379727,0.0597528079132,0.999999925437,0.000136415229348,-0.000360932515504,1.56191045505e-05,1793249639817979648
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,745,717,681,662.277554406,638,882,785,814.277554406,651,629.277554406,654,0.424995113029,-0.0154072880338,0.0597875642804,0.999999935301,0.000143145131319,-0.00032936458627,2.0638364985e-05,1793249639834646272
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745,717.307040911,681,662,638,881.385918178,785,814,651,629,654,0.424097694296,-0.0154072265964,0.0598115381202,0.999999941993,0.000149681312458,-0.000305003417348,2.41514901743e-05,1793249639851313152
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745,717.886400147,681,662,638,880.227199706,785,814,651,629,654,0.423181354066,-0.0154056472099,0.0598259488032,0.999999946284,0.000156045679931,-0.000287034013776,2.63288054037e-05,1793249639867979776
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745,717.536006534,681,662,638,880,785,814,651,629,653.536006534,0.422305543814,-0.0154046501379,0.0598351350573,0.999999951636,0.000157402756377,-0.000266850222947,2.72751324467e-05,1793249639884646656
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745,717.04095364,681,662,638,880.04095364,785,814,651,629,653,0.421433497867,-0.0154033593397,0.059838869242,0.999999954769,0.000157849463563,-0.000254528475456,2.75683018539e-05,1793249639901313024
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,717.615276805,681,662,638,880.615276805,785,814,651,629,653,0.420481733738,-0.0153963933945,0.0597881926015,0.999999924728,0.000162345528001,-0.000351633998939,2.32651767946e-05,1793249639917979648
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,717.215140158,680.215140158,662,638,879.430280315,785,814,651,629.784859842,653.784859842,0.418715073089,-0.0153907807253,0.0597132487273,0.999999884239,0.000161914513067,-0.000452834755018,1.57261443824e-05,1793249639951313152
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745,717.367876045,680,662,638,879.367876045,785,813.632123955,651,629.632123955,654,0.41788810629,-0.0153935012847,0.0597293250137,0.999999898234,0.000160252045892,-0.000421378955369,1.70874154239e-05,1793249639967979776
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745,717.946848264,680,662,638,879.946848264,785,813.053151736,651,629.053151736,654,0.41707370587,-0.0153981912385,0.0597723125878,0.999999923648,0.00015912085828,-0.000356276690753,2.12386507545e-05,1793249639984646400
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880,785,813,651,629.522343651,653.477656349,0.416294331347,-0.0153979598315,0.0598076273572,0.999999937489,0.000168176807254,-0.000309957099631,2.57852043747e-05,1793249640001313024
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880,785,813,651,629.900539481,653.099460519,0.415521932678,-0.0153972764158,0.0598361391104,0.999999946429,0.000175492986612,-0.000274724163269,2.95269195835e-05,1793249640017979648
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880,785,813,651,629.313755933,653.686244067,0.414766365923,-0.0153968157345,0.0598351185216,0.999999944782,0.000169239450852,-0.000284509519418,2.91294067016e-05,1793249640034646784
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,879.730551288,785,813,651,629.269448712,654,0.414009964471,-0.0153959987007,0.0598350978162,0.999999943855,0.000169742906805,-0.000287459567645,2.9071346339e-05,1793249640051313408
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,879.151459461,785,813,651,629.848540539,654,0.413252603859,-0.0153947721564,0.0598362261499,0.999999943805,0.000178011313908,-0.000282554665642,2.94033755888e-05,1793249640067980032
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.996534736,717.003465264,679.996534736,661.996534736,638,880,785,813,651,629,654,0.4116609563,-0.0153786717833,0.0597564977393,0.999999893104,0.000186978847578,-0.000422320923139,2.18151659766e-05,1793249640101313536
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.4217783,717.5782217,679.4217783,661.4217783,638,880,785,813,651,629,654,0.410992771213,-0.0153770382344,0.0597430353528,0.999999889439,0.000192484876622,-0.000428619899027,1.8901666192e-05,1793249640117980160
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.156705357,661.156705357,638,879.843294643,785,813.156705357,651,629,653.843294643,0.410347612923,-0.0153782221178,0.0597448322758,0.999999894548,0.000193450651421,-0.000416116209127,1.81370798994e-05,1793249640134646528
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.745465525,661.745465525,638,879.254534475,785,813.745465525,651,629,653.254534475,0.409765942026,-0.0153871739879,0.0597887008781,0.999999921314,0.000181898420378,-0.000351771393145,2.32972961881e-05,1793249640151313408
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.670568713,638,879,785,813.670568713,651,629.329431287,653.329431287,0.409184087955,-0.0153907374082,0.0598248469788,0.999999939523,0.00018018713892,-0.000296220560365,2.72175049979e-05,1793249640167980544
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.090254237,638,879,785,813.090254237,651,629.909745763,653.909745763,0.408602094422,-0.0153901971756,0.0598551118934,0.999999951656,0.000185970376558,-0.000247366917498,3.01933677693e-05,1793249640184648192
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638,878.515535148,785,813,651,629.515535148,653.515535148,0.408016943221,-0.0153863682848,0.0598490069056,0.999999948576,0.000191559576063,-0.000255530326999,2.92630141156e-05,1793249640201315072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.94172213,745,718,679.94172213,661,637.94172213,878.05827787,785,813,651,629,653,0.407436980728,-0.0153822109192,0.0598358786252,0.999999942631,0.000196188906207,-0.000274748198892,2.75984057403e-05,1793249640217981440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.366806009,745,718,679.366806009,661,637.366806009,878.633193991,785,813,651,629,653,0.406908171994,-0.0153805109222,0.0598198686658,0.999999936452,0.00019262571558,-0.000298874227682,2.58021676404e-05,1793249640234647808
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.215020137,745,718,679,661,637.215020137,879,785,813,651,629,653.215020137,0.406407156342,-0.0153810161918,0.0598115874558,0.999999934732,0.000184865480496,-0.000309436935836,2.47083484205e-05,1793249640251314176
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,878.609734431,785,813,651,629,654,0.405517411601,-0.0153837566301,0.0598205343388,0.999999939267,0.000193282329488,-0.000288906000763,2.53416923283e-05,1793249640284647168
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,878.034543157,785,813,651,629,654,0.405086477521,-0.0153792410061,0.0598233177452,0.999999931492,0.00023521011731,-0.000284635435493,2.59942195466e-05,1793249640301314048
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.534231283,638,878.534231283,785,813,651.534231283,629,654,0.404673178472,-0.0153791667992,0.0598076023549,0.999999927184,0.000227785751939,-0.0003050739168,2.59791307658e-05,1793249640317980928
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,744.294799108,718,679,661.294799108,637.294799108,879,784.294799108,813,651.294799108,629.705200892,654,0.403895222494,-0.0153775821813,0.0597670117084,0.999999906599,0.000219425148622,-0.000371585531549,2.40584858625e-05,1793249640351314688
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,744.292578991,717.707421009,679,661,637.292578991,879,784,813.292578991,651.292578991,629.707421009,654,0.403565412331,-0.0153765203542,0.0597589605278,0.999999901289,0.00022413262553,-0.000382901207498,2.39584191736e-05,1793249640367981056
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,744.870222295,717.129777705,679,661,637.870222295,879,784,813.870222295,651.870222295,629.129777705,654,0.403277562808,-0.0153758735515,0.0597651372608,0.999999905795,0.000233172788551,-0.000365238997295,2.53069747115e-05,1793249640384647424
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,717.4475012,679,661,638,879,784.4475012,813.5524988,651.5524988,629,653.5524988,0.403029789704,-0.0153756857409,0.0597833348255,0.999999915984,0.000235939197739,-0.000334048328374,2.78771996961e-05,1793249640401314048
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.975341922,661.024658078,638,879,785,813,651,629.024658078,653.024658078,0.402794489317,-0.0153756790509,0.0598047650115,0.999999926658,0.000236853434,-0.000299392723553,3.08011347554e-05,1793249640417980672
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.398552901,661.601447099,638,879,785,813,651,629.601447099,653.601447099,0.402578441105,-0.0153767498125,0.059820582854,0.999999933554,0.000237001179237,-0.000274929633732,3.37185277683e-05,1793249640434647296
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,638,878.818294066,785,813,651,630,653.818294066,0.402369091134,-0.0153762940223,0.0598312358044,0.999999938755,0.000232582020153,-0.000259246131351,3.44407847641e-05,1793249640451313920
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,638,878.230276479,785,813,651,630,653.230276479,0.402174719097,-0.015372424718,0.0598303395652,0.999999941155,0.000217950831275,-0.00026319462044,3.02545096453e-05,1793249640467980800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.351706777,661.648293223,638,878.351706777,785,813,651.351706777,629.648293223,653,0.401993286397,-0.0153735662598,0.0598260669058,0.999999945278,0.000184201756612,-0.000273917929172,2.19650134732e-05,1793249640484647936
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.929805817,661.070194183,638,878.929805817,785,813,651.929805817,629.070194183,653,0.401820182678,-0.0153779332632,0.0598196208579,0.999999948636,0.000138146572634,-0.000289002162413,1.103428967e-05,1793249640501314816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.492359422,661.507640578,637.492359422,878.492359422,785,813,651.492359422,629.507640578,653.507640578,0.401683945185,-0.0153863424682,0.0598197832389,0.999999945325,0.00015634098232,-0.000291171099072,1.12432322844e-05,1793249640517980928
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.913549721,745,718,678,662,637.086450279,878,785,813,651,629.913549721,654,0.401557481643,-0.0153943641312,0.0598215129691,0.99999994143,0.000180147877804,-0.00029071848818,1.29956934932e-05,1793249640534647296
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.25483116,745,718,678.25483116,661.74516884,638,878.25483116,785,813.25483116,651,629.25483116,654,0.401367257637,-0.015396769136,0.0598301949685,0.999999942437,0.000188752551355,-0.000281503221599,1.59696799193e-05,1793249640567980288
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.837420184,745,718,678.837420184,661.162579816,638,878.837420184,785,813.837420184,651,629.837420184,654,0.401287822378,-0.0153930898372,0.0598303999402,0.999999942697,0.000190634190999,-0.000279275204777,1.64264173471e-05,1793249640584647168
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.584211541,661,637.584211541,878.584211541,784.584211541,813.584211541,651,629.584211541,654,0.401223789913,-0.0153905705855,0.0598317081071,0.999999943068,0.000192122358333,-0.000276880436283,1.70183342549e-05,1793249640601313792
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.007477074,661,637.007477074,878.007477074,784.007477074,813.007477074,651,629.007477074,654,0.401165719661,-0.0153885003722,0.0598334433057,0.999999943477,0.000193458217889,-0.000274421120555,1.76625772742e-05,1793249640617980672
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.563531163,661.563531163,637,878.563531163,784,813,651,629.563531163,654,0.401121182744,-0.0153912599682,0.059832769993,0.999999943931,0.000188132039323,-0.00027640787539,1.85135034969e-05,1793249640634647552
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..152dd14e07836c789cccc4881194fc87aaffeb4c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,402 @@
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+377,6.283333333,pose2_to_pose3_retreat,0.575685396315,-0.00985003340635,1.05003343358,0.546256076206,-0.00117739488695,1.0497048262
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+380,6.333333333,pose2_to_pose3_retreat,0.57567146791,-0.00984991770901,1.05003343843,0.54624214777,-0.00117727919198,1.04970483381
+381,6.350000000,pose2_to_pose3_retreat,0.575669745709,-0.00984992471262,1.05003349511,0.546240424945,-0.00117728844719,1.04970488682
+382,6.366666667,pose2_to_pose3_retreat,0.575668439168,-0.00984992178983,1.05003351696,0.546239117839,-0.00117728747854,1.04970490764
+383,6.383333333,pose2_to_pose3_retreat,0.575667527714,-0.00984988819324,1.05003345116,0.546238205639,-0.00117725618761,1.04970484778
+384,6.400000000,pose2_to_pose3_retreat,0.575666706504,-0.00984985792312,1.05003339187,0.546237383757,-0.00117722799487,1.04970479385
+385,6.416666667,pose2_to_pose3_retreat,0.575666092039,-0.00984983527368,1.05003334751,0.54623676879,-0.00117720689981,1.0497047535
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+387,6.450000000,pose2_to_pose3_retreat,0.57566587447,-0.00984984282401,1.05003337843,0.546236551331,-0.00117721408595,1.0497047841
+388,6.466666667,pose2_to_pose3_retreat,0.57566582236,-0.00984985044323,1.05003340323,0.546236499356,-0.00117722127662,1.04970480818
+389,6.483333333,pose2_to_pose3_retreat,0.575665698147,-0.00984986860511,1.05003346236,0.546236375463,-0.00117723841697,1.04970486559
+390,6.500000000,pose2_to_pose3_retreat,0.57566565471,-0.00984987495629,1.05003348304,0.546236332138,-0.00117724441093,1.04970488567
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+396,6.600000000,pose2_to_pose3_retreat,0.575665062526,-0.00984996154251,1.05003376494,0.546235741481,-0.00117732612702,1.04970515935
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..410e5d1d4aaa5ebee252712fc6afe7e406e6f3cc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e63dbec86dd8fe0b507f2b549c1fc84644967df6dd635b812cd825e9cb0dc473
+size 25648485
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a2623b3239b7826fadf1bac765018a8fa544cea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/franka_data.csv
@@ -0,0 +1,405 @@
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+11,0.183333333,BASELINE,767,745,718,678.604934197,661.395065803,637.395065803,878.395065803,784,813,651,629,653.395065803,0.400972860523,-0.0153950242261,0.0598398866144,0.999999947773,0.000185662697017,-0.000263889037221,1.85744163842e-05,1793249641433839104
+12,0.200000000,BASELINE,767,745,718,678.028409565,661.971590435,637.971590435,878.971590435,784,813,651,629,653.971590435,0.400972595918,-0.0153967348798,0.0598387677744,0.999999947528,0.000184541672234,-0.000265584325352,1.88213393623e-05,1793249641450505216
+13,0.216666667,BASELINE,767,745,718,678.545024818,661.454975182,637.454975182,878.454975182,784,813,651,629,653.454975182,0.400972783176,-0.0153959361567,0.0598397430846,0.999999947491,0.000185801132102,-0.000264839933143,1.88597400999e-05,1793249641467171840
+14,0.233333333,BASELINE,767,745,718,679,661.121909479,637,878,784,813,651,629,653.121909479,0.400973120077,-0.015395398415,0.0598406921483,0.999999947577,0.000186595050318,-0.000263947028995,1.89602310906e-05,1793249641483838976
+15,0.250000000,BASELINE,767,745,718,679,661.71268001,637,878,784,813,651,629,653.71268001,0.400973942424,-0.0153963646271,0.0598411228161,0.999999948101,0.000185123975075,-0.000262969282652,1.93410870858e-05,1793249641500505856
+16,0.266666667,BASELINE,767,745,718,678.702623067,661.702623067,637,878.297376933,784,813,651,629.297376933,654,0.400973532378,-0.0153968251604,0.0598412758437,0.999999948429,0.000183410333093,-0.000262927780737,1.92835587939e-05,1793249641517172736
+17,0.283333333,BASELINE,767,745,718,678.123676933,661.123676933,637,878.876323067,784,813,651,629.876323067,654,0.400971955451,-0.0153968068955,0.0598411659895,0.99999994857,0.000181467018632,-0.000263772755158,1.88109494824e-05,1793249641533839616
+18,0.300000000,BASELINE,766.545950445,745,718,678.454049555,661.454049555,637.454049555,878.545950445,784.454049555,813,651,629.545950445,653.545950445,0.400973210518,-0.015396440583,0.059841502213,0.999999948742,0.000182286337395,-0.000262556997691,1.87264107281e-05,1793249641550505984
+19,0.316666667,BASELINE,766.031179655,745,718,679,662,637.968820345,878,785,813,651,629.031179655,653,0.400975093362,-0.0153959595351,0.0598419444132,0.999999948893,0.000183812217084,-0.000260914466788,1.87424674886e-05,1793249641567172608
+20,0.333333333,BASELINE,766.603707805,745,718,679,662,637.396292195,878,785,813,651,629.603707805,653,0.400974518551,-0.0153951280142,0.0598421226526,0.999999948579,0.000184575427613,-0.00026158177608,1.86747261999e-05,1793249641583839232
+21,0.350000000,BASELINE,767,745,718,678.81692084,662,637,878,785,813,651,630,653,0.400974111879,-0.0153948569733,0.0598422432035,0.999999948399,0.000184917501828,-0.000262018683633,1.87970589689e-05,1793249641600505856
+22,0.366666667,BASELINE,767,745,718,678.22216162,662,637,878,785,813,651,630,653,0.400974083292,-0.0153958462529,0.0598422340335,0.999999948522,0.000184312589827,-0.000261937499351,1.93468008493e-05,1793249641617172224
+23,0.383333333,BASELINE,766.639665068,745,718,678,661.639665068,637.360334932,878.360334932,785,813,651,629.639665068,653.360334932,0.400973067168,-0.0153951652596,0.0598415683596,0.99999994799,0.000185784216145,-0.000262930837534,1.92794103541e-05,1793249641633839104
+24,0.400000000,BASELINE,766.064480087,745,718,678,661.064480087,637.935519913,878.935519913,785,813,651,629.064480087,653.935519913,0.400971462224,-0.0153934883647,0.0598405112446,0.99999994706,0.000188493980375,-0.000264564860763,1.88440541386e-05,1793249641650505984
+25,0.416666667,BASELINE,766,745,718,678,661,637.488782304,878.488782304,784.488782304,813,651,629.511217696,654,0.400972486889,-0.0153938291842,0.0598412186403,0.999999947869,0.000186303564179,-0.0002630752242,1.85802776729e-05,1793249641667172608
+26,0.433333333,BASELINE,766.089127095,745,718,678,661,637.089127095,878.089127095,784,813,651,630,654,0.400973522121,-0.01539457613,0.0598419181213,0.999999948707,0.000183726135588,-0.00026170600401,1.84338177033e-05,1793249641683838720
+27,0.450000000,BASELINE,766.679100992,745,718,678,661,637.679100992,878.679100992,784,813,651,630,654,0.400972751029,-0.0153961737267,0.0598413212109,0.999999948534,0.000182450567171,-0.000263229687163,1.88248784882e-05,1793249641700505344
+28,0.466666667,BASELINE,766.735973386,745,718,678.264026614,661,638,879,784.264026614,813,651,629.735973386,654,0.400972752364,-0.0153970562457,0.0598414366262,0.999999948559,0.000181965183681,-0.000263453842051,1.90226590854e-05,1793249641717172224
+29,0.483333333,BASELINE,766.157068375,745,718,678.842931625,661,638,879,784.842931625,813,651,629.157068375,654,0.400973674897,-0.0153970859621,0.0598424015619,0.999999948825,0.000182422175582,-0.000262128178178,1.89899335197e-05,1793249641733838848
+30,0.500000000,BASELINE,766.418461621,745,717.581538379,679,661,637.581538379,878.581538379,785,813,651.418461621,629,654,0.400973995208,-0.0153966922065,0.0598425924948,0.999999948746,0.000183340296197,-0.000261789818704,1.89990810742e-05,1793249641750505216
+31,0.516666667,BASELINE,766.992734937,745,717.007265063,679,661,637.007265063,878.007265063,785,813,651.992734937,629,654,0.400974091285,-0.0153961407736,0.0598424952324,0.999999948537,0.000184430115338,-0.000261819076178,1.90238198366e-05,1793249641767171840
+32,0.533333333,BASELINE,767,745,717.568583107,679,661,637.568583107,878,785,813,651.431416893,629.568583107,653.431416893,0.400974701917,-0.0153967661531,0.0598433558735,0.999999948742,0.000184905985883,-0.000260679554045,1.92715462217e-05,1793249641783838464
+33,0.550000000,BASELINE,767,745,718,678.851905063,661.148094937,638,878,785,813,651,630,653.148094937,0.400975156438,-0.0153968142941,0.0598438094099,0.999999948872,0.000185429387119,-0.000259801318181,1.93584051275e-05,1793249641800505344
+34,0.566666667,BASELINE,767,745,718,678.261511766,661.738488234,638,878,785,813,651,630,653.738488234,0.400975125033,-0.0153950934295,0.0598430104361,0.999999948766,0.000186118236808,-0.000259748162383,1.8956286241e-05,1793249641817171968
+35,0.583333333,BASELINE,767,745,717.677278286,678.322721714,661.677278286,638,878,785,813,650.677278286,629.677278286,654,0.400974158125,-0.0153956013441,0.0598423471752,0.999999948718,0.000184850250905,-0.000260840568894,1.8882303004e-05,1793249641833838592
+36,0.600000000,BASELINE,767,745,717.097942753,678.902057247,661.097942753,638,878,785,813,650.097942753,629.097942753,654,0.400972447346,-0.0153978814838,0.059841791827,0.999999948708,0.000182026277258,-0.000262843875118,1.90692384608e-05,1793249641850505216
+37,0.616666667,BASELINE,767,745,717.477435267,679,661,637.522564733,878.477435267,784.522564733,813,650.477435267,629.477435267,654,0.400973975759,-0.0153979347303,0.0598422843763,0.999999948964,0.000182959721425,-0.000261209953834,1.91727777035e-05,1793249641867171840
+38,0.633333333,BASELINE,767,745,718,679,661,637,878.947977753,784,813,651,629.947977753,653.947977753,0.400975807142,-0.0153973958429,0.059842880067,0.999999949147,0.000184744252475,-0.000259241990866,1.92262262864e-05,1793249641883838464
+39,0.650000000,BASELINE,767,745,718,679,661,637,878.373248272,784,813,651,629.373248272,653.373248272,0.400974060857,-0.015395459745,0.059842369893,0.999999948109,0.000187399059169,-0.000261353196034,1.89468617284e-05,1793249641900505088
+40,0.666666667,BASELINE,767,745,718,678.792815492,661,637.207184508,878.207184508,784.207184508,813,651,629.207184508,653,0.400973181763,-0.0153953008655,0.0598421647969,0.999999947958,0.000186759822113,-0.000262390623744,1.8866719515e-05,1793249641917171712
+41,0.683333333,BASELINE,767,745,718,678.201817263,661,637.798182737,878.798182737,784.798182737,813,651,629.798182737,653,0.400973909159,-0.0153984343209,0.0598425248637,0.999999949438,0.000180018298581,-0.000261438855674,1.91556409613e-05,1793249641933838592
+42,0.700000000,BASELINE,767,745,718,678,661.380867119,637.619132881,879,784.619132881,813,651,630,653.380867119,0.400973981986,-0.015398855674,0.0598421908004,0.999999949654,0.000179005957552,-0.000261311800862,1.9119586128e-05,1793249641950505216
+43,0.716666667,BASELINE,767,745,718,678,661.959240177,637.040759823,879,784.040759823,813,651,630,653.959240177,0.400973715374,-0.0153978706143,0.0598414967825,0.999999949226,0.000180964594061,-0.000261612416938,1.89150086117e-05,1793249641967172096
+44,0.733333333,BASELINE,767,745,718,678,661.465080713,637,878.465080713,784,813,651,629.465080713,654,0.400972330908,-0.0153992255341,0.0598416695315,0.999999949244,0.00017962154828,-0.000262462139853,1.90183593077e-05,1793249641983838720
+45,0.750000000,BASELINE,767,745,718,678,661,637,878,784.112244667,813,651,629.112244667,654,0.400971404615,-0.0153998995575,0.0598419098085,0.999999949187,0.000179089520809,-0.000263038894868,1.9065213472e-05,1793249642000505600
+46,0.766666667,BASELINE,767,745,718,678,661,637,878,784.697365943,813,651,629.697365943,654,0.400972765612,-0.0153969576201,0.059842157723,0.999999948676,0.000183028820923,-0.000262290272032,1.87756984013e-05,1793249642017172736
+47,0.783333333,BASELINE,766.718552518,745,718,678,661.281447482,637.281447482,878,784.718552518,813,651,630,653.718552518,0.400973740665,-0.0153960768283,0.0598425762668,0.999999948651,0.000184225774189,-0.000261551154235,1.86798962672e-05,1793249642033839360
+48,0.800000000,BASELINE,766.135584799,745,718,678,661.864415201,637.864415201,878,784.135584799,813,651,630,653.135584799,0.400974302248,-0.015397404182,0.0598431776091,0.999999949159,0.000182484797691,-0.000260822219286,1.87916225865e-05,1793249642050505728
+49,0.816666667,BASELINE,766.441775245,745,718,678.441775245,661.558224755,637.558224755,878.441775245,784.441775245,813,651,630,653.441775245,0.400975176397,-0.015396299787,0.0598436347478,0.999999949335,0.000182995003071,-0.000259799893976,1.86178772793e-05,1793249642067172352
+50,0.833333333,BASELINE,767,745,718,678.982701521,661.017298479,637,879,785,813,651,629.982701521,654,0.400976093577,-0.0153945186559,0.0598440153864,0.999999949398,0.000184175964856,-0.000258738788659,1.83709792826e-05,1793249642083839232
+51,0.850000000,BASELINE,767,745,718,678.411574089,661.588425911,637,879,785,813,651,629.411574089,654,0.400975355629,-0.0153946659978,0.0598433459849,0.999999949104,0.000184989017825,-0.000259282821355,1.85519091909e-05,1793249642100506112
+52,0.866666667,BASELINE,767.166042344,745,718,678,661.833957656,637.166042344,879,785,813,651,629.166042344,654,0.400974786844,-0.0153949690657,0.0598428573888,0.999999948856,0.0001855234266,-0.000259843878841,1.87061919949e-05,1793249642117172992
+53,0.883333333,BASELINE,767.760397374,745,718,678,661.239602626,637.760397374,879,785,813,651,629.760397374,654,0.400974654422,-0.0153956738346,0.0598428351868,0.999999948731,0.000185339061792,-0.000260448852397,1.87917375464e-05,1793249642133839616
+54,0.900000000,BASELINE,767.654764127,745,718,678.345235873,661,637.654764127,878.654764127,785,813,651,630,653.654764127,0.40097228715,-0.0153959124887,0.059841571079,0.999999948251,0.000184315115868,-0.000263019661441,1.86176085184e-05,1793249642150506240
+55,0.916666667,BASELINE,767.076353192,745,718,678.923646808,661,637.076353192,878.076353192,785,813,651,630,653.076353192,0.400968410444,-0.0153958363252,0.059839468178,0.999999947516,0.000182724110169,-0.000266918211419,1.82680932051e-05,1793249642167172864
+56,0.933333333,BASELINE,767,745,717.501567762,678.501567762,661,637,878.498432238,785,813,651,629.501567762,653.498432238,0.400970726283,-0.0153963466214,0.0598407657458,0.99999994834,0.000182320550647,-0.000264072954645,1.85589103805e-05,1793249642183839488
+57,0.950000000,BASELINE,767,745,717.074405266,678.074405266,661,637.074405266,879,785,813,651,629.074405266,654,0.400973591759,-0.0153968726261,0.0598423597788,0.999999949245,0.000182067856582,-0.000260777026553,1.88597297604e-05,1793249642200506112
+58,0.966666667,BASELINE,767,745,717.662380971,678.662380971,661,637.662380971,879,785,813,651,629.662380971,654,0.40097375064,-0.0153968914423,0.0598424306042,0.999999949159,0.000181610011639,-0.000261449463779,1.85574233301e-05,1793249642217172736
+59,0.983333333,BASELINE,767,745,718,678.753440781,661.246559219,638,879,784.753440781,813,651,630,653.753440781,0.400973676396,-0.0153969535077,0.0598423945845,0.999999949075,0.000181629918853,-0.000261765696228,1.84455548842e-05,1793249642233839104
+60,1.000000000,BASELINE,767,745,718,678.174383519,661.825616481,638,879,784.174383519,813,651,630,653.174383519,0.400973287771,-0.015397073897,0.0598422144785,0.999999948994,0.000182294099853,-0.000261601567941,1.859050201e-05,1793249642250505984
+61,1.016666667,BASELINE,767,745,718,678,661.612068375,638,879,784.387931625,813,651.387931625,630,653.387931625,0.400973570375,-0.0153967486811,0.059842536796,0.999999949067,0.000182927828537,-0.000260872399942,1.86842420309e-05,1793249642267172864
+62,1.033333333,BASELINE,767,745,718,678,661.056967839,638,879,784.943032161,813,651.943032161,630,653.943032161,0.400974142228,-0.0153962314433,0.0598430756195,0.999999949205,0.000183548434557,-0.00025989974298,1.87559156908e-05,1793249642283839488
+63,1.050000000,BASELINE,766.462745345,745,717.462745345,678,661,637.462745345,879,785,813,652,630,654,0.400973342336,-0.0153965708596,0.0598422106035,0.999999948821,0.000184098765101,-0.000260989005601,1.87309889969e-05,1793249642300505600
+64,1.066666667,BASELINE,766.133709018,745,717.133709018,678.133709018,661.133709018,637.133709018,879,785,813.133709018,652,630,654,0.400972965867,-0.015397049005,0.0598417303011,0.999999948647,0.000184251015029,-0.000261551188532,1.86882234156e-05,1793249642317172224
+65,1.083333333,BASELINE,766.722531366,745,717.722531366,678.722531366,661.722531366,637.722531366,879,785,813.722531366,652,630,654,0.400974564602,-0.0153976658863,0.0598431059344,0.999999949394,0.000183075649971,-0.000259516689188,1.86223415352e-05,1793249642333838848
+66,1.100000000,BASELINE,767,745.307336592,718,679,662,638,879,785,813.692663408,652,630,654,0.400975117075,-0.0153975233711,0.0598433786408,0.999999949607,0.000182614975757,-0.000259010777974,1.87289568788e-05,1793249642350505472
+67,1.116666667,BASELINE,767,745.888561857,718,679,662,638,879,785,813.111438143,652,630,654,0.400974737153,-0.0153967041057,0.0598426684534,0.999999949348,0.00018279121153,-0.00025986709637,1.89892963081e-05,1793249642367171840
+68,1.133333333,BASELINE,767,745.538043825,718,679,662,637.538043825,878.538043825,785,813,651.538043825,630,653.538043825,0.400974429052,-0.0153961645056,0.0598428067063,0.999999949102,0.000184100743076,-0.000259887166827,1.90183964599e-05,1793249642383839232
+69,1.150000000,BASELINE,767,745,718,679,661.966290883,637.033709117,878.033709117,785,813,651,629.966290883,653.033709117,0.400974111644,-0.0153957398424,0.0598430804113,0.999999948884,0.000185470252886,-0.000259756107037,1.89863256175e-05,1793249642400506112
+70,1.166666667,BASELINE,767,745,718,679,661.391065484,637.608934516,878.608934516,785,813,651,629.391065484,653.608934516,0.400973371032,-0.0153960958702,0.0598422969773,0.999999949089,0.000183484702694,-0.000260383865152,1.88527478918e-05,1793249642417172480
+71,1.183333333,BASELINE,767,745,718,679,661,637.809874532,878.809874532,784.809874532,813,651,629,653.809874532,0.400973061064,-0.0153966071101,0.0598419003991,0.999999949265,0.000182177358632,-0.00026063531104,1.87439821912e-05,1793249642433839104
+72,1.200000000,BASELINE,767,745,718,679,661,637.216015557,878.216015557,784.216015557,813,651,629,653.216015557,0.400973665572,-0.0153974479447,0.059842325313,0.999999949384,0.000182310192329,-0.000260087653922,1.86879050725e-05,1793249642450505728
+73,1.216666667,BASELINE,767,745.365676708,718,678.634323292,661.365676708,637,878,784.365676708,813,651,629.365676708,653.365676708,0.400974016995,-0.0153973661444,0.0598429796305,0.999999949447,0.000182566167414,-0.000259666688652,1.86578397306e-05,1793249642467172096
+74,1.233333333,BASELINE,767,745.940413151,718,678.059586849,661.940413151,637,878,784.940413151,813,651,629.940413151,653.940413151,0.400974223728,-0.0153967568677,0.0598437650995,0.999999949478,0.000182892543217,-0.000259318153962,1.86426454928e-05,1793249642483838720
+75,1.250000000,BASELINE,766.48464703,745.48464703,718,678,661.48464703,637.51535297,878,785,813,651,629.48464703,654,0.400974840403,-0.015397731116,0.0598437827259,0.999999950086,0.000180341711247,-0.000258759207069,1.86494752009e-05,1793249642500505600
+76,1.266666667,BASELINE,766.093039601,745,718,678,661,637.906960399,878.093039601,784.906960399,813,651,629,654,0.400975153135,-0.0153987498307,0.0598435898539,0.999999950586,0.000177877022698,-0.000258533664629,1.8663141568e-05,1793249642517172224
+77,1.283333333,BASELINE,766.685339674,745,718,678,661,637.314660326,878.685339674,784.314660326,813,651,629,654,0.400973580428,-0.015399024275,0.0598427440185,0.999999950184,0.000177660449951,-0.000260227807501,1.86998240841e-05,1793249642533838848
+78,1.300000000,BASELINE,767,745,718,678,661.271220536,637.271220536,878.728779464,784.271220536,813,651,629.271220536,653.728779464,0.400972743991,-0.0153989295152,0.0598425393266,0.999999949995,0.000177863612868,-0.000260817984776,1.86509853839e-05,1793249642550505984
+79,1.316666667,BASELINE,767,745,718,678,661.84982621,637.84982621,878.15017379,784.84982621,813,651,629.84982621,653.15017379,0.400972741997,-0.0153984163218,0.0598430612684,0.999999950049,0.000178542479103,-0.000260156993342,1.85052220485e-05,1793249642567172864
+80,1.333333333,BASELINE,767,745,718,678,662,638,878.408135966,785,813,651,630,653.408135966,0.400973519061,-0.0153964407102,0.0598429471216,0.999999949238,0.000183253626333,-0.000259996361385,1.85614865059e-05,1793249642583839232
+81,1.350000000,BASELINE,767,745,718,678,662,638,878.959331648,785,813,651,630,653.959331648,0.4009745692,-0.0153939524922,0.0598426100132,0.99999994809,0.000189378167738,-0.000260011115244,1.86885656823e-05,1793249642600505600
+82,1.366666667,BASELINE,767,745,718,678,661.447867105,638,879,785,813,651.552132895,630,654,0.400973905257,-0.0153951735371,0.0598427675409,0.999999948813,0.000185285312158,-0.000260174090745,1.88066541745e-05,1793249642617171968
+83,1.383333333,BASELINE,767,745,718,678.148130526,661.148130526,638,879,785,813,651.851869474,629.851869474,654,0.400972986792,-0.0153969101786,0.0598428762125,0.999999949534,0.000180952711323,-0.000260438889073,1.89453651325e-05,1793249642633838848
+84,1.400000000,BASELINE,767,745,718,678.743772138,661.743772138,638,879,785,813,651.256227862,629.256227862,654,0.400971711901,-0.0153993118114,0.05984271825,0.999999949857,0.000178354703254,-0.000260975629801,1.91485414718e-05,1793249642650505472
+85,1.416666667,BASELINE,767,745,718,679,662,638,879,785,813,651.328069869,629,654,0.400972085833,-0.015399388035,0.0598429520118,0.999999950033,0.000177936991288,-0.000260595581526,1.90520137699e-05,1793249642667172352
+86,1.433333333,BASELINE,767,745,718,679,662,638,879,785,813,651.903803921,629,654,0.400973704484,-0.015397708777,0.0598434814914,0.999999950098,0.00017916521318,-0.000259523437352,1.87292356021e-05,1793249642683839232
+87,1.450000000,BASELINE,767,745,718,678.518955525,661.518955525,637.518955525,879,785,813,651.518955525,629,653.518955525,0.400973775446,-0.0153977452316,0.0598432386402,0.999999950056,0.000179608815553,-0.000259378715645,1.87268677018e-05,1793249642700505600
+88,1.466666667,BASELINE,767,745,718,678.059553285,661.059553285,637.059553285,879,785,813,651,629,653.059553285,0.400973587536,-0.0153980808205,0.0598428832966,0.999999949961,0.000180052963029,-0.000259431059537,1.88012970471e-05,1793249642717171968
+89,1.483333333,BASELINE,767,745,718,678.64661921,661.64661921,637.64661921,879,785,813,651,629,653.64661921,0.400973856658,-0.0153980174492,0.0598429038649,0.999999949585,0.000181896124632,-0.000259581044839,1.8986647966e-05,1793249642733838592
+90,1.500000000,BASELINE,767,745,718,678.768195734,662,638,878.768195734,785,813,651,629.231804266,653.768195734,0.400973706744,-0.0153979240215,0.0598429901506,0.999999949317,0.000183034508633,-0.000259811197282,1.90216549103e-05,1793249642750505216
+91,1.516666667,BASELINE,767,745,718,678.185854997,662,638,878.185854997,785,813,651,629.814145003,653.185854997,0.400972923162,-0.0153977851424,0.0598431758148,0.999999949216,0.000183107121516,-0.000260162579174,1.88293103441e-05,1793249642767171840
+92,1.533333333,BASELINE,767,744.607950409,718,678,661.607950409,637.607950409,878.392049591,785,813,651,630,653.392049591,0.400973934123,-0.015397692135,0.0598438448551,0.999999949676,0.000182790232513,-0.000258615086013,1.8804228013e-05,1793249642783838464
+93,1.550000000,BASELINE,767,744.032125239,718,678,661.032125239,637.032125239,878.967874761,785,813,651,630,653.967874761,0.400975786287,-0.0153976206302,0.0598447404807,0.999999950394,0.000182290762187,-0.000256177483905,1.88575508327e-05,1793249642800505088
+94,1.566666667,BASELINE,766.456562308,744.543437692,718,678.543437692,661.543437692,637.543437692,879,785,813,651,629.456562308,654,0.400974165749,-0.0153966378086,0.0598430955662,0.999999949687,0.000182489833928,-0.000258793775142,1.86784810951e-05,1793249642817171968
+95,1.583333333,BASELINE,766.121807,745,718,678.878193,661.878193,637.878193,878.878193,784.878193,813,651,629,654,0.400972814883,-0.0153962723443,0.0598417990275,0.999999949173,0.000182206094114,-0.000260978352513,1.8602206122e-05,1793249642833838592
+96,1.600000000,BASELINE,766.711004382,745,718,678.288995618,661.288995618,637.288995618,878.288995618,784.288995618,813,651,629,654,0.40097328612,-0.0153984823816,0.0598424152517,0.999999949742,0.000179911364137,-0.000260360553307,1.89730575105e-05,1793249642850505216
+97,1.616666667,BASELINE,766.70503845,745,718,678,661.29496155,637.29496155,878,784.29496155,813,651,629,654,0.40097331948,-0.0153995682228,0.0598426368074,0.999999949886,0.000179163374464,-0.000260308662082,1.91765968328e-05,1793249642867171840
+98,1.633333333,BASELINE,766.126125918,745,718,678,661.873874082,637.873874082,878,784.873874082,813,651,629,654,0.400972931306,-0.0153995718327,0.059842478427,0.999999949624,0.000179904387227,-0.000260801554192,1.921906963e-05,1793249642883838464
+99,1.650000000,BASELINE,766.449880713,745,718,678,661.550119287,638,878,785,813,651,629.449880713,654,0.400973731993,-0.0153993933676,0.0598432703742,0.99999995013,0.000178662228949,-0.000259727778744,1.90000810972e-05,1793249642900505088
+100,1.666666667,BASELINE,767,745,718,678,661.025074821,638,878,785,812.974925179,651,629.974925179,654,0.400974805727,-0.0153991128192,0.0598442633793,0.999999950781,0.000177104971098,-0.00025830486786,1.87270368006e-05,1793249642917171712
+101,1.683333333,BASELINE,767,745,718,678,661.600201732,638,878,785,812.399798268,651,629.399798268,654,0.400974604615,-0.0153977054932,0.0598438599005,0.999999949998,0.000180753718972,-0.000258796292976,1.886586129e-05,1793249642933838592
+102,1.700000000,BASELINE,766.820196779,745,718,678,662.179803221,638,878,785,812.179803221,651,629,653.820196779,0.400974129227,-0.0153966843468,0.0598432112144,0.999999949312,0.000183661244337,-0.000259398377843,1.88688373365e-05,1793249642950505216
+103,1.716666667,BASELINE,766.230392079,745,718,678,662.769607921,638,878,785,812.769607921,651,629,653.230392079,0.400973028416,-0.015396543798,0.0598420033869,0.999999948872,0.00018487857521,-0.000260252797737,1.85620410367e-05,1793249642967171840
+104,1.733333333,BASELINE,766.352081896,744.647918104,718,678,662.295836208,638,878,785,813,651,629,653.352081896,0.400973158492,-0.0153964656063,0.0598423857586,0.999999949082,0.000184334665062,-0.000259855655323,1.82184973762e-05,1793249642983838464
+105,1.750000000,BASELINE,766.929856758,744.070143242,718,678,661.140286484,638,878,785,813,651,629,653.929856758,0.400974077596,-0.0153964273871,0.0598437874861,0.999999949706,0.000182661757168,-0.000258656231445,1.78513977432e-05,1793249643000505344
+106,1.766666667,BASELINE,767,744.505521075,718,678.505521075,661.505521075,637.494478925,878,784.494478925,813,651,629,654,0.400974189891,-0.0153974041656,0.0598436343414,0.999999949752,0.000181851033861,-0.000259003599873,1.85254971765e-05,1793249643017172224
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,878,785,813,652,630,654,0.400973755895,-0.0153994841054,0.0598437748475,0.999999949699,0.000181732938979,-0.000259244879033,1.91706654914e-05,1793249643060597504
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.40258382,745,718,678,661.40258382,637.40258382,878,784.40258382,813,652,629.40258382,653.40258382,0.400974219106,-0.0153993299003,0.0598443258939,0.9999999505,0.000178572774571,-0.000258361029593,1.90061237182e-05,1793249643077264128
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.188031225,745,717.811968775,678,661,637.188031225,878,784.188031225,813,651.811968775,629.188031225,653.188031225,0.400974165572,-0.0153989038655,0.0598442970398,0.999999950637,0.000177527277595,-0.000258568899037,1.87791971722e-05,1793249643093930752
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.764593133,745,717.235406867,678,661,637.764593133,878,784.764593133,813,651.235406867,629.764593133,653.764593133,0.400973044283,-0.0153979161466,0.0598430699321,0.999999949408,0.000180851337164,-0.000261032597274,1.8423364356e-05,1793249643110597376
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,717.339629276,678,661,637.660370724,878.339629276,785,813,651,630,653.660370724,0.400972383743,-0.0153979458722,0.059842283754,0.999999948898,0.000182383206351,-0.000261918339484,1.84014560719e-05,1793249643127264256
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,717.913612562,678,661,637.086387438,878.913612562,785,813,651,630,653.086387438,0.400972041133,-0.0153986776639,0.05984180183,0.999999948894,0.000182678412214,-0.000261715246313,1.86099653814e-05,1793249643143931136
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,718,678.500921725,661.500921725,637.500921725,879,784.499078275,813,651,630,653,0.400972906704,-0.0153977291869,0.0598427195509,0.999999949113,0.000183195621855,-0.000260502373681,1.87551899339e-05,1793249643160597504
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.088945054,718,679,662,637.911054946,879,784,813,651,630,653.088945054,0.400974032034,-0.0153969213059,0.0598438265432,0.999999949396,0.00018335090827,-0.000259292074723,1.88971611099e-05,1793249643177263872
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.667896116,718,679,662,637.332103884,879,784,813,651,630,653.667896116,0.400975409153,-0.0153985279996,0.0598446101308,0.999999949822,0.000181295642428,-0.000259081545358,1.90829779749e-05,1793249643193930752
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.754802252,717.754802252,678.754802252,661.754802252,637.245197748,878.754802252,784,813,651,630,653.754802252,0.400982650665,-0.0153997027806,0.0598475549175,0.999999951127,0.000180355236951,-0.000254630116895,1.95213016178e-05,1793249643210597376
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.179719779,717.179719779,678.179719779,661.179719779,637.820280221,878.179719779,784,813,651,630,653.179719779,0.400997782026,-0.0154002964739,0.0598534073435,0.999999953545,0.000180914745096,-0.000244473057593,2.02993434089e-05,1793249643227263744
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,717.395986658,678,661,638,878,784.395986658,813,651,630,653.395986658,0.401034919472,-0.0154019978003,0.059867286191,0.999999959318,0.000181469115315,-0.000219022891052,2.14916434728e-05,1793249643243931136
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,717.971976779,678,661,638,878,784.971976779,813,651,630,653.971976779,0.401082060215,-0.015404202623,0.0598848136056,0.999999965759,0.000182021149882,-0.000186620943044,2.28722527697e-05,1793249643260598528
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.436575978,745,718,678,661,638,878.563424022,785,813,651.563424022,629.436575978,654,0.401149178543,-0.0154078762721,0.0599031777051,0.999999970128,0.000180055713849,-0.000163489070047,2.43803705578e-05,1793249643277265408
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.152071319,745,718,678.152071319,661,638,879,785,813,651.847928681,629.152071319,654,0.401221799568,-0.0154122957789,0.0599200950639,0.999999973979,0.000177985310057,-0.000140341679467,2.58462541184e-05,1793249643293931776
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.730648872,745,718,678.730648872,661,638,879,785,813,651.269351128,629.730648872,654,0.401306988329,-0.0154185964789,0.0599328348253,0.999999977439,0.000175981590807,-0.000115821150171,2.71753973625e-05,1793249643310598144
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.69395736,744.69395736,717.69395736,678.69395736,661,638,879,785,813,651,629.69395736,654,0.401398817406,-0.0154234198224,0.059940897012,0.99999997942,0.000174265448893,-0.00010025150728,2.72409946717e-05,1793249643327264512
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.121336858,744.121336858,717.121336858,678.121336858,661,638,879,785,813,651,629.121336858,654,0.401496430511,-0.0154269563169,0.0599448848052,0.999999980451,0.000172799800852,-9.24785185617e-05,2.6205982615e-05,1793249643343931136
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.464443392,744.464443392,717,678,661,638,878.535556608,784.535556608,813,651,629.464443392,654,0.401606501656,-0.0154312857983,0.0599427454422,0.999999980576,0.00017155858153,-9.38536285563e-05,2.46321710136e-05,1793249643360597760
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,717.052810505,678.052810505,661,638,878,784,813,651,630,654,0.401723027538,-0.0154361362924,0.0599392779996,0.999999980551,0.000170215229759,-9.69423691452e-05,2.29715901771e-05,1793249643377264384
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,717.631700134,678.631700134,661,638,878,784,813,651,630,654,0.401870485689,-0.0154440529997,0.0599389916263,0.999999981486,0.000167253363667,-9.2599496717e-05,2.18897610605e-05,1793249643393931264
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718,678.790012811,661.209987189,638,878.209987189,784.209987189,813,651,629.790012811,653.790012811,0.402030866177,-0.0154521514448,0.0599398050345,0.999999982623,0.000163523231639,-8.71021355933e-05,2.06761208325e-05,1793249643410598144
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,678.212779658,661.787220342,638,878.787220342,784.787220342,813,651,629.212779658,653.212779658,0.402213846487,-0.0154605677298,0.059942541847,0.999999984095,0.000158449481926,-7.95856931019e-05,1.92319566597e-05,1793249643427265024
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,678.360448098,662,637.639551902,879,785,813,651,629.360448098,653,0.402419060502,-0.0154705620194,0.0599440964231,0.999999985755,0.000151227300237,-7.29324196412e-05,1.73778204211e-05,1793249643443931648
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,678.931337429,662,637.068662571,879,785,813,651,629.931337429,653,0.402637255289,-0.0154814775999,0.0599449607718,0.999999987464,0.000142750794134,-6.67830913984e-05,1.52843291217e-05,1793249643460598272
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,718,678.479498393,661.479498393,637.520501607,878.479498393,784.479498393,813,651,630,653,0.402889743446,-0.0154920058955,0.0599479526652,0.999999988938,0.000136595611401,-5.73391747676e-05,1.3362975708e-05,1793249643477264896
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,717.88986227,678,661.11013773,637.88986227,878.11013773,784.11013773,813,651,629.88986227,653.11013773,0.403148759192,-0.0155018738537,0.0599495120886,0.99999998996,0.000131698560504,-5.1097973549e-05,1.11853019059e-05,1793249643493931008
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,717.308889291,678,661.691110709,637.308889291,878.691110709,784.691110709,813,651,629.308889291,653.691110709,0.40341563723,-0.0155091452458,0.0599437042895,0.999999989584,0.000130823265683,-6.04738220002e-05,7.8112587887e-06,1793249643510597888
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,717.269562948,678.269562948,662,637.269562948,879.269562948,785,813,651,629.269562948,654,0.403707047994,-0.0155125381634,0.059933474992,0.999999988151,0.000133026971931,-7.73443826075e-05,4.45564189647e-06,1793249643527264512
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,717.845153424,678.845153424,662,637.845153424,879.845153424,785,813,651,629.845153424,654,0.404026310084,-0.0155115279534,0.059918226087,0.999999985101,0.000138726184847,-0.000102723486708,1.1209439997e-06,1793249643543931136
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.570949496,785,813,651,629.570949496,654,0.404371116939,-0.0154994721685,0.0599064411322,0.999999988667,8.65802205094e-05,-0.000123077482684,-4.66254164441e-06,1793249643560598016
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,784.984213144,813,651,629.015786856,654,0.404727134172,-0.0154840963015,0.0598963252186,0.999999989883,1.52957770634e-05,-0.000140974625824,-1.12232754621e-05,1793249643577264896
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,784.405246556,813,651,629.594753444,654,0.405147690353,-0.0154952984535,0.0599002720426,0.999999990284,2.07213325974e-05,-0.000137201300465,-1.33611449098e-05,1793249643593932032
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.82724985,745,718,679,662,638,879,784.17275015,813,651,630,654,0.405589661621,-0.0155059844397,0.0599115963168,0.999999992363,2.40436104908e-05,-0.000120273624809,-1.5159210825e-05,1793249643610598912
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.251515724,745,718,679,662,638,879,784.748484276,813,651,630,654,0.406081589007,-0.0155154663356,0.0599401303832,0.999999996977,2.24594537038e-05,-7.26600577127e-05,-1.61645976349e-05,1793249643627265536
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.324379715,745,718,679.324379715,662,638,879,785,813,651,629.675620285,654,0.406597860881,-0.0155217329379,0.0599681877471,0.999999999483,1.17422790883e-05,-2.45234621602e-05,-1.71720114148e-05,1793249643643932160
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.900400354,745,718,679.900400354,662,638,879,785,813,651,629.099599646,654,0.407133018297,-0.0155255052438,0.0599958753071,0.999999999528,-6.059928899e-06,2.40188832035e-05,-1.81809977303e-05,1793249643660598784
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,718,679.512815559,662,638,879,785,813,651,629.487184441,654,0.407660706928,-0.015523846622,0.059996875996,0.999999999626,-7.13959777162e-06,1.4503448559e-05,-2.2061288713e-05,1793249643677265408
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,717.925076994,679,662,638,879,785,813,651,629.925076994,654,0.408191360825,-0.0155213760834,0.0599911620311,0.999999999557,-1.03358901382e-05,-8.11606761139e-06,-2.67232961815e-05,1793249643693931776
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,717.346055943,679,662,638,879,785,813,651,629.346055943,654,0.408752471408,-0.0155210818685,0.0599778078506,0.999999997459,-5.12949906676e-05,-3.72393211614e-05,-3.26061208068e-05,1793249643710598912
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,717.230331781,679,662,638,879.230331781,785,813,651,629,653.769668219,0.409344152895,-0.0155232414204,0.0599723070746,0.999999995325,-7.40079456588e-05,-4.96224929792e-05,-3.75587766752e-05,1793249643727265536
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717.802807816,679,662,638,879.802807816,785,813,651,629,653.197192184,0.409981245623,-0.0155290458978,0.0599784720678,0.999999996041,-6.96173269091e-05,-3.7139260546e-05,-4.11297215417e-05,1793249643743932160
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,717.622331937,679,662,638.377668063,880,785,813,651,629,653.377668063,0.410646069406,-0.0155338817977,0.0599857857193,0.999999994903,-8.81692289475e-05,-1.97290116261e-05,-4.50737994119e-05,1793249643760598528
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,717.04621893,679,662,638.95378107,880,785,813,651,629,653.95378107,0.411325464396,-0.0155382087601,0.059993702931,0.999999991735,-0.000118776233669,2.70128089762e-07,-4.92139391289e-05,1793249643777264896
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.455196875,745,717.544803125,679.544803125,662.544803125,638.455196875,880,785,813,651,629,654,0.412016290048,-0.0155404517636,0.0599808497066,0.999999997268,-6.01669329047e-05,-2.58414443647e-05,-3.42818451021e-05,1793249643793931264
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.134150874,745,717.865849126,680,663,638,880.134150874,785,813.134150874,651,629,654,0.412703047721,-0.0155383710149,0.0599598298046,0.999999997483,-9.75465732519e-07,-6.75431215629e-05,-2.17198543295e-05,1793249643810597632
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.713623739,745,717.286376261,680,663,638,880.713623739,785,813.713623739,651,629,654,0.413372991685,-0.0155225407012,0.0599177140346,0.999999988257,3.43166623002e-05,-0.000147646109477,-2.25477807947e-05,1793249643827264768
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745.290579354,717,680,663,638,881.290579354,785,814,651,629,654,0.41411950968,-0.0155170834783,0.0599112280816,0.999999986639,3.56620387387e-05,-0.000157512511495,-2.52915501742e-05,1793249643843931392
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.865075503,717,680,663,638,881.865075503,785,814,651,629,654,0.414940846056,-0.0155217615046,0.0599395550012,0.999999994669,3.83901705183e-06,-9.87527592975e-05,-2.99072351452e-05,1793249643860597504
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.5491507,717,680,663,638,881.5491507,785,814,651,629,654,0.415773108019,-0.0155346438702,0.0599805999618,0.999999999081,-1.55419589665e-05,-2.75072822436e-05,-2.89689350198e-05,1793249643877264896
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,717.039459772,680,663,638,881.039459772,785,813.960540228,651,629,654,0.416608972901,-0.0155490111581,0.0600218924901,0.99999999833,-3.07191329353e-05,4.10789142917e-05,-2.66369750748e-05,1793249643893932544
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,717.619509141,680,663,638,881.619509141,785,813.380490859,651,629,654,0.417448254692,-0.0155492216434,0.0600130963011,0.999999998552,-4.06250169657e-05,2.0730188035e-05,-2.85671532048e-05,1793249643910598400
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,718,680,663.197907526,638.197907526,882,785,813.197907526,651,629,654,0.41828627317,-0.0155486560833,0.060000179404,0.999999998505,-4.49154618289e-05,-2.18654197348e-06,-3.11258563236e-05,1793249643927264512
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,718,680,663.773158006,638.773158006,882,785,813.773158006,651,629,654,0.419121882883,-0.0155466108662,0.0599794057057,0.999999998201,-3.84991561352e-05,-2.99995884331e-05,-3.4882944661e-05,1793249643943930880
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,718,680.347913181,663.652086819,639,882,785,814,651,629,654,0.419951034704,-0.015546266532,0.0599529903601,0.99999999603,-4.14502935387e-05,-6.88397499751e-05,-3.85207273133e-05,1793249643960597760
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718,680.92234585,663.07765415,639,882,785,814,651,629,654,0.420775981884,-0.0155470296096,0.0599229018489,0.999999991243,-5.05003906712e-05,-0.000114859449937,-4.20808321598e-05,1793249643977264384
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.48911031,745,717.48911031,681,663,639,883.532669071,785,814,651,629,654,0.421588936602,-0.015543978023,0.0598902784204,0.999999981076,-4.84236824518e-05,-0.000182950238344,-4.50765361459e-05,1793249643993931264
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.09949849,745,717,681,663.09949849,639,884.90050151,785,814,651.09949849,629,654,0.422434745929,-0.0155420895204,0.0598728757693,0.999999972878,-4.62968295877e-05,-0.000223384615567,-4.69085095333e-05,1793249644010598144
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.677804941,745,717,681,663.677804941,639,884.322195059,785,814,651.677804941,629,654,0.423447679383,-0.0155486675063,0.0599306255802,0.999999991171,-5.22985132709e-05,-0.000114128035134,-4.35649180536e-05,1793249644027265024
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,717,681,664,638.74487804,884,785.25512196,814.25512196,651.74487804,629,654,0.424430434491,-0.0155546836747,0.0599825629732,0.999999997238,-5.77689911739e-05,-2.39675304226e-05,-4.01499842438e-05,1793249644043931904
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,717,681,664,638.168805675,884,785.831194325,814.831194325,651.168805675,629,654,0.425375224552,-0.0155599930623,0.0600271881932,0.999999996482,-6.2571198934e-05,4.21696024813e-05,-3.66452997518e-05,1793249644060598528
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,717,681,664,638,884,785.585439369,814.585439369,651,629,654,0.426280703148,-0.0155624276556,0.0600308524697,0.999999995644,-6.29147068887e-05,5.78159234767e-05,-3.7558172704e-05,1793249644077264896
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,717.000937511,681.000937511,664,638,884,785,814.000937511,651,629,654,0.427169896617,-0.0155636659053,0.0600175200293,0.999999995924,-6.14267433334e-05,5.24816899573e-05,-4.03029321373e-05,1793249644093931008
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,717.579540875,681.579540875,664,638,884,785,814.579540875,651,629,654,0.42806458209,-0.0155619550619,0.0599924514027,0.999999996483,-7.01608387449e-05,1.45503500298e-05,-4.3588758953e-05,1793249644110597632
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,717.841838921,681.841838921,664,638.158161079,884,785,815,651,629.158161079,654,0.428949881677,-0.0155591591243,0.0599639294035,0.99999999561,-7.4675710945e-05,-3.18792754144e-05,-4.67597559281e-05,1793249644127264512
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,717.263173979,681.263173979,664,638.736826021,884,785,815,651,629.736826021,654,0.429810226895,-0.0155534782402,0.059926225902,0.999999991368,-6.79729071017e-05,-0.000100903344163,-4.96254538935e-05,1793249644143931648
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,717.313276153,681.313276153,664,638.686723847,884.313276153,785,815,651,629.686723847,654,0.43071609127,-0.015553839239,0.0599222479372,0.999999991065,-6.80532763005e-05,-0.000103393921927,-5.0482777821e-05,1793249644160598528
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,717.887878722,681.887878722,664,638.112121278,884.887878722,785,815,651,629.112121278,654,0.431659926439,-0.0155592402119,0.0599464028965,0.999999994775,-7.37919836914e-05,-5.03840741386e-05,-4.96647708358e-05,1793249644177264896
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.472546458,718,681.527453542,664.472546458,638,885,785,815,651,629.472546458,654,0.432573785276,-0.0155610066726,0.059984350101,0.999999995803,-7.76515631551e-05,9.91627005607e-06,-4.76099730072e-05,1793249644193932032
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717.940842686,681.059157314,664.940842686,638,885,785,815.059157314,651,629.940842686,654,0.433476965793,-0.015561806786,0.0600197494756,0.999999993746,-8.06436087102e-05,6.26024954706e-05,-4.567448608e-05,1793249644210599168
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717.358626794,681.641373206,664.358626794,638,885,785,815.641373206,651,629.358626794,654,0.434349985975,-0.0155618534223,0.0600030568458,0.999999995152,-7.99930959806e-05,3.23383589437e-05,-4.74450639695e-05,1793249644227265536
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.780145412,717,681.780145412,664,638,885,785,816,651,629.219854588,654,0.435206615723,-0.0155622802667,0.0599794928774,0.999999995384,-8.13045228453e-05,-1.04632426098e-05,-5.01249102826e-05,1793249644243931904
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.207653925,717,681.207653925,664,638,885,785,816,651,629.792346075,654,0.436036956086,-0.0155633169481,0.0599449075875,0.999999992158,-8.57628125946e-05,-7.33743804563e-05,-5.42631825628e-05,1793249644260598272
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745,717,681.367420643,664.367420643,638,885,785,816,651.367420643,630,654,0.436839294358,-0.0155615441543,0.0599221427631,0.999999988091,-8.55860240274e-05,-0.000115271846334,-5.662187737e-05,1793249644277265152
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745,717,681.943965384,664.943965384,638,885,785,816,651.943965384,630,654,0.437625694684,-0.0155581722971,0.0599061057722,0.999999984352,-8.27710966934e-05,-0.000145208997425,-5.7967693301e-05,1793249644293932288
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.465426723,745,717,682,664.465426723,638,885.534573277,785,816,651.465426723,629.465426723,654,0.438404441781,-0.0155609532067,0.0599009993365,0.999999982368,-8.60876118141e-05,-0.000156726422748,-5.73505375824e-05,1793249644310598656
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.123706764,745,717.123706764,682,664.123706764,638,885.876293236,785,816,651,629.123706764,654,0.439199251753,-0.0155647616941,0.0599099651989,0.999999983872,-9.08787842138e-05,-0.00014454005049,-5.57198278283e-05,1793249644327265280
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.701862241,745,717.701862241,682,664.701862241,638,885.298137759,785,816,651,629.701862241,654,0.440056096876,-0.0155699118241,0.059966304246,0.999999992444,-9.86624215041e-05,-5.25600283625e-05,-5.11420349783e-05,1793249644343931648
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.277441883,718,682,664.722558117,638,885,785,816.277441883,651,630,654,0.440860557102,-0.0155739813122,0.0599993073107,0.99999999365,-0.000101544505956,-2.07925952403e-06,-4.88343682814e-05,1793249644360598016
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745.850278971,718,682,664.149721029,638,885,785,816.850278971,651,630,654,0.441609242537,-0.0155769002295,0.0600074643131,0.999999993872,-9.92078572693e-05,4.21682473035e-06,-4.89437287032e-05,1793249644377264640
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,717.573658605,681.573658605,664,638,885.426341395,785,816.573658605,651,630,654,0.442283070827,-0.0155804497604,0.0599707538525,0.999999991091,-0.000111927887063,-4.99479133711e-05,-5.28763868962e-05,1793249644393931008
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717,681.003635795,664.003635795,638,886,785,816,651,630,654,0.442930243735,-0.0155842088005,0.0599183304631,0.99999998202,-0.000129939589648,-0.00012527823955,-5.81514983644e-05,1793249644410597888
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717,681.595595796,664.595595796,638,886,785,816,651,630,654,0.44355039621,-0.015585761353,0.0598923762072,0.999999974615,-0.000142096197814,-0.000163604590612,-6.17383107535e-05,1793249644427264256
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717.182802017,682,664.817197983,638,886,784.817197983,816.182802017,651,630,654.182802017,0.444168701608,-0.0155886892683,0.0598740099835,0.999999968162,-0.000150588442285,-0.000191966489593,-6.44060628906e-05,1793249644443930880
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717.759758336,682,664.240241664,638,886,784.240241664,816.759758336,651,630,654.759758336,0.444783024489,-0.0155945827156,0.0598720049282,0.999999966685,-0.000151179656784,-0.000198843230484,-6.50921553043e-05,1793249644460598272
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.33485044,746,718,682,664.33485044,638,886.33485044,784,817,651.33485044,630,654.66514956,0.445358567426,-0.0155982677629,0.0598558407328,0.999999956396,-0.000168891036218,-0.000232538666846,-6.78962026262e-05,1793249644477265408
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+251,4.183333333,HOLD_POSE2,767,746,717.941269813,682.941269813,663,636,886,781.941269813,817,651,629,654,0.452902526258,-0.0156470853645,0.0596651314368,0.999999837506,-0.000232396517142,-0.000515909678941,-6.93977552881e-05,1793249645474533888
+252,4.200000000,HOLD_POSE2,767,746,717.362798225,682.362798225,663,636,886,781.362798225,817,651,629,654,0.452902053787,-0.015647336975,0.0596639961545,0.999999836576,-0.000232762217807,-0.000517502169179,-6.97279277983e-05,1793249645491201024
+253,4.216666667,HOLD_POSE2,767,746,717,682.21460654,663,636,886.21460654,781.21460654,817,651.21460654,629,654,0.452902184116,-0.0156471155622,0.0596635879668,0.999999836318,-0.000232599291406,-0.000518059141984,-6.98340068077e-05,1793249645507867648
+254,4.233333333,HOLD_POSE2,767,746,717,682.79021667,663,636,886.79021667,781.79021667,817,651.79021667,629,654,0.452903328454,-0.015646098446,0.0596644028723,0.999999837194,-0.00023154712707,-0.000516874203537,-6.956312356e-05,1793249645524534016
+255,4.250000000,HOLD_POSE2,767,746,717,683,663,636,886.634734313,781.634734313,817,651.634734313,628.634734313,654,0.452903973608,-0.0156462555079,0.0596652093274,0.999999837607,-0.000231674476297,-0.000516038580526,-6.94045649867e-05,1793249645541200384
+256,4.266666667,HOLD_POSE2,767,746,717,683,663,636,886.060007012,781.060007012,817,651.060007012,628.060007012,654,0.452904332505,-0.0156470859022,0.0596660109366,0.999999837755,-0.000232478217497,-0.000515403272345,-6.9310418974e-05,1793249645557867008
+257,4.283333333,HOLD_POSE2,767,746,717,682.47066885,663,636,886.52933115,781,817,651.52933115,628,654,0.45290379915,-0.0156453719887,0.0596644576318,0.99999983722,-0.000230899421059,-0.000517082792214,-6.97954191708e-05,1793249645574533376
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+259,4.316666667,HOLD_POSE2,767,746,717.695910108,682,663,636,886.304089892,781,817,651.304089892,628,654,0.452904887105,-0.0156433140312,0.0596653506559,0.999999838592,-0.000227301763425,-0.00051605154311,-6.95736464047e-05,1793249645607867136
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,636,887,782,818,652,628,654,0.452903512805,-0.015645100927,0.0596653072745,0.999999837961,-0.000228761805804,-0.000516736992843,-6.877219845e-05,1793249645645934336
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.816307097,745.816307097,717,682.816307097,663,636,886.816307097,782,817,651,628,654.816307097,0.452902874282,-0.0156454954498,0.0596639476943,0.999999836691,-0.000231454477378,-0.000517865813155,-6.97244576609e-05,1793249645679267584
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.493067687,746,717,682,663,636,886.493067687,781.493067687,817,651.506932313,628.493067687,654.493067687,0.452902142068,-0.0156435770914,0.0596636790126,0.999999837294,-0.000226943350198,-0.000518810405292,-6.8873751013e-05,1793249645745933568
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,887,782,817,651.069252027,628.930747973,654.930747973,0.452900137099,-0.0156454273173,0.059662894794,0.999999836266,-0.000227806692589,-0.000520467219768,-6.84483459244e-05,1793249645762600192
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,887,782,817,651.661009465,628.338990535,654.338990535,0.452901572925,-0.0156458670521,0.0596635960773,0.999999836948,-0.000228723670888,-0.000518728784945,-6.86312839169e-05,1793249645779267328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,717.24655622,682,663,636,886.75344378,781.75344378,817,651.75344378,628.24655622,654,0.452899585205,-0.0156458600494,0.0596625544979,0.999999836056,-0.000229969316506,-0.000519835712652,-6.90852792163e-05,1793249645795933952
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.599528529,682,663.400471471,636,886.400471471,781.400471471,817,651.400471471,629,654.400471471,0.452870974193,-0.0156439352442,0.0596503491388,0.999999825213,-0.000231488682789,-0.00053947352272,-7.03942233293e-05,1793249645829267200
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717.023059033,682,663.976940967,636,886.976940967,781.976940967,817,651.976940967,629,654.976940967,0.452842151127,-0.015642303423,0.0596391287257,0.999999814974,-0.000230507055853,-0.000558491801584,-7.07423445181e-05,1793249645845933568
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,717.792186455,682,663,636,886,782,817,651.792186455,629,654.207813545,0.452074993271,-0.0155990464634,0.0595912133155,0.999999781837,-0.000208990965357,-0.000622579316303,-7.10172365608e-05,1793249645995933696
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,717.213256575,682,663,636,886,782,817,651.213256575,629,654.786743425,0.451918307152,-0.0155901947795,0.0595888811274,0.999999780364,-0.000205177549627,-0.000626259074586,-7.05226024002e-05,1793249646012600320
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,636,886,782,817,651.939101486,629,655,0.451544518631,-0.0155703249666,0.0595852987822,0.999999775651,-0.000195803804454,-0.00063690015089,-6.86785241301e-05,1793249646045933056
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,745.31907945,717.31907945,682,663,636,886,782,816.31907945,651,628.31907945,655,0.45082824812,-0.01554098739,0.0595887065205,0.999999778249,-0.000179252212825,-0.000638265177741,-6.31548976539e-05,1793249646095934208
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,745.267194383,717,682.267194383,663.267194383,636,886,782,816,651,628,654.732805617,0.450548072951,-0.0155326305002,0.0595845566758,0.999999776031,-0.00017568196171,-0.000642866899752,-6.16122858297e-05,1793249646112600832
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,745.84758165,717,682.84758165,663.84758165,636,886,782,816,651,628,654.15241835,0.450246091109,-0.0155270512459,0.0595786342574,0.999999773593,-0.000174895955565,-0.000647033916691,-5.97676963061e-05,1793249646129266944
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.579585764,663.579585764,636,886,782.420414236,816.420414236,651.420414236,628.420414236,654,0.449911671715,-0.0155223280123,0.0595735579171,0.999999769343,-0.000174528439327,-0.000653757431183,-5.87765004747e-05,1793249646145933568
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.009443741,663.009443741,636,886,782.990556259,816.990556259,651.990556259,628.990556259,654,0.449565699905,-0.0155179096451,0.0595687829021,0.999999764402,-0.000174309965548,-0.000661391425483,-5.80892352764e-05,1793249646162600192
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766.018590378,745,717,682.981409622,664,638,885,785,816,651.018590378,629.981409622,654,0.438597271026,-0.0154217803754,0.0598036829188,0.999999941791,0.000129173400942,-0.000314544100012,2.81717772857e-05,1793249646479266816
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,717,681.50419384,664,638,884,785,815,651,629,654,0.433494287802,-0.015413220227,0.0597566709643,0.999999935249,6.99235665271e-05,-0.000352996190643,-2.33220981527e-06,1793249646579267072
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766.255732154,745,718,682,664,638,884,785,815,652,629,654,0.430850103192,-0.0154114551356,0.0598079874848,0.999999951172,0.000111020356584,-0.000291693605069,1.5649638306e-05,1793249646629267200
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.834501724,745,718,682,664,638,884,785,815,652,629,654,0.42997910101,-0.015408920696,0.0598324349698,0.999999961029,0.000130815840772,-0.000245685279776,2.16263521944e-05,1793249646645933568
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745.42808234,717,681,663,638,882.42808234,785,814,651,630,654,0.427176199183,-0.0154024515746,0.0597518291369,0.999999915375,0.000139561336469,-0.000386650723513,1.65555259809e-05,1793249646695934208
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745,717.735355867,681,663,638,882,785,814,651,630,654,0.425369379028,-0.0154047643399,0.0597764094565,0.999999931458,0.000142301633853,-0.000341324330311,1.82083477999e-05,1793249646729267200
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.314469048,717.685530952,681,663,638,881.685530952,785,813.685530952,651,630,654,0.424463852072,-0.0154050782055,0.059803446907,0.999999940092,0.000148606790127,-0.000311835896802,2.21490683693e-05,1793249646745933568
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745.531628054,717.468371946,681.468371946,663,638,881,785,813.468371946,651,630,654,0.422696247865,-0.0154034496466,0.0598364894673,0.999999951087,0.000159760066551,-0.000267521792883,2.71064881727e-05,1793249646779267072
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,681.915937059,663,638,881,785,814,651,629.957968529,654,0.421827835235,-0.0154012297535,0.0598421642531,0.999999955265,0.000164859626965,-0.000248118801038,2.7004593583e-05,1793249646795933696
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.567014709,638,880,785.432985291,813,651,629.567014709,654,0.412755891658,-0.0153881979993,0.0598126623708,0.999999930859,0.000179644597901,-0.000324519497981,2.6401316825e-05,1793249646979267328
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,717.242660969,679.757339031,661.242660969,637.757339031,879,785,813,651,629,653.757339031,0.410005078604,-0.0153828079196,0.0597739796674,0.999999912461,0.000190332978687,-0.000371989747784,2.18087211591e-05,1793249647045933824
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.34169351,717.34169351,679.65830649,661.34169351,638,879.34169351,785,813,651,629.34169351,654,0.409409872332,-0.0153872426265,0.0598114670981,0.999999932603,0.000188584704736,-0.000313943813151,2.58652430167e-05,1793249647062600704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.918226404,717.918226404,679.081773596,661.918226404,638,879.918226404,785,813,651,629.918226404,654,0.408818722193,-0.0153906082639,0.0598498837863,0.999999949519,0.000185186208055,-0.000256511636579,2.94808917761e-05,1793249647079267328
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.509460031,718,679,661.509460031,638,880,785,813,651,629.509460031,653.509460031,0.408243743738,-0.0153853671209,0.0598512292503,0.999999948803,0.00019080891368,-0.000255251743696,2.8853291154e-05,1793249647095934208
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.34278046,785,813,651,629,653,0.407138195565,-0.0153787826603,0.0598272487325,0.999999937952,0.000196993111379,-0.000290926711804,2.55242418177e-05,1793249647129267712
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.243812421,661.243812421,638,878.756187579,785,813,651,629,653.243812421,0.406625040191,-0.0153792752071,0.0598164481775,0.999999935314,0.000191494782349,-0.000303504282402,2.42424898289e-05,1793249647145934336
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc0209a52ad73d241cca7fb96595febae29ff944
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,405 @@
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+401,6.683333333,pose2_to_pose3_retreat,0.57566453084,-0.00984993801322,1.05003340147,0.546235209447,-0.00117730386746,1.0497047935
+402,6.700000000,pose2_to_pose3_retreat,0.575664408176,-0.00984997146367,1.05003353295,0.546235087879,-0.00117733373125,1.04970492155
+403,6.716666667,pose2_to_pose3_retreat,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850588,1.04970505684
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..458680d5ebfbe98b7575e3469f770a897082b8b7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e310cfed2966da3be776ef99ffcedb4c52112a65e83ab31c641f0ecf75bc9b12
+size 25715042
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b9b0259f86846489ea1b4742269a72f0d9c93615
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,767,745,718,678.58694241,661,637.41305759,878.41305759,784.41305759,813,651.41305759,629.58694241,654,0.400971248352,-0.0153938741771,0.059839380871,0.999999949135,0.000175401094128,-0.000265919673808,1.58198717129e-05,1793249648161439744
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+21,0.350000000,BASELINE,767,745,718,679,661,638,879,784,812.800561034,651.800561034,629,653.800561034,0.400969777354,-0.0153953495332,0.0598401546466,0.999999949036,0.000174744036854,-0.000266715821211,1.59666114574e-05,1793249648494772224
+22,0.366666667,BASELINE,767,745,718,679,661,638,879,784,812.222230242,651.222230242,629,653.222230242,0.400971872517,-0.0153953885839,0.0598413944131,0.999999950111,0.000174337173243,-0.000262938130418,1.57206082836e-05,1793249648511439104
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+27,0.450000000,BASELINE,767,744.32927012,718,678.67072988,661.67072988,638,879,784.32927012,813,651.32927012,629.67072988,654,0.400972147353,-0.0153948663752,0.059841078846,0.999999949605,0.000175684670702,-0.000263971537441,1.56352223959e-05,1793249648594773248
+28,0.466666667,BASELINE,767,744.257456297,717.742543703,678.742543703,661.742543703,638,879,784.257456297,813,651.257456297,630,654,0.400972128524,-0.0153951090135,0.0598407113084,0.999999949478,0.000176042129013,-0.000264211867721,1.56578565346e-05,1793249648611439872
+29,0.483333333,BASELINE,767,744.837652371,717.162347629,678.162347629,661.162347629,638,879,784.837652371,813,651.837652371,630,654,0.400972808941,-0.0153940741811,0.0598407146643,0.999999949659,0.00017614530202,-0.000263464707214,1.55500919053e-05,1793249648628106240
+30,0.500000000,BASELINE,767,745,717.412713781,678,661.412713781,638,879,785,813,651.587286219,629.587286219,654,0.400973384884,-0.0153937845852,0.0598413023793,0.999999950016,0.000175356941939,-0.000262630229127,1.56150179148e-05,1793249648644772608
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+32,0.533333333,BASELINE,767,745,718,678.562427521,661.437572479,637.437572479,879,785,813,651.562427521,629.562427521,654,0.400972616797,-0.0153959437675,0.0598416898271,0.999999950292,0.000173417809528,-0.000262847372437,1.59189907811e-05,1793249648678105856
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+39,0.650000000,BASELINE,767,745,718,679,661,638,878.381257404,785,813,651.381257404,629.618742596,653.618742596,0.400971298318,-0.0153950647669,0.0598414386032,0.999999949547,0.000176066347669,-0.000263935870767,1.56474340245e-05,1793249648794773248
+40,0.666666667,BASELINE,767,745,718,679,661,638,878,785,813,651,630,654,0.400972220887,-0.0153955679619,0.0598417620043,0.999999949664,0.000177186882706,-0.000262711890233,1.6113253283e-05,1793249648811439872
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+51,0.850000000,BASELINE,767,745,718,678.598882179,661.401117821,638,878.598882179,784.598882179,813,651,629,653.401117821,0.400971748795,-0.0153982816761,0.0598411118897,0.999999950373,0.000171954051848,-0.0002634698557,1.63875975836e-05,1793249648994772736
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+54,0.900000000,BASELINE,767,745,718,679,662,638,879,785,813,651,630,653.658978988,0.400971840336,-0.0153951841591,0.0598414126247,0.999999949822,0.000175321065706,-0.00026337666709,1.58330354593e-05,1793249649044772608
+55,0.916666667,BASELINE,767,745,718,679,662,638,879,785,813,651,630,653.084073719,0.400972492801,-0.0153968719113,0.0598418541395,0.999999950423,0.000172261293349,-0.000263088939312,1.62291387833e-05,1793249649061439488
+56,0.933333333,BASELINE,767,745,718,678.509400431,661.509400431,638,879,784.509400431,813,651,630,653.490599569,0.400971760706,-0.0153973890658,0.0598411709046,0.999999950257,0.000171769970516,-0.000264044091818,1.61565837083e-05,1793249649078105856
+57,0.950000000,BASELINE,767,745,718,678,661,638,878.932900014,784.067099986,813,651.067099986,629.932900014,654,0.400970949332,-0.0153976404986,0.0598404662765,0.999999950006,0.000171864097851,-0.00026494197424,1.60203203718e-05,1793249649094772480
+58,0.966666667,BASELINE,767,745,718,678,661,638,878.341821726,784.658178274,813,651.658178274,629.341821726,654,0.400971370827,-0.0153973826955,0.0598410990307,0.999999950114,0.000173094459696,-0.000263730191027,1.6013431026e-05,1793249649111439104
+59,0.983333333,BASELINE,767,745,718,678.2443362,661,638,878.2443362,785,813,651.7556638,629.2443362,653.7556638,0.400971036393,-0.0153969845542,0.0598410845149,0.999999949989,0.000173996048626,-0.000263617084651,1.58909660571e-05,1793249649128105728
+60,1.000000000,BASELINE,767,745,718,678.823746595,661,638,878.823746595,785,813,651.176253405,629.823746595,653.176253405,0.400969665302,-0.0153963939578,0.0598401823558,0.999999949547,0.000174446769953,-0.000265010665435,1.5610004684e-05,1793249649144772352
+61,1.016666667,BASELINE,767,745,718,678.601015767,661.398984233,638,879,785,813,651.398984233,630,653.398984233,0.400969860788,-0.0153973715078,0.0598406095114,0.999999949906,0.000172963208378,-0.000264611631731,1.590005155e-05,1793249649161439488
+62,1.033333333,BASELINE,767,745,718,678.027602422,661.972397578,638,879,785,813,651.972397578,630,653.972397578,0.400970741153,-0.0153990346246,0.0598416178207,0.999999950609,0.000170634011228,-0.000263428897411,1.64397335116e-05,1793249649178106624
+63,1.050000000,BASELINE,767,745,718,678,661.437495003,638,878.437495003,785,813,652,629.437495003,653.437495003,0.400971692974,-0.0153975981743,0.0598417532917,0.999999950435,0.000172945688374,-0.000262605794396,1.6081849087e-05,1793249649194773248
+64,1.066666667,BASELINE,767,745,718,678,661.1503186,638,878,785,812.8496814,652,629.1503186,653,0.400972601938,-0.0153966431992,0.0598420000019,0.999999950374,0.000174541062477,-0.00026179185067,1.58620336726e-05,1793249649211439872
+65,1.083333333,BASELINE,767,745,718,678,661.729185771,638,878,785,812.270814229,652,629.729185771,653,0.400973378417,-0.0153975077615,0.0598426896901,0.999999950783,0.000173425201325,-0.000260952169408,1.61652513934e-05,1793249649228106240
+66,1.100000000,BASELINE,767,745.306272297,718,678.306272297,661.693727703,638,878.612544594,785,812.306272297,652,630,653.306272297,0.400973164049,-0.0153976532653,0.0598425718062,0.999999950801,0.000172648458355,-0.000261391038833,1.6258026139e-05,1793249649244772864
+67,1.116666667,BASELINE,767,745.881793401,718,678.881793401,661.118206599,638,879.763586801,785,812.881793401,652,630,653.881793401,0.400972078613,-0.0153971666335,0.059841743973,0.999999950476,0.000172169839586,-0.000262953902374,1.61657971303e-05,1793249649261439232
+68,1.133333333,BASELINE,767,745.546019845,718,678.546019845,661.453980155,637.546019845,879.546019845,785,813,651.546019845,630,653.546019845,0.400972276931,-0.0153964902547,0.0598422204996,0.999999950501,0.000173148936547,-0.000262211303297,1.61956045532e-05,1793249649278105856
+69,1.150000000,BASELINE,767,745,718,678,661.973724322,637,879,784.973724322,813,651,629.973724322,653,0.400972873378,-0.0153958100723,0.0598430692918,0.999999950635,0.000174433651102,-0.00026084165435,1.62612332709e-05,1793249649294772736
+70,1.166666667,BASELINE,767,745,718,678,661.380485958,637,879,784.380485958,813,651,629.380485958,653,0.400974900518,-0.015396106103,0.0598446757686,0.999999951207,0.00017418263874,-0.000258800211087,1.64191559033e-05,1793249649311439616
+71,1.183333333,BASELINE,767,744.792254636,718,678,661,637.207745364,878.792254636,784.207745364,813,651,629.207745364,653.207745364,0.400975270007,-0.0153967372002,0.0598448445628,0.999999951374,0.00017384603014,-0.00025838201006,1.63801534497e-05,1793249649328106496
+72,1.200000000,BASELINE,767,744.212977798,718,678,661,637.787022202,878.212977798,784.787022202,813,651,629.787022202,653.787022202,0.400972674953,-0.0153979675294,0.059842442208,0.99999995082,0.000173356341321,-0.000260866812475,1.59889705181e-05,1793249649344773376
+73,1.216666667,BASELINE,767,744.363874035,718,678.363874035,661.363874035,638,878,784.636125965,813,651,629.636125965,654,0.400972204617,-0.0153980394684,0.0598420003335,0.999999950491,0.000173734615618,-0.000261870424164,1.60374882608e-05,1793249649361439744
+74,1.233333333,BASELINE,767,744.939315859,718,678.939315859,661.939315859,638,878,784.060684141,813,651,629.060684141,654,0.40097296966,-0.0153974378828,0.0598426983439,0.999999950295,0.000174617550955,-0.000262012824906,1.63416618061e-05,1793249649378106112
+75,1.250000000,BASELINE,767,745.515326239,718,678.484673761,662,638,878.515326239,784.515326239,813,651,629.515326239,654,0.400972159009,-0.0153967246797,0.0598428332544,0.999999950432,0.000174468381193,-0.00026161018047,1.60252538812e-05,1793249649394772480
+76,1.266666667,BASELINE,767,745.906198137,718.093801863,678.093801863,662,638,878.906198137,785,813,651.093801863,629.906198137,654,0.400971571636,-0.0153961726613,0.0598429571179,0.999999950659,0.000174150934055,-0.000260971192065,1.57577094088e-05,1793249649411439104
+77,1.283333333,BASELINE,767,745.315005827,718.684994173,678.684994173,662,638,878.315005827,785,813,651.684994173,629.315005827,654,0.400973153199,-0.0153965451092,0.0598433744044,0.999999951154,0.000173586367287,-0.00025941968916,1.61371999447e-05,1793249649428105728
+78,1.300000000,BASELINE,767.270225667,745,718.729774333,679,662,638,878.270225667,785,812.729774333,652,629.270225667,654,0.400973880541,-0.0153974031433,0.0598432625074,0.999999951329,0.000173099358259,-0.000259066882136,1.6230622432e-05,1793249649444772352
+79,1.316666667,BASELINE,767.848658482,745,718.151341518,679,662,638,878.848658482,785,812.151341518,652,629.848658482,654,0.400973633598,-0.015398815015,0.0598425470478,0.999999951138,0.000172700808114,-0.000260081253422,1.59977686413e-05,1793249649461439488
+80,1.333333333,BASELINE,767.577502884,745,718,679,662,638,879,785,812.422497116,651.577502884,630,654,0.40097338741,-0.0153987252627,0.059842548414,0.999999951256,0.000171864347812,-0.000260169273178,1.62089921243e-05,1793249649478106112
+81,1.350000000,BASELINE,767.005292171,745,718,679,662,638,879,785,812.994707829,651.005292171,630,654,0.40097314149,-0.0153981034039,0.0598428037904,0.999999951482,0.000170872712205,-0.000259929036528,1.65775762033e-05,1793249649494772480
+82,1.366666667,BASELINE,767.585212988,745.585212988,718,678.414787012,662,638,879.585212988,784.414787012,813,651,630,654,0.400972468151,-0.0153967739489,0.0598424284617,0.999999950897,0.000172979813431,-0.000260805409851,1.62409379112e-05,1793249649511438848
+83,1.383333333,BASELINE,767.8276418,745.8276418,718,678.1723582,661.8276418,638,879.6552836,784.1723582,813,651,630,654,0.400972227854,-0.0153959712032,0.0598421874497,0.999999950549,0.000174256534896,-0.00026130424156,1.59979428002e-05,1793249649528105728
+84,1.400000000,BASELINE,767.248822743,745.248822743,718,678.751177257,661.248822743,638,878.497645486,784.751177257,813,651,630,654,0.400973018179,-0.0153964261373,0.0598422770718,0.999999950789,0.000173506811788,-0.000260888161112,1.59913048952e-05,1793249649544772352
+85,1.416666667,BASELINE,767,745,718,679,661.329291741,637.670708259,878,784.670708259,813,651,630,654,0.400973821598,-0.0153963398687,0.0598424924886,0.999999950833,0.000174030901746,-0.000260367222982,1.59880696952e-05,1793249649561438976
+86,1.433333333,BASELINE,767,745,718,679,661.90687493,637.09312507,878,784.09312507,813,651,630,654,0.40097463489,-0.0153958455243,0.0598428027566,0.99999995073,0.000175515467979,-0.00025976722044,1.59874001917e-05,1793249649578105600
+87,1.450000000,BASELINE,767,745,718,679,662,637,878.480270894,784.480270894,813,651,629.519729106,654,0.400973713131,-0.0153974734384,0.0598435846907,0.999999950913,0.00017490407107,-0.000259457913237,1.62811394764e-05,1793249649594772224
+88,1.466666667,BASELINE,767,745,718,679,661.945544487,637.054455513,879.108911026,784.945544487,813,651,629,653.945544487,0.400972653337,-0.0153992411811,0.0598442787398,0.99999995113,0.000173892187249,-0.000259282917292,1.65587843636e-05,1793249649611438848
+89,1.483333333,BASELINE,767,745,718,679,661.355692397,637.644307603,880.288615205,784.355692397,813,651,629,653.355692397,0.40097351552,-0.0153983727865,0.0598432173078,0.999999951154,0.000172903998707,-0.000259879053076,1.61217821774e-05,1793249649628105728
+90,1.500000000,BASELINE,767,745,718,678.770700916,661,638,880.312102748,784.229299084,813,651.229299084,629.229299084,653,0.400973437999,-0.0153980885847,0.0598421279611,0.999999951024,0.000172305528443,-0.00026078671945,1.58945159209e-05,1793249649644772096
+91,1.516666667,BASELINE,767,745,718,678.193092831,661,638,878.579278493,784.806907169,813,651.806907169,629.806907169,653,0.400971933053,-0.0153986917813,0.0598409962116,0.999999950663,0.00017229904661,-0.000262167605751,1.59858419585e-05,1793249649661438720
+92,1.533333333,BASELINE,767,745,718,678.385007349,661,638,878.385007349,785,813,652,629.614992651,653.385007349,0.400971965829,-0.0153980076788,0.0598415446804,0.999999950651,0.000172969167496,-0.000261767725232,1.60162090112e-05,1793249649678105344
+93,1.550000000,BASELINE,767,745,718,678.963354698,661,638,878.963354698,785,813,652,629.036645302,653.963354698,0.400972770806,-0.0153966771307,0.059842936908,0.999999950814,0.000173979059479,-0.000260473593192,1.60159641627e-05,1793249649694771968
+94,1.566666667,BASELINE,767,745,718,678.465019831,661.534980169,638,879,784.465019831,813,652,629.534980169,654,0.400971728139,-0.0153954425993,0.0598423604896,0.999999950297,0.00017581142836,-0.00026125056435,1.56640149915e-05,1793249649711438848
+95,1.583333333,BASELINE,767,745,718,678.110783944,662,638,879,784,813,651.889216056,629.889216056,654,0.400971066768,-0.0153947102486,0.0598419853018,0.999999949953,0.000177110329208,-0.000261699058112,1.54451674738e-05,1793249649728105472
+96,1.600000000,BASELINE,767,745,718,678.706884011,662,638,879,784,813,651.293115989,629.293115989,654,0.400972623311,-0.0153961493684,0.0598430750632,0.999999950591,0.000175828502183,-0.000260094804148,1.59136319061e-05,1793249649744772096
+97,1.616666667,BASELINE,767,745,718,679,662,638,879,784.292144312,813,651.292144312,629.292144312,653.707855688,0.400972727916,-0.0153970553116,0.0598431562472,0.999999950796,0.00017504308915,-0.000259822301162,1.61523437617e-05,1793249649761438976
+98,1.633333333,BASELINE,767,745,718,679,662,638,879,784.866917859,813,651.866917859,629.866917859,653.133082141,0.400971427873,-0.0153974454436,0.0598422617028,0.999999950584,0.000174737922089,-0.000260838174407,1.61687860046e-05,1793249649778105344
+99,1.650000000,BASELINE,767,745.441280655,718,678.558719345,662,638,879,785,813,651.558719345,630,653.441280655,0.40097186545,-0.0153970162555,0.0598423509154,0.99999995049,0.000175369536113,-0.000260778742083,1.60968753794e-05,1793249649794772736
+100,1.666666667,BASELINE,767,745.984035621,718,678.015964379,661.984035621,638,879,784.984035621,813,651,630,654,0.400972812847,-0.0153963929907,0.0598427462576,0.999999950449,0.000176201096794,-0.000260380985878,1.60080527799e-05,1793249649811440384
+101,1.683333333,BASELINE,767,745.393342532,718,678.606657468,661.393342532,638,879,784.393342532,813,651,630,654,0.400973266044,-0.0153976700431,0.0598434916189,0.999999951056,0.000174069563768,-0.000259467229856,1.6268755413e-05,1793249649828106752
+102,1.700000000,BASELINE,767,745,718,678.805695116,661.194304884,638,878.805695116,784,813,651.194304884,629.805695116,654,0.400973351306,-0.0153982933654,0.0598436967158,0.999999951374,0.000172436091617,-0.000259332036667,1.62593379604e-05,1793249649844772864
+103,1.716666667,BASELINE,767,745,718,678.224118148,661.775881852,638,878.224118148,784,813,651.775881852,629.224118148,654,0.400972703228,-0.0153976137283,0.0598428250029,0.999999951125,0.000171795312588,-0.000260748609267,1.57115399375e-05,1793249649861439232
+104,1.733333333,BASELINE,767,745,718,678,662,638,878.352798811,784,813,651.647201189,629,653.647201189,0.40097232299,-0.015396465295,0.0598424855504,0.99999995088,0.000172701176937,-0.000261099824249,1.55473014735e-05,1793249649878106112
+105,1.750000000,BASELINE,767,745,718,678,662,638,878.92679411,784,813,651.07320589,629,653.07320589,0.400972110681,-0.0153950229376,0.0598424798124,0.999999950636,0.000174576749947,-0.000260783085404,1.56235457043e-05,1793249649894772992
+106,1.766666667,BASELINE,767,745,718,678,662,637.497819782,879,784.502180218,813,651,629.502180218,653.502180218,0.400972153787,-0.0153960060764,0.0598426946057,0.999999950703,0.000174027000258,-0.000260881159825,1.5806726483e-05,1793249649911439360
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,878,785,813,651,629,654,0.40097102441,-0.0153987271488,0.0598407652125,0.999999949873,0.000174055483543,-0.000264002928844,1.61660958247e-05,1793249649954067968
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.421980054,745,717.421980054,678.578019946,661.421980054,638,878.578019946,785,813,651.578019946,629.578019946,653.421980054,0.400971183746,-0.0153984631048,0.0598408223521,0.999999950159,0.00017319339551,-0.000263477390027,1.63157701137e-05,1793249649970734592
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.15443582,745,717.15443582,679,661,637.84556418,878.84556418,785,813,651.84556418,630,653,0.400971741812,-0.01539850891,0.0598413146887,0.999999950584,0.000172285154606,-0.000262449804346,1.64167767931e-05,1793249649987400960
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.726513918,745,717.726513918,679,661,637.273486082,878.273486082,785,813,651.273486082,630,653,0.400973378173,-0.0153993926429,0.0598429839327,0.999999951385,0.000171252101855,-0.000260064528372,1.63861712197e-05,1793249650004067840
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.308671929,878,784.691328071,813,651,630,653.308671929,0.400973526782,-0.0153990542832,0.0598435075476,0.999999951534,0.000171584615673,-0.000259279566954,1.62794930277e-05,1793249650020734464
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.900062288,878,784.099937712,813,651,630,653.900062288,0.400972312733,-0.0153975965859,0.0598429818592,0.999999951087,0.000173167877685,-0.000259960363908,1.61031384939e-05,1793249650037401088
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,878,784,813,651,630,653.518872828,0.400970653475,-0.0153973771715,0.059841626219,0.999999950259,0.000174626349618,-0.000262160529161,1.61339163407e-05,1793249650054067712
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,717.940136101,678.940136101,661,638,878,784.059863899,813,651,629.940136101,653.059863899,0.400969495338,-0.0153976100984,0.0598405010648,0.999999949606,0.000175573332465,-0.000264004058511,1.62660019038e-05,1793249650070734336
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,717.36337195,678.36337195,661,638,878,784.63662805,813,651,629.36337195,653.63662805,0.400973445899,-0.0153995745562,0.0598428233417,0.999999951183,0.00017232293031,-0.000260100387567,1.69091429965e-05,1793249650087401216
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,717.212042945,678.212042945,661.212042945,638,878.212042945,785,813,651.212042945,629,653.787957055,0.400979232755,-0.015400394232,0.0598457614161,0.999999952635,0.000170599279382,-0.000255597185785,1.7198039122e-05,1793249650104068352
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,717.78516022,678.78516022,661.78516022,638,878.78516022,785,813,651.78516022,629,653.21483978,0.400988146517,-0.0153992645319,0.0598497480925,0.999999953887,0.000171475435517,-0.000250073081797,1.68837141513e-05,1793249650120735744
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,785,813,652,629,653.368805516,0.401014356767,-0.0153997637106,0.0598606690799,0.99999995798,0.000173510498598,-0.000231560360521,1.77406354377e-05,1793249650137402624
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,785,813,652,629,653.958763959,0.401050938797,-0.0154012396407,0.0598757482027,0.999999963218,0.000176240496129,-0.000205259060055,1.92998903697e-05,1793249650154068992
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.459737685,638,879,784.459737685,813,652,629.540262315,654,0.401112904217,-0.015403960954,0.0598953280415,0.999999969679,0.000174868832905,-0.000172104118795,2.10725537598e-05,1793249650170735360
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.880903155,879,784,813,651.880903155,630,654,0.401179926171,-0.0154074575976,0.0599141031862,0.999999974819,0.000172963171275,-0.000141159378896,2.2787978859e-05,1793249650187401472
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661,637.309766094,879,784,813,651.309766094,630,654,0.40125890036,-0.0154135418362,0.0599285403082,0.999999977955,0.000170200614862,-0.000120558490774,2.4225281376e-05,1793249650204068608
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,718,678.729462403,661.270537597,637.270537597,879,784,813,651,630,653.729462403,0.401345014918,-0.0154183230094,0.0599395914604,0.99999998034,0.000167945325759,-0.000102498465381,2.46637403059e-05,1793249650220735488
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,718,678.138294837,661.861705163,637.861705163,879,784,813,651,630,653.138294837,0.40143959194,-0.0154215598431,0.0599466297002,0.999999982064,0.000166291229098,-8.74497666648e-05,2.39184110501e-05,1793249650237401856
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,879,784,813,651,629.556396035,653,0.401541030669,-0.0154267002773,0.0599459357448,0.999999982191,0.000165158635519,-8.83948287516e-05,2.29560992833e-05,1793249650254068736
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,718,678,661.977543626,638,879,784.022456374,813,651,629,653,0.401645578477,-0.0154324605622,0.0599428517614,0.99999998187,0.000164124852024,-9.40443779359e-05,2.18931050075e-05,1793249650270735616
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,718,678,661.403991045,638,879,784.596008955,813,651,629,653,0.401775003354,-0.0154391667346,0.0599390602945,0.999999982202,0.000161607762277,-9.52872402505e-05,1.99853678093e-05,1793249650287402240
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,717.829142119,678,661,638,878.829142119,784.829142119,813,651,629,653,0.401917415551,-0.015446084357,0.0599371998483,0.999999982817,0.000158911037931,-9.36871621302e-05,1.83271951819e-05,1793249650304068608
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,717.251204653,678,661,638,878.251204653,784.251204653,813,651,629,653,0.402090770832,-0.0154535057711,0.0599399401804,0.999999984077,0.000155786323268,-8.53136004494e-05,1.72636260239e-05,1793249650320734976
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,717.332688533,678,661,638,878.332688533,784,813,651,629,653,0.402283841767,-0.0154628782904,0.0599426596676,0.999999985688,0.000149738588898,-7.714288844e-05,1.58744625992e-05,1793249650337401600
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,717.921160764,678,661,638,878.921160764,784,813,651,629,653,0.40249207087,-0.0154737508951,0.0599453631288,0.999999987506,0.000141443524565,-6.91281341419e-05,1.42349697053e-05,1793249650354068224
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,718,678.503250536,661.503250536,638,879,784,813,651,629,653,0.402733855464,-0.0154857847965,0.0599494370066,0.99999998952,0.000132713484821,-5.64937307766e-05,1.25104866821e-05,1793249650370734592
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,718,678.916414514,661.916414514,638,879,784.083585486,813,651,629,653,0.402983543263,-0.015497260038,0.0599526169611,0.999999991064,0.00012515731349,-4.57643539889e-05,1.06660701789e-05,1793249650387400960
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,718,678.340598894,661.340598894,638,879,784.659401106,813,651,629,653,0.40324920336,-0.0155043874182,0.0599492841943,0.999999990892,0.000124910248557,-5.04621013315e-05,8.19279827241e-06,1793249650404067584
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,718,678,661.235044717,638,879,784.764955283,813,651,629,653,0.403529145199,-0.0155086761237,0.0599423129657,0.999999990046,0.000126910964976,-6.14538787506e-05,5.00583090982e-06,1793249650420734720
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,718,678,661.810439219,638,879,784.189560781,813,651,629,653,0.403829767292,-0.0155088543669,0.0599300731667,0.99999998794,0.00013216651694,-8.15595462928e-05,7.85417380214e-07,1793249650437402112
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718,678.395580307,662,638,879,784.395580307,813,651,629,653.395580307,0.404154097644,-0.0154994917869,0.0599173340983,0.999999990926,8.64412534154e-05,-0.000103225749583,-4.60149867279e-06,1793249650454068736
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,718,678.98550989,662,638,879,784.98550989,813,651,629,653.98550989,0.404490075895,-0.0154854417844,0.0599043497385,0.999999991926,1.56690280466e-05,-0.000125658645684,-1.05615192533e-05,1793249650470734848
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878.436725841,785,813,651,629,654,0.404878044827,-0.0154886538655,0.0598989629225,0.999999990357,1.54039155961e-05,-0.000137306735119,-1.39591869256e-05,1793249650487401984
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878.1393462,784.8606538,813,651,629,654,0.405284028471,-0.0154945913405,0.0598996059269,0.999999990132,1.63232456547e-05,-0.000138502013562,-1.69087489073e-05,1793249650504068608
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,878.711117369,784.288882631,813,651,629,654,0.405741853366,-0.0155076374677,0.0599183672319,0.999999993864,1.54085804983e-05,-0.000108102441026,-1.86679587109e-05,1793249650520735232
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,717.713123748,679,662,638,879,784,813,651,629,654,0.406236936852,-0.0155165288937,0.059943486719,0.999999997608,1.11975980483e-05,-6.53514177672e-05,-1.97117662701e-05,1793249650537401856
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,717.133292583,679,662,638,879,784,813,651,629,654,0.40677006846,-0.0155211775857,0.0599750991149,0.999999999743,3.62045205936e-06,-9.98722342227e-06,-2.00250130105e-05,1793249650554068480
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,717.456862443,679,662,638,879.456862443,784.456862443,813,651,629,654,0.407304995257,-0.0155216669354,0.0599907915646,0.999999999705,-2.70246001121e-06,8.94838922049e-06,-2.24022832944e-05,1793249650570734592
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.951397417,785,813.048602583,651,629,654,0.40784106134,-0.0155208824883,0.0599998259692,0.999999999512,-1.16282850871e-05,1.36204760025e-05,-2.56028974246e-05,1793249650587401216
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.37588164,785,813.62411836,651,629,654,0.40838366963,-0.0155197486747,0.0599881978934,0.999999997952,-5.28318400054e-05,-1.84541792915e-05,-3.10501373441e-05,1793249650604068608
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,717.800724035,679,662,638,879,785,813.800724035,651.199275965,629,654,0.408945401005,-0.0155200361994,0.059977986726,0.99999999531,-7.8132577102e-05,-4.41270875631e-05,-3.64526414998e-05,1793249650620735488
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,717.226240851,679,662,638,879,785,813.226240851,651.773759149,629,654,0.409543138293,-0.0155229998941,0.0599704433888,0.99999999476,-7.34906540544e-05,-5.77464495724e-05,-4.17709146206e-05,1793249650637402368
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,717.357207415,679.357207415,662,638,879.357207415,785,813.357207415,651.642792585,629,654,0.41019611555,-0.0155276460046,0.0599752912997,0.999999994778,-8.09464653491e-05,-4.19765883802e-05,-4.6152008436e-05,1793249650654068992
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,717.946479959,679.946479959,662,638,879.946479959,785,813.946479959,651.053520041,629,654,0.410884980255,-0.0155333851214,0.0599881893702,0.999999994095,-9.62617503931e-05,-7.11357917202e-06,-4.99242494731e-05,1793249650670735616
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,717.471373861,680,662,638,880.528626139,785,813.471373861,651,629,654,0.411569528251,-0.01553719174,0.0599831388501,0.999999991107,-0.000120772340691,-1.6621414767e-05,-5.40765876647e-05,1793249650687401984
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,717,680,662,638,881.108641415,785,813,651,629,654,0.412249625789,-0.0155379077645,0.0599710389921,0.999999990723,-0.000118811778419,-4.04987893196e-05,-5.28998016031e-05,1793249650704068608
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,717,680,662,638,881.682579136,785,813,651,629,654,0.412912509322,-0.0155262140058,0.0599364270007,0.999999993869,4.552798349e-07,-0.000106935085419,-2.87364815918e-05,1793249650720735232
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,717,680,662.256236207,638,881.743763793,785,813,651,629,654,0.413615285083,-0.0155178234583,0.0599152442218,0.999999987482,5.77849827361e-05,-0.000146099899558,-1.8732665448e-05,1793249650737401600
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,717,680,662.829546071,638,881.170453929,785,813,651,629,654,0.414367424663,-0.0155135203926,0.0599106791116,0.999999987437,3.84717322668e-05,-0.000151518250519,-2.62502020854e-05,1793249650754068224
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,717.417152502,680.417152502,663,638,881.834305005,785,813.417152502,651.417152502,629,654,0.415217991109,-0.015523707673,0.0599520987788,0.9999999967,1.10700782363e-05,-7.55289326307e-05,-2.77883240215e-05,1793249650770735104
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.989487537,745,718,680.989487537,663,638.010512463,882.989487537,784.989487537,814,652,629,654,0.416108684329,-0.0155398370441,0.0600119358063,0.999999998913,-1.94518308072e-05,3.27779681189e-05,-2.68410654463e-05,1793249650787401728
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.412063657,745,718,680.412063657,663,638.587936343,882.412063657,784.412063657,814,652,629,654,0.416917464692,-0.0155457754863,0.0600157187778,0.999999998684,-3.36844459796e-05,2.63742850765e-05,-2.82985951602e-05,1793249650804068608
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,718,680,663.164482869,638.835517131,882.164482869,784.164482869,814,651.835517131,629,654,0.417733046864,-0.0155496684877,0.0600127021529,0.999999998494,-4.32384237509e-05,1.54982422886e-05,-3.00222160112e-05,1793249650820735232
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,718,680,663.73884307,638.26115693,882.73884307,784.73884307,814,651.26115693,629,654,0.418565578516,-0.0155484644243,0.0599927415113,0.999999998608,-4.11336338162e-05,-6.52254057465e-06,-3.24089132846e-05,1793249650837401856
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.320836251,745,718,680.320836251,663.679163749,638.320836251,882.679163749,784.679163749,814,651,629,654,0.419390757955,-0.0155471272409,0.0599700383972,0.999999997624,-4.27782051975e-05,-4.04065863418e-05,-3.59180713205e-05,1793249650854068480
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.909193977,745,718,680.909193977,663.090806023,638.909193977,882.090806023,784.090806023,814,651,629,654,0.420209806889,-0.0155456790587,0.0599450485403,0.999999994512,-4.75490900334e-05,-8.41825231161e-05,-4.03631656983e-05,1793249650870734848
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,717.508679116,681,663,638.508679116,882.491320884,784.491320884,814,651,629,654,0.421051949068,-0.0155427248483,0.0599093816586,0.99999998649,-4.58065009374e-05,-0.000151584767092,-4.40838040658e-05,1793249650887401472
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,717,681,663,638,883,785,814,651,629,654,0.421908942643,-0.0155402503194,0.0598792521307,0.999999976258,-4.34254026492e-05,-0.00020827368098,-4.71226386022e-05,1793249650904068096
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,717,681,663,638,883,785,814,651,629,654,0.422840761416,-0.0155430837064,0.0599017836925,0.999999985237,-4.49150226452e-05,-0.000159265317957,-4.62953329182e-05,1793249650920734976
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,717.221295146,680.778704854,663.221295146,638,883.221295146,785,814,651,629,654.221295146,0.423788891167,-0.0155473186054,0.0599401263169,0.999999993634,-4.79393477709e-05,-9.23257758865e-05,-4.36912436279e-05,1793249650937401600
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,717.79640679,680.20359321,663.79640679,638,883.79640679,785,814,651,629,654.79640679,0.424763099779,-0.0155537943044,0.0600037483733,0.999999997837,-5.34174276268e-05,3.28293876054e-06,-3.82463536014e-05,1793249650954067968
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,718,680.381835126,664.381835126,638.381835126,884,785,814.381835126,651,629,654.618164874,0.425702469522,-0.0155575911223,0.0600323765248,0.999999996493,-5.35715876189e-05,5.30219860193e-05,-3.64954052587e-05,1793249650970734592
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,718,680.972917006,664.972917006,638.972917006,884,785,814.972917006,651,629,654.027082994,0.426622747407,-0.0155599199053,0.0600418279114,0.999999995021,-5.0808223971e-05,7.76243173402e-05,-3.67687480676e-05,1793249650987401216
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,717.448820528,681,664.448820528,638.448820528,884,785.551179472,815,651,629,654,0.427547979525,-0.0155609128272,0.0600164754613,0.999999996152,-6.34540105481e-05,4.48693617042e-05,-4.06875967489e-05,1793249651004067840
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,717.128425429,681,664,638,884,785.871574571,815,651,629.128425429,654,0.428455306272,-0.015560492015,0.0599878228867,0.999999996425,-7.17518295243e-05,4.77843875185e-06,-4.4481456103e-05,1793249651020734464
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,717.704274557,681,664,638,884,785.295725443,815,651,629.704274557,654,0.429299423292,-0.0155553693535,0.0599534955032,0.999999995628,-6.2323789916e-05,-5.1274729784e-05,-4.72299830111e-05,1793249651037401088
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,717.721485017,681.278514983,664,638,884.278514983,785,815.278514983,651,630,654,0.430170353169,-0.0155532579088,0.059932478793,0.999999993321,-6.19504513699e-05,-8.42139947068e-05,-4.92725644224e-05,1793249651054068224
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,717.148942928,681.851057072,664,638,884.851057072,785,815.851057072,651,630,654,0.431069589214,-0.0155543253933,0.0599255141071,0.99999999189,-7.11361237177e-05,-9.27520045898e-05,-5.05698820608e-05,1793249651070735616
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745,717.440661117,682,664,638.440661117,885,785,815.559338883,651,630,654,0.432016506449,-0.0155555192486,0.0599616675425,0.999999995878,-7.10702471983e-05,-2.85190087683e-05,-4.87767789076e-05,1793249651087402496
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.035034769,718,681.964965231,664,638.964965231,885,785,815.035034769,651,629.964965231,654,0.432976193095,-0.0155567606941,0.0600096985806,0.999999995096,-6.81692343594e-05,5.51115303891e-05,-4.60854244817e-05,1793249651104068864
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745.610442497,718,681.389557503,664,638.389557503,885,785,815.610442497,651,629.389557503,654,0.433874245976,-0.0155580508269,0.0600070884796,0.999999995421,-7.17127660985e-05,4.32729038351e-05,-4.62996422638e-05,1793249651120735488
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.814110649,717.814110649,681,664,638.185889351,885.185889351,785,816,651,629.185889351,654,0.434752532205,-0.0155603272391,0.0599951613219,0.999999995777,-7.65497378006e-05,1.7740334613e-05,-4.76600087377e-05,1793249651137402112
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.238581675,717.238581675,681,664,638.761418325,885.761418325,785,816,651,629.761418325,654,0.435589386045,-0.0155646709759,0.0599637048339,0.999999994476,-8.40978683402e-05,-3.64958856476e-05,-5.14227986582e-05,1793249651154068480
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.345210539,717,681.345210539,664.345210539,639,885.654789461,785.345210539,815.654789461,651,629.654789461,654,0.436403382458,-0.0155641007013,0.059943163617,0.999999992319,-8.5593516966e-05,-7.13942752429e-05,-5.42056267239e-05,1793249651170735104
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.934853655,717,681.934853655,664.934853655,639,885.065146345,785.934853655,815.065146345,651,629.065146345,654,0.437201194204,-0.0155600509718,0.0599303511573,0.9999999907,-8.28035957383e-05,-9.26001602053e-05,-5.62945748736e-05,1793249651187401728
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,717,681.485280497,665,638.485280497,885,785.485280497,815.514719503,651,629.514719503,654,0.43798709875,-0.015560007289,0.0599096138362,0.99999998559,-8.09552672222e-05,-0.000137857909578,-5.71136079632e-05,1793249651204068352
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.907204979,745.907204979,717,681,665,638,885.092795021,785,816,651.092795021,629.907204979,654,0.438786554156,-0.015560926594,0.0598986943214,0.999999981362,-8.05490316111e-05,-0.000165967284801,-5.69531254482e-05,1793249651220734720
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.332122739,745.332122739,717,681,665,638,885.667877261,785,816,651.667877261,629.332122739,654,0.43966412463,-0.0155642647788,0.0599439171554,0.999999990835,-8.70299999147e-05,-8.94241140636e-05,-5.2521558952e-05,1793249651237401856
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+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745,717,681.405251048,665,638,885.405251048,785,816,651.594748952,629.594748952,654,0.441976105763,-0.0155761945608,0.0599886617594,0.999999993645,-9.84831845015e-05,-2.09621434095e-05,-5.07107369328e-05,1793249651287401728
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745.000104427,717,682,665,638,886,785,816,651.000104427,629.000104427,654,0.442642744398,-0.0155784008084,0.0599451981411,0.999999988869,-0.00010814444053,-8.62527040566e-05,-5.59165244388e-05,1793249651304068096
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,745.576411665,717,682,665,638,886,785,816,651.576411665,629.576411665,654,0.44329356645,-0.0155826501602,0.0599063867603,0.999999979145,-0.000131518729474,-0.000144003677684,-6.06287574179e-05,1793249651320734976
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664.847460452,637.847460452,886,784.847460452,816.152539548,651.847460452,630,654,0.443944382737,-0.0155870461241,0.059876673343,0.999999969302,-0.000147750402543,-0.000188186495352,-6.44394070219e-05,1793249651337401856
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664.271829904,637.271829904,886,784.271829904,816.728170096,651.271829904,630,654,0.444595183184,-0.0155918487389,0.0598721944649,0.999999968485,-0.000144170980447,-0.000194736039851,-6.57493834041e-05,1793249651354068736
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664,637,886,784,817,651,630,654,0.445192728664,-0.0155959462117,0.0598589959086,0.999999959971,-0.000160056264727,-0.000223209494894,-6.79581216755e-05,1793249651370735360
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664,637,886,784,817,651,630,654,0.445742623477,-0.0155994127483,0.0598379952988,0.999999941986,-0.000193357866796,-0.00027129967425,-7.09710394509e-05,1793249651387402240
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,745.522641199,717,682,664,637,886,784,817,651,630,654.477358801,0.446285807675,-0.0156027411935,0.0598135624698,0.999999930709,-0.000200020796791,-0.000304854457212,-7.50882884527e-05,1793249651404068864
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,745.632757388,717,682,664.632757388,637,886,784,816.367242612,651,629.367242612,654.367242612,0.447372961433,-0.0156125639942,0.0598029597117,0.999999927196,-0.000208484206453,-0.000309428593368,-7.99787497819e-05,1793249651437402112
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,745.791824802,717,682.208175198,664.791824802,637,886,784,816.208175198,651,629.208175198,654,0.447901460142,-0.0156185915897,0.0598118396678,0.999999929573,-0.000220570413815,-0.000292763429334,-8.0568408517e-05,1793249651454068480
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,745.218687543,717,682.781312457,664.218687543,637,886,784,816.781312457,651,629.781312457,654,0.448400898944,-0.0156242500645,0.0598169290381,0.999999927332,-0.000241760266886,-0.00028351961522,-8.06559151571e-05,1793249651470735360
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766.506550737,746,717,682.253275368,663,636,887,781.253275368,817.746724632,652,628.746724632,654.253275368,0.453368602882,-0.0156497661737,0.059650497544,0.999999822557,-0.000238728060209,-0.000541012440495,-7.21136397412e-05,1793249652087401216
+236,3.933333333,POSE1_TO_POSE2_PRESS,767.652356368,746,717,682.826178184,663,636,887,781.826178184,817.173821816,652,628.173821816,654.826178184,0.453370677023,-0.0156480114692,0.0596512675487,0.999999823843,-0.000236519837158,-0.000539615173898,-7.20254221719e-05,1793249652104067840
+237,3.950000000,POSE1_TO_POSE2_PRESS,767.587346928,746,717.412653072,683,663,636,887,782,817,651.587346928,628,654.587346928,0.453371598618,-0.0156478651322,0.0596513102235,0.999999823972,-0.00023698514556,-0.000539159637427,-7.21166957757e-05,1793249652120734464
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,718,682.995086122,663,636,887,781.995086122,817,651.004913878,628,654,0.453372018661,-0.015648404649,0.0596510421187,0.999999823605,-0.000238578934066,-0.000539116257866,-7.22810870305e-05,1793249652137400832
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682.417444986,663,636,887,781.417444986,817,651.582555014,628,654,0.453372490457,-0.0156472332848,0.0596514748142,0.999999824151,-0.000235977932937,-0.000539303819403,-7.18556433496e-05,1793249652154067456
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,717.840529963,682,663,636,887,781,817,652,628.159470037,654.159470037,0.453373010782,-0.0156466912977,0.0596517171019,0.999999824377,-0.000234753747365,-0.00053946438914,-7.15216137773e-05,1793249652170734080
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717.265507108,682,663,636,887,781,817,652,628.734492892,654.734492892,0.453373657565,-0.0156477893643,0.0596514632183,0.999999823777,-0.000237117317975,-0.000539554622655,-7.1425794438e-05,1793249652187400960
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,717,682,663,636,886.683824688,781,817,652,629,655,0.453373148536,-0.0156475857735,0.0596508611962,0.999999823643,-0.00023562193644,-0.000540463957605,-7.13725797143e-05,1793249652204067584
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+244,4.066666667,POSE1_TO_POSE2_PRESS,767,746,717,682,663,636,886,781,817.48388024,652,628.51611976,655,0.453371523302,-0.0156465363572,0.0596500824567,0.999999823648,-0.000232445581362,-0.000541827009648,-7.13844831953e-05,1793249652237400832
+245,4.083333333,HOLD_POSE2,767,746,717,682,663,637,886,781,818,652,628,654,0.453373196066,-0.0156457324797,0.0596499767024,0.999999824718,-0.000230313306753,-0.000540851806988,-7.07008300747e-05,1793249652281089792
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+248,4.133333333,HOLD_POSE2,767,746,717,682.744729524,663,636,887,781.255270476,817.744729524,652,628,655,0.453370361709,-0.0156473086835,0.0596481502002,0.999999822243,-0.000233685917833,-0.000543925770534,-7.10621941662e-05,1793249652331089664
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+250,4.166666667,HOLD_POSE2,766.093722941,746,717.906277059,682.093722941,663,636,887,781,817.093722941,652,628,654.093722941,0.453371375755,-0.0156470036934,0.0596488217126,0.999999822123,-0.000235019678704,-0.00054358279696,-7.09808567416e-05,1793249652364422912
+251,4.183333333,HOLD_POSE2,766.48283024,746,717.51716976,682,663,636,887,781,817,652,628,654.48283024,0.453371764356,-0.0156456102956,0.0596487657147,0.999999822278,-0.000233569755323,-0.000543916139345,-7.10219794127e-05,1793249652381090048
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+253,4.216666667,HOLD_POSE2,767,746,717,682,663,636,887,781,817,652,628,655,0.453373725635,-0.0156454481032,0.0596498538647,0.999999823285,-0.000232645745975,-0.000542494144499,-7.07562385954e-05,1793249652414424064
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.486483843,663,636,887,781,817,651.513516157,628.513516157,654,0.453373654032,-0.0156429853195,0.0596491007522,0.999999823476,-0.000230157524289,-0.000543236758978,-7.04863894523e-05,1793249652668311552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,745.935277944,717.064722056,683,663,636,887,781,817,651,628.064722056,654,0.453374730263,-0.0156422278275,0.0596502696595,0.999999824287,-0.000230288000669,-0.000541716472887,-7.02587512327e-05,1793249652684978176
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,745.805579921,717.194420079,682.194420079,663,636,887,781,817,651,628.194420079,654,0.453355185512,-0.0156400811857,0.0596405903499,0.999999817406,-0.000227272611321,-0.000555353300459,-7.15406609468e-05,1793249652734978816
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717.387271643,682,663,636,886.612728357,781,817,651.387271643,628,654,0.453324721798,-0.0156405855992,0.0596277823777,0.999999804356,-0.000229045138004,-0.000577607276048,-7.20829215511e-05,1793249652751645440
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.279517005,663,636,887,781.720482995,817,652,628.720482995,654,0.453011734394,-0.0156212053185,0.059556571167,0.99999974158,-0.000222927542187,-0.000679091538899,-7.73223402563e-05,1793249652834978560
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.279352933,746,717,682,663,636.279352933,887,783,817,651.279352933,628.720647067,654.279352933,0.44865071562,-0.0155124193182,0.0595785404689,0.999999783528,-0.000142976265838,-0.000640473912443,-4.79005065376e-05,1793249653134978816
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.295091924,746,717,682,663.295091924,636.295091924,886.704908076,783,817,651,628.704908076,654.295091924,0.448202361242,-0.0155052662028,0.0595918726087,0.99999980038,-0.000109950515771,-0.000620661215472,-4.39291988562e-05,1793249653151645440
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766.869537403,746,717,682,663.869537403,636.869537403,886.130462597,783,817,651,628.130462597,654.869537403,0.447733891951,-0.0154962294917,0.0596084898142,0.999999817009,-8.00661764028e-05,-0.0005983288081,-3.9680467725e-05,1793249653168312320
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.542409288,746,717,682,664,637,886,783,817,651,628.457590712,654.542409288,0.447260083449,-0.0154920260513,0.0596386561497,0.999999845563,-7.40180752962e-05,-0.000549791429308,-3.35358570719e-05,1793249653184978944
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,717,682,664,637,886,783.048518098,817,651,629,654,0.446778436968,-0.0154888975784,0.0596717468307,0.999999873723,-7.36520208404e-05,-0.000496391283266,-2.69324983647e-05,1793249653201645568
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746,717,682,664,637,886,783.627158967,817,651,629,654,0.446228292452,-0.0154819965856,0.0596932883148,0.999999885705,-5.88399200827e-05,-0.00047399400864,-2.14037207004e-05,1793249653218312192
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766.204311158,746,717.204311158,682.204311158,664,637,886,783.795688842,816.795688842,651,629,654,0.445646672761,-0.0154739253234,0.059699905992,0.999999887601,-4.06103315982e-05,-0.000472069121352,-1.73125677756e-05,1793249653234978304
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766.778766323,746,717.778766323,682.778766323,664,637,886,783.221233677,816.221233677,651,629,654,0.445008030531,-0.015463733922,0.059679486683,0.999999871101,-1.61893904797e-05,-0.000507233406602,-1.5825914076e-05,1793249653251644672
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,745.044812368,717.044812368,682.044812368,664,637,886,783.955187632,816,651,629,654,0.443735380542,-0.0154520376777,0.059671863098,0.999999874088,2.07018220174e-05,-0.00050131389637,-8.9781036399e-06,1793249653284977664
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,745.532674603,717,682,664,637,885.467325397,784,816.532674603,651,629,654,0.443106661954,-0.0154488269409,0.0597132470195,0.999999906071,3.39718073621e-05,-0.00043208893617,-1.9752802724e-06,1793249653301644032
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766.89083761,745.89083761,717,681.89083761,664,637.10916239,885.10916239,784.10916239,816.89083761,651.10916239,629.10916239,654,0.442463838937,-0.0154451140065,0.0597530739849,0.999999930906,4.79688928588e-05,-0.000368593062345,5.06838812072e-06,1793249653318310656
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.313712273,745.313712273,717,681.313712273,664,637.686287727,885.686287727,784.686287727,816.313712273,651.686287727,629.686287727,654,0.441758073791,-0.0154386854238,0.0597717363931,0.999999936571,6.64009189155e-05,-0.000349747779742,1.11918593489e-05,1793249653334977536
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766.267508193,745,717,681.267508193,664,638,885.732491807,785,816,651.732491807,630,654,0.441016212077,-0.0154316965702,0.059778615581,0.999999934248,8.94877197423e-05,-0.000351047413991,1.6174425554e-05,1793249653351644672
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.434430835,717,682,664,638,885,785,816,651.434430835,630,654,0.439459995386,-0.0154204599431,0.0597835162042,0.999999928153,0.000127264495279,-0.000356188072886,2.5040451168e-05,1793249653384978944
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,745.986547457,717,682,664,638,884.986547457,785,816,651.986547457,630,654,0.438691982817,-0.0154182506497,0.0598017909482,0.999999939346,0.000130719520437,-0.000321358849852,3.08048343001e-05,1793249653401645312
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,745.409527838,717,682,664,638,884.409527838,785,816,651.409527838,630,654,0.437876344041,-0.0154166405114,0.0598127232165,0.999999938689,0.000167507027469,-0.000305411676745,3.5870782863e-05,1793249653418311936
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,717.676349471,682,664,638,884.676349471,785,815.676349471,651,629,653.676349471,0.435268113931,-0.0154085217191,0.0597309908266,0.999999896237,0.000143953295033,-0.000431678539674,2.13759733771e-05,1793249653468311808
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,717.087734855,682,664,638,884.087734855,785,815.087734855,651,629,653.087734855,0.43441617917,-0.0154102187275,0.0597320430428,0.999999918466,5.21545233562e-05,-0.000400251875895,-1.20997905962e-05,1793249653484978688
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745,717.650708949,681.349291051,664,638,884,785,815,651,629,654,0.431788327553,-0.015412123415,0.0597879188982,0.999999944363,9.22818830317e-05,-0.00032045563409,8.18011076002e-06,1793249653534977792
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.769785228,745,718,681.230214772,663.769785228,638,884,785,815,651,629,654,0.430911264623,-0.0154072921399,0.0598032409999,0.999999948308,0.000118376345937,-0.000298569955948,1.50713765388e-05,1793249653551644672
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.182766763,745,718,681.817233237,663.182766763,638,884,785,815,651,629,654,0.430057176751,-0.0154064936966,0.0598271725787,0.999999958857,0.000134602089244,-0.000252392698676,2.15845414282e-05,1793249653568311552
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745.132546795,717.867453205,681.132546795,663,638,881.867453205,785,814.867453205,651,629,653,0.426277908697,-0.0154013423525,0.0597428419605,0.999999917669,0.000135237433992,-0.000382344559122,1.36437653675e-05,1793249653634978816
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.706721374,717.293278626,681.706721374,663,638,881.293278626,785,814.293278626,651,629,653,0.425388728561,-0.0154036944283,0.059775619392,0.999999931313,0.000142504177564,-0.000341676455972,1.80039196611e-05,1793249653651644928
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745.712293019,717,681.712293019,663,638,881,785,814,651,629.287706981,653.287706981,0.424502857876,-0.015404704947,0.0598032880038,0.99999994006,0.000148429110239,-0.000312034635172,2.19826991107e-05,1793249653668311552
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745.124196172,717,681.124196172,663,638,881,785,814,651,629.875803828,653.875803828,0.423620442587,-0.0154043147692,0.0598256225837,0.999999944786,0.000152953081146,-0.000293905167321,2.55632914517e-05,1793249653684978176
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,717,681,663,638,881,785,814,651,629.542947391,654,0.422726887242,-0.0154027261111,0.0598370736933,0.999999950683,0.000158922423485,-0.000269545018549,2.68952220683e-05,1793249653701644800
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745.036376651,717.036376651,681,663.036376651,638,881,785,813.963623349,651,629,654,0.421827441417,-0.015400412956,0.059842839878,0.99999995491,0.000165091084511,-0.000249352695318,2.73596075067e-05,1793249653718311680
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745.614339771,717.614339771,681,663.614339771,638,881,785,813.385660229,651,629,654,0.420884700716,-0.0153920903191,0.0598073478026,0.999999935582,0.000168466124417,-0.000316047216453,2.38706999173e-05,1793249653734978560
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745.809579864,718,681,663.619159729,638,880.809579864,785,813,651,629.190420136,654,0.419957499617,-0.0153866612745,0.0597677613764,0.999999911801,0.00016965787592,-0.000383683724983,2.00488304509e-05,1793249653751645184
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745.23727523,718,681,662.47455046,638,880.23727523,785,813,651,629.76272477,654,0.419061462772,-0.0153870352809,0.0597199637898,0.999999883323,0.000166471079204,-0.000453209387249,1.55592108087e-05,1793249653768311040
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.654360557,662,637.654360557,880,785,813,651,629.654360557,654,0.418229685819,-0.015390581604,0.0597192691416,0.999999887225,0.000163176305903,-0.000445733225841,1.56627305548e-05,1793249653784977408
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.063931656,662,637.063931656,880,785,813,651,629.063931656,654,0.417443419188,-0.0153963746316,0.0597519338337,0.999999913429,0.000159805061301,-0.000383722674144,1.90192129408e-05,1793249653801644032
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.902473368,638,879.902473368,785,813,651,629,654,0.415838260867,-0.0153934003874,0.0598334218677,0.999999945657,0.000174866290688,-0.000278052821964,2.81875229094e-05,1793249653834977536
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,717.753675278,680,661.246324722,638,879,785,813,651,629.246324722,653.753675278,0.414289410681,-0.0153946962272,0.059835054066,0.999999942688,0.000171272907824,-0.000290564253058,2.93481535941e-05,1793249653868312064
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,717.178689921,680,661.821310079,638,879,785,813,651,629.821310079,653.178689921,0.413539469384,-0.0153936375916,0.0598352876673,0.999999944436,0.000175264454606,-0.000282136353848,2.8439931601e-05,1793249653884978432
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.422931813,638,879.422931813,785,813,651,629.422931813,654,0.411273581237,-0.0153767914084,0.0597456206749,0.999999889951,0.000189544974815,-0.000428732634342,1.89536011116e-05,1793249653934978816
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,717.271630681,680,661.728369319,637.271630681,879,785,813,651,629,654,0.409988202231,-0.0153806137983,0.0597742006326,0.999999911907,0.000191015996793,-0.000373157010649,2.12646025094e-05,1793249653968311808
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,717.899917532,680,661.100082468,637.899917532,879,785,812.100082468,651,629,654,0.408845143004,-0.0153887823665,0.0598478013465,0.99999994913,0.000181345695101,-0.000260839768814,2.85874610608e-05,1793249654001645568
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.941273124,637.058726876,879.941273124,784.941273124,813,651.058726876,630,654,0.407682490632,-0.0153811146128,0.0598449437678,0.999999945495,0.000193801801887,-0.000265844773475,2.78875477882e-05,1793249654034979072
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,784.211189996,813,651.788810004,629.788810004,653.788810004,0.406607138119,-0.0153796864465,0.0598189049747,0.999999935702,0.000195338402814,-0.000299623154298,2.58017953265e-05,1793249654068312576
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,784.78759982,813,651.21240018,629.21240018,653.21240018,0.406134908805,-0.0153817156235,0.0598184116364,0.999999939515,0.000182925480297,-0.000294698174879,2.57170239109e-05,1793249654084979200
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.373587825,638,879,785,813,651,629.373587825,653.373587825,0.40569116377,-0.0153802100567,0.0598217899727,0.999999938387,0.000200604423288,-0.000286878957912,2.61650825128e-05,1793249654101645824
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.965164768,638,879,785,813,651,629.965164768,653.965164768,0.405264039315,-0.0153766419612,0.0598274274375,0.999999933359,0.000235842018598,-0.000277370947749,2.69240482838e-05,1793249654118311680
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.456534168,662,638,879,785,813,651.543465832,629.456534168,654,0.404846611084,-0.0153762920906,0.0598156868508,0.999999929865,0.000230996955333,-0.000293578893025,2.686733664e-05,1793249654134978048
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.120170369,661.879829631,638,879,784.879829631,813,651.879829631,629.120170369,653.879829631,0.404434474233,-0.0153762524866,0.059800225507,0.999999924072,0.000225387202952,-0.000316787907655,2.64806250668e-05,1793249654151644416
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.693983957,661.306016043,638,879,784.306016043,813,651.306016043,629.693983957,653.306016043,0.404040021966,-0.0153766239907,0.059774823015,0.999999909141,0.000226358316031,-0.000360351830757,2.5040827448e-05,1793249654168311296
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.274954733,638,879,784.274954733,813,651,629.725045267,653,0.403688685521,-0.0153762512316,0.0597607567093,0.999999900483,0.000228625250219,-0.000382312323447,2.45384527851e-05,1793249654184978432
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.864104093,638,879,784.864104093,813,651,629.135895907,653,0.403386618154,-0.0153750279923,0.0597596444241,0.999999900643,0.000232372937663,-0.000379586271414,2.51072845999e-05,1793249654201645824
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.554571984,638,879,785,813,651,629.445428016,653.445428016,0.403133086917,-0.0153752572181,0.0597769982162,0.999999911407,0.000235083977451,-0.00034805346259,2.79287679942e-05,1793249654218312192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.024346928,638,879,784.975653072,813,651.024346928,630,653.975653072,0.402895066122,-0.0153758659749,0.0597996785696,0.99999992377,0.000237444021721,-0.000308378367987,3.13632997042e-05,1793249654234978304
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.601930777,638,879,784.398069223,813,651.601930777,630,653.398069223,0.402678818103,-0.0153752033391,0.0598175871486,0.999999931724,0.000238890959347,-0.0002799432051,3.33810746855e-05,1793249654251644928
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.822388462,638,879,784.177611538,813,651.822388462,630,653.177611538,0.402465137444,-0.0153738512495,0.059830212616,0.999999936495,0.000239955125151,-0.00026116274262,3.49988911009e-05,1793249654268311808
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.250927832,638,879,784.749072168,813,651.250927832,630,653.749072168,0.402257149866,-0.0153709703134,0.0598311229147,0.999999935728,0.000240170504293,-0.00026379133833,3.57298092944e-05,1793249654284978432
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,785,813,651,629.668215363,653.668215363,0.402067684819,-0.0153677196084,0.0598283599093,0.999999933787,0.000240298496904,-0.000270986623886,3.53412844847e-05,1793249654301645312
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,785,813,651,629.076694374,653.076694374,0.401892720041,-0.0153641794309,0.0598227212719,0.99999993084,0.000240358079302,-0.000281756925632,3.40764080142e-05,1793249654318311936
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.495154862,661,638,878.495154862,784.495154862,813,651,629.504845138,653.504845138,0.401742495693,-0.0153696560072,0.0598214628739,0.999999940468,0.000182477085561,-0.000292232786462,1.91477537589e-05,1793249654334978816
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.915856829,745,718,678,661,638,878.084143171,784,813,651.084143171,629.915856829,654,0.401602442127,-0.0153769810214,0.0598215397683,0.999999946606,0.000129966664575,-0.000299785852792,4.97822936745e-06,1793249654351645696
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.340959235,745,718,678,661,638,878.659040765,784,813,651.659040765,629.340959235,654,0.401500212426,-0.0153872525573,0.0598255987892,0.999999945106,0.000159121431877,-0.000290547927244,7.10808440823e-06,1793249654368312064
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.239394503,745,718,678.239394503,661,638,878.760605497,784,813,651.760605497,629,653.760605497,0.401405108365,-0.0153940950129,0.0598288041091,0.999999944545,0.000174203121212,-0.000283699666826,8.82482424299e-06,1793249654384978432
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.827700398,745,718,678.827700398,661,638,878.172299602,784,813,651.172299602,629,653.172299602,0.40132038975,-0.0153959396706,0.0598307651815,0.999999946415,0.00016877365625,-0.000280334283335,9.93945906622e-06,1793249654401645056
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.59058764,661,638,878,784,813,651.40941236,629.40941236,653.40941236,0.40124903345,-0.0153955654093,0.0598305989652,0.999999946613,0.00016671131269,-0.000280839822515,1.04637961153e-05,1793249654418311424
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.011606737,661,638,878,784,813,651.988393263,629.988393263,653.988393263,0.401183211494,-0.0153942721263,0.0598295516782,0.999999946127,0.000166043548235,-0.000282948602859,1.07436462998e-05,1793249654434977792
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.565996861,661.565996861,638,878,784,813,651.434003139,630,653.434003139,0.401137764231,-0.0153927413447,0.0598313570754,0.999999947039,0.000166667462247,-0.000279308297959,1.14129475189e-05,1793249654451644672
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767.142352481,745,718,679,661.857647519,638,878.142352481,784,813,651.142352481,630,653,0.401095139939,-0.0153911033755,0.0598322256941,0.999999947429,0.000167621648662,-0.000277313481451,1.19435432675e-05,1793249654468311296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.715020672,745,718,679,661.284979328,638,878.715020672,784,813,651.715020672,630,653,0.40105978923,-0.0153891560771,0.0598300861279,0.999999946182,0.000169494335519,-0.000280648311857,1.20307644117e-05,1793249654484978688
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.703547007,745,718,678.703547007,661.296452993,638,878.703547007,784,813,651.703547007,630,653.296452993,0.401030536997,-0.0153887078307,0.0598279928313,0.999999945165,0.000170118054531,-0.000283870085574,1.21705462777e-05,1793249654501645568
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.113433029,745,718,678.113433029,661.886566971,638,878.113433029,784,813,651.113433029,630,653.886566971,0.4010073258,-0.0153897445181,0.0598259453684,0.999999944379,0.000169504568753,-0.000286979867774,1.2362393857e-05,1793249654518312448
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.467548249,661.532451751,638,878.467548249,784.467548249,813,651.467548249,630,654,0.400994044808,-0.0153892944786,0.0598258776572,0.999999944273,0.000170593301977,-0.000286708782229,1.22743371305e-05,1793249654534978560
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,878.953708081,784.953708081,813,651.953708081,630,653.953708081,0.400983638053,-0.0153886041585,0.059826379198,0.999999944355,0.000172033864372,-0.000285563442351,1.21739944889e-05,1793249654551644672
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,878.37570313,784.37570313,813,651.37570313,630,653.37570313,0.400979103025,-0.0153892175903,0.0598280080042,0.999999944759,0.000172862930268,-0.000283617192297,1.26975910032e-05,1793249654568311552
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.799168759,661,638,878,784,813,651,629.799168759,653.200831241,0.400975493529,-0.0153895182701,0.0598295274836,0.999999945203,0.000173310759912,-0.000281756394881,1.30725964442e-05,1793249654584978176
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.225365497,661,638,878,784,813,651,629.225365497,653.774634503,0.400973602877,-0.0153892381249,0.0598308439276,0.999999945725,0.000173050579866,-0.000280054295215,1.31716472143e-05,1793249654601644800
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637.642403743,878,784.357596257,813,651.357596257,629,653.642403743,0.40097241898,-0.0153894034289,0.0598316834477,0.999999946242,0.000172917099972,-0.000278277271252,1.33215833928e-05,1793249654618311680
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,661,637.053518405,878,784.946481595,813,651.946481595,629,653.053518405,0.400971692205,-0.0153898568441,0.0598322144989,0.999999946755,0.000172865568266,-0.000276451787195,1.35044316554e-05,1793249654634978560
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.471015887,745,718,678.528984113,661,637.528984113,878.528984113,784.471015887,813,651.471015887,629,653,0.400969697878,-0.0153904349155,0.0598322525286,0.999999946608,0.000172834813683,-0.00027699582395,1.36391184915e-05,1793249654651645440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.109413597,745,718,679,661,637.890586403,878.890586403,784.109413597,813,651,629,653.109413597,0.400967901084,-0.0153910544565,0.0598322627466,0.999999946517,0.00017245892579,-0.000277554115011,1.37096313606e-05,1793249654668312064
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.68374547,745,718,679,661,637.31625453,878.31625453,784.68374547,813,651,629,653.68374547,0.400967482065,-0.0153917972582,0.0598323642095,0.999999946944,0.000170607678127,-0.000277166466438,1.35279150084e-05,1793249654684978688
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,717.743821386,679,661.256178614,637.256178614,878.256178614,784.743821386,813,651,629.256178614,654,0.400967101459,-0.0153918444053,0.0598324500573,0.999999946788,0.000171505740788,-0.000277173190272,1.35701811881e-05,1793249654701645056
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,717.173714916,679,661.826285084,637.826285084,878.826285084,784.173714916,813,651,629.826285084,654,0.400966767923,-0.0153910390794,0.0598325167701,0.999999945907,0.000175772878708,-0.000277663188126,1.38869212929e-05,1793249654718311424
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,717.41484461,678.58515539,662,638,879,784,813,651,630,653.58515539,0.400967417531,-0.015391255291,0.0598329671721,0.999999946427,0.000174764689012,-0.000276429319976,1.37609151406e-05,1793249654734978048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.011119124,718,678,661.988880876,638,879.011119124,784,813,651.011119124,629.988880876,653,0.400968452208,-0.0153919161223,0.0598335697071,0.999999947532,0.000171496435439,-0.000274488401074,1.34512064351e-05,1793249654751644672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.588457634,718,678,661.411542366,638,879.588457634,784,813,651.588457634,629.411542366,653,0.400967155417,-0.0153924211523,0.0598333566994,0.999999947493,0.000170865955298,-0.000275013041787,1.36673726716e-05,1793249654768311552
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.835357428,745.835357428,718,678,661.164642572,638,879.835357428,784.164642572,813,651.835357428,629.164642572,653,0.400966164871,-0.0153928828351,0.0598331818728,0.999999947415,0.000170428476617,-0.000275563641649,1.37588942832e-05,1793249654784978688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.262035942,745.262035942,718,678,661.737964058,638,879.262035942,784.737964058,813,651.262035942,629.737964058,653,0.400965934494,-0.0153932369207,0.0598331018203,0.999999947241,0.000170470069853,-0.00027617867777,1.35410206317e-05,1793249654801645312
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.320832265,745,718,678.320832265,661.679167735,638,878.679167735,785,813,651.320832265,629.679167735,653,0.400965900967,-0.0153932431259,0.0598332866684,0.999999947121,0.000171354912785,-0.000276066085673,1.35594079454e-05,1793249654818311936
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.911736742,745,718,678.911736742,661.088263258,638,878.088263258,785,813,651.911736742,629.088263258,653,0.400966033146,-0.01539295649,0.0598336945061,0.999999947043,0.000172949591774,-0.000275340986066,1.3776676519e-05,1793249654834978304
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.507057148,661.492942852,637.507057148,878,784.507057148,813,651.507057148,629.492942852,653,0.400967126819,-0.015393954615,0.059834326662,0.999999947649,0.000171465029935,-0.000274061466402,1.3893766778e-05,1793249654851644672
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,637.071828691,878,784,813,651.071828691,629.928171309,653,0.400968209891,-0.0153949419996,0.0598349462058,0.999999948245,0.000169928201299,-0.000272833198175,1.40052998562e-05,1793249654868311552
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,637.646394059,878,784,813,651.646394059,629.353605941,653,0.400968037056,-0.0153942751947,0.0598352017817,0.999999947972,0.000171810049496,-0.000272645046931,1.42010603038e-05,1793249654884978432
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.221874298,661.778125702,638,878,784.221874298,813,651.778125702,629.221874298,653,0.400968101816,-0.0153937118287,0.0598356174167,0.999999947918,0.000172944783339,-0.000272123306454,1.42361623144e-05,1793249654901645056
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.798818713,661.201181287,638,878,784.798818713,813,651.201181287,629.798818713,653,0.400968546806,-0.0153933139981,0.0598362891977,0.999999948219,0.000172883894617,-0.000271067716069,1.40141592711e-05,1793249654918311424
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,878,785,813,651,630,653.383858368,0.40096773226,-0.0153932536926,0.0598355985623,0.999999947861,0.000173094648526,-0.000272253211772,1.3916124422e-05,1793249654934977792
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,878,785,813,651,630,653.973232128,0.400966243365,-0.015393374096,0.0598341784976,0.999999947148,0.000173450838221,-0.00027463857115,1.38844613895e-05,1793249654951644160
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1b9f3fcbb3332cae4435127bcef2fe0fa265d3b1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850585,1.04970505684
+1,0.016666667,pose1_baseline,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850585,1.04970505684
+2,0.033333333,pose1_baseline,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850585,1.04970505684
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+367,6.116666667,pose2_to_pose3_retreat,0.576346357498,-0.00984984663303,1.05003346674,0.546917036015,-0.00117721263037,1.04970486252
+368,6.133333333,pose2_to_pose3_retreat,0.576231118393,-0.00984993627076,1.05003338614,0.54680179732,-0.00117730060657,1.04970478904
+369,6.150000000,pose2_to_pose3_retreat,0.576131734702,-0.00984994415359,1.05003352009,0.546702413648,-0.00117730877821,1.04970491392
+370,6.166666667,pose2_to_pose3_retreat,0.576046105954,-0.00984979468497,1.05003350791,0.546616781926,-0.0011771694259,1.04970490274
+371,6.183333333,pose2_to_pose3_retreat,0.575973663796,-0.00984984997257,1.0500334692,0.546544341359,-0.00117721894289,1.04970487276
+372,6.200000000,pose2_to_pose3_retreat,0.575911226111,-0.00984980683033,1.05003346081,0.546481904098,-0.00117717428145,1.04970486616
+373,6.216666667,pose2_to_pose3_retreat,0.575857949586,-0.00984988769723,1.05003346868,0.54642862872,-0.00117725131407,1.04970487244
+374,6.233333333,pose2_to_pose3_retreat,0.57581336186,-0.00984995487956,1.05003355189,0.546384041322,-0.0011773177138,1.04970494696
+375,6.250000000,pose2_to_pose3_retreat,0.575776197122,-0.00984991613674,1.05003363175,0.546346875901,-0.00117728159532,1.04970501879
+376,6.266666667,pose2_to_pose3_retreat,0.575746356572,-0.00984992879336,1.05003349943,0.546317036476,-0.00117729001606,1.04970489746
+377,6.283333333,pose2_to_pose3_retreat,0.575722309431,-0.00984976682598,1.05003355876,0.546292987498,-0.00117713474314,1.04970494466
+378,6.300000000,pose2_to_pose3_retreat,0.575703889698,-0.00984989930588,1.05003353163,0.54627456844,-0.00117726475642,1.0497049222
+379,6.316666667,pose2_to_pose3_retreat,0.575690681966,-0.0098499600411,1.05003341252,0.546261361117,-0.00117732381048,1.04970481087
+380,6.333333333,pose2_to_pose3_retreat,0.575681906711,-0.00984995065544,1.05003338909,0.546252585797,-0.00117731476493,1.04970478444
+381,6.350000000,pose2_to_pose3_retreat,0.575676666624,-0.00984991903701,1.05003342558,0.546247345474,-0.00117728424185,1.0497048132
+382,6.366666667,pose2_to_pose3_retreat,0.575673330781,-0.00984994534421,1.05003339307,0.546244010173,-0.00117730847913,1.04970478687
+383,6.383333333,pose2_to_pose3_retreat,0.575671488903,-0.00984996139934,1.05003337329,0.546242168617,-0.0011773233002,1.04970477087
+384,6.400000000,pose2_to_pose3_retreat,0.575670056091,-0.00984997363926,1.05003336651,0.546240736047,-0.00117733462418,1.04970476664
+385,6.416666667,pose2_to_pose3_retreat,0.575668982864,-0.00984998159148,1.05003340341,0.546239662957,-0.00117734210495,1.04970480353
+386,6.433333333,pose2_to_pose3_retreat,0.575668117659,-0.00984998800234,1.05003343316,0.546238797864,-0.00117734813573,1.04970483327
+387,6.450000000,pose2_to_pose3_retreat,0.575667366003,-0.00984999357183,1.05003345901,0.546238046304,-0.00117735337504,1.0497048591
+388,6.466666667,pose2_to_pose3_retreat,0.575666684157,-0.00984999768612,1.05003347441,0.546237364453,-0.00117735750201,1.04970487454
+389,6.483333333,pose2_to_pose3_retreat,0.57566641301,-0.00984999631968,1.05003345476,0.546237093008,-0.00117735714008,1.04970485506
+390,6.500000000,pose2_to_pose3_retreat,0.575666347477,-0.00984999598943,1.05003345001,0.546237027404,-0.0011773570526,1.04970485035
+391,6.516666667,pose2_to_pose3_retreat,0.575666308637,-0.0098499957937,1.0500334472,0.54623698852,-0.00117735700076,1.04970484756
+392,6.533333333,pose2_to_pose3_retreat,0.575666197271,-0.00984999523247,1.05003343913,0.546236877032,-0.0011773568521,1.04970483955
+393,6.550000000,pose2_to_pose3_retreat,0.575666098171,-0.00984999473306,1.05003343195,0.546236777823,-0.00117735671982,1.04970483243
+394,6.566666667,pose2_to_pose3_retreat,0.575665917841,-0.00984999382429,1.05003341888,0.546236597296,-0.00117735647911,1.04970481947
+395,6.583333333,pose2_to_pose3_retreat,0.5756656302,-0.00984999237473,1.05003339803,0.546236309338,-0.00117735609516,1.04970479881
+396,6.600000000,pose2_to_pose3_retreat,0.575665626799,-0.00984999235759,1.05003339779,0.546236305934,-0.00117735609062,1.04970479856
+397,6.616666667,pose2_to_pose3_retreat,0.575665383633,-0.00984999113216,1.05003338017,0.546236062501,-0.00117735576604,1.04970478109
+398,6.633333333,pose2_to_pose3_retreat,0.575665133625,-0.00984998987225,1.05003336205,0.546235812218,-0.00117735543232,1.04970476312
+399,6.650000000,pose2_to_pose3_retreat,0.575664957338,-0.00984999685599,1.05003346067,0.546235636164,-0.0011773618534,1.04970485576
+400,6.666666667,pose2_to_pose3_retreat,0.57566476016,-0.00985000523732,1.05003357905,0.546235439277,-0.00117736951735,1.049704967
+401,6.683333333,pose2_to_pose3_retreat,0.575664712668,-0.00985000725604,1.05003360756,0.546235391855,-0.00117737136329,1.04970499379
+402,6.700000000,pose2_to_pose3_retreat,0.575664552727,-0.00985001087107,1.05003364699,0.546235232225,-0.00117737404165,1.04970503009
+403,6.716666667,pose2_to_pose3_retreat,0.575664384335,-0.00985000251409,1.05003347229,0.546235064447,-0.001177363343,1.04970486222
+404,6.733333333,pose2_to_pose3_retreat,0.575664376717,-0.00984999925846,1.05003367177,0.54623505735,-0.00117735850588,1.04970505684
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f0e72a509553412d5e6a6cfd903660e13d3d98ad
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2565b77000240a8b2c3948a71135002aa9338b21a9435be9c411356d19e31e41
+size 25470801
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65c458fe93b24b5cd3788764188270e2d6cfe595
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+37,0.616666667,BASELINE,767,746,718,678.461953542,662,638,879,785,812.538046458,652,629,653.461953542,0.400937206457,-0.0154240365788,0.0499279990419,0.999999973295,7.0266016626e-05,-0.000217082679895,-3.67212352452e-05,1793249656804384256
+38,0.633333333,BASELINE,767,746,718,679,662,638,879,785,812,652,629,654,0.400937923746,-0.0154268164544,0.0499285912687,0.999999973881,6.69954502434e-05,-0.000215493375533,-3.62295590348e-05,1793249656821050880
+39,0.650000000,BASELINE,767,746,718,679,662,638,879,785,812,652,629,654,0.400938581108,-0.0154269590004,0.0499288799165,0.999999973968,6.46009834133e-05,-0.000215802037985,-3.63245398304e-05,1793249656837718272
+40,0.666666667,BASELINE,767,746,718,678.793667106,662,638,878.793667106,785,812.206332894,652,629.206332894,653.793667106,0.400938763795,-0.0154266658399,0.0499288579918,0.999999973998,6.33650922278e-05,-0.000215989547029,-3.65628571823e-05,1793249656854385408
+41,0.683333333,BASELINE,767,746,718,678.219284993,662,638,878.219284993,785,812.780715007,652,629.780715007,653.219284993,0.400938099775,-0.0154255954815,0.049928282079,0.999999973933,6.41958268874e-05,-0.000215960946952,-3.70568531393e-05,1793249656871051776
+42,0.700000000,BASELINE,767,746,718,678.355223738,662,638,878.355223738,785,813,652,630,653.355223738,0.400937586608,-0.0154246369591,0.0499275347544,0.999999973683,6.55251538245e-05,-0.000216675747943,-3.73095621321e-05,1793249656887717888
+43,0.716666667,BASELINE,767,746,718,678.929810638,662,638,878.929810638,785,813,652,630,653.929810638,0.400937166597,-0.0154237474995,0.0499266815771,0.999999973316,6.71623790127e-05,-0.000217849625262,-3.74132679127e-05,1793249656904384000
+44,0.733333333,BASELINE,767,745.48046847,718,679,662,638,878.48046847,785,813,652,629.48046847,654,0.400935775403,-0.015424662878,0.0499257550961,0.999999973037,6.69830940222e-05,-0.000219196968298,-3.72975763579e-05,1793249656921050880
+45,0.750000000,BASELINE,767,745.109179079,718,679,662,638,878.109179079,785,813,652,629.109179079,654,0.400934881163,-0.015425839059,0.049925378554,0.999999972971,6.59537425857e-05,-0.000219837244287,-3.71445722413e-05,1793249656937717248
+46,0.766666667,BASELINE,767,745.689423565,718,679,662,638,878.689423565,785,813,652,629.689423565,654,0.400936714185,-0.0154270568775,0.0499274187966,0.999999973759,6.23473153609e-05,-0.000217322650944,-3.6962304917e-05,1793249656954384128
+47,0.783333333,BASELINE,767,746,718,679,662,638,879,785,813,652,630,654,0.400937199428,-0.015427497549,0.0499280809376,0.999999973998,6.13823283249e-05,-0.000216505418798,-3.68975277854e-05,1793249656971051008
+48,0.800000000,BASELINE,767,746,718,679,662,638,879,785,813,652,630,654,0.400936132435,-0.015427043181,0.0499271559203,0.999999973619,6.34594856866e-05,-0.00021764303606,-3.69680640057e-05,1793249656987718400
+49,0.816666667,BASELINE,767,746,718,678.576687626,662,638,879,785,813,652,630,654,0.400936045503,-0.0154264749757,0.0499266811444,0.999999973401,6.54651120393e-05,-0.000218053976328,-3.6932758863e-05,1793249657004384512
+50,0.833333333,BASELINE,767,746,718,678,662,638,879,785,812.990201383,652,629.990201383,654,0.40093635307,-0.0154258585805,0.0499264043153,0.999999973253,6.74030115376e-05,-0.000218154893963,-3.68633004344e-05,1793249657021050880
+51,0.850000000,BASELINE,767,746,718,678,662,638,879,785,812.407826014,652,629.407826014,654,0.400937627843,-0.0154249914943,0.0499275484741,0.999999973625,6.69952447599e-05,-0.000216515036586,-3.71831843411e-05,1793249657037717504
+52,0.866666667,BASELINE,767,746,718,678,662,638,879,785,812.173065944,652,629,654,0.400937962728,-0.0154246868711,0.049928055269,0.999999973773,6.65598499909e-05,-0.000215947136022,-3.73021237055e-05,1793249657054383616
+53,0.883333333,BASELINE,767,746,718,678,662,638,879,785,812.75049195,652,629,654,0.400936101611,-0.0154256964152,0.0499270728946,0.999999973399,6.60599038049e-05,-0.000217883809881,-3.69515660182e-05,1793249657071050240
+54,0.900000000,BASELINE,767,746,718,678.331575312,662,638,879,785,813,652,629.331575312,654,0.400936455152,-0.0154264428643,0.0499273829482,0.999999973591,6.49443327965e-05,-0.000217404635612,-3.65566193828e-05,1793249657087716864
+55,0.916666667,BASELINE,767,746,718,678.915441479,662,638,879,785,813,652,629.915441479,654,0.400938493794,-0.0154269891283,0.0499286763917,0.999999974209,6.33603417967e-05,-0.000215087277392,-3.61278978553e-05,1793249657104383488
+56,0.933333333,BASELINE,767,745.505076564,718,679,662,638,879,785,813,652,629.505076564,654,0.40093897449,-0.0154262774941,0.049928988961,0.999999974259,6.41959262416e-05,-0.000214549048931,-3.64590274094e-05,1793249657121050368
+57,0.950000000,BASELINE,767.073690522,745.073690522,718,678.926309478,662,638,879,785,813,652,629.073690522,653.926309478,0.400939050832,-0.0154256003673,0.0499290699468,0.999999974202,6.51686501189e-05,-0.000214458240027,-3.68357160697e-05,1793249657137717248
+58,0.966666667,BASELINE,767.652646586,745.652646586,718,678.347353414,662,638,879,785,813,652,629.652646586,653.347353414,0.400938163734,-0.0154266204817,0.0499287020256,0.999999974071,6.42721344762e-05,-0.000215369323965,-3.66424653948e-05,1793249657154383616
+59,0.983333333,BASELINE,768,745.769606717,718,678.230393283,662.230393283,638,878.769606717,785.230393283,813,652,630,653,0.400937715962,-0.0154271630133,0.0499284028086,0.999999974002,6.38607005833e-05,-0.000215828578328,-3.65603723249e-05,1793249657171050240
+60,1.000000000,BASELINE,768,745.193673719,718,678.806326281,662.806326281,638,878.193673719,785.806326281,813,652,630,653,0.400937927083,-0.0154269892751,0.0499282066329,0.999999974025,6.41767834663e-05,-0.000215610186937,-3.66449914089e-05,1793249657187716864
+61,1.016666667,BASELINE,767.611660584,745.388339416,718,679,662.611660584,638.388339416,878.388339416,785.611660584,813,652,630,653,0.400937663589,-0.0154272754412,0.0499280744342,0.999999973915,6.44430971126e-05,-0.000216049156687,-3.66086450758e-05,1793249657204384256
+62,1.033333333,BASELINE,767.02656695,745.97343305,718,679,662.02656695,638.97343305,878.97343305,785.02656695,813,652,630,653,0.400937159629,-0.0154277946203,0.0499279746498,0.999999973736,6.46841948931e-05,-0.000216821181949,-3.65110109695e-05,1793249657221051648
+63,1.050000000,BASELINE,767,746,718,678.446759539,662,638.446759539,879,785,813,652,629.446759539,653.553240461,0.400937816247,-0.0154266092102,0.0499284055198,0.999999973881,6.52915878983e-05,-0.000216019335376,-3.62082631656e-05,1793249657237717760
+64,1.066666667,BASELINE,767,746,718,678.13243421,662,638,879,785,813,652,629.13243421,654,0.400938407652,-0.0154257680878,0.0499286602901,0.999999974021,6.54746715112e-05,-0.000215339448584,-3.60474115771e-05,1793249657254384384
+65,1.083333333,BASELINE,767,746,718,678.710409341,662,638,879,785,813,652,629.710409341,654,0.400938593943,-0.015426358008,0.0499282377005,0.999999974097,6.41716589685e-05,-0.000215321721529,-3.63967565347e-05,1793249657271051008
+66,1.100000000,BASELINE,767,746,718,679,662,638,879,785,813,652.286781407,630,654,0.400938317677,-0.0154263324197,0.0499277325729,0.999999973956,6.42529243867e-05,-0.000215901491089,-3.66874622065e-05,1793249657287717888
+67,1.116666667,BASELINE,767,746,718,679,662,638,879,785,813,652.86154367,630,654,0.400937576919,-0.0154256887485,0.049927144562,0.999999973597,6.5724257515e-05,-0.000217081256263,-3.69192833156e-05,1793249657304384768
+68,1.133333333,BASELINE,767,746,718,678.553681403,662,638,879,785,813,652.553681403,630,654,0.400937490246,-0.0154256787635,0.0499270848665,0.999999973613,6.53336582041e-05,-0.000217128215812,-3.6892407404e-05,1793249657321051136
+69,1.150000000,BASELINE,767,746,718,678.033898905,662,638,879,785,813,652,630,654,0.400937496807,-0.015425863413,0.0499271006223,0.999999973716,6.43841990615e-05,-0.00021695214685,-3.68029735092e-05,1793249657337717504
+70,1.166666667,BASELINE,767,746,718,678.615468182,662,638,879,785,813,652,630,654,0.400935656216,-0.0154259437288,0.0499256267451,0.999999973293,6.39517580714e-05,-0.000218980618755,-3.70291686574e-05,1793249657354384128
+71,1.183333333,BASELINE,767,746,718,679,662,638,878.805181238,785,813,652,630,654,0.400935631827,-0.0154255804273,0.0499255159234,0.999999973234,6.43707645596e-05,-0.000219104528324,-3.71769298562e-05,1793249657371050496
+72,1.200000000,BASELINE,767,746,718,679,662,638,878.230160491,785,813,652,630,654,0.400939151878,-0.0154243513768,0.0499280651964,0.999999973879,6.64514282912e-05,-0.000215511556086,-3.71716219394e-05,1793249657387717120
+73,1.216666667,BASELINE,767.351973235,746,717.648026765,678.648026765,662.351973235,638,878.351973235,785,813,652,629.648026765,654,0.400940266847,-0.0154241527979,0.0499288953894,0.99999997413,6.70876119786e-05,-0.000214166076861,-3.70312368911e-05,1793249657404384000
+74,1.233333333,BASELINE,767.938854143,746,717.061145857,678.061145857,662.938854143,638,878.938854143,785,813,652,629.061145857,654,0.400939776658,-0.015424641958,0.0499285782646,0.999999974128,6.675974654e-05,-0.000214320579391,-3.68007010836e-05,1793249657421050880
+75,1.250000000,BASELINE,767.481563514,746,717.518436486,678.518436486,662.481563514,638,879,785,813,652,629,654,0.40093847045,-0.0154258028967,0.0499279813388,0.999999973918,6.54099360345e-05,-0.000215686629118,-3.69563278413e-05,1793249657437717504
+76,1.266666667,BASELINE,767,745.903269228,718,679,662,638,879,785,813,652,629.096730772,654,0.400937288735,-0.0154267841437,0.049927448738,0.999999973715,6.4244701299e-05,-0.000216948406028,-3.70841716563e-05,1793249657454384384
+77,1.283333333,BASELINE,767,745.327151556,718,679,662,638,879,785,813,652,629.672848444,654,0.40093719434,-0.015426487647,0.0499273962007,0.999999973692,6.45832494364e-05,-0.000216995086465,-3.68517434134e-05,1793249657471051264
+78,1.300000000,BASELINE,767,745,718,678.752213183,662.247786817,638,878.752213183,785,813,652,629.752213183,654,0.400937498091,-0.0154261588461,0.049927584114,0.999999973737,6.51824067037e-05,-0.000216621664985,-3.67687121931e-05,1793249657487717632
+79,1.316666667,BASELINE,767,745,718,678.178824502,662.821175498,638,878.178824502,785,813,652,629.178824502,654,0.400938325022,-0.015425787596,0.0499280879891,0.999999973871,6.6124014844e-05,-0.000215696212656,-3.68819946995e-05,1793249657504384256
+80,1.333333333,BASELINE,767,745.406672672,718,678,662.593327328,638,878.406672672,785,813,652,629.406672672,654,0.400938574931,-0.0154255622754,0.0499281309129,0.999999973919,6.60534014171e-05,-0.000215517490635,-3.67549621139e-05,1793249657521050624
+81,1.350000000,BASELINE,767,745.997657714,718,678,662.002342286,638,878.997657714,785,813,652,629.997657714,654,0.400938563322,-0.015425403093,0.0499279649241,0.999999973928,6.55240285657e-05,-0.000215677201975,-3.65190138256e-05,1793249657537717248
+82,1.366666667,BASELINE,767,745.423181757,718,678.576818243,662.576818243,638,879,785,812.423181757,652,630,654,0.400939345062,-0.0154264641115,0.0499286373028,0.99999997419,6.43534881038e-05,-0.000214832301982,-3.64019855769e-05,1793249657554383872
+83,1.383333333,BASELINE,767,745.155251248,718,679,662.844748752,638,879,785,812.155251248,652,629.844748752,654,0.400939546458,-0.0154271143444,0.049928970611,0.999999974298,6.36648413576e-05,-0.000214539169876,-3.63968588403e-05,1793249657571050496
+84,1.400000000,BASELINE,767,745.73183765,718,679,662.26816235,638,879,785,812.73183765,652,629.26816235,654,0.400938164296,-0.0154266365724,0.0499283746653,0.999999973985,6.42909258829e-05,-0.000215754324885,-3.66941365119e-05,1793249657587717632
+85,1.416666667,BASELINE,767,745.69226706,718,678.69226706,662,638,879,785,812.69226706,652,629,654,0.400936972392,-0.0154265985912,0.0499276897,0.999999973758,6.39991470771e-05,-0.000216867184695,-3.68445781474e-05,1793249657604384256
+86,1.433333333,BASELINE,767,745.116972697,718,678.116972697,662,638,879,785,812.116972697,652,629,654,0.40093594591,-0.0154269429902,0.0499269273359,0.999999973603,6.29093229614e-05,-0.000217891102868,-3.68673517338e-05,1793249657621051136
+87,1.450000000,BASELINE,767,745.471615242,718,678.471615242,662,638,879,785,812.471615242,652,629,654,0.400937406656,-0.0154274474479,0.0499272996158,0.999999973883,6.25512436557e-05,-0.000216753480052,-3.65878698092e-05,1793249657637717760
+88,1.466666667,BASELINE,767,746,718.062062906,679,662.062062906,638,879,785,813,652,629.062062906,654,0.400939087373,-0.015427778708,0.049927768374,0.999999974177,6.25493672501e-05,-0.000215438654517,-3.63230728104e-05,1793249657654383872
+89,1.483333333,BASELINE,767,746,718.639773266,679,662.639773266,638,879,785,813,652,629.639773266,654,0.400937321593,-0.0154263315608,0.0499266327248,0.999999973681,6.39553372212e-05,-0.000217235058251,-3.68212127779e-05,1793249657671050752
+90,1.500000000,BASELINE,767,746,718.783378582,679,662.783378582,638,879,785,813,652,630,653.783378582,0.400936904801,-0.0154255844545,0.0499263425397,0.999999973512,6.51290834937e-05,-0.000217620864911,-3.70748330942e-05,1793249657687717376
+91,1.516666667,BASELINE,767,746,718.207958597,679,662.207958597,638,879,785,813,652,630,653.207958597,0.40093872239,-0.0154259968533,0.0499274527302,0.999999973889,6.59181883889e-05,-0.00021567024403,-3.69234458538e-05,1793249657704384000
+92,1.533333333,BASELINE,767,746,718,678.625273261,662,638,879,785,813,652,630,653,0.400938764545,-0.0154269849176,0.0499277690247,0.99999997416,6.42125192797e-05,-0.000214977439094,-3.66251659373e-05,1793249657721050880
+93,1.550000000,BASELINE,767,746,718,678.038476167,662,638,879,785,813,652,630,653,0.400937801923,-0.0154282987704,0.0499276360272,0.999999974365,6.1094974459e-05,-0.000214996473952,-3.62437545435e-05,1793249657737717504
+94,1.566666667,BASELINE,767,745.458900878,718,678,662,638,879,785,813,652,630,653,0.40093844618,-0.0154275436398,0.0499282071736,0.999999974382,6.15686653255e-05,-0.000214726791863,-3.6578087079e-05,1793249657754383616
+95,1.583333333,BASELINE,767,745,718,678,662,638,879,785,813,652,629.879924888,653,0.40093895638,-0.0154266609103,0.0499285977847,0.999999974325,6.26984974302e-05,-0.000214621626156,-3.68367251019e-05,1793249657771050240
+96,1.600000000,BASELINE,767,745,718,678,662,638,879,785,813,652,629.30130212,653,0.400938524038,-0.015425845329,0.0499281102702,0.999999974033,6.53716797498e-05,-0.000215222090009,-3.6614499082e-05,1793249657787717120
+97,1.616666667,BASELINE,767,745.275507232,717.724492768,678.275507232,662,638,879,785.275507232,812.724492768,652,629,653,0.40093837419,-0.0154256319543,0.0499279647271,0.999999973906,6.62444121937e-05,-0.000215546107729,-3.65992511434e-05,1793249657804383744
+98,1.633333333,BASELINE,767,745.850346318,717.149653682,678.850346318,662,638,879,785.850346318,812.149653682,652,629,653,0.400938531266,-0.0154260728621,0.0499281907275,0.999999973964,6.51609998305e-05,-0.000215569773466,-3.68088798288e-05,1793249657821050368
+99,1.650000000,BASELINE,767,746,717.425725391,679,662,638,878.574274609,785.574274609,812.425725391,652,629,653,0.40093850303,-0.0154265197081,0.0499281103363,0.999999973922,6.59622842607e-05,-0.000215551431635,-3.66406090471e-05,1793249657837716736
+100,1.666666667,BASELINE,767,745.998664903,718,679,662,638,878.001335097,785,813,652,629.001335097,653.001335097,0.40093840554,-0.0154269686124,0.0499279200835,0.999999973842,6.74159195061e-05,-0.000215522928198,-3.63406569101e-05,1793249657854383616
+101,1.683333333,BASELINE,767,745.405051023,718,679,662,638,878.594948977,785,813,652,629.594948977,653.594948977,0.400936520741,-0.0154274034275,0.0499268337021,0.999999973619,6.39847864494e-05,-0.000217545695773,-3.66302606737e-05,1793249657871050240
+102,1.700000000,BASELINE,767,745.182693236,718,679,662,638,879,785,813,652,629.817306764,654,0.400935573989,-0.0154278290063,0.0499263269141,0.999999973539,6.16830094899e-05,-0.000218550434474,-3.67892486264e-05,1793249657887716864
+103,1.716666667,BASELINE,767,745.757828913,718,679,662,638,879,785,813,652,629.242171087,654,0.400936642249,-0.0154282347449,0.049927065148,0.999999973793,6.18071972485e-05,-0.000217368350106,-3.66676613619e-05,1793249657904383744
+104,1.733333333,BASELINE,767,746,718,678.660457352,662,638,879,785,813,652,629.339542648,653.660457352,0.400938000805,-0.0154278509016,0.0499277480612,0.999999974009,6.27395600827e-05,-0.000216099191669,-3.66899708115e-05,1793249657921050112
+105,1.750000000,BASELINE,767,746,718,678.073959219,662,638,879,785,813,652,629.926040781,653.073959219,0.400939570497,-0.0154268927813,0.0499283907385,0.999999974195,6.42597232237e-05,-0.000214766702571,-3.68169389213e-05,1793249657937716736
+106,1.766666667,BASELINE,767,745.494108962,718,678.505891038,662,638,879.505891038,785,812.494108962,652,629.494108962,653,0.400938515737,-0.0154269211128,0.0499279532142,0.99999997405,6.42558476908e-05,-0.000215431607875,-3.68895438899e-05,1793249657954383360
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,639,879,785,813,652,630,654,0.40093662848,-0.0154285710467,0.0499261317226,0.999999973658,6.21779825505e-05,-0.000217967138521,-3.61670096912e-05,1793249657997536512
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,678,662,639,879,784.423811388,812.423811388,652,630,654,0.400936347195,-0.0154266985575,0.0499263128821,0.999999973609,6.39176830515e-05,-0.000217622661294,-3.65559889908e-05,1793249658014203136
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.15461164,718,678.15461164,662,638.84538836,879,784.15461164,812,652,630,654,0.400936463946,-0.0154254829861,0.0499267455305,0.999999973656,6.49413990267e-05,-0.00021706437899,-3.67981832486e-05,1793249658030869504
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.739249449,718,678.739249449,662,638.260750551,879,784.739249449,812,652,630,654,0.400937687767,-0.0154260945204,0.049927877653,0.999999973974,6.39737253351e-05,-0.000215911433889,-3.6632119786e-05,1793249658047536128
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.3229128,746,718,678.6770872,662,638,879,785,812,652,630,653.6770872,0.400938111495,-0.0154269782401,0.0499278753742,0.999999974131,6.18498699723e-05,-0.000215798867385,-3.66394016842e-05,1793249658064202752
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.905791614,746,718,678.094208386,662,638,879,785,812,652,630,653.094208386,0.400937891096,-0.015428081087,0.0499269598278,0.999999974154,5.87952124852e-05,-0.000216523874052,-3.67862379923e-05,1793249658080869376
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.516983811,745.516983811,718,678.483016189,662,638,879,785,812,652,629.516983811,653.483016189,0.40094404207,-0.0154277602495,0.0499290159259,0.99999997503,6.04823388895e-05,-0.000211964106289,-3.67937311342e-05,1793249658097536000
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.05917936,718,678.94082064,662,638,879,785,812.05917936,652,629.05917936,654,0.400952697905,-0.0154273986314,0.0499319427606,0.99999997624,6.27727447704e-05,-0.000205503727817,-3.67027836293e-05,1793249658114202624
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.635592958,718,678.364407042,662,638,879,785,812.635592958,652,629.635592958,654,0.40097251096,-0.0154290794442,0.0499374728184,0.999999979104,6.23461480208e-05,-0.000191336450897,-3.59862420046e-05,1793249658130869248
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.783808406,718,678.216191594,662,638,879,785,813.216191594,652,629.783808406,654,0.400996612269,-0.015430557697,0.0499432354218,0.999999982146,6.24432809592e-05,-0.000174834616807,-3.52493097548e-05,1793249658147535872
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.196016385,718,678.803983615,662,638,879,785,813.803983615,652,629.196016385,654,0.401028084432,-0.0154316877797,0.0499493977352,0.999999985486,6.34406255194e-05,-0.000154320035923,-3.44773291988e-05,1793249658164202496
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.385600688,718,679,662,638,879,785,813.614399312,652,629,653.614399312,0.401070095531,-0.0154333585501,0.0499551616533,0.999999988745,6.28096246158e-05,-0.000131894713204,-3.42007558796e-05,1793249658180869120
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.964128314,718,679,662,638,879,785,813.035871686,652,629,653.035871686,0.401117379561,-0.0154352998418,0.0499607262435,0.999999991646,6.13639164618e-05,-0.000108513390379,-3.41720487413e-05,1793249658197535744
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,718,678.457154706,661.457154706,638,879,785,813,652,629,653,0.401174191838,-0.0154379808814,0.049962884722,0.999999993249,5.96651704104e-05,-9.37619414526e-05,-3.39162776828e-05,1793249658214202368
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,718,678,661.120379324,638,879,784.879620676,813,652,629.120379324,653.120379324,0.401234583987,-0.0154412991925,0.0499646944679,0.999999994355,5.79669512696e-05,-8.25167756365e-05,-3.34709028823e-05,1793249658230868992
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,718,678,661.693418231,638,879,784.306581769,813,652,629.693418231,653.693418231,0.401306069031,-0.0154468299435,0.0499660395373,0.999999994502,5.63336103924e-05,-8.2311081491e-05,-3.23690065266e-05,1793249658247535616
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.735047535,746,718,678.264952465,662,638,879,784.264952465,813,652,630,654,0.401388271645,-0.0154518608206,0.0499674156755,0.999999994789,5.46255079257e-05,-8.02146092483e-05,-3.1683826292e-05,1793249658264202240
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.165244592,746,718,678.834755408,662,638,879,784.834755408,813,652,630,654,0.401482805735,-0.0154563165499,0.0499688275612,0.999999995225,5.28313859515e-05,-7.59426350507e-05,-3.14781136724e-05,1793249658280868864
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.426276683,746,718,678.573723317,662,638,879.426276683,785,813,652,629.573723317,654,0.401596601434,-0.0154630627871,0.0499711214684,0.999999995588,5.07043156031e-05,-7.30630174604e-05,-3.02574075305e-05,1793249658297535744
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.974519465,718,678.025480535,662,638,879.974519465,785,813,652,629,653.974519465,0.40171940308,-0.0154708059799,0.0499735789299,0.999999995901,4.83187467458e-05,-7.10044094308e-05,-2.86527989482e-05,1793249658314202624
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.400881624,718,678.599118376,662,638,879.400881624,785,813,652,629,653.400881624,0.401866695221,-0.0154798696748,0.0499718045429,0.999999995913,4.3297785309e-05,-7.43733062679e-05,-2.77081701193e-05,1793249658330869248
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718,678.826913426,662,638,879,785.173086574,813,652,629.173086574,653.173086574,0.402022163839,-0.0154895252996,0.0499696301936,0.999999995826,3.77766614983e-05,-7.87503662494e-05,-2.68026026382e-05,1793249658347536128
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,678.252178713,662,638,879,785.747821287,813,652,629.747821287,653.747821287,0.402196605986,-0.0155005544989,0.0499665277308,0.999999995527,3.10949094482e-05,-8.54668726739e-05,-2.59876773148e-05,1793249658364202496
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.333343383,718,678,662,638,879,785.666656617,812.666656617,652,630,653.666656617,0.402394272907,-0.0155110856489,0.0499675369709,0.999999995846,2.50115316227e-05,-8.41213042202e-05,-2.4605439091e-05,1793249658380869120
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.927299267,718,678,662,638,879,785.072700733,812.072700733,652,630,653.072700733,0.402610097298,-0.0155212274184,0.0499717607974,0.999999996628,1.9395970387e-05,-7.64726940326e-05,-2.27796676513e-05,1793249658397535744
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,812.504670704,652,630,653.504670704,0.40286868147,-0.0155319148515,0.0499783586373,0.999999997679,1.65218669626e-05,-6.28828109726e-05,-2.03854259455e-05,1793249658414203392
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,813,652,630,654,0.403139172867,-0.0155414340316,0.0499846754569,0.999999998521,1.56305730481e-05,-4.8941009644e-05,-1.78691254763e-05,1793249658430870784
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,813,652,630,654,0.403446588776,-0.0155432224444,0.0499871893263,0.999999998861,2.46823390955e-05,-3.7960936013e-05,-1.50870909834e-05,1793249658447536640
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,718,678.237372493,662,638,879,785,812.762627507,652,630,653.762627507,0.403767166321,-0.0155411609688,0.0499916233986,0.999999998842,3.8842916584e-05,-2.54112351011e-05,-1.26784672515e-05,1793249658464203008
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,718,678.827779223,662,638,879,785,812.172220777,652,630,653.172220777,0.404107318603,-0.0155333737145,0.0499989133089,0.99999999805,6.06016163584e-05,-1.05270934508e-05,-1.08252019824e-05,1793249658480870144
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662,638,879.410192966,785.410192966,812.410192966,652.410192966,629.589807034,653.410192966,0.404480705176,-0.0155328931897,0.050005131519,0.999999998306,5.74187987617e-05,4.39736110538e-06,-8.49235841927e-06,1793249658497537024
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,718,679,662,638,879.989314956,785.989314956,812.989314956,652.989314956,629.010685044,653.989314956,0.404867778558,-0.0155354217823,0.0500109083727,0.999999998829,4.39643608313e-05,1.93384172824e-05,-5.96201104323e-06,1793249658514203648
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.43627922,718,679,662,638,879.43627922,785.43627922,813,652.43627922,629.56372078,654,0.405269177678,-0.0155390011966,0.0500004281616,0.999999999139,4.12846756549e-05,-1.04489370712e-06,-4.13547654408e-06,1793249658530870016
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.138188038,745.138188038,718,679,662,638.138188038,879.138188038,785,813.138188038,652,630,654,0.40567942686,-0.0155408797493,0.0499864150708,0.999999998588,4.52643648424e-05,-2.77079771785e-05,-2.71264228947e-06,1793249658547536384
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.71312954,745.71312954,718,679,662,638.71312954,879.71312954,785,813.71312954,652,630,654,0.406116796144,-0.0155373201734,0.0499622018891,0.999999994971,6.96513686545e-05,-7.21201172373e-05,-2.52391915921e-06,1793249658564203264
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.703682631,746,718,679,662.296317369,638.703682631,879.703682631,785,813.703682631,652,630,654,0.406577461312,-0.0155356134811,0.0499451387375,0.99999999063,9.10128212036e-05,-0.000102250427332,-1.2686546814e-06,1793249658580870144
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.112282773,746,718,679,662.887717227,638.112282773,879.112282773,785,813.112282773,652,630,654,0.407061325333,-0.0155357519503,0.0499351958158,0.999999987039,0.000109361334253,-0.000118158431252,1.04870643888e-06,1793249658597537024
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718,678.531308956,663,638,879.468691044,785.468691044,813.468691044,652,629.531308956,654,0.40761466745,-0.0155396798891,0.0499464864869,0.999999987787,0.000124057527519,-9.48671682928e-05,6.02882253345e-06,1793249658614203904
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,718,678.046976033,663,638.046976033,880,785.953023967,813.953023967,652,629.046976033,654,0.408189189139,-0.015544439906,0.0499638566957,0.999999988543,0.000138173511181,-6.0697278053e-05,1.17571523309e-05,1793249658630870528
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,718,678.6224998,663,638.6224998,880,785.3775002,813.3775002,652,629.6224998,654,0.408818811037,-0.0155485698746,0.0499936414186,0.99999998772,0.000155391800792,-7.48834832487e-06,1.88827762101e-05,1793249658647537152
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.797089766,880.202910234,785,813,652,629.797089766,654,0.409447405654,-0.0155511444209,0.0500134664264,0.99999998499,0.000169544292295,2.61381967475e-05,2.43300867701e-05,1793249658664204032
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.207363716,880.792636284,785,813,652,629.207363716,654,0.410074041889,-0.0155507538034,0.050014304833,0.999999983579,0.000177852331204,2.24340633014e-05,2.65779618594e-05,1793249658680870400
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.371498176,881,785,813.371498176,652,629,654,0.410685193538,-0.0155486274574,0.0499927674457,0.999999984802,0.000171050125596,-2.46096376613e-05,2.30705095479e-05,1793249658697537024
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.944468173,881,785,813.944468173,652,629,654,0.411287947526,-0.0155455597868,0.0499590951618,0.999999983161,0.000156053293386,-9.51573610624e-05,1.64418135132e-05,1793249658714203648
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,718,679,663,639,881,785,814,652,629,654,0.411991475381,-0.0155496071651,0.0499526419145,0.999999983574,0.000153469126874,-9.49221957859e-05,1.7009243792e-05,1793249658730870016
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718,679.104960382,663.104960382,639,881.104960382,785,814,652,629.104960382,654,0.412718801821,-0.0155544027084,0.0499548595633,0.999999984804,0.000153748219125,-7.99760173067e-05,1.88848548829e-05,1793249658747536384
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718,679.679454116,663.679454116,639,881.679454116,785,814,652,629.679454116,654,0.413504208718,-0.0155591292383,0.0499827982513,0.99999998624,0.000160876688217,-3.32033972571e-05,2.31577229205e-05,1793249658764203008
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663.738772866,639,882,785,814,652,630,654,0.414271483859,-0.0155614107032,0.04998916195,0.999999985777,0.000165263844312,-2.29804147222e-05,2.46087618998e-05,1793249658780869632
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,680,663.147811483,639,882,785,814,652,630,654,0.415015872278,-0.015560605883,0.0499682925974,0.999999984203,0.00016619077612,-5.88922475598e-05,2.24979445385e-05,1793249658797536256
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639,882,785,814,651.565866217,629.565866217,654.434133783,0.415789619511,-0.0155595252588,0.0499474848423,0.999999981772,0.00016680503781,-9.04774084827e-05,2.1122853272e-05,1793249658814202880
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663.013000431,639,882,785,814.013000431,651.013000431,629,655,0.416574583674,-0.0155584895815,0.04992777791,0.999999978752,0.000167217296963,-0.000118872700226,2.00941104846e-05,1793249658830869248
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680,663.588781378,639,882,785,814.588781378,651.588781378,629,655,0.417421210217,-0.015563381964,0.0499548354473,0.999999983809,0.000163399659216,-7.16536963747e-05,2.34353830999e-05,1793249658847535872
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718,680.167338992,664,639,882.167338992,785,814.832661008,652,629,654.832661008,0.418265511078,-0.0155660103559,0.0499756695582,0.99999998572,0.000162439517472,-3.85628350702e-05,2.62137006669e-05,1793249658864202496
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718,680.752835078,664,639,882.752835078,785,814.247164922,652,629,654.247164922,0.41910400033,-0.0155629813466,0.0499809521824,0.999999984572,0.000168619865705,-4.0776259363e-05,2.75852710141e-05,1793249658880869120
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,718,681,664,639,883,785,814,652,629,654.334623546,0.419955534485,-0.0155606958863,0.0499750261025,0.999999983551,0.000173543499236,-4.50504948233e-05,2.74060580027e-05,1793249658897535744
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,718,681,664,639,883,785,814,652,629,654.913703422,0.420816598445,-0.0155589536194,0.0499609116007,0.999999982606,0.000177549050467,-5.083023791e-05,2.6093933599e-05,1793249658914202368
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,718,680.507510283,664,639,883.492489717,785,814.492489717,652,629.492489717,654.507510283,0.421736729959,-0.0155618516577,0.0499836816972,0.999999983732,0.000178060418003,-5.98554807666e-06,2.82028923661e-05,1793249658930868992
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.070753799,746,718,680.070753799,664,639,883.929246201,785,815,652,630,654,0.422657585578,-0.0155649519726,0.0500071045239,0.999999983061,0.000177862596644,3.62460467975e-05,3.04726426768e-05,1793249658947535616
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.645662914,746,718,680.645662914,664,639,883.354337086,785,815,652,630,654,0.423509894617,-0.0155637033371,0.0499891529918,0.999999983896,0.000176971576374,-3.31217577257e-06,2.96192119019e-05,1793249658964202240
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746,718,681,664.225180039,639,883.225180039,785.225180039,815.225180039,652,630,654,0.424390194501,-0.015564089673,0.0499811697041,0.99999998348,0.000178233548633,-1.98872203737e-05,2.96044327788e-05,1793249658980869120
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746,718,681,664.812099775,639,883.812099775,785.812099775,815.812099775,652,630,654,0.425315460314,-0.0155671025029,0.0499891998653,0.999999982785,0.00018295418847,4.58975670793e-07,3.09369026221e-05,1793249658997536000
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.604239259,746,718,681,665,639,884,786,815.604239259,652,629.604239259,654.395760741,0.426228921563,-0.0155686869673,0.0500007538421,0.999999982344,0.000184706026406,1.08005277705e-05,3.28594896895e-05,1793249659014202624
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.022112897,746,718,681,665,639,884,786,815.022112897,652,629.022112897,654.977887103,0.427136823931,-0.0155695988074,0.0500139672,0.999999982127,0.000185059841109,1.64308441234e-05,3.50599656944e-05,1793249659030869248
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,884.554056629,786,815,652.554056629,629.554056629,655,0.427977074415,-0.0155599698611,0.0499795604109,0.99999998001,0.000191263026472,-4.8917883991e-05,3.17215002073e-05,1793249659047535872
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,786,815.129281459,653,630,654.870718541,0.428832570054,-0.015552382745,0.0499523964348,0.999999975625,0.000196580045703,-9.61911967784e-05,2.92217253031e-05,1793249659064202752
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,786,815.702072327,653,630,654.297927673,0.429749529439,-0.0155532281399,0.0499565301203,0.999999977344,0.00019806464941,-7.18406037875e-05,3.03494495022e-05,1793249659080869376
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,786,816,652.71597255,629.71597255,654,0.430645601916,-0.0155540237045,0.0499538922686,0.999999977098,0.000200066152452,-6.93771540693e-05,3.10401586933e-05,1793249659097535744
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,786,816,652.124084214,629.124084214,654,0.431519034753,-0.0155547652574,0.0499439146632,0.999999974875,0.000202627929046,-9.06374528625e-05,3.12571818109e-05,1793249659114202368
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638.542863268,885,786,816,652,629.457136732,654,0.43238290369,-0.0155539835117,0.049933072864,0.999999973422,0.000203657787126,-0.000103922349542,2.96500606024e-05,1793249659130869248
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638,885,786,816,652,630,654,0.433245732594,-0.0155529798531,0.0499247533592,0.999999972602,0.00020411255112,-0.000111158318324,2.78955888475e-05,1793249659147535872
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638,885,786,816,652,630,654,0.434131430895,-0.0155547592425,0.0499584764869,0.999999977412,0.000201988768911,-5.8291776891e-05,3.12827724916e-05,1793249659164202496
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.191503749,718,681,665.191503749,638,885.191503749,786,816,652,630,654,0.434980799557,-0.0155549884499,0.0499795384782,0.9999999784,0.000202688116094,-3.12192575039e-05,3.37969679172e-05,1793249659180869120
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.777008386,718,681,665.777008386,638,885.777008386,786,816,652,630,654,0.435755423579,-0.0155520283043,0.0499745513826,0.999999975886,0.000209195785993,-5.72154941246e-05,3.45150732487e-05,1793249659197535744
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.64150489,718,681,665.64150489,638,885.64150489,786,816,652,630,654.35849511,0.43655652327,-0.0155499148385,0.0499640588882,0.999999973916,0.000210792185618,-8.11069081374e-05,3.40110187558e-05,1793249659214202368
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.062489728,718,681,665.062489728,638,885.062489728,786,816,652,630,654.937510272,0.437373908815,-0.0155483221885,0.0499501798742,0.999999972169,0.000209367529452,-0.000103703587178,3.27551806034e-05,1793249659230868992
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,681.515691857,665,638.515691857,885.515691857,786,816,652.515691857,630,655,0.438190979654,-0.0155524056668,0.0499703541971,0.999999976847,0.00020445410895,-5.77974927917e-05,3.41176336024e-05,1793249659247535616
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,718,681.906729407,665,638.906729407,885.906729407,786,816.093270593,652.906729407,630,654.906729407,0.438991308586,-0.0155565706474,0.049987897999,0.999999979164,0.000200273623747,-1.7681321303e-05,3.53442725982e-05,1793249659264202752
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,718,681.33174337,665,638.33174337,885.33174337,786,816.66825663,652.33174337,630,654.33174337,0.439705367058,-0.0155576099412,0.0499705783362,0.999999977737,0.000202058427552,-5.0271091236e-05,3.42334820545e-05,1793249659280869376
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665.248351957,638,885.248351957,786,817,652,630,654.248351957,0.440406643178,-0.0155584144113,0.0499567443581,0.999999976085,0.000203146565167,-7.3841513011e-05,3.33001378826e-05,1793249659297535744
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665.835415477,638,885.835415477,786,817,652,630,654.835415477,0.441090486196,-0.0155588986201,0.0499476642868,0.999999975184,0.000203284563795,-8.51110123565e-05,3.26088017471e-05,1793249659314202368
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,681.418540625,665.581459375,638,886,785.581459375,817,652,630,654.581459375,0.441805401195,-0.0155613371197,0.0499638554632,0.999999977056,0.000204242103128,-5.43898987104e-05,3.4859797707e-05,1793249659330868992
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,886,785,817,652,630,654.000129929,0.442532394646,-0.0155645362529,0.0499898850943,0.999999978123,0.000205517536174,-7.32259850407e-06,3.82560635417e-05,1793249659347536128
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,886,785,817,652,630,654.574529873,0.443143264188,-0.0155646561154,0.0499874932208,0.999999979066,0.000200723270102,-1.34656530021e-05,3.73635727699e-05,1793249659364202496
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.149259858,746,718,682,665,638,886,785,816.850740142,652,630,654.850740142,0.443730577355,-0.0155657949044,0.0499725953371,0.999999979613,0.000194676456199,-3.98998880377e-05,3.58278634003e-05,1793249659380869120
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.724932855,746,718,682,665,638,886,785,816.275067145,652,630,654.275067145,0.444250593619,-0.0155698446144,0.0499219696483,0.999999974626,0.000185051298098,-0.000124302998842,3.2454574126e-05,1793249659397536000
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.691488534,746,718,682,665,638,886.308511466,785.308511466,816.308511466,652,630.308511466,654.308511466,0.444773148442,-0.0155738944911,0.0498885671088,0.999999969002,0.000177744545884,-0.000171826546789,2.96424394416e-05,1793249659414202624
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.100675986,746,718,682,665,638,886.899324014,785.899324014,816.899324014,652,630.899324014,654.899324014,0.445298026123,-0.01557794452,0.0498709244847,0.999999967513,0.000172559234875,-0.000185603725434,2.73437853703e-05,1793249659430869248
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785.524638652,817,652,630.524638652,654.524638652,0.445833654108,-0.0155843443804,0.0498772132801,0.999999972262,0.00016473104835,-0.000165959052319,2.82449339869e-05,1793249659447536128
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,630,654,0.446363252172,-0.0155910642383,0.0498864645762,0.999999977013,0.000156448328621,-0.000143607863517,2.95911967056e-05,1793249659464202752
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,630,654,0.44680348564,-0.0155960195214,0.0498745290401,0.999999974632,0.000149123725246,-0.000166366687919,2.86362381466e-05,1793249659480869376
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652.212024908,630,654,0.447213734293,-0.0155995497298,0.0498531254856,0.999999969278,0.000142958677922,-0.000200702027968,2.69431720802e-05,1793249659497535744
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652.794399158,630,654,0.447571607654,-0.0156005907233,0.0498151839017,0.999999957499,0.000138819057478,-0.000255258362126,2.39608347701e-05,1793249659514202368
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652.621197131,630,654,0.447934251018,-0.0156012193476,0.0497921809394,0.999999948664,0.000136088408093,-0.000289246535579,2.21086286056e-05,1793249659530869248
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652.035685913,630,654,0.44829949735,-0.0156016229469,0.0497773298067,0.999999942112,0.000134126617647,-0.000312010906591,2.08731216904e-05,1793249659547535872
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768,746,718,683,665,637.11626334,887,785,817,652,629.88373666,655,0.44900165554,-0.0156091579735,0.0497986675315,0.999999952274,0.000126859107468,-0.000280750183659,2.3205273167e-05,1793249659580869120
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+208,3.466666667,POSE1_TO_POSE2_PRESS,767.598170465,745.401829535,718,682.401829535,664.598170465,637,887,784,817,652,629.401829535,654,0.450435092261,-0.0156217206316,0.0497986559848,0.99999994948,0.000109130829006,-0.000297528636085,2.46419712547e-05,1793249659680869120
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+221,3.683333333,POSE1_TO_POSE2_PRESS,768,746,718,682,665,636.863280441,887,784,818,653,629,654.136719559,0.45146924477,-0.0156183838504,0.0497619663453,0.999999923938,9.9940208555e-05,-0.000376399592839,2.14401142532e-05,1793249659897536000
+222,3.700000000,POSE1_TO_POSE2_PRESS,768,746,718,682,665,636.288110069,887,784,818,653,629,654.711889931,0.451485545851,-0.0156200111358,0.0497623637082,0.999999924149,9.87174437548e-05,-0.000376152796837,2.15924150762e-05,1793249659914202624
+223,3.716666667,POSE1_TO_POSE2_PRESS,768,746,718,682,664.70492527,636.29507473,887,784,817.70492527,653,629,655,0.451497255005,-0.0156207082325,0.0497621506463,0.999999923963,9.77573104531e-05,-0.00037689298396,2.16654142856e-05,1793249659930869760
+224,3.733333333,POSE1_TO_POSE2_PRESS,768,746,718,682,664.113696664,636.886303336,887,784,817.113696664,653,629,655,0.451504355442,-0.015620471739,0.0497613249274,0.999999923377,9.70607689975e-05,-0.000378623763769,2.16588218786e-05,1793249659947536896
+225,3.750000000,POSE1_TO_POSE2_PRESS,768,746,718,681.533541423,664.466458577,637,887,784,817.466458577,652.533541423,629,655,0.451508533072,-0.0156193231117,0.0497597840039,0.999999922541,9.80125993884e-05,-0.000380588280738,2.1525083792e-05,1793249659964203776
+226,3.766666667,POSE1_TO_POSE2_PRESS,767.956125442,746,718,681.043874558,665,637,887,784,817.956125442,652.043874558,629,655,0.451511794044,-0.0156180883575,0.0497581004696,0.999999921666,9.90720499239e-05,-0.000382618814831,2.13438368409e-05,1793249659980870400
+227,3.783333333,POSE1_TO_POSE2_PRESS,767.379955932,746,718,681.620044068,665,637,887,784,817.379955932,652.620044068,629,655,0.4515123767,-0.0156184434666,0.0497567526791,0.999999921081,9.66757114497e-05,-0.000384775114308,2.09534735527e-05,1793249659997536768
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.800122037,637,887,784,817.199877963,652.800122037,629,655,0.45151243557,-0.0156182819415,0.0497552119598,0.9999999202,9.58158154413e-05,-0.000387288309694,2.06878605983e-05,1793249660014203136
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664.213192312,637,887,784,817.786807688,652.213192312,629,655,0.451511480159,-0.0156171199851,0.0497532976452,0.999999918749,9.79311488299e-05,-0.000390492612615,2.06638192524e-05,1793249660030869760
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,745.631522862,718,682,664.368477138,636.631522862,887.368477138,784,817.631522862,652,629,655,0.451512320343,-0.0156167883402,0.0497538307164,0.999999918742,9.79831551552e-05,-0.000390500043694,2.0618150954e-05,1793249660047536128
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,745.052854067,718,682,664.947145933,636.052854067,887.947145933,784,817.052854067,652,629,655,0.451514184792,-0.0156169303327,0.0497557598582,0.99999991956,9.68581707983e-05,-0.000388683872288,2.05601459212e-05,1793249660064202496
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,745.525541391,718,682,664.474458609,636.525541391,887.474458609,784,817.525541391,652,629,654.474458609,0.451512751127,-0.0156166793932,0.0497533801106,0.999999918511,9.70852378044e-05,-0.000391328665153,2.03683022723e-05,1793249660080869376
+233,3.883333333,POSE1_TO_POSE2_PRESS,767.103190423,746,718,682,664.103190423,637,887,784,817.896809577,652,629,654,0.451511625623,-0.0156163042899,0.0497514121588,0.999999917611,9.74106482734e-05,-0.000393549471051,2.02094429662e-05,1793249660097536256
+234,3.900000000,POSE1_TO_POSE2_PRESS,767.677556498,746,718,682,664.677556498,637,887,784,817.322443502,652,629,654,0.451513420966,-0.0156155425907,0.0497533021732,0.999999918287,9.75645447879e-05,-0.000391786846466,2.02626214373e-05,1793249660114202880
+235,3.916666667,POSE1_TO_POSE2_PRESS,768,745.742319512,718,682,665,636.742319512,887,784,817,652,629,654,0.451515223518,-0.0156154722722,0.0497546476968,0.999999918968,9.68528715668e-05,-0.000390225447173,2.02027252391e-05,1793249660130870016
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,745.154825706,718,682,665,636.154825706,887,784,817,652,629,654,0.451517035301,-0.0156162868734,0.0497552963099,0.999999919654,9.5033328588e-05,-0.000388921602186,1.99981012418e-05,1793249660147536640
+237,3.950000000,POSE1_TO_POSE2_PRESS,767.571882241,745.428117759,718,682,665,636.428117759,887,784,817,652,629,654,0.451517356526,-0.0156152968988,0.0497545863114,0.999999919392,9.56283283573e-05,-0.000389468975888,1.96460378142e-05,1793249660164203008
+238,3.966666667,POSE1_TO_POSE2_PRESS,767.009309257,746,718,682,664.990690743,637,887,784,817,652,629,654.009309257,0.451517128379,-0.0156137105945,0.0497534071723,0.999999918791,9.70646586811e-05,-0.000390673399861,1.92548321726e-05,1793249660180869120
+239,3.983333333,POSE1_TO_POSE2_PRESS,767.583004987,746,718,682,664.416995013,637,887,784,817,652,629,654.583004987,0.451515930636,-0.0156151203658,0.0497532601549,0.999999918433,9.71255006817e-05,-0.00039155112705,1.96892002481e-05,1793249660197536000
+240,4.000000000,HOLD_POSE2,767,746,718,682,664,637,887,785,817,653,629,655,0.451516833213,-0.0156129821446,0.0497541546976,0.999999918787,9.9401527567e-05,-0.000390072851158,1.97080146207e-05,1793249660238609152
+241,4.016666667,HOLD_POSE2,767,746,718,682,664,637,887,784.408463979,817,652.408463979,629,655,0.451517640877,-0.0156122804774,0.0497549640228,0.99999991926,9.76324328422e-05,-0.000389306234063,1.97046239647e-05,1793249660255276288
+242,4.033333333,HOLD_POSE2,767.17875374,746,718,682,664.17875374,637,887,784,817.17875374,652,629,655,0.451518010869,-0.0156119849245,0.0497552172446,0.999999919388,9.66045860853e-05,-0.00038923285773,1.97133181799e-05,1793249660271942912
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+244,4.066666667,HOLD_POSE2,768,746,718,682,664.666786296,637,887,784,817.666786296,652,629,655,0.451517312776,-0.0156131889267,0.0497536902718,0.999999918566,9.64975222832e-05,-0.000391369717716,1.96613520037e-05,1793249660305275904
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+248,4.133333333,HOLD_POSE2,767.658929091,746,718,682.341070909,664,637,887,784,817,652,629,654.658929091,0.451519234707,-0.015613604258,0.0497542737052,0.999999919078,9.59849416366e-05,-0.000390182721671,1.96862959985e-05,1793249660371942656
+249,4.150000000,HOLD_POSE2,768,746.238253806,718,682,664.238253806,637,887,784,817,652,629,655,0.451519265447,-0.015613843707,0.0497541277278,0.999999919103,9.48934363395e-05,-0.000390405239521,1.93043862707e-05,1793249660388609536
+250,4.166666667,HOLD_POSE2,768,746.818588786,718,682,664.818588786,637,887,784,817,652,629,655,0.451520247468,-0.0156130274689,0.049754927773,0.99999991938,9.6351831403e-05,-0.000389340744624,1.92436532748e-05,1793249660405276160
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+255,4.250000000,HOLD_POSE2,767,746,718,682,664.27963498,636,887.27963498,784,817.27963498,652,628.27963498,654.72036502,0.451518277191,-0.0156135239249,0.0497537302772,0.999999918951,9.21274899774e-05,-0.000391459777333,1.92261270132e-05,1793249660488608768
+256,4.266666667,HOLD_POSE2,767,746,718,682,664.298877001,636.298877001,887.298877001,784.298877001,817,652,628.298877001,654.701122999,0.451519591569,-0.0156142281778,0.0497546658248,0.999999919318,9.24045219671e-05,-0.000390423961293,1.98379676574e-05,1793249660505275648
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+258,4.300000000,POSE2_TO_POSE3_RETREAT,768,747,718,683,665,637,887,784,818,652,629,655,0.45151874859,-0.0156128637584,0.0497538647265,0.999999918822,9.29482020816e-05,-0.000391566394187,1.98136769512e-05,1793249660554552064
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+261,4.350000000,POSE2_TO_POSE3_RETREAT,768,746.246779196,718,682,664.753220804,636.246779196,886.246779196,784,817,652,628.753220804,655,0.451519619994,-0.0156117431196,0.0497545044189,0.999999919146,9.45831555179e-05,-0.000390358595659,1.95566786141e-05,1793249660604551936
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767.670435045,746,718,682,664.670435045,636,886.329564955,784,817,652,629,654.670435045,0.451519930551,-0.0156126828217,0.0497546078442,0.999999919275,9.39154529729e-05,-0.000390180915866,1.97233198024e-05,1793249660621218560
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,767.235949584,746,718,682,664.235949584,637,887,784,817.764050416,652,628.235949584,655,0.451502125213,-0.0156110049948,0.0497444728997,0.999999912601,9.60143566155e-05,-0.000406490194682,1.85763095017e-05,1793249660704551168
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784,817,652,629,654.222364729,0.450368256827,-0.015543227016,0.0496615955073,0.999999857299,0.000119940549484,-0.00052057020373,4.88025107759e-06,1793249660921218304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784,817,652,628.64675555,654,0.450179444155,-0.0155314439803,0.0496650316914,0.999999859584,0.000125886910359,-0.000514752409221,3.81470562922e-06,1793249660937884928
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784,817,652,628,654.514786153,0.449744896969,-0.0155074921799,0.0496673835335,0.999999860243,0.000134897336659,-0.000511190470146,8.92098754941e-07,1793249660971218176
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.258186706,637,887,784,817,652,629,654.741813294,0.448911757522,-0.0154810101687,0.049667682629,0.999999864676,0.000130444066679,-0.000503601196855,-4.27801309107e-06,1793249661021218048
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.836982793,637,887,784,817,652,629,654.163017207,0.448575877702,-0.015475152736,0.0496650362555,0.999999863783,0.000123505389464,-0.00050708213439,-6.95317511467e-06,1793249661037884672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,637,887,784.411818094,817,652,629,654.411818094,0.448222875222,-0.0154759642349,0.0496636069313,0.999999866222,0.000109382199656,-0.00050548002376,-9.07630711344e-06,1793249661054551552
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,637.573712399,886.426287601,784.426287601,817,652,629.573712399,655,0.447461230248,-0.0154750944267,0.049658049978,0.999999869231,8.23157659189e-05,-0.000504555280815,-1.36291863761e-05,1793249661087884800
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.256812348,746,718,682,665,637.256812348,886.743187652,784.743187652,817,652,629.256812348,654.256812348,0.446595476209,-0.0154535657601,0.0496571869431,0.999999870194,7.53257455046e-05,-0.000503533139512,-1.97999653766e-05,1793249661121218048
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.895295075,746,717.104704925,682,665,637,887,785,817,652.895295075,629,654,0.445642151306,-0.0154351874033,0.0496736083596,0.999999883825,6.13061313558e-05,-0.000477452852577,-2.51204286435e-05,1793249661154551552
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.479610138,746,717.479610138,681.520389862,665,637.479610138,887,785,816.520389862,652.520389862,629,654.479610138,0.445152033498,-0.015433238714,0.0497030319032,0.999999901705,4.73832584283e-05,-0.000440150964909,-2.47199049982e-05,1793249661171218176
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.934714332,746,718,681.065285668,664.934714332,637.934714332,886.934714332,785,816.065285668,652,629,654.934714332,0.444652642852,-0.0154319108764,0.0497351182137,0.999999919196,3.2865816059e-05,-0.000399937285257,-2.40603722836e-05,1793249661187884800
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766.776937371,745.776937371,718,682,664.223062629,637,886,785,817,652,629.223062629,654,0.443493595649,-0.0154172829301,0.0497581374804,0.999999930202,1.24695308082e-05,-0.000372227224072,-2.97924403215e-05,1793249661221218304
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,886,785.702201234,816.702201234,652,630,654.702201234,0.43952770645,-0.0153969089952,0.0498217043691,0.999999964508,1.04592148682e-05,-0.000262580993857,-4.38815701651e-05,1793249661321218048
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,717.911710847,681.088289153,664,638,883.088289153,786,815.911710847,652,629,653.911710847,0.430403434942,-0.0153611832528,0.0497968062822,0.999999946206,7.49785479577e-06,-0.000324030423302,-5.0361043284e-05,1793249661504551424
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745.025024477,717.025024477,681,663.025024477,638,882.025024477,786,815,652,629.025024477,654,0.425848016472,-0.0153561699149,0.0497636598924,0.999999920408,-8.96645565224e-06,-0.000395008010238,-5.54369854191e-05,1793249661587885568
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.294168812,663.147084406,638,882,785.852915594,814.852915594,652,629.147084406,654,0.424157598989,-0.015363879932,0.0498069177477,0.999999960404,-1.30285732551e-05,-0.000275649604517,-5.51264649233e-05,1793249661621219072
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,679.732630315,662,638,880,785,813.267369685,652,629.267369685,654,0.412492899295,-0.0153720599496,0.0497662198379,0.999999923592,-5.52612728698e-05,-0.000381825153234,-6.30217865308e-05,1793249661854552064
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,679.152538347,662,638,880,785,813.847461653,652,629.847461653,654,0.411799608714,-0.0153735325426,0.0497817489456,0.999999932568,-5.66669079487e-05,-0.000357474154853,-6.21630478639e-05,1793249661871218176
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.422395134,746,718,679,662,637.577604866,880,785,813.577604866,652,629.577604866,654,0.411135106583,-0.0153725954715,0.0498027272946,0.99999994387,-5.50667359143e-05,-0.00032500078171,-6.00119924379e-05,1793249661887884800
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.995488267,746,718,679,662,637.004511733,880,785,813.004511733,652,629.004511733,654,0.410480875255,-0.0153707987042,0.0498256497719,0.999999955037,-5.23941815109e-05,-0.000289629584937,-5.73998767645e-05,1793249661904551424
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.416650971,745.416650971,718,679,662,637.583349029,879.416650971,785,813,652,629.583349029,654,0.409806916965,-0.0153677500186,0.0497992414578,0.999999939204,-5.27866763049e-05,-0.000339337726938,-6.04526676875e-05,1793249661921218048
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662.169637893,638,879,785.169637893,813,652,629.830362107,654,0.409161552337,-0.0153665960924,0.0497825241793,0.999999928842,-5.46405025118e-05,-0.000367991451136,-6.2553933973e-05,1793249661937884672
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662.751819191,638,879,785.751819191,813,652,629.248180809,654,0.408586105345,-0.0153700742009,0.0497903265361,0.999999937165,-5.99890023527e-05,-0.000343801017694,-6.22318650922e-05,1793249661954551296
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.330162833,718,679.330162833,662.669837167,638,879,785.669837167,813,652,629.330162833,654,0.408036393202,-0.015374230962,0.0498068639993,0.999999945683,-6.55892958964e-05,-0.000317271552741,-6.05863490642e-05,1793249661971218432
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745.905654848,718,679.905654848,662.094345152,638,879,785.094345152,813,652,629.905654848,654,0.407505803505,-0.0153788919991,0.0498298921275,0.999999954011,-7.13766856965e-05,-0.0002890040598,-5.79574388581e-05,1793249661987886080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.521695015,718,679.521695015,662,638,879,785,813,652,629.521695015,654,0.406984183018,-0.0153784925169,0.0498244859815,0.999999949944,-7.6724676579e-05,-0.000301303022317,-5.86606793306e-05,1793249662004552960
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.052215092,718,679,662,638,879,785,813,652,629.052215092,654,0.406464533905,-0.0153769708589,0.0498120952303,0.999999942408,-8.12216252563e-05,-0.000323989635411,-6.01543059801e-05,1793249662021219328
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.644936194,718,679,662,638,879,785,813,652,629.644936194,654,0.405947086087,-0.0153741046468,0.04978511812,0.999999925843,-7.78008646457e-05,-0.000371863816204,-6.30661448793e-05,1793249662037885952
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745.768079751,718,679,662,638,879,785,813,652,629.768079751,654,0.405463073469,-0.0153728219273,0.0497681747856,0.999999914279,-7.50106292026e-05,-0.000402013611379,-6.48129721401e-05,1793249662054552576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.189666989,718,679,662,638,879,785,813,652,629.189666989,654,0.405029013616,-0.015373904971,0.0497662220732,0.999999912934,-7.31624088313e-05,-0.000405682891421,-6.48192535382e-05,1793249662071219200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.385692734,718.385692734,679,662,638,879,785,813,652,629.385692734,654,0.404651901278,-0.0153749405225,0.0497795689786,0.999999923008,-7.14814977896e-05,-0.000380594773468,-6.34135734409e-05,1793249662087885824
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745.959562948,718.959562948,679,662,638,879,785,813,652,629.959562948,654,0.404302573297,-0.015375952903,0.0498003804879,0.999999937375,-6.98822158432e-05,-0.00034147607039,-6.13190045907e-05,1793249662104552448
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,718.458918025,678.458918025,662,638,879,785,812.458918025,652,630,654,0.403992488692,-0.0153798663478,0.049824379929,0.9999999479,-7.1548403346e-05,-0.000309285735907,-5.85159068655e-05,1793249662121218816
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.876353158,718,678,662,638,878.876353158,785,812.123646842,652,629.876353158,654,0.403684382914,-0.0153833102,0.0498446287556,0.999999955623,-7.38215610216e-05,-0.00028311005767,-5.61521077579e-05,1793249662137885440
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745.292051939,718,678,662,638,878.292051939,785,812.707948061,652,629.292051939,654,0.403372566283,-0.0153841852437,0.0498500041016,0.999999956984,-7.74338006216e-05,-0.000277385672988,-5.56250446594e-05,1793249662154552576
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767.288175836,745.288175836,718,678,662.288175836,638,878.288175836,785,813,652,629,654,0.403076257417,-0.0153852749667,0.0498474754388,0.999999954207,-8.13477707149e-05,-0.000286120915167,-5.57149376381e-05,1793249662171218944
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.864332883,745.864332883,718,678,662.864332883,638,878.864332883,785,813,652,629,654,0.402795445862,-0.0153865792238,0.049837048105,0.999999946913,-8.5563267274e-05,-0.00030930601882,-5.64213700293e-05,1793249662187885056
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767.561492011,746,718,678,662.561492011,638,878.561492011,785,813,652.438507989,629,653.561492011,0.402547341388,-0.0153851073842,0.0498270584157,0.99999994098,-8.69275108955e-05,-0.00032733941917,-5.77249549871e-05,1793249662204552192
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.987489926,718,678,661.987489926,638,878.025020147,785,812.987489926,652.987489926,629,653,0.40231026086,-0.0153828801735,0.049817322904,0.999999935411,-8.73170275546e-05,-0.000343592662587,-5.91438153157e-05,1793249662221219328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.393144244,718,678,661.393144244,638,879.213711513,785,812.393144244,652.393144244,629,653,0.402117384713,-0.01538528729,0.0498131399865,0.999999933345,-8.32153434885e-05,-0.00035084745017,-5.73701582406e-05,1793249662237885440
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745.195528249,718,678,661.195528249,637.804471751,879.804471751,785,812.195528249,652,629.195528249,653,0.401938304148,-0.0153871373399,0.0498116650394,0.999999933437,-7.9670411744e-05,-0.000351690008133,-5.56083928657e-05,1793249662254551808
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.773115356,718,678,661.773115356,637.226884644,879.226884644,785,812.773115356,652,629.773115356,653,0.40178617994,-0.0153878988909,0.0498154814206,0.999999937767,-7.72133650063e-05,-0.000340003178132,-5.3869863879e-05,1793249662271218432
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.65057568,718,678,662,637.34942432,879,785,813,652,630,653,0.401652192572,-0.0153882876788,0.0498178246109,0.999999940257,-7.68342724198e-05,-0.000332754796345,-5.34443164926e-05,1793249662287884800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.075093546,718,678,662,637.924906454,879,785,813,652,630,653,0.401529938702,-0.0153884353099,0.0498192147302,0.999999941607,-7.77994986559e-05,-0.000328377838921,-5.38681939315e-05,1793249662304551680
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767.497383957,745.497383957,718,678,662,638,879,785,813,652,630,653,0.401436182106,-0.015390528509,0.04982355842,0.999999944334,-8.28751256101e-05,-0.000318726669516,-5.36335110149e-05,1793249662321218304
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767.927919673,746,718,678,662,638,879.072080327,784.927919673,812.927919673,652,629.927919673,653.072080327,0.401348696037,-0.0153926896841,0.0498280986208,0.999999946984,-8.78509346571e-05,-0.000308974640035,-5.33703573985e-05,1793249662337885440
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767.333890628,746,718,678,662,638,879.666109372,784.333890628,812.333890628,652,629.333890628,653.666109372,0.401275648379,-0.0153932288561,0.0498308521803,0.999999948446,-8.76372063617e-05,-0.000304223698564,-5.36166933713e-05,1793249662354552576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.747256264,718,678.252743736,662,638,879.747256264,784.252743736,812.252743736,652,629,653.747256264,0.401208172076,-0.0153958093176,0.0498317745747,0.999999948558,-9.15998045844e-05,-0.000302682994516,-5.36290390184e-05,1793249662371219200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.170113095,718,678.829886905,662,638,879.170113095,784.829886905,812.829886905,652,629,653.170113095,0.401147846676,-0.0154010097969,0.0498303466477,0.999999946892,-0.000100922764975,-0.000305262666657,-5.33410554279e-05,1793249662387885312
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.404946333,718,678.595053667,661.595053667,638,878.595053667,785,812.595053667,652,629.404946333,653.404946333,0.401104235774,-0.0154026935453,0.0498303707334,0.999999947077,-0.000102909645021,-0.000303960220707,-5.35136984321e-05,1793249662404551936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.979134873,718,678.020865127,661.020865127,638,878.020865127,785,812.020865127,652,629.979134873,653.979134873,0.401067610488,-0.0154029075202,0.0498310016695,0.999999948053,-0.000101830502692,-0.00030103529246,-5.38788545131e-05,1793249662421218304
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.570999425,746,718,678.570999425,661.570999425,638,878.570999425,785,812,652,629.429000575,653.429000575,0.401042836676,-0.0154024444961,0.0498314856987,0.999999948808,-0.000101105799702,-0.000298770789024,-5.38281573244e-05,1793249662437884928
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767.840411318,746,718,678.840411318,662,638,879,785,812.159588682,652,629.159588682,653,0.401021082535,-0.0154024173778,0.0498324120583,0.999999949573,-0.000100727376174,-0.0002963515179,-5.36924495658e-05,1793249662454551296
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767.262163033,746,718,678.262163033,662,638,879,785,812.737836967,652,629.737836967,653,0.401006077707,-0.0154036007714,0.0498345133449,0.999999950393,-0.000101222308203,-0.000293460903024,-5.33748657384e-05,1793249662471217920
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,718,678,662,638,879,785,813,652.314463502,630,653,0.400993431173,-0.0154039919429,0.0498353370557,0.999999950636,-0.000102103903823,-0.000292352293303,-5.32342046247e-05,1793249662487884800
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,718,678,662,638,879,785,813,652.889745011,630,653,0.400982740622,-0.0154037260405,0.0498351011372,0.999999950404,-0.000103306200711,-0.000292721689553,-5.32402842884e-05,1793249662504551680
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.535505836,718,678,662,638,878.535505836,785,813,652.535505836,630,653.464494164,0.40098001006,-0.0154045966194,0.0498367966349,0.999999951457,-0.000103090265711,-0.000289260618389,-5.27850199906e-05,1793249662521218048
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745.040190755,718,678,662,638,878.040190755,785,813,652.040190755,630,654,0.400979262468,-0.0154056032791,0.0498389036463,0.99999995278,-0.0001025035152,-0.000284959616665,-5.22577440295e-05,1793249662537884928
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745.630586019,718,678,662,638,878.630586019,785,813,652.630586019,630,654,0.400979825055,-0.0154047840977,0.0498403752696,0.999999953843,-0.000101443626442,-0.000281592944715,-5.22420593494e-05,1793249662554551552
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.78349361,718,678,662,638,878.78349361,785,813,652.78349361,630,653.78349361,0.400979838718,-0.0154046490697,0.0498415918114,0.999999954675,-0.00010046358171,-0.000278995141892,-5.21334109005e-05,1793249662571217920
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745.205053943,718,678,662,638,878.205053943,785,813,652.205053943,630,653.205053943,0.400978934745,-0.0154056577394,0.0498423819341,0.999999955139,-9.96170121303e-05,-0.00027768265618,-5.18693551157e-05,1793249662587884800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,638,878.370136428,785,812.629863572,652,629.629863572,653,0.400977615334,-0.0154080148255,0.0498427623596,0.999999955142,-0.000101455605895,-0.000277079771916,-5.14679735743e-05,1793249662604551680
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,678,662,638,878.943542351,785,812.056457649,652,629.056457649,653,0.400976067776,-0.0154111124276,0.0498429177898,0.999999954884,-0.000104768822967,-0.000276866582724,-5.09911762353e-05,1793249662621218560
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,678,661.480141503,638,878.480141503,785,812,651.480141503,629,653,0.400977316117,-0.0154097631192,0.0498436097011,0.999999955497,-0.000102736914403,-0.0002754327786,-5.08619451888e-05,1793249662637885184
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.099450131,718,678,661.198900263,638,878.099450131,785,812.099450131,651.099450131,629,653.099450131,0.400978277547,-0.0154081831783,0.0498441277738,0.999999956009,-0.000100651646081,-0.000274350681389,-5.08260673487e-05,1793249662654551552
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.693758698,718,678,662.387517395,638,878.693758698,785,812.693758698,651.693758698,629,653.693758698,0.400976291921,-0.0154078722499,0.0498434892898,0.999999955575,-0.000101205616555,-0.000275681989689,-5.10658287054e-05,1793249662671218176
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745.72114264,718,678,662.72114264,638,879,785,813,652,629,654,0.400975613499,-0.0154070726365,0.0498435115509,0.999999955642,-9.98376075823e-05,-0.000275889956129,-5.13130790104e-05,1793249662687885312
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745.145834859,718,678,662.145834859,638,879,785,813,652,629,654,0.400976324753,-0.0154057535069,0.0498442362434,0.999999956235,-9.64263618899e-05,-0.000274903709438,-5.15682907694e-05,1793249662704552960
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745.429467571,718,678,662,638,879,785,813,652,629.429467571,654,0.400976502175,-0.0154066446439,0.0498442692851,0.999999956348,-9.56759493981e-05,-0.000274804042362,-5.13153954785e-05,1793249662721219584
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.995120747,718,678,662,638,878.995120747,785,813,652.004879253,630,654,0.400976501976,-0.0154082703231,0.0498440729885,0.999999956302,-9.58412918863e-05,-0.000274989647846,-5.0895380685e-05,1793249662737885696
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.406414836,718,678,662,638,878.406414836,785,813,652.593585164,630,654,0.40097693854,-0.0154079825553,0.0498445376071,0.9999999566,-9.74692573687e-05,-0.000273287019272,-5.11235233995e-05,1793249662754552320
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.179368029,718,678,662,638,878.179368029,785,813,652.820631971,629.820631971,654,0.40097703027,-0.0154081670306,0.0498449157778,0.999999956699,-9.90764894859e-05,-0.000272324760213,-5.12282581698e-05,1793249662771218944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.75863398,718,678,662,638,878.75863398,785,813,652.24136602,629.24136602,654,0.400976353201,-0.015409404364,0.0498451012143,0.999999956365,-0.000100637496827,-0.000273013142305,-5.10578570472e-05,1793249662787885824
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e152196787a68b0023bb34ce6eb2ccae246bf197
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.579776437345,-0.00984997405262,1.04003355187,0.550347117683,-0.00117733375834,1.03970495023
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+354,5.900000000,pose2_to_pose3_retreat,0.577632379497,-0.00984988074998,1.04003361326,0.548203057211,-0.00117724976111,1.03970500153
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+367,6.116666667,pose2_to_pose3_retreat,0.575852214734,-0.00984976956337,1.04003363191,0.546422892435,-0.00117713825818,1.03970503013
+368,6.133333333,pose2_to_pose3_retreat,0.575807080673,-0.00984987499039,1.04003361465,0.546377759216,-0.00117724087388,1.03970501157
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+370,6.166666667,pose2_to_pose3_retreat,0.575740008223,-0.00985004276655,1.04003353276,0.54631068799,-0.00117740466707,1.03970492536
+371,6.183333333,pose2_to_pose3_retreat,0.575717680551,-0.00985008781,1.04003327555,0.546288361624,-0.00117744498236,1.03970467605
+372,6.200000000,pose2_to_pose3_retreat,0.575700576425,-0.00985001320825,1.04003342556,0.546271257552,-0.00117737071673,1.03970481241
+373,6.216666667,pose2_to_pose3_retreat,0.575687581138,-0.00984992728474,1.04003352699,0.546258260356,-0.00117729116104,1.03970491696
+374,6.233333333,pose2_to_pose3_retreat,0.575678218452,-0.00984986144636,1.0400334493,0.546248896643,-0.00117722878498,1.03970483949
+375,6.250000000,pose2_to_pose3_retreat,0.575672178749,-0.0098498142006,1.04003356183,0.546242856972,-0.00117718141609,1.0397049523
+376,6.266666667,pose2_to_pose3_retreat,0.575668548643,-0.0098498542306,1.04003364609,0.546239227562,-0.00117721899407,1.03970503903
+377,6.283333333,pose2_to_pose3_retreat,0.575666762845,-0.00984993920364,1.04003363307,0.546237442508,-0.00117730132619,1.03970502914
+378,6.300000000,pose2_to_pose3_retreat,0.575666300006,-0.00984993657807,1.04003366314,0.546236979469,-0.00117729941063,1.03970505827
+379,6.316666667,pose2_to_pose3_retreat,0.575666043859,-0.00984991000146,1.04003371387,0.546236722813,-0.00117727464829,1.03970510669
+380,6.333333333,pose2_to_pose3_retreat,0.575665702145,-0.00984987454684,1.04003378155,0.546236380421,-0.00117724161402,1.03970517128
+381,6.350000000,pose2_to_pose3_retreat,0.575665433782,-0.00984984670271,1.0400338347,0.546236111524,-0.00117721567068,1.03970522201
+382,6.366666667,pose2_to_pose3_retreat,0.575665266795,-0.00984982937687,1.04003386777,0.546235944205,-0.00117719952761,1.03970525358
+383,6.383333333,pose2_to_pose3_retreat,0.575664984111,-0.00984980004687,1.04003392376,0.54623566096,-0.00117717219985,1.03970530701
+384,6.400000000,pose2_to_pose3_retreat,0.575664813132,-0.00984979835666,1.04003388121,0.546235490037,-0.00117717022726,1.03970526693
+385,6.416666667,pose2_to_pose3_retreat,0.575664791344,-0.00984979821625,1.04003387543,0.546235468258,-0.00117717004389,1.03970526148
+386,6.433333333,pose2_to_pose3_retreat,0.575664722334,-0.00984979777153,1.04003385712,0.546235399277,-0.00117716946309,1.03970524423
+387,6.450000000,pose2_to_pose3_retreat,0.575664571793,-0.00984979680139,1.04003381719,0.546235248797,-0.00117716819612,1.03970520661
+388,6.466666667,pose2_to_pose3_retreat,0.57566451697,-0.00984979644808,1.04003380265,0.546235193996,-0.00117716773472,1.0397051929
+389,6.483333333,pose2_to_pose3_retreat,0.575664403517,-0.00984979724039,1.04003377464,0.546235080625,-0.00117716818985,1.03970516647
+390,6.500000000,pose2_to_pose3_retreat,0.575664402253,-0.00984979749468,1.04003377467,0.546235079368,-0.00117716842211,1.03970516649
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+392,6.533333333,pose2_to_pose3_retreat,0.57566437479,-0.00984980302255,1.04003377522,0.546235052048,-0.00117717347094,1.03970516685
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+394,6.566666667,pose2_to_pose3_retreat,0.57566433944,-0.00984981013765,1.04003377593,0.546235016883,-0.00117717996945,1.03970516732
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..684b0b85d16220a3daa0512b79ad3408c3e97a81
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c05032dfe630acd98515d2693d1512f47861a9f4095f29fd9b7ca8f4de344536
+size 25592372
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cb36000d9f477de6dce60e72a96eeb1207eee918
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+28,0.466666667,BASELINE,767,745.24179704,718,678.24179704,662,637.75820296,879,785,812.24179704,652,630,653,0.400981334477,-0.0154106162384,0.0498511565399,0.999999959574,-9.6985675584e-05,-0.000262647720312,-4.96177581529e-05,1793249663491664128
+29,0.483333333,BASELINE,767,745.833175879,718,678.833175879,662,637.166824121,879,785,812.833175879,652,630,653,0.400981500612,-0.0154108637934,0.049851227249,0.999999959621,-9.76603883806e-05,-0.000262218797993,-4.96089081377e-05,1793249663508330496
+30,0.500000000,BASELINE,767,746,718,678.584521643,662.415478357,637.415478357,879,785,812.584521643,652,630,653,0.400980369951,-0.0154118659201,0.0498507459051,0.999999959475,-9.81079457936e-05,-0.000262641212627,-4.94345570686e-05,1793249663524997120
+31,0.516666667,BASELINE,767,746,718,678.005785635,662.994214365,637.994214365,879,785,812.005785635,652,630,653,0.400978729729,-0.0154131645475,0.0498500476382,0.999999959253,-9.84662449805e-05,-0.000263398150764,-4.91951741806e-05,1793249663541664256
+32,0.533333333,BASELINE,767,746,718,678,662.431101924,638,879,785,812,652,629.431101924,653,0.400978803452,-0.0154128511712,0.049849488967,0.999999958901,-0.000100222807629,-0.000263988419867,-4.963430579e-05,1793249663558330880
+33,0.550000000,BASELINE,767,746,718,678,662,637.852696327,879,785,812,652,629.147303673,653.147303673,0.400978872211,-0.0154123734836,0.0498493376461,0.999999958779,-0.000100568669242,-0.00026426794633,-4.98987233182e-05,1793249663574997248
+34,0.566666667,BASELINE,767,746,718,678,662,637.262989856,879,785,812,652,629.737010144,653.737010144,0.400978874083,-0.0154114512015,0.0498504055024,0.999999959352,-9.66353117348e-05,-0.000263619262021,-4.96178375009e-05,1793249663591663872
+35,0.583333333,BASELINE,767,745.67951451,718,678,662,637.32048549,879,785,812,652,629.67951451,654,0.400979149776,-0.0154109950788,0.0498507471937,0.999999959489,-9.61554915655e-05,-0.000263279612903,-4.95916198219e-05,1793249663608331008
+36,0.600000000,BASELINE,767,745.101054833,718,678,662,637.898945167,879,785,812,652,629.101054833,654,0.400979645881,-0.0154109141901,0.0498505043597,0.999999959281,-9.84555893105e-05,-0.000263188721008,-4.97703967483e-05,1793249663624998144
+37,0.616666667,BASELINE,767,745,718,678,662,638,879,785,812,652,629.476314429,654,0.400980136277,-0.0154128497521,0.0498506572447,0.999999959133,-0.000101056851406,-0.00026277370511,-4.97180996272e-05,1793249663641664768
+38,0.633333333,BASELINE,767,745.053301602,718,678.053301602,662,638,879,785,812.053301602,652,630,654,0.400980468819,-0.0154148026111,0.0498507666911,0.999999958998,-0.000103129391416,-0.000262499307717,-4.96191277548e-05,1793249663658331648
+39,0.650000000,BASELINE,767,745.628807085,718,678.628807085,662,638,879,785,812.628807085,652,630,654,0.400979266679,-0.0154127431864,0.0498496299154,0.999999958912,-9.93974033882e-05,-0.000264274744223,-4.95420811227e-05,1793249663674998272
+40,0.666666667,BASELINE,767,745.790557961,718,679,662,638,878.790557961,785,812.790557961,652,629.790557961,654,0.400979181468,-0.0154113281654,0.0498495100703,0.999999959078,-9.71884919775e-05,-0.000264480575727,-4.9487764295e-05,1793249663691664640
+41,0.683333333,BASELINE,767,745.200603877,718,679,662,638,878.200603877,785,812.200603877,652,629.200603877,654,0.400981125483,-0.0154110838902,0.049851237774,0.99999995972,-9.77466900326e-05,-0.000261834765619,-4.94747427376e-05,1793249663708331008
+42,0.700000000,BASELINE,767,745.382037292,718,678.617962708,662,638,878.382037292,785,812.382037292,652,629,654,0.400980461466,-0.015410864972,0.0498508562987,0.999999959595,-9.78135242091e-05,-0.000262265708378,-4.95890440124e-05,1793249663724997888
+43,0.716666667,BASELINE,767,745.960910629,718,678.039089371,662,638,878.960910629,785,812.960910629,652,629,654,0.400978453719,-0.0154106591185,0.0498493881168,0.999999959074,-9.76271942805e-05,-0.000264281878313,-4.97689454875e-05,1793249663741664512
+44,0.733333333,BASELINE,767.535613184,745.464386816,718,678.535613184,662,638,878.464386816,785,813,652,629.535613184,653.464386816,0.400979960639,-0.0154112940298,0.0498505607961,0.999999959539,-9.76564903837e-05,-0.000262529416601,-4.96397997954e-05,1793249663758331392
+45,0.750000000,BASELINE,767.890050725,745,718,678.890050725,662,638,878.109949275,785,813,652,629.890050725,653.109949275,0.400981135105,-0.0154120383302,0.04985144455,0.999999959844,-9.80487151795e-05,-0.000261239326329,-4.95316423219e-05,1793249663774997760
+46,0.766666667,BASELINE,767.315986763,745,718,678.315986763,662,638,878.684013237,785,813,652,629.315986763,653.684013237,0.400979831856,-0.0154129873724,0.0498503014325,0.99999995918,-9.99070107667e-05,-0.000263052993097,-4.96065502916e-05,1793249663791664128
+47,0.783333333,BASELINE,767,745,718,678,662,638,879,785,813,652,629,654,0.40097928803,-0.015413090063,0.0498496168408,0.999999958951,-9.97847169646e-05,-0.000263948807212,-4.97120846743e-05,1793249663808330496
+48,0.800000000,BASELINE,767,745,718,678,662,638,879,785,813,652,629,654,0.400979674031,-0.0154121564903,0.0498494936627,0.999999959255,-9.72374119026e-05,-0.000263720813041,-4.98551177045e-05,1793249663824997120
+49,0.816666667,BASELINE,767,745,718,678.440574807,662,638,879,785,813,652,629.440574807,653.559425193,0.400979431153,-0.0154123345406,0.049849775958,0.999999959227,-9.85593649911e-05,-0.000263353586746,-4.97619615163e-05,1793249663841663744
+50,0.833333333,BASELINE,767,745.019933455,718,678.980066545,662,638,879,785,813,652,629.980066545,653,0.400978997577,-0.0154127465064,0.0498501431411,0.999999959094,-0.000100889738169,-0.000263003373467,-4.96203881827e-05,1793249663858330368
+51,0.850000000,BASELINE,767,745.593396357,718,678.406603643,662,638,879,785,813,652,629.406603643,653,0.400978777982,-0.0154099153859,0.0498493153095,0.999999959064,-9.73251870956e-05,-0.000264345369787,-5.02035205053e-05,1793249663874997760
+52,0.866666667,BASELINE,767,746,718,678,662,638,879.171941359,785,813,652,629.171941359,653.171941359,0.40097892259,-0.0154084414127,0.0498491566932,0.999999959199,-9.47947443773e-05,-0.000264717662906,-5.04091985482e-05,1793249663891665152
+53,0.883333333,BASELINE,767,746,718,678,662,638,879.762870418,785,813,652,629.762870418,653.762870418,0.400979954686,-0.0154102745443,0.0498506288246,0.99999995976,-9.47842231122e-05,-0.000262726977567,-4.96950937801e-05,1793249663908331776
+54,0.900000000,BASELINE,767,746,718,678,661.65514614,638,879.65514614,785,813,652,630,654,0.40097991594,-0.0154107608482,0.0498508648746,0.999999959732,-9.56095524434e-05,-0.000262555749542,-4.95983435035e-05,1793249663924998400
+55,0.916666667,BASELINE,767,746,718,678,661.079158407,638,879.079158407,785,813,652,630,654,0.400979159476,-0.0154103444581,0.0498502724569,0.999999959307,-9.69950999095e-05,-0.000263603989508,-4.99153671804e-05,1793249663941665024
+56,0.933333333,BASELINE,767,746,718,678,661.498631881,638,879,785,813,652,630,653.501368119,0.400979091083,-0.0154108445672,0.0498504432361,0.999999959515,-9.56959963296e-05,-0.000263327455437,-4.97012357442e-05,1793249663958331648
+57,0.950000000,BASELINE,767,746,718,678,662,638,879,785,813,652.077853218,630,653.077853218,0.400978882283,-0.0154114997384,0.0498505558161,0.999999959686,-9.44743272728e-05,-0.000263163160386,-4.94820361908e-05,1793249663974998272
+58,0.966666667,BASELINE,767,746,718,678,662,638,879,785,813,652.664550438,630,653.664550438,0.400977039262,-0.0154122139863,0.0498494932532,0.999999958957,-9.65544355153e-05,-0.000265112010367,-4.97828317614e-05,1793249663991664640
+59,0.983333333,BASELINE,767.247620794,746,718.247620794,678.247620794,662,638,879,785,813,652.752379206,630,654,0.400976860363,-0.015412662553,0.0498494471865,0.999999958779,-9.80201707708e-05,-0.000265228930164,-4.9878637726e-05,1793249664008331008
+60,1.000000000,BASELINE,767.825848876,746,718.825848876,678.825848876,662,638,879,785,813,652.174151124,630,654,0.400978903293,-0.0154127563996,0.0498507582798,0.999999959339,-9.86656351921e-05,-0.00026289997539,-4.97007548523e-05,1793249664024997632
+61,1.016666667,BASELINE,768,746,718.595022496,678.595022496,662,638,879,785,813,652,630,654,0.400979985602,-0.0154132379283,0.0498510763369,0.999999959406,-0.000100199486386,-0.000262108372909,-4.94615977826e-05,1793249664041664256
+62,1.033333333,BASELINE,768,746,718.015505782,678.015505782,662,638,879,785,813,652,630,654,0.400980653899,-0.0154138865421,0.0498509664103,0.999999959259,-0.000102116218873,-0.000261979346271,-4.91960324669e-05,1793249664058330880
+63,1.050000000,BASELINE,767.440383543,745.440383543,718,678,662.559616457,638,879,785.559616457,813,652,630,654,0.400980592054,-0.0154117854515,0.0498505632322,0.999999959525,-9.84724809643e-05,-0.000262261136838,-4.97263027993e-05,1793249664074997760
+64,1.066666667,BASELINE,767,745.137232659,718,678,663,638,878.862767341,785.862767341,813,652,630,654,0.40098066167,-0.0154101879768,0.0498506069413,0.999999959807,-9.58235255727e-05,-0.00026210953491,-5.00326121179e-05,1793249664091664384
+65,1.083333333,BASELINE,767,745.7234027,718,678,663,638,878.2765973,785.2765973,813,652,630,654,0.40098122701,-0.0154104853091,0.0498521389528,0.999999960145,-9.69289492523e-05,-0.000260503202919,-4.95346899643e-05,1793249664108331008
+66,1.100000000,BASELINE,767.307633603,746,718,678.307633603,662.692366397,638,878.307633603,785,813,652.307633603,630,653.692366397,0.400980102003,-0.015410943643,0.0498517737929,0.999999959881,-9.7153756224e-05,-0.000261445543219,-4.94430215476e-05,1793249664124997888
+67,1.116666667,BASELINE,767.89013189,746,718,678.89013189,662.10986811,638,878.89013189,785,813,652.89013189,630,653.10986811,0.400977466705,-0.0154115458285,0.0498497135468,0.999999959075,-9.65917491094e-05,-0.000264665073085,-4.97143330277e-05,1793249664141664512
+68,1.133333333,BASELINE,767.533518809,745.533518809,718,679,662,638,879,785.466481191,813,652.533518809,629.533518809,653,0.400977672971,-0.0154118522004,0.0498496383078,0.999999959141,-9.6349049702e-05,-0.00026454008758,-4.95395956309e-05,1793249664158330880
+69,1.150000000,BASELINE,767,745.041296612,718,678.958703388,662,638,879,785.958703388,813,652,629.041296612,653,0.400978455596,-0.0154121106142,0.0498500146444,0.999999959374,-9.62818642704e-05,-0.000263726027533,-4.92958027724e-05,1793249664174997504
+70,1.166666667,BASELINE,767,745.614765097,718,678.385234903,662,638,879,785.385234903,813,652,629.614765097,653,0.400978153225,-0.0154126371597,0.0498502639016,0.999999959158,-9.75199262408e-05,-0.000264051077557,-4.94983177695e-05,1793249664191664128
+71,1.183333333,BASELINE,767,746,718,678,662.194125115,638,879,785,813,652,629.805874885,653,0.400978399038,-0.0154126191797,0.0498505008179,0.999999959199,-9.7956594003e-05,-0.00026370299604,-4.96671224617e-05,1793249664208330752
+72,1.200000000,BASELINE,767,746,718,678,662.785542728,638,879,785,813,652,629.214457272,653,0.400979766753,-0.0154114867855,0.0498507124773,0.999999959765,-9.67531449687e-05,-0.000261977297317,-4.97669363695e-05,1793249664224997632
+73,1.216666667,BASELINE,767,746,718,678.369430512,662.630569488,638,879,785,813,652,629.369430512,653.369430512,0.400979731713,-0.0154114115953,0.0498507529408,0.999999959896,-9.63442045012e-05,-0.000261672155357,-4.95305232269e-05,1793249664241664512
+74,1.233333333,BASELINE,767,746,718,678.94903445,662.05096555,638,879,785,813,652,629.94903445,653.94903445,0.400978898629,-0.0154119378613,0.0498506960087,0.999999959781,-9.63872695107e-05,-0.000262175185193,-4.91028264973e-05,1793249664258331392
+75,1.250000000,BASELINE,767.523415439,746,718,678.476584561,662.523415439,638,879,785,813,652,629.476584561,654,0.400978852611,-0.015411460194,0.0498494598635,0.999999959431,-9.57909585229e-05,-0.000263676637796,-4.93716934323e-05,1793249664274997760
+76,1.266666667,BASELINE,768,746,718,678,662.900369096,638,879,785,813,652.099630904,629.099630904,654,0.400979168597,-0.0154110001508,0.0498487187055,0.99999995924,-9.53210493712e-05,-0.000264519378668,-4.96409056307e-05,1793249664291664128
+77,1.283333333,BASELINE,768,746,718,678,662.312700987,638,879,785,813,652.687299013,629.687299013,654,0.400980886148,-0.0154111005517,0.0498509591082,0.999999959951,-9.57722622973e-05,-0.000261663941202,-4.95828531656e-05,1793249664308330752
+78,1.300000000,BASELINE,767.729578495,746,718,678,662,638,879,785,812.729578495,652.729578495,629.729578495,654,0.400980920748,-0.0154117528468,0.0498516316884,0.999999960031,-9.66253002939e-05,-0.000261055816188,-4.95189264445e-05,1793249664324997376
+79,1.316666667,BASELINE,767.151625456,746,718,678,662,638,879,785,812.151625456,652.151625456,629.151625456,654,0.400979041447,-0.0154130327727,0.0498505212933,0.999999959396,-9.79353059123e-05,-0.000263003403219,-4.94483193455e-05,1793249664341663744
+80,1.333333333,BASELINE,767,746,718,678,662,638,878.572979874,785,812.427020126,652,629.427020126,654,0.400979491929,-0.015413518166,0.0498509114125,0.999999959552,-9.82597432423e-05,-0.000262315798899,-4.93072678325e-05,1793249664358331136
+81,1.350000000,BASELINE,767.005858115,745.994141885,718,678,662.005858115,638,878.005858115,785,813,652,630,653.994141885,0.400980762916,-0.0154137299828,0.04985183096,0.999999959983,-9.82451218038e-05,-0.00026070548641,-4.91394297207e-05,1793249664374999040
+82,1.366666667,BASELINE,767.579467798,745.420532202,718,678,662.579467798,638,878.579467798,785,813,652,630,653.420532202,0.400981249508,-0.0154148143304,0.049852339891,0.999999959944,-9.93414940322e-05,-0.000260501484665,-4.88036642622e-05,1793249664391665408
+83,1.383333333,BASELINE,767.842975592,745.157024408,718,678,662.842975592,638,879,785.157024408,812.842975592,652,629.842975592,653,0.400981190389,-0.0154152642062,0.0498524465416,0.999999959888,-9.94169331414e-05,-0.000260723236268,-4.86274270214e-05,1793249664408331776
+84,1.400000000,BASELINE,767.254575908,745.745424092,718,678,662.254575908,638,879,785.745424092,812.254575908,652,629.254575908,653,0.400979632101,-0.0154139710701,0.049851448053,0.999999959779,-9.66876791965e-05,-0.000262114611515,-4.8889443411e-05,1793249664424997632
+85,1.416666667,BASELINE,767,745.670553523,718,678,662,638,879,785.670553523,812.329446477,652,629.329446477,653,0.400978712395,-0.0154123510919,0.0498507242919,0.999999959776,-9.44272679839e-05,-0.000262876394391,-4.92609187099e-05,1793249664441664256
+86,1.433333333,BASELINE,767,745.089869326,718,678,662,638,879,785.089869326,812.910130674,652,629.910130674,653,0.400978279674,-0.0154104818622,0.0498502100396,0.999999959858,-9.25243990162e-05,-0.000263158046532,-4.97158679677e-05,1793249664458330880
+87,1.450000000,BASELINE,767,745.48729684,718,678,662,638.48729684,879,785.48729684,813,652,630,653.48729684,0.400979569776,-0.0154118836965,0.0498507342647,0.999999959995,-9.44038125826e-05,-0.000262011727884,-4.94746982144e-05,1793249664474997248
+88,1.466666667,BASELINE,767,746,718,678,662,638.935065213,879,785.935065213,813,652,630,654,0.400980912538,-0.0154137335275,0.0498513698343,0.999999960112,-9.67588899161e-05,-0.000260765579985,-4.91449813855e-05,1793249664491663872
+89,1.483333333,BASELINE,767,746,718,678,662,638.348462087,879,785.348462087,813,652,630,654,0.400980144108,-0.0154143707261,0.049851372321,0.99999996004,-9.73716060397e-05,-0.000260817967263,-4.91278882631e-05,1793249664508331008
+90,1.500000000,BASELINE,767,746,718,678,662,638,879,785,813,652,629.765374578,654,0.400979745675,-0.0154139890499,0.0498512594486,0.99999995995,-9.73720210804e-05,-0.000261152488748,-4.91657309569e-05,1793249664524998144
+91,1.516666667,BASELINE,767,746,718,678,662,638,879,785,813,652,629.187431379,654,0.400979888644,-0.0154121164957,0.049850977776,0.999999959836,-9.64764809582e-05,-0.000261899845659,-4.9283958983e-05,1793249664541664768
+92,1.533333333,BASELINE,767,746,718,678,662,638,879,785,813,652,629.39236511,653.60763489,0.40098021447,-0.0154113122841,0.049850775778,0.999999959879,-9.50905125839e-05,-0.000262212577796,-4.94451135011e-05,1793249664558331392
+93,1.550000000,BASELINE,767,746,718,678,662,638,879,785,813,652,629.973051162,653.026948838,0.400980628062,-0.0154110208378,0.0498506120209,0.999999959995,-9.34691564551e-05,-0.000262316705959,-4.96268711802e-05,1793249664574997760
+94,1.566666667,BASELINE,767,746,718,678,662,638,879,785,813,652,630,653.545408461,0.400979844999,-0.0154125221507,0.049850588221,0.999999959874,-9.56407483306e-05,-0.000262039282068,-4.93919602839e-05,1793249664591664384
+95,1.583333333,BASELINE,767,746,718.120731535,678.120731535,662.120731535,638,879,785,813,652,630,654,0.40097937837,-0.0154138444781,0.0498506654259,0.999999959786,-9.75088722264e-05,-0.000261718034487,-4.92319033994e-05,1793249664608330752
+96,1.600000000,BASELINE,767,746,718.709112669,678.709112669,662.709112669,638,879,785,813,652,630,654,0.400980363018,-0.0154141355567,0.0498511074859,0.999999959887,-9.74865120877e-05,-0.000261298963891,-4.94403374902e-05,1793249664624997632
+97,1.616666667,BASELINE,767.294300667,746,718.705699333,679,662.705699333,638,879,785,813,652,630,654,0.400981087651,-0.0154138517297,0.0498517272431,0.999999960078,-9.77258636809e-05,-0.000260454971972,-4.95755009357e-05,1793249664641664256
+98,1.633333333,BASELINE,767.876366404,746,718.123633596,679,662.123633596,638,879,785,813,652,630,654,0.400981558043,-0.015413005764,0.0498525207515,0.999999960353,-9.82211151192e-05,-0.00025919549507,-4.96390208596e-05,1793249664658330880
+99,1.650000000,BASELINE,768,746,718,679,662,638,878.547541444,785,813,652,630,653.547541444,0.400981533412,-0.0154136496801,0.0498524508957,0.999999960134,-9.89616394896e-05,-0.000259755799704,-4.96589567412e-05,1793249664674997760
+100,1.666666667,BASELINE,767.973040259,746,718,679,662,638,878.026959741,785,813,652,630,653.026959741,0.400981371829,-0.0154146360833,0.0498521284434,0.999999959793,-9.97250892748e-05,-0.000260772934944,-4.96653578035e-05,1793249664691664384
+101,1.683333333,BASELINE,767.398131674,746,718,679,662,638,878.601868326,785,813,652,630,653.601868326,0.400981140115,-0.0154144169085,0.0498514044208,0.99999995972,-9.96100703872e-05,-0.000261100200403,-4.96355660358e-05,1793249664708331264
+102,1.700000000,BASELINE,767.181849886,745.818150114,718,678.818150114,662,638,879,785,813,652,630,653.818150114,0.40098108472,-0.0154137548851,0.0498511293652,0.999999959855,-9.83335569869e-05,-0.000261089243328,-4.9534726148e-05,1793249664724997888
+103,1.716666667,BASELINE,767.773256564,745.226743436,718,678.226743436,662,638,879,785,813,652,630,653.226743436,0.400981426428,-0.0154120954914,0.0498518654594,0.999999960444,-9.44411609085e-05,-0.000260316551678,-4.92738738442e-05,1793249664741664256
+104,1.733333333,BASELINE,767.643015282,745.356984718,718,678.356984718,662,638,879,785,813,652,630,653.356984718,0.400980839463,-0.0154118361057,0.0498518561879,0.999999960414,-9.40524263236e-05,-0.000260568486149,-4.92957880154e-05,1793249664758330880
+105,1.750000000,BASELINE,767.06406149,745.93593851,718,678.93593851,662,638,879,785,813,652,630,653.93593851,0.400979675059,-0.0154124472292,0.0498513834563,0.999999960002,-9.58422285716e-05,-0.000261457521518,-4.94935231672e-05,1793249664774997504
+106,1.766666667,BASELINE,767.510687913,746,718,678.489312087,662.510687913,638,879,785,813,652,630,654,0.400979069962,-0.0154129893315,0.0498508320513,0.999999959561,-9.75513325062e-05,-0.000262502046776,-4.95412019356e-05,1793249664791664384
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,813,653,630,654,0.400983390578,-0.0154120551656,0.0498534371834,0.999999960788,-9.6015254265e-05,-0.000258430365127,-4.91817061855e-05,1793249664835083776
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.404981497,718,678,662,638,878.404981497,785.595018503,813,652.404981497,630,654,0.400981524386,-0.0154123168496,0.0498520341917,0.999999960458,-9.52273060337e-05,-0.000259985797339,-4.92286041243e-05,1793249664851750144
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.184920381,718,678.184920381,662.184920381,638,878.369840762,785.815079619,813,652,630,654,0.400980031521,-0.0154126768283,0.049851083386,0.999999960137,-9.48917817342e-05,-0.00026133787785,-4.92402556488e-05,1793249664868416512
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.763918501,718,678.763918501,662.763918501,638,879.527837002,785.236081499,813,652,630,654,0.400979334244,-0.0154132462798,0.0498510962192,0.999999959839,-9.55204030404e-05,-0.000262256602535,-4.91767947087e-05,1793249664885082624
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.339797101,746,718,678.660202899,662.660202899,637.660202899,879.660202899,785,813,652,629.660202899,654,0.400979048085,-0.0154125320304,0.0498509006036,0.999999959797,-9.45135156701e-05,-0.000262743663682,-4.9390191054e-05,1793249664901749504
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.913528028,746,718,678.086471972,662.086471972,637.086471972,879.086471972,785,813,652,629.086471972,654,0.400979044962,-0.015410934015,0.0498505614811,0.999999959926,-9.23806598474e-05,-0.000262933545359,-4.97941902186e-05,1793249664918416384
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.500395016,746,718,678.499604984,662,637.499604984,879,785,813,652,629.499604984,653.500395016,0.400978772277,-0.0154113524987,0.0498508776063,0.999999959808,-9.35215845334e-05,-0.000263005166486,-4.96604544976e-05,1793249664935083264
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,718,679,662,638,879,785,813,652.086875466,630,653.086875466,0.400978608054,-0.0154119190349,0.0498512524425,0.99999995968,-9.51119773346e-05,-0.000262947348249,-4.95194613291e-05,1793249664951749888
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,718,679,662,638,879,785,813,652.668465793,630,653.668465793,0.400979333884,-0.0154112908145,0.049851299426,0.999999959759,-9.59534421296e-05,-0.00026227194627,-4.98805678426e-05,1793249664968416256
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.247283833,746,718,678.752716167,662,638,879,785,813,653,630,654,0.400983210078,-0.0154111366981,0.0498526231885,0.99999996049,-9.60966683455e-05,-0.000259431257092,-4.98162463529e-05,1793249664985082880
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.822426218,746,718,678.177573782,662,638,879,785,813,653,630,654,0.400991263148,-0.0154116111675,0.0498556397546,0.999999962061,-9.53141425424e-05,-0.000253719745714,-4.91878757884e-05,1793249665001749504
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.60280673,746,718,678.39719327,662,638,879,785,813,652.60280673,629.60280673,654,0.401016470262,-0.0154126705305,0.0498645352363,0.99999996665,-9.41930541392e-05,-0.000235617260726,-4.80850444371e-05,1793249665018416128
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.028207271,746,718,678.971792729,662,638,879,785,813,652.028207271,629.028207271,654,0.401049339223,-0.0154139911362,0.0498760565331,0.999999972121,-9.2920746797e-05,-0.000211980352546,-4.67702953198e-05,1793249665035082752
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,718,678.437907175,662,638,879,785,813,652,629,653.437907175,0.401110090735,-0.015419579251,0.0498951371324,0.999999979492,-9.74693218997e-05,-0.000171788080885,-4.47650395562e-05,1793249665051749120
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.850068636,718,678,662,637.850068636,879,785,813,652,629.149931364,653,0.40117566076,-0.0154251874875,0.0499125720305,0.99999998443,-0.000101148314658,-0.000138182205663,-4.26004559293e-05,1793249665068416000
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.271582716,718,678,662,637.271582716,879,785,813,652,629.728417284,653,0.401250889376,-0.0154302235236,0.0499241875077,0.999999986129,-0.000101482815944,-0.000125845388773,-4.00823506082e-05,1793249665085082624
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.304923691,718,678,662,637.304923691,879.304923691,785,813,652,630,653.304923691,0.401333158782,-0.0154353858954,0.049932375612,0.999999987523,-0.000101783898882,-0.000114542416148,-3.83859749205e-05,1793249665101749248
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.879678368,718,678,662,637.879678368,879.879678368,785,813,652,630,653.879678368,0.401421658671,-0.0154406600631,0.0499375307881,0.999999988668,-0.000102055409466,-0.000104154306656,-3.74167587469e-05,1793249665118416128
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879.546640882,785,812.546640882,652,629.546640882,654,0.401524721626,-0.0154458776842,0.049939297754,0.999999988826,-0.000103503691967,-0.000101409701564,-3.67613138472e-05,1793249665135082496
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.972236243,718,678,662,638,879,785,812.027763757,652.027763757,629.027763757,653.972236243,0.401632910703,-0.0154512804887,0.0499401594845,0.999999988712,-0.000105360282821,-0.000100834650629,-3.61528758765e-05,1793249665151749120
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.37723222,718,678,662,638,879,785,812.62276778,652.62276778,629.62276778,653.37723222,0.40176705152,-0.0154607726623,0.0499408551417,0.999999988104,-0.000109193178236,-0.000103237617326,-3.48074673314e-05,1793249665168415488
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,879,785,812.788979416,652.788979416,630,653,0.40191364796,-0.0154702707516,0.0499412526909,0.99999998761,-0.0001118116831,-0.000105619109678,-3.34941417437e-05,1793249665185082112
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,879,785,812.212421378,652.212421378,630,653,0.402081820464,-0.0154797790869,0.0499411338467,0.999999987344,-0.000112326576521,-0.000107963403145,-3.22363915507e-05,1793249665201748736
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.36393378,718,678,662,638,879.36393378,785,812.36393378,652,630,653.36393378,0.402272079326,-0.015489970959,0.0499435061726,0.99999998761,-0.000114082208312,-0.000104020432291,-3.07500945027e-05,1793249665218415360
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.940170642,718,678,662,638,879.940170642,785,812.940170642,652,630,653.940170642,0.40247522242,-0.0155005615773,0.0499473317384,0.999999988135,-0.000116561632749,-9.64097461068e-05,-2.91304730751e-05,1793249665235081984
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.472934299,718,678,662,637.472934299,879.472934299,785,813,652.527065701,630,653.472934299,0.402704703106,-0.0155113013857,0.0499507573097,0.999999988427,-0.000116825590039,-9.36269653696e-05,-2.70634868093e-05,1793249665251748864
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.113231322,745.113231322,718,678.113231322,662,637.113231322,879,785,813,652.886768678,629.886768678,653.113231322,0.40294840538,-0.0155217599898,0.049955005426,0.999999989088,-0.000115939337613,-8.81322818251e-05,-2.47829826214e-05,1793249665268415488
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.691332848,745.691332848,718,678.691332848,662,637.691332848,879,785,813,652.308667152,629.308667152,653.691332848,0.403237966868,-0.0155309931538,0.0499628207519,0.999999991163,-0.000111384694764,-6.92075139743e-05,-2.1838670617e-05,1793249665285082112
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.731604279,746,718,678.731604279,662,638,879,785,813,652,629.268395721,654,0.403548894628,-0.0155328060482,0.0499701278675,0.999999993879,-9.55635423194e-05,-5.24876120866e-05,-1.88278668858e-05,1793249665301748736
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.155731334,746,718,678.155731334,662,638,879,785,813,652,629.844268666,654,0.403884299818,-0.0155261181958,0.0499768527709,0.999999996909,-6.68353471335e-05,-3.82936311198e-05,-1.57408896364e-05,1793249665318415360
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.420861565,746,718,678,662,638,879.420861565,785,813,652,630,654,0.404240122545,-0.0155184758047,0.049981314805,0.999999998696,-3.99616059941e-05,-2.86107814076e-05,-1.38988779266e-05,1793249665335081984
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.997721312,746,718,678,662,638,879.997721312,785,813,652,630,654,0.404603513309,-0.0155104796006,0.0499849380752,0.999999999615,-1.37752446209e-05,-2.06000454337e-05,-1.25183300427e-05,1793249665351748864
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.410843145,745.410843145,718,678,662,638,879.410843145,785,813,652,630,654,0.404993795513,-0.0155203834363,0.0499814043405,0.999999999668,-6.44510228753e-06,-2.31985877654e-05,-9.17560643824e-06,1793249665368415232
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.176468977,745.176468977,718,678,662.176468977,638,879,785,813,652,629.823531023,654,0.405390940055,-0.0155272503638,0.0499733393444,0.999999999293,4.74723989071e-06,-3.67222611845e-05,-6.5685740591e-06,1793249665385082112
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.754271882,745.754271882,718,678,662.754271882,638,879,785,813,652,629.245728118,654,0.405803448647,-0.0155270491675,0.0499550336952,0.999999996862,2.48932442039e-05,-7.49966858371e-05,-5.65238259718e-06,1793249665401748736
+142,2.366666667,POSE1_TO_POSE2_PRESS,768,745.670177278,718,678.329822722,663,638,879.329822722,785,813,652,629.329822722,654,0.4062547214,-0.0155268138877,0.0499381549268,0.999999993352,4.72327892192e-05,-0.000105100725669,-4.30754247226e-06,1793249665418415360
+143,2.383333333,POSE1_TO_POSE2_PRESS,768,745.096292857,718,678.903707143,663,638,879.903707143,785,813,652,629.903707143,654,0.406734678839,-0.015526553387,0.0499223320175,0.999999989121,7.11955091319e-05,-0.000129158860966,-2.64551148852e-06,1793249665435081984
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,745.489296615,718.489296615,679,663,638,880.489296615,785,813,652,630,654,0.4072530245,-0.0155287744931,0.0499249256841,0.999999987937,9.32822466807e-05,-0.000124187004892,1.11221729107e-06,1793249665451748864
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.923916222,746,718.923916222,679,663,638.076083778,880.923916222,785,813,652,629.923916222,654,0.407789597331,-0.0155314617367,0.0499339846492,0.999999987475,0.000115644636302,-0.000107909276092,5.59267183252e-06,1793249665468415488
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.344813228,746,718.344813228,679,663,638.655186772,880.344813228,785,813,652,629.344813228,654,0.408395505781,-0.0155339228167,0.0499612389176,0.999999988254,0.000142330161375,-5.55810138681e-05,1.20577834376e-05,1793249665485082112
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,679,663,639,880,785,813.231587219,652,629.231587219,654,0.409011292002,-0.0155367332956,0.0499841227632,0.999999985637,0.000167828289499,-1.5154416821e-05,1.81880460706e-05,1793249665501748736
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,679,663,639,880,785,813.804010187,652,629.804010187,654,0.409641615677,-0.0155400579982,0.050000574489,0.999999981335,0.000191578879082,7.75604198496e-06,2.38254983428e-05,1793249665518415360
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+150,2.500000000,POSE1_TO_POSE2_PRESS,767.955405459,746,718,679,663,639,880,785,814,652.955405459,630,654,0.410893766544,-0.0155393247615,0.0499738418629,0.999999967696,0.000245624718561,-5.85414178983e-05,2.91306475747e-05,1793249665551748864
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.454034738,746,718,679,663,639,880,785,814,652.454034738,629.454034738,654,0.411537796405,-0.0155395964984,0.0499482800283,0.999999981525,0.000158035585731,-0.000105345953765,2.96196343567e-05,1793249665568415488
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.134901378,746,718,679.134901378,663,639,880.134901378,785,814,652,629.134901378,654,0.412214314074,-0.0155415564586,0.0499346090363,0.999999989024,7.19752242999e-05,-0.000126692183707,2.68389780722e-05,1793249665585082368
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.714562158,746,718,679.714562158,663,639,880.714562158,785,814,652,629.714562158,654,0.412992734802,-0.0155486950679,0.0499618101889,0.999999997627,2.28295900648e-05,-6.35302189571e-05,1.37062860724e-05,1793249665601749760
+154,2.566666667,POSE1_TO_POSE2_PRESS,768,746,718,679.708773748,663,639,881,785,814,652,630,654,0.41375746038,-0.015555626616,0.0499759220049,0.999999999185,1.46771209054e-05,-3.61977137213e-05,1.0229302709e-05,1793249665618416640
+155,2.583333333,POSE1_TO_POSE2_PRESS,768,746,718,679.135016794,663,639,881,785,814,652,630,654,0.414508899818,-0.0155623572864,0.0499773353142,0.999999997847,4.62938206751e-05,-4.36248503461e-05,1.61197224467e-05,1793249665635083264
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.548688951,746,718,679,663,638.548688951,881.451311049,785,814,652,629.548688951,654,0.415268465503,-0.0155637862874,0.0499546699999,0.999999993721,7.63021846464e-05,-8.0183560216e-05,1.75147528615e-05,1793249665651749376
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,679.040663932,663.040663932,638.040663932,882,785,814,652,629,654,0.416035514148,-0.0155634748728,0.049927476836,0.999999987001,0.000105266459738,-0.000120845390951,1.77180522898e-05,1793249665668415744
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,679.61886714,663.61886714,638.61886714,882,785,814,652,629,654,0.416868423598,-0.0155617239904,0.0499383815986,0.999999987002,0.000126971594957,-9.72393780294e-05,2.04550353364e-05,1793249665685083136
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.196478499,746,718,680,664,639,882.196478499,785,814.196478499,652,629,654,0.41770873539,-0.0155610616041,0.049953318785,0.999999987627,0.000139684799685,-6.86265607161e-05,2.29195110944e-05,1793249665701750272
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.772945188,746,718,680,664,639,882.772945188,785,814.772945188,652,629,654,0.418563363215,-0.0155625043631,0.0499760546532,0.999999990118,0.000135007665688,-3.0330616426e-05,2.48569593036e-05,1793249665718416896
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.650870985,746,718,680,664,639,883,785.349129015,815,652,629,654,0.419399893203,-0.0155621929442,0.0499734102118,0.999999990352,0.000130623551263,-3.99340064579e-05,2.52819484494e-05,1793249665735083264
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.074870989,746,718,680,664,639,883,785.925129011,815,652,629,654,0.420224662824,-0.0155607416257,0.0499542731392,0.999999988449,0.000126429846881,-8.06633383053e-05,2.47241115142e-05,1793249665751749632
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.48828851,718,680.51171149,664,638.48828851,883,785.48828851,815,652,629,654.51171149,0.42114703938,-0.0155625120592,0.0499735067621,0.999999990013,0.000135307858604,-3.10125271752e-05,2.6544883853e-05,1793249665768415744
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.098572891,717.901427109,680.901427109,664,638.098572891,883.098572891,785.098572891,815,652,629.098572891,654.901427109,0.422075924726,-0.0155641523998,0.0499940533235,0.999999988832,0.000145257152044,2.08199010808e-05,2.83207759054e-05,1793249665785082112
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.679067897,717.320932103,680.320932103,664,638.679067897,883.679067897,785.679067897,815,652,629.679067897,654.320932103,0.422965335357,-0.0155628034264,0.0499929914072,0.99999998807,0.000150895853338,1.73011213649e-05,2.81398215529e-05,1793249665801749248
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,717.257212295,680,664,639,884.257212295,786,815,652,629.742787705,654,0.423849637505,-0.0155629682217,0.0499859018775,0.999999988307,0.000150275610969,5.75907606431e-06,2.77597284444e-05,1793249665818415872
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,717.8324504,680,664,639,884.8324504,786,815,652,629.1675496,654,0.424727623474,-0.0155650046906,0.0499713596066,0.999999989438,0.000141916603817,-1.57032013273e-05,2.71334135411e-05,1793249665835083008
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718,680.416288528,664.416288528,638.583711472,884.583711472,786,815,652,629,654,0.425647594242,-0.0155685760632,0.0499839417783,0.999999989366,0.000142810170015,-3.1343699263e-06,2.93754018842e-05,1793249665851749888
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718,681.00359804,664.99640196,638.00359804,884,786,815,652.00359804,629.00359804,654,0.426584249437,-0.0155727031309,0.0500073860926,0.999999988312,0.000147573217918,2.28870193538e-05,3.27685622409e-05,1793249665868416512
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,718,681.580867561,664.419132439,638.580867561,884,786,815,652.580867561,629.580867561,654,0.427429992081,-0.0155648545186,0.049985340337,0.999999985558,0.000163004380449,-3.61305206447e-05,3.17568105357e-05,1793249665885082880
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718,681.840969054,664.159030946,639,884.159030946,785.840969054,815.159030946,652.840969054,630,654,0.428292870716,-0.0155580512862,0.0499642842576,0.999999981075,0.000174008390223,-8.14958838533e-05,3.0472451839e-05,1793249665901749248
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,681.260436575,664.739563425,639,884.739563425,785.260436575,815.739563425,652.260436575,630,654,0.429201167167,-0.0155540187677,0.0499458512544,0.999999980471,0.000173278510146,-9.06770067755e-05,2.84655657636e-05,1793249665918415872
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.316807152,746,718,681,665,639,885,785,816,652,629.683192848,654.316807152,0.430103217248,-0.0155529891388,0.0499418852038,0.999999980885,0.000172757968291,-8.70485965666e-05,2.8413033769e-05,1793249665935082496
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.891375056,746,718,681,665,639,885,785,816,652,629.108624944,654.891375056,0.43100018511,-0.015554402722,0.0499496897615,0.999999982025,0.000172407748299,-7.29980888346e-05,2.9950604157e-05,1793249665951749120
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.524344756,745.524344756,717.524344756,681,665,639,885,785.475655244,816,652,629,654.524344756,0.431872566419,-0.0155546092314,0.0499374966948,0.999999979486,0.000177239474647,-9.35831226076e-05,2.92612440112e-05,1793249665968416000
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.061736513,717.061736513,681,665,639,885.061736513,786,816,652,629.061736513,654.061736513,0.432742526456,-0.0155547752613,0.0499247633976,0.999999976299,0.000182799180092,-0.000114817526452,2.83534153869e-05,1793249665985083136
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745.643913155,717.643913155,681,665,639,885.643913155,786,816,652,629.643913155,654.643913155,0.433640394144,-0.0155569722924,0.0499467769826,0.999999979867,0.000184311761753,-7.345741383e-05,2.99804463991e-05,1793249666001749760
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,886,786,816.222829421,652,630,655,0.434516357534,-0.0155576058579,0.0499665203721,0.999999981597,0.000184237175296,-4.29984048893e-05,3.18346184402e-05,1793249666018416128
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,886,786,816.796610749,652,630,655,0.435357822225,-0.0155557769966,0.0499826882519,0.999999982478,0.000181662831218,-2.97084113273e-05,3.40465333999e-05,1793249666035083008
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,681.3715607,665,638.6284393,885.6284393,785.6284393,817,652,630,655,0.436152809226,-0.0155527560414,0.0499695711299,0.999999980342,0.000184049601666,-6.54176299021e-05,3.40999124105e-05,1793249666051749632
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,718,681.947152329,665,638.052847671,885.052847671,785.052847671,817,652,630,655,0.436922274409,-0.0155490804853,0.0499403730648,0.999999973369,0.000189160612436,-0.000128033232683,3.29679987285e-05,1793249666068416256
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.536021352,746,718,681.463978648,665,638.536021352,886.072042703,785.536021352,817,652,630,655,0.43777222733,-0.0155518518079,0.0499581805779,0.999999978232,0.000191110284945,-7.66286214404e-05,3.37857377806e-05,1793249666085082368
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.876049709,746,718,681,665,638.876049709,886.876049709,785.876049709,817,652,630,655,0.43860835061,-0.0155548074922,0.049975281338,0.999999980352,0.000192907453685,-2.97811804687e-05,3.45843447437e-05,1793249666101749248
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.296509881,746,718,681,665,638.296509881,886.296509881,785.296509881,817,652,630,655,0.439363733502,-0.0155560452232,0.049972317605,0.999999979443,0.000195318803344,-4.20526728643e-05,3.45881606826e-05,1793249666118416128
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638.280730232,886,785.280730232,817,652.280730232,630,654.719269768,0.440098923181,-0.015557692687,0.0499620063829,0.999999979432,0.000190601761297,-6.08063086616e-05,3.32990680669e-05,1793249666135083008
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638.855561064,886,785.855561064,817,652.855561064,630,654.144438936,0.440812957854,-0.015559769398,0.0499439977322,0.999999979886,0.000178416822608,-8.6350812815e-05,3.06554893832e-05,1793249666151749632
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,681.439407633,665,638.560592367,886.439407633,786,817,652.560592367,630.439407633,654,0.441520138271,-0.0155613930294,0.0499554044964,0.999999982321,0.000173224421127,-6.58070671782e-05,3.19355984489e-05,1793249666168416000
+188,3.133333333,POSE1_TO_POSE2_PRESS,767.025876125,746,718,681.974123875,665,638,886.974123875,786,817,652,630.974123875,654,0.442224019646,-0.0155629008997,0.0499762204356,0.999999984352,0.000170795931528,-3.05501479592e-05,3.45289813532e-05,1793249666185082368
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.603731096,746,718,681.396268904,665,638,886.396268904,786,817,652,630.396268904,654,0.442906594626,-0.0155651829282,0.0499871683837,0.999999983537,0.000177267540991,-1.13768920835e-05,3.7047477152e-05,1793249666201749248
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.818076237,746,718,681.181923763,665,638,886.181923763,785.818076237,817,652,630,654,0.443546619516,-0.0155664149364,0.0499803006327,0.99999998215,0.000183594310436,-2.38000887336e-05,3.77712504793e-05,1793249666218415872
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.239146518,746,718,681.760853482,665,638,886.760853482,785.239146518,817,652,630,654,0.444093788942,-0.0155653555217,0.049934554298,0.999999975896,0.000189605001084,-0.000105175130907,3.45784631639e-05,1793249666235082752
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.336986212,746,718,682,665,638,887,785,817,652,630,654,0.444641716747,-0.015568498191,0.049899176947,0.999999968807,0.000191050454024,-0.000157609165605,3.23387082986e-05,1793249666251749376
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.911150327,746,718,682,665,638,887,785,817,652,630,654,0.445190178281,-0.0155745983745,0.0498710975053,0.999999963625,0.000189282797834,-0.000189673912755,3.07697177688e-05,1793249666268416256
+194,3.233333333,POSE1_TO_POSE2_PRESS,767.503349375,746,718,682,665,638,887,785,817,652,630,654,0.445734249878,-0.0155824531123,0.0498742074425,0.999999967443,0.000185953170561,-0.000171723972651,3.23515488454e-05,1793249666285083136
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,630,654.083231374,0.446270104736,-0.0155899590089,0.0498807235788,0.999999971223,0.000183685354972,-0.000150449338734,3.43428073603e-05,1793249666301749760
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,630,654.66386623,0.446761658105,-0.0155934605315,0.0498734715919,0.999999967974,0.000189472031897,-0.000164026560154,3.53335743505e-05,1793249666318416640
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,629.757634624,655,0.447212818541,-0.0155955128939,0.0498524928473,0.999999961739,0.000191663168916,-0.000196454169492,3.45428344331e-05,1793249666335083264
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,629.182071644,655,0.447608447786,-0.0155955729884,0.0498126429146,0.999999949206,0.000188911250449,-0.000254796799485,3.13029250755e-05,1793249666351749888
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,629.393534056,655,0.44799358682,-0.0155971982519,0.0497883679451,0.999999946418,0.000145850439538,-0.000291915220218,2.6026490361e-05,1793249666368416256
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887,785,817,652,629.969159574,655,0.448373871982,-0.0155995477321,0.0497712996363,0.999999945316,8.41383701944e-05,-0.00031921302813,1.98077381706e-05,1793249666385082624
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,637.441229161,887,785,817,652,629.441229161,655,0.448743062213,-0.0156033617215,0.049781431836,0.999999951428,5.80528902969e-05,-0.000305934319989,1.3334231759e-05,1793249666401749504
+202,3.366666667,POSE1_TO_POSE2_PRESS,767.14598774,746,718,682,665,637,887,784.85401226,817,652.14598774,629.14598774,655,0.449104582238,-0.0156078402041,0.0497931010573,0.99999995703,4.19456424435e-05,-0.000289993475818,9.21964869943e-06,1793249666418416896
+203,3.383333333,POSE1_TO_POSE2_PRESS,767.723780869,746,718,682,665,637,887,784.276219131,817,652.723780869,629.723780869,655,0.449445273034,-0.0156140389169,0.0498047619813,0.99999996145,4.93867780062e-05,-0.000272972761349,1.21249904961e-05,1793249666435083776
+204,3.400000000,POSE1_TO_POSE2_PRESS,767.699814247,746,718,682,665,637,887,784.300185753,817,652.699814247,630,655,0.449752555181,-0.0156180165398,0.0498088854504,0.999999962096,5.75970280638e-05,-0.000268854296185,1.44240237113e-05,1793249666451750400
+205,3.416666667,POSE1_TO_POSE2_PRESS,767.124680926,746,718,682,665,637,887,784.875319074,817,652.124680926,630,655,0.450029237498,-0.015619959811,0.0498061051771,0.999999959417,6.65117287003e-05,-0.00027655332184,1.6167723704e-05,1793249666468417280
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,637,887,785,817,652,630,655,0.450270419242,-0.0156186128227,0.0498015065132,0.999999955871,7.28560187818e-05,-0.000287519168675,1.68161304722e-05,1793249666485083392
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.975260981,637,887,785,817.024739019,652.024739019,630,655,0.450500181093,-0.0156165208152,0.0497963964169,0.999999951965,7.8339396867e-05,-0.000299394553542,1.71782806213e-05,1793249666501749504
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664.383111898,637,887,785,817.616888102,652.616888102,630,655,0.450693390811,-0.0156182291246,0.0497911000959,0.999999948125,8.03950880393e-05,-0.000311391803211,1.79282781518e-05,1793249666518416128
+209,3.483333333,POSE1_TO_POSE2_PRESS,767.204358343,746,718,682,664.204358343,637,887,784.795641657,817.795641657,653,629.795641657,655,0.450878306901,-0.0156179474916,0.0497864602336,0.999999944391,8.46086352601e-05,-0.000322051566446,1.84819509096e-05,1793249666535083008
+210,3.500000000,POSE1_TO_POSE2_PRESS,767.783253395,746,718,682,664.783253395,637,887,784.216746605,817.216746605,653,629.216746605,655,0.451048022868,-0.0156140188018,0.0497830234935,0.999999940986,9.27769819058e-05,-0.00033026005698,1.86758103637e-05,1793249666551749376
+211,3.516666667,POSE1_TO_POSE2_PRESS,768,746,718.359327632,682,664.640672368,637.359327632,887,784,817,652.640672368,629,655,0.451189839483,-0.0156125348733,0.0497756832645,0.999999935746,9.60261521756e-05,-0.000344875824442,1.86325592767e-05,1793249666568416256
+212,3.533333333,POSE1_TO_POSE2_PRESS,768,746,718.93371366,682,664.06628634,637.93371366,887,784,817,652.06628634,629,655,0.451314958291,-0.0156125141396,0.0497660067884,0.999999929187,9.63311850876e-05,-0.000363326362262,1.84473970123e-05,1793249666585082880
+213,3.550000000,POSE1_TO_POSE2_PRESS,768,746,718.479619057,682,664.520380943,638,887,784,817,652.520380943,629,655,0.451418327048,-0.0156122769257,0.0497603886284,0.999999923491,9.84834917417e-05,-0.000378143238863,1.80757103202e-05,1793249666601749760
+214,3.566666667,POSE1_TO_POSE2_PRESS,768,746,718,682,665,637.893290498,887,784,817,653,629.106709502,655,0.451517348925,-0.0156124575324,0.0497562213483,0.999999918989,0.000100378430541,-0.000389394370015,1.78427629698e-05,1793249666618416128
+215,3.583333333,POSE1_TO_POSE2_PRESS,768,746,718,682,665,637.315529656,887,784,817,653,629.684470344,655,0.451609707918,-0.0156146072069,0.0497561215865,0.999999919941,0.00010007343435,-0.000386997708791,1.83296749735e-05,1793249666635082496
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+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,636.230209136,886.230209136,784,817.769790864,653,629,655,0.451995480201,-0.0156081093662,0.049738465462,0.999999910135,8.41630397801e-05,-0.000415192192852,1.62173016637e-05,1793249667068416768
+242,4.033333333,HOLD_POSE2,767,746,719,682,664,637,887,785,818,653,629,655,0.451991449641,-0.0156059229845,0.0497356787766,0.999999907928,8.75506082642e-05,-0.000419776565693,1.63518999588e-05,1793249667104148224
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.235437062,746,718,682,664,637,887,784,817,652.235437062,628.764562938,654.764562938,0.451972427595,-0.0156039402954,0.0497258177384,0.9999999012,8.43366053313e-05,-0.000436176696353,1.53977712172e-05,1793249667569998848
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.813808234,746,718,682,664,637,887,784,817,652.813808234,628.186191766,654.186191766,0.451946220823,-0.0156022061636,0.0497142752945,0.999999892174,8.55572669211e-05,-0.000456214937791,1.4129743774e-05,1793249667586665984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.612353859,746,718,682,664,637,887,783.612353859,817,652.612353859,628.387646141,654.387646141,0.451899529437,-0.0155995380694,0.0496962420158,0.999999876446,8.52701326374e-05,-0.00048957350779,1.24206335185e-05,1793249667603332864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.040668122,746,718,682,664,637,887,783.040668122,817,652.040668122,628.959331878,654.959331878,0.451843112737,-0.0155964265653,0.0496751271352,0.999999856338,8.4267154415e-05,-0.000529256062681,1.05021138478e-05,1793249667619999744
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,745.451845784,718,682,664.548154216,637,887,783,817,652,629,655,0.45177105114,-0.0155922359342,0.0496552773058,0.999999840429,8.74629405289e-05,-0.000558056593908,8.10263460507e-06,1793249667636666368
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,745.135681014,718,682,664.864318986,637,887,783.135681014,817,652.135681014,629,654.864318986,0.45169563385,-0.0155879019779,0.0496383078233,0.999999826371,9.02279209898e-05,-0.00058230570664,6.08383119955e-06,1793249667653332992
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,745.714686737,718,682,664.285313263,637,887,783.714686737,817,652.714686737,629,654.285313263,0.451613167038,-0.0155833697542,0.0496304330337,0.999999819227,9.05346085649e-05,-0.000594406567024,5.42920191597e-06,1793249667669999104
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.280026189,746,718,682,664.280026189,637,887,784,817,652.719973811,629,654.280026189,0.451524179499,-0.0155775986596,0.0496272324208,0.99999981694,9.2882780011e-05,-0.000597888533752,4.6379440152e-06,1793249667686665472
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.832089243,746,718,682,664.832089243,637,887,784,817,652.167910757,629,654.832089243,0.45142885728,-0.01557062404,0.0496285726279,0.999999819445,9.72141904899e-05,-0.000592997508633,3.71395563781e-06,1793249667703332352
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664.580297142,637,887,784,817.419702858,652.419702858,629,655,0.451315576025,-0.0155649940374,0.0496315926094,0.99999982235,9.8546277698e-05,-0.0005878588393,3.28655846323e-06,1793249667719998720
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,746.022261672,718,682,664.022261672,637,887,784,817.977738328,653,628.977738328,655,0.451193692362,-0.0155597067436,0.0496352930158,0.999999825447,9.88248747336e-05,-0.000582520762267,3.0475094566e-06,1793249667736665344
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746.609745648,718,682,664.609745648,637,887,784,817.390254352,653,628.390254352,655,0.4510526997,-0.0155481985184,0.0496376275794,0.999999829181,0.000105641296675,-0.000574868038704,2.07954111485e-06,1793249667753331968
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767.805583571,746.805583571,718,682,665,637,887,784,817,653,628.194416429,654.805583571,0.45089757761,-0.0155372877612,0.049639878954,0.999999832563,0.00011192945479,-0.000567753995407,1.16836105556e-06,1793249667769998848
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767.226479268,746.226479268,718,682,665,637,887,784,817,653,628.773520732,654.226479268,0.450714497921,-0.0155275592034,0.0496419657243,0.999999835379,0.000117172347111,-0.000561705828891,3.69546942258e-07,1793249667786665216
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.350439447,664.649560553,637,887,784,817,652.649560553,629,654.350439447,0.450519795561,-0.0155176989401,0.0496489334897,0.999999842765,0.000120520973185,-0.000547672770565,-1.85156744222e-07,1793249667803332352
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.925954489,664.074045511,637,887,784,817,652.074045511,629,654.925954489,0.450317628327,-0.0155077540858,0.0496590361561,0.999999852816,0.000122652975567,-0.000528511281208,-5.83076505691e-07,1793249667819999744
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.498627611,664,637,887,784,817,652,629,655,0.450076226441,-0.0154984163794,0.0496654158031,0.999999859179,0.000122090894169,-0.000516460110567,-2.04844814832e-06,1793249667836666112
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.078844311,746,718,682,664.078844311,637.078844311,886.921155689,784.078844311,817,652.078844311,628.921155689,655,0.44982372005,-0.015489312941,0.04967050756,0.999999864541,0.000121014248026,-0.00050622201973,-3.61334713753e-06,1793249667853332992
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767.669749668,746,718,682,664.669749668,637.669749668,886.330250332,784.669749668,817,652.669749668,628.330250332,655,0.449536719297,-0.0154811487344,0.049670805277,0.999999867416,0.000119179265972,-0.000500940533533,-4.80098003254e-06,1793249667869999616
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767.744584526,746,718,682,665,637.744584526,886.255415474,784.744584526,817,652.744584526,628.255415474,654.744584526,0.449219968078,-0.0154751722878,0.0496695271163,0.999999868065,0.000113459775021,-0.000500951586581,-6.60237084754e-06,1793249667886666240
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767.165557274,746,718,682,665,637.165557274,886.834442726,784.165557274,817,652.165557274,628.834442726,654.165557274,0.44886552299,-0.0154719677369,0.049666252316,0.999999865808,0.000102818605734,-0.000507668294837,-9.18139376988e-06,1793249667903333120
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.410854263,746,718,682,664.589145737,637,886.589145737,784,817,652,629,654,0.448494432985,-0.0154720903195,0.0496640813015,0.999999866454,9.01491379811e-05,-0.000508761398629,-1.12617176259e-05,1793249667920000000
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.986218429,746,718,682,664.013781571,637,886.013781571,784,817,652,629,654,0.448116678208,-0.0154735451176,0.0496623522533,0.999999868144,7.66675207329e-05,-0.000507602758196,-1.31423576324e-05,1793249667936666624
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.442424542,746,718,682,664,637,886.557575458,784,817,652,629,654.557575458,0.447698850623,-0.0154673040399,0.0496590808457,0.999999868649,7.04946482315e-05,-0.000507409933275,-1.63346883007e-05,1793249667953333504
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,717.866168798,682,664,637.133831202,887,784.133831202,817,652,629,655,0.447271070954,-0.0154596231671,0.0496561858912,0.999999868731,6.51857608891e-05,-0.000507842310704,-1.96254228691e-05,1793249667970000128
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,717.272752986,682,664,637.727247014,887,784.727247014,817,652,629,655,0.446812492393,-0.0154476465123,0.0496547136813,0.999999867572,6.22279166372e-05,-0.000510340278639,-2.31435405144e-05,1793249667986666752
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,717.312718993,682,664,637.687281007,887,784.687281007,817,652,629.312718993,654.687281007,0.446324982873,-0.0154384345338,0.0496566835374,0.999999869219,5.57556283143e-05,-0.000507717295539,-2.60071233991e-05,1793249668003333376
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,717.891434082,682,664,637.108565918,887,784.108565918,817,652,629.891434082,654.108565918,0.445812864876,-0.0154315741639,0.0496615811853,0.999999873158,4.62939836479e-05,-0.000500738475603,-2.83139650135e-05,1793249668019999744
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.955534483,664.044465517,637.044465517,886.044465517,785,817,652,629.955534483,654.955534483,0.444790594039,-0.0154196880879,0.0497235250807,0.999999914031,3.04852724941e-05,-0.000412453857965,-2.98441047668e-05,1793249668053332992
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,717.798783089,682,665,638,887,785,817,652,629.798783089,654,0.442966860956,-0.0154012812245,0.0497446984201,0.999999919455,-7.54849078545e-06,-0.00039958907848,-3.69059482007e-05,1793249668103333376
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,745.624445786,717.624445786,681.624445786,665,638,886.624445786,785.375554214,817,652,629.624445786,654,0.442307806987,-0.0153971102835,0.0497462517288,0.999999922054,-1.83153715128e-05,-0.000392328530938,-4.04212774728e-05,1793249668119999744
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,745.048857403,717.048857403,681.048857403,665,638,886.048857403,785.951142597,817,652,629.048857403,654,0.441650090256,-0.0153946609291,0.0497563779316,0.999999930888,-2.77623119744e-05,-0.000368184675016,-4.35194566742e-05,1793249668136666112
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,745.523025713,717.523025713,681.523025713,664.476974287,638,886,786,817,652,629.523025713,654.523025713,0.440993791464,-0.0153939589786,0.0497936606762,0.999999951649,2.02211871682e-05,-0.00030731147286,-4.30430928632e-05,1793249668153332736
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,638,886.098105859,785.901894141,816.901894141,652,630,655,0.440324058122,-0.015393091384,0.0498263449904,0.99999996487,6.0333690685e-05,-0.000254512566189,-4.2926250096e-05,1793249668169999360
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,638,886.691044719,785.308955281,816.308955281,652,630,655,0.439585899525,-0.0153905707828,0.0498231302698,0.999999964652,3.38771704732e-05,-0.000259623139291,-4.62951300942e-05,1793249668186666240
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.275563623,638,886.724436377,785.275563623,816,652,630,654.724436377,0.438801480685,-0.0153861584756,0.0498007933542,0.999999954682,7.22473090755e-06,-0.000296475077355,-5.1825072984e-05,1793249668203333120
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.850922247,638,886.149077753,785.850922247,816,652,630,654.149077753,0.437966733666,-0.0153796881172,0.0497576527546,0.999999930364,-1.96408593184e-05,-0.000367859521233,-5.97061096365e-05,1793249668220000000
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767.717503769,745.717503769,718.717503769,681,663,638,882.282496231,786.282496231,814.282496231,652,629.282496231,654,0.423189839174,-0.0153679075082,0.0498315644106,0.999999969104,-9.14706755253e-06,-0.000242638937935,-5.32413563168e-05,1793249668503332096
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,745.698946097,718.698946097,680.698946097,663,638,881.698946097,786,814,652,629.301053903,654,0.422297349141,-0.0153668413615,0.0498263962835,0.999999965312,-4.07262245641e-06,-0.000257772322626,-5.39709091659e-05,1793249668519998464
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,745.124106026,718.124106026,680.124106026,663,638,881.124106026,786,814,652,629.875893974,654,0.421380084012,-0.0153626684958,0.0497962540674,0.99999994916,-1.64280453435e-05,-0.000313311298216,-5.69782564104e-05,1793249668536665344
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,745.453373055,718,680,663,638,881,786,814,652,630,654,0.42049179827,-0.0153639994746,0.0497902152837,0.99999994348,-3.04640266632e-05,-0.000329774327078,-5.79763308555e-05,1793249668553331968
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,718,680,663,638,881.032086023,786,813.967913977,652.032086023,630,654,0.419611685502,-0.0153665216895,0.0497907157526,0.999999940914,-4.31367776592e-05,-0.000336015549448,-5.83550107106e-05,1793249668569998592
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,718,680,663,638,881.619578793,786,813.380421207,652.619578793,630,654,0.418734927366,-0.0153634319595,0.0497895296232,0.999999936252,-2.42022956567e-05,-0.000351559877593,-5.75885107587e-05,1793249668586665216
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,718,680,663,638,881.795914093,786,813,652.795914093,630,654,0.417873958905,-0.0153620609217,0.0497835915016,0.999999930696,-1.5524569941e-05,-0.000367422906744,-5.8029367521e-05,1793249668603331840
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,680,663,638,881.216891976,786,813,652.216891976,630,654,0.417041998279,-0.015363847377,0.0497689232623,0.99999992415,-2.56900301464e-05,-0.000383871439985,-6.068831832e-05,1793249668619998720
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.640031459,746,718,680,662.640031459,638,880.640031459,786,813.359968541,652,630,654,0.41625752957,-0.0153657423698,0.0497800873312,0.999999933581,-3.75147058761e-05,-0.00035742064048,-6.06667952225e-05,1793249668636665600
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.064465631,746,718,680,662.064465631,638,880.064465631,786,813.935534369,652,630,654,0.415501505418,-0.0153677023692,0.0498067232406,0.999999950394,-5.03331409927e-05,-0.000305275983525,-5.90398457097e-05,1793249668653332224
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.02275219,638,880.511376095,786,813.488623905,652,630,654,0.414721015342,-0.015367174732,0.0498060395848,0.999999949832,-4.71611110094e-05,-0.000307480397645,-5.97296555786e-05,1793249668669998848
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.086735656,746,718,680,663.913264344,638,880.913264344,786,813,652,629.913264344,654,0.413936071598,-0.0153666020738,0.0497984083791,0.999999945414,-4.20338660943e-05,-0.0003220181705,-6.09031704937e-05,1793249668686665472
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.659200149,746,718,680,663.340799851,638,880.340799851,786,813,652,629.340799851,654,0.413143468303,-0.0153675344289,0.0497711672673,0.999999929882,-3.72520360785e-05,-0.000367234724037,-6.31490474456e-05,1793249668703332096
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,746,718,680,662.757581766,638.242418234,880,786,813.242418234,652,629.242418234,654,0.412396570548,-0.0153683085041,0.0497628225676,0.99999992416,-3.83061637151e-05,-0.000382259971327,-6.39461265757e-05,1793249668719998720
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,718,680,662.158544221,638.841455779,880,786,813.841455779,652,629.841455779,654,0.41171690988,-0.015368849735,0.0497822762147,0.999999934631,-4.79455173502e-05,-0.000352871052584,-6.26118920001e-05,1793249668736665600
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.578330343,746,718,679.578330343,662,638.578330343,880,785.578330343,813.578330343,652,630,653.578330343,0.411050475195,-0.0153662319694,0.0498000467939,0.999999942914,-4.96781527298e-05,-0.000328633257871,-6.08637760563e-05,1793249668753331968
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767.004891513,746,718,679.004891513,662,638.004891513,880,785.004891513,813.004891513,652,630,653.004891513,0.410388800809,-0.0153624772041,0.0498172115976,0.999999950188,-4.85649685243e-05,-0.000306249475614,-5.89666940116e-05,1793249668769998336
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745.433686476,718,679,662,638,880,785.566313524,812.433686476,652,630,653.566313524,0.409735676365,-0.0153611608095,0.0497939997774,0.999999936435,-5.06450478946e-05,-0.000347551536716,-6.14220318592e-05,1793249668786665216
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.143098964,718,679.143098964,662,638,880,786,812.143098964,652,630,654,0.409101204401,-0.015361258789,0.0497786815608,0.999999927093,-5.42866880537e-05,-0.000372659767114,-6.31857628062e-05,1793249668803332096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745.737546308,718,679.737546308,662,638,880,786,812.737546308,652,630,654,0.408525332038,-0.0153657516765,0.0497893562253,0.999999936568,-6.27669935183e-05,-0.000344962851412,-6.26499886664e-05,1793249668819999232
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.678604312,718,679.678604312,662,638,879.678604312,785.678604312,812.678604312,652,630,654,0.407975783707,-0.0153694920703,0.0498059623488,0.999999944555,-7.07013205552e-05,-0.000319678345777,-6.08018079892e-05,1793249668836666112
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.103133061,718,679.103133061,662,638,879.103133061,785.103133061,812.103133061,652,630,654,0.407447045562,-0.0153726375888,0.0498272575163,0.999999951368,-7.82040302888e-05,-0.000296300944075,-5.79161198691e-05,1793249668853332736
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.472040201,718,679,662,638,879,785.472040201,812.944080403,652,630,654,0.406921275384,-0.0153714175414,0.0498191410963,0.999999945486,-8.30941323508e-05,-0.000314157796821,-5.85556772336e-05,1793249668869999360
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,746,718,678.224519431,662,638,879.224519431,785,813,652,630,654,0.405409856501,-0.0153687966664,0.0497634149545,0.999999907272,-0.000108385668718,-0.00041165125054,-6.52025263867e-05,1793249668919999488
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767.619461815,746,718,679,662,638,879.619461815,785,812.619461815,652,630,654,0.404611999268,-0.0153725688682,0.0497813528236,0.999999917644,-0.000125726725395,-0.000380532197045,-6.40284259796e-05,1793249668953332480
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767.043185683,746,718,679,662,638,879.043185683,785,812.043185683,652,630,654,0.404265987277,-0.0153743782565,0.0498015849927,0.99999993126,-0.0001346866816,-0.0003396868495,-6.28742410343e-05,1793249668969998848
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.701142747,746,718.298857253,678,662,638,879,785,813,652.298857253,629,654,0.403334173937,-0.0153822797185,0.0498496937999,0.999999957514,-5.1742602514e-05,-0.000280546506992,-5.9909374579e-05,1793249669019998720
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,746,718,678.286785101,662,638,879,785.286785101,813,652,629.286785101,653.713214899,0.403043852935,-0.0153834419543,0.0498470716171,0.999999955616,-3.98639025559e-05,-0.000288990434534,-6.05333205643e-05,1793249669036665088
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,746,718,678.864376517,662,638,879,785.864376517,813,652,629.864376517,653.135623483,0.402764775502,-0.0153838990663,0.0498353354395,0.999999947708,-5.08543807112e-05,-0.000313287483527,-6.20334424634e-05,1793249669053331968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.560227902,746,718,679,662,637.560227902,879,786,813,652,630,653,0.40252068388,-0.0153840951298,0.0498250640124,0.999999941765,-5.75023031725e-05,-0.000330450576586,-6.29694553141e-05,1793249669069998592
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,718,678.396453238,662,637.603546762,879.603546762,785.396453238,813,652,630,653,0.402093935314,-0.0153837616802,0.0498073278607,0.999999934084,-1.89769022265e-05,-0.000358649263071,-5.33132344655e-05,1793249669103332096
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,678,662,638,879.810732593,785.189267407,813,652,629.810732593,653.189267407,0.40191358714,-0.0153818788572,0.0498029273802,0.999999932473,8.28742969827e-06,-0.000364370743978,-4.71095510735e-05,1793249669119998720
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,718,678,662,638,879.231156857,785.768843143,813,652,629.231156857,653.768843143,0.401762166883,-0.0153770113567,0.0498058696924,0.999999935945,3.86131779974e-06,-0.000354530230581,-4.90317520978e-05,1793249669136665344
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767.345863021,746,718,678,662,637.654136979,879,785.654136979,813,652,629,654,0.401632636971,-0.015375009986,0.0498104198816,0.999999939558,-2.06361416707e-06,-0.00034403126394,-5.0215237506e-05,1793249669153332224
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767.921187286,746,718,678,662,637.078812714,879,785.078812714,813,652,629,654,0.401517630094,-0.0153749101357,0.0498160368098,0.999999943188,-8.98293191192e-06,-0.000333095448488,-5.09086255968e-05,1793249669169998848
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.326490244,718,678,662,638,879,785,812.326490244,652,630,653.673509756,0.40127125513,-0.0153895462357,0.0498305793286,0.999999951933,-3.94750417201e-05,-0.000303320460357,-5.07232134298e-05,1793249669219998720
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767.251950827,745.251950827,718,678,662,638,879,785,812.251950827,652.251950827,630,653.748049173,0.401202941156,-0.0153952364974,0.0498309760236,0.999999951573,-4.95740889423e-05,-0.000302987564643,-5.09428622248e-05,1793249669236665344
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.829973564,745.829973564,718,678,662,638,879,785,812.829973564,652.829973564,630,653.170026436,0.401142286019,-0.0154007497597,0.0498290397359,0.999999950102,-5.97304776319e-05,-0.000305911281494,-5.14384186246e-05,1793249669253332224
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,745.596126228,718,678.403873772,662,638,879,785,813,652.596126228,629.596126228,653,0.401097549535,-0.0154012296884,0.0498276493607,0.999999949498,-6.24072979029e-05,-0.000307233906525,-5.21273041429e-05,1793249669269998592
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,745.023944039,718,678.976055961,662,638,879,785,813,652.023944039,629.023944039,653,0.401059446917,-0.0153996120498,0.0498264864864,0.999999949283,-6.19671184719e-05,-0.000307889300168,-5.28967566996e-05,1793249669286665216
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e450653840336ce33d1fc78593bc1c3c2bf5fcc0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
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+374,6.233333333,pose2_to_pose3_retreat,0.575699099594,-0.00985002335146,1.0400334337,0.546269780096,-0.001177382655,1.03970482922
+375,6.250000000,pose2_to_pose3_retreat,0.575687567658,-0.00984999678731,1.04003349645,0.546258248277,-0.00117735562699,1.03970489382
+376,6.266666667,pose2_to_pose3_retreat,0.575679346751,-0.00984987058985,1.04003340009,0.546250025631,-0.00117723522122,1.03970479994
+377,6.283333333,pose2_to_pose3_retreat,0.575674025462,-0.00984990066558,1.04003360983,0.546244703985,-0.00117726683537,1.03970500107
+378,6.300000000,pose2_to_pose3_retreat,0.575670417086,-0.00984991220564,1.04003379813,0.546241095304,-0.00117727966532,1.03970518264
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+381,6.350000000,pose2_to_pose3_retreat,0.575666833018,-0.00984975208755,1.0400337584,0.546237509995,-0.0011771235876,1.03970514746
+382,6.366666667,pose2_to_pose3_retreat,0.575666103646,-0.00984979360553,1.04003370963,0.546236781267,-0.00117716291011,1.03970509905
+383,6.383333333,pose2_to_pose3_retreat,0.575665751737,-0.00984981363724,1.04003368609,0.546236429667,-0.00117718188255,1.0397050757
+384,6.400000000,pose2_to_pose3_retreat,0.575665591783,-0.0098498227423,1.04003367539,0.546236269854,-0.00117719050613,1.03970506509
+385,6.416666667,pose2_to_pose3_retreat,0.575665146868,-0.00984984094535,1.04003364797,0.546235825206,-0.00117720779055,1.039705038
+386,6.433333333,pose2_to_pose3_retreat,0.575664899163,-0.00984980689338,1.04003364721,0.546235576874,-0.00117717583633,1.03970503805
+387,6.450000000,pose2_to_pose3_retreat,0.575664748856,-0.00984978623064,1.04003364675,0.546235426186,-0.00117715644651,1.03970503809
+388,6.466666667,pose2_to_pose3_retreat,0.575664622847,-0.00984976890824,1.04003364636,0.546235299858,-0.00117714019124,1.03970503811
+389,6.483333333,pose2_to_pose3_retreat,0.575664538997,-0.00984975738139,1.0400336461,0.546235215796,-0.00117712937449,1.03970503813
+390,6.500000000,pose2_to_pose3_retreat,0.575664459744,-0.00984974648642,1.04003364585,0.546235136341,-0.0011771191507,1.03970503815
+391,6.516666667,pose2_to_pose3_retreat,0.575664399613,-0.00984973822025,1.04003364567,0.546235076058,-0.00117711139376,1.03970503816
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+393,6.550000000,pose2_to_pose3_retreat,0.575664377592,-0.00984973953649,1.04003365151,0.54623505405,-0.00117711266681,1.039705044
+394,6.566666667,pose2_to_pose3_retreat,0.575664367862,-0.0098497485511,1.04003366557,0.546235044459,-0.00117712121643,1.0397050579
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+396,6.600000000,pose2_to_pose3_retreat,0.575664355854,-0.00984975967635,1.04003368293,0.546235032622,-0.0011771317678,1.03970507506
+397,6.616666667,pose2_to_pose3_retreat,0.575664324233,-0.00984978897203,1.04003372862,0.546235001452,-0.00117715955231,1.03970512024
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10d67dba121b58705b9fa1c36533bb8ca2b31c0e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c955bed15d42c19cd1067200195e5d33c5eea81ba4831b4b6d0336818b249805
+size 25600502
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f34c234ba9ef7b7c8c89de9e709519855caf18dc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,403 @@
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+12,0.200000000,BASELINE,767.034310561,745.965689439,718,678.965689439,662,638,879,785.034310561,813,652,629.034310561,654,0.400975104825,-0.0154063643729,0.0498468735832,0.999999960615,-6.23290227634e-05,-0.000269204608088,-4.91300567607e-05,1793249670090290432
+13,0.216666667,BASELINE,767.542485737,746,718,678.457514263,662,638,879,785,813,652,629,653.457514263,0.400975512437,-0.0154059717137,0.0498474365157,0.999999960688,-6.25319796628e-05,-0.000268901362286,-4.90478897198e-05,1793249670106957568
+14,0.233333333,BASELINE,767.879602082,746,718,678.120397918,662,638,879,785,813.120397918,652.120397918,629.120397918,653,0.400976023056,-0.0154058339531,0.0498478797949,0.999999960781,-6.25607487078e-05,-0.000268570096484,-4.89412897648e-05,1793249670123624704
+15,0.250000000,BASELINE,767.292223519,746,718,678.707776481,662,638,879,785,813.707776481,652.707776481,629.707776481,653,0.400976663689,-0.0154068497022,0.0498478232224,0.999999960964,-6.18468041727e-05,-0.000268089644938,-4.87306437956e-05,1793249670140291072
+16,0.266666667,BASELINE,767.290803969,746,718,679,662,638,879,785,813.709196031,652.709196031,630,653.290803969,0.400976134298,-0.0154072247006,0.0498477419919,0.999999960852,-6.16997502792e-05,-0.000268537832088,-4.87428708899e-05,1793249670156957440
+17,0.283333333,BASELINE,767.869523565,746,718,679,662,638,879,785,813.130476435,652.130476435,630,653.869523565,0.400974446502,-0.0154069653123,0.0498476363482,0.999999960447,-6.21139565598e-05,-0.00026990543447,-4.8975757425e-05,1793249670173624320
+18,0.300000000,BASELINE,767.553150378,745.553150378,718,678.553150378,662,638,879,785,813,652,630,653.553150378,0.400975325685,-0.0154082094882,0.0498479463995,0.99999996073,-6.41016595958e-05,-0.000268415035246,-4.88386307589e-05,1793249670190290944
+19,0.316666667,BASELINE,767,745.023686967,718,678,662,638,879,785.023686967,813,652,630,653.023686967,0.400976847559,-0.0154097820752,0.0498483331584,0.99999996117,-6.63458148432e-05,-0.000266260759286,-4.86158752038e-05,1793249670206957568
+20,0.333333333,BASELINE,767,745.598591289,718,678,662,638,879,785.598591289,813,652,630,653.598591289,0.400975937299,-0.015408812256,0.0498476891443,0.999999960846,-6.38993088811e-05,-0.000268016972263,-4.89068494803e-05,1793249670223624192
+21,0.350000000,BASELINE,767.177437573,746,718,678,662,638,879,785.822562427,813,652,630,654,0.400975086139,-0.0154080805749,0.0498470509578,0.999999960549,-6.24478038194e-05,-0.000269426416496,-4.91015949612e-05,1793249670240290560
+22,0.366666667,BASELINE,767.765404109,746,718,678,662,638,879,785.234595891,813,652,630,654,0.400974371716,-0.0154078998626,0.0498464262544,0.999999960333,-6.32983858692e-05,-0.000270033557962,-4.90737003657e-05,1793249670256957184
+23,0.383333333,BASELINE,768,745.649965539,718.350034461,678.350034461,662,638,879,785,813,652.350034461,630,653.649965539,0.400975367404,-0.0154074429554,0.0498470597912,0.999999960702,-6.34289543064e-05,-0.000268636000676,-4.90683393967e-05,1793249670273623808
+24,0.400000000,BASELINE,768,745.067549956,718.932450044,678.932450044,662,638,879,785,813,652.932450044,630,653.067549956,0.400977498403,-0.0154068026878,0.0498485286493,0.999999961453,-6.30815196883e-05,-0.000265907562639,-4.90779380644e-05,1793249670290290432
+25,0.416666667,BASELINE,767.496333816,745.503666184,718.496333816,678.496333816,662,638,879,785.503666184,813,652.496333816,630,653.503666184,0.400977523884,-0.0154084955521,0.0498483449773,0.999999961347,-6.42589379585e-05,-0.000266067507268,-4.88304481016e-05,1793249670306957056
+26,0.433333333,BASELINE,767,746,718,678,662.075882243,638,879,785.924117757,812.924117757,652.075882243,630,654,0.400977210956,-0.0154099119759,0.0498479516773,0.999999961177,-6.48343797342e-05,-0.000266611534584,-4.85869910664e-05,1793249670323623936
+27,0.450000000,BASELINE,767,746,718,678,662.664792988,638,879,785.335207012,812.335207012,652.664792988,630,654,0.400976477723,-0.0154073898972,0.0498476069381,0.999999961325,-5.99873769037e-05,-0.000267190239946,-4.85988422002e-05,1793249670340290560
+28,0.466666667,BASELINE,767,746,718,678,662.749847723,638,879,785,812.250152277,652.749847723,630,654,0.400975785649,-0.0154066347149,0.0498475619941,0.999999961264,-5.85789966321e-05,-0.000267743574218,-4.85104089104e-05,1793249670356957184
+29,0.483333333,BASELINE,767,746,718,678,662.169180844,638,879,785,812.830819156,652.169180844,630,654,0.400975147956,-0.015408214051,0.0498479131557,0.999999960947,-6.17139091624e-05,-0.000268263386817,-4.82894744627e-05,1793249670373623808
+30,0.500000000,BASELINE,767,746,718,678,662,638,879,785,813,652.410783851,630,654,0.400975161285,-0.0154086803515,0.0498475834225,0.99999996087,-6.20285125656e-05,-0.000268490834132,-4.82239808135e-05,1793249670390290688
+31,0.516666667,BASELINE,767,746,718,678,662,638,879,785,813,652.990459832,630,654,0.40097544228,-0.0154086890319,0.0498469737422,0.999999960893,-6.11835571276e-05,-0.000268598076623,-4.82223960294e-05,1793249670406957312
+32,0.533333333,BASELINE,767,746,718,678,662,638,879,785,813,652.434718904,630,653.434718904,0.400976115924,-0.015409311417,0.0498473824292,0.999999961057,-6.23120416302e-05,-0.000267684289974,-4.84515201581e-05,1793249670423623936
+33,0.550000000,BASELINE,767,746,718,678,662.143589099,638,879,785,812.856410901,652.143589099,630,653,0.400976743123,-0.0154094666201,0.0498477531211,0.999999961192,-6.35344526769e-05,-0.000266836137915,-4.87646668554e-05,1793249670440290560
+34,0.566666667,BASELINE,767,746,718,678,662.732974358,638,879,785,812.267025642,652.732974358,630,653,0.400977205733,-0.0154081394972,0.0498479529459,0.999999961231,-6.49459521728e-05,-0.000266244802818,-4.93266899806e-05,1793249670456957184
+35,0.583333333,BASELINE,767,745.68318798,718,678,662.68318798,638,879,785,812.31681202,652.68318798,629.68318798,653.31681202,0.400977160277,-0.0154075055726,0.0498481000296,0.999999961352,-6.35861751591e-05,-0.00026613062088,-4.92708156846e-05,1793249670473623808
+36,0.600000000,BASELINE,767,745.103945589,718,678,662.103945589,638,879,785,812.896054411,652.103945589,629.103945589,653.896054411,0.400976693965,-0.015407445857,0.0498482034254,0.999999961531,-5.99308189801e-05,-0.000266411687387,-4.87031078106e-05,1793249670490290432
+37,0.616666667,BASELINE,767,745,718,678,662.472581494,638,879.472581494,785,813,652.472581494,629,653.527418506,0.400977227671,-0.0154076310803,0.0498487303885,0.999999961709,-5.97860710571e-05,-0.000265818519776,-4.84547325533e-05,1793249670506957056
+38,0.633333333,BASELINE,767,745.04818936,718,678.04818936,662.95181064,638,879.95181064,785.04818936,813,652.95181064,629.04818936,653,0.400977762155,-0.0154079867118,0.0498492466683,0.999999961827,-6.06052611725e-05,-0.000265219942207,-4.82936646927e-05,1793249670523623680
+39,0.650000000,BASELINE,767,745.620260211,718,678.620260211,662.379739789,638,879.379739789,785.620260211,813,652.379739789,629.620260211,653,0.400975927523,-0.0154096125574,0.0498486397697,0.999999961264,-6.35572013258e-05,-0.00026664105454,-4.83225247661e-05,1793249670540290560
+40,0.666666667,BASELINE,767,746,718,679,662.199130103,638,879,786,812.800869897,652,629.800869897,653,0.400975042882,-0.0154098003666,0.0498483887602,0.999999961008,-6.46167159452e-05,-0.000267294322876,-4.85970447885e-05,1793249670556957184
+41,0.683333333,BASELINE,767,746,718,679,662.791424029,638,879,786,812.208575971,652,629.208575971,653,0.40097603391,-0.0154071489073,0.0498488404205,0.999999961371,-6.1939812592e-05,-0.000266431554741,-4.93565974772e-05,1793249670573623808
+42,0.700000000,BASELINE,767,746,718,678.624888991,662.624888991,638,879,785.624888991,812.375111009,652,629.375111009,653,0.400976110821,-0.0154071021581,0.049848667201,0.999999961329,-6.22017026764e-05,-0.000266549245659,-4.92362241825e-05,1793249670590290688
+43,0.716666667,BASELINE,767,746,718,678.045880472,662.045880472,638,879,785.045880472,812.954119528,652,629.954119528,653,0.40097569085,-0.0154084712405,0.0498481543182,0.999999961067,-6.40610204103e-05,-0.000267199880599,-4.86375532052e-05,1793249670606957056
+44,0.733333333,BASELINE,767,746,718,678,662,638,879.52984037,785.52984037,813,652,630,653.52984037,0.400976033609,-0.0154082246293,0.049847973734,0.999999961203,-6.31212339481e-05,-0.000266948176433,-4.84639925984e-05,1793249670623623680
+45,0.750000000,BASELINE,767,746,718,678,662,638,879.89300842,785.89300842,813,652,630,654,0.400976473457,-0.0154082521491,0.0498479009802,0.99999996133,-6.26594769522e-05,-0.000266600488783,-4.83439043632e-05,1793249670640290560
+46,0.766666667,BASELINE,767,746,718,678,662,638,879.308205987,785.308205987,813,652,630,654,0.400977053751,-0.0154101248604,0.0498481820714,0.999999961271,-6.54083153264e-05,-0.000266170945906,-4.82992349189e-05,1793249670656957184
+47,0.783333333,BASELINE,767,746,718,678,662,638,879,785,813,652,630,653.725962925,0.400977841558,-0.0154094837776,0.0498486796359,0.999999961582,-6.502107029e-05,-0.000265044939937,-4.85796080127e-05,1793249670673624064
+48,0.800000000,BASELINE,767,746,718,678,662,638,879,785,813,652,630,653.146571645,0.400978860591,-0.0154060416228,0.0498494184124,0.999999962297,-6.11393486063e-05,-0.000263142878578,-4.92221697047e-05,1793249670690290688
+49,0.816666667,BASELINE,767,745.567116123,718,678.432883877,662,638,879,785,813,652.432883877,630,653,0.400978754982,-0.0154060977789,0.0498496986369,0.999999962376,-5.91863048478e-05,-0.00026333688734,-4.89741142887e-05,1793249670706957056
+50,0.833333333,BASELINE,767.012271707,745,718,678.987728293,662,638,879,785.012271707,813,653,629.987728293,653,0.400978248891,-0.0154073377933,0.0498498016056,0.999999962231,-5.79928454221e-05,-0.000264252873524,-4.84370439671e-05,1793249670723623936
+51,0.850000000,BASELINE,767.587557406,745,718,678.412442594,662,638,879,785.587557406,813,653,629.412442594,653,0.400976842209,-0.0154085400755,0.0498488966033,0.999999961617,-6.16831909346e-05,-0.00026572658916,-4.84774501874e-05,1793249670740290560
+52,0.866666667,BASELINE,767.833334935,745.166665065,718,678,662,638,879,785.833334935,813,653,629,653,0.400975726486,-0.0154093823066,0.0498481222545,0.999999961132,-6.40345772872e-05,-0.000266989157671,-4.85075924811e-05,1793249670756957440
+53,0.883333333,BASELINE,767.244547201,745.755452799,718,678,662,638,879,785.244547201,813,653,629,653,0.40097534769,-0.0154093126145,0.0498476788197,0.999999961003,-6.2994700753e-05,-0.000267716941036,-4.85117387081e-05,1793249670773624064
+54,0.900000000,BASELINE,767,745.661213057,718,678.338786943,662,638,879,785.338786943,813,652.661213057,629.338786943,653.338786943,0.400974397208,-0.0154090214808,0.0498474982641,0.999999960936,-6.20671093382e-05,-0.00026816941666,-4.85947428991e-05,1793249670790290688
+55,0.916666667,BASELINE,767,745.081753146,718,678.918246854,662,638,879,785.918246854,813,652.081753146,629.918246854,653.918246854,0.400973040602,-0.015408573036,0.0498475044569,0.999999960912,-6.12192848932e-05,-0.000268426314675,-4.87337674903e-05,1793249670806957312
+56,0.933333333,BASELINE,767,745.494774405,718.494774405,678.505225595,662,638,879,786,813,652.494774405,630,654,0.400975100991,-0.0154084687946,0.0498482032964,0.999999961373,-6.17529719853e-05,-0.000266568169648,-4.87957439589e-05,1793249670823623936
+57,0.950000000,BASELINE,767,746,718.929226138,678,662,638,879,785.929226138,812.929226138,652.929226138,630,653.929226138,0.40097730454,-0.0154083886165,0.0498488733243,0.999999961817,-6.23334671664e-05,-0.000264759555514,-4.88105116479e-05,1793249670840290560
+58,0.966666667,BASELINE,767,746,718.353558172,678,662,638,879,785.353558172,812.353558172,652.353558172,630,653.353558172,0.400976525297,-0.0154080767607,0.0498485261596,0.999999961601,-6.16290132185e-05,-0.000265782726321,-4.85787822978e-05,1793249670856957184
+59,0.983333333,BASELINE,767,746,718,678,662,638,878.772992472,785,812.227007528,652,630,653.227007528,0.400976223869,-0.0154077230201,0.0498486239917,0.999999961576,-6.05264064644e-05,-0.000266156197473,-4.84374651594e-05,1793249670873623808
+60,1.000000000,BASELINE,767,746,718,678,662,638,878.184630385,785,812.815369615,652,630,653.815369615,0.400976683035,-0.0154073026063,0.0498494301773,0.999999961855,-5.87900129892e-05,-0.00026549546549,-4.84400677274e-05,1793249670890290688
+61,1.016666667,BASELINE,767,746,718,678,662,638,878.397872696,785,813,652.397872696,630,654,0.40097679764,-0.015407901639,0.0498494902807,0.999999961835,-6.05323897393e-05,-0.000265177319574,-4.84386012154e-05,1793249670906957312
+62,1.033333333,BASELINE,767,746,718,678,662,638,878.977696363,785,813,652.977696363,630,654,0.400976754675,-0.0154089668743,0.0498492091936,0.999999961671,-6.38656413181e-05,-0.000265015841562,-4.84352738738e-05,1793249670923623936
+63,1.050000000,BASELINE,767.553216696,745.446783304,718,678,662.553216696,638,879,785,813,652.446783304,630,654,0.400975505607,-0.0154102070572,0.0498483711476,0.999999961273,-6.37119958887e-05,-0.000266543216108,-4.84669223786e-05,1793249670940290560
+64,1.066666667,BASELINE,767.871875848,745,718,678,662.871875848,638,879,785,813,652,630,654,0.400975162296,-0.0154111595475,0.0498479252139,0.999999961065,-6.40074405903e-05,-0.000267243803284,-4.85104310616e-05,1793249670956957440
+65,1.083333333,BASELINE,767.298500004,745,718,678,662.298500004,638,879,785,813,652,630,654,0.400978134309,-0.0154110879388,0.0498489193633,0.999999961549,-6.63483069309e-05,-0.000264836382454,-4.85902932568e-05,1793249670973624832
+66,1.100000000,BASELINE,767,745,718.283860389,678,662,638,879,785,813,652.283860389,629.716139611,653.716139611,0.400979309585,-0.0154104765629,0.049849412725,0.999999961755,-6.6698683257e-05,-0.000263925085151,-4.88354031746e-05,1793249670990291968
+67,1.116666667,BASELINE,767,745,718.875977468,678,662,638,879,785,813,652.875977468,629.124022532,653.124022532,0.400978533706,-0.0154092790296,0.049849362259,0.999999961665,-6.48874973153e-05,-0.000264638495444,-4.92599629791e-05,1793249671006958336
+68,1.133333333,BASELINE,767,745.457053903,718.542946097,678.457053903,662,638,879,785,813,652.542946097,629,653.457053903,0.400977584094,-0.015409646408,0.0498494814256,0.99999996163,-6.41753675508e-05,-0.000265060129357,-4.86271316518e-05,1793249671023625216
+69,1.150000000,BASELINE,767,745.965132223,718,678.965132223,662.034867777,638,879,785.034867777,813,652,629.034867777,654,0.400976627828,-0.0154103398464,0.0498495902913,0.999999961608,-6.3709970421e-05,-0.00026540571295,-4.7801263919e-05,1793249671040291584
+70,1.166666667,BASELINE,767,745.392521326,718,678.392521326,662.607478674,638,879,785.607478674,813,652,629.607478674,654,0.400976278837,-0.0154096673817,0.0498488471418,0.999999961559,-6.25588286541e-05,-0.000265770672477,-4.83190135943e-05,1793249671056957952
+71,1.183333333,BASELINE,767,745.185942133,718,678.185942133,662.814057867,638,879,785.814057867,813,652,630,653.814057867,0.400975935447,-0.0154091054961,0.0498482913185,0.99999996146,-6.19713696036e-05,-0.000266205265429,-4.87299008827e-05,1793249671073624320
+72,1.200000000,BASELINE,767,745.777161888,718,678.777161888,662.222838112,638,879,785.222838112,813,652,630,653.222838112,0.400975604263,-0.0154087846276,0.0498481437894,0.999999961255,-6.26125075716e-05,-0.000266791630771,-4.89078720746e-05,1793249671090290944
+73,1.216666667,BASELINE,767,746,718,679,662,638,879,785,813,652,630,653,0.400975031153,-0.0154092439798,0.049848100105,0.999999961168,-6.29765615148e-05,-0.000267063858507,-4.87222113742e-05,1793249671106957568
+74,1.233333333,BASELINE,767,746,718,679,662,638,879,785,813,652,630,653,0.4009743117,-0.0154101752962,0.0498481192374,0.999999961154,-6.31730042695e-05,-0.000267146060941,-4.83165857636e-05,1793249671123624192
+75,1.250000000,BASELINE,767.518311705,745.481688295,718,678.481688295,662,638,879,785,813,652,630,653.518311705,0.400975146678,-0.0154099451877,0.0498482293687,0.99999996125,-6.22650566261e-05,-0.000266989826182,-4.83734862853e-05,1793249671140290816
+76,1.266666667,BASELINE,768,745,718,678,662,638,879,785,813,652,629.90651489,654,0.400976181076,-0.0154097506461,0.0498484665411,0.999999961416,-6.16463257142e-05,-0.00026650092445,-4.84312508459e-05,1793249671156957184
+77,1.283333333,BASELINE,768,745,718,678,662,638,879,785,813,652,629.333683585,654,0.400977356581,-0.0154103970436,0.0498493035196,0.999999961879,-6.31367863985e-05,-0.000264441470613,-4.82311769442e-05,1793249671173624832
+78,1.300000000,BASELINE,768,745.247548472,718.247548472,678.247548472,662,638,879,785,813,652,629.247548472,654,0.40097761869,-0.0154107963073,0.0498496028722,0.999999962036,-6.41338294614e-05,-0.000263625003228,-4.81329036897e-05,1793249671190291712
+79,1.316666667,BASELINE,768,745.840502077,718.840502077,678.840502077,662,638,879,785,813,652,629.840502077,654,0.400976606335,-0.0154108507444,0.0498491520737,0.999999961772,-6.44424052973e-05,-0.00026454287878,-4.81766732038e-05,1793249671206958080
+80,1.333333333,BASELINE,767.577330825,746,718.577330825,679,662,638,879.422669175,785,813,652,630,654,0.400975863668,-0.0154098640184,0.049848182588,0.999999961335,-6.3770105181e-05,-0.000266317345364,-4.83490464746e-05,1793249671223624704
+81,1.350000000,BASELINE,767.000861638,746,718,678.999138362,662,638,879.999138362,785.000861638,813,652.000861638,630,654,0.400975222746,-0.015408496721,0.0498470254707,0.999999960833,-6.2738206547e-05,-0.000268401386137,-4.85680719245e-05,1793249671240291328
+82,1.366666667,BASELINE,767.575333214,746,718,678.424666786,662,638,879.424666786,785.575333214,813,652.575333214,630,654,0.400976252161,-0.0154088228205,0.0498480178605,0.999999961297,-6.25935541572e-05,-0.000266741236137,-4.83411075704e-05,1793249671256957952
+83,1.383333333,BASELINE,768,746,718.153321299,678.153321299,662,638,879,786,813,652.846678701,630,653.846678701,0.40097681357,-0.0154091531283,0.0498488240126,0.999999961616,-6.25804969097e-05,-0.000265577182282,-4.81681169103e-05,1793249671273624320
+84,1.400000000,BASELINE,768,746,718.741278128,678.741278128,662,638,879,786,813,652.258721872,630,653.258721872,0.400976048279,-0.0154094953654,0.049849102218,0.99999996153,-6.29404858051e-05,-0.000265819462405,-4.81481309352e-05,1793249671290290944
+85,1.416666667,BASELINE,768,746,718.676261339,678.676261339,662,638,879,785.676261339,813,652,630,653,0.400974889703,-0.0154082078031,0.0498483668148,0.999999961311,-6.07942399509e-05,-0.000267081522999,-4.84625586802e-05,1793249671306957824
+86,1.433333333,BASELINE,768,746,718.098119981,678.098119981,662,638,879,785.098119981,813,652,630,653,0.400973422074,-0.0154056394998,0.0498468348902,0.999999960972,-5.66785262396e-05,-0.000269144954967,-4.90397778761e-05,1793249671323624192
+87,1.450000000,BASELINE,768,746,718,678,662,638,879,785,813,652,630,653.480083828,0.400974395227,-0.0154068201009,0.0498473537102,0.999999961001,-5.98309025647e-05,-0.000268361398744,-4.89868427077e-05,1793249671340290560
+88,1.466666667,BASELINE,767.942022402,745.942022402,718,678,661.942022402,638,879.057977598,785,813,652,630,654,0.400975748167,-0.0154086868543,0.0498482427677,0.999999961115,-6.37728251961e-05,-0.000267068599943,-4.87597525463e-05,1793249671356957184
+89,1.483333333,BASELINE,767.367007344,745.367007344,718,678,661.367007344,638,879.632992656,785,813,652,630,654,0.400976038759,-0.0154098388212,0.0498486952933,0.999999961459,-6.15069559734e-05,-0.000266424160068,-4.81282658023e-05,1793249671373623808
+90,1.500000000,BASELINE,767.212828578,745.212828578,718,678,661.212828578,638,879.787171422,785,812.787171422,652,630,653.787171422,0.400975954127,-0.0154097040677,0.0498489603662,0.999999961655,-5.98242636668e-05,-0.000266106089915,-4.79367153663e-05,1793249671390290432
+91,1.516666667,BASELINE,767.801170332,745.801170332,718,678,661.801170332,638,879.198829668,785,812.198829668,652,630,653.198829668,0.400975207453,-0.0154072990342,0.0498488946988,0.999999961597,-5.91705246616e-05,-0.000266363864171,-4.85213853832e-05,1793249671406957312
+92,1.533333333,BASELINE,767.615845715,746,718,678.384154285,662,638,879,785,812.384154285,652,630,653.384154285,0.400975216549,-0.0154070237577,0.0498485965555,0.999999961478,-5.9640498665e-05,-0.000266652210632,-4.88299863474e-05,1793249671423623936
+93,1.550000000,BASELINE,767.035596644,746,718,678.964403356,662,638,879,785,812.964403356,652,630,653.964403356,0.400975611434,-0.0154078356333,0.0498481797428,0.999999961326,-6.06840813691e-05,-0.000266956162956,-4.89976655938e-05,1793249671440290560
+94,1.566666667,BASELINE,767.540294808,746,718.540294808,678.459705192,662,638,879,785.540294808,813,652,630,654,0.400976110993,-0.0154084595621,0.0498489913021,0.999999961637,-6.12079846927e-05,-0.00026574732928,-4.85622839954e-05,1793249671456957184
+95,1.583333333,BASELINE,768,746,718.8817971,678.1182029,662,638,879.1182029,785.8817971,813,652,630,654,0.400976297775,-0.0154092216617,0.0498494749779,0.999999961814,-6.20711457537e-05,-0.00026494477784,-4.81923140514e-05,1793249671473623808
+96,1.600000000,BASELINE,768,746,718.294760523,678.705239477,662,638,879.705239477,785.294760523,813,652,630,654,0.400975216839,-0.0154105805153,0.0498483397274,0.999999961345,-6.4414635689e-05,-0.000266145837198,-4.82381189306e-05,1793249671490290432
+97,1.616666667,BASELINE,767.711800813,746,718,678.711800813,662,638,879.711800813,785,813,652,630,653.711800813,0.400975415265,-0.0154103769109,0.0498480791961,0.999999961327,-6.44153144973e-05,-0.000266172157304,-4.84736880838e-05,1793249671506957056
+98,1.633333333,BASELINE,767.132952662,746,718,678.132952662,662,638,879.132952662,785,813,652,630,653.132952662,0.400976903929,-0.0154085975671,0.0498487008194,0.999999961763,-6.20532674527e-05,-0.000265013752454,-4.89006345605e-05,1793249671523623680
+99,1.650000000,BASELINE,767,746,718,678,661.554391362,638,878.554391362,785,813,652,630,653.445608638,0.400977071326,-0.0154085635523,0.0498490378607,0.999999961932,-6.17493784452e-05,-0.000264460719174,-4.88201860277e-05,1793249671540290304
+100,1.666666667,BASELINE,767,746,718,678.023913416,661.047826833,638,878.023913416,785,813,652,630,654,0.400976895572,-0.015409023657,0.0498493076337,0.999999962031,-6.20527345703e-05,-0.000264059236385,-4.85859979967e-05,1793249671556956928
+101,1.683333333,BASELINE,767,746,718,678.598282386,662.196564773,638,878.598282386,785,813,652,630,654,0.400977889423,-0.0154088787104,0.0498499822001,0.999999962317,-6.22079455623e-05,-0.000262991289719,-4.82954250492e-05,1793249671573623552
+102,1.700000000,BASELINE,767,746,718,678.828321327,662.828321327,638,879,785.171678673,812.828321327,652.171678673,630,654,0.400978234411,-0.0154086249431,0.0498503672944,0.99999996252,-6.13705724936e-05,-0.000262451555682,-4.80834921932e-05,1793249671590290688
+103,1.716666667,BASELINE,767,746,718,678.257188317,662.257188317,638,879,785.742811683,812.257188317,652.742811683,630,654,0.400977069649,-0.0154081179763,0.0498500788574,0.999999962529,-5.82236987437e-05,-0.000263140843559,-4.80545356618e-05,1793249671606958336
+104,1.733333333,BASELINE,767.328488787,746,718,678.328488787,662,638,879,785.671511213,812.328488787,652.671511213,630,654,0.400976875766,-0.0154085594746,0.049849892959,0.999999962329,-5.88711049882e-05,-0.000263746224526,-4.81071357982e-05,1793249671623625216
+105,1.750000000,BASELINE,767.926080702,746,718,678.926080702,662,638,879,785.073919298,812.926080702,652.073919298,630,654,0.400977477241,-0.0154097779701,0.0498497910617,0.999999961953,-6.2626844122e-05,-0.000264282867721,-4.82265484231e-05,1793249671640291584
+106,1.766666667,BASELINE,767.496852148,746,718,678.496852148,662,638,879,785.503147852,813,652,630,654,0.400976372878,-0.015410173063,0.049849206049,0.999999961647,-6.27728601724e-05,-0.000265373466057,-4.83894462475e-05,1793249671656957952
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,719,678,662,638,879,786,813,652,630,653,0.400975913154,-0.0154094325276,0.049847937385,0.999999961723,-6.07168887975e-05,-0.000265527384231,-4.86056989407e-05,1793249671700303872
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,718.408595483,678.591404517,662,638,878.408595483,785.408595483,813,652,630,653.591404517,0.40097634524,-0.0154101432149,0.0498482925953,0.999999961728,-6.27578370289e-05,-0.000265039899765,-4.85652433667e-05,1793249671716970240
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.821657835,746,718,678.821657835,662,638,878.35668433,785,813,652.178342165,630,654,0.400976637142,-0.0154107677183,0.0498487065757,0.999999961714,-6.41359980989e-05,-0.00026479620332,-4.83923449535e-05,1793249671733637120
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.244703953,746,718,678.244703953,662,638,879.510592094,785,813,652.755296047,630,654,0.40097661572,-0.0154111995926,0.0498492519127,0.999999961663,-6.40327671593e-05,-0.000265097396218,-4.79234241779e-05,1793249671750304256
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.332422186,746,718.332422186,678,662,638,879.667577814,785,812.667577814,653,630,654,0.400976656891,-0.015410252635,0.0498494819,0.999999961732,-6.23149057095e-05,-0.000265231576287,-4.80022345453e-05,1793249671766970880
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.909675157,746,718.909675157,678,662,638,879.090324843,785,812.090324843,653,630,654,0.40097674416,-0.01540829016,0.0498494796305,0.999999961883,-5.94078599271e-05,-0.000265242750457,-4.84844519695e-05,1793249671783637504
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.514038159,745.514038159,718.514038159,678.485961841,662.485961841,638,879.485961841,785,812.485961841,653,629.514038159,654,0.400976202105,-0.0154092306863,0.0498493391153,0.999999961766,-6.08936432083e-05,-0.00026539082534,-4.82561674564e-05,1793249671800303872
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.06344189,718,678.93655811,662.93655811,638,879.93655811,785,812.93655811,652.93655811,629.06344189,654,0.400975774691,-0.0154104414835,0.0498493351072,0.999999961674,-6.27709162632e-05,-0.000265353585508,-4.79441456154e-05,1793249671816970496
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.652289493,718,678.347710507,662.347710507,638,879.347710507,785,812.347710507,652.347710507,629.652289493,654,0.400977263497,-0.0154094308515,0.0498506739871,0.999999962242,-6.11419139799e-05,-0.000263571314393,-4.803014406e-05,1793249671833637376
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.764345646,718,678,662,638,879,785.235654354,812,652,629.764345646,654,0.400983869355,-0.0154089208073,0.0498535077003,0.999999963639,-5.98099301021e-05,-0.000258559629094,-4.7862557026e-05,1793249671850303744
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.18888674,718,678,662,638,879,785.81111326,812,652,629.18888674,654,0.400997853806,-0.0154091325917,0.0498584969056,0.999999966172,-5.89062355274e-05,-0.000248891252359,-4.73293094334e-05,1793249671866970368
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.387108867,718,678,662,637.612891133,879,786,812.387108867,652,629.387108867,654,0.401031158901,-0.0154111073905,0.0498705672058,0.99999997187,-6.08082908743e-05,-0.000224563341904,-4.61852069719e-05,1793249671883637248
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.963366767,718,678,662,637.036633233,879,786,812.963366767,652,629.963366767,654,0.401073904446,-0.015413943633,0.0498860974692,0.999999978307,-6.40812908898e-05,-0.000193072492842,-4.47426286777e-05,1793249671900304128
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.554522098,746,718,678,662,637.554522098,879,785.445477902,813,652,630,654,0.401138457586,-0.0154172327342,0.0499042364744,0.999999985194,-6.27238833698e-05,-0.000154489169566,-4.25595107589e-05,1793249671916971008
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.85669564,746,718,678,662,638,879,785,813,652,629.85669564,654,0.401208219311,-0.0154211873354,0.049920995484,0.999999989814,-6.22010186596e-05,-0.000121965936603,-4.03385817592e-05,1793249671933637632
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.278191308,746,718,678,662,638,879,785,813,652,629.278191308,654,0.401289303022,-0.0154270696264,0.0499330257704,0.999999991174,-6.51671942946e-05,-0.000109308752241,-3.81554968157e-05,1793249671950304512
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,718,678.297261908,662,638,879.297261908,785,812.702738092,652.297261908,629.297261908,654,0.401374742647,-0.0154328916166,0.0499402190049,0.999999992009,-6.74289620894e-05,-0.000100508741788,-3.65023906571e-05,1793249671966971136
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,718,678.869888726,662,638,879.869888726,785,812.130111274,652.869888726,629.869888726,654,0.401464217315,-0.0154386577477,0.0499429314951,0.999999992453,-6.90382101798e-05,-9.52817776773e-05,-3.53402239571e-05,1793249671983637504
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.444838653,746,718,678.555161347,662,638,879.555161347,785,812.444838653,653,629.555161347,654,0.401574641804,-0.0154441399559,0.0499455516917,0.999999992804,-6.95386724568e-05,-9.14554465065e-05,-3.45202903106e-05,1793249672000303872
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.978925233,746,718,678,662,638,879.021074767,785,813,652.978925233,629.021074767,653.978925233,0.401691831518,-0.0154497092558,0.049947987593,0.999999993083,-6.98614275759e-05,-8.83776178293e-05,-3.37912934963e-05,1793249672016970240
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.386332854,746,718,678,662,638,879.613667146,785,813,652.386332854,629.613667146,653.386332854,0.401825439498,-0.0154599042399,0.0499461615816,0.99999999225,-7.42060082561e-05,-9.44300518591e-05,-3.27995516432e-05,1793249672033637376
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879.799194209,785.200805791,813,652.200805791,630,653.200805791,0.40197330775,-0.0154701097387,0.0499444125639,0.999999991438,-7.81864020968e-05,-0.000100006103595,-3.1784907877e-05,1793249672050304000
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879.222270703,785.777729297,813,652.777729297,630,653.777729297,0.402147886079,-0.0154803349309,0.0499428077593,0.999999990728,-8.14846581472e-05,-0.000104689870532,-3.07273679751e-05,1793249672066970624
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,786,813,653,630,653.645772065,0.402340829589,-0.0154904580955,0.0499430313606,0.999999990504,-8.36311045741e-05,-0.000105520793738,-2.93678789994e-05,1793249672083637248
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,786,813,653,630,653.069539646,0.402545283084,-0.0155005173176,0.0499444008747,0.999999990594,-8.50556802491e-05,-0.000103937033251,-2.78191500515e-05,1793249672100303872
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785.483332961,813,652.483332961,630,653,0.402788877619,-0.0155124812342,0.0499507493003,0.999999991743,-8.59658640149e-05,-9.21943735346e-05,-2.49847682658e-05,1793249672116970240
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879.102586862,785,813,652,630,653,0.40304672431,-0.0155237922132,0.0499584146734,0.999999993099,-8.52422632059e-05,-7.78368742962e-05,-2.18450246982e-05,1793249672133636864
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879.68082979,785,813,652,630,653,0.403345745881,-0.0155308637415,0.0499690179518,0.999999995179,-7.727075619e-05,-5.78198708351e-05,-1.81075462865e-05,1793249672150303744
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.258753233,746,718,678.258753233,662,638,879.741246767,785,813,652,630,653.258753233,0.403664847891,-0.0155286337207,0.0499772112326,0.999999997378,-5.75556031828e-05,-4.11929965922e-05,-1.52875340276e-05,1793249672166970624
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.836283044,746,718,678.836283044,662,638,879.163716956,785,813,652,630,653.836283044,0.404008688408,-0.0155149444568,0.0499824354648,0.999999999221,-2.3372614815e-05,-2.87426657182e-05,-1.35978140322e-05,1793249672183637248
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.588359217,746,718,678.588359217,662.411640783,638,879,785,812.588359217,652,629.588359217,654,0.404372951171,-0.015510377753,0.0499870989724,0.999999999798,1.21419017411e-06,-1.68217330736e-05,-1.09614649354e-05,1793249672200304384
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.01386083,746,718,678.01386083,662.98613917,638,879,785,812.01386083,652,629.01386083,654,0.404745293587,-0.0155094202115,0.0499915406403,0.999999999713,2.20044525475e-05,-5.1102467535e-06,-7.95060063431e-06,1793249672216971264
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.57463921,746,718,678.57463921,663,638,879.57463921,785,812.57463921,652,629,654,0.405132108487,-0.0155184626867,0.0499824951126,0.99999999928,2.98527935881e-05,-2.26709281048e-05,-5.89701433474e-06,1793249672233637632
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.839402588,746,718,679,663,638,880,785,813,652,629,654,0.405527330216,-0.0155256198578,0.0499694538072,0.999999998011,4.02102945941e-05,-4.84098271361e-05,-4.16482402808e-06,1793249672250303744
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.26095857,746,718,679,663,638,880,785,813,652,629,654,0.405943494038,-0.0155272285339,0.0499468837581,0.999999993942,5.79286931291e-05,-9.35440703517e-05,-3.20727295869e-06,1793249672266970368
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.316345194,746,718,679,662.683654806,638,880,785,813,652,629,653.683654806,0.406402390235,-0.0155268227903,0.0499295501814,0.999999989096,8.00822525376e-05,-0.000124057639162,-1.90683258495e-06,1793249672283636992
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.892711782,746,718,679,662.107288218,638,880,785,813,652,629,653.107288218,0.40689641055,-0.0155247612853,0.049916520745,0.999999984234,0.000105881314907,-0.000142553682002,-3.24552659136e-07,1793249672300303616
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.520773322,746,718,678.520773322,662.479226678,638.479226678,880,785,813,652,629,653.479226678,0.407436521917,-0.0155267766815,0.049926305317,0.999999984128,0.000130662438109,-0.000121053798024,4.26347457574e-06,1793249672316970496
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.066751704,746,718,678.133503408,663,638.933248296,880,785,813.066751704,652,629,654,0.407994385716,-0.0155299740552,0.0499429707695,0.999999984064,0.000155102522798,-8.78646605602e-05,9.72821794949e-06,1793249672333637120
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.64424605,746,718,679.288492099,663,638.35575395,880,785,813.64424605,652,629,654,0.408607419526,-0.0155350804738,0.0499723591796,0.999999983271,0.000178714633716,-3.52308048749e-05,1.66408935364e-05,1793249672350304256
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.77772738,746,718,679.77772738,663,638.22227262,880.22227262,785,814,652,629.22227262,654,0.409227280502,-0.0155389908722,0.0499931317205,0.999999978915,0.000204104993041,-8.89176251053e-07,2.26106242964e-05,1793249672366971136
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.19884696,746,718,679.19884696,663,638.80115304,880.80115304,785,814,652,629.80115304,654,0.409858094751,-0.0155409824097,0.0500000812068,0.999999972632,0.000232348322248,4.10492589654e-06,2.70675211355e-05,1793249672383637504
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.622834468,881,785,814,652,630,654,0.410482884121,-0.0155397150147,0.0499856270401,0.999999964949,0.000261238284468,-3.15765354527e-05,2.93319829446e-05,1793249672400304128
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718,679,663,638.048322595,881,785,814,652,630,654,0.411104521041,-0.0155367424308,0.0499599737251,0.999999953431,0.00029046658625,-8.85408897918e-05,3.04492850007e-05,1793249672416970752
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.539052508,745.460947492,718,679,663,638.539052508,881,785,814,652,629.460947492,654,0.411775873075,-0.0155375189666,0.0499458275672,0.999999949906,0.000296704568961,-0.000105278021695,3.27100568744e-05,1793249672433636864
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.874762807,745.125237193,718,679.125237193,663.125237193,638.874762807,881.125237193,785,814,652,629,654.125237193,0.41247477783,-0.015539430082,0.0499419283259,0.999999955732,0.00027689007031,-0.000102811847449,3.60124439394e-05,1793249672450303744
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.297145334,745.702854666,718,679.702854666,663.702854666,638.297145334,881.702854666,785,814,652,629,654.702854666,0.413256716273,-0.0155441958343,0.0499712256613,0.999999983555,0.000170595578481,-4.43241049146e-05,4.2698022139e-05,1793249672466971136
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.281017981,746,718,680,663.718982019,638.281017981,881.718982019,785,814,652,629.281017981,654.718982019,0.41402308823,-0.0155479536587,0.0499806997092,0.999999996079,7.72786769107e-05,-2.77524843203e-05,3.31591682347e-05,1793249672483637760
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.859759656,746,718,680,663.140240344,638.859759656,881.140240344,785,814,652,629.859759656,654.140240344,0.414772968415,-0.0155506436375,0.0499691720358,0.999999998432,-2.28916579139e-06,-5.55887720445e-05,6.43138734239e-06,1793249672500304384
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,718,679.565256952,663.434743048,639,881.434743048,785,814,652,629.565256952,654,0.415550513873,-0.0155578833071,0.0499470582459,0.999999995957,1.60928225159e-08,-8.98802936319e-05,2.91707085443e-06,1793249672516971008
+157,2.616666667,POSE1_TO_POSE2_PRESS,767.991203434,745.991203434,718,679.008796566,663.991203434,638.991203434,882,785,814.008796566,652,629,654.008796566,0.416337649118,-0.0155664252447,0.0499222669224,0.999999991744,2.87080852388e-05,-0.000125060612506,6.8633959814e-06,1793249672533637376
+158,2.633333333,POSE1_TO_POSE2_PRESS,767.399105224,745.399105224,718,679.600894776,663.399105224,638.399105224,882,785,814.600894776,652,629,654.600894776,0.417173986462,-0.0155648348903,0.0499444290782,0.99999999402,7.08143111508e-05,-8.22803239824e-05,1.32348581951e-05,1793249672550304256
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.187953219,718,680,663.187953219,638.187953219,882.187953219,785,814.812046781,652,629,654.812046781,0.41801240162,-0.0155628159891,0.0499645334312,0.999999992822,0.000108297956355,-4.75461170895e-05,1.91349854345e-05,1793249672566970880
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.764589498,718,680,663.764589498,638.764589498,882.764589498,785,814.235410502,652,629,654.235410502,0.418855113602,-0.0155599108628,0.0499803822929,0.999999989999,0.000136222205707,-2.94510304187e-05,2.40604021584e-05,1793249672583637248
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,718,680.340918772,664,639,883,785.340918772,814.340918772,652,629,654,0.419696455354,-0.0155561071245,0.0499729035284,0.999999988298,0.000145263996275,-4.10305760086e-05,2.48929395522e-05,1793249672600303872
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,718,680.91703622,664,639,883,785.91703622,814.91703622,652,629,654,0.420536851755,-0.015551683437,0.0499493311152,0.999999987087,0.000141278842954,-7.30825479953e-05,2.29018135099e-05,1793249672616970496
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.503502048,746,718,680.496497952,664,639,883.503502048,786,815,652,629,654,0.421464806035,-0.0155570249061,0.0499717103385,0.999999988906,0.00014459189968,-2.52132789446e-05,2.5398466763e-05,1793249672633637120
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.909873038,746,718,680.090126962,664,639,884,786,815,652,629.090126962,654,0.422398045208,-0.0155630446911,0.0499960166632,0.999999988363,0.000148037840077,2.38776955787e-05,2.80992520403e-05,1793249672650303488
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.331812155,746,718,680.668187845,664,639,884,786,815,652,629.668187845,654,0.423280149849,-0.0155638428841,0.0499889042747,0.999999988997,0.000145556144223,6.79226759372e-06,2.78178060687e-05,1793249672666970112
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.245853378,745.754146622,718,681,664.245853378,639,884.245853378,786,815,652,630,654,0.424168750786,-0.0155654866313,0.0499820159878,0.999999989484,0.000142231352813,-5.23544868423e-06,2.78209339917e-05,1793249672683636992
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.82298627,745.17701373,718,681,664.82298627,639,884.82298627,786,815,652,630,654,0.425066105397,-0.0155682697354,0.0499754296695,0.999999990057,0.000137770516971,-1.04480636378e-05,2.82075160464e-05,1793249672700304896
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,745.398728271,718,680.601271729,665,639,885,785.601271729,815,652,630,654.398728271,0.425984981259,-0.0155706862198,0.0499893575229,0.999999989082,0.000144583216602,1.42036160905e-06,3.04946095579e-05,1793249672716971264
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,745.973854903,718,680.026145097,665,639,885,785.026145097,815,652,630,654.973854903,0.426913378121,-0.0155729405104,0.0500123608963,0.99999998699,0.000156383356094,2.08454811133e-05,3.36224939479e-05,1793249672733637120
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.43801864,746,718,680.56198136,665,639,885,785.56198136,815,652,629.43801864,654.43801864,0.42776266277,-0.0155601241324,0.0499792856991,0.999999982409,0.000178890837476,-4.70880494006e-05,3.10304605589e-05,1793249672750303488
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,785.851365734,815.148634266,652,629.148634266,654.148634266,0.428631844325,-0.0155504670524,0.0499520116193,0.999999977162,0.000188536111457,-9.64329419805e-05,2.88308374556e-05,1793249672766970368
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,785.270794226,815.729205774,652,629.729205774,654.729205774,0.429569796143,-0.0155520767934,0.0499493570664,0.999999983727,0.000159321397277,-7.96681057899e-05,2.8563208441e-05,1793249672783636992
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.306980351,785.306980351,816,652.306980351,630,654.693019649,0.430476512505,-0.0155540217024,0.0499478937429,0.999999984842,0.000154400287562,-7.501192568e-05,2.91623659112e-05,1793249672800303616
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.882309938,785.882309938,816,652.882309938,630,654.117690062,0.431355924105,-0.0155562596008,0.0499474717417,0.999999981687,0.000170715620793,-8.09406214042e-05,3.05192314871e-05,1793249672816970240
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.454708105,746,718,681,665,638.545291895,886,786,816,653,630,654.454708105,0.432229113351,-0.0155541792744,0.0499374459007,0.999999978374,0.000183458189482,-9.34412632463e-05,2.9402867219e-05,1793249672833636864
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.972588726,746,718,681,665,638.027411274,886,786,816,652.972588726,630,654.972588726,0.433102537146,-0.0155512889516,0.0499269106856,0.999999975162,0.000194706033146,-0.000104835107061,2.7853424987e-05,1793249672850303232
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.377976066,746,718,681,665,638.622023934,886,786,816,652.377976066,630,654.377976066,0.43401392445,-0.0155546168914,0.0499569410746,0.999999979007,0.000194036651078,-5.83549430942e-05,3.05036184573e-05,1793249672866970112
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.789050197,786,816,652,630,654,0.434893398965,-0.0155553141202,0.0499754332984,0.999999981198,0.000187762560992,-3.57647636856e-05,3.27238306152e-05,1793249672883636992
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.210046244,786,816,652,630,654,0.43571719387,-0.0155514214231,0.0499737943419,0.999999983169,0.000171709670782,-5.48565686063e-05,3.41938344527e-05,1793249672900303616
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,785.634374399,816.365625601,652,630,654,0.436522605453,-0.0155508644197,0.0499604971694,0.999999981016,0.000173100049208,-8.28292395249e-05,3.38096615162e-05,1793249672916969984
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,785.060599544,816.939400456,652,630,654,0.43731755143,-0.015552206414,0.0499405630194,0.999999975759,0.000184420814439,-0.000115857752205,3.23699127358e-05,1793249672933636608
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.473816504,718,681.526183496,665,639,885.526183496,785.526183496,817,652.526183496,630,654.526183496,0.438168131565,-0.0155545369082,0.0499615775946,0.999999978824,0.000191788013645,-6.68096679839e-05,3.32638251026e-05,1793249672950303488
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.112496914,718,681.887503086,665,639,886,786,817,653,630,654.887503086,0.439003397444,-0.0155566516359,0.0499798475277,0.999999979904,0.000196025104112,-2.47244576886e-05,3.39876120109e-05,1793249672966970112
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.690510551,718,681.309489449,665,639,886,786,817,653,630,654.309489449,0.439748106639,-0.0155573904825,0.0499667504101,0.999999980225,0.000189241593338,-5.15586636461e-05,3.28670688312e-05,1793249672983636736
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638.732002935,886.267997065,786,817,652.732002935,630,654,0.440487016934,-0.0155594930044,0.0499567388931,0.999999981509,0.00017650957207,-6.91388613772e-05,3.23501818652e-05,1793249673000303616
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638.155124,886.844876,786,817,652.155124,630,654,0.441219243614,-0.0155631672396,0.0499502837073,0.999999984267,0.000156921554438,-7.60532860999e-05,3.2529043132e-05,1793249673016970240
+187,3.116666667,POSE1_TO_POSE2_PRESS,767.421504794,746,718,681.421504794,665,638.421504794,887,786,817.421504794,652,630,654.421504794,0.441944728141,-0.0155632108433,0.0499653969924,0.999999984689,0.00016506914241,-4.67307977514e-05,3.44968699417e-05,1793249673033636864
+188,3.133333333,POSE1_TO_POSE2_PRESS,767.998041631,746,718,681.998041631,665,638.998041631,887,786,817.998041631,652,630,654.998041631,0.442667732923,-0.0155619190788,0.0499884432926,0.999999982482,0.000183418054049,-4.08015138429e-06,3.71226891852e-05,1793249673050303488
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,746,718,682,665,639,886.414298193,786,817.414298193,652,630,655,0.443307766532,-0.0155628339858,0.0499805705806,0.999999980934,0.000190328322386,-2.2024314684e-05,3.77079676153e-05,1793249673066970112
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,746,718,681.829544928,665,638.829544928,886,785.829544928,817,652,630,654.829544928,0.443920307746,-0.0155646689208,0.0499585699058,0.999999978386,0.000194847851034,-6.22227191632e-05,3.73036545361e-05,1793249673083636992
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,746,718,681.251827505,665,638.251827505,886,785.251827505,817,652,630,654.251827505,0.444467838143,-0.0155686840768,0.0499030655692,0.999999968606,0.000193748419505,-0.000155098956726,3.45515620267e-05,1793249673100303616
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.672806669,746,718,681.327193331,664.672806669,638,886,785,817,652,630,654,0.445036405833,-0.0155730642092,0.0498739805468,0.999999962323,0.000194514773892,-0.00019083029633,3.31938647746e-05,1793249673116970240
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.092778672,746,718,681.907221328,664.092778672,638,886,785,817,652,630,654,0.445621229803,-0.0155777263723,0.0498653107316,0.999999963473,0.000196722892632,-0.000182403606404,3.29136698218e-05,1793249673133636608
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,718,681.517928843,664.482071157,638,886.964142314,785,817,652,630,654,0.446173797984,-0.0155842354262,0.0498722335338,0.999999966417,0.000198869698399,-0.000162478874886,3.48810814679e-05,1793249673150303232
+195,3.250000000,POSE1_TO_POSE2_PRESS,767.05754478,746,718,681.05754478,665,638,887.88491044,785,816.94245522,652,629.94245522,654.05754478,0.446711439994,-0.015590635318,0.049878314599,0.999999968228,0.0002011477303,-0.000147369106326,3.69596937819e-05,1793249673166970112
+196,3.266666667,POSE1_TO_POSE2_PRESS,767.647924198,746,718,681.647924198,665,638,886.704151605,785,816.352075802,652,629.352075802,654.647924198,0.447167744504,-0.0155927681248,0.0498491098644,0.99999995896,0.000204748950826,-0.000197115881235,3.61051521816e-05,1793249673183636736
+197,3.283333333,POSE1_TO_POSE2_PRESS,767.766178026,746,717.766178026,682,664.766178026,638,886.233821974,785,816.233821974,652,629.233821974,654.766178026,0.447606789419,-0.0155951222207,0.0498197768471,0.999999948458,0.000204193601174,-0.000245265218888,3.51328682248e-05,1793249673200303360
+198,3.300000000,POSE1_TO_POSE2_PRESS,767.186901592,746,717.186901592,682,664.186901592,638,886.813098408,785,816.813098408,652,629.813098408,654.186901592,0.448020334537,-0.0155978032546,0.049790254304,0.999999937564,0.000197497230244,-0.000291054458427,3.39866288793e-05,1793249673216969984
+199,3.316666667,POSE1_TO_POSE2_PRESS,767.389003931,746,717.389003931,681.610996069,664,637.610996069,887,785,817,652,630,654,0.448424832333,-0.0155986310054,0.0497784781964,0.99999993743,0.000168647097788,-0.000309089033293,3.41043523456e-05,1793249673233636864
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+202,3.366666667,POSE1_TO_POSE2_PRESS,768,746,718,681.13543439,664.13543439,637.13543439,887,784.86456561,817,652.86456561,630,654.13543439,0.449557425395,-0.0156026114477,0.0498008810829,0.999999954087,0.000125167824851,-0.000273954171161,3.32873836511e-05,1793249673283636992
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+205,3.416666667,POSE1_TO_POSE2_PRESS,767.129580868,746,718,682,664.129580868,637.129580868,887,784,817,652,629.129580868,654.129580868,0.450471680284,-0.0156213432449,0.0497967790947,0.999999956341,2.69505903919e-05,-0.000294187478311,6.6997688825e-06,1793249673333637632
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664.4449954,637,887.4449954,784,817,652.4449954,629,654.4449954,0.45071259704,-0.0156226063594,0.0497930204433,0.999999952152,3.45557349259e-05,-0.000307300725139,8.25756524843e-06,1793249673350304512
+207,3.450000000,POSE1_TO_POSE2_PRESS,767.018816901,746,718,682,665,637,887.981183099,784,817,652.981183099,629,655,0.450943611006,-0.0156222434247,0.0497898927209,0.999999947789,4.30929341858e-05,-0.000320113039628,9.60521706192e-06,1793249673366971392
+208,3.466666667,POSE1_TO_POSE2_PRESS,767.610749935,746,718,682,665,637,887.389250065,784,817,652.389250065,629,655,0.451130084266,-0.0156194155339,0.0497781355449,0.999999940412,5.2954062485e-05,-0.000341005135356,9.39559504936e-06,1793249673383637504
+209,3.483333333,POSE1_TO_POSE2_PRESS,768,746,718,682,664.802003292,636.802003292,887,784.197996708,817,652.197996708,629,655,0.451309305943,-0.0156170644586,0.0497675207023,0.999999932747,6.15592327753e-05,-0.00036142224608,9.46564387297e-06,1793249673400304128
+210,3.500000000,POSE1_TO_POSE2_PRESS,768,746,718,682,664.223756492,636.223756492,887,784.776243508,817,652.776243508,629,655,0.451474601029,-0.0156156291012,0.0497590996972,0.999999925101,6.77523510039e-05,-0.000380927152091,1.00727969147e-05,1793249673416970496
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+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637,887,784,817.592134203,652.407865797,629,655,0.452288079524,-0.0156187148526,0.0497427938547,0.999999912945,8.04131933207e-05,-0.000409206158529,1.39262043293e-05,1793249673550304000
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+250,4.166666667,HOLD_POSE2,768,746,718,682,664,637,887,784,817,652,629,655,0.452475606013,-0.0156037838506,0.0497254375286,0.999999902275,8.3507948309e-05,-0.000433973222744,1.19966027641e-05,1793249674102956288
+251,4.183333333,HOLD_POSE2,768,746,718,682,664,637,887,784,817,652,628.767035457,655,0.452474402887,-0.0156048162814,0.049724919534,0.999999901913,8.19810910209e-05,-0.000435091316465,1.21595513346e-05,1793249674119623424
+252,4.200000000,HOLD_POSE2,768,746,718,682,664,637,887,784,817,652,628.182966092,655,0.452477355621,-0.0156031283488,0.0497260845372,0.999999902757,8.35348430778e-05,-0.000432854629485,1.20086245303e-05,1793249674136290048
+253,4.216666667,HOLD_POSE2,768,746,718.394505752,682,664,637,887,784,817.394505752,652,628.394505752,654.605494248,0.45247883536,-0.0156044013789,0.0497268164977,0.999999903559,8.16467580162e-05,-0.000431355975403,1.21757561088e-05,1793249674152956672
+254,4.233333333,HOLD_POSE2,768,746,718.96896814,682,664,637,887,784,817.96896814,652,628.96896814,654.03103186,0.452479643181,-0.0156070250731,0.0497273509227,0.999999904332,7.81886543404e-05,-0.000430193980136,1.2487972292e-05,1793249674169623040
+255,4.250000000,HOLD_POSE2,768,746,719,682.544264879,664.544264879,637,887,784,817.455735121,652,628.455735121,654,0.452478452994,-0.0156064278154,0.0497257929983,0.999999903391,7.91736827134e-05,-0.000432200269198,1.23410533786e-05,1793249674186289920
+256,4.266666667,HOLD_POSE2,768,746,718.877089776,682.877089776,664.877089776,637,887,784,817,652,628,654.122910224,0.452477705568,-0.0156058051402,0.049724710507,0.999999902691,7.98701417705e-05,-0.000433693470105,1.22360165988e-05,1793249674202956288
+257,4.283333333,HOLD_POSE2,768,746,718.285866938,682.285866938,664.285866938,637,887,784,817,652,628,654.714133062,0.452479079867,-0.015605786422,0.0497258947567,0.999999903296,7.85003738788e-05,-0.00043254235919,1.23904560253e-05,1793249674219622656
+258,4.300000000,HOLD_POSE2,768,746,718,682,664.298812558,637,887,783.701187442,817.298812558,652.298812558,628.298812558,654.701187442,0.45247843958,-0.0156053791233,0.0497257533282,0.99999990304,7.8707238749e-05,-0.000433098288672,1.22966391905e-05,1793249674236289280
+259,4.316666667,HOLD_POSE2,768,746,718,682,664.877366296,637,887,783.122633704,817.877366296,652.877366296,628.877366296,654.122633704,0.452475913284,-0.0156046080451,0.0497243708315,0.999999901975,8.03901096432e-05,-0.00043525230868,1.19704107629e-05,1793249674252956416
+260,4.333333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,783,817,652,628,654,0.452475647468,-0.0156045933398,0.0497239066739,0.999999901903,7.73207119156e-05,-0.000435973595345,1.19192628531e-05,1793249674285497856
+261,4.350000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.587499501,664,637,887,783,817.587499501,652,628.587499501,654.587499501,0.452477188087,-0.0156053599192,0.04972447321,0.999999902647,7.54215093747e-05,-0.000434603796867,1.17216352759e-05,1793249674302165248
+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,746,718,683,664,637,887,783.172386153,817.827613847,652.172386153,628.827613847,655,0.452478032629,-0.0156056753213,0.0497249919516,0.999999903039,7.51635146537e-05,-0.00043374597738,1.1739059118e-05,1793249674318832384
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,746,718,683,664,637,887,783.751114022,817.248885978,652.751114022,628.248885978,655,0.452477236409,-0.0156049272265,0.0497253980341,0.999999902603,7.87741087042e-05,-0.000434094973933,1.22633934883e-05,1793249674335499008
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768,746,718.32973866,682.67026134,664.32973866,636.67026134,887,784,817,652.67026134,628,654.67026134,0.452477061812,-0.0156036707912,0.0497250156623,0.999999902248,8.06983843258e-05,-0.00043456026774,1.22496094823e-05,1793249674352165376
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,746,718.90828537,682.09171463,664.90828537,636.09171463,887,784,817,652.09171463,628,654.09171463,0.452477356267,-0.0156020307818,0.0497240383534,0.999999901959,8.13502290194e-05,-0.000435113314944,1.18297821157e-05,1793249674368831488
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767.516591087,746,718.516591087,682,664.516591087,636.483408913,887,784,817,652.483408913,628,654.483408913,0.45247780876,-0.0156031295654,0.04972468949,0.999999902607,8.02819073693e-05,-0.000433810309646,1.21981500223e-05,1793249674385498368
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767.059195699,746,718,682,664,637,887,784,817,652.940804301,628,655,0.452478000142,-0.0156046412703,0.049725493215,0.999999903279,7.90875893729e-05,-0.000432467599416,1.26409412606e-05,1793249674402164992
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767.646656358,746,718,682,664,637,887,784,817,652.353343642,628,655,0.452475595653,-0.015605233427,0.049724920892,0.999999902619,7.96608294985e-05,-0.000433890968308,1.24227704466e-05,1793249674418831616
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.767961227,746,718,682,664,637,887,783.767961227,817,652.232038773,628.232038773,654.767961227,0.452466559519,-0.0156047735707,0.0497207228337,0.999999899473,7.96384859771e-05,-0.000441099352253,1.19923166103e-05,1793249674435498240
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.185715476,746,718,682,664,637,887,783.185715476,817,652.814284524,628.814284524,654.185715476,0.452447514507,-0.0156027259525,0.0497110525956,0.999999892396,7.87172514563e-05,-0.000457038831293,1.12414723897e-05,1793249674452164864
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.390775378,746,718,682.390775378,664.390775378,636.609224622,887,783.390775378,817,652.609224622,629,654.390775378,0.452409107967,-0.0155997466838,0.0496956327813,0.99999987959,7.92248881704e-05,-0.000484200129766,9.70382868393e-06,1793249674468831744
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.964570969,746,718,682.964570969,664.964570969,636.035429031,887,783.964570969,817,652.035429031,629,654.964570969,0.452361633425,-0.0155963310751,0.0496775201438,0.999999863291,8.040173865e-05,-0.000516617184622,7.79768622649e-06,1793249674485498368
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.460934106,664.460934106,636.539065894,887.539065894,784,817,652,629,655,0.452293319316,-0.0155931042344,0.0496570650704,0.999999845539,8.08230306693e-05,-0.000549871739815,5.54154304712e-06,1793249674502164736
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.882928867,746,718,682,664,637,888,783.882928867,817,652.117071133,628.882928867,655,0.452221581394,-0.015589438394,0.0496382023837,0.999999828822,8.16229754507e-05,-0.000579379453174,3.52024478758e-06,1793249674518831360
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767.290867865,746,718,682,664,637,888,783.290867865,817,652.709132135,628.290867865,655,0.452141516325,-0.015583941008,0.0496264258799,0.999999820357,8.41609555004e-05,-0.000593461593171,2.54522761335e-06,1793249674535497984
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.293545089,746,718.293545089,682,664,637,887.706454911,783.293545089,817,652.706454911,628,655,0.452054623657,-0.0155791050309,0.0496200516351,0.999999815311,8.60072921483e-05,-0.000601645733628,1.60510469184e-06,1793249674552165120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.870572145,746,718.870572145,682,664,637,887.129427855,783.870572145,817,652.129427855,628,655,0.451961137453,-0.015574907789,0.0496188944535,0.99999981371,8.71856957225e-05,-0.000604134065159,6.98679859831e-07,1793249674568832256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,718.552960297,682,664,637,887.447039703,784,817,652,628,654.552960297,0.451850777736,-0.0155682361455,0.0496208559631,0.999999814347,9.01769212188e-05,-0.00060263956931,2.33646947065e-07,1793249674585498368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767.97618345,746,718,682,664,637,887.97618345,784,817,652,628,654,0.45173446101,-0.0155608218373,0.0496236819621,0.999999815592,9.36110882614e-05,-0.000600044534639,-1.19248392861e-07,1793249674602164736
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.388248538,746,718,682,664,637,887.388248538,784,817,652,628,654,0.45159261404,-0.0155527640648,0.0496256241942,0.999999816278,9.51206682195e-05,-0.00059866070944,-8.39167204083e-07,1793249674618831360
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887.196159738,784,817,652,628.196159738,654,0.451437825541,-0.01554308647,0.049627047258,0.999999816953,9.87859910976e-05,-0.000596936171164,-1.72874650069e-06,1793249674635497984
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887.773711138,784,817,652,628.773711138,654,0.451257874956,-0.0155302594699,0.049627460907,0.999999817565,0.000106642705877,-0.000594549187576,-2.94819510932e-06,1793249674652164608
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.35127688,746,718,682,664,637,887.64872312,784,817,652,628.64872312,654.35127688,0.451064160928,-0.0155191845734,0.049629802723,0.99999982038,0.000112065473711,-0.000588784381228,-3.67064286021e-06,1793249674668831744
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,746,718.502743509,682,664,637,887,784,817.502743509,652,628.502743509,655,0.450629740959,-0.0154987736925,0.0496371652813,0.999999830338,0.000118385052432,-0.000570329434238,-5.73811762184e-06,1793249674702165248
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,746,718.921567573,682,664.078432427,637,887,784,818,652,629,655,0.450390439928,-0.0154890528862,0.0496421334904,0.999999837292,0.000119756713627,-0.000557691155648,-7.36688484758e-06,1793249674718832128
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746,718.330756309,682,664.669243691,637,887,784,818,652,629,655,0.450129246357,-0.0154846677671,0.0496546945851,0.999999850997,0.000115262907245,-0.000533537802246,-7.59852751932e-06,1793249674735498240
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,664.743957007,637,887,784.256042993,817.743957007,652.256042993,629,654.743957007,0.449837132841,-0.0154815485316,0.0496630877884,0.999999861036,0.000108305321903,-0.000515875675534,-8.38282978764e-06,1793249674752164608
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.585810578,746,718,682,664.828378845,637,887,784.585810578,817,652.585810578,629,654.414189422,0.449144821975,-0.0154783674346,0.0496656710492,0.999999867562,8.66500406859e-05,-0.000507176934848,-1.17854120032e-05,1793249674785497856
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.011390441,746,718,682,665.977219118,637,887,784.011390441,817,652.011390441,629,654.988609559,0.44877256509,-0.0154766325886,0.0496637690249,0.99999986616,7.45161581748e-05,-0.000511796766261,-1.38664135868e-05,1793249674802164480
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.879928197,637,887,784.560035901,817,652.560035901,629,655,0.448370543799,-0.0154718652192,0.049664588178,0.999999869105,6.75125510784e-05,-0.000506915560547,-1.63787333395e-05,1793249674818831360
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,785,817,652.267247336,629,654.267247336,0.447501051191,-0.0154572866311,0.0496581193756,0.99999987014,5.3245775446e-05,-0.000506306772201,-2.32180871899e-05,1793249674852164864
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637.892341822,887,785,817,652,629,654.892341822,0.446501395843,-0.0154374363983,0.0496496620241,0.999999862146,4.04741346151e-05,-0.000522615460918,-3.07144625235e-05,1793249674885498112
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,665,638,886,785.566231585,816.566231585,652,629.566231585,654,0.437985287656,-0.0153788798706,0.0497651757431,0.999999933041,1.63537952513e-05,-0.000360336948163,-6.17068667286e-05,1793249675102164992
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.99122332,717.99122332,681.00877668,665,638,886,785.00877668,816,652,629,654,0.437123053321,-0.0153728818191,0.0497338357398,0.999999910581,-1.10553562123e-05,-0.000417284084613,-6.77409432442e-05,1793249675118831616
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,745.416908447,717.416908447,681.583091553,665,638,886,785.583091553,816,652,629,654,0.436329698003,-0.0153754879844,0.0497673530768,0.999999929052,-4.21436584742e-05,-0.000368176024884,-6.75736184e-05,1793249675135498496
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,766.246717878,745.753282122,717.753282122,682,664.246717878,638,885.246717878,786,816,652,629.753282122,654,0.434651344884,-0.0153724856391,0.0497733486715,0.999999922079,-8.91395354851e-05,-0.000377490698668,-7.34703965667e-05,1793249675168832000
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766.336987054,746,718,681.663012946,664,638,885,785.663012946,815.663012946,652,629.663012946,654,0.433797750204,-0.0153714625273,0.0497662273057,0.999999919436,-9.42097275858e-05,-0.000382399962066,-7.76107787354e-05,1793249675185498624
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.915297678,746,718,681.084702322,664,638,885,785.084702322,815.084702322,652,629.084702322,654,0.432952526419,-0.0153724576415,0.0497643119779,0.999999925902,-8.91804400437e-05,-0.000365552273133,-8.13334984144e-05,1793249675202165504
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,745.508602915,718,681,664.491397085,638,884.508602915,785,815.491397085,652,629,654,0.432077212825,-0.015374777735,0.0497861325793,0.999999940432,-3.25867524311e-05,-0.000338357944069,-5.98959963433e-05,1793249675218832128
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.78150594,745.78150594,718,681,664,638,883.78150594,786,815,652,629.21849406,653.78150594,0.429362927568,-0.0153457120953,0.0497580344495,0.999999923437,6.01053299725e-05,-0.000384135712618,-4.41913415783e-05,1793249675268831488
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.182731987,745.182731987,718,681,664,638,883.182731987,786,815,652,629.817268013,653.182731987,0.428457860652,-0.0153456035002,0.0497463988057,0.999999918356,6.59270992623e-05,-0.000395436193164,-5.07049951826e-05,1793249675285498368
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,745.400809421,718,681,664,638,883,785.599190579,815,652,630,653.400809421,0.427536714412,-0.0153493038527,0.0497510152677,0.999999917528,4.29687027266e-05,-0.000400294145733,-5.35011394596e-05,1793249675302165248
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745.977660429,718,681,664,638,883,785.022339571,815,652,630,653.977660429,0.426608505944,-0.0153546771529,0.0497627699022,0.999999917547,7.36961979165e-06,-0.000402322441065,-5.46644967252e-05,1793249675318831616
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,664,638,883,785.552320273,815,652,630,654,0.425699730516,-0.0153561362927,0.049760592783,0.999999924337,-1.1999576698e-05,-0.000384665940427,-5.66976994425e-05,1793249675335498496
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,718,680.869839279,663.869839279,638,882.869839279,786,814.869839279,652,630,654,0.424809333927,-0.0153584284505,0.0497672440609,0.999999934931,-2.54784029066e-05,-0.0003551848247,-5.77210392868e-05,1793249675352164864
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.280466123,663.280466123,638,882.280466123,786,814.280466123,652,630,654,0.423981016602,-0.0153642158661,0.0498070224667,0.999999957152,-2.04825757795e-05,-0.000286783855049,-5.50579061432e-05,1793249675368831488
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767.303478785,745.696521215,718,680,663,638,882,786,814,652,630,654,0.423110080304,-0.0153652384407,0.0498223563418,0.99999996418,-1.16586624687e-05,-0.000261789678349,-5.44918717501e-05,1793249675385498368
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767.882495189,745.117504811,718,680,663,638,882,786,814,652,630,654,0.422200448989,-0.0153619348709,0.0498154962816,0.999999960296,6.40886392619e-07,-0.000276205853728,-5.58298573989e-05,1793249675402164992
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,745.457254223,718,680,663,638,882,785.542745777,814,652,630,654,0.42129097922,-0.0153619624776,0.0497942072093,0.999999948837,-1.23961832912e-05,-0.000314361188147,-5.7875153686e-05,1793249675418831872
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,718,680.031637899,663,638,882,785.031637899,814,652,629.968362101,654,0.42038479331,-0.0153628594981,0.0497718578974,0.999999934726,-3.1100183063e-05,-0.000354964209594,-5.98351578372e-05,1793249675435498752
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,718,680.618455364,663,638,882,785.618455364,814,652,629.381544636,654,0.419535511748,-0.0153641297237,0.0497953703122,0.999999942454,-3.60467516123e-05,-0.000332455947379,-5.7138300916e-05,1793249675452165376
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,718,681,663,638,881.79732252,786,814,652,629.20267748,654,0.41867438237,-0.0153635051827,0.0498023317468,0.999999942207,-3.27625396382e-05,-0.000333674847484,-5.63358055263e-05,1793249675468832256
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,681,663,638,881.217924332,786,814,652,629.782075668,654,0.417791231074,-0.0153593588009,0.0497785295457,0.999999926337,-1.41796111895e-05,-0.00037899589727,-5.90543975075e-05,1793249675485498624
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.062570496,746,718,680.062570496,662.062570496,638,881,785.062570496,813.062570496,652,629.062570496,654,0.416166588202,-0.0153611025971,0.0497715174713,0.99999992776,-3.50372794372e-05,-0.000373318265936,-6.23425301118e-05,1793249675518832128
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,662,638,881,785,813,652,629.5147449,654,0.415402930553,-0.0153622833248,0.0497939598295,0.999999943496,-3.30170897696e-05,-0.000328964943681,-6.08230442683e-05,1793249675535498752
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,679.906036432,662.093963568,638,881,785,813,652,629.906036432,654,0.414636825518,-0.0153635749268,0.049811209593,0.999999954073,-2.99759238283e-05,-0.000295668663167,-5.94555201137e-05,1793249675552164864
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,679.31680984,662.68319016,638,881,785,813,652,629.31680984,654,0.413837151541,-0.0153659978018,0.0497874760634,0.999999939746,-3.38356584082e-05,-0.000340104682102,-6.07565172735e-05,1793249675568831744
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.26751212,746,718,679,662.73248788,638,880.73248788,785.26751212,813,652,629,654,0.41306614097,-0.0153667998,0.049770479194,0.999999929068,-3.8640259487e-05,-0.000369435617113,-6.23603892377e-05,1793249675585498624
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.846130148,746,718,679,662.153869852,638,880.153869852,785.846130148,813,652,629,654,0.412328464852,-0.015365716783,0.0497613167928,0.999999924283,-4.45437023396e-05,-0.000381199940508,-6.43164925077e-05,1793249675602165248
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,745.577636511,718,679,662,638,880.422363489,786,813,652,629.422363489,654,0.411642870939,-0.0153654890454,0.0497799025316,0.999999932292,-4.74205421629e-05,-0.000359526871477,-6.25096452256e-05,1793249675618831616
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,745.002267002,718,679,662,638,880.997732998,786,813,652,629.997732998,654,0.410976144341,-0.0153655711423,0.0498085403516,0.999999943976,-4.92009607523e-05,-0.000325740724037,-5.93396260342e-05,1793249675635497728
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,745.574481371,718,679.574481371,662,638,880.425518629,785.425518629,813,652,630,654,0.410303256795,-0.0153606967612,0.0497997011559,0.999999939938,-4.47796945742e-05,-0.000338399093542,-6.00346382662e-05,1793249675652164352
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,718,679.845664047,662,638,879.845664047,785.154335953,813,652,630,654,0.409645265298,-0.0153578403881,0.049790032244,0.999999935331,-4.41589959563e-05,-0.000351656717698,-6.10409234894e-05,1793249675668830976
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,718,679.257084976,662,638,879.257084976,785.742915024,813,652,630,654,0.40902925408,-0.0153607170913,0.0497784459316,0.99999992954,-5.43006821196e-05,-0.000366083505426,-6.28799967641e-05,1793249675685497600
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746,718,679,662,638,879.325906828,786,813,652,629.674093172,654,0.408459774681,-0.0153650860956,0.0497896480376,0.999999936083,-6.31485105025e-05,-0.000346397322278,-6.20972955881e-05,1793249675702164224
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,718,679,662,638,879.904565482,786,813,652,629.095434518,654,0.407926382327,-0.01537061243,0.0498185233377,0.999999950646,-7.09929074809e-05,-0.000300255368971,-5.92813189789e-05,1793249675718830848
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767.519036433,745.519036433,718,678.519036433,662,638,879.519036433,786,813,652,629.480963567,654,0.407396338062,-0.0153723990466,0.049824538667,0.99999995112,-7.77168245835e-05,-0.000297117770157,-5.86530144156e-05,1793249675735497472
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767.056594454,745.056594454,718,678,662,638,879.056594454,786,813,652,629.943405546,654,0.406866819804,-0.0153728764418,0.0498232388469,0.999999947682,-8.3748121281e-05,-0.000306869226466,-5.8759612771e-05,1793249675752164352
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767.629300333,745.629300333,718,678,662,638,879.629300333,786,813,652,629.370699667,654,0.406336068354,-0.0153681498613,0.0497964007572,0.999999930827,-8.54811305354e-05,-0.000356708916821,-6.16280230055e-05,1793249675768832000
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767.798029982,746,718,678.201970018,662,638,879.798029982,786,812.798029982,652,629,653.798029982,0.40582745446,-0.0153650487726,0.0497744135753,0.999999915936,-9.04719198934e-05,-0.00039473165327,-6.42588649234e-05,1793249675785499136
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,718.362587099,678.637412901,662,638,879,786,812.362587099,652,629.362587099,653,0.404940646468,-0.0153673444952,0.049761945769,0.999999908066,-0.000112083499631,-0.000408418894397,-6.70771490679e-05,1793249675818832384
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,718.96060741,678.03939259,662,638,879,786,812.96060741,652,629.96060741,653,0.404553755228,-0.0153714024806,0.0497714607492,0.999999912875,-0.000122513879045,-0.00039343947146,-6.6680164854e-05,1793249675835498496
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3384b8320a65e6230a1bfb1c593eb544bee53e34
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
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+400,6.666666667,pose2_to_pose3_retreat,0.575664290825,-0.00984982737351,1.0400337769,0.546234968521,-0.00117719635737,1.03970516797
+401,6.683333333,pose2_to_pose3_retreat,0.575664290825,-0.00984982737351,1.0400337769,0.546234968521,-0.00117719635737,1.03970516797
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b99aa632bb75c2ebb92c4d13de238e4c109f400
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7712fb3d53f8e869add15968ad4dcf7e75814aa1972d9b27e48930a52b70adbf
+size 25721665
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..afd3c889c75c7e9f6d32fbf897903a1bc998cabd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,405 @@
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+54,0.900000000,BASELINE,767,745.365069402,718.365069402,678,662,638,879,785,813,652,630,654,0.400975691541,-0.0154057102359,0.0498466643019,0.999999962419,-4.00412595994e-05,-0.000267537414791,-4.4523807362e-05,1793249677656960512
+55,0.916666667,BASELINE,767,745.954768007,718.954768007,678,662,638,879,785,813,652,630,654,0.400976495982,-0.0154057507518,0.0498468197035,0.999999962455,-4.01027686097e-05,-0.000267455775695,-4.4144544372e-05,1793249677673627136
+56,0.933333333,BASELINE,767,745.464502557,718.464502557,678,662,638,879.535497443,785,813,652,630,654,0.400976378321,-0.0154053019825,0.0498474647349,0.999999962767,-3.91887817894e-05,-0.000266384124556,-4.43926827671e-05,1793249677690294016
+57,0.950000000,BASELINE,767,745.114325362,718,678,662,638,880,785,813,652,630,653.885674638,0.400976229761,-0.0154049775154,0.049848089353,0.999999962999,-3.88098513482e-05,-0.000265525430084,-4.46377923146e-05,1793249677706960640
+58,0.966666667,BASELINE,767,745.688501756,718,678,662,638,880,785,813,652,630,653.311498244,0.400976265039,-0.0154053165265,0.0498484682507,0.999999962827,-4.09090466701e-05,-0.00026585413007,-4.46610690109e-05,1793249677723627264
+59,0.983333333,BASELINE,767,746,718,678,662,638,879.731495529,785,813,652,630,653,0.400975888948,-0.0154051206443,0.0498481924905,0.999999962642,-4.06206241825e-05,-0.000266562408999,-4.48366013926e-05,1793249677740293888
+60,1.000000000,BASELINE,767,746,718,678,662,638,879.144583564,785,813,652,630,653,0.400975025033,-0.015404290456,0.0498471404009,0.999999962438,-3.75008323526e-05,-0.000267720813734,-4.51926870129e-05,1793249677756960512
+61,1.016666667,BASELINE,767.436418681,746,718,678,662,638,879,785,812.563581319,652,630,653.436418681,0.400974364923,-0.0154043632708,0.0498467006869,0.99999996214,-3.85991813545e-05,-0.00026866127978,-4.53007658026e-05,1793249677773627392
+62,1.033333333,BASELINE,767.984552399,746,718,678.015447601,662,638,879,785,812,652,630,653.984552399,0.400973820829,-0.0154047301109,0.049846499051,0.999999961836,-4.09777297411e-05,-0.000269434335888,-4.5322478554e-05,1793249677790293760
+63,1.050000000,BASELINE,767.407036561,746,718,678.592963439,662,638,879,785,812,652,630,653.407036561,0.400975074141,-0.0154050555226,0.0498476768342,0.999999962623,-3.97693581352e-05,-0.000266708113157,-4.51513402157e-05,1793249677806960640
+64,1.066666667,BASELINE,767,745.83035033,718,679,662,638,879,785,812.16964967,652,629.83035033,653.16964967,0.400975869796,-0.0154050989445,0.0498481630053,0.999999963074,-3.88858586399e-05,-0.000265158460461,-4.505994964e-05,1793249677823627264
+65,1.083333333,BASELINE,767,745.255644903,718,679,662,638,879,785,812.744355097,652,629.255644903,653.744355097,0.400975572744,-0.0154044690874,0.0498469978828,0.999999962739,-3.87780242644e-05,-0.000266417987981,-4.5158964931e-05,1793249677840294144
+66,1.100000000,BASELINE,767,745,718,678.672119441,662,638,879,785,812.672119441,652,629.327880559,653.672119441,0.400975007073,-0.0154046888248,0.0498465186268,0.999999962426,-3.93432110548e-05,-0.000267524358437,-4.50659392087e-05,1793249677856960768
+67,1.116666667,BASELINE,767,745,718,678.081527018,662,638,879,785,812.081527018,652,629.918472982,653.081527018,0.400974226172,-0.0154055892936,0.0498465889162,0.999999962129,-4.04476510635e-05,-0.000268508012871,-4.48190420455e-05,1793249677873627392
+68,1.133333333,BASELINE,767,745,718.499553266,678.499553266,662,638,879.499553266,785,812.499553266,652,630,653,0.400974960014,-0.015404794038,0.0498472304098,0.999999962339,-3.98932039551e-05,-0.000267787238506,-4.49417532128e-05,1793249677890294016
+69,1.150000000,BASELINE,767,745.078158346,718.921841654,678.921841654,662,638,879.843683308,785,813,652.078158346,630,653,0.400975838251,-0.0154041880536,0.0498478386456,0.999999962584,-3.95075061963e-05,-0.000266910053074,-4.50617633714e-05,1793249677906960640
+70,1.166666667,BASELINE,767,745.650741938,718.349258062,678.349258062,662,638,878.698516124,785,813,652.650741938,630,653,0.400976095334,-0.0154064973311,0.0498476578058,0.999999962537,-4.18699297488e-05,-0.000266770181127,-4.47902360139e-05,1793249677923627264
+71,1.183333333,BASELINE,767,746,718,678.229704309,662,638,878.229704309,785.229704309,813,652.770295691,630,653.229704309,0.400975899171,-0.0154080698598,0.0498472871685,0.999999962397,-4.33519247759e-05,-0.000267090451079,-4.46115471071e-05,1793249677940294144
+72,1.200000000,BASELINE,767,746,718,678.818642523,662,638,878.818642523,785.818642523,813,652.181357477,630,653.818642523,0.400974994181,-0.0154084901897,0.0498466197073,0.999999962115,-4.3457020541e-05,-0.000268130335598,-4.45780479438e-05,1793249677956960768
+73,1.216666667,BASELINE,767.39987568,745.60012432,718,679,662,638,878.60012432,785.60012432,812.60012432,652,630,654,0.400974661215,-0.0154069189946,0.04984656154,0.999999962193,-4.13450221945e-05,-0.000268136404074,-4.48067385381e-05,1793249677973627392
+74,1.233333333,BASELINE,767.977680352,745.022319648,718,679,662,638,878.022319648,785.022319648,812.022319648,652,630,654,0.400974582777,-0.015404461649,0.0498467744847,0.999999962422,-3.82465039227e-05,-0.000267682464896,-4.51520932923e-05,1793249677990294016
+75,1.250000000,BASELINE,767.442499731,745.557500269,718,678.442499731,662,638,878.557500269,785,812,652,630,653.442499731,0.400975341265,-0.0154060460345,0.0498477064468,0.999999962802,-3.96271840281e-05,-0.000266081190757,-4.50148797628e-05,1793249678006960640
+76,1.266666667,BASELINE,767,745.86434935,718,678,662,638,879,785,812.13565065,652,630,653.13565065,0.400976030661,-0.0154070078292,0.0498484724141,0.99999996308,-4.0691789461e-05,-0.000264893717766,-4.49015309114e-05,1793249678023627264
+77,1.283333333,BASELINE,767,745.291836501,718,678,662,638,879,785,812.708163499,652,630,653.708163499,0.400976389248,-0.0154054415692,0.0498486107538,0.999999963022,-4.01588653443e-05,-0.000265187355538,-4.49274829473e-05,1793249678040293888
+78,1.300000000,BASELINE,767,745.283234729,718,678,662,638,879,785,812.716765271,652,630,653.716765271,0.400975704207,-0.0154057499178,0.0498482410579,0.999999962725,-4.10260480065e-05,-0.000266206199819,-4.47382671265e-05,1793249678056960512
+79,1.316666667,BASELINE,767,745.86096603,718,678,662,638,879,785,812.13903397,652,630,653.13903397,0.400973934042,-0.0154080074124,0.0498473431261,0.999999962172,-4.33490078535e-05,-0.000267979085902,-4.43253280463e-05,1793249678073627136
+80,1.333333333,BASELINE,767,746,718,678,662.447058302,638,879.447058302,785,812,652,630,653.447058302,0.400973680669,-0.0154063521402,0.0498470853735,0.999999962257,-4.00139334303e-05,-0.000268134265142,-4.4586683113e-05,1793249678090294016
+81,1.350000000,BASELINE,767,746,718,678,663,638,880,785,812,652,630,654,0.400974019076,-0.0154036451705,0.0498470789217,0.999999962535,-3.53589828626e-05,-0.00026767622071,-4.50360925053e-05,1793249678106960640
+82,1.366666667,BASELINE,767,746,718,678,663,638,880,785,812,652,630,654,0.400976072987,-0.0154038473611,0.0498478202019,0.999999962972,-3.80141207074e-05,-0.000265665438872,-4.50893947924e-05,1793249678123627264
+83,1.383333333,BASELINE,767.188794324,746,718,678,662.811205676,638,880,785,812.188794324,652,629.811205676,653.811205676,0.400977136448,-0.0154044176936,0.0498482362561,0.999999963143,-3.98996258829e-05,-0.000264746499412,-4.50670622144e-05,1793249678140294144
+84,1.400000000,BASELINE,767.764690465,746,718,678,662.235309535,638,880,785,812.764690465,652,629.235309535,653.235309535,0.400976169099,-0.0154057428602,0.0498479854705,0.999999962789,-4.02070851311e-05,-0.000266066261265,-4.48896487461e-05,1793249678156960768
+85,1.416666667,BASELINE,768,746,718,678,662,638,879.65025392,785,813,652.34974608,629.34974608,653.34974608,0.400975954932,-0.0154065107159,0.0498477660366,0.999999962745,-4.06524474965e-05,-0.000266188983705,-4.47402340334e-05,1793249678173627392
+86,1.433333333,BASELINE,768,746,718,678,662,638,879.058870108,785,813,652.941129892,629.941129892,653.941129892,0.400976261133,-0.0154068935282,0.0498475682634,0.999999962915,-4.11930863839e-05,-0.000265484677814,-4.4610163525e-05,1793249678190294016
+87,1.450000000,BASELINE,768,745.480956193,718,678.519043807,662,638,879,785,813,652.480956193,630,654,0.400976415002,-0.0154059114412,0.0498475909634,0.99999996286,-3.97541157034e-05,-0.000265841095935,-4.50401238569e-05,1793249678206960640
+88,1.466666667,BASELINE,768,745.095692369,718,678.904307631,662,638,879,785,813,652.095692369,630,654,0.400976337142,-0.015404980697,0.0498475479757,0.999999962755,-3.83376377324e-05,-0.000266380470256,-4.54028353116e-05,1793249678223627520
+89,1.483333333,BASELINE,768,745.673468198,718,678.326531802,662,638,879,785,813,652.673468198,630,654,0.400975176703,-0.0154050687779,0.0498470512731,0.999999962544,-3.8136999796e-05,-0.000267250789414,-4.51148532596e-05,1793249678240293888
+90,1.500000000,BASELINE,768,746,718,678,662.250493629,638,879.250493629,785,813,652.749506371,630,654,0.400975059047,-0.0154052331647,0.0498470512114,0.999999962534,-3.81665137898e-05,-0.000267307102271,-4.49613196542e-05,1793249678256960256
+91,1.516666667,BASELINE,768,746,718,678,662.826543753,638,879.826543753,785,813,652.173456247,630,654,0.400976296657,-0.0154054967233,0.0498476966139,0.999999962788,-3.84951470067e-05,-0.000266305483806,-4.49825233101e-05,1793249678273626880
+92,1.533333333,BASELINE,767.588660083,746,718,678,662.588660083,638,879.588660083,785,812.588660083,652,630,653.588660083,0.400976425906,-0.0154061734593,0.0498477137298,0.999999962733,-4.05046629263e-05,-0.000266219198433,-4.49496078056e-05,1793249678290293504
+93,1.550000000,BASELINE,767.000095665,746,718,678,662.000095665,638,879.000095665,785,812.000095665,652,630,653.000095665,0.400976077621,-0.0154070282116,0.0498474601506,0.999999962539,-4.32383818589e-05,-0.000266527281334,-4.48933752341e-05,1793249678306960384
+94,1.566666667,BASELINE,767.580045447,746,718,678.580045447,662,638,879,785,812.580045447,652.580045447,630,653,0.400976637184,-0.0154063463562,0.049847698281,0.999999962802,-4.24738697335e-05,-0.000265644858424,-4.49894684315e-05,1793249678323627008
+95,1.583333333,BASELINE,767.841491328,745.841491328,718,679.158508672,662,638,879,785,813,652.841491328,630,653.158508672,0.400976556196,-0.0154053688879,0.0498475908086,0.999999962858,-4.10152978611e-05,-0.000265641025456,-4.51369419132e-05,1793249678340293632
+96,1.600000000,BASELINE,767.267423272,745.267423272,718,679.732576728,662,638,879,785,813,652.267423272,630,653.732576728,0.400974795499,-0.0154036170711,0.0498465770658,0.99999996236,-3.7738612585e-05,-0.000267941083415,-4.54190532778e-05,1793249678356960256
+97,1.616666667,BASELINE,767.306751287,745,718,679.693248713,662,638.306751287,879.306751287,785,813,652,630,653.693248713,0.400974426329,-0.0154033627214,0.0498468737122,0.999999962312,-3.69478836259e-05,-0.000268239323624,-4.53613011564e-05,1793249678373626880
+98,1.633333333,BASELINE,767.881018692,745,718,679.118981308,662,638.881018692,879.881018692,785,813,652,630,653.118981308,0.400975270702,-0.0154044143047,0.0498483131418,0.999999962664,-3.83251437646e-05,-0.000266791789394,-4.5007155932e-05,1793249678390293760
+99,1.650000000,BASELINE,768,745,718,678.527853415,662,639,879.527853415,785,812.527853415,652,629.527853415,653.472146585,0.40097631226,-0.0154053326139,0.0498489850287,0.999999963061,-3.91437998704e-05,-0.000265207704982,-4.48432769867e-05,1793249678406960384
+100,1.666666667,BASELINE,767.934798547,745,718,678,662,638.934798547,879,785,812,652,629,653.934798547,0.40097723726,-0.0154061481392,0.049849358633,0.999999963401,-3.96936735271e-05,-0.000263853034112,-4.47549943362e-05,1793249678423627264
+101,1.683333333,BASELINE,767.361079588,745,718,678,662,638.361079588,879,785,812,652,629,653.361079588,0.400976851312,-0.0154064336719,0.0498489702704,0.999999963224,-3.92858027609e-05,-0.000264565913534,-4.48685030429e-05,1793249678440293888
+102,1.700000000,BASELINE,767,745.212083474,718,678,662,638,879,785,812.212083474,652,629.212083474,653,0.400976442785,-0.0154061727047,0.0498484468987,0.999999963055,-3.82658566795e-05,-0.000265336598638,-4.49700949024e-05,1793249678456960512
+103,1.716666667,BASELINE,767,745.784302517,718,678,662,638,879,785,812.784302517,652,629.784302517,653,0.400975995914,-0.0154049837348,0.0498476942703,0.999999962897,-3.62065552946e-05,-0.000266205442574,-4.50514509416e-05,1793249678473627136
+104,1.733333333,BASELINE,767,745.629889102,718,678,662,638,878.629889102,785,813,652,629.629889102,653,0.400976363218,-0.015404575526,0.0498479279664,0.999999962939,-3.66442557753e-05,-0.000265995151545,-4.50006900602e-05,1793249678490294016
+105,1.750000000,BASELINE,767,745.03585904,718,678,662,638,878.03585904,785,813,652,629.03585904,653,0.400977223102,-0.015404639682,0.0498487583944,0.999999963101,-3.85926561569e-05,-0.000265131977907,-4.48699977103e-05,1793249678506960640
+106,1.766666667,BASELINE,767,745,718,678,662,638,878.543019476,785,812.456980524,652,629.543019476,653,0.400976841825,-0.0154047932381,0.0498483089181,0.999999963147,-3.77895580213e-05,-0.000265065583326,-4.49186525529e-05,1793249678523627520
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,718,678,662,638,879,786,812,652,630,654,0.40097489261,-0.0154066584948,0.0498473577141,0.999999962642,-3.80913880267e-05,-0.000266953140087,-4.47239471012e-05,1793249678566051328
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,746,718,678,662,638,879.581520293,785.418479707,812,652,630,653.418479707,0.400976234747,-0.015404468061,0.0498477102452,0.999999963053,-3.50531447621e-05,-0.000265772626201,-4.5052507488e-05,1793249678582718208
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,746,717.834896155,678,661.834896155,638,879.834896155,785,812.165103845,652,630,653.165103845,0.40097735411,-0.0154035031526,0.0498482620251,0.999999963435,-3.46182763888e-05,-0.000264360385256,-4.52219885291e-05,1793249678599385088
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,746,717.246016663,678,661.246016663,638,879.246016663,785,812.753983337,652,630,653.753983337,0.400977901673,-0.0154056838266,0.0498493252214,0.999999963739,-4.08655465664e-05,-0.00026235336515,-4.49831572085e-05,1793249678616052480
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.662908183,745.662908183,717.337091817,678,661.337091817,638,879,785,813,652,630,654,0.400978084445,-0.0154060103615,0.0498497425305,0.999999963879,-4.0913077848e-05,-0.000261832361439,-4.48565161529e-05,1793249678632719360
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.08394065,745.08394065,717.91605935,678,661.91605935,638,879,785,813,652,630,654,0.400978005466,-0.0154050064835,0.0498496963918,0.999999963908,-3.65120691932e-05,-0.000262377628997,-4.48103757333e-05,1793249678649385728
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.492718949,745.492718949,718,678.492718949,662,638,879,785,812.507281051,652,630,653.507281051,0.400977966452,-0.0154044704736,0.0498492438115,0.999999963734,-3.66836721982e-05,-0.000262988277078,-4.49869108669e-05,1793249678666052352
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.929754192,745.929754192,718,678.929754192,662,638,878.929754192,785,812,652,629.929754192,653.070245808,0.400977965214,-0.0154041599727,0.0498488494669,0.99999996355,-3.76128043525e-05,-0.000263527310334,-4.51527677547e-05,1793249678682718976
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.342972421,745.342972421,718,678.342972421,662,638,878.342972421,785,812,652,629.342972421,653.657027579,0.400978191907,-0.0154049243243,0.0498493901269,0.999999963546,-3.84107628797e-05,-0.000263458219397,-4.49624556094e-05,1793249678699385344
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,878.241531009,785,812.241531009,652,629,654,0.400980737052,-0.0154061671534,0.049850548495,0.9999999639,-3.9325721513e-05,-0.000262038329876,-4.46029711984e-05,1793249678716051968
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,678,662,638,878.822829394,785,812.822829394,652,629,654,0.400986543616,-0.0154080830677,0.0498525758078,0.999999964748,-4.04052668921e-05,-0.000258718240078,-4.40055081801e-05,1793249678732718848
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.399791377,717.600208623,678,662,638,879,785,812.600208623,652,629.399791377,653.600208623,0.401011170847,-0.0154091285922,0.0498618014545,0.99999996942,-4.02953611406e-05,-0.000240183583823,-4.29895756164e-05,1793249678749385472
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.974852321,717.025147679,678,662,638,879,785,812.025147679,652,629.974852321,653.025147679,0.401044049106,-0.0154097925356,0.0498741828694,0.999999975232,-3.96639970295e-05,-0.000214978822135,-4.17901848544e-05,1793249678766051840
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,717.561805482,678,662,638,879,785,812,652,629.438194518,653.561805482,0.40110340885,-0.0154127702681,0.0498939078106,0.999999983302,-3.84383066889e-05,-0.000174233358486,-3.95074222431e-05,1793249678782718464
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,812.146747674,652,629.146747674,654,0.401168266775,-0.0154167155092,0.0499131234652,0.999999989097,-3.83517277967e-05,-0.000137679593464,-3.71466964389e-05,1793249678799385088
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,879,785,812.724191799,652,629.724191799,654,0.401245707339,-0.0154231897892,0.0499298587787,0.999999991857,-4.16881469689e-05,-0.000115514035487,-3.470255817e-05,1793249678816051968
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,718.302272751,678,662,638,879,785.302272751,812.697727249,652,629.697727249,653.697727249,0.401328150647,-0.0154286331042,0.0499405177133,0.99999999352,-4.41444069138e-05,-9.95915377204e-05,-3.30486695942e-05,1793249678832718592
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,718.880935965,678,662,638,879,785.880935965,812.119064035,652,629.119064035,653.119064035,0.401415168332,-0.0154331337307,0.0499456205614,0.999999994441,-4.57958716089e-05,-8.93775357156e-05,-3.2117365259e-05,1793249678849385216
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.456841417,746,718.543158583,678,662,638,879.456841417,785.543158583,812,652.456841417,629,653.456841417,0.401518171927,-0.0154390948203,0.0499487351362,0.999999994787,-4.80006496352e-05,-8.46033335478e-05,-3.10599876896e-05,1793249678866051840
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,746,718,678.032732667,662,638,879.967267333,785,812.032732667,652.967267333,629.032732667,653.967267333,0.401626304464,-0.0154455233321,0.0499511170985,0.999999994944,-5.02760243484e-05,-8.17646089037e-05,-2.99722449874e-05,1793249678882718720
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,746,718,678.620497415,662,638,879.379502585,785,812.620497415,652.379502585,629.620497415,653.379502585,0.401751183646,-0.0154534622263,0.0499498105207,0.999999994406,-5.1317897734e-05,-8.78490779588e-05,-2.89234253056e-05,1793249678899385088
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.7948886,746,718,678.7948886,662,638,879,785.2051114,812.7948886,652,630,653.2051114,0.401888385645,-0.0154620376398,0.0499475013119,0.999999993692,-5.36187741586e-05,-9.46266192072e-05,-2.80422669449e-05,1793249678916051712
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.216016107,746,718,678.216016107,662,638,879,785.783983893,812.216016107,652,630,653.783983893,0.402048042698,-0.01547177294,0.0499433650745,0.999999992658,-5.82138493857e-05,-0.000102667099931,-2.74666269615e-05,1793249678932718592
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.637802123,718,678,662,638,879,785.637802123,812,652,630,654,0.40223206509,-0.0154825532142,0.0499443733496,0.999999992691,-6.13313606778e-05,-0.000100881944947,-2.60524985658e-05,1793249678949385472
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.059980108,718,678,662,638,879,785.059980108,812,652,630,654,0.402430592706,-0.0154939555847,0.0499484442624,0.999999993341,-6.35692470142e-05,-9.32473797643e-05,-2.41392000393e-05,1793249678966052096
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.513902291,718,678,662,638,879,785,812.513902291,652,630,653.486097709,0.402664331284,-0.0155029375628,0.0499548198475,0.999999994306,-6.10650329362e-05,-8.4752161971e-05,-2.18279181194e-05,1793249678982719232
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.909907648,718,678.090092352,662,638,879,785,813,652,630,653,0.40290777894,-0.0155119269249,0.0499613876836,0.999999995298,-5.78449652532e-05,-7.53967209695e-05,-1.93204208222e-05,1793249678999386112
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.318332175,718,678.681667825,662,638,879,785,813,652,630,653,0.403182568958,-0.0155225178941,0.0499675397609,0.999999996521,-5.3697602472e-05,-6.18078857607e-05,-1.59773166255e-05,1793249679016052480
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.267091781,718,678.732908219,662,638.267091781,879.267091781,785,812.732908219,652,630,653,0.403482802613,-0.0155239826471,0.0499739253951,0.999999998032,-3.84816045397e-05,-4.77859428506e-05,-1.30957917506e-05,1793249679032718848
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.845349099,718,678.154650901,662,638.845349099,879.845349099,785,812.154650901,652,630,653,0.403812678431,-0.0155148152342,0.0499805831258,0.999999999335,-1.03704971534e-05,-3.32594243985e-05,-1.07520132227e-05,1793249679049385728
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.421359632,745.578640368,718.421359632,678.421359632,662.421359632,638.578640368,879.578640368,785,812.421359632,652,629.578640368,653.421359632,0.404164771343,-0.0155074573906,0.0499877934943,0.99999999966,1.54217562114e-05,-1.92060247102e-05,-8.57889404591e-06,1793249679066052352
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.996549894,745.003450106,718.996549894,678.996549894,662.996549894,638.003450106,879.003450106,785,812.996549894,652,629.003450106,653.996549894,0.4045249753,-0.0155007601874,0.0499952056205,0.99999999915,4.03674381229e-05,-5.32535226563e-06,-6.46807949751e-06,1793249679082718464
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.416506467,745.583493533,718.416506467,679,662.416506467,638,879,785,813,652,629.583493533,654,0.404913727252,-0.0155120893904,0.0499954663367,0.999999998917,4.64414066964e-05,-1.14011096924e-06,-2.82794514024e-06,1793249679099385088
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.169052124,746,718,678.830947876,662,638,879.169052124,785,813,652,630,654,0.405306926307,-0.0155216117961,0.0499888067522,0.999999998462,5.43043665379e-05,-1.13048460088e-05,-1.37395037786e-08,1793249679116051968
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.751054072,746,718,678.248945928,662,638,879.751054072,785,813,652,630,654,0.405710567597,-0.0155264549531,0.0499653481099,0.999999996178,6.68155373786e-05,-5.63798804021e-05,7.60396362668e-07,1793249679132718848
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.670425193,746,718,678.329574807,662,638,880,785,813,652,629.670425193,654,0.40615189385,-0.0155264549834,0.0499453120422,0.9999999919,8.7931954665e-05,-9.20051231539e-05,1.58862369326e-06,1793249679149385472
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.094506465,746,718,678.905493535,662,638,880,785,813,652,629.094506465,654,0.406621388139,-0.0155228349715,0.049927834209,0.999999986061,0.000115480449074,-0.000120567031186,2.45728229961e-06,1793249679166052096
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.518677217,718,679,662,638.481322783,880,785,813,652,629.481322783,653.518677217,0.407136454582,-0.0155241214291,0.0499252990231,0.999999982506,0.000140402129663,-0.000123461236812,5.72880481514e-06,1793249679182718720
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.058363077,745,718,678.941636923,662,638.941636923,880,785,813,652,629.941636923,653.058363077,0.407667253355,-0.0155265350873,0.0499284168558,0.999999979666,0.000164674801603,-0.000115996230132,9.71667822849e-06,1793249679199385344
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.646557306,745,718,678.353442694,662,638.353442694,880,785,813,652,629.353442694,653.646557306,0.408259657238,-0.0155304376375,0.0499562238669,0.999999980437,0.000187737034082,-6.02319507798e-05,1.5925465873e-05,1793249679216052480
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.76913784,745.23086216,718,678,662.23086216,638,880,785,813,652,629.23086216,654,0.408867967522,-0.0155347179832,0.0499809556152,0.999999977344,0.000211150487466,-1.55530959078e-05,2.20561420308e-05,1793249679232719360
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.190688878,745.809311122,718,678,662.809311122,638,880,785,813,652,629.809311122,654,0.409500226499,-0.0155395671387,0.0500010572363,0.999999971894,0.00023509273942,1.24355050469e-05,2.8069212967e-05,1793249679249386240
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,718,678.385658576,662.614341424,638.385658576,880.385658576,785,813,652,629.614341424,654,0.410129794344,-0.0155412647212,0.0499989202697,0.999999965121,0.000262196181645,1.22636529868e-06,3.17662794064e-05,1793249679266052864
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718,678.960972553,662.039027447,638.960972553,880.960972553,785,813,652,629.039027447,654,0.410758038754,-0.0155414124539,0.0499858470275,0.999999956685,0.000290854202117,-2.92590567267e-05,3.43244036015e-05,1793249679282719232
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.53332598,746,718,679,662,639,881,785,813.53332598,652.53332598,629,654,0.411389413684,-0.0155390572684,0.0499546503385,0.999999944312,0.000319287814287,-9.06176293188e-05,3.49305698348e-05,1793249679299386368
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.890546102,746,718,679.109453898,662.109453898,639,881,785.109453898,814,652.890546102,629,654,0.412045240237,-0.0155374903517,0.0499330062107,0.999999939474,0.000320449510009,-0.000130550353629,3.63338355689e-05,1793249679316052992
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.296763018,746,718,679.703236982,662.703236982,639,881,785.703236982,814,652.296763018,629,654,0.412808255979,-0.0155402174831,0.0499594679091,0.99999997676,0.000201006307799,-6.57327577723e-05,4.18928045587e-05,1793249679332719104
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.289424545,746,718.289424545,680,663,639,881,785.710575455,814,652,629.289424545,654,0.4135726491,-0.0155439692676,0.0499763422868,0.999999995842,7.95221900701e-05,-3.09254605212e-05,3.21922081048e-05,1793249679349385472
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.868023228,746,718.868023228,680,663,639,881,785.131976772,814,652,629.868023228,654,0.414338418499,-0.015548744819,0.0499836376419,0.999999998665,-4.40010905387e-05,-2.61024899881e-05,7.24524937253e-06,1793249679366052352
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,718.555592763,679.555592763,663,639,881.444407237,785,814,652,629.555592763,654,0.4151052163,-0.0155578377678,0.049960176412,0.999999996381,-4.98977960531e-05,-6.88197139594e-05,3.52844927701e-06,1793249679382718720
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,718,679.020512689,663,639,882,785,814,652,629.020512689,654,0.415874019729,-0.0155677937391,0.0499292000813,0.999999992254,-2.06081660613e-05,-0.00012259000037,6.19360219509e-06,1793249679399384832
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,718,679.606989998,663,639,882,785,814,652,629.606989998,654,0.416689776992,-0.0155663610568,0.0499416372278,0.999999995328,2.0481709969e-05,-9.3723700572e-05,1.18507587546e-05,1793249679416051456
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.807897254,745.807897254,718,680,663,639,882,785,814.192102746,652,630,654,0.417524486468,-0.0155649793345,0.0499597884738,0.999999996399,6.02182173858e-05,-5.7108696604e-05,1.77396520293e-05,1793249679432718080
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.225556511,745.225556511,718,680,663,639,882,785,814.774443489,652,630,654,0.418397695472,-0.0155637011328,0.049989547355,0.999999994974,9.72054859458e-05,-4.7529576769e-06,2.40992955133e-05,1793249679449384704
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.352680169,718,680.352680169,663.352680169,639,882.352680169,785,815,652,629.647319831,654,0.419231551998,-0.015559846526,0.0499844515262,0.999999991462,0.000126548141136,-1.97964837548e-05,2.58899257982e-05,1793249679466051584
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.928322268,718,680.928322268,663.928322268,639,882.928322268,785,815,652,629.071677732,654,0.42004053013,-0.015554363134,0.0499573207932,0.999999985284,0.000151057923758,-7.74493545333e-05,2.47920576977e-05,1793249679482718208
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.499540579,746,718,680.500459421,664,639,883.499540579,785,815,652.499540579,629.499540579,654,0.420968028745,-0.0155574602056,0.0499702474022,0.999999987716,0.000150675499138,-3.51491276865e-05,2.51038836742e-05,1793249679499384832
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746,718,680.073033712,664,639,884.073033712,785.073033712,815,652.926966288,630,654,0.421905660594,-0.015561509264,0.0499877276854,0.999999988756,0.000146852490926,1.60399188675e-05,2.5772361021e-05,1793249679516051712
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,746,718,680.667250128,664,639,884.667250128,785.667250128,815,652.332749872,630,654,0.422795310554,-0.0155636430123,0.0499970470619,0.999999988863,0.000143741534865,2.92123839108e-05,2.75551816821e-05,1793249679532718336
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.745544015,745.745544015,718,680.745544015,664.254455985,639,885,785.745544015,815,652,629.745544015,654,0.423681246043,-0.0155648816318,0.0499939754348,0.999999989564,0.000139792947191,2.29950981029e-05,2.8307258361e-05,1793249679549384960
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.167259917,745.167259917,718,680.167259917,664.832740083,639,885,785.167259917,815,652,629.167259917,654,0.424562454511,-0.0155649810847,0.0499751346563,0.999999990501,0.000134778364587,-7.89814868898e-06,2.77475803971e-05,1793249679566052608
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.408663112,718,680.408663112,665,639,885,785,815,652,629.408663112,654,0.425483168569,-0.0155675147448,0.0499853703729,0.999999989413,0.000142476472974,3.05582162706e-06,2.94287927724e-05,1793249679582719488
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.983625306,718,680.983625306,665,639,885,785,815,652,629.983625306,654,0.426419958759,-0.0155710389674,0.050007438317,0.999999986939,0.00015534781297,3.10388663324e-05,3.20219005493e-05,1793249679599386112
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885,785,815,652,630,654.570155205,0.427290376387,-0.0155655367915,0.0499937911716,0.999999984758,0.000170880006674,-1.56773926777e-05,3.22088766644e-05,1793249679616052992
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.154732209,785,815,652.154732209,630,654.845267791,0.428167253408,-0.0155598427067,0.0499761173492,0.999999981761,0.000179021488664,-5.85991155653e-05,3.15552110577e-05,1793249679632719360
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,885.733034973,785,815,652.733034973,630,654.266965027,0.429067138771,-0.015554347621,0.0499502867471,0.999999982064,0.000166717796285,-8.51391403113e-05,2.87934211325e-05,1793249679649385984
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.311979539,746,718,681,665,639,885.688020461,785,815,652.688020461,630,654,0.429983859365,-0.0155537936409,0.0499454665355,0.999999983301,0.000161088662908,-8.14528799241e-05,2.85192657189e-05,1793249679666052608
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.891474406,746,718,681,665,639,885.108525594,785,815,652.108525594,630,654,0.430915015738,-0.0155574765463,0.049958662255,0.999999985205,0.000161182812007,-5.18482691723e-05,3.03782002076e-05,1793249679682719232
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.533652552,746,718,681,665,639,885.466347448,785.466347448,815.466347448,652,630,654,0.431792716553,-0.0155567087169,0.0499458275431,0.999999981741,0.000172561538848,-7.66440447467e-05,2.94364389366e-05,1793249679699385600
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,681.041120518,665,639,886,785.958879482,816,652,630,654.041120518,0.432661137752,-0.0155550378223,0.0499297300525,0.999999976354,0.000186282133454,-0.000108637825195,2.80935855645e-05,1793249679716051712
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,681.628718011,665,639,886,785.371281989,816,652,630,654.628718011,0.433569934214,-0.0155549951627,0.0499499853545,0.999999977802,0.000196568129264,-6.96981995694e-05,2.99970361108e-05,1793249679732718336
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.214504348,746,718,682,665,638.785495652,885.785495652,785.214504348,816,652,630,654.785495652,0.434466244577,-0.0155554830344,0.0499689749616,0.999999980079,0.000193112236343,-3.88786432045e-05,3.22305212437e-05,1793249679749384960
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+181,3.016666667,POSE1_TO_POSE2_PRESS,768,746,718,681.049739802,665,638,885.950260198,786,816.950260198,652,630,654.950260198,0.436949900553,-0.0155491859179,0.0499473010048,0.99999997466,0.000188670966559,-0.000118346307288,3.28286487553e-05,1793249679799384576
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,718,681,665.524697744,638.524697744,886,785.475302256,816.475302256,652,630,654.475302256,0.437808423339,-0.0155530787328,0.0499631580346,0.999999978825,0.00019135729047,-6.82759768634e-05,3.27184089221e-05,1793249679816051200
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,718,681.101802877,665.898197123,639,886,785,816,652,629.898197123,654.101802877,0.438659133601,-0.0155575966153,0.0499788954108,0.999999981507,0.000188344391374,-2.06930864022e-05,3.29304257972e-05,1793249679832717824
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,718,681.692074509,665.307925491,639,886,785,816,652,629.307925491,654.692074509,0.439441026784,-0.0155610962111,0.0499746656278,0.999999985076,0.000165567011914,-3.58896208404e-05,3.38654753098e-05,1793249679849384704
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.722479427,746,718,682,665,639,886,785,816.277520573,652,629.277520573,655,0.44020797571,-0.0155627476651,0.0499666617232,0.999999985769,0.000157231080844,-5.09740195357e-05,3.37865085988e-05,1793249679866051328
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+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,886.434403626,785.434403626,817,652,630,655,0.441704422135,-0.0155646203679,0.0499676390293,0.999999983688,0.000172605342788,-4.03217094495e-05,3.47335770694e-05,1793249679899384576
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,886.989848882,786,817,652,630,654.989848882,0.442447422017,-0.0155676037675,0.0499885644153,0.999999982945,0.000180744149367,-2.21870008923e-06,3.78922931288e-05,1793249679916051200
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,886.403909507,786,817,652,630,654.403909507,0.44312132532,-0.0155649926798,0.0499887032524,0.999999981419,0.000188927397791,-3.66105966285e-06,3.81570939211e-05,1793249679932718592
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,718,681.820234518,665,638.820234518,886.179765482,785.820234518,817,652,630,654,0.443762309624,-0.0155641288553,0.0499719542063,0.99999997961,0.000195512630909,-3.39767688153e-05,3.74296810387e-05,1793249679949385728
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,718,681.241583906,665,638.241583906,886.758416094,785.241583906,817,652,630,654,0.444330249449,-0.0155671420668,0.0499177323077,0.999999971455,0.000198551997199,-0.000128360116174,3.45006257332e-05,1793249679966051840
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638,887,785,817,652.334221938,630,654,0.444908670833,-0.0155731117065,0.0498825855029,0.999999964031,0.000199031324409,-0.000176723543824,3.30555191225e-05,1793249679982718720
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,638,887,785,817,652.907988832,630,654,0.44549460457,-0.0155812002896,0.049861110283,0.999999961476,0.000197675810294,-0.000192103375522,3.26739948018e-05,1793249679999385344
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,718,681,664.51643512,638,886.51643512,785,817,652.51643512,630,654.48356488,0.446085038594,-0.0155876169826,0.0498731420112,0.99999996654,0.000199020537488,-0.000161633274444,3.44190302994e-05,1793249680016051968
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,681.061020288,664,638,886.061020288,785,817,652.061020288,630,654.938979712,0.446664570339,-0.0155930464577,0.0498866130972,0.999999970364,0.000201421098517,-0.000131848711256,3.63038353231e-05,1793249680032718848
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,681.651791727,664,638,886.651791727,785,817,652.651791727,630,654.348208273,0.447141991419,-0.0155926775095,0.0498570221045,0.999999960683,0.000208510667677,-0.000184039562179,3.58760043263e-05,1793249680049385472
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664.237860432,638,887,785.237860432,817,652.762139568,630,654.237860432,0.447601805815,-0.0155938158057,0.0498250130597,0.999999948908,0.000212080699081,-0.00023660780962,3.49538818706e-05,1793249680066052096
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.817178144,638,887,785.817178144,817,652.182821856,630,654.817178144,0.448036345135,-0.0155971178059,0.049789532816,0.999999935301,0.00021059830599,-0.000289717819115,3.33221861745e-05,1793249680082718720
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638,887.393525898,785.212948205,817,652,630,655,0.448467548413,-0.0155994159826,0.0497776346891,0.999999937774,0.0001679805521,-0.000308418742995,3.33658506941e-05,1793249680099385600
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+206,3.433333333,POSE1_TO_POSE2_PRESS,767.453696709,746,718,682,664.453696709,637,887,784.546303291,817,652.546303291,630,655,0.450920049712,-0.01562351208,0.0497895784506,0.999999948831,1.83165760568e-05,-0.000319327061025,5.78997005636e-06,1793249680216051968
+207,3.450000000,POSE1_TO_POSE2_PRESS,768,746,718,682.028180756,664.971819244,637,887,784,817.028180756,652.028180756,629.971819244,654.971819244,0.451160138523,-0.0156234145474,0.049775164538,0.999999939146,2.82313261093e-05,-0.000347665012599,6.34595715098e-06,1793249680232718592
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+232,3.866666667,POSE1_TO_POSE2_PRESS,767.531365302,746,718,683,664,637,887.531365302,783.531365302,817,652.468634698,629,655,0.452962405508,-0.0156135913939,0.0497211398824,0.999999900345,8.46558139107e-05,-0.000438180119459,1.19300903917e-05,1793249680649384960
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,746,718.109162471,682.890837529,664.109162471,637,887.890837529,784,817,652,629,654.890837529,0.452963347912,-0.0156133153495,0.0497213246031,0.999999900379,8.54048997101e-05,-0.000437957712982,1.18846009949e-05,1793249680666051584
+234,3.900000000,POSE1_TO_POSE2_PRESS,768,746,718.700654722,682.299345278,664.700654722,637,887.299345278,784,817,652,629,654.299345278,0.452965072717,-0.015612779597,0.0497209425883,0.999999900501,8.37147300964e-05,-0.000437998448946,1.21219845553e-05,1793249680682718720
+235,3.916666667,POSE1_TO_POSE2_PRESS,768,746,718.713983891,682,665,637,887,783.713983891,817,652.286016109,629,654.286016109,0.452965191204,-0.0156127960219,0.0497199853765,0.999999899945,8.30739126545e-05,-0.000439389122443,1.21025415445e-05,1793249680699385344
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,746,718.134904358,682,665,637,887,783.134904358,817,652.865095642,629,654.865095642,0.452963663793,-0.0156133782295,0.0497184387953,0.999999898689,8.35083027752e-05,-0.00044216299537,1.18199438926e-05,1793249680716051968
+237,3.950000000,POSE1_TO_POSE2_PRESS,768,746,718,682.440612729,664.559387271,637,887,783.440612729,817,652.559387271,629,655,0.452964623474,-0.0156117770053,0.0497186124112,0.999999898905,8.55460231366e-05,-0.000441290959945,1.15868364297e-05,1793249680732718848
+238,3.966666667,POSE1_TO_POSE2_PRESS,768,746,718,683,664,637,887,784,817,652.014949503,628.985050497,655,0.452966281844,-0.015609633936,0.0497192914255,0.999999899537,8.79251271776e-05,-0.000439393105924,1.13952968361e-05,1793249680749385472
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,746,718,683,664,637,887,784,817,652.585632272,628.414367728,655,0.452965832903,-0.0156120002253,0.0497193363323,0.999999899291,8.48925205794e-05,-0.000440525390477,1.21902353473e-05,1793249680766052096
+240,4.000000000,POSE1_TO_POSE2_PRESS,768,746,718,683,664,637,887,784,817.163013514,652.836986486,628.163013514,655,0.452965937711,-0.0156132355992,0.0497195054912,0.999999899231,8.31912099464e-05,-0.000440975065265,1.25665051583e-05,1793249680782718720
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,746,718,683,664,637,887,784,817.758151368,652.241848632,628.758151368,655,0.452967510424,-0.0156114730864,0.0497200040237,0.999999899685,8.50189651368e-05,-0.000439615244042,1.18329470827e-05,1793249680799385344
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,746,718,682.656995197,664.343004803,637,887,784,818,652.343004803,629,654.656995197,0.45296706724,-0.0156104922208,0.0497194261392,0.999999899221,8.62812755759e-05,-0.00044042995684,1.15852295866e-05,1793249680816051712
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,746,718,682.079182116,664.920817884,637,887,784,818,652.920817884,629,654.079182116,0.452965244046,-0.0156100464417,0.0497181113799,0.999999898127,8.71565035816e-05,-0.00044273327447,1.16701004356e-05,1793249680832718336
+244,4.066666667,HOLD_POSE2,768,746,718,682,665,636,887,784,817,653,629,655,0.452967833749,-0.0156116523719,0.0497192061997,0.999999899624,8.3431787036e-05,-0.00044005583903,1.18737224845e-05,1793249680864086016
+245,4.083333333,HOLD_POSE2,767.423182937,746,718,682,664.423182937,636,886.423182937,783.423182937,817,652.423182937,629,655,0.452966586712,-0.0156104502878,0.0497182930924,0.999999898736,8.3730763703e-05,-0.00044202254337,1.1551203336e-05,1793249680880752896
+246,4.100000000,HOLD_POSE2,767.15886621,746,718,682,664,636.15886621,886.31773242,783.15886621,817.15886621,652.15886621,629,654.84113379,0.45296582459,-0.0156097374416,0.049717959481,0.999999898298,8.37900284629e-05,-0.000443005365029,1.13436305646e-05,1793249680897419520
+247,4.116666667,HOLD_POSE2,767.75532719,746,718,682,664,636.75532719,887.510654379,783.75532719,817.75532719,652.75532719,629,654.24467281,0.452966398165,-0.015610372194,0.0497192220827,0.999999899111,8.31890101688e-05,-0.000441278095945,1.14526759213e-05,1793249680914086400
+248,4.133333333,HOLD_POSE2,767.660904382,746,718,682,664,637,887.660904382,783.660904382,818,652.660904382,629,654,0.452966297791,-0.0156109332676,0.0497188641788,0.999999898992,8.374469771e-05,-0.000441441527654,1.15274147827e-05,1793249680930753024
+249,4.150000000,HOLD_POSE2,767.085963807,746,718,682,664,637,887.085963807,783.085963807,818,652.085963807,629,654,0.452965728679,-0.0156114430967,0.0497173791941,0.999999898222,8.51048876848e-05,-0.000442919963916,1.15782930702e-05,1793249680947419392
+250,4.166666667,HOLD_POSE2,767.488362872,746,718,682,664,637,887,783,817.511637128,652.488362872,629,654,0.452967158621,-0.0156125734637,0.0497182322016,0.999999899017,8.32013147469e-05,-0.000441474260805,1.20026671815e-05,1793249680964086016
+251,4.183333333,HOLD_POSE2,768,746,718,682,664,637,887,783.064341346,817,653,628.935658654,654.064341346,0.452968758588,-0.0156132639489,0.0497193523688,0.999999899921,8.13808565627e-05,-0.000439752157268,1.23870894307e-05,1793249680980752640
+252,4.200000000,HOLD_POSE2,768,746,718,682,664,637,887,783.654706459,817,653,628.345293541,654.654706459,0.452968875389,-0.0156094662828,0.0497192963456,0.999999899534,8.49308591768e-05,-0.000439973156561,1.19080649305e-05,1793249680997419520
+253,4.216666667,HOLD_POSE2,767.759321324,746,718,682.240678676,664.240678676,637,887.240678676,784,817,653,628.240678676,655,0.452968369866,-0.0156075544558,0.0497189256294,0.999999899119,8.6030705646e-05,-0.000440710121777,1.16423812091e-05,1793249681014086656
+254,4.233333333,HOLD_POSE2,767.179538529,746,718,682.820461471,664.820461471,637,887.820461471,784,817,653,628.820461471,655,0.452966987521,-0.0156082996813,0.0497181115265,0.999999898672,8.36784053326e-05,-0.000442174056948,1.16772839305e-05,1793249681030753280
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+256,4.266666667,HOLD_POSE2,767.972248774,746,718,682.027751226,664.027751226,637,887.027751226,784,817,652.027751226,629,655,0.452970247908,-0.01560818929,0.0497198523291,0.999999900107,8.56232612984e-05,-0.000438531119567,1.20081737217e-05,1793249681064086528
+257,4.283333333,HOLD_POSE2,768,746,718,682,664,637,887,783.452763406,817,652.547236594,629,654.452763406,0.452969482971,-0.0156092484058,0.0497191325679,0.999999899446,8.43282061605e-05,-0.000440282948751,1.21473800152e-05,1793249681080752896
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+261,4.350000000,HOLD_POSE2,767,746,718,682,664,637,887,784,817,652.121334314,628,654,0.452969637186,-0.0156108262799,0.0497192490407,0.999999899353,8.45034534457e-05,-0.000440451193765,1.25197549014e-05,1793249681147419392
+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,783,817,653,629,655,0.452969195129,-0.0156087823903,0.0497175222483,0.999999898324,8.47099281084e-05,-0.000442770431327,1.14016490021e-05,1793249681179974144
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,636.424044691,887.575955309,783,817,652.424044691,629,654.424044691,0.45296846626,-0.0156105925514,0.0497182797783,0.999999898362,8.22141515331e-05,-0.000443142367941,1.1942961598e-05,1793249681196639744
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,636.156032775,888,783.156032775,817.156032775,652.156032775,628.843967225,654,0.452968472248,-0.0156113027251,0.0497189898933,0.999999898678,8.11485728216e-05,-0.000442619026234,1.2163068634e-05,1793249681213305600
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,636.747617004,888,783.747617004,817.747617004,652.747617004,628.252382996,654,0.452970529526,-0.0156089423833,0.0497195676541,0.999999899777,8.40752622267e-05,-0.000439596595716,1.14865593664e-05,1793249681229972224
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767.667972926,746,718,682.332027074,664,637,887.667972926,784,817.667972926,652.667972926,628,654.332027074,0.452971477216,-0.0156091885847,0.0497197275373,0.999999900344,8.35086210287e-05,-0.000438414713153,1.14402105064e-05,1793249681246638848
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767.088900831,746,718,682.911099169,664,637,887.088900831,784,817.088900831,652.088900831,628,654.911099169,0.452971599315,-0.0156113741868,0.0497195764984,0.999999900516,8.03427641098e-05,-0.000438602292011,1.18627330631e-05,1793249681263305472
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767.485958731,746,718,682.514041269,664,637,887,783.514041269,817,652.485958731,628,655,0.452970041021,-0.015609528915,0.0497189177287,0.999999899504,8.28364885084e-05,-0.000440449230783,1.1579858882e-05,1793249681279972096
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,636.938201942,887,783,817,653,628,655,0.452968134013,-0.0156073370328,0.0497181463343,0.999999898353,8.56821041798e-05,-0.000442524100762,1.1219555627e-05,1793249681296638720
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,636.347436535,887,783,817,653,628,655,0.45296585084,-0.0156084359495,0.0497171991333,0.999999897956,8.2753668916e-05,-0.000443973933339,1.12915686111e-05,1793249681313305344
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.762019456,746,718,682.237980544,664,636.237980544,887,783.237980544,817,653,628,654.762019456,0.452955861547,-0.01560838988,0.0497123705126,0.999999894696,8.12156798618e-05,-0.000451543882483,1.0979145513e-05,1793249681329972224
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.184239026,746,718,682.815760974,664,636.815760974,887,783.815760974,817,653,628,654.184239026,0.452934869091,-0.0156067089448,0.0497019998172,0.999999887171,8.16630359663e-05,-0.000467852423584,1.01178063692e-05,1793249681346638848
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767.392685877,746,718,682.607314123,664,637,887,783.607314123,817,653,628.392685877,654.392685877,0.452894466768,-0.0156050212978,0.0496852400075,0.999999873126,8.24925854228e-05,-0.000496860469781,8.57501578918e-06,1793249681363305216
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,783.554701477,817,653,629,655,0.452778063745,-0.0155999917948,0.0496444017274,0.999999838332,8.36191375949e-05,-0.000562424775179,4.6239752709e-06,1793249681396638976
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,746,718.138978728,682,664,637,887,784,817.138978728,652.861021272,628.861021272,655,0.452707731748,-0.0155960131868,0.0496256450654,0.99999982292,8.44156771461e-05,-0.000589090426586,2.64684217537e-06,1793249681413305344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,746,718.717813083,682,664,637,887,784,817.717813083,652.282186917,628.282186917,655,0.452629692915,-0.0155903036219,0.0496145034992,0.999999813734,8.75184843709e-05,-0.00060404512142,1.0650716652e-06,1793249681429971968
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,718.084438042,682.084438042,664.915561958,637,887,784,817,652.084438042,629,655,0.450858545321,-0.0154904112141,0.0496172811368,0.999999809314,0.000130331200469,-0.000603583304677,-8.57005159072e-06,1793249681613307136
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,718.674984322,682.674984322,664.325015678,637,887,784,817,652.674984322,629,655,0.450592102625,-0.0154842957797,0.049629467548,0.999999825422,0.000124650600766,-0.000577524838578,-9.08697748034e-06,1793249681629973760
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,718.740045679,682.740045679,664.259954321,637,887,784,817,652.740045679,629,655,0.450308002737,-0.0154788055584,0.0496422426371,0.999999840051,0.000119574030541,-0.000552722940312,-9.87914713416e-06,1793249681646640128
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,718.161901212,682.161901212,664.838098788,637,887,784,817,652.161901212,629,655,0.450002290048,-0.015474080613,0.049655738281,0.999999853136,0.000115236806841,-0.000529459112066,-1.10082215386e-05,1793249681663306496
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.585543507,637,887,784,817,652.414456493,629,655,0.449660038346,-0.0154757778002,0.0496623704889,0.999999863149,9.95545098657e-05,-0.000513451942358,-1.25547322962e-05,1793249681679972864
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.00988079,637,887,784,817,652.99011921,629,655,0.449303574505,-0.0154799729281,0.0496663331072,0.999999871608,7.94594544359e-05,-0.000500267309363,-1.42636082873e-05,1793249681696639488
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.564764183,746,718,682,664,637,887,784.564764183,817,653,629,654.435235817,0.448889678127,-0.0154734629057,0.0496653585674,0.999999867935,7.39982584354e-05,-0.000508311192214,-1.6559128531e-05,1793249681713306368
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.856516233,746.143483767,718,682,664.143483767,637.143483767,887,784.856516233,817,652.856516233,629.143483767,654.143483767,0.44846576137,-0.0154661929184,0.0496643105471,0.999999865958,6.81189627702e-05,-0.000512909167377,-1.91720332172e-05,1793249681729973248
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.265018693,746.734981307,718,682,664.734981307,637.734981307,887,784.265018693,817,652.265018693,629.734981307,654.734981307,0.448013688822,-0.0154571337637,0.0496633023123,0.999999870123,6.01362171119e-05,-0.000505590057963,-2.27439493887e-05,1793249681746640640
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746.680593924,718,682,664.680593924,638,887.319406076,784.319406076,817,652,630,655,0.447534645797,-0.0154483928464,0.049659804497,0.999999870325,5.25170585959e-05,-0.000505866856096,-2.62664590635e-05,1793249681763307520
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746.101910402,718,682,664.101910402,638,887.898089598,784.898089598,817,652,630,655,0.447033709476,-0.015439910257,0.0496542857681,0.999999867306,4.51930405776e-05,-0.000512309620988,-2.97488634702e-05,1793249681779973888
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746.472459908,718,682,664.472459908,638,887.527540092,784.527540092,817,652,630,655,0.446502056171,-0.0154342937548,0.049650552948,0.999999863831,3.44077173622e-05,-0.000519695668911,-3.27121832386e-05,1793249681796640512
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746.954197244,718,682,665,638,887,784.045802756,817,652,629.954197244,654.954197244,0.445964047073,-0.0154292789936,0.0496495384297,0.999999862168,2.2681218648e-05,-0.000523349406139,-3.54218518717e-05,1793249681813307392
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746.382066418,718,682,665,638,887,784.617933582,817,652,629.382066418,654.382066418,0.445428450379,-0.0154241391355,0.0496753737963,0.999999883232,8.64130035532e-06,-0.000481797532469,-3.64917688703e-05,1793249681829974016
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,886.802952968,785.197047032,817,652,629.197047032,654.197047032,0.444870442455,-0.0154184632601,0.0497054189548,0.999999902821,-5.31098866296e-06,-0.000439256893093,-3.71828385303e-05,1793249681846640128
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,886.209803123,785.790196877,817,652,629.790196877,654.790196877,0.444267383639,-0.0154117098859,0.0497439266115,0.999999921224,-1.90871249493e-05,-0.000394728645949,-3.71123514434e-05,1793249681863306496
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.371113983,746,718,682,665,638,886.371113983,785.628886017,817,652,630,654.628886017,0.443619376325,-0.0154031111323,0.0497518901584,0.999999923527,-3.14253320249e-05,-0.000387771658395,-3.98944486053e-05,1793249681879972864
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.945336173,746,718,682,665,638,886.945336173,785.054663827,817,652,630,654.054663827,0.442946769019,-0.015393502415,0.0497431371163,0.999999917546,-4.29765695938e-05,-0.000401377172243,-4.42377461183e-05,1793249681896639488
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.477946785,746,718,682,665,638,887,785.522053215,817,652,630,654,0.442261964555,-0.0153880488338,0.0497416506775,0.999999917831,-6.24661117428e-05,-0.000397596086084,-4.85214239111e-05,1793249681913306112
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,886.897834212,786,816.897834212,652,630,654,0.441578295014,-0.0153843977128,0.0497486156738,0.999999922817,-8.31197560061e-05,-0.000380491338838,-5.18113960763e-05,1793249681929972992
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,638,886.302601292,786,816.302601292,652,630,654,0.44090629634,-0.0153873356814,0.0497926787844,0.999999945777,-0.000105360696145,-0.000307913021166,-5.03358702138e-05,1793249681946639872
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.863067625,746,718,681.136932375,665,638,886.863067625,786,816,652,629.136932375,654,0.439382585916,-0.0153909403557,0.0498233092561,0.999999962523,5.76914064791e-05,-0.000262395733269,-5.26731362103e-05,1793249681979972608
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.579824816,746,718,681,665,638,886.579824816,786,816,652,629.420175184,654,0.438549353609,-0.0153846601406,0.0497927923289,0.999999946804,6.47742804655e-05,-0.000314158328553,-5.91710974481e-05,1793249681996639232
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.029383307,746,718,681,665,638,886.029383307,786,816,652,629.970616693,654,0.437703486994,-0.015375994098,0.0497511037267,0.999999923402,3.78132269187e-05,-0.000383760508142,-6.70419109951e-05,1793249682013305856
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.582445331,665,638,885.417554669,786,816,652,630,654,0.436902290496,-0.0153754723387,0.049758372072,0.999999925097,6.84317532512e-06,-0.000380697043637,-6.94874362834e-05,1793249682029972480
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.813983651,638,885,786,816,652,630,654,0.43608386511,-0.0153759401261,0.049770241767,0.999999929224,-2.5046871986e-05,-0.000368557997888,-7.13412151168e-05,1793249682046639360
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.235160166,638,885,786,816,652,630,654,0.435223738492,-0.0153775276905,0.0497859981979,0.999999935834,-5.84022591175e-05,-0.000345907324479,-7.25914633437e-05,1793249682063305984
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.342348664,638,885,786,816,652,630,654,0.43434295882,-0.015376503913,0.0497813896222,0.999999931679,-8.58748434515e-05,-0.000351357633048,-7.62559410856e-05,1793249682079972608
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.508246672,638,885,786,816,652,630,654,0.432596381548,-0.0153742594837,0.049781770226,0.999999930572,-0.00010156431184,-0.000350028656007,-7.75952705943e-05,1793249682113305856
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,638,884.933844869,786,815.933844869,652,629.933844869,654,0.431745769342,-0.0153740698502,0.0498029818695,0.999999942764,-8.01103924265e-05,-0.000321121173265,-7.02463838143e-05,1793249682129972480
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,638,884.341713064,786,815.341713064,652,629.341713064,654,0.430847300659,-0.0153634800296,0.0497936618878,0.999999942659,9.66518743909e-06,-0.000335065193604,-4.81735312214e-05,1793249682146639104
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,681.755456793,664,638,884,786.244543207,815,652,629.244543207,654,0.429932616033,-0.0153548502798,0.0497770747421,0.999999933093,6.24143340564e-05,-0.000358371360592,-3.85828177111e-05,1793249682163305472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.177217998,664,638,884,786.822782002,815,652,629.822782002,654,0.428995803537,-0.0153488951764,0.0497505710629,0.999999919055,6.46384448679e-05,-0.000394452808684,-4.60248164541e-05,1793249682179972352
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745.602895707,718,681.397104293,664,638,884,786.602895707,815,652,630,654,0.428068031826,-0.0153504928721,0.0497563618561,0.999999920824,4.81806261928e-05,-0.000391837931024,-4.99359267801e-05,1793249682196639232
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,745.030304222,718,681.969695778,664,638,884,786.030304222,815,652,630,654,0.427144255448,-0.0153554282795,0.0497764241317,0.99999992912,2.34669425474e-05,-0.000372122481481,-5.22866765308e-05,1793249682213306112
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767.541179816,745.541179816,718,681.458820184,663.458820184,638,884,786,815,652,630,654,0.4262237964,-0.0153541094298,0.0497633473266,0.999999922652,2.38535075148e-06,-0.000389318812401,-5.58670425532e-05,1793249682229972736
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767.882312476,746,718,681,663,638,883.764624953,786,815,652,630,654,0.425321036877,-0.0153540084666,0.0497578162434,0.999999922161,-1.74303529105e-05,-0.00038982861671,-5.8373324547e-05,1793249682246639104
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767.285082643,746,718,681,663,638,882.570165287,786,815,652,630,654,0.424489642427,-0.0153602941539,0.0497905776692,0.999999948598,-3.29149719449e-05,-0.000313940741998,-5.62230391136e-05,1793249682263305984
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745.697427413,718,681,663,638,882.302572587,786,815,652,630,654,0.423624750052,-0.015363300648,0.0498158606936,0.999999963261,-2.27149412141e-05,-0.000264563421916,-5.4482205591e-05,1793249682279972352
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745.118516657,718,681,663,638,882.881483343,786,815,652,630,654,0.42272926422,-0.0153633122696,0.0498343137261,0.999999969874,1.09427642627e-05,-0.000239398076008,-5.31153229096e-05,1793249682296638976
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745.457201687,718,681,663,638,882.542798313,786,814.542798313,652,629.542798313,654,0.421787307672,-0.0153629074334,0.0498102161025,0.999999957543,6.6708809061e-07,-0.000286049198649,-5.55811529309e-05,1793249682313305600
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.031923395,746,718,681,663,638,882,786,814,652,629.031923395,654,0.420839039181,-0.0153624571378,0.0497778515808,0.99999993788,-2.03503760032e-05,-0.000346946026487,-5.87809616409e-05,1793249682329972224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.603687895,746,718,681,663,638,882,786,814,652,629.603687895,654,0.419986329049,-0.0153630510154,0.0497909202066,0.999999941344,-3.17671240209e-05,-0.0003361150862,-5.77082441581e-05,1793249682346639104
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,745.217078949,718,679.434157898,662.217078949,638,881.217078949,786,813.217078949,652,629.217078949,654,0.418230519991,-0.0153569184513,0.0497753506386,0.999999924264,-1.48645643336e-05,-0.000384456033025,-5.8698811141e-05,1793249682379972608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.634029962,745.365970038,718.365970038,679.365970038,662.365970038,638,881,786,813.365970038,652,629.365970038,654,0.417395725504,-0.0153561096896,0.0497674540312,0.999999920772,-9.1627769169e-06,-0.000393318643459,-6.06016292804e-05,1793249682396639232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.060093679,745.939906321,718.939906321,679.939906321,662.939906321,638,881,786,813.939906321,652,629.939906321,654,0.416593022318,-0.0153576869463,0.049765779022,0.999999924647,-1.10115694537e-05,-0.000382933101651,-6.28317036684e-05,1793249682413305856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.511986567,746,718.488013433,680,662.488013433,638.511986567,881,786,813.488013433,652,630,654,0.415815599243,-0.0153626219491,0.0497901029297,0.999999941164,-2.5211515149e-05,-0.000336733651087,-6.03830841962e-05,1793249682429972480
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.266539671,718,679,662,638,881,785.733460329,814,652,630,654,0.413492471096,-0.0153641063414,0.04978400734,0.999999938665,-3.95101811506e-05,-0.000342556300543,-6.13492382662e-05,1793249682479972608
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.843154678,718,679,662,638,881,785.156845322,814,652,630,654,0.412731732359,-0.0153638680895,0.0497633706593,0.999999925972,-3.94780917289e-05,-0.000377396393169,-6.37996612293e-05,1793249682496639488
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.992924508,746,718,679,662.992924508,638,880.007075492,785,813.007075492,652,630,654,0.41135283464,-0.0153640568546,0.0498004558908,0.999999941908,-4.58846790574e-05,-0.000332240599496,-6.07812878536e-05,1793249682529972736
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767.416584097,745.416584097,718.583415903,679.583415903,662.416584097,638,880,785.583415903,813,652,630,654,0.410680111652,-0.0153621482784,0.0498102308155,0.99999994712,-4.47597892228e-05,-0.000316625639561,-5.91943180531e-05,1793249682546638848
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767.789502128,745.789502128,718.789502128,678.789502128,662,638,879.789502128,785,812.789502128,652,629,653.210497872,0.406088998714,-0.0153660143197,0.0497900379135,0.999999928361,-8.24212186169e-05,-0.000364107079054,-6.25366391441e-05,1793249682679974144
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a73a1102ebea14b61a2d955c137fa2e3bc6d3fea
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_04/simulation_data.csv
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+365,6.083333333,pose2_to_pose3_retreat,0.576539372325,-0.00984981274803,1.04003365901,0.547110049287,-0.00117718413796,1.03970505174
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+374,6.233333333,pose2_to_pose3_retreat,0.57578980517,-0.00984999501686,1.04003372238,0.54636048456,-0.00117735836403,1.0397051105
+375,6.250000000,pose2_to_pose3_retreat,0.575756935851,-0.00985002467248,1.04003356272,0.546327616171,-0.00117738477198,1.03970495323
+376,6.266666667,pose2_to_pose3_retreat,0.575730479758,-0.00984995951253,1.04003340609,0.546301159265,-0.00117732229415,1.0397047987
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+378,6.300000000,pose2_to_pose3_retreat,0.575694672935,-0.00985000968806,1.04003330057,0.54626535317,-0.00117737003885,1.0397046924
+379,6.316666667,pose2_to_pose3_retreat,0.575683461675,-0.00984988805204,1.0400334791,0.546254139987,-0.00117725483502,1.03970487349
+380,6.333333333,pose2_to_pose3_retreat,0.57567647891,-0.00984998875033,1.04003364132,0.546247157833,-0.00117735385369,1.03970502499
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+382,6.366666667,pose2_to_pose3_retreat,0.575670247493,-0.00984990319915,1.04003349374,0.546240925642,-0.00117727055348,1.03970488717
+383,6.383333333,pose2_to_pose3_retreat,0.575669139962,-0.00984984618747,1.04003341444,0.546239817624,-0.0011772149732,1.03970481373
+384,6.400000000,pose2_to_pose3_retreat,0.575668774044,-0.00984982735134,1.04003338824,0.546239451546,-0.00117719660998,1.03970478947
+385,6.416666667,pose2_to_pose3_retreat,0.575668224967,-0.00984981014802,1.04003337754,0.546238902293,-0.00117717997093,1.03970477956
+386,6.433333333,pose2_to_pose3_retreat,0.57566753559,-0.00984981140278,1.04003342321,0.546238212833,-0.00117718163374,1.03970482189
+387,6.450000000,pose2_to_pose3_retreat,0.575667045345,-0.00984981229509,1.04003345568,0.546237722529,-0.00117718281624,1.039704852
+388,6.466666667,pose2_to_pose3_retreat,0.575666597116,-0.00984981311093,1.04003348538,0.546237274246,-0.0011771838974,1.03970487952
+389,6.483333333,pose2_to_pose3_retreat,0.575666002564,-0.0098498141931,1.04003352477,0.546236679622,-0.00117718533149,1.03970491603
+390,6.500000000,pose2_to_pose3_retreat,0.575665737995,-0.00984981341368,1.04003359682,0.546236415147,-0.00117718433394,1.03970498554
+391,6.516666667,pose2_to_pose3_retreat,0.575665700537,-0.00984981319172,1.04003361184,0.546236377713,-0.00117718404794,1.0397050001
+392,6.533333333,pose2_to_pose3_retreat,0.57566560297,-0.00984981261359,1.04003365098,0.546236280208,-0.00117718330298,1.03970503802
+393,6.550000000,pose2_to_pose3_retreat,0.575665559779,-0.00984981235767,1.04003366831,0.546236237045,-0.0011771829732,1.0397050548
+394,6.566666667,pose2_to_pose3_retreat,0.575665473024,-0.00984981184361,1.04003370311,0.546236150346,-0.00117718231081,1.03970508852
+395,6.583333333,pose2_to_pose3_retreat,0.575665297676,-0.0098498108046,1.04003377345,0.546235975111,-0.00117718097196,1.03970515667
+396,6.600000000,pose2_to_pose3_retreat,0.575665026615,-0.00984980919845,1.04003388219,0.546235704225,-0.00117717890233,1.03970526201
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b89e9173cc20f2ecd1b81006b53ef835a014114
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7e841c08201c5fad435cf4d7fe5928eeccd4d40b139d219f4434cc9c7aaece2
+size 25719989
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6160e28cb149e5b93af1ed9d65e8bdbe2950f1cb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
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+34,0.566666667,BASELINE,767.250918325,745.749081675,718,678.250918325,662,638,879,785,813,652,630,653.749081675,0.400980391603,-0.0154060340532,0.0498514986387,0.999999964742,-1.2922708179e-05,-0.000261575209443,-4.39081899134e-05,1793249684246005504
+35,0.583333333,BASELINE,767.326700017,746,718.326700017,678,662,638,879,785,813,652,630,654,0.400979424014,-0.0154062607417,0.0498516218405,0.999999964595,-1.37653403699e-05,-0.000262107612335,-4.38080357783e-05,1793249684262671872
+36,0.600000000,BASELINE,767.90347506,746,718.90347506,678,662,638,879,785,813,652,630,654,0.400978076873,-0.015406817852,0.0498514803791,0.999999964414,-1.64030818616e-05,-0.000262689859026,-4.35560257919e-05,1793249684279338496
+37,0.616666667,BASELINE,768,746,718.524089014,678,661.524089014,638,879,785,813,652,630,653.524089014,0.400978890829,-0.0154060143053,0.0498514010916,0.999999964462,-1.60549724658e-05,-0.000262507814283,-4.36734123282e-05,1793249684296004864
+38,0.633333333,BASELINE,767.95081343,746,718,678.04918657,661.04918657,638,879,785,813,652,630,653,0.400980098497,-0.0154050137836,0.0498513620179,0.99999996457,-1.50732596107e-05,-0.00026212605373,-4.38458757304e-05,1793249684312671488
+39,0.650000000,BASELINE,767.358640642,746,718,678.641359358,661.641359358,638,879,785,813,652,630,653,0.400980857467,-0.0154048577898,0.0498516289285,0.999999964824,-1.37219433126e-05,-0.00026123536139,-4.38067405424e-05,1793249684329338368
+40,0.666666667,BASELINE,767,745.770390574,718,678.770390574,662.229609426,638,879,785,813,652,630,653,0.400981119861,-0.0154047126814,0.0498517265332,0.999999964919,-1.31946497968e-05,-0.000260904485413,-4.37801588771e-05,1793249684346005248
+41,0.683333333,BASELINE,767,745.188164751,718,678.188164751,662.811835249,638,879,785,813,652,630,653,0.400980619651,-0.0154045842899,0.049851564131,0.999999964771,-1.39328268155e-05,-0.000261433332161,-4.37728559436e-05,1793249684362671616
+42,0.700000000,BASELINE,767.388295526,745.388295526,718,678.388295526,662.611704474,638,878.611704474,785,812.611704474,652,629.611704474,653,0.400980511772,-0.0154051719286,0.0498521333413,0.999999964898,-1.4418007292e-05,-0.000260951817478,-4.35966882899e-05,1793249684379338240
+43,0.716666667,BASELINE,767.96200273,745.96200273,718,678.96200273,662.03799727,638,878.03799727,785,812.03799727,652,629.03799727,653,0.400980591233,-0.0154061014728,0.0498530518978,0.999999965155,-1.47823815314e-05,-0.000259987853731,-4.33398874875e-05,1793249684396004864
+44,0.733333333,BASELINE,768,746,718,679,662,638,878.547642763,785,812,652,630.095285525,653,0.400980297558,-0.0154052836001,0.0498521451755,0.999999964882,-1.36104471742e-05,-0.000261038025549,-4.3699993344e-05,1793249684412671488
+45,0.750000000,BASELINE,768,746,718,679,662,638,879.132520648,785,812.132520648,652,630.867479352,653,0.400980153994,-0.0154046485822,0.0498515297176,0.999999964688,-1.26305501267e-05,-0.000261787928983,-4.39430707191e-05,1793249684429338368
+46,0.766666667,BASELINE,768,746,718,679,662,638,879.711973568,785,812.711973568,652,630.288026432,653,0.400980605948,-0.0154050482522,0.049852333189,0.999999964896,-1.26658101081e-05,-0.000261043359505,-4.36438930543e-05,1793249684446004992
+47,0.783333333,BASELINE,767.709213731,746,718,678.709213731,662,638,879.709213731,785,813,652,630,653,0.400980525505,-0.0154061918074,0.0498526085221,0.999999964946,-1.41689252869e-05,-0.000260817376181,-4.33730303592e-05,1793249684462671616
+48,0.800000000,BASELINE,767.13103371,746,718,678.13103371,662,638,879.13103371,785,813,652,630,653,0.400979918875,-0.0154080705691,0.0498523618786,0.999999964836,-1.71227706343e-05,-0.000261103928726,-4.31301522552e-05,1793249684479338240
+49,0.816666667,BASELINE,767.444838607,746,718,678,662,638,879,785.444838607,813,652,629.555161393,653.444838607,0.400980712294,-0.0154068357599,0.0498529551856,0.999999965118,-1.58013887031e-05,-0.000260039034104,-4.35243894024e-05,1793249684496005120
+50,0.833333333,BASELINE,767.979585725,746,718,678,662,638,879,785.979585725,813,652.020414275,629.020414275,653.979585725,0.400981826338,-0.015404759831,0.0498537211483,0.999999965479,-1.32530402301e-05,-0.000258697273054,-4.40688722649e-05,1793249684512671744
+51,0.850000000,BASELINE,767.393490041,746,718,678,662,638,879,785.393490041,813,652.606509959,629.606509959,653.393490041,0.400980456139,-0.0154046594847,0.0498524507777,0.999999965013,-1.14214020651e-05,-0.00026065765337,-4.36031203819e-05,1793249684529338368
+52,0.866666667,BASELINE,767,745.808638349,718,678,662,638,879,785,812.808638349,652.808638349,630,653,0.400979644039,-0.0154048756099,0.0498514634355,0.999999964744,-1.07743329707e-05,-0.000261751147865,-4.33928987378e-05,1793249684546004992
+53,0.883333333,BASELINE,767,745.226328146,718,678,662,638,879,785,812.226328146,652.226328146,630,653,0.400979972128,-0.0154057382807,0.0498510543157,0.999999964887,-1.25473181539e-05,-0.000261073609473,-4.370472099e-05,1793249684562671616
+54,0.900000000,BASELINE,767,745.351455451,718,678,662,638,879,785.351455451,812.351455451,652,630,653,0.400979946526,-0.0154057709499,0.0498511662861,0.999999964853,-1.40225236076e-05,-0.000261086068166,-4.39458700507e-05,1793249684579338240
+55,0.916666667,BASELINE,767,745.926361076,718,678,662,638,879,785.926361076,812.926361076,652,630,653,0.400979696053,-0.0154052759162,0.049851609558,0.999999964708,-1.53084050482e-05,-0.000261537216822,-4.41420861304e-05,1793249684596005120
+56,0.933333333,BASELINE,767,746,718,678,662,638,879,785.497061838,812.497061838,652,630,653,0.400980847079,-0.0154054155994,0.0498521735825,0.999999965014,-1.47182221927e-05,-0.00026043541926,-4.39098346953e-05,1793249684612671744
+57,0.950000000,BASELINE,767,746,718,678.08117163,662,638,879.08117163,785,812.08117163,652,630,653.08117163,0.400981918511,-0.0154055458639,0.0498526794024,0.999999965306,-1.38339904247e-05,-0.000259408750859,-4.362038874e-05,1793249684629338368
+58,0.966666667,BASELINE,767,746,718,678.668197042,662,638,879.668197042,785,812.668197042,652,630,653.668197042,0.400981210843,-0.0154050363478,0.0498527119473,0.999999965107,-1.28348151998e-05,-0.000260272006149,-4.33667750514e-05,1793249684646004992
+59,0.983333333,BASELINE,767,746,718.252166312,679,662,638,880,785,812.747833688,652,630,653.747833688,0.400980742742,-0.0154047267814,0.0498528455755,0.999999965009,-1.29364726537e-05,-0.000260638610865,-4.33767677459e-05,1793249684662671360
+60,1.000000000,BASELINE,767,746,718.832162512,679,662,638,880,785,812.167837488,652,630,653.167837488,0.400980586089,-0.0154046771604,0.0498531106173,0.999999965046,-1.44692721864e-05,-0.000260359543003,-4.37294630078e-05,1793249684679338240
+61,1.016666667,BASELINE,767,745.591208122,718.591208122,678.591208122,662,638,879.591208122,785,812.408791878,652,630,653.408791878,0.400980584251,-0.0154056019009,0.0498529751758,0.999999965034,-1.58760203522e-05,-0.000260320914959,-4.3742374325e-05,1793249684696005120
+62,1.033333333,BASELINE,767,745.015949819,718.015949819,678.015949819,662,638,879.015949819,785,812.984050181,652,630,653.984050181,0.400980645456,-0.0154069234167,0.0498526766513,0.999999965001,-1.72314383445e-05,-0.000260380197772,-4.36169203019e-05,1793249684712671744
+63,1.050000000,BASELINE,767.554860003,745.554860003,718,678.554860003,662,638,878.445139997,785,813,652,630,654,0.400980237639,-0.0154067001326,0.0498519059764,0.999999964864,-1.56931678991e-05,-0.000261009974858,-4.35817811604e-05,1793249684729338368
+64,1.066666667,BASELINE,767.869517449,746,718.130482551,679,662,638,878.130482551,785,812.869517449,652,630,654,0.40098028221,-0.0154062485428,0.0498515231087,0.999999964884,-1.44180840375e-05,-0.000261005050804,-4.35981430063e-05,1793249684746004992
+65,1.083333333,BASELINE,767.276380565,746,718.723619435,679,662,638,878.723619435,785,812.276380565,652,630,654,0.400981978246,-0.0154051436454,0.0498525630363,0.999999965477,-1.43687762471e-05,-0.000258691970857,-4.37879807916e-05,1793249684762671616
+66,1.100000000,BASELINE,767.309930453,746,718.690069547,678.690069547,662,638,879,785,812,652.309930453,630,654,0.400982606812,-0.0154052051544,0.0498529630346,0.999999965663,-1.50509940175e-05,-0.000257937563179,-4.37696045398e-05,1793249684779338240
+67,1.116666667,BASELINE,767.890285641,746,718.109714359,678.109714359,662,638,879,785,812,652.890285641,630,654,0.400982303973,-0.0154062843923,0.0498528046729,0.999999965495,-1.63714924261e-05,-0.000258543149558,-4.35695545334e-05,1793249684796004608
+68,1.133333333,BASELINE,768,745.532961452,718,678.467038548,662,638,879,785,812.467038548,652.532961452,630,654,0.40098128398,-0.0154066616218,0.0498521470591,0.999999965122,-1.66654440835e-05,-0.000259953121933,-4.36278902845e-05,1793249684812671488
+69,1.150000000,BASELINE,767.956148039,745.043851961,718,679,662,638.043851961,879.043851961,785,812.956148039,652.043851961,630,654,0.40098018931,-0.0154067282329,0.0498514761488,0.999999964745,-1.64481504111e-05,-0.000261394898898,-4.37361116104e-05,1793249684829338112
+70,1.166666667,BASELINE,767.36816439,745.63183561,718,679,662,638.63183561,879.63183561,785,812.36816439,652.63183561,630,654,0.400980242454,-0.0154049712057,0.0498520843892,0.999999964926,-1.28565240519e-05,-0.000260904548243,-4.37159243964e-05,1793249684846004736
+71,1.183333333,BASELINE,767,746,718.216513762,679,662,638.783486238,879.783486238,785,812.216513762,653,630,653.783486238,0.400980867048,-0.0154043510434,0.0498526048895,0.999999965139,-1.22700076665e-05,-0.000260123637295,-4.36811308155e-05,1793249684862671616
+72,1.200000000,BASELINE,767,746,718.795655795,679,662,638.204344205,879.204344205,785,812.795655795,653,630,653.204344205,0.400982448732,-0.0154056349602,0.0498529784382,0.999999965406,-1.67166018725e-05,-0.0002588560811,-4.36218737445e-05,1793249684879338240
+73,1.216666667,BASELINE,767.372679857,746,718.627320143,679,662,638,879.372679857,785,813,653,630,653.372679857,0.400982153556,-0.015406033912,0.0498527468738,0.999999965309,-1.69199365442e-05,-0.000259208127101,-4.3664270127e-05,1793249684896004864
+74,1.233333333,BASELINE,767.948549141,746,718.051450859,679,662,638,879.948549141,785,813,653,630,653.948549141,0.400980835093,-0.0154059503702,0.0498521853944,0.999999965017,-1.48097961097e-05,-0.000260443199283,-4.37620891677e-05,1793249684912671744
+75,1.250000000,BASELINE,767.476456785,745.476456785,718,678.476456785,662,638,879.476456785,785,813,652.476456785,630,653.476456785,0.400979837236,-0.0154067335871,0.0498517615621,0.999999964766,-1.61472383811e-05,-0.000261355992556,-4.35963604437e-05,1793249684929338112
+76,1.266666667,BASELINE,767.100855864,745.100855864,718,678,662,638,879,785,813,652,630,653,0.400979431299,-0.0154070442054,0.0498516908965,0.999999964678,-1.69497006422e-05,-0.000261657458205,-4.35033715883e-05,1793249684946004736
+77,1.283333333,BASELINE,767.689804823,745.689804823,718,678,662,638,879,785,813,652,630,653,0.400981737737,-0.0154046561348,0.0498532640299,0.999999965365,-1.35261880972e-05,-0.000259153416836,-4.38875422145e-05,1793249684962671360
+78,1.300000000,BASELINE,767.725177057,746,718,678,662,638.274822943,879,785,813,652,630,653,0.40098206434,-0.015404689466,0.0498535267595,0.99999996544,-1.4097734738e-05,-0.000258816672903,-4.39982564574e-05,1793249684979338240
+79,1.316666667,BASELINE,767.144533185,746,718,678,662,638.855466815,879,785,813,652,630,653,0.400980187796,-0.0154074173151,0.0498523312812,0.999999964826,-1.91149537858e-05,-0.000260891681615,-4.38046704428e-05,1793249684996004864
+80,1.333333333,BASELINE,767,746,718,678,662,638.567622071,879,785,812.567622071,652,630,653,0.40098006073,-0.0154060344913,0.049851910171,0.999999964759,-1.65526039956e-05,-0.00026128938227,-4.39874183315e-05,1793249685012671488
+81,1.350000000,BASELINE,767,746,718,678,662,638,879,785,812.008216583,652.008216583,630,653,0.400980515875,-0.0154033552541,0.0498517542319,0.999999964859,-1.15834989644e-05,-0.000261123975317,-4.42859862405e-05,1793249685029338624
+82,1.366666667,BASELINE,767,746,718,678,662,638,879,785,812.595657482,652.595657482,630,653,0.400981140878,-0.015405323117,0.0498521999491,0.999999965019,-1.40318548825e-05,-0.000260449299652,-4.39569887097e-05,1793249685046004992
+83,1.383333333,BASELINE,767.180432175,746,718,678.180432175,662,638,879,785,812.819567825,652.819567825,630,653.180432175,0.400981238404,-0.0154067621254,0.0498523623105,0.999999965063,-1.58743730939e-05,-0.000260216541943,-4.37054948461e-05,1793249685062671616
+84,1.400000000,BASELINE,767.759319104,746,718,678.759319104,662,638,879,785,812.240680896,652.240680896,630,653.759319104,0.400980171088,-0.0154070332465,0.0498518989273,0.999999964864,-1.63789989401e-05,-0.000260959687165,-4.36251550092e-05,1793249685079338240
+85,1.416666667,BASELINE,768,746,718,678.663479219,662.336520781,638,879,785,812.336520781,652,629.663479219,654,0.400980154084,-0.015406909244,0.0498520207865,0.9999999649,-1.64314754189e-05,-0.000260820144251,-4.36283751384e-05,1793249685096005376
+86,1.433333333,BASELINE,768,746,718,678.08747687,662.91252313,638,879,785,812.91252313,652,629.08747687,654,0.400980884524,-0.0154065040556,0.0498525591276,0.999999965101,-1.61621843984e-05,-0.000260052445316,-4.36910598666e-05,1793249685112673024
+87,1.450000000,BASELINE,768,745.513671322,718,678,662.513671322,638,879,785,812.513671322,652,629.486328678,653.513671322,0.400979931028,-0.0154063512786,0.0498524080828,0.999999964934,-1.5908051456e-05,-0.00026069882247,-4.37499403214e-05,1793249685129339392
+88,1.466666667,BASELINE,768,745.061504108,718,678.061504108,662,638,879,785.061504108,812.061504108,652.061504108,630,653,0.400978998633,-0.015406158104,0.0498522395595,0.999999964791,-1.5504636569e-05,-0.000261268405845,-4.37873800316e-05,1793249685146005760
+89,1.483333333,BASELINE,768,745.651840532,718,678.651840532,662,638,879,785.651840532,812.651840532,652.651840532,630,653,0.400980840313,-0.0154052289546,0.0498529821572,0.999999965412,-1.37943089696e-05,-0.000259000519794,-4.3646322472e-05,1793249685162672896
+90,1.500000000,BASELINE,767.761886339,746,718,679,662,638,879,785.761886339,813,652.761886339,630,653,0.400981625231,-0.015404954299,0.0498532381293,0.999999965651,-1.34226809654e-05,-0.000258103164437,-4.3604008951e-05,1793249685179339776
+91,1.516666667,BASELINE,767.181454751,746,718,679,662,638,879,785.181454751,813,652.181454751,630,653,0.400980890922,-0.0154056205593,0.0498527945169,0.999999965347,-1.49755998477e-05,-0.000259176117169,-4.37036522472e-05,1793249685196005888
+92,1.533333333,BASELINE,767,745.603795131,718,679,662,638,879,785,813,652,630,653,0.40098223568,-0.0154064535646,0.0498534275515,0.999999965714,-1.64787439784e-05,-0.000257688401107,-4.35510388967e-05,1793249685212672512
+93,1.550000000,BASELINE,767,745.027396151,718,679,662,638,879,785,813,652,630,653,0.400984525998,-0.0154073624057,0.0498545502457,0.99999996638,-1.79592506704e-05,-0.00025503609209,-4.32836991448e-05,1793249685229339136
+94,1.566666667,BASELINE,767,745.547064512,718,678.452935488,662,638,879,785,813,652,630,653.547064512,0.400982870177,-0.0154064702079,0.0498535244383,0.999999965871,-1.62642252286e-05,-0.000257134818877,-4.33124745247e-05,1793249685246005504
+95,1.583333333,BASELINE,767,745.874962025,718,678,662,638,879,785,812.874962025,652,630,653.874962025,0.400981559747,-0.015405802682,0.0498526959653,0.999999965458,-1.48750223505e-05,-0.000258809077389,-4.33728400305e-05,1793249685262672384
+96,1.600000000,BASELINE,767,745.283524643,718,678,662,638,879,785,812.283524643,652,630,653.283524643,0.400982272164,-0.0154063084348,0.0498530034756,0.999999965652,-1.52176378251e-05,-0.000258015703437,-4.34959209118e-05,1793249685279338752
+97,1.616666667,BASELINE,767.300088049,745.300088049,718,678.300088049,662,638,879,785,812,652,630,653,0.400981858511,-0.015406344238,0.0498528415939,0.999999965502,-1.55558325419e-05,-0.000258547296908,-4.36792567962e-05,1793249685296005376
+98,1.633333333,BASELINE,767.876495765,745.876495765,718,678.876495765,662,638,879,785,812,652,630,653,0.400980407979,-0.0154059473137,0.0498522474982,0.999999965032,-1.5889956625e-05,-0.000260298914215,-4.39180751974e-05,1793249685312672512
+99,1.650000000,BASELINE,768,746,718,678.546832495,662,638,879,785,812,652,630,653.453167505,0.400980961478,-0.0154065237131,0.0498530006045,0.999999965274,-1.49061123164e-05,-0.000259460899881,-4.3698566822e-05,1793249685329339392
+100,1.666666667,BASELINE,767.969521222,745.969521222,718,678,662,638,879,785,812.030478778,652,630,653.969521222,0.40098195582,-0.0154072663712,0.0498540379623,0.999999965667,-1.37276607546e-05,-0.000258061691678,-4.33827259626e-05,1793249685346006016
+101,1.683333333,BASELINE,767.381834215,745.381834215,718,678,662,638,879,785,812.618165785,652,630,653.381834215,0.400981018781,-0.0154061961823,0.0498535556815,0.999999965307,-1.55619711009e-05,-0.000259313060275,-4.35906717601e-05,1793249685362672384
+102,1.700000000,BASELINE,767.202797806,745.202797806,718,678.202797806,662,638,879,785.202797806,813,652,630,653,0.40098083076,-0.0154055024372,0.049853535928,0.999999965305,-1.59256786299e-05,-0.000259289218688,-4.3651191283e-05,1793249685379338752
+103,1.716666667,BASELINE,767.781763101,745.781763101,718,678.781763101,662,638,879,785.781763101,813,652,630,653,0.400982032084,-0.015405506954,0.0498543741114,0.999999965966,-1.35615804565e-05,-0.000256900003178,-4.34382513569e-05,1793249685396005376
+104,1.733333333,BASELINE,768,746,718,678.641211493,662,638,879.358788507,785.641211493,813,652.358788507,630,653.358788507,0.400981838604,-0.0154056414618,0.0498541432523,0.999999965931,-1.30246228689e-05,-0.000257045245985,-4.35483419894e-05,1793249685412672000
+105,1.750000000,BASELINE,768,746,718,678.065359644,662,638,879.934640356,785.065359644,813,652.934640356,630,653.934640356,0.400980801282,-0.0154058546128,0.0498532656337,0.999999965477,-1.35930662434e-05,-0.000258723809675,-4.38538627542e-05,1793249685429338624
+106,1.766666667,BASELINE,767.489110418,746,718,678,662,638,879.489110418,785.510889582,813,652.489110418,630,653.489110418,0.40098215235,-0.0154065640726,0.0498541909662,0.999999965992,-1.3452716948e-05,-0.00025682031558,-4.33302929908e-05,1793249685446005760
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,718,678,662,638,879,786,813,652,630,654,0.400979714447,-0.0154079116145,0.0498530931426,0.999999965025,-1.85108235787e-05,-0.000260235249711,-4.34196596155e-05,1793249685488511744
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745.57971671,718,678,662,638,879.57971671,785.42028329,813,652,630,654,0.400978327595,-0.0154071103772,0.0498517411039,0.999999964535,-1.73819798336e-05,-0.000262138039655,-4.37169969195e-05,1793249685505178368
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.841557791,746,718,678.158442209,662,638,879.841557791,785,812.841557791,652,630,654,0.400977714708,-0.0154067556454,0.0498512220236,0.999999964348,-1.64296217817e-05,-0.000262902460091,-4.37720633264e-05,1793249685521844992
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.265445103,746,718,678.734554897,662,638,879.265445103,785,812.265445103,652,630,654,0.400979142076,-0.0154075779491,0.0498528987103,0.999999964967,-1.59424985037e-05,-0.000260666018093,-4.31884779983e-05,1793249685538511616
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,718,678.689577644,662,638,878.689577644,785,812,652,630,653.689577644,0.400980393392,-0.0154075458889,0.0498533551945,0.999999965271,-1.61671224921e-05,-0.000259472076455,-4.3242589662e-05,1793249685555177984
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,718,678.113919754,662,638,878.113919754,785,812,652,630,653.113919754,0.400981494283,-0.0154067838306,0.0498527690956,0.99999996531,-1.69998878488e-05,-0.000259168883107,-4.38415715989e-05,1793249685571844864
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,638,878.471563077,785,812.471563077,652,630,653.471563077,0.400982267214,-0.0154053450765,0.0498531617938,0.999999965662,-1.51530608666e-05,-0.000257918555474,-4.38686681048e-05,1793249685588511744
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,718,678,662.058685748,638,879,785,813,652,630,654,0.400982962901,-0.0154041426832,0.0498537712335,0.999999966029,-1.32335524213e-05,-0.00025661763023,-4.37543017789e-05,1793249685605178368
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662.638840561,638,879,785,813,652,630,654,0.400983691201,-0.0154065240583,0.0498541607784,0.999999965901,-1.65426714169e-05,-0.000256943504024,-4.36366689926e-05,1793249685621844992
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.782373787,718,678,662.782373787,638,879,785,813,652,630,653.782373787,0.400990920767,-0.015407806655,0.0498571038197,0.999999967093,-1.81991603617e-05,-0.000252204566458,-4.33157268692e-05,1793249685638511360
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.205846163,718,678,662.205846163,638,879,785,813,652,630,653.205846163,0.401008871989,-0.0154072771852,0.0498642579962,0.999999970356,-1.71301902772e-05,-0.000239112922081,-4.26594942258e-05,1793249685655177984
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718.375717843,678,662,638,879,785,813,652,630,653,0.401047844334,-0.0154089860623,0.0498780018233,0.999999976817,-1.66223000453e-05,-0.000210716234498,-4.10973389073e-05,1793249685671844608
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718.960078699,678,662,638,879,785,813,652,630,653,0.401098490096,-0.0154119379343,0.0498954050049,0.999999983997,-1.64259876333e-05,-0.000173820374147,-3.90321080001e-05,1793249685688511232
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718.457394762,678,662,638,879,785,813,652,629.457394762,653,0.401166306256,-0.0154163381808,0.0499132152861,0.999999989445,-1.68879617775e-05,-0.000139564405432,-3.66989065925e-05,1793249685705178112
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.123483457,745.123483457,718,678.123483457,662,638,879,785,812.876516543,652,629.123483457,653,0.401237990888,-0.0154211856209,0.0499294839513,0.999999993189,-1.77577346802e-05,-0.000110099088635,-3.44273647505e-05,1793249685721844736
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.698822418,745.698822418,718,678.698822418,662,638,879,785,812.301177582,652,629.698822418,653,0.40131922412,-0.0154272808289,0.0499400022484,0.999999994526,-1.99431124748e-05,-9.74555800921e-05,-3.24533501202e-05,1793249685738511616
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.725286765,745.725286765,718,678.725286765,662,638,879.274713235,785,812.274713235,652,630,653.274713235,0.401405881182,-0.0154324632052,0.0499459635191,0.999999995258,-2.1162410463e-05,-8.97984581363e-05,-3.11955141766e-05,1793249685755177984
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.148789747,745.148789747,718,678.148789747,662,638,879.851210253,785,812.851210253,652,630,653.851210253,0.401498496538,-0.015436642798,0.0499469187083,0.999999995462,-2.13204299349e-05,-8.76190876342e-05,-3.07244300892e-05,1793249685771844608
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745.435923929,718,678,662,638,879.564076071,785,813,652.435923929,630,653.564076071,0.401609695659,-0.0154427299584,0.0499476340138,0.999999995339,-2.22445664483e-05,-8.90673986953e-05,-2.9890393803e-05,1793249685788511232
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.023175142,746,718,678,662,638,879,785,813,652.976824858,630,653.023175142,0.401728295359,-0.0154495551895,0.0499481081199,0.999999995084,-2.34854487354e-05,-9.18824338392e-05,-2.89430075944e-05,1793249685805177856
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.602723777,746,718,678,662,638,879,785,813,652.397276223,630,653.602723777,0.40186935891,-0.015458168272,0.0499447950852,0.999999994538,-2.59322411361e-05,-9.72118835483e-05,-2.83056275024e-05,1793249685821844736
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.818725321,746,718,678,662,638,879,785,813,652,630,654,0.402021186062,-0.0154673918451,0.0499421564014,0.999999993962,-2.90892560146e-05,-0.000102337850615,-2.75045182717e-05,1793249685838511360
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.242349125,746,718,678,662,638,879,785,813,652,630,654,0.402196473255,-0.0154779460262,0.0499409875155,0.999999993355,-3.37942527858e-05,-0.000107020311577,-2.63465494055e-05,1793249685855177984
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.339165417,746,718,678,662,638,879.339165417,785,813,652,629.660834583,653.660834583,0.402391206842,-0.0154883344256,0.0499423071899,0.999999993328,-3.62595377994e-05,-0.000106796378655,-2.49821035722e-05,1793249685871844608
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.924408081,746,718,678,662,638,879.924408081,785,813,652,629.075591919,653.075591919,0.402600049536,-0.0154986025452,0.0499454324082,0.999999993731,-3.7099828308e-05,-0.000103012673198,-2.34678508257e-05,1793249685888511232
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.492655111,746,718,678,662,638.507344889,879.492655111,785,812.492655111,652,629.507344889,653.507344889,0.402859018449,-0.0155100138425,0.0499510796712,0.999999994827,-3.67032146897e-05,-9.26403320239e-05,-2.04336610472e-05,1793249685905177856
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,678,662,639,879.088850122,785,812.088850122,652,630,653.911149878,0.403131264435,-0.0155202341471,0.0499576526968,0.999999996082,-3.44394602451e-05,-7.97306559758e-05,-1.70967846603e-05,1793249685921844736
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718,678,662,639,879.664387344,785,812.664387344,652,630,653.335612656,0.403435512427,-0.015523001882,0.0499672476741,0.99999999795,-2.2953137737e-05,-5.82753331868e-05,-1.3336771943e-05,1793249685938511360
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.240535854,746,718,678,662,638.759464146,879.759464146,785,813,652,630,653.240535854,0.403755607813,-0.0155186183353,0.0499754960457,0.999999999104,-2.04829399152e-06,-4.09201944521e-05,-1.06864259332e-05,1793249685955177984
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.817539418,746,718,678,662,638.182460582,879.182460582,785,813,652,630,653.817539418,0.404097870919,-0.0155042313929,0.0499818607503,0.999999999012,3.20314176129e-05,-2.93004993902e-05,-9.58831033732e-06,1793249685971844608
+137,2.283333333,POSE1_TO_POSE2_PRESS,768,745.598768914,718,678.401231086,662,638,879,785,813,652,629.598768914,653.598768914,0.404460896822,-0.0155024995758,0.0499869823526,0.999999998439,5.25372897098e-05,-1.77680595987e-05,-6.79569466862e-06,1793249685988511488
+138,2.300000000,POSE1_TO_POSE2_PRESS,768,745.011984278,718,678.988015722,662,638,879,785,813,652,629.011984278,653.011984278,0.404833524689,-0.0155066202554,0.0499915290691,0.999999997746,6.67657955234e-05,-6.27597225461e-06,-3.21943958935e-06,1793249686005178112
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.431650615,745.568349385,718,679,662,638,879.568349385,785,813,652,629.568349385,653.568349385,0.405242243588,-0.0155167387436,0.0499780708024,0.999999996674,7.60058162841e-05,-2.95694634246e-05,-1.25551783256e-06,1793249686021844480
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.147403648,746,718,679.147403648,662,638.147403648,880,785,813,652,629.852596352,654,0.40565487879,-0.0155241251772,0.0499621649993,0.999999994385,8.84142174979e-05,-5.84160932669e-05,4.01701556727e-07,1793249686038511360
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.723130973,746,718,679.723130973,662,638.723130973,880,785,813,652,629.276869027,654,0.406076707323,-0.0155232094675,0.0499402379937,0.999999988783,0.000110331480269,-0.000101291506577,1.26539046888e-06,1793249686055177984
+142,2.366666667,POSE1_TO_POSE2_PRESS,768,746,717.702880093,679.702880093,662.297119907,639,880,785.297119907,813,652,629.297119907,654,0.406532983065,-0.0155225063746,0.0499251918374,0.999999982801,0.000133304962283,-0.000128916128242,2.72594614024e-06,1793249686071844352
+143,2.383333333,POSE1_TO_POSE2_PRESS,768,746,717.130501578,679.130501578,662.869498422,639,880,785.869498422,813,652,629.869498422,654,0.407021171531,-0.0155220002549,0.0499165202532,0.999999977483,0.000157256952355,-0.000142412076322,4.73945279069e-06,1793249686088511232
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,746,717.451774414,679,662.548225586,638.548225586,880,785.548225586,813,652,630,654,0.407561528948,-0.0155262577059,0.0499263557015,0.999999976778,0.000179196202809,-0.000119352932801,9.35861000087e-06,1793249686105178112
+145,2.416666667,POSE1_TO_POSE2_PRESS,768,746,718,679.037002115,662,638.037002115,880.037002115,785,813.037002115,652,630,654,0.408123026262,-0.0155317495901,0.0499425683056,0.999999976136,0.000200887328388,-8.45759354142e-05,1.4816410692e-05,1793249686121844736
+146,2.433333333,POSE1_TO_POSE2_PRESS,768,746,718,679.622655071,662,638.622655071,880.622655071,785,813.622655071,652,630,654,0.408769524507,-0.0155346849954,0.0499722945713,0.999999973194,0.000227713361442,-3.61298592533e-05,2.12988679799e-05,1793249686138511616
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,745.795383422,718,679.795383422,662.204616578,638.795383422,881,785,814,652,630,653.795383422,0.409408870991,-0.0155380326044,0.0499940343173,0.999999967346,0.000254077873009,-2.27631326787e-06,2.73278136349e-05,1793249686155178496
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,745.220108917,718,679.220108917,662.779891083,638.220108917,881,785,814,652,630,653.220108917,0.410035262194,-0.0155421269104,0.0500013066762,0.999999960368,0.000279606349022,5.14321812286e-06,3.2535233757e-05,1793249686171845120
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.645437551,745,718,679.354562449,662.645437551,638.354562449,881,785,813.645437551,652.354562449,629.645437551,653.354562449,0.410648921253,-0.015541018459,0.0499843023042,0.999999951077,0.000308917499474,-3.47459347379e-05,3.47543022869e-05,1793249686188512256
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.071139994,745,718,679.928860006,662.071139994,638.928860006,881,785,813.071139994,652.928860006,629.071139994,653.928860006,0.41125468972,-0.0155366856716,0.0499522527682,0.999999935985,0.000340572907102,-0.000103953981721,3.51213814581e-05,1793249686205179648
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.520496241,745.520496241,718,680,662.520496241,639,881,785,813,652.479503759,629.520496241,654,0.411943078101,-0.0155364251762,0.0499421286413,0.999999944632,0.000311894453627,-0.000109857252326,3.72841589801e-05,1793249686221846528
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.888818616,746,718,680,663,639,881,785,813.111181384,652,630,654,0.412663505966,-0.0155377070604,0.049942326829,0.999999959992,0.000262434427563,-9.74986316626e-05,4.04804535355e-05,1793249686238512896
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.312372448,746,718,680,663,639,881,785,813.687627552,652,630,654,0.413469126877,-0.0155430339525,0.049972748626,0.999999984758,0.00016170660958,-4.61742072001e-05,4.69392867084e-05,1793249686255179008
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639,881.262681733,785,814,652,629.737318267,654,0.414242501873,-0.0155504234999,0.049980332616,0.999999996596,6.44293598723e-05,-3.50273375649e-05,3.78050833645e-05,1793249686271845376
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639,881.836089412,785,814,652,629.163910588,654,0.414977733316,-0.0155602529605,0.0499609017923,0.999999996985,-2.8766228513e-05,-7.1406448576e-05,1.02258946573e-05,1793249686288512000
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639,882,785,814.410104274,652,629,654,0.415747611812,-0.0155634076233,0.0499421260809,0.999999994637,-2.61244029069e-05,-0.000100123159873,4.26174912735e-06,1793249686305178880
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639,882,785,814.984362142,652,629,654,0.416531358536,-0.0155638905454,0.0499236125944,0.999999991956,1.48785399126e-05,-0.000125772818705,6.94951947999e-06,1793249686321845760
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680.579436728,663.579436728,639,882.579436728,785,815,652,629,654,0.417382466393,-0.0155638106898,0.049949750124,0.999999995441,5.39869994961e-05,-7.7498390071e-05,1.40788936154e-05,1793249686338512384
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.169488434,746,718,680.830511566,664,639,883,785.169488434,814.830511566,652,629.169488434,654,0.418237474586,-0.0155625193886,0.0499706946493,0.999999994613,9.21841660765e-05,-4.30997844804e-05,2.04369746716e-05,1793249686355179008
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.746075818,746,718,680.253924182,664,639,883,785.746075818,814.253924182,652,629.746075818,654,0.419097321765,-0.0155583561234,0.0499761636662,0.999999990359,0.000128319854002,-4.70004803729e-05,2.4643816652e-05,1793249686371845632
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.67979093,746,718,680,664,639,883,785.67979093,814.32020907,652,629.67979093,654,0.419958411391,-0.0155557927461,0.0499710275821,0.999999987051,0.000150720605166,-5.02489910991e-05,2.56340769349e-05,1793249686388512256
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.107589018,746,718,680,664,639,883,785.107589018,814.892410982,652,629.107589018,654,0.420820478739,-0.0155544884223,0.0499575456706,0.999999985133,0.00016231246118,-5.29842557689e-05,2.40930047329e-05,1793249686405178880
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.480609767,746,718,680.480609767,664,639,883.961219535,785.480609767,815,652,629,654,0.421724486885,-0.0155589351149,0.0499747546084,0.999999987243,0.000156848538917,-1.58664444818e-05,2.56875979002e-05,1793249686421845248
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.932358501,746,718,681,664,639,885,786,815,652,629,654,0.422633413956,-0.015564138348,0.0499943232899,0.999999988621,0.000146792980688,2.10259195504e-05,2.77246721005e-05,1793249686438511616
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.380219589,746,718,681,664,639,885,786,815,652,629,654,0.4235080083,-0.0155652215411,0.0499798887555,0.999999990837,0.000132138384294,-9.79888828898e-06,2.77301416694e-05,1793249686455178240
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718,681,664.187451198,639,884.812548802,786,815,652,629.187451198,654.187451198,0.424411348255,-0.0155668674062,0.0499730780651,0.999999991312,0.000126577509818,-2.37947073156e-05,2.80863403339e-05,1793249686471844864
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718,681,664.789472646,639,884.210527354,786,815,652,629.789472646,654.789472646,0.425378262659,-0.0155697576862,0.0499831283947,0.999999989614,0.000141128462463,-5.71255037225e-07,2.92182174657e-05,1793249686488511488
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,717.617687588,681,664.617687588,639,884,785.617687588,815,652,630,654.617687588,0.426299301074,-0.0155705353456,0.0499966524804,0.999999987298,0.000155981079674,1.00134178232e-05,3.12165277331e-05,1793249686505177856
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,717.02978534,681,664.02978534,639,884,785.02978534,815,652,630,654.02978534,0.427195669459,-0.0155701769356,0.0500120445899,0.999999984718,0.000170995917196,1.38015414827e-05,3.36807653814e-05,1793249686521844480
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,717.55388036,681,664,639,884.55388036,785.55388036,815,652,630,654,0.428056206346,-0.0155617458824,0.0499738349123,0.999999981136,0.000183852273799,-5.44183751122e-05,3.10752395396e-05,1793249686538511360
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.1353238,746,718,681,664.1353238,639,885.1353238,785.8646762,815.1353238,652,630,654.1353238,0.428937719183,-0.0155551770798,0.0499445154568,0.999999976756,0.000187805275964,-0.000101861588286,2.9010210689e-05,1793249686555177984
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.710282146,746,718,681,664.710282146,639,885.710282146,785.289717854,815.710282146,652,630,654.710282146,0.429893590208,-0.0155560579043,0.0499533715941,0.999999983841,0.000163207652446,-6.93216368839e-05,2.95801149142e-05,1793249686571844608
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746,718,681,665.285213508,639,885.714786492,785.285213508,816,652,630,654.714786492,0.430821562003,-0.0155560397669,0.0499516084499,0.999999984431,0.000160685362029,-6.66120622372e-05,2.96896112595e-05,1793249686588511488
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746,718,681,665.860117428,639,885.139882572,785.860117428,816,652,630,654.139882572,0.431721196586,-0.0155551085569,0.0499390593364,0.999999978827,0.000180584915568,-9.42011040288e-05,2.93314728303e-05,1793249686605178112
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.553112495,746,718,681.446887505,665.106224991,639,885.446887505,786,816,652,630,654,0.432610828524,-0.0155552360245,0.0499363881355,0.999999976986,0.000191172609259,-9.30026970896e-05,2.88459705469e-05,1793249686621844736
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664.036759166,639,886,786,816,652,630,654,0.433498426126,-0.0155557465084,0.0499387644026,0.999999976895,0.00019719227439,-8.06744363718e-05,2.85859552661e-05,1793249686638511360
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.616091095,639,886,786,816,652,630,654,0.434403469936,-0.0155568856993,0.0499687598449,0.999999982455,0.00017998278257,-4.06980660719e-05,3.22586679035e-05,1793249686655177984
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,886,785.8072424,816,652,630,654,0.43527434334,-0.0155564372134,0.0499820471735,0.999999984374,0.00017037692334,-3.20845738691e-05,3.45580415885e-05,1793249686671845120
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,886,785.235812021,816,652,630,654,0.436078089057,-0.0155528697324,0.049962511377,0.99999998036,0.000175708416182,-8.50835256856e-05,3.41594882183e-05,1793249686688513024
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,681.661328328,665,639,886,785.338671672,816,652,630,654.338671672,0.436924847359,-0.0155518411211,0.0499543794372,0.999999978609,0.000179821939403,-9.66120694006e-05,3.33473600513e-05,1793249686705179904
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,718,681.08469935,665,639,886,785.91530065,816,652,630,654.91530065,0.43780182709,-0.0155525963691,0.0499542600702,0.9999999796,0.00018307969336,-7.90026946037e-05,3.22446462501e-05,1793249686721846272
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,886,786,816.504489367,652,630,654.495510633,0.438628597653,-0.015557422253,0.0499659327153,0.999999982432,0.000176169792379,-5.49747838975e-05,3.28372962141e-05,1793249686738512384
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.093669734,746,718,681,665,639,886.093669734,785.906330266,816.906330266,652,630,654,0.439436530081,-0.0155621893013,0.049974425532,0.99999998438,0.000169226091749,-3.85162263344e-05,3.34429006673e-05,1793249686755178752
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.671626425,746,718,681,665,639,886.671626425,785.328373575,816.328373575,652,630,654,0.440191761926,-0.0155630285387,0.049955981066,0.999999982583,0.000171158742677,-6.69060797939e-05,3.26062934146e-05,1793249686771845632
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.751368061,746,718,681,665,639,887,785.248631939,816.248631939,652,630,654,0.44095354978,-0.0155647387038,0.0499506220725,0.99999998162,0.000174036200764,-7.33087804878e-05,3.31094138535e-05,1793249686788512512
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.175614045,746,718,681,665,639,887,785.824385955,816.824385955,652,630,654,0.441723963238,-0.0155675947378,0.0499624794805,0.999999982215,0.000178156730282,-5.07832444161e-05,3.53751981119e-05,1793249686805179136
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,681.814116754,665,638.592941623,887,786,816.592941623,652,630,654,0.442462490733,-0.0155667009731,0.0499773736038,0.999999981629,0.000186430066502,-2.44805870739e-05,3.72378344132e-05,1793249686821845504
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,682.985534421,665,638.007232789,887,786,816.007232789,652,630,654,0.44318702413,-0.0155641614906,0.0499936004868,0.999999979925,0.000196525993667,3.47978148227e-06,3.89235366424e-05,1793249686838511872
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,745.426414946,717.426414946,681.852829893,665,638,887,785.426414946,816.573585054,652,630,654,0.443800517518,-0.015566662991,0.0499538509692,0.999999977069,0.000199293832706,-6.92039536357e-05,3.68176938567e-05,1793249686855185920
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,745.153546161,717.153546161,681,665,638,886.846453839,785,817,652,630,654,0.444408613243,-0.0155699400753,0.0499140731102,0.999999969967,0.000201174138993,-0.000135609320184,3.4727128209e-05,1793249686871856128
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,745.731309366,717.731309366,681,665,638,886.268690634,785,817,652,630,654,0.445005632196,-0.0155751858078,0.0498761505759,0.999999962875,0.000200855514114,-0.00018119221378,3.28097443718e-05,1793249686888515328
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.306844987,746,718,681.306844987,665,638.306844987,886.306844987,785,817,652,630,654.306844987,0.445613297342,-0.0155823239224,0.0498641302148,0.999999962061,0.000199305938397,-0.000187229247003,3.31733701668e-05,1793249686905178368
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.880444035,746,718,681.880444035,665,638.880444035,886.880444035,785,817,652,630,654.880444035,0.446230217663,-0.015591107169,0.0498746277726,0.999999967404,0.000196686242264,-0.000158887293901,3.55199797109e-05,1793249686921844992
+194,3.233333333,POSE1_TO_POSE2_PRESS,767.530978604,746,718,682,665,638.530978604,886.530978604,785,817,652.469021396,630,654.530978604,0.446778254966,-0.0155938227378,0.049865593504,0.99999996456,0.000198941193506,-0.000173193193164,3.61484690192e-05,1793249686938511616
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,681.939907631,664.939907631,638,886.060092369,785,817,652.939907631,630,654.060092369,0.44730152745,-0.0155947459016,0.0498490552653,0.999999958484,0.000202573987738,-0.00020173842173,3.60181428969e-05,1793249686955178240
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,681.361350297,664.361350297,638,886.638649703,785,817,652.361350297,630,654.638649703,0.447767624008,-0.0155939892367,0.0498121471006,0.999999945187,0.000207020206401,-0.00025624941963,3.32441719268e-05,1793249686971844864
+197,3.283333333,POSE1_TO_POSE2_PRESS,767.215304463,745.784695537,718,681,664.215304463,638,887,784.784695537,817,652,630,654.784695537,0.448227016255,-0.0155954518468,0.0497855688046,0.999999934489,0.000206436023401,-0.00029565337639,3.15448997237e-05,1793249686988511488
+198,3.300000000,POSE1_TO_POSE2_PRESS,767.788794003,745.211205997,718,681,664.788794003,638,887,784.211205997,817,652,630,654.211205997,0.448675255019,-0.0156006064899,0.0497761755014,0.999999931973,0.000197483157695,-0.000309924934171,3.16335196223e-05,1793249687005178112
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,745.727750511,718,681.363875256,664.636124744,637.636124744,887,784.363875256,817,652,629.636124744,654,0.449113889659,-0.0156044988756,0.0497813957778,0.999999940953,0.000157918777604,-0.000303416100614,3.30916652554e-05,1793249687021844736
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,637.880722145,887,785,817,652.119277855,629,655,0.45032898474,-0.0156123589591,0.0498118502897,0.999999960388,8.64216088904e-05,-0.0002660464241,3.12057041276e-05,1793249687071844864
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,637.303868747,887,785,817,652.696131253,629,655,0.450648713351,-0.01561746011,0.0498050574617,0.999999957535,3.21909885609e-05,-0.000289297045618,1.41434751371e-05,1793249687088511232
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+206,3.433333333,POSE1_TO_POSE2_PRESS,767.569196667,746,718,681.569196667,664.569196667,637,886.569196667,784.569196667,817,652,629.569196667,654.430803333,0.451459754941,-0.0156214793077,0.0497646761411,0.999999930371,2.75765223533e-05,-0.000372107983932,5.68944755057e-06,1793249687138511616
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,718,681.020024839,664,637,886.020024839,784,817,652,629,654.979975161,0.45169252673,-0.0156178949628,0.0497476971353,0.999999916345,4.0792112971e-05,-0.000406954405862,5.79852024746e-06,1793249687155177984
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+216,3.600000000,POSE1_TO_POSE2_PRESS,768.762477081,746,718,682.524954162,664.237522919,637,887,783.762477081,817,652,629,654,0.453083995549,-0.0156228440391,0.0497309839105,0.999999908627,7.64861884892e-05,-0.000420397377467,1.27185919225e-05,1793249687305178368
+217,3.616666667,POSE1_TO_POSE2_PRESS,768.186688589,746,718,681.373377179,664.813311411,637,887,783.186688589,817,652,629,654,0.453158721371,-0.0156225534286,0.0497279981978,0.999999906639,7.77671633749e-05,-0.000424872373848,1.25392653538e-05,1793249687321844736
+218,3.633333333,POSE1_TO_POSE2_PRESS,768,746,718,681.396883782,664.603116218,637,887,783.396883782,817,652,628.603116218,654.396883782,0.453219742604,-0.0156230835852,0.049725304243,0.999999904857,7.7722063303e-05,-0.000429057572592,1.24327452313e-05,1793249687338511360
+219,3.650000000,POSE1_TO_POSE2_PRESS,768,746,718,681.984190811,664.015809189,637,887,783.984190811,817,652,628.015809189,654.984190811,0.453274188426,-0.0156240075425,0.0497227502725,0.999999903167,7.70407177458e-05,-0.00043310372746,1.23611573548e-05,1793249687355177984
+220,3.666666667,POSE1_TO_POSE2_PRESS,768,745.436304199,718,682,664,636.436304199,887,783.436304199,817,652,628.563695801,654.436304199,0.453316733634,-0.0156240768839,0.0497211154412,0.999999902409,7.90230020286e-05,-0.00043447453123,1.29843605228e-05,1793249687371844864
+221,3.683333333,POSE1_TO_POSE2_PRESS,768,745.142275184,718,682,664,636,887.142275184,783,817,652,629,654,0.453354322603,-0.0156240122817,0.0497192213395,0.999999901236,8.0342141189e-05,-0.000436914301688,1.33844555868e-05,1793249687388511488
+222,3.700000000,POSE1_TO_POSE2_PRESS,768,745.718688637,718,682,664,636,887.718688637,783,817,652,629,654,0.453377792634,-0.015623611102,0.0497164585165,0.999999898707,7.94129230038e-05,-0.00044284174152,1.30451115072e-05,1793249687405178112
+223,3.716666667,POSE1_TO_POSE2_PRESS,768,746,718,682,664,636.294855815,887.705144185,783,817,652.294855815,629,654.294855815,0.453397041739,-0.0156220301982,0.0497134782721,0.999999896666,8.14810438652e-05,-0.000447064183093,1.27174784373e-05,1793249687421844992
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768.95780298,746,718,682,664.04219702,636.95780298,887.04219702,783,817,652.04219702,629,654.04219702,0.453438088548,-0.0156242212043,0.049712071299,0.999999897479,8.16072248403e-05,-0.000445224902028,1.25010466447e-05,1793249687471844608
+227,3.783333333,POSE1_TO_POSE2_PRESS,768.378214024,746,718,682,664.621785976,636.378214024,887.621785976,783,817,652.621785976,629,654.621785976,0.453443215816,-0.0156220137586,0.0497119388844,0.999999897158,8.36589880725e-05,-0.000445565561417,1.2470399772e-05,1793249687488511488
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+229,3.816666667,POSE1_TO_POSE2_PRESS,768,746,718,682,664.223572449,636.776427551,887.223572449,783.776427551,817,652.223572449,628.223572449,655,0.453446509664,-0.0156178230735,0.0497082603487,0.999999894121,8.36222629002e-05,-0.000452364364536,1.14818981255e-05,1793249687521844992
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+231,3.850000000,POSE1_TO_POSE2_PRESS,768,746,718,682,665.86039323,637,887,783.069803385,817,652,628.930196615,655,0.453449372271,-0.0156183017659,0.0497086851205,0.999999893943,8.33018323e-05,-0.000452832470716,1.08174015611e-05,1793249687555178240
+232,3.866666667,POSE1_TO_POSE2_PRESS,768,746,718,682,664.969765937,636.484882969,887,783.515117031,817,652.515117031,629,655,0.453449897109,-0.0156178723183,0.0497074114543,0.999999893493,8.29824571106e-05,-0.00045387502256,1.11550449476e-05,1793249687571844864
+233,3.883333333,POSE1_TO_POSE2_PRESS,767.899513432,746,718,682,664,636.100486568,887,784,817,652.899513432,629,655,0.453450190045,-0.0156173862083,0.0497060110636,0.999999893006,8.26131186081e-05,-0.000455008512972,1.14315762729e-05,1793249687588511488
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+235,3.916666667,POSE1_TO_POSE2_PRESS,767.261292312,746,718,682,664,637,887,783.738707688,817,652,629,654.738707688,0.453450212456,-0.0156170549074,0.0497053075449,0.999999892683,8.2442394312e-05,-0.000455759612638,1.10177135656e-05,1793249687621844736
+236,3.933333333,POSE1_TO_POSE2_PRESS,767.835172643,746,718,682,664,637,887,783.164827357,817,652,629,654.164827357,0.453450219111,-0.0156161722591,0.0497056972286,0.999999892314,8.3313175982e-05,-0.000456398135297,1.14561398156e-05,1793249687638511616
+237,3.950000000,POSE1_TO_POSE2_PRESS,767.581720351,746,718,682,664,637,887,783.418279649,817,652,629,654,0.453449846884,-0.0156155788725,0.0497052715351,0.999999891925,8.42001357835e-05,-0.000457091404326,1.13225557891e-05,1793249687655179008
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,636.994947025,887,783.994947025,817,652,629,654,0.453449338964,-0.0156151157518,0.0497045229107,0.999999891529,8.50805298734e-05,-0.000457803051247,1.09666465983e-05,1793249687671846656
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,636.414045079,887,783.414045079,817,652,629,654,0.453450765838,-0.0156162148456,0.0497044152459,0.99999989144,8.44697705553e-05,-0.000458095083879,1.15413085871e-05,1793249687688513024
+240,4.000000000,POSE1_TO_POSE2_PRESS,767.166016323,746,718,682,664,636.166016323,887,783.166016323,817.166016323,652,629,654,0.453451409616,-0.0156165594458,0.0497039997851,0.999999891141,8.44066021092e-05,-0.000458751820203,1.18319062445e-05,1793249687705179392
+241,4.016666667,POSE1_TO_POSE2_PRESS,767.743991935,746,718,682,664,636.743991935,887,783.743991935,817.743991935,652,629,654,0.453450110193,-0.0156150318165,0.0497028205479,0.999999890318,8.57022467535e-05,-0.000460313546278,1.14176157089e-05,1793249687721845504
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,746.319008945,718,682,664.319008945,637,887,783.680991055,818,652,629,654.319008945,0.453450134252,-0.0156140510524,0.0497027963822,0.999999890311,8.60849514666e-05,-0.000460262243108,1.12655910613e-05,1793249687738511872
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,746.891673436,718,682,664.891673436,637,887,783.108326564,818,652,629,654.891673436,0.45345121066,-0.0156135051204,0.0497036906557,0.999999890952,8.57417445686e-05,-0.000458928361987,1.1322103524e-05,1793249687755178496
+244,4.066666667,HOLD_POSE2,767,747,718,682,664,637,887,783,817,652,628,654,0.453452855805,-0.0156141876339,0.0497056749738,0.999999892302,8.22293652884e-05,-0.000456623812662,1.13385939742e-05,1793249687786606848
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+248,4.133333333,HOLD_POSE2,768,746.309784543,718,682.309784543,664,637,887.309784543,783,817,652,629,654.690215457,0.453451548767,-0.0156149127518,0.0497033621522,0.999999891014,8.18301736028e-05,-0.000459519178084,1.08665662671e-05,1793249687853273344
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+251,4.183333333,HOLD_POSE2,768,746,718,682,664,637,887,783.941175894,817.941175894,653,628.058824106,655,0.453450997534,-0.0156131653479,0.0497025951097,0.999999890447,8.33690297798e-05,-0.000460481394846,1.05676496069e-05,1793249687903273472
+252,4.200000000,HOLD_POSE2,768,746,718,682,664,637,887,783.361928485,817.361928485,653,628.638071515,655,0.453451623395,-0.0156135321212,0.0497028760361,0.999999890767,8.32441348415e-05,-0.000459812296145,1.04855806611e-05,1793249687919940096
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+255,4.250000000,HOLD_POSE2,768,746,718,682,664,637,887.375716253,784,817.375716253,652.375716253,628.624283747,655,0.453452875968,-0.0156110110931,0.0497030178287,0.999999890963,8.38136570555e-05,-0.000459270585406,1.09750927956e-05,1793249687969940224
+256,4.266666667,HOLD_POSE2,768,746,718,682,664,637,887.962284959,784,817.962284959,652.962284959,628.037715041,655,0.45345471108,-0.015611226545,0.0497043114588,0.999999892003,8.33353842893e-05,-0.000457082176469,1.11800127099e-05,1793249687986606848
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.964524706,746,718,682.929049412,664,637,887,783,817,652.964524706,628,654.964524706,0.453304186391,-0.0156052959281,0.0496401897001,0.999999835356,7.97522197621e-05,-0.000568243269467,5.17498321533e-06,1793249688302596608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767.455924305,746,718,682.455924305,664,637,887,783.544075695,817.544075695,652.455924305,628,654.455924305,0.453234651042,-0.015598504603,0.0496194588965,0.999999819684,8.36401722204e-05,-0.000594668200426,2.34940114062e-06,1793249688319263232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.122154046,746,718,682,664,637,887,784,817.877845954,652.122154046,628,654.122154046,0.453162027995,-0.0155922163985,0.0496015285037,0.999999805369,8.71581174623e-05,-0.0006177905844,-1.12185580087e-07,1793249688335929856
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.697500495,746,718,682,664,637,887,784,817.302499505,652.697500495,628,654.697500495,0.453081114565,-0.0155887533435,0.0495935630554,0.999999796606,8.87156899377e-05,-0.000631598761492,-1.0677038099e-06,1793249688352596480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,784,817.273413137,653,628,655,0.452994472858,-0.0155835329122,0.0495907539347,0.999999793427,9.10256141188e-05,-0.000636283479028,-1.69080036955e-06,1793249688369263360
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746,718,682.435285614,664,637,887,784,817.564714386,653,628,654.564714386,0.452788791952,-0.0155693703836,0.0495971546687,0.999999798709,9.74739847609e-05,-0.00062695715257,-2.15414018039e-06,1793249688402596608
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,718,682.976662957,664,637,887,783.976662957,817,653,628.023337043,654,0.452668174638,-0.0155623838194,0.0496009800767,0.999999800629,0.000100821747557,-0.000623354725609,-2.34415117256e-06,1793249688419263232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.397513915,664,637,887,783.397513915,817,653,628.602486085,654,0.452523749,-0.0155541011125,0.0496078124522,0.999999806173,0.000103860841411,-0.000613890553208,-2.47025153212e-06,1793249688435929856
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.819887981,746,718,682,664,637,887,783.180112019,817,652.819887981,629,654,0.452366415344,-0.0155456124533,0.0496117883003,0.999999807875,0.000107161006493,-0.000610538974722,-2.82010222855e-06,1793249688452596480
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.24559549,746,718,682,664,637,887,783.75440451,817,652.24559549,629,654,0.452180832126,-0.0155366730623,0.0496095125533,0.999999801279,0.000111032533275,-0.000620564989776,-3.65963712614e-06,1793249688469263104
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.905509208,746,718,682,664,637,887,784,817,652,629,654.905509208,0.451765425103,-0.0155120340929,0.0496141288632,0.999999801047,0.000121945842894,-0.000618870334317,-5.90899594463e-06,1793249688502596608
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,664,637,887,783.504531797,817,652,629,655,0.451513514422,-0.0155010157793,0.0496151161147,0.999999801233,0.000123818756189,-0.000618186976301,-6.87834821761e-06,1793249688519263232
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,664.085366841,637,887,783.085366841,817,652,629,654.914633159,0.451250513976,-0.0154904593678,0.0496154354474,0.999999801725,0.000124951830954,-0.000617148811648,-8.03336802147e-06,1793249688535929856
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,664.659127271,637,887,783.659127271,817,652,629,654.340872729,0.45096695403,-0.0154800520471,0.049614816864,0.99999980556,0.000126360696555,-0.000610575686575,-1.05121272318e-05,1793249688552596480
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.765239093,746,718,682,665,637,887,784,817,652,629,654,0.450675206361,-0.0154739080153,0.0496203858214,0.999999816153,0.00012281710287,-0.000593682790426,-1.22382663664e-05,1793249688569263360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.186863721,746,718,682,665,637,887,784,817,652,629,654,0.450371474514,-0.0154740040676,0.0496350113483,0.999999835897,0.000112024701409,-0.000561685068388,-1.28628116087e-05,1793249688585929984
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.398644551,746,718,682,664.601355449,637,886.601355449,784,817,652,629,654,0.450030330331,-0.0154743218202,0.0496496673308,0.999999852517,9.94645218639e-05,-0.000533746912915,-1.36552947561e-05,1793249688602596352
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.987557252,746,718,682,664.012442748,637,886.012442748,784,817,652,629,654,0.449671329707,-0.0154747453875,0.0496643378489,0.999999867288,8.60606038208e-05,-0.000507746339448,-1.45279325804e-05,1793249688619262976
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.433261448,746,718,682,664,637,886,784,817.566738552,652,629,654.566738552,0.449263060535,-0.0154731599771,0.0496717926619,0.999999875031,7.42290420258e-05,-0.000494134857404,-1.60693945403e-05,1793249688635929856
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,886.144585789,784,817.855414211,652,629,654.855414211,0.448840039927,-0.015469084204,0.0496762356231,0.999999879732,6.44422121423e-05,-0.000485854305579,-1.81442935189e-05,1793249688652596736
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,886.719090711,784,817.280909289,652,629,654.280909289,0.44837631875,-0.0154577323902,0.0496721860868,0.999999876583,6.06343858475e-05,-0.000492629896346,-2.17624172083e-05,1793249688669263104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784.294460044,817,652,629,654,0.447892382228,-0.0154488708869,0.0496669934237,0.999999874274,5.16805692361e-05,-0.000498124920819,-2.55532947414e-05,1793249688685929728
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637,887,784.870656504,817,652,629,654,0.447389103813,-0.0154423920865,0.0496607070277,0.99999987265,3.78031202552e-05,-0.000502394713042,-2.9509461841e-05,1793249688702596352
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+300,5.000000000,POSE2_TO_POSE3_RETREAT,767.954949569,745,718,682,665,638,886.045050431,784.045050431,817,652,629.045050431,654,0.446284766198,-0.0154305695343,0.0496485429352,0.999999863175,1.4813035629e-05,-0.000521604871475,-3.68709351674e-05,1793249688735929856
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.375765795,745,718,682,665,638,886.624234205,784.624234205,817,652,629.624234205,654,0.445717652527,-0.0154241067076,0.0496614576723,0.999999874095,3.44195657128e-06,-0.000500317966979,-3.84764397952e-05,1793249688752596480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,745.201955207,718,682,664.798044793,638,887,785,817,652,629.798044793,654,0.445143845088,-0.0154175515303,0.0496853255657,0.999999890141,-8.80961882401e-06,-0.000467005421659,-3.93282342975e-05,1793249688769263360
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,745.776974055,718,682,664.223025945,638,887,785,817,652,629.223025945,654,0.444557672557,-0.015410825758,0.0497294267784,0.999999914333,-2.26876986073e-05,-0.000411478399691,-3.87877305841e-05,1793249688785930240
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,745.640959189,718,682,664.718081623,638,887,785,817,652,629.359040811,654,0.443933616396,-0.0154030678176,0.0497524152867,0.999999925709,-3.67012444273e-05,-0.000381585070882,-4.03572079263e-05,1793249688802596864
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,745.054426835,718,682,665.891146331,638,887,785,817,652,629.945573165,654,0.443285556841,-0.0153946558864,0.0497620265906,0.999999930086,-5.08006222684e-05,-0.000367933487124,-4.32635886323e-05,1793249688819263488
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,745.527791817,718,681.472208183,664.944416366,638.527791817,887,785,817,652,630,654.527791817,0.442561144033,-0.0153879557918,0.0497533640739,0.999999924707,-6.84366595609e-05,-0.000379018500453,-4.74021341206e-05,1793249688835929856
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.108571015,664.108571015,638.891428985,886.891428985,785.108571015,817,652,629.891428985,655,0.441836705389,-0.0153832513421,0.0497512129127,0.999999923192,-8.77852389499e-05,-0.000378586803327,-5.08138980947e-05,1793249688852596480
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.685048028,664.685048028,638.314951972,886.314951972,785.685048028,817,652,629.314951972,655,0.441145813553,-0.0153863928691,0.0497851790352,0.999999941902,-0.000112955290603,-0.000317617445716,-5.0550305994e-05,1793249688869263360
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.165712148,718,682,665,638.834287852,886,785.165712148,816.165712148,652,629.834287852,654.165712148,0.43966746618,-0.0153896704554,0.0498300819521,0.999999959814,-0.000131868092878,-0.000245463559314,-5.22493471251e-05,1793249688902596608
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.99064105,746,718,682,664,638,885.99064105,785.00935895,816.99064105,652,629.99064105,654,0.438008226793,-0.0153772239458,0.0497706987565,0.999999934811,7.84673365084e-05,-0.000346417215675,-6.49256621459e-05,1793249688935929856
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,638,885,785.83466229,816,652,629,654,0.436275281854,-0.0153753344683,0.0497631702362,0.999999927434,5.48838632743e-06,-0.000373830412397,-7.31609110583e-05,1793249688969263616
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,638,885,785.257542682,816,652,629,654,0.435428421638,-0.015375183609,0.0497865664108,0.999999940077,-2.81847778459e-05,-0.000336957160695,-7.42442391887e-05,1793249688985930240
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.351301388,664.351301388,638,884,785,815,652,629,654,0.431043825798,-0.0153623781699,0.0498015380278,0.999999948945,1.18225644711e-06,-0.000315660540468,-4.96758671596e-05,1793249689069263360
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,664,638,884,785.226382743,815,652,629,654,0.430108085815,-0.0153543822509,0.0497902418361,0.99999994146,7.18456244364e-05,-0.000332637653104,-3.5654592946e-05,1793249689085930240
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,664,638,884,785.800160635,815,652,629,654,0.429161920809,-0.0153471452803,0.0497538859025,0.999999920519,7.74983998627e-05,-0.000388561010227,-4.44665940604e-05,1793249689102596864
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,745.55856209,718,680.55856209,663,638.44143791,882.55856209,786,814.55856209,651.44143791,629,654,0.421970055292,-0.0153616656381,0.0498175146911,0.999999961823,7.77228620012e-06,-0.000270711033148,-5.48493490014e-05,1793249689235929856
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.388372426,745,718,680,663,639,882,786,814,652,629,654,0.42017458957,-0.0153598754811,0.0497941938274,0.999999944798,-2.44716197726e-05,-0.000326298725551,-5.77430115e-05,1793249689269263360
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,663,638.81039391,881.81039391,786,814,652,629,654,0.419285179559,-0.0153595214253,0.0497957121884,0.999999942273,-3.08935280428e-05,-0.000333459584983,-5.74814196189e-05,1793249689285929984
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,663,638.234840351,881.234840351,786,814,652,629,654,0.418378408708,-0.015355836677,0.0497882997208,0.999999934334,-2.42755553004e-05,-0.000356901496436,-5.79944261964e-05,1793249689302596608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.339974454,745,718,680,663,638.339974454,881.339974454,786,814,652,629.339974454,654,0.417527651768,-0.0153549181654,0.0497788917578,0.999999929994,-1.29555776146e-05,-0.000369135233007,-5.98653305662e-05,1793249689319263232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.914280031,745,718,680,663,638.914280031,881.914280031,786,814,652,629.914280031,654,0.416715503087,-0.015355906313,0.0497681083782,0.99999992823,1.60530816974e-06,-0.000373643610686,-6.2672180863e-05,1793249689335929856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.497675349,745.502324651,718,680,662.497675349,638.497675349,881.497675349,786,814,652,630,654,0.415957172303,-0.0153594746115,0.0497887051216,0.999999942053,-1.27156830928e-05,-0.000334613985214,-6.1358895669e-05,1793249689352596736
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,718,679.908818272,662,638,881,786,813.908818272,652,629.908818272,654,0.415201731687,-0.0153630478134,0.0498101434475,0.999999953811,-3.05073386721e-05,-0.000296478979077,-5.95608867622e-05,1793249689369263360
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,718,679.328532911,662,638,881,786,813.328532911,652,629.328532911,654,0.414411146224,-0.0153642191454,0.0498065643258,0.999999951224,-3.97351730552e-05,-0.00030411624854,-5.90402421376e-05,1793249689385929984
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,662,638,881,786,813,652,629.248814582,654,0.413621601442,-0.0153635892254,0.0497934166208,0.999999944158,-4.46274315036e-05,-0.000325687731747,-6.01622587158e-05,1793249689402596864
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,662,638,881,786,813,652,629.822328159,654,0.412833414793,-0.0153606087005,0.04976778207,0.999999930252,-4.38618328905e-05,-0.000365443137036,-6.34279215102e-05,1793249689419263744
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767.407488654,746,718,679.407488654,662.407488654,638,881.407488654,785.592511346,813,652,630,654,0.41212875886,-0.0153619325004,0.0497762025838,0.99999993398,-4.30298566408e-05,-0.000355282755455,-6.29418586816e-05,1793249689435930112
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.99787687,746,718,679.99787687,662.99787687,638,881.99787687,785.00212313,813,652,630,654,0.411461595269,-0.0153651882779,0.0497999085673,0.999999945191,-4.21680869844e-05,-0.000322717887045,-6.07718499081e-05,1793249689452596736
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,718,679.423386285,662.423386285,638,880.846772571,785.576613715,813,652,630,654,0.410794537752,-0.0153637167672,0.0498117998418,0.999999950164,-4.33522376621e-05,-0.000307074838684,-5.91335580331e-05,1793249689469263360
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,745.272575479,718,679,661.272575479,638,880,785.272575479,813,652,629.272575479,654,0.40947183865,-0.015358523297,0.0497888844708,0.999999934072,-4.64456904053e-05,-0.000355002676365,-6.05966944746e-05,1793249689502596608
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767.699569904,745,718,679,661.300430096,638,879.699569904,785,812.699569904,652,629.300430096,653.699569904,0.408862185309,-0.0153598593343,0.0497849201658,0.999999932356,-5.40678453787e-05,-0.000358618867931,-6.12887297709e-05,1793249689519263488
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,638,879,785,812.462531703,652,630,653.462531703,0.407759998306,-0.0153685169256,0.049813429553,0.999999948414,-7.36012796295e-05,-0.000306913587811,-5.9662898266e-05,1793249689552596736
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.055364011,718,679,662,638.055364011,879.055364011,785,812.944635989,652,630,654,0.407232787557,-0.015370568096,0.0498244236165,0.99999995061,-7.74599720182e-05,-0.000298891727048,-5.86858661809e-05,1793249689569263360
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,662,638.791457713,879.791457713,785,812.208542287,652,629.791457713,654,0.406203319399,-0.0153658103223,0.0498007831384,0.999999936903,-7.08225633372e-05,-0.000342658617168,-6.13487325609e-05,1793249689602596864
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,662,638.221395469,879.221395469,785,812.778604531,652,629.221395469,654,0.405711665385,-0.0153636495526,0.0497752276488,0.999999921653,-7.44992320599e-05,-0.00038337446673,-6.45518792553e-05,1793249689619263744
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,718,678.64594742,662,638,879.35405258,785.35405258,813,652,629,654,0.405254009878,-0.0153636468753,0.0497642706457,0.999999913613,-8.11781817149e-05,-0.000402186262552,-6.65560031673e-05,1793249689635930368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,718,678.06707945,662,638,879.93292055,785.93292055,813,652,629,654,0.404817942606,-0.0153650145377,0.049762583349,0.999999910812,-8.97635123341e-05,-0.00040708948344,-6.77987750627e-05,1793249689652596480
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,678,662,638,880,785.473301914,812.473301914,652,629.526698086,654,0.404470137069,-0.0153690462815,0.0497842031211,0.99999992432,-0.000102520913098,-0.000369422187686,-6.61503567365e-05,1793249689669263104
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,767.693383036,746,718,678,662,638,879.306616964,785,812,652,630,654,0.403833549099,-0.0153769111679,0.0498367635919,0.999999948236,-0.000125323675146,-0.00028990222421,-6.14693717797e-05,1793249689702598144
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.731641746,745.731641746,718,678,662,638,879.268358254,785,812.268358254,652,630,654,0.403530098947,-0.0153791764028,0.0498506354952,0.999999951893,-0.000134357833546,-0.000272980902331,-6.03579812871e-05,1793249689719265280
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.019210924,745.019210924,718,678,662,638,879,785,812.019210924,652,629,654,0.402662078369,-0.0153797970532,0.0498222300345,0.999999930194,-0.000158449772087,-0.000332081191987,-6.50266692522e-05,1793249689769264128
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,746,718,678,662.75175418,638,879.75175418,785,812.24824582,652,629.75175418,653.24824582,0.402018822539,-0.0153808360728,0.0497993579473,0.999999914931,-0.00017357771343,-0.000367763716227,-6.8976117341e-05,1793249689819263744
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767.674015424,745.674015424,718.325984576,678,662.674015424,638,879.674015424,785,812.325984576,652,629.674015424,653.325984576,0.401856241864,-0.0153809128443,0.049799875518,0.999999915863,-0.000175975901896,-0.000364132842321,-6.86619689556e-05,1793249689835930624
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767.101277293,745.101277293,718.898722707,678,662.101277293,638,879.101277293,785,812.898722707,652,629.101277293,653.898722707,0.401715151901,-0.0153816763106,0.0498045438974,0.999999920067,-0.000178316134041,-0.000351443999906,-6.74945486822e-05,1793249689852597248
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.48701331,718.51298669,678,662,638,879,785.48701331,813,652,629,654,0.401597361585,-0.0153771754616,0.0498113815034,0.999999934629,-0.000118367712895,-0.000337283349683,-5.45107764368e-05,1793249689869264128
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.652442198,746,718,678,662,638,879,785.347557802,813,652.652442198,629.652442198,654,0.401397536614,-0.0153737754261,0.0498235578179,0.9999999478,-6.40615941031e-05,-0.000313955193575,-4.15726033757e-05,1793249689902597632
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.770435362,746,718,678.229564638,662.229564638,638,879,785.229564638,813,653,630,653.770435362,0.401314836948,-0.0153773446703,0.0498272750796,0.999999949185,-7.34856447415e-05,-0.000307360828687,-4.19419453798e-05,1793249689919264512
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0bac633b38b99c1483c45dde9f96e5101d5087b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.582564616657,-0.00984994806136,1.04003360953,0.553135296716,-0.00117730897116,1.03970500117
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+371,6.183333333,pose2_to_pose3_retreat,0.57595917027,-0.00984997706777,1.04003364078,0.546529849242,-0.00117734188202,1.0397050279
+372,6.200000000,pose2_to_pose3_retreat,0.575897037489,-0.00985002161388,1.04003358007,0.546467717216,-0.00117738373166,1.03970497038
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+374,6.233333333,pose2_to_pose3_retreat,0.575799625416,-0.00984991623764,1.04003346577,0.546370304401,-0.00117728074436,1.03970485951
+375,6.250000000,pose2_to_pose3_retreat,0.57576386455,-0.00984995133017,1.04003349601,0.54633454445,-0.00117731251496,1.03970489541
+376,6.266666667,pose2_to_pose3_retreat,0.575735705157,-0.00985000824051,1.04003371003,0.546306385825,-0.00117736687994,1.03970510777
+377,6.283333333,pose2_to_pose3_retreat,0.575714810293,-0.00984986822545,1.04003359999,0.546285486716,-0.00117724116165,1.03970500073
+378,6.300000000,pose2_to_pose3_retreat,0.575699075029,-0.00985000022532,1.04003353384,0.546269753914,-0.00117736502239,1.03970492892
+379,6.316666667,pose2_to_pose3_retreat,0.575687769281,-0.00985003872477,1.04003350122,0.54625845004,-0.00117739706669,1.03970489891
+380,6.333333333,pose2_to_pose3_retreat,0.575679347764,-0.00984997147765,1.0400335138,0.546250027822,-0.00117733229779,1.03970490891
+381,6.350000000,pose2_to_pose3_retreat,0.575673507128,-0.00984990087107,1.04003351141,0.546244186129,-0.00117726540598,1.03970490319
+382,6.366666667,pose2_to_pose3_retreat,0.575670183887,-0.00984996193569,1.04003341856,0.54624086486,-0.00117731957455,1.03970481554
+383,6.383333333,pose2_to_pose3_retreat,0.575668199744,-0.00984994888983,1.0400335165,0.546238880047,-0.001177308829,1.03970491272
+384,6.400000000,pose2_to_pose3_retreat,0.575667027316,-0.00984990887499,1.04003367445,0.546237706018,-0.00117727436145,1.03970506771
+385,6.416666667,pose2_to_pose3_retreat,0.575666479257,-0.00984989016978,1.04003374828,0.546237157209,-0.00117725824936,1.03970514017
+386,6.433333333,pose2_to_pose3_retreat,0.575666304856,-0.00984988334314,1.04003377018,0.546236982586,-0.00117725219395,1.03970516165
+387,6.450000000,pose2_to_pose3_retreat,0.575666098554,-0.00984986159926,1.04003377105,0.546236776264,-0.00117723051921,1.03970516255
+388,6.466666667,pose2_to_pose3_retreat,0.575665944561,-0.00984984536865,1.04003377171,0.546236622256,-0.00117721434022,1.03970516322
+389,6.483333333,pose2_to_pose3_retreat,0.575665894952,-0.00984984013996,1.04003377192,0.546236572642,-0.00117720912815,1.03970516343
+390,6.500000000,pose2_to_pose3_retreat,0.575665811456,-0.00984983133964,1.04003377227,0.546236489137,-0.00117720035581,1.0397051638
+391,6.516666667,pose2_to_pose3_retreat,0.575665602095,-0.00984980927329,1.04003377316,0.546236279755,-0.00117717835963,1.0397051647
+392,6.533333333,pose2_to_pose3_retreat,0.575665585881,-0.00984980756445,1.04003377323,0.54623626354,-0.00117717665623,1.03970516477
+393,6.550000000,pose2_to_pose3_retreat,0.575665454278,-0.00984979369367,1.04003377378,0.546236131924,-0.00117716282956,1.03970516535
+394,6.566666667,pose2_to_pose3_retreat,0.575665450426,-0.00984979328771,1.0400337738,0.546236128072,-0.0011771624249,1.03970516536
+395,6.583333333,pose2_to_pose3_retreat,0.57566544492,-0.00984979270734,1.04003377382,0.546236122565,-0.00117716184637,1.03970516539
+396,6.600000000,pose2_to_pose3_retreat,0.575665365575,-0.0098497843445,1.04003377416,0.546236043212,-0.00117715351012,1.03970516573
+397,6.616666667,pose2_to_pose3_retreat,0.575665214093,-0.00984976837859,1.0400337748,0.546235891715,-0.00117713759498,1.03970516639
+398,6.633333333,pose2_to_pose3_retreat,0.575664898599,-0.00984973955807,1.04003377673,0.546235576162,-0.00117710898069,1.0397051682
+399,6.650000000,pose2_to_pose3_retreat,0.575664646066,-0.00984977438827,1.04003378597,0.546235323216,-0.00117714528886,1.03970517538
+400,6.666666667,pose2_to_pose3_retreat,0.575664406795,-0.00984980738922,1.04003379473,0.546235083554,-0.00117717969017,1.03970518218
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+402,6.700000000,pose2_to_pose3_retreat,0.575664290825,-0.00984982258025,1.0400337769,0.546234968521,-0.00117719156414,1.03970516797
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af648171d33bf79a8563aa8ee194f612f32cd9c9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f75c44186fbe1f2e354cdc3a3a526037a3faaf2cbfa20ad76fd2ab4d8a8185a
+size 25439192
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4783cca6016f2e2f76de012bddb21fd5e648d8d2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+15,0.250000000,BASELINE,767.685979762,745,718,679.685979762,661.314020238,638,879,785,813,652,630,654,0.400998843575,-0.0155004074077,0.0698345667538,0.999999981501,4.66959592624e-05,-0.000186394886836,8.62447607492e-06,1793249692259609600
+16,0.266666667,BASELINE,768,745,718,679.730273875,661.269726125,638,879,785.269726125,813.269726125,652,630,654,0.400998455428,-0.015500717722,0.0698346557611,0.999999981449,4.74101661354e-05,-0.00018649090664,8.73277267106e-06,1793249692276276224
+17,0.283333333,BASELINE,768,745,718,679.133138727,661.866861273,638,879,785.866861273,813.866861273,652,630,654,0.400997351407,-0.0155011999307,0.0698336905004,0.999999981141,4.87201944953e-05,-0.000187798504805,8.76970919662e-06,1793249692292942848
+18,0.300000000,BASELINE,768,745.447183037,718,679.447183037,662.447183037,638,879,785.552816963,813.552816963,651.552816963,630,654,0.400996734311,-0.0155002183356,0.0698334946337,0.999999980872,5.1450874001e-05,-0.000188486478799,9.00163286784e-06,1793249692309609216
+19,0.316666667,BASELINE,767.977423986,745.977423986,718.022576014,679.977423986,662.977423986,638.022576014,879.022576014,785.022576014,813,651.022576014,630,654,0.400996362484,-0.0154989358373,0.0698335597894,0.999999980639,5.43305157855e-05,-0.000188903872791,9.27781550301e-06,1793249692326276096
+20,0.333333333,BASELINE,767.404574706,745.404574706,718.595425294,679.404574706,662.404574706,638.595425294,879.595425294,785.595425294,813,651.595425294,630,654,0.400998563387,-0.0155005567796,0.0698346060882,0.999999981166,5.09050752305e-05,-0.000187059688518,9.2690517093e-06,1793249692342942720
+21,0.350000000,BASELINE,767,745.17389262,719,679.17389262,662,638.82610738,880,785.82610738,813.17389262,652,630,654,0.400999933615,-0.015501556923,0.0698353017713,0.999999981483,4.88057726178e-05,-0.000185925425156,9.1713399977e-06,1793249692359609088
+22,0.366666667,BASELINE,767,745.765867067,719,679.765867067,662,638.234132933,880,785.234132933,813.765867067,652,630,654,0.40099930669,-0.0155010645086,0.0698351544856,0.999999981325,4.98948414118e-05,-0.000186497991427,8.85977500362e-06,1793249692376275968
+23,0.383333333,BASELINE,767.350185253,746,719,679.649814747,661.649814747,638,880,785.350185253,814,652,630,654.350185253,0.400998460203,-0.0155005731216,0.0698346550241,0.999999981193,5.04132896121e-05,-0.000187074239103,8.6961688091e-06,1793249692392942848
+24,0.400000000,BASELINE,767.929494064,746,719,679.070505936,661.070505936,638,880,785.929494064,814,652,630,654.929494064,0.400997470059,-0.0155000824069,0.0698339251368,0.999999981078,5.05583851874e-05,-0.000187652895549,8.62937090574e-06,1793249692409609984
+25,0.416666667,BASELINE,767.495529951,746,718.495529951,679,661.504470049,638,880,786,814,652,630,655,0.400998055233,-0.0155000208625,0.0698342747908,0.999999981229,5.00611412988e-05,-0.000186970551066,8.80800914795e-06,1793249692426276096
+26,0.433333333,BASELINE,767.080631822,745.919368178,718,679,662,638,880,785.919368178,813.919368178,652,630,654.919368178,0.400998689799,-0.015500009786,0.0698346493775,0.99999998136,4.97773087546e-05,-0.000186336470087,8.99098080571e-06,1793249692442942720
+27,0.450000000,BASELINE,767.668019762,745.331980238,718,679,662,638,880,785.331980238,813.331980238,652,630,654.331980238,0.40099826284,-0.015499942126,0.0698342404877,0.999999981135,5.1394140776e-05,-0.000187103922578,8.98743675483e-06,1793249692459609344
+28,0.466666667,BASELINE,767.74823774,745.25176226,718.25176226,679,662,638,880.25176226,785.25176226,813.25176226,652,630,654,0.400998590933,-0.0155003754581,0.0698342569956,0.999999981147,5.15214461557e-05,-0.000187007110512,8.97622835276e-06,1793249692476275968
+29,0.483333333,BASELINE,767.169233641,745.830766359,718.830766359,679,662,638,880.830766359,785.830766359,813.830766359,652,630,654,0.400999900446,-0.0155014599821,0.0698348264374,0.999999981466,4.97126572903e-05,-0.000185786923027,8.95505778908e-06,1793249692492942592
+30,0.500000000,BASELINE,767.40815033,746,719,679,662,638,880.59184967,785.59184967,813.59184967,652,630,654,0.401000542725,-0.0155013960961,0.069835538984,0.999999981657,4.86371863331e-05,-0.000185038384199,8.95707315371e-06,1793249692509609728
+31,0.516666667,BASELINE,767.98486518,746,719,679,662,638,880.01513482,785.01513482,813.01513482,652,630,654,0.401000909439,-0.015500857921,0.0698363106325,0.999999981797,4.78645729024e-05,-0.000184484634485,8.9686642183e-06,1793249692526276864
+32,0.533333333,BASELINE,767.43944228,745.43944228,718.43944228,679,662,638,880.56055772,785,813,652,630,654,0.400998286378,-0.0155015592082,0.0698348176825,0.999999981348,4.77669068006e-05,-0.000186929681342,8.96927185109e-06,1793249692542943232
+33,0.550000000,BASELINE,767,745,718,679,662,638,880.860012623,785,813,652,630,654.139987377,0.400996583873,-0.0155016995055,0.0698338129589,0.999999981028,4.83000361227e-05,-0.000188495152017,8.93384857243e-06,1793249692559609856
+34,0.566666667,BASELINE,767,745,718,679,662,638,880.268438599,785,813,652,630,654.731561401,0.400998110928,-0.0154999223415,0.069834580093,0.999999981193,5.08093749131e-05,-0.000186962474499,8.78314771964e-06,1793249692576276224
+35,0.583333333,BASELINE,767,745,718.313811077,679,662,638,880,785.313811077,813,652,630,654.686188923,0.400999419485,-0.0154992215915,0.0698351590241,0.999999981315,5.27072578634e-05,-0.000185779203379,8.84765526522e-06,1793249692592942592
+36,0.600000000,BASELINE,767,745,718.888314791,679,662,638,880,785.888314791,813,652,630,654.111685209,0.401000546528,-0.0154994150519,0.0698355816093,0.999999981404,5.40971856758e-05,-0.000184886194868,9.09094311461e-06,1793249692609609216
+37,0.616666667,BASELINE,767,745,718.535040075,678.535040075,662,638,879.535040075,785.535040075,813,652,630,654,0.401000424398,-0.0154997965611,0.0698356394855,0.999999981451,5.37462973156e-05,-0.000184741000103,8.92162749255e-06,1793249692626275840
+38,0.633333333,BASELINE,767.04205903,745,718,678.04205903,662,638,879.04205903,785.04205903,813,652,630,654,0.400999977712,-0.0155002022236,0.0698355798108,0.999999981463,5.30301862082e-05,-0.000184897776764,8.68909369988e-06,1793249692642942976
+39,0.650000000,BASELINE,767.618361087,745,718,678.618361087,662,638,879.618361087,785.618361087,813,652,630,654,0.400999237464,-0.0155003382698,0.0698351448994,0.999999981146,5.3010955229e-05,-0.000186598031785,8.91827747908e-06,1793249692659610368
+40,0.666666667,BASELINE,768,745,718,679,661.800243016,638,879.800243016,785.800243016,813.199756984,652,630,654,0.40099875385,-0.0155005983275,0.0698349177371,0.999999981009,5.27957851559e-05,-0.000187385212638,9.01345947348e-06,1793249692676277248
+41,0.683333333,BASELINE,768,745,718,679,661.208860631,638,879.208860631,785.208860631,813.791139369,652,630,654,0.400998773369,-0.0155011015109,0.0698350978685,0.999999981229,5.21964746929e-05,-0.000186382303108,8.8459297257e-06,1793249692692943616
+42,0.700000000,BASELINE,767.626189785,745,718,679,661.373810215,638,879.373810215,785.373810215,813.626189785,652,630,654.373810215,0.40099957414,-0.0155013420883,0.0698360651455,0.99999998152,5.14875351075e-05,-0.000185009484012,8.97991244182e-06,1793249692709609984
+43,0.716666667,BASELINE,767.048275545,745,718,679,661.951724455,638,879.951724455,785.951724455,813.048275545,652,630,654.951724455,0.401000801483,-0.0155014392802,0.0698374622117,0.999999981847,5.07187369705e-05,-0.000183434690713,9.27852391138e-06,1793249692726276864
+44,0.733333333,BASELINE,767,745.527282455,718,679.527282455,662,638,880,785.472717545,813,652,630,654.472717545,0.400998732135,-0.0155011358253,0.0698353363491,0.9999999814,4.94063527104e-05,-0.000186228777203,8.84188700601e-06,1793249692742943488
+45,0.750000000,BASELINE,767.104691913,746,718,679.895308087,662,638,880,785.104691913,813,652,630,654,0.400996608995,-0.0155007546848,0.069833310865,0.999999980927,4.87093480647e-05,-0.000188950306503,8.46214061564e-06,1793249692759609856
+46,0.766666667,BASELINE,767.691618696,746,718,679.308381304,662,638,880,785.691618696,813,652,630,654,0.400995622191,-0.0155001839182,0.0698332268456,0.999999980702,5.10751469502e-05,-0.000189503350751,8.65313826506e-06,1793249692776276224
+47,0.783333333,BASELINE,767.72509816,746,718,679,662,638,880,785.72509816,813,652,629.72509816,654,0.400995573398,-0.0154999672601,0.06983331534,0.99999998067,5.19815400056e-05,-0.00018942546217,8.73174102627e-06,1793249692792942848
+48,0.800000000,BASELINE,767.145848864,746,718,679,662,638,880,785.145848864,813,652,629.145848864,654,0.400996563091,-0.0155001426402,0.0698335948265,0.999999980854,5.12722059e-05,-0.000188649059593,8.68590994719e-06,1793249692809610240
+49,0.816666667,BASELINE,767,746,718,679,662,638,880,785.432603225,813.432603225,652,629.432603225,654,0.400998141345,-0.0155016457877,0.0698346658531,0.999999981232,5.0407965682e-05,-0.000186855691621,8.94732235131e-06,1793249692826277120
+50,0.833333333,BASELINE,767,745.989259347,718.010740653,679,662,638,880,786,813.989259347,652,630,654,0.400999870577,-0.0155035297087,0.0698359736434,0.999999981658,4.95374735633e-05,-0.000184780817961,9.30330232178e-06,1793249692842943744
+51,0.850000000,BASELINE,767,745.413559844,718.586440156,679,662,638,880,786,813.413559844,652,630,654,0.400999123128,-0.0155019394124,0.0698357241028,0.999999981374,5.10801342849e-05,-0.000185900114222,9.19499940944e-06,1793249692859609856
+52,0.866666667,BASELINE,767.166274377,745.166274377,718.833725623,678.833725623,662,638,880,785.833725623,813.166274377,652,630,654,0.400998959485,-0.015500368921,0.0698358052035,0.999999981253,5.24006784066e-05,-0.000186187227819,9.07011950094e-06,1793249692876276224
+53,0.883333333,BASELINE,767.756654735,745.756654735,718.243345265,678.243345265,662,638,880,785.243345265,813.756654735,652,630,654,0.401000284919,-0.0154988489448,0.069836729651,0.999999981555,5.31546830767e-05,-0.00018435174343,8.90295765883e-06,1793249692892942848
+54,0.900000000,BASELINE,768,746,718,678.339376823,662,638,880,785,813.660623177,652,630,654.339376823,0.400999304125,-0.0154987839595,0.069835703422,0.999999981304,5.32170181826e-05,-0.000185691762253,8.91274082189e-06,1793249692909609216
+55,0.916666667,BASELINE,768,746,718,678.916728813,662,638,880,785,813.083271187,652,630,654.916728813,0.400996706175,-0.0154997392317,0.0698333093547,0.999999980656,5.2794346123e-05,-0.000189258482731,9.04659998746e-06,1793249692926276096
+56,0.933333333,BASELINE,767.506666646,746,718,679,662,638,880,785.493333354,813,652,630,654.506666646,0.400996658609,-0.0155004286624,0.069833850862,0.99999998086,5.21094832447e-05,-0.000188367474069,9.02306472434e-06,1793249692942943232
+57,0.950000000,BASELINE,767.069197111,746,718,679,662,638,880.069197111,785.930802889,813,652,630,654,0.400997120404,-0.0155008835076,0.0698347880768,0.999999981166,5.15905931869e-05,-0.000186882182435,8.98845761368e-06,1793249692959610368
+58,0.966666667,BASELINE,767.640598534,746,718,679,662,638,880.640598534,785.359401466,813,652,630,654,0.400998159365,-0.0154999609987,0.0698350064469,0.999999981178,5.25969720461e-05,-0.000186536420094,9.06601681085e-06,1793249692976276992
+59,0.983333333,BASELINE,767.779580416,745.779580416,718,679,662,638,880.559160832,785,813,652,630,654.220419584,0.40099855134,-0.0155001748677,0.06983479967,0.999999981148,5.24048418145e-05,-0.00018674875384,9.08092005045e-06,1793249692992943616
+60,1.000000000,BASELINE,767.18548556,745.18548556,718,679,662,638,879.370971119,785,813,652,630,654.81451444,0.400997846487,-0.0155023152274,0.0698338721453,0.999999981046,5.01808904214e-05,-0.000187907222638,8.98960323989e-06,1793249693009609984
+61,1.016666667,BASELINE,767,745,718,679,661.60312381,638,879.39687619,785,813.39687619,652,630,654.60312381,0.400997856518,-0.0155022597241,0.0698341026438,0.999999981093,4.96455567302e-05,-0.000187800235373,8.9426890074e-06,1793249693026276352
+62,1.033333333,BASELINE,767,745,718,679,661.026088263,638,879.973911737,785,813.973911737,652,630,654.026088263,0.400998191066,-0.015501207423,0.0698348588195,0.99999998121,4.9876760159e-05,-0.000187118802514,8.91593104097e-06,1793249693042942976
+63,1.050000000,BASELINE,767.549895496,745,718,679.549895496,661.549895496,638,880,785,813.450104504,652,630,654.549895496,0.400998799612,-0.0155009090825,0.0698353746743,0.999999981362,5.07248162515e-05,-0.000186071577361,8.90869633233e-06,1793249693059609600
+64,1.066666667,BASELINE,767.871560412,745.128439588,718,679.871560412,662,638,880,785,813,652,630,654.871560412,0.400999364421,-0.0155005463741,0.0698357546779,0.99999998148,5.14973857682e-05,-0.000185226005307,8.8663105461e-06,1793249693076276224
+65,1.083333333,BASELINE,767.283679627,745.716320373,718,679.283679627,662,638,880,785,813,652,630,654.283679627,0.400999726371,-0.0154998257079,0.069835689434,0.999999981473,5.18954487711e-05,-0.000185163725001,8.69487897467e-06,1793249693092943104
+66,1.100000000,BASELINE,767,746,718,679,662,638,880,785.299637033,813,652,630,654,0.400999577663,-0.0154993654683,0.0698356445092,0.999999981394,5.27091545402e-05,-0.000185358153482,8.71037827505e-06,1793249693109609984
+67,1.116666667,BASELINE,767,746,718,679,662,638,880,785.878697434,813,652,630,654,0.400998952747,-0.0154991480867,0.0698356185327,0.999999981248,5.39104635814e-05,-0.000185791973047,8.90019800534e-06,1793249693126276608
+68,1.133333333,BASELINE,767.456338884,745.543661116,718,679,662,638,880,785.543661116,813.456338884,652,630,654,0.400998711461,-0.0155007954986,0.0698358644597,0.999999981292,5.13192846239e-05,-0.000186284965299,8.95108174288e-06,1793249693142943232
+69,1.150000000,BASELINE,767.966526944,745,718,679,662,638.033473056,879.966526944,785,813.966526944,652,629.966526944,654.033473056,0.400998547487,-0.0155028363176,0.0698361281215,0.999999981375,4.7874828758e-05,-0.000186753641276,8.96666100271e-06,1793249693159609600
+70,1.166666667,BASELINE,767.391517147,745,718,679,662,638.608482853,879.391517147,785,813.391517147,652,629.391517147,654.608482853,0.400997989608,-0.0155032471747,0.0698355130154,0.999999981455,4.68847110227e-05,-0.00018657523989,9.00671105578e-06,1793249693176276224
+71,1.183333333,BASELINE,767,745.187739509,718,679,662,638.812260491,879.187739509,785.187739509,813,652,629.187739509,654.812260491,0.400997928792,-0.0155033704972,0.0698354370673,0.999999981579,4.61801321057e-05,-0.000186081812316,9.06985198661e-06,1793249693192942592
+72,1.200000000,BASELINE,767,745.776057774,718,679,662,638.223942226,879.776057774,785.776057774,813,652,629.776057774,654.223942226,0.400998928553,-0.0155028803091,0.0698365115171,0.999999981799,4.60848056082e-05,-0.000184916215066,9.18226180382e-06,1793249693209609216
+73,1.216666667,BASELINE,767.359253846,745.640746154,718,679,661.640746154,638,880,785.640746154,813,652,630,654,0.400998968911,-0.0155018149323,0.0698362325758,0.999999981676,4.76281249351e-05,-0.00018519824325,9.01041379304e-06,1793249693226276352
+74,1.233333333,BASELINE,767.939301828,745.060698172,718,679,661.060698172,638,880,785.060698172,813,652,630,654,0.400998419627,-0.0155003960497,0.0698351218527,0.999999981337,5.01785410427e-05,-0.000186369968889,8.66386350753e-06,1793249693242943488
+75,1.250000000,BASELINE,767.485275221,745,718,679,661,638,880,785.514724779,813,652,630,654,0.400998430066,-0.0155001011318,0.0698350021486,0.999999981293,5.05870137545e-05,-0.000186501619896,8.51360860033e-06,1793249693259610368
+76,1.266666667,BASELINE,767,745,718,679,661,638,880,786,813,652,630,654,0.400998433721,-0.015499959814,0.0698350634215,0.999999981277,5.08801159517e-05,-0.000186511437954,8.42486677758e-06,1793249693276277248
+77,1.283333333,BASELINE,767,745,718,679,661,638,880,786,813,652,630,654,0.400998046363,-0.0154999389303,0.0698354775376,0.999999981222,5.19041360009e-05,-0.000186519761837,8.54501148008e-06,1793249693292943360
+78,1.300000000,BASELINE,767.248345519,745.248345519,718.248345519,679,661.248345519,638,880,785.751654481,813.248345519,652,630,654,0.400998035542,-0.0155007938499,0.0698356932501,0.999999981288,5.14136119387e-05,-0.000186296480401,8.64385418197e-06,1793249693309609472
+79,1.316666667,BASELINE,767.841413084,745.841413084,718.841413084,679,661.841413084,638,880,785.158586916,813.841413084,652,630,654,0.400998547385,-0.0155028644493,0.0698356335635,0.999999981518,4.88207879598e-05,-0.000185751713562,8.71312811319e-06,1793249693326276096
+80,1.333333333,BASELINE,768,745.577428127,718.577428127,679,661.577428127,638,880,785.422571873,813.577428127,652,629.577428127,654.422571873,0.400998419386,-0.0155022622319,0.0698354745151,0.999999981364,5.00992748297e-05,-0.000186244251942,8.68880797764e-06,1793249693342942720
+81,1.350000000,BASELINE,768,745.000616035,718.000616035,679,661.000616035,638,880,785.999383965,813.000616035,652,629.000616035,654.999383965,0.400998057843,-0.015500684427,0.0698352791993,0.999999981063,5.27908035599e-05,-0.000187115410332,8.63032568423e-06,1793249693359609600
+82,1.366666667,BASELINE,767.428466084,745,718.571533916,679,661,638,879.428466084,786,813.571533916,652,629.571533916,655,0.400998872653,-0.0154994804999,0.0698354592738,0.999999981009,5.41077983194e-05,-0.000187032854023,8.52446751556e-06,1793249693376276480
+83,1.383333333,BASELINE,767.148722968,745.148722968,718.851277032,679,661.148722968,638.148722968,879.148722968,786,814,652,630,654.851277032,0.400999000726,-0.0154990195164,0.0698355060636,0.999999980966,5.43971955455e-05,-0.000187175788569,8.6290881171e-06,1793249693392943360
+84,1.400000000,BASELINE,767.740954169,745.740954169,718.259045831,679,661.740954169,638.740954169,879.740954169,786,814,652,630,654.259045831,0.400997077125,-0.0155007728801,0.0698351541869,0.999999980953,5.16265667387e-05,-0.000187994202324,9.36153056489e-06,1793249693409610240
+85,1.416666667,BASELINE,767.675131873,746,718,679,661.675131873,638.675131873,880,786,813.675131873,652,630,654.324868127,0.400996800143,-0.0155014742152,0.0698349276993,0.999999981009,5.07634738282e-05,-0.000187929348603,9.37833119113e-06,1793249693426276864
+86,1.433333333,BASELINE,767.097684461,746,718,679,661.097684461,638.097684461,880,786,813.097684461,652,630,654.902315539,0.400997803377,-0.0155013576165,0.0698347986996,0.999999981123,5.13834568662e-05,-0.000187177769827,8.83873277924e-06,1793249693442943232
+87,1.450000000,BASELINE,767,745.519974905,718.480025095,679.480025095,661.480025095,638,880,786,813.480025095,652,630,655,0.400998488796,-0.0155011459073,0.0698356378947,0.999999981275,5.20785072913e-05,-0.000186159998894,9.05599803177e-06,1793249693459609344
+88,1.466666667,BASELINE,767.05726925,745,718.94273075,679.94273075,662,638,880,786,813.94273075,652,630,654.94273075,0.400999030203,-0.0155008895081,0.0698365536921,0.999999981413,5.27075381712e-05,-0.000185226932993,9.34652313407e-06,1793249693476275712
+89,1.483333333,BASELINE,767.62984549,745,718.37015451,679.37015451,662,638,880,786,813.37015451,652,630,654.37015451,0.400998858054,-0.0155004052393,0.069836384949,0.999999981363,5.2604998093e-05,-0.000185543724471,8.90960695947e-06,1793249693492942336
+90,1.500000000,BASELINE,767.790596564,745.209403436,718,679,662,638,879.790596564,786,813.209403436,652,630,654,0.400998624013,-0.0155004702427,0.0698360119066,0.999999981321,5.20956050635e-05,-0.000185931721403,8.5951252349e-06,1793249693509608960
+91,1.516666667,BASELINE,767.198271722,745.801728278,718,679,662,638,879.198271722,786,813.801728278,652,630,654,0.400998276799,-0.0155015396619,0.0698352652764,0.99999998129,5.08422285327e-05,-0.00018644992673,8.50453086666e-06,1793249693526276096
+92,1.533333333,BASELINE,767.382396373,745.617603627,718,679,662,638,879.382396373,785.617603627,813.617603627,651.617603627,630,654,0.400997483307,-0.0155022993985,0.0698349763273,0.999999981259,4.90489837216e-05,-0.000187088495835,8.63652069948e-06,1793249693542942976
+93,1.550000000,BASELINE,767.957199312,745.042800688,718,679,662,638,879.957199312,785.042800688,813.042800688,651.042800688,630,654,0.400996465266,-0.0155029033152,0.0698349176651,0.999999981225,4.69840986634e-05,-0.000187787627227,8.88050599472e-06,1793249693559609600
+94,1.566666667,BASELINE,768,745.534599225,718,678.465400775,662,638,880,785,813,651.534599225,630,654,0.400997580364,-0.0155024869183,0.0698354375259,0.999999981229,4.73509337032e-05,-0.000187671522581,8.95767391185e-06,1793249693576276480
+95,1.583333333,BASELINE,767.885959448,745.885959448,718.114040552,678.114040552,662,638.114040552,880,785.114040552,813.114040552,652,630,654,0.400998580327,-0.0155020196135,0.0698359271658,0.99999998125,4.79019195511e-05,-0.000187415062785,8.98954619352e-06,1793249693592943104
+96,1.600000000,BASELINE,767.298917432,745.298917432,718.701082568,678.701082568,662,638.701082568,880,785.701082568,813.701082568,652,630,654,0.400998390945,-0.0155016816257,0.0698360984138,0.999999981333,4.84052649908e-05,-0.000186848491866,8.88921252946e-06,1793249693609609728
+97,1.616666667,BASELINE,767.284755223,745,718.715244777,679,662,638.715244777,880,786,813.715244777,652,630,654,0.400998633542,-0.0155016076263,0.0698364492556,0.999999981498,4.87288274005e-05,-0.000185876052573,8.91493226031e-06,1793249693626276352
+98,1.633333333,BASELINE,767.864932271,745,718.135067729,679,662,638.135067729,880,786,813.135067729,652,630,654,0.400999324298,-0.015501807504,0.0698369864184,0.999999981748,4.88658722852e-05,-0.000184482541578,9.07142720669e-06,1793249693642942976
+99,1.650000000,BASELINE,767.559180914,745.440819086,718,679,662,638,880,785.559180914,813,652,630,654,0.400999354782,-0.0155021107686,0.0698365685624,0.999999981633,4.80730812673e-05,-0.000185320911871,8.8875966437e-06,1793249693659610112
+100,1.666666667,BASELINE,767,745.984527533,718,679,661.984527533,638,880.015472467,785,813,652,630,654,0.40099915269,-0.0155024298789,0.0698358718077,0.999999981403,4.70788408222e-05,-0.000186826197299,8.61844684939e-06,1793249693676276736
+101,1.683333333,BASELINE,767,745.40738966,718,679,661.40738966,638,880.59261034,785,813,652,630,654,0.400997781121,-0.0155021853459,0.0698355707426,0.999999981095,4.90143713821e-05,-0.000187955922672,9.0009722189e-06,1793249693692943360
+102,1.700000000,BASELINE,767,745.173425687,718,679,661.173425687,638,880.826574313,785,813,652,630,654,0.400996562287,-0.0155016998747,0.0698352230413,0.999999980845,5.05660858578e-05,-0.000188861302999,9.23239725607e-06,1793249693709609984
+103,1.716666667,BASELINE,767,745.763066752,718,679,661.763066752,638,880.236933248,785,813,652,630,654,0.40099571001,-0.0155006361603,0.0698347634146,0.999999980744,5.11966553272e-05,-0.000189228263168,9.10118690271e-06,1793249693726276352
+104,1.733333333,BASELINE,767,746,718,679,662,638,880,785.34599617,813.34599617,652,630,654,0.400995369478,-0.0155008031456,0.0698344494762,0.999999980676,5.09627551361e-05,-0.000189662887655,8.90460479313e-06,1793249693742942720
+105,1.750000000,BASELINE,767,746,718,679,662,638,880,785.924417061,813.924417061,652,630,654,0.400995372712,-0.0155017968598,0.0698342334047,0.999999980628,5.01481430283e-05,-0.000190142966036,8.66410885398e-06,1793249693759609344
+106,1.766666667,BASELINE,767.50122126,745.49877874,718,679,662,638,879.49877874,786,813.49877874,652,630,654.50122126,0.400996221162,-0.0155007437688,0.0698348152146,0.999999980646,5.29586384128e-05,-0.000189280545783,8.68101719731e-06,1793249693776276224
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,718,679,661,638,879,785,813,652,630,654,0.40099846356,-0.0155013596151,0.0698361768468,0.999999981282,5.10399849298e-05,-0.000186409684267,9.06455438698e-06,1793249693819788288
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745.591862861,718,679,661.591862861,638,879.591862861,785.591862861,813,652,630,654,0.40099664838,-0.0155008478606,0.069835413848,0.999999980814,5.10987974963e-05,-0.000188895803079,8.8651773505e-06,1793249693836455168
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,745.821441763,718,679,662,638,880,786,813,652,630,654,0.400995357569,-0.0155002896047,0.0698347615564,0.999999980507,5.14487418905e-05,-0.000190429668935,8.71256540379e-06,1793249693853122048
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745.246225575,718,679,662,638,880,786,813,652,630,654,0.400995231613,-0.0154996280485,0.0698343551953,0.999999980566,5.24454206945e-05,-0.000189848154257,8.66383966293e-06,1793249693869788672
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.669386742,745.330613258,718,679,662,638,880,785.669386742,813,652,630,654,0.400996125509,-0.0155006219677,0.0698350120816,0.999999980825,5.19008083709e-05,-0.000188627480229,8.72925250324e-06,1793249693886455040
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.091333512,745.908666488,718,679,662,638,880,785.091333512,813,652,630,654,0.40099778269,-0.01550285489,0.0698364647312,0.999999981229,5.02026516999e-05,-0.000186928441957,8.88008977136e-06,1793249693903121152
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,718,679.485132326,662,638,880,785,813,652,630,654,0.400998127755,-0.0155019437562,0.0698361312308,0.999999981122,5.15371548908e-05,-0.000187144065805,8.75297988757e-06,1793249693919787776
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,718,679.937425819,662,638,880,785.062574181,813,652,630,654.062574181,0.400997994479,-0.0155006719258,0.0698355172037,0.999999980861,5.3006147765e-05,-0.000188133820643,8.59828315953e-06,1793249693936454656
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,718,679.349284388,662,638,880,785.650715612,813,652,630,654.650715612,0.400995911594,-0.0155013259184,0.069835362157,0.999999980122,5.08249524675e-05,-0.000192607881697,8.64995464721e-06,1793249693953121280
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.764868593,718,679,662,638,880.235131407,785.764868593,813,652,630,654.764868593,0.400997725717,-0.0155016955167,0.0698368498232,0.999999979481,5.04239565146e-05,-0.000195998536061,8.94261822097e-06,1793249693969787904
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.185900905,718,679,662,638,880.814099095,785.185900905,813,652,630,654.185900905,0.401005238497,-0.0155016492407,0.0698407396538,0.999999979006,5.26261737076e-05,-0.000197804907729,9.5876882341e-06,1793249693986455040
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.608432944,638,880.216865887,785.391567056,813.391567056,652,630,654,0.401028545573,-0.0155019399747,0.0698495545523,0.999999980023,5.33747255077e-05,-0.000192351199682,1.0270925327e-05,1793249694003121664
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.031674227,638,879.063348454,785.968325773,813.968325773,652,630,654,0.401059322564,-0.0155023900976,0.0698606987621,0.999999981683,5.34357663736e-05,-0.000183463836691,1.09722135987e-05,1793249694019788032
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662.116611505,638,880.116611505,785.441694248,813.441694248,652,630,654,0.401118954345,-0.015505919109,0.0698775542399,0.999999985532,5.17789163894e-05,-0.0001616134089,1.16506804309e-05,1793249694036454656
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.145981334,745.145981334,718,679,662.854018666,638,880.708037332,785.145981334,813,652,630,654.145981334,0.401183637227,-0.0155099947265,0.0698930324028,0.999999988713,4.96530293686e-05,-0.000141280678493,1.21587620417e-05,1793249694053121280
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.724551757,745.724551757,718,679,662.275448243,638,879.550896486,785.724551757,813,652,630,654.724551757,0.401258319492,-0.0155151599434,0.0699034456965,0.999999990697,4.64330483211e-05,-0.000127677537028,1.21658679994e-05,1793249694069787648
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,746,718,679,662,638,879.300740157,785.699259843,813,652,630,654.699259843,0.401341741702,-0.0155185739216,0.0699105082922,0.999999991736,4.65406726541e-05,-0.000119295931167,1.14641861549e-05,1793249694086454272
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,746,718,679,662,638,879.874763969,785.125236031,813,652,630,654.125236031,0.401433105924,-0.0155203965426,0.069914526096,0.999999992027,4.96721040879e-05,-0.000115659154203,1.01184263023e-05,1793249694103120896
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,746,718,679,662,638,879.54959822,785,813,652,630,654,0.401545332453,-0.0155235783964,0.0699179582848,0.999999992458,5.11826733999e-05,-0.00011133095733,8.30777508705e-06,1793249694119787776
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.972843471,745.972843471,718.027156529,679,662,638,879.027156529,785,813,652,630,654,0.401664655609,-0.0155271190202,0.0699212278783,0.99999999291,5.21054307265e-05,-0.000106890310426,6.32520694787e-06,1793249694136454656
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.382259497,745.382259497,718.617740503,679,662,638,879.617740503,785,813,652,630,654,0.401810430049,-0.0155302337136,0.0699245145468,0.999999993313,5.02168342548e-05,-0.000104119692744,3.46736500463e-06,1793249694153121280
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.203833703,745,718.796166297,678.796166297,662,638,880,785,813,652,630,654,0.401965515128,-0.0155326101179,0.0699265848294,0.999999993452,4.90117219804e-05,-0.000103414310914,2.8052736153e-07,1793249694169788160
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.78168661,745,718.21831339,678.21831339,662,638,880,785,813,652,630,654,0.402137684502,-0.0155336318178,0.0699264231368,0.999999993119,4.90607509739e-05,-0.000106498478716,-3.50999183282e-06,1793249694186454784
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.642495052,745.357504948,718,678.357504948,662,638,880.357504948,785,813,652,630,654,0.402332456601,-0.0155357100684,0.0699272558044,0.999999993215,4.74118253458e-05,-0.000106124698963,-7.73375477797e-06,1793249694203121152
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.067912055,745.932087945,718,678.932087945,662,638,880.932087945,785,813,652,630,654,0.402540953159,-0.0155384298598,0.0699286922503,0.999999993553,4.47318967102e-05,-0.00010365124364,-1.22205849608e-05,1793249694219787520
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.507365299,745.492634701,718,678.492634701,662,638,880.492634701,785,813,651.492634701,629.492634701,654.507365299,0.402785038332,-0.015534397873,0.0699309426657,0.999999994507,2.4251644056e-05,-0.000100555995581,-1.69159001334e-05,1793249694236454144
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,745.08557927,718,678.08557927,662,638,880,785,813,651.08557927,629,654.91442073,0.403042344666,-0.0155293897137,0.0699347635785,0.999999995276,4.89337773054e-06,-9.46342154386e-05,-2.16350417305e-05,1793249694253121024
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,745.680724874,718,678.680724874,662,638,880,785,813,651.680724874,629,654.319275126,0.403349971128,-0.0155239576499,0.0699472861133,0.999999997013,6.42206554081e-06,-7.23786063862e-05,-2.63296652624e-05,1793249694269787904
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.733957916,746,718,679,661.733957916,638,880,785,813,652,629.266042084,654,0.403662939858,-0.015522490706,0.0699542425409,0.999999997616,1.08341152183e-05,-6.1747020802e-05,-2.89356417931e-05,1793249694286454528
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.160015506,746,718,679,661.160015506,638,880,785,813,652,629.839984494,654,0.403982091371,-0.015525612742,0.0699547571065,0.999999997319,1.85831859425e-05,-6.45683480731e-05,-2.91243497707e-05,1793249694303121152
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.414246379,746,718,679.414246379,661.414246379,638,880,785.414246379,813,652,630,654,0.404336486155,-0.0155293616354,0.069959458725,0.999999997775,9.06976697091e-06,-5.94607139549e-05,-2.88529182519e-05,1793249694319787776
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.988631753,746,718,679.988631753,661.988631753,638,880,785.988631753,813,652,630,654,0.404704505243,-0.0155333528586,0.0699657789706,0.999999998256,-7.11697003343e-06,-5.12879089424e-05,-2.84036064056e-05,1793249694336454400
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.419434833,745.419434833,718,680,662,638,880,785.419434833,813,652,630,654,0.40511846674,-0.0155325786012,0.06996770103,0.99999999838,-7.32344149215e-06,-4.74408683104e-05,-3.05855322523e-05,1793249694353121024
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,679.83116565,662,638,880,785.16883435,813.16883435,652,629.83116565,654,0.405540481958,-0.0155312669477,0.0699670106118,0.999999998321,-7.04930273677e-06,-4.72750636289e-05,-3.27581788924e-05,1793249694369787648
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,679.252647743,662,638,880,785.747352257,813.747352257,652,629.252647743,654,0.405979788818,-0.0155288847695,0.0699601964009,0.999999997816,-6.39191061317e-06,-5.58299866457e-05,-3.47793890025e-05,1793249694386454272
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,880,785.677176426,813.677176426,652,629.322823574,654,0.406437307455,-0.0155257550882,0.069948788307,0.99999999664,-1.77146254258e-06,-7.31934800994e-05,-3.68783455149e-05,1793249694403121408
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,880,785.104067074,813.104067074,652,629.895932926,654,0.406908945766,-0.0155220458658,0.0699338185655,0.999999994478,5.92155099184e-06,-9.73862771325e-05,-3.90375791704e-05,1793249694419788288
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,718,679.471310933,662,638.471310933,880.471310933,785,813.471310933,652,630,654,0.407445693771,-0.0155219715263,0.0699329261586,0.999999994933,3.1704795282e-06,-9.20490352243e-05,-4.06395109508e-05,1793249694436454912
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.048478606,745.048478606,718,680,662,638.951521394,881,785.048478606,814,652,629.951521394,654,0.408002901449,-0.0155229681824,0.0699365263493,0.999999996068,-1.53423586007e-06,-7.8101048455e-05,-4.19786199354e-05,1793249694453121280
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.640057145,745.640057145,718,680,662,638.359942855,881,785.640057145,814,652,629.359942855,654,0.408627480216,-0.0155269282128,0.0699554659654,0.999999998282,-2.16558846343e-06,-4.10877451264e-05,-4.1758586863e-05,1793249694469787648
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.773904078,745.773904078,718,680,662.226095922,638,881,785.773904078,814,651.773904078,629.226095922,654,0.409243362816,-0.0155284788393,0.0699644632857,0.999999998867,-4.22252049167e-06,-2.14968167928e-05,-4.22618074286e-05,1793249694486454016
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.196473672,745.196473672,718,680,662.803526328,638,881,785.196473672,814,651.196473672,629.803526328,654,0.409845732253,-0.01552628545,0.069958011094,0.999999998581,-8.4946857723e-06,-2.89788298923e-05,-4.38889048006e-05,1793249694503120384
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.379585745,745.379585745,718,680,662.620414255,638.379585745,881,785,814,651,629.620414255,654,0.41047376814,-0.0155231226879,0.0699509726135,0.999999998104,-5.4649686078e-06,-4.12217347619e-05,-4.54205878648e-05,1793249694519787264
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.954938073,745.954938073,718,680,662.045061927,638.954938073,881,785,814,651,629.045061927,654,0.411115041159,-0.0155194599841,0.069943631762,0.999999997336,1.33060289959e-06,-5.59200095584e-05,-4.69030621386e-05,1793249694536454144
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.456688639,745.456688639,718,679.456688639,662.543311361,638.456688639,881,785,814,651.543311361,629,654,0.411826405629,-0.0155200989119,0.0699632966022,0.9999999987,3.34632552538e-06,-2.09246463433e-05,-4.63823104237e-05,1793249694553121792
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,718,679.130004117,663,638.130004117,881,785.130004117,814,652,629,654.130004117,0.412559297839,-0.0155219657491,0.0699875347084,0.999999998769,-8.33315863994e-07,2.00387766581e-05,-4.53879691156e-05,1793249694569789440
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,718,679.707111829,663,638.707111829,881,785.707111829,814,652,629,654.707111829,0.413345743126,-0.0155267984197,0.0700196086778,0.999999996505,-2.4922853955e-05,6.70045247272e-05,-4.3350315398e-05,1793249694586455808
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.284310756,745.284310756,718,680,663,639,881.284310756,785.715689244,814,652,629,654.715689244,0.414099074344,-0.0155269015557,0.0700246259637,0.999999996323,-3.03487482445e-05,6.74784502174e-05,-4.33444620738e-05,1793249694603121920
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.861603752,745.861603752,718,680,663,639,881.861603752,785.138396248,814,652,629,654.138396248,0.41481828161,-0.015522130907,0.0700017613409,0.99999999863,-1.65417601938e-05,2.00425574338e-05,-4.54323788588e-05,1793249694619788032
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.56346049,746,718,680.43653951,663,639,882.43653951,785,814.43653951,652,629,654.43653951,0.4155581004,-0.0155195441398,0.0699580036713,0.999999997384,-1.24020025373e-05,-5.00171739983e-05,-5.07676277505e-05,1793249694636454656
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,681,663,639,883,785.011058869,815,652,629.011058869,655,0.416306128085,-0.0155178525359,0.0699089496033,0.999999990466,-1.15027073486e-05,-0.000125259747602,-5.69775658703e-05,1793249694653121280
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,681,663,639,883,785.602743466,815,652,629.602743466,655,0.417143913045,-0.0155270041449,0.0699277166346,0.999999993446,-2.06902232864e-05,-9.80647895422e-05,-5.53496458737e-05,1793249694669788160
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.190070872,746,718,681,663.190070872,639,883,786,815,652,629.809929128,655,0.41799708544,-0.0155347047312,0.0699496802463,0.999999996007,-2.94021050326e-05,-6.5509627315e-05,-5.31891533304e-05,1793249694686454784
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.768495603,746,718,681,663.768495603,639,883,786,815,652,629.231504397,655,0.418881697479,-0.0155394405793,0.0699781751276,0.999999997821,-3.71421678037e-05,-2.20024678586e-05,-4.99405057097e-05,1793249694703121408
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.654616088,746,718,680.654616088,664,639,883,786,815,652,629,655,0.419771160623,-0.0155427471602,0.07000311692,0.999999997477,-4.88341957002e-05,1.7558764751e-05,-4.85120560101e-05,1793249694719788288
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.078753077,746,718,680.078753077,664,639,883,786,815,652,629,655,0.420663860937,-0.0155450999726,0.0700256876897,0.999999995354,-6.31634201131e-05,5.44868281675e-05,-4.82982477659e-05,1793249694736455168
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.491028537,718,680.508971463,663.491028537,639,883.508971463,786,815,651.491028537,629,655,0.421522211692,-0.0155443310782,0.0700273785273,0.999999995657,-5.93059473427e-05,5.29721398806e-05,-4.86129118243e-05,1793249694753121280
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.096813132,718,681,663.096813132,639,884,786,815,651.096813132,629.096813132,655,0.42236675947,-0.0155423319385,0.0700135427018,0.999999996848,-5.54114760538e-05,2.66299366286e-05,-5.02516105983e-05,1793249694769787648
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.675877637,718,681,663.675877637,639,884,786,815,651.675877637,629.675877637,655,0.423169657359,-0.0155366680923,0.0699388417306,0.999999991828,-6.56845653711e-05,-9.30478394888e-05,-5.80686309793e-05,1793249694786454272
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718,681,663.746719053,639,884.253280947,786,815,652,629.746719053,655,0.424017226584,-0.0155318035614,0.069884929636,0.999999980594,-6.94286346106e-05,-0.000172534547219,-6.49853267725e-05,1793249694803120896
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718,681,663.171427635,639,884.828572365,786,815,652,629.171427635,655,0.424921589129,-0.0155279552445,0.069857447612,0.999999975207,-6.48719916831e-05,-0.000200924082113,-7.07573906003e-05,1793249694819787520
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.401741465,746,718,681,663.401741465,639,885.401741465,786,815.401741465,652,629.401741465,655,0.425855651081,-0.0155304276021,0.0698938053531,0.999999985544,-6.06101398485e-05,-0.000144365311019,-6.63147230443e-05,1793249694836454400
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.974009672,746,718,681,663.974009672,639,885.974009672,786,815.974009672,652,629.974009672,655,0.426802319454,-0.0155355828892,0.0699572610883,0.999999995411,-5.64734174928e-05,-5.17486265407e-05,-5.7536219277e-05,1793249694853121536
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.433996495,746,718,681,664.566003505,639,885.433996495,786,816,652,629.433996495,655,0.42772549882,-0.0155371785258,0.0699955942532,0.999999996517,-6.17888310769e-05,-4.0253649298e-06,-5.59567962293e-05,1793249694869788160
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.155118215,746,718,681.155118215,665,639,885.155118215,786,816,652,629.155118215,655,0.428651563858,-0.0155390256151,0.0700275853022,0.999999995498,-6.60418540645e-05,4.0398734763e-05,-5.48602868716e-05,1793249694886454528
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.733808373,746,718,681.733808373,665,639,885.733808373,786,816,652,629.733808373,655,0.429588560176,-0.0155420217862,0.0700455221395,0.999999993012,-6.6165887707e-05,8.16463824e-05,-5.41471654546e-05,1793249694903121152
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746,717.701544079,681.701544079,664.701544079,639,886.298455921,786,816,652,629.701544079,655,0.430447336205,-0.0155402978255,0.0700217670829,0.999999995216,-6.74477917258e-05,4.26160429114e-05,-5.65876570027e-05,1793249694919787776
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746,717.148858297,681.148858297,664.148858297,639,886.851141703,786,816,652,629.148858297,655,0.431239482806,-0.0155345531757,0.0699624981568,0.999999993566,-6.97159890175e-05,-6.47964626861e-05,-6.1714449653e-05,1793249694936454144
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.552939946,746,717.447060054,681,664,639,886.552939946,786,815.552939946,652,629.447060054,655,0.432047785374,-0.0155325270196,0.0699091948829,0.99999998385,-6.94525136488e-05,-0.000151818892092,-6.65337255165e-05,1793249694953120768
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717.94424502,681.05575498,664,639,886.05575498,786,815.05575498,652,630,655,0.432873539652,-0.0155322645965,0.0698690295753,0.999999972576,-6.85014882791e-05,-0.000212642966007,-7.02777157081e-05,1793249694969787392
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717.365206145,681.634793855,664,639,886.634793855,786,815.634793855,652,630,655,0.433807191089,-0.0155356908988,0.0699315306282,0.999999990634,-6.98561947639e-05,-9.81267347234e-05,-6.49935932448e-05,1793249694986454272
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.213404681,746,717.213404681,682,664.213404681,639,887,786,816,652,630,655,0.434718059321,-0.0155381890646,0.0699847795552,0.999999995541,-7.22052044253e-05,-5.17223073773e-06,-6.06492666654e-05,1793249695003121152
+179,2.983333333,POSE1_TO_POSE2_PRESS,767.791284536,746,717.791284536,682,664.791284536,639,887,786,816,652,630,655,0.435590016127,-0.0155391020608,0.0700222267296,0.999999994118,-7.62523919753e-05,5.09568829795e-05,-5.79100234728e-05,1793249695019788032
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.633644161,746,718,682,665,638.633644161,887,786,816,652,629.633644161,655,0.436435012801,-0.0155411520946,0.0700309964685,0.999999992815,-7.90873780685e-05,6.88773468354e-05,-5.80628227398e-05,1793249695036454912
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.060160773,746,718,682,665,638.060160773,887,786,816,652,629.060160773,655,0.437264766902,-0.0155438449781,0.0700235527692,0.999999992784,-8.12370185328e-05,6.51956840054e-05,-5.98507037807e-05,1793249695053121792
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638.53054542,887,785.46945458,816,652,629.53054542,655,0.438011902906,-0.0155457150503,0.0699931079045,0.999999993314,-9.26928763074e-05,3.02027459127e-05,-6.21962897624e-05,1793249695069787904
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,717.879713158,682,665,638.879713158,887,785.120286842,816.120286842,651.879713158,629.879713158,655,0.438731398367,-0.015546399322,0.0699538654366,0.999999992523,-0.000101078723502,-2.31033138549e-05,-6.48354734896e-05,1793249695086454528
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,717.301333029,682,665,638.301333029,887,785.698666971,816.698666971,651.301333029,629.301333029,655,0.439382504364,-0.0155429349088,0.0698913848733,0.999999984547,-9.36192534413e-05,-0.000132176731133,-6.83438552676e-05,1793249695103121152
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,717,682,665,638.275586892,887.275586892,785.724413108,817,651.275586892,629.275586892,654.724413108,0.440067957328,-0.0155426080105,0.0698587848426,0.999999975719,-9.51150271532e-05,-0.000185695081244,-7.09387255496e-05,1793249695119787520
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,717,682,665,638.850918564,887.850918564,785.149081436,817,651.850918564,629.850918564,654.149081436,0.440790768062,-0.0155456936613,0.0698586846699,0.999999975731,-0.000106351060803,-0.000178788413116,-7.25400065563e-05,1793249695136453888
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664.574404408,639,887.574404408,785,817,652,630,654.425595592,0.441528655568,-0.0155544390405,0.0698996303871,0.99999998389,-0.000114549902056,-0.000119485464384,-6.94310554139e-05,1793249695153121280
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638.99995499,886.99995499,785,816.99995499,652,629.99995499,655,0.442271805667,-0.0155651634334,0.0699549270804,0.999999989628,-0.000121686659301,-4.18642962074e-05,-6.46750190277e-05,1793249695169788416
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638.408335796,886.408335796,785,816.408335796,652,629.408335796,655,0.442875849799,-0.0155695445425,0.0699462362228,0.999999987419,-0.000131150001396,-6.19972255426e-05,-6.41746272719e-05,1793249695186455040
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638,886,784.820901529,816,652,629.179098471,655,0.443461518414,-0.0155734252893,0.0699268525988,0.999999983461,-0.000138764437026,-9.85147432881e-05,-6.41708475752e-05,1793249695203121408
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638,886,784.242790718,816,652,629.757209282,655,0.44400624845,-0.0155761912828,0.069883646627,0.999999973039,-0.000142259707234,-0.000171535384569,-6.52734664517e-05,1793249695219787776
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,717,681.667094786,664,638,886.332905214,784,816,652,629.667094786,655,0.444534385361,-0.0155797920573,0.0698430493927,0.999999958915,-0.000148297338224,-0.000235606647728,-6.83142772182e-05,1793249695236454400
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,717,681.093147395,664,638,886.906852605,784,816,652,629.093147395,655,0.445050507881,-0.0155839972602,0.0698043410343,0.999999942175,-0.000156175781791,-0.000293198051258,-7.27584483042e-05,1793249695253121024
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,717.493464728,681.493464728,664,638,887.493464728,784,816.493464728,652,629.493464728,654.506535272,0.445561901896,-0.0155890757435,0.0697907639773,0.999999937291,-0.000162985358053,-0.000305592640585,-7.39384783138e-05,1793249695269788160
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,638,887.341015925,784,817,652,629.341015925,654.658984075,0.446519315777,-0.0155989076564,0.069780121461,0.999999928993,-0.00017962656511,-0.000322875069147,-7.4162444878e-05,1793249695303121408
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637.763202295,887,784,816.763202295,651.763202295,629,655,0.446945868936,-0.0156022107485,0.0697690984977,0.999999918983,-0.000187254611656,-0.000348396528484,-7.47608001873e-05,1793249695319788032
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664,637.185661923,887,784,816.185661923,651.185661923,629,655,0.447331855922,-0.0156035529981,0.0697461950787,0.999999901498,-0.000192021434001,-0.000392778461126,-7.65318603891e-05,1793249695336454912
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717.609785452,682,664,637,887,784,816,651.390214548,629,654.609785452,0.447712534019,-0.0156058171879,0.0697331192103,0.999999892864,-0.000191368352696,-0.000414434054683,-7.67739339434e-05,1793249695353121280
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+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,717,681.382856617,663.617143383,637,887,782.382856617,817,651.382856617,629,654.382856617,0.450222746609,-0.0156378291498,0.0696927591383,0.999999857479,-0.00022502911241,-0.000478438675655,-7.41664821321e-05,1793249695503121152
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+254,4.233333333,HOLD_POSE2,767,746,718,683,663,637,887,781.965389767,817,652,629,654,0.451366689658,-0.0156382142414,0.0696192594353,0.999999804724,-0.000219749293337,-0.000580791981397,-7.0306088533e-05,1793249696288936704
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+256,4.266666667,HOLD_POSE2,767,746,718,682,663,636.119726349,887.119726349,781,816.119726349,652,629,655,0.451370722751,-0.0156388795937,0.0696215728071,0.999999806675,-0.000222305527197,-0.000576373587183,-7.08787011511e-05,1793249696322269696
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+259,4.316666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,663.442872945,637,887,781,817,651.442872945,629,655,0.451368846423,-0.0156366674128,0.0696205527642,0.999999806671,-0.00021865562083,-0.000577746991068,-7.1108843788e-05,1793249696392868864
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.664032327,664.328064654,637,887,781,817,651,629,654.335967673,0.451369889362,-0.0156361050955,0.0696200506737,0.999999806266,-0.000217320060298,-0.000578958866113,-7.1043619251e-05,1793249696442868736
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.084980291,663.169960581,637,887,781,817,651,629,654.915019709,0.451369125089,-0.0156341152611,0.0696195192008,0.999999806642,-0.000214844567093,-0.000579181795493,-7.14533280926e-05,1793249696459535360
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,717,683,663,637,887,781,816.932733424,651.067266576,629,654.067266576,0.451370832532,-0.0156334731664,0.0696219216183,0.999999808708,-0.000214572187956,-0.000575712879098,-7.13943806483e-05,1793249696492868608
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,717,683,663,637,887,781,816.360036026,651.639963974,629,654.639963974,0.451367565147,-0.0156345394178,0.0696198626004,0.999999806129,-0.000216929436596,-0.000579263577569,-7.16735870512e-05,1793249696509535232
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,717,683,663,637,887,781,816.811099831,652,629,655,0.451362766819,-0.0156352516159,0.0696175969754,0.999999804015,-0.000218295541711,-0.000582423167254,-7.14130524697e-05,1793249696542868480
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,717.394687186,682.605312814,663,636.605312814,887,781,817,651.605312814,629,655,0.451343518871,-0.0156344531994,0.0696087393597,0.999999795868,-0.000217104400472,-0.000596628715844,-7.18591756311e-05,1793249696559535104
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.451431002,682.548568998,663,636.548568998,887,781.548568998,817,651,629,655,0.451257269079,-0.0156305441566,0.0695720527157,0.999999756801,-0.000215512079112,-0.000659116834515,-7.42770923219e-05,1793249696592868608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717,683,663,637,887,781.877297069,817,651.122702931,629,654.877297069,0.451194755306,-0.0156272807237,0.0695491092711,0.999999730789,-0.000214888075529,-0.000697504263446,-7.57138804258e-05,1793249696609535232
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.282782614,682.717217386,663,637,887,781,817,652,629,654.282782614,0.451049018664,-0.0156174163427,0.0695200066385,0.999999705025,-0.00020845295084,-0.000735290374911,-7.64508825747e-05,1793249696642868736
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,717.751395183,682,664,637,887,782,816.248604817,651.248604817,629,654,0.449087001593,-0.0155272880182,0.0695750892112,0.999999761183,-0.00013595050849,-0.000676470538624,-3.92270073496e-05,1793249696842868736
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,663.006872446,637,887,782,817,651.006872446,629,654,0.448138925014,-0.0154984391331,0.0695981519407,0.99999979267,-1.09916035291e-05,-0.000643452493061,-2.25218105463e-05,1793249696892868608
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.739338277,637,887,782.739338277,816.739338277,651.260661723,629,654,0.446922131133,-0.0154999957566,0.0695922037964,0.999999790195,-1.76324337613e-05,-0.00064749736693,-6.85527677398e-06,1793249696942869248
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.834167867,717.834167867,682,664,638,885,785,815.834167867,651,629,654,0.435518622747,-0.0154058879291,0.0697484037741,0.999999924134,0.000109446525104,-0.000373746021364,8.1674747621e-06,1793249697242869248
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,745.259257894,717.259257894,682,664,638,885,785,815.259257894,651,629,654,0.434737112579,-0.0154048179503,0.0697995136121,0.99999994477,0.000123537512656,-0.000308220838083,1.41160876017e-05,1793249697259535872
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,745,717.327648589,681.672351411,664,638,885,785,815.327648589,651,629,654,0.433906350266,-0.0154018530281,0.069825131164,0.999999952071,0.000133025742359,-0.000279058827537,1.69982364079e-05,1793249697276202496
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,745,717.924408263,681.075591737,664,638,885,785,815.924408263,651,629,654,0.433035135206,-0.0153973317121,0.0698298108641,0.999999951092,0.000138733539864,-0.000279763370704,1.73617735881e-05,1793249697292869120
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766.500175508,745.499824492,718,681,663.500175508,638,885,785,815.500175508,651,629,654,0.432182298419,-0.0153944587499,0.0698322428102,0.99999995409,0.000145300438115,-0.000265334413053,1.74867595553e-05,1793249697309535744
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.073019637,745.926980363,718,681.073019637,663.073019637,638,885,785,815.073019637,651,629.073019637,654,0.431316868339,-0.015391470932,0.0698266066613,0.999999953427,0.000151716391842,-0.000264271637207,1.70039871384e-05,1793249697326202368
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.652278254,745.347721746,718,681.652278254,663.652278254,638,885,785,815.652278254,651,629.652278254,654,0.430345649776,-0.0153860292954,0.0697672953652,0.999999918864,0.000156221969627,-0.000371093282056,1.25475570705e-05,1793249697342869504
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745.235255848,717.764744152,682,664,638,884.764744152,785,815.764744152,651,629.764744152,654,0.429413389315,-0.0153831928375,0.0697251619581,0.999999890656,0.000158946405306,-0.000439705289852,9.14067080473e-06,1793249697359536384
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,745.823818686,717.176181314,682,664,638,884.176181314,785,815.176181314,651,629.176181314,654,0.428539635945,-0.0153842688336,0.069708826278,0.999999885663,0.000158995926429,-0.000450934125422,7.30998783351e-06,1793249697376202752
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.404540618,745.595459382,717,681.595459382,663.595459382,638,884,785.404540618,815,651.404540618,629.404540618,654,0.427684270713,-0.0153876630755,0.0697590502571,0.999999917562,0.00015913964125,-0.000373367329452,1.21397931555e-05,1793249697392869120
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.981912654,745.018087346,717,681.018087346,663.018087346,638,884,785.981912654,815,651.981912654,629.981912654,654,0.426836761476,-0.0153920477388,0.069837710443,0.999999953865,0.000159323596526,-0.00025786447401,1.98151511289e-05,1793249697409535744
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.442729247,745,717.557270753,681,663.557270753,638,883.442729247,785.442729247,815,652,630,654,0.425960490081,-0.0153906363721,0.0698554963177,0.999999958446,0.000164504017332,-0.000235684182749,2.23490498249e-05,1793249697426202112
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745.13540875,718,681,663.86459125,638,883,785.13540875,815,651.86459125,630,654,0.425081188532,-0.0153894375155,0.0698614687376,0.999999959359,0.000167862029564,-0.000229242623784,2.34979902802e-05,1793249697442868736
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745.723048389,718,681,663.276951611,638,883,785.723048389,815,651.276951611,630,654,0.424194873623,-0.015389574406,0.0698345621181,0.999999951055,0.000164594001291,-0.000265284869315,2.05768393236e-05,1793249697459535104
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,718,680.694243054,663,638,882.694243054,786,815,651,630,654,0.423258654853,-0.0153870457055,0.0697917616856,0.999999928953,0.000167346316964,-0.000337332646705,1.72275930399e-05,1793249697476202240
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.115930162,663,638,882.115930162,786,815,651,630,654,0.422277951143,-0.0153821408607,0.069734793291,0.999999887064,0.000175465248941,-0.000441476245923,1.34967367189e-05,1793249697492869120
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.53814172,718,680,663,638,882.46185828,785.53814172,815,651,630,654,0.421333691983,-0.0153785563964,0.0696988305816,0.999999859128,0.000175678657546,-0.000500764097597,1.08010031553e-05,1793249697509536000
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.03908753,662.96091247,638,882.96091247,785,814.96091247,651,630,654,0.420411164683,-0.0153759384718,0.0696756693725,0.999999841031,0.000174128521123,-0.000536227303596,8.83843998845e-06,1793249697526203136
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.61049154,662.38950846,638,882.38950846,785,814.38950846,651,630,654,0.419660155554,-0.0153819750102,0.069755122579,0.999999904344,0.000175554786774,-0.000400392461585,1.33261938437e-05,1793249697542870016
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,638,882,785.189248684,814,651.189248684,630,654,0.418901460458,-0.015386993374,0.0698259281914,0.99999994389,0.000178266004691,-0.000282971659425,1.91751217263e-05,1793249697559536384
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,638,882,785.783751837,814,651.783751837,630,654,0.418126306597,-0.0153898314338,0.0698782159826,0.999999961723,0.000183728806696,-0.000204982409141,2.79388497457e-05,1793249697576203008
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.631467116,662,638,882,786,814,651.631467116,630,654,0.417293459904,-0.015388154261,0.069873078879,0.999999957663,0.000192350156852,-0.000216503961698,2.83181187757e-05,1793249697592869632
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.052244227,662,638,882,786,814,651.052244227,630,654,0.416427630304,-0.0153838957325,0.0698351119978,0.999999940179,0.000202777246383,-0.000279198785515,2.39039975939e-05,1793249697609536000
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881,785,814,651,629.904099725,654,0.414749977814,-0.0153770437804,0.0697717535634,0.999999916801,0.000200788529874,-0.000354713189479,1.61271432287e-05,1793249697642869760
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881,785,814,651,629.328275466,654,0.413931225848,-0.0153706349915,0.0697465580866,0.999999893517,0.000206015977148,-0.000412684719375,1.46637803208e-05,1793249697659535872
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.745950721,785,814,651,629.254049279,654.254049279,0.413177146502,-0.015367821842,0.0697440487325,0.99999988899,0.000208332763362,-0.000422381322273,1.45450958788e-05,1793249697676202240
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.155005703,785,814,651,629.844994297,654.844994297,0.412508829832,-0.0153697768842,0.0697716235361,0.999999910753,0.00020678971048,-0.000368060352374,1.62095949262e-05,1793249697692868608
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.57445189,638,880.42554811,785,814,651,630,654.57445189,0.411869340061,-0.0153724463037,0.0698206645548,0.999999938219,0.00020571140745,-0.000284316648251,2.02173241543e-05,1793249697709535232
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.002390771,638,880.997609229,785,813.997609229,651,630,654,0.411239881763,-0.0153753544518,0.0698770799789,0.999999960551,0.000204844404217,-0.000190553934837,2.50374220962e-05,1793249697726202112
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.575313122,638,880.424686878,785,813.424686878,651,630,654,0.410558311177,-0.0153746159887,0.0698718595984,0.999999956092,0.000214967103746,-0.000202450698704,2.48921003654e-05,1793249697742868992
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.850668979,661.850668979,638,880,785,813.149331021,651,629.850668979,654,0.409881017394,-0.0153731518291,0.0698567926038,0.999999948854,0.000221012553072,-0.000229982677227,2.35445673215e-05,1793249697759535872
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.273512265,661.273512265,638,880,785,813.726487735,651,629.273512265,654,0.409215976272,-0.0153696085857,0.0698135155648,0.999999930935,0.00021537689198,-0.00030230874391,1.8752760587e-05,1793249697776202240
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.687740303,785,813.687740303,651,629.312259697,654,0.408591054037,-0.0153678648958,0.0697824779375,0.9999999147,0.000213988538746,-0.00035296333403,1.50064226052e-05,1793249697792869120
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.094208064,785,813.094208064,651,629.905791936,654,0.408002269523,-0.0153677421805,0.0697624651441,0.99999990274,0.000216426011818,-0.000384097017602,1.22018064041e-05,1793249697809535744
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.48692461,661,638,879,785,813,651,630,654,0.407469070879,-0.0153680840997,0.069774972838,0.999999911946,0.000214430226835,-0.000360483104205,1.34180129379e-05,1793249697826202624
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.934925897,661,638,879.065074103,785,813,651,629.934925897,654,0.406948745517,-0.015368343106,0.0697927802653,0.999999923056,0.000212722654592,-0.000329248781585,1.52436264785e-05,1793249697842869248
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.361802232,661,638,879.638197768,785,813,651,629.361802232,654,0.406447046916,-0.0153672703838,0.0698040612714,0.999999924786,0.000219795430307,-0.000319163374937,1.59043503847e-05,1793249697859536128
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.217442401,638,880,785,813,651,629.217442401,654,0.405959678816,-0.0153663720656,0.0698068672245,0.999999923228,0.0002226730018,-0.000322027242859,1.61017352708e-05,1793249697876202752
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.80716665,638,880,785,813,651,629.80716665,654,0.405496845932,-0.0153657723433,0.0697951630885,0.999999915812,0.000218367988206,-0.000347061488063,1.55058400924e-05,1793249697892869120
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.389907398,661.610092602,638,880,785.389907398,813.389907398,651,630,654,0.405086512634,-0.0153672679347,0.0697981357405,0.99999991786,0.000218085243187,-0.000341274408684,1.58155769591e-05,1793249697909535488
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.969255195,661.030744805,638,880,785.969255195,813.969255195,651,630,654,0.404701686741,-0.015369781555,0.0698082392554,0.999999924352,0.00021975675707,-0.000320512483425,1.65653241351e-05,1793249697926202112
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638,880.545091726,785.454908274,813.454908274,651,629.454908274,654,0.404355156866,-0.0153672325682,0.0698240308559,0.999999932387,0.000222910061241,-0.000291932016923,1.76780415219e-05,1793249697942868992
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638,880.75946364,785,813,651,629.12026818,654,0.404015100615,-0.0153650171675,0.069837880346,0.999999938869,0.000225543338213,-0.000266543022672,1.86145237337e-05,1793249697959535872
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638,879.612601764,785,813,651,629.693699118,654,0.403691349783,-0.01536512773,0.0698432109825,0.999999941837,0.000225904288974,-0.000254830266516,1.88103177831e-05,1793249697976202496
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.724068407,661.275931593,638,879,785,813,651,630,654,0.403379714726,-0.0153647393885,0.0698394931352,0.999999940217,0.000227185911184,-0.000260050925783,1.80711661959e-05,1793249697992869376
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.131743811,661.868256189,638,879,785,813,651,630,654,0.403081972071,-0.0153637789859,0.0698253999735,0.999999933004,0.000229523208005,-0.000284688043592,1.62599725863e-05,1793249698009536000
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.549293384,638,879,785,813.450706616,651,630,654,0.402814568136,-0.0153628888566,0.0698172306914,0.999999929026,0.000227179307742,-0.000300203235585,1.46818872841e-05,1793249698026202624
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.030052869,785,813.969947131,651,630,654,0.402558210379,-0.015362042441,0.0698108603739,0.999999925913,0.00022415912152,-0.000312651823721,1.3259472952e-05,1793249698042868992
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.6043327,785,813.3956673,651,630,654,0.402344737114,-0.0153616236278,0.069806382577,0.999999922546,0.000233140055712,-0.000316817684427,1.34486317804e-05,1793249698059535616
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.177877425,661,638,879.822122575,785,813,651,629.822122575,654,0.402140237943,-0.0153607682802,0.0698021763775,0.999999919713,0.000238110750865,-0.000322016421006,1.35411321005e-05,1793249698076202496
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.32899332,661,638,879.33550334,785,813,651,629.33550334,654,0.401792553489,-0.0153589069211,0.0697962396622,0.99999991816,0.000229010752339,-0.000333252678181,1.33302767455e-05,1793249698109536000
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.136118362,661,638,879.931940819,785,813,651,629.931940819,654,0.401646252306,-0.0153602549384,0.0697948970781,0.999999919275,0.000222832643813,-0.000334095482915,1.32662286942e-05,1793249698126202624
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.509800004,661.509800004,638,879.490199996,785,813,651,630,654,0.401533012937,-0.0153597148303,0.0697975625479,0.999999921121,0.000221638733125,-0.000329344295534,1.28921474099e-05,1793249698142869248
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.914521223,638,879.085478777,785,813,651,630.085478777,654,0.401426748628,-0.0153590821071,0.0697999014596,0.999999922357,0.000222617955088,-0.000324925611905,1.22688232869e-05,1793249698159535616
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da4ac75957f31f6fdea6ec705574d6a0c094b398
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44e872b9611be10a63560f3b4ab085e0f9202e1e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6858924fdd8b2ec3524a6256308895f5e2827b7736d54f07a64134fb18f7d9f6
+size 25511882
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5eede9f87074de92d046bb4100e33130aa91675b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,402 @@
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+5,0.083333333,BASELINE,767,745,718,679,661.90112205,638,879.09887795,785,813,651.90112205,630,654,0.40095132037,-0.0153779560087,0.0698127742584,0.999999931947,0.000215821000867,-0.00029902320041,1.05867688683e-05,1793249698958413056
+6,0.100000000,BASELINE,767,745,718,679,661.519511176,638,879,785,813,651.519511176,630,654,0.400952109149,-0.0153766120846,0.0698126160018,0.999999932007,0.000216727548281,-0.000298185386871,9.99736976034e-06,1793249698975079936
+7,0.116666667,BASELINE,767,744.94258806,718,679,661,638,879,785,813,651,630,654,0.400953039547,-0.0153752874718,0.0698125380873,0.999999932052,0.000217771121591,-0.000297295627569,9.33292741315e-06,1793249698991746560
+8,0.133333333,BASELINE,767,744.366059833,718,679,661,638,879,785,813,651,630,654,0.400952896772,-0.0153760373295,0.0698127351094,0.999999931688,0.000218477666701,-0.000297986056942,9.77989214089e-06,1793249699008412928
+9,0.150000000,BASELINE,767,744.214356785,718,679,661,638,879,785,813,651,630,654,0.400952989589,-0.0153763704413,0.069813178375,0.999999931786,0.000218357427541,-0.000297740295636,9.90514666017e-06,1793249699025079552
+10,0.166666667,BASELINE,767,744.801536273,718,679,661,638,879,785,813,651,630,654,0.400953492164,-0.0153759787224,0.0698140499227,0.999999932686,0.000216799193482,-0.00029586625298,9.47086265257e-06,1793249699041746432
+11,0.183333333,BASELINE,767,745,718,679,661,638,879,784.614434244,813,651,630,654,0.400954133176,-0.0153759858085,0.0698145968737,0.99999993303,0.000215956377143,-0.00029531787665,9.47517132575e-06,1793249699058413056
+12,0.200000000,BASELINE,767,745,718,679,661,638,879,784.032012982,813,651,630,654,0.400954844869,-0.0153761965095,0.0698149780979,0.999999933093,0.000215478826287,-0.00029544633597,9.70340903627e-06,1793249699075079680
+13,0.216666667,BASELINE,767,745,718,679,661,638,879,784.540924242,813,651,630,654,0.400953985867,-0.0153771593859,0.0698143284119,0.999999932568,0.000216327657069,-0.000296598550629,9.76738933687e-06,1793249699091747328
+14,0.233333333,BASELINE,767,745,718,679,661,638,879,785,813,651,629.886379512,654,0.400953570242,-0.0153780486936,0.0698141570862,0.999999932367,0.00021670228079,-0.000296999141701,9.84085428452e-06,1793249699108414720
+15,0.250000000,BASELINE,767,745,718,679,661,638,879,785,813,651,629.312424556,654,0.400955321093,-0.015378462691,0.0698161667702,0.99999993362,0.000214843095411,-0.000294113280454,9.99145280305e-06,1793249699125081088
+16,0.266666667,BASELINE,767,745,718,679,661,638,879.270544941,785,813,651,629.270544941,654,0.400955193152,-0.0153788388568,0.069816314575,0.99999993385,0.000214433162751,-0.000293629474956,9.98832762666e-06,1793249699141747456
+17,0.283333333,BASELINE,767,745,718,679,661,638,879.864283188,785,813,651,629.864283188,654,0.400952820804,-0.015379169829,0.0698142381765,0.999999932864,0.000215754509204,-0.000296015168252,9.80156393461e-06,1793249699158414080
+18,0.300000000,BASELINE,767,745,718,679,661,638,879.554361142,784.554361142,813,651,629.554361142,654,0.400952522683,-0.0153787558552,0.0698137021099,0.99999993264,0.000216037653135,-0.000296578738412,9.45201496451e-06,1793249699175080704
+19,0.316666667,BASELINE,767,745,718,679,661,638,879,784,813.023175399,651,629.023175399,654,0.400952782799,-0.015378187055,0.0698135941481,0.999999932632,0.00021593191017,-0.000296691922323,9.08864880721e-06,1793249699191747328
+20,0.333333333,BASELINE,767,745,718,679,661,638,879,784,813.59714637,651,629.59714637,654,0.40095170301,-0.0153791846791,0.0698128133036,0.999999932398,0.000213895005043,-0.000298932886711,9.54327149448e-06,1793249699208413952
+21,0.350000000,BASELINE,767,745,718,678.82420536,661,638,879,784,813.82420536,651,630,653.82420536,0.400951397417,-0.0153796411133,0.0698127322904,0.999999932314,0.000213469768072,-0.000299509537293,9.86838171496e-06,1793249699225080576
+22,0.366666667,BASELINE,767,745,718,678.234545623,661,638,879,784,813.234545623,651,630,653.234545623,0.400952914477,-0.0153788234493,0.0698142988574,0.999999932584,0.000216838806318,-0.000296167971444,9.88858673107e-06,1793249699241747200
+23,0.383333333,BASELINE,767,745,718,678,661,638,879,784.348354302,813.348354302,651,630,653.348354302,0.400953595199,-0.0153791167808,0.0698149162298,0.999999933038,0.000216078896636,-0.000295188894499,9.90224713209e-06,1793249699258413568
+24,0.400000000,BASELINE,767,745,718,678,661,638,879,784.926789567,813.926789567,651,630,653.926789567,0.400953723537,-0.0153801439023,0.0698149066785,0.999999933613,0.000212591900787,-0.00029577019331,9.91158494939e-06,1793249699275080448
+25,0.416666667,BASELINE,767,745,718,678.498857208,661.498857208,638,879,785,813.501142792,651,630,654,0.400954759877,-0.0153807781127,0.0698151711199,0.99999993426,0.000211474321453,-0.000294377681941,9.99675723771e-06,1793249699291747072
+26,0.433333333,BASELINE,767,745,718,679,661.929145039,638,879,785,813,651,630,654,0.400955675375,-0.0153810965253,0.0698154652358,0.999999934771,0.000211042426927,-0.000292946212063,1.00541459301e-05,1793249699308413440
+27,0.450000000,BASELINE,767,745,718,679,661.351041668,638,879,785,813,651,630,654,0.400954783822,-0.0153795617507,0.0698156875567,0.999999934246,0.000213061337634,-0.000293283433854,9.833963473e-06,1793249699325080320
+28,0.466666667,BASELINE,767,745,718,679,661,638,879,785,813,651,630,654,0.400953803061,-0.0153781468894,0.0698154068672,0.999999933522,0.000215357921461,-0.000294082477464,9.64868377386e-06,1793249699341746944
+29,0.483333333,BASELINE,767,745,718,679,661,638,879,785,813,651,630,654,0.400952684385,-0.0153769174163,0.0698143485144,0.999999932486,0.000218083792996,-0.000295595506209,9.51736440368e-06,1793249699358413312
+30,0.500000000,BASELINE,767,744.593465892,718,679,661.406534108,638,879,785,813,651,630,654,0.400953535763,-0.0153774869395,0.0698149686944,0.999999933059,0.000216757570916,-0.000294627355112,9.63740525049e-06,1793249699375079936
+31,0.516666667,BASELINE,767,744.015956818,718,679,661.984043182,638,879,785,813,651,630,654,0.400955215681,-0.0153788130617,0.0698162948106,0.9999999343,0.000213727170567,-0.000292615700788,9.86315999621e-06,1793249699391746560
+32,0.533333333,BASELINE,766.439659189,744.560340811,718,679,661.439659189,638,879.560340811,784.439659189,813,651,630,654,0.40095337574,-0.0153789673883,0.069815276157,0.999999933944,0.000213071298753,-0.000294317931822,9.49349766332e-06,1793249699408413440
+33,0.550000000,BASELINE,766.134593518,744.865406482,718,679,661,638,879.865406482,784,813.134593518,651,629.865406482,654,0.400952172987,-0.0153788881173,0.0698144698459,0.999999933623,0.000212942600798,-0.000295506590719,9.18356095215e-06,1793249699425080064
+34,0.566666667,BASELINE,766.702375339,744.297624661,718,679,661,638,879.297624661,784,813.702375339,651,629.297624661,654,0.40095334293,-0.015378164181,0.0698145613995,0.999999933573,0.000214293445238,-0.000294702666562,9.12030483975e-06,1793249699441747200
+35,0.583333333,BASELINE,767,744.286565402,718,679,661,638,879,784.286565402,813.713434598,651,629,654,0.400953113106,-0.0153784029932,0.0698146023712,0.999999933437,0.000214899168734,-0.000294719414344,9.24740845085e-06,1793249699458414080
+36,0.600000000,BASELINE,767,744.888832047,718,679,661,638,879,784.888832047,813.111167953,651,629,654,0.400951341198,-0.0153797024391,0.0698145876182,0.999999933208,0.000214684013099,-0.000295640273786,9.58422613977e-06,1793249699475080192
+37,0.616666667,BASELINE,767,745,718,679,661,638,879,785,813,651,629,654,0.400952319562,-0.015379659056,0.0698149516614,0.999999933519,0.000213907470837,-0.00029514384638,9.76920237127e-06,1793249699491747072
+38,0.633333333,BASELINE,767,745,718,678.953048083,661,638,879.046951917,785,813,651,629.046951917,654,0.400953721211,-0.0153793428112,0.069815308958,0.999999933888,0.000213127731692,-0.000294453791759,9.89794399501e-06,1793249699508413440
+39,0.650000000,BASELINE,767,745,718,678.378460094,661,638,879.621539906,785,813,651,629.621539906,654,0.400952883344,-0.0153793761607,0.0698146268375,0.99999993354,0.000213740150917,-0.000295193162535,9.78099498824e-06,1793249699525080064
+40,0.666666667,BASELINE,767,745,718,678,661,638,880,784.799089931,813,651,630,654,0.400952184219,-0.0153794788604,0.0698142097474,0.999999933375,0.000213669627406,-0.000295807561276,9.61750590166e-06,1793249699541746944
+41,0.683333333,BASELINE,767,745,718,678,661,638,880,784.210491834,813,651,630,654,0.400951752818,-0.0153797153823,0.0698143040757,0.999999933563,0.000212281256912,-0.000296180806495,9.3642103142e-06,1793249699558413568
+42,0.700000000,BASELINE,767,745,718,678,661,638,880,784.371876031,813,651,629.628123969,654,0.400952726241,-0.0153797164401,0.069814680754,0.99999993375,0.000212745365083,-0.000295212692519,9.41708657195e-06,1793249699575080704
+43,0.716666667,BASELINE,767,745,718,678,661,638,880,784.950775507,813,651,629.049224493,654,0.400954481729,-0.0153795864151,0.0698152146167,0.999999933933,0.000214240748461,-0.000293497843656,9.64040875201e-06,1793249699591747584
+44,0.733333333,BASELINE,766.473063341,745,718,678.526936659,661,638,879.473063341,784.473063341,813,651,629.526936659,653.473063341,0.40095359193,-0.0153785962709,0.0698150203197,0.999999933679,0.000214089903364,-0.000294471794848,9.69503752806e-06,1793249699608414208
+45,0.750000000,BASELINE,766.104076609,745,718,679,661,638,879,784.104076609,813,651,630,653.104076609,0.400952985312,-0.015377921923,0.0698150165582,0.999999933531,0.000213990338938,-0.000295044824422,9.74412502431e-06,1793249699625080576
+46,0.766666667,BASELINE,766.686889275,745,718,679,661,638,879,784.686889275,813,651,630,653.686889275,0.400954812085,-0.0153790678721,0.0698162005038,0.999999934061,0.000214830385753,-0.000292624271554,9.83983638117e-06,1793249699641746944
+47,0.783333333,BASELINE,767,744.730423818,718,678.730423818,661,638,879,785,813,651,629.730423818,654,0.40095470008,-0.015380082073,0.0698162104418,0.999999934145,0.000214652927332,-0.00029246379306,9.92403388719e-06,1793249699658413312
+48,0.800000000,BASELINE,767,744.147882837,718,678.147882837,661,638,879,785,813,651,629.147882837,654,0.400952337248,-0.0153809433206,0.0698148574144,0.999999933712,0.000213294195065,-0.000294927150384,9.99486438628e-06,1793249699675080192
+49,0.816666667,BASELINE,767,744.431649483,718,678.431649483,661,638,879,785,813,651,629.431649483,654,0.400952895939,-0.0153800754423,0.0698152821661,0.999999933808,0.000213377517554,-0.000294549043189,9.69503931703e-06,1793249699691746816
+50,0.833333333,BASELINE,766.989864657,745,718,679,661,638,879.010135343,785,813.010135343,651,630,654,0.400954404654,-0.0153786255264,0.0698162739112,0.999999934068,0.000213973316816,-0.000293246323916,9.27265816355e-06,1793249699708413440
+51,0.850000000,BASELINE,766.412654174,745,718,679,661,638,879.587345826,785,813.587345826,651,630,654,0.400953453807,-0.0153775258137,0.0698151475697,0.99999993337,0.00021579160227,-0.000294300980165,9.04897114495e-06,1793249699725080320
+52,0.866666667,BASELINE,766.163659926,745,718,679,661,638,879.836340074,785,813.836340074,651,630,654,0.400952798298,-0.015377174252,0.0698144348906,0.999999932881,0.000217103123407,-0.000294995407066,9.10306021063e-06,1793249699741746944
+53,0.883333333,BASELINE,766.737726148,745,718,679,661,638,879.262273852,785,813.262273852,651,630,654,0.400952883402,-0.0153786988119,0.0698147595436,0.999999932926,0.000217143843016,-0.000294786494912,9.85372209696e-06,1793249699758413824
+54,0.900000000,BASELINE,767,745,718,679,661,638,879.320273051,785,813,651,629.679726949,654,0.400952550465,-0.0153793926915,0.0698145438845,0.999999932874,0.000216483380824,-0.00029544309185,9.97373263175e-06,1793249699775080448
+55,0.916666667,BASELINE,767,745,718,679,661,638,879.909953713,785,813,651,629.090046287,654,0.40095186588,-0.0153793878187,0.0698138737252,0.999999932738,0.000215233097809,-0.000296827738615,9.56325118312e-06,1793249699791746816
+56,0.933333333,BASELINE,766.511905472,745,718,679,661,638,879.511905472,785,813,651,629.488094528,654,0.400952981372,-0.0153803543312,0.0698146522811,0.999999933712,0.000213165379538,-0.000295035140684,9.55748435206e-06,1793249699808413440
+57,0.950000000,BASELINE,766.064109952,745,718,679,661.064109952,638,879.064109952,785.064109952,813,651,630,654,0.400954086122,-0.0153811904882,0.0698154622925,0.999999934634,0.000211425530333,-0.0002931528177,9.58025822666e-06,1793249699825080064
+58,0.966666667,BASELINE,766.639760958,745,718,679,661.639760958,638,879.639760958,785.639760958,813,651,630,654,0.400952516591,-0.0153795896384,0.0698144399907,0.999999933622,0.000213477287337,-0.000295123548522,9.24876924065e-06,1793249699841746688
+59,0.983333333,BASELINE,767,745,718,679,662,638,879.785278533,785.570557067,813,651,630,654,0.400951857545,-0.0153787888708,0.0698141871655,0.999999933227,0.000214333637143,-0.000295841004033,9.18696002395e-06,1793249699858413312
+60,1.000000000,BASELINE,767,745,718,679,662,638,879.21147267,784.422945339,813,651,630,654,0.400952721128,-0.0153793261015,0.0698152211563,0.999999933875,0.000213190876153,-0.000294462574352,9.5761433772e-06,1793249699875080192
+61,1.016666667,BASELINE,767,745,718,679,661.623458793,638,879,784.376541207,813,651,629.623458793,654,0.40095289662,-0.0153797023605,0.069815135896,0.999999934015,0.000212660213893,-0.000294370724768,9.60343151708e-06,1793249699891746560
+62,1.033333333,BASELINE,767,745,718,679,661.027152567,638,879,784.972847433,813,651,629.027152567,654,0.400952670513,-0.0153799846697,0.0698143973945,0.999999933859,0.000212486797832,-0.000295029776613,9.41950262217e-06,1793249699908413440
+63,1.050000000,BASELINE,767,745,718,679,661.547188017,638,879.547188017,785,813,651,629.547188017,654,0.400953147956,-0.0153796853498,0.0698148204812,0.999999933737,0.000214518863375,-0.000293973757197,9.31031919649e-06,1793249699925080064
+64,1.066666667,BASELINE,767,745,718,679,662,638,880,785.121157311,813,651,630,654,0.400953571509,-0.0153795314069,0.0698151593231,0.999999933728,0.000215492713426,-0.000293296731351,9.21163634292e-06,1793249699941746688
+65,1.083333333,BASELINE,767,745,718,679,662,638,880,785.697669584,813,651,630,654,0.40095366637,-0.015380028132,0.0698149732678,0.999999934145,0.000212093945389,-0.000294351619991,9.13901670375e-06,1793249699958413568
+66,1.100000000,BASELINE,767,745,718,679,661.718108824,638,879.718108824,785.718108824,813,651,630,654,0.400953191416,-0.015380169776,0.0698148021389,0.999999934098,0.000211341400951,-0.000295049323879,9.21121296497e-06,1793249699975080192
+67,1.116666667,BASELINE,767,745,718,679,661.125386485,638,879.125386485,785.125386485,813,651,630,654,0.400952088146,-0.015379919885,0.0698146474688,0.999999933546,0.000213506751411,-0.000295353173046,9.44309246588e-06,1793249699991746560
+68,1.133333333,BASELINE,767,745,718,679,661,638,879.449838001,785,813,651,630,654,0.40095156894,-0.0153794542406,0.0698142532979,0.999999933359,0.000214287947587,-0.000295426553232,9.28449864042e-06,1793249700008413440
+69,1.150000000,BASELINE,767,745,718,679,661,637.979274724,880,785,813,651,629.979274724,654,0.400951235916,-0.0153789652479,0.0698138192524,0.999999933275,0.000214690010644,-0.000295427194407,9.04173815068e-06,1793249700025080064
+70,1.166666667,BASELINE,767,745,718,679,661,637.398732828,880,785,813,651,629.398732828,654,0.40095169916,-0.0153794091889,0.0698140438405,0.999999933317,0.000214882364875,-0.000295133303006,9.35534502365e-06,1793249700041746944
+71,1.183333333,BASELINE,766.815378696,745,718,678.815378696,661,637.184621304,879.815378696,784.815378696,813,651,629,653.815378696,0.400952648721,-0.0153796033319,0.0698148164872,0.999999933564,0.00021498063249,-0.000294216564393,9.57410914103e-06,1793249700058413824
+72,1.200000000,BASELINE,766.225856825,745,718,678.225856825,661,637.774143175,879.225856825,784.225856825,813,651,629,653.225856825,0.400954664846,-0.0153792496332,0.0698167911038,0.999999934256,0.000214872554915,-0.000291933833904,9.58486977358e-06,1793249700075080192
+73,1.216666667,BASELINE,766,744.643577968,718,678.356422032,661,638,879,784.356422032,813,651,629.356422032,653.356422032,0.40095497122,-0.0153793527253,0.0698169667586,0.999999934147,0.000215292825526,-0.000292001457745,9.54485593849e-06,1793249700091746560
+74,1.233333333,BASELINE,766,744.065797472,718,678.934202528,661,638,879,784.934202528,813,651,629.934202528,653.934202528,0.400954215741,-0.0153797395107,0.0698160251551,0.999999933539,0.000216041230581,-0.000293528786164,9.47330825491e-06,1793249700108413184
+75,1.250000000,BASELINE,766,744.511370959,718,679,661,638,879,785,813,651,630,654,0.40095296047,-0.0153800808972,0.0698153645486,0.999999933602,0.000214002697016,-0.000294806271777,9.4299348112e-06,1793249700125079808
+76,1.266666667,BASELINE,766.08806833,745,718,678.91193167,661.08806833,638,879,785,813,651,629.91193167,654.08806833,0.400951899589,-0.0153803968924,0.0698149051413,0.999999933763,0.000211989903722,-0.000295712036914,9.40929927711e-06,1793249700141746432
+77,1.283333333,BASELINE,766.662598191,745,718,678.337401809,661.662598191,638,879,785,813,651,629.337401809,654.662598191,0.400952267251,-0.0153806048614,0.0698153576218,0.999999934026,0.00021209767194,-0.000294741893363,9.49426053535e-06,1793249700158413312
+78,1.300000000,BASELINE,766.763072161,745,718,678.236927839,661.763072161,638,879,785,813,651,629.236927839,654.763072161,0.400952521242,-0.0153805452732,0.0698155752311,0.999999934114,0.000212505638337,-0.000294149175706,9.45593383246e-06,1793249700175080192
+79,1.316666667,BASELINE,766.189027436,745,718,678.810972564,661.189027436,638,879,785,813,651,629.810972564,654.189027436,0.400952613495,-0.0153801049867,0.0698154586496,0.999999933955,0.000213340746912,-0.000294093485111,9.24218470881e-06,1793249700191747072
+80,1.333333333,BASELINE,766,745,718,679,661.38352008,638,879.38352008,785,813,651,630,654,0.40095264854,-0.0153810276081,0.0698155408277,0.999999934464,0.000211039743978,-0.00029402354408,9.19713852029e-06,1793249700208413952
+81,1.350000000,BASELINE,766,745,718,679,661.955332581,638,879.955332581,785,813,651,630,654,0.400952655498,-0.0153826193605,0.0698157205884,0.999999935289,0.000207199040702,-0.000293946606667,9.23491844248e-06,1793249700225080576
+82,1.366666667,BASELINE,766.552239916,744.447760084,718,679,661.447760084,638,880,785,813,651,630,654,0.400953392394,-0.0153826497788,0.0698160755247,0.999999935077,0.000209501127673,-0.000293024591228,9.56637467235e-06,1793249700241746944
+83,1.383333333,BASELINE,766.851110994,744.148889006,718,679,661,638,879.851110994,785,813,651,630,654,0.40095356578,-0.0153821298029,0.0698161729529,0.999999934649,0.000211944746237,-0.000292719533807,9.79356029043e-06,1793249700258413568
+84,1.400000000,BASELINE,766.261520157,744.738479843,718,679,661,638,879.261520157,785,813,651,630,654,0.400951888141,-0.0153803722925,0.0698154642383,0.999999933861,0.000213266623459,-0.00029445258508,9.63845509522e-06,1793249700275080192
+85,1.416666667,BASELINE,766.321256828,745,718,679,661,638,879.321256828,785,813,651,630,654,0.400951842353,-0.015380480299,0.0698152924892,0.999999933923,0.000212598569223,-0.000294728792576,9.53194541501e-06,1793249700291747072
+86,1.433333333,BASELINE,766.898602143,745,718,679,661,638,879.898602143,785,813,651,630,654,0.400953097387,-0.0153820753943,0.0698155487799,0.999999934661,0.000210344249671,-0.000293843683264,9.4641734482e-06,1793249700308414208
+87,1.450000000,BASELINE,766.52848946,745,718,679,661,638,879.52848946,784.52848946,813,651,630,654,0.400953150701,-0.015381634965,0.0698152036974,0.999999934733,0.000209807216637,-0.000293984484372,9.41908043414e-06,1793249700325080576
+88,1.466666667,BASELINE,766.044150869,745,718,678.955849131,661,638,879,784.044150869,813,651,630,654,0.400953075189,-0.0153808209484,0.0698149380246,0.999999934683,0.000209871793032,-0.000294109040479,9.41113749504e-06,1793249700341746944
+89,1.483333333,BASELINE,766.625023565,745,718,678.374976435,661,638,879,784.625023565,813,651,630,654,0.400954545899,-0.0153807371682,0.0698171951817,0.999999934859,0.000212802291545,-0.000291379127977,9.79607515895e-06,1793249700358413568
+90,1.500000000,BASELINE,767,745,718,678.20872795,661,638,879,785,813,651,630,654,0.400955383419,-0.015380402358,0.0698182604194,0.999999934924,0.000214215460707,-0.000290112893101,9.87930818514e-06,1793249700375080192
+91,1.516666667,BASELINE,767,745,718,678.797589319,661,638,879,785,813,651,630,654,0.400955067778,-0.0153796103741,0.0698171549441,0.99999993481,0.000212865283317,-0.00029151229474,9.41307946268e-06,1793249700391746816
+92,1.533333333,BASELINE,766.619926023,745,718,678.619926023,661,638,879,785,813,651,630,654,0.400954447671,-0.0153794851517,0.069816540239,0.999999934634,0.000212293923318,-0.000292534842985,9.33506071582e-06,1793249700408413440
+93,1.550000000,BASELINE,766.040781232,745,718,678.040781232,661,638,879,785,813,651,630,654,0.400953668096,-0.015379709158,0.0698161825838,0.999999934426,0.000212130483288,-0.000293360007385,9.46037411997e-06,1793249700425080064
+94,1.566666667,BASELINE,766,745,718,678.535872477,661.535872477,638,879.535872477,784.464127523,813,651,630,654,0.400953726918,-0.0153805841699,0.069816327667,0.999999934571,0.000211946896102,-0.000292995759287,9.48663933519e-06,1793249700441746688
+95,1.583333333,BASELINE,766,745,718,678.888185864,661.888185864,638,880,784.111814136,813,651,630,654,0.400953944326,-0.0153812884594,0.0698163971583,0.999999934753,0.000211756508562,-0.000292513207153,9.48601442286e-06,1793249700458413568
+96,1.600000000,BASELINE,766,745,718,678.314406273,661.314406273,638,880,784.685593727,813,651,630,654,0.400954554551,-0.0153810836584,0.0698159969978,0.999999934973,0.00021154433036,-0.000291914122042,9.40529040614e-06,1793249700475080960
+97,1.616666667,BASELINE,766.266779397,745,718,678.266779397,661,638,879.733220603,784.733220603,813,651,630,654,0.400954973778,-0.0153798799141,0.0698163363448,0.999999934714,0.000213664002314,-0.000291259396939,9.35437127865e-06,1793249700491747584
+98,1.633333333,BASELINE,766.856942509,745,718,678.856942509,661,638,879.143057491,784.143057491,813,651,630,654,0.400955161482,-0.0153774652742,0.0698175721054,0.999999933855,0.000218610288218,-0.000290537226377,9.33958094188e-06,1793249700508413952
+99,1.650000000,BASELINE,767,745,718,679,661.440594845,638,879,784.881189689,813,651,630,654,0.400953706658,-0.0153789184131,0.0698169982585,0.999999933794,0.000216619994239,-0.000292230783108,9.43430589452e-06,1793249700525080576
+100,1.666666667,BASELINE,767,745,718,679,662,638,879,785.97809084,813,651,630,654,0.400951824306,-0.0153814880614,0.0698158763636,0.999999933964,0.000212586927881,-0.000294596396895,9.56251762238e-06,1793249700541746944
+101,1.683333333,BASELINE,767,745,718,679,662,638,879,785.403207539,813,651,630,654,0.400952415904,-0.0153810027633,0.0698155358902,0.999999933926,0.000213013162592,-0.000294415669721,9.65150426737e-06,1793249700558413568
+102,1.700000000,BASELINE,766.828747381,745,718,678.828747381,661.828747381,638,879,785,813,651,630,654,0.400953061705,-0.0153808656088,0.0698155898394,0.999999934128,0.000212743220276,-0.000293922394412,9.68434722718e-06,1793249700575080448
+103,1.716666667,BASELINE,766.255281125,745,718,678.255281125,661.255281125,638,879,785,813,651,630,654,0.400953834811,-0.0153815461244,0.0698165701516,0.999999934892,0.000210838196946,-0.000292695050809,9.58532792347e-06,1793249700591747072
+104,1.733333333,BASELINE,766.328124028,745.328124028,718,678.328124028,661.328124028,638,879.328124028,785,813,651,630,654,0.400953273269,-0.0153818273925,0.0698164454948,0.999999934616,0.000211056951259,-0.000293480239412,9.62409841957e-06,1793249700608413696
+105,1.750000000,BASELINE,766.919503258,745.919503258,718,678.919503258,661.919503258,638,879.919503258,785,813,651,630,654,0.400951640933,-0.0153817883429,0.0698154343169,0.9999999335,0.000212979620554,-0.000295880090417,9.77341820559e-06,1793249700625080320
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,879,785,813,651,630,654,0.400955949365,-0.0153780584907,0.069818083152,0.999999934403,0.000216701968822,-0.000290080016076,9.32081056424e-06,1793249700656149504
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,678.425696645,662,638.425696645,879,785,813.574303355,651,629.425696645,654,0.400954783709,-0.0153801233313,0.0698172791194,0.999999934484,0.000214303965111,-0.000291579389685,9.33108402779e-06,1793249700672815872
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,678.1529584,662,638,879.1529584,785,814,651,629.1529584,654,0.400954294885,-0.0153815920477,0.0698167539659,0.999999934602,0.000212827684549,-0.000292252523858,9.43035047216e-06,1793249700689482496
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718,678.744079371,662,638,879.744079371,785,814,651,629.744079371,654,0.400955744907,-0.015381353115,0.0698170276857,0.999999934844,0.000213991759131,-0.000290558824037,9.78454501183e-06,1793249700706149376
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.67186892,785,814,651,630,654,0.400955357114,-0.0153811361393,0.0698166074094,0.999999934834,0.000213555147986,-0.000290913858858,9.72026747637e-06,1793249700722816000
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.093214526,785,814,651,630,654,0.400953566174,-0.0153809359274,0.0698156572772,0.999999934631,0.000211896436461,-0.000292833072933,9.33649256657e-06,1793249700739482880
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.517366939,745,718,679,661.517366939,638,879,785,813.517366939,651,630,654,0.40095320017,-0.015382959887,0.0698157229427,0.999999935205,0.000208489019845,-0.000293317743401,9.30760546789e-06,1793249700756149248
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.056791876,745,718.056791876,678.943208124,661,638,879.056791876,784.943208124,813,651,630,654,0.400953215634,-0.0153849780835,0.0698160804877,0.99999993583,0.000205353099679,-0.000293398243751,9.37632389791e-06,1793249700772815872
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.620683971,745,718.620683971,678.379316029,661,638,879.620683971,784.379316029,813,651,630,654,0.400954194117,-0.0153831313205,0.0698173025954,0.999999935667,0.000207639678613,-0.000292329497963,9.70809093257e-06,1793249700789482496
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,718.802963952,678.197036048,661.197036048,638,879.802963952,784.197036048,813,651,630,654,0.400956464616,-0.0153821215934,0.0698189970274,0.999999935859,0.000209369176932,-0.000290424484058,9.96557646116e-06,1793249700806149120
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718.201005865,678.798994135,661.798994135,638,879.201005865,784.798994135,813,651,630,654,0.400961390292,-0.0153828320305,0.0698216621167,0.999999936782,0.000209953837659,-0.00028680088429,1.0070408567e-05,1793249700822815744
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.614238587,638,879,785,813,651,630,654,0.400980942655,-0.0153832454238,0.0698293787265,0.999999940094,0.000211249793248,-0.000273995695582,1.05775374514e-05,1793249700839482368
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.035086733,638,879,785,813,651,630,654,0.401007827688,-0.0153835099029,0.0698396277718,0.999999944354,0.000212902336154,-0.000256587579704,1.12863463158e-05,1793249700856148992
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.539381687,638,879,785,813,651.539381687,630,654,0.401064107329,-0.0153866928427,0.0698584481885,0.999999952258,0.000211525088725,-0.0002249053193,1.25730610949e-05,1793249700872815616
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.88594529,745,718,678.88594529,661.88594529,638,879,785,813,651.88594529,630,654,0.401124020904,-0.0153900995661,0.0698761584505,0.999999958534,0.000209879842912,-0.000196710823212,1.3663427854e-05,1793249700889482240
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.30921687,745,718,678.30921687,661.30921687,638,879,785,813,651.30921687,630,654,0.401190985983,-0.0153936505923,0.0698871229179,0.999999960913,0.000207940058798,-0.000186399016632,1.38061050347e-05,1793249700906149120
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.273260735,744.726739265,718,678.273260735,661.273260735,638,879.273260735,784.726739265,813,651,630,654,0.401266084039,-0.0153969768898,0.0698957609987,0.999999962992,0.000207416667073,-0.000175537573089,1.34585898886e-05,1793249700922816000
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.862383794,744.137616206,718,678.862383794,661.862383794,638,879.862383794,784.137616206,813,651,630,654,0.401350583007,-0.0154000434228,0.0699017100064,0.999999964724,0.000208530484664,-0.000164040804319,1.25444609953e-05,1793249700939482880
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,744.443907238,718,679,662,638,880,784,813,651,630,654,0.401450567223,-0.0154048698124,0.0699039750609,0.999999965879,0.000206206779779,-0.000160039628584,1.04225380094e-05,1793249700956148992
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.97707603,638,879.97707603,784.02292397,813,651,629.97707603,654,0.401556410493,-0.0154102507617,0.0699051848789,0.999999966896,0.000202746059556,-0.000158239835631,7.91856436381e-06,1793249700972815616
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.402639813,638,879.402639813,784.597360187,813,651,629.402639813,654,0.401689662381,-0.0154160687922,0.0699080212108,0.99999996863,0.000197137364021,-0.000154437840878,5.0796193678e-06,1793249700989482240
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,744.823402929,718,679,661.176597071,638,879.176597071,784.823402929,813,651,629.176597071,654,0.401831986024,-0.0154217970812,0.0699105655953,0.999999970183,0.000191974015599,-0.000150912357879,2.15114698664e-06,1793249701006149120
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,744.232914793,718,679,661.767085207,638,879.767085207,784.232914793,813,651,629.767085207,654,0.401995571143,-0.0154273150417,0.0699124257417,0.999999971398,0.000187854429295,-0.000148034936825,-9.87150586353e-07,1793249701022815744
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,744.35059336,718,679,661.64940664,638,879.64940664,784.35059336,813,651,630,654,0.402179059182,-0.0154345366933,0.0699147351228,0.999999973212,0.000181374747721,-0.000143724167044,-4.72538799863e-06,1793249701039482368
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,744.929554974,718,679,661.070445026,638,879.070445026,784.929554974,813,651,630,654,0.402375511531,-0.0154428680898,0.0699173371251,0.999999975346,0.000173357755267,-0.000138479747377,-8.8544123985e-06,1793249701056149248
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.494973977,745,718,679,661.505026023,638,879.505026023,785,813,651,629.494973977,654,0.402605209257,-0.0154520623689,0.0699202340852,0.99999997771,0.00016470662052,-0.000131428245827,-1.33481262584e-05,1793249701072815872
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.08017917,745,718,678.91982083,661.91982083,638,879.91982083,785,813.08017917,651,629.08017917,654,0.402846305767,-0.0154615992528,0.0699244190223,0.999999981836,0.000145077651016,-0.000122310693598,-1.78937436597e-05,1793249701089482752
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.656357285,745,718,678.343642715,661.343642715,638,879.343642715,785,813.656357285,651,629.656357285,654,0.40312942656,-0.0154725160769,0.0699363187868,0.999999992863,5.80817795796e-05,-0.000101960885748,-2.24479180776e-05,1793249701106149120
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,718,678.237850087,661,638,879,784.762149913,813.762149913,651,630,654,0.403423951212,-0.0154821837035,0.069944585626,0.999999995771,8.80741251835e-06,-8.74717501087e-05,-2.70130059059e-05,1793249701122815744
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,718,678.827196942,661,638,879,784.172803058,813.172803058,651,630,654,0.403735328565,-0.0154900052553,0.0699474836985,0.999999996051,1.5278193248e-05,-8.16435650836e-05,-3.15942216026e-05,1793249701139482368
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.590788945,745,718,679,661,638,879.409211055,784.409211055,813,651,630,654.409211055,0.404073400556,-0.0154977126234,0.069948201338,0.999999995846,1.61263987897e-05,-8.32155323774e-05,-3.35109959694e-05,1793249701156149248
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.011816832,745,718,679,661,638,879.988183168,784.988183168,813,651,630,654.988183168,0.404422546802,-0.0155053726222,0.0699480144255,0.999999995444,1.46420808837e-05,-8.78574503343e-05,-3.43224276984e-05,1793249701172815872
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.56122354,745,718,679,661,638,880,785,813,651,630,654.43877646,0.404813346142,-0.0155005824901,0.0699532270181,0.999999996064,3.49056162749e-05,-7.61419199733e-05,-2.92594717805e-05,1793249701189482496
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,718,679.137695732,661.137695732,638,880,785,813,651,630,654,0.405215874659,-0.0154951877562,0.0699578892189,0.999999996254,5.01142625947e-05,-6.55437979866e-05,-2.61591091235e-05,1793249701206149120
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,679.725797643,661.725797643,638,880,785,813,651,630,654,0.405653930757,-0.0154886638659,0.0699603830827,0.999999996652,4.73060619109e-05,-5.97155532049e-05,-2.98787943948e-05,1793249701222816000
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.690464888,745,718,679.690464888,662,638,879.690464888,785,813,651,630,654,0.406096843843,-0.0154898312709,0.0699516404195,0.999999995768,4.18074096156e-05,-7.52180391684e-05,-3.25261312972e-05,1793249701239482624
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.110539846,745,718,679.110539846,662,638,879.110539846,785,813,651,630,654,0.406543999732,-0.0154977172951,0.0699330822505,0.999999992858,3.39585517969e-05,-0.000109353676348,-3.42367341502e-05,1793249701256149248
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.467529626,745.467529626,718,679,662,638,879.467529626,785,813,651,629.532470374,654,0.407053732816,-0.0155028728571,0.0699258321425,0.999999992325,2.40707994174e-05,-0.00011597214278,-3.63537260869e-05,1793249701272816128
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745.955155799,718,679,662,638,880.044844201,785.044844201,813,651,629.044844201,654.044844201,0.407583063793,-0.0155071714459,0.0699225899627,0.999999992671,1.4684000448e-05,-0.000113862162006,-3.84383393656e-05,1793249701289482496
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745.381589052,718,679,662,638,880.618410948,785.618410948,813,651,629.618410948,654.618410948,0.40816970753,-0.0155089475061,0.0699352043006,0.999999995463,1.68647040334e-05,-8.52457252978e-05,-3.90128291746e-05,1793249701306149120
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745.197327966,718,679.197327966,662.197327966,638.197327966,881,785.802672034,813,651,629.802672034,654.802672034,0.408767107809,-0.0155099751237,0.0699458901371,0.999999997264,1.5517518976e-05,-6.05560575539e-05,-3.95538940892e-05,1793249701322816000
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.786879539,718,679.786879539,662.786879539,638.786879539,881,785.213120461,813,651,629.213120461,654.213120461,0.409385888548,-0.0155095150814,0.0699527427412,0.99999999822,7.1580423538e-06,-4.36715269995e-05,-4.00285212305e-05,1793249701339482624
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.628761983,718,679.628761983,662.628761983,638.628761983,881,785,813,651,629,654,0.410008941083,-0.0155082490632,0.0699492294587,0.999999997913,1.07310045821e-05,-4.86098571036e-05,-4.11832871671e-05,1793249701356149504
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.04734365,718,679.04734365,662.04734365,638.04734365,881,785,813,651,629,654,0.410634412118,-0.0155065267333,0.06993984742,0.999999996694,2.10596431145e-05,-6.59034303447e-05,-4.27231208271e-05,1793249701372816128
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662.527526322,638.527526322,881.527526322,785,813,651,629.527526322,654,0.411320472055,-0.015506783794,0.0699467347668,0.999999997323,1.49909461028e-05,-5.70233744852e-05,-4.3332560379e-05,1793249701389482496
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,718,679.101695456,662.898304544,639,881.898304544,785,813,650.898304544,629.898304544,654,0.41202281106,-0.0155081932283,0.0699595117002,0.999999998316,6.49523231771e-06,-3.80250992701e-05,-4.33573701176e-05,1793249701406149120
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,718,679.675305929,662.324694071,639,881.324694071,785,813,650.324694071,629.324694071,654,0.412775768588,-0.0155141359795,0.0699929265244,0.999999998989,-6.51777808557e-06,1.71597138617e-05,-4.10519476436e-05,1793249701422815744
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662.515364517,638.742317741,881,785,813.257682259,650.257682259,629,654,0.413534089116,-0.0155167796698,0.0700148896762,0.999999997807,-1.19353443126e-05,5.15098606434e-05,-3.98782294065e-05,1793249701439482624
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,718,680,663.70298624,638.14850688,881,785,813.85149312,650.85149312,629,654,0.41429940541,-0.015515119965,0.0700219149214,0.999999997443,-7.44518316256e-06,5.86826404578e-05,-4.01807405296e-05,1793249701456148992
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745.432360778,718,680,663.567639222,638.432360778,881.432360778,785.432360778,814,651,629,654,0.415021485815,-0.0155121029914,0.0699810684629,0.999999998875,-4.18416987977e-06,-1.44170373602e-05,-4.4998859047e-05,1793249701472815872
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.991101513,718,680,663,639,882,785.991101513,814,651,629,654,0.415730898791,-0.0155087693367,0.0699250405834,0.999999992314,-1.53249778238e-06,-0.000112884486247,-5.12491515187e-05,1793249701489482496
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745.415418136,718,680,663,639,882,785.415418136,814,651,629,654,0.41655187839,-0.0155140957105,0.0699189220695,0.999999991096,-1.15831531139e-05,-0.00012200590159,-5.28013314273e-05,1793249701506149376
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,718,680.163756908,663,639,882.163756908,785,814,651,629.163756908,654,0.417378040896,-0.0155191387853,0.0699227102388,0.999999991736,-1.97970863144e-05,-0.000115326594377,-5.32455927694e-05,1793249701522816000
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,718,680.751982553,663,639,882.751982553,785,814,651,629.751982553,654,0.418217637789,-0.0155234475298,0.0699521771867,0.999999996147,-2.32501136613e-05,-6.76907686813e-05,-5.0818055768e-05,1793249701539482624
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639,883,785.334953175,814,651,629.665046825,654.334953175,0.419100849547,-0.015525905581,0.06997963642,0.999999998033,-2.94642705927e-05,-2.46656281475e-05,-4.95656208412e-05,1793249701556149248
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639,883,785.914092773,814,651,629.085907227,654.914092773,0.420015857228,-0.0155270144457,0.0700056319946,0.999999997968,-3.76913366519e-05,1.49982442828e-05,-4.91698549281e-05,1793249701572816128
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663.492848841,639,883.492848841,786,814.492848841,651,629.492848841,654.507151159,0.420910221164,-0.0155273639906,0.0700202752658,0.999999997494,-3.88731687537e-05,3.44478201675e-05,-4.81073705611e-05,1793249701589482496
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,718,681,664,639,884.070356358,786,814.929643642,651,630,654.070356358,0.421791214788,-0.0155272561494,0.0700252834738,0.999999997363,-3.8794708324e-05,3.85120595246e-05,-4.78050218338e-05,1793249701606148864
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,718,681,664,639,884.639485873,786,814.360514127,651,630,654.639485873,0.422602912391,-0.0155248433556,0.0699760036123,0.999999996954,-3.84808095399e-05,-4.15345283755e-05,-5.37146863984e-05,1793249701622815744
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.217327576,718,681,664,639,885,786,814.217327576,651,629.782672424,655,0.423414335382,-0.0155222575841,0.0699179142314,0.999999988642,-4.33730409546e-05,-0.000130786654631,-6.10770862873e-05,1793249701639482624
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.810225157,718,681,664,639,885,786,814.810225157,651,629.189774843,655,0.424225283942,-0.0155193728842,0.0698446008597,0.999999968008,-5.72621349645e-05,-0.000235947148002,-7.0950000682e-05,1793249701656149248
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718,681,664,639,885,786,815,651,629,655,0.425156324348,-0.0155204432679,0.0698555423285,0.999999973388,-5.48398975556e-05,-0.000213129671102,-6.92320469044e-05,1793249701672815872
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718,681,664,639,885,786,815,651,629,655,0.426143899366,-0.0155233755542,0.0699061477667,0.999999988615,-4.47389065508e-05,-0.000130065040744,-6.20575537703e-05,1793249701689482496
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718,681.549702375,664,639,885.549702375,786,815,651.549702375,629.549702375,655,0.427088674703,-0.0155243972921,0.0699584779545,0.999999995055,-4.65091671416e-05,-6.60612172268e-05,-5.79825480267e-05,1793249701706149120
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.873854302,718,681.873854302,664,639,886.126145698,786,815,651.873854302,630,655,0.428032973392,-0.0155263035742,0.0700060940106,0.999999997267,-4.96363076655e-05,-3.88016400367e-06,-5.46629600401e-05,1793249701722816000
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.300218751,718,681.300218751,664,639,886.699781249,786,815,651.300218751,630,655,0.42898318563,-0.015531687151,0.0700366806845,0.999999995507,-5.54676189719e-05,5.52214219117e-05,-5.34724420439e-05,1793249701739482624
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,718,681,664,639,886.718718541,786,815,651.281281459,629.718718541,655,0.429882429615,-0.0155344650143,0.0700387425685,0.999999994635,-6.15293920144e-05,6.3171674659e-05,-5.4341514315e-05,1793249701756149248
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,718,681,664,639,886.128582769,786,815,651.871417231,629.128582769,655,0.430725709078,-0.0155343817366,0.0700094834939,0.999999995935,-6.78442176784e-05,1.49564375028e-05,-5.74720700815e-05,1793249701772815872
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.453124371,718,681.453124371,664,639,886,786,815.453124371,652,629.453124371,654.546875629,0.431532925927,-0.0155297611919,0.0699377115171,0.999999990558,-6.13461505953e-05,-0.000105431129834,-6.32889150742e-05,1793249701789482496
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,681.967738341,664.032261659,639,886.032261659,786,816,651.967738341,630,654.032261659,0.432337189148,-0.0155244388759,0.0698609214876,0.999999968899,-5.22977419257e-05,-0.000233790123967,-6.93487680507e-05,1793249701806149376
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,681.392334943,664.607665057,639,886.607665057,786,816,651.392334943,630,654.607665057,0.433260864905,-0.0155285823911,0.0698990423701,0.999999983479,-6.04075606906e-05,-0.000157852280481,-6.69006689112e-05,1793249701822816000
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,887,786,816,651,630,655,0.434175499828,-0.0155319107885,0.0699414443548,0.999999992399,-6.80862338715e-05,-8.06112803311e-05,-6.37819590383e-05,1793249701839482624
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665,639,887,786,816,651,630,655,0.435070759464,-0.0155334923028,0.0699930212013,0.999999995445,-7.48409183742e-05,-5.77464480632e-07,-5.92260594231e-05,1793249701856149248
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,681.343752667,665,639,887,786,816,651.343752667,630,654.656247333,0.435927983857,-0.0155349069,0.0700177692254,0.999999994742,-7.53070584193e-05,3.90323069628e-05,-5.7636169455e-05,1793249701872815872
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,681.9368703,665,639,887,786,816,651.9368703,630,654.0631297,0.436757616679,-0.0155362004122,0.0700230550893,0.999999994555,-7.12113640862e-05,4.93176743071e-05,-5.81978818643e-05,1793249701889482496
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.514768838,746,718,682,664.485231162,639,887,786,816.514768838,651.485231162,629.485231162,654.514768838,0.437562002168,-0.0155397226758,0.0700007694161,0.999999994103,-8.4339279523e-05,3.14892831914e-05,-6.07403745729e-05,1793249701906149376
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.909305547,746,718,682,664.090694453,639,887,786,816.909305547,651,629.090694453,654.909305547,0.438344057154,-0.0155420073027,0.0699694600041,0.999999993366,-9.590804926e-05,-2.81572869375e-06,-6.37252918989e-05,1793249701922816256
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.334234975,746,718,682,664.665765025,639,887,786,816.334234975,651,629.665765025,654.334234975,0.439022912029,-0.0155362641716,0.0699074971328,0.999999988062,-8.81927587432e-05,-0.000107233214377,-6.78129838749e-05,1793249701939482880
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,887,786,816,651,630,654.246957054,0.439706224726,-0.015534205434,0.0698613146424,0.999999976945,-8.61052308707e-05,-0.000183526736101,-7.08049409165e-05,1793249701956149248
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,887,786,816,651,630,654.836644475,0.440395723993,-0.0155372599487,0.069837032385,0.999999968798,-9.18279903663e-05,-0.000220789429635,-7.2276222483e-05,1793249701972815872
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638.582505224,887,785.582505224,816,651,629.582505224,654.582505224,0.441142700387,-0.0155466334306,0.069869210313,0.9999999778,-9.93023973374e-05,-0.000172123735293,-7.00899051721e-05,1793249701989482496
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638.005040951,887,785.005040951,816,651,629.005040951,654.005040951,0.441911700078,-0.0155584281216,0.0699230218209,0.999999987918,-0.000107447974707,-9.05332697365e-05,-6.65021227637e-05,1793249702006149120
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,638.572165724,887,785,816.572165724,651,629.572165724,654.572165724,0.442588417477,-0.0155664493008,0.0699365463975,0.999999987169,-0.000121871074962,-8.15733542273e-05,-6.44616197674e-05,1793249702022816000
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717.848398003,682,664.848398003,638.848398003,887,785,817,651,630,655,0.443235413073,-0.0155733917653,0.0699371550045,0.999999984907,-0.000134139447247,-9.05865816123e-05,-6.31468656477e-05,1793249702039482624
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717.262568959,682,664.262568959,638.262568959,887,785,817,651,630,655,0.443799605645,-0.0155773396972,0.0699017851423,0.999999977012,-0.000140077786748,-0.00014924749917,-6.38718141367e-05,1793249702056149248
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717,682.319136774,664,638.319136774,887,785,817,651.319136774,630,655,0.444348395141,-0.0155798826774,0.0698599807284,0.999999963891,-0.000146334419873,-0.00021527094919,-6.68060333581e-05,1793249702072815872
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+252,4.200000000,HOLD_POSE2,767.788807038,746,717.211192962,682,663,636,887,781,817,651.211192962,629,654.788807038,0.451852592585,-0.0156396026831,0.0696034385104,0.99999979242,-0.000216071764443,-0.000602865082165,-7.089564743e-05,1793249703104236032
+253,4.216666667,HOLD_POSE2,767.201158164,746,717.798841836,682,663,636,887,781,817,651.798841836,629,654.201158164,0.451851775169,-0.0156407895419,0.0696016581057,0.999999791096,-0.000217462591435,-0.000604631321672,-7.0270526298e-05,1793249703120902656
+254,4.233333333,HOLD_POSE2,767,746,717.617469172,682,663.382530828,636.382530828,887,781,817,652,629,654.382530828,0.45185302846,-0.0156407227081,0.0696024103759,0.999999791735,-0.000217859000369,-0.000603427828011,-7.02972317879e-05,1793249703137569280
+255,4.250000000,HOLD_POSE2,767,746,717.03584114,682,663.96415886,636.96415886,887,781,817,652,629,654.96415886,0.4518553595,-0.0156400033605,0.0696044808364,0.999999793391,-0.000217737841065,-0.000600678666742,-7.06631957805e-05,1793249703154235904
+256,4.266666667,HOLD_POSE2,767,746.540721225,717.540721225,682,664,636.459278775,887,781,817,652,629,655,0.451854790644,-0.0156400853987,0.0696037171212,0.999999792869,-0.000217739526826,-0.000601553241808,-7.06042035708e-05,1793249703170902528
+257,4.283333333,HOLD_POSE2,767,746.883425433,718,682,663.883425433,636.116574567,887.116574567,781,817,651.883425433,629,655,0.451854140206,-0.0156398170256,0.0696029082098,0.999999792411,-0.000217060433153,-0.000602566674106,-7.0544134127e-05,1793249703187569152
+258,4.300000000,HOLD_POSE2,767,746.309049956,718,682,663.309049956,636.690950044,887.690950044,781,817,651.309049956,629,655,0.451853917232,-0.0156379658816,0.0696026527082,0.99999979276,-0.000213676164845,-0.000603190895054,-7.05894254541e-05,1793249703204235776
+259,4.316666667,POSE2_TO_POSE3_RETREAT,767,746,717,683,663,637,887,781,817,651,629,655,0.451851441093,-0.0156409817996,0.0695998779842,0.99999979008,-0.000216762817961,-0.000606606937737,-6.98724138318e-05,1793249703241394688
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+261,4.350000000,POSE2_TO_POSE3_RETREAT,767.690907582,746,717.845453791,682,663.845453791,637,887,781,817,652,629,655,0.451851307581,-0.0156379348488,0.0696008725437,0.999999790237,-0.000217022591492,-0.000606140643686,-7.08626699245e-05,1793249703274728448
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.540912112,746,717.270456056,682,663.270456056,637,887,781,817,652,629,655,0.451851070912,-0.0156378422406,0.069600583874,0.999999790587,-0.000213935983325,-0.000606681236605,-7.06729546543e-05,1793249703291394816
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.311807317,746,717.311807317,682,663,637,887.311807317,781,817,652,629,654.688192683,0.451852095585,-0.015638423288,0.0696012230268,0.999999791489,-0.00021327566116,-0.000605477116691,-7.02328447239e-05,1793249703308061440
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,767.480968761,746,718,682,663,637,887.519031239,781,817,652,629,654.480968761,0.451855501444,-0.0156398775001,0.0696035827401,0.999999793635,-0.000215631978198,-0.000601157222223,-6.95863522762e-05,1793249703341394688
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767.940649371,746,718,682.059350629,663,636.940649371,887.059350629,781,817,652,629,655,0.45185623392,-0.015639808127,0.0696041206289,0.99999979407,-0.00021617147267,-0.000600218808235,-6.97615722081e-05,1793249703358061312
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767.365588858,746,718,682.634411142,663,636.365588858,887.634411142,781,817,652,629,655,0.451853935288,-0.0156383450916,0.0696025426994,0.999999792836,-0.000215026866997,-0.000602639003063,-7.01217036968e-05,1793249703374728192
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.790360462,663,636.209639538,887.790360462,781,817.209639538,652,629,655,0.451849848558,-0.0156372985125,0.0696003700588,0.999999790934,-0.00021442148781,-0.000605956962576,-7.05157843991e-05,1793249703391394816
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.21483912,663,636.78516088,887.21483912,781,817.78516088,652,629,655,0.45184264108,-0.0156369787707,0.069597159475,0.999999787857,-0.000214757215376,-0.00061084178162,-7.09691162886e-05,1793249703408061440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,636.630510256,887.369489744,781,817.630510256,652,629,654.630510256,0.451820918557,-0.015635557322,0.0695873068554,0.999999778014,-0.000214903567557,-0.000626605583474,-7.17879689897e-05,1793249703424728064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,636.040935165,887.959064835,781,817.040935165,652,629,654.040935165,0.451790550193,-0.0156334796452,0.0695734979288,0.999999763747,-0.000214937118863,-0.000648849415751,-7.28245429709e-05,1793249703441394944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746.539125241,718,682,663,636.539125241,888,781,817,652,629,654.539125241,0.451733279464,-0.0156319680185,0.0695518419584,0.999999739768,-0.000215931623525,-0.00068435593139,-7.41233876916e-05,1793249703458061056
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746.306926062,718,682,663,637,887.306926062,781,817,652,629,655,0.451603420872,-0.0156273375592,0.0695181188732,0.999999707752,-0.000214904484405,-0.000729834138898,-7.51986513718e-05,1793249703491394560
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.267257026,663,637,887,781,817,652,628.732742974,655,0.451526964076,-0.0156236671108,0.069508309405,0.99999969884,-0.000212526775135,-0.000742659403217,-7.48895965484e-05,1793249703508061184
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.84004311,663,637,887,781,817,652,628.15995689,655,0.451441595882,-0.0156190859973,0.0695024999452,0.999999690699,-0.000209210737325,-0.000754537933208,-7.42021132275e-05,1793249703524727552
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717.570555901,682.570555901,663,637,887.429444099,781,817,651.570555901,628.429444099,655,0.45134512353,-0.0156132189426,0.0695026039442,0.999999690313,-0.000203955651621,-0.000756630578461,-7.27112655055e-05,1793249703541394432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,717.02443323,682,663.02443323,637,887.97556677,781,817,651.02443323,629,655,0.451243170171,-0.0156069305857,0.0695049719394,0.99999969282,-0.000198263537736,-0.000755001593704,-7.08814149605e-05,1793249703558061312
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,717.600250785,682,663.600250785,637,887.399749215,781,817,651.600250785,629,655,0.451114620841,-0.0156023788689,0.0695067247019,0.999999692749,-0.000199663888913,-0.000754953615796,-6.8425844615e-05,1793249703574728448
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,637,887,781,817,652,629,655,0.450641400499,-0.0155770048698,0.0695138232444,0.999999699839,-0.000183083671254,-0.000750410150918,-6.07193728591e-05,1793249703624728064
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,637,887,781,817,652,629,655,0.450455253842,-0.01556470809,0.0695155483523,0.999999702384,-0.000172751698966,-0.000749685668971,-5.7963888696e-05,1793249703641394688
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.50405513,637,887,781,817,651.49594487,629.50405513,655,0.450240689655,-0.0155560357725,0.0695228415269,0.99999970888,-0.00016303518922,-0.000743505273514,-5.34654374468e-05,1793249703658061056
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.341749202,637,887,781.658250798,817,651,629.341749202,655,0.44976657948,-0.0155399685466,0.0695420319292,0.999999726544,-0.000146947166992,-0.000723487740027,-4.34031689411e-05,1793249703691394560
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.238949899,637,887,782.238949899,817,651,629,655,0.449503477848,-0.0155306867534,0.0695540349526,0.999999739972,-0.000136918002841,-0.000707003472143,-3.81598515991e-05,1793249703708061184
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.825145176,637,887,782.825145176,817,651,629,655,0.449222611923,-0.0155194688169,0.0695679041167,0.999999757761,-0.000122272015554,-0.000684429659986,-3.29137446824e-05,1793249703724728064
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.593659886,637,887.406340114,782.593659886,817,651.406340114,629,655,0.448907539681,-0.0155121824094,0.069583058109,0.999999777831,-8.68716412088e-05,-0.000660370176056,-2.65086559809e-05,1793249703741394688
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.014590532,637,887.985409468,782.014590532,817,651.985409468,629,655,0.448577926841,-0.0155065672378,0.0695987582626,0.999999796854,-4.26488807086e-05,-0.000635679154032,-1.96109011567e-05,1793249703758061568
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,717.442270114,682,663,637,887.442270114,782,817,652,629,655,0.448205893276,-0.0155065111675,0.0696080678685,0.999999805331,-2.38321081385e-05,-0.000623359959808,-1.38715956012e-05,1793249703774728192
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,717.131585493,682,663.131585493,637.131585493,887,782.131585493,817,652,629,654.868414507,0.447816252957,-0.015507316049,0.0696132639823,0.999999809783,-1.19207191273e-05,-0.000616620625925,-8.44056902622e-06,1793249703791394816
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,717.711262844,682,663.711262844,637.711262844,887,782.711262844,817,652,629,654.288737156,0.447370389817,-0.0155105634414,0.0696050147988,0.999999802703,-2.12881939974e-05,-0.00062779358292,-3.95736795952e-06,1793249703808061440
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637.704351405,887,783,817,652,629,654.295648595,0.446904711888,-0.0155069139242,0.0695961597325,0.999999795493,-1.49298426584e-05,-0.000639367331569,-3.22153992767e-07,1793249703824728320
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664,637.465333144,887,783.465333144,817,651.534666856,629,655,0.445932784792,-0.0154849624344,0.0695957748489,0.999999801097,-1.04749925195e-05,-0.000630567442838,-8.9577405945e-06,1793249703858061568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,717.956236663,682.043763337,664,638,887,784,817,651.043763337,629,654.956236663,0.445444095825,-0.0154744130266,0.0696107315949,0.999999818994,-3.48170114282e-05,-0.000600266174587,-2.19081919144e-05,1793249703874728448
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.416107016,717.416107016,682,664,638,885.416107016,785,816,652,630,654.416107016,0.436660663904,-0.0153828578376,0.0697185200157,0.999999904803,0.000129988994461,-0.000416528757752,7.04466189221e-07,1793249704091394560
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,745.1621754,717.1621754,682,664,638,885,785,816,651.8378246,630,654,0.435862451792,-0.0153849860831,0.0697345669898,0.999999914036,0.000131597988605,-0.000393199355742,2.14151994991e-06,1793249704108060928
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,745.736422406,717.736422406,682,664,638,885,785,816,651.263577594,630,654,0.435077116777,-0.015386280546,0.0697839676931,0.99999993746,0.000139410453105,-0.000324929598804,8.08595472707e-06,1793249704124727808
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,745.680686592,718,682,664,638,885.319313408,785,816,651.319313408,629.680686592,654,0.434253218495,-0.0153874782262,0.0698152951823,0.999999948509,0.000145899858847,-0.000285542064018,1.26841077995e-05,1793249704141394688
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,745.090461896,718,682,664,638,885.909538104,785,816,651.909538104,629.090461896,654,0.433396602476,-0.0153885937941,0.0698312890261,0.999999951801,0.000151266757526,-0.000270658734868,1.61400507702e-05,1793249704158061312
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,745.489632321,718,682,664,638.489632321,885.510367679,785.489632321,815.510367679,652,629.489632321,654,0.432538178131,-0.0153881756065,0.0698357280792,0.999999955466,0.00015171782056,-0.000256457499794,1.6736708909e-05,1793249704174728192
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,745.932268892,718,681.932268892,664,638.932268892,885,785.932268892,815,651.932268892,630,654,0.43166743855,-0.0153867733658,0.0698324394756,0.999999955948,0.000152963322117,-0.000253846077577,1.63961825845e-05,1793249704191395072
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745.355386064,718,681.355386064,664,638.355386064,885,785.355386064,815,651.355386064,630,654,0.430706583296,-0.0153800607246,0.0697867826842,0.999999929064,0.000166869770158,-0.000337430069731,1.29012201868e-05,1793249704208061184
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745,717.222260002,681,663.222260002,638.777739998,884.222260002,785,815,651.777739998,630,654,0.428878153235,-0.0153757056152,0.0697065486366,0.999999880459,0.000176205143737,-0.000456050445821,7.18523715576e-06,1793249704241394688
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745,717.364876315,681,663,638.635123685,884,785,815,651.635123685,630,654,0.428004601234,-0.0153790342879,0.0697375270385,0.999999902946,0.000168942294721,-0.000406784695899,9.60921080318e-06,1793249704258061312
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,663,638.549070794,883.450929206,785,815,651,629.450929206,654,0.426270667389,-0.0153813088434,0.069846414138,0.999999954869,0.00017299258817,-0.000244808408894,2.01284761284e-05,1793249704291394560
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,663,638.87250026,882.87250026,785.12749974,815,651,629,654,0.425387363998,-0.0153782636234,0.0698641613496,0.99999995863,0.000185403976217,-0.000218705559917,2.30782371208e-05,1793249704308061184
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.716733178,663,638,882,785.716733178,814.716733178,651,629,654,0.423548807092,-0.0153768739073,0.0698013919081,0.999999933923,0.000177139533308,-0.000317037592324,1.62171037553e-05,1793249704341394688
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.130692065,663,638,882,785.130692065,814.130692065,651,629,654,0.422617933027,-0.0153749188307,0.0697579703286,0.999999906347,0.00018285354973,-0.00039205062705,1.29037313004e-05,1793249704358061312
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.449892249,662.550107751,638,882,785,814.449892249,651,629.449892249,654,0.421650359552,-0.0153728987728,0.0697086294482,0.999999868469,0.000185072809086,-0.000478229682638,1.02991666046e-05,1793249704374727936
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.971054947,745.028945053,718,681,662,638,881.971054947,785,814.971054947,651,630,654,0.420682160637,-0.015371132509,0.069663438793,0.999999827309,0.00018627504113,-0.00055733097747,8.15033988838e-06,1793249704391394816
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.391343197,745.608656803,718,681,662,638,881.391343197,785,814.391343197,651,630,654,0.419902489731,-0.0153745503269,0.0697295459605,0.999999885276,0.00018721129514,-0.000440775225828,1.08022732684e-05,1793249704408061184
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.520024753,745.239987624,718,680.239987624,662,638,881.760012376,785,814,651,630,654,0.418351945182,-0.015379797752,0.0698599110906,0.999999954369,0.000194756202811,-0.000229678378801,2.40721342445e-05,1793249704441394688
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.665702285,745,718,680,662,638,881.665702285,785,814,651,629.665702285,654,0.417535341405,-0.0153799825932,0.0698712830412,0.999999955481,0.000201345524528,-0.000218607302453,2.6634915977e-05,1793249704458061312
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.090940175,745,718,680,662,638,881.090940175,785,814,651,629.090940175,654,0.416687395372,-0.0153787041604,0.0698442872218,0.999999941023,0.000208921598736,-0.000271460799168,2.48088009119e-05,1793249704474728192
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881,785,814,651,629.500173087,654,0.415846002688,-0.0153774603942,0.0698103105686,0.99999993203,0.000205144609541,-0.000305660288156,2.06926937838e-05,1793249704491394816
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.908330271,785.091669729,814,651,630,654,0.415007231041,-0.0153752795811,0.0697762731915,0.999999921312,0.000201933530175,-0.00034105862926,1.66428498071e-05,1793249704508061440
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.331082737,785.668917263,814,651,630,654,0.414175818328,-0.0153681006823,0.069748864568,0.999999896642,0.000213023679631,-0.000401380042164,1.52240158807e-05,1793249704524728064
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.24444384,785.75555616,814,651,629.75555616,654,0.413399327809,-0.0153634246804,0.0697405648437,0.999999886688,0.000219353891597,-0.000422261565122,1.42505849507e-05,1793249704541394432
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,880.817655747,785.182344253,814,651,629.182344253,654,0.412696705709,-0.0153621149845,0.0697579658956,0.999999899773,0.000219282160691,-0.000390097868079,1.38762050029e-05,1793249704558061312
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881,785,813.004996439,651,629.995003561,654,0.411443683378,-0.015368738134,0.0698652846951,0.999999955564,0.000215772203948,-0.000204341377756,2.36567712312e-05,1793249704591394816
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.427240084,638,880.427240084,785,813.572759916,651,630,654,0.410763670065,-0.0153689892391,0.0698705622479,0.999999955949,0.000219505195409,-0.00019834019493,2.40864607028e-05,1793249704608061696
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.850103352,661,638,880,785.149896648,814,651,630,654,0.410085585412,-0.0153685205029,0.0698641282148,0.999999952675,0.000221398671714,-0.000212355023565,2.31795883979e-05,1793249704624728320
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.274391738,661,638,880,785.725608262,814,651,630,654,0.409414622253,-0.0153661020967,0.0698257613901,0.999999936643,0.000217926102927,-0.000280849864786,1.86079357702e-05,1793249704641394944
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,880,785.692804745,813.692804745,651,629.692804745,654,0.408780500299,-0.0153635132331,0.0697911343401,0.999999918186,0.000219818871677,-0.000339252569071,1.46980484245e-05,1793249704658061312
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,880,785.105867476,813.105867476,651,629.105867476,654,0.408179927187,-0.0153607691456,0.0697599128533,0.999999898809,0.000226597492197,-0.000388465040654,1.13907864202e-05,1793249704674727936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.525355311,785,813,651,629.474644689,654,0.407635057565,-0.0153599786664,0.0697665062968,0.999999904244,0.000227924653485,-0.000373390771301,1.19208946997e-05,1793249704691394816
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.053427348,785,813,651,630,654,0.407105392924,-0.0153595221714,0.0697819072615,0.99999991434,0.000228679188072,-0.000344743617998,1.33552633303e-05,1793249704708061440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.629125385,785,813,651,630,654,0.406604531226,-0.0153581278302,0.0698020562243,0.999999920387,0.000235563434269,-0.000321712316201,1.53740282017e-05,1793249704724728064
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.203606775,661,638,880.203606775,785,813.203606775,651,630,654,0.406113907609,-0.0153579751899,0.0698111808379,0.999999922182,0.000237312680975,-0.000314721630278,1.63729551985e-05,1793249704741394688
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.775885116,661,638,880.775885116,785,813.775885116,651,630,654,0.405641822176,-0.0153600709022,0.0698003436178,0.999999916775,0.000229763963838,-0.000336775751508,1.55252576444e-05,1793249704758061824
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.639097507,661,638,880.278195013,784.639097507,813.639097507,651,629.639097507,654,0.405218205313,-0.0153608178112,0.0697996382213,0.999999917021,0.00022760378625,-0.000337538878466,1.48782877957e-05,1793249704774728448
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.045879878,661,638,879.091759755,784.045879878,813.045879878,651,629.045879878,654,0.404825787919,-0.0153606964873,0.0698054547402,0.999999921015,0.000228912243707,-0.000324596864784,1.43605275132e-05,1793249704791395072
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.111772772,745,718,678.888227228,661,638,879,784.888227228,813.888227228,651,629.888227228,654,0.404126116787,-0.0153617471146,0.0698366707686,0.999999937602,0.000230860678474,-0.000266841769601,1.7169563401e-05,1793249704824727808
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.425326588,745,718,679.574673412,661.425326588,638,879,785,813.425326588,651,629.425326588,654,0.402899251056,-0.0153515251861,0.0698193396061,0.999999927517,0.000241957009488,-0.00029365245607,1.38437879429e-05,1793249704891394816
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.171036282,661,637.171036282,879,784.828963718,813,651,629.171036282,653.828963718,0.402198936974,-0.015345424816,0.0697994392153,0.999999912918,0.000258510984864,-0.000327355546561,1.32134370082e-05,1793249704941394944
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.747378037,661,637.747378037,879,784.252621963,813,651,629.747378037,653.252621963,0.402012125833,-0.0153467549646,0.069797556891,0.999999913298,0.000253116184578,-0.000330355326322,1.41658799188e-05,1793249704958061312
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.669353235,661,638,879,784.330646765,813.330646765,651,630,653.330646765,0.401847498271,-0.0153496604142,0.0697973639249,0.999999915265,0.000245364097699,-0.000330222769057,1.47921867513e-05,1793249704974728192
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.080678827,661,638,879,784.919321173,813.919321173,651,630,653.919321173,0.401700182144,-0.0153537951855,0.0697984892871,0.999999918415,0.000235772448587,-0.000327645822404,1.51639860566e-05,1793249704991394816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.499483186,661.499483186,638,879.499483186,785,813.500516814,651,630,654,0.401576161704,-0.0153562777361,0.0697987848973,0.999999921062,0.000225072595439,-0.000327151698952,1.38085026708e-05,1793249705008061184
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93aa94d727620a70befad27c83e2350554b136b3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,402 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..371b0a32f644d2ea40f89b23edf89ba835137c33
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c19fdd7b4b41737b12d6b98bee964ff7ccc41ef640182f5435db4915f22ea48
+size 25695106
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..203ab095f3340a07334e7030ece8ddd26f646999
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_03/franka_data.csv
@@ -0,0 +1,405 @@
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+3,0.050000000,BASELINE,767,744.730961428,718,679.730961428,662,638,879.730961428,785,813,651,630,654,0.400956016508,-0.0153619846737,0.0698151075733,0.999999929093,0.000235782020446,-0.000293569790556,6.15445411946e-06,1793249705790596352
+4,0.066666667,BASELINE,767,745,718,679.687312606,661.687312606,638,879.687312606,785,813,651,630,654,0.4009562812,-0.0153610726611,0.069815511357,0.999999928828,0.000237324120594,-0.000293227953859,6.24713403894e-06,1793249705807263232
+5,0.083333333,BASELINE,767,745,718,679.100411114,661.100411114,638,879.100411114,785,813,651,630,654,0.400957223802,-0.0153603624387,0.0698161513509,0.999999928421,0.000239907975598,-0.00029251060979,6.24038614167e-06,1793249705823929856
+6,0.100000000,BASELINE,767,745,718,679,661.479564241,638,879,785,813,651,630,654,0.400958128112,-0.0153606528087,0.0698164442383,0.999999929093,0.000238660050312,-0.000291235167142,6.14006306712e-06,1793249705840596224
+7,0.116666667,BASELINE,766.942066591,745,718,678.942066591,662,638,879,785,813,651,630,654,0.400958876185,-0.0153610887433,0.0698166176147,0.999999929849,0.000236891716146,-0.000290082418559,6.02486607578e-06,1793249705857262848
+8,0.133333333,BASELINE,766.365279386,745,718,678.365279386,662,638,879,785,813,651,630,654,0.400958295772,-0.0153609787477,0.0698163622775,0.99999992941,0.000237545691246,-0.000291060177294,5.94943302279e-06,1793249705873929472
+9,0.150000000,BASELINE,766.211306366,745,718,678.211306366,661.788693634,638,879.211306366,785,813,651,630,654,0.40095689193,-0.0153606850475,0.0698157314795,0.999999928746,0.000238199969999,-0.000292802998423,5.95472020967e-06,1793249705890596096
+10,0.166666667,BASELINE,766.787544144,745,718,678.787544144,661.212455856,638,879.787544144,785,813,651,630,654,0.400954066004,-0.0153600740849,0.0698144522512,0.999999927687,0.000238854773105,-0.000295867101464,6.09941329017e-06,1793249705907262720
+11,0.183333333,BASELINE,766.627028241,745,718,678.627028241,661,638,879.627028241,784.627028241,813,651,630,654,0.400954485891,-0.0153602027771,0.069814455098,0.99999992774,0.000239062622092,-0.000295516901848,6.247759324e-06,1793249705923929600
+12,0.200000000,BASELINE,766.036233522,745,718,678.036233522,661,638,879.036233522,784.036233522,813,651,630,654,0.400956801396,-0.0153607634424,0.069815206702,0.999999928442,0.000239009441006,-0.000293172681547,6.39823876929e-06,1793249705940596736
+13,0.216666667,BASELINE,766,745,718,678.543109394,661.543109394,638,879,784.543109394,813.543109394,651,629.456890606,654,0.400957455946,-0.0153617685532,0.0698160507637,0.999999929524,0.000237061289943,-0.0002910550499,6.35189045219e-06,1793249705957263104
+14,0.233333333,BASELINE,766.120565088,745,718,679,661.879434912,638,879,785,813.879434912,651,629,654,0.400957909927,-0.0153625887299,0.069816743101,0.999999930365,0.000235350619799,-0.000289550391855,6.2980062293e-06,1793249705973929728
+15,0.250000000,BASELINE,766.69374504,745,718,679,661.30625496,638,879,785,813.30625496,651,629,654,0.400958018356,-0.0153626056285,0.06981684317,0.999999930234,0.000234996283935,-0.000290291326434,6.2641099548e-06,1793249705990596352
+16,0.266666667,BASELINE,767,745,718,679,661,638,879,785,813,651,629,654,0.400957834192,-0.0153626303835,0.0698164821306,0.999999930087,0.000234599494415,-0.00029112253342,6.11916164885e-06,1793249706007262976
+17,0.283333333,BASELINE,767,745,718,679,661,638,879,785,813,651,629,654,0.400957314323,-0.0153626641526,0.069815592041,0.99999992992,0.000234153995949,-0.000292057313912,5.84679840562e-06,1793249706023929600
+18,0.300000000,BASELINE,767,745,718,679,661.443349737,638,879,784.556650263,813,651,629.443349737,654,0.400957298983,-0.0153625953007,0.0698156926232,0.999999929756,0.000234738590954,-0.000292148765942,5.88517912254e-06,1793249706040596224
+19,0.316666667,BASELINE,767,745,718,679,661.979297391,638,879,784.020702609,813,651,630,654,0.400957440671,-0.0153625077227,0.069816084299,0.999999929595,0.000235643093055,-0.000291968667534,6.0143814072e-06,1793249706057263104
+20,0.333333333,BASELINE,767,745,718,679,661.401183086,638,879,784.598816914,813,651,630,654,0.400957705292,-0.0153627509057,0.069816253164,0.99999992951,0.000236779833401,-0.000291338740691,6.06061650244e-06,1793249706073929984
+21,0.350000000,BASELINE,767,745,718,679,661,638,879,785,813,651,630,654,0.400957801595,-0.0153629019163,0.0698163690346,0.999999929509,0.000237190286915,-0.000291006313308,6.14227471092e-06,1793249706090596608
+22,0.366666667,BASELINE,767,745,718,679,661,638,879,785,813,651,630,654,0.400957516244,-0.0153628439303,0.0698163647429,0.999999929701,0.000235953919909,-0.000291348451694,6.30425311392e-06,1793249706107263232
+23,0.383333333,BASELINE,767,745,718,678.671615134,661,638,879,785,813,651,630,654,0.400957598505,-0.0153621082944,0.0698163189466,0.999999929642,0.000236079826048,-0.000291452501265,6.1078097528e-06,1793249706123929856
+24,0.400000000,BASELINE,767,745,718,678.077221787,661,638,879,785,813,651,630,654,0.400957978551,-0.0153608237275,0.0698162395293,0.99999992938,0.000237309242741,-0.000291363686799,5.62102651016e-06,1793249706140596224
+25,0.416666667,BASELINE,767,745,718,678,661.503633578,638,879,785,813,651,630,654,0.400956571117,-0.0153611039284,0.069815551774,0.999999928766,0.000238243642427,-0.000292704651128,5.70061106193e-06,1793249706157262848
+26,0.433333333,BASELINE,766.918004228,745,718,678.081995772,662,638.081995772,879,785,813,651,629.918004228,654,0.400955192765,-0.0153615277657,0.0698149256634,0.999999928248,0.000238840190123,-0.000293982458171,5.8385099116e-06,1793249706173929472
+27,0.450000000,BASELINE,766.342481157,745,718,678.657518843,662,638.657518843,879,785,813,651,629.342481157,654,0.40095559589,-0.0153614098521,0.0698152173141,0.999999928641,0.000237668366716,-0.000293595153835,5.81839217049e-06,1793249706190596096
+28,0.466666667,BASELINE,766.232851784,745,718,679,661.767148216,638.767148216,879,785,813,651,629.232851784,654,0.400956186549,-0.0153610611731,0.0698156170733,0.999999928938,0.000237127016094,-0.000293022916061,5.70242542189e-06,1793249706207262720
+29,0.483333333,BASELINE,766.807905272,745,718,679,661.192094728,638.192094728,879,785,813,651,629.807905272,654,0.400957052808,-0.0153603733587,0.06981617571,0.999999929095,0.000237512215721,-0.000292178897963,5.44559785183e-06,1793249706223929600
+30,0.500000000,BASELINE,767,745.392933735,718,679,661.392933735,638,879,784.607066265,813.392933735,651,629.607066265,654,0.400957016295,-0.0153607373598,0.0698167814685,0.999999929164,0.000238197843453,-0.000291380552223,5.64893934352e-06,1793249706240596224
+31,0.516666667,BASELINE,767,745.982965695,718,679,661.982965695,638,879,784.017034305,813.982965695,651,629.017034305,654,0.400956526946,-0.0153616289587,0.0698174108634,0.999999929187,0.000239034167946,-0.000290605116071,6.08310476391e-06,1793249706257262848
+32,0.533333333,BASELINE,767,745.437116742,718,679,662,638,879,784.562883258,814,651,629.562883258,654,0.400955906212,-0.0153625719119,0.0698165713992,0.99999992929,0.000237285264697,-0.000291683536842,6.0924090493e-06,1793249706273929472
+33,0.550000000,BASELINE,767,744.858675298,718,678.858675298,662,638,879,785,813.858675298,651,630,654,0.400955580207,-0.0153632948396,0.06981600334,0.999999929433,0.000235730794943,-0.000292450780251,6.14266224478e-06,1793249706290595840
+34,0.566666667,BASELINE,767,744.283839589,718,678.283839589,662,638,879,785,813.283839589,651,630,654,0.400956170259,-0.0153633381601,0.0698164017582,0.999999929706,0.000235008497225,-0.000292094436725,6.35726915318e-06,1793249706307262720
+35,0.583333333,BASELINE,766.703145464,744.296854536,718,678.296854536,661.703145464,638,879,785,813,651,630,653.703145464,0.400956980223,-0.0153630792042,0.0698166432638,0.999999929872,0.000235039308212,-0.000291501757804,6.23802915682e-06,1793249706323929344
+36,0.600000000,BASELINE,766.116736931,744.883263069,718,678.883263069,661.116736931,638,879,785,813,651,630,653.116736931,0.400958004689,-0.0153625254058,0.0698167317158,0.999999929934,0.000235804706626,-0.000290678555641,5.79315257379e-06,1793249706340595968
+37,0.616666667,BASELINE,766.466089605,745,718,679,661,638,879,785,813,651,629.533910395,653.466089605,0.400957427894,-0.0153628877662,0.06981616752,0.999999929821,0.000235244978682,-0.000291522773398,5.72676007096e-06,1793249706357263104
+38,0.633333333,BASELINE,767,745,718,679,661,638,879.047259966,785,813,651,629.047259966,654,0.400956588472,-0.0153635448649,0.0698155744016,0.999999929739,0.000234243228222,-0.000292606002535,5.77636648603e-06,1793249706373930240
+39,0.650000000,BASELINE,767,745,718,679,661,638,879.619916468,785,813,651,629.619916468,654,0.400957253952,-0.0153649471117,0.0698164631233,0.999999930516,0.000231988993508,-0.000291738993571,6.0697350369e-06,1793249706390596608
+40,0.666666667,BASELINE,767,745,718,678.810062776,661.189937224,638,879.810062776,785,813,651,630,654,0.400957689939,-0.0153653143984,0.0698170528771,0.999999930969,0.000230866498873,-0.000291075494225,6.11432012153e-06,1793249706407262976
+41,0.683333333,BASELINE,767,745,718,678.245244256,661.754755744,638,879.245244256,785,813,651,630,654,0.400957672973,-0.0153636389722,0.0698170525545,0.999999930791,0.000231977732847,-0.000290813664218,5.6678783863e-06,1793249706423929856
+42,0.700000000,BASELINE,766.657780872,745,718,678,661.657780872,638,879,785,813,651,630,654,0.400956991669,-0.0153634715687,0.0698169077494,0.999999930344,0.000233468198297,-0.000291155560283,5.71750563099e-06,1793249706440596480
+43,0.716666667,BASELINE,766.052939635,745,718,678,661.052939635,638,879,785,813,651,630,654,0.400955800545,-0.0153644614358,0.0698166520671,0.999999929689,0.000235249689418,-0.000291960761301,6.14782079585e-06,1793249706457263104
+44,0.733333333,BASELINE,766.526864843,745,718,678.526864843,661.526864843,638,879,785,813.526864843,651,629.473135157,654,0.400956470758,-0.0153635569081,0.0698169734888,0.999999929826,0.0002356171194,-0.000291201131481,5.89773382984e-06,1793249706473929728
+45,0.750000000,BASELINE,767,745,718,679,661.895838701,638,879,785,813.895838701,651,629.104161299,654,0.40095696248,-0.015362488866,0.0698171274589,0.999999929869,0.000236000409954,-0.000290746548329,5.6245048939e-06,1793249706490596608
+46,0.766666667,BASELINE,767,745,718,679,661.319025411,638,879,785,813.319025411,651,629.680974589,654,0.400955834097,-0.0153615034104,0.0698162703921,0.999999929147,0.000237071163082,-0.00029235729066,5.54242057427e-06,1793249706507263232
+47,0.783333333,BASELINE,767,745,718,679,661.262120107,638,879,785,813,651,630,654,0.400955961297,-0.0153611088548,0.0698163076523,0.999999929024,0.00023757996783,-0.000292363438906,5.55523236836e-06,1793249706523929600
+48,0.800000000,BASELINE,767,745,718,679,661.848627053,638,879,785,813,651,630,654,0.400957642345,-0.0153614455678,0.0698174516874,0.999999929645,0.000237393333289,-0.000290383821345,5.6854828732e-06,1793249706540596480
+49,0.816666667,BASELINE,767,745,718,679,662,638,879,785,813,651,629.570678786,654,0.400957616539,-0.0153619979793,0.0698176053428,0.999999929573,0.000237778842708,-0.000290311151579,5.80651367853e-06,1793249706557263104
+50,0.833333333,BASELINE,767,745,718,679,662,638,879,785,813,651,629.008006566,654,0.40095700038,-0.0153626056097,0.0698174166953,0.999999929272,0.000238329897772,-0.000290894388227,5.91916221232e-06,1793249706573929472
+51,0.850000000,BASELINE,767,745,718,679,662,638,879,785,813,651,629.587645674,654,0.400956628384,-0.0153617983651,0.06981738704,0.999999929696,0.000236489930761,-0.000290943864279,5.66234303444e-06,1793249706590596096
+52,0.866666667,BASELINE,767,745,718,679,661.834365809,638,879,785,813,651,629.834365809,654,0.400956443197,-0.0153617232386,0.0698173474577,0.99999992993,0.000235427251205,-0.000290999979837,5.70125470178e-06,1793249706607262720
+53,0.883333333,BASELINE,767,745,718,679,661.260446009,638,879,785,813,651,629.260446009,654,0.40095671849,-0.015363452772,0.0698172834057,0.999999929703,0.000236280572808,-0.000291072461673,6.46913814985e-06,1793249706623929600
+54,0.900000000,BASELINE,767,745,718,678.686028741,661.313971259,638,879,785,813.313971259,651,629.313971259,654,0.400956725438,-0.0153642437048,0.069817229782,0.999999929919,0.000235337976991,-0.00029109508311,6.4870675943e-06,1793249706640596224
+55,0.916666667,BASELINE,767,745,718,678.111198186,661.888801814,638,879,785,813.888801814,651,629.888801814,654,0.400956509437,-0.0153642548125,0.0698171848224,0.999999930498,0.000232903264445,-0.000291076278624,5.88190661174e-06,1793249706657263104
+56,0.933333333,BASELINE,766.520428449,745,718,678.479571551,661.520428449,638,879,784.520428449,814,651,630,654,0.40095658055,-0.0153638756223,0.0698169708847,0.999999930312,0.000233197057761,-0.000291482179654,5.8283408638e-06,1793249706673929728
+57,0.950000000,BASELINE,766.071699455,745,718,679,661.071699455,638,879.071699455,784.071699455,813.928300545,651,630,654,0.400956836687,-0.0153633831345,0.0698168770854,0.999999930014,0.000234186586185,-0.000291708466138,5.8894522732e-06,1793249706690596352
+58,0.966666667,BASELINE,766.646531596,745,718,679,661.646531596,638,879.646531596,784.646531596,813.353468404,651,630,654,0.400957907971,-0.0153627524905,0.0698179107212,0.999999930223,0.000235466113968,-0.000289959562876,5.82693271007e-06,1793249706707262976
+59,0.983333333,BASELINE,767,744.774117323,718,678.774117323,661.774117323,638,879.774117323,785,813,651,630,654,0.400958067083,-0.0153627058572,0.0698183172306,0.999999930427,0.000235385830863,-0.00028931969227,5.84204864854e-06,1793249706723929600
+60,1.000000000,BASELINE,767,744.187550413,718,678.187550413,661.187550413,638,879.187550413,785,813,651,630,654,0.400956769663,-0.0153635917586,0.0698177223596,0.999999930626,0.000233134233399,-0.000290450699077,5.98113114978e-06,1793249706740596224
+61,1.016666667,BASELINE,767,744.393947175,718,678.393947175,661.393947175,638,879.393947175,785,813.393947175,651,630,654,0.4009571252,-0.0153630934604,0.0698178303685,0.999999930499,0.000234494036128,-0.000289792139223,6.00290564217e-06,1793249706757263104
+62,1.033333333,BASELINE,767,744.973061987,718,678.973061987,661.973061987,638,879.973061987,785,813.973061987,651,630,654,0.40095825768,-0.0153619445445,0.0698182687532,0.999999930211,0.000237551311344,-0.000288292426348,5.96954165041e-06,1793249706773929728
+63,1.050000000,BASELINE,767,745,718,679,662,638,879.450095846,785,814,651,630,654,0.400956888099,-0.0153629384805,0.0698178006663,0.99999993026,0.000235687921285,-0.000289645278545,6.00095496759e-06,1793249706790596608
+64,1.066666667,BASELINE,767,744.873699283,718,679,661.873699283,638,879,785,814,651,629.873699283,654,0.400955657635,-0.0153634079099,0.069817306761,0.999999930149,0.000234512652541,-0.000290982270675,5.89879572262e-06,1793249706807263488
+65,1.083333333,BASELINE,767,744.298492481,718,679,661.298492481,638,879,785,814,651,629.298492481,654,0.400955355473,-0.0153616415442,0.0698168782683,0.999999929423,0.000236636368459,-0.000291768270775,5.31065225677e-06,1793249706823930112
+66,1.100000000,BASELINE,767,744.283203065,718,679,661.283203065,638,879,784.716796935,813.716796935,651,629.283203065,654,0.400955498428,-0.0153615240277,0.0698164283601,0.999999929261,0.000236806873981,-0.000292185079816,5.33907744225e-06,1793249706840596480
+67,1.116666667,BASELINE,767,744.871897996,718,679,661.871897996,638,879,784.128102004,813.128102004,651,629.871897996,654,0.400956121531,-0.0153631851291,0.0698159553509,0.999999929708,0.000234870446337,-0.00029220364147,6.0325968394e-06,1793249706857263104
+68,1.133333333,BASELINE,766.546946391,745,718,679,662,638,879,784.453053609,813,651,630,654,0.400955755129,-0.0153640491855,0.0698159993137,0.999999929762,0.000234985063177,-0.000291926913104,6.04130506367e-06,1793249706873929728
+69,1.150000000,BASELINE,766,745,718,679,661.968052761,638,879,785,813,651,629.968052761,654,0.400955177408,-0.0153646060261,0.0698161996025,0.999999929732,0.000235539669873,-0.000291586832402,5.85782647246e-06,1793249706890596096
+70,1.166666667,BASELINE,766,745,718,679,661.391972193,638,879,785,813,651,629.391972193,654,0.400955687819,-0.0153637059586,0.0698166135371,0.99999993013,0.000233872332004,-0.000291566531672,5.64497927445e-06,1793249706907262720
+71,1.183333333,BASELINE,766.182294846,745,718,679,661,638,879,785,813,651,629.182294846,654,0.400956518332,-0.0153631188465,0.0698172293207,0.999999930502,0.000233303357682,-0.00029074594043,5.6454047265e-06,1793249706923929600
+72,1.200000000,BASELINE,766.752700936,745,718,679,661,638,879,785,813,651,629.752700936,654,0.400958030349,-0.0153631980259,0.0698182748474,0.999999930816,0.000235072832266,-0.000288221506472,6.09989406277e-06,1793249706940596480
+73,1.216666667,BASELINE,766.66344932,745,718,679,661.33655068,638,879.33655068,785,813,651,629.66344932,654,0.400957568521,-0.0153622828836,0.0698177302945,0.999999930136,0.000236936153551,-0.000289055133712,6.0280563481e-06,1793249706957263104
+74,1.233333333,BASELINE,766.06931013,745,718,679,661.93068987,638,879.93068987,785,813,651,629.06931013,654,0.400955595956,-0.0153606067094,0.0698159687295,0.999999928689,0.000238871302933,-0.000292458947493,5.55337942484e-06,1793249706973929728
+75,1.250000000,BASELINE,766.513462098,745,718,679,661.486537902,638,879.486537902,785,813,651,629.513462098,654,0.400956342901,-0.0153629250821,0.0698167239292,0.999999929909,0.000235371793061,-0.000291113962185,5.92940698844e-06,1793249706990596352
+76,1.266666667,BASELINE,766.906735258,745,718,678.906735258,661,638,879,785,813,651,630,654,0.400957444878,-0.015365039095,0.0698177611614,0.999999931141,0.000232346043751,-0.000289299040197,6.3295286892e-06,1793249707007262720
+77,1.283333333,BASELINE,766.334474342,745,718,678.334474342,661,638,879,785,813,651,630,654,0.400958525729,-0.0153633942173,0.0698185398675,0.999999930708,0.000235439558289,-0.000288291481223,6.27639980101e-06,1793249707023929344
+78,1.300000000,BASELINE,766.237765016,745,718,678.237765016,661,638,879,785,813.237765016,651,630,654,0.400958856356,-0.0153622976118,0.0698188825858,0.999999930347,0.000237253691315,-0.000288059559128,6.20862779972e-06,1793249707040595968
+79,1.316666667,BASELINE,766.809974001,745,718,678.809974001,661,638,879,785,813.809974001,651,630,654,0.400958131706,-0.0153619722148,0.0698186120368,0.999999930096,0.00023726822616,-0.000288918660014,6.12025857248e-06,1793249707057262592
+80,1.333333333,BASELINE,767,745,718,679,661,638.398516826,879,785,814,651,630,654,0.400958698702,-0.015363197616,0.0698188925119,0.999999930944,0.000234935674932,-0.000287890413384,6.04914056736e-06,1793249707073929216
+81,1.350000000,BASELINE,767,745,718,679,661,638.995181089,879,785,814,651,630,654,0.40095990792,-0.015365194093,0.069819446963,0.999999932325,0.000231436123824,-0.000285923754575,5.98660007268e-06,1793249707090595840
+82,1.366666667,BASELINE,767,745,718,679,661,638.429026867,879.570973133,785,813.429026867,651,630,654,0.400959277436,-0.0153627698058,0.0698191131304,0.999999931049,0.000236057539722,-0.00028660470663,6.02889265924e-06,1793249707107262720
+83,1.383333333,BASELINE,767,745,718,679,661,638,879.85352387,785,813,651,630,654,0.400958613006,-0.0153611407127,0.0698186275194,0.999999930058,0.00023917840138,-0.000287475881052,6.01914688834e-06,1793249707123929344
+84,1.400000000,BASELINE,767,745,718,679,661,638,879.278369297,785,813,651,630,654,0.40095789307,-0.0153619441841,0.0698177188789,0.999999930014,0.000237714213428,-0.00028884067239,5.8546071087e-06,1793249707140596224
+85,1.416666667,BASELINE,767,744.694781489,718,679,661,638,879,785,813,651,629.694781489,654,0.40095808368,-0.0153620785166,0.0698179955281,0.999999930134,0.000237135394847,-0.000288901608888,5.82795015276e-06,1793249707157262592
+86,1.433333333,BASELINE,767,744.103283774,718,679,661,638,879,785,813,651,629.103283774,654,0.400959128335,-0.0153615852314,0.0698193839181,0.999999930409,0.000237387007105,-0.000287739596793,5.93062017556e-06,1793249707173929472
+87,1.450000000,BASELINE,767,744.478138156,718,679,661.478138156,638,879,785,813,651,629.478138156,654,0.400958697699,-0.0153622912677,0.0698191223176,0.999999930507,0.000236511222063,-0.000288116563504,6.08790548274e-06,1793249707190596352
+88,1.466666667,BASELINE,767,745,718,678.943379567,662,638,879.056620433,785,813,651,630,654,0.400957876518,-0.0153630880629,0.0698184756053,0.999999930458,0.000235724135245,-0.00028892819994,6.23904240187e-06,1793249707207262976
+89,1.483333333,BASELINE,767,745,718,678.372240387,662,638,879.627759613,785,813,651,630,654,0.400956342536,-0.0153624039891,0.0698175013079,0.999999929418,0.000237910402428,-0.000290731173344,6.22931404757e-06,1793249707223929344
+90,1.500000000,BASELINE,767,745,718,678.201341075,661.798658925,638,879.798658925,785,813,651,630,654,0.400955774699,-0.0153623198569,0.0698170483613,0.999999929136,0.000238198817046,-0.000291466905286,6.10866407034e-06,1793249707240595968
+91,1.516666667,BASELINE,767,745,718,678.779493217,661.220506783,638,879.220506783,785,813,651,630,654,0.400957015008,-0.0153633585192,0.0698175711263,0.999999930276,0.000234935388602,-0.000290205288024,5.78042359053e-06,1793249707257262848
+92,1.533333333,BASELINE,767,745,718,679,661.365893382,638,879.365893382,785,813,651,630,654,0.400957323027,-0.0153629428467,0.0698176029616,0.999999929912,0.000236629469951,-0.000290085220309,5.76623342653e-06,1793249707273929472
+93,1.550000000,BASELINE,767,745,718,679,661.957378936,638,879.957378936,785,813,651,630,654,0.400957056241,-0.0153616305018,0.0698173321135,0.999999928606,0.000241380111867,-0.000290668976735,5.94567147378e-06,1793249707290596096
+94,1.566666667,BASELINE,767,745,718,679,661.465118832,638,880,785,813,651,630,654,0.400957549559,-0.0153625599005,0.0698180053031,0.999999929318,0.00023958426924,-0.000289700617752,6.01564188404e-06,1793249707307262976
+95,1.583333333,BASELINE,767,745,718,679,661,638,879.888760192,785,813,651,630,654,0.400957741549,-0.015363444987,0.0698183762394,0.999999930047,0.000237159267932,-0.000289181350954,6.00904274699e-06,1793249707323929344
+96,1.600000000,BASELINE,767,745,718,679,661,638,879.312642684,785,813,651,630,654,0.400956427601,-0.0153634174062,0.0698171776851,0.999999930199,0.00023422942122,-0.000291042554513,5.71797911231e-06,1793249707340595968
+97,1.616666667,BASELINE,767,745,718,679,661.262153755,638,879,785,813,651.262153755,630,654,0.400955772402,-0.0153629037126,0.0698169277814,0.999999930079,0.000233911703758,-0.000291712835668,5.56550474666e-06,1793249707357262848
+98,1.633333333,BASELINE,767,745,718,679,661.835382563,638,879,785,813,651.835382563,630,654,0.400955898885,-0.0153618131911,0.0698178035591,0.999999929641,0.000236693572987,-0.000290969952709,5.57748222606e-06,1793249707373929728
+99,1.650000000,BASELINE,766.575786745,745,718,679,662,638,879.424213255,785,813,651.575786745,630,654,0.400955945337,-0.0153621720504,0.0698176560676,0.999999929854,0.000235781178991,-0.000290973587311,5.74496606686e-06,1793249707390596608
+100,1.666666667,BASELINE,766.01869699,745,718,678.98130301,661.98130301,638,879.98130301,785,813,651,630,654,0.400955972092,-0.0153631198875,0.0698171190903,0.99999993032,0.000233468447555,-0.000291231814903,5.96136701562e-06,1793249707407263488
+101,1.683333333,BASELINE,766.594340366,745,718,678.405659634,661.405659634,638,879.405659634,785,813,651,630,654,0.400956372501,-0.0153642186047,0.0698172600604,0.999999930574,0.000233776225245,-0.000290115121101,5.76872474736e-06,1793249707423930112
+102,1.700000000,BASELINE,767,745,718,678.162196782,661.324393563,638,879.162196782,785.162196782,813,651,630,654,0.400956859861,-0.0153650304239,0.0698176231531,0.999999930786,0.000234252245436,-0.00028900041198,5.73122974689e-06,1793249707440596736
+103,1.716666667,BASELINE,767,745,718,678.711469836,662.422939672,638,879.711469836,785.711469836,813,651,630,654,0.400957554724,-0.0153651575718,0.0698185163332,0.999999930898,0.000235129769731,-0.000287890439378,6.06398765859e-06,1793249707457263360
+104,1.733333333,BASELINE,767,745,718,679,662.704136023,638,880,785.704136023,813,651,629.704136023,654,0.400957657774,-0.0153647914178,0.0698184586163,0.999999930856,0.000235140207219,-0.000288028959691,5.98351222924e-06,1793249707473929728
+105,1.750000000,BASELINE,767,745,718,679,662.080877877,638,880,785.080877877,813,651,629.080877877,654,0.400957105942,-0.0153638793908,0.0698173486656,0.999999930643,0.000234191152663,-0.000289549024533,5.44576526745e-06,1793249707490596352
+106,1.766666667,BASELINE,767,744.496617222,718,679,662,638,880,785,813,651,629.503382778,654,0.400956488862,-0.015363776116,0.0698171319583,0.999999930171,0.000234774518745,-0.000290701053128,5.56680998228e-06,1793249707507263232
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,785,813,651,630,654,0.400957072911,-0.0153655310452,0.0698186396506,0.999999931265,0.000231815228982,-0.000289299631178,6.0907122393e-06,1793249707550674944
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.577446686,785.577446686,813.577446686,651,630,654,0.400957474528,-0.0153649387898,0.0698187984996,0.999999931458,0.000232127984084,-0.000288387157456,5.80212522191e-06,1793249707567341568
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718.158653064,679,662,638,880,785.841346936,813.841346936,651,630,654,0.400957425886,-0.0153647712263,0.069818559435,0.999999931389,0.000232390268913,-0.000288417825596,5.63833175625e-06,1793249707584007936
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718.750116116,679,662,638,880,785.249883884,813.249883884,651,630,654,0.400956148926,-0.0153657622341,0.0698172348512,0.999999930605,0.000232514869492,-0.000291021410862,5.81497851903e-06,1793249707600674560
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718.666077441,679,662,638,879.666077441,785,813,651,630,654,0.400956028906,-0.0153660317453,0.0698172886847,0.999999930501,0.000232757828041,-0.000291185088031,5.83191655993e-06,1793249707617341184
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,718.087872262,679,662,638,879.087872262,785,813,651,630,654,0.400956755251,-0.0153657734424,0.0698183509061,0.999999930895,0.000233087371913,-0.00028956383879,5.73201892282e-06,1793249707634007808
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,785,813.4846966,651,630,654,0.400957622173,-0.0153637991339,0.0698184270734,0.999999930348,0.000235971096776,-0.000289119197863,5.60062483091e-06,1793249707650674432
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.941799983,638,879.058200017,785,813.941799983,651,630,654,0.400958561045,-0.0153620219637,0.0698184472565,0.999999929812,0.000238577688285,-0.000288836704326,5.52806035077e-06,1793249707667341312
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.350483522,638,879.649516478,785,813.350483522,651,630,654,0.400959928224,-0.0153648675396,0.069819573297,0.999999930995,0.000234452848158,-0.000288108006531,6.04608311122e-06,1793249707684007936
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.23588392,638,880,785,813,651,630,654,0.400967432936,-0.0153669659448,0.0698231478911,0.999999933067,0.000231436752079,-0.000283299819041,6.6050577958e-06,1793249707700674816
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.815049016,638,880,785,813,651,630,654,0.400983869581,-0.0153679769945,0.0698302858581,0.999999936373,0.000230034208311,-0.000272554762193,7.22362964991e-06,1793249707717341184
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.607984241,638,879.607984241,785,813,651,630,654,0.401020928072,-0.0153691393878,0.0698444086106,0.999999942437,0.000230282826074,-0.000249063834859,7.96603092285e-06,1793249707734007808
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.032048835,638,879.032048835,785,813,651,630,654,0.401067661591,-0.0153703727863,0.069861808373,0.9999999491,0.000231306108954,-0.000219593003967,8.76652853914e-06,1793249707750674432
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.543227323,637.456772677,879,785,813,651,630,654,0.401131588341,-0.0153731253341,0.069876562934,0.999999952959,0.000230183600533,-0.000202513139923,9.22968690565e-06,1793249707767341312
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.121468125,718,679,661.878531875,637.121468125,879.121468125,785.121468125,813.121468125,651,630,654,0.401198808763,-0.0153760800417,0.0698895654646,0.999999956205,0.000229491055559,-0.000186638577186,9.52316978481e-06,1793249707784007936
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.711289878,718,679,661.288710122,637.711289878,879.711289878,785.711289878,813.711289878,651,630,654,0.401274822491,-0.0153794690767,0.0698964135662,0.999999958395,0.000230943884024,-0.000172596105182,9.23906722148e-06,1793249707800674560
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.704423205,745.704423205,718,679,661.295576795,638,879.704423205,785.704423205,813.704423205,651,630,654,0.401361413745,-0.0153826595742,0.0699012606704,0.999999959667,0.000231580676805,-0.000164231596444,7.98237365018e-06,1793249707817341184
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.125443202,745.125443202,718,679,661.874556798,638,879.125443202,785.125443202,813.125443202,651,630,654,0.401458146875,-0.0153856597111,0.0699041891893,0.999999960191,0.000231435042985,-0.000161311199976,5.7931460968e-06,1793249707834008320
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.450058582,745,718,679,662,638,879.450058582,785,813,651,630,654,0.401574985445,-0.0153911922058,0.069906569886,0.999999961425,0.000228028066111,-0.000158558598362,3.50330773014e-06,1793249707850674944
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,880,785,813,651,630,654,0.401698737085,-0.0153974751197,0.0699087860058,0.999999962858,0.000223641711562,-0.000155778265182,1.16438627702e-06,1793249707867341568
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,880,785,813,651,630,654,0.401852718188,-0.0154048758198,0.0699107102501,0.999999964888,0.000217526573148,-0.000151340354154,-1.64973695146e-06,1793249707884008448
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718,679.175636702,662,638,879.824363298,785,813,651,630,654,0.402015348013,-0.0154126625907,0.0699130496209,0.999999967269,0.000209805889964,-0.000146358358702,-4.79807463151e-06,1793249707900674816
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,679.769460554,662,638,879.230539446,785,813,651,630,654,0.402198570229,-0.0154213685868,0.0699163773986,0.999999970496,0.000198262440654,-0.000140080910763,-8.74216921401e-06,1793249707917341184
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,679.645491737,662,638,879.354508263,785,813,651,630,654,0.402403956731,-0.0154299851995,0.069919827172,0.999999973254,0.000188598451925,-0.000133246217232,-1.29868458079e-05,1793249707934007808
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,679.066013291,662,638,879.933986709,785,813,651,630,654,0.402623408659,-0.0154385450907,0.0699233543639,0.99999997568,0.000180127163706,-0.000126057896223,-1.74222714867e-05,1793249707950674688
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638.506071563,880,785,813,651,630,654.506071563,0.402877067188,-0.0154469493751,0.0699287294743,0.999999978608,0.000170614965948,-0.000114846277209,-2.20105749492e-05,1793249707967341312
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.919781836,638.919781836,879.919781836,785,813.080218164,651,630,654.919781836,0.403141783119,-0.0154559341409,0.0699347654734,0.999999983232,0.00014929391748,-0.000102675529154,-2.65541522626e-05,1793249707984008192
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.326363637,638.326363637,879.326363637,785,813.673636363,651,630,654.326363637,0.403449104656,-0.0154687605574,0.0699435096381,0.999999994266,5.32812486704e-05,-8.7677846494e-05,-3.06858520335e-05,1793249708000674816
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,718.260633299,679,661.260633299,638,879.260633299,785,813.739366701,651,630,654,0.403767719241,-0.0154812294714,0.0699491016039,0.999999996153,-1.21382341219e-07,-8.05143276833e-05,-3.48075211014e-05,1793249708017341440
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,718.839782865,679,661.839782865,638,879.839782865,785,813.160217135,651,630,654,0.40410013488,-0.015493261486,0.0699508413116,0.999999995803,-1.45088316667e-06,-8.29248312893e-05,-3.89169318203e-05,1793249708034008064
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718.584029101,679,661.584029101,638,880,785,813.415970899,651,629.584029101,654,0.404464924921,-0.0155027646084,0.0699544935843,0.999999996347,1.80059616959e-05,-7.75194259823e-05,-3.11728192763e-05,1793249708050674688
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,718.008973693,679,661.008973693,638,880,785,813.991026307,651,629.008973693,654,0.404842096267,-0.0155113005774,0.069958877301,0.999999996401,4.54123665556e-05,-6.91248930942e-05,-1.88954281039e-05,1793249708067341312
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,718,679.563750001,661.563750001,638,880,785,813.436249999,651,629.563750001,654,0.405255817129,-0.015500834631,0.0699612046743,0.999999996294,5.22311604447e-05,-6.4997021469e-05,-2.14151227387e-05,1793249708084007936
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,679.858719079,662,638.141280921,880,785,813,651,630,654,0.405678354963,-0.0154935558648,0.0699607278628,0.999999996118,5.40545406846e-05,-6.51034612538e-05,-2.45659879618e-05,1793249708100674560
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,679.265699205,662,638.734300795,880,785,813,651,630,654,0.406127231977,-0.0154974311053,0.0699513890351,0.999999995658,4.09488478565e-05,-7.85326449106e-05,-2.89849711622e-05,1793249708117341184
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638.680783033,880,785,813.319216967,651,629.680783033,654,0.406596935365,-0.0155037308041,0.0699375553554,0.999999994351,2.6840981779e-05,-9.75103293586e-05,-3.27041468625e-05,1793249708134008576
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638.102444896,880,785,813.897555104,651,629.102444896,654,0.407083544401,-0.0155119985328,0.0699200730235,0.999999991967,1.19196101876e-05,-0.000120991955072,-3.5855261314e-05,1793249708150675712
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638.473828212,880,785,813.526171788,651,629.473828212,654,0.407636970426,-0.0155150535521,0.0699259991864,0.999999993738,8.42927823147e-06,-0.000105335679599,-3.68483953931e-05,1793249708167342080
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,718,679.049444338,662,639,880,785,813.049444338,651,630,654,0.408208600516,-0.0155163989142,0.069936923315,0.999999995982,7.15878590738e-06,-8.11089987964e-05,-3.75020494991e-05,1793249708184008448
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,718,679.622809763,662,639,880,785,813.622809763,651,630,654,0.408820713313,-0.0155115187656,0.0699474114253,0.999999997684,3.335622039e-06,-5.53432892721e-05,-3.9480921108e-05,1793249708200675072
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,718,679.797401658,662.202598342,638.797401658,880,785,814,651,630,654,0.409431725438,-0.0155084530452,0.0699506340619,0.999999998148,2.26069623008e-06,-4.48319000345e-05,-4.10938451494e-05,1793249708217341696
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,718,679.205263178,662.794736822,638.205263178,880,785,814,651,630,654,0.410040621242,-0.0155088759651,0.0699398872172,0.999999997071,6.46986639635e-06,-6.36503183033e-05,-4.20031539376e-05,1793249708234008320
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,718,679.378362264,662.621637736,638,880.378362264,785,813.621637736,651,629.621637736,654,0.410685583928,-0.0155098601566,0.0699364215265,0.999999996374,6.54988806109e-06,-7.3246482056e-05,-4.29489742753e-05,1793249708250674944
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,718,679.957470954,662.042529046,638,880.957470954,785,813.042529046,651,629.042529046,654,0.411349682482,-0.0155111421401,0.0699368189741,0.999999995988,4.43912082531e-06,-7.79496239086e-05,-4.39141664016e-05,1793249708267341568
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.527926957,718,679.472073043,662,638.527926957,881,785.527926957,813,651,629,654,0.412079623576,-0.0155159874728,0.0699650538607,0.999999998733,-3.2156311879e-07,-2.73425680327e-05,-4.22741594352e-05,1793249708284007936
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.898839183,718,679.101160817,662.101160817,639,881,785.898839183,813,651,629,654,0.412821779631,-0.0155200684727,0.0699945012987,0.999999998875,-5.68563803854e-06,2.39112354457e-05,-4.05742840192e-05,1793249708300674560
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745.308869067,718,679.691130933,662.691130933,639,881,785.308869067,813,651,629,654,0.413597741657,-0.0155190915142,0.0700191465354,0.999999997502,-1.29504270667e-05,5.71072863074e-05,-3.95828700818e-05,1793249708317340928
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,718,680,662.723710027,639,881.276289973,785.276289973,813.276289973,650.723710027,629,654,0.414344573112,-0.0155175373585,0.0700139848835,0.999999998207,-1.41896735792e-05,4.15825516792e-05,-4.06824056037e-05,1793249708334007552
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662.143837244,639,881.856162756,785.856162756,813.856162756,650.143837244,629,654,0.41505939648,-0.0155153489881,0.069976071923,0.999999998612,-8.80815543942e-06,-2.74757646658e-05,-4.4079441257e-05,1793249708350674432
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.566544538,745,718,680,662,638.566544538,882,785.566544538,813.566544538,650.433455462,629,654,0.415820531417,-0.0155152730868,0.0699379911206,0.999999994924,-1.26752237535e-05,-8.71984353641e-05,-4.88743292388e-05,1793249708367341056
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.00980263,745,718,680.00980263,662.00980263,638.00980263,882.00980263,785,813.00980263,651,629,654.00980263,0.416598049354,-0.0155160051996,0.0699009731332,0.999999988239,-1.959708362e-05,-0.000142195726419,-5.40128558085e-05,1793249708384007680
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.580746035,745,718,680.580746035,662.580746035,638.580746035,882.580746035,785,813.580746035,651,629,654.580746035,0.417438879937,-0.0155231007319,0.0699279641091,0.999999992965,-2.67430028399e-05,-0.000102982181187,-5.24265062824e-05,1793249708400674304
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663.159180961,639,883,785,814,651,629,654.840819039,0.418294814989,-0.0155281961205,0.0699544077814,0.999999996132,-3.16792406709e-05,-6.4357189852e-05,-5.09028954839e-05,1793249708417340928
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,718,681,663.758321642,639,883,785,814,651,629,654.241678358,0.419192497182,-0.0155277633183,0.0699793387619,0.999999997933,-3.05081472101e-05,-2.73589033239e-05,-4.95526882933e-05,1793249708434007552
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,718,681,663.658022626,639.341977374,883,785,814,651,629.341977374,654,0.420091282891,-0.0155298673833,0.0700043015073,0.999999998124,-3.6363178202e-05,1.1466859971e-05,-4.79495659804e-05,1793249708450674176
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663.084836208,639.915163792,883,785,814,651,629.915163792,654,0.420990814646,-0.0155336866105,0.0700292857278,0.999999996503,-4.69685337637e-05,5.15281688546e-05,-4.61754491488e-05,1793249708467341056
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639.509703035,883.490296965,785,814.490296965,651,629.509703035,654.490296965,0.421856344837,-0.0155343931563,0.0700178767784,0.99999999741,-4.50799048623e-05,2.94211450767e-05,-4.77674716096e-05,1793249708484007936
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.067680368,718,681,663.067680368,639,884.067680368,785,815,651,629,655,0.422706999691,-0.0155338162205,0.0699923831309,0.999999997682,-4.28891622229e-05,-1.4919291042e-05,-5.07367954117e-05,1793249708500674560
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.659881709,718,681,663.659881709,639,884.659881709,785,815,651,629,655,0.423488147783,-0.0155274830199,0.0699067305199,0.999999985754,-5.51780162518e-05,-0.000147869236441,-5.98482463846e-05,1793249708517340672
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,717.753589493,681,664,639,885.246410507,785.246410507,815,651,629.246410507,654.753589493,0.424343590807,-0.0155241569025,0.0698603166608,0.99999997292,-5.91839972371e-05,-0.000215379996368,-6.53309894161e-05,1793249708534007296
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,717.174714185,681,664,639,885.825285815,785.825285815,815,651,629.825285815,654.174714185,0.425299274999,-0.0155248880353,0.0698668449468,0.99999997754,-5.20144683868e-05,-0.000194598172412,-6.59177680705e-05,1793249708550674176
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.599009909,745.599009909,717.400990091,681,664,639,885.599009909,786,815,651,629.599009909,654.400990091,0.426253605839,-0.0155265785696,0.0699140697889,0.999999989094,-4.85521549829e-05,-0.000125315337607,-6.124873794e-05,1793249708567341056
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.024676467,745.024676467,717.975323533,681,664,639,885.024676467,786,815,651,629.024676467,654.975323533,0.427207351583,-0.015528683842,0.0699788872782,0.99999999682,-4.66924277792e-05,-3.50660805252e-05,-5.43076823722e-05,1793249708584007936
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.547614039,745,718,681,664,639,885.547614039,786,815.547614039,651.547614039,629,655,0.42815598928,-0.0155301985854,0.0700146283855,0.999999997128,-5.06054068722e-05,1.97674750902e-05,-5.28348999939e-05,1793249708600674560
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745,718,681,664,639,886.124575731,786,815.875424269,651.875424269,629,654.875424269,0.429094547944,-0.0155319281258,0.0700417457656,0.999999995118,-5.52594859547e-05,6.3258100315e-05,-5.20425140572e-05,1793249708617341184
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745,718,681,664,639,886.719521026,786,815.280478974,651.280478974,629,654.280478974,0.429995916298,-0.0155345687914,0.0700412306722,0.999999994251,-6.17332546633e-05,6.99237423271e-05,-5.28922199296e-05,1793249708634008064
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,718,681.302382105,664,639,887,786,815.302382105,651.302382105,629,654.302382105,0.430841279975,-0.0155343485415,0.06999967684,0.999999996439,-6.28872279638e-05,-1.03663255646e-06,-5.62708110282e-05,1793249708650674432
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,718,681.874464994,664,639,887,786,815.874464994,651.874464994,629,654.874464994,0.431636691887,-0.0155315765824,0.0699215197173,0.999999986352,-5.92963656393e-05,-0.000141233240294,-6.1904965709e-05,1793249708667340800
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.45203524,718,681.54796476,664.45203524,639,887,786,816,651.54796476,629.45203524,654.54796476,0.432499341398,-0.0155304683044,0.0698946664592,0.999999980373,-5.9225439201e-05,-0.000177538853985,-6.50147491135e-05,1793249708684007424
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,681.030989419,665,639,887,786,816,651.030989419,630,654.030989419,0.433384056541,-0.0155300257876,0.0698867089782,0.999999980093,-6.02846882969e-05,-0.000178034147435,-6.69575545931e-05,1793249708700674304
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,681.607151081,665,639,887,786,816,651.607151081,630,654.607151081,0.434324424794,-0.0155330676114,0.0699574426142,0.999999994168,-6.38180933144e-05,-6.2347971726e-05,-6.08551132451e-05,1793249708717340928
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.811553617,718,682,665,639,887.188446383,786,816,652,630,655,0.435237333136,-0.0155367536448,0.0700116955682,0.999999995689,-6.88660492041e-05,2.64771196082e-05,-5.6370145536e-05,1793249708734007808
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.219256539,718,682,665,639,887.780743461,786,816,652,630,655,0.436091393597,-0.0155418202546,0.0700306295513,0.999999993824,-7.71597709118e-05,5.77374887411e-05,-5.53515107511e-05,1793249708750674944
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.365353669,717.634646331,682,665,639,887.634646331,785.634646331,816,651.634646331,630,654.634646331,0.436937274645,-0.0155460418052,0.0700270614005,0.999999992941,-8.45270496636e-05,6.17809126188e-05,-5.61808284982e-05,1793249708767341568
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.945445844,717.054554156,682,665,639,887.054554156,785.054554156,816,651.054554156,630,654.054554156,0.43777834815,-0.0155497666674,0.070010267503,0.999999992899,-9.13498063031e-05,4.98274344049e-05,-5.80962899722e-05,1793249708784008192
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,717.516692951,681.483307049,665,639,887,785.516692951,816,651,630,654,0.438504745256,-0.0155457437393,0.069960289991,0.999999993877,-8.86481677139e-05,-2.34156483472e-05,-6.19635871841e-05,1793249708800675072
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,718,681.180403919,665,639,887.090201959,786,816.090201959,651.090201959,630,654.090201959,0.439212437318,-0.0155413254502,0.0699076730406,0.999999988805,-8.52511019822e-05,-0.000103799491049,-6.59382866855e-05,1793249708817341696
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,718,682.362745258,665,639,887.681372629,786,816.681372629,651.681372629,630,654.681372629,0.439882358074,-0.0155391781802,0.0698595282225,0.999999976341,-8.34827907011e-05,-0.000188507081657,-6.93842020251e-05,1793249708834008064
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,717.731530309,683,665,639,887.731530309,786,816.731530309,651.731530309,630,654.731530309,0.440606115821,-0.0155420890809,0.0698496716996,0.999999972117,-8.9461252335e-05,-0.000206818076002,-7.06338856153e-05,1793249708850674688
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,717.149195697,683,665,639,887.149195697,786,816.149195697,651.149195697,630,654.149195697,0.441392813746,-0.0155509134325,0.0698845775987,0.999999981259,-0.000104496380194,-0.000147505545084,-6.93159791831e-05,1793249708867341568
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745.572376926,717,682.144753853,665,639,887.427623074,785.572376926,816.427623074,651,630,654.427623074,0.442132659304,-0.0155623773493,0.0699202308824,0.999999985844,-0.000118191046312,-0.000100053007876,-6.5816128166e-05,1793249708884008192
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+247,4.116666667,HOLD_POSE2,767,746,717.752890171,682,663,637,887,780.247109829,817,651.752890171,629,654.247109829,0.452321309719,-0.0156416847795,0.0695876403147,0.999999774971,-0.000221574485161,-0.00062906814522,-7.23596674698e-05,1793249709898726400
+248,4.133333333,HOLD_POSE2,767,746,717.668797237,682,663,636.668797237,887.331202763,780.331202763,817,651.668797237,628.668797237,654.331202763,0.452321492294,-0.0156412244846,0.0695872009956,0.999999774809,-0.000221440555276,-0.00062937013739,-7.2377730235e-05,1793249709915392768
+249,4.150000000,HOLD_POSE2,767,746,717.090821004,682,663,636.090821004,887.909178996,780.909178996,817,651.090821004,628.090821004,654.909178996,0.452321477563,-0.0156414422281,0.0695860678995,0.999999774348,-0.000221416434524,-0.000630097155179,-7.24962948693e-05,1793249709932059648
+250,4.166666667,HOLD_POSE2,767,746,717,682,663,636.48455757,888,780.51544243,817,651,628.48455757,655,0.452322145381,-0.0156419921577,0.0695863034336,0.999999774286,-0.000221876975904,-0.00063005435367,-7.23225809823e-05,1793249709948726016
+251,4.183333333,HOLD_POSE2,767,746,717,682.060800047,663,637,887.939199953,780.060800047,817,651,629,655,0.452322709346,-0.015642332818,0.0695866066375,0.999999774163,-0.000222384204568,-0.000630081617602,-7.22185631033e-05,1793249709965392384
+252,4.200000000,HOLD_POSE2,767,746,717,682.648731226,663,637,887.351268774,780.648731226,817,651,629,655,0.452321269677,-0.015640322205,0.069585284356,0.999999772878,-0.000222512827411,-0.000631960635302,-7.31912260691e-05,1793249709982059008
+253,4.216666667,HOLD_POSE2,767,746,717,683,663,637,887,781,817,651.231400804,629,655,0.45232066176,-0.0156397849715,0.0695846885912,0.999999772409,-0.000222439938296,-0.00063271109294,-7.33359280661e-05,1793249709998725632
+254,4.233333333,HOLD_POSE2,767,746,717,683,663,637,887,781,817,651.806260742,629,655,0.452321288379,-0.0156414346178,0.0695851711668,0.999999773156,-0.000222067952876,-0.000631786472987,-7.22517199938e-05,1793249710015392256
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+256,4.266666667,HOLD_POSE2,767,746,717,683,663,637,887.963842568,780.036157432,817,652,628.036157432,655,0.452321534702,-0.0156403725095,0.0695864288192,0.999999773915,-0.000221160912801,-0.000630916826805,-7.21216750187e-05,1793249710048725760
+257,4.283333333,HOLD_POSE2,767,746,717.538869881,682.461130119,663,637,888,780,817,651.461130119,628.538869881,654.461130119,0.452321347703,-0.0156410075747,0.0695853886765,0.999999773151,-0.000221251079095,-0.000632066104529,-7.23712338316e-05,1793249710065392640
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+259,4.316666667,HOLD_POSE2,767,746,718,682,663,637,888,780.707529957,817,651,629,654,0.452321144351,-0.015640415813,0.069584483759,0.999999773513,-0.000220394989985,-0.00063175701645,-7.26864593844e-05,1793249710098725632
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,637,887,781,817,651,629,655,0.452321933599,-0.0156393617654,0.0695851227037,0.999999774526,-0.000218220651169,-0.000631015408526,-7.17376299582e-05,1793249710135771648
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,717.848993682,682,663,637,887.848993682,780.848993682,817,651,629,655,0.452321547735,-0.015639875296,0.0695851059194,0.999999773286,-0.000219463554484,-0.000632505596691,-7.21171905673e-05,1793249710169105664
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746,717.276329506,682,663,637,887.276329506,780.276329506,817,651,629,655,0.452323020616,-0.0156384949872,0.0695858966708,0.99999977479,-0.000216927065139,-0.000631000001207,-7.21270498842e-05,1793249710185772288
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,717.904863008,682,663,637,887,780.904863008,817,651,629.904863008,654.095136992,0.452319402319,-0.015637592872,0.0695823360953,0.999999772015,-0.000216286665971,-0.000635586545744,-7.22421414327e-05,1793249710219106048
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.48252056,663,637,887,781,817,651,630,654.48252056,0.452320617528,-0.0156393391864,0.0695833226701,0.999999772614,-0.00021943198803,-0.00063357523857,-7.21447444689e-05,1793249710235772416
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.943337897,663,637,887.056662103,781,817,651,629.943337897,655,0.452322504983,-0.015641094339,0.0695848617396,0.999999773739,-0.000222458949312,-0.000630750368318,-7.20317002161e-05,1793249710252438528
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.368989493,663,637,887.631010507,781,817,651,629.368989493,655,0.452323478854,-0.0156396316396,0.0695852318444,0.999999774804,-0.00021961627685,-0.000630053397836,-7.20707265588e-05,1793249710269105152
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,636.78828053,887.78828053,781,817,651,629,655,0.452321882288,-0.0156392475914,0.069584297008,0.999999774375,-0.000218046362415,-0.000631289038647,-7.19772695331e-05,1793249710285771776
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,636.19614296,887.19614296,781,817,651,629,655,0.452315667157,-0.0156408016669,0.06958101745,0.999999771258,-0.000218763343234,-0.000635997200562,-7.16457660402e-05,1793249710302438400
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.613084613,682,663,636,887.386915387,781,817,651,629,655,0.452299011499,-0.015640137579,0.0695746701936,0.999999764602,-0.000219134586946,-0.000646202566323,-7.21029764604e-05,1793249710319105280
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717.034523308,682,663,636,887.965476692,781,817,651,629,655,0.452277184467,-0.0156383747964,0.0695668034525,0.999999756059,-0.000219334581091,-0.000659130793048,-7.29508505534e-05,1793249710335772416
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.886906129,682,663,637,887,780.113093871,817,651,629,655,0.452167821789,-0.0156334331646,0.0695315716831,0.999999718002,-0.000219841162295,-0.000714156122241,-7.51429021314e-05,1793249710369105664
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,746,717.31332809,682,663,637,887,780.68667191,817,651,629,655,0.452099094205,-0.0156286608014,0.0695159819001,0.999999706456,-0.000215402163569,-0.000731417341026,-7.56179438787e-05,1793249710385772032
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.269507268,663,637,887,781,817,651.269507268,629,655,0.452025145119,-0.0156238698094,0.0695054294941,0.999999697555,-0.000212045587478,-0.000744453105295,-7.55997598295e-05,1793249710402438400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.863487946,663,637,887,781,817,651.863487946,629,655,0.451944909608,-0.0156190563897,0.0695009418415,0.999999692086,-0.000209992194982,-0.000752401630621,-7.49877563251e-05,1793249710419104768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,717.445533684,682.554466316,663,637,887.445533684,781,817,652,629,655,0.451847669662,-0.0156145018169,0.0695003884658,0.999999691337,-0.000206193878923,-0.000754594579477,-7.34642542097e-05,1793249710435771904
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,717.976143365,682.023856635,663.023856635,637,888,781,817,651.976143365,629,655,0.451744092093,-0.0156099179166,0.0695009759341,0.999999691985,-0.000201963018721,-0.000755052477507,-7.16724010369e-05,1793249710452438784
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,717.401544178,682.598455822,663.598455822,637,888,781,817,651.401544178,629,655,0.451611348869,-0.0156028738077,0.0695007975738,0.999999692507,-0.000199767238843,-0.000755105367861,-6.99647386191e-05,1793249710469105664
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,717.176893765,683,663.823106235,637,888,781,817,651,629,655,0.451471116261,-0.0155961047235,0.0695006296818,0.999999692127,-0.000197517500096,-0.00075639826263,-6.77795913968e-05,1793249710485772544
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,717.764238794,683,663.235761206,637,888,781,817,651,629,655,0.451313505855,-0.0155899737873,0.0695004860794,0.999999689648,-0.000195142559463,-0.000760568372308,-6.44865238361e-05,1793249710502439168
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,718,683,663,637,887.653572325,781,817,651.346427675,629,655,0.451135191036,-0.0155804267776,0.0695016093204,0.999999689286,-0.000188830388378,-0.000762871566233,-6.16347685673e-05,1793249710519105792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,718,683,663,637,887.074840939,781,817,651.925159061,629,655,0.450942992462,-0.0155685890537,0.0695035820675,0.999999690288,-0.000179878031769,-0.000763922864424,-5.90789433731e-05,1793249710535772672
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.080962621,663,637,887,781.919037379,817,651,629.080962621,655,0.450497857642,-0.0155513889891,0.0695136288323,0.999999703358,-0.000159874127644,-0.000751785988069,-5.04153519206e-05,1793249710569105408
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.65449617,663,637,887,781.34550383,817,651,629.65449617,655,0.450231003811,-0.015540635586,0.069518306485,0.999999705513,-0.0001485229058,-0.000751575743997,-4.5272532847e-05,1793249710585772288
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.765728914,663,637,887,781.234271086,817,651,629.765728914,655,0.449958174874,-0.0155306249624,0.0695261360547,0.999999712467,-0.0001364899717,-0.000744872555274,-4.00071020661e-05,1793249710602439168
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.176497301,663,637,887,781.823502699,817,651,629.176497301,655,0.449676292651,-0.015521739777,0.0695387413142,0.999999726553,-0.000123424128282,-0.000728331451366,-3.45558940053e-05,1793249710619105792
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,637,886.013052652,782,817,651,629,654.013052652,0.449051489285,-0.0155123924581,0.0695717183723,0.999999766257,-7.0444905642e-05,-0.000679738247032,-2.18985388781e-05,1793249710652439040
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,637,886.562310598,782,817,651,629,654.562310598,0.448686791328,-0.0155140893845,0.069592154481,0.999999791552,-3.17510836755e-05,-0.000644716401936,-1.51090357487e-05,1793249710669105920
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,717.287786452,682,663,637,887.712213548,782,817,651,629,655,0.447866579263,-0.0155166692898,0.0696111239925,0.999999811849,-1.21031554046e-05,-0.000613312524964,-1.98813649087e-06,1793249710702438912
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,717.888814885,682,663.888814885,637.888814885,887.111185115,782.888814885,816.111185115,651,629,655,0.44692773971,-0.0155052935025,0.0695995804967,0.999999798738,-1.03479759388e-05,-0.000634341846987,5.28342914279e-06,1793249710735772416
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,745.321837147,718,682,664,638,886.321837147,784,816,651,629,654.678162853,0.441044005981,-0.0154506286477,0.0697582048801,0.999999931279,5.74535194747e-05,-0.000365967503178,1.44409112454e-05,1793249710902439424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,745.259832918,718,682,664,638,886,784.259832918,816,651,629.259832918,654.740167082,0.440345772456,-0.0154431219772,0.069780474577,0.999999944731,7.54756642535e-05,-0.000323330372109,1.72831759632e-05,1793249710919106048
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,745.849050797,718,682,664,638,886,784.849050797,816,651,629.849050797,654.150949203,0.439620888027,-0.0154374075672,0.0698026996876,0.999999955467,8.86239105995e-05,-0.000284332028335,1.91776677854e-05,1793249710935772416
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,745.569056324,717.569056324,682,664,638,886,785,816,651.430943676,629.569056324,654,0.438812865728,-0.0154272682084,0.0697809089166,0.999999943105,9.76576109068e-05,-0.000322462101878,1.64951303001e-05,1793249710952439040
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.010222377,717.010222377,682,664,638.010222377,886,785,816,651.989777623,629.010222377,654,0.437976626414,-0.0154154565254,0.0697441383754,0.999999919624,0.000105457093931,-0.00038662905037,1.21617986709e-05,1793249710969105664
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,745.584466112,717.584466112,682,664,638.584466112,886,785,816,651.415533888,629.584466112,654,0.43716341786,-0.0153954636373,0.0697173130616,0.999999903481,0.000123349333755,-0.000421673782542,3.72528063168e-06,1793249710985772288
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.15875086,745.84124914,717.84124914,682,664.15875086,638.84124914,885.68249828,785,816,651,629.84124914,654,0.436354203784,-0.0153794091199,0.069710093385,0.999999898193,0.000139458917921,-0.000429144163329,-9.04148820663e-07,1793249711002438912
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.73314295,745.26685705,717.26685705,682,664.73314295,638.26685705,884.5337141,785,816,651,629.26685705,654,0.435555448089,-0.0153736660395,0.0697542051557,0.999999922204,0.00015090115509,-0.000364419422542,4.434135097e-06,1793249711019105536
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.681177908,745,717.318822092,681.681177908,664.681177908,638,884.318822092,785,816,651.318822092,629,654,0.434732402992,-0.0153738355347,0.069792926239,0.999999938453,0.000159538949713,-0.000312322418161,9.80357339073e-06,1793249711035771904
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.085704695,745,717.914295305,681.085704695,664.085704695,638,884.914295305,785,816,651.914295305,629,654,0.433888281324,-0.0153791355423,0.0698269696649,0.999999949379,0.000165743248304,-0.000271182868603,1.52000449609e-05,1793249711052438784
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,745,717.508783426,681.491216574,664,638,885,785,816,652,629.491216574,654,0.433031784372,-0.0153827414734,0.0698342534008,0.999999953671,0.000158322411234,-0.000259499986857,1.58749890618e-05,1793249711069105664
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745,717,681.935132221,664.064867779,638,884.935132221,785,815.935132221,651.935132221,630,654,0.432167642258,-0.0153855324842,0.0698346813419,0.999999955494,0.000151210668237,-0.000256713682085,1.56866493615e-05,1793249711085772288
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,745,717,681.362663112,664.637336888,638,884.362663112,785,815.362663112,651.362663112,630,654,0.431259956915,-0.0153841753387,0.0698166666961,0.999999945814,0.000164442932703,-0.00028479127622,1.4954630564e-05,1793249711102438912
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.216847675,745,717,681,664.56630465,638,884,785,815,651,630,654,0.43032279048,-0.015380767119,0.0697815833024,0.999999926945,0.000173791171448,-0.000340210167445,1.27975287677e-05,1793249711119105280
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.80853055,745,717,681,663.3829389,638,884,785,815,651,630,654,0.429334663926,-0.0153738134848,0.0697169954737,0.999999886328,0.000176425622224,-0.000442890257898,8.17707883913e-06,1793249711135771904
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.606444848,745.393555152,717.393555152,681.393555152,663.393555152,638.393555152,884,785.393555152,815,651,630,654,0.428431641745,-0.0153737419574,0.0697230446678,0.999999891672,0.000171503534491,-0.000432639527818,8.11294198459e-06,1793249711152438784
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.024605722,745.975394278,717.975394278,681.975394278,663.975394278,638.975394278,884,785.975394278,815,651,630,654,0.427569335109,-0.015376962956,0.0697628879083,0.999999918824,0.000162966260499,-0.000368360623748,1.02286288236e-05,1793249711169105408
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745.449834844,718,681.449834844,663.449834844,638.449834844,883.449834844,786,815,651,629.449834844,654,0.42671928865,-0.015378406629,0.0698208542852,0.99999994502,0.000173626639611,-0.000281979128197,1.73738386029e-05,1793249711185772032
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,663,638,883,785.875055264,815,651,629.124944736,654,0.425856857722,-0.0153792237927,0.0698633519144,0.999999959011,0.000182291463375,-0.0002196160889,2.27427352951e-05,1793249711202438912
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,663,638,883,785.299117724,815,651,629.700882276,654,0.424947770523,-0.0153780628287,0.0698471259266,0.999999952836,0.000180693417061,-0.000247471444731,2.0898325621e-05,1793249711219105792
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.284076785,718,680.715923215,663,638,882.715923215,785.284076785,814.715923215,650.715923215,630,654,0.42402235868,-0.0153768667948,0.0698231440526,0.999999942425,0.000181740466669,-0.000285953715166,1.87268784888e-05,1793249711235772160
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745.875112774,718,680.124887226,663,638,882.124887226,785.875112774,814.124887226,650.124887226,630,654,0.423079307302,-0.0153756328663,0.0697907815558,0.999999926216,0.000185645674871,-0.000335918897286,1.62020510889e-05,1793249711252438784
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745.543896537,718,680,663,638,882,785.543896537,814,650.456103463,630,654,0.422096127937,-0.0153706521369,0.0697282965551,0.999999881745,0.000190024449169,-0.000447498845701,1.20456000352e-05,1793249711269105408
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.034275833,662.965724167,638,882,785,814,651,629.965724167,654,0.421113109028,-0.0153655087297,0.0696643087607,0.999999822567,0.000194029314242,-0.000563167443382,7.82020999574e-06,1793249711285771520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.61043885,662.38956115,638,882,785,814,651,629.38956115,654,0.420302593903,-0.0153736633892,0.069704149185,0.99999986548,0.000190117026056,-0.000482500746228,9.41582591671e-06,1793249711302438144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662.189901838,638,881.810098162,785,814,651,629.189901838,654,0.419512019946,-0.0153790092348,0.0697562321114,0.999999906273,0.000188260169418,-0.000389671068105,1.29871698955e-05,1793249711319105024
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,662.776254153,638,881.223745847,785,814,651,629.776254153,654,0.418763076218,-0.0153784912338,0.0698338732272,0.999999944762,0.000190694354763,-0.000271449207294,2.06831626713e-05,1793249711335771904
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,662.641866621,638.358133379,881,785,814,651,630,654,0.417945282618,-0.0153770348108,0.0698639585325,0.999999953397,0.000197220490595,-0.000231756381259,2.44785007997e-05,1793249711352438784
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662.062747543,638.937252457,881,785,814,651,630,654,0.417085005346,-0.0153749993359,0.0698646995872,0.999999949467,0.000206271559703,-0.000240519794317,2.58669451289e-05,1793249711369105408
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.484850176,662,638.484850176,881,785.515149824,814,651,630,654.515149824,0.416248879563,-0.0153734389652,0.0698307832516,0.999999939973,0.000207758506312,-0.000276384617562,2.23872429587e-05,1793249711385772288
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881,786,814,651,629.907722595,654.907722595,0.415416117685,-0.0153715801043,0.0697943825524,0.999999927428,0.000209303110072,-0.000317793011602,1.85449286336e-05,1793249711402438912
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,638,881,786,814,651,629.333837813,654.333837813,0.414585595383,-0.0153678620713,0.0697669956663,0.999999907757,0.000215945867028,-0.00037094604915,1.58975169104e-05,1793249711419105280
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.753423844,638,881,785.753423844,814,651,629.246576156,654,0.413788410547,-0.0153640548923,0.0697474480309,0.999999890945,0.000221967796747,-0.00041066663121,1.38957796674e-05,1793249711435771648
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.163929663,638,881,785.163929663,814,651,629.836070337,654,0.413037588813,-0.0153601237366,0.0697388025889,0.99999988094,0.000227126330593,-0.000431706445367,1.27919941433e-05,1793249711452438272
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638,880.58207981,785,813.58207981,651,630,654,0.412363234869,-0.0153611665094,0.0697791214555,0.999999911857,0.000221636841212,-0.000356256916383,1.56393998484e-05,1793249711469105152
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638,880.003174543,785,813.003174543,651,630,654,0.411718336662,-0.0153641252656,0.0698383016329,0.999999947638,0.000212045674764,-0.000243639177984,2.00088251315e-05,1793249711485772032
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.572194286,638,880.572194286,785,813.572194286,651,630,654,0.411074299243,-0.0153647596055,0.0698645260754,0.999999954784,0.00022005951507,-0.000203702635792,2.26139110346e-05,1793249711502438912
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.146387776,745,718,679.853612224,662,638.146387776,880.853612224,785.146387776,814,651,630,654,0.410422724858,-0.0153646764443,0.0698757599167,0.99999995614,0.000226487759371,-0.000189375015755,2.36711479698e-05,1793249711519105792
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767.717230022,745,718,679.282769978,662,638.717230022,880.282769978,785.717230022,814,651,630,654,0.409749282966,-0.0153625500358,0.0698440550857,0.999999943008,0.000228037071709,-0.00024813899074,2.02685724041e-05,1793249711535772672
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767.699818822,745,718,679.300181178,661.699818822,638.699818822,880,785.699818822,813.699818822,651,630,654,0.409096655141,-0.0153602649935,0.0698090862606,0.999999925102,0.000231764804651,-0.00030951603821,1.67424628747e-05,1793249711552439296
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767.104981671,745,718,679.895018329,661.104981671,638.104981671,880,785.104981671,813.104981671,651,630,654,0.408464458316,-0.0153578242375,0.0697709135211,0.999999901945,0.00023763086145,-0.00037345805756,1.30950933759e-05,1793249711569105664
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638.474739536,880,785,813,651,630,654,0.407894778166,-0.0153572178755,0.069770159423,0.999999904753,0.000233431824877,-0.000368572676578,1.25562543901e-05,1793249711585772032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638.948783258,879.948783258,785,813,651,630,654,0.407343543405,-0.0153568878606,0.0697785208651,0.999999913172,0.000228123801175,-0.000348498173372,1.27903799521e-05,1793249711602438912
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638.372351958,879.372351958,785,813,651,630,654,0.406844067829,-0.0153553602485,0.0697981245258,0.99999992016,0.00023356355084,-0.000323925756069,1.41194112484e-05,1793249711619105536
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.795796075,661,638,879,785,813,650.795796075,629.795796075,654,0.406349857245,-0.0153540364456,0.0698091602381,0.999999922702,0.000237536400113,-0.000312968523438,1.49195670917e-05,1793249711635771904
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.219012947,661,638,879,785,813,650.219012947,629.219012947,654,0.405865252928,-0.0153530845015,0.0698045633427,0.999999917954,0.000238832823555,-0.000326852807644,1.47547658637e-05,1793249711652438528
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.631555181,745,718,679,661,638,879,785,813,650.368444819,629.368444819,654,0.405418697051,-0.0153550285574,0.0697997417064,0.999999914799,0.000237018816082,-0.000337665660946,1.43541415673e-05,1793249711669105152
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.037562761,745,718,679,661,638,879,785,813,650.962437239,629.962437239,654,0.404995432904,-0.0153587454318,0.0697947824922,0.999999912625,0.000233300723788,-0.000346598304937,1.38091555358e-05,1793249711685771776
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.538863557,745,718,679.538863557,661.538863557,638,879.538863557,785,813,651,630,654,0.404629667015,-0.0153566986071,0.0698124024377,0.99999992242,0.000237200493725,-0.000314110816383,1.51453929863e-05,1793249711702438400
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,718.728763913,679,661,638,879.271236087,785,813.271236087,651,630,654,0.403640135099,-0.015351601028,0.0698472192464,0.999999938562,0.000247185504088,-0.000247948603772,1.7232268015e-05,1793249711752438528
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.443964833,880,785,813.556035167,651,630,654,0.403045054018,-0.0153474804947,0.0698268606314,0.999999929111,0.000250004580941,-0.000281205766148,1.41003966143e-05,1793249711785771776
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.598267735,638.401732265,880,785,813,651,630,654,0.402523105652,-0.0153412691706,0.0698109896868,0.999999917948,0.000260652081699,-0.000309818301237,1.3286406798e-05,1793249711819105024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.827707045,745,718,679,661.827707045,638,879.827707045,785,813,651,630,654,0.402297046688,-0.0153400542339,0.0698059792533,0.999999914502,0.000262568307613,-0.000319159514648,1.38375222003e-05,1793249711835771904
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c1621a05976799448f3e695b983e0abed5c1f02
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,405 @@
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+401,6.683333333,pose2_to_pose3_retreat,0.575664446738,-0.00984998181858,1.0600334985,0.546235126648,-0.00117734311304,1.05970489424
+402,6.700000000,pose2_to_pose3_retreat,0.575664354634,-0.00984993981821,1.0600335485,0.546235034682,-0.00117730070812,1.05970494258
+403,6.716666667,pose2_to_pose3_retreat,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.00117719646365,1.05970502444
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79e5c9135b8e1411d4664c51807be2bf7e74b650
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2339e4d8423b812edffabce947276f354ea5b5449d501846864593a26fd51b43
+size 25825146
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f75117d748df5fabd7bc0b1926e385a6736d19b6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+59,0.983333333,BASELINE,767,745,718,679,661,638,880,785,813,651,629.78072954,654,0.400955875283,-0.0153552865829,0.0698166006779,0.999999928233,0.000241044868715,-0.000292258258941,4.11655350377e-06,1793249713618127104
+60,1.000000000,BASELINE,767,745,718,679,661,638,880,785,813,651,629.193607866,654,0.400955976967,-0.0153542084535,0.0698170258278,0.999999927751,0.000243501713986,-0.000291873994186,3.82735004054e-06,1793249713634793216
+61,1.016666667,BASELINE,766.612219567,745,718,679,661.387780433,638,879.612219567,785,813,651,629,654,0.400957197566,-0.015353889469,0.0698178797341,0.999999928069,0.000243821665987,-0.000290511390379,3.96214140255e-06,1793249713651460096
+62,1.033333333,BASELINE,766.033652111,745,718,679,661.966347889,638,879.033652111,785,813,651,629,654,0.400958968668,-0.015353943982,0.0698189445876,0.99999992878,0.000243090271583,-0.000288667446175,4.30553719775e-06,1793249713668126720
+63,1.050000000,BASELINE,766.543171418,745,718,679,661.456828582,638,879,785,813,651,629.543171418,654,0.400956648673,-0.0153530061356,0.0698175551292,0.999999927637,0.000244173730165,-0.00029170381401,3.85212316005e-06,1793249713684793600
+64,1.066666667,BASELINE,767,745,718,679,661.119672649,638,879,785,813,651,630,654,0.400954879624,-0.0153527891907,0.069816558641,0.999999926865,0.000244728305809,-0.00029387785591,3.61894941973e-06,1793249713701460736
+65,1.083333333,BASELINE,767,745,718,679,661.69535613,638,879,785,813,651,630,654,0.40095617267,-0.0153555527544,0.0698176371146,0.999999927984,0.000242840505096,-0.000291617570219,4.41250536166e-06,1793249713718127360
+66,1.100000000,BASELINE,767,744.721618603,718,679,661.721618603,638,879,785,813,651,630,654,0.400957392196,-0.0153571624967,0.0698187083667,0.999999928899,0.000241489652701,-0.000289589743308,4.73950128767e-06,1793249713734794240
+67,1.116666667,BASELINE,767,744.130341336,718,679,661.130341336,638,879,785,813,651,630,654,0.400958529086,-0.0153574753634,0.0698197715019,0.99999992959,0.000240742321046,-0.000287823196194,4.54209177996e-06,1793249713751460864
+68,1.133333333,BASELINE,767,744.450770269,718,679,661.450770269,638,879.450770269,785,813,651,629.549229731,654,0.400958692405,-0.0153574236412,0.0698196621555,0.999999929663,0.000240517038453,-0.000287758156048,4.56833399031e-06,1793249713768127232
+69,1.150000000,BASELINE,767,745,718,678.97130399,661.97130399,638.02869601,879.97130399,785,813,651,629,654,0.400958529569,-0.0153572096291,0.069819231626,0.999999929549,0.000240502357042,-0.000288163293716,4.64728902313e-06,1793249713784793856
+70,1.166666667,BASELINE,767,745,718,678.399272623,661.399272623,638.600727377,879.399272623,785,813,651,629,654,0.400957403876,-0.0153558748457,0.0698189973632,0.999999929209,0.000241680122924,-0.000288360789588,4.5268598724e-06,1793249713801460224
+71,1.183333333,BASELINE,767,745,718,678.178450368,661,638.821549632,879,785,813,651,629.178450368,654,0.400956713216,-0.015354932093,0.0698188205982,0.999999928917,0.000242430278637,-0.000288747747489,4.32880205809e-06,1793249713818126848
+72,1.200000000,BASELINE,767,745,718,678.769327716,661,638.230672284,879,785,813,651,629.769327716,654,0.400957027987,-0.0153548953853,0.0698187767193,0.999999928738,0.00024219215996,-0.000289572582098,3.95133211974e-06,1793249713834793472
+73,1.216666667,BASELINE,766.647136288,745,718,679,661,638,879,784.647136288,813,651,630,654,0.40095539752,-0.0153552919727,0.0698175085893,0.999999928034,0.000242042773023,-0.000292117558402,3.81006276007e-06,1793249713851460352
+74,1.233333333,BASELINE,766.068301666,745,718,679,661,638,879,784.068301666,813,651,630,654,0.400952521338,-0.0153559660386,0.0698154564594,0.999999926985,0.000241950209146,-0.000295764098716,3.82005425778e-06,1793249713868127232
+75,1.250000000,BASELINE,766.509494748,745,718,679,661,638,879.509494748,784.509494748,813,651,629.490505252,654,0.400953587732,-0.0153559804546,0.0698158705714,0.999999927375,0.000241788878553,-0.000294569513712,4.18796934665e-06,1793249713884793856
+76,1.266666667,BASELINE,767,745,718,679,661,638,879.913259211,785,813,651,629.086740789,654,0.400955160487,-0.0153559442324,0.0698165834387,0.999999927931,0.000241678072115,-0.000292762777486,4.51132467766e-06,1793249713901460480
+77,1.283333333,BASELINE,767,745,718,679,661,638,879.338329028,785,813,651,629.661670972,654,0.400956614503,-0.0153561197015,0.0698171207587,0.999999928346,0.000241903401416,-0.000291155946489,4.31438889579e-06,1793249713918126848
+78,1.300000000,BASELINE,767,745,718,679.242199827,661,638,879,785,813,651,630,654,0.400956486899,-0.0153558124223,0.0698169635962,0.999999928359,0.000241692987748,-0.000291290244112,4.04216729777e-06,1793249713934793216
+79,1.316666667,BASELINE,767,745,718,679.830734482,661,638,879,785,813,651,630,654,0.400954097649,-0.0153548148348,0.0698158133549,0.999999927794,0.000240859481264,-0.000293914277272,3.66229039497e-06,1793249713951459840
+80,1.333333333,BASELINE,767,745,718,679.585285101,661,638,879,785,813,651,630,654,0.400954825027,-0.0153547211809,0.0698165184374,0.999999927886,0.000241655284316,-0.000292943692591,3.78865858757e-06,1793249713968126720
+81,1.350000000,BASELINE,767,745,718,679.003143252,661,638,879,785,813,651,630,654,0.400956810636,-0.0153549924592,0.0698179725433,0.999999928239,0.00024310886527,-0.000290521904178,4.11940588252e-06,1793249713984793344
+82,1.366666667,BASELINE,767,745,718,679,661,638,879,785,813.569928974,651,629.430071026,654,0.400956648581,-0.0153558521678,0.0698179833395,0.999999928493,0.000241994212343,-0.000290575618241,4.40835311806e-06,1793249714001460224
+83,1.383333333,BASELINE,767,745,718,679,661,638,879.1429801,785,814,651,629.1429801,654,0.400956292586,-0.0153561995468,0.0698179288648,0.99999992853,0.000241617630986,-0.000290757323091,4.56110409009e-06,1793249714018127360
+84,1.400000000,BASELINE,767,745,718,679,661,638,879.716116019,785,814,651,629.716116019,654,0.400955388201,-0.0153549959711,0.0698177015952,0.999999927921,0.000243503484236,-0.000291283657339,4.30479119258e-06,1793249714034793984
+85,1.416666667,BASELINE,766.699587971,745,718,679,661,638,880,785,813.699587971,651,630,654,0.400955744243,-0.0153549402334,0.0698176629898,0.999999927931,0.000243706530493,-0.000291080523347,4.1884458028e-06,1793249714051460608
+86,1.433333333,BASELINE,766.104339015,745,718,679,661,638,880,785,813.104339015,651,630,654,0.400957337323,-0.0153560110318,0.0698178095473,0.99999992855,0.000242257999489,-0.000290161458691,4.20947039324e-06,1793249714068126976
+87,1.450000000,BASELINE,766.475004762,745,718,679,661,638,879.524995238,784.524995238,813,651,630,654,0.400956173293,-0.0153562367823,0.0698172154875,0.999999928269,0.000241644831333,-0.000291635664168,4.35754538759e-06,1793249714084793600
+88,1.466666667,BASELINE,766.949055714,745,718.050944286,679,661,638,879,784.050944286,813.050944286,651,630,654,0.400954640598,-0.0153562706403,0.0698166229765,0.999999927888,0.00024118301238,-0.000293316473785,4.47991636759e-06,1793249714101459968
+89,1.483333333,BASELINE,766.37336062,745,718.62663938,679,661,638,879,784.62663938,813.62663938,651,630,654,0.400955346583,-0.0153561779646,0.0698176678408,0.999999928485,0.000240451315074,-0.000291885852865,4.05937386723e-06,1793249714118126848
+90,1.500000000,BASELINE,766.206821141,745,718.793178859,679,661,638,879,785,813.793178859,651,630,654,0.4009556235,-0.0153559610061,0.069818077068,0.999999928683,0.00024027506891,-0.00029135258905,3.86571179906e-06,1793249714134793728
+91,1.516666667,BASELINE,766.795281924,745,718.204718076,679,661,638,879,785,813.204718076,651,630,654,0.400955108672,-0.015355514713,0.0698173133767,0.99999992815,0.000241123776923,-0.000292475186311,4.0907041122e-06,1793249714151460608
+92,1.533333333,BASELINE,767,745,718,679,661.377894203,638,879,785,813,651,630,654,0.400954596589,-0.0153560894212,0.0698169828177,0.999999928165,0.000240345340382,-0.000293062383592,4.22069372009e-06,1793249714168127232
+93,1.550000000,BASELINE,767,745,718,679,661.957386491,638,879,785,813,651,630,654,0.400954085971,-0.0153572088107,0.069816883325,0.999999928471,0.000238698858782,-0.00029336395709,4.30000153556e-06,1793249714184793856
+94,1.566666667,BASELINE,767,745,718,679,661.466988357,638.533011643,879.533011643,785,813,651,630,654,0.400954067026,-0.0153575654771,0.069816800804,0.999999928371,0.000239336603398,-0.000293189793046,4.07500962544e-06,1793249714201460480
+95,1.583333333,BASELINE,767,745,718,679,661.108140263,638.891859737,880,785,813,651,630,654,0.400954313723,-0.0153577059533,0.069816928634,0.99999992834,0.000240090091063,-0.000292680302487,3.95494737021e-06,1793249714218126848
+96,1.600000000,BASELINE,767,745,718,679,661.682451791,638.317548209,880,785,813,651,630,654,0.400955537321,-0.0153571754498,0.0698179574391,0.999999928748,0.000240560953697,-0.000290888063963,4.39133517771e-06,1793249714234793728
+97,1.616666667,BASELINE,767,745,718,679,661.735913233,638,879.735913233,785,813,651,630,654,0.400956251316,-0.0153563982257,0.0698183953449,0.999999928744,0.000241360893634,-0.000290237128334,4.4668465261e-06,1793249714251460352
+98,1.633333333,BASELINE,767,745,718,679,661.145221128,638,879.145221128,785,813,651,630,654,0.400956335068,-0.0153553158736,0.069818102465,0.999999928232,0.000242567814951,-0.00029099768201,4.09604931347e-06,1793249714268126976
+99,1.650000000,BASELINE,767,745,718,678.564418923,661,638,879,785,813.435581077,651,629.564418923,654,0.400956665893,-0.0153551959269,0.0698184176945,0.999999928,0.000244034784694,-0.000290569995285,4.11033263493e-06,1793249714284793600
+100,1.666666667,BASELINE,766.986848378,745,718,678.013151622,661,638,879.013151622,785,813.986848378,651,629.013151622,654,0.40095704325,-0.0153553863679,0.0698189000383,0.999999927859,0.000245534727728,-0.000289785744885,4.24894073238e-06,1793249714301460224
+101,1.683333333,BASELINE,766.409603603,745,718,678.590396397,661,638,879.590396397,785,813.409603603,651,629.590396397,654,0.40095596176,-0.0153554330695,0.069818047338,0.99999992788,0.000244812844155,-0.000290322392862,4.3356761564e-06,1793249714318127104
+102,1.700000000,BASELINE,766.167153901,745,718,678.832846099,661,638.167153901,879.832846099,785,813,651,629.832846099,654,0.400955402224,-0.0153556230318,0.0698177223754,0.999999928032,0.000243904202199,-0.000290562123721,4.44794309816e-06,1793249714334793728
+103,1.716666667,BASELINE,766.742720757,745,718,678.257279243,661,638.742720757,879.257279243,785,813,651,629.257279243,654,0.400956117997,-0.0153561630281,0.069818686853,0.999999928505,0.000242539247079,-0.000290076386554,4.6225920746e-06,1793249714351460096
+104,1.733333333,BASELINE,766.673882724,745,718,678.326117276,661,638.673882724,879,785,813,651,629.326117276,654,0.400956813406,-0.015356733021,0.0698192967011,0.999999929088,0.000240903359499,-0.00028942739895,4.62276937152e-06,1793249714368126720
+105,1.750000000,BASELINE,766.084157245,745,718,678.915842755,661,638.084157245,879,785,813,651,629.915842755,654,0.400957492354,-0.0153573272609,0.0698196198938,0.999999929759,0.000239048470741,-0.000288646452152,4.48191715734e-06,1793249714384793344
+106,1.766666667,BASELINE,766.495678118,745,718,679,661,638,879.495678118,785,813,651,630,654,0.400957348539,-0.015355459879,0.0698195540484,0.999999928911,0.000242729195621,-0.000288517724404,4.35489334416e-06,1793249714401459968
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,744,718,679,661,638,879,785,813,651,629,654,0.400956868187,-0.0153565567617,0.0698187766351,0.999999929074,0.000240647911683,-0.000289700993398,3.85732733863e-06,1793249714445061376
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.410903997,744.589096003,718,679.589096003,661,638,879,785,813,651,629.589096003,654,0.400954987127,-0.0153569332766,0.069817342977,0.999999928439,0.000240265459885,-0.000292197450801,3.92161232608e-06,1793249714461728000
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,718,679.82400165,661,638,879,784.82400165,813.17599835,651,630,654,0.40095431931,-0.0153572530945,0.0698167220108,0.999999928185,0.000240332430171,-0.000293009176151,3.99667055449e-06,1793249714478394880
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,718,679.242157674,661,638,879,784.242157674,813.757842326,651,630,654,0.40095644919,-0.0153574421713,0.0698179750818,0.999999928815,0.000241435750935,-0.000289935972771,4.09657148721e-06,1793249714495061504
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.335516764,745,718,679,661,638,879,784.335516764,813.664483236,651,630,654,0.400956749114,-0.0153576909879,0.0698185095597,0.99999992909,0.000241093382473,-0.000289268250747,4.23251481752e-06,1793249714511727872
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.910218763,745,718,679,661,638,879,784.910218763,813.089781237,651,630,654,0.400955744488,-0.0153579823921,0.0698185317627,0.999999929116,0.000239720402207,-0.000290315363107,4.39415226575e-06,1793249714528394240
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.483894791,638,879,785,813,651,630,654,0.400956873321,-0.0153580231977,0.0698188077703,0.999999929437,0.000239171305948,-0.000289659431328,4.5910709507e-06,1793249714545060864
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.940622213,638,879.059377787,785,813.059377787,651,629.940622213,654,0.400958154007,-0.0153578751813,0.0698190749788,0.999999929733,0.000238819965722,-0.000288925000961,4.72140064081e-06,1793249714561727488
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.347178123,638,879.652821877,785,813.652821877,651,629.347178123,654,0.400957247734,-0.0153564461444,0.0698188403899,0.999999929317,0.000238875324635,-0.000290320561468,4.19405073435e-06,1793249714578394368
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.760496823,745,718,679,661,638,879.760496823,785,813.760496823,651,629,654,0.400960226179,-0.0153553246637,0.0698204792145,0.999999929485,0.000240078612095,-0.000288748699647,3.96854430602e-06,1793249714595061248
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.183349541,745,718,679,661,638,879.183349541,785,813.183349541,651,629,654,0.400968681178,-0.0153546367662,0.069824759119,0.999999930448,0.000242900213378,-0.000282993458319,4.16856743651e-06,1793249714611727872
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.393893513,745,718,679,661,638,879.393893513,785,813,651,629.393893513,654,0.400995868206,-0.0153567342273,0.0698355748806,0.999999935444,0.000242904986567,-0.000264728934849,5.24862618651e-06,1793249714628394496
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.97118121,745,718,679,661,638,879.97118121,785,813,651,629.97118121,654,0.401031776741,-0.0153601285326,0.0698494336939,0.999999941839,0.000241598263579,-0.000240640172704,6.73842364612e-06,1793249714645061120
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,678.442862285,661.557137715,638,879.442862285,784.442862285,813,651,629.442862285,654,0.401087192659,-0.0153630471131,0.0698663806282,0.999999947695,0.000241702000941,-0.000214781491451,7.65420396725e-06,1793249714661727488
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,744.858229418,718,678.141770582,662,638,879.141770582,784.141770582,813.141770582,651,629.141770582,654,0.401146889149,-0.0153657722802,0.0698816786346,0.999999952255,0.000241857393213,-0.000192160527414,8.34019646923e-06,1793249714678394112
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,744.279085171,718,678.720914829,662,638,879.720914829,784.720914829,813.720914829,651,629.720914829,654,0.40121662936,-0.015367977868,0.0698913889772,0.99999995453,0.000241943506062,-0.000179815084412,8.4103249967e-06,1793249714695060736
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,744,718,679,662,638,879.701593271,785,814,651,629.701593271,654,0.401294623804,-0.0153714682265,0.0698976617631,0.999999956391,0.000240360285776,-0.000171425431756,7.61350134521e-06,1793249714711727360
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,744,718,679,662,638,879.125638256,785,814,651,629.125638256,654,0.401380295512,-0.0153761535508,0.0699007372747,0.999999957947,0.000237224417703,-0.000166715062953,6.01032492166e-06,1793249714728394240
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.552585227,744,718,679,661.552585227,638,879,785,814,651,629.447414773,653.552585227,0.401486225481,-0.0153808372315,0.0699030935912,0.999999959047,0.000234600229295,-0.000163873283479,3.87964089158e-06,1793249714745061120
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744,718,679.020352701,661,638,879,785,813.979647299,650.979647299,630,653.020352701,0.401598633484,-0.0153855396511,0.0699052387951,0.999999960024,0.000232068857162,-0.00016153411229,1.57382695566e-06,1793249714761728256
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744,718,679.612814559,661,638,879,785,813.387185441,650.387185441,630,653.612814559,0.401734259752,-0.0153907817084,0.0699070900488,0.999999961389,0.000228133621307,-0.000158668511003,-1.51780764992e-06,1793249714778394880
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.200760423,744.200760423,718,679.799239577,661,638,879,785,813,650.200760423,630,654,0.401882679098,-0.0153967487499,0.0699100584268,0.999999963369,0.000222958981367,-0.000153396080958,-4.64390471271e-06,1793249714795061760
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.780188302,744.780188302,718,679.219811698,661,638,879,785,813,650.780188302,630,654,0.402055228293,-0.0154040832313,0.0699151338863,0.999999966453,0.000215446620178,-0.000143583972978,-7.83500333587e-06,1793249714811728128
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879,785,813,651,630,654,0.402244418204,-0.0154127533686,0.0699176934928,0.999999968809,0.000207347904102,-0.000138761201007,-1.16048005326e-05,1793249714828394496
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879,785,813,651,630,654,0.402443779602,-0.0154222399129,0.0699187153102,0.999999970715,0.000198890783804,-0.000136988109266,-1.57283216882e-05,1793249714845060864
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,718.506256112,679,661.506256112,638,879.506256112,785,813,651,630,654,0.402684555251,-0.0154314902059,0.0699229262642,0.999999973911,0.00018783531475,-0.000128285556504,-2.09276250189e-05,1793249714861728000
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.081407171,718.918592829,679,661.918592829,638,879.918592829,785,813,651,630,654,0.402936332176,-0.0154409388942,0.0699284668184,0.999999979157,0.000165347719835,-0.000116911721834,-2.60470858864e-05,1793249714878394880
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.673047472,718.326952528,679,661.326952528,638,879.326952528,785,813,651,630,654,0.403223086179,-0.0154518248776,0.0699397245685,0.999999992404,7.33389786035e-05,-9.44799555897e-05,-2.97835742755e-05,1793249714895061760
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.741109033,718,679.258890967,661.258890967,638.258890967,879.258890967,785,813,651,629.741109033,654,0.403523650259,-0.0154621805395,0.0699483442671,0.999999996248,1.67296688805e-05,-7.79149740834e-05,-3.3971392751e-05,1793249714911728384
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.162426008,718,679.837573992,661.837573992,638.837573992,879.837573992,785,813,651,629.162426008,654,0.403841273059,-0.0154718811272,0.0699537053428,0.99999999689,3.84710139359e-06,-6.85968723322e-05,-3.87167114989e-05,1793249714928394752
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.586089036,745,718,679.586089036,661.586089036,638.586089036,879.586089036,785,813,650.586089036,629.413910964,654,0.404183553385,-0.0154783251812,0.0699538050875,0.999999996493,-7.02511157524e-07,-7.09957465976e-05,-4.44282250244e-05,1793249714945061120
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.010667521,745,718,679.010667521,661.010667521,638.010667521,879.010667521,785,813,650.010667521,629.989332479,654,0.404535455218,-0.0154834985158,0.0699518518291,0.999999995683,-2.00055421826e-06,-7.796665567e-05,-5.0516753458e-05,1793249714961727488
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.56325248,745,718,679,661,638,880.126504959,785,813,650.56325248,630,654,0.404946724076,-0.0154838451489,0.069958190534,0.999999995458,6.07376674167e-05,-6.73650170324e-05,-2.92766185887e-05,1793249714978394112
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,679.142419867,661.142419867,638.142419867,880.857580133,785,813,651,629.857580133,654,0.405362798253,-0.0154853235877,0.0699627439986,0.9999999929,0.000102330546237,-5.93498348953e-05,-1.43297616449e-05,1793249714995060736
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,679.738388227,661.738388227,638.738388227,880.261611773,785,813,651,629.261611773,654,0.405790604203,-0.0154906967014,0.0699611134225,0.999999995295,7.27322505441e-05,-6.06284936643e-05,-2.10683031479e-05,1793249715011727360
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,718,679.67698435,662,639,880,785,813,651,629.32301565,654,0.406232836565,-0.0154992033464,0.0699510419485,0.999999995682,4.44405564298e-05,-7.69453583575e-05,-2.72163446425e-05,1793249715028394240
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,718,679.101230394,662,639,880,785,813,651,629.898769606,654,0.406686356685,-0.0155101617722,0.069934366032,0.999999993796,1.71711881333e-05,-0.000105028621106,-3.29023597755e-05,1793249715045061376
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.52637364,639,880,784.52637364,813,651,629.52637364,654,0.407203389755,-0.0155147752013,0.069925286396,0.999999993045,8.77012939718e-06,-0.000112145345475,-3.54347281023e-05,1793249715061728256
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.950426895,745,718,679,661.049573105,639,880,784.049573105,813.049573105,651,629.049573105,653.950426895,0.407740338245,-0.0155173898135,0.06991996772,0.999999993057,5.31574677677e-06,-0.000111689952791,-3.7193133697e-05,1793249715078394880
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.360512743,745,718,679,661.639487257,639,880,784.639487257,813.639487257,651,629.639487257,653.360512743,0.408346677563,-0.0155129714422,0.069937979595,0.999999996213,1.19054768493e-05,-7.74524128386e-05,-3.78485445152e-05,1793249715095061248
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.225132024,745.225132024,718,679,662,638.774867976,880.225132024,785,814,651,630,653.225132024,0.408953783367,-0.0155095272499,0.0699486696081,0.99999999767,1.28752369516e-05,-5.46163355541e-05,-3.88835471465e-05,1793249715111727872
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.804067259,745.804067259,718,679,662,638.195932741,880.804067259,785,814,651,630,653.804067259,0.409562093695,-0.015507614016,0.0699478530463,0.999999997932,5.01300831267e-06,-4.96980760369e-05,-4.05150922128e-05,1793249715128394752
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.620362786,717.620362786,679.379637214,662.379637214,638.379637214,881,785,814,651,630,654.379637214,0.410181469116,-0.0155082517068,0.069943501047,0.999999997515,5.68234675282e-06,-5.65826308293e-05,-4.16675728329e-05,1793249715145061376
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.046514426,717.046514426,679.953485574,662.953485574,638.953485574,881,785,814,651,630,654.953485574,0.410806505092,-0.0155101943751,0.0699373404227,0.999999996621,1.07161822793e-05,-6.95051557358e-05,-4.25749782259e-05,1793249715161728256
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,717.539667608,680,662.460332392,639,881.539667608,785,814,651,630,654.460332392,0.411516906641,-0.0155127232383,0.0699513513682,0.999999997978,5.02085448358e-06,-4.68003389298e-05,-4.27706869995e-05,1793249715178395136
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,881.874636845,785,813.874636845,651,629.874636845,654,0.412245409443,-0.0155149778699,0.069971194037,0.999999998991,-2.14560916178e-06,-1.48131002193e-05,-4.23512445652e-05,1793249715195062016
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,881.294650917,785,813.294650917,651,629.294650917,654,0.413012248805,-0.0155160505041,0.0700057327097,0.999999998362,-1.12150524841e-05,3.94399660747e-05,-3.99286446697e-05,1793249715211728640
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,718,680,662.284378533,639,881,785,813.284378533,651,629,654,0.413768324686,-0.0155172007068,0.0700208203396,0.999999997264,-1.47086940162e-05,6.0995390397e-05,-3.91778159674e-05,1793249715228394752
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662.862420351,639,881,785,813.862420351,651,629,654,0.414513285758,-0.0155184310108,0.0700158218685,0.999999997926,-1.24444890604e-05,4.87856254815e-05,-4.01533403528e-05,1793249715245061120
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,718,679.561949504,663,639,881.438050496,785,813.561949504,651,629.438050496,654.438050496,0.415231122744,-0.0155148747345,0.0699683947339,0.999999998316,-8.52081237927e-06,-3.45139733038e-05,-4.58762015991e-05,1793249715261727488
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,718,679.026426934,663,639,882,785,813.013213467,651,629.986786533,654.986786533,0.415943639346,-0.0155100892172,0.0699092167441,0.999999989151,-4.43462885219e-06,-0.000137393341168,-5.29232298459e-05,1793249715278394112
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,718,680.20163116,663,639,882,785,813.60081558,651,629.39918442,654.39918442,0.416793170905,-0.0155168606663,0.0699153244482,0.99999999051,-1.58165207102e-05,-0.000126149242001,-5.30725914465e-05,1793249715295060736
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639.18566357,882.18566357,785.18566357,814,651,629.18566357,654,0.417649061996,-0.0155222853118,0.0699304704723,0.999999993284,-2.46228575685e-05,-0.000100453968339,-5.22885326334e-05,1793249715311727616
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639.7646766,882.7646766,785.7646766,814,651,629.7646766,654,0.418518426429,-0.0155248566,0.0699647652086,0.999999997408,-2.79725865061e-05,-4.41422327779e-05,-4.9526916052e-05,1793249715328394752
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,718,680.672550382,663,639.672550382,883.327449618,786,814,651,630,654,0.41939845676,-0.0155270195585,0.0699915784531,0.99999999827,-3.34994058472e-05,-3.30514054733e-06,-4.82275941358e-05,1793249715345061376
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718,680.120896881,663,639.120896881,883.879103119,786,814,651,630,654,0.420285789969,-0.0155289029347,0.0700132691389,0.999999997668,-4.05168730828e-05,2.6936502184e-05,-4.79295016407e-05,1793249715361727744
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,718,680.471435202,663,639,884,786,814.471435202,651,629.528564798,654.471435202,0.421176367261,-0.0155293853019,0.0700238991115,0.999999997084,-4.24457645393e-05,4.15346596367e-05,-4.80048964988e-05,1793249715378394112
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.07364758,745.07364758,718,681,663,639,884.07364758,785.92635242,815,651,629,654.92635242,0.422059295485,-0.0155290813134,0.0700224324404,0.999999997179,-4.31334410449e-05,3.72504785677e-05,-4.89367147794e-05,1793249715395060736
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.665056756,745.665056756,718,681,663,639,884.665056756,785.334943244,815,651,629,654.334943244,0.422882047301,-0.0155260134051,0.0699577473846,0.999999995086,-4.51354474266e-05,-6.89149034932e-05,-5.51524744668e-05,1793249715411727616
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.749909255,745.749909255,718,681,663,639,885,785,815,651,629.250090745,654.250090745,0.423720666858,-0.0155223829667,0.0698976998703,0.999999984222,-4.7473296111e-05,-0.000159550865954,-6.20205526793e-05,1793249715428393984
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.17320115,745.17320115,718,681,663,639,885,785,815,651,629.82679885,654.82679885,0.424580009726,-0.015518017866,0.0698437089551,0.999999969877,-5.02497539289e-05,-0.000229905493156,-6.97405571701e-05,1793249715445060352
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.4025859,745,717.5974141,681.4025859,663.4025859,639,885,785.4025859,815,651.4025859,629.5974141,654.5974141,0.425514029919,-0.0155194336542,0.0698681631837,0.999999978373,-5.04211211141e-05,-0.000190182135308,-6.73923034228e-05,1793249715461727232
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.977977562,745,717.022022438,681.977977562,663.977977562,639,885,785.977977562,815,651.977977562,629.022022438,654.022022438,0.426480104517,-0.0155233308283,0.0699262891681,0.999999991607,-4.94742801308e-05,-0.000103208955332,-6.07223549504e-05,1793249715478393856
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.433786193,745,717.566213807,682,664.566213807,639,885.566213807,786,815,651.433786193,629.566213807,654,0.427420223188,-0.0155260117458,0.0699756267728,0.999999996164,-5.22297455004e-05,-4.11771350913e-05,-5.69952354587e-05,1793249715495060480
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.15245269,718,682,665,639,886,786,815,651,630,654.15245269,0.428371451017,-0.0155288813155,0.0700188099999,0.999999996865,-5.50873255065e-05,1.75257916591e-05,-5.41047812565e-05,1793249715511727104
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.731669339,718,682,665,639,886,786,815,651,630,654.731669339,0.4293566685,-0.0155324144796,0.0700457442138,0.999999994484,-5.7818303444e-05,6.96886562144e-05,-5.3228577427e-05,1793249715528393472
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.690759969,717.690759969,681.690759969,664.690759969,639,886.309240031,785.690759969,815,651,629.690759969,655,0.430260729133,-0.0155341195154,0.0700318944574,0.999999995254,-6.2719107032e-05,5.04235797619e-05,-5.49201884054e-05,1793249715545060096
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.114609959,717.114609959,681.114609959,664.114609959,639,886.885390041,785.114609959,815,651,629.114609959,655,0.431094741948,-0.0155342466645,0.0699828434077,0.99999999539,-6.94927212293e-05,-3.04920892769e-05,-5.8828120966e-05,1793249715561726720
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.460056822,717.460056822,681.460056822,664.460056822,639,887,785.460056822,815,651,629.460056822,654.539943178,0.431907760331,-0.0155302370068,0.0699214893243,0.999999986887,-6.50674739828e-05,-0.000133713058964,-6.41389947464e-05,1793249715578393600
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664.964686715,639,887,786,815.035313285,651,629.964686715,654,0.432723590821,-0.0155257645931,0.0698642248023,0.999999969548,-5.840491769e-05,-0.000229576826414,-6.91955568243e-05,1793249715595060224
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.374374594,639,887,786,815.625625406,651,629.374374594,654,0.433665551953,-0.0155301640945,0.069919248913,0.99999998855,-6.02858361831e-05,-0.000122760270556,-6.47799680801e-05,1793249715611726848
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664.211930195,639,887,786,816,651,629,654.211930195,0.434601276165,-0.0155341201346,0.0699699085984,0.999999995587,-6.45524783146e-05,-3.14172292455e-05,-6.05931952285e-05,1793249715628393472
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664.791287498,639,887,786,816,651,629,654.791287498,0.435526187473,-0.0155373073387,0.0700130016118,0.999999995178,-7.29552926048e-05,3.30991234224e-05,-5.68031246564e-05,1793249715645060096
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,887,786,816,651,629.368075203,655,0.436400171083,-0.0155414843292,0.0700274482989,0.999999993623,-7.85925331899e-05,5.87248172544e-05,-5.59425637759e-05,1793249715661726976
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,887,786,816,651,629.943415917,655,0.437245476923,-0.0155462186746,0.0700257640529,0.999999993023,-8.26724610765e-05,6.24509275291e-05,-5.67316289343e-05,1793249715678393600
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,887,786,816,651,630,655,0.438029180618,-0.0155453704337,0.069993541273,0.999999993821,-8.99647657605e-05,2.56838896506e-05,-6.00471940939e-05,1793249715695060736
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.904342059,718,682,665,639,887,785.904342059,816,651,630,655,0.43878861931,-0.0155435662932,0.0699529315166,0.999999993066,-9.49748777504e-05,-2.79870047214e-05,-6.37537977652e-05,1793249715711728128
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.314503455,718,682,665,639,887,785.314503455,816,651,630,655,0.439457414909,-0.0155399696552,0.069886202131,0.999999983271,-8.63847216009e-05,-0.000146167332237,-6.80568668695e-05,1793249715728394496
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.269841589,718,682,665,639,887,785,816.269841589,651,630,655,0.440181699768,-0.0155407170283,0.0698540071724,0.999999973394,-8.81890647052e-05,-0.000201179691424,-7.0440284338e-05,1793249715745061120
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745.847911534,718,682,665,639,887,785,816.847911534,651,630,655,0.440969367559,-0.0155464263771,0.0698612593981,0.999999975382,-0.000101866595628,-0.000184038010652,-7.06309674275e-05,1793249715761727744
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,887,785,817,651,630,655,0.441735655527,-0.0155571025137,0.0699009539963,0.999999983353,-0.000113294118413,-0.000126133742904,-6.7439078604e-05,1793249715778394112
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745.999403952,717.999403952,682,665,639,887,785,816.999403952,651,629.999403952,655,0.442494197473,-0.0155695451441,0.06995216813,0.999999988889,-0.000123917190658,-5.37777929549e-05,-6.30429510656e-05,1793249715795060224
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+190,3.166666667,POSE1_TO_POSE2_PRESS,767,745.153948999,717,681.846051001,664.846051001,638.846051001,887,784.846051001,816,651,629,654.846051001,0.443776625574,-0.0155797597371,0.0699230218098,0.999999981051,-0.000141368632047,-0.000118561115886,-6.21037225678e-05,1793249715828393472
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,745.745671009,717,681.254328991,664.254328991,638.254328991,887,784.254328991,816,651,629,654.254328991,0.444359649112,-0.0155796110254,0.069876627079,0.999999968184,-0.000144674191213,-0.000195915873909,-6.57194939655e-05,1793249715845060096
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,717,681.330394122,664,638,887,784,816,651,629.330394122,654.330394122,0.444942543882,-0.0155826973968,0.0698377259927,0.999999953752,-0.000152805451167,-0.000253614715103,-6.94662068458e-05,1793249715861726976
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,717,681.909841386,664,638,887,784,816,651,629.909841386,654.909841386,0.445525341549,-0.0155882223939,0.0698044736648,0.999999939815,-0.000164574354407,-0.000296496799687,-7.33116241205e-05,1793249715878393600
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,717.48402157,682,664.48402157,638,886.51597843,784,816.48402157,651,630,655,0.446065071891,-0.0155947339119,0.0697894115271,0.999999932301,-0.000170188273711,-0.000317718850035,-7.4080433817e-05,1793249715895060224
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,717.349395439,682,664.349395439,638,886.650604561,784,817,651,629.349395439,654.349395439,0.447057404871,-0.0156002049799,0.0697614445914,0.999999909465,-0.000188710923634,-0.000373710555828,-7.61447267449e-05,1793249715928393216
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638,887,784,817,651,629.237040678,654.237040678,0.447520848774,-0.0156018550682,0.0697448842366,0.99999989578,-0.000193534550209,-0.000406324770418,-7.67123955718e-05,1793249715945060096
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664,638,887,784,817,651,629.816108161,654.816108161,0.447979151382,-0.0156066128098,0.069727290105,0.999999886088,-0.00018630832386,-0.00043289013338,-7.56294038716e-05,1793249715961726976
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664,637.607530953,887,783.607530953,817,651,629.607530953,654.607530953,0.448434809141,-0.0156113178277,0.0697292303833,0.999999888801,-0.000185565899622,-0.000427160489726,-7.41446507706e-05,1793249715978393344
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664,637.03242951,887,783.03242951,817,651,629.03242951,654.03242951,0.44888923618,-0.0156159983114,0.0697402608448,0.99999989715,-0.00018784066125,-0.000406402619982,-7.24729410436e-05,1793249715995059968
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,717.13650484,682,663.13650484,637,887,782,817,651,629,655,0.449649621156,-0.0156326753551,0.0697486261874,0.999999891023,-0.000226724001996,-0.00040114366411,-7.50600408812e-05,1793249716028395264
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,717.714548723,682,663.714548723,637,887,782,817,651,629,655,0.449978294229,-0.0156371457362,0.0697389240831,0.999999886376,-0.000226565994626,-0.000412146072229,-7.77912292555e-05,1793249716045061376
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+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,717,682,663.556676869,637,887,782.556676869,817,651,629,655,0.450776142758,-0.0156341167569,0.0696540936358,0.999999823878,-0.000228043994566,-0.000541785780803,-8.19038701954e-05,1793249716095060992
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+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,717,682.664867722,663,637,887,781,817,651.335132278,628.335132278,654.664867722,0.452821920517,-0.0156419219358,0.0695912971987,0.999999775974,-0.000223832503638,-0.000626336342201,-7.51906766315e-05,1793249716695060736
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,717,682.08808677,663,637,887,781,817,651.91191323,628.91191323,654.08808677,0.452822466149,-0.0156412966253,0.069590629195,0.999999776545,-0.000222571023604,-0.0006259085046,-7.48989556074e-05,1793249716711727360
+244,4.066666667,HOLD_POSE2,767,746,718,682,663,637,887,780,817,651,629,654,0.452820796923,-0.0156421835425,0.0695885599311,0.999999774259,-0.000222251866761,-0.000629720786523,-7.44097132468e-05,1793249716743435008
+245,4.083333333,HOLD_POSE2,766.403826091,746,717.403826091,682,663,636.403826091,887,780.596173909,817,651.596173909,629,654,0.452821911678,-0.0156410876286,0.0695893551807,0.999999775384,-0.000220918618162,-0.000628418957755,-7.42683650287e-05,1793249716760101888
+246,4.100000000,HOLD_POSE2,766.1862848,746,717,682,663,636,887,780.8137152,817,651.8137152,629,654.1862848,0.452822809439,-0.0156405290963,0.069589824178,0.999999776213,-0.000220122626,-0.00062737694841,-7.42847079612e-05,1793249716776768512
+247,4.116666667,HOLD_POSE2,766.763666752,746,717,682,663,636,887,780.236333248,817,651.236333248,629,654.763666752,0.452823251628,-0.0156410987742,0.0695896082225,0.999999776425,-0.000220454581021,-0.000626880418839,-7.4632116847e-05,1793249716793435136
+248,4.133333333,HOLD_POSE2,767,746,717,682,663,636.339181135,887,780,817,651.339181135,629,655,0.452823765812,-0.015640891303,0.0695900521107,0.999999776897,-0.000220104494056,-0.000626271860927,-7.44508403001e-05,1793249716810102016
+249,4.150000000,HOLD_POSE2,767,746,717,682,663,636.913401332,887,780,817,651.913401332,629,655,0.452824329884,-0.0156401452981,0.0695909532445,0.999999777548,-0.000219281779046,-0.00062558567185,-7.39032057135e-05,1793249716826768640
+250,4.166666667,HOLD_POSE2,767,746,717,682,663,636.508181533,887,780,817,651.508181533,629,655,0.452824017887,-0.0156404371017,0.0695906235524,0.999999776984,-0.000220558795801,-0.000626045027734,-7.38523545388e-05,1793249716843435264
+251,4.183333333,HOLD_POSE2,767,746,717,682.072361787,663,636.072361787,887,780.072361787,817,651.072361787,629,655,0.452823638504,-0.0156407257068,0.0695901693982,0.99999977633,-0.00022186145432,-0.000626620003379,-7.39249670054e-05,1793249716860101632
+252,4.200000000,HOLD_POSE2,767,746,717,682.662791065,663,636.662791065,887,780.662791065,817,651.662791065,629,655,0.452823890567,-0.0156396718717,0.0695903891241,0.999999776601,-0.00022067795118,-0.00062656622434,-7.42498617824e-05,1793249716876768512
+253,4.216666667,HOLD_POSE2,767,746,717,682.753320846,663,637,887.246679154,780.753320846,817,652,629,654.753320846,0.452824344809,-0.0156392621651,0.0695903553018,0.999999776787,-0.000219727349427,-0.000626597374631,-7.43046876161e-05,1793249716893435136
+254,4.233333333,HOLD_POSE2,767,746,717,682.178143587,663,637,887.821856413,780.178143587,817,652,629,654.178143587,0.452825068288,-0.0156397102325,0.0695899838341,0.99999977686,-0.000219086898274,-0.000626741623759,-7.39998675639e-05,1793249716910101760
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+256,4.266666667,HOLD_POSE2,767,746,717.974546824,682,663,637,887.025453176,780,817,651.025453176,628.025453176,654,0.452825226635,-0.0156403729679,0.0695904710238,0.999999777107,-0.000220413581931,-0.000625842007299,-7.43390215e-05,1793249716943435008
+257,4.283333333,HOLD_POSE2,767,746,717.435412149,682,663,636.435412149,887,780,817,651,628.564587851,654.564587851,0.45282505647,-0.0156400533868,0.0695902080932,0.999999776744,-0.000218553954981,-0.000627058733776,-7.44599138104e-05,1793249716960101632
+258,4.300000000,HOLD_POSE2,767,746,717,682.152202536,663,636.152202536,887,780.152202536,817,651.152202536,629,654.847797464,0.45282496716,-0.0156396582917,0.0695900542297,0.999999776564,-0.000217201595995,-0.000627823234715,-7.43839065904e-05,1793249716976768512
+259,4.316666667,HOLD_POSE2,767,746,717,682.731266236,663,636.731266236,887,780.731266236,817,651.731266236,629,654.268733764,0.45282512162,-0.0156391329605,0.0695902864598,0.999999776977,-0.00021762964606,-0.000627089475718,-7.37732485722e-05,1793249716993435136
+260,4.333333333,HOLD_POSE2,767,746,717,682.692164887,663,636.692164887,887.307835113,780.692164887,817,652,629,654.307835113,0.45282574904,-0.0156385130323,0.0695908581191,0.999999777821,-0.000217091926264,-0.000625933848603,-7.37310129801e-05,1793249717010101504
+261,4.350000000,HOLD_POSE2,767,746,717,682.117756465,663,636.117756465,887.882243535,780.117756465,817,652,629,654.882243535,0.452826786026,-0.0156378111868,0.0695917237111,0.999999779036,-0.000215717887071,-0.000624412900043,-7.4181009275e-05,1793249717026768384
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,637,888,781,817,651,629,654,0.452826044285,-0.0156358501783,0.0695896529466,0.999999777145,-0.000215069674838,-0.000627695701935,-7.38485196453e-05,1793249717058548224
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746,717.421056184,682,663,637,887.421056184,781,817,651.578943816,628.421056184,654.578943816,0.45282658486,-0.0156369816157,0.0695901390676,0.9999997773,-0.000216112469976,-0.000627124602967,-7.35465172262e-05,1793249717075214848
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767,746,717.156582922,682.156582922,663,637,887.156582922,780.843417078,817,652,628.156582922,655,0.452826973081,-0.0156380307254,0.0695906464583,0.999999777491,-0.000217426597619,-0.000626395410814,-7.32957819117e-05,1793249717091881728
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,717.73074274,682.73074274,663,637,887.73074274,780.26925726,817,652,628.73074274,655,0.452826955003,-0.0156388602833,0.0695912105711,0.999999777774,-0.000219464317717,-0.000625244614061,-7.31817661559e-05,1793249717108548096
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,717.693711426,682.693711426,663,637,887.693711426,780.306288574,817,651.693711426,629,655,0.45282656245,-0.0156386382977,0.0695909756164,0.999999777738,-0.00021962643644,-0.000625206371929,-7.35243105302e-05,1793249717125214976
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746,717.116941646,682.116941646,663,637,887.116941646,780.883058354,817,651.116941646,629,655,0.452825839202,-0.0156374877018,0.069590035011,0.999999777419,-0.000218132225148,-0.000626150618734,-7.42700398313e-05,1793249717141881856
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.529505596,746,717,682,663,637,887,780.529505596,817,651,629,655,0.452826719884,-0.0156393208635,0.0695907446635,0.999999777623,-0.000219566196263,-0.000625362358581,-7.39372528613e-05,1793249717158548736
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.059505964,746,717,682.059505964,663,636.940494036,887,780.059505964,817,651,629,654.940494036,0.452827645414,-0.0156414419272,0.0695916066896,0.999999777791,-0.000221339148267,-0.000624524834281,-7.34488218127e-05,1793249717175215360
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766.638589024,746,717,682.638589024,663,636.361410976,887,780.638589024,817,651,629,654.361410976,0.452825400899,-0.0156394511884,0.069590134664,0.999999776527,-0.000219569701924,-0.000627104300841,-7.39962961423e-05,1793249717191881984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.215929276,682.784070724,663,636.215929276,887,780.784070724,817,651.215929276,629,654.215929276,0.452820002913,-0.0156379258377,0.0695872919143,0.999999774199,-0.00021826357137,-0.00063123141002,-7.4232724236e-05,1793249717208548608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717.790375803,682.209624197,663,636.790375803,887,780.209624197,817,651.790375803,629,654.790375803,0.452809369074,-0.0156371731924,0.0695821732891,0.999999770087,-0.000217726705381,-0.000637928140757,-7.39527079819e-05,1793249717225215232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,746,717.636779365,682,663,636.636779365,887,780,817,651.636779365,629,654.636779365,0.452783293129,-0.0156363973578,0.0695717241792,0.999999759334,-0.000217321911381,-0.00065462860117,-7.46013499752e-05,1793249717241882112
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.064854803,682,663,636.064854803,887,780,817,651.064854803,629,654.064854803,0.452748344262,-0.0156356081986,0.0695582122113,0.999999744369,-0.000216993004846,-0.000677077132067,-7.57835921684e-05,1793249717258548480
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.526950048,663,636.526950048,887.526950048,780,817,651.526950048,628.473049952,654,0.452690139709,-0.0156315164193,0.0695395405326,0.999999725815,-0.00021461544916,-0.000704539046215,-7.70441407335e-05,1793249717275215360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,717.118237227,683,663.118237227,637,888,780,817,651.881762773,628.118237227,654.118237227,0.452625571571,-0.015627306599,0.0695214059926,0.999999707395,-0.000212599569222,-0.000730695762891,-7.80725006526e-05,1793249717291881984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717.697589354,683,663.697589354,637,888,780,817,651.302410646,628.697589354,654.697589354,0.452547786001,-0.0156242837856,0.0695079399218,0.999999693561,-0.000213016065985,-0.000749261640534,-7.81562861209e-05,1793249717308548608
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.725801659,663.725801659,636.725801659,887.725801659,780,817,651,629,654.725801659,0.452464845325,-0.0156207029002,0.0694988750424,0.999999685236,-0.000212305529404,-0.00076055433319,-7.75390777264e-05,1793249717325215232
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.420249282,746,718,682,663,636,887,780,817,651,629,654,0.452273409329,-0.0156115037772,0.069493086454,0.999999682582,-0.000208424995798,-0.000765362737464,-7.49316597951e-05,1793249717358548736
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767.992261939,746,718,682,663,636,887,780,817,651,629,654,0.452165380442,-0.0156061993303,0.0694925424068,0.999999682478,-0.000206486367848,-0.000766136962573,-7.37639412431e-05,1793249717375215360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767.409377706,746,717.409377706,682,663,636.590622294,887,780.590622294,817,651,629,654.590622294,0.45203175465,-0.0156005151588,0.069493358383,0.999999683755,-0.000202639538493,-0.00076572334998,-7.13814519795e-05,1793249717391881984
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,717.180578474,682,663,637,887,781,817,651,629,655,0.451887612593,-0.0155936077858,0.0694938789695,0.999999684887,-0.000198047364588,-0.000765675258838,-6.88833348658e-05,1793249717408548864
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,717.75158285,682,663,637,887,781,817,651,629,655,0.451721492435,-0.0155840670076,0.0694937205744,0.999999685673,-0.000191900270193,-0.000766452674532,-6.61712379876e-05,1793249717425215744
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.32765575,663,637,887,781,817,651,629,655,0.45152960147,-0.0155741174293,0.0694934201728,0.999999684996,-0.000183679423189,-0.000769605182751,-6.30633205408e-05,1793249717441882112
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,717.336511809,682,663,637,888,781,817,651,629,655,0.450583461227,-0.0155376590224,0.0695073502538,0.999999695302,-0.000150580958568,-0.000764578148498,-4.62843690395e-05,1793249717508548608
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.817268229,746,717.817268229,682,663,637,888,781,817,651,629,655,0.449995123205,-0.015521578047,0.0695283175025,0.999999716855,-0.00012329137544,-0.000741538420529,-3.47945064195e-05,1793249717541881856
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,637.612821687,886.387178313,783,817,651.612821687,629.612821687,654.612821687,0.445579797033,-0.0154838550348,0.0695999107858,0.999999805967,-2.83230093142e-05,-0.00062217368358,-1.27971793715e-05,1793249717708549120
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,717.797398333,682,663.202601667,638,886.202601667,783,816.797398333,652,629.797398333,655,0.445039989316,-0.0154827986445,0.0696241263356,0.999999831625,-1.87588650723e-05,-0.000579954948106,-7.09037448241e-06,1793249717725216000
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,717.216976442,682,663.783023558,638,886.783023558,783,816.216976442,652,629.216976442,655,0.444474285672,-0.0154826118799,0.0696589481167,0.99999986355,-9.7358071191e-06,-0.000522304998857,1.81616225093e-06,1793249717741882368
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,717.359600782,681.640399218,664,638,886.640399218,783.359600782,816.359600782,651.640399218,629,655,0.443863020299,-0.0154794880842,0.0696841608226,0.99999988519,8.56238434315e-06,-0.000479053109927,7.38716633125e-06,1793249717758548736
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,717.933882726,681.066117274,664,638,886.066117274,783.933882726,816.933882726,651.066117274,629,655,0.44322455466,-0.0154746108852,0.0697036369228,0.999999900671,3.23978171331e-05,-0.000444396844851,1.09668617837e-05,1793249717775215360
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.037637418,664,638,886,784,817,651.518818709,629.518818709,655,0.442550398233,-0.0154675049083,0.0697220495266,0.999999908652,2.68271777328e-05,-0.000426463679227,1.0207783975e-05,1793249717791881984
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.895615653,664,638,886.104384347,784,817,651.895615653,629.895615653,655,0.441867494913,-0.0154599047033,0.0697399125214,0.999999916678,2.49588162102e-05,-0.000407335749135,9.96393398592e-06,1793249717808548864
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.313512536,664,638,886.686487464,784,817,651.313512536,629.313512536,655,0.441165813506,-0.0154513697793,0.0697558934672,0.999999928754,5.7543997613e-05,-0.000372782122814,1.46615783298e-05,1793249717825215488
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766.73481703,745.73481703,718,682,664,638,886.46963406,784.26518297,816.73481703,651,629.26518297,654.73481703,0.440457303009,-0.0154441701397,0.0697765096152,0.999999941367,7.92533176198e-05,-0.000332645214754,1.82213750988e-05,1793249717841882112
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766.160098984,745.160098984,718,682,664,638,885.320197969,784.839901016,816.160098984,651,629.839901016,654.160098984,0.439740821159,-0.015438529111,0.0698025362096,0.999999955,8.82677822383e-05,-0.000285991211427,2.045301881e-05,1793249717858549248
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766.415543669,745,717.584456331,682,664,638,885.415543669,785,816.415543669,651.415543669,630,654,0.438931262071,-0.0154311910824,0.0697851877576,0.999999944838,9.62603837682e-05,-0.000317260091188,2.01003203971e-05,1793249717875215872
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766.991543311,745,717.008456689,682,664,638,885.991543311,785,816.991543311,651.991543311,630,654,0.438085762641,-0.0154231977831,0.0697510906786,0.999999922755,0.000103858407342,-0.000378617728827,1.87497167336e-05,1793249717891882496
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766.418417341,745,717,681.418417341,664,638.581582659,886,785,816.418417341,651.418417341,629.418417341,654,0.43724833557,-0.0154253535871,0.0697197744314,0.999999907559,9.82536365608e-05,-0.000418373853187,1.3818550728e-05,1793249717908548864
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766.168483036,745,717.168483036,681.168483036,664,638.831516964,885.831516964,785.168483036,816,651.168483036,629.168483036,654,0.436417091899,-0.0154278426205,0.0697089439707,0.999999903283,9.35533525107e-05,-0.000429588367131,1.16022621052e-05,1793249717925215488
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.747230425,745,717.747230425,681.747230425,664,638.252769575,885.252769575,785.747230425,816,651.747230425,629.747230425,654,0.435600612261,-0.0154307748385,0.0697478964958,0.999999926457,9.15345815349e-05,-0.000372086454456,1.61267470192e-05,1793249717941882112
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,745,717.67692749,682,664,638,885,785.67692749,815.67692749,651.67692749,630,654.32307251,0.434781592492,-0.0154313473309,0.0697873621626,0.999999943805,9.91153898625e-05,-0.000319548662457,2.1307324278e-05,1793249717958548736
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745,717.103338258,682,664,638,885,785.103338258,815.103338258,651.103338258,630,654.896661742,0.433960603093,-0.0154300900461,0.0698272257277,0.999999956439,0.000114139899125,-0.000270860149031,2.6996648107e-05,1793249717975215360
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,745,717.471473351,681.528526649,664,638,885,785,815.471473351,651,630,654.528526649,0.433095320946,-0.0154286078146,0.0698351382461,0.999999959333,0.00011471251516,-0.000259667631197,2.73269102487e-05,1793249717991882240
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745,718,681.047936292,664,638,884.952063708,785.047936292,815.952063708,651,629.952063708,654.047936292,0.432215494458,-0.0154267653724,0.0698345672773,0.999999959622,0.000113772292836,-0.000259057700883,2.64769857988e-05,1793249718008549376
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745,718,681.640096793,664,638,884.359903207,785.640096793,815.359903207,651,629.359903207,654.640096793,0.431281049618,-0.015421394642,0.0698173958061,0.999999950373,0.000131712048652,-0.00028504568388,2.55983855564e-05,1793249718025216000
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,745,717.773019873,681.773019873,663.773019873,638.226980127,884,785.773019873,815,651,629,654.773019873,0.43032638186,-0.0154157725566,0.0697804204915,0.999999930684,0.000142987070926,-0.000343029110515,2.27462072971e-05,1793249718041882624
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745,717.194313887,681.194313887,663.194313887,638.805686113,884,785.194313887,815,651,629,654.194313887,0.429340376754,-0.0154097609734,0.0697127573604,0.999999887983,0.00014393449859,-0.000450592319699,1.68357943699e-05,1793249718058548736
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745,717,681,663,638.618010492,884,785,815,651,629,654,0.428446864804,-0.0154020440798,0.0697181514364,0.999999892343,0.000143709339923,-0.000440994552592,1.36354063946e-05,1793249718075215360
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,745,717,681,663,638.042921664,884,785,815,651,629,654,0.427600109081,-0.015393465136,0.0697604766276,0.999999920466,0.000142891427681,-0.000372170794126,1.18049621009e-05,1793249718091881984
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745,717,681,663,638,883.45721434,785.54278566,815,651,629.54278566,654,0.426736604757,-0.0153753277751,0.0698202900301,0.999999943386,0.000179502483156,-0.000284078514096,1.75240381466e-05,1793249718108548608
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745,717.128001324,681,663,638,883,786,815,651,630,654,0.425858552395,-0.015360191669,0.0698640670252,0.999999953397,0.000209465537972,-0.00022101163586,2.20230050801e-05,1793249718125215488
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745,717.708451838,681,663,638,883,786,815,651,630,654,0.424933851669,-0.0153583891878,0.0698461740285,0.999999947007,0.000205259087141,-0.000251895912292,2.00569228882e-05,1793249718141882624
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662.712877814,638,882.712877814,785.712877814,814.712877814,651,629.712877814,654,0.42400527761,-0.0153618056004,0.0698216929184,0.999999937763,0.000198155931632,-0.000291367587951,1.77010323937e-05,1793249718158549504
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,662.136003971,638,882.136003971,785.136003971,814.136003971,651,629.136003971,654,0.423072794803,-0.0153704887018,0.0697905633618,0.99999992456,0.0001881295434,-0.000339505304252,1.49517638233e-05,1793249718175215872
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,638.438417848,882,785.438417848,814,651,629.438417848,654,0.422104968892,-0.0153679232749,0.0697317993613,0.99999988316,0.000192567334553,-0.000443251528474,1.12060683216e-05,1793249718191882240
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,882,786,814,651,629.987530316,654,0.421129403574,-0.0153620458517,0.0696667592091,0.999999822959,0.000201325610755,-0.000559908653343,7.26129332728e-06,1793249718208548608
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,882,786,814,651,629.395520312,654,0.420300872676,-0.0153635145661,0.0697062343713,0.999999864378,0.000203504345583,-0.00047933233641,8.35027004377e-06,1793249718225215232
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,881.808595734,785.808595734,814,651,629.191404266,654,0.41949158283,-0.0153654656068,0.0697585156835,0.99999990436,0.000204705590268,-0.000386313081533,1.17692860457e-05,1793249718241881856
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,881.231907664,785.231907664,814,651,629.768092336,654,0.418721023764,-0.015368387538,0.0698365749139,0.999999943029,0.000203939214307,-0.000268247023208,1.98785132854e-05,1793249718258548480
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.655328347,662,638.655328347,880.655328347,785,814,651,629.655328347,654,0.417908408454,-0.0153684157747,0.0698656174573,0.999999950863,0.000210444154435,-0.000231146099701,2.36497065787e-05,1793249718275215360
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.078822216,662,638.078822216,880.078822216,785,814,651,629.078822216,654,0.417067505145,-0.0153664976423,0.0698616901884,0.999999944216,0.000221839958707,-0.000248504289919,2.45030331186e-05,1793249718291882240
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.492920664,745,718,680,662,638,880.507079336,785,813.492920664,651,629.507079336,654,0.416251965196,-0.0153652043487,0.06983007378,0.999999936483,0.000220113992295,-0.000279567289047,2.06202772415e-05,1793249718308549376
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.093118121,745,718,680.093118121,661.906881879,638,880.906881879,785,813,651,630,654,0.415432957766,-0.0153636750259,0.0697956392806,0.99999992608,0.000218415599896,-0.00031601091955,1.64733670325e-05,1793249718325216000
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766.672108704,745,718,680.672108704,661.327891296,638,880.327891296,785,813,651,630,654,0.414574897766,-0.01536039779,0.0697693824499,0.999999905809,0.000227704735828,-0.000369204184606,1.48619840808e-05,1793249718341882624
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.749791359,745,718,680.749791359,661.250208641,638,880.500417281,785,813.250208641,651,630,654,0.413759040199,-0.0153560858852,0.0697507190149,0.999999889354,0.000235039214185,-0.000407273088828,1.33268859429e-05,1793249718358548992
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.402404726,745,718,679.597595274,662,638,881.195190549,785,813.597595274,651,629.597595274,654,0.41233594614,-0.0153505762133,0.0697814111271,0.999999909994,0.000236636622497,-0.000351862730759,1.43975258465e-05,1793249718391881984
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.976946346,745,718,679.023053654,662,638,880.046107309,785,813.023053654,651,629.023053654,654,0.411715694559,-0.0153532175933,0.0698414643255,0.999999944864,0.000230044078787,-0.000238757493758,1.85897523608e-05,1793249718408548608
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.565222127,661.434777873,638,880,785,813,651,629.565222127,654.565222127,0.411082579996,-0.0153568563545,0.0698691958128,0.999999954496,0.000227554724259,-0.000196910798217,2.12776005283e-05,1793249718425215744
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638,880,785,813,651,629.848552958,654.848552958,0.410430417841,-0.015358561746,0.0698791015871,0.999999956616,0.000227746949641,-0.000185470225408,2.23413444635e-05,1793249718441882624
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,638,880,785,813,651,629.269735409,654.269735409,0.409726022238,-0.0153546936807,0.0698425175217,0.999999940594,0.000235022335694,-0.000251427199545,1.89994683976e-05,1793249718458549248
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,717.692492618,679.692492618,661,638,880,785,813,651,629,654,0.409059386075,-0.0153505651276,0.0698052088058,0.999999920438,0.000242079721368,-0.000316681194141,1.5314583967e-05,1793249718475215616
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,717.11662415,679.11662415,661,638,880,785,813,651,629,654,0.408425702543,-0.0153462092475,0.0697672676911,0.999999896245,0.000248946857989,-0.000381321695692,1.13303570119e-05,1793249718491882496
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,717.457827548,679,661,638,879.542172452,785,813,651,629.457827548,654,0.407869426376,-0.0153482798809,0.0697675990173,0.999999900139,0.000241860260333,-0.000375639234583,1.09997171032e-05,1793249718508549120
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767.032858512,745,718,679.032858512,661,638,879,785,813,651,630,654.032858512,0.407335433494,-0.0153517129992,0.0697782644193,0.999999911047,0.00023222932288,-0.00035190783935,1.16547307611e-05,1793249718525215744
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767.623839976,745,718,679.623839976,661,638,879,785,813,651,630,654.623839976,0.406846042162,-0.0153505682337,0.0697993737555,0.999999918422,0.000239570136994,-0.000324939612597,1.32920693583e-05,1793249718541882112
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767.789442809,745,718,679.789442809,661,638,879.210557191,784.789442809,813.210557191,651,630,654.789442809,0.406351875307,-0.0153484060414,0.0698098170271,0.999999920109,0.000245776640423,-0.000314921290908,1.41374105568e-05,1793249718558548992
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767.210192507,745,718,679.210192507,661,638,879.789807493,784.210192507,813.789807493,651,630,654.210192507,0.405849346396,-0.0153444622992,0.0698015836392,0.999999912685,0.000249996925034,-0.000334582857409,1.35959360524e-05,1793249718575215616
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.90499745,661.90499745,638,879.90499745,785,813,651,629,654,0.404276591876,-0.0153519712629,0.0698330830794,0.999999931115,0.000245606328214,-0.000277817616477,1.62899686517e-05,1793249718641882624
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.477328975,745,718,679,661.477328975,638,880,785,813,651,630,654,0.401631372521,-0.0153433565298,0.0697953128501,0.99999990718,0.000267489267952,-0.000337246561163,1.88084541842e-05,1793249718825215232
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.741367654,638,879,785,813,651,630,654,0.400960338666,-0.0153451394089,0.069814895651,0.999999924095,0.000252649103095,-0.00029660203863,2.41155449706e-06,1793249719191883008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.162731868,638,879,785,813,651,630,654,0.400959339238,-0.0153458848438,0.0698149338103,0.999999924378,0.000251299768412,-0.000296794538881,2.33857396316e-06,1793249719208549120
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.412679407,785,813,651,630,654,0.400959252136,-0.01534563419,0.0698146299447,0.999999924282,0.000251644450285,-0.000296826011494,2.24818147663e-06,1793249719225215488
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.986828985,785,813,651,630,654,0.400959522001,-0.0153449937937,0.069814192254,0.999999924038,0.000252651954606,-0.000296794478383,2.15097617341e-06,1793249719241882112
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.574275826,638,879.425724174,785,813.574275826,651,630,654,0.400958433483,-0.0153446555942,0.0698142672377,0.999999923868,0.000252316559114,-0.000297650543033,2.22193454635e-06,1793249719258548736
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.839745077,638,879.160254923,785,813.839745077,651,630,654,0.400957982497,-0.0153445499673,0.0698145732584,0.999999923874,0.000252175429526,-0.000297749841997,2.31891708428e-06,1793249719275215360
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.258442571,638,879.741557429,785,813.258442571,651,630,654,0.400959290334,-0.0153450367517,0.0698154546713,0.999999924336,0.000252627545971,-0.000295806090901,2.47390101037e-06,1793249719291881984
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.319869472,638,879.680130528,785,813,651,630,654,0.400959612925,-0.0153454978632,0.0698159183503,0.999999924634,0.000252323201381,-0.00029505887636,2.42579187434e-06,1793249719308548864
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.895787682,638,879.104212318,785,813,651,630,654,0.400959146847,-0.0153459384243,0.069816047642,0.999999924801,0.000251413325725,-0.000295269464092,2.21511103484e-06,1793249719325216000
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,744.530818671,718,679.469181329,661.530818671,638,879,785,813,651,629.530818671,654,0.400959215147,-0.0153460443096,0.0698160247058,0.999999925183,0.00025003606276,-0.00029514793092,2.09877973113e-06,1793249719341882624
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,744.043508731,718,679.956491269,661,638,879,785,813.043508731,651,629.043508731,654,0.400959429381,-0.015345958774,0.0698159741247,0.999999925491,0.000249066222602,-0.000294923027281,2.01559899358e-06,1793249719358548992
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,744.636678202,718,679.363321798,661,638,879,785,813.636678202,651,629.636678202,654,0.400959995797,-0.0153443890464,0.0698159991687,0.999999924289,0.000254547992749,-0.000294319171907,2.08788750797e-06,1793249719375215360
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.776348699,661,638,879,785,813.776348699,651,630,654,0.400960133957,-0.0153442032825,0.0698161917717,0.99999992401,0.000256062873301,-0.000293949379359,2.18416984387e-06,1793249719391881984
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.199170158,661,638,879,785,813.199170158,651,630,654,0.400959595172,-0.0153462051596,0.0698166492363,0.999999925216,0.000251307263434,-0.000293949571538,2.3183793994e-06,1793249719408548608
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.623325665,745,718,678.376674335,661,638,879.376674335,785,813,651,629.623325665,654,0.400959756,-0.0153465265145,0.0698171928551,0.999999925565,0.000250410524009,-0.000293526846838,2.49587290488e-06,1793249719425215488
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.048184108,745,718,678.951815892,661,638,879.951815892,785,813,651,629.048184108,654,0.400960285451,-0.0153459624133,0.069817781868,0.999999925469,0.000251546998253,-0.000292881290026,2.69617243002e-06,1793249719441882112
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b056aa5ce6083f9cf7f27e918f1d53605827c54
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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+387,6.450000000,pose2_to_pose3_retreat,0.575665484371,-0.00984973647315,1.06003375102,0.54623616241,-0.00117710437263,1.05970514002
+388,6.466666667,pose2_to_pose3_retreat,0.575665308415,-0.00984974427955,1.06003376525,0.546235986487,-0.00117711209385,1.0597051535
+389,6.483333333,pose2_to_pose3_retreat,0.575665187291,-0.00984975436016,1.06003376662,0.546235865427,-0.00117712195799,1.05970515485
+390,6.500000000,pose2_to_pose3_retreat,0.575665144609,-0.00984976363396,1.06003375687,0.546235822818,-0.00117713096365,1.05970514568
+391,6.516666667,pose2_to_pose3_retreat,0.575665142477,-0.00984976409728,1.06003375638,0.546235820689,-0.00117713141357,1.05970514522
+392,6.533333333,pose2_to_pose3_retreat,0.57566494398,-0.00984980722591,1.06003371102,0.54623562253,-0.0011771732952,1.05970510257
+393,6.550000000,pose2_to_pose3_retreat,0.575664699028,-0.00984986044835,1.06003365505,0.546235377994,-0.0011772249788,1.05970504994
+394,6.566666667,pose2_to_pose3_retreat,0.575664693944,-0.00984986155302,1.06003365389,0.546235372918,-0.00117722605153,1.05970504885
+395,6.583333333,pose2_to_pose3_retreat,0.575664656435,-0.00984986970272,1.06003364532,0.546235335473,-0.00117723396559,1.05970504079
+396,6.600000000,pose2_to_pose3_retreat,0.575664617433,-0.00984987817691,1.0600336364,0.546235296538,-0.00117724219476,1.05970503241
+397,6.616666667,pose2_to_pose3_retreat,0.57566453617,-0.00984989583356,1.06003361783,0.546235215412,-0.0011772593409,1.05970501495
+398,6.633333333,pose2_to_pose3_retreat,0.575664421132,-0.0098498838193,1.06003360565,0.546235100532,-0.00117724676792,1.05970500339
+399,6.650000000,pose2_to_pose3_retreat,0.57566437995,-0.00984985912953,1.06003360905,0.546235059386,-0.00117722196848,1.05970500649
+400,6.666666667,pose2_to_pose3_retreat,0.575664349535,-0.00984984089448,1.06003361157,0.546235028997,-0.00117720365242,1.05970500878
+401,6.683333333,pose2_to_pose3_retreat,0.575664323364,-0.00984982520402,1.06003361373,0.546235002849,-0.00117718789226,1.05970501076
+402,6.700000000,pose2_to_pose3_retreat,0.575664291791,-0.00984980627527,1.06003361634,0.546234971303,-0.00117716887942,1.05970501314
+403,6.716666667,pose2_to_pose3_retreat,0.575664310651,-0.00984982855843,1.0600336289,0.546234990609,-0.00117718979152,1.05970502199
+404,6.733333333,pose2_to_pose3_retreat,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.00117719646365,1.05970502444
+405,6.750000000,pose2_to_pose3_retreat,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.0011771964637,1.05970502444
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e961a038b0bd10250f7aa8edf990803510a56c59
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:266d7c6acea19704b46d3dd72198d7c8612a14fa4e9d4887d075fa0200f28700
+size 25821646
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..512ed68bef6102caed6c069dd3ebb2139c4275d5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_05/franka_data.csv
@@ -0,0 +1,407 @@
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+1,0.016666667,BASELINE,767,745,718,679,661,638,879.589218087,785,813,651,630,654.589218087,0.40095880992,-0.0153472523022,0.0698173294416,0.999999925638,0.000250367432574,-0.000293318519992,2.30465054547e-06,1793249719575007744
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+20,0.333333333,BASELINE,767,745,718,679,661.387165355,638,879,785,813.612834645,651,629.612834645,654,0.400959202973,-0.0153476642608,0.0698181261524,0.999999926722,0.000249550638187,-0.000290302702343,2.30326144246e-06,1793249719891674368
+21,0.350000000,BASELINE,767,745,718,679,661,638,879,784.800879519,813.800879519,651,630,654,0.400959068724,-0.0153463348358,0.0698179537979,0.99999992642,0.000250898239444,-0.000290184355535,2.00461551745e-06,1793249719908341504
+22,0.366666667,BASELINE,767,745,718,679,661,638,879,784.218955928,813.218955928,651,630,654,0.400959816735,-0.015346672802,0.0698186299359,0.999999926137,0.000251879882948,-0.000290308987129,1.94329805559e-06,1793249719925008384
+23,0.383333333,BASELINE,766.642099819,744.642099819,718,679,661.357900181,638,879,784,813,651,629.642099819,654,0.400959301957,-0.0153465378928,0.0698185154012,0.999999925745,0.000252141791792,-0.000291429322541,1.86098797956e-06,1793249719941675008
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+27,0.450000000,BASELINE,766.683343869,745,718,679,661.316656131,638,879.316656131,785,813,651,629.316656131,654,0.400960627531,-0.015348699172,0.0698196905957,0.999999927058,0.000250127755,-0.000288639262708,2.60780668706e-06,1793249720008340736
+28,0.466666667,BASELINE,767,745,718,679,661,638,879,785,813,651,629,654,0.400960892953,-0.0153499350869,0.0698196977587,0.999999927495,0.00024836570448,-0.0002886490652,2.60098620293e-06,1793249720025007616
+29,0.483333333,BASELINE,767,745,718,679,661,638,879,785,813,651,629,654,0.400960754805,-0.015350745022,0.0698193448942,0.9999999279,0.00024569556331,-0.000289532315668,2.25353651466e-06,1793249720041674240
+30,0.500000000,BASELINE,767,745,718,678.588209973,661.411790027,638,879,784.588209973,813,651,629.411790027,654,0.400959005504,-0.0153492328131,0.0698186354916,0.999999927087,0.000247031740977,-0.000291198940693,2.24990265287e-06,1793249720058341120
+31,0.516666667,BASELINE,767,745,718,678.016190897,661.983809103,638,879,784.016190897,813,651,629.983809103,654,0.400956629298,-0.0153468170492,0.0698177873586,0.999999925791,0.000249926792447,-0.000293170379684,2.38004883161e-06,1793249720075008000
+32,0.533333333,BASELINE,767,745,718,678.574146855,661.425853145,638,879,784.574146855,813,651.574146855,629.425853145,654,0.400957915302,-0.0153486183155,0.0698182493183,0.999999926757,0.000247771549101,-0.000291700414759,2.36670330525e-06,1793249720091674880
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+41,0.683333333,BASELINE,767,745,718,678.803295523,661.803295523,638,879.196704477,785,813,651,630,654,0.400959855067,-0.0153492747869,0.0698190578812,0.999999927184,0.000247737924087,-0.000290260810674,2.42898756497e-06,1793249720241675264
+42,0.700000000,BASELINE,767,745,718,679,661.620563353,638,879,785,813,651,630,654,0.400960243152,-0.0153479067061,0.0698189141054,0.99999992686,0.000249440063317,-0.000289922180702,2.38033109991e-06,1793249720258341632
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+49,0.816666667,BASELINE,767,744.438605922,718,679,661,638,879.438605922,785,813.561394078,651,630,654,0.400958905054,-0.0153488399602,0.0698189950465,0.999999926519,0.000250520219287,-0.00029016642716,2.34360906899e-06,1793249720375008256
+50,0.833333333,BASELINE,767,745,718,679,661,638,879.988041494,785,813,651,629.988041494,654,0.400957841342,-0.0153480525,0.0698192129823,0.999999925839,0.000252827276404,-0.000290506314425,2.47711725014e-06,1793249720391675392
+51,0.850000000,BASELINE,767,745,718,679,661,638,879.397877428,785,813,651,629.397877428,654,0.400958805378,-0.0153501684792,0.0698189479864,0.999999927126,0.000247730514648,-0.000290466351941,2.48268718357e-06,1793249720408341760
+52,0.866666667,BASELINE,767,745,718,679,661.188576964,638,879.188576964,785,813,651,629.188576964,654,0.400959209499,-0.0153509762838,0.0698185863082,0.999999927694,0.000245069400297,-0.000290768866185,2.38523820156e-06,1793249720425007872
+53,0.883333333,BASELINE,767,745,718,679,661.767355303,638,879.767355303,785,813,651,629.767355303,654,0.400958455049,-0.0153490772275,0.0698180245758,0.999999926815,0.00024744810102,-0.000291780029508,2.07462361523e-06,1793249720441674496
+54,0.900000000,BASELINE,767,744.656555187,718,679,661.656555187,638,880,785,813,651,630,654,0.400958803269,-0.015349038815,0.0698184816776,0.99999992692,0.000247647928848,-0.000291248990055,1.94124949326e-06,1793249720458341120
+55,0.916666667,BASELINE,767,744.082272927,718,679,661.082272927,638,880,785,813,651,630,654,0.400959892618,-0.0153502509856,0.0698196235622,0.999999927688,0.000246383284154,-0.000289681399304,1.92700292592e-06,1793249720475007744
+56,0.933333333,BASELINE,767,744.493645051,718,679,661,638,879.506354949,785,813.493645051,651,629.506354949,654,0.400959497926,-0.0153481710937,0.0698191983181,0.999999926695,0.000249877737289,-0.00029011639394,1.8830032433e-06,1793249720491674112
+57,0.950000000,BASELINE,767,745,718,679,661.071492779,638,879,785,814,651,629.071492779,654,0.400958897049,-0.0153460201335,0.0698185296126,0.99999992559,0.000253484288097,-0.000290796256216,1.87924154657e-06,1793249720508340736
+58,0.966666667,BASELINE,767,745,718,679,661.661348808,638,879,785,814,651,629.661348808,654,0.400958600513,-0.0153473452751,0.0698179957031,0.999999925923,0.000252133549408,-0.000290823558813,2.2033016079e-06,1793249720525007104
+59,0.983333333,BASELINE,766.753594593,745,718,678.753594593,661.753594593,638,879,784.753594593,813.753594593,651,630,654,0.400958307882,-0.0153483745663,0.0698179554234,0.999999926314,0.000250399705681,-0.00029097350318,2.38957241975e-06,1793249720541673728
+60,1.000000000,BASELINE,766.175008062,745,718,678.175008062,661.175008062,638,879,784.175008062,813.175008062,651,630,654,0.400958020516,-0.0153490050196,0.0698185806102,0.999999926784,0.000248149394759,-0.000291288781915,2.3900884741e-06,1793249720558340352
+61,1.016666667,BASELINE,766,744.598691086,718,678.401308914,661,638,879.401308914,784.401308914,813,651,630,654,0.400958142041,-0.0153491553271,0.0698192851063,0.999999927111,0.000247175347503,-0.000290993415106,2.28077118498e-06,1793249720575006976
+62,1.033333333,BASELINE,766,744.023358316,718,678.976641684,661,638,879.976641684,784.976641684,813,651,630,654,0.400958440877,-0.015349097424,0.069820023994,0.999999927378,0.000246754740177,-0.000290433247554,2.12382569418e-06,1793249720591673600
+63,1.050000000,BASELINE,766.565733743,744.565733743,718,679,661,638,879.434266257,785,813,651,630,654,0.400958613811,-0.0153460323096,0.0698198394013,0.999999926016,0.000252359760959,-0.000290308938786,1.91141410977e-06,1793249720608340480
+64,1.066666667,BASELINE,767,745.152599948,718,679,661.152599948,638,878.847400052,784.847400052,813,651,629.847400052,654,0.400958843529,-0.0153445161082,0.0698196155032,0.999999925275,0.00025539454369,-0.000290207935763,1.81242585807e-06,1793249720625006848
+65,1.083333333,BASELINE,767,745.731619235,718,679,661.731619235,638,878.268380765,784.268380765,813,651,629.268380765,654,0.40095924681,-0.0153476837351,0.0698193909739,0.999999926529,0.000250534616342,-0.000290120516661,2.03694227489e-06,1793249720641673472
+66,1.100000000,BASELINE,767,745.691502481,718,679,661.691502481,638,878.308497519,784.308497519,813,651,629.308497519,654,0.400959064679,-0.0153496532473,0.0698193516557,0.999999927119,0.000247960188353,-0.000290297660684,2.2170157086e-06,1793249720658340352
+67,1.116666667,BASELINE,767,745.116473976,718,679,661.116473976,638,878.883526024,784.883526024,813,651,629.883526024,654,0.400958376774,-0.0153505876306,0.0698194723533,0.999999927149,0.000247360351524,-0.00029070337793,2.35869195946e-06,1793249720675006976
+68,1.133333333,BASELINE,767,745,718,679,661,638,879.459013395,785,813.459013395,651,630,654,0.400959601593,-0.0153493567182,0.0698198348243,0.999999927458,0.000248083124204,-0.000289023315743,2.16092372406e-06,1793249720691673600
+69,1.150000000,BASELINE,767,745,718,679,661.035464774,638,880,785,813.964535226,651,630,654,0.400961167756,-0.0153477342763,0.069820236821,0.999999927823,0.000248973307308,-0.000286990504061,1.90342361386e-06,1793249720708340224
+70,1.166666667,BASELINE,767,745,718,679,661.625159164,638,880,785,813.374840836,651,630,654,0.400960475837,-0.0153485882022,0.0698202968014,0.999999928044,0.000247229680169,-0.000287724463147,2.05986572525e-06,1793249720725006848
+71,1.183333333,BASELINE,767,745,718,679,661.789151803,638,879.789151803,785,813,651,630,654,0.400960255388,-0.0153488804923,0.069820480146,0.999999928126,0.000246494609206,-0.000288068655719,2.16607997551e-06,1793249720741673728
+72,1.200000000,BASELINE,767,745,718,679,661.21045056,638,879.21045056,785,813,651,630,654,0.400960857478,-0.0153481929335,0.0698208787161,0.99999992797,0.000247519099898,-0.000287732848287,2.1846649901e-06,1793249720758340352
+73,1.216666667,BASELINE,767,744.633156105,718,679,661.366843895,638,879,784.633156105,813,651,630,654,0.400960503555,-0.0153478891182,0.0698204621118,0.999999927491,0.000248792172566,-0.000288298215969,2.05297184165e-06,1793249720775006720
+74,1.233333333,BASELINE,767,744.056665648,718,679,661.943334352,638,879,784.056665648,813,651,630,654,0.400959603281,-0.0153478046075,0.0698195796459,0.999999926826,0.00025020730657,-0.000289378593644,1.83539665673e-06,1793249720791673600
+75,1.250000000,BASELINE,766.47367765,744.52632235,718,679,661.47367765,638,879,784.52632235,813,651,630,654,0.400959667194,-0.0153477886125,0.0698190551358,0.999999926784,0.00025017375382,-0.00028955443917,1.83300259671e-06,1793249720808340224
+76,1.266666667,BASELINE,766,745,718,679,661.109404275,638,879.109404275,785,813,651,630,654,0.400959859786,-0.01534796334,0.0698189083725,0.999999926965,0.000249591156643,-0.000289431743461,1.89286039557e-06,1793249720825006848
+77,1.283333333,BASELINE,766,745,718,679,661.689841083,638,879.689841083,785,813,651,630,654,0.400960153871,-0.0153489270537,0.0698202199717,0.999999927812,0.000247324600634,-0.000288448224327,2.11974803941e-06,1793249720841673728
+78,1.300000000,BASELINE,766.270048018,745,718,679,661.729951982,638,879.729951982,785,813,651,629.729951982,654,0.400960026997,-0.0153491583485,0.0698206129443,0.999999927969,0.000246692629169,-0.000288442025063,2.23359644406e-06,1793249720858340352
+79,1.316666667,BASELINE,766.84999112,745,718,679,661.15000888,638,879.15000888,785,813,651,629.15000888,654,0.40095941705,-0.015348549152,0.0698199517416,0.99999992734,0.000247936434323,-0.000289557354651,2.21772603413e-06,1793249720875006976
+80,1.333333333,BASELINE,766.576181109,745,718,679,661,638,879.423818891,785,813,651,629.423818891,654,0.400959120812,-0.01534876459,0.0698197799836,0.999999927044,0.000249078760703,-0.000289598561138,2.29113993483e-06,1793249720891673600
+81,1.350000000,BASELINE,766.004486998,745,718,679,661,638,879.995513002,785,813,651,629.995513002,654,0.400958934031,-0.0153492677522,0.0698197789984,0.999999926864,0.000250185680089,-0.000289264993983,2.39570614304e-06,1793249720908340480
+82,1.366666667,BASELINE,766.583803438,745,718,679,661,638,879.416196562,785,813,651,630,654,0.40095924811,-0.0153487740586,0.0698197190188,0.999999926816,0.000250162848403,-0.000289451484178,2.21564999185e-06,1793249720925007616
+83,1.383333333,BASELINE,767,745,718,679,661,638,879,784.829682692,813,651,630,654,0.400959382703,-0.0153485838377,0.0698197796982,0.999999926887,0.000249749942743,-0.000289562355524,2.19354724387e-06,1793249720941674752
+84,1.400000000,BASELINE,767,745,718,679,661,638,879,784.247779194,813,651,630,654,0.400959073981,-0.0153491460408,0.0698201330882,0.999999927242,0.000248415987579,-0.000289480545701,2.55859330755e-06,1793249720958340864
+85,1.416666667,BASELINE,767,745,718,678.668910713,661.331089287,638,879,784.331089287,813,651,630,654.331089287,0.40095898436,-0.015349163371,0.0698197928086,0.999999927509,0.000247302218809,-0.0002895129336,2.31803249891e-06,1793249720975007232
+86,1.433333333,BASELINE,767,745,718,678.092292967,661.907707033,638,879,784.907707033,813,651,630,654.907707033,0.400959057219,-0.0153487766356,0.069818938119,0.999999927711,0.000246351735455,-0.000289630007997,1.62836706737e-06,1793249720991673856
+87,1.450000000,BASELINE,767,745,718,678.48213942,662,638,879.48213942,785,813.48213942,651,630,654.51786058,0.400960727954,-0.0153494905114,0.0698203463326,0.999999928282,0.000246091050186,-0.000287873840915,1.91072009532e-06,1793249721008340736
+88,1.466666667,BASELINE,766.942211021,745,718,679,661.942211021,638,880,784.942211021,813.942211021,651,630,654,0.400962320672,-0.015350313925,0.0698218554146,0.999999928759,0.000246106224418,-0.000286197229859,2.31481866137e-06,1793249721025007104
+89,1.483333333,BASELINE,766.351496368,745,718,679,661.351496368,638,880,784.351496368,813.351496368,651,630,654,0.400960385926,-0.0153502133506,0.0698203180277,0.999999927752,0.000247453151006,-0.000288546183593,2.13348750049e-06,1793249721041673472
+90,1.500000000,BASELINE,766.234421181,745,718,679.234421181,661,638,880,784.234421181,813,651,630,654,0.400959795897,-0.0153498975281,0.0698197899818,0.999999927434,0.000248025531716,-0.000289156480295,1.98026454928e-06,1793249721058340352
+91,1.516666667,BASELINE,766.813290034,745,718,679.813290034,661,638,880,784.813290034,813,651,630,654,0.400961181731,-0.0153492654297,0.0698207450152,0.999999928135,0.000247459830308,-0.000287212074318,1.86834252117e-06,1793249721075006976
+92,1.533333333,BASELINE,767,745,718,679.610834668,661.389165332,638,879.610834668,785,813,651,630,654,0.400961076045,-0.0153489886298,0.0698209810327,0.999999928319,0.00024670398408,-0.000287220634101,2.0290354037e-06,1793249721091673856
+93,1.550000000,BASELINE,767,745,718,679.036384577,661.963615423,638,879.036384577,785,813,651,630,654,0.400960260233,-0.0153488809904,0.0698208747211,0.999999928257,0.000245857608314,-0.000288159016497,2.31952243912e-06,1793249721108340480
+94,1.566666667,BASELINE,767,745,718,679,661.450122601,638,879,785,813,651,630,654,0.400960314834,-0.015349192051,0.0698210593865,0.999999928127,0.000247703705427,-0.000287024317386,2.22924773801e-06,1793249721125007360
+95,1.583333333,BASELINE,767,745,718.135834659,679,661.135834659,638,879.135834659,785,813,651,630,654,0.400960054514,-0.015349535687,0.0698209681225,0.999999927975,0.000248777234359,-0.00028662862384,2.10865715052e-06,1793249721141673728
+96,1.600000000,BASELINE,767,745,718.718164978,679,661.718164978,638,879.718164978,785,813,651,630,654,0.400958565565,-0.0153498933339,0.0698199051871,0.999999927768,0.000246712824688,-0.00028912287237,1.97305008488e-06,1793249721158340352
+97,1.616666667,BASELINE,767,745,718.70334528,679,662,638,879.70334528,785,813.29665472,651,630,654,0.400958695042,-0.0153496840813,0.0698197576097,0.999999927799,0.000246392695496,-0.000289290573865,1.91550753118e-06,1793249721175006976
+98,1.633333333,BASELINE,767,745,718.128457656,679,662,638,879.128457656,785,813.871542344,651,630,654,0.400960342444,-0.0153489431328,0.0698204685478,0.999999928055,0.000247708529692,-0.000287276203269,1.93118180803e-06,1793249721191673856
+99,1.650000000,BASELINE,767,745,718,679,662,638,879,785,814,651,630,654,0.400960022297,-0.0153495244117,0.0698201573185,0.999999928038,0.000246708455234,-0.000288192514697,2.06044395639e-06,1793249721208340480
+100,1.666666667,BASELINE,767,745,718,678.975943226,661.975943226,638,879,785,813.975943226,651,630,654,0.400959211556,-0.0153504177959,0.0698196220649,0.999999927946,0.000245180951142,-0.000289808434204,2.21669584001e-06,1793249721225007104
+101,1.683333333,BASELINE,767,745,718,678.386902016,661.386902016,638,879,785,813.386902016,651,630,654,0.40096017529,-0.0153497057568,0.0698207331079,0.999999928027,0.000246916980674,-0.000288049991024,2.2392093137e-06,1793249721241673728
+102,1.700000000,BASELINE,767,745,718,678.198673986,661,638,879.397347972,785,813,651,630,654,0.400960514966,-0.0153493356436,0.0698212687783,0.999999928,0.000247960439695,-0.00028724550663,2.25631516268e-06,1793249721258340352
+103,1.716666667,BASELINE,767,745,718,678.77761738,661,638,880.555234759,785,813,651,630,654,0.400959660168,-0.0153496199893,0.0698207031639,0.999999927776,0.00024767829277,-0.00028826693509,2.26307061399e-06,1793249721275007232
+104,1.733333333,BASELINE,767,744.647889168,718,679,661.352110832,638,880.295778336,785,813,651,629.647889168,654,0.400959820934,-0.0153499796616,0.0698207190754,0.999999928028,0.000246976974502,-0.000287997434532,2.18749181408e-06,1793249721291673856
+105,1.750000000,BASELINE,767,744.076171035,718,679,661.923828965,638,879.152342069,785,813,651,629.076171035,654,0.400960615094,-0.0153503863142,0.0698210976776,0.999999928574,0.00024601422407,-0.000286922797135,2.06056213008e-06,1793249721308340480
+106,1.766666667,BASELINE,767,744.499775629,718,679,662,638,879,785,813,651,629.499775629,654,0.400959885194,-0.0153494591045,0.0698207334759,0.999999928074,0.000246764301493,-0.00028802133851,2.00511322249e-06,1793249721325007104
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,785,814,651,630,654,0.400961443948,-0.0153488151296,0.0698218557621,0.999999927861,0.000248934832343,-0.000286886936979,2.41258097525e-06,1793249721367626496
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.421449259,638,879.578550741,785,814,651,630,654.578550741,0.400961431083,-0.0153483483898,0.0698216735967,0.999999928033,0.000248388777211,-0.000286760792716,2.12145830293e-06,1793249721384293632
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718,679.156076065,661.156076065,638.156076065,880,785,813.843923935,651,630,654.843923935,0.400961251292,-0.015348008534,0.0698214690167,0.999999928041,0.000248386230031,-0.000286737516103,1.95105347798e-06,1793249721400960768
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718,679.730850677,661.730850677,638.730850677,880,785,813.269149323,651,630,654.269149323,0.400960623693,-0.0153480090643,0.0698212043061,0.999999927606,0.000249841728133,-0.000286990198078,2.10449316507e-06,1793249721417627136
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718,679.693282871,661.693282871,638.693282871,879.693282871,785,813,651,629.693282871,654,0.400960182238,-0.0153485359207,0.0698205877164,0.999999927467,0.000249476270068,-0.00028778997711,2.2073093995e-06,1793249721434293248
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,718,679.116454922,661.116454922,638.116454922,879.116454922,785,813,651,629.116454922,654,0.40095990471,-0.0153495262869,0.0698196612439,0.999999927586,0.000247507184615,-0.000289071557822,2.26554401861e-06,1793249721450959616
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.526841854,745,718,679,661.473158146,638,879,785,813,651,629.473158146,654,0.40096010195,-0.0153496478616,0.0698204069629,0.999999928036,0.000246561003272,-0.000288326245339,2.12173025778e-06,1793249721467626496
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.06428771,745,718,679,662,638,879.06428771,785,813,651,629.93571229,654,0.400960493835,-0.0153494516862,0.0698214440964,0.999999928475,0.000246021385443,-0.000287262773173,1.94562293805e-06,1793249721484292864
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.641707754,745,718,679,662,638,879.641707754,785,813,651,629.358292246,654,0.400961480749,-0.0153484734318,0.0698214309904,0.999999928177,0.000246661574968,-0.000287752231242,1.91970250369e-06,1793249721500959488
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.782484153,785,813,651,629.217515847,654,0.400966655088,-0.0153483814599,0.0698233476692,0.999999928728,0.000247096191979,-0.000285451140198,2.03871203036e-06,1793249721517626368
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879.20931179,785,813,651,629.79068821,654,0.400978676214,-0.0153497386338,0.0698284197067,0.999999930639,0.000247194680743,-0.000278587268997,2.39469411043e-06,1793249721534292992
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.625253314,638,879,785,813,651,630,654,0.401011684444,-0.0153523278755,0.0698417893055,0.999999937155,0.000246194157864,-0.000255082761943,3.42826264434e-06,1793249721550959616
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.034932516,638,879,785,813,651,630,654,0.401056765568,-0.0153556258679,0.0698599321009,0.99999994544,0.00024456142516,-0.000222005680235,4.85161477121e-06,1793249721567626240
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718.544809291,678.455190709,662.089618582,638,879.544809291,785,813,651,630,654,0.401115554309,-0.0153577163539,0.0698751416353,0.999999948938,0.000246515507474,-0.00020326848583,6.04271782681e-06,1793249721584292864
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.87692607,745,718.87692607,678.12307393,662.753852141,638,879.87692607,785,813,651,629.87692607,654,0.401178386507,-0.0153601669101,0.0698883336163,0.999999951845,0.000247751555225,-0.000186772183264,6.75153289604e-06,1793249721600959488
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.301643965,745,718.301643965,678.698356035,661.60328793,638,879.301643965,785,813,651,629.301643965,654,0.401252907647,-0.0153642195238,0.0698947904295,0.999999954497,0.000245520419639,-0.000175195551398,5.74196026295e-06,1793249721617626368
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.278825281,638,879.278825281,785,813,651,629.557650561,654,0.401335598528,-0.0153677012475,0.0699003114914,0.999999956394,0.000243669148152,-0.000166782154574,4.54320402554e-06,1793249721634292736
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661.865012517,638,879.865012517,785,813,651,630.730025033,654,0.401427295286,-0.0153705536527,0.0699048010312,0.999999957557,0.00024223661852,-0.00016185573821,3.13590204468e-06,1793249721650959616
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.433358594,745,718,679,662,638.433358594,879.566641406,785,813.433358594,651,630.566641406,654,0.401541638192,-0.0153753407512,0.0699078700131,0.999999959091,0.000239623871726,-0.00015619632332,9.33664278665e-07,1793249721667626240
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.996367042,745,718,679,662,638.996367042,879.003632958,785,813.996367042,651,630.003632958,654,0.401662756246,-0.0153807066606,0.0699105140003,0.999999960698,0.000236658034037,-0.000150317614024,-1.50639800036e-06,1793249721684293120
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.412430224,745,718.587569776,679,661.412430224,638.412430224,879,785,814,651,630,654,0.401805261729,-0.0153875912569,0.0699125209846,0.999999962632,0.000230735126096,-0.000146555781891,-4.4263893394e-06,1793249721700959744
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.175632834,745,718.824367166,679,661,638,879,785,813.824367166,651,630,654,0.401959581906,-0.0153944110875,0.0699142738511,0.999999964387,0.000224940937753,-0.000143413153995,-7.75729558896e-06,1793249721717626112
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.756037943,745,718.243962057,679,661,638,879,785,813.243962057,651,630,654,0.402140810675,-0.0154010589235,0.0699154505994,0.999999965806,0.000219487665169,-0.000141665890608,-1.20280330778e-05,1793249721734292736
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.338985076,785,813,651,629.661014924,654,0.402335944391,-0.0154090099137,0.0699167210671,0.999999967857,0.000211438774598,-0.000138968161486,-1.63363070484e-05,1793249721750959616
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.923775546,785,813,651,629.076224454,654,0.402541160903,-0.01541790585,0.069918059493,0.999999970293,0.000201507744826,-0.000135581228955,-2.06717999727e-05,1793249721767626240
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.493923186,785,813,651,629.506076814,654,0.402788140229,-0.0154285588614,0.0699240747262,0.999999973925,0.000190778631119,-0.000122987806117,-2.50594353888e-05,1793249721784292608
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.912941141,745,718,679,661.087058859,638,879.087058859,785,813.087058859,651,630,654,0.403049163541,-0.0154393455526,0.0699318993712,0.99999998008,0.000165742048812,-0.000107263850968,-2.9387907195e-05,1793249721800959488
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.337269019,745,718,679,661.662730981,638,879.662730981,785,813.662730981,651,630,654,0.403353877208,-0.0154494044677,0.0699459451159,0.99999999424,6.10768945867e-05,-8.17144414907e-05,-3.33404656915e-05,1793249721817626112
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.242584124,745,718,679,661.757415876,638,880,785,814,651,630,654.242584124,0.403664779555,-0.015458489131,0.0699540091225,0.999999996938,1.36490591324e-06,-6.82868675203e-05,-3.8195915586e-05,1793249721834292992
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.828352126,745,718,679,661.171647874,638,880,785,814,651,630,654.828352126,0.403984437012,-0.0154661955192,0.0699536107606,0.999999996411,5.24818920279e-06,-7.20080626618e-05,-4.43286865827e-05,1793249721850959616
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.409265863,745,718,679,661.409265863,638.409265863,880.409265863,785,813.590734137,651,630,655,0.404340000313,-0.0154703008117,0.0699556177494,0.999999996277,5.45347147737e-06,-7.03663114975e-05,-4.96382463029e-05,1793249721867625984
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.988167551,745,718,679,661.988167551,638.988167551,880.988167551,785,813.011832449,651,630,655,0.404710446152,-0.0154729134929,0.0699586217273,0.999999996289,4.1342660532e-06,-6.65016828884e-05,-5.46065946031e-05,1793249721884292608
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.433173631,745,718,679,662,639,881,785,813.566826369,651,630,654.433173631,0.405113794122,-0.0154842147061,0.0699605082509,0.999999995761,6.1151336006e-05,-6.29549406807e-05,-2.7856773956e-05,1793249721900959232
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,679.144683915,662,639,880.855316085,785,814,651,630,654,0.405527899473,-0.0154937492305,0.0699612491095,0.999999993327,9.79012618676e-05,-6.05500009988e-05,-9.71901534974e-06,1793249721917626112
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,679.72017062,662,639,880.27982938,785,814,651,630,654,0.405971991142,-0.0154974835454,0.0699586481263,0.999999995425,7.06804602842e-05,-6.15250803075e-05,-1.91946888565e-05,1793249721934292736
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,880,785,813.701816702,651,630,654,0.406425818239,-0.0155020408969,0.0699465642007,0.999999995527,4.43800445474e-05,-7.89144135232e-05,-2.737387807e-05,1793249721950959360
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,880,785,813.121413211,651,630,654,0.406888859634,-0.0155073772248,0.0699255049972,0.999999992977,1.89507390214e-05,-0.000111839271265,-3.43259907571e-05,1793249721967625984
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,745,718,679.537643003,662,638.537643003,880,785,813.462356997,651,630,654.462356997,0.407428198103,-0.0155113351603,0.0699220560713,0.99999999312,1.12025238032e-05,-0.000110776405308,-3.6912431093e-05,1793249721984292608
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662.046482424,638.046482424,880,785,814,651,629.953517576,654.953517576,0.407991908364,-0.0155143949464,0.0699246784498,0.99999999437,8.53363599025e-06,-9.86089019233e-05,-3.82662164262e-05,1793249722000959488
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662.624486594,638.624486594,880,785,814,651,629.375513406,654.375513406,0.408603525629,-0.0155113538303,0.0699434582418,0.999999997257,1.04648100714e-05,-6.22666093898e-05,-3.87299460901e-05,1793249722017626112
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,718,679.201191978,662.798808022,639,880.201191978,785.201191978,813.798808022,651,629,654,0.409212152513,-0.0155092199209,0.0699532072129,0.999999998286,1.04091361576e-05,-4.17924733877e-05,-3.96616460901e-05,1793249722034292736
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,718,679.775488769,662.224511231,639,880.775488769,785.775488769,813.224511231,651,629,654,0.409815233785,-0.0155087684009,0.0699462087818,0.999999997831,6.66890894856e-06,-5.07453854725e-05,-4.14611838409e-05,1793249722050959360
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,718,679.639482088,662,639,881,785.639482088,813,651,629.360517912,654.360517912,0.410447246966,-0.0155085508856,0.0699401504314,0.999999997133,5.3043752995e-06,-6.21309520346e-05,-4.29544626784e-05,1793249722067625984
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,718,679.047564365,662,639,881,785.047564365,813,651,629.952435635,654.952435635,0.411097830182,-0.015508483567,0.0699346954756,0.999999996188,5.46468986432e-06,-7.50779269006e-05,-4.42511679783e-05,1793249722084292608
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,718,679.531964846,662,638.468035154,881,785,813.531964846,651,629.468035154,654.468035154,0.411826190859,-0.01551172901,0.0699567248957,0.999999998362,3.49538922103e-06,-3.69862260654e-05,-4.35463405871e-05,1793249722100959488
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662,638.10981911,881,785.10981911,813.89018089,651,629.10981911,654,0.412566250544,-0.0155148400696,0.0699822443608,0.999999999079,-5.31453839562e-07,5.96255630842e-06,-4.25033235785e-05,1793249722117626112
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662,638.685161746,881,785.685161746,813.314838254,651,629.685161746,654,0.413327093809,-0.0155161544472,0.0700123780689,0.999999997811,-1.24914268219e-05,5.05960656702e-05,-4.07680769388e-05,1793249722134292736
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,718,680,662.258486309,639,881.258486309,786,813.258486309,651,629.741513691,654.258486309,0.414068746561,-0.0155154951313,0.0700173123851,0.999999997648,-1.73215828576e-05,5.20096359173e-05,-4.12164950842e-05,1793249722150959360
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662.829371964,639,881.829371964,786,813.829371964,651,629.170628036,654.829371964,0.414787206292,-0.0155124504645,0.069991791423,0.999999998926,-1.35348425393e-05,1.18879892603e-06,-4.4304029368e-05,1793249722167625984
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745,718,680,663,639,882,785.583230879,814,651,629,654.583230879,0.415535283537,-0.0155108138558,0.0699470045232,0.999999996116,-1.3288250475e-05,-7.1632650517e-05,-4.96056946967e-05,1793249722184292864
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,718,680.010913055,663,639,882.010913055,785,814,651,629,654.010913055,0.416297887856,-0.015509897536,0.0698953930445,0.999999986839,-1.46178483797e-05,-0.000151670022788,-5.57178314712e-05,1793249722200959232
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,718,680.589859908,663,639,882.589859908,785,814,651,629,654.589859908,0.417159456862,-0.0155152293956,0.0699160490161,0.999999991209,-1.94369721632e-05,-0.000119130013745,-5.48862753086e-05,1793249722217626112
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,718,680.832453797,663,639,883,785.167546203,814,651,629,654.832453797,0.418021192802,-0.0155194998519,0.0699399631154,0.999999994906,-2.26483104126e-05,-8.26371587254e-05,-5.33436106416e-05,1793249722234293248
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,718,680.257830243,663,639,883,785.742169757,814,651,629,654.257830243,0.418883334279,-0.0155211914771,0.0699717932985,0.999999997838,-2.19533045471e-05,-3.65403037584e-05,-5.00732067276e-05,1793249722250959616
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,718,680,663,639,883.323160981,786,814,651,629.323160981,654,0.419774664856,-0.0155238236848,0.0699993893769,0.999999998387,-2.92476686427e-05,6.14133263906e-06,-4.82953020598e-05,1793249722267625984
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718,680,663,639,883.909334666,786,814,651,629.909334666,654,0.420689751676,-0.0155272214092,0.070023539421,0.999999996874,-4.30443827347e-05,4.60434051038e-05,-4.77321056499e-05,1793249722284292608
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,718,680.492228768,663,639,884.492228768,786,814.492228768,651,629.507771232,654.492228768,0.421581916465,-0.0155284293156,0.0700247751675,0.999999997077,-4.0851109299e-05,4.35253821688e-05,-4.77763394748e-05,1793249722300959488
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,718,681,663.073676323,639,885,786,815,651,629,655,0.422457951085,-0.0155282158963,0.0700115081518,0.999999997936,-3.74748923885e-05,1.75756098634e-05,-4.91480612162e-05,1793249722317626112
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663.64935608,639,885,786,815,651,629,655,0.423252657575,-0.0155210481753,0.0699279923558,0.999999990585,-4.59735770028e-05,-0.000115143507758,-5.88075024636e-05,1793249722334292992
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.225344001,718,681.225344001,663.774655999,639,885.225344001,786,815,651,629,655,0.424091343251,-0.0155172798058,0.0698711020206,0.999999976628,-5.10474398194e-05,-0.000199473514819,-6.5935869468e-05,1793249722350959616
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.801812181,718,681.801812181,663.198187819,639,885.801812181,786,815,651,629,655,0.42499855608,-0.0155188082013,0.0698556986571,0.999999974605,-5.07848516742e-05,-0.000208405102702,-6.91203962734e-05,1793249722367626240
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745.61421842,717.61421842,681.61421842,663.38578158,639,886,786,815,651,629,655,0.425952641815,-0.0155209503697,0.0698921382418,0.999999985108,-4.82548174682e-05,-0.000152229209931,-6.54307011684e-05,1793249722384292864
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745.026319034,717.026319034,681.026319034,663.973680966,639,886,786,815,651,629,655,0.426931285042,-0.0155234141045,0.0699557392668,0.9999999954,-4.45368277752e-05,-6.19423526205e-05,-5.81394787435e-05,1793249722400959488
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.55293816,717.55293816,681.55293816,664,639,886.55293816,786,815,651,629,655,0.427897710274,-0.0155262777583,0.069998693768,0.999999997261,-4.88067323702e-05,-2.502664642e-06,-5.55765994494e-05,1793249722417626112
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.868963337,718,681.868963337,664,639,887,785.868963337,815.131036663,651,629,655,0.428856842135,-0.015529336745,0.0700334118753,0.999999995986,-5.32943323249e-05,4.79472090934e-05,-5.37421752428e-05,1793249722434292992
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.293421459,718,681.293421459,664,639,887,785.293421459,815.706578541,651,629,655,0.429793175638,-0.0155329947645,0.0700434727006,0.999999994273,-5.72504888783e-05,7.28057287508e-05,-5.36271204407e-05,1793249722450959616
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745.28182588,718,681.28182588,664,639,887,785.28182588,815.71817412,651,629.28182588,655,0.430659627,-0.0155326413636,0.0700128024573,0.999999996461,-5.86670169281e-05,2.14512363677e-05,-5.63588311236e-05,1793249722467626240
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745.856766846,718,681.856766846,664,639,887,785.856766846,815.143233154,651,629.856766846,655,0.431453396867,-0.015528115855,0.0699397695647,0.999999990466,-5.74421846342e-05,-0.000109169164049,-6.20513405999e-05,1793249722484292864
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,681.554408596,664,639,887,786,815.445591404,651,630,655,0.432317680916,-0.0155274974908,0.0698988196255,0.999999981498,-5.82095048707e-05,-0.00017098088917,-6.61845383434e-05,1793249722500959488
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,717.962123033,681,664.037876967,639,887,786,816,651,630,654.962123033,0.433209809769,-0.0155283319114,0.0698749442013,0.999999975884,-5.94846920122e-05,-0.00019977125223,-6.91678916722e-05,1793249722517626112
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,717.386110377,681,664.613889623,639,887,786,816,651,630,654.386110377,0.434165152645,-0.0155313892618,0.0699424220773,0.999999992781,-5.85847876232e-05,-8.37613715853e-05,-6.31651322468e-05,1793249722534292736
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.810129771,717.189870229,681.189870229,665,639,887,786,816,651,630,654.189870229,0.435098888899,-0.0155343429566,0.0699956320475,0.999999996449,-6.0253203745e-05,6.08739271677e-06,-5.86096710003e-05,1793249722550959616
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.234214227,717.765785773,681.765785773,665,639,887,786,816,651,630,654.765785773,0.435988694609,-0.0155370858986,0.070019832436,0.999999995208,-6.7143546036e-05,4.27452338893e-05,-5.69968655954e-05,1793249722567626496
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.348687593,717.651312407,682,664.651312407,639,887,786,816,651,630,655,0.436841086732,-0.0155400530607,0.0700242144985,0.999999994026,-7.34179687512e-05,5.74371897099e-05,-5.70893089126e-05,1793249722584292864
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.936378019,717.063621981,682,664.063621981,639,887,786,816,651,630,655,0.437667834203,-0.015543173911,0.0700150123765,0.999999993527,-7.92702179918e-05,5.70729470635e-05,-5.83505902715e-05,1793249722600959744
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,717,682,664,639,887.515659261,785.484340739,816,651.515659261,629.484340739,655,0.438446487455,-0.0155424984227,0.0699668554154,0.999999994391,-8.47443481662e-05,-1.19426800744e-05,-6.24024878047e-05,1793249722617626624
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,717,682,664.093282767,639,887.906717233,785,816,651.906717233,629.093282767,655,0.439207535701,-0.0155408709592,0.0699139848847,0.99999998958,-8.9053268612e-05,-9.1911833147e-05,-6.67924458308e-05,1793249722634293248
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,717,682,664.667621988,639,887.332378012,785,816,651.332378012,629.667621988,655,0.439907905156,-0.0155367109123,0.0698611945629,0.999999976446,-8.75899629131e-05,-0.000185388319286,-7.11786885126e-05,1793249722650959616
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,717.242516999,681.757483001,665,639,887.242516999,785,816,651,629.757483001,655,0.440651258778,-0.0155394250473,0.0698471122331,0.999999970811,-9.07261630361e-05,-0.000211923935579,-7.23509705477e-05,1793249722667626240
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,717.818175441,681.181824559,665,639,887.818175441,785,816,651,629.181824559,655,0.441453658957,-0.0155515821284,0.069886202413,0.999999981862,-0.000100180626126,-0.000146504020121,-6.91082900374e-05,1793249722684292864
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,681.809417392,665,639,888,785,816.404708696,651,629.404708696,655,0.44220084778,-0.0155614638711,0.069921877264,0.999999986481,-0.000113181119782,-9.95763640514e-05,-6.56668017701e-05,1793249722700959744
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,682.992525337,665,639,888,785,816.996262669,651,629.996262669,655,0.44292254678,-0.0155702951401,0.0699559753348,0.999999988029,-0.000127818740072,-6.11861795757e-05,-6.2133527961e-05,1793249722717626368
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,718,682.426598749,665,639,887.426598749,785,817,651.573401251,630,655,0.443582941767,-0.0155753105941,0.0699289367928,0.99999998355,-0.000132384671977,-0.000106769037116,-6.30427259449e-05,1793249722734292736
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664.849247125,638.849247125,887,785,817,651.849247125,630,655,0.444224430671,-0.0155798068597,0.0698955287562,0.999999975137,-0.000139367203924,-0.000161497234027,-6.49652682974e-05,1793249722750959360
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664.2710314,638.2710314,887,785,817,651.2710314,630,655,0.444813416348,-0.0155828997495,0.0698451620644,0.999999956854,-0.000153383630217,-0.000240643354525,-6.96810797585e-05,1793249722767625984
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664,638,887.30514261,784.69485739,817,651,630,655,0.445395268624,-0.0155859819126,0.0698105917895,0.999999942616,-0.000160036664262,-0.000289597758456,-7.27298566744e-05,1793249722784292608
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,638,887.879515163,784.120484837,817,651,630,655,0.445970827004,-0.0155890546111,0.0697899588318,0.999999935763,-0.000160192913932,-0.00031191374817,-7.4307794701e-05,1793249722800959488
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,718,682.468711511,664,638,887.531288489,784,817,651,630,655,0.446502619664,-0.0155923052406,0.0697779354161,0.999999926116,-0.000169135345349,-0.000336856028361,-7.54309988312e-05,1793249722817625856
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,683,664,638,887,783.36492694,817.63507306,651,630,655,0.447510344868,-0.0155982265388,0.0697409201852,0.999999895792,-0.000189420475318,-0.000407741253182,-7.92589097999e-05,1793249722850960640
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,682.789775973,664,638,887,783,817.789775973,651.210224027,630,655,0.447994467524,-0.0156022373026,0.0697255496641,0.999999884317,-0.000190814296855,-0.000434368704865,-7.92457582996e-05,1793249722867627776
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,682.214552698,664,638,887,783,817.214552698,651.785447302,630,655,0.448467290718,-0.0156085462355,0.0697279767212,0.999999888004,-0.000178612708164,-0.000431884445352,-7.46030161696e-05,1793249722884294144
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,638,887,783,817,651.630271077,630,655,0.448917668343,-0.0156148806173,0.0697374762497,0.999999891797,-0.000190190645144,-0.000418149602241,-7.3385287739e-05,1793249722900960768
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,638,887,783,817,651.040600847,630,655,0.449354693778,-0.0156212301386,0.0697511829922,0.999999894846,-0.000215914349848,-0.000397722103731,-7.4205002842e-05,1793249722917627136
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663.882809807,638,887,783,817,651,629.765619613,655,0.450114837043,-0.0156344544891,0.0697394998672,0.999999889277,-0.000217152349633,-0.000409981484829,-7.87737579639e-05,1793249722950960384
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+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,717.732671256,681.732671256,663,637.732671256,887,782.732671256,817.267328744,651,628.267328744,655,0.450701548556,-0.0156339270555,0.0696704740725,0.999999836903,-0.00022309964857,-0.000518761039829,-8.54799087878e-05,1793249722984294144
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,717.160622803,681.160622803,663,637.160622803,887,782.160622803,817.839377197,651,628.839377197,655,0.450973571792,-0.0156329760301,0.0696432489044,0.999999809284,-0.000251949626279,-0.000557213937037,-8.64006139975e-05,1793249723000960512
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,717.42603964,681.42603964,663,637,887.42603964,782,817.14792072,651,629,655,0.451235114267,-0.015633388868,0.0696312896789,0.999999805972,-0.000237289390827,-0.000570539126754,-7.89622565491e-05,1793249723017627136
+207,3.450000000,POSE1_TO_POSE2_PRESS,767.017903677,746,718,682,663,637,887.982096323,782,816.035807354,651,629,655,0.451491890442,-0.0156342991628,0.0696254547802,0.999999811719,-0.000206335162576,-0.000573828589414,-6.86118530179e-05,1793249723034294016
+208,3.466666667,POSE1_TO_POSE2_PRESS,767.594059588,746,718,682,663,637,887.405940412,782,817.188119176,651,629,655,0.451727633532,-0.0156341180422,0.0696247466407,0.999999815709,-0.000196977726784,-0.000570079481118,-6.92176922534e-05,1793249723050960640
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+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,717,682.674408595,663.674408595,637,888,781,817,651,629,655,0.452316751583,-0.0156425498106,0.0696168008909,0.999999805202,-0.000215876570514,-0.000581047333401,-7.33362251548e-05,1793249723100960512
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+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663,636,887.895607919,780.104392081,817.104392081,651.104392081,628.104392081,655,0.453323799098,-0.0156440184973,0.0695967147419,0.999999781009,-0.000224718841965,-0.000617730926969,-7.67588591265e-05,1793249723467626752
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663,636,887.320346802,780.679653198,817.679653198,651.679653198,628.679653198,655,0.453324937671,-0.0156444824634,0.0695976605514,0.999999781385,-0.000225624466082,-0.000616845739355,-7.63147117887e-05,1793249723484293632
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663,636.253625805,887,780.746374195,817.746374195,651.746374195,629,655,0.453324441181,-0.0156443445161,0.0695973574482,0.999999780944,-0.000224885261913,-0.000617864488934,-7.60381739692e-05,1793249723500960512
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663,636.825979239,887,780.174020761,817.174020761,651.174020761,629,655,0.453321889934,-0.0156434501536,0.0695954848559,0.999999779463,-0.000222079027577,-0.000621275886838,-7.59722683805e-05,1793249723517626624
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,717.58626146,682,663,636.58626146,887.41373854,780,817.41373854,651,629,655,0.453323322958,-0.0156435841201,0.0695959131231,0.999999780321,-0.000222461736186,-0.000619759021384,-7.59440659498e-05,1793249723534293248
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,717.007988402,682,663,636,887.992011598,780,817.992011598,651,629,655,0.453326449661,-0.0156441526346,0.069597324958,0.999999782155,-0.000224235299714,-0.00061615061811,-7.59376490085e-05,1793249723550959616
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,717.585151712,682,663,636,887.414848288,780,817.414848288,651,629,655,0.453326231892,-0.0156436736944,0.06959719668,0.999999781288,-0.000225844431039,-0.000616923159772,-7.63098554202e-05,1793249723567626240
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,717.838182771,682.161817229,663,636.161817229,887,780.161817229,817,651,628.838182771,655,0.453325535004,-0.015642912864,0.0695965300053,0.999999780393,-0.000225945020521,-0.000618310302685,-7.65129479126e-05,1793249723584293120
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717.262789559,682.737210441,663,636.737210441,887,780.737210441,817,651,628.262789559,655,0.453323613571,-0.0156414315724,0.0695944872844,0.999999779419,-0.000222190045968,-0.000621268256745,-7.62838153622e-05,1793249723600960512
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,717.317204959,682.682795041,663,636.682795041,887.317204959,780.682795041,817,651,628,655,0.453324612363,-0.0156413010788,0.0695947510294,0.999999779982,-0.000221322190924,-0.000620693938579,-7.61018977465e-05,1793249723617627392
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,717.901067526,682.098932474,663,636.098932474,887.901067526,780.098932474,817,651,628,655,0.453328066035,-0.0156423061304,0.0695969536997,0.99999978184,-0.000222881386336,-0.000617150223877,-7.59596712674e-05,1793249723634294016
+244,4.066666667,HOLD_POSE2,767,746,718,682,663,637,887,780,817,651,629,655,0.453327510871,-0.0156438776454,0.0695960775696,0.999999780403,-0.000226308905507,-0.000618239531164,-7.58850612566e-05,1793249723666100992
+245,4.083333333,HOLD_POSE2,767,746,718,682,663,637,887.587382537,780,817,651,629,655,0.453326983402,-0.0156437893272,0.0695962075522,0.999999780228,-0.000225992469078,-0.000618682832813,-7.55223733056e-05,1793249723682767872
+246,4.100000000,HOLD_POSE2,767,746,718,682.170963357,663,637,888,780,817.170963357,651,629,655,0.45332680634,-0.0156433911083,0.0695960765954,0.999999780141,-0.000225551607554,-0.000619003337115,-7.53590803668e-05,1793249723699434496
+247,4.116666667,HOLD_POSE2,767,746,718,682.745568502,663,637,888,780,817.745568502,651,629,655,0.453327456585,-0.0156422612188,0.0695953295652,0.999999780264,-0.000224816980283,-0.000619033918909,-7.56665558308e-05,1793249723716101120
+248,4.133333333,HOLD_POSE2,767,746,718,682.671898715,663,637,887.671898715,780,817.671898715,651,629,655,0.453328539079,-0.0156420221316,0.06959569879,0.999999781057,-0.000223988965354,-0.000618032859042,-7.58280910037e-05,1793249723732767488
+249,4.150000000,HOLD_POSE2,767,746,718,682.083066133,663,637,887.083066133,780,817.083066133,651,629,655,0.453329965066,-0.0156424909358,0.0695969550658,0.999999782379,-0.000223086738368,-0.000616211987479,-7.58736522092e-05,1793249723749434112
+250,4.166666667,HOLD_POSE2,767,746,718,682.494847428,663,636.505152572,887,780,817,651.494847428,629,655,0.453329843105,-0.0156422075254,0.0695972247183,0.999999782298,-0.000223787406563,-0.000616123438529,-7.56013626005e-05,1793249723766100736
+251,4.183333333,HOLD_POSE2,767,746,717.929108843,682.929108843,663,636,887.070891157,780,817,651.929108843,629,655,0.453329558724,-0.0156415410217,0.0695973027999,0.999999782067,-0.000224380880299,-0.000616307702434,-7.5388762392e-05,1793249723782767616
+252,4.200000000,HOLD_POSE2,767,746,717.353609733,682.353609733,663,636,887.646390267,780,817,651.353609733,629,655,0.45332992786,-0.0156390270159,0.0695971706873,0.999999782417,-0.000222337459606,-0.000616408680956,-7.59726212718e-05,1793249723799434240
+253,4.216666667,HOLD_POSE2,767,746,717.221260325,682,663,636.221260325,888,780,817.221260325,651.221260325,628.778739675,655,0.453329697184,-0.0156377505905,0.0695967183836,0.999999782356,-0.000220577849615,-0.000617113886759,-7.61851746352e-05,1793249723816100864
+254,4.233333333,HOLD_POSE2,767,746,717.795127851,682,663,636.795127851,888,780,817.795127851,651.795127851,628.204872149,655,0.453328510629,-0.0156384464112,0.0695957558134,0.999999781641,-0.000219270529214,-0.000618782007579,-7.58060041469e-05,1793249723832767232
+255,4.250000000,HOLD_POSE2,767,746,717.618561057,682.381438943,663.381438943,637,888,780,818,651.618561057,628.381438943,654.618561057,0.453329777975,-0.0156392456366,0.0695965366692,0.9999997824,-0.000219881398575,-0.000617380943665,-7.54491427497e-05,1793249723849433856
+256,4.266666667,HOLD_POSE2,767,746,717.025341042,682.974658958,663.974658958,637,888,780,818,651.025341042,628.974658958,654.025341042,0.453332407765,-0.0156401022741,0.0695982855032,0.999999783968,-0.000221557277796,-0.000614275818888,-7.51046676844e-05,1793249723866100480
+257,4.283333333,HOLD_POSE2,767,746,717,683,663.446602229,636.446602229,888,780,817.446602229,651,629,654.553397771,0.453330925432,-0.0156406249154,0.0695972206155,0.999999782365,-0.000223159081447,-0.000616270250583,-7.53713927015e-05,1793249723882767104
+258,4.300000000,HOLD_POSE2,767,746,717.130254128,683,663.130254128,636.130254128,887.869745872,780,817,651,629,655,0.453329663904,-0.015641237822,0.0695962801366,0.999999780974,-0.000224500068171,-0.000618024562159,-7.54786787983e-05,1793249723899433984
+259,4.316666667,HOLD_POSE2,767,746,717.702911772,683,663.702911772,636.702911772,887.297088228,780,817,651,629,655,0.453329775585,-0.0156422079334,0.0695961886659,0.999999780806,-0.000224966427079,-0.000618190406253,-7.49518004867e-05,1793249723916100864
+260,4.333333333,HOLD_POSE2,767,746.278128817,717.721871183,682.721871183,663.721871183,637,887.278128817,780,817,651.278128817,629,654.721871183,0.453330591862,-0.0156418960316,0.069596807344,0.99999978175,-0.00022392887183,-0.00061706965302,-7.4701673773e-05,1793249723932767744
+261,4.350000000,HOLD_POSE2,767,746.856105091,717.143894909,682.143894909,663.143894909,637,887.856105091,780,817,651.856105091,629,654.143894909,0.453332167756,-0.0156402020061,0.0695981916252,0.999999783883,-0.000221269964121,-0.000614561834099,-7.47499097816e-05,1793249723949434368
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,746,718,682,663,636,887,780,817,651,629,655,0.453330664763,-0.0156378281918,0.0695960756732,0.999999781928,-0.000218084248398,-0.000618770932659,-7.55299116809e-05,1793249723981637632
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.576403944,746,717.423596056,682.576403944,663,636.576403944,887,780,817,651,628.423596056,654.423596056,0.453331278721,-0.0156392296836,0.0695970211782,0.999999782227,-0.000220555470202,-0.00061745103103,-7.52049688131e-05,1793249723998305280
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.848529669,663,637,887.151470331,780,817,651,628.151470331,654,0.453331465832,-0.0156403243677,0.0695974763317,0.999999782257,-0.000222280327182,-0.000616805919461,-7.50137879349e-05,1793249724014972416
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.277170968,663,637,887.722829032,780,817,651,628.722829032,654,0.453330469684,-0.0156405685556,0.0695965721899,0.999999781564,-0.000221936199287,-0.000618031381843,-7.51934063574e-05,1793249724031638272
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,717.305313945,682.305313945,663,637,887.694686055,780,817,651,629,654.305313945,0.453330358808,-0.0156396849199,0.0695961195066,0.999999781651,-0.000220458690315,-0.000618398814177,-7.53567714564e-05,1793249724048304896
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746,717.898281459,682.898281459,663,637,887.101718541,780,817,651,629,654.898281459,0.453331081998,-0.0156377386974,0.0695960921679,0.99999978247,-0.000217913358823,-0.000617957847704,-7.55048233674e-05,1793249724064971776
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,717.520444584,683,663,636.520444584,887.479555416,780,817,651.479555416,629,654.520444584,0.453330973513,-0.0156386310202,0.069596208033,0.999999782039,-0.000220081199345,-0.000617931330866,-7.51524872705e-05,1793249724081638144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,717.058117645,682.941882355,663,636.058117645,888,779.941882355,817,651.941882355,629,654.058117645,0.453330720474,-0.0156398568386,0.0695963498048,0.999999781497,-0.000222718450213,-0.000617908741379,-7.47781616187e-05,1793249724098304768
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,746,717.634091867,682.365908133,663,636.634091867,888,779.365908133,817,651.365908133,629,654.634091867,0.453330713856,-0.0156388171075,0.0695964582038,0.999999782351,-0.000220842502336,-0.000617156480658,-7.51311217859e-05,1793249724114971392
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,636.78640778,887.78640778,779.21359222,817,651,628.78640778,655,0.453327475784,-0.0156378079769,0.0695952476972,0.999999781682,-0.000219544575999,-0.000618663881605,-7.54410127701e-05,1793249724131638016
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,636.200765423,887.200765423,779.799234577,817,651,628.200765423,655,0.453318608933,-0.0156368521484,0.0695917398268,0.999999778346,-0.000219253488928,-0.000624107322203,-7.56758827468e-05,1793249724148304640
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,746,717.619486293,682,663,636,887.380513707,780,817,651,628.380513707,655,0.453291723343,-0.0156377786915,0.0695805560848,0.999999766248,-0.000221250760555,-0.000642471739771,-7.60456861548e-05,1793249724164971264
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.040483125,682,663,636,887.959516875,780,817,651,628.959516875,655,0.453255438538,-0.0156396871463,0.0695653683352,0.999999749059,-0.000224441721201,-0.00066757619793,-7.6485875614e-05,1793249724181637888
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,746,717.538353087,682,663,636,888,780,817,651.538353087,629,655,0.453195023718,-0.0156350667243,0.0695448504913,0.999999730255,-0.0002208144938,-0.000696219327824,-7.75226770619e-05,1793249724198304768
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.116457414,663,636.116457414,888,780,817,651.883542586,628.883542586,655,0.453130103205,-0.0156301802458,0.0695254469273,0.999999711728,-0.000217427046146,-0.000723264362871,-7.84754480358e-05,1793249724214971648
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.691727923,663,636.691727923,888,780,817,651.308272077,628.308272077,655,0.453054577945,-0.0156261792266,0.0695120119539,0.999999697342,-0.000217003611682,-0.000742965266346,-7.89204620001e-05,1793249724231638016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,717.726589415,682.726589415,663,637,888,780.273410585,817,651,628.273410585,655,0.452975362149,-0.0156205783542,0.0695034495331,0.999999689577,-0.00021426333695,-0.000754118050506,-7.90157330178e-05,1793249724248304896
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,717.137503421,682.137503421,663,637,888,780.862496579,817,651,628.862496579,655,0.452891885324,-0.0156131303177,0.069500512883,0.999999689778,-0.000208848076263,-0.000755401314346,-7.87071965226e-05,1793249724264971520
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,663,637,887.555584732,780.555584732,817,651,629,654.555584732,0.452786400612,-0.0156084072323,0.0694973858212,0.999999686641,-0.000206292899265,-0.000760387343079,-7.72773329489e-05,1793249724281638144
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,717.024038558,682,663,637,887,780,817.024038558,651,629,654.024038558,0.452672725899,-0.0156044027566,0.0694942107183,0.999999682486,-0.000204542857721,-0.000766479805653,-7.5484035577e-05,1793249724298304512
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,717.601062338,682,663,637,887,780,817.601062338,651,629,654.601062338,0.452524803402,-0.0155978421324,0.0694912642249,0.999999679005,-0.000201280571687,-0.000772088504,-7.31846861237e-05,1793249724314971136
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,683,663.920581203,637,887,781,817,651.920581203,628,654,0.451361430559,-0.0155488545063,0.069489725213,0.999999679579,-0.000166522933228,-0.000781152758895,-5.39720593735e-05,1793249724414971136
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.194724688,663,637,887,781,817,651,628.805275312,654.805275312,0.450487274201,-0.01552030867,0.0695064033876,0.999999696806,-0.000130645178131,-0.000766667904278,-3.92425383874e-05,1793249724464971008
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,717.60903702,682,663,637,887,781,817.39096298,651,629,655,0.450163707297,-0.0155181298917,0.0695185486209,0.99999971136,-9.71444764941e-05,-0.000752840378747,-3.27865954031e-05,1793249724481637888
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,717.017640897,682,663,637,887,781,817.982359103,651,629,655,0.449830137444,-0.0155187327882,0.0695330067955,0.999999726623,-5.25622210876e-05,-0.000737110162343,-2.56903134112e-05,1793249724498304512
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,717.559987579,682,663.559987579,637,887,781.559987579,817.440012421,651,629,655,0.449456375609,-0.0155196364779,0.0695465371129,0.999999741365,-5.66612601646e-05,-0.000716738986382,-1.85389012876e-05,1793249724514971136
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.137044795,663.862955205,637,887,782,817,651,629,654.862955205,0.449070934568,-0.0155198709558,0.0695632587458,0.999999760068,-5.96429770639e-05,-0.00069005802109,-1.12723448536e-05,1793249724531637760
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.713627367,663.286372633,637,887,782,817,651,629,654.286372633,0.448651998791,-0.0155179294384,0.0695903072399,0.999999791413,-5.42406177914e-05,-0.000643597600581,-3.64192899792e-06,1793249724548304384
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.703344534,663,637,887,782,817,651,628.703344534,654,0.44820966589,-0.015513771641,0.0696089352952,0.999999810852,-2.65723835744e-05,-0.000614477594548,2.66895466198e-06,1793249724564971264
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.113956066,663,637,887,782,817,651,628.113956066,654,0.44774424518,-0.0155074268674,0.0696192542524,0.99999981822,2.3067320502e-05,-0.000602468717406,7.67775425811e-06,1793249724581638400
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.46633485,663.46633485,637.46633485,887,782.46633485,817,651,628.46633485,654.46633485,0.44722140822,-0.0154993916331,0.0696134574655,0.999999812562,6.14722383987e-06,-0.000612233081589,3.11911835938e-06,1793249724598305280
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,717.955545786,683,664,637.955545786,886.955545786,783,817,651,629,654.955545786,0.446681786645,-0.0154912763395,0.0696035570346,0.999999803026,-2.41714848925e-05,-0.000627175515043,-3.72561257947e-06,1793249724614971648
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,717.377317483,683,664,637.377317483,886.377317483,783,817,651,629,654.377317483,0.446105872021,-0.0154870649182,0.069590764373,0.999999793818,-2.38108954266e-05,-0.000641628741925,-1.04848931735e-05,1793249724631638528
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,717.198424674,682.801575326,664,637.198424674,886.198424674,783.198424674,816.801575326,651,629,654.198424674,0.445532256339,-0.0154840555335,0.0695926323743,0.99999979901,-2.19998170783e-05,-0.000633520596966,-1.21676341084e-05,1793249724648304896
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,717.646779316,682,664,638,886.646779316,784,816,651,629,655,0.444371147234,-0.0154797289344,0.0696540467747,0.999999858644,1.1547910419e-07,-0.000531699044214,2.83822673012e-06,1793249724681637376
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,717.054494784,682,664,638,886.054494784,784,816,651,629,655,0.44376409939,-0.0154742437751,0.0696878277295,0.999999884512,2.65246377992e-05,-0.000479772456023,9.52151796173e-06,1793249724698304000
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,664,638,886,784,816,651,629,654.474199007,0.44309471373,-0.0154675490633,0.0697061461413,0.999999897701,2.14489773776e-05,-0.000451744886726,8.0372359464e-06,1793249724714970624
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.895826651,746,717,682,664,638,886,784.104173349,816,651.104173349,629,654.104173349,0.442412934841,-0.0154608668007,0.0697226721053,0.999999908584,1.89885624935e-05,-0.000427108234195,7.07723845925e-06,1793249724731637504
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766.320658185,746,717,682,664,638,886,784.679341815,816,651.679341815,629,654.679341815,0.441703682813,-0.0154547949756,0.0697381780099,0.999999916245,4.27769505998e-05,-0.000406853619847,1.22295962961e-05,1793249724748303872
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766.830466677,746,717,682,664,638,886,784.169533323,816.830466677,651.169533323,629,654.169533323,0.440268301494,-0.0154462528961,0.0697935492275,0.999999952792,6.77930076417e-05,-0.000299074562943,1.93267192625e-05,1793249724781637376
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,664,638.418154859,886,784.418154859,817,651.418154859,629,654,0.439494898217,-0.0154410005326,0.0698001690818,0.999999954632,8.30137819889e-05,-0.000288778095216,2.12552704122e-05,1793249724798304256
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,745.41317104,717,681.41317104,664,638.41317104,886,785.58682896,816.41317104,651.41317104,629,654,0.437833254829,-0.0154285682875,0.069740880194,0.999999920173,9.73643479171e-05,-0.000387167863239,1.66005438823e-05,1793249724831637248
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,745,717,681.737915154,664.737915154,638,885.262084846,785.262084846,816,651,629,654.737915154,0.436152957079,-0.0154294745305,0.0697219129231,0.999999910037,9.32233326648e-05,-0.00041353890316,1.48617651591e-05,1793249724864970752
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745,717,682,664.090508846,638.909491154,885,785,816,651,629,654.090508846,0.434497319889,-0.0154316913663,0.069806720684,0.999999948993,0.000107977635472,-0.000299614866806,2.42109351356e-05,1793249724898304000
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745,717,681.790582488,663.209417512,638,884,785.209417512,815,651,629,654,0.429945569212,-0.0154209743548,0.0697453937935,0.999999909346,0.000128974036775,-0.000405247365251,2.11950840351e-05,1793249724981637888
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.62371116,745,717.37628884,681.62371116,663,638,884,785,815,651,629.37628884,654,0.429004096287,-0.0154206718337,0.0697195314182,0.999999893764,0.000128121784756,-0.000442356152523,1.94431745122e-05,1793249724998304000
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.870925691,717.129074309,681.870925691,663.870925691,638.129074309,883.870925691,785,815,651,629,654,0.426372682201,-0.015424447342,0.0698481212359,0.999999961221,0.000134734702798,-0.000241636187575,3.18814062293e-05,1793249725048303872
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745.296255754,717.703744246,681.296255754,663.296255754,638.703744246,883.296255754,785,815,651,629,654,0.425477795806,-0.0154223456762,0.0698550122298,0.999999961258,0.000134431654187,-0.000241583265022,3.24074499221e-05,1793249725064970496
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662.721732112,638.721732112,882.721732112,785,815,651,629.278267888,654.278267888,0.424566708229,-0.0154226502023,0.0698433912584,0.999999956806,0.000133279176758,-0.000260082409096,3.13203685508e-05,1793249725081637376
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,662.147364177,638.147364177,882.147364177,785,815,651,629.852635823,654.852635823,0.423638381312,-0.0154255151156,0.0698120720247,0.999999946486,0.000131222836686,-0.000298322486186,2.8516788625e-05,1793249725098304000
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,662.440830386,638.440830386,882,785,815,651,630,654.559169614,0.422644965953,-0.0154217997987,0.0697526053426,0.999999907613,0.000135024296958,-0.000407376704246,2.42337699124e-05,1793249725114970624
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,717.967176827,681,663,638.967176827,882,785,814.967176827,650.967176827,629.967176827,654,0.42163729374,-0.0154161012593,0.0696872270097,0.999999848059,0.000140522273202,-0.000532681600801,1.96605548361e-05,1793249725131637248
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745,717.39129167,681,663,638.39129167,882,785,814.39129167,650.39129167,629.39129167,654,0.420765391059,-0.0154151626582,0.0696847593645,0.999999853425,0.000140641767605,-0.000522512987367,1.87334888454e-05,1793249725148303872
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745,717.184097215,681,662.815902785,638,882,785,814,650.184097215,629.184097215,654,0.419930651957,-0.0154167495366,0.0697104009971,0.99999987901,0.000139700509798,-0.000471228518943,2.01904851599e-05,1793249725164970752
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,717.758434234,681,662.241565766,638,882,785,814,650.758434234,629.758434234,654,0.419174690135,-0.0154236897963,0.06979562723,0.999999934952,0.000136510722286,-0.000332788767962,2.67010936992e-05,1793249725181637376
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,638,882,785,814,650.658099648,630,654,0.418377868899,-0.0154239825601,0.0698485012664,0.99999995723,0.000144884369011,-0.000251974095526,3.25197755624e-05,1793249725198303744
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,638,882,785,814,650.068006556,630,654,0.41755138699,-0.0154194497651,0.0698778901498,0.999999963536,0.000161652159981,-0.000212990704338,3.78361729795e-05,1793249725214970368
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,638,881.487570442,785,814,650.512429558,630,654,0.416702269802,-0.0154166912941,0.0698458227841,0.999999953015,0.000164020610986,-0.000256742972691,3.39255049233e-05,1793249725231637248
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.009008269,638,880.009008269,785,813.009008269,650.009008269,629,654,0.412047251974,-0.0154058106866,0.0698036599525,0.9999999374,0.000170680735721,-0.000308711897559,2.76436921745e-05,1793249725331637504
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,880,785,813.156311859,650,629.156311859,654,0.408809068098,-0.0153997431273,0.0697827601094,0.999999918511,0.000183437691787,-0.000358887437363,2.29903754569e-05,1793249725414971904
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.44317549,880,785,813,650.44317549,629.44317549,654,0.408197931845,-0.0154003257117,0.0697652215982,0.999999910205,0.000180384812382,-0.000382919569493,2.06022358916e-05,1793249725431638528
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,879.944766039,785,813.055233961,651,629.944766039,654,0.407604693525,-0.0154021348059,0.0697613251342,0.99999991056,0.000178621714625,-0.000382866794283,1.96911634797e-05,1793249725448304896
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,879.369631567,785,813.630368433,651,629.369631567,654,0.407104271359,-0.015400242983,0.0697868944722,0.999999923984,0.000182252090626,-0.000344008605448,2.17879960304e-05,1793249725464971264
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.793617074,745,718,679.206382926,661,638.793617074,879,785,813.793617074,651,629,654,0.406607613737,-0.0153974029185,0.0698039414872,0.999999930891,0.000187393502262,-0.000320256389617,2.31689911583e-05,1793249725481637632
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.216019779,745,718,679.783980221,661,638.216019779,879,785,813.216019779,651,629,654,0.406117727336,-0.0153928572824,0.0698056596696,0.999999928285,0.00019525276539,-0.000323674809352,2.32624322252e-05,1793249725498304512
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,718,679.632336994,661,638,879,785,813,651,629,654,0.4056571739,-0.015393042996,0.0698013635576,0.999999924584,0.000194130938925,-0.000335600052705,2.27401706263e-05,1793249725514971392
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.045018458,661,638,879,785,813,651,629,654,0.405214145019,-0.015396055393,0.069793474283,0.99999991999,0.000187643476783,-0.000352607588589,2.18500653979e-05,1793249725531638016
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879.534736245,785,813,651,629.534736245,654,0.404831474978,-0.015397072034,0.0698084873255,0.999999928402,0.000192926212007,-0.00032468524191,2.35386832056e-05,1793249725548304896
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.113252013,745,718,679,661,638,880,784.886747987,813,650.886747987,630,654,0.404462136724,-0.0153976637075,0.0698243585225,0.999999936712,0.000197440774223,-0.000294891166113,2.5127101989e-05,1793249725564971776
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.689271179,745,718,679,661,638,880,784.310728821,813,650.310728821,630,654,0.404126800056,-0.0153971958702,0.0698359676162,0.999999943519,0.000194823893769,-0.000272689502306,2.5431364606e-05,1793249725581638144
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.737454125,784,813,650,630,654,0.403802863682,-0.0153957577669,0.0698417918361,0.999999946602,0.000195031779226,-0.000261019708564,2.50612907677e-05,1793249725598304512
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879.167394001,784,813,650,630,654,0.403492280242,-0.0153931832121,0.069840840359,0.999999945764,0.000198548251539,-0.000261685665642,2.39013813613e-05,1793249725614971136
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.577070941,745,718,679,661,638,879,784.422929059,813,650.422929059,630,654,0.4031969323,-0.015389228414,0.0698326605486,0.999999940996,0.000204126105304,-0.000275348738068,2.28992379294e-05,1793249725631637760
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.020853013,745,718,679,661,638,879,785,813,651,630,654,0.402909196156,-0.0153848470279,0.069821677361,0.99999993434,0.000210491342185,-0.000294157035244,2.20271039158e-05,1793249725648304384
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.596874752,745,718,679,661,638,879,785,813,651,630,654,0.402655488928,-0.0153843845028,0.0698160598418,0.999999929776,0.000215004631177,-0.000306100356044,2.28701230637e-05,1793249725664971008
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,785,813,651,630,654,0.402417151232,-0.0153836099871,0.0698110988708,0.999999925545,0.000220672908974,-0.000315671396983,2.37551778671e-05,1793249725681637632
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,879,785,813,651,630,654,0.402214649147,-0.0153821080351,0.0698076687073,0.999999922358,0.000229034156139,-0.000319711232628,2.47382428211e-05,1793249725698304768
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.329153148,638,879.329153148,785,813.329153148,651,630,654,0.402029224758,-0.0153833034477,0.0698032197265,0.999999920041,0.000228753964864,-0.000326964273747,2.61544212991e-05,1793249725714971904
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.91924147,638,879.91924147,785,813.91924147,651,630,654,0.401857338639,-0.0153866371881,0.069797963081,0.999999918347,0.000221623299971,-0.000336764574315,2.79139493333e-05,1793249725731638784
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.501841815,638,879.501841815,784.501841815,813.501841815,651,630,654,0.401714702744,-0.015390365865,0.0697982680368,0.999999920445,0.000213981364776,-0.000335389304288,2.89064070681e-05,1793249725748305152
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.075338621,661,638,879,784.150677241,813,651,630,654,0.401580265066,-0.0153933447917,0.069799378473,0.999999922689,0.000208008107926,-0.000332373363578,2.97193595817e-05,1793249725764971264
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.652753058,661,638,879,785.305506115,813,651,630,654,0.401469554391,-0.0153909098734,0.0697999800378,0.999999922186,0.00021369559237,-0.000330232506266,3.01465869832e-05,1793249725781637888
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.772119137,661,638,879,785.772119137,813,651,630,654,0.401369801195,-0.0153888085785,0.0698001635104,0.999999920632,0.000224506440438,-0.000328047273304,2.68090585051e-05,1793249725798304256
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.200441141,661,638,879,785.200441141,813,651,630,654,0.401286579231,-0.0153872106115,0.0697997162198,0.999999917235,0.000243046755627,-0.000325795092151,1.77917538873e-05,1793249725814970880
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.614523085,661,638,879,785,813,651,630,654,0.401219004562,-0.0153892806599,0.0698012399738,0.999999922176,0.000226130344184,-0.000323109563745,1.06607493786e-05,1793249725831637760
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.020916442,661,638,879,785,813,651,630,654,0.401159878307,-0.0153933311722,0.0698038279497,0.999999930666,0.000190069857219,-0.000320190058845,4.54821114281e-06,1793249725848304896
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.555855999,661,638.555855999,879,784.444144001,813,651,630,654,0.401108898447,-0.0153935662299,0.0698014007705,0.999999929774,0.000188293519161,-0.000323992019254,5.23893918061e-06,1793249725864971008
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.875407212,879,784.124592788,813,651,630,654,0.401063421938,-0.0153933550641,0.0697995446836,0.999999928849,0.000188486312907,-0.000326706559515,6.13228677886e-06,1793249725881637376
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.331636977,879,784.668363023,813,651,630,654,0.401035459794,-0.0153921114665,0.0698002262196,0.999999928927,0.000191091256571,-0.00032493668648,6.87135362777e-06,1793249725898304256
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.755555287,745,718,679,661,638,879,785,813,651,630,654,0.401012479832,-0.015391780979,0.0698020432996,0.999999930071,0.000191956289867,-0.000320860270153,7.66953915428e-06,1793249725914970880
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.128959626,745,718,679,661,638,879,785,813,651,630,654,0.400997288727,-0.0153928779954,0.0698056356245,0.999999932854,0.000190101246729,-0.000313177935056,8.56014756961e-06,1793249725931637248
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879,785,813,651,630,654,0.400984765737,-0.0153919564963,0.0698074664235,0.999999933422,0.000191670612457,-0.000310381754774,9.06418189417e-06,1793249725948304128
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.043869757,744.956130243,718,678.956130243,661,638,879.043869757,785,813,651,630,654,0.40097346659,-0.0153906959702,0.069808794841,0.999999933469,0.000193948859892,-0.000308798244032,9.44471827093e-06,1793249725964971008
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.615350414,744.384649586,718,678.384649586,661,638,879.615350414,785,813,651,630,654,0.400968570664,-0.0153916490906,0.0698095713298,0.999999934128,0.000194079913384,-0.000306570693901,9.54479808064e-06,1793249725981637632
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.811299179,744.188700821,718,678.188700821,661,638,880,785,813,651,630,654,0.400964981239,-0.0153922270789,0.0698106455712,0.999999934931,0.000193963177677,-0.000304009803249,9.69719357074e-06,1793249725998304256
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.234099344,744.765900656,718,678.765900656,661,638,880,785,813,651,630,654,0.400964081653,-0.0153920327419,0.0698123328284,0.999999936032,0.000193336291247,-0.000300762628152,9.95729706639e-06,1793249726014970880
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.351754628,745,718,679,661,638,879.648245372,785,813,651,629.648245372,654,0.400963564192,-0.0153918382654,0.0698138859538,0.99999993646,0.000195186761396,-0.000298123976081,1.0214765236e-05,1793249726031637504
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.943513342,745,718,679,661,638,879.056486658,785,813,651,629.056486658,654,0.400963307459,-0.0153916436939,0.0698153475604,0.99999993642,0.00019872754537,-0.000295900522696,1.04704352976e-05,1793249726048304128
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.5227632,638.5227632,879.5227632,785,813.5227632,651,629.5227632,654,0.400960520283,-0.015392805639,0.0698144454442,0.99999993595,0.000197122357684,-0.000298547272895,1.05594412453e-05,1793249726064971008
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.899606258,661.899606258,639,879.899606258,784.899606258,813.899606258,651,630,654,0.400958293315,-0.01539373542,0.0698137061929,0.999999935674,0.000195317293,-0.000300650430943,1.06152529735e-05,1793249726081637376
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.3233943,661.3233943,639,879.3233943,784.3233943,813.3233943,651,630,654,0.40095998708,-0.0153928863838,0.0698149210743,0.999999936579,0.000195138697936,-0.00029774135879,1.05970980943e-05,1793249726098304256
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.743057876,745,718,678,661,638.743057876,879,784.256942124,813.256942124,651,630,654,0.400958861338,-0.0153922767466,0.0698145715334,0.999999936327,0.000196225418282,-0.000297876678181,1.05084268526e-05,1793249726114971136
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.157445521,745,718,678,661,638.157445521,879,784.842554479,813.842554479,651,630,654,0.400954128994,-0.0153919733389,0.0698122208455,0.999999934586,0.000198930680168,-0.000301906262763,1.03295538588e-05,1793249726131638016
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.423295143,745,718,678.423295143,661,638,879,785,813.576704857,651,630,654,0.400953343951,-0.0153915026011,0.0698120304722,0.999999934444,0.000198947931424,-0.000302372517629,1.01597274523e-05,1793249726148304896
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.002170596,879,785,813,651,630,654,0.400954013408,-0.015390976802,0.0698126360253,0.999999934892,0.000197979062035,-0.000301528711691,9.99445315483e-06,1793249726164971520
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.562093223,879,785,813,651,630,654,0.400955452962,-0.0153921133571,0.0698136361312,0.9999999352,0.000197604959088,-0.000300748336549,1.01440777451e-05,1793249726181637888
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.129609733,638.870390267,879,785,813,651,630,654,0.400956816102,-0.0153931123571,0.0698145676373,0.999999935664,0.000197146722594,-0.000299496121111,1.03084442715e-05,1793249726198304512
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.724380145,638.275619855,879,785,813,651,630,654,0.400957905003,-0.0153936176807,0.0698152529431,0.99999993669,0.000196386536438,-0.000296550502388,1.05257186144e-05,1793249726214971136
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,744.683399867,718,679,661.683399867,638.316600133,879.316600133,785,813,651,629.683399867,654,0.400957435412,-0.0153932294947,0.0698155343046,0.999999936753,0.000196379886822,-0.000296341142753,1.05207991697e-05,1793249726231637760
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,744.093382465,718,679,661.093382465,638.906617535,879.906617535,785,813,651,629.093382465,654,0.400955619901,-0.0153920696699,0.0698154668179,0.999999935988,0.000197023994716,-0.000298494828657,1.03239921817e-05,1793249726248304384
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,744.486395572,718,679,661,638.513604428,879.513604428,785,813.486395572,651,629,654,0.400956433595,-0.0153928311561,0.0698160250105,0.999999936195,0.000197098687662,-0.000297746688513,1.04372781276e-05,1793249726264971264
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.936058528,661.063941472,638,879,784.936058528,813.936058528,651,629.063941472,654,0.400957605897,-0.0153938387802,0.0698165966222,0.999999936573,0.000197004918236,-0.000296530243028,1.06024260292e-05,1793249726281638400
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.360965736,661.639034264,638,879,784.360965736,813.360965736,651,629.639034264,654,0.400957692897,-0.0153939260718,0.0698163350334,0.999999936864,0.000196420353716,-0.00029593194753,1.07160526433e-05,1793249726298305024
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.213242846,662,638,879,784.213242846,813,651,629.786757154,654,0.400957873688,-0.0153942176413,0.0698164515803,0.999999937301,0.00019523672602,-0.000295239898709,1.06385255794e-05,1793249726314971392
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.785960961,662,638,879,784.785960961,813,651,629.214039039,654,0.400958212587,-0.0153948535734,0.0698172055715,0.999999937982,0.000193043224277,-0.00029438980462,1.02387601986e-05,1793249726331638016
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,638,879,785,813,651,629.371892594,654,0.400959037376,-0.0153951812797,0.0698179944376,0.999999938416,0.000192636900575,-0.000293177513398,1.02488150128e-05,1793249726348304640
+405,6.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,638,879,785,813,651,629.96570926,654,0.400960152115,-0.0153953250546,0.0698188041148,0.999999938704,0.000193297061878,-0.000291749083847,1.05034269281e-05,1793249726364971008
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf9819c71675759c013f7bf2f65b7f7e9a4cf994
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_07/depth_05/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,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.00117719646369,1.05970502444
+1,0.016666667,pose1_baseline,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.00117719646369,1.05970502444
+2,0.033333333,pose1_baseline,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.00117719646369,1.05970502444
+3,0.050000000,pose1_baseline,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.00117719646369,1.05970502444
+4,0.066666667,pose1_baseline,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.00117719646369,1.05970502444
+5,0.083333333,pose1_baseline,0.575664317184,-0.00984983562042,1.0600336324,0.546234997269,-0.00117719646369,1.05970502444
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+370,6.166666667,pose2_to_pose3_retreat,0.576119622849,-0.00985000612921,1.06003357778,0.546690303963,-0.00117736349322,1.05970496954
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+372,6.200000000,pose2_to_pose3_retreat,0.575960158919,-0.00985001769441,1.06003344694,0.546530839984,-0.0011773749387,1.05970484615
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+374,6.233333333,pose2_to_pose3_retreat,0.575844811898,-0.00984997395795,1.06003346313,0.546415491906,-0.00117733462758,1.05970486652
+375,6.250000000,pose2_to_pose3_retreat,0.57580174011,-0.00984990351908,1.06003357987,0.546372419124,-0.00117726760953,1.05970498203
+376,6.266666667,pose2_to_pose3_retreat,0.575766469237,-0.0098498421966,1.06003352405,0.546337146695,-0.0011772118169,1.05970491964
+377,6.283333333,pose2_to_pose3_retreat,0.575738868592,-0.00984981682107,1.06003364833,0.546309546221,-0.00117718595286,1.05970504155
+378,6.300000000,pose2_to_pose3_retreat,0.575717957376,-0.00984986949824,1.06003358184,0.546288636629,-0.00117723294602,1.05970497967
+379,6.316666667,pose2_to_pose3_retreat,0.575702961728,-0.00984994439183,1.06003336738,0.546273642364,-0.00117730297884,1.05970476975
+380,6.333333333,pose2_to_pose3_retreat,0.575692112236,-0.00984989476426,1.0600335058,0.546262791019,-0.00117726012454,1.05970489549
+381,6.350000000,pose2_to_pose3_retreat,0.575684464973,-0.00984987831538,1.06003353013,0.54625514343,-0.00117724481303,1.05970491882
+382,6.366666667,pose2_to_pose3_retreat,0.57567914203,-0.00984987451757,1.06003351682,0.546249820664,-0.00117724030527,1.0597049081
+383,6.383333333,pose2_to_pose3_retreat,0.575675847462,-0.00984986631128,1.06003355913,0.546246526005,-0.00117723239886,1.05970495075
+384,6.400000000,pose2_to_pose3_retreat,0.575674281647,-0.0098498616649,1.06003358569,0.546244960119,-0.00117722798921,1.05970497731
+385,6.416666667,pose2_to_pose3_retreat,0.57567304085,-0.00984985798299,1.06003360673,0.546243719268,-0.00117722449488,1.05970499835
+386,6.433333333,pose2_to_pose3_retreat,0.575672010048,-0.0098498549242,1.06003362421,0.546242688419,-0.00117722159194,1.05970501583
+387,6.450000000,pose2_to_pose3_retreat,0.575671387795,-0.00984985027403,1.06003363112,0.546242066142,-0.00117721701665,1.05970502301
+388,6.466666667,pose2_to_pose3_retreat,0.575670704897,-0.00984983494301,1.06003362542,0.546241383226,-0.00117720169777,1.05970501859
+389,6.483333333,pose2_to_pose3_retreat,0.575669372098,-0.00984980502176,1.0600336143,0.546240050393,-0.00117717180024,1.05970500995
+390,6.500000000,pose2_to_pose3_retreat,0.575668330028,-0.00984978162735,1.0600336056,0.546239008295,-0.00117714842436,1.0597050032
+391,6.516666667,pose2_to_pose3_retreat,0.575667708545,-0.00984976767511,1.06003360042,0.546238386797,-0.00117713448318,1.05970499917
+392,6.533333333,pose2_to_pose3_retreat,0.575667093234,-0.00984976686548,1.06003355343,0.546237771338,-0.00117713415394,1.05970495269
+393,6.550000000,pose2_to_pose3_retreat,0.575666826157,-0.00984976989741,1.06003352214,0.546237504163,-0.00117713751651,1.05970492146
+394,6.566666667,pose2_to_pose3_retreat,0.575666333067,-0.00984977549509,1.06003346438,0.546237010892,-0.00117714372465,1.0597048638
+395,6.583333333,pose2_to_pose3_retreat,0.575665798784,-0.0098497815604,1.06003340179,0.546236476413,-0.00117715045142,1.05970480133
+396,6.600000000,pose2_to_pose3_retreat,0.575665589,-0.00984978394192,1.06003337722,0.546236266552,-0.00117715309266,1.0597047768
+397,6.616666667,pose2_to_pose3_retreat,0.575665460944,-0.00984978539565,1.06003336222,0.546236138449,-0.00117715470492,1.05970476183
+398,6.633333333,pose2_to_pose3_retreat,0.57566536732,-0.0098497920033,1.06003336689,0.546236044877,-0.00117716114247,1.05970476634
+399,6.650000000,pose2_to_pose3_retreat,0.575665347182,-0.009849796639,1.06003337697,0.5462360248,-0.00117716557577,1.05970477627
+400,6.666666667,pose2_to_pose3_retreat,0.575665305571,-0.00984980621778,1.06003339779,0.546235983315,-0.00117717473634,1.05970479679
+401,6.683333333,pose2_to_pose3_retreat,0.575665059412,-0.00984986288245,1.06003352093,0.546235737905,-0.00117722892699,1.05970491818
+402,6.700000000,pose2_to_pose3_retreat,0.575664812199,-0.00984991978961,1.0600336446,0.546235491444,-0.00117728334955,1.05970504009
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..467e7749c44ff17ba1c90d2438a866b654ee77bc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23419fc848b54b35c880558bff88a1a29c8797ed6aa9bbe70f8a8948b4540e16
+size 25381301
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9746ab8e081e638fb24ee4ffefbaf6e6d4784e86
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+37,0.616666667,BASELINE,767,745,718,679,661,638,879.471983976,785.471983976,813.471983976,651,630,654.471983976,0.401033789277,-0.0154850177541,0.0798666548491,0.999999979006,0.000137003730989,-0.000146647984348,4.13814281973e-05,1793249728219775744
+38,0.633333333,BASELINE,766.884322167,745,718,679,661,638,879,785,813.115677833,651,630,654,0.401033170597,-0.0154846228724,0.0798665034182,0.999999978939,0.000137249624967,-0.000146914583657,4.12416108023e-05,1793249728236442112
+39,0.650000000,BASELINE,766.305448588,745,718,679,661,638,879,785,813.694551412,651,630,654,0.401033045802,-0.0154846857462,0.0798662130653,0.999999978833,0.00013678774774,-0.000148072334672,4.12053698015e-05,1793249728253108736
+40,0.666666667,BASELINE,766,745,718,679,661,638,879.272588891,785.272588891,814,651,630,654,0.401033569046,-0.0154854423429,0.0798664744506,0.999999979009,0.000135894079928,-0.000147675163355,4.13189572331e-05,1793249728269775104
+41,0.683333333,BASELINE,766,745,718,679,661,638,879.849692312,785.849692312,814,651,630,654,0.401034816226,-0.0154869739113,0.0798673521939,0.999999979496,0.000134518050197,-0.000145540956968,4.15999210207e-05,1793249728286441728
+42,0.700000000,BASELINE,766.422472787,745,718,679,661,638,880,785.577527213,813.577527213,651,630,654,0.401034569363,-0.0154867103586,0.0798670867286,0.999999979324,0.000135609185982,-0.00014571889695,4.1565794512e-05,1793249728303108608
+43,0.716666667,BASELINE,766.993730809,745,718,679,661,638,880,785.006269191,813.006269191,651,630,654,0.401033796332,-0.0154858146054,0.0798664186513,0.999999978917,0.000137569200953,-0.000146711121941,4.14207004158e-05,1793249728319775232
+44,0.733333333,BASELINE,767,745,718,679,661,638,880,785.58594016,813,651,630,654.58594016,0.401033264982,-0.0154839739462,0.0798657903593,0.999999978777,0.000137833362419,-0.000147428796023,4.13751873555e-05,1793249728336442112
+45,0.750000000,BASELINE,766.825214653,745,718,679,661,638,879.825214653,786,813,651,630,654.825214653,0.401032585186,-0.0154828642082,0.0798651519078,0.999999978718,0.000137419980864,-0.000148245605552,4.12681076507e-05,1793249728353109248
+46,0.766666667,BASELINE,766.24471807,745,718,679,661,638,879.24471807,786,813,651,630,654.24471807,0.401031554588,-0.0154834754204,0.0798644888491,0.999999978837,0.000135477567321,-0.000149299599314,4.10155547962e-05,1793249728369775872
+47,0.783333333,BASELINE,766.332742979,745,718,679,661.665485957,638,879.332742979,785.667257021,813.332742979,651,630,654.332742979,0.401031430216,-0.0154843034037,0.0798648259671,0.999999979053,0.000134207902519,-0.00014900269869,4.10027370323e-05,1793249728386442496
+48,0.800000000,BASELINE,766.907991766,745,718,679,662.815983531,638,879.907991766,785.092008234,813.907991766,651,630,654.907991766,0.401031966307,-0.0154852893718,0.0798658920221,0.99999997934,0.00013342854231,-0.000147721255279,4.11646401398e-05,1793249728403108608
+49,0.816666667,BASELINE,766.505806954,745,718,679,662.011613907,638.494193046,880,785.494193046,814,651,630,655,0.401032404479,-0.0154854276369,0.0798657290128,0.999999979125,0.000134649955614,-0.000148052088225,4.12383908859e-05,1793249728419775232
+50,0.833333333,BASELINE,766,745,718,679,661.08113609,638.91886391,880,785.91886391,814,651,630,655,0.401032884526,-0.0154853713272,0.0798655317643,0.99999997886,0.000136106772946,-0.000148498808841,4.12728874392e-05,1793249728436441856
+51,0.850000000,BASELINE,766,745,718,679,661.659839906,638.340160094,880,785.340160094,814,651,630,655,0.40103373571,-0.0154851115806,0.079866559623,0.999999978895,0.000136671065299,-0.00014777368602,4.11695858079e-05,1793249728453108224
+52,0.866666667,BASELINE,766.237508383,745,718,679,661.762491617,638.237508383,879.762491617,785.237508383,814,651,630,655,0.40103379146,-0.0154846578778,0.0798666954728,0.999999978761,0.000137403020896,-0.000147993681348,4.11738492422e-05,1793249728469775104
+53,0.883333333,BASELINE,766.813700447,745,718,679,661.186299553,638.813700447,879.186299553,785.813700447,814,651,630,655,0.401032712931,-0.015483927596,0.0798655593301,0.999999978388,0.000138374061935,-0.000149561402172,4.1331498983e-05,1793249728486442752
+54,0.900000000,BASELINE,766.611825844,745,718,679,661,638.611825844,879,786,813.611825844,651,630,655,0.401033651684,-0.0154837581482,0.0798661020039,0.999999978549,0.000138662482015,-0.000148200312664,4.13786993678e-05,1793249728503109632
+55,0.916666667,BASELINE,766.03817322,745,718,679,661,638.03817322,879,786,813.03817322,651,630,655,0.401035554339,-0.0154838566798,0.0798674468544,0.999999978959,0.000138624730195,-0.000145439770708,4.13731245255e-05,1793249728519776000
+56,0.933333333,BASELINE,766.551423193,745,718,679,661,638,879,785.448576807,813.551423193,651,630,654.448576807,0.401034220827,-0.0154850536175,0.0798672740726,0.999999979326,0.000134625882121,-0.000146735376093,4.11344557176e-05,1793249728536442112
+57,0.950000000,BASELINE,766.860800162,744.860800162,718,679,661,638,879.139199838,785,813.860800162,651,630,654,0.401033228938,-0.0154856134824,0.0798671190051,0.99999997949,0.000132459781695,-0.000147623916311,4.10045073871e-05,1793249728553108224
+58,0.966666667,BASELINE,766.28235251,744.28235251,718,679,661,638,879.71764749,785,813.28235251,651,630,654,0.401034043026,-0.0154839159644,0.0798673612277,0.999999979064,0.000136968003664,-0.000146315521877,4.12700633004e-05,1793249728569774848
+59,0.983333333,BASELINE,766.293552761,744.293552761,718,679,661,638,879.706447239,785.293552761,813,651,630,654.293552761,0.40103500915,-0.0154826739916,0.0798677105556,0.999999978822,0.000139469415689,-0.000145635039212,4.11747258346e-05,1793249728586441728
+60,1.000000000,BASELINE,766.867033717,744.867033717,718,679,661,638,879.132966283,785.867033717,813,651,630,654.867033717,0.401036120253,-0.0154818664207,0.0798681620178,0.999999978769,0.000140057159695,-0.000145553325108,4.0735245044e-05,1793249728603108352
+61,1.016666667,BASELINE,767,745,718,679.44429657,661,638,879.44429657,785.55570343,813.44429657,651,629.55570343,654.55570343,0.401035432606,-0.0154826678414,0.0798677029514,0.999999978707,0.000139706881588,-0.000146284127435,4.08418894892e-05,1793249728619775232
+62,1.033333333,BASELINE,766.977631749,745.022368251,718,679.977631749,661,638,880,785,814,651,629.022368251,654,0.401034260352,-0.0154839272641,0.0798670306023,0.99999997866,0.000139011245628,-0.000147194849362,4.11046588066e-05,1793249728636442368
+63,1.050000000,BASELINE,766.407703679,745.592296321,718,679.407703679,661,638,880,785,814,651,629.592296321,654,0.401034515999,-0.0154845095715,0.0798678650554,0.999999979065,0.00013679244557,-0.00014650626912,4.11539878234e-05,1793249728653108992
+64,1.066666667,BASELINE,766,745.829614111,718,679,661,638,880,785.170385889,813.829614111,651,629.829614111,654,0.40103427411,-0.0154849280496,0.0798678995539,0.999999979283,0.000135253938943,-0.000146461450093,4.1094790685e-05,1793249728669775360
+65,1.083333333,BASELINE,766,745.231013035,718,679,661,638,880,785.768986965,813.231013035,651,629.231013035,654,0.401032781806,-0.0154849347905,0.0798659236001,0.999999979042,0.000135425151378,-0.00014803453697,4.07628447379e-05,1793249728686441728
+66,1.100000000,BASELINE,766,745,718,679,661.3515014,638,880,786,813.3515014,651,629.3515014,654,0.401032855343,-0.015484028779,0.079865835501,0.999999978688,0.000137694798685,-0.000148341554874,4.07284068592e-05,1793249728703108096
+67,1.116666667,BASELINE,766,745,718,679,661.92390606,638,880,786,813.92390606,651,629.92390606,654,0.401033912943,-0.0154825491426,0.079866933836,0.999999978254,0.000141283220549,-0.000147852903726,4.08809398057e-05,1793249728719774720
+68,1.133333333,BASELINE,766.513556522,745,718,679,661.486443478,638,880,785.486443478,813.486443478,651,630,654,0.401034298146,-0.0154834322573,0.0798672055673,0.999999978361,0.000140663978207,-0.000147603185388,4.1297241828e-05,1793249728736441600
+69,1.150000000,BASELINE,767,745,718,679,661,638,880,785.103410907,813.103410907,651,630,654.103410907,0.401034478494,-0.0154844438353,0.0798672760965,0.999999978539,0.000139456764993,-0.000147458880004,4.15968986928e-05,1793249728753108224
+70,1.166666667,BASELINE,767,745,718,679,661,638,880,785.682051112,813.682051112,651,630,654.682051112,0.401034191188,-0.0154843810131,0.0798670044055,0.999999978662,0.000138512162867,-0.00014763065606,4.11746598575e-05,1793249728769775104
+71,1.183333333,BASELINE,766.740390512,745,718,679,661,638,880,785.740390512,814,651,630,654.740390512,0.401034190708,-0.0154844331525,0.0798669724661,0.999999978834,0.000137776836809,-0.00014718860492,4.10522478164e-05,1793249728786442240
+72,1.200000000,BASELINE,766.164151499,745,718,679,661,638,880,785.164151499,814,651,630,654.164151499,0.401034540051,-0.0154846255033,0.079867232937,0.999999979064,0.000137296751609,-0.000145997907001,4.12955157869e-05,1793249728803109376
+73,1.216666667,BASELINE,766,745,718,679,661,638,880.411455647,785,814,651,630,654,0.401033721362,-0.0154840861491,0.0798668890428,0.999999978898,0.000137897907748,-0.000146590392004,4.12241982115e-05,1793249728819776000
+74,1.233333333,BASELINE,766,745,718,679,661,638,880.986811058,785,814,651,630,654,0.401032437398,-0.0154832553265,0.0798663044051,0.999999978571,0.000138929766963,-0.00014789319243,4.10275682153e-05,1793249728836442368
+75,1.250000000,BASELINE,766,745,718,679,661.575540719,638,879.848918562,785,814,651,630,654.575540719,0.401032752265,-0.015482975396,0.0798660211999,0.999999978318,0.000139985264084,-0.000148657148209,4.0861149005e-05,1793249728853108480
+76,1.266666667,BASELINE,766,745,718,679,661.837463078,638,879,785,813.837463078,651,630,654.837463078,0.40103253475,-0.0154830035283,0.0798656757458,0.999999978143,0.000140333704637,-0.000149532755147,4.07382592359e-05,1793249728869775104
+77,1.283333333,BASELINE,766,745,718,679,661.255746672,638,879,785,813.255746672,651,630,654.255746672,0.401030847493,-0.015483792817,0.0798651515147,0.99999997817,0.000138857230113,-0.000150728911081,4.07258031268e-05,1793249728886441728
+78,1.300000000,BASELINE,766.32062958,745,718,679,661,638,879.32062958,785,813.32062958,651,630,654,0.401030703275,-0.0154839820681,0.079865403444,0.999999978216,0.000138655140926,-0.000150542568243,4.09952048913e-05,1793249728903108608
+79,1.316666667,BASELINE,766.892816072,745,718,679,661,638,879.892816072,785,813.892816072,651,630,654,0.401031769682,-0.0154837005467,0.0798662643269,0.999999978275,0.000139452898543,-0.000149271555871,4.14857443815e-05,1793249728919775744
+80,1.333333333,BASELINE,766.532413888,745,718,679,661,638,880,785.467586112,814,651,630,654.467586112,0.401031847384,-0.0154837232191,0.0798665802596,0.999999978562,0.000137953228105,-0.000148807080058,4.12424972293e-05,1793249728936442368
+81,1.350000000,BASELINE,766,745,718,679,661,638,880,786,813.955658732,651,630,654.955658732,0.401031801708,-0.0154837687731,0.0798668075669,0.99999997887,0.000136180866947,-0.000148473113877,4.08784421322e-05,1793249728953108992
+82,1.366666667,BASELINE,766,745,718,679,661,638,880,786,813.361679098,651,630,654.361679098,0.40103305164,-0.0154832288127,0.0798674933456,0.999999978818,0.000137592582768,-0.000147452448175,4.11134835124e-05,1793249728969775616
+83,1.383333333,BASELINE,766,745,718,679,661,638,880,786,813,651,630,654.225232617,0.40103394611,-0.01548297104,0.0798679496611,0.99999997883,0.000138273445343,-0.000146729937585,4.11224635128e-05,1793249728986442240
+84,1.400000000,BASELINE,766,745,718,679,661,638,880,786,813,651,630,654.801140062,0.401034287144,-0.0154831526183,0.079868048715,0.999999978945,0.000137816409731,-0.000146471637988,4.07794783837e-05,1793249729003109376
+85,1.416666667,BASELINE,766,745,718.373807005,679,661,638,879.626192995,785.626192995,813.373807005,651,630,655,0.401034647856,-0.0154833732242,0.0798682079203,0.999999979031,0.000137639473961,-0.0001460669881,4.07235893361e-05,1793249729019775488
+86,1.433333333,BASELINE,766,745,718.94476483,679,661,638,879.05523517,785.05523517,813.94476483,651,630,655,0.401035018946,-0.0154836144137,0.0798683988502,0.999999979101,0.000137610266626,-0.000145585151123,4.08191186267e-05,1793249729036441856
+87,1.450000000,BASELINE,766,745,718.463873198,679,661,638,879.536126802,785.536126802,814,650.463873198,630,654.463873198,0.401034149233,-0.0154841265821,0.0798679762201,0.999999978986,0.000137632758888,-0.00014634009822,4.08661904e-05,1793249729053108480
+88,1.466666667,BASELINE,766.126390192,745,718,679,661,638,880,785.873609808,813.873609808,650.126390192,630,654.126390192,0.401033471737,-0.0154845345105,0.0798676497601,0.999999978868,0.000137769583494,-0.000146999538474,4.09313608358e-05,1793249729069775360
+89,1.483333333,BASELINE,766.704906256,745,718,679,661,638,880,785.295093744,813.295093744,650.704906256,630,654.704906256,0.40103395723,-0.0154844657298,0.0798679023951,0.999999978812,0.000138295592735,-0.000146843481101,4.10798397181e-05,1793249729086441984
+90,1.500000000,BASELINE,766.728973321,745,718,679.271026679,661,638,880.271026679,785,813.271026679,651,630,655,0.401034694473,-0.0154849738065,0.0798682737322,0.999999979028,0.000137449456482,-0.000146114129044,4.12626411522e-05,1793249729103108352
+91,1.516666667,BASELINE,766.175759031,745,718,679.824240969,661,638,880.824240969,785,813.824240969,651,630,655,0.401035693835,-0.0154860824957,0.0798687686596,0.999999979522,0.000135174669482,-0.000144787873925,4.14811785382e-05,1793249729119775232
+92,1.533333333,BASELINE,766.407437609,745,718,680,661,638,880.185124782,785,813.592562391,651,630,655,0.401034473269,-0.0154851121546,0.0798677361068,0.999999979243,0.000135534821443,-0.000146442386081,4.12205942627e-05,1793249729136442112
+93,1.550000000,BASELINE,766.9954328,745,718,679.9954328,661,638,879,785,813.0045672,650.9954328,630,655,0.401032250841,-0.0154831870894,0.079866017607,0.999999978603,0.000137115641398,-0.000149444336582,4.07406219519e-05,1793249729153108736
+94,1.566666667,BASELINE,766.401932293,745,718,679.401932293,661,638,879,785,813.598067707,650.401932293,630,655,0.401034133024,-0.0154829847789,0.0798675630511,0.999999978827,0.000137887895617,-0.000147219693188,4.07392015611e-05,1793249729169775360
+95,1.583333333,BASELINE,766,745,718,679,661,638,879,785.18586362,813.81413638,650.18586362,630,654.81413638,0.401034845423,-0.0154829799028,0.0798682243843,0.999999978812,0.000138853847148,-0.000146370785182,4.08703650859e-05,1793249729186441728
+96,1.600000000,BASELINE,766,745,718,679,661,638,879,785.761690738,813.238309262,650.761690738,630,654.238309262,0.401033103481,-0.0154833892669,0.0798670307502,0.999999978304,0.000140226198323,-0.000148408329678,4.12797050922e-05,1793249729203108096
+97,1.616666667,BASELINE,766,745,718,679,661,638,879.339266723,786,813.339266723,651,630,654.339266723,0.401032978958,-0.0154836677898,0.0798668760193,0.9999999783,0.000140230178888,-0.000148428033967,4.12818609574e-05,1793249729219775232
+98,1.633333333,BASELINE,766,745,718,679,661,638,879.918077483,786,813.918077483,651,630,654.918077483,0.401033996436,-0.0154838539305,0.0798674548206,0.999999978654,0.00013926800207,-0.000147023013696,4.09965187122e-05,1793249729236442368
+99,1.650000000,BASELINE,766,745,718,678.495343623,661,638,880,785.495343623,814,651,630,655,0.401033709667,-0.0154834763275,0.0798676434685,0.999999978619,0.000139425682863,-0.000147131284477,4.09137730619e-05,1793249729253108992
+100,1.666666667,BASELINE,766.091147424,745,718.091147424,678.091147424,661.091147424,638,879.908852576,785,813.908852576,651,630,655,0.401033073175,-0.0154831969207,0.0798675153592,0.999999978543,0.000139335561279,-0.000147748328662,4.08553401215e-05,1793249729269775360
+101,1.683333333,BASELINE,766.670310856,745,718.670310856,678.670310856,661.670310856,638,879.329689144,785,813.329689144,651,630,655,0.401031715538,-0.0154839409106,0.0798660356926,0.999999978582,0.000136930124893,-0.000149753569605,4.07482401117e-05,1793249729286441728
+102,1.700000000,BASELINE,766.751415256,745,718.751415256,679,661.751415256,638,879.248584744,785,813,651,630,654.751415256,0.401031573232,-0.0154840588218,0.0798655478719,0.999999978588,0.000136385694418,-0.000150229568475,4.0668250392e-05,1793249729303108608
+103,1.716666667,BASELINE,766.174316976,745,718.174316976,679,661.174316976,638,879.825683024,785,813,651,630,654.174316976,0.401033037029,-0.015483349348,0.0798663708107,0.999999978558,0.000138300649296,-0.000148684619677,4.06240878886e-05,1793249729319775488
+104,1.733333333,BASELINE,766,745,718,679,661,638,880,785.401334332,813,651,630,654,0.401033078265,-0.0154844076413,0.0798665575263,0.999999978752,0.000137190825376,-0.000148421480062,4.05749397275e-05,1793249729336442112
+105,1.750000000,BASELINE,766,745,718,679,661,638,880,785.976359464,813,651,630,654,0.40103250384,-0.0154862309945,0.0798664688952,0.999999979039,0.000134771927849,-0.000148713085931,4.05236338531e-05,1793249729353108736
+106,1.766666667,BASELINE,766,745.563570739,718,679,661,638,879.436429261,786,813,651,630,654,0.401033172763,-0.0154851830594,0.0798676332762,0.999999979177,0.000135341063944,-0.000147174634124,4.08518481526e-05,1793249729369775616
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,638,879,785,814,651,630,654,0.401033075261,-0.0154839480119,0.0798663824475,0.999999978553,0.000139190163719,-0.000147817182221,4.08629689339e-05,1793249729411211520
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.419628947,638,879.580371053,785.580371053,814,651,630,654.580371053,0.401032790817,-0.0154834316014,0.0798667078828,0.999999978337,0.000140114314387,-0.000148446176037,4.07196679512e-05,1793249729427878656
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.840892949,785.840892949,814,651,630,654.840892949,0.401032433579,-0.0154833867115,0.0798669129971,0.999999978246,0.000140305138412,-0.000148887418859,4.06878841807e-05,1793249729444545280
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.266425255,785.266425255,814,651,630,654.266425255,0.40103188631,-0.0154845727607,0.0798668040049,0.999999978483,0.000138581559581,-0.000148838524056,4.0947224252e-05,1793249729461211392
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.318678059,785.318678059,814,651,630,654.318678059,0.401032220244,-0.0154849100381,0.0798668951937,0.9999999787,0.000137359736234,-0.000148516051865,4.09189727106e-05,1793249729477878016
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661,638,879.912980063,785.912980063,814,651,630,654.912980063,0.401033316329,-0.0154845132145,0.0798671595185,0.999999978903,0.000136571880191,-0.000147956963205,4.0641983808e-05,1793249729494544384
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.507140831,745,718,679,661,638,879.507140831,785.507140831,813.507140831,651,630,654.507140831,0.401034243417,-0.0154844035347,0.0798678447223,0.999999979004,0.000137026210769,-0.000146852282123,4.06312954578e-05,1793249729511210496
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879.069933059,785,813.069933059,651,630,654,0.40103477353,-0.0154842498314,0.0798684210304,0.999999979005,0.000137597341417,-0.000146302646801,4.06507063236e-05,1793249729527877376
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879.644617263,785,813.644617263,651,630,654,0.401032647658,-0.015483422864,0.0798676902683,0.999999978413,0.00013747351137,-0.000150434638883,4.05576492493e-05,1793249729544544000
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,880,785.224620285,813.775379715,651,630,654,0.401033043817,-0.0154832627926,0.0798679820071,0.999999977963,0.000137161521607,-0.000153679563456,4.05435276425e-05,1793249729561210624
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,880,785.813242509,813.186757491,651,630,654,0.401037526983,-0.0154841834405,0.0798699307304,0.999999977763,0.000136544615045,-0.000155486975899,4.06573226462e-05,1793249729577877248
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.395073577,745,718,679,661,638,879.604926423,786,813.395073577,651,629.604926423,654.395073577,0.401055250474,-0.0154845665305,0.0798762449019,0.999999977826,0.000139052702383,-0.000152715775458,4.11127123614e-05,1793249729594543872
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.97374866,745,718,679,661,638,879.02625134,786,813.97374866,651,629.02625134,654.97374866,0.401079127106,-0.0154846998028,0.0798845878169,0.999999977978,0.000143013059868,-0.000147816768429,4.17268504985e-05,1793249729611210240
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.449982389,745,718,679,661,638,879,785.449982389,813.449982389,651,629.550017611,655,0.40113052942,-0.0154873615425,0.0798980905995,0.999999980724,0.00013961314236,-0.000131576535807,4.18014677347e-05,1793249729627877120
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,718,679.12578479,661,638,879.12578479,785.12578479,813.12578479,651,630,655,0.401188337199,-0.0154901660071,0.0799117395242,0.999999983296,0.000136486121615,-0.000114203531923,4.16753930028e-05,1793249729644543744
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,718,679.700170382,661,638,879.700170382,785.700170382,813.700170382,651,630,655,0.401264324566,-0.0154930509714,0.0799250351771,0.999999985486,0.000135579761286,-9.4712668929e-05,4.09250038491e-05,1793249729661210624
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,718,679.71811875,661,638,880,785.71811875,813.71811875,651,630,654.71811875,0.401348746591,-0.0154962248003,0.0799361450271,0.999999987068,0.000134573614945,-7.85433006778e-05,3.98149283429e-05,1793249729677877248
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,718,679.128408329,661,638,880,785.128408329,813.128408329,651,630,654.128408329,0.401442379704,-0.0154997140841,0.0799448678643,0.999999988182,0.000133458497101,-6.60011807972e-05,3.83120564502e-05,1793249729694543616
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879.554865968,785.445134032,813.445134032,651,630,654.445134032,0.401551702541,-0.0155020724986,0.0799496399012,0.999999988527,0.000134843791682,-5.93263179002e-05,3.52714813774e-05,1793249729711210496
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.014631582,745,718,679,661,638,879,785.985368418,813.985368418,651,629.985368418,655,0.401666100708,-0.015504112318,0.0799533155623,0.999999988658,0.00013685833348,-5.42581767596e-05,3.17795546636e-05,1793249729727877120
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.601967882,745,718,679,661,638,879,785.398032118,813.398032118,651,629.398032118,655,0.401808208469,-0.0155060031793,0.0799571231884,0.999999989183,0.000136259421859,-4.81531131312e-05,2.73750119151e-05,1793249729744543744
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.810628707,745,718,679.189371293,661,638,879.189371293,785,813.189371293,651,629.189371293,654.810628707,0.401957244218,-0.015507997081,0.0799608117762,0.999999989796,0.000134621277418,-4.20032872301e-05,2.28288335386e-05,1793249729761210624
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.223084263,745,718,679.776915737,661,638,879.776915737,785,813.776915737,651,629.776915737,654.223084263,0.402120846772,-0.0155102076357,0.0799642500728,0.999999990645,0.000130798036262,-3.57593446943e-05,1.79848518479e-05,1793249729777877248
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,718,679.640872584,661,638,880,785.359127416,814,651,630,654,0.402300178787,-0.0155110935847,0.0799632658234,0.999999991252,0.000125250898089,-4.08496108886e-05,1.18063586204e-05,1793249729794543872
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,718,679.061925007,661,638,880,785.938074993,814,651,630,654,0.402489138746,-0.0155111687491,0.0799595745552,0.999999991552,0.000118648570467,-5.28774910319e-05,4.81101684008e-06,1793249729811210496
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.51653069,638,880,785.48346931,814,651,630,654.51653069,0.40271500833,-0.0155126077594,0.0799564731195,0.999999995451,7.25179998722e-05,-6.18513505708e-05,-3.61018419297e-06,1793249729827877120
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.094103037,745,718,679.094103037,661.905896963,638,880,785,813.905896963,651,630,654.905896963,0.402952141733,-0.0155132023844,0.0799537952089,0.999999997108,2.95762040842e-05,-6.89868220364e-05,-1.2225050617e-05,1793249729844543744
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.667476706,745,718,679.667476706,661.332523294,638,880,785,813.332523294,651,630,654.332523294,0.403224127248,-0.0155086645676,0.0799529145264,0.999999997062,2.69873970891e-05,-6.86222807151e-05,-2.09564840444e-05,1793249729861210368
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.7590709,745,718,679.7590709,661.2409291,638,880,785,813.2409291,651,630,654.2409291,0.403515765485,-0.0155034033016,0.0799533247644,0.999999996997,2.70989997098e-05,-6.78509150833e-05,-2.58562913219e-05,1793249729877876992
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.185509851,745,718,679.185509851,661.814490149,638,880,785,813.814490149,651,630,654.814490149,0.403834536682,-0.0154971432264,0.0799555172753,0.999999996985,3.09388466548e-05,-6.65178789993e-05,-2.54660717942e-05,1793249729894543616
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.400556569,745,718.400556569,679,661.599443431,638,880,785.400556569,814,651,629.599443431,654.599443431,0.404179465896,-0.0154964961283,0.079957481167,0.999999997178,3.31881608663e-05,-6.18497111908e-05,-2.67806218999e-05,1793249729911210240
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.99260123,745,718.99260123,679,661.00739877,638,880,785.99260123,814,651,629.00739877,654.00739877,0.404536900072,-0.0154985323425,0.0799593357661,0.999999997436,3.46771127596e-05,-5.55871668517e-05,-2.891014575e-05,1793249729927876864
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.431152002,745,718.431152002,679,661,638,880,786,814,651,629.568847998,654.568847998,0.404950318018,-0.0155044910491,0.0799583922537,0.999999997854,1.86555787349e-05,-5.36904037717e-05,-3.25915071854e-05,1793249729944543744
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661.144903807,638,880.144903807,786,813.855096193,651,629.855096193,654.855096193,0.405369748724,-0.015511858362,0.0799555093223,0.9999999978,1.66584685475e-06,-5.60360161224e-05,-3.5466644753e-05,1793249729961210368
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.720986188,638,880.720986188,786,813.279013812,651,629.279013812,654.279013812,0.405804962869,-0.0155232694411,0.0799469607864,0.999999996693,-1.75454805855e-05,-7.08409216951e-05,-3.58843289978e-05,1793249729977876992
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.306292724,745,718,679.306292724,662,638.306292724,880.693707276,786,813,651,629.306292724,654,0.406256188524,-0.015532943145,0.0799385125432,0.999999995555,-2.16291564916e-05,-8.50517539379e-05,-3.44740140748e-05,1793249729994543616
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.900262875,745,718,679.900262875,662,638.900262875,880.099737125,786,813,651,629.900262875,654,0.406722452624,-0.0155409850658,0.0799301584965,0.999999994571,-1.15045837605e-05,-9.87046200842e-05,-3.13467988198e-05,1793249730011210240
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.519869528,745.480130472,718,679.519869528,662,639,880,785.519869528,813,650.519869528,629.519869528,654.480130472,0.407229890582,-0.0155386157769,0.0799263714861,0.999999993491,-1.35362293345e-05,-0.000108215050949,-3.35251351336e-05,1793249730027876864
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.943523193,718,679.056476807,662,639,880,785.056476807,813.056476807,650.056476807,629,655,0.407750605732,-0.015534284884,0.0799230580105,0.999999992301,-1.70830537138e-05,-0.000117335411028,-3.65836365421e-05,1793249730044543744
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.37331959,718,679.62668041,662,639,880,785.62668041,813.62668041,650.62668041,629,655,0.408316513453,-0.0155312219779,0.0799156684937,0.999999990692,-1.20978934469e-05,-0.000130511611393,-3.79092610942e-05,1793249730061210624
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.204943068,745,718,680,662,639,880,786,814,651,629,655,0.408907768251,-0.0155299391612,0.079919138846,0.999999991334,-9.50715365618e-06,-0.000125505111847,-3.86114719614e-05,1793249730077876992
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.798486784,745,718,680,662,639,880,786,814,651,629,655,0.409547084611,-0.0155320316423,0.0799432010255,0.999999995507,-1.14565694261e-05,-8.60216757189e-05,-3.81316034013e-05,1793249730094543616
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,880.382438111,785.617561889,814,651,629.382438111,655,0.410219216073,-0.0155362730251,0.0799726447991,0.9999999985,-1.53644933427e-05,-3.80073881603e-05,-3.63148541234e-05,1793249730111210496
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,880.9614587,785.0385413,814,651,629.9614587,655,0.410908215274,-0.0155416189955,0.0800048548421,0.999999999119,-2.02791379218e-05,1.43919630486e-05,-3.38109156409e-05,1793249730127877120
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,718,679.462678492,662,638.462678492,881,785.537321508,814,651,630,654.462678492,0.411563191243,-0.0155403244983,0.079982091688,0.999999998592,-2.54883354162e-05,-2.76111843279e-05,-3.74785613978e-05,1793249730144543744
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,718,679.112890183,662,638,881.112890183,786,814,651,630,654,0.412228112761,-0.0155379606053,0.0799538690579,0.999999995849,-3.00470623365e-05,-7.51005398624e-05,-4.19450207544e-05,1793249730161210624
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,745,718,679.68817628,662,638,881.68817628,786,814,651,630,654,0.412943708456,-0.0155331560523,0.0799193412242,0.999999991445,-3.18554400425e-05,-0.000117487989644,-4.78807936774e-05,1793249730177876992
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,718,680,662,638.269942506,882,786,814,651,630,654.269942506,0.413681330508,-0.0155312682999,0.0799069222632,0.999999990105,-3.23992715686e-05,-0.000126964442532,-5.11876474476e-05,1793249730194543872
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662,638.859378438,882,786,814,651,630,654.859378438,0.414445022191,-0.0155328327584,0.0799206704972,0.999999993433,-3.14464358127e-05,-9.74887284144e-05,-5.13830158407e-05,1793249730211210496
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.558793686,745,718.441206314,680,662,639,882,786,814,650.558793686,629.558793686,655,0.415233541671,-0.0155329787381,0.0799418715539,0.999999996153,-3.02012140295e-05,-6.56380739153e-05,-4.97291220905e-05,1793249730227877120
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.020495503,745.020495503,718.979504497,680,662.020495503,639,882.040991006,786,814,650.020495503,629,654.979504497,0.416029413847,-0.0155326981033,0.0799639612483,0.999999997817,-2.91271372179e-05,-3.53079833807e-05,-4.76489281107e-05,1793249730244543744
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.595592859,745.595592859,718.404407141,680,662.595592859,639,883.191185718,786,814,650.595592859,629,654.404407141,0.416813751923,-0.0155328996762,0.0799469101013,0.999999995951,-3.51631191282e-05,-6.62592366571e-05,-4.97117489328e-05,1793249730261211648
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.829682525,718,680.170317475,663,639,884,786,814,651,629.170317475,654,0.417638005678,-0.0155343642775,0.0799448048487,0.999999995616,-4.10918267454e-05,-6.69280264931e-05,-5.09893343762e-05,1793249730277878784
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.255841055,718,680.744158945,663,639,884,786,814,651,629.744158945,654,0.41855682945,-0.0155388213036,0.0799781100974,0.999999997627,-4.67663747552e-05,4.14979088242e-06,-5.0406503853e-05,1793249730294545152
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,718,681,663.32952715,639,883.67047285,786,814,650.67047285,630,654.32952715,0.419427082862,-0.015539100015,0.0799875208425,0.999999997317,-4.57732234198e-05,2.61347637982e-05,-5.08742213414e-05,1793249730311211264
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663.924168938,639,883.075831062,786,814,650.075831062,630,654.924168938,0.420258259895,-0.0155360171446,0.0799777077295,0.999999997824,-3.94157045665e-05,8.62304348393e-06,-5.21871368923e-05,1793249730327877120
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,718,681,663.496534336,639,883.503465664,786,814.503465664,650.503465664,630,654.496534336,0.421114184392,-0.0155374686858,0.0799666801394,0.999999997622,-4.20548686645e-05,-1.06632535543e-05,-5.36005789209e-05,1793249730344544000
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639.080045432,884.080045432,786,815,650.919954568,629.919954568,654.080045432,0.421980982706,-0.0155394414641,0.0799607809029,0.999999997254,-4.50922141983e-05,-2.2331331405e-05,-5.44001191618e-05,1793249730361210880
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639.653701512,884.653701512,786,815,650.346298488,629.346298488,654.653701512,0.422892529709,-0.015540541495,0.0799876009868,0.999999997675,-4.2475972319e-05,1.45788338488e-05,-5.1323345016e-05,1793249730377877760
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.233649518,718,681.233649518,663,639.766350482,885.233649518,786,815,650.233649518,629.233649518,655,0.423783213678,-0.0155399931947,0.0799968610242,0.999999997815,-3.84594237208e-05,1.89097879748e-05,-5.03374228408e-05,1793249730394544384
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.823181128,718,681.823181128,663,639.176818872,885.823181128,786,815,650.823181128,629.823181128,655,0.424642120361,-0.0155369342474,0.079979374569,0.99999999775,-3.2310004582e-05,-2.63821143734e-05,-5.25361709067e-05,1793249730411211264
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.594657559,746,718,681.594657559,663,639,886,786,815,651,629.594657559,655,0.425517540799,-0.0155347024103,0.079945918838,0.999999995213,-2.96254515844e-05,-7.44848092827e-05,-5.61071744601e-05,1793249730427878400
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.015653942,746,718,681.015653942,663,639,886,786,815,651,629.015653942,655,0.426400036186,-0.015532824933,0.0799056213788,0.999999990118,-2.84253541909e-05,-0.000123791731378,-6.02660942753e-05,1793249730444545024
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.439447496,718,681.560552504,663.560552504,639,886.560552504,786,815,651,629,655,0.427294507333,-0.0155348537941,0.0799051535213,0.999999990447,-3.40246249756e-05,-0.000119461269464,-6.0633132467e-05,1793249730461210880
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.136064252,745,717.863935748,682,664,639,887,786.136064252,815,651,629.136064252,654.863935748,0.42818970664,-0.0155365389465,0.0799092303837,0.999999991043,-3.87535808904e-05,-0.000112928037877,-6.04955971752e-05,1793249730477876992
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.709592319,745,717.290407681,682,664,639,887,786.709592319,815,651,629.709592319,654.290407681,0.429086177113,-0.0155367700411,0.0799243607379,0.999999992033,-4.0076911337e-05,-0.000104104562896,-5.90745591781e-05,1793249730494543616
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,717.291395078,682,663.708604922,639,887,786.708604922,815.291395078,651,630,654.291395078,0.430009656067,-0.0155395184767,0.0799554994722,0.999999995571,-4.13259882389e-05,-6.28539896486e-05,-5.65704599512e-05,1793249730511210240
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,717.881685477,682,663.118314523,639,887,786.118314523,815.881685477,651,630,654.881685477,0.43096083862,-0.0155448490474,0.0800030586266,0.999999997627,-4.24989001285e-05,1.16583253413e-05,-5.29554223474e-05,1793249730527876864
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745,718,682,663.463383933,639,887,786,815.536616067,651,629.536616067,655,0.431846026709,-0.0155473936318,0.0800160542709,0.99999999768,-3.19822680322e-05,2.97858802897e-05,-5.2244382613e-05,1793249730544544000
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745,718,682,664,639,887.042497145,786,815.042497145,651,629.042497145,655,0.432708075058,-0.015548541057,0.0800149431195,0.999999998054,-2.06139742886e-05,2.62513222502e-05,-5.27102639261e-05,1793249730561210624
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745,718,682,664,639,887.616216928,786,815.616216928,651,629.616216928,655,0.433487667512,-0.015540953714,0.0799458003553,0.999999995104,-3.52293951335e-05,-7.13800642328e-05,-5.87880982632e-05,1793249730577877248
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.804517905,745.195482095,718,682,664,639,888,786,816,651,629.804517905,655,0.434298029582,-0.015535849917,0.0799028899542,0.999999988577,-4.58603268254e-05,-0.000129571397709,-6.2886123885e-05,1793249730594543872
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.214047718,745.785952282,718,682,664,639,888,786,816,651,629.214047718,655,0.435170564404,-0.0155357643331,0.0799129842473,0.999999991004,-4.84402647371e-05,-0.000108070790445,-6.29837807675e-05,1793249730611210752
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.368278589,746,718,681.631721411,664,639,888,786,816,651,629.368278589,655,0.43601991417,-0.0155373174035,0.0799414258783,0.999999994309,-5.08989066731e-05,-7.050650102e-05,-6.18062374116e-05,1793249730627877120
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.945973951,746,718,681.054026049,664,639,888,786,816,651,629.945973951,655,0.436856080007,-0.0155398022732,0.0799803004809,0.999999996503,-5.32885750123e-05,-2.38078113554e-05,-5.99035681201e-05,1793249730644543744
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.478234221,718,681.521765779,664,639,888.521765779,786,816,651,630,655,0.437667975569,-0.0155488703682,0.0799980776376,0.999999996422,-6.11832010361e-05,6.30569162713e-06,-5.80703100023e-05,1793249730661210624
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,745.097585298,718,681.902414702,664,639,888.902414702,786,816,651,630,655,0.438463057745,-0.0155574835359,0.080007875598,0.999999995623,-7.03492167588e-05,2.37658778408e-05,-5.6914778098e-05,1793249730677877248
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.674505454,718,681.325494546,664,639,888.325494546,786,816,651,630,655,0.439187852409,-0.0155605260169,0.0799891713848,0.999999994736,-8.29705628686e-05,-1.25218157898e-05,-5.90530342013e-05,1793249730694543872
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718,681,664.256480205,638.743519795,888.256480205,786,816,651,630,655,0.439871410408,-0.0155619505157,0.0799434052902,0.999999990725,-8.57654389301e-05,-8.54885557711e-05,-6.23441335067e-05,1793249730711210752
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,681,664.844998567,638.155001433,888.844998567,786,816,651,630,655,0.440501583545,-0.0155612803813,0.079862605003,0.999999973666,-7.58390078401e-05,-0.000205939826217,-6.71276978874e-05,1793249730727877376
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,681.427980847,664.572019153,638.427980847,889,785.572019153,816,651,630,655,0.441120183459,-0.0155628326816,0.0797913990485,0.999999945043,-8.62526680513e-05,-0.000311266601883,-7.47434610803e-05,1793249730744544000
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717.991116245,681.991116245,664,639,889,785,816,651,629.991116245,655,0.441735766555,-0.0155653379282,0.0797252953581,0.999999907649,-0.000104033762263,-0.000408608590695,-8.31724881233e-05,1793249730761210880
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717.41658223,681.41658223,664,639,889,785,816,651,629.41658223,655,0.442422730902,-0.0155779242876,0.0797656438434,0.999999930279,-0.000127860737423,-0.000341859166109,-7.89069856053e-05,1793249730777877504
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,717,681.161687025,664,638.838312975,888.838312975,785,816,651,629.161687025,655,0.443092849437,-0.0155893672065,0.0798067290555,0.999999948295,-0.000145125552681,-0.00027706746124,-7.47121072243e-05,1793249730794543872
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,717,681.749807737,664,638.250192263,888.250192263,785,816,651,629.749807737,655,0.443718538946,-0.0155977944162,0.0798497573217,0.999999963336,-0.000145083320487,-0.000217439038959,-7.07034928844e-05,1793249730811210496
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.667471473,745.667471473,717.332528527,682,663.667471473,638,888.332528527,784.667471473,816,651,629.667471473,655,0.444306055188,-0.0156037773297,0.0798603403028,0.999999965804,-0.000146905728549,-0.000205001570684,-6.91703133865e-05,1793249730827877120
+193,3.216666667,POSE1_TO_POSE2_PRESS,766.088748663,745.088748663,717.911251337,682,663.088748663,638,888.911251337,784.088748663,816,651,629.088748663,655,0.444865309035,-0.0156079505581,0.079846901752,0.999999960442,-0.000150108661311,-0.000227502892579,-6.94698729585e-05,1793249730844544000
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.489597384,718,682,663,638,888.510402616,784,816.489597384,651,629,655,0.445367339526,-0.0156123363554,0.0798242521926,0.999999949028,-0.000158664574773,-0.000267813152318,-7.10307129398e-05,1793249730861210624
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,717.932618817,682,663,638,888.067381183,784,816.932618817,651,629,655,0.445855844996,-0.0156165222653,0.0798006978287,0.999999935897,-0.000167034208867,-0.000308236424064,-7.27669580416e-05,1793249730877877504
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,717.358549787,682,663,638,888.641450213,784,816.358549787,651,629,655,0.44632058668,-0.0156189155495,0.0797828853667,0.999999930463,-0.000166712091132,-0.000325252997237,-7.41042850946e-05,1793249730894544128
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.219649981,746,717.219649981,682,663.219649981,638,889,784,816.219649981,651,629,655,0.446767651348,-0.0156215537437,0.0797671147164,0.999999925005,-0.000168847794123,-0.000340286741901,-7.53958845083e-05,1793249730911210752
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.804721817,746,717.804721817,682,663.804721817,638,889,784,816.804721817,651,629,655,0.447185307513,-0.0156245993835,0.0797547409386,0.999999919781,-0.000175072463663,-0.000352021741803,-7.6611408779e-05,1793249730927877376
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,717.612592728,681.612592728,663.612592728,638,889,783.612592728,817,651,629,655,0.447576950637,-0.0156276231162,0.0797390715822,0.99999990994,-0.000182091766574,-0.000375403968118,-7.76800890849e-05,1793249730944543744
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,717.031102747,681.031102747,663.031102747,638,889,783.031102747,817,651,629,655,0.447955561825,-0.0156306358741,0.0797217512106,0.999999897089,-0.000189509164145,-0.000404621205106,-7.86752037784e-05,1793249730961210368
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,717,681.278979482,663,637,888,782.721020518,817,651,629,655,0.449194415329,-0.0156410429919,0.079680938574,0.999999869103,-0.000203465797356,-0.000462422720392,-8.09992194509e-05,1793249731027878656
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,717,682,662.924378799,636.075621201,888,781,816.075621201,651,629,654.924378799,0.449726633417,-0.0155846951312,0.0795392376981,0.999999740901,-0.000176637262944,-0.000696349809987,-4.57699867195e-05,1793249732396199680
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,717,681,662.180441621,637,887,781.819558379,817,651,629,654.819558379,0.448288420932,-0.0155293731834,0.0795455349231,0.999999756757,-2.03223346636e-05,-0.000697098750576,-1.12365130582e-05,1793249732479533312
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,717,681,663,637,887.142435135,782,817,651,629,655,0.446730355887,-0.0155059255384,0.0795731081377,0.999999790422,-7.37689765009e-06,-0.000647244501463,-1.32713678434e-05,1793249732546199808
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.115794611,717,681.884205389,663,637,887.115794611,782.884205389,817,651,629,654.115794611,0.445369148964,-0.0155183813003,0.0796407210157,0.999999843487,-5.93276734372e-07,-0.000559465793853,4.82481093228e-06,1793249732596200448
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,718,680.905408972,662,638,881,785,814,650.094591028,629.094591028,654,0.413669547286,-0.0153609103029,0.0797748900456,0.999999897374,0.000265114266876,-0.000365632240999,3.57572883794e-05,1793249733262866944
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,718,680.330274342,662,638,881,785,814,650.669725658,629.669725658,654,0.412970961593,-0.015360301454,0.0797952808205,0.999999911431,0.000262653587598,-0.000326841078671,3.64262280849e-05,1793249733279533312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,718,680,662,638,880.750411962,785,814,650.750411962,629.750411962,654,0.412258446669,-0.0153584673093,0.079802617977,0.999999914576,0.000264818143438,-0.000315195203109,3.70240770668e-05,1793249733296199936
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,718,680,662,638,880.164172711,785,814,650.164172711,629.164172711,654,0.411527143672,-0.0153549804521,0.0797923480523,0.999999904115,0.000273221344155,-0.000340163640732,3.75260369109e-05,1793249733312866560
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,718,680,661.58330183,638,880,785,814,650.41669817,629,654.41669817,0.410831462704,-0.0153534691994,0.0797815120074,0.999999897268,0.000274754411299,-0.000358650974963,3.66574069257e-05,1793249733329533440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,718,680,661.004519055,638,880,785,814,650.995480945,629,654.995480945,0.410149637705,-0.0153527264044,0.079770455756,0.999999891777,0.000273615178241,-0.000374617332853,3.52556536604e-05,1793249733346200320
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,718,680,661.574091729,638,880,785,813.425908271,650.425908271,629.574091729,654.425908271,0.409552912505,-0.0153544985956,0.0797946925451,0.999999905411,0.000275323596871,-0.00033456718406,3.79527383696e-05,1793249733362867200
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.84786047,661.84786047,638.15213953,880,785.15213953,813.15213953,650.15213953,629.84786047,654.15213953,0.408964595975,-0.0153553881885,0.0798169692726,0.999999916106,0.000278179397811,-0.000297936964035,4.04736483061e-05,1793249733379534080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,718,679.27137901,661.27137901,638.72862099,880,785.72862099,813.72862099,650.72862099,629.27137901,654.72862099,0.408397864623,-0.015353760871,0.0798330044356,0.999999921711,0.000284172933819,-0.000272074967525,4.24132144268e-05,1793249733396200960
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.877479412,661,638.122520588,880,785.122520588,814,651,629,654.122520588,0.407239710612,-0.0153466082035,0.0797995980876,0.999999898197,0.000294783870615,-0.000339208007777,4.05653487926e-05,1793249733429533952
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,718,680,661,638.464142019,880,785,814,650.535857981,629,654.464142019,0.406704068958,-0.0153456228523,0.0797755710925,0.999999885661,0.000292085602594,-0.000376748925502,3.77363543861e-05,1793249733446200320
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,718,679.946963142,661,638.946963142,880,785,813.946963142,650.053036858,629.053036858,654.946963142,0.406190105804,-0.0153455327559,0.0797560465507,0.999999876446,0.000287739642499,-0.000403842248671,3.49987681438e-05,1793249733462866688
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.370509293,661,638.370509293,880,785,813.370509293,650.629490707,629.629490707,654.370509293,0.405763523242,-0.0153457280622,0.0797735771982,0.99999989083,0.000288010344403,-0.000366196677786,3.59058728459e-05,1793249733479533312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.205988428,745,718,679.205988428,660.794011572,638,880,785,813,650.794011572,630,654,0.405349262284,-0.0153459321721,0.0797918071394,0.999999902328,0.000290028841053,-0.000331439327633,3.70753318679e-05,1793249733496199936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.782565016,745,718,679.782565016,660.217434984,638,880,785,813,650.217434984,630,654,0.404957168834,-0.0153461521205,0.0798112951589,0.999999910116,0.000295191747935,-0.000301878101198,3.8716785343e-05,1793249733512866816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.632226411,745,718,679.632226411,660.367773589,638,879.632226411,785,813.367773589,650,629.632226411,654,0.404576042435,-0.0153456361846,0.0798233291231,0.999999914738,0.000295486339512,-0.000285621395502,4.04013079525e-05,1793249733529533440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.041791722,745,718,679.041791722,660.958208278,638,879.041791722,785,813.958208278,650,629.041791722,654,0.404201555779,-0.0153446747224,0.0798308501818,0.999999917757,0.000292833508385,-0.000277419640736,4.2111906071e-05,1793249733546200064
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879,785,814,650.538101303,629.538101303,654,0.403848062044,-0.0153420377178,0.0798279112368,0.999999908811,0.000308497359094,-0.000291969206004,4.42803562935e-05,1793249733562866432
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.116308893,661,638,879,785,814,651,630,654,0.403508654202,-0.015339393286,0.0798253525224,0.999999901913,0.000318571234102,-0.000304432202396,4.48003079849e-05,1793249733579533056
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,718,679.691038572,661,638,879,785,814,651,630,654,0.403218461835,-0.0153372226249,0.0798274328411,0.999999908363,0.000301113551761,-0.000301840591843,3.86853951285e-05,1793249733596199680
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,718,679.73555203,661,638.26444797,879,785,814,650.73555203,629.73555203,654.26444797,0.402950098536,-0.0153374688821,0.0798304228578,0.999999912686,0.000290386336218,-0.000298304166013,3.63173276005e-05,1793249733612866304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.163677524,661,638.836322476,879,785,814,650.163677524,629.163677524,654.836322476,0.40270711202,-0.0153405248595,0.0798344704182,0.999999914822,0.00028748343636,-0.000293669372043,3.83050499222e-05,1793249733629532928
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,660.590473917,638.590473917,879.409526083,785,813.590473917,650.409526083,629.409526083,654.590473917,0.402484966275,-0.01533923125,0.0798356171784,0.999999912246,0.000297586568609,-0.000292128148872,4.01317811105e-05,1793249733646199808
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.578154412,660,638,879.421845588,785,813.578154412,650.421845588,629.421845588,654.578154412,0.402091355371,-0.0153361435544,0.0798341986826,0.999999906988,0.000313534307308,-0.000293153472036,4.22154415426e-05,1793249733679533568
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,718,679.8320114,660.1679886,638,879,785,813.8320114,650,629.1679886,654.8320114,0.401924196276,-0.0153363817979,0.0798341215146,0.999999907595,0.000312588914627,-0.000292053867962,4.24570621095e-05,1793249733696199936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,718,679.256005432,660.743994568,638,879,785,813.256005432,650,629.743994568,654.256005432,0.401785313871,-0.0153371020891,0.0798373635353,0.999999910789,0.000308890440439,-0.000284943890081,4.2609858257e-05,1793249733712866560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879,785,813.329149774,650.329149774,630,654,0.401660377328,-0.0153377084129,0.0798410489191,0.999999913061,0.000306805849076,-0.000279157847957,4.26479316122e-05,1793249733729533184
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879,785,813.921624579,650.921624579,630,654,0.401546597682,-0.015338223561,0.0798450890009,0.999999914615,0.000306012389128,-0.000274430974636,4.25942249344e-05,1793249733746199808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879,785,814,650.497909292,629.497909292,654,0.401444092412,-0.0153383168689,0.0798424107673,0.999999914829,0.000302597748601,-0.000277704522768,4.07039332752e-05,1793249733762866432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.919430135,718,679,661,638,879,785,813.919430135,650.080569865,629.080569865,654,0.401346507839,-0.0153381765211,0.0798387213602,0.999999914178,0.00030053218176,-0.000282545560293,3.86434396176e-05,1793249733779533312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,744.341914317,718,679,661,638,879,785,813.341914317,650.658085683,629.658085683,654,0.401268672158,-0.0153369916699,0.0798351124201,0.999999909573,0.000309252261988,-0.000289531853363,3.72601104145e-05,1793249733796200192
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.765729954,744,718,679,661,638,879,785,813.234270046,650.765729954,630,654,0.401202480746,-0.0153366725664,0.0798330427342,0.999999907202,0.000313863408629,-0.000292829094195,3.65531802841e-05,1793249733812867072
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.191477883,744,718,679,661,638,879,785,813.808522117,650.191477883,630,654,0.401153187967,-0.0153376098706,0.0798332068754,0.999999908216,0.000312511506681,-0.000290772635078,3.68278675218e-05,1793249733829533952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.392517642,744.392517642,718,679,661,638,879,785,813.607482358,650.392517642,629.607482358,654,0.401111767961,-0.015337938347,0.0798328966956,0.999999908376,0.000311728349283,-0.000291035419024,3.70378759541e-05,1793249733846200064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.981387188,744.981387188,718,679,661,638,879,785,813.018612812,650.981387188,629.018612812,654,0.40107428621,-0.0153379622651,0.0798323492428,0.99999990811,0.000311229699074,-0.000292458374555,3.72155296374e-05,1793249733862866176
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.560655528,745,718,679,661,638,879,785,813.560655528,650.439344472,629,654,0.401047240176,-0.0153364256008,0.0798324656062,0.999999908186,0.000311414237099,-0.000291999542941,3.72339717088e-05,1793249733879532800
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.861898984,744.861898984,718,679.138101016,661,638,879,785,813.861898984,650.138101016,629.138101016,654,0.401023074689,-0.0153351995221,0.079832227925,0.999999907948,0.000312126755441,-0.000292056261904,3.72098975533e-05,1793249733896199168
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.289203815,744.289203815,718,679.710796185,661,638,879,785,813.289203815,650.710796185,629.710796185,654,0.401006902196,-0.0153351111283,0.0798308079075,0.999999906683,0.00031443061772,-0.000293928667656,3.70683810503e-05,1793249733912866048
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,744.284939084,718,679.715060916,661.284939084,638,879,785,813,650.715060916,629.715060916,654,0.400996763709,-0.0153354931131,0.0798309488047,0.999999906937,0.000314616092483,-0.000292865344507,3.70494067507e-05,1793249733929532928
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638.039949077,879.960050923,785,813,650,630,654,0.400983240734,-0.0153397983914,0.0798337668301,0.999999910102,0.00030825607843,-0.000288800187383,3.7004581108e-05,1793249733979533312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638.609042251,879.390957749,785,813,650,630,654,0.400983077604,-0.0153377024911,0.0798351150013,0.999999909785,0.000311086945149,-0.000286844095944,3.70793834845e-05,1793249733996199424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,718,678.816932927,661,638.816932927,879.183067073,785,813.183067073,650,630,654,0.400982701978,-0.0153368824423,0.0798359742065,0.999999909928,0.000312071349313,-0.000285273733011,3.70836168922e-05,1793249734012866048
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,718,678.23208454,661,638.23208454,879.76791546,785,813.76791546,650,630,654,0.400981859983,-0.0153388625324,0.079835760267,0.999999911092,0.000309003281533,-0.000284549936998,3.69329710358e-05,1793249734029533184
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,718,678.35292618,661,638,879.294147641,785,813.64707382,650,630,654,0.400981033912,-0.0153394857571,0.0798359076674,0.999999911253,0.000308551296292,-0.000284492956087,3.67874117154e-05,1793249734046199552
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,718,678.938043677,661,638,878.123912647,785,813.061956323,650,630,654,0.400980218316,-0.0153392162953,0.0798362927946,0.999999910757,0.000309820440654,-0.0002848746751,3.664519885e-05,1793249734062866176
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,718,678.477910267,660.477910267,638,878.522089733,785,813.522089733,650,630,654,0.400979865347,-0.0153401799036,0.0798362237986,0.999999910799,0.000309636937336,-0.000284913768209,3.67540115752e-05,1793249734079533056
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.89580321,718,678.10419679,660.10419679,638,879,785,813.89580321,650.10419679,630,654,0.400979884009,-0.0153411748848,0.0798363366467,0.999999911137,0.000309008395104,-0.00028439745787,3.68501531643e-05,1793249734096199936
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744.321865706,718,678.678134294,660.678134294,638,879,785,813.321865706,650.678134294,630,654,0.400981331065,-0.0153416529739,0.0798375117388,0.999999912516,0.000307149083379,-0.000281560199228,3.6755149872e-05,1793249734112866560
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744.253008723,718,679,660.746991277,638,879,785,813.253008723,650.746991277,630,654,0.400981422481,-0.0153412733115,0.0798376925604,0.999999912759,0.000307066246397,-0.000280801925163,3.66437602961e-05,1793249734129532928
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,718,679,660.415357496,638,879.415357496,785,814,650,629.584642504,654,0.400978851683,-0.0153399535754,0.079835823193,0.99999991161,0.000308330016388,-0.000283555044904,3.61851937451e-05,1793249734162866432
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879.994176553,785,814,650.005823447,629.005823447,654,0.400978236701,-0.0153407887364,0.0798351989295,0.999999912189,0.000306129359339,-0.000283948011302,3.57800874877e-05,1793249734179533056
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a8219c141438a7d55aea33e2a1ff94fda19d5f82
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.580508937477,-0.00984994715378,1.07003353166,0.551079616701,-0.00117731095425,1.0697049224
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+349,5.816666667,pose2_to_pose3_retreat,0.57970521225,-0.00984992047452,1.07003345059,0.550275891657,-0.00117728311551,1.06970485532
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+355,5.916666667,pose2_to_pose3_retreat,0.577808267569,-0.00984987953251,1.0700336664,0.548378947076,-0.00117724223672,1.06970506013
+356,5.933333333,pose2_to_pose3_retreat,0.577556327369,-0.00984978469393,1.07003350949,0.548127005742,-0.00117715126213,1.069704903
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+365,6.083333333,pose2_to_pose3_retreat,0.576136920869,-0.00985003433661,1.07003349994,0.546707600747,-0.00117739571918,1.06970489585
+366,6.100000000,pose2_to_pose3_retreat,0.576050816407,-0.00984978175542,1.07003369776,0.546621493657,-0.00117715202341,1.06970509642
+367,6.116666667,pose2_to_pose3_retreat,0.575974572443,-0.00984975372674,1.07003363461,0.54654524854,-0.001177127995,1.06970502988
+368,6.133333333,pose2_to_pose3_retreat,0.575909284552,-0.00984984950466,1.07003342942,0.546479962438,-0.00117721748077,1.06970483002
+369,6.150000000,pose2_to_pose3_retreat,0.575854474305,-0.0098499855232,1.0700334061,0.546425154386,-0.00117734603161,1.06970480713
+370,6.166666667,pose2_to_pose3_retreat,0.575809789675,-0.00984994757179,1.07003342972,0.546380469851,-0.00117730786726,1.06970482793
+371,6.183333333,pose2_to_pose3_retreat,0.575773552634,-0.00984979426942,1.07003339249,0.546344231098,-0.00117716039459,1.06970479017
+372,6.200000000,pose2_to_pose3_retreat,0.575744382133,-0.00984988205806,1.07003347774,0.5463150596,-0.00117725158292,1.06970487498
+373,6.216666667,pose2_to_pose3_retreat,0.575720847679,-0.00984979299782,1.07003349219,0.546291525224,-0.00117716239396,1.06970488591
+374,6.233333333,pose2_to_pose3_retreat,0.575702553136,-0.00984978789251,1.07003328731,0.546273230241,-0.00117715865191,1.06970468453
+375,6.250000000,pose2_to_pose3_retreat,0.575689791058,-0.0098498433149,1.07003340037,0.546260469103,-0.00117721103101,1.0697047938
+376,6.266666667,pose2_to_pose3_retreat,0.575680748008,-0.00984989511653,1.07003356395,0.546251426623,-0.00117726110762,1.06970495204
+377,6.283333333,pose2_to_pose3_retreat,0.575674855534,-0.00984991693337,1.07003364,0.546245533921,-0.00117728380474,1.06970502531
+378,6.300000000,pose2_to_pose3_retreat,0.575671465106,-0.00984987092908,1.07003353756,0.546242142949,-0.0011772393695,1.0697049299
+379,6.316666667,pose2_to_pose3_retreat,0.575669467474,-0.0098498440283,1.07003348066,0.54624014502,-0.00117721332614,1.06970487682
+380,6.333333333,pose2_to_pose3_retreat,0.575667966508,-0.00984982680489,1.07003348836,0.546238644173,-0.00117719576816,1.06970488273
+381,6.350000000,pose2_to_pose3_retreat,0.575667013122,-0.00984981586489,1.07003349324,0.546237690863,-0.00117718461566,1.06970488648
+382,6.366666667,pose2_to_pose3_retreat,0.575666597719,-0.00984981109819,1.07003349537,0.546237275493,-0.00117717975636,1.06970488812
+383,6.383333333,pose2_to_pose3_retreat,0.575666192083,-0.00984980610607,1.07003350811,0.546236869675,-0.00117717539003,1.06970490058
+384,6.400000000,pose2_to_pose3_retreat,0.575665891232,-0.00984980184019,1.07003353534,0.546236568333,-0.00117717278376,1.06970492796
+385,6.416666667,pose2_to_pose3_retreat,0.575665834764,-0.0098498010395,1.07003354045,0.546236511773,-0.00117717229458,1.0697049331
+386,6.433333333,pose2_to_pose3_retreat,0.575665793279,-0.00984980045128,1.07003354421,0.546236470221,-0.0011771719352,1.06970493688
+387,6.450000000,pose2_to_pose3_retreat,0.575665746794,-0.00984979979215,1.07003354841,0.54623642366,-0.0011771715325,1.06970494111
+388,6.466666667,pose2_to_pose3_retreat,0.575665638574,-0.00984979825765,1.07003355821,0.546236315263,-0.00117717059499,1.06970495096
+389,6.483333333,pose2_to_pose3_retreat,0.575665462705,-0.00984979576393,1.07003357413,0.546236139107,-0.00117716907144,1.06970496696
+390,6.500000000,pose2_to_pose3_retreat,0.575665249588,-0.00984979274207,1.07003359342,0.546235925643,-0.00117716722521,1.06970498636
+391,6.516666667,pose2_to_pose3_retreat,0.575665134743,-0.00984979111363,1.07003360382,0.54623581061,-0.00117716623031,1.06970499681
+392,6.533333333,pose2_to_pose3_retreat,0.57566498991,-0.00984978905998,1.07003361693,0.546235665541,-0.00117716497563,1.06970500999
+393,6.550000000,pose2_to_pose3_retreat,0.575664794966,-0.00984979485598,1.07003353115,0.546235471307,-0.00117716827165,1.06970492659
+394,6.566666667,pose2_to_pose3_retreat,0.575664606363,-0.00984980264861,1.07003342175,0.546235283654,-0.00117717273295,1.06970482009
+395,6.583333333,pose2_to_pose3_retreat,0.575664464752,-0.00984981228098,1.07003334186,0.54623514278,-0.00117717978405,1.06970474224
+396,6.600000000,pose2_to_pose3_retreat,0.575664383962,-0.00984990909396,1.07003335051,0.546235063014,-0.00117727319335,1.06970474903
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+398,6.633333333,pose2_to_pose3_retreat,0.575664338217,-0.00984989597183,1.07003345401,0.546235017144,-0.00117726066747,1.06970484805
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43f1221a850667610a893c018a3b2b5863a792f3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc9747551add0957ba45b495207bce34b207cb230afdd159bd1568288bcbebfb
+size 25458505
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b28f502feee61fde52d04fd62daf7b839ba867e9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,402 @@
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+27,0.450000000,BASELINE,766,745,718,679.315085437,661,638,879,785,814,651,629.684914563,654,0.400980400332,-0.0153451859002,0.0798407630134,0.999999914982,0.000304195143871,-0.000276058590905,3.59537787124e-05,1793249734917272576
+28,0.466666667,BASELINE,766.263351567,745,718,679.263351567,661,638,879,785,814,651,630,654,0.400979933939,-0.015344497515,0.0798406921054,0.999999914676,0.000304963335226,-0.000276331376356,3.58529182914e-05,1793249734933939200
+29,0.483333333,BASELINE,766.841371498,745,718,679.841371498,661,638,879,785,814,651,630,654,0.400978807971,-0.0153442907863,0.0798401763148,0.99999991467,0.000304251872016,-0.000277191863079,3.54371936496e-05,1793249734950605824
+30,0.500000000,BASELINE,766.583384468,745,718,679.583384468,661,638,879,785,814,651,630,654,0.40097998863,-0.0153438057488,0.0798411509278,0.99999991512,0.000304183443858,-0.00027563937842,3.54245442719e-05,1793249734967272448
+31,0.516666667,BASELINE,766.009190389,745,718,679.009190389,661,638,879,785,814,651,630,654,0.400982041737,-0.0153432154452,0.0798426892634,0.999999915739,0.000304358234034,-0.000273174223676,3.5564352048e-05,1793249734983939072
+32,0.533333333,BASELINE,766,745,718,679,661,638,879.577644139,785,814,651,630,654,0.400981180142,-0.0153427780126,0.079841718405,0.999999914746,0.000306897705707,-0.000273902070631,3.60425387103e-05,1793249735000605696
+33,0.550000000,BASELINE,766,745,718,679,661,638,879.836525361,785,814,651,630,654,0.400980414989,-0.0153426975088,0.0798410077813,0.999999914163,0.000308005865438,-0.00027475813267,3.62512285183e-05,1793249735017272576
+34,0.566666667,BASELINE,766,745,718,679,661,638,879.25379724,785,814,651,630,654,0.400980018765,-0.0153435260213,0.0798410692409,0.999999914708,0.000305344579471,-0.000275809818854,3.57546400154e-05,1793249735033939200
+35,0.583333333,BASELINE,766.32432371,745,718,679,661,638,879,785,814,650.67567629,630,654,0.400979948184,-0.0153441472463,0.0798408137899,0.999999915022,0.000304282161312,-0.000275867583445,3.55813369378e-05,1793249735050605824
+36,0.600000000,BASELINE,766.898889911,745,718,679,661,638,879,785,814,650.101110089,630,654,0.400980128864,-0.0153446085321,0.0798403138162,0.999999915162,0.000304453401246,-0.000275158455671,3.56574751752e-05,1793249735067272704
+37,0.616666667,BASELINE,766.516177941,744.516177941,718,679,661,638,879,785,814,650.483822059,630,654,0.400979944947,-0.0153456800363,0.0798402637234,0.99999991566,0.000302667573479,-0.000275318311286,3.5675174185e-05,1793249735083939328
+38,0.633333333,BASELINE,766,744,718,679,661,638,879.069988601,785,814,651,629.930011399,654.069988601,0.400979803028,-0.0153466781407,0.0798404337502,0.999999916175,0.00030084378066,-0.000275442088695,3.56968596517e-05,1793249735100605952
+39,0.650000000,BASELINE,766,744,718,679,661,638,879.649032364,785,814,651,629.350967636,654.649032364,0.400980532903,-0.0153461945347,0.0798415059999,0.999999916296,0.000301783743693,-0.000273953672583,3.58383132363e-05,1793249735117272576
+40,0.666666667,BASELINE,765.77248554,744.22751446,718,679,661,638,879.77248554,785,814,651,629.22751446,655,0.400980844506,-0.0153461174058,0.079841628996,0.999999916572,0.000301243289211,-0.000273552640008,3.57281275995e-05,1793249735133939200
+41,0.683333333,BASELINE,765.194867781,744.805132219,718,679,661,638,879.194867781,785,814,651,629.805132219,655,0.400980512463,-0.0153466657712,0.0798402912636,0.999999917086,0.000298424741868,-0.000274824892651,3.52307150436e-05,1793249735150606080
+42,0.700000000,BASELINE,765.381210751,745,718,679,661,638.381210751,879,785,814,650.618789249,630,654.618789249,0.400980842546,-0.0153460982356,0.0798405962001,0.999999916978,0.000299046509329,-0.000274545004982,3.52245865015e-05,1793249735167272448
+43,0.716666667,BASELINE,765.956505604,745,718,679,661,638.956505604,879,785,814,650.043494396,630,654.043494396,0.400981509735,-0.0153449625664,0.0798417374613,0.99999991655,0.000301419828771,-0.000273474883111,3.54685831791e-05,1793249735183939328
+44,0.733333333,BASELINE,766,745,718,679,661,638.453947474,879,785,813.453947474,650,629.453947474,654,0.400981420256,-0.0153447767425,0.0798418013947,0.999999915941,0.000303274061958,-0.000273615194347,3.57350298189e-05,1793249735200605952
+45,0.750000000,BASELINE,766,745,718,679.133845952,661,638,879,785,813,650.133845952,629.133845952,654,0.400981208853,-0.0153447546834,0.0798417604903,0.999999915573,0.000304281637225,-0.00027382837803,3.58330015053e-05,1793249735217272576
+46,0.766666667,BASELINE,766,745,718,679.711950145,661,638,879,785,813,650.711950145,629.711950145,654,0.400980798173,-0.0153450183378,0.0798416640682,0.99999991606,0.000302619919727,-0.000273954847145,3.53656807585e-05,1793249735233939456
+47,0.783333333,BASELINE,766,745,718,679.711162137,661,638,879,785.288837863,813,650.711162137,629.711162137,654,0.400980902617,-0.0153452966341,0.0798416909629,0.999999916334,0.000301991077029,-0.000273667569467,3.52034413272e-05,1793249735250606592
+48,0.800000000,BASELINE,766,745,718,679.135482419,661,638,879,785.864517581,813,650.135482419,629.135482419,654,0.400981518627,-0.0153455894712,0.0798418403221,0.9999999164,0.000302387971273,-0.000272969404199,3.53441748976e-05,1793249735267273984
+49,0.816666667,BASELINE,766,745,718,678.551790133,661,638,879.448209867,785.551790133,813.448209867,650.448209867,629,654,0.4009812946,-0.015345501712,0.0798414361165,0.999999916276,0.00030223117786,-0.000273603438361,3.52862187661e-05,1793249735283940352
+50,0.833333333,BASELINE,766,745,718,678.033923853,661,638,879.966076147,785,814,650.966076147,629.033923853,654,0.40098087645,-0.0153452286318,0.079840947869,0.999999916092,0.000302020479209,-0.000274520742644,3.51715231544e-05,1793249735300605952
+51,0.850000000,BASELINE,766,745,718,678.612503776,661,638,879.387496224,785,814,650.387496224,629.612503776,654,0.400981492577,-0.015343860867,0.0798418457097,0.999999915898,0.000303680327363,-0.000273403049981,3.51276721435e-05,1793249735317272576
+52,0.866666667,BASELINE,766,744.809011025,718,679,661,638,879,785,814,650,630,654,0.400981830018,-0.0153430928824,0.0798424917285,0.999999915748,0.000304948108682,-0.000272537673136,3.51284497864e-05,1793249735333939200
+53,0.883333333,BASELINE,766,744.230717953,718,679,661,638,879,785,814,650,630,654,0.400981602316,-0.0153435411849,0.079842627081,0.999999915697,0.000305420822585,-0.000272183964381,3.52197293079e-05,1793249735350605824
+54,0.900000000,BASELINE,766,744.345493856,718,678.654506144,661,638,879,785,814,650,630,654,0.400981821793,-0.0153439915831,0.079842771229,0.99999991596,0.000304868759804,-0.000271824691358,3.52968586789e-05,1793249735367272704
+55,0.916666667,BASELINE,766,744.920324113,718,678.079675887,661,638,879,785,814,650,630,654,0.400982338104,-0.0153444433724,0.0798429212155,0.999999916431,0.000303636457416,-0.000271461724829,3.53645952755e-05,1793249735383939328
+56,0.933333333,BASELINE,766,745,718.506019578,678.506019578,661,638,879,785,814,650.506019578,629.493980422,654.506019578,0.400981207366,-0.0153447983446,0.07984198486,0.99999991614,0.000303358697553,-0.000272843748622,3.53412515492e-05,1793249735400605952
+57,0.950000000,BASELINE,766,745,718.90732238,679,661,638,879,785,814,650.90732238,629.09267762,654.90732238,0.400980194755,-0.0153450305413,0.0798410822881,0.999999915709,0.000303544613988,-0.000274214206695,3.53334090528e-05,1793249735417272576
+58,0.966666667,BASELINE,766,745,718.324817497,679,661,638,879,785,814,650.324817497,629.675182503,654.324817497,0.400981207233,-0.0153446961737,0.0798412821645,0.999999915196,0.000305369388856,-0.000274039489986,3.54849551831e-05,1793249735433939200
+59,0.983333333,BASELINE,766,745,718,679,661,638,879,785,813.745641368,650,630,654.254358632,0.400981374314,-0.01534470493,0.0798415727031,0.99999991511,0.000305838943511,-0.000273810794079,3.56301777602e-05,1793249735450605824
+60,1.000000000,BASELINE,766,745,718,679,661,638,879,785,813.170661089,650,630,654.829338911,0.400980475766,-0.0153451461975,0.0798419775224,0.999999915565,0.000304600229529,-0.000273514056819,3.57674294546e-05,1793249735467272448
+61,1.016666667,BASELINE,766,744.596100212,718,679,661,638,879,785,813.403899788,650,629.596100212,654.596100212,0.400979385385,-0.0153459478239,0.0798413202746,0.999999915821,0.000302873414339,-0.000274515458858,3.55846440473e-05,1793249735483939072
+62,1.033333333,BASELINE,766,744.021716396,718,679,661,638,879,785,813.978283604,650,629.021716396,654.021716396,0.400978214034,-0.0153469015559,0.0798402147337,0.99999991599,0.000300940574204,-0.000276064798847,3.52667726134e-05,1793249735500605696
+63,1.050000000,BASELINE,766,744,718,679,661,638,879,785,813.431887875,650.568112125,629.568112125,654.568112125,0.400978986698,-0.0153463770984,0.0798404551212,0.999999915542,0.000302529639867,-0.000275949983658,3.52649273363e-05,1793249735517272576
+64,1.066666667,BASELINE,766,744,718,679,661,638,879.155516994,785,813,651,630,654.844483006,0.400979676877,-0.0153461476258,0.0798408088911,0.999999915407,0.000303387404669,-0.000275489177131,3.53215615751e-05,1793249735533938944
+65,1.083333333,BASELINE,766,744,718,679,661,638,879.73466658,785,813,651,630,654.26533342,0.400979934281,-0.0153468799222,0.0798413274529,0.999999916195,0.000301876110108,-0.000274264007432,3.55036690249e-05,1793249735550605568
+66,1.100000000,BASELINE,765.688443094,744.311556906,718,679,661,638,879.688443094,785,813.311556906,651,630,654,0.400980067855,-0.0153471826504,0.0798415746064,0.999999916823,0.000300226775046,-0.000273776038898,3.55716417978e-05,1793249735567272192
+67,1.116666667,BASELINE,765.113463013,744.886536987,718,679,661,638,879.113463013,785,813.886536987,651,630,654,0.40098009673,-0.0153471221762,0.0798415922827,0.999999917315,0.000298460726015,-0.000273911378293,3.5543113029e-05,1793249735583938816
+68,1.133333333,BASELINE,765.470358516,744.529641484,718,679,661,638,879,785,813.529641484,650.529641484,630,654,0.400980915728,-0.0153468572934,0.0798417721009,0.999999917125,0.000299683149753,-0.000273294681619,3.53650881069e-05,1793249735600605696
+69,1.150000000,BASELINE,766,744.055696423,718,679,661,638,879.055696423,785,813.055696423,650.055696423,630,654.055696423,0.400981842116,-0.0153465472229,0.0798420279012,0.99999991682,0.000301431415779,-0.000272508076858,3.51852270304e-05,1793249735617272320
+70,1.166666667,BASELINE,766,744.634856508,718,679,661,638,879.634856508,785,813.634856508,650.634856508,630,654.634856508,0.400981952159,-0.0153462847612,0.0798426231743,0.999999917055,0.000301216635727,-0.000271862247587,3.53335356038e-05,1793249735633938944
+71,1.183333333,BASELINE,766,744.785989391,718,679,661,638,879.785989391,785,814,651,630,654.785989391,0.400981547286,-0.0153461678654,0.0798426654356,0.999999917025,0.000301160029198,-0.000272036075188,3.53492644899e-05,1793249735650605824
+72,1.200000000,BASELINE,766,744.206845405,718,679,661,638,879.206845405,785,814,651,630,654.206845405,0.400980263892,-0.0153462993261,0.0798417641781,0.999999916539,0.000301373289779,-0.000273608357095,3.51387930782e-05,1793249735667272448
+73,1.216666667,BASELINE,766,744.365654638,718,679,661,638,879,785,813.634345362,650.634345362,629.634345362,654,0.400979920039,-0.0153462353043,0.079841319408,0.999999916356,0.000301506328612,-0.000274154941681,3.49568425018e-05,1793249735683939072
+74,1.233333333,BASELINE,766,744.934463338,718,679,661,638,879,785,813.065536662,650.065536662,629.065536662,654,0.400980098187,-0.0153460626743,0.0798411282578,0.999999916341,0.000301594797033,-0.000274131658991,3.47907378292e-05,1793249735700605696
+75,1.250000000,BASELINE,766.527270196,745,718,679.527270196,661,638,879,785,813.527270196,650.527270196,629,654.527270196,0.400981628568,-0.0153453686742,0.0798420965771,0.999999916504,0.000302465368254,-0.000272547172048,3.49880079756e-05,1793249735717272576
+76,1.266666667,BASELINE,766.880414988,745,718,679.880414988,660.880414988,638,879.119585012,785,813.880414988,650.880414988,629.119585012,654.880414988,0.400982535527,-0.0153447993162,0.0798427112776,0.999999916498,0.000303275187476,-0.000271643985973,3.51914568756e-05,1793249735733939456
+77,1.283333333,BASELINE,766.301979136,745,718,679.301979136,660.301979136,638,879.698020864,785,813.301979136,650.301979136,629.698020864,654.301979136,0.400980374737,-0.0153449687227,0.079841389791,0.99999991576,0.000303461112626,-0.000274135043742,3.52370492295e-05,1793249735750606080
+78,1.300000000,BASELINE,766,744.724798998,718,679,660.275201002,638,879.724798998,785,813.275201002,650.275201002,630,654,0.400980431318,-0.0153453543858,0.079841607671,0.999999915888,0.000303568637427,-0.00027352379917,3.54152862464e-05,1793249735767272704
+79,1.316666667,BASELINE,766,744.148990539,718,679,660.851009461,638,879.148990539,785,813.851009461,650.851009461,630,654,0.400982909974,-0.0153459762702,0.0798435070314,0.999999916956,0.000303590523975,-0.0002695238487,3.57384136286e-05,1793249735783939328
+80,1.333333333,BASELINE,766,744.426894282,718,679,661,638,879,785,814,651,630,654,0.400982533906,-0.0153460221293,0.0798429831409,0.999999917094,0.000302677982173,-0.000270057413404,3.56051615083e-05,1793249735800605952
+81,1.350000000,BASELINE,766,745,718,679,661,638,879,785,813.997132983,651,630,654.002867017,0.400981171251,-0.0153458711151,0.0798416230194,0.999999916908,0.000301439987603,-0.000272160869456,3.53139353912e-05,1793249735817272576
+82,1.366666667,BASELINE,766,745,718,679,661,638,879,785,813.40865751,651,630,654.59134249,0.400981834867,-0.0153465782653,0.0798422360344,0.999999917366,0.000300351280819,-0.000271683374975,3.52955378334e-05,1793249735833939200
+83,1.383333333,BASELINE,766,745,718,679,661,638,879,785,813.177503643,651,630,654.822496357,0.400981865786,-0.015346579033,0.0798424466483,0.999999917285,0.000300468112017,-0.000271855096633,3.52539058697e-05,1793249735850606080
+84,1.400000000,BASELINE,766,745,718,679,661,638,879,785,813.758405345,651,630,654.241594655,0.400980458822,-0.015344974463,0.0798417427583,0.999999915977,0.00030332467089,-0.000273502238783,3.51594709618e-05,1793249735867272704
+85,1.416666667,BASELINE,766,745,718,679.334226291,661,638,879,785,814,651,630,654,0.400979267641,-0.0153446364423,0.0798409998977,0.9999999153,0.000304229832708,-0.00027496436568,3.51984434128e-05,1793249735883939328
+86,1.433333333,BASELINE,766,745,718,679.906429583,661,638,879,785,814,651,630,654,0.4009782301,-0.0153452002347,0.0798402292892,0.999999915076,0.000303745553635,-0.000276294757255,3.53324050552e-05,1793249735900605952
+87,1.450000000,BASELINE,766,745,718,679.505797349,661,638,879,785,813.505797349,650.505797349,630,654,0.400979683606,-0.015345684037,0.0798413776048,0.999999915725,0.000303249940438,-0.000274463993239,3.5476878834e-05,1793249735917272576
+88,1.466666667,BASELINE,766,745,718,679,661,638,879.166573889,785,813.083286944,650.083286944,629.916713056,654,0.400981301825,-0.015346064251,0.0798426622305,0.999999916383,0.000302888900404,-0.000272445501481,3.5569517043e-05,1793249735933939200
+89,1.483333333,BASELINE,766,745,718,679,661,638,880.324127471,785,813.662063736,650.662063736,629.337936264,654,0.400981002767,-0.0153459212299,0.07984252601,0.999999916107,0.000303341643679,-0.00027298672551,3.53415495943e-05,1793249735950605824
+90,1.500000000,BASELINE,766.240097965,745,718,679,661,638,880.51980407,785,814,651,629.240097965,654,0.400980562137,-0.0153460680552,0.079841953278,0.999999915879,0.000303397984871,-0.000273774752943,3.51912261732e-05,1793249735967272448
+91,1.516666667,BASELINE,766.817090217,745,718,679,661,638,879.365819566,785,814,651,629.817090217,654,0.400979922859,-0.0153466215793,0.0798407680532,0.999999915721,0.000302898113075,-0.000274909083373,3.5149849256e-05,1793249735983939072
+92,1.533333333,BASELINE,766.607367992,745,718,679,661,638.392632008,879,785,813.607367992,651,630,654,0.400980088364,-0.0153458546397,0.0798409255328,0.999999915533,0.000304237143177,-0.00027410912069,3.51898330579e-05,1793249736000605952
+93,1.550000000,BASELINE,766.032499369,745,718,679,661,638.967500631,879,785,813.032499369,651,630,654,0.400980627401,-0.0153444748189,0.0798417062165,0.999999915325,0.000306429683009,-0.000272411373354,3.52675797019e-05,1793249736017272576
+94,1.566666667,BASELINE,766,745,718,679,661,638.444884222,879.555115778,785,813.555115778,651,630,654.555115778,0.400980447263,-0.0153449552499,0.0798414863981,0.999999915548,0.000304750637862,-0.000273493387308,3.51028447815e-05,1793249736033939200
+95,1.583333333,BASELINE,766.141196387,745,718,679,661.141196387,638.141196387,880,785.141196387,814,651,630,655,0.400980161468,-0.0153453480015,0.0798412015389,0.999999915735,0.000303272162929,-0.000274472463814,3.49427625729e-05,1793249736050606080
+96,1.600000000,BASELINE,766.720151526,745,718,679,661.720151526,638.720151526,880,785.720151526,814,651,630,655,0.400979681701,-0.0153451233245,0.0798409008997,0.999999915741,0.00030313477623,-0.000274615983393,3.48421527852e-05,1793249736067272704
+97,1.616666667,BASELINE,766.702888727,745,718.297111273,679,661.702888727,638.702888727,879.702888727,785.702888727,814,650.702888727,630,654.702888727,0.400980679909,-0.0153450371552,0.0798415824888,0.999999916025,0.000303352037841,-0.000273319406413,3.49918301884e-05,1793249736083939328
+98,1.633333333,BASELINE,766.12779593,745,718.87220407,679,661.12779593,638.12779593,879.12779593,785.12779593,814,650.12779593,630,654.12779593,0.40098306093,-0.0153450805758,0.0798431830648,0.999999916564,0.000303901113449,-0.000270675454645,3.53756798451e-05,1793249736100605952
+99,1.650000000,BASELINE,766,745,718.547157895,679,661,638,879,785,813.547157895,650,630,654.452842105,0.400982271622,-0.0153455020756,0.0798430904967,0.999999916617,0.000303576891338,-0.000270832451863,3.5450037779e-05,1793249736117272576
+100,1.666666667,BASELINE,766,745,718.035146633,679,661,638,879,785,813,650.035146633,630,654.964853367,0.400980683489,-0.0153460434373,0.0798425516149,0.99999991654,0.000303003790714,-0.000271759169021,3.54395070482e-05,1793249736133939200
+101,1.683333333,BASELINE,766,745,718.618733619,679,661,638,879,785,813,650.618733619,630,654.381266381,0.40098076442,-0.015346769584,0.0798425967998,0.999999916586,0.000302440503875,-0.00027220946497,3.5484143081e-05,1793249736150606080
+102,1.700000000,BASELINE,766,745,718.79928977,679,661,638,879,785,813.20071023,650.79928977,630,654,0.40098103665,-0.0153474413632,0.0798428559848,0.999999916636,0.000302288987471,-0.000272188764677,3.55309031636e-05,1793249736167272704
+103,1.716666667,BASELINE,766,745,718.220347925,679,661,638,879,785,813.779652075,650.220347925,630,654,0.400981669376,-0.0153480106887,0.0798435184457,0.999999916692,0.000302913438538,-0.000271280487898,3.55816659408e-05,1793249736183939072
+104,1.733333333,BASELINE,766,745,718,679,661,638,879,785.357135491,813.642864509,650.357135491,630,654,0.400981779093,-0.0153475738873,0.0798434552093,0.999999917006,0.000301947150615,-0.000271236943385,3.52996648282e-05,1793249736200605952
+105,1.750000000,BASELINE,766,745,718,679,661,638,879,785.93372279,813.06627721,650.93372279,630,654,0.400981567432,-0.0153465188433,0.0798429460482,0.999999917476,0.000300003389054,-0.000271724757511,3.48131877181e-05,1793249736217272576
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,880,785,813,650,630,654,0.400979383144,-0.0153461581775,0.0798407877617,0.999999916732,0.000299533366898,-0.000275011829368,3.44179707861e-05,1793249736247530752
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,880,785,813.578773047,650.578773047,630,654,0.400981175536,-0.0153467094841,0.0798421538832,0.99999991705,0.000300441401671,-0.000272773181587,3.50767333672e-05,1793249736264197888
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,718,679.156590131,661,638,879.843409869,785,814,650.843409869,630,654,0.400982354295,-0.0153471211334,0.0798430960386,0.999999917292,0.000301031794741,-0.00027116775199,3.55563517576e-05,1793249736280865024
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,718,679.731851407,661,638,879.268148593,785,814,650.268148593,630,654,0.4009818924,-0.0153471593847,0.0798429046463,0.999999917346,0.000300772917284,-0.000271255341629,3.55569969215e-05,1793249736297531392
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,718,679.692240522,661,638,879.307759478,785,814,650.307759478,630,654,0.400981568825,-0.0153469980871,0.0798427605723,0.999999917228,0.000300829573538,-0.000271637033901,3.54878511456e-05,1793249736314197504
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,718,679.115767751,661,638,879.884232249,785,814,650.884232249,630,654,0.400981366021,-0.0153466625579,0.0798426578133,0.999999916959,0.000301161730999,-0.000272275515295,3.53577689745e-05,1793249736330864128
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,880,785,814,650.531133428,629.531133428,654,0.400980948259,-0.0153467226555,0.0798418864198,0.99999991671,0.000301302072795,-0.000273046888824,3.52570264807e-05,1793249736347530752
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879.94500497,785,814,650.05499503,629.05499503,654,0.400980647615,-0.015346768894,0.0798411302929,0.999999916476,0.000301543600879,-0.000273646686809,3.51838191946e-05,1793249736364197632
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879.364199399,785,814,650.635800601,629.635800601,654,0.400981983195,-0.0153457321158,0.0798421265498,0.999999916338,0.000303213421372,-0.000272286762954,3.53033878287e-05,1793249736380864256
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,785,814,651,629.785258828,654.214741172,0.400984657862,-0.0153456111236,0.0798435420264,0.99999991687,0.000303287045288,-0.000270228087797,3.54019604783e-05,1793249736397530624
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,785,814,651,629.20945411,654.79054589,0.400989584055,-0.0153470299246,0.0798456623741,0.999999918525,0.000300676840906,-0.000266994539688,3.54652306887e-05,1793249736414197248
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.366384295,638,879,785,814,651,629.366384295,654.633615705,0.401008734068,-0.0153474272841,0.0798534311127,0.99999992163,0.000301801504593,-0.000253682927712,3.60601799294e-05,1793249736430864128
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661.942242013,638,879,785,814,651,629.942242013,654.057757987,0.401036016287,-0.0153472406537,0.0798644292142,0.999999925265,0.000305061509475,-0.000234609369297,3.69591067876e-05,1793249736447531008
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.467437221,718,679,661.467437221,638.532562779,879,785,814,651,629.467437221,654,0.401092630978,-0.01534971362,0.0798829272551,0.999999933342,0.000304680104014,-0.000197623319833,3.78293146448e-05,1793249736464197376
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.121222591,718,679,661,638.878777409,879,785.121222591,813.878777409,650.878777409,629.121222591,654,0.401155474392,-0.0153529438958,0.079901264825,0.999999940213,0.000303042622379,-0.00016207043745,3.83834325854e-05,1793249736480864256
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744.697592509,718,679,661,638.302407491,879,785.697592509,813.302407491,650.302407491,629.697592509,654,0.401229426782,-0.0153579043731,0.0799158606464,0.999999945106,0.000298213208269,-0.000139396187229,3.7762767625e-05,1793249736497530880
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,785.726567652,813.273432348,650,629.726567652,654.273432348,0.401310923646,-0.0153613004111,0.0799271171669,0.999999947846,0.000297086690812,-0.000121248257225,3.66804380297e-05,1793249736514197504
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,785.151312963,813.848687037,650,629.151312963,654.848687037,0.401400748307,-0.0153629695767,0.0799346876719,0.999999948528,0.000300047535558,-0.00010809660861,3.50885100321e-05,1793249736530864128
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.434083362,745,718,679,661,638,879,785,813.565916638,650,629.434083362,654.565916638,0.401503349326,-0.0153666884711,0.0799398160133,0.99999995046,0.000297076682733,-9.88624464355e-05,3.24422776651e-05,1793249736547530752
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.977287543,744.977287543,718.022712457,679,661,638,879,785,813.022712457,650.022712457,630,654.022712457,0.401611626428,-0.0153711888273,0.079944006167,0.99999995279,0.000291985992968,-9.11158068889e-05,2.93749290364e-05,1793249736564197376
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.398138722,744.398138722,718.601861278,679,661,638,879,785,813.601861278,650.601861278,630,654.601861278,0.401747243576,-0.0153769110595,0.0799465663291,0.999999954887,0.000286829156056,-8.55568492003e-05,2.52096551513e-05,1793249736580864000
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.179731509,718.820268491,679,661.179731509,638,879.179731509,785,814,651,630,655,0.401892675284,-0.0153824455759,0.0799504781013,0.999999957117,0.000281580477063,-7.77495801895e-05,2.08338533567e-05,1793249736597530624
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.754789358,718.245210642,679,661.754789358,638,879.754789358,785,814,651,630,655,0.402059694473,-0.0153875672032,0.0799573627917,0.999999959636,0.000276129788574,-6.49970650346e-05,1.59949879108e-05,1793249736614197504
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,718,679.330716875,661.669283125,638,879.669283125,785,814,651,630,654.669283125,0.402236974581,-0.0153940773673,0.0799595307476,0.999999962083,0.000267930723645,-6.27780236017e-05,1.02707754947e-05,1793249736630864128
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,718,679.90729097,661.09270903,638,879.09270903,785,814,651,630,654.09270903,0.402421882746,-0.0154016197798,0.0799581922512,0.999999964452,0.000257688496019,-6.83896383074e-05,3.88838948998e-06,1793249736647530496
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,718,679.503687784,661,638,879.496312216,785,814,651,630,654,0.402629603089,-0.0154072526453,0.0799541902976,0.999999970982,0.000228161349091,-7.72313871784e-05,-3.74365099902e-06,1793249736664197376
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638.085747648,879.914252352,785,814,650.914252352,629.914252352,654.085747648,0.402850421382,-0.0154131349437,0.0799502028136,0.999999977958,0.000191652672731,-8.49528229129e-05,-1.17117597989e-05,1793249736680864000
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638.663867342,879.336132658,785,814,650.336132658,629.336132658,654.663867342,0.403121351765,-0.0154225503846,0.079949228732,0.999999987092,0.000136272441404,-8.26875349297e-05,-2.02347501821e-05,1793249736697530880
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638.760404753,879.239595247,785,813.760404753,650,629.239595247,654.760404753,0.40341070406,-0.0154330433734,0.0799514770428,0.999999992042,9.63078061453e-05,-7.66492778779e-05,-2.76731839855e-05,1793249736714197504
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638.187999203,879.812000797,785,813.187999203,650,629.812000797,654.187999203,0.403725645337,-0.0154450331319,0.0799582014249,0.999999994276,7.77562421958e-05,-6.53701702455e-05,-3.3605111643e-05,1793249736730864128
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879.603770931,785,813.396229069,650.396229069,630,654,0.404057129222,-0.0154534840501,0.0799601183429,0.999999994404,8.08220792522e-05,-6.15291733099e-05,-2.95566472096e-05,1793249736747530752
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879.01376061,785,813.98623939,650.98623939,630,654,0.404396703486,-0.0154602042495,0.0799596841044,0.999999993445,9.44602027738e-05,-6.13258865734e-05,-2.06271352071e-05,1793249736764197632
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.56499984,638,879.56499984,785,814,650.43500016,630,654,0.404793709681,-0.0154816322734,0.0799570790089,0.999999995823,6.26875982183e-05,-6.2179691637e-05,-2.36355340803e-05,1793249736780864512
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.857471163,718,679.142528837,662,638,880,785,814,650.142528837,630,654,0.405201528202,-0.0155004000999,0.079953356373,0.999999997047,3.043787259e-05,-6.5122949879e-05,-2.71922054514e-05,1793249736797531136
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.282861066,718,679.717138934,662,638,880,785,814,650.717138934,630,654,0.405637967002,-0.015510038712,0.0799464030261,0.99999999674,2.91100818014e-08,-7.43239352152e-05,-3.15467765184e-05,1793249736814197760
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.293170651,718,680,662,638.293170651,880.293170651,785.293170651,814,651,629.706829349,654.293170651,0.406092289893,-0.0155080716994,0.0799397385756,0.999999995803,8.87184595221e-06,-8.54031598446e-05,-3.19773193661e-05,1793249736830864384
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.870580747,718,680,662,638.870580747,880.870580747,785.870580747,814,651,629.129419253,654.870580747,0.406563952103,-0.0154948526192,0.0799333542198,0.999999993204,5.5770311561e-05,-9.83034057281e-05,-2.86033768102e-05,1793249736847531008
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,718,680,662,639,880.543854454,785.543854454,814,651,629,655,0.407050706854,-0.0154915794983,0.0799293878292,0.999999992348,5.24802533709e-05,-0.000107646371005,-3.10079794515e-05,1793249736864197632
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,718,679.956564727,662,638.956564727,880,785.043435273,814,651,629,655,0.407545898937,-0.0154918361268,0.0799255964643,0.999999991949,3.53395430291e-05,-0.000116790411246,-3.48242201414e-05,1793249736880864512
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,718,679.377060572,662,638.377060572,880,785.622939428,814,651,629,655,0.408091412273,-0.0155001948846,0.0799153442221,0.999999989758,2.61989917928e-05,-0.000136162482328,-3.54597970934e-05,1793249736897531136
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,718,679.201378826,662,638.201378826,880.201378826,785.798621174,814,651,629.201378826,655,0.408673250979,-0.0155069275256,0.0799153391226,0.999999989679,1.88931666634e-05,-0.000137797973139,-3.60024047774e-05,1793249736914197504
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,718,679.777835028,662,638.777835028,880.777835028,785.222164972,814,651,629.777835028,655,0.409322747333,-0.0155106314482,0.0799344198006,0.999999993566,1.50046043143e-05,-0.00010639826173,-3.63718528623e-05,1793249736930864384
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.354037396,745,718,680,662,638.645962604,881,785.354037396,814,651,630,655,0.409997258456,-0.0155124913578,0.0799638935654,0.999999997717,1.3294035033e-05,-5.60114050433e-05,-3.53851600612e-05,1793249736947531008
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.930080572,745,718,680,662,638.069919428,881,785.930080572,814,651,630,655,0.410687455536,-0.0155131949443,0.079999884509,0.999999999334,1.29492172055e-05,6.28169566536e-06,-3.35480736095e-05,1793249736964197888
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,718,679.483235586,662,638.516764414,881,786,814,651,630,655,0.411329670113,-0.0155101994611,0.0799895654427,0.999999999165,1.23201204617e-05,-1.59895991889e-05,-3.55350524353e-05,1793249736980864512
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745,718,679.103401303,662,639,881.103401303,786,814.103401303,651,630,655,0.411974923989,-0.0155072388037,0.079969344135,0.999999997791,1.08412545589e-05,-5.30207702373e-05,-3.86019853309e-05,1793249736997531136
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745,718,679.683051297,662,639,881.683051297,786,814.683051297,651,630,655,0.412664706513,-0.0155067921968,0.0799329809832,0.999999993575,5.62937893544e-06,-0.000104226676713,-4.42098210083e-05,1793249737014197760
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.739363074,745,718,680,662.260636926,639,882,786,814.739363074,651,630,655,0.413396049263,-0.0155071134772,0.0799139308828,0.999999990904,1.62881441949e-06,-0.000125950858043,-4.82341312362e-05,1793249737030864384
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.16426802,745,718,680,662.83573198,639,882,786,814.16426802,651,630,655,0.414177534464,-0.0155083612129,0.0799157689527,0.999999992448,-9.10305430099e-07,-0.000112105381691,-5.03479208268e-05,1793249737047531008
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.410874486,745.410874486,718,680,663,639,882.410874486,786,814,651,629.589125514,655,0.414969299222,-0.0155098119915,0.0799349797583,0.999999995639,-2.40241985497e-07,-7.97828364346e-05,-4.85451708251e-05,1793249737064197632
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.986035931,745.986035931,718,680,663,639,882.986035931,786,814,651,629.013964069,655,0.415765174184,-0.0155113439561,0.0799611370012,0.999999998175,1.71300414742e-06,-4.007229005e-05,-4.51764037543e-05,1793249737080864512
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.421030757,745.421030757,718,680,663,639,883,786,814.578969243,651,629.578969243,655,0.41652345018,-0.0155102531184,0.0799461611507,0.99999999616,-1.15263981827e-06,-7.4073699118e-05,-4.68254678866e-05,1793249737097530880
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.167625146,745,718,680,663.167625146,639,883,785.832374854,814.832374854,651,630,655,0.417319777687,-0.0155106323701,0.0799413877408,0.999999995353,-5.3257849226e-06,-8.31801186779e-05,-4.84364536055e-05,1793249737114197504
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.744751188,745,718,680,663.744751188,639,883,785.255248812,814.255248812,651,630,655,0.418211348865,-0.0155147624192,0.0799640388127,0.999999998326,-1.24001711455e-05,-2.69884238381e-05,-4.96493955056e-05,1793249737130864128
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.325922197,718,680.325922197,663.674077803,639,883.325922197,785.325922197,814.325922197,651,629.674077803,655,0.419083857435,-0.0155196677431,0.0799765632238,0.999999998569,-1.83894738311e-05,3.0346696818e-06,-5.01455865274e-05,1793249737147530752
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.910300837,718,680.910300837,663.089699163,639,883.910300837,785.910300837,814.910300837,651,629.089699163,655,0.419941249306,-0.0155251878601,0.0799810571873,0.999999998394,-2.35183044879e-05,1.23060482825e-05,-5.00733938206e-05,1793249737164197632
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,718,681,663,639.490113704,884,786,815,651,629,655,0.420800071089,-0.0155246451803,0.0799674642603,0.999999998273,-2.54629064013e-05,-1.20085004898e-05,-5.15807064714e-05,1793249737180864256
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,718,681.068952789,663,640,884.068952789,786.068952789,815,651,629.068952789,654.931047211,0.421665701264,-0.0155233522713,0.0799560062181,0.999999997696,-2.6358172417e-05,-3.35073785926e-05,-5.28235454007e-05,1793249737197530880
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,718,681.646715113,663,640,884.646715113,786.646715113,815,651,629.646715113,654.353284887,0.422579657513,-0.0155246355889,0.0799845026298,0.99999999841,-2.37708968403e-05,1.07100653933e-05,-5.00013700359e-05,1793249737214197504
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.776101188,718,682,663,639.776101188,885.223898812,786.776101188,815,651,629.776101188,654.223898812,0.423476949028,-0.0155250259305,0.0799988648362,0.999999998202,-2.08345299005e-05,2.78486751848e-05,-4.8860391472e-05,1793249737230864128
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.199828045,718,682,663,639.199828045,885.800171955,786.199828045,815,651,629.199828045,654.800171955,0.424348013547,-0.0155240108972,0.0799909824844,0.999999998578,-1.734875891e-05,2.37033463976e-06,-5.0365297976e-05,1793249737247530752
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.616954079,745.383045921,718,682,663,639,886,786,815,651,629,655,0.425208899945,-0.015522652503,0.0799552554287,0.999999996537,-1.43094382688e-05,-6.19231517538e-05,-5.37317541439e-05,1793249737264197376
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.03057624,745.96942376,718,682,663,639,886,786,815,651,629,655,0.426064383447,-0.0155211118429,0.0799047475945,0.999999987469,-1.15071065878e-05,-0.000146820844934,-5.80863746328e-05,1793249737280864000
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.104155033,746,718.552077516,682,663.552077516,639,886,786,815,651,629.552077516,655,0.426992501384,-0.0155237752405,0.0799016587542,0.999999989321,-1.5906322553e-05,-0.000132728593484,-5.90643609896e-05,1793249737297530880
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.867152569,746,718.867152569,682,664,639.132847431,886.132847431,786.132847431,815,651,630,655,0.427914252215,-0.0155254349604,0.0799044969229,0.999999991243,-1.93363894774e-05,-0.000116640380696,-5.94509048523e-05,1793249737314197504
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.291973022,746,718.291973022,682,664,639.708026978,886.708026978,786.708026978,815,651,630,655,0.428801498317,-0.0155229827435,0.0799183839665,0.999999991847,-1.82204299476e-05,-0.000112038573645,-5.84866725852e-05,1793249737330864128
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,639.717386912,887,787,815.282613088,651,630,655,0.429720034363,-0.0155257419713,0.0799475573328,0.99999999527,-1.96406441377e-05,-7.70590841032e-05,-5.60032061266e-05,1793249737347530752
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,639.143412645,887,787,815.856587355,651,630,655,0.430670828856,-0.0155338739606,0.0799924901984,0.999999998312,-2.36755375426e-05,-1.07615920909e-05,-5.19534785153e-05,1793249737364197376
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664,639,887.44374319,786.55625681,816,651,630,655,0.431585787084,-0.015537443666,0.0800174353353,0.999999998119,-1.93586408024e-05,2.93952023976e-05,-5.02306384051e-05,1793249737380864000
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,639,888,786,816,651,630,655,0.432482090728,-0.015539040149,0.0800304415365,0.999999997297,-1.34095147799e-05,5.25041992874e-05,-4.96998005533e-05,1793249737397530880
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,639,888,786,816,651,630,655,0.433272497737,-0.0155334866395,0.0799601995335,0.999999996559,-2.55812251733e-05,-5.58593965601e-05,-5.57412840195e-05,1793249737414197504
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664,639,888,786.19051816,816,651,630,655,0.434084956052,-0.0155302194375,0.0799114525105,0.999999989451,-3.52756966479e-05,-0.000127287883196,-6.0420856904e-05,1793249737430864128
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664,639,888,786.767428665,816,651,630,655,0.434942137053,-0.0155315891244,0.0799062997216,0.999999989595,-3.99460505594e-05,-0.000123807817863,-6.23383235446e-05,1793249737447530496
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.659151675,718,682,664,639,888,786.659151675,816,651,630,655,0.435792553229,-0.0155330793826,0.0799280258822,0.999999992684,-4.36504087902e-05,-9.45072083722e-05,-6.1603565188e-05,1793249737464197888
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.088089813,718,682,664,639,888,786.088089813,816,651,630,655,0.436638400301,-0.0155346510762,0.0799679064465,0.999999996024,-4.67023202088e-05,-4.77670565961e-05,-5.90774582238e-05,1793249737480865536
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.498695805,745,718,682,664,639,888,786,816,651,630,655,0.437480800114,-0.0155416238628,0.0799953129587,0.999999997222,-4.88835946583e-05,-4.88370170056e-06,-5.60567974483e-05,1793249737497532416
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.091711052,745,718,682,664.091711052,639,888,786,816.091711052,651,630,655,0.438309412913,-0.0155491715165,0.0800145841619,0.999999996756,-5.33434893121e-05,2.72167311591e-05,-5.38690616119e-05,1793249737514199040
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.669758027,745,718,682,664.669758027,639,888,786,816.669758027,651,630,655,0.43906824854,-0.0155545436795,0.0800027794725,0.999999995881,-7.0728797837e-05,5.86655576607e-06,-5.65765910971e-05,1793249737530865664
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,745.247079943,718,682,665,639,888.247079943,786,816.752920057,651,630,654.752920057,0.439775200541,-0.0155576480159,0.0799636804079,0.999999993711,-7.67597836523e-05,-5.57947368192e-05,-5.97670968591e-05,1793249737547532288
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.82343555,718,682,665,639,888.82343555,786,816.17656445,651,630,654.17656445,0.440413008804,-0.0155577300905,0.0798882069893,0.999999981038,-6.76592189014e-05,-0.000171177384502,-6.36012491706e-05,1793249737564198400
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.593330152,639,889,786,816,651,630,654.406669848,0.44103592091,-0.0155574915574,0.0798079253952,0.999999951708,-7.58393739384e-05,-0.000292794285301,-7.14357605423e-05,1793249737580864768
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664.007057885,639,889,786,816,651,630,654.992942115,0.441652254304,-0.0155571114305,0.079725520303,0.999999905503,-9.1651416221e-05,-0.000417164500021,-8.10369974595e-05,1793249737597531136
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,639,888.424708212,785.424708212,816.575291788,651,629.424708212,655,0.442360781079,-0.0155694288829,0.0797597050613,0.999999926567,-0.000116925981704,-0.000356500026528,-7.8109990301e-05,1793249737614198016
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.844521408,746,718,682,664,639,888.155478592,785,817,651,629.155478592,654.844521408,0.443056341829,-0.0155816215087,0.0797985409341,0.999999945047,-0.000135633761672,-0.000293184429593,-7.4518345016e-05,1793249737630864640
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.270034506,746,718,682,664,639,888.729965494,785,817,651,629.729965494,654.270034506,0.443713932319,-0.0155930607617,0.0798460827031,0.999999962113,-0.000136333597589,-0.000228800472112,-6.95469401989e-05,1793249737647531264
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,718,682,664,639,889,785,816.694764573,650.694764573,630,654.305235427,0.444319895106,-0.0156011178462,0.0798620495315,0.999999966351,-0.000139118631547,-0.000208304086444,-6.74846573198e-05,1793249737664198144
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,718,682,664,639,889,785,816.118800163,650.118800163,630,654.881199837,0.444880066589,-0.0156061751108,0.0798500109199,0.999999961651,-0.000143753135076,-0.000226733847531,-6.80026246225e-05,1793249737680864768
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,718,682,664,638.531659548,889,784.531659548,816,650.468340452,630,655,0.445409370196,-0.0156103437586,0.0798278393665,0.999999951121,-0.000153774179115,-0.000263179183309,-6.96298050911e-05,1793249737697531392
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.057271264,746,718,682.057271264,663.942728736,638,888.942728736,784,816,651,629.942728736,655,0.445926499106,-0.015614111561,0.0798032769087,0.999999938156,-0.000163878854213,-0.000302850776985,-7.15008100569e-05,1793249737714198016
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.636057201,746,718,682.636057201,663.363942799,638,888.363942799,784,816,651,629.363942799,655,0.446405808169,-0.015616332005,0.0797809206099,0.999999930007,-0.000161998770566,-0.000329270105634,-7.29673330378e-05,1793249737730864640
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.786222593,746,718,682.786222593,663.213777407,638,888.427554814,783.786222593,816.213777407,651,629.213777407,655,0.446873502015,-0.0156196428308,0.0797620271943,0.999999922446,-0.000163951675336,-0.000350307750843,-7.42415234024e-05,1793249737747531264
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.210307785,746,718,682.210307785,663.789692215,638,889.57938443,783.210307785,816.789692215,651,629.789692215,655,0.447321519716,-0.015624800755,0.0797489998803,0.999999916708,-0.000172397635445,-0.000362228860317,-7.51899035991e-05,1793249737764197888
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.371691722,746,718,682,663.628308278,638,889.628308278,783.371691722,816.628308278,651,630,655,0.447720365149,-0.0156296105592,0.0797319932175,0.999999904611,-0.000184500493924,-0.000388373580297,-7.6840655365e-05,1793249737780864512
+199,3.316666667,POSE1_TO_POSE2_PRESS,766.957191381,746,718,682,663.042808619,638,889.042808619,783.957191381,816.042808619,651,630,655,0.448090925299,-0.015634220115,0.0797126975157,0.999999887808,-0.000198706907778,-0.000422700137264,-7.88954317846e-05,1793249737797531136
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.463759602,746,718,682.536240398,663,638,889,783.463759602,816.536240398,651,630,655,0.448442560249,-0.0156372153048,0.0796904643614,0.999999873438,-0.000196242413925,-0.000456251343632,-8.02989917783e-05,1793249737814198016
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,718,683,663,638,888.306698559,783,817,651,629.306698559,655,0.44912798346,-0.0156438744399,0.0796761130209,0.999999864018,-0.0002036827278,-0.000473346023164,-8.01311494615e-05,1793249737847531776
+203,3.383333333,POSE1_TO_POSE2_PRESS,766.270829537,746,718,682.729170463,663,637.729170463,888.270829537,783,817,651,629,655,0.449448666198,-0.0156463946309,0.0796815395532,0.999999867214,-0.000212134624007,-0.000462827840759,-7.97596064049e-05,1793249737864198400
+204,3.400000000,POSE1_TO_POSE2_PRESS,766.847233825,746,718,682.152766175,663,637.152766175,888.847233825,783,817,651,629,655,0.449750101769,-0.0156476531419,0.0796896461362,0.99999987145,-0.000220265212097,-0.000449622697538,-8.01473900513e-05,1793249737880864512
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+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,717.007988514,682,663,637,888.007988514,782.007988514,817,651,629,655,0.450266177559,-0.0156515096804,0.0797051013319,0.999999879164,-0.00021659544633,-0.000434151339671,-7.91866022985e-05,1793249737914197504
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,717,682,663,637,888.177582379,782,817,651,629.822417621,655,0.450683711575,-0.0156542714991,0.0796917738494,0.99999987129,-0.000216911212338,-0.000452371037835,-7.56989150996e-05,1793249737947531264
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,717.375241678,681,662,638,881.750483357,785.624758322,815,650.624758322,630,655,0.420133345495,-0.0154227323773,0.0798550408838,0.999999957046,0.000195551881671,-0.000212441924047,5.03582174241e-05,1793249740000147200
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745,717.215979385,681,662,638,881.215979385,786,815,650.784020615,630,654.784020615,0.419272818324,-0.0154207488156,0.0798545302642,0.999999955023,0.000199032421768,-0.00021855268186,5.07453545296e-05,1793249740016814592
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,717.791358249,681,662,638,881.791358249,786,815,650.208641751,630,654.208641751,0.418372629699,-0.0154162577881,0.0798067965348,0.999999932526,0.000204571601041,-0.000301530959248,4.66612581338e-05,1793249740033481472
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.633644072,745,718,680.633644072,662.366355928,638,881.633644072,785.633644072,814.633644072,650,630,654,0.417515353129,-0.0154152161524,0.0797896464334,0.999999922744,0.000203063549408,-0.000333625690681,4.44008787177e-05,1793249740050147840
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766.058863291,745,718,680.058863291,662.941136709,638,881.058863291,785.058863291,814.058863291,650,630,654,0.416682489862,-0.0154161369226,0.0797898957756,0.999999922848,0.000197546232779,-0.000336772078842,4.31780369821e-05,1793249740066814208
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,718,680.530111369,661.939777263,638,881,785.530111369,814,650.530111369,630,654,0.415854825861,-0.0154128368065,0.0797901259825,0.999999919205,0.000200503433417,-0.000345578849435,4.43049775239e-05,1793249740083480832
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,718,680.88178444,661.11821556,638,881,785.88178444,814,651,629.88178444,654,0.415039523921,-0.0154095188771,0.079787661608,0.999999914675,0.00020439840731,-0.000356135688841,4.51441427802e-05,1793249740100147200
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,718,680.303373118,661.696626882,638,881,785.303373118,814,651,629.303373118,654,0.414270036427,-0.0154080063215,0.079774716124,0.999999908553,0.000208180014957,-0.000370991214244,4.38193791859e-05,1793249740116813824
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.273806901,745,718,679.726193099,662,638,881,785.273806901,814,650.726193099,629,654.273806901,0.413532809494,-0.0154074797843,0.0797758884408,0.999999911485,0.00020897697982,-0.000362618215612,4.32017501116e-05,1793249740133480704
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.849628728,745,718,679.150371272,662,638,881,785.849628728,814,650.150371272,629,654.849628728,0.412831166708,-0.015408040847,0.0797926329976,0.999999923746,0.000206481818832,-0.000328623651995,4.33641057465e-05,1793249740150148096
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.847079369,662,638.423539684,881,785.576460316,814,650,629,654.576460316,0.412116038105,-0.0154072491285,0.0797947459674,0.99999992287,0.000209530418728,-0.000329230800035,4.43266473762e-05,1793249740166814976
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.993550618,662,638.996775309,881,785.003224691,814,650,629,654.003224691,0.411396143015,-0.0154059792829,0.0797916875479,0.999999917443,0.00021453840626,-0.000342067580383,4.55720069014e-05,1793249740183481600
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.410778269,745,718,680.410778269,661.410778269,638.410778269,880.410778269,785,814,650,629,654,0.410702587907,-0.0154044026272,0.0797779662685,0.999999910082,0.000214834161402,-0.000363018201279,4.36002735148e-05,1793249740200147712
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,718,680,661,638.177411305,880,785,814,650.177411305,629.177411305,654,0.410036160762,-0.0154031189134,0.0797744682146,0.999999908341,0.00021565591848,-0.00036736831326,4.30159710473e-05,1793249740216814336
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,718,680,661,638.755735796,880,785,814,650.755735796,629.755735796,654,0.409430700382,-0.0154025011101,0.0797942088683,0.999999919446,0.000217726574381,-0.000334100952746,4.56081056942e-05,1793249740233480704
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,718.328895099,680,661,638.671104901,880,785,814,651,629.671104901,654.328895099,0.408853883525,-0.0154011831594,0.0798140825486,0.99999992891,0.000222020744992,-0.000301003033671,4.77972311329e-05,1793249740250147584
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,718.898277593,680,661,638.101722407,880,785,814,651,629.101722407,654.898277593,0.408298010787,-0.0153993532624,0.0798340534965,0.999999936867,0.000227940744619,-0.000268029011725,4.96916769279e-05,1793249740266814208
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.473612681,745,718.526387319,679.526387319,661,638,880,785,814,650.526387319,629.473612681,655,0.407718384762,-0.0153973882615,0.0798189291545,0.999999926623,0.000234612052226,-0.000298843272344,4.90264661069e-05,1793249740283481088
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.947854089,745,718,679.052145911,661,638,879.947854089,785,813.947854089,650.052145911,630,655,0.407137914157,-0.0153956824721,0.0797959326777,0.999999911184,0.000240229579395,-0.000343003199062,4.76591296225e-05,1793249740300148224
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.349379316,745,718,679.650620684,661,638,879.349379316,785,813.349379316,650.650620684,630,655,0.406602725644,-0.0153970003062,0.0797704381462,0.999999899015,0.000233094595193,-0.000381619269658,4.47688085667e-05,1793249740316814848
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.23983107,745,718,680,661,638,879.23983107,785,813.23983107,651,629.76016893,655,0.406108168909,-0.0153974852014,0.0797603942228,0.99999989561,0.000228304430071,-0.000393470078,4.28770031202e-05,1793249740333481472
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.816047252,745,718,680,661,638,879.816047252,785,813.816047252,651,629.183952748,655,0.405670602021,-0.0153968018228,0.0797720211989,0.999999905751,0.000226803090062,-0.000367780143873,4.23857078667e-05,1793249740350147840
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.609396821,745,718,679.609396821,661,638,880,785,813.609396821,651,629.390603179,654.609396821,0.40526770738,-0.0153932703715,0.0797920998238,0.99999991562,0.000236195273795,-0.000333207258122,4.40975526392e-05,1793249740366814464
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.035619423,745,718,679.035619423,661,638,880,785,813.035619423,651,629.964380577,654.035619423,0.404881072327,-0.0153884033101,0.0798161418691,0.999999924123,0.000250695999001,-0.00029446869001,4.68425646702e-05,1793249740383480320
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,718,679.554273135,661,638,880,785,813,650.445726865,630,654.554273135,0.404500376651,-0.0153875836227,0.0798222457714,0.999999926507,0.000247453427097,-0.000288899310796,4.78532814159e-05,1793249740400146944
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,718,680,661,638,879.857865713,785,813,650,630,654.857865713,0.404128428983,-0.0153871316203,0.0798265796486,0.999999927008,0.000246458551157,-0.00028781793973,4.90180515513e-05,1793249740416813568
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,718,680,661,638,879.279512463,785,813,650,630,654.279512463,0.403782122908,-0.0153869859062,0.079829125058,0.999999922789,0.000255966260997,-0.000293772751186,5.10079157964e-05,1793249740433480704
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,718,679.703608762,661,638,879,785,813.296391238,650.296391238,630,654,0.403460515926,-0.0153860609017,0.079829829455,0.999999921187,0.000256167717226,-0.000299169617319,5.00243227222e-05,1793249740450147584
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,718,679.129996211,661,638,879,785,813.870003789,650.870003789,630,654,0.403162010575,-0.0153844070095,0.0798288119118,0.99999992204,0.000247664827048,-0.000304044624437,4.6259588812e-05,1793249740466814208
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.454949343,661,638,879,785,813.545050657,651,630,654.454949343,0.402905753972,-0.0153855695141,0.0798304130399,0.999999925334,0.000237769987192,-0.0003012676417,4.51180862828e-05,1793249740483481088
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,718,679.957453963,661,638,879,785,813,651,630,654.957453963,0.402663307957,-0.0153874002253,0.0798326257032,0.999999928686,0.000229369547426,-0.000296640943913,4.49647466728e-05,1793249740500147968
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,718.200411681,679,661,638,879.400823362,785,813,650.799588319,630,654,0.402228720502,-0.0153871411767,0.0798314452273,0.999999921372,0.000255065922631,-0.000299609574262,4.92999634259e-05,1793249740533480448
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,718.778316844,679,661,638,880.556633688,785,813,650.221683156,630,654,0.402045346478,-0.0153871126844,0.0798268625495,0.999999919304,0.000254834771659,-0.000306620836857,4.93370493719e-05,1793249740550147072
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,718.646066487,679,661,638,880.292132974,785,813,650,630,654,0.401889756553,-0.0153868007399,0.0798282844239,0.999999920443,0.000255188574834,-0.000302486639072,4.99506826165e-05,1793249740566813952
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,718.071873932,679,661,638,879.143747863,785,813,650,630,654,0.401751457143,-0.0153863123982,0.0798334430362,0.999999923498,0.000255906405207,-0.000291416426161,5.09231113726e-05,1793249740583480832
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879,785,813,650.514385882,630,654.514385882,0.401637248666,-0.0153875381268,0.0798406387445,0.999999927746,0.000250062397796,-0.000281726517886,5.10606326604e-05,1793249740600147712
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.100860155,745,718,679,661,638,879,785,813.100860155,651,630,655,0.401528250212,-0.0153885065817,0.0798467187509,0.999999931883,0.000242209989505,-0.000273995067095,4.99514649008e-05,1793249740616814592
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.680161455,745,718,679,661,638,879,785,813.680161455,651,630,655,0.401427614651,-0.0153870912295,0.0798461236549,0.999999935061,0.000229284267159,-0.000274616907131,4.34951735984e-05,1793249740633480960
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.741706814,745,718,679,661,638,879,785,814,651,629.741706814,654.741706814,0.401334773704,-0.0153863466436,0.0798424771909,0.999999932857,0.000232039815609,-0.00028076971673,4.01359350266e-05,1793249740650147328
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.165016843,745,718,679,661,638,879,785,814,651,629.165016843,654.165016843,0.401251541147,-0.0153864289082,0.0798350693198,0.999999923744,0.000254125592959,-0.000293740526187,4.05944190536e-05,1793249740666813696
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.410201703,745,718,679,661,638,879,785,814,650.589798297,629,654.410201703,0.401189241615,-0.0153851154698,0.07983198697,0.999999920714,0.000260834507756,-0.000298044963627,4.13182196095e-05,1793249740683480320
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.984830423,745,718,679,661,638,879,785,814,650.015169577,629,654.984830423,0.401135332968,-0.0153832425718,0.0798306384811,0.999999920289,0.000261379694273,-0.000298875534932,4.21483707812e-05,1793249740700147200
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.422961536,745,718,679,661.577038464,638,879.577038464,785,813.422961536,650,629.577038464,654.422961536,0.401099216441,-0.0153839543885,0.0798314160574,0.999999921855,0.0002582395718,-0.000296302138406,4.25247404169e-05,1793249740716813568
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879.318269041,785,813.318269041,651,630,654.318269041,0.401014970089,-0.0153840133972,0.0798305863799,0.999999921475,0.000257165051834,-0.000298410580886,4.32139914947e-05,1793249740766814976
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879.892763606,785,813.892763606,651,630,654.892763606,0.400999020253,-0.015384132506,0.0798295441611,0.999999921551,0.000255751230719,-0.000299362073068,4.32613140158e-05,1793249740783481088
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,638,879,785,813.951069919,650.048930081,630,654,0.400980129761,-0.0153846935942,0.0798371818585,0.999999925496,0.000256967034019,-0.000284801114105,4.31826635662e-05,1793249740900147712
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,718,679,661.538680433,638.538680433,879,785,814,650.538680433,630,654.538680433,0.400978762761,-0.0153844310564,0.0798369100934,0.999999925503,0.000256663345678,-0.000285088988303,4.29235479939e-05,1793249740916814592
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac5f0cf90615f858532bfa8cebf5abcf671c26ff
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,402 @@
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+366,6.100000000,pose2_to_pose3_retreat,0.576127581138,-0.0098500028839,1.07003353515,0.546698259896,-0.001177368185,1.0697049284
+367,6.116666667,pose2_to_pose3_retreat,0.576042982684,-0.00984999621733,1.07003358453,0.546613662708,-0.00117735718898,1.06970497989
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+370,6.166666667,pose2_to_pose3_retreat,0.57584642497,-0.00984983318953,1.07003358745,0.546417103619,-0.00117719875105,1.06970498347
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+372,6.200000000,pose2_to_pose3_retreat,0.575766009293,-0.00984983764836,1.07003348837,0.546336687184,-0.00117720569795,1.06970488671
+373,6.216666667,pose2_to_pose3_retreat,0.575737361135,-0.00984986169131,1.07003355094,0.546308039793,-0.0011772272668,1.06970494592
+374,6.233333333,pose2_to_pose3_retreat,0.575715219124,-0.00984982531663,1.07003371978,0.546285897258,-0.00117719296804,1.06970510711
+375,6.250000000,pose2_to_pose3_retreat,0.575697930612,-0.00984983955739,1.07003358105,0.54626860779,-0.00117721048023,1.06970496777
+376,6.266666667,pose2_to_pose3_retreat,0.575685340952,-0.00984992198024,1.07003340963,0.546256019129,-0.001177289363,1.06970480033
+377,6.283333333,pose2_to_pose3_retreat,0.575677086922,-0.00984995975368,1.07003351358,0.546247766496,-0.00117732248653,1.06970490138
+378,6.300000000,pose2_to_pose3_retreat,0.575671858623,-0.00984992838406,1.07003360667,0.546242537781,-0.00117729243328,1.06970499704
+379,6.316666667,pose2_to_pose3_retreat,0.575669004992,-0.009849832334,1.07003352795,0.546239683181,-0.00117719958213,1.06970492068
+380,6.333333333,pose2_to_pose3_retreat,0.575667383697,-0.00984973146891,1.0700334058,0.546238060911,-0.00117710195804,1.06970480037
+381,6.350000000,pose2_to_pose3_retreat,0.575666666772,-0.00984974248434,1.07003337332,0.546237343983,-0.00117711296642,1.06970476824
+382,6.366666667,pose2_to_pose3_retreat,0.575666178484,-0.00984981012373,1.07003337448,0.54623685616,-0.00117717904376,1.06970476913
+383,6.383333333,pose2_to_pose3_retreat,0.575665855021,-0.00984985493106,1.07003337525,0.546236533004,-0.00117722281632,1.06970476971
+384,6.400000000,pose2_to_pose3_retreat,0.575665831075,-0.00984985824823,1.07003337531,0.54623650908,-0.00117722605688,1.06970476976
+385,6.416666667,pose2_to_pose3_retreat,0.575665710674,-0.00984987492665,1.0700333756,0.546236388793,-0.00117724235013,1.06970476998
+386,6.433333333,pose2_to_pose3_retreat,0.575665197904,-0.00984994595741,1.07003337682,0.54623587651,-0.00117731174053,1.06970477091
+387,6.450000000,pose2_to_pose3_retreat,0.575665025862,-0.00984993255261,1.07003343183,0.546235704751,-0.00117729736432,1.06970482611
+388,6.466666667,pose2_to_pose3_retreat,0.575664889954,-0.00984991923506,1.07003347929,0.546235569077,-0.00117728324855,1.06970487374
+389,6.483333333,pose2_to_pose3_retreat,0.575664851577,-0.00984991547444,1.07003349269,0.546235530766,-0.00117727926254,1.06970488719
+390,6.500000000,pose2_to_pose3_retreat,0.575664779836,-0.00984990844457,1.07003351774,0.546235459148,-0.00117727181131,1.06970491233
+391,6.516666667,pose2_to_pose3_retreat,0.575664553405,-0.00984988625662,1.07003359681,0.546235233106,-0.00117724829348,1.06970499168
+392,6.533333333,pose2_to_pose3_retreat,0.575664463845,-0.00984990036771,1.0700335699,0.546235143663,-0.00117726199092,1.0697049652
+393,6.550000000,pose2_to_pose3_retreat,0.575664412125,-0.00984993175253,1.07003349528,0.546235091974,-0.00117729325095,1.06970489118
+394,6.566666667,pose2_to_pose3_retreat,0.575664361088,-0.00984996272335,1.07003342166,0.546235040966,-0.00117732409862,1.06970481813
+395,6.583333333,pose2_to_pose3_retreat,0.575664319419,-0.0098499880087,1.07003336154,0.546234999322,-0.00117734928343,1.06970475849
+396,6.600000000,pose2_to_pose3_retreat,0.57566431857,-0.00984998172644,1.07003336583,0.546234998391,-0.00117734328371,1.06970476256
+397,6.616666667,pose2_to_pose3_retreat,0.575664330569,-0.00984992935129,1.07003341969,0.546235009844,-0.00117729282533,1.06970481477
+398,6.633333333,pose2_to_pose3_retreat,0.575664335191,-0.00984990917919,1.07003344043,0.546235014255,-0.00117727339147,1.06970483488
+399,6.650000000,pose2_to_pose3_retreat,0.575664344025,-0.00984987061939,1.07003348008,0.546235022687,-0.00117723624285,1.06970487332
+400,6.666666667,pose2_to_pose3_retreat,0.575664349293,-0.00984984762644,1.07003350373,0.546235027716,-0.00117721409128,1.06970489625
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d71aa31cf36cb387525bbaebe15af3047c104d64
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bec1f402045067045e7e05828f672c4e1ecaa175e960f909651038900a59a6f3
+size 25514055
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df5a835f15a8cb939058e57cae50ed2e4cff6e3e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_03/franka_data.csv
@@ -0,0 +1,403 @@
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+20,0.333333333,BASELINE,766,744.615795769,718,679.384204231,661,638,880,785,814,651,630,654.615795769,0.400977145141,-0.0153859092439,0.0798408014611,0.999999927854,0.000256467289304,-0.000277048687455,4.19641214815e-05,1793249741666025984
+21,0.350000000,BASELINE,766,745,718,679,661,638,880,785,814,651,630,655,0.400977281294,-0.0153869715855,0.079840986504,0.999999928112,0.000255560239501,-0.000276939028803,4.20661470547e-05,1793249741682692352
+22,0.366666667,BASELINE,766,745,718,679,661,638,880,785,814,651,630,655,0.400978438366,-0.0153903573064,0.0798424841077,0.999999929777,0.000250922273453,-0.000275095609698,4.25119517584e-05,1793249741699358464
+23,0.383333333,BASELINE,766,745,718,679,661,638,880,785,814,651,630,654.644121337,0.400978424723,-0.0153900620431,0.0798424674793,0.999999929801,0.000250740954594,-0.000275176485863,4.24769051706e-05,1793249741716025088
+24,0.400000000,BASELINE,766,745,718,679,661,638,880,785,814,651,630,654.067151437,0.400977683767,-0.015387479952,0.0798415101274,0.999999928811,0.000253328347626,-0.000276452839041,4.21431275736e-05,1793249741732691712
+25,0.416666667,BASELINE,766,745,718,679,661,638,880,785.521895752,814,651,630,654.521895752,0.400978328322,-0.0153866198859,0.0798417545324,0.99999992858,0.000254751462632,-0.000275961993432,4.22587074849e-05,1793249741749358080
+26,0.433333333,BASELINE,766,745,718,679.110184473,661,638,879.889815527,785.889815527,814,650.889815527,630,654.889815527,0.400978727308,-0.0153865386602,0.0798419516434,0.999999928597,0.000255084281213,-0.000275579671638,4.23550149709e-05,1793249741766024960
+27,0.450000000,BASELINE,766,745,718,679.688492509,661,638,879.311507491,785.311507491,814,650.311507491,630,654.311507491,0.400977307645,-0.0153888027217,0.0798412753173,0.999999929236,0.000251436461234,-0.000276647347141,4.21179810624e-05,1793249741782692352
+28,0.466666667,BASELINE,766.265118424,745,718,679.734881576,661,638,879,785,814,650.265118424,630,654,0.400976204231,-0.0153891190903,0.0798408541356,0.999999929172,0.000250866909633,-0.000277428190656,4.19053580979e-05,1793249741799359232
+29,0.483333333,BASELINE,766.839780316,745,718,679.160219684,661,638,879,785,814,650.839780316,630,654,0.400975470059,-0.0153871613971,0.0798407308523,0.999999928292,0.000253891442187,-0.000277874138606,4.17212365554e-05,1793249741816025856
+30,0.500000000,BASELINE,766.58592083,745,718,679,661,638,879,785,814,651,630,654,0.400975513418,-0.0153867849144,0.0798408264901,0.999999927946,0.000255251295206,-0.000277869808193,4.17422184742e-05,1793249741832692480
+31,0.516666667,BASELINE,766.011762337,745,718,679,661,638,879,785,814,651,630,654,0.400975857364,-0.0153870197136,0.079841006761,0.999999927809,0.000255967597857,-0.00027769140416,4.18424915709e-05,1793249741849358848
+32,0.533333333,BASELINE,766,745,718.580139384,679,661.580139384,638,879,785,814,651,630,654,0.400976656763,-0.0153886788344,0.0798409340059,0.999999928537,0.000254001275658,-0.000276820222429,4.21812964936e-05,1793249741866025472
+33,0.550000000,BASELINE,766.168405532,745,718.831594468,679.168405532,661.831594468,638,879,785,814,651,630,654,0.400977294545,-0.0153895021667,0.0798412130915,0.999999929215,0.000252354682403,-0.000275857113734,4.2309716803e-05,1793249741882692096
+34,0.566666667,BASELINE,766.746914502,745,718.253085498,679.746914502,661.253085498,638,879,785,814,651,630,654,0.400977515556,-0.0153882176316,0.0798423618714,0.999999929733,0.000251623328413,-0.000274705427742,4.19136567563e-05,1793249741899358464
+35,0.583333333,BASELINE,766.67671023,745,718,679.67671023,661,638,879,785,813.67671023,651,630,654,0.400978353319,-0.0153874342174,0.0798430093545,0.999999929642,0.000252611142361,-0.000274142369177,4.18353146583e-05,1793249741916025600
+36,0.600000000,BASELINE,766.101994304,745,718,679.101994304,661,638,879,785,813.101994304,651,630,654,0.400979670736,-0.0153870405303,0.0798432669735,0.999999929073,0.000254935972815,-0.000274037092774,4.20040654028e-05,1793249741932692736
+37,0.616666667,BASELINE,766.471282689,745,718,679,661.471282689,638,879,785,813.471282689,651,630,654.471282689,0.400978315593,-0.0153872885532,0.0798421904983,0.999999928864,0.000253939921342,-0.000275749969798,4.1807523825e-05,1793249741949359360
+38,0.633333333,BASELINE,766.954183361,745,718,679,661.954183361,638,879,785,814,650.954183361,629.954183361,654.954183361,0.400976508143,-0.0153877177911,0.0798409302424,0.999999928744,0.000252331465965,-0.000277693294585,4.15659226798e-05,1793249741966025984
+39,0.650000000,BASELINE,766.360920438,745,718,679,661.360920438,638,879,785,814,650.360920438,629.360920438,654.360920438,0.400976186185,-0.0153886579505,0.0798409133977,0.999999928826,0.000251966967183,-0.000277702894753,4.1727657255e-05,1793249741982692352
+40,0.666666667,BASELINE,766,745,718,679,661,638.226993778,879,785,814,650.226993778,629.226993778,654.226993778,0.400976541045,-0.0153892970682,0.0798412606965,0.999999929086,0.000251692819935,-0.000276995767703,4.18679876335e-05,1793249741999358720
+41,0.683333333,BASELINE,766,745,718,679,661,638.806599289,879,785,814,650.806599289,629.806599289,654.806599289,0.400977947274,-0.0153894685481,0.0798421736552,0.999999929617,0.000251559024619,-0.000275175277863,4.1975068761e-05,1793249742016025088
+42,0.700000000,BASELINE,766,745,718,679,661.382803028,638.617196972,879,785,814,651,629.617196972,655,0.400978459624,-0.015388171668,0.0798424497428,0.999999929231,0.000253583404768,-0.00027472839847,4.19272283433e-05,1793249742032691712
+43,0.716666667,BASELINE,766,745,718,679,661.957303237,638.042696763,879,785,814,651,629.042696763,655,0.400978524345,-0.0153861394739,0.0798424069031,0.999999928378,0.000256688539568,-0.000274969385296,4.18018074925e-05,1793249742049358336
+44,0.733333333,BASELINE,766,745,718,679,661.456807181,638,879.543192819,785,813.456807181,651,629.543192819,655,0.40097913044,-0.0153869965866,0.0798428274711,0.999999928952,0.000255682484038,-0.000273806529842,4.18597410006e-05,1793249742066024960
+45,0.750000000,BASELINE,766,744.871090643,718,679,661,638,879.871090643,785,813.128909357,651,630,654.871090643,0.400979328342,-0.0153876881101,0.0798429680593,0.999999929407,0.000254439323015,-0.000273304491554,4.18586919864e-05,1793249742082691584
+46,0.766666667,BASELINE,766,744.289195556,718,679,661,638,879.289195556,785,813.710804444,651,630,654.289195556,0.400977939124,-0.0153869826048,0.0798419940621,0.999999929042,0.000253522852546,-0.000275520617199,4.15986500518e-05,1793249742099358208
+47,0.783333333,BASELINE,766,744.28938607,718,679,661,638,879.28938607,785,814,651,630,654,0.400977200724,-0.0153869936275,0.0798420136449,0.999999929067,0.000252673068667,-0.000276214594947,4.15614039369e-05,1793249742116024832
+48,0.800000000,BASELINE,766,744.86469397,718,679,661,638,879.86469397,785,814,651,630,654,0.400977105353,-0.0153877126003,0.0798430149135,0.999999929481,0.000251889172965,-0.000275404646687,4.17442865225e-05,1793249742132691456
+49,0.816666667,BASELINE,766,745,718,679.439760344,661,638,879.560239656,785,813.560239656,651,630,654.439760344,0.400977506396,-0.0153888329855,0.0798429295879,0.999999929697,0.000251460307174,-0.00027497780014,4.1961950924e-05,1793249742149358080
+50,0.833333333,BASELINE,766.015149154,745,718,679.984850846,661,638,879.015149154,785,813.015149154,651,630,655,0.400978022003,-0.0153900508804,0.0798424890652,0.999999929844,0.000251115688745,-0.000274726167132,4.21739879192e-05,1793249742166024704
+51,0.850000000,BASELINE,766.605604782,745,718,679.394395218,661,638,879.605604782,785,813.605604782,651,630,655,0.400977091138,-0.015390284068,0.0798412489163,0.999999929653,0.000249824372272,-0.000276654554475,4.176613152e-05,1793249742182691328
+52,0.866666667,BASELINE,766.808019028,745,718,679,661,638,879.808019028,785,814,651,630,655,0.400976859515,-0.0153900866802,0.0798409437546,0.999999929527,0.000249948787339,-0.000277029765807,4.15548023568e-05,1793249742199358208
+53,0.883333333,BASELINE,766.229849071,745,718,679,661,638,879.229849071,785,814,651,630,655,0.400978034488,-0.0153890231468,0.0798425194132,0.999999929529,0.000252921088505,-0.000274280607653,4.17388074694e-05,1793249742216024832
+54,0.900000000,BASELINE,766,745,718,679.345943482,661,638.345943482,879,785,813.654056518,651,630,654.654056518,0.400978505083,-0.0153889317756,0.079842946625,0.999999929565,0.00025348069355,-0.000273618917031,4.1832255318e-05,1793249742232691456
+55,0.916666667,BASELINE,766,745,718,679.920167215,661,638.920167215,879,785,813.079832785,651,630,654.079832785,0.400978510877,-0.0153894819123,0.0798426160025,0.999999929629,0.000252448215067,-0.000274334698967,4.18659464761e-05,1793249742249358080
+56,0.933333333,BASELINE,766,745,718,679.493870953,661,638.493870953,879,785,813.506129047,651,630,654,0.400979566898,-0.0153896958838,0.0798434350369,0.999999929967,0.00025215140131,-0.000273345123373,4.2048407091e-05,1793249742266024960
+57,0.950000000,BASELINE,766,745,718,679,661,638,879,785,814,651,630,654,0.400980506796,-0.0153896613825,0.0798441090369,0.99999993035,0.000251687836677,-0.000272354701257,4.21513902845e-05,1793249742282691584
+58,0.966666667,BASELINE,766,745,718,679,661,638,879,785,814,651,630,654,0.400979945369,-0.0153886064701,0.0798430454225,0.999999930737,0.000249723822316,-0.000272806852592,4.1710509575e-05,1793249742299358976
+59,0.983333333,BASELINE,765.750469326,745,718,679.249530674,661,638,879,785,814,650.750469326,629.750469326,654.249530674,0.400979407328,-0.0153880563873,0.0798425229577,0.999999930649,0.000249512043009,-0.000273334807094,4.16420592395e-05,1793249742316025856
+60,1.000000000,BASELINE,765.172178547,745,718,679.827821453,661,638,879,785,814,650.172178547,629.172178547,654.827821453,0.400978900099,-0.0153881714242,0.0798427134649,0.999999929934,0.000251608857291,-0.000273962633382,4.20642909997e-05,1793249742332691968
+61,1.016666667,BASELINE,765.402997079,745,718,679.597002921,661,638,879,785,814,650,629.402997079,655,0.400977825469,-0.0153881362562,0.0798425367062,0.999999929377,0.000252806659774,-0.000274901496941,4.20074584715e-05,1793249742349358592
+62,1.033333333,BASELINE,765.976851945,745,718,679.023148055,661,638,879,785,814,650,629.976851945,655,0.400976510278,-0.015388037406,0.0798422042387,0.999999928886,0.000253623310071,-0.000275972230253,4.17475180826e-05,1793249742366024960
+63,1.050000000,BASELINE,766,745,718,679,661,638,879,785,814,650,630,654.431761556,0.400977730896,-0.0153884600643,0.0798428361311,0.999999929874,0.000250804808701,-0.000274989083362,4.16045910497e-05,1793249742382691584
+64,1.066666667,BASELINE,766.156638834,745,718,679,661,638,879.156638834,785,813.843361166,650.156638834,630,654.156638834,0.400978857563,-0.0153889970105,0.0798433971506,0.999999930628,0.000249078348868,-0.000273816895288,4.1580062636e-05,1793249742399358208
+65,1.083333333,BASELINE,766.73501525,745,718,679,661,638,879.73501525,785,813.26498475,650.73501525,630,654.73501525,0.400979444295,-0.0153897826481,0.0798436582124,0.999999930605,0.000250703519469,-0.000272368169579,4.18610705091e-05,1793249742416024832
+66,1.100000000,BASELINE,766.688062449,745,718,679,661,638,880,785.311937551,813,651,630,655,0.40097951931,-0.0153900101856,0.0798435316904,0.999999930591,0.000251110322933,-0.000272041477623,4.1884658826e-05,1793249742432691456
+67,1.116666667,BASELINE,766.112369687,745,718,679,661,638,880,785.887630313,813,651,630,655,0.400979161649,-0.0153897658279,0.0798430774513,0.999999930586,0.000250486949986,-0.000272663508488,4.16905889816e-05,1793249742449358336
+68,1.133333333,BASELINE,766,745,718,679,661,638.462380986,880,785.537619014,813.462380986,650.537619014,630,654.537619014,0.40097811056,-0.0153891254754,0.0798419735789,0.999999930023,0.000250933877535,-0.000274332454672,4.15614000308e-05,1793249742466025472
+69,1.150000000,BASELINE,766,745,718,679,661,638.962058938,879.962058938,785,814,650.037941062,629.962058938,654,0.400977035388,-0.0153885194053,0.0798408488309,0.999999929421,0.000251480708985,-0.000276037737625,4.14593767871e-05,1793249742482692864
+70,1.166666667,BASELINE,766,745,718,679,661,638.37137917,879.37137917,785,814,650.62862083,629.37137917,654,0.40097805945,-0.0153898119271,0.0798417152842,0.999999930267,0.000249701324475,-0.000274573360952,4.15238721395e-05,1793249742499359488
+71,1.183333333,BASELINE,766,745,718,679.214947679,661,638,879,785,814,650.785052321,629.214947679,654.214947679,0.400978628828,-0.0153902820061,0.0798423484676,0.999999930613,0.000249067204678,-0.000273865735022,4.16701574098e-05,1793249742516026112
+72,1.200000000,BASELINE,766,745,718,679.793903079,661,638,879,785,814,650.206096921,629.793903079,654.793903079,0.400978428213,-0.015389359302,0.0798425866154,0.999999930118,0.000250372557501,-0.000274439644506,4.1954951568e-05,1793249742532692736
+73,1.216666667,BASELINE,766,745,718,680,661,638,879,785,814,650,629.630462808,654.630462808,0.400977931117,-0.01538870388,0.0798424586744,0.999999929652,0.000251471291252,-0.000275123473727,4.20177440695e-05,1793249742549359360
+74,1.233333333,BASELINE,766,745,718,680,661,638,879,785,814,650,629.056664564,654.056664564,0.400977270142,-0.0153881961978,0.0798421283785,0.999999929201,0.000252455816584,-0.00027586806086,4.19578255177e-05,1793249742566025984
+75,1.250000000,BASELINE,766,745,718,680,661.529793116,638,879,785,814,650.529793116,629.529793116,654,0.400977022354,-0.0153875838608,0.0798417037319,0.999999929116,0.000252396309194,-0.00027631944893,4.13639206756e-05,1793249742582692096
+76,1.266666667,BASELINE,766,745,718,679.884213571,661.884213571,638,879.115786429,785,814,650.884213571,630,654,0.400977159353,-0.0153875046793,0.0798415790843,0.999999929179,0.000252189327609,-0.000276339816894,4.09832984806e-05,1793249742599358464
+77,1.283333333,BASELINE,766,745,718,679.305620908,661.305620908,638,879.694379092,785,814,650.305620908,630,654,0.400978653401,-0.0153896023929,0.0798426948767,0.999999929669,0.000251850142871,-0.0002747657823,4.16890547112e-05,1793249742616025088
+78,1.300000000,BASELINE,766,745,718,679.27306469,661,638,879.72693531,785,814,650,630,654,0.400978927385,-0.015390643777,0.0798430110399,0.99999993011,0.000250673365113,-0.000274195355286,4.19376714555e-05,1793249742632691968
+79,1.316666667,BASELINE,766,745,718,679.851854299,661,638,879.148145701,785,814,650,630,654,0.400977835378,-0.0153905024877,0.0798424319332,0.999999930497,0.000248558813043,-0.000274748573642,4.16744719509e-05,1793249742649358592
+80,1.333333333,BASELINE,766,745,718,679.577108323,661,638,879,785,813.577108323,650.422891677,630,654,0.400978254866,-0.0153897465142,0.0798426036348,0.999999930405,0.000249740824292,-0.000274018246893,4.16386193864e-05,1793249742666025728
+81,1.350000000,BASELINE,766,745,718,679.008737743,661,638,879,785,813.008737743,650.991262257,630,654,0.400979194323,-0.0153887790833,0.0798430336219,0.999999930142,0.000252056885628,-0.000272846368026,4.16809763876e-05,1793249742682692608
+82,1.366666667,BASELINE,766,745,718,679,661,638,879,785,813.588341911,650.411658089,630,654,0.400979191041,-0.0153874757047,0.079842718506,0.999999929654,0.000253035843099,-0.000273727580681,4.16903074696e-05,1793249742699358976
+83,1.383333333,BASELINE,766,745,718,679,661,638,879,785,813.820004763,650.179995237,629.820004763,654.179995237,0.400978840334,-0.0153875166092,0.0798425224012,0.99999992966,0.000252244223156,-0.000274437200732,4.16808512055e-05,1793249742716025600
+84,1.400000000,BASELINE,766,745,718,679,661,638,879,785,813.241362127,650.758637873,629.241362127,654.758637873,0.400977752758,-0.015390546403,0.0798426156439,0.999999930757,0.000247577425002,-0.000274695787684,4.16309273938e-05,1793249742732692224
+85,1.416666667,BASELINE,766,745,718,679,661,638,879,785,813,651,629.334841435,654.665158565,0.400977784971,-0.0153901094719,0.0798429606476,0.999999930451,0.000249461124806,-0.000274095864841,4.16950384732e-05,1793249742749358592
+86,1.433333333,BASELINE,766,745,718,679,661,638,879,785,813,651,629.909299531,654.090700469,0.400978618517,-0.0153871917096,0.0798434858146,0.999999929116,0.000256032442017,-0.000272881581777,4.18407543293e-05,1793249742766025472
+87,1.450000000,BASELINE,766,745,718,679,661,638,879,785,813.494420782,651,630,654,0.400979543486,-0.0153883007874,0.0798440688149,0.999999930006,0.0002538501246,-0.0002716040505,4.21825940628e-05,1793249742782692352
+88,1.466666667,BASELINE,766,745,718,679,661,638,879,785,813.919617282,650.919617282,630,654.080382718,0.400980346436,-0.0153897859564,0.0798445753305,0.999999931021,0.000250907161444,-0.00027056170035,4.2422595912e-05,1793249742799359232
+89,1.483333333,BASELINE,766,745,718,679,661,638,879,785,813.340838783,650.340838783,630,654.659161217,0.400980286558,-0.0153889217907,0.0798445403888,0.99999993028,0.000253424087702,-0.000271051066411,4.18031796035e-05,1793249742816025856
+90,1.500000000,BASELINE,766,745,718,679,661.237346474,638,879,785,813,650.237346474,630,654.762653526,0.400980037881,-0.0153879977661,0.0798444286567,0.999999929953,0.000254440329513,-0.000271347258246,4.15249637281e-05,1793249742832692736
+91,1.516666667,BASELINE,766,745,718,679,661.814681884,638,879,785,813,650.814681884,630,654.185318116,0.40097951876,-0.0153869879959,0.0798442069256,0.999999930227,0.000253306903151,-0.000271366736006,4.17355033135e-05,1793249742849359360
+92,1.533333333,BASELINE,766,745,718,679,661.608735878,638,879,785,813.391264122,650.608735878,630,654,0.400978458901,-0.0153880353854,0.079843298421,0.999999930381,0.000251370383389,-0.000272636704079,4.14770112361e-05,1793249742866026240
+93,1.550000000,BASELINE,766,745,718,679,661.032509635,638,879,785,813.967490365,650.032509635,630,654,0.400977143421,-0.015390055255,0.0798420652583,0.999999930471,0.000249054217528,-0.0002744978159,4.09967940404e-05,1793249742882692864
+94,1.566666667,BASELINE,766.55416835,745,718,679.55416835,661,638,879.55416835,785,813.44583165,650.55416835,630,654,0.400978867894,-0.0153890252183,0.0798433912185,0.999999930733,0.000250247113732,-0.000272434090945,4.10988006156e-05,1793249742899358976
+95,1.583333333,BASELINE,766.721116857,745,718,679.860558428,661,638,880,785,813,651,630,654,0.400979889857,-0.0153884246669,0.0798440321973,0.999999930845,0.000250977896892,-0.000271319778708,4.12894378261e-05,1793249742916025600
+96,1.600000000,BASELINE,765.563362823,745,718,679.281681412,661,638,880,785,813,651,630,654,0.400978125122,-0.0153897522766,0.0798420323224,0.999999930464,0.000249591178968,-0.000273936984031,4.16496787242e-05,1793249742932692480
+97,1.616666667,BASELINE,765.296664746,745,718,679,661,638,879.703335254,785,813.296664746,651,630,654,0.400977643997,-0.0153900312057,0.0798416901188,0.999999930261,0.000249753553448,-0.000274510020019,4.17850506089e-05,1793249742949358848
+98,1.633333333,BASELINE,765.874507721,745,718,679,661,638,879.125492279,785,813.874507721,651,630,654,0.400978379472,-0.0153893161974,0.0798429190528,0.999999930229,0.000251384154577,-0.000273145596404,4.17072920886e-05,1793249742966025472
+99,1.650000000,BASELINE,766.449105553,745,718,679,661,638,879,785,814,651,629.550894447,654.449105553,0.400978329525,-0.0153901067951,0.0798429108968,0.999999930507,0.000250218143278,-0.000273195642968,4.1729808356e-05,1793249742982692352
+100,1.666666667,BASELINE,766.97657997,745,718.02342003,679.02342003,661,638,879,785,814,650.97657997,629,654.97657997,0.4009780809,-0.0153912138453,0.0798425947507,0.999999930861,0.000248379878733,-0.000273572167227,4.17689803454e-05,1793249742999359232
+101,1.683333333,BASELINE,766.387361273,745,718.612638727,679.612638727,661,638,879,785,814,650.387361273,629,654.387361273,0.400978296528,-0.0153898751459,0.0798431291515,0.999999931037,0.000249044220343,-0.000272355948363,4.15384739147e-05,1793249743016025344
+102,1.700000000,BASELINE,766,745,718.800499207,680,661,638,879,785,813.800499207,650,629.199500793,654,0.400978714572,-0.0153894392075,0.0798434760655,0.999999931211,0.000249177383598,-0.000271601785708,4.14749027527e-05,1793249743032691712
+103,1.716666667,BASELINE,766,745,718.218159549,680,661,638,879,785,813.218159549,650,629.781840451,654,0.40097952105,-0.0153907356533,0.0798434631955,0.999999931385,0.000248291223916,-0.000271734301747,4.1731677757e-05,1793249743049358336
+104,1.733333333,BASELINE,766,745,718,679.641209731,661,638,879,785,813,650.358790269,630,654.358790269,0.400979806943,-0.0153899251312,0.0798435801874,0.99999993114,0.000249247981108,-0.000271774613202,4.16409057263e-05,1793249743066024960
+105,1.750000000,BASELINE,766,745,718,679.067488605,661,638,879,785,813,650.932511395,630,654.932511395,0.400979780981,-0.0153878524445,0.0798437749722,0.999999930641,0.000251308724968,-0.000271759690144,4.13419380446e-05,1793249743082691840
+106,1.766666667,BASELINE,766,745,718,679,661,638,879,785,813,650.481585465,630,654.481585465,0.400979993725,-0.0153892745598,0.0798436838768,0.99999993072,0.000250913240324,-0.000271768199623,4.17764824547e-05,1793249743099358720
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,718,679,661,638,879,785,813,651,630,655,0.400978283815,-0.0153901112402,0.0798426534671,0.999999930719,0.000249333145244,-0.000273219534736,4.17746333691e-05,1793249743141816320
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.153364288,744.576682144,718,679,661,638.576682144,879,785,813,650.423317856,630,655,0.400978092085,-0.0153900304294,0.0798429646975,0.99999993077,0.000249398405064,-0.000272993997784,4.16387835177e-05,1793249743158482432
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.846870287,745,718,679,661,638.846870287,879,785,813.153129713,650,630,654.846870287,0.400977941235,-0.0153898386061,0.079843136491,0.999999930639,0.000250098259854,-0.000272847168445,4.15712415752e-05,1793249743175148800
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.271070064,745,718,679,661,638.271070064,879,785,813.728929936,650,630,654.271070064,0.400977903218,-0.0153893403649,0.0798429234092,0.999999929998,0.000252549731469,-0.000272917588772,4.16922439281e-05,1793249743191815168
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,785,813.688536416,650.311463584,630,654,0.400978067058,-0.0153895690124,0.0798429263627,0.999999929883,0.00025304149449,-0.000272857677602,4.18540734073e-05,1793249743208482048
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,785,813.100013143,650.899986857,630,654,0.400978410458,-0.0153904442576,0.0798431214886,0.999999930239,0.000251790015839,-0.00027268183119,4.20522202901e-05,1793249743225148416
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638.480238646,879,785,813.480238646,651,630,654.480238646,0.400977833296,-0.0153894039118,0.0798428986393,0.999999930185,0.000251254513366,-0.000273412747245,4.17956377901e-05,1793249743241815040
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638.94142105,879,785,813.94142105,651,630,654.94142105,0.40097757367,-0.015388190658,0.0798428984945,0.999999930171,0.00025090404113,-0.000273824535905,4.15248508638e-05,1793249743258481920
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638.36500831,879,785,813.36500831,651,630,654.36500831,0.400981787087,-0.0153889157595,0.0798456234971,0.999999931257,0.000250893444305,-0.000269774195727,4.19514702885e-05,1793249743275148800
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,785,813,651,629.790021455,654,0.400990314874,-0.0153899179554,0.0798496574002,0.999999933092,0.000250424160118,-0.000263277052828,4.23046403705e-05,1793249743291815424
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,785,813,651,629.217496575,654,0.401006291798,-0.0153913985792,0.0798559512346,0.999999936162,0.000249162912044,-0.000252555291301,4.2530993688e-05,1793249743308482048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,785,813,651,629.367452172,654.367452172,0.40104219694,-0.0153937782255,0.0798688620491,0.999999942253,0.000248004705379,-0.000228289413154,4.32659260764e-05,1793249743325148416
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,785,813,651,629.960012057,654.960012057,0.401090310462,-0.015396708629,0.0798858265436,0.999999949382,0.000246909623384,-0.00019572616793,4.43124230029e-05,1793249743341815040
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.459365719,718,678.459365719,661.540634281,638,879,785,813,650.459365719,630,654.459365719,0.401161650064,-0.015397392534,0.079904110115,0.999999955785,0.000247639976595,-0.000158536147979,4.43941810137e-05,1793249743358481664
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744.119393053,718,678.238786105,661.880606947,638,879,785,813,650,630,654,0.401236371392,-0.0153989252872,0.0799209467537,0.999999960334,0.000247730146504,-0.000126517244405,4.4217230942e-05,1793249743375148032
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744.694338105,718,679.388676209,661.305661895,638,879,785,813,650,630,654,0.401317582738,-0.0154043171818,0.0799318983073,0.999999962409,0.000244873615845,-0.000115506612146,4.33195479523e-05,1793249743391814656
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.725775062,718,679.725775062,661,638.274224938,879,785,813,650,629.725775062,654,0.401405415049,-0.0154082134481,0.0799390708788,0.99999996388,0.000243617021246,-0.000105626482276,4.163349212e-05,1793249743408481280
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.140278873,718,679.140278873,661,638.859721127,879,785,813,650,629.140278873,654,0.401500762779,-0.0154104120344,0.0799419539474,0.999999964719,0.000244176505636,-9.7029580251e-05,3.90525585756e-05,1793249743425147904
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744,718,679,661,638.556976672,879,785,813.443023328,650.443023328,629.443023328,654.443023328,0.401618813194,-0.0154140793674,0.0799440025743,0.999999965996,0.000241802305159,-9.11255792815e-05,3.51404335568e-05,1793249743441814528
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.025312715,718,679,661,638,879.025312715,785,814,650.974687285,630,654.974687285,0.401745223798,-0.015418266659,0.0799459022847,0.999999967419,0.000238385403081,-8.59451483678e-05,3.08004700313e-05,1793249743458481152
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.600616053,718,679,661,638,879.600616053,785,814,650.399383947,630,654.399383947,0.401897860752,-0.0154236964882,0.0799502789475,0.999999969605,0.000232396847598,-7.80507344681e-05,2.62778327619e-05,1793249743475147776
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.823852673,718,679,661,638,879.823852673,785,814,650.176147327,629.823852673,654.176147327,0.402058308844,-0.0154292726517,0.0799541189523,0.999999971774,0.00022565231359,-7.12548707919e-05,2.13496947322e-05,1793249743491814400
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.247804002,718,679,661,638,879.247804002,785,814,650.752195998,629.247804002,654.752195998,0.402236490279,-0.0154351810324,0.0799567405995,0.999999974052,0.000217191507844,-6.69530097702e-05,1.55009626067e-05,1793249743508481024
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.335597538,718,679,661,638.335597538,879.335597538,785,814,651,629.335597538,654.664402462,0.402424891909,-0.0154411737561,0.0799550651977,0.999999975673,0.000208700130875,-7.08106131629e-05,9.12995119898e-06,1793249743525147904
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.924550091,718,679,661,638.924550091,879.924550091,785,814,651,629.924550091,654.075449909,0.402621009161,-0.0154472301541,0.0799501457945,0.999999976693,0.000200185673642,-8.08280980919e-05,2.36465119394e-06,1793249743541814528
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.504689281,638.495310719,879.495310719,785,814,651,630,654,0.402863667562,-0.0154560622953,0.0799480494466,0.999999989344,0.000118519309116,-8.50227407944e-05,-6.01487676392e-06,1793249743558481152
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661.916976019,638,879,785,813.916976019,651,630,654,0.403119484736,-0.0154652284139,0.079947019414,0.99999999535,3.87882249111e-05,-8.70974039338e-05,-1.44983451798e-05,1793249743575147776
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661.341662299,638,879,785,813.341662299,651,630,654,0.403412778712,-0.0154739565377,0.0799498525525,0.999999995831,3.42645307996e-05,-8.16747178877e-05,-2.21917659375e-05,1793249743591814656
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.762896176,718,679.237103824,661,638,879,785,813,650.762896176,630,654,0.403718285542,-0.0154831370931,0.0799534826271,0.999999996234,3.47680829648e-05,-7.55576720188e-05,-2.47705863477e-05,1793249743608481280
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.179081727,718,679.820918273,661,638,879,785,813,650.179081727,630,654,0.404041650886,-0.0154929792267,0.0799582780401,0.999999996553,4.26228441036e-05,-6.84252825522e-05,-1.98704620584e-05,1793249743625147904
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.402866901,718,679.597133099,661,638.402866901,879.402866901,785,813.402866901,650.402866901,630,654.402866901,0.404407482254,-0.0154966378471,0.0799592925011,0.999999996682,4.85232384786e-05,-6.26992135675e-05,-1.87241124811e-05,1793249743641814528
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.983989944,718,679.016010056,661,638.983989944,879.983989944,785,813.983989944,650.983989944,630,654.983989944,0.404792103516,-0.0154975604539,0.0799586340076,0.999999996722,5.3558885801e-05,-5.75953980874e-05,-1.9238692238e-05,1793249743658481152
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.562470625,745,718,679.562470625,661.562470625,638.437529375,879.437529375,785,814,651,630,655,0.405215128146,-0.0155000899498,0.0799539289358,0.999999997339,2.86939959168e-05,-6.2081994395e-05,-2.54030680875e-05,1793249743675147776
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.859956992,745,718,679.859956992,662,638.140043008,879.280086016,785.140043008,814,650.859956992,630,655,0.405647027363,-0.0155008343736,0.0799488870956,0.999999997099,1.71779475261e-05,-6.82182708988e-05,-2.92164034069e-05,1793249743691814400
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.284973183,745,718,679.284973183,662,638.715026817,880.430053635,785.715026817,814,650.284973183,630,655,0.406103109831,-0.0154958933927,0.0799431553854,0.999999995352,4.97511867659e-05,-7.86342204517e-05,-2.52308384781e-05,1793249743708481280
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,718,679.290436453,662,638.709563547,880.709563547,786,814,650.290436453,630,654.709563547,0.406574228872,-0.0154911906536,0.079937166532,0.999999993865,5.90832669343e-05,-9.00228077669e-05,-2.59897128328e-05,1793249743725147904
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,718,679.866264587,662,638.133735413,880.133735413,786,814,650.866264587,630,654.133735413,0.40706012336,-0.0154867220173,0.0799309250015,0.999999993228,4.55778821821e-05,-0.000102367139776,-3.14106168752e-05,1793249743741814528
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.455992105,745,718,679.544007895,662,638,880.455992105,786,814,651,630,654,0.407567418433,-0.01549172449,0.0799226720636,0.999999991393,3.89507613353e-05,-0.000120676696776,-3.36669662046e-05,1793249743758481152
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.9515645,745,718,679,662,638.0484355,880.9515645,786,813.9515645,651,629.9515645,654.0484355,0.408089405125,-0.0154994407118,0.079915078502,0.999999989288,3.37090478347e-05,-0.000138082202563,-3.49483236395e-05,1793249743775147520
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.375343218,745,718,679,662,638.624656782,880.375343218,786,813.375343218,651,629.375343218,654.624656782,0.408700939148,-0.0155055081432,0.0799213001476,0.999999991198,2.08908281459e-05,-0.000125973391831,-3.60368419341e-05,1793249743791814144
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.199943178,745,718,679,662.199943178,639,880.199943178,786,813,651,629.199943178,655,0.409333501462,-0.0155094554197,0.0799370587291,0.999999994448,1.26523910302e-05,-9.80651335641e-05,-3.64307817713e-05,1793249743808481024
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.773482693,745,718,679,662.773482693,639,880.773482693,786,813,651,629.773482693,655,0.410005355361,-0.0155094411601,0.0799706371949,0.999999998459,1.29713358478e-05,-4.06354099233e-05,-3.55268929189e-05,1793249743825147648
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.642430248,744.642430248,718,679.357569752,662.642430248,639,881,786.357569752,813.357569752,651,630,655,0.41066661628,-0.0155069132901,0.0799891498204,0.99999999916,1.66858501326e-05,-1.3079698444e-05,-3.50707375234e-05,1793249743841814272
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.051458345,744.051458345,718,679.948541655,662.051458345,639,881,786.948541655,813.948541655,651,630,655,0.411320962649,-0.0155027446716,0.079997828281,0.999999999122,2.26168080893e-05,-5.02412483823e-06,-3.49068383414e-05,1793249743858480896
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.527248735,718,680,662,639,881.527248735,786.472751265,814,651,629.472751265,655,0.411985082982,-0.0155037960935,0.0799658825926,0.999999997527,1.76677718103e-05,-5.59082841134e-05,-3.88355899869e-05,1793249743875147776
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.104522831,745,718,680,662,639,881.895477169,786,814,651,629.104522831,655,0.412665506897,-0.0155051100641,0.0799331339016,0.999999993487,1.14301622522e-05,-0.000104994028033,-4.32653125603e-05,1793249743891814400
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.680609413,745,718,680,662,639,881.319390587,786,814,651,629.680609413,655,0.413415279784,-0.0155053623031,0.0799142434335,0.999999991558,4.06082938642e-06,-0.00012060361991,-4.8194094091e-05,1793249743908481024
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,745,718,680,662.261433978,639,881.261433978,786,814,650.738566022,629.738566022,655,0.414176762045,-0.0155076105406,0.079914817919,0.999999992709,7.241233885e-07,-0.000110120082747,-4.9552433305e-05,1793249743925147648
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662.848153793,639,881.848153793,786,814,650.151846207,629.151846207,655,0.414952813642,-0.0155123422737,0.0799396114179,0.999999996662,2.40496009626e-06,-6.71705100506e-05,-4.64682965685e-05,1793249743941814272
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.571020009,745,718,680.428979991,663,639,882.857959982,786,814,650,629.428979991,655,0.415729696304,-0.0155105651331,0.0799479814559,0.999999996762,2.43736031869e-07,-6.54972191091e-05,-4.67564772697e-05,1793249743958481152
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.007749323,745,718,680.992250677,663,639.007749323,883.992250677,786,814,650.007749323,630,655,0.416507777067,-0.0155065734555,0.0799505851181,0.999999995804,-3.16789790206e-06,-7.78241801643e-05,-4.8214488658e-05,1793249743975147776
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.586596986,745,718,680.413403014,663,639.586596986,883.413403014,786,814,650.586596986,630,655,0.417352771523,-0.0155068699642,0.0799508494074,0.999999997008,1.36769316784e-07,-5.97647039908e-05,-4.91056201315e-05,1793249743991814400
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,718.1639991,680.1639991,663,640,883.1639991,786,814.1639991,650.8360009,630,655,0.418215104205,-0.0155093096333,0.0799575300735,0.999999998168,-5.38349525302e-07,-3.45854206417e-05,-4.96724785978e-05,1793249744008481024
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,718.737789125,680.737789125,663,640,883.737789125,786,814.737789125,650.262210875,630,655,0.419120760535,-0.0155171045008,0.0799802435899,0.999999998681,-1.11579147336e-05,8.38440065355e-06,-4.94290634131e-05,1793249744025147648
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,718.678841633,681,663,639.678841633,884,786,814.678841633,650.321158367,629.678841633,655,0.419983156907,-0.0155196595076,0.0799788186152,0.999999998546,-1.70969202957e-05,7.89854064562e-06,-5.05372884088e-05,1793249744041814272
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718.087410987,681,663,639.087410987,884,786,814.087410987,650.912589013,629.087410987,655,0.420809147618,-0.0155178048855,0.0799570797829,0.999999998,-1.90969791486e-05,-2.91576469682e-05,-5.2782992339e-05,1793249744058480896
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.507282118,745,718,681,663,639,884,786,814,650.507282118,629.492717882,655,0.421694205682,-0.0155193070213,0.0799638821413,0.999999998211,-2.11932949579e-05,-2.03478712624e-05,-5.21126759419e-05,1793249744075147520
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.070609498,745.070609498,718,681.070609498,663,639,884.070609498,786,814.070609498,650.070609498,630,655,0.422592438813,-0.0155213350352,0.0799772187175,0.999999998451,-2.24190850131e-05,-1.52132777407e-06,-5.09301443279e-05,1793249744091814400
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.646517022,745.646517022,718,681.646517022,663,639,884.646517022,786,814.646517022,650.646517022,630,655,0.423511647493,-0.0155229603187,0.0800018935075,0.999999998101,-1.7295725281e-05,3.2063776586e-05,-4.97011234236e-05,1793249744108481024
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.773520456,718,682,663,639,885.226479544,786.226479544,815,651,629.773520456,655,0.424396613964,-0.015523600898,0.0799977115305,0.999999998584,-1.14508654791e-05,1.31133555961e-05,-5.02838138603e-05,1793249744125147648
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.187113532,718,682,663,639,885.812886468,786.812886468,815,651,629.187113532,655,0.42522716194,-0.0155226765592,0.0799476696078,0.999999994556,-4.45937750104e-06,-8.9327929481e-05,-5.37457241809e-05,1793249744141814528
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,745,718,682,663.394129873,639,886,786.605870127,815,651,629,655,0.42612630641,-0.015522721232,0.0799213404238,0.999999991463,-7.44085970446e-06,-0.000117499641593,-5.66712755322e-05,1793249744158480896
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,745,718,682,663.972953559,639,886,786.027046441,815,651,629,655,0.427057595941,-0.0155232199949,0.079906123306,0.999999991979,-1.50957913962e-05,-0.000110867767901,-5.93454828397e-05,1793249744175147520
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745,718,681.447866117,663.447866117,639,886,786,815,651,629,655,0.427949689241,-0.0155228997142,0.0799077546615,0.999999990964,-1.56732323117e-05,-0.000119730814938,-5.90833187443e-05,1793249744191814144
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.130552534,718,681.130552534,663.130552534,639,886.130552534,786,815.130552534,651.130552534,629,655,0.428850453879,-0.0155232882282,0.0799162684745,0.999999991265,-1.74725532078e-05,-0.000117397708462,-5.81601700373e-05,1793249744208481024
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.706314093,718,681.706314093,663.706314093,639,886.706314093,786,815.706314093,651.706314093,629,655,0.429787341316,-0.0155262307765,0.079945436437,0.999999995398,-2.46217709885e-05,-7.42934968134e-05,-5.54737732909e-05,1793249744225147904
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718,682,664,639,887.286948408,786.286948408,816,651.713051592,629.286948408,655,0.430727649328,-0.0155309180346,0.0799838507625,0.999999998074,-2.83874432449e-05,-1.79933055844e-05,-5.21780957516e-05,1793249744241814528
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664,639,887.872656007,786.872656007,816,651.127343993,629.872656007,655,0.431671518648,-0.0155374218144,0.080031892029,0.999999997072,-2.86303029059e-05,5.20460084004e-05,-4.82480595093e-05,1793249744258480896
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.547007857,718,682,664,639,888,787,816,651,630,655,0.432518938174,-0.015533790957,0.0800049400016,0.999999998027,-3.47845411185e-05,7.59365831483e-06,-5.17511609709e-05,1793249744275147776
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.031813191,718,682,664,639,888,787,816,651,630,655,0.433340512332,-0.0155277442924,0.0799574752233,0.999999995222,-4.1912906171e-05,-6.72379906751e-05,-5.72505034269e-05,1793249744291814656
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745.610242212,718,682,664,639,888,787,816,651,630,655,0.434178418882,-0.0155285675147,0.0799155451515,0.999999990495,-3.75603790596e-05,-0.000117514175297,-6.15667501987e-05,1793249744308481024
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,682.187515436,664.375030871,639,888.187515436,787,816,651,630,655,0.435027494857,-0.0155292884088,0.0798987643822,0.999999988106,-3.65495202429e-05,-0.000135452998047,-6.40660888827e-05,1793249744325147904
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,682.762401112,665.524802223,639,888.762401112,787,816,651,630,655,0.435899644835,-0.0155297979126,0.0799339371488,0.999999993378,-4.24418943047e-05,-8.65891610352e-05,-6.28120515365e-05,1793249744341814528
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,682.655555509,665.655555509,639,888.655555509,786.655555509,816,651,630,655,0.436760701713,-0.0155335601666,0.0799685900581,0.999999996561,-4.19627930209e-05,-4.14164087134e-05,-5.83249252186e-05,1793249744358481152
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,718,682.06846998,665.06846998,639,888.06846998,786.06846998,816,651,630,655,0.437613944098,-0.0155396137932,0.0800028767563,0.999999997986,-3.69953589053e-05,1.15618695001e-06,-5.15602765028e-05,1793249744375147776
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,888.513081431,786,816,651,630,655,0.438426965702,-0.0155484800578,0.0800096982822,0.999999996719,-5.75701923239e-05,1.60944411769e-05,-5.4666492816e-05,1793249744391814400
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.907146293,639,889,786,816,651,630,655,0.439215596781,-0.0155563158108,0.0800043999741,0.999999995304,-7.61724421446e-05,1.27230457099e-05,-5.85447646111e-05,1793249744408481024
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664.332810872,639,889,786,816,651,630,655,0.43990528876,-0.0155568824452,0.0799550583105,0.999999993749,-6.70599279822e-05,-6.66724361186e-05,-5.96688688785e-05,1793249744425148672
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,745.757729437,718,682,664,639,889,786,816,650.757729437,630,655,0.440562033973,-0.0155568644385,0.079883964381,0.999999979633,-6.99371941443e-05,-0.000177814845642,-6.50028379845e-05,1793249744441816064
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,745.181620075,718,682,664,639,889,786,816,650.181620075,630,655,0.44117337985,-0.0155560408206,0.0797828967341,0.999999937765,-8.9335881061e-05,-0.000332703198277,-7.61378257138e-05,1793249744458482432
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,745.404790634,718,682,664.404790634,639,889,786,816.404790634,650.404790634,630,655,0.441845319438,-0.0155619732041,0.079751291303,0.99999992127,-0.000101320439545,-0.000375233192457,-7.99640967547e-05,1793249744475148800
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745.995944061,718,682,664.995944061,639,889,786,816.995944061,650.995944061,630,655,0.442545156002,-0.0155710160036,0.0797516657843,0.999999923737,-0.000109891587265,-0.000366034196206,-8.04254870208e-05,1793249744491815168
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,718,682.575194648,664.424805352,639,888.424805352,785.424805352,817,651,630,655,0.443252632991,-0.0155805959747,0.0798106647444,0.999999951268,-0.000118007186667,-0.000279475155046,-7.37017794505e-05,1793249744508481792
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,718,682.847219366,664,638.847219366,888.152780634,785,816.847219366,651,630,655,0.443930914456,-0.01558963132,0.0798555474332,0.999999966583,-0.000126856755929,-0.000214546919235,-6.86375817771e-05,1793249744525148416
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,718,682.273987921,664,638.273987921,888.726012079,785,816.273987921,651,630,655,0.444528705028,-0.0155971576495,0.0798604677255,0.999999966004,-0.000137734867937,-0.000210617203893,-6.82769421017e-05,1793249744541815040
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,718,682.306889745,664,638,888.693110255,784.693110255,816,651,630,655,0.445101134351,-0.015603058311,0.0798500876133,0.999999960461,-0.000144765767858,-0.000230942871847,-6.91766879392e-05,1793249744558482176
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,718,682.89476827,664,638,888.10523173,784.10523173,816,651,630,655,0.445650342835,-0.0156074705077,0.079825698424,0.999999949076,-0.000148274152911,-0.00027347681056,-7.12304448604e-05,1793249744575149312
+194,3.233333333,POSE1_TO_POSE2_PRESS,766.524601049,746,717.524601049,683,663.524601049,638,888.475398951,784,816.475398951,651,629.524601049,655,0.446165095858,-0.015609618236,0.0797996596088,0.999999939368,-0.000151850293297,-0.000304813609751,-7.27648061863e-05,1793249744591815936
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.054409784,746,717.054409784,683,663.054409784,638,888.945590216,784,817,651,629,655,0.446669288306,-0.0156115356041,0.0797743762531,0.999999929869,-0.000155667014518,-0.000332453254685,-7.4190741935e-05,1793249744608482560
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.633039167,746,717.633039167,683,663.633039167,638,888.366960833,784,817,651,629,655,0.447144112103,-0.0156159903849,0.0797598367746,0.999999923521,-0.000161659320298,-0.000347993352734,-7.56631028301e-05,1793249744625148672
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,683,663.789887174,638,888.210112826,783.789887174,817,651,629,655,0.447593756428,-0.0156198883384,0.0797429680328,0.99999991364,-0.000170334849011,-0.000371068365313,-7.75508476632e-05,1793249744641815296
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,683,663.215510667,638,888.784489333,783.215510667,817,651,629,655,0.447999748124,-0.0156228209435,0.0797220611476,0.999999897013,-0.000183662166589,-0.000407206337228,-8.01587257798e-05,1793249744658481920
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,683,663,638,889,783.36726596,817,651,629.36726596,655,0.448380641962,-0.0156271753376,0.0796973663886,0.999999878761,-0.000188011635159,-0.000447713260906,-8.17505186378e-05,1793249744675148288
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,718,683,663,638,889,783.955087191,817,651,629.955087191,655,0.448746463753,-0.0156323835631,0.079670396885,0.999999858635,-0.000186969611654,-0.000490843886664,-8.27321191034e-05,1793249744691814912
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.462705062,746,718,683,663,637.462705062,889,783.462705062,817,651,629.462705062,655,0.449116366045,-0.015635110514,0.0796716501038,0.999999861367,-0.000195945042588,-0.00048181058152,-8.20371088534e-05,1793249744708481792
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.945267573,745,718,681,663,639,883,786,815.054732427,650,629.054732427,654.945267573,0.426939448026,-0.0154170699664,0.0798422158134,0.999999946436,0.000198119068557,-0.000256393547458,4.62583844499e-05,1793249746760510464
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.460578225,745,718,681,663,638.460578225,882.460578225,786,815,650.539421775,629.539421775,654.460578225,0.425998260537,-0.0154123580962,0.0797929476685,0.999999922225,0.000206809469341,-0.000333152478787,4.23111810528e-05,1793249746777177344
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.131556691,745.131556691,718,681,663,638,882,786,814.868443309,650.868443309,630,654.131556691,0.425052798922,-0.0154080945669,0.0797483531792,0.999999895334,0.000214567112756,-0.000402212457319,3.89527200476e-05,1793249746793843968
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.70870034,745.70870034,718,681,663,638,882,786,814.29129966,650.29129966,630,654.70870034,0.424103794792,-0.0154048904979,0.079733049512,0.999999885379,0.000217856843978,-0.000424562836074,3.90829816061e-05,1793249746810510848
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.714707033,745.714707033,718,680.714707033,662.714707033,638,882.285292967,786,814.285292967,650,630,654.714707033,0.423176556801,-0.0154038379655,0.0797283768822,0.999999882323,0.000218280694566,-0.000431486003585,3.90721589369e-05,1793249746827177216
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.138675982,745.138675982,718,680.138675982,662.138675982,638,882.861324018,786,814.861324018,650,630,654.138675982,0.422271500437,-0.0154049780344,0.0797345381954,0.999999886629,0.000215783966028,-0.000422687514001,3.89175593031e-05,1793249746843843840
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.446505995,745,718,680.446505995,662,638,882.553494005,785.553494005,814.553494005,650,630,654.446505995,0.421467468134,-0.0154057465666,0.0797858096987,0.999999921681,0.000212659133377,-0.000331106928773,4.22210672558e-05,1793249746860510720
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.965967335,745,718,681,662,638.034032665,882,785.034032665,814.034032665,650,630,655,0.420690627763,-0.0154062878305,0.0798480517651,0.99999995279,0.000209937407188,-0.000219515614695,4.64732239649e-05,1793249746877177088
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,717.81125199,680.81125199,662,639,882,786,815,650,630,655,0.418965899291,-0.0154033737862,0.0798467074354,0.99999994851,0.00022082832739,-0.000227882763016,4.77934797726e-05,1793249746910510336
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,717.240244387,680.240244387,662,639,882,786,815,650,630,655,0.418062797856,-0.0154006708006,0.0797976435707,0.999999926277,0.000218848814502,-0.000312673687423,4.22603353573e-05,1793249746927177216
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,717.323683084,680,662,638.676316916,881.676316916,786,814.676316916,650.323683084,630,654.676316916,0.417207208089,-0.015399646689,0.0797852647813,0.999999917851,0.000216111743013,-0.000340531940932,4.03947406064e-05,1793249746943843840
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,717.882467984,680,662,638.117532016,881.117532016,786,814.117532016,650.882467984,630,654.117532016,0.416386127687,-0.0153998419997,0.0797995315881,0.999999923027,0.000212824432355,-0.000327038093484,4.11930099343e-05,1793249746960510464
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,718,680,661.515180739,638.484819261,881,786,814,650.515180739,629.515180739,654,0.415561561671,-0.0153947663065,0.07979335563,0.999999915765,0.000220152527414,-0.000343860848473,4.19836977683e-05,1793249746977176832
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,718,680,661,638.907622413,881,786,814,650,629.092377587,654,0.414750419152,-0.0153892183825,0.0797828842332,0.999999906582,0.00022877959044,-0.000364278436282,4.23939563913e-05,1793249746993843200
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,718,680,661,638.333430406,881,786,814,650,629.666569594,654,0.414014132047,-0.0153885302063,0.0797784092898,0.999999907567,0.000229434190627,-0.00036132814436,4.08305405118e-05,1793249747010509824
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,718,680.242510616,661.242510616,638,881,785.757489384,814,650.242510616,630.242510616,654,0.413287909936,-0.0153891664646,0.0797840066639,0.999999912673,0.000230564053183,-0.000346183366843,4.06354417035e-05,1793249747027176704
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,718,680.8208738,661.8208738,638,881,785.1791262,814,650.8208738,630.8208738,654,0.41257562688,-0.0153916369302,0.079803553175,0.999999922765,0.000232352105618,-0.000314150465562,4.23353231373e-05,1793249747043843328
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.395191866,745,718,680.604808134,661.604808134,638,880.604808134,785.395191866,814,651,630.209616267,654.395191866,0.41184535826,-0.0153906585492,0.0797986813781,0.999999919316,0.00023136866894,-0.00032568461268,4.20191742653e-05,1793249747060509952
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.967695054,745,718,680.032304946,661.032304946,638,880.032304946,785.967695054,814,651,629.064609892,654.967695054,0.411107019969,-0.0153881327694,0.0797828537843,0.999999909274,0.000229141744163,-0.00035676604911,4.079849021e-05,1793249747077176576
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,718,680,661.844474139,639,880,786,813.155525861,650.155525861,629.844474139,654.844474139,0.409805927054,-0.0153858511462,0.0797824334749,0.999999907315,0.000237495464934,-0.000356674861068,4.18306868159e-05,1793249747110510080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,718,680,661.27103963,639,880,786,813.72896037,650.72896037,629.27103963,654.27103963,0.409227934738,-0.0153853978903,0.0798078114714,0.999999920445,0.000243321349357,-0.000312928035994,4.45011358517e-05,1793249747127176704
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.457473529,745,718,679.457473529,661.542526471,638.542526471,880.542526471,785.457473529,813.542526471,650.457473529,630,654.542526471,0.407488241492,-0.015380368323,0.0798152348259,0.999999918299,0.000252166329377,-0.000312606679977,4.57252762435e-05,1793249747177176576
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.372784662,661,638.627215338,880,785.372784662,813.627215338,650.372784662,629.372784662,654,0.406406358774,-0.0153807273145,0.0797652521059,0.999999891361,0.000248404386105,-0.000392301279228,4.08985281984e-05,1793249747210510336
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.785554458,745,718,679,661,638.785554458,880,785,814,650,629.214445542,654.214445542,0.405943095115,-0.0153832869485,0.0797637834565,0.999999894011,0.000245458381947,-0.000387435569953,4.02845230393e-05,1793249747227176960
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.207509032,745,718,679,661,638.207509032,880,785,814,650,629.792490968,654.792490968,0.405525320049,-0.0153831142213,0.0797839324944,0.999999909012,0.000243416485258,-0.000347874441428,4.13193988786e-05,1793249747243843328
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661.366323175,638,880,785,814,650.366323175,630,655,0.405127025079,-0.0153822141879,0.0798026286915,0.999999917824,0.000248990109789,-0.00031699644692,4.32227688841e-05,1793249747260510720
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661.937795934,638,880,785,814,650.937795934,630,655,0.404739639382,-0.0153809068461,0.0798205112655,0.999999923129,0.000258828604919,-0.000290981207755,4.56125161214e-05,1793249747277178112
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661.116435308,638.116435308,879,785,813.116435308,650.116435308,629.883564692,654,0.403997432694,-0.0153728532912,0.0798254969041,0.999999922274,0.000257726020691,-0.000294754450643,4.6356160317e-05,1793249747310510848
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,718,679,661.695822861,638.695822861,879,785,813.695822861,650.695822861,629.304177139,654,0.403661271753,-0.0153696314914,0.0798278592428,0.999999915608,0.000277599497496,-0.000298960380661,4.84263221768e-05,1793249747327177472
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,718,679.273076506,661.726923494,638.726923494,879.273076506,785.273076506,813.726923494,651,629.273076506,654.273076506,0.403352066562,-0.0153687130736,0.0798306585775,0.999999915515,0.000277691375606,-0.000299338747526,4.74754812236e-05,1793249747343843840
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.847971606,661.152028394,638.152028394,879.847971606,785.847971606,813.152028394,651,629.847971606,654.847971606,0.40307265431,-0.0153703404755,0.079833940903,0.999999922664,0.000255919583591,-0.000295486688935,4.31856680864e-05,1793249747360510464
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880,785,814,651,630,655,0.401029572547,-0.0153758329678,0.0798330078161,0.999999920497,0.000263201272135,-0.000296722610548,4.10626939945e-05,1793249747643843840
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6052798cedb9290fdb4681e23e7c67e48123e342
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4007eaf4caf2f4e1eb3081c93fdadcb88c9a2e74
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df367cbdcde577ea3a27bfe28f60e5bc879ff8f944192940e4f8a76f221fbff4
+size 25645870
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..650ef45569f0c20f6f79277aa73cc11a00fd45a6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,405 @@
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+9,0.150000000,BASELINE,766,745,718.235807649,679,661,638,879.235807649,785.764192351,814,650.764192351,630,654.764192351,0.400976706411,-0.0153816050052,0.0798404850703,0.999999926539,0.000259442340004,-0.00027923366949,4.05090847971e-05,1793249748376908544
+10,0.166666667,BASELINE,766,745,718.812705414,679,661,638,879.812705414,785.187294586,814,650.187294586,630,654.187294586,0.400977961205,-0.0153822986655,0.0798421444406,0.999999927435,0.000258295268524,-0.000277029602286,4.08325196862e-05,1793249748393575424
+11,0.183333333,BASELINE,766,745,718.612777744,679,661,638,879.612777744,785,814,650,629.612777744,654.387222256,0.400978204507,-0.0153820096583,0.0798420857012,0.999999927383,0.000259166563601,-0.000276438906986,4.06083885504e-05,1793249748410242304
+12,0.200000000,BASELINE,766,745,718.039405435,679,661,638,879.039405435,785,814,650,629.039405435,654.960594565,0.400977961552,-0.0153812482518,0.0798412010118,0.999999926872,0.000261008151566,-0.000276623810671,4.01210250425e-05,1793249748426909696
+13,0.216666667,BASELINE,766,745,718,679.551243908,661.551243908,638.551243908,879,785,814,650,629.551243908,654.448756092,0.400976086933,-0.0153811243979,0.0798397683283,0.999999925937,0.000261395550049,-0.000279590836463,4.03497238853e-05,1793249748443575808
+14,0.233333333,BASELINE,766.14003807,745,718,679.85996193,661.85996193,638.85996193,879.14003807,785.14003807,814,650.14003807,630,654.14003807,0.400974892958,-0.0153807576206,0.0798388850796,0.999999925394,0.000261351532836,-0.000281549005485,4.04723619325e-05,1793249748460242176
+15,0.250000000,BASELINE,766.719020924,745,718,679.280979076,661.280979076,638.280979076,879.719020924,785.719020924,814,650.719020924,630,654.719020924,0.400976209871,-0.0153794819318,0.0798398507759,0.999999926204,0.000260291634438,-0.000279701397286,4.00969192852e-05,1793249748476908800
+16,0.266666667,BASELINE,766.70414892,745,718,678.70414892,661.29585108,638,879.70414892,785.70414892,813.70414892,651,630,655,0.400977240734,-0.015379015689,0.0798407981902,0.99999992662,0.000260542681954,-0.00027795513296,4.02335002286e-05,1793249748493575424
+17,0.283333333,BASELINE,766.129348513,745,718,678.129348513,661.870651487,638,879.129348513,785.129348513,813.129348513,651,630,655,0.400978001889,-0.0153793126492,0.079841728367,0.999999926664,0.000262029782075,-0.000276304422916,4.08528532555e-05,1793249748510241792
+18,0.300000000,BASELINE,766,745,718,678.888668574,661.555665713,638,879,785,813,650.555665713,630,654.555665713,0.400977081836,-0.0153798161333,0.0798408544587,0.999999926713,0.000260568941877,-0.000277543607836,4.05947541309e-05,1793249748526908672
+19,0.316666667,BASELINE,766,745,718,679.981719931,661.018280069,638,879,785.018280069,813.018280069,650,630,654.018280069,0.400975744732,-0.0153803490925,0.0798395174002,0.999999926746,0.000258392483315,-0.000279524791949,4.01018220613e-05,1793249748543575552
+20,0.333333333,BASELINE,766,745,718,679.389322153,661.610677847,638,879,785.610677847,813.610677847,650,630,654.610677847,0.400976641645,-0.0153799243165,0.0798400871314,0.999999926459,0.000260625299562,-0.000278454597708,4.02357074159e-05,1793249748560242176
+21,0.350000000,BASELINE,766,745,718,679,661.801862335,638,879,785.801862335,814,650.198137665,630,654.801862335,0.400977852284,-0.0153803189425,0.0798409042682,0.999999926651,0.000261348991023,-0.000277051889776,4.04654706648e-05,1793249748576908800
+22,0.366666667,BASELINE,766,745,718,679,661.22386929,638,879,785.22386929,814,650.77613071,630,654.22386929,0.400979664372,-0.0153822844677,0.0798421957133,0.999999927762,0.000259179495969,-0.000275011710465,4.08790441498e-05,1793249748593575424
+23,0.383333333,BASELINE,765.648104218,745,718,679,661,638,879,785,813.648104218,651,630,654,0.400978067279,-0.0153821669657,0.0798409165185,0.999999927255,0.000259056421493,-0.000277007051438,4.05892312287e-05,1793249748610242048
+24,0.400000000,BASELINE,765.073747565,745,718,679,661,638,879,785,813.073747565,651,630,654,0.400974314977,-0.0153807326194,0.0798380122211,0.999999925711,0.000260227049448,-0.000281553560492,3.98547527367e-05,1793249748626908672
+25,0.416666667,BASELINE,765.512799982,745,718,679.512799982,661,638,879,785.512799982,813.512799982,651,630,654.512799982,0.400973720736,-0.0153797310512,0.0798382191167,0.99999992493,0.000262950941386,-0.000281757025908,4.01143557624e-05,1793249748643575040
+26,0.433333333,BASELINE,766,745,718,679.900007985,661.099992015,638,879.099992015,785.900007985,813.900007985,651,630,654.900007985,0.400973915829,-0.0153791158677,0.079838974562,0.999999924538,0.000265167071632,-0.000281019301211,4.04765087864e-05,1793249748660241664
+27,0.450000000,BASELINE,766,745,718,679.31836207,661.68163793,638,879.68163793,785.31836207,813.31836207,651,630,654.31836207,0.400975672089,-0.0153800547664,0.0798401646009,0.999999925497,0.000263835144536,-0.000278829795505,4.06272289183e-05,1793249748676908544
+28,0.466666667,BASELINE,766.260449625,745,718,679.260449625,661.739550375,638,879.739550375,785,813.260449625,651,630,654,0.400976827709,-0.0153806237796,0.0798409254113,0.999999926113,0.000262766044711,-0.000277624963862,4.06429442097e-05,1793249748693575424
+29,0.483333333,BASELINE,766.835834156,745,718,679.835834156,661.164165844,638,879.164165844,785,813.835834156,651,630,654,0.400977257037,-0.0153807455283,0.0798411671997,0.99999992632,0.000262014754917,-0.000277610797276,4.04954120438e-05,1793249748710242304
+30,0.500000000,BASELINE,766.589836419,745,718,679.589836419,661.410163581,638.410163581,879.410163581,785.410163581,814,651,630,654.410163581,0.400977735534,-0.0153794375248,0.0798413786038,0.999999926368,0.00026235524461,-0.000277150869187,4.02515665914e-05,1793249748726909184
+31,0.516666667,BASELINE,766.015928225,745,718,679.015928225,661.984071775,638.984071775,879.984071775,785.984071775,814,651,630,654.984071775,0.400978233661,-0.0153775587388,0.0798415778779,0.999999926352,0.000263131592152,-0.000276512985161,3.99692711615e-05,1793249748743575808
+32,0.533333333,BASELINE,766,745,718,679,661.424195549,638.424195549,879.424195549,785.424195549,814,651,630,655,0.400975736257,-0.0153785165621,0.079840011117,0.99999992575,0.000262904151448,-0.000278911154414,3.98749903543e-05,1793249748760242176
+33,0.550000000,BASELINE,766.164131871,745,718,679,661,638,879.164131871,785,814,651,630,655,0.400974325529,-0.0153793222007,0.0798392463082,0.999999925514,0.000262470689118,-0.000280164757346,3.98710558876e-05,1793249748776908544
+34,0.566666667,BASELINE,766.742578961,745,718,679,661,638,879.742578961,785,814,651,630,655,0.400975873737,-0.0153795392795,0.0798406331112,0.999999926254,0.00026158950176,-0.000278310376891,4.00816330272e-05,1793249748793575168
+35,0.583333333,BASELINE,766.681704478,745,718.318295522,679,661.318295522,638.318295522,879.681704478,785,814,651,630,655,0.400976565144,-0.0153804372878,0.0798411120762,0.999999926944,0.000259777406828,-0.000277526840244,4.00920571116e-05,1793249748810241792
+36,0.600000000,BASELINE,766.108177382,745,718.891822618,679,661.891822618,638.891822618,879.108177382,785,814,651,630,655,0.400976569507,-0.0153818813131,0.0798408630735,0.99999992759,0.000257218845111,-0.000277601980729,3.99419845238e-05,1793249748826908416
+37,0.616666667,BASELINE,766,745,718.52333243,679,661.52333243,638.52333243,879,785,814,651,630,655,0.400976860897,-0.0153810189054,0.0798409219256,0.999999926988,0.000260112910716,-0.00027703756895,4.02000281013e-05,1793249748843575296
+38,0.633333333,BASELINE,766,745,718,679,661,638,879.063286905,785,814,651,629.936713095,655,0.400977082589,-0.0153798360962,0.0798409934654,0.999999926182,0.000263675189966,-0.000276535021079,4.04989838055e-05,1793249748860242176
+39,0.650000000,BASELINE,766,745,718,679,661,638,879.642917587,785,814,651,629.357082413,655,0.400976191245,-0.0153804136477,0.0798405846348,0.9999999262,0.00026234767355,-0.000277750199298,4.03576881902e-05,1793249748876908544
+40,0.666666667,BASELINE,766,745,718,679,661.221002455,638,879.778997545,785,814,651,629.221002455,654.778997545,0.400975642455,-0.0153810812704,0.0798404412296,0.999999926589,0.000260214825115,-0.00027838271438,4.01701561979e-05,1793249748893575168
+41,0.683333333,BASELINE,766,745,718,679,661.796607004,638,879.203392996,785,814,651,629.796607004,654.203392996,0.400975643301,-0.0153818934138,0.0798407237041,0.999999927569,0.000256789808213,-0.000278080336745,3.99084371817e-05,1793249748910241792
+42,0.700000000,BASELINE,766,745,718,679,662,638,879,785.372042548,814,651,630,654,0.400976825534,-0.0153814020941,0.0798415718564,0.999999927626,0.000258058816286,-0.000276690899485,3.99559762531e-05,1793249748926908416
+43,0.716666667,BASELINE,766,745,718,679,662,638,879,785.94738572,814,651,630,654,0.40097865333,-0.0153801985041,0.0798427291204,0.999999927167,0.000261892848853,-0.000274707444421,4.01725077304e-05,1793249748943575296
+44,0.733333333,BASELINE,766,745,718,679.535451236,661.464548764,638.535451236,879.535451236,786,813.464548764,651,629.464548764,654.535451236,0.400979519972,-0.0153807808565,0.0798434936244,0.999999927769,0.00026062995875,-0.000273695968315,4.02935296491e-05,1793249748960241664
+45,0.750000000,BASELINE,766,745,718,679.876779367,661,639,879.876779367,785.876779367,813.123220633,651,629.123220633,655,0.400979834345,-0.0153812677799,0.0798438635755,0.999999928175,0.000259481224757,-0.000273295595219,4.03501727615e-05,1793249748976908032
+46,0.766666667,BASELINE,766,745,718,679.29487912,661,639,879.29487912,785.29487912,813.70512088,651,629.70512088,655,0.400978453053,-0.01538073033,0.0798429119898,0.999999927459,0.000260667111346,-0.000274805832817,4.02029554583e-05,1793249748993575168
+47,0.783333333,BASELINE,766,745,718,679,661,638.716809365,879.283190635,785,814,650.716809365,630,655,0.400977533894,-0.0153811275496,0.079842165641,0.999999927369,0.000259848185757,-0.00027591268376,4.01645984437e-05,1793249749010242304
+48,0.800000000,BASELINE,766,745,718,679,661,638.142674903,879.857325097,785,814,650.142674903,630,655,0.40097708952,-0.0153824850282,0.0798416301481,0.999999927919,0.000256969560397,-0.000276605104313,4.02380820764e-05,1793249749026909184
+49,0.816666667,BASELINE,766,745,718,679,661,638,880,785,814,650.441458994,630,654.558541006,0.400978076804,-0.0153823834184,0.0798422624235,0.999999928006,0.00025761865771,-0.000275686319451,4.02288900459e-05,1793249749043575552
+50,0.833333333,BASELINE,766,745.028489576,718,679,661,638,879.971510424,785,814,651,629.971510424,654.028489576,0.400979441171,-0.0153818028389,0.0798432171929,0.99999992793,0.000259363287339,-0.000274326626187,4.018901635e-05,1793249749060241920
+51,0.850000000,BASELINE,766,745.607598265,718,679,661,638,879.392401735,785,814,651,629.392401735,654.607598265,0.400978943619,-0.0153812903135,0.0798429415427,0.999999927724,0.000259735432062,-0.000274742785712,4.00845418984e-05,1793249749076908544
+52,0.866666667,BASELINE,766,745.81359566,718,679,661,638,879.18640434,785,814,651,629.18640434,654.81359566,0.400978452172,-0.0153809705003,0.0798425029055,0.999999927411,0.000260347807891,-0.000275310443702,4.00034410733e-05,1793249749093575168
+53,0.883333333,BASELINE,766,745.235425622,718,679,661,638,879.764574378,785,814,651,629.764574378,654.235425622,0.400977973555,-0.0153810557101,0.0798417217186,0.999999926877,0.000261465077017,-0.000276196505745,3.99714645673e-05,1793249749110241792
+54,0.900000000,BASELINE,766.340741743,745,718,679,661.340741743,638,880,785.340741743,814,650.659258257,630,654.340741743,0.40097835815,-0.0153808742368,0.0798420106178,0.999999926749,0.000262332461044,-0.000275813957306,4.01340974829e-05,1793249749126908672
+55,0.916666667,BASELINE,766.915533482,745,718,679,661.915533482,638,880,785.915533482,814,650.084466518,630,654.915533482,0.400979335672,-0.0153805095831,0.079843034542,0.999999926899,0.000263028202989,-0.0002745600208,4.04304044652e-05,1793249749143575552
+56,0.933333333,BASELINE,766.510094822,745,718,679,661.510094822,638,880,785.510094822,814,650,630,655,0.400978861362,-0.0153807670306,0.0798429087896,0.999999927225,0.000262081474307,-0.000274265717237,4.05253862376e-05,1793249749160242176
+57,0.950000000,BASELINE,766,745.066614901,718,679,661.066614901,638.066614901,879.933385099,785,814,650.066614901,630,654.933385099,0.40097814665,-0.0153811849013,0.0798425767272,0.999999927596,0.000260649849113,-0.000274273530778,4.05439697903e-05,1793249749176908800
+58,0.966666667,BASELINE,766,745.662474426,718,679,661.662474426,638.662474426,879.337525574,785,814,650.662474426,630,654.337525574,0.400977508995,-0.015382025884,0.0798421790448,0.999999928094,0.000257613731469,-0.000275368235416,4.0231121122e-05,1793249749193575424
+59,0.983333333,BASELINE,766,745.751242761,718,679,661.751242761,639,879.248757239,785,814,651,630,654.248757239,0.400976931238,-0.0153816704555,0.079841759036,0.999999927765,0.000257677169217,-0.000276540473656,3.99839873594e-05,1793249749210242048
+60,1.000000000,BASELINE,766,745.177472296,718,679,661.177472296,639,879.822527704,785,814,651,630,654.822527704,0.40097643174,-0.0153797518587,0.0798413098568,0.99999992635,0.000261790323848,-0.000277814013401,3.98227132195e-05,1793249749226908672
+61,1.016666667,BASELINE,766,745,718,679,661,638.603823313,879.603823313,785,814,650.603823313,630,654.603823313,0.400976904507,-0.0153793583519,0.0798413535522,0.999999926383,0.000261932438789,-0.000277558435019,3.98212225165e-05,1793249749243575296
+62,1.033333333,BASELINE,766,745,718,679,661,638.030228766,879.030228766,785,814,650.030228766,630,654.030228766,0.400977812681,-0.0153796478188,0.0798416179692,0.999999927068,0.000260296222288,-0.000276618079102,3.98912868549e-05,1793249749260241920
+63,1.050000000,BASELINE,766,745,718,679,661,638.561850667,879,785.561850667,814,650,630,654,0.400978385379,-0.015379354404,0.0798419222224,0.99999992705,0.000260938906143,-0.000276071475224,3.99438864723e-05,1793249749276908800
+64,1.066666667,BASELINE,766.150564871,745,718,679,661.150564871,639,879,785.849435129,814,650.150564871,630,654.150564871,0.400978503446,-0.0153794011753,0.0798421396639,0.999999927083,0.000261165875253,-0.000275732849367,3.99758662075e-05,1793249749293575424
+65,1.083333333,BASELINE,766.726856053,745,718,679,661.726856053,639,879,785.273143947,814,650.726856053,630,654.726856053,0.400977388804,-0.0153805015205,0.0798421053763,0.999999927373,0.000259858923279,-0.000275920349015,3.99522898964e-05,1793249749310242304
+66,1.100000000,BASELINE,766.696603304,744.696603304,718,679,661.696603304,638.696603304,879,785.303396696,814,651,630,654.696603304,0.400977143303,-0.0153807723751,0.0798420030393,0.999999927512,0.00025954522643,-0.000275724393777,3.98427338916e-05,1793249749326908928
+67,1.116666667,BASELINE,766.119837921,744.119837921,718,679,661.119837921,638.119837921,879,785.880162079,814,651,630,654.119837921,0.400977680923,-0.015380295836,0.0798418393878,0.999999927518,0.000260126479576,-0.000275182935233,3.96557078422e-05,1793249749343575296
+68,1.133333333,BASELINE,766,744.465476753,718,679,661,638,879.465476753,785.534523247,814,651,630,654,0.400978084536,-0.0153805174143,0.0798421061663,0.999999927427,0.000260491101719,-0.000275159773038,3.97267062544e-05,1793249749360241920
+69,1.150000000,BASELINE,766.052262983,744.947737017,718,679.052262983,661,638.052262983,880,785.052262983,814,651,630,654.052262983,0.400978391609,-0.0153807615937,0.0798424640438,0.999999927265,0.000260976800825,-0.000275265749844,3.98788467584e-05,1793249749376908544
+70,1.166666667,BASELINE,766.631281339,744.368718661,718,679.631281339,661,638.631281339,880,785.631281339,814,651,630,654.631281339,0.400978079886,-0.0153793881687,0.0798426023049,0.999999926646,0.00026325546786,-0.000275303249467,4.01667531475e-05,1793249749393575424
+71,1.183333333,BASELINE,766.790434909,744.209565091,718,679.790434909,661.209565091,638.790434909,880,786,813.790434909,651,630,655,0.400977939732,-0.0153792127593,0.0798427953586,0.999999926546,0.000263781843823,-0.000275147700417,4.02613527744e-05,1793249749410241792
+72,1.200000000,BASELINE,766.213439041,744.786560959,718,679.213439041,661.786560959,638.213439041,880,786,813.213439041,651,630,655,0.400978100388,-0.0153811378322,0.07984308448,0.99999992736,0.000261235925698,-0.000274653678856,4.0017027424e-05,1793249749426908416
+73,1.216666667,BASELINE,766,745,718.361695971,679,661.638304029,638.361695971,880,785.638304029,813.361695971,651,630,655,0.40097772092,-0.0153821747075,0.0798429819091,0.999999927622,0.000259675092123,-0.000275178203311,4.00206064402e-05,1793249749443575808
+74,1.233333333,BASELINE,766,745,718.935738466,679,661.064261534,638.935738466,880,785.064261534,813.935738466,651,630,655,0.400977024353,-0.0153826901348,0.0798426493815,0.999999927561,0.000258692587735,-0.000276300701574,4.01697265747e-05,1793249749460243200
+75,1.250000000,BASELINE,766,745,718.476701991,679.523298009,661,638.476701991,880,785,814,651,630,655,0.40097725359,-0.0153826342318,0.0798424833141,0.99999992766,0.000258576066217,-0.000276042262035,4.02420876117e-05,1793249749476909568
+76,1.266666667,BASELINE,766,745,718,679.889376495,661.110623505,638,880,785,814,650.889376495,629.889376495,654.889376495,0.4009773844,-0.0153824063366,0.0798421208513,0.999999927614,0.00025880518235,-0.000275995445995,4.02350483038e-05,1793249749493575424
+77,1.283333333,BASELINE,766,745,718,679.310258383,661.689741617,638,880,785,814,650.310258383,629.310258383,654.310258383,0.400976604123,-0.0153817550561,0.0798408377808,0.999999926867,0.000260035775909,-0.000277582086085,3.99327239724e-05,1793249749510242048
+78,1.300000000,BASELINE,766,745,718,679,661.732276707,638.267723293,879.732276707,785,814,650.267723293,629.267723293,654,0.400976329456,-0.0153813146476,0.0798408105175,0.9999999268,0.000260239131428,-0.000277649339489,3.98352929258e-05,1793249749526908672
+79,1.316666667,BASELINE,766,745,718,679,661.155606496,638.844393504,879.155606496,785,814,650.844393504,629.844393504,654,0.400976638252,-0.0153811175808,0.0798422324285,0.999999927516,0.000259257076264,-0.000275963253237,3.99743043422e-05,1793249749543575552
+80,1.333333333,BASELINE,766,745,718,678.579423738,661,639,879,785,814,650.579423738,630,654,0.400977898057,-0.0153815693611,0.0798430587196,0.99999992813,0.000257990306706,-0.000274910226685,4.00570002734e-05,1793249749560242432
+81,1.350000000,BASELINE,766,745,718,678.003421076,661,639,879,785,814,650.003421076,630,654,0.400979509312,-0.0153822609266,0.0798436648959,0.999999928706,0.000256618319208,-0.000274091150886,4.01188845014e-05,1793249749576909056
+82,1.366666667,BASELINE,766,745,718,679.168709508,661.584354754,638.415645246,880.168709508,785,814,650,629.415645246,654,0.400978296265,-0.0153812729714,0.0798434731597,0.999999927419,0.000261198300566,-0.000274498138178,3.98508138403e-05,1793249749593575680
+83,1.383333333,BASELINE,766.169731837,745,718,680,662,638.169731837,880.660536325,785,814,650.169731837,629.169731837,654,0.400977496809,-0.0153809839271,0.07984326967,0.999999926864,0.000263236664527,-0.000274587593247,3.97589320421e-05,1793249749610242304
+84,1.400000000,BASELINE,766.749149343,745,718,680,662,638.749149343,879.501701315,785,814,650.749149343,629.749149343,654,0.40097773638,-0.0153824060818,0.0798430493178,0.999999928133,0.000259054431878,-0.000273892931767,4.00970797996e-05,1793249749626909184
+85,1.416666667,BASELINE,766.673567059,745,718,679.673567059,661.673567059,639,879,785.326432941,813.673567059,651,630,654,0.400977516852,-0.0153827026525,0.0798425569727,0.999999928102,0.000258627345831,-0.000274381082521,4.02880865344e-05,1793249749643576064
+86,1.433333333,BASELINE,766.097912668,745,718,679.097912668,661.097912668,639,879,785.902087332,813.097912668,651,630,654,0.400976946817,-0.0153821398746,0.0798418569694,0.999999927082,0.000261067198284,-0.000275772273862,4.03667556306e-05,1793249749660242176
+87,1.450000000,BASELINE,766,745,718,679,661.478222184,639,879,786,813,651,630,654.478222184,0.400977993937,-0.0153819195811,0.0798424930156,0.999999927406,0.000261154486189,-0.000274526253886,4.02817239788e-05,1793249749676909056
+88,1.466666667,BASELINE,766,745,718,679,661.94408716,638.94408716,879.05591284,786,813.05591284,650.94408716,630,655,0.400979123705,-0.0153818545939,0.0798432412128,0.999999927943,0.000260640866313,-0.000273069310159,4.01749971486e-05,1793249749693575424
+89,1.483333333,BASELINE,766,745,718,679,661.352432697,638.352432697,879.647567303,786,813.647567303,650.352432697,630,655,0.400977869674,-0.0153826051511,0.0798424403241,0.999999927906,0.000258989395823,-0.000274770216024,4.01818628375e-05,1793249749710242304
+90,1.500000000,BASELINE,766,745,718,679,661,638.23348703,880,786,814,650,630,655,0.400977351842,-0.0153832221732,0.0798419560731,0.999999927763,0.000258441115103,-0.000275803034067,4.01772973414e-05,1793249749726908928
+91,1.516666667,BASELINE,766,745,718,679,661,638.810958025,880,786,814,650,630,655,0.400977918613,-0.0153836424652,0.0798419383074,0.999999927472,0.000259518105077,-0.00027585159387,4.01558908909e-05,1793249749743575808
+92,1.533333333,BASELINE,766.385506366,745,718,679,661.385506366,638.614493634,880,786,814,650.385506366,629.614493634,654.614493634,0.400979074685,-0.0153832881962,0.0798427812142,0.999999928058,0.000258965222515,-0.000274239831092,4.01699328094e-05,1793249749760242176
+93,1.550000000,BASELINE,766.958632352,745,718,679,661.958632352,638.041367648,880,786,814,650.958632352,629.041367648,654.041367648,0.400980517561,-0.0153825569612,0.0798440429961,0.999999929065,0.000257619107842,-0.000271820016575,4.02012268648e-05,1793249749776908800
+94,1.566666667,BASELINE,766.45257763,745,718,679,662,638.54742237,879.45257763,786,813.45257763,651,629.54742237,654.54742237,0.400977878764,-0.0153817653517,0.0798427672166,0.999999928355,0.000257796299323,-0.000274310156648,3.98082030055e-05,1793249749793575424
+95,1.583333333,BASELINE,766,745,718,679,661.865264716,639,879.134735284,786,813.134735284,650.865264716,630,654.865264716,0.400975947259,-0.0153813797719,0.0798417405035,0.999999927791,0.000258030106775,-0.000276171525915,3.95914481895e-05,1793249749810242048
+96,1.600000000,BASELINE,766,745,718,679,661.286828849,639,879.713171151,786,813.713171151,650.286828849,630,654.286828849,0.400977390624,-0.0153823467661,0.0798421840846,0.999999928169,0.000258060108446,-0.000274704411934,4.00638741064e-05,1793249749826908416
+97,1.616666667,BASELINE,766,745,718,679,661,638.709685181,880,785.709685181,814,650.290314819,630,654,0.400978030513,-0.0153825487153,0.079842133238,0.999999927895,0.00025913577304,-0.0002746584286,4.02664814585e-05,1793249749843575296
+98,1.633333333,BASELINE,766,745,718,679,661,638.133812575,880,785.133812575,814,650.866187425,630,654,0.400977880091,-0.0153819981551,0.0798415960651,0.999999926978,0.000261239966567,-0.000276010289688,4.0203691401e-05,1793249749860241920
+99,1.650000000,BASELINE,766.4404564,745,718,679.4404564,661.4404564,638,880,785,814,651,630,654.4404564,0.400978641934,-0.0153809213596,0.0798423840634,0.999999927235,0.000261243385107,-0.000275112903911,3.99362272603e-05,1793249749876908800
+100,1.666666667,BASELINE,766.985306369,745,718,679.985306369,661.985306369,638.014693631,879.985306369,785,814,651,630,654.985306369,0.400979580398,-0.0153797316656,0.0798434942381,0.999999927806,0.000260634340157,-0.000273657667703,3.96167919824e-05,1793249749893575680
+101,1.683333333,BASELINE,766.393241911,745,718,679.393241911,661.393241911,638.606758089,879.393241911,785,814,651,630,654.393241911,0.400976608196,-0.0153803649732,0.0798415019288,0.999999926791,0.00026094657545,-0.000277035653128,3.96896740463e-05,1793249749910242048
+102,1.700000000,BASELINE,766.194947557,745,718,679.194947557,661,639,879.194947557,785.194947557,814,651,630,654.194947557,0.400974885096,-0.0153808659845,0.0798403022743,0.999999926042,0.000261695631278,-0.000279009425247,3.98030245445e-05,1793249749926908672
+103,1.716666667,BASELINE,766.775472791,745,718,679.775472791,661,639,879.775472791,785.775472791,814,651,630,654.775472791,0.400975632536,-0.0153811053327,0.0798406703749,0.999999925835,0.000263308654028,-0.000278205868982,3.99964156633e-05,1793249749943575040
+104,1.733333333,BASELINE,766.647287767,745,718,679.647287767,661,639,879.647287767,785.647287767,813.647287767,651,630,654.647287767,0.400976284501,-0.0153812849125,0.0798413323561,0.999999926287,0.000263033661397,-0.000276820111623,4.01165744018e-05,1793249749960241920
+105,1.750000000,BASELINE,766.072120611,745,718,679.072120611,661,639,879.072120611,785.072120611,813.072120611,651,630,654.072120611,0.400976876251,-0.0153814267966,0.0798421796874,0.999999927153,0.000261567901273,-0.000275067161078,4.01905456388e-05,1793249749976908544
+106,1.766666667,BASELINE,766.493987124,744.506012876,718,679,661,639,879,785,813,650.506012876,629.506012876,654.493987124,0.400978174466,-0.0153824725203,0.0798426737056,0.999999928128,0.000259141209864,-0.000273825410119,4.01261513245e-05,1793249749993574912
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,880,785,814,651,630,654,0.400978427648,-0.0153810098143,0.0798426037421,0.999999927068,0.000261822193807,-0.000275116075441,4.0300584017e-05,1793249750036129536
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,718,679.575011522,661.575011522,638,880,785.575011522,814,650.424988478,629.424988478,654.575011522,0.400978687961,-0.015381619352,0.0798429972598,0.999999927793,0.000259895622051,-0.000274316837387,4.02423005244e-05,1793249750052796160
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,718,679.849804097,662,638.150195903,880,786,813.849804097,650.150195903,629,654.849804097,0.400978728928,-0.0153819276108,0.0798432151135,0.999999928185,0.000258801860485,-0.000273936467823,4.01297560235e-05,1793249750069462784
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,718,679.274129907,662,638.725870093,880,786,813.274129907,650.725870093,629,654.274129907,0.400978148529,-0.0153813824,0.0798429353422,0.999999927646,0.000260067301666,-0.000274742678033,3.98634997217e-05,1793249750086129152
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.690668068,718,679,661.690668068,639,880,785.690668068,813.309331932,651,629.309331932,654.309331932,0.400978195545,-0.0153819903398,0.0798432643927,0.999999927981,0.000259560946102,-0.000273990444648,3.99374514308e-05,1793249750102795520
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.100126614,718,679,661.100126614,639,880,785.100126614,813.899873386,651,629.899873386,654.899873386,0.400978812935,-0.0153836465934,0.0798441469149,0.999999929105,0.000257443873752,-0.000271821450994,4.03206817059e-05,1793249750119462144
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.480842354,718,679,661,639,880,785,814,650.519157646,630,655,0.400978494204,-0.0153825284338,0.079843750743,0.999999928611,0.000258177018609,-0.000272971555869,4.01137407834e-05,1793249750136129024
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,718,679.059425067,661,639,879.940574933,785.059425067,813.940574933,650.059425067,630,654.940574933,0.4009783527,-0.0153810924369,0.0798432900227,0.999999927922,0.000259382027374,-0.000274387797276,3.9844206068e-05,1793249750152795392
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,718,679.634262091,661,639,879.365737909,785.634262091,813.365737909,650.634262091,630,654.365737909,0.400981406037,-0.0153818126833,0.0798445337727,0.999999928437,0.00025963247871,-0.000272234846856,4.0076854145e-05,1793249750169462272
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,718,679.792784363,661,638.792784363,879.207215637,785.792784363,813.207215637,650.792784363,630,654,0.400991698614,-0.0153829133322,0.0798488788694,0.999999930566,0.000259149725573,-0.000264710658792,4.04666502028e-05,1793249750186129152
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,718,679.223125291,661,638.223125291,879.776874709,785.223125291,813.776874709,650.223125291,630,654,0.401014653437,-0.0153846793478,0.0798586485697,0.99999993533,0.000257384515339,-0.000247791572637,4.11313157071e-05,1793249750202795776
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879.637251245,785,814,650.362748755,630,654,0.401055662218,-0.0153873338943,0.0798727275163,0.999999942264,0.000255302785101,-0.000220317387021,4.18584089384e-05,1793249750219462400
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879.040936684,785,814,650.959063316,630,654,0.401108295542,-0.0153905605464,0.0798895810911,0.999999949776,0.000253017254332,-0.000186047007189,4.26256980176e-05,1793249750236128768
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.537335492,745,718,679,661.537335492,638.537335492,879,785,813.462664508,650.462664508,630,654,0.401182804936,-0.0153924520328,0.0799075618927,0.999999955184,0.000254432373957,-0.000151814514674,4.29842105425e-05,1793249750252795648
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,744.885829898,718,679.114170102,662,638.885829898,879,785,813.114170102,650,630,654,0.401260808264,-0.0153944206323,0.0799244308294,0.999999959012,0.000255658857932,-0.000121525956847,4.29679731223e-05,1793249750269462272
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,744.309431018,718,679.690568982,662,638.309431018,879,785,813.690568982,650,630,654,0.401346428885,-0.0153970998728,0.0799364618911,0.999999960874,0.000255017283597,-0.000107193486569,4.15565116235e-05,1793249750286128896
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.7283181,744.2716819,718,680,661.7283181,638,879,785,814,650.2716819,630,654,0.401440660461,-0.0154002559644,0.0799443035456,0.999999962487,0.000253576563203,-9.57471457646e-05,3.94523895561e-05,1793249750302795776
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.141741378,744.858258622,718,680,661.141741378,638,879,785,814,650.858258622,630,654,0.401544872621,-0.0154039647534,0.0799472894377,0.999999963938,0.000251209587005,-8.76459945414e-05,3.65454344649e-05,1793249750319462400
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,718,679.560796564,661,638,879.439203436,785.439203436,814,651,630,654.439203436,0.40166323654,-0.015408004215,0.0799478529406,0.999999964892,0.000248690201672,-8.5510171073e-05,3.25184994291e-05,1793249750336129280
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638.018273066,880,785.981726934,814,651,630,655,0.401787253179,-0.0154122209365,0.0799478404308,0.99999996574,0.000246000097079,-8.49206605749e-05,2.81362767328e-05,1793249750352795904
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638.594878903,880,785.405121097,814,651,630,655,0.401946207425,-0.0154186344132,0.079953812179,0.999999968317,0.000239577521528,-7.35004485829e-05,2.38023390735e-05,1793249750369462528
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,718.171279474,679.171279474,661.171279474,638.828720526,879.828720526,785,814,651,630,655,0.402111745524,-0.0154251250629,0.0799582987123,0.999999970672,0.000232536118847,-6.49647385685e-05,1.90423982317e-05,1793249750386129152
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,718.747195038,679.747195038,661.747195038,638.252804962,879.252804962,785,814,651,630,655,0.402292837505,-0.0154317980279,0.0799592765262,0.999999972817,0.000224032780212,-6.32434696423e-05,1.32760545101e-05,1793249750402795776
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.330096093,745,718.669903907,679.669903907,662,638,879.330096093,785,814,651,630,654.669903907,0.402488524462,-0.01543748608,0.0799558794045,0.999999974554,0.000214266541994,-7.03081921606e-05,6.27129642082e-06,1793249750419462400
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.918462729,745,718.081537271,679.081537271,662,638,879.918462729,785,814,651,630,654.081537271,0.402695630694,-0.015442403527,0.0799490592887,0.999999975741,0.000203512197332,-8.42471636139e-05,-1.70241029305e-06,1793249750436129024
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.500371703,745,718,679,661.500371703,638.499628297,879.500371703,785,814,651,630,654.499628297,0.402940833731,-0.0154507808694,0.0799481765241,0.999999989304,0.000118165333357,-8.56295390341e-05,-9.86983086467e-06,1793249750452796160
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.078916931,745,718,679.078916931,661,639,879.078916931,785.078916931,814,651,629.921083069,655,0.403198633289,-0.0154599891551,0.0799483322909,0.999999995675,3.35980502943e-05,-8.48288737283e-05,-1.80389040843e-05,1793249750469463040
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.653691623,745,718,679.653691623,661,639,879.653691623,785.653691623,814,651,629.346308377,655,0.403497070832,-0.0154709211085,0.0799490117533,0.999999995786,2.93299738565e-05,-8.30042178233e-05,-2.60225522357e-05,1793249750486129664
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.765945095,745,718.234054905,679.765945095,661.234054905,639,880,786,814,651,629.234054905,655,0.403812152856,-0.015481567131,0.0799524595004,0.999999996059,3.37144204644e-05,-7.75652820387e-05,-2.69886733926e-05,1793249750502796544
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.177110682,745,718.822889318,679.177110682,661.822889318,639,880,786,814,651,629.822889318,655,0.404152464499,-0.01549177974,0.0799601034025,0.999999996318,5.12143278394e-05,-6.66478350681e-05,-1.731765415e-05,1793249750519463168
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,718.594835434,679.405164566,662,638.594835434,880,785.594835434,814,650.594835434,630,654.594835434,0.404533622418,-0.0154957467837,0.0799616076928,0.999999996624,5.5277333215e-05,-5.84510663868e-05,-1.67442175317e-05,1793249750536129536
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,718.015381748,679.984618252,662,638.015381748,880,785.015381748,814,650.015381748,630,654.015381748,0.404932351117,-0.0154970271804,0.0799604709139,0.999999997042,5.3560203339e-05,-5.14246486645e-05,-2.00842765496e-05,1793249750552796160
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.56263585,745,718,680,662,638.56263585,880,785.56263585,813.43736415,650,630,654.56263585,0.40534588791,-0.0155015364229,0.0799513709029,0.999999997257,2.70307251483e-05,-6.38871386707e-05,-2.59619105939e-05,1793249750569462784
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718.139068197,679.860931803,662,639,880,786,813.139068197,650,629.860931803,655,0.405769438236,-0.0155030896915,0.079942318876,0.999999996387,1.40508069119e-05,-7.82760083073e-05,-3.00368202052e-05,1793249750586129408
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718.710691504,679.289308496,662,639,880,786,813.710691504,650,629.289308496,655,0.406222878406,-0.0154951748912,0.0799340915203,0.999999993868,4.53197094012e-05,-9.70036526074e-05,-2.82893379952e-05,1793249750602796288
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.708766702,745,718.708766702,679.291233298,662,639,880,786,814,650.291233298,629.291233298,655,0.406698172293,-0.0154884152434,0.0799312669392,0.999999992631,5.74705913591e-05,-0.000102929004971,-2.89899523495e-05,1793249750619463168
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.119085414,745,718.119085414,679.880914586,662,639,880,786,814,650.880914586,629.880914586,655,0.407195861332,-0.0154828393636,0.079933978974,0.999999993648,5.00298479493e-05,-9.57349179539e-05,-3.21993095172e-05,1793249750636130048
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,718,680,662.461301316,639,880,786,813.538698684,651,630,655,0.40772621807,-0.015490064366,0.0799251025278,0.999999992004,4.01350456612e-05,-0.000115027670989,-3.39057330694e-05,1793249750652796672
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.039372053,745,718,680,662.960627947,638.960627947,880,786,813.039372053,650.960627947,630,655,0.40826955437,-0.0155001914769,0.0799146331185,0.999999989378,2.9641175515e-05,-0.000138289036113,-3.52363033417e-05,1793249750669462784
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.617936531,745,718,680,662.382063469,638.382063469,880,786,813.617936531,650.382063469,630,655,0.408877433699,-0.0155057009089,0.0799225082919,0.999999991438,1.94477278775e-05,-0.000124109574531,-3.66280590134e-05,1793249750686129664
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662.195310633,638.195310633,880.195310633,786,814,650,629.804689367,655,0.40951140813,-0.0155095594833,0.0799405140132,0.999999994882,1.21952693737e-05,-9.33891100107e-05,-3.69568630033e-05,1793249750702796544
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745,718,680,662.770370213,638.770370213,880.770370213,786,814,650,629.229629787,655,0.4101961201,-0.0155102082402,0.0799782168946,0.999999998858,1.06610742638e-05,-3.05074249473e-05,-3.52189345858e-05,1793249750719463168
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662.646170713,639,881,786,814,650,629,654.646170713,0.41085868692,-0.0155062228858,0.079992069583,0.999999999221,1.54259644478e-05,-1.03680933157e-05,-3.48205928003e-05,1793249750736129792
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662.057127968,639,881,786,814,650,629,654.057127968,0.411506532384,-0.0154991569347,0.0799900674875,0.999999998906,2.43782684851e-05,-1.86424006643e-05,-3.53127619489e-05,1793249750752796416
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.477422252,745,718,679.477422252,662.522577748,639,881,786,814,650.522577748,629,654.522577748,0.412189876251,-0.01549889311,0.0799532561745,0.999999996143,2.18155036184e-05,-7.47806961438e-05,-4.05684291706e-05,1793249750769462784
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,718,679.101029253,663,639,881.101029253,785.898970747,814,651,629.101029253,654.898970747,0.412888043455,-0.0154996334653,0.0799184525721,0.999999991015,1.76510463374e-05,-0.000124707443321,-4.58982627653e-05,1793249750786129152
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,718,679.678295475,663,639,881.678295475,785.321704525,814,651,629.678295475,654.321704525,0.413638113665,-0.015501663661,0.0799107359162,0.999999991387,1.17661897451e-05,-0.000121121722997,-4.91660856069e-05,1793249750802796288
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.252959264,745.252959264,718,680,663.252959264,639,882.252959264,785.252959264,814,651,629.747040736,654,0.414407065538,-0.0155042504135,0.0799186085973,0.999999993717,8.36977524536e-06,-0.000100247442178,-4.94623037891e-05,1793249750819462912
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.82434715,745.82434715,718,680,663.82434715,639,882.82434715,785.82434715,814,651,629.17565285,654,0.415199786011,-0.0155075377679,0.0799461053507,0.999999997249,8.10584529947e-06,-5.76100814005e-05,-4.60178252594e-05,1793249750836129280
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.589559077,718,680.410440923,663.589559077,639,883.410440923,786,814,651,629,654.410440923,0.415972709848,-0.0155074809557,0.0799505708154,0.999999997004,4.30713630476e-06,-6.20700510774e-05,-4.60583897702e-05,1793249750852795904
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639,883.997004038,786,814,651,629,655,0.416737496409,-0.0155059596734,0.0799449032546,0.999999995071,-1.04039387298e-06,-8.71052899451e-05,-4.76442329845e-05,1793249750869462528
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639,883.417180115,786,814,651,629,655,0.417627392557,-0.0155082674404,0.0799565161587,0.999999997615,-2.50979364911e-06,-4.86855661759e-05,-4.89202684202e-05,1793249750886129408
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639,883,786,814.160906162,651,629.160906162,655,0.418512075998,-0.0155112256996,0.0799690207239,0.999999998653,-5.2906738286e-06,-1.32378315809e-05,-4.99085569876e-05,1793249750902796032
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,718,681,663,639,883,786,814.734535355,651,629.734535355,655,0.419383388834,-0.0155158524658,0.0799838123922,0.99999999857,-1.14354907876e-05,1.45867718406e-05,-5.01587771716e-05,1793249750919463168
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,718.317268193,681,663,639,883.317268193,786,815,651,629.682731807,655,0.420231379722,-0.0155178397932,0.0799789833467,0.999999998542,-1.59452412214e-05,8.16425752064e-06,-5.09467974495e-05,1793249750936130048
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,718.907843225,681,663,639,883.907843225,786,815,651,629.092156775,655,0.421059280158,-0.0155175534079,0.0799572522743,0.999999998071,-1.90464830872e-05,-2.7760022754e-05,-5.21980990625e-05,1793249750952796672
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745,718.511143085,681,663.488856915,639,884.488856915,786,815,651,629,655,0.421966449252,-0.0155169411247,0.0799700716124,0.999999998494,-1.75742261161e-05,-7.94234499739e-06,-5.13784886563e-05,1793249750969463296
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.067585659,718,681,664,639,885,786,815,651,629,655,0.422887225313,-0.0155166595342,0.079988002863,0.999999998449,-1.49957303486e-05,1.86478228972e-05,-5.02831306994e-05,1793249750986129920
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.642433265,718,681,664,639,885,786,815,651,629,655,0.423800122492,-0.0155193122112,0.0799963540821,0.999999998521,-1.04612673244e-05,1.8712806921e-05,-4.99920664071e-05,1793249751002796800
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.216145545,746,718,681.216145545,664,639,885,786,815,651,629.216145545,655,0.424686472611,-0.0155206004269,0.079983180595,0.999999998559,-6.00570901638e-06,-1.48017902058e-05,-5.12591981458e-05,1793249751019463680
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.787989574,746,718,681.787989574,664,639,885,786,815,651,629.787989574,655,0.425529135881,-0.015519643226,0.0799345851191,0.999999993117,-1.67999897092e-06,-0.000103576402826,-5.50905645501e-05,1793249751036130560
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.626590383,746,718,682,664,639,885.746819233,786.373409617,815,651,630,655,0.426420129904,-0.0155206252317,0.0799123096145,0.99999999035,-5.7131205146e-06,-0.0001261385565,-5.7936004258e-05,1793249751052796928
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.033171522,746,718,682,664,639,886.933656956,786.966828478,815,651,630,655,0.427339599878,-0.0155227497987,0.079905541579,0.999999992064,-1.4671183028e-05,-0.000109688980801,-6.0200545664e-05,1793249751069463296
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,745.453453857,718,682,664,639,887,787,815.546546143,651,629.453453857,655,0.42824681747,-0.0155204651515,0.079912247112,0.999999991684,-1.19880642305e-05,-0.000113839405863,-5.93966008295e-05,1793249751086129664
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,745.124660673,718,682,664,639,887,787,816,651,629.124660673,655,0.429167816069,-0.0155199644533,0.079926388181,0.999999992717,-1.17056497393e-05,-0.000105196161409,-5.79938191314e-05,1793249751102796544
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,745.699912801,718,682,664,639,887,787,816,651,629.699912801,655,0.430141248835,-0.0155268555439,0.0799645218079,0.999999997174,-2.25920440839e-05,-4.59009813689e-05,-5.50832096466e-05,1793249751119463168
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718,682.274214307,664,639,887.274214307,786.725785693,816,651,630,655,0.43108730744,-0.0155320698408,0.0799993958924,0.9999999983,-2.53503980078e-05,5.80908548707e-06,-5.21968005084e-05,1793249751136129536
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,682.847479053,664,639,887.847479053,786.152520947,816,651,630,655,0.432003512487,-0.0155354554732,0.0800307152089,0.999999997385,-1.92445381172e-05,4.92470364642e-05,-4.93367838694e-05,1793249751152795904
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,682.562452353,664,639.437547647,888,786.437547647,816,651,630,655,0.432830803555,-0.015531269268,0.0799904699325,0.999999998127,-2.49621473119e-05,-1.4329973677e-05,-5.40176300196e-05,1793249751169462528
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.967490502,718,682.032509498,664.032509498,639.967490502,888,786.967490502,816,651,629.967490502,655,0.433630302609,-0.0155248050573,0.0799270167993,0.999999991297,-3.43833231629e-05,-0.000111762729494,-6.1090500714e-05,1793249751186128896
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,745.392522661,718,682.607477339,664.607477339,639.392522661,888,786.392522661,816,651,629.392522661,655,0.434503880107,-0.0155261301073,0.0799091925724,0.999999989428,-3.40851745835e-05,-0.000126807263195,-6.24640166626e-05,1793249751202796288
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,745.182373914,718,682.817626086,664.817626086,639,888.182373914,786.182373914,816,651,629.182373914,655,0.435382495042,-0.0155276971729,0.0799094840334,0.999999990052,-3.5788077248e-05,-0.000120972745471,-6.30989296764e-05,1793249751219462912
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,745.757117268,718,682.242882732,664.242882732,639,888.757117268,786.757117268,816,651,629.757117268,655,0.436271947966,-0.0155297849246,0.0799487505954,0.99999999473,-4.17961534068e-05,-7.02178711033e-05,-6.21447711916e-05,1793249751236128768
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.658616373,718.341383627,682.341383627,664.341383627,639,889,786.658616373,816,651,630,655,0.437134662361,-0.015535274234,0.0799815580456,0.999999997033,-4.36417405158e-05,-2.42037724331e-05,-5.86861544214e-05,1793249751252795392
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.067380336,718.932619664,682.932619664,664.932619664,639,889,786.067380336,816,651,630,655,0.437977807264,-0.0155432530809,0.0800096381882,0.999999997506,-4.24408779383e-05,1.8340636457e-05,-5.33945706635e-05,1793249751269462016
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.512693936,718.487306064,682.487306064,665,639,889,786,816,651,630,655,0.438772517525,-0.0155483920027,0.0800090042284,0.999999996645,-5.82065259727e-05,1.50483537199e-05,-5.56335268482e-05,1793249751286128640
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,718,682.090645547,665,639,889.090645547,786,816,651,630,655,0.439542716715,-0.0155526658798,0.079993477056,0.999999995593,-7.22188877761e-05,-1.09455529065e-05,-5.89719901876e-05,1793249751302795520
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,718,682.664931691,665,639,889.664931691,786,816,651,630,655,0.440215376179,-0.0155542732668,0.0799181926892,0.999999987873,-6.52328840599e-05,-0.000126607749016,-6.30088726043e-05,1793249751319463168
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+245,4.083333333,HOLD_POSE2,766,746,717,683,662.575053345,636.575053345,889,780,817.575053345,650.575053345,629,654.575053345,0.452791118299,-0.0156693795646,0.0795724829504,0.999999754692,-0.000256656989126,-0.000646785479508,-8.00731871423e-05,1793249752350933760
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+247,4.116666667,HOLD_POSE2,766,746,717,683,662.27501265,637,889,780,817.27501265,651,629,654.27501265,0.452792693164,-0.015668904856,0.0795728827183,0.999999755786,-0.000255731062615,-0.000645483623157,-7.9875708013e-05,1793249752384267008
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.356250511,717,681.356250511,663,638,887,783.356250511,817,650.643749489,629,654.643749489,0.443323837287,-0.0154868048565,0.079685620472,0.999999873155,3.96311941091e-05,-0.000501847303512,1.63733866928e-05,1793249753350373888
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,717.893944086,681,663.893944086,638,886,784.106055914,816.106055914,650.106055914,629,655,0.441297132918,-0.0154708259229,0.0797137406393,0.999999902165,5.50912546768e-05,-0.000438478459912,1.93022847265e-05,1793249753400373248
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,717,681.35422042,663.35422042,638,884,785,816,650.64577958,629.64577958,654,0.430447283774,-0.0153811807853,0.0797121811938,0.999999864066,0.000212901987636,-0.000475198899653,2.69680906701e-05,1793249753617039872
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..456a6e93964afc9bb0fae0a44b7dd459174a9806
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,405 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575669416398,-0.0098498933116,1.07003353039,0.546240094502,-0.00117726113296,1.06970491548
+384,6.400000000,pose2_to_pose3_retreat,0.575668071882,-0.00984985866186,1.07003355177,0.546238748892,-0.00117723038143,1.06970493211
+385,6.416666667,pose2_to_pose3_retreat,0.575667142401,-0.00984985059896,1.07003354383,0.546237819567,-0.00117722171136,1.06970492616
+386,6.433333333,pose2_to_pose3_retreat,0.575666618269,-0.00984984605231,1.07003353935,0.546237295524,-0.00117721682233,1.06970492281
+387,6.450000000,pose2_to_pose3_retreat,0.575666512626,-0.0098498451359,1.07003353844,0.546237189899,-0.0011772158369,1.06970492213
+388,6.466666667,pose2_to_pose3_retreat,0.575666160426,-0.0098498420807,1.07003353543,0.546236837758,-0.00117721255163,1.06970491988
+389,6.483333333,pose2_to_pose3_retreat,0.575665955057,-0.0098498402992,1.07003353368,0.546236632424,-0.00117721063598,1.06970491856
+390,6.500000000,pose2_to_pose3_retreat,0.575665796472,-0.00984983892354,1.07003353232,0.546236473866,-0.00117720915672,1.06970491755
+391,6.516666667,pose2_to_pose3_retreat,0.575665706825,-0.00984983620068,1.07003353295,0.546236384212,-0.00117720644569,1.06970491843
+392,6.533333333,pose2_to_pose3_retreat,0.575665639299,-0.00984982707533,1.07003353849,0.546236316603,-0.00117719758524,1.06970492441
+393,6.550000000,pose2_to_pose3_retreat,0.575665577408,-0.00984981871143,1.07003354357,0.546236254636,-0.00117718946412,1.06970492988
+394,6.566666667,pose2_to_pose3_retreat,0.57566549927,-0.00984980815209,1.07003354998,0.546236176403,-0.00117717921131,1.06970493679
+395,6.583333333,pose2_to_pose3_retreat,0.57566532198,-0.00984978419337,1.07003356452,0.546235998894,-0.00117715594808,1.06970495246
+396,6.600000000,pose2_to_pose3_retreat,0.575665043797,-0.00984974660021,1.07003358735,0.54623572037,-0.0011771194462,1.06970497706
+397,6.616666667,pose2_to_pose3_retreat,0.575665024634,-0.00984974401061,1.07003358892,0.546235701184,-0.00117711693178,1.06970497876
+398,6.633333333,pose2_to_pose3_retreat,0.575664817137,-0.00984971596984,1.07003360594,0.546235493432,-0.00117708970499,1.0697049971
+399,6.650000000,pose2_to_pose3_retreat,0.575664675625,-0.00984969684617,1.07003361756,0.546235351746,-0.00117707113646,1.06970500962
+400,6.666666667,pose2_to_pose3_retreat,0.575664562242,-0.009849716081,1.070033619,0.546235238713,-0.00117708915243,1.06970501181
+401,6.683333333,pose2_to_pose3_retreat,0.575664400351,-0.00984978985205,1.07003361052,0.546235077981,-0.00117715895387,1.06970500445
+402,6.700000000,pose2_to_pose3_retreat,0.575664352589,-0.0098498423711,1.07003351523,0.546235030942,-0.00117720906744,1.06970490791
+403,6.716666667,pose2_to_pose3_retreat,0.575664349293,-0.00984984762644,1.07003350373,0.546235027716,-0.0011772140913,1.06970489625
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a463e5629a244f6a02280c52183bdf716c8a86f6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71baa58c7e22b3d76489815575f6dc35777379e7c078f069eb7ae95383f5a603
+size 25760777
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..216dfb77c0bf40b19775d365164050dfffc61d81
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,407 @@
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+44,0.733333333,BASELINE,766,744.458965941,718,679,661,638.458965941,879.541034059,785,814,650.541034059,630,654.541034059,0.400978357318,-0.0153486091488,0.0798413808449,0.999999917183,0.000295553470483,-0.000277653545737,3.45064660575e-05,1793249755883223808
+45,0.750000000,BASELINE,766,744.119599562,718,679,661,638,879.880400438,785,814,650.880400438,630,654.880400438,0.400977894435,-0.0153487324951,0.0798406969479,0.999999917033,0.000295580868289,-0.000278179988876,3.43828447514e-05,1793249755899890432
+46,0.766666667,BASELINE,766,744.688162212,718,679,661,638,879.311837788,785,814,650.311837788,630,654.311837788,0.400979878015,-0.0153493932818,0.0798416215322,0.999999918014,0.000294254109931,-0.000276020504287,3.46374758439e-05,1793249755916557568
+47,0.783333333,BASELINE,766,745,718,679,661.262131388,638,879,785,814,650.262131388,630,654,0.400980568337,-0.0153491215157,0.0798420499338,0.999999917947,0.000295211520673,-0.000275216309814,3.48108157751e-05,1793249755933224448
+48,0.800000000,BASELINE,766,745,718,679,661.842667825,638,879,785,814,650.842667825,630,654,0.400979687771,-0.015347716999,0.0798418756335,0.999999916604,0.000298943459603,-0.000276058355198,3.48854132112e-05,1793249755949891072
+49,0.816666667,BASELINE,766,745,718,679,661.567746475,638,879,785,814,650.567746475,630,654.432253525,0.400979343987,-0.0153474781552,0.0798413678594,0.999999916424,0.000298957594924,-0.000276720549305,3.46815242328e-05,1793249755966557440
+50,0.833333333,BASELINE,766,745,718,679,661,638.024428988,879.024428988,785.024428988,814,650.024428988,630,654.975571012,0.400979217138,-0.0153476688653,0.0798407913294,0.999999916693,0.000297598034384,-0.000277248810458,3.43807055791e-05,1793249755983223808
+51,0.850000000,BASELINE,766,745,718,679,661,638.599160015,879.599160015,785.599160015,814,650.599160015,630,654.400839985,0.400979481759,-0.0153477739409,0.0798414586703,0.999999917318,0.000296428827489,-0.000276266197696,3.42285979026e-05,1793249755999890432
+52,0.866666667,BASELINE,766,745,718,679.174162196,661,638.825837804,880,785.825837804,813.825837804,650.825837804,629.825837804,654,0.400979656404,-0.015348064878,0.0798420275626,0.999999917766,0.000295614170298,-0.000275518464707,3.42136545496e-05,1793249756016557312
+53,0.883333333,BASELINE,766,745,718,679.74978939,661,638.25021061,880,785.25021061,813.25021061,650.25021061,629.25021061,654,0.400979623643,-0.0153487842484,0.0798423695188,0.999999917811,0.000295616793271,-0.000275312158158,3.45148916156e-05,1793249756033223936
+54,0.900000000,BASELINE,766,745,718,679.6666536,661,638.3333464,879.6666536,785,813.3333464,650,629.3333464,654,0.400979592571,-0.0153495329807,0.0798421412622,0.999999918089,0.000294881770396,-0.000275092299309,3.45239354426e-05,1793249756049890560
+55,0.916666667,BASELINE,766,745,718,679.076999434,661,638.923000566,879.076999434,785,813.923000566,650,629.923000566,654,0.400979562797,-0.0153503042891,0.0798414745728,0.999999918542,0.000293579576675,-0.000274862020197,3.43083138734e-05,1793249756066557440
+56,0.933333333,BASELINE,766,745,718,679,661,638.496396871,880.007206259,785,814,650.503603129,630,654,0.400977777307,-0.0153480979625,0.0798404065338,0.999999916985,0.000296302328639,-0.000277629476688,3.40151654717e-05,1793249756083224320
+57,0.950000000,BASELINE,766.082286961,745,718,679,661,638,880.835426078,785,814,650.917713039,630,654.082286961,0.40097624633,-0.0153461216337,0.0798396121044,0.99999991558,0.000298716603467,-0.000280117701325,3.38142080593e-05,1793249756099890688
+58,0.966666667,BASELINE,766.657619924,745,718,679,661,638,879.684760152,785,814,650.342380076,630,654.657619924,0.400977820398,-0.0153482031306,0.0798408182812,0.999999916999,0.000295660292587,-0.000278235010809,3.42354099831e-05,1793249756116557312
+59,0.983333333,BASELINE,766.76649894,745,718,679,661,638,879,785,814,650,629.76649894,654.76649894,0.400978643567,-0.0153494010658,0.0798413469831,0.999999917719,0.000294427096599,-0.000276921334828,3.44906477447e-05,1793249756133224192
+60,1.000000000,BASELINE,766.189812047,745,718,679,661,638,879,785,814,650,629.189812047,654.189812047,0.400978363113,-0.0153493003955,0.0798408799732,0.999999917424,0.000295873404918,-0.000276443961956,3.45019614124e-05,1793249756149890816
+61,1.016666667,BASELINE,766,744.605515297,718,679.394484703,661.394484703,638,879.394484703,785,814,650,629.394484703,654,0.400977742105,-0.0153492111903,0.0798407238714,0.999999917199,0.000296079482749,-0.000277053564657,3.4343801815e-05,1793249756166557440
+62,1.033333333,BASELINE,766,744.017484965,718,679.982515035,661.982515035,638,879.982515035,785,814,650,629.982515035,654,0.400976954012,-0.0153491276102,0.0798407203103,0.999999917009,0.000295677067471,-0.000278196469104,3.41024937213e-05,1793249756183224064
+63,1.050000000,BASELINE,766,744,718,679.438670588,661.438670588,638,879.438670588,785,814,650.561329412,630,654.561329412,0.400977881674,-0.015348860177,0.0798408534772,0.99999991726,0.000295320703414,-0.00027765532807,3.42544216276e-05,1793249756199890688
+64,1.066666667,BASELINE,766,744,718,679,661,638,879.13836888,785,814,650.86163112,630,654.86163112,0.400978380217,-0.0153487868439,0.0798408067363,0.999999917259,0.000295396377844,-0.000277562186339,3.43732716308e-05,1793249756216557056
+65,1.083333333,BASELINE,766,744,718,679,661,638,879.710727214,785,814,650.289272786,630,654.289272786,0.400977367919,-0.0153493399711,0.0798401825778,0.999999916428,0.000296822700371,-0.000279036050791,3.43505758863e-05,1793249756233223680
+66,1.100000000,BASELINE,766,744,718.285511528,679,661,638,879.714488472,785,814,650,630,654.285511528,0.400977378951,-0.0153489319352,0.0798401773512,0.99999991623,0.000297554782108,-0.00027897271376,3.42918497019e-05,1793249756249890560
+67,1.116666667,BASELINE,766,744,718.862774811,679,661,638,879.137225189,785,814,650,630,654.862774811,0.40097843568,-0.0153475417289,0.0798408045843,0.999999916681,0.000297577449427,-0.000277338577607,3.41963055865e-05,1793249756266557440
+68,1.133333333,BASELINE,766,744.453566767,718.546433233,679,661,638.453566767,879,785,814,650,630,655,0.400977750906,-0.0153485045566,0.0798406520634,0.999999916875,0.000296513582716,-0.000277776531479,3.4210694506e-05,1793249756283224064
+69,1.150000000,BASELINE,766,744.952990827,718,679,661.047009173,638.952990827,879,785,813.952990827,650.047009173,630,654.952990827,0.400976619859,-0.0153499437824,0.0798402903177,0.999999916962,0.000295330442274,-0.000278713979149,3.4256476207e-05,1793249756299890688
+70,1.166666667,BASELINE,766,744.377191838,718,679,661.622808162,638.377191838,879,785,813.377191838,650.622808162,630,654.377191838,0.400976577824,-0.0153484876956,0.0798403103532,0.99999991678,0.000296617059339,-0.000278001426089,3.42697530529e-05,1793249756316557312
+71,1.183333333,BASELINE,766,744.198178844,718,679.198178844,661.801821156,638.198178844,879,785,813.198178844,651,630,654,0.400976574311,-0.0153477955647,0.0798403144371,0.999999916596,0.000297441557472,-0.000277778229225,3.42969404426e-05,1793249756333223936
+72,1.200000000,BASELINE,766,744.77273619,718,679.77273619,661.22726381,638.77273619,879,785,813.77273619,651,630,654,0.400976643959,-0.0153485543282,0.0798402882261,0.999999916413,0.000297388405982,-0.000278484410717,3.43505465465e-05,1793249756349890816
+73,1.216666667,BASELINE,766,745,718,680,661,638.642931043,879,785,814,650.642931043,630,654,0.400976747918,-0.0153487954297,0.0798405181429,0.999999916514,0.00029716601154,-0.000278371185598,3.42640065061e-05,1793249756366557696
+74,1.233333333,BASELINE,766,745,718,680,661,638.05220142,879,785,814,650.05220142,630,654,0.40097687433,-0.0153486977807,0.0798409156659,0.9999999168,0.000296832867002,-0.00027772175282,3.40857568899e-05,1793249756383224576
+75,1.250000000,BASELINE,766,745,718,679.472658186,661,638,879.527341814,785,813.472658186,650.527341814,630,654.527341814,0.400977676903,-0.0153484232445,0.0798417730098,0.999999917381,0.000296082901837,-0.00027640633801,3.42546347456e-05,1793249756399890944
+76,1.266666667,BASELINE,766,744.894417861,718,679,661,638,880,785,813.105582139,651,630,654.894417861,0.40097848266,-0.015348436789,0.0798425842599,0.999999917979,0.000295171934089,-0.00027518861257,3.44421916937e-05,1793249756416557568
+77,1.283333333,BASELINE,766,744.317154012,718,679,661,638,880,785,813.682845988,651,630,654.317154012,0.400979009836,-0.0153498139164,0.0798429904662,0.999999918537,0.000293722199087,-0.000274695708224,3.45628747171e-05,1793249756433224192
+78,1.300000000,BASELINE,766,744.263285464,718,679,661,638,879.736714536,785,813.736714536,651,630,654.263285464,0.400979590138,-0.0153503592067,0.0798432812552,0.999999918749,0.0002934807949,-0.000274177901623,3.46172037672e-05,1793249756449890816
+79,1.316666667,BASELINE,766,744.847596967,718,679,661,638,879.152403033,785,813.152403033,651,630,654.847596967,0.400980235217,-0.0153498902313,0.0798434313148,0.999999918537,0.000294712718093,-0.000273629731543,3.45906268865e-05,1793249756466557440
+80,1.333333333,BASELINE,766.428400068,745,718,679,661,638.428400068,879,785,813.428400068,650.571599932,630,654.571599932,0.400979432948,-0.0153500378116,0.0798426825074,0.99999991864,0.000293216876512,-0.000274910784677,3.41634467104e-05,1793249756483224064
+81,1.350000000,BASELINE,766.992055716,745,718,679,661.007944284,638.992055716,879,785,813.992055716,650,630,654,0.40097814939,-0.0153504021408,0.0798416487267,0.999999918847,0.000290800592928,-0.000276788028497,3.36110105801e-05,1793249756499890944
+82,1.366666667,BASELINE,766.414015523,745,718,679,661.585984477,638.414015523,879,785,813.414015523,650,630,654,0.400978977111,-0.0153507084427,0.0798429257179,0.999999919108,0.000291403763624,-0.000275129686676,3.42139961145e-05,1793249756516557568
+83,1.383333333,BASELINE,766,744.837052355,718,679,661.837052355,638,879,785.162947645,813.162947645,650,630,654.162947645,0.400979122525,-0.0153504953109,0.0798433714652,0.99999991899,0.000292198152082,-0.000274673194755,3.45693209084e-05,1793249756533224192
+84,1.400000000,BASELINE,766,744.26280759,718,679,661.26280759,638,879,785.73719241,813.73719241,650,630,654.73719241,0.400977545724,-0.0153489710737,0.0798417190649,0.999999917914,0.000293475194554,-0.000277250298951,3.42995238833e-05,1793249756549890816
+85,1.416666667,BASELINE,766,744.319210462,718,679,661,638,879,785.680789538,814,650.319210462,629.680789538,654.680789538,0.400976742347,-0.0153487552913,0.0798406882716,0.999999917113,0.000294926986802,-0.000278574093131,3.44894069412e-05,1793249756566557696
+86,1.433333333,BASELINE,766,744.907788001,718,679,661,638,879,785.092211999,814,650.907788001,629.092211999,654.092211999,0.400976591627,-0.0153496436542,0.0798401820242,0.999999916545,0.0002965262423,-0.000278840276284,3.50671929668e-05,1793249756583224064
+87,1.450000000,BASELINE,766,745,718,679,661.489601358,638.489601358,879,785,814,651,629.489601358,654,0.40097805884,-0.0153493335968,0.0798411882247,0.999999917178,0.000296112395699,-0.000277058710064,3.4645763064e-05,1793249756599890688
+88,1.466666667,BASELINE,766,745,718,679,661.930767371,638.930767371,879.069232629,785,814,650.930767371,629.930767371,654,0.400979542812,-0.0153489657343,0.0798423199761,0.999999917902,0.000295448785722,-0.000275206328204,3.41709603499e-05,1793249756616557312
+89,1.483333333,BASELINE,766,745,718,679,661.357868903,638.357868903,879.642131097,785,814,650.357868903,629.357868903,654,0.400978962066,-0.015349797012,0.0798423210277,0.999999917704,0.000295688869236,-0.000275606306555,3.4658316414e-05,1793249756633223936
+90,1.500000000,BASELINE,766.216804708,745,718,679,661,638,879.783195292,785,814,650.216804708,629.216804708,654,0.400978296628,-0.0153498460427,0.0798419545122,0.999999917431,0.000296007450305,-0.000276237193376,3.48018055944e-05,1793249756649890816
+91,1.516666667,BASELINE,766.794432592,745,718,679,661,638,879.205567408,785,814,650.794432592,629.794432592,654,0.400977490238,-0.0153485931974,0.0798409762631,0.999999917032,0.000296456673052,-0.000277252375899,3.43730048445e-05,1793249756666557440
+92,1.533333333,BASELINE,766.618594181,745,718,679,661.381405819,638,879.381405819,785,814,651,630,654,0.400978123343,-0.0153482521181,0.0798412719532,0.999999917315,0.000296050166047,-0.00027668949977,3.4158993308e-05,1793249756683224064
+93,1.550000000,BASELINE,766.026457496,745,718,679,661.973542504,638,879.973542504,785,814,651,630,654,0.400979551783,-0.0153484147995,0.0798422715085,0.999999917974,0.00029517085908,-0.000275254729152,3.40636551099e-05,1793249756699890688
+94,1.566666667,BASELINE,766,745,718,679,661.448369252,638,879.448369252,785,814,651,630,654.551630748,0.400979096096,-0.0153478636474,0.0798417549991,0.999999917197,0.000297658720528,-0.000275352136611,3.4430959076e-05,1793249756716557312
+95,1.583333333,BASELINE,766,745,718,679,661,638,879,785.128267602,814,650.871732398,630,655,0.400978785795,-0.0153473322266,0.0798414218879,0.999999916673,0.000299293624502,-0.000275461021932,3.46337336252e-05,1793249756733223680
+96,1.600000000,BASELINE,766,745,718,679,661,638,879,785.702145068,814,650.297854932,630,655,0.400979286719,-0.0153469853416,0.0798419722532,0.999999917275,0.000297418182077,-0.000275360824411,3.41897496064e-05,1793249756749890304
+97,1.616666667,BASELINE,766,745,718,679,661.283342308,638,879.283342308,785.716657692,813.716657692,650,630,654.716657692,0.400979438917,-0.0153473663734,0.0798420791596,0.99999991758,0.000296263577163,-0.000275519311636,3.40125893912e-05,1793249756766557184
+98,1.633333333,BASELINE,766,745,718,679,661.872438254,638,879.872438254,785.127561746,813.127561746,650,630,654.127561746,0.400979214806,-0.0153485328975,0.079841707531,0.999999917567,0.000295886825461,-0.000275956944624,3.41233577849e-05,1793249756783224064
+99,1.650000000,BASELINE,766,745,718,679,661.546950139,638.453049861,880,785,813,650.453049861,630,654,0.400979245436,-0.0153494042741,0.0798419555579,0.9999999176,0.000295795095941,-0.000275919536858,3.42551570986e-05,1793249756799890944
+100,1.666666667,BASELINE,766,745,718,679,661.031396431,638.968603569,880,785,813.031396431,651,630,654,0.400979365888,-0.0153500849998,0.0798423416392,0.999999917654,0.000295804397976,-0.000275698147143,3.43756446678e-05,1793249756816557568
+101,1.683333333,BASELINE,766,745,718,679,661.611138917,638.388861083,880,785,813.611138917,651,630,654,0.40097982542,-0.0153488606827,0.0798421476982,0.999999917857,0.000296202394365,-0.000274556563424,3.41970505312e-05,1793249756833224192
+102,1.700000000,BASELINE,766,745,718,679,661.811071677,638.188928323,880,785,814,651,630,654,0.400980040168,-0.0153477037964,0.0798420565349,0.999999917777,0.000296936713651,-0.000274071504179,3.40520897626e-05,1793249756849890560
+103,1.716666667,BASELINE,766,745,718,679,661.237261131,638.762738869,880,785,814,651,630,654,0.400979756248,-0.0153466842795,0.0798421747487,0.999999917123,0.000298356185336,-0.000274923907839,3.39756464577e-05,1793249756866557184
+104,1.733333333,BASELINE,766.344545096,745,718,679.344545096,661,639,879.655454904,785,814,651,629.655454904,654,0.400978648381,-0.0153468245803,0.0798419249016,0.99999991698,0.000297841698153,-0.000275984762437,3.41079627772e-05,1793249756883224064
+105,1.750000000,BASELINE,766.93198819,745,718,679.93198819,661,639,879.06801181,785,814,651,629.06801181,654,0.400976959646,-0.0153477825313,0.0798414155781,0.999999917194,0.000295963805444,-0.000277192571225,3.43874508101e-05,1793249756899890944
+106,1.766666667,BASELINE,767,744.489066924,718,679.489066924,661,638.489066924,879.510933076,785,813.489066924,651,629.510933076,654,0.400978037031,-0.0153484535403,0.0798416287958,0.999999917065,0.000296880597406,-0.000276665487119,3.4482868359e-05,1793249756916557568
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879,786,814,650,630,654,0.400978755283,-0.0153464339249,0.0798408306159,0.99999991482,0.000303925246056,-0.000277070879256,3.4933382927e-05,1793249756959535104
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.424386132,717.424386132,679,661.575613868,638,879,785.424386132,814,650,630,654,0.400979149088,-0.0153455099595,0.0798421935079,0.999999916174,0.000300812873868,-0.000275649856718,3.43723113251e-05,1793249756976202240
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.154618216,717.154618216,679,661.845381784,638.154618216,879.154618216,785,814,650.154618216,630,654,0.400979547738,-0.015345323052,0.0798430997039,0.999999917293,0.000298078148096,-0.000274600963405,3.40208826852e-05,1793249756992868864
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.743137306,717.743137306,679,661.256862694,638.743137306,879.743137306,785,814,650.743137306,630,654,0.400979959984,-0.0153472045295,0.0798427242866,0.999999917784,0.000296403200433,-0.000274596365852,3.4257769234e-05,1793249757009535232
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661.327486114,638.672513886,880,785,814,650.672513886,630,654,0.400980119784,-0.0153483106823,0.0798429577585,0.999999917958,0.00029617914076,-0.000274191099831,3.4379877821e-05,1793249757026201600
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,718,679,661.90860507,638.09139493,880,785,814,650.09139493,630,654,0.400980084068,-0.0153488163581,0.0798436628054,0.999999917886,0.000297078771104,-0.000273475522388,3.44130926685e-05,1793249757042868224
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.515659693,718,679.484340307,661.515659693,638,879.515659693,785,814,650.484340307,630,654,0.400979196033,-0.0153484645281,0.079842615096,0.999999917639,0.000296719324002,-0.000274795434333,3.41750331344e-05,1793249757059534848
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,718,679.939522362,661,638,879,785.060477638,814,651,630,654.060477638,0.40097856963,-0.0153480487951,0.0798415131213,0.999999917415,0.000296238739574,-0.000276153323972,3.393047927e-05,1793249757076201472
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,718,679.351104038,661,638,879,785.648895962,814,651,630,654.648895962,0.400981615701,-0.0153484722252,0.079842792938,0.999999917706,0.000296751910238,-0.000274526623678,3.40711796055e-05,1793249757092868352
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.233644047,744.233644047,718,679,661.233644047,638,879,785.766355953,814,650.766355953,630,655,0.400991919556,-0.0153492737367,0.0798472698758,0.999999919793,0.000296507912445,-0.00026704452808,3.441957019e-05,1793249757109535232
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.812962,744.812962,718,679,661.812962,638,879,785.187038,814,650.187038,630,655,0.401012961224,-0.0153506346157,0.0798564769204,0.999999924355,0.000295143691797,-0.000250899436916,3.5075236291e-05,1793249757126201856
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.610915569,745,718,679,661.610915569,638,879,785,813.610915569,650,630,654.610915569,0.401055021891,-0.0153534192597,0.0798721555942,0.999999932072,0.000292242218094,-0.000221705081652,3.60173403431e-05,1793249757142868480
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.036316705,745,718,679,661.036316705,638,879,785,813.036316705,650,630,654.036316705,0.401107104364,-0.0153568827514,0.0798909199245,0.999999940313,0.000288607785765,-0.000186288869906,3.70960172805e-05,1793249757159535104
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.538604962,745,718,679,661,638,879,785,813,650,630,654,0.401181438573,-0.0153568427583,0.0799091111424,0.99999994575,0.000291593130588,-0.000148715235221,3.68365291931e-05,1793249757176201472
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.883200194,744.883200194,718,679,661,638,879.116799806,785,813.116799806,650.116799806,630,654,0.401258056219,-0.0153576077359,0.0799254200678,0.999999949279,0.000293914300844,-0.000117178927621,3.64090335419e-05,1793249757192868096
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.291793368,744.291793368,718,679,661,638,879.708206632,785,813.708206632,650.708206632,630,654,0.401337852144,-0.0153626041312,0.079934237567,0.999999950679,0.000291721838467,-0.00011076628095,3.56657102997e-05,1793249757209534720
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.292281546,718,679,661,638,879.707718454,785,814,650.707718454,630,654.292281546,0.401428556301,-0.0153667171682,0.0799403771602,0.999999952097,0.000290124027314,-0.00010244969328,3.37322698242e-05,1793249757226201344
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.869215881,718,679,661,638,879.130784119,785,814,650.130784119,630,654.869215881,0.401529883975,-0.0153699699029,0.0799439087422,0.999999953482,0.000289105346679,-9.22788592076e-05,3.0639775067e-05,1793249757242867968
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.446935225,745,718,679,661.446935225,638,879,785,814,650.446935225,629.553064775,655,0.401649469862,-0.0153741043549,0.0799475551365,0.999999954534,0.000287748857385,-8.59953367414e-05,2.7157110049e-05,1793249757259534592
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.975269208,745,718,679,661.975269208,638,879.049461583,785,814,651,629.024730792,654.975269208,0.401775788203,-0.0153785451001,0.0799513597629,0.99999995556,0.000286066015032,-8.05756958274e-05,2.35258870979e-05,1793249757276201472
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.400893786,745,718,679,661.400893786,638,880.198212429,785,814,651,629.599106214,654.400893786,0.401932782927,-0.015384048814,0.0799579331076,0.999999958422,0.000279330779727,-6.90298815197e-05,1.91349256275e-05,1793249757292868352
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,880.643124462,785.178437769,814,651,630,654.178437769,0.402096888737,-0.0153895944394,0.0799625401584,0.999999961061,0.000272064879727,-6.04726734331e-05,1.42246303003e-05,1793249757309534976
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,718,679,661,638,879.461555547,785.769222226,814,651,630,654.769222226,0.402277427329,-0.0153952369158,0.0799626033562,0.999999963502,0.000263572683028,-5.88217507926e-05,8.11422197328e-06,1793249757326201344
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.353241733,745,718,679.353241733,661,638,879.353241733,785.646758267,814,650.646758267,630,654.646758267,0.402470671795,-0.0154018998094,0.0799584644018,0.999999965727,0.000253098756098,-6.69793024154e-05,1.06882705853e-06,1793249757342867968
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.93292471,745,718,679.93292471,661,638,879.93292471,785.06707529,814,650.06707529,630,654.06707529,0.402672061222,-0.0154092168294,0.0799516317097,0.999999967537,0.000241354464608,-8.14244549596e-05,-6.57593004511e-06,1793249757359534592
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.496049358,744.496049358,718,679.496049358,661.503950642,638,879.496049358,785,814,650.503950642,630,654,0.402907729102,-0.0154188456343,0.0799483414126,0.999999984824,0.000149663465891,-8.79844867314e-05,-1.45689265793e-05,1793249757376201728
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.076643892,718,679.076643892,661.923356108,638.076643892,879.076643892,785,814,650.923356108,629.923356108,654,0.403155923681,-0.0154288281788,0.0799461859746,0.999999993696,6.04010655244e-05,-9.1915202028e-05,-2.26232366044e-05,1793249757392868352
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744.668147247,718,679.668147247,661.331852753,638.668147247,879.668147247,785,814,650.331852753,629.331852753,654,0.403458136408,-0.015439154935,0.0799485402492,0.999999994238,5.77259770565e-05,-8.51143672431e-05,-3.07833256628e-05,1793249757409534976
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.254692606,745,718,679.745307394,661.254692606,638.745307394,880,785,814,650,629,654.254692606,0.403778268718,-0.0154494531897,0.0799527757991,0.999999995129,5.10029460252e-05,-7.62107240036e-05,-3.65174566387e-05,1793249757426201600
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.834901243,745,718,679.165098757,661.834901243,638.165098757,880,785,814,650,629,654.834901243,0.404121303566,-0.0154597150166,0.0799594157583,0.999999996381,3.91063444703e-05,-6.46195360745e-05,-3.91510328497e-05,1793249757442868224
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718,679.412819719,662,638,880,785.412819719,813.587180281,650.412819719,629.412819719,654.587180281,0.404494528557,-0.015474755464,0.0799612527532,0.999999996735,4.87580540248e-05,-5.65250481006e-05,-3.09346858408e-05,1793249757459534848
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,718,679.989827333,662,638,880,785.989827333,813.010172667,650.989827333,629.989827333,654.010172667,0.404879760854,-0.0154916964783,0.0799611794987,0.999999996346,6.69800226081e-05,-4.98212783495e-05,-1.8403074833e-05,1793249757476201472
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.435727834,745,718,680,662,638,880.564272166,786,813.564272166,650.435727834,629.435727834,654,0.405292150095,-0.0155062750271,0.0799580416921,0.999999997873,2.63329287272e-05,-5.47386374208e-05,-2.37467067328e-05,1793249757492868096
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,718,680,662,638.142078179,880.857921821,786,813.857921821,650.142078179,629.142078179,654.142078179,0.40571547534,-0.015515243821,0.0799526562124,0.999999997552,1.9969750818e-06,-6.42078676188e-05,-2.77260561379e-05,1793249757509534464
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,718,680,662,638.730589995,880.269410005,786,813.269410005,650.730589995,629.730589995,654.730589995,0.406171631882,-0.0155067190355,0.0799403809772,0.999999995319,3.22330572185e-05,-8.73245210895e-05,-2.64106004221e-05,1793249757526201344
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,718,679.688227439,662,639,880,785.688227439,813.311772561,651,630,655,0.406647649299,-0.0154961774935,0.0799333774294,0.999999993559,4.61347741969e-05,-9.9823701754e-05,-2.80936516541e-05,1793249757542867968
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,718,679.113232719,662,639,880,785.113232719,813.886767281,651,630,655,0.407140434833,-0.0154839332511,0.0799308246407,0.999999993067,4.62457785331e-05,-0.000103358805283,-3.23082708657e-05,1793249757559534848
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,718,679.465617228,662,639,880,785.465617228,814,650.534382772,630,654.534382772,0.407658296094,-0.0154879893016,0.0799206272149,0.999999990904,4.05405049591e-05,-0.000123985804399,-3.42973306001e-05,1793249757576201728
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.04619221,745,718,679.95380779,662,639,880.04619221,786,814,650.04619221,629.95380779,654.04619221,0.408187458795,-0.0154961188865,0.0799099954732,0.999999988183,3.31420724709e-05,-0.000145813286562,-3.56962289839e-05,1793249757592868352
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.635942146,745,718,679.364057854,662,639,880.635942146,786,814,650.635942146,629.364057854,654.635942146,0.408777251752,-0.015505147455,0.0799163120814,0.999999990305,2.26029618211e-05,-0.000132447481483,-3.65725151275e-05,1793249757609534720
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.778474573,745,718,679,662,639,880.778474573,786,814,651,629,655,0.409409865762,-0.0155107708154,0.0799348569812,0.999999994113,1.65574765518e-05,-0.000100839324287,-3.64917400903e-05,1793249757626201344
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.199612449,745,718,679,662,639,880.199612449,786,814,651,629,655,0.410111553227,-0.0155109013257,0.0799731270083,0.999999998442,1.77605379188e-05,-3.98049209054e-05,-3.48671553129e-05,1793249757642868224
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,718,679.377067814,662,639,880.377067814,786,814,651,629,654.622932186,0.410786205357,-0.0155093068068,0.0799883723512,0.999999999085,1.73692740203e-05,-1.84043124285e-05,-3.44939373602e-05,1793249757659535104
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,718,679.952599669,662,639,880.952599669,786,814,651,629,654.047400331,0.411446627818,-0.0155068043445,0.0799914989926,0.999999999105,1.6138860693e-05,-1.78643649624e-05,-3.47793578392e-05,1793249757676201728
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,718,680,662.52844105,639,881,785.47155895,814,650.47155895,629,654.52844105,0.412110196289,-0.0155058231823,0.0799561619827,0.999999996513,1.31337062006e-05,-7.24115806499e-05,-3.94692762809e-05,1793249757692868352
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.10680088,745,718,680,663,639,881.21360176,785.10680088,814.10680088,650,629.10680088,655,0.412786207231,-0.0155054164615,0.079922183165,0.999999991546,8.8893975724e-06,-0.000121908236163,-4.43551561585e-05,1793249757709535232
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.696420189,745,718,680,663,639,882.392840378,785.696420189,814.696420189,650,629.696420189,655,0.413517190626,-0.0155069893849,0.0799099506434,0.999999990866,-2.36712608911e-07,-0.000126221543825,-4.83398418126e-05,1793249757726201600
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.719345733,745,718,680,663,639,883,786,814.719345733,650,629.719345733,655,0.414291145642,-0.0155087641448,0.0799167641917,0.999999993038,-2.42251295496e-06,-0.000107359290701,-4.8905591205e-05,1793249757742867968
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.140827043,745,718,680,663,639,883,786,814.140827043,650,629.140827043,655,0.415110707457,-0.0155107531185,0.0799437917431,0.999999996904,2.75758598664e-06,-6.39003157944e-05,-4.58427502818e-05,1793249757759534592
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.433603859,745,718,680.433603859,663,639,883,786,814,650,629,654.566396141,0.415895014216,-0.0155097532408,0.0799494256834,0.999999996743,2.98376346253e-06,-6.6455308401e-05,-4.56997215531e-05,1793249757776201472
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.993108714,745,718,681,663,639,883,786,814.006891286,650,629,654,0.416668617777,-0.0155078395714,0.0799482266158,0.999999995443,1.58310845393e-06,-8.33621123543e-05,-4.65039121076e-05,1793249757792868096
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.405339682,745,718,681,663,639,883,786,814.594660318,650,629,654,0.417496180086,-0.0155099608988,0.0799512737027,0.99999999692,-2.59167690782e-06,-6.20716599809e-05,-4.79631651046e-05,1793249757809534976
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.179929728,745,718,681,663.179929728,639,883.359859456,786,815,650.179929728,629,654.179929728,0.418347449682,-0.0155127593252,0.0799612454325,0.999999998262,-6.84293725736e-06,-3.23490938113e-05,-4.88175214159e-05,1793249757826201600
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.759645193,745,718,681,663.759645193,639,884.519290387,786,815,650.759645193,629,654.759645193,0.419251394433,-0.0155170621973,0.0799866030215,0.999999998639,-1.12641170729e-05,1.61087788648e-05,-4.83278580823e-05,1793249757842868480
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.338901716,718,681,664,639,885,786.338901716,815,651,629,655,0.420133801134,-0.0155203411234,0.0799823609156,0.999999998595,-1.6043271703e-05,1.08102648007e-05,-4.93573105423e-05,1793249757859535104
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.917833164,718,681,664,639,885,786.917833164,815,651,629,655,0.42100095331,-0.0155228948316,0.0799571545982,0.999999997924,-2.10759645374e-05,-3.25616234016e-05,-5.14626883866e-05,1793249757876201984
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.506421814,718,681,663.506421814,639.493578186,885,786.506421814,815,651,629,655,0.421903179039,-0.015522184775,0.0799678950947,0.999999998346,-2.27142259025e-05,-1.40247054737e-05,-5.09390235308e-05,1793249757892868608
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.070258475,718,681.070258475,663.070258475,639.929741525,885,786,815,651,629,655,0.422808557094,-0.0155213823148,0.0799848748237,0.999999998394,-2.31026197946e-05,1.34622370661e-05,-4.99627752877e-05,1793249757909535232
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+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718.241705781,682,664,639.241705781,885.241705781,786.241705781,815,650.758294219,629.241705781,655,0.424565414929,-0.0155247726199,0.0799920697258,0.999999998696,-1.16647634924e-05,-1.8747811725e-06,-4.9675115406e-05,1793249757942868224
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718.820903524,682,664,639.820903524,885.820903524,786.820903524,815,650.179096476,629.820903524,655,0.425415592836,-0.0155234486867,0.079936720239,0.999999992874,-2.00242468482e-06,-0.000106860884614,-5.3183265031e-05,1793249757959534848
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+169,2.816666667,POSE1_TO_POSE2_PRESS,766.028159815,745.028159815,718.028159815,682,664,639.028159815,886,787,815.971840185,650.971840185,629.028159815,655,0.427301531465,-0.0155288490399,0.079905181283,0.999999991701,-2.16751765508e-05,-0.000112201348049,-5.94883537702e-05,1793249757992868352
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+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,682.880505444,664,639.119494556,888,787,816,651,629,655,0.431935951428,-0.0155413535762,0.0800341970053,0.999999996861,-3.44035183174e-05,5.23937469201e-05,-4.84747963776e-05,1793249758076201728
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+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718.215990876,682.215990876,665,639,888,786.215990876,816.215990876,651,630,655,0.436222696977,-0.0155329598406,0.0799431121996,0.999999993578,-4.6633401769e-05,-8.22988775473e-05,-6.24193020373e-05,1793249758159535616
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+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,718.943539447,682.943539447,665,639,888.943539447,786,816,650.056460553,630,655,0.437981003762,-0.0155448546849,0.0800065007038,0.999999997531,-4.56347643767e-05,9.80636418445e-06,-5.25282113047e-05,1793249758192868352
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.516881896,746,718.483118104,683,665,639,889,786,816.516881896,650.516881896,630,655,0.43880405733,-0.015551718317,0.0800044916478,0.999999996518,-6.26476928358e-05,5.0302851136e-06,-5.48920043594e-05,1793249758209534976
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+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,718,683,663,636.009298478,889.009298478,780.981403044,817.990701522,651,629,655,0.453277104633,-0.0156796292255,0.0795626699459,0.999999739439,-0.000269694194393,-0.000664523210895,-8.24374632191e-05,1793249759142868992
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+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717.246937102,683.753062898,662.246937102,636.246937102,889.246937102,779.753062898,817,651,629,655,0.453276331315,-0.0156783255505,0.0795601555406,0.999999738201,-0.000269014622822,-0.000666667471795,-8.23610673635e-05,1793249759192868864
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.424065322,662,638.575934678,880.424065322,785,814,650,630,655,0.412582831764,-0.0153668016754,0.0798016088108,0.999999917666,0.000256505944386,-0.000312274608969,3.68388952078e-05,1793249760907020032
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.999086407,662,638.000913593,880.999086407,785,814,650,630,655,0.411849877477,-0.0153664804142,0.0798089704209,0.999999919499,0.000258407532634,-0.000304649142712,3.76400179003e-05,1793249760923686400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.426731749,745,718,680.426731749,662,638.573268251,881,785.573268251,814,650,629.426731749,655,0.41114556488,-0.0153635755419,0.0797930260913,0.99999991036,0.000258385880614,-0.000333438139188,3.65609266918e-05,1793249760940353280
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.743000962,745,718,680,662,639,880.256999038,786,814,650.743000962,629,654.256999038,0.409838275415,-0.0153576417604,0.0797828375726,0.999999901333,0.000268579450311,-0.000351883092022,3.71111470087e-05,1793249760973686272
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.672248398,745,718,679.672248398,662,639,880,785.672248398,814,650.672248398,629,654.327751602,0.409243223123,-0.015357696751,0.0798026208666,0.999999910296,0.000276016716718,-0.000318829471763,3.9634523973e-05,1793249760990353152
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.482081581,745,718,679.482081581,662.482081581,639,880,785.482081581,814,650,629.482081581,654.517918419,0.408085324125,-0.015357230692,0.0798355785005,0.999999922298,0.000284304237295,-0.0002695421933,4.38416823782e-05,1793249761023686400
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.769869909,662,639,879.769869909,785.230130091,814,650.769869909,629.769869909,654.230130091,0.40642681857,-0.0153511637378,0.0797612439739,0.999999881185,0.000276334465225,-0.000400084018213,3.46830958698e-05,1793249761073686528
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,718,679.191405373,662,639,879.191405373,785.808594627,814,650.191405373,629.191405373,654.808594627,0.405970279956,-0.0153528559888,0.0797663446,0.999999886496,0.000280662028053,-0.000383416222354,3.50641594983e-05,1793249761090353152
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,718,679.387624072,661.612375928,639,879.387624072,785.612375928,814,650.387624072,629.387624072,655,0.405546974382,-0.0153548178486,0.0797824035614,0.999999899673,0.000276846024886,-0.000350257391259,3.64826583951e-05,1793249761107020032
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,718,679.966932924,661.033067076,639,879.966932924,785.033067076,814,650.966932924,629.966932924,655,0.405140102905,-0.0153569130334,0.0798038815521,0.999999915358,0.000269002930112,-0.000308943542346,3.84141815294e-05,1793249761123686656
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,718,680,661,639,880,785.54022357,814,651,630,655,0.40474547507,-0.0153501956443,0.0798144788186,0.999999914836,0.000281188709213,-0.000299518136945,3.93760763346e-05,1793249761140353280
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,718,680,661,638.883836287,880,785.883836287,814,651,630,654.883836287,0.404361883443,-0.0153437691939,0.0798237555726,0.999999913382,0.000293025563601,-0.00029281055897,4.04159470546e-05,1793249761157019904
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,718,680,661,638.295649551,880,785.295649551,814,651,630,654.295649551,0.40402012483,-0.015340692686,0.0798303429847,0.999999912713,0.000298517846094,-0.000289302690534,4.20111789308e-05,1793249761173686528
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.288627839,745,718,680,661,638,880,785,813.711372161,650.711372161,630,654,0.4036878649,-0.0153386656142,0.0798316988059,0.999999909511,0.000305273844606,-0.000293178727684,4.27993340255e-05,1793249761190353408
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.553742121,745,718,680,661.446257879,638,879.553742121,785,813.446257879,650,629.553742121,654.446257879,0.403087224661,-0.015338642065,0.0798285925544,0.999999907338,0.000302239393502,-0.000303826574974,4.07946584326e-05,1793249761223686400
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.022614916,744.977385084,718,680,661.977385084,638,879.022614916,785,814,650,629.022614916,655,0.402823364445,-0.0153402396643,0.0798307149351,0.999999913252,0.00028647811478,-0.000299918573746,3.8413909161e-05,1793249761240353280
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.822838558,744.177161442,718,680,661,638,880,785,814,650,630,655,0.402363674747,-0.0153481539032,0.0798306447339,0.99999990907,0.000295555642512,-0.000304585930111,4.16458701226e-05,1793249761273686528
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.231369314,744.768630686,718,680,661,638,880,785,814,650,630,655,0.402176186746,-0.0153519573167,0.0798308640432,0.99999991035,0.000293692093822,-0.000301976455484,4.30681986551e-05,1793249761290353152
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,718.350792382,680,661,638.350792382,880,785,814,650.350792382,630,655,0.402009606221,-0.0153522994416,0.0798326416646,0.999999911193,0.000294458451752,-0.000298180941038,4.46695157728e-05,1793249761307020032
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,718.926973903,680,661,638.926973903,880,785,814,650.926973903,630,655,0.40185645903,-0.0153504176394,0.079835420524,0.999999911738,0.00029691456223,-0.000293623378728,4.63858357639e-05,1793249761323686656
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.5038843,744.4961157,718.4961157,679.4961157,661,639,880,785,814,651,630,655,0.401729035771,-0.0153485363316,0.0798417497192,0.999999914068,0.00029847238183,-0.0002836791493,4.80049929115e-05,1793249761340353024
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.330633288,744.669366712,718,679,661.669366712,638.330633288,880,785,814,651,630,655,0.401502158475,-0.0153454233719,0.0798481644048,0.999999916032,0.00030158817843,-0.000273227021462,4.82473229416e-05,1793249761373686528
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.25287514,744.74712486,718,679.25287514,662,638,880,785,814,650.74712486,630,655,0.401403322181,-0.015345210452,0.0798459063413,0.999999915196,0.000301649308417,-0.000277124080259,4.26282888224e-05,1793249761390353152
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.831806333,744.168193667,718,679.831806333,662,638,880,785,814,650.168193667,630,655,0.401313346979,-0.0153464141533,0.0798401375772,0.999999913312,0.000299653672758,-0.000287436860282,3.10506478748e-05,1793249761407020032
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.590018569,744,718,679.590018569,661.590018569,638,879.590018569,785,814,650.409981431,630,654.590018569,0.40123999219,-0.0153460193424,0.079835118637,0.999999911362,0.000299359906167,-0.000294674524717,2.87478962342e-05,1793249761423686656
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.56171053,744.56171053,718,679,661.56171053,638.56171053,879.56171053,785,814,651,630,654.56171053,0.401130654536,-0.0153425294069,0.0798312035589,0.99999990946,0.000302024923192,-0.000298097153072,3.16203922349e-05,1793249761457020160
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.860934304,638.860934304,880,785,814,651,630,654.860934304,0.401091167597,-0.0153407682981,0.0798317533336,0.999999909406,0.000303928648223,-0.000296205976498,3.28255136692e-05,1793249761473686528
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.272006412,638.272006412,880,785,814,651,630,654.272006412,0.401060710591,-0.0153413017744,0.0798311211338,0.999999908944,0.000304544601294,-0.000297057870543,3.3481997267e-05,1793249761490353408
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.107770866,745,718,679.892229134,661,638,880,785.892229134,814,651,630,654,0.401012793048,-0.0153390317662,0.0798285660814,0.999999907782,0.000304781764566,-0.000300700206621,3.35147769293e-05,1793249761523686400
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.954986964,745,718,679.954986964,661,638.954986964,879.954986964,785,814,651,629.954986964,655,0.400991538543,-0.0153414098957,0.0798286751053,0.999999908941,0.000302668080404,-0.000298882576408,3.43449659292e-05,1793249761557019904
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,718,679.791861561,661,638.791861561,879,785,814,651,629.791861561,655,0.400979179013,-0.0153406398874,0.079831308704,0.999999909721,0.000303922533113,-0.000294938944661,3.46337118605e-05,1793249761607019776
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.052634111,718,679.052634111,661,639,879,785,814,650.052634111,630,655,0.400977084893,-0.0153405058774,0.079832508583,0.999999910418,0.000302917732364,-0.000293669383253,3.41064634364e-05,1793249761640354048
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,718,679,661,639,879,785.099355663,814,651,630,654.900644337,0.40097974572,-0.0153414983379,0.079834931079,0.999999911407,0.000304629168346,-0.000288486305995,3.41125124846e-05,1793249761673687552
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.578274217,638.421725783,880.578274217,785,814.421725783,651,629.578274217,654.421725783,0.400979646106,-0.0153430904042,0.0798368862473,0.999999912824,0.000303550642219,-0.000284604654084,3.47770835495e-05,1793249761773686784
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44776cac3c4cb44453fb08db9c3ce552dfd998e8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,407 @@
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+393,6.550000000,pose2_to_pose3_retreat,0.575665513201,-0.00984984505021,1.07003334023,0.546236191099,-0.00117721318387,1.06970473564
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8176b6e7823cbf3ede3784c6d5c0081013b1cfa2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a24db010c5c4e403fd26c31f907ee64326fffe74d6c1a6d2b71752575b8ebbb7
+size 25461959
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b9b2ded508b6aa58187f8eb2f1c27e75ab9f3f3d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+20,0.333333333,BASELINE,766.601877751,745.398122249,718,679.398122249,664,638,879,784,813,652,629.398122249,654,0.400921283016,0.00441125499205,0.0599273610184,0.999999969382,-0.000115972401087,-0.000216061813956,-3.3212532995e-05,1793249764014618880
+21,0.350000000,BASELINE,766.819959762,745.180040238,718,679,664.180040238,638.180040238,879,784,813,652,629.180040238,654,0.400921351036,0.00441152431249,0.0599271926626,0.999999969479,-0.000114358838691,-0.000216490567774,-3.31119801473e-05,1793249764031285504
+22,0.366666667,BASELINE,766.242939663,745.757060337,718,679,664.757060337,638.757060337,879,784,813,652,629.757060337,654,0.400922162353,0.00441036919721,0.0599272330055,0.999999969397,-0.000117340655643,-0.00021529747504,-3.29150156729e-05,1793249764047952384
+23,0.383333333,BASELINE,766,746,718,679,665,638.659336993,879.340663007,784,813,652,629.659336993,654,0.400922705614,0.00441067821328,0.0599279685255,0.999999969771,-0.000116180741285,-0.000214186344861,-3.29176392236e-05,1793249764064619264
+24,0.400000000,BASELINE,766,746,718,679,665,638.070947487,879.929052513,784,813,652,629.070947487,654,0.400923053947,0.0044120519299,0.0599292095709,0.999999970467,-0.000112009004485,-0.000213134816849,-3.30654010326e-05,1793249764081285632
+25,0.416666667,BASELINE,766.507898266,745.492101734,718,679.507898266,664.492101734,638,879.492101734,784,813,652,629.507898266,654,0.400923687187,0.00441178640962,0.0599289411802,0.999999970453,-0.000113001345502,-0.00021269064734,-3.2981950254e-05,1793249764097952256
+26,0.433333333,BASELINE,767,745.085401942,718,679.914598058,664,638.085401942,879.085401942,784.085401942,813,652,630,654,0.40092404207,0.00441124052403,0.059928389786,0.999999970258,-0.000114758472974,-0.000212685258404,-3.28698957339e-05,1793249764114618880
+27,0.450000000,BASELINE,767,745.662712815,718,679.337287185,664,638.662712815,879.662712815,784.662712815,813,652,630,654,0.400922568633,0.00441037434984,0.0599274003968,0.999999969583,-0.000116842359734,-0.00021472754898,-3.27756869688e-05,1793249764131285504
+28,0.466666667,BASELINE,766.761488496,746,718,679.238511504,664.238511504,638.761488496,880,784.761488496,813,652.238511504,630,654,0.400921872291,0.00441011659779,0.05992714264,0.999999969341,-0.000117550352176,-0.000215484492011,-3.2668520303e-05,1793249764147952128
+29,0.483333333,BASELINE,766.187814798,746,718,679.812185202,664.812185202,638.187814798,880,784.187814798,813,652.812185202,630,654,0.400922267941,0.00441071381548,0.0599279129912,0.999999969713,-0.000116324904172,-0.000214435233141,-3.25431448842e-05,1793249764164618752
+30,0.500000000,BASELINE,766.397305622,746,718,680,664.602694378,638,880,784,813,653,630,654,0.400923148246,0.00441041580784,0.0599283123059,0.999999969862,-0.000116344649114,-0.000213747605905,-3.24442943435e-05,1793249764181285632
+31,0.516666667,BASELINE,766.987997658,746,718,680,664.012002342,638,880,784,813,653,630,654,0.400924264453,0.00440968205397,0.0599285310205,0.999999969901,-0.000116970485181,-0.000213236000987,-3.23583546508e-05,1793249764197952512
+32,0.533333333,BASELINE,766.432594723,745.432594723,718,680,664,638,880,784,813,652.432594723,630,654,0.400922654865,0.00440976026335,0.0599278077526,0.999999969538,-0.00011701986605,-0.000214886209224,-3.24827979867e-05,1793249764214618880
+33,0.550000000,BASELINE,766,745.146647261,718,679.853352739,664,638,879.853352739,784,813,652,630,653.853352739,0.400921776992,0.00440982693781,0.059927486605,0.999999969323,-0.000117398486972,-0.000215657194212,-3.26002117277e-05,1793249764231285504
+34,0.566666667,BASELINE,766,745.726091035,718,679.273908965,664,638,879.273908965,784,813,652,630,653.273908965,0.400923225461,0.00440980986837,0.0599284098852,0.999999969577,-0.000118784071538,-0.000213701021686,-3.26840013994e-05,1793249764247952128
+35,0.583333333,BASELINE,766.302013798,746,718,679,664,638,879.302013798,784,813,652,630,653.302013798,0.40092356303,0.00441070828859,0.0599285451,0.999999969999,-0.000116833653141,-0.000212795177235,-3.27077066935e-05,1793249764264618752
+36,0.600000000,BASELINE,766.874780075,746,718,679,664,638,879.874780075,784,813,652,630,653.874780075,0.400922904688,0.00441242743653,0.0599279738217,0.999999970558,-0.000111892540176,-0.000212830941622,-3.26775469272e-05,1793249764281285376
+37,0.616666667,BASELINE,766.540347795,745.540347795,717.540347795,679,664,638.459652205,880,784,813.459652205,652,630,654,0.40092320556,0.00441126275813,0.0599280583992,0.99999997028,-0.000114128066307,-0.000212951492998,-3.26673714285e-05,1793249764297952256
+38,0.633333333,BASELINE,766,745.047312129,717.047312129,679,664,639,879.952687871,784,813.952687871,652.047312129,630,654,0.400923576879,0.00440949831867,0.0599282080152,0.999999969765,-0.00011797517238,-0.000213269058455,-3.26770908496e-05,1793249764314619136
+39,0.650000000,BASELINE,766,745.628213244,717.628213244,679,664,639,879.371786756,784,813.371786756,652.628213244,630,654,0.400921715908,0.00441006968467,0.0599270215777,0.999999969346,-0.000117351807393,-0.000215541014124,-3.28481257662e-05,1793249764331286016
+40,0.666666667,BASELINE,766.207777082,745.792222918,718,679.207777082,664.207777082,638.792222918,879.207777082,784,813,653,630,654,0.40092138772,0.00441035449346,0.0599266457337,0.999999969248,-0.000117108106602,-0.000216126706971,-3.28334049487e-05,1793249764347952640
+41,0.683333333,BASELINE,766.784963324,745.215036676,718,679.784963324,664.784963324,638.215036676,879.784963324,784,813,653,630,654,0.400923784684,0.004410129829,0.0599277110528,0.999999969728,-0.000117539415,-0.000213714374454,-3.24884269572e-05,1793249764364619520
+42,0.700000000,BASELINE,767,745.357422689,718,679.642577311,665,638,880,784,813.357422689,653,630,654.357422689,0.400923219935,0.00441000882691,0.0599271586196,0.999999969495,-0.000118280011558,-0.000214381082936,-3.25598904833e-05,1793249764381286400
+43,0.716666667,BASELINE,767,745.927075317,718,679.072924683,665,638,880,784,813.927075317,653,630,654.927075317,0.400920896585,0.00440994937731,0.0599256455996,0.999999968837,-0.000119204256785,-0.000216876060106,-3.2878628076e-05,1793249764397952768
+44,0.733333333,BASELINE,767,746,718,679.519382145,664.480617855,638,879.480617855,784,813.480617855,653,630,654.480617855,0.4009217045,0.00441051464711,0.0599265748289,0.999999969218,-0.000118018454322,-0.00021577516113,-3.28269950798e-05,1793249764414619136
+45,0.750000000,BASELINE,766.888480169,746,718,679.888480169,664,638,879,784,813.111519831,653,630,654,0.40092271435,0.00441094266922,0.0599276845325,0.999999969666,-0.000116826423975,-0.000214359541305,-3.27148826076e-05,1793249764431285760
+46,0.766666667,BASELINE,766.310947401,746,718,679.310947401,664,638,879,784,813.689052599,653,630,654,0.400922647064,0.00441041391392,0.0599280501157,0.999999969774,-0.000116902845614,-0.000213834789097,-3.25772575503e-05,1793249764447952640
+47,0.783333333,BASELINE,766,746,718,679,664.265350171,638,879,784,813.734649829,652.734649829,630,654,0.400922832968,0.00441042007847,0.0599279480261,0.999999969767,-0.000116951762365,-0.000213828195488,-3.26368470096e-05,1793249764464619264
+48,0.800000000,BASELINE,766,746,718,679,664.840207075,638,879,784,813.159792925,652.159792925,630,654,0.400923314196,0.00441105017809,0.0599273004389,0.999999969628,-0.000116968597187,-0.000214425986482,-3.29264691686e-05,1793249764481286144
+49,0.816666667,BASELINE,766,745.582960815,717.582960815,679,664.582960815,638.417039185,879,784.417039185,813.417039185,652,630,654,0.400922607974,0.00441089754193,0.0599268323244,0.999999969517,-0.000116672967066,-0.00021512601043,-3.27657371976e-05,1793249764497953024
+50,0.833333333,BASELINE,766,745.005368318,717.005368318,679,664.005368318,638.994631682,879,784.994631682,813.994631682,652,630,654,0.400921444603,0.00441044356516,0.0599264333039,0.999999969417,-0.000116257043016,-0.000215865392368,-3.24316261846e-05,1793249764514619904
+51,0.850000000,BASELINE,766.583624811,745.583624811,717.583624811,679.583624811,664,639,879.583624811,784.416375189,813.416375189,652.583624811,630,654,0.400922071501,0.00441190658862,0.0599269764464,0.999999969845,-0.000114769174307,-0.000214656411432,-3.25653639866e-05,1793249764531286272
+52,0.866666667,BASELINE,767,746,718,680,664,638.830902492,879.830902492,784,813,652.830902492,630,654,0.400922514143,0.00441249101511,0.0599270158639,0.99999996996,-0.000114520353878,-0.000214240851406,-3.2633950247e-05,1793249764547952640
+53,0.883333333,BASELINE,767,746,718,680,664,638.254174106,879.254174106,784,813,652.254174106,630,654,0.400922472125,0.00441091411918,0.0599258196814,0.999999969312,-0.000117282658076,-0.000215781995434,-3.25348999573e-05,1793249764564619776
+54,0.900000000,BASELINE,766.677820792,746,717.677820792,679.677820792,664.322179208,638,879,784.322179208,813,652,630,654,0.400923094532,0.00441073405728,0.0599259086888,0.99999996931,-0.000117633792779,-0.000215591535793,-3.25977146264e-05,1793249764581286400
+55,0.916666667,BASELINE,766.101763062,746,717.101763062,679.101763062,664.898236938,638,879,784.898236938,813,652,630,654,0.400924240508,0.00441165470632,0.0599270104313,0.999999969819,-0.00011608491602,-0.000214036565374,-3.27880795439e-05,1793249764597952512
+56,0.933333333,BASELINE,766.484156472,745.515843528,717.484156472,679,664.515843528,638,879.484156472,784.515843528,813,652,630,654,0.400924435363,0.00441036155174,0.0599274673707,0.999999969769,-0.000117790476542,-0.000213399917367,-3.2371790676e-05,1793249764614619392
+57,0.950000000,BASELINE,766.92895039,745.07104961,718,679,664.07104961,638,879.92895039,784.07104961,813,652,630,654,0.400924455579,0.00440896776681,0.0599277296384,0.999999969653,-0.000119595342208,-0.000213009021594,-3.19091863124e-05,1793249764631286784
+58,0.966666667,BASELINE,766.350219868,745.649780132,718,679,664.649780132,638,879.350219868,784.649780132,813,652,630,654,0.400924686088,0.00441024892117,0.0599275894386,0.999999969951,-0.000117120401471,-0.000212966252592,-3.2045699662e-05,1793249764647952896
+59,0.983333333,BASELINE,766,746,718,679,665,638.228328947,879,784.771671053,813,652,630,654,0.400924275759,0.00441088712028,0.0599273546463,0.999999969922,-0.000116382715605,-0.000213481100888,-3.21897560581e-05,1793249764664619520
+60,1.000000000,BASELINE,766,746,718,679,665,638.806599361,879,784.193400639,813,652,630,654,0.400922883268,0.00441053991362,0.0599269748794,0.999999969398,-0.000118307580598,-0.000214850564498,-3.23453730977e-05,1793249764681285888
+61,1.016666667,BASELINE,766.379989381,746,718,679,665,638.620010619,879.379989381,784,813,652,630,654,0.400923160573,0.00441112704842,0.0599272727339,0.99999996955,-0.000117815329088,-0.000214374691556,-3.26163504567e-05,1793249764697952256
+62,1.033333333,BASELINE,766.950926923,746,718,679,665,638.049073077,879.950926923,784,813,652,630,654,0.400924276968,0.00441218369843,0.0599279110995,0.999999970038,-0.000116108454169,-0.000212971519925,-3.29452974287e-05,1793249764714618880
+63,1.050000000,BASELINE,766.45621911,746,718,679,664.45621911,638,880,784,813.54378089,652.54378089,629.45621911,654,0.400923458409,0.00441257271721,0.059927154746,0.999999970017,-0.000114512645778,-0.000213963350094,-3.27514714401e-05,1793249764731285504
+64,1.066666667,BASELINE,766,745.865875997,718,679,664,638,879.865875997,784,813.865875997,652.865875997,629.134124003,654,0.400922485543,0.00441286820083,0.0599263064903,0.999999969852,-0.000113677825118,-0.000215196076769,-3.26200036812e-05,1793249764747952128
+65,1.083333333,BASELINE,766,745.290570991,718,679,664,638,879.290570991,784,813.290570991,652.290570991,629.709429009,654,0.400921603607,0.0044130625203,0.0599255873382,0.99999996938,-0.000115311806606,-0.000216480395451,-3.28553536897e-05,1793249764764619264
+66,1.100000000,BASELINE,766.286222081,745,718,679.286222081,664.286222081,638,879,784,813,652,630,654,0.400921590234,0.00441183600356,0.05992554699,0.999999969138,-0.000117127078071,-0.000216629826493,-3.28037396319e-05,1793249764781286144
+67,1.116666667,BASELINE,766.864533689,745,718,679.864533689,664.864533689,638,879,784,813,652,630,654,0.40092246323,0.00440915952399,0.059926199361,0.999999969131,-0.000119127355793,-0.000215621105046,-3.24592788375e-05,1793249764797953024
+68,1.133333333,BASELINE,766.5502657,745.4497343,718,679.5502657,665,638,879,784,813,652,630,654,0.40092227637,0.0044108247253,0.0599259901773,0.999999969424,-0.00011583939323,-0.000216024452866,-3.26580000977e-05,1793249764814619648
+69,1.150000000,BASELINE,766,746,718,679,665,638,879,784,813,652.036519732,630,654,0.400921919566,0.00441362681808,0.0599256255014,0.999999969782,-0.000111378214473,-0.000216665571957,-3.29731850368e-05,1793249764831285760
+70,1.166666667,BASELINE,766,746,718,679,665,638,879,784,813,652.615542352,630,654,0.400923854401,0.00441358820223,0.059926866024,0.999999970038,-0.000113519458906,-0.000214422126605,-3.25501378707e-05,1793249764847952384
+71,1.183333333,BASELINE,766.19332765,746,718,679,664.80667235,638,879.19332765,784,813.19332765,652.80667235,630,654,0.400924794612,0.00441365131206,0.0599275021325,0.999999970171,-0.000114435162114,-0.000213339268318,-3.23806220212e-05,1793249764864618752
+72,1.200000000,BASELINE,766.768668121,746,718,679,664.231331879,638,879.768668121,784,813.768668121,652.231331879,630,654,0.400923769458,0.00441391543045,0.0599269439275,0.999999970073,-0.000112929212826,-0.000214549713967,-3.27120805472e-05,1793249764881285632
+73,1.216666667,BASELINE,767,746,718,679.344969321,664,638,879.655030679,784,814,652,630,654,0.400923384628,0.0044136969258,0.0599267912476,0.999999970042,-0.000112683721145,-0.000214835245868,-3.26175864591e-05,1793249764897952256
+74,1.233333333,BASELINE,767,746,718,679.921916537,664,638,879.078083463,784,814,652,630,654,0.400923430389,0.0044131538767,0.0599269112668,0.999999970059,-0.000113285836245,-0.000214498810661,-3.22366564699e-05,1793249764914619392
+75,1.250000000,BASELINE,766.491580285,746,718,679.491580285,664.508419715,638,879,784,813.491580285,652.508419715,630,654,0.400923675934,0.00441246112997,0.0599266914064,0.999999969849,-0.000115154610109,-0.00021444929245,-3.24354419882e-05,1793249764931286528
+76,1.266666667,BASELINE,766.09506567,745.90493433,718,679,665,638,879.09506567,784,813,652.90493433,630,654,0.40092387264,0.0044119809945,0.0599264922752,0.999999969698,-0.000116425845585,-0.000214433765169,-3.26778196073e-05,1793249764947952896
+77,1.283333333,BASELINE,766.674813763,745.325186237,718,679,665,638,879.674813763,784,813,652.325186237,630,654,0.400923660912,0.00441270429622,0.0599266700589,0.999999970033,-0.00011363978196,-0.000214362573237,-3.2679825751e-05,1793249764964619264
+78,1.300000000,BASELINE,767,745.25245564,718,679.25245564,664.74754436,638,880,784,813,652,630,654,0.400923144904,0.00441222776236,0.0599267254433,0.999999970003,-0.000113627855723,-0.000214535120816,-3.25022371099e-05,1793249764981285632
+79,1.316666667,BASELINE,767,745.82740692,718,679.82740692,664.17259308,638,880,784,813,652,630,654,0.400922240196,0.00441021851663,0.0599266244705,0.999999969505,-0.000117159709559,-0.000215019029752,-3.2095227826e-05,1793249764997952256
+80,1.333333333,BASELINE,767,746,718,679.599291766,664.400708234,638,880,784,813,652,630,654,0.400922126731,0.00441165235579,0.0599268717339,0.999999969712,-0.000115655102427,-0.000214848413904,-3.2240538489e-05,1793249765014619136
+81,1.350000000,BASELINE,767,746,718,679.026698161,664.973301839,638,880,784,813,652,630,654,0.400922352673,0.00441456311957,0.0599272683745,0.999999970214,-0.000111990085889,-0.000214397037119,-3.26227689269e-05,1793249765031286016
+82,1.366666667,BASELINE,767,746,718,679,665,638.564052773,880,784,813,652.564052773,630,654,0.400924032077,0.00441366893952,0.0599280199615,0.999999970542,-0.000113116141436,-0.000212272135426,-3.2579237209e-05,1793249765047952640
+83,1.383333333,BASELINE,767,746,718,679,665,639,880,784,813,653,630,654,0.400925274131,0.00441275351843,0.0599284912047,0.999999970746,-0.000114209975493,-0.000210724765377,-3.25591925023e-05,1793249765064619520
+84,1.400000000,BASELINE,767,746,718,679,665,639,880,784,813,653,630,654,0.400925092537,0.00441229968178,0.0599281288591,0.999999970639,-0.00011455748288,-0.000211023700278,-3.2663218222e-05,1793249765081286144
+85,1.416666667,BASELINE,767,746,718,679.310311883,664.689688117,639,880,784,813.310311883,653,630,654,0.400924749169,0.0044121514236,0.059927842085,0.999999970533,-0.000114631489349,-0.000211502936869,-3.25702182316e-05,1793249765097952768
+86,1.433333333,BASELINE,767,746,718,679.884955705,664.115044295,639,880,784,813.884955705,653,630,654,0.400924267998,0.00441226346534,0.0599276196846,0.999999970425,-0.000114472520422,-0.000212135759229,-3.23093864791e-05,1793249765114619392
+87,1.450000000,BASELINE,767,746,718,679.53168965,664,638.53168965,879.53168965,784,814,653,630,654,0.400923848213,0.0044129668271,0.059927198521,0.999999970231,-0.000113614513664,-0.000213466329699,-3.25795975175e-05,1793249765131286016
+88,1.466666667,BASELINE,767,746,718,679.053656143,664.053656143,638,879,784,814,653,630,654.053656143,0.400923558899,0.00441376280735,0.0599268353308,0.999999970052,-0.000112720654294,-0.000214723874916,-3.29280849788e-05,1793249765147952384
+89,1.483333333,BASELINE,767,746,718,679.637132804,664.637132804,638,879,784,814,653,630,654.637132804,0.400924406196,0.00441401177423,0.0599275358738,0.999999970258,-0.000113200581106,-0.000213535721651,-3.27369270122e-05,1793249765164619008
+90,1.500000000,BASELINE,766.782197288,746,718,679.782197288,665,638,879.217802712,784,814,653,630,655,0.400924397908,0.00441388401234,0.0599275006867,0.999999970283,-0.000113474621628,-0.000213296143147,-3.25940461681e-05,1793249765181286144
+91,1.516666667,BASELINE,766.206144098,746,718,679.206144098,665,638,879.793855902,784,814,653,630,655,0.400922982321,0.00441313659214,0.0599262553415,0.99999997001,-0.000113410012223,-0.000214616817889,-3.25305734555e-05,1793249765197952768
+92,1.533333333,BASELINE,766.368066076,746,718,679,665,638,879.631933924,784,813.631933924,652.631933924,630,655,0.400921991495,0.0044129459191,0.0599253855639,0.999999969687,-0.000113346579581,-0.000216129414491,-3.26641898803e-05,1793249765214619392
+93,1.550000000,BASELINE,766.941249222,746,718,679,665,638,879.058750778,784,813.058750778,652.058750778,630,655,0.40092123738,0.00441306551188,0.0599247250836,0.999999969335,-0.000113283802722,-0.000217748966058,-3.29076407798e-05,1793249765231286528
+94,1.566666667,BASELINE,766.494780738,746,718,679,665,638,879,784,813,652,630,654.494780738,0.400921627294,0.00441381504025,0.0599250961676,0.999999969658,-0.000112114132719,-0.000216893263073,-3.27376548373e-05,1793249765247952640
+95,1.583333333,BASELINE,766.07341569,746,718,679,665,638,879,784,813,652,629.92658431,654,0.400922114737,0.00441437030297,0.0599256066801,0.99999996999,-0.000111199137257,-0.000215860529184,-3.25533201729e-05,1793249765264619008
+96,1.600000000,BASELINE,766.679943003,746,718,679,665,638,879,784,813,652,629.320056997,654,0.400922361645,0.00441299248742,0.0599262741781,0.999999969837,-0.00011305142549,-0.000215595018652,-3.26076569489e-05,1793249765281285632
+97,1.616666667,BASELINE,766.727939386,746,718,678.727939386,664.727939386,638,879,784,813.272060614,652,629.272060614,654,0.400923172888,0.00441289700167,0.0599269935766,0.999999970062,-0.000113523924048,-0.000214295497389,-3.26495949743e-05,1793249765297952000
+98,1.633333333,BASELINE,766.151920951,746,718,678.151920951,664.151920951,638,879,784,813.848079049,652,629.848079049,654,0.400924614629,0.00441423419002,0.0599277709607,0.999999970705,-0.000112454862122,-0.000211840734876,-3.26776805783e-05,1793249765314618624
+99,1.650000000,BASELINE,766,746,718,678.867046185,664,638,879.433523093,784,813.566476907,652,630,654,0.400924366347,0.00441455508561,0.059927377533,0.999999970478,-0.000112985655923,-0.00021264891795,-3.25402648667e-05,1793249765331286016
+100,1.666666667,BASELINE,766.021938289,745.978061711,718,680,664,638,880,784,813.021938289,652,630,654,0.400923549898,0.00441444300725,0.0599266136425,0.999999969957,-0.000114079028492,-0.000214534885511,-3.23510335538e-05,1793249765347953408
+101,1.683333333,BASELINE,766.600078063,745.399921937,718,680,664,638,880,784,813.600078063,652,630,654,0.400923677494,0.00441258370736,0.0599270907143,0.999999969953,-0.000114905576903,-0.00021411186347,-3.23512035996e-05,1793249765364620288
+102,1.700000000,BASELINE,766.821949155,745.178050845,718,680,664.178050845,638,879.821949155,784,813.821949155,652,630,654,0.400923254816,0.00441165883722,0.0599270092157,0.999999969864,-0.000115118775797,-0.000214402465325,-3.241607907e-05,1793249765381286912
+103,1.716666667,BASELINE,766.244351179,745.755648821,718,680,664.755648821,638,879.244351179,784,813.244351179,652,630,654,0.400921597317,0.00441283083311,0.0599256742818,0.999999969583,-0.000113955614701,-0.000216294443405,-3.26261538892e-05,1793249765397953024
+104,1.733333333,BASELINE,766.331260529,746,718,680,665,638,879.331260529,784,813,652,630,654,0.400921626837,0.00441302120756,0.0599255935904,0.999999969546,-0.000114269995371,-0.000216304139578,-3.25947942684e-05,1793249765414619392
+105,1.750000000,BASELINE,766.905415878,746,718,680,665,638,879.905415878,784,813,652,630,654,0.400922893353,0.00441249181402,0.0599264325647,0.999999969688,-0.000115667774662,-0.000214933663898,-3.23864042977e-05,1793249765431285760
+106,1.766666667,BASELINE,766.507432756,746,718,679.507432756,664.507432756,638,879.507432756,784,813,652.492567244,630,654,0.400923251545,0.0044128454533,0.0599269061868,0.999999970026,-0.000114308859019,-0.000214081208669,-3.24143431412e-05,1793249765447952640
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,679,665,638,879,784,813,653,630,654,0.400924047726,0.00441397384889,0.0599265366624,0.999999970144,-0.000113288530024,-0.000214044750165,-3.25862280141e-05,1793249765491192064
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,718,679.578704198,665,638.578704198,879.578704198,784.578704198,813,653,630,654,0.400923162132,0.0044139598305,0.0599264133595,0.999999969863,-0.000114225654507,-0.000214856991817,-3.25962933872e-05,1793249765507858688
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,718,679.843287103,664.843287103,638.843287103,880,784.843287103,813,652.843287103,630,654,0.400923003489,0.00441388686449,0.0599265977216,0.999999969747,-0.000115097030662,-0.000214930223505,-3.26227485241e-05,1793249765524525312
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,718,679.267139741,664.267139741,638.267139741,880,784.267139741,813,652.267139741,630,654,0.400924790493,0.00441365612801,0.0599276055343,0.999999970072,-0.000115792434813,-0.000213025531062,-3.26930700708e-05,1793249765541191680
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.682192672,746,718,679,664,638,880,784,813,652.317807328,630,654,0.400925630314,0.00441273664766,0.0599278463835,0.999999970164,-0.00011675927886,-0.000212086233936,-3.25274048283e-05,1793249765557858048
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.089638217,746,718,679,664,638,880,784,813,652.910361783,630,654,0.400925651288,0.0044112217424,0.0599274241864,0.999999970057,-0.000117960784957,-0.000211981529359,-3.21577270023e-05,1793249765574524672
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.488762248,746,718,679,664,638.488762248,880,784,813,653,630,654,0.400930835557,0.00441239028245,0.05992855711,0.999999971045,-0.000115087555462,-0.000208852694199,-3.2322053754e-05,1793249765591191808
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.935538367,879.935538367,784,813,653,630,654,0.400938450366,0.00441381324289,0.0599304331593,0.999999972355,-0.000112120529548,-0.000204096014729,-3.26040395606e-05,1793249765607859200
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.361249275,879.361249275,784,813,653,630,654,0.400958009753,0.00441346562583,0.0599359943772,0.999999974749,-0.000114155726201,-0.000190727750243,-3.30638178602e-05,1793249765624525824
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.781201359,746,718,679,664,638,879.218798641,784,813,652.781201359,630,654,0.400981348977,0.00441279448706,0.0599415227691,0.999999977135,-0.000116572532737,-0.00017612444584,-3.34791687418e-05,1793249765641192448
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.191388331,746,718,679,664,638,879.808611669,784,813,652.191388331,630,654,0.401011097626,0.00441157475622,0.0599469954976,0.999999979563,-0.000119636430646,-0.000159426899552,-3.38191845074e-05,1793249765657858816
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,718,679,664,638,880,784.3912137,813,652.3912137,630,654.3912137,0.401051426039,0.00441199008898,0.0599511103959,0.999999982305,-0.000119986058162,-0.000140671773319,-3.47162075581e-05,1793249765674525440
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,718,679,664,638,880,784.97035189,813,652.97035189,630,654.97035189,0.401096836579,0.00441319084528,0.0599545730435,0.99999998496,-0.000119031851526,-0.000120928260805,-3.58807961829e-05,1793249765691192064
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,718,679,664.545408592,638,880,784.454591408,813,652.454591408,630,655,0.401151344674,0.00441364164471,0.0599560092633,0.999999986117,-0.000117956092967,-0.00011185915825,-3.66119212355e-05,1793249765707858944
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.120572749,746,718,679,664.879427251,638.120572749,880,784,813,652,630,654.879427251,0.401211096886,0.00441400359869,0.0599578044609,0.999999987063,-0.000117524750092,-0.000103282319268,-3.73495604224e-05,1793249765724525568
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.696975855,746,718,679,664.303024145,638.696975855,880,784,813,652,630,654.303024145,0.40128881898,0.00441418264639,0.0599613701433,0.999999987669,-0.000119554441949,-9.43891165697e-05,-3.82002454222e-05,1793249765741192192
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.720732961,745.720732961,718,679.279267039,664,638.720732961,879.720732961,784,813,652,630,654,0.401375680556,0.00441452528759,0.0599638872639,0.999999988102,-0.00012063201947,-8.78998959685e-05,-3.89643906122e-05,1793249765757858816
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.131915232,745.131915232,718,679.868084768,664,638.131915232,879.131915232,784,813,652,630,654,0.401472672694,0.00441504926234,0.0599652421169,0.999999988402,-0.00012065423549,-8.40753452459e-05,-3.96326115875e-05,1793249765774525184
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.449725012,745,718,680,664,638.449725012,879.449725012,784,813,652,629.550274988,654,0.401594225716,0.00441531998578,0.0599689910294,0.999999988997,-0.000121698676227,-7.43410560147e-05,-4.08403078831e-05,1793249765791192320
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.970960716,745.029039284,718,680,664.029039284,638.970960716,879.970960716,784,813,652,629.029039284,654,0.401723905843,0.00441552278406,0.0599733340729,0.999999989553,-0.000122971346128,-6.31942246514e-05,-4.21668430146e-05,1793249765807859456
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.396412357,745.603587643,718,680,664.603587643,638.396412357,879.396412357,784,813,652,629.603587643,654,0.401873047032,0.00441582312695,0.0599758535786,0.999999989864,-0.000122987213778,-5.75645342358e-05,-4.27998939471e-05,1793249765824526080
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.182168066,746,718,680,664.817831934,638,879,784,813,652,630,654,0.402030540113,0.00441573585631,0.0599759674625,0.999999989961,-0.000123385304539,-5.436409501e-05,-4.35828541914e-05,1793249765841192448
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.769721106,746,718,680,664.230278894,638,879,784,813,652,630,654,0.40220661893,0.00441478601568,0.0599707280317,0.999999989634,-0.000124633969772,-5.65695542182e-05,-4.46994127902e-05,1793249765857858560
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.648217257,746,718,680,664,638.351782743,879.351782743,784,813,652,630,654,0.402411723682,0.00441483286113,0.0599709686585,0.999999990063,-0.000123547576102,-5.00659984758e-05,-4.58530260807e-05,1793249765874525184
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.069695013,746,718,680,664,638.930304987,879.930304987,784,813,652,630,654,0.402635536947,0.00441552211464,0.0599747414237,0.999999990859,-0.000120956134035,-3.7949098498e-05,-4.70305228597e-05,1793249765891192320
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.508194304,746,718.508194304,680,664.508194304,638.491805696,880,784,813,652,630,654,0.402893419906,0.00441630173511,0.0599768893413,0.999999991251,-0.000120064525723,-2.80781701149e-05,-4.78923300923e-05,1793249765907858688
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.914254603,746,718.914254603,679.914254603,665,638,880,784,813.085745397,652.085745397,630,654,0.403160049618,0.00441714611112,0.0599786891782,0.999999991554,-0.000118986897558,-1.92433883318e-05,-4.86248743997e-05,1793249765924525056
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.338141755,746,718.338141755,679.338141755,665,638,880,784,813.661858245,652.661858245,630,654,0.403450013391,0.00441829002976,0.0599797711694,0.999999992028,-0.000115513921488,-1.45748720747e-05,-4.88654677977e-05,1793249765941191168
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,718,679.242377962,665,638,880,784.242377962,813.757622038,653,630,654,0.403751646058,0.00441918786238,0.0599742554415,0.999999992287,-0.000111990759851,-2.1565587337e-05,-4.91733666666e-05,1793249765957857792
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,718,679.829159527,665,638,880,784.829159527,813.170840473,653,630,654,0.404069859459,0.00441973602243,0.0599593647763,0.999999991878,-0.000108396287896,-4.51233260815e-05,-4.95769022777e-05,1793249765974524416
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.412765061,746,718,679.587234939,665,638.412765061,880,784.587234939,813,652.587234939,630,654,0.404411719754,0.00442207923414,0.0599450760308,0.999999991,-0.00010310560508,-6.96362832817e-05,-5.01975032594e-05,1793249765991191040
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.995066082,746,718,679.004933918,665,638.995066082,880,784.004933918,813,652.004933918,630,654,0.404763292584,0.00442515973162,0.0599310345136,0.999999989519,-9.71182336475e-05,-9.45415789853e-05,-5.09072599789e-05,1793249766007857664
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,718,679.569754767,664.430245233,638.430245233,880,784.569754767,813.569754767,652,630,654,0.405170422565,0.00442667591154,0.0599240312049,0.999999988676,-9.4778333775e-05,-0.000104945072837,-5.14984892319e-05,1793249766024524544
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,718,680,664.144925579,638.144925579,880,784.855074421,814,652,630,654,0.405596442543,0.00442760090767,0.0599236117413,0.999999988874,-9.2351302786e-05,-0.000105031698096,-5.18856168014e-05,1793249766041191168
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,718,680,664.721726871,638.721726871,880,784.278273129,814,652,630,654,0.406077339518,0.00442680402231,0.0599426327914,0.99999999186,-8.95717379762e-05,-7.47435286102e-05,-5.16675431392e-05,1793249766057857792
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,718,679.695293837,665,639,880.304706163,784.304706163,813.695293837,652.304706163,630,654,0.406596726875,0.00442561442199,0.0599687192008,0.999999994216,-8.95547345096e-05,-2.97689167828e-05,-5.15829408691e-05,1793249766074524672
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,718,679.106555651,665,639,880.893444349,784.893444349,813.106555651,652.893444349,630,654,0.40715199312,0.00442405875211,0.060001391591,0.999999994008,-9.2112853657e-05,2.88956741237e-05,-5.16227539051e-05,1793249766091191552
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718,679.474070176,665.474070176,639,880.525929824,785,813,652.525929824,630,654,0.407695587231,0.00442509648148,0.0600132382808,0.999999993834,-8.95152441767e-05,4.12841980069e-05,-5.112423415e-05,1793249766107857920
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.947452688,746,718,680,665.947452688,639,880.052547312,784.947452688,813,652.052547312,630,654,0.408238033697,0.00442677641664,0.0600182728453,0.99999999415,-8.694107872e-05,3.97583427065e-05,-5.06021225347e-05,1793249766124524288
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.372514023,746,718,680,665.372514023,639,880.627485977,784.372514023,813,652.627485977,630,654,0.408794713892,0.00442914330556,0.0600013376779,0.999999994096,-9.59266011392e-05,1.56867780456e-06,-5.1028139108e-05,1793249766141190912
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,718,680,665.20554053,639,881,784,813,652.79445947,630,654,0.409368729736,0.00443092726263,0.0599893278082,0.999999992632,-0.000106804442991,-2.57581848008e-05,-5.16344289522e-05,1793249766157857792
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,718,680,665.78932909,639,881,784,813,652.21067091,630,654,0.409974647648,0.00443163847337,0.0599863817681,0.99999999073,-0.00012116464441,-3.30946637498e-05,-5.25724685842e-05,1793249766174524416
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.373485504,746,718,679.626514496,666,639,881,784.373485504,813,652,630,654,0.410656372858,0.00443276061972,0.0599939443751,0.99999999113,-0.00012137521619,-1.18849133052e-05,-5.35495859345e-05,1793249766191191296
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.957849597,746,718,679.042150403,666,639,881,784.957849597,813,652,630,654,0.41138090061,0.00443411478984,0.0600074404085,0.999999991736,-0.00011359657783,2.54427015026e-05,-5.4548767382e-05,1793249766207857920
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.467335927,746,718.532664073,679.532664073,666.532664073,639,881.532664073,785,813.532664073,652,630,654,0.412066688717,0.00443405399061,0.0599991150943,0.999999992231,-0.00011166099999,7.74984921288e-06,-5.48646333206e-05,1793249766224524288
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.106742153,746.106742153,718.893257847,680.106742153,666.786515695,639,882.106742153,785,814,652,630,654,0.412746248525,0.00443434500844,0.0599835539664,0.999999992297,-0.000108446229151,-2.48821833413e-05,-5.50057484595e-05,1793249766241191424
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.680846198,746.680846198,718.319153802,680.680846198,665.638307604,639,882.680846198,785,814,652,630,654,0.413411723768,0.004436658039,0.0599437387013,0.999999988313,-9.76418250074e-05,-0.000104197002853,-5.46143098066e-05,1793249766257858816
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.736419442,746.736419442,718,680.736419442,665,639,883,785,814,652,629.736419442,654.263580558,0.414131402993,0.00443865990386,0.0599260744611,0.99999998501,-9.03133458005e-05,-0.00013716276935,-5.48547185382e-05,1793249766274525440
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.142881334,746.142881334,718,680.142881334,665,639,883,785,814,652,629.142881334,654.857118666,0.414918936373,0.00444027224307,0.0599361394907,0.999999988341,-8.7336126204e-05,-0.000112107500194,-5.58860918438e-05,1793249766291191808
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.438099235,746,718,680,666.314297704,639,883.438099235,785,814,652,629,654.561900765,0.415782080823,0.00443984022884,0.0599802958847,0.999999994349,-8.4614672413e-05,-3.18365040185e-05,-5.59273185926e-05,1793249766307858688
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680,667.984881968,639,884,785,814,652,629.015118032,654.015118032,0.416667172268,0.00443879679846,0.0600337068959,0.999999993108,-8.20401990394e-05,6.29025263242e-05,-5.56471592175e-05,1793249766324525312
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680,667.407131881,639,884,785,814,652,629.592868119,654.592868119,0.417476881232,0.00443912100858,0.0600292808765,0.999999994134,-8.19178871131e-05,4.45727691256e-05,-5.50894286262e-05,1793249766341191680
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718,680,666.827006642,639,884,784.827006642,814,652,630,655,0.418287897519,0.00443926103753,0.0600209476692,0.999999994773,-8.229592616e-05,2.55450553637e-05,-5.50403846815e-05,1793249766357858560
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718,680,666.24121381,639,884,784.24121381,814,652,630,655,0.419102033311,0.00443896157046,0.0600032910693,0.999999994892,-8.38679106107e-05,4.85186779117e-06,-5.62051768709e-05,1793249766374525440
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746.340327396,718,680,666,639,884.340327396,784.340327396,814.340327396,652,630,655,0.41992902993,0.00444067350378,0.0599790956894,0.999999994184,-8.5644534323e-05,-3.1207421799e-05,-5.76459158408e-05,1793249766391192320
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746.918892337,718,680,666,639,884.918892337,784.918892337,814.918892337,652,630,655,0.42076502941,0.00444379346684,0.0599503230034,0.999999991365,-8.75644103519e-05,-7.80233596246e-05,-5.92798242034e-05,1793249766407858944
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746.502378323,718,680.497621677,666,639.497621677,885,785,815,652,630,655,0.421600407753,0.00444312588642,0.0599118790013,0.999999983057,-8.72199205325e-05,-0.000151062821374,-5.88174033335e-05,1793249766424525312
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,718,681,666,639.924216931,885.075783069,785,815,652,629.924216931,654.924216931,0.422451433577,0.0044418834471,0.0598829763319,0.999999973103,-8.6992183077e-05,-0.000206947193742,-5.83021848152e-05,1793249766441191936
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,718,681,666,639.349967814,885.650032186,785,815,652,629.349967814,654.349967814,0.423406047055,0.00444092173217,0.0599272039865,0.999999986746,-8.99607685138e-05,-0.000121870345577,-5.96878589594e-05,1793249766457858560
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.77026934,746,718,681.22973066,666.22973066,639,886.22973066,784.77026934,815,652,629,654,0.424348982836,0.00444050586171,0.0599752152464,0.999999993346,-9.03673275601e-05,-3.91336352364e-05,-6.00808263302e-05,1793249766474524928
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.182067617,746,718,681.817932383,666.817932383,639,886.817932383,784.182067617,815,652,629,654,0.42527369692,0.00444094172521,0.06002913044,0.999999993701,-8.67761088598e-05,3.99515431e-05,-5.89247773952e-05,1793249766491191552
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.398967339,746.398967339,718,681.601032661,667,639,887.398967339,784.398967339,815,652,629,654.398967339,0.426189165701,0.00443963861072,0.0600410161788,0.999999992277,-8.69633131471e-05,6.61616868539e-05,-5.92078534067e-05,1793249766507858432
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.97678944,746.97678944,718,681.02321056,667,639,887.97678944,784.97678944,815,652,629,654.97678944,0.42710048981,0.00443755592237,0.0600340603517,0.999999991888,-8.88443630771e-05,6.86682524211e-05,-6.01360810224e-05,1793249766524525056
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.447161693,746.447161693,718,681,667.552838307,639,888,785,815,652,629.552838307,655,0.427998831915,0.0044380131371,0.0600078426128,0.999999993701,-8.85024772664e-05,3.06036737691e-05,-6.18743480302e-05,1793249766541192192
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.128463777,746,718,681,667.871536223,639.128463777,888,785,815,652,630,655,0.428878976721,0.00443869287207,0.0599793689995,0.999999994069,-8.76816715328e-05,-1.33622227048e-05,-6.32104443692e-05,1793249766557859328
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.702877049,746,718,681,667.297122951,639.702877049,888,785,815,652,630,655,0.42969783734,0.00443977607073,0.0599458626829,0.99999999177,-8.55212872049e-05,-7.19198474979e-05,-6.30327630489e-05,1793249766574525696
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718,681.285236554,666.714763446,640,888.285236554,785,815.285236554,652,630,654.714763446,0.430543734039,0.00443932560051,0.0599289712276,0.999999989593,-8.58562046493e-05,-9.72122667835e-05,-6.31853576049e-05,1793249766591192064
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,681.876110592,666.123889408,640,888.876110592,785,815.876110592,652,630,654.123889408,0.431418600464,0.00443723176899,0.0599298829777,0.999999990251,-8.88648953199e-05,-8.68602548405e-05,-6.36918504901e-05,1793249766607858944
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.458564695,746,718,682,666.917129389,639.541435305,889,785,815.541435305,652,629.541435305,654.458564695,0.432350422155,0.0044334906034,0.0599708253917,0.999999993165,-9.6494319807e-05,-1.63873497575e-05,-6.39499231255e-05,1793249766624525568
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.961431879,746,718,682,667.961431879,639,889,785,815.038568121,652,629.038568121,655,0.433291297919,0.00442955906007,0.0600184130682,0.999999990487,-0.000104770330923,6.28238058926e-05,-6.40558315092e-05,1793249766641192192
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.384456925,746,718,682,667.384456925,639,889,785,815.615543075,652,629.615543075,655,0.43414763211,0.00442907078877,0.0600105138265,0.999999991655,-0.000104959681473,4.13615024218e-05,-6.29575760208e-05,1793249766657858560
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,681.804643975,666.804643975,639,889,785,816,652,630,655,0.434978187622,0.004428392574,0.059994265707,0.999999992521,-0.000104786065522,9.03044151708e-06,-6.24178740257e-05,1793249766674525440
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,681.219163465,666.219163465,639,889,785,816,652,630,655,0.435757263463,0.00442733504349,0.0599613449409,0.999999991607,-0.000103887608158,-4.50054485976e-05,-6.2993598807e-05,1793249766691192832
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745.638110628,718,681.361889372,666.361889372,639.361889372,889,785,816,652,630,655,0.436535953668,0.00442744908479,0.0599418345399,0.999999989583,-0.00010325395111,-7.80121711833e-05,-6.39305346762e-05,1793249766707859712
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745.059706854,718,681.940293146,666.940293146,639.940293146,889,785,816,652,630,655,0.437314413106,0.00442826406458,0.0599303474137,0.999999987755,-0.0001027787213,-9.84373725853e-05,-6.50835791579e-05,1793249766724526336
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,745.518957866,717.481042134,682,667,639.481042134,889,785,816,652.518957866,630,655,0.43806249506,0.00442665900335,0.0599175391207,0.999999983942,-0.000102383295643,-0.00013271210667,-6.34185016891e-05,1793249766741192704
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,717.096929373,682,667,639.096929373,889.096929373,785,816,652.903070627,630.096929373,655,0.438818343738,0.00442492377843,0.0599123031328,0.999999981106,-0.000102722790153,-0.00015298790905,-6.18885190074e-05,1793249766757859072
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,717.671338092,682,667,639.671338092,889.671338092,785,816,652.328661908,630.671338092,655,0.439629676792,0.00442391960757,0.059945117878,0.999999987702,-0.000106637289887,-9.64510473962e-05,-6.26219940432e-05,1793249766774525696
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718,682,667,639.753886597,890,784.753886597,816,652,630.753886597,654.753886597,0.440397196153,0.00442313707728,0.0599790523564,0.999999991356,-0.000107349387912,-4.34633387432e-05,-6.22548968198e-05,1793249766791192320
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,682,667,639.178621053,890,784.178621053,816,652,630.178621053,654.178621053,0.441106119002,0.00442265096926,0.0600144843637,0.999999992779,-0.000103778592746,4.77772683149e-06,-6.04158939567e-05,1793249766807858688
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.410137222,718,682,666.589862778,639,890,784.410137222,816,652,630,654,0.441767109382,0.00442423019372,0.0599988367927,0.999999992944,-0.000100538521036,-1.86891135237e-05,-6.04569440632e-05,1793249766824525568
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.99519321,718,682,665.99519321,639,890,785,816.00480679,652.00480679,630,654.00480679,0.442406067557,0.00442675502852,0.0599601133535,0.999999990594,-9.74239447821e-05,-7.45379485227e-05,-6.13505271311e-05,1793249766841192448
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.420093156,718,682,665.420093156,639,890,785,816.579906844,652.579906844,630,654.579906844,0.442992014076,0.00443112218154,0.0599127075171,0.999999983885,-9.15285013685e-05,-0.000141034252712,-6.29426925264e-05,1793249766857859328
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.154953022,718,682,665,639,890,784.845046978,816.845046978,653,630,655,0.443579998116,0.00443476880407,0.059876829947,0.999999975768,-8.66316657875e-05,-0.000191948876405,-6.41520051209e-05,1793249766874525952
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.729853312,718,682,665,639,890,784.270146688,816.270146688,653,630,655,0.444173504291,0.00443646267559,0.0598721957967,0.999999974239,-8.4441215481e-05,-0.000200634690519,-6.4323726903e-05,1793249766891192320
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746.68792663,718,682.31207337,665,639,890,784.31207337,816.31207337,653,630,655,0.444736700657,0.00443994280196,0.0598728659278,0.999999974467,-7.95194086255e-05,-0.000201521788152,-6.42732017081e-05,1793249766907858944
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746.099218051,718,682.900781949,665,639,890,784.900781949,816.900781949,653,630,655,0.445273029072,0.00444500634105,0.0598782380015,0.999999976236,-7.21764104124e-05,-0.000195495768786,-6.40256672579e-05,1793249766924525568
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,718,682.543173597,664.543173597,638.543173597,889.543173597,784.543173597,817,653,630.456826403,655,0.445735388352,0.00444911256756,0.0598538191882,0.9999999658,-6.44137739848e-05,-0.000245400424492,-6.34800035511e-05,1793249766941191936
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,682.006874906,664,638.006874906,889.006874906,784.006874906,817,652.993125094,630.993125094,655,0.446182769406,0.00445302002265,0.0598234907319,0.99999994955,-5.66251076847e-05,-0.000306163898335,-6.29008293164e-05,1793249766957858560
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,682.611237778,664,638.611237778,889.611237778,784.611237778,817,652.388762222,630.388762222,655,0.446631460219,0.00445651662772,0.0598043619286,0.999999943519,-5.39666073169e-05,-0.000325373244687,-6.46611859839e-05,1793249766974524928
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,683,663.793819131,638.793819131,890,785,817,652,630,655,0.447079546309,0.00446083895581,0.0597961003796,0.999999941974,-4.9982441773e-05,-0.000330368538299,-6.64160020031e-05,1793249766991191552
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,683,663.215861463,638.215861463,890,785,817,652,630,655,0.447526541943,0.00446665019309,0.0598074342155,0.999999948759,-4.36078920132e-05,-0.000309733638961,-6.81608271802e-05,1793249767007858176
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,683,663,638,890,785,817,652,630,655,0.447935400913,0.00447767167216,0.0598169501064,0.999999953143,-3.30791036245e-05,-0.000295984751208,-7.07996780344e-05,1793249767024524800
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,718,683,663,638,890,785,817,652,630,655,0.448321524978,0.00449179920673,0.0598253822411,0.999999956067,-2.00737897548e-05,-0.000286340916686,-7.39714971908e-05,1793249767041191168
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,718,682.455393659,663,638,889.455393659,784.455393659,817,652,630,655,0.448633029499,0.00450134670844,0.0598104115945,0.999999948979,-9.98987035218e-06,-0.000310231131459,-7.5487078479e-05,1793249767057857792
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746,717.879784732,682.120215268,663,638,889.120215268,784,817,652,630,654.879784732,0.448927219565,0.00450847972211,0.0597895400524,0.999999938075,-2.16678109616e-06,-0.000343477873442,-7.66008669901e-05,1793249767074524672
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746,717.305478844,682.694521156,663,638,889.694521156,784,817,652,630,654.305478844,0.449172231583,0.00450748826498,0.059751467271,0.999999915145,-2.24837390872e-06,-0.000404776093135,-7.65570624177e-05,1793249767091191040
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,717,683,662.723437988,637.723437988,890,784,817,652,630,654,0.449415199449,0.00450684041389,0.0597236067953,0.999999896712,-2.41147101728e-06,-0.00044799419773,-7.66225735552e-05,1793249767107857920
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,717,683,662.132607616,637.132607616,890,784,817,652,630,654,0.449655844448,0.00450658301601,0.0597073509689,0.999999886283,-2.66718468443e-06,-0.000470667149569,-7.68123046841e-05,1793249767124524800
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,717,683,662.443928651,637.443928651,890,784.443928651,817,652,630,654,0.449880475117,0.00450722618854,0.0597029932776,0.999999883935,-4.18366064782e-07,-0.000475704525848,-7.63914848398e-05,1793249767141191424
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,717.016576508,683,662.983423492,637.983423492,889.983423492,784.983423492,817,652,630,654,0.45009955776,0.00450811123093,0.0597021735591,0.999999884068,2.45792133393e-06,-0.000475510386634,-7.58107509456e-05,1793249767157858048
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,717.597678606,683,662.402321394,637.402321394,889.402321394,784.402321394,817,652,630,654,0.450287528898,0.00450835768778,0.0597045791162,0.999999886222,2.01950629628e-06,-0.000470961917707,-7.58013588509e-05,1793249767174524672
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,718,683,662,637,889.180587857,784,817,652,630,654.180587857,0.450466958206,0.00450878036319,0.0597069232799,0.999999888552,2.22621994127e-06,-0.000466009918441,-7.56720466972e-05,1793249767191191552
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,718,683,662,637,889.767563775,784,817,652,630,654.767563775,0.450627165279,0.00450959959415,0.0597091292862,0.999999891291,3.8847067553e-06,-0.000460149830436,-7.52728709951e-05,1793249767207858176
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,718,683,661.651171539,637,889.651171539,784.348828461,817,652.348828461,630,655,0.450764165207,0.00450936127744,0.0597088807988,0.99999989132,4.5160288758e-06,-0.000460177638261,-7.46722788307e-05,1793249767224524800
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,718,683,661.073651079,637,889.073651079,784.926348921,817,652.926348921,630,655,0.450885950541,0.00450842963236,0.0597070231452,0.999999889578,4.47394181153e-06,-0.000464065551023,-7.39396379597e-05,1793249767241191424
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,718,683,661.504702396,637,889.504702396,785,817,653,630,655,0.450979241544,0.00451016782068,0.0597009664741,0.999999885489,4.31555190625e-06,-0.000472665594579,-7.4770171117e-05,1793249767257858048
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.082555124,718,683,661.917444876,637,889.917444876,784.917444876,817,653,630,655,0.451065013189,0.00451226150151,0.0596942782613,0.999999881033,4.77525101482e-06,-0.000481864045718,-7.5619829537e-05,1793249767274524672
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746.656701236,718,683,661.343298764,637,889.343298764,784.343298764,817,653,630,655,0.451130810945,0.00451414819997,0.059687484247,0.999999876823,9.01671511245e-06,-0.000490524379628,-7.52227802508e-05,1793249767291191296
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746.763220978,718,683,661.236779022,637,889.236779022,784,817.236779022,652.763220978,630,655,0.451190780705,0.00451440652533,0.0596825884653,0.99999987314,1.08743691747e-05,-0.000498000400527,-7.48156824575e-05,1793249767307857920
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746.174322088,718,683,661.825677912,637,889.825677912,784,817.825677912,652.174322088,630,655,0.451242083504,0.00451224325715,0.0596805155922,0.999999870326,9.18700084346e-06,-0.000503715200135,-7.43936413139e-05,1793249767324524544
+218,3.633333333,POSE1_TO_POSE2_PRESS,766.592329733,746,718,683,661.592329733,637,889.592329733,784.407670267,818,652.407670267,630,655,0.451287270698,0.0045114659389,0.0596813643741,0.999999871383,8.27635292109e-06,-0.000501696986583,-7.39267294545e-05,1793249767341191168
+219,3.650000000,POSE1_TO_POSE2_PRESS,766.013241467,746,718,683,661.013241467,637,889.013241467,784.986758533,818,652.986758533,630,655,0.45132988639,0.00451127138767,0.0596834416595,0.999999874054,7.69230197245e-06,-0.000496427180235,-7.34409502774e-05,1793249767357857792
+220,3.666666667,POSE1_TO_POSE2_PRESS,766.564187676,746,717.435812324,683.564187676,661.564187676,637,889.564187676,784.435812324,818,652.435812324,630,655,0.451357537094,0.00451281102158,0.0596847892097,0.999999874995,1.09383541557e-05,-0.000494459792505,-7.34867179162e-05,1793249767374524672
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,717.141379332,684,661.858620668,637,889.858620668,784,818,652.141379332,630,655,0.451380991567,0.00451419856028,0.0596853536791,0.999999875059,1.32156748854e-05,-0.000494285586153,-7.3412081383e-05,1793249767391191296
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746,717.717959351,684,661.282040649,637,889.282040649,784,818,652.717959351,630,655,0.451392606984,0.00451499299062,0.0596835601971,0.999999872569,1.22350992722e-05,-0.000499393349422,-7.29285211656e-05,1793249767407857920
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,717.699027252,683.699027252,661,637,889.300972748,784,817.699027252,653,630.300972748,655,0.451403047581,0.00451544261625,0.0596822060302,0.999999871248,1.24596973735e-05,-0.000502063696997,-7.26703441191e-05,1793249767424524800
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,717.109853406,683.109853406,661,637,889.890146594,784,817.109853406,653,630.890146594,655,0.451412363209,0.00451556206891,0.0596812725361,0.999999871064,1.38383280397e-05,-0.00050240006019,-7.26279861489e-05,1793249767441191680
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746.471117478,717,683,661,637,890,784,817,652.528882522,631,655,0.451417163546,0.00451463228042,0.0596803318706,0.999999870673,1.2740666938e-05,-0.000503229969306,-7.24596563935e-05,1793249767457858304
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746.950207405,717.049792595,683,661,637,890,784,817,652,631,655,0.451420733636,0.00451370642281,0.0596794527177,0.999999870215,1.13513514769e-05,-0.000504200518155,-7.22702006075e-05,1793249767474524672
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746.375911451,717.624088549,683,661,637,890,784,817,652,631,655,0.451422245377,0.00451535503673,0.0596792388372,0.999999869568,1.28680510531e-05,-0.000505461020534,-7.21623276781e-05,1793249767491191040
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.198153208,718,683.198153208,661.198153208,637,890,784.198153208,817,652.198153208,630.801846792,655,0.451423437749,0.00451650311789,0.0596790616399,0.999999869011,1.45432142099e-05,-0.000506548567694,-7.19413776652e-05,1793249767507857920
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746.771779558,718,683.771779558,661.771779558,637,890,784.771779558,817,652.771779558,630.228220442,655,0.451424024962,0.00451670275808,0.0596789539525,0.999999868626,1.65186440212e-05,-0.000507308388367,-7.15061620996e-05,1793249767524524544
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746.642950702,718,683.642950702,661.642950702,637,890,785,817,653,630.357049298,655,0.451424596055,0.00451573729761,0.0596784984828,0.999999868414,1.55818579082e-05,-0.000507772488106,-7.13888758544e-05,1793249767541190912
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746.049987836,718,683.049987836,661.049987836,637,890,785,817,653,630.950012164,655,0.451425156496,0.00451400201892,0.0596778132225,0.999999868311,1.2720880141e-05,-0.0005080411958,-7.14816554098e-05,1793249767557857536
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,718,683,661,637,889.471718399,784.471718399,817,652.471718399,631,655,0.45142559322,0.00451548744343,0.0596778121412,0.999999868317,1.36505257519e-05,-0.000507968391459,-7.17503930182e-05,1793249767574524416
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,718,683,661,637,889.104937082,784.104937082,817,652.104937082,630.895062918,655,0.451426081036,0.00451693277225,0.0596778615473,0.999999868342,1.49307737617e-05,-0.000507856387936,-7.19417435001e-05,1793249767591191040
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,718,683,661,637,889.680420985,784.680420985,817,652.680420985,630.319579015,655,0.451426849028,0.00451686874473,0.0596778549018,0.999999868413,1.62183159136e-05,-0.000507709594198,-7.17134448236e-05,1793249767607857920
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,718,683,661,636.73860987,889.73860987,784.73860987,817,653,630,655,0.451427492456,0.00451602522417,0.0596776817404,0.999999868558,1.62939531252e-05,-0.000507483249239,-7.1266202573e-05,1793249767624524288
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,718,683,661,636.150790567,889.150790567,784.150790567,817,653,630,655,0.451427980326,0.00451420825724,0.0596773006307,0.999999868797,1.48561396154e-05,-0.000507157559123,-7.05455392196e-05,1793249767641191168
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,718,683,661,636.431528027,889,784,817,653,630.431528027,655,0.451427149565,0.00451365209393,0.0596762442203,0.999999868089,1.3534275726e-05,-0.0005085892258,-7.05441412423e-05,1793249767657857792
+238,3.966666667,POSE1_TO_POSE2_PRESS,767.011755766,746,718,683,661,636.988244234,889,784,817,652.988244234,630.988244234,655,0.451425913486,0.00451356848612,0.0596750075394,0.99999986708,1.23332276018e-05,-0.000510566434744,-7.07855673066e-05,1793249767674524416
+239,3.983333333,POSE1_TO_POSE2_PRESS,767.582807155,746,718,683,661,636.417192845,889,784,817,652.417192845,630.417192845,655,0.451427039897,0.0045152705629,0.0596762796606,0.999999867512,1.49767669298e-05,-0.000509650594654,-7.07725430666e-05,1793249767691191040
+240,4.000000000,POSE1_TO_POSE2_PRESS,767.84461073,746,718,683,661,636.15538927,889,784,817,652,630,654.84461073,0.451427834454,0.00451627813161,0.0596771602376,0.999999867776,1.64479518614e-05,-0.000509077046768,-7.08318183689e-05,1793249767707857664
+241,4.016666667,POSE1_TO_POSE2_PRESS,767.267878034,746,718,683,661,636.732121966,889,784,817,652,630,654.267878034,0.451427729174,0.00451540251734,0.0596769791285,0.999999867604,1.474025678e-05,-0.000509431636195,-7.1087136405e-05,1793249767724524800
+242,4.033333333,HOLD_POSE2,767,746,718,683,661,637,889,784,817,652,630,654,0.451429422612,0.00451722236356,0.0596771147814,0.999999868178,1.78678655283e-05,-0.000508257320855,-7.07118477527e-05,1793249767760307968
+243,4.050000000,HOLD_POSE2,767,746,718,683,661,636.422245447,889.577754553,784,817,652.577754553,630.577754553,654.577754553,0.451430046396,0.00451668117861,0.0596772458053,0.999999868412,1.5546655517e-05,-0.000507869982912,-7.07213391154e-05,1793249767776974592
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+248,4.133333333,HOLD_POSE2,767,746,717,683,661,636,889,784,817,652,630,655,0.451430701371,0.0045160675001,0.0596773123558,0.999999868415,1.54687129978e-05,-0.000507990071926,-6.98338447947e-05,1793249767860307968
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+256,4.266666667,HOLD_POSE2,766.883877073,746,717.116122927,683,661.116122927,636,889,784,817,653,630,655,0.451430224083,0.00451745075095,0.059675858826,0.99999986777,1.61945778108e-05,-0.000509159636081,-7.03915414081e-05,1793249767993641216
+257,4.283333333,HOLD_POSE2,766.305672441,746,717.694327559,683,661.694327559,636,889,784,817,653,630,655,0.451430402961,0.00451573357114,0.0596755858829,0.999999867642,1.37407432928e-05,-0.000509498444023,-7.02702918678e-05,1793249768010308352
+258,4.300000000,POSE2_TO_POSE3_RETREAT,767,746,717,683,661,637,889,784,817,653,630,655,0.451430807071,0.00451872296242,0.0596760374771,0.999999867215,1.75175620024e-05,-0.000510213922241,-7.03256516674e-05,1793249768048464896
+259,4.316666667,POSE2_TO_POSE3_RETREAT,767,746,717.598676327,683,661,637,889.598676327,784,817,652.401323673,630.598676327,655,0.451429318783,0.00451744779322,0.0596750418031,0.999999866495,1.79358895357e-05,-0.000511711249432,-6.95707388633e-05,1793249768065131776
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.809252759,661,636.809252759,889.809252759,784,817,652,630.809252759,655,0.451428276051,0.00451652497407,0.0596741489347,0.999999865924,1.77878782126e-05,-0.000512879950006,-6.920648906e-05,1793249768081798400
+261,4.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.23061408,661,636.23061408,889.23061408,784,817,652,630.23061408,655,0.451428139372,0.00451631867131,0.0596734651249,0.99999986566,1.64881963495e-05,-0.000513380376701,-6.9636666509e-05,1793249768098464768
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.344987469,661,636,889,784,817,652,630,655,0.451428867779,0.00451710438458,0.0596739541573,0.999999866215,1.72285544464e-05,-0.000512240590327,-6.98781112011e-05,1793249768115131136
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.918576469,661,636,889,784,817,652,630,655,0.451430169425,0.00451854744461,0.0596752203587,0.999999867307,1.93207189854e-05,-0.000510013937729,-6.99944945217e-05,1793249768131797504
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767,746,717.509750511,683,660.509750511,636.490249489,889,784,817,652,630,655,0.451429818057,0.0045183602438,0.0596750459558,0.999999867211,1.96586499754e-05,-0.000510217377987,-6.97867143601e-05,1793249768148464640
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,717.064238577,683,660.064238577,637,889,784,817,652,630,655,0.451429441049,0.00451799335254,0.0596748019334,0.99999986703,1.96114978274e-05,-0.000510597958157,-6.96119749676e-05,1793249768165131520
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,717.660014612,683,660.660014612,637,889,784,817,652,630,655,0.451431114714,0.00451837131545,0.0596759539149,0.999999867762,1.87794012513e-05,-0.000509117677023,-7.01543815647e-05,1793249768181797888
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746.248248021,718,683,661,636.751751979,889,784,817,652,630,655,0.451429530676,0.00451827651788,0.0596753115617,0.999999867471,1.791254893e-05,-0.000509693589709,-7.03587123435e-05,1793249768198464512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746.826456063,718,683,661,636.173543937,889,784,817,652,630,655,0.451423616645,0.00451755334846,0.05967228426,0.999999865812,1.69995009133e-05,-0.000513002502171,-7.01136880195e-05,1793249768215131136
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746.597118091,718,683,661,636.402881909,889,784,817,652.402881909,630,654.597118091,0.451401055865,0.00451846446532,0.0596637092934,0.999999858199,1.90374473081e-05,-0.000527573266918,-7.00481802487e-05,1793249768231797760
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,746.021456507,718,683,661,636.978543493,889,784,817,652.978543493,630,654.021456507,0.451371355972,0.00452007646107,0.0596527551585,0.999999847706,2.23409551693e-05,-0.000546973782449,-7.00596597865e-05,1793249768248464384
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,683,661,636.446114641,889,784,817,652.446114641,630.553885359,654.553885359,0.451318695779,0.00452017311057,0.0596343123257,0.999999834856,2.30161255102e-05,-0.00056991093823,-7.04307838671e-05,1793249768265130752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,718,683,661,636,889,784,817,652,630.866343448,655,0.451261021301,0.00452032130156,0.0596163092383,0.999999821698,2.33176710137e-05,-0.000592498028057,-7.07539525893e-05,1793249768281797632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,746,718,683,661,636,889,784,817,652,630.271237093,655,0.451189103992,0.00452084999091,0.0596008253571,0.9999998091,2.26805962013e-05,-0.00061340379013,-7.08634829869e-05,1793249768298464512
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.687591969,682.687591969,661,636,889,784,817,652,630,655,0.451108498171,0.00452117326312,0.059589353072,0.999999799073,2.29665898621e-05,-0.000629553435854,-7.06291438671e-05,1793249768315130880
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,746,717.113545539,682.113545539,661,636,889,784,817,652,630,655,0.451020615817,0.00452132450063,0.0595812404568,0.999999791352,2.40256435787e-05,-0.000641719883636,-7.01068176936e-05,1793249768331797248
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.460809294,661,636,889,784,817,652,630,655,0.450918383804,0.0045226189692,0.0595773390803,0.999999787832,2.82650257169e-05,-0.000647054012435,-6.970189896e-05,1793249768348463872
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717.036351498,683,661,636.036351498,889,784,817,652,630,654.963648502,0.450811552574,0.00452400960096,0.0595748119464,0.999999785748,3.30702979583e-05,-0.000650086460283,-6.92718001633e-05,1793249768365130496
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,717.628897632,683,661,636.628897632,889,784,817,652,630,654.371102368,0.450688487113,0.00452255858759,0.0595774239152,0.99999978993,3.45357510124e-05,-0.000643677935704,-6.80135000698e-05,1793249768381797376
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,717.784937231,683,661,636.784937231,889,784,817,652,630,654,0.450552053979,0.00452276621305,0.0595798014685,0.999999792565,3.72042172924e-05,-0.000639532749902,-6.69548673711e-05,1793249768398463744
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,717.209465628,683,661,636.209465628,889,784,817,652,630,654,0.450393218896,0.00452575343689,0.0595817861807,0.999999792654,4.18887301709e-05,-0.000639180537845,-6.62308435929e-05,1793249768415130368
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.633515964,661,636,889,784,817,652,630,654,0.450211254222,0.00452624796143,0.0595820679497,0.999999791901,4.48298223663e-05,-0.000640317839777,-6.46645285252e-05,1793249768431796992
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.05729265,661,636,889,784,817,652,630,654,0.450016052439,0.00452531591129,0.0595813751224,0.999999790666,4.67731531395e-05,-0.000642307592418,-6.26161690177e-05,1793249768448463616
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,717.52967939,682.52967939,661,636.52967939,889,784,816.47032061,652,630,654,0.449784980374,0.00452630680586,0.0595753150817,0.999999785607,5.08775762829e-05,-0.000649956006646,-6.12821452614e-05,1793249768465130240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766.883920164,746,718,683,661,637,889,784,816,652,630,654,0.449544156691,0.00452772175649,0.059570622547,0.999999781862,5.57069542489e-05,-0.000655421500956,-5.99624669548e-05,1793249768481796864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766.304537384,746,718,683,661,637,889,784,816,652,630,654,0.44928021824,0.00452998186516,0.0595737531455,0.999999785301,6.24775107977e-05,-0.000649680919344,-5.83852694754e-05,1793249768498463488
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.274006305,746,718,683,661,637,889,784,816.274006305,652,630,654.274006305,0.449003054898,0.00453257841414,0.0595800093793,0.999999791539,7.07326419635e-05,-0.000639327621205,-5.63770478768e-05,1793249768515130368
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.851620221,746,718,683,661,637,889,784,816.851620221,652,630,654.851620221,0.448711237976,0.00453554774945,0.0595897289152,0.999999800694,8.06327281106e-05,-0.000623863288199,-5.38912380721e-05,1793249768531796992
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,717.573444843,682.573444843,661.426555157,637,888.573444843,784,816.573444843,652,630,655,0.448392346924,0.00453607079581,0.0596001365894,0.999999810903,8.79329960318e-05,-0.000606512811359,-5.10384205842e-05,1793249768548463616
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,717,682,662,637,888.000577866,784,816.000577866,652,630,655,0.448064062344,0.00453575143857,0.0596107927965,0.999999821234,9.43369466789e-05,-0.000588492348907,-4.80589087077e-05,1793249768565130240
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,717,682,662,637,888.588700597,784,816.588700597,652,630,655,0.447700785449,0.00453872802707,0.0596322817419,0.999999841192,0.000103182013145,-0.000552196517853,-4.52569147187e-05,1793249768581796864
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.825491712,746,717,682,662,637,888.825491712,784,816.825491712,652,630,655,0.447320756875,0.00454108574914,0.0596534731465,0.999999857862,0.000111851651894,-0.000519617128856,-4.20024615089e-05,1793249768598463488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766.245068999,746,717,682,662,637,888.245068999,784,816.245068999,652,630,655,0.446901763164,0.00454200395857,0.0596739724545,0.999999869225,0.000120113236588,-0.000495682363998,-3.76955675213e-05,1793249768615130112
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.333231675,746.333231675,717,682,662,637,888,784,816.333231675,652,630,654.666768325,0.446448523053,0.00454344530097,0.0596812100441,0.999999870731,0.000130089666793,-0.00049038949954,-3.36566959125e-05,1793249768631796992
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.90998167,746.90998167,717,682,662,637,888,784,816.90998167,652,630,654.09001833,0.445970256389,0.00454526893743,0.059678756266,0.999999865209,0.000141319268952,-0.000498719720131,-2.98136886744e-05,1793249768648463616
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746.516694226,717.483305774,682,662.483305774,637.483305774,888.483305774,784,816.516694226,652,630,654.483305774,0.445439404551,0.00454623140475,0.0596636593959,0.999999850838,0.000151473219836,-0.000524109839052,-2.62339014716e-05,1793249768665130240
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,745.942153582,717.942153582,681.942153582,663,638,888.942153582,784,816,652,629.942153582,654.942153582,0.444899115206,0.00454733221383,0.0596487832168,0.999999836803,0.000161698376378,-0.000547478563529,-2.26840078933e-05,1793249768681797120
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,745.350540793,717.350540793,681.350540793,663,638,888.350540793,784,816,652,629.350540793,654.350540793,0.444361481426,0.00455117916277,0.0596575193335,0.999999847802,0.00017441621647,-0.000523081919183,-1.89607547107e-05,1793249768698463744
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,745.234999196,717,681.234999196,663.234999196,638.234999196,888.234999196,784,816.234999196,652,629,654,0.443819341844,0.00455361031481,0.0596801049093,0.99999986651,0.000187278640888,-0.000481354884926,-1.43159069799e-05,1793249768715130368
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,745.811708743,717,681.811708743,663.811708743,638.811708743,888.811708743,784,816.811708743,652,629,654,0.443270650444,0.00455398276829,0.0597228288664,0.99999989402,0.000200351302948,-0.000414427876943,-8.33097656552e-06,1793249768731796992
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,717.389459909,681.610540091,664,638.610540091,888.610540091,784,816.610540091,652,629.389459909,654.389459909,0.442671867147,0.00455521993514,0.0597480573602,0.999999906048,0.000212245390697,-0.000377951251551,-3.07411494461e-06,1793249768748463616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,717.967715998,681.032284002,664,638.032284002,888.032284002,784,816.032284002,652,629.967715998,654.967715998,0.442048801113,0.00455687628396,0.0597648046804,0.999999911555,0.000223568147757,-0.000356235880607,1.82980488637e-06,1793249768765130496
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.5540565,664,638.5540565,887.4459435,784.5540565,816.5540565,652,630,655,0.441341581263,0.00455749642238,0.05975328472,0.999999897455,0.000237754239494,-0.000385355747666,8.00071858357e-06,1793249768781796864
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.13900474,639,886.86099526,785,816.86099526,652,630,654.86099526,0.44063073442,0.00455810994543,0.0597458094176,0.999999885958,0.000251294336339,-0.000405882829371,1.39415047015e-05,1793249768798463744
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.718032369,639,886.281967631,785,816.281967631,652,630,654.281967631,0.439924158409,0.00455889648648,0.0597564286887,0.999999889502,0.000262253555608,-0.000389693825773,1.89166575016e-05,1793249768815130368
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,717.703823682,681.703823682,665.296176318,639,886,785,816,652,630,654.296176318,0.439217235396,0.00455987191155,0.0597812774057,0.999999901368,0.000273241315584,-0.000349327725942,2.39603348119e-05,1793249768831797248
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,717.126518448,681.126518448,665.873481552,639,886,785,816,652,630,654.873481552,0.438509982927,0.00456102662435,0.0598196326348,0.999999918275,0.000284256166745,-0.000286012857795,2.90690557223e-05,1793249768848463872
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,717,681.448589116,666,638.551410884,885.551410884,785,816,652,630,654.551410884,0.437714885861,0.0045650841318,0.0598099926044,0.999999907636,0.000296131930063,-0.000309781992309,3.27015013519e-05,1793249768865130240
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766.976414259,746,717.023585741,682,665.952828518,638,885.023585741,785,816,652,630,654,0.436894055929,0.00456977780003,0.0597860933021,0.9999998884,0.000305839177119,-0.000358364136636,3.5189508434e-05,1793249768881797120
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766.38933099,746,717.61066901,682,664.77866198,638,885.61066901,785,816,652,630,654,0.436047463136,0.00457020585781,0.0597433470728,0.999999880065,0.000257964689355,-0.000415831403734,2.02342534584e-05,1793249768898464768
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766.195993278,745.804006722,717.804006722,681.804006722,664.587979835,638.195993278,885.804006722,785,815.804006722,652,630,654,0.435214979539,0.00456939660559,0.0597217356154,0.999999879338,0.000227420774258,-0.000435279498404,1.16665334667e-05,1793249768915132160
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766.777854424,745.222145576,717.222145576,681.222145576,666.333563273,638.777854424,885.222145576,785,815.222145576,652,630,654,0.434410273911,0.00456615136075,0.0597417339005,0.999999901044,0.000230996968397,-0.0003798761635,1.56744728674e-05,1793249768931798784
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,766.504639212,746,718,681,665.495360788,639,885.495360788,785,815,652,630,654.495360788,0.431884432519,0.00457721144643,0.0597908770979,0.999999917098,0.00026078654955,-0.000311594463893,2.65271261363e-05,1793249768981797888
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,717.918424096,681,665.081575904,638.918424096,884.918424096,785,815,652,630,654,0.431027201772,0.00457800459152,0.0598012872187,0.999999921046,0.000262917243472,-0.000296554574016,2.89388846433e-05,1793249768998464256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,717.324424033,681,665.675575967,638.324424033,884.324424033,785,815,652,630,654,0.430143465545,0.00457679722351,0.0598226655973,0.999999932376,0.000253620380035,-0.000264734530869,2.90042316232e-05,1793249769015130880
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746,717,681,665.477056989,638.261471505,883.738528495,785,815,652,630,654,0.429227167939,0.00457738326673,0.0598139168466,0.999999927136,0.000249134688658,-0.000287714410154,2.96623282047e-05,1793249769031798016
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,717,681,664.324772702,638.837613649,883.162386351,785,815,652,630,654,0.428271683881,0.00458012760944,0.0597689112876,0.999999897228,0.000250439050583,-0.000376643827937,3.10337754086e-05,1793249769048464896
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766.587208419,746,717,681,664,639,883,785,815,652,630,654.412791581,0.427375186336,0.00457857990085,0.0597512542217,0.999999893781,0.000242596606153,-0.000390729262559,3.02468774997e-05,1793249769065131520
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.012408944,746,717,681,664,639,883,785,815,652,630,654.987591056,0.426501839226,0.00457534769507,0.0597443305939,0.999999902394,0.00023116432424,-0.000375440750289,2.86128960415e-05,1793249769081798144
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.575611034,746,717.575611034,681,665.151222067,639,882.424388966,785,814.424388966,652,630,654.424388966,0.425635155259,0.00457638866228,0.0597743699057,0.99999991428,0.000228924734216,-0.000343638335271,3.07562132915e-05,1793249769098464768
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,665.514994397,639,882,785.161668534,814.161668534,651.838331466,630,654.161668534,0.424755227884,0.0045775761686,0.0598015033718,0.999999923948,0.000226776226629,-0.000315598512379,3.27812814547e-05,1793249769115131392
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,663.774329947,639,882,785.741890018,814.741890018,651.258109982,630,654.741890018,0.423840633315,0.00457889895584,0.0598190022392,0.999999929774,0.000224338401083,-0.000298243229751,3.42844317445e-05,1793249769131797760
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.680411281,745.680411281,718,680.680411281,663.639177438,638.680411281,882,785.680411281,815,651.319588719,630,654.680411281,0.422959073399,0.00457862508143,0.0598318400206,0.999999937393,0.00021847712915,-0.00027617553623,3.47801064475e-05,1793249769148464384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.104734128,745.104734128,718,680.104734128,664.790531744,638.104734128,882,785.104734128,815,651.895265872,630,654.104734128,0.422103984402,0.00457707179202,0.0598409428439,0.99999994605,0.000209872628312,-0.0002503317592,3.44684845946e-05,1793249769165130752
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.469481199,718,680,665,638,882,785,814.530518801,652,630,654,0.421174144744,0.0045782280182,0.0598068864588,0.999999928193,0.000205859603371,-0.000316234823528,3.50771329479e-05,1793249769181797120
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,746,717.955327258,680,664.910654515,638,881.955327258,785,814,652,629.955327258,654,0.420233788083,0.00457960643447,0.0597636658733,0.999999899151,0.000202067128641,-0.00039949374981,3.56487710539e-05,1793249769198463744
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,746,717.364218572,680,663.728437145,638,881.364218572,785,814,652,629.364218572,654,0.419368132623,0.00457633198298,0.0597257549528,0.999999882462,0.000188482254359,-0.000445470363816,3.32642933649e-05,1793249769215130624
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.222715827,746,717.222715827,680,663.445431654,638,881,785,814,652,629.222715827,654,0.418520673031,0.00457467695329,0.0597169443741,0.999999882639,0.000179318549541,-0.000448919189043,3.2213829211e-05,1793249769231797248
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.802949485,746,717.802949485,680,664.605898971,638,881,785,814,652,629.802949485,654,0.417702422485,0.00457562152354,0.059754847538,0.99999990997,0.000177251989439,-0.000384099667856,3.33048093856e-05,1793249769248464128
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,680,665,638.379199524,881,785,814,652,630,654,0.416908523556,0.00457468469549,0.0597921324786,0.999999929345,0.000171437747378,-0.000332685157229,3.5206018841e-05,1793249769265130496
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,665,638.953400967,881,785,814,652,630,654,0.416127147404,0.00457278036543,0.0598290994981,0.999999944378,0.000163696274159,-0.000288164126325,3.75238855577e-05,1793249769281797120
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.979454158,638.489727079,880.489727079,785,814,652,630,654,0.415346589751,0.00457202506845,0.0598323894985,0.999999945023,0.000159030082768,-0.000288487958959,3.79307944068e-05,1793249769298464256
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.072792927,638,880.072792927,785,814,651.927207073,630,654,0.414570337636,0.0045713970852,0.0598330070741,0.999999943397,0.000164242726,-0.000291165597597,3.81047577541e-05,1793249769315131648
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.688892254,638,880.688892254,785,814,651.311107746,630,654,0.413825681328,0.00457096187911,0.0598358787347,0.999999930487,0.000241161009453,-0.00028184907857,3.77998080404e-05,1793249769331798016
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,664,638,881,785,814,651,630,654,0.413049206971,0.00456979541742,0.0598163942884,0.999999910442,0.000279291380233,-0.000315736629098,3.77168466286e-05,1793249769348465152
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,680,664,638,881,785,814,651,630,654,0.41224027655,0.00456788303595,0.0597741054183,0.999999883184,0.000277856002682,-0.000393694639641,3.7860325168e-05,1793249769365132288
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.132375738,638,880.566187869,784.566187869,813.566187869,651.433812131,630,654,0.411522665352,0.00456711977802,0.0597487056684,0.999999872584,0.000267566948341,-0.000426529337249,3.62425492381e-05,1793249769381798400
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,662.016790123,638.008395062,880,784.008395062,813,652,630,654,0.410835975328,0.00456671104179,0.0597296480018,0.999999868656,0.000254468819997,-0.000443588231703,3.41036947059e-05,1793249769398464256
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.200401812,638.600200906,880,784.600200906,813,652,630,654,0.410242448311,0.00456507162916,0.0597711384109,0.999999897014,0.000245461191819,-0.000380088958177,3.54004563983e-05,1793249769415130880
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.812957144,746,718,680,663.812957144,638.812957144,880,784.812957144,813.187042856,652,630,654,0.409650246042,0.0045632186066,0.0598095630054,0.999999919959,0.000236251373555,-0.000320808819972,3.67195361598e-05,1793249769431797504
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.236450978,746,718,680,663.236450978,638.236450978,880,784.236450978,813.763549022,652,630,654,0.409060802072,0.00456092080208,0.0598416039244,0.999999937062,0.000226620551871,-0.000270313816068,3.80850873549e-05,1793249769448464128
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.340380064,745.659619936,718,679.659619936,663,638,880.340380064,784,813.659619936,652,629.659619936,654,0.408466898288,0.00455883626945,0.0598505905153,0.999999943264,0.000216965290541,-0.000254840529956,3.81384747113e-05,1793249769465130752
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.917436968,745.082563032,718,679.082563032,663,638,880.917436968,784,813.082563032,652,629.082563032,654,0.407869893493,0.00455690003153,0.0598435467133,0.999999943046,0.000207293036402,-0.000263718936323,3.72794737203e-05,1793249769481797632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.502613706,718,679,663,638,880.497386294,784.502613706,813,652,629.502613706,654,0.407323792134,0.00455455244257,0.0598262643753,0.999999936797,0.000198865337559,-0.000292389540054,3.69777408802e-05,1793249769498464512
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.088012169,879.911987831,785,813,652,630,654,0.406795745119,0.0045524105392,0.059810877972,0.999999930709,0.000190898719752,-0.000317491207173,3.65997333803e-05,1793249769515131392
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.66708354,879.33291646,785,813,652,630,654,0.406321011203,0.00455179945028,0.059815607756,0.999999936104,0.000184345288691,-0.000304242352145,3.52770209642e-05,1793249769531797760
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.245508992,639,879.245508992,784.754491008,813,652,630,654,0.405859873803,0.00455016931116,0.0598203919539,0.999999940897,0.00017795593626,-0.000292143658312,3.44925772452e-05,1793249769548464128
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.823060812,639,879.823060812,784.176939188,813,652,630,654,0.40541712528,0.00454716094025,0.0598252497443,0.999999945002,0.000171788495328,-0.000281600520747,3.44361243293e-05,1793249769565130752
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.594929746,638.594929746,879.594929746,784.405070254,813,652,630,654,0.404984195018,0.00454611251544,0.0598122467161,0.999999940076,0.000169151085523,-0.00030013957827,3.39335229069e-05,1793249769581797632
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.01095145,638.01095145,879.01095145,784.98904855,813,652,630,654,0.404555601164,0.00454592974298,0.0597913550712,0.99999993037,0.000168072789683,-0.000331523415414,3.32338703106e-05,1793249769598464256
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.432520932,718,679.567479068,663,638,879.567479068,785,813.567479068,652,630,654,0.404161693853,0.00454369384595,0.0597670473882,0.999999915497,0.000165556220001,-0.000374882214756,3.25785657912e-05,1793249769615130880
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.854117148,745,718,680,663,638,880,785,813.854117148,652,629.854117148,654,0.403793934156,0.00454153118841,0.0597517434419,0.999999905886,0.000163686284592,-0.000400523565388,3.18666712781e-05,1793249769631797760
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.275478007,745,718,680,663,638,880,785,813.275478007,652,629.275478007,654,0.40350177382,0.00453970219215,0.0597633424226,0.999999916565,0.000163816108114,-0.000372927840398,3.0984390287e-05,1793249769648464384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.303095228,745.303095228,718,680,663.303095228,638,880,785,813,652,629.303095228,654,0.403232772739,0.0045378899539,0.0597817770798,0.999999928092,0.000166839876589,-0.000339167632136,3.07581973304e-05,1793249769665131008
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.881608542,745.881608542,718,680,663.881608542,638,880,785,813,652,629.881608542,654,0.402984816145,0.00453609294351,0.0598064232131,0.999999939697,0.000172493329292,-0.000299805851852,3.11281817572e-05,1793249769681797632
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.5440979,718,679.0881958,663.5440979,638.4559021,879.5440979,785,813,652.4559021,630,654,0.402751691469,0.00453325675207,0.0598235049957,0.999999947175,0.000171938021398,-0.000274011334537,3.1717672453e-05,1793249769698464000
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,718,678.030108866,663,638.969891134,879,784.969891134,813,652.939782269,630,654,0.402523191349,0.00453028514697,0.0598376140959,0.999999952906,0.000169919892321,-0.000253516139361,3.23337328207e-05,1793249769715130624
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.622987682,663,638.377012318,879,784.377012318,813,651.754024636,630,654,0.402309798044,0.00452978025962,0.0598325396956,0.999999949357,0.000170419862622,-0.000266822114931,3.23907350122e-05,1793249769731797248
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,663,638,879.210174545,784,813,651.210174545,629.789825455,654,0.402109023919,0.00452971891099,0.0598276051044,0.99999994568,0.0001707197661,-0.000280085598949,3.23685703011e-05,1793249769748463872
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,663,638,879.787420314,784,813,651.787420314,629.212579686,654,0.401930289297,0.00453043220571,0.0598229146914,0.999999941912,0.000170670251524,-0.000293274869831,3.22081400731e-05,1793249769765130752
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,663.363082395,638,880,784,813,652,629.363082395,654,0.40177580003,0.00452938756817,0.0598214561091,0.999999940661,0.000167919791667,-0.00029907628546,3.21761710156e-05,1793249769781797888
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,663.937821329,638,880,784,813,652,629.937821329,654,0.40163544442,0.00452731815543,0.0598218815012,0.999999940928,0.000163594833185,-0.000300570999796,3.22190875552e-05,1793249769798465024
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.524968554,718,679,663.475031446,638,880,784,813,652,630,654,0.401520473409,0.00452683792092,0.0598218474601,0.999999941815,0.000161433611108,-0.000298806571254,3.19931710965e-05,1793249769815131904
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.111533851,638,879.888466149,784,813,652.111533851,630,654.111533851,0.40141361377,0.00452630851851,0.0598224041421,0.99999994287,0.00015958661521,-0.000296286724864,3.17237821808e-05,1793249769831798272
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.689373174,638,879.310626826,784,813,652.689373174,630,654.689373174,0.401327791956,0.00452476755674,0.0598256635588,0.999999944323,0.000157955949652,-0.000292261559901,3.14089878391e-05,1793249769848464640
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.732725944,745.732725944,718,679,663.732725944,638,879,784,813,652.732725944,630,654.732725944,0.401250049401,0.00452443411674,0.0598258100501,0.999999944546,0.000156631226554,-0.000292247312992,3.10854535677e-05,1793249769865131008
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.154753539,745.154753539,718,679,663.154753539,638,879,784,813,652.154753539,630,654.154753539,0.401181698755,0.00452550438593,0.0598223378556,0.999999943338,0.000155662152805,-0.000296895642409,3.07517594003e-05,1793249769881797632
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.842636904,745.421318452,718,679,663.421318452,638,879,784,813,652,630,654,0.401126516721,0.00452488020205,0.0598207679455,0.999999942933,0.00015333705664,-0.00029948922718,3.04620849736e-05,1793249769898464000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.993391058,745.996695529,718,679,663.996695529,638,879,784,813,652,630,654,0.401076149902,0.00452363642716,0.0598198936218,0.999999942816,0.00015051611953,-0.00030133147724,3.01885067413e-05,1793249769915130368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.415039585,746,718,679,663.415039585,638,879,784,813.584960415,652,630,654,0.401041253079,0.00452369971728,0.059818742277,0.999999941975,0.000148792145499,-0.000304988504273,2.98662485769e-05,1793249769931796992
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4415e47ba6bdb2cd46adfbe995a8bf48cab1b2d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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+192,3.200000000,pose1_to_pose2_press,0.613081569233,0.0101501296408,1.05003351819,0.583652245401,0.0188227555286,1.0497049107
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa7655f7aab645a15fe417640960cf2eddc6843b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19f71fe47078626cc842cd16420af0ce0b0df66463fa7d54d0d36e3028796132
+size 25588621
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e66d72db98819aab66abe401dc19fe4b7a42e7f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+9,0.150000000,BASELINE,767,746,718,679,664,638,879.207726254,784,813,652,630,654,0.400954464746,0.00452185893799,0.0598366722814,0.999999951311,0.00014061261575,-0.000277210153847,2.75777415479e-05,1793249770668221696
+10,0.166666667,BASELINE,767,746,718,679,664,638,879.801059613,784,813,652,630,654,0.400954421487,0.00452066136621,0.0598368602485,0.999999951176,0.000139017351824,-0.000278463795685,2.79189847245e-05,1793249770684888320
+11,0.183333333,BASELINE,767,746,718,679,664,638,879.230398115,784,813,652,630,654,0.400952822322,0.00451995040854,0.0598358355283,0.999999950785,0.000138155226479,-0.000280307383394,2.77606689668e-05,1793249770701554944
+12,0.200000000,BASELINE,767,746,718,679,664,638,878.072592206,784,813,652,630,654,0.400950438324,0.00451948490957,0.059834199102,0.999999950262,0.000137662912126,-0.000282448552816,2.73503647872e-05,1793249770718221568
+13,0.216666667,BASELINE,766.460812791,745.460812791,718,679,664,638,878.539187209,784,813,652,630,654,0.400951230377,0.00451991890398,0.0598354812509,0.999999950491,0.000140647646331,-0.000280132681915,2.7585880308e-05,1793249770734888960
+14,0.233333333,BASELINE,766,745.117230436,718,679.117230436,663.882769564,638,879,784,813,652,630,654,0.400952333946,0.00452034258062,0.0598367418432,0.999999950796,0.000142850119492,-0.000277902159238,2.78037805728e-05,1793249770751556608
+15,0.250000000,BASELINE,766,745.706502709,718,679.706502709,663.293497291,638,879,784,813,652,630,654,0.400953836403,0.00452048243436,0.0598371295216,0.999999951254,0.000140966191158,-0.000277215798105,2.77768003912e-05,1793249770768222976
+16,0.266666667,BASELINE,766.290222742,746,717.709777258,679.709777258,663,638.290222742,879.290222742,784,813,652,630,654,0.400953912901,0.00452104558632,0.0598369675056,0.999999951291,0.000139895384244,-0.000277646051496,2.7571830892e-05,1793249770784889344
+17,0.283333333,BASELINE,766.868433257,746,717.131566743,679.131566743,663,638.868433257,879.868433257,784,813,652,630,654,0.400952574422,0.00452202877671,0.0598362600283,0.99999995091,0.000139631437114,-0.000279184320547,2.71902427502e-05,1793249770801556224
+18,0.300000000,BASELINE,767,745.554987211,717.445012789,679,663.445012789,638.554987211,880,784,813,652,630,654,0.400954140494,0.00452108350591,0.0598371416697,0.999999951667,0.000138279839606,-0.00027713645429,2.72210821329e-05,1793249770818222848
+19,0.316666667,BASELINE,767,745.020958358,718,679,664,638,879.979041642,784,813,652,630,654,0.400956418773,0.00451962622957,0.0598383977835,0.999999952676,0.000136731487134,-0.000274234032697,2.73713396209e-05,1793249770834889472
+20,0.333333333,BASELINE,767,745.592868206,718,679,664,638,879.407131794,784,813,652,630,654,0.40095492792,0.00451964256052,0.0598371925528,0.999999951777,0.000138433148074,-0.000276636605541,2.74671905929e-05,1793249770851556352
+21,0.350000000,BASELINE,767,746,718,679,664,638,879,784,813,652,630,654,0.40095347543,0.00451941605245,0.0598362222491,0.99999995118,0.000138891003678,-0.00027855078757,2.75574470478e-05,1793249770868222976
+22,0.366666667,BASELINE,767,746,718,679,664,638,879,784,813,652,630,654,0.400952117729,0.00451858954058,0.0598358324004,0.99999995134,0.000136275679212,-0.000279258258881,2.76338806213e-05,1793249770884889088
+23,0.383333333,BASELINE,767,745.651264065,718,678.651264065,664,638,879.348735935,784,813.348735935,652,630,654,0.400952886073,0.00451910950414,0.0598364958095,0.99999995152,0.000136882548749,-0.00027832966328,2.74889191512e-05,1793249770901555456
+24,0.400000000,BASELINE,767,745.071531465,718,678.071531465,664,638,879.928468535,784,813.928468535,652,630,654,0.400955062673,0.00452052134969,0.0598378568784,0.999999951707,0.000139623743717,-0.000276317365265,2.71973094332e-05,1793249770918222080
+25,0.416666667,BASELINE,767,745.50428503,718,678.50428503,664,638,880,784,813.49571497,652,630,654,0.400954054904,0.00452017137254,0.0598373269473,0.999999951471,0.000139186373807,-0.000277392872839,2.71728978359e-05,1793249770934888960
+26,0.433333333,BASELINE,767,746,718,679,663.920687959,638,880.079312041,784,813,652,630,654,0.40095280703,0.00451959707108,0.0598366454207,0.999999951257,0.00013816815449,-0.00027866472231,2.72162546664e-05,1793249770951555840
+27,0.450000000,BASELINE,767,746,718,679,663.347145509,638,880.652854491,784,813,652,630,654,0.400952855979,0.00451917020406,0.0598366778373,0.999999951564,0.000136318327239,-0.000278451739371,2.7447547325e-05,1793249770968222464
+28,0.466666667,BASELINE,767,746,718,679,663.234486773,638.234486773,880.765513227,784,813,652,630,654,0.400952669166,0.00451906081233,0.0598363272585,0.99999995155,0.000135931571372,-0.000278689937549,2.74681977096e-05,1793249770984889088
+29,0.483333333,BASELINE,767,746,718,679,663.828523554,638.828523554,880.171476446,784,813,652,630,654,0.400952120848,0.00451943822097,0.0598353894138,0.999999951045,0.00013778821433,-0.000279619953753,2.7165860007e-05,1793249771001555456
+30,0.500000000,BASELINE,767,746,718,679.410002694,664,638.589997306,879.589997306,784,813,652,630,654,0.400952440133,0.0045194627814,0.0598357979837,0.999999951269,0.00013733769322,-0.000279028308409,2.72690670806e-05,1793249771018222080
+31,0.516666667,BASELINE,767,746,718,679.986385887,664,638.013614113,879.013614113,784,813,652,630,654,0.400953111495,0.00451934415482,0.0598367529332,0.999999951788,0.00013595091698,-0.000277819167574,2.75368456213e-05,1793249771034888448
+32,0.533333333,BASELINE,766.432350646,746,718,679.432350646,664,638,879,784,813,652.567649354,630,654,0.400952634843,0.00452003792237,0.0598371399409,0.999999951604,0.000137995908076,-0.000277488598205,2.73817738996e-05,1793249771051555072
+33,0.550000000,BASELINE,766,746,717.854292557,679.145707443,664,638,879,784,813,653,630,654,0.400952507145,0.00452056762283,0.0598374115975,0.999999951436,0.000139655494036,-0.000277267753551,2.73367339852e-05,1793249771068221952
+34,0.566666667,BASELINE,766,746,717.285876133,679.714123867,664,638,879,784,813,653,630,654,0.400953472364,0.00452056433684,0.0598373884699,0.999999951376,0.000139956143914,-0.000277303570238,2.76405812089e-05,1793249771084889088
+35,0.583333333,BASELINE,766.294735755,746,717.294735755,679.705264245,664.294735755,638,879.294735755,784,813,652.705264245,630,654,0.400953366392,0.00451932193842,0.0598367324663,0.999999951342,0.000138528422717,-0.000278121069898,2.78284613139e-05,1793249771101555968
+36,0.600000000,BASELINE,766.887687166,746,717.887687166,679.112312834,664.887687166,638,879.887687166,784,813,652.112312834,630,654,0.400952176583,0.00451682579754,0.0598354361142,0.999999951326,0.000135351923862,-0.000279729481746,2.789900513e-05,1793249771118222848
+37,0.616666667,BASELINE,767,746,718,678.53242039,664.53242039,638,879.53242039,784,813,652,630,654,0.400952398331,0.00451859798066,0.0598358934482,0.999999951095,0.000138215362668,-0.00027917363248,2.77197533175e-05,1793249771134889216
+38,0.633333333,BASELINE,766.955666664,746,718,678.044333336,664.044333336,638,879.044333336,784,813,652,629.955666664,654,0.400952924763,0.00452105106674,0.059836699724,0.999999950864,0.000141936542278,-0.000278155621795,2.74982934493e-05,1793249771151555328
+39,0.650000000,BASELINE,766.379957336,746,718,678.620042664,664.620042664,638,879.620042664,784,813,652,629.379957336,654,0.400953149627,0.00451971067935,0.0598367766636,0.999999951412,0.000139021876979,-0.000277659843788,2.74705587384e-05,1793249771168222208
+40,0.666666667,BASELINE,766.200890081,746,718,679,664.799109919,638,879.799109919,784,813,652,629.200890081,654,0.400953202714,0.00451899998819,0.0598367207597,0.999999951663,0.00013738760932,-0.000277573230961,2.74332187431e-05,1793249771184888832
+41,0.683333333,BASELINE,766.791710566,746,718,679,664.208289434,638,879.208289434,784,813,652,629.791710566,654,0.400952922377,0.00451951154614,0.0598364070047,0.99999995135,0.000138238611243,-0.000278280813404,2.73772347606e-05,1793249771201555456
+42,0.700000000,BASELINE,767,745.626790228,718,679,663.626790228,638,879.373209772,784,813,652,630,654,0.400953497513,0.00452029804946,0.0598373404719,0.999999951569,0.000138844153827,-0.000277204692154,2.72381901539e-05,1793249771218222080
+43,0.716666667,BASELINE,767,745.050366509,718,679,663.050366509,638,879.949633491,784,813,652,630,654,0.400954538457,0.00452123426144,0.0598389530556,0.999999952074,0.000139316042968,-0.000275157338358,2.70539187663e-05,1793249771234889216
+44,0.733333333,BASELINE,767,745.522705517,718,679,663.522705517,638,880,784,813,652,630,654,0.400954525928,0.00452039565941,0.0598387556514,0.999999952234,0.000138469486678,-0.000275001428104,2.70811196233e-05,1793249771251555840
+45,0.750000000,BASELINE,767,746,718,679,663.903486797,638,880,783.903486797,813,652,630,654,0.400954252203,0.00451956452128,0.0598382668057,0.999999952203,0.000137874481869,-0.000275404229313,2.71321558568e-05,1793249771268222208
+46,0.766666667,BASELINE,767,746,718,679,663.324396358,638,880,783.324396358,813,652,630,654,0.400953176798,0.00451962035735,0.0598371872112,0.999999951389,0.000139168440989,-0.000277695165514,2.72011340101e-05,1793249771284888832
+47,0.783333333,BASELINE,767,746,718,679,663.259137524,638,880,783.259137524,813,652,630,654,0.40095300436,0.00451942135324,0.0598368791168,0.999999951216,0.000139688081233,-0.000278041129141,2.73498977781e-05,1793249771301555200
+48,0.800000000,BASELINE,767,746,718,679,663.848330969,638,880,783.848330969,813,652,630,654,0.400953982005,0.0045188977666,0.0598375536593,0.999999951865,0.000139221494244,-0.00027590983813,2.76002821705e-05,1793249771318221568
+49,0.816666667,BASELINE,766.569815108,746,718,679,664,638,879.569815108,784,813,652,630,654,0.400955106353,0.00451841055213,0.0598381323745,0.999999952422,0.000136978042756,-0.000275032786684,2.73999444491e-05,1793249771334888192
+50,0.833333333,BASELINE,766.009383038,746,718,679,663.990616962,638,879.009383038,784,813,652,630,654,0.400956240983,0.00451795282036,0.0598386546318,0.999999952928,0.000134173483674,-0.00027460828501,2.70480941566e-05,1793249771351555072
+51,0.850000000,BASELINE,766.581890945,746,718,679,663.418109055,638,879.581890945,784,813,652,630,654,0.400954940607,0.00451850779545,0.0598377821893,0.999999952688,0.000134660587107,-0.000275249904364,2.69802031358e-05,1793249771368222720
+52,0.866666667,BASELINE,767,746,718,679,663.159760293,638,880.159760293,784,813,652,630,654,0.400953872426,0.00451910323494,0.0598372031878,0.999999952419,0.00013555771614,-0.000275786884671,2.69849316748e-05,1793249771384889856
+53,0.883333333,BASELINE,767,746,718,679,663.75214828,638,880.75214828,784,813,652,630,654,0.400953433024,0.00451980825121,0.0598374188183,0.999999952069,0.000137565186305,-0.000276040504483,2.71863125398e-05,1793249771401556224
+54,0.900000000,BASELINE,767,745.663114846,718,679,664,638,880.663114846,784,813,652,630,654.336885154,0.400953134565,0.00451914373692,0.0598374452145,0.999999952077,0.000136738279879,-0.000276409204988,2.73182740638e-05,1793249771418222592
+55,0.916666667,BASELINE,767,745.083882038,718,679,664,638,880.083882038,784,813,652,630,654.916117962,0.400952937498,0.00451749401292,0.0598373354797,0.999999952338,0.000133872386165,-0.000276860691959,2.74002968555e-05,1793249771434888704
+56,0.933333333,BASELINE,767,745.491009114,718,679.491009114,663.508990886,638,880,784,813,652,630,654.508990886,0.4009528185,0.00451742611229,0.0598370878368,0.999999952191,0.000134665274512,-0.000277030563557,2.71611860908e-05,1793249771451555072
+57,0.950000000,BASELINE,767,746,717.933430648,679.933430648,663.066569352,638,880,784,813,652,630,654,0.400952845067,0.00451787700503,0.0598369728498,0.999999951956,0.000136457443214,-0.000277027149483,2.69041089585e-05,1793249771468221696
+58,0.966666667,BASELINE,767,746,717.34690205,679.34690205,663.65309795,638,880,784,813,652,630,654,0.400953905366,0.00452028785537,0.0598380764171,0.999999951567,0.000141215423553,-0.000276042721171,2.69314537873e-05,1793249771484888576
+59,0.983333333,BASELINE,767,745.763479952,717.236520048,679,664,638,880,784,813,652.236520048,630,654,0.400954587995,0.00452134533188,0.0598386964416,0.999999951543,0.00014239593537,-0.000275518236485,2.69556503322e-05,1793249771501555200
+60,1.000000000,BASELINE,767,745.184554979,717.815445021,679,664,638,880,784,813,652.815445021,630,654,0.40095472388,0.00452044355891,0.0598386164518,0.999999952065,0.000138397424566,-0.000275659602032,2.69752891792e-05,1793249771518221824
+61,1.016666667,BASELINE,767,745.394487111,718,679,664,638,880,784,813,652.605512889,630,654,0.40095515812,0.004520498633,0.0598386057503,0.999999952351,0.000138124416734,-0.000274778974696,2.67569755923e-05,1793249771534888448
+62,1.033333333,BASELINE,767,745.973583974,718,679,664,638,880,784,813,652.026416026,630,654,0.400955731982,0.00452100148679,0.0598386274738,0.999999952528,0.000139594848054,-0.000273420081148,2.64273064273e-05,1793249771551555328
+63,1.050000000,BASELINE,767,745.453139078,718,679,664,638,879.453139078,784,813,652,630,654,0.400955040701,0.00451926166516,0.0598384021284,0.999999952423,0.000138472051937,-0.000274321897216,2.69782851961e-05,1793249771568222208
+64,1.066666667,BASELINE,767,745.123085414,718,679,664,638,879.123085414,784,813,652,630,654,0.400954519468,0.0045181206858,0.059838181344,0.999999952277,0.000137919115626,-0.000275086150226,2.74133825634e-05,1793249771584888832
+65,1.083333333,BASELINE,767,745.711504943,718,679,664,638,879.711504943,784,813,652,630,654,0.400954869728,0.0045196489221,0.059838022448,0.999999952039,0.000139989168217,-0.000274921831341,2.72512505251e-05,1793249771601555200
+66,1.100000000,BASELINE,767,746,718,679,664,638,880,784,813,652,630,654,0.400954557498,0.00451959339664,0.0598378775848,0.999999952088,0.000139236324367,-0.000275133105894,2.71941760501e-05,1793249771618221568
+67,1.116666667,BASELINE,767,746,718,679,664,638,880,784,813,652,630,654,0.400953608023,0.00451801446293,0.0598377462197,0.999999952406,0.000135768158202,-0.000275705660871,2.72381556396e-05,1793249771634888448
+68,1.133333333,BASELINE,767,746,718,679,664,638,879.544103889,784,813,652,630,654,0.400953453457,0.00451905043165,0.0598382309607,0.999999952416,0.000136624891463,-0.000275261623294,2.70670215383e-05,1793249771651555328
+69,1.150000000,BASELINE,767,746,717.968753084,679,664,638,879,784,813,652,629.968753084,654,0.400953507132,0.0045207088948,0.059838807123,0.99999995233,0.000138594700016,-0.000274609808992,2.68496575914e-05,1793249771668221952
+70,1.166666667,BASELINE,767,746,717.393971574,679,664,638,879,784,813,652,629.393971574,654,0.400953559079,0.0045212740157,0.059838164672,0.999999952005,0.00014020873906,-0.000274978471856,2.68088521138e-05,1793249771684889344
+71,1.183333333,BASELINE,767,746,717.185658013,679,664,638,879.185658013,784,813,652,629.185658013,654,0.400954001082,0.00452135937067,0.059838023012,0.999999951915,0.000140918500648,-0.000274943667579,2.67871666121e-05,1793249771701556224
+72,1.200000000,BASELINE,767,746,717.775851316,679,664,638,879.775851316,784,813,652,629.775851316,654,0.400955292987,0.00452039935072,0.0598389725389,0.999999952342,0.000139657907812,-0.000274029737853,2.68071421378e-05,1793249771718222336
+73,1.216666667,BASELINE,766.640930882,745.640930882,718,679,664,638,879.640930882,784,813,652,630,653.640930882,0.400955502041,0.00451968877142,0.0598391927197,0.999999952512,0.000138899561242,-0.000273775322231,2.70319233935e-05,1793249771734888704
+74,1.233333333,BASELINE,766.061984587,745.061984587,718,679,664,638,879.061984587,784,813,652,630,653.061984587,0.400955048007,0.00451913093801,0.0598389662828,0.999999952524,0.000138448766933,-0.000273924762336,2.73821181225e-05,1793249771751555328
+75,1.250000000,BASELINE,766.513779153,745.513779153,718,679,664,638,879.513779153,784,813,652,630,653.513779153,0.400954842028,0.00452019683703,0.0598388841146,0.999999952435,0.000138305582122,-0.000274341314424,2.71781363135e-05,1793249771768221952
+76,1.266666667,BASELINE,766.909200386,745.909200386,718,679,664,638.090799614,879.909200386,784,813,652.090799614,630,654,0.400954666503,0.00452096744413,0.0598388423887,0.999999952416,0.000137875098423,-0.000274646719991,2.69703994932e-05,1793249771784888832
+77,1.283333333,BASELINE,766.323245761,745.323245761,718,679,664,638.676754239,879.323245761,784,813,652.676754239,630,654,0.40095449486,0.00451906605588,0.0598389268754,0.999999952844,0.000135676763191,-0.00027417136039,2.71045375624e-05,1793249771801555456
+78,1.300000000,BASELINE,766.259416876,745.259416876,718,679,664,639,879.259416876,784,813,652.740583124,630,654,0.400954603022,0.00451838684725,0.0598387817628,0.999999952957,0.000135061026787,-0.000274054832329,2.71596436071e-05,1793249771818222336
+79,1.316666667,BASELINE,766.838028897,745.838028897,718,679,664,639,879.838028897,784,813,652.161971103,630,654,0.400955055467,0.00451921144918,0.0598383541436,0.999999952689,0.000136392572742,-0.000274379822557,2.71175060125e-05,1793249771834889216
+80,1.333333333,BASELINE,767,746,718,679,664,638.582967139,880,784,813,652,630,654,0.40095542189,0.00451857589484,0.0598388712641,0.999999952989,0.000135607434583,-0.000273666205376,2.72049277296e-05,1793249771851555840
+81,1.350000000,BASELINE,767,746,718,679,664,638.003810756,880,784,813,652,630,654,0.400955754871,0.00451737269781,0.0598397556567,0.999999953507,0.000133999425455,-0.000272548824619,2.73427162456e-05,1793249771868221952
+82,1.366666667,BASELINE,767,745.429213684,718,679,663.429213684,638,880,784,813,652,630,654,0.400955580041,0.00451918026476,0.0598392985193,0.999999952962,0.000137717504327,-0.000272696048408,2.73261818016e-05,1793249771884888832
+83,1.383333333,BASELINE,767,745,718,679,663.144492279,638,880,784,813,652,630,654,0.400955129808,0.00452001226373,0.0598389183216,0.999999952624,0.000139334982645,-0.000273117819913,2.72819812199e-05,1793249771901555712
+84,1.400000000,BASELINE,767,745,718,679,663.715656194,638,880,784,813,652,630,654,0.400953876266,0.00451790462034,0.059838791557,0.999999952939,0.000134645423553,-0.000274325570608,2.715910352e-05,1793249771918222080
+85,1.416666667,BASELINE,767,745,718,679,664,638,879.699561213,784,813,652,630,654,0.400953205186,0.00451753701783,0.0598385440269,0.999999952782,0.000133433550602,-0.000275494045709,2.71027243154e-05,1793249771934888448
+86,1.433333333,BASELINE,767,745,718,679,664,638,879.101277557,784,813,652,630,654,0.400953111538,0.00451889443323,0.0598381767739,0.999999952169,0.00013566933854,-0.000276623584244,2.71122694812e-05,1793249771951555328
+87,1.450000000,BASELINE,767,745.478589417,718,679,664.478589417,638,879.957178834,784,813.478589417,652.478589417,630,654,0.40095408791,0.00451882512696,0.0598388191248,0.999999952535,0.000136110536124,-0.000275098852313,2.69166420831e-05,1793249771968222208
+88,1.466666667,BASELINE,767,745.945420373,718,679,664.945420373,638,880.945420373,784,813.945420373,652.945420373,630,654,0.400955231123,0.00451847259101,0.0598395576324,0.999999953062,0.000136028847046,-0.000273235804314,2.67302267311e-05,1793249771984889088
+89,1.483333333,BASELINE,767,745.370611085,718,679,664.370611085,638,880.370611085,784,813.370611085,652.370611085,630,654,0.400955886306,0.00451819155064,0.059839251712,0.999999953249,0.000134448856677,-0.000273303458498,2.70301230759e-05,1793249772001555456
+90,1.500000000,BASELINE,767,745.209424821,718,679.209424821,664,638,879.790575179,784,813,652,630,654,0.400956177329,0.00451801961211,0.0598392130393,0.999999953332,0.000134037773615,-0.000273177896228,2.72829855042e-05,1793249772018222336
+91,1.516666667,BASELINE,767,745.798946755,718,679.798946755,664,638,879.201053245,784,813,652,630,654,0.400955807417,0.00451804568882,0.0598396594098,0.999999953226,0.000135748207597,-0.000272701654332,2.74504833489e-05,1793249772034888704
+92,1.533333333,BASELINE,767,746,718,679.620577012,664,638,879.379422988,784,813,652,629.620577012,654,0.400955653886,0.00451840931583,0.059839418596,0.99999995313,0.000135806784377,-0.00027304490824,2.72646110231e-05,1793249772051554816
+93,1.550000000,BASELINE,767,746,718,679.044782359,664,638,879.955217641,784,813,652,629.044782359,654,0.400955612345,0.00451894764317,0.0598388221277,0.999999953038,0.000135010436972,-0.000273812294961,2.68958507729e-05,1793249772068221440
+94,1.566666667,BASELINE,767,746,718,679,664,638,880,784,813,652,629.533500358,654,0.400955274087,0.00451896473957,0.0598388299107,0.999999952918,0.000135664830771,-0.000273925666942,2.68863109625e-05,1793249772084888320
+95,1.583333333,BASELINE,767,746,718,679,664.113419879,638,880.113419879,784.113419879,813,652,630,654,0.400954783141,0.00451869364762,0.0598385923365,0.999999952743,0.00013607990943,-0.000274355399829,2.69342314151e-05,1793249772101554944
+96,1.600000000,BASELINE,767,746,718,679,664.69928356,638,880.69928356,784.69928356,813,652,630,654,0.400953760414,0.00451740522628,0.0598371204754,0.999999952342,0.000134988507211,-0.000276332662948,2.70953093575e-05,1793249772118222080
+97,1.616666667,BASELINE,767,746,718,679,664.716328917,638,880.432657835,784.716328917,813,652,630,654,0.400953788953,0.00451779565503,0.0598368159218,0.999999952257,0.000135219746288,-0.000276535939445,2.70023002199e-05,1793249772134888960
+98,1.633333333,BASELINE,767,746,718,679,664.133498188,638,879.266996376,784.133498188,813,652,630,654,0.400954926157,0.00451995659989,0.0598377424112,0.999999952505,0.000136845843514,-0.000274868368761,2.66413307278e-05,1793249772151555840
+99,1.650000000,BASELINE,766.55625456,745.55625456,718,679,664,638,879.44374544,784,813,652,630,654,0.400955511403,0.00451980547034,0.0598386700528,0.999999952777,0.000137240384147,-0.000273671045166,2.67494267071e-05,1793249772168222208
+100,1.666666667,BASELINE,766.019546649,745.019546649,718,679,664,638,880,784,813,652,630,654,0.400955919075,0.00451901326199,0.0598395634159,0.999999953041,0.000137278469611,-0.000272661311397,2.69884293295e-05,1793249772184888576
+101,1.683333333,BASELINE,766.601608096,745.601608096,718,679,664,638,880,784,813,652,630,654,0.400955935805,0.00451954041749,0.0598394604564,0.999999952898,0.000137588346111,-0.000273029409358,2.69841346673e-05,1793249772201555200
+102,1.700000000,BASELINE,767,746,718,679.183802903,664,638,879.816197097,784,813,652,630,654,0.400955503511,0.0045200162068,0.0598391914989,0.99999995266,0.00013821599643,-0.000273581257556,2.7001636741e-05,1793249772218222080
+103,1.716666667,BASELINE,767,746,718,679.766286899,664,638,879.233713101,784,813,652,630,654,0.400954097252,0.00452038057922,0.0598385624805,0.999999952215,0.000139532919908,-0.000274531672563,2.70664174298e-05,1793249772234888448
+104,1.733333333,BASELINE,767,746,718,679.653638832,664,638,879,784,813,652,630,654,0.400954613172,0.00451988955499,0.0598389794474,0.999999952473,0.000138955522439,-0.00027387766775,2.71245639686e-05,1793249772251555584
+105,1.750000000,BASELINE,767,746,718,679.075179275,664,638,879,784,813,652,630,654,0.400956417153,0.00451882532512,0.0598400973343,0.999999953199,0.000137108730951,-0.000272148533108,2.7178264936e-05,1793249772268223232
+106,1.766666667,BASELINE,766.499813766,745.499813766,718,679,664,638.500186234,879.500186234,784,813,652,630,654,0.400956080157,0.00451899479365,0.0598394762414,0.999999953084,0.000136483006563,-0.000272903792095,2.69858773445e-05,1793249772284889344
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638,880,784,814,652,630,654,0.40095489959,0.00451661808198,0.0598384818276,0.999999953329,0.000132094155861,-0.000274160798842,2.70009865213e-05,1793249772327775232
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638,879.421664331,784,813.421664331,652,630,654,0.400955330647,0.00451844448908,0.0598392437379,0.999999953175,0.000134870168827,-0.000273376744067,2.69321124893e-05,1793249772344442368
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.843509985,745.843509985,718,679,664,638,879.156490015,784,813,652,629.843509985,653.843509985,0.400955841628,0.00451974128507,0.0598397209466,0.999999953132,0.000136985684266,-0.000272487920818,2.68434411694e-05,1793249772361108992
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.265843522,745.265843522,718,679,664,638,879.734156478,784,813,652,629.265843522,653.265843522,0.400956567716,0.00451961268876,0.0598394319112,0.999999953408,0.000137323540564,-0.000271317124052,2.67014875123e-05,1793249772377775360
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.310720364,745.310720364,718,679,664,638,879.689279636,784,813,652,629.310720364,653.310720364,0.40095635017,0.0045190570166,0.0598388121994,0.99999995325,0.000136937010937,-0.000272079406012,2.68436959269e-05,1793249772394441984
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.886344217,745.886344217,718,679,664,638,879.113655783,784,813,652,629.886344217,653.886344217,0.400955328133,0.00451813724252,0.0598379105707,0.999999952718,0.000135932908766,-0.000274489727112,2.72281656661e-05,1793249772411108608
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638,879,783.538814208,813,652,629.538814208,654,0.400954768377,0.00451729639553,0.0598384582034,0.999999953033,0.000134060573606,-0.000274266381463,2.72079609443e-05,1793249772427775488
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664.037113046,638,879.037113046,783.037113046,813,652,629.037113046,654,0.400954427575,0.00451656018394,0.0598393547221,0.999999953509,0.000132219549616,-0.000273431360648,2.71177762094e-05,1793249772444442368
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664.632258509,638,879.632258509,783.632258509,813,652,629.632258509,654,0.400955668877,0.00451710530175,0.0598401359298,0.999999953333,0.000134061122019,-0.000273141744204,2.74723583421e-05,1793249772461108480
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664.780726161,638,880,784,813,652,629.780726161,654,0.400960164204,0.00451770598784,0.0598420440664,0.999999953922,0.000135193915474,-0.000270415234771,2.74773377426e-05,1793249772477774848
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664.206858358,638,880,784,813,652,629.206858358,654,0.400969921707,0.00451839653494,0.0598457745917,0.999999955719,0.00013518052214,-0.000263747956361,2.69169645812e-05,1793249772494441472
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.632127703,745.632127703,718,679,664,638,879.632127703,784,813,652,629.367872297,654,0.400998593941,0.00451880288049,0.0598570383591,0.999999960934,0.000135495086538,-0.00024300167109,2.68931361844e-05,1793249772511108352
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.056910661,745.056910661,718,679,664,638,879.056910661,784,813,652,629.943089339,654,0.401037927133,0.00451904904091,0.0598725481061,0.999999967417,0.000135994498446,-0.000214320000685,2.71717217278e-05,1793249772527774976
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.532727901,745.532727901,718,679,664,638,879.532727901,784,813,652,630,654,0.401097520974,0.00451813253494,0.0598907702925,0.999999974137,0.000134291430069,-0.000181520732724,2.72576430056e-05,1793249772544441600
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,718,679.12143706,664,638,880.12143706,784,813,652,629.87856294,654,0.401162353437,0.004517173346,0.0599081509448,0.999999979401,0.000132579642737,-0.000151245858989,2.73112531838e-05,1793249772561108480
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,718,679.700673129,664,638,880.700673129,784,813,652,629.299326871,654,0.401238548145,0.00451653451519,0.0599212363785,0.999999982211,0.000131746666758,-0.000132191965699,2.73228058104e-05,1793249772577775360
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,746,718,679.721746415,664.278253585,638.278253585,880.44349283,784,813,652,629.278253585,654,0.401322678058,0.0045160801029,0.059930579335,0.999999984286,0.000130456244521,-0.000116950810052,2.70476493574e-05,1793249772594442240
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,746,718,679.145936459,664.854063541,638.854063541,879.291872919,784,813,652,629.854063541,654,0.401415293643,0.00451582290248,0.0599359201936,0.999999985776,0.000128676642507,-0.000105786887414,2.64658944757e-05,1793249772611108864
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664.124956912,638.562478456,879.437521544,784,813,652.437521544,630,654,0.401524200937,0.00451712398504,0.0599403748502,0.999999986575,0.000129004894261,-9.77562016439e-05,2.55196381545e-05,1793249772627775232
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,718,679,663.023258434,638,879.976741566,784,813.023258434,652.976741566,629.976741566,654,0.401639589963,0.00451885264081,0.0599444195903,0.999999987145,0.000129799326557,-9.09121705509e-05,2.44292157797e-05,1793249772644441344
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,718,679,663.601419988,638,879.398580012,784,813.601419988,652.398580012,629.398580012,654,0.401777665941,0.00451816104106,0.059945862304,0.999999988186,0.000124643337519,-8.70017704807e-05,2.28515486172e-05,1793249772661108224
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.820601307,718,679,664,638,879.358797385,784,813.820601307,652,629.179398693,654,0.401924617626,0.00451780775385,0.059946705072,0.999999989086,0.000120623679643,-8.26328689303e-05,2.12287531428e-05,1793249772677775104
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.243028512,718,679,664,638,880.513942977,784,813.243028512,652,629.756971488,654,0.40209126886,0.00451820534899,0.0599462162647,0.999999989731,0.000119126101267,-7.72463271812e-05,1.95057959169e-05,1793249772694441984
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.333558418,718,679,664,638.333558418,880.666441582,784,813,652,630,654,0.402281276541,0.00451808260133,0.0599480238779,0.999999990749,0.000115602298612,-6.95165351189e-05,1.7502726239e-05,1793249772711108864
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.909429229,718,679,664,638.909429229,880.090570771,784,813,652,630,654,0.402488251451,0.00451758185245,0.0599514997181,0.999999991961,0.000110606551972,-6.00844961733e-05,1.52961696313e-05,1793249772727776000
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.495202192,746,718,679.495202192,664,638.504797808,879.504797808,784.495202192,813,652,630,654,0.402726582452,0.00451701496721,0.0599526770794,0.999999992902,0.00010574764055,-5.32844979399e-05,1.32158581334e-05,1793249772744442624
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.918064093,746,718,679.918064093,664,638,879.081935907,784.918064093,813,652,630,654,0.402975397477,0.00451636525682,0.0599531898937,0.999999993719,0.000100796791509,-4.77343214057e-05,1.10762462886e-05,1793249772761108992
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.336737951,746,718,679.336737951,664,638,879.663262049,784.336737951,813,652,630,654,0.403252444667,0.00451528596485,0.0599522668407,0.999999994344,9.51299436396e-05,-4.68077744521e-05,8.43160335004e-06,1793249772777775360
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,718,679.241757836,664,638.241757836,880.241757836,784,813,652,630,654,0.403541089078,0.00451520384613,0.0599492009738,0.999999994703,9.0073115323e-05,-4.94999899275e-05,5.55247438963e-06,1793249772794441984
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,718,679.816356884,664,638.816356884,880.816356884,784,813,652,630,654,0.403845699999,0.00451649459035,0.059943184978,0.999999994677,8.58561345683e-05,-5.71743532693e-05,2.35051587925e-06,1793249772811108608
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,718,680,664,639,881,784,813,652,630,654,0.404170453659,0.0045161701089,0.0599320192019,0.999999994018,7.76007930581e-05,-7.70741681548e-05,-1.21663420937e-06,1793249772827775232
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,718,680,664,639,881,784,813,652,630,654,0.404504668927,0.00451508691008,0.0599184344279,0.999999992438,6.74485189335e-05,-0.000102716624412,-4.95532505814e-06,1793249772844441856
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,718,679.446149533,664,638.446149533,881.553850467,784.553850467,813,652,630,654,0.404886613234,0.0045153767451,0.0599067173106,0.999999990466,6.26978323901e-05,-0.00012272386759,-8.67163059222e-06,1793249772861108992
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,718,679.143974942,664.143974942,638.143974942,881.712050117,784.856025058,813,652,630,654,0.405290583924,0.00451575816108,0.0599004336512,0.999999989316,5.7621169742e-05,-0.000133771841096,-1.23412398751e-05,1793249772877775872
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,718,679.723692882,664.723692882,638.723692882,880.552614237,784.276307118,813,652,630,654,0.405750860205,0.00451611878815,0.0599101891629,0.999999991533,5.03857429124e-05,-0.000118927295439,-1.58743791271e-05,1793249772894442240
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,718,680,664.698289467,639,880,784.301710533,813,652,629.698289467,654.301710533,0.406245575173,0.00451560589891,0.0599315795898,0.999999995531,4.06477703646e-05,-8.30361787178e-05,-1.97667527602e-05,1793249772911108864
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,718,680,664.121820151,639,880,784.878179849,813,652,629.121820151,654.878179849,0.40677165248,0.00451429752447,0.0599635655878,0.999999998911,2.86308031525e-05,-2.79785756013e-05,-2.39862707912e-05,1793249772927775232
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718,680,664.450911134,638.549088866,880.450911134,784.549088866,813,652,629.450911134,654.549088866,0.407315538816,0.00451257925895,0.0599873859215,0.9999999994,2.03389807491e-05,7.12066526593e-06,-2.71316107394e-05,1793249772944442112
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,718,680,665,638.023413087,881,784.023413087,813,652,630,654,0.407864181908,0.00451084472976,0.060007832977,0.999999998869,1.30715654704e-05,3.45146943187e-05,-2.99944081553e-05,1793249772961108992
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,718,680,665,638.614644608,881,784.614644608,813,652,630,654,0.408412460791,0.0045113793255,0.0599995328844,0.999999999424,6.44148459398e-06,4.73414321273e-06,-3.29851688952e-05,1793249772977775616
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,680,665,639,881,784.79830593,813.20169407,652,630,654,0.40897775894,0.00451143757389,0.059989438508,0.999999999065,3.45298903212e-07,-2.36205967994e-05,-3.62088682301e-05,1793249772994442496
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,680,665,639,881,784.219084409,813.780915591,652,630,654,0.40957491342,0.0045106042036,0.0599759856229,0.999999997978,-4.75155066408e-06,-4.93065266193e-05,-3.98685778255e-05,1793249773011109376
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746.35663741,718,680,665.35663741,639,881.35663741,784,813.64336259,652,630,654,0.41021645275,0.00451026030837,0.05997685202,0.999999998217,-2.77486687186e-06,-4.31558184072e-05,-4.11708909906e-05,1793249773027776256
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746.930230215,718,680,665.930230215,639,881.930230215,784,813.069769785,652,630,654,0.410884992963,0.00451021417849,0.0599864293532,0.999999998996,3.50490245429e-06,-1.76377346035e-05,-4.10391147768e-05,1793249773044442880
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,747,718,680,666,639,882.517638468,784,813.517638468,652.517638468,630,654.517638468,0.411588548684,0.00451346642512,0.059990087743,0.999999998667,3.64366520196e-05,-7.39642736148e-06,-3.58403704879e-05,1793249773061109248
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746.894489413,718,680,666,639,883,784,813.894489413,652.894489413,630,654.894489413,0.412290385383,0.00451625218864,0.0599865781781,0.999999997317,6.49092178006e-05,-1.22014953704e-05,-3.16942782156e-05,1793249773077775360
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746.313153478,718,680,666,639,883,784,813.313153478,652.313153478,630,654.313153478,0.412962601917,0.00451487435703,0.0599544394502,0.999999994931,5.66275248781e-05,-7.53212782645e-05,-3.54597584537e-05,1793249773094441984
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718,680,665.734914516,639,883.530170968,784,813,652,629.734914516,654,0.413663048178,0.00451412925409,0.0599287602647,0.99999999018,5.22511692684e-05,-0.000124108214607,-3.88156783101e-05,1793249773111108608
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,680,665.160291779,639,884.679416442,784,813,652,629.160291779,654,0.414396458053,0.00451412298093,0.0599106238077,0.999999985563,5.24350299316e-05,-0.000156158860327,-4.16933598413e-05,1793249773127775232
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718.414870118,680,665.414870118,639,884.585129882,784,813.414870118,652,629.414870118,654,0.415222400602,0.00451329406271,0.0599437833078,0.999999993108,5.66648599704e-05,-9.36726521714e-05,-4.24092931832e-05,1793249773144441856
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718.990240566,680,665.990240566,639,884.009759434,784,813.990240566,652,629.990240566,654,0.416084141117,0.00451214688874,0.0599967876174,0.999999997141,6.24599490876e-05,5.38692344935e-06,-4.22889129489e-05,1793249773161108992
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718.418521222,680,666.581478778,639,884.581478778,784.581478778,814,652,629.418521222,654.581478778,0.416925402903,0.00451412493031,0.060016255751,0.99999999613,7.04783651073e-05,3.16742859185e-05,-4.20673454137e-05,1793249773177776128
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718,680.168942008,666.831057992,639,885,785,814,652,629.168942008,654.831057992,0.417761094983,0.00451574457872,0.0600235107179,0.999999995316,7.71938917272e-05,4.01053537914e-05,-4.24331900558e-05,1793249773194442496
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718,680.746609898,666.253390102,639,885,785,814,652,629.746609898,654.253390102,0.41858416696,0.00451636669575,0.060002618003,0.999999995734,8.06644909374e-05,8.37406663352e-06,-4.42244006296e-05,1793249773211108864
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,718,680.677178696,666,639,885.322821304,785,814,652,630,654,0.419410854995,0.004515941143,0.0599780314082,0.99999999529,7.9698131981e-05,-3.10430544132e-05,-4.58735146643e-05,1793249773227774976
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,718,680.10210541,666,639,885.89789459,785,814,652,630,654,0.420240368573,0.00451469694296,0.0599505584233,0.99999999312,7.52647417215e-05,-7.64658705823e-05,-4.74115945887e-05,1793249773244441600
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,718,680.483282083,665.516717917,639,886,784.516717917,814,652,630,654,0.421043932765,0.00451493492726,0.059917767443,0.999999989596,1.66813586057e-05,-0.000134822197306,-4.85125622335e-05,1793249773261108224
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.9301228,746,718,681,665.0698772,639,886.0698772,784.0698772,814.0698772,652,630,654.0698772,0.421857424541,0.00451527812353,0.0598884055008,0.99999998022,-4.4304990362e-05,-0.000187478127595,-4.94917883878e-05,1793249773277775104
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.350955067,746,718,681,665.649044933,639,886.649044933,784.649044933,814.649044933,652,630,654.649044933,0.422784101284,0.00451405603058,0.0598924031476,0.999999982145,-3.76038102551e-05,-0.000178237498778,-5.02714853567e-05,1793249773294442240
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.226685719,746,718,681,666.226685719,639,887,785,815,652,630,655,0.423731094412,0.00451270269048,0.0599228485296,0.999999990121,-3.19807899821e-05,-0.000127122108931,-5.07406088854e-05,1793249773311109120
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.801978388,746,718,681,666.801978388,639,887,785,815,652,630,655,0.424709331083,0.00451114751275,0.0599939663655,0.999999998253,-2.8015808487e-05,-1.16099255238e-05,-5.0732119007e-05,1793249773327776000
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.37513077,746,718.37513077,681,667,639,887,785,815,652,630,654.62486923,0.425642151919,0.00451028453166,0.0600263199807,0.999999997533,-2.21566214841e-05,4.2495520396e-05,-5.13497917721e-05,1793249773344442368
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.947159727,746,718.947159727,681,667,639,887,785,815,652,630,654.052840273,0.426551134887,0.00450978487,0.0600383270743,0.999999996444,-1.53032065294e-05,6.436986515e-05,-5.2296124248e-05,1793249773361108992
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746,718.462636301,681.537363699,666.462636301,639.537363699,887.537363699,785,815.537363699,652,629.462636301,654.537363699,0.427439366847,0.00450641899823,0.0600187811595,0.999999997375,-1.31458743485e-05,4.64592580413e-05,-5.40266127312e-05,1793249773377776128
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.872723578,746,718.127276422,682,666.127276422,639.872723578,888.127276422,785.127276422,816,652,629.127276422,654.872723578,0.428324510864,0.00450343062855,0.0599951460543,0.999999998208,-1.06732417668e-05,1.96786651246e-05,-5.55167998538e-05,1793249773394443008
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.290464457,746,718.709535543,682,666.709535543,639.290464457,888.709535543,785.709535543,816,652,629.709535543,654.290464457,0.429206165824,0.00450283452357,0.0599683726948,0.999999998129,-5.36495631924e-06,-2.43354323431e-05,-5.58626753922e-05,1793249773411109632
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718.712132367,682,666.712132367,639.287867633,889,785.712132367,816,652,630,654,0.430069453337,0.00450306350681,0.059942152891,0.999999995909,-5.16949392718e-07,-7.04705401287e-05,-5.67002538264e-05,1793249773427776256
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718.137709439,682,666.137709439,639.862290561,889,785.137709439,816,652,630,654,0.430914457083,0.00450411381686,0.059916484121,0.999999991262,3.87287702143e-06,-0.000118716986235,-5.8027293531e-05,1793249773444442624
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,682,666.438238754,640,889,785,816,652,630,654.438238754,0.4318503638,0.00450064669295,0.0599498152081,0.999999996697,1.38043369221e-06,-5.56219529271e-05,-5.92469086836e-05,1793249773461109248
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,682,667.015029806,639.984970194,889,785,816,652,630,655,0.432812003618,0.00449587634977,0.0600007329532,0.999999997361,-3.00517905437e-06,4.02984196766e-05,-6.03699448948e-05,1793249773477775616
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,682,667.6056792,639.3943208,889,785,816,652,630,655,0.433661370213,0.00449575045123,0.0600126685815,0.999999997061,3.21890370266e-06,4.87401855276e-05,-5.90915004158e-05,1793249773494441984
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,681.807697512,667.615395024,639,889,785,816,652,630,655,0.434508697534,0.00449422809189,0.0600096107004,0.999999997553,6.8960122765e-06,3.72957053705e-05,-5.87750149025e-05,1793249773511108352
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,681.229160447,666.458320895,639,889,785,816,652,630,655,0.43535192918,0.00448990097713,0.0599764387452,0.999999998062,5.457590155e-06,-1.40897843928e-05,-6.03905987821e-05,1793249773527774976
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,681.346150034,666.346150034,639.346150034,889.346150034,785,816,652,630,655,0.436158126881,0.004488832263,0.0599490944384,0.999999996144,6.65714943376e-06,-6.21293622387e-05,-6.16978875748e-05,1793249773544441344
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,718,681.919344125,666.919344125,639.919344125,889.919344125,785,816,652,630,655,0.436940033512,0.00448990077412,0.0599255725597,0.999999992153,9.5869931831e-06,-0.000107974312238,-6.28029617074e-05,1793249773561108224
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,682,666.494665574,640,890,785,816,652,630,654.494665574,0.437678608812,0.00448889228811,0.059910364213,0.999999987792,1.13519495218e-05,-0.000142778139241,-6.24683736791e-05,1793249773577775104
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,718.092551121,682,666.092551121,639.907448879,890,785,816,652.092551121,630,654,0.438420820205,0.00448724831983,0.0599017817966,0.999999984388,1.27516859548e-05,-0.00016499737953,-6.19481548042e-05,1793249773594441984
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,718.675166111,682,666.675166111,639.324833889,890,785,816,652.675166111,630,654,0.439219857347,0.00448404038934,0.0599210754598,0.999999989539,1.32276295484e-05,-0.000130154172102,-6.16933343847e-05,1793249773611108864
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718.74629356,682,667,639,890,784.74629356,816.25370644,652.74629356,630,654.25370644,0.440025561903,0.004481493141,0.0599537209218,0.999999995036,1.41576194911e-05,-7.7295334428e-05,-6.12665800754e-05,1793249773627775488
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718.172887815,682,667,639,890,784.172887815,816.827112185,652.172887815,630,654.827112185,0.440839668108,0.00447977842843,0.0600031911848,0.999999998038,1.5659759997e-05,-1.73473223845e-06,-6.06231691224e-05,1793249773644442112
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746.402530708,718,682,666.597469292,639,889.597469292,784.402530708,816.597469292,652,630,655,0.441542279356,0.00448125818569,0.0600014071351,0.9999999979,1.8853059465e-05,-7.7086045535e-06,-6.15214272683e-05,1793249773661108480
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746.978818119,718,682,666.021181881,639,889.021181881,784.978818119,816.021181881,652,630,655,0.44219676268,0.00448411687,0.0599774986154,0.999999996556,2.27763659822e-05,-4.8877701558e-05,-6.30851633836e-05,1793249773677775104
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.43063012,718,682,665.43063012,639,889.56936988,784.43063012,816.56936988,652,630,655,0.442791742143,0.00448522731977,0.0599290737918,0.999999990844,1.67930934004e-05,-0.00011787013241,-6.43168489538e-05,1793249773694441728
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,890,784.156556636,817,652,630.156556636,655,0.443386245555,0.00448641527222,0.0598888576316,0.999999982424,-5.51179107169e-06,-0.000175677416245,-6.52647662643e-05,1793249773711108352
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,718,682,665,639,890,784.733252409,817,652,630.733252409,655,0.4439855649,0.00448799023653,0.0598731809571,0.999999975239,-7.06032865163e-05,-0.0002006188087,-6.5485159878e-05,1793249773727775744
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,718,682,664.690494214,639,890,784.690494214,817,652,630.690494214,654.690494214,0.44457807051,0.00449100116203,0.0598683218162,0.999999971354,-9.7622363231e-05,-0.000208221655817,-6.63713994026e-05,1793249773744442368
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,718,682,664.114621608,639,890,784.114621608,817,652,630.114621608,654.114621608,0.445164712046,0.00449524790414,0.0598727724605,0.999999973298,-9.1875557181e-05,-0.000200902605848,-6.78306793146e-05,1793249773761108480
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,717.529607998,682,664,638.529607998,890,784,817,652.470392002,630,654.470392002,0.445657464999,0.0044971466848,0.0598508839132,0.999999963568,-8.69496730235e-05,-0.000246280778855,-6.81867035838e-05,1793249773777774848
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,717,682,663.943097071,638,890,784,817,652.943097071,630,655,0.446126954846,0.00449825320912,0.0598233274765,0.999999948784,-8.2911416076e-05,-0.000301443739289,-6.84775790384e-05,1793249773794441728
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,717,682,663.363695352,638,890,784,817,652.363695352,630,655,0.446597072405,0.00449744261823,0.0598038279535,0.99999994067,-8.51504158109e-05,-0.000326208245754,-7.06876633167e-05,1793249773811108096
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,717.214275335,682,663.214275335,638,890,784.214275335,817,652,630,655,0.447063344053,0.00449783479565,0.0597941464064,0.999999937323,-8.5674801689e-05,-0.000335712407077,-7.28743970326e-05,1793249773827774976
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,717.789833147,682,663.789833147,638,890,784.789833147,817,652,630,655,0.447523131191,0.00450025492063,0.0598010186223,0.99999994268,-8.33082342976e-05,-0.000319486608367,-7.50217599692e-05,1793249773844442368
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663.634282983,638,890,784.634282983,817.365717017,652,630.365717017,654.634282983,0.447965211702,0.00449957955733,0.059810791022,0.9999999475,-8.37579262367e-05,-0.000303710531314,-7.57938378267e-05,1793249773861108992
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663.058211514,638,890,784.058211514,817.941788486,652,630.941788486,654.058211514,0.448397107693,0.00449712372001,0.0598222315606,0.999999951918,-8.58274842826e-05,-0.000288193125249,-7.577487438e-05,1793249773877775872
+201,3.350000000,POSE1_TO_POSE2_PRESS,767.514926655,746,717.485073345,682,663,638,889.485073345,784.514926655,818,652,631,654.514926655,0.448733339989,0.00449773762731,0.0598036612141,0.999999943096,-8.3068821908e-05,-0.000318008571404,-7.60108699984e-05,1793249773894442496
+202,3.366666667,POSE1_TO_POSE2_PRESS,767.90888133,746.09111867,717.09111867,682,662.90888133,637.90888133,889.09111867,784.90888133,818,652,631,655,0.449050747357,0.00449901650378,0.0597798782182,0.999999931303,-7.37159094622e-05,-0.00035554121402,-7.45022550787e-05,1793249773911109120
+203,3.383333333,POSE1_TO_POSE2_PRESS,767.313981848,746.686018152,717.686018152,682,662.313981848,637.313981848,889.686018152,784.313981848,818,652,631,655,0.449323528357,0.00450206408966,0.0597459266165,0.99999991447,-3.09050907998e-05,-0.000407567339979,-6.31895095639e-05,1793249773927775232
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.72491462,718,682,662,637.27508538,890,784,817.72491462,652,631,655,0.449589935836,0.00450473412986,0.0597184912306,0.999999897184,-9.40180284629e-06,-0.000449590650581,-5.84065949192e-05,1793249773944441600
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.142366139,718,682,662,637.857633861,890,784,817.142366139,652,631,655,0.449849219611,0.00450698218684,0.0596983390253,0.999999882667,-1.17139578193e-05,-0.000480433806487,-6.09220771641e-05,1793249773961108224
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746,718,682,662.430383034,637.569616966,890,784,817,652.430383034,631,655,0.450103887582,0.0045061570603,0.0596935711989,0.99999988029,-1.54834582172e-05,-0.000485056390655,-6.24589009084e-05,1793249773977774592
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,718,682,662.999962852,637.000037148,890,784,817,652.999962852,631,655,0.450357062681,0.00450433798827,0.059693779071,0.999999882002,-1.97243010274e-05,-0.000481198576692,-6.36792016452e-05,1793249773994441216
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,717.412722267,682.587277733,662.412722267,637,890,784,817.587277733,653,631,655,0.450570950087,0.00450339793838,0.0597024825025,0.999999889179,-2.26791206386e-05,-0.000465747632922,-6.48628215604e-05,1793249774011108608
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,717.172732772,682.827267228,661.827267228,637,890,784,817.827267228,653,630.827267228,655,0.450772302519,0.00450253187936,0.0597089206022,0.999999893867,-2.55366445409e-05,-0.000455265715097,-6.59344739199e-05,1793249774027775488
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,717.753788512,682.246211488,661.246211488,637,890,784,817.246211488,653,630.246211488,655,0.450944029555,0.00450184059192,0.0597100023736,0.999999893165,-2.81643690108e-05,-0.00045653186666,-6.67414517148e-05,1793249774044442368
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,718,682.331425969,661.331425969,637,890,784,817.331425969,653,630.331425969,655,0.4510912822,0.00450143013365,0.0597039956432,0.999999888653,-2.90051313027e-05,-0.000466224622835,-6.6993342474e-05,1793249774061109248
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,718,682.906550016,661.906550016,637,890,784,817.906550016,653,630.906550016,655,0.4512205388,0.00450122616948,0.0596927767257,0.999999881143,-2.85319375355e-05,-0.000482113475747,-6.68370768634e-05,1793249774077775360
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746,718,682.519958946,661.519958946,637,890,784,818,653,630.519958946,654.519958946,0.451333141893,0.00450288897604,0.0596853669975,0.999999876261,-2.57367981083e-05,-0.000492212383101,-6.74050739749e-05,1793249774094441984
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746,718,682,661.055203909,637,890,784,818,652.944796091,630.055203909,654.055203909,0.451440911394,0.00450470606116,0.0596798067593,0.999999872536,-2.28930414582e-05,-0.000499778133556,-6.80185090653e-05,1793249774111108608
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746,718,682,661.649797858,637,890,784,818,652.350202142,630.649797858,654.649797858,0.451533021863,0.00450449183149,0.0596850967323,0.999999875616,-2.39758557948e-05,-0.000493568484538,-6.77029615939e-05,1793249774127775232
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,718,682.23698729,661.76301271,636.76301271,889.76301271,784,818,652.23698729,631,655,0.451617466845,0.0045045971008,0.0596895694614,0.99999987881,-2.45181724169e-05,-0.000487029249065,-6.76883297129e-05,1793249774144441856
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,718,682.813566357,661.186433643,636.186433643,889.186433643,784,818,652.813566357,631,655,0.451690927531,0.00450516019733,0.0596928711177,0.999999882177,-2.42859808613e-05,-0.000480017731894,-6.81048959123e-05,1793249774161108736
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,718,682.610105384,661,636.389894616,889.389894616,784,818,653,630.610105384,655,0.451749285209,0.00450511732355,0.0596947247005,0.99999988343,-2.3886775141e-05,-0.000477439710209,-6.79805846403e-05,1793249774177775872
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746,718,682.033896991,661,636.966103009,889.966103009,784,818,653,630.033896991,655,0.451800425809,0.00450478488274,0.0596958863114,0.999999883686,-2.34077605809e-05,-0.000476980264501,-6.75978114036e-05,1793249774194443008
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746,718,682.551985666,661,636.448014334,890,784.551985666,818,652.448014334,630,655,0.451835154365,0.00450480307565,0.0596947896141,0.999999883711,-2.36789325029e-05,-0.00047688106466,-6.78395835934e-05,1793249774211109120
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,717.863063776,683,661,636.136936224,890.136936224,784.863063776,818,652.136936224,630.136936224,655,0.45186568833,0.00450523260959,0.0596935827676,0.999999883433,-2.35164441134e-05,-0.000477459414575,-6.79257018035e-05,1793249774227775744
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746,717.283085438,683,661,636.716914562,890.716914562,784.283085438,818,652.716914562,630.716914562,655,0.45188597011,0.00450692208474,0.0596924762371,0.999999882217,-2.17991874015e-05,-0.000480157050902,-6.7381918667e-05,1793249774244442112
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,717.294985811,683,661,637,890.705014189,784,818,653,631,655,0.451902130065,0.00450825728633,0.0596911994154,0.999999881159,-1.93637742109e-05,-0.000482484001051,-6.7201862617e-05,1793249774261108736
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,717.871238731,683,661,637,890.128761269,784,818,653,631,655,0.451914359889,0.00450925469053,0.059689760222,0.999999880249,-1.62436031519e-05,-0.000484457504581,-6.73686179829e-05,1793249774277775104
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746,718,682.553386845,661,636.553386845,890,784,818,653,631,655,0.451922715309,0.00450957977246,0.059688671761,0.999999879732,-1.56540355516e-05,-0.000485511989414,-6.75955130051e-05,1793249774294441728
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,718,682,660.977617295,636,890,784,818,652.977617295,631,654.977617295,0.451929816675,0.00450973031451,0.0596877265204,0.999999879347,-1.58105278294e-05,-0.000486266684644,-6.78259980156e-05,1793249774311108352
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746,718,682,660.385350611,636,890,784,818,652.385350611,631,654.385350611,0.451933373051,0.00451036242812,0.0596878582914,0.999999879416,-1.64228703158e-05,-0.000486121309544,-6.77072972691e-05,1793249774327775232
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746,718,682,660.201774118,636,890,784,817.798225882,652.201774118,631,654.201774118,0.451935380914,0.0045097398069,0.0596871799063,0.999999878789,-1.7448567944e-05,-0.000487421943689,-6.73528615577e-05,1793249774344442368
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746,718,682,660.779322682,636,890,784,817.220677318,652.779322682,631,654.779322682,0.451934504902,0.00450678042762,0.0596849927255,0.999999876855,-1.92440783354e-05,-0.000491415556137,-6.65594043552e-05,1793249774361108992
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746,718,682,661,636,890,784,817,653,631,655,0.451934483066,0.00450706841961,0.0596839819743,0.999999876074,-1.88999988665e-05,-0.000493005649893,-6.663089633e-05,1793249774377775360
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746,718,682,661,636,890,784,817,653,631,655,0.451934989423,0.00450936447798,0.0596836986881,0.999999876013,-1.72328681937e-05,-0.000493109487566,-6.72372441096e-05,1793249774394441472
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,718,682,660.49506401,636,889.49506401,784,817,652.49506401,630.49506401,655,0.451936992076,0.00450983639806,0.059684434679,0.999999876764,-1.57217115143e-05,-0.000491671973513,-6.69588461648e-05,1793249774411108352
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,718,682.081275208,660.081275208,636,889.081275208,784,817,652.081275208,630.081275208,655,0.451938926593,0.00451008562679,0.0596851425184,0.9999998775,-1.43438075623e-05,-0.000490264893046,-6.65957314575e-05,1793249774427774976
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,718,682.673933727,660.673933727,636,889.673933727,784,817,652.673933727,630.673933727,655,0.451939149422,0.00451049776055,0.0596847992657,0.999999877466,-1.36705925119e-05,-0.000490370908728,-6.64581904539e-05,1793249774444441600
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746,717.740260593,683,661.259739407,636,890,784,817,653,631,655,0.451939484849,0.00451033957546,0.0596844483086,0.999999877486,-1.39987306508e-05,-0.000490343240659,-6.6298404745e-05,1793249774461108224
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746,717.162836474,683,661.837163526,636,890,784,817,653,631,655,0.451939957993,0.00450948383905,0.0596840879282,0.999999877569,-1.55516139336e-05,-0.000490152065321,-6.61114117373e-05,1793249774477775360
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,717.411683479,682.588316521,661.588316521,636,890,784,817,653,630.588316521,654.588316521,0.451939357709,0.00450877237656,0.0596830798264,0.999999876691,-1.76678080508e-05,-0.000491848683993,-6.6258513966e-05,1793249774494442496
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,717.985062736,682.014937264,661.014937264,636,890,784,817,653,630.014937264,654.014937264,0.451938335818,0.0045081175802,0.0596818173207,0.999999875427,-2.0005252108e-05,-0.000494286766287,-6.65368378643e-05,1793249774511109120
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,717.426652423,682,661,636,890,784,817,653,630.573347577,654.573347577,0.451938872705,0.00450884710545,0.0596819864561,0.999999876122,-1.66480598391e-05,-0.000493059006631,-6.6117819586e-05,1793249774527775232
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,717.160327058,682,661,636,890,784,817,653,630.839672942,655,0.45193941219,0.00450933233426,0.0596823570411,0.999999876631,-1.44405735262e-05,-0.000492128138023,-6.58749628344e-05,1793249774544441600
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717.742819467,682,661,636,890,784,817,653,630.257180533,655,0.451939848731,0.00450907679332,0.05968315724,0.999999876541,-1.56615202477e-05,-0.00049223722029,-6.61450810695e-05,1793249774561108992
+242,4.033333333,HOLD_POSE2,767,746,717,682,661,636,890,784,817,652,631,655,0.451940042887,0.0045080822048,0.0596816967512,0.999999875714,-1.55392377594e-05,-0.000494020459465,-6.53813198467e-05,1793249774597853440
+243,4.050000000,HOLD_POSE2,767,746,717.581303656,682,660.418696344,636,890,784,817,652.581303656,631,655,0.451939681066,0.0045071778729,0.0596814910874,0.9999998755,-1.70502471002e-05,-0.000494373447245,-6.55998881274e-05,1793249774614520064
+244,4.066666667,HOLD_POSE2,767,746,718,682,660.165852165,636,890,784,817,652.834147835,631,655,0.451939161895,0.00450681885498,0.0596811071807,0.999999875199,-1.76862491848e-05,-0.000494944298975,-6.57227510288e-05,1793249774631186688
+245,4.083333333,HOLD_POSE2,767,746,718,682,660.758755947,636,890,784,817,652.241244053,631,655,0.451938237568,0.00450786396215,0.0596802643173,0.999999874673,-1.60692013379e-05,-0.00049607612719,-6.5599182844e-05,1793249774647853312
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+247,4.116666667,HOLD_POSE2,767.920012474,746,717.079987526,682.920012474,660.079987526,636,889.079987526,784,817,652,631,655,0.45193985123,0.00450873311183,0.0596810716946,0.999999875273,-1.49979097112e-05,-0.000494861749944,-6.58894360339e-05,1793249774681186560
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+249,4.150000000,HOLD_POSE2,767,745.065159109,717.934840891,682,661,636,890,784,817,652.934840891,630.065159109,654.934840891,0.45193959969,0.00451029856834,0.0596806035392,0.999999875073,-1.53176929855e-05,-0.000495275761081,-6.57362963132e-05,1793249774714519296
+250,4.166666667,HOLD_POSE2,767,745.656864068,717.343135932,682,661,636,890,784,817,652.343135932,630.656864068,654.343135932,0.451939660224,0.0045102979523,0.0596806337112,0.999999875043,-1.53664851325e-05,-0.000495285225203,-6.61030601034e-05,1793249774731186176
+251,4.183333333,HOLD_POSE2,767,746,717.243152547,682,661,636,890,784,817,652.243152547,631,654.243152547,0.451940470567,0.0045097235543,0.0596809834243,0.999999875384,-1.53429370946e-05,-0.000494600061419,-6.60927567724e-05,1793249774747853056
+252,4.200000000,HOLD_POSE2,767,746,717.821963825,682,661,636,890,784,817,652.821963825,631,654.821963825,0.45194231598,0.00450835708181,0.0596817742463,0.999999876232,-1.52195274021e-05,-0.000492956001975,-6.55619329686e-05,1793249774764519936
+253,4.216666667,HOLD_POSE2,767,746,718,682.399105664,661,636,890,784,817,652.600894336,630.600894336,655,0.451942809127,0.00450765096775,0.0596822898673,0.999999876499,-1.67089976265e-05,-0.000492373820723,-6.55106768054e-05,1793249774781186560
+254,4.233333333,HOLD_POSE2,767,746,718,682.97550594,661,636,890,784,817,652.02449406,630.02449406,655,0.451942701557,0.00450723820444,0.0596826832359,0.999999876503,-1.89149570903e-05,-0.000492263357215,-6.56724588116e-05,1793249774797853184
+255,4.250000000,HOLD_POSE2,767,746,718,682.450436459,660.450436459,636,890.549563541,784,817,652.549563541,630,655,0.45194246626,0.00450640216861,0.059682850289,0.999999876623,-1.6713307537e-05,-0.000492229578322,-6.46910330836e-05,1793249774814519296
+256,4.266666667,HOLD_POSE2,767,746,718,682,660.126870484,636.126870484,890.873129516,784,817,653,630.126870484,655,0.451942108779,0.00450622697671,0.0596826681785,0.999999876568,-1.46200721323e-05,-0.000492491650798,-6.40446570603e-05,1793249774831185664
+257,4.283333333,HOLD_POSE2,767,746,718,682,660.716406285,636.716406285,890.283593715,784,817,653,630.716406285,655,0.451941326398,0.00450853022408,0.0596812493828,0.999999875878,-1.36355493616e-05,-0.000493820209052,-6.48051478127e-05,1793249774847852288
+258,4.300000000,HOLD_POSE2,767,745.697401873,718,682,661,636.697401873,890,784.302598127,817,653,631,655,0.451941625215,0.00450923821802,0.0596813722977,0.99999987598,-1.35659646031e-05,-0.000493588237138,-6.50134257876e-05,1793249774864518912
+259,4.316666667,HOLD_POSE2,767,745.114309756,718,682,661,636.114309756,890,784.885690244,817,653,631,655,0.45194292625,0.00450846748821,0.0596829243046,0.999999876816,-1.43444836789e-05,-0.000491909728318,-6.47098288846e-05,1793249774881185280
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,661,636,889,784,817,652,630,654,0.451940529085,0.00450941102536,0.0596813079619,0.999999875613,-1.33166597848e-05,-0.000494320045929,-6.51540606204e-05,1793249774913627648
+261,4.350000000,POSE2_TO_POSE3_RETREAT,767,746,717.409865398,682,661,636,889.590134602,784,817,652.590134602,630,654.590134602,0.451942180786,0.00450974779613,0.0596826436272,0.999999876494,-1.31298862291e-05,-0.000492552240034,-6.50530952575e-05,1793249774930294272
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,717.177150293,682,661,636,890,784,817,652.822849707,630,655,0.45194306886,0.00450974660629,0.0596833265549,0.999999876966,-1.31077351758e-05,-0.000491598156437,-6.50158070743e-05,1793249774946960640
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746,717.75707485,682,661,636,890,784,817,652.24292515,630,655,0.451942220728,0.00450897701903,0.0596825253988,0.999999876514,-1.34598747859e-05,-0.000492494176119,-6.51232972327e-05,1793249774963627264
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,660.664562953,636,890,784,817,652.335437047,630.335437047,655,0.451941684038,0.00450922795844,0.0596817545953,0.99999987605,-1.25058839525e-05,-0.000493455535104,-6.51534093498e-05,1793249774980294144
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,660.087327015,636,890,784,817,652.912672985,630.912672985,655,0.451941371849,0.00451021454181,0.0596810056714,0.999999875576,-1.06103724875e-05,-0.000494463993695,-6.51277437075e-05,1793249774996960768
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.513018106,746,718,682,660.486981894,636,890,784,817,653,631,655,0.451940759173,0.00450889941241,0.0596806893764,0.999999875273,-1.27766718624e-05,-0.000495015859905,-6.51874666047e-05,1793249775013627904
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.059837507,746,718,682,660.940162493,636.059837507,890,784,817,653,631,655,0.451940207456,0.00450730074626,0.0596805356281,0.999999875109,-1.53993187435e-05,-0.000495271984886,-6.51923134297e-05,1793249775030295296
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.624828905,746,718,682,660.375171095,636.624828905,890,784,817,653,631,655,0.451940622528,0.00450677209086,0.0596811030868,0.99999987591,-1.5762215441e-05,-0.000493718522147,-6.4605397208e-05,1793249775046961408
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,660.2040634,636.7959366,890,784.2040634,817,652.7959366,630.7959366,655,0.451936281251,0.00450738305632,0.0596792697844,0.99999987474,-1.52663190958e-05,-0.000496118635629,-6.444020088e-05,1793249775063627520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,660.811448648,636.188551352,890,784.811448648,817,652.188551352,630.188551352,655,0.45192253927,0.00451024642963,0.059672691489,0.999999869609,-1.30730580773e-05,-0.00050633280935,-6.51085144334e-05,1793249775080294144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,661,636,890,784.603297219,817,652,630,655,0.451891329691,0.00451039175991,0.0596602611844,0.999999858747,-1.19742549221e-05,-0.000527372631635,-6.5123909781e-05,1793249775096960768
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,661,636,890,784.028006059,817,652,630,655,0.451852256517,0.00450931347689,0.059645196411,0.99999984477,-1.13681566005e-05,-0.000553285964678,-6.4845373247e-05,1793249775113627392
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766.454966142,746,718,682,661,636,890,784,817,652,630,654.454966142,0.451794444361,0.00450936320543,0.0596286013213,0.999999833183,-1.0229492246e-05,-0.000573829010595,-6.51949969248e-05,1793249775130294784
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.122108216,746,718,682,661,636,890,784,817,652.122108216,630.122108216,654.122108216,0.45173208448,0.00450936438383,0.0596129350504,0.999999821466,-9.35133115882e-06,-0.000593887373571,-6.54116321657e-05,1793249775146961920
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.715187916,746,718,682,661,636,890,784,817,652.715187916,630.715187916,654.715187916,0.451655882575,0.0045089556651,0.0596011532736,0.999999809874,-9.58304528806e-06,-0.000613136271165,-6.49913491192e-05,1793249775163628032
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,661,636,890,784,817,652.700639959,630.700639959,654.700639959,0.451572413159,0.00450947487803,0.0595933854966,0.999999802735,-8.99851015141e-06,-0.000624717575493,-6.46234716161e-05,1793249775180294656
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,661,636,890,784,817,652.124697682,630.124697682,654.124697682,0.451482229208,0.00451085141787,0.0595893263015,0.999999799948,-7.65983277601e-06,-0.000629214699869,-6.43040122475e-05,1793249775196961536
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.449548954,661,636.449548954,890,784,817,652,630.449548954,654.449548954,0.451370744321,0.00451233859197,0.0595857425007,0.999999796727,-3.33388812998e-06,-0.000634386209782,-6.39401223544e-05,1793249775213628672
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,717.976041311,682.976041311,661.023958689,636.976041311,890,784,817,652.023958689,630.976041311,655,0.451252457832,0.00451391254367,0.0595822911611,0.999999793312,1.80245558791e-06,-0.000639793445727,-6.35407004259e-05,1793249775230295552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746,717.386725631,682.386725631,661.613274369,636.386725631,890,784,817,652.613274369,630.386725631,655,0.45111257361,0.00451681276814,0.0595788655423,0.999999789125,6.58231081422e-06,-0.000646365562787,-6.25925493833e-05,1793249775246961664
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746,717.199434763,682,661.800565237,636,890,784,817,652.800565237,630.199434763,655,0.450961600201,0.00451856021297,0.0595753374214,0.999999784732,9.72805171199e-06,-0.000653171532019,-6.17095438702e-05,1793249775263628032
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746,717.779571941,682,661.220428059,636,890,784,817,652.220428059,630.779571941,655,0.45078945858,0.00451810710837,0.0595716136336,0.999999780015,9.75441978635e-06,-0.000660423902589,-6.0950895227e-05,1793249775280294144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,661,636,890,784,817,652,630.642485037,655,0.450600482303,0.00451842466207,0.0595724831478,0.999999780656,1.35022454785e-05,-0.000659519173883,-5.9504834571e-05,1793249775296960768
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,661,636,890,784,817,652,630.065886527,655,0.450401189809,0.00451921447164,0.0595761674161,0.999999784541,1.95305635087e-05,-0.000653615812443,-5.76375308782e-05,1793249775313627392
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746.508285712,718,682.508285712,661,636.508285712,889.491714288,784.508285712,817,652.508285712,630,655,0.450164827618,0.00452098161866,0.0595786686497,0.999999786478,2.52157132873e-05,-0.00065061780187,-5.57101350715e-05,1793249775330294272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.915445235,717.915445235,682.915445235,661,637,889,785,817,652.915445235,630,655,0.449918511713,0.00452273803077,0.059579911303,0.999999787484,3.11001805457e-05,-0.000648978423184,-5.37709013761e-05,1793249775346960896
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746.324750875,717.324750875,682.324750875,661,637,889,785,817,652.324750875,630,655,0.449641240125,0.00452367544528,0.0595745337611,0.999999784566,3.84427608304e-05,-0.000653228099222,-5.18072115945e-05,1793249775363627520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,717.260642821,682,661.260642821,637,889,784.739357179,817,652.260642821,630,655,0.449347693743,0.00452499275905,0.0595721781831,0.999999783803,4.42160445719e-05,-0.000654175537211,-4.99384541343e-05,1793249775380294144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746,717.839563697,682,661.839563697,637,889,784.160436303,817,652.839563697,630,655,0.449034273781,0.00452677397811,0.0595735128082,0.999999785724,4.80730170782e-05,-0.00065109052206,-4.81856212405e-05,1793249775396960768
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,661.585878533,637,889,784,816.585878533,652.585878533,630,654.585878533,0.448698500567,0.00452826126428,0.0595806360371,0.999999793114,5.56073789139e-05,-0.000639196094472,-4.59087485614e-05,1793249775413627392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,661.01299348,637,889,784,816.01299348,652.01299348,630,654.01299348,0.448354157695,0.00452963586405,0.0595899784688,0.999999802333,6.4551557722e-05,-0.000623924363221,-4.34309724511e-05,1793249775430294016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,661.563661272,637,889,784,816,652,630,654.563661272,0.44797334356,0.00453198819564,0.05961108812,0.999999821705,7.47518547897e-05,-0.000591115944025,-3.98055981813e-05,1793249775446960640
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766.856249183,746,717.856249183,682,662,637,888.856249183,784,816.143750817,652,630,655,0.447586084437,0.0045337196131,0.0596344368059,0.999999841553,8.49059543633e-05,-0.000555335368727,-3.58860978826e-05,1793249775463627264
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766.265757155,746,717.265757155,682,662,637,888.265757155,784,816.734242845,652,630,655,0.447181426368,0.00453345087003,0.0596638951671,0.999999864161,9.48258883412e-05,-0.000511582870406,-3.11352959712e-05,1793249775480293888
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766.319514672,746,717,681.680485328,662.319514672,637.319514672,888,784,816.680485328,652,630.319514672,655,0.446731458118,0.0045343043892,0.059680644195,0.999999873757,0.000105388782094,-0.000490585762308,-2.65445126919e-05,1793249775496960512
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766.900514446,746,717,681.099485554,662.900514446,637.900514446,888,784,816.099485554,652,630.900514446,655,0.446244408781,0.00453607634772,0.0596869921347,0.999999873797,0.000116477863833,-0.000488211254957,-2.20846853182e-05,1793249775513627392
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746.47505503,717.47505503,681.47505503,663,637.52494497,888.47505503,784.47505503,816.47505503,652,631,655,0.445702598976,0.00453882654356,0.0596742201225,0.999999860791,0.000129397368052,-0.000511209002353,-1.84284249945e-05,1793249775530294016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746.950586861,718,682,663,637.049413139,888.950586861,785,817,652,630.950586861,655,0.445148691468,0.00454181710415,0.0596585265573,0.99999984574,0.000142487188571,-0.000536649657431,-1.49883120716e-05,1793249775546960640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746.363697196,718,682,663,637.636302804,888.363697196,785,817,652,630.363697196,655,0.44458625961,0.00454522373436,0.0596540236203,0.999999846852,0.000153316010067,-0.000531642353996,-1.2093390065e-05,1793249775563627264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.22107417,638,888,785,817,652,630.22107417,655,0.444021878209,0.00454662983314,0.0596655385687,0.999999858145,0.000164459328224,-0.000506561235024,-7.72724613839e-06,1793249775580293888
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663.802393688,638,888,785,817,652,630.802393688,655,0.443454320019,0.0045447760206,0.0597031550231,0.999999883794,0.000176115124776,-0.000448769379989,-9.63713060891e-07,1793249775596960512
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,717.618157217,682,664,638,888,785,817,652,630.618157217,654.618157217,0.442855499812,0.00454550939517,0.0597369974281,0.999999902294,0.000188342249975,-0.000399896757259,4.76706462455e-06,1793249775613627136
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,717.039671378,682,664,638,888,785,817,652,630.039671378,654.039671378,0.442240580174,0.00454757513064,0.0597688962557,0.999999916545,0.00020086360001,-0.000355617401134,9.96598923467e-06,1793249775630293760
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,717.527690413,682,664.527690413,638.527690413,887.472309587,785,816.472309587,652,630,654,0.441542711905,0.00455158774303,0.0597625406107,0.999999906347,0.000215395090252,-0.000375091160115,1.47758219211e-05,1793249775646961408
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,717.900856608,682,664.900856608,639,887,785,816.099143392,652.099143392,630,654,0.440832940943,0.00455512584881,0.0597554310826,0.999999895588,0.000229305545253,-0.000394792876572,1.95499148936e-05,1793249775663628800
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,717.304793123,682,664.304793123,639,887,785,816.695206877,652.695206877,630,654,0.440094122766,0.00455556720737,0.0597586600144,0.999999894183,0.000239361482966,-0.00039211037404,2.42884603997e-05,1793249775680294912
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,717.281901993,682,664.845705979,639,887,785,816.718098007,652.718098007,630,654,0.439367827843,0.00455741597942,0.05977828472,0.999999903944,0.000249571449421,-0.000359167454293,2.87329180688e-05,1793249775696961536
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,717.858793867,682,666.576381602,639,887,785,816.141206133,652.141206133,630,654,0.438654637503,0.00456073750712,0.0598150664078,0.999999922292,0.000259942596194,-0.000294559212859,3.28696347553e-05,1793249775713627648
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,718,681.567165617,666.567165617,639,886.567165617,785,816,652,630,654,0.437866469555,0.00456399603737,0.0598137337817,0.999999917259,0.000272366776109,-0.000299831615289,3.74104944514e-05,1793249775730294016
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,717.993852512,681.006147488,665.993852512,638.993852512,886,785,816,652,630,654.006147488,0.437053318174,0.00456720152285,0.059799669542,0.999999904499,0.000285423788906,-0.000328275768217,4.2071045487e-05,1793249775746960640
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,717.401786904,681.598213096,665.401786904,638.401786904,886,785,816,652,630,654.598213096,0.436175053475,0.00456729731823,0.0597495083205,0.999999872671,0.000295377866297,-0.00040660277968,4.56554034369e-05,1793249775763627264
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.185925213,746,717.185925213,682,665.185925213,638.185925213,886,785,816,652,630,654.814074787,0.435319550242,0.00456907555616,0.0597213337583,0.999999858764,0.000292706816516,-0.000441397444749,4.43139892556e-05,1793249775780294144
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.764444591,746,717.764444591,682,665.764444591,638.764444591,886,785,816,652,630,654.235555409,0.434512109496,0.00457440638991,0.0597395855768,0.999999890954,0.000263376924507,-0.000384270496953,3.25714609056e-05,1793249775796960768
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.660671171,746,718,682,666,639,885.660671171,785,816,652,629.660671171,654,0.433685069398,0.00457145315006,0.059759945399,0.999999914661,0.000223502346952,-0.000346680467982,2.31765998521e-05,1793249775813627648
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,745.50872276,718,681.50872276,665.01744552,639,885,785,815.50872276,652,629.49127724,654,0.43197717241,0.00456378261346,0.0597933875476,0.999999935315,0.000182780398392,-0.000309155782386,1.96076963825e-05,1793249775846960896
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745.072918875,718,681,664.072918875,639,885,785,815,652,630,654,0.431104379335,0.00456698163369,0.0598046270823,0.99999993649,0.000198508909865,-0.00029489404727,2.55425464463e-05,1793249775863627520
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,745.66000781,718,681,664.66000781,639,885,785,815,652,630,654,0.430228111503,0.00457351681139,0.0598261632765,0.99999994341,0.000211239640209,-0.000260313328155,2.81892490725e-05,1793249775880294144
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,717.754835115,681,665,639,885,785,815,652,630,654,0.429309946164,0.00457682968828,0.0598184304468,0.999999936749,0.000217128015805,-0.000280073677863,3.02834333022e-05,1793249775896960768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,717.172336095,681,665,639,885,785,815,652,630,654,0.428334131907,0.00457570884773,0.059770424965,0.999999906523,0.000213601667794,-0.000374604506558,3.16173811769e-05,1793249775913627648
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,717.97517342,681,664.02482658,639,884.02482658,785,815,652,630,654,0.426557873214,0.00457864054982,0.0597437549705,0.999999908877,0.00019990006552,-0.000376200970277,2.7563802793e-05,1793249775946961408
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,665.100318959,638.449840521,884,785,815,652,630,654,0.42567634636,0.0045775944978,0.0597737349918,0.999999920246,0.000199132419599,-0.000344842444082,3.06153806425e-05,1793249775963628032
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,665.74144978,638.12927511,883.87072489,785.12927511,815,652,630,654,0.424788700873,0.00457665983646,0.0598022455837,0.999999929928,0.000197872884623,-0.000316002555672,3.36582742004e-05,1793249775980294656
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.554455853,638.722772073,883.277227927,785.722772073,815,652,630,654,0.423880487592,0.0045766074001,0.0598194054993,0.99999993595,0.000193762296469,-0.000298793843293,3.5747897239e-05,1793249775996961024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,664,638.691597545,883,785.691597545,814.691597545,652,630,654.308402455,0.422997447605,0.00457758527037,0.0598336380457,0.999999943425,0.000190438515012,-0.000274879574295,3.6399544734e-05,1793249776013627648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,664,638.112862702,883,785.112862702,814.112862702,652,630,654.887137298,0.422136473498,0.0045794662633,0.0598453045847,0.99999995169,0.00018780441474,-0.000245087502264,3.57907243124e-05,1793249776030294016
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.458880604,638.458880604,882.541119396,785,814.458880604,652,630,654.541119396,0.421211990661,0.00457886558076,0.0598126937584,0.999999935154,0.00018451982978,-0.000307104022138,3.64825072591e-05,1793249776046960640
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.940006094,639,882,785,814.970003047,652,630,654,0.420275629682,0.00457774593545,0.0597695436908,0.999999907067,0.000180755360134,-0.000389616903707,3.73042951277e-05,1793249776063627520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,663.757866665,639,882,785,814.378933332,652,630,654,0.419404876415,0.00457816473534,0.059729899668,0.999999888211,0.000170962558029,-0.000439485235154,3.46642762076e-05,1793249776080295168
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.791935604,663.416128793,639,881.791935604,785,813.791935604,652,630,654,0.418551172066,0.00457836514992,0.0597172927275,0.999999884887,0.000164863600049,-0.000449368650992,3.33814933855e-05,1793249776096962304
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,718,680.212211453,664.575577094,639,881.212211453,785,813.212211453,652,630,654,0.417727921589,0.00457817546884,0.0597529813829,0.999999910526,0.000165362853626,-0.000387828111888,3.45231039774e-05,1793249776113628672
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.056185066,680,665.943814934,639,881.943814934,785,813.943814934,652,630,654,0.416145191756,0.0045784520082,0.0598305259888,0.999999946195,0.000158237668543,-0.000284899337804,3.74590701393e-05,1793249776146961408
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,717.519143489,680,664.442569532,639,881.480856511,785,814,652,629.480856511,654,0.415362814825,0.0045745872992,0.0598336065402,0.999999946534,0.000151868573738,-0.000287011088241,3.86209644591e-05,1793249776163628032
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.093705965,638.906294035,881,785,813.906294035,652,629.093705965,654,0.414585437905,0.00457101872884,0.0598326916686,0.999999943229,0.000160904300543,-0.000293410931214,3.95285551269e-05,1793249776180294656
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.665624311,638.334375689,881,785,813.334375689,652,629.665624311,654,0.41383256342,0.00457120300063,0.0598313928129,0.999999925012,0.000249598754984,-0.000293475279672,3.9346867618e-05,1793249776196961280
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,664,638,880.752843433,785,813,652,630,654,0.413059845965,0.00457118503495,0.0598149646498,0.999999903284,0.000296912957863,-0.000322090870301,3.91472675344e-05,1793249776213627904
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.152330582,638,880,785,813.423834709,652,629.576165291,654,0.411538935766,0.00456896953297,0.0597522199769,0.999999873469,0.000270214810615,-0.000422683539543,3.71997299591e-05,1793249776246962176
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,662.001185097,638.000592549,880,785,813.999407451,652,629.000592549,654,0.410847766252,0.00456647730845,0.0597318474978,0.999999870202,0.000252717593947,-0.000441031915151,3.4940225308e-05,1793249776263629312
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.151876525,638.575938263,880,785,813.424061737,652,629.575938263,654,0.410240468231,0.004565553946,0.0597727972478,0.999999897474,0.000243814092807,-0.000379857759382,3.62519162447e-05,1793249776280295680
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.25660978,746,718,680,664,639,880,784.25660978,813,652,630,654,0.409069673791,0.00456410802342,0.0598444131526,0.999999937574,0.000225549541138,-0.000269254608106,3.84934236493e-05,1793249776313628928
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.910144784,746,718,679.089855216,663.089855216,638.089855216,880,784.910144784,813,652,630,654,0.407880538888,0.00455900038331,0.0598443916128,0.999999944069,0.000202641402339,-0.000263337411984,3.81142083737e-05,1793249776346961920
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880.485441166,785,813,652,630,654,0.407327763828,0.00455694784867,0.0598283310519,0.999999938855,0.000193708581534,-0.000288686497016,3.77702711405e-05,1793249776363627776
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880.88136011,785,813,652,630,654,0.406791628753,0.00455518358195,0.0598135465376,0.999999933452,0.000185066186882,-0.000312173319921,3.73482818368e-05,1793249776380294144
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,879.737209482,785,813,652,630,654,0.406323702352,0.00455426283279,0.0598206870073,0.99999994029,0.000173991739144,-0.000296401953059,3.59677269212e-05,1793249776396961536
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.423274095,638,879.211637048,784.788362952,813,652,630,654.211637048,0.405866037596,0.00455255552345,0.0598261249187,0.999999945533,0.000163288608036,-0.000284689405698,3.49675288167e-05,1793249776413628160
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,664.61334611,638,879.806673055,784.193326945,813,652,630,654.806673055,0.405426962752,0.00454942329186,0.0598284784968,0.999999948363,0.00015325815066,-0.000280329765523,3.46563803983e-05,1793249776430294784
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,664.218718485,638.390640757,880.390640757,784.390640757,813,652,630,654.609359243,0.404986571755,0.00454819736728,0.0598144404766,0.999999943444,0.000148563875808,-0.000299741300252,3.45917778498e-05,1793249776446961664
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.061436467,638.969281766,880.969281766,784.969281766,813,652,630,654.030718234,0.404545547304,0.00454788887407,0.0597925138158,0.999999934032,0.000146437697724,-0.000330592979265,3.4645828216e-05,1793249776463628544
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,664,638,879.54623643,784.45376357,813,652,630,654,0.40276443147,0.00453882579045,0.0598248410835,0.999999954181,0.000127064237741,-0.000272253847897,3.7018293615e-05,1793249776563628288
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,717.645000534,679,663,638,879.354999466,784,813,652,630,654,0.40178139247,0.0045282673724,0.0598211186254,0.999999936186,0.000193708473875,-0.000299046495133,2.59971834479e-05,1793249776646961152
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a211442aaa43d21ac700dacce7f5ed679f1074e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b3ea6835de2301e74d286e010e803c91c93de37
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 25591064
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c329462e4578f9e2ab987154bdbb038b3b0f259
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,403 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,718,679,664,638,879,784,813,652,630,654,0.40096181388,0.00452136230379,0.0598400012386,0.999999947451,0.000175301557124,-0.000271244381131,2.81677738285e-05,1793249777383790848
+1,0.016666667,BASELINE,767.138223037,745.569111518,718,679,664,638,879,784,813,652,630,654,0.400961101517,0.00452091040993,0.059839884101,0.999999947516,0.000174276388258,-0.000271699575235,2.78500531638e-05,1793249777400457728
+2,0.033333333,BASELINE,767.858332908,746,718,679,664,638,879.141667092,784,813,652,630,654,0.400960185845,0.00452077575351,0.0598395071288,0.99999994748,0.000173573678619,-0.000272306737172,2.75857264265e-05,1793249777417124352
+3,0.050000000,BASELINE,767.275040892,746,718,679,664,638,879.724959108,784,813,652,630,654,0.40095863639,0.0045216300349,0.0598383201629,0.999999947135,0.000173876184754,-0.000273387635095,2.74878467994e-05,1793249777433791488
+4,0.066666667,BASELINE,767,746,718,679,663.686992838,638,880,784.313007162,813,652,629.686992838,654,0.400958139626,0.00452203575296,0.059838111002,0.999999946953,0.00017405978752,-0.00027393422286,2.75237223587e-05,1793249777450458112
+5,0.083333333,BASELINE,767,746,718,679,663.094701185,638,880,784.905298815,813,652,629.094701185,654,0.400958582138,0.00452204123483,0.0598387742997,0.999999946916,0.000174137297273,-0.000274004065747,2.7678942634e-05,1793249777467124480
+6,0.100000000,BASELINE,767,746,718,679,663.485693997,638,880,784.514306003,813,652.485693997,629,654,0.400960276406,0.0045218780867,0.0598402871827,0.999999947517,0.000174274521009,-0.000271714176891,2.768178088e-05,1793249777483791104
+7,0.116666667,BASELINE,767,746,718,679,664,638.063341185,880,784,813,652.936658815,629.063341185,654,0.400962022306,0.0045216956679,0.0598417393568,0.999999948161,0.000174327988493,-0.000269300764349,2.76645122688e-05,1793249777500457472
+8,0.133333333,BASELINE,767,746,718,679,664,638.637089394,880,784,813,652.362910606,629.637089394,654,0.400962264554,0.00452161657694,0.0598413994047,0.999999948227,0.000173614965422,-0.000269510889457,2.77189154148e-05,1793249777517124096
+9,0.150000000,BASELINE,767,746,718,679,664,639,880,784,813,652,629.790139185,654,0.400962128385,0.00452128272729,0.0598410385921,0.999999948118,0.000173513786054,-0.000269959565241,2.79093636687e-05,1793249777533790464
+10,0.166666667,BASELINE,767,746,718,679,664,639,880,784,813,652,629.219049151,654,0.400961340855,0.0045205103666,0.0598406418727,0.999999947708,0.000174465761081,-0.000270818853505,2.83339836376e-05,1793249777550457088
+11,0.183333333,BASELINE,767,746,718,679,664,638.631387398,880,784,813,652,629.368612602,654,0.400961475681,0.0045208144886,0.0598405853109,0.999999947788,0.000174107004794,-0.000270776847746,2.81308176003e-05,1793249777567123968
+12,0.200000000,BASELINE,767,746,718,679,664,638.033414226,880,784,813,652,629.966585774,654,0.400962184422,0.0045217884267,0.0598407404042,0.999999948171,0.000172932676696,-0.000270174032942,2.75370264438e-05,1793249777583791104
+13,0.216666667,BASELINE,767,746,718,679,664,638,880,784.542690633,813,652.542690633,630,654,0.400962384954,0.0045230805659,0.059841176115,0.999999947835,0.000175456669914,-0.000269795729962,2.74943312302e-05,1793249777600457728
+14,0.233333333,BASELINE,767,746,718,679,664,638,880,784.882876827,813,652.882876827,630,654,0.400962283213,0.00452387925257,0.059841354804,0.99999994753,0.000177396200266,-0.000269655368948,2.75077230098e-05,1793249777617124096
+15,0.250000000,BASELINE,767,746,718,679,664,638,880,784.30991532,813,652.30991532,630,654,0.400961122104,0.00452268414568,0.0598404685348,0.999999947539,0.000176209115127,-0.000270389351165,2.76124574348e-05,1793249777633790720
+16,0.266666667,BASELINE,767,745.726619712,718,679,663.726619712,638,879.726619712,784,813,652,630,654,0.400961117676,0.00452236394485,0.0598405192538,0.999999947845,0.000174599155612,-0.000270306790148,2.7551800167e-05,1793249777650457344
+17,0.283333333,BASELINE,767,745.131148726,718,679,663.131148726,638,879.131148726,784,813,652,630,654,0.400962476021,0.00452307453933,0.0598416739122,0.9999999485,0.000172490974794,-0.000269262195644,2.72962820046e-05,1793249777667123968
+18,0.300000000,BASELINE,767,745.447216474,718,679,663.447216474,638,879.447216474,784,812.552783526,652,630,654,0.400961755827,0.00452215901914,0.0598413460995,0.999999948804,0.000169667247246,-0.000269944716152,2.71046001157e-05,1793249777683790592
+19,0.316666667,BASELINE,767,746,718,679,663.979194167,638,879.979194167,784,812.020805833,652,630,654,0.400960491481,0.00452085994353,0.0598406121857,0.999999948968,0.000166906446193,-0.000271071731747,2.69442739613e-05,1793249777700457216
+20,0.333333333,BASELINE,767,746,718,679,663.404120162,638,879.404120162,784,812.595879838,652,630,654,0.400960370986,0.00452157868625,0.0598402146178,0.999999948243,0.000171206161259,-0.000271044384126,2.7138927699e-05,1793249777717124096
+21,0.350000000,BASELINE,767,746,718,679,663.175952992,638,879,784.175952992,813,652,630,654,0.400960293877,0.00452223021856,0.0598401330356,0.999999947686,0.000174446539033,-0.000271014464354,2.73373808481e-05,1793249777733790976
+22,0.366666667,BASELINE,767,746,718,679,663.76784362,638,879,784.76784362,813,652,630,654,0.400960319327,0.00452272287117,0.0598407984163,0.999999947561,0.000175182734596,-0.000270978464253,2.75448154502e-05,1793249777750458112
+23,0.383333333,BASELINE,767,745.647952707,718,679,664,638,879.352047293,784.647952707,813,652,629.647952707,654,0.400960244147,0.00452246312836,0.0598404647391,0.999999947619,0.000174084952781,-0.000271461129122,2.76465900012e-05,1793249777767124736
+24,0.400000000,BASELINE,767,745.068709793,718,679,664,638,879.931290207,784.068709793,813,652,629.068709793,654,0.400960104026,0.00452171782315,0.0598394863145,0.999999947791,0.000171803603836,-0.000272278517224,2.76801762881e-05,1793249777783791360
+25,0.416666667,BASELINE,767,745.507671737,718,679,664,638.507671737,880,784,813,652.507671737,629.507671737,654,0.400960786757,0.00452281011651,0.0598406083244,0.99999994798,0.000173694324628,-0.000270398217321,2.74772957116e-05,1793249777800457984
+26,0.433333333,BASELINE,767,745.916422103,718,679,664,638.916422103,879.916422103,784,813,652.916422103,630,654,0.400961275978,0.00452373416256,0.0598417054784,0.999999948139,0.000175506623474,-0.000268652140096,2.72947967181e-05,1793249777817124608
+27,0.450000000,BASELINE,767,745.341046894,718,679,664,638.341046894,879.341046894,784,813,652.341046894,630,654,0.400959974876,0.00452221293347,0.0598409929667,0.999999948159,0.000173553457926,-0.000269832261328,2.74194952935e-05,1793249777833792256
+28,0.466666667,BASELINE,767,745.239749694,718,679,664.239749694,638,879.239749694,784,813.239749694,652,630,654,0.400959296177,0.00452201251576,0.0598403632011,0.99999994798,0.000172934931383,-0.000270896497935,2.73774238509e-05,1793249777850459136
+29,0.483333333,BASELINE,767,745.828436647,718,679,664.828436647,638,879.828436647,784,813.828436647,652,630,654,0.400959523337,0.0045237344376,0.059839853866,0.999999947514,0.000174258869482,-0.000271792073303,2.70926314534e-05,1793249777867125248
+30,0.500000000,BASELINE,767,746,718,679,664.588972542,638,879.588972542,784,813.588972542,652,630,654,0.400959994147,0.00452207492381,0.0598403796634,0.99999994793,0.000173390157581,-0.000270798711158,2.72727499571e-05,1793249777883791616
+31,0.516666667,BASELINE,767,746,718,679,664.008889094,638,879.008889094,784,813.008889094,652,630,654,0.400960565171,0.00451902462223,0.059841331212,0.999999948703,0.000171619606589,-0.00026902842717,2.76440867694e-05,1793249777900457984
+32,0.533333333,BASELINE,766.434332435,746,718,679,663.434332435,638.565667565,879,784,813,652.565667565,630,654,0.400961734554,0.00452026047934,0.0598421234337,0.99999994897,0.000171948675513,-0.000267835194025,2.75175481914e-05,1793249777917124864
+33,0.550000000,BASELINE,766.281260086,746,718,679,663.140630043,638.859369957,879,784,813,653,629.859369957,654,0.400962623545,0.00452135960807,0.0598427494078,0.999999949182,0.000172186308432,-0.000266899728554,2.74439657075e-05,1793249777933791232
+34,0.566666667,BASELINE,767.434233493,746,718,679,663.717116747,638.282883253,879,784,813,653,629.282883253,654,0.400962614651,0.00452182824053,0.059842867813,0.999999949248,0.000172039282619,-0.000266735333701,2.7558524555e-05,1793249777950457856
+35,0.583333333,BASELINE,767.698570936,746,718,679,664,638.301429064,879.301429064,784.301429064,813.301429064,652.698570936,629.301429064,654,0.400962134935,0.00452218553792,0.0598425492254,0.999999949059,0.000172383674881,-0.000267228185885,2.7462704063e-05,1793249777967124480
+36,0.600000000,BASELINE,767.106718668,746,718,679,664,638.893281332,879.893281332,784.893281332,813.893281332,652.106718668,629.893281332,654,0.400961201589,0.00452243556539,0.0598418096005,0.999999948625,0.00017320154241,-0.000268354287502,2.71641856727e-05,1793249777983791616
+37,0.616666667,BASELINE,767,746,718,679,664,638.525688992,880,784.525688992,813.525688992,652,630.474311008,654,0.40096058373,0.00452283310513,0.0598412440981,0.999999948273,0.000173947279314,-0.000269159870441,2.73834334373e-05,1793249778000457984
+38,0.633333333,BASELINE,767,745.947474619,718,679,664,638,879.947474619,784,813,652,630.947474619,654,0.400960130819,0.00452308507666,0.0598408383494,0.999999948023,0.000174419289189,-0.000269752705742,2.76603764677e-05,1793249778017124608
+39,0.650000000,BASELINE,767,745.3735735,718,679,664,638,879.3735735,784,813,652,630.3735735,654,0.400960626318,0.00452157001546,0.0598416381389,0.999999948613,0.000172331739071,-0.000268933637339,2.73794508013e-05,1793249778033791488
+40,0.666666667,BASELINE,767,745.205106151,718,679,664,638,879,784,813,652,630,654,0.400961529346,0.00452099262763,0.0598423132675,0.999999949031,0.000171493017955,-0.000267934987496,2.71993808505e-05,1793249778050458112
+41,0.683333333,BASELINE,767,745.792696835,718,679,664,638,879,784,813,652,630,654,0.400963192339,0.00452216382496,0.0598427559269,0.99999994913,0.000172983129004,-0.000266601451973,2.72073879243e-05,1793249778067124736
+42,0.700000000,BASELINE,767,745.625312895,718,679,664,638,879.749374209,784,813,652,630,654,0.400963611597,0.0045222862313,0.0598428271505,0.999999949316,0.000172872764898,-0.000265982111898,2.71450954426e-05,1793249778083791360
+43,0.716666667,BASELINE,767,745.046375555,718,679,664,638,880.907248891,784,813,652,630,654,0.400963352868,0.00452183691843,0.0598426958961,0.999999949549,0.000171889946301,-0.000265752095619,2.70444811167e-05,1793249778100457984
+44,0.733333333,BASELINE,766.470357573,745,718,679,663.470357573,638,880.470357573,784,813,652,630,654,0.400961172477,0.00452215408382,0.0598407520482,0.999999948747,0.000172146652965,-0.000268615387925,2.6778965464e-05,1793249778117124352
+45,0.750000000,BASELINE,766.104908646,745.104908646,718,679,663.104908646,638,880,784.104908646,813.104908646,652,630,654,0.400959406961,0.00452246158001,0.0598392469103,0.999999948029,0.000172645310524,-0.000270976092498,2.66088989341e-05,1793249778133790976
+46,0.766666667,BASELINE,766.677954489,745.677954489,718,679,663.677954489,638,880,784.677954489,813.677954489,652,630,654,0.400960239474,0.00452242809043,0.059840403781,0.999999948123,0.000173741977841,-0.000269892083565,2.69288355867e-05,1793249778150458112
+47,0.783333333,BASELINE,767,746,718,679,664,638,879.739526226,784.479052451,813.739526226,652,630,654,0.400960535366,0.00452254725089,0.0598410983184,0.999999948101,0.000174651747393,-0.000269356217092,2.72265735013e-05,1793249778167124992
+48,0.800000000,BASELINE,767,746,718,679,664,638,879.144851976,783.289703952,813.144851976,652,630,654,0.400960142747,0.00452286226873,0.0598411996601,0.999999947932,0.00017532171821,-0.000269523643814,2.74958294028e-05,1793249778183791360
+49,0.816666667,BASELINE,767,745.563410509,718,679,663.563410509,638,879.436589491,783.436589491,813,652,630,654,0.4009610291,0.00452283642469,0.0598416800548,0.999999948053,0.000176133573613,-0.000268533365911,2.75886095282e-05,1793249778200458240
+50,0.833333333,BASELINE,767,745.01371287,718,679,663.01371287,638,880,784,813,652,630,654,0.400962273608,0.00452271348466,0.0598422541739,0.999999948266,0.00017691004783,-0.000267222479263,2.76176206157e-05,1793249778217124608
+51,0.850000000,BASELINE,767,745.58851113,718,679,663.58851113,638,880,784,813,652,630,654,0.400961320872,0.00452310889815,0.05984166878,0.999999948499,0.000174369369374,-0.00026804727038,2.73626606039e-05,1793249778233790976
+52,0.866666667,BASELINE,767,746,718,679,664,638.166893767,879.833106233,784,813,652,630,654,0.400960676533,0.00452332680849,0.0598413588402,0.9999999486,0.00017304606899,-0.00026854121801,2.72036007919e-05,1793249778250457600
+53,0.883333333,BASELINE,767,746,718,679,664,638.754307881,879.245692119,784,813,652,630,654,0.400960809258,0.00452309746608,0.0598417429586,0.999999948386,0.000174790182597,-0.000268201542988,2.7286179651e-05,1793249778267124224
+54,0.900000000,BASELINE,767,746,718,679,664,639,879.337418188,784,813,652,630,654,0.400960029063,0.00452289287297,0.0598410754332,0.999999947967,0.000175431073376,-0.000269335299927,2.73491289186e-05,1793249778283791104
+55,0.916666667,BASELINE,767,746,718,679,664,639,879.917434109,784,813,652,630,654,0.400958592494,0.00452270607419,0.0598396517943,0.9999999474,0.000175278766302,-0.000271528428499,2.7397964852e-05,1793249778300457728
+56,0.933333333,BASELINE,767,746,718,679,664,638.50621597,879.50621597,784,813,652,630,654,0.400959140251,0.00452206668918,0.0598402900527,0.999999947992,0.000173339027092,-0.000270599397012,2.72874905337e-05,1793249778317124608
+57,0.950000000,BASELINE,767,746,718,679.069272565,664,638,879,784,813,652,630,654,0.400960119292,0.00452131183222,0.0598413375967,0.999999948762,0.00017127588285,-0.000269074859812,2.72066959969e-05,1793249778333791488
+58,0.966666667,BASELINE,767,746,718,679.642919365,664,638,879,784,813,652,630,654,0.400961840481,0.0045202631688,0.0598428733719,0.999999949449,0.000170474319222,-0.000266987537594,2.75345250608e-05,1793249778350458112
+59,0.983333333,BASELINE,767,746,718,679.776797411,664,638,879.223202589,784,813,652,630,654,0.400962610133,0.00452040607599,0.0598435821152,0.999999949639,0.000170974481546,-0.000265947712033,2.75840829959e-05,1793249778367124480
+60,1.000000000,BASELINE,767,746,718,679.185571763,664,638,879.814428237,784,813,652,630,654,0.400961810861,0.00452251368006,0.059842927224,0.999999949012,0.000173620968169,-0.000266635029754,2.71748192774e-05,1793249778383791104
+61,1.016666667,BASELINE,767,746,718,679,663.602919192,638,880,784,813,652,630,654,0.400960586653,0.00452195331094,0.0598417576483,0.999999948672,0.000172996224152,-0.000268300032394,2.72498645722e-05,1793249778400457472
+62,1.033333333,BASELINE,767,746,718,679,663.024188524,638,880,784,813,652,630,654,0.400959168054,0.00452017244213,0.0598403526234,0.99999994846,0.000170875012318,-0.000270412289868,2.75464634452e-05,1793249778417124096
+63,1.050000000,BASELINE,767,745.44674537,718,679,663.55325463,638.55325463,880.55325463,784,813,652,629.44674537,654,0.400959889982,0.00452019620616,0.0598416987276,0.999999948785,0.000171048512894,-0.000269099188714,2.75340939232e-05,1793249778433790976
+64,1.066666667,BASELINE,766.870601493,745.129398507,718,679,664,638.870601493,880.870601493,784,813,652,629,654,0.400960621219,0.00452056049267,0.0598426334022,0.999999949014,0.000171375934583,-0.000268042817529,2.74743434191e-05,1793249778450457856
+65,1.083333333,BASELINE,766.29870864,745.70129136,718,679,664,638.29870864,880.29870864,784,813,652,629,654,0.400961065007,0.00452182005868,0.0598417507826,0.999999948842,0.000171887428715,-0.000268375294141,2.72986535544e-05,1793249778467124992
+66,1.100000000,BASELINE,766.282432369,746,718,679,664,638,879.717567631,784.282432369,813,652,629.282432369,654,0.40096159516,0.00452268994452,0.0598414310904,0.999999948757,0.000172544966553,-0.00026827776032,2.72102661146e-05,1793249778483791616
+67,1.116666667,BASELINE,766.873685578,746,718,679,664,638,879.126314422,784.873685578,813,652,629.873685578,654,0.400962219751,0.00452313374115,0.0598417269214,0.999999948768,0.000173362193352,-0.000267710038933,2.72173380285e-05,1793249778500457728
+68,1.133333333,BASELINE,767,746,718,679,664,638,879.457480408,784.542519592,813,652,630,654,0.400962294038,0.00452220887283,0.0598424926686,0.999999949198,0.000172385524558,-0.000266729549414,2.72417988355e-05,1793249778517124352
+69,1.150000000,BASELINE,767,745.961326017,718,679.038673983,663.961326017,638,879.961326017,784,813,652,629.961326017,654,0.400962107048,0.00452101606278,0.0598432501392,0.99999994968,0.000170964543844,-0.000265835339775,2.72632934908e-05,1793249778533790976
+70,1.166666667,BASELINE,767,745.388080534,718,679.611919466,663.388080534,638,879.388080534,784,813,652,629.388080534,654,0.400960375097,0.00452125936767,0.059842128531,0.99999994933,0.000170138666118,-0.000267683801914,2.71784880305e-05,1793249778550457600
+71,1.183333333,BASELINE,767,745,718,679.814600855,663.185399145,638,879.185399145,784,813,652,629.185399145,654,0.400959284391,0.00452161247856,0.0598411332551,0.999999948873,0.000170334691933,-0.000269254702997,2.72483347362e-05,1793249778567124224
+72,1.200000000,BASELINE,767,745,718,679.240630225,663.759369775,638,879.759369775,784,813,652,629.759369775,654,0.400959537647,0.00452219572798,0.0598404027542,0.999999948194,0.000172672488945,-0.000270243874064,2.76423114099e-05,1793249778583791104
+73,1.216666667,BASELINE,767,745,718,679,664,638,880,784,813,652,630,654,0.400960467012,0.00452173187872,0.0598410541946,0.999999948463,0.000172566002223,-0.000269311078549,2.76866605614e-05,1793249778600457984
+74,1.233333333,BASELINE,767,745,718,679,664,638,880,784,813,652,630,654,0.400961884444,0.00452051215479,0.0598427032243,0.999999949412,0.000170695047406,-0.000266990862852,2.74786222312e-05,1793249778617124864
+75,1.250000000,BASELINE,767,745.51740125,718,679,663.48259875,638.51740125,879.48259875,784,813.51740125,652,630,654,0.400961060177,0.00452147921349,0.0598419059311,0.99999994895,0.000171300415892,-0.000268349114653,2.72941304666e-05,1793249778633791488
+76,1.266666667,BASELINE,767,746,717.905142526,679,663.094857474,638.905142526,879.094857474,784,813.905142526,652,630,654,0.400960215495,0.00452231566338,0.0598411639503,0.999999948524,0.00017185367594,-0.000269593588785,2.71447944666e-05,1793249778650458112
+77,1.283333333,BASELINE,767,746,717.331060208,679,663.668939792,638.331060208,879.668939792,784,813.331060208,652,630,654,0.400960596813,0.00452119569566,0.0598421518712,0.999999949132,0.000170675433424,-0.000268082235463,2.7159106104e-05,1793249778667124480
+78,1.300000000,BASELINE,766.75146261,745.75146261,717.24853739,678.75146261,664,638,880,784,813.24853739,652,630,654,0.400961001588,0.00452077946495,0.0598425292531,0.999999949411,0.000170265806099,-0.000267307708891,2.71016372545e-05,1793249778683791104
+79,1.316666667,BASELINE,766.164351794,745.164351794,717.835648206,678.164351794,664,638,880,784,813.835648206,652,630,654,0.400961438316,0.00452132190962,0.0598420749197,0.999999949245,0.000170903235329,-0.000267536934667,2.69463844626e-05,1793249778700457472
+80,1.333333333,BASELINE,766.839507725,745.419753862,718,678.419753862,663.580246138,638,880,784,813.580246138,652.419753862,630,654,0.400962104037,0.00452109270185,0.0598426256066,0.999999949562,0.000170228248444,-0.000266771504427,2.70268759916e-05,1793249778717124096
+81,1.350000000,BASELINE,767.994734436,745.997367218,718,679,663,638,880,784,813,652.997367218,630,654,0.400962851963,0.00452056554088,0.0598435598542,0.999999950061,0.000169051385671,-0.000265629828069,2.7197464403e-05,1793249778733790720
+82,1.366666667,BASELINE,766.854202053,745.427101027,718,679,663,638,880,784,813,652.427101027,630,654,0.400962129898,0.00452047700514,0.0598429523538,0.999999949666,0.000169672448686,-0.000266738271696,2.70336339954e-05,1793249778750457856
+83,1.383333333,BASELINE,766.144915027,745,718,679,663.144915027,638,879.855084973,784,813,652,630,654,0.400961508612,0.00452023746599,0.0598424505873,0.999999949452,0.000169684037969,-0.000267536176765,2.69814948719e-05,1793249778767124992
+84,1.400000000,BASELINE,766.72215154,745,718,679,663.72215154,638,879.27784846,784,813,652,630,654,0.40096118798,0.00451954744197,0.0598422642539,0.999999949784,0.000167877399205,-0.000267407659959,2.72625616079e-05,1793249778783791616
+85,1.416666667,BASELINE,767,745.307800105,718,679,664,638,879,784,813,652,630,654,0.400961087589,0.00452003595022,0.0598421420624,0.9999999496,0.0001681790953,-0.000267901601986,2.72852714204e-05,1793249778800457984
+86,1.433333333,BASELINE,767,745.901255479,718,679,664,638,879,784,813,652,630,654,0.400961191594,0.00452161820068,0.0598420793983,0.999999948936,0.000170437441135,-0.000268973219734,2.70682119134e-05,1793249778817124608
+87,1.450000000,BASELINE,767,746,718,679,663.51712769,638,879,784,813,652,630,653.51712769,0.400961697205,0.00452080458655,0.059842168658,0.999999949304,0.000169836825816,-0.00026797023447,2.71913602804e-05,1793249778833791232
+88,1.466666667,BASELINE,767,746,718,679,663.061584234,638,879.061584234,784,813,652,630,653.061584234,0.400962153648,0.0045198117411,0.0598422940451,0.999999949785,0.000168922373991,-0.000266735642756,2.73295543196e-05,1793249778850457344
+89,1.483333333,BASELINE,767,746,718,679,663.635785261,638,879.635785261,784,813,652,630,653.635785261,0.400961533589,0.00452130759139,0.0598424677374,0.99999994951,0.000170145594455,-0.000267020027882,2.70277507851e-05,1793249778867123968
+90,1.500000000,BASELINE,767,746,718,679,664,638,879.791930726,784,813.208069274,652,630,654,0.400960801977,0.00452175788035,0.0598421936003,0.999999949273,0.000170476349627,-0.000267708324601,2.69093313595e-05,1793249778883790592
+91,1.516666667,BASELINE,767,746,718,679,664,638,879.222971776,784,813.777028224,652,630,654,0.400959876883,0.00452039467558,0.0598411427171,0.999999949102,0.000169259151415,-0.00026909719337,2.71089859918e-05,1793249778900457984
+92,1.533333333,BASELINE,767,745.636651516,717.636651516,679,664,638,879,784,813.636651516,652,630,654,0.400959198975,0.00452075442899,0.0598409156216,0.999999948902,0.000169459109127,-0.000269713603725,2.70969985172e-05,1793249778917124864
+93,1.550000000,BASELINE,767,745.039142683,717.039142683,679,664,638,879,784,813.039142683,652,630,654,0.400958680366,0.00452222454466,0.0598412194168,0.999999948685,0.000170572354488,-0.000269832202506,2.69486180629e-05,1793249778933791488
+94,1.566666667,BASELINE,767,745.538694325,717.538694325,679,664.538694325,638,879.538694325,784,813,652.538694325,629.461305675,654.538694325,0.400958800894,0.00452167662966,0.0598414080197,0.999999948765,0.000170229325098,-0.00026974275609,2.70319969549e-05,1793249778950457856
+95,1.583333333,BASELINE,767,745.884888591,718,678.884888591,664.769777183,638,880,784,813,652.884888591,629.115111409,654.884888591,0.400959212742,0.00452113440449,0.0598416045373,0.999999948897,0.000169900264104,-0.00026945543882,2.70713430513e-05,1793249778967124224
+96,1.600000000,BASELINE,767,745.308635134,718,678.308635134,663.617270267,638,880,784,813,652.308635134,629.691364866,654.308635134,0.400960612144,0.00452118170215,0.0598418651119,0.999999949155,0.000170036130821,-0.000268433866911,2.68692059694e-05,1793249778983790592
+97,1.616666667,BASELINE,767,745.274550125,718,678.274550125,663.274550125,638,880,784,813,652,630,653.725449875,0.400961054759,0.00452174664359,0.0598419191259,0.999999949118,0.000171408170981,-0.000267710197302,2.67304920638e-05,1793249779000457216
+98,1.633333333,BASELINE,767,745.86572956,718,678.86572956,663.86572956,638,880,784,813,652,630,653.13427044,0.400960393942,0.00452290856596,0.0598417349206,0.999999948738,0.000174205847865,-0.000267330088326,2.66649219598e-05,1793249779017124352
+99,1.650000000,BASELINE,766.554757702,745.554757702,718,679,663.554757702,638,880,784,813,652,630,653.445242298,0.40096029533,0.00452199946581,0.0598417203795,0.999999948989,0.000171967849308,-0.000267844712362,2.66319074359e-05,1793249779033791232
+100,1.666666667,BASELINE,766,745.021368145,718,678.978631855,663.021368145,638,879.978631855,784,813,652,630,654,0.400960378029,0.00452057341055,0.0598417731197,0.999999949391,0.000168467011614,-0.000268567253888,2.66093054395e-05,1793249779050458112
+101,1.683333333,BASELINE,766,745.598575436,718,678.401424564,663.598575436,638,879.401424564,784,813,652,630,654,0.400960879479,0.00452153139872,0.0598422790671,0.999999949218,0.000170610349456,-0.000267858718826,2.66086975241e-05,1793249779067124736
+102,1.700000000,BASELINE,766.17509341,745.82490659,718,678.17509341,664,638.17509341,879,784.17509341,813,652,630,654,0.400961148327,0.00452188703203,0.0598424919692,0.99999994917,0.000171454622465,-0.000267487202877,2.672050661e-05,1793249779083791104
+103,1.716666667,BASELINE,766.750037153,745.249962847,718,678.750037153,664,638.750037153,879,784.750037153,813,652,630,654,0.400960885997,0.0045208671035,0.0598420356611,0.999999949415,0.00016933229863,-0.000267885317393,2.70890356684e-05,1793249779100457472
+104,1.733333333,BASELINE,766.665716485,745.334283515,718,679,664,638.665716485,879.334283515,784.665716485,813,652,630,654,0.400960622559,0.0045207157456,0.059842152136,0.999999949488,0.000168722592859,-0.000268004538999,2.70119332104e-05,1793249779117124096
+105,1.750000000,BASELINE,766.074314843,745.925685157,718,679,664,638.074314843,879.925685157,784.074314843,813,652,630,654,0.40096035827,0.00452123245899,0.0598427091736,0.999999949432,0.000169276334979,-0.000267909246861,2.65920680283e-05,1793249779133790720
+106,1.766666667,BASELINE,766.504804166,745.495195834,718,679,664,638,879.495195834,784,813,652,630,654,0.400960685746,0.00452130136437,0.0598429424825,0.99999994899,0.000172355956366,-0.000267559898606,2.69354923125e-05,1793249779150457344
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,680,664,638,879,784,813,652,630,654,0.400961800862,0.00451877349228,0.059842305787,0.999999949878,0.000166951500501,-0.000267655465021,2.70389717625e-05,1793249779193760000
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718,679.411617993,664,638,879,784,813,652,630,654,0.400960633903,0.00451931291033,0.0598416715683,0.999999949549,0.0001675923557,-0.000268464494312,2.724281749e-05,1793249779210426624
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.173904738,718,679,664,638,879,784,813,652,630,654,0.400960014711,0.00451984810953,0.0598411805501,0.999999949414,0.000167877966392,-0.000268789897653,2.72105870881e-05,1793249779227092992
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.75276939,718,679,664,638,879,784,813,652,630,654,0.400960671062,0.00452037348468,0.059841022993,0.999999949736,0.000167336343945,-0.000267989114919,2.66286226021e-05,1793249779243759616
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.329966993,879,784,813,652.329966993,630,654,0.400960630304,0.00452085738059,0.059841121317,0.999999949587,0.000168052318423,-0.000268103719007,2.65570107287e-05,1793249779260426240
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.905921789,879,784,813,652.905921789,630,654,0.400960069858,0.00452131035404,0.0598414103983,0.999999949085,0.000169705821574,-0.000268900736836,2.68658627578e-05,1793249779277092608
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.517698554,879.482301446,784,813,652.517698554,630,654,0.400960142288,0.00452154325432,0.0598415309728,0.9999999492,0.000169516377854,-0.000268605791836,2.67243790453e-05,1793249779293758720
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.939752584,745.939752584,718,679,664,638,880,784,813,652,630,654,0.400960404777,0.00452166407691,0.0598416804552,0.999999949364,0.000169289623224,-0.000268155565529,2.65640953695e-05,1793249779310425344
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.348738448,745.348738448,718,679,664,638,880,784,813,652,630,654,0.400961253106,0.0045211760363,0.0598423744361,0.99999994889,0.000171903963421,-0.000268215477419,2.7012747776e-05,1793249779327092224
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.237395456,745.237395456,718,679,664,638.237395456,880,784,813,652,630,654,0.400965463695,0.00452185001768,0.0598443866393,0.99999994922,0.000174045336989,-0.000265583178074,2.71011306158e-05,1793249779343759104
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.816504568,745.816504568,718,679,664,638.816504568,880,784,813,652,630,654,0.400974514015,0.00452419664604,0.0598482963286,0.999999950683,0.000175505908936,-0.000259075634604,2.66709313301e-05,1793249779360425984
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.608260393,880,784,812.608260393,652,630,654,0.401006633382,0.0045239185301,0.0598604420749,0.999999956622,0.000173875538421,-0.000236249521333,2.66467408869e-05,1793249779377092608
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.034822194,880,784,812.034822194,652,630,654,0.401049452749,0.00452242299257,0.0598764079101,0.999999963864,0.00017081151176,-0.000205854447976,2.68108674042e-05,1793249779393759232
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638,879.44724833,784,812.55275167,652.55275167,630,654,0.401110600813,0.00452142729164,0.0598945782404,0.999999970249,0.000169736490878,-0.000173098307128,2.69898814747e-05,1793249779410425600
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664.138967772,638.138967772,879,784,813,652.861032228,630,654,0.40117643333,0.00452061246488,0.0599114330657,0.999999974976,0.000168994976889,-0.000144048954815,2.71774759586e-05,1793249779427091968
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664.717990613,638.717990613,879,784,813,652.282009387,630,654,0.401253347303,0.00452026806488,0.0599236709058,0.999999977268,0.000168902347163,-0.000127220872255,2.73891934312e-05,1793249779443758848
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.703493943,718,679,664.703493943,639,879.296506057,784,813,652,630,654,0.401337823687,0.00451969962761,0.0599315271753,0.999999979021,0.000167094468088,-0.000115344001781,2.70783069218e-05,1793249779460425728
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.1254603,718,679,664.1254603,639,879.8745397,784,813,652,630,654,0.401429480449,0.00451891847069,0.0599352232153,0.999999980413,0.000163657988219,-0.00010816822614,2.62712165857e-05,1793249779477092608
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745.449125379,718,679,664,638.550874621,880,784,813,652,630,654,0.401545386633,0.00451962176307,0.0599406478576,0.999999981667,0.000162887276873,-9.74623497729e-05,2.51930952796e-05,1793249779493758976
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.023357579,880,784,813,652.023357579,630,654,0.401668690273,0.00452062675377,0.0599464226866,0.999999982788,0.000162652339663,-8.59663218103e-05,2.4040510822e-05,1793249779510425856
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.612172126,880,784,813,652.612172126,630,654,0.401808338294,0.00451897329168,0.0599490743864,0.999999984212,0.000157497757571,-7.90323420735e-05,2.290416541e-05,1793249779527092480
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.801638559,879.801638559,784,813,652.801638559,630,654,0.40195871241,0.00451802938597,0.0599507526494,0.999999985411,0.000152875408724,-7.31260296799e-05,2.14202323589e-05,1793249779543759104
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.220515009,879.220515009,784,813,652.220515009,630,654,0.402129783792,0.0045184546543,0.0599505525492,0.999999986278,0.000149280068155,-6.92027250678e-05,1.92655875467e-05,1793249779560425984
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.643757601,718,679,664,638,879.356242399,784,813,652,630,654,0.402320734263,0.00451889704256,0.0599503655235,0.999999986972,0.000146533513761,-6.54302653775e-05,1.73808792079e-05,1793249779577092096
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.069670068,718,679,664,638,879.930329932,784,813,652,630,654,0.402523840974,0.00451934989984,0.059950186493,0.999999987559,0.000144305998694,-6.17500482078e-05,1.56612390169e-05,1793249779593758464
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.503758537,718,678.496241463,664.503758537,638,880,784,813,652,630,654,0.402768589147,0.00452046711616,0.0599503912253,0.9999999885,0.000139688323978,-5.76464127918e-05,1.27731319532e-05,1793249779610425344
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,678.079900038,664.920099962,638.079900038,880,784,813,652,629.920099962,654,0.403022728157,0.00452129040053,0.0599508014846,0.999999989461,0.000134727004003,-5.3201136931e-05,9.83795074209e-06,1793249779627092736
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718,678.674089591,664.325910409,638.674089591,880,784,813,652,629.325910409,654,0.403300292377,0.00451963110933,0.0599521934743,0.999999990461,0.000129678679075,-4.69332671075e-05,7.63857083603e-06,1793249779643759616
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.739496522,880,784,813,652,629,654,0.403589971901,0.00451878193491,0.0599487917702,0.99999999107,0.000123717721698,-5.03097357604e-05,4.80662357789e-06,1793249779660425984
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.162528694,880,784,813,652,629,654,0.4038943693,0.00451891690514,0.0599395665998,0.999999991057,0.000116648082151,-6.54023221498e-05,1.20622215438e-06,1793249779677092608
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.413175598,880,784.413175598,813,652,629.413175598,654,0.40422371194,0.00451938405794,0.0599274808294,0.999999990378,0.000108856032297,-8.59602164223e-05,-2.35345323798e-06,1793249779693759232
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.988384361,880,784.988384361,813,652,629.988384361,654,0.404562837233,0.00451998148123,0.059914273231,0.999999989001,0.00010078067825,-0.000108661414832,-5.89715720509e-06,1793249779710425856
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664,639,879.423320184,784.423320184,813,652,630,654,0.404948372179,0.00451885221697,0.0599042965468,0.999999987686,9.26857339608e-05,-0.000126277255686,-9.56633326842e-06,1793249779727092224
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664,639,879.325043459,784,813,652,630,654.16252173,0.405357886467,0.0045177779367,0.0599011484337,0.999999987562,8.43174957707e-05,-0.000132633162427,-1.31965622008e-05,1793249779743758848
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,639,880.482774371,784,813,652,630,654.741387186,0.405826379973,0.00451693567884,0.0599153229828,0.999999990933,7.52501763736e-05,-0.00011041217196,-1.67203921808e-05,1793249779760425472
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,718,679.318485294,664.318485294,639,881,784.318485294,813,652,630,654.681514706,0.40632946233,0.00451708491289,0.0599400053408,0.999999995229,6.68691036222e-05,-6.82380889379e-05,-2.0347450825e-05,1793249779777092096
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,718,679.894156282,664.894156282,639,881,784.894156282,813,652,630,654.105843718,0.406860476191,0.00451803480403,0.0599731730469,0.999999997918,5.90421928996e-05,-9.95132849543e-06,-2.40578698094e-05,1793249779793758976
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718,679.531727496,665,639,881,784.531727496,813.468272504,652,630,654,0.407404855935,0.00451608032496,0.059993874471,0.999999998267,4.86480881184e-05,1.87961507892e-05,-2.73059523202e-05,1793249779810425856
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664.956727062,639,881,784,813.956727062,652,630,654.043272938,0.407951891166,0.00451367494852,0.0600094021383,0.999999998154,3.78452470471e-05,3.64849938411e-05,-3.04832730798e-05,1793249779827092992
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664.366111806,639,881,784,813.366111806,652,630,654.633888194,0.408494428894,0.00451384236604,0.0599950117509,0.999999998992,2.91876866772e-05,-1.53012539069e-06,-3.40829893078e-05,1793249779843759360
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.779694302,718,679.220305698,664.220305698,639,881.220305698,784.220305698,813,652,629.779694302,655,0.40905973683,0.00451499228015,0.0599813941472,0.999999998441,2.1143907912e-05,-3.47458244409e-05,-3.82648310492e-05,1793249779860425984
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.200122371,718,679.799877629,664.799877629,639,881.799877629,784.799877629,813,652,629.200122371,655,0.409662177531,0.00451774441269,0.0599690367706,0.999999997151,1.41010616361e-05,-6.01348075364e-05,-4.33959809884e-05,1793249779877092352
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.623908241,745.376091759,718,680,665.376091759,639,882.376091759,785,813.376091759,652,629,654.623908241,0.410312341038,0.00451754363084,0.0599713751288,0.999999997607,4.38623785233e-06,-4.92993600109e-05,-4.83276388669e-05,1793249779893758976
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.049465039,745.950534961,718,680,665.950534961,639,882.950534961,785,813.950534961,652,629,654.049465039,0.410987673615,0.00451578547676,0.0599814640431,0.999999998377,-6.73779125409e-06,-1.93590845002e-05,-5.31540840965e-05,1793249779910425600
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.522352414,746,718,680,666,639,882.477647586,785,814,652,629.522352414,654,0.411681797921,0.00451592972955,0.0599840914014,0.999999998396,-3.90922958334e-06,-1.35033280737e-05,-5.4867853766e-05,1793249779927091968
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718,680,666,639,882.098363354,785,814,651.901636646,630,654,0.412375382929,0.0045173151319,0.0599802533667,0.999999998268,1.283042561e-05,-2.18130311261e-05,-5.31451198037e-05,1793249779943758080
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718,680,666,639,882.696958489,785,814,651.303041511,630,654,0.413057220537,0.00452410087483,0.0599471106488,0.999999990883,9.36298986134e-05,-9.06211683175e-05,-3.54373923336e-05,1793249779960424704
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718,679.715254056,665.715254056,639,883.284745944,785,814,651.284745944,630,654,0.41377459411,0.00452664134397,0.0599239016275,0.99999998258,0.000127870438303,-0.000132718319508,-2.95775436574e-05,1793249779977091584
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,679.138548027,665.138548027,639,883.861451973,785,814,651.861451973,630,654,0.414528404047,0.00452482898458,0.0599108779725,0.999999981949,0.000114372467836,-0.000147427761344,-3.58657422404e-05,1793249779993758208
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,679.43568549,665.87137098,639.43568549,884,784.56431451,814,652,630,654,0.415367657521,0.0045209714868,0.0599517403596,0.999999991198,0.000104812634976,-7.15313974991e-05,-3.87484060401e-05,1793249780010424576
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680,667,640,884.009395789,784,814,652,630,654,0.416233333757,0.00451660074171,0.0600089155676,0.999999993993,9.68480832765e-05,3.15060828089e-05,-4.05186708141e-05,1793249780027091200
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680,667,640,884.599079789,784,814,652,630,654,0.417062267947,0.00452047110639,0.0600212375178,0.999999992236,0.000110500949653,4.13505169609e-05,-4.00933958111e-05,1793249780043758080
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718,680,666.814441931,639.814441931,885,784.185558069,814,652,630,654.185558069,0.417891049101,0.00452237029026,0.0600222945248,0.999999991404,0.000118712833227,3.81834636796e-05,-4.05085348277e-05,1793249780060424704
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718,680,666.234772397,639.234772397,885,784.765227603,814,652,630,654.765227603,0.418719505164,0.00452008283322,0.0599994256338,0.999999992406,0.000115368475233,7.38098316579e-06,-4.27086504171e-05,1793249780077091584
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,718,680.341388844,666,639,885,785,814.341388844,652,630,655,0.419553307845,0.00451818195165,0.059974322796,0.999999993015,0.000105408825692,-2.96855556507e-05,-4.44814887925e-05,1793249780093757952
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,718,680.915161955,666,639,885,785,814.915161955,652,630,655,0.420390749948,0.0045165442131,0.0599476993058,0.999999992286,9.09461301288e-05,-7.10160538434e-05,-4.59634783268e-05,1793249780110424832
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,718,680.50972814,666,639,885.49027186,785,815,652,630,655,0.42119717045,0.00451043029116,0.0599099518859,0.999999989013,9.73055006812e-06,-0.000140924730582,-4.49426125657e-05,1793249780127091968
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,718,680.067290099,666,639.067290099,886,785,814.932709901,652,630,655,0.422013222859,0.00450307235203,0.0598765794571,0.99999997561,-7.29130876967e-05,-0.000203889385258,-4.34980351886e-05,1793249780143759104
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,718,680.657331167,666,639.657331167,886,785,814.342668833,652,630,655,0.422945917874,0.00449208392581,0.059892189502,0.999999980968,-7.66692169067e-05,-0.00017438578287,-4.2135606316e-05,1793249780160425472
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718,681,666.244125333,640,886.244125333,785,814.244125333,652,630,655,0.423904259717,0.00448262923118,0.0599324596474,0.99999999022,-7.97560254891e-05,-0.000107440625632,-4.0678147249e-05,1793249780177092096
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718,681,666.826421858,640,886.826421858,785,814.826421858,652,630,655,0.424898128603,0.00447529911515,0.0600068898535,0.999999995816,-8.19156668812e-05,1.13699257072e-05,-3.90890483713e-05,1793249780193758720
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718,681,667,640,887.402059095,785,815,652,630,654.597940905,0.425838932045,0.00447571544402,0.0600378256094,0.999999994622,-7.27787530278e-05,6.24504365744e-05,-3.94988505115e-05,1793249780210425600
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718,681,667,640,887.974868173,785,815,652,630,654.025131827,0.426757199131,0.00447942160149,0.0600502897563,0.999999993845,-5.88443191839e-05,8.476675301e-05,-4.07575636858e-05,1793249780227092224
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,718,681,667,640,888,785,815,652,630,654,0.427636983657,0.00447508660029,0.0600231369937,0.999999995877,-5.83830728178e-05,5.52436801107e-05,-4.22575266167e-05,1793249780243759104
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718,681,667,640,888.150059161,785,815.150059161,652,630,654.150059161,0.428514012335,0.00447265317902,0.0599937191816,0.999999997337,-5.53001766631e-05,1.85777342597e-05,-4.38470008065e-05,1793249780260425472
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,681,667,640,888.729695775,785,815.729695775,652,630,654.729695775,0.42938820699,0.00447671977356,0.059963021426,0.999999997532,-4.29423298558e-05,-3.17263990455e-05,-4.56610289969e-05,1793249780277092352
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.307012101,746,718,681.307012101,666.385975797,640,889,785,816,652,630,655,0.43025503755,0.00447748934663,0.0599375225287,0.99999999542,-3.52634011248e-05,-7.56558784829e-05,-4.68197542547e-05,1793249780293758976
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.882300859,746,718,681.882300859,665.235398283,640,889,785,816,652,630,655,0.431115433088,0.00447537788031,0.0599165665557,0.999999991875,-3.16730561887e-05,-0.000114014985857,-4.74058555029e-05,1793249780310425600
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,746,718,682,665.915805063,639.542097468,889,785,816,652,630,655,0.432054102964,0.00447185381619,0.0599520661854,0.999999997107,-3.36821374499e-05,-4.83435552317e-05,-4.81012299629e-05,1793249780327091968
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.96567625,746,718,681.96567625,667.068647499,639,889,785,816,652,630,655,0.433006940511,0.00446821363096,0.0599996742433,0.999999997384,-3.65137533497e-05,3.90124068182e-05,-4.87623096491e-05,1793249780343758592
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.377326459,746,718,681.377326459,668.245347083,639,889,785,816,652,630,655,0.433863483389,0.00446856388957,0.0600083363359,0.999999997408,-2.9374561585e-05,4.44721430795e-05,-4.84161591931e-05,1793249780360425216
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746.208345583,718,681.208345583,668.374963252,639,889,785,816,652,630,655,0.43471756233,0.00446646267909,0.0600005376042,0.999999998122,-2.62469227408e-05,2.65407475036e-05,-4.86014743521e-05,1793249780377092096
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746.789229691,718,681.789229691,666.632310927,639,889,785,816,652,630,655,0.435567235699,0.00445997804634,0.0599633056066,0.999999997753,-3.02922593418e-05,-3.3215857331e-05,-4.97370922655e-05,1793249780393758976
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746.633130676,718,681.633130676,666.366869324,639.366869324,889,785,816,652,630,655,0.436385312405,0.00445875357036,0.0599414732708,0.999999995835,-2.82068992988e-05,-7.03459917507e-05,-5.08539689001e-05,1793249780410425600
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746.057338724,718,681.057338724,666.942661276,639.942661276,889,785,816,652,630,655,0.437185395574,0.00446052461854,0.0599284106481,0.99999999392,-2.26302652333e-05,-9.45909305922e-05,-5.19601728352e-05,1793249780427092224
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,681.513940312,667,639.486059688,889.513940312,785,816,652,630,654.486059688,0.437937812848,0.0044586486346,0.0599128020401,0.999999989698,-1.74460954931e-05,-0.000133135344849,-5.07345024125e-05,1793249780443758592
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,718,682,667,639,889.911596075,785,816,652,630.088403925,654.088403925,0.438694519351,0.00445606415764,0.0599030339948,0.999999985806,-1.35196128352e-05,-0.000160470060756,-4.95352845772e-05,1793249780460424960
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,718,682,667,639,889.315998305,785,816,652,630.684001695,654.684001695,0.439506078789,0.00445172898287,0.0599283900761,0.999999992069,-1.65597492912e-05,-0.000114418924498,-4.9967437507e-05,1793249780477091840
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718,682,667,639.270875805,889,785,816,652,631,655,0.44031338615,0.00445041488957,0.0599628176635,0.999999996823,-1.57236113667e-05,-5.9980340704e-05,-5.0099231867e-05,1793249780493758720
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,682,667,639.84789055,889,785,816,652,631,655,0.441115887834,0.00445251516826,0.0600074977015,0.999999998692,-1.05065779407e-05,3.93758167584e-06,-4.98915663091e-05,1793249780510425600
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,682,666.576081891,639.576081891,889.423918109,785,816.423918109,652,630.576081891,655,0.441805334731,0.00445327954686,0.0599911326258,0.999999998517,-2.83656192198e-06,-2.08624559782e-05,-5.02216130084e-05,1793249780527092224
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,682,666.000407681,639.000407681,889.999592319,785,816.999592319,652,630.000407681,655,0.442454309836,0.00445356569415,0.059952914351,0.999999995699,5.7115842004e-06,-7.74221404027e-05,-5.07441522328e-05,1793249780543758848
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.586876158,718,682,665.413123842,639,890,785,817,652,630.586876158,655,0.443057781415,0.00445246208217,0.0599073940269,0.999999988754,4.4533176148e-06,-0.000140337983948,-5.27004378369e-05,1793249780560425728
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.828302785,718,682.171697215,665,639,890,785,817,652,631,655,0.443665273482,0.00445210982235,0.0598729869099,0.999999980722,4.61775615506e-06,-0.000188652038912,-5.42745353503e-05,1793249780577092096
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.249342799,718,682.750657201,665,639,890,785,817,652,631,655,0.444282378689,0.00445354209253,0.0598649523897,0.999999977991,8.17331036845e-06,-0.000202320237779,-5.49396801547e-05,1793249780593758976
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,718,683,664.672237722,639,890,785,817,652,631,655,0.444880999263,0.00445356726256,0.0598615440937,0.999999975798,8.94922911833e-06,-0.000212638074296,-5.57627094115e-05,1793249780610425600
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,718,683,664.096535847,639,890,785,817,652,631,655,0.445465636883,0.00445252801519,0.0598616353596,0.99999997407,7.62245999115e-06,-0.000220421489332,-5.67051721668e-05,1793249780627091968
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,718,682.519921246,664,639,890.480078754,785,817,652,631,655,0.445971221986,0.00445528910154,0.0598356932706,0.999999962307,8.01792505457e-06,-0.000268169591464,-5.83669799354e-05,1793249780643758848
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663.942068439,639,890.942068439,784.942068439,817,652.057931561,631,655,0.446459744675,0.00445859207494,0.0598063987917,0.999999947137,8.46980859191e-06,-0.000319405923522,-6.02892868565e-05,1793249780660425728
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663.35457792,639,890.35457792,784.35457792,817,652.64542208,631,655,0.446937883192,0.00445984970216,0.0597944034652,0.999999943882,6.26570698427e-06,-0.000328928521611,-6.32680823238e-05,1793249780677092352
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746.230115742,717.769884258,682,663,638.769884258,890.230115742,784,817.230115742,652.769884258,631,655,0.447416300162,0.00446108417433,0.0597920448359,0.999999943668,-3.89013115507e-05,-0.000326840582693,-6.57751794946e-05,1793249780693758976
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746.810551514,717.189448486,682,663,638.189448486,890.810551514,784,817.810551514,652.189448486,631,655,0.447895140996,0.00446228339596,0.0598043567733,0.999999939398,-0.000149473548049,-0.00030707717101,-6.75641791008e-05,1793249780710425600
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746.613208327,717.386791673,682,663.386791673,638,890.613208327,784.386791673,817.613208327,652,631,655,0.448332616085,0.00446728337732,0.0598065355904,0.999999934658,-0.000183409989233,-0.000303366423913,-7.08025445295e-05,1793249780727092224
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746.039001053,717.960998947,682,663.960998947,638,890.039001053,784.960998947,817.039001053,652,631,655,0.448750047906,0.00447412497461,0.0598038045179,0.999999933711,-0.000180213419422,-0.000307433816211,-7.4743184469e-05,1793249780743758848
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,718,682,663.450679245,638,890,784.450679245,817.549320755,652,631,655,0.449057755028,0.00449239778804,0.0597733179581,0.999999919419,-0.000161557281254,-0.000358580929884,-8.04986246785e-05,1793249780760425216
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.136215417,718,682,663,638,890,784.136215417,818,652,631,655,0.449359515889,0.00450852586144,0.0597409420544,0.999999901985,-0.000140571997261,-0.000411338209141,-8.40832824736e-05,1793249780777092096
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.715129269,718,682,663,638,890,784.715129269,818,652,631,655,0.449667937666,0.00451497630474,0.0597089991332,0.999999885131,-0.000115678305234,-0.000458178628132,-8.01831267618e-05,1793249780793758720
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746.707940459,718,682,663,637.707940459,890,784.707940459,817.707940459,652.292059541,631,655,0.449963431245,0.0045163718715,0.0596895978483,0.999999875838,-8.28600958761e-05,-0.000486230815872,-7.09805643615e-05,1793249780810425344
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746.132931927,718,682,663,637.132931927,890,784.132931927,817.132931927,652.867068073,631,655,0.450246399892,0.00451287024393,0.059682346976,0.99999987445,-4.23645693897e-05,-0.000496080852793,-5.66409996552e-05,1793249780827092224
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.44392207,718,682,662.55607793,637,890,784,817.44392207,652.55607793,631,655,0.450516950503,0.00451506162529,0.0596873836463,0.999999879113,-3.3610398963e-05,-0.000487390880362,-5.56298106455e-05,1793249780843759104
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746.978271408,718,682,662,637.021728592,890,784,818,652.021728592,630.978271408,655,0.450781946651,0.00451871830397,0.0596960767578,0.999999885747,-3.46116262486e-05,-0.000473159333007,-5.85447565116e-05,1793249780860425728
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746.390099715,718,682,662,637.609900285,890,784,818,652.609900285,630.390099715,655,0.450999487514,0.00451594678317,0.0597037685963,0.999999891688,-4.11084234223e-05,-0.000459798080253,-5.93300634874e-05,1793249780877092096
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,718,682.391172985,662,637.804413507,890,784,818,652.804413507,630.195586493,655,0.451200370451,0.00451490275694,0.0597053638538,0.999999893194,-4.53406762139e-05,-0.000455943887292,-6.05859233677e-05,1793249780893758464
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,718,683.552755012,662,637.223622494,890,784,818,652.223622494,630.776377506,655,0.451368445836,0.00451726100444,0.0596949519903,0.99999988618,-4.5112943698e-05,-0.000470813700759,-6.27685297132e-05,1793249780910425344
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,718,683.646321271,661.646321271,637,890,784,818,652.353678729,631,655,0.451520060939,0.00451858263349,0.0596874794866,0.999999880139,-4.73576821291e-05,-0.000483053280808,-6.43302174756e-05,1793249780927091712
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,718,683.071204944,661.071204944,637,890,784,818,652.928795056,631,655,0.451661370308,0.00451925523788,0.0596818473096,0.999999874703,-5.11504300303e-05,-0.00049364607802,-6.55031494727e-05,1793249780943758336
+213,3.550000000,POSE1_TO_POSE2_PRESS,767.504620072,746,717.495379928,683,661.504620072,637,890,784.504620072,817.495379928,652.495379928,631,655,0.451792798289,0.00451631772459,0.0596859669296,0.999999878537,-5.40891318979e-05,-0.000485499447596,-6.55058770408e-05,1793249780960425216
+214,3.566666667,POSE1_TO_POSE2_PRESS,767.917404324,746,717.082595676,683,661.917404324,637,889.917404324,784.917404324,817.082595676,652,631,655,0.451918206363,0.00451351846508,0.0596910832078,0.999999883192,-5.62187503083e-05,-0.000475575485822,-6.54497123989e-05,1793249780977091840
+215,3.583333333,POSE1_TO_POSE2_PRESS,767.326817531,746,717.673182469,683,661.326817531,637,889.326817531,784.326817531,817.673182469,652,631,655,0.452015177667,0.00451470695645,0.0596938542751,0.999999885431,-5.41144610758e-05,-0.000471006211089,-6.60483305101e-05,1793249780993758464
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,718,683,661,636.742968314,889.257031686,784,818,652,631,655,0.45209920532,0.00451497814091,0.0596940353316,0.999999885444,-5.40437706421e-05,-0.000470924962433,-6.6482844526e-05,1793249781010425600
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,718,683,661,636.167467177,889.832532823,784,818,652,631,655,0.452167195421,0.00451411275636,0.0596910072921,0.999999882698,-5.64927661437e-05,-0.00047640450393,-6.67140289404e-05,1793249781027092480
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,718,682.591142029,661,636.408857971,890,784,817.591142029,652,631,655,0.452223160136,0.00451461802191,0.0596874613373,0.999999880849,-5.51726743948e-05,-0.00048042325566,-6.67218610765e-05,1793249781043758848
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746,718,682.014478701,661,636.985521299,890,784,817.014478701,652,631,655,0.452274189337,0.00451568583596,0.0596837028173,0.99999987936,-5.23056565636e-05,-0.000483842463235,-6.66380239432e-05,1793249781060425216
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746,717.426809344,682.573190656,661,636.426809344,889.426809344,784,817.573190656,652,631,655,0.452310131868,0.00451351441108,0.059683366051,0.999999878844,-5.52883637103e-05,-0.000484602491465,-6.64446137152e-05,1793249781077092096
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,717.158717456,683,661,636,889,784,818,652,631,655,0.452341652705,0.0045122333651,0.0596825496414,0.999999877806,-5.66352345648e-05,-0.000486615139257,-6.62245935502e-05,1793249781093758720
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746,717.737818559,683,661,636,889,784,818,652,631,655,0.452362491223,0.00451353156338,0.059680229424,0.999999875314,-5.32503500413e-05,-0.000492126903886,-6.59415679564e-05,1793249781110425600
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,718,682.684096874,660.684096874,636,889.315903126,784.315903126,817.684096874,652,631,655,0.452379405961,0.00451539708881,0.059677752375,0.99999987357,-5.10359210463e-05,-0.000495864799533,-6.6127143022e-05,1793249781127092480
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,718,682.106853204,660.106853204,636,889.893146796,784.893146796,817.106853204,652,631,655,0.452393074633,0.00451773195315,0.0596751455821,0.999999872467,-4.97897868905e-05,-0.000498135208312,-6.67003823152e-05,1793249781143758848
+225,3.750000000,POSE1_TO_POSE2_PRESS,767,746,718,682.467729836,660.467729836,636,889.532270164,784.532270164,817,652,630.532270164,655,0.452403941378,0.00451583315372,0.0596756655335,0.999999873052,-5.0985557777e-05,-0.000496851052498,-6.6603736825e-05,1793249781160425472
+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,718,682.957189322,661,636.042810678,889.042810678,784,817.042810678,652,630,655,0.452413541978,0.00451332143477,0.0596766919731,0.999999873843,-5.25138426911e-05,-0.000495125929015,-6.63823523968e-05,1793249781177092352
+227,3.783333333,POSE1_TO_POSE2_PRESS,767,746,718,682.368042238,661,636.631957762,889.631957762,784,817.631957762,652,630,655,0.452415107021,0.00451526090378,0.0596751178585,0.999999872436,-5.12066673779e-05,-0.000498077731536,-6.65110348496e-05,1793249781193758976
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746,718,682.218425453,661,637,889.781574547,784,818,652,630.218425453,655,0.452417401362,0.00451677408622,0.0596744117692,0.999999871914,-4.93143231171e-05,-0.000499310745577,-6.65520803047e-05,1793249781210425600
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746,718,682.800433098,661,637,889.199566902,784,818,652,630.800433098,655,0.452420909664,0.0045175776891,0.0596751505598,0.99999987287,-4.64479303227e-05,-0.000497682733518,-6.64472487438e-05,1793249781227092224
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,746,718,682.622901882,661,636.622901882,889.377098118,784,817.622901882,652,631,655,0.45242244429,0.00451792069942,0.0596747287487,0.999999872737,-4.62179969319e-05,-0.000497991966918,-6.62801655235e-05,1793249781243759104
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746,718,682.049024792,661,636.049024792,889.950975208,784,817.049024792,652,631,655,0.452422949003,0.00451802336131,0.0596737013073,0.999999872039,-4.73638322933e-05,-0.000499312102185,-6.60805978763e-05,1793249781260426240
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746,718,682,661,636,889.47444062,784,817,652,631,655,0.452421919875,0.00451679632887,0.0596727875462,0.999999870982,-4.74163079282e-05,-0.000501465969072,-6.57207421175e-05,1793249781277092096
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746.103302075,717.896697925,682.103302075,660.896697925,636,889,784,817,652,630.896697925,654.896697925,0.452421272789,0.00451560555175,0.0596721928981,0.999999870252,-4.75531649904e-05,-0.000502940381024,-6.54601161502e-05,1793249781293758464
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746.695685866,717.304314134,682.695685866,660.304314134,636,889,784,817,652,630.304314134,654.304314134,0.452423112784,0.00451517445975,0.0596730588113,0.999999871244,-4.85730439691e-05,-0.000500829222236,-6.5740176541e-05,1793249781310425088
+235,3.916666667,POSE1_TO_POSE2_PRESS,767,746.71894916,717,682.71894916,660.28105084,636,889,784,817,652,630.28105084,654.28105084,0.45242435567,0.00451628252784,0.059673341722,0.999999871725,-4.75337339881e-05,-0.000499940415355,-6.59488297995e-05,1793249781327091456
+236,3.933333333,POSE1_TO_POSE2_PRESS,767,746.140998727,717,682.140998727,660.859001273,636,889,784,817,652,630.859001273,654.859001273,0.452424967775,0.00451901655082,0.0596730087541,0.999999871663,-4.43191153383e-05,-0.000500342889833,-6.60820492368e-05,1793249781343758080
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,717.433769441,682.433769441,660.566230559,636,889,784,817,652.433769441,631,655,0.452425070532,0.00451770933096,0.0596727076399,0.999999871376,-4.53242305767e-05,-0.000500877817478,-6.56858923797e-05,1793249781360424704
+238,3.966666667,POSE1_TO_POSE2_PRESS,767.007708331,746,718,683,660.007708331,636,889,784,817,653,630.992291669,655,0.452425010699,0.00451513472976,0.0596724213561,0.999999871019,-4.76609054882e-05,-0.000501446126281,-6.51320903195e-05,1793249781377091584
+239,3.983333333,POSE1_TO_POSE2_PRESS,767.596546774,746,718,683,660.596546774,636,889,784,817,653,630.403453226,655,0.452425084251,0.00451532511798,0.0596724782085,0.999999871056,-4.77287721467e-05,-0.000501308804948,-6.55717550843e-05,1793249781393758464
+240,4.000000000,POSE1_TO_POSE2_PRESS,767.817708584,746,718,682.817708584,661,636,889.182291416,784,817,652.817708584,630,655,0.452425027109,0.004515702426,0.0596721702954,0.999999870892,-4.75504069833e-05,-0.0005016276776,-6.57543219765e-05,1793249781410425088
+241,4.016666667,POSE1_TO_POSE2_PRESS,767.238697002,746,718,682.238697002,661,636,889.761302998,784,817,652.238697002,630,655,0.452424685541,0.00451648652691,0.059671068544,0.999999870292,-4.68361683718e-05,-0.000502939363613,-6.53773676505e-05,1793249781427091712
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,718,682.337675637,661,636,890,784,817,652.337675637,630.337675637,655,0.452425435951,0.00451735212631,0.0596712324118,0.999999870528,-4.55948124286e-05,-0.000502600933793,-6.52524078635e-05,1793249781443758848
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,718,682.912197293,661,636,890,784,817,652.912197293,630.912197293,655,0.452426952276,0.00451827488878,0.0596722839862,0.999999871347,-4.39837359072e-05,-0.000501105111067,-6.53041973067e-05,1793249781460425984
+244,4.066666667,HOLD_POSE2,767,746,718,682,660,636,890,784,817,652,630,655,0.452424444644,0.00451515807303,0.0596709322724,0.999999869615,-4.56515685685e-05,-0.000504484959588,-6.46621177294e-05,1793249781493137664
+245,4.083333333,HOLD_POSE2,767,746,718,682,660.616088022,636,890,784.616088022,817,652.616088022,630.616088022,655,0.452425466288,0.00451619708451,0.0596718119711,0.99999987048,-4.63466267742e-05,-0.000502618323867,-6.53218085856e-05,1793249781509804032
+246,4.100000000,HOLD_POSE2,767,746,718,682.218027577,660.781972423,636,889.781972423,784.781972423,817,653,631,655,0.45242642145,0.00451731857006,0.0596723981606,0.9999998711,-4.58318932345e-05,-0.000501389038372,-6.56464073827e-05,1793249781526470400
+247,4.116666667,HOLD_POSE2,767,746,718,682.796572193,660.203427807,636,889.203427807,784.203427807,817,653,631,655,0.452427266681,0.00451857642982,0.0596724990211,0.999999871315,-4.33167223252e-05,-0.000501213635846,-6.54169185944e-05,1793249781543137024
+248,4.133333333,HOLD_POSE2,767,746,718,683,660.372951514,636,889.372951514,784,817,652.627048486,631,655,0.452427078357,0.00451867581744,0.0596718436439,0.999999870689,-4.1852043543e-05,-0.000502617606913,-6.51543486791e-05,1793249781559804160
+249,4.150000000,HOLD_POSE2,767,746,718,683,660.948156549,636,889.948156549,784,817,652.051843451,631,655,0.45242632953,0.0045181469596,0.0596707781552,0.999999869606,-4.09570521903e-05,-0.000504878080404,-6.48738387122e-05,1793249781576471040
+250,4.166666667,HOLD_POSE2,767,746,718,683,661,636,889.462724636,784,817,652,631,655,0.452426092418,0.00451647748573,0.0596711867094,0.999999869882,-4.21388370855e-05,-0.000504269191465,-6.45931602467e-05,1793249781593137664
+251,4.183333333,HOLD_POSE2,767,746,717.874761128,683,660.874761128,636,889.125238872,784,817,652.125238872,631,655,0.452426111543,0.00451568520203,0.0596717231689,0.999999870251,-4.28498341436e-05,-0.000503495504678,-6.44541252762e-05,1793249781609804032
+252,4.200000000,HOLD_POSE2,767,746,717.295972961,683,660.295972961,636,889.704027039,784,817,652.704027039,631,655,0.452426875058,0.00451847882196,0.0596721940395,0.999999870471,-4.1110866717e-05,-0.000503154356233,-6.48281089732e-05,1793249781626470656
+253,4.216666667,HOLD_POSE2,767,746.281747059,717.281747059,682.718252941,660.281747059,636,890,784,817,653,631,655,0.452427104556,0.00451969342224,0.0596724140259,0.999999870548,-4.01661176367e-05,-0.000503063813226,-6.49435091901e-05,1793249781643137280
+254,4.233333333,HOLD_POSE2,767,746.858349199,717.858349199,682.141650801,660.858349199,636,890,784,817,653,631,655,0.452426775191,0.00451925554025,0.0596723714559,0.999999870476,-4.00525372906e-05,-0.000503235534866,-6.47882955444e-05,1793249781659803648
+255,4.250000000,HOLD_POSE2,767.433973981,746.566026019,717.566026019,682,660.566026019,636,890,784,817,652.566026019,631,655,0.452426134555,0.00451869442346,0.0596715489223,0.999999870078,-4.18438373361e-05,-0.000503868526905,-6.48826535582e-05,1793249781676470528
+256,4.266666667,HOLD_POSE2,767.990514581,746,717.009485419,682,660,636,890,784.009485419,817.009485419,652,631,655,0.452425433139,0.00451810388832,0.0596704991534,0.999999869588,-4.42130549817e-05,-0.000504615857779,-6.50579579484e-05,1793249781693137152
+257,4.283333333,HOLD_POSE2,767.402505624,746,717.597494376,682,660,636,890,784.597494376,817.597494376,652,631,655,0.452427207375,0.00451816690847,0.0596710824705,0.999999870314,-4.39934649842e-05,-0.00050317463262,-6.5213028454e-05,1793249781709804288
+258,4.300000000,HOLD_POSE2,767,746,718,682,660.183033159,636,890,784.816966841,817.816966841,652.183033159,631,655,0.452428666782,0.0045182249018,0.0596717254441,0.999999870965,-4.3137212402e-05,-0.000501950552436,-6.52235356278e-05,1793249781726471168
+259,4.316666667,HOLD_POSE2,767,746,718,682,660.763212262,636,890,784.236787738,817.236787738,652.763212262,631,655,0.452429443073,0.0045182719879,0.0596724978606,0.999999871457,-4.08995272328e-05,-0.000501197633852,-6.49203688443e-05,1793249781743137536
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,683,661,636,889,784,817,653,631,655,0.452429131722,0.00451855868737,0.0596725988102,0.999999871282,-4.14159038437e-05,-0.000501582469501,-6.43071270008e-05,1793249781779094016
+261,4.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.421183415,660.421183415,636,889.578816585,784,817,652.421183415,631,655,0.452428432931,0.00451753355799,0.0596721640183,0.999999870495,-4.39387831031e-05,-0.000502891889362,-6.46421018882e-05,1793249781795761408
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.154656359,660.154656359,636,890,784,817,652,631,655,0.452427960502,0.00451696467892,0.0596716838024,0.999999869999,-4.52493517444e-05,-0.00050372818185,-6.48968826547e-05,1793249781812428800
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.722542455,660.722542455,636,890,784,817,652,631,655,0.452428092895,0.00451761486488,0.0596710822174,0.999999870298,-4.33207214479e-05,-0.000503300315163,-6.49373910548e-05,1793249781829095424
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767,746.308463987,718,683,660.691536013,636,890,784.308463987,817,652,631,655,0.452428276614,0.00451784105947,0.059670946232,0.999999870422,-4.16088772969e-05,-0.000503231504503,-6.467640355e-05,1793249781845761536
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746.911615427,718,683,660.088384573,636,890,784.911615427,817,652,631,655,0.452428509366,0.00451766219883,0.0596712550515,0.999999870381,-4.01041373637e-05,-0.000503505713837,-6.41273854659e-05,1793249781862427904
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.510272259,746.510272259,717.510272259,682.510272259,660,636,889.510272259,784.510272259,817,652,630.510272259,655,0.452429299265,0.00451745024394,0.0596728472667,0.999999871417,-4.02203713964e-05,-0.000501423971446,-6.42102890455e-05,1793249781879094016
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766.065199571,746,717,682.065199571,660,636,889.065199571,784,817,652,630,655,0.452429913532,0.00451731930508,0.0596742494197,0.999999872377,-4.06567143332e-05,-0.000499442599418,-6.44173714311e-05,1793249781895760128
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.653991714,746,717,682.653991714,660,636,889.653991714,784,817,652,630,655,0.452428349166,0.00451788460654,0.0596723556554,0.999999871286,-4.14286606605e-05,-0.00050151574905,-6.47503654863e-05,1793249781912426752
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.760949077,660.239050923,636,889.760949077,784,817,652,630,654.760949077,0.452424192089,0.00451837501354,0.0596696603064,0.999999869714,-4.11979648047e-05,-0.000504642246866,-6.48972422937e-05,1793249781929093376
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.181209984,660.818790016,636,889.181209984,784,817,652,630,654.181209984,0.45241633996,0.00451875868318,0.0596658225631,0.999999867442,-3.9538333465e-05,-0.000509269944586,-6.47788703804e-05,1793249781945760256
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.395734649,682,660.604265351,636,889,784,817,652,630.395734649,654.395734649,0.452391556091,0.00451863564008,0.059656115106,0.999999858722,-3.88333027573e-05,-0.000526159750791,-6.4842725922e-05,1793249781962426624
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717.9714087,682,660.0285913,636,889,784,817,652,630.9714087,654.9714087,0.45235907341,0.00451828219619,0.0596437387066,0.99999984665,-3.85623260378e-05,-0.000548625102481,-6.49894397233e-05,1793249781979093248
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.546838641,660,636,889,784,817,652.546838641,631,655,0.452303255563,0.0045197753692,0.0596250664968,0.99999983049,-3.73509848871e-05,-0.000577371781235,-6.53128550307e-05,1793249781995760640
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.875011635,682.875011635,660,636,889.124988365,784,817,652.875011635,631,655,0.45224351335,0.00452113188417,0.0596072573831,0.999999815121,-3.6074722609e-05,-0.000603455671786,-6.5564247489e-05,1793249782012427520
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,746,717.286733135,682.286733135,660,636,889.713266865,784,817,652.286733135,631,655,0.452173745188,0.00452162413565,0.0595938670687,0.999999806009,-3.47399822848e-05,-0.000618452714957,-6.55144457362e-05,1793249782029094144
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,717,682.296775967,660,636,889.703224033,784,817,652.296775967,631,654.703224033,0.452095887567,0.00452257347816,0.0595854735696,0.999999799367,-3.30324673045e-05,-0.000629203522757,-6.54042736892e-05,1793249782045760768
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.875749916,660,636,889.124250084,784,817,652.875749916,631,654.124250084,0.452010337853,0.00452395745882,0.0595818314371,0.999999795197,-3.09704888836e-05,-0.000635916674453,-6.52366968191e-05,1793249782062427136
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746,717.453069361,682.546930639,660,636,889,784,817,652.546930639,631,654,0.451909252216,0.00452465656707,0.0595828105475,0.999999795732,-2.87000061734e-05,-0.00063524418335,-6.46335295417e-05,1793249782079093504
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746.029729412,718,682,660,636,889,784,817,652,630.970270588,654.029729412,0.451802620439,0.00452514882525,0.0595849949258,0.999999797474,-2.63785583438e-05,-0.000632673442076,-6.38765149086e-05,1793249782095759872
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,746.602602084,718,682,660,636,889,784,817,652,630.397397916,654.602602084,0.451672218848,0.00452528092621,0.0595861296436,0.999999797859,-2.41668589406e-05,-0.000632291841989,-6.24832562335e-05,1793249782112427008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746.81793435,718,682,660.3641313,636,889,784,817,652.18206565,630,654.81793435,0.451531338111,0.00452556516522,0.059586559781,0.999999797447,-2.12322465528e-05,-0.000633183006997,-6.11123512375e-05,1793249782129094144
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746.223544458,718,682,661.552911083,636,889,784,817,652.776455542,630,654.223544458,0.451366725263,0.00452619395142,0.0595853942544,0.999999795217,-1.66604527793e-05,-0.000636956604308,-5.97920708277e-05,1793249782145761024
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746,717.639605656,682,661.639605656,636.360394344,889,784,817,653,630.360394344,654.360394344,0.451179795364,0.00452747879157,0.0595819008919,0.999999790607,-1.17609032218e-05,-0.000644368337418,-5.8629616718e-05,1793249782162427648
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,717.061966682,682,661.061966682,636.938033318,889,784,817,653,630.938033318,654.938033318,0.450979412796,0.00452915909913,0.0595770043167,0.999999784481,-6.66378301951e-06,-0.00065397312819,-5.7562299697e-05,1793249782179094272
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746,717,682,661.512675514,636.487324486,889.512675514,784,817,652.487324486,630.487324486,655,0.450749194586,0.00452957666994,0.0595748951829,0.99999978241,-1.45235944418e-06,-0.00065732995669,-5.56402667032e-05,1793249782195760384
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,717.089061367,682.089061367,661.910938633,636.089061367,889.910938633,784.089061367,817,652,630.089061367,655,0.450510636082,0.00453017279848,0.059573393923,0.99999978095,3.83383076389e-06,-0.000659699803579,-5.36748971439e-05,1793249782212426752
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,717.67723733,682.67723733,661.32276267,636.67723733,889.32276267,784.67723733,817,652,630.67723733,655,0.450245429458,0.0045326199646,0.0595734221291,0.999999780308,9.46205175337e-06,-0.000660746037098,-5.20422567424e-05,1793249782229093376
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746.261536194,718,682.738463806,661,637,889.261536194,785,817,652,631,654.738463806,0.449959931458,0.0045346255946,0.0595716609956,0.999999779103,1.54631839464e-05,-0.000662596036694,-5.02040584761e-05,1793249782245759744
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746.841120178,718,682.158879822,661,637,889.841120178,785,817,652,631,654.158879822,0.449649757627,0.00453609428316,0.05956772389,0.999999777208,2.19178040269e-05,-0.000665423476556,-4.81158863983e-05,1793249782262426624
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.581945835,718,682,661,636.581945835,889.581945835,784.581945835,816.581945835,652,630.581945835,654.418054165,0.449318655436,0.00453750078962,0.0595711439569,0.999999782386,2.98443120759e-05,-0.000657449165571,-4.57993408074e-05,1793249782279093504
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746.006012639,718,682,661,636.006012639,889.006012639,784.006012639,816.006012639,652,630.006012639,654.993987361,0.448979649613,0.00453888381285,0.0595773424754,0.999999790056,3.83266815516e-05,-0.000645395550541,-4.33965495195e-05,1793249782295760384
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,662.132986057,636.566493029,889,784.566493029,816.566493029,652,630,655,0.448590748964,0.00454305615973,0.059584278205,0.999999796063,5.08412227136e-05,-0.000635345146196,-4.03209267861e-05,1793249782312427520
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,717.856138578,682,662.856138578,637,889,785,817,652,630,655,0.448200251924,0.00454635483183,0.0595955323297,0.999999806176,6.20515981896e-05,-0.000618403692937,-3.70735232538e-05,1793249782329094400
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,746,717.263487752,682,662.263487752,637,889,785,817,652,630,655,0.447806416983,0.00454683619034,0.059620233835,0.999999828919,6.90607969894e-05,-0.000579899029264,-3.33123776983e-05,1793249782345760512
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,717.322091808,682,662,637.322091808,888.677908192,785,817,652,630,655,0.447387942087,0.00454797949137,0.0596503368038,0.999999853206,7.83062006613e-05,-0.000535348687821,-2.9285859181e-05,1793249782362426624
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,717.902011038,682,662,637.902011038,888.097988962,785,817,652,630,655,0.446949743406,0.00454965266289,0.0596847635283,0.999999877617,8.93416379126e-05,-0.000485958909296,-2.50469149958e-05,1793249782379093248
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.477141016,662,637.522858984,888,784.522858984,817,652,630,655,0.446441831869,0.0045516492802,0.0596929165362,0.999999879996,0.000100719328611,-0.000478997155633,-2.06154317805e-05,1793249782395760128
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.948767856,662.051232144,637.051232144,888,784.051232144,816.948767856,652,630,654.948767856,0.445912777724,0.00455381451363,0.059693712639,0.999999876677,0.000112286067693,-0.000483503827853,-1.61961273479e-05,1793249782412426752
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.375339601,662.624660399,637.624660399,888,784.624660399,816.375339601,652,630,654.375339601,0.445312698435,0.00455702808426,0.0596739726586,0.999999858471,0.000125070432812,-0.000516975266586,-1.22999825797e-05,1793249782429093888
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.20559564,663,638.20559564,888,785,816,652,630,654,0.444720786598,0.00455912383067,0.0596622869507,0.999999848435,0.000136913950945,-0.000533211111535,-8.36277654786e-06,1793249782445761024
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.800755129,663,638.800755129,888,785,816,652,630,654,0.444144350535,0.00455910151684,0.0596658625276,0.999999855654,0.000146974746031,-0.000516788849077,-4.34776764347e-06,1793249782462427648
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,717.61653621,682.61653621,663.38346379,639,887.61653621,784.61653621,816,652,630,654,0.443563927328,0.00456003563238,0.059696108316,0.999999878822,0.000159128603278,-0.000465868628786,6.81124133807e-07,1793249782479094272
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,717.534390507,681.465609493,664,638.465609493,887.534390507,784.534390507,816.534390507,652.534390507,630,654.534390507,0.44231960075,0.00456210666292,0.0597571128627,0.999999912759,0.00018222661601,-0.000375700622341,1.12004550822e-05,1793249782512427264
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.111830144,664.111830144,638.111830144,888,785,816.888169856,652.888169856,630,654.888169856,0.441637340191,0.00456255576197,0.059768235475,0.999999914693,0.000191721069108,-0.000365501877183,1.62680243643e-05,1793249782529093632
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,681.702553751,664.702553751,638.702553751,888,785,816.297446249,652.297446249,630,654.297446249,0.440893314323,0.00456236383849,0.0597611752318,0.999999903398,0.000200579773951,-0.000390502782807,2.18886553394e-05,1793249782545760256
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,639,887.425418842,785,816,652,630,654,0.440158172081,0.00456402473179,0.0597689787691,0.999999903756,0.000211659239426,-0.000383370998206,2.675686547e-05,1793249782562426624
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,665,639,886.268088808,785,816,652,630,654,0.439432039655,0.00456756477978,0.0597918573759,0.999999915166,0.000224991034734,-0.000343649757309,3.0861959691e-05,1793249782579093504
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,717.558130424,682,665.441869576,638.558130424,886.441869576,785,816,652,630,654,0.438686254332,0.00457145482068,0.0598172814172,0.999999925388,0.000239396354722,-0.000301119988331,3.52292674415e-05,1793249782595760384
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.016944132,746,717,681.983055868,665.983055868,638,887,785,816,652,630,654,0.437930712201,0.00457543259993,0.0598413050834,0.999999932699,0.000254208821102,-0.000261541242314,3.96878246423e-05,1793249782612427264
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.591689329,746,717,681.408310671,665.408310671,638,887,785,816,652,630,654,0.437049024154,0.0045788251464,0.0597939656632,0.999999901879,0.000271770140904,-0.000346984050238,4.4547924816e-05,1793249782629093888
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.828969366,746,717,681,664.828969366,638,886.828969366,785,816,652,630,654.171030634,0.436179033699,0.00458200672875,0.0597544608631,0.999999873869,0.000286530103049,-0.000409673863931,4.82607089645e-05,1793249782645760256
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.238352555,746,717,681,664.238352555,638,886.238352555,785,816,652,630,654.761647445,0.435337740776,0.00458467075667,0.0597341765893,0.999999868696,0.000294417551417,-0.000416544193311,4.91588051131e-05,1793249782662426624
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,717.344883138,681.344883138,665.034649414,638.344883138,886,785,816,652,630,654.655116862,0.434501195155,0.00458226262645,0.0597414379814,0.999999894531,0.000237675088516,-0.000391570690014,3.34796926871e-05,1793249782679093248
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,717.923124521,681.923124521,666.769373564,638.923124521,886,785,816,652,630,654.076875479,0.433667861734,0.00457642252222,0.0597673375957,0.999999931036,0.000137202091953,-0.00034505069284,6.58394477107e-06,1793249782695760128
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,666.500793414,639,886,785,815.500793414,652,630,654,0.432797917651,0.00457318322204,0.0597790900587,0.99999993413,0.000138148851701,-0.000335485922592,1.01597839914e-05,1793249782712427008
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,665.925428686,639,885.925428686,785,815,652,630,654,0.431925341539,0.00457166854992,0.0597901100201,0.999999934536,0.000154989474836,-0.000326477541883,1.78582896469e-05,1793249782729093376
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,665.352644732,639,885.352644732,785,815,652,630,654,0.431072685703,0.00457901185534,0.059810728673,0.999999944464,0.000174121418978,-0.000283328918581,2.18848646974e-05,1793249782745760512
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745.772079496,718,682,665.455841008,639,885,785,815,652,630,654,0.430188613489,0.00458374191499,0.0598229916568,0.999999947017,0.000188359036494,-0.000264229216576,2.58677998362e-05,1793249782762427392
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745.179049198,718,682,666.641901603,639,885,785,815,652,630,654,0.429254214705,0.00458428577224,0.0598218695532,0.999999940362,0.000194756351059,-0.000283653891156,2.97808281322e-05,1793249782779093760
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,745.400514251,718,681.599485749,665.397942994,639,884.599485749,785,815,652,630,654,0.428311579285,0.00458486603856,0.0597873738536,0.999999923023,0.000189963441213,-0.000342051633839,2.94617935746e-05,1793249782795760128
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745.974253178,718,681.025746822,663.102987289,639,884.025746822,785,815,652,630,654,0.42736538153,0.00458546205198,0.0597384438854,0.999999896296,0.000180330694839,-0.000417305445727,2.73123675637e-05,1793249782812426752
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.109248421,639,883.44537579,785.55462421,815,652,630,654,0.426489818964,0.0045855924104,0.0597562206328,0.999999912172,0.000177832224055,-0.000378480610954,2.79886449816e-05,1793249782829093376
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.867417595,746,718,681,665.132582405,639,883.132582405,785.867417595,815,652,630,654,0.425612673904,0.00458622356198,0.0597783252581,0.999999926192,0.000177459107787,-0.000339509193623,2.92867222126e-05,1793249782845760256
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.298427193,746,718,681,665.701572807,639,883.701572807,785.298427193,815,652,630,654,0.424719396066,0.004588575138,0.0598043591759,0.999999932275,0.000182978473936,-0.000317697804697,3.21945133538e-05,1793249782862427136
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.285309567,746,718,681,665.144071298,639,883.714690433,785,814.714690433,652,630,654,0.423825284069,0.00458885142757,0.059823737021,0.999999939277,0.000184408109751,-0.000293754349361,3.38693624179e-05,1793249782879093760
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.885311303,746,718,681,663.344066092,639,883.114688697,785,814.114688697,652,630,654,0.422930252069,0.00458683870719,0.0598357733161,0.999999947209,0.000181326834048,-0.000267459258218,3.4184294693e-05,1793249782895760384
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,663.930970126,639,882.534514937,785,814,652,630,654,0.422044260327,0.00458859477238,0.0598381785449,0.999999946576,0.000192833037758,-0.000261696525333,3.43223416313e-05,1793249782912427264
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.962048879,639,882.037951121,785,814.037951121,652,630,654,0.421155311885,0.00459097054783,0.0598335887317,0.999999941816,0.000206563999913,-0.000269289844853,3.43941044307e-05,1793249782929093632
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.429006551,639,882.570993449,785,814.570993449,652,630,654,0.420199922475,0.00458981196406,0.059767436725,0.999999903336,0.00020434630152,-0.000387820315376,3.41464770181e-05,1793249782945760512
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.874681048,746,718,680.874681048,663.874681048,639,882.874681048,785,815,652,630,654,0.419269487228,0.00458900865421,0.0597153273442,0.999999866208,0.000200858902582,-0.000475523111651,3.34422775448e-05,1793249782962427392
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.944143164,746,718,680.944143164,665.832429492,639,882.944143164,785,815,652,630,654,0.416855005872,0.00459220094651,0.0598014125951,0.999999929929,0.000188637922653,-0.000321574292085,3.38764909684e-05,1793249783012426752
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.445550578,639,881.963700386,785,814.481850193,652,630,654,0.416063912079,0.00458632396819,0.0598208346913,0.999999937508,0.000175777093254,-0.00030460342824,3.61116187419e-05,1793249783029093376
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,680.908487864,663.091512136,638.908487864,881,785,814,651.908487864,630,654,0.415279218001,0.00458095745743,0.0598349473826,0.999999942912,0.000164063853824,-0.00029295428028,3.79033486634e-05,1793249783045760000
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.337110061,663.662889939,638.337110061,881,785,814,651.337110061,630,654,0.414530981453,0.00458236095909,0.0598371506308,0.999999945185,0.000165487542267,-0.00028432153351,3.74722608418e-05,1793249783062426368
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,664,638.246085302,881,785,813.753914698,651.246085302,630,654,0.413761185284,0.00458305615769,0.0598320959044,0.999999937,0.000199042136238,-0.000291515262904,3.74259409627e-05,1793249783079092992
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,664,638.846286019,881,785,813.153713981,651.846286019,630,654,0.412960365001,0.00458273211187,0.0598165969918,0.999999908731,0.000278832927964,-0.000321483204974,3.79332999156e-05,1793249783095759616
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,718,679.573633358,663.147266717,638.573633358,880.573633358,785,813,652,630,654,0.412194271049,0.00458089488047,0.0597784676048,0.999999884434,0.000288618297961,-0.000382707199413,3.69601595669e-05,1793249783112426496
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,679.000479523,662.000959047,638.000479523,880.000479523,785,813,652,630,654,0.411440132425,0.00457853669773,0.0597325471197,0.999999858377,0.00027430258692,-0.000454691859048,3.54773208818e-05,1793249783129093120
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,718,679.57664974,662.57664974,638.57664974,880,784.42335026,813,652,630,654,0.410799196389,0.00457742867863,0.0597485972441,0.999999877606,0.000260034268525,-0.000419510580397,3.43771822541e-05,1793249783145759744
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.842527735,746,718,680,663.157472265,639,880,784,813,652,630,654,0.410174923513,0.00457532586454,0.0597728938724,0.999999898568,0.000245736711761,-0.000375918304803,3.40921854193e-05,1793249783162426368
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.25154699,746,718,680,663.74845301,639,880,784,813,652,630,654,0.409596261886,0.00457048157781,0.0598197496156,0.999999924717,0.00023135855182,-0.000309418255027,3.60503259738e-05,1793249783179092992
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.909019663,746,718.909019663,680,663.090980337,638.090980337,880,784.909019663,813,652,630,654.909019663,0.408397565253,0.00457156824485,0.0598568087881,0.999999943504,0.000216841651599,-0.000254185871668,3.68968702695e-05,1793249783212427776
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,718.515445479,679.515445479,663.484554521,638.484554521,880,785,813,652,630,654.515445479,0.407824724273,0.0045694471914,0.0598416969922,0.999999940462,0.000207617498281,-0.000273258654512,3.60748779797e-05,1793249783229094400
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.880948825,638.940474413,880,784.940474413,813.059525587,652,630,654,0.407263934591,0.00456654920796,0.0598231119463,0.999999935773,0.000197353124515,-0.000297109889709,3.51031077389e-05,1793249783245760768
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,662.734743906,638.367371953,880,784.367371953,813.632628047,652,630,654,0.406755318658,0.00456359839103,0.0598164914814,0.999999936266,0.000184392482784,-0.00030380794847,3.41790008732e-05,1793249783262427392
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,662.40586553,638.202932765,880,784.202932765,813.797067235,652,630,654,0.406270748297,0.00456164997153,0.0598155495626,0.999999938606,0.000173997839753,-0.000302309900336,3.35019020836e-05,1793249783279093760
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.536483019,638.768241509,880,784.768241509,813.231758491,652,630,654,0.40582911604,0.00456149152818,0.0598247477945,0.999999944355,0.000168185288611,-0.000286176106237,3.32658844286e-05,1793249783295760128
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.64085976,718,679,664,638.64085976,880,784.64085976,813,652,630,654,0.405380563477,0.00455985755673,0.0598227120494,0.999999944853,0.00016320005586,-0.000287306421681,3.33930955962e-05,1793249783312427008
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.032180448,718,679,664,638.032180448,880,784.032180448,813,652,630,654,0.404927202478,0.00455719835369,0.0598128706742,0.999999941693,0.000158789662758,-0.000300432244162,3.37726866539e-05,1793249783329094144
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,664,638,880,784.548721447,813.548721447,652,630,654,0.402966713557,0.00454991054243,0.0598074559193,0.999999943441,0.000150714604149,-0.000298157951459,3.87808197481e-05,1793249783429093376
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.820307084,718,679,663,638.179692916,880.820307084,784,813,652,630,654,0.402303375961,0.0045465707892,0.0598366627559,0.999999954904,0.000148705276432,-0.000257467112537,4.23048614312e-05,1793249783479093760
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.355109476,718,679,663.355109476,638.644890524,880.355109476,784.355109476,813,652,630,654,0.401924431048,0.00454323005808,0.0598204364894,0.999999951061,0.000105395433407,-0.000292779706602,3.24028219652e-05,1793249783512427264
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,664,638,880.490123066,784.490123066,813,652,630,654,0.401630044651,0.00453356163057,0.0598174891907,0.999999953457,3.33677872032e-05,-0.000302743954373,1.78593245304e-05,1793249783545760256
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.137811867,718,679,663.862188133,638,879.275623734,784,813,652,630,654,0.400958632735,0.00453160581346,0.0598351699583,0.999999958789,6.36506250807e-05,-0.000278848141579,2.47871928635e-05,1793249783929093888
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.439852401,718,679,664,638,879.439852401,784,813,652,630.439852401,654,0.400959363538,0.00453169809107,0.0598351407786,0.999999958772,6.63892360088e-05,-0.000278279804472,2.46618137396e-05,1793249783945760768
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.98298123,679,663.98298123,638,880,784,813,652,630.96596246,654,0.40095971191,0.0045311773371,0.0598346244015,0.999999958409,7.1528772884e-05,-0.000278322032142,2.45365637511e-05,1793249783962427648
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,717.411583959,679,663.411583959,638,880,784,813,652,629.823167919,654,0.400958822092,0.00453112731933,0.0598346881908,0.9999999473,0.000165435393489,-0.00027822142418,2.49745217533e-05,1793249783979093760
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,717.165478721,679,663.165478721,638,880,784,813,652,629.165478721,654,0.400958296182,0.0045305110508,0.0598346909053,0.999999934225,0.000231415296258,-0.000278136571107,2.52500884178e-05,1793249783995760128
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.757132092,679,663.757132092,638,880,784,813,652,629.757132092,654,0.400958707482,0.00452843645748,0.0598345363279,0.999999935598,0.000225472600948,-0.000278092298682,2.51074321562e-05,1793249784012426752
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,746,717.657578326,679,664.342421674,638,880,784,813,652,630,654,0.40095920577,0.00452836614221,0.0598348497113,0.999999936583,0.000221962388348,-0.000277413011237,2.46650379934e-05,1793249784029093376
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,746,717.076720029,679,664.923279971,638,880,784,813,652,630,654,0.40095976463,0.00452969145505,0.0598354889471,0.999999937311,0.000220145973455,-0.000276291547245,2.40139289747e-05,1793249784045760256
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745.501289705,717.498710295,679,664.00257941,638,880,784,813,652,630,654,0.400959336314,0.00453035845388,0.0598358615245,0.999999937197,0.000220742052275,-0.000276209271214,2.42435118904e-05,1793249784062427392
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745.073347665,718,679,663.073347665,638,880,784,813,652,630,654,0.400958569474,0.00453058205849,0.0598360121005,0.999999936976,0.000221303878815,-0.000276528718795,2.45757692869e-05,1793249784079094784
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745.648210935,718,679,663.648210935,638,880,784,813,652,630,654,0.400956515174,0.00452845894874,0.0598349222064,0.999999936903,0.000219121217119,-0.000278513643868,2.46936726316e-05,1793249784095760896
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.770157763,745.770157763,718,679,664,638,880,784,813,652,629.770157763,654,0.400956519312,0.00452766923762,0.0598349974645,0.999999937079,0.000218567988398,-0.000278313109734,2.47187399199e-05,1793249784112427008
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.177853151,745.177853151,718,679,664,638,880,784,813,652,629.177853151,654,0.400959769618,0.00452898230258,0.0598369101732,0.999999937648,0.000220584383424,-0.00027466609562,2.4597404293e-05,1793249784129093376
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..88853cc2e267a76724c5d000bcfd280390d6ebca
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.575664735093,0.0101501470543,1.05003328894,0.546235412338,0.0188227769386,1.04970469053
+395,6.583333333,pose2_to_pose3_retreat,0.575664690772,0.0101501576916,1.05003329581,0.546235367677,0.0188227864363,1.04970469782
+396,6.600000000,pose2_to_pose3_retreat,0.575664667217,0.010150163345,1.05003329946,0.546235343941,0.018822791484,1.04970470169
+397,6.616666667,pose2_to_pose3_retreat,0.575664478264,0.0101502086957,1.05003332875,0.546235153536,0.0188228319759,1.04970473277
+398,6.633333333,pose2_to_pose3_retreat,0.575664348512,0.0101502417971,1.05003356477,0.546235024426,0.0188228668739,1.04970495867
+399,6.650000000,pose2_to_pose3_retreat,0.575664348346,0.0101502418419,1.05003356536,0.546235024263,0.0188228669278,1.04970495923
+400,6.666666667,pose2_to_pose3_retreat,0.575664333958,0.0101502457372,1.05003361628,0.546235010134,0.0188228716109,1.04970500773
+401,6.683333333,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..683991c60a58ba0c3074c9b29e8ad4f20316a78b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:688c15d685fea176237851824758a95ed62c3ca5452e1e90e19ee45213374955
+size 25714774
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..737494124fb8645dfd9a7763ca7e88000886ac18
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_04/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
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+1,0.016666667,BASELINE,767,746,718,679,663,638.425973465,880,784.425973465,813,652,630,654,0.400959160357,0.00452969060377,0.0598367208404,0.999999938016,0.000218798101679,-0.000274780304182,2.43055570335e-05,1793249784294749440
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+3,0.050000000,BASELINE,767,746,718,679.74128053,663,638.74128053,879.25871947,784,813,652,630,654,0.400959439122,0.00452917383846,0.0598375304975,0.999999938284,0.000217482124165,-0.00027489971968,2.37384387838e-05,1793249784328082176
+4,0.066666667,BASELINE,767,746,718,679.674571369,663,638.674571369,879.325428631,784,813,652,629.674571369,654,0.400959198976,0.00452910003107,0.0598372782192,0.999999938029,0.000218169410973,-0.000275277528201,2.37780289426e-05,1793249784344749056
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+27,0.450000000,BASELINE,767,745.345716563,718,679,663.654283437,638.654283437,880,784,813,652,630.345716563,654,0.400959466298,0.00452870760555,0.0598382247864,0.999999938566,0.000218835608278,-0.000272745985002,2.42644527891e-05,1793249784728082176
+28,0.466666667,BASELINE,767,745.237868699,718,679,664,638.762131301,880,784,813,652,629.762131301,654,0.400959894814,0.0045292702674,0.0598389469595,0.9999999387,0.000219181944619,-0.000271968090718,2.43432113432e-05,1793249784744748544
+29,0.483333333,BASELINE,767,745.833029974,718,679,664,638.166970026,880,784,813,652,629.166970026,654,0.400958659677,0.00453127426592,0.0598385556078,0.999999938097,0.000220212121314,-0.000273366524212,2.41605655897e-05,1793249784761415168
+30,0.500000000,BASELINE,767,745.585611274,718,679,664,638,879.585611274,784,813,652,629,654,0.400958961031,0.00453032608639,0.0598382892672,0.999999938408,0.000219075680101,-0.000273147595254,2.40846210658e-05,1793249784778082048
+31,0.516666667,BASELINE,767,745.009634728,718,679,664,638,879.009634728,784,813,652,629,654,0.400959861529,0.00452822672681,0.0598380716737,0.999999939073,0.000217094382223,-0.000272297987727,2.40502839019e-05,1793249784794748672
+32,0.533333333,BASELINE,767,745.562846252,718,678.437153748,664,638,879.562846252,784,813,652,629.562846252,654,0.400958952217,0.00452876403862,0.0598382737767,0.99999993895,0.000217131100627,-0.000272719384605,2.4040439748e-05,1793249784811415808
+33,0.550000000,BASELINE,767,746,718,678.139757719,664,638.139757719,879.860242281,784,813,652,630,654.139757719,0.400958364647,0.00452919754204,0.0598384603109,0.99999993888,0.000217112939436,-0.000272991638704,2.40113017485e-05,1793249784828082688
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+36,0.600000000,BASELINE,767,745.10592398,718,679,664,638.10592398,879.89407602,784,813,652,630,654.10592398,0.400959708569,0.00452922445616,0.0598388740366,0.999999939543,0.00021622447142,-0.000271315082851,2.34302046456e-05,1793249784878082304
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+40,0.666666667,BASELINE,767,746,718,679.799556711,663.799556711,638,880,784,813,652,629.200443289,654,0.400959364937,0.00453072324704,0.0598392057675,0.999999938813,0.00021973679173,-0.000271160611246,2.36874453585e-05,1793249784944749056
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+42,0.700000000,BASELINE,767,746,718,679,663,638,879.626187663,784,813,652,630,654.373812337,0.400959891965,0.00453086133984,0.0598391455374,0.99999993888,0.000219695032849,-0.000270937129445,2.38229243998e-05,1793249784978082816
+43,0.716666667,BASELINE,767,746,718,679,663,638,879.045583801,784,813,652,630,654.954416199,0.400959955159,0.0045318074934,0.059839466893,0.999999938211,0.000222739708066,-0.000270890658829,2.41626976549e-05,1793249784994749440
+44,0.733333333,BASELINE,767,746,718,679,663.528774807,638,879.528774807,784,813,652,630,654.471225193,0.400960310833,0.00453019599787,0.0598393290526,0.999999938778,0.000220219995587,-0.000270872078599,2.39940919376e-05,1793249785011415808
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+53,0.883333333,BASELINE,767,745.736881902,718,678.263118098,664,638.736881902,880,785,813,652,630,654,0.400960604098,0.00453042548493,0.0598398853267,0.999999939458,0.000219147158,-0.000269251925968,2.37025755825e-05,1793249785161415936
+54,0.900000000,BASELINE,767,746,718,678.322769488,664,638.677230512,880,785,813,652,630,654,0.400960308939,0.00452967861036,0.0598398287984,0.999999939688,0.000218058449427,-0.00026927630886,2.37528311571e-05,1793249785178082304
+55,0.916666667,BASELINE,767,746,718,678.918342541,664,638.081657459,880,785,813,652,630,654,0.400959979576,0.00452803861018,0.0598390692235,0.999999939851,0.000215495605536,-0.000270717913974,2.39068678251e-05,1793249785194748928
+56,0.933333333,BASELINE,767,745.505054732,718,679,664,638,879.505054732,784.505054732,813,652,630,654,0.4009602976,0.00452894951737,0.0598396505037,0.999999939742,0.000216754714533,-0.00027012311672,2.37909892805e-05,1793249785211415552
+57,0.950000000,BASELINE,767,745.068777445,718,679,664,638,879,784,813,652,630,654,0.400960595178,0.00453005647233,0.0598403159865,0.999999939651,0.000218115596089,-0.000269379091016,2.36184846171e-05,1793249785228082176
+58,0.966666667,BASELINE,767,745.64440523,718,679,664,638,879,784,813,652,630,654,0.400959984017,0.00452962120542,0.059840031921,0.999999940025,0.000215751172384,-0.000269919859819,2.33447347998e-05,1793249785244749312
+59,0.983333333,BASELINE,767,745.773982388,718,679,664,638,879.226017612,784,813,652,630,654,0.400958857779,0.00452898946525,0.0598391579585,0.999999939899,0.000214516606337,-0.000271363002804,2.34010950032e-05,1793249785261416192
+60,1.000000000,BASELINE,767,745.182698219,718,679,664,638,879.817301781,784,813,652,630,654,0.400956899126,0.00452804020504,0.0598373306646,0.999999938966,0.000215108000351,-0.000274264470763,2.39909452283e-05,1793249785278082560
+61,1.016666667,BASELINE,767,745.399211491,718,679,664,638,880,784,813,652,630,654,0.400956569313,0.00452717661513,0.0598368891269,0.999999938946,0.000214220760917,-0.000275015455628,2.41620422692e-05,1793249785294749184
+62,1.033333333,BASELINE,767,745.976929401,718,679,664,638,880,784,813,652,630,654,0.400956967831,0.00452635133254,0.0598370672266,0.999999939335,0.000212672354205,-0.000274804857191,2.41458948378e-05,1793249785311415552
+63,1.050000000,BASELINE,767.551282757,745.448717243,718,679,664,638.551282757,880,784,813,652,630,654,0.400960324684,0.00452733564869,0.0598396060645,0.999999940255,0.000214682101669,-0.000269827516904,2.43754315263e-05,1793249785328082176
+64,1.066666667,BASELINE,767.743162773,745,718,679,664,638.871581387,880,784,813,652,630,654,0.400962662628,0.00452839564679,0.0598413891433,0.999999940853,0.000216256977479,-0.00026632215167,2.44660601667e-05,1793249785344749056
+65,1.083333333,BASELINE,766.567992427,745,718,679,664,638.283996213,880,784,813,652,630,654,0.40096091744,0.00452945711636,0.0598401188706,0.999999940314,0.000215747763127,-0.000268788834217,2.40234773956e-05,1793249785361415680
+66,1.100000000,BASELINE,766.300465422,745.300465422,718,679,664,638,880.300465422,784,813,652,629.699534578,654,0.400959165173,0.00452967724023,0.0598389938337,0.999999939695,0.000215695308294,-0.000271144527864,2.37746506894e-05,1793249785378082304
+67,1.116666667,BASELINE,766.882005072,745.882005072,718,679,664,638,880.882005072,784,813,652,629.117994928,654,0.400957406283,0.00452911031641,0.0598380046596,0.999999939003,0.00021607013503,-0.000273396395381,2.37070756001e-05,1793249785394749184
+68,1.133333333,BASELINE,767,746,718,679,664,638,881,784,813,652,629.45880059,654,0.400958123304,0.00452848273767,0.0598382265879,0.999999939232,0.000215390658625,-0.000273068362836,2.4005274958e-05,1793249785411416064
+69,1.150000000,BASELINE,767,745.965683694,718,679,664,638,881,784,813,652,630,654,0.400959395615,0.00452800092707,0.0598387088954,0.999999939643,0.000214660412215,-0.000272105886642,2.43405245092e-05,1793249785428082944
+70,1.166666667,BASELINE,767,745.391304713,718,679,664,638,881,784,813,652,630,654,0.400959488341,0.00453005617102,0.0598384372675,0.999999939241,0.000217354740492,-0.000271493857301,2.37935543767e-05,1793249785444749312
+71,1.183333333,BASELINE,767,745.188645155,718,679,664,638,880.811354845,784,813,652,630,654,0.400959231256,0.00453113479028,0.0598383106764,0.999999938917,0.000219170528778,-0.000271250359189,2.35453318045e-05,1793249785461415680
+72,1.200000000,BASELINE,767,745.780502404,718,679,664,638,880.219497596,784,813,652,630,654,0.400958226481,0.00453012596228,0.0598384940879,0.999999938773,0.000219108517158,-0.000271794563401,2.39356552383e-05,1793249785478082304
+73,1.216666667,BASELINE,767,746,718,679,664,638.361989383,879.638010617,784,813,652,630,654,0.40095823443,0.00453005289899,0.0598387901252,0.999999938827,0.000218983363513,-0.000271700214168,2.39011755843e-05,1793249785494749184
+74,1.233333333,BASELINE,767,746,718,679,664,638.937363287,879.062636713,784,813,652,630,654,0.400958839356,0.00453053144779,0.0598391525529,0.999999938997,0.000218820989083,-0.000271229452146,2.36162841333e-05,1793249785511416064
+75,1.250000000,BASELINE,767,746,718,679,664,638.484086165,879.515913835,784.515913835,813,652,630,654,0.400957884023,0.00453016713247,0.0598382396983,0.999999938753,0.000217984592244,-0.000272805174917,2.35203371522e-05,1793249785528082944
+76,1.266666667,BASELINE,767,746,718,679,663.904094888,638,879.904094888,784.904094888,813,652,630,654,0.400957254312,0.00452983868889,0.0598375881833,0.999999938649,0.000217058485704,-0.000273930457685,2.34394150052e-05,1793249785544749568
+77,1.283333333,BASELINE,767,746,718,679,663.318731273,638,879.318731273,784.318731273,813,652,630,654,0.40095925919,0.00453021881093,0.0598390655195,0.999999939529,0.000216094765097,-0.000271480987687,2.33173739327e-05,1793249785561416192
+78,1.300000000,BASELINE,767,746,718,679,663.52750704,638,879.26375352,784,812.73624648,652,630,654,0.400959814954,0.00453010596736,0.0598393123504,0.999999939878,0.000215276063191,-0.000270844178038,2.33209703219e-05,1793249785578083072
+79,1.316666667,BASELINE,767,746,718,679,664.685593882,638,879.842796941,784,812.157203059,652,630,654,0.40095863845,0.00452940383466,0.0598380882402,0.999999939597,0.000214630716129,-0.00027237421548,2.34747532383e-05,1793249785594749696
+80,1.333333333,BASELINE,767,745.57846826,718,679,664.57846826,638,880.42153174,784,812.84306348,652,630,654.42153174,0.400958656276,0.00452920607708,0.0598385647496,0.999999939628,0.000215008634226,-0.0002719427893,2.37314723414e-05,1793249785611416064
+81,1.350000000,BASELINE,767,745.000150376,718,679,664,638,880.999849624,784,813.999849624,652,630,654.999849624,0.400959119334,0.00452919652701,0.0598396748855,0.999999939772,0.000215768129867,-0.000270780315054,2.40264128166e-05,1793249785628082432
+82,1.366666667,BASELINE,767,745.574191205,718,679,664,638,880.425808795,784,813.425808795,652,630,654.425808795,0.40096016953,0.00453012978355,0.0598403023436,0.999999939814,0.000217471859484,-0.000269278950174,2.37914152094e-05,1793249785644749056
+83,1.383333333,BASELINE,767,746,718,679,663.848362254,638,879.848362254,784,813,652,630,654,0.400961130584,0.00453072969819,0.0598408076983,0.999999939923,0.000218422046547,-0.000268115526398,2.36734730214e-05,1793249785661415680
+84,1.400000000,BASELINE,767,746,718,679,663.261132389,638,879.261132389,784,813,652,630,654,0.400961835568,0.00453037206049,0.0598409623009,0.999999940234,0.000217207619941,-0.000267922866387,2.38917822691e-05,1793249785678082816
+85,1.416666667,BASELINE,767,746,718,679,663.322695848,638,879.322695848,784,813,652,630,654,0.400960896426,0.00453012383442,0.0598401299339,0.999999940097,0.00021656744348,-0.000268950942358,2.38764194533e-05,1793249785694749696
+86,1.433333333,BASELINE,767,746,718,679,663.903800094,638,879.903800094,784,813,652,630,654,0.400958640701,0.00452996322301,0.0598385072212,0.999999939599,0.000216387115152,-0.000270956559369,2.36739366964e-05,1793249785711416064
+87,1.450000000,BASELINE,767,745.520269106,718,679,663.520269106,638.479730894,879.520269106,784,813,652.479730894,629.520269106,654,0.400958643719,0.00452985130833,0.0598386719602,0.999999939375,0.00021675840927,-0.000271468423623,2.38934129246e-05,1793249785728082688
+88,1.466666667,BASELINE,766.945358459,745.054641541,718,678.945358459,663.054641541,638.945358459,879,784,813,652.945358459,629.054641541,654,0.400959163453,0.00452960976338,0.0598392179224,0.999999939311,0.000217038821707,-0.000271455150897,2.41674204826e-05,1793249785744749056
+89,1.483333333,BASELINE,766.370388688,745.629611312,718,678.370388688,663.629611312,638.370388688,879,784,813,652.370388688,629.629611312,654,0.400960336483,0.00452804180753,0.0598400172966,0.999999940256,0.000215411693108,-0.000269263187151,2.41635508948e-05,1793249785761415936
+90,1.500000000,BASELINE,766.21064031,746,718,678.21064031,664,638,879.21064031,784,813,652,630.21064031,654,0.400961002433,0.00452719682823,0.0598405598583,0.999999940699,0.000214615549033,-0.000268254544613,2.41132725724e-05,1793249785778082560
+91,1.516666667,BASELINE,766.802639316,746,718,678.802639316,664,638,879.802639316,784,813,652,630.802639316,654,0.400960750331,0.00452766077899,0.0598406374677,0.999999940245,0.000215323880576,-0.000269388273977,2.39789724678e-05,1793249785794748928
+92,1.533333333,BASELINE,767,745.614524834,718,679,664,638,880,784,813,652,630.614524834,654,0.400960614672,0.00452872436316,0.0598403037412,0.999999940199,0.000215568510063,-0.000269400745508,2.35847152121e-05,1793249785811416064
+93,1.550000000,BASELINE,767,745.036271473,718,679,664,638,880,784,813,652,630.036271473,654,0.400960537247,0.00453008782726,0.0598397643034,0.999999940356,0.000215581239735,-0.000268852470098,2.30604519817e-05,1793249785828082944
+94,1.566666667,BASELINE,767,745.536119445,718,679,664,638,880,784,813,652,630,654,0.400958388397,0.00452936109529,0.0598381839333,0.999999939525,0.000215569246845,-0.000271920332551,2.32245391365e-05,1793249785844749568
+95,1.583333333,BASELINE,767,746,718,679,664,638.111472432,880,784,813,652,630,654,0.400956648504,0.00452856677741,0.059837060779,0.999999938865,0.000215472424816,-0.000274394427541,2.34194127601e-05,1793249785861416192
+96,1.600000000,BASELINE,767,746,718,679,664,638.701217694,880,784,813,652,630,654,0.400957258029,0.00452808265367,0.0598381982001,0.999999939264,0.000215018741847,-0.000273282636607,2.35487252594e-05,1793249785878082816
+97,1.616666667,BASELINE,767,746,718,679,664,638.712711529,880,784,813,652,630,654,0.400958270735,0.00452719016451,0.059839134762,0.999999939833,0.000214377413598,-0.000271682833414,2.37444103104e-05,1793249785894749184
+98,1.633333333,BASELINE,767,746,718,679,664,638.130414022,880,784,813,652,630,654,0.400959697457,0.00452587833556,0.059839865067,0.999999940574,0.000213543397332,-0.000269581903226,2.4008251596e-05,1793249785911415296
+99,1.650000000,BASELINE,767,746,718,679,664,638,880,784,813,652,630,654,0.400960003179,0.00452676584424,0.0598399645005,0.999999940533,0.000213532168292,-0.0002697667537,2.37593293969e-05,1793249785928082176
+100,1.666666667,BASELINE,767,746,718,679,664,638,880.023468486,784,813,652,629.976531514,654,0.400960000941,0.00452821967848,0.0598398885474,0.999999940269,0.000213809089781,-0.000270553963406,2.33989838987e-05,1793249785944748800
+101,1.683333333,BASELINE,767,746,718,679,664,638,880.597837693,784,813,652,629.402162307,654,0.400960364006,0.00452806775945,0.059839969483,0.999999940094,0.000215275989573,-0.00026999565567,2.38968676585e-05,1793249785961415680
+102,1.700000000,BASELINE,766.82329255,746,718,678.82329255,664,638.17670745,880.82329255,784,813,652,629.17670745,654.17670745,0.400960382109,0.00452761744043,0.059839927722,0.999999939974,0.000215908119545,-0.000269899983778,2.42840380484e-05,1793249785978082560
+103,1.716666667,BASELINE,766.233912543,746,718,678.233912543,664,638.766087457,880.233912543,784,813,652,629.766087457,654.766087457,0.400959594611,0.004526470255,0.0598395994223,0.999999939988,0.000214590775223,-0.000270884725475,2.44126546444e-05,1793249785994749184
+104,1.733333333,BASELINE,766,745.650863374,718,678.349136626,664,639,880,784,813,652,630,654.650863374,0.400959511701,0.00452648372896,0.0598399631556,0.999999940199,0.000214100013975,-0.000270494339926,2.44107699559e-05,1793249786011415552
+105,1.750000000,BASELINE,766,745.071980104,718,678.928019896,664,639,880,784,813,652,630,654.071980104,0.400959892439,0.00452726096569,0.0598407822757,0.999999940539,0.000214153179162,-0.000269199062678,2.4323009924e-05,1793249786028081920
+106,1.766666667,BASELINE,766.504686833,745,718,679,664,638.495313167,880,784,813,652,630,654,0.400958860721,0.004527857398,0.0598393578977,0.999999940026,0.000214200356234,-0.00027108522634,2.4067074761e-05,1793249786044748800
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638,879,784,813,652,630,653,0.400961203699,0.00452740572886,0.0598408841812,0.999999940811,0.000213716625063,-0.000268536010726,2.43160597542e-05,1793249786088597504
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.396449122,718,679,664,638,879.603550878,784,813,652,630,653.603550878,0.400960139651,0.00452844776705,0.0598401148905,0.99999994036,0.000215030814556,-0.000269200511971,2.39425166831e-05,1793249786105264128
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718,679.197644036,664,638,880,784,812.802355964,652,630,654,0.400959025173,0.00452892224112,0.05983930564,0.999999939964,0.000215457681317,-0.000270346880112,2.37130032589e-05,1793249786121930752
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718,679.773632645,664,638,880,784,812.226367355,652,630,654,0.400957814159,0.00452831024293,0.0598384198955,0.999999939675,0.000214185970674,-0.000272415672988,2.37592017837e-05,1793249786138597888
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.650345092,745,718,679.650345092,664,638,880,784,812.349654908,652,630,654,0.400958149514,0.00452795590045,0.0598389089538,0.999999939832,0.000213879677762,-0.000272072843521,2.38249878199e-05,1793249786155264000
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.074301075,745,718,679.074301075,664,638,880,784,812.925698925,652,630,654,0.40095948609,0.00452776838092,0.0598402881481,0.999999940278,0.000214198458554,-0.000270168574282,2.39034560698e-05,1793249786171930368
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.512365075,745.512365075,718,679,664,638.512365075,880,784,813.512365075,652,630,654,0.400960099383,0.00452871766758,0.0598399456933,0.999999939971,0.000215149355573,-0.000270556146301,2.38547945143e-05,1793249786188596736
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.900984378,718,679,664,638.900984378,879.900984378,784.099015622,813.900984378,652,630,654,0.400960384732,0.00452964637067,0.05983941453,0.999999939597,0.000215946038533,-0.000271306033755,2.37860137964e-05,1793249786205263104
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.322033839,718,679,664,638.322033839,879.322033839,784.677966161,813.322033839,652,630,654,0.40095959968,0.00452965932504,0.0598392044529,0.999999939452,0.000215541514743,-0.000272167044812,2.37109657036e-05,1793249786221929728
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.25603221,718,679,664,638.25603221,879.25603221,784.74396779,812.74396779,652,630,654,0.40096915026,0.00452944032685,0.0598437124602,0.999999941505,0.000215539784049,-0.000264517497801,2.37382535493e-05,1793249786238596608
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.832989548,718,679,664,638.832989548,879.832989548,784.167010452,812.167010452,652,630,654,0.400991656101,0.00452893058629,0.0598541343791,0.99999994607,0.000216042936787,-0.000246200339996,2.38938149981e-05,1793249786255263232
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,718,678.593966019,663.593966019,638.593966019,880,784,812.406033981,652,630,654,0.401033519813,0.00452795885009,0.0598703158167,0.999999953192,0.000215062886441,-0.000216282230584,2.41861218883e-05,1793249786271930368
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,718,678.022515636,663.022515636,638.022515636,880,784,812.977484364,652,630,654,0.401083269837,0.00452679889892,0.0598888436568,0.999999960416,0.000213478585729,-0.000181637944369,2.45341382415e-05,1793249786288597504
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.431265316,746,718,678.568734684,664.137469368,638,879.431265316,784,813,652,630,654,0.401149988792,0.00452757285138,0.059904713417,0.999999964382,0.000214297661276,-0.000157187372633,2.46070765492e-05,1793249786305263872
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.158008404,746,718,679,664.841991596,638.158008404,879.158008404,784.158008404,813,652,630,654,0.401221351085,0.00452745620999,0.0599186953248,0.99999996781,0.000213329297658,-0.000135178345308,2.44590450386e-05,1793249786321930240
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.73980274,746,718,679,664.26019726,638.73980274,879.73980274,784.73980274,813,652,630,654,0.401303300302,0.0045247382068,0.0599279063415,0.999999971198,0.000207302544967,-0.000118596244643,2.37486233488e-05,1793249786338596608
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.682843556,718,679.317156444,664,638.682843556,880,784.682843556,813,652,630,654,0.4013951926,0.00452398038105,0.0599337577484,0.999999972902,0.000204648414827,-0.0001085260087,2.31792442562e-05,1793249786355262976
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.109082706,718,679.890917294,664,638.109082706,880,784.109082706,813,652,630,654,0.401495129624,0.00452480849254,0.0599368909674,0.999999973407,0.00020472300091,-0.000103724382417,2.27239797195e-05,1793249786371929600
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745.464672084,718,679.535327916,664,638.464672084,880,784,812.535327916,652,630,654,0.401616750262,0.00452664425947,0.0599414447779,0.999999974327,0.000204717398291,-9.47584445353e-05,2.13702761629e-05,1793249786388596480
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,639,879.960285808,784,812.039714192,652,630,654,0.401744708595,0.00452848098712,0.0599460152466,0.99999997527,0.00020442779299,-8.52919038085e-05,1.98493313773e-05,1793249786405263360
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664,639,879.367289411,784,812.632710589,652,630,654,0.401890046484,0.0045270356347,0.0599461718482,0.999999976331,0.000200443827768,-8.2470245994e-05,1.89367289915e-05,1793249786421930496
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.780660189,746,718,679,664,638.780660189,879.219339811,784,813,652,630,654,0.402048133779,0.00452681594102,0.05994620993,0.999999977235,0.000197440295538,-7.90106986846e-05,1.74306672491e-05,1793249786438597120
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.204392227,746,718,679,664,638.204392227,879.795607773,784,813,652,630,654,0.402226967962,0.00452859074227,0.0599460551463,0.999999977898,0.000196032206568,-7.4513124319e-05,1.49588787136e-05,1793249786455263488
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.372218451,746,718,679,664.372218451,638.372218451,880,784,813,652,630,654,0.402436723798,0.00452810826657,0.0599470017299,0.999999979504,0.000190348407771,-6.77957946753e-05,1.27717092294e-05,1793249786471930112
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.949017548,746,718,679,664.949017548,638.949017548,880,784,813,652,630,654,0.402663474971,0.00452638513472,0.0599485536529,0.999999981531,0.000182314570904,-5.98584311407e-05,1.07409733207e-05,1793249786488596480
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,718,680.072061113,664.463969444,639,880,784,813,652,630,654,0.402917098423,0.0045273423181,0.0599520343704,0.999999982977,0.000177563290534,-4.95431897363e-05,7.8915028358e-06,1793249786505263360
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.877948553,718.122051447,680.755897106,664,639,880,784.122051447,812.877948553,652,630,654,0.403179565025,0.00452793247043,0.0599549041553,0.99999998426,0.000172515644471,-4.11278268419e-05,5.0991636362e-06,1793249786521929728
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.29934316,718.70065684,679.59868632,664,639,880,784.70065684,812.29934316,652,630,654,0.403465364679,0.00452617755831,0.0599547890904,0.999999985528,0.000165168841196,-4.06817082239e-05,2.8174796049e-06,1793249786538596608
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.27798433,718.72201567,679,664,639,880,784.72201567,812.27798433,652,630,654,0.403764183621,0.00452538309087,0.0599474671848,0.999999986233,0.000157540708203,-5.21115144582e-05,-8.86239474553e-08,1793249786555263232
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.853941992,718.146058008,679,664,639,880,784.146058008,812.853941992,652,630,654,0.404076958012,0.00452561813086,0.0599324202164,0.999999985893,0.000149611016304,-7.62712069931e-05,-3.66404698267e-06,1793249786571929600
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664.429615721,639,880.429615721,784.429615721,813,652,630,654,0.404425837108,0.00452666073081,0.0599201366768,0.999999984846,0.000143595944243,-9.81603031783e-05,-7.32303268517e-06,1793249786588596224
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664.994684562,639,880.994684562,785,813,652,630,654,0.404787335533,0.00452796344302,0.0599088563458,0.999999983288,0.000138207146044,-0.000119168686485,-1.10103728483e-05,1793249786605262336
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664.405533556,639,880.405533556,785,813,652,630,654,0.405187584225,0.00452770036961,0.059904642546,0.999999983207,0.000130158461152,-0.0001281740677,-1.46937805655e-05,1793249786621929216
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664.180833802,639,880,785,813,652.180833802,630,654,0.405613609806,0.00452678011292,0.0599077986074,0.999999984679,0.000121321243005,-0.000124866939836,-1.82050149716e-05,1793249786638595840
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664.761053179,639,880,785,813,652.761053179,630,654,0.406096565604,0.00452440841567,0.0599272315837,0.999999989188,0.00011074248859,-9.43666727202e-05,-2.13359906768e-05,1793249786655262208
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,718,679,665,639,880.338032257,784.661967743,813,652.661967743,630,654,0.406618082624,0.00452328493118,0.0599549828581,0.999999993575,0.000100048549154,-4.70771248121e-05,-2.50000473751e-05,1793249786671929088
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,718,679,665,639,880.912742653,784.087257347,813,652.087257347,630,654,0.407166598885,0.00452303540053,0.0599885583105,0.999999995522,8.92739599549e-05,1.1967682336e-05,-2.90373486459e-05,1793249786688595712
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718,679,665,639,881,784,813,652,630,654,0.407720695097,0.00452207644896,0.060001702744,0.99999999597,8.00102960061e-05,2.51735173773e-05,-3.20223017185e-05,1793249786705262592
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,718,679,665,639,881,784,813,652,630,654,0.408275077213,0.00452112308623,0.0600083751162,0.99999999655,7.0957648442e-05,2.53916771318e-05,-3.49420760722e-05,1793249786721929216
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,718,679,665,639,881,784,813,652,630,654,0.408823591253,0.0045212610136,0.0599918785608,0.999999997264,6.14156569721e-05,-1.37533116324e-05,-3.88759233626e-05,1793249786738595840
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,679,665,639,881.242649499,784.242649499,813,652,630,654,0.409401610418,0.00452152144815,0.0599809531106,0.999999996951,5.15652120002e-05,-3.96579216063e-05,-4.31925964992e-05,1793249786755262464
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,679,665,639,881.817133811,784.817133811,813,652,630,654,0.410019979221,0.00452194941714,0.0599776464147,0.999999996868,4.129294276e-05,-4.74556769702e-05,-4.80328021475e-05,1793249786771929088
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,718,679.393211632,665,639,882,785,813,652,630,654.393211632,0.410690999489,0.00452158119699,0.0599829554411,0.999999997738,2.77111969507e-05,-3.0324042915e-05,-5.32548879862e-05,1793249786788595968
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718,679.970033526,665,639,882,785,813,652,630,654.970033526,0.411386605352,0.00452084119612,0.0599922875812,0.999999998199,1.25840905664e-05,-1.55162453845e-06,-5.86552926858e-05,1793249786805262592
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,718,680,665.558666717,639,882.558666717,785,813,652,630,655,0.412081432077,0.00452006170749,0.0599848654302,0.999999997906,-2.35104229568e-06,-1.7529756473e-05,-6.2258321714e-05,1793249786821929216
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718,680,665.854766443,639,883.145233557,785,813.145233557,652,630,654.854766443,0.412770952721,0.00452181896578,0.0599690099904,0.999999997049,-2.33829710478e-06,-4.97019109845e-05,-5.85287477126e-05,1793249786838595584
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718,680,665.276294458,639,883.723705542,785,813.723705542,652,630,654.276294458,0.413444772309,0.00453114991267,0.0599307363903,0.999999991008,4.22332828489e-05,-0.000122866460783,-3.32194851657e-05,1793249786855262464
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718,679.698936592,665,639,884,785.301063408,814,652,630,654.301063408,0.414181082272,0.00453308717143,0.0599177320169,0.999999987973,4.70163871471e-05,-0.000145763580481,-2.44137546134e-05,1793249786871929088
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,679.122597348,665,639,884,785.877402652,814,652,630,654.877402652,0.414974530076,0.00452826404917,0.0599278324313,0.999999991882,1.54191012342e-05,-0.00012269893354,-3.06979439718e-05,1793249786888595712
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,679.905913127,666.358869691,639,884.452956564,785.094086873,814,652,630,654.547043436,0.415826639844,0.00451951136146,0.0599714121667,0.999999998427,-5.68267405842e-06,-4.46626961562e-05,-3.34529824694e-05,1793249786905262336
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680.971012833,667.971012833,639,884.971012833,784.028987167,814,651.971012833,629.971012833,654.028987167,0.416692351381,0.00450943016603,0.0600212829941,0.999999998189,-2.34191660036e-05,4.29775056435e-05,-3.50232300951e-05,1793249786921929216
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680.381664526,667.381664526,639,884.381664526,784.618335474,814,651.381664526,629.381664526,654.618335474,0.417514602993,0.00449419190873,0.060017900907,0.999999998581,-3.09200733047e-05,2.91492912121e-05,-3.21232413553e-05,1793249786938595840
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.795914489,746,718.204085511,680,666.795914489,639,884.408171022,784.795914489,814,651.204085511,629.204085511,654.795914489,0.418345762651,0.00448482399166,0.0600086716735,0.999999998871,-3.40790644144e-05,1.10549310304e-05,-3.1212523227e-05,1793249786955262464
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.216777099,746,718.783222901,680,666.216777099,639,885.566445802,784.216777099,814,651.783222901,629.783222901,654.216777099,0.419193292749,0.00448624411296,0.0599886970266,0.999999998885,-2.92588319546e-05,-1.48794066347e-05,-3.39575262343e-05,1793249786971929088
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.3596918,746,718.6403082,680.3596918,666.3596918,639.3596918,886,784.3596918,814.3596918,651.6403082,630,654,0.420027117488,0.00448818291866,0.0599623520547,0.999999997679,-2.20586851213e-05,-5.33254559772e-05,-3.62063959541e-05,1793249786988596224
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.934564289,746,718.065435711,680.934564289,666.934564289,639.934564289,886,784.934564289,814.934564289,651.065435711,630,654,0.420852743153,0.00449043202013,0.0599321961239,0.999999994256,-1.34347872706e-05,-9.925646435e-05,-3.81584605814e-05,1793249787005263616
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.492561718,746,718,681.507438282,665.985123436,640,886,785,814.492561718,651.507438282,630,654.507438282,0.421671965656,0.00448854502947,0.0598957651513,0.999999984399,-9.36290907662e-06,-0.00017224263813,-3.80310243595e-05,1793249787021929984
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.083395645,746,718,681.916604355,665.083395645,640,886.083395645,785.083395645,814.083395645,652,629.916604355,655,0.422515547021,0.00448665251004,0.0598711233272,0.999999974266,-5.73544549309e-06,-0.000223589397697,-3.7991075382e-05,1793249787038596096
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.679903376,746,718,681.320096624,665.679903376,640,886.679903376,785.679903376,814.679903376,652,629.320096624,655,0.423514062327,0.00448799473878,0.0599239763175,0.999999991944,-1.24488021062e-06,-0.00012041257675,-4.01328490554e-05,1793249787055262720
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718,681,666.267056764,639.732943236,887.267056764,785.732943236,814.732943236,652,629.267056764,655,0.42449343543,0.0044867049523,0.0599775756371,0.999999998752,6.8447714693e-07,-2.9379523989e-05,-4.03990793712e-05,1793249787071929088
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718,681,666.843377474,639.156622526,887.843377474,785.156622526,814.156622526,652,629.843377474,655,0.425450641115,0.00448236717201,0.060032039247,0.999999998127,-3.52160818417e-07,4.75905024816e-05,-3.8493345199e-05,1793249787088595712
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.418655997,746,718,681,666.162688005,639,888,785,814.418655997,652,630,655,0.426369809574,0.00448277753189,0.0600385550275,0.999999997031,1.02178880617e-06,6.58082050062e-05,-4.00784090873e-05,1793249787105262336
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.993545565,746,718,681,665.01290887,639,888,785,814.993545565,652,630,655,0.427274783288,0.00448495979761,0.0600271776881,0.999999997143,3.29531883518e-06,6.21007773982e-05,-4.29661652039e-05,1793249787121928960
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.417636722,746,718,681,666.164726557,639.582363278,888,785,815,652,630,654.417636722,0.428173800548,0.00448170303834,0.0599983033963,0.999999998757,-6.44464258832e-06,2.00989216698e-05,-4.51805481989e-05,1793249787138595584
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718,681.168364507,667,639.831635493,888.168364507,785,815.168364507,652,630,654.168364507,0.429056041313,0.00447966024726,0.0599681693069,0.999999998446,-1.46346659402e-05,-2.69680753948e-05,-4.65427704188e-05,1793249787155262464
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718,681.74711507,667,639.25288493,888.74711507,785,815.74711507,652,630,654.74711507,0.429897554415,0.00448072702237,0.0599354487441,0.999999995134,-1.87142393469e-05,-8.53214030952e-05,-4.584649995e-05,1793249787171929344
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718,682,666.675409142,639.324590858,889,785,815.675409142,652,630,655,0.430786235651,0.00448098727326,0.0599263475251,0.999999994043,-1.97317101329e-05,-9.67123984588e-05,-4.65917796175e-05,1793249787188595968
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,682,666.098922657,639.901077343,889,785,815.098922657,652,630,655,0.431711521227,0.00448062162871,0.0599355758731,0.99999999609,-1.83728653546e-05,-7.16587231605e-05,-4.8455760554e-05,1793249787205262336
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746.474811976,718.474811976,682,666.949623952,640,889.474811976,785,815.474811976,652,630,655,0.432642308271,0.00447712675003,0.0599753248541,0.999999998619,-1.92838113413e-05,-7.62097473713e-06,-4.82849354217e-05,1793249787221928960
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746.950551863,718.950551863,681.950551863,667.950551863,639.950551863,890,785,816,652,630,655,0.433569194995,0.00447331999009,0.0600164793699,0.999999997069,-2.0188689794e-05,5.63335435582e-05,-4.77610131695e-05,1793249787238595840
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746.359807506,718.359807506,681.359807506,667.359807506,639.359807506,890,785,816,652,630,655,0.434440910526,0.00447319472119,0.0600038140109,0.999999998243,-1.58803727254e-05,3.09800892353e-05,-4.79857743059e-05,1793249787255262464
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.226404826,746,718,681.226404826,667,639,890,785,815.773595174,652,630.226404826,655,0.43529398744,0.00447096449864,0.0599832773465,0.999999998677,-1.52750201612e-05,-6.88227520335e-06,-4.86338289755e-05,1793249787271929088
+179,2.983333333,POSE1_TO_POSE2_PRESS,767.805556197,746,718,681.805556197,667,639,890,785,815.194443803,652,630.805556197,655,0.436118024878,0.00446545468552,0.0599504769143,0.999999996481,-2.04390136038e-05,-6.42339578545e-05,-4.99413895637e-05,1793249787288595968
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.617778316,746,718,681.617778316,667,639,890,785,815.382221684,652,630.617778316,655,0.436921353795,0.00446509626325,0.0599307293198,0.999999993732,-1.89798614695e-05,-9.77606391597e-05,-5.11807607054e-05,1793249787305262592
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.042369312,746,718,681.042369312,667,639,890,785,815.957630688,652,630.042369312,655,0.437714215899,0.00446734152247,0.0599175790578,0.999999991418,-1.4173154989e-05,-0.000119245383396,-5.23856666318e-05,1793249787321928960
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718,681.533694922,666.466305078,639,890,785,816.533694922,652,630,655,0.438484969908,0.00446433743289,0.0599048297066,0.999999987308,-1.10916159692e-05,-0.000150549602578,-5.09440836643e-05,1793249787338595584
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,718,682,666.112886837,639.112886837,890,785,816.887113163,652,630,655,0.439272317315,0.00446083901539,0.0599051489427,0.999999986217,-9.31491430385e-06,-0.000158151665961,-4.9672435269e-05,1793249787355262208
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,718,682,666.705139027,639.705139027,890,785,816.294860973,652,630,655,0.440137589485,0.00445701329638,0.0599608276182,0.999999996762,-1.24968056083e-05,-6.17899401085e-05,-5.00156762517e-05,1793249787371929088
+185,3.083333333,POSE1_TO_POSE2_PRESS,767,746,718,682,667,640,890,785,816,652,630,655,0.440937216627,0.00445619620182,0.0599943949305,0.999999998679,-1.03047421037e-05,-8.32364351928e-06,-4.96720699834e-05,1793249787388595712
+186,3.100000000,POSE1_TO_POSE2_PRESS,767,746,718,682,667,640,890,785,816,652,630,655,0.441671757216,0.00445836213383,0.0600060390052,0.999999998809,-2.78444664061e-06,2.61218281409e-06,-4.86474606506e-05,1793249787405262336
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,717.560094711,682,666.120189422,639.560094711,890,785,816.439905289,652,630,655,0.442335403762,0.00445736158625,0.0599712549392,0.999999997449,-3.30164518061e-06,-5.13851102403e-05,-4.95130660797e-05,1793249787421928960
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,717.014316889,681.985683111,665,639,890,785,817,652,630,654.985683111,0.442976812845,0.00445551261412,0.0599227160597,0.999999990917,-7.37745640579e-06,-0.00012454921332,-5.09725809345e-05,1793249787438595840
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746,717.605016357,681.394983643,665,639,890,785,817,652,630,654.394983643,0.443593019078,0.00445836798411,0.0598902181877,0.999999982146,-5.60780831597e-05,-0.00017244885206,-5.31443707701e-05,1793249787455262464
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.191618368,746,718,681,664.808381632,639,890,784.808381632,817,652,630,654.191618368,0.444214881718,0.00445975982302,0.0598685142411,0.999999972722,-9.9520585777e-05,-0.000204100623071,-5.47244333478e-05,1793249787471929088
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.769951207,746,718,681,664.230048793,639,890,784.230048793,817,652,630,654.769951207,0.444848159939,0.00445819803825,0.0598685940411,0.999999969126,-0.000132351418171,-0.000202961781448,-5.51103027597e-05,1793249787488595712
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.654180224,746.345819776,718,681.345819776,664,639,890,784.345819776,817,652,630.345819776,655,0.445422952255,0.0044583691408,0.0598565456109,0.999999961543,-0.000145400790662,-0.000229366079469,-5.62534346772e-05,1793249787505262336
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.079939392,746.920060608,718,681.920060608,664,639,890,784.920060608,817,652,630.920060608,655,0.445959113392,0.00445968485107,0.0598364862358,0.999999950228,-0.000145384100934,-0.000273963186096,-5.78967539301e-05,1793249787521928960
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746.505444515,718,682,664,638.505444515,890.494555485,785,817,652,631,655,0.446468663481,0.00446129643812,0.0598102841987,0.999999938983,-0.000143695414516,-0.000312674924142,-6.01669243854e-05,1793249787538595584
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,718,681.928628066,664,638,891,785,817.071371934,652.071371934,631,655,0.446973768961,0.00446261484275,0.059787144351,0.999999928806,-0.000142360965096,-0.000343814674632,-6.25513456631e-05,1793249787555262464
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,681.335128503,664,638,891,785,817.664871497,652.664871497,631,655,0.447477842816,0.00446143839665,0.0597936735468,0.999999933978,-0.000145596092876,-0.000326523817135,-6.50299572605e-05,1793249787571929088
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,681.250394041,663.749605959,638,890.499211917,785,818,652.749605959,630.749605959,655,0.447970558935,0.00446105954652,0.0598013751682,0.999999938082,-0.000148664617408,-0.000311807065906,-6.71580540318e-05,1793249787588595712
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,681.825569693,663.174430307,638,889.348860614,785,818,652.174430307,630.174430307,655,0.448448543099,0.00446171524389,0.0598105975211,0.999999941024,-0.000151517043641,-0.000300429143065,-6.88315041436e-05,1793249787605262336
+199,3.316666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663,637.60019832,889.39980168,784.60019832,818,652,630.39980168,655,0.448846692182,0.00446178932513,0.0597939700693,0.999999932306,-0.000151132237255,-0.000328065308838,-7.01451125958e-05,1793249787621928960
+200,3.333333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663,637.026377026,889.973622974,784.026377026,818,652,630.973622974,655,0.449210091902,0.00446161024938,0.0597660911074,0.999999916861,-0.00014933837734,-0.000372682933942,-7.13020946556e-05,1793249787638595840
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746,717.433531774,682,663,637.566468226,890,784,818,652,631,655,0.449533615059,0.00446250232326,0.0597290251443,0.999999895035,-0.000146913714425,-0.000427945939384,-7.21646715497e-05,1793249787655262720
+202,3.366666667,POSE1_TO_POSE2_PRESS,767.154974339,746,717.154974339,682.154974339,662.845025661,637.845025661,890,784.154974339,817.845025661,652,631,655,0.449852830469,0.00446419335857,0.0596973207017,0.999999877353,-0.000126758464145,-0.000474015611565,-6.73446553936e-05,1793249787671929344
+203,3.383333333,POSE1_TO_POSE2_PRESS,767.729260181,746,717.729260181,682.729260181,662.270739819,637.270739819,890,784.729260181,817.270739819,652,631,655,0.450165589081,0.00446790648975,0.0596813204967,0.999999875232,-5.87120922395e-05,-0.000493823256936,-4.71877220707e-05,1793249787688595968
+204,3.400000000,POSE1_TO_POSE2_PRESS,767.693958214,746.306041786,718,683,662,637.306041786,890,784.693958214,817,652,631,655,0.450473687962,0.00447421963104,0.0596771489948,0.99999987501,-2.47387272858e-05,-0.00049777559517,-3.9844327471e-05,1793249787705262592
+205,3.416666667,POSE1_TO_POSE2_PRESS,767.114950615,746.885049385,718,683,662,637.885049385,890,784.114950615,817,652,631,655,0.450777630702,0.00448285178183,0.0596835277902,0.999999879941,-2.11558768861e-05,-0.000487586215366,-4.39296285429e-05,1793249787721929472
+206,3.433333333,POSE1_TO_POSE2_PRESS,767,746.529349067,717.529349067,683,662,637.529349067,890,784,817,652,630.529349067,655,0.451041783682,0.00449866961842,0.0596940398608,0.999999887999,-9.69428873803e-06,-0.000470478650983,-5.05680056921e-05,1793249787738596096
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,717.05703622,683,662,636.94296378,890,784,817,652.05703622,630,655,0.451291199812,0.00451602284564,0.059703931792,0.99999989508,3.40639193065e-06,-0.000454441611302,-5.75493272894e-05,1793249787755262464
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,717.635651882,683,662,636.364348118,890,784,817,652.635651882,630,655,0.451495984223,0.00453113963559,0.0596987899675,0.999999890407,1.36490454563e-05,-0.000463865391521,-6.18835056164e-05,1793249787771929088
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,718,683,661.786018243,636.213981757,890,784,817,652.786018243,630.213981757,655,0.45169253798,0.00453758333561,0.0596956638624,0.999999887679,1.56966955709e-05,-0.000469318021427,-6.43201615526e-05,1793249787788595968
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,718,683,661.208174392,636.791825608,890,784,817,652.208174392,630.791825608,655,0.451875096025,0.00452927900739,0.0596959653578,0.999999888454,3.80927302499e-06,-0.000468017966998,-6.35302033425e-05,1793249787805262592
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746,717.630781274,683,661.369218726,637,890,784,817.369218726,652.369218726,631,655,0.452038424402,0.00452777723962,0.059694999806,0.99999988845,7.16243016331e-07,-0.000467922667069,-6.44089779167e-05,1793249787821929472
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746,717.053641927,683,661.946358073,637,890,784,817.946358073,652.946358073,631,655,0.452190923862,0.00453010624263,0.0596933207333,0.999999888055,2.57565722866e-06,-0.000468505808536,-6.62274771208e-05,1793249787838596352
+213,3.550000000,POSE1_TO_POSE2_PRESS,767,746.531138119,717,682.468861881,661.468861881,637,890,784,817.468861881,653,631,655,0.452309372546,0.00453285550887,0.0596925779557,0.999999887701,5.56293608618e-06,-0.00046909991514,-6.71668777714e-05,1793249787855262720
+214,3.566666667,POSE1_TO_POSE2_PRESS,767,746.884545041,717.115454959,682.115454959,660.884545041,636.884545041,890,784,817,652.884545041,630.884545041,654.884545041,0.45241881855,0.00453405715132,0.0596913553058,0.999999886887,6.55891056226e-06,-0.000470734721018,-6.77599747974e-05,1793249787871929600
+215,3.583333333,POSE1_TO_POSE2_PRESS,767,746.305234538,717.694765462,682.694765462,660.305234538,636.305234538,890,784,817,652.305234538,630.305234538,654.305234538,0.45250611317,0.00452886799758,0.0596878192513,0.999999884185,-9.0976189905e-07,-0.000476546159705,-6.73236590062e-05,1793249787888596224
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746,718,683,660,636.273011829,890,784,817,652,630.273011829,654.273011829,0.45258407698,0.00452836592521,0.0596846185476,0.999999881677,-2.95077263632e-06,-0.000481713410703,-6.7739439004e-05,1793249787905262592
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746,718,683,660,636.850073049,890,784,817,652,630.850073049,654.850073049,0.452651649196,0.00453308378902,0.0596817913195,0.999999879434,1.05292674306e-06,-0.000486163238711,-6.91041859927e-05,1793249787921929216
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746,718,682.573683834,660.426316166,636.573683834,889.573683834,784,817,652,631,655,0.452708083954,0.00453240415383,0.059681063832,0.999999878646,1.1112815705e-06,-0.000487830266676,-6.87566765355e-05,1793249787938596096
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746,718,682.002313575,661,636.002313575,889.002313575,784,817.002313575,652.002313575,631,655,0.452760525116,0.00452984855014,0.0596810679185,0.999999878368,-2.0475888407e-07,-0.000488534478594,-6.78135134696e-05,1793249787955262720
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746,718,682.588779932,661,636.588779932,889.588779932,784,817.588779932,652.588779932,631,655,0.452791688421,0.00453198653761,0.0596796962565,0.999999876264,1.11688008961e-06,-0.000492764746316,-6.82236167e-05,1793249787971929344
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,718,683,661,636.826038038,890,784,818,652.826038038,630.826038038,655,0.452820587663,0.00453374802934,0.059678464128,0.999999874626,2.34868484452e-06,-0.000496011838478,-6.86585302987e-05,1793249787988595968
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746,718,683,661,636.243869795,890,784,818,652.243869795,630.243869795,655,0.452844174215,0.00453462606372,0.059677559419,0.999999874123,3.3696910766e-06,-0.000496951882977,-6.91516620182e-05,1793249788005262592
+223,3.716666667,POSE1_TO_POSE2_PRESS,767,746,718,682.666004597,660.666004597,636,889.666004597,784,818,652.333995403,630.333995403,655,0.452862728083,0.00453328601028,0.0596767091413,0.999999873754,2.9897921444e-06,-0.000497773818889,-6.85840050708e-05,1793249788021929216
+224,3.733333333,POSE1_TO_POSE2_PRESS,767,746,718,682.091241283,660.091241283,636,889.091241283,784,818,652.908758717,630.908758717,655,0.452877654034,0.00453034699971,0.0596758981015,0.999999873481,1.60002011003e-06,-0.000498510613728,-6.72516554017e-05,1793249788038596096
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+226,3.766666667,POSE1_TO_POSE2_PRESS,767,746,718,682.945955921,660,636.945955921,890,784,817,652.945955921,630.945955921,654.054044079,0.452894161356,0.00453311984973,0.0596739492802,0.999999871837,4.36917687081e-06,-0.000501600053289,-6.85890471618e-05,1793249788071929600
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+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746,718,682.238376377,660,636,890,784,817.238376377,652.238376377,630.238376377,655,0.452899229009,0.00453224334546,0.0596722614981,0.999999870925,3.24565458424e-06,-0.000503529866691,-6.78084618994e-05,1793249788105262592
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+231,3.850000000,POSE1_TO_POSE2_PRESS,767,746,718,683,660.96428927,636,890,784,818,653,631,655,0.452900414843,0.00453382680143,0.0596700064164,0.999999868179,8.47534607307e-06,-0.000508980959023,-6.71479846742e-05,1793249788155262976
+232,3.866666667,POSE1_TO_POSE2_PRESS,767.553194327,746,718,683,660.446805673,636,890,784,817.446805673,652.446805673,630.446805673,655,0.452900354739,0.0045327613915,0.0596691520238,0.999999867727,6.56725177478e-06,-0.00050989493179,-6.71495948569e-05,1793249788171929600
+233,3.883333333,POSE1_TO_POSE2_PRESS,768,746.140411978,718,683,660.140411978,636,890,784,817.140411978,652.140411978,630.140411978,655,0.452900384565,0.00453220864902,0.0596683964717,0.999999867411,5.31157413311e-06,-0.000510526817631,-6.71770256368e-05,1793249788188595968
+234,3.900000000,POSE1_TO_POSE2_PRESS,768,746.719262697,718,683,660.719262697,636,890,784,817.719262697,652.719262697,630.719262697,655,0.452900918875,0.00453364883814,0.0596681436067,0.99999986759,7.07212546996e-06,-0.000510149668011,-6.72170402251e-05,1793249788205262592
+235,3.916666667,POSE1_TO_POSE2_PRESS,767.703103378,746.703103378,717.703103378,683,660.703103378,636,890,784.296896622,818,653,631,655,0.452902428224,0.0045339000125,0.0596689844312,0.999999868304,7.4469065303e-06,-0.000508740368662,-6.72354334428e-05,1793249788221929472
+236,3.933333333,POSE1_TO_POSE2_PRESS,767.126615259,746.126615259,717.126615259,683,660.126615259,636,890,784.873384741,818,653,631,655,0.452904855782,0.00453303147601,0.0596708551975,0.999999869519,6.51668949316e-06,-0.000506359080138,-6.72334655328e-05,1793249788238596352
+237,3.950000000,POSE1_TO_POSE2_PRESS,767,746,717,683,660.439163851,636.439163851,890,784.560836149,818,652.560836149,631,655,0.452903190593,0.00453170887625,0.0596686607692,0.999999868194,4.38867238767e-06,-0.000509022604942,-6.69964612032e-05,1793249788255262976
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,717,683,661,636.997935313,889.997935313,784,817.997935313,652.002064687,631,655,0.452900387685,0.00453026937415,0.0596653373095,0.999999866145,1.93905714394e-06,-0.000513086508376,-6.66940365673e-05,1793249788271929600
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,717,683,661,636.395557196,889.395557196,784,817.395557196,652.604442804,631,655,0.452901705404,0.00453199681375,0.0596664054613,0.999999866963,4.00153551495e-06,-0.000511490187715,-6.66038368719e-05,1793249788288596224
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,717.198960683,683,660.801039317,636,889.198960683,784,817,653,631,655,0.452902556551,0.00453347737077,0.0596670663841,0.999999867266,6.40406689126e-06,-0.000510856377121,-6.67214985408e-05,1793249788305262848
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,717.77844536,683,660.22155464,636,889.77844536,784,817,653,631,655,0.452902515353,0.00453448575027,0.0596669484576,0.99999986659,9.45696949456e-06,-0.000512063423677,-6.72367072863e-05,1793249788321929472
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,718,682.645170952,660,636,890,784,817,652.645170952,630.645170952,655,0.452902452542,0.00453450983404,0.0596669663412,0.999999866427,9.60891441566e-06,-0.000512403441458,-6.70614005331e-05,1793249788338596096
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,718,682.070706763,660,636,890,784,817,652.070706763,630.070706763,655,0.452902376352,0.00453392464992,0.0596670682896,0.999999866582,7.96519943544e-06,-0.000512206778251,-6.64586725264e-05,1793249788355262976
+244,4.066666667,HOLD_POSE2,767,746,718,683,660,636,890,785,817,652,631,655,0.452901958432,0.00453559879044,0.0596662759016,0.999999865962,1.13952802608e-05,-0.000513276399951,-6.70328370716e-05,1793249788385559808
+245,4.083333333,HOLD_POSE2,767.578791881,746,718,683,660,636,890,784.421208119,817,652,630.421208119,654.421208119,0.452901570342,0.00453439028113,0.0596655313145,0.999999865525,8.81261421801e-06,-0.000514209681116,-6.67830773544e-05,1793249788402225920
+246,4.100000000,HOLD_POSE2,767.842951786,746,718,683,660,636.157048214,890,784,817.157048214,652,630,654.157048214,0.452901507472,0.00453350137905,0.059665287496,0.999999865335,6.89109328697e-06,-0.000514629407045,-6.66226185868e-05,1793249788418892544
+247,4.116666667,HOLD_POSE2,767.266126798,746,718,683,660,636.733873202,890,784,817.733873202,652,630,654.733873202,0.452902313893,0.00453346676016,0.0596663821901,0.999999865821,6.73675751445e-06,-0.000513676442887,-6.67008537532e-05,1793249788435559168
+248,4.133333333,HOLD_POSE2,767,746.309810891,718,683,660,636.690189109,890,784,818,652.309810891,630.309810891,655,0.452903407083,0.00453271022455,0.0596670735578,0.999999866411,7.11398809167e-06,-0.00051255601074,-6.64368326194e-05,1793249788452225536
+249,4.150000000,HOLD_POSE2,767,746.884988532,718,683,660,636.115011468,890,784,818,652.884988532,630.884988532,655,0.452904745905,0.00453133533529,0.0596674194584,0.999999867089,7.94652880331e-06,-0.000511292134901,-6.58796537989e-05,1793249788468892160
+250,4.166666667,HOLD_POSE2,767,746.52894157,718,683,660,636,890,784.47105843,817.52894157,652.52894157,630.52894157,655,0.452903506108,0.00453179701739,0.0596664187268,0.999999866501,7.82480892111e-06,-0.000512412524154,-6.61145805284e-05,1793249788485559040
+251,4.183333333,HOLD_POSE2,767,746,717.941316268,682.941316268,660,636,889.941316268,784.941316268,817,652,630,655,0.452901884452,0.00453280521767,0.0596653289691,0.999999865701,7.71161477002e-06,-0.0005139187523,-6.65294654507e-05,1793249788502225920
+252,4.200000000,HOLD_POSE2,767,746,717.364004051,682.364004051,660,636,889.364004051,784.364004051,817,652,630,655,0.452902583806,0.00453458667481,0.0596664269267,0.999999865846,9.78158139056e-06,-0.000513568433878,-6.67851268835e-05,1793249788518892288
+253,4.216666667,HOLD_POSE2,767,746,717.213851181,682.213851181,660,636,889.213851181,784,817,652,630,655,0.452903546664,0.00453508088834,0.0596672440305,0.999999866091,1.07382835572e-05,-0.000513064331138,-6.68335539762e-05,1793249788535558912
+254,4.233333333,HOLD_POSE2,767,746,717.792632992,682.792632992,660,636,889.792632992,784,817,652,630,655,0.452904959184,0.00453337845908,0.0596675818654,0.999999866514,9.79523310093e-06,-0.000512297800109,-6.65283418552e-05,1793249788552225792
+255,4.250000000,HOLD_POSE2,767,746,718,682.632708079,660,636,890.367291921,784.367291921,817,652.367291921,630.367291921,655,0.452905053014,0.00453277605668,0.059667281977,0.999999866636,8.84482014358e-06,-0.000512068508804,-6.65934369647e-05,1793249788568892416
+256,4.266666667,HOLD_POSE2,767,746,718,682.060350969,660,636,890.939649031,784.939649031,817,652.939649031,630.939649031,655,0.452904410597,0.00453278781741,0.0596666260371,0.99999986659,7.89029649129e-06,-0.000512139167301,-6.68652807317e-05,1793249788585559040
+257,4.283333333,HOLD_POSE2,767,746,718,682.528977618,660,636,890.471022382,784.471022382,817,653,630.471022382,655,0.452904514925,0.00453183186885,0.0596670085544,0.999999866453,7.79299421007e-06,-0.000512485143277,-6.62764529287e-05,1793249788602225920
+258,4.300000000,HOLD_POSE2,767,746,718,683,660.117892077,636,890,784,817,652.882107923,630,655,0.452904661449,0.00453118618328,0.0596673099805,0.999999866346,7.69133475223e-06,-0.000512754398596,-6.58173147396e-05,1793249788618892288
+259,4.316666667,HOLD_POSE2,767,746,718,683,660.697353176,636,890,784,817,652.302646824,630,655,0.452904628566,0.00453220182062,0.0596668146836,0.999999866401,7.17701813543e-06,-0.000512596222714,-6.62631251284e-05,1793249788635558912
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,683,660,636,890,784,817,653,630,654,0.452903147662,0.00453267520599,0.0596664514326,0.9999998658,7.38690144917e-06,-0.000513827657399,-6.57762819657e-05,1793249788673432320
+261,4.350000000,POSE2_TO_POSE3_RETREAT,767,746,717.410313997,682.410313997,660,636,889.410313997,784,817,653,630.589686003,654.589686003,0.452903749691,0.00453349437359,0.0596666458344,0.999999865999,9.12032796437e-06,-0.000513382032845,-6.600685275e-05,1793249788690098944
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746,717,682.177083167,660,636,889,784,817,652.822916833,631,655,0.45290412437,0.00453366328507,0.0596665358487,0.999999866001,1.01747539445e-05,-0.000513337953209,-6.61730618773e-05,1793249788706765568
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746,717,682.759244719,660,636,889,784,817,652.240755281,631,655,0.452903978984,0.00453234473346,0.0596657295756,0.999999865555,9.67596408018e-06,-0.000514212408941,-6.61920435267e-05,1793249788723432192
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767,746,717.33679169,683,660,636,889,784,817,652.33679169,630.66320831,655,0.452905431383,0.00453252663043,0.0596667998189,0.999999866252,9.38745274137e-06,-0.000512855368871,-6.62321942509e-05,1793249788740098560
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,717.911084483,683,660,636,889,784,817,652.911084483,630.088915517,655,0.45290801052,0.00453376662422,0.0596691933569,0.999999867749,9.24722710322e-06,-0.000509924707039,-6.6287273129e-05,1793249788756765184
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,718,683,660,636,889.485967547,784,817,652.514032453,630.485967547,655,0.45290586169,0.00453405156914,0.059667805922,0.9999998667,1.02362344588e-05,-0.000512006202466,-6.59083586851e-05,1793249788773431808
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746.062721593,718,683,660,636,890,784,817,652.062721593,631,655,0.45290307186,0.00453408813562,0.05966582628,0.999999865304,1.11488187269e-05,-0.000514753045502,-6.55500668493e-05,1793249788790098432
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746.654340835,718,683,660,636,890,784,817,652.654340835,631,655,0.452902180262,0.00453350555267,0.0596646934558,0.999999864971,9.6726075601e-06,-0.000515367977886,-6.60360770728e-05,1793249788806765056
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746.769777014,717.769777014,682.769777014,660,636,890,784,817,653,630.769777014,655,0.452897984616,0.00453322372975,0.059662478001,0.999999863549,9.18683972881e-06,-0.000518089128829,-6.63425575361e-05,1793249788823431936
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,746.216010979,717.216010979,682.216010979,660,636,890,784,817,653,630.216010979,655,0.452889145636,0.00453336457893,0.0596587410752,0.999999860577,1.00929880187e-05,-0.000523770246423,-6.63967364512e-05,1793249788840098816
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.367395241,682.367395241,660.367395241,636,890.367395241,784,817,653,630,655,0.452864239584,0.00453356956553,0.0596486014278,0.999999851277,1.13671282419e-05,-0.000541248779727,-6.60853877748e-05,1793249788856765184
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,746,717.969757878,682.969757878,660.969757878,636,890.969757878,784,817,653,630,655,0.452829057845,0.00453381557118,0.0596343669235,0.999999837437,1.2876617559e-05,-0.000566272343145,-6.55402661293e-05,1793249788873431552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.443211596,660.443211596,636,890.443211596,784,817,652.443211596,630,655,0.452775767367,0.00453467265043,0.0596172033276,0.999999822321,1.30100099507e-05,-0.000592297807334,-6.61154314076e-05,1793249788890098176
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,746,717.858775652,682,660,636,890,784,817,652,630,654.858775652,0.452717693604,0.0045353845403,0.0596006781599,0.999999807951,1.35252918246e-05,-0.000616028558289,-6.65162410497e-05,1793249788906764800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,746,717.279868937,682,660,636,890,784,817,652,630,654.279868937,0.452647762097,0.00453554635185,0.0595866114558,0.999999797672,1.54495612362e-05,-0.000632483409356,-6.61931596473e-05,1793249788923431424
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746,717.298898803,682,660,636,890,784.298898803,817,652.298898803,630.298898803,654.298898803,0.452571199082,0.00453569288176,0.0595787456746,0.999999791696,1.67375426805e-05,-0.000641843869007,-6.60571701103e-05,1793249788940098048
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746,717.877536442,682,660,636,890,784.877536442,817,652.877536442,630.877536442,654.877536442,0.452488429656,0.00453582510961,0.0595766833266,0.999999789932,1.74300232804e-05,-0.00064456469998,-6.60962795357e-05,1793249788956764928
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767.453938629,746,718,682.453938629,660,636,890.453938629,784.546061371,817,653,630.546061371,655,0.452392618774,0.00453653555941,0.0595780037529,0.999999791637,1.94031072724e-05,-0.000641947347209,-6.52218135882e-05,1793249788973431552
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767.969547013,746,718,683,660,636,890.939094025,784,817,652.969547013,630,655,0.452291927984,0.0045373994233,0.0595801801101,0.999999794152,2.17625183226e-05,-0.00063805209165,-6.41203257465e-05,1793249788990098432
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.379954229,746,718,683,660,636,889.759908458,784,817,652.379954229,630,655,0.452165920909,0.00453822997759,0.0595813980049,0.999999794795,2.4902976187e-05,-0.000637005966454,-6.33536400442e-05,1793249789006764800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,746.205689386,718,683,660.205689386,636,889.205689386,784,817,652,630,654.794310614,0.452025202899,0.00453872967347,0.0595811375471,0.999999793765,2.77216780206e-05,-0.000638598221462,-6.23977486586e-05,1793249789023431424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746.784175366,718,683,660.784175366,636,889.784175366,784,817,652,630,654.215824634,0.451857822435,0.0045386297132,0.059578197686,0.99999978969,2.99572208274e-05,-0.000644972342908,-6.10989362384e-05,1793249789040098048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746.640181708,718,682.640181708,660.640181708,636,890,784,817,652.359818292,630.359818292,654.359818292,0.45167126718,0.0045393683148,0.0595779500234,0.999999788266,3.42498621797e-05,-0.000647106260726,-5.95603043907e-05,1793249789056764928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746.066230666,718,682.066230666,660.066230666,636,890,784,817,652.933769334,630.933769334,654.933769334,0.451473300732,0.00454060595593,0.0595793045242,0.999999788413,3.9766711013e-05,-0.000646716776415,-5.78789526217e-05,1793249789073431552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746,717.480424726,682,660.519575274,636,890.519575274,784,817,652.480424726,631,655,0.451251293398,0.00454335383007,0.0595818879095,0.999999788571,4.65795741944e-05,-0.000646169875593,-5.61424670302e-05,1793249789090098432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,717.105530086,682,661,636,890.788939828,784.105530086,817,652,630.894469914,655,0.451018916344,0.00454601450985,0.0595835847652,0.999999788097,5.32581976182e-05,-0.000646535136574,-5.44233683285e-05,1793249789106765056
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,717.685205845,682,661,636,889.62958831,784.685205845,817,652,630.314794155,655,0.450754038469,0.0045473982831,0.0595805782068,0.99999978493,5.85740943438e-05,-0.000651090993243,-5.28147019993e-05,1793249789123431680
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746.262044104,718,682,661,636,889,784.737955896,817,652.262044104,630.262044104,655,0.450469866368,0.0045492828707,0.0595782391471,0.999999783114,6.54752680618e-05,-0.000653347081859,-5.1210997668e-05,1793249789140098304
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746.835510147,718,682,661,636,889,784.164489853,817,652.835510147,630.835510147,655,0.450162764381,0.00455176264268,0.0595766933652,0.999999782892,7.42604374379e-05,-0.00065287004924,-4.96131904361e-05,1793249789156764928
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,747,718,682.412997471,661,636.412997471,889,784,817,652.587002529,630.587002529,655,0.449816049479,0.00455334438256,0.0595725821823,0.999999780969,8.15859563197e-05,-0.000655103933563,-4.7376389506e-05,1793249789173431552
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,747,718,682.992102136,661,636.992102136,889,784,817,652.007897864,630.007897864,655,0.449453402307,0.00455456493472,0.0595674391974,0.999999778328,8.83244049337e-05,-0.000658428146114,-4.48825859498e-05,1793249789190098176
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746.420670296,718,682.420670296,661,637,889,784,817,652,630,655,0.44907973099,0.00455537588651,0.0595734848315,0.999999783309,9.80125311909e-05,-0.000649672156051,-4.12405965636e-05,1793249789206764800
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746,717.835682857,682.164317143,661.164317143,637,889,784,817,652.164317143,630.164317143,655,0.44869488486,0.00455704672443,0.0595820403808,0.999999790118,0.000107909642371,-0.00063772477639,-3.77789822609e-05,1793249789223431424
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,717.322244248,682.677755752,662,637,889,784.322244248,817,652.677755752,630.677755752,655,0.447854495782,0.00456300167505,0.0596187028655,0.999999821994,0.000129384793393,-0.000581645170727,-3.09905356728e-05,1793249789256765184
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,717.900984214,682.099015786,662,637,889,784.900984214,817,652.099015786,630.099015786,655,0.447414788574,0.00456370346,0.0596469642923,0.999999848339,0.00014120043478,-0.000531680181583,-2.6487115749e-05,1793249789273431808
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.173143083,665.653713834,639,885,785,815,652,629.826856917,654,0.429768941594,0.00459342548656,0.0598345924963,0.999999943944,0.000221513385586,-0.000249625601071,2.70470680897e-05,1793249789673431552
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.975684332,665.024315668,639,885,785,815,652,630,654.975684332,0.427856511094,0.00459128837886,0.0597535160176,0.999999894434,0.000215573858648,-0.000404708123812,2.95002637438e-05,1793249789706765312
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,666.066024571,639,883,785,815,651.311325143,630,655,0.424256041172,0.00459551979102,0.0598136879637,0.99999993332,0.000197047304771,-0.000305859271544,3.13476922043e-05,1793249789773431552
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.329742992,639,883,785,815,651.890085669,630,655,0.423361582049,0.00459443963161,0.0598271474875,0.999999939299,0.000193477045901,-0.000287859914057,3.32553845719e-05,1793249789790098176
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.46403535,639,883,785,814.53596465,652,630,654.53596465,0.422493947753,0.00459473259878,0.0598357502025,0.999999945694,0.000188708410668,-0.000268106822868,3.34664346135e-05,1793249789806764800
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,717.962141063,680.962141063,665,639,883,785,814,652,630,654,0.421625623962,0.00459537507787,0.0598393713314,0.999999949898,0.000183683485031,-0.000255646209789,3.33168721349e-05,1793249789823431680
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,717.373751142,680.373751142,665,639,883,785,814,652,630,654,0.420655826707,0.00459641893309,0.0597871092797,0.999999920322,0.000179017043947,-0.000355208821319,3.37074033713e-05,1793249789840098560
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,717.211334934,680.211334934,664.577330132,638.788665066,882.788665066,785,814,652,630,654,0.419722606664,0.00459622840813,0.0597436519683,0.99999989369,0.000170896376576,-0.00042700261501,3.29158101108e-05,1793249789856764928
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,717.790668111,680.790668111,663.418663779,638.209331889,882.209331889,785,814,652,630,654,0.418853078487,0.0045938884529,0.0597155263729,0.999999885812,0.000156760854826,-0.000450442492485,3.00657799436e-05,1793249789873431552
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.054368359,664.891263281,638.945631641,882,785,814,652,630,654,0.41724210561,0.00459595874688,0.0597781265925,0.999999927853,0.00015017559469,-0.000347421939945,3.22247794388e-05,1793249789906764800
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,718,680.520637836,664.479362164,638.479362164,881.479362164,784.479362164,814,652,630,654,0.416459758538,0.00459201963372,0.0598114342986,0.999999942747,0.000140230784284,-0.000306029967555,3.44453590962e-05,1793249789923431424
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.313437232,663.313437232,638.686562768,881,784.686562768,813.313437232,652,630,654,0.414891042406,0.00458807543286,0.0598371052254,0.999999923979,0.000268508721598,-0.000280422163113,3.61755411688e-05,1793249789956764928
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.514408758,718,679,663,638,880,785,813,652,629.485591242,654,0.408105999545,0.00457500097191,0.0598507797647,0.999999939096,0.000234642823091,-0.000255892516689,3.56253887656e-05,1793249790123431424
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745.061327461,718,679,663,638,880,784.938672539,813,652,630,654,0.407537962263,0.00457191269699,0.0598362862824,0.999999937614,0.000220551967234,-0.00027373707901,3.45960980549e-05,1793249790140098048
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.65007992,718,679,663,638,880,784.34992008,813,652,630,654,0.407015457869,0.00457066286045,0.0598226904546,0.999999933685,0.000212660785079,-0.00029368388167,3.39978366219e-05,1793249790156764672
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880,784.234758846,813,652,630,654,0.406511364266,0.00456951293087,0.0598177107891,0.999999933758,0.000203807598983,-0.00029973037749,3.32921036727e-05,1793249790173431552
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880,784.813469473,813,652,630,654,0.406034244875,0.0045685093779,0.0598253549061,0.999999940015,0.000193544954643,-0.000285411141479,3.24289112483e-05,1793249790190098176
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.390644881,638,880,785,813,652,630,654,0.405582447972,0.00456537070451,0.0598253221972,0.999999942464,0.000184508885282,-0.000282778990028,3.26367997607e-05,1793249790206764800
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.967090152,638,880,785,813,652,630,654,0.405142695028,0.00456121651482,0.0598216382003,0.999999943132,0.000176056204486,-0.000285705504445,3.33541208422e-05,1793249790223431424
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.456068191,638,880,785,813,652,629.456068191,654,0.404721143335,0.00456169451441,0.0598011804705,0.999999932967,0.000178423930986,-0.000317941901049,3.38097513914e-05,1793249790240098048
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,662.876383138,638,880,785,813,651.876383138,629.123616862,654,0.404312134822,0.00456209540103,0.0597804594686,0.999999921405,0.000180908964784,-0.000351117800516,3.43326734208e-05,1793249790256764672
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,662.286053349,638,880,785,813,651.286053349,629.713946651,654,0.403946321956,0.00456114624578,0.0597625789036,0.999999910301,0.000181363380901,-0.000381140639417,3.51694749079e-05,1793249790273431552
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,662.296177866,638,880,784.703822134,812.703822134,651.296177866,630,654,0.403623917721,0.00455959444598,0.0597628982151,0.999999912184,0.000180979392503,-0.000376287190568,3.58638000894e-05,1793249790290098176
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,662.870795497,638,880,784.129204503,812.129204503,651.870795497,630,654,0.403342322395,0.00455747609408,0.0597803274133,0.999999925831,0.000179807211559,-0.000338646194026,3.64241818099e-05,1793249790306765056
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.447835148,638.447835148,880,784,812.447835148,652,630,654,0.403090075383,0.00455695846999,0.0598013122344,0.999999935699,0.000183281047311,-0.000305882671082,3.80336031345e-05,1793249790323431936
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.974032592,638.974032592,880,784,813,652,630,654,0.402847473677,0.00455681643382,0.059822742577,0.99999994363,0.000187982141781,-0.000275335388522,3.99262217256e-05,1793249790340098304
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.387480086,638.387480086,880,784,813,652,630,654,0.40262930969,0.00455475850713,0.0598315248004,0.999999946734,0.00019008300485,-0.00026208859588,4.13632059289e-05,1793249790356765184
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.196896765,638,880,784,813,652,630,654,0.402412258659,0.00455325251962,0.0598348061554,0.999999946975,0.000192873042881,-0.00025892837941,4.24954236919e-05,1793249790373431808
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.777038789,638,880,784,813,652,630,654,0.402197373941,0.0045528208419,0.0598273804686,0.999999941746,0.000197004509722,-0.000275400952849,4.30344355379e-05,1793249790390098432
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,717.648221013,679,663.648221013,638.351778987,880,784,813,652,630,654,0.402010424587,0.0045517110646,0.0598242876521,0.999999934611,0.000218838843385,-0.000284596975546,4.34894789136e-05,1793249790406765056
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,717.076852714,679,663.076852714,638.923147286,880,784,813,652,630,654,0.401840913171,0.00455017800041,0.0598238995217,0.999999925521,0.000251723753011,-0.000289250793231,4.38921070727e-05,1793249790423431680
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,717.503440083,679,663.503440083,638.496559917,880,784,813.503440083,652,630,654,0.401700950862,0.00455069846877,0.0598235585247,0.999999931061,0.000228052732218,-0.0002914553598,3.04039872871e-05,1793249790440098560
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.913995037,638,880,784,813.913995037,652,630,654,0.401570416432,0.00454973475055,0.0598235377357,0.999999937679,0.000196722954144,-0.000292668647947,1.69586365294e-05,1793249790456765184
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.326266402,638,880,784,813.326266402,652,630,654,0.401468091487,0.00453825104113,0.0598253421988,0.999999942933,0.000171988730284,-0.000290319672175,1.63562647961e-05,1793249790473431808
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,718,679.257491073,663,638,880,784,812.742508927,652.257491073,630,654,0.401375123213,0.00453437938242,0.0598276048633,0.999999945613,0.000161869458664,-0.000286912064685,1.59293023848e-05,1793249790490098432
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,718,679.83629309,663,638,880,784,812.16370691,652.83629309,630,654,0.401293830693,0.00454000644278,0.0598304392955,0.999999945615,0.000169987496961,-0.000282183440988,1.57212250231e-05,1793249790506764800
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,718,679.587985733,663,638.412014267,879.587985733,784.412014267,812.412014267,652.587985733,630,654,0.401223088323,0.00453907112905,0.0598299372344,0.999999945136,0.000170286651852,-0.000283642105247,1.66707499637e-05,1793249790523431424
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,718,679.013479603,663,638.986520397,879.013479603,784.986520397,812.986520397,652.013479603,630,654,0.401156506766,0.00453554771939,0.0598281193134,0.999999944468,0.000167502163505,-0.000287540937412,1.80768148145e-05,1793249790540098048
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745.423303352,718,679,663,638.423303352,879.576696648,784.423303352,812.423303352,652,630,654.576696648,0.401110704241,0.00453535405943,0.0598264849902,0.999999943478,0.000167996196286,-0.00029064807268,1.86003195313e-05,1793249790556764416
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745,717.836148653,679,663.163851347,638,880,784,812.163851347,652,630,654.836148653,0.401068740757,0.00453612801284,0.059825109833,0.999999942464,0.00016922255944,-0.000293394363443,1.88737028898e-05,1793249790573431296
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745,717.257594418,679,663.742405582,638,880,784,812.742405582,652,630,654.257594418,0.401035230187,0.0045391484822,0.0598243794527,0.999999941424,0.000172103059418,-0.000295275510742,1.85677056363e-05,1793249790590098432
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.320175023,717.320175023,679,663.679824977,638.320175023,880.320175023,784,813,652,630,654,0.40101091101,0.0045383884221,0.0598248963502,0.999999941568,0.000172956685002,-0.000294263147814,1.89679833558e-05,1793249790606765056
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745.89731467,717.89731467,679,663.10268533,638.89731467,880.89731467,784,813,652,630,654,0.400993968615,0.00453459420207,0.059826414282,0.999999942658,0.0001721835912,-0.00029092852472,1.99351000201e-05,1793249790623431424
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.52729106,880.05458212,784,813,652,630,654,0.400983328146,0.00453470287304,0.0598274912522,0.999999943231,0.000172470926422,-0.000288777817547,1.99723664469e-05,1793249790640098048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.951168021,718,679,663.048831979,638,879.048831979,784.048831979,813,652,630,653.951168021,0.400974404204,0.00453549950321,0.0598284805714,0.999999943693,0.000172880774709,-0.000286934551511,1.98595800319e-05,1793249790656764672
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745.362819288,718,679,663.637180712,638,879.637180712,784.637180712,813,652,630,653.362819288,0.400969376067,0.0045345644386,0.0598295559093,0.999999944183,0.00017210851017,-0.000285657054976,2.03123963074e-05,1793249790673431296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,663.778509769,638.221490231,880,784.778509769,813,652,630,653.221490231,0.40096574414,0.00453443463001,0.0598306916111,0.99999994463,0.000172051163388,-0.000284106461703,2.05538493868e-05,1793249790690098176
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,663.200698345,638.799301655,880,784.200698345,813,652,630,653.799301655,0.400964358358,0.00453560027265,0.0598319244232,0.999999945007,0.000173143936659,-0.000282116525629,2.04552730593e-05,1793249790706764800
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,663.377538537,639,880,784,813,652,630,654,0.400963449719,0.00453645864819,0.0598327969539,0.999999945025,0.000174698838851,-0.000281104521615,2.0286242229e-05,1793249790723431424
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,663.956001828,639,880,784,813,652,630,654,0.400962795014,0.00453715349716,0.0598334777442,0.999999944851,0.000176499684484,-0.000280612969856,2.00797157495e-05,1793249790740098048
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.529677631,718,678.470322369,663.470322369,639,880,784,813,652,630,654,0.400961944387,0.00453455030224,0.0598335264022,0.999999945577,0.000173240169567,-0.000280020274737,2.05682461227e-05,1793249790756764672
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745.893987938,718,678.106012062,663.106012062,639,879.893987938,784,813,652,630,654,0.400961240934,0.00453279091544,0.0598337357571,0.99999994622,0.00017069099197,-0.000279265700635,2.08637690045e-05,1793249790773431552
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745.30370862,718,678.69629138,663.69629138,639,879.30370862,784,813,652,630,654,0.400961283459,0.00453612630602,0.0598349168945,0.999999946196,0.000173289610557,-0.000277809692106,2.00162501132e-05,1793249790790098176
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,663.720435408,638.720435408,879.279564592,784,813,652,630,654,0.40096145087,0.00453692298624,0.0598357175568,0.999999946432,0.000174063162471,-0.000276478117168,1.99364398469e-05,1793249790806765056
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,663.144587219,638.144587219,879.855412781,784,813,652,630,654,0.400961750635,0.00453502913217,0.0598361149903,0.99999994695,0.000172902502253,-0.000275278417239,2.06702499343e-05,1793249790823431680
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.565712202,745,718,678.565712202,663.434287798,638,880,784.434287798,813,652,630,654,0.400962610986,0.00453606941277,0.0598368044339,0.999999947122,0.000174182709597,-0.000273844990882,2.06156449271e-05,1793249790840098560
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.014018523,745.014018523,718,678.014018523,664,638,880,784.985981477,813,652,630,654,0.400963597798,0.00453800650277,0.0598375654092,0.999999947169,0.000176205605808,-0.000272400297574,2.03117245174e-05,1793249790856765184
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.587402805,745.587402805,718,678.587402805,664,638,880,784.412597195,813,652,630,654,0.400962131236,0.00453647585332,0.059837274195,0.999999947001,0.000175209868861,-0.000273632763671,2.06068712957e-05,1793249790873435392
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.833536674,746,718,679,663.833536674,638.166463326,880,784,813,652,630,654,0.400960965696,0.00453574354365,0.0598371103473,0.999999946868,0.000174684387764,-0.000274445713258,2.07165597871e-05,1793249790890103296
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.239910341,746,718,679,663.239910341,638.760089659,880,784,813,652,630,654,0.400960572609,0.00453705986085,0.0598372733361,0.999999946828,0.000175365634413,-0.00027418213776,2.03503421167e-05,1793249790906766336
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.343895895,746,718,679,663.343895895,638.656104105,880,784,813,652,629.656104105,654,0.400960541869,0.00453676751334,0.0598375278543,0.999999947059,0.00017469186985,-0.000273778059354,2.02327402925e-05,1793249790923431680
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.921041558,746,718,679,663.921041558,638.078958442,880,784,813,652,629.078958442,654,0.400960756895,0.00453538407783,0.059837844453,0.999999947472,0.00017309905954,-0.000273278683889,2.02837638989e-05,1793249790940098304
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.504470487,638,879.504470487,784.495529513,813,652,629.495529513,654,0.40096011226,0.00453431843127,0.0598374722519,0.999999947439,0.000171930241479,-0.000274098931406,2.07841370335e-05,1793249790956764928
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745.928549565,718,679,663.071450435,638.071450435,879.071450435,785,813,652,630,654,0.400959488583,0.0045334930747,0.0598371267903,0.999999947352,0.000171057485603,-0.000274924581456,2.12386666823e-05,1793249790973431552
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745.339188774,718,679,663.660811226,638.660811226,879.660811226,785,813,652,630,654,0.400960004426,0.00453404438161,0.0598377664646,0.999999947405,0.000171843649866,-0.000274273369143,2.0844672187e-05,1793249790990098176
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745.245652921,718,679,664,639,880,784.754347079,813,652,630,654,0.400960601368,0.0045341967061,0.059838268983,0.999999947548,0.000172143912303,-0.000273573625638,2.06963858887e-05,1793249791006765312
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745.824367608,718,679,664,639,880,784.175632392,813,652,630,654,0.400961308268,0.00453380808132,0.0598385855424,0.999999947815,0.000171785378204,-0.000272808082354,2.08812362446e-05,1793249791023431936
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,664,638.598606309,880,784,813,652,630,654,0.400960446799,0.00453412682894,0.0598378542042,0.999999947508,0.000172890561439,-0.000273253724511,2.06375535498e-05,1793249791040098560
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,664,638.022316024,880,784,813,652,630,654,0.400958901955,0.00453475379523,0.0598366662725,0.999999946947,0.000174633520477,-0.000274227108459,2.02071489982e-05,1793249791056765184
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..480b90703c40567cff6ae8134a52e20264243135
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_04/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,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
+1,0.016666667,pose1_baseline,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
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+369,6.150000000,pose2_to_pose3_retreat,0.576029597738,0.0101500107802,1.05003369305,0.546600279082,0.0188226541178,1.04970508368
+370,6.166666667,pose2_to_pose3_retreat,0.575957219585,0.0101501455924,1.05003352506,0.546527897294,0.0188227767777,1.04970491942
+371,6.183333333,pose2_to_pose3_retreat,0.575894923935,0.0101501410728,1.05003364366,0.546465602021,0.0188227733553,1.04970503314
+372,6.200000000,pose2_to_pose3_retreat,0.575841745724,0.0101500981192,1.05003349022,0.546412425482,0.0188227365055,1.04970489103
+373,6.216666667,pose2_to_pose3_retreat,0.5757970606,0.0101501822589,1.05003349647,0.546367738818,0.0188228152795,1.04970489357
+374,6.233333333,pose2_to_pose3_retreat,0.575760579146,0.0101502468944,1.05003357485,0.546331256925,0.0188228785934,1.04970497645
+375,6.250000000,pose2_to_pose3_retreat,0.57573294343,0.0101501494138,1.05003345082,0.546303621214,0.0188227809846,1.04970484858
+376,6.266666667,pose2_to_pose3_retreat,0.575711522994,0.0101500422938,1.05003352904,0.546282202308,0.0188226789612,1.04970492435
+377,6.283333333,pose2_to_pose3_retreat,0.575695836181,0.0101500271096,1.05003361669,0.546266515837,0.0188226650063,1.04970501396
+378,6.300000000,pose2_to_pose3_retreat,0.575685053238,0.0101500519076,1.05003349226,0.546255731985,0.0188226867415,1.04970489017
+379,6.316666667,pose2_to_pose3_retreat,0.575677831382,0.0101500410756,1.0500331828,0.546248509914,0.0188226749953,1.04970457592
+380,6.333333333,pose2_to_pose3_retreat,0.575673246559,0.0101500430361,1.05003338426,0.546243924878,0.0188226762441,1.04970477749
+381,6.350000000,pose2_to_pose3_retreat,0.575670234005,0.0101500773506,1.05003352892,0.546240912041,0.0188227096416,1.04970492313
+382,6.366666667,pose2_to_pose3_retreat,0.575668589481,0.0101501653887,1.050033572,0.54623926707,0.0188227962381,1.0497049682
+383,6.383333333,pose2_to_pose3_retreat,0.57566753673,0.0101502217467,1.05003359957,0.546238214033,0.0188228516733,1.04970499706
+384,6.400000000,pose2_to_pose3_retreat,0.575666920492,0.0101502321935,1.05003361665,0.546237597977,0.0188228627041,1.04970501324
+385,6.416666667,pose2_to_pose3_retreat,0.575666522262,0.0101502146605,1.05003362869,0.546237200242,0.0188228467594,1.04970502292
+386,6.433333333,pose2_to_pose3_retreat,0.575666263392,0.010150203263,1.05003363651,0.546236941693,0.0188228363945,1.04970502922
+387,6.450000000,pose2_to_pose3_retreat,0.575666128135,0.010150197308,1.0500336406,0.546236806604,0.018822830979,1.04970503251
+388,6.466666667,pose2_to_pose3_retreat,0.575666041804,0.010150193507,1.05003364321,0.54623672038,0.0188228275224,1.04970503461
+389,6.483333333,pose2_to_pose3_retreat,0.575665736567,0.0101501800681,1.05003365244,0.546236415522,0.018822815301,1.04970504203
+390,6.500000000,pose2_to_pose3_retreat,0.575665626772,0.0101501752341,1.05003365576,0.546236305863,0.0188228109049,1.0497050447
+391,6.516666667,pose2_to_pose3_retreat,0.575665563937,0.0101501724677,1.05003365766,0.546236243107,0.0188228083891,1.04970504623
+392,6.533333333,pose2_to_pose3_retreat,0.575665411371,0.0101501657505,1.05003366227,0.54623609073,0.0188228022805,1.04970504994
+393,6.550000000,pose2_to_pose3_retreat,0.575665178742,0.01015016857,1.05003364008,0.546235857778,0.0188228039793,1.04970502708
+394,6.566666667,pose2_to_pose3_retreat,0.575664942198,0.0101502067119,1.05003353861,0.546235619254,0.0188228354491,1.0497049268
+395,6.583333333,pose2_to_pose3_retreat,0.57566477409,0.0101502338187,1.0500334665,0.54623544974,0.018822857814,1.04970485553
+396,6.600000000,pose2_to_pose3_retreat,0.5756646511,0.0101502536504,1.05003341374,0.546235325721,0.0188228741766,1.04970480339
+397,6.616666667,pose2_to_pose3_retreat,0.575664601592,0.0101502634678,1.05003341113,0.546235276046,0.018822883435,1.04970480093
+398,6.633333333,pose2_to_pose3_retreat,0.575664596067,0.0101502648351,1.05003341359,0.546235270539,0.018822884864,1.0497048034
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+400,6.666666667,pose2_to_pose3_retreat,0.575664513798,0.0101502851938,1.0500334503,0.54623518854,0.0188229061407,1.04970484016
+401,6.683333333,pose2_to_pose3_retreat,0.575664459322,0.0101502986748,1.05003347461,0.546235134243,0.0188229202297,1.04970486451
+402,6.700000000,pose2_to_pose3_retreat,0.575664356943,0.0101503240101,1.0500335203,0.5462350322,0.0188229467075,1.04970491026
+403,6.716666667,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be030e66f8bf8953aaf922c08dfa32cd25ffb5d0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1780d4ac5d244e07dcc351d9f787f0f13078a446b844f7d4edaf05d44729ebee
+size 25776767
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89004871a9d6e8314e4adea3e4c88e3049dd647e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
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+38,0.633333333,BASELINE,766.119806465,745,718,679,663.119806465,639,879.880193535,784.119806465,813,652,629.119806465,654,0.400960836811,0.00453385441454,0.0598400589396,0.99999994938,0.000168868742801,-0.000268930748546,1.9980081472e-05,1793249791807947264
+39,0.650000000,BASELINE,766.688833655,745,718,679,663.688833655,639,879.311166345,784.688833655,813,652,629.688833655,654,0.400959450078,0.00453403084042,0.059839026336,0.999999948672,0.000169515300925,-0.000271135869717,2.01353425034e-05,1793249791824613888
+40,0.666666667,BASELINE,767,745.271980357,718,679,664,638.728019643,879.271980357,784.728019643,813,652,630,654,0.400959573338,0.00453395223711,0.0598392104911,0.999999948565,0.000170584123509,-0.000270842799486,2.03553430271e-05,1793249791841280256
+41,0.683333333,BASELINE,767,745.872165346,718,679,664,638.127834654,879.872165346,784.127834654,813,652,630,654,0.400961518739,0.00453356588447,0.0598408629355,0.999999949179,0.000172162501791,-0.000267535107035,2.06534660997e-05,1793249791857946880
+42,0.700000000,BASELINE,767,745.547507148,718,679,663.547507148,638,880,784,813,652,630,654,0.400961352048,0.00453480301673,0.0598408665266,0.999999949003,0.000172289067999,-0.000268131577652,2.03843760695e-05,1793249791874614016
+43,0.716666667,BASELINE,767,745,718,678.97197318,663.02802682,638,880,784.02802682,812.97197318,652,630,654,0.400960646248,0.00453632515268,0.0598404375209,0.999999948632,0.000172021004597,-0.000269710171686,2.00068405707e-05,1793249791891280896
+44,0.733333333,BASELINE,767,745,718,678.384857126,663.615142874,638,880,784.615142874,812.384857126,652,630,654,0.400960588714,0.00453476788842,0.0598402806334,0.999999948649,0.000171718668334,-0.000269802996759,2.05282260787e-05,1793249791907947264
+45,0.750000000,BASELINE,767,745.199464652,718,678.199464652,664,638.199464652,880,784.800535348,812.199464652,652.199464652,630,654,0.400960767693,0.00453437005671,0.0598402214667,0.999999948606,0.000172212202883,-0.000269625004264,2.08035272334e-05,1793249791924613632
+46,0.766666667,BASELINE,767,745.77846943,718,678.77846943,664,638.77846943,880,784.22153057,812.77846943,652.77846943,630,654,0.400961396708,0.00453617838636,0.0598403482429,0.999999948449,0.000174220115603,-0.000268931701733,2.06105805193e-05,1793249791941280256
+47,0.783333333,BASELINE,767,746,718,679,664,639,880,784,812.643482621,652.643482621,630,653.643482621,0.400960731494,0.00453574426992,0.0598398739727,0.999999948277,0.000174593725247,-0.000269327940138,2.06193289825e-05,1793249791957946880
+48,0.800000000,BASELINE,767,746,718,679,664,639,880,784,812.066027572,652.066027572,630,653.066027572,0.400959264232,0.00453392048559,0.0598390272276,0.999999948097,0.000173954539823,-0.000270399378758,2.07530701062e-05,1793249791974613504
+49,0.816666667,BASELINE,767,746,718,679,664.507755163,639,880,784.507755163,812.507755163,652,630,653.507755163,0.400960594201,0.00453358571233,0.0598400980203,0.999999948911,0.000171771237233,-0.000268787586387,2.06354520528e-05,1793249791991280128
+50,0.833333333,BASELINE,767,746,718,679,664.918929648,639,880,784.918929648,813,652,630,654,0.40096205344,0.00453361961793,0.0598412488418,0.999999949676,0.000170067254303,-0.000267030612273,2.05082002092e-05,1793249792007947264
+51,0.850000000,BASELINE,767,746,718,679,664.345574343,639,880,784.345574343,813,652,630,654,0.400962104731,0.00453472492869,0.0598413823447,0.999999949404,0.000172484383075,-0.000266495602456,2.0519505254e-05,1793249792024613888
+52,0.866666667,BASELINE,767,746,718,679,664,638.76473468,880,784,813,652,630,654,0.400961755911,0.00453596314683,0.0598410299685,0.999999948958,0.00017434120539,-0.000266965552692,2.04681475248e-05,1793249792041280256
+53,0.883333333,BASELINE,767,746,718,679,664,638.172540276,880,784,813,652,630,654,0.400960800068,0.00453740300324,0.0598399404484,0.99999994825,0.000175347967424,-0.000268960162314,2.0321721952e-05,1793249792057946624
+54,0.900000000,BASELINE,767,746,718,679,664,638,879.589758835,784,813,652,630,654.410241165,0.400961636099,0.00453711014586,0.059840870437,0.999999948493,0.00017537327425,-0.000268032511856,2.04065766488e-05,1793249792074613504
+55,0.916666667,BASELINE,767,746,718,679,664,638,879.010847536,784,813,652,630,654.989152464,0.400963208858,0.00453610488538,0.0598426307441,0.999999949124,0.000174995056989,-0.000265903377831,2.05865219384e-05,1793249792091280384
+56,0.933333333,BASELINE,767,745.436736993,718,679,664,638,879.563263007,784,813,652,630,654.436736993,0.400962286766,0.00453520033275,0.0598420852532,0.999999949584,0.00017202323915,-0.000266144153547,2.01878737064e-05,1793249792107947008
+57,0.950000000,BASELINE,767,745,718,679,664,638,879.8580906,784,813,652,629.8580906,654,0.40096137735,0.00453456047933,0.0598414143232,0.999999949787,0.000170058932511,-0.000266663641557,1.99080051963e-05,1793249792124613632
+58,0.966666667,BASELINE,767,745,718,679,664,638,879.264722703,784,813,652,629.264722703,654,0.400960659817,0.00453475659974,0.0598404844078,0.999999949208,0.000171457396092,-0.000267925830953,2.00411615712e-05,1793249792141280256
+59,0.983333333,BASELINE,766.680829071,745.319170929,718,678.680829071,664,638.319170929,879.319170929,784.319170929,813,652,629.319170929,654,0.400959927679,0.00453499537748,0.0598398569511,0.999999948756,0.000171699069803,-0.000269443140345,2.01725358149e-05,1793249792157946880
+60,1.000000000,BASELINE,766.104566866,745.895433134,718,678.104566866,664,638.895433134,879.895433134,784.895433134,813,652,629.895433134,654,0.400959183777,0.00453526851559,0.059839473124,0.999999948406,0.000171008952719,-0.000271165948304,2.03024745715e-05,1793249792174613504
+61,1.016666667,BASELINE,766.471851289,746,718,678.471851289,664,639,880,784.528148711,813,652,630,654,0.400960396985,0.00453515260164,0.0598405470467,0.999999948535,0.000172793422564,-0.000269544078743,2.044420062e-05,1793249792191280384
+62,1.033333333,BASELINE,767,746,718,679,663.954106433,638.954106433,880,784.045893567,813,652,630,654,0.400961916409,0.00453491060706,0.0598418683881,0.999999948776,0.000174809796592,-0.000267331509874,2.05801724119e-05,1793249792207946752
+63,1.050000000,BASELINE,767,746,718,679,663.406419251,638.406419251,880,784.593580749,813,652,630,654,0.4009620402,0.00453423306919,0.0598423616031,0.999999949177,0.000173363750333,-0.000266767316867,2.06246574646e-05,1793249792224613632
+64,1.066666667,BASELINE,767,746,718,679,663.321485257,638.160742628,880,784.839257372,813,652,630,654,0.400961965676,0.00453384428549,0.0598423562764,0.999999949451,0.000171883692944,-0.000266705277755,2.05611765596e-05,1793249792241280512
+65,1.083333333,BASELINE,767,746,718,679,664.567863978,638.783931989,880,784.216068011,813,652,630,654,0.400961320613,0.00453428622992,0.059840916676,0.999999949359,0.000170305787701,-0.000268087904789,2.01870841805e-05,1793249792257947136
+66,1.100000000,BASELINE,767,746,718,679,664.622314652,638.622314652,880,784.377685348,813,652,630,654,0.40096206856,0.00453438510692,0.0598412530085,0.999999949516,0.000170862948755,-0.000267134820043,2.02975277776e-05,1793249792274613760
+67,1.116666667,BASELINE,767,746,718,679,664.044183628,638.044183628,880,784.955816372,813,652,630,654,0.400963555809,0.00453430191069,0.0598425318666,0.999999949802,0.000172553235119,-0.000264942123146,2.06651249725e-05,1793249792291280384
+68,1.133333333,BASELINE,767,745.470364055,717.470364055,679,664,638,880,784.470364055,812.470364055,652,630,654,0.400961195484,0.00453520612509,0.0598412159334,0.999999948787,0.000174005957235,-0.000267805242295,2.07036661127e-05,1793249792307947264
+69,1.150000000,BASELINE,767,745,717.102615401,679,664,638,879.897384599,784,812.102615401,652,630,654,0.400959277459,0.00453582578636,0.059840111189,0.999999948022,0.000174712784206,-0.000270188822071,2.07024362688e-05,1793249792324614144
+70,1.166666667,BASELINE,767,745,717.673389518,679,664,638,879.326610482,784,812.673389518,652,630,654,0.400960829865,0.0045347744701,0.0598409495377,0.999999948937,0.000172106324969,-0.000268475927821,2.06439868725e-05,1793249792341281024
+71,1.183333333,BASELINE,767,745.256420259,718,679,664,638.256420259,879.256420259,784,813,652,630,654,0.400961111236,0.00453502211881,0.0598409802456,0.999999949131,0.000171181236561,-0.000268361448093,2.04199176335e-05,1793249792357947904
+72,1.200000000,BASELINE,767,745.855846406,718,679,664,638.855846406,879.855846406,784,813,652,630,654,0.400959692378,0.00453700735486,0.0598399305963,0.999999948367,0.00017250526843,-0.000270385120538,1.9974303561e-05,1793249792374614272
+73,1.216666667,BASELINE,767,746,718,679.43763783,664,638.56236217,880,784,813,652,630,654,0.400960750187,0.00453647105601,0.059840622469,0.999999948497,0.000173557074066,-0.000269225149981,2.0034496874e-05,1793249792391280640
+74,1.233333333,BASELINE,767,746,718,679.986428296,664,638.013571704,880.013571704,784,813,652,630,654,0.400962543353,0.004535163704,0.0598418161643,0.999999948898,0.000174485153292,-0.000267111933659,2.02501585784e-05,1793249792407947264
+75,1.250000000,BASELINE,767,746,718,679.421615581,664,638.578384419,880.578384419,784,813,652,630,654,0.400962353036,0.00453496697869,0.0598409953435,0.999999948971,0.000173888839429,-0.000267224342428,2.02754851074e-05,1793249792424613888
+76,1.266666667,BASELINE,767,746,718,679,664,638.852338638,880.852338638,784,813,652,630,654,0.400962198395,0.00453453059735,0.0598405351951,0.999999949114,0.000173140221899,-0.00026717280708,2.03433002867e-05,1793249792441280256
+77,1.283333333,BASELINE,767,746,718,679,664,638.269917696,880.269917696,784,813,652,630,654,0.400962148793,0.00453338859644,0.0598411369751,0.999999949459,0.000171943176473,-0.000266638570804,2.05362148638e-05,1793249792457947136
+78,1.300000000,BASELINE,767,746,718,679,663.6796062,638,880.3203938,784,813,652,630,654,0.400961725315,0.00453331027406,0.0598412807324,0.999999949535,0.00017110502332,-0.000266896849273,2.04680434339e-05,1793249792474613760
+79,1.316666667,BASELINE,767,746,718,679,663.082479445,638,880.917520555,784,813,652,630,654,0.40096097891,0.00453415068019,0.0598410288829,0.999999949379,0.000170576855377,-0.000267839644599,2.01743648141e-05,1793249792491280640
+80,1.333333333,BASELINE,767,746,718,679,663.498347422,638.498347422,880.501652578,784.498347422,813.498347422,652.498347422,630,654,0.400961764167,0.00453470873833,0.0598412861841,0.99999994948,0.000171311908128,-0.000266994659741,2.01536701434e-05,1793249792507947520
+81,1.350000000,BASELINE,767,745.922338102,718,679,664,639,880,784.922338102,813.922338102,652.922338102,630.077661898,654,0.400962468752,0.00453514651656,0.0598415405387,0.999999949569,0.000172094754908,-0.000266155002368,2.01923362005e-05,1793249792524613888
+82,1.366666667,BASELINE,767,745.335817121,718,679,664,639,880,784.335817121,813.335817121,652.335817121,630.664182879,654,0.400961036367,0.00453509268227,0.0598412409322,0.999999949319,0.000171864266557,-0.00026722757834,2.03332906668e-05,1793249792541280256
+83,1.383333333,BASELINE,766.75261095,745,718,679,663.75261095,639,880,784,813,652.24738905,630.75261095,654,0.400960005366,0.00453573093585,0.0598408454336,0.999999948955,0.000172474119584,-0.00026820378851,2.0244399765e-05,1793249792557946880
+84,1.400000000,BASELINE,766.173844876,745,718,679,663.173844876,639,880,784,813,652.826155124,630.173844876,654,0.400959512016,0.00453729623939,0.0598403214874,0.999999948434,0.000174209607782,-0.000269050917077,1.9847631579e-05,1793249792574613760
+85,1.416666667,BASELINE,766,745.402559442,718,679,663.402559442,638.597440558,880,784.402559442,813,652.597440558,630,654,0.400960483686,0.00453678041606,0.0598406431802,0.9999999487,0.000174136078503,-0.00026810222642,1.99407211876e-05,1793249792591280384
+86,1.433333333,BASELINE,766,745.977949754,718,679,663.977949754,638.022050246,880,784.977949754,813,652.022050246,630,654,0.400962084333,0.00453537110232,0.0598413279311,0.999999949301,0.00017328588354,-0.000266382536536,2.02441214964e-05,1793249792607947008
+87,1.450000000,BASELINE,766.552445189,746,718,679,664,638,880,784.447554811,813,652,630,654.552445189,0.40096288074,0.00453572555603,0.059841841045,0.999999949276,0.000174625257538,-0.000265602811195,2.02504622179e-05,1793249792624614144
+88,1.466666667,BASELINE,767,746,718,679,664,638.130423865,879.869576135,784.130423865,813,652,630,654.869576135,0.400963255727,0.00453588942222,0.0598418675024,0.999999949181,0.000175323718513,-0.000265497455352,2.0246688106e-05,1793249792641281024
+89,1.483333333,BASELINE,767,746,718,679,664,638.720812588,879.279187412,784.720812588,813,652,630,654.279187412,0.400962257515,0.00453513327124,0.0598402017932,0.999999948937,0.000173454162084,-0.000267638294111,2.0248989783e-05,1793249792657947648
+90,1.500000000,BASELINE,767,746,718,679,664,639,879.303637249,785,813,652.303637249,630,654,0.400961922883,0.00453551353526,0.0598400214452,0.999999948783,0.000174003009236,-0.000267858330591,2.02048529354e-05,1793249792674614016
+91,1.516666667,BASELINE,767,746,718,679,664,639,879.879675945,785,813,652.879675945,630,654,0.400962183566,0.00453691330891,0.0598411736562,0.99999994871,0.000176721473815,-0.000266355161639,2.01190547916e-05,1793249792691280384
+92,1.533333333,BASELINE,767,746,718,679,664,639,880,785,813,652.544611495,630.455388505,654,0.400961250558,0.0045358846303,0.0598409926062,0.999999948785,0.00017544668612,-0.000266896668159,2.03640705646e-05,1793249792707947008
+93,1.550000000,BASELINE,766.968968328,746,718,679,664,638.968968328,880,784.968968328,813,652,631,654,0.400960112093,0.00453435587919,0.0598404909945,0.999999948899,0.000173198786488,-0.000267913608066,2.06637476484e-05,1793249792724613632
+94,1.566666667,BASELINE,766.393032345,746,718,679,664,638.393032345,880,784.393032345,813,652,631,654,0.400960900226,0.00453530515967,0.059840541885,0.999999949077,0.00017237746002,-0.000267799180621,2.03894928297e-05,1793249792741280256
+95,1.583333333,BASELINE,766.189077677,746,718,679.189077677,664,638.189077677,879.810922323,784,813,652,630.810922323,654,0.400961692972,0.00453568013859,0.0598409042903,0.999999949364,0.000171657859434,-0.000267204263236,2.01786634701e-05,1793249792757947136
+96,1.600000000,BASELINE,766.784454889,746,718,679.784454889,664,638.784454889,879.215545111,784,813,652,630.215545111,654,0.40096249563,0.00453482102987,0.0598419360942,0.999999949885,0.00017115685234,-0.0002655768451,2.01041258468e-05,1793249792774614016
+97,1.616666667,BASELINE,767,745.633235306,718,679.633235306,664,639,879.366764694,784,813,652,630,654,0.400962343928,0.00453434070476,0.0598419015981,0.999999949835,0.000171638989792,-0.000265430622438,2.04313653645e-05,1793249792791280640
+98,1.633333333,BASELINE,767,745.058340959,718,679.058340959,664,639,879.941659041,784,813,652,630,654,0.40096165065,0.00453407532979,0.0598412620038,0.99999994946,0.000172679036842,-0.0002661249407,2.09866032141e-05,1793249792807947520
+99,1.650000000,BASELINE,767,745.519393018,718,679,664,639,880,784.519393018,813,652,630,654,0.400962357578,0.00453549011983,0.0598418594102,0.999999949257,0.000175190798868,-0.000265278547247,2.05355293263e-05,1793249792824613888
+100,1.666666667,BASELINE,767,746,718,679,664,638.900941059,880,784.900941059,813,652,630,654,0.400962777702,0.00453666899107,0.0598421974138,0.99999994904,0.000177045322178,-0.000264903117352,2.00498865572e-05,1793249792841280512
+101,1.683333333,BASELINE,767,746,718,679,664,638.313328644,880,784.313328644,813,652,630,654,0.400961003367,0.00453574842478,0.0598405670133,0.999999948683,0.000174838592748,-0.000267708673999,1.99542953931e-05,1793249792857947136
+102,1.700000000,BASELINE,767,746,718,679,664,638.270157911,879.729842089,784,813,652,629.729842089,654,0.400960438522,0.0045348519112,0.0598400073903,0.999999948719,0.000173132649669,-0.000268668934032,2.01024907148e-05,1793249792874613760
+103,1.716666667,BASELINE,767,746,718,679,664,638.84893124,879.15106876,784,813,652,629.15106876,654,0.400961255341,0.00453398287434,0.0598406709723,0.999999949214,0.000171998781009,-0.000267521215677,2.05291760129e-05,1793249792891280384
+104,1.733333333,BASELINE,767,746,718,679,664,639,879.426471143,784,813,652.426471143,629.426471143,654,0.400961991007,0.00453380743663,0.0598417823493,0.999999949614,0.000171530569804,-0.000266308258089,2.07018528423e-05,1793249792907947008
+105,1.750000000,BASELINE,767,745.996444042,718,679,663.996444042,638.996444042,879.996444042,784,812.996444042,652.996444042,630,654,0.400962695002,0.00453388695234,0.0598430439549,0.999999949978,0.000171306706586,-0.000265077602858,2.07834688721e-05,1793249792924613888
+106,1.766666667,BASELINE,767,745.422483967,718,679,663.422483967,638.422483967,879.422483967,784,812.422483967,652.422483967,630,654,0.400962916518,0.00453556549634,0.0598430325136,0.999999949863,0.00017256378372,-0.000264704407003,2.06496677995e-05,1793249792941280768
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664,639,879,784,813,652,630,654,0.400961894608,0.00453467014692,0.059841088208,0.999999949288,0.000172636327037,-0.000266825168498,2.06098862652e-05,1793249792981926656
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,746,718,678.419979275,664,638.419979275,879,784,812.419979275,652,630,654,0.400961059193,0.00453500219479,0.059840667504,0.999999948937,0.000172328916955,-0.000268355399807,2.033942313e-05,1793249792998593536
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,746,718,678.158977213,664,638,879.317954426,784,812.158977213,652,630,654,0.400960668065,0.00453548960279,0.0598403461582,0.999999948739,0.000172489868825,-0.000269006239048,2.01328490298e-05,1793249793015260160
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,718,678.735141066,664,638,880.470282132,784,812.735141066,652,630,654,0.40096144283,0.00453638470559,0.0598402855475,0.999999948943,0.000173879892049,-0.000267349385491,2.00939319288e-05,1793249793031926528
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638,880.379806641,784,813,652,630,654,0.400961807329,0.00453584912587,0.0598408107722,0.999999949382,0.000172818960105,-0.00026639313695,2.00972912757e-05,1793249793048593408
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638,879.231951428,784,813,652,630,654,0.400961822774,0.00453409631833,0.0598418344269,0.999999950016,0.000169672750107,-0.000266032964772,2.0136619518e-05,1793249793065260288
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638,879.473842797,784,813,652,630,654,0.400960243777,0.00453437594539,0.0598408357071,0.999999949113,0.000171294698227,-0.000268357489784,2.04050995846e-05,1793249793081926912
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.934124007,718,678.934124007,664.065875993,638,880,784.065875993,813,652,630,654,0.400958620686,0.00453499448803,0.0598396355781,0.999999948059,0.000173522194203,-0.000270822290365,2.06954997013e-05,1793249793098593792
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.356158276,718,678.356158276,664.643841724,638,880,784.643841724,813,652,630,654,0.400959793708,0.00453424647469,0.0598408511119,0.999999948948,0.000171070159262,-0.000269092329346,2.07051790219e-05,1793249793115260672
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.220806902,745.220806902,718,678.220806902,664.779193098,638,880.220806902,784.779193098,813,652,630,654,0.400963257006,0.00453393099643,0.0598425440704,0.999999949856,0.000169862293528,-0.000266468683352,2.07050883201e-05,1793249793131927296
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.796165427,745.796165427,718,678.796165427,664.203834573,638,880.796165427,784.203834573,813,652,630,654,0.400970397821,0.0045343100437,0.0598450036339,0.999999950795,0.000170652201686,-0.000262410039545,2.06893098048e-05,1793249793148594176
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.620590052,746,718,679,664,638,880.241180104,784,813,652,630,654,0.400993195287,0.0045339839849,0.0598542519784,0.999999955184,0.000169283260529,-0.000246064225472,2.06570389236e-05,1793249793165260288
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.033018868,746,718,679,664,638,879.066037735,784,813,652,630,654,0.401024582691,0.00453327107347,0.0598672249515,0.999999961029,0.000166729878256,-0.00022297712073,2.06157195834e-05,1793249793181926656
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,746,718,679,664,638.546293557,879.546293557,784,813,652,630,654,0.401087669077,0.00453397125585,0.0598886057003,0.999999968883,0.000168982833592,-0.00018235805317,2.05925063484e-05,1793249793198593536
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.875513113,746,718,679.124486887,664,639,879.875513113,784,813,652,630,654,0.401154337215,0.00453445894105,0.0599083498222,0.999999974511,0.000170452219156,-0.00014663269014,2.0579012455e-05,1793249793215260928
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.299594624,746,718,679.700405376,664,639,879.299594624,784,813,652,630,654,0.401227149651,0.00453387092799,0.0599203435998,0.999999976899,0.000168042344222,-0.000132439005099,2.05968548611e-05,1793249793231927808
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.275596688,746,717.724403312,679.724403312,664,639,879.275596688,784,813,652,630,654,0.401307592972,0.00453317612297,0.0599296999514,0.999999978991,0.000165909536022,-0.000118634584442,2.04606416957e-05,1793249793248594176
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.849999547,746,717.150000453,679.150000453,664,639,879.849999547,784,813,652,630,654,0.401396309812,0.0045323655325,0.0599361967641,0.999999980797,0.000164077127991,-0.00010525221108,2.01573991078e-05,1793249793265260544
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,717.436075696,679,664,638.563924304,880,784,813,652,630,654,0.401498682353,0.00453372989734,0.0599403357916,0.999999981622,0.000164004444316,-9.74799352991e-05,1.88644769983e-05,1793249793281926912
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.974163514,746,718,679,664,638.025836486,880,784,813,652,630,654,0.401607066308,0.00453568710641,0.0599435225833,0.999999982126,0.000164359577041,-9.1840140749e-05,1.72726941498e-05,1793249793298593280
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.393869828,746,718,679,664,638.606130172,880,784,813,652,630,654,0.40174087974,0.00453387009795,0.0599441577119,0.999999982974,0.000160548436273,-8.94119277011e-05,1.67738981444e-05,1793249793315259904
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.185329194,746,718,679,664.185329194,639,880,784,813,652,630,654,0.401884556147,0.0045328928501,0.0599441925561,0.999999983783,0.000157126391186,-8.65846911812e-05,1.57333113587e-05,1793249793331926528
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.762215377,746,718,679,664.762215377,639,880,784,813,652,630,654,0.402049070684,0.0045336898191,0.0599429591402,0.999999984532,0.000154526414227,-8.29144122421e-05,1.35480481706e-05,1793249793348593408
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.655273878,718,679,664.655273878,638.655273878,880,784,813,652,630,654,0.402231210188,0.00453384892882,0.0599437103546,0.99999998563,0.000150928762312,-7.63413303224e-05,1.14773970304e-05,1793249793365260288
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.068819022,718,679,664.068819022,638.068819022,880,784,813,652,630,654,0.402425708683,0.00453356075916,0.0599458532307,0.999999986911,0.000146631520825,-6.77327454975e-05,9.48711388792e-06,1793249793381927168
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,718,679,664,638.510756053,879.489243947,784,813,652,630,653.489243947,0.402656190511,0.00453461454105,0.0599482404465,0.999999987607,0.000145009145563,-6.08815964611e-05,7.13813172902e-06,1793249793398593792
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.089182913,718,679,664,639,879.089182913,784,813,652,629.910817087,653.089182913,0.402897308314,0.0045356208894,0.0599505133428,0.999999988283,0.000143072190765,-5.42411750199e-05,4.68210314503e-06,1793249793415260416
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.666332093,718,679,664,639,879.666332093,784,813,652,629.333667907,653.666332093,0.403170445762,0.00453539152624,0.0599519829976,0.999999989422,0.000137468223802,-4.74753369334e-05,1.90129585285e-06,1793249793431926784
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.758334052,718,679,664.241665948,639,880,784,813,652,629.241665948,654,0.403456319161,0.00453424989191,0.0599503900657,0.999999990247,0.0001311456672,-4.8020569575e-05,-7.46778630302e-07,1793249793448593152
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.185487961,718,679,664.814512039,639,880,784,813,652,629.814512039,654,0.403759645951,0.00453185807693,0.0599446001506,0.999999990611,0.000123838352341,-5.85849280333e-05,-3.21295528616e-06,1793249793465259776
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.399938756,718,679,665,639,880.399938756,784.399938756,813,652,629.600061244,654,0.40407858786,0.00453184734299,0.0599352475936,0.999999990407,0.000116816348916,-7.41460265588e-05,-6.52063195956e-06,1793249793481926656
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.99138974,718,679,665,639,880.99138974,784.99138974,813,652,629.00861026,654,0.404405007121,0.00453297679901,0.0599241890519,0.999999989664,0.00010993096816,-9.20998331467e-05,-1.02312641116e-05,1793249793498593280
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.429395069,718,679,664.429395069,639,881,785,813,652,629.570604931,654,0.404765332879,0.00453305228503,0.0599064677652,0.999999987099,0.000102280960511,-0.000123045700019,-1.4139006856e-05,1793249793515260416
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.148738665,718,679,664.148738665,639,880.851261335,785,813,652,630,654,0.405148066267,0.00453282802133,0.0598952157262,0.999999985005,9.4693281046e-05,-0.000143888610339,-1.78759909475e-05,1793249793531927552
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.724287712,718,679,664.724287712,639,880.275712288,785,813,652,630,654,0.405593661666,0.00453178829539,0.0599028098474,0.999999986827,8.7316869487e-05,-0.000135190005616,-2.11146211583e-05,1793249793548593920
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,718,679.296651237,665.296651237,639,880.296651237,785,813,652,630,654.296651237,0.406080555764,0.00453085194602,0.0599230556525,0.999999991359,7.82223616498e-05,-0.000102755870359,-2.45727621746e-05,1793249793565260288
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,718,679.866085609,665.866085609,639,880.866085609,785,813,652,630,654.866085609,0.406605425783,0.00453001065558,0.0599549352075,0.999999996144,6.75479918937e-05,-4.84959276575e-05,-2.82327528137e-05,1793249793581926656
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,717.543779241,679.543779241,665.543779241,639,881,785,813,652,630,655,0.407149604942,0.00453135838682,0.0599825236929,0.99999999763,6.08972940948e-05,-3.44344762973e-06,-3.19238442409e-05,1793249793598593536
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,717.051112419,679.051112419,665,639,881.051112419,785,813,652,630,654.948887581,0.407698534326,0.00453294697124,0.0600060936639,0.999999997298,5.50738724258e-05,3.32795125939e-05,-3.55403237054e-05,1793249793615260160
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,717.62941293,679.62941293,665,639,881.62941293,785,813,652,630,654.37058707,0.408235221233,0.00453007740545,0.0600018244743,0.999999998165,4.50223222131e-05,1.32904923987e-05,-3.82886021939e-05,1793249793631927296
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,679.793060669,665,639,882,784.793060669,813,652,630,654,0.408787915287,0.00452870477184,0.0599930716028,0.999999998435,3.49790590639e-05,-1.22671621134e-05,-4.1913759641e-05,1793249793648594176
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,679.216915413,665,639,882,784.216915413,813,652,630,654,0.409369168085,0.00453000285462,0.0599763192763,0.999999997439,2.49505816826e-05,-4.77599629316e-05,-4.71033798163e-05,1793249793665260544
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,718,679,665,639,882.356806891,784.356806891,813,652,630,654.356806891,0.410010463114,0.00452908185906,0.0599750535659,0.999999997387,1.36503515141e-05,-4.80845180938e-05,-5.22261691404e-05,1793249793681926656
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718,679,665,639,882.929066113,784.929066113,813,652,630,654.929066113,0.410688013697,0.00452682090727,0.05998313921,0.999999997987,1.58219343328e-06,-2.71732699563e-05,-5.73086035017e-05,1793249793698592768
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,718,679.519433776,665.519433776,639,883,785,813,652,630,654.480566224,0.411376221719,0.00452639853758,0.0599898398655,0.999999997981,-7.62912780926e-06,-1.09550773046e-05,-6.21336842527e-05,1793249793715259392
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718,679.890167726,665.890167726,639.109832274,883.109832274,785,813.109832274,652,629.890167726,654,0.41206418382,0.00452679562987,0.0599911762006,0.999999998136,7.84403253213e-06,-6.27126956354e-06,-6.02188250058e-05,1793249793731926272
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718,679.3105958,665.3105958,639.6894042,883.6894042,785,813.6894042,652,629.3105958,654,0.412744644615,0.00452958485061,0.0599704080917,0.99999999032,0.000127160997468,-4.80786757316e-05,-2.96337740005e-05,1793249793748592896
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718.26537525,679.26537525,664.73462475,639.73462475,884,785,814,652,629.26537525,654,0.413434635691,0.00453509419959,0.0599439749512,0.999999977162,0.000189111958334,-9.81788329999e-05,-1.65140194173e-05,1793249793765259520
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718.83718832,679.83718832,664.16281168,639.16281168,884,785,814,652,629.83718832,654,0.414135631794,0.00454374457346,0.0599110002033,0.999999970184,0.000184820461765,-0.00015785491784,-2.35620325723e-05,1793249793781926144
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718.588383629,680,664.411616371,639.411616371,884,785,813.588383629,651.588383629,629.588383629,654,0.414964723968,0.00453544230014,0.0599339979174,0.999999980116,0.000161426216059,-0.000113586477345,-2.8425905855e-05,1793249793798593024
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718.012914664,680,664.987085336,639.987085336,884,785,813.012914664,651.012914664,629.012914664,654,0.415844807447,0.00452039166685,0.0599792766547,0.999999990578,0.000130427716662,-2.79407178038e-05,-3.24203355073e-05,1793249793815259648
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680,666.166064172,639.416967914,884.583032086,785,813.583032086,651.583032086,629.583032086,654,0.416678016431,0.00450164633735,0.0600075518165,0.999999993991,0.000103996146086,1.48281184437e-05,-3.13517865059e-05,1793249793831926272
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718.17330699,680,666.653386021,639,885.17330699,785,814.17330699,652,630,654,0.417507349586,0.00448884396434,0.0600225045881,0.999999994941,8.79274062425e-05,3.78237929094e-05,-3.0910842209e-05,1793249793848592896
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718.749310394,680,665.501379211,639,885.749310394,785,814.749310394,652,630,654,0.418330177258,0.00449004774369,0.0600074084577,0.999999994756,9.56941440799e-05,1.71617117905e-05,-3.21982777352e-05,1793249793865259776
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,719,680.33046763,665.33046763,639.33046763,886,785,815,652,630,654.33046763,0.419165269196,0.00449257539273,0.0599868691372,0.999999993978,0.000102958936869,-1.72392559905e-05,-3.38698314794e-05,1793249793881926144
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,719,680.915596425,665.915596425,639.915596425,886,785,815,652,630,654.915596425,0.420009812044,0.00449612322696,0.059962135249,0.99999999139,0.000109836926038,-6.22275256584e-05,-3.58373898829e-05,1793249793898592768
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,719,681,666,640,886.494730685,785,814.505269315,652,629.505269315,655,0.420836014762,0.00449252601604,0.0599272908192,0.999999992574,-1.74006057128e-07,-0.00011607091498,-3.71456146097e-05,1793249793915259904
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,718.927427607,681,665.927427607,640,887,785,814.072572393,652,629.072572393,655,0.421666279508,0.00448914978186,0.0598942913853,0.999999979133,-0.000111106309852,-0.000167085193712,-3.8364346089e-05,1793249793931926528
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,718.351542609,681,665.351542609,640,887,785,814.648457391,652,629.648457391,655,0.422546155575,0.00449565890612,0.0598859071857,0.999999977303,-9.17812445483e-05,-0.000188126727928,-3.97332017861e-05,1793249793948593408
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718,681,665.448932901,640,887.224466451,785,815.224466451,652,630,655,0.423470147609,0.0044969200403,0.0599087874306,0.999999984198,-7.97674797411e-05,-0.00015372063527,-4.01381716917e-05,1793249793965260288
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718,681,666.601340005,640,887.800670003,785,815.800670003,652,630,655,0.424463269142,0.00448995761773,0.0599806588045,0.999999995575,-7.92104596216e-05,-3.24285638876e-05,-3.90327402425e-05,1793249793981926656
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718,681,667,640,888.377067009,785,816,652,630,655,0.425420217057,0.00448833442476,0.0600207113278,0.999999995769,-7.55049160147e-05,3.43976334632e-05,-3.97276414349e-05,1793249793998593280
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718,681,667,640,888.953566301,785,816,652,630,655,0.426358032538,0.00448953517255,0.0600439347267,0.999999994063,-7.01341058253e-05,7.2416600265e-05,-4.13747461375e-05,1793249794015260160
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,718.546018924,681.546018924,666.453981076,640,889,785.546018924,815.453981076,652,630,655,0.427291410396,0.00449043523075,0.0600280597406,0.99999999508,-6.28265930426e-05,6.29569755312e-05,-4.39209321937e-05,1793249794031926528
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.13535181,746,718.86464819,681.86464819,666.13535181,640,889,786,815,652,630,655,0.428208310936,0.00449007591724,0.0600062592119,0.999999996513,-5.63508193749e-05,4.10610894379e-05,-4.5970814814e-05,1793249794048593152
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.710022777,746,718.289977223,681.289977223,666.710022777,640,889,786,815,652,630,655,0.429072991792,0.00448571448299,0.0599763425779,0.999999997494,-5.31253283868e-05,-7.70038866135e-06,-4.61541825893e-05,1793249794065259776
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.726533191,746,718,681.273466809,666.453066382,640,889,785.726533191,815,652,630,655,0.429931232772,0.00448432811402,0.0599457544788,0.999999995923,-4.67162013345e-05,-6.16490454089e-05,-4.6595691821e-05,1793249794081926400
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.174524483,746,718,681.825475517,665.349048966,640,889,785.174524483,815,652,630,655,0.430782914307,0.0044859720229,0.0599144824552,0.999999990888,-3.70643553691e-05,-0.000120881143182,-4.73001331349e-05,1793249794098593024
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,681.576671945,665.846656109,640,889,785,815.423328055,652,629.576671945,655,0.431738997714,0.00448307479085,0.0599410494383,0.999999995812,-3.60475076409e-05,-6.88964414695e-05,-4.82784554922e-05,1793249794115259648
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718.039538961,681.039538961,667.039538961,640,889,785,816.039538961,652,629.039538961,654.960461039,0.432735697063,0.00447845461617,0.059991803109,0.999999997646,-3.82787314438e-05,2.85329831345e-05,-4.92819513709e-05,1793249794131926528
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718.617143523,681.617143523,667.617143523,640,889,785,816.617143523,652,629.617143523,654.382856477,0.433628252358,0.00447895926281,0.060007795761,0.999999997346,-3.03825495737e-05,4.46544217303e-05,-4.89048490575e-05,1793249794148592896
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718.806516831,682,667.613033662,640,889.193483169,785,816.806516831,652,630,654.193483169,0.434504973627,0.00447739262514,0.0600084217484,0.999999997671,-2.62748407713e-05,3.97676033842e-05,-4.88471768368e-05,1793249794165259776
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718.232663788,682,666.465327576,640,889.767336212,785,816.232663788,652,630,654.767336212,0.435350566836,0.00447175403569,0.0599788383082,0.99999999832,-2.96149154469e-05,-6.41948698647e-06,-4.94174742911e-05,1793249794181926656
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.342450145,746.342450145,718.342450145,682,666.342450145,640,890,785,816,652,630,655,0.436173758616,0.00446962108949,0.0599529789677,0.999999996898,-2.95230944802e-05,-5.27753824262e-05,-5.04606145162e-05,1793249794198593280
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.91842387,746.91842387,718.91842387,682,666.91842387,640,890,785,816,652,630,655,0.436981674365,0.00446987871162,0.0599296591667,0.999999993365,-2.70909952507e-05,-9.92463865787e-05,-5.18261955816e-05,1793249794215259648
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746.492209758,718.492209758,681.492209758,666.492209758,640,890,785,816,652,630,655,0.437775310263,0.00447125053935,0.0599089874916,0.999999988616,-1.85414568762e-05,-0.000140525887634,-5.17303569833e-05,1793249794231926528
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.902647142,746,718,681.097352858,666.097352858,640,890,785,816.097352858,652,630,655,0.43857422801,0.0044713741525,0.0598958755537,0.999999984494,-1.15270363121e-05,-0.000168043071532,-5.13930663275e-05,1793249794248593664
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.323058643,746,718,681.676941357,666.676941357,640,890,785,816.676941357,652,630,655,0.439410980636,0.00446440408362,0.0599180462474,0.999999989887,-1.71167600042e-05,-0.000131632034216,-5.10542093804e-05,1793249794265260288
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.253574476,746,718,682,667,640,890.253574476,785,817,652,630.253574476,654.746425524,0.440238353269,0.00446079867412,0.0599524183717,0.999999995491,-1.76969837669e-05,-7.84978928841e-05,-5.04296715138e-05,1793249794281926656
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.826485721,746,718,682,667,640,890.826485721,785,817,652,630.826485721,654.173514279,0.441053913229,0.00446143051912,0.060002156258,0.999999998697,-1.19685377378e-05,-4.30366131319e-06,-4.94453638055e-05,1793249794298593280
+187,3.116666667,POSE1_TO_POSE2_PRESS,767.599531912,746.400468088,718,682,666.599531912,640,890.599531912,785,817,652,631,654.400468088,0.441775168618,0.00446230331532,0.0599946925145,0.999999998681,-4.26331851207e-06,-1.49422385795e-05,-4.8956982629e-05,1793249794315259904
+188,3.133333333,POSE1_TO_POSE2_PRESS,767.025084157,746.974915843,718,682,666.025084157,640,890.025084157,785,817,652,631,654.974915843,0.442455454326,0.0044632807906,0.0599623780547,0.999999996857,4.30069208841e-06,-6.24356409435e-05,-4.86840520567e-05,1793249794331926528
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,746.430170448,718,682,665.430170448,639.430170448,890,785,816.430170448,652.569829552,631,655,0.443118985932,0.00446307929325,0.0599161882612,0.999999990157,3.69888354706e-06,-0.000130493673925,-5.14100199505e-05,1793249794348592896
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,718,682.159772099,665,639,890,785,816.159772099,652.840227901,630.840227901,655,0.443774195533,0.0044628875472,0.0598793635598,0.999999981403,3.43479708097e-06,-0.000185204290958,-5.36713812454e-05,1793249794365259264
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,718,682.734381186,665,639,890,785,816.734381186,652.265618814,630.265618814,655,0.444409784042,0.00446286089161,0.0598684996257,0.99999997794,5.13422637752e-06,-0.000202821281017,-5.4370894038e-05,1793249794381925888
+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,718,682.69083138,664.69083138,639,890,785,817,652,630,654.69083138,0.445021786209,0.00446309400974,0.0598599513732,0.999999974108,5.09415517577e-06,-0.000220601536337,-5.56230181079e-05,1793249794398593024
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,718,682.115890666,664.115890666,639,890,785,817,652,630,654.115890666,0.445613512699,0.00446355043842,0.0598533937617,0.999999969903,3.55874877407e-06,-0.000238522139081,-5.7350185997e-05,1793249794415260160
+194,3.233333333,POSE1_TO_POSE2_PRESS,767,746,717.530917223,682,664,638.530917223,889.530917223,785,817,652,630.469082777,654.469082777,0.446144557337,0.00446573122887,0.0598266753062,0.999999957718,3.87519662588e-06,-0.000284619356414,-5.9498309178e-05,1793249794431926784
+195,3.250000000,POSE1_TO_POSE2_PRESS,767,746,717.055974942,682,664,638,889.167924826,784.944025058,817,652,631,655,0.446663614891,0.00446784359662,0.0597974336881,0.999999942793,4.07831829486e-06,-0.00033255068822,-6.17020930108e-05,1793249794448593408
+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,717.637105529,682,664,638,890.911316586,784.362894471,817,652,631,655,0.447213938019,0.00446522978487,0.0597922718082,0.999999943223,-1.16799551387e-06,-0.000330951892204,-6.34310310952e-05,1793249794465260032
+197,3.283333333,POSE1_TO_POSE2_PRESS,767.21626878,746.21626878,718,682,664,638,891.78373122,784.21626878,817.21626878,652.21626878,631,654.78373122,0.447749903982,0.00446340138328,0.0597946329813,0.999999946305,-6.21421129585e-06,-0.000321127631051,-6.50307510776e-05,1793249794481926400
+198,3.300000000,POSE1_TO_POSE2_PRESS,767.792160583,746.792160583,718,682,664,638,891.207839417,784.792160583,817.792160583,652.792160583,631,654.207839417,0.448261996045,0.004462879003,0.0598095038803,0.999999953444,-1.09276931012e-05,-0.000297625636836,-6.64156002543e-05,1793249794498593024
+199,3.316666667,POSE1_TO_POSE2_PRESS,767.624373326,746.624373326,718,682.375626674,663.624373326,638,890.624373326,784.624373326,818,652.624373326,630.624373326,654.375626674,0.448702250025,0.00446379676072,0.0598021201899,0.999999949048,-1.29853486066e-05,-0.000311684112738,-6.77350316184e-05,1793249794515259648
+200,3.333333333,POSE1_TO_POSE2_PRESS,767.036629975,746.036629975,718,682.963370025,663.036629975,638,890.036629975,784.036629975,818,652.036629975,630.036629975,654.963370025,0.449101937031,0.00446552776543,0.0597821693169,0.999999937338,-1.35432573535e-05,-0.000346953013066,-6.90175215684e-05,1793249794531926272
+201,3.350000000,POSE1_TO_POSE2_PRESS,767,746.540219654,718,683,663,637.459780346,890,784.540219654,817.459780346,652.540219654,630.540219654,655,0.449462887121,0.00446425485871,0.0597434460965,0.999999914923,-1.49809409925e-05,-0.000406234162133,-7.00258367721e-05,1793249794548592896
+202,3.366666667,POSE1_TO_POSE2_PRESS,767,746.883532018,718,682.883532018,662.883532018,637.116467982,890,784.883532018,817,652.883532018,630.883532018,655,0.449818876359,0.00446326287877,0.059707061081,0.999999891462,-4.36395749941e-06,-0.000461067316987,-6.68808574166e-05,1793249794565259776
+203,3.383333333,POSE1_TO_POSE2_PRESS,767,746.306798409,718,682.306798409,662.306798409,637.693201591,890,784.306798409,817,652.306798409,630.306798409,655,0.450165435815,0.00446417009693,0.0596848471087,0.999999876373,5.41225144326e-05,-0.000492015514122,-4.73946390348e-05,1793249794581926656
+204,3.400000000,POSE1_TO_POSE2_PRESS,767,746,718,682.270081651,662.270081651,637.729918349,890,784,817.270081651,652.270081651,630.270081651,655,0.450503857476,0.00446790580747,0.0596761326558,0.999999872284,4.13284919854e-05,-0.000502289127533,-3.78114750332e-05,1793249794598593024
+205,3.416666667,POSE1_TO_POSE2_PRESS,767,746,718,682.847128126,662.847128126,637.152871874,890,784,817.847128126,652.847128126,630.847128126,655,0.450833029999,0.0044748562779,0.0596827612589,0.999999878251,-5.24803100622e-05,-0.00048906476993,-3.94837578016e-05,1793249794615259648
+206,3.433333333,POSE1_TO_POSE2_PRESS,767.433468604,746,718,682.566531396,662.133062793,637,890,784,817.566531396,653,631,655,0.451127298042,0.00447721829527,0.0596905600896,0.999999883206,-8.20624141259e-05,-0.000474461839371,-4.17085915274e-05,1793249794631926272
+207,3.450000000,POSE1_TO_POSE2_PRESS,767.977236053,746,718,682.022763947,661,637,890,784,817,652.977236053,631,655,0.451407680422,0.00447777750446,0.0596985189095,0.999999889353,-8.85075443329e-05,-0.000459906351812,-4.41084978381e-05,1793249794648593152
+208,3.466666667,POSE1_TO_POSE2_PRESS,767.397595468,746,718,682.602404532,661,637,890,784,817,652.397595468,631,655,0.451656110651,0.00447468836679,0.0597000742991,0.999999889227,-9.52029136459e-05,-0.000458665574853,-4.5919676336e-05,1793249794665259776
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746.180238353,718,683,661,637,890,784,817,652,631,655,0.451893437371,0.00447305595745,0.0597013950957,0.999999889488,-9.9489322683e-05,-0.000457003614884,-4.76806588204e-05,1793249794681926400
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746.754126034,718,683,661,637,890,784,817,652,631,655,0.452106513458,0.00447460511405,0.0597022035296,0.999999890681,-9.851444443e-05,-0.000454421770935,-4.93320105365e-05,1793249794698593280
+211,3.516666667,POSE1_TO_POSE2_PRESS,767,746.672344665,718,683,661,637,890,784,817.327655335,652.327655335,631,655,0.452291589104,0.00447706025698,0.0596979996671,0.99999988824,-9.83881390741e-05,-0.000459570646866,-5.13280293998e-05,1793249794715259904
+212,3.533333333,POSE1_TO_POSE2_PRESS,767,746.099083941,718,683,661,637,890,784,817.900916059,652.900916059,631,655,0.452455676074,0.00448019451345,0.0596900386647,0.999999882982,-9.88979107718e-05,-0.000470514350954,-5.35824056133e-05,1793249794731926528
+213,3.550000000,POSE1_TO_POSE2_PRESS,767.470550977,746.470550977,718,683,661,637,890,784,817.529449023,652.529449023,630.529449023,655,0.452591293622,0.0044974944071,0.0596830470941,0.999999879107,-8.2775758783e-05,-0.000481036299136,-5.94833961033e-05,1793249794748593152
+214,3.566666667,POSE1_TO_POSE2_PRESS,767.9582622,746.9582622,718,683,661,637,890,784,817,652,630.0417378,655,0.452719595046,0.00451779355524,0.0596767899464,0.999999875327,-6.32286752113e-05,-0.000490910959598,-6.5987650596e-05,1793249794765259776
+215,3.583333333,POSE1_TO_POSE2_PRESS,767.356061774,746.356061774,718,683,661,637,890,784,817,652,630.643938226,655,0.452829538162,0.00453861916085,0.0596776745753,0.99999987488,-4.43593462863e-05,-0.000493277163381,-7.03604267679e-05,1793249794781926656
+216,3.600000000,POSE1_TO_POSE2_PRESS,767,746.235424683,718,683,660.764575317,636.764575317,890,784,817.235424683,652,631,655,0.452931112249,0.00454729702889,0.0596777257658,0.999999873974,-3.66664472529e-05,-0.000495461137657,-7.22860961042e-05,1793249794798593280
+217,3.616666667,POSE1_TO_POSE2_PRESS,767,746.811412381,718,683,660.188587619,636.188587619,890,784,817.811412381,652,631,655,0.453020579775,0.00453840209874,0.0596765713127,0.99999987279,-4.51412622487e-05,-0.00049738150058,-7.0671804673e-05,1793249794815259904
+218,3.633333333,POSE1_TO_POSE2_PRESS,767,746.60273276,718,682.60273276,660,636,890,784,817.60273276,652.39726724,631,655,0.453091057343,0.00453618572327,0.0596733708002,0.999999870056,-4.67463016671e-05,-0.000502787601369,-7.00488681425e-05,1793249794831926528
+219,3.650000000,POSE1_TO_POSE2_PRESS,767,746.012074554,718,682.012074554,660,636,890,784,817.012074554,652.987925446,631,655,0.453152290536,0.00453722048991,0.0596691742594,0.999999866549,-4.50071120388e-05,-0.000509890570471,-6.99085264051e-05,1793249794848592896
+220,3.666666667,POSE1_TO_POSE2_PRESS,767,746,718,682.567221442,660.567221442,636,890,784,817.567221442,652.432778558,630.432778558,655,0.453202749489,0.00453967513761,0.059670533362,0.999999867223,-4.18572273464e-05,-0.000508769760199,-7.03959716466e-05,1793249794865259520
+221,3.683333333,POSE1_TO_POSE2_PRESS,767,746,718,683,660.854947273,636.145052727,890.145052727,784,817.854947273,652.145052727,630,655,0.453248539896,0.00454078502972,0.0596712313469,0.99999986738,-4.0506037156e-05,-0.000508536062689,-7.06452311184e-05,1793249794881926400
+222,3.700000000,POSE1_TO_POSE2_PRESS,767,746,718,683,660.280747992,636.719252008,890.719252008,784,817.280747992,652.719252008,630,655,0.453281183369,0.00453782872011,0.0596696303584,0.999999865764,-4.45634851408e-05,-0.000511434695069,-7.0151043483e-05,1793249794898593280
+223,3.716666667,POSE1_TO_POSE2_PRESS,767.293478615,746.293478615,718,683,660,636.706521385,890.706521385,784,817.293478615,652.706521385,630.293478615,655,0.453308553873,0.00453933332507,0.0596683777555,0.999999864849,-4.30281217002e-05,-0.000513309235083,-7.04570094809e-05,1793249794915259904
+224,3.733333333,POSE1_TO_POSE2_PRESS,767.867731432,746.867731432,718,683,660,636.132268568,890.132268568,784,817.867731432,652.132268568,630.867731432,655,0.453330879674,0.00454510573547,0.059667458457,0.999999864586,-3.61420548522e-05,-0.000514204015057,-7.1528491155e-05,1793249794931926528
+225,3.750000000,POSE1_TO_POSE2_PRESS,768,747,718,683,660,636,890.456006722,784.456006722,817.543993278,652.456006722,630.543993278,655,0.453343371499,0.00454443654973,0.0596652161104,0.999999862722,-3.58083595248e-05,-0.000517891663785,-7.11421750526e-05,1793249794948592896
+226,3.766666667,POSE1_TO_POSE2_PRESS,767.952914057,746.952914057,718,683,660,636,890.952914057,785,817,653,630.047085943,655,0.453352454909,0.00454210152848,0.0596625587161,0.999999860371,-3.72488401891e-05,-0.000522416782666,-7.03633625026e-05,1793249794965259520
+227,3.783333333,POSE1_TO_POSE2_PRESS,767.377459541,746.377459541,718,683,660,636,890.377459541,785,817,653,630.622540459,655,0.453356314867,0.00454270517696,0.0596596868664,0.999999858031,-3.65943822284e-05,-0.000526960689148,-7.00756558412e-05,1793249794981926400
+228,3.800000000,POSE1_TO_POSE2_PRESS,767,746.199035445,718,683,660,636,890,784.800964555,817.199035445,653,631,655,0.453359944808,0.00454334344921,0.0596575195105,0.999999856126,-3.57923461244e-05,-0.000530629704599,-6.99893549512e-05,1793249794998593024
+229,3.816666667,POSE1_TO_POSE2_PRESS,767,746.777513961,718,683,660,636,890,784.222486039,817.777513961,653,631,655,0.45336313624,0.00454404772853,0.0596566952087,0.99999985508,-3.47089656808e-05,-0.000532630819187,-7.02870159647e-05,1793249795015259904
+230,3.833333333,POSE1_TO_POSE2_PRESS,767,747,718,683,660,636,890,784,817.645556628,652.645556628,631,655,0.453365164964,0.00454372835863,0.0596561153743,0.999999854732,-3.39452365068e-05,-0.000533379255802,-6.99331087849e-05,1793249795031926528
+231,3.850000000,POSE1_TO_POSE2_PRESS,767,747,718,683,660,636,890,784,817.069595388,652.069595388,631,655,0.453366467026,0.00454276923464,0.0596556883256,0.999999854822,-3.3381281084e-05,-0.000533344801269,-6.91719884588e-05,1793249795048593152
+232,3.866666667,POSE1_TO_POSE2_PRESS,767,746.480940853,718,683,660,636,890,784,817,652,631,655,0.453367596743,0.00454346860019,0.0596550746951,0.999999854912,-3.25726495772e-05,-0.000533228857848,-6.91462746313e-05,1793249795065259776
+233,3.883333333,POSE1_TO_POSE2_PRESS,767,746,718,683,660,636,890,784,817,652.107351671,631,655,0.453368594292,0.00454427717341,0.0596544044641,0.999999854851,-3.16501552189e-05,-0.000533382641265,-6.9278247035e-05,1793249795081926400
+234,3.900000000,POSE1_TO_POSE2_PRESS,767,746,718,683,660,636,890,784,817,652.686388031,631,655,0.453369115195,0.00454456403797,0.0596535982156,0.999999854123,-3.0375125267e-05,-0.000534770768282,-6.96589596217e-05,1793249795098593024
+235,3.916666667,POSE1_TO_POSE2_PRESS,767.263168773,746,718,683,660,636,890,784,817,652.736831227,631,655,0.453369599766,0.00454508035875,0.0596535025939,0.999999853795,-2.94112666374e-05,-0.000535446568472,-6.95893235791e-05,1793249795115259648
+236,3.933333333,POSE1_TO_POSE2_PRESS,767.837284466,746,718,683,660,636,890,784,817,652.162715534,631,655,0.453370041408,0.00454586779344,0.0596542466126,0.999999853942,-2.88150721483e-05,-0.00053528071947,-6.89875784079e-05,1793249795131926528
+237,3.950000000,POSE1_TO_POSE2_PRESS,767.578877058,746,718,683,660,636,890,784,817.421122942,652,631,655,0.453370057278,0.0045458682689,0.0596538018102,0.999999853669,-2.80819819211e-05,-0.000535836543477,-6.89456634424e-05,1793249795148593408
+238,3.966666667,POSE1_TO_POSE2_PRESS,767,746,718,683,660,636,890,784,817.991283423,652,630.991283423,655,0.453369925686,0.00454553478637,0.0596529090385,0.999999853239,-2.73419465711e-05,-0.000536653074678,-6.91165595755e-05,1793249795165259776
+239,3.983333333,POSE1_TO_POSE2_PRESS,767,746,718,683,660,636,890,784,817.409626872,652,630.409626872,655,0.453371170331,0.00454370905818,0.0596534773842,0.999999853633,-2.97043208827e-05,-0.000535844347588,-6.87214586178e-05,1793249795181926144
+240,4.000000000,POSE1_TO_POSE2_PRESS,767,746,718,683,660,636,890.17019409,784.17019409,817,652,630,655,0.453371626292,0.00454282085817,0.0596536485378,0.999999853702,-3.10049195979e-05,-0.000535680732447,-6.84228461299e-05,1793249795198592768
+241,4.016666667,POSE1_TO_POSE2_PRESS,767,746,718,683,660,636,890.745644219,784.745644219,817,652,630,655,0.453370204284,0.00454416504457,0.0596528739211,0.999999853007,-2.97772812994e-05,-0.000537053219549,-6.83539862697e-05,1793249795215259648
+242,4.033333333,POSE1_TO_POSE2_PRESS,767,746,717.678709889,683,660,636,890.678709889,784.678709889,817.321290111,652,630.321290111,655,0.45336993504,0.00454476359954,0.0596524533532,0.999999852552,-2.91300232318e-05,-0.000537918034269,-6.8502358751e-05,1793249795231926272
+243,4.050000000,POSE1_TO_POSE2_PRESS,767,746,717.10290895,683,660,636,890.10290895,784.10290895,817.89709105,652,630.89709105,655,0.453370578962,0.00454477150049,0.0596523132459,0.999999852286,-2.8942514986e-05,-0.00053838069488,-6.88228124202e-05,1793249795248592896
+244,4.066666667,POSE1_TO_POSE2_PRESS,767.484669883,746,717.484669883,683,660,636,890,784,817.515330117,652.484669883,631,655,0.453369813995,0.00454405058504,0.0596515364133,0.999999851621,-2.8816069292e-05,-0.000539673907189,-6.84110497523e-05,1793249795265259264
+245,4.083333333,HOLD_POSE2,768,746,718,683,661,636,890,784,817,653,630,655,0.453369479107,0.00454232854965,0.0596521834526,0.999999851709,-3.14625833956e-05,-0.000539498518919,-6.73378277263e-05,1793249795308649216
+246,4.100000000,HOLD_POSE2,767.424514011,746.575485989,718,683,660.424514011,636,890,784,817,652.424514011,630,655,0.453371183434,0.00454234404633,0.0596523897278,0.999999852249,-3.16369671554e-05,-0.000538394302046,-6.80686084624e-05,1793249795325315840
+247,4.116666667,HOLD_POSE2,767,746.845838566,718,683,660,636,890,784,817,652.154161434,630,655,0.453372224618,0.00454300695811,0.0596524380025,0.999999852578,-3.0896356762e-05,-0.000537756962045,-6.86093652034e-05,1793249795341982208
+248,4.133333333,HOLD_POSE2,767,746.258194644,718,683,660,636,890,784,817,652.741805356,630,655,0.453371401125,0.00454549031943,0.0596520419998,0.999999852311,-2.75828983747e-05,-0.000538432420611,-6.86157986294e-05,1793249795358648832
+249,4.150000000,HOLD_POSE2,767,746,718,683,660,636,890,784,817,652.675500043,630.324499957,655,0.453371169697,0.00454529731373,0.0596519062924,0.999999852266,-2.65857330452e-05,-0.000538627688225,-6.81321917164e-05,1793249795375315712
+250,4.166666667,HOLD_POSE2,767,746,718,683,660,636,890,784,817,652.096684337,630.903315663,655,0.453371402281,0.00454300679672,0.0596519745826,0.9999998524,-2.74038834173e-05,-0.000538446622558,-6.72645324397e-05,1793249795391982336
+251,4.183333333,HOLD_POSE2,767,746,718,683.481523178,660,636,890,784,817,652.481523178,630.518476822,655,0.453372379319,0.00454263701862,0.0596527444635,0.999999852799,-2.83787791883e-05,-0.000537641856013,-6.73687904057e-05,1793249795408648704
+252,4.200000000,HOLD_POSE2,767,746.059170254,718,683.940829746,660,636,890,784,817,652.940829746,630.059170254,655,0.453373316498,0.00454271850062,0.0596534745689,0.999999853163,-2.90954681353e-05,-0.0005368916779,-6.76314154084e-05,1793249795425315584
+253,4.216666667,HOLD_POSE2,767,746.633003485,718,683.366996515,660,636,890,784,817,652.366996515,630.633003485,655,0.453372608463,0.00454337478334,0.0596526349525,0.999999852781,-2.72928695789e-05,-0.000537704204057,-6.75762446907e-05,1793249795441982464
+254,4.233333333,HOLD_POSE2,767,746.787834233,718,683,660,636,890.212165767,784,817,652.212165767,630.787834233,655,0.453372076926,0.0045437409618,0.0596519235162,0.999999852413,-2.63485035212e-05,-0.000538411229813,-6.77656770984e-05,1793249795458649088
+255,4.250000000,HOLD_POSE2,767,746.199216519,718,683,660,636,890.800783481,784,817,652.800783481,630.199216519,655,0.453371858555,0.00454359239968,0.059651439514,0.999999852076,-2.69269247602e-05,-0.000538931063029,-6.83891160151e-05,1793249795475315712
+256,4.266666667,HOLD_POSE2,767,746.385467097,718,683,660,635.614532903,890.614532903,784,817,653,630,655,0.453372159542,0.00454422590504,0.0596519293577,0.99999985246,-2.50469822852e-05,-0.00053836678062,-6.79227225064e-05,1793249795491982336
+257,4.283333333,HOLD_POSE2,767,746.968138094,718,683,660,635.031861906,890.031861906,784,817,653,630,655,0.453372726232,0.00454525951394,0.0596529174184,0.999999853205,-2.1909347794e-05,-0.000537247867702,-6.68987738027e-05,1793249795508648960
+258,4.300000000,HOLD_POSE2,767,746.45756556,717.45756556,683,660,635.54243444,890,784,817,653,630.54243444,655,0.453373467795,0.00454484729765,0.0596533105538,0.999999853423,-2.41434496293e-05,-0.000536751555605,-6.68485347348e-05,1793249795525315328
+259,4.316666667,HOLD_POSE2,767,746,717.116594579,683,660,636,890,784,817.116594579,653,630.883405421,655,0.453373892594,0.00454445038502,0.0596534263689,0.999999853465,-2.60967323353e-05,-0.000536572073641,-6.69306414158e-05,1793249795541982208
+260,4.333333333,HOLD_POSE2,767,746,717.692125579,683,660,636,890,784,817.692125579,653,630.307874421,655,0.453373030743,0.00454444291067,0.0596525860619,0.999999852952,-2.57215700608e-05,-0.000537497929482,-6.73119794633e-05,1793249795558648832
+261,4.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,683,660,636,890,784,817,652,630,655,0.453376173313,0.00454271916801,0.0596539938432,0.999999854359,-2.79474806228e-05,-0.000534812895615,-6.69050524862e-05,1793249795595753728
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,746.574584107,718,682.425415893,660,636,890,784,817,652.574584107,630,655,0.453374714068,0.00454233290287,0.0596529420158,0.999999853565,-2.68377128649e-05,-0.000536346158683,-6.69529819495e-05,1793249795612420352
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767,746.849980938,718,682.150019062,660,636,890.150019062,784.150019062,817,653,630.150019062,655,0.453373627243,0.00454201224712,0.0596522582277,0.999999852857,-2.6149045921e-05,-0.000537702498043,-6.69141618716e-05,1793249795629087232
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767,746.272119295,718,682.727880705,660,636,890.727880705,784.727880705,817,653,630.727880705,655,0.45337360253,0.00454187870405,0.0596526240588,0.999999852405,-2.66613251591e-05,-0.00053855426525,-6.66279389291e-05,1793249795645753600
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,683,660,636,890.688671688,784.688671688,817,652.688671688,631,655,0.453374068016,0.00454218665757,0.0596528481391,0.999999852637,-2.65345965965e-05,-0.000538122198735,-6.66877077569e-05,1793249795662420224
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,718,683,660,636,890.10025245,784.10025245,817,652.10025245,631,655,0.453374969793,0.00454288755542,0.0596529460572,0.999999853476,-2.58391331467e-05,-0.000536547484162,-6.7055418977e-05,1793249795679086848
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,683,660,636,890.480269687,784,817,652.480269687,631,655,0.453374356057,0.00454383186476,0.0596524566699,0.999999853223,-2.48506881228e-05,-0.000537074005748,-6.69959458231e-05,1793249795695753472
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746.058987097,718,683,660,636,890.941012903,784,817.058987097,653,631,655,0.453373445623,0.00454467713511,0.0596518277669,0.99999985278,-2.40215052403e-05,-0.000537947407536,-6.69019873602e-05,1793249795712419840
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767,746.636097672,718,683,660,636,890.363902328,784,817.636097672,653,631,655,0.453372662872,0.00454421339874,0.0596510328216,0.999999852658,-2.51197271149e-05,-0.000538077354833,-6.72757022758e-05,1793249795729086720
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767,747,718,683,660,636,890,784.212612206,817.787387794,652.787387794,631,655,0.453368489146,0.00454418052458,0.0596490431627,0.99999985128,-2.4979234712e-05,-0.000540618640898,-6.74351497141e-05,1793249795745753600
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767,747,718,683,660,636,890,784.788109363,817.211890637,652.211890637,631,655,0.453358527731,0.00454488304289,0.0596450143754,0.999999847727,-2.2724513775e-05,-0.000547275582207,-6.72288869568e-05,1793249795762420224
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767,747,718,683,660,636,890,784.628167994,817.371832006,652.371832006,631,655,0.453332153867,0.00454408835477,0.0596347572627,0.99999983763,-2.24241017914e-05,-0.000565463705195,-6.69908566899e-05,1793249795779086848
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767,747,718,683,660,636,890,784.039651917,817.960348083,652.960348083,631,655,0.453296215692,0.00454242117382,0.0596208706101,0.999999823233,-2.32625577047e-05,-0.000590371592678,-6.67343139424e-05,1793249795795753472
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,747,718,683.539796923,660,636,890,784,817.460203077,653,631,655,0.453239822499,0.00454360803744,0.0596021206832,0.99999980667,-2.09784122277e-05,-0.000617860976438,-6.68471039203e-05,1793249795812420096
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,746.88185654,718,683.88185654,660,636,890,784,817,652.88185654,630.88185654,655,0.453179566248,0.00454502810463,0.0595845357048,0.999999791141,-1.91033891807e-05,-0.00064253820016,-6.70654397338e-05,1793249795829086720
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767,746.305245443,718,683.305245443,660,636,890,784,817,652.305245443,630.305245443,655,0.453110053529,0.00454655301502,0.0595728348338,0.99999978263,-1.9691423171e-05,-0.000655578843449,-6.75898151363e-05,1793249795845753344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767,746.268283063,718,683,660,636,890,784,817,652.268283063,630,655,0.453034930559,0.00454766687523,0.0595664057549,0.999999777644,-1.92566353544e-05,-0.000663153011037,-6.75904667755e-05,1793249795862420480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767,746.838344084,718,683,660,636,890,784,817,652.838344084,630,655,0.45295349691,0.00454831836591,0.0595659066475,0.999999776767,-1.76713273342e-05,-0.000664578217757,-6.70020081981e-05,1793249795879087872
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,747,718,683,660,636,890,784,817,652.574625135,630.425374865,655,0.452858909121,0.00454888661256,0.0595672570292,0.999999778753,-1.50366385109e-05,-0.000661703596291,-6.64539880702e-05,1793249795895755008
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767,747,718,683,660,636,890,784,817,652.018648377,631,655,0.45275811656,0.00454942531472,0.059569330954,0.999999781833,-1.19161591174e-05,-0.000657152497636,-6.59022362105e-05,1793249795912421888
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767,747,718,683,660,636,890,784,817,652.597670379,631,655,0.452627332542,0.00455006634676,0.0595711486686,0.999999784436,-6.67953258796e-06,-0.000653367399364,-6.47573624845e-05,1793249795929087488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767,746.824740848,718,682.824740848,660,636,890,784,817,653,631,655,0.452488295755,0.00455043881146,0.0595730688546,0.999999786799,-2.40392247289e-06,-0.000649897313715,-6.34865382154e-05,1793249795945753344
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767,746.250415625,718,682.250415625,660,636,890,784,817,653,631,655,0.452330467383,0.00455019974677,0.0595752223683,0.999999788684,-3.16552836811e-07,-0.000647144514138,-6.19289240153e-05,1793249795962419968
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.331257601,660,636.331257601,889.668742399,784,817.331257601,653,631,655,0.452152837729,0.00455017634755,0.0595747608392,0.999999787028,2.05492457164e-06,-0.000649842716804,-6.03588238797e-05,1793249795979086848
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,718,683,660,636.498203561,889,784,816.996407123,652.498203561,631,655,0.451732684983,0.00455213952544,0.0595748080067,0.999999783325,1.18671758861e-05,-0.000655727390821,-5.68319155662e-05,1793249796012420096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.916971042,660,636,889,784,816.083028958,652,631,655,0.451494570021,0.00455440553019,0.059578627837,0.999999785371,1.96820394748e-05,-0.000652578886661,-5.4883802813e-05,1793249796029086976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.343311487,660,636,889,784,816.656688513,652,631,655,0.451224624155,0.00455771438154,0.0595853015285,0.999999790572,2.66044100414e-05,-0.00064444565585,-5.32792570302e-05,1793249796045753600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767,746.230788129,718,682.230788129,660,636,889.230788129,784.230788129,817,652,630.769211871,655,0.450939508042,0.00455999269663,0.0595874388993,0.999999792507,3.38192755121e-05,-0.000641249367852,-5.13889352553e-05,1793249796062420480
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767,746.805543579,718,682.805543579,660,636,889.805543579,784.805543579,817,652,630.194456421,655,0.450631782164,0.00456073509718,0.0595828153237,0.999999789658,4.14700758544e-05,-0.000645411114808,-4.90726921833e-05,1793249796079087104
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767,746.608181785,718,683,660.391818215,636,890,784.608181785,817,652.391818215,630.391818215,655,0.450297715061,0.00456308932919,0.0595781010213,0.999999786636,4.92510924564e-05,-0.000649683833987,-4.70417991161e-05,1793249796095753472
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767,746.016017118,718,683,660.983982882,636,890,784.016017118,817,652.983982882,630.983982882,655,0.449950179039,0.00456626773093,0.0595733403282,0.999999783484,5.70986916514e-05,-0.000654013295885,-4.51568127115e-05,1793249796112420096
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767,746.563162236,718,682.436837764,661.563162236,636.563162236,890,784.563162236,817,653,630.436837764,655,0.449550668469,0.00456757717274,0.0595685573584,0.999999779753,6.54298676851e-05,-0.000659101559096,-4.24125344057e-05,1793249796129086976
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.139861708,746.860138292,718,682,662,637,889.860138292,784.860138292,817,652.860138292,630.139861708,655,0.449143133506,0.00456952080004,0.0595676146302,0.999999779157,7.49288217766e-05,-0.000659172269128,-3.95459342632e-05,1793249796145754112
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.710041805,746.289958195,718,682,662,637,889.289958195,784.289958195,817,652.289958195,630.710041805,655,0.448715355253,0.00457357551293,0.0595784892403,0.999999788267,8.79793635102e-05,-0.000643740357959,-3.63764810918e-05,1793249796162422272
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.709407612,746,718,682,662,637,889,784.290592388,817,652,630.709407612,654.709407612,0.448281431493,0.00457528186542,0.0595933793281,0.999999801699,9.78543388574e-05,-0.000621259767095,-3.25943259614e-05,1793249796179088896
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.118126149,746,718,682,662,637,889,784.881873851,817,652,630.118126149,654.118126149,0.447841148645,0.0045745582638,0.0596124244134,0.999999819221,0.000104443413729,-0.000591485586731,-2.81781800295e-05,1793249796195753984
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.466088917,746,718,682,662,637,889,785,817,652,630,654.466088917,0.447368150419,0.00457491070596,0.0596443581322,0.999999845314,0.000115688958102,-0.000543567503601,-2.28757295515e-05,1793249796212420352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.95211788,746.04788212,718,682,662,637.04788212,889.04788212,785,817,652,630,655,0.446880762843,0.00457568119301,0.0596778144828,0.999999869503,0.000128060927046,-0.000494258611372,-1.74141123821e-05,1793249796229086976
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767.377558533,746.622441467,718,682,662,637.622441467,889.622441467,785,817,652,630,655,0.446324939031,0.00457809504191,0.0596926257348,0.999999875166,0.00014003591751,-0.000479476197031,-1.26356098709e-05,1793249796245753344
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746.802920429,718,682,662.197079571,638,889.605840859,785,816.802920429,652,630,655,0.445737249022,0.00458065314072,0.0596936643878,0.999999871455,0.000152674549413,-0.00048343991617,-8.15208699996e-06,1793249796262420224
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746.228131421,718,682,662.771868579,638,888.456262843,785,816.228131421,652,630,655,0.445088486438,0.00458348769905,0.0596683074039,0.999999849178,0.000166585071013,-0.000523331213381,-4.2339025322e-06,1793249796279086848
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746.948013769,717.051986231,682,663,638,888,785,816.948013769,652,630,655,0.443855509114,0.00458566283299,0.0596705273329,0.999999853049,0.000187775601591,-0.000508556811915,3.533053178e-06,1793249796312420096
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746.472906549,717,682,663.527093451,638.527093451,888,785,816.472906549,652.527093451,630,654.472906549,0.44323789367,0.00458723239116,0.059713464751,0.999999885058,0.000198539589175,-0.000436357980324,7.64030320611e-06,1793249796329087232
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,717.104636064,682,664.104636064,639,888,785,816.104636064,652.895363936,630,654,0.442601534933,0.00458867692719,0.0597539860274,0.99999990897,0.000209452385198,-0.000371542343318,1.20628448826e-05,1793249796345753856
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,717.680586974,682,664.680586974,639,888,785,816.680586974,652.319413026,630,654,0.441884708592,0.00458916129912,0.0597683101041,0.99999990961,0.000220605879965,-0.000363038536592,1.78046833178e-05,1793249796362420224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.744313715,639,888,785,817,652,630,654.255686285,0.441135941838,0.00458989123855,0.0597721836564,0.999999905378,0.000231414512221,-0.000367635762245,2.31197572166e-05,1793249796379086848
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,664.170274646,639,888,785,817,652,630,654.829725354,0.440347406255,0.004590926932,0.059763045353,0.999999894895,0.000241793760599,-0.000388544968986,2.79034710446e-05,1793249796395753728
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746.41580581,718,681.58419419,664.41580581,639,887.58419419,785,817,652,630,654.58419419,0.439594690743,0.00459105444193,0.059778653276,0.999999903031,0.000253785262696,-0.00035842707617,3.25801578118e-05,1793249796412420352
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746.993193169,718,681.006806831,665.013613662,639,887.006806831,785,816.993193169,652,629.993193169,654,0.438856244153,0.00459086352604,0.0598045565493,0.999999916602,0.000266503343312,-0.00030722472896,3.72120711768e-05,1793249796429086976
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746.415400961,718,681.584599039,666.169198078,639,887.584599039,785,816.415400961,652,629.415400961,654,0.438047579371,0.00459608912205,0.0598186680344,0.999999916269,0.000283135775176,-0.000292476726935,4.18743648459e-05,1793249796445753600
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.738576704,664.784269888,639,887.261423296,785,816,652,629.738576704,654,0.436302866778,0.0046034254183,0.0597571157999,0.99999987082,0.000310784587011,-0.000399133251512,4.9654896906e-05,1793249796479086848
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.679638535,664.64072293,639,887,785,816,652,630,654,0.43543080952,0.00460478428528,0.0597307184706,0.999999875665,0.00025800813028,-0.000425504318668,3.23855012724e-05,1793249796495753728
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.093500988,665.812998024,639,887,785,816,652,630,654,0.434588654522,0.00460495247448,0.0597288530673,0.999999909425,0.000151286110118,-0.000397815701315,-2.07877960295e-06,1793249796512420352
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.929371597,746.929371597,718,682,666.858743195,639,885.929371597,785,815,652,630,654,0.432848935223,0.00458547003864,0.0597764965741,0.999999935834,0.000144275757273,-0.000327733659932,1.03884123986e-05,1793249796545753600
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.35462087,746.35462087,718,682,665.70924174,639,885.35462087,785,815,652,630,654,0.431968662788,0.00459315100572,0.0597894450544,0.999999935764,0.000168952930807,-0.00031570159449,1.61105764932e-05,1793249796562420224
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.780131292,665.219868708,639,885,785,815.219868708,652,630,654.219868708,0.431090673852,0.00459763533688,0.0598076688175,0.999999940438,0.000185188066953,-0.000290476517727,2.12884812168e-05,1793249796579086848
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,681.206062327,665.793937673,639,885,785,815.793937673,652,630,654.793937673,0.430216363411,0.00459697000845,0.0598343908657,0.999999952266,0.000187823400657,-0.000243997991583,2.55896053521e-05,1793249796595753472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,665.620724715,639,885,785,815.620724715,652,630,654.620724715,0.429265305409,0.00459836627314,0.0598167852949,0.999999940939,0.000189494515871,-0.000285388069689,2.7698393977e-05,1793249796612420352
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,665.029077351,639,885,785,815.029077351,652,630,654.029077351,0.428271273294,0.00460091690998,0.0597743588366,0.999999910742,0.000190625723593,-0.000375979451481,2.85796019338e-05,1793249796629086976
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,717.449623488,681,664.449623488,639,885,785,815,652,630,654,0.427357496497,0.00459912674012,0.0597527661972,0.999999910463,0.000177996182999,-0.00038304663088,2.5828813221e-05,1793249796645753856
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,717.128670641,681,664.257341282,639,884.871329359,785,815,652,630,654,0.426452505596,0.00459797803529,0.0597440777611,0.999999914662,0.000167343668167,-0.000376956259925,2.4011496762e-05,1793249796662420224
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,717.705122078,681,665.410244156,639,884.294877922,785,815,652,630,654,0.425563654424,0.00459984245444,0.0597765492258,0.99999992804,0.000166046487743,-0.000340100590377,2.60960099397e-05,1793249796679086848
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,665.428233729,639,883.714116864,785,814.714116864,652,630,654,0.42466720848,0.00460102190958,0.0598039006785,0.999999937731,0.00016477436333,-0.000310761131016,2.85377484941e-05,1793249796695753728
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.257685184,639,883.128842592,785,814.128842592,652,630,654,0.423762808966,0.00460148403596,0.0598258901961,0.999999944292,0.000163528479026,-0.000289293025939,3.13535912407e-05,1793249796712420352
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,664,639,882.548224957,785.451775043,814.451775043,652,630,654,0.42288586747,0.00460101133827,0.0598401498735,0.999999952855,0.000159542690075,-0.000260431883393,3.17946568477e-05,1793249796729086976
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,664.062018609,639,882.031009305,785.968990695,815,652,630,654.031009305,0.422011994351,0.00460049848678,0.0598493173023,0.999999959783,0.0001550326277,-0.000235377166287,3.15610168953e-05,1793249796745753856
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,665.218055173,639,882.609027586,785.390972414,815,652,630,654.609027586,0.421055521763,0.00460393227738,0.0598071474258,0.999999938125,0.000154917674883,-0.000314282094442,3.12506787213e-05,1793249796762420480
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.341907039,746,718,680,663.683814078,638.658092961,882.658092961,785,814.658092961,652,630,654,0.418388260328,0.00459825483531,0.0597221016914,0.99999985245,0.000320544548845,-0.000437566102602,2.9776672546e-05,1793249796812420352
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.930504138,746,718,680,664.861008275,638.069495862,882.069495862,785,814.069495862,652,630,654,0.4175751237,0.00460040666801,0.0597569301961,0.999999875163,0.000326724815689,-0.000376814604444,3.057667993e-05,1793249796829086976
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.487629465,746,717.487629465,680,665,638.512370535,882,785,814,652,630,654,0.416781669637,0.00459787845071,0.0597982232941,0.999999897648,0.000316130513072,-0.000322036949906,3.2522822828e-05,1793249796845753856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,717.092610694,680,664.814778611,639,881.907389306,785,814,652,630,654,0.415991498209,0.00459464024419,0.0598337240918,0.999999914954,0.000302791682147,-0.000277892539141,3.44272756355e-05,1793249796862420224
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,717.669062331,680,663.661875339,639,881.330937669,785,814,652,630,654,0.415204710093,0.00459096612519,0.0598344416696,0.999999917588,0.000286846922733,-0.000285122773485,3.53122714262e-05,1793249796879086848
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.244373457,639,881,785,814,652,630,654,0.414434384362,0.00458963783774,0.0598352832933,0.999999920534,0.00027608667716,-0.000285373390198,3.56470647121e-05,1793249796895753472
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.818147201,639,881,785,814,652,630,654,0.413686248972,0.00459147158621,0.059836292123,0.999999924154,0.000272314836537,-0.000276215914072,3.52402190326e-05,1793249796912420352
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.595705566,639,881,785,813.595705566,652,629.595705566,654,0.412895411887,0.00459224619644,0.0598090288818,0.99999991076,0.000265457871209,-0.000326760856004,3.52136394995e-05,1793249796929086976
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,663.003816936,639,881,785,813.003816936,652,629.003816936,654,0.412084760982,0.00459252936254,0.0597686472893,0.999999884291,0.000257169394258,-0.000405007950686,3.53635047262e-05,1793249796945753600
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.574150551,746,718,680,662.425849449,639,880.425849449,785,813,652,629.574150551,654,0.411390845509,0.00459010501879,0.0597457238649,0.999999879488,0.000242059189574,-0.000425838667276,3.30441724454e-05,1793249796962420480
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767.848625912,746,718,680.151374088,662.302748176,638.848625912,880,785,813,652,630,654,0.410720817894,0.00458806392091,0.0597403309015,0.999999883468,0.000229513212037,-0.000423543728581,3.16010262968e-05,1793249796979086848
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767.273233043,746,718,680.726766957,663.453533914,638.273233043,880,785,813,652,630,654,0.410115580794,0.00458714556994,0.0597837256588,0.999999910409,0.000224273995049,-0.000357514672295,3.26570849837e-05,1793249796995753472
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.691428567,663.691428567,638,880,784.691428567,813,652,630,654.308571433,0.409527252435,0.00458554749748,0.0598217904541,0.999999930933,0.000216846169326,-0.000299955416108,3.37409453336e-05,1793249797012420352
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,680.103826324,663.103826324,638,880,784.103826324,813,652,630,654.896173676,0.40895421412,0.0045833347757,0.0598550355406,0.999999946613,0.000207439258575,-0.000250055120775,3.48499457626e-05,1793249797029086976
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,679.52331816,663.47668184,638.47668184,880,784.47668184,812.52331816,652,630,654.52331816,0.408358747125,0.00458042595126,0.0598540737489,0.999999948569,0.000197878979478,-0.000250085377164,3.41177425268e-05,1793249797045753344
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.944493622,639,880.055506378,785,812.055506378,652,630,654,0.407763885125,0.00457750122869,0.0598450362764,0.999999947208,0.000189126657387,-0.000262144051141,3.30989456468e-05,1793249797062420224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.367183684,639,880.632816316,785,812.632816316,652,630,654,0.407219961826,0.00457583148281,0.0598290956362,0.999999940675,0.000188279195411,-0.000286541203152,3.31006899539e-05,1793249797079086848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.790861776,881,785,813,652,630,654,0.406702005519,0.00457448969985,0.0598200905762,0.999999937794,0.000186399655836,-0.000297645126441,3.27806885674e-05,1793249797095753216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.216266458,881,785,813,652,630,654,0.406229425104,0.00457372101351,0.0598232050481,0.999999942038,0.000182716619861,-0.000285519889786,3.18984549904e-05,1793249797112420096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.367058311,638.367058311,880.632941689,785,813,652,630,654,0.405778483911,0.00457226219779,0.0598249219095,0.999999943809,0.000180394969164,-0.000280769320621,3.17550684242e-05,1793249797129086720
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.955651724,638.955651724,880.044348276,785,813,652,630,654,0.405340602852,0.00457038685994,0.0598257952545,0.999999944153,0.000178894971299,-0.000280469671776,3.20576069681e-05,1793249797145753344
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,662.929261033,638.464630517,880,784.464630517,813,652,630,654,0.404901065941,0.00456835628878,0.0598085978467,0.999999936777,0.000177700637298,-0.000306252446198,3.28366088613e-05,1793249797162420224
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,662.113889613,638,880.113889613,784.113889613,813,652,630,654,0.4044724684,0.00456687485817,0.0597893376449,0.999999927376,0.00017715178721,-0.000335771865613,3.34942476766e-05,1793249797179086848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,662.690482597,638,880.690482597,784.690482597,813,652,630,654,0.404088862672,0.00456767583057,0.0597676792723,0.999999914265,0.000179124175833,-0.000371837566115,3.35010849342e-05,1793249797195753472
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880.734923417,785,813,652,630,654,0.403746604108,0.00456694994392,0.0597604919051,0.999999910622,0.000179790781915,-0.0003811490501,3.40059942117e-05,1793249797212420352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880.162646132,785,813,652,630,654,0.403452263335,0.0045644545604,0.0597700751759,0.99999991877,0.000178944099638,-0.000359454722457,3.50881256633e-05,1793249797229086976
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.852357391,638,879.573821304,785,813,652,630,654,0.403194222163,0.00456248359151,0.0597897674911,0.999999930411,0.000178359863506,-0.000325618688726,3.65739443528e-05,1793249797245753600
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,664.958257313,638,879.020871343,784.979128657,813,652,629.979128657,654,0.402951126756,0.00456076335944,0.0598131533603,0.999999942094,0.000177960715219,-0.000287545342422,3.8205284234e-05,1793249797262420224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.806239834,638,879.596880083,784.403119917,813,652,629.403119917,654,0.40272220332,0.00456017395199,0.0598280200532,0.999999947963,0.00017971288402,-0.000264994976871,3.94439089088e-05,1793249797279088128
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880,784.171991811,813,652,629.171991811,654,0.402497772531,0.00455928347849,0.0598369844396,0.999999951052,0.000180355055534,-0.00025245928044,4.0398930771e-05,1793249797295755008
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880,784.745011923,813,652,629.745011923,654,0.402283817145,0.00455769101813,0.059832186588,0.9999999486,0.000178409078606,-0.000263274499935,4.06926840724e-05,1793249797312421376
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880.327835137,784.672164863,813,652,630,654,0.402089167584,0.0045576869503,0.0598271900538,0.99999994477,0.000179506840218,-0.000276670847396,4.1104264996e-05,1793249797329088000
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880.918518234,784.081481766,813,652,630,654,0.401909996805,0.00455895640575,0.0598220342218,0.99999993971,0.000183044975966,-0.000292136663668,4.16103164483e-05,1793249797345754880
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880.500397524,784,813,652,630,654,0.401763752331,0.00455589028141,0.0598220272653,0.999999940251,0.00017535789761,-0.000295067585574,4.10128549252e-05,1793249797362421760
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.078544846,880,784,813,652,630,654,0.401626679629,0.00455157514295,0.0598229454804,0.999999943237,0.000157225820907,-0.00029554541279,3.82069784369e-05,1793249797379088128
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.653657065,880,784,813,652,630,654,0.401514281614,0.00454374972712,0.0598245038375,0.999999953201,8.44155645473e-05,-0.000293195519012,2.25556809381e-05,1793249797395754752
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.771798309,879.771798309,784,813,652,630,654,0.401413905256,0.00453977522663,0.0598275091456,0.999999957655,4.26262955835e-05,-0.000287563490282,1.34151094026e-05,1793249797412421632
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.198113021,879.198113021,784,813,652,630,654,0.401331728968,0.00454163078023,0.0598327050501,0.999999960404,4.7800935702e-05,-0.000276962509247,1.41313854257e-05,1793249797429088256
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.387610511,879.387610511,784,813,652,630,654,0.401258934763,0.00454406263783,0.0598340341423,0.999999960775,5.30673758818e-05,-0.000274635264968,1.44628692037e-05,1793249797445754368
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.979684154,879.979684154,784,813,652,630,654,0.401191089574,0.00454679849363,0.0598333235051,0.999999959915,5.83822400963e-05,-0.000276672387007,1.45913764527e-05,1793249797462420736
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638.443193827,879.443193827,784,813,652,630.556806173,654,0.401135630811,0.00454257375103,0.0598288442243,0.999999957414,5.58196686328e-05,-0.000286009202349,1.59362090788e-05,1793249797479087616
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,879.133550934,784,813,652,630.866449066,654,0.401084401066,0.00454012266717,0.0598249088084,0.999999955152,5.44490334779e-05,-0.00029401961,1.68267493822e-05,1793249797495754496
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,879.710807239,784,813,652,630.289192761,654,0.401045759452,0.00454438603891,0.0598232252064,0.999999954157,5.79683912902e-05,-0.00029676146315,1.60643743196e-05,1793249797512420864
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.293043455,638,880,784.293043455,813,652,630,654,0.401017228206,0.00454403664987,0.0598230567285,0.999999954056,5.86367943641e-05,-0.000296958706833,1.63171514949e-05,1793249797529087232
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.880279176,638,880,784.880279176,813,652,630,654,0.400998846959,0.00453905641729,0.0598244093142,0.999999954857,5.64430666131e-05,-0.000294601365827,1.75890604863e-05,1793249797545753856
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.538872169,638.461127831,880,785,813,652,630,654,0.400987678854,0.00453999864271,0.059826328257,0.999999955796,5.85808708251e-05,-0.000290961333764,1.78046334457e-05,1793249797562420480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,639,880.040239903,784.959760097,813,652,630,654,0.400978482154,0.00454220107197,0.0598282449589,0.999999956691,6.15328668514e-05,-0.000287256405105,1.77783597739e-05,1793249797579087104
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,639,880.618003468,784.381996532,813,652,630,654,0.400970945434,0.00454097832769,0.0598281943933,0.999999956798,6.0543951785e-05,-0.000287072286481,1.81349125472e-05,1793249797595753728
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.194535125,638.805464875,880.61092975,784.194535125,813,652,630,654.194535125,0.400964917397,0.00454013288263,0.0598285173291,0.999999956999,5.96789269176e-05,-0.000286537513125,1.83684195361e-05,1793249797612420352
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.768662947,638.231337053,879.462674106,784.768662947,813,652,630,654.768662947,0.400961833225,0.00454002365441,0.0598295690709,0.999999957384,5.90556467031e-05,-0.000285318513854,1.83618295999e-05,1793249797629087232
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.649264964,638.350735036,879.350735036,784.649264964,813,652,630,654.649264964,0.400961517021,0.00454151174284,0.059831260256,0.999999958068,6.07121408866e-05,-0.000282577477138,1.81116079209e-05,1793249797645754624
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.061831601,638.938168399,879.938168399,784.061831601,813,652,630,654.061831601,0.400963068819,0.00454407780222,0.0598333829783,0.999999958934,6.3907171966e-05,-0.000278809272721,1.76969680348e-05,1793249797662422784
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767.5206619,746,718,679,663,639,880,784.5206619,813,652,630,654.5206619,0.400962012391,0.004540714288,0.0598331981785,0.999999958983,6.07191969866e-05,-0.000279305937706,1.83359288901e-05,1793249797679088896
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767.898647913,746,718,679,663,638.898647913,879.898647913,784.898647913,813,652,630,654.898647913,0.400960891228,0.00453762437185,0.0598330055277,0.999999958962,5.78325260212e-05,-0.000279955376488,1.88922400641e-05,1793249797695754752
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767.3236693,746,718,679,663,638.3236693,879.3236693,784.3236693,813,652,630,654.3236693,0.400960901397,0.00453907272414,0.0598340447251,0.999999959124,5.98628654225e-05,-0.00027897417182,1.84831163121e-05,1793249797712420864
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.25042282,638,879,784,813,652,629.74957718,654,0.400960506832,0.00454023036808,0.0598345836075,0.999999959185,6.14832211874e-05,-0.000278416052552,1.82760421554e-05,1793249797729087488
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.823373277,638,879,784,813,652,629.176626723,654,0.400959590997,0.00454101359956,0.0598344781182,0.99999995912,6.25755460668e-05,-0.000278402838501,1.83291941407e-05,1793249797745754112
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,663.588535009,638,879.411464991,784.411464991,813,652,629.411464991,654,0.400960170694,0.0045412051438,0.0598345313812,0.999999959291,6.26380911734e-05,-0.000277780690923,1.82237756262e-05,1793249797762420736
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880,785,813,652,630,654,0.400961394902,0.00454113124002,0.0598346581626,0.999999959564,6.22505630832e-05,-0.000276894181206,1.8050068124e-05,1793249797779087616
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,663,638,880,785,813,652,630,654,0.400960566134,0.00454089350068,0.059835043382,0.9999999596,6.26902392207e-05,-0.000276662693683,1.80985319824e-05,1793249797795754496
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e1419b7422de9274d784b4fd42f393e9016f224
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
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+224,3.733333333,pose1_to_pose2_press,0.622766183388,0.0101501095388,1.05003349331,0.593336861657,0.0188227455923,1.04970489275
+225,3.750000000,pose1_to_pose2_press,0.622778787821,0.0101501505063,1.05003327616,0.593349464872,0.0188227825658,1.04970467807
+226,3.766666667,pose1_to_pose2_press,0.622787338484,0.0101502027495,1.05003343496,0.59335801414,0.0188228295201,1.04970482085
+227,3.783333333,pose1_to_pose2_press,0.622792516998,0.0101500631974,1.05003349431,0.593363194807,0.0188226974732,1.04970488651
+228,3.800000000,pose1_to_pose2_press,0.622795936047,0.0101500509951,1.05003350464,0.593366614484,0.0188226874945,1.04970490065
+229,3.816666667,pose1_to_pose2_press,0.622798084194,0.0101500947784,1.05003349254,0.593368762515,0.0188227309166,1.04970489074
+230,3.833333333,pose1_to_pose2_press,0.622799796214,0.0101501270235,1.05003351647,0.593370474101,0.0188227616903,1.04970491497
+231,3.850000000,pose1_to_pose2_press,0.62280108638,0.0101501479111,1.05003357773,0.5933717635,0.0188227799448,1.0497049746
+232,3.866666667,pose1_to_pose2_press,0.622801978208,0.0101501623497,1.05003362008,0.593372654796,0.0188227925632,1.04970501583
+233,3.883333333,pose1_to_pose2_press,0.622802541192,0.010150159879,1.05003362586,0.593373217389,0.0188227887563,1.04970502121
+234,3.900000000,pose1_to_pose2_press,0.622802979193,0.0101501557798,1.05003362642,0.593373655075,0.0188227835823,1.04970502152
+235,3.916666667,pose1_to_pose2_press,0.622803280704,0.0101501529579,1.05003362681,0.593373956369,0.0188227800207,1.04970502174
+236,3.933333333,pose1_to_pose2_press,0.622803442283,0.0101501486082,1.05003362442,0.593374117908,0.0188227755344,1.04970501931
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+240,4.000000000,pose1_to_pose2_press,0.622803915978,0.0101500331146,1.05003352349,0.593374594241,0.0188226690546,1.04970492024
+241,4.016666667,pose1_to_pose2_press,0.622803986844,0.0101500158366,1.05003350839,0.593374665501,0.018822653125,1.04970490542
+242,4.033333333,pose1_to_pose2_press,0.62280407597,0.0101500424158,1.05003349661,0.593374754016,0.0188226776532,1.04970489415
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+248,4.133333333,pose2_hold,0.622804142969,0.0101500930463,1.05003349121,0.593374820023,0.0188227249387,1.04970488921
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+256,4.266666667,pose2_hold,0.622804142969,0.0101500930463,1.05003349121,0.593374820024,0.0188227249384,1.04970488921
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+262,4.366666667,pose2_to_pose3_retreat,0.622804078483,0.0101499766041,1.05003354078,0.59337475708,0.018822613567,1.04970493454
+263,4.383333333,pose2_to_pose3_retreat,0.622803936002,0.010150046171,1.05003360789,0.593374613765,0.0188226802219,1.04970499959
+264,4.400000000,pose2_to_pose3_retreat,0.622803854552,0.0101500859399,1.05003364626,0.593374531837,0.018822718326,1.04970503677
+265,4.416666667,pose2_to_pose3_retreat,0.622803817006,0.0101500886356,1.05003364733,0.593374494273,0.0188227209543,1.04970503774
+266,4.433333333,pose2_to_pose3_retreat,0.622803794067,0.0101500873335,1.05003364484,0.59337447136,0.0188227197431,1.04970503528
+267,4.450000000,pose2_to_pose3_retreat,0.622803675385,0.0101500805967,1.05003363199,0.593374352815,0.0188227134763,1.04970502257
+268,4.466666667,pose2_to_pose3_retreat,0.622802970754,0.0101500405996,1.05003355571,0.593373649,0.0188226762699,1.04970494706
+269,4.483333333,pose2_to_pose3_retreat,0.622800749264,0.0101500661945,1.05003380175,0.593371429283,0.0188227078419,1.04970519227
+270,4.500000000,pose2_to_pose3_retreat,0.622794378747,0.0101501480232,1.05003363325,0.593365055287,0.0188227778961,1.04970502496
+271,4.516666667,pose2_to_pose3_retreat,0.622782006084,0.0101500364134,1.05003343378,0.593352684535,0.0188226729746,1.04970483059
+272,4.533333333,pose2_to_pose3_retreat,0.622759861287,0.010150107434,1.05003349921,0.593330539467,0.0188227428288,1.04970489192
+273,4.550000000,pose2_to_pose3_retreat,0.622727503656,0.0101501542134,1.05003353229,0.593298182333,0.0188227913048,1.0497049263
+274,4.566666667,pose2_to_pose3_retreat,0.62268444843,0.0101500490976,1.0500334364,0.593255127157,0.0188226865215,1.04970483232
+275,4.583333333,pose2_to_pose3_retreat,0.622632533419,0.010150148226,1.05003345942,0.593203210353,0.0188227795767,1.04970485688
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+277,4.616666667,pose2_to_pose3_retreat,0.622505137268,0.0101499702538,1.05003356901,0.593075817365,0.0188226120435,1.04970496029
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+281,4.683333333,pose2_to_pose3_retreat,0.622136644584,0.0101500531152,1.05003348372,0.592707323785,0.0188226922047,1.04970488877
+282,4.700000000,pose2_to_pose3_retreat,0.622010811504,0.0101501103387,1.05003368602,0.592581489665,0.0188227450815,1.04970506935
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+286,4.766666667,pose2_to_pose3_retreat,0.621332474639,0.0101501990229,1.05003355786,0.591903150976,0.018822827366,1.04970494648
+287,4.783333333,pose2_to_pose3_retreat,0.621115046877,0.0101501073157,1.05003364416,0.591685724683,0.018822740678,1.04970503522
+288,4.800000000,pose2_to_pose3_retreat,0.620876877814,0.0101500507852,1.05003367812,0.591447557685,0.0188226912223,1.04970507377
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+342,5.700000000,pose2_to_pose3_retreat,0.585711961152,0.0101499193138,1.05003339769,0.55628264159,0.0188225598203,1.04970479266
+343,5.716666667,pose2_to_pose3_retreat,0.585068991662,0.0101500729833,1.05003350126,0.555639671781,0.0188227123169,1.04970489385
+344,5.733333333,pose2_to_pose3_retreat,0.584462479962,0.0101501213252,1.05003353258,0.555033158871,0.0188227564178,1.04970492157
+345,5.750000000,pose2_to_pose3_retreat,0.583898719083,0.0101500048366,1.0500335141,0.554469399514,0.0188226452973,1.04970490846
+346,5.766666667,pose2_to_pose3_retreat,0.583352811808,0.0101499806228,1.0500334508,0.553923492175,0.018822620865,1.04970484504
+347,5.783333333,pose2_to_pose3_retreat,0.582820504652,0.0101500362116,1.0500335323,0.553391184609,0.0188226749181,1.04970492293
+348,5.800000000,pose2_to_pose3_retreat,0.582299238668,0.0101500113985,1.0500336992,0.552869919702,0.0188226537292,1.04970508945
+349,5.816666667,pose2_to_pose3_retreat,0.581790781456,0.0101499473845,1.05003361988,0.552361461639,0.0188225867511,1.04970500813
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+351,5.850000000,pose2_to_pose3_retreat,0.580836182789,0.0101500822584,1.05003351517,0.551406860556,0.018822713678,1.0497049105
+352,5.866666667,pose2_to_pose3_retreat,0.580400208584,0.0101501123746,1.0500336113,0.550970886075,0.0188227427954,1.04970500485
+353,5.883333333,pose2_to_pose3_retreat,0.579983192823,0.0101501454294,1.05003362159,0.550553870505,0.0188227765654,1.04970501683
+354,5.900000000,pose2_to_pose3_retreat,0.579582325688,0.0101501817038,1.05003372825,0.55015300388,0.0188228143565,1.04970511766
+355,5.916666667,pose2_to_pose3_retreat,0.57919749652,0.0101501032913,1.05003335122,0.549768175027,0.0188227374119,1.04970475123
+356,5.933333333,pose2_to_pose3_retreat,0.578832336095,0.0101500784289,1.05003337403,0.549403015168,0.0188227146968,1.04970477976
+357,5.950000000,pose2_to_pose3_retreat,0.57849311769,0.0101500773906,1.05003354367,0.549063796983,0.0188227141566,1.04970494274
+358,5.966666667,pose2_to_pose3_retreat,0.578186599292,0.0101500381459,1.05003344177,0.548757278205,0.0188226735288,1.04970483855
+359,5.983333333,pose2_to_pose3_retreat,0.577913461042,0.0101500686745,1.05003343904,0.548484139211,0.0188227015679,1.04970483674
+360,6.000000000,pose2_to_pose3_retreat,0.577668170089,0.010150174604,1.05003362069,0.548238847435,0.0188228044839,1.04970501241
+361,6.016666667,pose2_to_pose3_retreat,0.577444209973,0.0101500281139,1.05003352183,0.548014888723,0.0188226627234,1.04970491256
+362,6.033333333,pose2_to_pose3_retreat,0.577234835549,0.010150144554,1.05003358541,0.547805513949,0.0188227783045,1.04970498483
+363,6.050000000,pose2_to_pose3_retreat,0.577036832339,0.0101501566178,1.05003354796,0.547607510516,0.0188227894779,1.04970494392
+364,6.066666667,pose2_to_pose3_retreat,0.576850421724,0.0101500942436,1.05003342406,0.547421100845,0.0188227304247,1.04970482316
+365,6.083333333,pose2_to_pose3_retreat,0.576679042975,0.0101500603774,1.05003355716,0.547249722732,0.0188226985791,1.04970495266
+366,6.100000000,pose2_to_pose3_retreat,0.576523429876,0.0101501575783,1.05003377175,0.547094108063,0.0188227902249,1.04970516139
+367,6.116666667,pose2_to_pose3_retreat,0.576386059981,0.0101502439924,1.05003373008,0.546956737022,0.018822872769,1.04970512017
+368,6.133333333,pose2_to_pose3_retreat,0.576265712932,0.0101501227752,1.05003363363,0.546836392122,0.0188227585599,1.04970501616
+369,6.150000000,pose2_to_pose3_retreat,0.576162726488,0.0101501249406,1.05003340401,0.546733404373,0.0188227567292,1.04970479817
+370,6.166666667,pose2_to_pose3_retreat,0.576073216984,0.0101501014637,1.05003362966,0.546643895651,0.0188227356745,1.04970501914
+371,6.183333333,pose2_to_pose3_retreat,0.575996007567,0.0101501478404,1.0500334842,0.546566686307,0.0188227828828,1.04970488834
+372,6.200000000,pose2_to_pose3_retreat,0.575929066048,0.0101501904243,1.05003350425,0.546499744303,0.0188228235094,1.04970489989
+373,6.216666667,pose2_to_pose3_retreat,0.5758710784,0.0101501579638,1.05003368545,0.546441757146,0.0188227923658,1.04970507189
+374,6.233333333,pose2_to_pose3_retreat,0.575820878145,0.0101501632593,1.0500336638,0.54639155624,0.0188227954987,1.04970505148
+375,6.250000000,pose2_to_pose3_retreat,0.575778627387,0.0101502392152,1.05003352019,0.546349303367,0.0188228644502,1.04970491239
+376,6.266666667,pose2_to_pose3_retreat,0.575745352663,0.01015017682,1.05003357378,0.546316029006,0.0188228032375,1.04970496479
+377,6.283333333,pose2_to_pose3_retreat,0.575719999081,0.0101501320677,1.05003360163,0.546290676499,0.0188227621634,1.04970499354
+378,6.300000000,pose2_to_pose3_retreat,0.575702059548,0.0101502339476,1.05003353577,0.546272736406,0.0188228623215,1.04970493262
+379,6.316666667,pose2_to_pose3_retreat,0.575689604279,0.010149996236,1.0500336415,0.546260284579,0.0188226360717,1.04970503264
+380,6.333333333,pose2_to_pose3_retreat,0.575680970674,0.0101501291084,1.05003355664,0.546251649219,0.018822762934,1.04970494583
+381,6.350000000,pose2_to_pose3_retreat,0.575675088942,0.0101501840974,1.05003354016,0.546245766293,0.0188228137767,1.04970492668
+382,6.366666667,pose2_to_pose3_retreat,0.575671043788,0.0101501751037,1.05003353641,0.54624172079,0.0188228035995,1.04970492313
+383,6.383333333,pose2_to_pose3_retreat,0.575668716992,0.0101500925893,1.05003351292,0.546239394907,0.0188227244162,1.04970490578
+384,6.400000000,pose2_to_pose3_retreat,0.575667407183,0.0101500667757,1.05003349887,0.546238085561,0.0188227003097,1.04970489537
+385,6.416666667,pose2_to_pose3_retreat,0.575666902248,0.0101501036823,1.0500334916,0.546237580687,0.0188227374926,1.04970488988
+386,6.433333333,pose2_to_pose3_retreat,0.575666785385,0.010150112224,1.05003348992,0.546237463838,0.0188227460983,1.04970488861
+387,6.450000000,pose2_to_pose3_retreat,0.575666658693,0.0101501214841,1.0500334881,0.546237337162,0.0188227554277,1.04970488724
+388,6.466666667,pose2_to_pose3_retreat,0.575666222528,0.0101501533641,1.05003348182,0.54623690105,0.0188227875465,1.0497048825
+389,6.483333333,pose2_to_pose3_retreat,0.575665991555,0.0101501702464,1.05003347849,0.546236670105,0.0188228045552,1.04970487999
+390,6.500000000,pose2_to_pose3_retreat,0.575665928387,0.0101501748634,1.05003347758,0.546236606945,0.0188228092068,1.0497048793
+391,6.516666667,pose2_to_pose3_retreat,0.575665886341,0.0101501779366,1.05003347698,0.546236564904,0.018822812303,1.04970487884
+392,6.533333333,pose2_to_pose3_retreat,0.575665814806,0.0101501831653,1.05003347595,0.546236493377,0.0188228175708,1.04970487807
+393,6.550000000,pose2_to_pose3_retreat,0.575665785285,0.0101501853229,1.05003347552,0.54623646386,0.0188228197447,1.04970487775
+394,6.566666667,pose2_to_pose3_retreat,0.575665758428,0.010150187286,1.05003347513,0.546236437006,0.0188228217224,1.04970487745
+395,6.583333333,pose2_to_pose3_retreat,0.57566562011,0.0101501973959,1.05003347314,0.546236298706,0.018822831908,1.04970487595
+396,6.600000000,pose2_to_pose3_retreat,0.575665607759,0.0101501982986,1.05003347296,0.546236286356,0.0188228328175,1.04970487582
+397,6.616666667,pose2_to_pose3_retreat,0.575665499087,0.0101502013767,1.05003346439,0.546236177589,0.0188228355659,1.04970486702
+398,6.633333333,pose2_to_pose3_retreat,0.57566547412,0.0101502014822,1.05003346156,0.546236152587,0.0188228355476,1.04970486406
+399,6.650000000,pose2_to_pose3_retreat,0.575665437409,0.0101502016373,1.05003345739,0.546236115824,0.0188228355206,1.04970485971
+400,6.666666667,pose2_to_pose3_retreat,0.575665223876,0.0101502025397,1.05003343313,0.546235901991,0.0188228353636,1.04970483438
+401,6.683333333,pose2_to_pose3_retreat,0.575664967546,0.0101502036229,1.05003340402,0.5462356453,0.0188228351752,1.04970480398
+402,6.700000000,pose2_to_pose3_retreat,0.575664728587,0.0101502046327,1.05003337688,0.546235406006,0.0188228349995,1.04970477563
+403,6.716666667,pose2_to_pose3_retreat,0.575664430961,0.0101502459186,1.05003347938,0.546235107604,0.018822873455,1.04970487299
+404,6.733333333,pose2_to_pose3_retreat,0.57566432264,0.0101502488014,1.05003365634,0.54623499902,0.0188228752946,1.04970504589
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0f674d09cc91ae1392458b9e7a7404b9f1591e1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a653c0f5fe038f5079c3d653a617b1fdb3d6b473c4202028577b81eb6d7c9b15
+size 25403976
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf2645e0b3b6a2e8a863ba03804480f6321f348a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,401 @@
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+24,0.400000000,BASELINE,767,745,717,679,667,639,880.093631303,785,812.093631303,653,630,654,0.400938416563,0.00455888838339,0.0499272571663,0.999999973117,8.06730182287e-05,-0.000216062830827,-2.39667880343e-05,1793249799615133952
+25,0.416666667,BASELINE,767,745,717,679,666.506202476,639,880,785,812.493797524,653,630,654,0.400938095576,0.00455778998673,0.0499272654278,0.999999973102,8.00845935752e-05,-0.000216389156123,-2.36331478965e-05,1793249799631800576
+26,0.433333333,BASELINE,767,745,717,679,666,639,880,785,813,653,630,654,0.400937830594,0.00455669290347,0.0499272274659,0.999999973082,7.95120886768e-05,-0.00021671972048,-2.33850644956e-05,1793249799648467200
+27,0.450000000,BASELINE,767,745,717,679,666,639,880,785,813,653,630,654,0.400937714418,0.00455612520156,0.049926853157,0.999999972943,8.01216454938e-05,-0.000217127190239,-2.3445868816e-05,1793249799665134336
+28,0.466666667,BASELINE,767,745,717.237998387,679,666.237998387,639,880,785,812.762001613,653,630,654,0.400937721848,0.00455658358041,0.0499265561171,0.999999972914,8.05494881561e-05,-0.000217095697161,-2.35192392006e-05,1793249799681800960
+29,0.483333333,BASELINE,767,745,717.812988192,679,666.812988192,639,880,785,812.187011808,653,630,654,0.400937904297,0.004558494828,0.0499263684854,0.99999997304,8.07200344543e-05,-0.000216442659053,-2.36104023735e-05,1793249799698467584
+30,0.500000000,BASELINE,767.387338175,745,717.612661825,679,667,639,880,785,812,653,630,654,0.400937537589,0.00455859131874,0.0499262980375,0.999999972956,8.08194280781e-05,-0.0002167893072,-2.36342248669e-05,1793249799715134464
+31,0.516666667,BASELINE,767.961379736,745,717.038620264,679,667,639,880,785,812,653,630,654,0.40093690618,0.00455781306672,0.0499262840742,0.999999972771,8.0884524935e-05,-0.000217617820622,-2.362558804e-05,1793249799731801088
+32,0.533333333,BASELINE,767.447770154,745,717,679,667,639,880.552229846,785,812,653,630,654,0.400937734123,0.00455647906159,0.0499270045594,0.999999973217,7.78429089114e-05,-0.000216708534514,-2.33233683054e-05,1793249799748467712
+33,0.550000000,BASELINE,767,745,717,679,667,639,880.858925654,785,812.141074346,653,630,654,0.400938371745,0.00455598841841,0.049927556174,0.999999973528,7.63127922159e-05,-0.000215824963489,-2.32407210506e-05,1793249799765134080
+34,0.566666667,BASELINE,767,745,717,679,667,639,880.280067476,785,812.719932524,653,630,654,0.4009380921,0.00455823930572,0.0499274193506,0.9999999733,8.01685778102e-05,-0.000215410175364,-2.39051687988e-05,1793249799781800704
+35,0.583333333,BASELINE,767,745,717,679,667,639,880,785,812.703366026,652.703366026,630,654,0.400937764197,0.00455855427206,0.0499272663098,0.999999973179,8.07048502214e-05,-0.000215741976189,-2.41554859806e-05,1793249799798467328
+36,0.600000000,BASELINE,767,745,717,679,667,639,880,785,812.128686088,652.128686088,630,654,0.40093739106,0.00455705462853,0.0499270980678,0.999999973164,7.81296209557e-05,-0.000216773582325,-2.40176233873e-05,1793249799815133696
+37,0.616666667,BASELINE,767,745,717,679.455540975,667,639,880,785,812,652.455540975,630,654,0.400935915356,0.00455589768317,0.0499261893555,0.999999972996,7.58430950011e-05,-0.000218394904522,-2.36406847017e-05,1793249799831800576
+38,0.633333333,BASELINE,767,745,717,679.958046678,667,639,880.041953322,785,812.041953322,653,630,654,0.400934366663,0.00455493824461,0.0499251648462,0.999999972817,7.38862077459e-05,-0.00021992561803,-2.32404536334e-05,1793249799848467456
+39,0.650000000,BASELINE,767,745,717,679.378924688,667,639,880.621075312,785,812.621075312,653,630,654,0.40093595678,0.00455524160114,0.0499253932884,0.999999973119,7.50834062933e-05,-0.000218117520257,-2.34252365342e-05,1793249799865134336
+40,0.666666667,BASELINE,767,745,717,679,667,638.799760596,880.799760596,785,813,653,630,654,0.400937806042,0.00455602917363,0.049926161975,0.999999973449,7.6745075546e-05,-0.000215991397359,-2.36577037114e-05,1793249799881800960
+41,0.683333333,BASELINE,767,745,717,679,667,638.220516851,880.220516851,785,813,653,630,654,0.400940145805,0.00455773324877,0.0499279532127,0.999999973829,7.92858744602e-05,-0.000213263330593,-2.39804255799e-05,1793249799898466816
+42,0.700000000,BASELINE,767,745.354853955,717,679,667,638.354853955,880.709707911,785,812.645146045,653,630,654,0.400939717011,0.0045573673652,0.0499277964146,0.9999999738,7.8720486937e-05,-0.000213625242843,-2.38043620655e-05,1793249799915132928
+43,0.716666667,BASELINE,767,745.927843965,717,679,667,638.927843965,881.855687931,785,812.072156035,653,630,654,0.400937586328,0.00455572903518,0.0499264421187,0.999999973518,7.62456623671e-05,-0.00021588662911,-2.33216848633e-05,1793249799931799552
+44,0.733333333,BASELINE,767.517967245,745.482032755,717,679,667,639,880.96406551,785,812.517967245,653,630,654,0.400938425999,0.00455590552252,0.049926843999,0.999999973565,7.66532398255e-05,-0.000215508714423,-2.34503167751e-05,1793249799948466432
+45,0.750000000,BASELINE,768,745,717,679,667,639,880,785,813,653,630,654,0.400939329109,0.00455624798851,0.0499272675726,0.999999973622,7.73004640045e-05,-0.000214988668475,-2.36600180936e-05,1793249799965132800
+46,0.766666667,BASELINE,768,745,717,679,667,639,880,785,813,653,630,654,0.400938642996,0.00455617414229,0.0499266825915,0.999999973516,7.71819654885e-05,-0.000215506805455,-2.38391866509e-05,1793249799981799680
+47,0.783333333,BASELINE,767.738178931,745,717,679,667,639,880,784.738178931,812.738178931,653,630,654,0.400938476728,0.00455588662582,0.0499265793697,0.999999973578,7.67971165622e-05,-0.000215360553953,-2.37884544305e-05,1793249799998466304
+48,0.800000000,BASELINE,767.162870494,745,717,679,667,639,880,784.162870494,812.162870494,653,630,654,0.400938932889,0.0045553432746,0.0499270529747,0.999999973842,7.60933571174e-05,-0.000214418807346,-2.34624541289e-05,1793249800015132928
+49,0.816666667,BASELINE,767,745,717,679.421482677,667,639,880,784.421482677,812.421482677,653,630,654,0.400939810514,0.0045563509616,0.0499277687906,0.99999997395,7.79152426145e-05,-0.000213274097084,-2.33161211231e-05,1793249800031799552
+50,0.833333333,BASELINE,767.009265978,745,717,680,666.990734022,639,880.009265978,785,812.990734022,653,630,654,0.400940804018,0.00455791835944,0.0499285450916,0.999999973983,8.06327418651e-05,-0.000212115278846,-2.32447798055e-05,1793249800048466432
+51,0.850000000,BASELINE,767.588343258,745,717,680,666.411656742,639,880.588343258,785,812.411656742,653,630,654,0.400938688579,0.00455623947573,0.0499271590332,0.999999973638,7.7092779715e-05,-0.000215017693909,-2.34219774743e-05,1793249800065133056
+52,0.866666667,BASELINE,767.833253062,745,717,679.833253062,666,639,880.666506123,785,812,653,630,654,0.40093776785,0.00455529983018,0.0499264335213,0.999999973458,7.53335737426e-05,-0.000216459535488,-2.35237387021e-05,1793249800081799936
+53,0.883333333,BASELINE,767.256505676,745,717,679.256505676,666,639,879.513011352,785,812,653,630,654,0.400939784693,0.0045561778371,0.0499273321732,0.999999973723,7.79529241147e-05,-0.000214310091882,-2.34400154079e-05,1793249800098466560
+54,0.900000000,BASELINE,767.318522565,745,717,679,666,639,879.318522565,785,812,653,630,654,0.400940050739,0.00455712742217,0.04992752097,0.999999973739,7.93724554683e-05,-0.000213684147846,-2.36987533372e-05,1793249800115133440
+55,0.916666667,BASELINE,767.892173788,745,717,679,666,639,879.892173788,785,812,653,630,654,0.400938914441,0.0045581343395,0.0499271411906,0.999999973562,7.98309614885e-05,-0.000214278489203,-2.42317941978e-05,1793249800131800832
+56,0.933333333,BASELINE,768,745,717,679,666,639,880.479152766,785,812,653,630,654,0.40093813467,0.00455738012477,0.049926406411,0.999999973426,7.83999815982e-05,-0.000215455079276,-2.40910844237e-05,1793249800148467456
+57,0.950000000,BASELINE,767.932085386,745,717,679.067914614,666.135829229,639,880.932085386,785,812,653,630,654,0.400937577244,0.00455628633494,0.0499257545353,0.99999997332,7.68031872548e-05,-0.000216552134829,-2.378438756e-05,1793249800165134336
+58,0.966666667,BASELINE,767.353122403,745,717,679.646877597,667.293755193,639,880.353122403,785,812,653,630,654,0.400938071932,0.00455570484275,0.0499263448414,0.999999973407,7.72497843455e-05,-0.000216036537504,-2.34022046002e-05,1793249800181800960
+59,0.983333333,BASELINE,767,745,717,679.775173044,667.775173044,639,880,785.224826956,812,653,630,654,0.400938326056,0.00455531830742,0.0499264525435,0.999999973454,7.75833373339e-05,-0.000215707501753,-2.3309696513e-05,1793249800198467328
+60,1.000000000,BASELINE,767,745,717,679.198808488,667.198808488,639,880,785.801191512,812,653,630,654,0.400938204034,0.00455523660497,0.0499258056498,0.999999973441,7.77401355515e-05,-0.000215670172083,-2.36701216426e-05,1793249800215133696
+61,1.016666667,BASELINE,767,745,717,679,666.636569614,639,880.363430386,785.636569614,812,653,630,654,0.400937975589,0.00455493356109,0.0499259581667,0.999999973351,7.76470688203e-05,-0.000216136438559,-2.35560108417e-05,1793249800231800576
+62,1.033333333,BASELINE,767,745,717,679,666.081768887,639,880.918231113,785.081768887,812,653,630,654,0.400937691105,0.0045545139662,0.0499265316266,0.999999973218,7.74224315171e-05,-0.000216867882002,-2.31920251983e-05,1793249800248467200
+63,1.050000000,BASELINE,767,745,717,679,666.522297731,639,880.477702269,785,812.522297731,653,630.522297731,654,0.400939177078,0.00455506902965,0.0499268218833,0.999999973593,7.7431530598e-05,-0.000215126815935,-2.31990420183e-05,1793249800265133824
+64,1.066666667,BASELINE,767.127372435,745,717,679.127372435,667,638.872627565,880,785,813,653,630.872627565,654,0.400940455167,0.0045556739345,0.0499269599381,0.999999973932,7.72053070711e-05,-0.000213620196354,-2.32585032567e-05,1793249800281800448
+65,1.083333333,BASELINE,767.70585599,745,717,679.70585599,667,638.29414401,880,785,813,653,630.29414401,654,0.400939913093,0.00455585865812,0.049926732326,0.999999973845,7.60025510209e-05,-0.000214457622673,-2.32765710841e-05,1793249800298467584
+66,1.100000000,BASELINE,768,745,717,680,667,638.282312885,880,785,812.717687115,653,630.282312885,654,0.400939228616,0.00455634376202,0.049926438826,0.999999973693,7.58569725419e-05,-0.000215189950515,-2.3512444836e-05,1793249800315134464
+67,1.116666667,BASELINE,768,745,717,680,667,638.856673199,880,785,812.143326801,653,630.856673199,654,0.400938396826,0.00455713960372,0.0499260771662,0.999999973475,7.68050246791e-05,-0.000215813555883,-2.39736347662e-05,1793249800331800576
+68,1.133333333,BASELINE,767.567019856,745,717,679.567019856,667,639,880,785,812.432980144,653,630.567019856,654,0.400938936622,0.00455722830338,0.0499266553304,0.99999997348,7.87901654661e-05,-0.000215076227091,-2.3969322285e-05,1793249800348466944
+69,1.150000000,BASELINE,767,745,717,679,667,639,880,785,813,653,630.010161385,654,0.400939894557,0.00455707838622,0.0499275136948,0.99999997355,8.10341766246e-05,-0.000213933483876,-2.38089701361e-05,1793249800365133568
+70,1.166666667,BASELINE,767,745,717,679,667,639,880,785,813,653,630.600296614,654,0.400938687087,0.00455672991797,0.0499265279708,0.999999973435,7.83706900941e-05,-0.000215480290409,-2.35771988206e-05,1793249800381800192
+71,1.183333333,BASELINE,767,745,717,679,667,639,880,785,812.813275287,653,630.813275287,654,0.400938164265,0.00455647545179,0.0499260965357,0.999999973466,7.68775537828e-05,-0.00021589497374,-2.33777356269e-05,1793249800398466560
+72,1.200000000,BASELINE,767,745,717,679,667,639,880,785,812.23462809,653,630.23462809,654,0.400939078474,0.00455641828947,0.0499268285147,0.999999973816,7.78409025503e-05,-0.000213933407702,-2.32460849427e-05,1793249800415133440
+73,1.216666667,BASELINE,767,745,717,679,667,639,880,785,812.341482954,653,630,654,0.400938433212,0.00455639923758,0.0499264802738,0.999999973692,7.78636763889e-05,-0.000214497754515,-2.33138234426e-05,1793249800431800832
+74,1.233333333,BASELINE,767,745,717,679,667,639,880,785,812.915864256,653,630,654,0.400936724359,0.00455640617777,0.0499253953007,0.999999973242,7.72449588624e-05,-0.000216784825587,-2.35175494454e-05,1793249800448468224
+75,1.250000000,BASELINE,767.490053534,745,717,679,667,639,880,785.490053534,813,653,630,654,0.40093723975,0.00455760681254,0.049925610454,0.99999997322,7.78124131999e-05,-0.000216668864874,-2.36592455789e-05,1793249800465134336
+76,1.266666667,BASELINE,768,745,717,679,667,639,880,785.933502759,812.933502759,653,630,654,0.40093808211,0.00455867560678,0.0499260125992,0.999999973292,7.84741020027e-05,-0.000216085834211,-2.37525608484e-05,1793249800481800960
+77,1.283333333,BASELINE,768,745,717,679,667,639,880,785.338892935,812.338892935,653,630,654,0.400938489618,0.0045570703575,0.0499261277619,0.999999973533,7.82674593307e-05,-0.000215068680089,-2.35461870119e-05,1793249800498467328
+78,1.300000000,BASELINE,768,745,717,679,667,639,880.247617452,785,812,652.752382548,630,654,0.400938936396,0.00455627043696,0.049926426699,0.999999973689,7.77323613135e-05,-0.000214551959767,-2.33984339979e-05,1793249800515133440
+79,1.316666667,BASELINE,768,745,717,679,667,639,880.823393883,785,812,652.176606117,630,654,0.40093943522,0.00455653779131,0.0499269691861,0.999999973734,7.67619726235e-05,-0.000214698447405,-2.33283691812e-05,1793249800531800064
+80,1.333333333,BASELINE,767.601211543,745,717,679,667,639,880.601211543,785,812.398788457,652.398788457,630,654,0.400940250966,0.00455571567661,0.0499274279711,0.999999974008,7.58978957316e-05,-0.000213733900904,-2.3247240904e-05,1793249800548467200
+81,1.350000000,BASELINE,767.025985865,745,717,679,667,639,880.025985865,785,812.974014135,652.974014135,630,654,0.40094120693,0.00455441154475,0.0499278497237,0.999999974382,7.50808546158e-05,-0.000212277796119,-2.31612177793e-05,1793249800565133824
+82,1.366666667,BASELINE,767.564268157,745,717,679,667,639,880,785,813,653,630,654,0.400940115477,0.0045546021548,0.0499269978909,0.999999974044,7.52873472583e-05,-0.000213798442564,-2.31299110677e-05,1793249800581800960
+83,1.383333333,BASELINE,767.848125652,745,717,679,667.151874348,639,880,785,813,653.151874348,630,654.151874348,0.400939244831,0.00455548138086,0.0499262560605,0.999999973713,7.6349230602e-05,-0.000214954235225,-2.32326386638e-05,1793249800598467840
+84,1.400000000,BASELINE,767.269947476,745,717,679,667.730052524,639,880,785,813,653.730052524,630,654.730052524,0.400939265882,0.00455809501112,0.049925992138,0.999999973499,7.96762246267e-05,-0.000214690578241,-2.37043274248e-05,1793249800615134464
+85,1.416666667,BASELINE,767,745,717,679,667.693215138,639,880,785,813,653.693215138,630,654.693215138,0.400938876982,0.00455834154757,0.0499261855568,0.999999973418,8.10992302731e-05,-0.000214542925465,-2.36318037141e-05,1793249800631800832
+86,1.433333333,BASELINE,767,745,717,679,667.117749093,639,880,785,813,653.117749093,630,654.117749093,0.40093812905,0.00455651499084,0.0499267795136,0.99999997346,8.08547289057e-05,-0.000214496868813,-2.30826604669e-05,1793249800648467200
+87,1.450000000,BASELINE,767,745.467293919,717,679.467293919,667.467293919,639,880,785,813,653,630,654,0.400938755829,0.00455592865144,0.0499269413474,0.999999973659,7.86344655282e-05,-0.000214404498547,-2.29976180006e-05,1793249800665133824
+88,1.466666667,BASELINE,767,745.94601188,717,679.94601188,667.94601188,639,880.05398812,785,813,652.94601188,630,654,0.400939723902,0.00455574752608,0.0499270761368,0.999999973896,7.62452835072e-05,-0.00021415446432,-2.30622942709e-05,1793249800681800448
+89,1.483333333,BASELINE,767,745.367215934,717,679.367215934,667.367215934,639,880.632784066,785,813,652.367215934,630,654,0.400940571877,0.00455640398702,0.0499280286451,0.999999974174,7.71548768695e-05,-0.000212487626698,-2.34217770383e-05,1793249800698466816
+90,1.500000000,BASELINE,767.211027507,745,717,679,667,639,880.788972493,785,813,652.211027507,630,654,0.400940207184,0.00455675751092,0.0499279499577,0.999999974122,7.71697036082e-05,-0.000212703299553,-2.36416222851e-05,1793249800715133952
+91,1.516666667,BASELINE,767.788311964,745,717,679,667,639,880.211688036,785,813,652.788311964,630,654,0.400937737797,0.00455658526066,0.0499260815385,0.999999973493,7.56315834346e-05,-0.000216186236441,-2.36191141952e-05,1793249800731800832
+92,1.533333333,BASELINE,767.638202667,745,717,678.638202667,667,639,880,785,813,653,630,654.361797333,0.400937462233,0.00455580900979,0.0499254912289,0.999999973404,7.42890231093e-05,-0.000217068314828,-2.35542111666e-05,1793249800748467712
+93,1.550000000,BASELINE,767.066916997,745,717,678.066916997,667,639,880,785,813,653,630,654.933083003,0.400938456939,0.00455468302973,0.0499256409718,0.999999973632,7.30596959428e-05,-0.000216444441254,-2.34647605663e-05,1793249800765134336
+94,1.566666667,BASELINE,767,745,717.523132168,679.046264335,667,639,880,785,812.476867832,653,630,654.476867832,0.400939216406,0.00455603710334,0.0499261731902,0.999999973712,7.64122544649e-05,-0.000214928138871,-2.32826124805e-05,1793249800781800704
+95,1.583333333,BASELINE,767,745,717.887024802,679.887024802,667,639,880,785,812,653,630.112975198,654,0.400939593012,0.00455735682693,0.0499264340401,0.999999973712,7.94293628492e-05,-0.000213843534897,-2.32075401696e-05,1793249800798467328
+96,1.600000000,BASELINE,767,745,717.308294461,679.308294461,667,639,880,785,812,653,630.691705539,654,0.400938519892,0.00455717842549,0.0499253669355,0.999999973517,7.85573845937e-05,-0.000215026795121,-2.36246044679e-05,1793249800815133952
+97,1.616666667,BASELINE,767.269407938,745,717,679,667,639,880,785,812.269407938,653,630.730592062,654,0.400937435337,0.00455744193347,0.0499245818033,0.999999973283,7.75093899033e-05,-0.000216454246047,-2.39625135458e-05,1793249800831800832
+98,1.633333333,BASELINE,767.845938459,745,717,679,667,639,880,785,812.845938459,653,630.154061541,654,0.400936337745,0.00455820921415,0.0499241181171,0.999999973002,7.62607381409e-05,-0.000218160072069,-2.42101863719e-05,1793249800848467456
+99,1.650000000,BASELINE,767.581305593,745,717,679.418694407,667,639,880,785,812.581305593,653,630,654,0.400936383359,0.00455602876373,0.0499245712581,0.999999973098,7.50905058332e-05,-0.000218178043704,-2.37296000137e-05,1793249800865134336
+100,1.666666667,BASELINE,767.00992613,745,717,679.99007387,667,639,880,785,812.00992613,653,630,654,0.400936845865,0.00455277336584,0.0499253587379,0.999999973331,7.3948870732e-05,-0.000217580506378,-2.29834397771e-05,1793249800881801472
+101,1.683333333,BASELINE,767.582999738,745,717,679.417000262,667,639,880.582999738,785,812.582999738,653,630,654,0.400938108845,0.00455450028474,0.0499259014154,0.999999973752,7.41912924451e-05,-0.000215536199897,-2.31572481981e-05,1793249800898467840
+102,1.700000000,BASELINE,768,745,717,679.171414443,667,639,880.828585557,785,813,653,630,654,0.400938777926,0.00455584744878,0.0499260877921,0.999999973903,7.50702666552e-05,-0.000214512536222,-2.32905882158e-05,1793249800915134208
+103,1.716666667,BASELINE,768,745,717,679.748258298,667,639,880.251741702,785,813,653,630,654,0.400938008846,0.00455608807988,0.0499254416827,0.999999973414,7.73969400765e-05,-0.00021596339396,-2.32897436783e-05,1793249800931800576
+104,1.733333333,BASELINE,767.674830807,745.325169193,717,679.674830807,667,639,880.325169193,785,813,653,630,654,0.400938612754,0.00455603613541,0.0499258495101,0.999999973567,7.69861261874e-05,-0.000215390708708,-2.33868168993e-05,1793249800948466944
+105,1.750000000,BASELINE,767.097867936,745.902132064,717,679.097867936,667,639,880.902132064,785,813,653,630,654,0.40094027983,0.00455575763605,0.0499270734499,0.999999974213,7.44555484097e-05,-0.000213251099868,-2.35597124086e-05,1793249800965133568
+106,1.766666667,BASELINE,767.48760246,745.51239754,717,679,667,639,880.51239754,785,813,653,630,654.48760246,0.400940701627,0.00455595053521,0.0499277046113,0.999999974337,7.53570276743e-05,-0.000212371253552,-2.33673113595e-05,1793249800981800192
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,717,680,667,639,881,785,812,653,630,655,0.400939287333,0.00455734803168,0.0499275667401,0.999999973943,7.94109903669e-05,-0.000212762279256,-2.32206196968e-05,1793249801024996096
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745,717,680,667,639,880.423402866,785,812.576597134,653,630,655,0.400939832363,0.00455618510736,0.0499276972221,0.999999974135,7.79263272201e-05,-0.000212391788927,-2.34015740735e-05,1793249801041662976
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.847576674,745,717,679.847576674,667,639,880,785,813,653,630,654.847576674,0.400939927606,0.00455545649429,0.0499275177184,0.99999997419,7.67282682993e-05,-0.000212556025698,-2.35308244168e-05,1793249801058329600
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.273881102,745,717,679.273881102,667,639,880,785,813,653,630,654.273881102,0.400938779713,0.00455592824366,0.0499264814672,0.99999997387,7.63223345598e-05,-0.000214198157483,-2.35171736142e-05,1793249801074995712
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.308915059,745.308915059,717,679,667,639,880,785,813,653,630,654.308915059,0.400938384889,0.00455636840615,0.0499257889892,0.999999973578,7.69914773294e-05,-0.000215329993463,-2.34279086119e-05,1793249801091662080
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.900024589,745.900024589,717,679,667,639,880,785,813,653,630,654.900024589,0.400938677994,0.00455677971394,0.0499254105486,0.99999997331,7.86427044817e-05,-0.000215995673192,-2.32695699003e-05,1793249801108328704
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,745.519270236,717,679,667,639,880,785,813,652.519270236,630,654.519270236,0.400944879371,0.00455694926563,0.049927392738,0.999999974312,7.803233847e-05,-0.000211513392132,-2.34142078539e-05,1793249801124995072
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880,785,812.941114314,652.058885686,630,654,0.400953378441,0.00455706487416,0.049930148252,0.999999975693,7.71389696714e-05,-0.000205197073838,-2.36080338634e-05,1793249801141661696
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880,785,812.366734378,652.633265622,630,654,0.40097146333,0.00455713906491,0.0499354669313,0.999999978261,7.7798305585e-05,-0.000191998969597,-2.36925558376e-05,1793249801158328576
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,745,717,679.212495641,667,639,880.212495641,785,812.212495641,652.787504359,630,654,0.400994585922,0.00455714486948,0.0499412319151,0.999999981214,7.75426873928e-05,-0.000176037268123,-2.38875411295e-05,1793249801174995456
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,745,717,679.800291601,667,639,880.800291601,785,812.800291601,652.199708399,630,654,0.401026605879,0.00455702989342,0.0499477851414,0.9999999848,7.56711180194e-05,-0.000155194625943,-2.42776217931e-05,1793249801191662080
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.617605271,745,717,680,667,639,880.617605271,785,812.617605271,652.382394729,630,654,0.401068671167,0.00455635525372,0.0499539044319,0.999999988297,7.45764463518e-05,-0.000131210228244,-2.50476884162e-05,1793249801208328704
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.038431601,745,717,680,667,639,880.038431601,785,812.038431601,652.961568399,630,654,0.40111590575,0.00455539261313,0.0499598004212,0.999999991356,7.38815632296e-05,-0.000105609092593,-2.60132944628e-05,1793249801224995328
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,717,680,667,639,880.539115971,785,812.539115971,653,630,654,0.401172027987,0.00455689066671,0.0499627417098,0.99999999308,7.42356450001e-05,-8.71850675157e-05,-2.6990320294e-05,1793249801241661952
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,717,679.883898017,667,639,881,785,812.883898017,653,630,654,0.401231735566,0.00455789308178,0.0499655675067,0.999999994249,7.40869678738e-05,-7.24828522823e-05,-2.754670995e-05,1793249801258328064
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,717,679.308675476,667,639,881,785,812.308675476,653,630,654,0.401303123361,0.00455624393412,0.0499687670192,0.9999999946,7.16553385773e-05,-7.04812415935e-05,-2.64365017841e-05,1793249801274994688
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.272464325,745,717,679.272464325,667,639,880.727535675,785,812.272464325,653,630,654,0.401381976471,0.00455424230006,0.0499706140953,0.999999994907,6.9261598382e-05,-6.88433298771e-05,-2.54895583316e-05,1793249801291661312
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.860456588,745,717,679.860456588,667,639,880.139543412,785,812.860456588,653,630,654,0.401469474801,0.00455183246841,0.0499708949793,0.999999995169,6.69117358941e-05,-6.76266007141e-05,-2.47316840234e-05,1793249801308328192
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,745,717.441558452,679.558441548,667,639,880,785,812.558441548,653,630.441558452,654,0.401580012511,0.0045509196913,0.0499703292619,0.999999995204,6.54025252796e-05,-6.88277843363e-05,-2.40249919859e-05,1793249801324995328
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,745,717.979585479,679.020414521,667,639,880.020414521,785,812,652.979585479,630.979585479,654,0.401698772876,0.00455050117371,0.0499696320441,0.999999995182,6.41591261911e-05,-7.05339785741e-05,-2.33337208938e-05,1793249801341662208
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,745,717.403497777,679.596502223,667,639,880.596502223,785,812,652.403497777,630.403497777,654,0.401846209391,0.00455085630118,0.0499725260511,0.999999995612,6.30307743076e-05,-6.5506910279e-05,-2.26286929238e-05,1793249801358328832
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.82740723,745.17259277,717,679.82740723,667,639,881,785,812,652.17259277,630,654,0.402001646088,0.00455032224867,0.0499742223767,0.999999995919,6.08475203211e-05,-6.31665366206e-05,-2.16596598404e-05,1793249801374995456
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.251310114,745.748689886,717,679.251310114,667,639,881,785,812,652.748689886,630,654,0.402175786377,0.0045477093837,0.0499731186448,0.999999995968,5.61980126511e-05,-6.71073825194e-05,-2.00734097477e-05,1793249801391661568
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.331856538,745.668143462,717,679,667,639,880.668143462,785,812,653,630,654,0.402367499113,0.00454584227006,0.0499712482126,0.999999995903,5.38372459253e-05,-7.0394118957e-05,-1.84328343096e-05,1793249801408328192
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.920493439,745.079506561,717,679,667,639,880.079506561,785,812,653,630,654,0.402572808886,0.00454455219553,0.0499687845313,0.999999995765,5.32474359311e-05,-7.31747260675e-05,-1.67502234246e-05,1793249801424994560
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.498154483,745,717.501845517,679.501845517,667,639,880,785.501845517,812.501845517,653,630,654,0.402821506947,0.00454094746207,0.0499693840645,0.999999996121,4.71135202742e-05,-7.28951267225e-05,-1.49924217481e-05,1793249801441661696
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,718,679.918788048,667,639,880,785.918788048,813,653,630,654,0.403083199257,0.00453707326709,0.0499712967782,0.999999996638,4.05190438152e-05,-7.00707152541e-05,-1.31411801884e-05,1793249801458328576
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,718,679.344569459,667,639,880,785.344569459,813,653,630,654,0.403382642831,0.00453375756174,0.049978277391,0.999999997784,3.63844699079e-05,-5.46987897589e-05,-1.07939807741e-05,1793249801474995712
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,717.771161593,679.228838407,667,639,880.228838407,785,812.771161593,653,630,654,0.403699668419,0.00453096868177,0.0499860805428,0.999999998758,3.1789748461e-05,-3.73832776691e-05,-8.71673486091e-06,1793249801491662592
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,717.198970186,679.801029814,667,639,880.801029814,785,812.198970186,653,630,654,0.404043074342,0.00452897025964,0.0499951178458,0.999999999477,2.65046141433e-05,-1.71515764387e-05,-7.04453186925e-06,1793249801508329216
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,717.389842947,680,667,639,881,785,812.389842947,653,629.610157053,654,0.404411726342,0.00452571544332,0.0500031517678,0.999999999769,2.09574138836e-05,-2.99347997897e-07,-4.66043609195e-06,1793249801524995840
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,717.987517367,680,667,639,881,785,812.987517367,653,629.012482633,654,0.404793837416,0.00452179082333,0.0500106507712,0.999999999773,1.52705022715e-05,1.47512291143e-05,-1.8968190045e-06,1793249801541662208
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.564369421,718,679.435630579,667,639,881,785.564369421,812.435630579,653,629.564369421,654,0.405223293078,0.00451706641678,0.0500125842929,0.999999999698,1.25354831536e-05,2.11278930961e-05,1.06903905929e-06,1793249801558328832
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.139811988,746,718,679.139811988,667.139811988,639,881.139811988,785.860188012,812.139811988,653,630,654.139811988,0.405649592996,0.00451230730506,0.0500079883875,0.999999999856,8.60627220242e-06,1.40543817594e-05,4.06857750312e-06,1793249801574995712
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.712267275,746,718,679.712267275,667.712267275,639,881.712267275,785.287732725,812.712267275,653,630,654.712267275,0.406063002394,0.00450749359225,0.0499835547624,0.999999999394,7.86829797797e-07,-3.40676832876e-05,7.15898870623e-06,1793249801591662336
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.705694517,746,718,680,667.705694517,639,881.705694517,785,813,653,629.705694517,654.705694517,0.406504286498,0.00450382620876,0.0499623524432,0.999999997394,-3.50145639864e-06,-7.14299778532e-05,9.87253581462e-06,1793249801608329216
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.113972003,746,718,680,667.113972003,639,881.113972003,785,813,653,629.113972003,654.113972003,0.406973740064,0.00450131727359,0.0499444155901,0.999999995123,-4.2212541287e-06,-9.79187499564e-05,1.22052348092e-05,1793249801624996352
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718,680.464859738,667.464859738,639,881,785,813,653,629.464859738,654,0.407507688299,0.00449587696307,0.0499444792254,0.999999995238,-4.5190950008e-06,-9.61719945239e-05,1.59810814672e-05,1793249801641662976
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,718,680.959245322,667.959245322,639,881.040754678,785,813,653,630,654.040754678,0.408063437548,0.00448974449974,0.0499504747191,0.99999999623,-2.51538791216e-06,-8.44484375604e-05,2.00616357081e-05,1793249801658329856
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,718,680.381526157,667.381526157,639,881.618473843,785,813,653,630,654.618473843,0.408703710738,0.00448370630369,0.0499780473591,0.999999998865,2.84861599888e-05,-3.0023723992e-05,2.36208476738e-05,1793249801674996480
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,680,667.195214065,639.195214065,882.195214065,785.195214065,813,653,630,654.804785935,0.40934168069,0.00447718231772,0.0500003025718,0.999999998658,4.31447384071e-05,1.03186650998e-05,2.67573680353e-05,1793249801691663104
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,680,667.770050553,639.770050553,882.770050553,785.770050553,813,653,630,654.229949447,0.409975171617,0.00446971364226,0.0500122172645,0.999999998968,2.60220105447e-05,2.32759024143e-05,2.90719024179e-05,1793249801708329216
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,718,680,668,639.644657676,883,785.644657676,813,652.644657676,630,654.355342324,0.410592043722,0.00446153233723,0.0500041641057,0.999999999591,-4.30015934652e-07,-1.04627801573e-07,2.85828495021e-05,1793249801724995584
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718,680,668,639.052394991,883,785.052394991,813,652.052394991,630,654.947605009,0.411197835395,0.00445287589502,0.0499827976136,0.99999999797,-3.31022430819e-05,-4.77129424243e-05,2.62245371982e-05,1793249801741662208
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,718,680,668,639,883,785,813.526592454,652,630,655,0.411869041599,0.00444606733092,0.0499583814494,0.999999994816,-4.1929593484e-05,-8.86498738517e-05,2.73917854522e-05,1793249801758329088
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718,680,668,639.103733334,883.207466668,785,814,652,630,654.896266666,0.412570373035,0.00443960595156,0.0499433784794,0.999999992543,-4.50506960323e-05,-0.000109789516452,2.88335917837e-05,1793249801774995712
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718,680,668,639.678340301,884.356680602,785,814,652,630,654.321659699,0.413379632909,0.00443390646945,0.049972448061,0.999999998046,-3.2774293306e-05,-4.40029359585e-05,2.99685294443e-05,1793249801791662336
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.259050008,746,718,680,668,640,885,785.259050008,814,652,630,654.259050008,0.414156494353,0.00443120695376,0.0499870680983,0.999999999023,-2.76703404163e-05,-1.4598736858e-05,3.12186441623e-05,1793249801808328960
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.847520329,746,718,680,668,640,885,785.847520329,814,652,630,654.847520329,0.414892156523,0.00443232233728,0.0499833134119,0.999999998471,-3.16872143374e-05,-3.14600955578e-05,3.26152237864e-05,1793249801824995328
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.571007654,746,718,680,668,640,885,785.571007654,814,652,630,655,0.415647248497,0.00444417938988,0.0499584390028,0.9999999967,-2.43537727696e-05,-7.07987591182e-05,3.15502396824e-05,1793249801841662208
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680,668.007932316,639.992067684,885.007932316,785,814,652,629.992067684,655,0.416410210717,0.00445961745822,0.0499268495679,0.999999992639,-1.31180981172e-05,-0.000116917272463,2.96586721208e-05,1793249801858328576
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680,668.580854688,639.419145312,885.580854688,785,814,652,629.419145312,655,0.417249746822,0.00446254222584,0.0499430676165,0.999999995821,-6.67804776668e-06,-8.60280372342e-05,3.02103759183e-05,1793249801874995200
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718,680.307550419,668.846224791,639.153775209,886,785,814.153775209,652,629.153775209,655,0.418098355504,0.00446143559754,0.0499603005051,0.999999997953,-4.84785084441e-06,-5.57150439785e-05,3.10884542363e-05,1793249801891661824
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718,681.453381307,668.273309347,639.726690653,886,785,814.726690653,652,629.726690653,655,0.418971692975,0.00444934072045,0.0499802995103,0.999999998975,-1.55825863305e-05,-2.69726972964e-05,3.28561213044e-05,1793249801908328448
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.311338749,746,718,681.688661251,668,640,886.311338749,785.311338749,814.688661251,652.311338749,630,654.688661251,0.419816955029,0.00444315180145,0.0499783906921,0.999999998599,-2.3655674222e-05,-3.32177882047e-05,3.37504880577e-05,1793249801924994816
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.906689675,746,718,681.093310325,668,640,886.906689675,785.906689675,814.093310325,652.906689675,630,654.093310325,0.420636605833,0.00444235046825,0.049956496925,0.99999999645,-2.93007298836e-05,-7.13794293629e-05,3.38482049869e-05,1793249801941661696
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746,718,681,668,639.511577032,887,785.511577032,814.488422968,653,629.511577032,654.488422968,0.421556344943,0.00444093110017,0.0499786134415,0.999999998666,-3.41398372983e-05,-1.96907479733e-05,3.33979609956e-05,1793249801958328576
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746.067261769,718,681,668.067261769,639.067261769,887.067261769,785.067261769,815,653,629.067261769,655,0.422487678396,0.00443993738509,0.0500048177051,0.999999997971,-3.78877572541e-05,3.91289148821e-05,3.30450495183e-05,1793249801974994688
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,746.643350501,718,681,668.643350501,639.643350501,887.643350501,785.643350501,815,653,629.643350501,655,0.423365994567,0.00444303265493,0.0500000657444,0.999999998493,-3.45141599494e-05,2.55618344719e-05,3.41988938932e-05,1793249801991661568
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746.781597564,718,681.218402436,668.781597564,640,888,786,815,652.781597564,630,655,0.424256415851,0.00444538570056,0.0499939951,0.999999998804,-3.12635638969e-05,1.35509348026e-05,3.50788344447e-05,1793249802008328448
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746.20823062,718,681.79176938,668.20823062,640,888,786,815,652.20823062,630,655,0.425166511437,0.00444653242654,0.0499857812284,0.999999998963,-2.82128784537e-05,4.069258124e-06,3.55136055373e-05,1793249802024994816
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,746,718.376451536,681.623548464,668.376451536,640,888.376451536,785.623548464,815,652.376451536,630,655,0.426072001845,0.00444340675005,0.0499961853941,0.999999998869,-2.69357076265e-05,1.22878258231e-05,3.72110039786e-05,1793249802041661952
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,746,718.967586519,681.032413481,668.967586519,640,888.967586519,785.032413481,815,652.967586519,630,655,0.426974865948,0.00443784460028,0.0500172070874,0.999999998391,-2.66699400181e-05,3.06005206607e-05,3.96284557354e-05,1793249802058328832
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746,718.451564774,681,669.548435226,640,889,785,815,653,630,654.451564774,0.427812828977,0.00443747094692,0.0499899824581,0.999999998301,-2.72493174742e-05,-3.15455879724e-05,4.07360621415e-05,1793249802074995456
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,746,718,681,669.872821743,640,889.127178257,785.127178257,815.127178257,653,630,654.127178257,0.42866250428,0.00443830092733,0.0499635630271,0.999999995303,-2.66544846291e-05,-8.35940346481e-05,4.11886098432e-05,1793249802091662336
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,746,718,681,669.299373595,640,889.700626405,785.700626405,815.700626405,653,630,654.700626405,0.429566489994,0.00444229824656,0.0499497905785,0.999999995465,-2.17672887089e-05,-8.38306276269e-05,3.96091958852e-05,1793249802108328704
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746,718,681.282299929,669,640,889.717700071,785.717700071,816,653,630,655,0.430466847695,0.00444349045029,0.0499454614753,0.999999995824,-2.13487839592e-05,-7.97610177727e-05,3.91796584853e-05,1793249802124995072
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746,718,681.872958052,669,640,889.127041948,785.127041948,816,653,630,655,0.431363242432,0.00444161860641,0.0499514474052,0.999999996347,-2.5811462257e-05,-7.09877123225e-05,4.00061394216e-05,1793249802141661696
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,746,718,682.454555023,669,640,889,785.454555023,815.545444977,652.545444977,630,655,0.432224072015,0.00443945693968,0.0499375235953,0.999999994228,-3.52120039167e-05,-9.34757414357e-05,3.95725109736e-05,1793249802158328320
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,746,718,682.966828388,669,640,889,785.966828388,815.033171612,652.033171612,630.033171612,655,0.433075946587,0.00443722089214,0.0499206703197,0.999999990996,-4.50563008291e-05,-0.000120273097111,3.88958075451e-05,1793249802174995200
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,746,718,682.396270613,669,640,889,785.396270613,815.603729387,652.603729387,630.603729387,655,0.433940629519,0.00443506645734,0.0499447432717,0.999999995348,-4.0169148403e-05,-7.81057756141e-05,3.98751725678e-05,1793249802191661824
+178,2.966666667,POSE1_TO_POSE2_PRESS,768.180581034,746.180581034,718,682.180581034,669,640,889.180581034,785,816.180581034,653,630.819418966,655,0.434798068753,0.00443433114285,0.0499653368854,0.99999999745,-3.61540010223e-05,-4.60722337195e-05,4.08759122888e-05,1793249802208328448
+179,2.983333333,POSE1_TO_POSE2_PRESS,768.771742953,746.771742953,718,682.771742953,669,640,889.771742953,785,816.771742953,653,630.228257047,655,0.43563903841,0.00443682243298,0.0499780196519,0.999999997852,-3.41215006986e-05,-3.70795099483e-05,4.19252512551e-05,1793249802224994816
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.644178587,746.644178587,718,682.644178587,669,640,889.644178587,785,816.644178587,652.644178587,630.355821413,655,0.436435341907,0.00443693081112,0.0499673868824,0.999999996134,-3.4615681957e-05,-6.85376933068e-05,4.28431747897e-05,1793249802241661184
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.064555459,746.064555459,718,682.064555459,669,640,889.064555459,785,816.064555459,652.064555459,630.935444541,655,0.437203551587,0.00443554040412,0.0499420892923,0.999999990505,-3.66990752784e-05,-0.000125438365992,4.36784415208e-05,1793249802258327808
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,718,682,669,639.487501711,889,785.512498289,816.512498289,652.512498289,630.487501711,655,0.438030343657,0.00443221011851,0.0499635307558,0.999999996305,-2.29576059942e-05,-7.0482415442e-05,4.35432146425e-05,1793249802274994688
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,718,682,669.089341887,639.089341887,889,786,817,652.910658113,630.089341887,655,0.438848338283,0.00442903524819,0.04998607933,0.999999998894,-1.16043956815e-05,-1.41819516484e-05,4.33145261202e-05,1793249802291661312
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,718,682,669.666796721,639.666796721,889,786,817,652.333203279,630.666796721,655,0.439578154232,0.00442803781578,0.0499826718197,0.999999998406,-2.41353874129e-05,-2.71299885293e-05,4.32397659601e-05,1793249802308327936
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,746,718,682,669.751874005,640,889,785.751874005,816.751874005,652.248125995,630.751874005,655,0.440292099917,0.00442805744793,0.0499700133325,0.999999997302,-3.1791678524e-05,-5.01190636305e-05,4.32913800595e-05,1793249802324995072
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,746,718,682,669.165259343,640,889,785.165259343,816.165259343,652.834740657,630.165259343,655,0.440984395637,0.00442946453993,0.0499447348423,0.999999994748,-3.27979966025e-05,-8.68059271246e-05,4.3515391451e-05,1793249802341662464
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,746,718,682,669,640,889,785,816.415648206,653,630,655,0.44167808315,0.00443037194421,0.0499489658245,0.999999995497,-3.52659760275e-05,-7.65421627311e-05,4.36346644589e-05,1793249802358329344
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,746,718,682,669,640,889,785,816.994317422,653,630,655,0.442372316594,0.00443108336654,0.0499647706882,0.999999997165,-3.8307232409e-05,-4.7863937717e-05,4.37128581215e-05,1793249802374996224
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,746.570134749,718,682,669,639.429865251,889,785,817,653,630.570134749,655,0.443009322337,0.00443602075118,0.0499722066735,0.999999997998,-2.86712112777e-05,-3.54187256318e-05,4.39076475e-05,1793249802391662848
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,746.854149647,718,682,669,639,889,785,817,652.854149647,631,655,0.443616807179,0.00444148892728,0.049967300442,0.999999997889,-1.78774467763e-05,-4.43345463053e-05,4.40022927571e-05,1793249802408329472
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,746.278650244,718,682,669,639,889,785,817,652.278650244,631,655,0.44413900079,0.0044483972594,0.049926280747,0.999999992339,-4.04354287588e-06,-0.00011570189642,4.37985249203e-05,1793249802424995072
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.695401676,746,717.695401676,682.304598324,668.695401676,639,888.695401676,785,817,652.304598324,631,655,0.444664828743,0.00445396523823,0.0498903984828,0.999999984362,4.19519660196e-06,-0.000171431610585,4.32301350112e-05,1793249802441661184
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.104879054,746,717.104879054,682.895120946,668.104879054,639,888.104879054,785,817,652.895120946,631,655,0.445194068193,0.00445827503648,0.0498593386913,0.999999976504,7.1817938833e-06,-0.000212482382238,4.23194770533e-05,1793249802458328064
+194,3.233333333,POSE1_TO_POSE2_PRESS,767.4764259,746,717.4764259,682.5235741,668,639,888,785,817,653,631,655,0.445723236552,0.00446245430578,0.0498606001579,0.999999979603,8.69056285106e-06,-0.000197482065598,4.14758716714e-05,1793249802474994944
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,746,718,682,668,638.944490749,888.055509251,785,817,653,631,655,0.446246720415,0.00446656407875,0.0498683772523,0.999999984296,1.02430533465e-05,-0.000172201394817,4.0608214265e-05,1793249802491661568
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,746,718,682,668,638.367576844,888.632423156,785,817,653,631,655,0.446716953407,0.00447028584663,0.0498717918491,0.999999985652,1.52040389191e-05,-0.000164057307861,3.93786156697e-05,1793249802508327936
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,746.205956033,718,682,668,638,889,785,817,653,631,655,0.447148979624,0.00447332587821,0.0498619767553,0.999999983103,1.98270240004e-05,-0.000178652970939,3.85289997801e-05,1793249802524994816
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,746.773552071,718,682,668,638,889,785,817,653,631,655,0.447513918177,0.00447516884265,0.0498289315313,0.999999971794,2.38565104939e-05,-0.000233177561282,3.8346598915e-05,1793249802541662464
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747,718,682.358798165,667.28240367,638,889,785,817,653,631,655,0.447871946033,0.00447746413109,0.0497980218169,0.999999959143,2.92823448779e-05,-0.00028178211133,3.81389658384e-05,1793249802558329088
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747,718,682.955760107,666.088479787,638,889,785,817,653,631,655,0.44822538673,0.00448005966427,0.0497685296123,0.999999945359,3.56350502965e-05,-0.000326457050324,3.79145840459e-05,1793249802574995456
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,746.464207759,718,682.464207759,666.535792241,638,889,785,817,653,631,654.464207759,0.448568874454,0.00448157695703,0.049769064881,0.999999945971,3.93142503763e-05,-0.000324165915126,3.78018390714e-05,1793249802591661568
+202,3.366666667,POSE1_TO_POSE2_PRESS,767.89036785,746,718,682,667,638,889,785,817,653,631,654,0.448905335855,0.0044835303487,0.049774230581,0.999999948773,4.2509080406e-05,-0.000315013397712,3.760936849e-05,1793249802608328192
+203,3.383333333,POSE1_TO_POSE2_PRESS,767.336143936,746,718,682,667,638,889,785,817,653,631,654,0.449216534082,0.00448760223724,0.0497884275722,0.999999955312,4.46074277296e-05,-0.000293280447899,3.70573504062e-05,1793249802624995072
+204,3.400000000,POSE1_TO_POSE2_PRESS,767.23304387,746,718,682,667,637.76695613,889,785,817,653,631,654.23304387,0.449504341653,0.00448929674384,0.0497977233601,0.999999958956,4.47647454721e-05,-0.000280565586579,3.69809679991e-05,1793249802641662208
+205,3.416666667,POSE1_TO_POSE2_PRESS,767.82529667,746,718,682,667,637.17470333,889,785,817,653,631,654.82529667,0.449756095339,0.00448732680357,0.0497994645352,0.999999958721,4.1930200853e-05,-0.000281751019088,3.76377204974e-05,1793249802658329088
+206,3.433333333,POSE1_TO_POSE2_PRESS,767.57757298,746,718,682.42242702,666.57757298,637,888.57757298,785,817,653,630.57757298,654.57757298,0.449985391283,0.0044886813204,0.0497949336623,0.999999955923,4.30298054434e-05,-0.000291320383377,3.78683265499e-05,1793249802674995712
+207,3.450000000,POSE1_TO_POSE2_PRESS,767,746,718,683,666,637,888.02070079,785,817,653,630.02070079,654.02070079,0.450203871057,0.00449145088191,0.0497879869539,0.999999951975,4.58424961099e-05,-0.000304158193182,3.79082706353e-05,1793249802691662080
+208,3.466666667,POSE1_TO_POSE2_PRESS,767,746,718,683,666,637,888.594978069,785,817,653,630.594978069,654.594978069,0.450384382485,0.00449486456946,0.049786613202,0.999999949786,5.04477477397e-05,-0.000310593910902,3.76176420903e-05,1793249802708328448
+209,3.483333333,POSE1_TO_POSE2_PRESS,767,746,718,682.830191033,666.169808967,637,888.830191033,785,817,653,630.830191033,655,0.450557168077,0.00449696109609,0.0497856114284,0.999999948249,5.31537183145e-05,-0.000315086025663,3.73740488624e-05,1793249802724995072
+210,3.500000000,POSE1_TO_POSE2_PRESS,767,746,718,682.254035425,666.745964575,637,888.254035425,785,817,653,630.254035425,655,0.450711466002,0.0044959057044,0.0497854997855,0.9999999484,5.13147782325e-05,-0.000314927168846,3.72430094722e-05,1793249802741661696
+211,3.516666667,POSE1_TO_POSE2_PRESS,767.330174348,746,718,682.330174348,666.669825652,636.669825652,888.330174348,785.330174348,817,653,630,654.669825652,0.450845499151,0.00449659131355,0.0497843865433,0.999999947127,5.11455024447e-05,-0.00031896694394,3.72778594461e-05,1793249802758328320
+212,3.533333333,POSE1_TO_POSE2_PRESS,767.920735988,746,718,682.920735988,666.079264012,636.079264012,888.920735988,785.920735988,817,653,630,654.079264012,0.45096355079,0.00449864993806,0.049782483404,0.99999994469,5.2292983391e-05,-0.000326317910182,3.74435356855e-05,1793249802774994944
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768,746,718,682,666.92265518,636.07734482,889,785,817,652.92265518,631,655,0.451145523505,0.00449833884549,0.0497676704386,0.999999936732,4.88160155566e-05,-0.000350503607078,3.60447694132e-05,1793249802808329216
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+242,4.033333333,HOLD_POSE2,768,747,718,682,666,636,889,785,818,653,631,655,0.451505859954,0.00455544266259,0.0497465537852,0.999999917302,0.000104696748753,-0.000392515397772,1.91252403311e-05,1793249803294322944
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,767.759410194,746,718,682.240589806,665.240589806,636,889,785,817,653,631,654.240589806,0.451495720526,0.00455715024513,0.0497408739917,0.999999913386,0.000106337793975,-0.000401943281708,1.90379241848e-05,1793249803732154880
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767.182241787,746,718,682.817758213,665.817758213,636,889,785,817,653,631,654.817758213,0.451483041593,0.0045563949742,0.049734692401,0.99999990902,0.000107477186105,-0.000412362853248,1.91081047207e-05,1793249803748821248
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.391771398,746.391771398,718,682.608228602,666.391771398,636,889,785,817,653,631,655,0.451448631704,0.00455626362278,0.0497200868002,0.999999897973,0.000107653865315,-0.000438295947422,1.90135839919e-05,1793249803765487616
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.964328632,746.964328632,718,682.035671368,666.964328632,636,889,785,817,653,631,655,0.451404193902,0.0045564201836,0.0497015938765,0.999999882953,0.000107386293465,-0.000471387872954,1.88430606242e-05,1793249803782154240
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,746.4456776,718,682.5543224,666.4456776,636,889,785,817,653.5543224,631,655,0.451337617052,0.00455823018788,0.0496795347232,0.999999864358,0.000109662083854,-0.000508855961198,1.79759282522e-05,1793249803798820864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,682.857583592,665.857583592,636,889,785,817,653.857583592,631,655,0.451267836419,0.00455960507597,0.049659433119,0.999999847455,0.000111445352213,-0.000540719668574,1.71012867677e-05,1793249803815488000
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.278858778,665.278858778,636,889,785,817,653.278858778,631,655,0.451192747035,0.00455931037939,0.0496460545845,0.999999839936,0.000111202024191,-0.000554522978202,1.63454349709e-05,1793249803832154880
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889,785,817,653,631,655,0.451112366454,0.0045599324942,0.0496388171451,0.999999836182,0.000112243646139,-0.000561064921772,1.55970406006e-05,1793249803848821760
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889,785,817,653,631,655,0.451027065358,0.00456140719266,0.0496372905834,0.999999836058,0.000114480200153,-0.000560854197848,1.48555812698e-05,1793249803865488384
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.548855325,746,718,682,665.451144675,636,889,785,817,653,630.548855325,655,0.450924347378,0.00456236939004,0.0496389599379,0.99999983781,0.000116494772509,-0.000557315752879,1.44575714282e-05,1793249803882155008
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.024906523,746,718,682,666,636,889,785,817,653,630.024906523,655,0.450815997307,0.00456327903319,0.0496416996341,0.999999840281,0.000118567186083,-0.000552431745068,1.41345356316e-05,1793249803898821376
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767.615390001,746,718,682,666,636,889,785,817,653,630.615390001,655,0.450686602261,0.00456613935078,0.0496491384362,0.999999847903,0.000123314863531,-0.000537407508827,1.34070266165e-05,1793249803915488000
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,666,636,889,785,817,653,630.798172335,655,0.450544911273,0.00456883396134,0.0496561805939,0.999999854089,0.000127684837823,-0.000524747546,1.26105350825e-05,1793249803932154624
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,666,636,889,785,817,653,630.219293066,655,0.450380249191,0.00457121900001,0.0496624817455,0.999999857917,0.000131349191905,-0.000516504487338,1.16851714636e-05,1793249803948821248
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,666.358274795,636.358274795,889,785.358274795,817,653,630.358274795,655,0.450189565166,0.00457301245363,0.0496634531889,0.999999858004,0.000134888011342,-0.000515440969706,1.08158681388e-05,1793249803965487872
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,666.935042953,636.935042953,889,785.935042953,817,653,630.935042953,655,0.449983011681,0.00457444513019,0.0496611743182,0.999999855826,0.000138350274016,-0.000518755883934,9.98075301335e-06,1793249803982154496
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,746.507443395,718,682,666.492556605,636.492556605,889.507443395,785.492556605,817,653,631,655,0.449747638392,0.00457828279361,0.0496595018277,0.99999985444,0.00014529829372,-0.000519551577524,8.58470417757e-06,1793249803998821120
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.917780262,746.917780262,718,682,666.082219738,636.082219738,889.917780262,785,817,653,631,655,0.449501276077,0.00458232804319,0.0496580000292,0.999999852866,0.000152533844474,-0.000520528411613,7.141641065e-06,1793249804015487744
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767.324800665,746.324800665,718,682,666.675199335,636.675199335,889.324800665,785,817,653,631,655,0.449209370465,0.00458576670924,0.0496570805085,0.999999849762,0.000158807341231,-0.00052461671682,5.84876938233e-06,1793249804032154368
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.261638009,746,718,682.261638009,666.738361991,637,888.738361991,785,817,653,631,655,0.448907712429,0.00458853544333,0.0496572656306,0.999999849616,0.00016481997858,-0.000523049768831,4.60664023688e-06,1793249804048820992
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767.840154717,746,718,682.840154717,666.159845283,637,888.159845283,785,817,653,631,655,0.448594242918,0.00459049279982,0.0496587886233,0.999999853032,0.00017051667984,-0.000514633550974,3.42596718269e-06,1793249804065487616
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767.583102504,746,718,682.583102504,666.416897496,637,888.416897496,785,817,653,630.583102504,655,0.44824493653,0.00459574035151,0.0496573786639,0.99999985201,0.000178174551394,-0.000514034680589,1.29213011881e-06,1793249804082154240
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767.007037009,746,718,682.007037009,666.992962991,637,888.992962991,785,817,653,630.007037009,655,0.447881947928,0.00460224407234,0.0496548489277,0.999999849248,0.000186581181326,-0.00051642040867,-1.20561701531e-06,1793249804098821120
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.579060819,746,718,682,667,637.579060819,889,785,817,653,630.579060819,655,0.447486185654,0.00460629560984,0.0496524418406,0.999999846963,0.000194126474223,-0.000518054436458,-3.07180402865e-06,1793249804115487744
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.163321261,667,638,888.836678739,785.163321261,817,653,630.836678739,655,0.447073124883,0.00461073102807,0.0496504127319,0.999999844708,0.000202236498105,-0.000519288134614,-4.95936705639e-06,1793249804132154368
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,746,718,682.74258622,667,638,888.25741378,785.74258622,817,653,630.25741378,655,0.446617040887,0.00461622133864,0.0496493423894,0.99999984259,0.000211811895798,-0.000519525955168,-6.92126103423e-06,1793249804148820992
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,746,718,683,667,638,888,785.679584662,817,653,630.320415338,655,0.446160225096,0.0046199985637,0.0496607271353,0.999999850642,0.000218341795218,-0.000500969906752,-8.52824833894e-06,1793249804165487616
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,746,718,683,667,638,888,785.102903855,817,653,630.897096145,655,0.445702823973,0.0046224056781,0.0496820733553,0.999999865989,0.000222435931798,-0.000467382680922,-9.85138450119e-06,1793249804182154240
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,746,718,683,667.472894944,638,888,785.472894944,817,653,631,654.527105056,0.445208311032,0.00462665230155,0.049713421857,0.999999882144,0.000230515906408,-0.000427140041381,-1.12111416298e-05,1793249804198820864
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.049906486,746,718,682.950093514,668,638.049906486,888,786,817,653,630.950093514,654.049906486,0.444700371437,0.00463104911076,0.0497446753617,0.999999895854,0.000239295480608,-0.00038842240045,-1.2587587261e-05,1793249804215487744
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.642180052,746,718,682.357819948,668,638.642180052,888,786,817,653,630.357819948,654.642180052,0.444134115515,0.00463273603063,0.0497512866512,0.999999896619,0.000246269725321,-0.000381987657729,-1.40589573233e-05,1793249804232154112
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768.543926716,746,718,682,668.228036642,639,888,786,816.771963358,653,630,655,0.443532946324,0.00463471497489,0.0497476021477,0.99999989161,0.000252012650477,-0.000391162957774,-1.6187595896e-05,1793249804248820992
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.391800613,746,718,682,668.804099693,639,888,786,816.195900307,653,630,655,0.442878493014,0.00463713960269,0.049728204345,0.99999987712,0.000255876351949,-0.000424162092111,-1.93193485976e-05,1793249804265488640
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.379382902,668.620617098,639,888,785.620617098,816,652.620617098,630,654.620617098,0.442255684629,0.00463902535518,0.0497378576049,0.99999988479,0.000259115663323,-0.000403454742095,-2.24177403737e-05,1793249804282155776
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.954264236,668.045735764,639,888,785.045735764,816,652.045735764,630,654.045735764,0.441649183097,0.0046406334217,0.0497624810635,0.999999902306,0.000262033221967,-0.000355072096276,-2.549894092e-05,1793249804298822656
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.47209655,668.52790345,639,888,785,816.52790345,652,630,654.52790345,0.441004596253,0.0046429870504,0.0498014375107,0.999999921607,0.000266277855329,-0.000291650509893,-2.86582448696e-05,1793249804315489280
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767.10536025,746,717.89463975,682,669,639,887.89463975,785.10536025,816.89463975,652,630,654.89463975,0.440339895574,0.00464288249823,0.0498325014596,0.999999939468,0.000247519632346,-0.000242439611432,-3.19406132462e-05,1793249804332155648
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.701084213,746,717.298915787,682,669,639,887.298915787,785.701084213,816.298915787,652,630,654.298915787,0.439596902779,0.00463103725193,0.0498210666345,0.999999956796,0.000121168532875,-0.000265417363803,-3.57643236782e-05,1793249804348821760
+305,5.083333333,POSE2_TO_POSE3_RETREAT,768,745.713117454,717,681.713117454,668.713117454,639,887,786,816,652.286882546,630,654.286882546,0.4388085129,0.00461642910093,0.0497947851702,0.999999949619,5.02628111577e-05,-0.000311042495528,-3.85798901673e-05,1793249804365488128
+306,5.100000000,POSE2_TO_POSE3_RETREAT,768,745.137315163,717,681.137315163,668.137315163,639,887,786,816,652.862684837,630,654.862684837,0.437974403474,0.00459903842399,0.0497535516366,0.999999926564,3.51961797289e-05,-0.000379475834409,-4.03801544929e-05,1793249804382154752
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.565861037,745.434138963,717.434138963,681.434138963,668.434138963,639,887,786,816,652.565861037,630,655,0.437196433661,0.00460503722419,0.0497612907868,0.999999928566,5.17489012071e-05,-0.000371888161439,-4.34752197031e-05,1793249804398821120
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.004415497,746,718,682,669,639,887,785.995584503,816,652.004415497,630,655,0.436435688333,0.0046183071033,0.0497842923292,0.999999937839,7.81588548746e-05,-0.000340599271191,-4.69637604538e-05,1793249804415487744
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.599311539,746,718,682,669,639,887,785.400688461,816,652.599311539,630,655,0.435627328279,0.00462442371316,0.0497974342589,0.999999941655,9.8607569772e-05,-0.000323387618238,-4.88475868249e-05,1793249804432154880
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,668.810851483,639,886.810851483,785.189148517,816,652.810851483,630,654.810851483,0.43480185462,0.00462855799338,0.0497984932868,0.999999940181,0.000113991982676,-0.00032257533751,-5.08727342196e-05,1793249804448821760
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,668.231452382,639,886.231452382,785.768547618,816,652.231452382,630,654.231452382,0.433941072281,0.00462860233743,0.0497746229114,0.999999928288,0.000118927743594,-0.000355598187473,-5.31894545841e-05,1793249804465488384
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,746,718,681.654935075,668,639,886,786,816,652.345064925,630,654,0.433086354866,0.00462662798167,0.0497799551419,0.99999992662,0.000152125307617,-0.000348623448814,-4.55937638342e-05,1793249804482155008
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746,718,681.080334744,668,639,886,786,816,652.919665256,630,654,0.432235671843,0.00462331079723,0.0498047127961,0.999999929048,0.000204122476471,-0.000315042518553,-3.14043881978e-05,1793249804498821632
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.494444515,746,718,681.505555485,668.505555485,639,886,786,816,653,630,654.505555485,0.431371509287,0.0046173530005,0.0498005407205,0.999999933573,0.00017247170753,-0.000319417879225,-3.28676929076e-05,1793249804515488256
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.091835276,746,718,682,668.908164724,639,885.908164724,785.908164724,815.908164724,652.908164724,630,654.908164724,0.430497234063,0.00461252113682,0.0497888947115,0.999999934218,0.000133702655144,-0.000335151306938,-3.69011365007e-05,1793249804532154880
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.670453223,746,718,682,668.329546777,639,885.329546777,785.329546777,815.329546777,652.329546777,630,654.329546777,0.429580968854,0.00461593236106,0.0497625560517,0.999999919212,0.000129267311127,-0.000378389029544,-4.10726758698e-05,1793249804548821504
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,668.597126915,639,885.597126915,786,815,653,630,654,0.426865324405,0.00463442896954,0.0497784798926,0.999999919768,0.000159572520566,-0.000364642487147,-4.51379993378e-05,1793249804598821632
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,668.02226489,639,885.02226489,786,815,653,630,654,0.425919789173,0.00463612240162,0.0497637960596,0.999999909621,0.000166574629671,-0.000388753936273,-4.33707851765e-05,1793249804615488256
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,668,639,884.434659332,786,815,652.434659332,630,654,0.425097895557,0.00463231897039,0.0497883608451,0.999999934157,0.00015504727151,-0.000324969405209,-4.51711143309e-05,1793249804632154880
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,746,718,681.848932544,668,639,884,786,815,652,630,654.151067456,0.424265007555,0.00462878467471,0.0498124631158,0.999999951917,0.000147216630235,-0.000268916093138,-4.66703967628e-05,1793249804648821504
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,746,718,681.269981523,668,639,884,786,815,652,630,654.730018477,0.423386868949,0.00462663998797,0.0498307762553,0.999999957391,0.000151971181156,-0.000244791499448,-4.69098620486e-05,1793249804665488128
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767.69285579,745.69285579,718,681,667.69285579,639,883.69285579,786,814.69285579,652,630,655,0.422480789438,0.00462623537942,0.0498221771157,0.999999951725,0.000154367521394,-0.000265510751758,-4.71753518154e-05,1793249804682154496
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767.117325047,745.117325047,718,681,667.117325047,639,883.117325047,786,814.117325047,652,630,655,0.421550294855,0.00462735127351,0.0497900616822,0.99999993396,0.000154703226417,-0.000325415129855,-4.7463581982e-05,1793249804698821120
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.453121287,718,681,667,639,883,786,814,652.453121287,630,655,0.420664557558,0.00462791753619,0.0497883809888,0.999999931172,0.000152062239628,-0.000335180326528,-4.67702228043e-05,1793249804715488000
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767.02332461,746,718,680.97667539,667.02332461,639,882.97667539,786,814.02332461,652.97667539,630,654.97667539,0.419790370462,0.00462859139364,0.0497942033226,0.999999932397,0.000149296473589,-0.000332888778449,-4.58419838597e-05,1793249804732155136
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767.619534112,746,718,680.380465888,667.619534112,639,882.380465888,786,814.619534112,652.380465888,630,654.380465888,0.418918394353,0.00463536457289,0.0497929056364,0.999999924643,0.000162186445436,-0.00034979329837,-4.53180106683e-05,1793249804748822016
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,718,680,667.579871457,639,882,786,814.789935729,652.210064271,630,654.210064271,0.418063773433,0.0046392955758,0.0497872792501,0.999999918521,0.000167194443699,-0.000364581112458,-4.56682065138e-05,1793249804765488384
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,718,680,666.418842099,639,882,786,814.209421049,652.790578951,630,654.790578951,0.417239758413,0.00463821437389,0.0497740191582,0.999999915788,0.000158302506269,-0.000375636097978,-4.75600079873e-05,1793249804782154752
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.367156761,746,718,680,666.367156761,639,882,786,814,653,630,655,0.416450390536,0.00463465582402,0.049785391048,0.999999926059,0.000152711277175,-0.000349576363374,-4.85580992058e-05,1793249804798821376
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.941512826,746,718,680,666.941512826,639,882,786,814,653,630,655,0.415680575294,0.00462969922076,0.0498106636209,0.999999941924,0.000148982752617,-0.000302571502799,-4.90518385117e-05,1793249804815487744
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.485218347,746,718,680,667,639,882,786,814,653,630,654.485218347,0.414881809124,0.00462878360202,0.0498066649882,0.999999939768,0.000150021302603,-0.000309105818818,-4.90965085975e-05,1793249804832154624
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.909048466,746,718,679.909048466,666.909048466,639,881.909048466,785.909048466,814,652.909048466,630,654,0.414084371093,0.00462882358567,0.0497967412916,0.999999934088,0.000151828840181,-0.000326119231196,-4.91821736776e-05,1793249804848821504
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.316189158,746,718,679.316189158,666.316189158,639,881.316189158,785.316189158,814,652.316189158,630,654,0.413312375602,0.0046316087104,0.0497724343568,0.99999991925,0.000154897419789,-0.000367463508947,-4.97750284406e-05,1793249804865488384
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.541197574,746,717.729401213,679.270598787,666.270598787,639,881,785.270598787,813.729401213,652,630,654.270598787,0.412580485192,0.00463413515278,0.0497692793436,0.999999915754,0.000159429593343,-0.000374935276021,-4.99847144093e-05,1793249804882155008
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.700896215,746,717.149551892,679.850448108,666.850448108,639,881,785.850448108,813.149551892,652,630,654.850448108,0.411894428439,0.00463636596299,0.0497902975485,0.999999925981,0.000165634417347,-0.000343696253633,-4.97565005782e-05,1793249804898821120
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.573533713,746,717,680,667,639,881,785.573533713,813,652,630,654.573533713,0.411214092453,0.00463531747224,0.0498055312663,0.99999993338,0.000162286864216,-0.000323269846434,-4.89797966398e-05,1793249804915487744
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,746,717.001143967,680,666.998856033,639,881,785,812.998856033,652.001143967,629.998856033,654.001143967,0.410535764643,0.00463313146745,0.0498186806005,0.9999999397,0.000155629829442,-0.000306715247527,-4.80164496937e-05,1793249804932154368
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,746,717.57133688,680,666.42866312,639,881,785,812.42866312,652.57133688,629.42866312,654.57133688,0.409867361015,0.00463205105242,0.0497950401634,0.99999992678,0.000154192107405,-0.000346785882851,-4.9036568137e-05,1793249804948821504
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767.851943203,746,718,679.851943203,666,638.851943203,880.851943203,785,812.148056797,652.851943203,629.148056797,654.851943203,0.409224213408,0.00462983720205,0.0497804909358,0.999999918955,0.000151972269641,-0.000369470524677,-4.9865366171e-05,1793249804965488640
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767.255454259,746,718,679.255454259,666,638.255454259,880.255454259,785,812.744545741,652.255454259,629.744545741,654.255454259,0.408657560686,0.00462419041987,0.0497934770183,0.999999930254,0.000147383572016,-0.000339496747773,-5.01146963189e-05,1793249804982155264
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.670041092,717.670041092,679.329958908,666.329958908,638.329958908,880.329958908,785,812.670041092,652.329958908,630,654,0.408108171119,0.0046228664268,0.0498100864697,0.999999938402,0.000145690760221,-0.000315404550253,-4.99067023581e-05,1793249804998822144
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745.092924342,717.092924342,679.907075658,666.907075658,638.907075658,880.907075658,785,812.092924342,652.907075658,630,654,0.407571712664,0.00462478044703,0.049829410028,0.999999944375,0.000146167130624,-0.000295717989443,-4.93561468284e-05,1793249805015488768
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767.482650725,745.482650725,717,679.517349275,667,639,880.517349275,785,812.482650725,653,630,654,0.407029467403,0.00462632551684,0.0498178712195,0.999999937809,0.000142255496835,-0.000318907619257,-4.94233065817e-05,1793249805032155648
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,717,679,666.940368941,639,880,785.059631059,812.940368941,653,630,654,0.406489393384,0.00462779952043,0.0497995429113,0.999999927541,0.000137989835176,-0.000351298539004,-4.96631737192e-05,1793249805048822784
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746,717,679,666.348196357,639,880,785.651803643,812.348196357,653,630,654,0.405978627996,0.00462927121402,0.0497734761142,0.999999912218,0.000138083212139,-0.000392375875486,-5.03867036069e-05,1793249805065488896
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,746,717.238534613,679,666,639,880,785.761465387,812.238534613,652.761465387,630,654,0.405501754078,0.00463254156082,0.0497611017454,0.999999903012,0.000143454009059,-0.000413310930087,-5.07061944801e-05,1793249805082155008
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,746,717.817499405,679,666,639,880,785.182500595,812.817499405,652.182500595,630,654,0.405073249196,0.00463837889696,0.0497682688438,0.999999904289,0.000156356597936,-0.000405499459276,-5.04490517728e-05,1793249805098821376
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,745.606537018,717.606537018,679,666.393462982,639,880,785,812.606537018,652.393462982,630,654,0.404704689835,0.0046386813608,0.0497899793589,0.999999917596,0.000160336710728,-0.000369620242183,-4.9806037003e-05,1793249805115488000
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,745.031954912,717.031954912,679,666.968045088,639,880,785,812.031954912,652.968045088,630,654,0.404363724597,0.0046364360093,0.0498183845092,0.999999934504,0.000160209624602,-0.000320820861271,-4.89853972464e-05,1793249805132154880
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,745,717.554205451,679.554205451,666.445794549,639,880,785,812,653,630,654,0.404035624587,0.00463488884776,0.0498407910027,0.999999944217,0.000160716212551,-0.000288858117968,-4.79277479396e-05,1793249805148821760
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,745,718,679.861374821,666,639,880.138625179,785,812,653,630,654,0.403710521938,0.00463409416845,0.0498559548644,0.999999949538,0.000161655352498,-0.000269385781059,-4.713796682e-05,1793249805165488384
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,745,718,679.284611394,666,639,880.715388606,785,812,653,630,654,0.403392498115,0.00463554783066,0.0498493441964,0.99999994449,0.00016384367254,-0.000286256848913,-4.72389222204e-05,1793249805182155008
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,745,717.705869989,679,666.294130011,639,880.705869989,785,812.294130011,653,630,654,0.403087521439,0.0046342475178,0.0498389210146,0.999999938602,0.000157996630693,-0.000309187170469,-4.72994019725e-05,1793249805198821888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,745,717.125201694,679,666.874798306,639,880.125201694,785,812.874798306,653,630,654,0.402795255173,0.00463026431205,0.0498247837233,0.999999931337,0.000144321625756,-0.000338020350431,-4.73204507525e-05,1793249805215488512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767.550473105,745.449526895,717,679,666.550473105,638.550473105,880.449526895,785,812.550473105,653,630,654,0.402547530106,0.00462064572284,0.0498154913209,0.999999928842,0.0001220729828,-0.000353874333509,-4.67740220325e-05,1793249805232155136
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767.023260238,745.976739762,717,679,666,638,880.976739762,785,812,653,630,654,0.402314001101,0.00460964253215,0.0498079222305,0.999999927357,9.85791390405e-05,-0.000365309788234,-4.60041268359e-05,1793249805248821248
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.612505913,745.387494087,717,679,666,638,880.387494087,785,812,653,630,654,0.402127976364,0.00460264183716,0.0498098798133,0.99999993045,0.000102133030246,-0.000356044892848,-4.35923926389e-05,1793249805265487872
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767.801756103,745,717,679,666,638,880.198243897,785,812.198243897,653,630,654,0.401953964157,0.00460068908779,0.0498130081104,0.999999933186,0.00010940230212,-0.000346218051138,-4.23296258299e-05,1793249805282154496
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767.222755227,745,717,679,666,638,880.777244773,785,812.777244773,653,630,654,0.401803023828,0.00460843167183,0.0498183849387,0.999999935183,0.000123807516402,-0.000335311908732,-4.32736225639e-05,1793249805298821376
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.354628576,745,717,679,666,638,880.645371424,785,812.645371424,653,630,654,0.401673978894,0.00460962614704,0.0498247143615,0.999999939176,0.000128488022945,-0.000321313377633,-4.35575850499e-05,1793249805315488256
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767.931001304,745,717,679,666,638,880.068998696,785,812.068998696,653,630,654,0.401558624821,0.00460672618466,0.0498316394284,0.999999944352,0.000127087810902,-0.000305381219245,-4.34288376962e-05,1793249805332154624
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.505242442,880,785,812.505242442,653,630,654,0.401457961389,0.00460939168813,0.0498328196267,0.999999944998,0.000128532010152,-0.000302546183962,-4.41533471718e-05,1793249805348820992
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.918423505,880,785,813,653,630,654,0.401361663167,0.00461208289763,0.0498328916089,0.999999944925,0.000130142084055,-0.000302000159354,-4.48100598527e-05,1793249805365487616
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.327202848,880,785,813,653,630,654,0.401280155111,0.00461020628399,0.0498309209215,0.999999944121,0.000130371837766,-0.000304627268655,-4.43182892964e-05,1793249805382154240
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.258344439,880,785,813,653,630,654,0.401210555913,0.0046093051913,0.0498305136138,0.999999944149,0.000130235892117,-0.000304618856375,-4.41426264597e-05,1793249805398820864
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.836860564,880,785,813,653,630,654,0.401155715616,0.00460961308232,0.0498320438357,0.999999945208,0.000129646727559,-0.000301344186721,-4.43587225849e-05,1793249805415488512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880.412757665,785,813,653,630,654,0.401116000258,0.00461008222274,0.0498347848576,0.999999947084,0.000129600104795,-0.000295028290966,-4.46568855165e-05,1793249805432155136
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880.987626129,785,813,653,630,654,0.401082225228,0.00461061469394,0.0498380014219,0.999999949235,0.000129766565627,-0.000287517952054,-4.49872802243e-05,1793249805448821504
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880.425308125,785,812.425308125,653,630,654,0.401058536994,0.00461059854919,0.0498399565011,0.999999950741,0.000129825180148,-0.00028220936544,-4.49680233486e-05,1793249805465488128
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,812.159817287,653,630,654,0.40103607704,0.00461063090585,0.0498411528663,0.999999951657,0.000129876717022,-0.000278918712697,-4.49661366679e-05,1793249805482155008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,812.739145026,653,630,654,0.401016258801,0.00461082225496,0.0498404304969,0.999999951123,0.000129915902982,-0.00028079787411,-4.50300359301e-05,1793249805498821632
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767.682372076,745,717,679,666.317627924,639,880,785,812.682372076,653,630,654,0.401001638932,0.00461150173858,0.0498397094007,0.999999950798,0.000130452278223,-0.000281687415303,-4.5153889215e-05,1793249805515488000
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767.10458111,745,717,679,666.89541889,639,880,785,812.10458111,653,630,654,0.400991276946,0.00461258104401,0.0498389893473,0.999999950644,0.000131395891833,-0.000281766377442,-4.53268497164e-05,1793249805532154624
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,717,679,667,638.529460291,880,785,812.470539709,653,630,654,0.400988122538,0.00461253505148,0.0498404423986,0.999999951705,0.000130489204479,-0.000278415732551,-4.5241442548e-05,1793249805548821248
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,717,679,667,638.046181595,880,785,812.953818405,653,630,654,0.400986534208,0.00461220664705,0.0498422814115,0.999999952953,0.000129288262426,-0.000274483850305,-4.51297317397e-05,1793249805565487872
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,717,679,667,638.6348774,880,785,812.3651226,653,630,654,0.400984630791,0.00461148215561,0.0498430126152,0.999999953431,0.000129434378482,-0.00027262794817,-4.5379800706e-05,1793249805582154752
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767.220857225,745,717,679,666.779142775,639,880,785,812.220857225,653,630,654,0.400982588764,0.0046111082303,0.0498430791843,0.999999953471,0.000130222650178,-0.000272095391611,-4.54317786091e-05,1793249805598821376
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767.802401487,745,717,679,666.197598513,639,880,785,812.802401487,653,630,654,0.400980320368,0.00461130682267,0.0498420603232,0.999999952798,0.000132059641077,-0.000273724021392,-4.51602494057e-05,1793249805615488256
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.379518725,639,880,785,812.620481275,653,630,654,0.400980197899,0.00461130723086,0.0498424801323,0.999999952986,0.000132201724496,-0.000272980061162,-4.50923745805e-05,1793249805632154880
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.954357567,639,880,785,812.045642433,653,630,654,0.400981179836,0.00461120564312,0.0498436403561,0.999999953615,0.000131471520126,-0.000271015042395,-4.51293109219e-05,1793249805648821504
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d0d6d928bb9d6a491883554cad78ff8406c3a425
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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+218,3.633333333,pose1_to_pose2_press,0.618434576649,0.0101500663286,1.0400335194,0.589005255619,0.0188227028628,1.03970491209
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+220,3.666666667,pose1_to_pose2_press,0.618490426241,0.010150356091,1.04003362916,0.589061101477,0.0188229800011,1.03970502133
+221,3.683333333,pose1_to_pose2_press,0.618509944278,0.0101502107697,1.04003342305,0.589080621105,0.0188228401631,1.0397048178
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+226,3.766666667,pose1_to_pose2_press,0.618544507054,0.0101501703742,1.04003330425,0.589115184067,0.0188228007806,1.03970470793
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+233,3.883333333,pose1_to_pose2_press,0.618548069757,0.0101501191512,1.04003350035,0.589118747477,0.0188227516637,1.03970489551
+234,3.900000000,pose1_to_pose2_press,0.61854848266,0.0101502084096,1.04003344751,0.589119159325,0.0188228373369,1.03970484252
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+236,3.933333333,pose1_to_pose2_press,0.618548734426,0.0101502628344,1.04003341528,0.589119410447,0.0188228895757,1.03970481021
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+238,3.966666667,pose1_to_pose2_press,0.618548936366,0.0101502283814,1.04003340279,0.589119612733,0.0188228562781,1.03970479718
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+240,4.000000000,pose1_to_pose2_press,0.6185491577,0.0101500736125,1.0400334091,0.589119835738,0.0188227071332,1.03970480219
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+259,4.316666667,pose2_to_pose3_retreat,0.618549230036,0.0101500293318,1.04003335998,0.589119910543,0.0188226715731,1.0397047626
+260,4.333333333,pose2_to_pose3_retreat,0.618549221062,0.0101500333264,1.04003337825,0.589119900807,0.0188226728477,1.03970477732
+261,4.350000000,pose2_to_pose3_retreat,0.6185491346,0.010150093319,1.04003341459,0.589119812466,0.018822726214,1.03970480714
+262,4.366666667,pose2_to_pose3_retreat,0.618549045307,0.0101501602496,1.04003341982,0.589119722494,0.0188227908302,1.03970481204
+263,4.383333333,pose2_to_pose3_retreat,0.618549022403,0.0101501774174,1.04003342116,0.589119699416,0.0188228074043,1.03970481329
+264,4.400000000,pose2_to_pose3_retreat,0.618548864453,0.0101502595036,1.04003343767,0.589119540633,0.0188228866359,1.03970482914
+265,4.416666667,pose2_to_pose3_retreat,0.61854773165,0.0101502215762,1.04003368137,0.589118408169,0.0188228496303,1.03970506691
+266,4.433333333,pose2_to_pose3_retreat,0.61854452044,0.010150086723,1.04003354828,0.589115198579,0.0188227204978,1.03970493984
+267,4.450000000,pose2_to_pose3_retreat,0.618535888546,0.0101501218126,1.04003359492,0.589106566174,0.0188227538317,1.03970498602
+268,4.466666667,pose2_to_pose3_retreat,0.618520011394,0.0101501072278,1.04003337983,0.589090688587,0.0188227382259,1.03970478246
+269,4.483333333,pose2_to_pose3_retreat,0.61849380638,0.0101501271814,1.04003343339,0.589064483566,0.0188227577868,1.03970482697
+270,4.500000000,pose2_to_pose3_retreat,0.618456840607,0.0101499657842,1.0400333735,0.58902752041,0.0188226052584,1.03970476952
+271,4.516666667,pose2_to_pose3_retreat,0.618409241011,0.010150068619,1.04003345007,0.58897991962,0.0188227039165,1.0397048447
+272,4.533333333,pose2_to_pose3_retreat,0.618353758384,0.0101501221063,1.04003361337,0.588924436989,0.0188227575136,1.03970500851
+273,4.550000000,pose2_to_pose3_retreat,0.618291202584,0.0101500085752,1.04003344668,0.588861881586,0.0188226453004,1.03970484345
+274,4.566666667,pose2_to_pose3_retreat,0.618222243753,0.010150019695,1.04003354393,0.588792922649,0.018822655978,1.03970494118
+275,4.583333333,pose2_to_pose3_retreat,0.618146706127,0.0101500161326,1.04003356699,0.588717385934,0.0188226555509,1.03970496447
+276,4.600000000,pose2_to_pose3_retreat,0.618061904536,0.0101500396177,1.04003338969,0.588632584083,0.0188226782481,1.03970478812
+277,4.616666667,pose2_to_pose3_retreat,0.617966594229,0.0101501326271,1.04003318205,0.58853727114,0.0188227623025,1.03970458093
+278,4.633333333,pose2_to_pose3_retreat,0.617858030708,0.0101500422132,1.04003351937,0.588428708468,0.0188226743911,1.03970490913
+279,4.650000000,pose2_to_pose3_retreat,0.617734345431,0.0101501003146,1.04003363443,0.588305023937,0.0188227349123,1.03970502268
+280,4.666666667,pose2_to_pose3_retreat,0.617593919634,0.0101500268703,1.04003366472,0.588164599145,0.0188226648171,1.03970505257
+281,4.683333333,pose2_to_pose3_retreat,0.617435502574,0.010150095376,1.04003367764,0.588006181742,0.0188227320401,1.03970506379
+282,4.700000000,pose2_to_pose3_retreat,0.617259235093,0.0101501612288,1.04003357097,0.587829914162,0.0188227977242,1.03970496317
+283,4.716666667,pose2_to_pose3_retreat,0.617061282676,0.0101500368423,1.04003339371,0.587631963207,0.0188226786728,1.03970479702
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+285,4.750000000,pose2_to_pose3_retreat,0.616609567088,0.0101501465668,1.04003364782,0.587180242005,0.0188227686953,1.03970503714
+286,4.766666667,pose2_to_pose3_retreat,0.616355052367,0.0101500943335,1.04003337033,0.586925732199,0.0188227337093,1.03970477714
+287,4.783333333,pose2_to_pose3_retreat,0.616080801447,0.010150161681,1.04003348283,0.586651477919,0.01882278919,1.03970487968
+288,4.800000000,pose2_to_pose3_retreat,0.615788797194,0.010150166432,1.04003362123,0.586359473636,0.0188227934441,1.03970500937
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+291,4.850000000,pose2_to_pose3_retreat,0.614788652361,0.0101500710161,1.04003353893,0.585359331798,0.0188227082642,1.03970493488
+292,4.866666667,pose2_to_pose3_retreat,0.614418932341,0.0101500728661,1.04003365249,0.584989610891,0.0188227068302,1.03970504304
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+296,4.933333333,pose2_to_pose3_retreat,0.61276162585,0.0101500237017,1.04003358698,0.583332305505,0.0188226614079,1.03970498057
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+298,4.966666667,pose2_to_pose3_retreat,0.611780291847,0.0101501929367,1.04003363078,0.582350970217,0.0188228261639,1.0397050207
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+320,5.333333333,pose2_to_pose3_retreat,0.596893004318,0.0101500612705,1.0400334604,0.567463683368,0.0188226969757,1.03970485361
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+322,5.366666667,pose2_to_pose3_retreat,0.595398051525,0.0101501444882,1.04003342836,0.565968730806,0.0188227807513,1.03970481549
+323,5.383333333,pose2_to_pose3_retreat,0.594654839563,0.0101501279643,1.04003342942,0.565225518177,0.0188227622426,1.03970482377
+324,5.400000000,pose2_to_pose3_retreat,0.593900862888,0.0101501596951,1.04003362366,0.564471541376,0.0188227936543,1.03970502088
+325,5.416666667,pose2_to_pose3_retreat,0.593139950271,0.0101500138099,1.04003370958,0.563710628692,0.0188226467863,1.03970508682
+326,5.433333333,pose2_to_pose3_retreat,0.592380061662,0.0101500552088,1.04003348167,0.562950740611,0.0188226903059,1.03970486745
+327,5.450000000,pose2_to_pose3_retreat,0.591628845076,0.0101501702432,1.04003348533,0.562199523149,0.0188228026304,1.0397048781
+328,5.466666667,pose2_to_pose3_retreat,0.590895873302,0.0101501545356,1.0400334054,0.561466551959,0.0188227893637,1.0397048103
+329,5.483333333,pose2_to_pose3_retreat,0.590179336073,0.0101501415362,1.04003348021,0.560750014888,0.0188227767596,1.03970488125
+330,5.500000000,pose2_to_pose3_retreat,0.589480501909,0.0101501344966,1.04003360309,0.56005118023,0.0188227675041,1.03970498991
+331,5.516666667,pose2_to_pose3_retreat,0.588794099513,0.0101500613775,1.04003345211,0.559364778222,0.0188226957588,1.03970484036
+332,5.533333333,pose2_to_pose3_retreat,0.588117403322,0.0101502164221,1.04003352169,0.558688080891,0.0188228470829,1.03970491385
+333,5.550000000,pose2_to_pose3_retreat,0.587449740049,0.0101499953936,1.04003337702,0.558020421489,0.0188226394827,1.03970477682
+334,5.566666667,pose2_to_pose3_retreat,0.586791806442,0.0101501336374,1.04003350362,0.557362485225,0.0188227684459,1.03970489646
+335,5.583333333,pose2_to_pose3_retreat,0.58614814735,0.0101501008917,1.04003351799,0.556718826571,0.018822737292,1.03970491352
+336,5.600000000,pose2_to_pose3_retreat,0.585524662839,0.0101501258616,1.04003342256,0.556095341715,0.0188227613235,1.03970482456
+337,5.616666667,pose2_to_pose3_retreat,0.584921483246,0.0101501673719,1.04003349217,0.555492161294,0.0188227998637,1.03970489032
+338,5.633333333,pose2_to_pose3_retreat,0.584335986307,0.0101501514038,1.04003365045,0.554906664228,0.0188227832167,1.03970504221
+339,5.650000000,pose2_to_pose3_retreat,0.583765621805,0.0101501084505,1.04003357299,0.554336300337,0.0188227425591,1.03970497062
+340,5.666666667,pose2_to_pose3_retreat,0.58321551914,0.0101500479644,1.04003341182,0.553786199521,0.0188226882606,1.03970480697
+341,5.683333333,pose2_to_pose3_retreat,0.582687854783,0.0101502311851,1.04003362969,0.553258531396,0.0188228585164,1.03970502022
+342,5.700000000,pose2_to_pose3_retreat,0.582184326572,0.010150070135,1.0400335114,0.552755004006,0.0188227005969,1.03970491157
+343,5.716666667,pose2_to_pose3_retreat,0.581702266849,0.0101501092197,1.04003359513,0.55227294513,0.0188227423721,1.03970499039
+344,5.733333333,pose2_to_pose3_retreat,0.581237749258,0.010150183316,1.04003351177,0.551808426029,0.0188228113465,1.03970490634
+345,5.750000000,pose2_to_pose3_retreat,0.580782797005,0.0101501548003,1.04003348753,0.551353473942,0.0188227835417,1.03970488549
+346,5.766666667,pose2_to_pose3_retreat,0.580340284641,0.0101501076355,1.04003364872,0.550910963029,0.0188227411587,1.03970504308
+347,5.783333333,pose2_to_pose3_retreat,0.579916201028,0.0101501728845,1.04003366431,0.550486877816,0.018822800784,1.03970505353
+348,5.800000000,pose2_to_pose3_retreat,0.579521625859,0.0101501554272,1.0400336034,0.550092304638,0.0188227906144,1.03970500685
+349,5.816666667,pose2_to_pose3_retreat,0.579161088147,0.0101501265988,1.04003360703,0.549731767836,0.0188227648472,1.03970500982
+350,5.833333333,pose2_to_pose3_retreat,0.578831460742,0.0101501494877,1.04003352829,0.5494021396,0.018822784666,1.03970492465
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+352,5.866666667,pose2_to_pose3_retreat,0.578242806561,0.0101501575966,1.04003343852,0.548813484494,0.0188227897528,1.03970483794
+353,5.883333333,pose2_to_pose3_retreat,0.577968742212,0.0101501464971,1.04003350931,0.548539420045,0.0188227781972,1.0397049057
+354,5.900000000,pose2_to_pose3_retreat,0.577703176655,0.0101500647359,1.04003356766,0.548273855014,0.0188226979408,1.03970495665
+355,5.916666667,pose2_to_pose3_retreat,0.577451350916,0.0101498773217,1.04003360767,0.548022032801,0.0188225225551,1.03970499828
+356,5.933333333,pose2_to_pose3_retreat,0.577215115701,0.0101502133234,1.04003340158,0.547785793396,0.01882284474,1.03970480274
+357,5.950000000,pose2_to_pose3_retreat,0.577001294603,0.0101499424986,1.04003364092,0.547571975751,0.0188225854277,1.03970503647
+358,5.966666667,pose2_to_pose3_retreat,0.576809843092,0.010150076602,1.04003379913,0.547380521041,0.0188227082757,1.03970518429
+359,5.983333333,pose2_to_pose3_retreat,0.576642443825,0.0101501281692,1.04003360355,0.547213120778,0.0188227564154,1.03970498749
+360,6.000000000,pose2_to_pose3_retreat,0.576495145486,0.0101500360084,1.04003352289,0.547065824333,0.0188226710742,1.03970491717
+361,6.016666667,pose2_to_pose3_retreat,0.576367992392,0.0101500928668,1.04003351625,0.546938670935,0.0188227269562,1.039704912
+362,6.033333333,pose2_to_pose3_retreat,0.576255392058,0.0101501544767,1.04003352184,0.546826070071,0.0188227867219,1.03970491635
+363,6.050000000,pose2_to_pose3_retreat,0.576155966142,0.0101501319648,1.04003344371,0.546726644455,0.0188227653361,1.03970484153
+364,6.066666667,pose2_to_pose3_retreat,0.576068285235,0.0101500858028,1.04003324009,0.546638963475,0.0188227191475,1.03970464476
+365,6.083333333,pose2_to_pose3_retreat,0.575990860764,0.010150074339,1.04003339239,0.546561538261,0.0188227048113,1.03970478693
+366,6.100000000,pose2_to_pose3_retreat,0.575923790425,0.0101500723485,1.04003352661,0.546494471098,0.0188227133266,1.03970491385
+367,6.116666667,pose2_to_pose3_retreat,0.575866920937,0.0101500723867,1.04003345414,0.546437599905,0.0188227077126,1.0397048449
+368,6.133333333,pose2_to_pose3_retreat,0.575820694245,0.0101500905965,1.04003353777,0.546391372363,0.018822723093,1.03970492996
+369,6.150000000,pose2_to_pose3_retreat,0.575784259296,0.0101500916364,1.04003357285,0.546354937809,0.0188227254064,1.03970496321
+370,6.166666667,pose2_to_pose3_retreat,0.575755728577,0.0101500581798,1.04003342848,0.546326407573,0.0188226935192,1.03970481698
+371,6.183333333,pose2_to_pose3_retreat,0.575733136603,0.0101500055821,1.04003340986,0.546303816243,0.0188226432643,1.03970480256
+372,6.200000000,pose2_to_pose3_retreat,0.575714706524,0.0101500299436,1.04003347967,0.546285386294,0.0188226680198,1.03970487114
+373,6.216666667,pose2_to_pose3_retreat,0.575700232632,0.0101500645098,1.04003353156,0.546270912068,0.018822701411,1.03970492196
+374,6.233333333,pose2_to_pose3_retreat,0.57568924532,0.0101500823665,1.04003352783,0.546259924051,0.0188227169171,1.03970491937
+375,6.250000000,pose2_to_pose3_retreat,0.575681599659,0.0101500855116,1.04003358706,0.546252279029,0.0188227224293,1.03970498379
+376,6.266666667,pose2_to_pose3_retreat,0.575676785217,0.0101500822291,1.04003359429,0.5462474645,0.0188227188914,1.03970499211
+377,6.283333333,pose2_to_pose3_retreat,0.575673974237,0.0101500731895,1.04003355766,0.546244652804,0.0188227073305,1.03970495315
+378,6.300000000,pose2_to_pose3_retreat,0.575672357521,0.0101500679904,1.0400335366,0.546243035676,0.0188227006813,1.03970493074
+379,6.316666667,pose2_to_pose3_retreat,0.575671194447,0.0101500661121,1.04003352233,0.546241872371,0.0188226979911,1.0397049157
+380,6.333333333,pose2_to_pose3_retreat,0.575670451248,0.0101500776662,1.04003351925,0.546241129477,0.0188227106112,1.03970491344
+381,6.350000000,pose2_to_pose3_retreat,0.57566986107,0.0101500868413,1.04003351681,0.546240539542,0.0188227206328,1.03970491164
+382,6.366666667,pose2_to_pose3_retreat,0.575669395505,0.0101500940792,1.04003351489,0.546240074167,0.0188227285385,1.03970491023
+383,6.383333333,pose2_to_pose3_retreat,0.575668965187,0.0101501007691,1.0400335131,0.546239644026,0.0188227358456,1.03970490892
+384,6.400000000,pose2_to_pose3_retreat,0.575668470486,0.0101501084599,1.04003351106,0.546239149528,0.018822744246,1.03970490742
+385,6.416666667,pose2_to_pose3_retreat,0.575667962535,0.0101501163568,1.04003350896,0.546238641786,0.0188227528714,1.03970490587
+386,6.433333333,pose2_to_pose3_retreat,0.575667784583,0.0101501191233,1.04003350822,0.546238463907,0.0188227558931,1.03970490533
+387,6.450000000,pose2_to_pose3_retreat,0.575667558151,0.0101501226435,1.04003350728,0.546238237568,0.0188227597381,1.03970490464
+388,6.466666667,pose2_to_pose3_retreat,0.575667092185,0.0101501335079,1.04003349694,0.546237771526,0.0188227703481,1.03970489442
+389,6.483333333,pose2_to_pose3_retreat,0.575666580474,0.0101501520155,1.04003347028,0.546237259245,0.0188227869001,1.03970486719
+390,6.500000000,pose2_to_pose3_retreat,0.575666094913,0.0101501695773,1.04003344498,0.546236773144,0.0188228026062,1.03970484135
+391,6.516666667,pose2_to_pose3_retreat,0.575665738436,0.0101501824704,1.04003342641,0.54623641627,0.0188228141369,1.03970482238
+392,6.533333333,pose2_to_pose3_retreat,0.575665548317,0.0101501893466,1.04003341651,0.546236225939,0.0188228202866,1.03970481226
+393,6.550000000,pose2_to_pose3_retreat,0.575665407002,0.0101501944577,1.04003340915,0.546236084466,0.0188228248576,1.03970480474
+394,6.566666667,pose2_to_pose3_retreat,0.575665359457,0.0101501961773,1.04003340667,0.546236036869,0.0188228263955,1.03970480221
+395,6.583333333,pose2_to_pose3_retreat,0.575665263168,0.0101501794924,1.04003340351,0.546235940836,0.0188228105754,1.03970479899
+396,6.600000000,pose2_to_pose3_retreat,0.575665033857,0.0101501225633,1.04003339757,0.546235712442,0.0188227567569,1.03970479293
+397,6.616666667,pose2_to_pose3_retreat,0.575664647174,0.010150026565,1.04003338756,0.546235327306,0.018822666004,1.03970478272
+398,6.633333333,pose2_to_pose3_retreat,0.575664416529,0.0101501027258,1.04003364983,0.546235095676,0.0188227384967,1.0397050364
+399,6.650000000,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7650da47a05af4aef84bee852b958e4c77dba4bd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a68e19fd52cb127cd80eb2fc1e28bd0fcd190f1a4e846e97379c90ba7f25b9b
+size 25525422
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c521aaf9b7fd1f5bebd709c2f909fe55aa6cec7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+22,0.366666667,BASELINE,768,745,717.236400789,679,666.763599211,639,880,785,812.763599211,653,629.236400789,654,0.400980622668,0.00461052559035,0.0498482378781,0.999999956455,0.000128788489391,-0.000261772626858,-4.44712526367e-05,1793249806418877696
+23,0.383333333,BASELINE,767.651765407,745,717,679.348234593,666.651765407,639,880.348234593,785.348234593,813,653,629.696469185,654,0.400980612886,0.00460945851171,0.0498482322514,0.999999956413,0.000128114037848,-0.000262343266684,-4.40151637568e-05,1793249806435544064
+24,0.400000000,BASELINE,767.069337775,745,717,679.930662225,666.069337775,639,880.930662225,785.930662225,813,653,630.861324449,654,0.400980372937,0.00460685401714,0.049848534592,0.999999956646,0.000125603600711,-0.000262804496909,-4.31999263534e-05,1793249806452210688
+25,0.416666667,BASELINE,767.505513964,745,717,679.494486036,666,639,880.494486036,785.494486036,812.494486036,653,630.494486036,654,0.400979849413,0.00460704101176,0.0498487478206,0.999999956569,0.000125933226226,-0.000262944345941,-4.31593213054e-05,1793249806468877824
+26,0.433333333,BASELINE,767.920688077,745,717,679,666.079311923,639,880.079311923,785,812.079311923,653,630,654,0.400979716644,0.00460751667941,0.0498490345174,0.999999956582,0.000126467250166,-0.000262619859504,-4.32725152693e-05,1793249806485544960
+27,0.450000000,BASELINE,767.347076796,745,717,679,666.652923204,639,880.652923204,785,812.652923204,653,630,654,0.400982258029,0.00460744039599,0.0498498541458,0.999999957407,0.000125883184869,-0.000259672148932,-4.36918233401e-05,1793249806502211072
+28,0.466666667,BASELINE,767.234680934,745,717,679,667,639,880.765319066,785,813,653,630,654,0.400983029058,0.00460720861826,0.0498500207289,0.999999957614,0.000125584505804,-0.000259010676512,-4.37433534512e-05,1793249806518877440
+29,0.483333333,BASELINE,767.82891992,745,717,679,667,639,880.17108008,785,813,653,630,654,0.400981087701,0.00460673860542,0.0498491867718,0.999999956879,0.000125723071146,-0.000261851982789,-4.32314056098e-05,1793249806535543808
+30,0.500000000,BASELINE,768,745,717,679,666.589571478,639,880.410428522,785,812.589571478,653,630,654,0.4009807865,0.00460656247844,0.049848632568,0.999999956785,0.000124865102916,-0.00026263321851,-4.31670636848e-05,1793249806552210432
+31,0.516666667,BASELINE,768,745,717,679,666.013209693,639,880.986790307,785,812.013209693,653,630,654,0.400981148402,0.00460650516738,0.0498481914663,0.99999995695,0.000123604243415,-0.000262581582632,-4.32836855859e-05,1793249806568877056
+32,0.533333333,BASELINE,768,745,717,679,666,639,880.438781821,785.561218179,812.561218179,653,630.561218179,654,0.400980478962,0.00460727758085,0.0498486256483,0.999999956802,0.000124893802346,-0.000262508685259,-4.34312814259e-05,1793249806585544448
+33,0.550000000,BASELINE,768,745,717,679,666,639,880,785.864602929,813,653,630.864602929,654,0.400979994829,0.00460764557793,0.0498490171393,0.999999956802,0.000125436512001,-0.000262235773521,-4.35315086033e-05,1793249806602211840
+34,0.566666667,BASELINE,768,745,717,679,666,639,880,785.291083017,813,653,630.291083017,654,0.400980188597,0.00460664197163,0.0498492040538,0.999999957302,0.00012336895688,-0.000261317261722,-4.34761074991e-05,1793249806618878208
+35,0.583333333,BASELINE,768,745,717,679,666,639,880,785,813,653,630,654,0.400980436108,0.00460725467729,0.0498492373396,0.999999957284,0.000124469278126,-0.000260850660209,-4.35412336533e-05,1793249806635544832
+36,0.600000000,BASELINE,768,745,717,679,666,639,880,785,813,653,630,654,0.400980739005,0.00460953317466,0.0498491122936,0.999999956723,0.000128834453141,-0.000260849803119,-4.37305767388e-05,1793249806652211456
+37,0.616666667,BASELINE,767.531319803,745,717,679,666,639,880,785,812.531319803,653,630,654,0.400979384104,0.00461008935952,0.0498487187197,0.999999956139,0.000130122745685,-0.000262424229393,-4.3856779933e-05,1793249806668878336
+38,0.633333333,BASELINE,767.044984722,745,717,679,666,638.955015278,880,785,812,653,630,654,0.400977915618,0.00461010050336,0.0498483569454,0.999999955662,0.0001304616736,-0.000264052385923,-4.39501615004e-05,1793249806685545216
+39,0.650000000,BASELINE,767.631414652,745,717,679,666,638.368585348,880,785,812,653,630,654,0.400979626164,0.00460827452652,0.0498491143042,0.999999956548,0.00012781160221,-0.000262007347529,-4.3821644151e-05,1793249806702211584
+40,0.666666667,BASELINE,767.785067067,745,717,679.214932933,666,638.214932933,880,785,812,653,630,654,0.400980775415,0.00460734395382,0.0498497724319,0.99999995712,0.000126902203874,-0.000260296357556,-4.36175597826e-05,1793249806718877696
+41,0.683333333,BASELINE,767.206475228,745,717,679.793524772,666,638.793524772,880,785,812,653,630,654,0.400980974973,0.00460792837328,0.0498502626639,0.999999957171,0.000128937962827,-0.000259150565802,-4.32856187038e-05,1793249806735544320
+42,0.700000000,BASELINE,767.37211936,745,717,679.62788064,666.37211936,639,880.37211936,785,812.37211936,653,630,654,0.400980107402,0.00460887357881,0.049849483336,0.999999956734,0.000130286260879,-0.000260147772129,-4.33668450245e-05,1793249806752211200
+43,0.716666667,BASELINE,767.950715452,745,717,679.049284548,666.950715452,639,880.950715452,785,812.950715452,653,630,654,0.400978647717,0.00461001897258,0.0498479995711,0.999999956023,0.000131253109532,-0.000262334057294,-4.36773242894e-05,1793249806768877824
+44,0.733333333,BASELINE,768,745,717,679,666.472311034,639,880.472311034,785,813,652.472311034,630,654,0.400979093956,0.00460962132039,0.0498483514517,0.99999995632,0.000129323804619,-0.000262155759893,-4.36958757548e-05,1793249806785544960
+45,0.750000000,BASELINE,767.893879454,745,717,679,666,639,880,785,812.893879454,652.106120546,630,654,0.400979737609,0.00460931840617,0.0498490202705,0.999999956653,0.000128073308149,-0.000261502889148,-4.36762085863e-05,1793249806802211584
+46,0.766666667,BASELINE,767.308175951,745,717,679,666,639,880,785,812.308175951,652.691824049,630,654,0.400980471429,0.00461009293032,0.049850348987,0.999999956732,0.000131109170119,-0.000259700302052,-4.36066625044e-05,1793249806818878208
+47,0.783333333,BASELINE,767.274153953,745.274153953,717,679,666,639,880,785,812,653,630,654,0.400980834461,0.00460967707044,0.049850821243,0.999999956852,0.000131610397555,-0.000259005418284,-4.34795432856e-05,1793249806835545088
+48,0.800000000,BASELINE,767.852737773,745.852737773,717,679,666,639,880,785,812,653,630,654,0.400980785755,0.00460793936776,0.0498503424563,0.999999957024,0.000129297081048,-0.00025954056571,-4.32884928904e-05,1793249806852211968
+49,0.816666667,BASELINE,768,745.568283783,717,679,666.431716217,639,880,785,812.431716217,653,630,654,0.4009806686,0.00460864793986,0.0498500668217,0.999999957074,0.000128718409742,-0.000259604855414,-4.34678080338e-05,1793249806868878336
+50,0.833333333,BASELINE,768,745,717,679,666.989271225,639,880.010728775,785,812.989271225,653,630,654,0.400980550259,0.00461015958572,0.0498498779852,0.999999957084,0.000128759761727,-0.000259496113215,-4.37682775269e-05,1793249806885544448
+51,0.850000000,BASELINE,768,745,717,679,666.415536886,639,880.584463114,785,812.415536886,653,630,654,0.400981596015,0.00460998487605,0.0498506042119,0.999999957083,0.000130258855094,-0.000258743423732,-4.37908232378e-05,1793249806902211328
+52,0.866666667,BASELINE,767.837913216,745,717,679,666,639,880.837913216,785,812,653,630,654,0.400982033589,0.00461026252148,0.049850908277,0.999999956937,0.000131690204053,-0.000258573361083,-4.38554751254e-05,1793249806918877952
+53,0.883333333,BASELINE,767.250073486,745,717,679,666,639,880.250073486,785,812,653,630,654,0.400980873655,0.00461172836691,0.0498501034516,0.999999956411,0.000132943608855,-0.000259933682924,-4.40307271998e-05,1793249806935544320
+54,0.900000000,BASELINE,767,745,717,679,666.334347824,638.665652176,880.334347824,785,812.334347824,653,630,654,0.400980721301,0.00461088182121,0.0498500714649,0.999999956656,0.000131327663363,-0.000259859475686,-4.3754250771e-05,1793249806952210944
+55,0.916666667,BASELINE,767,745,717,679,666.916238198,638.083761802,880.916238198,785,812.916238198,653,630,654,0.400981314933,0.00460832324039,0.0498506116683,0.999999957461,0.00012758732449,-0.000258723179868,-4.31433261424e-05,1793249806968877568
+56,0.933333333,BASELINE,767.492250461,745,717,679.492250461,666.507749539,638.492250461,881,785,812.507749539,653,630,654,0.400981878207,0.00460786988972,0.0498508911198,0.999999957625,0.000127313941599,-0.00025826717941,-4.28821384949e-05,1793249806985543936
+57,0.950000000,BASELINE,767.932782209,745,717,679.932782209,666,639,880.932782209,785,812,653,630,654,0.400982452226,0.00460789241323,0.0498510665422,0.999999957672,0.000127678335231,-0.000257924003791,-4.27813348324e-05,1793249807002210816
+58,0.966666667,BASELINE,767.358241698,745,717,679.358241698,666,639,880.358241698,785,812,653,630,654,0.400983145879,0.00460883477021,0.0498507877374,0.999999957635,0.000128456310324,-0.000257568987525,-4.34471607215e-05,1793249807018877184
+59,0.983333333,BASELINE,767,745,717,679.221444422,666,639,880,785,812.221444422,653,630,654,0.400983953854,0.00460912745495,0.049851121726,0.999999957727,0.000129215808221,-0.000256807566762,-4.35695849829e-05,1793249807035543808
+60,1.000000000,BASELINE,767,745,717,679.809652975,666,639,880,785,812.809652975,653,630,654,0.400984951174,0.00460834412958,0.0498524706448,0.999999958034,0.000129944703655,-0.000255373044353,-4.27920082422e-05,1793249807052210688
+61,1.016666667,BASELINE,767.391494133,745,717,679.608505867,666,639,880,785,812.608505867,653,630,654,0.400984227627,0.00460742625928,0.049851715375,0.999999958225,0.000127004796547,-0.000256108385742,-4.27613036689e-05,1793249807068877312
+62,1.033333333,BASELINE,767.970288934,745,717,679.029711066,666,639,880,785,812.029711066,653,630,654,0.400982680774,0.00460644401934,0.0498499534082,0.99999995834,0.000122309641721,-0.000257881844782,-4.30879216234e-05,1793249807085543936
+63,1.050000000,BASELINE,768.547601778,745,717,679.547601778,666,639,880.547601778,785,812,653,630,654,0.400979822245,0.0046074669783,0.0498488388964,0.999999957284,0.000125015737463,-0.000260666849158,-4.30903762915e-05,1793249807102210560
+64,1.066666667,BASELINE,768.751993502,745,717,679.875996751,666,639,880.875996751,785,812.124003249,653,630,654,0.400977875843,0.00460830224503,0.0498482374691,0.999999956476,0.00012753283123,-0.000262533708079,-4.31224476971e-05,1793249807118877440
+65,1.083333333,BASELINE,767.605215026,745,717,679.302607513,666,639,880.302607513,785,812.697392487,653,630,654,0.400979492185,0.00460806410868,0.0498493684904,0.999999956853,0.000127913637511,-0.000260874862161,-4.33254164789e-05,1793249807135545088
+66,1.100000000,BASELINE,767.280351603,745,717,679,666.280351603,639,880,785,813,653,630,654,0.400980290204,0.0046082065105,0.0498498899745,0.999999957056,0.000127855926538,-0.000260093679971,-4.35072827179e-05,1793249807152211968
+67,1.116666667,BASELINE,767.874005333,745,717,679,666.874005333,639,880,785,813,653,630,654,0.400980173722,0.00460877417626,0.0498497302807,0.999999957067,0.000127308158102,-0.000260293315942,-4.36655661582e-05,1793249807168877824
+68,1.133333333,BASELINE,767.546196727,745,717,679,666.546196727,639,880,785,812.546196727,653,630,654,0.400981067472,0.00460798370929,0.0498499153184,0.999999957274,0.000127215266728,-0.000259566164028,-4.35165344707e-05,1793249807185544960
+69,1.150000000,BASELINE,767.029766813,745,717,679,666,639,880,785,812.029766813,653,630,654.029766813,0.400982121155,0.00460692626501,0.0498501817955,0.999999957501,0.000127304054831,-0.000258684654839,-4.32853445522e-05,1793249807202212352
+70,1.166666667,BASELINE,767.603874635,745,717,679,666,639,880,785,812.603874635,653,630,654.603874635,0.400981122356,0.00460767784609,0.0498502391331,0.999999957138,0.000128474116091,-0.000259546502628,-4.30658086417e-05,1793249807218878464
+71,1.183333333,BASELINE,768,745,717,679,666.183153071,639,880.366306143,785,813,653,630,655,0.400980596796,0.00460792943223,0.0498502595385,0.999999957031,0.000128523321074,-0.000259948812867,-4.29628160634e-05,1793249807235545088
+72,1.200000000,BASELINE,768,745,717,679,666.77393956,639,881.54787912,785,813,653,630,655,0.4009811245,0.0046070682081,0.0498501977464,0.999999957497,0.000126077899949,-0.000259328356573,-4.31192073363e-05,1793249807252211456
+73,1.216666667,BASELINE,768,745,717,679,667,639,881.64257485,785,813,653,630.35742515,654.64257485,0.400981744096,0.00460675504858,0.0498507402863,0.999999958078,0.000124439773687,-0.000257876673164,-4.31102818006e-05,1793249807268878080
+74,1.233333333,BASELINE,768,745,717,679,667,639,881.063614457,785,813,653,630.936385543,654.063614457,0.400982420648,0.00460678158436,0.0498516573966,0.999999958729,0.000123302016008,-0.000255909787933,-4.29988914473e-05,1793249807285544704
+75,1.250000000,BASELINE,768,745,717,679,667,639,880.486866828,785,813,653,630.486866828,654,0.400981670731,0.00460694905971,0.0498506996739,0.999999958091,0.000124334210986,-0.000257873820335,-4.31261430885e-05,1793249807302211584
+76,1.266666667,BASELINE,768,745,717,679.089532128,666.910467872,639,880,785,812.910467872,653,630,654,0.400980982397,0.00460710500594,0.0498498038246,0.999999957473,0.000125304658502,-0.000259779535462,-4.32199740846e-05,1793249807318878464
+77,1.283333333,BASELINE,768,745,717,679.665520703,666.334479297,639,880,785,812.334479297,653,630,654,0.40098158539,0.00460710378394,0.0498505015853,0.999999957857,0.000124484246268,-0.000258731965992,-4.29721652464e-05,1793249807335545088
+78,1.300000000,BASELINE,768,745,717,679.753664651,666.246335349,639,880.246335349,784.753664651,812.246335349,653,630,654,0.40098139444,0.00460733991183,0.0498507510346,0.999999957844,0.000124885294668,-0.0002585898257,-4.29746204309e-05,1793249807352211712
+79,1.316666667,BASELINE,768,745,717,679.166166165,666.833833835,639,880.833833835,784.166166165,812.833833835,653,630,654,0.400980103914,0.00460790475843,0.0498503795933,0.999999957277,0.000126978009974,-0.000259701663292,-4.33236798056e-05,1793249807368878336
+80,1.333333333,BASELINE,767.583407919,745,717,679,667,639,880.583407919,784.416592081,812.583407919,653,630,654,0.400981327504,0.00460795865146,0.0498509798118,0.999999957664,0.000127281425648,-0.000258038480991,-4.3448147813e-05,1793249807385545216
+81,1.350000000,BASELINE,767.002519094,745,717,679,667,639,880.002519094,784.997480906,812.002519094,653,630,654,0.400983542617,0.00460781103323,0.0498519632362,0.999999958421,0.000126879172522,-0.000255280878707,-4.34840408804e-05,1793249807402212096
+82,1.366666667,BASELINE,767.573011991,745,717,679,667,638.426988009,880,785,812,653,630,654.573011991,0.400981587818,0.00460827869575,0.0498507817057,0.999999957601,0.000128080413821,-0.000257925376546,-4.32096948159e-05,1793249807418878208
+83,1.383333333,BASELINE,767.852339775,745,717,679,666.852339775,638.147660225,880.147660225,785,812.147660225,653,630,654.852339775,0.400980555385,0.00460843381512,0.0498501510367,0.999999957132,0.000128626146396,-0.000259503535587,-4.30132675114e-05,1793249807435544576
+84,1.400000000,BASELINE,767.280162477,745,717,679,666.280162477,638.719837523,880.719837523,785,812.719837523,653,630,654.280162477,0.400982226927,0.00460768268142,0.0498511311809,0.999999957706,0.000127267239822,-0.000257948370462,-4.304473816e-05,1793249807452211200
+85,1.416666667,BASELINE,767.303743055,745,717,679.303743055,666,639,881,785,813,653,630,654,0.400982569004,0.00460725609541,0.049851531756,0.999999957935,0.000126510297074,-0.00025742055896,-4.31308476394e-05,1793249807468877568
+86,1.433333333,BASELINE,767.898900759,745,717,679.898900759,666,639,881,785,813,653,630,654,0.400981635575,0.0046071408843,0.0498513762855,0.999999957833,0.000126330885562,-0.000257878402663,-4.32693782519e-05,1793249807485544192
+87,1.450000000,BASELINE,767.522640998,745,717,679.522640998,666.477359002,639,881.477359002,785,812.522640998,653,630,654,0.400981969822,0.00460719682106,0.049851428846,0.999999957677,0.000127715660585,-0.000257852976838,-4.297796352e-05,1793249807502211584
+88,1.466666667,BASELINE,767.052579191,745.052579191,717,679,667,639,881.894841618,785,812.052579191,653,630,654,0.400982375448,0.00460721071457,0.0498514720463,0.999999957512,0.000129122886142,-0.000257845584814,-4.26408863099e-05,1793249807518878464
+89,1.483333333,BASELINE,767.62958635,745.62958635,717,679,667,639,880.7408273,785,812.62958635,653,630,654,0.40098090569,0.00460645595471,0.0498509972961,0.99999995741,0.000127561541135,-0.000259004412692,-4.2725884215e-05,1793249807535544320
+90,1.500000000,BASELINE,768,745.789164621,717,679,666.789164621,639,880,785,812.789164621,653,630,654,0.400980625326,0.00460616023409,0.0498510312886,0.999999957561,0.000126566116194,-0.000258891333101,-4.28261512346e-05,1793249807552210432
+91,1.516666667,BASELINE,768,745.200310159,717,679,666.200310159,639,880,785,812.200310159,653,630,654,0.400982477497,0.00460668755186,0.0498519774354,0.99999995817,0.000126585362606,-0.000256497776087,-4.29537951337e-05,1793249807568877056
+92,1.533333333,BASELINE,768,745.382066951,717,679,666,639,880,785,812,653,630,654,0.400982767074,0.00460599307366,0.0498519589289,0.999999958271,0.000126074435936,-0.000256391374423,-4.27505207458e-05,1793249807585543680
+93,1.550000000,BASELINE,768,745.961104779,717,679,666,639,880,785,812,653,630,654,0.400982251072,0.00460466871055,0.0498514431051,0.999999958109,0.000125290183724,-0.000257464093099,-4.23766446853e-05,1793249807602210304
+94,1.566666667,BASELINE,767.463340274,745.463340274,717,679,666,639,880,785,812,653,630,654,0.400982753332,0.0046049701679,0.0498521695749,0.999999958412,0.000124604531837,-0.000256589488711,-4.25556740027e-05,1793249807618877696
+95,1.583333333,BASELINE,767.111812015,745,717,679,666.111812015,639,880.111812015,785,812.111812015,653,630,654,0.400983083253,0.00460530251225,0.0498526471335,0.999999958658,0.000123724579537,-0.0002560238874,-4.27615979239e-05,1793249807635545088
+96,1.600000000,BASELINE,767.686336048,745,717,679,666.686336048,639,880.686336048,785,812.686336048,653,630,654,0.400982396546,0.0046052781888,0.0498517244236,0.99999995853,0.000122011170519,-0.000257317328239,-4.29140564697e-05,1793249807652211712
+97,1.616666667,BASELINE,768,745,717,679,666.731856025,639,880.731856025,785,813,653,630,654,0.400982596653,0.0046062668902,0.0498519183239,0.999999958471,0.000123141081338,-0.000256965362909,-4.31694103798e-05,1793249807668878592
+98,1.633333333,BASELINE,768,745,717,679,666.141289817,639,880.141289817,785,813,653,630,654,0.400983863085,0.004608473675,0.049853454861,0.99999995848,0.000127689862767,-0.000254634924813,-4.35484879368e-05,1793249807685545216
+99,1.650000000,BASELINE,768,745,717,679,666,638.559804777,880,785,813,653,630,654,0.400982841121,0.00460778329553,0.0498527775145,0.999999958216,0.000128359884015,-0.000255380631716,-4.32770555586e-05,1793249807702211840
+100,1.666666667,BASELINE,768,745,717,679,666.018750298,638.018750298,880,785,812.981249702,653,630,654,0.400981171107,0.00460622154314,0.0498514467164,0.999999957884,0.000127761661274,-0.000257054866446,-4.28078023983e-05,1793249807718878208
+101,1.683333333,BASELINE,768,745,717,679,666.595102283,638.595102283,880,785,812.404897717,653,630,654,0.400981630677,0.00460584147581,0.049851388045,0.99999995802,0.000125722927932,-0.000257573243735,-4.25393887967e-05,1793249807735544832
+102,1.700000000,BASELINE,768,745,717,679,667,639,880,785,812.170251985,653,630,654,0.400982174649,0.00460571688988,0.0498514397615,0.999999958119,0.000124608119192,-0.000257748584184,-4.24397754008e-05,1793249807752211712
+103,1.716666667,BASELINE,768,745,717,679,667,639,880,785,812.742562358,653,630,654,0.400982917939,0.0046061956358,0.0498517521645,0.999999958136,0.000125675203865,-0.000257113826287,-4.27387919832e-05,1793249807768879104
+104,1.733333333,BASELINE,768,745,717,679,666.673745368,639,880,785,812.673745368,653,630,654,0.400982837631,0.00460670474532,0.0498517787775,0.999999958098,0.000126456507093,-0.000256860917254,-4.28286368945e-05,1793249807785545984
+105,1.750000000,BASELINE,768,745,717,679,666.080747269,639,880,785,812.080747269,653,630,654,0.400982083955,0.00460723867994,0.0498515717306,0.999999958017,0.000127004157563,-0.000256920205065,-4.2747464568e-05,1793249807802212608
+106,1.766666667,BASELINE,768,745,717,679,666.496516313,638.503483687,880,785,812,653,630,654,0.400982369314,0.00460792257498,0.0498518581567,0.999999958071,0.000127550195732,-0.000256370854694,-4.31522290479e-05,1793249807818879488
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,679,667,639,881,785,812,653,630,654,0.400979906371,0.00461024095728,0.0498499364156,0.999999956783,0.000131250427731,-0.000259364947533,-4.40089212111e-05,1793249807862275840
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.573276045,745,717,679,667,639,880.426723955,785,812.573276045,653,630,654,0.400980361867,0.00460849665783,0.0498504207644,0.999999957364,0.000128796225127,-0.000258463044868,-4.33723625867e-05,1793249807878942720
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880,785,813,652.847385173,630,654,0.400980579243,0.0046071391951,0.0498507616733,0.999999957737,0.000126753446013,-0.000258103145957,-4.29200825749e-05,1793249807895609344
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880,785,813,652.250393039,630,654,0.400980103275,0.00460690810654,0.0498506849199,0.999999957525,0.000125908631588,-0.000259321430116,-4.30043769727e-05,1793249807912275456
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.667718885,745,717,679.332281115,666.667718885,639,880,785,812.667718885,652.332281115,630,654,0.400979970476,0.00460639132718,0.0498506130742,0.999999957558,0.0001249099475,-0.000259674660792,-4.30109008679e-05,1793249807928942592
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.095388481,745,717,679.904611519,666.095388481,639,880,785,812.095388481,652.904611519,630,654,0.40098008559,0.00460566815671,0.049850544774,0.999999957769,0.00012380010366,-0.00025940295226,-4.29612411443e-05,1793249807945609984
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,717,679.522215541,666,639,880,785,812.477784459,653,630,654,0.400980584337,0.00460700324735,0.0498508273712,0.999999957842,0.000124782212227,-0.000258613054318,-4.31727620945e-05,1793249807962276096
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.053119708,745,717,679,666.053119708,639,880,785,813,653,630,654,0.400981196964,0.00460851663131,0.0498511573807,0.999999957894,0.000125975117801,-0.000257794387942,-4.3406749303e-05,1793249807978942208
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.648820298,745,717,679,666.648820298,639,880,785,813,653,630,654,0.400982189098,0.00460764641208,0.0498512548396,0.999999958027,0.000125047596147,-0.000257740461936,-4.33366574031e-05,1793249807995608832
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,745,717,679,666.763617354,638.763617354,880,785,812.763617354,653,630.236382646,654,0.400986656361,0.00460700883464,0.0498529542747,0.999999958854,0.000124339802474,-0.000254886643016,-4.31810384332e-05,1793249808012274944
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,745,717,679,666.187743161,638.187743161,880,785,812.187743161,653,630.812256839,654,0.400996114584,0.00460670537623,0.0498569544598,0.999999960643,0.000123947581078,-0.000248011632203,-4.29025859273e-05,1793249808028941056
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,745,717,679,666,638.388546375,880,785,812.388546375,653,630.611453625,654,0.401022570914,0.00460653217358,0.049866440315,0.999999965396,0.000123106230944,-0.000228499091073,-4.29002093691e-05,1793249808045607680
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,745,717,679,666,638.965036867,880,785,812.965036867,653,630.034963133,654,0.401057249414,0.00460642197704,0.0498785796491,0.999999971047,0.000122047632239,-0.00020287363802,-4.30313737088e-05,1793249808062274560
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,745,717,679,666,638.447029376,880,785,812.447029376,653,630,654,0.40112231368,0.00460603687678,0.0498979167451,0.999999978678,0.000122291227458,-0.000160757068183,-4.29695412259e-05,1793249808078940928
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.86075346,745,717,679,666,638,880,785,812,652.86075346,630,654.13924654,0.401191158175,0.00460535143255,0.0499159801939,0.9999999838,0.000122568355047,-0.000124799167095,-4.24594288053e-05,1793249808095608064
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.282041326,745,717,679,666,638,880,785,812,652.282041326,630,654.717958674,0.40126574162,0.00460377411091,0.0499285573305,0.999999985419,0.000122685970274,-0.000111638488828,-4.05738598438e-05,1793249808112275200
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.29519512,745,717,679,666,638.29519512,880,785,812,652.29519512,630,654.70480488,0.401348167838,0.00460228248495,0.0499375913319,0.999999986898,0.000121584403002,-9.93471183841e-05,-3.93896264385e-05,1793249808128941824
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.87102861,745,717,679,666,638.87102861,880,785,812,652.87102861,630,654.12897139,0.401438050079,0.00460087232891,0.0499432569175,0.999999988264,0.000119323773915,-8.78821889923e-05,-3.88721442379e-05,1793249808145608448
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,745,717,679,666,639,880,785,812.4470305,653,630,654,0.401537484465,0.00460061342262,0.0499415432625,0.999999988073,0.000118417024885,-9.15111938602e-05,-3.81806994827e-05,1793249808162274816
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,745,717.023575557,679,666.023575557,639,880,785,813,653,630,654.023575557,0.401641084874,0.00460057035152,0.0499379226831,0.999999987451,0.000117731220304,-9.9178107997e-05,-3.74207104694e-05,1793249808178941696
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,745,717.611969494,679,666.611969494,639,880,785,813,653,630,654.611969494,0.401778444844,0.00459773779098,0.0499396408513,0.99999998804,0.00011297722612,-9.92159961218e-05,-3.62214324187e-05,1793249808195608064
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,745,717.802194018,679,667,639,880.197805982,785,813,653,630,654.802194018,0.401927222697,0.00459599563193,0.0499419749395,0.999999988614,0.000109477452829,-9.77594807175e-05,-3.50673589099e-05,1793249808212274688
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,745,717.221310436,679,667,639,880.778689564,785,813,653,630,654.221310436,0.402098112783,0.00459636518076,0.0499455018384,0.999999989183,0.000108406645709,-9.34088540626e-05,-3.40008301511e-05,1793249808228941312
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.644949404,745,717.355050596,679,666.644949404,639,880.644949404,785,812.644949404,653,630.355050596,654,0.402285243899,0.00459487787897,0.0499457567226,0.999999989271,0.000106618237714,-9.50450887081e-05,-3.25247667285e-05,1793249808245607936
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.071371859,745,717.928628141,679,666.071371859,639,880.071371859,785,812.071371859,653,630.928628141,654,0.402482371078,0.00459224772067,0.0499439977438,0.999999989041,0.000104388159801,-0.000100366123203,-3.07966423363e-05,1793249808262274816
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.501616381,745,717.498383619,679,666.501616381,639,880,785,812,653,630.498383619,654,0.402710758207,0.00459046358902,0.0499452796994,0.999999989503,0.000100976202728,-9.97328970255e-05,-2.91616498399e-05,1793249808278941952
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,745,717,679,666.922887328,639,880.077112672,785,812,653,630,654,0.402951464731,0.00458858862417,0.0499475405491,0.999999990203,9.72434732065e-05,-9.68686467152e-05,-2.74470137574e-05,1793249808295608832
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,745,717,679,666.330057212,639,880.669942788,785,812,653,630,654,0.403244850375,0.00458530207034,0.0499534578198,0.999999991817,9.24887889367e-05,-8.47429119991e-05,-2.51112154753e-05,1793249808312274944
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.74352677,745,717,679.25647323,666.25647323,639,881,785.25647323,812,653,630,654,0.403556689764,0.00458223651101,0.0499618785965,0.999999993704,8.68420935167e-05,-6.72811015196e-05,-2.2900930048e-05,1793249808328941568
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.164909098,745,717,679.835090902,666.835090902,639,881,785.835090902,812,653,630,654,0.403891708052,0.0045794485331,0.0499734439139,0.999999995647,8.007498344e-05,-4.31168879906e-05,-2.08482957826e-05,1793249808345608192
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.4109344,745,717,679.5890656,667,639,880.5890656,785.1781312,812.4109344,653,630,654.4109344,0.404251421233,0.00457513027052,0.0499812943762,0.999999996671,7.45615852059e-05,-2.77011769691e-05,-1.81981465019e-05,1793249808362274816
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.985672066,745,717,679.014327934,667,639,880.014327934,784.028655868,812.985672066,653,630,654.985672066,0.404620978081,0.0045702020186,0.0499876640534,0.99999999734,6.95479313634e-05,-1.57727221206e-05,-1.53098207854e-05,1793249808378941440
+139,2.316666667,POSE1_TO_POSE2_PRESS,768,745.572939239,717,679,667,639,880.572939239,784.572939239,813,653,630,655,0.405026285007,0.00456675145629,0.0499943887792,0.999999997891,6.36332781414e-05,-2.36464448521e-07,-1.29531964489e-05,1793249808395608832
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,746,717,679,667,639,881,785,812.841084449,653,630,654.841084449,0.4054375459,0.00456325843773,0.0499937529358,0.999999998265,5.79698544634e-05,8.19727339292e-08,-1.04262090555e-05,1793249808412275712
+141,2.350000000,POSE1_TO_POSE2_PRESS,768,746,717,679,667,639,881,785,812.259394625,653,630,654.259394625,0.405862214855,0.00455955196181,0.0499735110992,0.999999997753,5.30360790871e-05,-4.03300295304e-05,-7.40982821133e-06,1793249808428942080
+142,2.366666667,POSE1_TO_POSE2_PRESS,768,745.6810406,717.3189594,679,667,639,881.3189594,785,812.3189594,653,630,654,0.406308643308,0.00455458533365,0.0499547613242,0.999999996065,4.68864638725e-05,-7.51887525343e-05,-4.18323614286e-06,1793249808445608448
+143,2.383333333,POSE1_TO_POSE2_PRESS,768,745.105371281,717.894628719,679,667,639,881.894628719,785,812.894628719,653,630,654,0.406772584629,0.00454860448955,0.0499372124115,0.999999993636,3.97582968079e-05,-0.000105578002411,-7.87458248826e-07,1793249808462275072
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.531028107,745.468971893,718,679,667,639,881.531028107,785,813,653,630,654.468971893,0.40728036127,0.00454656287822,0.049927915049,0.999999991835,3.72222630322e-05,-0.000122227675024,2.10807454686e-06,1793249808478941696
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,718,679,667,639,881.044109169,785.044109169,813,653,629.955890831,654.955890831,0.407804494304,0.00454490917385,0.0499230858807,0.999999990871,3.52684940496e-05,-0.000130344794291,4.96086344231e-06,1793249808495608064
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,718,679,667,639,881.632717382,785.632717382,813,653,629.367282618,654.367282618,0.408409298014,0.00453714888408,0.0499505917042,0.999999997046,2.78015825467e-05,-7.11337163652e-05,8.66957584784e-06,1793249808512274944
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.218751325,746,718,679,667,639,882,785.781248675,813,653,629.218751325,654.218751325,0.409036178189,0.004529114905,0.049976741322,0.999999999242,2.99405455181e-05,-2.13096498767e-05,1.28598003013e-05,1793249808528941824
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.800513317,746,718,679,667,639,882,785.199486683,813,653,629.800513317,654.800513317,0.4096996935,0.00452062674794,0.0500006403593,0.999999998604,4.80201433885e-05,1.29369744746e-05,1.784907805e-05,1793249808545608704
+149,2.483333333,POSE1_TO_POSE2_PRESS,768,745.62282214,718,679.37717786,667,639,882,785,813,653,630,654.62282214,0.410334010685,0.00451400241084,0.0500012632951,0.999999995892,8.77186775006e-05,6.3060387079e-06,2.19369597631e-05,1793249808562275584
+150,2.500000000,POSE1_TO_POSE2_PRESS,768,745.048817667,718,679.951182333,667,639,882,785,813,653,630,654.048817667,0.41095309109,0.00450835069038,0.0499897398222,0.99999998982,0.000138698843239,-2.16564567986e-05,2.55544564827e-05,1793249808578942464
+151,2.516666667,POSE1_TO_POSE2_PRESS,768,745,718,680,667,639,882.525502081,785,813.525502081,652.474497919,630,654.525502081,0.411592085839,0.00450137591225,0.0499595862177,0.999999988604,0.000122148415849,-8.42697041692e-05,2.77539155727e-05,1793249808595608576
+152,2.533333333,POSE1_TO_POSE2_PRESS,768,745.103167547,718,680,667.103167547,639.103167547,883.103167547,785.103167547,814,652.103167547,630,655,0.41225443497,0.00449370056262,0.0499366925701,0.999999987326,8.88177743291e-05,-0.000129382542678,2.68419442192e-05,1793249808612275200
+153,2.550000000,POSE1_TO_POSE2_PRESS,768,745.696592593,718,680,667.696592593,639.696592593,883.696592593,785.696592593,814,652.696592593,630,655,0.413018968626,0.0044832804807,0.0499565278722,0.999999997025,5.5761274034e-06,-7.60266825709e-05,1.17706665317e-05,1793249808628941824
+154,2.566666667,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,884.282305324,786,813.717694676,653,630,654.717694676,0.413795991943,0.0044749418764,0.0499727710129,0.999999998626,-3.11359205748e-05,-4.16261346079e-05,6.77234951254e-06,1793249808645608192
+155,2.583333333,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,884.859949744,786,813.140050256,653,630,654.140050256,0.41458608165,0.0044687808483,0.0499852561481,0.999999999374,-1.91701519424e-05,-2.70560417359e-05,1.23120505289e-05,1793249808662274816
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,885,786,813.435034405,652.564965595,630,654.435034405,0.415339845854,0.00447456337057,0.0499611688707,0.999999997439,-4.44465921523e-06,-6.96094227059e-05,1.60112552138e-05,1793249808678941696
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,718,680.009540418,668,640,885,786,814,652,630,655.009540418,0.416083039209,0.00448440189618,0.0499260409076,0.99999999141,1.13591775531e-05,-0.000129186979065,1.90204908316e-05,1793249808695608320
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,718,680.598664595,668,640,885,786,814,652,630,655.598664595,0.416890325788,0.00450842675585,0.0499312612676,0.999999992802,3.90157939736e-05,-0.000112343064873,1.58984755257e-05,1793249808712274944
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,718,681,668,640,885.184786705,786,814,652.184786705,630,655.815213295,0.417721346241,0.00452142916871,0.0499448101842,0.999999994783,5.66714235104e-05,-8.37442210898e-05,1.44634848179e-05,1793249808728941568
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,718,681,668,640,885.764492875,786,814,652.764492875,630,655.235507125,0.418603089821,0.00451087480539,0.0499761585907,0.999999998009,5.29533038626e-05,-3.0023167915e-05,1.6633942262e-05,1793249808745608192
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746,718,681.341797809,668,640,886,786,814,653,630,655,0.419458381434,0.00450005974584,0.0499765453223,0.99999999846,3.81689323722e-05,-3.58226314055e-05,1.84466060592e-05,1793249808762274816
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746,718,681.91745975,668,640,886,786,814,653,630,655,0.420295574106,0.00448906631373,0.0499557475247,0.999999996284,1.58128349171e-05,-8.23470919361e-05,2.00144609832e-05,1793249808778941184
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746,718,682,668.501831462,639.498168538,886.501831462,785.498168538,814.501831462,652.498168538,630,655,0.421190671163,0.00448722832918,0.0499684624655,0.9999999989,1.07964760544e-05,-4.14625170143e-05,1.9102364329e-05,1793249808795607808
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746,718,681.913280223,669,639.086719777,887.086719777,785.086719777,815,652.086719777,630,654.913280223,0.422094344963,0.00448730233897,0.049985565811,0.999999999756,9.81567327892e-06,8.04139919004e-06,1.80877985726e-05,1793249808812274432
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,746,718,681.333741248,669,639.666258752,887.666258752,785.666258752,815,652.666258752,630,654.333741248,0.422991679275,0.00448953315971,0.0499957299837,0.999999999432,1.52745919215e-05,2.33828313028e-05,1.88498931131e-05,1793249808828941312
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746.245182318,718,681,668.754817682,640,888,786,815,653,630,654.245182318,0.423882227996,0.00449409565124,0.0499922577787,0.999999999484,1.98882033707e-05,1.63692693231e-05,1.91757206757e-05,1793249808845608192
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746.82327037,718,681,668.17672963,640,888,786,815,653,630,654.82327037,0.424763563448,0.00450182405887,0.0499702702583,0.999999999328,2.33540671886e-05,-2.09976444885e-05,1.8909190045e-05,1793249808862275328
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,746.6018263,718,681.3981737,668.3981737,640,888,786,815,653,630,655,0.425690192866,0.00450040675865,0.0499783026368,0.999999999324,2.82054638818e-05,-1.22734042954e-05,2.01492193113e-05,1793249808878941952
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,746.028325329,718,681.971674671,668.971674671,640,888,786,815,653,630,655,0.426636766459,0.00449496234113,0.0499995536371,0.99999999905,3.36669501206e-05,1.67460918768e-05,2.20526300108e-05,1793249808895608576
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746,718,681.43982103,669.56017897,640,888.56017897,786,815,652.43982103,630,655,0.42748213218,0.0044878689907,0.0499883106751,0.999999999109,2.28609803129e-05,-2.5754039257e-05,2.44249887897e-05,1793249808912274944
+171,2.850000000,POSE1_TO_POSE2_PRESS,768.146879194,746,718,681.146879194,669.706241613,640,889,785.853120806,815.146879194,652.146879194,630,654.853120806,0.428333152032,0.00448307668998,0.049971907342,0.999999997298,1.5490398481e-05,-6.70317135989e-05,2.58817946114e-05,1793249808928941312
+172,2.866666667,POSE1_TO_POSE2_PRESS,768.725976701,746,718,681.725976701,668.548046599,640,889,785.274023299,815.725976701,652.725976701,630,654.274023299,0.429216283884,0.0044853077469,0.0499452867221,0.999999995086,2.07162059379e-05,-9.37773935941e-05,2.45727241521e-05,1793249808945607936
+173,2.883333333,POSE1_TO_POSE2_PRESS,768.695649547,746,718,682,668.304350453,640,889,785,816,653,630,654.304350453,0.430120899325,0.00448923571983,0.0499399629505,0.999999995213,2.3572668163e-05,-9.19332917327e-05,2.38073570639e-05,1793249808962274304
+174,2.900000000,POSE1_TO_POSE2_PRESS,768.117925916,746,718,682,668.882074084,640,889,785,816,653,630,654.882074084,0.431044811672,0.00449468789384,0.0499537684013,0.999999997354,2.43009406103e-05,-6.44093201825e-05,2.3530354419e-05,1793249808978941184
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,746,718,681.542550957,669,640,889,785.457449043,816,652.542550957,630,655,0.431926017729,0.00449672537117,0.0499406259108,0.999999995635,2.03794807113e-05,-8.81354764066e-05,2.33641578808e-05,1793249808995608064
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,746,718,681.033008918,669,640,889,786,816,652.033008918,630,654.966991082,0.432796187218,0.00449743937511,0.0499225399881,0.999999992261,1.57489649773e-05,-0.000121201347867,2.32533272375e-05,1793249809012275200
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,746,718,681.621824499,669,640,889,786,816,652.621824499,630,654.378175501,0.433664949019,0.00449061506741,0.0499375914222,0.999999995468,1.92592810053e-05,-9.02053196979e-05,2.3596233955e-05,1793249809028942080
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,746,718,682,669.207273179,640,889,785.792726821,816,652.792726821,630,654.207273179,0.434530900942,0.00448543300296,0.049956463269,0.999999997826,2.016836097e-05,-5.77945686334e-05,2.45137627416e-05,1793249809045608704
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,746,718,682,669.786677148,640,889,785.213322852,816,652.213322852,630,654.786677148,0.435391808258,0.00448319936169,0.0499821941495,0.999999999254,1.64072761222e-05,-2.28438699753e-05,2.6462947338e-05,1793249809062275072
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,746,718,682,669.636272958,640,889,785.363727042,816,652.363727042,630,655,0.436196812718,0.00448385387513,0.0499745562084,0.9999999982,1.18195404404e-05,-5.16795681292e-05,2.80815644596e-05,1793249809078941440
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,746,718,682,669.060594865,640,889,785.939405135,816,652.939405135,630,655,0.43696924141,0.00448619137444,0.0499474735834,0.999999992617,6.75009891003e-06,-0.000117684882272,2.95075530736e-05,1793249809095607808
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,718,682,669,640,889,786,816,653,630.512812663,655,0.437812860781,0.00449147337211,0.0499585463855,0.999999996482,1.02985951197e-05,-7.90432649961e-05,2.61316138202e-05,1793249809112274688
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,718,682,669,640,889,785.911191438,816,652.911191438,631,655,0.43864970642,0.00449564256397,0.0499725911662,0.999999998952,1.74367192111e-05,-3.5502990393e-05,2.30739189854e-05,1793249809128941312
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,718,682,669,640,889,785.319010501,816,652.319010501,631,655,0.439400688455,0.00449154092453,0.0499780394194,0.999999998342,3.91746683693e-05,-3.39749782033e-05,2.50219595015e-05,1793249809145608448
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,746,718,682,668.733479817,639.733479817,889,785,816.266520183,652.266520183,631,655,0.440129147268,0.00448649933149,0.0499704975233,0.99999999753,4.36298269773e-05,-4.8237928275e-05,2.66286967468e-05,1793249809162275328
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,746,718,682,668.155715391,639.155715391,889,785,816.844284609,652.844284609,631,655,0.440831303242,0.00448036005394,0.0499477856342,0.999999995948,2.79020131595e-05,-8.09416811744e-05,2.78368573525e-05,1793249809178941952
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,746,718,682,668.416983503,639.416983503,889,785.416983503,816.583016497,652.583016497,631,655,0.441533664604,0.0044758200672,0.0499477076259,0.999999996349,1.72140517885e-05,-7.8385631274e-05,2.93539696466e-05,1793249809195608320
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,746,718,682,668.98781351,639.98781351,889,785.98781351,816.01218649,652.01218649,631,655,0.4422361018,0.00447187014,0.0499559804099,0.999999997512,8.38554801537e-06,-6.28204425496e-05,3.09850700926e-05,1793249809212274688
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,746,718,682,669,639.420150234,889,785.420150234,816.579849766,652,630.420150234,655,0.442913346384,0.00447513725728,0.0499699585202,0.999999998762,1.241894249e-05,-3.66568209323e-05,3.12735727276e-05,1793249809228941312
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.831627949,746,718,682,669,639,889,785,817,652.168372051,630.168372051,655,0.443553628305,0.00448231723736,0.0499686622557,0.999999998462,2.41961394142e-05,-3.84208726805e-05,3.18647774647e-05,1793249809245607936
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.252799605,746,718,682,669,639,889,785,817,652.747200395,630.747200395,655,0.444105142745,0.00449865217393,0.0499298268186,0.999999992058,5.41671446741e-05,-0.000108830434633,3.32653055113e-05,1793249809262274560
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.325426537,746,718,682.325426537,668.674573463,639,889,785,816.674573463,653,631,654.674573463,0.444647726519,0.00451393062251,0.0498926194938,0.999999982756,7.53537648321e-05,-0.000166508302967,3.29473990045e-05,1793249809278941696
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.903185702,746,718,682.903185702,668.096814298,639,889,785,816.096814298,653,631,654.096814298,0.445183385509,0.00452838987941,0.0498566745941,0.999999972519,8.97290549758e-05,-0.000214314133601,3.12970347247e-05,1793249809295609088
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,746.477306482,718,682.522693518,668,639,889,785,816.477306482,653,631,654.477306482,0.445730472827,0.00452787061302,0.0498566750464,0.99999997556,8.66835089852e-05,-0.000200958675645,3.13202586393e-05,1793249809312275712
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,746.947856212,718,682,668,639,889,785,817,653,630.947856212,654.947856212,0.446275211713,0.00452446345647,0.0498635247799,0.999999980717,7.96294693913e-05,-0.000176721271957,3.15293276155e-05,1793249809328942592
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,746.358079515,718,682,668,639,889,785,817,653,630.358079515,654.358079515,0.446772017169,0.00452236872979,0.0498663892123,0.999999983291,6.74028591808e-05,-0.000167226290332,3.01809976458e-05,1793249809345608960
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,746,718,682,668,639,889,785,817,653,630,654.227965316,0.447229557476,0.00451995393379,0.0498537201702,0.999999981715,4.07914958115e-05,-0.000185202943593,2.46086711535e-05,1793249809362275328
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,746,718,682,668,639,889,785,817,653,630,654.80824263,0.447626414896,0.00451704448264,0.0498170447152,0.999999969721,-8.05097283173e-06,-0.000245635996945,1.25083136259e-05,1793249809378941440
+199,3.316666667,POSE1_TO_POSE2_PRESS,767.614578915,746,718,682,667.614578915,638.614578915,889,785,817,653,630,655,0.448001943886,0.0045142369036,0.049788006901,0.999999956699,-2.52654795262e-05,-0.000293042712563,9.48167160523e-06,1793249809395607808
+200,3.333333333,POSE1_TO_POSE2_PRESS,767.038929877,746,718,682,667.038929877,638.038929877,889,785,817,653,630,655,0.448366946078,0.00451147960419,0.0497627387081,0.999999943794,-2.6869732964e-05,-0.000334020170648,1.09334402691e-05,1793249809412274432
+201,3.350000000,POSE1_TO_POSE2_PRESS,767.536595691,746.536595691,718,682,667,638,889,785.536595691,817,653,630.536595691,655,0.448735872853,0.004513863031,0.0497665404236,0.999999945939,-2.20181082049e-05,-0.000327865382635,1.18630736841e-05,1793249809428940800
+202,3.366666667,POSE1_TO_POSE2_PRESS,768,746.884613863,718,682,667,637.884613863,889,785.884613863,817.115386137,653,631,655,0.449098782895,0.0045170097541,0.0497741184836,0.999999950138,-1.92200000627e-06,-0.000315515223582,1.30512318384e-05,1793249809445607424
+203,3.383333333,POSE1_TO_POSE2_PRESS,768,746.292291189,718,682,667,637.292291189,889,785.292291189,817.707708811,653,631,655,0.449435646893,0.00452177025377,0.0497885902863,0.999999954199,7.92500665854e-05,-0.000291687755488,1.54645154187e-05,1793249809462274048
+204,3.400000000,POSE1_TO_POSE2_PRESS,768,746,718,682,666.708698256,637,889,785,817.708698256,653,631,655,0.449742090145,0.00453310607744,0.0497955625579,0.999999951959,0.000126669882428,-0.000282407102783,1.68280408858e-05,1793249809478941184
+205,3.416666667,POSE1_TO_POSE2_PRESS,768,746,718,682,666.133609884,637,889,785,817.133609884,653,631,655,0.450018897438,0.00455084759201,0.0497952287736,0.999999948613,0.000141208196982,-0.00028729798387,1.71688902484e-05,1793249809495608576
+206,3.433333333,POSE1_TO_POSE2_PRESS,768.443312635,746,718,682.443312635,666.443312635,637,889.443312635,785,817,653,630.556687365,654.556687365,0.450263062348,0.00456119956673,0.0497932566304,0.999999945626,0.000148398953494,-0.000293994671285,1.71335868486e-05,1793249809512274944
+207,3.450000000,POSE1_TO_POSE2_PRESS,768.978827077,746,718,682.978827077,666.978827077,637,889.978827077,785.021172923,817,653,630,654.021172923,0.45049614238,0.0045687147404,0.0497907286579,0.999999942795,0.000152787335795,-0.00030128793241,1.70544039779e-05,1793249809528941056
+208,3.466666667,POSE1_TO_POSE2_PRESS,768.390719765,746,718,682.390719765,666.390719765,637,889.390719765,785.609280235,817,653,630,654.609280235,0.450696932194,0.00456015292627,0.0497865942815,0.99999994176,0.000141680349015,-0.000309921651389,1.88485001498e-05,1793249809545607680
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+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635.808882856,889,785,816.191117144,652.191117144,631,654.808882856,0.451929224003,0.00456012793222,0.0497096906004,0.99999988454,0.00013106856921,-0.000461920451349,1.92326672032e-05,1793249810614202624
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,746,718,681.611162652,665,636,889,785,816.388837348,652.388837348,631,655,0.451881691461,0.00456126059439,0.049691422892,0.999999868331,0.000131568774946,-0.000495649035157,1.89389378825e-05,1793249810630869248
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,681.038440149,665,636,889,785,816.961559851,652.961559851,631,655,0.451825020572,0.00456312307308,0.0496699249304,0.999999847711,0.000132742219828,-0.00053536232949,1.85551247799e-05,1793249810647535872
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,681.536751698,665,636,889,785,816.463248302,653,631,654.463248302,0.451752023714,0.00456439326221,0.049649517149,0.999999831651,0.000134728770523,-0.000564123781623,1.76233929097e-05,1793249810664202496
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,717.884360775,682,665,636,889,785,816.115639225,653,630.884360775,654,0.451676712341,0.00456559538039,0.0496317789789,0.999999817409,0.000136746979043,-0.00058838921615,1.67599599768e-05,1793249810680869120
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,717.290937758,682,665,636,889,785,816.709062242,653,630.290937758,654,0.451596691217,0.00456669231748,0.0496247467011,0.99999981185,0.000138654282351,-0.000597334147994,1.63415916862e-05,1793249810697535744
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,746,717.294177269,682,665.294177269,636,889,785.294177269,817,653,630.294177269,654.294177269,0.451511379254,0.00456752110327,0.0496237488754,0.99999981164,0.000140076824842,-0.000597369285694,1.57649812885e-05,1793249810714202624
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,746,717.871301433,682,665.871301433,636,889,785.871301433,817,653,630.871301433,654.871301433,0.451420978438,0.00456809197452,0.0496285551338,0.999999816579,0.000141033112406,-0.000588834764882,1.5036169786e-05,1793249810730869248
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767.553192595,746,718,682,666,635.553192595,889,785.553192595,817,653,630.553192595,655,0.451311767939,0.00457098979006,0.0496331639894,0.999999822204,0.000143924023146,-0.000578520416398,1.38638255527e-05,1793249810747535872
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767.022377706,746,718,682,665.977622294,635.022377706,889,785,817,652.977622294,630.022377706,655,0.451195819269,0.00457443621493,0.0496375889267,0.999999827753,0.000147432141956,-0.000567977191698,1.26037241403e-05,1793249810764202496
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.611335655,746,718,682,665.388664345,635.611335655,889,785,817,652.388664345,630.611335655,655,0.451045948871,0.00457486396621,0.0496387916883,0.999999828923,0.000152509263369,-0.000564572290758,1.23446613225e-05,1793249810780869120
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665.190602148,636,888.809397852,785,817,652.190602148,630.809397852,655,0.450885718501,0.00457575445923,0.049640587563,0.999999830752,0.000156936445457,-0.000560112418157,1.18896434718e-05,1793249810797536000
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665.751062566,636,888.248937434,785,817,652.751062566,630.248937434,655,0.450705384907,0.00457754288991,0.0496435343574,0.999999833883,0.000160102437422,-0.000553605402239,1.10543802566e-05,1793249810814202368
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,746.330531056,718,682,666,636,888.330531056,785,817,653,630,654.669468944,0.450512657242,0.00457991532615,0.049650072744,0.999999840237,0.000165120090802,-0.00054051679918,1.01530753071e-05,1793249810830868992
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,746.925188925,718,682,666,636,888.925188925,785,817,653,630,654.074811075,0.450310025476,0.00458275444045,0.0496594811664,0.999999848901,0.000171617404018,-0.000522168859994,9.19899642564e-06,1793249810847535360
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,746.500391871,718,682,666,636.499608129,889,785,816.500391871,652.500391871,630.499608129,654.499608129,0.450061927252,0.00458599803604,0.0496618570739,0.999999848723,0.000176568344058,-0.000520878460261,7.98529789867e-06,1793249810864201984
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,666,637,889.071859418,785,816,652.071859418,630.928140582,655,0.449801663051,0.00458939586772,0.0496628568581,0.99999984748,0.000181700491187,-0.000521517827577,6.69049498344e-06,1793249810880868864
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,666,637,889.649350482,785,816,652.649350482,630.350649518,655,0.449501833713,0.00459346938718,0.0496612948649,0.999999847597,0.000189673555074,-0.000518463219506,5.08790126326e-06,1793249810897536000
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,666.233619259,637,889.532761483,785,816.233619259,653,630.233619259,655,0.449185281327,0.00459747379158,0.0496598568778,0.999999846818,0.00019694877197,-0.000517264884539,3.37289685963e-06,1793249810914202880
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,666.828364923,637,888.343270154,785,816.828364923,653,630.828364923,655,0.44884287863,0.00460137135834,0.049658610578,0.999999844718,0.00020314526322,-0.000518935958919,1.48412919767e-06,1793249810930869760
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.590933367,746,718,682,666.590933367,637,888.409066633,785,817,653,631,655,0.448475305381,0.00460550723344,0.0496570012837,0.999999843404,0.000210892410973,-0.000518377541679,-3.30817632592e-07,1793249810947536128
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.015928609,746,718,682,666.015928609,637,888.984071391,785,817,653,631,655,0.448097521689,0.00460973977837,0.0496552447405,0.999999842358,0.000219268583302,-0.000516914729763,-2.11581895239e-06,1793249810964202496
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.559746162,746,718,682.559746162,666.559746162,637,888.440253838,785,817,653,631,655,0.447677087073,0.00461690088891,0.0496511965241,0.999999839196,0.000229274001734,-0.000518668952345,-4.94171229529e-06,1793249810980869120
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.860334754,746,718,683,667,637.139665246,888.139665246,785.139665246,817,652.860334754,630.860334754,654.860334754,0.447244087928,0.00462278490357,0.0496479685989,0.999999836437,0.000237657910955,-0.000520181927527,-7.39410040959e-06,1793249810997536000
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.26668151,746,718,683,667,637.73331849,888.73331849,785.73331849,817,652.26668151,630.26668151,654.26668151,0.446774197263,0.0046242464431,0.0496476193016,0.999999835496,0.000240620145306,-0.000520612784247,-8.53599472469e-06,1793249811014203392
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.316689688,746,717.683310312,682.683310312,667.633379376,638,888.683310312,785.683310312,816.683310312,652.316689688,630.316689688,654,0.446298202687,0.00462803437729,0.0496551004185,0.999999840298,0.000245560712813,-0.000508917496295,-1.03800190416e-05,1793249811030869760
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.891674807,746,717.108325193,682.108325193,668.783349613,638,888.108325193,785.108325193,816.108325193,652.891674807,630.891674807,654,0.445817229645,0.00463371974351,0.0496689681034,0.999999849391,0.000252114829815,-0.000487331997418,-1.27967080722e-05,1793249811047536128
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.534057757,746,717.465942243,682,668.068115513,638.465942243,888.465942243,785.465942243,816,653,630.534057757,654,0.445307812396,0.00463543454843,0.0497000134392,0.999999866254,0.000255839439788,-0.000449280678605,-1.35834917959e-05,1793249811064202752
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.041303896,746,717.958696104,682,667.041303896,639,888.958696104,785.958696104,816,653,630,654,0.444787794137,0.00463648750223,0.0497337473642,0.999999882782,0.000259280348861,-0.000408669815745,-1.41231423186e-05,1793249811080868864
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.633481586,746,717.366518414,682,667.633481586,639,888.366518414,785.366518414,816,653,630,654,0.444214449866,0.00464100583809,0.0497501586036,0.999999889961,0.000267697455045,-0.000384898955284,-1.64128159012e-05,1793249811097535488
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,746,717.220602408,682,667.779397592,639,888,785,816,652.779397592,630,654,0.443601143176,0.00464462843392,0.0497520467595,0.999999887936,0.000274371346368,-0.000385337536296,-1.90418473407e-05,1793249811114202112
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,746,717.799509772,682,667.200490228,639,888,785,816,652.200490228,630,654,0.442922929102,0.00464679615828,0.0497303463561,0.999999870698,0.000278213887594,-0.000425097370383,-2.22220675494e-05,1793249811130868736
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,667.376167407,639,888,785.376167407,816.376167407,652,630,654.376167407,0.442280905187,0.00464805468422,0.0497381617208,0.999999876936,0.000283336474527,-0.000406493012414,-2.47501730672e-05,1793249811147535616
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,667.951633089,639,888,785.951633089,816.951633089,652,630,654.951633089,0.4416580553,0.0046488315052,0.0497616149154,0.999999894125,0.000289137245406,-0.000356966561583,-2.69327797922e-05,1793249811164202240
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.474632785,746,717.474632785,682.525367215,668.525367215,639,887.474632785,786,816.474632785,652.525367215,630.525367215,654.474632785,0.440998740195,0.00465139545795,0.0498004562283,0.99999991373,0.000290880802559,-0.000294973696583,-3.03226622763e-05,1793249811180868864
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.102082311,746,717,682.897917689,669,639,887.102082311,786,816,653,630.897917689,654.102082311,0.440320816625,0.0046499611247,0.0498321387806,0.999999933891,0.000265281323064,-0.000246380989585,-3.37609427871e-05,1793249811197535744
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.693859304,746,717,682.306140696,669,639,887.693859304,786,816,653,630.306140696,654.693859304,0.439569678683,0.00462856012262,0.0498227067789,0.999999957443,0.000110301640133,-0.000267557106371,-3.68999705324e-05,1793249811214202368
+307,5.116666667,POSE2_TO_POSE3_RETREAT,768,746,717.279448438,682,668.720551562,639,887.720551562,786,816,653,630.279448438,654.720551562,0.438770950603,0.00460793771417,0.0497973792779,0.99999995074,2.5555853718e-05,-0.000310426839115,-3.8762296277e-05,1793249811230868992
+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,746,717.858405587,682,668.141594413,639,887.141594413,786,816,653,630.858405587,654.141594413,0.437921216021,0.00458814978822,0.0497550152141,0.999999928206,1.60857035286e-05,-0.00037654747639,-3.92562726637e-05,1793249811247535872
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.566485694,746,718,682,668,639,887.433514306,785.566485694,815.566485694,652.566485694,630.566485694,654,0.437123993569,0.00459206463439,0.0497631600252,0.999999930205,3.02579011727e-05,-0.00037005220465,-4.16695341427e-05,1793249811264202496
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.007391219,746,718,682,668.007391219,639,887.992608781,785.007391219,815.007391219,652,630,654.007391219,0.43634299636,0.00460359298583,0.0497874025341,0.999999939705,5.20468257429e-05,-0.000340415789288,-4.4698884521e-05,1793249811280869120
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.58235426,746,718,682,668.58235426,639,887.41764574,785.58235426,815.58235426,652,630,654.58235426,0.435502456654,0.00461050085323,0.0497921139442,0.99999993889,7.09648821613e-05,-0.0003390350825,-4.73234235049e-05,1793249811297535744
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,746,718,681.838079073,668.838079073,639,886.838079073,786,815.838079073,652.161920927,630,654.838079073,0.434663202491,0.00461593175435,0.04979105256,0.999999936504,8.58151503966e-05,-0.000342175456928,-5.04346560577e-05,1793249811314202112
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746,718,681.246290748,668.246290748,639,886.246290748,786,815.246290748,652.753709252,630,654.246290748,0.433827361237,0.0046174416075,0.0497746655709,0.99999993062,8.98662604153e-05,-0.000357318390359,-5.48379617407e-05,1793249811330868992
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.661829061,746,718,681.338170939,668.338170939,639,886,786,815.338170939,653,630.338170939,654.338170939,0.432972754452,0.004614408789,0.0497832898516,0.999999934913,8.77836291557e-05,-0.000345110980673,-5.80153561623e-05,1793249811347535616
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.082590254,746,718,681.917409746,668.917409746,639,886,786,815.917409746,653,630.917409746,654.917409746,0.432104770543,0.00460813769048,0.0498097436174,0.999999945762,8.13285109518e-05,-0.000313406658448,-6.03188496712e-05,1793249811364202240
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.490692046,746,718,681.509307954,668.509307954,639,886,786,815.509307954,652.509307954,630.509307954,654.509307954,0.431219519518,0.00459411137151,0.0498031279675,0.999999942937,0.000103322710549,-0.00031928354213,-3.88374413697e-05,1793249811380869120
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,746,718,681.63915087,667.36084913,639,885.36084913,786,815,652.63915087,630,654,0.429406275742,0.00458666713143,0.0497655802134,0.999999921921,0.000136921190422,-0.000370146877175,-2.00602764805e-05,1793249811414202624
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746,717.777810931,682,667.222189069,639,885,786,815,652.777810931,630,654,0.428497577544,0.00459089481722,0.0497579392571,0.999999914873,0.000143985709494,-0.000385967457557,-2.34854246266e-05,1793249811430869504
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746,717.18259168,682,667.81740832,639,885,786,815,652.18259168,630,654,0.427610293136,0.00459286419278,0.0497779520274,0.999999921061,0.000148066893351,-0.000367743536394,-2.68228459058e-05,1793249811447536128
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,745.027138397,717.972861603,681.027138397,667.027138397,639,884.027138397,785.027138397,815,652,630,654,0.425743626161,0.00460369184734,0.049757286727,0.99999991278,0.000139994057186,-0.00039209516047,-3.32150568849e-05,1793249811480869376
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,745.546710801,718,681,667,639,884,785.546710801,815,652.546710801,630,654,0.424910482158,0.00460000245276,0.0497905135411,0.999999940218,0.000126181478516,-0.000320017247176,-3.51002165069e-05,1793249811497535744
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746,717.87548648,681,667.24902704,639,883.87548648,786,815,652.87548648,629.87548648,654,0.424074187412,0.00459544009881,0.0498218079268,0.999999960135,0.000115401113242,-0.000255108387819,-3.64881112767e-05,1793249811514202624
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746,717.282682694,681,668.434634612,639,883.282682694,786,815,652.282682694,629.282682694,654,0.423205807041,0.00458940822891,0.0498366878113,0.999999965077,0.000117573343049,-0.000233898060578,-3.62454664098e-05,1793249811530869248
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,717.302706246,680.697293754,668.394587508,639,883,786,814.697293754,652.302706246,629.302706246,654,0.422298833817,0.00458705953241,0.0498246855549,0.999999958971,0.00011733573545,-0.000258805269979,-3.62080644365e-05,1793249811547535872
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,717.881336347,680.118663653,667.237327307,639,883,786,814.118663653,652.881336347,629.881336347,654,0.421356682349,0.0045880681353,0.0497881795947,0.999999939681,0.000114901503958,-0.000325749697858,-3.63577460832e-05,1793249811564202496
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,718,680.45589666,666.54410334,639,883,786,814,653,630,654,0.420465695286,0.00459421218903,0.0497907932912,0.999999936815,0.000122694013528,-0.000331714128466,-3.58039223692e-05,1793249811580868864
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,718,681,666.029518907,639,883,786,814,652.970481093,629.970481093,654,0.41958792299,0.00460146383141,0.0498023122978,0.999999938153,0.00013265314479,-0.000323827336201,-3.51046605939e-05,1793249811597535488
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,718,681,666.605210258,639,883,786,814,652.394789742,629.394789742,654,0.418710433272,0.0046046954002,0.0497918705798,0.999999928914,0.00013388452858,-0.000350736225716,-3.50724975888e-05,1793249811614202112
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,718,680.813933698,666.813933698,639,882.813933698,786,814,652.186066302,629.186066302,654,0.417856756794,0.00460692740349,0.0497815298022,0.99999992169,0.000133068479882,-0.000370991891954,-3.57594528798e-05,1793249811630868992
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,680.221806395,666.221806395,639,882.221806395,786,814,652.778193605,629.778193605,654,0.417055048867,0.00460697800989,0.0497714093099,0.999999920151,0.000127784226036,-0.000376727930355,-3.80157729552e-05,1793249811647535616
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,680,666.723678485,638.638160757,882,786,814,653,630,654,0.416273616927,0.00460036627375,0.0497854263012,0.999999932254,0.000121225332599,-0.000345407615523,-3.86003937428e-05,1793249811664202496
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746,718,680,667.88080938,638.05959531,882,786,814,653,630,654,0.415504329483,0.00458976407982,0.0498139006118,0.999999950184,0.000113902984681,-0.000291892131429,-3.81837380466e-05,1793249811680869120
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.485545569,746,717.485545569,680,667.485545569,638.514454431,881.485545569,786,813.485545569,653,630,654,0.414697175164,0.00458864924286,0.0498036262175,0.999999945459,0.000107765512989,-0.000309751118566,-3.90121492744e-05,1793249811697536000
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.176401712,746,717.088200856,679.911799144,666.911799144,639,881.088200856,786,813,652.911799144,629.911799144,654,0.413892864005,0.00458969648833,0.0497879874817,0.999999936892,0.000104930459629,-0.000337066502993,-3.98888325825e-05,1793249811714202368
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.326270128,746,717.663135064,679.336864936,666.336864936,639,881.663135064,786,813,652.336864936,629.336864936,654,0.413128239218,0.00459666291269,0.0497673011119,0.999999923097,0.000119568823643,-0.000371336234955,-4.02428969813e-05,1793249811730868736
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768.753608827,746,718,679.246391173,666,639,881.753608827,786,813,652.246391173,629,654,0.412402282559,0.00460150598988,0.0497655798186,0.999999919316,0.000130063784689,-0.000377973453035,-3.98507780527e-05,1793249811747535616
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768.158577387,746,718,679.841422613,666,639,881.158577387,786,813,652.841422613,629,654,0.411731040859,0.00460334455821,0.0497906938607,0.999999930502,0.000134695883922,-0.000345511025053,-3.84028195395e-05,1793249811764202752
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.578752694,746,717.578752694,680,666,639,881,785.578752694,813,652.578752694,629.421247306,654,0.411051607524,0.00460384143235,0.0498023633684,0.999999936025,0.00012933341348,-0.000331313741611,-3.81371258043e-05,1793249811780869376
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767.004453039,746,717.004453039,680,666,639,881,785.004453039,813,652.004453039,629.995546961,654,0.410369197855,0.00460385082711,0.0498091480575,0.999999939618,0.000120339603051,-0.000323752754983,-3.83009858006e-05,1793249811797536000
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767.569247981,746,717.569247981,679.430752019,666,639,880.430752019,785,813,652,630,654,0.409712615274,0.00459890737875,0.0497902942773,0.999999930556,0.000117096616453,-0.000351624305974,-3.91973082631e-05,1793249811814202624
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,717.851904056,679,666,639,880.148095944,785,813,652,630,654,0.40908027424,0.0045930198345,0.0497792697234,0.999999925689,0.000112982991392,-0.000366432435936,-3.98096940545e-05,1793249811830869248
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,717.257531928,679,666,639,880.742468072,785,813,652,630,654,0.408520374977,0.00458440395672,0.0497924417018,0.999999935434,0.000106110339107,-0.000341040544091,-3.9549209723e-05,1793249811847535872
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746,717,679,666,639,881.326516008,785,812.673483992,652.326516008,629.673483992,654,0.407977993162,0.00458237378713,0.0498094645923,0.999999943431,0.000102781318977,-0.000317912694689,-3.88059412536e-05,1793249811864202496
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,717,679,666,639,881.902670525,785,812.097329475,652.902670525,629.097329475,654,0.407449004382,0.00458537873526,0.0498294317053,0.99999995011,0.000102161590773,-0.000296515825293,-3.769355916e-05,1793249811880869120
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,746,717,679,666,639,881.536790788,785,812.463209212,653,629,654,0.406903883674,0.00458811918136,0.0498118305213,0.999999939256,0.000104854602855,-0.000330227521532,-3.80011032501e-05,1793249811897536000
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,745.977571817,717,679,666,638.977571817,880.977571817,785,812.977571817,653,629,654,0.406357558315,0.00459090673955,0.0497867597158,0.999999923224,0.000108283536994,-0.000374610864527,-3.86412180354e-05,1793249811914203136
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,745.3699675,717,679,666,638.3699675,880.3699675,785,812.3699675,653,629,654,0.405865357296,0.00459632628334,0.0497660405061,0.999999910681,0.000113344482646,-0.000405162743014,-4.04279378452e-05,1793249811930869504
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767.773009347,745,717,679,666,638.226990653,880,785,812,652.773009347,629.226990653,654,0.405402944656,0.0046003137123,0.0497583187518,0.999999905348,0.000117526288161,-0.000416854372826,-4.15315402812e-05,1793249811947536128
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767.192625845,745,717,679,666,638.807374155,880,785,812,652.192625845,629.807374155,654,0.404986908421,0.00460207153731,0.049770832228,0.999999912221,0.000120339394494,-0.000399183218361,-4.15716239294e-05,1793249811964202752
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,717,679.384100352,666,639,880,785,812,652.384100352,630,654,0.404623886568,0.00460361578236,0.0497939127868,0.99999992561,0.000124099144142,-0.000362845435277,-4.14967295002e-05,1793249811980869120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,717,679.959009765,666,639,880,785,812,652.959009765,630,654,0.404287200567,0.00460505392772,0.0498222427433,0.999999940591,0.00012832915668,-0.000317234651762,-4.13647174875e-05,1793249811997535488
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767.534965134,745,717,679.465034866,666.534965134,639,880,785,812.534965134,653,630,654,0.403960834975,0.00460667820019,0.0498399903585,0.999999947497,0.000134129831749,-0.000292027514323,-4.16440401613e-05,1793249812014202112
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767.886369305,745,717,679,666.886369305,639,880,785,812.886369305,653,630,654,0.403637575479,0.00460826807026,0.0498526308534,0.999999951351,0.000139394873603,-0.000275866987497,-4.19949156088e-05,1793249812030868736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.296685701,745,717,679,666.296685701,639,880,785,812.296685701,653,630,654,0.403324009373,0.00460965394769,0.0498472788635,0.999999946674,0.000141910714422,-0.000291044454788,-4.25132597664e-05,1793249812047535360
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,717,679,666,639,880.287833833,785,812,653,630,654,0.403027247107,0.00460978265746,0.049839387608,0.999999941268,0.000143175946359,-0.000308414853092,-4.29462568303e-05,1793249812064202240
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,717,679,666,639,880.867124267,785,812,653,630,654,0.402747500198,0.00460863837641,0.049828925127,0.999999935019,0.000143174828694,-0.00032800578238,-4.32928325594e-05,1793249812080869120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.444611368,745,717,679.444611368,666,639,880.555388632,785,812.444611368,653,630,654,0.40250336417,0.00460526109908,0.0498193816745,0.999999930469,0.000136821177435,-0.000344167563687,-4.34837687097e-05,1793249812097536000
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,745,716.978605821,679.978605821,666,639,880,784.978605821,813,653,630,654,0.402271704654,0.00460068387811,0.0498104420823,0.999999926629,0.000127728462079,-0.000358551552452,-4.3231333899e-05,1793249812114202368
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,745,716.406137925,679.406137925,666,639,880,784.406137925,813,653,630,654,0.402088390531,0.00458231858653,0.0498100106655,0.999999932322,9.67870209562e-05,-0.000353433988081,-3.27517765868e-05,1793249812130868992
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.828021821,745,716.171978179,679,666,638.828021821,880,784,812.828021821,653,630,654,0.401915228852,0.00456956993075,0.0498102974379,0.999999936202,7.5462542266e-05,-0.000348190430097,-2.57981628857e-05,1793249812147535872
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767.23611423,745,716.76388577,679,666,638.23611423,880,784,812.23611423,653,630,654,0.401766857029,0.00457053575345,0.0498123378556,0.99999993791,7.76203810615e-05,-0.000342639227513,-2.74540583318e-05,1793249812164202496
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767.346631606,745,717,679,666,638.346631606,880,784.346631606,812.346631606,653,630,654.346631606,0.4016416411,0.00457313636926,0.049818908918,0.999999942066,8.12670457452e-05,-0.000329281064921,-2.89552388926e-05,1793249812180869120
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767.923297508,745,717,679,666,638.923297508,880,784.923297508,812.923297508,653,630,654.923297508,0.401531792045,0.00457682187896,0.0498284866415,0.999999947569,8.5901736551e-05,-0.000310741987667,-3.03537465451e-05,1793249812197535744
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.497666571,639,880,785,812.502333429,653,630,654.502333429,0.401436212916,0.00457534413065,0.0498304552551,0.999999949225,8.55636360645e-05,-0.00030540754713,-3.0893707289e-05,1793249812214202368
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.928042738,639,880.071957262,785,812,653,630,654,0.401345031859,0.00457375658171,0.0498310752893,0.999999950132,8.49642090455e-05,-0.000302538280038,-3.14157682346e-05,1793249812230868992
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.351831656,639,880.648168344,785,812,653,630,654,0.401269329572,0.00457695056326,0.0498304254004,0.999999949775,8.787969794e-05,-0.000302747964714,-3.273541054e-05,1793249812247535872
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.76891311,880.76891311,785,812.23108689,653,630,654,0.40120139271,0.00457886392596,0.049830279951,0.999999949694,9.00160057556e-05,-0.000302306933407,-3.34718835499e-05,1793249812264202496
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.175477155,880.175477155,785,812.824522845,653,630,654,0.401145632201,0.00457876925141,0.0498309254734,0.999999950058,9.09305412068e-05,-0.000300845565847,-3.32939348576e-05,1793249812280868864
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.406007706,880,785,812.593992294,653,630,654,0.401106454604,0.00457722479329,0.0498330029109,0.999999951775,8.917498423e-05,-0.000295612210559,-3.33293294213e-05,1793249812297535488
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.982474969,880,785,812.017525031,653,630,654,0.40107423923,0.00457507165347,0.0498356815282,0.999999954015,8.62984071999e-05,-0.000288795212067,-3.34542946934e-05,1793249812314202112
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,744.441853736,717,679,666,638.441853736,880.558146264,785,812,653,630,654,0.401052314182,0.00457826540775,0.0498386273534,0.999999955414,9.10741844667e-05,-0.000282332595593,-3.41504616776e-05,1793249812330868736
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,744.133260959,717,679,666,638.133260959,880.866739041,785,812.133260959,653,630,654,0.401031608085,0.00458039880428,0.0498408049382,0.999999956356,9.4421207191e-05,-0.000277804309775,-3.46026186182e-05,1793249812347535616
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,744.706619776,717,679,666,638.706619776,880.293380224,785,812.706619776,653,630,654,0.401013862081,0.00457847668478,0.0498404177192,0.999999956064,9.22573495398e-05,-0.000279627508433,-3.41897794559e-05,1793249812364202496
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,813,653,630,654,0.400999703023,0.00457770455443,0.0498400384784,0.99999995592,9.12264499781e-05,-0.000280509810037,-3.39476576561e-05,1793249812380869120
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,813,653,630,654,0.400989302605,0.0045781374594,0.0498396675978,0.999999955937,9.13827394104e-05,-0.000280406177005,-3.38844248759e-05,1793249812397536000
+378,6.300000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,812.533597376,653,630,654,0.400985417569,0.0045784364713,0.0498398960192,0.999999956357,9.10900793575e-05,-0.000278947600753,-3.43147572477e-05,1793249812414202624
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.041757544,639,880,784.958242456,812,653,630,654,0.400983058763,0.00457857960694,0.0498403133703,0.999999956856,9.07064888064e-05,-0.00027722117714,-3.47622206481e-05,1793249812430869248
+380,6.333333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.61645823,639,880,784.38354177,812,653,630,654,0.400980744765,0.00457713270322,0.0498413543875,0.999999957208,9.05015017967e-05,-0.000276117809821,-3.39561127287e-05,1793249812447535872
+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.802793962,639,880,784.197206038,812,653,630,654,0.400978892725,0.00457603885184,0.0498419100296,0.999999957419,9.02864829461e-05,-0.000275485617431,-3.34239635543e-05,1793249812464202240
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.209913227,639,880,784.790086773,812,653,630,654,0.400977967561,0.00457565336569,0.0498414918139,0.999999957354,9.00513361969e-05,-0.000275798791688,-3.34414859547e-05,1793249812480869120
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb93a9e5fe75ea23815faf30fd4570d6b5471cbd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
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+212,3.533333333,pose1_to_pose2_press,0.618980734299,0.0101501658447,1.04003353095,0.589551410517,0.0188227932009,1.03970492161
+213,3.550000000,pose1_to_pose2_press,0.619075750868,0.0101500395393,1.04003331364,0.589646429627,0.0188226756973,1.03970470703
+214,3.566666667,pose1_to_pose2_press,0.619159551617,0.0101500778492,1.04003342941,0.589730230308,0.0188227137198,1.0397048183
+215,3.583333333,pose1_to_pose2_press,0.619232424231,0.0101501190535,1.04003333069,0.589803101064,0.0188227495079,1.03970473958
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+218,3.633333333,pose1_to_pose2_press,0.619397387536,0.0101500876332,1.04003340652,0.58996806583,0.0188227221964,1.03970480061
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+233,3.883333333,pose1_to_pose2_press,0.6195477184,0.0101500703215,1.04003350196,0.590118398318,0.0188227103285,1.03970488896
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+236,3.933333333,pose1_to_pose2_press,0.61954858794,0.0101501464595,1.04003330732,0.590119266321,0.018822781578,1.03970470354
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+261,4.350000000,pose2_to_pose3_retreat,0.619549251812,0.0101502358695,1.04003364654,0.590119930208,0.0188228709344,1.03970504006
+262,4.366666667,pose2_to_pose3_retreat,0.619549211262,0.0101502285232,1.04003360593,0.590119889243,0.0188228622592,1.03970500159
+263,4.383333333,pose2_to_pose3_retreat,0.619549087002,0.0101502118255,1.04003350263,0.590119764705,0.0188228447034,1.03970490058
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+265,4.416666667,pose2_to_pose3_retreat,0.619548387774,0.0101501855777,1.04003339223,0.590119064363,0.018822814574,1.03970478757
+266,4.433333333,pose2_to_pose3_retreat,0.619548013505,0.0101501825092,1.04003340952,0.590118689571,0.0188228095814,1.03970480094
+267,4.450000000,pose2_to_pose3_retreat,0.619545700003,0.0101501277532,1.04003351953,0.590116377969,0.0188227611127,1.03970490685
+268,4.466666667,pose2_to_pose3_retreat,0.619538950007,0.010150174201,1.04003362968,0.59010962837,0.0188228091104,1.03970502238
+269,4.483333333,pose2_to_pose3_retreat,0.619524035088,0.0101502456546,1.04003367854,0.590094711656,0.0188228745446,1.03970507234
+270,4.500000000,pose2_to_pose3_retreat,0.619499328487,0.0101501331362,1.04003369795,0.590070006022,0.0188227648331,1.03970507863
+271,4.516666667,pose2_to_pose3_retreat,0.619463167696,0.0101501789125,1.04003354173,0.590033845556,0.0188228121792,1.03970493691
+272,4.533333333,pose2_to_pose3_retreat,0.619416561847,0.010150088408,1.040033475,0.589987241897,0.018822729003,1.03970486861
+273,4.550000000,pose2_to_pose3_retreat,0.619360940193,0.010150071248,1.04003362418,0.589931620733,0.0188227133659,1.03970501495
+274,4.566666667,pose2_to_pose3_retreat,0.619298658896,0.0101500712819,1.04003366301,0.589869337716,0.0188227076783,1.03970505222
+275,4.583333333,pose2_to_pose3_retreat,0.619230389555,0.0101500446361,1.04003359467,0.589801068632,0.0188226819079,1.03970498137
+276,4.600000000,pose2_to_pose3_retreat,0.619155787579,0.0101500287411,1.04003348407,0.589726466961,0.0188226668342,1.03970487239
+277,4.616666667,pose2_to_pose3_retreat,0.619074126537,0.010150082024,1.04003335905,0.589644805211,0.0188227177186,1.03970475423
+278,4.633333333,pose2_to_pose3_retreat,0.618980426317,0.0101502287788,1.04003325493,0.589551103449,0.0188228597201,1.03970465863
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+281,4.683333333,pose2_to_pose3_retreat,0.618615141508,0.0101501386354,1.0400336611,0.589185818665,0.0188227690295,1.03970505043
+282,4.700000000,pose2_to_pose3_retreat,0.618463681322,0.0101501166225,1.04003362548,0.58903435896,0.0188227484175,1.03970501022
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+286,4.766666667,pose2_to_pose3_retreat,0.61767543474,0.0101501678605,1.04003355516,0.588246113511,0.0188228037493,1.03970495644
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+288,4.800000000,pose2_to_pose3_retreat,0.617151152684,0.0101500803629,1.04003330482,0.587721830978,0.018822714464,1.03970470388
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+330,5.500000000,pose2_to_pose3_retreat,0.590933836141,0.0101501157594,1.04003348794,0.561504514706,0.0188227497746,1.03970487947
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+332,5.533333333,pose2_to_pose3_retreat,0.589507314566,0.0101500627307,1.04003362821,0.560077993642,0.0188226982885,1.03970501464
+333,5.550000000,pose2_to_pose3_retreat,0.58881545025,0.0101501036414,1.04003358366,0.559386129319,0.0188227392279,1.03970497148
+334,5.566666667,pose2_to_pose3_retreat,0.588132144627,0.0101501432423,1.0400336531,0.558702823311,0.0188227778455,1.03970504937
+335,5.583333333,pose2_to_pose3_retreat,0.587455306827,0.0101501834976,1.04003379426,0.558025983592,0.0188228110948,1.03970517741
+336,5.600000000,pose2_to_pose3_retreat,0.586787955949,0.0101501199987,1.04003329357,0.557358634004,0.0188227525746,1.03970469265
+337,5.616666667,pose2_to_pose3_retreat,0.586137701384,0.0101500867486,1.04003366994,0.556708380242,0.0188227219026,1.03970506497
+338,5.633333333,pose2_to_pose3_retreat,0.585509469345,0.0101502142184,1.0400336871,0.556080146326,0.0188228427944,1.03970507722
+339,5.650000000,pose2_to_pose3_retreat,0.584902255781,0.0101502166607,1.04003355175,0.555472933229,0.0188228470631,1.03970494855
+340,5.666666667,pose2_to_pose3_retreat,0.584313652524,0.0101501866479,1.04003348337,0.554884330274,0.0188228182717,1.03970488539
+341,5.683333333,pose2_to_pose3_retreat,0.583741243835,0.0101501364916,1.04003349762,0.554311921768,0.018822768629,1.03970489684
+342,5.700000000,pose2_to_pose3_retreat,0.583188150604,0.0101500480659,1.04003345409,0.553758829695,0.0188226840503,1.039704851
+343,5.716666667,pose2_to_pose3_retreat,0.582658697138,0.010150149982,1.04003326105,0.553229374089,0.0188227788886,1.03970466295
+344,5.733333333,pose2_to_pose3_retreat,0.582155673229,0.0101501499582,1.04003335644,0.552726352326,0.0188227861439,1.03970475887
+345,5.750000000,pose2_to_pose3_retreat,0.581672001334,0.0101502323108,1.04003348198,0.552242679499,0.0188228651615,1.03970487963
+346,5.766666667,pose2_to_pose3_retreat,0.581203304816,0.0101500274261,1.04003341836,0.551773984503,0.0188226654467,1.03970481527
+347,5.783333333,pose2_to_pose3_retreat,0.580746287829,0.0101500084538,1.04003354516,0.551316967404,0.0188226459595,1.03970493816
+348,5.800000000,pose2_to_pose3_retreat,0.580302982643,0.0101499897043,1.04003349886,0.550873662106,0.0188226269461,1.03970489504
+349,5.816666667,pose2_to_pose3_retreat,0.579879258711,0.0101500232634,1.04003345745,0.550449937809,0.0188226591369,1.03970485026
+350,5.833333333,pose2_to_pose3_retreat,0.579487009125,0.0101501335096,1.04003351718,0.550057686816,0.0188227643698,1.03970490386
+351,5.850000000,pose2_to_pose3_retreat,0.57913082464,0.0101501200521,1.04003342093,0.549701501501,0.018822748441,1.03970481683
+352,5.866666667,pose2_to_pose3_retreat,0.57880340012,0.0101501256649,1.04003351509,0.549374077213,0.0188227548495,1.03970491134
+353,5.883333333,pose2_to_pose3_retreat,0.578499927331,0.0101501666622,1.04003349325,0.549070604884,0.018822797535,1.03970489294
+354,5.900000000,pose2_to_pose3_retreat,0.578214149524,0.0101499967308,1.04003351758,0.548784829733,0.0188226363903,1.03970491128
+355,5.916666667,pose2_to_pose3_retreat,0.577939903318,0.0101499795475,1.04003362028,0.548510583439,0.0188226186502,1.03970500709
+356,5.933333333,pose2_to_pose3_retreat,0.577675566659,0.010150085989,1.04003360042,0.548246244467,0.0188227173306,1.03970498953
+357,5.950000000,pose2_to_pose3_retreat,0.577425441813,0.0101501344551,1.04003350873,0.547996119331,0.0188227650813,1.03970490492
+358,5.966666667,pose2_to_pose3_retreat,0.57719121537,0.0101500719181,1.04003354883,0.547761895763,0.0188227123688,1.03970494669
+359,5.983333333,pose2_to_pose3_retreat,0.576979548079,0.010150051785,1.04003356794,0.547550229247,0.0188226948477,1.03970496528
+360,6.000000000,pose2_to_pose3_retreat,0.576789097961,0.0101501333199,1.04003338625,0.547359776247,0.0188227666546,1.0397047851
+361,6.016666667,pose2_to_pose3_retreat,0.576621284941,0.0101502065353,1.04003339271,0.547191961867,0.0188228352997,1.03970479272
+362,6.033333333,pose2_to_pose3_retreat,0.576474087084,0.0101499148847,1.04003349329,0.547044769521,0.0188225624191,1.03970489506
+363,6.050000000,pose2_to_pose3_retreat,0.57634785155,0.0101501450409,1.04003368768,0.546918529426,0.0188227762608,1.03970506747
+364,6.066666667,pose2_to_pose3_retreat,0.576236724401,0.0101502200629,1.04003366587,0.546807401487,0.0188228489415,1.03970505458
+365,6.083333333,pose2_to_pose3_retreat,0.576139625985,0.0101500484945,1.04003367016,0.546710304172,0.0188226810157,1.03970505734
+366,6.100000000,pose2_to_pose3_retreat,0.57605514718,0.0101499870325,1.04003356069,0.546625825453,0.0188226199058,1.03970494972
+367,6.116666667,pose2_to_pose3_retreat,0.575980650617,0.0101501106634,1.04003347386,0.54655132807,0.0188227411025,1.03970487144
+368,6.133333333,pose2_to_pose3_retreat,0.575915371886,0.0101501660801,1.04003373137,0.546486049981,0.0188227986781,1.03970512826
+369,6.150000000,pose2_to_pose3_retreat,0.575859859145,0.0101502482816,1.0400336197,0.546430536215,0.0188228774696,1.0397050184
+370,6.166666667,pose2_to_pose3_retreat,0.575814430492,0.0101501172736,1.04003365746,0.546385108198,0.0188227482968,1.03970504761
+371,6.183333333,pose2_to_pose3_retreat,0.575778204248,0.0101501455256,1.04003354195,0.546348882287,0.0188227779479,1.03970493928
+372,6.200000000,pose2_to_pose3_retreat,0.575750142981,0.0101501004414,1.04003357577,0.546320821778,0.0188227352844,1.03970496896
+373,6.216666667,pose2_to_pose3_retreat,0.575728540503,0.0101500249718,1.04003363032,0.546299220138,0.0188226623539,1.03970501548
+374,6.233333333,pose2_to_pose3_retreat,0.575711069716,0.0101500446842,1.04003343729,0.54628174965,0.0188226832895,1.03970482808
+375,6.250000000,pose2_to_pose3_retreat,0.57569742161,0.0101500187903,1.04003348697,0.546268101707,0.0188226580622,1.03970488072
+376,6.266666667,pose2_to_pose3_retreat,0.575686858455,0.0101500016532,1.04003357231,0.546257538674,0.0188226413724,1.03970496695
+377,6.283333333,pose2_to_pose3_retreat,0.575679333898,0.0101500009144,1.04003363193,0.546250014248,0.0188226410233,1.03970502516
+378,6.300000000,pose2_to_pose3_retreat,0.575674328428,0.01015002807,1.04003357936,0.546245009074,0.01882266893,1.039704966
+379,6.316666667,pose2_to_pose3_retreat,0.575671228317,0.0101500504716,1.04003361414,0.546241908823,0.0188226908707,1.03970500101
+380,6.333333333,pose2_to_pose3_retreat,0.575669572109,0.0101500664938,1.04003368162,0.546240252307,0.0188227059741,1.03970507175
+381,6.350000000,pose2_to_pose3_retreat,0.575668577875,0.0101500761121,1.04003372213,0.546239257887,0.0188227150408,1.03970511422
+382,6.366666667,pose2_to_pose3_retreat,0.5756681484,0.0101500802669,1.04003373963,0.546238828333,0.0188227189573,1.03970513256
+383,6.383333333,pose2_to_pose3_retreat,0.575668042063,0.0101500812956,1.04003374396,0.546238721975,0.0188227199271,1.0397051371
+384,6.400000000,pose2_to_pose3_retreat,0.575667911707,0.0101500825566,1.04003374927,0.546238591595,0.0188227211158,1.03970514267
+385,6.416666667,pose2_to_pose3_retreat,0.575667690745,0.0101500852077,1.04003371791,0.546238370584,0.0188227236188,1.03970511181
+386,6.433333333,pose2_to_pose3_retreat,0.575667653518,0.0101500856623,1.040033712,0.546238333349,0.0188227240481,1.03970510599
+387,6.450000000,pose2_to_pose3_retreat,0.575667071668,0.0101500927675,1.04003361963,0.546237751369,0.0188227307573,1.03970501499
+388,6.466666667,pose2_to_pose3_retreat,0.575666659266,0.0101500978035,1.04003355416,0.546237338874,0.0188227355126,1.03970495049
+389,6.483333333,pose2_to_pose3_retreat,0.575666598919,0.0101500985404,1.04003354458,0.546237278514,0.0188227362084,1.03970494105
+390,6.500000000,pose2_to_pose3_retreat,0.575666462785,0.0101501002028,1.04003352297,0.546237142349,0.0188227377782,1.03970491976
+391,6.516666667,pose2_to_pose3_retreat,0.575666323624,0.0101501019021,1.04003350088,0.546237003157,0.0188227393828,1.03970489799
+392,6.533333333,pose2_to_pose3_retreat,0.575666110603,0.0101501045034,1.04003346706,0.546236790088,0.0188227418391,1.03970486467
+393,6.550000000,pose2_to_pose3_retreat,0.575665714133,0.0101501093449,1.04003340412,0.546236393528,0.0188227464107,1.03970480267
+394,6.566666667,pose2_to_pose3_retreat,0.575665336293,0.0101501020257,1.04003334411,0.546236015276,0.018822737741,1.03970474399
+395,6.583333333,pose2_to_pose3_retreat,0.575665149784,0.0101500947437,1.04003331449,0.546235828462,0.0188227294563,1.03970471515
+396,6.600000000,pose2_to_pose3_retreat,0.575665127385,0.0101500938692,1.04003331093,0.546235806027,0.0188227284614,1.03970471169
+397,6.616666667,pose2_to_pose3_retreat,0.575664708319,0.0101500775075,1.04003324436,0.546235386277,0.0188227098466,1.0397046469
+398,6.633333333,pose2_to_pose3_retreat,0.575664391267,0.0101501562002,1.04003367538,0.546235069415,0.0188227889405,1.03970507154
+399,6.650000000,pose2_to_pose3_retreat,0.575664329875,0.0101501048345,1.04003371338,0.54623500824,0.0188227379463,1.03970509985
+400,6.666666667,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
+401,6.683333333,pose2_to_pose3_retreat,0.575664320328,0.0101500720196,1.04003369124,0.54623499877,0.0188227052322,1.03970507356
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ba2241fc3cec2e41d1bbe02ece96a0404c77768
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbeaca27bec01aea9ee024b56705e63c7759288b610017d8d02a9f7b508fc108
+size 25528097
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d9ca85566a6ca39e6a3c83887e784315805b7629
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,403 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+18,0.300000000,BASELINE,767.409034768,745,717,679,666.409034768,638.409034768,879.409034768,785,812.409034768,652.409034768,630,654,0.400976175905,0.00457537951733,0.0498472394865,0.999999960403,8.67522036719e-05,-0.000265647464867,-3.31555483022e-05,1793249813217716224
+19,0.316666667,BASELINE,768,745,717,679,666.974927675,639,880.025072325,785,812.974927675,653,630,654,0.400974282777,0.00457564777048,0.0498461390893,0.999999959789,8.74599466499e-05,-0.000267700916139,-3.32953465233e-05,1793249813234382848
+20,0.333333333,BASELINE,768,745,717,679,666.406626975,639,880.593373025,785,812.406626975,653,630,654,0.400977797983,0.00457506892908,0.0498482678331,0.999999960932,8.57146769544e-05,-0.000263988471633,-3.31593090099e-05,1793249813251049728
+21,0.350000000,BASELINE,768,745,717,679,666,639,881,785,812,653,630,654,0.400979696829,0.00457489611038,0.0498493088109,0.999999961482,8.50770183365e-05,-0.000262108970358,-3.31059173933e-05,1793249813267716096
+22,0.366666667,BASELINE,768,745,717,679,666,639,881,785,812,653,630,654,0.400977530358,0.00457574448272,0.0498476139395,0.999999960573,8.72251215495e-05,-0.00026483951997,-3.32603891604e-05,1793249813284382976
+23,0.383333333,BASELINE,767.669548039,745,717,679,666.330451961,639,880.669548039,785,812,653,630,654,0.400976742241,0.00457602096539,0.0498471209741,0.999999960315,8.77040643585e-05,-0.000265659558012,-3.32166618459e-05,1793249813301049600
+24,0.400000000,BASELINE,767.073693776,745,717,679,666.926306224,639,880.073693776,785,812,653,630,654,0.400977061147,0.00457583813528,0.0498475933186,0.999999960586,8.68424221834e-05,-0.000264945170084,-3.30137510701e-05,1793249813317716224
+25,0.416666667,BASELINE,767,745,717,679,667,639,880.504710202,785,812.504710202,653,630,654,0.400976776265,0.00457581298718,0.0498473557998,0.999999960679,8.6547563789e-05,-0.000264673861377,-3.31645701799e-05,1793249813334382848
+26,0.433333333,BASELINE,767.080444287,745,717,679,666.919555713,639,880.919555713,785,812.919555713,653,630,654,0.400976801137,0.00457576100113,0.0498472578504,0.999999960823,8.64857036036e-05,-0.000264132261403,-3.33049668668e-05,1793249813351049216
+27,0.450000000,BASELINE,767.654906833,745,717,679,666.345093167,639,880.345093167,785,812.345093167,653,630,654,0.400979251559,0.00457540753513,0.049848632261,0.999999961433,8.73634759199e-05,-0.000261546747517,-3.30747764687e-05,1793249813367715840
+28,0.466666667,BASELINE,768,745,717,678.769974931,666.230025069,639,880,785,812,653,630,654,0.40098029773,0.00457515349999,0.0498493418999,0.999999961663,8.75390556459e-05,-0.000260636480007,-3.28414288527e-05,1793249813384382464
+29,0.483333333,BASELINE,768,745,717,678.193870223,666.806129777,639,880,785,812,653,630,654,0.400979231163,0.00457504906159,0.0498490513697,0.999999961327,8.66581654359e-05,-0.000262246671245,-3.26033311216e-05,1793249813401049344
+30,0.500000000,BASELINE,768,745,717,678.393401299,667,639,880,785,812.393401299,653,630,654,0.400977801845,0.00457510562138,0.0498481530591,0.999999960923,8.70543403347e-05,-0.000263652067569,-3.26021047537e-05,1793249813417716224
+31,0.516666667,BASELINE,768,745,717,678.986336636,667,639,880,785,812.986336636,653,630,654,0.400976188539,0.00457524383982,0.0498469464809,0.999999960484,8.80982456035e-05,-0.000264953591397,-3.272102009e-05,1793249813434382848
+32,0.533333333,BASELINE,767.434167026,745,717,679,666.434167026,639,880,785,812.434167026,653,630,654,0.400977417438,0.00457781829747,0.0498478294771,0.999999960561,9.06806388986e-05,-0.000263726722066,-3.32153764451e-05,1793249813451049728
+33,0.550000000,BASELINE,767.142744786,745,716.857255214,678.857255214,666,639,879.857255214,784.857255214,812,653,630,654,0.40097820914,0.00457954455642,0.0498484051397,0.999999960578,9.22359428641e-05,-0.000263080747039,-3.35296543967e-05,1793249813467716096
+34,0.566666667,BASELINE,767.712867482,745,716.287132518,678.287132518,666,639,879.287132518,784.287132518,812,653,630,654,0.400977491159,0.00457855926094,0.0498479130794,0.9999999604,9.06074929262e-05,-0.000264352524683,-3.3278263894e-05,1793249813484382720
+35,0.583333333,BASELINE,768,745,716.294161341,678.294161341,666,639,879.294161341,784.294161341,812,653,630,654,0.400977079828,0.00457755112238,0.0498475662395,0.999999960438,8.89530908388e-05,-0.000264796371007,-3.30876157004e-05,1793249813501049344
+36,0.600000000,BASELINE,768,745,716.886789956,678.886789956,666,639,879.886789956,784.886789956,812,653,630,654,0.400976979636,0.00457651980625,0.0498473667458,0.999999960695,8.72723565176e-05,-0.000264400166912,-3.29585989312e-05,1793249813517716224
+37,0.616666667,BASELINE,767.532214745,745,717,679,666,639,880,785,812,653,630,654,0.40097765765,0.00457578976121,0.0498481114012,0.999999961052,8.70079326826e-05,-0.000263122689446,-3.30423673819e-05,1793249813534382848
+38,0.633333333,BASELINE,767.04606582,745,717,679,666,639,880,785,812,653,630,654,0.400978409267,0.00457530020797,0.0498489249408,0.99999996137,8.7160385222e-05,-0.000261843714223,-3.31672137162e-05,1793249813551049728
+39,0.650000000,BASELINE,767.624720952,745,717,679,666,639,880,785,812,653,630,654,0.400977887239,0.00457676858678,0.0498479572323,0.999999960982,8.82658325331e-05,-0.000262953414789,-3.3186049639e-05,1793249813567716352
+40,0.666666667,BASELINE,768.20122174,745,717,679,666,639,880,785,812,652.79877826,630,654,0.400977359759,0.00457717328098,0.0498472960517,0.99999996072,8.88796623868e-05,-0.000263748621648,-3.31156028693e-05,1793249813584382976
+41,0.683333333,BASELINE,768.773747195,745,717,679,666,639,880,785,812,652.226252805,630,654,0.400976822219,0.00457561521477,0.0498472004906,0.999999960697,8.85863367709e-05,-0.000263963510024,-3.28804075206e-05,1793249813601049344
+42,0.700000000,BASELINE,768.643442433,745,717,678.643442433,666,638.643442433,880,785,812,652.356557567,630,654,0.400977080029,0.00457574810579,0.0498477451759,0.99999996081,8.88694447128e-05,-0.000263421479985,-3.30210297286e-05,1793249813617716224
+43,0.716666667,BASELINE,768.05391197,745,717,678.05391197,666,638.05391197,880,785,812,652.94608803,630,654,0.400977857515,0.0045769858597,0.0498487081948,0.999999961011,8.95291914123e-05,-0.000262384883306,-3.34072092203e-05,1793249813634382848
+44,0.733333333,BASELINE,768,745,716.473913704,678.526086296,666,638.526086296,880,785,812,653,630,654,0.400977416332,0.00457571521179,0.0498485606536,0.999999961136,8.67018753706e-05,-0.000262885445838,-3.31891117943e-05,1793249813651049472
+45,0.750000000,BASELINE,767.895308777,745,716.104691223,679,666,639,880,785,812,653,630,654,0.400976910711,0.00457443864015,0.0498483287923,0.999999961213,8.43303581026e-05,-0.000263396949177,-3.29270817983e-05,1793249813667715840
+46,0.766666667,BASELINE,767.318660033,745,716.681339967,679,666,639,880,785,812,653,630,654,0.400976667576,0.00457427356631,0.0498482207313,0.999999961148,8.5595899223e-05,-0.000263260279432,-3.27411940922e-05,1793249813684382976
+47,0.783333333,BASELINE,767,745,717,679,666,639,880,785,812,653,630,654,0.400976938372,0.00457417614107,0.0498483185862,0.999999961205,8.61867488549e-05,-0.000262849978761,-3.27457649044e-05,1793249813701050112
+48,0.800000000,BASELINE,767,745,717,679,666,639,880,785,812,653,630,654,0.400977843962,0.00457416227339,0.0498486707824,0.999999961414,8.59442394576e-05,-0.000262101697151,-3.29855844845e-05,1793249813717717248
+49,0.816666667,BASELINE,767.41525317,745,717,679,666,639,879.58474683,785,812,653,630,654,0.400978328132,0.00457576548405,0.0498489099557,0.999999961333,8.86334657726e-05,-0.000261496938689,-3.31337246687e-05,1793249813734383872
+50,0.833333333,BASELINE,768,745,717,679,666,638.993919615,879.006080385,784.993919615,812,653,630,654,0.400978630686,0.00457801449446,0.0498490949991,0.999999961118,9.25004017383e-05,-0.000260965193871,-3.32398915872e-05,1793249813751050240
+51,0.850000000,BASELINE,768,745,717,679,666,638.413983616,879.586016384,784.413983616,812,653,630,654,0.400978620103,0.00457664222954,0.0498486844292,0.999999961148,9.04518757262e-05,-0.000261593394418,-3.30454999648e-05,1793249813767716864
+52,0.866666667,BASELINE,768,745,717,679,666,638,880,784.164777973,812,653,630,654,0.40097812232,0.00457554880441,0.049848122629,0.99999996108,8.82205266742e-05,-0.000262629491512,-3.2920450618e-05,1793249813784383488
+53,0.883333333,BASELINE,768,745,717,679,666,638,880,784.740609852,812,653,630,654,0.400976409174,0.00457515097102,0.0498471835712,0.99999996077,8.55331087483e-05,-0.000264683124269,-3.29683820093e-05,1793249813801049856
+54,0.900000000,BASELINE,767.684139383,745,717,679,666,638,880,784.684139383,812.315860617,652.684139383,630,654,0.400977015945,0.00457554012202,0.0498476783776,0.999999961017,8.53938642383e-05,-0.000263797903064,-3.29386022653e-05,1793249813817716736
+55,0.916666667,BASELINE,767.109364989,745,717,679,666,638,880,784.109364989,812.890635011,652.109364989,630,654,0.400979524374,0.00457657437119,0.0498493485354,0.999999961715,8.73433804262e-05,-0.000260503676848,-3.28451220055e-05,1793249813834383360
+56,0.933333333,BASELINE,767.48048965,745,717,679,666,638.48048965,880,784,812.51951035,652.48048965,630,654,0.400979325801,0.00457686772636,0.0498495889535,0.999999961689,8.78347067972e-05,-0.00026040225007,-3.31203749028e-05,1793249813851050496
+57,0.950000000,BASELINE,767.928466247,744.928466247,717,679,666,639,880,784,812.071533753,653,630,654,0.400978525916,0.00457684908384,0.0498494435283,0.999999961495,8.80197956418e-05,-0.000261051458557,-3.33768322243e-05,1793249813867717376
+58,0.966666667,BASELINE,767.35397491,744.35397491,717,679,666,639,880,784,812.64602509,653,630,654,0.400977970697,0.0045758608766,0.0498489474396,0.999999961302,8.84609383858e-05,-0.000261703268743,-3.28919144975e-05,1793249813884383488
+59,0.983333333,BASELINE,767.220573902,744.220573902,716.779426098,679,666,639,880.220573902,784.220573902,812.779426098,653,630,654,0.400977300736,0.00457542438494,0.0498483941695,0.999999961176,8.82063522408e-05,-0.000262292394802,-3.2715229547e-05,1793249813901049856
+60,1.000000000,BASELINE,767.795215064,744.795215064,716.204784936,679,666,639,880.795215064,784.795215064,812.204784936,653,630,654,0.40097644659,0.00457587351208,0.0498477491115,0.999999961157,8.6834975745e-05,-0.000262780899828,-3.30333226121e-05,1793249813917716224
+61,1.016666667,BASELINE,768,745,716.381071946,678.618928054,666.381071946,639,880.618928054,785,812,653,630,654,0.400976572747,0.00457534048864,0.0498479293155,0.999999961189,8.65721557809e-05,-0.000262755222854,-3.29640946077e-05,1793249813934382848
+62,1.033333333,BASELINE,768,745,716.973138802,678.026861198,666.973138802,639,880.026861198,785,812,653,630,654,0.400977241688,0.00457426366034,0.0498485664572,0.99999996125,8.69231301894e-05,-0.000262444849524,-3.26804116113e-05,1793249813951049216
+63,1.050000000,BASELINE,768,745,717,678.551639044,667,639,880,785,812,653,630,654,0.400978618103,0.0045745439811,0.0498498602671,0.999999961795,8.5784058507e-05,-0.000260711000419,-3.28776395211e-05,1793249813967716352
+64,1.066666667,BASELINE,768,745,717,679,666.871213005,639,880,785,812,653,629.871213005,654,0.400979220837,0.0045750154662,0.0498504429996,0.999999962059,8.49768312835e-05,-0.000259937266912,-3.30615854748e-05,1793249813984383744
+65,1.083333333,BASELINE,768,745,717,679,666.296514871,639,880,785,812,653,629.296514871,654,0.400977028363,0.00457592551977,0.049848455649,0.999999961279,8.55637654839e-05,-0.000262722062129,-3.31204106726e-05,1793249814001050624
+66,1.100000000,BASELINE,768,745,717,679,666,639,880,784.715135531,812,653,629.284864469,654,0.400976329158,0.00457570601515,0.0498474787272,0.999999961061,8.46078398359e-05,-0.000263845672797,-3.32266475376e-05,1793249814017717248
+67,1.116666667,BASELINE,768,745,717,679,666,639,880,784.126634749,812,653,629.873365251,654,0.400977221624,0.00457428251728,0.0498475788192,0.999999961443,8.20073837587e-05,-0.000263198630899,-3.33834203747e-05,1793249814034383360
+68,1.133333333,BASELINE,768,745,717,679,666.453924541,639,880,784.453924541,812,653,630,654,0.400977066255,0.00457359989848,0.0498476671015,0.9999999615,8.14243454378e-05,-0.000263202617137,-3.30762257816e-05,1793249814051049728
+69,1.150000000,BASELINE,767.967653422,745,717,679,666.967653422,639,880,785,812.032346578,653,630,654,0.400976676192,0.00457320216653,0.0498478188048,0.999999961482,8.15203348864e-05,-0.000263292936192,-3.26565266497e-05,1793249814067716096
+70,1.166666667,BASELINE,767.388553445,745,717,679,666.388553445,639,880,785,812.611446555,653,630,654,0.400977175245,0.00457418628931,0.0498490972432,0.99999996169,8.37442528912e-05,-0.000261825366499,-3.24854095288e-05,1793249814084382720
+71,1.183333333,BASELINE,767.187908537,745,717,679,666.187908537,639,880.187908537,785,812.812091463,653,630,654,0.400977815202,0.00457482624229,0.049849866328,0.99999996191,8.49216173324e-05,-0.000260601882894,-3.2466210765e-05,1793249814101049600
+72,1.200000000,BASELINE,767.75899135,745,717,679,666.75899135,639,880.75899135,785,812.24100865,653,630,654,0.400978742481,0.00457476438052,0.0498495967635,0.999999962171,8.39648992324e-05,-0.000259876127933,-3.27567967601e-05,1793249814117716480
+73,1.216666667,BASELINE,768,745,717,679,667,639,880.658517955,785,812,653,630,654,0.400978973689,0.00457540773366,0.0498498220061,0.999999962109,8.50919316839e-05,-0.000259732246246,-3.28599128385e-05,1793249814134383360
+74,1.233333333,BASELINE,768,745,717,679,667,639,880.067697658,785,812,653,630,654,0.40097869665,0.00457656601007,0.0498504085395,0.999999961809,8.7740446e-05,-0.000260013228124,-3.28261449199e-05,1793249814151050240
+75,1.250000000,BASELINE,767.487122969,745,717,679,666.487122969,639,880,784.487122969,812,653,630,654,0.400977332645,0.00457517575376,0.0498492317615,0.999999961515,8.56425882532e-05,-0.00026183014878,-3.28554138086e-05,1793249814167716864
+76,1.266666667,BASELINE,767.091644957,745,717,679,666,639,880,784.091644957,812,653,630,654,0.400976084967,0.00457371182008,0.0498480585154,0.999999961276,8.32743620769e-05,-0.000263504112419,-3.2848716633e-05,1793249814184383232
+77,1.283333333,BASELINE,767.667870228,745,717,679,666,639,880,784.667870228,812,653,630,654,0.400976196154,0.00457360219504,0.0498481105249,0.999999961364,8.27243391353e-05,-0.000263371182523,-3.26087117294e-05,1793249814201049856
+78,1.300000000,BASELINE,768,745,717,679,666,639,880.243660517,785,812.243660517,652.756339483,630,654,0.40097651953,0.00457444473906,0.0498483556242,0.999999961386,8.33422264864e-05,-0.000263095858019,-3.2583982941e-05,1793249814217716480
+79,1.316666667,BASELINE,768,745,717,679,666,639,880.818858898,785,812.818858898,652.181141102,630,654,0.400977131624,0.00457658285653,0.0498488634519,0.999999961315,8.55492366788e-05,-0.00026262678361,-3.28521706608e-05,1793249814234382848
+80,1.333333333,BASELINE,768,745,717,679,666,638.594020999,881,785,812.594020999,652.405979001,630,654,0.40097786768,0.00457572717867,0.0498496252004,0.999999961604,8.56879730769e-05,-0.000261486529413,-3.27648637785e-05,1793249814251049728
+81,1.350000000,BASELINE,768,745,717,679,666,638.001420641,881,785,812.001420641,652.998579359,630,654,0.40097866072,0.00457349530631,0.0498505036717,0.99999996206,8.48759608311e-05,-0.000260037745712,-3.25141423464e-05,1793249814267716352
+82,1.366666667,BASELINE,767.425592229,745,717,679,666.574407771,638.574407771,880.425592229,785,812,653,630,654,0.400979016433,0.00457324566095,0.0498503394289,0.999999962209,8.36873546752e-05,-0.000259845418333,-3.25526557096e-05,1793249814284383488
+83,1.383333333,BASELINE,767.14993049,745,717,679.14993049,666.85006951,639,880,785,812,653,629.85006951,654.14993049,0.400979032227,0.00457355089971,0.049850043655,0.999999962171,8.3604500135e-05,-0.000260005921878,-3.26390139197e-05,1793249814301050368
+84,1.400000000,BASELINE,767.724701335,745,717,679.724701335,666.275298665,639,880,785,812,653,629.275298665,654.724701335,0.400978087813,0.00457541495067,0.0498493822774,0.999999961604,8.66574476722e-05,-0.000261157645227,-3.28589749646e-05,1793249814317716480
+85,1.416666667,BASELINE,768,745,717,679.692506985,666.307493015,639,880,785,812,653,629.307493015,654.692506985,0.400976663944,0.00457590530223,0.049848473773,0.999999961092,8.74956527039e-05,-0.00026282775302,-3.28944782008e-05,1793249814334382848
+86,1.433333333,BASELINE,768,745,717,679.102341951,666.897658049,639,880,785,812,653,629.897658049,654.102341951,0.400974799322,0.00457513284002,0.0498473380899,0.999999960634,8.62978902183e-05,-0.000264974400923,-3.2760413146e-05,1793249814351049472
+87,1.450000000,BASELINE,768,745,717,679,666.521242803,639,880,785,812,653,630,654,0.400977795469,0.00457430608578,0.0498495238005,0.999999961851,8.32111632212e-05,-0.000261331596847,-3.28475294501e-05,1793249814367716096
+88,1.466666667,BASELINE,767.94257862,744.94257862,717,678.94257862,666.05742138,639,880,785,812.05742138,653,630,654,0.400981189724,0.00457362063688,0.0498519408636,0.999999963156,8.01609604854e-05,-0.000257244117342,-3.29825498992e-05,1793249814384382720
+89,1.483333333,BASELINE,767.368708243,744.368708243,717,678.368708243,666.631291757,639,880,785,812.631291757,653,630,654,0.400978992865,0.00457430853366,0.0498501716321,0.999999962349,8.10035140113e-05,-0.000260081241403,-3.3131077643e-05,1793249814401049856
+90,1.500000000,BASELINE,767.206181334,744.206181334,717,678.206181334,667,638.793818666,880,785,812.793818666,653,629.793818666,654,0.400977843292,0.00457495147566,0.0498491319256,0.999999961891,8.17591244136e-05,-0.000261587706622,-3.32606743849e-05,1793249814417716480
+91,1.516666667,BASELINE,767.782902511,744.782902511,717,678.782902511,667,638.217097489,880,785,812.217097489,653,629.217097489,654,0.400978575856,0.00457551362685,0.0498494032889,0.999999962069,8.23584844459e-05,-0.00026070277118,-3.33562491641e-05,1793249814434383104
+92,1.533333333,BASELINE,768,745,717,679,666.632232368,638.367767632,879.632232368,785,812,653,629.367767632,654,0.400978980271,0.0045754414163,0.0498497596539,0.999999962087,8.39066250711e-05,-0.000260172838465,-3.3102123941e-05,1793249814451049984
+93,1.550000000,BASELINE,768,745,717,679,666.042450856,638.957549144,879.042450856,785,812,653,629.957549144,654,0.400979186588,0.00457498625445,0.0498501673329,0.999999962004,8.60275254054e-05,-0.000259857213631,-3.26368919095e-05,1793249814467716608
+94,1.566666667,BASELINE,768,745,717,678.46224451,666,638.46224451,879.53775549,785,812.53775549,653,629.46224451,654,0.400976828303,0.00457408578642,0.0498487519824,0.999999961389,8.49862750921e-05,-0.000262537737679,-3.27472069272e-05,1793249814484383232
+95,1.583333333,BASELINE,768,745,717,678.232413203,666,638.116206601,880,785,812.883793399,653,629.116206601,654,0.400975275696,0.00457364373813,0.0498477586492,0.999999961006,8.39485855386e-05,-0.000264301327655,-3.29407760254e-05,1793249814501049600
+96,1.600000000,BASELINE,768,745,717,679.381329662,666,638.690664831,880,785,812.309335169,653,629.690664831,654,0.400977684605,0.0045751456292,0.0498489870829,0.999999961727,8.38920841082e-05,-0.000261532685708,-3.32866194751e-05,1793249814517716224
+97,1.616666667,BASELINE,767.728714586,745,717,679.457429172,666.271285414,639,880,784.728714586,812,653,629.728714586,654,0.40097911963,0.00457551956741,0.0498497020509,0.999999962204,8.38060757873e-05,-0.000259724136024,-3.33435293969e-05,1793249814534382848
+98,1.633333333,BASELINE,767.140904047,745,717,678.281808093,666.859095953,639,880,784.140904047,812,653,629.140904047,654,0.400979418364,0.00457457745459,0.0498498179275,0.999999962402,8.3685639994e-05,-0.000259035784311,-3.3063323049e-05,1793249814551049472
+99,1.650000000,BASELINE,767,745,717,678,666.559942028,639,880,784.440057972,812,653,629.440057972,654,0.400978950801,0.0045744264244,0.0498500654018,0.999999962403,8.38605391873e-05,-0.000258986022966,-3.29765735754e-05,1793249814567716864
+100,1.666666667,BASELINE,767.01872307,745,717,678.01872307,666,639,880,785,812,653,630,654.01872307,0.4009782529,0.0045744819276,0.0498503202706,0.999999962336,8.4059519177e-05,-0.000259185723522,-3.29448822548e-05,1793249814584384256
+101,1.683333333,BASELINE,767.593301318,745,717,678.593301318,666,639,880,785,812,653,630,654.593301318,0.400977889459,0.00457326424744,0.049849562873,0.999999962073,8.22089815182e-05,-0.000260814091607,-3.27369499446e-05,1793249814601050880
+102,1.700000000,BASELINE,767.830900338,744.830900338,717,678.830900338,666,638.830900338,880,784.830900338,812,653,630,654.830900338,0.400977906375,0.00457267383687,0.0498490536399,0.999999961899,8.1277580191e-05,-0.000261784088927,-3.26378680688e-05,1793249814617717504
+103,1.716666667,BASELINE,767.252146324,744.252146324,717,678.252146324,666,638.252146324,880,784.252146324,812,653,630,654.252146324,0.400978844733,0.0045736030257,0.0498491456008,0.999999961951,8.25728435478e-05,-0.00026115914226,-3.28024831096e-05,1793249814634383616
+104,1.733333333,BASELINE,767.331526288,744,716.668473712,678.331526288,666,638,880,784.331526288,812.331526288,653,630,654,0.400979182039,0.00457379043998,0.0498496140848,0.999999962298,8.20084762611e-05,-0.000259981510594,-3.29985630069e-05,1793249814651049984
+105,1.750000000,BASELINE,767.918996196,744,716.081003804,678.918996196,666,638,880,784.918996196,812.918996196,653,630,654,0.400979055324,0.0045734051925,0.0498503732507,0.999999962868,8.00084443749e-05,-0.00025837719716,-3.32189342964e-05,1793249814667716352
+106,1.766666667,BASELINE,768,744.499405172,716.499405172,679,666,638.499405172,880,785,812.001189655,653,630,654,0.40098017109,0.00457302859173,0.049851056176,0.999999963032,8.06910768286e-05,-0.000257575401118,-3.28504661295e-05,1793249814684382976
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,717,679,667,639,880,785,812,653,630,654,0.400979391697,0.00457424132274,0.049849790146,0.999999962126,8.71395963644e-05,-0.000259071195158,-3.22042111613e-05,1793249814727773696
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.577991461,745,717,679,666.422008539,639,880,785,812,653,630.577991461,654,0.400978797072,0.00457361595219,0.0498495318878,0.999999962215,8.4035931808e-05,-0.00025966980777,-3.28498353809e-05,1793249814744440320
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.841415356,745,717,679,666,639,880,785,812,653,630.841415356,654,0.400978195614,0.0045734616587,0.0498491817397,0.999999962163,8.20818663097e-05,-0.000260434607119,-3.33156398869e-05,1793249814761106944
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.253783141,745,717,679,666,639,880,785,812,653,630.253783141,654,0.400977575671,0.00457458185464,0.0498485829853,0.999999961751,8.3238017312e-05,-0.00026164902149,-3.32949459096e-05,1793249814777773312
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.329755455,745,717,679,666,639,880,785,812,653,630,654,0.400977538802,0.00457584642285,0.0498485303329,0.999999961631,8.45260200762e-05,-0.000261694525586,-3.33070711937e-05,1793249814794439936
+112,1.866666667,POSE1_TO_POSE2_PRESS,767.910182157,745,717,679,666,639,880,785,812,653,630,654,0.400977945172,0.00457722073891,0.0498488928124,0.999999961732,8.59142529414e-05,-0.000260851455394,-3.33441448007e-05,1793249814811106048
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,745,717,679,666,639,880.48590832,785,812,653,630,654,0.400979040862,0.00457502881478,0.0498496086445,0.999999962227,8.52707811658e-05,-0.000259215985658,-3.29078468002e-05,1793249814827772672
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.937815052,745,716.937815052,679.062184948,666,639,880.937815052,784.937815052,812,653,630,654,0.400980085348,0.00457265297334,0.0498502887474,0.999999962689,8.43525611616e-05,-0.000257780104984,-3.24881570372e-05,1793249814844439296
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.349602528,745,716.349602528,679.650397472,666,639,880.349602528,784.349602528,812,653,630,654,0.400979629199,0.00457424418239,0.0498501193983,0.9999999623,8.42566024052e-05,-0.000259259706151,-3.29420399067e-05,1793249814861106688
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.235142696,745,716.235142696,679.529714608,666,638.764857304,880,784.235142696,812,653,630,654,0.400985211398,0.00457472955815,0.0498524972088,0.999999963225,8.38921065363e-05,-0.000255768998901,-3.30673213115e-05,1793249814877773568
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.814807709,745,716.814807709,678.370384581,666,638.185192291,880,784.814807709,812,653,630,654,0.40099964076,0.00457359470806,0.0498586070225,0.999999965998,8.31341600975e-05,-0.000244995980801,-3.27111480516e-05,1793249814894440192
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.607645602,745,717,678,666,638.392354398,880,785,812,653,630,654,0.401031898523,0.00457282829142,0.0498703218702,0.999999971833,8.17132920752e-05,-0.000220451916231,-3.2523746147e-05,1793249814911106560
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.031093347,745,717,678,666,638.968906653,880,785,812,653,630,654,0.401072526151,0.00457223484242,0.0498846681028,0.999999978332,7.9981203417e-05,-0.000189442784144,-3.24155769458e-05,1793249814927773184
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,744.456715043,716.456715043,678.543284957,666,639,880,784.456715043,812,653,630,654,0.401139616818,0.00457207647788,0.0499039189314,0.999999985372,7.90254222822e-05,-0.000148217054503,-3.22834780197e-05,1793249814944439808
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,744.120741352,716.120741352,678.879258648,666,639,880,784.120741352,812,653,630,654,0.401208874064,0.00457191045227,0.0499214648743,0.999999989942,7.86373028219e-05,-0.000113645385837,-3.18865095437e-05,1793249814961106432
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,744.710639783,716.710639783,678.289360217,666,639,880,784.710639783,812,653,630,654,0.401280688391,0.00457161828863,0.0499312999034,0.999999990568,8.02829610983e-05,-0.000107191916814,-3.04656546236e-05,1793249814977773056
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,717,678.294913169,666,638.705086831,880,785,812,653,630,654,0.401362685982,0.00457074705407,0.0499384960794,0.999999991515,8.02234379797e-05,-9.83254186917e-05,-2.94311057585e-05,1793249814994439936
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,717,678.873770689,666,638.126229311,880,785,812,653,630,654,0.401454488082,0.00456931828621,0.0499431515495,0.999999992707,7.85221548239e-05,-8.71356405632e-05,-2.87684950034e-05,1793249815011106816
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.450154316,745,717,679,666,638.450154316,880,785,812,653,630,654,0.401556409258,0.00456830935849,0.0499426591145,0.999999992714,7.62014962431e-05,-8.94065039164e-05,-2.77963212249e-05,1793249815027773440
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.97368986,745,717,679,666,639,880,785,812,652.97368986,630,653.97368986,0.401662762558,0.00456740675403,0.0499408681352,0.999999992406,7.3735002642e-05,-9.50604638523e-05,-2.67461379737e-05,1793249815044440064
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.387703591,745,717,679,666,639,880,785,812,652.387703591,630,653.387703591,0.401803366517,0.00456627521536,0.0499419937453,0.999999992776,7.18406658661e-05,-9.28262950709e-05,-2.58729759299e-05,1793249815061106688
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.195947866,745,717,679,666,639,880.195947866,785,812,652.195947866,630,653.195947866,0.401954129128,0.00456477757011,0.0499437063137,0.999999993124,6.9714404698e-05,-9.10130480672e-05,-2.46870114453e-05,1793249815077773056
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.775033979,745,717,679,666,639,880.775033979,785,812,652.775033979,630,653.775033979,0.402124755006,0.0045625640742,0.049946566566,0.999999993432,6.71346603485e-05,-9.00228326533e-05,-2.28894222398e-05,1793249815094439680
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,745,717,679,666,639,880.646169304,785,812,653,630,654,0.402311534984,0.00456104627201,0.0499454325942,0.999999993168,6.43650212489e-05,-9.5208443614e-05,-2.13831143312e-05,1793249815111106560
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,745,717,679,666,639,880.067556379,785,812,653,630,654,0.402508577386,0.00455997043122,0.0499417611644,0.999999992468,6.14747451977e-05,-0.000104317445058,-2.00618519744e-05,1793249815127773184
+132,2.200000000,POSE1_TO_POSE2_PRESS,768,745,717,679,666.507766436,639,880,785,812,653,630,654,0.402741662298,0.00455758808374,0.0499439197177,0.999999993009,5.61210313004e-05,-0.000102439647264,-1.83994449373e-05,1793249815144439552
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.915685962,745,717,679,667,639,880.084314038,785,812,653,630,654,0.40298784534,0.00455487403373,0.0499476806326,0.999999993856,5.09228285786e-05,-9.70578086577e-05,-1.65827986319e-05,1793249815161106432
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.329254031,745,717,679,667,639,880.670745969,785,812,653,630,654,0.403283658306,0.00455121310979,0.0499563945869,0.999999995563,4.85900430344e-05,-7.94574198428e-05,-1.4116166226e-05,1793249815177773568
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.254174964,745,717,679.254174964,667,639,880.745825036,785,812,653,630,654,0.403596273914,0.00454812540212,0.0499648675904,0.999999996976,4.52501690386e-05,-6.21138880567e-05,-1.19677553302e-05,1793249815194439936
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.833759392,745,717,679.833759392,667,639,880.166240608,785,812,653,630,654,0.403930401214,0.00454577155923,0.0499730321143,0.999999998106,4.06209624096e-05,-4.50992005337e-05,-1.02267501334e-05,1793249815211106304
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.586238201,745,717,679.586238201,666.586238201,639,880,785,812,652.586238201,629.586238201,654,0.404296038938,0.0045425759928,0.0499817254592,0.999999998942,3.50717262539e-05,-2.88066869734e-05,-7.55352667174e-06,1793249815227772928
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.006067701,745,717,679.006067701,666.006067701,639,880,785,812,652.006067701,629.006067701,654,0.404674349667,0.00453904189801,0.0499906314876,0.999999999483,2.91524683281e-05,-1.28046211981e-05,-4.50537925011e-06,1793249815244439808
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,717,679,666.566972753,639,880.566972753,785,812,652.566972753,629.566972753,654,0.405081081549,0.00453459035645,0.0499938336197,0.99999999967,2.54179232259e-05,-3.28386382549e-06,-1.79088694778e-06,1793249815261106432
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,717,679,667,639,880.856663813,785,812,653,630,654,0.40549069807,0.00453003977751,0.0499911952715,0.999999999751,2.1437478013e-05,-6.11365998892e-06,1.09189348858e-06,1793249815277772800
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,717,679,667,639,880.269784585,785,812,653,630,654,0.405908311297,0.00452521274081,0.0499706705426,0.99999999875,1.66246630137e-05,-4.6949344769e-05,4.50634057677e-06,1793249815294439936
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.314455715,745,717,679.314455715,667.314455715,639,880.314455715,785,812,653,630,654.314455715,0.406355476732,0.00452098150586,0.0499519124948,0.99999999659,1.27435984452e-05,-8.1233023135e-05,7.62329247889e-06,1793249815311107072
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.896450876,745,717,679.896450876,667.896450876,639,880.896450876,785,812,653,630,654.896450876,0.406827785282,0.00451725717947,0.04993465754,0.999999993855,9.65526816487e-06,-0.000109942248102,1.04871353626e-05,1793249815327773952
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,745.472081202,717.472081202,679.527918798,667.527918798,639,881,785,812.472081202,652.527918798,630,654.527918798,0.407346052942,0.00451221042583,0.0499287689539,0.999999992874,3.54697791469e-06,-0.000118580018244,1.33192752891e-05,1793249815344440832
+145,2.416666667,POSE1_TO_POSE2_PRESS,768,745.953492137,717.953492137,679,667,639,881.046507863,785,813,652,629.953492137,654,0.407881086563,0.00450682847611,0.0499277702207,0.999999992881,-3.26989483915e-06,-0.000118166516288,1.62309355764e-05,1793249815361107456
+146,2.433333333,POSE1_TO_POSE2_PRESS,768,745.377084087,717.377084087,679,667,639,881.622915913,785,813,652,629.377084087,654,0.408493816115,0.00450088838929,0.0499544566791,0.999999997684,-1.07131862122e-05,-6.4119697289e-05,2.01268124839e-05,1793249815377773824
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,745.204323326,717.204323326,679,667.204323326,639.204323326,882,785,813.204323326,652.204323326,629.204323326,654.204323326,0.409120424296,0.00449416646667,0.0499792815281,0.99999999941,-1.63283107206e-05,-1.79927589211e-05,2.42849260746e-05,1793249815394440448
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,745.795188572,717.795188572,679,667.795188572,639.795188572,882,785,813.795188572,652.795188572,629.795188572,654.795188572,0.409773288236,0.00448596545573,0.0500005845552,0.999999999324,-1.8484881432e-05,1.31512274187e-05,2.89391427883e-05,1793249815411107328
+149,2.483333333,POSE1_TO_POSE2_PRESS,768,746,718,679,667.621540198,639.621540198,882.378459802,785,814,652.621540198,630,654.621540198,0.410404081777,0.00447873646083,0.049997182414,0.999999998415,4.52334941333e-05,-5.55151123265e-07,3.35119618815e-05,1793249815427773952
+150,2.500000000,POSE1_TO_POSE2_PRESS,768,746,718,679,667.042297808,639.042297808,882.957702192,785,814,652.042297808,630,654.042297808,0.411023166388,0.00447202314553,0.0499806735496,0.999999988199,0.000143900210547,-3.80557945065e-05,3.8041597015e-05,1793249815444440320
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.469101811,746,718,679.530898189,667.530898189,639,883,785,814,652,629.469101811,654.530898189,0.411668889445,0.00446693093391,0.0499522910333,0.99999998535,0.000136143147115,-9.5032399541e-05,4.16473219684e-05,1793249815461106176
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.106569293,746,718,680,668,639.106569293,883.106569293,785.106569293,814,652.106569293,629.106569293,655,0.412338279951,0.00446186276468,0.049932496119,0.999999983159,0.000119505145851,-0.000131866978879,4.48433269092e-05,1793249815477772544
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.695601941,746,718,680,668,639.695601941,883.695601941,785.695601941,814,652.695601941,629.695601941,655,0.413105318045,0.00445632530434,0.0499558137625,0.999999991367,0.000100615285614,-7.05682671378e-05,4.65139320017e-05,1793249815494439168
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.72018822,746,718,680,668,640,884.27981178,785.72018822,814,653,630,655,0.413883133875,0.00444651059465,0.0499735178626,0.999999998116,3.23434400797e-05,-3.65552684397e-05,3.72204524509e-05,1793249815511105792
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.141135988,746,718,680,668,640,884.858864012,785.141135988,814,653,630,655,0.414672475887,0.00443212164501,0.0499852186468,0.999999995428,-8.87392213579e-05,-3.1722552765e-05,1.62015992059e-05,1793249815527772416
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.436738601,746,718,680,668,640,885,785,814,653,630,655,0.415436748883,0.00444183437262,0.0499620923332,0.999999993463,-8.92201945383e-05,-7.0199960873e-05,1.36544147267e-05,1793249815544439040
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,885,785,814,652.985832835,630,654.985832835,0.416194842371,0.00445945555903,0.0499288589718,0.99999999128,-5.06678065856e-05,-0.000120764880515,1.69917974262e-05,1793249815561105664
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,885,785,814,652.411033742,630,654.411033742,0.417028124941,0.00448264589668,0.0499398429697,0.999999995096,-5.59954346048e-06,-9.72933311075e-05,1.76119224996e-05,1793249815577772288
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,718,680.167654923,668,640,885.167654923,785,814,652,630,654,0.417866434817,0.00449644048191,0.049954938569,0.99999999717,2.60907319327e-05,-6.80339878945e-05,1.87291190648e-05,1793249815594438912
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,718,680.756105968,668,640,885.756105968,785,814,652,630,654,0.41871736265,0.00448665272108,0.0499803538523,0.999999999191,2.42036705237e-05,-2.42478963222e-05,2.10939125315e-05,1793249815611105536
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.660625885,746,718,681,668,640,886.339374115,785,814,652.339374115,630,654.339374115,0.419566070341,0.0044778995482,0.0499781844033,0.999999999123,1.27832709584e-05,-3.28979925584e-05,2.25629347684e-05,1793249815627772160
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.081026467,746,718,681,668,640,886.918973533,785,814,652.918973533,630,654.918973533,0.420413206472,0.00446987870678,0.0499564891545,0.999999996618,-5.38528326001e-06,-7.86649433687e-05,2.33978869737e-05,1793249815644438784
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.494408471,746,718,681,668,640,887,785,814,653,630,655,0.421332627673,0.00446771509,0.0499724645579,0.999999999098,-1.27819077455e-05,-3.34181682708e-05,2.29075524924e-05,1793249815661105408
+164,2.733333333,POSE1_TO_POSE2_PRESS,768.068789965,746,718,681,668.068789965,639.931210035,887,785.13757993,814.068789965,653,630,654.931210035,0.422258028932,0.00446715586038,0.0499921788464,0.999999999435,-1.57476090341e-05,1.9481304837e-05,2.24302527622e-05,1793249815677772544
+165,2.750000000,POSE1_TO_POSE2_PRESS,768.640417978,746,718,681,668.640417978,639.359582022,887,786.280835955,814.640417978,653,630,654.359582022,0.423141270845,0.00447136617527,0.0499944723037,0.999999999517,8.79067396044e-07,2.01996030324e-05,2.36226202072e-05,1793249815694439936
+166,2.766666667,POSE1_TO_POSE2_PRESS,768.778481404,746,718,681,668.778481404,639.221518596,887.221518596,786.778481404,815,653,630,654,0.424023952426,0.00447796149415,0.0499892818113,0.999999999581,1.18973808269e-05,1.08249500803e-05,2.4066967128e-05,1793249815711107072
+167,2.783333333,POSE1_TO_POSE2_PRESS,768.181317294,746,718,681,668.181317294,639.818682706,887.818682706,786.181317294,815,653,630,654,0.424905683952,0.00448860124189,0.0499714002304,0.999999999517,1.34051797769e-05,-1.56650687126e-05,2.32428403479e-05,1793249815727773440
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,746,718,681,668.401137721,640,888.401137721,785.598862279,814.598862279,652.598862279,630,654.401137721,0.425836388088,0.00448658459513,0.0499813935021,0.999999999576,1.43739208052e-05,-6.28467705019e-06,2.45445687774e-05,1793249815744440064
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,746,718,681,668.97717925,640,888.97717925,785.02282075,814.02282075,652.02282075,630,654.97717925,0.426788445175,0.00447904951487,0.0500035407498,0.999999999352,1.51076220551e-05,1.87359091552e-05,2.67732112491e-05,1793249815761107200
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746,718,681,669,640,889,785.552427106,814.552427106,652.552427106,630,655,0.427643929191,0.00447256961866,0.049985200139,0.999999998961,8.42685320363e-06,-3.42749787385e-05,2.88338403295e-05,1793249815777773568
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,746,718,681,668.869306895,640,889,786,815.130693105,652.869306895,630,654.869306895,0.428501469935,0.00446795339653,0.0499649672199,0.999999996259,3.17830279048e-06,-8.10272197866e-05,3.01222695654e-05,1793249815794440192
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,746,718,681,668.280343118,640,889,786,815.719656882,652.280343118,630,654.280343118,0.429380191213,0.00446971945466,0.0499439553219,0.99999999511,4.02423484379e-06,-9.45469434009e-05,2.87273101478e-05,1793249815811107328
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746,718,681.303590782,668.303590782,640,889,786,816,652.303590782,630,654.303590782,0.430282350554,0.00447450546341,0.0499389686738,0.999999995468,6.54887951848e-06,-9.07428125028e-05,2.80466759363e-05,1793249815827773952
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746,718,681.882955637,668.882955637,640,889,786,816,652.882955637,630,654.882955637,0.431205800383,0.00448203471769,0.0499485389527,0.999999997017,1.05984236018e-05,-7.12021360828e-05,2.80149164779e-05,1793249815844440320
+175,2.916666667,POSE1_TO_POSE2_PRESS,768.459083191,746,718,681.540916809,669,640,889,785.540916809,816,653,630,655,0.43209641965,0.004483454384,0.0499360231953,0.999999995284,8.32530095729e-06,-9.26055090529e-05,2.80686834604e-05,1793249815861109504
+176,2.933333333,POSE1_TO_POSE2_PRESS,768.965746166,746,718,681,669,640,889,785.034253834,816,653,630.034253834,655,0.432979406098,0.004482702816,0.0499205250643,0.99999999243,5.06498140684e-06,-0.000119669736061,2.81804204696e-05,1793249815877779200
+177,2.950000000,POSE1_TO_POSE2_PRESS,768.39273624,746,718,681,669,640,889,785.60726376,816,653,630.60726376,655,0.43387306793,0.00447212909681,0.049946063546,0.999999996873,1.1453921489e-05,-7.2734670205e-05,2.88633725156e-05,1793249815894442752
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,746,718,681,669,640,889.186287323,785.813712677,816,653,630.813712677,655,0.434748254191,0.00446443352705,0.0499686863336,0.999999998858,1.10991458886e-05,-3.57943899067e-05,2.9644864978e-05,1793249815911107072
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,746,718,681,669,640,889.778412038,785.221587962,816,653,630.221587962,655,0.435583190556,0.00446300816542,0.0499849571228,0.99999999931,-3.94719173137e-06,-2.06283024876e-05,3.06410335108e-05,1793249815927773952
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,746,718,681,669,640,889.639774667,785,816,652.639774667,630,655,0.43638351165,0.0044645377584,0.0499714881964,0.999999997732,-1.35163748717e-05,-5.78946373415e-05,3.16519974424e-05,1793249815944440576
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,746,718,681,669,640,889.064127831,785,816,652.064127831,630,655,0.437163132113,0.00446783446973,0.0499402343614,0.999999991267,-1.98101159823e-05,-0.000126516544579,3.2671809124e-05,1793249815961106944
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,718,681.514966134,669,640,889,785.514966134,816,652,630,655,0.438032625622,0.00447440932951,0.049959534355,0.99999999678,-1.07845100562e-05,-7.33722277815e-05,3.06653447503e-05,1793249815977773568
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,718,682,669.187684284,640,889,785.906157858,816.093842142,652.093842142,630,655,0.438892877906,0.00447986823311,0.0499804521341,0.999999999414,2.64028520761e-06,-1.82070506552e-05,2.88819843707e-05,1793249815994439936
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,718,682,670.338762116,640,889,785.330618942,816.669381058,652.669381058,630,655,0.439647859548,0.00447748932624,0.0499771418002,0.999999998649,2.87880826408e-05,-3.1027431384e-05,3.01912921501e-05,1793249816011106560
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,746,718,682,670.498400199,640,889.250799901,785,816.749200099,652.749200099,630.250799901,654.749200099,0.440379746814,0.00447238587544,0.0499669363513,0.999999997652,3.48825056273e-05,-4.98657178511e-05,3.15149670803e-05,1793249816027773184
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,746,718,682,669.319687912,640,889.840156044,785,816.159843956,652.159843956,630.840156044,654.159843956,0.441080458788,0.00446360454717,0.0499474231467,0.999999996412,1.39067598417e-05,-7.68276091869e-05,3.28580362059e-05,1793249816044439808
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,746,718,682,669,639.578097137,889.578097137,785,816,652.421902863,630.578097137,654.421902863,0.441799833785,0.00445891111495,0.0499522886173,0.999999997294,3.00216882252e-06,-6.50373429601e-05,3.42501344705e-05,1793249816061106688
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,746,718,681.999187776,669,639,889,785,816,653,630.000812224,655,0.442526076983,0.00445575195528,0.0499662124096,0.999999998601,-4.12862723517e-06,-3.88526964573e-05,3.5660734226e-05,1793249816077773824
+189,3.150000000,POSE1_TO_POSE2_PRESS,768,746,718,681.424292086,669,639,889,785,816,653,630.575707914,655,0.443197653011,0.00446174790849,0.049970057331,0.99999999877,6.97044785997e-06,-3.19829912875e-05,3.72516255517e-05,1793249816094439680
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,746,718,681,668.846131891,639,889,785,816,652.846131891,631,654.846131891,0.443832799795,0.00447118841389,0.0499596007827,0.999999997734,2.23864809018e-05,-5.05581055616e-05,3.83979765969e-05,1793249816111105536
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,746,718,681,668.258774546,639,889,785,816,652.258774546,631,654.258774546,0.444365315426,0.00449033318173,0.0499088530193,0.999999988104,4.99645869821e-05,-0.000140818347663,3.82919342644e-05,1793249816127772160
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,746,718,681.325912153,668,639,889,785,816.325912153,652,631,654.325912153,0.444916583928,0.00450516633936,0.0498729893727,0.99999997825,6.99046851447e-05,-0.000192829511773,3.7815179103e-05,1793249816144438784
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,746,718,681.908495555,668,639,889,785,816.908495555,652,631,654.908495555,0.445482621173,0.00451660389866,0.0498488476759,0.999999972748,8.38294890561e-05,-0.000214717711412,3.70464702176e-05,1793249816161105408
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,746,718,682,668.483233083,639,889,785,817,652.483233083,631,655,0.446048645935,0.00451651852514,0.0498570527409,0.99999997766,8.38581540627e-05,-0.000190346360985,3.76354857862e-05,1793249816177773312
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,746,718,682,668.886587214,639,889,785,817,653,630.943293607,654.943293607,0.446606492249,0.00451428861963,0.0498686901089,0.999999982721,8.12224118999e-05,-0.00016272311661,3.85010800948e-05,1793249816194440960
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,746,718,682,667.736024066,639,889,785,817,653,630.368012033,654.368012033,0.447089568629,0.00451208227155,0.0498565965933,0.99999997922,7.7899965414e-05,-0.000184188027173,3.95823963079e-05,1793249816211107584
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,746.21348097,718,682,667.21348097,638.78651903,889,785,817,653,630.21348097,654.21348097,0.447541660387,0.00451111780007,0.049834316712,0.999999972068,7.73340033355e-05,-0.000219706689143,4.01604442233e-05,1793249816227773952
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,746.806002451,718,682,667.806002451,638.193997549,889,785,817,653,630.806002451,654.806002451,0.447938738168,0.00451235831012,0.0497939506989,0.999999956622,8.16622447184e-05,-0.000280178116387,3.98449271876e-05,1793249816244440576
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,747,718,682,667.61216476,638,889,785,816.61216476,653,631,655,0.448329582224,0.00451055744253,0.0497708149572,0.999999946297,7.9351219623e-05,-0.000315520330318,3.9452114951e-05,1793249816261106944
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,747,718,682,667.035535069,638,889,785,816.035535069,653,631,655,0.4487173918,0.00450727606178,0.0497560667417,0.99999993918,7.3808264163e-05,-0.000338629891464,3.90216761575e-05,1793249816277773312
+201,3.350000000,POSE1_TO_POSE2_PRESS,768,746.460150986,718,682,667,638,889,785,816.539849014,653,631,655,0.449100762015,0.00450950661954,0.0497662435833,0.999999947191,2.09850023211e-05,-0.000323681271386,2.01927463182e-05,1793249816294439936
+202,3.366666667,POSE1_TO_POSE2_PRESS,768.117930701,746,718,682,667,637.882069299,889,785,817,653,630.882069299,655,0.44947487541,0.00451081902623,0.0497780314463,0.999999952767,-1.26601127488e-05,-0.000307054418165,4.87432102229e-06,1793249816311106560
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+206,3.433333333,POSE1_TO_POSE2_PRESS,768.446506357,746,717.553493643,682.553493643,666,637,889,785,817,653,630.553493643,654.553493643,0.450663874081,0.00454619804683,0.0497924298497,0.999999949873,0.000106711041496,-0.000297855935358,1.22068779081e-05,1793249816377773312
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+208,3.466666667,POSE1_TO_POSE2_PRESS,768.402061843,746,717.597938157,682,666,637,888.402061843,785,817,652.402061843,630,654.597938157,0.451094826384,0.00456060127141,0.0497778801389,0.999999938448,0.000120209093565,-0.000329374763852,1.28707225936e-05,1793249816411106560
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+211,3.516666667,POSE1_TO_POSE2_PRESS,768,746,718,682.350313959,666,636.649686041,889,785,817,653,631,654.649686041,0.451593952823,0.00455185603969,0.0497521612344,0.999999921614,0.00010563786146,-0.000381229105755,1.6661319501e-05,1793249816461106176
+212,3.533333333,POSE1_TO_POSE2_PRESS,768,746,718,682.928928953,666,636.071071047,889,785,817,653,631,654.071071047,0.451727315433,0.00455289527824,0.0497460422228,0.999999915039,0.000106200577728,-0.000397939773115,1.69689164116e-05,1793249816477772800
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,746,718,682.851832505,665,635.851832505,889,785,817,653,631,654.851832505,0.452464308534,0.00456525310579,0.0497188540124,0.99999989592,0.000119505870286,-0.000440000513267,1.66542351774e-05,1793249817346358528
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,746,718,682.274017221,665,635.274017221,889,785,817,653,631,654.274017221,0.452464481155,0.00456450535045,0.0497192492059,0.999999896191,0.000119150640067,-0.000439492629654,1.63741084124e-05,1793249817363025152
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767.688903228,746,718,682,665,635.311096772,889,785,817,653,631,654.311096772,0.452463956965,0.0045636676872,0.0497189971229,0.999999896082,0.000117948787388,-0.000440061930394,1.63997937419e-05,1793249817379691776
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767.097206041,746,718,682,665,635.902793959,889,785,817,653,631,654.902793959,0.452462804271,0.00456274892961,0.0497181612147,0.999999895628,0.000115983305421,-0.000441602820719,1.67013128735e-05,1793249817396358912
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767.48390274,746,718,682,665,636,889,785,817,653,631,655,0.452463889138,0.00456470760687,0.049718633445,0.999999895742,0.000118432897756,-0.000440707289386,1.63413331985e-05,1793249817413025536
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,746,717.937553541,682.062446459,665.062446459,636,889,785,817,653,631,655,0.452464777156,0.00456680388749,0.0497189949795,0.999999895777,0.000121097208804,-0.000439918198592,1.5930992142e-05,1793249817429692416
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,746,717.362975986,682.637024014,665.637024014,636,889,785,817,653,631,655,0.452460443476,0.00456538978581,0.0497163397566,0.999999894322,0.000118404649572,-0.000443929940632,1.61740729184e-05,1793249817446358528
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,746,717.212593758,683,665.787406242,636,889,785,817,653,631,655,0.452450391067,0.00456423430072,0.0497116154444,0.999999890934,0.000117182004989,-0.000451811050839,1.63238361725e-05,1793249817463024896
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,746,717.789865419,683,665.210134581,636,889,785,817,653,631,655,0.452430528898,0.00456352244008,0.0497033418696,0.999999884116,0.00011848081471,-0.000466329575898,1.63135249056e-05,1793249817479691776
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,746,718,682.624991337,665,635.624991337,889,785.375008663,817,653,630.624991337,655,0.452391551885,0.00456329839773,0.049687404876,0.999999870557,0.000117020187845,-0.000494907572071,1.61021487739e-05,1793249817496358400
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,682.035342657,665,635.035342657,889,785.964657343,817,653,630.035342657,655,0.452341634297,0.00456335356305,0.049667081646,0.999999852116,0.000113980169433,-0.000531532650166,1.57756911078e-05,1793249817513025024
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,889,785.4562091,817,653,630,655,0.452271662675,0.00456553773679,0.0496457145406,0.999999833832,0.000118781533014,-0.000563918295695,1.49503097563e-05,1793249817529692160
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,718,682.121523972,665.121523972,635.121523972,889,785,817,653,630.121523972,655,0.452198624555,0.0045675727698,0.0496269469901,0.999999817108,0.000122933298625,-0.000592008107762,1.40983498896e-05,1793249817546359040
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,718,682.696532955,665.696532955,635.696532955,889,785,817,653,630.696532955,655,0.452118914785,0.00456854470581,0.0496181284347,0.999999809314,0.000122795287494,-0.000605076072241,1.32659173798e-05,1793249817563025664
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.277348564,746,718,682.722651436,665.722651436,636,889,785,817,653,631,655,0.452032935736,0.00456965450598,0.0496131312058,0.999999804043,0.000124401903269,-0.000613413976487,1.27188910955e-05,1793249817579692288
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.864653447,746,718,682.135346553,665.135346553,636,889,785,817,653,631,655,0.451939950335,0.00457091837886,0.0496124045755,0.99999980172,0.000127958261037,-0.000616465708574,1.249082618e-05,1793249817596358656
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.554538467,746,718,682,665.445461533,636,889,785,817,653,631,655,0.451833210542,0.00457324477739,0.049615699417,0.999999803878,0.000132728763849,-0.000611945437011,1.22250503645e-05,1793249817613025280
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665.97577026,636,889,785,817,653,631,655,0.451720965244,0.00457577326273,0.0496200260921,0.999999807234,0.000137657369127,-0.000605343577242,1.19318390683e-05,1793249817629691904
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,665.399151776,636,889,785,817,653,631,655,0.451577110093,0.00457565480442,0.04962042094,0.999999808635,0.000137901136821,-0.000602981593399,1.12706157787e-05,1793249817646358272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889,785,817,653,631,655,0.451424201007,0.00457616582419,0.0496216758145,0.999999810904,0.000139727781457,-0.00059879486311,1.05839934959e-05,1793249817663024896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889,785,817,653,631,655,0.451250928159,0.00457809264328,0.0496248650298,0.999999815075,0.000145114575583,-0.000590503979432,9.84024480492e-06,1793249817679691776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889,785,817,653,631,655,0.451064460035,0.00458075536813,0.0496292708792,0.999999819134,0.000149838742408,-0.00058240543855,9.22253337106e-06,1793249817696358656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889,785,817,653,631,655,0.450867879043,0.00458398209077,0.0496346091565,0.999999823097,0.000154055072776,-0.000574454308149,8.7014167098e-06,1793249817713025536
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,746.506722747,718,681.493277253,665.506722747,636,889,785,817,653,631,655,0.450642476244,0.00458771374273,0.0496435768912,0.999999832419,0.000160742571055,-0.000556128142007,6.73943722226e-06,1793249817729691904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,746.91309106,718,681.08690894,666,636,889,785,817,653,631,655,0.450405855976,0.00459116238963,0.0496524186573,0.999999841472,0.000167507774333,-0.000537563920661,4.72708308209e-06,1793249817746358528
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746.337705561,718,681.662294439,666,636,889,785,817,653,631,655,0.450129945865,0.00459260416427,0.0496575605463,0.999999846635,0.000172672670293,-0.000526214134311,3.61933976036e-06,1793249817763025152
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,666,636,888.76310727,785,817,653,631,654.76310727,0.44982998979,0.00459566790759,0.0496603910699,0.999999849395,0.000178722512787,-0.000518906681732,2.15071530829e-06,1793249817779691776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,666,636,888.189627512,785,817,653,631,654.189627512,0.449495868228,0.0046010362113,0.0496599375093,0.999999848875,0.000186029723781,-0.000517342745598,1.69336026117e-07,1793249817796358400
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.603059195,746,718,682.396940805,666,636.396940805,888,785,817,652.603059195,631,654.396940805,0.449139440973,0.00460448561084,0.0496585493329,0.999999845636,0.000192567110628,-0.000521194961002,-1.18001175443e-06,1793249817813025280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.010024994,746,718,682.989975006,666,636.989975006,888,785,817,652.010024994,631,654.989975006,0.448771994454,0.00460698704912,0.0496566994456,0.999999841006,0.000198724195124,-0.000527722818589,-2.21712852749e-06,1793249817829692416
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.567397534,746,718,682.432602466,666.567397534,637,888,785.567397534,817,652.567397534,631,655,0.448371024876,0.00461485023477,0.0496563429859,0.999999843269,0.000208277648576,-0.000519664525108,-5.5203337643e-06,1793249817846359296
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,666.856036669,637,888.143963331,785.856036669,817,652.856036669,631,655,0.447955355442,0.00462194803271,0.0496550437532,0.999999843833,0.000217756349639,-0.000514631869411,-8.38282131199e-06,1793249817863025920
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,666.28123155,637,888.71876845,785.28123155,817,652.28123155,631,655,0.447497418659,0.00462647932023,0.0496508462134,0.999999839334,0.000226836557028,-0.000519404710716,-9.80974985163e-06,1793249817879692544
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,746,717.699177393,682,666.300822607,637.300822607,888.699177393,785.300822607,817,652.300822607,630.699177393,655,0.447021130398,0.00462946529158,0.0496489983521,0.999999836852,0.000232648867604,-0.000521575318001,-1.13924133949e-05,1793249817896358912
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,746,717.110178884,682,666.889821116,637.889821116,888.110178884,785.889821116,817,652.889821116,630.110178884,655,0.446527262108,0.004630970913,0.0496494013873,0.999999836371,0.000235330666162,-0.000521253090841,-1.31242649472e-05,1793249817913025792
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.529208822,746,717.470791178,682,667,638,888,785.529208822,817,653,630.470791178,655,0.446018243289,0.00463453697851,0.0496644821096,0.999999846894,0.000241210028601,-0.000497795165623,-1.51356953022e-05,1793249817929692416
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.049456792,746,718,682,667.049456792,638.049456792,888,785,817,653,631,655,0.445503040902,0.00463819835404,0.0496842538101,0.999999859623,0.000247806086883,-0.000468033026455,-1.70518958176e-05,1793249817946358784
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.62327684,746,718,682,667.62327684,638.62327684,888,785,817,653,631,655,0.44495923962,0.00463784342946,0.0497179525464,0.999999876004,0.000254199854399,-0.000427874428409,-1.72763454699e-05,1793249817963025920
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,667.802299551,639,888,785.197700449,817,652.802299551,630.802299551,654.802299551,0.444388259724,0.00463916758457,0.0497429605784,0.999999886462,0.000261428249773,-0.000397991115799,-1.82778444882e-05,1793249817979692800
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,667.226722354,639,888,785.773277646,817,652.226722354,630.226722354,654.226722354,0.44376533174,0.0046437010656,0.0497513575429,0.999999888092,0.000270251919774,-0.000387747577119,-2.07645646797e-05,1793249817996359680
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,746,717.641680233,682.358319767,667.358319767,639,888,785.641680233,816.641680233,652,630,654,0.443110672607,0.00464612759059,0.0497462063183,0.999999883415,0.000275760455828,-0.000395693345879,-2.35247449571e-05,1793249818013026048
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,746,717.050486839,682.949513161,667.949513161,639,888,785.050486839,816.050486839,652,630,654,0.442435391282,0.0046471847952,0.0497322500644,0.999999874394,0.000279114471016,-0.000415460427613,-2.6462648071e-05,1793249818029692416
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,746,717.52939553,682.47060447,668,639,887.47060447,785.52939553,816,652.52939553,630,654.52939553,0.441786745365,0.00464565614469,0.0497638292053,0.999999895806,0.000281096208659,-0.000358490723088,-2.92911547366e-05,1793249818046359296
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.892474686,746,718,682,668.107525314,639,887,785.892474686,816,653,630.107525314,654.892474686,0.441131070775,0.00464064141503,0.0497991909994,0.99999991652,0.00027912055472,-0.000296665829368,-3.22508062589e-05,1793249818063025920
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.3173736,746,718,682,668.6826264,639,887,785.3173736,816,653,630.6826264,654.3173736,0.440434017293,0.00462151734157,0.0498325129952,0.999999935445,0.000260493300628,-0.000244885496807,-3.58251613653e-05,1793249818079692032
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.255980178,746,718,681.744019822,669,639,887.255980178,785.255980178,816,652.744019822,630.744019822,654.255980178,0.439687049684,0.00460189371534,0.0498357012169,0.999999955251,0.000171950189142,-0.000241895173016,-3.76542335659e-05,1793249818096358400
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.827182343,746,718,681.172817657,669,639,887.827182343,785.827182343,816,652.172817657,630.172817657,654.827182343,0.438878616168,0.00458165492165,0.0498017817727,0.999999954603,-2.6895001765e-06,-0.000298986378224,-3.73341095451e-05,1793249818113025024
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,746,718,681,668.585430973,639,888,786,816,652,630,655,0.438042470836,0.00458738553682,0.0497730404412,0.999999937235,-3.36509994717e-05,-0.000350272197435,-4.1304272953e-05,1793249818129692160
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,746,717.991260991,681,668.008739009,639,887.991260991,786,816,652,630,654.991260991,0.437195004667,0.00460423072882,0.04974745859,0.99999991987,-2.47218759663e-06,-0.000397539188568,-4.70852975138e-05,1793249818146359296
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,746,717.412576886,681,668.587423114,639,887.412576886,786,816,652,630,654.412576886,0.436393216828,0.00461123763509,0.0497814364502,0.999999938448,1.65284520514e-05,-0.00034694756365,-4.958917029e-05,1793249818163025920
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.834977522,746,717.165022478,681.165022478,669,639,887,786,816,652,630,654,0.435573102657,0.00461696882834,0.0498005576088,0.999999946432,3.38835927261e-05,-0.000321345054926,-5.22029971041e-05,1793249818179692288
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.260072466,746,717.739927534,681.739927534,669,639,887,786,816,652,630,654,0.43470746962,0.00461953140714,0.0497827777125,0.999999933357,4.71516445294e-05,-0.000357810479299,-5.5089927697e-05,1793249818196358656
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.315767019,746,718,682,668.684232981,639,887,785.684232981,816,652,630,654,0.433850739573,0.00461980527919,0.0497769422826,0.999999930037,5.69449378557e-05,-0.000365038135489,-5.85778831094e-05,1793249818213025280
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.892378375,746,718,682,668.107621625,639,887,785.107621625,816,652,630,654,0.433001364026,0.00461818852871,0.0497809737689,0.999999935412,6.38678513775e-05,-0.000348113469431,-6.25623244684e-05,1793249818229691648
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746,718,681.517754266,668.482245734,639,887,785.482245734,815.517754266,652,630,654,0.432130700602,0.00460649920328,0.0497974438726,0.999999943375,6.10495436016e-05,-0.00032492039981,-6.28500346902e-05,1793249818246358272
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746,717.92697981,681,668.92697981,639,886.92697981,786,815.07302019,652,630,654,0.431247662824,0.00459444374524,0.0498104738705,0.999999948372,6.28997056917e-05,-0.000309483459774,-5.93281310429e-05,1793249818263025152
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746,717.223469168,681,667.776530832,639,885.776530832,786,815.776530832,652.223469168,630,654,0.429398297444,0.00460007570519,0.0497615277149,0.99999991524,0.000148739315783,-0.000383230097615,-2.30349586637e-05,1793249818296358912
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746,717.795225018,681,667.204774982,639,885.204774982,786,815.204774982,652.795225018,630,654,0.428514578,0.00460894437982,0.0497611824793,0.999999915795,0.000164931257161,-0.00037468152864,-2.86694242702e-05,1793249818313025536
+321,5.350000000,POSE2_TO_POSE3_RETREAT,768,745.618989978,718,681,667.381010022,639,885,785.618989978,815,652.618989978,630,654,0.427585764856,0.00461549722171,0.0497638529638,0.999999911941,0.000172129454554,-0.000381357803762,-3.24951975564e-05,1793249818329691904
+322,5.366666667,POSE2_TO_POSE3_RETREAT,768,745.025376753,718,681,667.974623247,639,885,785.025376753,815,652.025376753,630,654,0.426631789528,0.00462075783078,0.0497682062171,0.999999905567,0.000174309151035,-0.000396529526784,-3.531172204e-05,1793249818346358272
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.446203914,745.553796086,717.446203914,681.553796086,667.446203914,639,884.446203914,785.553796086,815,652.553796086,630,654,0.425753014759,0.00462282484462,0.049770363125,0.999999920367,0.000151019850793,-0.000367355196548,-3.8835232478e-05,1793249818363024896
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767.131303161,746,717.131303161,681.868696839,667.131303161,639,883.868696839,786,815,652.868696839,630,654,0.42488483021,0.00462268311715,0.0497814098346,0.999999936588,0.000132772559971,-0.000327828421473,-4.15123011541e-05,1793249818379691520
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767.705367761,746,717.705367761,681.294632239,667.705367761,639,883.294632239,786,815,652.294632239,630,654,0.424041031912,0.00461557432258,0.0498227641938,0.99999995617,0.000135362626345,-0.000260070793866,-4.1228655445e-05,1793249818396358400
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,717.720667559,680.720667559,668,639,883,786,815,652,630,654,0.423164409908,0.00460973189108,0.0498356169452,0.999999961007,0.00013623577627,-0.000240278354503,-4.11371565339e-05,1793249818413025024
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,717.146808272,680.146808272,668,639,883,786,815,652,630,654,0.42225317879,0.00460522470746,0.0498184177295,0.99999995326,0.000135298617595,-0.000271060194864,-4.12482564659e-05,1793249818429691392
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,745.558678893,717.441321107,680,667.558678893,639,883,785.558678893,815,652.441321107,629.558678893,654.441321107,0.421330740545,0.00460704620282,0.0497970267596,0.999999941965,0.000137551044465,-0.000308920393496,-4.1449127755e-05,1793249818446358016
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,745.033516733,718,680.033516733,667,639,883,785.033516733,814.966483267,652.966483267,629.033516733,655,0.420408160845,0.00461136086828,0.0497766221025,0.99999992921,0.000141351276645,-0.000346220504263,-4.1600519299e-05,1793249818463024640
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,745.61206157,718,680.61206157,667,639,883,785.61206157,814.38793843,652.38793843,629.61206157,655,0.4195459323,0.00462083926453,0.0497956890522,0.999999931495,0.000152490499375,-0.000334843273893,-4.04454621555e-05,1793249818479691008
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,717.81058603,680.81058603,667,639,883,786,814,652,630,654.81058603,0.418682059541,0.00462704603946,0.0498003674692,0.999999928939,0.000157437115803,-0.000340203961784,-3.99584147128e-05,1793249818496357632
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,717.235660474,680.235660474,667,639,883,786,814,652,630,654.235660474,0.417814840183,0.00462659413129,0.0497757611114,0.99999991589,0.000149780009696,-0.00037963109688,-4.0830957778e-05,1793249818513024512
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.653402026,746,717.346597974,680,667,639,882.653402026,786,814,652.346597974,630,654,0.417008892506,0.00462271534537,0.049774869001,0.999999918144,0.000146820829114,-0.000374699885053,-4.19038782725e-05,1793249818529691136
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.066050036,746,717.933949964,680,667,639,882.066050036,786,814,652.933949964,630,654,0.416245505441,0.00461645618036,0.0497904492914,0.999999930802,0.000147124923771,-0.000338956458991,-4.31159849507e-05,1793249818546358016
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768.029543558,745.485228221,718,679.485228221,667.514771779,639,882,785.485228221,814,652.485228221,630,654,0.41544803309,0.00461030919805,0.0498023231328,0.999999940865,0.000134487602863,-0.000313569826946,-4.30954852305e-05,1793249818563024640
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768.905689629,745.094310371,718,679.094310371,667.811379258,639,882,785,814,652.094310371,630,654,0.414647119437,0.0046061063242,0.0498076066256,0.999999945991,0.000123835603163,-0.00030138772629,-4.29895798945e-05,1793249818579691008
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768.328485057,745.671514943,718,679.671514943,666.656970114,639,882,785,814,652.671514943,630,654,0.413850698195,0.00461178502494,0.0497815503319,0.999999929102,0.000131744698622,-0.000350097389364,-4.32460264742e-05,1793249818596357888
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.752913925,746,718,680,666.247086075,639,881.752913925,785,813.752913925,653,629.752913925,654,0.413089835466,0.00461686593962,0.0497686034705,0.999999919315,0.000141465342981,-0.000373410486601,-4.38409292438e-05,1793249818613024256
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.179500132,746,718,680,666.820499868,639,881.179500132,785,813.179500132,653,629.179500132,654,0.412375935092,0.00462115735504,0.0497729702988,0.999999921249,0.000153578508019,-0.000363182219083,-4.48828327469e-05,1793249818629690880
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.407061696,746,718,680,666.592938304,639,881,785.407061696,813,652.592938304,629.407061696,654,0.411695392447,0.00462277627363,0.0497940395625,0.99999993128,0.00015307311024,-0.000334769176566,-4.40253867003e-05,1793249818646357504
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767.999614923,746,718,680,666.000385077,639,881,785.999614923,813,652.000385077,629.999614923,654,0.411030050326,0.00462317737837,0.0498227198603,0.999999943905,0.000146817635265,-0.000298069620468,-4.23024373594e-05,1793249818663024384
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,746,717.422519853,680,666,638.422519853,881,786,812.422519853,652.577480147,629.422519853,654,0.410324789188,0.00462080371316,0.0498010315056,0.999999931119,0.000143664919036,-0.000339631563822,-4.20959684648e-05,1793249818679691008
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,717,680,666,638,880.845317735,785.845317735,812.154682265,652.845317735,629.154682265,654,0.40964922408,0.00461751483956,0.0497848170411,0.999999921783,0.000138842065996,-0.000367917100327,-4.23484667183e-05,1793249818696357632
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,717,680,666,638,880.26989318,785.26989318,812.73010682,652.26989318,629.73010682,654,0.409054503874,0.00461174146797,0.0497835808761,0.999999925875,0.000129470882071,-0.00035995183191,-4.38466927623e-05,1793249818713024256
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746,717,679.68827874,666,638.31172126,880.31172126,785,813,652.31172126,630,654,0.408494513088,0.00460489071853,0.0497961535028,0.999999934634,0.000120862950576,-0.000337937781924,-4.38329907714e-05,1793249818729690880
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,717,679.101196457,666,638.898803543,880.898803543,785,813,652.898803543,630,654,0.407965200801,0.00459708826064,0.0498209242163,0.999999946661,0.000112929243586,-0.000303513648678,-4.24837170951e-05,1793249818746357760
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,745.520828854,717,679,666,639,881,785,812.520828854,652.520828854,629.520828854,654,0.407425092776,0.00459977671359,0.0498242674522,0.999999946409,0.000115603533337,-0.000303326560959,-4.25452364701e-05,1793249818763024384
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,745.058071217,717.058071217,679,666.058071217,638.941928783,881,785,812.058071217,652.058071217,629.058071217,654.058071217,0.406882195885,0.0046044117137,0.0498201392005,0.999999942151,0.000120619579793,-0.00031512678227,-4.29315137263e-05,1793249818779691264
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,745.636352732,717.636352732,679,666.636352732,638.363647268,881,785,812.636352732,652.636352732,629.636352732,654.636352732,0.406334457862,0.00460691094228,0.0497890582062,0.999999922397,0.000126821747397,-0.000370433910822,-4.35948578633e-05,1793249818796358144
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,745.787582258,717.787582258,679.212417742,666.787582258,638.212417742,881,785,812.787582258,653,630,654.787582258,0.405824029471,0.00460950820736,0.0497686069086,0.999999908096,0.000130553097892,-0.000405943036262,-4.44415625252e-05,1793249818813025280
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,745.215272652,717.215272652,679.784727348,666.215272652,638.784727348,881,785,812.215272652,653,630,654.215272652,0.405376813527,0.00461227157196,0.049766165133,0.999999907303,0.000130098230314,-0.000407909101641,-4.55989285545e-05,1793249818829692928
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,745,717,679.631754308,666,639,881,785,812.368245692,652.631754308,630,654,0.404980906062,0.00461659654438,0.049777499361,0.999999915002,0.000135614956938,-0.000386562775014,-4.66254880241e-05,1793249818846359296
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,745,717,679.041477687,666,639,881,785,812.958522313,652.041477687,630,654,0.404615934611,0.00462186307658,0.0497971397251,0.999999926738,0.000144732210516,-0.000351160419332,-4.75731787377e-05,1793249818863024896
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767.462145707,745,717,679.537854293,666,638.462145707,880.462145707,785,813,652,630,654,0.404277139698,0.00462031900506,0.0498226925469,0.999999938587,0.000145093115928,-0.0003156026428,-4.65764678013e-05,1793249818879691264
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,717,679.884000917,666,638.115999083,880.115999083,785,812.884000917,652.115999083,630,654,0.403942274159,0.00461924083337,0.049844626991,0.999999947422,0.000145337148157,-0.000286223479259,-4.5926348908e-05,1793249818896357888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,717,679.307285787,666,638.692714213,880.692714213,785,812.307285787,652.692714213,630,654,0.403615157255,0.00462205748447,0.0498504154599,0.999999948368,0.000147745463449,-0.000281430690176,-4.72364651117e-05,1793249818913024512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767.538984798,745,717,679,666,639,880.730507601,785,812.269492399,652.730507601,630,654,0.403303112229,0.0046233778263,0.0498500279093,0.999999946636,0.000148522938059,-0.00028695996905,-4.81898784754e-05,1793249818929691392
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768.692684936,745,717,679,666,639,880.153657532,785,812.846342468,652.153657532,630,654,0.403008256788,0.00462299161841,0.0498425965718,0.999999941655,0.000147440429085,-0.000304261627514,-4.87364700593e-05,1793249818946358016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768.566088321,745,716.566088321,678.566088321,666,639,880.433911679,785,813,652.433911679,630,654,0.402742642994,0.00462328081112,0.0498312923432,0.999999935345,0.000147108298835,-0.000324367400399,-4.95526514354e-05,1793249818963024640
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,745,716.024745027,678.024745027,666.024745027,639,880.975254973,785,812.975254973,653,630,654,0.402489353541,0.00462373282419,0.0498187616193,0.999999928795,0.000144019514564,-0.000345135962589,-5.04920966322e-05,1793249818979691520
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,745,716.6015699,678.6015699,666.6015699,639,880.3984301,785,812.3984301,653,630,654,0.402274147387,0.00462234617111,0.0498102405295,0.999999931885,7.33490459603e-05,-0.000357976184681,-5.19977468425e-05,1793249818996358144
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.822446955,638.822446955,880,785,812,653,630,654,0.402074034526,0.00461587343938,0.0498054306733,0.999999932454,2.01127362742e-05,-0.000363106685666,-5.33006828496e-05,1793249819013024768
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.248343819,638.248343819,880,785,812,653,630,654,0.401907631319,0.0045980413705,0.0498089095526,0.99999993691,5.81419347571e-06,-0.000351018161808,-5.41508736878e-05,1793249819029691392
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,745,716.674562749,679,666.325437251,638,880,785,812.325437251,653,630,654,0.401764767692,0.00458390426264,0.0498149300039,0.999999942051,-3.44645510911e-07,-0.000336376972375,-5.24315434598e-05,1793249819046358016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,745,716.101027147,679,666.898972853,638,880,785,812.898972853,653,630,654,0.401639849536,0.00457258402077,0.0498228880328,0.999999947679,-2.98151224799e-07,-0.000319789747149,-4.87533289654e-05,1793249819063024640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767.50910443,745,716.49089557,679,666.50910443,638.49089557,880,785,812.50910443,653,630,654,0.401530280962,0.00458078174951,0.0498271212999,0.999999948453,5.9686520442e-05,-0.000313068622335,-3.89942834864e-05,1793249819079691264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767.083636144,745,717,678.916363856,666,638.916363856,880,785,812,652.916363856,630,654,0.401427082133,0.00459109642995,0.0498301633048,0.999999944598,0.00012200287588,-0.000308295263105,-2.95355924754e-05,1793249819096357632
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767.658104888,745,717,678.341895112,666,638.341895112,880,785,812,652.341895112,630,654,0.401342004808,0.00458934402122,0.0498308879517,0.999999946251,0.000122793855807,-0.000302572901597,-2.94696886079e-05,1793249819113024512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,745,717,678,666,638.23327313,880,785,812,652.23327313,630.23327313,654,0.401263887557,0.00458746810799,0.0498313273081,0.999999947116,0.000122529571739,-0.000299804287162,-2.95407025564e-05,1793249819129691136
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,745,717,678,666,638.809469636,880,785,812,652.809469636,630.809469636,654,0.401196001973,0.00458541063697,0.0498313472727,0.999999946855,0.000120713995839,-0.000301377831634,-2.98129926686e-05,1793249819146357760
+371,6.183333333,POSE2_TO_POSE3_RETREAT,768,745,717,678.395482554,666,639,880,785,812,652.604517446,630.604517446,654,0.401146923695,0.00458760177785,0.049833229558,0.999999948245,0.000121160048252,-0.000296443279438,-3.08378192901e-05,1793249819163024384
+372,6.200000000,POSE2_TO_POSE3_RETREAT,768,745,717,678.98634505,666,639,880,785,812,652.01365495,630.01365495,654,0.401107136779,0.00459189185728,0.049836031884,0.999999950393,0.000122723411211,-0.000288293537182,-3.22344209352e-05,1793249819179691008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,745,717,678.435748605,666,639,880,784.435748605,812,652.564251395,630,654,0.401076222678,0.00458914004837,0.0498371373438,0.999999951716,0.000118801079656,-0.000285350802242,-3.20726159064e-05,1793249819196357888
+374,6.233333333,POSE2_TO_POSE3_RETREAT,768,745.141343602,717,678,666,639,880,784.141343602,812,653,630,654,0.401048167375,0.00458774065425,0.0498380674488,0.99999995267,0.000117187438351,-0.000282659274515,-3.20959671643e-05,1793249819213024512
+375,6.250000000,POSE2_TO_POSE3_RETREAT,768,745.716876312,717,678,666,639,880,784.716876312,812,653,630,654,0.401028249137,0.00459100744326,0.0498385821996,0.999999952588,0.000123064443784,-0.000280361024902,-3.28013453273e-05,1793249819229690880
+376,6.266666667,POSE2_TO_POSE3_RETREAT,768,745.701389352,717,678.298610648,666,638.701389352,880,784.701389352,812,653,630,654,0.401012511356,0.00459170209773,0.0498394932591,0.999999952924,0.000124330043878,-0.000278581573738,-3.29476718574e-05,1793249819246357760
+377,6.283333333,POSE2_TO_POSE3_RETREAT,768,745.11365025,717,678.88634975,666,638.11365025,880,784.11365025,812,653,630,654,0.401000821282,0.00458990629455,0.0498407880427,0.999999953685,0.000121130671623,-0.000277304446638,-3.25526991736e-05,1793249819263024384
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.532737418,745,717,678.532737418,666,638.467262582,880.467262582,784.467262582,812,653,630.467262582,654,0.400994101624,0.00459087031036,0.0498425140171,0.999999954378,0.000121708399777,-0.000274514255543,-3.27532648696e-05,1793249819279691264
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.170614256,745,717,679,666,638.170614256,879.170614256,784.829385744,813,652.829385744,629.170614256,654.829385744,0.400980474259,0.00459030519748,0.0498464191416,0.999999957108,0.000117855500321,-0.000266095805098,-3.29829463585e-05,1793249819463026176
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.415497616,745,717,678.584502384,666,638.415497616,879.415497616,785,812.584502384,653,629.415497616,654.584502384,0.400981011983,0.0045902315995,0.0498473400482,0.999999957438,0.000117531962855,-0.000264991189581,-3.30056021592e-05,1793249819479692800
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768,745,717,678.006171633,666,639,880,785,812,653,630,654,0.400982814308,0.00459037831161,0.049849068458,0.999999958039,0.000117901886441,-0.000262536960743,-3.30961890531e-05,1793249819496359168
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768,745,717,678.583543583,666,639,880,785,812,653,630,654,0.400983697713,0.00459057111455,0.0498491041997,0.999999958434,0.00011778177577,-0.000261050434086,-3.33509133616e-05,1793249819513025536
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767.839102514,745,717,679,666,639,880,785,812.160897486,653,630,654,0.400983995649,0.00459068989225,0.0498490069528,0.999999958617,0.00011782834669,-0.000260308061108,-3.35091111631e-05,1793249819529691904
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.261795356,745,717,679,666,639,880,785,812.738204644,653,630,654,0.400982778365,0.00459061708937,0.049848565526,0.999999958255,0.000118306296803,-0.000261491590221,-3.34174941622e-05,1793249819546358528
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.313964779,745,717,678.686035221,666,638.686035221,880,785,812.686035221,653,629.686035221,654,0.400981954953,0.0045907222171,0.0498484847189,0.999999958127,0.00011815864504,-0.000262047501516,-3.33963997665e-05,1793249819563025152
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,745,717,679.070856551,666,638.929143449,880,785,812.070856551,653,630,654.929143449,0.400981868559,0.00459057851732,0.0498479970143,0.999999958414,0.000116420375465,-0.000261727148869,-3.34355017827e-05,1793249819613024512
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,745,717,679.777710838,666,638,880,785,812.777710838,653,630,654,0.400981250207,0.00459100524396,0.0498484009526,0.99999995837,0.000115977305726,-0.000262146147271,-3.29974704481e-05,1793249819646358016
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..77b76b55d61a465d896831039084dc7cec74530b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,403 @@
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+197,3.283333333,pose1_to_pose2_press,0.616248453103,0.0101501650838,1.0400334074,0.586819129712,0.0188227931328,1.03970480432
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+200,3.333333333,pose1_to_pose2_press,0.617303845943,0.0101500756385,1.04003349752,0.587874525533,0.0188227142031,1.03970489619
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+263,4.383333333,pose2_to_pose3_retreat,0.620549250854,0.0101502142136,1.04003339974,0.591119926362,0.0188228399942,1.03970479772
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+265,4.416666667,pose2_to_pose3_retreat,0.620549208502,0.0101502082765,1.04003342021,0.591119884261,0.0188228348653,1.03970481699
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+267,4.450000000,pose2_to_pose3_retreat,0.620547131087,0.0101502394184,1.04003353544,0.591117808083,0.0188228702023,1.0397049323
+268,4.466666667,pose2_to_pose3_retreat,0.620542731577,0.0101501691908,1.04003366072,0.591113409799,0.0188228043764,1.03970506378
+269,4.483333333,pose2_to_pose3_retreat,0.620531815771,0.0101500903604,1.0400335318,0.59110249319,0.0188227223895,1.03970492268
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+271,4.516666667,pose2_to_pose3_retreat,0.620480825286,0.0101500799802,1.04003351579,0.591051504329,0.0188227178688,1.03970491856
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+377,6.283333333,pose2_to_pose3_retreat,0.575682010448,0.0101501021447,1.04003353022,0.546252690847,0.0188227424163,1.03970492384
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+383,6.383333333,pose2_to_pose3_retreat,0.575667178653,0.0101501151268,1.04003352075,0.546237856712,0.0188227475024,1.03970491519
+384,6.400000000,pose2_to_pose3_retreat,0.575666941974,0.0101501194181,1.04003352307,0.546237619969,0.0188227515626,1.03970491715
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+386,6.433333333,pose2_to_pose3_retreat,0.575666732651,0.0101501232135,1.04003352511,0.546237410589,0.0188227551535,1.03970491888
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+388,6.466666667,pose2_to_pose3_retreat,0.575665786969,0.0101501074483,1.04003347574,0.546236464793,0.0188227389206,1.03970486742
+389,6.483333333,pose2_to_pose3_retreat,0.575665568953,0.0101500890854,1.04003343814,0.546236246814,0.0188227206537,1.03970482903
+390,6.500000000,pose2_to_pose3_retreat,0.575665501297,0.0101500833869,1.04003342646,0.546236179169,0.018822714985,1.03970481712
+391,6.516666667,pose2_to_pose3_retreat,0.57566537639,0.0101500728664,1.04003340492,0.546236054284,0.0188227045196,1.03970479513
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+393,6.550000000,pose2_to_pose3_retreat,0.575664985868,0.0101500399738,1.04003333755,0.546235663828,0.018822671799,1.03970472636
+394,6.566666667,pose2_to_pose3_retreat,0.57566482279,0.0101500262382,1.04003330942,0.546235500777,0.0188226581352,1.03970469765
+395,6.583333333,pose2_to_pose3_retreat,0.575664622392,0.0101500626874,1.04003337447,0.546235300941,0.0188226966335,1.03970476649
+396,6.600000000,pose2_to_pose3_retreat,0.575664422529,0.0101501068638,1.04003345395,0.546235101715,0.0188227431411,1.03970485043
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..933f83cd6642205e53e361ab10f346d41c1e39f7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93a92e920829245e5295e5ece43a9db97391e1c316a548daefdb7c77d8c703fd
+size 25657035
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6d7992ba6d07c1f19a5baf9763945ce29c8b745
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,405 @@
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+11,0.183333333,BASELINE,768,745,717,679,666.403585622,638.596414378,881,785,812,653,629.596414378,654,0.400983899689,0.00459199204918,0.0498514108022,0.999999959786,0.00011581524996,-0.000256647420456,-3.38682347395e-05,1793249819967655936
+12,0.200000000,BASELINE,768,745,717,679,666.979249572,638.020750428,881,785,812,653,629.020750428,654,0.400980821946,0.00459133421645,0.0498498145546,0.999999959032,0.000116021864671,-0.000259549097086,-3.33108925447e-05,1793249819984323328
+13,0.216666667,BASELINE,768,745,717,679,667,638.570002158,880.429997842,785,812,653,629.570002158,654,0.400982707125,0.00458992300085,0.0498511880546,0.999999959627,0.000116116358365,-0.000257250741059,-3.29254684131e-05,1793249820000989696
+14,0.233333333,BASELINE,768,745,717,679,667,639,880.15788802,784.84211198,812.15788802,653,630,654,0.400984100321,0.00458887373947,0.0498521328686,0.99999996006,0.000115982730514,-0.000255653658416,-3.27034265116e-05,1793249820017655808
+15,0.250000000,BASELINE,768,745,717,679,667,639,880.736628771,784.263371229,812.736628771,653,630,654,0.400983687457,0.00458886436463,0.0498516390073,0.999999959935,0.000115252217081,-0.000256444138312,-3.28997463562e-05,1793249820034322688
+16,0.266666667,BASELINE,767.687461574,745,717,678.687461574,666.687461574,639,880.687461574,784.312538426,812.687461574,653,630,654,0.400983174561,0.00458965979834,0.0498511295587,0.999999959843,0.000114822974619,-0.00025696419591,-3.31552343122e-05,1793249820050989568
+17,0.283333333,BASELINE,767.113916256,745,717,678.113916256,666.113916256,639,880.113916256,784.886083744,812.113916256,653,630,654,0.400982578126,0.00459112734325,0.0498506070929,0.999999959777,0.000114645329421,-0.000257258418559,-3.34601346922e-05,1793249820067656192
+18,0.300000000,BASELINE,767.47182663,745,717,678,666,639,880,785,812,653,630,654,0.400981683899,0.00459064776386,0.049850169036,0.99999995947,0.000114761961349,-0.000258393823695,-3.35096381537e-05,1793249820084322560
+19,0.316666667,BASELINE,768.059520396,745,717,678.059520396,666,638.940479604,880,785,812.059520396,653,630,654,0.400980949902,0.00458986415347,0.0498498842402,0.999999959229,0.000114712730791,-0.000259344318151,-3.35169465102e-05,1793249820100988928
+20,0.333333333,BASELINE,768.637867931,745,717,678.637867931,666,638.362132069,880,785,812.637867931,653,630,654,0.400982255945,0.00459063694328,0.0498507530318,0.999999960105,0.000112581953152,-0.000256865689529,-3.37082094337e-05,1793249820117655552
+21,0.350000000,BASELINE,768.785206252,745,717,679,666,638.214793748,880,785,812.785206252,653,630,654,0.400982764416,0.00459051270096,0.0498512736046,0.99999996046,0.000111712576977,-0.0002558720112,-3.35991473796e-05,1793249820134321920
+22,0.366666667,BASELINE,768.210661681,745,717,679,666,638.789338319,880,785,812.210661681,653,630,654,0.40098193706,0.00458888604961,0.0498512109572,0.999999959958,0.000112955879899,-0.000257365426421,-3.29870811045e-05,1793249820150988800
+23,0.383333333,BASELINE,768,745,717,679,666,639,880.364551323,785,812,653,630,654,0.400981525129,0.00458829138284,0.049850837498,0.999999959792,0.000112331933077,-0.000258293324397,-3.28836326974e-05,1793249820167655680
+24,0.400000000,BASELINE,768,745,717,679,666,639,880.940151355,785,812,653,630,654,0.400981353697,0.00458829415997,0.0498502841013,0.999999959821,0.000110626984538,-0.000258893829151,-3.30746369962e-05,1793249820184322816
+25,0.416666667,BASELINE,768,745,717,679,666,639,880.471028122,785,812.528971878,653,630,654,0.400981175195,0.00458856418607,0.0498497366263,0.999999959663,0.000111030925187,-0.000259342423497,-3.29715833529e-05,1793249820200989952
+26,0.433333333,BASELINE,767.882916865,744.882916865,716.882916865,679,666,638.882916865,880,784.882916865,812.882916865,653,630,653.882916865,0.400981050852,0.00458897222649,0.0498493792429,0.999999959521,0.000111838500539,-0.000259546033222,-3.29511419062e-05,1793249820217656576
+27,0.450000000,BASELINE,767.303660986,744.303660986,716.303660986,679,666,638.303660986,880,784.303660986,812.303660986,653,630,653.303660986,0.400981143532,0.00458980264678,0.0498497695121,0.999999959525,0.000113273378289,-0.000258852177671,-3.33914995998e-05,1793249820234322944
+28,0.466666667,BASELINE,767,744.274230647,716.274230647,678.725769353,666,638.274230647,880.274230647,784,812.274230647,653,630,653.274230647,0.400981843885,0.00459082627562,0.0498507142372,0.999999959714,0.000114618008791,-0.000257497710887,-3.35967532137e-05,1793249820250989312
+29,0.483333333,BASELINE,767,744.850619067,716.850619067,678.149380933,666,638.850619067,880.850619067,784,812.850619067,653,630,653.850619067,0.400983213795,0.00459206278896,0.049852269883,0.999999960107,0.000115863201351,-0.00025541535752,-3.35429601698e-05,1793249820267655680
+30,0.500000000,BASELINE,767.424095697,745,717,678,666,639,880.575904303,784,812.575904303,653,630,654,0.400982670741,0.00458980559767,0.0498517936172,0.999999960184,0.000113067142975,-0.000256422414856,-3.30957164675e-05,1793249820284322048
+31,0.516666667,BASELINE,767.996553677,745,717,678,666,639,880.003446323,784,812.003446323,653,630,654,0.40098145847,0.00458632619639,0.0498506065236,0.999999960133,0.000108857325319,-0.000258510247228,-3.25108311006e-05,1793249820300988672
+32,0.533333333,BASELINE,767.411471279,745,717,678,666,639,880,784.588528721,812,653,630,654,0.400981430179,0.00458813791327,0.0498509181953,0.999999959747,0.000113110715313,-0.000258115683147,-3.29885849347e-05,1793249820317656064
+33,0.550000000,BASELINE,767,745,717,678,666,638.823136766,880,785,812,653,630,654,0.400981766979,0.0045895243869,0.0498512822419,0.999999959607,0.00011569050533,-0.000257471202584,-3.33359030749e-05,1793249820334322944
+34,0.566666667,BASELINE,767,745,717,678,666,638.243365043,880,785,812,653,630,654,0.400982919149,0.00458986911763,0.0498517449232,0.999999960064,0.000114340929137,-0.000256291643617,-3.33714164073e-05,1793249820350989824
+35,0.583333333,BASELINE,767.333247253,745,717,678.333247253,666,638.333247253,880.333247253,785,812.333247253,653,630,654,0.400983105765,0.00459025739076,0.0498516226963,0.999999960219,0.000113701727553,-0.000255984637981,-3.32542872573e-05,1793249820367656448
+36,0.600000000,BASELINE,767.907574,745,717,678.907574,666,638.907574,880.907574,785,812.907574,653,630,654,0.400982593874,0.00459067716358,0.0498510773323,0.999999960158,0.000113576428791,-0.00025630885938,-3.30267326773e-05,1793249820384322816
+37,0.616666667,BASELINE,768,745,717,678.505201054,666.494798946,638.505201054,881,785,813,653,630,654,0.400982383043,0.00459113036168,0.0498511411492,0.999999959984,0.000113591949245,-0.000256946825707,-3.32833799421e-05,1793249820400989184
+38,0.633333333,BASELINE,767.917042144,745,717,678,666.917042144,638,880.917042144,784.917042144,813,653,630,654,0.400982226161,0.00459139034985,0.0498513223205,0.999999959802,0.000113747471365,-0.000257550682432,-3.35366043149e-05,1793249820417655808
+39,0.650000000,BASELINE,767.338089499,745,717,678,666.338089499,638,880.338089499,784.338089499,813,653,630,654,0.400982046614,0.00459045683052,0.0498515065814,0.999999959708,0.000114578566445,-0.000257590825787,-3.32141214317e-05,1793249820434322688
+40,0.666666667,BASELINE,767.239755739,745,717,678.239755739,666,638.239755739,880,784.239755739,812.760244261,653,630,654.239755739,0.400982175306,0.0045903535064,0.0498516982928,0.999999959761,0.00011543981775,-0.000257012211853,-3.31171269043e-05,1793249820450989312
+41,0.683333333,BASELINE,767.816046522,745,717,678.816046522,666,638.816046522,880,784.816046522,812.183953478,653,630,654.816046522,0.400982736657,0.00459141549242,0.0498519004622,0.99999996002,0.00011634339803,-0.000255565074343,-3.3336640914e-05,1793249820467655936
+42,0.700000000,BASELINE,768,745,717,678.611300316,666,639,880,785,812,653,630,654.611300316,0.400983090347,0.00459074319214,0.0498518798029,0.999999960165,0.000114891786786,-0.000255661025602,-3.32854860695e-05,1793249820484322816
+43,0.716666667,BASELINE,768,745,717,678.040352725,666,639,880,785,812,653,630,654.040352725,0.400983346671,0.00458925774466,0.0498517546669,0.999999960251,0.000112335907258,-0.000256480478123,-3.31074239073e-05,1793249820500990208
+44,0.733333333,BASELINE,768,745,717,678.551514363,666.551514363,639,880,785,812,653,630,654,0.400983744526,0.00458968001717,0.0498519234809,0.999999960218,0.00011348702775,-0.000256086101454,-3.32462526986e-05,1793249820517656576
+45,0.750000000,BASELINE,768,745,717,679,667,639,880,785,812,653,630,654,0.400984203592,0.00458993429174,0.0498521956788,0.999999960319,0.000114083466067,-0.000255406339415,-3.33808304334e-05,1793249820534322944
+46,0.766666667,BASELINE,768,745,717,679,667,639,880,785,812,653,630,654,0.400984818724,0.0045892200133,0.049852718546,0.999999960868,0.000112091785163,-0.000254129293308,-3.34277010829e-05,1793249820550989312
+47,0.783333333,BASELINE,767.734426798,745,717,679,666.734426798,639,880,785,812,653,630,654,0.400984879098,0.00458892953199,0.0498528906453,0.999999961032,0.000111767251377,-0.000253614218924,-3.35182809178e-05,1793249820567655936
+48,0.800000000,BASELINE,767.132846031,745,717,679,666.132846031,639,880,785,812,653,630,654,0.400984237584,0.00458917524563,0.0498526189472,0.999999960712,0.000113552019155,-0.000254063203473,-3.36641623365e-05,1793249820584322560
+49,0.816666667,BASELINE,767.449227802,744.550772198,717,679,666,639,880.449227802,785,812.449227802,653,630,654,0.400983799288,0.00459032177537,0.0498522266214,0.999999960294,0.000114717910727,-0.000255186504412,-3.36536519744e-05,1793249820600989440
+50,0.833333333,BASELINE,768,744.026254152,717,679,666,639,880.973745848,785,812.973745848,653,630,654,0.400983354001,0.00459161825769,0.0498517958476,0.99999995987,0.000115575856702,-0.000256462408645,-3.3596334857e-05,1793249820617656064
+51,0.850000000,BASELINE,768,744.613561471,717,679,666,639,880.386438529,785,812.386438529,653,630,654,0.400981528517,0.00459066337449,0.0498512740244,0.999999959984,0.000113601257225,-0.000256915407035,-3.34859532057e-05,1793249820634322432
+52,0.866666667,BASELINE,768,745,717,679,666,639,880,785,812.198258801,653,630,654,0.400980780532,0.00459022648513,0.049851037823,0.999999959952,0.000113249045421,-0.000257200949397,-3.34470804471e-05,1793249820650988800
+53,0.883333333,BASELINE,768,745,717,679,666,639,880,785,812.777934909,653,630,654,0.400982105478,0.00459078613072,0.0498513511107,0.99999995964,0.000116018040619,-0.000257164333894,-3.35457790362e-05,1793249820667655936
+54,0.900000000,BASELINE,767.644941516,745,717,679,666,639,880.355058484,785,813,653,630,654,0.400982383436,0.0045903318728,0.0498516423624,0.999999959759,0.000115276558519,-0.000257042390068,-3.35060465489e-05,1793249820684322560
+55,0.916666667,BASELINE,767.069403002,745,717,679,666,639,880.930596998,785,813,653,630,654,0.400982011247,0.00458924801302,0.0498519199305,0.999999960141,0.000112355181537,-0.000256867460064,-3.33803527611e-05,1793249820700988928
+56,0.933333333,BASELINE,767.516199685,745,717,678.483800315,666,639,879.96760063,785,813,652.483800315,630,654,0.400982740482,0.00458837236809,0.049852431094,0.999999960528,0.000110933186083,-0.000256016005259,-3.30792982955e-05,1793249820717655808
+57,0.950000000,BASELINE,768,745,717,678.102125076,666,639,879.204250152,784.897874924,812.897874924,652.102125076,630.102125076,654,0.400983591541,0.00458792664528,0.0498529404777,0.999999960865,0.000110059577914,-0.000255098719062,-3.28749168262e-05,1793249820734322432
+58,0.966666667,BASELINE,768,745,717,678.683092689,666,639,880.366185378,784.316907311,812.316907311,652.683092689,630.683092689,654,0.400984305654,0.0045893628651,0.0498532913279,0.999999960974,0.000110793224961,-0.000254307730118,-3.32365611073e-05,1793249820750989056
+59,0.983333333,BASELINE,767.738477482,745,717,679,666,639,880.738477482,784.261522518,812,653,630.738477482,654,0.40098443863,0.00458978702159,0.0498531930251,0.999999961014,0.000111234614568,-0.000253935726637,-3.34092547653e-05,1793249820767655680
+60,1.000000000,BASELINE,767.163093254,745,717,679,666,639,880.163093254,784.836906746,812,653,630.163093254,654,0.400983874163,0.00458899656804,0.0498525556792,0.999999960972,0.000111325256577,-0.000254066561178,-3.33551826607e-05,1793249820784322816
+61,1.016666667,BASELINE,767.420679525,745,717,679,666,639,880,785,812,653,630,654,0.400983673918,0.00458896110136,0.0498523653098,0.999999960883,0.000111251713418,-0.0002544317912,-3.34975815356e-05,1793249820800989696
+62,1.033333333,BASELINE,768,745,717,679,666,639,880,785,812.007663057,653,630,654,0.400983612717,0.00458922305443,0.0498523456977,0.999999960776,0.000111105804138,-0.000254885694891,-3.37130200301e-05,1793249820817656064
+63,1.050000000,BASELINE,768,745,717,679,666,639,880,785,812.586629217,653,630,654,0.4009831762,0.00458939282473,0.0498518745398,0.999999960819,0.000110406855245,-0.00025503780798,-3.35795530713e-05,1793249820834322688
+64,1.066666667,BASELINE,767.834708903,745,717,679,666,639,880,785,812.834708903,653,630,654,0.400983141263,0.00458933386498,0.0498517364799,0.999999960883,0.000110114425487,-0.000254931118116,-3.3437609886e-05,1793249820850989312
+65,1.083333333,BASELINE,767.25680662,745,717,679,666,639,880,785,812.25680662,653,630,654,0.400984108774,0.00458870393324,0.0498524299223,0.999999961001,0.000110836777237,-0.000254178386231,-3.32745077601e-05,1793249820867656448
+66,1.100000000,BASELINE,767.320082994,745,717,679,666.320082994,639,880,784.679917006,812.320082994,653,630,654,0.400983183003,0.00458876734341,0.0498518274367,0.999999960633,0.000111678151087,-0.000255248969106,-3.33022793722e-05,1793249820884323072
+67,1.116666667,BASELINE,767.896162667,745,717,679,666.896162667,639,880,784.103837333,812.896162667,653,630,654,0.40098074302,0.00458938527612,0.0498501884909,0.999999959874,0.000112614716657,-0.000257777806687,-3.34827084083e-05,1793249820900989184
+68,1.133333333,BASELINE,768,745,717,679,666.519162779,639,880,784.480837221,812.519162779,652.519162779,630,654,0.400981611875,0.00459007997648,0.0498507273426,0.999999959957,0.000114037546791,-0.000256834212079,-3.34303767962e-05,1793249820917656064
+69,1.150000000,BASELINE,768,745,717,679,666,639,880,785,812.066494976,652.066494976,630,654,0.400983087257,0.00459060444362,0.0498516852655,0.999999960247,0.000115116802006,-0.000255227287367,-3.33491149139e-05,1793249820934322688
+70,1.166666667,BASELINE,768,745,717,679,666,639,880,785,812.645168874,652.645168874,630,654,0.400983630439,0.00458968766869,0.0498521826842,0.99999996073,0.000112726105676,-0.000254392104923,-3.34392301685e-05,1793249820950989568
+71,1.183333333,BASELINE,768,745,717,679,666,639,880,785,813,653,630,654,0.400983569511,0.00458913287585,0.0498522135444,0.999999960971,0.000110688271455,-0.000254321316601,-3.35669689835e-05,1793249820967656448
+72,1.200000000,BASELINE,768,745,717,679,666,639,880,785,813,653,630,654,0.400982550958,0.00458915188983,0.0498515048255,0.999999960836,0.000109209787028,-0.000255462230874,-3.37543479503e-05,1793249820984322816
+73,1.216666667,BASELINE,768,745,717,679,666,639,880.376146823,785.376146823,812.623853177,653,630,654,0.400981893159,0.00458873704245,0.0498512958377,0.9999999607,0.000109311883316,-0.000255978541475,-3.35522503589e-05,1793249821000989440
+74,1.233333333,BASELINE,768,745,717,679,666,639,880.950941322,785.950941322,812.049058678,653,630,654,0.400981425877,0.00458809306766,0.0498513507641,0.999999960563,0.000110248703442,-0.000256164991272,-3.31444654859e-05,1793249821017655808
+75,1.250000000,BASELINE,768,745,717,679,666,639,880.461469302,785.461469302,812,653,630,654,0.400982670654,0.0045882670664,0.0498519707014,0.999999960909,0.000109742162445,-0.000254991580737,-3.34432780803e-05,1793249821034322432
+76,1.266666667,BASELINE,768,745,717,679,666,638.874254375,880.125745625,784.874254375,812,653,630,654,0.4009839253,0.00458869019433,0.049852495135,0.999999961182,0.000109682433696,-0.000253899040106,-3.37689470686e-05,1793249821050989312
+77,1.283333333,BASELINE,768,745,717,679,666,638.292724358,880.707275642,784.292724358,812,653,630,654,0.400984636649,0.00458973966443,0.0498524822958,0.999999961036,0.000111730435897,-0.000253559573382,-3.39529672257e-05,1793249821067656448
+78,1.300000000,BASELINE,768,745,717,679,666.285890759,638.285890759,881,784,812,653,630,654,0.400984228609,0.00458970398092,0.0498521624364,0.999999960918,0.000111781106376,-0.00025401849865,-3.38092932175e-05,1793249821084322816
+79,1.316666667,BASELINE,768,745,717,679,666.861551388,638.861551388,881,784,812,653,630,654,0.400982685993,0.00458856841981,0.0498515313911,0.99999996083,0.000109807344192,-0.000255286648923,-3.33334787108e-05,1793249821100988928
+80,1.333333333,BASELINE,767.563645888,745,717,679,666.563645888,639,880.563645888,784.436354112,812,653,630,654,0.400983764508,0.00458840884393,0.0498524437599,0.999999961273,0.00010911465743,-0.000253854594513,-3.32414999315e-05,1793249821117655552
+81,1.350000000,BASELINE,767,745,717,679,666,639,880,785,812,653,630,654,0.400985616914,0.00458855209842,0.0498538027185,0.999999961865,0.000108827046956,-0.000251633875051,-3.32698507107e-05,1793249821134321920
+82,1.366666667,BASELINE,767,745,717,679,666,639,880,785,812,653,630,654,0.400984563139,0.0045883728893,0.0498529790277,0.999999961594,0.000108508775777,-0.000252850807522,-3.32351949871e-05,1793249821150988800
+83,1.383333333,BASELINE,767.18982935,745,717,679,666,638.81017065,880,785,812,652.81017065,630,654,0.400983647461,0.00458877648562,0.049852461028,0.999999961273,0.000109284345307,-0.000253776059348,-3.33082880207e-05,1793249821167655424
+84,1.400000000,BASELINE,767.767657435,745,717,679,666,638.232342565,880,785,812,652.232342565,630,654,0.40098301404,0.00459037129802,0.0498525678403,0.999999960846,0.000112295653409,-0.000254105135297,-3.36016124367e-05,1793249821184322048
+85,1.416666667,BASELINE,768,745,717,678.655379519,666.344620481,638.344620481,880,785,812,652.344620481,630,653.655379519,0.400983056295,0.00459038493756,0.0498527284767,0.999999960687,0.000112943177835,-0.000254455785437,-3.3503871705e-05,1793249821200988672
+86,1.433333333,BASELINE,768,745,717,678.078998254,666.921001746,638.921001746,880,785,812,652.921001746,630,653.078998254,0.400983552949,0.00458933522214,0.0498529253102,0.999999960712,0.000112001033488,-0.000254820944419,-3.31431356612e-05,1793249821217655296
+87,1.450000000,BASELINE,768,745,717,678.505738259,666.494261741,639,880.505738259,785,812,653,630,653.505738259,0.400983731825,0.00458953956138,0.0498528712844,0.999999960818,0.000112158274296,-0.000254364114707,-3.29055690744e-05,1793249821234321920
+88,1.466666667,BASELINE,767.909309705,745,717,679,666.090690295,639,880.909309705,785,812,653,630,654,0.40098373831,0.00458964592372,0.049852735741,0.999999960948,0.000111921365749,-0.000253973762363,-3.27831354152e-05,1793249821250988544
+89,1.483333333,BASELINE,767.330342132,745,717,679,666.669657868,639,880.330342132,785,812,653,630,654,0.400983088382,0.00458815239762,0.0498523758239,0.999999961128,0.000108622236435,-0.000254644232075,-3.3175252444e-05,1793249821267655168
+90,1.500000000,BASELINE,767.238954536,745,717,679,667,639,880.238954536,785,812,653,630,654,0.400983220163,0.00458773096759,0.0498523350034,0.999999961256,0.000107429523334,-0.000254620612091,-3.34097502242e-05,1793249821284321792
+91,1.516666667,BASELINE,767.795401679,745,717,679,667,639,880.795401679,785,812,653,630,654,0.400984390581,0.00458873400354,0.0498527181582,0.999999961321,0.000109035550328,-0.000253674773331,-3.34348234224e-05,1793249821300988672
+92,1.533333333,BASELINE,767.621393973,745,717,679,667.378606027,639,881,785,812,652.621393973,630,654,0.400984279751,0.00459011675178,0.0498525296826,0.999999960991,0.000111503491351,-0.000253894375608,-3.35049263337e-05,1793249821317655296
+93,1.550000000,BASELINE,767.022630389,745,717,679,667.977369611,639,881,785,812,652.022630389,630,654,0.400983423882,0.00459172030097,0.0498520088067,0.999999960424,0.000114472631331,-0.000254791676072,-3.36012138054e-05,1793249821334322176
+94,1.566666667,BASELINE,767.564682302,745,717,678.435317698,666.870635395,639,880.435317698,785,812,652.564682302,630,654,0.400982470042,0.0045898781927,0.0498511469125,0.999999960384,0.000112662829835,-0.000255774221819,-3.34548229297e-05,1793249821350988544
+95,1.583333333,BASELINE,768,745,717,678.150047736,666,639,880,785,812,653,630,654,0.400981957253,0.00458841590582,0.0498508271079,0.999999960423,0.000111453096188,-0.000256179320388,-3.32262624785e-05,1793249821367655168
+96,1.600000000,BASELINE,768,745,717,678.731111781,666,639,880,785,812,653,630,654,0.400982722449,0.00458843344745,0.0498521029485,0.999999960643,0.000112506292611,-0.000254916067635,-3.27890495435e-05,1793249821384322048
+97,1.616666667,BASELINE,768,745,717,679,666.308521628,639,880,785,812,653,630,654,0.400983933986,0.0045891771146,0.0498528093342,0.999999960953,0.000112199396342,-0.000253816911389,-3.29041960969e-05,1793249821400988672
+98,1.633333333,BASELINE,768,745,717,679,666.882783948,639,880,785,812,653,630,654,0.400985529973,0.00459054621958,0.0498530252279,0.999999961341,0.000110721003624,-0.000252859097401,-3.34951096213e-05,1793249821417655296
+99,1.650000000,BASELINE,768,745,717,679,667,639,880,785,812,653,630,654,0.400985788802,0.00459079098754,0.0498534484943,0.999999961423,0.000111733004462,-0.00025208133237,-3.3524863078e-05,1793249821434321920
+100,1.666666667,BASELINE,768,745,717,678.966693218,666.966693218,639,880,785,812.033306782,653,630,654,0.400985647902,0.00459075279272,0.0498538182656,0.999999961399,0.000113265492639,-0.000251505320059,-3.34370615243e-05,1793249821450988800
+101,1.683333333,BASELINE,768,745,717,678.373595889,666.373595889,639,880,785,812.626404111,653,630,654,0.400984552417,0.00459080518048,0.0498523950777,0.999999960924,0.000112811218282,-0.00025354409958,-3.37923374787e-05,1793249821467655424
+102,1.700000000,BASELINE,768,745,717,678.213873667,666,639,880,785,813,652.786126333,630,654,0.400983607424,0.00459104163969,0.0498514240723,0.999999960538,0.000112681511239,-0.000255088661198,-3.40121820038e-05,1793249821484322304
+103,1.716666667,BASELINE,768,745,717,678.791764583,666,639,880,785,813,652.208235417,630,654,0.400982918571,0.00459159139219,0.0498512226907,0.999999960311,0.000113104224287,-0.000255792053878,-3.40015194983e-05,1793249821500989696
+104,1.733333333,BASELINE,768,745,717,678.633176834,666,639,880,785,813,652.366823166,630,654,0.40098329973,0.00459046955539,0.0498520226256,0.999999960734,0.000111455124967,-0.000254910140025,-3.3613043034e-05,1793249821517656576
+105,1.750000000,BASELINE,768,745,717,678.059713716,666,639,880,785,813,652.940286284,630,654,0.40098428365,0.00458840607382,0.0498533866251,0.999999961515,0.00010863892598,-0.000253135186489,-3.30117352487e-05,1793249821534323200
+106,1.766666667,BASELINE,768,745,717,678.527963767,666,639,880,785,812.472036233,653,630,654,0.400984103917,0.00458859843101,0.0498532743251,0.999999961386,0.000109638610035,-0.000253181356374,-3.32568123289e-05,1793249821550990080
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,717,678,666,639,880,784,813,653,630,654,0.400982688082,0.00458895306423,0.0498528227702,0.999999960986,0.000110609325542,-0.000254411296674,-3.26934665218e-05,1793249821593142784
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745,717,678.575585342,666,638.424414658,880,784.575585342,812.424414658,653,630,654,0.400983072537,0.00458874536239,0.0498528467867,0.999999961071,0.000109838414575,-0.000254381165817,-3.29309461796e-05,1793249821609809664
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.851940454,745,717,679,666,638,880.148059546,784.851940454,812.148059546,653,630,654,0.400983545062,0.00458852590063,0.0498529029081,0.999999961161,0.000109122251044,-0.00025430483282,-3.31485310484e-05,1793249821626476544
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.288200702,745,717,679,666,638,880.711799298,784.288200702,812.711799298,653,630,654,0.400984264844,0.00458827342261,0.0498530491649,0.99999996127,0.000108559791882,-0.000254098786358,-3.33102609439e-05,1793249821643143424
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,717,679,666,638.294367934,880.705632066,784.294367934,812.705632066,653,630,654,0.400984339479,0.00458841092766,0.0498531521166,0.999999961311,0.000108850740792,-0.000253811271012,-3.33187304702e-05,1793249821659810048
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,717,679,666,638.896630647,880.103369353,784.896630647,812.103369353,653,630,654,0.400983739322,0.00458895633636,0.0498532097731,0.999999961281,0.000110034313758,-0.000253438543122,-3.31668969709e-05,1793249821676476416
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,717,679,666,639,880,785,812,653,630,654,0.400984422464,0.00458784229407,0.0498536335867,0.999999961478,0.000108345218521,-0.000253390492002,-3.31514788497e-05,1793249821693143040
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.058692634,745,717,679,666,639,880,785,812,653,630,654,0.400985312055,0.0045867963695,0.0498541366998,0.999999961677,0.000106625341738,-0.000253331539165,-3.31772048354e-05,1793249821709809920
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.631075951,745,717,679,666,639,880,785,812,653,630,654,0.400985681347,0.00458935593371,0.0498546698575,0.999999961512,0.000109845457158,-0.000252588391698,-3.33156524666e-05,1793249821726476288
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.79040307,745,717,679,666,639,880.20959693,784.79040307,812,653,630,654,0.40098865517,0.00459070468671,0.0498560061103,0.999999961985,0.000111648818837,-0.000249907002832,-3.33465917132e-05,1793249821743142912
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.200752993,745,717,679,666,639,880.799247007,784.200752993,812,653,630,654,0.400996351677,0.00458985792722,0.049858798581,0.999999963604,0.000110883241204,-0.000243711083823,-3.31825905893e-05,1793249821759809536
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.381607552,745,717,679,666,639,881,784.381607552,812,653,630,654,0.401020090798,0.0045891261985,0.0498669145789,0.999999967617,0.000109732333123,-0.000227215514548,-3.31321621189e-05,1793249821776476160
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.960205211,745,717,679,666,639,881,784.960205211,812,653,630,654,0.401052111297,0.00458845384987,0.0498777786415,0.999999972482,0.000108382513022,-0.000205403149398,-3.31403611013e-05,1793249821793142784
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,745,717,679,666.539635349,639,880.460364651,785,812,653,630,654,0.401115859701,0.00458750842689,0.0498983286427,0.999999980706,0.00010671703176,-0.000161577816955,-3.30521115547e-05,1793249821809809664
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,745,717,679,666.881961054,639,880,784.881961054,812,653,630,654,0.401183551972,0.00458680146535,0.0499178850176,0.999999986393,0.000105738363597,-0.000122327414959,-3.27047586312e-05,1793249821826476544
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,745,717,679,666.307761951,639,880,784.307761951,812,653,630,654,0.401257429431,0.00458709397659,0.0499308369557,0.999999988,0.000107503973855,-0.000107039765267,-3.13836324467e-05,1793249821843143168
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.727630153,744.727630153,717,679,666,639,880,784.272369847,812,653,630,654,0.401335977622,0.00458650224003,0.0499402457375,0.999999989425,0.000106723875918,-9.40133427317e-05,-3.03445957705e-05,1793249821859809792
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.140645526,744.140645526,717,679,666,639,880,784.859354474,812,653,630,654,0.401419920979,0.00458488910763,0.0499455618136,0.999999990762,0.000103003226897,-8.3598867684e-05,-2.96314011512e-05,1793249821876476416
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,744.440899359,717,679,666.440899359,638.559100641,880,784.559100641,812,653,630,654,0.401516988869,0.00458371675579,0.0499449868151,0.9999999908,0.000101829684985,-8.48299404472e-05,-2.88836440571e-05,1793249821893142784
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,717,679,666.979360571,638.020639429,880.020639429,784.020639429,812,653,630,654,0.401619173693,0.00458263020577,0.0499425921772,0.999999990454,0.000101271506234,-8.96937259931e-05,-2.81208171554e-05,1793249821909809152
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,717,679,666.40206653,638.59793347,880.59793347,784.59793347,812,653,630,654,0.401747823966,0.00458011173635,0.0499411871372,0.999999990676,9.56630157252e-05,-9.35621520431e-05,-2.72452842879e-05,1793249821926476032
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.174396841,745,717,679,666.174396841,639,880.825603159,784.825603159,812.174396841,652.825603159,630,654,0.401887698598,0.004578107467,0.0499408095757,0.999999990827,9.17412177463e-05,-9.61730846166e-05,-2.60702486152e-05,1793249821943142912
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.748954128,745,717,679,666.748954128,639,880.251045872,784.251045872,812.748954128,652.251045872,630,654,0.402053327949,0.0045772830504,0.0499427896049,0.999999990905,9.16896032487e-05,-9.58986481648e-05,-2.42079920366e-05,1793249821959809792
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.668491517,745,717,679,666.668491517,639,880,784.331508483,812.668491517,652.331508483,630,654.331508483,0.402231099308,0.00457623501147,0.0499424585342,0.999999990781,9.06908265897e-05,-9.84336885663e-05,-2.29012782047e-05,1793249821976476416
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.079731349,745,717,679,666.079731349,639,880,784.920268651,812.079731349,652.920268651,630,654.920268651,0.402418292923,0.00457501344078,0.0499403340425,0.999999990481,8.89570489363e-05,-0.000103148892318,-2.20256671928e-05,1793249821993143040
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.502420765,745,717,679,666,639,880,785,812,653,630,654.497579235,0.402644772719,0.00457161815506,0.0499436768763,0.999999991328,8.39245641633e-05,-9.95713273183e-05,-1.96609294979e-05,1793249822009809664
+133,2.216666667,POSE1_TO_POSE2_PRESS,768,745,717,679,666,639,880.082702219,785,812,653,630,654,0.40288359098,0.00456834987833,0.0499479827155,0.999999992307,7.86556864251e-05,-9.43522611053e-05,-1.72192074129e-05,1793249822026476288
+134,2.233333333,POSE1_TO_POSE2_PRESS,768,745,717,679,666,639,880.658006723,785,812,653,630,654,0.403159248702,0.00456786611145,0.0499529237099,0.999999993267,7.50563531217e-05,-8.70927330237e-05,-1.57082444339e-05,1793249822043142656
+135,2.250000000,POSE1_TO_POSE2_PRESS,768,745,717,679,666,639,881,785,812.233908333,653,630,654,0.403459488061,0.00456600836358,0.0499599485842,0.999999994659,7.12989871705e-05,-7.35321094603e-05,-1.38273574083e-05,1793249822059809280
+136,2.266666667,POSE1_TO_POSE2_PRESS,768,745,717,679,666,639,881,785,812.810685158,653,630,654,0.403795759759,0.00456213660115,0.0499700280596,0.999999996383,6.73099733348e-05,-5.07351881077e-05,-1.14042268521e-05,1793249822076476160
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.604245874,745.395754126,717,679,666.395754126,639,881,785,812.604245874,653,630,654,0.404147906654,0.00455949250651,0.0499794712745,0.999999997285,6.54485606259e-05,-3.25929315592e-05,-9.13417871149e-06,1793249822093143040
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.015125362,745.984874638,717,679,666.984874638,639,881,785,812.015125362,653,630,654,0.404507810197,0.00455744825332,0.0499886036108,0.999999997748,6.46266988845e-05,-1.67249557154e-05,-6.93892706558e-06,1793249822109809920
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.562575242,745.437424758,717,679,667,639,881,785,812,653,630,654,0.404908536878,0.00455192939072,0.0499930892939,0.999999998234,5.91362432003e-05,-4.48484573659e-06,-3.82217559583e-06,1793249822126476544
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,881,785,812,653,630,654,0.405313249845,0.00454708517507,0.0499929127537,0.999999998566,5.35196554968e-05,-1.60586852816e-06,-8.82680792723e-07,1793249822143143168
+141,2.350000000,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,881,785,812,653,630,654,0.405727058279,0.00454463537228,0.0499785493048,0.999999998469,4.78933507866e-05,-2.76818896305e-05,1.42699926305e-06,1793249822159809792
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.705605791,745.294394209,717,679,667,639,880.705605791,785,812.294394209,653,630,654,0.406159347699,0.00454120717823,0.0499599071169,0.999999997092,4.30454546917e-05,-6.28066167587e-05,4.19752576163e-06,1793249822176476416
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.114295588,745.885704412,717,679,667,639,880.114295588,785,812.885704412,653,630,654,0.406610276465,0.00453679221172,0.0499369495366,0.999999993482,3.89826343511e-05,-0.000107057564314,7.43284659311e-06,1793249822193142784
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.466561668,745.533438332,717.466561668,679,667,639,880.933123336,785,813,653,630,654,0.407112267403,0.00453048798182,0.0499257498574,0.999999991401,3.11571032935e-05,-0.000126934569566,1.0703245295e-05,1793249822209809408
+145,2.416666667,POSE1_TO_POSE2_PRESS,768,745.044648228,718,679,667,639,882,785,813,653,630,654,0.407632769326,0.00452386372343,0.0499197609534,0.999999990364,2.26416943085e-05,-0.000136248356408,1.39590480776e-05,1793249822226476288
+146,2.433333333,POSE1_TO_POSE2_PRESS,768,745.619574736,718,679,667,639,882,785,813,653,630,654,0.408227812602,0.00451881492326,0.0499421993062,0.999999995716,1.66404832213e-05,-8.94671234018e-05,1.69416775003e-05,1793249822243143168
+147,2.450000000,POSE1_TO_POSE2_PRESS,768,746,717.805449469,679,667,639,881.805449469,785,813,652.805449469,630,654,0.408840211773,0.00451252675132,0.0499668072192,0.999999998842,9.02260622185e-06,-4.25722619829e-05,2.05409044629e-05,1793249822259810048
+148,2.466666667,POSE1_TO_POSE2_PRESS,768,746,717.230377309,679,667,639,881.230377309,785,813,652.230377309,630,654,0.409486557327,0.00450381449088,0.0499956585762,0.999999999667,-1.75730927805e-06,4.5448423707e-06,2.5346135186e-05,1793249822276476672
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.644969027,746,717,679.355030973,667,639,881.355030973,785.355030973,813,652,630,654,0.410126387647,0.00449624487507,0.0500037212282,0.999999999443,2.91566545185e-06,1.49537249101e-05,2.97027869504e-05,1793249822293143040
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.052652605,746,717,679.947347395,667,639,881.947347395,785.947347395,813,652,630,654,0.410761863474,0.00448943894776,0.0499978897189,0.999999999269,1.79166014459e-05,8.28614090341e-07,3.37596301659e-05,1793249822309809664
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.527244706,746,717.527244706,680,667.527244706,639,882.527244706,785.472755294,813,652.527244706,629.472755294,654.527244706,0.411387960698,0.00448534003848,0.0499623537684,0.999999989843,0.000115243622101,-7.49762693516e-05,3.75576631987e-05,1793249822326476544
+152,2.533333333,POSE1_TO_POSE2_PRESS,768,746,718,679.894556766,667.894556766,639,883,785,813.105443234,653,629.105443234,655,0.412036800198,0.00448094591881,0.0499337956231,0.999999970702,0.000197839704048,-0.000133329768388,4.09645127789e-05,1793249822343143168
+153,2.550000000,POSE1_TO_POSE2_PRESS,768,746,718,679.318532304,667.318532304,639,883,785,813.681467696,653,629.681467696,655,0.41279121939,0.00447405560888,0.049949312673,0.999999979314,0.000178846489704,-8.69428353183e-05,4.27382484471e-05,1793249822359810304
+154,2.566666667,POSE1_TO_POSE2_PRESS,768,746,718,679.254638955,667.254638955,639,883.254638955,785,814,653,630,655,0.413552745388,0.00446744945614,0.0499643028863,0.999999992026,0.000109410636705,-5.41513696801e-05,3.2327631863e-05,1793249822376477184
+155,2.583333333,POSE1_TO_POSE2_PRESS,768,746,718,679.824280718,667.824280718,639,883.824280718,785,814,653,630,655,0.41432306301,0.00446119482099,0.0499786413749,0.999999998996,-2.24256213244e-05,-3.81782604378e-05,6.84428127244e-06,1793249822393143552
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,718,680,668,639.412165269,884.412165269,785,814,652.587834731,630,655,0.415092212729,0.00445904120066,0.0499656518613,0.999999996182,-6.36888532485e-05,-5.96930451651e-05,3.95205574736e-06,1793249822409809920
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,885,785,814.007930334,652,629.992069666,655,0.415861436964,0.00445913106584,0.0499407348668,0.999999993142,-6.39167226149e-05,-9.75072234728e-05,1.10512339365e-05,1793249822426476288
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,885,785,814.585235247,652,629.414764753,655,0.416673418878,0.00448895367525,0.0499346917156,0.999999994246,-1.87021864864e-05,-0.000104947934301,1.1979468839e-05,1793249822443143168
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,885.162182351,785,814.837817649,652.162182351,629,655,0.417502045495,0.00450850975576,0.0499400427216,0.999999995323,2.07733041784e-05,-9.34722396997e-05,1.360679834e-05,1793249822459809792
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,885.738216374,785,814.261783626,652.738216374,629,655,0.418373145472,0.00450186803851,0.0499744689689,0.999999998247,4.56040816439e-05,-3.37262739655e-05,1.70180547667e-05,1793249822476476416
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746,718,680.318448862,668,640,886,785.318448862,814.318448862,652.681551138,629.318448862,655,0.419217371872,0.00449322810026,0.0499803684737,0.999999998522,4.14024284241e-05,-2.94783968057e-05,1.92872225276e-05,1793249822493143040
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746,718,680.902178816,668,640,886,785.902178816,814.902178816,652.097821184,629.902178816,655,0.420039211425,0.00448292356149,0.0499625040186,0.99999999715,1.30155566777e-05,-7.14627292267e-05,2.06049829602e-05,1793249822509809664
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746,718,681,668,640,886.485583443,786,815,652.485583443,630,655,0.42094388311,0.0044797031391,0.049965900135,0.999999998636,2.92507336021e-07,-4.82360593827e-05,2.0022396914e-05,1793249822526476032
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746,718,681,668.068066954,640,887,786,815,653,629.931933046,655,0.421864592601,0.00447826243223,0.0499748443632,0.999999999715,-6.04645267249e-06,-1.26461920722e-05,1.93209292822e-05,1793249822543142912
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,746,718,681,668.64416405,640,887,786,815,653,629.35583595,655,0.422780542589,0.00447946066012,0.0499932526849,0.999999999571,1.17276025401e-05,1.72353032597e-05,2.05875493012e-05,1793249822559809536
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746,718,681,668.779511948,640,887.220488052,786,815,652.779511948,629.220488052,655,0.423681639648,0.00448406225654,0.0499973889621,0.999999999246,2.32198989337e-05,2.26333910972e-05,2.13774404177e-05,1793249822576476416
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746,718,681,668.202821284,640,887.797178716,786,815,652.202821284,629.797178716,655,0.424558741666,0.00449416205926,0.0499784684847,0.999999999403,2.45638980978e-05,-1.15219236227e-05,2.13971672023e-05,1793249822593143040
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,746,718,681.381348005,668.381348005,639.618651995,888.381348005,786,815,652.381348005,630,655,0.425478696853,0.00449462270842,0.0499823065955,0.999999999486,2.16108673946e-05,-7.68149655824e-06,2.23946135505e-05,1793249822609809408
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,746,718,681.969574356,668.969574356,639.030425644,888.969574356,786,815,652.969574356,630,655,0.426421899498,0.00448985419068,0.0499984910658,0.99999999944,1.63267311222e-05,1.67713287705e-05,2.39224652008e-05,1793249822626476032
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746,718,682,669,639.549739197,889,786,815,652.450260803,630,655,0.427304734756,0.00448203500003,0.0499927754227,0.999999999327,1.91297819734e-05,-1.69964779222e-05,2.63082686207e-05,1793249822643143168
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,746,718,681.871675349,668.871675349,640,889.128324651,786,815,652,630,655,0.42818484722,0.00447549708466,0.0499804419084,0.999999997965,2.00695985922e-05,-5.3688872527e-05,2.80277334887e-05,1793249822659810304
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,746,718,681.297053538,668.297053538,640,889.702946462,786,815,652,630,655,0.429066941995,0.00447399400808,0.0499492467849,0.999999995538,1.29951528185e-05,-8.95079752544e-05,2.72669995727e-05,1793249822676476928
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746,718,681,668.283342351,640,889.716657649,785.716657649,815.283342351,652,630,655,0.429965015174,0.00447679982974,0.0499394662221,0.999999995183,1.20188021748e-05,-9.36062772088e-05,2.69647042854e-05,1793249822693143552
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746,718,681,668.869917622,640,889.130082378,785.130082378,815.869917622,652,630,655,0.430880188382,0.00448421703339,0.0499526035189,0.999999997445,1.75686319892e-05,-6.3756983244e-05,2.71530299724e-05,1793249822709810176
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,746,718,681.450743346,669,640,889,785.450743346,816,652.450743346,630,654.549256654,0.431776444546,0.00449016934406,0.0499422542449,0.999999995805,1.83149259941e-05,-8.57317714e-05,2.65304054664e-05,1793249822726476288
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,746,718,681.970135307,669,640,889,785.970135307,816,653,630,654,0.432668003522,0.00449483348882,0.0499268378128,0.999999992445,1.82563514982e-05,-0.000118794920846,2.57655341479e-05,1793249822743142656
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,746,718,681.392225675,669,640,889,785.392225675,816,653,630,654,0.433572286117,0.00448351892848,0.0499412523763,0.999999995682,2.85467637717e-05,-8.4336726226e-05,2.66309951257e-05,1793249822759809280
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,746.184539128,718,681.184539128,669.184539128,640,889,785,816,653,630,654.184539128,0.434466665707,0.00447480801915,0.0499586759987,0.999999997887,2.92196587248e-05,-5.12416200243e-05,2.73268193999e-05,1793249822776475904
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,746.758885786,718,681.758885786,669.758885786,640,889,785,816,653,630,654.758885786,0.43534012705,0.00447159687773,0.0499824557489,0.99999999935,9.57718564027e-06,-2.10258000282e-05,2.76643151817e-05,1793249822793142528
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,746.65834033,718,681.65834033,669.65834033,640,889,785,816,652.65834033,630,655,0.436151799281,0.0044719441884,0.0499749709422,0.999999998373,-3.98510674402e-06,-4.90865342126e-05,2.88013314279e-05,1793249822809809152
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,746.069468863,718,681.069468863,669.069468863,640,889,785,816,652.069468863,630,655,0.436918763234,0.00447486625834,0.0499448643032,0.99999999233,-1.31480130327e-05,-0.000119313943271,3.05168498164e-05,1793249822826476032
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,718,681.509184646,668.490815354,640,889,785,816,652.509184646,630.509184646,655,0.437789412029,0.00447959888017,0.0499557940464,0.999999996303,-7.68777364584e-06,-8.0576479116e-05,2.90286009356e-05,1793249822843142656
+183,3.050000000,POSE1_TO_POSE2_PRESS,768.086603377,746,718,682,668.173206755,640,889,785,816.086603377,653,631,655,0.438658948396,0.00448403619552,0.0499704367061,0.999999998991,3.57236951641e-06,-3.53073938551e-05,2.75364638381e-05,1793249822859809280
+184,3.066666667,POSE1_TO_POSE2_PRESS,768.664770487,746,718,682,669.329540973,640,889,785,816.664770487,653,631,655,0.439443457583,0.0044854228496,0.049975000987,0.999999998287,3.66517147683e-05,-3.56859516464e-05,2.8454416859e-05,1793249822876476160
+185,3.083333333,POSE1_TO_POSE2_PRESS,768.758190948,746,718,682,669.758190948,640,889,785,816.758190948,652.758190948,630.758190948,655,0.440206264922,0.00448215240247,0.0499686503093,0.999999997356,4.57071301196e-05,-4.82184151404e-05,2.95550382938e-05,1793249822893143296
+186,3.100000000,POSE1_TO_POSE2_PRESS,768.182709708,746,718,682,669.182709708,640,889,785,816.182709708,652.182709708,630.182709708,655,0.440939125827,0.00447245562362,0.0499472380854,0.999999996284,2.16119340364e-05,-7.75220469236e-05,3.09077237087e-05,1793249822909809920
+187,3.116666667,POSE1_TO_POSE2_PRESS,768.404523249,746,718,682,669,640,889.404523249,785,816,652.404523249,630.404523249,655,0.441667838253,0.00446681330684,0.0499502949744,0.999999996934,1.06619832026e-05,-7.03262079636e-05,3.27457188988e-05,1793249822926476288
+188,3.133333333,POSE1_TO_POSE2_PRESS,768.997222929,746,718,682,669,640,889.997222929,785,816,652.997222929,630.997222929,655,0.442394620952,0.00446305704694,0.0499647344219,0.999999998312,5.82694538032e-06,-4.61515201688e-05,3.48094709733e-05,1793249822943142912
+189,3.150000000,POSE1_TO_POSE2_PRESS,768.424074629,746,718,682,669,639.424074629,889.424074629,785,816,653,631,654.424074629,0.443094991878,0.00447059001971,0.0499690013812,0.999999998608,1.53275150797e-05,-3.60548974938e-05,3.53555520772e-05,1793249822959809536
+190,3.166666667,POSE1_TO_POSE2_PRESS,768,746,717.846753746,681.846753746,669,639.153246254,889,785,816,653,630.846753746,654,0.443759100297,0.00448011684615,0.0499593672267,0.999999997633,2.90761183492e-05,-5.09580764555e-05,3.59332243008e-05,1793249822976476160
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,746,717.273042553,681.273042553,669,639.726957447,889,785,816,653,630.273042553,654,0.444324055814,0.00449496843915,0.0499117236869,0.999999988841,5.42949815578e-05,-0.00013427189565,3.66171761111e-05,1793249822993143040
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,746,717.308462258,681.308462258,668.691537742,639.691537742,889,785,816,653,630.308462258,654.308462258,0.44488819516,0.00450876042917,0.0498749305286,0.999999978746,7.4039092156e-05,-0.000188952529208,3.63684610428e-05,1793249823009809920
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,746,717.897044556,681.897044556,668.102955444,639.102955444,889,785,816,653,630.897044556,654.897044556,0.445451593292,0.00452159017406,0.0498479907968,0.999999971753,8.88114816526e-05,-0.000217630855244,3.52727747746e-05,1793249823026476544
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,746,718,682,668,638.522120506,889,785,816.477879494,653,631,655,0.446040239492,0.00452325316226,0.0498545126295,0.99999997645,8.95468683132e-05,-0.000194464686363,3.55687808518e-05,1793249823043143168
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,746,718,682.056740116,667.943259884,638,889,785,817,653,630.943259884,654.943259884,0.446625511987,0.00452256398204,0.0498655675035,0.999999981707,8.77407719178e-05,-0.000166058545971,3.62167005667e-05,1793249823059809536
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,746,718,682.632564992,667.367435008,638,889,785,817,653,630.367435008,654.367435008,0.44713095113,0.00452201424846,0.049853193296,0.999999977158,8.99090903601e-05,-0.000190268259663,3.73848711931e-05,1793249823076476160
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,746,717.787801707,682.575603413,667,638,888.787801707,785,817,653,630,654.212198293,0.447604816538,0.00452202850742,0.0498313592047,0.999999969655,9.25241138707e-05,-0.000225157606477,3.78547224842e-05,1793249823093143040
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,746,717.201453414,681.402906829,667,638,888.201453414,785,817,653,630,654.798546586,0.448023010791,0.00452303720332,0.04979284536,0.999999955825,9.59267715677e-05,-0.000278877378645,3.70932904808e-05,1793249823109809152
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,746,717.380336613,681.380336613,667,637.619663387,888.380336613,785,817,653,630,655,0.44843906899,0.00452125565814,0.049771427398,0.999999946807,9.32027326266e-05,-0.00031038081781,3.69283223912e-05,1793249823126475520
+200,3.333333333,POSE1_TO_POSE2_PRESS,768,746,717.959740905,681.959740905,667,637.040259095,888.959740905,785,817,653,630,655,0.44885400922,0.00451801370458,0.0497589573946,0.99999994097,8.72719891784e-05,-0.000330256262889,3.70755426765e-05,1793249823143141888
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+202,3.366666667,POSE1_TO_POSE2_PRESS,767.116222646,746,717.883777354,682,667,637.883777354,888.883777354,785,817,652.116222646,631,655,0.44965397225,0.00451352184034,0.0497830158062,0.999999955121,-8.41838198815e-06,-0.000299240125422,1.19334453532e-05,1793249823176475392
+203,3.383333333,POSE1_TO_POSE2_PRESS,767.689724599,746,717.310275401,682,667,637.310275401,888.310275401,785,817,652.689724599,631,655,0.450024615017,0.00450830770693,0.0497940955363,0.999999958841,-3.42882116817e-05,-0.000284737971364,8.20207478508e-06,1793249823193142528
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+208,3.466666667,POSE1_TO_POSE2_PRESS,768.596274703,746.403725297,718,682,666,636.403725297,889,785,817,653,631,654.596274703,0.451373178195,0.00454952126558,0.0497687898575,0.999999931346,0.000122048935883,-0.000349690812285,1.13303123063e-05,1793249823276476160
+209,3.483333333,POSE1_TO_POSE2_PRESS,768.828137774,746,718,682,666,636.171862226,889.171862226,785,817,653,631,654.828137774,0.451576196259,0.00456522560233,0.0497575928148,0.999999921459,0.000136646089453,-0.000371885583313,1.0562840774e-05,1793249823293142784
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+214,3.566666667,POSE1_TO_POSE2_PRESS,768,746,718,683,665.079379706,636,889,785,817,653,630.920620294,655,0.452352915618,0.00455939999896,0.049741382316,0.999999909686,0.000125240042926,-0.000405808501679,1.61891166405e-05,1793249823376476160
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+218,3.633333333,POSE1_TO_POSE2_PRESS,768,746,718,682,665.611197575,636,889,785,817,653,630.611197575,654.388802425,0.452704999405,0.00455662118107,0.0497336204134,0.999999907479,0.000117882259158,-0.000413352358172,1.68728254095e-05,1793249823443142912
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+236,3.933333333,POSE1_TO_POSE2_PRESS,768,746,718,682,665,635,889,785,817,653,630.179201496,654,0.452954257291,0.00456517565583,0.0497177397007,0.999999895832,0.000127308095854,-0.000438023882044,1.62637206799e-05,1793249823743143168
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+238,3.966666667,POSE1_TO_POSE2_PRESS,768.009095284,746,718,683,665,635.990904716,889,785,817,653,630.009095284,655,0.452952493085,0.0045608332706,0.0497151684491,0.999999893728,0.000127856365197,-0.000442603521127,1.7296111498e-05,1793249823776476160
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+260,4.333333333,HOLD_POSE2,768,746.269812517,718,682,665,635.730187483,889.730187483,785,817,653,631,655,0.452956444338,0.00456874344542,0.0497155607785,0.999999892916,0.000133884682513,-0.000442716758422,1.56286316931e-05,1793249824157905408
+261,4.350000000,HOLD_POSE2,768,746.859910936,718,682,665,635.140089064,889.140089064,785,817,653,631,655,0.452955156398,0.00456929205159,0.0497137731573,0.999999891714,0.000133146163334,-0.000445658978652,1.52689075633e-05,1793249824174572288
+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,890,785,817,653,631,655,0.452955251104,0.00456847007217,0.0497143675877,0.999999892084,0.000133347098111,-0.000444713483036,1.67468683719e-05,1793249824207327488
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,746,718,682.577825781,665,635.422174219,889.422174219,785,817,653,631,655,0.452957185866,0.00456649500786,0.0497158335417,0.999999893554,0.000130884461018,-0.000442148094888,1.63311816639e-05,1793249824223993856
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.845348062,665,635,889,785.154651938,817,653,631,655,0.452958438805,0.00456531162217,0.0497166813114,0.999999894462,0.000129485593243,-0.000440517369545,1.59648891098e-05,1793249824240660224
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,746,718,682.27123306,665,635,889,785.72876694,817,653,631,655,0.452957842437,0.0045662755091,0.049715852378,0.999999893873,0.000130971990648,-0.000441421733258,1.57325684215e-05,1793249824257326848
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,889,785.687127589,817,653,631,655,0.452956632408,0.00456751349057,0.0497148402202,0.999999892929,0.000132343914515,-0.000443147342004,1.57236101864e-05,1793249824273993216
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,889,785.094075613,817,653,631,655,0.452954872844,0.00456899692565,0.0497136639835,0.999999891664,0.00013361332639,-0.000445608381715,1.59146746994e-05,1793249824290659840
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,664.512999313,635,889.487000687,785,817,653,631,655,0.452955269904,0.004568111379,0.0497142722034,0.999999892259,0.000133481697477,-0.000444304925342,1.60323835968e-05,1793249824307326208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,746.065138486,718,682,664.065138486,635.065138486,889.934861514,785,817,653,631,654.934861514,0.452955005333,0.00456709361955,0.0497146052183,0.999999892744,0.00013303699668,-0.00044334675448,1.60439753356e-05,1793249824323992832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,746.637971326,718,682,664.637971326,635.637971326,889.362028674,785,817,653,631,654.362028674,0.452946414855,0.00456852653919,0.0497101710525,0.999999889617,0.000132210981919,-0.000450611592548,1.53362759408e-05,1793249824340659712
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,746.78316508,718,682,665,635.78316508,889,785,817,653,631,654.21683492,0.452931342936,0.00456887732047,0.0497030358343,0.999999884207,0.00013167730539,-0.000462626979246,1.49744879025e-05,1793249824357326336
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746.193944514,718,682,665,635.193944514,889,785,817,653,631,654.806055486,0.452905139993,0.00456736967035,0.0496912619115,0.999999874671,0.000131645681638,-0.000482800811731,1.52067574968e-05,1793249824373992960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,889,785,817,653,630.611779625,655,0.452859410882,0.00456810848284,0.0496730552771,0.999999858506,0.000132989817902,-0.000514852615029,1.51141141757e-05,1793249824390659840
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,889,785,817,653,630.033076593,655,0.452804101137,0.00456994953556,0.0496516923932,0.999999838019,0.000135008978929,-0.000552732417249,1.48620503869e-05,1793249824407326464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,889,785,817,653,630,655,0.452731767532,0.00457132748631,0.0496310929573,0.999999823345,0.000134736365507,-0.000578773405279,1.32849445962e-05,1793249824423993088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,889,784.878427717,817,653,630,655,0.452656811973,0.00457249871884,0.0496136011407,0.999999809916,0.000134724297226,-0.000601558730944,1.19993224109e-05,1793249824440659968
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,889,784.305116275,817,653,630,655,0.45257594846,0.00457300614379,0.0496074846603,0.999999801593,0.000136196603092,-0.000614913428456,1.20952717974e-05,1793249824457326592
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,889,784.275825336,816.724174664,653,630.275825336,655,0.452487978414,0.00457340154713,0.0496041276664,0.999999796337,0.000138400841262,-0.000622919095696,1.19757622129e-05,1793249824473993216
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,889,784.865447488,816.134552512,653,630.865447488,655,0.45239192352,0.00457366950739,0.0496039100439,0.999999794718,0.00014143777309,-0.000624839358002,1.16111325064e-05,1793249824490659840
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,665.447275148,635.447275148,889,785,816.447275148,653,631,655,0.452278757874,0.00457498337967,0.0496065325947,0.999999796446,0.000144176637982,-0.000621444410073,1.13008787953e-05,1793249824507326720
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665.973363142,636,889,785.026636858,816.973363142,653,630.973363142,655,0.452158828832,0.00457658610986,0.0496099454665,0.999999799006,0.000146876478651,-0.000616679844281,1.10068844184e-05,1793249824523993600
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665.397328462,636,889,785.602671538,816.397328462,653,630.397328462,655,0.452003750213,0.00457776825323,0.0496123384917,0.999999798826,0.000150589166791,-0.000616080685256,1.07166383519e-05,1793249824540659968
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.818220711,746.181779289,718,682.181779289,665.181779289,635.818220711,888.818220711,785.818220711,816.181779289,653,630,655,0.451840371544,0.00457958828465,0.0496139669002,0.999999798113,0.000154690757509,-0.000616230970829,1.02507047633e-05,1793249824557326592
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.232280491,746.767719509,718,682.767719509,665.767719509,635.232280491,888.232280491,785.232280491,816.767719509,653,630,655,0.451658538894,0.0045828265711,0.0496138952897,0.999999796219,0.000159657018446,-0.000618047542166,9.39415447881e-06,1793249824573993216
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746.650239168,718,682.650239168,666,635.349760832,888.349760832,785,817,653,630.349760832,655,0.451459117212,0.00458701296883,0.0496140050862,0.999999796022,0.000165790611129,-0.000616768741212,8.08629451676e-06,1793249824590659840
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746.070758546,718,682.070758546,666,635.929241454,888.929241454,785,817,653,630.929241454,655,0.451248143194,0.0045918220779,0.0496142340291,0.999999796903,0.000172690897359,-0.000613456927552,6.48201830533e-06,1793249824607326464
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767.507655486,746,718,682,665.492344514,636,889.507655486,785,817,653,631,655,0.451010931172,0.00459454910993,0.049620805345,0.999999805487,0.000177912046818,-0.000597783352545,5.24659416516e-06,1793249824623993088
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889.914416015,785,817,653,630.914416015,655,0.450764956851,0.00459690829538,0.049629746727,0.999999816065,0.000183182465047,-0.000578184252379,4.06874821158e-06,1793249824640659456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889.338419383,785,817,653,630.338419383,655,0.450489684907,0.0045988191007,0.0496472140678,0.999999832904,0.000190073505159,-0.000545943665312,2.92685453993e-06,1793249824657326080
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665.24208767,636,889,785,817,653,630.24208767,655,0.45019624569,0.004602066251,0.049658801907,0.999999842935,0.000196950482656,-0.000524727391684,1.44379508789e-06,1793249824673992704
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665.829019606,636,889,785,817,653,630.829019606,655,0.449876927931,0.00460721697151,0.0496620146287,0.999999844439,0.000203807428326,-0.000519214817061,-5.25241390018e-07,1793249824690659584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,746,718,681.589789256,666,636.410210744,889,785,817,653,631,654.589789256,0.449518731816,0.00460993810109,0.0496638113599,0.999999846008,0.000208767490226,-0.000514194669063,-1.80244993725e-06,1793249824707326208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,746,718,681.010957937,666,636.989042063,889,785,817,653,631,654.010957937,0.449144554434,0.00461166052678,0.0496650260364,0.99999984759,0.000212947821931,-0.000509376937299,-2.79527674803e-06,1793249824723992576
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.434158236,746,718,681.565841764,666,637,888.434158236,785,817,652.434158236,631,654.565841764,0.448723279678,0.00461858743547,0.0496624190882,0.999999844527,0.000222399082702,-0.000511326221898,-5.55929387038e-06,1793249824740659712
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.142543533,746,718,682,666,637,888.142543533,785,816.857456467,652.142543533,630.857456467,654.857456467,0.448288114334,0.00462525982786,0.0496593275198,0.999999841446,0.000231387091447,-0.000513322218295,-8.27945769799e-06,1793249824757326592
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.71906639,746,718,682,666,637,888.71906639,785,816.28093361,652.71906639,630.28093361,654.28093361,0.447813425545,0.0046308515772,0.0496549850226,0.999999838819,0.000238655049059,-0.000515062876408,-1.07620526906e-05,1793249824773993216
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,666,637,889,785,816.300783531,653,630,654,0.447329902664,0.00463435084653,0.0496513082875,0.999999835143,0.000245065204775,-0.000519126380561,-1.28014728537e-05,1793249824790659840
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,666,637,889,785,816.887437487,653,630,654,0.44683798364,0.00463586138347,0.0496482643048,0.999999830459,0.000250660090004,-0.000525397562243,-1.44196914677e-05,1793249824807326464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,666.468672928,637.468672928,888.531327072,785.468672928,817,653,630,654,0.446313397045,0.0046397453641,0.0496532468246,0.999999832941,0.000257114397642,-0.000517431990452,-1.65820291229e-05,1793249824823992832
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,746,718,681.951796989,667,638,888.048203011,785.951796989,817,653,630,654.048203011,0.44577981066,0.00464394949466,0.0496627059432,0.999999838628,0.000263781788854,-0.00050280464217,-1.87390606416e-05,1793249824840659712
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,746,718,681.376843587,667,638,888.623156413,785.376843587,817,653,630,654.623156413,0.445232634163,0.00464549412364,0.0497002590365,0.999999860918,0.000270547892578,-0.000452317062303,-1.94263645959e-05,1793249824857326336
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,746,718,681.197576939,667.197576939,638,888.802423061,785,816.802423061,652.802423061,630,654.802423061,0.444656841784,0.0046473890284,0.0497321690423,0.999999877387,0.000277304486482,-0.000409769368065,-2.04207380685e-05,1793249824873993216
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,746,718,681.770983793,667.770983793,638,888.229016207,785,816.229016207,652.229016207,630,654.229016207,0.444026616443,0.004649950226,0.0497533447915,0.999999886332,0.000284042991405,-0.000382324891273,-2.19992177508e-05,1793249824890659840
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.64393731,746,718,682,667.64393731,638.35606269,888,785,816,652.35606269,630,654,0.443365530008,0.0046518171362,0.0497509636484,0.999999881486,0.00028926774789,-0.000390834352234,-2.45278320295e-05,1793249824907326464
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.051096651,746,718,682,667.051096651,638.948903349,888,785,816,652.948903349,630,654,0.442683921292,0.00465322235241,0.0497329174173,0.999999866978,0.000293485877063,-0.000423252807198,-2.76882758161e-05,1793249824923993088
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,717.469587993,682,667.530412007,639,887.469587993,785.530412007,816.530412007,653,630,654,0.442019590888,0.0046524527462,0.0497518417664,0.999999881251,0.000296308844325,-0.000385680579343,-3.08296662946e-05,1793249824940659456
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.109416964,745.890583036,717.109416964,682,668.109416964,639,887,786,816.890583036,652.890583036,630,654,0.441350645181,0.00464675122096,0.0497781881135,0.999999900145,0.000292413248033,-0.000336253898264,-3.37277450623e-05,1793249824957326336
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.682343353,745.317656647,717.682343353,682,668.682343353,639,887,786,816.317656647,652.317656647,630,654,0.440655244864,0.0046210261756,0.0498212037059,0.999999930407,0.000260614078194,-0.000264574538125,-3.5602724794e-05,1793249824973992960
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,745,718,681.743112285,668.743112285,639,887,785.743112285,816,652,630,654,0.439901870923,0.00459922767007,0.0498350248503,0.999999955736,0.000167643182011,-0.000242988504473,-3.71598115909e-05,1793249824990659584
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,745,718,681.166554445,668.166554445,639,887,785.166554445,816,652,630,654,0.439076354726,0.00458231533276,0.0498125165373,0.999999959011,-1.44959182832e-06,-0.000283738407918,-3.8321313256e-05,1793249825007326208
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,745.421985412,718,681,668,639,887,785,816,652,630,654,0.438240156129,0.00458715463169,0.0497816389967,0.99999994135,-3.25388127615e-05,-0.000338337539859,-4.20488903674e-05,1793249825023993088
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.985059952,746,717.985059952,681,668,639,887,785,816,652.014940048,630,654,0.437400564274,0.00460059842043,0.0497490058624,0.999999920498,-7.75776822934e-06,-0.00039592668917,-4.67601089744e-05,1793249825040659712
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.409101181,746,717.409101181,681,668,639,887,785,816,652.590898819,630,654,0.436596502332,0.0046053449028,0.0497781150205,0.999999935891,9.86971943061e-06,-0.000354533880786,-4.92645303344e-05,1793249825057326336
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.169582961,746,717.169582961,681.169582961,668,639,887,785,816,652.830417039,630,654,0.435767822338,0.0046096540034,0.0497951822022,0.999999942534,2.66692165907e-05,-0.000333947747564,-5.19670095829e-05,1793249825073992960
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.754949125,746,717.754949125,681.754949125,668,639,887,785,816,652.245050875,630,654,0.434878783894,0.00461289073188,0.0497827248857,0.999999931236,4.14386470844e-05,-0.000364375387314,-5.51550868322e-05,1793249825090659584
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746,717.663395995,681.663395995,668,639,887,785,815.663395995,652.336604005,630,654,0.434013344198,0.00461481138139,0.0497773867914,0.999999929243,5.13479710468e-05,-0.000367930809267,-5.91912455605e-05,1793249825107326464
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746,717.084413524,681.084413524,668,639,887,785,815.084413524,652.915586476,630,654,0.433164897293,0.0046157843617,0.0497771750363,0.999999934294,5.77576771882e-05,-0.000352136350575,-6.38380822503e-05,1793249825123993088
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.505679362,746,717.494320638,681,668.494320638,639,886.505679362,785,815,652.505679362,630,654,0.432301792922,0.00460524810995,0.0497982971326,0.999999942875,7.64641512684e-05,-0.00032422452738,-5.72880346251e-05,1793249825140659712
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745.927348996,718,681.072651004,668.927348996,639,886,785.072651004,815.072651004,652.072651004,629.927348996,654,0.43142814758,0.00459467640668,0.0498162824973,0.999999948127,9.81014224628e-05,-0.000303062190868,-4.76974970277e-05,1793249825157326848
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745.351522037,718,681.648477963,668.351522037,639,886,785.648477963,815.648477963,652.648477963,629.351522037,654,0.430498823555,0.00459746452697,0.0497873237764,0.999999932852,0.000125500869128,-0.000342970602266,-3.02848534354e-05,1793249825173993216
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,745.228292058,717.771707942,682,667.771707942,639,885.771707942,786,815.771707942,652.771707942,629.228292058,654,0.429574024657,0.00460385976897,0.0497673875152,0.999999920841,0.000149274199277,-0.000368139882766,-2.25535863911e-05,1793249825190659584
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745.814354726,717.185645274,682,667.185645274,639,885.185645274,786,815.185645274,652.185645274,629.814354726,654,0.42865631722,0.00461590795503,0.0497615909046,0.999999917017,0.000167364822456,-0.000370210566351,-2.99946010486e-05,1793249825207326464
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.395737818,746,717,681.604262182,667.395737818,639,884.604262182,786,815,652,630,654,0.427726611856,0.00461870411948,0.0497646602945,0.999999912652,0.000173007191457,-0.000379043318098,-3.30201933021e-05,1793249825223993088
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767.974951287,746,717,681.025048713,667.974951287,639,884.025048713,786,815,652,630,654,0.426791343955,0.00461721077482,0.0497718402223,0.999999908034,0.000172878183905,-0.000391011162701,-3.39986658758e-05,1793249825240659712
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,745.451093029,717.548906971,681,667.451093029,639,884,786,815,652,630,654,0.425903874777,0.0046186103851,0.0497695198458,0.999999918409,0.000154072575878,-0.000371502583308,-3.78087531969e-05,1793249825257326080
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,745,718,681,667.123797689,639,884,786,815,652,630,654.123797689,0.425026151499,0.00461904713565,0.049776038343,0.999999931662,0.000138167337004,-0.000340456762044,-4.09213749221e-05,1793249825273992960
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,745,718,681,667.70300228,639,884,786,815,652,630,654.70300228,0.424176332053,0.00461546084013,0.0498166515463,0.999999952859,0.000136037007004,-0.000272203425665,-4.09974389337e-05,1793249825290659584
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,745.286006543,718,680.713993457,668,639,883.713993457,786,815,652,630.286006543,654.713993457,0.423289976053,0.0046106669858,0.0498316466109,0.999999959484,0.000134999122096,-0.000247253744305,-4.09068692524e-05,1793249825307326208
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,745.873009584,718,680.126990416,668,639,883.126990416,786,815,652,630.873009584,654.126990416,0.422365168625,0.00460460228326,0.0498196808561,0.999999954168,0.000135110939267,-0.000267877321161,-4.06409325351e-05,1793249825323993344
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767.543352755,745.543352755,718,680,667.086705509,639,883,785.543352755,814.543352755,652,630.086705509,654,0.421441879663,0.00460598940234,0.0497989696963,0.999999942738,0.000138699574597,-0.000306045273085,-4.027376379e-05,1793249825340659968
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.038734751,745.038734751,717.961265249,680,666.038734751,639,883,785,814,652,629.038734751,654,0.420523526929,0.00460975347439,0.0497787829015,0.99999992943,0.000143178170342,-0.000345038669431,-3.98548935548e-05,1793249825357326336
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.612246473,745.612246473,717.387753527,680,666.612246473,639,883,785,814,652,629.612246473,654,0.419667538051,0.0046179329353,0.0497991669433,0.9999999345,0.000146692475891,-0.0003285613451,-3.9108052764e-05,1793249825373993216
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768,746,717.185567049,680,667,639,883,785.185567049,814,652,630,654,0.418807111803,0.00462369271314,0.0498038994389,0.999999932661,0.000149437279677,-0.000332922546661,-3.88491341611e-05,1793249825390660096
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768,746,717.758488731,680,667,639,883,785.758488731,814,652,630,654,0.417937422784,0.00462440162029,0.0497759607339,0.999999915381,0.000150575817793,-0.000380782305632,-3.96087093496e-05,1793249825407326720
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746,718,680,667,639,883,785.655788029,814,652,629.655788029,654,0.417106270832,0.00462167679314,0.0497725974889,0.999999915322,0.000151588991226,-0.000380412706777,-4.07899827624e-05,1793249825423993344
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746,718,680,667,639,883,785.060735848,814,652,629.060735848,654,0.416303202343,0.00461644967459,0.0497871433078,0.999999928,0.000152510806658,-0.000344896557917,-4.22785634948e-05,1793249825440659968
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746,718,680,667,639,882.481603933,785.518396067,814,652.518396067,629.518396067,654,0.415526072399,0.0046098599693,0.0498006736109,0.999999940269,0.000134055410951,-0.000315709850592,-4.26505329559e-05,1793249825457326336
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.905097867,745.905097867,718,680,667,639,882,785.905097867,814,652.905097867,630,654,0.414748155823,0.00460446408835,0.0498076469838,0.999999947065,0.000117573280938,-0.000300360995407,-4.27758330553e-05,1793249825473992960
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.332698451,745.332698451,718,680,667,639,882,785.332698451,814,652.332698451,630,654,0.413951446368,0.0046058542015,0.0497822101579,0.999999930045,0.00012210195544,-0.000351016900595,-4.22986452516e-05,1793249825490659840
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.494743937,745,717.752628031,680,666.752628031,639.247371969,881.752628031,785.247371969,813.752628031,652,630,654,0.413189182771,0.00460902198941,0.0497671593266,0.999999918814,0.00013142913033,-0.000378563991122,-4.22856019595e-05,1793249825507326720
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768.676178967,745,717.161910517,680,666.161910517,639.838089483,881.161910517,785.838089483,813.161910517,652,630,654,0.412474729151,0.00461465714129,0.0497665239748,0.999999918262,0.000147416492834,-0.000374036673864,-4.29167787419e-05,1793249825523993600
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768.159284225,745.420357888,717.420357888,680,666.840715775,639.579642112,881,786,813,652,630,654,0.411776522689,0.00461662717942,0.0497906417726,0.999999929507,0.000149797100274,-0.000341745390601,-4.19272021705e-05,1793249825540660224
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.001127813,745.999436094,717.999436094,680,667.998872187,639.000563906,881,786,813,652,630,654,0.41108445083,0.00461721333054,0.049824105958,0.999999943685,0.00014704001886,-0.000298970883343,-4.03256554172e-05,1793249825557326592
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767.577489415,746,718,679.422510585,666.84502117,639,881,785.422510585,813,652.577489415,630,654,0.410396042562,0.00461733069268,0.0498027283052,0.999999932736,0.00013826063398,-0.000337322127761,-4.03134595777e-05,1793249825573993216
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767.84635912,745.84635912,718,679.15364088,666,639,881,785.15364088,813,653,630,654,0.409730470348,0.00461530881757,0.049785428558,0.99999992369,0.000131244851392,-0.000365716824231,-4.05708954116e-05,1793249825590660096
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767.275370981,745.275370981,718,679.724629019,666,639,881,785.724629019,813,653,630,654,0.409126919721,0.00460747719903,0.0497793511636,0.999999923522,0.000129035629952,-0.000366850942896,-4.15565456367e-05,1793249825607326720
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767.306611997,745,717.693388003,679.693388003,666,639,881,785.693388003,813,652.693388003,630,654,0.408559355494,0.00460093740867,0.0497911991634,0.999999931284,0.000124644205687,-0.00034665129176,-4.15870382683e-05,1793249825623993600
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767.898836765,745,717.101163235,679.101163235,666,639,881,785.101163235,813,652.101163235,630,654,0.408025313068,0.00459560097232,0.0498197448845,0.999999945187,0.000118220033153,-0.000306578976336,-4.07277899749e-05,1793249825640660480
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,745.480238231,717,679,666,638.519761769,881,785,813,652.480238231,630,654,0.407476014038,0.00459540936402,0.0498232163607,0.99999994564,0.000117808109984,-0.000305267423369,-4.06553670116e-05,1793249825657327104
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,745.941040322,717,679,666,638,880.941040322,785,812.941040322,653,630,654.058959678,0.406925936207,0.00459664566989,0.0498188125328,0.999999942086,0.000118937799796,-0.000316244487485,-4.08738734713e-05,1793249825673993728
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,745.366258569,717,679,666,638,880.366258569,785,812.366258569,653,630,654.633741431,0.406396542111,0.00460110178548,0.0497907016085,0.999999925013,0.000122718649015,-0.000364872045647,-4.22195315874e-05,1793249825690660096
+352,5.866666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,665.787148386,638.212851614,880.212851614,785,812.212851614,652.787148386,630,655,0.405895586609,0.00460475007325,0.0497697670987,0.999999911042,0.000125486564354,-0.000400349388038,-4.34793932452e-05,1793249825707326720
+353,5.883333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,665.200435634,638.799564366,880.799564366,785,812.799564366,652.200435634,630,655,0.405444581853,0.00460697945926,0.0497614375349,0.999999905835,0.000126475321884,-0.000412729158522,-4.45885585512e-05,1793249825723993344
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,665.381132208,638.618867792,880.618867792,785,812.618867792,652.381132208,630,654.618867792,0.405037305791,0.00460911149703,0.0497696166228,0.999999911312,0.000131903126444,-0.000397405378619,-4.5244993139e-05,1793249825740659968
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,665.960030457,638.039969543,880.039969543,785,812.039969543,652.960030457,630,654.039969543,0.404652720111,0.00461119302188,0.0497863618994,0.999999921604,0.000139634312183,-0.000367706478895,-4.56665099376e-05,1793249825757326592
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.46141543,745,717,679,666.53858457,638.53858457,880,785,812.53858457,653,630,654,0.404307510896,0.00461298652193,0.0498156557731,0.999999935382,0.00014120129829,-0.000327493214711,-4.52390093972e-05,1793249825773993728
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767.11653194,745,717,679,666.88346806,639,880,785,813,653,630,654,0.403971652492,0.00461477831287,0.0498423979192,0.99999994644,0.000143071829314,-0.000290908215112,-4.49659029544e-05,1793249825790660352
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767.692189528,745,717,679,666.307810472,639,880,785,813,653,630,654,0.403661129442,0.00461664753226,0.0498554197554,0.999999951112,0.000147939498471,-0.000271690577245,-4.55491811208e-05,1793249825807326976
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,744.733075501,717,679,666,638.733075501,880,785,813,653,630,654,0.40335536792,0.00461810832849,0.0498571889738,0.99999995048,0.000150056349798,-0.000272771203753,-4.60219877192e-05,1793249825823993600
+360,6.000000000,POSE2_TO_POSE3_RETREAT,768,744.159400836,717,679,666,638.159400836,880,785,813,653,630,654,0.403055078373,0.00461909976391,0.0498460266608,0.999999943665,0.000149011955488,-0.000297178637258,-4.6367840132e-05,1793249825840660224
+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,744,717,678.569788104,666,638.430211896,880,785,812.569788104,653,630,654,0.40278197267,0.00462062646846,0.0498329490873,0.999999936017,0.00015032082051,-0.000321138261295,-4.73325190569e-05,1793249825857327104
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,744.024913446,717,678.024913446,666,639,880,784.975086554,812,653,630,654,0.402521067666,0.00462222820436,0.0498192626514,0.999999928224,0.000149806155315,-0.000344611887577,-4.85097968683e-05,1793249825873993728
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768,744.596704882,717,678.596704882,666,639,880,784.403295118,812,653,630,654,0.402298382234,0.00462095598972,0.0498083876106,0.999999929566,8.93869394036e-05,-0.0003611996062,-4.91271457301e-05,1793249825890662912
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,745,716.829548097,678.829548097,666,639,880.170451903,784.170451903,812,652.829548097,630,654,0.402092869819,0.00461965942412,0.0498019958663,0.999999929709,4.28548165292e-05,-0.00036913749769,-4.98383343353e-05,1793249825907330560
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,745,716.251120481,678.251120481,666,639,880.748879519,784.748879519,812,652.251120481,630,654,0.401928460961,0.00461830457483,0.0498063348693,0.999999934774,2.95613856287e-05,-0.000356372074821,-5.07741281568e-05,1793249825923994880
+366,6.100000000,POSE2_TO_POSE3_RETREAT,768,745,716.334055714,678.334055714,666,639,880.665944286,784.665944286,812,652.334055714,629.665944286,654,0.401787084003,0.0046100354902,0.049813739129,0.999999940338,3.62607977334e-05,-0.000340320078729,-4.68059864931e-05,1793249825940660736
+367,6.116666667,POSE2_TO_POSE3_RETREAT,768,745,716.924409696,678.924409696,666,639,880.075590304,784.075590304,812,652.924409696,629.075590304,654,0.40166337784,0.00459646158211,0.0498234951525,0.999999945777,5.82993593974e-05,-0.000321746516625,-3.90753881691e-05,1793249825957327360
+368,6.133333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880.504688167,784.504688167,812.504688167,653,629.504688167,654,0.401552289103,0.00458441625402,0.0498295652913,0.999999948178,8.19005787027e-05,-0.000309877914146,-3.02025210577e-05,1793249825973993728
+369,6.150000000,POSE2_TO_POSE3_RETREAT,768,745,717,678.917006682,666,639,880.917006682,785,812.917006682,653,630,654,0.401446045651,0.00457531715413,0.0498340441351,0.999999949263,0.000103401441868,-0.000300434983048,-2.28364345958e-05,1793249825990660096
+370,6.166666667,POSE2_TO_POSE3_RETREAT,768,745,717,678.341630817,666,639,880.341630817,785,812.341630817,653,630,654,0.401357555948,0.00458236572607,0.0498322932921,0.999999948645,0.000111079940742,-0.000299541706721,-2.5404913151e-05,1793249826007326976
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.761528643,745,717,678.238471357,666,638.761528643,880,785,812,653,630,654,0.401277914922,0.00458545391932,0.0498315105224,0.999999948264,0.00011472117222,-0.000299314291315,-2.68521155402e-05,1793249826023993600
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767.174518752,745,717,678.825481248,666,638.174518752,880,785,812,653,630,654,0.401211206712,0.00458275380871,0.0498321426434,0.999999948303,0.000112461722868,-0.00030006006703,-2.66605132033e-05,1793249826040659712
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767.406520625,745,717,678.593479375,666,638.406520625,879.593479375,785,812.406520625,652.593479375,629.593479375,654,0.401160848211,0.00458282991817,0.0498345736863,0.999999949905,0.000112323501307,-0.000294669980033,-2.72507862724e-05,1793249826057326592
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,768,745.152299091,717,678.152299091,666.152299091,638.152299091,880,785,812.152299091,653,630,654,0.400984681927,0.00458574145954,0.0498484248149,0.999999958385,0.000115599214833,-0.000262625246732,-2.99240430749e-05,1793249826357327360
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,745,717,678.996044715,666.003955285,639,880,785,813,653,629.996044715,654,0.400985560869,0.0045858309564,0.0498489944071,0.999999958995,0.000112982390446,-0.000261451935352,-2.98008219415e-05,1793249826390661120
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ba14333bde87cf92451cfd8b7db34c8f1334359
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,405 @@
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+187,3.116666667,pose1_to_pose2_press,0.611597930806,0.0101501932376,1.04003371519,0.582168609371,0.0188228272024,1.03970510507
+188,3.133333333,pose1_to_pose2_press,0.612226035534,0.0101503163591,1.04003347523,0.582796711214,0.0188229403445,1.03970486143
+189,3.150000000,pose1_to_pose2_press,0.61282448458,0.0101500735202,1.04003368478,0.583395163757,0.0188227094014,1.03970507179
+190,3.166666667,pose1_to_pose2_press,0.613393569519,0.0101499960056,1.04003373108,0.583964249296,0.0188226344167,1.03970513076
+191,3.183333333,pose1_to_pose2_press,0.613933861445,0.0101500086323,1.0400334198,0.584504540435,0.018822644342,1.03970481729
+192,3.200000000,pose1_to_pose2_press,0.614454409869,0.0101500875096,1.04003360079,0.585025088683,0.0188227225284,1.03970499395
+193,3.216666667,pose1_to_pose2_press,0.614961034192,0.0101500345436,1.04003366918,0.585531714061,0.0188226729953,1.0397050562
+194,3.233333333,pose1_to_pose2_press,0.61545691402,0.0101501567799,1.04003365358,0.586027591361,0.0188227869009,1.03970504415
+195,3.250000000,pose1_to_pose2_press,0.615936705133,0.0101501478087,1.04003363015,0.586507383627,0.0188227822129,1.03970502781
+196,3.266666667,pose1_to_pose2_press,0.616390872606,0.0101500803365,1.04003357622,0.586961551887,0.0188227174461,1.03970497197
+197,3.283333333,pose1_to_pose2_press,0.616814592778,0.0101500670907,1.04003346711,0.58738527169,0.018822703034,1.03970486146
+198,3.300000000,pose1_to_pose2_press,0.617208117491,0.0101500425913,1.04003334099,0.587778797311,0.0188226818848,1.03970473905
+199,3.316666667,pose1_to_pose2_press,0.617583524675,0.0101500446229,1.04003338494,0.588154204228,0.0188226829891,1.03970477983
+200,3.333333333,pose1_to_pose2_press,0.617945317289,0.0101501450736,1.04003376392,0.588515995021,0.0188227770329,1.03970514887
+201,3.350000000,pose1_to_pose2_press,0.618298457817,0.010150096899,1.04003350346,0.588869136292,0.0188227319354,1.03970489862
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+203,3.383333333,pose1_to_pose2_press,0.618955459643,0.010150163334,1.04003350796,0.589526136327,0.0188227925852,1.03970490536
+204,3.400000000,pose1_to_pose2_press,0.619247817936,0.0101501741928,1.04003352195,0.589818493728,0.0188228002699,1.03970491584
+205,3.416666667,pose1_to_pose2_press,0.619513303534,0.0101501446831,1.04003366708,0.590083981206,0.0188227769447,1.0397050538
+206,3.433333333,pose1_to_pose2_press,0.619750747374,0.0101502118092,1.04003351999,0.590321424012,0.0188228411051,1.03970491753
+207,3.450000000,pose1_to_pose2_press,0.619964678784,0.0101500035325,1.04003352358,0.590535357917,0.0188226411667,1.03970491602
+208,3.466666667,pose1_to_pose2_press,0.620157965029,0.0101500774928,1.04003352368,0.590728644369,0.0188227159585,1.0397049169
+209,3.483333333,pose1_to_pose2_press,0.620334859379,0.0101502438593,1.04003364374,0.590905536585,0.0188228751998,1.03970503817
+210,3.500000000,pose1_to_pose2_press,0.62049636587,0.0101502743947,1.04003366688,0.591067041255,0.0188228995562,1.03970506008
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+214,3.566666667,pose1_to_pose2_press,0.621017987138,0.0101500435101,1.0400337182,0.591588666429,0.018822682181,1.03970511329
+215,3.583333333,pose1_to_pose2_press,0.621116261577,0.0101500418614,1.04003327634,0.591686940362,0.0188226788612,1.03970467148
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+218,3.633333333,pose1_to_pose2_press,0.621330791883,0.0101501298642,1.04003338232,0.591901468199,0.0188227588876,1.03970478389
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+221,3.683333333,pose1_to_pose2_press,0.621453431321,0.0101500715799,1.04003341548,0.592024109854,0.0188227079564,1.03970481106
+222,3.700000000,pose1_to_pose2_press,0.621480354847,0.0101500791426,1.040033549,0.592051032138,0.0188227110922,1.03970493697
+223,3.716666667,pose1_to_pose2_press,0.621501190364,0.0101501155922,1.04003356231,0.592071866527,0.0188227435198,1.03970494628
+224,3.733333333,pose1_to_pose2_press,0.621516178793,0.0101500874552,1.04003354359,0.592086855523,0.0188227174604,1.03970493107
+225,3.750000000,pose1_to_pose2_press,0.621527025818,0.0101500037526,1.04003353148,0.59209770373,0.0188226378591,1.03970492103
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+227,3.783333333,pose1_to_pose2_press,0.621539407291,0.0101500958021,1.04003345999,0.592110086339,0.0188227338583,1.03970485502
+228,3.800000000,pose1_to_pose2_press,0.621543021627,0.0101500667414,1.04003341142,0.592113701846,0.0188227088415,1.03970480746
+229,3.816666667,pose1_to_pose2_press,0.621545774706,0.0101500770611,1.04003347412,0.592116453394,0.0188227142079,1.0397048771
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+233,3.883333333,pose1_to_pose2_press,0.6215481409,0.0101501654021,1.0400332797,0.592118819417,0.0188228018232,1.03970467935
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+236,3.933333333,pose1_to_pose2_press,0.621548302968,0.0101501500917,1.0400333599,0.592118981356,0.0188227859618,1.03970475651
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+238,3.966666667,pose1_to_pose2_press,0.621548964002,0.0101500890158,1.04003368303,0.592119641845,0.0188227225931,1.03970506732
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+240,4.000000000,pose1_to_pose2_press,0.621549007793,0.0101500972709,1.04003366866,0.592119685471,0.0188227302891,1.03970505307
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+242,4.033333333,pose1_to_pose2_press,0.621549317875,0.0101501557255,1.04003356694,0.592119994385,0.0188227847851,1.03970495215
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+262,4.366666667,pose2_to_pose3_retreat,0.621549346163,0.0101501063601,1.0400334425,0.592120024249,0.0188227407408,1.03970482681
+263,4.383333333,pose2_to_pose3_retreat,0.621549269167,0.0101502051968,1.04003351165,0.592119945023,0.0188228322342,1.03970490185
+264,4.400000000,pose2_to_pose3_retreat,0.621549141183,0.010150152878,1.04003346024,0.592119817911,0.0188227830119,1.03970485397
+265,4.416666667,pose2_to_pose3_retreat,0.621549106135,0.0101501385508,1.04003344616,0.592119783103,0.0188227695327,1.03970484086
+266,4.433333333,pose2_to_pose3_retreat,0.621548928612,0.010150065981,1.04003337485,0.59211960679,0.0188227012579,1.03970477446
+267,4.450000000,pose2_to_pose3_retreat,0.621548556712,0.0101500765413,1.04003338573,0.592119234543,0.0188227105362,1.03970478258
+268,4.466666667,pose2_to_pose3_retreat,0.621547175405,0.0101501232858,1.04003344233,0.592117852561,0.0188227547811,1.03970483375
+269,4.483333333,pose2_to_pose3_retreat,0.621543587494,0.0101501896237,1.04003349094,0.592114264294,0.0188228199289,1.03970488292
+270,4.500000000,pose2_to_pose3_retreat,0.621536061365,0.0101501351043,1.04003338616,0.592106739202,0.0188227691496,1.03970478359
+271,4.516666667,pose2_to_pose3_retreat,0.621520702234,0.0101502902571,1.04003349826,0.592091379835,0.0188229235596,1.03970489872
+272,4.533333333,pose2_to_pose3_retreat,0.621495668614,0.0101501392794,1.04003337789,0.59206634607,0.0188227720886,1.03970477603
+273,4.550000000,pose2_to_pose3_retreat,0.621459484293,0.0101501286665,1.04003362196,0.592030163861,0.0188227687109,1.03970502084
+274,4.566666667,pose2_to_pose3_retreat,0.62141267267,0.0101501693123,1.04003352043,0.591983351154,0.0188228056788,1.03970491809
+275,4.583333333,pose2_to_pose3_retreat,0.62135618135,0.0101500491905,1.04003363195,0.591926860891,0.0188226888333,1.03970502575
+276,4.600000000,pose2_to_pose3_retreat,0.621291996068,0.010150018921,1.04003365809,0.591862676032,0.0188226596385,1.03970504768
+277,4.616666667,pose2_to_pose3_retreat,0.621220481876,0.0101500978733,1.04003351534,0.591791161145,0.0188227361689,1.03970491206
+278,4.633333333,pose2_to_pose3_retreat,0.621141752577,0.0101500237084,1.04003372292,0.591712431554,0.0188226611721,1.03970511264
+279,4.650000000,pose2_to_pose3_retreat,0.621054837646,0.010149970705,1.04003379653,0.59162551767,0.0188226115467,1.03970518205
+280,4.666666667,pose2_to_pose3_retreat,0.620954903498,0.0101499601707,1.04003365328,0.591525583649,0.0188226016381,1.03970504679
+281,4.683333333,pose2_to_pose3_retreat,0.620841675731,0.0101500226363,1.04003348669,0.591412354417,0.0188226594563,1.0397048896
+282,4.700000000,pose2_to_pose3_retreat,0.620713156388,0.0101501558224,1.04003349796,0.591283833237,0.0188227862707,1.03970489805
+283,4.716666667,pose2_to_pose3_retreat,0.620569440786,0.0101502420602,1.04003350732,0.591140117354,0.018822871472,1.03970490577
+284,4.733333333,pose2_to_pose3_retreat,0.620409571808,0.010150147989,1.04003361357,0.590980250129,0.0188227833548,1.03970501377
+285,4.750000000,pose2_to_pose3_retreat,0.620235143646,0.0101501428239,1.04003341726,0.59080582226,0.0188227792929,1.03970482148
+286,4.766666667,pose2_to_pose3_retreat,0.620046093663,0.0101501351843,1.04003354394,0.590616771417,0.0188227683133,1.03970493974
+287,4.783333333,pose2_to_pose3_retreat,0.619840379741,0.0101500525296,1.04003348093,0.5904110584,0.0188226885318,1.03970487468
+288,4.800000000,pose2_to_pose3_retreat,0.619618024758,0.0101500289558,1.04003334899,0.590188704701,0.0188226692901,1.03970474425
+289,4.816666667,pose2_to_pose3_retreat,0.619376646403,0.0101501842539,1.04003355245,0.58994732512,0.0188228200976,1.03970494018
+290,4.833333333,pose2_to_pose3_retreat,0.619113583642,0.0101501497267,1.04003353761,0.589684261877,0.0188227838775,1.0397049272
+291,4.850000000,pose2_to_pose3_retreat,0.61882801568,0.0101501276139,1.04003377197,0.589398695541,0.0188227670878,1.03970515772
+292,4.866666667,pose2_to_pose3_retreat,0.618516471029,0.0101500263442,1.04003361197,0.589087150114,0.0188226631384,1.03970499884
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+295,4.916666667,pose2_to_pose3_retreat,0.617429352881,0.0101501435488,1.04003370237,0.588000031251,0.0188227777674,1.03970509553
+296,4.933333333,pose2_to_pose3_retreat,0.617022124734,0.0101501825093,1.04003361572,0.587592804275,0.0188228207823,1.03970501389
+297,4.950000000,pose2_to_pose3_retreat,0.616596595427,0.0101501417618,1.04003336889,0.587167273862,0.0188227761985,1.03970476817
+298,4.966666667,pose2_to_pose3_retreat,0.61615355722,0.0101502471726,1.04003341709,0.586724233167,0.0188228729586,1.03970481468
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+300,5.000000000,pose2_to_pose3_retreat,0.615225300343,0.0101500970916,1.04003348669,0.585795979418,0.0188227335928,1.03970489316
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ce421c28d17f71b8597db69b0caa4ce5a11e4b8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414cef459e52325e365c54e02695eb6b1f22e694c523f4b98c6330ce3789550a
+size 25594604
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37ab2b85b94d9d34ec7272fbdafa8ce5cc8f934d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,404 @@
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+6,0.100000000,BASELINE,768,745,717,678.480972151,666,639,880,784.519027849,812,652.480972151,630,654,0.4009862676,0.00458490971521,0.0498533077014,0.999999960872,0.000111528492811,-0.000254800912518,-2.9899103527e-05,1793249826806420992
+7,0.116666667,BASELINE,768,745,717,679,666,639,880,784,812,653,630,654,0.400986374649,0.00458489576881,0.0498531587441,0.999999960889,0.00011087621089,-0.000255032227614,-2.97883568702e-05,1793249826823087872
+8,0.133333333,BASELINE,768,745,717,679,666,639,880,784,812,653,630,654,0.400986615017,0.00458494829031,0.0498526967152,0.999999960878,0.000110673000877,-0.00025513533102,-3.00088156371e-05,1793249826839754496
+9,0.150000000,BASELINE,768,745,717,679,666,639,880,784.207478851,812,653,630,654,0.400986318143,0.00458506506782,0.0498521609753,0.999999960839,0.000109995583808,-0.000255547822656,-3.02964469669e-05,1793249826856420864
+10,0.166666667,BASELINE,768,745,717,679,666,639,880,784.777613541,812,653,630,654,0.400985082215,0.00458529415953,0.0498514963946,0.999999960747,0.000108489292125,-0.000256501099267,-3.07014903472e-05,1793249826873087488
+11,0.183333333,BASELINE,768,745,717,678.636428903,666,639,880,785,812,652.636428903,630,654,0.400985542246,0.00458471757697,0.0498521830968,0.99999996101,0.000108530903799,-0.000255469590899,-3.05883822999e-05,1793249826889754368
+12,0.200000000,BASELINE,768,745,717,678.0403525,666,639,880,785,812,652.0403525,630,654,0.400987086851,0.00458362576224,0.0498537339503,0.999999961496,0.000109562406294,-0.000253168803946,-3.01439141874e-05,1793249826906420992
+13,0.216666667,BASELINE,768,745,717,678.540050728,666,638.459949272,880,785,812,652.540050728,630,653.459949272,0.400985946926,0.00458426231277,0.0498530426021,0.999999960732,0.000111850650275,-0.000255190378316,-3.00626988809e-05,1793249826923087616
+14,0.233333333,BASELINE,768,745,717,678.881885713,666,638.118114287,880,785,812,652.881885713,629.881885713,653.118114287,0.400984926739,0.00458507851195,0.0498524435703,0.999999960091,0.00011356797667,-0.000256935597008,-3.00791182291e-05,1793249826939753984
+15,0.250000000,BASELINE,768,745,717,678.308454025,666,638.691545975,880,785,812,652.308454025,629.308454025,653.691545975,0.400985119558,0.00458610344482,0.0498528280291,0.999999960313,0.000112732701778,-0.000256405610628,-3.03702290555e-05,1793249826956420608
+16,0.266666667,BASELINE,768,744.728124726,717,678.271875274,666,638.728124726,880,785,812,652.271875274,629.271875274,654,0.400985661795,0.00458654401825,0.0498532209975,0.999999960554,0.000112226194242,-0.000255664131436,-3.05522773108e-05,1793249826973087232
+17,0.283333333,BASELINE,768,744.139766122,717,678.860233878,666,638.139766122,880,785,812,652.860233878,629.860233878,654,0.400986610779,0.00458630435316,0.0498536238716,0.999999960818,0.000112102396763,-0.000254676458689,-3.06073684876e-05,1793249826989753856
+18,0.300000000,BASELINE,768,744.444316212,717,679,666,638.444316212,880,784.555683788,812.444316212,652.555683788,630,654,0.400985609336,0.00458563183545,0.0498529765784,0.999999960722,0.000110998973541,-0.000255548775006,-3.04943491848e-05,1793249827006420224
+19,0.316666667,BASELINE,768,745,717,679,666,639,880,784,812.973282268,652.026717732,630,654,0.400984090171,0.00458486550529,0.0498520450866,0.999999960518,0.000109681740735,-0.000256931375562,-3.03280315441e-05,1793249827023087104
+20,0.333333333,BASELINE,768,745,717,679,666,639,880,784,812.398034925,652.601965075,630,654,0.400984418024,0.00458494194693,0.0498519963594,0.999999960472,0.000110241171695,-0.000256892750996,-3.01428084078e-05,1793249827039753728
+21,0.350000000,BASELINE,768,745,717,679,666,639,880,784.176912856,812.176912856,653,630,654,0.400984987061,0.0045850276033,0.0498523086406,0.999999960527,0.000110694792682,-0.000256495428793,-3.00539866029e-05,1793249827056420608
+22,0.366666667,BASELINE,768,745,717,679,666,639,880,784.751187715,812.751187715,653,630,654,0.400986097818,0.00458513395677,0.049853431779,0.999999960807,0.000110910754988,-0.000255292439806,-3.01816907852e-05,1793249827073087232
+23,0.383333333,BASELINE,768,745,717,679,666,639,880,785,812.666607052,653,630,654,0.400985759351,0.00458473707779,0.0498531129273,0.999999960685,0.000110774769551,-0.000255846668996,-3.00229877423e-05,1793249827089753600
+24,0.400000000,BASELINE,768,745,717,679,666,639,880,785,812.07833908,653,630,654,0.400984312971,0.00458395548348,0.0498516916913,0.999999960254,0.000110369724189,-0.000257744270875,-2.96453297268e-05,1793249827106420224
+25,0.416666667,BASELINE,768,745,717,679,666,639,880.503785509,785,812.503785509,653,630,654,0.400985430268,0.00458338115159,0.0498526864313,0.999999960842,0.000108777011519,-0.000256122407782,-2.97606178818e-05,1793249827123087104
+26,0.433333333,BASELINE,767.916087875,745,717,679,666,639,880.916087875,785,813,653,630,654,0.40098655756,0.00458309688002,0.0498538382208,0.999999961416,0.000107495546716,-0.000254394763761,-2.99379328099e-05,1793249827139753728
+27,0.450000000,BASELINE,767.342117581,745,717,679,666,639,880.342117581,785,813,653,630,654,0.400985443086,0.00458432064278,0.0498537395741,0.999999961033,0.000109097392095,-0.000255207026021,-3.0035218726e-05,1793249827156420352
+28,0.466666667,BASELINE,767.2360658,745,716.7639342,678.7639342,666,639,880,785,813,652.7639342,630,654,0.40098496799,0.00458489658608,0.0498535888692,0.999999960919,0.000109772007505,-0.000255358658148,-3.00594628128e-05,1793249827173086976
+29,0.483333333,BASELINE,767.8204659,745,716.1795341,678.1795341,666,639,880,785,813,652.1795341,630,654,0.400985436348,0.00458451661896,0.0498533613482,0.999999961208,0.000109078419537,-0.000254535476698,-2.99759277302e-05,1793249827189753856
+30,0.500000000,BASELINE,768,744.597984975,716.402015025,678,666,639,880.402015025,785,813,652.402015025,630,654,0.400985167568,0.00458412156287,0.0498530983778,0.999999961157,0.000108380222892,-0.000255036721409,-2.99220085282e-05,1793249827206420480
+31,0.516666667,BASELINE,768,744.017700104,716.982299896,678,666,639,880.982299896,785,813,652.982299896,630,654,0.400984571911,0.00458371981573,0.0498528196877,0.999999960956,0.000107679982591,-0.000256125270675,-2.9881222217e-05,1793249827223087104
+32,0.533333333,BASELINE,768,744.561650353,717,678.561650353,666,639,881,785,812.438349647,653,630,654,0.400984951153,0.00458512898084,0.0498534443106,0.999999960871,0.000109965186551,-0.000255459718927,-3.00899260939e-05,1793249827239753728
+33,0.550000000,BASELINE,768,745,717,678.860044772,666,639,880.860044772,785,812,653,630,654,0.400985380703,0.0045864686779,0.049853920472,0.999999960803,0.000112158159132,-0.000254746894724,-3.0306706501e-05,1793249827256420352
+34,0.566666667,BASELINE,768,745,717,678.284899826,666,639,880.284899826,785,812,653,630,654,0.400985871306,0.0045874152006,0.0498538466208,0.999999960789,0.000113772268914,-0.000254058683128,-3.05241928528e-05,1793249827273087232
+35,0.583333333,BASELINE,768,745,717,678.297520035,666,639,880,785,812.297520035,653,630,654,0.400986944308,0.00458692174231,0.0498542934267,0.999999961148,0.000113677828424,-0.000252689107487,-3.04967170626e-05,1793249827289754112
+36,0.600000000,BASELINE,768,745,717,678.887080902,666,639,880,785,812.887080902,653,630,654,0.400988588984,0.0045850148222,0.0498552513012,0.999999961869,0.000111906302932,-0.000250650715884,-3.02287904391e-05,1793249827306421760
+37,0.616666667,BASELINE,767.532011317,745,717,679,666,639,880,785,812.532011317,653,630,654,0.400988729634,0.00458439202077,0.0498553658849,0.999999961988,0.000111169785791,-0.000250536957188,-2.99350123939e-05,1793249827323088128
+38,0.633333333,BASELINE,767.046534416,745,717,679,666,639,880,785,812.046534416,653,630,654,0.400988323667,0.00458406926844,0.0498551958199,0.999999961939,0.000110531171571,-0.000251049534598,-2.96620644119e-05,1793249827339754496
+39,0.650000000,BASELINE,767.621536417,745,717,679,666,639,880,785,812.621536417,653,630,654,0.400985756494,0.00458369920711,0.0498540619467,0.999999961573,0.000108219787773,-0.000253497028793,-2.9695223659e-05,1793249827356420864
+40,0.666666667,BASELINE,767.804170593,745,717,679,666,639,880,785.195829407,812.804170593,653,630,654,0.40098433347,0.00458377237369,0.049853555608,0.999999961373,0.000107219288847,-0.000254694692443,-2.98166488641e-05,1793249827373087488
+41,0.683333333,BASELINE,767.231242938,745,717,679,666,639,880,785.768757062,812.231242938,653,630,654,0.400985113673,0.00458469904062,0.0498542576792,0.999999961507,0.000108743091161,-0.000253485623917,-3.01080431164e-05,1793249827389754368
+42,0.700000000,BASELINE,767,745,717,679,666,639,880,785.646361651,812.353638349,653,630,654,0.400985369418,0.00458486583137,0.0498539452867,0.999999961476,0.000109002810944,-0.000253471279632,-3.02987458155e-05,1793249827406421248
+43,0.716666667,BASELINE,767,745,717,679,666,639,880,785.053390493,812.946609507,653,630,654,0.400985270224,0.00458451835858,0.049852946333,0.999999961336,0.000108407034021,-0.000254265492238,-3.04213032007e-05,1793249827423087616
+44,0.733333333,BASELINE,767.526920863,745,717,679,666,639,880.526920863,785,813,653,630,654,0.400985111142,0.00458500154174,0.0498525514905,0.999999961099,0.000109100547856,-0.000254918402571,-3.02566388021e-05,1793249827439754240
+45,0.750000000,BASELINE,768,745,717,679,666,639,880.894950935,785,813,653,630,654.105049065,0.400985351706,0.00458524358499,0.0498525465026,0.999999961042,0.000109382672173,-0.000255041541857,-3.00946443382e-05,1793249827456420864
+46,0.766666667,BASELINE,768,745,717,679,666,639,880.32097649,785,813,653,630,654.67902351,0.400987402687,0.00458404231714,0.0498540149442,0.999999961826,0.000107258938024,-0.000252862263839,-3.00714316111e-05,1793249827473087488
+47,0.783333333,BASELINE,768,745,717,679,666,638.740826665,880,785,813,653,630,654.740826665,0.400987884416,0.00458357521012,0.0498544064822,0.999999962079,0.000106239730526,-0.000252291618335,-3.00807448127e-05,1793249827489754112
+48,0.800000000,BASELINE,768,745,717,679,666,638.152842103,880,785,813,653,630,654.152842103,0.400986375246,0.00458403952716,0.0498534317611,0.999999961664,0.000106621827245,-0.000253761832293,-3.01313234086e-05,1793249827506420736
+49,0.816666667,BASELINE,768,745,717.430962074,679,666,638.430962074,880,785.430962074,813,653,630,654,0.400986191608,0.00458535744923,0.0498537304423,0.999999961281,0.000109878578772,-0.000253884650565,-3.01306116969e-05,1793249827523087616
+50,0.833333333,BASELINE,768,745,717.986873343,678.986873343,666,638.986873343,880,785.986873343,813,653,630,654,0.400986469875,0.00458688502973,0.0498544534178,0.999999960915,0.000113954643868,-0.000253532547261,-3.01014810465e-05,1793249827539754496
+51,0.850000000,BASELINE,768,745,717.412035254,678.412035254,666,638.412035254,880,785.412035254,813,653,630,654,0.400986590532,0.0045845542178,0.0498541929082,0.999999961492,0.000109883282753,-0.000253109663299,-2.96271709222e-05,1793249827556421120
+52,0.866666667,BASELINE,768,745.16288574,717,678,666.16288574,638.16288574,880,784.83711426,812.83711426,653,630,654,0.400986345606,0.0045828567188,0.0498539639129,0.999999961818,0.000106970862779,-0.000253094689006,-2.93925068766e-05,1793249827573087744
+53,0.883333333,BASELINE,768,745.73801652,717,678,666.73801652,638.73801652,880,784.26198348,812.26198348,653,630,654,0.400985175436,0.00458276206203,0.0498538146766,0.999999961547,0.000106991589561,-0.000254112087123,-2.97643594763e-05,1793249827589754624
+54,0.900000000,BASELINE,768,745.679912662,717,678.320087338,667,638.679912662,880,784.320087338,812,653,630,654,0.400985642331,0.00458341129441,0.0498540045514,0.999999961575,0.000107504388078,-0.000253758876047,-2.99960002395e-05,1793249827606420992
+55,0.916666667,BASELINE,768,745.09203574,717,678.90796426,667,638.09203574,880,784.90796426,812,653,630,654,0.400987478819,0.00458468287496,0.0498544781311,0.999999961851,0.00010842886075,-0.000252258993923,-3.01103377826e-05,1793249827623087360
+56,0.933333333,BASELINE,768,745,717,678.508884547,666.508884547,638.491115453,880,784.508884547,812,653,630,654,0.400987590487,0.0045842396465,0.0498546729581,0.999999962047,0.000108910617316,-0.000251295030626,-2.9930616357e-05,1793249827639754240
+57,0.950000000,BASELINE,767.927700689,745,717,678,666,639,880,784,812,653,630,654,0.400987508383,0.00458368098834,0.0498548486188,0.999999962208,0.000109261912052,-0.000250517635757,-2.97662279319e-05,1793249827656420864
+58,0.966666667,BASELINE,767.354076357,745,717,678,666,639,880,784,812,653,630,654,0.400988302612,0.00458452900236,0.0498552501511,0.99999996224,0.00010927838403,-0.00025034415069,-3.00866308206e-05,1793249827673087744
+59,0.983333333,BASELINE,767.220528412,745,717,678.220528412,666,639,880,784,812.220528412,653,630,654,0.400988099334,0.00458460354027,0.049855183863,0.999999962098,0.000108824712509,-0.000251086611448,-3.02614564482e-05,1793249827689754624
+60,1.000000000,BASELINE,767.796714474,745,717,678.796714474,666,639,880,784,812.796714474,653,630,654,0.400986287324,0.00458343065314,0.0498543630969,0.999999961672,0.000107612816095,-0.00025330626569,-3.02015020981e-05,1793249827706421248
+61,1.016666667,BASELINE,768,745,717,678.61906452,666,639,880,784.38093548,812.61906452,653,630,654,0.400986300854,0.00458247713529,0.0498545538631,0.999999961818,0.000106552799871,-0.000253208429333,-2.99242279535e-05,1793249827723087616
+62,1.033333333,BASELINE,768,745,717,678.030463327,666,639,880,784.969536673,812.030463327,653,630,654,0.400987309571,0.00458164320594,0.0498552960628,0.999999962277,0.000105575580703,-0.000251847220523,-2.95284826471e-05,1793249827739754240
+63,1.050000000,BASELINE,768,745.549982403,716.450017597,678,665.450017597,639,880.549982403,785,812,653,629.450017597,654,0.400988540398,0.0045837898141,0.0498561223271,0.999999962477,0.000107805113888,-0.000250081449495,-2.97339917805e-05,1793249827756420864
+64,1.066666667,BASELINE,768,745.869859037,716.130140963,678.130140963,665.130140963,639,880.869859037,784.869859037,812,653,629.130140963,654,0.400989029641,0.00458576190737,0.0498564333571,0.999999962453,0.000109819269928,-0.000249259640556,-3.00600563162e-05,1793249827773087232
+65,1.083333333,BASELINE,768,745.289153636,716.710846364,678.710846364,665.710846364,639,880.289153636,784.289153636,812,653,629.710846364,654,0.40098690946,0.00458656659411,0.0498549446962,0.999999961729,0.000110481802726,-0.00025178239521,-3.06898835005e-05,1793249827789753856
+66,1.100000000,BASELINE,768,745,717,679,666,639,880,784.292413163,812,653,630,654,0.400987266401,0.00458583140754,0.049855129586,0.99999996189,0.000109919339238,-0.000251396352707,-3.06184900244e-05,1793249827806420736
+67,1.116666667,BASELINE,768,745,717,679,666,639,880,784.874834242,812,653,630,654,0.400990080089,0.00458356901383,0.0498569742607,0.999999962924,0.000108141955645,-0.000248125439237,-2.98516437482e-05,1793249827823087360
+68,1.133333333,BASELINE,767.545552328,745.454447672,717,678.545552328,666,639,880,785,812,653,630,654,0.400989285348,0.0045833982633,0.0498568239164,0.999999962721,0.000107106966233,-0.000249379544484,-2.99389408687e-05,1793249827839754496
+69,1.150000000,BASELINE,767.033273867,745.966726133,717,678.033273867,666.033273867,639,880,785,812,653,630,654,0.400987541205,0.00458379737017,0.0498560917437,0.999999962187,0.000106370686387,-0.000251785176894,-3.0255735861e-05,1793249827856421376
+70,1.166666667,BASELINE,767.611793079,745.388206921,717,678.611793079,666.611793079,639,880,785,812,653,630,654,0.400986425364,0.00458415233327,0.0498547741354,0.999999961844,0.000107199195598,-0.000252763227892,-3.05019181063e-05,1793249827873088000
+71,1.183333333,BASELINE,768,745,717,679,666.813767103,639,880,784.813767103,812,653,629.813767103,654,0.400985711598,0.00458395709805,0.049854099047,0.99999996164,0.000107846937043,-0.000253301893707,-3.04563918641e-05,1793249827889754368
+72,1.200000000,BASELINE,768,745,717,679,666.247648499,639,880,784.247648499,812,653,629.247648499,654,0.400985818003,0.00458263954518,0.0498547345975,0.999999961719,0.000108125940939,-0.000252944283302,-2.98158264083e-05,1793249827906420992
+73,1.216666667,BASELINE,768.335667858,745,717,679,666,638.664332142,880,784.335667858,812,653.335667858,629.335667858,654,0.400986225625,0.00458265752398,0.0498549879757,0.999999961971,0.000107912973492,-0.000252026585697,-2.99153830866e-05,1793249827923087872
+74,1.233333333,BASELINE,768.932357483,745,717,679,666,638.067642517,880,784.932357483,812,653.932357483,629.932357483,654,0.400986867478,0.00458371403791,0.0498549441696,0.999999962355,0.000107317439673,-0.00025067335356,-3.05904729781e-05,1793249827939754752
+75,1.250000000,BASELINE,767.972951373,745,717,679,666,638,880,785,812,653.486475686,630,654,0.400987516448,0.00458289607311,0.0498551622688,0.999999962412,0.000106885091363,-0.000250711970194,-2.99061844637e-05,1793249827956421120
+76,1.266666667,BASELINE,767,745,717,679,666,638.092076176,880.092076176,784.907923824,812.092076176,653,630,654,0.400987773676,0.00458213673653,0.049855182988,0.999999962336,0.000106618994125,-0.000251205241967,-2.92603067136e-05,1793249827973087744
+77,1.283333333,BASELINE,767,745,717,679,666,638.66732072,880.66732072,784.33267928,812.66732072,653,630,654,0.400985970476,0.00458294269296,0.0498539922382,0.999999961779,0.000107115811015,-0.000253150477966,-2.9728035429e-05,1793249827989754112
+78,1.300000000,BASELINE,767,745,717,679,666.239460219,639,880.760539781,784.239460219,812.760539781,653,630,654,0.400985971796,0.00458379360146,0.049854072712,0.999999961699,0.000108057635844,-0.0002530197661,-3.01007376443e-05,1793249828006420480
+79,1.316666667,BASELINE,767,745,717,679,666.807341091,639,880.192658909,784.807341091,812.192658909,653,630,654,0.400988448026,0.00458470616184,0.0498558966742,0.999999962272,0.000109609790806,-0.000250041883234,-3.03431105943e-05,1793249828023087104
+80,1.333333333,BASELINE,767.397484986,745,717,679,666.602515014,638.602515014,880,785,812.397484986,653.397484986,630,654,0.400989152945,0.00458425137588,0.0498566661011,0.99999996263,0.000109048026208,-0.000248869822504,-3.02169843408e-05,1793249828039753728
+81,1.350000000,BASELINE,767.999059955,745,717,679,666.000940045,638.000940045,880,785,812.999059955,653.999059955,630,654,0.400988948381,0.00458309452149,0.0498568940734,0.999999962878,0.000107400862749,-0.000248624966864,-2.99016509722e-05,1793249828056420352
+82,1.366666667,BASELINE,768,745,717,679,666,638.574977826,880,785,813,653.425022174,630,654.574977826,0.40098841091,0.00458199561406,0.0498563469356,0.999999962866,0.000105349932495,-0.000249576470599,-2.96671622052e-05,1793249828073087232
+83,1.383333333,BASELINE,768,745,717,679,666,639,880,785,812.849249285,653,630,654.849249285,0.400988097084,0.00458171873521,0.0498559857454,0.999999962791,0.000104438193184,-0.000250260863998,-2.96815106131e-05,1793249828089753856
+84,1.400000000,BASELINE,768,745,717,679,666,639,880,785,812.273771601,653,630,654.273771601,0.400988414829,0.00458375759433,0.0498561518642,0.999999962545,0.000106737804757,-0.000250187422244,-3.03965794821e-05,1793249828106420480
+85,1.416666667,BASELINE,768,745,717,679,666,639,880.308658796,785,812,653,630,654,0.40098814127,0.00458474133237,0.0498559000634,0.999999962334,0.000107892714207,-0.000250503580081,-3.06416012846e-05,1793249828123087104
+86,1.433333333,BASELINE,768,745,717,679,666,639,880.897398131,785,812,653,630,654,0.400987331155,0.0045847676413,0.0498552690374,0.999999962159,0.000108008907654,-0.000251173265071,-3.04600969328e-05,1793249828139753728
+87,1.450000000,BASELINE,768,745,717,678.522142316,666,639,881,785,812.477857684,652.522142316,630,654,0.400986654298,0.00458348261027,0.0498549270235,0.999999962104,0.000106978339126,-0.000251877233006,-3.00813904816e-05,1793249828156420352
+88,1.466666667,BASELINE,767.943608906,745,717,678.056391094,666,639,881,785,813,652.056391094,630,654,0.400986118741,0.00458216033493,0.0498547523314,0.999999962079,0.000106032234308,-0.000252423076933,-2.9708495916e-05,1793249828173086976
+89,1.483333333,BASELINE,767.366724435,745,717,678.633275565,666,639,881,785,813,652.633275565,630,654,0.400986627801,0.00458304885245,0.049855559021,0.999999962102,0.000108099688448,-0.000251442641263,-2.9773405629e-05,1793249828189753600
+90,1.500000000,BASELINE,767.20991509,745,717,678.79008491,666,639,880.79008491,785,813,653,630,654,0.40098696492,0.0045834566443,0.0498558629597,0.999999962129,0.000108854177999,-0.000250996154197,-2.98837386001e-05,1793249828206420224
+91,1.516666667,BASELINE,767.786127128,745,717,678.213872872,666,639,880.213872872,785,813,653,630,654,0.400987002004,0.00458302558097,0.0498552896098,0.999999962168,0.000107317574673,-0.000251481395125,-3.00733340929e-05,1793249828223086848
+92,1.533333333,BASELINE,768,745,717,678.36954965,666,639,880,784.63045035,812.63045035,653,630,654.36954965,0.400986482993,0.00458355866872,0.0498548534393,0.999999962012,0.000106999321389,-0.000252219221318,-3.02062904272e-05,1793249828239753472
+93,1.550000000,BASELINE,768,745,717,678.957228258,666,639,880,784.042771742,812.042771742,653,630,654.957228258,0.400985635745,0.00458466085254,0.0498544982398,0.999999961742,0.00010740020658,-0.000253106137568,-3.03058151669e-05,1793249828256420096
+94,1.566666667,BASELINE,767.462725025,745,717,679,666,639,880,784.537274975,812.537274975,653,630,654.462725025,0.400986207264,0.00458347560586,0.0498546176401,0.999999961994,0.000105969203467,-0.00025273867752,-3.00857135948e-05,1793249828273086720
+95,1.583333333,BASELINE,767.115525862,745,717,679,666,639,880.115525862,785,812.884474138,653,630,654,0.400987024553,0.00458261922412,0.0498549387792,0.999999962284,0.000105179486908,-0.000251940817593,-2.99319197539e-05,1793249828289753344
+96,1.600000000,BASELINE,767.689032532,745,717,679,666,639,880.689032532,785,812.310967468,653,630,654,0.400988374663,0.00458377835387,0.0498559119913,0.999999962561,0.000107502066464,-0.000249827045971,-3.01404497784e-05,1793249828306420224
+97,1.616666667,BASELINE,767.734970463,745,717,679,666,639,880.734970463,785,812,653,630,654.265029537,0.400988502278,0.00458387149219,0.0498563238821,0.999999962664,0.000108236380217,-0.000249096048846,-3.01218295834e-05,1793249828323086848
+98,1.633333333,BASELINE,767.156023785,745,717,679,666,639,880.156023785,785,812,653,630,654.843976215,0.400987181896,0.00458270200522,0.0498560709097,0.99999996257,0.000107089454997,-0.000250002894254,-2.98341588094e-05,1793249828339753728
+99,1.650000000,BASELINE,767.429566894,745,717,679,666.429566894,639,880.429566894,785,812,653,630,654.570433106,0.400988133916,0.00458234485475,0.0498565944136,0.999999962807,0.000107594992689,-0.000248837999023,-2.9815660178e-05,1793249828356420352
+100,1.666666667,BASELINE,768,745,717,679,666.982659961,639,880.982659961,784.982659961,812.017340039,653,630,654,0.400989804696,0.00458233112139,0.0498573335393,0.999999963124,0.000108715103568,-0.00024705855609,-2.99051892986e-05,1793249828373086976
+101,1.683333333,BASELINE,768,745,717,679,666.40358855,639,880.40358855,784.40358855,812.59641145,653,630,654,0.40098760198,0.00458373407879,0.0498557779965,0.99999996221,0.000109995577025,-0.000250130409589,-3.02773767773e-05,1793249828389753600
+102,1.700000000,BASELINE,768,745,717,679,666,639,880.173953675,784.173953675,812.826046325,653,630,654,0.400986373138,0.00458471068494,0.0498550084535,0.999999961709,0.00011041904302,-0.000251916529135,-3.04678636463e-05,1793249828406420224
+103,1.716666667,BASELINE,768,745,717,679,666,639,880.747978886,784.747978886,812.252021114,653,630,654,0.400987384086,0.00458470673676,0.0498560466112,0.99999996218,0.000108871499657,-0.000250745622177,-3.02404619577e-05,1793249828423087104
+104,1.733333333,BASELINE,768,745,717,678.668654322,666,639,880.668654322,785,812.331345678,653,630,654,0.400987227013,0.00458499825254,0.049856025367,0.999999962391,0.00010762686108,-0.000250431835836,-3.03151733191e-05,1793249828439753472
+105,1.750000000,BASELINE,768,745,717,678.077976145,666,639,880.077976145,785,812.922023855,653,630,654,0.400986155771,0.00458552101749,0.0498551749667,0.9999999624,0.00010661929516,-0.000250788887248,-3.06263378157e-05,1793249828456420096
+106,1.766666667,BASELINE,768,745,717,678,666.502655008,639,880,785,813,653,630,654.502655008,0.400984715219,0.00458426239835,0.0498540452533,0.999999961724,0.000107718620038,-0.000253023798278,-3.04465425734e-05,1793249828473086976
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880,785,813,653,630,654,0.40098930426,0.00458308884327,0.0498565219014,0.999999963236,0.000105504369623,-0.00024793569981,-3.0393106974e-05,1793249828516408320
+108,1.800000000,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880,785,813,653,630.575520885,654.575520885,0.400987706622,0.00458275802527,0.0498555544686,0.999999962669,0.000106006869946,-0.000250028070527,-3.01676406639e-05,1793249828533076224
+109,1.816666667,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880,785,813,653,630.845068295,654.845068295,0.400986455605,0.00458247524741,0.0498548854649,0.999999962252,0.000106053521104,-0.000251693436637,-2.99955846592e-05,1793249828549744128
+110,1.833333333,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880,785,813,653,630.254725291,654.254725291,0.40098617871,0.00458232747878,0.0498550551496,0.999999962265,0.000104819079671,-0.000252158773631,-2.99736299046e-05,1793249828566409984
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,745,717,679.328846798,666.671153202,639,880,785,812.671153202,653,630,654,0.400986767176,0.00458222058755,0.0498552720079,0.999999962328,0.000105312043201,-0.000251720572324,-2.98315862411e-05,1793249828583076608
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,745,717,679.9072799,666.0927201,639,880,785,812.0927201,653,630,654,0.400988012429,0.00458214472123,0.0498555246699,0.999999962426,0.00010711606297,-0.000250596608539,-2.95983981699e-05,1793249828599743488
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,745,717,679.516911239,666,639,880,785,812,653,630,654,0.400988088235,0.00458266216585,0.0498563183558,0.999999962593,0.000107835547273,-0.000249583262624,-2.99008035279e-05,1793249828616409344
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745,717,678.940377792,666,639,880,785,812,653,630,654,0.400988317505,0.00458319368629,0.0498572359068,0.999999962806,0.000108294030838,-0.000248487615782,-3.02433242188e-05,1793249828633074944
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745,717,678.35299618,666,639,880,785,812,653,630,654,0.400991881274,0.00458284725569,0.0498583356838,0.999999963312,0.000108274799846,-0.000246476547325,-3.00359166046e-05,1793249828649741824
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,745,717,678,666,639,880,785,812.231112298,653,630,654,0.401002931426,0.00458276487647,0.049862084846,0.99999996516,0.000107620708629,-0.000239166259723,-2.99611719391e-05,1793249828666408448
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,745,717,678,666,639,880,785,812.810291222,653,630,654,0.401025256446,0.00458308017181,0.049869824114,0.999999968868,0.000106010486295,-0.000223875084442,-3.00862242919e-05,1793249828683074816
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,745,717,678.388279071,666,639,880,785,812.611720929,653,630,654,0.401071033489,0.00458366888944,0.0498852178691,0.999999975543,0.000106806216413,-0.000191318151348,-3.00547070057e-05,1793249828699741440
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,745,717,678.965686807,666,639,880,785,812.034313193,653,630,654,0.401128233888,0.00458439078963,0.0499043400848,0.999999982333,0.000108773872849,-0.000150351158107,-2.99469254546e-05,1793249828716408320
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,745,717,679,666.540906398,639,880.540906398,785,812,653,630,654,0.401199187521,0.00458256866596,0.0499209429988,0.99999998642,0.000106224288989,-0.000122678890754,-2.87527866806e-05,1793249828733075200
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,745,717,679,666.881294501,639,880.881294501,785,812.118705499,653,630,654,0.401272983433,0.00458080126401,0.0499358815806,0.999999989369,0.00010400368122,-9.84170879406e-05,-2.75538424383e-05,1793249828749741824
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,745,717,679,666.292738003,639,880.292738003,785,812.707261997,653,630,654,0.40135459008,0.00457988666053,0.0499448625559,0.99999999066,0.00010421486196,-8.43296017197e-05,-2.66075509917e-05,1793249828766408448
+123,2.050000000,POSE1_TO_POSE2_PRESS,768.291165988,745,717,679,666,639,880.291165988,785,812.708834012,653,630,654.291165988,0.4014419696,0.00457890253375,0.0499478729968,0.99999999109,0.00010366388001,-7.9997004336e-05,-2.59528074723e-05,1793249828783075072
+124,2.066666667,POSE1_TO_POSE2_PRESS,768.870465885,745,717,679,666,639,880.870465885,785,812.129534115,653,630,654.870465885,0.401535061871,0.00457784960771,0.0499449750772,0.999999990794,0.000102358672209,-8.53177133751e-05,-2.55865758837e-05,1793249828799741696
+125,2.083333333,POSE1_TO_POSE2_PRESS,768.552934198,745,717,679,666.447065802,639,880.552934198,785,812,653,630,654.552934198,0.401649052477,0.00457702180632,0.0499415431235,0.99999999036,0.000100043062138,-9.30450953727e-05,-2.47871582354e-05,1793249828816408320
+126,2.100000000,POSE1_TO_POSE2_PRESS,768,745,717,679,667.02282459,639,880.02282459,785,812,653,630,654,0.40177052051,0.00457617611384,0.0499382879173,0.999999989892,9.73445421227e-05,-0.000100861109329,-2.3832243445e-05,1793249828833074944
+127,2.116666667,POSE1_TO_POSE2_PRESS,768,745,717,679,667.597048903,639,880.597048903,785,812,653,630,654,0.401927226468,0.00457333187184,0.0499430182091,0.999999991059,9.24256327871e-05,-9.4073571072e-05,-2.21347542863e-05,1793249828849741568
+128,2.133333333,POSE1_TO_POSE2_PRESS,768,745,717,679,667.823884928,639,880.823884928,785,812,653,630,654.176115072,0.402089390153,0.00457110874096,0.0499457369037,0.999999991694,8.89720963833e-05,-9.09481944202e-05,-2.05769004236e-05,1793249828866408704
+129,2.150000000,POSE1_TO_POSE2_PRESS,768,745,717,679,667.233427502,639,880.233427502,785,812,653,630,654.766572498,0.4022643941,0.00457034688602,0.0499437229535,0.999999991205,8.89661138392e-05,-9.64387120148e-05,-1.93475639298e-05,1793249828883075584
+130,2.166666667,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880.350920291,785,812.350920291,653,630,654.649079709,0.402467177959,0.00456861760614,0.0499438647371,0.999999991353,8.60207622779e-05,-9.78351311987e-05,-1.79613568419e-05,1793249828899741952
+131,2.183333333,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880.931273641,785,812.931273641,653,630,654.068726359,0.402688124451,0.00456625581998,0.0499454159477,0.99999999191,8.11536397608e-05,-9.65548133804e-05,-1.64725870241e-05,1793249828916408320
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.494001376,745,717,679,666.494001376,639,881,785,813,653,630,654,0.402946136015,0.00456441890709,0.0499473611451,0.999999992209,7.78476803465e-05,-9.65149536306e-05,-1.43442841437e-05,1793249828933075968
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.080155594,745,717,679.080155594,666,639,881,785,813,653,630,654,0.403216551579,0.00456237729871,0.0499508380711,0.999999992824,7.43947783169e-05,-9.31196608177e-05,-1.21219096234e-05,1793249828949743616
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.655474437,745,717,679.655474437,666,639,881,785,813,653,630,654,0.403532835901,0.00455863562703,0.0499634503523,0.999999995279,6.87386471078e-05,-6.79667356034e-05,-9.84910217585e-06,1793249828966409984
+135,2.250000000,POSE1_TO_POSE2_PRESS,768,745,717,679.761626716,666.238373284,639,880.761626716,785,813,652.761626716,630,654,0.403860857492,0.00455537986391,0.0499743276058,0.999999996797,6.473288022e-05,-4.64756914794e-05,-7.49960648542e-06,1793249828983076096
+136,2.266666667,POSE1_TO_POSE2_PRESS,768,745,717,679.16741256,666.83258744,639,880.16741256,785,813,652.16741256,630,654,0.404206400321,0.00455284945967,0.0499826148295,0.999999997527,6.31907584081e-05,-3.04510624759e-05,-5.03563161897e-06,1793249828999742976
+137,2.283333333,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880.412591817,785.412591817,813,652.412591817,630,654.412591817,0.404585979485,0.00454925120817,0.0499897602915,0.999999998177,5.85079480873e-05,-1.46519692063e-05,-2.74892420836e-06,1793249829016409600
+138,2.300000000,POSE1_TO_POSE2_PRESS,768,745,717,679,667,639,880.987022407,785.987022407,813,652.987022407,630,654.987022407,0.404978909363,0.00454523409458,0.0499964578982,0.999999998616,5.25932055205e-05,1.05865749722e-06,-5.31749857087e-07,1793249829033076224
+139,2.316666667,POSE1_TO_POSE2_PRESS,768,745,717,679.553041067,667,639,881,785.446958933,813,653,630.553041067,654.446958933,0.405394623104,0.00454300333909,0.0499871022011,0.999999998571,5.14345659858e-05,-1.442358606e-05,2.15907770265e-06,1793249829049742848
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,745.126234177,717.126234177,679.873765823,667,639,880.873765823,785,813,653,630.873765823,654,0.405813326806,0.00453972888918,0.0499747822446,0.999999998136,4.84361264043e-05,-3.68325698664e-05,5.00635508573e-06,1793249829066409472
+141,2.350000000,POSE1_TO_POSE2_PRESS,768,745.727135738,717.727135738,679.272864262,667,639,880.272864262,785,813,653,630.272864262,654,0.406241293051,0.00453237466571,0.0499527113118,0.999999995829,3.81062718709e-05,-8.2576449589e-05,8.40074907088e-06,1793249829083075840
+142,2.366666667,POSE1_TO_POSE2_PRESS,768,746,717.683744213,679,667,639,880.316255787,785,812.683744213,652.683744213,630,654,0.406705890403,0.00452822821325,0.0499359635245,0.999999993131,3.13998936196e-05,-0.000112382003269,1.10760187575e-05,1793249829099742464
+143,2.383333333,POSE1_TO_POSE2_PRESS,768,746,717.104424065,679,667,639,880.895575935,785,812.104424065,652.104424065,630,654,0.40720095788,0.00452675001228,0.0499236435743,0.999999991218,2.77075539025e-05,-0.000128929921466,1.31531148733e-05,1793249829116409088
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,746,717.471433273,679,667,639.471433273,881.471433273,785,812.471433273,652.471433273,630,654,0.407760232774,0.00451981585858,0.0499320655346,0.999999993628,1.9047536731e-05,-0.00011000526488,1.67335832375e-05,1793249829133075712
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.95252674,746,717.95252674,679,667,639.95252674,882,785,813,652.95252674,630,654.04747326,0.408338839384,0.00451171125912,0.049946583897,0.99999999648,9.03115316552e-06,-8.08154829642e-05,2.06749803471e-05,1793249829149742080
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.365761667,746,717.365761667,679,667,639.365761667,882,785,813,652.365761667,630,654.634238333,0.408976668548,0.00450393897743,0.049978545404,0.999999999402,-3.98462246025e-06,-2.36221118338e-05,2.49612088793e-05,1793249829166408960
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.218066619,745.781933381,717,679.218066619,667,639,882.218066619,785.218066619,813,652.218066619,630,655,0.409614523267,0.0044963013496,0.0500007640502,0.999999999363,-1.53944956891e-05,1.32995274654e-05,2.93274695037e-05,1793249829183075840
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.797034473,745.202965527,717,679.797034473,667,639,882.797034473,785.797034473,813,652.797034473,630,655,0.410252420244,0.00448888657497,0.0500068582161,0.999999998997,-2.41465924566e-05,1.66713557224e-05,3.38261834592e-05,1793249829199742464
+149,2.483333333,POSE1_TO_POSE2_PRESS,768,745.374772703,717.374772703,680,667,639.374772703,883,786,813.374772703,653,630,655,0.410870706566,0.00448398714404,0.0499871852712,0.999999996293,7.19324973456e-05,-2.87601569479e-05,3.7585180335e-05,1793249829216409088
+150,2.500000000,POSE1_TO_POSE2_PRESS,768,745.951847165,717.951847165,680,667,639.951847165,883,786,813.951847165,653,630,655,0.411478407064,0.0044804454922,0.0499536032772,0.999999968886,0.000224599307578,-0.000100535641409,4.09448779902e-05,1793249829233075968
+151,2.516666667,POSE1_TO_POSE2_PRESS,768,746,718,680,667,640,883.526412915,785.473587085,814,653,629.473587085,654.473587085,0.412184979002,0.0044735757406,0.0499451146959,0.99999996975,0.000218701855075,-0.000103770896557,4.36067021436e-05,1793249829249742336
+152,2.533333333,POSE1_TO_POSE2_PRESS,768,746,718,680,667.10338887,639.89661113,884,785,814,653,629.10338887,654.10338887,0.412915564128,0.0044662454987,0.0499452343569,0.999999979325,0.000176478907359,-9.24110509289e-05,4.08025502431e-05,1793249829266408960
+153,2.550000000,POSE1_TO_POSE2_PRESS,768,746,718,680,667.692767647,639.307232353,884,785,814,653,629.692767647,654.692767647,0.41371671432,0.0044581749081,0.0499750794362,0.999999998556,3.13604376928e-05,-4.17766280065e-05,1.26036685313e-05,1793249829283075584
+154,2.566666667,POSE1_TO_POSE2_PRESS,768,746,718,680,668,639.27721133,884.27721133,785,814,653,630,654.72278867,0.414496561378,0.00445030884622,0.049983314806,0.999999998371,-4.99525997847e-05,-2.75442114012e-05,2.08525353594e-06,1793249829299742464
+155,2.583333333,POSE1_TO_POSE2_PRESS,768,746,718,680,668,639.856281206,884.856281206,785,814,653,630,654.143718794,0.415253211316,0.00444266549695,0.0499680191229,0.999999996631,-6.17871998032e-05,-5.29503447726e-05,1.08192949877e-05,1793249829316409088
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,885,785,814,653,630,654.432084201,0.41602114799,0.00446651101931,0.0499450390883,0.999999995161,-3.77314111026e-05,-8.99233183683e-05,1.29425376199e-05,1793249829333075968
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,885,785,814,652.993189088,630,655,0.416793965193,0.00450039866164,0.049920166387,0.999999991518,-2.01911007184e-06,-0.000129590120195,1.29155561055e-05,1793249829349742592
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,718,680,668,640,885,785,814,652.418277236,630,655,0.417663086293,0.00450483955271,0.0499490185148,0.999999996876,1.77052541724e-05,-7.5450835134e-05,1.55696631588e-05,1793249829366409216
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,718,680.161031203,668,640,885.322062406,785,814,652.161031203,630,655,0.418526300695,0.00450436808109,0.0499710970111,0.999999998605,3.17913885267e-05,-3.80416193543e-05,1.82130496279e-05,1793249829383075840
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,718,680.752080256,668,640,886.504160513,785,814,652.752080256,630,655,0.419373741796,0.004490778632,0.0499750871948,0.999999998282,3.08211883055e-05,-4.53083975507e-05,2.08278078009e-05,1793249829399742720
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746,718,681,668,640,887.336388266,785,814,652.663611734,630,655,0.42024299664,0.00448298881302,0.0499716551692,0.999999998569,1.81108661701e-05,-4.58172270682e-05,2.08641994234e-05,1793249829416409344
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746,718,681,668,640,887.915825674,785,814,652.084174326,630,655,0.421128012435,0.004479389376,0.0499628604073,0.999999998955,-3.08199482003e-06,-4.14432651812e-05,1.90376550295e-05,1793249829433075968
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,746,718.491770198,681,668,640,887.508229802,785.491770198,814.491770198,652.491770198,630,655,0.422045164905,0.00447637329262,0.0499808642005,0.999999999787,-2.37333178009e-06,-4.00138116419e-06,2.01295457129e-05,1793249829449742592
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,746,718.932895503,681,668,640,887.067104497,786,815,652.932895503,630,654.932895503,0.422962804523,0.00447513057454,0.0499987968033,0.999999999315,3.39540256706e-06,2.9903787637e-05,2.1535585594e-05,1793249829466408960
+165,2.750000000,POSE1_TO_POSE2_PRESS,768,746,718.357687038,681,668,640,887.642312962,786,815,652.357687038,630,654.357687038,0.423842775588,0.00448656476436,0.0499817033031,0.999999999566,1.92930820346e-05,-5.52557397262e-06,2.15645769406e-05,1793249829483075584
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746,718,681,668.223259907,640,888.223259907,786,815.223259907,652.223259907,630,654.223259907,0.424745849158,0.0044941346943,0.0499749703717,0.999999999219,2.68167952642e-05,-1.91213956389e-05,2.18504587402e-05,1793249829499742464
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746,718,681,668.813643166,640,888.813643166,786,815.813643166,652.813643166,630,654.813643166,0.425686912087,0.00449535032778,0.0499852741137,0.999999999529,2.05705575046e-05,3.18533770925e-06,2.25587652114e-05,1793249829516408832
+168,2.800000000,POSE1_TO_POSE2_PRESS,768,746,718,681,669,640,889,786,816,653,630,655,0.426610938958,0.00448888080589,0.0499978702413,0.999999999384,2.22587214625e-05,1.15900284879e-05,2.45300090197e-05,1793249829533075712
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,746,718,681,669,640,889,786,816,653,630,655,0.427527107907,0.00447886651345,0.050011523729,0.99999999916,2.76066209175e-05,1.35824142372e-05,2.70837814138e-05,1793249829549742080
+170,2.833333333,POSE1_TO_POSE2_PRESS,768,746,718,681,668.452686516,639.452686516,889,785.452686516,815.452686516,653,630,655,0.428378771264,0.00447514937165,0.0499721652361,0.999999998022,1.8425120065e-05,-5.37709809261e-05,2.69441271563e-05,1793249829566408960
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,746,718,681,668.126575632,639.126575632,889,785.126575632,815.126575632,652.873424368,630,655,0.429251782797,0.00447315825582,0.0499412068735,0.999999994355,1.01280052375e-05,-0.000102349973117,2.66694796206e-05,1793249829583075584
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,746,718,681,668.714370105,639.714370105,889,785.714370105,815.714370105,652.285629895,630,655,0.430215298124,0.00447621521553,0.0499513064504,0.999999997249,7.91737457506e-06,-6.88494303268e-05,2.64338518179e-05,1793249829599742208
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746,718,681.299524009,669,640,889.299524009,786,815.700475991,652.299524009,630,655,0.43113782883,0.00448216393651,0.0499493292497,0.999999997352,8.22764274704e-06,-6.75129194393e-05,2.5892132551e-05,1793249829616408832
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746,718,681.882181806,669,640,889.882181806,786,815.117818194,652.882181806,630,655,0.432021617574,0.00449084617883,0.0499359361228,0.999999994962,1.09208640402e-05,-9.65803977621e-05,2.5061071436e-05,1793249829633075456
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,746,718,681.542742174,669,640,889.542742174,786,815.457257826,653,630,655,0.432913094802,0.00448879129932,0.0499340335991,0.999999994923,2.4263758446e-05,-9.44694106437e-05,2.52955621697e-05,1793249829649742336
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,746,718,681.030445109,669,640,889.030445109,786,816,653,630,655,0.433806598825,0.00448387563409,0.0499366311507,0.999999995503,3.84938634698e-05,-8.27350997397e-05,2.58418066413e-05,1793249829666408960
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,746,718,681.604219465,669,640,889.604219465,786,816,653,630,655,0.434701494962,0.00447647300119,0.0499675625345,0.999999998612,2.03856786773e-05,-4.0290479626e-05,2.71318634344e-05,1793249829683075840
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,746,718,681.815500422,669,640,889.815500422,785.815500422,816,653,630,655,0.4355732936,0.00447171873625,0.0499823806241,0.999999999178,4.07262945514e-06,-2.86009582153e-05,2.84421857906e-05,1793249829699742464
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,746,718,681.220754234,669,640,889.220754234,785.220754234,816,653,630,655,0.436393733645,0.00447285328543,0.0499613697794,0.999999995884,-8.24882446158e-06,-8.52973576539e-05,2.9797570219e-05,1793249829716408832
+180,3.000000000,POSE1_TO_POSE2_PRESS,768.362044527,746,718,681.362044527,669,640,889.362044527,785.362044527,816,653,630.362044527,655,0.437234329856,0.00447497222201,0.0499551598135,0.999999995215,-1.33732614523e-05,-9.22062185243e-05,2.98351249818e-05,1793249829733075712
+181,3.016666667,POSE1_TO_POSE2_PRESS,768.937791109,746,718,681.937791109,669,640,889.937791109,785.937791109,816,653,630.937791109,655,0.438086823489,0.00447767220751,0.0499576862831,0.999999997044,-1.42495536471e-05,-6.97272562824e-05,2.90948115374e-05,1793249829749742848
+182,3.033333333,POSE1_TO_POSE2_PRESS,768.486419979,746,718,682,669.513580021,640,890,786,816,652.486419979,630.486419979,655,0.438915110181,0.00448136136343,0.0499713562508,0.999999998301,2.58204315051e-05,-4.36503137087e-05,2.87433659699e-05,1793249829766409472
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,718,682.091462605,669.908537395,640,889.908537395,786,816.091462605,652,630.091462605,655,0.439726002001,0.00448371657762,0.0499805416995,0.99999999741,6.0396826206e-05,-2.66427996924e-05,2.86764498298e-05,1793249829783075840
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,718,682.680712113,669.319287887,640,889.319287887,786,816.680712113,652,630.680712113,655,0.440458181417,0.00447815963401,0.0499579732149,0.999999996945,3.80785621311e-05,-6.13679495004e-05,2.99017118537e-05,1793249829799742464
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,746,718,682.73453197,669,640,889.26546803,785.73453197,816.73453197,652.26546803,630.73453197,655,0.441209890045,0.00447226727029,0.0499489281936,0.999999996562,2.12723517144e-05,-7.36603280931e-05,3.15700595408e-05,1793249829816408832
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,746,718,682.155090735,669,640,889.844909265,785.155090735,816.155090735,652.844909265,630.155090735,655,0.441984696127,0.00446597820033,0.0499558775863,0.999999997604,1.0985335301e-05,-5.94211137167e-05,3.37624515487e-05,1793249829833075456
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,746,718,682,669,640,889.578136553,785,816.421863447,652.578136553,630.421863447,655,0.442713775842,0.00446640121826,0.0499666012476,0.999999998586,1.05767619047e-05,-3.84283628024e-05,3.52127266089e-05,1793249829849742336
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,746,718,682,669,640,889.002091286,785,816.997908714,652.002091286,630.997908714,655,0.443426143637,0.00446927735631,0.0499787043217,0.999999999131,1.37785414906e-05,-1.49673415209e-05,3.63917743989e-05,1793249829866408960
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.429227897,746,718,682,668.429227897,639.429227897,889,785,816.429227897,652,630.429227897,654.429227897,0.444018802517,0.00448237681798,0.049937869231,0.999999994676,3.56417526877e-05,-8.94455034679e-05,3.70988512148e-05,1793249829883075584
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.148640394,746,718,682,667.851359606,639,889,785.148640394,816.148640394,652.148640394,630.148640394,654.148640394,0.444608480072,0.00449661528309,0.0498974569717,0.999999985248,5.69262609129e-05,-0.000157742083542,3.71616012928e-05,1793249829899742208
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.741500897,746,718,682,667.258499103,639,889,785.741500897,816.741500897,652.741500897,630.741500897,654.741500897,0.445190551456,0.0045141464024,0.0498588848143,0.999999975147,7.62780798451e-05,-0.000206498196606,3.53038850627e-05,1793249829916408832
+192,3.200000000,POSE1_TO_POSE2_PRESS,768.326630498,746,718,682,667.326630498,639,889,785.673369502,817,652.673369502,631,655,0.445799639723,0.00452171198283,0.0498499859081,0.999999974271,8.54746842717e-05,-0.000207161014476,3.51549118546e-05,1793249829933075456
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.905783203,746,718,682,667.905783203,639,889,785.094216797,817,652.094216797,631,655,0.446429615052,0.00452157307687,0.0498640277736,0.999999981012,8.68201616046e-05,-0.000170642289098,3.63269898177e-05,1793249829949742080
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,746,718,682,667.371876831,638.371876831,889,785,816.628123169,653,630.628123169,654.628123169,0.447929642382,0.00452450227627,0.0498073614929,0.999999962024,9.75928567035e-05,-0.00025535735629,3.49438738089e-05,1793249829999742464
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,746,718,682,667,637.79014491,889,785,817,653,631,655,0.448375190499,0.00452686599912,0.0497784663315,0.999999950025,9.92809146911e-05,-0.000298260882866,3.36717546108e-05,1793249830016408832
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+208,3.466666667,POSE1_TO_POSE2_PRESS,768.591511727,746,718,682,666,636.408488273,889.591511727,785.183023454,817,653,631,654.408488273,0.451974726058,0.00454645044075,0.0497352415532,0.999999908193,0.000104791372911,-0.00041521066415,1.5268256283e-05,1793249830199742208
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+251,4.183333333,HOLD_POSE2,768,746,718,682.940332706,664.059667294,635,889.059667294,785.940332706,817,653,631,655,0.453441138274,0.00457186506883,0.0497034938532,0.999999883328,0.000159745606881,-0.000455606389789,1.57821582805e-05,1793249830931311872
+252,4.200000000,HOLD_POSE2,768,746,718,682.364398708,664.635601292,635,889.635601292,785.364398708,817,653,631,655,0.45343913641,0.00457122694215,0.0497025124174,0.999999882779,0.000157557324846,-0.000457571346796,1.56918974952e-05,1793249830947978240
+253,4.216666667,HOLD_POSE2,768,746,718,682,665,635,889.781941362,785,817,653,630.781941362,655,0.453437719837,0.00457117427101,0.0497018306623,0.99999988212,0.000157126677822,-0.000459155551192,1.57557329741e-05,1793249830964644864
+254,4.233333333,HOLD_POSE2,768,746,718,682,665,635,889.188246713,785,817,653,630.188246713,655,0.453437311512,0.00457213012767,0.0497016651489,0.999999881276,0.000159723799207,-0.000460083856617,1.6085020484e-05,1793249830981311488
+255,4.250000000,HOLD_POSE2,768,746,718,682,664.607376695,635,889,785,817,653,630.392623305,655,0.453437204563,0.00457197045593,0.0497011782499,0.999999881086,0.000160265744195,-0.000460306835112,1.61128021238e-05,1793249830997978368
+256,4.266666667,HOLD_POSE2,768,746,718,682,664.032461015,635,889,785,817,653,630.967538985,655,0.453437237542,0.00457129285189,0.0497005421337,0.999999881202,0.00015985348476,-0.000460202335115,1.60005966338e-05,1793249831014644992
+257,4.283333333,HOLD_POSE2,768,746,718,682,664,635,889,785,817,653,630.457320437,655,0.453439101848,0.00457133695453,0.0497017112388,0.999999882145,0.000159410167181,-0.000458298952137,1.61480349266e-05,1793249831031311616
+258,4.300000000,HOLD_POSE2,768,746,718,682,664.242091329,635,889,785,817,653,630,655,0.45344073131,0.00457156973974,0.0497028204911,0.999999882975,0.000159088004279,-0.000456595263949,1.62058053325e-05,1793249831047978240
+259,4.316666667,HOLD_POSE2,768,746,718,682,665.423756373,635,889,785,817,653,630,655,0.453441024001,0.00457236720121,0.0497032781932,0.999999883189,0.00015924326435,-0.000456084390227,1.58552668097e-05,1793249831064644864
+260,4.333333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,635,890,785,817,653,631,655,0.453439562878,0.00457109922503,0.0497013305393,0.999999882017,0.000158610950718,-0.000458856181062,1.61136647365e-05,1793249831102599168
+261,4.350000000,POSE2_TO_POSE3_RETREAT,768.597004622,746,717.402995378,682.597004622,664.402995378,635,889.402995378,785,817,653,631,655,0.453439549354,0.00457115387039,0.0497009633336,0.999999882169,0.000158122953093,-0.000458691275395,1.61784384542e-05,1793249831119266048
+262,4.366666667,POSE2_TO_POSE3_RETREAT,769,746,717.19063494,683,664.19063494,635,889,785,817,653,631,655,0.453439827501,0.00457102985368,0.0497011321068,0.99999988244,0.000157921378603,-0.000458172052663,1.61069609857e-05,1793249831135932928
+263,4.383333333,POSE2_TO_POSE3_RETREAT,769,746,717.777256271,683,664.777256271,635,889,785,817,653,631,655,0.453440711505,0.00457053472059,0.0497024142139,0.999999882958,0.000158314761401,-0.000456916843436,1.57524629274e-05,1793249831152599552
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768.6409251,746,718,683,665,635,889,785,817,653,631,655,0.453440560275,0.00457053511804,0.0497027780302,0.999999882842,0.000159115990179,-0.000456889035882,1.58009437078e-05,1793249831169266176
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768.06204643,746,718,683,665,635,889,785,817,653,631,655,0.453439775337,0.00457083884911,0.0497025797245,0.999999882339,0.000160166877388,-0.000457612568907,1.60961035968e-05,1793249831185932544
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,746.513231085,718,682.486768915,665,635,889,785,817,653,631,655,0.453438989755,0.0045711176044,0.0497014602535,0.999999881944,0.000159061955492,-0.000458868486187,1.58428108458e-05,1793249831202599424
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,746.911695381,718,682.088304619,665,635,889,785,817,653,631,655,0.453438065035,0.0045713918044,0.0497003362257,0.999999881511,0.000158015396782,-0.00046017958812,1.56227448074e-05,1793249831219266560
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,746.335359879,718,682.664640121,665,635,889,785,817,653,631,655,0.453436371776,0.00457165739992,0.0496997981934,0.999999880812,0.00015872173935,-0.000461442448692,1.59502020766e-05,1793249831235932928
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768.246490945,746,718,682.753509055,664.753509055,635,889,785,817,653,631,655,0.453432405194,0.00457245158878,0.049698138174,0.99999987926,0.000159939383214,-0.000464369452784,1.61161512175e-05,1793249831252599552
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.836017258,746,718,682.163982742,664.163982742,635,889,785,817,653,631,655,0.453425274883,0.00457398140794,0.049694916713,0.999999876502,0.000161868592417,-0.000469612404246,1.6057333452e-05,1793249831269265920
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.579763232,746,718,682.420236768,664.420236768,635,889.420236768,785,817.420236768,653,631,655,0.453401657829,0.00457360939222,0.0496835609776,0.999999867792,0.000160641445863,-0.000488225251859,1.56942627576e-05,1793249831285932800
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,682.997622367,664.997622367,635,889.997622367,785,817.997622367,653,631,655,0.453371573408,0.00457250962367,0.0496690421567,0.999999856268,0.000158213898731,-0.000512054536372,1.52171797224e-05,1793249831302599168
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.423589327,664.423589327,635,889.423589327,785,817.423589327,653,631,655,0.453314027573,0.00457264019103,0.0496476588783,0.999999835144,0.000159608686359,-0.000551358052618,1.55169838173e-05,1793249831319265792
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768.150271872,746,718,682.150271872,664.150271872,635,889.150271872,785,817,652.849728128,631,655,0.453253057548,0.00457311927287,0.0496272568602,0.999999814976,0.000161123353356,-0.000586386704286,1.54481460917e-05,1793249831335932672
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768.723649368,746,718,682.723649368,664.723649368,635,889.723649368,785,817,652.276350632,631,655,0.453182446358,0.00457457963244,0.0496096176742,0.999999800945,0.000162975553683,-0.00060937905412,1.4341360232e-05,1793249831352599296
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.694662858,746,718,682.694662858,665,635,889.694662858,785,817,652.305337142,631,655,0.453105137969,0.00457572124968,0.0495970146285,0.999999789403,0.000164138008941,-0.000627755468693,1.32334812934e-05,1793249831369266176
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.105243325,746,718,682.105243325,665,635,889.105243325,785,817,652.894756675,631,655,0.453021598582,0.00457656631239,0.0495890971546,0.999999780393,0.000164658732737,-0.000641837265542,1.21245854356e-05,1793249831385933056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,718,682.477500934,665,635,889,785,817,653,631,655,0.452926894999,0.00457922852661,0.0495897423297,0.999999780749,0.000169177974577,-0.000640114131454,1.15789980322e-05,1793249831402599680
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.941682624,665,635,889,785,817,653,631,654.941682624,0.45282739847,0.00458209529245,0.0495925132391,0.999999783205,0.00017414801046,-0.000634931279446,1.11930339788e-05,1793249831419266304
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746,718,682.365103797,665,635,889,785,817,653,631,654.365103797,0.452706873447,0.00458326968028,0.0495976348064,0.9999997864,0.000175400234665,-0.000629532766634,1.1137479859e-05,1793249831435932672
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768.209565948,746,718,682,664.790434052,635,889.209565948,785,817,653,631,654.209565948,0.452574674976,0.00458456180515,0.0496013214265,0.999999787727,0.000178214678828,-0.000626629803767,1.09996041947e-05,1793249831452599296
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768.780939672,746,718,682,664.219060328,635,889.780939672,785,817,653,631,654.780939672,0.452422322742,0.00458605719851,0.0496025306631,0.999999785851,0.000183726237232,-0.000628035315183,1.07196034667e-05,1793249831469265920
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768.634022505,746,718,682,664.365977495,635.365977495,889.634022505,785,817,653,631,655,0.452250689884,0.00458776072569,0.0496031269573,0.999999783631,0.000188231721418,-0.000630236295229,1.04073631373e-05,1793249831485932800
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768.040488603,746,718,682,664.959511397,635.959511397,889.040488603,785,817,653,631,655,0.45206706876,0.00458959366585,0.049603342138,0.999999781194,0.000192111652282,-0.000632931879545,1.00750769364e-05,1793249831502599424
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889,785.534744424,817,653,631,655,0.451841479934,0.00459273335616,0.0496033878412,0.999999777173,0.000198870132814,-0.000637198268875,9.06620167967e-06,1793249831519266048
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889,785.89075813,817.10924187,653,631,655,0.451608911561,0.0045956781924,0.0496042517069,0.999999774987,0.000204993955766,-0.000638702286749,7.93371326645e-06,1793249831535932672
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,665,636,889,785.313672798,817.686327202,653,631,655,0.4513596105,0.00459737883056,0.0496086726038,0.999999781333,0.00020749725099,-0.000627883567705,6.48396715693e-06,1793249831552599296
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746.269498617,718,682.269498617,665,636,889,785,817.730501383,652.730501383,631,655,0.451099269044,0.00460075171711,0.049613410075,0.999999788596,0.00021249580325,-0.00061451654778,4.75824639752e-06,1793249831569265920
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746.859917333,718,682.859917333,665,636,889,785,817.140082667,652.140082667,631,655,0.450825780654,0.00460611592404,0.049618524524,0.999999796823,0.00022046571801,-0.000598115000911,2.70389393917e-06,1793249831585932544
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,747,718,683,665.44151883,636,889,785,817.44151883,652.44151883,631,655,0.450523801591,0.00461007100639,0.0496327187679,0.999999811923,0.000227864257209,-0.000569413121549,1.18968713494e-06,1793249831602598912
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,746.979846544,718,683,666,636,889,785,817.979846544,653,631,655,0.450210812408,0.00461360672331,0.0496494618004,0.99999982797,0.000235038322897,-0.000537417337192,-1.65820573918e-07,1793249831619265792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,746.407355308,718,683,666,636,889,785,817.407355308,653,631,655,0.44983896081,0.00461766208221,0.04965865171,0.99999983577,0.000240931413035,-0.000520009195732,-1.77675771936e-06,1793249831635932672
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,746,718,682.833110833,666,636.166889167,888.833110833,785,817,653,630.833110833,655,0.44945164634,0.00462173566704,0.049665054222,0.999999840051,0.000247279169465,-0.000508665276565,-3.40627871517e-06,1793249831652599296
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,746,718,682.254541575,666,636.745458425,888.254541575,785,817,653,630.254541575,655,0.449026188307,0.00462585421077,0.0496645808157,0.999999836323,0.000254748490251,-0.000512280507348,-5.08164188132e-06,1793249831669266176
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768.330168934,746,718,682,666,637,888.330168934,785,817,653,630,655,0.448584394362,0.00463024307293,0.0496609263783,0.99999983274,0.00026130450538,-0.00051593278607,-7.25721483894e-06,1793249831685933056
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768.919703797,746,718,682,666,637,888.919703797,785,817,653,630,655,0.44812976761,0.00463484428559,0.0496547730654,0.99999982927,0.000267143069285,-0.000519614168376,-9.82573038663e-06,1793249831702599680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768.502115089,746,718,682,666.497884911,637,888.502115089,785,817,652.502115089,630.497884911,654.502115089,0.447626040566,0.00464030290563,0.0496499601106,0.9999998255,0.00027446275882,-0.000522984554784,-1.2550253382e-05,1793249831719266048
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,667,637.073949627,888.073949627,785,816.926050373,652.073949627,631,654.073949627,0.447108460068,0.0046455932429,0.0496455632563,0.999999821415,0.000282163498273,-0.000526613705661,-1.52182070214e-05,1793249831735932672
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,667,637.647809783,888.647809783,785,816.352190217,652.647809783,631,654.647809783,0.446549565537,0.00464883202731,0.0496425505691,0.999999815865,0.000290861414918,-0.00053232364556,-1.73374511445e-05,1793249831752599552
+300,5.000000000,POSE2_TO_POSE3_RETREAT,768,746.223980145,718,682,667,638,889,785,816.223980145,653,630.776019855,655,0.445992361364,0.0046514185166,0.0496517341369,0.999999820603,0.000297830736912,-0.000519347039434,-1.92201132121e-05,1793249831769266432
+301,5.016666667,POSE2_TO_POSE3_RETREAT,768,746.803820938,718,682,667,638,889,785,816.803820938,653,630.196179062,655,0.445437842874,0.00465296863631,0.049680295169,0.999999840555,0.0003020536592,-0.000476681165156,-2.07268925122e-05,1793249831785933312
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,746.607825809,718,682,667.392174191,638,888.607825809,785,817,652.607825809,630,655,0.444858806942,0.00465388353588,0.0497140190109,0.999999858397,0.000306837289975,-0.000434262758779,-2.17268681456e-05,1793249831802600448
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,746.015119869,718,682,667.984880131,638,888.015119869,785,817,652.015119869,630,655,0.44426723444,0.00465447362616,0.049750382769,0.999999874284,0.00031190762931,-0.000391970891938,-2.24676980879e-05,1793249831819267072
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,668.884243893,639,888,786,817,653,630,655,0.440826468819,0.00461071591071,0.0498173401868,0.999999961969,2.6943502751e-05,-0.000272145624112,-3.56789748226e-05,1793249831902599680
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,669,639,887.534350293,785.534350293,816.534350293,652.534350293,630,655,0.440066903173,0.00459121090107,0.0498261411708,0.999999965667,-1.5874387747e-05,-0.00025895726033,-3.68061496568e-05,1793249831919266304
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,668.955917182,639,887,785.044082818,816,652.044082818,630,654.955917182,0.439281400701,0.00457742596645,0.0498229466963,0.999999963766,-2.00402448573e-05,-0.000265693012129,-3.83976212555e-05,1793249831935932928
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,668.379363691,639,887,785.620636309,816,652.620636309,630,654.379363691,0.438415206033,0.00459054254448,0.0497817965644,0.999999942711,3.70884936001e-06,-0.000335646652085,-4.36632780273e-05,1793249831952599808
+312,5.200000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,668,639,887,786,816,653,630,654,0.437557679085,0.00460034547951,0.0497598849908,0.999999927831,2.53330850928e-05,-0.000376054843018,-4.77365352395e-05,1793249831969266432
+313,5.216666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,668,639,887,786,816,653,630,654,0.436716827584,0.00460377346067,0.0497749855262,0.999999933191,4.28694098003e-05,-0.000359622011499,-4.95157942477e-05,1793249831985933056
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,668.353248417,639,887,786,816,652.646751583,630,654,0.435867163166,0.00460763230168,0.0497847249309,0.9999999357,5.55919191887e-05,-0.000350459396452,-5.18528000254e-05,1793249832002599680
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,668.94386361,639,887,786,816,652.05613639,630,654,0.435011576906,0.00461178066067,0.0497908619003,0.999999936473,6.50797641901e-05,-0.000346182035027,-5.45645860556e-05,1793249832019266304
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,668.475845925,639,887,786,816,652.524154075,630,654,0.434146663663,0.00461465230634,0.0497807488839,0.999999932779,6.75397426866e-05,-0.000355512846756,-5.90873792422e-05,1793249832035932928
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,668,639,887,786,815.897150082,653,630,654.102849918,0.433280605376,0.00461492796439,0.0497756155094,0.999999931545,6.67082316435e-05,-0.000358417627069,-6.32171403647e-05,1793249832052599552
+318,5.300000000,POSE2_TO_POSE3_RETREAT,768,746,718,682,668,639,887,786,815.320803325,653,630,654.679196675,0.432413785757,0.00460386963952,0.0498012646615,0.999999943581,5.41216894678e-05,-0.000325158450325,-6.46617890697e-05,1793249832069266176
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746,717.747433914,682,668,639,886.747433914,786,815,652.747433914,630,654.747433914,0.4315158848,0.00459793126648,0.0498078012244,0.999999946247,7.46231856874e-05,-0.00031485393786,-5.29597733301e-05,1793249832085932800
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746,717.177802119,682,668,639,886.177802119,786,815,652.177802119,630,654.177802119,0.430578964923,0.00459842036284,0.0497903442816,0.999999934789,0.000136662649522,-0.000333366182662,-2.47537346618e-05,1793249832102599680
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.58912193,746,717.41087807,681.58912193,668,639,886,785.58912193,815.41087807,652,630,654,0.429647483803,0.00460261014623,0.0497702290689,0.999999920499,0.000163163122246,-0.000363312248969,-1.95768304323e-05,1793249832119266304
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.007891401,746,718,681.007891401,668.007891401,639,886,785.007891401,815.992108599,652,630,654.007891401,0.428718801021,0.00460842653281,0.0497494455116,0.99999990555,0.000173409284613,-0.000397760800009,-2.48189650355e-05,1793249832135932928
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.582603125,746,718,681.582603125,668.582603125,639,886,785.582603125,815.417396875,652,630,654.582603125,0.427813843856,0.00461045961578,0.0497672985819,0.999999911067,0.000174487400139,-0.000382943945472,-2.78356441233e-05,1793249832152599552
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,746,718,681.843230352,668.843230352,639,885.686460704,786,815,652.156769648,630,654.843230352,0.426904012872,0.00461364665224,0.0497770579059,0.999999914321,0.000174497280097,-0.00037405759643,-3.14604404595e-05,1793249832169265920
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,746,718,681.270510422,668.270510422,639,884.541020843,786,815,652.729489578,630,654.270510422,0.425981250444,0.00461989542462,0.0497653424334,0.999999912046,0.000171672855775,-0.000380906408118,-3.66987284299e-05,1793249832185932800
+326,5.433333333,POSE2_TO_POSE3_RETREAT,768,746,718.312554853,681,668,639,884,786,815,652.687445147,630,654,0.425093639929,0.00462091621705,0.0497792039024,0.999999927345,0.000157576992317,-0.000344835141807,-3.95890062569e-05,1793249832202599680
+327,5.450000000,POSE2_TO_POSE3_RETREAT,768,746,718.904880306,681,668,639,884,786,815,652.095119694,630,654,0.424237494251,0.00461725739828,0.0498159595174,0.999999953745,0.000133391963906,-0.000270345733959,-4.03775590777e-05,1793249832219266048
+328,5.466666667,POSE2_TO_POSE3_RETREAT,768,746,718.513858129,681,668.486141871,639,883.513858129,786,815,652.486141871,630,654,0.423339763162,0.00461198275795,0.0498273893949,0.999999958871,0.00013385130825,-0.000250411431559,-4.04578413284e-05,1793249832235932928
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,745.935780127,718,680.935780127,668.807340381,639,883,785.935780127,815,652.935780127,630,654.064219873,0.422432726879,0.00460716829536,0.049829563762,0.999999958489,0.000139178586085,-0.000249043095172,-4.03655071421e-05,1793249832252599552
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,745.366100162,718,680.366100162,667.098300486,639,883,785.366100162,815,652.366100162,630,654.633899838,0.421515069083,0.00460840880766,0.0497970242262,0.99999994002,0.000145712096981,-0.000311657147458,-3.9981023387e-05,1793249832269266432
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768.206890216,745,718,680,666.206890216,639,883,785.206890216,815,652,630,654.793109784,0.420613674758,0.00461170699089,0.0497821739893,0.999999928214,0.000150003644074,-0.000345704959849,-3.94925171099e-05,1793249832285933056
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768.785833852,745,718,680,666.785833852,639,883,785.785833852,815,652,630,654.214166148,0.419741527094,0.00461870551123,0.0497991346477,0.99999993404,0.000150263439865,-0.000328381736695,-3.88169459137e-05,1793249832302599936
+333,5.550000000,POSE2_TO_POSE3_RETREAT,768.625607002,745.374392998,717.625607002,680.374392998,667,639,883,786,814.625607002,652.374392998,630,654.374392998,0.418849254332,0.0046234273898,0.0497921991709,0.999999927102,0.000150574994218,-0.00034873429288,-3.88328749745e-05,1793249832319266304
+334,5.566666667,POSE2_TO_POSE3_RETREAT,768.031402486,745.968597514,717.031402486,680.968597514,667,639,883,786,814.031402486,652.968597514,630,654.968597514,0.417945165889,0.0046268126188,0.0497712339282,0.99999991132,0.000150916936547,-0.000391206842044,-3.92547937786e-05,1793249832335932928
+335,5.583333333,POSE2_TO_POSE3_RETREAT,768,746,717.540735046,680.459264954,666.459264954,639,883,786,814,652.459264954,629.459264954,655,0.417145142715,0.00462195855778,0.049772116031,0.999999915253,0.000154761420591,-0.000379321447338,-4.07260110111e-05,1793249832352599552
+336,5.600000000,POSE2_TO_POSE3_RETREAT,768,746,718,680,666.113417776,639,882.886582224,786,814,652,629.113417776,654.886582224,0.416356726235,0.00461621785424,0.049778574242,0.999999922968,0.000155015769709,-0.00035815928741,-4.19154817367e-05,1793249832369266176
+337,5.616666667,POSE2_TO_POSE3_RETREAT,768,746,718,680,666.693408412,639,882.306591588,786,814,652,629.693408412,654.306591588,0.415592170373,0.00460872091737,0.0498029564869,0.999999940915,0.000139697233878,-0.000311311783013,-4.17050669753e-05,1793249832385933056
+338,5.633333333,POSE2_TO_POSE3_RETREAT,768,745.721294306,718,680,666.721294306,639,882,786,813.721294306,652.278705694,630,654,0.414803655974,0.00460617631029,0.04980612613,0.999999944366,0.000129804893986,-0.000304430250534,-4.17186803965e-05,1793249832402599680
+339,5.650000000,POSE2_TO_POSE3_RETREAT,768,745.130046152,718,680,666.130046152,639,882,786,813.130046152,652.869953848,630,654,0.41398827436,0.00460918527998,0.0497855078157,0.999999932573,0.000125997528254,-0.000342366833919,-4.19835206001e-05,1793249832419266560
+340,5.666666667,POSE2_TO_POSE3_RETREAT,768,745.450564165,717.549435835,680,666,638.549435835,881.549435835,786,813,652.549435835,629.549435835,654,0.413222098571,0.0046139241849,0.0497699578936,0.999999922358,0.000138847183153,-0.00036626258883,-4.30970636753e-05,1793249832435933184
+341,5.683333333,POSE2_TO_POSE3_RETREAT,768,746,717,680,666,638.028048823,881,785.971951177,813.028048823,652,629.028048823,654,0.412473422766,0.00461876888355,0.0497580395388,0.999999913412,0.000155481378995,-0.000383461533026,-4.42669343965e-05,1793249832452599552
+342,5.700000000,POSE2_TO_POSE3_RETREAT,768,746,717,680,666,638.603073856,881,785.396926144,813.603073856,652,629.603073856,654,0.411795444739,0.00461616424629,0.0497890703203,0.999999926916,0.000154325379179,-0.000347273193172,-4.18684775695e-05,1793249832469266176
+343,5.716666667,POSE2_TO_POSE3_RETREAT,768,746,717,679.823195273,666,639,881,785,813.823195273,652.176804727,629.823195273,654,0.411119323022,0.00461464780504,0.0498082005426,0.999999935207,0.00014804508023,-0.000325632639728,-4.04034713541e-05,1793249832485932544
+344,5.733333333,POSE2_TO_POSE3_RETREAT,768,746,717,679.252348569,666,639,881,785,813.252348569,652.747651431,629.252348569,654,0.4104473383,0.00461555660901,0.0498008081775,0.999999934077,0.00013034433469,-0.000336414507982,-4.10188317951e-05,1793249832502599168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,768,746,717.332785145,679.332785145,665.667214855,639,881,785,813,653,629.332785145,654,0.409789387727,0.00461423293486,0.0497899370856,0.999999928963,0.000127472835649,-0.00035230169583,-4.13384017839e-05,1793249832519266304
+346,5.766666667,POSE2_TO_POSE3_RETREAT,768,746,717.929238533,679.929238533,665.070761467,639,881,785,813,653,629.929238533,654,0.409142556558,0.00461114045096,0.0497763097722,0.999999920567,0.00013635066429,-0.000372233867164,-4.14236146685e-05,1793249832535932928
+347,5.783333333,POSE2_TO_POSE3_RETREAT,768,745.492193451,717.492193451,680,665.507806549,639,881,785,813,653,630,654,0.408583668006,0.00460657972577,0.0497958910967,0.999999932888,0.000132261310199,-0.000339078609256,-4.1919564609e-05,1793249832552599808
+348,5.800000000,POSE2_TO_POSE3_RETREAT,768,745,717,679.914719264,666,639,881,785,812.914719264,653,629.914719264,654,0.408040601546,0.00460189661191,0.0498176453005,0.99999994495,0.000126454052895,-0.000303847645574,-4.22616671565e-05,1793249832569266432
+349,5.816666667,POSE2_TO_POSE3_RETREAT,768,745,717,679.329544773,666,639,881,785,812.329544773,653,629.329544773,654,0.40752089097,0.00459765457043,0.0498259338256,0.999999947344,0.000120808357173,-0.000298336888503,-4.13778732082e-05,1793249832585933056
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767.752962818,745,717,679,666,639,880.752962818,785,812,653,629.247037182,654,0.406986852739,0.00459664867158,0.0498190066491,0.999999941937,0.000119168369747,-0.000316582263737,-4.12448177841e-05,1793249832602599424
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767.187457967,745,717,679,666,639,880.187457967,785,812,653,629.812542033,654,0.40643434407,0.00459981464221,0.0497924641693,0.99999992481,0.00012269233634,-0.000365452826801,-4.20795759789e-05,1793249832619266048
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767.398430483,745,717.398430483,679.398430483,666,639,880.398430483,785,812,653,630,654,0.405925597669,0.00460299607758,0.0497737141122,0.999999913234,0.000126310478576,-0.000394580599784,-4.34125911568e-05,1793249832635932928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767.994426378,745,717.994426378,679.994426378,666,639,880.994426378,785,812,653,630,654,0.405438551142,0.00460618518155,0.0497588279969,0.999999904877,0.000129975319042,-0.000413918733676,-4.49926717268e-05,1793249832652600064
+354,5.900000000,POSE2_TO_POSE3_RETREAT,768,745,717.431785585,679.431785585,666,638.431785585,881,785,812.568214415,653,630.568214415,654.568214415,0.405038807606,0.00460810332378,0.0497690016845,0.999999910862,0.000131831312258,-0.000398535588139,-4.54464906433e-05,1793249832669266688
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.141713274,880.858286726,785,812.858286726,653,630.858286726,654.858286726,0.404656206661,0.00460967969546,0.0497843054942,0.999999919516,0.000134182929596,-0.000375340876684,-4.56332112241e-05,1793249832685933312
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.714970075,880.285029925,785,812.285029925,653,630.285029925,654.285029925,0.40432329835,0.00461025184812,0.0498145111032,0.999999935213,0.000138095814278,-0.000329356600624,-4.50389436765e-05,1793249832702599936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,812.2989827,653,630,654,0.404002109478,0.00461107700061,0.0498393680944,0.999999946521,0.000139154816444,-0.000292595086699,-4.45246800701e-05,1793249832719266560
+358,5.966666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,812.893631814,653,630,654,0.403692510074,0.00461215234663,0.0498589357926,0.99999995449,0.000137391590984,-0.000264954040023,-4.40895330897e-05,1793249832735933184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,813,653,630,654,0.403377568053,0.00461414709408,0.0498546254102,0.999999950645,0.000142177842909,-0.000276602629918,-4.45774121726e-05,1793249832752599808
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,813,653,630,654,0.402787410593,0.00461945029513,0.049826205914,0.999999933595,0.000149141121512,-0.000329288663535,-4.62129968526e-05,1793249832785932800
+362,6.033333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880.39835689,785,812.800821555,653,630,654.199178445,0.402527660561,0.00462182974374,0.0498108309737,0.999999924749,0.000148620472634,-0.00035524414464,-4.70619156475e-05,1793249832802599168
+363,6.050000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,881.544678909,785,812.227660546,653,630,654.772339454,0.402301088757,0.00462297826898,0.0498006756568,0.999999919617,0.000144891877694,-0.000370797457952,-4.77661227674e-05,1793249832819266048
+364,6.066666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,881.282391247,785,812.358804376,652.641195624,630,654.641195624,0.402106646868,0.00462306868964,0.0497979413292,0.999999923944,0.000106157762836,-0.000372221472855,-4.790274478e-05,1793249832835932672
+365,6.083333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880.091928596,785,812.954035702,652.045964298,630,654.045964298,0.401933376321,0.00462246189362,0.0498000969129,0.99999993151,4.43574618446e-05,-0.000364335270318,-4.76653678939e-05,1793249832852599296
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767.467640572,745,717,679,666,638.467640572,880.532359428,785,812.467640572,652.532359428,630,654.532359428,0.401793000351,0.00461976229098,0.0498090237916,0.999999935188,9.56582132572e-05,-0.00034531713503,-3.50572013482e-05,1793249832869265920
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,768.367898951,745,717,678.316050524,666,638.683949476,880.316050524,785,812,653,630,654.316050524,0.401554033307,0.00460055240431,0.0498277390698,0.999999943363,0.000126468417059,-0.000310856923907,-2.54523954423e-05,1793249832902599424
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,768,745,717,678.410437553,666.410437553,639,880.589562447,784.589562447,812.410437553,653,630,654,0.401161551795,0.00458367630976,0.0498333584812,0.999999949551,0.000108824038223,-0.000297045964153,-2.86236359221e-05,1793249832985932800
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,812.782423723,653,629.217576277,654,0.400996760159,0.00458547803442,0.0498456754858,0.999999957717,0.000108995538119,-0.000267823497496,-3.09254261622e-05,1793249833119266304
+382,6.366666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,812.200175953,653,629.799824047,654,0.400995160692,0.00458348039415,0.0498470932118,0.999999958819,0.000105326492227,-0.000265221669327,-3.04104704292e-05,1793249833135932928
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,768.710372422,745,717,679,666,638,880.710372422,784.710372422,812,653,630.289627578,654,0.400988676178,0.0045846584328,0.0498501444347,0.999999959902,0.0001070469659,-0.000260369130858,-3.07260954139e-05,1793249833235932672
+389,6.483333333,POSE2_TO_POSE3_RETREAT,768.120724619,745,717,679,666,638,880.120724619,784.120724619,812,653,630.879275381,654,0.400988929857,0.00458313545845,0.049851249868,0.999999960233,0.000106111163442,-0.000259523843908,-3.03471912835e-05,1793249833252599296
+390,6.500000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.460090359,880,784.460090359,812.460090359,653,630.539909641,654,0.400989386832,0.00458353442728,0.0498518720574,0.999999960599,0.00010659236185,-0.000257905022472,-3.04174426336e-05,1793249833269266176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,812.961518148,653,630,654,0.400989765931,0.00458444222839,0.0498522791344,0.999999960922,0.000107358133149,-0.00025630512498,-3.06171590144e-05,1793249833285933056
+392,6.533333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,880,785,812.385215095,653,630,654,0.400988325137,0.00458554606551,0.0498514185788,0.999999960576,0.000107002542932,-0.000257752979133,-3.10101579476e-05,1793249833302599680
+393,6.550000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.19043683,639,880,785,812.19043683,653,630,654,0.400987017603,0.00458593327829,0.049850838939,0.999999960271,0.000107089604885,-0.000258874546201,-3.11986822327e-05,1793249833319266304
+394,6.566666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666.764776111,639,880,785,812.764776111,653,630,654,0.400985978711,0.00458487584483,0.0498508255984,0.999999960053,0.000108069011333,-0.000259338349602,-3.09750051447e-05,1793249833335932928
+395,6.583333333,POSE2_TO_POSE3_RETREAT,768,745,717,678.651419593,666.651419593,639,880,785,812.651419593,653,630,654,0.400986042925,0.00458381538199,0.0498506219083,0.999999960185,0.000106620749029,-0.000259453369495,-3.07665445346e-05,1793249833352599552
+396,6.600000000,POSE2_TO_POSE3_RETREAT,768,745,717,678.061050011,666.061050011,639,880,785,812.061050011,653,630,654,0.400986872296,0.0045827528179,0.0498502861844,0.999999960553,0.000103488559488,-0.000259326459314,-3.05686386851e-05,1793249833369265920
+397,6.616666667,POSE2_TO_POSE3_RETREAT,768,745,717,678,666.518623017,639,880,785,812.518623017,653,630,654,0.400986182795,0.00458344986663,0.0498500355808,0.99999996029,0.000104380889672,-0.00025996313392,-3.07148756753e-05,1793249833385932800
+398,6.633333333,POSE2_TO_POSE3_RETREAT,768,745,717,678.096632328,666.903367672,639,880.096632328,785,813,653,630,654,0.400985510646,0.0045843080526,0.0498499013748,0.999999960036,0.000105490493328,-0.000260477004612,-3.08505304822e-05,1793249833402599424
+399,6.650000000,POSE2_TO_POSE3_RETREAT,768,745,717,678.67250883,666.32749117,639,880.67250883,785,813,653,630,654,0.40098579336,0.00458495887924,0.0498502957481,0.99999996019,0.000105375597695,-0.000259945057249,-3.07368508138e-05,1793249833419266048
+400,6.666666667,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,881,785,812.75336414,653,630,654,0.400985499904,0.00458553808605,0.0498507577802,0.999999960162,0.000106170740546,-0.000259712445131,-3.08589744689e-05,1793249833435932928
+401,6.683333333,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,639,881,785,812.181543674,653,630,654,0.40098444678,0.00458602286359,0.0498513090189,0.999999959893,0.000108165751505,-0.000259874500663,-3.12920002238e-05,1793249833452599552
+402,6.700000000,POSE2_TO_POSE3_RETREAT,768,745,717,679,666,638.592170112,880.592170112,784.592170112,812.407829888,652.592170112,630,654.407829888,0.400985718314,0.00458577919845,0.0498522439862,0.999999960382,0.000107585834585,-0.000258265841897,-3.09870855576e-05,1793249833469266176
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71f9eb5cc141e562675421887a42c80b344239fc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,404 @@
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+177,2.950000000,pose1_to_pose2_press,0.60579165411,0.0101501474052,1.0400336086,0.57636233096,0.0188227757393,1.03970500192
+178,2.966666667,pose1_to_pose2_press,0.606565373745,0.0101501353734,1.04003349236,0.577136051432,0.0188227667928,1.03970489224
+179,2.983333333,pose1_to_pose2_press,0.607331811602,0.0101501600129,1.04003355955,0.577902488717,0.0188227891208,1.03970494982
+180,3.000000000,pose1_to_pose2_press,0.608086196757,0.010150172412,1.0400336426,0.578656874142,0.018822802562,1.03970503631
+181,3.016666667,pose1_to_pose2_press,0.608829804469,0.0101502578142,1.04003359905,0.579400481299,0.0188228862269,1.03970499668
+182,3.033333333,pose1_to_pose2_press,0.609557518662,0.010150137345,1.04003338394,0.58012819647,0.0188227692751,1.03970478696
+183,3.050000000,pose1_to_pose2_press,0.610269212114,0.0101500407113,1.04003361524,0.580839892588,0.0188226815451,1.03970501464
+184,3.066666667,pose1_to_pose2_press,0.610966933632,0.0101500843723,1.04003363253,0.581537613018,0.0188227213986,1.03970502894
+185,3.083333333,pose1_to_pose2_press,0.611646975775,0.0101502100951,1.04003338931,0.582217653204,0.018822840649,1.03970479031
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+187,3.116666667,pose1_to_pose2_press,0.612946631026,0.010150210054,1.04003351055,0.583517307531,0.018822837108,1.03970490379
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+190,3.166666667,pose1_to_pose2_press,0.61468082672,0.010150104507,1.04003355851,0.585251504442,0.018822735953,1.03970495416
+191,3.183333333,pose1_to_pose2_press,0.61521823513,0.010150180926,1.04003366096,0.585788912065,0.0188228096275,1.03970505178
+192,3.200000000,pose1_to_pose2_press,0.615745426973,0.0101501437158,1.04003372876,0.586316105171,0.0188227767532,1.03970511757
+193,3.216666667,pose1_to_pose2_press,0.616258634259,0.0101500315235,1.04003352569,0.586829313468,0.0188226684505,1.03970492334
+194,3.233333333,pose1_to_pose2_press,0.616748559843,0.0101500496979,1.04003343695,0.587319238999,0.0188226868312,1.03970484121
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+196,3.266666667,pose1_to_pose2_press,0.617634560416,0.0101500501285,1.04003342372,0.588205238866,0.0188226847602,1.03970481807
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+198,3.300000000,pose1_to_pose2_press,0.618433856703,0.0101502428218,1.04003365971,0.58900453442,0.0188228750863,1.03970504938
+199,3.316666667,pose1_to_pose2_press,0.61881509414,0.0101501652005,1.04003369033,0.589385771174,0.0188227949922,1.03970507438
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+261,4.350000000,pose2_to_pose3_retreat,0.62254929047,0.0101501264135,1.0400335268,0.59311996853,0.0188227617345,1.03970492769
+262,4.366666667,pose2_to_pose3_retreat,0.622549233114,0.0101501236195,1.04003349923,0.593119911152,0.0188227589057,1.03970490128
+263,4.383333333,pose2_to_pose3_retreat,0.622549215905,0.0101501320127,1.0400335044,0.593119893923,0.0188227672397,1.03970490662
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+265,4.416666667,pose2_to_pose3_retreat,0.622549027817,0.0101502237465,1.04003356087,0.593119705623,0.0188228583252,1.03970496497
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+267,4.450000000,pose2_to_pose3_retreat,0.62254764101,0.010150129705,1.04003352484,0.593118318465,0.0188227627087,1.03970491881
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+269,4.483333333,pose2_to_pose3_retreat,0.622540114622,0.0101501249211,1.0400335254,0.593110793269,0.0188227621483,1.03970492354
+270,4.500000000,pose2_to_pose3_retreat,0.622529463789,0.0101502351509,1.04003368994,0.593100139974,0.018822863871,1.03970508332
+271,4.516666667,pose2_to_pose3_retreat,0.62250924961,0.0101502196038,1.04003343695,0.593079927178,0.0188228530546,1.03970483179
+272,4.533333333,pose2_to_pose3_retreat,0.622478967488,0.0101501887757,1.04003352705,0.593049645018,0.018822821958,1.03970492272
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+274,4.566666667,pose2_to_pose3_retreat,0.622385785482,0.0101501130902,1.0400335072,0.592956463318,0.0188227471475,1.03970490162
+275,4.583333333,pose2_to_pose3_retreat,0.622324727995,0.0101501983293,1.04003353017,0.592895403587,0.0188228248632,1.03970491916
+276,4.600000000,pose2_to_pose3_retreat,0.622256849755,0.0101502086473,1.04003349361,0.59282752527,0.0188228349718,1.03970487973
+277,4.616666667,pose2_to_pose3_retreat,0.622181948873,0.0101501029463,1.04003343516,0.592752626619,0.0188227368221,1.03970482545
+278,4.633333333,pose2_to_pose3_retreat,0.62209805042,0.0101500234739,1.04003331033,0.592668729426,0.0188226616403,1.0397047059
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+281,4.683333333,pose2_to_pose3_retreat,0.621778472002,0.010150097422,1.04003347903,0.592349148672,0.0188227275417,1.03970487701
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+287,4.783333333,pose2_to_pose3_retreat,0.620702829473,0.0101502609028,1.04003367484,0.591273506851,0.0188228932428,1.03970507858
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c79ea98773a79f50b55b198a39de776ef9aadbc1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25403716
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..838dc4e4cbbd2ed4fa881b8107da8cb2bdb1fd93
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,403 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,768,745,718,679,662,639,880,784,812,652,630,654,0.40101768286,0.00448788582973,0.0698445745906,0.999999985728,2.59509813275e-05,-0.000165953736701,1.8177504217e-05,1793249835037043456
+1,0.016666667,BASELINE,768,745.578791056,718,679,662,639,880,784,812.578791056,652,630,654,0.401018380268,0.00448699311438,0.0698454095275,0.999999986003,2.70390918252e-05,-0.000164067533141,1.85642057698e-05,1793249835053710336
+2,0.033333333,BASELINE,768,746,718,679,662,639,880.470841052,784,813,652,630,654,0.401018979306,0.00448672871674,0.0698460963094,0.999999986216,2.7930270973e-05,-0.0001625949632,1.87501851733e-05,1793249835070377216
+3,0.050000000,BASELINE,768,746,718,679,662,639,882.20021658,784,813,652,630,654,0.401019315401,0.00448814378059,0.0698463870807,0.999999986271,2.8295062756e-05,-0.000162228014724,1.83996444419e-05,1793249835087043840
+4,0.066666667,BASELINE,768,746,718,679,662,639,882.383624409,784,813,652,630,654,0.401019373158,0.00448829149974,0.0698466329408,0.999999986311,2.77789069457e-05,-0.00016206673708,1.84555308857e-05,1793249835103710464
+5,0.083333333,BASELINE,768,746,718,679,662,639,881.236944281,784,813,652,630,654,0.401019191443,0.00448734884685,0.0698468401609,0.999999986336,2.65048195636e-05,-0.000162082410291,1.88610907942e-05,1793249835120377088
+6,0.100000000,BASELINE,768,745.530980356,718,679,662,639,881,784,813,652,630,654,0.401018421727,0.00448609730273,0.0698467776328,0.999999986321,2.50686464387e-05,-0.00016239881095,1.88738093154e-05,1793249835137043712
+7,0.116666667,BASELINE,768,745,718,678.940953766,662,639,880.940953766,784,813,652,630.059046234,654,0.401017665532,0.0044850397625,0.0698467034937,0.999999986291,2.39421155582e-05,-0.000162759645831,1.87933128185e-05,1793249835153710336
+8,0.133333333,BASELINE,768,745,718,678.361080292,662,639,880.361080292,784,813,652,630.638919708,654,0.40101837947,0.00448640310601,0.0698471466518,0.999999986232,2.59192082765e-05,-0.000162821535737,1.87931026286e-05,1793249835170376960
+9,0.150000000,BASELINE,768,745.216332556,718,678.432665112,662,639,880.216332556,784,813.216332556,652,630.783667444,654,0.401018297765,0.00448689494868,0.0698469255995,0.999999986105,2.59791477954e-05,-0.000163605682781,1.86885846473e-05,1793249835187043584
+10,0.166666667,BASELINE,768,745.789684509,718,679.579369017,662,639,880.789684509,784,813.789684509,652,630.210315491,654,0.401016902987,0.00448594853009,0.0698456083829,0.99999998586,2.28751579787e-05,-0.000165581790068,1.84119247313e-05,1793249835203710208
+11,0.183333333,BASELINE,768,746,718,679.637818453,662,639,881,784,813.637818453,652,630.362181547,654,0.40101690945,0.00448634436051,0.0698454853553,0.99999998585,2.30102274351e-05,-0.000165643300353,1.82437846389e-05,1793249835220376832
+12,0.200000000,BASELINE,768,746,718,679.065816633,662,639,881,784,813.065816633,652,630.934183367,654,0.401017727685,0.00448751778719,0.0698460541494,0.999999985977,2.50217596825e-05,-0.00016459563983,1.81385126019e-05,1793249835237043456
+13,0.216666667,BASELINE,768,746,718,679,662,639,881,784,813,652,630.470724966,654,0.40101722835,0.00448775661303,0.0698457812981,0.999999985783,2.77153876232e-05,-0.000165301682532,1.84843850119e-05,1793249835253710336
+14,0.233333333,BASELINE,768,746,718,679,662,639,880.877240342,784,813,652,630,654,0.401016561555,0.00448754742449,0.0698453498503,0.999999985604,2.93463837584e-05,-0.000166071628355,1.87427429091e-05,1793249835270376960
+15,0.250000000,BASELINE,768,746,718,679,662,639,880.300790406,784,813,652,630,654,0.401015909014,0.00448613159576,0.0698447367126,0.999999985656,2.67223735225e-05,-0.000166235019569,1.84608750543e-05,1793249835287043584
+16,0.266666667,BASELINE,768,746,718,679,662,639,880,784,813,652,630,654,0.401016240449,0.00448645920431,0.0698449911247,0.999999985751,2.67239734765e-05,-0.000165686345799,1.81959141305e-05,1793249835303710464
+17,0.283333333,BASELINE,768,746,718,679,662,639,880,784,813,652,630,654,0.401017645563,0.00448868919285,0.0698461921778,0.999999985894,2.9590550776e-05,-0.000164360690755,1.79494014957e-05,1793249835320377088
+18,0.300000000,BASELINE,768,745.567528315,718,679,662,639,880.432471685,784,813,652,630,654,0.401017978816,0.00448785051098,0.0698468377149,0.999999985936,2.77665505196e-05,-0.000164396421359,1.81927755888e-05,1793249835337043712
+19,0.316666667,BASELINE,767.975521784,745.024478216,718,679,662,638.975521784,881,784,813,652,630,654,0.401017902819,0.00448596502389,0.0698472437013,0.999999985934,2.43553799392e-05,-0.000164903560569,1.85861268694e-05,1793249835353710336
+20,0.333333333,BASELINE,767.400466271,745.599533729,718,679,662,638.400466271,881,784,813,652,630,654,0.401017557296,0.00448611616309,0.0698468926358,0.999999985979,2.43476612866e-05,-0.000164664701282,1.82689111729e-05,1793249835370376960
+21,0.350000000,BASELINE,767.174875779,746,718,679,662,638.174875779,881,784,813,652,630,654,0.401017383017,0.00448606085249,0.0698467401647,0.99999998603,2.43608772989e-05,-0.000164370414213,1.81281948519e-05,1793249835387043584
+22,0.366666667,BASELINE,767.750874998,746,718,679,662,638.750874998,881,784,813,652,630,654,0.40101760153,0.00448553199513,0.069847043222,0.999999986093,2.4422112454e-05,-0.000163948989032,1.83923261603e-05,1793249835403710720
+23,0.383333333,BASELINE,768,746,718,679,662,639,881,784,813,652,630,654,0.401017724712,0.00448589240481,0.069847356495,0.999999986109,2.50249744833e-05,-0.000163753986169,1.84322122353e-05,1793249835420377600
+24,0.400000000,BASELINE,768,746,718,679,662,639,881,784,813,652,630,654,0.401017775238,0.00448693056353,0.0698476775538,0.999999986089,2.60406339271e-05,-0.000163731549563,1.83011912885e-05,1793249835437043968
+25,0.416666667,BASELINE,767.495319638,746,718,679,662,639,880.495319638,784,813,652,630,654,0.401017010231,0.00448749392217,0.0698471248604,0.999999985847,2.77825180302e-05,-0.000164910514879,1.84265096052e-05,1793249835453710848
+26,0.433333333,BASELINE,767.08346975,745.91653025,718,679,662,639,880.166939501,784,813,652,630,654,0.401016448221,0.0044878492705,0.0698467259358,0.999999985663,2.93311434882e-05,-0.000165739378616,1.85542513606e-05,1793249835470377472
+27,0.450000000,BASELINE,767.661128365,745.338871635,718,679,662,639,881.32225673,784,813,652,630,654,0.401017798917,0.00448738693269,0.0698479990076,0.999999986048,2.91025618958e-05,-0.000163448251877,1.84729060684e-05,1793249835487044096
+28,0.466666667,BASELINE,767.761540278,745.238459722,718,679,662,639,881.761540278,784.238459722,813,652,630,654,0.401018353453,0.00448718055508,0.0698483012375,0.99999998618,2.86312724338e-05,-0.000162719718868,1.8496070426e-05,1793249835503711232
+29,0.483333333,BASELINE,767.184673377,745.815326623,718,679,662,639,881.184673377,784.815326623,813,652,630,654,0.401017778129,0.00448733742025,0.0698472257093,0.999999985957,2.78155471021e-05,-0.000164208721644,1.86675483711e-05,1793249835520378112
+30,0.500000000,BASELINE,767.390382433,746,718,679,662,639,881.390382433,785,813.390382433,652,630.390382433,654,0.401017282812,0.00448802077508,0.0698466322565,0.999999985806,2.85314609804e-05,-0.000165031667628,1.84213284539e-05,1793249835537044480
+31,0.516666667,BASELINE,767.964585433,746,718,679,662,639,881.964585433,785,813.964585433,652,630.964585433,654,0.401016825167,0.00448895203968,0.0698462658001,0.999999985687,2.99685825106e-05,-0.000165540985377,1.79784258649e-05,1793249835553710592
+32,0.533333333,BASELINE,767.443038442,746,718,679,662,639,881.443038442,784.443038442,814,652,630.443038442,654,0.401017480934,0.00448925424171,0.069846638204,0.999999985858,2.83159574299e-05,-0.000164804234456,1.79344690893e-05,1793249835570377472
+33,0.550000000,BASELINE,767.146156254,746,718,679,662,639,881,784,814,652,630,654,0.401018153432,0.00448943030669,0.0698471103214,0.999999986029,2.73278413888e-05,-0.000163934842035,1.78762987313e-05,1793249835587044352
+34,0.566666667,BASELINE,767.722471782,746,718,679,662,639,881,784,814,652,630,654,0.401018659778,0.00448935682582,0.0698477329759,0.999999986155,2.88931940361e-05,-0.00016291612216,1.7699118442e-05,1793249835603710720
+35,0.583333333,BASELINE,768,746,718,679,662,639,881,784,813.702498051,652,630,654,0.401018749231,0.00448923431431,0.0698482002788,0.999999986199,3.03396845821e-05,-0.000162372691187,1.77910408385e-05,1793249835620377600
+36,0.600000000,BASELINE,768,746,718,679,662,639,881,784,813.128661723,652,630,654,0.401018451453,0.00448906626074,0.0698485232837,0.999999986168,3.16757703693e-05,-0.000162270731699,1.81329189663e-05,1793249835637044480
+37,0.616666667,BASELINE,767.540917012,745.540917012,718,679,662,639,880.540917012,784,813,652,630,654,0.401016782532,0.00448833660168,0.0698474470814,0.999999985954,2.882208267e-05,-0.000164106268332,1.81643434536e-05,1793249835653711360
+38,0.633333333,BASELINE,767.099553198,745.049776599,718,679,662,639,880.049776599,784,813,652,630,654,0.40101507356,0.00448746115937,0.0698462101639,0.999999985727,2.50501834519e-05,-0.000166105651823,1.81130077234e-05,1793249835670378240
+39,0.650000000,BASELINE,768.258158417,745.629079208,718,679,662,639,880.629079208,784,813,652,630,654,0.401017154168,0.00448676154876,0.0698475654763,0.999999986108,2.43919533845e-05,-0.000163891126467,1.8135768659e-05,1793249835687044352
+40,0.666666667,BASELINE,768.794039258,745.794039258,718,678.794039258,661.794039258,639,881,784,813,652,630,654,0.401018184126,0.00448697949561,0.0698481766237,0.999999986279,2.5167394958e-05,-0.000162728388336,1.8090331158e-05,1793249835703710720
+41,0.683333333,BASELINE,768.221467286,745.221467286,718,678.221467286,661.221467286,639,881,784,813,652,630,654,0.401017343923,0.00448883069971,0.0698474631532,0.999999986077,2.84947798011e-05,-0.000163437837254,1.79235000713e-05,1793249835720377344
+42,0.700000000,BASELINE,768,745.35332021,718,678.35332021,661.35332021,639,880.64667979,784,813,652,630,654,0.401016935756,0.00448799723757,0.0698473374111,0.999999986048,2.72500381907e-05,-0.000163816973984,1.80311088409e-05,1793249835737044224
+43,0.716666667,BASELINE,768,745.929505177,718,678.929505177,661.929505177,639,880.070494823,784,813,652,630,654,0.401016800105,0.00448547036108,0.0698475823921,0.999999986119,2.31213237248e-05,-0.000163987758762,1.83118267965e-05,1793249835753710848
+44,0.733333333,BASELINE,768,746,718,679,662,639,880.519954615,784,813.519954615,652,630,654,0.401017496703,0.00448726961854,0.0698479782039,0.999999986121,2.64876675874e-05,-0.000163477876775,1.8216938565e-05,1793249835770377728
+45,0.750000000,BASELINE,767.891202106,746,718,679,662,639,881,784,813.891202106,652,630,654,0.401017860594,0.00448865733608,0.0698481086891,0.999999986073,2.93510301453e-05,-0.000163289190886,1.81267027128e-05,1793249835787044352
+46,0.766666667,BASELINE,767.317712368,746,718,679,662,639,881,784,813.317712368,652,630,654,0.401016307912,0.00448571147491,0.0698470161184,0.999999985913,2.56034393985e-05,-0.000164877657957,1.82799781866e-05,1793249835803711232
+47,0.783333333,BASELINE,767.257570742,746,718,678.742429258,662,639,880.742429258,784,813.257570742,652,630,654,0.401015853423,0.00448570679421,0.0698467626661,0.999999985859,2.54742239533e-05,-0.000165234401286,1.81923847031e-05,1793249835820377856
+48,0.800000000,BASELINE,767.835081557,746,718,678.164918443,662,639,880.164918443,784,813.835081557,652,630,654,0.40101676305,0.00448935548415,0.0698475515201,0.999999985938,2.98395528662e-05,-0.000164061165994,1.78055971974e-05,1793249835837043968
+49,0.816666667,BASELINE,768,746,718,678.421779299,662,639,880,784,813.578220701,652,630,654,0.401018666075,0.00448897300059,0.0698486479276,0.999999986253,2.99843344598e-05,-0.000162066900148,1.81417260746e-05,1793249835853710336
+50,0.833333333,BASELINE,768,745.988082863,718.011917137,679,662,639,880.011917137,784,813,652,630,654,0.401020868207,0.00448704513237,0.0698498154019,0.999999986642,2.85258294981e-05,-0.000159842959082,1.87495039362e-05,1793249835870377216
+51,0.850000000,BASELINE,768,745.40898677,718.59101323,679,662,639,880.59101323,784,813,652,630,654,0.401018407772,0.00448825495428,0.0698485143749,0.999999986174,3.1051859472e-05,-0.000162307033022,1.85334423815e-05,1793249835887043840
+52,0.866666667,BASELINE,768,745.168974116,718.831025884,679,662,639,880.831025884,784,813.168974116,652,630,654,0.401017213474,0.00448902812798,0.0698479230627,0.999999985957,3.23264424161e-05,-0.000163413041437,1.83705569312e-05,1793249835903710464
+53,0.883333333,BASELINE,768,745.744205635,718.255794365,679,662,639,880.255794365,784,813.744205635,652,630,654,0.401019063294,0.00448875148655,0.0698490380882,0.999999986363,3.05922234306e-05,-0.000161253909542,1.8335520579e-05,1793249835920377088
+54,0.900000000,BASELINE,768,746,718,678.682599187,662,639,880,784,813.682599187,652,630,654,0.401019687115,0.00448842408244,0.0698494554647,0.999999986493,2.95898004895e-05,-0.000160630142288,1.83367855407e-05,1793249835937044224
+55,0.916666667,BASELINE,768,746,718,678.11103467,662,639,880,784,813.11103467,652,630,654,0.401019329196,0.00448805602932,0.0698493141878,0.999999986407,2.91733748511e-05,-0.000161235842583,1.83671193534e-05,1793249835953711616
+56,0.933333333,BASELINE,768,745.521334046,718,678.478665954,662.478665954,639,880.478665954,784,813.478665954,652,630,654,0.401018031073,0.00448775002532,0.0698484838189,0.999999986179,2.97788092715e-05,-0.000162545612394,1.82776080397e-05,1793249835970377728
+57,0.950000000,BASELINE,768,745.070805413,718,678.929194587,662.929194587,639,881,784,813.929194587,652,630,654,0.401016620473,0.00448757845726,0.0698475752399,0.999999985936,3.05620249473e-05,-0.000163905311052,1.81542653702e-05,1793249835987044096
+58,0.966666667,BASELINE,768,745.649084575,718,678.350915425,662.350915425,639,881,784,813.350915425,652,630,654,0.401016028425,0.00448826319127,0.0698472968807,0.999999985847,3.08536356461e-05,-0.000164406213073,1.79955423971e-05,1793249836003710976
+59,0.983333333,BASELINE,768,745.773296881,718,678.226703119,662,639,881,784,813.226703119,652,630,654,0.401016662363,0.00448866830295,0.069847744913,0.999999985969,3.08989292355e-05,-0.000163660848042,1.79747271116e-05,1793249836020377856
+60,1.000000000,BASELINE,768,745.196697852,718,678.803302148,662,639,881,784,813.803302148,652,630,654,0.401019188503,0.00448864184278,0.0698493140655,0.999999986409,3.05640545271e-05,-0.000160991981789,1.81667599356e-05,1793249836037043968
+61,1.016666667,BASELINE,767.614469773,745.385530227,718,678.614469773,662,639,881,784,813.614469773,652,630,654,0.401019034551,0.00448832439188,0.0698488072578,0.999999986285,2.93965855726e-05,-0.000161982468271,1.8115875244e-05,1793249836053710848
+62,1.033333333,BASELINE,767.029327228,745.970672772,718,678.029327228,662,639,881,784,813.029327228,652,630,654,0.401017492953,0.00448785627747,0.0698472255998,0.999999985862,2.77980322374e-05,-0.000164867623156,1.79392174502e-05,1793249836070377984
+63,1.050000000,BASELINE,767.550081336,745.449918664,718,678,661.449918664,639,881,784,813,652,630,654,0.401016618997,0.0044882119887,0.0698472119212,0.999999985853,2.74216430257e-05,-0.000165022619844,1.75862043151e-05,1793249836087044608
+64,1.066666667,BASELINE,768,745.129096116,718,678.129096116,661.129096116,639,881,784,813,652,630,653.870903884,0.401016019545,0.00448854904379,0.0698471760318,0.999999985823,2.73799761129e-05,-0.00016523649521,1.73654520265e-05,1793249836103711232
+65,1.083333333,BASELINE,768,745.707793125,718,678.707793125,661.707793125,639,881,784,813,652,630,653.292206875,0.401016253414,0.00448866973805,0.0698467746552,0.99999998564,2.82794542921e-05,-0.000166157124311,1.76377297231e-05,1793249836120378112
+66,1.100000000,BASELINE,768,745.7163469,718,679,662,639,881,784,813,652,630,653.2836531,0.401016747423,0.00448877864355,0.0698467332066,0.999999985645,2.9121976142e-05,-0.000165974168668,1.77586983801e-05,1793249836137044736
+67,1.116666667,BASELINE,768,745.143380606,718,679,662,639,881,784,813,652,630,653.856619394,0.401017506761,0.00448887552505,0.0698470588683,0.999999985838,2.99064050849e-05,-0.000164665606988,1.77253387183e-05,1793249836153710848
+68,1.133333333,BASELINE,768,745.442033106,718,679,662,639,881,784,813.442033106,652,630,654,0.401017136718,0.00448891480299,0.0698471393571,0.999999985904,2.88398427654e-05,-0.000164458648497,1.77010256139e-05,1793249836170377472
+69,1.150000000,BASELINE,768,746,718,679,662,639,880.968908763,784,813.968908763,652,630,654,0.401016526361,0.00448890686752,0.0698472345405,0.999999985945,2.72888080326e-05,-0.000164476522926,1.76754398984e-05,1793249836187044096
+70,1.166666667,BASELINE,768,746,718,679,662,639,880.388857879,784,813.388857879,652,630,654,0.401018328479,0.0044884047754,0.069849034005,0.999999986333,2.80917888096e-05,-0.000161972293388,1.75740722922e-05,1793249836203710720
+71,1.183333333,BASELINE,768,745.81015966,718,679.18984034,662,639,880.18984034,784,813,652,630,654,0.401019059157,0.00448774818818,0.0698498279166,0.99999998651,2.82368880661e-05,-0.000160848803474,1.75999025664e-05,1793249836220377344
+72,1.200000000,BASELINE,768,745.234212452,718,679.765787548,662,639,880.765787548,784,813,652,630,654,0.401017610688,0.00448677738093,0.0698485766843,0.999999986266,2.70439548166e-05,-0.000162533531066,1.78844342936e-05,1793249836237044224
+73,1.216666667,BASELINE,768,745.34125928,718,679.65874072,662.34125928,639,881,784,813,652,630,654,0.401017306281,0.00448656904051,0.0698480073993,0.999999986131,2.70645503373e-05,-0.000163326379291,1.81721586392e-05,1793249836253711104
+74,1.233333333,BASELINE,768,745.916405105,718,679.083594895,662.916405105,639,881,784,813,652,630,654,0.401017785973,0.00448688326684,0.069847905496,0.999999986072,2.79168538622e-05,-0.000163507966141,1.84620710706e-05,1793249836270377728
+75,1.250000000,BASELINE,767.493610316,745.493610316,718,679,662.493610316,639,881,784,813.506389684,652,630,654,0.401018224158,0.00448695076853,0.0698486376404,0.999999986263,2.69284815552e-05,-0.000162530617138,1.82642297613e-05,1793249836287044352
+76,1.266666667,BASELINE,767.096168308,745.096168308,718,679,662,639,880.903831692,784,814,652,630.096168308,654,0.401018712184,0.00448720251539,0.0698494293376,0.999999986456,2.6359028359e-05,-0.000161459981121,1.80223561452e-05,1793249836303710720
+77,1.283333333,BASELINE,767.672323741,745.672323741,718,679,662,639,880.327676259,784,814,652,630.672323741,654,0.4010194842,0.00448858327269,0.069849810324,0.999999986459,2.94428269658e-05,-0.000160907451493,1.79747208982e-05,1793249836320377088
+78,1.300000000,BASELINE,768,746,718.248107272,679,662,639,880.248107272,784,813.751892728,652,630.751892728,654,0.401019353251,0.00448879172535,0.0698497414451,0.999999986392,3.11096193625e-05,-0.000160992362931,1.81344323497e-05,1793249836337043968
+79,1.316666667,BASELINE,768,746,718.823400318,679,662,639,880.823400318,784,813.176599682,652,630.176599682,654,0.401018031535,0.00448745422802,0.0698490793164,0.999999986241,3.09077670693e-05,-0.000161917885202,1.85675775095e-05,1793249836353710848
+80,1.333333333,BASELINE,767.591536305,745.591536305,718.591536305,679,662,639,881,784,813,652,630,654,0.401016893118,0.00448777767498,0.0698483485887,0.999999985994,2.95576621051e-05,-0.000163724017845,1.82595908069e-05,1793249836370377728
+81,1.350000000,BASELINE,767.002145148,745.002145148,718.002145148,679,662,639,881,784,813,652,630,654,0.401015835893,0.00448883683087,0.0698475874752,0.999999985696,2.76989429055e-05,-0.000165920213632,1.76233225604e-05,1793249836387044608
+82,1.366666667,BASELINE,767.576833827,745,718,679,662,639,881,784,813,652,630,654,0.401017320465,0.00448801585761,0.0698482476872,0.999999986044,2.76727535755e-05,-0.000163785601657,1.79275966149e-05,1793249836403710976
+83,1.383333333,BASELINE,768,745,718,679,662,639,881,784.155083209,813,652,630.155083209,654,0.401017892246,0.00448741720184,0.069848456795,0.999999986184,2.76005306636e-05,-0.000162922392385,1.80772305755e-05,1793249836420377600
+84,1.400000000,BASELINE,768,745,718,679,662,639,881,784.731454083,813,652,630.731454083,654,0.401015959181,0.00448744113415,0.0698474263625,0.999999985762,2.73850717616e-05,-0.000165555957335,1.77974474965e-05,1793249836437044224
+85,1.416666667,BASELINE,768,745.304937713,718,679,662,639,881,784.695062287,813,652,630.695062287,654,0.401015591165,0.00448775102646,0.0698472795247,0.999999985635,2.73239565346e-05,-0.000166330286539,1.78376120135e-05,1793249836453710592
+86,1.433333333,BASELINE,768,745.875902481,718,679,662,639,881,784.124097519,813,652,630.124097519,654,0.401016588496,0.00448831038971,0.0698479035331,0.999999985768,2.73974904367e-05,-0.000165482622009,1.81568981958e-05,1793249836470377216
+87,1.450000000,BASELINE,767.535205763,746,718,679,662,639,881,784,813,652.464794237,630,654,0.401017586064,0.00448764647154,0.0698488294438,0.999999986076,2.76066643929e-05,-0.000163570738843,1.81904142793e-05,1793249836487044096
+88,1.466666667,BASELINE,767.057144522,745.942855478,718,678.942855478,662,639,881,784,813,652.942855478,630,654,0.401018475452,0.0044868861025,0.0698497727644,0.999999986398,2.79810407408e-05,-0.000161533048665,1.81223712072e-05,1793249836503710720
+89,1.483333333,BASELINE,767.6356286,745.3643714,718,678.3643714,662,639,881,784,813,652.3643714,630,654,0.401018377278,0.00448834504808,0.0698501100319,0.999999986437,2.95189358924e-05,-0.000161043857066,1.78518008167e-05,1793249836520377344
+90,1.500000000,BASELINE,767.787815497,745,718,678.212184503,662,639,880.787815497,784,813,652,630,654,0.401018105132,0.00448906960194,0.0698498919246,0.999999986342,3.04423886108e-05,-0.000161478110873,1.774415272e-05,1793249836537044224
+91,1.516666667,BASELINE,767.21454097,745,718,678.78545903,662,639,880.21454097,784,813,652,630,654,0.401017536926,0.00448854438706,0.0698487286949,0.999999986016,3.03201991468e-05,-0.000163483859913,1.79137615397e-05,1793249836553710848
+92,1.533333333,BASELINE,767.36878028,745.36878028,718,678.63121972,662,639,880,784,813.36878028,652,630,654,0.40101688254,0.00448866793152,0.0698484467926,0.999999985905,3.05321993746e-05,-0.000164120660422,1.79665941818e-05,1793249836570377472
+93,1.550000000,BASELINE,767.958110041,745.958110041,718,678.041889959,662,639,880,784,813.958110041,652,630,654,0.401016176614,0.00448917946721,0.069848691969,0.999999985922,3.09440621292e-05,-0.000163938759844,1.79495887097e-05,1793249836587044096
+94,1.566666667,BASELINE,767.478628484,745.478628484,718,678.521371516,662,639,880.521371516,784,813.478628484,652,630,654,0.401016703672,0.00448904635106,0.0698486784831,0.999999985955,2.89959149321e-05,-0.000164094654601,1.79750970149e-05,1793249836603710720
+95,1.583333333,BASELINE,767,745.087352175,718,679,662,639,881,784,813,652,630,654,0.401017321779,0.00448893246695,0.0698486512192,0.999999985995,2.76477715515e-05,-0.000164076562611,1.79974673989e-05,1793249836620377344
+96,1.600000000,BASELINE,767,745.680635413,718,679,662,639,881,784,813,652,630,654,0.401017920784,0.00448921567602,0.0698486587919,0.999999986095,3.0820697764e-05,-0.000162901056867,1.79828216778e-05,1793249836637044480
+97,1.616666667,BASELINE,767.267126585,745.732873415,718,679,662,639,881,784,813.267126585,652,630,654,0.401017547737,0.00448897338092,0.0698483326723,0.999999986082,3.12038826976e-05,-0.000162916979004,1.78813338001e-05,1793249836653711360
+98,1.633333333,BASELINE,767.845698781,745.154301219,718,679,662,639,881,784,813.845698781,652,630,654,0.401016041366,0.00448811839514,0.0698476174972,0.999999985941,2.83344796263e-05,-0.000164321999135,1.76785957671e-05,1793249836670377728
+99,1.650000000,BASELINE,768,745.430728042,718,679,662,639,881,784,813.569271958,652,630.430728042,654,0.401016370132,0.0044879781213,0.0698475685955,0.999999985948,2.85551874712e-05,-0.000164236574494,1.77459438044e-05,1793249836687044352
+100,1.666666667,BASELINE,768,746,718,679,662.017829591,639,881.017829591,784,813,652,630.982170409,654,0.401017337674,0.0044880718342,0.0698477836316,0.999999986008,2.98463021219e-05,-0.000163620292106,1.79146348521e-05,1793249836703710976
+101,1.683333333,BASELINE,768,746,718,679,662.596251913,639,881.596251913,784,813,652,630.403748087,654,0.401017404865,0.00448734983431,0.0698486785565,0.999999986058,2.9457743743e-05,-0.000163356013788,1.81813176093e-05,1793249836720377600
+102,1.700000000,BASELINE,767.825381223,746,718,678.825381223,662.825381223,639,881.825381223,784,813,652,630,654,0.401017408896,0.00448750013897,0.0698493911446,0.999999986133,2.94202257739e-05,-0.00016290166924,1.82065780837e-05,1793249836737044224
+103,1.716666667,BASELINE,767.247142628,746,718,678.247142628,662.247142628,639,881.247142628,784,813,652,630,654,0.401017266936,0.00448966671835,0.069849682273,0.999999986265,3.01941146753e-05,-0.000162007999138,1.76738067944e-05,1793249836753710592
+104,1.733333333,BASELINE,767.326649812,745.673350188,718,678.326649812,662,639,880.673350188,784,813,652,630,654,0.40101714372,0.00449007926716,0.0698492435864,0.999999986251,2.99739128585e-05,-0.000162145247963,1.75852329915e-05,1793249836770377216
+105,1.750000000,BASELINE,767.897123532,745.102876468,718,678.897123532,662,639,880.102876468,784,813,652,630,654,0.401017034496,0.00448918254073,0.0698482601381,0.999999986127,2.90116838012e-05,-0.000163052013997,1.78282251205e-05,1793249836787044096
+106,1.766666667,BASELINE,767.514860535,745.485139465,718,679,662,639,880.485139465,784,813,652,630,654,0.401017210808,0.00448910172797,0.0698488312933,0.999999986135,2.91833542984e-05,-0.000162988132952,1.76912934245e-05,1793249836803710720
+107,1.783333333,POSE1_TO_POSE2_PRESS,768,746,718,679,662,639,881,784,814,652,630,654,0.401018684968,0.00448842976203,0.0698499093491,0.999999986413,3.00641562914e-05,-0.000161087948234,1.79186456463e-05,1793249836846892800
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.424415115,746,718,678.424415115,662,639,881,784,813.424415115,652,630,654,0.401017808347,0.00448632902986,0.0698495396698,0.999999986351,2.74794808489e-05,-0.000161935737533,1.78674208049e-05,1793249836863559168
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.150771001,746,718,678,662,639,881,784,813,652,630,654,0.401017205763,0.0044851534448,0.0698492758646,0.999999986291,2.59295113323e-05,-0.000162561621266,1.78827799965e-05,1793249836880225536
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.724837693,746,718,678,662,639,881,784,813,652,630,654,0.401017372547,0.00448657524722,0.0698493093053,0.999999986251,2.72845200009e-05,-0.000162564496334,1.80850765449e-05,1793249836896892416
+111,1.850000000,POSE1_TO_POSE2_PRESS,768,746,718,678.308497972,662,639,881.308497972,784,813,652,630,654,0.401017143511,0.00448717186264,0.0698490200744,0.999999986129,2.75459003646e-05,-0.000163269601256,1.8047092409e-05,1793249836913559296
+112,1.866666667,POSE1_TO_POSE2_PRESS,768,746,718,678.90098978,662,639,881.90098978,784,813,652,630,654,0.401016550095,0.00448700883597,0.0698484338017,0.999999985933,2.68005197387e-05,-0.00016462115759,1.77879131815e-05,1793249836930225664
+113,1.883333333,POSE1_TO_POSE2_PRESS,768,745.518242087,718,679.481757913,662,639,881.518242087,784,813.481757913,652,630,654,0.40101647352,0.00448728459637,0.0698482017057,0.999999985826,2.76114443259e-05,-0.000165125357944,1.78768571362e-05,1793249836946892544
+114,1.900000000,POSE1_TO_POSE2_PRESS,768,745.059616355,718,679.940383645,662,639,881.059616355,784,813.940383645,652.059616355,630,654,0.401016454813,0.00448767529385,0.069848116123,0.999999985705,2.86925800156e-05,-0.000165656833925,1.8022949185e-05,1793249836963559168
+115,1.916666667,POSE1_TO_POSE2_PRESS,768,745.632673413,718,679.367326587,662,639,881.632673413,784,813.367326587,652.632673413,630,654,0.401016041409,0.00448829766993,0.0698486803688,0.999999985311,2.94116507355e-05,-0.00016788741706,1.80596809645e-05,1793249836980226048
+116,1.933333333,POSE1_TO_POSE2_PRESS,768,746,718,679.21147441,662,639,881.78852559,784,813,652.78852559,630,654,0.401018668483,0.00448823046524,0.0698505686626,0.999999985063,2.93354620523e-05,-0.000169346935149,1.83136199028e-05,1793249836996892672
+117,1.950000000,POSE1_TO_POSE2_PRESS,768,746,718,679.800530999,662,639,881.199469001,784,813,652.199469001,630,654,0.401026724256,0.00448693203153,0.0698548210105,0.99999998508,2.78393578565e-05,-0.000169429735972,1.8955376694e-05,1793249837013559040
+118,1.966666667,POSE1_TO_POSE2_PRESS,768,746,718,679.624382594,662,639,881,784,813,652,630,654,0.401047951292,0.00448692119236,0.0698635881378,0.999999985841,2.83626264781e-05,-0.000164713126082,1.95528232308e-05,1793249837030225664
+119,1.983333333,POSE1_TO_POSE2_PRESS,768,746,718,679.056448874,662,639,881,784,813,652,630,654,0.401075922023,0.00448756960216,0.069874666835,0.999999986941,2.99198149283e-05,-0.000157539215332,2.01275829508e-05,1793249837046892288
+120,2.000000000,POSE1_TO_POSE2_PRESS,768,746,718,679,662,639,881,784,813,652,630,654,0.401128887564,0.00448704630527,0.0698888849717,0.999999989668,2.71969563021e-05,-0.000139766834937,1.97313492502e-05,1793249837063559168
+121,2.016666667,POSE1_TO_POSE2_PRESS,768,745.88450926,718,679,661.88450926,639,881,784,813,652,630,654,0.401188276227,0.00448627025334,0.0699028160601,0.999999992141,2.44685541195e-05,-0.000121455133426,1.91896023297e-05,1793249837080225536
+122,2.033333333,POSE1_TO_POSE2_PRESS,768,745.309032252,718,679,661.309032252,639,881,784,813,652,630,654,0.401262260681,0.00448500254494,0.0699142238935,0.999999993969,2.35994180189e-05,-0.000105654058008,1.84951048253e-05,1793249837096892160
+123,2.050000000,POSE1_TO_POSE2_PRESS,768,745,718,678.726203232,661.273796768,638.726203232,880.726203232,784,813,652,630,654,0.401340235303,0.0044855844003,0.0699196902582,0.999999994722,2.35565963296e-05,-9.85006296584e-05,1.72948123245e-05,1793249837113558784
+124,2.066666667,POSE1_TO_POSE2_PRESS,768,745,718,678.134847118,661.865152882,638.134847118,880.134847118,784,813,652,630,654,0.401422837858,0.00448831144637,0.0699182654927,0.999999994442,2.44721638913e-05,-0.000101377054585,1.55078806284e-05,1793249837130225664
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.556638663,745,718,678.443361337,662,638.443361337,880.443361337,784,813,652,630,654,0.401524321745,0.00448784014712,0.0699150422282,0.999999993834,2.0539093774e-05,-0.000108336217013,1.31756800276e-05,1793249837146892032
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.017802726,745,718,678.982197274,662.017802726,639,881,784,813,652,630,654,0.4016323371,0.00448648032028,0.0699114609618,0.999999993068,1.5243303483e-05,-0.000116261846396,1.06897321753e-05,1793249837163558656
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.595913903,745,718,678.404086097,662.595913903,639,881,784,813,652,630,654,0.401770382867,0.004486890044,0.0699133324967,0.999999993087,1.21351325651e-05,-0.000116648920812,8.43411791248e-06,1793249837180225280
+128,2.133333333,POSE1_TO_POSE2_PRESS,767.822996036,745,718,678,662.822996036,639,881,784,813,652,630,654,0.401917692863,0.00448726956846,0.0699159351977,0.999999993241,8.56907320161e-06,-0.000115804233392,5.81785638202e-06,1793249837196892160
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.234989091,745,718,678,662.234989091,639,881,784,813,652,630,654,0.402086514368,0.00448757897024,0.0699202356655,0.999999993706,3.93979787726e-06,-0.000112099396482,2.36417266472e-06,1793249837213558784
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,678.347509145,662,639,881.347509145,784,813,652,630,654,0.402278423821,0.00448759885399,0.0699235301779,0.999999994184,4.90822655125e-08,-0.000107838935266,-1.52441002875e-06,1793249837230225664
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,678.926340525,662,639,881.926340525,784,813,652,630,654,0.402485701969,0.0044874260178,0.0699261550684,0.999999994652,-3.35000564425e-06,-0.000103208617927,-5.70248704021e-06,1793249837246892288
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.502998228,745,718,679.502998228,662,639,881.497001772,784,813,652,630,654,0.402727589379,0.00448817337738,0.0699268083119,0.999999994506,-1.02682079968e-05,-0.00010376028581,-1.07682523726e-05,1793249837263559168
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.920958841,745,718,679.920958841,662,639,881,784,813,652,630,654,0.402979987165,0.00448878870119,0.0699280510052,0.999999994376,-1.79550858e-05,-0.000103303647306,-1.59109750211e-05,1793249837280225536
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.34678134,745,718,679.34678134,662,639,881,784,813,652,630,654,0.403266612952,0.00448773640907,0.0699347870826,0.999999995201,-2.72428103114e-05,-9.17974662699e-05,-2.07249681119e-05,1793249837296892160
+135,2.250000000,POSE1_TO_POSE2_PRESS,767.233764509,745.233764509,718,679,662,639,881,784,813.233764509,652,630,654,0.40356728908,0.00448754636954,0.0699423901142,0.999999996008,-3.15492994807e-05,-7.98345250957e-05,-2.48117051364e-05,1793249837313559040
+136,2.266666667,POSE1_TO_POSE2_PRESS,767.824022114,745.824022114,718,679,662,639,881,784,813.824022114,652,630,654,0.403889392093,0.00448867127346,0.0699513152588,0.999999996958,-2.82593569398e-05,-6.71750210835e-05,-2.77893694741e-05,1793249837330225664
+137,2.283333333,POSE1_TO_POSE2_PRESS,767.592495318,746,718,679,662,639,881,784,813.592495318,652,630,654,0.404243156558,0.00448635112231,0.0699563776998,0.999999997599,-1.88778022829e-05,-6.11808996451e-05,-2.65190433153e-05,1793249837346892288
+138,2.300000000,POSE1_TO_POSE2_PRESS,767.011890667,746,718,679,662,639,881,784,813.011890667,652,630,654,0.404610370176,0.00448256757954,0.0699597993401,0.999999998018,-6.90865076303e-06,-5.80181018683e-05,-2.34442543147e-05,1793249837363558912
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.562617854,745.437382146,718,679,662,639,881,784,813,652,630,654,0.405030429739,0.00448292014543,0.0699668386297,0.99999999866,-5.87094954752e-06,-4.48580061119e-05,-2.51740572491e-05,1793249837380225792
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,745,718,679.137224074,662.137224074,639,881,784,813.137224074,652,630,654,0.405456141156,0.00448463574837,0.0699722533904,0.999999999009,-8.41815817505e-06,-3.45386237563e-05,-2.67938132711e-05,1793249837396892160
+141,2.350000000,POSE1_TO_POSE2_PRESS,768,745,718,679.712549014,662.712549014,639,881,784,813.712549014,652,630,654,0.405896369067,0.00449042688789,0.0699722402062,0.999999998804,-2.16808490662e-05,-3.39558179529e-05,-2.77415236599e-05,1793249837413559040
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.703625496,745.296374504,718,680,663.296374504,639,881.296374504,784,814,652,630,654,0.406340189453,0.00449657408951,0.0699627336585,0.999999998128,-1.92072339455e-05,-5.05426518812e-05,-2.86445964474e-05,1793249837430225664
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.111311874,745.888688126,718,680,663.888688126,639,881.888688126,784,814,652,630,654,0.406787597089,0.00450307683085,0.0699437476932,0.999999996013,-1.02043164683e-06,-8.42739025372e-05,-2.95030972939e-05,1793249837446892544
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.467892331,746,718,679.532107669,663.532107669,639,881.532107669,784,814,652,630,654.467892331,0.407307292215,0.00450701875355,0.0699335036485,0.999999995024,1.1016900855e-05,-9.40987917719e-05,-3.12552149816e-05,1793249837463559424
+145,2.416666667,POSE1_TO_POSE2_PRESS,768,746,718,679,663,639,881.044105415,784,814,652,630,654.955894585,0.407850279517,0.00451068893566,0.0699272231624,0.999999994658,2.14880738729e-05,-9.55022402183e-05,-3.31933915274e-05,1793249837480226048
+146,2.433333333,POSE1_TO_POSE2_PRESS,768,746,718,679,663,639,881.620833616,784,814,652,630,654.379166384,0.408472530595,0.00451823405859,0.0699443767832,0.999999997012,3.02315350577e-05,-6.20164478155e-05,-3.48811218244e-05,1793249837496892928
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.798647038,745.798647038,718,679,663,639.201352962,882.201352962,784.201352962,814,652,630.201352962,654.201352962,0.409089393286,0.00452553150855,0.0699566441886,0.999999998123,3.35510557462e-05,-3.56986111545e-05,-3.67827009812e-05,1793249837513559552
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.210851653,745.210851653,718,679,663,639.789148347,882.789148347,784.789148347,814,652,630.789148347,654.789148347,0.409695914394,0.00453235361694,0.069959533827,0.999999998618,2.64607925944e-05,-2.31377244468e-05,-3.90947050112e-05,1793249837530225920
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.371288566,745,718,679.371288566,663,639.628711434,883,784.628711434,814,652,630.628711434,654.628711434,0.410315568107,0.00453875504308,0.0699529189574,0.999999998021,3.54717368273e-05,-3.27908408094e-05,-4.02938982595e-05,1793249837546892544
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.950265426,745,718,679.950265426,663,639.049734574,883,784.049734574,814,652,630.049734574,654.049734574,0.410942567806,0.00454492115128,0.0699409875356,0.999999996229,5.34892400481e-05,-5.48698408887e-05,-4.08706166154e-05,1793249837563559168
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.491423255,745.508576745,718,680,663,639,883,784,814,652,630,654,0.411646684658,0.00455199181888,0.0699520786823,0.99999999637,6.42749167974e-05,-3.76166415236e-05,-4.13885096554e-05,1793249837580225792
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.069801033,746,718,680,663.069801033,639,883.069801033,784,814,652,630,654,0.412367772661,0.004558960897,0.0699680989229,0.999999996366,7.32277221834e-05,-1.22031887926e-05,-4.19027739471e-05,1793249837596892160
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.667760861,746,718,680,663.667760861,639,883.667760861,784,814,652,630,654,0.413162439835,0.00456451808482,0.0700050453634,0.999999995298,7.34541237868e-05,4.6988322926e-05,-4.24314089921e-05,1793249837613558528
+154,2.566666667,POSE1_TO_POSE2_PRESS,768,746,718,680,663.738673283,639.261326717,884,784,814,652,630,654,0.413930045507,0.00457153910179,0.0700258036224,0.999999992708,8.12007239014e-05,7.84174396828e-05,-4.290829329e-05,1793249837630225152
+155,2.583333333,POSE1_TO_POSE2_PRESS,768,746,718,680,663.150601275,639.849398725,884,784,814,652,630,654,0.414663815409,0.00458039039268,0.0700263212768,0.999999991403,9.83500730383e-05,7.51343393332e-05,-4.33204721525e-05,1793249837646891776
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,746,718,680.430859854,663.430859854,640,884.430859854,784,814,652,630,654.430859854,0.415385904212,0.00458703520591,0.0699844048134,0.999999993675,0.000103280399891,-5.13199097557e-07,-4.45280023516e-05,1793249837663558400
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,746,718,681,663.9900433,640,885.0099567,784,814.0099567,652,630,654.9900433,0.416105957649,0.00459285530504,0.069928777182,0.999999988586,0.00010408029569,-9.93897260369e-05,-4.60160730772e-05,1793249837680225024
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,718,681,663.41595636,640,885.58404364,784,814.58404364,652,630,654.41595636,0.416938531713,0.00459498559407,0.0699239701168,0.999999987596,0.000109187555987,-0.000102922148255,-4.78858916862e-05,1793249837696892416
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,718,681,663.158288892,640,886,784.158288892,815,652,630,654.158288892,0.417784360453,0.00459613128406,0.0699294279546,0.999999988264,0.000112980789798,-9.10620439171e-05,-4.91336949877e-05,1793249837713559552
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,718,681,663.732950547,640,886,784.732950547,815,652,630,654.732950547,0.418665055048,0.0045946870245,0.06996188722,0.999999991642,0.000113317527665,-3.87124980491e-05,-4.87453110743e-05,1793249837730226176
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746,718,680.681064765,663.681064765,640,886,785,815,652,630,654.681064765,0.419547516643,0.00459111760716,0.0699899428493,0.99999999297,0.000108051977494,3.9968668649e-06,-4.86790895597e-05,1793249837746892544
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746,718,680.085250164,663.085250164,640,886,785,815,652,630,654.085250164,0.420431512189,0.00458570326255,0.0700141755191,0.999999993275,9.79228758616e-05,3.83372346737e-05,-4.8892549086e-05,1793249837763558912
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.506177155,746,718,680.493822845,663.98764569,640,886.493822845,785,814.506177155,652,630,654,0.421317826908,0.00457873924009,0.0700278766464,0.999999993076,9.01384766861e-05,5.72811364522e-05,-4.94230244162e-05,1793249837780225536
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.069818264,746,718,681.069818264,664.930181736,640,887,785,814.069818264,652,630,654,0.4221959192,0.00457345152815,0.0700315964381,0.999999993305,8.45402982459e-05,6.10772574353e-05,-5.01216042511e-05,1793249837796892160
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.643775651,746,718,681.643775651,664.356224349,640,887,785,814.643775651,652,630,654,0.423011842938,0.00458213640196,0.0699759411459,0.999999994107,9.19013203857e-05,-2.59417746973e-05,-5.16518072695e-05,1793249837813558784
+166,2.766666667,POSE1_TO_POSE2_PRESS,768,746,718,682.223935959,664,640,887.223935959,785,815,652,630,654.223935959,0.423838425473,0.00458871480257,0.0699177183388,0.999999987876,9.15791497152e-05,-0.000113552291985,-5.44752626719e-05,1793249837830225664
+167,2.783333333,POSE1_TO_POSE2_PRESS,768,746,718,682.814244714,664,640,887.814244714,785,815,652,630,654.814244714,0.424682446575,0.00459184688682,0.0698552949127,0.999999974711,7.86868117281e-05,-0.000202130528479,-5.94145577931e-05,1793249837846892544
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.603431758,746,718,683.396568242,664,640,888,785,815,652,630,654.603431758,0.425604129261,0.00459430143534,0.0698714692024,0.999999979602,8.70412852151e-05,-0.000172554633772,-5.86836603921e-05,1793249837863559168
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.024774772,746,718,683.975225228,664,640,888,785,815,652,630,654.024774772,0.426561471081,0.00459644488556,0.0699237325161,0.999999989004,0.000105151470249,-8.87269423566e-05,-5.53492301616e-05,1793249837880225792
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.550845043,746,718,683.449154957,664.550845043,640,888.550845043,785,815,652,630,654.550845043,0.427495364789,0.00459758497895,0.0699722513847,0.999999992464,0.000105681034885,-2.93806330129e-05,-5.5144886042e-05,1793249837896892416
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,746,718,683,665,640,889,785,815,652,630,654.875248203,0.428428229862,0.00459822119113,0.070016190538,0.999999992559,0.000105057536855,2.82586421882e-05,-5.51924132658e-05,1793249837913559040
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,746,718,683,665,640,889,785,815,652,630,654.306949151,0.429361166642,0.00459722545115,0.0700444422836,0.99999998963,0.000103130283485,8.37219908107e-05,-5.56376690543e-05,1793249837930225664
+173,2.883333333,POSE1_TO_POSE2_PRESS,768,746,718,683,664.724973569,640,889.275026431,785,815.275026431,652,630,654.275026431,0.430257725875,0.00459661890455,0.0700430467596,0.99999998982,0.000100709037734,8.39138098789e-05,-5.63495393756e-05,1793249837946892032
+174,2.900000000,POSE1_TO_POSE2_PRESS,768,746,718,683,664.126935276,640,889.873064724,785,815.873064724,652,630,654.873064724,0.431111560496,0.00459646945618,0.0700068312357,0.999999993397,9.77076100433e-05,1.91905561503e-05,-5.73745419409e-05,1793249837963558912
+175,2.916666667,POSE1_TO_POSE2_PRESS,768,746,718,683.455800386,664,640,890,785,816,652,630,655,0.4319047395,0.00459624740899,0.0699393873753,0.999999989163,9.79243581263e-05,-9.33588263749e-05,-5.8048001098e-05,1793249837980225792
+176,2.933333333,POSE1_TO_POSE2_PRESS,768,746,718.034158819,684,664,640,889.965841181,785,816,652,630,654.965841181,0.432689724983,0.00459572618478,0.0698707081184,0.999999972125,9.87370095382e-05,-0.000206306512377,-5.86428545087e-05,1793249837996892672
+177,2.950000000,POSE1_TO_POSE2_PRESS,768,746,718.608499103,684,664,640,889.391500897,785,816,652,630,654.391500897,0.433603587312,0.00459078316651,0.0699155540254,0.999999986279,9.52608018599e-05,-0.000121769505085,-5.94925596019e-05,1793249838013559296
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,746.186859642,718.813140358,683.813140358,664.560578926,640,889.373719284,785,816,652,630,654.186859642,0.434507682441,0.00458665180202,0.0699606067264,0.999999993134,9.18718512814e-05,-4.19125380609e-05,-5.94556011415e-05,1793249838030225920
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,746.773828573,718.226171427,683.226171427,666.321485718,640,890.547657145,785,816,652,630,654.773828573,0.435390863926,0.00458425837321,0.0700061022291,0.999999994025,8.86697384076e-05,2.79234055486e-05,-5.75200936779e-05,1793249838046892544
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,746.642231972,718.357768028,683,665.926695915,640,891,785,816,652,630,654.642231972,0.436241553686,0.00458542197416,0.0700260519257,0.999999992612,8.76323159184e-05,6.12459505854e-05,-5.78370223615e-05,1793249838063558912
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,746.060191624,718.939808376,683,664.180574871,640,891,785,816,652,630,654.060191624,0.437071875461,0.00458881535334,0.0700299878433,0.999999991789,8.79518628289e-05,7.16795133403e-05,-5.95659250693e-05,1793249838080225536
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,718.484631356,683.515368644,664,640,890.484631356,785,816,652,630,654.515368644,0.437838247362,0.00458674387004,0.0700044692977,0.999999993472,8.40375443089e-05,4.77998322802e-05,-6.09009212317e-05,1793249838096892160
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,718,684,664.090263168,640,890.090263168,785,816,652,630,655,0.438582118639,0.00458510277229,0.0699710083926,0.99999999472,8.1528182782e-05,9.15298288356e-06,-6.18761427947e-05,1793249838113558784
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,718,684,664.665596673,640,890.665596673,785,816,652,630,655,0.439244711756,0.00458916193483,0.0699131229,0.999999990316,8.91933542328e-05,-8.75829721767e-05,-6.11621135706e-05,1793249838130225664
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.752500119,746,718,684,664.752500119,640,890.752500119,785,816,652,630,654.752500119,0.43992057721,0.00459320109596,0.0698683281792,0.999999980541,9.53477291568e-05,-0.000161729283799,-6.05846670747e-05,1793249838146892800
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+246,4.100000000,HOLD_POSE2,768.311785414,746,717.688214586,686,659.311785414,637.311785414,891,784,817.311785414,652.688214586,630.311785414,655,0.451369597614,0.00469863458571,0.069624572039,0.999999808367,0.000226171099535,-0.000572719172111,-6.40783424825e-05,1793249839182826752
+247,4.116666667,HOLD_POSE2,768.898849209,746,717.101150791,686,659.898849209,637.898849209,891,784,817.898849209,652.101150791,630.898849209,655,0.451368901809,0.00470007578646,0.0696244616402,0.999999807225,0.000228741082802,-0.000573689024868,-6.41041186401e-05,1793249839199493376
+248,4.133333333,HOLD_POSE2,768.518574833,746,717,685.518574833,659.518574833,637.518574833,891,783.518574833,817.518574833,652,630.518574833,655,0.45137045808,0.00469881695678,0.0696247854945,0.999999808655,0.00022586899448,-0.000572369622509,-6.37631157198e-05,1793249839216160000
+249,4.150000000,HOLD_POSE2,768,746,717.062563378,685,659.062563378,637,891,783.062563378,817,652,630,654.937436622,0.451372105947,0.00469728598748,0.0696251043164,0.999999810208,0.00022268492243,-0.000570943701432,-6.33901677793e-05,1793249839232826368
+250,4.166666667,HOLD_POSE2,768,746,717.639561289,685,659.639561289,637,891,783.639561289,817,652,630,654.360438711,0.451370652164,0.00469813888703,0.0696246384598,0.999999808484,0.000226250572833,-0.000572560373118,-6.33823539214e-05,1793249839249493248
+251,4.183333333,HOLD_POSE2,768,746,717.784439051,685,659.784439051,637,891,784,817,652,630.215560949,654.215560949,0.451369913849,0.00469852647259,0.0696241205268,0.999999807314,0.000228097889218,-0.000573860802342,-6.3462177601e-05,1793249839266159872
+252,4.200000000,HOLD_POSE2,768,746,717.210100923,685,659.210100923,637,891,784,817,652,630.789899077,654.789899077,0.451370366348,0.0046981395948,0.0696235159184,0.999999807085,0.000227085229766,-0.00057463488108,-6.36878641974e-05,1793249839282826240
+253,4.216666667,HOLD_POSE2,768,746,717.374167062,685.374167062,659,637,891,784,817,652,631,655,0.45136994154,0.0046981354481,0.069623300959,0.999999807187,0.000225644925771,-0.000575021668173,-6.37185561192e-05,1793249839299492864
+254,4.233333333,HOLD_POSE2,768,746,717.964162887,685.964162887,659,637,891,784,817,652,631,655,0.451369010679,0.00469835207007,0.0696233107585,0.999999807478,0.000223957945789,-0.000575185055991,-6.36367703379e-05,1793249839316159744
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+256,4.266666667,HOLD_POSE2,768,746,718,685,659,637,891,784,817,652,630.878422103,655,0.451372137954,0.00470008402938,0.0696257548244,0.999999808633,0.000228604254354,-0.000571303326689,-6.39234499961e-05,1793249839349493760
+257,4.283333333,HOLD_POSE2,768,746,718,685,659,637,891,784,817,652,630.305385442,655,0.451373659017,0.00469763447122,0.0696271338141,0.999999810447,0.000226830955937,-0.000568889684361,-6.33848760625e-05,1793249839366160128
+258,4.300000000,HOLD_POSE2,768,746,718,685,659,637,891.275170707,784,817,652,630,655,0.451374758503,0.00469660542949,0.0696276694096,0.999999811532,0.000225412193548,-0.000567571700088,-6.31475821271e-05,1793249839382826496
+259,4.316666667,HOLD_POSE2,768,746,718,685,659,637,891.864306426,784,817,652,630,655,0.451375376977,0.00469719717256,0.0696272427069,0.999999811792,0.000224397950736,-0.000567503842834,-6.32540434869e-05,1793249839399493120
+260,4.333333333,POSE2_TO_POSE3_RETREAT,768,746,718,686,659,637,891,784,817,652,630,654,0.451373304848,0.0046992649143,0.0696254596553,0.999999809433,0.00022688336211,-0.000570562151879,-6.4166390787e-05,1793249839432142848
+261,4.350000000,POSE2_TO_POSE3_RETREAT,768,746.576804466,718,685.423195534,659,637,891,784,817,652,630.576804466,654.576804466,0.451373564518,0.00469807901657,0.069625462343,0.999999809825,0.000226314750775,-0.000570203333182,-6.32379164166e-05,1793249839448809984
+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,747,718,685,659,637,891,784,817,652,630.84700718,655,0.451373722224,0.00469732577557,0.069625637978,0.999999810157,0.000225488409808,-0.000570011092916,-6.26743299052e-05,1793249839465477120
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,747,718,685,659,637,891,784,817,652,630.2725161,655,0.451373599017,0.00469776451219,0.0696262900861,0.999999810323,0.000223952018451,-0.000570277779459,-6.31160164902e-05,1793249839482143488
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,746.100992492,718,685,659,637,891,784,817,652,630,655,0.451374000786,0.00470208017842,0.0696264713747,0.999999809301,0.000227161055433,-0.000570711824443,-6.3900524235e-05,1793249839515475712
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,746,718,685,659,637,891,784,817,652,630.482125725,654.517874275,0.451374488877,0.00469981448407,0.0696268692002,0.999999809946,0.000227297143474,-0.000569563293846,-6.35694653031e-05,1793249839532141824
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,746,718,685,659,637,891.06307627,784,817,652,631,654,0.451374642981,0.00469684858657,0.0696270505213,0.999999810663,0.000226761546485,-0.000568565249305,-6.31384848571e-05,1793249839548808448
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,746,718,685,659,637,891.636772993,784,817,652,631,654,0.451371781196,0.00469651606155,0.0696246725292,0.999999809677,0.000224882398598,-0.000571046052238,-6.30839873597e-05,1793249839565475328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,746,718,685,659,637,891.789592587,784,817,652,631,654.210407413,0.45136222819,0.0046972135195,0.0696193921573,0.99999980522,0.000224847293309,-0.000578799451925,-6.32063123844e-05,1793249839582142208
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,746,718,685,659,637,891.216065748,784,817,652,631,654.783934252,0.45134112753,0.00469968851383,0.069609102882,0.999999794584,0.000227994622106,-0.000595652256458,-6.36337962937e-05,1793249839598809344
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,746,717.629983039,685.370016961,659,637,891,784,816.629983039,652,630.629983039,654.629983039,0.451301476578,0.00470047226385,0.0695921144465,0.99999977638,0.000229850069386,-0.0006247991112,-6.3513530708e-05,1793249839615476224
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746,717.036310933,685.963689067,659,637,891,784,816.036310933,652,630.036310933,654.036310933,0.45125061298,0.00470023374885,0.0695710767318,0.999999752639,0.000230924644576,-0.0006613770522,-6.30621802995e-05,1793249839632142848
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,717.885437018,685,659,637,891.114562982,784,817,652,631,655,0.45111470588,0.00470047522753,0.0695331153073,0.999999712458,0.000230856378662,-0.000719636872764,-6.25419900829e-05,1793249839665475072
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,717.3083594,685,659,637,891.6916406,784,817,652,631,655,0.451038468158,0.00470113156063,0.0695245054502,0.999999702851,0.000232515626047,-0.000732399737947,-6.184003709e-05,1793249839682141696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,746,717.267631538,685,659.267631538,637,891.732368462,784,817,652,631,655,0.450956282628,0.00470024836313,0.0695207734624,0.999999698188,0.000233312676951,-0.000738601048912,-6.04704606816e-05,1793249839698808576
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,746,717.842375452,685,659.842375452,637,891.157624548,784,817,652,631,655,0.45086727188,0.00469759852438,0.0695226389245,0.99999969934,0.000233120340612,-0.000737272848565,-5.83347735144e-05,1793249839715475200
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767.568906584,746,718,685,659.568906584,637,891,784,817,652,630.568906584,655,0.4507606906,0.00469762720561,0.0695268347773,0.999999702173,0.000235839802924,-0.00073271583446,-5.62192728582e-05,1793249839732142080
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767.024472,746,717.975528,685,659,637,891,784,817,652,630,655,0.450646339202,0.00469853965192,0.0695317756092,0.999999705425,0.000239525613882,-0.00072722019708,-5.41045533896e-05,1793249839748808960
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.603793483,746,717.396206517,685,659,637,891,784,817,652,630,655,0.45050635797,0.00469654053554,0.0695336409083,0.999999704745,0.000240173582048,-0.000728107136467,-5.18345908093e-05,1793249839765475584
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,717.18130052,685,659,637,891,783.81869948,817,652,630.18130052,654.81869948,0.450354996431,0.00469539903441,0.0695363942432,0.999999704909,0.000242529012621,-0.000727283973542,-4.91800914426e-05,1793249839782142208
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,717.754881559,685,659,637,891,783.245118441,817,652,630.754881559,654.245118441,0.450179011303,0.00469611315844,0.0695410690242,0.999999706869,0.000248578885016,-0.000722760656594,-4.56935688836e-05,1793249839798808832
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.663099995,746,718,685,659.336900005,637.336900005,891,783.336900005,817,652,631,654.336900005,0.449991923027,0.00469562511313,0.0695472830127,0.999999711139,0.000252274607682,-0.00071576980561,-4.18783816084e-05,1793249839815475456
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.07478499,746,718,685,659.92521501,637.92521501,891,783.92521501,817,652,631,654.92521501,0.449796548895,0.00469423993699,0.0695546456507,0.999999717092,0.000254213523172,-0.000706937532154,-3.78179246323e-05,1793249839832141824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767.505001926,746,718,685,660,637.494998074,890.494998074,784,817,652,630.494998074,654.494998074,0.449566624303,0.0046920124781,0.0695682851659,0.999999728644,0.000258280025809,-0.000689150936006,-3.27686395895e-05,1793249839848808448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,746.082757552,718,685,660,637,890.082757552,784,817,652.082757552,630,654.082757552,0.449325952945,0.00468971387357,0.0695821385158,0.999999740128,0.00026277988149,-0.00067076688038,-2.76200742235e-05,1793249839865475072
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746.655836675,718,685,660,637,890.655836675,784,817,652.655836675,630,654.655836675,0.44905142005,0.00468772048615,0.0695918429614,0.999999748285,0.000268011535443,-0.00065656899306,-2.27364752562e-05,1793249839882141696
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746.764384429,718,685,660,637.235615571,891,784,817,652.764384429,630.235615571,655,0.448758121541,0.0046860476277,0.0695983125598,0.999999752511,0.000273086985494,-0.000648143055118,-1.76594565815e-05,1793249839898808576
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,746,718,684.013431595,660.986568405,638,891,784,816.013431595,652,630.013431595,654.013431595,0.447703603764,0.00468247065482,0.0695957445459,0.999999747145,0.000288617454091,-0.000649930423013,-1.0133731899e-06,1793249839948808448
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,746,717.438152865,684.561847135,661,638,891,784,816.561847135,652,630,654,0.447280294303,0.00467893860101,0.0695947521503,0.999999745772,0.000291649145526,-0.000650673799909,4.45519862966e-06,1793249839965474816
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746.114056396,717.885943604,684,661.885943604,638,890,784,816,652,630,654,0.445520590498,0.00466330008296,0.0696324859734,0.999999809866,0.000223117695779,-0.000574879312696,-8.05701544004e-07,1793249840032142336
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,767.053150903,746,718,683.053150903,662.106301806,639,889.053150903,784,816.053150903,652,630,654,0.441447396015,0.00461928160477,0.0697443533116,0.999999909029,0.000130298806434,-0.000405724191795,1.87685759402e-05,1793249840148808448
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.47680428,662.52319572,639,889.52319572,784.52319572,816,652,630,654,0.440803695101,0.0046137898352,0.0697773886123,0.999999935279,0.00011307813833,-0.000341011130992,1.91356274036e-05,1793249840165475072
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.098218866,663.098218866,639,889.803562268,785,816,652,630,654,0.440135858738,0.00460801246645,0.0698038049188,0.999999951799,0.000112827432575,-0.000288593483961,1.96608935214e-05,1793249840182141440
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.673979226,663.673979226,639,888.652041548,785,816,652,630,654,0.439361719722,0.0046003677095,0.0697911749529,0.999999932014,0.000194643357952,-0.000312447125048,2.15041454791e-05,1793249840198808320
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.750570141,663.750570141,639,888,784.750570141,816,652,630,653.750570141,0.438573944801,0.00459490478195,0.0697641643085,0.999999910326,0.000228589540847,-0.000355843707217,2.16926891535e-05,1793249840215475200
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.175523761,663.175523761,639,888,784.175523761,816,652,630,653.175523761,0.437768368874,0.0045922901078,0.0697183805026,0.999999889589,0.000200044504211,-0.000424752493915,1.97211054228e-05,1793249840232141824
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,717.584402291,682.415597709,663,639,887.584402291,784.415597709,816,652,629.584402291,653.831195418,0.43699033515,0.00458863507487,0.0697153370554,0.99999989267,0.000174711425959,-0.0004286448231,1.99927556962e-05,1793249840248808448
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.986754467,717,683,663.013245533,639,887,785,816,652,629,654.986754467,0.436223912644,0.0045845182949,0.0697317795547,0.999999907138,0.000151093980646,-0.000403040896885,2.12898508883e-05,1793249840265475328
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,745.411833096,717,683,663.588166904,639,887,785,816,652,629,654.411833096,0.435436752083,0.00458020295012,0.0697782730072,0.999999932762,0.000140389246421,-0.000337901384677,2.42796079367e-05,1793249840282141952
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.15876513,745.15876513,717.15876513,682.84123487,663.84123487,639,886.84123487,785,816,651.84123487,629.15876513,654,0.434645370851,0.00457555904518,0.0698141911144,0.999999948932,0.000131796771629,-0.000289908440728,2.68017016706e-05,1793249840298808320
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.718446448,745.718446448,717.718446448,682.281553552,663.281553552,639,886.281553552,785,816,651.281553552,629.718446448,654,0.433843331565,0.00457008545523,0.0698234041914,0.999999950669,0.000128538209319,-0.000285214285888,2.81428447473e-05,1793249840315474944
+314,5.233333333,POSE2_TO_POSE3_RETREAT,768,746,718,681.699557327,663,639,886,785,816,651.300442673,630,654,0.432997938019,0.00456553192018,0.0698299590422,0.999999953768,0.000127479657195,-0.000274601870073,2.84038689469e-05,1793249840332141824
+315,5.250000000,POSE2_TO_POSE3_RETREAT,768,746,718,681.094971371,663,639,886,785,816,651.905028629,630,654,0.432108656259,0.00456190977286,0.0698338229245,0.999999958063,0.000128648213378,-0.000257998297158,2.75714701513e-05,1793249840348808704
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.508660101,745.508660101,718,681.491339899,663.491339899,639,885.508660101,784.508660101,815.508660101,652,630,654,0.431164758858,0.00455562813397,0.0697954302654,0.999999939444,0.00011993316148,-0.000325401927542,2.90143117882e-05,1793249840365475584
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745.073026969,718,682,663.926973031,639,885,784.073026969,815.073026969,651.926973031,629.926973031,654,0.430215969191,0.00454906545654,0.0697506613884,0.999999912009,0.000110275096347,-0.000403602088179,3.04527621823e-05,1793249840382142208
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,745.646365451,718,682,663.353634549,639,885,784.646365451,815.646365451,651.353634549,629.353634549,654,0.429303393698,0.00454397289614,0.0697161600513,0.999999893298,0.000106775369928,-0.00044851306113,2.89562001909e-05,1793249840398808832
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.55882465,663.220587675,639,885.220587675,785,816,651.220587675,629.220587675,654,0.42841770893,0.00453804900691,0.0697237170704,0.999999901158,0.000100429942797,-0.000432180862713,2.85789501233e-05,1793249840415475456
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,680.407535084,663.796232458,639,885.796232458,785,816,651.796232458,629.796232458,654,0.42757530723,0.00453078701309,0.0697989710589,0.999999945214,8.95040850717e-05,-0.000317271885519,3.00033399811e-05,1793249840432142080
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.382510714,745.617489286,718,680.382510714,664,639,885.617489286,785,815.617489286,652,630,654,0.426723443332,0.00452490066292,0.0698433734856,0.999999964031,8.54803986754e-05,-0.000252178771045,3.22071231883e-05,1793249840448808704
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.974615473,745.025384527,718,680.974615473,664,639,885.025384527,785,815.025384527,652,630,654,0.425866394739,0.00451976808742,0.0698708710122,0.999999972781,8.52387092852e-05,-0.000214381914642,3.4837969504e-05,1793249840465475072
+323,5.383333333,POSE2_TO_POSE3_RETREAT,768,745,718,681,663.448118124,639,884.448118124,785,815,651.448118124,629.448118124,654,0.424959691301,0.00451199691986,0.0698455260289,0.999999965227,7.0843094155e-05,-0.000251788930935,3.36004745538e-05,1793249840482141952
+324,5.400000000,POSE2_TO_POSE3_RETREAT,768,745,718,681,663,639,884,785,815,651,629.128063167,654,0.424040049857,0.00450478828263,0.0698137341525,0.999999952314,5.87916103989e-05,-0.00030142337712,3.25510356993e-05,1793249840498809088
+325,5.416666667,POSE2_TO_POSE3_RETREAT,768,745,718,681,663,639,884,785,815,651,629.702777928,654,0.423083041225,0.00449995381665,0.069767712378,0.999999924887,5.71270275869e-05,-0.000381955396488,3.27618124969e-05,1793249840515475712
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767.71545673,745.28454327,718,681,662.71545673,639,883.71545673,785,815,651,629.71545673,654,0.422127933674,0.00449357871593,0.0697194221226,0.999999889759,5.36135734132e-05,-0.000465273783405,3.35694988521e-05,1793249840532142080
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767.126139555,745.873860445,718,681,662.126139555,639,883.126139555,785,815,651,629.126139555,654,0.42117486243,0.00448555344377,0.0696687021032,0.999999846111,4.81197957799e-05,-0.00055157663921,3.50165341848e-05,1793249840548808704
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767.45538744,746,718,681,662.45538744,639,883,785,814.54461256,651.45538744,629.45538744,654,0.420357720724,0.00447603927039,0.0697121270296,0.999999886073,2.94418162285e-05,-0.000475254951708,3.34559091102e-05,1793249840565475328
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,718,681,663.034698969,639,883,785.034698969,814.034698969,651.965301031,629.965301031,654,0.419577821204,0.00446633318948,0.0697808094455,0.999999936085,8.26438853196e-06,-0.000356050322578,3.14519413011e-05,1793249840582141696
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,718,681,663.612539575,639,883,785.612539575,814.612539575,651.387460425,629.387460425,654,0.418801425607,0.00445997016493,0.0698435203276,0.999999965867,4.16552745181e-06,-0.000258845232624,3.53295665191e-05,1793249840598808320
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,746,718,680.810835384,663.621670768,639,882.810835384,785.810835384,815,651.189164616,629.189164616,654,0.417999129597,0.00445306756812,0.0698776603204,0.999999977419,1.33500820802e-06,-0.000209052540699,3.81666201881e-05,1793249840615475200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,680.23668415,662.4733683,639,882.23668415,785.23668415,815,651.76331585,629.76331585,654,0.417144121089,0.00444506683615,0.0698536530329,0.999999966538,1.08580948659e-06,-0.000255753244642,3.88859105082e-05,1793249840632142080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.654159821,745.654159821,718,680,662,639,882.345840179,785,814.654159821,652,630,654,0.416305346668,0.00444074650818,0.0698252806259,0.999999957095,-2.5536170251e-07,-0.000290507365876,3.76194608092e-05,1793249840648808960
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.065763019,745.065763019,718,680,662,639,882.934236981,785,814.065763019,652,630,654,0.415477958151,0.00443900744922,0.0697938467234,0.999999949179,-2.36239286495e-06,-0.000316882692871,3.49603030528e-05,1793249840665475840
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745.512082133,718,680,662,639,882.487917867,785,814,652,630,654,0.41463859988,0.00444357711027,0.069762404873,0.999999927635,-1.59966110531e-06,-0.00037870757388,3.61663951177e-05,1793249840682142208
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,662,639,882.08914227,785,814,651.91085773,630,654,0.413817538472,0.00445129177195,0.0697385111649,0.99999990697,3.19481292858e-06,-0.000429723417247,3.72384456235e-05,1793249840698808320
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,680,662,639,882.669191039,785,814,651.330808961,630,654,0.413105532303,0.00447195435072,0.0697561905861,0.999999920328,2.82035019926e-05,-0.000396649269503,3.48939207435e-05,1793249840715474944
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.24636967,746,718,680,662.24636967,639,882.507260659,784.75363033,814,651,630,654,0.41242797956,0.00448098703828,0.0697904385256,0.99999994266,3.87793800104e-05,-0.000334708851733,3.3856630945e-05,1793249840732141568
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.819738803,746,718,680,662.819738803,639,881.360522394,784.180261197,814,651,630,654,0.411796155927,0.00447458370008,0.0698466773871,0.999999971462,3.01989958404e-05,-0.000234455054757,3.45543971269e-05,1793249840748808448
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.595636351,746,718,680,662.595636351,639,881.404363649,784,814,651,630,654,0.411133802125,0.00446455633951,0.0698668195546,0.999999978548,1.3526353131e-05,-0.000203724651854,3.48945109122e-05,1793249840765475328
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767.005850101,746,718,680,662.005850101,639,881.994149899,784,814,651,630,654,0.410457448533,0.00445286716815,0.0698704094408,0.999999978375,-6.85702840819e-06,-0.000204874476572,3.50706218878e-05,1793249840782142464
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767.574103296,745.425896704,718,680,661.425896704,639,881.425896704,784,814,651.574103296,630,654,0.409773184045,0.00445306308265,0.0698287884059,0.999999961751,-1.60596415755e-06,-0.00027457168828,3.32634860775e-05,1793249840798809344
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.84544133,745,718,680,661,639,881,784,814,652,630,654,0.409111055077,0.00445354656796,0.0697908546861,0.999999942598,2.03824776721e-06,-0.000337340442606,3.16306127831e-05,1793249840815475968
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767.263324693,745,718,680,661,639,881,784,814,652,630,654,0.408510379019,0.00445449618114,0.0697643742083,0.999999927697,5.26967445085e-07,-0.000379043195897,3.05347682064e-05,1793249840832142080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.682839281,661,639,881,784,813.682839281,651.682839281,630,654,0.407937314152,0.00445591645855,0.0697625009918,0.999999927418,-2.25979838379e-07,-0.000379796371718,3.03037759149e-05,1793249840848808704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.103701307,661,639,881,784,813.103701307,651.103701307,630,654,0.407387056384,0.00445772550826,0.0697809535687,0.999999939417,-3.52537963418e-07,-0.000346724871346,3.07871584999e-05,1793249840865475328
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.477333736,718,679,661,639,881,784,813.477333736,651,630,654,0.406870717708,0.00446670246435,0.0697939135648,0.999999944315,1.27007563163e-05,-0.000332020502644,3.11684642077e-05,1793249840882141440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767.055813645,745.944186355,718,679,661.055813645,639,881,784.055813645,813.944186355,651.055813645,630,654,0.406365168382,0.00447614899932,0.0698039126622,0.999999946681,2.65744569063e-05,-0.000323943888361,3.15003280598e-05,1793249840898808064
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767.607895388,745.392104612,718,679,661.607895388,639,881,784.607895388,813.392104612,651.607895388,630,654,0.405889770041,0.00447586936253,0.0697982371865,0.999999941735,2.21818028952e-05,-0.000339176853574,3.15905467226e-05,1793249840915475200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,768,745.173720752,718,679,662,639,881,784.826279248,813,651.826279248,630,654,0.405437151321,0.00447526266746,0.06979685238,0.999999940142,1.7440818766e-05,-0.000344119438755,3.15081834086e-05,1793249840932142336
+351,5.850000000,POSE2_TO_POSE3_RETREAT,768,745.773231702,718,679,662,639,881,784.226768298,813,651.226768298,630,654,0.405040365608,0.00447385435139,0.0698059840202,0.999999947013,1.18460768968e-05,-0.00032384026273,3.10028210338e-05,1793249840948808960
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767.631889635,746,718,679,662,639,880.631889635,784,813,651,630,654,0.404665688785,0.00447347480196,0.0698197529016,0.999999955194,1.60417842917e-05,-0.000297364824918,3.0487624229e-05,1793249840965475328
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767.039829096,746,718,679,662,639,880.039829096,784,813,651,630,654,0.404304462481,0.00447372113118,0.0698363429785,0.999999963531,2.61937831373e-05,-0.000267119716835,2.99664443071e-05,1793249840982141952
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745.460817414,718,679,661.460817414,639,880,784,813,651.539182586,630,654,0.403971758234,0.00447011578374,0.0698423012906,0.999999966872,2.19500180213e-05,-0.00025473949624,2.97009187777e-05,1793249840998808320
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880,784,813,651.883525907,630.116474093,654,0.403643831907,0.0044669035074,0.0698432730088,0.999999967851,1.5988173232e-05,-0.000251364647263,2.9310078176e-05,1793249841015474688
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880,784,813,651.309295941,630.690704059,654,0.403326598515,0.00446632781856,0.0698276604972,0.999999960841,7.35463585005e-06,-0.000278317997063,2.83542691372e-05,1793249841032141568
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.271594555,718,679.271594555,661.271594555,639,880.271594555,784,813,651,630.728405445,654,0.403031272999,0.00446584099064,0.0698155540754,0.999999954666,4.00482749699e-07,-0.000299834743272,2.76791062476e-05,1793249841048808192
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.860260819,718,679.860260819,661.860260819,639,880.860260819,784,813,651,630.139739181,654,0.402761523745,0.00446545790299,0.0698075408218,0.999999950002,-4.59308101621e-06,-0.000315004552234,2.73315823793e-05,1793249841065475072
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,661.558471174,639,880.558471174,784,813,651,630,654,0.402520354464,0.00446899972984,0.0698019295367,0.999999947096,-4.94985536299e-07,-0.000324147865064,2.71299449157e-05,1793249841082141952
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767.020434673,745.979565327,718,679.979565327,661,638.979565327,880,784,813,651,630,654,0.402289633874,0.00447373678726,0.069797228916,0.999999944766,6.46801828581e-06,-0.000331206843822,2.69927251933e-05,1793249841098808832
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767.597725414,745.402274586,718,679.402274586,661,638.402274586,880,784,813,651,630,654,0.402101219595,0.00447775192607,0.0697969699923,0.999999944215,1.43824562845e-05,-0.000332585598969,2.7373460555e-05,1793249841115475456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767.825689715,745,718,679,661,638.174310285,880,784,813,651.174310285,630,654,0.401924011718,0.00448410200952,0.0697974522994,0.999999944021,2.78537094378e-05,-0.000332317266701,2.73454420374e-05,1793249841132141568
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767.250727368,745,718,679,661,638.749272632,880,784,813,651.749272632,630,654,0.401772561769,0.00449581896095,0.0697996383252,0.999999944311,5.4097297063e-05,-0.000328263104911,2.63779029652e-05,1793249841148808192
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.668175859,880.331824141,784,813,652,630,654,0.401636391846,0.00450203362979,0.0697991607014,0.999999943606,6.87310238271e-05,-0.000327710763844,2.58915067987e-05,1793249841165475072
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.079755671,880.920244329,784,813,652,630,654,0.401512037787,0.00450399344383,0.0697966233061,0.999999942495,7.43869726507e-05,-0.000329866342833,2.57771731819e-05,1793249841182141952
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767.500168752,745,718,679,661,638.500168752,881,784,813.500168752,651.499831248,630,654,0.401408875116,0.00449934010904,0.0697958509652,0.999999943304,6.05348399841e-05,-0.00033033713697,2.46074528331e-05,1793249841198808320
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767.921451124,745,718,679,661,639,881,784,813.921451124,651.078548876,630,654,0.401312720762,0.00449459551163,0.0697955109944,0.999999944192,4.53946698402e-05,-0.000330175441085,2.32343168142e-05,1793249841215474944
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767.34441748,745,718,679,661,639,881,784,813.34441748,651.65558252,630,654,0.401239956006,0.00449585211375,0.0697961586136,0.99999994522,4.14917722336e-05,-0.000327676288753,2.16204248403e-05,1793249841232141824
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.231549157,718,679,661,639,881,784,813.231549157,651.768450843,630,654,0.401175041184,0.0044966229808,0.0697976518075,0.999999946121,3.88642424766e-05,-0.000325297041501,2.07384910538e-05,1793249841248808448
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.805935922,718,679,661,639,881,784,813.805935922,651.194064078,630,654,0.401121749178,0.00449667465603,0.0698003969811,0.999999946859,3.81250552349e-05,-0.000323095328942,2.09403133902e-05,1793249841265475072
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,767.980587212,746,718,678.019412788,661.980587212,639,881,784,813.019412788,651,630,654,0.401049923021,0.00449635998865,0.0698060290346,0.999999950502,4.04965494369e-05,-0.000311249381579,2.1889632744e-05,1793249841298808320
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767.438000527,745.438000527,718,678.561999473,661.438000527,639,881,784,813,651.561999473,630,654,0.401028762654,0.00449591296231,0.0698093911015,0.999999952558,3.97773420768e-05,-0.000304675477549,2.17882959049e-05,1793249841315474688
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,767.714052785,746,718,679.714052785,661.285947215,639,880,784.285947215,813,651.714052785,630,654,0.400980175954,0.0044943975182,0.0698140338999,0.999999954322,3.7457572183e-05,-0.000299129884635,2.17839391145e-05,1793249841365475072
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784,813.041585805,652,630,654,0.400969029529,0.00449614455195,0.0698195513668,0.999999957021,4.17023709049e-05,-0.000289395537577,2.16526053569e-05,1793249841415475200
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784,813.616920238,652,630,654,0.400968841728,0.00449452011647,0.0698206869705,0.99999995752,3.9151454405e-05,-0.000288020071963,2.17377434516e-05,1793249841432141568
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784,813.807912421,651.807912421,630,654,0.400968190411,0.00449421864978,0.0698214536273,0.999999957821,3.83165470112e-05,-0.000287087233989,2.16856120036e-05,1793249841448807936
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784,813.233078054,651.233078054,630,654,0.400966615506,0.0044965532831,0.0698214851336,0.99999995774,4.09008976657e-05,-0.000287036359981,2.13599622076e-05,1793249841465474560
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784,813,651,630,654,0.400966551082,0.00449718422561,0.0698224629056,0.999999958187,4.16951243012e-05,-0.00028537763326,2.1130834293e-05,1793249841482141184
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784,813,651,630,654,0.400967516807,0.00449665324976,0.0698240860315,0.999999958991,4.12684850703e-05,-0.000282622349929,2.09675343782e-05,1793249841498808064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.47646425,639,880,784,813.52353575,651,630,654,0.400966952722,0.00449642996442,0.0698233661238,0.999999958865,4.00218066327e-05,-0.000283252956297,2.08705514755e-05,1793249841515474688
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.100252922,639,880,784,813.899747078,651,630,654,0.400966586836,0.0044963939136,0.069822882367,0.999999958804,3.9250532051e-05,-0.00028357812253,2.08455282329e-05,1793249841532141312
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.675398959,639,880,784,813.324601041,651,630,654,0.400967900527,0.00449709580403,0.0698246517098,0.999999959502,4.11282739075e-05,-0.000280817033141,2.11292645874e-05,1793249841548808192
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.750999814,639,880,784,813,651.249000186,630,654,0.400967840031,0.00449699296009,0.0698253234626,0.999999959678,4.14391934483e-05,-0.000280132956337,2.12685611546e-05,1793249841565474816
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.179399934,639,880,784,813,651.820600066,630,654,0.400965999165,0.00449584751839,0.0698245731997,0.999999959185,3.97201693859e-05,-0.00028213981539,2.12207244423e-05,1793249841582141440
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.409229965,718,679,661,639,880,784,813,651.590770035,630,654,0.400965545591,0.00449602950627,0.0698240319054,0.999999958909,4.05703527314e-05,-0.000283002451371,2.11146697392e-05,1793249841598808064
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.994542835,717.994542835,679,661,639,880,784.005457165,813,651,630,654,0.400965741576,0.00449682064717,0.0698236035702,0.999999958739,4.25816715059e-05,-0.00028331861541,2.09781990275e-05,1793249841615474944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.41844765,717.41844765,679,661,639,880,784.58155235,813,651,630,654,0.400967504303,0.00449781682132,0.0698249918453,0.999999959319,4.31217133198e-05,-0.000281221181728,2.04458419759e-05,1793249841632141568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,717.156982346,678.843017654,661,639,880,784.843017654,813.156982346,651.156982346,630,654,0.400968335011,0.00449842668348,0.069825909081,0.999999959638,4.35241729446e-05,-0.000280035251451,2.02418056474e-05,1793249841648808448
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,717.730646684,678.269353316,661,639,880,784.269353316,813.730646684,651.730646684,630,654,0.400966691836,0.00449801114839,0.0698255760255,0.999999959277,4.35614448458e-05,-0.000281268746575,2.09092388912e-05,1793249841665474816
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,678.313358194,661.313358194,639,880,784,813.686641806,651.686641806,630,654,0.400965710348,0.00449829152712,0.0698249743737,0.999999959049,4.39336123142e-05,-0.000282017879465,2.09327524312e-05,1793249841682141440
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,678.904077551,661.904077551,639,880,784,813.095922449,651.095922449,630,654,0.400965314535,0.00449918787657,0.0698241349807,0.99999995894,4.46022042107e-05,-0.000282338291182,2.03863165252e-05,1793249841698808064
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.485428614,745.485428614,718,678.514571386,661.514571386,639,880.485428614,784,813.485428614,651.485428614,630,654,0.400966040767,0.00449763696802,0.0698250426648,0.999999959414,4.1368137194e-05,-0.000281140307854,2.04939496678e-05,1793249841715474688
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767.935455846,745.935455846,718,678.129088308,661,639,880.935455846,784,813.935455846,651.935455846,630,654,0.400967111411,0.00449581389693,0.069826240327,0.999999959995,3.77639714583e-05,-0.000279564036926,2.06668389414e-05,1793249841732141312
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767.359662387,745.359662387,718,679.280675226,661,639,880.359662387,784,813.359662387,651.359662387,630,654,0.400969187143,0.0044955929799,0.0698270521259,0.999999960646,3.72210831153e-05,-0.000277322978829,2.0352249302e-05,1793249841748807936
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.784293362,661,638.784293362,880.431413276,784,813.215706638,651.215706638,630,654,0.400969537432,0.00449591399861,0.0698269541002,0.999999960738,3.78354739023e-05,-0.000276920034424,2.01917878606e-05,1793249841765474816
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.209630544,661,638.209630544,881.580738912,784,813.790369456,651.790369456,630,654,0.400967016421,0.00449713684943,0.0698253420409,0.999999959898,4.03756861719e-05,-0.000279575884124,2.028781022e-05,1793249841782141440
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a2f6b070b9883f92a469d529bf47989417db95b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,403 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.575664438678,0.0101500285474,1.06003362195,0.546235116278,0.0188226588228,1.05970500209
+399,6.650000000,pose2_to_pose3_retreat,0.575664289377,0.0101499835695,1.06003332042,0.546234967848,0.0188226171809,1.05970471066
+400,6.666666667,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+401,6.683333333,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed6d6ca039a6bca372a6f3e90e20cc0960651704
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2f84c2f05b97ffd41f743445bc4a38fff622877562c35663c4a78d8ccdf74a8
+size 25404113
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..45c08c23bdb8a3091a5092cfd27839a2721c401e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,767,745,718,679,661,639,880,784.409434782,813,651,630,654,0.400968136748,0.00449843236539,0.0698265296327,0.999999960404,4.43003110451e-05,-0.000277157508643,2.03241740399e-05,1793249841919733248
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+22,0.366666667,BASELINE,767,745,718,679,661.776473197,639,880,784,813,651.223526803,630,654,0.40096574175,0.00449757075151,0.0698267060745,0.999999959973,4.47971370452e-05,-0.00027862754333,2.03418035566e-05,1793249842269732352
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+27,0.450000000,BASELINE,767,745,718,679,661.68200967,639,880.68200967,784,813,651.68200967,630,654,0.400967523861,0.00449858504913,0.0698277588273,0.999999960871,4.17310708195e-05,-0.000275928888588,1.94889803869e-05,1793249842353065728
+28,0.466666667,BASELINE,767,745.258402486,718,679,661.741597514,639,880.741597514,784,813,652,630.258402486,654,0.400968098823,0.00449782509939,0.0698284652977,0.999999961149,4.13714412228e-05,-0.000274961542693,1.96708287866e-05,1793249842369732352
+29,0.483333333,BASELINE,767,745.833173714,718,679,661.166826286,639,880.166826286,784,813,652,630.833173714,654,0.400967708303,0.00449751161579,0.0698288173448,0.999999961226,4.37263674727e-05,-0.000274275601895,2.0213586097e-05,1793249842386398976
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+32,0.533333333,BASELINE,767.584042789,746,718.584042789,679.584042789,661,639,881,784,813,651.584042789,630,654,0.400965042274,0.00449857898979,0.0698263166824,0.999999960219,4.35319485367e-05,-0.000277994556135,1.96289438843e-05,1793249842436399360
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+42,0.700000000,BASELINE,767,745,718,679,661,639,880,784,813,651.620900303,630,654,0.400966216455,0.00449756963928,0.0698272642969,0.999999960406,4.36608024711e-05,-0.000277282278795,1.99091405685e-05,1793249842603065856
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+55,0.916666667,BASELINE,767.907605861,746,718,679,661.092394139,639,881,784,813,651.092394139,630.092394139,654,0.400967510117,0.00450021088597,0.0698286215417,0.999999961101,4.66593883059e-05,-0.000274280806489,1.97727654051e-05,1793249842819732224
+56,0.933333333,BASELINE,767.501705886,745.501705886,718,679,661.498294114,639,881,784.498294114,813,651.498294114,630,654,0.400967584516,0.00450009498251,0.0698282575852,0.999999961019,4.63217708877e-05,-0.000274620711036,1.99827142746e-05,1793249842836399104
+57,0.950000000,BASELINE,767,745,718,679,661.910599124,639,880.910599124,784.910599124,813,651.910599124,630,654,0.40096782249,0.00449942645736,0.0698280661369,0.999999961014,4.53016695727e-05,-0.000274793108073,2.01989694797e-05,1793249842853065984
+58,0.966666667,BASELINE,767,745,718,679,661.336613432,639,880.336613432,784.336613432,813,651.336613432,630,654,0.400968107696,0.00449756705517,0.0698284718896,0.999999961258,4.29640342439e-05,-0.000274295785811,1.99862399337e-05,1793249842869732864
+59,0.983333333,BASELINE,767,745,718,679,661.23956831,639,880.23956831,784,813,651,630,654,0.400968136452,0.00449673734506,0.0698288537711,0.999999961381,4.21137209885e-05,-0.000273986842445,1.98729794024e-05,1793249842886399744
+60,1.000000000,BASELINE,767,745,718,679,661.818864315,639,880.818864315,784,813,651,630,654,0.400967801541,0.00449736782327,0.0698292018014,0.999999961338,4.33725532154e-05,-0.000273945035878,1.99007741375e-05,1793249842903066112
+61,1.016666667,BASELINE,767,745.403946714,718,679,661.596053286,639,881,784,813,651.403946714,630,654,0.400968077934,0.00449779802793,0.0698293718076,0.999999961404,4.39313384796e-05,-0.00027359721172,2.01807396848e-05,1793249842919732736
+62,1.033333333,BASELINE,767,745.991661491,718,679,661.008338509,639,881,784,813,651.991661491,630,654,0.400968632428,0.00449813712181,0.069829460825,0.999999961518,4.41716502918e-05,-0.000273110170537,2.05754256626e-05,1793249842936399360
+63,1.050000000,BASELINE,767,746,718,679.570980907,661,639,881,784,813,651.429019093,630,654,0.400969048145,0.0044981958868,0.069829194722,0.99999996162,4.24613626807e-05,-0.000273050328262,2.00208684579e-05,1793249842953065728
+64,1.066666667,BASELINE,767,745.85056576,718,679.85056576,661.14943424,639,880.85056576,784,813,651.14943424,630,654,0.400969317175,0.00449829858263,0.0698291307576,0.999999961718,4.12095663449e-05,-0.000272916311668,1.95562917583e-05,1793249842969732608
+65,1.083333333,BASELINE,767,745.274241438,718,679.274241438,661.725758562,639,880.274241438,784,813,651.725758562,630,654,0.400969172871,0.00449853830162,0.0698296588443,0.999999961815,4.13477437558e-05,-0.000272552836655,1.93877907132e-05,1793249842986399232
+66,1.100000000,BASELINE,767,745.301145157,718,679,661.698854843,639,880.301145157,784,813.301145157,651.698854843,630,654,0.4009685433,0.00449884530266,0.0698298068418,0.999999961727,4.23695152487e-05,-0.000272722436506,1.93297523545e-05,1793249843003065856
+67,1.116666667,BASELINE,767,745.875680419,718,679,661.124319581,639,880.875680419,784,813.875680419,651.124319581,630,654,0.40096747319,0.00449921338468,0.0698296097811,0.999999961469,4.41934443447e-05,-0.000273375980382,1.93719958951e-05,1793249843019732480
+68,1.133333333,BASELINE,767,745.537440227,718,679,661,639,880.537440227,784,813.537440227,651,630,654,0.400967560284,0.0044988625182,0.0698290201826,0.999999961276,4.49189529549e-05,-0.000273952584824,1.95228212065e-05,1793249843036399104
+69,1.150000000,BASELINE,767,745,718,679,661,639,880.051802335,784,813,651.051802335,630,654,0.400967783134,0.00449835577076,0.0698283141641,0.999999961094,4.51418999568e-05,-0.000274563347054,1.97133779925e-05,1793249843053065728
+70,1.166666667,BASELINE,767,745,718,679,661,639,880.630413071,784,813,651.630413071,630,654,0.400966136934,0.00449828270304,0.0698275265131,0.999999960845,4.33385456751e-05,-0.00027573753791,2.0003072076e-05,1793249843069732352
+71,1.183333333,BASELINE,767,745,718,679,661.208653696,639,880.791346304,784,813,651.791346304,630,654,0.400965523005,0.00449868762753,0.0698274424187,0.999999960887,4.26600034109e-05,-0.000275690886041,2.00114460546e-05,1793249843086398976
+72,1.200000000,BASELINE,767,745,718,679,661.786240002,639,880.213759998,784,813,651.213759998,630,654,0.400966734294,0.00449993771755,0.0698286023229,0.999999961446,4.39703057228e-05,-0.000273485592071,1.95224018103e-05,1793249843103065856
+73,1.216666667,BASELINE,767,745,718,679,661.638880351,638.638880351,880,784,813,651,630,654,0.40096688853,0.00450033317618,0.0698285383096,0.999999961305,4.51800425931e-05,-0.000273806942437,1.94689312398e-05,1793249843119732736
+74,1.233333333,BASELINE,767,745,718,679,661.06559099,638.06559099,880,784,813,651,630,654,0.400966421712,0.00450022651058,0.0698277552042,0.999999960752,4.63306938691e-05,-0.000275612779865,1.96713746067e-05,1793249843136399616
+75,1.250000000,BASELINE,767,745,718,679,661.510713693,638.510713693,880.510713693,784,813,651,630,654,0.400967568529,0.00449892953394,0.0698287192084,0.999999961186,4.38701338017e-05,-0.000274432765499,1.9744566412e-05,1793249843153066240
+76,1.266666667,BASELINE,767,745,718,679,662,639,880.910190916,784,813,651,630,654,0.400968623621,0.00449785339057,0.0698296226418,0.999999961611,4.15612695848e-05,-0.000273241664667,1.97495666642e-05,1793249843169732864
+77,1.283333333,BASELINE,767,745,718,679,662,639,880.317654536,784,813,651,630,654,0.400967998302,0.00449887423053,0.0698289235298,0.99999996132,4.27131394728e-05,-0.00027414783403,1.94663218408e-05,1793249843186399232
+78,1.300000000,BASELINE,767.268075803,745,718,679,661.731924197,639,880,784,813,651.268075803,630,654,0.400967640757,0.00449918537473,0.0698286176415,0.99999996114,4.36579197041e-05,-0.000274656713293,1.94350816566e-05,1793249843203066112
+79,1.316666667,BASELINE,767.845941011,745,718,679,661.154058989,639,880,784,813,651.845941011,630,654,0.400967592652,0.00449867639178,0.069828766164,0.99999996109,4.43633862691e-05,-0.000274706482559,1.96950590013e-05,1793249843219732736
+80,1.333333333,BASELINE,767.578635125,745,718,679,661,639,880,784,813.421364875,651.578635125,630,654,0.400968310767,0.00449815527586,0.0698291353546,0.99999996143,4.27952238919e-05,-0.000273721657799,1.96034284321e-05,1793249843236399360
+81,1.350000000,BASELINE,767.004098674,745,718,679,661,639,880,784,813.995901326,651.004098674,630,654,0.400969307413,0.00449762974942,0.0698295847611,0.999999961906,4.04005680796e-05,-0.000272360744747,1.93839838651e-05,1793249843253065984
+82,1.366666667,BASELINE,767,745.584163236,718,679,661,639,880,784,813.415836764,651,630,654,0.40096811808,0.00449772859247,0.0698289512742,0.999999961548,4.27917810102e-05,-0.000273283116307,1.97506550786e-05,1793249843269732608
+83,1.383333333,BASELINE,767,745.830560029,718,679,661.169439971,639,880,784,813,651,630,654,0.400966974486,0.00449777577149,0.0698282877636,0.999999961169,4.40737375908e-05,-0.00027444042883,2.00289990296e-05,1793249843286399232
+84,1.400000000,BASELINE,767,745.252716098,718,679,661.747283902,639,880,784,813,651,630,654,0.400965978995,0.00449768761073,0.0698275706404,0.999999960769,4.25991519031e-05,-0.000276124480674,2.00842957763e-05,1793249843303066112
+85,1.416666667,BASELINE,767,745,718,679,661.67471115,639,880,784,813.32528885,651,630,654,0.400966055788,0.00449859501583,0.069827761649,0.999999960767,4.30997085985e-05,-0.000276054294945,2.00416732004e-05,1793249843319732480
+86,1.433333333,BASELINE,767,745,718,679,661.096581083,639,880,784,813.903418917,651,630,654,0.400966966049,0.00450027625651,0.0698286585325,0.999999961075,4.51355083064e-05,-0.000274620571555,1.99229396795e-05,1793249843336399104
+87,1.450000000,BASELINE,767,745,718,678.521822984,661,639,880.478177016,784,813.521822984,651.478177016,630,654,0.400968723712,0.00449924353695,0.0698304406853,0.9999999618,4.44755097698e-05,-0.00027206668409,2.00280145716e-05,1793249843353065984
+88,1.466666667,BASELINE,767,745,718,678.054026037,661.054026037,639,880.945973963,784.054026037,813.054026037,651.945973963,630,654,0.400970297201,0.00449786545978,0.0698320616671,0.999999962468,4.34464694794e-05,-0.000269760009969,2.01439311641e-05,1793249843369732352
+89,1.483333333,BASELINE,767,745,718,678.647521373,661.647521373,639,880.352478627,784.647521373,813.647521373,651.352478627,630,654,0.400968334552,0.00449847410316,0.069830300373,0.999999961791,4.41312820034e-05,-0.000272165198482,1.99198856097e-05,1793249843386399232
+90,1.500000000,BASELINE,767,745,718,679,662,639,880,784.767206412,813.767206412,651,630,653.767206412,0.400967335974,0.00449895072792,0.0698291724323,0.999999961427,4.41581059487e-05,-0.000273510076646,1.9707354819e-05,1793249843403066112
+91,1.516666667,BASELINE,767,745,718,679,662,639,880,784.193960279,813.193960279,651,630,653.193960279,0.40096774732,0.00449923427997,0.0698289707489,0.999999961528,4.32226443651e-05,-0.000273304287501,1.95116639908e-05,1793249843419732736
+92,1.533333333,BASELINE,767.381390446,745.381390446,718,679,662,639,880,784,813,651,630,653.381390446,0.400967680082,0.00449957928981,0.0698289983544,0.999999961476,4.31588133395e-05,-0.000273518685104,1.93192372109e-05,1793249843436399360
+93,1.550000000,BASELINE,767.957817474,745.957817474,718,679,662,639,880,784,813,651,630,653.957817474,0.400967368104,0.00449995572814,0.0698291432145,0.999999961345,4.35407192615e-05,-0.000273947959039,1.91284795919e-05,1793249843453065984
+94,1.566666667,BASELINE,767.494912804,745.494912804,718,679,662,639,880.505087196,784,813,651,630,654,0.400967853053,0.0044988009556,0.0698291501104,0.999999961405,4.2748851603e-05,-0.00027385523423,1.91262193793e-05,1793249843469732864
+95,1.583333333,BASELINE,767,745,718,679,662,639,881,784,813,651.057280235,630,654,0.400968262338,0.00449767749323,0.0698291677756,0.999999961467,4.19986950171e-05,-0.00027374102604,1.91685315635e-05,1793249843486399488
+96,1.600000000,BASELINE,767,745,718,679,662,639,881,784,813,651.680915344,630,654,0.400967301345,0.0044980590022,0.0698293996278,0.999999961414,4.25773021243e-05,-0.000273821919237,1.95043933675e-05,1793249843503065856
+97,1.616666667,BASELINE,767.283913319,745,718,679,661.716086681,639,880.716086681,784,813.283913319,652,630,654,0.400966715127,0.0044984310497,0.0698292900119,0.999999961352,4.29012179546e-05,-0.000273996458458,1.95421476584e-05,1793249843519732736
+98,1.633333333,BASELINE,767.86528925,745,718,679,661.13471075,639,880.13471075,784,813.86528925,652,630,654,0.400966521568,0.00449879318419,0.069828822632,0.99999996128,4.29582877546e-05,-0.000274269112805,1.92675677298e-05,1793249843536399360
+99,1.650000000,BASELINE,767.558589514,745.441410486,718,679,661.441410486,639,880,784,813.558589514,651.558589514,630,654,0.400967463608,0.00449874536372,0.0698294337469,0.999999961485,4.28660181725e-05,-0.000273533020333,1.92726379041e-05,1793249843553065984
+100,1.666666667,BASELINE,767,745.983572055,718,679,661.983572055,639,880.016427945,784,813,651.016427945,630,654,0.400968684567,0.00449858572402,0.069830319947,0.999999961761,4.2776410346e-05,-0.000272529739013,1.93608255406e-05,1793249843569732608
+101,1.683333333,BASELINE,767,745.391705888,718,679,661.391705888,639,880.608294112,784,813,651.608294112,630,654,0.400967678805,0.00449884011556,0.0698294484256,0.999999961611,4.43576859885e-05,-0.000272823942301,1.94061796674e-05,1793249843586399488
+102,1.700000000,BASELINE,767,745,718,679,661.195349244,639,880.804650756,784,813,652,630,654,0.400966974523,0.00449904960406,0.0698287860088,0.999999961405,4.53639272837e-05,-0.000273409416698,1.94845611401e-05,1793249843603066112
+103,1.716666667,BASELINE,767,745,718,679,661.7729893,639,880.2270107,784,813,652,630,654,0.400966860229,0.00449917121904,0.0698285328019,0.999999961091,4.52448487249e-05,-0.0002745648972,1.96275758278e-05,1793249843619732480
+104,1.733333333,BASELINE,767,745.348698098,718,679,661.651301902,639,880.348698098,784,813,652,629.651301902,654,0.400966486702,0.00449869348905,0.069828450103,0.999999960947,4.39860453369e-05,-0.00027528809027,1.97112424201e-05,1793249843636399360
+105,1.750000000,BASELINE,767,745.923156585,718,679,661.076843415,639,880.923156585,784,813,652,629.076843415,654,0.400965945338,0.00449782772039,0.0698284777975,0.999999960909,4.1989340809e-05,-0.000275731404156,1.97564848159e-05,1793249843653066496
+106,1.766666667,BASELINE,767,745.489786342,718,679.510213658,661.510213658,639,880.489786342,784.510213658,813,651.489786342,629.510213658,654,0.400966333838,0.00449684469668,0.0698287190681,0.999999960991,4.0760033992e-05,-0.000275614887043,1.98026896456e-05,1793249843669733120
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662,639,880,784,813,652,630,654,0.400966881253,0.0044995131235,0.0698294785809,0.999999961466,4.2894643634e-05,-0.000273614594184,1.90344652538e-05,1793249843713287936
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.590450816,746,718,679,662,639,880.590450816,784,813,652,630,654,0.400965638494,0.00449977883617,0.0698279725292,0.999999960831,4.38902592547e-05,-0.00027576750056,1.90825297979e-05,1793249843729954560
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.823583218,745.823583218,718,679,661.823583218,639,880.823583218,784,813,651.823583218,630,654,0.400965379124,0.00449976498222,0.0698275363896,0.999999960619,4.46230023973e-05,-0.000276406835458,1.92130065216e-05,1793249843746620928
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.247770543,745.247770543,718,679,661.247770543,639,880.247770543,784,813,651.247770543,630,654,0.400967346081,0.00449911820805,0.0698295224598,0.999999961374,4.47606198778e-05,-0.00027361954533,1.95300589648e-05,1793249843763287552
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.338363744,718,679,661,639,880,784,813,651.338363744,630,654,0.400967669988,0.00449871499722,0.0698302280203,0.999999961614,4.38011784935e-05,-0.000272884373044,1.96995528506e-05,1793249843779954176
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.932293917,718,679,661,639,880,784,813,651.932293917,630,654,0.400966752896,0.00449849575003,0.0698299664105,0.999999961467,4.20131275876e-05,-0.000273699167312,1.9757595611e-05,1793249843796620544
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.512320451,745.487679549,718,679,661,639,880.512320451,784,813,651.487679549,630,654,0.40096657667,0.0044972192942,0.0698294825358,0.999999961442,4.05659559761e-05,-0.00027400732079,1.97341712754e-05,1793249843813287168
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.910042719,745.089957281,718,679,661.089957281,639,881.089957281,784,813,651,630,654,0.4009665628,0.00449627529619,0.0698291039154,0.999999961401,3.96505982825e-05,-0.00027429748161,1.96711822514e-05,1793249843829953536
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.335641404,745.664358596,718,679,661.664358596,639,881.664358596,784,813,651,630,654,0.40096690992,0.00449785420175,0.0698294461223,0.999999961186,4.13630090727e-05,-0.000274841793462,1.94515745234e-05,1793249843846620160
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,746,718,679,661.761415533,639,881.522831066,784.238584467,813.238584467,651.238584467,630,654,0.400972137612,0.00449822259274,0.0698318580108,0.999999962056,4.18748896595e-05,-0.000271581774767,1.94214698573e-05,1793249843863287040
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,746,718,679,661.187436344,639,880.374872689,784.812563656,813.812563656,651.812563656,630,654,0.400984226263,0.00449688927939,0.0698371793939,0.999999964401,4.06991015794e-05,-0.000262973744867,1.96577627976e-05,1793249843879953664
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.598500725,718,679,661.401499275,639,880.401499275,785,813.598500725,652,630.401499275,654,0.401014368095,0.0044971121447,0.0698487901021,0.999999969748,3.95526147821e-05,-0.000242001528894,1.93751750946e-05,1793249843896620544
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.002312614,718,679,661.997687386,639,880.997687386,785,813.002312614,652,630.997687386,654,0.401053263999,0.00449808960805,0.0698634505333,0.999999975965,3.84203361829e-05,-0.00021503386157,1.88409798013e-05,1793249843913287424
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.57238373,718,679,662,639,881,785,813,651.42761627,630.42761627,654,0.401113828062,0.00449764535942,0.0698818287655,0.999999981509,3.83510047003e-05,-0.000187485047414,1.90127184792e-05,1793249843929954304
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.857742076,718,679,661.857742076,639,881,785,813.142257924,651,630,654,0.401177061468,0.00449750728654,0.069897115989,0.999999985484,3.84167859116e-05,-0.000164931828152,1.88243816675e-05,1793249843946620672
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.301652051,718,679,661.301652051,639,881,785,813.698347949,651,630,654,0.401247814621,0.00449827599223,0.0699033692739,0.999999986779,3.88635724906e-05,-0.000156917505015,1.75805788565e-05,1793249843963287040
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.280521808,745,718,679,661.280521808,639,880.719478192,784.719478192,813.719478192,651,630.280521808,654,0.401325502336,0.00449932561216,0.0699074432757,0.999999987789,3.90056893999e-05,-0.00015046798157,1.61057134272e-05,1793249843979953664
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.893619638,745,718,679,661.893619638,639,880.106380362,784.106380362,813.106380362,651,630.893619638,654,0.401411411401,0.00450070827331,0.0699089336016,0.999999988505,3.87866014708e-05,-0.000145873625817,1.43569089911e-05,1793249843996620544
+125,2.083333333,POSE1_TO_POSE2_PRESS,768,745,718,679,662,638.523248116,880,784,813,651.476751884,630.523248116,654,0.401516405828,0.00450084269969,0.0699074289064,0.999999988112,3.56948135473e-05,-0.000149535875328,1.19013945881e-05,1793249844013287424
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.946366536,745.053633464,718,679,661.946366536,638.053633464,880.053633464,784,813,651.946366536,630,654,0.40162811341,0.00450093182703,0.0699055899026,0.999999987531,3.21981030828e-05,-0.000154323672553,9.2458197464e-06,1793249844029954048
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.369091331,745.630908669,718,679,661.369091331,638.630908669,880.630908669,784,813,651.369091331,630,654,0.401766244229,0.00450313721306,0.069906625877,0.999999987781,3.06362193138e-05,-0.000153176867151,6.08554242657e-06,1793249844046620416
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.79214552,718,679,661,639,881,784,813,651,630,654,0.401916850873,0.00450502402749,0.0699084180306,0.99999998816,2.87167307515e-05,-0.000151151520553,2.77348827858e-06,1793249844063287040
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.215783754,718,679,661,639,881,784,813,651,630,654,0.40208957602,0.00450634604293,0.0699115508217,0.999999988769,2.61632412448e-05,-0.000147568599613,-8.07652188101e-07,1793249844079953920
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.36889024,639,880.63110976,784.36889024,813,651,630,654,0.402282778376,0.00450644702233,0.0699162903479,0.99999998987,2.20297783256e-05,-0.000140542653068,-4.660789166e-06,1793249844096620544
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.958538649,639,880.041461351,784.958538649,813,651,630,654,0.402488235102,0.00450581728673,0.0699219914067,0.999999991178,1.69507980416e-05,-0.000131456266655,-8.67669970539e-06,1793249844113287168
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.537711386,745,718,678.462288614,662,639,880.537711386,785,813.537711386,651.537711386,630,654,0.40273888415,0.00450760646108,0.0699259848306,0.999999992322,9.41475071307e-06,-0.000122732904616,-1.42739722372e-05,1793249844129953792
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.884443457,745.115556543,718,678.115556543,662,639,881,784.884443457,814,651.884443457,630,654,0.402998869655,0.00450942023773,0.069929869145,0.999999993296,2.50257148793e-06,-0.000114053413807,-1.98588764896e-05,1793249844146620672
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.308729616,745.691270384,718,678.691270384,662,639,881,784.308729616,814,651.308729616,630,654,0.403282422876,0.00451060345589,0.069933833282,0.99999999413,-1.18528709538e-06,-0.000105439284173,-2.49182558248e-05,1793249844163287040
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.734724012,718,679,662,639,881,784,813.734724012,651,630,654,0.403586208995,0.00451253640958,0.0699391535472,0.999999995017,-3.43391227654e-06,-9.51244111827e-05,-3.00991645175e-05,1793249844179953664
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.162693779,718,679,662,639,881,784,813.162693779,651,630,654,0.403913391589,0.00451533632654,0.069946041983,0.999999995933,-4.01826690735e-06,-8.28428690215e-05,-3.54206044576e-05,1793249844196620800
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.425019489,718,679,662,639,881,784.425019489,813.425019489,651.425019489,630,654,0.404262904107,0.00451865227287,0.069950014058,0.999999996211,1.29887135937e-06,-7.79490182353e-05,-3.87266055096e-05,1793249844213287424
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.981559734,718,679,662,639.018440266,881.018440266,784.981559734,814,651.981559734,630,654,0.404623362988,0.0045218816053,0.0699530148686,0.99999999626,9.77016544745e-06,-7.56102062703e-05,-4.08455053673e-05,1793249844229953792
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.404079709,718,679,662,639.595920291,881.595920291,784.404079709,814,651.404079709,630,654,0.405046612177,0.00451626727821,0.0699617110303,0.999999996693,4.27540988481e-05,-6.17132198511e-05,-3.12608113768e-05,1793249844246620416
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745.172747923,718,679,662.172747923,639.827252077,881.827252077,784,814,651,630,654,0.405475256498,0.00450676712649,0.0699678467268,0.999999996638,5.93168974571e-05,-5.08714623723e-05,-2.48437756491e-05,1793249844263286784
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745.748055188,718,679,662.748055188,639.251944812,881.251944812,784,814,651,630,654,0.405916473187,0.00448821172916,0.0699680156981,0.999999997848,3.76130595168e-05,-4.71493928742e-05,-2.58084244362e-05,1793249844279953408
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.676195556,718,679,662.676195556,639,881,784.323804444,813.676195556,651,630,654,0.406367423806,0.00448692097122,0.0699568957169,0.999999997476,3.47622181281e-07,-6.58576453728e-05,-2.6671686134e-05,1793249844296620288
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.100101865,718,679,662.100101865,639,881,784.899898135,813.100101865,651,630,654,0.406825958573,0.00449908179588,0.0699369800524,0.999999993214,-4.90424941409e-05,-0.000102042275832,-2.74559530487e-05,1793249844313286912
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.48889553,745,718,679.48889553,662.48889553,639,881,785,813,651,630,654,0.407339030167,0.00450935346157,0.0699281237973,0.999999992842,-3.56973904212e-05,-0.000110218536272,-2.98779492085e-05,1793249844329953536
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.92146643,745.07853357,718,679.92146643,663,639,881.07853357,785,813,651,630,654,0.407876911123,0.00451780553175,0.0699245704598,0.999999993603,-1.08072515916e-05,-0.000107795710636,-3.25043077152e-05,1793249844346620416
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.344972628,745.655027372,718,679.344972628,663,639,881.655027372,785,813,651,630,654,0.408499378774,0.00451723917036,0.0699398941457,0.999999996556,3.63156754689e-06,-7.55151468367e-05,-3.42426175898e-05,1793249844363287040
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.769321616,718,679.230678384,663,639,882,785,813.230678384,651,630,654,0.409119352508,0.00452259302652,0.0699505374297,0.999999997828,2.04850128511e-05,-5.11682239716e-05,-3.61478740987e-05,1793249844379953664
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.194926418,718,679.805073582,663,639,882,785,813.805073582,651,630,654,0.409735610203,0.00453676816139,0.069954206792,0.999999997682,4.09363133017e-05,-3.86426351905e-05,-3.83018853831e-05,1793249844396620288
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.391230112,718,680,663,639,882.391230112,785,814,651.391230112,630,654,0.410354446052,0.00454231037734,0.0699493727199,0.999999996992,4.74036388855e-05,-4.71585014194e-05,-3.93012009455e-05,1793249844413287168
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.983428213,718,680,663,639,882.983428213,785,814,651.983428213,630,654,0.410974606234,0.00454341801511,0.0699401705839,0.999999995912,4.66876433166e-05,-6.64829912495e-05,-3.97073696709e-05,1793249844429954048
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,718,680,663,639.557486713,883,784.442513287,814,652,630,654,0.411677068848,0.00455311535574,0.0699490470487,0.999999996123,5.79555577499e-05,-5.20326214698e-05,-4.10761742938e-05,1793249844446620672
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.132204163,746,718,680,663.264408327,639.867795837,883.132204163,784,814,652,630,654,0.412402375867,0.00456241590539,0.0699650272032,0.999999996377,6.89595370399e-05,-2.67735187659e-05,-4.2124328469e-05,1793249844463287296
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.710910752,746,718,680,664.421821504,639.289089248,883.710910752,784,814,652,630,654,0.413196834357,0.00456954115233,0.0700032413355,0.999999995581,7.7906892453e-05,3.17066918358e-05,-4.19959283624e-05,1793249844479953920
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.705128696,746,718,680,664.705128696,639.294871304,884,784.294871304,814,652,630,654.294871304,0.413961951394,0.00457573251145,0.0700224762895,0.999999993519,8.68809411928e-05,6.02990494138e-05,-4.21611289389e-05,1793249844496620544
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.11592369,746,718,680,664.11592369,639.88407631,884,784.88407631,814,652,630,654.88407631,0.414697780567,0.00458099168625,0.0700227666721,0.999999992751,9.58816358695e-05,5.90580519237e-05,-4.26193950046e-05,1793249844513287168
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,680,663.534948701,640,884.465051299,784.534948701,814,651.534948701,629.534948701,654.534948701,0.415419270505,0.00458959371422,0.0699755628511,0.999999993853,9.8570931889e-05,-2.44434377249e-05,-4.44958022152e-05,1793249844529953792
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,680.04380794,663.04380794,640,885,784.04380794,814.04380794,651,629.04380794,654,0.416146575978,0.00459873142885,0.0699211045808,0.999999986623,0.000100680186792,-0.000120181837504,-4.66336998569e-05,1793249844546620160
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,680.620103401,663.620103401,640,885,784.620103401,814.620103401,651,629.620103401,654,0.41698726104,0.00460442807151,0.06991986831,0.999999985132,0.000114529385324,-0.000119753781516,-4.77279287189e-05,1793249844563286784
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718,681,664.195643795,639.804356205,885.195643795,785,814.804356205,651,630,654,0.417841873051,0.00460951060792,0.0699299306574,0.999999985754,0.000126161846089,-0.000101208554035,-4.83003801731e-05,1793249844579953664
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718,681,664.769723621,639.230276379,885.769723621,785,814.230276379,651,630,654,0.418723424068,0.00461340527126,0.0699618480513,0.999999988809,0.000133506444583,-4.76190742077e-05,-4.78635514697e-05,1793249844596620544
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,718.353751738,680.646248262,664.292496525,639.353751738,886,785,814.353751738,651.353751738,630,654,0.419601813478,0.00461493653668,0.0699884940619,0.999999989953,0.00013306691918,-6.55459726767e-06,-4.84097286637e-05,1793249844613287168
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,718.944443104,680.055556896,663.111113793,639.944443104,886,785,814.944443104,651.944443104,630,654,0.420478085238,0.00461488481998,0.0700116093478,0.999999990311,0.000127413659667,2.61207468925e-05,-4.96143141176e-05,1793249844629953792
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.523731699,746,718.476268301,680.523731699,664.571195098,640,887.047463399,785.523731699,815,651.476268301,630,654.523731699,0.421365137048,0.0045976256396,0.070022584078,0.999999991793,0.000110902683239,4.04909197366e-05,-4.97556792486e-05,1793249844646620416
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.89856202,746,718,681.10143798,665.89856202,640,887.89856202,785.89856202,815.10143798,651,630,654.89856202,0.42224193121,0.0045800601761,0.0700211512177,0.9999999938,9.29653473172e-05,3.54774156677e-05,-4.99795125006e-05,1793249844663287040
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.322719602,746,718,681.677280398,665.322719602,640,887.322719602,785.322719602,815.677280398,651,630,654.322719602,0.423065518082,0.00456941717282,0.0699675853219,0.999999994668,7.36290622729e-05,-5.13016821187e-05,-5.11052657691e-05,1793249844679953664
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718.25817937,682,664.483641259,640,887.25817937,785,815.74182063,651,630,654,0.423897964555,0.00456942211195,0.069910132141,0.999999987009,6.37624999449e-05,-0.000137888964749,-5.38757319884e-05,1793249844696620288
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718.845525289,682,663.308949421,640,887.845525289,785,815.154474711,651,630,654,0.424741706715,0.00458300267517,0.0698477228471,0.999999970959,6.59693860647e-05,-0.000224231703831,-5.87431301034e-05,1793249844713286912
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,719,682.426751253,663.853502506,640,888,785,815.426751253,651,629.573248747,654.426751253,0.42567551898,0.00458863775462,0.0698712487852,0.999999978526,8.00300788347e-05,-0.000182206840267,-5.78343053812e-05,1793249844729953536
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.005789712,746,718.994210288,683,664.994210288,640.005789712,888.005789712,785,815.994210288,651.005789712,629.005789712,655,0.426641209181,0.00459144177061,0.0699253791849,0.999999989191,9.81822904374e-05,-9.4686119203e-05,-5.48905441463e-05,1793249844746620160
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.584482014,746,718.415517986,683,664.415517986,640.584482014,888.584482014,785,815.415517986,651.584482014,629.584482014,655,0.427580728218,0.00459467794735,0.0699733310585,0.999999992518,0.000102616114631,-3.81855131385e-05,-5.45561795295e-05,1793249844763287040
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.838202536,746,718,682.838202536,664,640.838202536,889,785,815.161797464,652,629.838202536,654.838202536,0.42852152551,0.00459754000238,0.0700153284074,0.99999999284,0.000105248901357,1.68820536011e-05,-5.43801202539e-05,1793249844779953664
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.26439323,746,718,682.26439323,664,640.26439323,889,785,815.73560677,652,629.26439323,654.26439323,0.429465577778,0.00459944936879,0.0700421627548,0.999999990842,0.000103295406563,6.83004298869e-05,-5.46071805576e-05,1793249844796620288
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.317188423,746,718,682.317188423,664.317188423,640,889,785,816,652,629.317188423,654,0.430337534788,0.00460074758261,0.0700346779091,0.999999991572,0.000102110705963,5.7645351453e-05,-5.57298589778e-05,1793249844813286912
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.905411446,746,718,682.905411446,664.905411446,640,889,785,816,652,629.905411446,654,0.431147887013,0.00460152357205,0.0699978676263,0.999999993162,0.0001015829329,-6.05092749577e-06,-5.76178347707e-05,1793249844829953792
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.514118446,746,718,683,664.514118446,640,889.485881554,785,816,652,630,654,0.431963149076,0.00459955213388,0.0699262868842,0.999999984998,0.000104536663691,-0.000125840449423,-5.6924039836e-05,1793249844846620416
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.064815064,746,718.064815064,683,664,640,890.064815064,785,815.935184936,652,630,654.064815064,0.432792820465,0.00459648928705,0.0698626901261,0.999999966153,0.000106404471378,-0.000230710366623,-5.60713016577e-05,1793249844863287296
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.643343935,746,718.643343935,683,664,640,890.643343935,785,815.356656065,652,630,654.643343935,0.433729240718,0.00458894869137,0.0699151798641,0.999999985141,9.43779980189e-05,-0.000132139764429,-5.78798046048e-05,1793249844879953664
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+179,2.983333333,POSE1_TO_POSE2_PRESS,767.205679635,746,718.205679635,683,665.588640731,640,891,785,815.794320365,652,630,655,0.435528582752,0.00457792191851,0.0700090140001,0.999999994848,7.84315471956e-05,2.85768776259e-05,-5.77653843395e-05,1793249844913286656
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+192,3.200000000,POSE1_TO_POSE2_PRESS,767.342987939,746,718,684,663,639,891,785,817,652,630,654.657012061,0.444668032179,0.00463550730429,0.0698506076074,0.999999959149,0.000166186994107,-0.000225897711401,-5.52552376173e-05,1793249845129953792
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.931872971,746,718,684,663,639,891,785,817,652,630,654.068127029,0.445204410592,0.00463840490822,0.0698082955029,0.99999994186,0.000166830050658,-0.00029198849987,-5.64806002132e-05,1793249845146620416
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+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,684.189260099,662,638.189260099,891.189260099,784.189260099,817,652,630.189260099,655,0.447543295905,0.00465418789896,0.0697420880913,0.999999898607,0.000199355697857,-0.000399699290233,-5.73037428108e-05,1793249845229953792
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+234,3.900000000,POSE1_TO_POSE2_PRESS,768,746,718,685.289552734,659,637,892,784.710447266,817,652,630.289552734,655,0.451849784611,0.00466763227571,0.0696095463272,0.999999805071,0.00018803535626,-0.00059335456933,-4.93031682405e-05,1793249845829953792
+235,3.916666667,POSE1_TO_POSE2_PRESS,768,746,718,685.285261726,659,637,892,784.714738274,817,652,630,655,0.45184975993,0.0046671621906,0.0696091672351,0.999999804874,0.000187544710321,-0.00059385889303,-4.90908472678e-05,1793249845846620672
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,746,718,685.8610936,659,637,892,784.1389064,817,652,630,655,0.451849554442,0.00466618539672,0.0696085383497,0.999999804474,0.000187242751458,-0.000594643650537,-4.88930323465e-05,1793249845863287296
+237,3.950000000,POSE1_TO_POSE2_PRESS,768,746,718,685.550363641,659,637,892,784,817.449636359,652,630.449636359,655,0.451851154019,0.0046672604144,0.0696095440439,0.999999805007,0.000189235683382,-0.00059314358723,-4.85335757598e-05,1793249845879953664
+238,3.966666667,POSE1_TO_POSE2_PRESS,768,746.041058278,718,685,659,637,892,784,817.958941722,652,631,655,0.451852967827,0.00466877613487,0.0696107426843,0.999999805639,0.000191619670345,-0.000591336388263,-4.8214697744e-05,1793249845896620288
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,746.617335207,718,685,659,637,892,784,817.382664793,652,631,655,0.45185009364,0.00466753346575,0.0696076823961,0.999999803813,0.0001895907015,-0.000594994351367,-4.90946673974e-05,1793249845913286912
+240,4.000000000,POSE1_TO_POSE2_PRESS,768,747,718,685,659,637.192884981,892,784,817,652,631,655,0.451848194861,0.00466607481802,0.0696058047351,0.999999802716,0.000186948487893,-0.000597631633383,-4.95479571396e-05,1793249845929953792
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,747,718,685,659,637.766997536,892,784,817,652,631,655,0.451848223928,0.0046641892994,0.0696062644782,0.999999803077,0.000183094226638,-0.000598251589787,-4.91579352063e-05,1793249845946620672
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,746.648996047,717.648996047,685,659,637.648996047,892,784,817,652,631,655,0.451849416208,0.0046637385565,0.0696072322896,0.999999804036,0.000182534787171,-0.000596841598466,-4.88864007004e-05,1793249845963287552
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+244,4.066666667,HOLD_POSE2,768,746,718,685,659,637,892,784,817,652,630,655,0.451849537127,0.00466721432163,0.0696058545558,0.999999801708,0.0001890739653,-0.000598655320388,-4.94605425277e-05,1793249846010398976
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+247,4.116666667,HOLD_POSE2,768,746,718,685.724793681,659,637,892,784,817,652,630.724793681,654.275206319,0.451854859493,0.00466344114769,0.0696101233197,0.999999806057,0.000186294007885,-0.000592333487591,-4.81792719843e-05,1793249846060398592
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+251,4.183333333,HOLD_POSE2,768,746,718,685.059417957,658.940582043,637,892,784,817,652,631,655,0.451853588214,0.00466370384291,0.0696087333938,0.999999805711,0.000183869566385,-0.000593669100111,-4.82461175933e-05,1793249846127065088
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+253,4.216666667,HOLD_POSE2,768,746,718,685.785315958,658.214684042,637,892,784,817,652,630.785315958,655,0.451853555951,0.00466134846143,0.0696088248042,0.999999805458,0.000182514678905,-0.000594544714161,-4.78367098206e-05,1793249846160398336
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+256,4.266666667,HOLD_POSE2,768,746,718,685,659,637,892,784,817,652,630,655,0.451853897055,0.00466233260854,0.0696084410626,0.999999805852,0.000180666755263,-0.000594359816901,-4.8907812397e-05,1793249846210398208
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+263,4.383333333,POSE2_TO_POSE3_RETREAT,767.267665379,746,718,685,659,637,892,784,817,652,630.732334621,655,0.451853185295,0.00464524420476,0.0696073011958,0.999999807404,0.000162551657182,-0.000597064354364,-4.77754100347e-05,1793249846347650304
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,746,718,685,658,637,891.528884806,784,817.471115194,652,630.528884806,654.528884806,0.451854578995,0.00463465764499,0.0696085155997,0.999999810297,0.000150298194272,-0.000595434530378,-4.76877707046e-05,1793249846397649920
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,746,718,685,658.059458816,637.059458816,891.059458816,784.059458816,817.940541184,652,630.059458816,654.059458816,0.451854752122,0.00463356260823,0.0696084190713,0.999999810625,0.000148433218917,-0.0005953326226,-4.7929951358e-05,1793249846414316544
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,746,718,685,658.638476252,637.638476252,891.638476252,784.638476252,817.361523748,652,630.638476252,654.638476252,0.451853055096,0.00463288532625,0.0696070835248,0.999999809766,0.000148729617933,-0.000596689169419,-4.80553704907e-05,1793249846430983424
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,746,718,685,658.783861323,637.783861323,891.783861323,784.783861323,817,652,631,655,0.451848148514,0.00463211605511,0.0696047207571,0.999999807887,0.000148596934312,-0.00059985245645,-4.81859863207e-05,1793249846447650048
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,746,718,685,658.208451291,637.208451291,891.208451291,784.208451291,817,652,631,655,0.451837906921,0.00463119387727,0.0696006505154,0.999999804288,0.000147751018288,-0.000606018954116,-4.83252402232e-05,1793249846464316672
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,746,717.625947707,685,658.374052293,637,891.374052293,784,817,652,631,655,0.451807492101,0.00463208570366,0.069586527085,0.999999789783,0.000148270970328,-0.000629377296306,-4.8316236519e-05,1793249846480983040
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746,717.039414569,685,658.960585431,637,891.960585431,784,817,652,631,655,0.451765617853,0.0046340079772,0.0695666929285,0.999999768198,0.000149566805119,-0.000662501486046,-4.82230148774e-05,1793249846497649408
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,717.541533575,685.541533575,659,637,892,784,817,652,631,654.458466425,0.45170367804,0.00463277644483,0.0695458299148,0.999999745787,0.000149383531184,-0.000695591732715,-4.75754781513e-05,1793249846514316288
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.878875602,637,892,784.121124398,817,652.121124398,631,654.121124398,0.451638182618,0.00463128401113,0.069526495692,0.99999972469,0.000149072789556,-0.000725392388194,-4.69298562204e-05,1793249846530982912
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.302871008,637,892,784.697128992,817,652.697128992,631,654.697128992,0.451564762816,0.00462966501624,0.0695131811591,0.999999711956,0.00014868351259,-0.00074284824612,-4.64413928112e-05,1793249846547649792
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.726901507,746,717.726901507,685.726901507,658.273098493,637,892,784.726901507,817,652.726901507,630.726901507,655,0.451485290807,0.0046288220031,0.0695054857608,0.999999704005,0.00014985713811,-0.000753296590302,-4.55691080991e-05,1793249846564316416
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.150970952,746,717.150970952,685.150970952,658.849029048,637,892,784.150970952,817,652.150970952,630.150970952,655,0.451399107661,0.00462883945673,0.0695040212807,0.999999701603,0.000152763827009,-0.000755974477599,-4.42712136234e-05,1793249846580983040
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767.435279114,746,717,685,658.564720886,637,891.564720886,784,817,652,630,655,0.451297600394,0.00462969539352,0.0695068869501,0.999999702536,0.000154340030644,-0.000754507368989,-4.2721874795e-05,1793249846597649664
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,746,717.024734318,685.024734318,658.024734318,637,891.024734318,784,817,652,630.024734318,655,0.451189578214,0.00463088543344,0.0695113494576,0.999999704715,0.000155750151175,-0.00075141729812,-4.10460863175e-05,1793249846614316288
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,718,685.818455161,659,637.181544839,892,784,817,652,631,655,0.450914871864,0.00463512645396,0.0695214342593,0.999999710382,0.000171347606368,-0.000740635402405,-3.65493034419e-05,1793249846647649536
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,718,685.243877908,659,637.756122092,892,784,817,652,631,655,0.450749117613,0.00463787884007,0.0695225775362,0.999999709271,0.000176571446713,-0.000740949779256,-3.56836580497e-05,1793249846664316160
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,746,718,685,659,637.095897371,891.095897371,784,817,652,631,655,0.450368552233,0.00468370158866,0.0695283778702,0.999999698489,0.000228861198431,-0.000740861053742,-4.20621282696e-05,1793249846697649664
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,717.759245134,684.759245134,659.240754866,637,891,784,817,652,631,655,0.44939029088,0.00467112221609,0.0695727995582,0.999999740017,0.000239053703526,-0.000679961026377,-2.17318869465e-05,1793249846764316416
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.435667784,746,718,683.435667784,660,638,891,784.435667784,817.435667784,652,630,655,0.448016868624,0.00466879997225,0.0696080730494,0.999999769038,0.000265387391659,-0.000625694486071,6.29536758953e-07,1793249846830983168
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.14370113,746,718,683.14370113,660.14370113,638,891.14370113,784,817,652,630,655,0.447591017505,0.0046691675302,0.0696024729887,0.999999763506,0.000272417984547,-0.000631462395602,5.61726476545e-06,1793249846847649792
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.721616232,746,718,683.721616232,660.721616232,638,891.721616232,784,817,652,630,655,0.447142156902,0.00467042893352,0.0695962245643,0.999999755647,0.000280224278069,-0.000640369820962,1.03743208891e-05,1793249846864316672
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,746,718,684,661,638,891.702894905,784,817,652,630,655,0.446681997349,0.00466680131007,0.0695950602497,0.999999756044,0.000280928363724,-0.000639336351905,1.54716707831e-05,1793249846880983040
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,746,718,684,661,638,891.129660917,784,817,652,630,655,0.446211336521,0.00465862983485,0.0695986210959,0.9999997641,0.000275031672203,-0.000629063836075,2.08852895909e-05,1793249846897649408
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.544307737,746,718,684,661.455692263,638,891.455692263,784,817,652,630,655,0.445735512448,0.00465595659322,0.0696173353938,0.999999794476,0.000228900913186,-0.000598807436184,9.0389501618e-06,1793249846914316032
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.043892337,746.043892337,718,683.956107663,662,638,891.956107663,784.043892337,817,652,630.043892337,654.956107663,0.44525234739,0.00465452502539,0.0696406232081,0.999999826509,0.000175706958439,-0.000562204055638,-5.88879705897e-06,1793249846930982912
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.623600518,746.623600518,718,683.376399482,662,638,891.376399482,784.623600518,817,652,630.623600518,654.376399482,0.444697991249,0.00464863142202,0.0696656690247,0.999999848917,0.000179859315261,-0.000519429926922,3.15718935178e-06,1793249846947649536
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767.797925177,746.797925177,718,683,662,638,890.797925177,785,817,652,630.797925177,654,0.444125908172,0.00464373558175,0.0696860941486,0.999999866646,0.000180085191388,-0.000483914508175,1.01926903945e-05,1793249846964316160
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.221735265,746.221735265,718,683,662,638,890.221735265,785,817,652,630.221735265,654,0.443521006025,0.00464068696966,0.0696979646632,0.99999987829,0.00017304170259,-0.000461837644881,1.35060403601e-05,1793249846980982784
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.353498759,746,718,682.646501241,662.353498759,638.353498759,890,785,817,652,630,654,0.442895327432,0.00463660923693,0.0697121737999,0.999999888826,0.000155259412847,-0.000445008823846,1.44992946702e-05,1793249846997649664
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767.92813479,746,718,682.07186521,662.92813479,638.92813479,890,785,817,652,630,654,0.442256651797,0.00463188772008,0.0697278459016,0.999999898272,0.000130759280395,-0.000431463007189,1.40411728312e-05,1793249847014316288
+304,5.066666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,663,639,889.481271903,785,816.481271903,652,630,654.518728097,0.441613243571,0.0046232971737,0.0697459248092,0.999999915227,0.000113122449118,-0.00039555813414,1.68271893704e-05,1793249847030983168
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.891238639,746,718,682.108761361,663.108761361,639,889,785.108761361,816.108761361,652,630,655,0.440957862336,0.00461489738205,0.0697662178753,0.999999932538,9.62058995818e-05,-0.000353963016121,1.94769623338e-05,1793249847047649792
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.313456807,746,718,682.686543193,663.686543193,639,889,785.686543193,816.686543193,652,630,655,0.440253766298,0.00460970508748,0.0697945756664,0.999999951269,7.81649153447e-05,-0.000301611627849,1.95394986468e-05,1793249847064316416
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,683,663.737167089,639,889.262832911,786,816.737167089,652,630,655,0.439506635108,0.00460366303171,0.0697964479444,0.999999948012,0.000121782198701,-0.000297895088406,2.00776834519e-05,1793249847080983040
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,683,663.162646759,639,889.837353241,786,816.162646759,652,630,655,0.438708469442,0.00459661326327,0.0697669116739,0.99999990943,0.000238518580197,-0.00035185347233,2.1179928534e-05,1793249847097649664
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.422095037,746,718,683,663,639,889.155809927,785.577904963,816.422095037,652,630,654.577904963,0.437917458612,0.0045912511616,0.0697334058084,0.999999889213,0.000248508486423,-0.000399280011291,1.98250425368e-05,1793249847114316288
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.989329097,746,718,683,663.010670903,639,888,785,816.989329097,652,630,654.010670903,0.437129217765,0.00458658125874,0.0696995910216,0.999999878544,0.000216522274542,-0.000442402220323,1.75945113916e-05,1793249847130983168
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.411505299,746,718,683,663.588494701,639,888,785,816.411505299,652,630,654.588494701,0.436338028566,0.00458327982573,0.0697326727731,0.999999903423,0.000193970876448,-0.000393845002955,2.03952757062e-05,1793249847147649792
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.165624313,746,718,683,663.834375687,639,887.834375687,785,816,652,630,654.834375687,0.435536940534,0.00457943471548,0.0697684663455,0.999999926129,0.000169697851523,-0.000344116223177,2.30057023827e-05,1793249847164316416
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.741036338,746,718,683,663.258963662,639,887.258963662,785,816,652,630,654.258963662,0.434711360858,0.00457424443908,0.069810969504,0.999999947237,0.000141165179252,-0.000291488767902,2.51451955412e-05,1793249847180983040
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.683522157,746,718,683,663,639,887,785,816,651.683522157,630,654,0.43387220268,0.00456810098644,0.0698308288081,0.999999956314,0.00012113013558,-0.000268277475856,2.69467402337e-05,1793249847197649664
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.108056555,746,718,683,663,639,887,785,816,651.108056555,630,654,0.433021932657,0.00456117750793,0.0698321576466,0.99999995754,0.000108049077386,-0.000269138729122,2.84717267557e-05,1793249847214316288
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.520065793,663,639,886.520065793,785,815.520065793,651,630,654,0.43216463881,0.00455647747024,0.0698325346444,0.999999957928,0.000119489263753,-0.000262733598406,2.89516785159e-05,1793249847230982912
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.069487532,746,718,682,663,639,885.930512468,785,815.069487532,651.069487532,630,654.069487532,0.431290153879,0.00455231994712,0.0698242592403,0.999999954473,0.000132557174363,-0.000269506039712,2.91309585825e-05,1793249847247649536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.64925153,746,718,682,663,639,885.35074847,785,815.64925153,651.64925153,630,654.64925153,0.430301352103,0.00454837167785,0.0697540614815,0.999999918601,0.000115949223197,-0.000385382899209,2.8876400016e-05,1793249847264316160
+319,5.316666667,POSE2_TO_POSE3_RETREAT,768,746,718,682,663,639,885,785,815.77405456,652,630,654.77405456,0.429354005353,0.00454228241177,0.0697172279031,0.999999895963,0.000102585851958,-0.000443541465667,2.86702969906e-05,1793249847280983040
+320,5.333333333,POSE2_TO_POSE3_RETREAT,768,746,718,682,663,639,885,785,815.202062555,652,630,654.202062555,0.428470148864,0.00453291410307,0.0697314931989,0.999999909748,9.41917139287e-05,-0.000413301648931,2.85384064395e-05,1793249847297649664
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767.627318382,746,718,681.627318382,663.372681618,639,885,785,815.372681618,652,629.627318382,654,0.427616851062,0.00452696056743,0.0697813701883,0.999999939019,9.00903340837e-05,-0.000336064688757,3.00958778037e-05,1793249847314316288
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.051070956,746,718,681.051070956,663.948929044,639,885,785,815.948929044,652,629.051070956,654,0.42678024505,0.00452287224653,0.0698506989631,0.999999968387,8.83337403801e-05,-0.000233156991452,3.2576110623e-05,1793249847330982912
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745.460158223,718,681,663.460158223,639,884.460158223,785.539841777,815.460158223,652,629.539841777,654,0.425904726981,0.00451496858124,0.0698579216169,0.999999970617,7.82748181172e-05,-0.000226951871267,3.36414243649e-05,1793249847347649536
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,663,639.129270431,884,785.870729569,815,651.870729569,630,654,0.425014554466,0.0045071261291,0.0698518865348,0.999999968572,6.79021433076e-05,-0.000238934499115,3.39940156955e-05,1793249847364316160
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,663,639.708567791,884,785.291432209,815,651.291432209,630,654,0.424086538945,0.00450078841843,0.0698207228363,0.999999958102,5.92478649956e-05,-0.000281496277947,3.23444231667e-05,1793249847380982784
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.285432994,718,680.714567006,663,639.714567006,883.714567006,785,815,651,630,654,0.423113574551,0.00449479695717,0.06977063517,0.999999930086,5.22289361896e-05,-0.000368880953989,3.20342615664e-05,1793249847397649664
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745.859835868,718,680.140164132,663,639.140164132,883.140164132,785,815,651,630,654,0.422095104366,0.00448915603617,0.069701389045,0.999999872531,4.68656208952e-05,-0.000501643934558,3.30801279101e-05,1793249847414316288
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.443352264,662.556647736,639,883,785,815,651,630,654,0.421211861311,0.00448042757739,0.0696873419821,0.999999863458,3.81038113328e-05,-0.00052009131955,3.37096061802e-05,1793249847430983168
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,662.029604483,639,883,785,815,651,630,654,0.420376060849,0.00447086910563,0.0696952079862,0.999999876264,2.78406177352e-05,-0.000495514915325,3.40933223965e-05,1793249847447649536
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,662.612011987,639,883,785,815,651,630,654,0.419611103229,0.00446442130746,0.0697795554704,0.999999935854,1.00258383329e-05,-0.000356569368784,3.2397619933e-05,1793249847464316160
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767.192330132,746,718,680.807669868,663.192330132,639,883,785,814.807669868,651,630,654,0.41882881538,0.0044576145801,0.0698452987518,0.999999967849,-3.10603601503e-06,-0.000251423606184,3.28443946462e-05,1793249847480982784
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767.768478807,746,718,680.231521193,663.768478807,639,883,785,814.231521193,651,630,654,0.418011942782,0.00445009156403,0.069873915063,0.99999997643,-6.89259754551e-06,-0.000213729475376,3.75667480396e-05,1793249847497649408
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.658162945,746,718,680,663.316325889,639,882.658162945,785,814.341837055,651,630,654,0.417165723952,0.0044425806366,0.0698608313894,0.999999972558,-5.29561922583e-06,-0.000231061789579,3.82818480092e-05,1793249847514316032
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.086679344,746,718,680,662.173358688,639,882.086679344,785,814.913320656,651,630,654,0.416299790336,0.00443507783078,0.0698197336142,0.999999958626,-8.19721221502e-08,-0.000285360937608,3.63048699594e-05,1793249847530982656
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745.497136969,718,680,662,639,882,785,814.497136969,651,629.497136969,654,0.415478041641,0.00443582157323,0.0697943948311,0.999999947866,-4.75793727824e-06,-0.000320958656423,3.50882629757e-05,1793249847547650048
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.093085881,745.093085881,718,680,662,639,882,785,814,651,629.093085881,654,0.414665174281,0.00444156542541,0.0697716459567,0.999999935845,-5.63847511895e-06,-0.000356516849373,3.42759181609e-05,1793249847564317184
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.670061859,745.670061859,718,680,662,639,882,785,814,651,629.670061859,654,0.413857408579,0.00446563693404,0.0697477135286,0.999999915398,2.24024343615e-05,-0.000409251060868,3.485835284e-05,1793249847580983808
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.752443237,746,718,680,662,639,882,785,814.247556763,651,630,654.247556763,0.413110165185,0.00448115243952,0.0697518763595,0.999999916991,4.20254897892e-05,-0.00040380831197,3.45136821836e-05,1793249847597650176
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.174255314,746,718,680,662,639,882,785,814.825744686,651,630,654.825744686,0.412443754068,0.0044852407406,0.0697935625791,0.999999946774,5.0405849189e-05,-0.000320665738209,3.29307907178e-05,1793249847614316800
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.400981588,745.599018412,718,680,662.400981588,639,882,785,814.599018412,651.400981588,630,654.599018412,0.411786253745,0.00447410435534,0.0698380087035,0.999999968571,3.22043060193e-05,-0.000246389408901,3.33751680906e-05,1793249847630983424
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767.974945478,745.025054522,718,680,662.974945478,639,882,785,814.025054522,651.974945478,630,654.025054522,0.411132597455,0.00445640008466,0.0698836454465,0.999999983918,2.53540738029e-06,-0.000175937944066,3.46941031574e-05,1793249847647649792
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767.43561273,745,718,680,661.87122546,639,882,785,814,652,630,654,0.41045753325,0.00445621676193,0.0698615183372,0.999999976288,7.06554951617e-07,-0.000215062364493,3.42369186062e-05,1793249847664316416
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.151607411,718.151607411,680,661,639,881.848392589,785,814,651.848392589,630,654,0.409785219814,0.00445712612781,0.0698320110525,0.999999963874,3.51133354523e-06,-0.000266655610393,3.36682998949e-05,1793249847680983040
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745.730573732,718.730573732,680,661,639,881.269426268,785,814,651.269426268,630,654,0.409123414671,0.00445886130249,0.0697904189205,0.999999941769,1.57956158008e-05,-0.000339298148309,3.30140876984e-05,1793249847697649664
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.693138486,718.693138486,679.693138486,661,639,881,784.693138486,814,651.306861514,630,654,0.408507306606,0.00445982676747,0.0697678974711,0.999999929498,1.55088414528e-05,-0.000373841172975,3.17074163532e-05,1793249847714316288
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.119182162,718.119182162,679.119182162,661,639,881,784.119182162,814,651.880817838,630,654,0.407930973697,0.00446012227063,0.0697619753046,0.99999992915,4.28011434375e-06,-0.000375222061681,2.9832839295e-05,1793249847730982656
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.468265392,718,679,661,639,881,784,813.531734608,651.531734608,630,654,0.407400585725,0.00446794551945,0.0697799909562,0.999999938704,1.47117778658e-05,-0.000348525303368,3.00975379635e-05,1793249847747649280
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,661.057987113,639,881,784.057987113,813.057987113,651,630,654,0.406884122937,0.00447710490255,0.0698022515971,0.999999948527,2.94823145529e-05,-0.000317998772116,3.08724546349e-05,1793249847764316160
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,661.636387696,639,881,784.636387696,813.636387696,651,630,654,0.406384572307,0.00448055054863,0.0698063083651,0.999999948069,3.22480021361e-05,-0.000319139303834,3.11948737442e-05,1793249847780982784
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,661.786500872,639,881,785,814,651,630,654,0.405904723446,0.00448192506677,0.0698069398338,0.99999994661,3.21736703977e-05,-0.00032367099054,3.13483805478e-05,1793249847797649152
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,661.211571885,639,881,785,814,651,630,654,0.4054582275,0.00447979339934,0.0698017726579,0.999999943381,2.72915070968e-05,-0.00033394351869,3.12159379002e-05,1793249847814316032
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.637872394,718.362127606,679,661,639,881,784.637872394,813.637872394,651,629.637872394,654,0.405055239112,0.00447904544949,0.0698092340817,0.999999948121,2.86948947253e-05,-0.000319324505739,3.10900994163e-05,1793249847830982656
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.064888747,718.935111253,679,661,639,881,784.064888747,813.064888747,651,629.064888747,654,0.404677583828,0.00447910319669,0.0698240487596,0.999999956839,3.37581696141e-05,-0.000290211895905,3.09681063055e-05,1793249847847649280
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767.525551068,745.525551068,718.474448932,679,661.525551068,639,881,784,813,651.525551068,629.525551068,654,0.404325034839,0.00447664533216,0.0698377128189,0.99999996381,2.81280060437e-05,-0.000265874565411,2.99756553041e-05,1793249847864315904
+355,5.916666667,POSE2_TO_POSE3_RETREAT,768,746,718,679,661.884707799,639,881,784,813.115292201,651.884707799,630,654,0.403979831693,0.0044735131723,0.0698469543923,0.999999968391,1.99606467481e-05,-0.000248959583339,2.89611203141e-05,1793249847880982784
+356,5.933333333,POSE2_TO_POSE3_RETREAT,768,746,718,679,661.30671736,639,881,784,813.69328264,651.30671736,630,654,0.403651241437,0.00446896422118,0.0698390370899,0.999999965934,7.09159284417e-06,-0.000259384959135,2.8304095169e-05,1793249847897649664
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767.728883392,745.728883392,718,679,661.271116608,639,881,784,814,651,630,654,0.403338149314,0.00446661457189,0.0698305415988,0.99999996232,-2.69989650927e-06,-0.000273100905474,2.77235871393e-05,1793249847914316288
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767.151226373,745.151226373,718,679,661.848773627,639,881,784,814,651,630,654,0.403042580313,0.00446675158309,0.0698213923741,0.999999957383,-9.01170929944e-06,-0.000290537364095,2.72295939075e-05,1793249847930982912
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.421350122,661.578649878,639,881,784,813.578649878,651,630,654,0.402774947067,0.00446739652779,0.0698118159751,0.999999951905,-1.42112022699e-05,-0.000308636208176,2.70670415235e-05,1793249847947649536
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.992124884,661.007875116,639,881,784,813.007875116,651,630,654,0.402517220768,0.00446822160246,0.0698020880862,0.999999945999,-1.90162298341e-05,-0.000326969955528,2.7022028992e-05,1793249847964316160
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.411550566,661.588449434,639,881,784,813.588449434,651,630,654,0.402301331155,0.0044681611531,0.0697962183076,0.99999994319,-1.89930662924e-05,-0.000335376621443,2.79516812543e-05,1793249847980983040
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.178659142,661.821340858,639,880.821340858,784,814,651,630,654,0.402100510969,0.00447055902001,0.069793245422,0.999999942024,-1.53241151974e-05,-0.000338941827068,2.88961933927e-05,1793249847997649664
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.75448075,661.24551925,639,880.24551925,784,814,651,630,654,0.401931889274,0.00447844930828,0.0697965923925,0.999999944418,-3.70067290873e-06,-0.000332053117112,2.98434265013e-05,1793249848014316288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.328224915,718,679.671775085,661,639,880,784,813.671775085,651,630,654,0.4017792047,0.00449235706782,0.0697980620197,0.999999944279,4.85970127263e-05,-0.00032887381532,3.03659726243e-05,1793249848030982912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.900424941,718,679.099575059,661,639,880,784,813.099575059,651,630,654,0.401638366438,0.00451073771601,0.0697981361863,0.999999936995,0.000131128550057,-0.00032845177669,3.05728416921e-05,1793249848047649792
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,661,639,880,784,813,651,630,654,0.401520173719,0.00451288474324,0.0697976794738,0.999999938246,0.000123995549912,-0.000327757087483,2.65999932271e-05,1793249848064316672
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.9202086,718,679,661.0797914,639,880,784,813.0797914,651,630,654,0.401410399471,0.00451076535487,0.0697970095909,0.999999941442,9.78021258638e-05,-0.000327212702688,2.19607380932e-05,1793249848080983040
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.342001741,718,679,661.657998259,639,880,784,813.657998259,651,630,654,0.401323408534,0.0045033599886,0.0697957068018,0.999999943556,7.05502991024e-05,-0.000327966009813,1.86594627499e-05,1793249848097649664
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767.235356016,745,718,679,661.764643984,639,880.235356016,784,813.764643984,651.235356016,630,654,0.401244496029,0.00450164200544,0.0697952073018,0.999999944284,5.80533353772e-05,-0.000328294107767,1.68611837294e-05,1793249848114316544
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.811484323,745,718,679,661.188515677,639,880.811484323,784,813.188515677,651.811484323,630,654,0.401177280302,0.00450815879235,0.0697958708849,0.999999943818,6.69199592778e-05,-0.000328006545011,1.72390953091e-05,1793249848130983168
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.614892758,745,718,679,661,639,880.614892758,784,813,651.614892758,630,654,0.401125515973,0.00450793384497,0.0697986206824,0.999999945012,6.68541651383e-05,-0.000324314239245,1.80923057295e-05,1793249848147649792
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767.042488353,745,718,679,661,639,880.042488353,784,813,651.042488353,630,654,0.401081266444,0.00450443005046,0.0698023851115,0.999999946997,6.24440832962e-05,-0.000318966034461,1.91766780454e-05,1793249848164316416
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,717.451469808,679,661,639,880,784,813,651,630,654,0.401050977565,0.00450415671209,0.0698043325978,0.999999948856,5.91720770729e-05,-0.000313718702548,1.91686062811e-05,1793249848180983296
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745,717.137680928,679,661,639,880.137680928,784,813,651,630,654,0.401025018366,0.00450403895558,0.069806675262,0.99999995068,5.6715410541e-05,-0.000308309153923,1.91981918798e-05,1793249848197649664
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745,717.716075362,679,661,639,880.716075362,784,813,651,630,654,0.40100933534,0.00450359010859,0.0698107492042,0.999999952498,5.6576538533e-05,-0.000302354465143,1.96286963009e-05,1793249848214316544
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880.706217108,784,813,651,630,654,0.400995665631,0.00450278113652,0.0698137835622,0.999999953748,5.5855294773e-05,-0.000298300020742,2.00141134328e-05,1793249848230983168
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880.129171817,784,813,651,630,654,0.400983937138,0.00450162493555,0.0698158155645,0.999999954473,5.4572534232e-05,-0.000296077771447,2.03560579219e-05,1793249848247650048
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.456435078,639,880,784,813,651,630,654,0.400978427839,0.00450159971751,0.0698178071721,0.999999955542,5.50162806246e-05,-0.000292372329284,2.01933921669e-05,1793249848264316672
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.956198103,639,880,784,813,651,630,654,0.400974954182,0.00450188507525,0.06981978062,0.999999956679,5.57498729169e-05,-0.000288336947475,1.99037367386e-05,1793249848280983296
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.377493182,639,880,784,813,651,630,654,0.400974435261,0.00450197977436,0.0698216745764,0.999999957594,5.39421957491e-05,-0.000285496250669,1.98405584162e-05,1793249848297649920
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880.200204797,784.200204797,813,651,630,654,0.400974054875,0.00450241721222,0.0698233165671,0.999999958384,5.36264602737e-05,-0.000282779002671,1.97981273492e-05,1793249848314316288
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880.776013618,784.776013618,813,651,630,654,0.400973934393,0.00450349766195,0.0698244858449,0.999999958948,5.61097552686e-05,-0.000280293357038,1.97946201921e-05,1793249848330982656
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.350931687,718,679.350931687,661.350931687,639,881,785,813,651,630,654,0.400973720694,0.00450332018514,0.069824905922,0.999999959239,5.59962388996e-05,-0.000279280786024,1.97032052105e-05,1793249848347649536
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.92528264,718,679.92528264,661.92528264,639,881,785,813,651,630,654,0.400973447649,0.00450234185436,0.0698248490233,0.99999995936,5.42294727924e-05,-0.000279206042213,1.9555824062e-05,1793249848364316416
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.486179016,718,679.486179016,662,639,879.972358033,785,813,651,630,654,0.40097270753,0.00450296533245,0.0698250038821,0.999999959292,5.58072644176e-05,-0.000279140270148,1.95689496368e-05,1793249848380983296
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,879.102397069,784.897602931,813,651,630,654,0.400972185515,0.00450369433273,0.0698254455345,0.99999995929,5.75452385371e-05,-0.000278792724105,1.9565872283e-05,1793249848397649664
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,879.681275996,784.318724004,813,651,630,654,0.400973003424,0.00450379970431,0.0698270743607,0.999999959748,5.77012047066e-05,-0.000277127762731,1.93757062416e-05,1793249848414316288
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745.259083765,718,679,661.740916235,639,880,784,813,651.259083765,630,654,0.400972679466,0.00450391194717,0.0698275391979,0.999999959807,5.7416068157e-05,-0.000276975449373,1.93435977751e-05,1793249848430982912
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.835579302,718,679,661.164420698,639,880,784,813,651.835579302,630,654,0.40097095657,0.00450403260827,0.0698265779951,0.999999959378,5.65905226383e-05,-0.000278676329054,1.95051306521e-05,1793249848447649536
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.590514396,718,679,661.409485604,639,880,784,813.409485604,651.590514396,630,654,0.400971796437,0.00450334596033,0.0698274397418,0.999999959949,5.53386799584e-05,-0.00027686989676,1.95824272061e-05,1793249848464316416
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.017641251,718,679,661.982358749,639,880,784,813.982358749,651.017641251,630,654,0.400973658865,0.0045023371906,0.0698290288578,0.999999960908,5.39167418612e-05,-0.000273664023034,1.96261128846e-05,1793249848480982784
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.42392367,639,880.57607633,784,813.42392367,651,630,654,0.400972176328,0.00450165579663,0.0698286664658,0.999999960595,5.26896855736e-05,-0.00027503944851,1.96974990347e-05,1793249848497649664
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.165023697,639,880.834976303,784,813,651,630,654,0.400970812387,0.00450172958405,0.0698280582744,0.999999960189,5.32565504556e-05,-0.000276395321616,1.97612986527e-05,1793249848514316032
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.740460435,639,880.259539565,784,813,651,630,654,0.400970007708,0.00450365563471,0.0698269929866,0.999999959647,5.82694883442e-05,-0.000277340559743,1.98040417471e-05,1793249848530982656
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784.316499172,813.316499172,651.316499172,630,654,0.400970393169,0.00450448166933,0.0698273769689,0.999999959833,5.91514385981e-05,-0.000276490046548,1.97109971943e-05,1793249848547649280
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784.89303248,813.89303248,651.89303248,630,654,0.400971756444,0.00450440393619,0.0698289516642,0.999999960623,5.66393898461e-05,-0.000274164153013,1.95063901884e-05,1793249848564315904
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880.479617584,785,813.520382416,651.520382416,630.479617584,654.479617584,0.400969777139,0.00450447067817,0.0698276526345,0.999999959983,5.65227715787e-05,-0.000276532660626,1.9191007444e-05,1793249848580982784
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.932891434,639,881,784.932891434,813.067108566,651.067108566,630.932891434,654.932891434,0.400967420709,0.0045044463099,0.0698259617809,0.999999959164,5.67193832875e-05,-0.000279458293788,1.89165041866e-05,1793249848597649152
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.355915402,639,881,784.355915402,813.644084598,651.644084598,630.355915402,654.355915402,0.400967984197,0.00450347966717,0.0698262676922,0.999999959517,5.51499108766e-05,-0.00027849192668,1.91443145251e-05,1793249848614316032
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745.221223967,718,679.221223967,661.221223967,639,881,784,814,651.778776033,630,654,0.400968684145,0.00450328094207,0.0698267232359,0.99999995991,5.44174376532e-05,-0.000277219441397,1.91838685889e-05,1793249848630982656
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745.798626401,718,679.798626401,661.798626401,639,881,784,814,651.201373599,630,654,0.400969603798,0.00450431859157,0.069827419693,0.999999960369,5.50325626971e-05,-0.000275454094796,1.89203233791e-05,1793249848647649536
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a932c7c26c3342d515486ec8cbd5d03b3e5bf3d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
+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
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+378,6.300000000,pose2_to_pose3_retreat,0.575673205689,0.0101501843033,1.06003348086,0.546243882045,0.0188228110393,1.05970487898
+379,6.316666667,pose2_to_pose3_retreat,0.575669976954,0.0101501433439,1.06003347388,0.546240653692,0.0188227714439,1.05970487378
+380,6.333333333,pose2_to_pose3_retreat,0.575668610469,0.0101501656036,1.06003349434,0.546239287928,0.0188227960045,1.05970489046
+381,6.350000000,pose2_to_pose3_retreat,0.575667967421,0.0101501760787,1.06003350397,0.546238645219,0.0188228075623,1.05970489831
+382,6.366666667,pose2_to_pose3_retreat,0.575667761612,0.0101501794312,1.06003350705,0.546238439518,0.0188228112614,1.05970490082
+383,6.383333333,pose2_to_pose3_retreat,0.575667525585,0.0101501832761,1.06003351059,0.546238203616,0.0188228155036,1.0597049037
+384,6.400000000,pose2_to_pose3_retreat,0.57566727021,0.0101501874361,1.06003351441,0.546237948375,0.0188228200936,1.05970490682
+385,6.416666667,pose2_to_pose3_retreat,0.575667143029,0.0101501895078,1.06003351631,0.546237821262,0.0188228223795,1.05970490837
+386,6.433333333,pose2_to_pose3_retreat,0.575667000786,0.0101501918249,1.06003351844,0.546237679094,0.0188228249361,1.0597049101
+387,6.450000000,pose2_to_pose3_retreat,0.575666695876,0.0101501663504,1.06003352325,0.546237374444,0.0188228002946,1.05970491358
+388,6.466666667,pose2_to_pose3_retreat,0.575666587041,0.0101501546822,1.06003352498,0.54623726571,0.0188227889508,1.0597049148
+389,6.483333333,pose2_to_pose3_retreat,0.575666411041,0.0101501358134,1.06003352779,0.546237089873,0.0188227706065,1.05970491677
+390,6.500000000,pose2_to_pose3_retreat,0.575666312239,0.010150125221,1.06003352937,0.546236991164,0.0188227603085,1.05970491788
+391,6.516666667,pose2_to_pose3_retreat,0.575666089206,0.0101501013098,1.06003353292,0.546236768338,0.018822737062,1.05970492037
+392,6.533333333,pose2_to_pose3_retreat,0.575665975858,0.010150089158,1.06003353473,0.546236655096,0.0188227252479,1.05970492164
+393,6.550000000,pose2_to_pose3_retreat,0.57566580823,0.0101500711867,1.0600335374,0.546236487624,0.0188227077762,1.05970492352
+394,6.566666667,pose2_to_pose3_retreat,0.575665580975,0.0101500468228,1.06003354103,0.54623626058,0.0188226840896,1.05970492607
+395,6.583333333,pose2_to_pose3_retreat,0.575665294378,0.010150016097,1.0600335456,0.54623597425,0.0188226542179,1.05970492928
+396,6.600000000,pose2_to_pose3_retreat,0.575664893887,0.0101500466996,1.06003353738,0.546235572752,0.0188226814665,1.05970492274
+397,6.616666667,pose2_to_pose3_retreat,0.575664655364,0.0101500715157,1.06003353118,0.546235333506,0.0188227038775,1.05970491786
+398,6.633333333,pose2_to_pose3_retreat,0.575664453911,0.0101500924749,1.06003352594,0.546235131442,0.0188227228055,1.05970491374
+399,6.650000000,pose2_to_pose3_retreat,0.575664319993,0.0101500210582,1.06003344534,0.546234997991,0.0188226530485,1.05970483509
+400,6.666666667,pose2_to_pose3_retreat,0.575664311202,0.010150013681,1.06003343762,0.546234989258,0.0188226458751,1.05970482753
+401,6.683333333,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..814d7225a8a26bd3fde515a72ab0456065313a5b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b30c1afebdaf90c0b741d237be50e3f1ca6782d52166e492c87ad44d74be9f64
+size 25471048
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f519f2227310a3f68df96d0e5a67ba4b211d204
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,404 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,745,718,680,662,639,880,784,813,651,630,654,0.400970280207,0.00450358619489,0.0698292401786,0.999999960902,5.36995079237e-05,-0.000273789031951,1.87769124219e-05,1793249848797656576
+1,0.016666667,BASELINE,767,745,718,679.401887965,661.401887965,639,880,784,813,651,630,654,0.400970122602,0.00450400349576,0.0698291973802,0.999999960771,5.43249181897e-05,-0.000274156088595,1.86033807236e-05,1793249848814322944
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+3,0.050000000,BASELINE,767,745,718,679,661.765192613,639,880,784,813.765192613,651.765192613,630,654,0.40097173113,0.00450521008778,0.0698301479197,0.999999961236,5.79307496482e-05,-0.000271727509774,1.8330606347e-05,1793249848847656448
+4,0.066666667,BASELINE,767,745,718,679,661.659671924,639,880,784,813.659671924,651.659671924,630,654,0.400970616063,0.00450463297549,0.0698295947227,0.999999960953,5.72727382966e-05,-0.000272902334524,1.8391668739e-05,1793249848864323072
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+17,0.283333333,BASELINE,767,745.123512858,718,679,661.876487142,639,881,784,813,651,630,654,0.40097314395,0.00450355381212,0.0698318015555,0.999999962004,5.79163132249e-05,-0.000268863064734,1.87113788812e-05,1793249849080989440
+18,0.300000000,BASELINE,767,745,718,679,661.535867154,639,881,784,813.464132846,651,630,654,0.40097195366,0.00450268199808,0.0698311465375,0.999999961762,5.56233378105e-05,-0.000270228470427,1.89526651721e-05,1793249849097656064
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+21,0.350000000,BASELINE,767,745.788981708,718,679,662,638.788981708,880,784.788981708,813.211018292,651,630,654,0.40096967916,0.00450280110145,0.0698297120081,0.999999961083,5.46858637629e-05,-0.000272901897936,1.91775465681e-05,1793249849147656448
+22,0.366666667,BASELINE,767,745.212661497,718,679,662,638.212661497,880,784.212661497,813.787338503,651,630,654,0.400968916054,0.00450411163347,0.0698290305717,0.999999960895,5.51150445047e-05,-0.000273540931252,1.86580867129e-05,1793249849164323072
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+25,0.416666667,BASELINE,767,745,718,679,662,639,880.951572754,784,813,651.524213623,630,654,0.400970801486,0.00450366385491,0.0698307015821,0.999999961601,5.49510992639e-05,-0.000270980363758,1.86451335201e-05,1793249849214322944
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+27,0.450000000,BASELINE,767,745,718,679,661.308891863,639,880.691108137,784,813.691108137,651.308891863,630,654,0.40097111537,0.00450381157318,0.0698311340772,0.999999961669,5.46154121436e-05,-0.00027078245424,1.88721189098e-05,1793249849247656448
+28,0.466666667,BASELINE,767,745,718,679,661,639,881,784,813.731620894,651,630,654,0.40097124984,0.00450394294032,0.0698311463286,0.999999961634,5.51344356105e-05,-0.000270807854305,1.8834977034e-05,1793249849264323072
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+30,0.500000000,BASELINE,767,745,718,679,661,639,880.582763859,784,813,651,630,654,0.400971496387,0.00450410468995,0.0698313085388,0.999999961558,5.69420835141e-05,-0.000270716086951,1.88430895385e-05,1793249849297656064
+31,0.516666667,BASELINE,767,745,718,679,661,639,880.009918463,784,813,651,630,654,0.400971354278,0.00450359412659,0.0698314318738,0.999999961507,5.57520529287e-05,-0.000271154281927,1.88114749777e-05,1793249849314322688
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+36,0.600000000,BASELINE,767,746,718,679,661.900955409,639,880,784,813,651.900955409,630,654,0.400970666657,0.00450310153377,0.0698312613027,0.999999961627,5.32137884739e-05,-0.000271222983694,1.87964247545e-05,1793249849397656064
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+40,0.666666667,BASELINE,768,745.230420492,718,678.769579508,661,638.769579508,880.230420492,784,813.769579508,651.769579508,630,654,0.400971927458,0.00450356336565,0.0698313711265,0.999999961746,5.59629619832e-05,-0.000270241452166,1.8569943803e-05,1793249849464322560
+41,0.683333333,BASELINE,768,745.800827718,718,678.199172282,661,638.199172282,880.800827718,784,813.199172282,651.199172282,630,654,0.400969311744,0.00450490810229,0.0698296126728,0.999999960943,5.52805964359e-05,-0.000273346407206,1.84345961493e-05,1793249849480989440
+42,0.700000000,BASELINE,767.622132918,745.622132918,718,678.755734164,661.377867082,638.377867082,880.622132918,784,813,651,630,654,0.400969106966,0.00450416823003,0.0698295147983,0.999999961096,5.47669276068e-05,-0.000272880391818,1.85802473084e-05,1793249849497656320
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+46,0.766666667,BASELINE,767,745,718,679,662,639,880.714522492,784,813,651,630.285477508,654,0.400969750056,0.00450514556725,0.0698297893887,0.999999961082,5.81883426554e-05,-0.000272234400201,1.84257604917e-05,1793249849564322560
+47,0.783333333,BASELINE,767,745,718,679,661.708261094,639,880.708261094,784,813,651.291738906,630,654,0.400968591541,0.00450482647471,0.0698291792921,0.999999960696,5.86144929718e-05,-0.000273551547296,1.84911213355e-05,1793249849580989440
+48,0.800000000,BASELINE,767,745,718,679,661.133235844,639,880.133235844,784,813,651.866764156,630,654,0.400968310046,0.00450382147032,0.0698296525093,0.999999960801,5.68440106296e-05,-0.000273520640788,1.87920632463e-05,1793249849597656320
+49,0.816666667,BASELINE,767,745.442621148,718.442621148,679,661.442621148,639,880.442621148,784,813.442621148,651.557378852,630,654,0.400970174229,0.00450448359234,0.0698310073976,0.999999961408,5.71132846549e-05,-0.000271235421899,1.88153014058e-05,1793249849614322944
+50,0.833333333,BASELINE,767,745.980765298,718.980765298,679,662,639,880.980765298,784,813.980765298,651.019234702,630,654,0.400972536711,0.0045055863071,0.0698325162697,0.999999962112,5.79501894381e-05,-0.000268453588439,1.87461819879e-05,1793249849630989312
+51,0.850000000,BASELINE,767,745.389100151,718.389100151,679,662,639,880.389100151,784,813.389100151,651.610899849,630,654,0.400970470895,0.00450483843983,0.0698306945938,0.99999996143,5.73727807008e-05,-0.000271125205801,1.84209139469e-05,1793249849647656192
+52,0.866666667,BASELINE,767,745,718,679,662,639,880,784.197931637,813,651.802068363,630,654,0.400969615975,0.00450454104061,0.0698299182523,0.999999961156,5.75558765552e-05,-0.000272105968167,1.8243256991e-05,1793249849664322816
+53,0.883333333,BASELINE,767,745,718,679,662,639,880,784.776063328,813,651.223936672,630,654,0.400971087025,0.00450510892998,0.0698311498578,0.999999961673,5.9199799487e-05,-0.000269838825323,1.83491410974e-05,1793249849680989696
+54,0.900000000,BASELINE,767,745,718,679,662,639,880.350705757,784.649294243,813,651.350705757,630,654,0.400971782776,0.00450434918364,0.0698316936317,0.999999961925,5.77554094269e-05,-0.000269211203315,1.84364402677e-05,1793249849697656320
+55,0.916666667,BASELINE,767,745,718,679,662,639,880.923142109,784.076857891,813,651.923142109,630,654,0.400971988351,0.00450275005141,0.0698318025302,0.999999962004,5.43584608917e-05,-0.000269620153851,1.85119892732e-05,1793249849714322944
+56,0.933333333,BASELINE,767,745,718,679,661.488642661,639,881.511357339,784,813,651.488642661,630,654,0.40097018999,0.00450316086405,0.0698306668634,0.999999961433,5.58381512863e-05,-0.000271424582872,1.85883650047e-05,1793249849730989568
+57,0.950000000,BASELINE,767,745.099980745,718,679,661.099980745,639,881.80003851,784,813,651,630,654,0.40096876521,0.00450374135941,0.0698298211957,0.99999996099,5.74444041198e-05,-0.000272713544967,1.86624986591e-05,1793249849747656192
+58,0.966666667,BASELINE,767,745.678838139,718,679,661.678838139,639,880.642323722,784,813,651,630,654,0.400970618327,0.00450364155557,0.0698312890218,0.99999996167,5.60343881314e-05,-0.00027049699155,1.87252793285e-05,1793249849764322816
+59,0.983333333,BASELINE,767,746,718,679,662,639,880.256455199,784,813.256455199,651.256455199,630,654.256455199,0.400971205821,0.00450400229359,0.0698314874304,0.999999961819,5.52815659965e-05,-0.000270110781818,1.86076984849e-05,1793249849780989440
+60,1.000000000,BASELINE,767,746,718,679,662,639,880.832526528,784,813.832526528,651.832526528,630,654.832526528,0.400970215988,0.00450493699774,0.0698301037838,0.999999961308,5.53477941622e-05,-0.00027200570069,1.82653358981e-05,1793249849797656064
+61,1.016666667,BASELINE,767,746,718,679,662,639,881,784,814,651.592371127,630.407628873,654.592371127,0.40096997174,0.00450570754144,0.0698301886869,0.999999961251,5.66771733989e-05,-0.000271944056722,1.82280268619e-05,1793249849814322944
+62,1.033333333,BASELINE,767,746,718,679,662,639,881,784,814,651.017665977,630.982334023,654.017665977,0.400970033088,0.00450641080006,0.0698308755096,0.999999961377,5.85242847919e-05,-0.000271080469364,1.83157512153e-05,1793249849830989568
+63,1.050000000,BASELINE,767,746,718.571289968,679,662,639.571289968,880.428710032,784,813.428710032,651,631,653.428710032,0.400971676946,0.00450483799912,0.0698316285537,0.999999962025,5.75748470257e-05,-0.000268866662983,1.85803490669e-05,1793249849847656192
+64,1.066666667,BASELINE,767,745.842144379,718.842144379,679.157855621,662,639.842144379,880.157855621,784,813,651,630.842144379,653.157855621,0.400972765018,0.0045036721368,0.0698321201336,0.999999962415,5.66008364579e-05,-0.000267612644145,1.87266156525e-05,1793249849864323072
+65,1.083333333,BASELINE,767,745.263161299,718.263161299,679.736838701,662,639.263161299,880.736838701,784,813,651,630.263161299,653.736838701,0.400972236472,0.00450378447621,0.0698319085762,0.999999962082,5.5797877759e-05,-0.000269033385823,1.85422331893e-05,1793249849880989696
+66,1.100000000,BASELINE,767,745,718,680,662,639,881,784.31350066,813,651.31350066,630,653.68649934,0.40097086823,0.00450405392751,0.0698311053103,0.999999961602,5.58628425338e-05,-0.000270802318238,1.84566004437e-05,1793249849897656320
+67,1.116666667,BASELINE,767,745,718,680,662,639,881,784.888228496,813,651.888228496,630,653.111771504,0.400968800304,0.00450445429367,0.0698298089981,0.999999960998,5.66510121989e-05,-0.000272861383569,1.84532517758e-05,1793249849914322944
+68,1.133333333,BASELINE,767,745,718,679.53678845,662,639,881,784.53678845,813,651.53678845,630,653.46321155,0.400969074724,0.00450427241069,0.0698301457828,0.999999961114,5.64576574924e-05,-0.000272467100207,1.86068925199e-05,1793249849930989568
+69,1.150000000,BASELINE,767,745,718,679,661.960673843,639,881,784,813.039326157,651,630,654,0.400969975604,0.00450389702837,0.0698309120111,0.999999961425,5.60105540112e-05,-0.000271401584937,1.880507383e-05,1793249849947656192
+70,1.166666667,BASELINE,767,745,718,679,661.369547149,639,881,784,813.630452851,651,630,654,0.400971731674,0.00450277900735,0.0698321716548,0.999999962045,5.53280121991e-05,-0.000269228711336,1.90964040846e-05,1793249849964323072
+71,1.183333333,BASELINE,767,745,718,679,661.217407984,639,881,784,814,651,630,654,0.400972216561,0.00450274750011,0.069832726657,0.999999962273,5.5861163138e-05,-0.000268261015959,1.92014018972e-05,1793249849980989696
+72,1.200000000,BASELINE,767,745,718,679,661.797405941,639,881,784,814,651,630,654,0.400970581388,0.00450452806505,0.0698321064681,0.999999961851,5.8421829208e-05,-0.000269303299496,1.89956371347e-05,1793249849997656320
+73,1.216666667,BASELINE,767.374506592,745,718,679,662,639,881,784,814,651.374506592,630,654,0.400970409344,0.0045045446934,0.0698320834757,0.999999961896,5.70796125866e-05,-0.000269439978058,1.87460598201e-05,1793249850014322944
+74,1.233333333,BASELINE,767.950051908,745,718,679,662,639,881,784,814,651.950051908,630,654,0.400971022723,0.00450361442359,0.0698323810641,0.999999962186,5.36422910235e-05,-0.000269090519138,1.84729635205e-05,1793249850030989568
+75,1.250000000,BASELINE,768,745,718,679,662,639,881,784.536937757,813.463062243,651.463062243,630,654,0.400970531138,0.00450419403548,0.0698314270167,0.999999961906,5.40316190713e-05,-0.000270063406954,1.82670082516e-05,1793249850047656192
+76,1.266666667,BASELINE,768,745.122830623,718,679,662,639,880.877169377,784.877169377,813,651,630,654,0.400970338409,0.00450463291865,0.0698307723182,0.999999961761,5.45310495961e-05,-0.000270512457743,1.80939265808e-05,1793249850064322816
+77,1.283333333,BASELINE,768,745.701046555,718,679,662,639,880.298953445,784.298953445,813,651,630,654,0.400971642972,0.00450401809807,0.0698316684105,0.999999962314,5.40904687573e-05,-0.000268553531893,1.80190661354e-05,1793249850080989440
+78,1.300000000,BASELINE,767.722429425,745.722429425,718.277570575,679,662,639,880,784,813.277570575,651,630,654,0.400972439071,0.00450398909943,0.0698324259909,0.99999996252,5.49823147127e-05,-0.000267591655445,1.82287932054e-05,1793249850097656320
+79,1.316666667,BASELINE,767.147716651,745.147716651,718.852283349,679,662,639,880,784,813.852283349,651,630,654,0.400972690855,0.00450458722931,0.0698330352928,0.999999962352,5.73005374966e-05,-0.000267697130922,1.87431741879e-05,1793249850114322944
+80,1.333333333,BASELINE,767,745.426605347,719,679,662,639,880,784,814,651,630,654,0.400972091521,0.00450462116366,0.0698325230193,0.999999962027,5.84404321298e-05,-0.000268657214094,1.88353405181e-05,1793249850130989824
+81,1.350000000,BASELINE,767,746,718.999183286,679,662,639,880.000816714,784,813.999183286,651,630,654,0.400971199171,0.00450446074443,0.0698316241483,0.999999961647,5.91695313822e-05,-0.000269910978584,1.87813314128e-05,1793249850147656704
+82,1.366666667,BASELINE,767,746,718.407233019,679,662,639,880.592766981,784,813.407233019,651,630,654,0.400971335903,0.00450489845344,0.06983174198,0.999999961786,5.76113295219e-05,-0.000269742487479,1.86456060242e-05,1793249850164323072
+83,1.383333333,BASELINE,767,745.819430593,718,679,662,639,881,784.180569407,813.180569407,651,630,654,0.40097168051,0.00450519618662,0.0698321246216,0.99999996196,5.67832226573e-05,-0.000269273221445,1.86311070387e-05,1793249850180989696
+84,1.400000000,BASELINE,767,745.240772507,718,679,662,639,881,784.759227493,813.759227493,651,630,654,0.400972483401,0.004505185325,0.0698330910711,0.999999962215,5.75647046066e-05,-0.000268140858037,1.88838673565e-05,1793249850197656320
+85,1.416666667,BASELINE,767,745,718,679,661.664002555,639,881,784.664002555,814,651,630,654,0.40097179013,0.00450407391339,0.0698322260502,0.999999961936,5.63860737389e-05,-0.000269420743637,1.90097620041e-05,1793249850214322944
+86,1.433333333,BASELINE,767,745,718,679,661.088578094,639,881,784.088578094,814,651,630,654,0.400970030715,0.00450217826546,0.0698300559494,0.999999961265,5.38106942226e-05,-0.000272419563741,1.90452539584e-05,1793249850230989824
+87,1.450000000,BASELINE,767,745,718,679,661.48235458,639,880.51764542,784,814,651,630,654,0.400969509209,0.00450237950543,0.0698296061086,0.999999961192,5.38454407286e-05,-0.000272700701434,1.8713977886e-05,1793249850247656192
+88,1.466666667,BASELINE,767,745,718,679,662,639,880,784,813.944834974,651,630,654,0.400969191597,0.00450292870298,0.069829556011,0.999999961231,5.43156909404e-05,-0.000272488310558,1.83760716313e-05,1793249850264323072
+89,1.483333333,BASELINE,767,745,718,679,662,639,880,784,813.345436672,651,630,654,0.400968663501,0.00450314685555,0.0698303617951,0.999999961277,5.43973429772e-05,-0.00027228513055,1.86310902613e-05,1793249850280989696
+90,1.500000000,BASELINE,767,745,718,679,662,639,880,784,813,651.24384213,630,654,0.400969129765,0.00450339947678,0.0698310268161,0.999999961458,5.50281809906e-05,-0.000271481595273,1.87828671386e-05,1793249850297656576
+91,1.516666667,BASELINE,767,745,718,679,662,639,880,784,813,651.819356417,630,654,0.400970948551,0.00450369898197,0.0698315003722,0.99999996182,5.64060174666e-05,-0.000269861461471,1.87942153704e-05,1793249850314323968
+92,1.533333333,BASELINE,767,745,718,679,662,639,880,784,813,651.60665503,630,654,0.400972174807,0.00450393244084,0.0698321107508,0.999999962253,5.58280939431e-05,-0.00026837963546,1.8674115449e-05,1793249850330990336
+93,1.550000000,BASELINE,767,745,718,679,662,639,880,784,813,651.033364413,630,654,0.400973129994,0.00450413568518,0.0698327837224,0.999999962718,5.4355458449e-05,-0.000266961081718,1.84938812318e-05,1793249850347656704
+94,1.566666667,BASELINE,767,745.557079629,717.442920371,679,662,639,880,784,813,651,630,654,0.400972269239,0.00450376081299,0.0698330336404,0.999999962534,5.42678302829e-05,-0.000267657447304,1.86286695287e-05,1793249850364323328
+95,1.583333333,BASELINE,767,745.8546359,717.1453641,679,661.8546359,639,880,784,813,651,630.1453641,654,0.400971516279,0.00450370234174,0.0698331833347,0.999999962399,5.4646339341e-05,-0.00026808036023,1.86993849402e-05,1793249850380989696
+96,1.600000000,BASELINE,767,745.275948621,717.724051379,679,661.275948621,639,880,784,813,651,630.724051379,654,0.400971419153,0.00450469353844,0.069833112196,0.999999962527,5.61592536647e-05,-0.000267298543643,1.85210732479e-05,1793249850397656320
+97,1.616666667,BASELINE,767,745,718,679,661,639,880.300509473,784,813.300509473,651.300509473,630.699490527,654,0.400971738105,0.00450505942304,0.0698329332141,0.999999962465,5.68584248005e-05,-0.000267396791988,1.83419809842e-05,1793249850414322944
+98,1.633333333,BASELINE,767,745,718,679,661,639,880.874935614,784,813.874935614,651.874935614,630.125064386,654,0.400972436315,0.00450485533085,0.0698326559322,0.999999962229,5.68158627503e-05,-0.000268297226249,1.81621772343e-05,1793249850430989568
+99,1.650000000,BASELINE,767,745.451082433,718,679,661,639,880.548917567,784,813.548917567,651.548917567,630.451082433,654,0.400971796412,0.00450422322034,0.069831506122,0.999999961951,5.69920599607e-05,-0.000269296345127,1.81696359149e-05,1793249850447656192
+100,1.666666667,BASELINE,767,745.971669189,718,679,661.028330811,639,880.028330811,784,813.028330811,651.028330811,630.971669189,654,0.400970889501,0.004503462073,0.0698302580468,0.999999961702,5.7190713661e-05,-0.000270169241997,1.82491911635e-05,1793249850464322560
+101,1.683333333,BASELINE,767,745.382085166,718,679,661.617914834,639,880.617914834,784,813.617914834,651.617914834,630.382085166,654,0.40097207081,0.00450250454857,0.0698318740726,0.99999996231,5.66280892425e-05,-0.0002679974825,1.87245347633e-05,1793249850480989184
+102,1.700000000,BASELINE,767,745,718,679,661.796402575,639,880.796402575,784,814,651.796402575,630,654,0.400972936893,0.0045024566542,0.0698331701163,0.999999962767,5.58869088802e-05,-0.000266423015106,1.89873070625e-05,1793249850497656064
+103,1.716666667,BASELINE,767,745,718,679,661.217904086,639,880.217904086,784,814,651.217904086,630,654,0.400973222522,0.00450408373831,0.0698338769496,0.999999962955,5.48169385028e-05,-0.000265948392143,1.8858653894e-05,1793249850514322688
+104,1.733333333,BASELINE,767,745,718,679,661.358393493,639,880,784,814,651.358393493,630,654,0.400973198287,0.00450467595911,0.069833766986,0.999999962896,5.60583983585e-05,-0.000265924030735,1.86891857312e-05,1793249850530989824
+105,1.750000000,BASELINE,767,745,718,679,661.933361136,639,880,784,814,651.933361136,630,654,0.400972986804,0.00450464282093,0.069833163439,0.999999962683,5.86966358106e-05,-0.000266171758523,1.84950534009e-05,1793249850547656704
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784,814,652,630,654,0.400969902863,0.00450449527795,0.0698313866758,0.999999962008,5.51996721078e-05,-0.000269465367427,1.80521906215e-05,1793249850577818624
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,880.422581082,784,813.422581082,652,630,654,0.400971710947,0.00450373291261,0.0698324167791,0.999999962168,5.73270892847e-05,-0.000268396113072,1.84949459631e-05,1793249850594485504
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.15489163,718,679,661.84510837,639,880,784,813.15489163,651.84510837,630,654,0.400972697913,0.00450317061117,0.0698329811801,0.999999962311,5.82708485702e-05,-0.000267640852271,1.87244667499e-05,1793249850611152128
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.732511286,718,679,661.267488714,639,880,784,813.732511286,651.267488714,630,654,0.400971443891,0.0045031543211,0.0698322745935,0.999999962421,5.59841861204e-05,-0.00026774253796,1.83720309353e-05,1793249850627818752
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,746,718,679,661.308284008,639,880,784,813.691715992,651,630,654,0.400971053351,0.0045030415677,0.0698323920725,0.999999962541,5.46257613663e-05,-0.000267575595754,1.83532233168e-05,1793249850644485376
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,718,679,661.882463711,639,880,784,813.117536289,651,630,654,0.400971407563,0.00450284561444,0.0698332203101,0.999999962673,5.40679439841e-05,-0.000267176961342,1.86221708377e-05,1793249850661152000
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.531091922,718,679,662,639,880,784,813,651,630.468908078,654,0.40097196998,0.00450319632912,0.0698334542517,0.999999962704,5.38397180321e-05,-0.000267097777084,1.87393711222e-05,1793249850677818624
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,880.057590621,784,813,651,630.942409379,654,0.400972464518,0.00450369082785,0.0698334358701,0.999999962675,5.39681586167e-05,-0.000267179035018,1.8795788297e-05,1793249850694485248
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,880.637934579,784,813,651,630.362065421,654,0.400971856488,0.00450421324937,0.0698325156258,0.999999962322,5.65640372562e-05,-0.000267970285176,1.86550099684e-05,1793249850711152128
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.214693436,718,678.785306564,662,639,880.785306564,784,813,651.214693436,630,654,0.400973809526,0.00450481673109,0.0698331356081,0.999999962486,5.84180851488e-05,-0.000266972390578,1.84585456005e-05,1793249850727819008
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.785505515,718,678.214494485,662,639,880.214494485,784,813,651.785505515,630,654,0.400980010685,0.00450555466982,0.069836310412,0.999999963506,5.90416351714e-05,-0.000263006786139,1.81697130905e-05,1793249850744485376
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.36075858,745.63924142,718,678.36075858,661.63924142,639,880,784,813.36075858,651.63924142,630,654,0.400998935099,0.00450460583355,0.069844503808,0.999999967024,5.74913135899e-05,-0.000249623844217,1.8318806865e-05,1793249850761151744
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.938685064,745.061314936,718,678.938685064,661.061314936,639,880,784,813.938685064,651.061314936,630,654,0.401025518604,0.00450264159975,0.0698557182748,0.999999971751,5.46323741349e-05,-0.00023057189336,1.87315215952e-05,1793249850777818368
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.468891442,745,718,679,661,639,880.531108558,784,814,651,630,654,0.401079431937,0.00450295568138,0.069874504735,0.999999978911,5.28694260718e-05,-0.000197611690947,1.82421620964e-05,1793249850794484992
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.120849962,639,881,784.120849962,813.879150038,651.120849962,630,654,0.401137670612,0.00450354544063,0.0698916629397,0.999999984227,5.15218443104e-05,-0.000169062680123,1.76155661765e-05,1793249850811151872
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.694109759,639,881,784.694109759,813.305890241,651.694109759,630,654,0.40119995855,0.00450415493547,0.0698993613431,0.999999985226,5.12422518089e-05,-0.000163206846055,1.68760185996e-05,1793249850827818752
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639.269656005,881,784.730343995,813.269656005,652,630,654,0.40127053334,0.00450526572536,0.0699048970601,0.999999986406,5.07203064043e-05,-0.000156125261684,1.55188791143e-05,1793249850844485632
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639.84781808,881,784.15218192,813.84781808,652,630,654,0.401350588887,0.00450695003318,0.0699079585062,0.999999987764,4.99210916789e-05,-0.000147641330222,1.345516964e-05,1793249850861152000
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.433642706,718,679,662,639.566357294,881,784.433642706,813.566357294,651.566357294,630,654.433642706,0.401443978522,0.00450807621146,0.0699071330195,0.999999987497,5.00656275237e-05,-0.000149561050277,1.14615265855e-05,1793249850877818368
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745.978147445,718,679,662,639,881,784.978147445,813.021852555,651,630,655,0.40154317509,0.0045089613058,0.0699049696739,0.999999986667,5.03859872904e-05,-0.0001550402573,9.46663385601e-06,1793249850894484992
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.398921395,718,679,662,639,881,784.398921395,813.601078605,651,630,655,0.401668982561,0.00450878301291,0.069904100829,0.999999986644,4.65913943548e-05,-0.00015650914349,6.80141462464e-06,1793249850911151872
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784,814,651.179135194,630.179135194,654.820864806,0.401805398377,0.00450898681803,0.0699044654595,0.99999998684,4.28076633979e-05,-0.000156435860974,3.95374931243e-06,1793249850927818496
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784,814,651.754604294,630.754604294,654.245395706,0.401965284979,0.00451003600925,0.069907559136,0.99999998754,3.90479649087e-05,-0.000152950553354,7.0242516266e-07,1793249850944485120
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784,814,652,630.669749212,654,0.40214623923,0.00451124729447,0.0699122349498,0.999999988769,3.52430643592e-05,-0.000145635583735,-3.17052206936e-06,1793249850961151744
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784,814,652,630.093970771,654,0.402342856413,0.00451257908992,0.0699180870168,0.999999990302,3.14045575715e-05,-0.00013547342017,-7.50562041134e-06,1793249850977818624
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.493479405,718,679.493479405,662,639,881,784,814,651.506520595,630,654,0.402568848985,0.00451526126179,0.0699213726175,0.999999991125,2.87686131146e-05,-0.00012946638,-1.26483434357e-05,1793249850994485248
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,718,679.918440878,662,639,881,784.081559122,814,651.081559122,630,654.081559122,0.402805921696,0.00451807759531,0.0699243268606,0.999999991839,2.56855643781e-05,-0.000123853664766,-1.79865109739e-05,1793249851011152384
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,679.34038643,662,639,881,784.65961357,814,651.65961357,630,654.65961357,0.403075567919,0.00452010733953,0.0699283111225,0.999999992858,1.84529381719e-05,-0.000115708028555,-2.35555637285e-05,1793249851027818752
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718.236155143,679,662,639,881,784.763844857,813.763844857,651.763844857,630,654.763844857,0.403365661553,0.00452150181632,0.069934985306,0.99999999426,1.19799906799e-05,-0.000102427135558,-2.90731197609e-05,1793249851044484864
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,718.810529952,679,662,639,881,784.189470048,813.189470048,651.189470048,630,654.189470048,0.403685039801,0.00452198646765,0.0699455119751,0.999999996038,6.59504991322e-06,-8.17915658596e-05,-3.45169222257e-05,1793249851061151488
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,718.609647677,679,662,639,880.609647677,784.390352323,813,651.390352323,630,654,0.404014149489,0.00452375742452,0.0699501992663,0.999999996395,3.31506040052e-06,-7.49497518055e-05,-3.97603356545e-05,1793249851077818112
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,718.02714375,679,662,639,880.02714375,784.97285625,813,651.97285625,630,654,0.404348049485,0.00452616156749,0.0699520121132,0.999999996186,1.07123692668e-06,-7.4897938337e-05,-4.49051070796e-05,1793249851094484992
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,718,679,662,639,880.559414591,785,813,651.440585409,630,654,0.404753261586,0.00452873656988,0.0699567916455,0.99999999641,1.64623520242e-05,-6.98390872946e-05,-4.50647077574e-05,1793249851111151872
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,718,679,662.143344665,639,881.28668933,784.856655335,813.143344665,651.143344665,630,654,0.405165802788,0.00452882549978,0.0699609214451,0.999999996286,3.85121271036e-05,-6.47423735492e-05,-4.18835284741e-05,1793249851127818496
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662.718755274,639,882.437510547,784.281244726,813.718755274,651.718755274,630,654,0.405589929357,0.00452139579987,0.0699626557818,0.999999994708,7.80342766777e-05,-6.02691759864e-05,-2.93670714754e-05,1793249851144485120
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,718,679,662.705972787,639.294027213,882.705972787,784,813.705972787,651.705972787,630,654,0.406031266975,0.00450926415252,0.069959542656,0.999999993798,8.73481002843e-05,-6.47507559878e-05,-2.41107356653e-05,1793249851161152000
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,718,679,662.130833359,639.869166641,882.130833359,784,813.130833359,651.130833359,630,654,0.406489059705,0.00449263708753,0.0699517949903,0.999999994344,6.77804881287e-05,-7.77937789832e-05,-2.57956224322e-05,1793249851177818368
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.456399187,746,718,679,662,640,881.543600813,784,813.456399187,651,630,654,0.406969697455,0.00450301747171,0.069935321415,0.999999994554,7.85887494586e-06,-9.99746388851e-05,-2.89109253243e-05,1793249851194484992
+144,2.400000000,POSE1_TO_POSE2_PRESS,768,745.953799501,718,679.046200499,662.046200499,639.953799501,881.046200499,784.046200499,814,651,630,654,0.407466198783,0.00451998675248,0.0699187842702,0.99999999055,-5.71751407079e-05,-0.000120792641902,-3.22462121955e-05,1793249851211151872
+145,2.416666667,POSE1_TO_POSE2_PRESS,768,745.375427285,718,679.624572715,662.624572715,639.375427285,881.624572715,784.624572715,814,651,630,654,0.408067941244,0.00452124564546,0.0699311121685,0.999999993964,-4.42214555714e-05,-9.49177598721e-05,-3.32636326533e-05,1793249851227818240
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.798130516,745.201869484,718.201869484,679.798130516,663,639,882.201869484,785,814,651,630.201869484,654,0.408676385491,0.00452421129664,0.0699428726434,0.99999999666,-2.63768177535e-05,-6.90907390378e-05,-3.48068823149e-05,1793249851244484864
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.222823246,745.777176754,718.777176754,679.222823246,663,639,882.777176754,785,814,651,630.777176754,654,0.409297227316,0.00453033427489,0.0699535834426,0.999999998364,5.15578762714e-07,-4.33522580888e-05,-3.73228618792e-05,1793249851261151488
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718.649192815,679,663,639.350807185,882.649192815,785,814,651,630.649192815,654,0.409911071775,0.00453940280792,0.0699512979294,0.999999997819,2.74305617042e-05,-4.55998372791e-05,-3.91165653338e-05,1793249851277818112
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,746,718.076622422,679,663,639.923377578,882.076622422,785,814,651,630.076622422,654,0.410520492816,0.0045503333769,0.0699407967805,0.999999995557,5.43598216474e-05,-6.55388409052e-05,-4.04536809206e-05,1793249851294484736
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718,679.513413154,663,640,882.513413154,785,814,651,630,654,0.411176398365,0.00455619041107,0.0699390108531,0.999999994038,6.93033882577e-05,-7.39622937887e-05,-4.06396782062e-05,1793249851311151616
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.103754403,746,718,679.896245597,663.103754403,640,883,785,814,651,630,654,0.411860400276,0.00456207371821,0.0699444302986,0.999999993572,7.96375381476e-05,-6.95637255707e-05,-4.0913821565e-05,1793249851327818240
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.683127395,746,718,679.316872605,663.683127395,640,883,785,814,651,630,654,0.412640276422,0.00457167067192,0.0699767074089,0.999999996005,7.73303271717e-05,-1.45435873415e-05,-4.24072858442e-05,1793249851344484864
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.738743731,746,718,679.522512538,664,640,883.522512538,785,814,651.261256269,630,654.261256269,0.41341537012,0.00457939406457,0.0700040013952,0.999999995271,8.18535228269e-05,2.95003780691e-05,-4.34410615551e-05,1793249851361151744
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.162116594,746,718,680.675766811,664,640,884.675766811,785,814,651.837883406,630,654.837883406,0.414184690873,0.00458485582251,0.0700252800961,0.999999992741,9.46219224605e-05,6.02946585382e-05,-4.39199326534e-05,1793249851377818368
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,680.580028098,664,640,885,785,814,651.580028098,630,655,0.414897373215,0.00459095261246,0.0699997761332,0.999999993502,0.000104239316769,1.16124316646e-05,-4.46747161912e-05,1793249851394484736
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.004165548,746,718,680,663.995834452,640,885,785,814.004165548,651.004165548,630,654.995834452,0.41558869728,0.00459731643361,0.0699560453286,0.999999990318,0.000112588915687,-6.7919426203e-05,-4.55461796404e-05,1793249851411151616
+157,2.616666667,POSE1_TO_POSE2_PRESS,767.584105744,746,718,680,663.415894256,640,885,785,814.584105744,651.584105744,630,654.415894256,0.416389667644,0.00460626063299,0.0699219938786,0.999999985507,0.000116042019915,-0.000115118443851,-4.76298354272e-05,1793249851427818240
+158,2.633333333,POSE1_TO_POSE2_PRESS,768,746,718,680.162487902,663.162487902,640,885.162487902,785,815,651.837512098,630,654,0.417213130277,0.00461375461826,0.0699063563208,0.999999981922,0.000123512687433,-0.000135986731823,-4.9077471569e-05,1793249851444485120
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,718,680.736920042,663.736920042,640,885.736920042,785,815,651.263079958,630,654,0.41809361594,0.00461757197635,0.0699374022202,0.99999998478,0.000141168802902,-9.01005563131e-05,-4.89126515325e-05,1793249851461151488
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,718,680.686462827,664,640,886,785,815,651,630,654.313537173,0.418975355703,0.0046225094357,0.0699655082913,0.999999986973,0.00014616058638,-4.77471856431e-05,-4.90974659906e-05,1793249851477818112
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746,718,680.107999495,664,640,886,785,815,651,630,654.892000505,0.419858155083,0.00462839333484,0.0699911303253,0.999999988873,0.000140451523577,-8.37889374253e-06,-4.95777073969e-05,1793249851494484736
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.52006116,746,718,680.959877679,664,640,886.47993884,785,815,651,630,654.52006116,0.42074307952,0.00462783504716,0.0700122564675,0.999999988706,0.000139886241121,2.137198016e-05,-5.06265862561e-05,1793249851511151360
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,745.931391958,718,682,664,640,887,785,815,651,629.931391958,654,0.421626104354,0.00462244013969,0.0700273179157,0.99999998846,0.000136850997194,4.11033218062e-05,-5.15931526533e-05,1793249851527818240
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.353444751,718,682,664,640,887,785,815,651,629.353444751,654,0.422491404657,0.00459211760829,0.0700050177006,0.999999993003,0.000106712838047,2.84092108118e-06,-5.09795516207e-05,1793249851544484864
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.223222342,718,682,663.776777658,640,887.223222342,785,815,651,629.223222342,654.223222342,0.423338645488,0.00457226360075,0.0699570571387,0.999999993115,7.72097241088e-05,-7.18862156775e-05,-5.13846694562e-05,1793249851561151744
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.797874184,718,682,663.202125816,640,887.797874184,785,815,651,629.797874184,654.797874184,0.424157454571,0.00456889068114,0.069868698275,0.999999976576,4.87063864447e-05,-0.000204021517828,-5.33936040367e-05,1793249851577818624
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718,682.369157602,663.369157602,640,888,785,815,651,630,654.630842398,0.425051673804,0.00457312262184,0.0698548160686,0.999999973428,5.45418960305e-05,-0.000217180803929,-5.47921501611e-05,1793249851594485248
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718,682.938613341,663.938613341,640,888,785,815,651,630,654.061386659,0.425986809152,0.00458148082035,0.0698813435345,0.999999981576,7.90090355406e-05,-0.000165785881155,-5.58595108114e-05,1793249851611151872
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.533743453,746,718.533743453,683,665.067486905,640,888.533743453,785.533743453,815.533743453,651.533743453,630,654.533743453,0.426933785679,0.00458721806935,0.0699397927312,0.999999990169,9.550340366e-05,-8.73228883511e-05,-5.40005615743e-05,1793249851627818496
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.872534594,746,718.872534594,683,665.745069188,640,889,786,816,652,630,654.872534594,0.427884022813,0.00459216037894,0.0699951901428,0.999999992894,0.000106439091364,-1.24825037982e-05,-5.22108084066e-05,1793249851644484864
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.294746827,746,718.294746827,683,664.589493655,640,889,786,816,652,630,654.294746827,0.428840724818,0.00459541301862,0.0700261798905,0.999999992816,0.000101139759032,3.80053732643e-05,-5.19146348639e-05,1793249851661151488
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718.281810065,683.281810065,664.281810065,640,889,786,816,652,630,654.281810065,0.429779120888,0.00459687440092,0.0700386133921,0.999999992006,9.80983241556e-05,5.97106970309e-05,-5.29162043563e-05,1793249851677818368
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+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718.662288473,683,665.324576946,640,891,785,816.337711527,651.337711527,630,654.662288473,0.435879780114,0.00457684291571,0.0700159970148,0.999999994568,7.97627093435e-05,3.69223921239e-05,-5.60186300356e-05,1793249851794485248
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+226,3.766666667,POSE1_TO_POSE2_PRESS,768,746,718,686,659,637,892,784,817,652,631,655,0.452324507107,0.00469724296766,0.0696026870727,0.999999794616,0.000214706984861,-0.000601329085251,-5.54202233211e-05,1793249852577818368
+227,3.783333333,POSE1_TO_POSE2_PRESS,768,746,718,686,659,637,892,784,817,652,631,655,0.452327743755,0.00469851979301,0.069601430376,0.999999792824,0.000216372081538,-0.000603690378214,-5.56130937184e-05,1793249852594484736
+228,3.800000000,POSE1_TO_POSE2_PRESS,768,746,718,686,659,637,892,784,817,652,631,655,0.452330201972,0.00469834189383,0.0696010208136,0.999999791881,0.000216392255967,-0.000605233814525,-5.57125940423e-05,1793249852611151616
+229,3.816666667,POSE1_TO_POSE2_PRESS,768,746.349806991,718,686,659,637,892,784,817.349806991,652,631,655,0.452331946494,0.00470145101974,0.069601187602,0.999999791043,0.000218995208799,-0.000605572556916,-5.69010267476e-05,1793249852627818240
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+232,3.866666667,POSE1_TO_POSE2_PRESS,768.896820359,746.896820359,718,686,658.896820359,637,892,784,817.896820359,652,631,655,0.452333533984,0.00474463989619,0.0695997803915,0.999999778596,0.00026224307923,-0.000607726817906,-6.85844287025e-05,1793249852677817856
+233,3.883333333,POSE1_TO_POSE2_PRESS,768.317353075,746.317353075,718,686,658.317353075,637,892,784,817.317353075,652,631,655,0.452334734036,0.00474641860353,0.0696003915393,0.999999778882,0.000263675306973,-0.000606652066566,-6.84446474017e-05,1793249852694484736
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+235,3.916666667,POSE1_TO_POSE2_PRESS,768,746,718,686,658.832701659,637,892,784,817,652,630.167298341,654.167298341,0.452334651753,0.00473603930245,0.0695980908848,0.999999780412,0.000254202966171,-0.000608405606084,-6.63220286368e-05,1793249852727818240
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,746,718,686,658.584447768,637,891.584447768,784,817,652,630.415552232,654.415552232,0.452334365438,0.00473908309093,0.069597915537,0.999999779678,0.000256196590322,-0.000608661081016,-6.73655067394e-05,1793249852744485120
+237,3.950000000,POSE1_TO_POSE2_PRESS,768,746,718,686,658.002285884,637,891.002285884,784,817.002285884,652,631,655,0.452334177866,0.00474655175889,0.0695984139576,0.999999778252,0.000261873280675,-0.000608358618421,-6.94072395137e-05,1793249852761152000
+238,3.966666667,POSE1_TO_POSE2_PRESS,768,746,718,686,658.581468692,637,891.581468692,784,817.581468692,652,631,655,0.452335736652,0.00474139841129,0.0695985075723,0.999999779983,0.000255429659741,-0.000608369106862,-6.83925976136e-05,1793249852777818624
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,746,718,685.839543594,658.839543594,637,892,784,817.839543594,652,630.839543594,654.839543594,0.452336326848,0.00473817658419,0.0695981067997,0.999999780479,0.000251898299597,-0.000609110031422,-6.76272845653e-05,1793249852794485248
+240,4.000000000,POSE1_TO_POSE2_PRESS,768,746,718,685.261064174,658.261064174,637,892,784,817.261064174,652,630.261064174,654.261064174,0.452334393663,0.00473998677851,0.0695964180434,0.999999777843,0.000255953997666,-0.000611753897238,-6.75115261886e-05,1793249852811151872
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,746,718,685.315113133,658.315113133,637,892,784,817,652,630,654.315113133,0.452334454318,0.00474102143877,0.0695962866626,0.99999977722,0.000257977143858,-0.000611928083285,-6.7470044984e-05,1793249852827818496
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,746,718,685.889396996,658.889396996,637,892,784,817,652,630,654.889396996,0.452336154847,0.00474141824634,0.0695974361747,0.999999778262,0.000258328579285,-0.000610071034577,-6.74896544446e-05,1793249852844485376
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+244,4.066666667,HOLD_POSE2,769,746,718,685,658,637,892,784,817,652,631,655,0.452334617124,0.00474371576742,0.0695977312356,0.999999777197,0.000258701779213,-0.000611593004416,-6.80731989736e-05,1793249852904827392
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+246,4.100000000,HOLD_POSE2,768,746,718,686,658.151490027,637,892,784,817,652,630,655,0.452338240041,0.00474133041683,0.0695984309529,0.999999779768,0.00025675697047,-0.000608274936472,-6.73960696314e-05,1793249852938160640
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,767.776960489,746,718,686,658.776960489,637,892,784,817,652,630,655,0.452338962472,0.00473959325899,0.0695990560762,0.999999779129,0.000257590307192,-0.00060911271187,-6.6107652168e-05,1793249853227421440
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,746,718.544320978,685.544320978,658.544320978,637,891.544320978,784,817,652,630.544320978,655,0.452338309657,0.00474018173756,0.069597675798,0.999999778306,0.0002583356811,-0.000610154532908,-6.60458281448e-05,1793249853294087936
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,746,718.86445246,686,658.86445246,637,892,784,817,652,630.86445246,655,0.452338487048,0.00473940571776,0.0695976925585,0.999999778534,0.000258455819659,-0.000609761133974,-6.57599143691e-05,1793249853310754560
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,746,718.285646302,686,658.285646302,637,892,784,817,652,630.285646302,655,0.452338575465,0.00473914216154,0.0695974219589,0.999999779233,0.000256864383083,-0.000609247799868,-6.6116810404e-05,1793249853327421440
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.709167966,746,718,686,658,637,892,784,817,652,630,655,0.452334198191,0.00474007778026,0.0695943276896,0.999999776952,0.000257058033694,-0.000612870657281,-6.63855023396e-05,1793249853344088064
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.134957824,746,718,686,658,637,892,784,817,652,630,655,0.45232546968,0.00474218183949,0.0695884821204,0.999999771721,0.000258991020399,-0.000620523697049,-6.65682507926e-05,1793249853360754688
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.449884437,746,718,686,658.449884437,637,891.550115563,784,817,652,630,655,0.452300578533,0.00474239536258,0.0695777744313,0.999999760235,0.00026041352529,-0.000638196605149,-6.64762138242e-05,1793249853377421312
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.962484157,637,891.037515843,784,817,652,630.037515843,655,0.452268637721,0.00474212953153,0.0695648608745,0.99999974577,0.0002616823525,-0.000659988033319,-6.63159615759e-05,1793249853394087936
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.381767452,637,891.618232548,784,817,652,630.618232548,655,0.452206525317,0.00474333338028,0.0695416379899,0.999999720421,0.000262997006375,-0.000696837435584,-6.63904328851e-05,1793249853410754560
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.197089345,637,892,784,817,652,631,655,0.452140970452,0.00474397704651,0.0695207819201,0.999999697946,0.000263802799103,-0.000728089858735,-6.63385554167e-05,1793249853427421184
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,745.652993614,718,686,658.652993614,637,892,784,817,652,630.652993614,655,0.451986673289,0.00474207021186,0.069494914693,0.999999672896,0.000263178334132,-0.00076207676613,-6.46876804846e-05,1793249853460754688
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,745.078795772,718,686,658.078795772,637,892,784,817,652,630.078795772,655,0.451898005465,0.00473991094816,0.0694897886706,0.999999666398,0.000262539172089,-0.00077094371209,-6.26356849439e-05,1793249853477421312
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,746,718,685,659,637,891,784,817,652,630.160213634,655,0.450409331263,0.00473983293511,0.0695239769048,0.999999675608,0.000298168229122,-0.000747413575533,-3.53991981355e-05,1793249853627421184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746,718,685,659,637,891,784,817,652,630.737063798,655,0.450147517886,0.00473781663863,0.06953187679,0.999999680164,0.000302221082633,-0.000739887405386,-3.00158035135e-05,1793249853644087808
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,685,659,637.312973736,891,784.312973736,817,652,630.687026264,655,0.449873617215,0.00473593729335,0.0695423190288,0.999999688845,0.000308173749237,-0.000725768525136,-2.4452166989e-05,1793249853660754432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746,718,685,659,637.888096102,891,784.888096102,817,652,630.111903898,655,0.44958959217,0.00473417265931,0.0695548907573,0.999999700678,0.000315717710045,-0.000706127552624,-1.87375591097e-05,1793249853677421056
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768.47447738,746,718,685.47447738,659.47447738,637.52552262,891,784.52552262,817,651.52552262,630,655,0.449267287461,0.00473193097441,0.0695731499113,0.99999971882,0.000320033221229,-0.000678060342966,-1.3125041666e-05,1793249853694087680
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768.937495044,746,718,685.937495044,660,637.062504956,891,784,817,651.062504956,630,655,0.448930517048,0.00472972056628,0.0695919206442,0.99999973672,0.000323763006893,-0.000649369702881,-7.5307126466e-06,1793249853710754304
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768.358341675,746,718,685.358341675,660,637.641658325,891,784,817,651.641658325,630,655,0.448550614946,0.00472872126998,0.0696035631515,0.999999745911,0.000329098000786,-0.000632351684772,-1.8828670477e-06,1793249853727421184
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,746,718,685,660,637.78070272,891,784,817,652,630,655,0.448147825733,0.00472633727341,0.0696093736157,0.999999750145,0.000333000917088,-0.000623544181781,3.73201246608e-06,1793249853744087808
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,746,718,685,660,637.205521471,891,784,817,652,630,655,0.447707894484,0.00472170613266,0.0696057196173,0.999999746755,0.000334579803009,-0.000628061017031,9.29339281208e-06,1793249853760754432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.632964923,746,718,685,660.367035077,637.367035077,891,784,817,652,630,655,0.447240855258,0.00470876764177,0.0695985653668,0.999999743297,0.000325556003465,-0.00063815436746,1.33781034032e-05,1793249853777421056
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.06186759,746,718,685,660.93813241,637.93813241,891,784,817,652,630,655,0.44675874464,0.00469121047306,0.069589465064,0.999999739487,0.000310637377954,-0.000651348120063,1.66418233263e-05,1793249853794087680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,717.470627192,685,661,638,890.470627192,784,817.529372808,652,630,655,0.44625155861,0.00466397905941,0.0695939693181,0.999999760988,0.000265323026577,-0.000638238454967,1.66914935809e-05,1793249853810755072
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,717,684.879740327,661,638,890,784,817.759480654,652,630,655,0.445739310897,0.00464196506322,0.0696046567309,0.999999786229,0.000219567155486,-0.000615730388574,1.44425736284e-05,1793249853827422464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746,717,684.299564416,661,638,890,784,816.599128831,652,630,655,0.445219356147,0.00464439929343,0.0696326696691,0.999999820479,0.000186245537582,-0.000569500837634,4.89636510044e-06,1793249853844088832
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,717,684,661.276859717,638,890,784.276859717,816.276859717,652,630,655,0.444669497901,0.00464473723249,0.0696581137435,0.99999984563,0.00017008004881,-0.000528961335549,3.57782161374e-06,1793249853860755456
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,717,684,661.849278635,638,890,784.849278635,816.849278635,652,630,655,0.444087716467,0.00464283729386,0.0696808154479,0.999999862844,0.000172229439945,-0.000494496199794,1.10426515081e-05,1793249853877422336
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,717.433303511,684,662,638,890,785,817,652,630,654.566696489,0.443473241796,0.00463765216047,0.0696957509581,0.999999876164,0.000159062722126,-0.000471345907407,1.42598585511e-05,1793249853894088704
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,717.978779725,683.978779725,662,638.021220275,889.978779725,785,817,651.978779725,630,654,0.442844974381,0.00463135602791,0.0697081112525,0.999999887874,0.000140165784646,-0.000452054010243,1.58771491213e-05,1793249853910754816
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,717.397624619,683.397624619,662,638.602375381,889.397624619,785,817,651.397624619,630,654,0.442161092146,0.00462672704418,0.0697257632828,0.999999901793,0.000114513809732,-0.000427861857812,1.53373476065e-05,1793249853927421696
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,717,683.182431835,662.182431835,639,889.182431835,785,816.817568165,651.182431835,630,654,0.441483289851,0.00462150292983,0.0697479298529,0.999999919347,9.20763963425e-05,-0.000390618219904,1.56597655444e-05,1793249853944088320
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,717,683.760107948,662.760107948,639,889.760107948,785,816.239892052,651.760107948,630,654,0.440818660025,0.00461498944697,0.0697798773127,0.999999944062,7.66034344016e-05,-0.000325098133101,1.78502089729e-05,1793249853960754944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,717.334718186,684,663.334718186,639,889.665281814,785,816.334718186,652,630,654,0.440105936223,0.00460940213494,0.0697977555358,0.999999950691,0.000109083098773,-0.000293823684023,1.96779178873e-05,1793249853977421824
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,717.907151117,684,663.907151117,639,889.092848883,785,816.907151117,652,630,654,0.439359056314,0.00460447258294,0.069805641879,0.999999943206,0.000175618414227,-0.000286870263857,2.12480152351e-05,1793249853994088448
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.495898712,746,717.504101288,684,663.504101288,639,889,785,817,651.504101288,629.504101288,654,0.438544551745,0.00460243622715,0.0697640403861,0.99999991105,0.000231252653751,-0.000352139675487,2.04929348637e-05,1793249854010754816
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,746,717.085798149,684,663.085798149,639,888.914201851,785,816.914201851,651.085798149,629.085798149,654.085798149,0.437716568183,0.00460014755963,0.0697200092674,0.99999987469,0.000271633440856,-0.0004200685394,1.94301091165e-05,1793249854027421440
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,746,717.664176908,684,663.664176908,639,888.335823092,785,816.335823092,651.664176908,629.664176908,654.664176908,0.436886364419,0.00459319452879,0.0697170352335,0.999999882376,0.000236558398607,-0.000422989757143,1.91849155359e-05,1793249854044088064
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.758840715,746,718,684,664,639,887.758840715,785,816,652,629.758840715,654.758840715,0.436071499998,0.00458785492632,0.0697354658746,0.999999900355,0.000206528223986,-0.00039524850542,2.03669487514e-05,1793249854060754432
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.183791691,746,718,684,664,639,887.183791691,785,816,652,629.183791691,654.183791691,0.435277873248,0.00458474914736,0.0697835317065,0.99999993006,0.000183482768694,-0.000325054464756,2.35250053007e-05,1793249854077421312
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.399281269,746,718,683.600718731,664,639,887,785,816,652,629.399281269,654,0.434467012709,0.00458008847177,0.069813770548,0.999999944969,0.000159527928326,-0.000289710685604,2.60699833288e-05,1793249854094087936
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.986123425,746,718,683.013876575,664,639,887,785,816,652,629.986123425,654,0.433648056684,0.00457469738935,0.0698356352257,0.999999953817,0.000135145908523,-0.000270737689157,2.83269699388e-05,1793249854110754304
+316,5.266666667,POSE2_TO_POSE3_RETREAT,768,746,718,682.432515401,663.432515401,639,886.432515401,785,816,652,630,654.567484599,0.432779594471,0.00456889270091,0.0698406915659,0.999999961224,0.000117476454222,-0.00025098677588,2.74985300963e-05,1793249854127421184
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.852397741,746,718,682,663,639,886,785.147602259,815.852397741,652,630,654.852397741,0.431881042699,0.0045637896503,0.0698333388488,0.999999960926,0.000109350381061,-0.000255833622002,2.71826357846e-05,1793249854144087808
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.275510739,746,718,682,663,639,886,785.724489261,815.275510739,652,630,654.275510739,0.430898466061,0.00456075636977,0.0697910797124,0.999999936131,0.000128507353895,-0.00033227511151,2.85747540683e-05,1793249854160754432
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,639,885.70092388,785.70092388,815.29907612,652,630,654,0.429947519221,0.0045546745667,0.0697485643816,0.999999912148,0.00012690419735,-0.000398447779819,2.89561994914e-05,1793249854177421312
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,639,885.128439688,785.128439688,815.871560312,652,630,654,0.429025487456,0.00454580587855,0.0697058148392,0.999999890326,0.000106322640922,-0.00045523295225,2.84137127171e-05,1793249854194087680
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,682,663,639,885,785,816,651.540839136,630,654,0.428179707914,0.00453896959563,0.0697468097054,0.999999917872,0.000100910265919,-0.000391480451595,2.85680842417e-05,1793249854210754560
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,681.95009294,663.04990706,639,885,785,816,651,630,654.04990706,0.427351198098,0.00453264420933,0.0698095995134,0.999999950558,9.95468011271e-05,-0.000296852819822,2.91997777457e-05,1793249854227421440
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.372321684,663.627678316,639,885,785,816,651,630,654.627678316,0.42647206435,0.00452550465045,0.0698467075551,0.999999965116,9.46002004127e-05,-0.000244430762391,3.27481296936e-05,1793249854244088064
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,663.794910093,639,885,785.205089907,816,651.205089907,630,654.794910093,0.425570223236,0.00451783251606,0.0698609592968,0.999999970537,8.50988695035e-05,-0.000224723496868,3.4397395487e-05,1793249854260754688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,663.218150333,639,885,785.781849667,816,651.781849667,630,654.218150333,0.424627231227,0.00450919523335,0.0698337901892,0.999999962273,6.73433255805e-05,-0.000264302925804,3.26050823915e-05,1793249854277421312
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.644196146,718,681,663,639,884.644196146,786,816,651.644196146,630,654,0.423679714583,0.00450421760991,0.069795424477,0.99999994388,6.3503467496e-05,-0.00032739462276,3.19280489975e-05,1793249854294087936
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,745.071948673,718,681,663,639,884.071948673,786,816,651.071948673,630,654,0.422729445534,0.00450146624117,0.0697502476152,0.999999915242,6.8128839586e-05,-0.000404789367031,3.19294656743e-05,1793249854310754560
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767.518085479,745.518085479,718,681,662.481914521,639.518085479,884,785.481914521,815.481914521,651,630,654,0.421788602662,0.00449136589319,0.0697017252838,0.999999876513,5.69226969484e-05,-0.000492542739228,3.36945300603e-05,1793249854327421184
+329,5.483333333,POSE2_TO_POSE3_RETREAT,768,746,718,680.891985651,662,639.891985651,883.891985651,785,815,651,630,654,0.42087699515,0.0044807015196,0.0696739967846,0.999999850826,4.31470613632e-05,-0.00054338676217,3.48851156555e-05,1793249854344088064
+330,5.500000000,POSE2_TO_POSE3_RETREAT,768,746,718,680.313653153,662,639.313653153,883.313653153,785,815,651,630,654,0.420086782541,0.00447218308895,0.0697389040909,0.9999999079,2.80967743389e-05,-0.000427032939202,3.24699225537e-05,1793249854360754944
+331,5.516666667,POSE2_TO_POSE3_RETREAT,768,745.738193463,718,680.261806537,662.523613073,639.261806537,883,785,815,651,629.738193463,654,0.41929450506,0.00446517054718,0.069804298462,0.999999949131,1.49985806119e-05,-0.00031693269326,3.2652414913e-05,1793249854377421824
+332,5.533333333,POSE2_TO_POSE3_RETREAT,768,745.166138065,718,680.833861935,663.667723871,639.833861935,883,785,815,651,629.166138065,654,0.418499780539,0.00445994252931,0.0698702700282,0.999999976396,4.21367616041e-06,-0.000214243117104,3.59132449105e-05,1793249854394088448
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.587159084,745.412840916,718,680.587159084,663.174318167,639.587159084,883,785,815,651,629.412840916,654,0.417680081525,0.00445126402991,0.0698723340005,0.999999975473,-1.16616898551e-06,-0.000218318754764,3.72813260057e-05,1793249854410754816
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.005346382,745.994653618,718,680.005346382,662.010692764,639.005346382,883,785,815,651,629.994653618,654,0.416850160741,0.00444117328218,0.06984824121,0.999999963871,-4.33377510149e-06,-0.000266092365771,3.78747231583e-05,1793249854427421440
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,718,680.584056245,662.584056245,639,883,785,815,651,630,654,0.416009922511,0.00443669782019,0.0698139261977,0.999999956012,-3.49655988476e-06,-0.000294532838801,3.48527600425e-05,1793249854444088064
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,746,718,680.831009484,662.831009484,639,882.831009484,784.831009484,815,651,630,654,0.415167793536,0.00443228061719,0.0697808770551,0.999999943578,-7.1099828133e-06,-0.000334196232617,3.32508732972e-05,1793249854460754688
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.256954473,662.256954473,639,882.256954473,784.256954473,815,651,630,654,0.414321361922,0.00442787822906,0.0697510894054,0.999999918675,-2.14804623169e-05,-0.000401190366111,3.51332322617e-05,1793249854477421568
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,661.682280485,639,881.682280485,784.317719515,814.682280485,651,630,654,0.413539664828,0.00443677012737,0.0697469500698,0.999999913655,-1.55667504986e-05,-0.000413806231344,3.48104123531e-05,1793249854494088192
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,661.107104952,639,881.107104952,784.892895048,814.107104952,651,630,654,0.412810423767,0.00445643471651,0.069763594202,0.999999926343,6.7837462042e-06,-0.000382358032072,3.27006811769e-05,1793249854510754816
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.520465624,718,680.479534376,661.959068752,639,881.479534376,784.520465624,814,651,630,654,0.412172530993,0.00447945923294,0.0698133396413,0.99999995603,3.8640806626e-05,-0.000292290178519,3.18378309571e-05,1793249854527421440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.067634213,718,680.864731575,663,639,881.932365787,784,814,651,629.932365787,654,0.411548991144,0.00449842463354,0.0698642985188,0.999999977197,6.46820939643e-05,-0.000201073425134,3.14842925486e-05,1793249854544088064
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745.646937889,718,679.706124221,663,639,881.353062111,784,814,651,629.353062111,654,0.410875902361,0.00448086545255,0.0698671357676,0.999999978471,3.0268831759e-05,-0.000202641316806,3.28253548107e-05,1793249854560754688
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.224363541,745.775636459,718,679.224363541,662.551272918,639,881,784.224363541,814,651,629.224363541,654,0.410199180335,0.0044694483479,0.0698530566283,0.999999972645,1.34188350606e-05,-0.000231156422337,3.31079893068e-05,1793249854577421568
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767.798858522,745.201141478,718,679.798858522,661.402282956,639,881,784.798858522,814,651,629.798858522,654,0.409516788336,0.00446761628283,0.0698125785508,0.99999995369,2.3977258749e-05,-0.00030172411225,3.17388901694e-05,1793249854594088192
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767.625614177,745.374385823,718,680,661.748771646,639,881,785,814,651.374385823,630,654,0.40886759805,0.004467714373,0.0697806017123,0.999999936578,2.33550646682e-05,-0.000354080732093,3.04165865493e-05,1793249854610754816
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767.049530756,745.950469244,718,680,662.900938488,639,881,785,814,651.950469244,630,654,0.408236294984,0.00446885232018,0.069753204856,0.99999992078,1.67093946925e-05,-0.000396626268225,2.91194937619e-05,1793249854627421184
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,661.916783566,639,881,784.458391783,814,651.458391783,630,654,0.407704327094,0.0044676192569,0.0697685817804,0.999999931859,1.42017816782e-05,-0.000367706504146,2.95488917706e-05,1793249854644088064
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767.130210333,745.869789667,718,680,661,639,881,784,814,651,630,654,0.407187656436,0.00446884469441,0.0697871811288,0.99999994275,1.7260721894e-05,-0.000336602375208,3.00272981188e-05,1793249854660754944
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767.705306087,745.294693913,718,680,661,639,881,784,814,651,630,654,0.406691325767,0.00447923203702,0.069803043252,0.999999947303,3.80087831742e-05,-0.000321003418368,3.01182683806e-05,1793249854677421568
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767.719457199,745.280542801,718,679.719457199,661,639,881,784,814,651.280542801,630,654,0.406200042583,0.00448676102476,0.0698059730632,0.999999946012,4.85775298507e-05,-0.000323567103956,3.03345010496e-05,1793249854694088192
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767.144072375,745.855927625,718,679.144072375,661,639,881,784,814,651.855927625,630,654,0.405714064186,0.0044912859671,0.0697953114038,0.999999938768,4.84481225842e-05,-0.000345219179993,3.06823807304e-05,1793249854710754816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.567321756,718,679,661,639,881,784,813.567321756,651.567321756,630,654,0.405281731157,0.00448876441706,0.0697987776792,0.999999941457,3.89790304495e-05,-0.000338605997283,3.01995579599e-05,1793249854727421440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.010130501,718,679,661.010130501,639,881,784.010130501,813.010130501,651,630,654,0.404868544044,0.00448397725755,0.0698071463111,0.999999947309,2.66360785451e-05,-0.000322188302437,2.94387734725e-05,1793249854744087808
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745.601664968,718,679,661.601664968,639,881,784.601664968,813.601664968,651,630,654,0.40452575633,0.00448424905945,0.0698260271269,0.999999958591,2.84056533072e-05,-0.000284937761922,2.86504392599e-05,1793249854760754432
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.812285694,718,679.187714306,661.812285694,639,880.812285694,785,814,651,630,654,0.404186094378,0.00448331119834,0.069839629793,0.999999965836,2.70197392862e-05,-0.000258490222794,2.79508032124e-05,1793249854777421312
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.237545392,718,679.762454608,661.237545392,639,880.237545392,785,814,651,630,654,0.403852877002,0.00447987927575,0.0698423500681,0.999999967102,1.91278953428e-05,-0.000254316112457,2.74340433771e-05,1793249854794088192
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767.33809709,745.33809709,718,680,661.33809709,639,880.33809709,785,813.66190291,651,630,654,0.403529663449,0.00447673092264,0.0698349114493,0.999999964021,8.67547866288e-06,-0.000266768281575,2.67677749413e-05,1793249854810754560
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767.9143751,745.9143751,718,680,661.9143751,639,880.9143751,785,813.0856249,651,630,654,0.403213497361,0.00447378233733,0.0698203161442,0.999999957335,-3.58079682719e-06,-0.00029093324772,2.59961814621e-05,1793249854827421440
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.494733353,746,718,680,662,639,880.494733353,785,813.505266647,651,630.505266647,654,0.40293217974,0.00447127607085,0.0698135333323,0.999999953132,-1.24385078342e-05,-0.000304804504187,2.600682523e-05,1793249854844087808
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745.904894147,718,679.904894147,661.904894147,638.904894147,880.190211707,784.904894147,814,651,630.904894147,654,0.402665384113,0.00446927853576,0.0698081862444,0.999999949549,-1.93702266934e-05,-0.00031596869845,2.62818309527e-05,1793249854860754688
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.333111321,718,679.333111321,661.333111321,638.333111321,881.333777357,784.333111321,814,651,630.333111321,654,0.402440892917,0.00446944391541,0.0698032017772,0.999999947412,-1.96213527167e-05,-0.000322568475883,2.7197640051e-05,1793249854877421312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.245006976,638.245006976,881.509986049,784,814,651,630,654,0.402231352394,0.00447014622146,0.0697983328197,0.999999945298,-1.83875812592e-05,-0.000329038037745,2.82740905453e-05,1793249854894087936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.831967576,638.831967576,880.336064848,784,814,651,630,654,0.402042678386,0.00447159790998,0.0697936250782,0.999999943227,-1.50813541954e-05,-0.000335325858572,2.95747464475e-05,1793249854910754560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.584491701,639,880,784,813.584491701,651,630,654,0.401876334058,0.00447717369345,0.0697953197341,0.999999944092,-3.95215319305e-06,-0.000332904936359,3.12079795139e-05,1793249854927421184
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.002322645,639,880,784,813.002322645,651,630,654,0.401718946171,0.00448440365528,0.0697995823972,0.999999945942,1.03148500707e-05,-0.000326990929831,3.29746096876e-05,1793249854944088064
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745.575453769,718,679,661.575453769,639,880,784,813,651,630,654,0.401592838956,0.00450769370461,0.0697984014292,0.999999940399,0.000104051864071,-0.000327583965782,3.26161523972e-05,1793249854960754688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745.84712504,718,679,661.84712504,638.84712504,880,784,813,651,630,654.15287496,0.401474788103,0.00452331219686,0.069797192748,0.999999933347,0.000158065607806,-0.000327849362353,2.89228639488e-05,1793249854977421568
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.270639274,718,679,661.270639274,638.270639274,880,784,813,651,630,654.729360726,0.401378713899,0.00451749483832,0.0697959676949,0.99999994125,0.000101125604178,-0.000327134664378,1.6012470642e-05,1793249854994088192
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,880,784,813.304507728,651.304507728,630,654.695492272,0.401294020521,0.00451122131139,0.0697954303348,0.999999943875,7.02829975725e-05,-0.000327388076295,1.12744504057e-05,1793249855010754560
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,880,784,813.878470041,651.878470041,630,654.121529959,0.401219397881,0.00450454412785,0.0697955015044,0.999999943994,6.25336124046e-05,-0.000328498155726,1.37680484145e-05,1793249855027421184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.466336414,718,679,661.466336414,638.466336414,880,784,814,651.533663586,630,654,0.401159709522,0.00450883908763,0.0697968588809,0.999999943918,6.94846576809e-05,-0.000327299114437,1.45435475728e-05,1793249855044087808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,662,639,880,784.056676864,814,651.056676864,630,654,0.401106498053,0.00451482620954,0.0697988713651,0.999999944108,7.86897153788e-05,-0.000324603159933,1.50092279022e-05,1793249855060754432
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,662,639,880,784.635404537,814,651.635404537,630,654,0.401075994693,0.00450925245092,0.0698037357044,0.999999948,7.22845307019e-05,-0.000313832383039,1.68721041918e-05,1793249855077421056
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745.788886712,718,679,661.788886712,639,880.211113288,784.788886712,814,652,630,654,0.401048588728,0.004506839433,0.069807849316,0.999999950875,6.97375029413e-05,-0.000305063712758,1.79510360425e-05,1793249855094087680
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745.218318233,718,679,661.218318233,639,880.781681767,784.218318233,814,652,630,654,0.401026456592,0.00450980809797,0.0698106846898,0.999999952212,7.37596242836e-05,-0.000299703960333,1.7695173011e-05,1793249855110754816
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.356998556,718,679,661,639,881,784.356998556,814,652,630,654,0.401008140689,0.00450963616464,0.0698131762549,0.99999995289,7.37430257825e-05,-0.000297417744888,1.80346330324e-05,1793249855127421440
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745.935258316,718,679,661,639,881,784.935258316,814,652,630,654,0.400992190017,0.00450751774596,0.069815454734,0.999999953173,7.1223302651e-05,-0.000297036451184,1.87430634176e-05,1793249855144087808
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745.472376403,718,679,661,639,881,784.472376403,814,651.472376403,630,654,0.400981273264,0.00450692086237,0.0698152542128,0.99999995325,7.00968388051e-05,-0.000297035212125,1.887434912e-05,1793249855160754688
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.118035963,718.118035963,679,661,639,880.881964037,784,814,651,630,654.118035963,0.400973118114,0.0045069574432,0.0698153521787,0.999999953524,6.97977993971e-05,-0.000296181388357,1.88826126967e-05,1793249855177421056
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745.693973658,718.693973658,679,661,639,880.306026342,784,814,651,630,654.693973658,0.40097321413,0.00450870728516,0.0698178205245,0.999999954648,7.2027195999e-05,-0.00029183421811,1.86959055444e-05,1793249855194087680
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.730441442,718.730441442,679,661.269558558,639,880.269558558,784,813.730441442,651.269558558,630,654.730441442,0.400972848285,0.00450804558488,0.0698199479645,0.999999955846,7.07572966553e-05,-0.000288018032858,1.86128949865e-05,1793249855210754560
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.155256574,718.155256574,679,661.844743426,639,880.844743426,784,813.155256574,651.844743426,630,654.155256574,0.400971958779,0.0045046496706,0.0698216888845,0.999999957123,6.5519884845e-05,-0.000284803880262,1.86474559521e-05,1793249855227421696
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.430929372,718,679,662,639,880.569070628,784,813,651.569070628,630.430929372,654,0.400971804643,0.00450574445592,0.0698229752536,0.999999957616,6.60453528953e-05,-0.000282940346559,1.87205839811e-05,1793249855244088320
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.979232612,718,679,662,639,880,784,813,651,630.979232612,654.020767388,0.400971876211,0.00450837233887,0.0698240278944,0.999999957812,6.85780300241e-05,-0.000281639235298,1.87924485598e-05,1793249855260754944
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745.400550431,718,679,662,639,880,784,813,651,630.400550431,654.599449569,0.400970707221,0.00450758270201,0.0698233162875,0.999999957761,6.77941696113e-05,-0.000282032479918,1.84473012857e-05,1793249855277421568
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745.177118557,718,679,661.822881443,639,880,784,813,651,630,655,0.400970324581,0.0045069028916,0.0698232585687,0.999999957949,6.69315514837e-05,-0.000281582821503,1.82519633549e-05,1793249855294087936
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745.752509181,718,679,661.247490819,639,880,784,813,651,630,655,0.400971710142,0.00450647003907,0.0698246711948,0.999999958673,6.58918374054e-05,-0.000279237795657,1.83934895351e-05,1793249855310754560
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745.694390268,718,679,661.305609732,639,880,784,813,651,630,654.694390268,0.400970625013,0.00450647477517,0.0698245986974,0.999999958655,6.51734886222e-05,-0.000279475252389,1.83345858242e-05,1793249855327421184
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745.158113666,718,679,661.841886334,639,880,784,813,651,630,654.158113666,0.400967675066,0.00450680979261,0.0698234052645,0.999999958076,6.46976985188e-05,-0.000281661904562,1.81244024707e-05,1793249855344087808
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745.449702246,718,679,662,639,880,784,813.449702246,651.449702246,630,654,0.400968484709,0.00450634682298,0.0698243554292,0.999999958308,6.49338978494e-05,-0.000280769077703,1.83311391715e-05,1793249855360754688
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745.920837199,718,679.079162801,661.920837199,639,880,784,814,651.920837199,630,654,0.400970546753,0.00450581299225,0.0698259071644,0.999999958812,6.55235900516e-05,-0.000278813280658,1.86019873626e-05,1793249855377421056
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.343408278,718,679.656591722,661.343408278,639,880,784,814,651.343408278,630,654,0.400970597677,0.00450693318244,0.0698256040717,0.999999958909,6.6464517722e-05,-0.000278271098972,1.81791719137e-05,1793249855394087936
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.766808096,661.233191904,639,880,784,813.766808096,651.233191904,630,654,0.400970988838,0.00450746921433,0.0698257813849,0.999999959129,6.66470904117e-05,-0.000277443320045,1.802947753e-05,1793249855410754816
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.191424062,661.808575938,639,880,784,813.191424062,651.808575938,630,654,0.400971879268,0.00450714803642,0.0698266636589,0.999999959531,6.57168323586e-05,-0.000276196448005,1.82805684371e-05,1793249855427421440
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784,813.384017796,652,630,654,0.400971653525,0.00450700668007,0.0698270558342,0.999999959568,6.5912419145e-05,-0.000276009855492,1.83767914347e-05,1793249855444088064
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784,813.959488466,652,630,654,0.40097087131,0.00450695497414,0.0698272036696,0.999999959423,6.66692982498e-05,-0.000276351867584,1.83958047058e-05,1793249855460754688
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,638.448611457,880,784.551388543,814,651.448611457,630,654.551388543,0.40097053413,0.00450603715957,0.0698265775489,0.999999959501,6.66944081817e-05,-0.000276066023566,1.83876423049e-05,1793249855477421312
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745.140780645,718,679,662,638.140780645,880.140780645,784.859219355,814,651,630,655,0.400970304881,0.00450529204687,0.0698261774496,0.999999959572,6.67614253296e-05,-0.000275787707108,1.84252510793e-05,1793249855494087680
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d179abd9763892611e1afabe2f7d347da29834dc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,404 @@
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+237,3.950000000,pose1_to_pose2_press,0.62105171771,0.0101500671977,1.06003353531,0.591622396247,0.0188227029552,1.05970492532
+238,3.966666667,pose1_to_pose2_press,0.62105174028,0.0101500764142,1.06003354077,0.591622418736,0.0188227119087,1.05970493103
+239,3.983333333,pose1_to_pose2_press,0.621051748052,0.0101500795881,1.06003354265,0.591622426481,0.018822714992,1.059704933
+240,4.000000000,pose1_to_pose2_press,0.621051920939,0.0101501501868,1.06003358448,0.591622598752,0.018822783576,1.05970497676
+241,4.016666667,pose1_to_pose2_press,0.621052020721,0.0101501909334,1.06003360863,0.591622698179,0.0188228231597,1.05970500202
+242,4.033333333,pose1_to_pose2_press,0.62105206629,0.0101502076974,1.06003362245,0.591622743584,0.0188228393877,1.05970501629
+243,4.050000000,pose1_to_pose2_press,0.621052125149,0.0101501561954,1.06003375146,0.591622802198,0.0188227869931,1.0597051435
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+247,4.116666667,pose2_hold,0.621052125149,0.0101501561954,1.06003375146,0.591622802199,0.0188227869924,1.0597051435
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+261,4.350000000,pose2_to_pose3_retreat,0.621052122826,0.0101501583473,1.06003374632,0.591622799878,0.0188227891572,1.05970513845
+262,4.366666667,pose2_to_pose3_retreat,0.621052117273,0.0101501634895,1.06003373404,0.591622794333,0.018822794331,1.05970512637
+263,4.383333333,pose2_to_pose3_retreat,0.621052103709,0.0101501760524,1.06003370402,0.591622780785,0.018822806971,1.05970509685
+264,4.400000000,pose2_to_pose3_retreat,0.621052086928,0.0101501915942,1.0600336669,0.591622764026,0.018822822608,1.05970506034
+265,4.416666667,pose2_to_pose3_retreat,0.621052070521,0.0101502067894,1.0600336306,0.591622747639,0.0188228378965,1.05970502464
+266,4.433333333,pose2_to_pose3_retreat,0.621052002694,0.0101501955446,1.06003362186,0.591622679876,0.0188228268579,1.05970501563
+267,4.450000000,pose2_to_pose3_retreat,0.621051744495,0.0101501281595,1.06003363552,0.591622421913,0.018822760198,1.05970502729
+268,4.466666667,pose2_to_pose3_retreat,0.621050344825,0.0101500032001,1.06003329015,0.591621024286,0.0188226423491,1.05970468679
+269,4.483333333,pose2_to_pose3_retreat,0.621045052499,0.0101499927358,1.06003363208,0.591615733505,0.0188226369746,1.05970502457
+270,4.500000000,pose2_to_pose3_retreat,0.621034172499,0.0101500528635,1.06003359108,0.591604852982,0.0188226954937,1.05970498855
+271,4.516666667,pose2_to_pose3_retreat,0.621012715815,0.0101500408957,1.06003356231,0.591583394352,0.0188226769291,1.05970495939
+272,4.533333333,pose2_to_pose3_retreat,0.620980379665,0.0101501856565,1.06003350031,0.591551056591,0.0188228162372,1.05970489765
+273,4.550000000,pose2_to_pose3_retreat,0.620936737097,0.0101501870643,1.06003357116,0.591507414183,0.0188228180826,1.05970496802
+274,4.566666667,pose2_to_pose3_retreat,0.620882839979,0.0101501048828,1.06003356216,0.591453517224,0.0188227362747,1.05970495569
+275,4.583333333,pose2_to_pose3_retreat,0.620818879352,0.0101501990709,1.06003361507,0.591389555524,0.0188228270374,1.05970500935
+276,4.600000000,pose2_to_pose3_retreat,0.62074805275,0.0101501416301,1.06003347952,0.591318730646,0.0188227753287,1.05970487411
+277,4.616666667,pose2_to_pose3_retreat,0.620669862083,0.0101500871029,1.06003350171,0.591240540557,0.0188227223093,1.05970489349
+278,4.633333333,pose2_to_pose3_retreat,0.620581182028,0.0101501030473,1.06003363621,0.591151859854,0.0188227359528,1.05970502729
+279,4.650000000,pose2_to_pose3_retreat,0.620481273861,0.0101500730284,1.06003361428,0.591051951982,0.0188227073298,1.05970501017
+280,4.666666667,pose2_to_pose3_retreat,0.620368070463,0.0101502194609,1.06003360433,0.590938747297,0.0188228492834,1.05970499842
+281,4.683333333,pose2_to_pose3_retreat,0.620239561819,0.0101500542572,1.0600334821,0.590810241043,0.0188226922767,1.05970487998
+282,4.700000000,pose2_to_pose3_retreat,0.620094945503,0.0101501842375,1.06003346635,0.590665621941,0.0188228129082,1.05970486869
+283,4.716666667,pose2_to_pose3_retreat,0.619934112526,0.0101501464704,1.0600333746,0.590504790681,0.0188227808209,1.05970477501
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+286,4.766666667,pose2_to_pose3_retreat,0.619353511057,0.0101498687218,1.06003330994,0.589924193616,0.0188225178888,1.05970471338
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+288,4.800000000,pose2_to_pose3_retreat,0.618885651234,0.0101499779771,1.06003338651,0.589456331482,0.0188226187524,1.05970478065
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+304,5.066666667,pose2_to_pose3_retreat,0.612079912323,0.0101501415871,1.0600336212,0.582650592073,0.018822779608,1.05970501359
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+321,5.350000000,pose2_to_pose3_retreat,0.599723611883,0.0101501531746,1.06003362484,0.570294290466,0.0188227872952,1.05970501831
+322,5.366666667,pose2_to_pose3_retreat,0.598948638237,0.0101501168117,1.06003359173,0.569519318523,0.0188227568284,1.05970498831
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+329,5.483333333,pose2_to_pose3_retreat,0.593314569077,0.010150162912,1.06003354088,0.563885247519,0.0188227967377,1.0597049388
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+337,5.616666667,pose2_to_pose3_retreat,0.587485956473,0.0101500838717,1.06003339657,0.558056634805,0.0188227173921,1.05970479602
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+343,5.716666667,pose2_to_pose3_retreat,0.583798162534,0.0101501693149,1.06003362974,0.554368839921,0.0188227995251,1.05970502635
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+348,5.800000000,pose2_to_pose3_retreat,0.581147429086,0.0101501779744,1.06003352635,0.551718106394,0.0188228076,1.05970491459
+349,5.816666667,pose2_to_pose3_retreat,0.580701586031,0.0101501850467,1.06003354906,0.55127226307,0.0188228138905,1.05970494072
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+351,5.850000000,pose2_to_pose3_retreat,0.579863545692,0.0101500940795,1.06003343995,0.550434224607,0.0188227300223,1.05970485104
+352,5.866666667,pose2_to_pose3_retreat,0.579481017831,0.0101501207673,1.06003362217,0.550051696798,0.0188227561334,1.05970501338
+353,5.883333333,pose2_to_pose3_retreat,0.579125218324,0.0101501408885,1.06003338243,0.54969589581,0.0188227715219,1.05970478142
+354,5.900000000,pose2_to_pose3_retreat,0.578796646241,0.0101501105984,1.06003342415,0.549367323237,0.0188227397846,1.05970482876
+355,5.916666667,pose2_to_pose3_retreat,0.578487415091,0.0101501506451,1.0600334045,0.549058092568,0.0188227812709,1.05970480404
+356,5.933333333,pose2_to_pose3_retreat,0.578195464765,0.010150131236,1.06003362352,0.548766142393,0.0188227620047,1.05970501334
+357,5.950000000,pose2_to_pose3_retreat,0.577914432394,0.0101501489654,1.06003370191,0.548485108997,0.0188227762598,1.05970509188
+358,5.966666667,pose2_to_pose3_retreat,0.577646267494,0.0101502506866,1.06003342376,0.548216943498,0.0188228763011,1.05970482305
+359,5.983333333,pose2_to_pose3_retreat,0.577397520119,0.010150144846,1.06003355996,0.547968198169,0.0188227772838,1.0597049561
+360,6.000000000,pose2_to_pose3_retreat,0.577168936115,0.0101500646097,1.06003335089,0.547739614636,0.0188226988068,1.05970475129
+361,6.016666667,pose2_to_pose3_retreat,0.576962800919,0.0101500346707,1.06003336127,0.547533479444,0.0188226687971,1.05970475952
+362,6.033333333,pose2_to_pose3_retreat,0.576777245214,0.0101502680035,1.06003338991,0.547347922048,0.0188228961586,1.05970478196
+363,6.050000000,pose2_to_pose3_retreat,0.57661099539,0.0101499653286,1.06003337837,0.547181675245,0.0188226038975,1.05970477471
+364,6.066666667,pose2_to_pose3_retreat,0.576462179977,0.0101500465474,1.06003359525,0.547032858854,0.0188226815904,1.05970498633
+365,6.083333333,pose2_to_pose3_retreat,0.576329620597,0.0101500388856,1.06003365735,0.546900299815,0.0188226749411,1.05970504462
+366,6.100000000,pose2_to_pose3_retreat,0.57621351221,0.0101500711976,1.06003345517,0.546784191452,0.0188227076797,1.05970485145
+367,6.116666667,pose2_to_pose3_retreat,0.576111810769,0.0101500955915,1.06003351899,0.54668248948,0.0188227301384,1.05970491222
+368,6.133333333,pose2_to_pose3_retreat,0.576024744458,0.010150049802,1.06003357815,0.546595423644,0.0188226858413,1.05970496843
+369,6.150000000,pose2_to_pose3_retreat,0.575949447634,0.0101500586868,1.06003354428,0.546520128124,0.0188226993818,1.05970494045
+370,6.166666667,pose2_to_pose3_retreat,0.575885630956,0.0101501675109,1.06003361605,0.546456311842,0.0188228095946,1.05970501338
+371,6.183333333,pose2_to_pose3_retreat,0.575833467109,0.0101501572915,1.06003362543,0.546404147248,0.0188227966854,1.05970501865
+372,6.200000000,pose2_to_pose3_retreat,0.575791348411,0.0101499912814,1.06003358864,0.546362027897,0.0188226285736,1.0597049848
+373,6.216666667,pose2_to_pose3_retreat,0.575758385384,0.010150133982,1.06003350197,0.546329063679,0.0188227671659,1.05970489642
+374,6.233333333,pose2_to_pose3_retreat,0.575732736413,0.0101500234933,1.06003339024,0.546303415141,0.0188226582439,1.05970478727
+375,6.250000000,pose2_to_pose3_retreat,0.575713568874,0.0101501112411,1.06003335835,0.546284246098,0.0188227409712,1.05970475755
+376,6.266666667,pose2_to_pose3_retreat,0.575697877638,0.0101502357945,1.06003330171,0.54626855405,0.0188228628088,1.05970470199
+377,6.283333333,pose2_to_pose3_retreat,0.5756855799,0.0101502166015,1.06003328197,0.546256257378,0.0188228471896,1.05970468115
+378,6.300000000,pose2_to_pose3_retreat,0.575677102149,0.0101500712228,1.06003337403,0.546247781092,0.0188227066795,1.05970477052
+379,6.316666667,pose2_to_pose3_retreat,0.575671754679,0.0101501936508,1.06003337135,0.54624243271,0.0188228259827,1.0597047671
+380,6.333333333,pose2_to_pose3_retreat,0.57566879794,0.0101501845744,1.06003370062,0.546239475883,0.0188228165191,1.05970509407
+381,6.350000000,pose2_to_pose3_retreat,0.57566741933,0.0101501765524,1.06003387035,0.546238097252,0.0188228083836,1.05970526263
+382,6.366666667,pose2_to_pose3_retreat,0.575667260494,0.010150171634,1.06003383314,0.546237938578,0.0188228040114,1.05970522542
+383,6.383333333,pose2_to_pose3_retreat,0.575666939867,0.0101501617055,1.06003375804,0.546237618276,0.0188227951858,1.05970515031
+384,6.400000000,pose2_to_pose3_retreat,0.575666617092,0.0101501517105,1.06003368243,0.546237295829,0.0188227863011,1.05970507469
+385,6.416666667,pose2_to_pose3_retreat,0.575666585292,0.0101501507258,1.06003367498,0.546237264061,0.0188227854258,1.05970506724
+386,6.433333333,pose2_to_pose3_retreat,0.575666434421,0.0101501460539,1.06003363964,0.546237113343,0.0188227812729,1.0597050319
+387,6.450000000,pose2_to_pose3_retreat,0.575665897106,0.0101501294156,1.06003351378,0.546236576573,0.0188227664827,1.05970490602
+388,6.466666667,pose2_to_pose3_retreat,0.575665612853,0.0101501206134,1.0600334472,0.546236292608,0.0188227586584,1.05970483943
+389,6.483333333,pose2_to_pose3_retreat,0.575665584438,0.0101501197335,1.06003344054,0.546236264222,0.0188227578762,1.05970483277
+390,6.500000000,pose2_to_pose3_retreat,0.575665442157,0.0101501153277,1.06003340721,0.546236122085,0.0188227539598,1.05970479944
+391,6.516666667,pose2_to_pose3_retreat,0.575665395625,0.0101501138868,1.06003339631,0.5462360756,0.0188227526789,1.05970478854
+392,6.533333333,pose2_to_pose3_retreat,0.57566490285,0.0101501509784,1.06003346738,0.546235581022,0.0188227835639,1.05970485724
+393,6.550000000,pose2_to_pose3_retreat,0.575664531775,0.0101501793439,1.06003352244,0.54623520857,0.0188228071901,1.0597049105
+394,6.566666667,pose2_to_pose3_retreat,0.575664493769,0.0101501822492,1.06003352808,0.546235170423,0.0188228096099,1.05970491596
+395,6.583333333,pose2_to_pose3_retreat,0.575664486327,0.010150182818,1.06003352918,0.546235162954,0.0188228100837,1.05970491703
+396,6.600000000,pose2_to_pose3_retreat,0.575664426552,0.010150178229,1.06003351251,0.546235103001,0.018822804899,1.05970490054
+397,6.616666667,pose2_to_pose3_retreat,0.575664347206,0.0101501370175,1.06003339245,0.546235023589,0.0188227635403,1.05970478252
+398,6.633333333,pose2_to_pose3_retreat,0.575664283175,0.0101501037604,1.06003329555,0.546234959505,0.0188227301645,1.05970468729
+399,6.650000000,pose2_to_pose3_retreat,0.575664266203,0.0101500949453,1.06003326987,0.546234942518,0.0188227213179,1.05970466205
+400,6.666666667,pose2_to_pose3_retreat,0.575664260746,0.0101500344225,1.06003326167,0.546234938212,0.0188226647019,1.05970465396
+401,6.683333333,pose2_to_pose3_retreat,0.575664259498,0.0101499905288,1.06003325982,0.546234937828,0.018822623742,1.05970465212
+402,6.700000000,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087192,1.05970465145
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..937daf36fd7e99dff753b90df4af495592103c21
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22c39128ed4d63299e71d574418ad32f24a2d59eec41ed124bbddda3bd827f9d
+size 25663596
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b3c3b8a89ab04de40807b3a43f930a255d5e123
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,407 @@
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+30,0.500000000,BASELINE,767,745.439345923,718,679,662,639,880.560654077,785,813.560654077,651.560654077,630.560654077,654,0.400969419961,0.00450700953493,0.06982913133,0.999999960277,6.67803982184e-05,-0.000273226234735,1.82896842347e-05,1793249856192607488
+31,0.516666667,BASELINE,767,746,718,679,661.98632863,639,879.98632863,784.98632863,813.01367137,651,630,654,0.400972291195,0.00450852752329,0.0698308676122,0.999999961037,6.81485987868e-05,-0.000270096952112,1.81592989484e-05,1793249856209274112
+32,0.533333333,BASELINE,767,746,718,679,661.389665343,639,879.389665343,784.389665343,813.610334657,651,630,654,0.400970417544,0.00450744708473,0.0698296351773,0.999999960567,6.77048030879e-05,-0.000271933953188,1.82703163377e-05,1793249856225940736
+33,0.550000000,BASELINE,767,745.800857627,718,679,661.199142373,639,879.199142373,784,813.800857627,651,630,654,0.400969466105,0.00450648574686,0.0698289894947,0.999999960347,6.66996143207e-05,-0.000272992273187,1.82567969875e-05,1793249856242607360
+34,0.566666667,BASELINE,767,745.226837774,718,679,661.773162226,639,879.773162226,784,813.226837774,651,630,654,0.400970250694,0.00450574861135,0.0698294483498,0.999999960598,6.46376258111e-05,-0.000272584757279,1.80088422395e-05,1793249856259274240
+35,0.583333333,BASELINE,767,745.347269152,718,679,661.652730848,639,880,784,813.347269152,651,630,654,0.400970186999,0.0045062385502,0.0698293665645,0.999999960586,6.42466940307e-05,-0.000272738944334,1.76876728738e-05,1793249856275940864
+36,0.600000000,BASELINE,767,745.921433025,718,679,661.078566975,639,880,784,813.921433025,651,630,654,0.400969569062,0.00450753022072,0.0698289315418,0.999999960405,6.4947577861e-05,-0.000273260130367,1.73186673592e-05,1793249856292607488
+37,0.616666667,BASELINE,767,745.488381086,718,679,661,639,880.511618914,784,813.488381086,651.511618914,630,654,0.400971122207,0.00450626632327,0.0698299363952,0.999999960983,6.30590301659e-05,-0.000271576637443,1.74100609886e-05,1793249856309274112
+38,0.633333333,BASELINE,767,745,718,679,661.101596753,639,880.898403247,784,813,651.898403247,630,654,0.400972267841,0.00450505258482,0.0698307449715,0.999999961418,6.15302073555e-05,-0.000270315164769,1.75648211963e-05,1793249856325940736
+39,0.650000000,BASELINE,767,745,718,679,661.678712798,639,880.321287202,784,813,651.321287202,630,654,0.400969895209,0.00450596982618,0.0698295665039,0.999999960648,6.36064007017e-05,-0.000272664795491,1.76745531322e-05,1793249856342607360
+40,0.666666667,BASELINE,767,745,718,679,661.744870961,639,880,784,813.255129039,651.255129039,630,654,0.400969103446,0.00450595025001,0.0698290364325,0.999999960404,6.38405883958e-05,-0.000273497730815,1.77635720695e-05,1793249856359273984
+41,0.683333333,BASELINE,767,745,718,679,661.169333615,639,880,784,813.830666385,651.830666385,630,654,0.400970297046,0.00450475415496,0.0698293206609,0.999999960826,6.17614606611e-05,-0.000272425897318,1.78265782156e-05,1793249856375940864
+42,0.700000000,BASELINE,766.585507631,745,718,679,661.414492369,639,880,784,814,651.585507631,630,654,0.400969482213,0.00450548846435,0.0698289260665,0.999999960579,6.38542484547e-05,-0.000272847876654,1.78325016463e-05,1793249856392607232
+43,0.716666667,BASELINE,766.001748937,745.001748937,718,679,662,639,880,784,813.998251063,651,630,654,0.400967836594,0.00450702111768,0.0698282519601,0.999999960044,6.76722956084e-05,-0.000273889205041,1.78156820051e-05,1793249856409274112
+44,0.733333333,BASELINE,766.580859443,745.580859443,718,679,662,639,880,784,813.419140557,651,630,654,0.400968325734,0.004506447207,0.0698287227044,0.999999960109,6.69077690175e-05,-0.00027381646993,1.81464552569e-05,1793249856425940480
+45,0.750000000,BASELINE,767,745.840180347,718,679,662,638.840180347,880,784,813.159819653,651,630,654,0.40096884057,0.00450569530169,0.0698291034023,0.999999960245,6.56515308008e-05,-0.000273615494668,1.83111120751e-05,1793249856442607104
+46,0.766666667,BASELINE,767,745.261614022,718,679,662,638.261614022,880,784,813.738385978,651,630,654,0.40096942273,0.00450447702921,0.069829248168,0.99999996056,6.3106949223e-05,-0.000273078514832,1.80405238459e-05,1793249856459273728
+47,0.783333333,BASELINE,767,745.314316035,718,679,662,638.314316035,880,784,814,651,630,654,0.400970026393,0.00450453865676,0.0698295199832,0.99999996076,6.21551957229e-05,-0.000272573733414,1.78916504686e-05,1793249856475940352
+48,0.800000000,BASELINE,767,745.888070165,718,679,662,638.888070165,880,784,814,651,630,654,0.400970647805,0.00450565672032,0.0698298966659,0.999999960869,6.25181705466e-05,-0.00027209552868,1.7843241135e-05,1793249856492606976
+49,0.816666667,BASELINE,767,746,718,679,662,639,880.946867108,784,814,651,630.473433554,654,0.400969043139,0.00450572776031,0.0698289656388,0.999999960368,6.29104511923e-05,-0.000273827393542,1.80462369599e-05,1793249856509273600
+50,0.833333333,BASELINE,767,745.939022002,718,679,662,639,881.878044004,784,814,651,631,654,0.400967318641,0.00450572439121,0.0698279835081,0.99999995985,6.33510101285e-05,-0.000275595178788,1.82712492832e-05,1793249856525940480
+51,0.850000000,BASELINE,767,745.356884016,718,679,662,639,880.713768032,784,814,651,631,654,0.400969181103,0.00450725389043,0.0698292734197,0.999999960488,6.414348433e-05,-0.00027309199569,1.81636656564e-05,1793249856542607104
+52,0.866666667,BASELINE,767,745,718,679,662,639,880,784.222378838,814,651,630.777621162,654,0.400970283193,0.00450763420651,0.0698299744574,0.999999960818,6.45999155097e-05,-0.000271782029728,1.80393789963e-05,1793249856559273728
+53,0.883333333,BASELINE,767,745,718,679,662,639,880,784.797086405,814,651,630.202913595,654,0.40097018058,0.00450619379962,0.0698297425053,0.999999960668,6.45239326225e-05,-0.000272362552609,1.78886286803e-05,1793249856575940352
+54,0.900000000,BASELINE,767,745.370997903,718,679,662,639,880,785,814,651,630,654,0.40097025999,0.00450568210568,0.0698297280042,0.999999960632,6.3946855861e-05,-0.000272637205753,1.77590447497e-05,1793249856592607488
+55,0.916666667,BASELINE,767,745.944474913,718,679,662,639,880,785,814,651,630,654,0.400970438743,0.00450567727442,0.0698298321813,0.999999960659,6.30962976644e-05,-0.000272744924695,1.7641012778e-05,1793249856609274880
+56,0.933333333,BASELINE,767.535055236,745.464944764,718.535055236,679,661.464944764,639,880,784.464944764,813.464944764,651.535055236,630,654,0.40096965675,0.00450570459736,0.0698296522241,0.999999960582,6.30675339559e-05,-0.000273023055594,1.7779071028e-05,1793249856625941248
+57,0.950000000,BASELINE,767.875544276,745,718.875544276,679,661,639,880.124455724,784.124455724,813.124455724,652,630,654,0.400969141318,0.00450579270058,0.0698295669782,0.999999960552,6.33235645957e-05,-0.000273065327005,1.79213481586e-05,1793249856642607360
+58,0.966666667,BASELINE,767.297135087,745,718.297135087,679,661,639,880.702864913,784.702864913,813.702864913,652,630,654,0.400969973843,0.00450608992761,0.0698299382939,0.99999996073,6.42970493046e-05,-0.000272180664506,1.79788778854e-05,1793249856659273984
+59,0.983333333,BASELINE,767.279598745,745,718,679,661.279598745,639,880.720401255,784.720401255,814,651.720401255,630,654,0.400970749872,0.00450582961464,0.0698301424449,0.999999960902,6.37366250374e-05,-0.000271685045873,1.79020567294e-05,1793249856675940864
+60,1.000000000,BASELINE,767.854562818,745,718,679,661.854562818,639,880.145437182,784.145437182,814,651.145437182,630,654,0.400971466219,0.00450498032199,0.0698301700049,0.999999961066,6.15557947273e-05,-0.000271600409194,1.76833086463e-05,1793249856692607488
+61,1.016666667,BASELINE,767.561926717,745,718,679,662,639,880,784,814,651,630,654,0.400970638174,0.00450519966683,0.0698301363106,0.999999960924,6.21474469912e-05,-0.000271989575758,1.76721453361e-05,1793249856709274880
+62,1.033333333,BASELINE,767,745,718,679,661.975834774,639,880.024165226,784.024165226,814,651,630,654,0.400969393122,0.00450573368077,0.0698300970631,0.999999960701,6.35783628102e-05,-0.000272472727789,1.77353605979e-05,1793249856725941760
+63,1.050000000,BASELINE,767,745,718,679,661.396911872,639,880.603088128,784.603088128,814,651,630,654,0.40097057968,0.00450518482022,0.0698304064694,0.999999961035,6.27251875932e-05,-0.000271430543705,1.78924848489e-05,1793249856742608128
+64,1.066666667,BASELINE,767,745,718,679,661.181371164,639,881,784.818628836,814,651,630,654,0.400970752884,0.00450486636308,0.0698301091524,0.99999996101,6.25475933532e-05,-0.000271553960299,1.80375401612e-05,1793249856759274240
+65,1.083333333,BASELINE,767,745,718,679,661.75825881,639,881,784.24174119,814,651,630,654,0.400968716267,0.00450505034722,0.0698284887526,0.999999960199,6.38432400328e-05,-0.000274219204828,1.81562767043e-05,1793249856775940864
+66,1.100000000,BASELINE,767,745,718,679,662,639,881,784.33264325,813.66735675,651,630,654,0.40096939156,0.0045055196309,0.0698290341688,0.999999960487,6.45812675549e-05,-0.000273008644415,1.79187044382e-05,1793249856792607488
+67,1.116666667,BASELINE,767,745,718,679,662,639,881,784.905222101,813.094777899,651,630,654,0.400972022953,0.00450619470114,0.0698311417884,0.99999996156,6.49170842796e-05,-0.000269002465485,1.74241265956e-05,1793249856809274112
+68,1.133333333,BASELINE,767,745.472132728,718,679,662,639,880.527867272,784.527867272,813.472132728,651,630,654,0.400970742177,0.00450668144787,0.0698304573031,0.999999960977,6.64927056872e-05,-0.000270765058353,1.76520102499e-05,1793249856825940736
+69,1.150000000,BASELINE,767,745.959488585,718,679,662,639,880.040511415,784,814,651,630,654.040511415,0.400968821296,0.00450703207359,0.0698293016162,0.999999960136,6.79930284434e-05,-0.000273461309479,1.79965001202e-05,1793249856842607616
+70,1.166666667,BASELINE,767,745.355021561,718,679,662,639,880.644978439,784,814,651,630,654.644978439,0.400968792598,0.00450600780557,0.0698292964631,0.999999960399,6.50215410883e-05,-0.000273225104462,1.79692566682e-05,1793249856859274496
+71,1.183333333,BASELINE,767,745.237865859,718,679,662,639,880.762134141,784,814,651,630.237865859,655,0.400968901968,0.00450643321931,0.0698293815642,0.999999960532,6.43264643767e-05,-0.000272911260382,1.77965365791e-05,1793249856875941120
+72,1.200000000,BASELINE,767,745.814272773,718,679,662,639,880.185727227,784,814,651,630.814272773,655,0.40096920784,0.00450892188315,0.0698295951189,0.999999960488,6.68712740393e-05,-0.000272486916973,1.74167677979e-05,1793249856892607744
+73,1.216666667,BASELINE,767,745.612394959,718,679,662,639,880.387605041,784,813.612394959,651,630.612394959,654.612394959,0.400969699984,0.00450843890695,0.0698298461244,0.999999960572,6.70920656332e-05,-0.00027210942676,1.76102867252e-05,1793249856909274112
+74,1.233333333,BASELINE,767,745.040524397,718,679,662,639,880.959475603,784,813.040524397,651,630.040524397,654.040524397,0.400970280679,0.00450654322762,0.0698301149339,0.99999996072,6.62080303723e-05,-0.000271754210352,1.80763438182e-05,1793249856925940736
+75,1.250000000,BASELINE,767,745.553111315,718,679.553111315,662,639,880.446888685,784.553111315,813.553111315,651,630,654,0.400969734422,0.00450564730347,0.0698295439182,0.999999960636,6.41484498712e-05,-0.000272563038367,1.79650278087e-05,1793249856942607360
+76,1.266666667,BASELINE,767,745.856203758,718,679.856203758,662,639,880,784.856203758,813.856203758,651,630,654,0.400969362767,0.00450522137866,0.069829146238,0.99999996058,6.26880822175e-05,-0.000273117309472,1.78179018592e-05,1793249856959274240
+77,1.283333333,BASELINE,767,745.279402939,718,679.279402939,662,639,880,784.279402939,813.279402939,651,630,654,0.400969775692,0.00450598113026,0.0698294633857,0.999999960674,6.33020614559e-05,-0.000272637715753,1.76955427761e-05,1793249856975940864
+78,1.300000000,BASELINE,767,745,718,679,661.704185102,639,880,784,813.295814898,651,630.295814898,654,0.400970296421,0.0045064402739,0.0698300101643,0.999999960897,6.36068064655e-05,-0.000271751580423,1.76397026386e-05,1793249856992607488
+79,1.316666667,BASELINE,767,745,718,679,661.130454495,639,880,784,813.869545505,651,630.869545505,654,0.40097091843,0.00450661699876,0.0698307726792,0.99999996124,6.36210283794e-05,-0.000270483502558,1.76463565204e-05,1793249857009274368
+80,1.333333333,BASELINE,767.456373369,745.456373369,718,679,661,639,880.456373369,784.456373369,814,651,630.543626631,654,0.400969972638,0.00450744032563,0.069830098096,0.999999960716,6.61417176197e-05,-0.000271821367449,1.75246749073e-05,1793249857025940992
+81,1.350000000,BASELINE,767.95376159,745.95376159,718,679,661.04623841,639,880.95376159,785,814,651,630.04623841,654,0.400968799958,0.00450816004906,0.0698292042184,0.99999996006,6.87834806501e-05,-0.000273579126535,1.74190583322e-05,1793249857042607616
+82,1.366666667,BASELINE,767.373339179,745.373339179,718,679,661.626660821,639,880.373339179,785,814,651,630.626660821,654,0.400970336518,0.0045054844445,0.0698306629358,0.999999960962,6.43021173602e-05,-0.000271327766883,1.79353728272e-05,1793249857059274240
+83,1.383333333,BASELINE,767.205217773,745.205217773,718,678.794782227,662,639,880,784.794782227,813.794782227,651,630.794782227,654,0.400971088975,0.0045045776863,0.069831302596,0.999999961371,6.20470577448e-05,-0.000270333807696,1.81098928475e-05,1793249857075940608
+84,1.400000000,BASELINE,767.780411687,745.780411687,718,678.219588313,662,639,880,784.219588313,813.219588313,651,630.219588313,654,0.400970427814,0.00450685988611,0.069830465622,0.999999960923,6.38056811481e-05,-0.000271606748156,1.76682099853e-05,1793249857092606976
+85,1.416666667,BASELINE,767.644104323,746,718,678.355895677,661.644104323,639,880,784,813,651,630,654.355895677,0.400970396948,0.00450716453753,0.0698305715555,0.999999960997,6.47023043192e-05,-0.000271121152603,1.76634561293e-05,1793249857109273856
+86,1.433333333,BASELINE,767.068441243,746,718,678.931558757,661.068441243,639,880,784,813,651,630,654.931558757,0.400970755293,0.00450624804255,0.0698312597394,0.999999961394,6.50666378281e-05,-0.000269549651985,1.79285081981e-05,1793249857125940480
+87,1.450000000,BASELINE,767.520395986,745.479604014,718,679.520395986,661.520395986,639,880.520395986,784,813.520395986,651,630,654.479604014,0.400970718589,0.00450499822066,0.0698304950217,0.999999961125,6.36746193462e-05,-0.000270878225299,1.79257846922e-05,1793249857142607616
+88,1.466666667,BASELINE,767.891747088,745,718,679.891747088,662,639,881,784.108252912,814,651,630,654.108252912,0.40097068806,0.0045041353576,0.069829736283,0.999999960859,6.23402541121e-05,-0.000272169166543,1.78594721653e-05,1793249857159274496
+89,1.483333333,BASELINE,767.315805388,745,718,679.315805388,662,639,881,784.684194612,814,651,630,654.684194612,0.400970914506,0.00450513860179,0.069829850356,0.999999961019,6.22788497898e-05,-0.000271606903149,1.76745357298e-05,1793249857175940864
+90,1.500000000,BASELINE,767,745,718.260114379,679,662,639,881,785,814,651,630.260114379,654.739885621,0.400970816113,0.0045062513547,0.0698299605533,0.999999960975,6.35504477558e-05,-0.00027148729427,1.75097135779e-05,1793249857192607488
+91,1.516666667,BASELINE,767,745,718.836007476,679,662,639,881,785,814,651,630.836007476,654.163992524,0.400970323364,0.00450749705107,0.0698300660454,0.999999960676,6.6440309801e-05,-0.000271905067779,1.7369310169e-05,1793249857209274112
+92,1.533333333,BASELINE,767,745.421521188,718.578478812,679,662,639,881,784.578478812,814,651.421521188,631,654,0.400969447507,0.00450732524284,0.0698292923125,0.999999960559,6.47994251498e-05,-0.000272744706188,1.71506876301e-05,1793249857225940736
+93,1.550000000,BASELINE,767,745.98934787,718,679.01065213,662,639,881,784.01065213,813.98934787,652,631,654.01065213,0.400968455602,0.00450658327416,0.0698282057922,0.999999960509,6.14380869676e-05,-0.000273717820192,1.69132183072e-05,1793249857242607360
+94,1.566666667,BASELINE,767,745.411564475,718,679.588435525,662,639,881,784.588435525,813.411564475,652,631,654.588435525,0.400969405953,0.00450553247984,0.0698291032475,0.999999960671,6.25171100281e-05,-0.00027285495844,1.73303539901e-05,1793249857259274240
+95,1.583333333,BASELINE,767,745,718,679.832899236,662,639,881.167100764,784.832899236,813.167100764,651.832899236,630.832899236,654.832899236,0.400970204089,0.00450536843292,0.0698300130373,0.999999960907,6.35111406475e-05,-0.000271742914821,1.75785089066e-05,1793249857275941120
+96,1.600000000,BASELINE,767,745,718,679.252050393,662,639,881.747949607,784.252050393,813.747949607,651.252050393,630.252050393,654.252050393,0.400970625336,0.00450740000726,0.0698309533681,0.999999961328,6.42947268581e-05,-0.000270013886903,1.74082608721e-05,1793249857292607744
+97,1.616666667,BASELINE,767,745.325352037,718,679,662,639,881.349295926,784,814,651,630,654,0.400970211417,0.00450710028315,0.0698307487223,0.999999961172,6.43453106372e-05,-0.000270564700496,1.75980933843e-05,1793249857309274624
+98,1.633333333,BASELINE,767,745.900112482,718,679,662,639,880.199775036,784,814,651,630,654,0.400969157276,0.00450501343183,0.0698296663603,0.999999960572,6.38339892682e-05,-0.000272863195401,1.80639564998e-05,1793249857325941760
+99,1.650000000,BASELINE,767.486448806,745.513551194,718,679,662,639,880.486448806,784.486448806,814,651,630,654,0.400969868213,0.00450627348089,0.069829914236,0.999999960643,6.55517189878e-05,-0.000272206443233,1.79080088467e-05,1793249857342607872
+100,1.666666667,BASELINE,767.926054299,745,718,679,662,639,881,785,813.926054299,651.073945701,630,654,0.400970656094,0.00450782070122,0.0698302387844,0.999999960794,6.71826500165e-05,-0.00027126996115,1.76256337214e-05,1793249857359274496
+101,1.683333333,BASELINE,767.347257891,745,718,679,662,639,881,785,813.347257891,651.652742109,630,654,0.400969434475,0.00450652205634,0.0698291764506,0.999999960561,6.50198448132e-05,-0.000272667696561,1.73730789538e-05,1793249857375941120
+102,1.700000000,BASELINE,767.230045558,745.230045558,718,679,662,639,881,785,813.230045558,652,630.230045558,654,0.400969100695,0.00450502418367,0.0698287305573,0.999999960519,6.28797887227e-05,-0.000273316612772,1.74859728969e-05,1793249857392607488
+103,1.716666667,BASELINE,767.805109835,745.805109835,718,679,662,639,881,785,813.805109835,652,630.805109835,654,0.400970098482,0.0045032275124,0.069829209192,0.999999960767,6.07738515895e-05,-0.000272842461562,1.81469611086e-05,1793249857409274112
+104,1.733333333,BASELINE,768,745.621529325,718,679,662,639,880.621529325,784.621529325,814,652,630.621529325,654,0.400970592907,0.00450351936452,0.0698299799713,0.999999960948,6.16789436779e-05,-0.000271965624841,1.82997854915e-05,1793249857425940992
+105,1.750000000,BASELINE,768,745.049041673,718,679,662,639,880.049041673,784.049041673,814,652,630.049041673,654,0.400970829292,0.0045048818648,0.0698309005139,0.99999996109,6.41275918595e-05,-0.000270882357749,1.81921078224e-05,1793249857442607872
+106,1.766666667,BASELINE,767.458347098,745.541652902,718,679,662,639,880.541652902,784.541652902,814,652,630,654.541652902,0.400970578137,0.00450554836037,0.0698305191249,0.999999961029,6.34652698732e-05,-0.000271285733768,1.78280247037e-05,1793249857459274752
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662,639,880,785,814,652,630,654,0.400970321827,0.00450591558077,0.0698301088681,0.999999960771,6.55705993125e-05,-0.000271742242935,1.77476633521e-05,1793249857500948992
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.575169062,746,718,679,662,639,880,784.424830938,813.424830938,651.424830938,630,654.575169062,0.400969888261,0.00450737124492,0.0698287672553,0.999999960576,6.65721982898e-05,-0.000272240126059,1.7389985528e-05,1793249857517615872
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.850074709,746,718,679,662.149925291,639,880,784.149925291,813.149925291,651.149925291,630.149925291,655,0.400969591385,0.00450801104562,0.0698281690805,0.99999996051,6.66530445333e-05,-0.000272474202653,1.72042581468e-05,1793249857534282752
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.276484945,746,718,679,662.723515055,639,880,784.723515055,813.723515055,651.723515055,630.723515055,655,0.400969680768,0.00450634534932,0.0698296717397,0.999999960808,6.41319936289e-05,-0.000271962805041,1.75044346514e-05,1793249857550949120
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,718,679,662.69149484,639,880,785,813.69149484,651.69149484,630.69149484,654.69149484,0.400970018177,0.00450610728132,0.0698303718771,0.999999960883,6.4001327936e-05,-0.000271715619396,1.75671765434e-05,1793249857567615488
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,718,679,662.095895644,639,880,785,813.095895644,651.095895644,630.095895644,654.095895644,0.400970586397,0.00450719776031,0.0698303251898,0.99999996075,6.60951481565e-05,-0.000271714308695,1.7408962434e-05,1793249857584282112
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662.483467721,639,880,784.516532279,813.483467721,651,630,654,0.400970278701,0.0045059869772,0.0698308299626,0.999999961003,6.4000579224e-05,-0.000271261622591,1.77732702338e-05,1793249857600948992
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.060620145,746,718,679,662.939379855,639,880.060620145,784.060620145,814,651,630.060620145,654,0.400970019858,0.00450450700821,0.0698314153265,0.999999961294,6.14109017679e-05,-0.000270757913892,1.81696698123e-05,1793249857617615872
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.645599003,746,718,679,662.354400997,639,880.645599003,784.645599003,814,651,630.645599003,654,0.400971637578,0.00450451861187,0.069831782394,0.999999961346,6.14911445852e-05,-0.000270562130093,1.79762942194e-05,1793249857634282240
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.771953034,746,718,679,662,639.228046966,881,785,814,651,631,654,0.400975260889,0.00450513875126,0.0698330761675,0.999999961804,6.2154166571e-05,-0.000268719854761,1.78304169544e-05,1793249857650948864
+117,1.950000000,POSE1_TO_POSE2_PRESS,767.193395144,746,718,679,662,639.806604856,881,785,814,651,631,654,0.400981966818,0.00450669421739,0.069835794299,0.999999962873,6.37129271298e-05,-0.000264346902183,1.77575452074e-05,1793249857667615488
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,746,718,679,662,640,881,785,814,651,630.614591184,654,0.401008675002,0.00450750026604,0.0698468622626,0.999999967721,6.40337549292e-05,-0.000245254816768,1.75368560383e-05,1793249857684282112
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662,640,881,785,814,651,630.035663616,654,0.401045426578,0.00450793002261,0.069862122785,0.99999997389,6.37330007847e-05,-0.000218772063869,1.72419458133e-05,1793249857700948736
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.539933393,745.460066607,718,679,662,639.460066607,881,785,814,651,630,654,0.401100704156,0.00450720433819,0.0698796942827,0.99999997961,6.34292735647e-05,-0.00019092393593,1.74326313665e-05,1793249857717615360
+121,2.016666667,POSE1_TO_POSE2_PRESS,767.88509974,745,718,679,662,639,880.88509974,784.88509974,814,651,630,654,0.401159568149,0.0045065521448,0.0698956987518,0.999999983989,6.2997753537e-05,-0.000166576996635,1.7453576175e-05,1793249857734282496
+122,2.033333333,POSE1_TO_POSE2_PRESS,767.311774493,745,718,679,662,639,880.311774493,784.311774493,814,651,630,654,0.401227888849,0.00450649579142,0.0699048458697,0.999999985681,6.20571490557e-05,-0.00015655658131,1.6670110255e-05,1793249857750949120
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.271048702,718,679,662,639,880.271048702,784,813.728951298,651.271048702,630,654.271048702,0.401304797276,0.00450665495239,0.0699105147223,0.999999987071,6.01351763887e-05,-0.000148351696329,1.52757904921e-05,1793249857767615744
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.865193632,718,679,662,639,880.865193632,784,813.134806368,651.865193632,630,654.865193632,0.401391942463,0.00450707101137,0.0699120374028,0.99999998816,5.70433905471e-05,-0.000142310965489,1.31533190801e-05,1793249857784282112
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662,639,881,784,813.446190758,652,630,654.553809242,0.401488786228,0.0045073068179,0.0699084561037,0.999999987341,5.50996525508e-05,-0.000148874926309,1.08830491625e-05,1793249857800948736
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.976838614,718.023161386,679,662,639,881,784,814,652,630,654,0.401589701881,0.00450750473177,0.0699035305503,0.999999985917,5.34863742665e-05,-0.000158843465269,8.5454896131e-06,1793249857817615360
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.403853267,718.596146733,679,662,639,881,784,814,652,630,654,0.401719710868,0.00450805891135,0.0699022526576,0.999999985554,5.17195388758e-05,-0.000161817645521,5.64024324897e-06,1793249857834281984
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,718.825393279,679,662,639,881,784,814,652,630,654,0.401863193775,0.00450925292202,0.069903237056,0.999999985841,4.95699131221e-05,-0.00016079736946,2.32754575223e-06,1793249857850948608
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,718.233861037,679,662,639,881,784,814,652,630,654,0.402038849658,0.0045119747198,0.069909623348,0.999999987631,4.65062616832e-05,-0.000150239139492,-1.95806219267e-06,1793249857867615232
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.650990251,639,881,784,814,651.650990251,630,654,0.402230518058,0.004511795497,0.0699151592813,0.999999989107,4.07222561755e-05,-0.000141755665833,-5.68533613441e-06,1793249857884282112
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,679,661.073782646,639,881,784,814,651.073782646,630,654,0.40243265616,0.00450971946019,0.0699201392136,0.999999990347,3.31595637546e-05,-0.000134628757647,-9.04754728176e-06,1793249857900948736
+132,2.200000000,POSE1_TO_POSE2_PRESS,767.503116116,745.503116116,718,679,661.503116116,639,881,784.503116116,814,651,630,654,0.402663359155,0.00451065053502,0.0699203464957,0.999999990836,2.78906469768e-05,-0.00013173869658,-1.39298399045e-05,1793249857917615616
+133,2.216666667,POSE1_TO_POSE2_PRESS,767.920151372,746,718,679.079848628,662,639,881.079848628,785,814,651.079848628,630,654,0.402904060215,0.00450976556455,0.0699203403727,0.999999991338,2.01902773515e-05,-0.000128734431726,-1.85567394457e-05,1793249857934281984
+134,2.233333333,POSE1_TO_POSE2_PRESS,767.344170347,746,718,679.655829653,662,639,881.655829653,785,814,651.655829653,630,654,0.403180870963,0.00449485834334,0.0699233544707,0.999999992444,-4.70652963754e-06,-0.000121162302611,-2.02125226458e-05,1793249857950948608
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,718,679.762821697,662,639,882,785,814,651.762821697,630,654,0.403482953068,0.00448197451242,0.0699319209548,0.999999993808,-2.72083867348e-05,-0.000105492447899,-2.2677453161e-05,1793249857967615232
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,718,679.173503745,662,639,882,785,814,651.173503745,630,654,0.403822555649,0.00447209481867,0.0699487310904,0.999999995561,-4.61544499038e-05,-7.77998655617e-05,-2.63437280808e-05,1793249857984281856
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,718.405420102,679,662.405420102,639,882,785,814,651.405420102,630,654,0.404167993483,0.00447886390472,0.0699526560712,0.999999995777,-4.56352106713e-05,-7.27026163971e-05,-3.28156435183e-05,1793249858000948480
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,718.980006863,679,662.980006863,639,882,785,814,651.980006863,630,654,0.404515866142,0.0044925799047,0.0699512045581,0.99999999553,-3.69938276492e-05,-7.70335561426e-05,-4.0458247817e-05,1793249858017615104
+139,2.316666667,POSE1_TO_POSE2_PRESS,767.55598847,745.44401153,718.44401153,679,662.44401153,639,881.44401153,785,814,651.44401153,630,654,0.404921395014,0.00448822465447,0.0699596545005,0.999999996104,-4.41977013245e-05,-6.27365691897e-05,-4.36295230003e-05,1793249858034281984
+140,2.333333333,POSE1_TO_POSE2_PRESS,768,745.132306016,718,679.132306016,662.132306016,639,881.132306016,785.132306016,813.867693984,651,630,654.132306016,0.405333538107,0.00448718226993,0.0699661495174,0.999999997294,-3.00619124971e-05,-5.21936174861e-05,-4.22420080527e-05,1793249858050948864
+141,2.350000000,POSE1_TO_POSE2_PRESS,768,745.709584155,718,679.709584155,662.709584155,639,881.709584155,785.709584155,813.290415845,651,630,654.709584155,0.405760935636,0.00449947275529,0.06996486923,0.999999996394,5.77646545672e-05,-5.65347743275e-05,-2.60644716536e-05,1793249858067615232
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.705006778,746,718,680,663,639,882,785.705006778,813.294993222,651.294993222,630,654.705006778,0.40621052295,0.00450754154718,0.0699578083355,0.999999992124,0.000102784354252,-6.88345070556e-05,-2.11771269318e-05,1793249858084282112
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.111365989,746,718,680,663,639,882,785.111365989,813.888634011,651.888634011,630,654.111365989,0.406682574986,0.00451133634917,0.0699448952242,0.999999990182,0.000104466910518,-8.91914065436e-05,-2.77198337991e-05,1793249858100948736
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718.469341722,680,663,639.469341722,882,785.469341722,814,652,630,654.469341722,0.40719249784,0.00451360910359,0.0699323127165,0.999999994102,1.43771532517e-05,-0.00010319092103,-3.0658754112e-05,1793249858117615104
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.046637987,746,718.953362013,680,663.046637987,640,882,785.953362013,814,652,630,655,0.407717118879,0.0045164163354,0.069921862586,0.999999989512,-8.50819162929e-05,-0.000112525040453,-3.2779012983e-05,1793249858134281728
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.619143003,746,718.380856997,680,663.619143003,640,882,785.380856997,814,652,630,655,0.408308864835,0.00452921305782,0.0699345952849,0.999999994392,-5.12354886529e-05,-8.58073241807e-05,-3.50517012719e-05,1793249858150948608
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.802259657,745.802259657,718.197740343,680,664,639.802259657,882.197740343,785.197740343,814,652,630,655,0.408908863376,0.00453796417825,0.0699460971029,0.999999997235,-2.22925900765e-05,-6.03643479898e-05,-3.7274577535e-05,1793249858167615232
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.211555242,745.211555242,718.788444758,680,664,639.211555242,882.788444758,785.788444758,814,652,630,655,0.409525262024,0.00453867558174,0.0699551528237,0.999999998518,-3.09434526493e-06,-3.74546303422e-05,-3.93984636475e-05,1793249858184282368
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.371867344,718.628132656,680,664,639.371867344,883.371867344,785.628132656,814,652,630,654.628132656,0.41015775006,0.0045453256469,0.0699511667943,0.999999997896,2.65120605542e-05,-4.28732372551e-05,-4.08220245011e-05,1793249858200949248
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.951226842,718.048773158,680,664,639.951226842,883.951226842,785.048773158,814,652,630,654.048773158,0.41079921553,0.00455528932839,0.0699399038126,0.999999995152,6.19259445828e-05,-6.4098301627e-05,-4.18548222464e-05,1793249858217615616
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,718,680.528068456,664,640,883.471931544,785,814,651.471931544,630,654.528068456,0.41148625917,0.00456436772235,0.0699452015888,0.999999993848,8.39075597605e-05,-5.90137840476e-05,-4.22097486336e-05,1793249858234282496
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718,681,663.895783104,640,883.104216896,785,814,651.104216896,630,655,0.412191246616,0.0045724322951,0.0699573458006,0.99999999346,9.73509094263e-05,-4.23034294563e-05,-4.25843046956e-05,1793249858250949120
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718,681,663.321716452,640,883.678283548,785,814,651.678283548,630,655,0.4129582427,0.00457629305522,0.0699934931813,0.999999995903,7.78671404222e-05,1.59173151969e-05,-4.33282854163e-05,1793249858267615488
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718,680.740796648,663.259203352,640,884,785,814,651.740796648,630,655,0.413715463949,0.00458243575191,0.0700171821202,0.999999994475,7.92468212678e-05,5.32809900098e-05,-4.39481920011e-05,1793249858284282112
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718,680.151139811,663.848860189,640,884,785,814,651.151139811,630,655,0.41446022355,0.00459148764717,0.0700249880305,0.999999991214,0.000107224920024,6.40543862532e-05,-4.44099190368e-05,1793249858300948736
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,680.430442023,663.569557977,640,884.430442023,785,814.430442023,651,630,655,0.415200358904,0.0045985503358,0.0699849596631,0.999999992034,0.000117359945596,-6.8846079614e-06,-4.59491238901e-05,1793249858317615360
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718.00911362,681,663.00911362,640,885,785,814.99088638,651.00911362,630,654.99088638,0.415940015482,0.0046049327195,0.0699290934894,0.999999986012,0.000121305553673,-0.00010474503465,-4.78549055923e-05,1793249858334281984
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718.579953598,681,663.579953598,640,885,785,814.420046402,651.579953598,630,654.420046402,0.416748400249,0.00461164164027,0.0699132173607,0.999999983288,0.000122810319442,-0.000126075016358,-4.94656072954e-05,1793249858350948864
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.157016479,746,718.842983521,681,664.157016479,640,885,785,814.157016479,652,630,654.157016479,0.417568932491,0.00461785586395,0.0699101458286,0.999999982218,0.000129001567565,-0.000127868982919,-5.07066011221e-05,1793249858367615744
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.75141367,746,718.24858633,681,664.75141367,640,885,785,814.75141367,652,630,654.75141367,0.418423302349,0.00462269207287,0.0699427424235,0.999999984884,0.000148247349603,-7.52439708928e-05,-5.09177468921e-05,1793249858384282368
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,745.663686063,718,681.336313937,664.327372125,640,885.672627875,785,815,651.663686063,630,654.663686063,0.419305780191,0.00462665256858,0.069973011577,0.999999987544,0.000146411978457,-2.97580252316e-05,-5.08850477103e-05,1793249858400948736
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,745.085612688,718,681.914387312,663.171225376,640,886.828774624,785,815,651.085612688,630,654.085612688,0.420208463433,0.00462998355722,0.0700016076467,0.999999990285,0.000129422409306,1.05959967966e-05,-5.0677060462e-05,1793249858417615360
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.509807048,745.490192952,718.490192952,682,663.980385905,640,887,785,815,651.490192952,629.509807048,654,0.421129950812,0.00461722583092,0.0700203491698,0.999999990593,0.000121497550035,3.75169197495e-05,-5.14355566283e-05,1793249858434281984
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,718.934558912,682,664.934558912,640,887,785,815,652,629,654.065441088,0.42204288223,0.00460099684356,0.0700297553613,0.999999990934,0.000113579618211,5.00661453555e-05,-5.21971571489e-05,1793249858450948864
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,718.360579822,682,664.360579822,640,887,785,815,652,629,654.639420178,0.422863921918,0.00457952800323,0.0699799303574,0.999999993818,9.34695471843e-05,-3.0918618713e-05,-5.16772094746e-05,1793249858467615488
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.220211229,746,718,682.440422458,664,640,887.220211229,785,815,651.779788771,629.220211229,655,0.423680472255,0.00456805675962,0.0699189556608,0.999999988285,7.15394821915e-05,-0.000124657955442,-5.26586477014e-05,1793249858484282112
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.812512516,746,718,683.625025032,664,640,887.812512516,785,815,651.187487484,629.812512516,655,0.424489437084,0.00457347841288,0.0698391413638,0.999999968552,4.65341773374e-05,-0.000239948656635,-5.61769717677e-05,1793249858500948736
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.604272293,746,718,684,664.395727707,640,888,785,815,651.395727707,630,655,0.425414080744,0.00457890784901,0.0698491654528,0.999999972571,5.94318889071e-05,-0.000219527583135,-5.5976397571e-05,1793249858517615616
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.025265318,746,718,684,664.974734682,640,888,785,815,651.974734682,630,655,0.426392300416,0.0045843408894,0.069900797737,0.999999985217,8.98841905079e-05,-0.000136252286102,-5.40534342713e-05,1793249858534282240
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.549082858,746,718.549082858,683.450917142,665,640,888,785.549082858,815.549082858,652,630,655,0.427366929416,0.00458977784393,0.0699547011459,0.999999990923,0.000103693051541,-6.81161165883e-05,-5.25540851218e-05,1793249858550948608
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.876211573,746,718.876211573,683.123788427,664.876211573,640,888.123788427,786,816,651.876211573,630,655,0.428338347387,0.00459411486354,0.070004090185,0.999999992521,0.000110882159506,-2.25432565397e-06,-5.15496287469e-05,1793249858567615488
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.299420276,746,718.299420276,683.700579724,664.299420276,640,888.700579724,786,816,651.299420276,630,655,0.429298614107,0.00459442602532,0.0700365797073,0.999999992294,9.66252840868e-05,5.78121690359e-05,-5.22854988228e-05,1793249858584282368
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718.284994893,683.715005107,664.284994893,640,889,786,816,651.284994893,630,654.715005107,0.430205264161,0.00459389018937,0.0700385390105,0.999999992391,9.17480633264e-05,6.31492590066e-05,-5.30283681996e-05,1793249858600948736
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718.877639945,683.122360055,664.877639945,640,889,786,816,651.877639945,630,654.122360055,0.431054035306,0.00459244002478,0.0700075411358,0.999999993806,9.69961206682e-05,9.40630356423e-06,-5.37787932793e-05,1793249858617615360
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,719,683.455176021,664.544823979,640,889.455176021,785.544823979,816,652,630,654.455176021,0.431855231274,0.00458644112631,0.0699384879893,0.999999988752,9.13381562627e-05,-0.00010594768201,-5.41161024023e-05,1793249858634282496
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.028910815,746,719,684,664.028910815,640,890.028910815,785,816,652,630,655,0.432652970565,0.0045793287475,0.0698657369933,0.999999969448,8.280075166e-05,-0.000226465535437,-5.44122942611e-05,1793249858650949376
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.605102156,746,719,684,664.605102156,640,890.605102156,785,816,652,630,655,0.433619593583,0.00457354188979,0.0699104176667,0.999999985754,7.34705747256e-05,-0.000141285361383,-5.59648514936e-05,1793249858667615744
+178,2.966666667,POSE1_TO_POSE2_PRESS,768,746,718.81398138,684,665.18601862,640,891,785.18601862,816,652,630.18601862,655,0.434561749211,0.00457079437836,0.0699562506824,0.999999994172,7.02906482916e-05,-5.95332328566e-05,-5.63090133374e-05,1793249858684282112
+179,2.983333333,POSE1_TO_POSE2_PRESS,768,746,718.222772425,684,665.777227575,640,891,785.777227575,816,652,630.777227575,655,0.435450609554,0.00457466724464,0.0700045937671,0.999999995191,8.05073477413e-05,1.47518572958e-05,-5.40210194618e-05,1793249858700948736
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.639160977,746,718.360839023,684,665.278321954,640,890.639160977,786,816,651.639160977,630.639160977,655,0.436314883427,0.00457572583632,0.0700223436792,0.999999994584,7.6363569111e-05,4.53390876658e-05,-5.42709878168e-05,1793249858717615360
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.06014334,746,718.93985666,684,664.12028668,640,890.06014334,786,816,651.06014334,630.06014334,655,0.437164291221,0.00457508279771,0.0700215956556,0.999999995185,6.35368344923e-05,4.95047298927e-05,-5.6055516288e-05,1793249858734282240
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.516148146,746,719,684.516148146,664.516148146,640.516148146,890,786,816.516148146,651.516148146,630,655,0.437965153986,0.00457477854513,0.0699961523582,0.999999995773,6.71490147826e-05,2.55215335114e-05,-5.73890202793e-05,1793249858750948864
+183,3.050000000,POSE1_TO_POSE2_PRESS,767.908562074,746,718.908562074,685,665,640.908562074,890,786,817,652,630,655,0.438744586918,0.00457500317188,0.0699613692206,0.999999995439,7.3862721096e-05,-1.63314152619e-05,-5.83114382887e-05,1793249858767615232
+184,3.066666667,POSE1_TO_POSE2_PRESS,767.336873822,746,718.336873822,685,665,640.336873822,890,786,817,652,630,655,0.439441019733,0.00457779932979,0.0698925655769,0.999999985484,8.68584355735e-05,-0.000134903187729,-5.73493286444e-05,1793249858784282112
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.243333866,746,718.243333866,685,664.756666134,640,890.243333866,785.756666134,817,652,630,655,0.44014968283,0.00458187575207,0.0698463937168,0.999999972088,8.83629847451e-05,-0.00021159328561,-5.69585949414e-05,1793249858800948992
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.835763813,746,718.835763813,685,664.164236187,640,890.835763813,785.164236187,817,652,630,655,0.4408758919,0.00458778889042,0.0698326902861,0.999999969624,7.33818684673e-05,-0.000228198321707,-5.73875800321e-05,1793249858817615616
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,746,718.581166019,684.581166019,664,640,891,785,816.581166019,652,630,655,0.441638772963,0.00459340360692,0.069868980543,0.999999980163,8.14201255289e-05,-0.000172425793824,-5.75719750413e-05,1793249858834281984
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,746,718.001685801,684.001685801,664,640,891,785,816.001685801,652,630,655,0.442415719844,0.00459890386245,0.069924446172,0.999999989556,9.82875969644e-05,-8.88924256464e-05,-5.76625557677e-05,1793249858850948352
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.427432276,746.572567724,718,684.572567724,664,639.427432276,891,785,816.572567724,652,630,655,0.443084951346,0.0046076357225,0.0699321261621,0.999999987607,0.000116510159103,-8.92750636494e-05,-5.69372527018e-05,1793249858867615232
+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746.849779511,718,685,663.849779511,639.150220489,891,785,817,652,630.150220489,655,0.443733993303,0.00461585248738,0.069926419583,0.999999983332,0.000135025493253,-0.00010943643536,-5.59317826211e-05,1793249858884282112
+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746.262185167,718,685,663.262185167,639.737814833,891,785,817,652,630.737814833,655,0.444325167655,0.00462254207901,0.0698821433271,0.999999969233,0.000154381739123,-0.000186471643707,-5.41175238785e-05,1793249858900948992
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.319749122,746,718,685,663,639.680250878,891,785,817.319749122,652,631,655,0.444902537723,0.00462889116439,0.069841810126,0.999999953956,0.000163963881286,-0.000249503504277,-5.4329783697e-05,1793249858917615616
+193,3.216666667,POSE1_TO_POSE2_PRESS,767.897123019,746,718,685,663,639.102876981,891,785,817.897123019,652,631,655,0.44546878552,0.00463496590039,0.0698046538828,0.999999939322,0.000165670938339,-0.000301252735904,-5.61748281328e-05,1793249858934282496
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,746,718,685,663,639,891,784.524682954,817.524682954,652,631,655,0.446011454222,0.00464067294856,0.0697862327167,0.99999993123,0.000170434283333,-0.000324249445992,-5.79091757279e-05,1793249858950949120
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,746,718,685,662.946588808,639,891,784.053411192,817,652,630.946588808,655,0.446544761394,0.00464642482951,0.0697725199591,0.999999924396,0.000176383807988,-0.000341389452918,-5.95839702501e-05,1793249858967615488
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,746,718,685,662.371208449,639,891,784.628791551,817,652,630.371208449,655,0.447036541841,0.00465339391659,0.069765124292,0.999999914976,0.000187449684072,-0.000362215805265,-6.09113216564e-05,1793249858984282368
+197,3.283333333,POSE1_TO_POSE2_PRESS,767.790328556,746,718,685,661.790328556,638.790328556,891,785,817,652,630.209671444,655,0.447512644657,0.00465954321739,0.0697522450404,0.999999902731,0.000198559314998,-0.000389049175686,-6.12549149401e-05,1793249859000948992
+198,3.300000000,POSE1_TO_POSE2_PRESS,767.19944993,746,718,685,661.19944993,638.19944993,891,785,817,652,630.80055007,655,0.447960243656,0.0046642020502,0.0697293959925,0.999999885133,0.000209748496085,-0.000426804004385,-5.98099208683e-05,1793249859017615616
+199,3.316666667,POSE1_TO_POSE2_PRESS,767.383401495,746,718,685,661.383401495,638,891,784.616598505,817,652,631,655,0.448399976878,0.00467013429238,0.0697235718453,0.999999878725,0.000222054782517,-0.000435586653084,-5.92044436125e-05,1793249859034282496
+200,3.333333333,POSE1_TO_POSE2_PRESS,767.962162765,746,718,685,661.962162765,638,891,784.037837235,817,652,631,655,0.448835702185,0.00467671539256,0.0697264226251,0.999999878381,0.00023493028391,-0.000429606716726,-5.90267366604e-05,1793249859050949120
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,746,718,685.765984339,658,637,891,784,817,652,630,655,0.45281267453,0.00469888583881,0.0695847242199,0.999999775901,0.000212512427013,-0.000632444192735,-5.52423120954e-05,1793249860265154304
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,685.187127569,658,637,891,784,817,652,630,655,0.452800871594,0.00470109008714,0.0695782041562,0.999999769687,0.000216001906251,-0.000640992274998,-5.56560055933e-05,1793249860281820160
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,685.390008396,658,637,891.390008396,784,817.390008396,652,630,655,0.452771712282,0.0047021940876,0.069566128922,0.999999756451,0.000217673992123,-0.00066076624282,-5.5710604167e-05,1793249860298486528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,718,685.966322389,658,637,891.966322389,784,817.966322389,652,630,655,0.452734261891,0.00470277250385,0.0695514000024,0.999999739357,0.000218477915969,-0.00068590277591,-5.55936644055e-05,1793249860315153152
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,718,686,657.458364932,636.458364932,892,784,817.458364932,652,630,655,0.452671983774,0.00470273178537,0.0695293634589,0.999999717977,0.000218484617451,-0.000716391059634,-5.56344423663e-05,1793249860331820032
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768.119844459,746,718,686,657,636.119844459,891.880155541,784,817,652,630,655,0.45260527513,0.00470266849405,0.0695087217979,0.999999697302,0.000218613827138,-0.000744655070159,-5.56040886167e-05,1793249860348486144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768.709657132,746,718,686,657,636.709657132,891.290342868,784,817,652,630,655,0.452527234767,0.00470266736794,0.0694953286623,0.999999683398,0.000219417478607,-0.000762894135497,-5.52564079691e-05,1793249860365152768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768.706808225,746,717.706808225,686,657,637,891,784,817,652,630,655,0.452445154299,0.00470278243494,0.0694879608773,0.999999675827,0.000220627822579,-0.00077247606945,-5.43226726702e-05,1793249860381819648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768.129360314,746,717.129360314,686,657,637,891,784,817,652,630,655,0.45235915686,0.00470301015382,0.0694864348084,0.999999674633,0.000222232464251,-0.000773664715431,-5.28207440049e-05,1793249860398486528
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746,717.446392501,685.553607499,657.446392501,637,891,784,817,652,630,655,0.452258014073,0.00470329241096,0.0694898708069,0.999999676405,0.00022584198342,-0.0007704535686,-5.0864622878e-05,1793249860415153408
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767.978356116,746,718,685.043287768,658,637,891,784.021643884,817,652,630,655,0.452151313916,0.00470364702743,0.0694946351437,0.99999967891,0.00023008698236,-0.000766067009361,-4.87936948062e-05,1793249860431820288
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767.403413003,746,718,686.193173995,658,637,891,784.596586997,817,652,630,655,0.452014320761,0.00470544892265,0.0694967362019,0.999999679165,0.000235781018328,-0.000764103446546,-4.71398595034e-05,1793249860448486656
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.176597291,746,718,686.823402709,658,637,891,784.823402709,817,652,630,655,0.451866002728,0.00470830328385,0.0694979286473,0.999999678208,0.00024164540599,-0.000763615000214,-4.56444203423e-05,1793249860465153024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.768524748,746,718,686.231475252,658,637,891,784.231475252,817,652,630,655,0.45169105031,0.00471363288584,0.0694969841722,0.999999674445,0.000247910434322,-0.00076659580544,-4.45215052261e-05,1793249860481819648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.352270195,637,891,784,817,652,630,655,0.451495477988,0.00472796464995,0.0694964124464,0.999999665783,0.000266559125255,-0.000771582886399,-4.51572164441e-05,1793249860498486272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.930761375,637,891,784,817,652,630,655,0.451286663953,0.00474807742589,0.0694960800928,0.999999653396,0.000293160360982,-0.000777858357984,-4.69222827362e-05,1793249860515152640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.49635214,637,891.50364786,784.50364786,817,652,630,655,0.451059868385,0.00474829992493,0.0695024878697,0.999999656058,0.000298280577435,-0.000772724730637,-4.25326492388e-05,1793249860531819520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767.921422605,746,718,686,658.078577395,637.078577395,891.921422605,784.921422605,817,652,630,655,0.450824731005,0.0047451079358,0.0695099372002,0.999999661188,0.000300179046214,-0.000765592357878,-3.72116943243e-05,1793249860548486400
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767.328117972,746,718,686,658.671882028,637.671882028,891.328117972,784.328117972,817,652,630,655,0.450550964645,0.00473726385143,0.0695182063832,0.999999669068,0.000300104737811,-0.000755528272679,-3.12715725242e-05,1793249860565153280
+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.258827319,746,718,686,659,637.741172681,890.741172681,784,817,652,630.258827319,655,0.450262174142,0.00473560397459,0.069527629463,0.999999675263,0.000305838825635,-0.00074516094693,-2.59032675024e-05,1793249860581820160
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.837904102,746,718,686,659,637.162095898,890.162095898,784,817,652,630.837904102,655,0.449954794142,0.00474159587605,0.0695384802697,0.999999679285,0.000318759696423,-0.00073441841935,-2.12424770836e-05,1793249860598486784
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,746,718,686,659,637,890.415186806,784.415186806,817,652,630.584813194,655,0.449632802001,0.00473664242554,0.0695552700898,0.999999697511,0.000320824019746,-0.000708396108695,-1.49610376919e-05,1793249860615153408
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,746,718,686,659,637,890.991772071,784.991772071,817,652,630.008227929,655,0.449305129588,0.00472743411196,0.0695743686238,0.999999720411,0.000318668001177,-0.000676433981183,-8.04959223227e-06,1793249860631819776
+294,4.900000000,POSE2_TO_POSE3_RETREAT,768,746,718,685.432706895,659,637,891,785,817,652,630,655,0.448928869939,0.00472393353123,0.0695937979128,0.999999740389,0.000321928013994,-0.000644652015999,-2.72163453331e-06,1793249860648486400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,745.854058517,718,685,659.145941483,637.145941483,891,784.854058517,817,652,630,655,0.448535937339,0.00471458467144,0.0696104736293,0.99999975837,0.000318606733452,-0.000617853187841,2.75924629207e-06,1793249860665153024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,745.265887121,718,685,659.734112879,637.734112879,891,784.265887121,817,652,630,655,0.448094614038,0.00468726405461,0.0696187909951,0.999999772711,0.000295105321416,-0.000606146298379,8.77297466244e-06,1793249860681819904
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,745.317486616,718,685,660,638,890.682513384,784,817,652,630,655,0.447620943224,0.00466720690584,0.0696176337899,0.999999777258,0.000274941473927,-0.00060802762459,1.39146267071e-05,1793249860698486272
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,745.896902308,718,685,660,638,890.103097692,784,817,652,630,655,0.447120585395,0.00465314217514,0.0696086599864,0.999999773776,0.000257531142162,-0.000621119339561,1.83368092478e-05,1793249860715153152
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.52638491,746,717.52638491,684.52638491,660.47361509,638,890,784.47361509,817,652,630,655,0.446591789087,0.00465808131589,0.0695971180073,0.999999768495,0.000245199281,-0.000634585590281,1.37230722388e-05,1793249860731819776
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767.049490129,746,717.049490129,684.049490129,661,638,890,785,817,652,630.049490129,655,0.446058255945,0.0046653224003,0.0695884211986,0.999999766499,0.000231236970762,-0.000643021664206,7.35685647221e-06,1793249860748486400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.62269141,746,717.62269141,684.62269141,661,638,890,785,817,652,630.62269141,655,0.445539734215,0.00465339511097,0.0696157146923,0.999999803824,0.00018838892291,-0.000597369881123,3.14220209822e-06,1793249860765153024
+302,5.033333333,POSE2_TO_POSE3_RETREAT,768,746,718,685,661.201760179,638,890,784.798239821,817,652,630.798239821,655,0.444998002649,0.00464475490172,0.0696448305073,0.99999983585,0.000160634708223,-0.000549990531845,2.70969335953e-06,1793249860781819648
+303,5.050000000,POSE2_TO_POSE3_RETREAT,768,746,718,685,661.79213027,638,890,784.20786973,817,652,630.20786973,655,0.444411566692,0.00464244593211,0.0696774562904,0.999999862198,0.000161952701411,-0.000499283725953,9.56196867403e-06,1793249860798486272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.623798944,746,718,684.623798944,662,638.376201056,890,784.376201056,817,652,630,655,0.443780882048,0.00464038727173,0.069696955111,0.999999877266,0.000158286291529,-0.000469266669579,1.41920936803e-05,1793249860815152896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.043151532,746,718,684.043151532,662,638.956848468,890,784.956848468,817,652,630,655,0.443126150485,0.00463846464191,0.0697093200865,0.999999886834,0.000151911109284,-0.000450493453619,1.76145915211e-05,1793249860831819520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,717.469135687,684,662,639,889.469135687,785,816.469135687,652,630,655,0.442456148246,0.00462787646125,0.0697258128494,0.999999901472,0.000114547743641,-0.000428573697245,1.60916284532e-05,1793249860848486400
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,717.104283686,684,662.104283686,639,889.104283686,785,816.104283686,652,630,654.895716314,0.441785080593,0.0046184292728,0.0697447406817,0.999999916531,8.03028857913e-05,-0.000400333833623,1.49391257016e-05,1793249860865153280
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,717.677414836,684,662.677414836,639,889.677414836,785,816.677414836,652,630,654.322585164,0.441114734976,0.00461723961038,0.069773126413,0.999999937863,7.12634000083e-05,-0.000344815219257,1.72371904173e-05,1793249860881819648
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639,889.738892034,785,817,652,630,654.261107966,0.440404042839,0.00461481060216,0.0697970005911,0.99999995284,5.99172587284e-05,-0.000300603710863,1.91638733907e-05,1793249860898486272
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639,889.141599968,785,817,652,630,654.858400032,0.439641403293,0.00461078590003,0.069815066017,0.999999962041,4.56012303344e-05,-0.000270950423506,2.06123919255e-05,1793249860915153152
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639,888.561970978,785,816.561970978,652,630,654.561970978,0.438817288661,0.00460469360444,0.0697814250058,0.999999935086,0.000155047266062,-0.000324558266017,2.12229023294e-05,1793249860931819776
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639,888,785.012212193,816,652,630,654.012212193,0.437974562568,0.00459808674578,0.0697325628551,0.999999873976,0.000299143894217,-0.000402612989171,2.15345312107e-05,1793249860948486400
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639,888,785.588370489,816,652,630,654.588370489,0.437154510913,0.00459738674442,0.0697227640204,0.999999877985,0.000267449734689,-0.000414846931335,2.0069118905e-05,1793249860965153024
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746.168047922,718,684,663.168047922,639,887.831952078,785.831952078,816,652,630,655,0.436342429056,0.0045954767122,0.0697278370809,0.999999889306,0.000237353676825,-0.000405787973905,1.96843584865e-05,1793249860981819392
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746.756529739,718,684,663.756529739,639,887.243470261,785.243470261,816,652,630,655,0.435550286638,0.00459053934129,0.0697701176759,0.999999918462,0.000211255861893,-0.000343456968972,2.20032476641e-05,1793249860998486272
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746.660067426,718,683.660067426,663.660067426,639,887,785,816,652,630,654.660067426,0.434712968197,0.00458461595204,0.0698055666485,0.999999938113,0.000184879357711,-0.00029827203946,2.50347843117e-05,1793249861015153152
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746.080248788,718,683.080248788,663.080248788,639,887,785,816,652,630,654.080248788,0.433843769646,0.0045779967425,0.069836194631,0.999999951899,0.000158306187395,-0.000265186878749,2.85692270711e-05,1793249861031819776
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,718,683,663,639,886.505216949,785,816,652,630,654,0.43298453838,0.00457094414405,0.0698451931382,0.99999996092,0.000129834638138,-0.000245966123026,2.83472705902e-05,1793249861048486400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,718,683,663,639,886,785,816,651.929314168,630,654.070685832,0.432119057011,0.00456434512379,0.0698465077104,0.999999965675,0.00010755905879,-0.000237297620981,2.77608954501e-05,1793249861065153024
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,683,663,639,886,785,816,651.341412548,630,654.658587452,0.431196127967,0.00456157438774,0.0698170211558,0.999999948839,0.00013285140228,-0.000289545025612,2.89232612992e-05,1793249861081819392
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.757333666,663,639,885.757333666,785,816,651.242666334,630,654.757333666,0.430251357966,0.00455743225079,0.069773588615,0.999999925259,0.000140298941147,-0.000359066449123,2.94804924769e-05,1793249861098486016
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.178549584,663,639,885.178549584,785,816,651.821450416,630,654.178549584,0.429276335868,0.00455139058265,0.0697108394494,0.999999889621,0.000123029599582,-0.000452514165941,2.91995501884e-05,1793249861115152896
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,682.399855388,662.600144612,639,885,785.399855388,816,651.600144612,629.600144612,654,0.428375322818,0.00454414447081,0.0697357187255,0.999999907938,0.000110925652096,-0.000413501346094,2.8920834208e-05,1793249861131819776
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,718,682.978091199,662.021908801,639,885,785.978091199,816,651.021908801,629.021908801,654,0.427507326178,0.00453636104215,0.0697996901346,0.999999944739,0.000101126051087,-0.000315396238234,2.86431112669e-05,1793249861148486656
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,682.445895348,663.108209305,639,884.445895348,785.445895348,815.445895348,651,629.554104652,654,0.426639604227,0.00453159898585,0.0698424043203,0.999999962923,9.98908198478e-05,-0.000251368100722,3.14545832084e-05,1793249861165153536
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,718,681.867779154,663.867779154,639,884,785,815.132220846,651,630,654,0.425765815959,0.00452574300072,0.0698694372579,0.999999972654,9.47675497016e-05,-0.000211174877077,3.34078642224e-05,1793249861181819904
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,681.282152245,663.282152245,639,884,785,815.717847755,651,630,654,0.424871188285,0.00451572774321,0.0698455673933,0.999999965884,7.51550158391e-05,-0.000248113428956,3.20010960498e-05,1793249861198486528
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745.699797635,718,681,663,639,884,785,815.699797635,651,630,654,0.42394127069,0.00450752655293,0.0698125699046,0.99999995172,6.65022482009e-05,-0.000301870217655,3.1824229711e-05,1793249861215153152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745.12048544,718,681,663,639,884,785,815.12048544,651,630,654,0.422978542733,0.00450101197215,0.0697710861097,0.999999928229,6.80392029312e-05,-0.000371263573224,3.27908510004e-05,1793249861231819776
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745.45860744,718,681,662.54139256,639,883.54139256,785,815,651,630,654,0.421987587557,0.00449438709052,0.0697168737131,0.999999888794,6.12788107363e-05,-0.00046638384393,3.3800253381e-05,1793249861248486144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,746,718,681,662,639,883,785,815,651,629.962699784,654,0.42100324759,0.00448746405048,0.0696670975309,0.999999844333,5.20083710269e-05,-0.000554464224102,3.46309188753e-05,1793249861265152768
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,662,639,883,785,815,651,629.388933803,654,0.420220657874,0.00447666936799,0.069729197274,0.999999900117,3.79743781754e-05,-0.000444130447012,3.27293529288e-05,1793249861281819904
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745.809559267,718,681,662.380881467,639,882.809559267,785,815,651,629.190440733,654,0.419443281876,0.00446769052206,0.0697929140785,0.999999942545,2.40452075499e-05,-0.000336582596343,3.23065224586e-05,1793249861298486784
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745.218382795,718,681,663.56323441,639,882.218382795,785,815,651,629.781617205,654,0.418676876724,0.00446253265605,0.0698600336032,0.999999971746,1.03366075407e-05,-0.0002348970298,3.49953276581e-05,1793249861315153408
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.635176408,663.270352816,639,882.364823592,785,815,651,630,654,0.417847969751,0.00445476322265,0.0698710945061,0.999999973894,-1.67448371763e-07,-0.000225536803477,3.66799388529e-05,1793249861331819776
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.056638936,662.113277873,639,882.943361064,785,815,651,630,654,0.416982449221,0.00444546393182,0.0698493162307,0.999999962727,-8.79427957909e-06,-0.000270260823552,3.77762925242e-05,1793249861348486144
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745.51793754,718,680.51793754,662,639,882.48206246,785,815,651,629.48206246,654,0.416137586827,0.00443876217821,0.0698171983041,0.999999955594,-5.47378203221e-06,-0.000295892683955,3.5075995456e-05,1793249861365152768
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,746,718,680.905793938,662,639,882,785,815,651,629.094206062,654,0.41529797781,0.00443302200581,0.0697850581,0.999999946353,-4.00643281857e-06,-0.000325891599861,3.27465151419e-05,1793249861381819648
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,746,718,680.31841717,662,639,882,785,815,651,629.68158283,654,0.414474133856,0.00443083999348,0.0697586755352,0.99999992333,-1.90279853049e-05,-0.000389598963212,3.45152580892e-05,1793249861398486272
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.735073504,718,680,662,639,882,785.264926496,814.735073504,651,630,654,0.413697377726,0.00444078035075,0.06974984433,0.999999913986,-1.20795888235e-05,-0.000413136286948,3.46565201195e-05,1793249861415152896
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.156504608,718,680,662,639,882,785.843495392,814.156504608,651,630,654,0.412976368203,0.00446507219495,0.0697617919111,0.999999923536,2.08786931126e-05,-0.000389116915565,3.28710325081e-05,1793249861431819776
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745.42127506,718,680,662.42127506,639,882,785.57872494,814,651,630,654,0.412315243124,0.00448323394465,0.0698064261829,0.999999950753,4.5799218884e-05,-0.000308799764138,3.22299976692e-05,1793249861448486400
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.998762122,718,680,662.998762122,639,882,785.001237878,814,651,630,654,0.411676323593,0.00449912261059,0.0698631809297,0.999999975643,6.77392857111e-05,-0.000207606962111,3.20133342077e-05,1793249861465153024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745.425782951,718,680,662.425782951,639,882,785,814.574217049,651,630,654.574217049,0.410988878839,0.00447999391653,0.0698686676158,0.999999978233,3.06781805227e-05,-0.000203690587678,3.32230996284e-05,1793249861481819392
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.153496659,718,680,661.846503341,639,881.846503341,785,814.846503341,651,630,654.846503341,0.410306070163,0.00446605937972,0.0698627476061,0.999999975613,8.10221383247e-06,-0.000218103961506,3.37569458348e-05,1793249861498486272
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.743669502,718,680,661.256330498,639,881.256330498,785,814.256330498,651,630,654.256330498,0.409636746863,0.00446711547672,0.0698246904795,0.999999958762,2.70949688397e-05,-0.000284068385987,3.23591809836e-05,1793249861515152896
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,661.32661186,639,881,785,814,651,630,654,0.408995543139,0.00446936761184,0.0697914550166,0.999999941569,2.96516068636e-05,-0.00033916075586,3.08752719485e-05,1793249861531819520
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,661.904002478,639,881,785,814,651,630,654,0.408375930197,0.00447253808756,0.0697619217207,0.999999924917,1.95882825248e-05,-0.000385905352962,2.93252198922e-05,1793249861548486400
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.52035465,718,679.52035465,661.52035465,639,881,785,814,651,630,654,0.407823900245,0.00447430304639,0.0697694401688,0.999999931319,1.69395237708e-05,-0.000369110607383,2.88465640806e-05,1793249861565153024
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.055158531,639,881,785,814,651,630,654.055158531,0.407287730022,0.00447612800438,0.069784567477,0.99999994139,1.82250806783e-05,-0.000340682719448,2.86902304083e-05,1793249861581819648
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.632744422,639,881,785,814,651,630,654.632744422,0.406774126231,0.00448117590065,0.0698017798791,0.99999994678,4.27698074185e-05,-0.000322082562196,2.95631374514e-05,1793249861598486528
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.214349868,718,679,661.785650132,639,881,784.785650132,814,651.214349868,630,654.785650132,0.406274343281,0.00448529244677,0.0698092252242,0.999999947424,5.50725596028e-05,-0.000318126622432,3.02556808942e-05,1793249861615153152
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745.802973756,718,679,661.197026244,639,881,784.197026244,814,651.802973756,630,654.197026244,0.40579869281,0.00448778277177,0.0697996164135,0.999999940761,4.59997280381e-05,-0.000339740796914,3.06332933152e-05,1793249861631819520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745.613818389,718,679.386181611,661.386181611,639,881,784,814,651.613818389,630,654,0.405371888733,0.00448932732778,0.0698027961326,0.999999942935,3.96417622379e-05,-0.000334122255951,3.0333260197e-05,1793249861648486144
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.033335473,718,679.966664527,661.966664527,639,881,784,814,651.033335473,630,654,0.404969660921,0.00449039603496,0.0698124102017,0.999999949409,3.46497383286e-05,-0.000314801997366,2.96922802376e-05,1793249861665152768
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.458286498,661.458286498,639,880.458286498,784,813.458286498,651,630,654,0.404610829907,0.0044892959256,0.0698290529555,0.999999959084,3.28473599104e-05,-0.000282690364128,2.89660980633e-05,1793249861681819392
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880.118815896,784,813.118815896,651,630,654,0.404258346415,0.00448742679174,0.0698430238131,0.999999966534,2.95929319249e-05,-0.000255462189998,2.81989239621e-05,1793249861698486016
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880.70530406,784,813.70530406,651,630,654,0.403920440315,0.00448305079981,0.0698447922454,0.999999968049,1.98581663427e-05,-0.000250523346387,2.72908335111e-05,1793249861715152896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.286597291,639,880.713402709,784.286597291,814,651,630,654,0.40359224755,0.00447866899621,0.0698390414729,0.999999965767,8.01323277186e-06,-0.000260193591111,2.64956829954e-05,1793249861731819520
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.862643857,639,880.137356143,784.862643857,814,651,630,654,0.4032738648,0.00447428132336,0.0698256966706,0.999999959145,-5.96286688765e-06,-0.000284618302125,2.58145963425e-05,1793249861748486144
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880,784.557673435,814,651.442326565,630,654,0.402995511936,0.00447299597257,0.0698169808991,0.99999995417,-1.17632019152e-05,-0.000301402939597,2.60367446299e-05,1793249861765153024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.022932472,661.977067528,639,880.022932472,784,813.977067528,652,630,654,0.40273082683,0.00447266360532,0.06980979875,0.999999949772,-1.4940066583e-05,-0.000315478087261,2.65751010326e-05,1793249861781819392
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.598351728,661.401648272,639,880.598351728,784,813.401648272,652,630,654,0.4024934667,0.00447188869757,0.0698046463383,0.99999994766,-1.65847365435e-05,-0.000321907798475,2.79181459403e-05,1793249861798486016
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.822565359,661.177434641,639,881,784,813.177434641,651.822565359,630,654.177434641,0.402268501392,0.00447202816577,0.0697994173743,0.999999945274,-1.56812772693e-05,-0.000329165098665,2.92699317085e-05,1793249861815152640
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.235014474,661.764985526,639,881,784,813.764985526,651.235014474,630,654.764985526,0.402072185075,0.00447428109077,0.0697940114706,0.999999942256,-8.88816067837e-06,-0.000338335258273,3.06419206105e-05,1793249861831819264
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767.349129225,745,718,679,662,639,880.650870775,784.349129225,814,651,630,654.650870775,0.401898693579,0.00448022224991,0.0697920030848,0.999999941032,5.36492519686e-06,-0.000341846318041,3.23737402872e-05,1793249861848485888
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767.931001619,745,718,679,662,639,880.068998381,784.931001619,814,651,630,654.068998381,0.401740417979,0.00448862213014,0.0697922596163,0.999999940768,2.45911184658e-05,-0.000341584801793,3.43454373333e-05,1793249861865152512
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767.493039389,745,718,679.506960611,661.493039389,638.493039389,880.506960611,785,814,651,630,654,0.401613372367,0.00450792499349,0.0697938656005,0.999999936601,0.00010898793524,-0.000337232496893,3.45510087481e-05,1793249861881819648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.082185314,718.082185314,679.917814686,661,638.082185314,881,784.917814686,814,651,629.917814686,654,0.401494089745,0.00452554649221,0.0697954274783,0.999999926535,0.000187130073351,-0.000332753515671,3.44569677221e-05,1793249861898486528
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.65777803,718.65777803,679.34222197,661,638.65777803,881,784.34222197,814,651,629.34222197,654,0.401396189067,0.0045242676382,0.0697956346338,0.999999929375,0.000175084645315,-0.000330818084788,3.39906416512e-05,1793249861915152896
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745.760702454,718.760702454,679.239297546,661,639,881,784.239297546,814,651,629.239297546,654,0.401307899571,0.0045194245308,0.0697961283209,0.99999993557,0.000140660997775,-0.000329081916016,2.79305883402e-05,1793249861931819520
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745.170491734,718.170491734,679.829508266,661,639,881,784.829508266,814,651,629.829508266,654,0.401233704209,0.00450935469429,0.0697970421864,0.999999943538,7.34212512312e-05,-0.000327637950322,1.36677238215e-05,1793249861948486144
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.591867864,661,639,880.591867864,784.591867864,813.591867864,651,630,654,0.401171665479,0.00450963522084,0.0697976647567,0.999999944728,5.93579032242e-05,-0.000326973469434,1.03927772177e-05,1793249861965152768
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.017950638,661,639,880.017950638,784.017950638,813.017950638,651,630,654,0.40111456483,0.00451412011117,0.0697981690015,0.999999944353,6.68950466053e-05,-0.000326625619166,1.15811721188e-05,1793249861981819392
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.440615445,880.559384555,784.559384555,813,651,630,654,0.401078829157,0.00451323506816,0.0698017129815,0.999999946335,7.0018840462e-05,-0.000319786337126,1.28061694482e-05,1793249861998486016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,881,784.860829594,813,651,630,654,0.401046912294,0.00451189248559,0.0698052595548,0.999999948355,7.1333887016e-05,-0.00031306218104,1.392706137e-05,1793249862015152896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638,881,784.273507705,813,651,630,654,0.401025071308,0.00450963486437,0.0698084984361,0.999999950386,6.72833277764e-05,-0.000307383666694,1.47089110356e-05,1793249862031819520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.30995093,880.69004907,784.30995093,813.30995093,651,630,654,0.401007483297,0.00450952481207,0.0698114580179,0.99999995189,6.75411440323e-05,-0.000302357287479,1.54186605272e-05,1793249862048486144
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,638.890042575,880.109957425,784.890042575,813.890042575,651,630,654,0.400993602003,0.00451128649387,0.069814174174,0.999999952939,7.15539659414e-05,-0.000297899282274,1.60655705063e-05,1793249862065152768
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.4688018,661,639,880,784.5311982,813.5311982,651,630,654,0.400983904148,0.00451020141509,0.0698154397115,0.999999953462,7.13155187131e-05,-0.000296171585214,1.65128061534e-05,1793249862081819392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.953033206,661.046966794,639,880,784,813.046966794,651,630,654.046966794,0.400975810718,0.00450877761099,0.0698164847618,0.999999953928,7.02408485987e-05,-0.000294833764416,1.6858127734e-05,1793249862098486016
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.378044874,661.621955126,639,880,784,813.621955126,651,630,654.621955126,0.40097475485,0.004511031094,0.0698188653126,0.999999955093,7.09434499126e-05,-0.00029069992078,1.65827183152e-05,1793249862115152640
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.797698816,639,880.202301184,784,814,651,630,654.797698816,0.400973324405,0.0045120891413,0.0698206321878,0.999999955965,7.10491029854e-05,-0.00028767209889,1.63475496036e-05,1793249862131819520
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.207068316,639,880.792931684,784,814,651,630,654.207068316,0.400971174937,0.00451085247759,0.0698212210756,0.999999956301,7.00088778901e-05,-0.000286767352658,1.61896253725e-05,1793249862148486400
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.37464889,639,880.62535111,784,813.62535111,651,630,654,0.400970370991,0.0045107452954,0.0698222032437,0.999999956792,6.99402860696e-05,-0.000285066472975,1.6182938362e-05,1793249862165153024
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec5406b31b927d562347662ae158bb9a8329baa8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,407 @@
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+206,3.433333333,pose1_to_pose2_press,0.620248122335,0.01015019731,1.06003326842,0.590818799967,0.01882283014,1.05970467104
+207,3.450000000,pose1_to_pose2_press,0.620457523288,0.0101501789827,1.06003345943,0.591028201124,0.018822812644,1.05970486337
+208,3.466666667,pose1_to_pose2_press,0.620655701027,0.010150130333,1.0600335019,0.59122637921,0.0188227648879,1.05970489609
+209,3.483333333,pose1_to_pose2_press,0.620841640809,0.0101501477685,1.06003349335,0.591412318422,0.0188227804323,1.05970488673
+210,3.500000000,pose1_to_pose2_press,0.621014194761,0.0101501762628,1.0600334003,0.591584871033,0.0188228043791,1.05970479172
+211,3.516666667,pose1_to_pose2_press,0.621170842799,0.0101500385473,1.06003348042,0.591741521739,0.0188226760651,1.05970487893
+212,3.533333333,pose1_to_pose2_press,0.621311302546,0.0101500870367,1.06003366693,0.591881980418,0.018822720417,1.05970505051
+213,3.550000000,pose1_to_pose2_press,0.621434111172,0.0101501865521,1.06003339246,0.592004787844,0.0188228163397,1.0597047877
+214,3.566666667,pose1_to_pose2_press,0.621541519223,0.0101501466398,1.06003356632,0.592112196008,0.0188227770669,1.05970496734
+215,3.583333333,pose1_to_pose2_press,0.621633272292,0.0101501806599,1.0600337022,0.592203950333,0.0188228152475,1.05970509918
+216,3.600000000,pose1_to_pose2_press,0.621712374851,0.010150117607,1.06003364278,0.592283054314,0.0188227571022,1.05970503904
+217,3.616666667,pose1_to_pose2_press,0.621779407252,0.0101501722378,1.06003344894,0.592350084915,0.0188228058385,1.05970484795
+218,3.633333333,pose1_to_pose2_press,0.621836290741,0.0101500984741,1.06003354075,0.592406969312,0.0188227350877,1.05970494031
+219,3.650000000,pose1_to_pose2_press,0.621884233054,0.0101500226649,1.06003363721,0.592454912338,0.0188226615275,1.05970503353
+220,3.666666667,pose1_to_pose2_press,0.621924469069,0.0101501146215,1.06003354188,0.592495146503,0.0188227471498,1.05970493598
+221,3.683333333,pose1_to_pose2_press,0.621958016191,0.0101501277519,1.06003360182,0.592528695349,0.0188227661415,1.05970499929
+222,3.700000000,pose1_to_pose2_press,0.621984641532,0.0101499984575,1.06003359162,0.592555323668,0.0188226472538,1.05970499164
+223,3.716666667,pose1_to_pose2_press,0.622005590398,0.0101502380579,1.06003360798,0.59257626893,0.018822874425,1.05970500314
+224,3.733333333,pose1_to_pose2_press,0.622021286013,0.0101501508346,1.06003350278,0.592591964067,0.0188227855659,1.059704898
+225,3.750000000,pose1_to_pose2_press,0.622032002623,0.0101501359761,1.0600336287,0.592602680321,0.0188227693324,1.05970501732
+226,3.766666667,pose1_to_pose2_press,0.622038683502,0.0101502378007,1.06003347758,0.592609358272,0.018822861426,1.05970487123
+227,3.783333333,pose1_to_pose2_press,0.622042743016,0.0101502668841,1.06003337924,0.592613416808,0.0188228873909,1.05970477829
+228,3.800000000,pose1_to_pose2_press,0.622045189836,0.0101501635969,1.06003341621,0.592615865993,0.0188227922645,1.05970481907
+229,3.816666667,pose1_to_pose2_press,0.62204639029,0.0101501129223,1.06003343436,0.592617067607,0.0188227455938,1.05970483908
+230,3.833333333,pose1_to_pose2_press,0.622047372827,0.0101500758141,1.0600334548,0.59261805085,0.0188227108154,1.05970485806
+231,3.850000000,pose1_to_pose2_press,0.622048196787,0.0101500510335,1.06003348006,0.59261887505,0.0188226866138,1.05970487776
+232,3.866666667,pose1_to_pose2_press,0.622049068125,0.010150024828,1.06003350678,0.592619746641,0.0188226610207,1.0597048986
+233,3.883333333,pose1_to_pose2_press,0.622049844436,0.0101500014805,1.06003353058,0.592620523178,0.0188226382186,1.05970491716
+234,3.900000000,pose1_to_pose2_press,0.622050263561,0.0101500008918,1.06003345887,0.592620942378,0.0188226380401,1.05970484965
+235,3.916666667,pose1_to_pose2_press,0.622050525034,0.0101500035311,1.06003339297,0.592621203886,0.0188226409643,1.05970478813
+236,3.933333333,pose1_to_pose2_press,0.622050673481,0.0101500050296,1.06003335555,0.592621352351,0.0188226426244,1.0597047532
+237,3.950000000,pose1_to_pose2_press,0.622050775268,0.010150006057,1.0600333299,0.592621454152,0.0188226437627,1.05970472925
+238,3.966666667,pose1_to_pose2_press,0.622050978895,0.0101500081124,1.06003327858,0.592621657806,0.01882264604,1.05970468134
+239,3.983333333,pose1_to_pose2_press,0.622051518724,0.0101500865802,1.06003323982,0.592622196619,0.0188227211615,1.05970464506
+240,4.000000000,pose1_to_pose2_press,0.622052013649,0.0101502640148,1.06003338263,0.592622689197,0.0188228903018,1.05970477889
+241,4.016666667,pose1_to_pose2_press,0.6220521433,0.0101501668292,1.06003347894,0.592622821387,0.0188228017193,1.05970487432
+242,4.033333333,pose1_to_pose2_press,0.622052181106,0.010150127456,1.06003343598,0.592622859153,0.0188227623236,1.05970483436
+243,4.050000000,pose1_to_pose2_press,0.622052199964,0.0101500957876,1.0600333371,0.59262287714,0.0188227278849,1.05970474051
+244,4.066666667,pose2_hold,0.622052199964,0.0101500957876,1.0600333371,0.592622877141,0.0188227278843,1.05970474051
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+247,4.116666667,pose2_hold,0.622052199964,0.0101500957876,1.0600333371,0.592622877141,0.0188227278842,1.05970474051
+248,4.133333333,pose2_hold,0.622052199964,0.0101500957876,1.0600333371,0.592622877141,0.0188227278844,1.05970474051
+249,4.150000000,pose2_hold,0.622052199964,0.0101500957876,1.0600333371,0.592622877141,0.0188227278844,1.05970474051
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+251,4.183333333,pose2_hold,0.622052199964,0.0101500957876,1.0600333371,0.592622877141,0.018822727884,1.05970474051
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+259,4.316666667,pose2_hold,0.622052199964,0.0101500957876,1.0600333371,0.592622877141,0.0188227278842,1.05970474051
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+262,4.366666667,pose2_to_pose3_retreat,0.622052199964,0.0101500957876,1.0600333371,0.592622877141,0.018822727884,1.05970474051
+263,4.383333333,pose2_to_pose3_retreat,0.622052172662,0.0101501111282,1.0600333282,0.59262284953,0.0188227422326,1.05970473311
+264,4.400000000,pose2_to_pose3_retreat,0.622052140784,0.0101501290397,1.06003331781,0.592622817291,0.0188227589859,1.05970472448
+265,4.416666667,pose2_to_pose3_retreat,0.622052133515,0.0101501331239,1.06003331545,0.592622809939,0.0188227628061,1.05970472251
+266,4.433333333,pose2_to_pose3_retreat,0.622052128277,0.0101501360673,1.06003331374,0.592622804642,0.0188227655591,1.05970472109
+267,4.450000000,pose2_to_pose3_retreat,0.622052096298,0.0101501437225,1.06003330899,0.592622772593,0.0188227730113,1.05970471717
+268,4.466666667,pose2_to_pose3_retreat,0.622052094404,0.0101501434751,1.06003330909,0.592622770715,0.018822772817,1.05970471726
+269,4.483333333,pose2_to_pose3_retreat,0.62205154322,0.0101500896179,1.06003337109,0.592622222765,0.0188227297328,1.05970477385
+270,4.500000000,pose2_to_pose3_retreat,0.622049418726,0.0101501045088,1.06003358122,0.592620096417,0.0188227378558,1.05970497166
+271,4.516666667,pose2_to_pose3_retreat,0.622042337784,0.0101501441902,1.06003361232,0.592613015881,0.0188227789331,1.05970500348
+272,4.533333333,pose2_to_pose3_retreat,0.62202869821,0.0101501330503,1.06003340884,0.592599375455,0.0188227651478,1.05970480744
+273,4.550000000,pose2_to_pose3_retreat,0.622004368326,0.0101499609807,1.060033634,0.592575049155,0.0188226048738,1.05970502158
+274,4.566666667,pose2_to_pose3_retreat,0.62196898511,0.0101501263039,1.06003358026,0.59253966355,0.0188227625457,1.05970498032
+275,4.583333333,pose2_to_pose3_retreat,0.621921881818,0.0101501337242,1.06003357407,0.592492559778,0.0188227681013,1.05970496766
+276,4.600000000,pose2_to_pose3_retreat,0.621864993943,0.0101501298511,1.06003372885,0.592435672744,0.0188227670844,1.05970512071
+277,4.616666667,pose2_to_pose3_retreat,0.62179938821,0.0101500419926,1.06003337227,0.592370066652,0.0188226782563,1.05970477205
+278,4.633333333,pose2_to_pose3_retreat,0.621726574602,0.0101502495493,1.06003347456,0.592297251355,0.0188228798223,1.05970487173
+279,4.650000000,pose2_to_pose3_retreat,0.621646611244,0.0101499999271,1.06003357785,0.592217292031,0.0188226439736,1.05970497557
+280,4.666666667,pose2_to_pose3_retreat,0.621555963774,0.0101500402741,1.06003352225,0.59212664325,0.0188226797497,1.05970491995
+281,4.683333333,pose2_to_pose3_retreat,0.621453421376,0.0101501374641,1.06003340457,0.592024098687,0.0188227696682,1.05970480656
+282,4.700000000,pose2_to_pose3_retreat,0.621334989819,0.0101501585862,1.0600334576,0.591905667832,0.0188227930984,1.05970485896
+283,4.716666667,pose2_to_pose3_retreat,0.621199634074,0.0101501185784,1.0600335405,0.591770313804,0.0188227585892,1.05970493499
+284,4.733333333,pose2_to_pose3_retreat,0.621045931494,0.0101500828986,1.06003338479,0.591616610669,0.0188227208994,1.05970477781
+285,4.750000000,pose2_to_pose3_retreat,0.620876143839,0.0101500864425,1.06003340059,0.591446823299,0.0188227254484,1.05970479615
+286,4.766666667,pose2_to_pose3_retreat,0.620690832095,0.0101500944631,1.06003350016,0.5912615102,0.0188227287588,1.05970489504
+287,4.783333333,pose2_to_pose3_retreat,0.620487642768,0.0101499933094,1.06003361277,0.591058322825,0.0188226340021,1.05970500444
+288,4.800000000,pose2_to_pose3_retreat,0.620267801651,0.0101502170874,1.06003372578,0.590838479703,0.0188228509217,1.05970511795
+289,4.816666667,pose2_to_pose3_retreat,0.620030096449,0.0101501173725,1.06003347091,0.590600775145,0.0188227536202,1.0597048721
+290,4.833333333,pose2_to_pose3_retreat,0.619775315833,0.0101501507711,1.06003350005,0.590345994563,0.0188227868747,1.05970489693
+291,4.850000000,pose2_to_pose3_retreat,0.619503972434,0.0101502109287,1.06003374594,0.590074650618,0.0188228447508,1.05970513354
+292,4.866666667,pose2_to_pose3_retreat,0.61921424186,0.010150180176,1.06003379826,0.589784919649,0.018822812589,1.0597051867
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+294,4.900000000,pose2_to_pose3_retreat,0.618573206947,0.010150102235,1.06003360586,0.589143884622,0.0188227343238,1.05970500281
+295,4.916666667,pose2_to_pose3_retreat,0.618213499445,0.0101500849642,1.06003384905,0.58878417945,0.0188227245763,1.05970523923
+296,4.933333333,pose2_to_pose3_retreat,0.617822822009,0.0101500938156,1.06003358498,0.588393501966,0.0188227333605,1.05970498004
+297,4.950000000,pose2_to_pose3_retreat,0.617404658846,0.0101501927989,1.06003349814,0.58797533628,0.0188228236853,1.05970489293
+298,4.966666667,pose2_to_pose3_retreat,0.616961296534,0.010150186149,1.06003354907,0.587531973847,0.0188228166798,1.05970494897
+299,4.983333333,pose2_to_pose3_retreat,0.616504012154,0.0101501739139,1.06003347092,0.587074689794,0.0188228055538,1.05970487288
+300,5.000000000,pose2_to_pose3_retreat,0.616034428157,0.0101501966999,1.06003336038,0.586605105778,0.0188228281196,1.0597047589
+301,5.016666667,pose2_to_pose3_retreat,0.615549429563,0.0101501917108,1.06003339692,0.586120107924,0.0188228255062,1.05970479403
+302,5.033333333,pose2_to_pose3_retreat,0.615046221251,0.0101501842159,1.06003349707,0.585616899856,0.018822818727,1.05970489535
+303,5.050000000,pose2_to_pose3_retreat,0.614521137132,0.0101501413857,1.06003362122,0.585091815683,0.0188227753889,1.05970501547
+304,5.066666667,pose2_to_pose3_retreat,0.61396892107,0.0101500175106,1.06003362849,0.584539601264,0.0188226569939,1.0597050209
+305,5.083333333,pose2_to_pose3_retreat,0.613393458258,0.0101500728602,1.06003353826,0.583964137871,0.018822710407,1.05970493166
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+307,5.116666667,pose2_to_pose3_retreat,0.612197966024,0.0101500848801,1.06003334007,0.582768644783,0.0188227198974,1.05970474321
+308,5.133333333,pose2_to_pose3_retreat,0.611573652081,0.0101500582614,1.06003350835,0.582144330857,0.0188226930393,1.05970490389
+309,5.150000000,pose2_to_pose3_retreat,0.610921685467,0.0101501501724,1.06003369086,0.581492363092,0.0188227808704,1.05970508181
+310,5.166666667,pose2_to_pose3_retreat,0.610238848346,0.0101501531805,1.06003349087,0.580809527135,0.0188227880214,1.05970488689
+311,5.183333333,pose2_to_pose3_retreat,0.609529176856,0.0101500899779,1.06003349212,0.580099854593,0.0188227211287,1.05970488491
+312,5.200000000,pose2_to_pose3_retreat,0.608801402963,0.0101502011083,1.06003334653,0.579372080588,0.0188228323617,1.05970475047
+313,5.216666667,pose2_to_pose3_retreat,0.608068189749,0.0101501354346,1.06003349155,0.578638867311,0.0188227661471,1.0597048871
+314,5.233333333,pose2_to_pose3_retreat,0.607332687262,0.0101501681071,1.06003341672,0.577903365908,0.0188228023374,1.05970480797
+315,5.250000000,pose2_to_pose3_retreat,0.606592424938,0.0101501729648,1.06003337623,0.577163103298,0.0188228063783,1.05970477151
+316,5.266666667,pose2_to_pose3_retreat,0.605845042688,0.0101501938516,1.06003338024,0.576415719727,0.0188228227029,1.05970477333
+317,5.283333333,pose2_to_pose3_retreat,0.605088048759,0.0101501137367,1.06003342571,0.575658727393,0.0188227480731,1.05970482074
+318,5.300000000,pose2_to_pose3_retreat,0.604307609122,0.010150033865,1.06003339009,0.574878289376,0.018822673826,1.05970478841
+319,5.316666667,pose2_to_pose3_retreat,0.603507879689,0.0101501054303,1.0600333142,0.574078558526,0.0188227405806,1.0597047124
+320,5.333333333,pose2_to_pose3_retreat,0.602689148522,0.0101501946166,1.06003342509,0.573259827168,0.0188228293887,1.05970483029
+321,5.350000000,pose2_to_pose3_retreat,0.601862991537,0.0101502332828,1.06003339645,0.572433667887,0.0188228600517,1.05970479608
+322,5.366666667,pose2_to_pose3_retreat,0.601036506543,0.0101501330478,1.06003363506,0.57160718556,0.0188227684861,1.05970502451
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+347,5.783333333,pose2_to_pose3_retreat,0.582852256063,0.0101501442879,1.06003355077,0.553422933302,0.0188227740204,1.05970494805
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+371,6.183333333,pose2_to_pose3_retreat,0.575970215452,0.0101501262472,1.06003355326,0.546540893937,0.0188227601583,1.05970494998
+372,6.200000000,pose2_to_pose3_retreat,0.575903466924,0.010150178024,1.06003338256,0.546474144639,0.0188228094166,1.05970478171
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+376,6.266666667,pose2_to_pose3_retreat,0.575738293311,0.0101501970037,1.06003365593,0.546308971442,0.0188228293351,1.05970504265
+377,6.283333333,pose2_to_pose3_retreat,0.575717722244,0.010150126495,1.06003363878,0.546288401482,0.0188227627564,1.05970503
+378,6.300000000,pose2_to_pose3_retreat,0.575701726558,0.0101500550107,1.0600335755,0.54627240645,0.0188226935771,1.05970496903
+379,6.316666667,pose2_to_pose3_retreat,0.575689870217,0.0101500367391,1.06003348671,0.546260549619,0.0188226735761,1.05970487851
+380,6.333333333,pose2_to_pose3_retreat,0.575681674175,0.0101500936272,1.06003339493,0.546252352887,0.0188227282581,1.05970479032
+381,6.350000000,pose2_to_pose3_retreat,0.575676306403,0.0101501325522,1.06003350984,0.546246984696,0.0188227656281,1.05970490172
+382,6.366666667,pose2_to_pose3_retreat,0.575672842266,0.0101501582018,1.0600336395,0.5462435203,0.0188227902391,1.05970502726
+383,6.383333333,pose2_to_pose3_retreat,0.575670816707,0.0101501215595,1.06003360326,0.546241494987,0.018822754432,1.05970499111
+384,6.400000000,pose2_to_pose3_retreat,0.57566999528,0.0101501031103,1.06003358078,0.546240673686,0.0188227364217,1.05970496884
+385,6.416666667,pose2_to_pose3_retreat,0.575669422757,0.0101500902515,1.0600335651,0.546240101252,0.0188227238688,1.05970495331
+386,6.433333333,pose2_to_pose3_retreat,0.575669106975,0.010150083159,1.06003355646,0.54623978552,0.0188227169451,1.05970494475
+387,6.450000000,pose2_to_pose3_retreat,0.575668898141,0.0101500784686,1.06003355074,0.546239576718,0.0188227123663,1.05970493909
+388,6.466666667,pose2_to_pose3_retreat,0.575668661809,0.0101500731606,1.06003354427,0.546239340422,0.0188227071845,1.05970493268
+389,6.483333333,pose2_to_pose3_retreat,0.575668360887,0.0101500664019,1.06003353603,0.546239039547,0.0188227005866,1.05970492452
+390,6.500000000,pose2_to_pose3_retreat,0.575667953891,0.0101500653245,1.06003353444,0.546238632591,0.0188226996494,1.05970492298
+391,6.516666667,pose2_to_pose3_retreat,0.57566752323,0.010150084441,1.06003355675,0.546238201918,0.0188227187199,1.0597049452
+392,6.533333333,pose2_to_pose3_retreat,0.575667297447,0.0101500944632,1.06003356845,0.546237976128,0.018822728718,1.05970495685
+393,6.550000000,pose2_to_pose3_retreat,0.575667263872,0.0101500959536,1.06003357019,0.546237942552,0.0188227302048,1.05970495859
+394,6.566666667,pose2_to_pose3_retreat,0.575667044556,0.0101501056887,1.06003358155,0.546237723229,0.0188227399165,1.0597049699
+395,6.583333333,pose2_to_pose3_retreat,0.575666820157,0.0101501156495,1.06003359317,0.546237498824,0.0188227498533,1.05970498148
+396,6.600000000,pose2_to_pose3_retreat,0.575666751037,0.0101501187176,1.06003359675,0.546237429702,0.0188227529141,1.05970498505
+397,6.616666667,pose2_to_pose3_retreat,0.575666514516,0.0101501292165,1.06003360901,0.546237193173,0.0188227633877,1.05970499725
+398,6.633333333,pose2_to_pose3_retreat,0.575666138605,0.0101501459027,1.06003362848,0.546236817252,0.0188227800338,1.05970501665
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+400,6.666666667,pose2_to_pose3_retreat,0.575666012402,0.0101501515047,1.06003363502,0.546236691045,0.0188227856223,1.05970502316
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+402,6.700000000,pose2_to_pose3_retreat,0.575665502726,0.0101501720733,1.06003362204,0.546236181017,0.0188228050732,1.05970501219
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+404,6.733333333,pose2_to_pose3_retreat,0.575664424996,0.0101501226932,1.0600334221,0.546235102075,0.0188227518195,1.05970481849
+405,6.750000000,pose2_to_pose3_retreat,0.57566425904,0.0101499744301,1.06003325915,0.546234937687,0.0188226087193,1.05970465145
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e14927733985cdaa579578699cefd3257d3989c4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23153b4da79d160cb22b2dcbc2f1c1743bd778b2bd67e740482fb0d55cdc5682
+size 25600749
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b7a3e1dc1cfc3bbde9fc9152d20817614685a597
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
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+13,0.216666667,BASELINE,767,746,718,679,661.458818279,639,881,785,814,651,630,654,0.400967671064,0.00451171292605,0.0698277194381,0.999999959132,6.86607407347e-05,-0.000277070485305,1.58976690645e-05,1793249862830902784
+14,0.233333333,BASELINE,767.119549594,745.880450406,718,679,661.119549594,639,880.880450406,784.880450406,814,651,630,654.119549594,0.400967500933,0.00451187962393,0.0698278533139,0.999999959139,6.90629810133e-05,-0.000276953704058,1.58049107339e-05,1793249862847569408
+15,0.250000000,BASELINE,767.707680289,745.292319711,718,679,661.707680289,639,880.292319711,784.292319711,814,651,630,654.707680289,0.400967264764,0.00451038309046,0.0698271714936,0.999999959001,6.7083348689e-05,-0.00027791272789,1.61776956765e-05,1793249862864236032
+16,0.266666667,BASELINE,767.707307435,745,718,679,661.707307435,638.707307435,880.292692565,784,814,651,630,654.707307435,0.400967213475,0.00451036935003,0.0698270141927,0.999999958872,6.7556934885e-05,-0.000278259396335,1.62313187979e-05,1793249862880902656
+17,0.283333333,BASELINE,767.125376807,745,718,679,661.125376807,638.125376807,880.874623193,784,814,651,630,654.125376807,0.400967344883,0.00451182090206,0.0698273752207,0.999999958748,7.04547856144e-05,-0.00027800093666,1.59695469822e-05,1793249862897569536
+18,0.300000000,BASELINE,767,745.449391995,718,679.449391995,661,638.449391995,881,784,814,651.449391995,630,654,0.400968392176,0.00451156948372,0.0698278962995,0.999999959255,7.02284348454e-05,-0.000276234120449,1.58926937415e-05,1793249862914235904
+19,0.316666667,BASELINE,767,746,718.02236636,680,661.02236636,639,880.97763364,784.02236636,814,651.97763364,630,654,0.400969562721,0.00451091147903,0.0698284160866,0.99999995988,6.92053961173e-05,-0.000274222217617,1.58765280603e-05,1793249862930902528
+20,0.333333333,BASELINE,767,746,718.599615753,680,661.599615753,639,880.400384247,784.599615753,814,651.400384247,630,654,0.400967551178,0.00451176869543,0.0698278134198,0.999999959241,6.97023079837e-05,-0.000276406270637,1.61061193394e-05,1793249862947569152
+21,0.350000000,BASELINE,767.180854098,745.819145902,718.819145902,679.819145902,662,639,880,784.819145902,814,651,630,654,0.400967123678,0.00451222668567,0.0698278809129,0.999999959103,7.00709546668e-05,-0.000276805908205,1.62176977905e-05,1793249862964235776
+22,0.366666667,BASELINE,767.771122482,745.228877518,718.228877518,679.228877518,662,639,880,784.228877518,814,651,630,654,0.400970282107,0.00451178091468,0.0698294655026,0.999999960101,7.01492368436e-05,-0.000273166017535,1.6062120871e-05,1793249862980902400
+23,0.383333333,BASELINE,767.645750947,745,718,679,662,639,880,784,813.645750947,651,630,654,0.400970091272,0.00451136300017,0.0698295139797,0.999999960173,6.92991993226e-05,-0.000273121345607,1.59967601662e-05,1793249862997569280
+24,0.400000000,BASELINE,767.067147403,745,718,679,662,639,880,784,813.067147403,651,630,654,0.400967779267,0.00451096272778,0.0698285895996,0.99999995966,6.78612344946e-05,-0.000275353612297,1.59885355567e-05,1793249863014235904
+25,0.416666667,BASELINE,767,745,718,679,662,639,880.506039557,784,813.506039557,651,630,654,0.400968111477,0.00451178304356,0.0698282872298,0.999999959431,6.86581759873e-05,-0.000276001040081,1.57279025243e-05,1793249863030902784
+26,0.433333333,BASELINE,767,745,718,679,662,639,881.080921994,784,814,651,630,654,0.400968650871,0.00451246845924,0.0698281274308,0.999999959296,6.96347281146e-05,-0.000276257749585,1.55281121419e-05,1793249863047569408
+27,0.450000000,BASELINE,767,745,718,679,662,639,881.670945244,784,814,651,630,654,0.400968309693,0.00451129702826,0.0698283508269,0.999999959518,6.98953171422e-05,-0.000275365360953,1.59195774985e-05,1793249863064236288
+28,0.466666667,BASELINE,767,745,718,678.744640622,661.744640622,639,881.489281243,784,814,651,630,654,0.400968395667,0.00451056345308,0.0698284137155,0.999999959674,6.9830708609e-05,-0.000274802857755,1.61191346344e-05,1793249863080902912
+29,0.483333333,BASELINE,767,745,718,678.167299046,661.167299046,639,880.334598092,784,814,651,630,654,0.400969020237,0.0045103819696,0.0698282742202,0.999999959748,6.93560590203e-05,-0.000274656306577,1.6076715004e-05,1793249863097569536
+30,0.500000000,BASELINE,767,745,718,678.411924911,661.411924911,639,880.411924911,784,813.588075089,651,630.411924911,654,0.400968555938,0.00451035111409,0.0698281695448,0.999999959762,6.83452682384e-05,-0.000274858349586,1.60416910799e-05,1793249863114236160
+31,0.516666667,BASELINE,767,745,718,678.991916873,661.991916873,639,880.991916873,784,813.008083127,651,630.991916873,654,0.400967647377,0.00451038171542,0.069828079076,0.999999959751,6.71157296642e-05,-0.000275202620454,1.60096846354e-05,1793249863130902784
+32,0.533333333,BASELINE,767,745,718,679,661.433115215,639,880.433115215,784,813.566884785,651,630.433115215,654,0.400968611792,0.00451090540005,0.0698288214473,0.99999996001,6.65355293092e-05,-0.000274410220477,1.58822247732e-05,1793249863147569408
+33,0.550000000,BASELINE,767,745,718,679,661.144859747,639,880.144859747,784,813.855140253,651.144859747,630,654,0.400969351349,0.00451099083931,0.0698293106994,0.9999999602,6.62264669173e-05,-0.000273793776005,1.58413422471e-05,1793249863164236032
+34,0.566666667,BASELINE,767,745,718,679,661.73223746,639,880.73223746,784,813.26776254,651.73223746,630,654,0.400969323145,0.00450971623622,0.0698289907637,0.999999960172,6.67176422528e-05,-0.000273763917219,1.60690576722e-05,1793249863180902656
+35,0.583333333,BASELINE,767,745,718,679.315077738,662,639,880.684922262,784.315077738,813.315077738,651.684922262,630,654,0.400969493639,0.00450990766289,0.0698291150483,0.999999960253,6.67553724718e-05,-0.000273454371669,1.61283192696e-05,1793249863197569280
+36,0.600000000,BASELINE,767,745,718,679.894116774,662,639,880.105883226,784.894116774,813.894116774,651.105883226,630,654,0.400969830595,0.00451132727873,0.0698296114855,0.999999960426,6.64132220158e-05,-0.00027291051416,1.60464560671e-05,1793249863214236416
+37,0.616666667,BASELINE,767,745.471191651,718,679.528808349,661.528808349,639,880.471191651,785,814,651,630.471191651,654,0.400969588485,0.00451239664557,0.0698292011091,0.999999960096,6.99903017076e-05,-0.000273223460769,1.6074002378e-05,1793249863230903040
+38,0.633333333,BASELINE,766.952382189,745.952382189,718,679,661.047617811,639,881,784.952382189,813.952382189,651.047617811,630.952382189,654.047617811,0.400969171699,0.0045132074264,0.0698285883708,0.999999959665,7.38550201548e-05,-0.000273780589564,1.61117258301e-05,1793249863247569664
+39,0.650000000,BASELINE,766.378268414,745.378268414,718,679,661.621731586,639,881,784.378268414,813.378268414,651.621731586,630.378268414,654.621731586,0.400968256338,0.00451202571315,0.0698279818862,0.999999959547,7.12028103954e-05,-0.000274917596381,1.59912653188e-05,1793249863264236032
+40,0.666666667,BASELINE,766.201042028,745,718,679,661.798957972,639,881,784,813.201042028,651.798957972,630,654.798957972,0.400967953128,0.00451130167208,0.0698280856398,0.999999959538,6.98529572377e-05,-0.000275296813348,1.60269009614e-05,1793249863280902656
+41,0.683333333,BASELINE,766.790389612,745,718,679,661.209610388,639,881,784,813.790389612,651.209610388,630,654.209610388,0.400968832268,0.00451146160869,0.0698295611932,0.999999959748,7.10185598909e-05,-0.000274212385993,1.63640308044e-05,1793249863297569280
+42,0.700000000,BASELINE,767,745,718,679,661.374551914,639,880.625448086,784.374551914,813.625448086,651,630,654,0.400969737252,0.00451102864232,0.0698299707383,0.999999960149,6.95573732278e-05,-0.000273129861042,1.62675189109e-05,1793249863314235904
+43,0.716666667,BASELINE,767,745,718,679,661.955851981,639,880.044148019,784.955851981,813.044148019,651,630,654,0.400970656502,0.00451026840063,0.0698297918596,0.999999960647,6.66462303967e-05,-0.00027204838623,1.59316419797e-05,1793249863330902528
+44,0.733333333,BASELINE,767.530838741,745,718,679,662,639,880.530838741,785,813,651,630,654,0.400970507097,0.00451083334978,0.0698292981262,0.999999960423,6.90779851231e-05,-0.000272258395176,1.606017128e-05,1793249863347569408
+45,0.750000000,BASELINE,767.892629876,745,718,679,662,639,880.892629876,784.892629876,813.107370124,651,630,654,0.400970106921,0.00451121529214,0.069828915859,0.999999960149,7.13251934219e-05,-0.000272672715384,1.62269711765e-05,1793249863364236288
+46,0.766666667,BASELINE,767.306905337,745,718,679,662,639,880.306905337,784.306905337,813.693094663,651,630,654,0.40096898082,0.00451029666169,0.0698291454851,0.999999959952,7.07938135193e-05,-0.000273524381274,1.63942231717e-05,1793249863380903168
+47,0.783333333,BASELINE,767,745,718,679,662,639,880.277681547,784,813.722318453,651,630,654,0.400968527363,0.00450975490986,0.0698293330842,0.999999959985,6.9192788772e-05,-0.0002738141531,1.63542614692e-05,1793249863397569792
+48,0.800000000,BASELINE,767,745,718,679,662,639,880.861016251,784,813.138983749,651,630,654,0.400968814308,0.00450962800055,0.0698294744229,0.999999960268,6.64143709063e-05,-0.000273485429866,1.60862128961e-05,1793249863414236160
+49,0.816666667,BASELINE,767,745,718,679,661.56444535,639,881,784,813.43555465,651.43555465,630,654,0.400969387565,0.00451000852272,0.0698294722545,0.999999960419,6.72855742287e-05,-0.000272721032529,1.60821316023e-05,1793249863430902784
+50,0.833333333,BASELINE,767,745.007408971,718,679,661.007408971,639,880.992591029,784,813.992591029,651.992591029,630,654,0.400970019127,0.00451054060088,0.0698294138175,0.999999960515,6.92812679749e-05,-0.000271861105037,1.61603736094e-05,1793249863447569408
+51,0.850000000,BASELINE,767,745.584434364,718,679,661.584434364,639,880.415565636,784,813.415565636,651.415565636,630,654,0.400968248325,0.00451052235782,0.0698284802607,0.999999959846,6.99672654121e-05,-0.000274133318724,1.62201503941e-05,1793249863464236032
+52,0.866666667,BASELINE,767,745.834500737,717.834500737,679,661.834500737,639,880.165499263,784,813.165499263,651,630,654,0.400967093471,0.00451050868522,0.0698278962347,0.999999959497,6.99766866575e-05,-0.000275402290763,1.62398099657e-05,1793249863480902656
+53,0.883333333,BASELINE,767,745.24303898,717.24303898,679,661.24303898,639,880.75696102,784,813.75696102,651,630,654,0.400967523943,0.00451050677604,0.0698282118323,0.999999959978,6.82447340537e-05,-0.000274089116332,1.61562157317e-05,1793249863497569792
+54,0.900000000,BASELINE,767,745,717.340956235,679,661.340956235,639,881,784,813.659043765,651,630,654.340956235,0.400969371715,0.0045110985352,0.0698293379572,0.999999960451,6.90843423748e-05,-0.000272147643098,1.61547632953e-05,1793249863514236416
+55,0.916666667,BASELINE,767,745,717.919743212,679,661.919743212,639,881,784,813.080256788,651,630,654.919743212,0.400972208111,0.00451210440198,0.0698310294577,0.99999996091,7.17177183424e-05,-0.00026976790613,1.62106080826e-05,1793249863530903040
+56,0.933333333,BASELINE,767,745,718,678.504737809,662,639,880.504737809,784,813,651,630,654.504737809,0.400971812569,0.00451194541196,0.0698308391638,0.999999960762,7.12477708674e-05,-0.000270456650673,1.59263270925e-05,1793249863547569664
+57,0.950000000,BASELINE,767,745,718,678.071814257,662,639,880.071814257,784.071814257,813.071814257,651,630,654,0.400970860665,0.00451159052192,0.0698303455529,0.999999960512,7.03924447207e-05,-0.000271616328642,1.56729137682e-05,1793249863564236288
+58,0.966666667,BASELINE,767,745,718,678.659567826,662,639,880.659567826,784.659567826,813.659567826,651,630,654,0.400969649674,0.00451117547424,0.0698298492632,0.999999960238,7.0357684018e-05,-0.000272610394744,1.60346499798e-05,1793249863580902912
+59,0.983333333,BASELINE,767,745.243734114,718,679,662,639,881,785,814,651,630,654,0.400969502426,0.00451090216811,0.0698298154153,0.999999960257,6.99406723275e-05,-0.000272637214152,1.62320973234e-05,1793249863597569536
+60,1.000000000,BASELINE,767,745.822962675,718,679,662,639,881,785,814,651,630,654,0.400970819394,0.00451082396593,0.0698304181078,0.999999960678,6.89975008693e-05,-0.000271332640699,1.62034048401e-05,1793249863614235904
+61,1.016666667,BASELINE,767.40078657,745.59921343,718,679,662,639,880.59921343,785,814,651,630,654,0.40097090976,0.00451010511293,0.0698302353577,0.999999960625,6.85537143624e-05,-0.000271632817722,1.62952982727e-05,1793249863630902784
+62,1.033333333,BASELINE,767.977992121,745.022007879,718,679,662,639,880.022007879,785,814,651,630,654,0.400970460198,0.00450910425707,0.0698297068701,0.999999960364,6.83297481137e-05,-0.00027263937689,1.64402714411e-05,1793249863647569920
+63,1.050000000,BASELINE,767.450445067,745,718,679,662,639,880.549554933,785,814,651,630,654,0.400970583007,0.00450889177819,0.0698303809346,0.999999960619,6.79116812128e-05,-0.000271810297483,1.64034936877e-05,1793249863664236288
+64,1.066666667,BASELINE,767,745,718,679,662,639,880.874778656,785,814,651,630,654,0.400970785213,0.0045089088803,0.0698310080467,0.999999960938,6.72750922808e-05,-0.000270799296579,1.63064008434e-05,1793249863680902912
+65,1.083333333,BASELINE,767,745,718,679,662,639,880.282989069,785,814,651,630,654,0.400971198713,0.00450966494954,0.0698312826057,0.99999996142,6.58529694005e-05,-0.000269381581263,1.60114208961e-05,1793249863697569536
+66,1.100000000,BASELINE,767,745,718,679,662,639,880.302478327,784.697521673,814,651,630,654,0.400971009568,0.00450955222121,0.06983100636,0.99999996131,6.59238446963e-05,-0.000269764344691,1.61357780579e-05,1793249863714236160
+67,1.116666667,BASELINE,767,745,718,679,662,639,880.882151949,784.117848051,814,651,630,654,0.400970268151,0.0045086433148,0.0698302253492,0.999999960656,6.73629241101e-05,-0.000271797091653,1.66444215236e-05,1793249863730902784
+68,1.133333333,BASELINE,767,745,718,679,662,638.539642503,881,784.460357497,814,651,630.460357497,654.460357497,0.400970855433,0.00451074262698,0.0698306523938,0.999999960681,6.94883002446e-05,-0.000271198050669,1.61851782513e-05,1793249863747569408
+69,1.150000000,BASELINE,767,745.03756686,718,679.03756686,662,638.03756686,881,784.96243314,814,651.03756686,630.96243314,654.96243314,0.400971662975,0.0045133250731,0.0698313030222,0.999999960847,7.15286156648e-05,-0.000270090280878,1.55443846286e-05,1793249863764236032
+70,1.166666667,BASELINE,767,745.605992279,718,679.605992279,662,638.605992279,881,784.394007721,814,651.605992279,630.394007721,654.394007721,0.400970791824,0.00451188724585,0.0698307569453,0.999999960635,6.98921888467e-05,-0.000271283714944,1.58282380366e-05,1793249863780902656
+71,1.183333333,BASELINE,767,746,718,679.817948932,662,639,881,784.182051068,814,652,630,654,0.400969978332,0.00451101842365,0.0698303197876,0.999999960425,6.92457846538e-05,-0.000272206027876,1.60623342545e-05,1793249863797569536
+72,1.200000000,BASELINE,767,746,718,679.224646326,662,639,881,784.775353674,814,652,630,654,0.40096929509,0.00451143497786,0.0698301286773,0.999999960228,7.08358313245e-05,-0.000272515881119,1.61840295346e-05,1793249863814236160
+73,1.216666667,BASELINE,767.36039132,746,718,679,662,639,881,785,813.63960868,651.63960868,630,654,0.400969639648,0.00451131916572,0.0698304147178,0.999999960389,7.03658235447e-05,-0.000272048216136,1.6148387796e-05,1793249863830902784
+74,1.233333333,BASELINE,767.940392552,746,718,679,662,639,881,785,813.059607448,651.059607448,630,654,0.400970610511,0.00451087894806,0.0698309915174,0.999999960767,6.86404902724e-05,-0.000271106758621,1.60168703534e-05,1793249863847569408
+75,1.250000000,BASELINE,767.482087211,745.482087211,718,679,662,639,880.482087211,784.482087211,813.517912789,651,630,654,0.400970656774,0.00451127937325,0.0698306593914,0.999999960748,6.97265230228e-05,-0.000270892940748,1.61143055631e-05,1793249863864236032
+76,1.266666667,BASELINE,767,745,718,678.905200885,662,639,880.094799115,784.094799115,813.905200885,651,630,654,0.400970721277,0.00451147021273,0.0698303138863,0.999999960761,7.04904139238e-05,-0.000270640241498,1.61935207362e-05,1793249863880902656
+77,1.283333333,BASELINE,767,745,718,678.330086537,662,639,880.669913463,784.669913463,813.330086537,651,630,654,0.400971414791,0.00451011128426,0.0698304280898,0.999999961172,6.79905421775e-05,-0.000269768257219,1.60475482794e-05,1793249863897569280
+78,1.300000000,BASELINE,767,745,718,678.252284296,662,639,881,784.747715704,813.252284296,651.252284296,630.252284296,654.252284296,0.400971103477,0.00450946171066,0.0698301169962,0.999999961082,6.6837040311e-05,-0.000270394386398,1.59963294599e-05,1793249863914235904
+79,1.316666667,BASELINE,767,745,718,678.844430575,662,639,881,784.155569425,813.844430575,651.844430575,630.844430575,654.844430575,0.40096943852,0.00450976773669,0.0698292329684,0.999999960318,6.74972858518e-05,-0.000273038682526,1.60727569607e-05,1793249863930902528
+80,1.333333333,BASELINE,767.423821896,745,718,679,662,639,880.576178104,784.423821896,814,652,630.576178104,654.576178104,0.400970560305,0.00451068223454,0.0698305045591,0.999999960723,6.83386077455e-05,-0.000271337418702,1.61009497205e-05,1793249863947569408
+81,1.350000000,BASELINE,767.998668173,745,718,679,662,639,880.001331827,784.998668173,814,652,630.001331827,654.001331827,0.400972675114,0.00451181355481,0.0698325442813,0.999999961537,6.92444543062e-05,-0.00026808766147,1.61119545545e-05,1793249863964236032
+82,1.366666667,BASELINE,767.426226203,745.573773797,718,679.573773797,662.573773797,639,880.573773797,784.426226203,814,651.426226203,630,654,0.40097067253,0.00450988199092,0.0698305499647,0.999999960814,6.77142527363e-05,-0.000271145278675,1.63381105206e-05,1793249863980902656
+83,1.383333333,BASELINE,767,745.846996955,718,679.846996955,662.846996955,639,881,784,813.846996955,651,630,654,0.400969143106,0.00450865732664,0.0698291757242,0.999999960307,6.6543237294e-05,-0.000273291701469,1.64015551154e-05,1793249863997569280
+84,1.400000000,BASELINE,767,745.255963837,718,679.255963837,662.255963837,639,881,784,813.255963837,651,630,654,0.400968995655,0.00450947679677,0.0698296035089,0.99999996046,6.64167254097e-05,-0.000272787547479,1.59977454948e-05,1793249864014235904
+85,1.416666667,BASELINE,767,745,718,679,662,639,880.671909938,784,813.328090062,651.328090062,630,654,0.400969829529,0.00451074890073,0.0698305030801,0.999999960785,6.84614712374e-05,-0.000271082863427,1.60324243642e-05,1793249864030902528
+86,1.433333333,BASELINE,767,745,718,679,662,639,880.093187589,784,813.906812411,651.906812411,630,654,0.40097141305,0.00451236677754,0.0698317630552,0.999999961226,7.21648692112e-05,-0.000268461078796,1.64020703452e-05,1793249864047568896
+87,1.450000000,BASELINE,767,745.481019181,718,679,662,639,880,784,814,651.518980819,630,654,0.400970510545,0.00451170402821,0.0698312093516,0.99999996118,7.04062968228e-05,-0.000269113540788,1.61257327288e-05,1793249864064236288
+88,1.466666667,BASELINE,767.055748834,746,718,679,662,639,880.055748834,784.055748834,814,651.055748834,630,654,0.400969288536,0.00451077494825,0.0698304476685,0.999999961034,6.7899917414e-05,-0.00027032041007,1.57779072267e-05,1793249864080903680
+89,1.483333333,BASELINE,767.643744852,746,718,679,662,639,880.643744852,784.643744852,814,651.643744852,630,654,0.400969571486,0.00451148211904,0.0698310237039,0.999999960871,6.82624494493e-05,-0.000270820674613,1.59312569685e-05,1793249864097570304
+90,1.500000000,BASELINE,767.771824811,746,718,679,662,639,881,784.771824811,814,651.771824811,630,654.228175189,0.400969533078,0.00451191562048,0.0698310082733,0.999999960641,6.89180688418e-05,-0.000271502701737,1.59492902685e-05,1793249864114236672
+91,1.516666667,BASELINE,767.192876047,746,718,679,662,639,881,784.192876047,814,651.192876047,630,654.807123953,0.400969000647,0.00451192841016,0.0698300835824,0.999999960306,7.00242512088e-05,-0.000272464152312,1.57593016743e-05,1793249864130903040
+92,1.533333333,BASELINE,767,745.613058805,718,679,662,639,881,784,814,651,630,654.613058805,0.400969993673,0.00451206097523,0.0698304283361,0.999999960492,7.10635470759e-05,-0.000271495162704,1.60099311869e-05,1793249864147569408
+93,1.550000000,BASELINE,767,745.032807633,718,679,662,639,881,784,814,651,630,654.032807633,0.400971748795,0.00451225337827,0.0698314072851,0.999999960935,7.20694275567e-05,-0.000269561754415,1.64806868349e-05,1793249864164236032
+94,1.566666667,BASELINE,767,745.539838267,718,679,662,639,880.460161733,784.539838267,814,651,630,654,0.400970656277,0.00451150254859,0.0698306335872,0.999999960684,7.02907837796e-05,-0.000270983182754,1.61272843323e-05,1793249864180902656
+95,1.583333333,BASELINE,767.11062287,746,718,679,662,639,880.11062287,784.88937713,813.88937713,651.11062287,630,654,0.400969528886,0.00451065075194,0.0698299296564,0.999999960434,6.83494490996e-05,-0.000272414666742,1.58162648386e-05,1793249864197569536
+96,1.600000000,BASELINE,767.675634394,746,718,679,662,639,880.675634394,784.324365606,813.324365606,651.675634394,630,654,0.400968959228,0.00450961641502,0.0698299437291,0.999999960386,6.64252927612e-05,-0.000273061627501,1.58822104969e-05,1793249864214235904
+97,1.616666667,BASELINE,767.742172891,745.742172891,718,679.257827109,662,639,880.742172891,784,813.257827109,652,630,654,0.400969087534,0.0045092259164,0.0698302969021,0.999999960503,6.57603340096e-05,-0.0002727839528,1.60672159391e-05,1793249864230902528
+98,1.633333333,BASELINE,767.136821759,745.136821759,718,679.863178241,662,639,880.136821759,784,813.863178241,652,630,654,0.400970156621,0.00450970324464,0.0698311071468,0.999999960844,6.67926422514e-05,-0.000271259966,1.64127015353e-05,1793249864247569152
+99,1.650000000,BASELINE,767,745.443963143,718,680,662,639,880.887926286,784,813.556036857,651.556036857,630.443963143,654,0.400970217802,0.00451033618664,0.0698310111208,0.999999960784,6.77449127491e-05,-0.000271243528037,1.64125217519e-05,1793249864264235776
+100,1.666666667,BASELINE,767,746,718.018049012,680,662,639,881.981950988,784,813,651.018049012,630.981950988,654,0.40096997397,0.00451096726427,0.0698306573915,0.999999960609,6.86324270294e-05,-0.000271671280436,1.63163381056e-05,1793249864280902656
+101,1.683333333,BASELINE,767,746,718.607160576,680,662,639,881.392839424,784,813,651.607160576,630.392839424,654,0.400969392205,0.00451010156072,0.0698305235376,0.999999960487,6.8210593402e-05,-0.000272224013084,1.63764119296e-05,1793249864297569280
+102,1.700000000,BASELINE,767,746,718.807061564,680,662,639,881,784,813.192938436,651.807061564,630.192938436,654,0.400969234052,0.00451007241789,0.0698306331049,0.999999960516,6.83503091937e-05,-0.000272087402381,1.62533606905e-05,1793249864314235904
+103,1.716666667,BASELINE,767,746,718.227956195,680,662,639,881,784,813.772043805,651.227956195,630.772043805,654,0.400969923759,0.00451171765427,0.069831229881,0.999999960848,6.96139681033e-05,-0.000270571068555,1.57637840086e-05,1793249864330902784
+104,1.733333333,BASELINE,767,745.64890988,718,679.64890988,662,639,881.35109012,784,814,651,630.64890988,654,0.400969030515,0.00451092487101,0.0698305442072,0.999999960679,6.83543535518e-05,-0.000271519013422,1.57084489224e-05,1793249864347569152
+105,1.750000000,BASELINE,767,745.069901844,718,679.069901844,662,639,881.930098156,784,814,651,630.069901844,654,0.400967109663,0.00450854939353,0.0698290260029,0.999999960174,6.54567003495e-05,-0.000274066699153,1.59350113236e-05,1793249864364235520
+106,1.766666667,BASELINE,767,745,718,679,662,639,881.494472576,784.505527424,813.494472576,651.505527424,630,654,0.40096859697,0.00450883247476,0.0698299473689,0.999999960471,6.64829320854e-05,-0.000272730995645,1.60028240881e-05,1793249864380902400
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,719,679,662,639,880,785,814,652,631,654,0.400969660556,0.00450945145534,0.0698306403953,0.999999960929,6.62545882415e-05,-0.000271094051274,1.61498143079e-05,1793249864423658752
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,719,679.578609048,662,639,880.578609048,785,814,651.421390952,630.421390952,654.578609048,0.400970572102,0.00451034470218,0.0698308365055,0.999999960976,6.73710598311e-05,-0.000270653107347,1.59905544264e-05,1793249864440325632
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718.842490632,680,662,639,880.842490632,785,813.842490632,651,630,654.842490632,0.400970869348,0.00451092098587,0.0698307993084,0.999999960903,6.83003114261e-05,-0.000270695731538,1.59215792689e-05,1793249864456992512
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718.262809489,680,662,639,880.262809489,785,813.262809489,651,630,654.262809489,0.400969520091,0.00451064771457,0.0698301367788,0.999999960507,6.87277582136e-05,-0.000272034461459,1.60945938862e-05,1793249864473658880
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718,679.686090262,662,639,880,785,813.313909738,651,630,654,0.400968969476,0.00451037432205,0.0698297717746,0.999999960452,6.86125466872e-05,-0.000272257526624,1.62596647357e-05,1793249864490325504
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,718,679.111827645,662,639,880,785,813.888172355,651,630,654,0.400969081243,0.004510100829,0.0698296535344,0.999999960679,6.80472609993e-05,-0.00027155527307,1.64181471117e-05,1793249864506991872
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745.473046769,718,679,662.473046769,639,880.946093539,785,814,651,630.473046769,654,0.400968719247,0.00451087996826,0.0698299049657,0.99999996052,6.92123961839e-05,-0.000271860254719,1.61684600054e-05,1793249864523658752
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.940112326,718,679,662.940112326,639,881.940112326,784.940112326,814,651,630.940112326,654,0.400968351182,0.00451172352909,0.0698302003678,0.999999960279,7.04591633115e-05,-0.000272443481985,1.58696349885e-05,1793249864540325632
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.358495776,718,679,662.358495776,639,881.358495776,784.358495776,814,651,630.358495776,654,0.400968928331,0.00451091072019,0.0698301000408,0.999999960153,6.87715860717e-05,-0.000273328768596,1.60026278288e-05,1793249864556992512
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784.220137656,814,651.220137656,630.220137656,654,0.400974931874,0.00451008698561,0.0698327157499,0.999999961312,6.68894503921e-05,-0.000269520762058,1.61115127106e-05,1793249864573659392
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784.793977955,814,651.793977955,630.793977955,654,0.400989654188,0.00450924569646,0.0698396954065,0.99999996445,6.46947112199e-05,-0.000258171881993,1.61816625028e-05,1793249864590326272
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.368504437,745,718,679,662,639,880.631495563,784.631495563,814,652,631,654,0.401020432176,0.00450945259029,0.0698520336526,0.999999969827,6.50851223316e-05,-0.000236320354474,1.61747887217e-05,1793249864606992640
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.943415318,745,718,679,662,639,880.056584682,784.056584682,814,652,631,654,0.40106020326,0.00451024659156,0.0698673733488,0.999999975877,6.69235257395e-05,-0.000208586090328,1.61247725486e-05,1793249864623659008
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.467281471,745.532718529,718,679.532718529,662,639,880.532718529,784.532718529,813.467281471,651.467281471,630.467281471,654,0.401118184167,0.00451090279106,0.0698849046344,0.999999980842,6.67438944666e-05,-0.000183340671845,1.57476398604e-05,1793249864640325632
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,746,718,680,662,639,880.878605368,784.878605368,813.121394632,651,630,654,0.401180305641,0.00451150302523,0.0699001607869,0.999999984571,6.63409869519e-05,-0.000161942746986,1.51962419563e-05,1793249864656992512
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,746,718,680,662,639,880.298240418,784.298240418,813.701759582,651,630,654,0.401250565846,0.00451194854204,0.0699059105276,0.999999985859,6.59268457225e-05,-0.000154064210177,1.41209952926e-05,1793249864673659392
+123,2.050000000,POSE1_TO_POSE2_PRESS,767.278602855,745.721397145,718,679.721397145,661.721397145,639,880.278602855,784,814,651,630,654,0.401329056921,0.00451215716176,0.0699098151842,0.999999986841,6.50449955524e-05,-0.000148072282012,1.27463178019e-05,1793249864690326016
+124,2.066666667,POSE1_TO_POSE2_PRESS,767.851723249,745.148276751,718,679.148276751,661.148276751,639,880.851723249,784,814,651,630,654,0.401416249035,0.00451211535205,0.0699117693592,0.999999987533,6.36687194438e-05,-0.000144074732068,1.10551051062e-05,1793249864706992640
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.563490026,745,718,679,661.436509974,639,881,784,814,651,630,654,0.401519521324,0.00451252374338,0.0699103014854,0.999999987327,6.07095062113e-05,-0.000146913692503,8.7190921112e-06,1793249864723659008
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784.024933693,814,651,630,654,0.401629733366,0.00451307974148,0.0699078042739,0.999999986808,5.72619123437e-05,-0.000151879963685,6.13641753647e-06,1793249864740325632
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784.60370134,814,651,630,654,0.401769432971,0.00451342427672,0.0699089722677,0.999999987054,5.52378564648e-05,-0.000151099187786,3.07358630888e-06,1793249864756992256
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.18183881,718,679.18183881,662,639,881,785,814,651.18183881,630,654,0.401919243231,0.00451377715731,0.0699105598091,0.999999987436,5.24022081322e-05,-0.000149606291289,-1.4661646189e-07,1793249864773658880
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.758607546,718,679.758607546,662,639,881,785,814,651.758607546,630,654,0.402091012485,0.00451414816284,0.0699130585525,0.99999998811,4.78038882367e-05,-0.000146566762818,-3.70860908084e-06,1793249864790325504
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.666002456,718,680,661.666002456,639,881,785,814,651.666002456,630,654,0.402282473987,0.00451256297142,0.0699159870607,0.999999989225,3.97897029791e-05,-0.00014112270944,-7.12203798832e-06,1793249864806992128
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.091604769,718,680,661.091604769,639,881,785,814,651.091604769,630,654,0.40248810932,0.00450956977558,0.0699192248994,0.999999990545,2.93168928071e-05,-0.000133947959973,-1.04285361243e-05,1793249864823658752
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.494807508,718,680,661.494807508,639,881,784.505192492,814,651.494807508,630,654.494807508,0.402730720517,0.00448968809176,0.0699229794634,0.999999992085,-3.87323820649e-07,-0.000125278452339,-1.16060258459e-05,1793249864840325632
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.917724298,718,679.917724298,662,639,881,784,814,651.917724298,630.082275702,654.917724298,0.40298608062,0.00447099358415,0.0699273431062,0.999999992809,-2.88635649964e-05,-0.000115652764001,-1.31522564639e-05,1793249864856992256
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.337659687,718,679.337659687,662,639,881,784,814,651.337659687,630.662340313,654.337659687,0.403276127738,0.00447886927462,0.0699347986473,0.999999994227,-2.78331648991e-05,-0.000101957874902,-1.93735029864e-05,1793249864873658880
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.240652281,718,679,662.240652281,639,881,784,813.759347719,651,630.759347719,654,0.403581556195,0.00448471898932,0.069942180552,0.999999995288,-2.86779656564e-05,-8.917260869e-05,-2.54797876116e-05,1793249864890325504
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.816522859,718,679,662.816522859,639,881,784,813.183477141,651,630.183477141,654,0.40390841018,0.00448774660631,0.069949459884,0.999999995975,-3.21348407625e-05,-7.76544089421e-05,-3.14259348784e-05,1793249864906992128
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662.608850041,639,881,784.391149959,813.391149959,651,630,654.391149959,0.404256459915,0.00448782418988,0.0699525715878,0.999999995722,-4.05425808473e-05,-7.44846546814e-05,-3.69503828618e-05,1793249864923658496
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,746,718,679,662.034804387,639,881,784.965195613,813.965195613,651,630,654.965195613,0.404614420447,0.00448652238319,0.0699537345728,0.999999994963,-5.12652690222e-05,-7.52185052312e-05,-4.22776505876e-05,1793249864940325120
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,718.553433713,679,662,639,881,784.446566287,813.446566287,651.553433713,630,655,0.405023759851,0.00449726643035,0.0699577996213,0.999999995953,-3.49957784316e-05,-6.80916079271e-05,-4.72551016807e-05,1793249864956992512
+140,2.333333333,POSE1_TO_POSE2_PRESS,767.140608312,745.859391688,718.859391688,679.140608312,662,639,881,784.140608312,813,651.859391688,630,655,0.405444690683,0.00450658163762,0.0699621447975,0.999999997115,-1.5700937998e-06,-6.01597596404e-05,-4.63576343421e-05,1793249864973659648
+141,2.350000000,POSE1_TO_POSE2_PRESS,767.721583175,745.278416825,718.278416825,679.721583175,662,639,881,784.721583175,813,651.278416825,630,655,0.405891538476,0.0045089869461,0.0699667806694,0.999999995106,8.01302842077e-05,-5.12958918137e-05,-2.71314141275e-05,1793249864990326016
+142,2.366666667,POSE1_TO_POSE2_PRESS,767.700839944,745.299160056,718,679.700839944,662.299160056,639,881.299160056,784.700839944,813.299160056,651,630,654.700839944,0.406344665341,0.00451519712021,0.0699594378564,0.999999990192,0.000122933615167,-6.33660676454e-05,-2.20798646022e-05,1793249865006992384
+143,2.383333333,POSE1_TO_POSE2_PRESS,767.126389852,745.873610148,718,679.126389852,662.873610148,639,881.873610148,784.126389852,813.873610148,651,630,654.126389852,0.40680357032,0.0045249085695,0.0699410721397,0.999999986621,0.000129943509446,-9.46999561707e-05,-3.00719847788e-05,1793249865023659008
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.459529822,746,718.459529822,679.459529822,663,639,881.540470178,784.459529822,814,651,630,654,0.407307889672,0.00452992300491,0.0699280581751,0.999999988398,0.000100319910567,-0.000109566676732,-3.36919250472e-05,1793249865040325632
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.952063919,746,718.952063919,679.952063919,663,639.047936081,881.047936081,785,814,651,630,654.047936081,0.407834060341,0.0045340144252,0.0699190427904,0.999999990901,5.86711000473e-05,-0.000115996547391,-3.60577806536e-05,1793249865056992512
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.371969751,746,718.371969751,679.371969751,663,639.628030249,881.628030249,785,814,651,630,654.628030249,0.408460596207,0.00454256782946,0.0699376582019,0.999999996042,-1.75635696347e-06,-8.03326139745e-05,-3.8193059783e-05,1793249865073659136
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718,679,663.206308071,640,882.206308071,785,814,651.206308071,630,654.793691929,0.409083347806,0.00454939497494,0.0699503395103,0.999999997303,-3.0636704719e-05,-5.33535413348e-05,-4.01015323552e-05,1793249865090325760
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,746,718,679,663.781339596,640,882.781339596,785,814,651.781339596,630,654.218660404,0.40969933595,0.00455313686927,0.06995241511,0.999999998252,-3.13457649265e-06,-4.18964616287e-05,-4.16046457428e-05,1793249865106992384
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.355691065,746,718,679.355691065,663.644308935,639.644308935,883,785,814,651.644308935,630,654.355691065,0.410323501836,0.00456168934988,0.0699474160606,0.999999997334,3.26983860856e-05,-4.92722115546e-05,-4.28376156595e-05,1793249865123659008
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.929625248,746,718,679.929625248,663.070374752,639.070374752,883,785,814,651.070374752,630,654.929625248,0.410952685358,0.00457319348546,0.0699380761839,0.999999993999,7.36429386427e-05,-6.82033138049e-05,-4.39048322074e-05,1793249865140325632
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.480794643,746,718.519205357,680,663.519205357,639.519205357,883,785,814,651,630,654.480794643,0.411643572883,0.00457852575679,0.0699473574562,0.999999992716,9.83167045405e-05,-5.438465549e-05,-4.4090138839e-05,1793249865156992256
+152,2.533333333,POSE1_TO_POSE2_PRESS,767.108595076,746,718.891404924,680,664,640,883,785,814,651,630,654,0.412361021541,0.00458294333547,0.0699640058173,0.999999992327,0.000112122021685,-2.85032153974e-05,-4.42938550572e-05,1793249865173659136
+153,2.550000000,POSE1_TO_POSE2_PRESS,767.687686179,746,718.312313821,680,664,640,883,785,814,651,630,654,0.413156186435,0.00458713498577,0.0700012975706,0.999999994605,8.86909032262e-05,2.98112137703e-05,-4.51113259019e-05,1793249865190325760
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.735274114,746,718,680,664,640,883.529451772,785,814.264725886,651.264725886,630,654.264725886,0.413928966744,0.00459327151334,0.0700206501318,0.999999993266,8.93010924787e-05,5.81152551687e-05,-4.5993994297e-05,1793249865206992128
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.160635885,746,718,680,664,640,884.678728231,785,814.839364115,651.839364115,630,654.839364115,0.414675541714,0.00460168489273,0.0700190014381,0.999999990614,0.000118056233456,5.12863984662e-05,-4.69529891484e-05,1793249865223659008
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,680.422976764,663.577023236,640,885.422976764,785,815,651.577023236,630,655,0.415389916703,0.00461024073793,0.0699768211503,0.999999989879,0.000131845724263,-2.25784315739e-05,-4.84753127594e-05,1793249865240325888
+157,2.616666667,POSE1_TO_POSE2_PRESS,767.009919877,746,718,681,663.009919877,640,886,785,815,651.009919877,630,654.990080123,0.416094299434,0.00461875776351,0.0699198909928,0.999999981707,0.000139602083512,-0.000120730863667,-5.02061521707e-05,1793249865256992512
+158,2.633333333,POSE1_TO_POSE2_PRESS,767.588175163,746,718,681,663.588175163,640,886,785,815,651.588175163,630,654.411824837,0.416942005863,0.0046218837369,0.0699189171699,0.999999982429,0.000134390255391,-0.00012017785131,-5.13606685036e-05,1793249865273659392
+159,2.650000000,POSE1_TO_POSE2_PRESS,768,746,718.16636024,681.16636024,664.332720479,640,886,785,815,652,630,654.16636024,0.417802855956,0.00462530873745,0.0699280082113,0.999999983838,0.000137335201971,-0.000103717848519,-5.20173907872e-05,1793249865290326272
+160,2.666666667,POSE1_TO_POSE2_PRESS,768,746,718.744371551,681.744371551,665.488743102,640,886,785,815,652,630,654.744371551,0.418696229415,0.00462947366731,0.069962004315,0.999999984655,0.000160463727596,-4.78966996294e-05,-5.14423434753e-05,1793249865306992640
+161,2.683333333,POSE1_TO_POSE2_PRESS,768,746,718.678420425,682,665.356840849,640,886,785,815,651.678420425,630,655,0.419590149975,0.00463295666426,0.0699889524205,0.999999986307,0.000156958756655,-7.049922343e-06,-5.19621001197e-05,1793249865323659264
+162,2.700000000,POSE1_TO_POSE2_PRESS,768,746,718.101849382,682,664.203698763,640,886,785,815,651.101849382,630,655,0.420484504307,0.00463589893305,0.070010311925,0.99999998958,0.00013233517247,2.1923159734e-05,-5.33499644225e-05,1793249865340325888
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.51702545,746,718.48297455,682,664.48297455,640,886.48297455,785,815,651.48297455,629.51702545,655,0.421363275649,0.0046175517036,0.0700245460485,0.999999990586,0.000120163036398,3.99113213787e-05,-5.28710203345e-05,1793249865356992512
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,718.930949724,682.069050276,664.930949724,640,887,785,815.069050276,651.930949724,629.069050276,655,0.422233847279,0.00459541591735,0.0700284252724,0.999999991688,0.000110126365845,4.2258413632e-05,-5.20577348799e-05,1793249865373659136
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,718.34873013,682.65126987,664.34873013,640,887,785,815.65126987,651.34873013,629.65126987,655,0.423068326143,0.00457906959616,0.0699667098865,0.999999992579,9.61067173601e-05,-5.41210812891e-05,-5.17362423802e-05,1793249865390325760
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718.230694747,683,664,640,887.230694747,785.230694747,816,651,630,654.769305253,0.423922116361,0.0045699317778,0.0699067752366,0.999999985518,7.64072159303e-05,-0.000142595069261,-5.28447499101e-05,1793249865406992384
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718.805945639,683,664,640,887.805945639,785.805945639,816,651,630,654.194054361,0.424804749344,0.00457156027904,0.0698495002113,0.999999973226,4.82245193519e-05,-0.000219261733252,-5.60890467044e-05,1793249865423659520
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,719,683.381751788,664.763503576,640,888,786,816,651.381751788,630,654.381751788,0.425744047119,0.00457498857992,0.0698692762663,0.999999979186,5.78529609332e-05,-0.000187739064786,-5.50969293378e-05,1793249865440326144
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,719,683.957840566,665.915681131,640,888,786,816,651.957840566,630,654.957840566,0.42671219098,0.00457933309815,0.069928276437,0.999999989775,8.67297820053e-05,-0.000101140842332,-5.19481956282e-05,1793249865456993024
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.5429952,746,718.4570048,684,665.4570048,640,888,786,816,652,630,655,0.42765089992,0.0045863592122,0.0699801776813,0.999999993231,9.8781549799e-05,-3.42266929956e-05,-5.10688332338e-05,1793249865473659392
+171,2.850000000,POSE1_TO_POSE2_PRESS,768,746,718.128149747,684,665,640,888.128149747,786,816,652,630,655,0.428595196927,0.00459126657444,0.0700255193202,0.999999992937,0.000103911068738,2.74554007308e-05,-5.07418748957e-05,1793249865490326016
+172,2.866666667,POSE1_TO_POSE2_PRESS,768,746,718.710765306,684,665,640,888.710765306,786,816,652,630,655,0.429567553683,0.00458790915873,0.0700495860663,0.999999991788,8.92031751737e-05,7.60947135377e-05,-5.1738466435e-05,1793249865506992640
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.71190251,746,718.71190251,684,665,640,889,786,816,652,630,655,0.430478696064,0.00458518249811,0.070034693895,0.999999993608,8.43766225807e-05,5.38807988986e-05,-5.2548820821e-05,1793249865523659520
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.139779068,746,718.139779068,684,665,640,889,786,816,652,630,655,0.431329489126,0.00458307767861,0.0699813933919,0.999999993871,8.92917633588e-05,-3.81850127824e-05,-5.31755697561e-05,1793249865540326144
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718.436141905,684,664.563858095,640,889.436141905,785.563858095,816,652,630,654.563858095,0.432158585219,0.00457710771207,0.0699234746027,0.99999998628,8.06281328218e-05,-0.000134407114994,-5.36071126898e-05,1793249865556992512
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,719,684.013618382,664.013618382,640,890,785,816,651.986381618,630,654,0.432983416712,0.00457012509323,0.0698666902944,0.999999970399,6.80238542797e-05,-0.000227288893247,-5.39916670283e-05,1793249865573659392
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,719,684.604997403,664.604997403,640,890,785,816,651.395002597,630,654,0.433924920155,0.0045731959141,0.0699213820736,0.999999988335,7.44869776209e-05,-0.000121448312902,-5.50602316382e-05,1793249865590326528
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.192068053,746,719,685,665.192068053,640,890,785.192068053,816,651.192068053,630,654.192068053,0.43485522431,0.0045757245344,0.069971408818,0.999999994813,7.98458127954e-05,-3.07438264664e-05,-5.52650619695e-05,1793249865606993152
+179,2.983333333,POSE1_TO_POSE2_PRESS,767.770472705,746,719,685,665.770472705,640,890,785.770472705,816,651.770472705,630,654.770472705,0.435763001751,0.00457716254219,0.0700120520562,0.999999994678,8.29834223614e-05,2.95150772588e-05,-5.37325291688e-05,1793249865623659264
+180,3.000000000,POSE1_TO_POSE2_PRESS,768,746,718.654206726,684.654206726,665.654206726,640,890,785.654206726,816,652,630,655,0.436648200095,0.00457634548819,0.0700256779453,0.99999999405,7.74652225424e-05,5.46066475494e-05,-5.40112604063e-05,1793249865640325632
+181,3.016666667,POSE1_TO_POSE2_PRESS,768,746,718.080915215,684.080915215,665.080915215,640,890,785.080915215,816,652,630,655,0.437518543541,0.00457404482346,0.0700215290523,0.999999994667,6.62523446361e-05,5.65615401651e-05,-5.54816268322e-05,1793249865656992512
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,718,684,664.494348422,640,890.505651578,785.505651578,816.505651578,651.494348422,630,655,0.438295579542,0.00457243630405,0.0699868189403,0.999999995938,6.81280285121e-05,1.52911939585e-05,-5.70003193389e-05,1793249865673658880
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,718,684.093005871,664,640,891,785.906994129,816.906994129,651.093005871,630,655,0.439045349003,0.00457130870747,0.0699427231603,0.999999994729,7.21744961315e-05,-4.43292432572e-05,-5.80315782776e-05,1793249865690325504
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,718,684.673059566,664,640,891,785.326940434,816.326940434,651.673059566,630,655,0.439732629682,0.00457210392948,0.069875777611,0.999999982234,7.63249662753e-05,-0.000162845349114,-5.64686843513e-05,1793249865706992640
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.748751105,746,718,685,664,640,891,785.251248895,816.251248895,651.748751105,630,655,0.440457642695,0.00457425234499,0.0698413231446,0.999999970881,7.56151192007e-05,-0.000222276463339,-5.57995669538e-05,1793249865723659776
+186,3.100000000,POSE1_TO_POSE2_PRESS,767.172969979,746,718,685,664,640,891,785.827030021,816.827030021,651.172969979,630,655,0.441231393615,0.00457814864832,0.0698488366436,0.999999974969,6.86273165531e-05,-0.000205388890393,-5.62849203795e-05,1793249865740326144
+187,3.116666667,POSE1_TO_POSE2_PRESS,767,746,718,685,664,640,890.598496643,785.598496643,816.598496643,651.401503357,630,655,0.442010301005,0.00458564809767,0.0698879635131,0.999999984187,8.2438667875e-05,-0.00014737896904,-5.5765132161e-05,1793249865756992512
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,746,718,685,664,640,890.024584832,785.024584832,816.024584832,651.975415168,630,655,0.442791422686,0.00459469476437,0.0699406653937,0.999999990395,0.000105181325721,-7.17108108339e-05,-5.48137285821e-05,1793249865773658880
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.566283102,746,718.566283102,685,663.433716898,639.433716898,890.566283102,785.566283102,816.566283102,652,630,655,0.443441440622,0.00460246000463,0.0699310161743,0.999999986558,0.000120294043113,-9.75434589502e-05,-5.38429032604e-05,1793249865790325504
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.845695739,746,718.845695739,685,663,639,891,785.845695739,816.845695739,652,630.154304261,655,0.4440723735,0.00461018472543,0.0699094542076,0.999999979654,0.000134740745156,-0.000140336930346,-5.33105020526e-05,1793249865806992384
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.26757773,746,718.26757773,685,663,639,891,785.26757773,816.26757773,652,630.73242227,655,0.444667002973,0.00461795567369,0.0698628369475,0.999999963951,0.000148296061141,-0.000217238396912,-5.39846683279e-05,1793249865823659264
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.30886336,746,718,685.30886336,663,639.30886336,891,785,816.30886336,652,630.69113664,655,0.445254183444,0.00462865145026,0.0698253810761,0.999999948939,0.000159889755493,-0.000270833484261,-5.66197558473e-05,1793249865840325888
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+252,4.200000000,HOLD_POSE2,768,746,718,686.064486592,657.935513408,636.064486592,891.935513408,784.935513408,817,652,630.935513408,655,0.453320539255,0.00469636535478,0.0695871554465,0.999999781681,0.000194500646988,-0.000629036684933,-5.58537459268e-05,1793249866867172608
+253,4.216666667,HOLD_POSE2,768,746,718,686.637875949,657.362124051,636.637875949,891.362124051,784.362124051,817,652,630.362124051,655,0.453320515769,0.00469679011164,0.0695880443722,0.999999781944,0.000194765218635,-0.000628569627416,-5.54903059833e-05,1793249866883838976
+254,4.233333333,HOLD_POSE2,768,746,718,687,657,637,891.211763229,784,817.211763229,652,630.211763229,655,0.453321216822,0.00469701743176,0.0695889565729,0.99999978244,0.000195457209222,-0.000627587510663,-5.52244902541e-05,1793249866900505344
+255,4.250000000,HOLD_POSE2,768,746,718,687,657,637,891.786503928,784,817.786503928,652,630.786503928,655,0.453323159788,0.00469690633101,0.0695899086684,0.999999783335,0.000196881826715,-0.000625722545225,-5.51260095158e-05,1793249866917171968
+256,4.266666667,HOLD_POSE2,768,746,718,687,657,637,891.627275313,784,817.627275313,652,631,655,0.453322859196,0.00469742057869,0.0695892254247,0.99999978277,0.000197573177064,-0.000626391907937,-5.52967798728e-05,1793249866933838592
+257,4.283333333,HOLD_POSE2,768,746,718,687,657,637,891.034269766,784,817.034269766,652,631,655,0.453321232658,0.00469830440826,0.0695875756931,0.999999781341,0.000197831165546,-0.000628559062287,-5.56266780297e-05,1793249866950505216
+258,4.300000000,HOLD_POSE2,768,746,718,686.456866783,657,637,891.543133217,784.543133217,817,652,630.456866783,655,0.453320310316,0.00469675280516,0.0695868710439,0.99999978085,0.000195114511076,-0.000630194037667,-5.55443863413e-05,1793249866967171840
+259,4.316666667,HOLD_POSE2,768.119170555,746,718,686,657.119170555,637,891.880829445,784.880829445,817,652,630,655,0.453319720108,0.00469546107304,0.0695864477558,0.999999780622,0.000192903998632,-0.000631237867458,-5.55260712876e-05,1793249866983838464
+260,4.333333333,HOLD_POSE2,768.693646685,746,718,686,657.693646685,637,891.306353315,784.306353315,817,652,630,655,0.453320233846,0.00469573291817,0.0695868779749,0.99999978121,0.000193324327782,-0.000630147862829,-5.58487775462e-05,1793249867000505344
+261,4.350000000,POSE2_TO_POSE3_RETREAT,768,746,718,687,657,637,893,784,818,652,630,655,0.453322524107,0.00469511163717,0.0695888856257,0.999999782954,0.000193859330811,-0.000627321299343,-5.4582185454e-05,1793249867037641984
+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,746,717.426372115,686.426372115,657.573627885,637,892.426372115,784,817.426372115,652,630,655,0.45332185216,0.00469584617335,0.0695884151178,0.999999782628,0.00019443302707,-0.000627621041997,-5.50513428086e-05,1793249867054309120
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,746,717.149087228,686,658,637,891.850912772,784,817,652,630,654.850912772,0.453321471658,0.00469603972137,0.0695881871771,0.999999782352,0.00019476031861,-0.000627945753288,-5.52210523606e-05,1793249867070976256
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768,746,717.729849605,686,658,637,891.270150395,784,817,652,630,654.270150395,0.453321935024,0.00469466686347,0.0695886615784,0.999999782216,0.00019437415686,-0.000628342760176,-5.45237248083e-05,1793249867087642624
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,746,718,686,657.692908866,637,891,784,817.307091134,652,630,654.307091134,0.453321879175,0.0046950075356,0.0695886532757,0.999999781822,0.000194849369638,-0.000628810209421,-5.46609672514e-05,1793249867104309248
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,746,718,686,657.118729579,637,891,784,817.881270421,652,630,654.881270421,0.453321371746,0.0046968385262,0.069588225148,0.999999781202,0.000196073750704,-0.000629338924879,-5.55240651393e-05,1793249867120975872
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,746,717.531681464,686,657,637,891.468318536,784,817.531681464,652,630.468318536,655,0.453322443325,0.00469639720081,0.0695886321754,0.999999782091,0.000196257121799,-0.000627887129107,-5.52991303059e-05,1793249867137642240
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,746,717.057479334,686.057479334,657,636.942520666,891.942520666,784,817,652,630.942520666,655,0.453323673048,0.00469560696664,0.0695891640097,0.999999783231,0.000196207799009,-0.000626122351346,-5.48798390871e-05,1793249867154308608
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,746,717.635394322,686.635394322,657,636.364605678,891.364605678,784,817,652,630.364605678,655,0.453322607673,0.00469702103362,0.069588854637,0.999999783103,0.000196508727064,-0.000626198409541,-5.52689077356e-05,1793249867170975232
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768.211845152,746,718,687,657.211845152,636.211845152,891,784,817,652,630,655,0.453318472954,0.00469756420089,0.069586738826,0.999999781394,0.000197004453213,-0.000628763645552,-5.52883430676e-05,1793249867187642112
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768.785793269,746,718,687,657.785793269,636.785793269,891,784,817,652,630,655,0.453309091865,0.00469661875538,0.0695815353037,0.999999776953,0.000197833144069,-0.000635583586705,-5.46759710307e-05,1793249867204308992
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768.638312581,746,718,686.638312581,658,637,891,784,817,652,630,655,0.453283423661,0.00469643898293,0.0695700272887,0.99999976482,0.000198465720169,-0.000654212489844,-5.45638760894e-05,1793249867220975616
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768.061259618,746,718,686.061259618,658,637,891,784,817,652,630,655,0.453248057348,0.00469671512782,0.0695547652846,0.999999747591,0.000198981520383,-0.000679872999585,-5.4749669358e-05,1793249867237641984
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,718,686.530171687,658,637,891,784,817,652,630,655,0.453193542691,0.00469537209666,0.0695367681626,0.999999729768,0.000196808893654,-0.000706241683665,-5.43332287418e-05,1793249867254308608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746.119499115,718,687,658,637,891.119499115,784,817,652,630,655,0.453133359153,0.00469432276092,0.0695193179066,0.999999712271,0.000195300087823,-0.000731033288363,-5.39166307589e-05,1793249867270975488
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,746.694304215,718,687,658,637,891.694304215,784,817,652,630,655,0.453060241479,0.00469512514816,0.0695051889643,0.999999698172,0.000197537084406,-0.000749495577498,-5.37719556785e-05,1793249867287642368
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,746.736445428,718.263554572,686.736445428,657.736445428,637,892,784,817,652,630,655,0.452979714699,0.00469596678973,0.0694946586412,0.999999686218,0.000199707882781,-0.000764762239933,-5.30944393696e-05,1793249867304309248
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746.173505036,718.826494964,686.173505036,657.173505036,637,892,784,817,652,630,655,0.452890771519,0.00469685302237,0.0694882161841,0.999999676898,0.000201803482956,-0.000776398817093,-5.18116400582e-05,1793249867320976128
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,746,718.581110501,686.418889499,657,637,891.581110501,784,817.418889499,652,630.418889499,655,0.452787451946,0.00469595634122,0.0694866734288,0.999999674475,0.000203329009576,-0.000779219204019,-5.02428988951e-05,1793249867337642240
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,746,718,687,657,637,891,784,817.976669938,652,631,655,0.452677016377,0.00469439146722,0.0694874348424,0.999999675293,0.000204778130068,-0.000777898564048,-4.85213018666e-05,1793249867354308608
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,718,687,657,637,891,784,817.397863942,652,631,655,0.452549654957,0.00469583011329,0.0694910821027,0.999999679179,0.000210455299843,-0.000771502893629,-4.61935089184e-05,1793249867370975232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,718,686.820583241,657,637,891.179416759,784,817.179416759,652,630.820583241,655,0.452411826529,0.0046971156482,0.069492871718,0.999999680541,0.00021546459728,-0.000768483442746,-4.38875382494e-05,1793249867387642112
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,746,718,686.24665651,657,637,891.75334349,784,817.75334349,652,630.24665651,655,0.452250982769,0.00469806451495,0.0694905766565,0.999999676474,0.000219005345008,-0.000772887782469,-4.1629551743e-05,1793249867404309504
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,746,718,686,657.32647921,637,891.67352079,784,817.67352079,652,630,655,0.45207150623,0.00469734912177,0.0694899716339,0.999999673744,0.000223127292537,-0.000775395490531,-3.85644989282e-05,1793249867420976384
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,746,718,686,657.899018821,637,891.100981179,784,817.100981179,652,630,655,0.451877986547,0.00469537941156,0.0694906403573,0.999999672015,0.000227687278302,-0.000776473748314,-3.48911772526e-05,1793249867437642752
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768.488717531,746,718,686,658,637,891,784,817,652,630,655,0.451651277623,0.00469459299425,0.0694930761709,0.999999671747,0.00023138058985,-0.000775900079882,-3.07780079155e-05,1793249867454309376
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768.919995245,746,718,686,658.080004755,637,891,784.080004755,817,652,630.080004755,655,0.451412291869,0.00469396293718,0.0694958494605,0.999999671458,0.000235014706883,-0.000775340835183,-2.6435179151e-05,1793249867470976512
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768.341699891,746,718,686,658.658300109,637,891,784.658300109,817,652,630.658300109,655,0.451141108575,0.00469272852502,0.0694983677984,0.999999669187,0.000239436066271,-0.000777074668293,-2.12486126984e-05,1793249867487643392
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.764710289,637,891.235289711,784.764710289,817.235289711,652,630.764710289,655,0.45086067275,0.00469183829793,0.0695041566842,0.999999671493,0.000245326912662,-0.000772381306114,-1.5961174308e-05,1793249867504309760
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.189606538,637,891.810393462,784.189606538,817.810393462,652,630.189606538,655,0.450566874096,0.0046914451556,0.0695146690155,0.999999680264,0.000253340045836,-0.000758405552291,-1.05280532702e-05,1793249867520976384
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.394877082,637,891.605122918,784,817.605122918,652,630,655,0.450242462624,0.00468907960123,0.0695269010642,0.999999689116,0.000259488349606,-0.000744589847339,-4.34315989655e-06,1793249867537642752
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,746,718,686,658.983974168,637,891.016025832,784,817.016025832,652,630,655,0.449902994271,0.00468574391745,0.0695399789544,0.999999697886,0.000264719438134,-0.000730852862631,2.21149198916e-06,1793249867554309120
+293,4.883333333,POSE2_TO_POSE3_RETREAT,768,746,718,685.436733486,659,637,891,784.563266514,817,652,630,655,0.449538772844,0.00468434153749,0.0695562859689,0.999999714394,0.000271188849792,-0.000705406936107,8.31295940071e-06,1793249867570975744
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.859204906,746,718,685,659.140795094,637,891,784.859204906,817,652,630,655,0.449165113661,0.00468291001379,0.0695754810471,0.999999733917,0.000276993017302,-0.000674711503433,1.43166831621e-05,1793249867587642368
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.286248599,746,718,685,659.713751401,637,891,784.286248599,817,652,630,655,0.448764610692,0.0046812230882,0.0696032636666,0.999999762654,0.000280648968019,-0.000628908115295,2.0059287725e-05,1793249867604309248
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767.289659475,746,718,685,660,637.289659475,891,784.289659475,817,652,630,655,0.44832700656,0.00467989703702,0.0696184692316,0.999999776173,0.000285362700941,-0.000604635483408,2.52552637551e-05,1793249867620976384
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.868514657,746,718,685,660,637.868514657,891,784.868514657,817,652,630,655,0.44785236062,0.00467893128225,0.0696211178824,0.999999776057,0.000291132523353,-0.000601859130841,2.99054871687e-05,1793249867637643520
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,746,718,685,660.454440416,638,891,785,817,652,630.454440416,655,0.447323542335,0.00467602569531,0.0696108944951,0.999999772831,0.000266628461824,-0.000618518015644,2.61353117085e-05,1793249867654309376
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.957918661,746,718,685,661,638,890.957918661,785,817,652,630.957918661,655,0.446777791628,0.00467191371051,0.0695975813102,0.999999768346,0.000232717500498,-0.000639341504817,1.98413322018e-05,1793249867670975232
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767.374942194,746,718,685,661,638,890.374942194,785,817,652,630.374942194,655,0.446219048542,0.00465962342941,0.0695931806538,0.999999776459,0.000192261754214,-0.000640273398537,1.29177056403e-05,1793249867687641856
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,718,685,661,638,890,784.794625197,817,652,630,654.794625197,0.445661693595,0.00464811595627,0.0696011342011,0.999999793473,0.000158937481181,-0.000622677364465,8.09265482211e-06,1793249867704308480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,685,661,638,890,784.219101425,817,652,630,654.219101425,0.445106840538,0.00463801934612,0.0696313538479,0.999999826975,0.000138466333062,-0.000571688269391,7.04988753963e-06,1793249867720975360
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,718,684.645849193,661.354150807,638,890,784,817,652,630,654.354150807,0.444519622075,0.00463808208405,0.0696614641321,0.99999985361,0.000137376735924,-0.000523268633196,9.86359564057e-06,1793249867737641984
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,684.073993352,661.926006648,638,890,784,817,652,630,654.926006648,0.443912507839,0.00464439001838,0.0696915071874,0.999999875413,0.000148201445815,-0.00047642850687,1.50479721068e-05,1793249867754308608
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.514133158,746,718,684,662,638.514133158,890,784.514133158,817,652,630,655,0.443238177814,0.00463693532552,0.069711441701,0.999999890919,0.000123307548902,-0.000450208725516,1.63885326264e-05,1793249867770975232
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.89682274,746,718,684.10317726,662.10317726,639,889.89682274,785,817,652,630,654.89682274,0.442550391567,0.00462774314543,0.0697292313767,0.999999904269,9.40261786462e-05,-0.000427000131404,1.70863415625e-05,1793249867787641856
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.314743877,746,718,684.685256123,662.685256123,639,889.314743877,785,817,652,630,654.314743877,0.441846515755,0.00461998029824,0.0697440389229,0.999999916042,6.90201422641e-05,-0.000403543451245,1.74523927848e-05,1793249867804308480
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,745.172191258,718,684.172191258,663,639,889,785,817,652,630,654.827808742,0.440457253914,0.00461185414412,0.0697936021253,0.999999952424,6.3281578405e-05,-0.000301336129111,1.85428251587e-05,1793249867837641984
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.414743063,718,684,663,639,889.414743063,785,817,652,630,655,0.439691879582,0.00460707934494,0.0697982219034,0.999999943059,0.000164001085193,-0.000294265105434,1.98559727923e-05,1793249867854308352
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.009960802,746,718,684,663,639,889.990039198,785,817,652,630,655,0.438892709971,0.0046014212883,0.0697916727299,0.99999990515,0.00030329197878,-0.000311855679402,2.14314483262e-05,1793249867870975232
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.588874615,746,718,684,663,639,889.411125385,785,817,652,630,655,0.438009588207,0.00459715890023,0.0697410889554,0.999999888187,0.000271146599673,-0.00038689098079,2.05262492528e-05,1793249867887641856
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.834104881,746,718,684,663,639.165895119,888.834104881,785.165895119,817,652,630,655,0.437147371856,0.00459286982812,0.0697105522863,0.999999877946,0.000240248247295,-0.000431258709956,2.01052043186e-05,1793249867904308736
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767.26172351,746,718,684,663,639.73827649,888.26172351,785.73827649,817,652,630,655,0.436336379262,0.00458851537342,0.0697291362499,0.999999897031,0.000212405440631,-0.000400482900028,2.08704634453e-05,1793249867920975360
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639.681139905,888,786,816.681139905,652,629.681139905,654.681139905,0.435530294222,0.00458266428824,0.0697634275456,0.999999919992,0.000184393684942,-0.000354239500785,2.30287328229e-05,1793249867937642240
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639.0936461,888,786,816.0936461,652,629.0936461,654.0936461,0.434728343747,0.00457555231988,0.069810951976,0.999999943945,0.00015623959383,-0.000294964945414,2.63605873882e-05,1793249867954308864
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639,887.023944245,786,816,652,629.488027877,654.488027877,0.433862801603,0.00457087263943,0.0698290908718,0.999999953235,0.000135282779345,-0.000272841492823,2.80528901993e-05,1793249867970975488
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639,885.931662358,785.931662358,816,652,629.931662358,654.931662358,0.432980874913,0.00456667785481,0.0698402596257,0.999999959303,0.00011775630373,-0.000258215035451,2.91936871493e-05,1793249867987641856
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639,885.35329803,785.35329803,816,652,629.35329803,654.35329803,0.432066662701,0.00456265974534,0.0698409954054,0.99999996241,0.000115645743917,-0.000246963507505,2.85387670015e-05,1793249868004308480
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745.775185194,718,683.775185194,663,639,885,785.224814806,816,652,629.224814806,654,0.43111849646,0.00455843613524,0.0698145291224,0.999999951619,0.000118438335672,-0.000286225540904,2.84433987054e-05,1793249868020975360
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,745.19746705,718,683.19746705,663,639,885,785.80253295,816,652,629.80253295,654,0.430117030695,0.00455388993966,0.0697453623654,0.999999909338,0.000128927654655,-0.000404781300005,2.92263872961e-05,1793249868037641984
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767.384972939,745.384972939,718,683.384972939,663,639,885,785.615027061,816,652,630,654,0.429203110053,0.00454708219314,0.0697201444308,0.999999895645,0.000118075729329,-0.000440378449136,2.89040416307e-05,1793249868054308608
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767.96986498,745.96986498,718,683.96986498,663,639,885,785.03013502,816,652,630,654,0.428334652257,0.00453910000789,0.0697177494269,0.999999901287,9.61411486144e-05,-0.000432894614858,2.80076883485e-05,1793249868070975232
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767.448814212,746,718,682.897628424,663.551185788,639,885,785.551185788,816,651.448814212,630,654.551185788,0.427472614693,0.00453177945331,0.0697886292254,0.999999941461,9.61113594079e-05,-0.000327015378489,3.00365589728e-05,1793249868087642880
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767.132109484,745.867890516,718,682,663.867890516,639,884.867890516,786,815.867890516,651,630,654.867890516,0.426602666903,0.00452473179755,0.0698476978112,0.999999965969,9.41110038653e-05,-0.000241212415045,3.1965732489e-05,1793249868104310528
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767.712344158,745.287655842,718,682,663.287655842,639,884.287655842,786,815.287655842,651,630,654.287655842,0.425704704083,0.00451848792236,0.0698532001744,0.999999966948,8.13901397801e-05,-0.000241640139658,3.30177215403e-05,1793249868120976384
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767.71137563,745,718,682,662.71137563,639,884,785.71137563,815.28862437,651,630,654,0.424779803833,0.00451123288853,0.0698423263567,0.999999963458,7.09148329978e-05,-0.000258794272195,3.28822188125e-05,1793249868137642752
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767.138983374,745,718,682,662.138983374,639,884,785.138983374,815.861016626,651,630,654,0.423828419463,0.00450298371052,0.0698153519086,0.999999954792,6.26472997551e-05,-0.000292393368605,3.15792053294e-05,1793249868154309376
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,681.556481121,662.443518879,639,883.556481121,785,815.556481121,651,630,654,0.422857118349,0.00449816158745,0.0697569730632,0.999999918116,5.88545296799e-05,-0.000399070016872,3.23670715483e-05,1793249868170975744
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745.029090208,718,681,663,639,883,785,815,651,629.970909792,654,0.421884232207,0.00449410800778,0.0696917448927,0.999999861405,5.59894508843e-05,-0.000522416067437,3.37237383114e-05,1793249868187642624
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745.611371841,718,681,663,639,883,785,815,651,629.388628159,654,0.421002660066,0.00448377089149,0.0696877739929,0.999999864798,4.34782548351e-05,-0.000517120966419,3.31465904853e-05,1793249868204309248
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,746,718,681,663,639,883,785,815,651.190802649,629.190802649,654,0.42015098836,0.00447460493904,0.0697143671743,0.999999890605,3.08075323639e-05,-0.000465591353302,3.26328270993e-05,1793249868220976384
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,746,718,681,663,639,883,785,815,651.76451246,629.76451246,654,0.419359321376,0.00446778930335,0.0698022970588,0.999999947712,1.78166658369e-05,-0.000321277245943,3.22462645182e-05,1793249868237643264
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,746,718,680.660737392,663.339262608,639,883,785.339262608,815,651.660737392,630,654,0.418554004697,0.00445910236683,0.0698536100409,0.999999969963,1.48668073192e-06,-0.000242749045655,3.38200762069e-05,1793249868254309632
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,746,718,680.085262942,663.914737058,639,883,785.914737058,815,651.085262942,630,654,0.417739184454,0.00444911253614,0.0698794284724,0.999999977122,-1.71681672386e-05,-0.00021002434301,3.67588002472e-05,1793249868270976000
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.504094501,746,718,680.504094501,662.991810998,639,883,785.495905499,815,651,630,654,0.416906357298,0.004441427786,0.0698495417436,0.999999968518,-1.25797925595e-07,-0.000248320220312,3.60637411211e-05,1793249868287642624
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767.906580123,745.906580123,718,680.906580123,662,639,882.906580123,785,815,651,630,654,0.416070224776,0.00443488992904,0.0698124246688,0.999999955257,1.52737072503e-05,-0.000296724875118,3.47352491836e-05,1793249868304309248
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.329911462,745.329911462,718,680.329911462,662,639,882.329911462,785,815,651,630,654,0.415233195244,0.00443221086883,0.0697880251152,0.999999943774,-9.94267691179e-06,-0.000333522142805,3.3399487036e-05,1793249868320976128
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.246299313,745.246299313,718,680,662,639,882,785,815,651,630,654,0.414398626112,0.00443602115579,0.0697630550367,0.999999927578,-2.07406979289e-05,-0.000378551268891,3.33618154794e-05,1793249868337642752
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.821897854,745.821897854,718,680,662,639,882,785,815,651,630,654,0.413567346576,0.0044485076223,0.069737322175,0.999999904878,-1.22615382708e-05,-0.000434586287876,3.50596755784e-05,1793249868354309632
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767.594424504,745.594424504,718,680,662,639,882,785,815,651,630,654,0.412870164583,0.00447219132203,0.0697600706831,0.999999923021,2.80984056834e-05,-0.000389942587058,3.33635956324e-05,1793249868370976512
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767.007126892,745.007126892,718,680,662,639,882,785,815,651,630,654,0.41223306625,0.00450089205407,0.0698045417468,0.999999951066,8.27428512102e-05,-0.000300188790516,3.01468271103e-05,1793249868387643648
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767.573101767,745.573101767,718,680,663.146203533,639,882,785,815,651,630,654.573101767,0.411593582293,0.00448836312387,0.0698500989133,0.999999972224,4.87829144403e-05,-0.000228396185176,3.17499438861e-05,1793249868404310272
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767.847727502,745.847727502,718,680,663.695455003,639,881.847727502,785,814.847727502,651,630,655,0.410940353836,0.00447714898772,0.0698777785646,0.999999981711,2.28546554321e-05,-0.000186994781872,3.29950737343e-05,1793249868420976640
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767.271261854,745.271261854,718,680,662.542523708,639,881.271261854,785,814.271261854,651,630,655,0.410248918128,0.00447100843665,0.0698556187668,0.999999972836,2.23327248759e-05,-0.000229641022725,3.30780032816e-05,1793249868437642752
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.302722909,718,680,662,639,881,785,814.302722909,651.302722909,630,655,0.409567075134,0.00447045566851,0.0698206813094,0.999999956923,2.54877690125e-05,-0.000290620353947,3.23249289346e-05,1793249868454309120
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.874502655,718,680,662,639,881,785,814.874502655,651.874502655,630,655,0.408893758082,0.00447486926155,0.0697743872083,0.999999931343,3.19108683011e-05,-0.000367893933409,3.08288232825e-05,1793249868470975488
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,746,718,680,662,639,881,785,815,651.536761088,630,654.536761088,0.408307771475,0.00447617908892,0.0697631099845,0.999999926733,2.31688629105e-05,-0.000380967230898,2.93320778157e-05,1793249868487642112
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,746,718,680,662,639,881,784.944869367,814.944869367,651,630,654,0.407751162559,0.00447684382705,0.0697640707228,0.999999929841,1.40687033592e-05,-0.000373274288293,2.80481036101e-05,1793249868504308480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,662,639,881,784.368233886,814.368233886,651,630,654,0.407240146513,0.00447966256166,0.0697876489947,0.999999940934,4.19205742669e-05,-0.000339920462379,2.87785276475e-05,1793249868520975360
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745.793894748,718,680,661.793894748,639,881,784.206105252,814,651,630,654,0.406734183901,0.00448190368563,0.0698024305566,0.99999994632,5.60455450934e-05,-0.000321486507158,2.94104660021e-05,1793249868537642240
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745.223613181,718,680,661.223613181,639,881,784.776386819,814,651,630,654,0.406237150474,0.00448312420397,0.0698016688272,0.999999944243,4.59158575092e-05,-0.000329415123485,2.98683857266e-05,1793249868554309120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.639843153,661,639,881,784.639843153,814,651,630,654,0.405766139381,0.00448565789442,0.0697987153464,0.999999941541,3.76874692306e-05,-0.000338552136112,2.96497018091e-05,1793249868570975744
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.047372539,661,639,881,784.047372539,814,651,630,654,0.405311913553,0.00448903862694,0.0697943481092,0.999999938394,3.06854845169e-05,-0.000348468607395,2.89945849162e-05,1793249868587642368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745.533608031,718,679,661.533608031,639,880.466391969,784.533608031,814,651,630.533608031,654,0.404931229824,0.00449091203266,0.0698094264636,0.999999948393,3.3035167239e-05,-0.000318224614541,2.92491080193e-05,1793249868604308992
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,679,661.887211908,639,880.112788092,785,814,651,630.887211908,654,0.404563001071,0.00449185131596,0.0698253054424,0.999999957747,3.45212192804e-05,-0.0002871480064,2.93278886493e-05,1793249868620975616
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,746,718,679,661.311324423,639,880.688675577,785,814,651,630.311324423,654,0.404219669266,0.00448949302508,0.0698375329337,0.999999963534,2.91243020592e-05,-0.000266983245487,2.83604961077e-05,1793249868637642240
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.736395532,718,679,661.263604468,639,881,785,813.736395532,651,630,654,0.403884090104,0.00448552316274,0.0698407410124,0.999999965508,1.96547366611e-05,-0.000260475670768,2.73939819282e-05,1793249868654308864
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.1625947,718,679,661.8374053,639,881,785,813.1625947,651,630,654,0.403557633878,0.00447965688501,0.0698333355032,0.999999963176,5.39268586083e-06,-0.000270039181065,2.6428501424e-05,1793249868670975744
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.575749897,639,881,785,813,651,630,654,0.403251426207,0.00447707238712,0.069824789378,0.999999959048,-3.21925034603e-06,-0.000284968034613,2.61917034314e-05,1793249868687642368
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880.984032924,784.984032924,813,651,630,654,0.402954308581,0.00447584460683,0.0698157862812,0.999999954004,-9.43995649859e-06,-0.000302016345788,2.62538112305e-05,1793249868704308736
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880.402430683,784.402430683,813,651,630,654,0.402695576603,0.00447670944128,0.0698065719857,0.999999948715,-1.00945853792e-05,-0.000318992099594,2.66977309064e-05,1793249868720975360
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880,784.17652194,813,651,630,654,0.402453544694,0.0044771904868,0.0697992569971,0.999999944541,-9.73352279795e-06,-0.000331761015928,2.75478222604e-05,1793249868737641984
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,679,661,639,880,784.749523277,813,651,630,654,0.402249022229,0.0044768095181,0.0697962079726,0.999999943406,-7.09115312572e-06,-0.000335081108171,2.93102007454e-05,1793249868754308864
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.321718454,718,679,661,639,880.321718454,784.678281546,813.321718454,651,630,654,0.402063325811,0.00447875005224,0.0697958578691,0.999999943343,-1.00096097357e-06,-0.000335182980209,3.10859541085e-05,1793249868770975488
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745.893287616,718,679,661,639,880.893287616,784.106712384,813.893287616,651,630,654,0.401892249923,0.00448249349544,0.0697976037822,0.999999944056,7.76685495711e-06,-0.000332785541181,3.28720947611e-05,1793249868787642368
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,679,661,639,880.513803422,784.486196578,814,651,630,654,0.401742808107,0.00449655460664,0.0697975061941,0.999999941966,6.54356172162e-05,-0.000332640406059,3.37083603295e-05,1793249868804308992
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745.918830826,718,679.081169174,661,638.918830826,880.081169174,784.918830826,814,651,630,654,0.401603146852,0.004512470376,0.0697971042188,0.999999935655,0.000130284844332,-0.000332480965872,3.42267842656e-05,1793249868820975616
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.341198719,718,679.658801281,661,638.341198719,880.658801281,784.341198719,814,651,630,654,0.401492931402,0.00452524316431,0.0697974289107,0.999999930757,0.00017039191791,-0.000329071626898,3.4134862559e-05,1793249868837642240
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.193206976,661.806793024,638.806793024,881,784.806793024,814,651,630,654,0.401301968257,0.00452011061243,0.0697954181729,0.999999934547,0.000143005473747,-0.000331317411353,2.61599052263e-05,1793249868870975488
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,746,718,680,661.00578353,639,880.00578353,784,814,651,630,654,0.400970882487,0.00451491113737,0.0698243587401,0.999999957522,7.38585988761e-05,-0.000281583247723,1.45201439612e-05,1793249869220975360
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.419589992,718,679.419589992,661.580410008,639,880,784,814,651.580410008,630,654,0.400971269886,0.00451603744299,0.0698249404752,0.999999957767,7.39990735072e-05,-0.000280681801922,1.43972435866e-05,1793249869237642240
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767.163676398,745,718,679,661.836323602,639,880,784.163676398,813.836323602,651.836323602,630,654,0.400971618094,0.00451664331031,0.0698254276454,0.999999958034,7.37415598899e-05,-0.000279801024149,1.43041152046e-05,1793249869254309120
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767.739447684,745,718,679,661.260552316,639,880,784.739447684,813.260552316,651.260552316,630,654,0.400971835598,0.00451593576742,0.0698256565566,0.999999958347,7.24854332765e-05,-0.000279011925479,1.42829103128e-05,1793249869270976000
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767.687261111,745,718,679,661,639,880.312738889,784.687261111,813.312738889,651,630,654.312738889,0.400972063417,0.00451463261003,0.0698263011201,0.999999958628,7.15534241432e-05,-0.000278232637583,1.45429814536e-05,1793249869287642624
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767.116019909,745,718,679,661,639,880.883980091,784.116019909,813.883980091,651,630,654.883980091,0.400972299763,0.00451283713231,0.0698272892515,0.999999958882,7.08893226515e-05,-0.000277461459075,1.50355484822e-05,1793249869304308992
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,679,661.473144884,639,881,784,813.526855116,651,630,654.526855116,0.400971021902,0.00451490659302,0.0698261697794,0.999999958185,7.37455009668e-05,-0.000279244391597,1.4626710402e-05,1793249869320975616
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745.06520225,718,679,661.93479775,639,881,784,813.06520225,651,630,654,0.400969591917,0.00451756231366,0.0698247901307,0.999999957377,7.69624762799e-05,-0.000281289606591,1.4095450263e-05,1793249869337642240
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745.644059724,718,679,661.355940276,639,881,784,813.644059724,651,630,654,0.400970003732,0.00451707651649,0.0698255924769,0.999999957735,7.59537678451e-05,-0.000280272920992,1.44096001931e-05,1793249869354308864
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,746,718,679.220655829,661,639.220655829,880.779344171,784,814,651,630,654.220655829,0.400970189509,0.00451657766661,0.0698261403028,0.999999957956,7.49129364533e-05,-0.000279757491424,1.45639420497e-05,1793249869370975488
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,746,718,679.79364121,661,639.79364121,880.20635879,784,814,651,630,654.79364121,0.400970014365,0.00451605797491,0.0698262817264,0.999999957959,7.38208129578e-05,-0.000280042436257,1.44631123288e-05,1793249869387642112
+403,6.716666667,POSE2_TO_POSE3_RETREAT,767,745.639984518,718,679.639984518,661,639.639984518,880,784.360015482,814.360015482,651,630,655,0.400969914839,0.00451549664938,0.0698265612592,0.999999958052,7.33965705545e-05,-0.000279814507111,1.45559075415e-05,1793249869404308992
+404,6.733333333,POSE2_TO_POSE3_RETREAT,767,745.077331397,718,679.077331397,661,639.077331397,880,784.922668603,814.922668603,651,630,655,0.400969857875,0.00451491188994,0.0698269185279,0.999999958197,7.33482505161e-05,-0.000279297902661,1.47576861273e-05,1793249869420975872
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..50ed3e23c7a77266fe0457f1e176d54da23ae398
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
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+172,2.866666667,pose1_to_pose2_press,0.601516781587,0.0101500629818,1.06003343724,0.572087460106,0.0188226969839,1.05970483016
+173,2.883333333,pose1_to_pose2_press,0.602334226127,0.0101501063389,1.06003365299,0.572904904348,0.018822739168,1.05970504172
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+177,2.950000000,pose1_to_pose2_press,0.605517465912,0.0101501161719,1.06003351658,0.576088144396,0.01882275004,1.05970490946
+178,2.966666667,pose1_to_pose2_press,0.606331611298,0.0101502914974,1.06003324538,0.576902286208,0.0188229136487,1.05970464924
+179,2.983333333,pose1_to_pose2_press,0.607153871677,0.0101501692699,1.06003378345,0.577724549038,0.0188227994992,1.05970518116
+180,3.000000000,pose1_to_pose2_press,0.607946384563,0.0101501442188,1.06003389359,0.578517063943,0.0188227808938,1.0597052807
+181,3.016666667,pose1_to_pose2_press,0.608706081851,0.0101500056135,1.06003352094,0.57927676228,0.0188226464134,1.05970492303
+182,3.033333333,pose1_to_pose2_press,0.609425775094,0.0101500837497,1.0600335974,0.579996455998,0.0188227258944,1.05970499263
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+187,3.116666667,pose1_to_pose2_press,0.612814208496,0.010150239987,1.06003362426,0.583384886078,0.0188228707628,1.05970501863
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+190,3.166666667,pose1_to_pose2_press,0.61467980418,0.0101500510159,1.06003349272,0.585250484325,0.0188226906507,1.05970488889
+191,3.183333333,pose1_to_pose2_press,0.615231312237,0.0101501746108,1.06003352408,0.585801990089,0.0188228065387,1.05970491994
+192,3.200000000,pose1_to_pose2_press,0.615764045033,0.0101501854703,1.06003360181,0.586334723559,0.0188228197119,1.05970499686
+193,3.216666667,pose1_to_pose2_press,0.616278983078,0.0101501611526,1.06003346195,0.58684966172,0.0188227961075,1.059704862
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+196,3.266666667,pose1_to_pose2_press,0.617703833208,0.0101502133054,1.06003365386,0.588274509412,0.0188228396488,1.05970503587
+197,3.283333333,pose1_to_pose2_press,0.618142601068,0.0101502903255,1.06003351691,0.588713277697,0.0188229188461,1.05970491374
+198,3.300000000,pose1_to_pose2_press,0.618566551919,0.0101502089687,1.06003358666,0.58913722941,0.0188228403944,1.05970498064
+199,3.316666667,pose1_to_pose2_press,0.618976463464,0.0101502848176,1.06003360768,0.589547138856,0.0188229093421,1.05970500484
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+262,4.366666667,pose2_to_pose3_retreat,0.623052153256,0.0101500633748,1.06003367087,0.593622832524,0.0188227025476,1.05970506174
+263,4.383333333,pose2_to_pose3_retreat,0.623052116961,0.010149967049,1.0600335705,0.593622796792,0.0188226081779,1.05970496258
+264,4.400000000,pose2_to_pose3_retreat,0.62305203234,0.0101499315883,1.0600335085,0.593622712224,0.0188225729315,1.05970490145
+265,4.416666667,pose2_to_pose3_retreat,0.623051983619,0.010149950106,1.0600335082,0.593622663275,0.0188225906778,1.05970490126
+266,4.433333333,pose2_to_pose3_retreat,0.62305180219,0.0101500190625,1.06003350711,0.593622480994,0.0188226567621,1.05970490057
+267,4.450000000,pose2_to_pose3_retreat,0.623051746754,0.0101500401327,1.06003350678,0.593622425297,0.0188226769546,1.05970490036
+268,4.466666667,pose2_to_pose3_retreat,0.623051412637,0.0101500651684,1.06003370443,0.593622090889,0.0188227007518,1.05970509161
+269,4.483333333,pose2_to_pose3_retreat,0.623049923518,0.010150135796,1.06003397025,0.593620601352,0.0188227695666,1.05970534741
+270,4.500000000,pose2_to_pose3_retreat,0.623044096281,0.010150118801,1.06003339758,0.59361477357,0.0188227515493,1.05970479668
+271,4.516666667,pose2_to_pose3_retreat,0.623031922966,0.0101500196446,1.0600333768,0.593602601469,0.0188226563935,1.05970477243
+272,4.533333333,pose2_to_pose3_retreat,0.62301029538,0.0101501986352,1.06003360694,0.593580971502,0.0188228270687,1.05970499643
+273,4.550000000,pose2_to_pose3_retreat,0.622978529172,0.0101501264528,1.06003354595,0.593549206084,0.0188227576496,1.05970493868
+274,4.566666667,pose2_to_pose3_retreat,0.622935180285,0.0101502715428,1.0600336581,0.593505856442,0.018822900009,1.0597050459
+275,4.583333333,pose2_to_pose3_retreat,0.62288176822,0.0101502252828,1.06003349895,0.593452445395,0.0188228574159,1.05970489401
+276,4.600000000,pose2_to_pose3_retreat,0.622818551123,0.0101503248105,1.06003348724,0.593389226674,0.0188229514616,1.05970488591
+277,4.616666667,pose2_to_pose3_retreat,0.622746459673,0.010150264759,1.06003359656,0.593317136462,0.0188228952697,1.0597049898
+278,4.633333333,pose2_to_pose3_retreat,0.622665069744,0.0101501807935,1.06003353712,0.593235746659,0.0188228116944,1.05970493261
+279,4.650000000,pose2_to_pose3_retreat,0.622573805842,0.0101501646921,1.06003363501,0.593144483547,0.0188227983815,1.05970503091
+280,4.666666667,pose2_to_pose3_retreat,0.622472176036,0.010150249211,1.0600335636,0.59304285228,0.0188228780276,1.05970496004
+281,4.683333333,pose2_to_pose3_retreat,0.622357496896,0.0101502660231,1.06003337701,0.592928171921,0.0188228906317,1.05970477291
+282,4.700000000,pose2_to_pose3_retreat,0.622228950341,0.0101501090711,1.06003339728,0.592799628189,0.0188227430133,1.05970478831
+283,4.716666667,pose2_to_pose3_retreat,0.62208531515,0.0101500503449,1.06003344556,0.592655994342,0.0188226887519,1.05970483588
+284,4.733333333,pose2_to_pose3_retreat,0.621923745606,0.0101501347852,1.06003375373,0.592494422579,0.0188227656588,1.05970514652
+285,4.750000000,pose2_to_pose3_retreat,0.621743529426,0.0101501548268,1.06003365177,0.592314207617,0.0188227897086,1.05970504298
+286,4.766666667,pose2_to_pose3_retreat,0.621543520235,0.0101501228716,1.0600336282,0.592114198281,0.0188227571864,1.05970501998
+287,4.783333333,pose2_to_pose3_retreat,0.621325059463,0.0101501286723,1.06003361977,0.591895737035,0.018822761377,1.05970501434
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c64099f4481830d1e7d29e3374685c851974e6e1
--- /dev/null
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_01/franka_data.csv
new file mode 100644
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--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_01/franka_data.csv
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+59,0.983333333,BASELINE,767,745,718,678.226362493,662.773637507,639,880.773637507,785,813.226362493,651,630,654.773637507,0.401027556346,0.0045008089832,0.079859416768,0.999999977658,0.000136198908393,-0.000154142631274,4.87238378001e-05,1793249871669293568
+60,1.000000000,BASELINE,767,745,718,678.802455706,662.197544294,639,880.197544294,785,813.802455706,651,630,654.197544294,0.401027989652,0.00450121746033,0.0798601105987,0.999999977507,0.000138241803947,-0.000153276193803,4.87915820763e-05,1793249871685959936
+61,1.016666667,BASELINE,767,745,718,679,662,639,880.386122799,785,813.613877201,651,630,654,0.401028140439,0.00450123594322,0.0798603439412,0.999999977553,0.000138351017465,-0.000152888752084,4.87732649463e-05,1793249871702626560
+62,1.033333333,BASELINE,767,745,718,679,662,639,880.973742259,785,813.026257741,651,630,654,0.401028143794,0.00450105090913,0.0798603369797,0.999999977701,0.000137451146519,-0.000152751272461,4.87100370069e-05,1793249871719293184
+63,1.050000000,BASELINE,767,745,718,679,662,639,881,784.446645886,813.553354114,651,630,654,0.40102586291,0.00449972160077,0.0798580723354,0.999999977653,0.000134085533331,-0.00015606170746,4.85841395637e-05,1793249871735959808
+64,1.066666667,BASELINE,767,745,718,679,662,639,880.867470382,784,814,651.132529618,630,654,0.401024044149,0.00449870246115,0.0798564541924,0.999999977598,0.000131555044092,-0.00015855378611,4.8554133646e-05,1793249871752626176
+65,1.083333333,BASELINE,767,745,718,679,662,639,880.28850307,784,814,651.71149693,630,654,0.401024142004,0.00449890845105,0.0798573695805,0.999999977623,0.000132226260755,-0.000157745885052,4.88570213727e-05,1793249871769293568
+66,1.100000000,BASELINE,767,745,718.288021948,679,662,639,880,784,814,651.711978052,630,654,0.40102477314,0.00449910273105,0.0798581291764,0.999999977609,0.00013334828254,-0.000156878661666,4.88821480044e-05,1793249871785960704
+67,1.116666667,BASELINE,767,745,718.862121129,679,662,639,880,784,814,651.137878871,630,654,0.401025933956,0.0044992853802,0.079858734032,0.999999977555,0.000134918065585,-0.000155952516544,4.86313889568e-05,1793249871802627584
+68,1.133333333,BASELINE,767,745,718.554092967,679.445907033,662,638.554092967,880.445907033,784,813.554092967,651,630,654,0.401026138331,0.00450006576142,0.0798586470657,0.99999997738,0.000135802009283,-0.000156339432047,4.85284386997e-05,1793249871819294208
+69,1.150000000,BASELINE,767,745,718,679.96745942,662,638.03254058,881,784.03254058,813.03254058,651,630,654,0.401026107653,0.00450101040486,0.0798584208249,0.999999977199,0.000136422836094,-0.000156977592091,4.84716940457e-05,1793249871835960576
+70,1.166666667,BASELINE,767,745,718,679.384448489,662,638.615551511,881,784.615551511,813.615551511,651,630,654,0.401027214712,0.00450153777492,0.0798595376443,0.999999977557,0.00013625976541,-0.000154845132671,4.84062672408e-05,1793249871852626944
+71,1.183333333,BASELINE,767,745,718.195611487,679,662,639,880.804388513,784.804388513,814,651.195611487,630.195611487,654,0.401027502938,0.00450160936609,0.0798599808739,0.999999977792,0.000135684226106,-0.000153853933446,4.83158207239e-05,1793249871869293056
+72,1.200000000,BASELINE,767,745,718.769958046,679,662,639,880.230041954,784.230041954,814,651.769958046,630.769958046,654,0.401026205771,0.00450079849662,0.0798591199262,0.999999977796,0.000134310081661,-0.000155072395811,4.81769320384e-05,1793249871885959936
+73,1.216666667,BASELINE,767.344875592,745,718.655124408,679,662,639,880.344875592,784,814,651.655124408,630.655124408,654,0.401025804247,0.00449983847925,0.0798583809571,0.999999977844,0.000133598857198,-0.000155360077466,4.82248773556e-05,1793249871902626816
+74,1.233333333,BASELINE,767.920174601,745,718.079825399,679,662,639,880.920174601,784,814,651.079825399,630.079825399,654,0.401026001133,0.00449877881101,0.0798577234861,0.999999977924,0.000133330552788,-0.000155025871979,4.83976529976e-05,1793249871919293696
+75,1.250000000,BASELINE,767.491051566,745,718,679,662,639,880.491051566,784,814,651,630,654,0.401026166778,0.00449844325221,0.0798583685412,0.999999977815,0.000134106322749,-0.000155013677216,4.85322551049e-05,1793249871935960064
+76,1.266666667,BASELINE,767,745,718,679,662,639,880.097862699,784.097862699,814,651,630,654.097862699,0.401026338561,0.00449819218454,0.0798591320795,0.999999977753,0.000134511814314,-0.000155022932347,4.86697581362e-05,1793249871952626944
+77,1.283333333,BASELINE,767,745,718,679,662,639,880.676795561,784.676795561,814,651,630,654.676795561,0.401026565254,0.00449778297849,0.0798594464847,0.999999978065,0.000132270222365,-0.000154882605501,4.88517539368e-05,1793249871969293568
+78,1.300000000,BASELINE,767,745,718,679,661.745959201,639,881,785,814,651,630,654.745959201,0.40102745479,0.00449804363358,0.0798601494455,0.999999978283,0.00013182371744,-0.000153845990317,4.88683704862e-05,1793249871985959936
+79,1.316666667,BASELINE,767,745,718,679,661.170846922,639,881,785,814,651,630,654.170846922,0.401029182065,0.00449915089804,0.0798613434852,0.999999978382,0.000133645947663,-0.000151676594015,4.86759711432e-05,1793249872002626560
+80,1.333333333,BASELINE,767,745,718,679,661.40375163,639,881,785,814,651,630,654,0.401027831893,0.00449921760959,0.0798602867486,0.999999978155,0.000133715422517,-0.000153085234312,4.87253084438e-05,1793249872019292928
+81,1.350000000,BASELINE,767,745,718,679,661.978133125,639,881,785,814,651,630,654,0.401025181158,0.00449884457217,0.0798582788095,0.999999977786,0.000133044163895,-0.00015600599191,4.8876806283e-05,1793249872035959552
+82,1.366666667,BASELINE,767,745,718.526488678,679,662,639,881,784.473511322,814,651,630,654,0.401026713981,0.00450020443515,0.0798588041365,0.999999977592,0.000135745937688,-0.000154984919015,4.86750810191e-05,1793249872052626176
+83,1.383333333,BASELINE,767,745.084416914,718.915583086,679,662,639,881.084416914,784,814,651,630.084416914,654,0.401028075555,0.00450126395218,0.0798593401608,0.999999977458,0.000137775009336,-0.000154103711707,4.85125963076e-05,1793249872069293056
+84,1.400000000,BASELINE,767,745.710360858,718.289639142,679,662,639,881.710360858,784,814,651,630.710360858,654,0.401027276446,0.00449995682325,0.079859301655,0.99999997772,0.000134632401964,-0.000155120492999,4.8691513513e-05,1793249872085959424
+85,1.416666667,BASELINE,767,746,718,679,662,639,881.690208431,784,814,651,630.690208431,654,0.401026622978,0.00449923247368,0.0798592716424,0.999999977961,0.000132615214945,-0.000155324382918,4.86457982003e-05,1793249872102626304
+86,1.433333333,BASELINE,767,746,718,679,662,639,881.11361201,784,814,651,630.11361201,654,0.40102609494,0.00449901003702,0.0798592489445,0.999999978188,0.000131567284996,-0.000154828178313,4.84066203964e-05,1793249872119293696
+87,1.450000000,BASELINE,767,745.538705182,718,679,662,639,881,784.461294818,814,651.461294818,630,654.461294818,0.401025636651,0.00449974578419,0.0798588421789,0.999999977797,0.00013367823626,-0.000155493077443,4.85512018538e-05,1793249872135960064
+88,1.466666667,BASELINE,767,745.036809597,718,679,662,639,880.963190403,784.963190403,814,651.963190403,630,654.963190403,0.401025390977,0.004500633818,0.0798584772691,0.999999977311,0.000136349660437,-0.000156231347671,4.87740569723e-05,1793249872152626432
+89,1.483333333,BASELINE,767,745.627717181,718,679,662,639,880.372282819,784.372282819,814,651.372282819,630,654.372282819,0.401028088177,0.0045002748148,0.0798601611198,0.999999977767,0.00013578938709,-0.000153785095654,4.87576095739e-05,1793249872169293056
+90,1.500000000,BASELINE,767,746,718,679,662,639,880,784.214224506,814,651,630,654,0.40102911662,0.00450006782065,0.0798607638017,0.999999977982,0.000135327300508,-0.000152801436084,4.8722384443e-05,1793249872185959680
+91,1.516666667,BASELINE,767,746,718,679,662,639,880,784.793238838,814,651,630,654,0.401027303438,0.00450011967345,0.0798595254274,0.999999977794,0.000135032410229,-0.00015430833611,4.86551838599e-05,1793249872202626816
+92,1.533333333,BASELINE,767,745.631860625,718,679,662,639,880.368139375,784.631860625,814,651,630,654,0.401027777805,0.00449988420557,0.0798596270539,0.999999977919,0.000134600127011,-0.000153850134526,4.87391308644e-05,1793249872219293952
+93,1.550000000,BASELINE,767,745.059244968,718,679,662,639,880.940755032,784.059244968,814,651,630,654,0.401029522751,0.00449948915067,0.0798604729592,0.999999978216,0.000134091531369,-0.000152300453333,4.89070300257e-05,1793249872235961088
+94,1.566666667,BASELINE,767,745,718,679,662,639,881,784,814,651,630,654,0.401027389915,0.00449933824133,0.0798594157468,0.99999997793,0.000133920745628,-0.000154352501883,4.8788087118e-05,1793249872252627200
+95,1.583333333,BASELINE,767,745,718,679.120766257,662,639,881,784,814,651,630,654,0.401025714347,0.00449932460417,0.0798586888992,0.999999977703,0.000133944406979,-0.000155845711626,4.86363494299e-05,1793249872269293568
+96,1.600000000,BASELINE,767,745,718,679.699649426,662,639,881,784,814,651,630,654,0.401027470982,0.00449972481693,0.0798600484009,0.999999977969,0.000134557802637,-0.00015364226498,4.84857797169e-05,1793249872285959680
+97,1.616666667,BASELINE,767,745,718,679.723296607,661.723296607,639,880.723296607,784.276703393,814,651,630.276703393,654,0.401027634641,0.004499855891,0.0798600263025,0.99999997797,0.00013450971077,-0.000153687198066,4.84409027114e-05,1793249872302626048
+98,1.633333333,BASELINE,767,745,718,679.14821516,661.14821516,639,880.14821516,784.85178484,814,651,630.85178484,654,0.401026080541,0.00449969674424,0.0798585143805,0.999999977687,0.000133748315868,-0.000156156630521,4.85099975169e-05,1793249872319292672
+99,1.650000000,BASELINE,767,745,718,679,661.425721262,639,880.425721262,784.574278738,814,651,630.574278738,654.425721262,0.401026996884,0.00449948237451,0.0798594455396,0.999999978036,0.000132822559424,-0.000154700546173,4.85154485533e-05,1793249872335959808
+100,1.666666667,BASELINE,767,745,718,679,661.999260101,639,880.999260101,784.000739899,814,651,630.000739899,654.999260101,0.401028771005,0.00449924883044,0.0798612249776,0.999999978599,0.000131839733905,-0.000151881456365,4.84988014019e-05,1793249872352627456
+101,1.683333333,BASELINE,767,745,718,679,661.409366052,639,880.409366052,784,814,651,630,654.409366052,0.401027447211,0.00449982101308,0.0798601033668,0.999999978034,0.000133896655663,-0.000153760431708,4.85893397048e-05,1793249872369293824
+102,1.700000000,BASELINE,767,745,718,679,661.177851675,639,880,784,814,651,630,654.177851675,0.401026673205,0.00450019012015,0.0798594737725,0.999999977643,0.000135513800911,-0.000154854814458,4.86833755393e-05,1793249872385960192
+103,1.716666667,BASELINE,767,745,718,679,661.755670885,639,880,784,814,651,630,654.755670885,0.401027144608,0.00450010019345,0.0798599590931,0.99999997766,0.000136133109854,-0.000154171092723,4.87849655329e-05,1793249872402626560
+104,1.733333333,BASELINE,767,745,718.332061054,679.332061054,662,639,880.332061054,784.332061054,814,651.332061054,630,655,0.40102648222,0.00450009874415,0.0798591479258,0.999999977442,0.000136762615279,-0.000155028498848,4.87650709507e-05,1793249872419293184
+105,1.750000000,BASELINE,767,745,718.907404305,679.907404305,662,639,880.907404305,784.907404305,814,651.907404305,630,655,0.401024989168,0.00450016211717,0.0798573868958,0.99999997705,0.000137399591149,-0.000157015001397,4.86561715582e-05,1793249872435959552
+106,1.766666667,BASELINE,767,745,719,679.506650394,662,639,881,784.506650394,814,651.506650394,630,654.506650394,0.401026693913,0.0044993223428,0.0798592087709,0.999999977715,0.000135240004601,-0.000154715363948,4.84062934589e-05,1793249872452625920
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662,639,881,784,814,651,630,654,0.401027804086,0.00449804965812,0.0798600322447,0.999999978154,0.000132856513223,-0.00015381159846,4.88106517193e-05,1793249872495618304
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.427427719,718,679,662,639,881,784,814,651,630,654,0.401027364437,0.00450009850143,0.0798599335146,0.999999977782,0.000135663839206,-0.000153876925604,4.851558083e-05,1793249872512285440
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.145975249,718,679.145975249,662,639,881,784,814,651,630,654,0.401027180632,0.00450125358147,0.0798598494633,0.999999977501,0.000137556734352,-0.000154073983783,4.83416245276e-05,1793249872528952320
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.721824591,718,679.721824591,662,639,881,784,814,651,630,654,0.401027750249,0.00449977667002,0.0798598086385,0.999999977512,0.000136756775511,-0.00015465896911,4.85243315208e-05,1793249872545618432
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,746,718,679.693902177,662,639,881,784,814,651,630,654.306097823,0.401026861404,0.00449882492386,0.0798592100822,0.999999977371,0.000136115011875,-0.000156050613906,4.87639356954e-05,1793249872562285056
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,718,679.101756881,662,639,881,784,814,651,630,654.898243119,0.401024609632,0.00449836394311,0.0798580903273,0.999999977087,0.000135621081216,-0.00015819607946,4.90567100999e-05,1793249872578951424
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745.522077267,718,679,662,639,881.477922733,784,814,651,630,654.522077267,0.401026281596,0.00449884990129,0.0798594441243,0.999999977489,0.000135127262811,-0.000156074994644,4.90264297106e-05,1793249872595618048
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,718.054773702,679,662,639,882,784,814,651,630,654.054773702,0.401028387488,0.00449957595799,0.0798610372086,0.999999977886,0.000134751266479,-0.00015386949751,4.89347022357e-05,1793249872612284672
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,718.629328379,679,662,639,882,784,814,651,630,654.629328379,0.401026884894,0.0045007158206,0.079860030317,0.999999976943,0.000135493134424,-0.000159264304023,4.88959991826e-05,1793249872628951296
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.209057271,719,679,662,639,881.790942729,784,814,651,630,655,0.401031175836,0.00450096754308,0.0798615971412,0.999999976472,0.000135874045884,-0.0001618631365,4.89357433023e-05,1793249872645617920
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.79819313,719,679,662,639,881.20180687,784,814,651,630,655,0.401045999771,0.00449960457369,0.079867843134,0.999999976899,0.000135598716844,-0.000159378720822,4.91181090677e-05,1793249872662284800
+118,1.966666667,POSE1_TO_POSE2_PRESS,767.380740929,745.619259071,718.619259071,679.380740929,662,639,881,784,814,651,630,654.619259071,0.401078476503,0.00449956212099,0.0798782847262,0.999999978371,0.000135190786219,-0.000150323311315,4.8836368888e-05,1793249872678951168
+119,1.983333333,POSE1_TO_POSE2_PRESS,767.959856259,745.040143741,718.040143741,679.959856259,662,639,881,784,814,651,630,654.040143741,0.401120150732,0.00450020768641,0.0798909123186,0.999999980259,0.000134713767208,-0.000137844269222,4.83128193115e-05,1793249872695617792
+120,2.000000000,POSE1_TO_POSE2_PRESS,767.461635868,745,718.538364132,679.461635868,662,639,881,784,814,651,630,654,0.401187458702,0.00450141959789,0.0799062908851,0.999999982928,0.000135902759684,-0.00011588783467,4.73685656642e-05,1793249872712284672
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.115942446,719,679,662,639,881,784.115942446,814,651,630,654,0.401260296555,0.00450226749615,0.079920607255,0.999999985175,0.000136091071559,-9.48362145479e-05,4.62001514911e-05,1793249872728951040
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.690026598,719,679,662,639,881,784.690026598,814,651,630,654,0.401347441191,0.00450151032888,0.0799299167569,0.999999987118,0.000131834907976,-8.01492432055e-05,4.42697948511e-05,1793249872745617920
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.729489629,718.729489629,679,662,639,881,784.729489629,814,651.270510371,630,654,0.401439380946,0.00449987580848,0.0799357370444,0.999999988491,0.000126759867072,-7.19715195627e-05,4.20823445983e-05,1793249872762284544
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.141494979,718.141494979,679,662,639,881,784.141494979,814,651.858505021,630,654,0.401536948484,0.00449721158336,0.0799374622176,0.999999989378,0.000120723751744,-7.14333700984e-05,3.9593156759e-05,1793249872778951168
+125,2.083333333,POSE1_TO_POSE2_PRESS,767.440716332,745.440716332,718,679.440716332,662,639,881,784.440716332,814,652,630,654.440716332,0.40165863235,0.00448380792845,0.0799407825052,0.999999991958,0.000100557204566,-6.72697163949e-05,3.80315137403e-05,1793249872795617792
+126,2.100000000,POSE1_TO_POSE2_PRESS,767.979068596,746,718,679.979068596,661.979068596,639,881,784.979068596,814,652,630,654.979068596,0.40178921707,0.00446775717928,0.0799447915165,0.999999994473,7.68370585956e-05,-6.17145008064e-05,3.66307806243e-05,1793249872812284416
+127,2.116666667,POSE1_TO_POSE2_PRESS,767.403188389,746,718,679.403188389,661.403188389,639,881,784.403188389,814,652,630,654.403188389,0.401953166298,0.0044717556888,0.0799536585848,0.999999995248,7.76229129095e-05,-4.97260791299e-05,3.17031254038e-05,1793249872828951040
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.828218048,718,679,661.171781952,639,881.171781952,784,814,651.828218048,630,654,0.402126299409,0.00447589477263,0.0799617160204,0.999999995935,7.72662650638e-05,-3.83263682373e-05,2.63002784846e-05,1793249872845617920
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.255372081,718,679,661.744627919,639,881.744627919,784,814,651.255372081,630,654,0.402320874361,0.00448036205855,0.0799678831831,0.999999996648,7.42421861254e-05,-2.83011381844e-05,1.9787989224e-05,1793249872862285824
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745.329228749,718.329228749,679.329228749,662,639,881.670771251,784,814,651,630,654.329228749,0.402522775531,0.00448214028771,0.0799687097418,0.999999997235,6.69960035568e-05,-2.93662763357e-05,1.33515929564e-05,1793249872878952448
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745.923285108,718.923285108,679.923285108,662,639,881.076714892,784,814,651,630,654.923285108,0.402730569842,0.0044817554727,0.0799652403843,0.999999997613,5.63536117203e-05,-3.93523710225e-05,6.97624338513e-06,1793249872895618560
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,718.498482217,679.498482217,662,639,881,784,814,651,630,655,0.402965389432,0.00448983050813,0.0799590691319,0.999999997055,5.31926024309e-05,-5.52900546351e-05,-1.80722644092e-06,1793249872912284928
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718,679,662,639,881.07727559,784.07727559,814,651.07727559,630.07727559,654.92272441,0.403212150786,0.00449781234212,0.0799533393152,0.99999999629,4.95031105098e-05,-6.9682267729e-05,-1.06828248871e-05,1793249872928951552
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,746,718,679,662,639,881.6522066,784.6522066,814,651.6522066,630.6522066,654.3477934,0.40351000903,0.00449711507619,0.0799530325676,0.999999996877,3.52657048251e-05,-6.84380692207e-05,-1.78520588046e-05,1793249872945618688
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,746,718,679.232777544,662,639,881.767222456,785,814,651.767222456,630.767222456,654,0.403826711775,0.0045004147061,0.0799545290048,0.999999997182,2.74338685635e-05,-6.6526405699e-05,-2.13942844281e-05,1793249872962285312
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,746,718,679.821984326,662,639,881.178015674,785,814,651.178015674,630.178015674,654,0.404172269223,0.00450983438749,0.0799587864808,0.999999997358,2.94102483081e-05,-6.35927190896e-05,-1.93828304271e-05,1793249872978951936
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.597059791,718,679.597059791,662,639,881,785,814,651,630,654,0.404546252127,0.00451881434686,0.0799603801063,0.999999997242,3.86634289091e-05,-5.99621494998e-05,-2.06525133306e-05,1793249872995618816
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.019675959,718,679.019675959,662,639,881,785,814,651,630,654,0.404932541164,0.00452760393853,0.0799608204794,0.999999996854,5.10669316913e-05,-5.60298806464e-05,-2.3342688442e-05,1793249873012285440
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745.557812596,718,679.557812596,662,639,881,784.442187404,814,651,630,654,0.405363323094,0.00453239726172,0.0799613178835,0.999999996952,5.29645266597e-05,-4.92659973602e-05,-2.93727156998e-05,1793249873028952064
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,718,680,662.134215624,639.134215624,881.134215624,784.134215624,814,651,630,654.134215624,0.405801215931,0.00453907244455,0.079958975881,0.999999996326,6.18875277124e-05,-4.94510385059e-05,-3.27519047476e-05,1793249873045618688
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,718,680,662.707058875,639.707058875,881.707058875,784.707058875,814,651,630,654.707058875,0.406257217763,0.00455235845956,0.0799473478902,0.999999992482,9.49814404124e-05,-7.26722135105e-05,-2.70828581525e-05,1793249873062285056
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,718,679.711696628,662.711696628,639.711696628,882,785,814,651,630,655,0.406736986605,0.00456409453601,0.0799395602125,0.999999989782,0.000110061717016,-8.71875229731e-05,-2.68345536531e-05,1793249873078951680
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,718,679.121659446,662.121659446,639.121659446,882,785,814,651,630,655,0.407241629686,0.00457420847256,0.0799357917449,0.999999989544,0.000106289207396,-9.25914123732e-05,-3.22595125711e-05,1793249873095618560
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718.46159676,679,662.46159676,639.46159676,882,785,814,651,630,654.53840324,0.407772467393,0.00458234450763,0.0799293221167,0.999999986594,0.000119597047882,-0.000106672914165,-3.3595510158e-05,1793249873112285696
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.042731669,746,719,679.042731669,663,640,882,784.957268331,814,651,630.042731669,654,0.408314124178,0.00459014536147,0.0799226301946,0.999999982776,0.000135905522009,-0.000121752825489,-3.39669988699e-05,1793249873128952320
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.619369559,746,719,679.619369559,663,640,882,784.380630441,814,651,630.619369559,654,0.408905947862,0.00460017736546,0.079921927114,0.999999983015,0.000134272984807,-0.00012114517562,-3.55577437191e-05,1793249873145618944
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.805657866,745.805657866,718.805657866,680,663,639.805657866,882,784,814.194342134,651,630.805657866,654.194342134,0.409529093685,0.00460927523203,0.0799335758296,0.999999984676,0.000138244894862,-0.000100747167897,-3.72418914172e-05,1793249873162285568
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.233919233,745.233919233,718.233919233,680,663,639.233919233,882,784,814.766080767,651,630.233919233,654.766080767,0.410213064503,0.0046165590797,0.0799692107214,0.999999986637,0.000153100182046,-4.19179065293e-05,-3.91074196095e-05,1793249873178952192
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.351842516,718.351842516,680,663,639.351842516,882.351842516,784.351842516,815,651,630.351842516,654.648157484,0.410903051765,0.0046175475924,0.0799916490445,0.999999987036,0.000155848662274,-7.22501970235e-06,-3.98301507508e-05,1793249873195619072
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,745.947314389,718.947314389,680,663,639.947314389,882.947314389,784.947314389,815,651,630.947314389,654.052685611,0.411597205018,0.00461417697157,0.0800049495518,0.99999998787,0.000150213921084,1.07549060887e-05,-3.97615650299e-05,1793249873212285952
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,718.476058714,680.523941286,663,640,883.523941286,785,815,651,630.476058714,654.523941286,0.412267457434,0.00460417652935,0.0799744475167,0.999999988985,0.000137308731286,-3.84396006599e-05,-4.12271395597e-05,1793249873228952576
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718,681.099170259,663,640,884,785,815,651.099170259,630,654.900829741,0.412945881947,0.00459597907666,0.0799415757829,0.999999987047,0.000127440526684,-8.83152018372e-05,-4.31993540577e-05,1793249873245619200
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718,681.676478352,663,640,884,785,815,651.676478352,630,654.323521648,0.413674892366,0.00459957720872,0.0799177779044,0.99999998365,0.000135617281646,-0.000110037766008,-4.6896305296e-05,1793249873262285312
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.259030075,746,718,682.259030075,663,640,884.259030075,785,815,651.740969925,630,654.259030075,0.414439442905,0.00460483728468,0.0799157137758,0.999999984606,0.000132733201429,-0.000103931625993,-4.86663001909e-05,1793249873278951680
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.848266348,746,718,682.848266348,663,640,884.848266348,785,815,651.151733652,630,654.848266348,0.415249299355,0.00461221597296,0.0799413553802,0.999999990206,0.000115748997637,-6.23500306827e-05,-4.79798513411e-05,1793249873295618304
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.570007277,746,718,682.570007277,663,640,885,785,815,651,630,655,0.41603858178,0.00461818361507,0.0799494547959,0.999999988173,0.000132169056394,-6.20434762242e-05,-4.83341109091e-05,1793249873312284928
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,682,663,640,885,785,815,651,630,655,0.416821668704,0.00462359276664,0.0799514995817,0.999999983206,0.000159644405932,-7.54515256891e-05,-4.90722725255e-05,1793249873328951808
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718,682,663,640,885,785,815,651,630,655,0.417663540794,0.00462467960313,0.0799553774801,0.999999985515,0.000153980776791,-5.13170727741e-05,-5.12466950438e-05,1793249873345618432
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718.155097959,682.310195919,663.155097959,640,885.155097959,785,815.155097959,651,630,655,0.418517320541,0.00462417392964,0.0799654231121,0.999999987327,0.000148700551383,-2.02110248344e-05,-5.31626869274e-05,1793249873362285056
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,718.730870359,683.461740717,663.730870359,640,885.730870359,785,815.730870359,651,630,655,0.419403397547,0.0046193488682,0.0799921975771,0.999999987643,0.000144460237793,2.98041797542e-05,-5.43777335199e-05,1793249873378951936
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,719,683.684481593,663.684481593,640,886.315518407,785,815.684481593,651.315518407,630,654.684481593,0.420272235031,0.00461586769852,0.0799919061047,0.999999988085,0.000141023316007,3.11826555132e-05,-5.44967843711e-05,1793249873395618560
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,719,683.092043728,663.092043728,640,886.907956272,785,815.092043728,651.907956272,630,654.092043728,0.421125941944,0.00461356601582,0.0799678598056,0.999999988947,0.000138291503345,-1.01256251679e-05,-5.36539180907e-05,1793249873412285440
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.48865964,746,719,683.48865964,663.48865964,640,887,785,815,651.51134036,630,654.48865964,0.422012862067,0.00460598673245,0.0799703030215,0.999999989946,0.000131753096962,-7.133745435e-06,-5.19487855826e-05,1793249873428952320
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.933180852,746,718.933180852,684.066819148,663.933180852,640,887,785,815.066819148,651,630,655,0.422907025322,0.00459787865908,0.0799791938751,0.999999991049,0.000123894724795,5.65995622947e-06,-5.02049778805e-05,1793249873445618688
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.357953964,746,718.357953964,684.642046036,663.357953964,640,887,785,815.642046036,651,630,655,0.423809814953,0.00459313352635,0.0800000691426,0.999999992103,0.000111320692212,3.1031931709e-05,-4.93737006973e-05,1793249873462285056
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718.221682473,684.778317527,663,640,887,785,816,651.221682473,630,655,0.424676764724,0.00459179396544,0.0799945172412,0.999999993115,0.000106313821091,9.37774202015e-06,-4.8778263756e-05,1793249873478951424
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718.808583669,684.191416331,663,640,887,785,816,651.808583669,630,655,0.425484668976,0.00459606503496,0.0799454269579,0.999999988321,0.000113773738371,-8.9751382822e-05,-4.857136985e-05,1793249873495618048
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718.609666924,684.780666152,663,640,887.390333076,785.390333076,816,651.609666924,630,655,0.426389345338,0.00459774982079,0.0799224377868,0.999999985789,0.000115887605926,-0.000111553816571,-5.04815097136e-05,1793249873512284928
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718.030411039,685.939177921,663,640,887.969588961,785.969588961,816,651.030411039,630,655,0.427340859748,0.00459818283447,0.0799120816639,0.999999987312,0.000115413963408,-9.5929809435e-05,-5.34163027513e-05,1793249873528951552
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,718.546639611,685.453360389,663.546639611,640,888,786,816,651.546639611,630,655,0.428221448465,0.00459860560473,0.0799119125992,0.999999986077,0.000116213416698,-0.00010779799115,-5.21557817932e-05,1793249873545618944
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718.876848929,685.123151071,663.876848929,640,888.123151071,785.876848929,816,652,630,655,0.429107759145,0.00459876104055,0.0799192665805,0.999999986034,0.000116903551692,-0.000108086048013,-5.08193790392e-05,1793249873562285824
+172,2.866666667,POSE1_TO_POSE2_PRESS,767,746,718.301867435,685.698132565,663.301867435,640,888.698132565,785.301867435,816,652,630,655,0.430029481743,0.00459793773225,0.0799521510131,0.999999990092,0.000116933797956,-6.02987219258e-05,-5.0057443843e-05,1793249873578952192
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718,685.720294388,663.279705612,640,889,785.279705612,816,652,630,655,0.430944228233,0.00459726399615,0.0799895891455,0.999999992012,0.000116315904383,-5.16569931652e-06,-4.91848709255e-05,1793249873595618560
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718,685.131435869,663.868564131,640,889,785.868564131,816,652,630,655,0.43185126411,0.0045967555792,0.0800320603872,0.999999990541,0.000114981634948,5.80863685909e-05,-4.81900123927e-05,1793249873612285184
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718,685.450039219,664,640,889,785.549960781,816,652,629.549960781,655,0.432693818265,0.0046007289624,0.0800064264816,0.999999992271,0.000113447324167,1.24250300095e-05,-4.93237102056e-05,1793249873628952064
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718,686,664,640,889.029271436,785,816,651.970728564,629.029271436,655,0.433517663437,0.00460565274788,0.0799612662604,0.999999990443,0.000111870639708,-6.31449743857e-05,-5.11011987715e-05,1793249873645618432
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,686,664,640,889.606232908,785,816,651.393767092,629.606232908,655,0.434338124525,0.00460426355058,0.0799169111146,0.999999986098,0.000110576615244,-0.000112772005778,-5.34806349653e-05,1793249873662285056
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718.180106782,686,664,640,890,785.180106782,816,651,630,654.819893218,0.435163742425,0.00460283611363,0.0798969943899,0.999999983995,0.000108209132734,-0.000131410777101,-5.50648336909e-05,1793249873678951424
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718.74734413,686,664,640,890,785.74734413,816,651,630,654.25265587,0.43600044479,0.00460132648222,0.0799296068267,0.99999998965,0.00010353430566,-8.34418353835e-05,-5.49397096628e-05,1793249873695618048
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,719,686,664,640,890,785.66857829,816.33142171,651.33142171,630,654.33142171,0.436827529024,0.00460044580715,0.07996147584,0.999999992306,0.000103641843288,-4.23470241353e-05,-5.34186419773e-05,1793249873712284672
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,746,719,686,664,640,890,785.070975526,816.929024474,651.929024474,630,654.929024474,0.437646888414,0.00460007027788,0.0799927477714,0.9999999929,0.000107590333237,-6.77316765289e-06,-5.07764233984e-05,1793249873728951040
+182,3.033333333,POSE1_TO_POSE2_PRESS,767,746,718.49029158,686,664,640,890.50970842,785.50970842,817,652,630,655,0.438447483709,0.0046020713805,0.0799997170251,0.999999993129,0.000104427371879,8.95794505097e-06,-5.2509661287e-05,1793249873745617664
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+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,718,686,664,640,891,785.338241093,817,651.338241093,630,655,0.439906810114,0.00461193424049,0.0799550572975,0.999999990291,0.000115929443407,-5.79261113884e-05,-5.12237940719e-05,1793249873778951936
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.240655173,746,718.240655173,686,664,640,891,785,817,651.240655173,630,655,0.440540497362,0.00461936073081,0.0798938715288,0.999999979064,0.000124896715172,-0.000154020490331,-5.05118519165e-05,1793249873795618816
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+187,3.116666667,POSE1_TO_POSE2_PRESS,767.589001877,746,718.589001877,686,663.589001877,639.589001877,891.410998123,785,817,652,630,655,0.441734075837,0.00463524125551,0.0797572002538,0.999999925275,0.000135814269912,-0.000357673636791,-5.54500669861e-05,1793249873828952320
+188,3.133333333,POSE1_TO_POSE2_PRESS,767.004468906,746,718.004468906,686,663.004468906,639.004468906,891.995531094,785,817,652,630,655,0.442383489476,0.00464260903079,0.0797277803603,0.999999909756,0.000145495808423,-0.00039488218658,-5.82023462219e-05,1793249873845619200
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+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,718,686.144043013,663.711913974,639,891,785,817,652,630,655,0.443747952477,0.00465088210915,0.0798413430014,0.999999959129,0.000165676003129,-0.000226751969168,-5.3631421267e-05,1793249873878952704
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+192,3.200000000,POSE1_TO_POSE2_PRESS,767,746,718,686.696030147,662.303969853,639,891,785,817,652,630,655.303969853,0.444858959202,0.004673418553,0.079848903613,0.999999955472,0.00018526757875,-0.000227030390972,-5.64713638116e-05,1793249873912285696
+193,3.216666667,POSE1_TO_POSE2_PRESS,767,746,718,686.104405024,662.895594976,639,891,785,817,652,630,655.895594976,0.445353382692,0.00468872660739,0.0798207609129,0.999999942132,0.0001984530284,-0.000269415342724,-6.13790437333e-05,1793249873928952064
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767,746,718,687,661,639,891,784.628284907,817,652,630,655,0.446764613615,0.00471298448626,0.0797618635517,0.999999911323,0.000226983865168,-0.000348891850408,-6.40765728687e-05,1793249873978952448
+197,3.283333333,POSE1_TO_POSE2_PRESS,767,746,718,687,661,638.792977864,891.207022136,784.792977864,817,651.792977864,630.207022136,655,0.447198720371,0.00470943420782,0.0797500262985,0.999999909019,0.00022117818723,-0.000358972088992,-6.4666932403e-05,1793249873995619328
+198,3.300000000,POSE1_TO_POSE2_PRESS,767,746,718,687,661,638.204960276,891.795039724,784.204960276,817,651.204960276,630.795039724,655,0.447589244364,0.00470752566654,0.0797376017451,0.999999903997,0.000218747088502,-0.000373968453001,-6.5606144425e-05,1793249874012285952
+199,3.316666667,POSE1_TO_POSE2_PRESS,767.377622733,746,718,687,661,638,892,784,817,651.377622733,630.622377267,655,0.447947150182,0.00470572664994,0.0797230050272,0.999999895144,0.000216487517761,-0.000398197981225,-6.54487245542e-05,1793249874028952064
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+241,4.016666667,POSE1_TO_POSE2_PRESS,768,746,718,687.74544523,659,637,892,784,818,652,630,655,0.451381757761,0.00469647910172,0.079633878723,0.999999827836,0.000206400429397,-0.000546260405443,-5.76820670947e-05,1793249874728952576
+242,4.033333333,HOLD_POSE2,768,746,718,687,659,637,892,784,817,651,630,655,0.451381735356,0.00469738356726,0.0796332737882,0.999999826898,0.000208777532012,-0.00054711691834,-5.72559333297e-05,1793249874764985344
+243,4.050000000,HOLD_POSE2,768,746,718,687.576025079,658.423974921,637,892,784,817,651,630,654.423974921,0.451382438202,0.00469836617979,0.0796335871767,0.999999826797,0.000209073695228,-0.000547144759282,-5.76857982016e-05,1793249874781651968
+244,4.066666667,HOLD_POSE2,767.847689379,746,718,688,658.152310621,637,892,784,817,651,630,654.152310621,0.451382524631,0.00469873132267,0.0796335374991,0.999999826618,0.000208999136263,-0.000547472513094,-5.793792413e-05,1793249874798318592
+245,4.083333333,HOLD_POSE2,767.27067743,746,718,688,658.72932257,637,892,784,817,651,630,654.72932257,0.45138089225,0.00469737471991,0.0796324754513,0.999999826225,0.000207890859555,-0.000548636540784,-5.76944447638e-05,1793249874814985216
+246,4.100000000,HOLD_POSE2,767,746,718,688,658.688566368,637,892,784,817,651,630,655,0.451381212084,0.0046965110053,0.0796323819887,0.999999826361,0.000206936983278,-0.000548754471743,-5.76529222515e-05,1793249874831651840
+247,4.116666667,HOLD_POSE2,767,746,718,688,658.101949759,637,892,784,817,651,630,655,0.451383256896,0.00469608280711,0.0796331443687,0.999999826964,0.0002061195354,-0.000547948070823,-5.77898489726e-05,1793249874848318720
+248,4.133333333,HOLD_POSE2,767.956991562,746,718,688,658.478495781,637,891.521504219,784,817.478495781,651.478495781,630,655,0.451382550779,0.0046982171545,0.0796325588938,0.99999982571,0.000210227691511,-0.000548724986022,-5.73117629918e-05,1793249874864985600
+249,4.150000000,HOLD_POSE2,768.885009046,746,718,687.942504523,658.942504523,637,891.057495477,784,818,652,630,655,0.451381352418,0.00470050082241,0.0796318005041,0.999999824272,0.000214559185932,-0.000549721704666,-5.68012233702e-05,1793249874881652736
+250,4.166666667,HOLD_POSE2,767.729683157,746,718,687.364841579,658.364841579,637,891.635158421,784,818,652,630,655,0.451380935855,0.00469925873168,0.0796320427856,0.99999982491,0.000211537527198,-0.000549693862815,-5.71674781513e-05,1793249874898319104
+251,4.183333333,HOLD_POSE2,767.212076161,746,718,687,658,637,892,784,818,652,630,655,0.45138107575,0.0046986196892,0.0796323449893,0.99999982538,0.000209903558472,-0.000549447108665,-5.73464384853e-05,1793249874914985472
+252,4.200000000,HOLD_POSE2,767.787716332,746,718,687,658,637,892,784,818,652,630,655,0.451382169589,0.00469901445768,0.0796327499181,0.999999825573,0.000210648519115,-0.000548825071268,-5.72043182817e-05,1793249874931651840
+253,4.216666667,HOLD_POSE2,768,746,718,687.373220902,658,637,892,784,817.626779098,652,630,655,0.451382213829,0.00469836256629,0.079632203424,0.999999825732,0.000210386563555,-0.000548637605932,-5.71929968148e-05,1793249874948318720
+254,4.233333333,HOLD_POSE2,768,746,718,687.964488604,658,637,892,784,817.035511396,652,630,655,0.451381644863,0.00469709918496,0.0796311010802,0.99999982587,0.000209536337542,-0.000548704030518,-5.72580918639e-05,1793249874964985600
+255,4.250000000,HOLD_POSE2,768,746,718,688,658,637,892,784,817,652,630,655,0.45138208426,0.00469787175555,0.0796313966102,0.99999982566,0.000209162243786,-0.000549233980511,-5.72038902508e-05,1793249874981652224
+256,4.266666667,HOLD_POSE2,768.120807827,746,718,687.879192173,658,637,891.879192173,784,817,652,630,655,0.451382466167,0.00469824823824,0.0796318209159,0.999999825585,0.000208685846894,-0.000549566299477,-5.70771779804e-05,1793249874998318592
+257,4.283333333,HOLD_POSE2,768.694308793,746,718,687.305691207,658,637,891.305691207,784,817,652,630,655,0.451382391204,0.00469665301066,0.0796323930684,0.999999826094,0.000207712093936,-0.000549047066896,-5.67073166217e-05,1793249875014985472
+258,4.300000000,POSE2_TO_POSE3_RETREAT,767,746,718,688,658,637,892,784,817,652,630,655,0.451385049914,0.00469530608463,0.0796337202441,0.999999827284,0.000207363154892,-0.000547115411164,-5.56461387353e-05,1793249875052986112
+259,4.316666667,POSE2_TO_POSE3_RETREAT,767,746,718,688,658,637,892.595365579,784,817,652,630,655,0.451383810686,0.00469541180945,0.0796330296522,0.9999998265,0.000208370481128,-0.000548133142219,-5.59556386496e-05,1793249875069652992
+260,4.333333333,POSE2_TO_POSE3_RETREAT,767.185349326,746,718,688,658,637,892.814650674,784,817,652,630,655,0.451383101971,0.00469552120526,0.0796325091844,0.999999826117,0.000208554224822,-0.000548735719751,-5.62087122285e-05,1793249875086319360
+261,4.350000000,POSE2_TO_POSE3_RETREAT,767.763915672,746,718,688,658,637,892.236084328,784,817,652,630,655,0.451383518735,0.00469563838907,0.0796323496333,0.999999826587,0.00020699074534,-0.000548457552804,-5.63420778746e-05,1793249875102985728
+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,746,718,687.65959197,658,637,891.65959197,784,817,652,630,655,0.451384115216,0.00469566716122,0.0796327496623,0.999999827081,0.000205913946067,-0.00054793771108,-5.65851443559e-05,1793249875119652352
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,746,718,687.084529314,658,637,891.084529314,784,817,652,630,655,0.451384835583,0.00469563498826,0.0796335354286,0.999999827591,0.000205172631811,-0.000547251274876,-5.69038312788e-05,1793249875136318976
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767.511264345,746,718,687,658,637,891.488735655,784,817,652,630,655,0.45138504377,0.00469527106405,0.079633504431,0.999999827557,0.00020592622085,-0.000547093808321,-5.63001992938e-05,1793249875152985600
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,687,658,637,892,784,817,652,630,655,0.451384901678,0.00469507784902,0.0796331843115,0.999999827313,0.000206942714679,-0.000547216128144,-5.57054109481e-05,1793249875169652736
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767,746,718,687,658,637,892,784,817,652,630,655,0.451382588093,0.00469677316989,0.0796316345222,0.999999826125,0.000208003142338,-0.00054890175403,-5.65010932204e-05,1793249875186319104
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,687,658,637,892,784,817,652,630,655,0.451375187806,0.00469795519187,0.079627292906,0.99999982233,0.000209490623328,-0.000555169002042,-5.69282466213e-05,1793249875202985728
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,687,658,637,892,784,817,652,630,655,0.451361065495,0.00469845889448,0.0796192619194,0.999999814985,0.000211542450824,-0.000567490816716,-5.68683928122e-05,1793249875219652352
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.394326119,746,718,687,658,637,892,784,817,651.605673881,630,655,0.451327625232,0.00469711941263,0.0796029513955,0.999999799355,0.000210643406986,-0.000594749036674,-5.65033293381e-05,1793249875236318720
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.970911883,746,718,687,658,637,892,784,817,651.029088117,630,655,0.451285256106,0.00469492800108,0.0795828140245,0.999999778956,0.000208380454597,-0.000628910943669,-5.59971962639e-05,1793249875252985344
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.43787394,746,718,687,658.56212606,637,892,784,817,651.56212606,630,655,0.451223922353,0.00469659870797,0.0795617581287,0.999999753927,0.000210026351468,-0.000667059484241,-5.53714229162e-05,1793249875269651968
+272,4.533333333,POSE2_TO_POSE3_RETREAT,767.150032796,746,718.150032796,687.150032796,659,637,892,784,817,651.849967204,630,655,0.451158868818,0.00469798747419,0.0795428653509,0.999999731422,0.000211686107095,-0.000699543561539,-5.46220557261e-05,1793249875286318592
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767.726334513,746,718.726334513,687.726334513,659,637,892,784,817,651.273665487,630,655,0.451086109424,0.00469799221529,0.0795302570082,0.999999720076,0.000212795201271,-0.000715332158367,-5.35395968574e-05,1793249875302985472
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,718.697512586,687.697512586,658.697512586,637,892.302487414,784,817,651.302487414,630,655,0.451006978661,0.00469682434674,0.0795238244671,0.99999971417,0.000214004308336,-0.000723303489892,-5.18973065932e-05,1793249875319652352
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,718.121494291,687.121494291,658.121494291,637,892.878505709,784,817,651.878505709,630,655,0.450922086453,0.00469459612018,0.0795229765307,0.999999713348,0.000215303854218,-0.000724205886918,-4.97487765803e-05,1793249875336319232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,746,718,687.464235152,658.464235152,637,892.535764848,784,817,652,630,655,0.450823428843,0.00469379448074,0.0795250583765,0.999999716509,0.000217071054509,-0.000719477540526,-4.70488071603e-05,1793249875352985600
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,746,718,687.948269354,659,637,892,784,817,652,630,655,0.450718208343,0.00469334427677,0.0795278367456,0.999999720527,0.000218966684718,-0.000713475470922,-4.41940264282e-05,1793249875369652224
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,718,687.369231581,659,637,892,784,817,652,630,655,0.450583596444,0.00469258938071,0.0795297322957,0.99999972282,0.000220897236224,-0.000709831878793,-4.1263697316e-05,1793249875386318592
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,745.79138211,718,687.20861789,659,637.20861789,891.79138211,784,817,652,630,655,0.450435989055,0.00469171178342,0.0795306282943,0.999999723252,0.000223420456332,-0.000708631450537,-3.76788559916e-05,1793249875402984704
+280,4.666666667,POSE2_TO_POSE3_RETREAT,768,745.215623957,718,687.784376043,659,637.784376043,891.215623957,784,817,652,630,655,0.450265511315,0.00469061824808,0.0795297652126,0.999999720416,0.000226986695638,-0.00071173067225,-3.29421588971e-05,1793249875419651328
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,745.359552861,718,687.640447139,659,637.640447139,891.359552861,784,817,652,630,655,0.450072089176,0.00468932743605,0.0795304905878,0.999999719386,0.000231116382907,-0.000712070405996,-2.7724818209e-05,1793249875436318208
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,745.934381672,718,687.065618328,659,637.065618328,891.934381672,784,817,652,630,655,0.449864929465,0.00468791850796,0.0795321670236,0.999999719415,0.000235583425067,-0.000710757945158,-2.22197001719e-05,1793249875452985088
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,746,718,687,659,637.522105585,891.477894415,784,817,652,630,655,0.449640171218,0.00468713135898,0.0795360418323,0.999999723446,0.000243056784481,-0.000702687790224,-1.61762543563e-05,1793249875469651968
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,746,717.889807061,687,659,638,891.110192939,784,817,652,630,655,0.449403107708,0.00468644501135,0.0795390029655,0.999999725636,0.000250860540128,-0.000696919728303,-9.94221795958e-06,1793249875486318592
+285,4.750000000,POSE2_TO_POSE3_RETREAT,768,746,717.307284363,687,659,638,891.692715637,784,817,652,630,655,0.449123019645,0.00468584729357,0.0795368334458,0.999999718267,0.00025841994656,-0.000704751984634,-3.18858311491e-06,1793249875502985472
+286,4.766666667,POSE2_TO_POSE3_RETREAT,768,746,717.27120115,687,659,638,891.72879885,784,817,652,630,654.72879885,0.448825972633,0.00469371357353,0.0795373922904,0.999999711628,0.00027491312227,-0.000707930494586,1.34898480718e-06,1793249875519652096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746,717.845179395,687,659,638,891.154820605,784,817,652,630,654.154820605,0.448509992158,0.00471102931437,0.0795409971627,0.999999705422,0.000301380225297,-0.000705913421808,3.41246876874e-06,1793249875536318720
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,687.418476991,659.418476991,638,891.418476991,784,817,652,630,654.418476991,0.448157838695,0.00472091610745,0.079540530027,0.99999969831,0.000318897624282,-0.000708253208892,7.88798154963e-06,1793249875552985088
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746,718,687.991523169,659.991523169,638,891.991523169,784,817,652,630,654.991523169,0.447792324339,0.00472805893468,0.0795385588492,0.999999690815,0.000333109348753,-0.000712202251213,1.32544042748e-05,1793249875569651712
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,746,718,687.414862634,660,638,891.414862634,784,817,651.414862634,630,655,0.447425260775,0.00471184193329,0.0795534057518,0.999999723944,0.000292464785133,-0.000682984163581,1.03991213621e-05,1793249875586318336
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.826076851,746,718,687,660.173923149,638,891,784,817,651,630,655,0.447044509,0.00470031527923,0.0795701994111,0.999999752549,0.000259429883469,-0.000653855973149,8.40954142774e-06,1793249875602985216
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.249193543,746,718,687,660.750806457,638,891,784,817,651,630,655,0.44663209714,0.00470046825473,0.0795909184261,0.999999773726,0.000245934013628,-0.0006260898671,8.71170841986e-06,1793249875619652096
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.326851719,746,718,687,660.673148281,638,891,784,817,651.326851719,630,655,0.446186013743,0.00469769352113,0.0796133210243,0.999999793515,0.000236387822542,-0.000597450359297,1.19769510013e-05,1793249875636318720
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.902259745,746,718,687,660.097740255,638,891,784,817,651.902259745,630,655,0.445714324582,0.00469269239398,0.0796370039153,0.999999812037,0.000229845186363,-0.000568146664955,1.74954818258e-05,1793249875652985856
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.511531433,746,718,686.511531433,660.488468567,638,891,784,817,651.511531433,630,655,0.445200116581,0.00468524758589,0.0796529657666,0.999999813469,0.000272064333492,-0.000546530098982,1.86289428034e-05,1793249875669652480
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,686,661.075598002,638,891,784.075598002,816.924401998,651.075598002,630,654.924401998,0.444671284288,0.00467780405261,0.0796663142734,0.999999810554,0.000314400778317,-0.000528843149945,1.91952663523e-05,1793249875686318848
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767,746,718,686,661.654149044,638,891,784.654149044,816.345850956,651.654149044,630,654.345850956,0.444103038768,0.0046736956626,0.0796727871337,0.999999818601,0.000291136565231,-0.000526835169792,2.19579726187e-05,1793249875702985472
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767,746,718,686,661.767919743,638,890.767919743,785,816,651.767919743,629.767919743,654,0.443523739544,0.00466763002556,0.0796776464987,0.999999827529,0.000267579456948,-0.000522268974146,2.40644473903e-05,1793249875719652096
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746,718,686,661.190909787,638,890.190909787,785,816,651.190909787,629.190909787,654,0.442928011762,0.00465865542683,0.079680107803,0.999999837968,0.000243587034115,-0.000513900626349,2.51955967612e-05,1793249875736318720
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,718,686,661.383116976,638,890,784.616883024,816,651,629.383116976,654.383116976,0.442319276383,0.00465039375115,0.0796943995866,0.999999856621,0.000225197311269,-0.000485171848678,2.55566336279e-05,1793249875752985600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767,746,718,686,661.955668664,638,890,784.044331336,816,651,629.955668664,654.955668664,0.441704109329,0.00464248458522,0.0797145410284,0.999999878087,0.000209577880743,-0.000446375722079,2.55368832326e-05,1793249875769652224
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,685.454970169,662.545029831,638.545029831,890,784.545029831,816,651,630,655,0.441007702767,0.00463397760174,0.0797096878882,0.999999876466,0.000210039953177,-0.000449670174514,2.73606579767e-05,1793249875786318592
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,889.866667585,785,816.133332415,651,630,654.866667585,0.440289553345,0.00462509011598,0.0796956022725,0.9999998679,0.000207556025855,-0.000469329595303,2.91570133971e-05,1793249875802985216
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,889.286638019,785,816.713361981,651,630,654.286638019,0.439521402352,0.00461509594359,0.0796576133357,0.999999839858,0.000190680577372,-0.000531981055568,3.03431577528e-05,1793249875819651840
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,889,785.290777034,817,651.290777034,630,654,0.438792818617,0.00460565697384,0.0796625446256,0.999999847331,0.000177783607488,-0.000522280720383,3.08922364049e-05,1793249875836318208
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,889,785.865637825,817,651.865637825,630,654,0.438102891266,0.00459676042556,0.0797094081749,0.999999887648,0.000168773534932,-0.000441894032307,3.08189137888e-05,1793249875852984832
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,888.569143264,785.569143264,816.569143264,652,630,654,0.437406660842,0.00458705955934,0.0797778982771,0.999999928531,0.000160628770517,-0.000340502022614,3.45666283055e-05,1793249875869651456
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,888.00686538,785.00686538,816.00686538,652,630,654,0.436708507879,0.00457711335832,0.0798529849692,0.999999960479,0.000152747943932,-0.000232702911738,3.94798461257e-05,1793249875886318080
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,888,785.597422361,816,651.402577639,630,654,0.435873944043,0.00456725263965,0.0798634602067,0.999999964221,0.000151708082362,-0.000216575358353,4.04611697342e-05,1793249875902985216
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,887.806493698,785.806493698,816,651,629.806493698,654.193506302,0.435026056326,0.00455786042207,0.0798575668061,0.999999963052,0.00014838733589,-0.000224003060429,4.12354695331e-05,1793249875919652096
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,887.227774806,785.227774806,816,651,629.227774806,654.772225194,0.434155001463,0.00454939874577,0.0798206782693,0.999999951174,0.000140357702494,-0.00027606642184,4.16943984825e-05,1793249875936318720
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,886.651794431,785.348205569,816,651,629.348205569,654.651794431,0.433260737747,0.00454035247959,0.0797826418036,0.999999932656,0.000129023897809,-0.000340993541653,4.19979210446e-05,1793249875952985088
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,886.07759147,785.92240853,816,651,629.92240853,654.07759147,0.43235141072,0.0045309267948,0.0797438602939,0.999999906624,0.000115545572195,-0.000414269680043,4.22005793633e-05,1793249875969651456
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,886,785.503589702,816,651,630,654,0.431435614624,0.00451949464388,0.0797174679704,0.999999882943,0.000111099269686,-0.000468629187169,4.64473937888e-05,1793249875986318080
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.073257979,746,718,685,663,639,885.926742021,785,816,651,630,654,0.430532450387,0.00450769848144,0.0797049542979,0.999999869132,0.000106350107631,-0.00049785745411,5.06323983796e-05,1793249876002984960
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.670693453,746,718,685,663,639,885.329306547,785,816,651,630,654,0.429726902505,0.00449554085946,0.0797778951065,0.999999926902,8.93366083156e-05,-0.000368413721762,4.98539908608e-05,1793249876019651584
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.742512134,745.742512134,718,684.742512134,663,639,885,785.257487866,816,651,629.742512134,654.257487866,0.428894861735,0.004484515667,0.0798307209791,0.999999956798,7.80193085023e-05,-0.000278832099884,5.06859596406e-05,1793249876036318464
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.168786623,745.168786623,718,684.168786623,663,639,885,785.831213377,816,651,629.168786623,654.831213377,0.428030283214,0.00447488128347,0.0798588423962,0.999999967482,7.36978819011e-05,-0.000238207724103,5.3495737239e-05,1793249876052985344
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,745,718,683.593722194,663,639,884.593722194,785.593722194,815.593722194,651,629,654.593722194,0.427111725582,0.00446475056785,0.0798285427778,0.999999956359,6.61778715527e-05,-0.000282821786327,5.39797126448e-05,1793249876069651968
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745,718,683.018099713,663,639,884.018099713,785.018099713,815.018099713,651,629,654.018099713,0.426170668434,0.00445441297172,0.0797738921073,0.999999931054,5.73246277608e-05,-0.00036296492698,5.34942469634e-05,1793249876086318592
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,745.572925985,718,683,663,639,884,785.572925985,815.572925985,651,629.572925985,654,0.425228846257,0.00444857532889,0.0797526732722,0.999999918838,4.88176219005e-05,-0.000396331166246,5.3498314676e-05,1793249876102985216
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,683,662.839647621,639,883.839647621,785.839647621,815.839647621,651,629.839647621,654,0.424291406102,0.00444863008584,0.079734627279,0.999999906642,4.828978412e-05,-0.000426007278845,5.3873627899e-05,1793249876119651840
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,683,662.262867123,639,883.262867123,785.262867123,815.262867123,651,629.262867123,654,0.423365410419,0.00446360776137,0.0797220024156,0.999999894865,6.84543066132e-05,-0.000450044004379,5.51717775117e-05,1793249876136318208
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,718,683,662,639,883,785,815,651,629.312341092,654,0.422508421341,0.00448065273984,0.0797430212771,0.999999910634,9.10002029386e-05,-0.000409146791885,5.52308177589e-05,1793249876152984832
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,683,662,639,883,785,815,651,629.886232666,654,0.421709217568,0.00449942885092,0.0797922129694,0.999999942595,0.000115540230006,-0.000313874716118,5.42522430361e-05,1793249876169651456
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767.473100438,746,718,683,662,639,883,785,815,651,630,654,0.420904637488,0.00449324531917,0.0798364015681,0.999999964573,0.000103965696708,-0.000239096146045,5.36530702089e-05,1793249876186318592
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767.938008659,746,718,682.938008659,662,639,883,785,815,651,630,654,0.420085468912,0.00448135759971,0.0798706121871,0.9999999779,8.56081063611e-05,-0.000184459261227,5.3343225326e-05,1793249876202985472
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767.359003459,746,718,682.359003459,662,639,883,785,815,651,630,654,0.419155717946,0.00447336614483,0.0798319224222,0.999999962229,8.51516736693e-05,-0.000255546016745,5.46640337098e-05,1793249876219652352
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745.780773048,718,682,662.219226952,639,883,785,815,651,630,654,0.418256424441,0.0044673445934,0.0798018094626,0.999999947291,8.08461294676e-05,-0.000309664032984,5.46893077307e-05,1793249876236318976
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745.203806862,718,682,662.796193138,639,883,785,815,651,630,654,0.417406831928,0.00446453757135,0.0797856923113,0.999999939669,7.02595231647e-05,-0.000336092110075,5.26005015917e-05,1793249876252985600
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745,718,682,662.628540863,639,882.628540863,785,815,651,630,654,0.416578295055,0.00446623002693,0.0797864904463,0.999999937048,6.99072857178e-05,-0.000343852648699,5.27536983377e-05,1793249876269651968
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745,718,682,662.054203483,639,882.054203483,785,815,651,630,654,0.415761258102,0.00447037994308,0.0797965271318,0.999999937429,7.51447102715e-05,-0.000341417616407,5.4131400324e-05,1793249876286318592
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745,718,681.466463162,661.466463162,639,882,784.466463162,814.466463162,651,630,654,0.414978451721,0.00447756728759,0.0797770442692,0.999999926346,9.05733319393e-05,-0.000368984974417,5.4353398364e-05,1793249876302985216
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,661.120624036,639,882,784,814.120624036,651,630,654,0.41420894874,0.0044822342225,0.0797632950578,0.999999919432,0.000101101400957,-0.000384683901044,5.41515949598e-05,1793249876319651840
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,661.699916724,639,882,784,814.699916724,651,630,654,0.413476467386,0.00447611378521,0.0797830451892,0.9999999357,8.89569546506e-05,-0.000343364869568,5.27962577097e-05,1793249876336318720
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.721849875,662,639,882,784.278150125,814.721849875,651,630,654.278150125,0.412745728869,0.0044712327458,0.0797922941273,0.99999994218,7.77039211276e-05,-0.000326815411049,5.28612010593e-05,1793249876352985344
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.144754992,662,639,882,784.855245008,814.144754992,651,630,654.855245008,0.412016863532,0.00446768376265,0.0797902567967,0.999999939499,6.74089437234e-05,-0.000336887313396,5.44526060051e-05,1793249876369651968
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.424900393,745.424900393,718,680.424900393,662,639,882,785,814.424900393,651,630,654.575099607,0.411317076984,0.00446932631055,0.07978066917,0.999999932771,7.45775329693e-05,-0.000354845154104,5.46048081195e-05,1793249876386318848
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.992064948,745.992064948,718,680.992064948,662,639,882,785,814.992064948,651,630,654.007935052,0.41062702647,0.00447270707452,0.0797685535705,0.999999924212,8.75932321773e-05,-0.000375443347016,5.42751397865e-05,1793249876402985472
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.411024429,746,718,680.411024429,662,639,881.411024429,784.411024429,815,651,630,654,0.410008320717,0.00447525798274,0.079784640312,0.999999933077,9.75467448142e-05,-0.000348224069293,5.54074549994e-05,1793249876419651584
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745.819667545,718,680,661.819667545,639,881,784,814.819667545,651,630,654,0.409399322181,0.00447690475682,0.079804889001,0.999999943757,0.000102661419966,-0.000314283605485,5.63163603361e-05,1793249876436318208
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745.241494103,718,680,661.241494103,639,881,784,814.241494103,651,630,654,0.408809505778,0.00447658285067,0.0798334367497,0.999999958022,9.71967388571e-05,-0.000267012034015,5.66866240747e-05,1793249876452984832
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,639,881,784.33337027,814,651,630,654,0.408218994771,0.00447650216295,0.0798310491843,0.999999956241,9.7194571827e-05,-0.000273544157207,5.69611188558e-05,1793249876469651712
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,639,881,784.905861074,814,651,630,654,0.407627985572,0.00447659449691,0.0798064722695,0.999999942479,0.000101110568739,-0.000318668711079,5.71669202271e-05,1793249876486318592
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,639,881,784.518678606,814,651,630,654,0.407071261028,0.0044768870106,0.0797781702219,0.999999926266,9.94172711329e-05,-0.000366685669489,5.59153330429e-05,1793249876502985216
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,639,881,784,814,651,630,654,0.406532001479,0.00447725562389,0.0797533383341,0.999999910924,9.62407282202e-05,-0.000407340769157,5.4436178783e-05,1793249876519652096
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661,639,881,784,814,651,630,654,0.406089647701,0.0044779561031,0.0797665104388,0.999999923756,8.96343227141e-05,-0.000376286612172,5.3492690139e-05,1793249876536318976
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745.240355555,718,680,661.240355555,639,881,784,814,651,630,654,0.405655195711,0.00447975466638,0.0797834215088,0.99999993545,9.2944496532e-05,-0.000342976845375,5.31879476003e-05,1793249876552985600
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745.819334949,718,680,661.819334949,639,881,784,814,651,630,654,0.405231876157,0.00448310026041,0.0798056002019,0.999999945511,0.000110225598893,-0.000306489275522,5.37830997052e-05,1793249876569652224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745.605079075,718,680,661.605079075,639,881,784,814,651,630,654,0.404836114428,0.00448435493797,0.0798187889663,0.999999950347,0.000112995861474,-0.000289068358876,5.45601841975e-05,1793249876586318848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745.031032215,718,680,661.031032215,639,881,784,814,651,630,654,0.40445285218,0.00448466123012,0.0798279001331,0.999999953221,0.000109184383371,-0.00028029558074,5.54197885968e-05,1793249876602985472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.556107547,639,880.443892453,784.556107547,814,651,629.443892453,654,0.404091885794,0.00448602829752,0.0798247849302,0.999999948273,0.000113564849711,-0.000295402234893,5.73995602019e-05,1793249876619652096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718.142236748,679.857763252,661.857763252,639,880.284473496,784.857763252,814,651.142236748,629.142236748,654,0.403742854812,0.0044871033448,0.0798219555036,0.999999943613,0.000120524938203,-0.000307820555452,5.91108820437e-05,1793249876636318720
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718.722944288,679.277055712,661.277055712,639,881.445888575,784.277055712,814,651.722944288,629.722944288,654,0.403426688961,0.00448709131098,0.0798221609438,0.999999941882,0.000133994016414,-0.00030774477876,5.97973199216e-05,1793249876652985344
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718.698472603,679,661.301527397,639,881.698472603,784.301527397,814,651.698472603,630,654,0.403134292853,0.00448567144929,0.0798248593854,0.99999994382,0.000126220713511,-0.000305218935539,5.71771441027e-05,1793249876669651968
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,718.121827884,679,661.878172116,639,881.121827884,784.878172116,814,651.121827884,630,654,0.402863584571,0.00448296706806,0.0798298324722,0.999999948627,9.90655988181e-05,-0.000300457621212,5.15399730335e-05,1793249876686318592
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,718,679,662,639,880.547424741,784.547424741,814,651,630,654.452575259,0.4026290518,0.0044814064434,0.0798295461908,0.999999949028,9.63641624917e-05,-0.000299884054399,5.22190905306e-05,1793249876702985216
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.972753703,745,718,679,661.972753703,639,880,784,814,651,630,654.972753703,0.40240597457,0.00448028372495,0.0798279586176,0.999999948416,0.000100155395263,-0.000300277618343,5.44967654632e-05,1793249876719651584
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,718.348060662,679.348060662,662,639,881,784.651939338,814,651,630,654,0.400966216628,0.00450677979789,0.0798296205181,0.99999994646,0.000138778933828,-0.000292078211929,5.00980458256e-05,1793249877302985216
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,718.921718736,679.921718736,662,639,881,784.078281264,814,651,630,654,0.400965182483,0.00450823994806,0.079828783625,0.999999945659,0.000141872981976,-0.000293360863096,4.99261181168e-05,1793249877319651840
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,718.503861479,680,662,639.496138521,881,784,814,651,630,654,0.400966138137,0.00450729147931,0.079829509821,0.999999946088,0.000141940818791,-0.000291846720114,5.00206683042e-05,1793249877336318464
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,718.072984959,679.927015041,661.927015041,639.927015041,881,784,814,651,630,654.072984959,0.400967095867,0.0045061721507,0.0798302515489,0.999999946597,0.000141481468756,-0.000290306243646,5.01088933068e-05,1793249877352985344
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,718.66627238,679.33372762,661.33372762,639.33372762,881,784,814,651,630,654.66627238,0.400965826823,0.00450654817331,0.0798293431276,0.99999994631,0.000140672989556,-0.000291728725733,4.98518299684e-05,1793249877369652224
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..131165a91a35a031524a56166e1885faba6e74b0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,401 @@
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+192,3.200000000,pose1_to_pose2_press,0.613856177309,0.0101499495143,1.07003337138,0.584426858404,0.0188225922868,1.06970476847
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+262,4.366666667,pose2_to_pose3_retreat,0.619545769302,0.0101500712925,1.07003354097,0.590116449311,0.0188227117042,1.06970493877
+263,4.383333333,pose2_to_pose3_retreat,0.619545648196,0.0101501253048,1.07003348655,0.590116327168,0.018822762285,1.06970488666
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+271,4.516666667,pose2_to_pose3_retreat,0.619409127462,0.0101501697007,1.0700335907,0.589979804874,0.0188228012775,1.06970498847
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+286,4.766666667,pose2_to_pose3_retreat,0.617325019775,0.0101501675345,1.07003362439,0.587895697651,0.0188227995693,1.06970501244
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+288,4.800000000,pose2_to_pose3_retreat,0.616750046668,0.0101502052133,1.07003356191,0.587320723113,0.0188228325478,1.06970495755
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+398,6.633333333,pose2_to_pose3_retreat,0.575664407621,0.0101500982929,1.07003374419,0.546235086763,0.0188227342804,1.06970513695
+399,6.650000000,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532846,1.06970476168
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efff437b0fef74f8196990d46f26b463066072d5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e9d252a8725b64d66a0f0a8ab47bfff7f735f60bfceb2f0d75af5ebe6841a5b
+size 25491882
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1083a51916a1b9f4ff7562cf76b37085d258c818
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,403 @@
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+29,0.483333333,BASELINE,767,745.829598634,718,679.829598634,662,639,881,784,814.170401366,651,630.170401366,654.170401366,0.400966629385,0.00450951999806,0.0798329680266,0.999999947767,0.000140324410663,-0.000287011806741,4.89775308854e-05,1793249878006166016
+30,0.500000000,BASELINE,767,746,718,679.59293716,662,639,880.59293716,784,814,651,630,654,0.400966665597,0.00450956089221,0.0798331793984,0.999999947816,0.000140709431625,-0.000286681563489,4.88189980577e-05,1793249878022831872
+31,0.516666667,BASELINE,767,746,718,679.016236757,662,639,880.016236757,784,814,651,630,654,0.40096764852,0.00450897240762,0.0798337984775,0.999999948241,0.000140527425064,-0.000285301551311,4.87043688174e-05,1793249878039497984
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+56,0.933333333,BASELINE,767,745,718.487413203,680,662,639,880.487413203,784,814,651,630,655,0.400966728491,0.00450856458252,0.0798333201867,0.999999948141,0.000140386800943,-0.000285753133438,4.85292298798e-05,1793249878456165376
+57,0.950000000,BASELINE,766.935514133,745,718.935514133,679.935514133,662,639,881,784.064485867,814,651,630,654.935514133,0.400967094346,0.00450816141272,0.0798341681585,0.999999948352,0.000141191977694,-0.000284535688602,4.90026218472e-05,1793249878472831488
+58,0.966666667,BASELINE,766.346625008,745,718.346625008,679.346625008,662,639,881,784.653374992,814,651,630,654.346625008,0.400967791342,0.00451121393469,0.0798337279866,0.999999948401,0.000142262032416,-0.000283949875298,4.82968637546e-05,1793249878489498112
+59,0.983333333,BASELINE,766.238439869,745,718,679,662,639,881,784.761560131,814,651,630.238439869,654,0.400967636733,0.00451201981536,0.0798331491188,0.999999948242,0.000142579377025,-0.000284374924459,4.81366485786e-05,1793249878506164480
+60,1.000000000,BASELINE,766.8180332,745,718,679,662,639,881,784.1819668,814,651,630.8180332,654,0.400966263669,0.00450961126151,0.0798323718088,0.999999947786,0.000141819764061,-0.000286246288827,4.87569816825e-05,1793249878522831104
+61,1.016666667,BASELINE,767,745,718,679,662,639,881.394751479,784.394751479,814,651,630.605248521,654,0.400965542241,0.00450885923652,0.0798319886639,0.99999994756,0.000141392118773,-0.000287230577743,4.88569476958e-05,1793249878539497984
+62,1.033333333,BASELINE,767,745,718,679,662,639,881.970154008,784.970154008,814,651,630.029845992,654,0.400965119022,0.00450886529289,0.0798317859016,0.999999947439,0.000141116392681,-0.000287808912119,4.87187768551e-05,1793249878556164864
+63,1.050000000,BASELINE,767,745,718,679,662,639,881.452955931,785,814,651,630,654,0.400965406024,0.00450910917554,0.0798329235231,0.999999947829,0.000140769468915,-0.000286643107162,4.85949675678e-05,1793249878572831744
+64,1.066666667,BASELINE,767,745,718,679,661.873531089,639,880.873531089,785,814,651,630,654.126468911,0.400965299676,0.00450921013589,0.0798334707255,0.999999947939,0.000140674591968,-0.00028631626659,4.85325615321e-05,1793249878589498368
+65,1.083333333,BASELINE,767,745,718,679,661.285145441,639,880.285145441,785,814,651,630,654.714854559,0.40096361474,0.00450874156389,0.0798315936458,0.999999946925,0.0001415145205,-0.000289402174469,4.86915559171e-05,1793249878606164736
+66,1.100000000,BASELINE,767,745,718,679.298384085,661.298384085,639,880,785,814,651.298384085,630,654.701615915,0.400964073489,0.00450922435104,0.0798314669443,0.999999946889,0.000142158087097,-0.000289217944925,4.86490604344e-05,1793249878622831360
+67,1.116666667,BASELINE,767,745,718,679.877347228,661.877347228,639,880,785,814,651.877347228,630,654.122652772,0.400966548007,0.00451060172834,0.0798329861732,0.999999947772,0.000142617008922,-0.000285958711798,4.84170982783e-05,1793249878639497728
+68,1.133333333,BASELINE,767,745,718,680,662,639,880.908768796,785,814,651.545615602,630,654,0.400967012846,0.00450930168883,0.0798332456367,0.999999948296,0.000141040970778,-0.000284885804968,4.85296925579e-05,1793249878656164608
+69,1.150000000,BASELINE,767,745,718,680,662,639,881.938457044,784.969228522,814,651,630,654.030771478,0.400966929539,0.00450739789165,0.0798331484387,0.999999948699,0.000138991528946,-0.00028445047134,4.87015221544e-05,1793249878672831232
+70,1.166666667,BASELINE,767,745,718,680,662,639,880.790359647,784.395179823,814,651,630,654.604820177,0.4009667057,0.00450754054354,0.0798327326344,0.999999948696,0.000138241128273,-0.000284896226554,4.82840406402e-05,1793249878689498112
+71,1.183333333,BASELINE,767.183525282,745,718,679.816474718,662,639,880,784,814,651,630,654.816474718,0.400966724143,0.00450796620746,0.0798326493016,0.999999948645,0.000138415437271,-0.000285042522376,4.79850071182e-05,1793249878706164992
+72,1.200000000,BASELINE,767.772518026,745,718,679.227481974,662,639,880,784,814,651,630,654.227481974,0.400967277864,0.00450901713768,0.0798333005073,0.999999948484,0.000140632732678,-0.000284527214395,4.79476639279e-05,1793249878722831616
+73,1.216666667,BASELINE,767.645088142,745,718.354911858,679,662.354911858,639,880.354911858,784.354911858,814,651.354911858,630,654.354911858,0.40096683011,0.00450893544778,0.0798330104225,0.999999948261,0.000140599181456,-0.000285328320927,4.79359840005e-05,1793249878739498240
+74,1.233333333,BASELINE,767.066846733,745,718.933153267,679,662.933153267,639,880.933153267,784.933153267,814,651.933153267,630,654.933153267,0.400965752175,0.00450814105258,0.0798321280273,0.999999947997,0.000139149276842,-0.000286957786012,4.79404527746e-05,1793249878756165120
+75,1.250000000,BASELINE,767,745.507984329,718.492015671,679,662.492015671,639,881,784.492015671,814,651.492015671,630,655,0.400965905617,0.00450771574349,0.0798319250315,0.999999947914,0.000138987250243,-0.000287251372251,4.83786835811e-05,1793249878772831488
+76,1.266666667,BASELINE,767,745.92075053,718.07924947,679,662,639,881,784,814,651,630,655,0.400966252539,0.00450757689014,0.0798319488837,0.999999947873,0.000139258065601,-0.000287197744709,4.87632570551e-05,1793249878789497856
+77,1.283333333,BASELINE,767,745.368122819,718.631877181,679,662,639,881,784,814,651,630,655,0.400966793717,0.00450886093346,0.0798327972888,0.999999947938,0.000141108795389,-0.000286113161405,4.84886425864e-05,1793249878806164736
+78,1.300000000,BASELINE,767,745,718.793488884,679,662,639,881,784,814,651,630.206511116,654.793488884,0.400966900066,0.00450989039437,0.0798331813817,0.99999994789,0.000142413926398,-0.0002856606055,4.83347210767e-05,1793249878822831616
+79,1.316666667,BASELINE,767,745,718.174948367,679,662,639,881,784,814,651,630.825051633,654.174948367,0.400966138846,0.00451041191428,0.0798326390824,0.999999947624,0.000142630482672,-0.00028646906597,4.84216052695e-05,1793249878839498752
+80,1.333333333,BASELINE,767,745,718.415611402,679,662,639,880.584388598,784,814,651,631,654,0.40096593662,0.00450963131912,0.0798331194223,0.999999947836,0.000141585848759,-0.000286211138049,4.86299022947e-05,1793249878856165376
+81,1.350000000,BASELINE,767,745,718.995135889,679,662,639,880.004864111,784,814,651,631,654,0.400965954856,0.00450833718251,0.0798340030811,0.999999948234,0.00014004381375,-0.000285532637011,4.88860833646e-05,1793249878872831744
+82,1.366666667,BASELINE,766.430619722,745,718.430619722,679.569380278,662.569380278,639,880.569380278,784,814,651,630.430619722,654,0.400965274373,0.00451002451852,0.0798326374067,0.999999947725,0.000141363467242,-0.000286737850283,4.84529449176e-05,1793249878889498624
+83,1.383333333,BASELINE,766.143863048,745,718,680,662.856136952,639,881,784,814,651,630,654,0.400964749347,0.00451096551247,0.0798317885028,0.999999947378,0.000142293433628,-0.000287544688731,4.81105662054e-05,1793249878906164992
+84,1.400000000,BASELINE,766.719194939,745,718,680,662.280805061,639,881,784,814,651,630,654,0.400964708298,0.00450959241744,0.0798325465796,0.99999994755,0.000141982018369,-0.000287108916367,4.80578896874e-05,1793249878922831616
+85,1.416666667,BASELINE,767,745,718,680,662,639,880.695711486,784,814,651,630,654,0.400964998294,0.00450934647721,0.0798329365899,0.999999947516,0.000142752039082,-0.000286815720905,4.82254642822e-05,1793249878939498240
+86,1.433333333,BASELINE,767,745,718,680,662,639,880.101311052,784,814,651,630,654,0.40096560391,0.00451017517848,0.0798329756814,0.999999947285,0.000144553112424,-0.000286658459812,4.86030286439e-05,1793249878956164864
+87,1.450000000,BASELINE,767,745.477889609,718,679.522110391,662,639,880.477889609,784,814,651,630,654,0.400966795096,0.00451098475043,0.079833663318,0.999999947746,0.000144945863847,-0.000284901442343,4.82644791085e-05,1793249878972831488
+88,1.466666667,BASELINE,766.946501121,745.946501121,718.053498879,679,662,639,881,784.053498879,814,651,630,654,0.400967929004,0.00451157243838,0.0798343467845,0.999999948278,0.000144814967069,-0.000283161782502,4.78662531779e-05,1793249878989498368
+89,1.483333333,BASELINE,766.375423567,745.375423567,718.624576433,679,662,639,881,784.624576433,814,651,630,654,0.400967344812,0.00451005151842,0.0798337007575,0.999999948145,0.00014241739789,-0.000284769973998,4.83141427644e-05,1793249879006165504
+90,1.500000000,BASELINE,766.203483074,745,718.796516926,679,662,639,881,784.796516926,814,651,630,654,0.400966601495,0.00450883604945,0.079832887237,0.99999994799,0.000140319303197,-0.000286311154624,4.85353136994e-05,1793249879022832128
+91,1.516666667,BASELINE,766.797412203,745,718.202587797,679,662,639,881,784.202587797,814,651,630,654,0.400965552846,0.00450820668414,0.0798317523276,0.999999947808,0.000138795844451,-0.000287723753711,4.83214537881e-05,1793249879039498496
+92,1.533333333,BASELINE,767,745,718,679.380885501,662,639,881,784,814,651,630,654,0.400966107273,0.00450795524339,0.079832466728,0.999999948141,0.00013815298281,-0.000286873894861,4.83219513879e-05,1793249879056165120
+93,1.550000000,BASELINE,767,745,718,679.958946124,662,639,881,784,814,651,630,654,0.400967491573,0.00450789944489,0.0798341384709,0.999999948739,0.000137965984646,-0.000284852816918,4.84334166166e-05,1793249879072831488
+94,1.566666667,BASELINE,766.464666077,745,718.535333923,679.464666077,662,639,881,784.535333923,814.535333923,651,630,654,0.400966737678,0.00450791447506,0.0798335958225,0.99999994863,0.00013884733028,-0.000284790941697,4.85316901227e-05,1793249879089498368
+95,1.583333333,BASELINE,766.110786495,745,718.889213505,679,662,639,880.889213505,784.889213505,814.889213505,651,630,654,0.400965838529,0.00450783815325,0.0798330625655,0.999999948451,0.000139524783273,-0.000285061690838,4.86825842146e-05,1793249879106164736
+96,1.600000000,BASELINE,766.682877553,745,718.317122447,679,662,639,880.317122447,784.317122447,814.317122447,651,630,654,0.400965015204,0.00450735890364,0.079833273316,0.99999994821,0.000139013162612,-0.000286093786792,4.90567848143e-05,1793249879122831360
+97,1.616666667,BASELINE,767,745,718,679,662,639,880.264616235,784,814,651,630.264616235,654,0.400965223548,0.00450791867974,0.0798333741628,0.999999948113,0.000140058763241,-0.000285923359976,4.90433857024e-05,1793249879139498240
+98,1.633333333,BASELINE,767,745,718,679,662,639,880.858354312,784,814,651,630.858354312,654,0.40096671505,0.00450977076531,0.0798333383144,0.99999994819,0.000143041189656,-0.00028425727086,4.85479015168e-05,1793249879156164864
+99,1.650000000,BASELINE,767,745,718,679.438824378,662.438824378,639,881,784,814,651,630.561175622,654.438824378,0.400967840885,0.00451008160068,0.0798338191086,0.999999948492,0.000142616039253,-0.000283446662625,4.83138094473e-05,1793249879172831488
+100,1.666666667,BASELINE,767,745.015126933,718,680,662.984873067,639,880.984873067,784,814,651,630.015126933,654.984873067,0.400968773724,0.00450989159475,0.0798344412005,0.999999948846,0.000141145384,-0.000282958620388,4.81700867612e-05,1793249879189498112
+101,1.683333333,BASELINE,767,745.59104087,718,680,662.40895913,639,880.40895913,784,814,651,630.59104087,654.40895913,0.400966799065,0.00450903614164,0.0798343006392,0.999999948494,0.000140495048907,-0.000284492271021,4.83404483427e-05,1793249879206164480
+102,1.700000000,BASELINE,767,745.829602703,718,679.829602703,662,639,880,784,814,651,630.829602703,654,0.400965350423,0.00450845323072,0.0798340052445,0.999999948235,0.00014027430053,-0.000285495017151,4.84316691497e-05,1793249879222831104
+103,1.716666667,BASELINE,767,745.241813916,718,679.241813916,662,639,880,784,814,651,630.241813916,654,0.400965190268,0.00450853791733,0.0798333305825,0.999999948208,0.000141105833249,-0.000285197302161,4.83290330677e-05,1793249879239497984
+104,1.733333333,BASELINE,767,745,718.342508005,679.342508005,662,638.657491995,880,784,814,651,630.342508005,654.342508005,0.400966152728,0.00450858692191,0.0798335344707,0.999999948409,0.000141107138661,-0.000284481822328,4.83842108965e-05,1793249879256164608
+105,1.750000000,BASELINE,767,745,718.92440687,679.92440687,662,638.07559313,880,784,814,651,630.92440687,654.92440687,0.400967899823,0.00450861098706,0.0798343524083,0.999999948769,0.000140528169164,-0.000283474351958,4.8549690394e-05,1793249879272831232
+106,1.766666667,BASELINE,767,745,719,679.4995895,662,638.5004105,880.5004105,784,814,651,631,655,0.400968116751,0.0045081459255,0.079834795471,0.999999949162,0.000138676276391,-0.000283032618954,4.8338260096e-05,1793249879289498112
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,719,679,662,639,881,785,814,651,630,655,0.400966367863,0.00451089114874,0.079833077721,0.999999947909,0.000142591883137,-0.000285532844776,4.81801594023e-05,1793249879332985344
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718.407921246,679.592078754,662,639,881,784.407921246,814,651,630,655,0.400966262977,0.00451014574135,0.0798331047036,0.999999948314,0.000140966802963,-0.000284943256127,4.80397482212e-05,1793249879349651968
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718,679.820784603,662,639,880.820784603,784,814.179215397,651,630,654.820784603,0.40096626168,0.00450931309695,0.0798331685141,0.999999948486,0.000140230462824,-0.000284691847634,4.81071306411e-05,1793249879366318336
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718,679.244594955,662,639,880.244594955,784,814.755405045,651,630,654.244594955,0.400966489841,0.00450828721648,0.0798333139011,0.999999948145,0.000141462741783,-0.000285189531002,4.86347899437e-05,1793249879382984960
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.330364656,718,679.330364656,662,639,880.330364656,784,814.669635344,651,630,654.330364656,0.40096661969,0.00450833046312,0.0798334875552,0.999999948218,0.000141390206228,-0.000284983378968,4.85461394345e-05,1793249879399651584
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745.904416919,718,679.904416919,662,639,880.904416919,784,814.095583081,651,630,654.904416919,0.400966677022,0.00450916233239,0.0798336820599,0.999999948597,0.000140355197406,-0.000284258055251,4.80028789352e-05,1793249879416318464
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745.508859888,718,680,662,639,881,784,814.491140112,651,630,654.508859888,0.400967018781,0.00450792024588,0.0798340313814,0.999999948733,0.000139525219979,-0.000284130608554,4.83460285706e-05,1793249879432985088
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745,718,679.920859302,662,639,881,784,814.841718603,651,630,654,0.400967232641,0.00450674192604,0.0798342956701,0.999999948736,0.000138915881635,-0.000284350469507,4.87299893587e-05,1793249879449651968
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745,718,679.340795048,662,639,881,784,813.681590096,651,630,654,0.400966277318,0.00450858961453,0.0798338259847,0.999999948212,0.00013944383519,-0.000286012644892,4.82514521624e-05,1793249879466318592
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,718,679.238285668,662,639,881,784,813.238285668,651,630,654,0.400970338753,0.00450972453429,0.0798356083535,0.999999948802,0.000140551754113,-0.000283440535755,4.79963561515e-05,1793249879482985216
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,679.815965466,662,639,881,784,813.815965466,651,630,654,0.400981545637,0.00450984424584,0.0798405983596,0.999999950926,0.00014248572704,-0.00027483746654,4.80595110729e-05,1793249879499651840
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,881,784,814,651,630.389888676,654,0.401010717174,0.00451019205498,0.0798524321067,0.99999995659,0.000143218827606,-0.000252993237588,4.79946772299e-05,1793249879516318208
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,881,784,814,651,630.962055682,654,0.401048287435,0.00451064650289,0.0798674653976,0.999999963271,0.000143390503875,-0.000224958583072,4.78700068511e-05,1793249879532984832
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718.551749336,679.448250664,662,639,881,784,814,651,630.448250664,654,0.401112037505,0.00451006226446,0.079887074711,0.999999972031,0.000140232732352,-0.000184652339994,4.66439370309e-05,1793249879549651968
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,719,679.139828622,662,639,881,784,814,651,630,654,0.401180248829,0.00450991108694,0.0799051310396,0.999999978278,0.000138051805468,-0.000149462326014,4.52300821686e-05,1793249879566318848
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,719,679.718925822,662,639,881,784,814,651,630,654,0.401256633597,0.00451135212311,0.0799172876562,0.999999980444,0.000139682515146,-0.000133082988042,4.34720601057e-05,1793249879582985472
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,718.704276069,680,662,639,880.704276069,784,814,651.295723931,630,654.295723931,0.401342836275,0.00451237545946,0.0799263829928,0.999999982523,0.000139107989757,-0.000117920269445,4.12142684103e-05,1793249879599652096
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,718.129646334,680,662,639,880.129646334,784,814,651.870353666,630,654.870353666,0.401438298505,0.00451300485093,0.0799325911467,0.999999984552,0.000136453643206,-0.000103904980809,3.84851296054e-05,1793249879616318720
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,718,679.554373403,661.554373403,639,880.445626597,784.445626597,814,651.554373403,630,654.554373403,0.401548073961,0.00451388005228,0.0799371061124,0.999999985614,0.00013403990261,-9.77774692525e-05,3.52914958037e-05,1793249879632985344
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,718,679,661.021646331,639,880.978353669,784.978353669,814,651,630,654,0.40166311356,0.00451480399613,0.0799412310256,0.999999986452,0.000131607727406,-9.35707978053e-05,3.19256500236e-05,1793249879649651968
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,718,679,661.612373065,639,880.387626935,784.387626935,814,651,630,654,0.401806913591,0.00451512657329,0.079948070625,0.999999988418,0.000126847962802,-7.94456939165e-05,2.75902062581e-05,1793249879666318080
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.800785936,745,718,679.199214064,662,639,880,784,814,651,630,654,0.401961251111,0.00451455017036,0.0799543399235,0.999999990193,0.000120534851053,-6.74661016328e-05,2.30900684822e-05,1793249879682984704
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.221361139,745,718,679.778638861,662,639,880,784,814,651,630,654,0.40213569998,0.00451225801563,0.0799595207715,0.999999991869,0.000111257093475,-5.95813350538e-05,1.82756038512e-05,1793249879699651328
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.355043915,745.355043915,718,679.644956085,662,639,880.355043915,784,814,651,630,654.355043915,0.402331098721,0.00449880700233,0.0799636781393,0.999999994645,8.77243217919e-05,-5.28741756399e-05,1.48086920348e-05,1793249879716318208
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.929582169,745.929582169,718,679.070417831,662,639,880.929582169,784,814,651,630,654.929582169,0.402539449055,0.00447845738793,0.0799672027745,0.999999997293,5.53788509238e-05,-4.68950326948e-05,1.21748603791e-05,1793249879732984576
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745.486706192,718,679.513293808,662,639,881,784,814,651,630,654.486706192,0.402750442039,0.00448234236688,0.0799597194171,0.99999999688,4.89153238691e-05,-6.1861900462e-05,4.44524585186e-06,1793249879749651456
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,718,679.901758672,662,639,881,784,814,651,630,654.098241328,0.402971691943,0.00448987338695,0.0799518345573,0.999999995921,4.62959084083e-05,-7.7451393591e-05,-4.08874472788e-06,1793249879766318080
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745,718,679.317036254,662,639,881,784,814,651,630,654.682963746,0.403241905216,0.00449869607768,0.0799495757642,0.999999995578,4.48095065014e-05,-8.16356378702e-05,-1.30811550951e-05,1793249879782984960
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784,814,651,630,655,0.40353864223,0.00450232368755,0.0799513477502,0.999999995943,4.01787119049e-05,-7.7890534054e-05,-2.08207943079e-05,1793249879799651328
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662,639,881,784,814,651,630,655,0.40386679283,0.00449979846191,0.0799578936211,0.99999999703,3.18238310982e-05,-6.4754243989e-05,-2.70767035762e-05,1793249879816317952
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718.411395907,679.411395907,662.411395907,639,881.411395907,784,814,651,630,654.588604093,0.404223817924,0.00451269024591,0.0799614449716,0.999999995086,7.69993709827e-05,-5.79687257805e-05,-2.31902289337e-05,1793249879832984832
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,718.986130303,679.986130303,662.986130303,639,881.986130303,784,814,651,630,654.013869697,0.40459230719,0.00453170311923,0.0799638073931,0.999999988155,0.000143428350314,-5.37046850593e-05,-1.52768747504e-05,1793249879849651712
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,718.421969657,680,663,639,881.421969657,784.578030343,814,651,630,654,0.404999064124,0.00453152522159,0.0799641116116,0.999999996437,6.59090361362e-05,-4.83334338069e-05,-2.10970964543e-05,1793249879866318080
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662.833484747,639,881.166515253,785,814,651,630,654.166515253,0.405416147572,0.00453355280144,0.0799632594667,0.999999998452,1.60591171489e-05,-4.61341442414e-05,-2.6635739594e-05,1793249879882984704
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662.254510683,639,881.745489317,785,814,651,630,654.745489317,0.405856465711,0.00454221887027,0.0799596690794,0.999999997237,4.3563819648e-05,-5.18596365228e-05,-3.06356727261e-05,1793249879899651328
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745.321380062,718,680,662.321380062,639,881.678619938,784.678619938,814,651.321380062,630,655,0.406316695742,0.00455283257484,0.0799523258433,0.999999994619,7.55825524013e-05,-6.43662160652e-05,-3.01130269997e-05,1793249879916317952
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745.894852297,718,680,662.894852297,639,881.105147703,784.105147703,814,651.894852297,630,655,0.406792544811,0.00456497401582,0.0799420388528,0.999999990107,0.000111142116577,-8.2191915882e-05,-2.60428475674e-05,1793249879932984320
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718.480035099,680,663,639.480035099,881.480035099,784.480035099,814,651.519964901,630,655,0.407299017538,0.00457133686031,0.0799357557509,0.999999988049,0.000118157230732,-9.57551682313e-05,-2.77648380037e-05,1793249879949651200
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,718.933102982,680.066897018,663,639.933102982,882.066897018,785,814.066897018,651,630,654.933102982,0.407816839909,0.00457731382078,0.0799296906045,0.999999986335,0.000119929208145,-0.000109592191523,-3.05930151189e-05,1793249879966318080
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,718.353522329,680.646477671,663,639.353522329,882.646477671,785,814.646477671,651,630,654.353522329,0.408368950675,0.00459027646768,0.0799184064778,0.999999982131,0.000130634322066,-0.000132861571624,-3.19323917311e-05,1793249879982984704
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,745.775333858,718,680.775333858,663,639,882.775333858,784.775333858,814.775333858,651,630,654,0.40895635006,0.00460216468614,0.0799196184608,0.999999980705,0.000140578147465,-0.000133092980339,-3.33841992274e-05,1793249879999651328
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.19932259,718,680.19932259,663,639,882.19932259,784.19932259,814.19932259,651,630,654,0.409598935672,0.00461237265419,0.07994037254,0.999999983504,0.000149331427828,-9.72963556473e-05,-3.5011832167e-05,1793249880016317952
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.376768703,745,718.376768703,680.376768703,663,639,882.376768703,784.376768703,814.376768703,651,630,654.376768703,0.410283401379,0.00461749464237,0.0799723050197,0.999999986278,0.000155955808537,-4.23782040333e-05,-3.64186194795e-05,1793249880032984832
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.952902322,745,718.952902322,680.952902322,663,639,882.952902322,784.952902322,814.952902322,651,630,654.952902322,0.41099002767,0.00461992541424,0.0800101524827,0.999999985999,0.000161453693915,2.26579887238e-05,-3.77085474808e-05,1793249880049651456
+151,2.516666667,POSE1_TO_POSE2_PRESS,768,745,719,681,663,639,883.540736869,785,815,651,630.540736869,655,0.411659449792,0.0046122418202,0.0799977104702,0.999999987989,0.000150039773597,-3.88861231275e-06,-3.86660118834e-05,1793249880066318080
+152,2.533333333,POSE1_TO_POSE2_PRESS,768,745.127413511,719,681.127413511,663,639,884,785,814.872586489,651,630.872586489,654.872586489,0.412331997226,0.00460291976785,0.0799763686431,0.999999989003,0.000136473533403,-4.21721288715e-05,-3.98793722272e-05,1793249880082984960
+153,2.550000000,POSE1_TO_POSE2_PRESS,768,745.706296137,719,681.706296137,663,639,884,785,814.293703863,651,630.293703863,654.293703863,0.413027354498,0.00459098265605,0.0799393554519,0.999999987501,0.000120615684238,-9.31539449682e-05,-4.21043329561e-05,1793249880099651584
+154,2.566666667,POSE1_TO_POSE2_PRESS,767.726622178,746,719,682,663,639.273377822,884,784.726622178,814.273377822,651,630,654,0.41376173563,0.00458913541116,0.0799225257314,0.999999986267,0.000115669838678,-0.000110003004851,-4.45576580586e-05,1793249880116318208
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.171694143,746,719,682,663,639.828305857,884,784.171694143,814.828305857,651,630,654,0.414536307288,0.00459767965951,0.0799264828445,0.999999987242,0.000121962199859,-9.16989459286e-05,-4.72461746416e-05,1793249880132984832
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,745.586404078,718.586404078,682,663,640,884,784.413595922,815,651,630,654.413595922,0.415328309718,0.00460352124035,0.0799453724026,0.999999988939,0.000127445164068,-6.12599741821e-05,-4.61183721781e-05,1793249880149651456
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,745,718.012279417,682.012279417,663,640,884,785,815,651,630,654.987720583,0.416127799092,0.00460811186781,0.0799700694974,0.999999989896,0.000132674178196,-2.68844798397e-05,-4.33798477409e-05,1793249880166318336
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,745,718.601142347,682.601142347,663,640,884,785,815,651,630,654.398857653,0.416912157712,0.00461081863646,0.0799533329655,0.999999986768,0.000143005894106,-6.29459435636e-05,-4.52918774625e-05,1793249880182984704
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.186857876,718.813142124,683,663,640,884.373715752,785,815,651,630,654.186857876,0.417731834629,0.00461286713534,0.079949254911,0.999999985552,0.000147762494257,-6.93757051175e-05,-4.74192435951e-05,1793249880199651328
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.765966369,718.234033631,683,663,640,885.531932739,785,815,651,630,654.765966369,0.418625651398,0.0046135337992,0.0799717494357,0.999999988743,0.000140815853652,-1.36028228655e-05,-4.99986421687e-05,1793249880216317952
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,718.343041918,683,663.343041918,640,886,785,815,651,630,655,0.419500837656,0.00460951063558,0.0799848734273,0.99999998981,0.000132223224254,1.6355161351e-05,-5.12709524079e-05,1793249880232984576
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,746,718.918738677,683,663.918738677,640,886,785,815,651,630,655,0.420363388459,0.0046023067788,0.0799916422182,0.999999990746,0.00012251426743,2.88051925404e-05,-5.16567807728e-05,1793249880249651456
+163,2.716666667,POSE1_TO_POSE2_PRESS,767.498448932,745.501551068,718.501551068,683,664,640,886.498448932,785,815,651,630,654.501551068,0.42122286627,0.00460102584652,0.0799782234573,0.999999991064,0.000123195455011,6.02897751765e-06,-5.15701500667e-05,1793249880266318336
+164,2.733333333,POSE1_TO_POSE2_PRESS,767.920671771,745.079328229,718,683.079328229,663.920671771,640,886.920671771,785,815,651,630,654,0.42209147487,0.00460089082067,0.0799678104174,0.999999990722,0.000125570936873,-1.27670990487e-05,-5.12291654812e-05,1793249880282985216
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.336551149,745.663448851,718,683.663448851,663.336551149,640,886.336551149,785,815,651,630,654,0.42302139921,0.00460185323868,0.0799976364677,0.999999990119,0.000127861505644,3.0604323237e-05,-4.97637511104e-05,1793249880299651584
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718.244736948,684,663.244736948,640,886.244736948,785.244736948,815,651,629.755263052,654.244736948,0.423922709663,0.00460294239899,0.0800082529676,0.99999998993,0.00012759730486,3.84304162877e-05,-4.88061458061e-05,1793249880316318464
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,746,718.822174531,684,663.822174531,640,886.822174531,785.822174531,815,651,629.177825469,654.822174531,0.42478512192,0.00460420385562,0.0799927555984,0.999999991149,0.000123860096204,-2.06456433312e-06,-4.85388668294e-05,1793249880332985600
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718.600982793,684.798034414,663.600982793,640,887,785.600982793,815.399017207,651,629.399017207,655,0.425656043108,0.00460568938446,0.0799606817372,0.999999989475,0.000126232675914,-5.19490475862e-05,-4.91674842022e-05,1793249880349652224
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718.024404883,685.951190233,663.024404883,640,887,785.024404883,815.975595117,651,629.975595117,655,0.426530750677,0.00460727462426,0.079921231419,0.999999984498,0.0001313240815,-0.000106011810988,-5.01947709804e-05,1793249880366318848
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.561356067,746,718.561356067,686,663.561356067,640,887.561356067,785,816,651,630,655,0.427439611374,0.00460496583914,0.0799149154926,0.99999998506,0.000126903218449,-0.000105397147244,-5.16345747119e-05,1793249880382985216
+171,2.850000000,POSE1_TO_POSE2_PRESS,767.853408477,746,718.853408477,685.853408477,664,640,888,785,816,651,629.853408477,655,0.428347809202,0.00460243321,0.0799148363587,0.999999985816,0.000123215654528,-0.000102340487204,-5.20713801253e-05,1793249880399651840
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.270942369,746,718.270942369,685.270942369,664,640,888,785,816,651,629.270942369,655,0.429249547684,0.00459974674841,0.079928947227,0.999999986296,0.000122958560777,-9.92083942825e-05,-4.94716626222e-05,1793249880416318464
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,718.307629962,685.307629962,664,640,888,785,816,651,629.307629962,655,0.430173408608,0.00459964350635,0.0799588625153,0.99999998951,0.000122117860582,-6.08843252507e-05,-4.85864603209e-05,1793249880432985344
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,718.882815717,685.882815717,664,640,888,785,816,651,629.882815717,655,0.431116510092,0.00460178697458,0.0800025234214,0.999999991465,0.000120769578432,8.04735125159e-06,-4.91924276694e-05,1793249880449652224
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,719,685.532967683,664.467032317,640,888.467032317,785,816,651.467032317,630,654.532967683,0.432000124114,0.00460465930897,0.0800233015415,0.999999990483,0.000121640587721,4.24620590096e-05,-4.93373430188e-05,1793249880466318848
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,719,685.052877133,664.947122867,640,889.052877133,785.052877133,816.052877133,651.947122867,630,654.052877133,0.432863176104,0.00460781018312,0.0800299561361,0.999999989666,0.00012309984502,5.53272367502e-05,-4.95223130328e-05,1793249880482985472
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,719,685.631930834,664.368069166,640,889.631930834,785.631930834,816.631930834,651.368069166,630,654.631930834,0.433673073892,0.00461187705792,0.0799543291333,0.999999989199,0.00012476229789,-5.83636774122e-05,-5.12797228919e-05,1793249880499652352
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718.789297521,686,664,640,889.789297521,785.789297521,816.789297521,651,630,655,0.434503326119,0.00461422175473,0.0799089756944,0.999999983034,0.000126309068618,-0.000123261285093,-5.27782660251e-05,1793249880516318976
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718.211017838,686,664,640,889.211017838,785.211017838,816.211017838,651,630,655,0.435369087451,0.00461356205766,0.079916435442,0.999999985095,0.000127654030697,-0.000103037430839,-5.38252091094e-05,1793249880532985600
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.366100114,746,718.366100114,686.366100114,664,640,889,785,816.366100114,651,630,655,0.436222430008,0.00460952910578,0.0799453947015,0.999999989463,0.000118477296058,-6.41316616797e-05,-5.40702298607e-05,1793249880549651968
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.942550534,746,718.942550534,686.942550534,664,640,889,785,816.942550534,651,630,655,0.437068637053,0.00460355798142,0.0799867069447,0.999999993114,0.000103255105111,-1.4491817399e-05,-5.38544895652e-05,1793249880566318336
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,718.473151213,686.473151213,664,640,889.526848787,785,817,651,630,655,0.437867217826,0.0046000115357,0.0800038315412,0.999999992916,0.000106305879696,1.30245790768e-05,-5.19428431122e-05,1793249880582985216
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,718,686.111508025,663.888491975,640,890,785.111508025,816.888491975,651.111508025,630,655,0.438655471364,0.00459883619048,0.0800120467394,0.999999992216,0.000110806804695,2.70276636428e-05,-5.05906716482e-05,1793249880599652096
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,718,686.694022686,663.305977314,640,890,785.694022686,816.305977314,651.694022686,630,655,0.43942237115,0.00460654261817,0.079993938112,0.999999992239,0.000112889387384,-5.705014441e-06,-5.2394646727e-05,1793249880616318720
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.727820258,746,718,686.727820258,663.272179742,639.727820258,890.272179742,785.727820258,816.272179742,652,630.272179742,655,0.440118952918,0.00461657710981,0.0799450092331,0.999999987959,0.000120345208652,-8.22868101708e-05,-5.31695634581e-05,1793249880632985344
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+187,3.116666667,POSE1_TO_POSE2_PRESS,767.420930587,746,718.420930587,686.420930587,663.579069413,639.420930587,891,785,817.420930587,652,630.579069413,655,0.441354585997,0.00463974972887,0.0797888557071,0.999999937995,0.000144848056543,-0.000316211767294,-5.5135310003e-05,1793249880666318848
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+190,3.166666667,POSE1_TO_POSE2_PRESS,768,746,718.177828741,687.822171259,663,639,891,785,817.177828741,651.822171259,630,655,0.44334755226,0.00466433900214,0.0798035208361,0.999999941992,0.000179164854656,-0.000283855078646,-5.78145248164e-05,1793249880716318208
+191,3.183333333,POSE1_TO_POSE2_PRESS,768,746,718.756523273,687.243476727,663,639,891,785,817.756523273,651.243476727,630,655,0.444010332894,0.00467247688858,0.0798475747631,0.999999955727,0.000186350674301,-0.000224977379658,-5.66073351048e-05,1793249880732984832
+192,3.200000000,POSE1_TO_POSE2_PRESS,768,746,718.667771877,687.332228123,662.667771877,639,891.332228123,785,817.667771877,651.332228123,630.332228123,655,0.444606316,0.00468272617412,0.0798584096509,0.999999956377,0.000197501600415,-0.000212012875374,-5.73496230856e-05,1793249880749651712
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,746,718.09423854,687.90576146,662.09423854,639,891.90576146,785,817.09423854,651.90576146,630.90576146,655,0.445153782429,0.00469450901874,0.0798451167551,0.999999948852,0.000211532477799,-0.000232396223896,-5.95078633842e-05,1793249880766318592
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+196,3.266666667,POSE1_TO_POSE2_PRESS,768,746,718.350210507,687.649789493,662,639,891.649789493,785,817,651.649789493,630,655,0.446619664887,0.00472276465396,0.0797709996307,0.999999911869,0.000236537515341,-0.000341051456911,-6.32089791385e-05,1793249880816318464
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,746,718,688,661.763690376,639,892,785,817,652,630,655,0.447076385354,0.00472433702805,0.0797526007362,0.999999904774,0.000236535779943,-0.000361032423563,-6.44895377465e-05,1793249880832985088
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,746,718,688,661.188946011,639,892,785,817,652,630,655,0.447524066276,0.004727016132,0.0797396665049,0.999999898138,0.000245559141893,-0.000373146122994,-6.47024022468e-05,1793249880849651712
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,746,718,688,661,638.613474506,892,784.613474506,817,651.613474506,630.386525494,655,0.447920473102,0.00472918419332,0.0797231307118,0.999999887297,0.000249753716742,-0.000398454098254,-6.5288890532e-05,1793249880866318080
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+237,3.950000000,POSE1_TO_POSE2_PRESS,767.430902549,746,718,688,658,637,893,784,817,652,630.569097451,655,0.451823008449,0.00470566514904,0.0795947729219,0.999999790598,0.000211671051143,-0.000608653961485,-5.94982535847e-05,1793249881499651840
+238,3.966666667,POSE1_TO_POSE2_PRESS,768,746,718,688.006140466,658,637,892.993859534,784,817.006140466,652,630,655,0.451823706025,0.00470637282535,0.0795949264199,0.999999789829,0.000213981417208,-0.000609132679107,-5.92587603702e-05,1793249881516318976
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,746,718,688.596850507,658,637,892.403149493,784,817.596850507,652,630,655,0.451822802012,0.00470396068784,0.0795941002648,0.999999790177,0.00020857651156,-0.00061042119201,-5.93928505374e-05,1793249881532985600
+240,4.000000000,POSE1_TO_POSE2_PRESS,768,746,717.816055747,689,658,637,892,784,817.816055747,652,630,655,0.451822401283,0.00470242146917,0.0795938430172,0.999999790582,0.000205414852034,-0.000610841203485,-5.926940587e-05,1793249881549651968
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,746,717.236735029,689,658,637,892,784,817.236735029,652,630,655,0.451823082329,0.00470275853413,0.0795948086001,0.999999791163,0.000207074907604,-0.000609394426373,-5.85924064624e-05,1793249881566318336
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,745.65982601,717.34017399,688.65982601,658,637,892,784,817,652,630,655,0.451823198811,0.00470396283665,0.0795950089254,0.999999790711,0.000210128480179,-0.000609117176618,-5.83097608215e-05,1793249881582984960
+243,4.050000000,POSE1_TO_POSE2_PRESS,768,745.084583557,717.915416443,688.084583557,658,637,892,784,817,652,630,655,0.451822925165,0.00470576642132,0.0795946804393,0.999999789536,0.000214145006673,-0.000609648098634,-5.82996232093e-05,1793249881599651840
+244,4.066666667,HOLD_POSE2,768,746,718,688,658,637,892,785,818,652,630,655,0.451822263406,0.00470560929367,0.0795931253231,0.999999789216,0.000211114056778,-0.000611111885566,-5.95113825217e-05,1793249881631065600
+245,4.083333333,HOLD_POSE2,768,746,718,688,657.407156473,636.407156473,892,784.407156473,817.407156473,652,630,655,0.451822708856,0.00470441584437,0.0795924857646,0.999999789105,0.000209488656089,-0.000611905135861,-5.8956332802e-05,1793249881647732224
+246,4.100000000,HOLD_POSE2,768,746,718,688.180579707,657.180579707,636.180579707,892,784.180579707,817,652,630,655,0.451823241088,0.00470400603033,0.0795924496437,0.999999789296,0.000208368571079,-0.000611998517852,-5.87304134342e-05,1793249881664398848
+247,4.116666667,HOLD_POSE2,768,746,718,688.757117103,657.757117103,636.757117103,892,784.757117103,817,652,630,655,0.451823963611,0.00470531449557,0.0795937366825,0.99999979015,0.000208356493023,-0.000610557296576,-5.92261791126e-05,1793249881681065728
+248,4.133333333,HOLD_POSE2,768,746,718,688.668559479,658,637,892.331440521,784.668559479,817,652,630.331440521,655,0.451824564317,0.00470508257562,0.0795941345824,0.999999790286,0.000208607325501,-0.000610268375051,-5.90178986219e-05,1793249881697732352
+249,4.150000000,HOLD_POSE2,768,746,718,688.095847755,658,637,892.904152245,784.095847755,817,652,630.904152245,655,0.451825076346,0.0047037293365,0.0795938852361,0.9999997899,0.000209049542969,-0.000610818267002,-5.82971096561e-05,1793249881714398720
+250,4.166666667,HOLD_POSE2,768,746,717.507113665,688,657.507113665,637,892.01422733,784,817,652,630.507113665,655,0.451825115217,0.0047030424032,0.0795937537189,0.999999790604,0.000207211882074,-0.000610317567747,-5.80276782208e-05,1793249881731065088
+251,4.183333333,HOLD_POSE2,768,745.916974899,717.083025101,688.083025101,657.083025101,637,891.083025101,784.083025101,817,651.916974899,630,655,0.451824927521,0.00470274290781,0.0795936060579,0.999999791177,0.000205650468449,-0.000609915044082,-5.79373324145e-05,1793249881747731456
+252,4.200000000,HOLD_POSE2,768,745.337689318,717.662310682,688.662310682,657.662310682,637,891.662310682,784.662310682,817,651.337689318,630,655,0.451823954037,0.00470395871963,0.0795932203416,0.999999789683,0.000208479295861,-0.000611361519458,-5.83751623215e-05,1793249881764398080
+253,4.216666667,HOLD_POSE2,768,745.239308347,718,688.760691653,658,637,892.239308347,784.760691653,817.239308347,651.239308347,630,655,0.451823406276,0.00470496138103,0.0795927046437,0.999999788717,0.000209743363499,-0.000612482464621,-5.86481917446e-05,1793249881781064960
+254,4.233333333,HOLD_POSE2,768,745.813108048,718,688.186891952,658,637,892.813108048,784.186891952,817.813108048,651.813108048,630,655,0.451823453568,0.00470566611301,0.0795920072649,0.999999788499,0.000208820300285,-0.000613148402383,-5.86908725569e-05,1793249881797732352
+255,4.250000000,HOLD_POSE2,768,746,718,688,658,637,892.614673608,784,817.614673608,652,630,655,0.451823663965,0.00470484350696,0.0795918572573,0.999999788591,0.00020870639213,-0.000613064672857,-5.84082687219e-05,1793249881814398976
+256,4.266666667,HOLD_POSE2,768,746,718,688,658,637,892.043219071,784,817.043219071,652,630,655,0.451823953149,0.00470328313526,0.0795919716518,0.999999788832,0.00020898333833,-0.00061261882394,-5.79685393235e-05,1793249881831065856
+257,4.283333333,HOLD_POSE2,768,746,717.449298814,688,658,637,892,784,817.550701186,652,630,655,0.451823853503,0.00470315185098,0.0795922359624,0.999999788818,0.000208006717904,-0.000612967608522,-5.80315808486e-05,1793249881847732224
+258,4.300000000,HOLD_POSE2,767.858006414,746,717.141993586,688,658,637,892,784,817.858006414,652,630.141993586,655,0.451823762303,0.00470300544426,0.0795926156143,0.999999788887,0.000207163026927,-0.000613130816551,-5.81347734067e-05,1793249881864398336
+259,4.316666667,HOLD_POSE2,767.280414222,746,717.719585778,688,658,637,892,784,817.280414222,652,630.719585778,655,0.451823794608,0.00470245395168,0.0795933114746,0.999999789278,0.000207041767287,-0.000612525275826,-5.82349455441e-05,1793249881881064960
+260,4.333333333,POSE2_TO_POSE3_RETREAT,768,746,718,688,658,637,892,784,817,652,630,655,0.451823949482,0.00470403154538,0.0795931157929,0.999999789195,0.000207789120845,-0.000612373719795,-5.85795299974e-05,1793249881918466816
+261,4.350000000,POSE2_TO_POSE3_RETREAT,768,746,718,688,658,637,892,784,817,652,630,655,0.451824479343,0.00470307846712,0.0795930891312,0.999999789691,0.000206406982726,-0.000612015770315,-5.87380262211e-05,1793249881935133952
+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,746,718.182931575,688,658,637,892,784.182931575,817,652,630,655,0.451824989093,0.00470265274597,0.0795931169534,0.999999789982,0.000206342184932,-0.000611562939289,-5.87348621316e-05,1793249881951800832
+263,4.383333333,POSE2_TO_POSE3_RETREAT,768,746,718.760253947,688,658,637,892,784.760253947,817,652,630,655,0.451825455482,0.00470336397868,0.07959326224,0.999999789828,0.000209117502909,-0.000610905548605,-5.83831669915e-05,1793249881968467200
+264,4.400000000,POSE2_TO_POSE3_RETREAT,768,746,718.34688717,688,658,637,892,784.673443585,817,652,630,655,0.451825702437,0.0047042615006,0.0795932475134,0.999999789708,0.00020938221679,-0.000611011203952,-5.83757345675e-05,1793249881985133568
+265,4.416666667,POSE2_TO_POSE3_RETREAT,768,746,717.229934927,688,658,637,892,784.114967463,817,652,630,655,0.451825793549,0.0047052913247,0.0795931191459,0.999999789615,0.000207863904547,-0.000611658773088,-5.86127968501e-05,1793249882001800448
+266,4.433333333,POSE2_TO_POSE3_RETREAT,768,746,717.474101711,688.474101711,658,637,892,784,817,652,630,655,0.451826401148,0.00470436706288,0.0795936863113,0.999999790443,0.00020748859151,-0.000610445508519,-5.8466284214e-05,1793249882018467072
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,745.929796313,718,688.929796313,657.929796313,637,892,784,817.070203687,652,630,655,0.451826830894,0.00470302946272,0.0795941924554,0.99999979126,0.000207350707935,-0.000609181625879,-5.81714174041e-05,1793249882035133696
+268,4.466666667,POSE2_TO_POSE3_RETREAT,768,745.340333441,718,688.340333441,657.340333441,637,892,784,817.659666559,652,630,655,0.451824954886,0.00470238124917,0.0795929136921,0.999999790239,0.000206777455399,-0.000611111182616,-5.75146940903e-05,1793249882051800320
+269,4.483333333,POSE2_TO_POSE3_RETREAT,768,745.245683421,718,688.245683421,657,636.754316579,892,784,817.754316579,652,630,655,0.451819189056,0.00470203626769,0.0795895404897,0.999999787218,0.000206370092452,-0.000616192730467,-5.72871857869e-05,1793249882068466944
+270,4.500000000,POSE2_TO_POSE3_RETREAT,768,745.826992674,718,688.826992674,657,636.173007326,892,784,817.173007326,652,630,655,0.451808109378,0.00470210552878,0.0795833060938,0.999999781406,0.00020618934976,-0.000625580183796,-5.76460241575e-05,1793249882085133312
+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,746,718,688.599687598,657.400312402,636.400312402,892,784,817,652,630,655,0.451781198218,0.00470235132725,0.0795705832878,0.99999976826,0.00020706671826,-0.000645964243878,-5.77419744344e-05,1793249882101800192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,688.029753175,657.970246825,636.970246825,892,784,817,652,630,655,0.451747578876,0.00470267192887,0.0795551111855,0.999999751494,0.000208392433877,-0.000671007831995,-5.77265326851e-05,1793249882118467328
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,688.547423898,657.452576102,637,892,784.547423898,817,652,630,655,0.451682011507,0.00470200041931,0.0795319868852,0.999999721643,0.000207380346015,-0.000714477853252,-5.682972306e-05,1793249882135133952
+274,4.566666667,POSE2_TO_POSE3_RETREAT,768,746,718,688.871299425,657.128700575,637,892,785,817,652,630,655,0.451614163909,0.00470172073545,0.0795106889782,0.999999693553,0.000207211633327,-0.000752879275782,-5.59476130464e-05,1793249882151800320
+275,4.583333333,POSE2_TO_POSE3_RETREAT,768,746,718,688.276623859,657.723376141,637,892,785,817,652,630,655,0.451544431642,0.00470305755074,0.0794975297553,0.999999680427,0.000210562669303,-0.000769254619498,-5.52944900218e-05,1793249882168466688
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,746,718,688,658,637,892,785,817,652,630,655,0.451466480819,0.00470297061866,0.079490757803,0.999999673258,0.000212842905845,-0.000778014029835,-5.36319322692e-05,1793249882185133568
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,746,718,688,658,637,892,785,817,652,630,655,0.451381381952,0.00470164538959,0.0794895411471,0.999999671439,0.000214191819962,-0.000780149520709,-5.10914239387e-05,1793249882201800192
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767.540857494,746,718,688,658,637,892,784.540857494,817,652,630,655,0.451289590088,0.0047004611952,0.0794984701679,0.999999680849,0.000215681260583,-0.000767747040854,-4.84526603018e-05,1793249882218466816
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767.034120337,746,718,688,658,637,892,784,817,652,630,655,0.451194668016,0.00469937127126,0.0795099069132,0.999999692858,0.000217367806729,-0.000751627140876,-4.57308277562e-05,1793249882235133184
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.603958483,746,718,688,658,637,892,784,817,652,630,655,0.451077185647,0.00469920123995,0.0795204153714,0.999999704531,0.000221590862156,-0.000734889800878,-4.20950430353e-05,1793249882251799808
+281,4.683333333,POSE2_TO_POSE3_RETREAT,768,746,718,687.817499922,658,637,892,784,817,652,630,655,0.450946798703,0.00469853494294,0.0795286032457,0.999999713515,0.000224744343851,-0.000721801631139,-3.82457638367e-05,1793249882268466688
+282,4.700000000,POSE2_TO_POSE3_RETREAT,768,746,718,687.219125307,658,637,892,784,817,652,630,655,0.450787005298,0.00469673777373,0.0795315030568,0.999999716943,0.000225460519376,-0.000717029060559,-3.39099817085e-05,1793249882285133312
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.636374433,746,717.636374433,687.363625567,658,637,891.636374433,784,817,652,630,655,0.450602891922,0.00469471582258,0.0795333855665,0.999999720033,0.000228543109096,-0.000711933507721,-2.92132197427e-05,1793249882301799936
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.062650699,746,717.062650699,687.937349301,658,637,891.062650699,784,817,652,630,655,0.450404726764,0.00469256399514,0.0795346802929,0.999999722884,0.000232992982496,-0.000706651339416,-2.43078878674e-05,1793249882318466816
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767,746,717.509438079,688,658,637,891.509438079,784,817,652,630,655,0.450171493003,0.00469228621451,0.079533425132,0.999999719338,0.000238747269895,-0.000709921203797,-1.8322909189e-05,1793249882335133440
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.084962181,746.084962181,718,688,658.084962181,637,892,784,817,652,630,655,0.449929612504,0.00469213129558,0.0795326905844,0.999999716022,0.000244967538007,-0.000712601344027,-1.2086900948e-05,1793249882351800064
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767.682417402,746.682417402,718,688,658.682417402,637,892,784,817,652,630,655,0.449661505926,0.00469133172741,0.0795369818816,0.999999719179,0.000253034069653,-0.000705400513177,-5.13501470082e-06,1793249882368466688
+288,4.800000000,POSE2_TO_POSE3_RETREAT,767.731852826,746.731852826,718,688,659,637,891.731852826,784,817,652,630,655,0.449374410127,0.00469026101241,0.0795386088567,0.999999718411,0.000263106393372,-0.000702814722955,1.95950545242e-06,1793249882385133568
+289,4.816666667,POSE2_TO_POSE3_RETREAT,767.159428423,746.159428423,718,688,659,637,891.159428423,784,817,652,630,655,0.449065766521,0.00468888261637,0.0795372125199,0.999999713179,0.000275454768396,-0.000705465802736,9.21587753639e-06,1793249882401800448
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,746,718,687.569492497,659.569492497,637.430507503,891.430507503,784,817,652,630,655,0.447959617643,0.00471258465967,0.0795409181327,0.99999970482,0.000296944338645,-0.000708528352217,1.30949690796e-05,1793249882451800320
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.255051457,746,718,688,660,637,891,784,817,652,630,655,0.447155637819,0.00471319196082,0.0795556929439,0.999999736176,0.000255146926814,-0.000680090402623,5.07772094706e-06,1793249882485133312
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,746,718,688,660,637.328176752,891,784,817,652,630,655,0.446725356931,0.00470278551781,0.07957774815,0.999999763348,0.000232698880378,-0.000647385106091,6.94141183137e-06,1793249882501799936
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,746,718,688,660,637.90465187,891,784,817,652,630,655,0.446277397757,0.0046931044072,0.0796075895115,0.999999791487,0.000222026991296,-0.000606266054156,1.30886153979e-05,1793249882518466816
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.479501123,746,718,687.520498877,660,638,891,784.479501123,817,651.520498877,630,655,0.445767663854,0.00469167974843,0.0796323519854,0.999999812143,0.000211974421816,-0.000574921567461,1.56991437617e-05,1793249882535133440
+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,746,718,687,660,638,891,785,816.944500126,651.055499874,630,655,0.445242794146,0.00469074666814,0.0796548180531,0.999999828084,0.000210462588798,-0.000547017081272,1.75908149798e-05,1793249882551800064
+299,4.983333333,POSE2_TO_POSE3_RETREAT,768,746,718,687,660,638,891,785,816.354322789,651.645677211,630,655,0.444690048576,0.00467878613033,0.0796648575356,0.99999981539,0.000290048516354,-0.000533591387452,1.93093600221e-05,1793249882568467200
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767.769124457,746,718,686.769124457,660.461751085,638,891,785,816.230875543,652,630,655,0.444116742511,0.00467024948484,0.0796707980583,0.999999806933,0.000328083799501,-0.000527300192377,2.121294118e-05,1793249882585133824
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.191406088,746,718,686.191406088,661.617187825,638,891,785,816.808593912,652,630,655,0.443512548581,0.00466685653126,0.0796705807397,0.999999812243,0.000303697816948,-0.000531727113155,2.33945009328e-05,1793249882601800192
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767,746,718,686,662,638.385575011,890.614424989,785,817,652,630,655,0.442898215913,0.00466064973326,0.0796781248623,0.99999982927,0.00027445734011,-0.000515282767507,2.48248473223e-05,1793249882618466816
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767,746,718,686,662,638.962190796,890.037809204,785,817,652,630,655,0.442278859823,0.00465304876041,0.0796895145446,0.999999850871,0.000242811608334,-0.000488497338824,2.58829900792e-05,1793249882635133440
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,686.536380703,662,639,890,785,817,652,630,655,0.441605191942,0.0046398098451,0.0797064180098,0.999999871856,0.000209697458935,-0.000460031438458,2.62012877036e-05,1793249882651799808
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,718,686.886219441,662.113780559,639,890,785,817,651.886219441,630,654.886219441,0.440914679629,0.00462788223065,0.0797144376294,0.999999882866,0.000185845981536,-0.000446110048615,2.6751218382e-05,1793249882668466688
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,686.294624901,662.705375099,639,890,785,817,651.294624901,630,654.294624901,0.440169435192,0.00462312274883,0.0796835252986,0.999999857427,0.000201325214615,-0.000493762591871,2.8491896871e-05,1793249882685133312
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767,746,718,686.289928122,663,639,889.710071878,785,817,651,630,654,0.439424565977,0.00461447409759,0.0796655020163,0.999999845696,0.000197699089981,-0.000518322126409,2.9408219135e-05,1793249882701800192
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,746,718,686.867495293,663,639,889.132504707,785,817,651,630,654,0.438680068933,0.00460196698254,0.0796602660159,0.999999849047,0.000175118452479,-0.000519970985085,2.95066939714e-05,1793249882718466816
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767.442796729,746,718,686.557203271,663,639,889,785,817,651.442796729,630,654,0.437965213443,0.00459161399746,0.079720423308,0.999999893499,0.000162713193734,-0.000430702907854,3.19727054682e-05,1793249882735133440
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767.982296525,746,718,685.982296525,663,639,888.982296525,785.017703475,817,652,630,654,0.437257443238,0.00458197700844,0.0797990622896,0.999999937748,0.00015367719251,-0.000315674958459,3.51545558567e-05,1793249882751800064
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767.398438479,746,718,685.398438479,663,639,888.398438479,785.601561521,817,652,630,654,0.436494037991,0.00457472777755,0.079846127532,0.999999957762,0.000155508868752,-0.000242478607359,3.8687310644e-05,1793249882768466688
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,745.814160092,718,685.185839908,663,639,888,785.814160092,816.814160092,651.814160092,629.814160092,654,0.435692071317,0.00456616714844,0.0798689787855,0.999999965626,0.000152575615942,-0.000209288193262,4.08291518043e-05,1793249882785133568
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,745.228978491,718,685.771021509,663,639,888,785.228978491,816.228978491,651.228978491,629.228978491,654,0.434807242047,0.0045547885245,0.0798397978578,0.999999955145,0.000139403256571,-0.00026206445808,3.99821312626e-05,1793249882801800192
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,745.350171059,718,685.649828941,663,639,887.649828941,785,816.350171059,651.350171059,629.350171059,654,0.433920341115,0.00454513654931,0.0798061868564,0.999999941238,0.000133389196177,-0.000313111794833,4.11460582976e-05,1793249882818466816
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,745.925442998,718,685.074557002,663,639,887.074557002,785,816.925442998,651.925442998,629.925442998,654,0.43303210849,0.00453659451822,0.0797697280666,0.999999924439,0.000131976714057,-0.000363047720416,4.36026851611e-05,1793249882835133696
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,718,685,663,639,886.512549504,785,817,652,629.512549504,654.487450496,0.432110360315,0.00452794468693,0.0797281205043,0.999999893037,0.000120841516427,-0.000444170717287,4.51131942138e-05,1793249882851800320
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767.051717601,746,718,685,662.948282399,639,886,785,816.948282399,651.948282399,629,654.948282399,0.431188909542,0.00451874035255,0.0796927079983,0.999999859646,0.000108339540928,-0.000516539196192,4.64506471127e-05,1793249882868466944
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.661695251,746,718,685,662.338304749,639,886,785,816.338304749,651.338304749,629,654.338304749,0.430324539158,0.00450372376788,0.0797324429957,0.999999895505,9.67113361757e-05,-0.000444281064099,4.74407581797e-05,1793249882885133568
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.742418919,746.257581081,718,685,662,639,885.742418919,785,816,651,629.257581081,654,0.42947805205,0.00449231302543,0.0797851320027,0.999999931935,8.60633641198e-05,-0.000355491724946,4.84557699631e-05,1793249882901799936
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767.164081063,746.835918937,718,685,662,639,885.164081063,785,816,651,629.835918937,654,0.428653834246,0.00448539251108,0.0798539521933,0.999999965552,7.66360399577e-05,-0.000246116636866,4.95017897038e-05,1793249882918466816
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746.590619342,718,685,662.409380658,639,884.590619342,785.409380658,816,651,630,654,0.427758976147,0.00447449208843,0.0798500760658,0.999999964859,7.08592734479e-05,-0.000250352336002,5.08446794385e-05,1793249882935133696
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746.019089022,718,685,662.980910978,639,884.019089022,785.980910978,816,651,630,654,0.426836138515,0.00446201528302,0.0798174059909,0.999999951543,6.65284398143e-05,-0.000299587604981,5.23051549987e-05,1793249882951800320
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,684.444908602,663,639,884,786,816,651,630,654,0.42589438767,0.00445020263114,0.0797733788168,0.999999930958,5.12731930457e-05,-0.000364421110353,5.15051532176e-05,1793249882968466944
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639.134054493,884.134054493,785.865945507,815.865945507,651,630,654,0.424947152156,0.00444010086831,0.079735527818,0.99999990912,3.86169674809e-05,-0.000421450473158,5.14551448824e-05,1793249882985134080
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639.729151272,884.729151272,785.270848728,815.270848728,651,630,654,0.423983301349,0.00443580429523,0.0797202676789,0.999999896719,3.61975774861e-05,-0.000449786039376,5.42531579047e-05,1793249883001800704
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,746,718,683.684997517,663,639.684997517,884.369995034,785,815.315002483,651,630,654,0.423079014225,0.00444940875763,0.0797236872019,0.999999899618,5.27024439707e-05,-0.000441649700361,5.41531024712e-05,1793249883018467328
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,683.10686928,663,639.10686928,883.213738561,785,815.89313072,651,630,654,0.422224481485,0.00447796619272,0.0797427100954,0.999999913829,8.50149930503e-05,-0.000403047892874,5.16322517811e-05,1793249883035133696
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,683,663,639,883.469282343,785,816,651,630,654.469282343,0.421420217571,0.00449377786449,0.0797973080571,0.999999945677,0.000102725384846,-0.000308995147498,5.11473006312e-05,1793249883051800320
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,746,718,683,662.954059609,639,884,785,816,651,630,654.954059609,0.420620575985,0.00450459338259,0.0798545356104,0.999999969663,0.000114860138213,-0.000211798031141,5.1210991125e-05,1793249883068466944
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,746,718,683,662.366139387,639,884,785,816,651,630,654.366139387,0.419740979749,0.00449056644075,0.0798476096069,0.999999968098,0.000100282511226,-0.000225856500241,5.23005065962e-05,1793249883085133824
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.781521815,746,718,683,662,639,883.781521815,785,816,651,629.781521815,654,0.4188547776,0.0044787108499,0.0798271265539,0.999999960421,8.72291310342e-05,-0.000262301914391,5.24076101028e-05,1793249883101800448
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.202356517,746,718,683,662,639,883.202356517,785,816,651,629.202356517,654,0.417957669563,0.00447043995482,0.0797842620753,0.999999939415,7.6692137575e-05,-0.000335706088945,5.08928430562e-05,1793249883118467072
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766.374626986,745.625373014,718,682.625373014,662,639,883,785,815.625373014,651,629,654,0.417117481636,0.00446745447121,0.0797826868837,0.99999993566,7.22132233961e-05,-0.000347606053007,5.13388427568e-05,1793249883135133696
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.950438772,745.049561228,718,682.049561228,662,639,883,785,815.049561228,651,629,654,0.416307861398,0.00446730739665,0.0798032851558,0.999999942791,7.09876619965e-05,-0.00032647659275,5.28378272772e-05,1793249883151800576
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745.526685047,718,682,662,639,882.473314953,785,815,651,629.526685047,654,0.415488810731,0.00447758361828,0.0797832482238,0.999999929845,8.99591548581e-05,-0.000359587047771,5.39817742082e-05,1793249883168467456
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745.894852859,718,681.894852859,662,639,882,785,815.105147141,651,630,654,0.414683153508,0.00448731714716,0.0797650515545,0.999999918006,0.000106973010088,-0.000386729953982,5.4633238839e-05,1793249883185134080
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745.306393794,718,681.306393794,662,639,882,785,815.693606206,651,630,654,0.413943142031,0.00449004401129,0.0797729043609,0.999999927071,0.000106245383722,-0.000362962824161,5.31746873699e-05,1793249883201800704
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745.277519985,718,681,662,639,882,785,815.722480015,651,630,654.277519985,0.413216753921,0.0044860930387,0.0797850081577,0.99999993663,9.78538149723e-05,-0.000338256748721,5.24064326546e-05,1793249883218467328
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745.856496402,718,681,662,639,882,785,815.143503598,651,630,654.856496402,0.412505164257,0.0044748882574,0.0798017295974,0.999999946498,8.11372791934e-05,-0.000312530743893,5.23880137401e-05,1793249883235133952
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745.566603351,718,681,662,639,882,785,815,651,629.566603351,654.566603351,0.411780008927,0.00447152317226,0.0797925343331,0.999999940675,7.1784065555e-05,-0.000332731433522,5.27974137595e-05,1793249883251800576
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.990400277,662,639,881.990400277,785,815,651,629.009599723,654,0.4110516505,0.004470857265,0.0797750575169,0.999999928908,6.53977112723e-05,-0.000367508920797,5.3330905412e-05,1793249883268467200
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.414966305,662,639,881.414966305,785,815,651,629.585033695,654,0.410397991777,0.00447701236526,0.0797728418234,0.99999992624,9.08632361072e-05,-0.000369416105382,5.28688692847e-05,1793249883285133824
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745.164197391,718,680.164197391,662,639,881.164197391,785,815,651,630,654,0.409764009602,0.00448288918072,0.0797811456977,0.999999929878,0.000109255441902,-0.000354238091465,5.31333365125e-05,1793249883301800448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745.75300621,718,680.75300621,662,639,881.75300621,785,815,651,630,654,0.409180910474,0.00448804635815,0.0798166529799,0.999999949016,0.00010935618031,-0.000294878069011,5.5276527894e-05,1793249883318467072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,746,718.337370732,681,662,639,881.662629268,785,815,651,630,654,0.408595278443,0.00448724952796,0.0798306781654,0.999999954912,0.000107426869094,-0.000274739188876,5.61662169227e-05,1793249883335133696
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,746,718.918523791,681,662,639,881.081476209,785,815,651,630,654,0.408007816184,0.00448215036268,0.079829180498,0.999999952985,0.000104030654815,-0.00028294130524,5.61501316715e-05,1793249883351800064
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745.506449393,718.506449393,680.506449393,662,639,881,785,815,651,630,654,0.407421359618,0.00447811757322,0.0797931835244,0.999999933201,9.9839375507e-05,-0.00034724607514,5.5221079528e-05,1793249883368466688
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,815,651,630,654.068982444,0.406848747998,0.00447490420864,0.0797561880796,0.999999909336,9.53125602363e-05,-0.000411468744668,5.41962068053e-05,1793249883385133824
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,815,651,630,654.654935832,0.406378664746,0.00447652870514,0.0797538678043,0.999999911954,8.92427264639e-05,-0.000406519029989,5.35688739118e-05,1793249883401800448
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784.760547701,815,651,630,654.760547701,0.405922939168,0.0044802536404,0.0797619200222,0.99999992007,9.26955778645e-05,-0.00038530692382,5.29754316929e-05,1793249883418467072
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784.178089619,815,651,630,654.178089619,0.405487780418,0.0044869873695,0.0797848304196,0.999999934526,0.00010978929301,-0.000340799595986,5.24305364742e-05,1793249883435133696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.599794224,784,814.599794224,651,630,654.400205776,0.405081404191,0.00449119498645,0.0798028835469,0.999999942317,0.000117664638134,-0.000314250176716,5.26056305128e-05,1793249883451800320
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.023332086,784,814.023332086,651,630,654.976667914,0.404687704162,0.00449429006797,0.0798187974647,0.999999947519,0.000121480082445,-0.000295609674124,5.30978181143e-05,1793249883468466944
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.100444442,784.550222221,814.550222221,651,630.550222221,654.449777779,0.404316189101,0.00449281326451,0.0798199117686,0.999999946544,0.000117228717227,-0.000300445389229,5.38704405875e-05,1793249883485133568
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.87255686,785,815,651,630.87255686,654.12744314,0.403954975495,0.00449202295888,0.0798207061167,0.999999944906,0.000117217599004,-0.000305635900779,5.50937862626e-05,1793249883501800192
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.281552706,785,815,651,630.281552706,654.718447294,0.403627828353,0.00449443119114,0.0798226073979,0.999999941772,0.000133867640787,-0.000308514939026,5.7913562615e-05,1793249883518466816
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,815,651,630,654.696793655,0.403320354501,0.00449411108146,0.0798240000894,0.999999942212,0.000128505495836,-0.000309726400989,5.5968784023e-05,1793249883535133696
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,815,651,630,654.117716712,0.403030780302,0.00449130860498,0.0798249300431,0.999999945579,0.000103115684668,-0.00030942062771,4.96890015341e-05,1793249883551800320
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,814.542228811,651.457771189,630,654.457771189,0.40278112667,0.00448806131965,0.0798265272383,0.999999946965,9.49675705739e-05,-0.000307402555439,5.05548574763e-05,1793249883568466944
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745.033005482,718,680,662,639,881,784.966994518,814,651.966994518,630,654.966994518,0.40254396208,0.00448488719133,0.0798281198951,0.999999947892,9.1190131298e-05,-0.000305088667159,5.31075347764e-05,1793249883585133824
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745.619340537,718,680,662,639,881,784.380659463,814,651.380659463,630,654.380659463,0.402345410999,0.0044848422182,0.0798267823029,0.999999948242,8.69337479874e-05,-0.000305139944187,5.3373524845e-05,1793249883601800192
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745.796642216,718,680,661.796642216,639,881,784,814,651,630,654,0.402156658078,0.00448557114471,0.0798270999933,0.999999948844,8.53667543539e-05,-0.000303511932857,5.39041608513e-05,1793249883618466560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.216914779,718,680,661.216914779,639,881,784,814,651,630,654,0.401986039379,0.00448773238587,0.0798304812405,0.999999949917,8.87772183833e-05,-0.000298775935352,5.49245971117e-05,1793249883635133184
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.638549112,661.361450888,639,881,784,814,651,630,654,0.401833699901,0.00449120942494,0.0798335375594,0.999999950733,9.7248123041e-05,-0.000293274695152,5.53807922811e-05,1793249883651799808
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.060997552,661.939002448,639,881,784,814,651,630,654,0.401692289005,0.00449547314042,0.0798363996137,0.999999951272,0.000108744514077,-0.000287315938748,5.54996446732e-05,1793249883668466688
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.51423348,662,639,880.48576652,784,814,651,630,654,0.401572622938,0.00450852391036,0.0798353301936,0.999999944856,0.000153819583639,-0.000289490142468,5.31247628902e-05,1793249883685133312
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.908738914,661.908738914,639,880,784,814.091261086,651,630,654,0.401458709039,0.00452046732644,0.0798332133589,0.999999937057,0.000192844918695,-0.000293535122124,5.03307246376e-05,1793249883701799936
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.320433815,661.320433815,639,880,784,814.679566185,651,630,654,0.401362138699,0.00452072834929,0.0798279203801,0.999999937415,0.000177325214809,-0.00030253845644,4.6857615378e-05,1793249883718466560
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745.264567918,718,679.264567918,661.264567918,639,880,784.264567918,814.735432082,651.264567918,630,654,0.401276469113,0.00451883539448,0.0798234412699,0.99999993745,0.000164463819571,-0.000309809173366,4.55044684538e-05,1793249883735133440
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745.845618053,718,679.845618053,661.845618053,639,880,784.845618053,814.154381947,651.845618053,630,654,0.401203839263,0.00451436580214,0.0798199357284,0.999999937317,0.000154782355126,-0.000315007293127,4.66872693539e-05,1793249883751800064
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.424613481,745,719,680,662,639,881,785,815,651,630,654.424613481,0.401066532766,0.00451510450152,0.0798197674116,0.999999938195,0.000152271573332,-0.000313204867089,4.8225704634e-05,1793249883801801216
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.74350639,745,719,679.25649361,662,639,881,784.25649361,814.25649361,651,630,654.74350639,0.401012791804,0.00451439233628,0.079822520207,0.999999938422,0.000154784602606,-0.000311030825075,4.95659416318e-05,1793249883835134976
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.950758856,745,718.950758856,679.950758856,662,639,881,784.049241144,814.049241144,651,630,654,0.400970471146,0.00451246684806,0.0798235078321,0.999999940945,0.000148857007447,-0.000305808677553,4.93280211454e-05,1793249883901801216
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.207995883,745.207995883,718,679.207995883,662,639,881,785,814.792004117,651.207995883,630,654,0.400967433402,0.00451440993901,0.0798271251381,0.999999941874,0.000153342207179,-0.000300505927552,4.9340243722e-05,1793249883935134464
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.803626454,745.803626454,718,679.803626454,662,639,881,785,814.196373546,651.803626454,630,654,0.400967764005,0.00451483947697,0.0798277476023,0.999999942091,0.000153510697563,-0.00029975709006,4.89738217361e-05,1793249883951800832
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,718.463207001,680,662,639,880.536792999,784,814,651,630,654.536792999,0.40096754651,0.00451192213812,0.0798292883007,0.999999944004,0.000149084457438,-0.000295555440534,4.91273168438e-05,1793249884001800448
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.885071482,662,639,881,784,814,651,630,655,0.400966373632,0.00451254407828,0.079829446309,0.999999944092,0.00014891830474,-0.000295383121076,4.88675358241e-05,1793249884018467072
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.294916903,662,639,881,784,814,651,630,655,0.400966082236,0.00451318834099,0.0798297803816,0.999999943848,0.000150019895384,-0.000295695569423,4.86118370506e-05,1793249884035134208
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,718.289644114,679.289644114,662,639,880.710355886,784.289644114,814,651.289644114,630,655,0.400965762747,0.00451378933746,0.0798296254764,0.999999943717,0.000150681142917,-0.000295831377331,4.8431676735e-05,1793249884051801088
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,718.868617715,679.868617715,662,639,880.131382285,784.868617715,814,651.868617715,630,655,0.400965415198,0.00451434711475,0.0798289821243,0.9999999437,0.000150902525791,-0.000295790736713,4.83269727931e-05,1793249884068467456
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,719,680,662,639.445707109,880.445707109,785,814,651.554292891,630,655,0.400966121539,0.00451435607873,0.079829483805,0.999999943872,0.000151615741175,-0.000294824798964,4.84524080321e-05,1793249884085134080
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,719,680,662,639.977918991,880.977918991,785,814,651,630,654.977918991,0.400967037943,0.00451427450693,0.0798302726591,0.999999944081,0.000152420830306,-0.000293670531473,4.86196214598e-05,1793249884101800448
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,719,680,662,639.405591579,880.405591579,785,814,651,630,654.405591579,0.400965480153,0.00451595120988,0.0798298422055,0.999999943909,0.000151917781353,-0.000294591413257,4.81445371187e-05,1793249884118467072
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,719,680,662,639,880.172567481,785,814.172567481,651,630,654,0.400964588238,0.00451698337132,0.0798296755353,0.999999943893,0.000151780771389,-0.000294771589943,4.78238485407e-05,1793249884135135232
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,719,680,662,639,880.764912223,785,814.764912223,651,630,654,0.400965316093,0.00451644765978,0.0798301505287,0.999999944252,0.000152534165856,-0.000293149971957,4.78787338263e-05,1793249884151807488
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745.3490527,719,679.6509473,662,639,881,785,815,651,630,654,0.400965877991,0.00451557207454,0.0798308565229,0.999999944506,0.000152596528551,-0.000292212861307,4.80986554777e-05,1793249884168473344
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745.927794455,719,679.072205545,662,639,881,785,815,651,630,654,0.400966330683,0.00451447284037,0.0798317145238,0.999999944692,0.000152204167804,-0.000291726180822,4.84271769087e-05,1793249884185134848
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745.490143626,718.490143626,679.509856374,662,639,881,784.490143626,815,651,630,654,0.400965703038,0.00451403804318,0.0798310399049,0.99999994466,0.000151262838223,-0.000292374797683,4.81321192904e-05,1793249884201801216
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784.091688068,814.908311932,651,630,654.091688068,0.400965109719,0.00451367731749,0.0798304330214,0.99999994466,0.000150345038769,-0.000292899642383,4.78237842735e-05,1793249884218467840
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784.669787409,814.330212591,651,630,654.669787409,0.400965515476,0.00451320708244,0.0798313444837,0.999999945001,0.000149967212351,-0.000291909327384,4.79165777991e-05,1793249884235133952
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784.750168585,814,651,630,654.750168585,0.400966139784,0.00451339385439,0.0798322693219,0.999999945303,0.000150103032036,-0.000290778772259,4.80693080788e-05,1793249884251800320
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784.167533988,814,651,630,654.167533988,0.400967055226,0.00451445583254,0.0798332119784,0.999999945551,0.00015092308531,-0.000289461401579,4.83018807829e-05,1793249884268467200
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4494b3f6b21385e4c0eb8b1d83d54853f6ef324c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,403 @@
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+269,4.483333333,pose2_to_pose3_retreat,0.620535363399,0.0101501839741,1.07003370518,0.591106040699,0.0188228152604,1.06970509379
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+271,4.516666667,pose2_to_pose3_retreat,0.620499477525,0.0101501979158,1.07003335479,0.591070154822,0.0188228295926,1.06970475382
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+384,6.400000000,pose2_to_pose3_retreat,0.575665959674,0.0101501664112,1.0700333658,0.546236634997,0.0188227896348,1.06970476366
+385,6.416666667,pose2_to_pose3_retreat,0.575665777145,0.0101501462633,1.07003341089,0.546236453025,0.0188227713072,1.06970480695
+386,6.433333333,pose2_to_pose3_retreat,0.575665507615,0.0101501165121,1.07003347746,0.546236184317,0.0188227442438,1.06970487089
+387,6.450000000,pose2_to_pose3_retreat,0.575665139951,0.0101500759286,1.07003356826,0.546235817773,0.0188227073268,1.06970495809
+388,6.466666667,pose2_to_pose3_retreat,0.575664985293,0.0101500588572,1.07003360646,0.546235663587,0.0188226917978,1.06970499478
+389,6.483333333,pose2_to_pose3_retreat,0.575664913193,0.0101500508986,1.07003362427,0.546235591707,0.0188226845582,1.06970501188
+390,6.500000000,pose2_to_pose3_retreat,0.575664847971,0.0101500439236,1.07003363634,0.546235526665,0.0188226781802,1.06970502349
+391,6.516666667,pose2_to_pose3_retreat,0.575664722476,0.0101500336504,1.07003360291,0.54623540127,0.018822668306,1.06970499169
+392,6.533333333,pose2_to_pose3_retreat,0.575664711886,0.0101500327836,1.07003360009,0.546235390689,0.0188226674729,1.069704989
+393,6.550000000,pose2_to_pose3_retreat,0.575664685863,0.0101500306533,1.07003359316,0.546235364686,0.0188226654253,1.06970498241
+394,6.566666667,pose2_to_pose3_retreat,0.575664610293,0.0101500244671,1.07003357303,0.546235289176,0.0188226594794,1.06970496325
+395,6.583333333,pose2_to_pose3_retreat,0.575664586478,0.0101500225176,1.07003356668,0.54623526538,0.0188226576056,1.06970495722
+396,6.600000000,pose2_to_pose3_retreat,0.575664530758,0.0101500179563,1.07003355184,0.546235209704,0.0188226532215,1.06970494309
+397,6.616666667,pose2_to_pose3_retreat,0.575664509454,0.0101500162123,1.07003354616,0.546235188417,0.0188226515453,1.06970493769
+398,6.633333333,pose2_to_pose3_retreat,0.575664481482,0.0101500139225,1.07003353871,0.546235160467,0.0188226493444,1.0697049306
+399,6.650000000,pose2_to_pose3_retreat,0.575664404065,0.0101500075851,1.07003351809,0.546235083112,0.0188226432531,1.06970491098
+400,6.666666667,pose2_to_pose3_retreat,0.575664302222,0.0101500637484,1.07003345811,0.546234980752,0.018822697748,1.06970485321
+401,6.683333333,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532846,1.06970476168
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2acf4a6c2fe2829e68c254351e067a77b84b1cf2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b919b4af423bcf73cf5ebca95a50712db8448d9dc313f8e7fdc2858f73be194a
+size 25561180
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71bff2e5c34877230c9bb7de3d889d0951eab641
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,404 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,745,718,680,661,639,881,785,815,651,630,655,0.400965914625,0.00451331537715,0.0798332860672,0.999999945879,0.000148607244655,-0.000289632377148,4.76552559155e-05,1793249884417215488
+1,0.016666667,BASELINE,767,745,718,679.42808737,661.57191263,639,881,784.42808737,814.42808737,651,630,654.42808737,0.400965660287,0.00451425594451,0.0798327239748,0.999999945258,0.000151905562253,-0.000290051148546,4.77493766593e-05,1793249884433881856
+2,0.033333333,BASELINE,767,745.149769858,718,679,662,639,881,784.149769858,814,651,630,654,0.400965520648,0.00451536527248,0.0798324489421,0.999999944761,0.000154713320894,-0.000290273931187,4.77781103897e-05,1793249884450548736
+3,0.050000000,BASELINE,767,745.745320969,718,679,662,639,881,784.745320969,814,651,630,654,0.400965722403,0.00451697690675,0.0798330283254,0.999999944664,0.000156060960177,-0.000289913364818,4.76122235088e-05,1793249884467216384
+4,0.066666667,BASELINE,767,745.672085704,718.327914296,679.327914296,662,639,881,785,814,651,630,654.327914296,0.400966136669,0.00451678447733,0.0798337035845,0.999999945269,0.000154702784572,-0.000288557616714,4.7579787778e-05,1793249884483883008
+5,0.083333333,BASELINE,767,745.099173687,718.900826313,679.900826313,662,639,881,785,814,651,630,654.900826313,0.400966709711,0.00451524416057,0.079834450476,0.999999946386,0.000151322987712,-0.00028645832905,4.76470586817e-05,1793249884500549120
+6,0.100000000,BASELINE,767,745,718.521306671,680,662,639,881,784.521306671,814,651,630,655,0.400966774782,0.00451457109108,0.0798341332785,0.999999946415,0.000150393611426,-0.000286833826977,4.77385744814e-05,1793249884517215488
+7,0.116666667,BASELINE,767,745,718,680,662,639,881,784,814.058676416,651,630,654.941323584,0.400966658935,0.00451426243049,0.079833643395,0.999999946171,0.000150291303175,-0.000287721914104,4.78241241391e-05,1793249884533881344
+8,0.133333333,BASELINE,767,745,718,680,662,639,881,784,814.648423375,651,630,654.351576625,0.400965868099,0.00451560877807,0.0798336067165,0.999999945514,0.000153031773775,-0.000288560319153,4.78097377882e-05,1793249884550547968
+9,0.150000000,BASELINE,767,745,718.233648012,680,662,639,881,784.233648012,814.766351988,651,630,654.233648012,0.400965542098,0.00451568780266,0.0798337398399,0.999999945495,0.00015330946673,-0.000288482060019,4.7798610053e-05,1793249884567214848
+10,0.166666667,BASELINE,767,745,718.812196945,680,662,639,881,784.812196945,814.187803055,651,630,654.812196945,0.400965902265,0.00451389606064,0.0798341236176,0.999999946416,0.000149951715371,-0.000287050661449,4.77922925446e-05,1793249884583881728
+11,0.183333333,BASELINE,767,745.388366508,719,680,662,639,881,785,814,651,630,655,0.400966704091,0.00451355684899,0.0798346542169,0.999999946706,0.000149688832216,-0.00028620057583,4.76559808716e-05,1793249884600548352
+12,0.200000000,BASELINE,767,745.963392533,719,680,662,639,881,785,814,651,630,655,0.400967718191,0.00451391576283,0.0798352553826,0.999999946694,0.000150913426668,-0.000285629884912,4.74571904637e-05,1793249884617215232
+13,0.216666667,BASELINE,767,745.461768812,718.461768812,680,662,639,881,785,814.538231188,651,630,655,0.40096809204,0.00451422090247,0.07983540859,0.999999946866,0.000149768402862,-0.000285617479467,4.75448207899e-05,1793249884633881600
+14,0.233333333,BASELINE,767,745,718.116243107,680.116243107,662,639,881.116243107,784.883756893,814.883756893,651,630.116243107,654.883756893,0.400968304752,0.00451447180821,0.0798355128576,0.999999946977,0.000149018521241,-0.000285604650952,4.76404060615e-05,1793249884650548224
+15,0.250000000,BASELINE,767,745,718.707268071,680.707268071,662,639,881.707268071,784.292731929,814.292731929,651,630.707268071,654.292731929,0.400968037115,0.00451451613493,0.0798355416343,0.999999946795,0.00015054059693,-0.000285435058344,4.76889432792e-05,1793249884667214592
+16,0.266666667,BASELINE,767,745,718.707612569,680.707612569,662,639,881.707612569,784,814,651,630.707612569,654.292387431,0.400966676465,0.00451448310062,0.0798344911602,0.999999946346,0.000150452147343,-0.000287074967313,4.75496878325e-05,1793249884683880960
+17,0.283333333,BASELINE,767,745,718.12828875,680.12828875,662,639,881.12828875,784,814,651,630.12828875,654.87171125,0.400964243179,0.00451437414752,0.0798323815562,0.999999945624,0.000148783197766,-0.000290490642929,4.72261407784e-05,1793249884700547840
+18,0.300000000,BASELINE,767,745,718,680,662,639,881,784,814,651,630,655,0.400966110976,0.00451410347761,0.0798338784673,0.99999994635,0.000148635513988,-0.000288045693218,4.7308090581e-05,1793249884717214976
+19,0.316666667,BASELINE,767,745,718.020657452,679.979342548,662,639,880.979342548,784.020657452,814,651,630.020657452,655,0.400969063225,0.0045138537887,0.079836283814,0.999999947415,0.000148979429506,-0.000284111073706,4.74921906686e-05,1793249884733882368
+20,0.333333333,BASELINE,767,745,718.604822078,679.395177922,662,639,880.395177922,784.604822078,814,651,630.604822078,655,0.400968226145,0.00451543117986,0.0798354874075,0.999999946875,0.000150930133691,-0.000285012378342,4.7316596177e-05,1793249884750548736
+21,0.350000000,BASELINE,767,745,718.81154437,679.18845563,662,639,880.18845563,784.81154437,814.18845563,651,630.81154437,655,0.400967676609,0.00451623507018,0.0798347482082,0.999999946481,0.000152072505006,-0.000285806812627,4.71788230226e-05,1793249884767214848
+22,0.366666667,BASELINE,767,745,718.229021388,679.770978612,662,639,880.770978612,784.229021388,814.770978612,651,630.229021388,655,0.400967728339,0.00451542154285,0.0798341286313,0.999999946404,0.000151524623601,-0.000286377777131,4.71201356382e-05,1793249884783881728
+23,0.383333333,BASELINE,767,745,718,679.648412137,662,639,881,784.351587863,814.648412137,651,630,654.648412137,0.400966820245,0.0045149789544,0.0798335439374,0.999999946144,0.000151313071488,-0.000287382910144,4.71923444729e-05,1793249884800548352
+24,0.400000000,BASELINE,767,745,718,679.06904267,662,639,881,784.93095733,814.06904267,651,630,654.06904267,0.400965290314,0.00451477668434,0.079832981843,0.999999945765,0.000151319415426,-0.000288669325956,4.73493564305e-05,1793249884817214720
+25,0.416666667,BASELINE,767,745,718,679,662,639,881,784.495548546,814,651,630,654,0.400964741334,0.00451343863358,0.0798320617182,0.999999945466,0.000149751564041,-0.000290525255037,4.73072398651e-05,1793249884833881600
+26,0.433333333,BASELINE,767,745,718.079385174,679.079385174,662,639,881,784,814,651,630,654.079385174,0.400964542944,0.00451240048697,0.0798314326439,0.999999945301,0.000148440276765,-0.000291770376216,4.725762007e-05,1793249884850547968
+27,0.450000000,BASELINE,767,745,718.668671489,679.668671489,662,639,881,784,814,651,630,654.668671489,0.400965743999,0.00451427564678,0.0798329841495,0.999999945964,0.000150144896007,-0.000288597298384,4.73328471361e-05,1793249884867214848
+28,0.466666667,BASELINE,767,745,718.745352474,680,662,639,880.745352474,784,814.254647526,651.254647526,630,655,0.400966970949,0.00451501343657,0.0798343007283,0.999999946529,0.000150921743224,-0.000286209303973,4.74227553004e-05,1793249884883881472
+29,0.483333333,BASELINE,767,745,718.163628292,680,662,639,880.163628292,784,814.836371708,651.836371708,630,655,0.40096823116,0.00451429035525,0.0798353155601,0.99999994698,0.000150506933079,-0.000284829693638,4.75315202884e-05,1793249884900548352
+30,0.500000000,BASELINE,767,745,718.411649625,680,662,639,880.411649625,784,814.588350375,652,630,654.588350375,0.400968017078,0.00451486692895,0.0798354696984,0.999999946844,0.000151466302893,-0.000284800290041,4.75218038347e-05,1793249884917215232
+31,0.516666667,BASELINE,767,745,718.984404682,680,662,639,880.984404682,784,814.015595318,652,630,654.015595318,0.400967226008,0.00451595214272,0.0798352869911,0.999999946477,0.000152963479248,-0.000285299310717,4.74657178378e-05,1793249884933882368
+32,0.533333333,BASELINE,767,745,718.43978528,680,662,639,881,784,814,651.43978528,630,654.56021472,0.400966275709,0.00451540044015,0.0798345527719,0.999999946448,0.00015109661359,-0.00028642403635,4.72802036478e-05,1793249884950548736
+33,0.550000000,BASELINE,767,745,718.140121386,680,662,639,881,784.140121386,814,651,630,654.859878614,0.400965996174,0.00451510142252,0.0798341752911,0.999999946505,0.000150224167461,-0.000286707738258,4.71217533926e-05,1793249884967215104
+34,0.566666667,BASELINE,767,745,718.732988237,680,662,639,881,784.732988237,814,651,630,654.267011763,0.400967898342,0.00451576689795,0.0798350003447,0.999999946818,0.000152869031894,-0.000284217423416,4.70624548954e-05,1793249884983881472
+35,0.583333333,BASELINE,767,745,719,679.682977673,662,639,881,784.682977673,814,651,630,654,0.400968313041,0.00451456832605,0.079835507655,0.999999947171,0.000151446336667,-0.000283701574714,4.7281418123e-05,1793249885000548096
+36,0.600000000,BASELINE,767,745,719,679.106181251,662,639,881,784.106181251,814,651,630,654,0.40096750888,0.00451184231854,0.0798357546005,0.999999947545,0.000146690606358,-0.000284803640661,4.77283942676e-05,1793249885017214976
+37,0.616666667,BASELINE,767,745,718.530705519,679.469294481,662,639,881,784,814,651,630,654.469294481,0.400966661496,0.00451239380435,0.0798347569157,0.999999947114,0.000146949611121,-0.000286206837062,4.75789727491e-05,1793249885033881600
+38,0.633333333,BASELINE,767,745,718,680,662,639,881,784,814,651,630,655,0.400965794984,0.0045136001592,0.0798335857193,0.999999946522,0.000148386654673,-0.000287575387376,4.73123416601e-05,1793249885050548480
+39,0.650000000,BASELINE,767,745,718,680,662,639,881,784,814,651,630,655,0.400964816579,0.00451379687176,0.0798336950339,0.999999946185,0.000150379832579,-0.000287719715153,4.72527672642e-05,1793249885067214848
+40,0.666666667,BASELINE,767,745.218540237,718,680,662,639,880.781459763,784,814,651,630,655,0.400964767701,0.0045140208096,0.0798339447277,0.999999946131,0.000151038232399,-0.000287562449266,4.72477583734e-05,1793249885083881216
+41,0.683333333,BASELINE,767,745.797351681,718,680,662,639,880.202648319,784,814,651,630,655,0.40096625118,0.00451428962926,0.0798344258415,0.999999946547,0.000149496203844,-0.000286907995691,4.73327026261e-05,1793249885100548096
+42,0.700000000,BASELINE,767,746,718,680,662,639,880.375026422,784,814.375026422,651,630.375026422,654.624973578,0.400967203811,0.00451426871177,0.0798349817364,0.999999946971,0.000148569123184,-0.000285938173809,4.71673511896e-05,1793249885117215232
+43,0.716666667,BASELINE,767,746,718,680,662,639,880.952088776,784,814.952088776,651,630.952088776,654.047911224,0.40096787046,0.00451409170576,0.0798355779176,0.999999947399,0.000147973330087,-0.000284798455306,4.68671593238e-05,1793249885133882624
+44,0.733333333,BASELINE,767,745.472929509,718.527070491,680,662,639,881,784.527070491,814.472929509,651,630.472929509,654.527070491,0.400966804419,0.00451387732239,0.0798353429291,0.999999946928,0.000148789464463,-0.000285987409699,4.70830137344e-05,1793249885150548736
+45,0.750000000,BASELINE,767,745,719,680,662,639,881,784.895707011,814.104292989,651,630,655,0.400966321826,0.00451367706344,0.0798353724171,0.999999946645,0.000149463071945,-0.000286586185955,4.73122748063e-05,1793249885167215104
+46,0.766666667,BASELINE,767,745,719,680,662,639,881,784.307206624,814.692793376,651,630,655,0.400969276421,0.00451355809323,0.0798369792072,0.999999947618,0.000148881426005,-0.000283465996851,4.73868482823e-05,1793249885183881728
+47,0.783333333,BASELINE,767,745,718.72318686,680,662,639,881,784.27681314,814.72318686,651,630,654.72318686,0.400970345871,0.00451405927258,0.0798375081347,0.999999948,0.000148777849813,-0.000282204141558,4.71783177194e-05,1793249885200548352
+48,0.800000000,BASELINE,767,745,718.144060402,680,662,639,881,784.855939598,814.144060402,651,630,654.144060402,0.400969356517,0.00451523772997,0.0798368599066,0.999999947745,0.000149196383337,-0.000282971810406,4.66606034295e-05,1793249885217215488
+49,0.816666667,BASELINE,767,745,718,680,662,639,881,785,814,651,630,654,0.40096846621,0.00451466402677,0.0798366567188,0.999999947398,0.000150458890382,-0.000283458090433,4.70950587304e-05,1793249885233882112
+50,0.833333333,BASELINE,767,745,718,680,662,639,880.991991393,785,814,651.008008607,630,654,0.400967618388,0.00451353178178,0.0798365958867,0.999999947023,0.000151966318588,-0.000283854383419,4.78318894937e-05,1793249885250548992
+51,0.850000000,BASELINE,767,745,718,680,662,639,880.418351662,785,814,651.581648338,630,654,0.400967454732,0.00451392784753,0.0798361813887,0.999999946995,0.000151034411933,-0.000284475789433,4.76569283497e-05,1793249885267215360
+52,0.866666667,BASELINE,767,745,718.160177864,679.839822136,662,639,880,784.839822136,814.160177864,651.839822136,630,654.160177864,0.400967737031,0.00451416411798,0.079836198036,0.999999947141,0.000150378110029,-0.000284336925163,4.75022767947e-05,1793249885283881728
+53,0.883333333,BASELINE,767,745,718.751880639,679.248119361,662,639,880,784.248119361,814.751880639,651.248119361,630,654.751880639,0.400969220746,0.00451396989413,0.079837376204,0.999999947752,0.000150464297257,-0.000282149865451,4.74023400116e-05,1793249885300548352
+54,0.900000000,BASELINE,767,745,719,679,662,639,880.337631466,784,814.662368534,651,630,655,0.400969763412,0.00451342941514,0.0798374852716,0.999999947961,0.000149886598481,-0.000281720208719,4.73931665366e-05,1793249885317214976
+55,0.916666667,BASELINE,767,745,719,679,662,639,880.919084059,784,814.080915941,651,630,655,0.400969626498,0.00451263888745,0.0798368222863,0.999999947879,0.000148829473316,-0.000282559663581,4.74495379408e-05,1793249885333881344
+56,0.933333333,BASELINE,767,745,719,679.493299476,662,639,881,784,814,651.493299476,630,654.506700524,0.400967576428,0.00451399520942,0.0798355862475,0.999999947156,0.000149706330743,-0.000284645946564,4.74704542099e-05,1793249885350547968
+57,0.950000000,BASELINE,767,745,719,680,662,639,880.93343759,784.06656241,814,651.93343759,630,654.06656241,0.400965792522,0.00451548751615,0.0798346053048,0.999999946531,0.000150653131335,-0.000286341322076,4.74437986788e-05,1793249885367214592
+58,0.966666667,BASELINE,767,745,719,680,662,639,880.358514096,784.641485904,814,651.358514096,630,654.641485904,0.400968403482,0.00451536779315,0.0798362801412,0.999999947489,0.000149746333984,-0.000283511807473,4.70975946229e-05,1793249885383881216
+59,0.983333333,BASELINE,767,745.223481325,718.776518675,680,662,639,880.223481325,785,814,651,630,654.776518675,0.40096978278,0.00451463668337,0.0798371676102,0.999999948118,0.000148790106488,-0.000281809551468,4.70007917764e-05,1793249885400547840
+60,1.000000000,BASELINE,767,745.817192534,718.182807466,680,662,639,880.817192534,785,814,651,630,654.182807466,0.400969121646,0.0045128927209,0.0798367506887,0.99999994821,0.000147751990496,-0.000281974765682,4.7317158882e-05,1793249885417214464
+61,1.016666667,BASELINE,767,745.601208314,718,680,662,639,881,785,814.398791686,651,630,654,0.400968237663,0.00451314562837,0.079836272152,0.999999947795,0.000148595183186,-0.000283018862414,4.72123930458e-05,1793249885433881088
+62,1.033333333,BASELINE,767,745.024997744,718,680,662,639,881,785,814.975002256,651,630,654,0.400967254536,0.00451428692566,0.0798357662032,0.999999947151,0.000150275353479,-0.000284453966169,4.69202688809e-05,1793249885450547968
+63,1.050000000,BASELINE,767,745,718,679.450897866,662.549102134,639,881,784.450897866,814.450897866,651,630,654,0.400965801233,0.00451350694793,0.0798351535395,0.999999946767,0.000150055173342,-0.00028587245069,4.71771540174e-05,1793249885467214592
+64,1.066666667,BASELINE,767,745,718.126584753,679.126584753,662.873415247,639,881,784.126584753,814.126584753,651,630,654.126584753,0.400964928112,0.00451292969396,0.0798347344518,0.999999946519,0.000149906470344,-0.000286784429035,4.7387409248e-05,1793249885483881472
+65,1.083333333,BASELINE,767,745,718.716807805,679.716807805,662.283192195,639,881,784.716807805,814.716807805,651,630,654.716807805,0.400966258101,0.00451341408142,0.0798350420949,0.999999946726,0.000150335219913,-0.000285844002374,4.73356819656e-05,1793249885500548096
+66,1.100000000,BASELINE,767.301214013,745,719,680,662,639,880.698785987,785,815,651,630,654.698785987,0.400966568962,0.00451391953268,0.0798350921174,0.999999946783,0.000150457032087,-0.000285595393656,4.72414572997e-05,1793249885517214720
+67,1.116666667,BASELINE,767.880254979,745,719,680,662,639,880.119745021,785,815,651,630,654.119745021,0.400965939821,0.00451444441225,0.0798349045217,0.999999946702,0.00015029573828,-0.000285984888344,4.71080348629e-05,1793249885533881344
+68,1.133333333,BASELINE,767.542998036,745,718.542998036,680,662.457001964,639,880,785,814.542998036,651,630,654.457001964,0.400966526803,0.00451461565775,0.0798354851334,0.99999994692,0.000150400603344,-0.000285136831973,4.73028900637e-05,1793249885550547968
+69,1.150000000,BASELINE,767,745.033035523,718,680,662.966964477,639,880.033035523,784.966964477,814.033035523,651,630,655,0.400967453557,0.00451470103558,0.0798362577711,0.999999947222,0.000150530840925,-0.000283967510509,4.7534000784e-05,1793249885567214592
+70,1.166666667,BASELINE,767,745.607178945,718,680,662.392821055,639,880.607178945,784.392821055,814.607178945,651,630,655,0.400968752304,0.00451489009266,0.0798368951671,0.999999947663,0.000149940067235,-0.000282820829759,4.69570876924e-05,1793249885583881216
+71,1.183333333,BASELINE,767.186432068,745.813567932,718.186432068,680,662,639,881,784.186432068,814.813567932,651,630,654.813567932,0.400969294085,0.00451490299217,0.0798372511196,0.999999947813,0.000149978296949,-0.000282306167447,4.67407212562e-05,1793249885600548096
+72,1.200000000,BASELINE,767.776755083,745.223244917,718.776755083,680,662,639,881,784.776755083,814.223244917,651,630,654.223244917,0.400968195959,0.0045145342597,0.0798369973463,0.999999947333,0.000151379214757,-0.000283160724966,4.73054517154e-05,1793249885617214720
+73,1.216666667,BASELINE,767.639513867,745,718.639513867,680,662,639,881,785,814.360486133,651.360486133,630,654.360486133,0.400967613916,0.00451455369488,0.0798366429087,0.999999947191,0.000151106958469,-0.000283809626818,4.7286169217e-05,1793249885633881344
+74,1.233333333,BASELINE,767.059791868,745,718.059791868,680,662,639,881,785,814.940208132,651.940208132,630,654.940208132,0.40096734574,0.00451480920095,0.0798362272504,0.999999947254,0.000149817132384,-0.000284333455572,4.69117091217e-05,1793249885650548224
+75,1.250000000,BASELINE,767,745.515129987,718,680,662,639,881,785,814.484870013,651.484870013,630,655,0.400967579512,0.00451562734425,0.0798363111234,0.999999947266,0.000150893264194,-0.000283752903395,4.67353919437e-05,1793249885667214592
+76,1.266666667,BASELINE,767,746,718,680,662,639,881,784.90809947,814,651,630.09190053,654.90809947,0.400967721793,0.0045161822328,0.0798362819772,0.999999947249,0.000151765455028,-0.000283363490683,4.66226262571e-05,1793249885683881216
+77,1.283333333,BASELINE,767,746,718,680,662,639,881,784.318323003,814,651,630.681676997,654.318323003,0.400967055687,0.00451496039205,0.0798353293271,0.999999947123,0.00015005875169,-0.000284697634728,4.67307076007e-05,1793249885700547840
+78,1.300000000,BASELINE,767,745.733380676,718,679.733380676,662,639,881,784.266619324,814.266619324,651.266619324,631,654,0.400967087287,0.00451461498132,0.079835303755,0.999999947224,0.000149527479574,-0.000284614162634,4.67746459229e-05,1793249885717214720
+79,1.316666667,BASELINE,767,745.154107201,718,679.154107201,662,639,881,784.845892799,814.845892799,651.845892799,631,654,0.40096793706,0.00451529732622,0.0798363653312,0.999999947594,0.000150374590232,-0.000282868306921,4.67433662013e-05,1793249885733881344
+80,1.333333333,BASELINE,767,745,718,679.423311179,662,639,881,785,814.576688821,651.576688821,630.576688821,654.423311179,0.400968393638,0.00451437931093,0.0798364869224,0.999999947811,0.00014972849938,-0.000282431708199,4.68115609203e-05,1793249885750547968
+81,1.350000000,BASELINE,767,745,718.000056936,680,662,639,880.999943064,784.999943064,814.000056936,651,630.000056936,655,0.40096870764,0.0045128815206,0.079836267844,0.999999947973,0.000148541209922,-0.000282469650961,4.69157471486e-05,1793249885767214336
+82,1.366666667,BASELINE,767,745,718.57412428,680,662,639,880.42587572,784.42587572,814.57412428,651,630.57412428,655,0.400968436338,0.00451437834148,0.0798364572945,0.999999948161,0.000147680015972,-0.000282344060192,4.6371273818e-05,1793249885783881216
+83,1.383333333,BASELINE,767,745,718.847805912,680,662,639,880,784,814.847805912,651,630.847805912,654.847805912,0.40096810423,0.004515175668,0.0798365387035,0.999999948218,0.000147006938161,-0.000282532940057,4.61337587156e-05,1793249885800547840
+84,1.400000000,BASELINE,767,745,718.258233616,680,662,639,880,784,814.258233616,651,630.258233616,654.258233616,0.400967597375,0.00451396277491,0.0798363096209,0.999999947898,0.000146874471815,-0.000283625551469,4.67783857678e-05,1793249885817214464
+85,1.416666667,BASELINE,767,745.325297908,718.325297908,680,662,639,880,784,814,651.325297908,630,654.325297908,0.400967824257,0.00451441745596,0.0798364250542,0.999999947859,0.000147611136646,-0.000283368941417,4.6856100367e-05,1793249885833881344
+86,1.433333333,BASELINE,767,745.904121433,718.904121433,680,662,639,880,784,814,651.904121433,630,654.904121433,0.400968622988,0.00451617178503,0.0798368089909,0.999999948036,0.000149025171401,-0.000282060796088,4.64919835295e-05,1793249885850547968
+87,1.450000000,BASELINE,767,746,718.520093097,680,662,639,880,784.479906903,814,651.520093097,630,654.520093097,0.40096852991,0.00451621093799,0.0798369938474,0.9999999479,0.000149972066512,-0.00028203594893,4.65303914407e-05,1793249885867214848
+88,1.466666667,BASELINE,767,745.944992923,718.055007077,680,662,639,880.055007077,785,814,651.055007077,630,654.055007077,0.400968238017,0.00451588338842,0.0798370767114,0.999999947717,0.000150561404866,-0.000282348452696,4.66492852915e-05,1793249885883881216
+89,1.483333333,BASELINE,767,745.370668327,718.629331673,680,662,639,880.629331673,785,814,651.629331673,630,654.629331673,0.40096774064,0.00451530857747,0.0798365698087,0.999999947688,0.000148650636082,-0.000283440578892,4.67735898781e-05,1793249885900547840
+90,1.500000000,BASELINE,767,745,718.790247557,679.790247557,662,639,880.790247557,785,814,651.790247557,630,655,0.400967345693,0.00451481263134,0.0798364033809,0.999999947647,0.000147730345809,-0.000284037420436,4.69527058961e-05,1793249885917214720
+91,1.516666667,BASELINE,767,745,718.198731397,679.198731397,662,639,880.198731397,785,814,651.198731397,630,655,0.400967137178,0.0045144602246,0.0798368566411,0.99999994759,0.000148612794029,-0.000283732810092,4.72315824356e-05,1793249885933881344
+92,1.533333333,BASELINE,767,745.383550473,718.383550473,679.383550473,662,639,880,784.616449527,814,651,630,655,0.400967341432,0.00451397707695,0.0798367748216,0.999999947672,0.000148421708979,-0.000283561671323,4.71229995785e-05,1793249885950547968
+93,1.550000000,BASELINE,767,745.96116026,718.96116026,679.96116026,662,639,880,784.03883974,814,651,630,655,0.400967754529,0.00451342778023,0.079836422276,0.999999947824,0.000147687464387,-0.00028345806315,4.68183796934e-05,1793249885967214848
+94,1.566666667,BASELINE,767.538119779,745.461880221,718.461880221,679.461880221,662,639,880.538119779,784.538119779,814,651,630,654.461880221,0.400967912202,0.00451408646833,0.0798364953215,0.999999947524,0.000148959489132,-0.00028384453011,4.68591260397e-05,1793249885983881472
+95,1.583333333,BASELINE,767.883235835,745,718.116764165,679.233528329,662,639,881,785,814.116764165,651,630,654,0.400968083791,0.00451469820184,0.0798365997938,0.999999947339,0.000149991626848,-0.000283942947375,4.69202062222e-05,1793249886000548096
+96,1.600000000,BASELINE,767.297637945,745,718.702362055,680.404724109,662,639,881,785,814.702362055,651,630,654,0.400968385185,0.00451477174451,0.0798367072615,0.999999947753,0.000149479839828,-0.000282742927026,4.69629630026e-05,1793249886017214720
+97,1.616666667,BASELINE,767,745.286506932,718.713493068,680.713493068,662,639,881,785,814.713493068,651,630,654,0.400968624411,0.00451445021874,0.0798367953839,0.999999948096,0.000148566104524,-0.000282012906936,4.69550053156e-05,1793249886033881344
+98,1.633333333,BASELINE,767,745.869149926,718.130850074,680.130850074,662,639,881,785,814.130850074,651,630,654,0.400968799377,0.00451372034679,0.0798368635107,0.999999948364,0.000147236911997,-0.000281768683285,4.68946287105e-05,1793249886050547968
+99,1.650000000,BASELINE,767,745.554995915,718.445004085,679.554995915,662,639,880.554995915,785,814.445004085,651,630,654.445004085,0.400968074364,0.00451406324279,0.0798359968688,0.999999947955,0.000147854011159,-0.000282934959964,4.66519393795e-05,1793249886067214592
+100,1.666666667,BASELINE,767,745,719,679.018779214,662,639,880.018779214,785,815,651,630,655,0.400967127979,0.0045146721927,0.0798349390222,0.999999947385,0.000148966036467,-0.000284408811251,4.63764375379e-05,1793249886083881216
+101,1.683333333,BASELINE,767,745,719,679.589240287,662,639,880.589240287,785,815,651,630,655,0.400967335652,0.00451396958205,0.0798362174534,0.999999947928,0.000148057886851,-0.00028291731848,4.66881761486e-05,1793249886100547840
+102,1.700000000,BASELINE,767,745,719,680,662,639,881,784.83299711,815,651,630,654.83299711,0.400967648583,0.00451370605964,0.0798371469673,0.99999994828,0.000147678711864,-0.000281831990242,4.69211317406e-05,1793249886117214720
+103,1.716666667,BASELINE,767,745,719,680,662,639,881,784.236454706,815,651,630,654.236454706,0.400968232239,0.00451457189354,0.0798371790492,0.999999948145,0.000148660085364,-0.000281791337072,4.69514535484e-05,1793249886133881600
+104,1.733333333,BASELINE,767,745,719,680,662,639,881,784.349121241,814.650878759,651,630,654,0.400967318459,0.00451485442206,0.0798361183086,0.999999947495,0.000149468675164,-0.000283671308651,4.6892132141e-05,1793249886150547968
+105,1.750000000,BASELINE,767,745,719,680,662,639,881,784.927496026,814.072503974,651,630,654,0.400965421374,0.00451475391805,0.0798343399563,0.999999946501,0.000150163805119,-0.000286812475414,4.67739457281e-05,1793249886167214848
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,746,719,680,662,639,880,784,814,652,630,655,0.400966713634,0.00451672454423,0.0798353664869,0.99999994649,0.000152966878025,-0.000285338982884,4.69318447735e-05,1793249886198695680
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,718.403930227,680,662,639,880.596069773,784.596069773,814,651.403930227,630.596069773,655,0.400968122842,0.0045166100761,0.0798363652611,0.999999947215,0.00015228587385,-0.000283118434966,4.71569878569e-05,1793249886215362560
+108,1.800000000,POSE1_TO_POSE2_PRESS,767.18659589,746,718.18659589,679.81340411,662,639,881,785,814.18659589,651,631,655,0.40096901042,0.00451603286466,0.0798370858651,0.999999947807,0.000151355751453,-0.000281516920138,4.71774873078e-05,1793249886232029184
+109,1.816666667,POSE1_TO_POSE2_PRESS,767.765467819,746,718.765467819,679.234532181,662,639,881,785,814.765467819,651,631,655,0.400968801389,0.0045144828391,0.0798372216787,0.99999994813,0.0001499019137,-0.000281216783241,4.67677694263e-05,1793249886248695808
+110,1.833333333,POSE1_TO_POSE2_PRESS,767.655666111,746,719,679.344333889,662.344333889,639,881,784.655666111,815,651,630.655666111,655,0.400968993485,0.00451481349246,0.0798370757315,0.99999994814,0.000149862356621,-0.000281258557654,4.64152804996e-05,1793249886265362432
+111,1.850000000,POSE1_TO_POSE2_PRESS,767.076804067,746,719,679.923195933,662.923195933,639,881,784.076804067,815,651,630.076804067,655,0.400969458792,0.00451642508911,0.0798367378751,0.999999947939,0.000150786075818,-0.000281533210204,4.61017706279e-05,1793249886282029056
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,746,719,680,662.503162403,639,881,784.496837597,815,651,630,654.503162403,0.400968746932,0.0045159192014,0.0798366938379,0.999999947466,0.00015203119101,-0.000282466388203,4.65542328191e-05,1793249886298695424
+113,1.883333333,POSE1_TO_POSE2_PRESS,767.071527266,745.928472734,718.928472734,680,662,639,881,785,815,651.071527266,630.071527266,654.071527266,0.400968094324,0.00451514740471,0.079836761365,0.999999947073,0.000153000474929,-0.000283257539288,4.70188389135e-05,1793249886315362304
+114,1.900000000,POSE1_TO_POSE2_PRESS,767.65955127,745.34044873,718.34044873,680,662,639,881,785,815,651.65955127,630.65955127,654.65955127,0.400969169948,0.00451479457322,0.0798373099271,0.999999947568,0.000151622956199,-0.000282295674484,4.67250016846e-05,1793249886332029952
+115,1.916666667,POSE1_TO_POSE2_PRESS,767.754652703,745,718,679.754652703,662,639,881,785,814.754652703,651.754652703,630.754652703,654.754652703,0.400972453659,0.00451466412772,0.0798388519325,0.999999948424,0.000150733074226,-0.000279754267423,4.65632328892e-05,1793249886348697088
+116,1.933333333,POSE1_TO_POSE2_PRESS,767.171920487,745,718,679.171920487,662,639,881,785,814.171920487,651.171920487,630.171920487,654.171920487,0.400978773782,0.00451483949233,0.0798417600538,0.999999949764,0.000150513757272,-0.000275040781336,4.6583075646e-05,1793249886365362944
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,718,679.403880421,662.403880421,639,881.403880421,785,814.403880421,651.403880421,630,654.403880421,0.401004519048,0.00451527875549,0.0798514396052,0.999999954579,0.000150815832542,-0.000256816243587,4.62852983096e-05,1793249886382029568
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679.976780696,662.976780696,639,881.976780696,785,814.976780696,651.976780696,630,654.976780696,0.401038393541,0.00451582845754,0.0798639529318,0.999999960367,0.000151336105074,-0.000232937467401,4.58546001693e-05,1793249886398696704
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745.552912914,718.552912914,679.447087086,662.447087086,639,881.447087086,785,815,651.447087086,630,655,0.401100135227,0.00451574906987,0.0798833286442,0.999999969163,0.000148684240086,-0.00019382747752,4.46945112064e-05,1793249886415363328
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.867977348,719,679.132022652,662,639,881,784.867977348,814.867977348,651.132022652,630,655,0.401166231948,0.00451627888426,0.0799019557385,0.99999997588,0.000147237536108,-0.000157086783084,4.34081576175e-05,1793249886432029952
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.279034993,719,679.720965007,662,639,881,784.279034993,814.279034993,651.720965007,630,655,0.401243327083,0.00451900906678,0.0799169886911,0.999999979262,0.000150425544545,-0.000130772732493,4.17914449133e-05,1793249886448696320
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,719,680,662,639,881,784,814,651.694729432,630,654.694729432,0.401326952548,0.00451918022586,0.0799261860152,0.999999981487,0.000149216087605,-0.000114832193796,3.96727136344e-05,1793249886465362688
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745,719,680,662,639,881,784,814,651.114598791,630,654.114598791,0.401416457798,0.00451704728657,0.0799301290444,0.99999998308,0.000144047232619,-0.000108231778338,3.71019740676e-05,1793249886482029056
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745,719,679.533274999,662,639,881,784.466725001,814.466725001,651.466725001,630,654.466725001,0.401518260183,0.0045185949358,0.079932651809,0.999999983883,0.000141489365598,-0.000105200941988,3.388933838e-05,1793249886498695424
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,719,679.04841468,662,639,881,785,814.95158532,651.95158532,630,655,0.401626523225,0.00452102656929,0.0799353473099,0.999999984592,0.000139634959064,-0.000101945979534,3.04279092254e-05,1793249886515362304
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,719,679.630900575,662,639,881,785,814.369099425,651.369099425,630,655,0.401772661876,0.00452321488987,0.0799438050503,0.999999986335,0.000138450368227,-8.65253831505e-05,2.59650740506e-05,1793249886532028928
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745,719,680,662,639,881,785,814,651,630,655,0.401927895385,0.0045237724002,0.0799511193825,0.999999987982,0.000134972156122,-7.31991617092e-05,2.14380999935e-05,1793249886548695552
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745,719,680,662,639,881,785,814,651,630,655,0.402098860456,0.00452150906123,0.0799564559348,0.999999989712,0.000127526616015,-6.34956292144e-05,1.68001839428e-05,1793249886565362432
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745,719,680,662,639,881.368906282,784.631093718,814.368906282,651,630,655,0.402292400844,0.00450713111784,0.0799618611611,0.999999993258,0.000101815177564,-5.41403653406e-05,1.36819487672e-05,1793249886582029056
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,719,680,662,639,881.945831785,784.054168215,814.945831785,651,630,655,0.402498671039,0.00448592197973,0.0799673051117,0.999999996758,6.58039464089e-05,-4.49814825342e-05,1.14206322191e-05,1793249886598695680
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,719,680,662,639,881.480453589,784.519546411,814.480453589,651,630.519546411,655,0.402710662004,0.00448836199185,0.0799604247893,0.999999996552,5.77410029197e-05,-5.95333916355e-05,4.20454202846e-06,1793249886615362304
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,719,680,662.095720521,639.095720521,881,785,814.095720521,651,630.904279479,654.904279479,0.402930534303,0.00449359882143,0.079953367859,0.999999995812,5.31730827352e-05,-7.43929785309e-05,-3.66199006894e-06,1793249886632028672
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745,719,680,662.686330921,639.686330921,881,785,814.686330921,651,630.313669079,654.313669079,0.403188089581,0.00450062601405,0.079952000349,0.999999995536,5.17021666031e-05,-7.81406730151e-05,-1.22369771601e-05,1793249886648695552
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.271673137,719,680,662.728326863,639.728326863,881.271673137,785,815,651,630,654,0.403473912621,0.00450307989985,0.0799523461872,0.999999995753,4.54976974235e-05,-7.75624445726e-05,-2.0186246218e-05,1793249886665362176
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.851048471,719,680,662.148951529,639.148951529,881.851048471,785,815,651,630,654,0.403791752252,0.00450035397036,0.0799546325967,0.99999999645,3.39319155243e-05,-7.20845927733e-05,-2.74268145357e-05,1793249886682028800
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.573931664,718.573931664,680,662,639,881.573931664,785,814.573931664,651.426068336,630,654.426068336,0.404145175364,0.00450992185774,0.0799592591819,0.999999994078,8.58374303325e-05,-6.37852048474e-05,-2.01779108165e-05,1793249886698695680
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745.000419054,718.000419054,680,662,639,881.000419054,785,814.000419054,651.999580946,630,654.999580946,0.404510912411,0.00452374411647,0.0799646956031,0.99999998573,0.000159707682637,-5.45094021203e-05,-7.91481194573e-06,1793249886715362304
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745.573201235,718.573201235,680,662,639,881.573201235,785,814.573201235,651.426798765,630,655,0.404913987972,0.0045298420975,0.0799645056795,0.999999996264,6.89461307553e-05,-4.94654072647e-05,-1.64745628377e-05,1793249886732029440
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,746,718.847977933,679.847977933,662.152022067,639,882,785,815,651.152022067,630,655,0.405322641634,0.00453584934119,0.0799627471142,0.999999998562,3.17978254298e-06,-4.78203325139e-05,-2.40524498461e-05,1793249886748696576
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,746,718.254039872,679.254039872,662.745960128,639,882,785,815,651.745960128,630,655,0.405747430955,0.00454160923621,0.0799564405922,0.999999997962,1.04224487544e-05,-5.60466536495e-05,-2.8731875229e-05,1793249886765362688
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,746,718.330471333,679.330471333,663,639.330471333,882,785,814.669528667,651.669528667,630,655,0.406204987931,0.00455254569385,0.0799506652569,0.999999996245,4.89981696153e-05,-6.56109118773e-05,-2.83582809207e-05,1793249886782029312
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,746,718.907936966,679.907936966,663,639.907936966,882,785,814.092063034,651.092063034,630,655,0.406687035498,0.0045673511154,0.07994528693,0.999999990646,0.000110992218617,-7.61751450599e-05,-2.42080597012e-05,1793249886798696192
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,746,718.517131255,680,663,640,882,785,814,651,630,654.517131255,0.407201275477,0.00457515778964,0.0799403510773,0.999999988038,0.000125201907665,-8.66965116992e-05,-2.70406685059e-05,1793249886815362816
+144,2.400000000,POSE1_TO_POSE2_PRESS,767,746,718.058688549,680.058688549,663,639.941311451,882,785,814.058688549,651,630,654.058688549,0.407722718869,0.00458184969722,0.0799349844416,0.999999986249,0.000129983850604,-9.82495357404e-05,-3.08584879726e-05,1793249886832029696
+145,2.416666667,POSE1_TO_POSE2_PRESS,767,746,718.646856022,680.646856022,663,639.353143978,882,785,814.646856022,651,630,654.646856022,0.408254065804,0.00459046000005,0.0799249742223,0.999999983755,0.000131474545192,-0.000119183367276,-3.16163208581e-05,1793249886848697088
+146,2.433333333,POSE1_TO_POSE2_PRESS,767,746,718.768552254,681,663,639.231447746,882.231447746,785,815,651,630,655,0.40882563532,0.00460014823869,0.0799246282944,0.999999982691,0.000136568418718,-0.000122047756161,-3.27364839431e-05,1793249886865363968
+147,2.450000000,POSE1_TO_POSE2_PRESS,767,746,718.189333451,681,663,639.810666549,882.810666549,785,815,651,630,655,0.409457642848,0.00461145617233,0.0799388038342,0.999999983814,0.000147076392638,-9.77611807583e-05,-3.4401080702e-05,1793249886882030592
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.388259802,746,718.388259802,681,663,639.611740198,883,785,815,651,630,654.611740198,0.410133138114,0.00461895525327,0.0799669979351,0.999999985407,0.000159586233329,-4.93162063311e-05,-3.58728689065e-05,1793249886898696704
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.965063649,746,718.965063649,681,663,639.034936351,883,785,815,651,630,654.034936351,0.410829751576,0.00462460470512,0.0800019996326,0.999999984271,0.000173068205971,1.08604025832e-05,-3.72510265966e-05,1793249886915363072
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.460472747,745.460472747,718.460472747,681.539527253,663,639.539527253,883.539527253,785,815,651,630,654,0.41151211711,0.00462068740569,0.0799950749611,0.999999986047,0.000162469144172,-6.72892445207e-06,-3.82588134656e-05,1793249886932029696
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,745.116960304,718,682,663,640,883.883039696,785,815,651,630,654.116960304,0.412191782933,0.0046133154204,0.0799799047303,0.999999987628,0.000148046692978,-3.55067381361e-05,-3.95645177937e-05,1793249886948696576
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,745.707014678,718,682,663,640,883.292985322,785,815,651,630,654.707014678,0.412864244226,0.00459446446555,0.0799423159866,0.999999987385,0.000124439102874,-8.92602873011e-05,-4.21718611542e-05,1793249886965363200
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718.291259508,682.291259508,663,639.708740492,883.582519015,785,815,651,630,655,0.413580431159,0.00458462759158,0.0799209017139,0.999999986301,0.000111736270678,-0.000113917003004,-4.39883166738e-05,1793249886982029824
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718.869774723,682.869774723,663,639.130225277,884.739549447,785,815,651,630,655,0.414339742739,0.00458368088417,0.0799154395652,0.999999986923,0.000109788291596,-0.000109876871602,-4.50247567129e-05,1793249886998696448
+155,2.583333333,POSE1_TO_POSE2_PRESS,767.446303328,745.553696672,719,683,663.446303328,639.446303328,884.553696672,785,815,651.446303328,630,655,0.4151403539,0.00458704481513,0.0799371315364,0.999999990429,0.000109229141079,-7.28625027996e-05,-4.36232568574e-05,1793249887015363328
+156,2.600000000,POSE1_TO_POSE2_PRESS,768,745.022156491,718.977843509,683,664,640,884.022156491,785,815,651.977843509,630,655,0.415952346308,0.00459177593259,0.0799651184275,0.999999992663,0.000109917895171,-2.92826988917e-05,-4.16518990633e-05,1793249887032030208
+157,2.616666667,POSE1_TO_POSE2_PRESS,768,745.595563755,718.404436245,683,664,640,884.595563755,785,815,651.404436245,630,655,0.416749013732,0.0045993676071,0.079953467407,0.999999988568,0.000131616691867,-6.06749487e-05,-4.31226102012e-05,1793249887048696576
+158,2.633333333,POSE1_TO_POSE2_PRESS,767.824517132,746,718.175482868,683,664,640,885.175482868,785,815.175482868,651,630,655,0.417570977732,0.00460449777383,0.0799523281081,0.999999986489,0.000143821430531,-6.58997817969e-05,-4.46504393841e-05,1793249887065363200
+159,2.650000000,POSE1_TO_POSE2_PRESS,767.229011785,746,718.770988215,683,664,640,885.770988215,785,815.770988215,651,630,655,0.41845348965,0.00460373626185,0.079976348869,0.999999990007,0.000133301910895,-8.49226948232e-06,-4.63149819293e-05,1793249887082029568
+160,2.666666667,POSE1_TO_POSE2_PRESS,767.354508233,746,718.645491767,683,664.354508233,640,886,785,816,651,630,655,0.41932653414,0.00459867573302,0.0799909385862,0.999999991045,0.000122486837226,2.42101273128e-05,-4.81795723772e-05,1793249887098695936
+161,2.683333333,POSE1_TO_POSE2_PRESS,767.930538926,746,718.069461074,683,664.930538926,640,886,785,816,651,630,655,0.420193662661,0.00459092886666,0.0799996351022,0.999999991667,0.000111487080502,4.14749736518e-05,-5.01691672566e-05,1793249887115362560
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.495801992,746,718.504198008,683.504198008,664.495801992,640,886.504198008,785,816,651,630,655,0.421043654401,0.00458995048867,0.0799794038332,0.999999992837,0.00010841523136,7.11541964672e-06,-5.02223681339e-05,1793249887132029440
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,719,684.080078062,664,640.080078062,887,785,816,651,629.919921938,655,0.421901701574,0.00459113568673,0.0799618872991,0.999999992541,0.000108872771018,-2.38017356952e-05,-4.99866104828e-05,1793249887148696320
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,746,719,684.67224012,664,640.67224012,887,785,816,651,629.32775988,655,0.422826287881,0.00460022152948,0.0799870965915,0.999999990885,0.000124948422525,1.25619584131e-05,-4.96009639035e-05,1793249887165363200
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,746,718.741564838,685,664,641,887,785.258435162,816,651,629.258435162,655,0.423734601831,0.00460732141411,0.0800004908203,0.999999989395,0.000134238584944,2.7627625877e-05,-4.92711905832e-05,1793249887182029824
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,746,718.162766585,685,664,641,887,785.837233415,816,651,629.837233415,655,0.424622744261,0.00461195945353,0.079999238786,0.999999989538,0.000135117277252,1.62916988766e-05,-4.90106792572e-05,1793249887198696448
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.412438355,746,718.412438355,685,664,640.587561645,887,786,816,651,630,655,0.425483446871,0.00461442111242,0.0799641777118,0.999999988298,0.000137235428615,-4.61115720857e-05,-4.94299318416e-05,1793249887215362816
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.986237429,746,718.986237429,685,664,640.013762571,887,786,816,651,630,655,0.426333413983,0.00461603129269,0.0799158893254,0.999999980711,0.00013983850009,-0.000128494223671,-5.01151322437e-05,1793249887232029440
+169,2.816666667,POSE1_TO_POSE2_PRESS,768,746,719,685.574501727,664,640,887.574501727,786,816,651,630,655,0.427263899357,0.00460981856211,0.0799108616491,0.999999982738,0.000133624355006,-0.000118123052493,-5.21106732197e-05,1793249887248696064
+170,2.833333333,POSE1_TO_POSE2_PRESS,767.839627584,746,719,685.839627584,664,640,888,786,816,651.160372416,630,655,0.42818669286,0.00460479834222,0.0799104060989,0.999999984435,0.000127878062486,-0.000109325002867,-5.31492285877e-05,1793249887265362688
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+172,2.866666667,POSE1_TO_POSE2_PRESS,767.317458722,746,719,685.317458722,664,640,888.317458722,785.682541278,816.317458722,652,630,655,0.430016407821,0.00460477841123,0.0799504410152,0.999999988424,0.000124973620954,-7.05755698024e-05,-5.05187897655e-05,1793249887298696704
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.895588102,746,719,685.895588102,664,640,888.895588102,785.104411898,816.895588102,652,630,655,0.43097694798,0.00460846270662,0.0800003680827,0.999999990285,0.000130149418718,3.29731463516e-06,-4.98020170861e-05,1793249887315363328
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.528510632,746,718.528510632,685.528510632,664.471489368,640,889,785,816.528510632,652,630,655,0.431876234953,0.00461288669448,0.0800207516737,0.999999989159,0.000133955604648,3.51202947037e-05,-5.00372141791e-05,1793249887332029696
+175,2.916666667,POSE1_TO_POSE2_PRESS,767.047881125,746.047881125,718,685.047881125,664.952118875,640,889,785.047881125,816.047881125,651.952118875,630,655,0.432755357513,0.00461724208212,0.0800278164218,0.999999988236,0.000136906793207,4.72124815383e-05,-5.05584838846e-05,1793249887348696064
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.63533391,746.63533391,718,685.63533391,664.36466609,640,889,785.63533391,816.63533391,651.36466609,630,655,0.433559387112,0.00461898716825,0.0799581711999,0.999999988006,0.000133624857514,-5.8598104802e-05,-5.19390049623e-05,1793249887365362432
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+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,719,686.904993335,664,640,890,785.904993335,817,652,630.904993335,655,0.438596776622,0.00460313919792,0.0800063873193,0.999999992301,0.000111389007135,1.4782355267e-05,-5.26406399475e-05,1793249887465362176
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,719,686.308994044,664,640,890,785.308994044,817,652,630.308994044,655,0.439372048115,0.00461475338176,0.0799901747662,0.999999991328,0.000119152073943,-1.49153882906e-05,-5.40842822678e-05,1793249887482028800
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+185,3.083333333,POSE1_TO_POSE2_PRESS,767.140903772,746,719,686.859096228,664,640,890,785,817,652,630.859096228,655,0.440729162639,0.00463470326135,0.0798631858841,0.999999966276,0.000144874377711,-0.000209030533967,-5.25865603807e-05,1793249887515362048
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+187,3.116666667,POSE1_TO_POSE2_PRESS,767.991278861,746,718,687.991278861,663,639.991278861,891,785,817,651.991278861,630.991278861,655,0.441992207989,0.00465122382151,0.0797189665159,0.999999896326,0.000159082598535,-0.000422432976235,-5.99329423918e-05,1793249887548695552
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+190,3.166666667,POSE1_TO_POSE2_PRESS,767,746,718.757878416,687,663,639,891,785,817,651.757878416,630,655,0.444069333042,0.00466472469705,0.0798442710774,0.999999954883,0.000180588532425,-0.000233540785066,-5.55047277444e-05,1793249887598695424
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+192,3.200000000,POSE1_TO_POSE2_PRESS,767.920380869,746,718.079619131,687,663,639,891,785,817,652,630,655,0.445246598386,0.00468692221614,0.0798375642984,0.999999947527,0.000199134845936,-0.000248546006659,-5.93045431949e-05,1793249887632028928
+193,3.216666667,POSE1_TO_POSE2_PRESS,768.494717206,746,718,687.494717206,662.505282794,639,891,785,817,652,630.494717206,655,0.445769168639,0.00470216589439,0.0798127338232,0.999999933674,0.000214623813925,-0.000288018445087,-6.0287271301e-05,1793249887648695552
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+196,3.266666667,POSE1_TO_POSE2_PRESS,767.777021875,746,718,688,661.777021875,638.777021875,892,785,817,652,630.222978125,655,0.447253235721,0.00472583258311,0.0797539688935,0.999999903297,0.000250559076014,-0.000355625781747,-6.44731338184e-05,1793249887698695424
+197,3.283333333,POSE1_TO_POSE2_PRESS,767.181522471,746,718,688,661.181522471,638.181522471,892,785,817,652,630.818477529,655,0.447706442874,0.00472804948761,0.0797350300861,0.999999894074,0.000255010412964,-0.000377562924533,-6.53264303092e-05,1793249887715362048
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+228,3.800000000,POSE1_TO_POSE2_PRESS,768,746,718,688,658,637,892,784,817,652,630,655,0.452299784139,0.00470679822492,0.0795854069591,0.999999779133,0.000211459665431,-0.000627067865338,-6.1678300871e-05,1793249888232029440
+229,3.816666667,POSE1_TO_POSE2_PRESS,767.612078686,746,718,688,658,637,892.387921314,784,817,652,630.387921314,655,0.452301975994,0.00470668874979,0.0795851794544,0.999999779201,0.000209966572137,-0.000627495374604,-6.13380779532e-05,1793249888248696064
+230,3.833333333,POSE1_TO_POSE2_PRESS,767.039295106,746,718,688,658,637,892.960704894,784,817,652,630.960704894,655,0.452303739635,0.00470765737377,0.0795853709953,0.999999779522,0.000209114611435,-0.000627280062674,-6.12155375282e-05,1793249888265362688
+231,3.850000000,POSE1_TO_POSE2_PRESS,767.53646675,746,718,688.53646675,658,637,892.46353325,784,817.53646675,652,630.46353325,655,0.452301630122,0.00470662478068,0.0795832539494,0.999999777669,0.000208730511459,-0.000630364365823,-6.11009249128e-05,1793249888282029056
+232,3.866666667,POSE1_TO_POSE2_PRESS,767.884424873,746,718,689,658,637,892,784,817.884424873,652,630.115575127,655,0.452299927429,0.00470591315893,0.079581435233,0.999999776141,0.000208521764194,-0.000632861912874,-6.10068301681e-05,1793249888298695680
+233,3.883333333,POSE1_TO_POSE2_PRESS,767.29242591,746,718,689,658,637,892,784,817.29242591,652,630.70757409,655,0.45230107773,0.00470713227217,0.0795815472436,0.999999776648,0.000208893800205,-0.000631938875647,-6.09949071234e-05,1793249888315362560
+234,3.900000000,POSE1_TO_POSE2_PRESS,767.291793012,746,718,688.708206988,658,637,892,784,817,652,630.708206988,655,0.45230293906,0.00470774846583,0.0795829886207,0.9999997779,0.000208417851224,-0.000630104132496,-6.10862226437e-05,1793249888332029184
+235,3.916666667,POSE1_TO_POSE2_PRESS,767.868417576,746,718,688.131582424,658,637,892,784,817,652,630.131582424,655,0.452305494455,0.00470777612424,0.079585727649,0.999999779872,0.000207114148125,-0.00062737943436,-6.12783137102e-05,1793249888348696064
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,746,718,688.441307056,658,637,892,784,817,652,630.441307056,655,0.452304634714,0.00470727656688,0.0795846151163,0.999999779223,0.000205284697355,-0.000629004141803,-6.13752824972e-05,1793249888365362688
+237,3.950000000,POSE1_TO_POSE2_PRESS,767.986795469,746,718,688.986795469,657.986795469,637,892,784,817.013204531,652,630.986795469,655,0.452302831528,0.00470666133692,0.0795824136845,0.999999777817,0.000203377954164,-0.000631845388027,-6.14416251808e-05,1793249888382029056
+238,3.966666667,POSE1_TO_POSE2_PRESS,767.410103328,746,718,688.410103328,657.410103328,637,892,784,817.589896672,652,630.410103328,655,0.452303856922,0.00470776182701,0.0795823401439,0.999999777604,0.000204806233438,-0.000631724275906,-6.14011990678e-05,1793249888398695936
+239,3.983333333,POSE1_TO_POSE2_PRESS,767.171947376,746,718,688.171947376,657,637,892,784,817.828052624,652,630.171947376,655,0.452304878587,0.00470847351106,0.0795824421078,0.999999777668,0.000205883333188,-0.000631286675929,-6.12635954321e-05,1793249888415362816
+240,4.000000000,POSE1_TO_POSE2_PRESS,767.767189593,746,718,688.767189593,657,637,892,784,817.232810407,652,630.767189593,655,0.452305891075,0.00470822804413,0.0795829761232,0.999999778415,0.000206095909742,-0.000630069955746,-6.0886763118e-05,1793249888432029184
+241,4.016666667,POSE1_TO_POSE2_PRESS,768,746,718,688.650595192,657.349404808,637,892,784,817,652,631,655,0.45230546895,0.00470787905887,0.0795829354082,0.999999777871,0.000206847725676,-0.000630712971829,-6.06127699654e-05,1793249888448696064
+242,4.033333333,POSE1_TO_POSE2_PRESS,768,746,718,688.076747978,657.923252022,637,892,784,817,652,631,655,0.452304125293,0.00470746357794,0.0795825255115,0.999999776495,0.000207945925455,-0.000632550601408,-6.04048362179e-05,1793249888465362688
+243,4.050000000,HOLD_POSE2,767,746,718,688,657,637,892,784,818,652,630,655,0.452307146184,0.00470733324122,0.0795845522644,0.999999779972,0.000204113328975,-0.000628277387093,-6.05020781212e-05,1793249888497645824
+244,4.066666667,HOLD_POSE2,767.614657441,746,718,688,657.614657441,637,892.614657441,784,817.385342559,652,630,655,0.452305329312,0.0047044261964,0.0795827406801,0.999999778804,0.000202584727706,-0.000630658446687,-6.01850666377e-05,1793249888514313216
+245,4.083333333,HOLD_POSE2,768,746,718,688,657.783908963,637,892.783908963,784,817,652,630.216091037,655,0.452304843662,0.00470363398064,0.0795820890907,0.999999778299,0.000202725195105,-0.000631435072607,-5.99500269469e-05,1793249888530980096
+246,4.100000000,HOLD_POSE2,768,746,718,688,657.204696728,637,892.204696728,784,817,652,630.795303272,655,0.452306595009,0.00470639554095,0.0795833867661,0.999999778914,0.000205670379305,-0.000629515595052,-5.98527332964e-05,1793249888547646464
+247,4.116666667,HOLD_POSE2,767.62787847,746,718,688,657,637,892,784.37212153,817,652,631,655,0.452307134912,0.00470668236392,0.0795835268847,0.999999778976,0.000205184512862,-0.00062956364209,-5.99819651455e-05,1793249888564313088
+248,4.133333333,HOLD_POSE2,767.052368708,746,718,688,657,637,892,784.947631292,817,652,631,655,0.452307012684,0.00470561658438,0.0795830343243,0.999999778734,0.00020282335749,-0.000630687067347,-6.02350076829e-05,1793249888580979712
+249,4.150000000,HOLD_POSE2,767.522249201,746,718,688,657,637,892.522249201,784.477750799,817,652,630.477750799,655,0.452306829786,0.00470567006918,0.0795828814479,0.999999778206,0.000204015644846,-0.000631165738911,-5.99617782659e-05,1793249888597645824
+250,4.166666667,HOLD_POSE2,768,746,718,688.099505421,657,637,892.900494579,784,817.099505421,652,630,655,0.452306659977,0.00470595089286,0.0795828652311,0.999999777781,0.000205342762326,-0.000631436139387,-5.96764285432e-05,1793249888614311936
+251,4.183333333,HOLD_POSE2,768,746,718,688.690226564,657,637,892.309773436,784,817.690226564,652,630,655,0.452306584763,0.00470680088177,0.0795833557817,0.999999778014,0.000205579464738,-0.000630997014078,-5.95913151939e-05,1793249888630978304
+252,4.200000000,HOLD_POSE2,768,746,718,688.723871732,657,637,892,784,817.723871732,652,630,655,0.452306551766,0.00470596556118,0.0795833588525,0.99999977808,0.000204240350087,-0.000631319168592,-5.96860386218e-05,1793249888647644928
+253,4.216666667,HOLD_POSE2,768,746,718,688.143283989,657,637,892,784,817.143283989,652,630,655,0.452306565315,0.00470327201558,0.0795828244271,0.999999777952,0.000201163736978,-0.000632480711496,-5.99790503762e-05,1793249888664311552
+254,4.233333333,HOLD_POSE2,768,746,718,688.432111926,657.432111926,637,892,784,817,652,630,655,0.452306176771,0.00470396479819,0.0795820148301,0.999999777264,0.000200956999288,-0.00063362246839,-6.00923068076e-05,1793249888680978688
+255,4.250000000,HOLD_POSE2,767.994032288,746,718,688.994032288,657.994032288,636.994032288,892,784,817.005967712,652,630,654.994032288,0.4523056822,0.00470575912064,0.0795811387339,0.999999776417,0.000201700406214,-0.000634717077706,-6.0147221972e-05,1793249888697646080
+256,4.266666667,HOLD_POSE2,767.404436487,746,718,688.404436487,657.404436487,636.404436487,892,784,817.595563513,652,630,654.404436487,0.452307703111,0.00470677089519,0.0795825767171,0.99999977789,0.00020340424407,-0.00063183477348,-6.02565264618e-05,1793249888714312448
+257,4.283333333,HOLD_POSE2,767.181760788,746,718,688.181760788,657,636.181760788,892,784,817.818239212,652,630.181760788,654.181760788,0.452308878265,0.00470690800813,0.079583559394,0.999999779032,0.000203810196769,-0.000629901604029,-6.01816412623e-05,1793249888730979072
+258,4.300000000,HOLD_POSE2,767.760534901,746,718,688.760534901,657,636.760534901,892,784,817.239465099,652,630.760534901,654.760534901,0.452308206065,0.00470513463046,0.0795835475629,0.999999779464,0.000201381227563,-0.000630041593796,-5.97044374027e-05,1793249888747646208
+259,4.316666667,HOLD_POSE2,768,746,718,688.661503758,657.338496242,637,892,784,817,652,630.661503758,655,0.452307916764,0.00470442220757,0.0795832991588,0.999999779209,0.000201527617283,-0.000630429216907,-5.93953081384e-05,1793249888764312832
+260,4.333333333,HOLD_POSE2,768,746,718,688.08411606,657.91588394,637,892,784,817,652,630.08411606,655,0.452307897691,0.00470445854651,0.079582883795,0.999999778468,0.00020349154946,-0.000630991605586,-5.92047964228e-05,1793249888780979456
+261,4.350000000,POSE2_TO_POSE3_RETREAT,768,746,718,689,657,637,892,784,818,652,630,655,0.452307635574,0.00470448061942,0.0795827965234,0.999999778018,0.0002011161473,-0.000632414788812,-5.97277083766e-05,1793249888812680448
+262,4.366666667,POSE2_TO_POSE3_RETREAT,768,746,718,688.404951947,657,637,892,784,817.404951947,652,630,654.404951947,0.452307584706,0.00470730456189,0.0795822532929,0.999999777365,0.000204081741917,-0.00063247261945,-5.99955409722e-05,1793249888829347328
+263,4.383333333,POSE2_TO_POSE3_RETREAT,767.815017126,746,718,688,657,637,892.184982874,784,817,652,630,654.184982874,0.452307731331,0.00470857553364,0.0795820012073,0.999999777107,0.000206110860293,-0.000632218906174,-6.00244702744e-05,1793249888846013696
+264,4.400000000,POSE2_TO_POSE3_RETREAT,767.235974651,746,718,688,657,637,892.764025349,784,817,652,630,654.764025349,0.452308298665,0.00470653829146,0.079582369333,0.999999777709,0.000206145051562,-0.000631301526779,-5.95444761024e-05,1793249888862679808
+265,4.416666667,POSE2_TO_POSE3_RETREAT,767.341478309,746,717.658521691,688,657,637,893,784,817,652,630,655,0.452308213922,0.00470560763266,0.0795824086597,0.999999777961,0.000204744465891,-0.000631373117962,-5.93848989398e-05,1793249888879346432
+266,4.433333333,POSE2_TO_POSE3_RETREAT,767.917837907,746,717.082162093,688,657,637,893,784,817,652,630,655,0.452307680657,0.00470543812256,0.0795822218264,0.999999777968,0.000202356988087,-0.000632124959384,-5.94457163611e-05,1793249888896013568
+267,4.450000000,POSE2_TO_POSE3_RETREAT,768,746,717.501627111,688,657,637,893,784,817.501627111,652,630,655,0.452308049944,0.0047062684274,0.0795826085388,0.999999778547,0.000203263538125,-0.000630900821315,-5.96103218851e-05,1793249888912680192
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767.914197178,746,718,688,657,637,892.914197178,784,818,652,630,655,0.452307882348,0.00470702232517,0.0795826479349,0.999999778753,0.00020427158647,-0.000630233977814,-5.97676499543e-05,1793249888929346816
+269,4.483333333,POSE2_TO_POSE3_RETREAT,767.334902677,746,718,688,657,637,892.334902677,784,818,652,630,655,0.452303763863,0.00470638074657,0.0795801413289,0.999999776269,0.00020271364568,-0.000634661826485,-5.97838797278e-05,1793249888946013440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,767.242255217,746,718,688,657,637,892,784,818,652,630,655,0.452291745519,0.00470642899567,0.0795739089202,0.999999769826,0.000202785242334,-0.000644715456692,-5.97294880276e-05,1793249888962679552
+271,4.516666667,POSE2_TO_POSE3_RETREAT,767.816485163,746,718,688,657,637,892,784,818,652,630,655,0.452268901595,0.00470742255105,0.0795625708534,0.999999757755,0.000205089877669,-0.000662478382895,-5.95783200925e-05,1793249888979345920
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,746,718,688,657,637,892,784,818,652,630,655,0.452225707071,0.00470729468639,0.0795435976835,0.99999973557,0.000206149592732,-0.000694903558073,-5.89257744398e-05,1793249888996012544
+273,4.550000000,POSE2_TO_POSE3_RETREAT,768,746,718,688,657,637,892,784,818,652,630,655,0.452172954075,0.00470664010231,0.0795210383828,0.999999707433,0.000206624581438,-0.000734215442267,-5.80377367204e-05,1793249889012679168
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.439572312,746,717.439572312,688,657,637,892.560427688,784,818,652,630,655,0.452103239865,0.00470730215141,0.0794992004946,0.999999679488,0.000206095711504,-0.000771486836527,-5.79311021728e-05,1793249889029346048
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767.1446556,746,717.1446556,688,657,637,892.8553444,784,818,652,630,655,0.452030849914,0.00470735977887,0.0794807731269,0.999999656301,0.000205552658683,-0.000801150979109,-5.74734470501e-05,1793249889046012928
+276,4.600000000,POSE2_TO_POSE3_RETREAT,767.723545967,746,717.723545967,688,657,637,892.276454033,784,818,652,630,655,0.451952751569,0.0047054226341,0.0794724847945,0.999999650765,0.000205104567028,-0.000808258847247,-5.58550225245e-05,1793249889062680064
+277,4.616666667,POSE2_TO_POSE3_RETREAT,767.697927403,746,718,688,657,637,892,784,818,652,630,655,0.451868334463,0.00470382748459,0.0794708460872,0.9999996493,0.000206723974835,-0.000809807148232,-5.36343041667e-05,1793249889079346688
+278,4.633333333,POSE2_TO_POSE3_RETREAT,767.119733296,746,718,688,657,637,892,784,818,652,630,655,0.451778141445,0.00470254494961,0.0794752857355,0.999999651569,0.000210233263047,-0.000806273504622,-5.08630351982e-05,1793249889096013056
+279,4.650000000,POSE2_TO_POSE3_RETREAT,767,746,718,688,657,637,892,784,817.543992136,652,630,655,0.45166888485,0.00470139115499,0.0794788380616,0.999999654689,0.000212980218416,-0.000801876098143,-4.74971198344e-05,1793249889112679680
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.031803187,746,718,688,657.031803187,637,892,784,817,652,630,655,0.451553529339,0.00470035659647,0.079482339696,0.999999658255,0.000215463968773,-0.000796949319299,-4.40087097039e-05,1793249889129346304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767.619748304,746,718,688,657.619748304,637,892,784,817,652,630,655,0.451418584827,0.00470081916507,0.0794890072549,0.999999666192,0.000216826604729,-0.000786710187124,-4.10939638834e-05,1793249889146012672
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767.796244544,746,718,688,658,637,892,784,817.203755456,652,630,655,0.451271513332,0.00470068066848,0.0794968069344,0.999999675011,0.000219698200143,-0.000774800740236,-3.73491450479e-05,1793249889162679296
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.219447204,746,718,688,658,637,892,784,817.780552796,652,630,655,0.451102239388,0.00469944172281,0.079506679335,0.999999685425,0.000225332445739,-0.000759833229855,-3.2084602802e-05,1793249889179345920
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.358423541,746,718,688,658,637,892,784,817.641576459,652,630.358423541,655,0.450914884447,0.00469752282983,0.0795168991021,0.999999697827,0.000229367568182,-0.000742309926549,-2.66838321537e-05,1793249889196012544
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767.936953517,746,718,688,658,637,892,784,817.063046483,652,630.936953517,655,0.450716426023,0.00469518638385,0.0795273321866,0.999999711244,0.000232420676124,-0.000723217119637,-2.11994036842e-05,1793249889212679424
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,768,746,718,688,658,637,892.915419462,784,818,652,630,655,0.450229459947,0.00469098156432,0.0795398731435,0.999999721134,0.000248512740888,-0.00070421749031,-7.15977025625e-06,1793249889246013440
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,688,658,637,892.318805094,784,818,652,630,655,0.449941681597,0.00468913930322,0.0795428918248,0.999999722403,0.000255384075028,-0.00069998096946,6.77554782828e-08,1793249889262680064
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746,718,687.731557162,658,637,892,784.268442838,818,652,630,655,0.449631143154,0.00468776911936,0.0795441482289,0.999999722605,0.000262531610878,-0.000697006709144,6.94431734071e-06,1793249889279346688
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,746,718,687.155057891,658,637,892,784.844942109,818,652,630,655,0.44929448597,0.00468694067641,0.0795433822997,0.999999721614,0.00026999610659,-0.000695480979006,1.34181238306e-05,1793249889296013312
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,746,718,687,658.41919683,637.41919683,891.58080317,784.58080317,818,651.58080317,630,655,0.448931880928,0.00468458351621,0.0795446025113,0.999999720419,0.000271934164195,-0.000696307922082,1.9226640087e-05,1793249889312679680
+292,4.866666667,POSE2_TO_POSE3_RETREAT,768,746,718,687,658.992625716,637.992625716,891.007374284,784.007374284,818,651.007374284,630,655,0.448559729086,0.00468166390615,0.0795465534693,0.999999719142,0.000271838919246,-0.000698000467219,2.47903807785e-05,1793249889329346304
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.417234133,746,718,687,659,637.417234133,891.582765867,784,817.417234133,651.582765867,630,655,0.448151546751,0.00467884615979,0.0795441207437,0.999999720728,0.000242216126035,-0.000706761333842,1.9052022915e-05,1793249889346013440
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767.16854858,746,718,687.16854858,659.16854858,637.16854858,892,784.16854858,817.16854858,652,630,655,0.447735653173,0.00467697528082,0.0795447528033,0.999999726594,0.000217631391936,-0.000706566191431,1.46007229677e-05,1793249889362680064
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767.743304956,746,718,687.743304956,659.743304956,637.743304956,892,784.743304956,817.743304956,652,630,655,0.447302306535,0.00467738318656,0.0795529087331,0.999999744351,0.000206115625067,-0.000684564840942,1.36061263151e-05,1793249889379346944
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,746,718,688,660.641883206,638,891.679058397,785,817.679058397,652,630,655,0.446843656939,0.00468695371555,0.0795727457162,0.999999765321,0.000208204321298,-0.00065256534992,1.29751938327e-05,1793249889396013568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,768,746,718,688,661.801805735,638,891.099097133,785,817.099097133,652,630,655,0.446364586249,0.00470391904647,0.0796020100304,0.999999787863,0.000221272656603,-0.000612496739979,1.26377606368e-05,1793249889412679936
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.525341736,746,718,687.525341736,661.525341736,638,891.474658264,785,817,652,630,655,0.445853893654,0.00469936815607,0.0796330429106,0.999999813569,0.000211456732938,-0.000572634919019,1.54243424258e-05,1793249889429346304
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767,746,718,687,661,638,891.951175961,785,817.048824039,652,630,655,0.445332620617,0.00468995093205,0.0796629087049,0.999999836045,0.000204457757674,-0.000534563521649,1.87016376768e-05,1793249889446012928
+300,5.000000000,POSE2_TO_POSE3_RETREAT,767,746,718,687,661,638,891.358181702,785,817.641818298,652,630,655,0.444766054445,0.00467571613642,0.0796757045235,0.999999827083,0.000281417756149,-0.000515972366565,2.02726897831e-05,1793249889462679552
+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.229041056,746,718,687,661,638,891,785,817.770958944,652,630,655,0.444176260242,0.00466821197595,0.0796843332689,0.99999982062,0.000321441450607,-0.000504924995406,2.20302845765e-05,1793249889479346432
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.807459966,746,718,687,661,638,891,785,817.192540034,652,630,655,0.443551034175,0.0046709746868,0.0796866055853,0.999999825453,0.000305122726093,-0.000505384871943,2.40724305239e-05,1793249889496013312
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767.616907857,746,718,686.616907857,661.383092143,638,890.616907857,785,817,651.616907857,630,655,0.442904243001,0.00466133690877,0.0796917364673,0.999999841169,0.000269998360147,-0.000494084692142,2.53790323688e-05,1793249889512680192
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.042666179,746,718,686.042666179,661.957333821,638,890.042666179,785,817,651.042666179,630,655,0.442246691613,0.0046455117219,0.0796982936731,0.999999860506,0.000225490639111,-0.000476916656042,2.63186234137e-05,1793249889529346560
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767.52990786,746,718,686,662,638.52990786,890,785,817,651.52990786,630,655,0.441571590773,0.00463989512923,0.0797121518518,0.999999876947,0.000203776919622,-0.000451559723511,2.5984337155e-05,1793249889546013184
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767.893024765,746,718,686,662,639,889.893024765,785,817,651.893024765,630.106975235,655,0.440877804994,0.00463411197709,0.0797174035632,0.999999884441,0.000191058859794,-0.000440370529348,2.62335473638e-05,1793249889562679296
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.294704561,746,718,686,662,639,889.294704561,785,817,651.294704561,630.705295439,655,0.440104667862,0.00462380034072,0.0796804335928,0.999999853606,0.000211255359971,-0.000497273679047,2.96324224367e-05,1793249889579346176
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767,745.707687403,718,686,662.292312597,639,889,785.292312597,817,651,630.707687403,655,0.439340842454,0.00461195384078,0.079664809762,0.999999844538,0.000204781113877,-0.000517710287166,3.10685452942e-05,1793249889596013056
+309,5.150000000,POSE2_TO_POSE3_RETREAT,767,745.13164148,718,686,662.86835852,639,889,785.86835852,817,651,630.13164148,655,0.43858605538,0.00459861752376,0.0796699055646,0.999999858289,0.000172418901175,-0.00050275064129,3.05995224672e-05,1793249889612679680
+310,5.166666667,POSE2_TO_POSE3_RETREAT,767,745.442754662,718.442754662,686,663.442754662,639,889,785.557245338,817,651.442754662,630,655,0.437851061123,0.00458995347309,0.0797353546278,0.999999904636,0.000157609095107,-0.000405975584176,3.27371508254e-05,1793249889629346048
+311,5.183333333,POSE2_TO_POSE3_RETREAT,767,746,718.982947212,686,663.982947212,639,889,785,817,652,630,654.982947212,0.437120853308,0.00458260206143,0.0798174696835,0.999999947274,0.000148547504044,-0.000286551845144,3.56873675533e-05,1793249889646012928
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767,746,718.395581918,686,663.395581918,639,889,785,817,652,630,654.395581918,0.436354638744,0.0045728634166,0.0798590558789,0.999999962501,0.000157841377354,-0.000220192807595,3.99902839697e-05,1793249889662679552
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767,746,718,686,663,639,888.619343367,785.190328316,817,651.809671684,630,654.190328316,0.435549564634,0.00456277614392,0.0798772206859,0.999999968162,0.000157186796325,-0.000192759954936,4.25761799395e-05,1793249889679345920
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,718,686,663,639,887.453525521,785.77323724,817,651.22676276,630,654.77323724,0.434664336949,0.00455196977479,0.0798470753751,0.99999995972,0.000136012041249,-0.000245618183363,4.16204645065e-05,1793249889696012544
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767.351136476,746,718,685.648863524,662.648863524,639,886.648863524,785.648863524,817,651.351136476,630,654.648863524,0.433762721373,0.00454383503288,0.079811145038,0.999999944786,0.000131121434604,-0.00030242264849,4.21304813815e-05,1793249889712679168
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767.925845961,746,718,685.074154039,662.074154039,639,886.074154039,785.074154039,817,651.925845961,630,654.074154039,0.432850671454,0.00453740135002,0.0797715313029,0.999999924293,0.000136599150554,-0.000361739729639,4.35737484148e-05,1793249889729345792
+317,5.283333333,POSE2_TO_POSE3_RETREAT,768,745.49135037,718,685.50864963,662,639,886,785,817,651.49135037,630,654,0.431896789711,0.00452768461994,0.079727443708,0.999999890488,0.000122605259942,-0.000449375459602,4.53203081065e-05,1793249889746012416
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767.907717424,745,718,685.907717424,662,639,885.907717424,785,816.907717424,651,629.907717424,654.092282576,0.430957749142,0.00451688147401,0.07969779147,0.999999862533,0.000106637858415,-0.000511237855063,4.68884134672e-05,1793249889762679296
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767.326045932,745,718,685.326045932,662,639,885.326045932,785,816.326045932,651,629.326045932,654.673954068,0.430130278244,0.00450289615319,0.079748206992,0.999999908553,9.5502072827e-05,-0.00041417228393,4.7271873192e-05,1793249889779345920
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745.253958671,718.253958671,685,662.253958671,639,885,785.253958671,816.253958671,651,629.253958671,654.746041329,0.42929584268,0.00449126373925,0.079801426639,0.999999943218,8.4909459937e-05,-0.000322516967106,4.83368081366e-05,1793249889796012544
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,745.831837263,718.831837263,685,662.831837263,639,885,785.831837263,816.831837263,651,629.831837263,654.168162737,0.428452523692,0.00448263241569,0.0798582229059,0.999999967658,7.50096534034e-05,-0.000237762325448,5.02709532708e-05,1793249889812679424
+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,745.593770175,718.593770175,685,663,639,884.593770175,786,816.593770175,651,630,654.406229825,0.427539133458,0.00447136188632,0.0798484585021,0.999999964118,6.85386821456e-05,-0.000253834470913,5.13359929067e-05,1793249889829346048
+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,745.020808447,718.020808447,685,663,639,884.020808447,786,816.020808447,651,630,654.979191553,0.426596983416,0.00445900812875,0.0798113751075,0.999999948181,6.34750335831e-05,-0.000311289703281,5.20443189973e-05,1793249889846012416
+324,5.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,684.431782497,663,639,884,785.431782497,816,651,630,654.431782497,0.425648524347,0.00444743870197,0.0797712882848,0.999999930032,4.86980314752e-05,-0.000367297709754,5.1549969832e-05,1793249889862679040
+325,5.416666667,POSE2_TO_POSE3_RETREAT,767,745.154968281,718,684,663,639,883.845031719,785.154968281,816,651,629.845031719,654,0.424698332173,0.00444016041761,0.0797378043263,0.999999911243,3.85587724403e-05,-0.000416342224994,5.18209993364e-05,1793249889879345664
+326,5.433333333,POSE2_TO_POSE3_RETREAT,767,745.733839473,718,684,663,639,883.266160527,785.733839473,816,651,629.266160527,654,0.423744049658,0.00444453934459,0.0797226915729,0.999999897963,4.2106996712e-05,-0.000446487875827,5.43096393414e-05,1793249889896012544
+327,5.450000000,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639,883.311888861,785.688111139,816,651,629.311888861,654.311888861,0.422858231655,0.00446300528832,0.0797325173153,0.99999990513,6.50564578571e-05,-0.000427323126,5.38754312866e-05,1793249889912679168
+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,746,718,684,663,639,883.889238751,785.110761249,816,651,629.889238751,654.889238751,0.422030686572,0.00449346125269,0.0797635692053,0.999999926193,0.000104519083815,-0.000366188327701,5.09534705512e-05,1793249889929345792
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745.536287811,718,683.536287811,663,639,883.536287811,785,816,651,630,654.536287811,0.421222443331,0.00450054313863,0.0798193698074,0.999999956605,0.00010880676413,-0.00026898874408,5.09469704691e-05,1793249889946012416
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745.038535469,718,683,662.961464531,639,883,785,816,651,630,654.038535469,0.420412587861,0.00450121455225,0.0798754257342,0.999999978213,0.0001045861973,-0.000173127465219,5.16093294156e-05,1793249889962679296
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745.628125243,718,683,662.371874757,639,883,785,816,651,630,654.628125243,0.419514156628,0.0044895621246,0.0798511209684,0.999999969896,9.81029023276e-05,-0.000218829178912,5.19395319518e-05,1793249889979345920
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745.785739116,718,683,662.214260884,639,883,785,815.785739116,651,630,654.785739116,0.418619847736,0.00447917675359,0.0798233410568,0.999999958497,8.93004119907e-05,-0.000268983931317,5.17690110134e-05,1793249889996012800
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767,745.205503316,718,683,662.794496684,639,883,785,815.205503316,651,630,654.205503316,0.41773257999,0.00447095561584,0.0797896253113,0.999999942403,7.65365474555e-05,-0.000326744841402,5.07432139751e-05,1793249890012679168
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,682.628466199,662.628466199,639,883,785,815.371533801,651,630,654,0.416893928997,0.0044697888681,0.0797878789596,0.999999937844,7.43358952399e-05,-0.00034080484709,5.13597341605e-05,1793249890029345792
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,682.053183275,662.053183275,639,883,785,815.946816725,651,630,654,0.416081939481,0.00447249074808,0.0798036646244,0.999999940818,7.79281091482e-05,-0.000330899275269,5.28769011769e-05,1793249890046012672
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,682,662,639,882.466052953,785,816,651,630,654.533947047,0.415261844948,0.00448307375035,0.0797840514942,0.999999929394,9.73200126051e-05,-0.000359027702621,5.32921351074e-05,1793249890062679040
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,682,662,639,882.120339054,785,816,651,630,655,0.414461953303,0.00449193501184,0.0797686859136,0.999999921219,0.000112174627321,-0.000377039734325,5.31042630705e-05,1793249890079345664
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,682,662,639,882.699317669,785,816,651,630,655,0.413742206094,0.00449117465591,0.0797832515091,0.999999934941,0.000103602721994,-0.000341730022306,5.10456179585e-05,1793249890096012544
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,681.721789378,662,639,882.721789378,785,815.721789378,651,630,654.721789378,0.413019552108,0.00448551912977,0.0797946088278,0.999999943187,9.25424378756e-05,-0.000320116651308,5.08671259375e-05,1793249890112679424
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,681.142989015,662,639,882.142989015,785,815.142989015,651,630,654.142989015,0.412293757572,0.00447457466849,0.0798024997967,0.999999946427,7.87936117104e-05,-0.000313301350528,5.2720025731e-05,1793249890129346048
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,681.439039079,662,639,882,785,815.439039079,651,630,654,0.411588352051,0.00447067971031,0.0797934703193,0.999999940563,7.06333428315e-05,-0.0003332797477,5.29985504668e-05,1793249890146012672
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,681.978052985,662,639,882,785,815.978052985,651,630,654,0.410891125394,0.00446953124855,0.0797796840356,0.999999931477,6.56019285406e-05,-0.000360495360218,5.2770184069e-05,1793249890162679296
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,681.399688717,662,639,882,785,815.399688717,651,630,654,0.410231656992,0.00447937487126,0.0797860472737,0.999999933581,9.34088787458e-05,-0.000348318962277,5.2786697167e-05,1793249890179346176
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.821163688,662,639,882,785,815,651,630,654.178836312,0.409596852975,0.00448707535022,0.0797991010039,0.99999993944,0.000111834002844,-0.000325264178458,5.30641848068e-05,1793249890196013056
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.242278931,662,639,882,785,815,651,630,654.757721069,0.409017221903,0.00448998171899,0.0798271210529,0.999999953969,0.000109272427149,-0.000277874953129,5.39254602799e-05,1793249890212679936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.664232909,785,815,651,630,655,0.408431456946,0.00448824333679,0.0798335201723,0.999999956143,0.000106160895328,-0.000271007555657,5.47572420639e-05,1793249890229346560
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.086790619,785,815,651,630,655,0.407841277036,0.00448316180036,0.0798243571858,0.999999950173,0.000102653521624,-0.000293306571726,5.55677951533e-05,1793249890246012928
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,815,651,630,655,0.407272192448,0.00448128808087,0.0797905115344,0.999999931565,0.00010191915231,-0.000351438778443,5.4530278216e-05,1793249890262679040
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.061994577,662,639,881,785,815,651,630,654.938005423,0.406717014213,0.00448028852134,0.0797570934494,0.999999910799,0.000100820259345,-0.000406705388642,5.31713698603e-05,1793249890279345664
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.65242078,662,639,881,785,815,651,630,654.34757922,0.406248564578,0.00448190351355,0.0797645356079,0.99999992084,9.2433181402e-05,-0.00038351798679,5.18594366445e-05,1793249890296012288
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.760963582,662,639,881.239036418,785,815,651,630,654,0.405799675304,0.00448507859302,0.0797777925993,0.999999930998,9.48579858174e-05,-0.000355515705384,5.11414618302e-05,1793249890312678912
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.179801937,662,639,881.820198063,785,815,651,630,654,0.405378782191,0.00449048657566,0.0797993721755,0.999999940929,0.000112757494528,-0.000320622041753,5.12736008925e-05,1793249890329345536
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.602854625,784.602854625,815,651,630,654,0.404977259507,0.00449305950902,0.0798124321017,0.999999945754,0.00012061424256,-0.000302137287985,5.15422252446e-05,1793249890346012160
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.027795209,784.027795209,815,651,630,654,0.404584414393,0.00449436239138,0.0798216753787,0.999999948629,0.000123972014621,-0.000291003430081,5.18719925997e-05,1793249890362679040
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.4532469,639,881,784.5467531,815,651,630,654.5467531,0.404217994865,0.00449677727259,0.0798225178252,0.999999946042,0.000126117687216,-0.000298562739015,5.3584523534e-05,1793249890379345664
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.875019166,661.124980834,639,881,785,815,651,630,654.875019166,0.403861701565,0.0044983421697,0.0798238164949,0.999999943847,0.000128278839445,-0.000304632367526,5.52277939963e-05,1793249890396012544
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.282942999,661.717057001,639,881,785,815,651,630,654.282942999,0.403538237249,0.00449651931538,0.0798284148443,0.99999994439,0.000130727921916,-0.000301586282707,5.63497433731e-05,1793249890412678912
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767.30135533,745,718,679.30135533,662,639,881,784.69864467,814.69864467,651,630,654.30135533,0.403240777695,0.00449398980489,0.0798316034647,0.999999946448,0.000121086683266,-0.000299074157069,5.47481223893e-05,1793249890429346048
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767.878534736,745,718,679.878534736,662,639,881,784.121465264,814.121465264,651,630,654.878534736,0.402967119762,0.00449081350726,0.0798335017901,0.99999994956,0.000100379432622,-0.000297050752908,5.06536757393e-05,1793249890446013696
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767.548944714,745,718,679.548944714,662,639,881,784.451055286,814,651,630,654.548944714,0.40272269158,0.00448873609024,0.0798305447873,0.999999949195,9.20347338447e-05,-0.00030088369171,5.10816670132e-05,1793249890462680064
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.022403171,662,639,881,785,814.022403171,651,630,654,0.40248768432,0.00448705060839,0.0798264422073,0.999999947982,8.71444786251e-05,-0.000306051998169,5.26733040088e-05,1793249890479346176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.59544961,662,639,881,785,814.59544961,651,630,654,0.402292742246,0.00448779944611,0.0798259908952,0.999999948151,8.61708608964e-05,-0.000305676016989,5.32386016184e-05,1793249890496013056
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745.175867817,718,680,662,639,880.824132183,785,815,651,630,654,0.402107142465,0.00448822869176,0.079827433421,0.999999949136,8.52459852302e-05,-0.000302559436457,5.40327583917e-05,1793249890512679936
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745.773985175,718,680,662,639,880.226014825,785,815,651,630,654,0.401943973076,0.00448789061326,0.0798334229537,0.999999952018,8.44381368727e-05,-0.000292862818515,5.53763941085e-05,1793249890529346816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745.642540701,718,680,662,639,880.357459299,784.642540701,815,651,630,654,0.401800109882,0.00449063755435,0.0798386194622,0.999999953801,8.94087626698e-05,-0.000285008604816,5.63457500325e-05,1793249890546013440
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745.067960814,718,680,662,639,880.932039186,784.067960814,815,651,630,654,0.401667973247,0.00449525833466,0.0798433342889,0.999999954861,9.78892305256e-05,-0.000278273465529,5.70877687351e-05,1793249890562680064
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784,814.494298144,651,630,654.505701856,0.401549739348,0.00450965636751,0.0798395287182,0.999999946505,0.000153397534622,-0.000283893130543,5.35073960642e-05,1793249890579346688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.91812211,639,880.91812211,784.08187789,814.08187789,651,630,654.91812211,0.401436665922,0.00452333096013,0.079834748845,0.999999935574,0.000204187705098,-0.0002910878347,4.92759228391e-05,1793249890596013056
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.325500259,639,880.325500259,784.674499741,814.674499741,651,630,654.325500259,0.401344149223,0.00452431137696,0.0798310211301,0.999999937338,0.000186194617486,-0.000297769134818,4.45998758416e-05,1793249890612679680
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.73864377,661.26135623,639,880,785,815,651,630,654,0.401261763312,0.00452210892419,0.0798276173304,0.999999938153,0.00017319880381,-0.000303076133565,4.29153479854e-05,1793249890629346048
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.15881268,661.84118732,639,880,785,815,651,630,654,0.401191722248,0.00451602799505,0.0798246082365,0.999999938131,0.000166292404616,-0.00030670848114,4.48761272075e-05,1793249890646012672
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.416251221,662,639,880.416251221,785,815,651,630,654,0.401138677384,0.004518116877,0.0798232352822,0.999999936842,0.00016982576022,-0.000308794423429,4.60653454868e-05,1793249890662679296
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.989516875,662,639,880.989516875,785,815,651,630,654,0.401092043671,0.0045232874996,0.0798224794974,0.999999935038,0.000177297103644,-0.000310297044937,4.69635226433e-05,1793249890679346176
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.435080219,745,718,680,662,639,881,785,815,651,630,654,0.401060331687,0.00452029216643,0.0798232449273,0.999999936557,0.00017100316751,-0.000308853800158,4.74728069877e-05,1793249890696013056
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.144982204,745,718,680,661.855017796,639,880.855017796,784.855017796,815,651,630,654.144982204,0.401031534937,0.00451793727546,0.0798237515433,0.999999937771,0.000165780978734,-0.000307711536706,4.78293988002e-05,1793249890712679680
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.739364168,745,718,680,661.260635832,639,880.260635832,784.260635832,815,651,630,654.739364168,0.401010912946,0.00451803904985,0.0798233680835,0.999999937971,0.000164675666576,-0.000307672313118,4.77351453793e-05,1793249890729346304
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.324459287,639,880.324459287,784,814.675540713,651,630,654.675540713,0.400994487523,0.00451831398131,0.0798229935579,0.999999937983,0.000164181265584,-0.000307879170188,4.78368584754e-05,1793249890746012928
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.902301997,639,880.902301997,784,814.097698003,651,630,654.097698003,0.400981339368,0.00451872413815,0.0798226260092,0.999999937851,0.000164163949795,-0.000308278201625,4.80916097656e-05,1793249890762679552
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.47547094,718,680,662,639,881,784.47547094,814.47547094,651,630,654.47547094,0.40097509712,0.00451652571545,0.0798229011994,0.999999938478,0.000160899352627,-0.000307958990471,4.81304807265e-05,1793249890779346176
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745.95081547,718,680,662.04918453,639,881,785,815,651,630,654.95081547,0.400970548871,0.00451406096132,0.0798234271566,0.999999939286,0.000157328927051,-0.000307182022256,4.8119426707e-05,1793249890796012800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.36065086,718,680,662.63934914,639,881,785,815,651,630,654.36065086,0.400969177271,0.00451450491349,0.0798252728269,0.99999994052,0.000157662215115,-0.000302977638978,4.80423954864e-05,1793249890812679936
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662.774545786,639,881,784.774545786,814.774545786,651,630,654,0.400968134615,0.00451535637491,0.079826697449,0.999999941322,0.000158560137041,-0.000299872988386,4.78698437481e-05,1793249890829347072
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662.194819775,639,881,784.194819775,814.194819775,651,630,654,0.400967608848,0.00451684818377,0.0798274604489,0.999999941464,0.000160345307186,-0.00029849642407,4.75471940204e-05,1793249890846013440
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.620170556,784.379829444,814.379829444,651,630.379829444,654,0.400966525279,0.0045176383889,0.0798275659103,0.999999941414,0.000160871509366,-0.000298391577191,4.74863889228e-05,1793249890862679808
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.048090966,784.951909034,814.951909034,651,630.951909034,654,0.400965159379,0.00451807347823,0.0798273385594,0.999999941267,0.000160760486606,-0.00029893040837,4.75581161307e-05,1793249890879346432
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.528409652,785,814.471590348,651,630.471590348,654,0.400965569403,0.00451688361126,0.0798282916708,0.999999941881,0.000158779167121,-0.000297939385885,4.75399536974e-05,1793249890896013056
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.891929074,785,814.108070926,651,630,654.108070926,0.400966313511,0.00451585084679,0.0798293804397,0.99999994257,0.000157062939496,-0.000296545023802,4.74569668531e-05,1793249890912679424
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.299931919,785,814.700068081,651,630,654.700068081,0.400967823745,0.00451618937637,0.0798305915268,0.999999943308,0.000157302395199,-0.000293973291299,4.71206476273e-05,1793249890929346048
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,718.284657804,680,662,639,880,785,814.715342196,651,630,655,0.400968193225,0.00451615355443,0.0798311665231,0.999999943645,0.00015749509615,-0.000292718974974,4.71334726973e-05,1793249890946012672
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,718.861640648,680,662,639,880,785,814.138359352,651,630,655,0.400967391225,0.00451573329789,0.0798310882958,0.999999943575,0.000157639783043,-0.000292817559021,4.75048461974e-05,1793249890962679296
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,719,679.560770456,662,639,880.439229544,785,814,651,630,654.560770456,0.400966983909,0.00451567574497,0.0798308045425,0.999999943482,0.000157557938113,-0.000293198615914,4.73831120951e-05,1793249890979346176
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745,719,679.017248675,662,639,880.982751325,785,814.017248675,651,630,654,0.400966755079,0.00451573073872,0.0798305004588,0.999999943407,0.000157372043126,-0.000293598010075,4.7117659437e-05,1793249890996013056
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745,719,679.603150335,662,639,880.396849665,785,814.603150335,651,630,654,0.400968306115,0.00451572426299,0.0798316634682,0.999999944165,0.000156111628249,-0.000291664399139,4.72421263846e-05,1793249891012679424
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,718.812461915,679.812461915,662,639,880,785,815,651,630,654,0.40096901324,0.00451555660551,0.0798323324698,0.999999944461,0.000155949386021,-0.000290704002974,4.74136778814e-05,1793249891029345792
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,718.23125213,679.23125213,662,639,880,785,815,651,630,654,0.400967948866,0.0045150506024,0.0798319644719,0.999999943797,0.000158092379591,-0.00029178653657,4.76840671855e-05,1793249891046012416
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.34704277,662,639,880,784.65295723,814.65295723,651,630,654,0.400967466899,0.00451613850717,0.0798315174571,0.999999943737,0.000158412961421,-0.000291888493213,4.72484798682e-05,1793249891062679040
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.923411492,662,639,880,784.076588508,814.076588508,651,630,654,0.400967369788,0.00451827966668,0.0798310182279,0.999999944078,0.000157529293023,-0.000291342484312,4.63463830086e-05,1793249891079345664
+398,6.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.498324102,784,814,651,630,654,0.400968083025,0.0045171287367,0.0798324497749,0.999999944615,0.000157114481944,-0.000289666756195,4.6668056436e-05,1793249891096012800
+399,6.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.924931521,784,814,651,630,654,0.400968624204,0.00451554992456,0.0798338313795,0.999999945063,0.000156737799617,-0.000288247397376,4.71199581072e-05,1793249891112679424
+400,6.666666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.334068166,784,814,651,630,654,0.400967129915,0.00451449751398,0.0798328368368,0.999999944713,0.000156129420767,-0.000289779078175,4.71780990026e-05,1793249891129346304
+401,6.683333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.748555762,662,639,880,784,814.251444238,651,630,654,0.400966372954,0.00451466505238,0.0798324404042,0.999999944455,0.000156526198973,-0.000290458733949,4.71516378036e-05,1793249891146012928
+402,6.700000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.170004399,662,639,880,784,814.829995601,651,630,654,0.400966575191,0.00451641963834,0.0798328220607,0.999999944318,0.000158230599165,-0.000290029979341,4.7015116632e-05,1793249891162679296
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82d838131c0c07b78970d8481bd83a98786b3aa1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,404 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532845,1.06970476168
+2,0.033333333,pose1_baseline,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532845,1.06970476168
+3,0.050000000,pose1_baseline,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532845,1.06970476168
+4,0.066666667,pose1_baseline,0.575664261327,0.0101502242146,1.07003336378,0.546234938374,0.0188228532845,1.06970476168
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+368,6.133333333,pose2_to_pose3_retreat,0.576085241163,0.0101500922805,1.07003352698,0.546655921275,0.018822731585,1.06970492028
+369,6.150000000,pose2_to_pose3_retreat,0.576001349445,0.0101500826021,1.07003342409,0.546572028866,0.0188227195168,1.06970481678
+370,6.166666667,pose2_to_pose3_retreat,0.575929175868,0.0101501384871,1.07003348756,0.546499853894,0.0188227708244,1.06970488387
+371,6.183333333,pose2_to_pose3_retreat,0.575868902789,0.0101499827675,1.07003344968,0.546439581234,0.0188226164791,1.06970484466
+372,6.200000000,pose2_to_pose3_retreat,0.57581934577,0.0101498357546,1.07003331525,0.546390028107,0.01882248242,1.06970470355
+373,6.216666667,pose2_to_pose3_retreat,0.575779589475,0.0101502588143,1.07003378192,0.546350266853,0.0188228883008,1.069705161
+374,6.233333333,pose2_to_pose3_retreat,0.575748376074,0.0101502388189,1.07003377268,0.546319052124,0.018822863988,1.06970515685
+375,6.250000000,pose2_to_pose3_retreat,0.575723772755,0.0101501707444,1.07003364641,0.546294449971,0.0188228001842,1.06970503888
+376,6.266666667,pose2_to_pose3_retreat,0.575705157293,0.0101501259362,1.07003353908,0.546275834818,0.0188227564575,1.06970493245
+377,6.283333333,pose2_to_pose3_retreat,0.575690973074,0.010150122231,1.0700335438,0.546261651315,0.018822755234,1.06970493863
+378,6.300000000,pose2_to_pose3_retreat,0.575681015154,0.0101501747569,1.0700336025,0.546251693681,0.018822808753,1.06970499795
+379,6.316666667,pose2_to_pose3_retreat,0.57567444387,0.0101502379648,1.07003359012,0.546245121433,0.0188228686152,1.06970498331
+380,6.333333333,pose2_to_pose3_retreat,0.575670409364,0.0101501329221,1.07003337303,0.546241087673,0.0188227664559,1.06970477555
+381,6.350000000,pose2_to_pose3_retreat,0.575668403433,0.0101500825217,1.07003342405,0.546239082507,0.0188227185694,1.06970482445
+382,6.366666667,pose2_to_pose3_retreat,0.575667196598,0.0101500531037,1.0700335335,0.546237876328,0.0188226911991,1.06970492925
+383,6.383333333,pose2_to_pose3_retreat,0.575666437808,0.0101500346073,1.07003360231,0.54623711795,0.0188226739902,1.06970499515
+384,6.400000000,pose2_to_pose3_retreat,0.575665988793,0.0101500910251,1.07003357016,0.546236668025,0.0188227273551,1.0697049639
+385,6.416666667,pose2_to_pose3_retreat,0.575665764359,0.0101501220819,1.070033551,0.546236443087,0.0188227567242,1.06970494531
+386,6.433333333,pose2_to_pose3_retreat,0.575665737875,0.0101501257468,1.07003354874,0.546236416544,0.0188227601899,1.06970494311
+387,6.450000000,pose2_to_pose3_retreat,0.575665532316,0.0101501541916,1.0700335312,0.546236210523,0.018822787089,1.06970492608
+388,6.466666667,pose2_to_pose3_retreat,0.575665257261,0.0101501922532,1.07003350772,0.546235934852,0.0188228230821,1.06970490329
+389,6.483333333,pose2_to_pose3_retreat,0.575665082936,0.010150216376,1.07003349284,0.546235760136,0.018822845894,1.06970488884
+390,6.500000000,pose2_to_pose3_retreat,0.575665028517,0.0101502239064,1.07003348819,0.546235705594,0.0188228530152,1.06970488433
+391,6.516666667,pose2_to_pose3_retreat,0.575664969069,0.0101502321326,1.07003348312,0.546235646013,0.0188228607944,1.06970487941
+392,6.533333333,pose2_to_pose3_retreat,0.575664886499,0.0101502288895,1.07003347395,0.546235563422,0.0188228574563,1.06970486965
+393,6.550000000,pose2_to_pose3_retreat,0.575664843678,0.0101502142646,1.07003346733,0.546235520734,0.0188228432461,1.06970486202
+394,6.566666667,pose2_to_pose3_retreat,0.575664806589,0.0101502015975,1.07003346159,0.546235483761,0.0188228309383,1.06970485541
+395,6.583333333,pose2_to_pose3_retreat,0.575664759386,0.0101501854759,1.07003345429,0.546235436705,0.0188228152739,1.06970484699
+396,6.600000000,pose2_to_pose3_retreat,0.575664742255,0.0101501796251,1.07003345164,0.546235419627,0.018822809589,1.06970484394
+397,6.616666667,pose2_to_pose3_retreat,0.575664712381,0.0101501694221,1.07003344702,0.546235389846,0.0188227996754,1.06970483862
+398,6.633333333,pose2_to_pose3_retreat,0.575664649494,0.0101501479439,1.07003343729,0.546235327155,0.0188227788064,1.06970482741
+399,6.650000000,pose2_to_pose3_retreat,0.57566456549,0.0101501192537,1.07003342429,0.546235243413,0.0188227509298,1.06970481243
+400,6.666666667,pose2_to_pose3_retreat,0.575664504473,0.0101500984143,1.07003341485,0.546235182586,0.0188227306814,1.06970480156
+401,6.683333333,pose2_to_pose3_retreat,0.575664377173,0.0101501474532,1.0700333892,0.546235054875,0.0188227784937,1.0697047804
+402,6.700000000,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532846,1.06970476168
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1f30709fb93bd883446370fad107a027ee21b0b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7907b4237184be0747a2692985af4436bfa197a877e17765b3cc539ae36f929
+size 25691821
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d69accf94dbde6b5b6cb0753e4b19e2403b5a2df
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,406 @@
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+0,0.000000000,BASELINE,768,745,719,680,662,639,881,784,814,651,630,654,0.40096945857,0.00451242190663,0.0798351731938,0.999999946362,0.000152361867428,-0.000286098488429,4.70055584556e-05,1793249891285946880
+1,0.016666667,BASELINE,767.353162285,745,718.353162285,680,662,639,880.353162285,784,814,651,630,654.646837715,0.400967645374,0.00451518562479,0.0798336500223,0.999999945427,0.000154040291866,-0.000288505441325,4.67060243667e-05,1793249891302613504
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+4,0.066666667,BASELINE,767,745,718,679,662,639,881,784.4407275,815,651,630,655,0.400966884359,0.00451507994861,0.0798328076727,0.999999945002,0.000154779850648,-0.000289587123363,4.66741556151e-05,1793249891352613120
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+8,0.133333333,BASELINE,767,745,718.742533734,680,662,639,881,784,815,651,630,654.742533734,0.400965900979,0.00451448730035,0.0798326952783,0.999999945002,0.000153969999101,-0.000289992592884,4.6838216055e-05,1793249891419279872
+9,0.150000000,BASELINE,767,745,718.673257138,680,662,639,881,784.326742862,814.673257138,651,630,655,0.400965623647,0.004513988364,0.0798326235424,0.99999994482,0.000154651787437,-0.0002902579305,4.68259536411e-05,1793249891435946496
+10,0.166666667,BASELINE,767,745,718.081559391,680,662,639,881,784.918440609,814.081559391,651,630,655,0.400965399013,0.0045135819326,0.0798324482743,0.999999944503,0.00015592415304,-0.000290674476039,4.68045930964e-05,1793249891452613120
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+12,0.200000000,BASELINE,767,745.91970035,718,680,662.8394007,639,881,784.08029965,814.91970035,651,629.08029965,654,0.400966595493,0.00451514838274,0.0798341187761,0.999999945173,0.000156126371074,-0.000288247978421,4.68152665046e-05,1793249891485946112
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+14,0.233333333,BASELINE,767,745,718,679.772826612,661.227173388,639,881,784.772826612,814,651,630,654,0.400965561117,0.00451553874104,0.0798333238446,0.999999944695,0.000157343648564,-0.000289239059647,4.68454763194e-05,1793249891519279616
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+16,0.266666667,BASELINE,767,745,718,679.39190731,662,639,881,784.39190731,814.39190731,651,630,654.39190731,0.400967021805,0.00451465709146,0.0798344610183,0.999999945761,0.000152780325021,-0.000288025420459,4.66573832536e-05,1793249891552612864
+17,0.283333333,BASELINE,767,745,718,679.984791905,662,639,881,784.984791905,814.984791905,651,630,654.984791905,0.400967109386,0.00451409896443,0.0798338779216,0.999999945607,0.000153431375855,-0.000288254260974,4.64045815311e-05,1793249891569279488
+18,0.300000000,BASELINE,767,745.561434097,718,679.438565903,662,639,881,785,814.438565903,651,630,655,0.400966336722,0.00451565534946,0.079833494814,0.999999945119,0.00015507392269,-0.000289030184965,4.66405705507e-05,1793249891585946112
+19,0.316666667,BASELINE,766.862911661,745.862911661,718,679.274176678,662,639,881,785,814.137088339,651,630,654.862911661,0.400965939612,0.00451657588507,0.0798333748709,0.999999944885,0.000156155913289,-0.000289221995518,4.68507409799e-05,1793249891602612736
+20,0.333333333,BASELINE,766.289042786,745.289042786,718,680.421914428,662,639,881,785,814.710957214,651,630,654.289042786,0.400966811223,0.00451529316204,0.0798340766278,0.999999945499,0.000155368736136,-0.000287506859024,4.69376509036e-05,1793249891619279360
+21,0.350000000,BASELINE,766.293203418,745.293203418,718,680.706796582,662.293203418,639,880.706796582,785,815,651,630,654,0.400966895457,0.00451515409337,0.0798342558344,0.999999945701,0.000155166252863,-0.00028693652903,4.67838295369e-05,1793249891635946240
+22,0.366666667,BASELINE,766.883950937,745.883950937,718,680.116049063,662.883950937,639,880.116049063,785,815,651,630,654,0.400966180658,0.00451617561019,0.0798339047545,0.999999945489,0.000155557119525,-0.000287527953741,4.6385713007e-05,1793249891652612864
+23,0.383333333,BASELINE,767,746,718,680,662.534887682,639,880.465112318,785,815,651,630,654.465112318,0.400967524402,0.0045167137719,0.0798348240975,0.999999945497,0.00015740426185,-0.000286527015104,4.61696157966e-05,1793249891669279488
+24,0.400000000,BASELINE,767,745.956277016,718,680,662,639,881,785,815,651,630,654.956277016,0.400969104482,0.0045170248555,0.0798359164875,0.999999945543,0.000159326128387,-0.000285322212393,4.60434295377e-05,1793249891685946368
+25,0.416666667,BASELINE,767,745.380189737,718,680,662,639,881,785,815,651,630,654.380189737,0.400967434653,0.00451600983375,0.0798353343065,0.999999945461,0.000157823048622,-0.000286375049183,4.64701834975e-05,1793249891702613248
+26,0.433333333,BASELINE,767,745,718.195034083,680,662,639,881,784.804965917,815,651,630.195034083,654,0.400966728023,0.00451504378081,0.0798351601123,0.99999994567,0.000156061029364,-0.000286553805539,4.68202587343e-05,1793249891719279872
+27,0.450000000,BASELINE,767,745,718.768582237,680,662,639,881,784.231417763,815,651,630.768582237,654,0.400967890731,0.00451417276435,0.0798357777222,0.999999946445,0.000153796470792,-0.000285036182968,4.70215191559e-05,1793249891735946496
+28,0.466666667,BASELINE,767,745,719,680,662,639,881,784.352650072,815,651,630.647349928,654,0.400967640442,0.00451438256314,0.079835399218,0.999999946187,0.000154752967518,-0.000285423658937,4.70250488727e-05,1793249891752612864
+29,0.483333333,BASELINE,767,745,719,680,662,639,881,784.943833407,815,651,630.056166593,654,0.400966434399,0.00451532342775,0.0798343469401,0.999999945223,0.000157888193068,-0.000287099747723,4.68948331057e-05,1793249891769279232
+30,0.500000000,BASELINE,767,745,718.474195511,680,662,639,881,785,814.474195511,651,630,654.525804489,0.400966718249,0.00451459810646,0.0798339877995,0.999999945512,0.000156348775793,-0.000286950169369,4.6798626241e-05,1793249891785946112
+31,0.516666667,BASELINE,767,745.105220868,718,679.894779132,662,639,880.894779132,785,814,651,630,655,0.400966876167,0.00451396892216,0.0798337447344,0.99999994577,0.000154980996372,-0.000286804462549,4.67346504269e-05,1793249891802612736
+32,0.533333333,BASELINE,767,745.677588833,718,679.322411167,662,639,880.322411167,785,814,651,630,655,0.400965780577,0.00451454313493,0.079833693948,0.999999945315,0.00015655400197,-0.000287526855002,4.67979192589e-05,1793249891819279616
+33,0.550000000,BASELINE,767,745.751151581,718,679,662,639,880.248848419,785,814.248848419,651,630,654.751151581,0.400965525941,0.00451491245238,0.0798338529845,0.999999945184,0.0001573372124,-0.000287563107099,4.67364738811e-05,1793249891835945984
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+39,0.650000000,BASELINE,767,745,718,679,662,639,881,784.735072317,814.264927683,651,630,655,0.400967282952,0.00451562879515,0.0798347669677,0.999999945949,0.000155697341828,-0.000285815849441,4.65890898421e-05,1793249891935946240
+40,0.666666667,BASELINE,767.317938551,745,718,679.317938551,662,639,881,785,814,651,630,654.682061449,0.400966166003,0.00451535563085,0.079834364374,0.999999945658,0.000156196298716,-0.000286484201318,4.70468699258e-05,1793249891952613120
+41,0.683333333,BASELINE,767.907092972,745,718,679.907092972,662,639,881,785,814,651,630,654.092907028,0.400965832818,0.00451354709752,0.0798344933881,0.99999994593,0.000154540751062,-0.000286334108158,4.76510894655e-05,1793249891969279488
+42,0.700000000,BASELINE,767.512779179,745,718,679.512779179,662,639,881,785,814,651.487220821,630,654,0.400967869606,0.00451467256831,0.0798353055959,0.999999946373,0.000154809542757,-0.000284759752159,4.68937190478e-05,1793249891985946368
+43,0.716666667,BASELINE,767,745,718,679,662,639,880.934639224,785,814.065360776,651.934639224,630,654.065360776,0.400969794353,0.00451610922128,0.0798360418064,0.999999946707,0.000155470339578,-0.000283361617511,4.60472324578e-05,1793249892002613504
+44,0.733333333,BASELINE,767,745,718,679,662,639,880.358826146,785,814.641173854,651.358826146,630,654.641173854,0.400967378869,0.00451568621554,0.0798351855717,0.999999945959,0.000156378955087,-0.000285422198694,4.64956016005e-05,1793249892019280128
+45,0.750000000,BASELINE,767,745,718,679.216676004,662.216676004,639,880,784.783323996,814.783323996,651,630,655,0.400965994721,0.00451540839119,0.0798345827951,0.999999945585,0.000156399005043,-0.000286684323107,4.67150712406e-05,1793249892035946240
+46,0.766666667,BASELINE,767,745,718,679.79166392,662.79166392,639,880,784.20833608,814.20833608,651,630,655,0.400966316071,0.00451537064983,0.0798343991559,0.999999945834,0.000154949655362,-0.000286626058504,4.65560152176e-05,1793249892052612864
+47,0.783333333,BASELINE,767,745,718,680,662.623889698,639,880.376110302,784.376110302,814.376110302,651,630,654.623889698,0.400966768092,0.00451684198459,0.0798345063579,0.999999945578,0.000157437202508,-0.000286180078421,4.64663487513e-05,1793249892069279744
+48,0.800000000,BASELINE,767,745,718,680,662.034068842,639,880.965931158,784.965931158,814.965931158,651,630,654.034068842,0.400967294362,0.00451917079516,0.0798347788195,0.999999945015,0.00016216174327,-0.000285513793566,4.64161102785e-05,1793249892085946112
+49,0.816666667,BASELINE,767,745,718.547380189,680,662,639,881,785,815,651,630,654,0.400968026581,0.00451621492147,0.0798354343423,0.999999946123,0.000156451815737,-0.000284851442231,4.62197870271e-05,1793249892102612992
+50,0.833333333,BASELINE,767,745,718.873341559,680,662,639,881,785,814.873341559,651,630,654,0.400968273741,0.00451427616578,0.0798357309235,0.999999946775,0.000152597641429,-0.000284669632249,4.61285198722e-05,1793249892119279616
+51,0.850000000,BASELINE,767,745,718.299910029,680,662,639,881,785,814.299910029,651,630,654,0.40096676538,0.00451706791808,0.0798346785476,0.999999945561,0.000157545735448,-0.000286182025921,4.64394148425e-05,1793249892135946496
+52,0.866666667,BASELINE,767,745.281188418,718,680,662,639,880.718811582,785,814.281188418,651.281188418,630,654.281188418,0.400965914653,0.00451720085108,0.0798342455729,0.999999945108,0.000158922606179,-0.000286955905139,4.67273900831e-05,1793249892152613120
+53,0.883333333,BASELINE,767,745.870693427,718,680,662,639,880.129306573,785,814.870693427,651.870693427,630,654.870693427,0.400965785009,0.00451441845009,0.0798344917574,0.999999945506,0.000156383712955,-0.000286920020273,4.69902343529e-05,1793249892169279744
+54,0.900000000,BASELINE,767,745.548241595,718,680,662,639,880,785.451758405,815,651.548241595,630,655,0.400967568034,0.00451434938741,0.0798358287094,0.999999946705,0.000154239641671,-0.000283949203831,4.66163055056e-05,1793249892185946368
+55,0.916666667,BASELINE,767.030371382,745,718,680,662,639,880.030371382,785.969628618,815,651,630,655,0.400969746653,0.00451497677971,0.079837370367,0.999999948016,0.000152300361112,-0.000280441298817,4.61057557109e-05,1793249892202612992
+56,0.933333333,BASELINE,767.607534858,745,718,680,662,639,880.607534858,785.392465142,815,651,630,655,0.400969371878,0.00451441703885,0.079837079659,0.999999947573,0.000152050776984,-0.000282110643018,4.63567476609e-05,1793249892219279616
+57,0.950000000,BASELINE,767.816032187,745.183967813,718.183967813,680,662,639,881,785,815,651,630,654.816032187,0.40096876011,0.00451406572548,0.0798366286909,0.999999947115,0.000152255945444,-0.000283595864784,4.64867080292e-05,1793249892235946240
+58,0.966666667,BASELINE,767.241151587,745.758848413,718.758848413,680,662,639,881,785,815,651,630,654.241151587,0.400967644754,0.00451415729927,0.0798358371869,0.999999946631,0.000153427416676,-0.000284689844993,4.63594886339e-05,1793249892252612864
+59,0.983333333,BASELINE,767.341545022,745.658454978,719,680,662,639,880.658454978,785,815,651.341545022,630.341545022,654,0.400967536271,0.00451458580769,0.0798359223995,0.999999946372,0.000155126616485,-0.000284655140889,4.65041170032e-05,1793249892269279488
+60,1.000000000,BASELINE,767.929889518,745.070110482,719,680,662,639,880.070110482,785,815,651.929889518,630.929889518,654,0.400968155352,0.00451525778414,0.0798366411251,0.999999946273,0.000157207151603,-0.000283804852783,4.68451817904e-05,1793249892285946368
+61,1.016666667,BASELINE,767.489145851,745.510854149,718.489145851,680,662,639,880.510854149,785,814.489145851,651.489145851,630.489145851,654,0.400967333889,0.00451598155424,0.0798358081964,0.999999945969,0.000156996350211,-0.000284995019842,4.6816914668e-05,1793249892302613248
+62,1.033333333,BASELINE,767.090078651,745.909921349,718,679.909921349,662,639.090078651,880.909921349,784.909921349,814.090078651,651,630,654,0.400966798268,0.00451644889088,0.0798352053995,0.999999945825,0.000156497615472,-0.000285782502123,4.67706679471e-05,1793249892319279872
+63,1.050000000,BASELINE,767.665308537,745.334691463,718,679.334691463,662,639.665308537,880.334691463,784.334691463,814.665308537,651,630,654,0.400968851796,0.00451549737348,0.0798369726555,0.999999946694,0.000156117667832,-0.000282914425267,4.68966951157e-05,1793249892335946240
+64,1.066666667,BASELINE,768,745,718,679,662,639.760218701,880.239781299,784.239781299,814.760218701,651,630,654.239781299,0.400968918693,0.00451484660048,0.0798369922568,0.99999994685,0.000155291685699,-0.000282826825895,4.68279914493e-05,1793249892352612864
+65,1.083333333,BASELINE,768,745,718,679,662,639.186799457,880.813200543,784.813200543,814.186799457,651,630,654.813200543,0.400966221341,0.00451461429112,0.0798345801256,0.999999946013,0.000153845079577,-0.000286608055494,4.64883342189e-05,1793249892369279488
+66,1.100000000,BASELINE,767.599111109,745.400888891,718,679,662,639,881,785,814.400888891,651,630,655,0.400965597646,0.00451547106184,0.0798345116192,0.999999945659,0.000155955409465,-0.000286719783337,4.63803129876e-05,1793249892385946368
+67,1.116666667,BASELINE,767.004528507,745.995471493,718,679,662,639,881,785,814.995471493,651,630,655,0.40096597586,0.00451685403313,0.07983557546,0.99999994553,0.000159784310665,-0.000285058552469,4.63842091496e-05,1793249892402612992
+68,1.133333333,BASELINE,767,745.431911752,718.568088248,679.568088248,662,639,881,785,815,651,630,655,0.400967513824,0.00451475093557,0.0798360408423,0.99999994659,0.000155653835233,-0.000283619527649,4.6385508735e-05,1793249892419279872
+69,1.150000000,BASELINE,767,745.141946373,719,680,662.141946373,639,881,784.858053627,815,651,630,655,0.400968473649,0.00451360088875,0.079836342757,0.999999947208,0.000153092993437,-0.000282821329505,4.64541261455e-05,1793249892435946752
+70,1.166666667,BASELINE,767,745.720137606,719,680,662.720137606,639,881,784.279862394,815,651,630,655,0.400967629323,0.00451546208563,0.0798361564012,0.999999946487,0.000155543855682,-0.000283987347974,4.6729693184e-05,1793249892452613376
+71,1.183333333,BASELINE,767,745.695354383,719,680,663,639,881,784.304645617,815,651,630,655,0.400967134011,0.00451631246258,0.0798359275192,0.999999946085,0.000156774347236,-0.000284729142226,4.67078493432e-05,1793249892469280000
+72,1.200000000,BASELINE,767,745.10492053,719,680,663,639,881,784.89507947,815,651,630,655,0.400966966108,0.00451621458899,0.0798356587435,0.999999945987,0.000156860008604,-0.000285072971625,4.64070042113e-05,1793249892485946368
+73,1.216666667,BASELINE,767,745,718.523914172,680,662.523914172,639,881,784.523914172,814.523914172,651,630,655,0.400967060623,0.00451576496166,0.0798354238967,0.99999994605,0.000157035149827,-0.000284775482128,4.62857687581e-05,1793249892502613248
+74,1.233333333,BASELINE,766.945467866,745,718,679.945467866,662,639,880.945467866,784.054532134,814.054532134,651,630,655,0.400967075694,0.00451519293264,0.0798351873777,0.999999946109,0.000157150016708,-0.000284508549551,4.62737533097e-05,1793249892519279872
+75,1.250000000,BASELINE,766.371995809,745,718,679.371995809,662,639,880.371995809,784.628004191,814.628004191,651,630,655,0.400965795104,0.00451417947526,0.0798348651706,0.999999945796,0.000156507286368,-0.000285851260899,4.69317364648e-05,1793249892535946496
+76,1.266666667,BASELINE,766.201888636,745,718,679.201888636,662,639,880,785,815,651,630,654.798111364,0.400965114731,0.00451439421819,0.079834678202,0.999999945551,0.00015660933764,-0.000286628771711,4.70595886182e-05,1793249892552613376
+77,1.283333333,BASELINE,766.776534459,745,718,679.776534459,662,639,880,785,815,651,630,654.223465541,0.400965542571,0.0045168766495,0.0798347409309,0.999999945435,0.000158086516868,-0.000286362724137,4.62086330815e-05,1793249892569280000
+78,1.300000000,BASELINE,767,745.361941174,718,679.638058826,662,639,880.361941174,784.638058826,815,651,630,654,0.400966050197,0.00451655295055,0.0798352809,0.999999945799,0.00015720462406,-0.000285600877975,4.60555213176e-05,1793249892585946624
+79,1.316666667,BASELINE,767,745.954195314,718,679.045804686,662,639,880.954195314,784.045804686,815,651,630,654,0.400966608595,0.00451444363489,0.0798361245502,0.999999946464,0.0001548215898,-0.000284523541757,4.63464664683e-05,1793249892602613248
+80,1.333333333,BASELINE,767,746,718,679.533789011,662,639,881,784,815,651,630,654,0.400966523652,0.00451405512973,0.0798354975621,0.999999946331,0.000154057678944,-0.000285428594007,4.62121060535e-05,1793249892619279872
+81,1.350000000,BASELINE,767,746,718.111650895,680,662,639,881,784,815,651,630,654,0.400966547301,0.00451402895997,0.079834958574,0.999999946165,0.000153846566414,-0.000286142454626,4.60766757871e-05,1793249892635946752
+82,1.366666667,BASELINE,767,746,718.68672924,680,662,639,881,784,815,651,630,654,0.400967245511,0.00451490802509,0.0798352965109,0.99999994615,0.000155366619066,-0.000285373026453,4.60847772863e-05,1793249892652613376
+83,1.383333333,BASELINE,767,745.73742238,718.73742238,680,662,639,880.73742238,784.26257762,815,651,630,654.26257762,0.400967213059,0.00451535315461,0.0798354984899,0.999999946209,0.00015538430403,-0.000285149258979,4.61263544452e-05,1793249892669280000
+84,1.400000000,BASELINE,767,745.160652526,718.160652526,680,662,639,880.160652526,784.839347474,815,651,630,654.839347474,0.400966306321,0.00451527905035,0.079835537786,0.999999946358,0.000153604302628,-0.000285578412068,4.62079875409e-05,1793249892685946624
+85,1.416666667,BASELINE,767,745,718,680,662.426539034,639,880,785,814.573460966,651,630,654.573460966,0.400966778908,0.00451526224863,0.0798354715465,0.999999946495,0.000153490037509,-0.000285171215781,4.61232261074e-05,1793249892702613248
+86,1.433333333,BASELINE,767,745,718,680,662.982689178,639,880.017310822,784.982689178,814.017310822,651,630,654,0.400967743693,0.00451526239308,0.0798353532505,0.999999946612,0.000154044446065,-0.000284483524794,4.59838758163e-05,1793249892719279872
+87,1.450000000,BASELINE,767,745,718,680,662.406235912,639,880.593764088,784.406235912,814.593764088,651,630,654,0.400967405957,0.00451509532194,0.0798348695776,0.999999946197,0.000155424913866,-0.000285165325234,4.61562839055e-05,1793249892735946496
+88,1.466666667,BASELINE,767,745,718,680,662,639,881,784.170116775,815,651,630,654.170116775,0.400967159368,0.00451522345805,0.0798346138273,0.999999946,0.000156144161275,-0.000285449817203,4.62344071186e-05,1793249892752613376
+89,1.483333333,BASELINE,767,745,718,680,662,639,881,784.746229389,815,651,630,654.746229389,0.400967130309,0.00451605612732,0.0798349020308,0.99999994633,0.000155285358887,-0.000284786104075,4.60875127275e-05,1793249892769280000
+90,1.500000000,BASELINE,767,745,718,680,662,639,881,785,815,651,630,654.670203447,0.400966997031,0.00451642523498,0.079835474993,0.999999946305,0.000156139771595,-0.000284396875129,4.61433416855e-05,1793249892785946624
+91,1.516666667,BASELINE,767,745,718,680,662,639,881,785,815,651,630,654.080767557,0.400966781704,0.0045164293939,0.0798362721376,0.999999945998,0.00015834294929,-0.000284223739713,4.635876891e-05,1793249892802613248
+92,1.533333333,BASELINE,767,745,718,680,662,639,881.499240704,784.500759296,814.500759296,651,630,654.499240704,0.400967322813,0.00451576950508,0.079836309197,0.999999946453,0.000156499602954,-0.000283645241742,4.63306104961e-05,1793249892819279616
+93,1.550000000,BASELINE,767,745,718,680,662,639,881.923225181,784,814,651,630,654.923225181,0.400967921591,0.0045149587451,0.0798362555848,0.999999946962,0.00015428024834,-0.000283075409228,4.62876224327e-05,1793249892835946496
+94,1.566666667,BASELINE,767,745,718,680,662,639,881.351984977,784,814,651,630,654.351984977,0.400968118225,0.0045138553818,0.0798363952934,0.999999947062,0.000153777332034,-0.000282975923241,4.63982230386e-05,1793249892852613376
+95,1.583333333,BASELINE,767,745,718,680,662,639,881,784,814.220192678,651.220192678,630,654.220192678,0.400968188117,0.00451363491573,0.0798363746203,0.999999946985,0.000153910424504,-0.000283166518572,4.64485320924e-05,1793249892869279744
+96,1.600000000,BASELINE,767,745,718,680,662,639,881,784,814.793875375,651.793875375,630,654.793875375,0.400968054542,0.00451483182342,0.079836096476,0.999999946623,0.000155064544279,-0.00028382280081,4.64020511063e-05,1793249892885946368
+97,1.616666667,BASELINE,767,745,718,680,662,639,881,784.382430535,815,652,630,655,0.40096773691,0.00451581696839,0.0798362559485,0.999999946329,0.000156626291417,-0.000284011275708,4.63381104248e-05,1793249892902612992
+98,1.633333333,BASELINE,767,745,718,680,662,639,881,784.979326057,815,652,630,655,0.400967316061,0.00451668335788,0.0798366608343,0.999999946072,0.000158416633721,-0.000283937406726,4.62643784427e-05,1793249892919279872
+99,1.650000000,BASELINE,767,745,718,680,662.558720564,639,881,784.441279436,815,651.441279436,630,654.441279436,0.400967172159,0.00451586578657,0.0798365838944,0.999999946405,0.000156803682927,-0.000283663910064,4.62278153991e-05,1793249892935946496
+100,1.666666667,BASELINE,767,745.136443081,718.136443081,680,663,639,880.863556919,784.136443081,814.863556919,651.136443081,630,654,0.400967197867,0.00451552506931,0.0798366487063,0.999999946616,0.000155945257026,-0.000283396297612,4.6209162095e-05,1793249892952613120
+101,1.683333333,BASELINE,767,745.710814486,718.710814486,680,663,639,880.289185514,784.710814486,814.289185514,651.710814486,630,654,0.400967736064,0.00451690878262,0.0798372239705,0.999999946372,0.00015790046617,-0.000283170559425,4.62437117599e-05,1793249892969279744
+102,1.700000000,BASELINE,767,746,718.708544081,680,663,639,880,785,814.291455919,651.708544081,630,654.291455919,0.400968279257,0.00451678929907,0.0798373495677,0.999999946474,0.000157976706659,-0.000282748791611,4.63415695768e-05,1793249892985946112
+103,1.716666667,BASELINE,767,746,718.121544719,680,663,639,880,785,814.878455281,651.121544719,630,654.878455281,0.400968827515,0.00451514553699,0.0798370191916,0.999999946929,0.000156147626784,-0.000282128244967,4.65036234088e-05,1793249893002612992
+104,1.733333333,BASELINE,767,746,718,679.539260699,662.539260699,639,880.460739301,784.539260699,815,651,630,655,0.400967193805,0.00451462319139,0.0798360994255,0.999999946615,0.000154846013418,-0.000283945929113,4.65653401552e-05,1793249893019279616
+105,1.750000000,BASELINE,767,745.958579422,718,679,662.041420578,639,881,784,814.958579422,651,630,654.958579422,0.400965125367,0.00451447664373,0.0798350899399,0.99999994611,0.000153937844654,-0.000286205200746,4.65754161329e-05,1793249893035946752
+106,1.766666667,BASELINE,767,745.382691319,718,679,662.617308681,639,881,784,814.382691319,651,630,654.382691319,0.400964799569,0.00451540057954,0.0798349087079,0.999999945828,0.000156329169856,-0.000285946874172,4.62572336349e-05,1793249893052613376
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,881,784,815,652,630,655,0.400966219162,0.00451803723024,0.0798360823237,0.999999945728,0.000161040453069,-0.000283704566257,4.60720408362e-05,1793249893092880896
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,718.59587269,680,662,639,881,784.59587269,815,651.40412731,630,654.40412731,0.400965366431,0.0045156428692,0.0798356595017,0.999999945939,0.0001574396242,-0.000284931066732,4.63570531023e-05,1793249893109547520
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745,718.813940851,680,662,639,881,785,815,651,630,654,0.400965145404,0.00451464689934,0.0798355716675,0.999999945992,0.000156045729163,-0.000285488262808,4.64955136087e-05,1793249893126214144
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745,718.235738726,680,662,639,881,785,815,651,630,654,0.40096625577,0.00451659821371,0.0798361898624,0.99999994573,0.000159303223103,-0.000284634816207,4.63250979678e-05,1793249893142880512
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745,718.340448463,680,662,639,881.340448463,785,814.659551537,651,630,654,0.400966862776,0.00451649361024,0.0798363419768,0.999999945913,0.000159267578297,-0.000284012399481,4.631080542e-05,1793249893159547392
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,718.915248612,680,662,639,881.915248612,785,814.084751388,651,630,654,0.400967123287,0.00451497379154,0.079836173259,0.999999946404,0.000156965062677,-0.000283549014925,4.64039820421e-05,1793249893176214272
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745,718.499703767,680,662,639,881.499703767,784.499703767,814,651,630,654.500296233,0.400967873427,0.00451517235571,0.0798365646853,0.999999946343,0.00015771267163,-0.000283285501773,4.68034129936e-05,1793249893192880640
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.086082079,718,679.913917921,662,639,881,784.086082079,814.086082079,651,630,655,0.400968397905,0.00451558819077,0.0798368511961,0.999999946167,0.000158745949483,-0.00028327524492,4.7123482164e-05,1793249893209547264
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.665936711,718,679.334063289,662,639,881,784.665936711,814.665936711,651,630,655,0.400967142252,0.00451554563077,0.0798359802295,0.999999945891,0.000158392049617,-0.000284519406084,4.66845155361e-05,1793249893226213888
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.75557334,718,679.24442666,662,639,881,785,815,651.24442666,630,654.75557334,0.400969758965,0.00451511774034,0.0798371248657,0.999999946642,0.000157103469961,-0.000282627984698,4.64262779284e-05,1793249893242880768
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.178938223,718,679.821061777,662,639,881,785,815,651.821061777,630,654.178938223,0.400977638739,0.00451416613445,0.0798410089752,0.999999948762,0.000154544535739,-0.000276474887991,4.64136752168e-05,1793249893259547136
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,718,679.606154966,662,639,880.606154966,784.606154966,814.606154966,651.606154966,630,654,0.401000077403,0.00451441165934,0.0798503507543,0.999999953223,0.000154870251543,-0.000259691038566,4.61501943392e-05,1793249893276213760
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,718,679.035104752,662,639,880.035104752,784.035104752,814.035104752,651.035104752,630,654,0.401029066641,0.00451519581675,0.0798621481373,0.999999958356,0.000156493875853,-0.000238124026854,4.57738342467e-05,1793249893292880640
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,718.556895608,679.556895608,662,639,880.556895608,784,814.556895608,651,630,654,0.401085025552,0.00451703364861,0.0798800392378,0.999999966503,0.000156092892297,-0.000201653524178,4.43354206847e-05,1793249893309547264
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.146258221,719,679.853741779,662,639,881,784,814.853741779,651,630,654,0.401148024366,0.00451843057753,0.0798979939206,0.999999973148,0.00015586656904,-0.00016602797091,4.29443737247e-05,1793249893326213888
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.723796472,719,679.276203528,662,639,881,784,814.276203528,651,630,654,0.401226573092,0.00451832387867,0.0799149591228,0.999999977652,0.000156546320673,-0.000135772500995,4.18981299011e-05,1793249893342880768
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.69840737,718.69840737,679,662.30159263,639,881,784,814.30159263,651,630,654,0.401310337036,0.00451811476503,0.0799268247937,0.999999980507,0.000154834751564,-0.000115719293979,4.02544090913e-05,1793249893359547136
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.120374849,718.120374849,679,662.879625151,639,881,784,814.879625151,651,630,654,0.401398881247,0.004517811778,0.0799340162317,0.999999982371,0.000150931297221,-0.00010501748593,3.80630407901e-05,1793249893376213760
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662.545267501,639,881,784.454732499,815,651,630,654.454732499,0.40149994868,0.00451641796189,0.0799361364333,0.999999983778,0.000145050635679,-0.000100912762173,3.49402418976e-05,1793249893392880640
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745.029853291,718,679,662,639,881,784.970146709,815,651,630,654.970146709,0.401605655559,0.00451388537464,0.0799370435896,0.999999985171,0.000137728667323,-9.84007962915e-05,3.17195372903e-05,1793249893409547264
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.619657642,718,679,662,639,881,784.380342358,815,651,630,654.380342358,0.401736600416,0.00449537470527,0.07994021676,0.999999988768,0.000113126949869,-9.32172638166e-05,3.12576266564e-05,1793249893426213888
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.794814645,718,679,662,639,881,784,814.794814645,651,630,654,0.401882007757,0.00448262889195,0.0799446208776,0.999999991527,9.34961382206e-05,-8.57312054106e-05,2.92325539148e-05,1793249893442880512
+129,2.150000000,POSE1_TO_POSE2_PRESS,767,745.217052542,718,679,662,639,881,784,814.217052542,651,630,654,0.402053676145,0.00448035093945,0.0799512601561,0.999999993525,8.28915287323e-05,-7.40642077935e-05,2.43690824889e-05,1793249893459547136
+130,2.166666667,POSE1_TO_POSE2_PRESS,767,745,718,679,662.359240941,639,881,784,814,651,630,654,0.40224200509,0.00448598580585,0.0799578825488,0.999999994616,8.10797591771e-05,-6.21689780024e-05,1.81265293531e-05,1793249893476213760
+131,2.183333333,POSE1_TO_POSE2_PRESS,767,745,718,679,662.934650755,639,881,784,814,651,630,654,0.402440359339,0.00449638211469,0.0799644947813,0.999999995107,8.45589732257e-05,-5.01364111488e-05,1.10541300813e-05,1793249893492880640
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,745,718,679.51093842,662.48906158,639,881,784,814.51093842,651,630,654,0.402653484547,0.0044913374013,0.0799608194895,0.999999995991,6.76825181441e-05,-5.84178610321e-05,4.85713599424e-06,1793249893509547520
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,745.08983262,718.08983262,680,662.08983262,639,881,784,815,651.08983262,630,654.08983262,0.402873092377,0.00448723951535,0.0799556899139,0.999999996259,5.16941495865e-05,-6.93271046485e-05,-1.70452901874e-06,1793249893526214144
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.682692828,718.682692828,680,662.682692828,639,881,784,815,651.682692828,630,654.682692828,0.403118403379,0.00449952126736,0.0799497974437,0.999999995182,5.52823791277e-05,-8.03771859816e-05,-1.09362488566e-05,1793249893542880512
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.73168335,718.73168335,680,663,639,881,784.26831665,815,651.73168335,630,654.73168335,0.403396737196,0.00450684542672,0.0799478087998,0.999999994852,5.35246947263e-05,-8.39890166104e-05,-1.94262355482e-05,1793249893559546880
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745.154392469,718.154392469,680,663,639,881,784.845607531,815,651.154392469,630,654.154392469,0.403713097704,0.00450846077682,0.079950315523,0.99999999547,4.56110385896e-05,-7.90354899344e-05,-2.70620949314e-05,1793249893576213504
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718.420513678,680,663,639,881,785,814.579486322,651.420513678,630,654.420513678,0.404056880917,0.00451385628319,0.0799558467275,0.999999992585,9.81509234629e-05,-6.97720039944e-05,-1.81326027917e-05,1793249893592880384
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,718.994549189,680,663,639,881,785,814.005450811,651.994549189,630,654.994549189,0.404410675649,0.00452063185526,0.0799624821145,0.999999983335,0.000172761287415,-5.8935030704e-05,-3.15540427829e-06,1793249893609547264
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,718.41698731,680,663,639,881.58301269,785,814.58301269,652,630,655,0.404796905939,0.00453449492149,0.0799616898071,0.999999987549,0.000147835133972,-5.35612180429e-05,-1.3374784356e-05,1793249893626213888
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.831069899,745,718,680,662.831069899,639,882,785,815,651.831069899,630,654.831069899,0.405196464334,0.00454412556296,0.0799594844093,0.999999992562,0.000108120216638,-5.19357883242e-05,-2.21252031377e-05,1793249893642881024
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.251675114,745,718,680,662.251675114,639,882,785,815,651.251675114,630,654.251675114,0.405627651633,0.00454330720615,0.0799540185156,0.99999999728,3.47902650238e-05,-5.92908868313e-05,-2.67194362575e-05,1793249893659547392
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.325790983,745,718,680,662.325790983,639,882,785,815,651,630,654.325790983,0.406086544252,0.00455062176463,0.0799470526375,0.999999996371,3.73676103131e-05,-7.16026002584e-05,-2.71023466144e-05,1793249893676214016
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.901775989,745,718,680,662.901775989,639,882,785,815,651,630,654.901775989,0.40656671346,0.00456418206617,0.0799389348326,0.999999991033,9.82386177483e-05,-8.77207900461e-05,-2.42511354518e-05,1793249893692880640
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.473151373,745,718,680,663,639.473151373,882,784.526848627,815,651,630,654.526848627,0.407067402721,0.00457265651524,0.0799368264998,0.999999988175,0.000120391137188,-9.18222590112e-05,-2.69157827069e-05,1793249893709547264
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.954358193,745.045641807,718.045641807,680,663,640,882.045641807,784.045641807,815,651,630,654.045641807,0.407573919281,0.00458006440045,0.0799350616914,0.999999986076,0.00013354757761,-9.53042386933e-05,-3.04888452097e-05,1793249893726213888
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.356929657,745.643070343,718.643070343,680,663,640,882.643070343,784.643070343,815,651,630,654.643070343,0.408099882601,0.00458721899921,0.0799225133211,0.999999983166,0.000134181073837,-0.000121164574005,-3.13344812605e-05,1793249893742880768
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.232141713,745.767858287,718.767858287,680.232141713,663,639.767858287,882.767858287,785,815,651,630,655,0.408662261769,0.0045965589409,0.0799176219441,0.999999981386,0.000137350897744,-0.000131564740512,-3.24422551721e-05,1793249893759547392
+148,2.466666667,POSE1_TO_POSE2_PRESS,767.808809995,745.191190005,718.191190005,680.808809995,663,639.191190005,882.191190005,785,815,651,630,655,0.409278686458,0.0046091421972,0.0799240944783,0.999999981932,0.000144284940816,-0.000119020132513,-3.39390735582e-05,1793249893776214272
+149,2.483333333,POSE1_TO_POSE2_PRESS,767.615636452,745.384363548,718,681,663.384363548,639,882.384363548,785,815,651,630,655,0.409957964881,0.00461679902202,0.0799514810793,0.999999984402,0.000156794295626,-7.30743704503e-05,-3.56580069516e-05,1793249893792880640
+150,2.500000000,POSE1_TO_POSE2_PRESS,767.040635801,745.959364199,718,681,663.959364199,639,882.959364199,785,815,651,630,655,0.410668417559,0.00462201242896,0.0799892406645,0.999999984438,0.000172068899652,-1.05622631564e-05,-3.74871050534e-05,1793249893809547520
+151,2.516666667,POSE1_TO_POSE2_PRESS,767.547492618,746,718.547492618,681,663.452507382,639,883,785,815,651,630,655,0.41133096802,0.00461673490709,0.0799931341971,0.999999987212,0.000155086108454,-9.12090110776e-06,-3.79547223776e-05,1793249893826214144
+152,2.533333333,POSE1_TO_POSE2_PRESS,768,745.865865807,718.865865807,681.134134193,663,639.134134193,883.134134193,785,815,651,630,654.865865807,0.411993622685,0.00460852595195,0.0799855864436,0.999999989502,0.000137477390832,-2.45131210477e-05,-3.86739636797e-05,1793249893842880768
+153,2.550000000,POSE1_TO_POSE2_PRESS,768,745.287455595,718.287455595,681.712544405,663,639.712544405,883.712544405,785,815,651,630,654.287455595,0.412668687702,0.00459324997408,0.0799486731367,0.999999988027,0.000125920316248,-8.02789546081e-05,-4.05695500618e-05,1793249893859547392
+154,2.566666667,POSE1_TO_POSE2_PRESS,768,745,718.289826573,682.289826573,663,640,884,785,815.289826573,651,630,654,0.413383173859,0.00458633252449,0.0799230393432,0.999999985574,0.000120129617966,-0.000112440763168,-4.21747699995e-05,1793249893876213760
+155,2.583333333,POSE1_TO_POSE2_PRESS,768,745,718.86599433,682.86599433,663,640,884,785,815.86599433,651,630,654,0.414136607167,0.00458767308358,0.079908549414,0.999999984495,0.000120035949764,-0.000121282410236,-4.34931156959e-05,1793249893892880640
+156,2.600000000,POSE1_TO_POSE2_PRESS,767.559011459,745.440988541,719,683,663.440988541,639.559011459,884,785.440988541,816,651,630,654.440988541,0.414945196934,0.00458965816476,0.0799286913779,0.999999989001,0.000112383004436,-8.65559769608e-05,-4.33252918832e-05,1793249893909547264
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,719,683,664,639.016054493,884.032108986,785.983945507,815.983945507,651.016054493,630,655,0.415768859757,0.00459199585925,0.0799582986485,0.999999992909,0.000103443347197,-4.0677062228e-05,-4.27366678934e-05,1793249893926213888
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,719,683,664,639.606410859,885.212821718,785.393589141,815.393589141,651.606410859,630,655,0.416533745126,0.00459995973317,0.0799510411073,0.999999988236,0.000130428510003,-6.81900246427e-05,-4.32073234047e-05,1793249893942880512
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745.806620244,719,683.193379756,663.806620244,640,885.806620244,785.193379756,815.193379756,651.806620244,629.806620244,655,0.417333729503,0.0046050715998,0.0799500713397,0.999999985951,0.000144137504729,-7.33765012979e-05,-4.40159835792e-05,1793249893959547136
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.22642726,719,683.77357274,663.22642726,640,885.22642726,785.77357274,815.77357274,651.22642726,629.22642726,655,0.418203921602,0.00460447865921,0.0799616788662,0.999999989772,0.000131290474162,-3.39038033189e-05,-4.55007469949e-05,1793249893976213760
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.350375724,719,684,663.350375724,640,885.350375724,785.649624276,815.649624276,651.350375724,629.350375724,655,0.419082412851,0.00459932571866,0.0799751271318,0.999999991246,0.000123538149888,-1.50011291105e-06,-4.73623523298e-05,1793249893992880384
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745.925008921,719,684,663.925008921,640,885.925008921,785.074991079,815.074991079,651.925008921,629.925008921,655,0.419966215927,0.0045912541568,0.0799897535593,0.999999991343,0.000119046685491,2.63790679361e-05,-4.94651547359e-05,1793249894009547008
+163,2.716666667,POSE1_TO_POSE2_PRESS,767,746,719,684,664,640,886.498840112,785,815.498840112,651.501159888,629.501159888,654.501159888,0.420837751576,0.00459086735112,0.0799730370005,0.999999992409,0.000112286618694,-2.01607696896e-06,-5.06862585705e-05,1793249894026213888
+164,2.733333333,POSE1_TO_POSE2_PRESS,767,745.924955658,719,684.075044342,664,640,887,785,816,651,629,654.075044342,0.421712116431,0.00459240135869,0.0799571758169,0.999999992386,0.000108104467737,-2.99133040104e-05,-5.14526783314e-05,1793249894042880512
+165,2.750000000,POSE1_TO_POSE2_PRESS,767,745.331527972,719,684.668472028,664,640,887,785,816,651,629,654.668472028,0.422618742692,0.00459923640879,0.0799797188735,0.999999991044,0.00012408180023,3.97264826542e-06,-4.99924007165e-05,1793249894059547392
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745.254830257,719,685,664,640,887,785,816,651,629.254830257,654.745169743,0.423518275249,0.00460609845307,0.0799953377021,0.999999989564,0.000133808175206,2.31397024423e-05,-4.93181046995e-05,1793249894076214272
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745.832239633,719,685,664,640,887,785,816,651,629.832239633,654.167760367,0.424408828298,0.00461299466912,0.0800021914392,0.999999989291,0.000135621723076,2.36747148577e-05,-4.96387502587e-05,1793249894092880896
+168,2.800000000,POSE1_TO_POSE2_PRESS,767,746,718.59221111,685.40778889,664,640,887.40778889,785.40778889,816,651,629.59221111,654.40778889,0.425272535425,0.00461495184185,0.0799675173864,0.999999988087,0.000140195473196,-4.17326906847e-05,-4.92875202831e-05,1793249894109547264
+169,2.816666667,POSE1_TO_POSE2_PRESS,767,746,718.017423648,685.982576352,664,640,887.982576352,785.982576352,816,651,629.017423648,654.982576352,0.426125248498,0.00461488636664,0.0799158367844,0.999999979175,0.000145899586066,-0.000134144974968,-4.86611420314e-05,1793249894126213888
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+171,2.850000000,POSE1_TO_POSE2_PRESS,767.841652403,746,718.158347597,685.158347597,664,640,888,786,816.841652403,651,629.158347597,655,0.427992256237,0.00460656378689,0.0799080686826,0.999999984324,0.000127238175036,-0.000110651862877,-5.40278801723e-05,1793249894159547136
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.263004578,746,718.736995422,685.736995422,664,640,888,786,816.263004578,651,629.736995422,655,0.428891685054,0.00460337949937,0.0799147621771,0.999999984221,0.000122902219585,-0.000117096604708,-5.23502317438e-05,1793249894176213760
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,746,719,686,664,640,888,785.687969906,816.312030094,651,630,655,0.429813010343,0.00460388122018,0.0799399189993,0.999999987244,0.000123783145824,-8.69444750244e-05,-5.12954811769e-05,1793249894192880896
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,746,719,686,664,640,888,785.115945862,816.884054138,651,630,655,0.430752580462,0.00460745424702,0.0799804600855,0.999999990044,0.000129010952882,-2.62986028803e-05,-5.07597499568e-05,1793249894209547520
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,719,686,664.460574471,640,888.460574471,785,816.539425529,651.460574471,630,655,0.431683507696,0.00461253656573,0.0800121715171,0.999999989217,0.000136227934794,2.21952594617e-05,-5.01518606891e-05,1793249894226214144
+176,2.933333333,POSE1_TO_POSE2_PRESS,767.039162753,746,719,686,664.960837247,640,889,785.039162753,816.039162753,651.960837247,630,655,0.432604123845,0.00461791411339,0.0800349449643,0.999999986871,0.000143195249559,5.73042916673e-05,-4.97009675198e-05,1793249894242881024
+177,2.950000000,POSE1_TO_POSE2_PRESS,767.630797866,746,719,686,664.369202134,640,889,785.630797866,816.630797866,651.369202134,630,655,0.433410276096,0.00462204361901,0.0799632957364,0.999999987536,0.000139506593965,-5.28262629731e-05,-5.17236175876e-05,1793249894259547648
+178,2.966666667,POSE1_TO_POSE2_PRESS,767.782489272,746,719,686.217510728,664,640,889,785.782489272,817,651,630,655,0.43424149759,0.00462336919292,0.0799130190709,0.999999981409,0.000136239201747,-0.00012548276401,-5.36257585538e-05,1793249894276214016
+179,2.983333333,POSE1_TO_POSE2_PRESS,767.203946444,746,719,686.796053556,664,640,889,785.203946444,817,651,630,655,0.435114330042,0.00462004070117,0.0798982173387,0.999999980296,0.000133671039261,-0.000135938506503,-5.53278753619e-05,1793249894292880640
+180,3.000000000,POSE1_TO_POSE2_PRESS,767.372937932,746,719,687,664.372937932,640,889,785.372937932,817,651.372937932,630,655,0.435977695846,0.00461502878102,0.0799169577464,0.999999984725,0.000123719074304,-0.000110085566952,-5.59061389073e-05,1793249894309547264
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.94891934,746,719,687,664.94891934,640,889,785.94891934,817,651.94891934,630,655,0.436835907545,0.00460910033012,0.0799539599411,0.999999990339,0.000109747049104,-6.44646158409e-05,-5.58725281152e-05,1793249894326213888
+182,3.033333333,POSE1_TO_POSE2_PRESS,767.46638551,746,719,687,664.46638551,640,889.53361449,785.46638551,817,652,630.53361449,655,0.437694000628,0.00460623365097,0.0799826351582,0.999999991649,0.000115780859736,-2.02671515899e-05,-5.37217753959e-05,1793249894342880768
+183,3.050000000,POSE1_TO_POSE2_PRESS,767,746,719,687,664,640,890,785,817,652,630.882157432,655,0.438536094792,0.00460599401433,0.080003114936,0.999999991177,0.000121593602737,1.13915836076e-05,-5.22669594284e-05,1793249894359547648
+184,3.066666667,POSE1_TO_POSE2_PRESS,767,746,719,687,664,640,890,785,817,652,630.303076504,655,0.43931561399,0.00461487047277,0.0799946892703,0.999999991437,0.000118921007989,-5.48434396575e-06,-5.43424590436e-05,1793249894376214272
+185,3.083333333,POSE1_TO_POSE2_PRESS,767.275732043,746.275732043,718.724267957,687,664,640,890,785,817,651.724267957,630,655,0.440039848697,0.00462543527363,0.0799531847536,0.999999987713,0.000128626430187,-7.07405951932e-05,-5.50007737312e-05,1793249894392880896
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+187,3.116666667,POSE1_TO_POSE2_PRESS,768,746.569663069,718.430336931,687,663.569663069,639.569663069,890.430336931,785,817,651,630,655,0.44133964128,0.00464661117396,0.0797959738928,0.999999938027,0.000159308327228,-0.000308916083761,-5.60169679794e-05,1793249894426213888
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+191,3.183333333,POSE1_TO_POSE2_PRESS,767,746,718,687,663,639,891.760166482,785,817.239833518,652,630.239833518,655,0.44410592209,0.00466759540775,0.0798402625766,0.999999952336,0.000188395590245,-0.000237907965765,-5.68771736291e-05,1793249894492880640
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.337779972,746,718.337779972,687,663,639,892,785,817,652,630.337779972,655,0.444730190241,0.00467383783972,0.0798505288103,0.999999954473,0.000190969906394,-0.000226438998311,-5.75346226513e-05,1793249894509547264
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+195,3.250000000,POSE1_TO_POSE2_PRESS,767.059321356,745.940678644,718.940678644,688,661.940678644,639,892,784.940678644,817,651.940678644,630,655,0.446383013623,0.00470994100065,0.0797876571072,0.999999920576,0.000225404931246,-0.000323266563441,-5.94920402103e-05,1793249894559547392
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+221,3.683333333,POSE1_TO_POSE2_PRESS,768,745.835879382,718,689,657.328241237,637,893,784,817.835879382,652,630,655,0.4526663408,0.00470864900863,0.0795775178174,0.999999774216,0.000207367880903,-0.000635679682026,-6.69152884759e-05,1793249894992880640
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+223,3.716666667,POSE1_TO_POSE2_PRESS,768,745.32425474,718,689,658.351490519,637,893,784,817.32425474,652,630,655,0.452724889891,0.0047076861832,0.0795768902149,0.999999773466,0.000209751932726,-0.000636219939138,-6.55382680454e-05,1793249895026214144
+224,3.733333333,POSE1_TO_POSE2_PRESS,768,745.898203371,718,689,657.203593258,637,893,784,817.898203371,652,630,655,0.452747321168,0.00471070146931,0.0795756365106,0.999999772279,0.000212581143726,-0.000637077933154,-6.62070342306e-05,1793249895042880768
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+227,3.783333333,POSE1_TO_POSE2_PRESS,768,746,718,688,657,637,892.641605775,784,818,652,630,655,0.452770660639,0.00471009271057,0.0795682171868,0.999999766213,0.000206004618151,-0.000648694384034,-6.58219837585e-05,1793249895092880896
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+233,3.883333333,POSE1_TO_POSE2_PRESS,768,746,718,689,657.130150336,637,893,784,817.869849664,652,630.869849664,655,0.452781785066,0.00471042899223,0.0795653052458,0.999999763574,0.000202213374833,-0.000654016920663,-6.49924939632e-05,1793249895192880896
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+235,3.916666667,POSE1_TO_POSE2_PRESS,768,746,718,688.714266804,658,637,893,784,817.285733196,652,630,655,0.452783675153,0.00470995285888,0.0795651818258,0.999999763745,0.000200836575836,-0.000654210646713,-6.46813784208e-05,1793249895226214144
+236,3.933333333,POSE1_TO_POSE2_PRESS,768,746,718,688.139282578,658,637,893,784,817.860717422,652,630,655,0.452783645935,0.00470921322986,0.0795650624708,0.99999976365,0.000201039025947,-0.000654305188306,-6.45617360502e-05,1793249895242881024
+237,3.950000000,POSE1_TO_POSE2_PRESS,768,746,718,688.435233461,657.564766539,637,893,784,817.564766539,652,630,655,0.452783648332,0.00471003574861,0.0795648705597,0.999999763375,0.000201548897472,-0.000654563542786,-6.46145363392e-05,1793249895259547904
+238,3.966666667,POSE1_TO_POSE2_PRESS,768,746.009891563,718,689,657,637,893,784,817.009891563,652,630,655,0.452783669857,0.00471134118774,0.0795646640913,0.999999763046,0.000202176372692,-0.000654862870109,-6.47112286635e-05,1793249895276214784
+239,3.983333333,POSE1_TO_POSE2_PRESS,768,746.601714492,718,689,657,637,893,784,817.601714492,652,630,655,0.45278422214,0.00471167839124,0.0795649657478,0.999999762967,0.00020394099599,-0.000654491882281,-6.41470462219e-05,1793249895292881152
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,767.209572619,746,718,689,657,637,893.580854761,784,818,652,631,655,0.451924051424,0.00470503043996,0.0794732981248,0.999999647082,0.000213017624959,-0.000811448185551,-4.48433810331e-05,1793249896057068032
+283,4.716666667,POSE2_TO_POSE3_RETREAT,767.78295051,746,718,689,657,637,892.43409898,784,818,652,631,655,0.451771392429,0.00470390121891,0.0794744072619,0.999999648246,0.000217433746792,-0.000809064241875,-4.05692659521e-05,1793249896073734656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,767.643491475,746,718,688.643491475,657,637,892,784,817.643491475,652,630.643491475,655,0.451599337533,0.00470176979446,0.0794762000391,0.9999996494,0.000219941984804,-0.000807187857663,-3.56924607843e-05,1793249896090401024
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,767,746,718,688,657.523083365,637,892.523083365,784,817,651.476916635,630,655,0.451213794918,0.00469820160904,0.079489833497,0.999999662076,0.000226409474449,-0.000789917873636,-2.48367210558e-05,1793249896123734784
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,767.693871659,746,718,688,657.306128341,637.693871659,893,784,817,651.693871659,630,655,0.45075609406,0.0046966453262,0.0795183176435,0.999999694993,0.000240919906076,-0.000742844819739,-1.23792036948e-05,1793249896157068288
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,767.18155521,746,718,688,657.81844479,638,892.18155521,784,817.81844479,652,630,655,0.4502208205,0.00469332830874,0.0795436108746,0.999999722839,0.00025622143216,-0.000699049507935,1.34793155814e-06,1793249896190401536
+291,4.850000000,POSE2_TO_POSE3_RETREAT,767.399032093,746,718,688,658,637.600967907,892,784,818,652,630,655,0.449895770347,0.00469057073162,0.0795501696085,0.999999728922,0.000263702903399,-0.000687414435674,8.83661049644e-06,1793249896207067648
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.991324329,746,718,688,658,637.008675671,892,784,818,652,630,655,0.449546796179,0.00468740894062,0.0795542370244,0.999999732031,0.000271220833469,-0.000679780854102,1.65832899599e-05,1793249896223734272
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,768,746,718,687.753582848,659,637.753582848,892,784,817.246417152,652,630,655,0.448314613071,0.00467869387753,0.0795394577527,0.99999972222,0.000219417176768,-0.000712192922208,1.40123311023e-05,1793249896273735168
+296,4.933333333,POSE2_TO_POSE3_RETREAT,768,746,718,688,659.328232415,638,892,784.328232415,817.328232415,652,630,655,0.447867524663,0.00468450252756,0.079539594222,0.999999726276,0.00020844146751,-0.000709860509432,9.92931698167e-06,1793249896290402048
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,768,746,718,688,660,638,892,785,818,652,630,655,0.44695475271,0.00470507766166,0.0795607778509,0.99999975233,0.000218134966586,-0.00066907601458,9.72946648411e-06,1793249896323735296
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.191096426,746,718,687,660.808903574,638,891,785,818,651.191096426,630,655,0.444806542496,0.00467965539243,0.0796737788049,0.999999819601,0.000312889243724,-0.00051235583426,1.97338386539e-05,1793249896390401536
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,767.919603082,746,718,687,661,638,891,785,818,651.919603082,630,655,0.44355653564,0.00466339409976,0.0796873302545,0.999999830484,0.000288560300509,-0.000505071611811,2.58274936084e-05,1793249896423734528
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,746,718,686,663,639,888.079483679,786,816.079483679,651.079483679,629.920516321,655,0.434497112928,0.00454873730445,0.0798433764294,0.99999995907,0.000130520829547,-0.000251209276792,4.14547163683e-05,1793249896623734272
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718.74572621,686,662.25427379,639,886.74572621,786,816.74572621,652,629,654,0.430802198043,0.00450921954016,0.079712029185,0.999999877942,0.000100327906429,-0.000481539626887,4.6579364673e-05,1793249896690401024
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,767,746,718,685.595705102,663,639,886,786,816.404294898,652,629,654.404294898,0.429110619552,0.00448517781097,0.0798121818613,0.999999948773,7.62765167669e-05,-0.000307068605044,4.84300092181e-05,1793249896723734528
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745.893519518,718,684.106480482,662.106480482,639.106480482,884,786,816,651,629.106480482,654.106480482,0.423522462837,0.0044470906942,0.0797242494909,0.999999897165,4.50112572874e-05,-0.000447829590613,5.56155753523e-05,1793249896823734528
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,767.694616026,745,718,682.305383974,662,639,883,785,816,651,630,654,0.415041181971,0.00448790098154,0.0797827757264,0.99999992811,0.000104646059059,-0.000360455582001,5.38684567732e-05,1793249896990400768
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767.721889786,745.278110214,718,682,662,639,882.721889786,785,816,651,629.721889786,654.278110214,0.414283275698,0.00449350461628,0.0797776718252,0.999999926925,0.00011295394993,-0.000361337971183,5.31710522542e-05,1793249897007067648
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767.145284913,745.854715087,718,682,662,639,882.145284913,785,816,651,629.145284913,654.854715087,0.413568521385,0.00449132973046,0.0797913155653,0.999999939438,0.000102910611113,-0.000328556445796,5.08364639692e-05,1793249897023734528
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.568023624,745.568023624,718,682,662,639,881.568023624,785,816,651,629.431976376,654.568023624,0.412842964395,0.00448302388759,0.079799855777,0.999999945007,8.91193616801e-05,-0.000315389053166,5.0736598468e-05,1793249897040401152
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.009612569,745,718,681.990387431,662,639,881.009612569,785,815.990387431,651,630,654.009612569,0.412113902689,0.00447283348352,0.0798063136334,0.999999948049,7.42905946499e-05,-0.0003094214792,5.13841939403e-05,1793249897057067776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.596482023,745,718,681.403517977,662,639,881.596482023,785,815.403517977,651,630,654.596482023,0.41139289353,0.00447348722624,0.0797909548539,0.999999938517,7.29689092565e-05,-0.000339067065347,5.17148078231e-05,1793249897073734144
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,882,785,815,651,630,654.818440552,0.41069672916,0.00447677932768,0.0797831845058,0.999999932659,7.9941901766e-05,-0.000354372141974,5.20807763668e-05,1793249897090400768
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,882,785,815,651,630,654.23730689,0.410055242815,0.00448587790264,0.079792114698,0.999999935929,0.000105169738014,-0.000338116775153,5.25245532112e-05,1793249897107067648
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,882,785.339889856,815.339889856,651,630,654.339889856,0.409452930018,0.00449054857666,0.0798116759198,0.999999945959,0.000112408974928,-0.000304310483957,5.3299185605e-05,1793249897123734528
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,882,785.914369337,815.914369337,651,630,654.914369337,0.408877654571,0.00449216314358,0.079838574604,0.999999959393,0.00010723260352,-0.000258390666916,5.43021721133e-05,1793249897140401408
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.511409321,662.488590679,639,882,785.511409321,816,651,630,655,0.408289981115,0.00448791135186,0.0798359303125,0.999999957008,0.000103223351683,-0.000268923912817,5.48570874035e-05,1793249897157068032
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,680.064926906,662.935073094,639,881.935073094,785,816,651,630,654.935073094,0.407701294371,0.00448309995429,0.0798246296595,0.999999950111,0.00010009085505,-0.000294474290896,5.51738299539e-05,1793249897173734912
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.658863175,662.341136825,639,881.341136825,785,816,651,630,654.341136825,0.407122046363,0.00448210164983,0.0797849635457,0.999999927832,0.000102436210291,-0.000361809379992,5.41894960663e-05,1793249897190401280
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,881,785,815.755153058,651,630,654,0.406590654425,0.0044819273836,0.0797639581469,0.999999915893,0.000100592112363,-0.000394021565655,5.33191335031e-05,1793249897207067648
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,881,785,815.179900737,651,630,654,0.406123841256,0.00448286510466,0.0797681341998,0.999999922524,9.30946140458e-05,-0.000378837622596,5.2602568325e-05,1793249897223734272
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,881,784.604281001,815,651,630,654.395718999,0.405694040168,0.00448780075246,0.0797844753491,0.999999933032,0.000103848498214,-0.000347089878641,5.17654049193e-05,1793249897240400896
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,881,784.028494027,815,651,630,654.971505973,0.405281081018,0.00449455561694,0.0798063521045,0.999999943781,0.000122907490779,-0.000307804940759,5.08733643538e-05,1793249897257067520
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662,639,881,784.545637123,815,651,630,654.454362877,0.404888305036,0.00449673618108,0.0798185634169,0.999999947122,0.000131017139441,-0.000293095222974,5.18296419886e-05,1793249897273734144
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767,745.123903043,718,680.876096957,662,639,881,785,815.123903043,651,630,654.123903043,0.404500244435,0.00449847699137,0.0798281908861,0.999999949055,0.000135463297621,-0.000284158697829,5.28629905566e-05,1793249897290401280
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.718193724,718,680.281806276,662,639,881,785,815.718193724,651,630,654.718193724,0.404126095972,0.00449945244665,0.0798299194352,0.999999947624,0.00012816551306,-0.000292282200183,5.38236034487e-05,1793249897307067904
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.697117563,718,680,662,639,881,785,815.697117563,651,630,654.697117563,0.403779033688,0.0044994825254,0.0798310169003,0.999999946337,0.000126766997952,-0.000297047312393,5.49520617739e-05,1793249897323734528
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745.121088179,718,680,662,639,881,785,815.121088179,651,630,654.121088179,0.40345639842,0.00449866003993,0.0798315452382,0.999999945243,0.000130688591824,-0.000298783744023,5.62318872486e-05,1793249897340401408
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718.452509124,680,662,639,881,785,815,651,630,654,0.403175287637,0.00449568613652,0.0798333401105,0.999999947679,0.000114198798475,-0.000297920307409,5.33395181652e-05,1793249897357067776
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,719,680,662,639,881,785,815,651.026320412,630,654,0.402906408208,0.00449223277259,0.0798352019139,0.999999950406,9.33181226008e-05,-0.000296678343578,4.96098958518e-05,1793249897373734400
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,719,680,662,639,881,785,815,651.618654186,630,654,0.402662884986,0.00449078291171,0.0798312537281,0.999999948508,9.48423255604e-05,-0.000302177246069,5.17559565884e-05,1793249897390401024
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,719,680,662,639,881.206256984,784.793743016,815,651.793743016,630.206256984,654,0.402435927219,0.00448949489052,0.0798291238506,0.999999947831,9.37185625987e-05,-0.000304490721738,5.3302266788e-05,1793249897407067648
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,719,680,662,639,881.785308814,784.214691186,815,651.214691186,630.785308814,654,0.402238910363,0.00448849938323,0.0798302804366,0.999999949385,8.78087891768e-05,-0.000301046764123,5.37645702657e-05,1793249897423734272
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718.639130993,680,662,639,881.639130993,784.360869007,815,651,630.639130993,654,0.402067023131,0.00448953895791,0.079835235516,0.999999951811,8.72374190576e-05,-0.000292845393546,5.48585639628e-05,1793249897440400896
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,718.065628113,680,662,639,881.065628113,784.934371887,815,651,630.065628113,654,0.40190994294,0.00449177765837,0.0798424287715,0.999999954664,8.98115813771e-05,-0.000281840824979,5.6324766827e-05,1793249897457067776
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.47913053,785,815,651,630,654,0.401775623447,0.00449421954291,0.079846252208,0.999999955241,9.87339191274e-05,-0.000276401590126,5.80590085134e-05,1793249897473734656
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767.107367216,745,718,680,662.107367216,639,880.107367216,785,815,651.107367216,630,654,0.401645983741,0.00449877148125,0.0798480998727,0.999999953559,0.000119217834761,-0.000274221473742,5.89268264048e-05,1793249897490401536
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767.686487798,745,718,680,662.686487798,639,880.686487798,785,815,651.686487798,630,654,0.401523983216,0.00451247927653,0.0798431796318,0.999999940874,0.000186897030555,-0.000283201510089,5.58355394468e-05,1793249897507067904
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767.734694213,745,718,680,662.734694213,639,880.734694213,785,815,651.734694213,630,654,0.401413216113,0.0045223148835,0.0798373846051,0.999999933294,0.000212451041421,-0.000292753871475,5.07164453097e-05,1793249897523734272
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767.156233426,745,718,680,662.156233426,639,880.156233426,785,815,651.156233426,630,654,0.401315708442,0.004527579933,0.079830557021,0.999999935443,0.000188282378092,-0.000302981780071,4.32038193078e-05,1793249897540400896
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.419246957,784.580753043,815,651.419246957,630,654,0.40124218085,0.00452435535929,0.0798279597995,0.999999936621,0.000177581633162,-0.000305596723101,4.28277033656e-05,1793249897557067520
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.993624513,784.006375487,815,651.993624513,630,654,0.401177526418,0.0045179894381,0.0798269279054,0.999999937582,0.000171864314911,-0.000305394701195,4.50922533295e-05,1793249897573734144
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745.581532538,718.581532538,680,662.581532538,639,881,784.581532538,815,652,630,654.581532538,0.401131841562,0.0045212689138,0.0798264501556,0.999999937043,0.000175546688384,-0.000305014297911,4.54343526376e-05,1793249897590401024
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745.832365436,719,680,662.832365436,639,880.832365436,785,815,651.832365436,630,654.832365436,0.401089035315,0.00452295400185,0.0798258154376,0.999999936554,0.000177162321104,-0.000305605561076,4.59485970971e-05,1793249897607067904
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745.251094521,719,680,662.251094521,639,880.251094521,785,815,651.251094521,630,654.251094521,0.401052806628,0.00452043781643,0.0798247780547,0.999999936245,0.000173417959541,-0.00030859934051,4.69408520653e-05,1793249897623734528
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767.326543549,745,718.673456451,680,662,639,880.326543549,785,815,651,630,654.326543549,0.401025713363,0.00451938649652,0.0798245164036,0.999999936638,0.000170251054722,-0.000309024524383,4.73626240098e-05,1793249897640401152
+378,6.300000000,POSE2_TO_POSE3_RETREAT,767.901418953,745,718.098581047,680,662,639,880.901418953,785,815,651,630,654.901418953,0.401005567458,0.00451944918631,0.0798248446856,0.99999993757,0.00016752329738,-0.000307496327157,4.73505516056e-05,1793249897657067776
+379,6.316666667,POSE2_TO_POSE3_RETREAT,768,745,718,680,662,639,881,785,815,651,630,654.524234597,0.400992530785,0.00452059191365,0.079825131132,0.999999937526,0.000169072837103,-0.000306804985408,4.72608882956e-05,1793249897673734400
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767.948380648,745,718.051619352,680,662,639,881,785,815,651.051619352,630,654,0.40098150392,0.00452165464141,0.0798254558107,0.999999937396,0.000171024968427,-0.000306153555775,4.72001487993e-05,1793249897690400768
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767.355573558,745,718.644426442,680,662,639,881,785,815,651.644426442,630,654,0.400976121482,0.00451953499107,0.0798262721075,0.999999938529,0.00016791635433,-0.000304104622636,4.76110221543e-05,1793249897707067648
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,718.769483386,680,662,639,881.230516614,785,815,651.769483386,630,654.230516614,0.400971899916,0.00451859467512,0.0798272199722,0.999999939326,0.000166614322988,-0.000302165263996,4.77948958155e-05,1793249897723734272
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,718.193460791,680,662,639,881.806539209,785,815,651.193460791,630,654.806539209,0.400969418302,0.00451942198495,0.0798283650352,0.999999939633,0.000168020058262,-0.000300390139394,4.76385347481e-05,1793249897740400896
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.617577733,785,815,651,630,655,0.400968854191,0.00451865558447,0.0798294629915,0.999999940405,0.000167057679535,-0.000298357062879,4.75917975122e-05,1793249897757067520
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.041765256,785,815,651,630,655,0.400969259757,0.0045170832477,0.0798305371259,0.999999941406,0.000164897750041,-0.000296193540626,4.76004968429e-05,1793249897773733888
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,815,651,630,655,0.400968391966,0.00451593947051,0.0798306094968,0.999999941922,0.000162274178886,-0.000295856880602,4.78628974014e-05,1793249897790400768
+387,6.450000000,POSE2_TO_POSE3_RETREAT,767,745,718.133603455,680,662,639,881,785,815,651.133603455,630,655,0.400967767156,0.00451515735905,0.0798307784446,0.999999942355,0.000160467217141,-0.000295349578949,4.80496245459e-05,1793249897807067392
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,718.712603083,680,662,639,881,785,815,651.712603083,630,655,0.400968284356,0.0045154692077,0.0798315305265,0.999999942652,0.000161503478879,-0.000293797117889,4.79179343966e-05,1793249897823734016
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767.290102363,745,719,680,662,639,881,785,815,651.709897637,630,655,0.40096723146,0.00451604028666,0.0798313358322,0.999999942434,0.000162220146734,-0.000294178580616,4.77041982135e-05,1793249897840400896
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767.866123002,745,719,680,662,639,881,785,815,651.133876998,630,655,0.400964631112,0.00451686685714,0.079830208017,0.999999941707,0.000162621830268,-0.000296466074359,4.74095993142e-05,1793249897857067520
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767.558960096,745.441039904,719,680,662,639,881,785,815,651,630,654.558960096,0.400965471445,0.00451613076166,0.0798308222737,0.999999942084,0.000161993713592,-0.000295550547043,4.73248680382e-05,1793249897873734144
+392,6.533333333,POSE2_TO_POSE3_RETREAT,767,745.983961522,718.983961522,680,662,639,881,785,815,651,630.016038478,654,0.400967317792,0.00451495593617,0.0798319633932,0.999999942787,0.000161092409243,-0.000293660038893,4.73092435375e-05,1793249897890400512
+393,6.550000000,POSE2_TO_POSE3_RETREAT,767,745.394082132,718.394082132,680,662,639,881,785,815,651,630.605917868,654,0.400967883562,0.00451501300664,0.0798330823113,0.999999943308,0.000161573113309,-0.000291585775015,4.74925790602e-05,1793249897907067648
+394,6.566666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,815,651,630.807755551,654.192244449,0.400967941353,0.00451516322002,0.0798335820462,0.999999943625,0.000161576401901,-0.000290478066358,4.75934522914e-05,1793249897923734272
+395,6.583333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,815,651,630.228579762,654.771420238,0.400966976733,0.0045155009026,0.0798328355479,0.999999943539,0.000160618794015,-0.000291315748236,4.75283532558e-05,1793249897940400640
+396,6.600000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784.652281613,815,651,630,654.652281613,0.400967005149,0.00451604514418,0.079833042748,0.999999943636,0.000160465967055,-0.000291068525372,4.75094922449e-05,1793249897957067264
+397,6.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784.077859635,815,651,630,654.077859635,0.400967680998,0.00451672405697,0.0798338717353,0.999999943853,0.000160837836933,-0.000290113972032,4.75207772589e-05,1793249897973734144
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79ae7580094c7bd253208883e60b34bdca76a3fd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,406 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.5827937756,0.0101500623852,1.07003323753,0.55336445376,0.0188226954167,1.0697046394
+348,5.800000000,pose2_to_pose3_retreat,0.582262642492,0.0101501139844,1.07003331948,0.552833320287,0.0188227460729,1.06970472911
+349,5.816666667,pose2_to_pose3_retreat,0.581744493926,0.0101502207475,1.07003362383,0.552315171223,0.0188228504243,1.06970501433
+350,5.833333333,pose2_to_pose3_retreat,0.581246030604,0.0101501201272,1.07003376271,0.551816710433,0.0188227581654,1.06970514722
+351,5.850000000,pose2_to_pose3_retreat,0.580776205128,0.010150072024,1.07003354333,0.551346884407,0.0188227085189,1.06970493628
+352,5.866666667,pose2_to_pose3_retreat,0.580338369278,0.0101501352612,1.0700334124,0.550909047479,0.0188227680931,1.06970480527
+353,5.883333333,pose2_to_pose3_retreat,0.579934255967,0.0101500906081,1.0700334497,0.550504934083,0.0188227231136,1.06970484155
+354,5.900000000,pose2_to_pose3_retreat,0.579556119147,0.0101501312638,1.07003343791,0.550126797063,0.0188227630877,1.06970482967
+355,5.916666667,pose2_to_pose3_retreat,0.579194833441,0.010150173869,1.07003345822,0.549765511856,0.0188228074094,1.06970485065
+356,5.933333333,pose2_to_pose3_retreat,0.578848624733,0.0101500765335,1.07003364655,0.549419304982,0.0188227162972,1.06970503894
+357,5.950000000,pose2_to_pose3_retreat,0.578518949065,0.0101501101843,1.07003374011,0.549089629108,0.0188227491058,1.06970512879
+358,5.966666667,pose2_to_pose3_retreat,0.578209520995,0.0101502383441,1.07003361885,0.548780197159,0.0188228640936,1.06970500726
+359,5.983333333,pose2_to_pose3_retreat,0.577921602905,0.0101501540196,1.0700333968,0.548492281349,0.0188227876719,1.06970478975
+360,6.000000000,pose2_to_pose3_retreat,0.577657581365,0.0101500695794,1.07003323702,0.548228260101,0.018822704441,1.06970463581
+361,6.016666667,pose2_to_pose3_retreat,0.577415299555,0.0101501351609,1.07003354226,0.547985977491,0.0188227670551,1.0697049344
+362,6.033333333,pose2_to_pose3_retreat,0.577195760736,0.0101500973819,1.0700334402,0.547766438977,0.0188227304298,1.06970483557
+363,6.050000000,pose2_to_pose3_retreat,0.57699606884,0.0101501462471,1.07003351204,0.547566746254,0.0188227764552,1.06970490651
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+365,6.083333333,pose2_to_pose3_retreat,0.576657169148,0.010150034768,1.07003350154,0.547227848446,0.0188226713207,1.06970489466
+366,6.100000000,pose2_to_pose3_retreat,0.576515157014,0.0101500307847,1.07003351064,0.547085836347,0.0188226674557,1.06970490384
+367,6.116666667,pose2_to_pose3_retreat,0.576386761787,0.0101501751015,1.07003366801,0.546957439205,0.0188228048001,1.06970504867
+368,6.133333333,pose2_to_pose3_retreat,0.576269543807,0.0101500068884,1.07003353136,0.546840221551,0.0188226379609,1.06970491904
+369,6.150000000,pose2_to_pose3_retreat,0.576163237883,0.0101502207008,1.070033574,0.546733916313,0.0188228545386,1.06970497334
+370,6.166666667,pose2_to_pose3_retreat,0.576067972238,0.0101502640654,1.07003362085,0.54663865043,0.0188228968606,1.0697050145
+371,6.183333333,pose2_to_pose3_retreat,0.575984557826,0.0101502994788,1.07003345934,0.546555234099,0.0188229257657,1.06970485307
+372,6.200000000,pose2_to_pose3_retreat,0.575914884035,0.0101501999722,1.07003353058,0.546485561196,0.0188228291271,1.06970492044
+373,6.216666667,pose2_to_pose3_retreat,0.575857414159,0.0101500532347,1.07003358443,0.546428093844,0.0188226908095,1.06970497041
+374,6.233333333,pose2_to_pose3_retreat,0.575811045584,0.0101500462829,1.07003358057,0.546381725023,0.0188226829803,1.06970496544
+375,6.250000000,pose2_to_pose3_retreat,0.575773107217,0.0101501349675,1.0700336544,0.546343784766,0.0188227652024,1.06970503802
+376,6.266666667,pose2_to_pose3_retreat,0.575743104411,0.0101501547216,1.07003361565,0.546313782666,0.0188227875018,1.06970500321
+377,6.283333333,pose2_to_pose3_retreat,0.575719063112,0.0101500985889,1.07003345894,0.546289741897,0.0188227335644,1.069704857
+378,6.300000000,pose2_to_pose3_retreat,0.575700823118,0.0101500037358,1.07003330321,0.546271502502,0.0188226402701,1.06970468889
+379,6.316666667,pose2_to_pose3_retreat,0.575687957535,0.0101501559144,1.0700335388,0.546258637399,0.0188227946498,1.06970493971
+380,6.333333333,pose2_to_pose3_retreat,0.575679170156,0.0101501964027,1.07003359035,0.546249847535,0.0188228266452,1.06970498939
+381,6.350000000,pose2_to_pose3_retreat,0.575673414042,0.0101502132705,1.07003359597,0.546244091144,0.0188228425554,1.06970499451
+382,6.366666667,pose2_to_pose3_retreat,0.575669749086,0.0101502067965,1.07003355881,0.546240427178,0.0188228395238,1.06970495957
+383,6.383333333,pose2_to_pose3_retreat,0.575667989782,0.0101501409732,1.07003342031,0.546238668348,0.0188227754228,1.06970482406
+384,6.400000000,pose2_to_pose3_retreat,0.575666879165,0.0101500994203,1.07003333287,0.54623755803,0.0188227349571,1.06970473852
+385,6.416666667,pose2_to_pose3_retreat,0.575666350778,0.0101500926369,1.07003332951,0.546237029831,0.0188227287891,1.06970473457
+386,6.433333333,pose2_to_pose3_retreat,0.575666208925,0.0101500915132,1.07003333066,0.546236888032,0.0188227278358,1.06970473548
+387,6.450000000,pose2_to_pose3_retreat,0.575666005928,0.0101500899052,1.0700333323,0.54623668511,0.0188227264717,1.06970473679
+388,6.466666667,pose2_to_pose3_retreat,0.575665426903,0.0101500853184,1.070033337,0.5462361063,0.0188227225808,1.06970474052
+389,6.483333333,pose2_to_pose3_retreat,0.575665076606,0.0101500839381,1.07003335271,0.546235756029,0.0188227212276,1.0697047547
+390,6.500000000,pose2_to_pose3_retreat,0.575665034475,0.0101500849095,1.07003336509,0.546235713815,0.018822721881,1.06970476612
+391,6.516666667,pose2_to_pose3_retreat,0.575664996898,0.0101500857759,1.07003337614,0.546235676164,0.0188227224638,1.06970477631
+392,6.533333333,pose2_to_pose3_retreat,0.575664930341,0.0101500873104,1.0700333957,0.546235609476,0.0188227234961,1.06970479436
+393,6.550000000,pose2_to_pose3_retreat,0.575664710424,0.0101500923808,1.07003346034,0.546235389126,0.0188227269069,1.06970485399
+394,6.566666667,pose2_to_pose3_retreat,0.57566456663,0.0101500956961,1.0700335026,0.546235245048,0.0188227291371,1.06970489298
+395,6.583333333,pose2_to_pose3_retreat,0.575664532577,0.0101500964812,1.07003351261,0.546235210928,0.0188227296652,1.06970490222
+396,6.600000000,pose2_to_pose3_retreat,0.57566453232,0.0101500964871,1.07003351269,0.546235210671,0.0188227296692,1.06970490229
+397,6.616666667,pose2_to_pose3_retreat,0.575664531864,0.0101500964977,1.07003351282,0.546235210214,0.0188227296763,1.06970490241
+398,6.633333333,pose2_to_pose3_retreat,0.575664495066,0.0101501017279,1.07003352221,0.546235173304,0.0188227345032,1.06970491116
+399,6.650000000,pose2_to_pose3_retreat,0.575664487746,0.010150110145,1.07003352168,0.546235165896,0.0188227426288,1.06970491082
+400,6.666666667,pose2_to_pose3_retreat,0.575664484858,0.0101501134651,1.07003352147,0.546235162974,0.0188227458339,1.06970491069
+401,6.683333333,pose2_to_pose3_retreat,0.575664471443,0.010150128891,1.07003352051,0.546235149397,0.0188227607256,1.06970491009
+402,6.700000000,pose2_to_pose3_retreat,0.57566444626,0.0101501578486,1.07003351869,0.546235123911,0.0188227886802,1.06970490894
+403,6.716666667,pose2_to_pose3_retreat,0.57566434451,0.0101501965731,1.0700334356,0.546235021804,0.0188228263507,1.06970483002
+404,6.733333333,pose2_to_pose3_retreat,0.575664261327,0.0101502242146,1.07003336378,0.546234938373,0.0188228532845,1.06970476168
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..48090fb1722d9d953c3faaf3e64e8e9293b5b201
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23dbd9f8ea1eb7bf689bdccc3e6f235ca6663104cdaae45b493de7bd897c1c7b
+size 25757094
diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f03e198660c399f56ff1cdd9c9611d03ecdc5243
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,407 @@
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+26,0.433333333,BASELINE,767,745.079988606,718,680,662,639,881,785,815,651.920011394,630.920011394,655,0.400968630504,0.00447125407711,0.0798358558162,0.999999951869,0.000107131326008,-0.000286100341158,5.41429557654e-05,1793249898667472384
+27,0.450000000,BASELINE,767,745.658453484,718,680,662,639,881,785,815,651.341546516,630.341546516,655,0.400968556508,0.00447745409679,0.0798365308221,0.999999951197,0.00011590573613,-0.000285140962655,5.3537174985e-05,1793249898684139008
+28,0.466666667,BASELINE,767,746,718,680,662,639,881,785,814.763927127,651,630.236072873,655,0.400968021564,0.00447882249552,0.0798366544002,0.999999950948,0.000118562159699,-0.000284916326254,5.3568452405e-05,1793249898700805376
+29,0.483333333,BASELINE,767,746,718,680,662,639,881,785,814.187526647,651,630.812473353,655,0.40096682211,0.00447322552771,0.0798359830281,0.99999995137,0.000112398764937,-0.000285750909563,5.45181263359e-05,1793249898717472000
+30,0.500000000,BASELINE,767,746,718.395390734,680,662,639,881,784.604609266,814.395390734,651,630.604609266,655,0.400966512064,0.00447287715898,0.0798360282316,0.999999951374,0.000111326099147,-0.00028610260055,5.48034517411e-05,1793249898734138624
+31,0.516666667,BASELINE,767,746,718.981450744,680,662,639,881,784.018549256,814.981450744,651,630.018549256,655,0.400966630916,0.00447505982235,0.0798364189893,0.999999951187,0.00011270833579,-0.000286221426349,5.47684083268e-05,1793249898750805248
+32,0.533333333,BASELINE,767,745.440790093,719,680,662,639,881,784.559209907,815,651,630,655,0.400968473487,0.0044754970791,0.0798373356538,0.999999951599,0.000113959236177,-0.000284315907974,5.45810587905e-05,1793249898767472128
+33,0.550000000,BASELINE,767,745,718.863053801,680,662,639,881,785,815,651,630,655,0.400969662698,0.00447512890534,0.0798378507199,0.99999995191,0.000114147628294,-0.000283160507703,5.44970478456e-05,1793249898784139264
+34,0.566666667,BASELINE,767,745,718.284516495,680,662,639,881,785,815,651,630,655,0.400968563443,0.00447234753159,0.07983701538,0.999999951839,0.000110923741774,-0.000284637265041,5.47623107339e-05,1793249898800805888
+35,0.583333333,BASELINE,767,745,718,680,662.292897572,639,881,785,815,651,630,655,0.400967620519,0.00447303708515,0.0798364035585,0.999999951558,0.000111738118813,-0.00028535120248,5.45280359574e-05,1793249898817472256
+36,0.600000000,BASELINE,767,745,718,680,662.869224778,639,881,785,815,651,630,655,0.400966828874,0.00447708536768,0.07983600803,0.999999951065,0.000116460221832,-0.000285326978406,5.38103711423e-05,1793249898834138880
+37,0.616666667,BASELINE,767,745.456899277,718.456899277,680,662.543100723,639,881.456899277,784.543100723,815,651,630,654.543100723,0.400966655326,0.00447632405437,0.079835719721,0.999999950966,0.000115434187888,-0.000286041436197,5.407233489e-05,1793249898850805504
+38,0.633333333,BASELINE,767,746,719,679.953153548,662.046846452,639,881.953153548,784.093692904,815,651,630,654.046846452,0.400966695872,0.00447445340028,0.0798355000754,0.999999950971,0.000113143188974,-0.000286841841694,5.45703779494e-05,1793249898867472128
+39,0.650000000,BASELINE,767,746,719,679.375199568,662.624800432,639,881.375199568,785.249600865,815,651,630,654.624800432,0.400967106856,0.00447601040232,0.079835702096,0.999999950886,0.000115638605417,-0.000286158606589,5.44850745196e-05,1793249898884138496
+40,0.666666667,BASELINE,767,745.798298406,719,679,662.798298406,639,880.798298406,785.596596812,815,651,630,655,0.400967326059,0.0044769026232,0.0798359088438,0.999999950792,0.000117475160924,-0.0002857427092,5.44754010673e-05,1793249898900805376
+41,0.683333333,BASELINE,767,745.223345535,719,679,662.223345535,639,880.223345535,784.446691069,815,651,630,655,0.400967190371,0.00447656465829,0.0798361243392,0.999999950689,0.000118092486022,-0.00028582152358,5.46056818236e-05,1793249898917472256
+42,0.700000000,BASELINE,767,745,718.640815576,679.359184424,662.359184424,639,880.359184424,784,815,651,630,654.640815576,0.40096678858,0.00447662591903,0.0798362098924,0.99999995079,0.000116538387427,-0.000286133604227,5.44572100377e-05,1793249898934139136
+43,0.716666667,BASELINE,767,745,718.053472575,679.946527425,662.946527425,639,880.946527425,784,815,651,630,654.053472575,0.400966217757,0.00447694077305,0.0798362129047,0.999999951014,0.000113604972489,-0.000286593858607,5.41316710384e-05,1793249898950806016
+44,0.733333333,BASELINE,767,745,718,680,662.473290415,639,880.473290415,784.526709585,815,651,630,654,0.400966835289,0.00447654175043,0.0798362730285,0.999999951341,0.000112608088091,-0.000285863084284,5.4027777746e-05,1793249898967472640
+45,0.750000000,BASELINE,767,745,718,680,662,639,880,785,815,651,630,654.105802781,0.40096722362,0.0044760843666,0.0798362187075,0.999999951557,0.000112036754241,-0.000285342206732,5.39862079015e-05,1793249898984139264
+46,0.766666667,BASELINE,767,745,718,680,662,639,880,785,815,651,630,654.683238744,0.400966059673,0.00447568556024,0.0798356287314,0.999999951227,0.000112497758586,-0.000286288749687,5.41234945454e-05,1793249899000805888
+47,0.783333333,BASELINE,767,745,718.257721757,680,662,639,880.257721757,785,815,651,630,654.742278243,0.400965995832,0.00447566135033,0.0798355916805,0.999999951199,0.000112858183547,-0.000286257627028,5.40530270137e-05,1793249899017472512
+48,0.800000000,BASELINE,767,745,718.828616544,680,662,639,880.828616544,785,815,651,630,654.171383456,0.400967268796,0.00447609233478,0.0798362265219,0.999999951538,0.000113096388581,-0.000285038484882,5.37301050502e-05,1793249899034139392
+49,0.816666667,BASELINE,767,745,718.585465843,680,662.414534157,639,881,785,815,651,630,654,0.400966984577,0.00447626873242,0.0798356878844,0.999999951138,0.000113659147526,-0.000286171182685,5.39659110719e-05,1793249899050806016
+50,0.833333333,BASELINE,767,745.006742439,718,680,662.993257561,639,881,785,815,651,630,654.006742439,0.400966053521,0.00447631865999,0.0798346693705,0.999999950432,0.000114347670471,-0.00028826513681,5.44345973205e-05,1793249899067472384
+51,0.850000000,BASELINE,767,745.585891315,718,680,662.414108685,639,881,785,815,651,630,654.585891315,0.400966919522,0.00447490355966,0.0798356480842,0.999999951051,0.000113893155313,-0.000286314453182,5.43256174468e-05,1793249899084139008
+52,0.866666667,BASELINE,767,745.837197441,718,680,662.325605117,639,881,784.837197441,815,651.162802559,630,655,0.400967651961,0.00447399919366,0.0798364714846,0.999999951541,0.00011347139932,-0.000284782725261,5.42395040189e-05,1793249899100805632
+53,0.883333333,BASELINE,767,745.265900761,718,680,663.468198478,639,881,784.265900761,815,651.734099239,630,655,0.400968049274,0.00447437633074,0.0798369051826,0.999999951717,0.000113131840633,-0.000284302215232,5.42107656707e-05,1793249899117472256
+54,0.900000000,BASELINE,767,745.308350691,718,680,663.383298618,639,881,784,815,651.691649309,630,654.691649309,0.400967549333,0.00447492318738,0.0798364996891,0.999999951429,0.00011417914257,-0.000284875833283,5.43262588629e-05,1793249899134139136
+55,0.916666667,BASELINE,767,745.885174761,718,680,662.229650478,639,881,784,815,651.114825239,630,654.114825239,0.400966268174,0.00447561781464,0.0798353635321,0.99999995073,0.000116433950032,-0.000286367254807,5.45673309185e-05,1793249899150805760
+56,0.933333333,BASELINE,767,745.522680717,718,680,662.477319283,639,881,784.477319283,815,651,630,654,0.400966608815,0.004476288095,0.0798358617896,0.999999950705,0.000117058528149,-0.000286198064421,5.45628525141e-05,1793249899167472384
+57,0.950000000,BASELINE,767,745.070899299,718,680,662.929100701,639,881,785,815,651,630,654.070899299,0.400967188045,0.00447669800224,0.0798364855731,0.999999950845,0.000116911854617,-0.000285788772084,5.44712886191e-05,1793249899184139264
+58,0.966666667,BASELINE,767,745.647556602,718,680,662.352443398,639,881,785,815,651,630,654.647556602,0.400966593858,0.00447529371121,0.0798351070505,0.999999950943,0.000114153801223,-0.000286610907462,5.41938525521e-05,1793249899200805888
+59,0.983333333,BASELINE,767,746,718,680,662,639,881,785,815,651,630,655,0.400966642404,0.00447548553586,0.0798348055508,0.999999951124,0.000113374281654,-0.000286353424454,5.38530765362e-05,1793249899217472512
+60,1.000000000,BASELINE,767,746,718,680,662,639,881,785,815,651,630,655,0.400967701267,0.00447818630628,0.079836197031,0.999999951438,0.000115704833554,-0.000284398881478,5.34127359458e-05,1793249899234139136
+61,1.016666667,BASELINE,767,745.629478944,718,680,662,639,880.629478944,784.629478944,815,651,630,654.629478944,0.400967998634,0.00447884343129,0.0798370506123,0.999999951609,0.000116778963522,-0.00028338392587,5.32774621805e-05,1793249899250805760
+62,1.033333333,BASELINE,767,745.054580472,718,680,662,639,880.054580472,784.054580472,815,651,630,654.054580472,0.400967875963,0.00447837329234,0.0798376074913,0.999999951703,0.00011716005779,-0.000282887241702,5.33104616562e-05,1793249899267472128
+63,1.050000000,BASELINE,767,745,718,680,662,639,880.538846558,784,815,651,630,654,0.40096793938,0.00447684256309,0.0798370776523,0.999999951754,0.000115344114269,-0.00028338334969,5.36837355709e-05,1793249899284138752
+64,1.066666667,BASELINE,767,745,718,680,662,639,881,784.129177184,815,651,630,654,0.400968119256,0.00447549091883,0.0798368076326,0.999999951838,0.000113807579589,-0.000283640973848,5.40285305284e-05,1793249899300805888
+65,1.083333333,BASELINE,767,745,718,680,662,639,881,784.702190918,815,651,630,654,0.400968632198,0.00447513684335,0.0798378219917,0.999999952067,0.000114022909149,-0.000282721378048,5.41528345474e-05,1793249899317472512
+66,1.100000000,BASELINE,767,745.276704042,718,680,662,639,881,785,815,651,630,654.276704042,0.400968646842,0.00447509244362,0.0798378520076,0.999999952087,0.000113944343741,-0.000282698741693,5.40674751439e-05,1793249899334139136
+67,1.116666667,BASELINE,767,745.852839672,718,680,662,639,881,785,815,651,630,654.852839672,0.400968122257,0.0044753831554,0.0798368168295,0.999999951881,0.000113547743797,-0.000283646738103,5.37552312549e-05,1793249899350806016
+68,1.133333333,BASELINE,767,745.55981601,718,680,662,639,881,785,815,651,630,654.55981601,0.400966782392,0.00447577321906,0.0798357547321,0.999999951288,0.000114760567064,-0.000285280208353,5.35645202379e-05,1793249899367472640
+69,1.150000000,BASELINE,767,745,718,680,662,639,881,784.969237381,815,651,630,654.030762619,0.40096528633,0.00447611972415,0.079834773137,0.999999950624,0.000116325221997,-0.000286994472644,5.34261439553e-05,1793249899384139264
+70,1.166666667,BASELINE,767,745,718,680,662,639,881,784.389559142,815,651,630,654.610440858,0.400965993692,0.00447508082856,0.0798353927724,0.999999951151,0.000114316119131,-0.000285954427406,5.34776733761e-05,1793249899400805888
+71,1.183333333,BASELINE,767,745.188299391,718.188299391,680,662,639,881,784.188299391,815,651,630,655,0.400966875824,0.00447470392465,0.0798361774777,0.999999951575,0.000113506797551,-0.000284767326912,5.359894401e-05,1793249899417472256
+72,1.200000000,BASELINE,767,745.762429404,718.762429404,680,662,639,881,784.762429404,815,651,630,655,0.400968116065,0.00447568345966,0.0798373004154,0.999999951795,0.000115155860382,-0.000283278905972,5.38631163132e-05,1793249899434138880
+73,1.216666667,BASELINE,767,745.65571665,718.65571665,680,662,639,881,785,814.65571665,651,630.34428335,654.65571665,0.400968302334,0.00447648027455,0.0798374274361,0.999999951655,0.000115829968413,-0.000283488731609,5.39219376667e-05,1793249899450805504
+74,1.233333333,BASELINE,767,745.068410566,718.068410566,680,662,639,881,785,814.068410566,651,630.931589434,654.068410566,0.400967744625,0.00447714811089,0.0798368514587,0.999999951261,0.000115815875245,-0.000284897315638,5.38358058751e-05,1793249899467472128
+75,1.250000000,BASELINE,767,745.511528363,718,680,662,639,880.488471637,784.488471637,814.511528363,651,630.488471637,654,0.400968043012,0.00447637539381,0.079836898031,0.999999951582,0.00011518715169,-0.000284018787872,5.3858897232e-05,1793249899484138752
+76,1.266666667,BASELINE,767,745.909676927,718.090323073,680,662.090323073,639,880.090323073,784,815,651,630.090323073,654,0.400968320179,0.00447547778038,0.0798369110178,0.999999951927,0.000114270408394,-0.000283169521935,5.38844577765e-05,1793249899500805376
+77,1.283333333,BASELINE,767,745.331815719,718.668184281,680,662.668184281,639,880.668184281,784,815,651,630.668184281,654,0.400967873585,0.00447493115061,0.0798362996953,0.999999951894,0.000112236405192,-0.000284105776256,5.38456200153e-05,1793249899517472256
+78,1.300000000,BASELINE,767,745.244029792,719,680,663,639,881,784.244029792,815,651.244029792,630.755970208,654.244029792,0.400967634972,0.00447441665861,0.0798360157835,0.999999951884,0.000111002449788,-0.000284625519764,5.38341151556e-05,1793249899534138880
+79,1.316666667,BASELINE,767,745.817156901,719,680,663,639,881,784.817156901,815,651.817156901,630.182843099,654.817156901,0.40096767684,0.00447394550748,0.0798361734162,0.999999951912,0.000110847434874,-0.000284583558868,5.38594713089e-05,1793249899550805248
+80,1.333333333,BASELINE,767,745.598369087,718.598369087,680,662.598369087,639,880.598369087,785,815,651.598369087,630,654.598369087,0.400968282714,0.00447432817056,0.0798366698166,0.999999952089,0.00011131489579,-0.000283794730679,5.37661811901e-05,1793249899567471872
+81,1.350000000,BASELINE,767,745.008579143,718.008579143,680,662.008579143,639,880.008579143,785,815,651.008579143,630,654.008579143,0.400969152818,0.0044751108348,0.0798373249256,0.999999952335,0.00011207397879,-0.000282656004554,5.36173067872e-05,1793249899584138496
+82,1.366666667,BASELINE,767,745,718,680,662,639,880.571074829,784.428925171,815,651,630.571074829,654.571074829,0.400970433924,0.00447693903243,0.0798382961619,0.999999952409,0.000115091167374,-0.000281155667465,5.37400084174e-05,1793249899600805632
+83,1.383333333,BASELINE,767,745,718.149573474,680,662,639,881,784,815,651,630.850426526,654.850426526,0.400971197312,0.00447808972071,0.0798389977245,0.999999952446,0.000117190432416,-0.000280140970445,5.38071286077e-05,1793249899617472512
+84,1.400000000,BASELINE,767,745,718.725207481,680,662,639,881,784,815,651,630.274792519,654.274792519,0.400970468698,0.00447726656109,0.0798389178293,0.999999952415,0.000116580045137,-0.00028052482479,5.37045061688e-05,1793249899634138880
+85,1.416666667,BASELINE,767,745,719,680,662,639,881.301722294,784.301722294,815,651,630,654.301722294,0.400969466722,0.00447586903602,0.0798382629265,0.999999952265,0.000114894624441,-0.000281737698743,5.37929212072e-05,1793249899650805504
+86,1.433333333,BASELINE,767,745,719,680,662,639,881.879041611,784.879041611,815,651,630,654.879041611,0.400968215055,0.00447394687822,0.0798370828044,0.999999951996,0.000112227254434,-0.000283707809844,5.40558323401e-05,1793249899667471872
+87,1.450000000,BASELINE,767,745,718.53542236,680,662,639,881.53542236,785,815,651.46457764,630.46457764,654.53542236,0.400968000833,0.00447548022863,0.0798368265852,0.999999951749,0.000113922100069,-0.000283946450021,5.38340669671e-05,1793249899684138752
+88,1.466666667,BASELINE,767,745,718,680,662.051786487,639,881,785,815.051786487,651.948213513,630.948213513,654,0.400968096204,0.00447766479725,0.079836839542,0.999999951545,0.000116389620813,-0.000283724084726,5.3525138312e-05,1793249899700805888
+89,1.483333333,BASELINE,767,745,718,680,662.633824396,639,881,785,815.633824396,651.366175604,630.366175604,654,0.400968546044,0.00447713942559,0.0798371012654,0.999999951776,0.000114930113068,-0.00028348042822,5.36390894627e-05,1793249899717472256
+90,1.500000000,BASELINE,767,745,718,680,663,639,881,785,815.787231689,651,630,654,0.40096826116,0.00447635755415,0.0798371992494,0.999999951946,0.000113506625311,-0.000283445839798,5.3682411999e-05,1793249899734138880
+91,1.516666667,BASELINE,767,745,718,680,663,639,881,785,815.213536294,651,630,654,0.400966729933,0.00447514057232,0.0798370194761,0.999999952013,0.000112144239797,-0.000283765901644,5.36059244844e-05,1793249899750805504
+92,1.533333333,BASELINE,767,745,718,680,662.630655357,639,881,784.630655357,815,651.369344643,630,654.369344643,0.400966701267,0.00447552009547,0.079837156835,0.999999951878,0.000113526974871,-0.000283681356493,5.36678584307e-05,1793249899767472384
+93,1.550000000,BASELINE,767,745,718,680,662.042328307,639,881,784.042328307,815,651.957671693,630,654.957671693,0.400967563462,0.00447684617753,0.0798374822199,0.999999951616,0.000116537276711,-0.000283356922105,5.38118616922e-05,1793249899784139008
+94,1.566666667,BASELINE,767,745,718,680,662,639,881,784.537183701,815,651.462816299,630,654.462816299,0.400968787145,0.00447678667404,0.0798373839894,0.999999951776,0.000116102653681,-0.000282980948444,5.37516694254e-05,1793249899800805376
+95,1.583333333,BASELINE,767.115386103,745,718.115386103,680,662.115386103,639,881,785.115386103,815,651.115386103,630,654.115386103,0.400969569584,0.00447665991556,0.0798373446047,0.999999951938,0.000115422856829,-0.000282697968712,5.36925912396e-05,1793249899817472256
+96,1.600000000,BASELINE,767.691090439,745,718.691090439,680,662.691090439,639,881,785.691090439,815,651.691090439,630,654.691090439,0.400968479937,0.00447669337789,0.0798376709915,0.999999951977,0.000114830396825,-0.000282801916131,5.37011099577e-05,1793249899834139136
+97,1.616666667,BASELINE,767.734517112,745,718.734517112,680,663,639.265482888,881,785.734517112,815,651.734517112,630,654.734517112,0.400968443516,0.0044762919577,0.0798379722247,0.99999995221,0.000113890414176,-0.000282357780263,5.36939210599e-05,1793249899850806016
+98,1.633333333,BASELINE,767.161643672,745,718.161643672,680,663,639.838356328,881,785.161643672,815,651.161643672,630,654.161643672,0.400969626578,0.00447538700683,0.0798382443337,0.999999952667,0.000112548050909,-0.000281279043697,5.3668545028e-05,1793249899867472640
+99,1.650000000,BASELINE,767,745,718,680,662.574855756,639.574855756,881,785,815,651,630,654.425144244,0.400969637731,0.00447545181288,0.0798383099516,0.999999952641,0.00011304261066,-0.000281163682157,5.37180755265e-05,1793249899884139008
+100,1.666666667,BASELINE,767,745.017000763,718.017000763,680,662.017000763,639,881,785,815,651.017000763,630,654.982999237,0.400969157744,0.00447588889335,0.0798382687419,0.999999952418,0.000114220848645,-0.000281467153752,5.37921973346e-05,1793249899900805632
+101,1.683333333,BASELINE,767,745.595616948,718.595616948,680,662.595616948,639,881,785,815,651.595616948,630,654.404383052,0.400967670402,0.00447603157897,0.0798373798222,0.999999951973,0.000114131605231,-0.000283097154407,5.37060185718e-05,1793249899917472000
+102,1.700000000,BASELINE,767,745.827202646,719,679.827202646,662.827202646,639,881,785,815,651.827202646,630,654.172797354,0.400966701745,0.00447607543699,0.0798367129264,0.999999951663,0.000113884217671,-0.000284295898067,5.3665327808e-05,1793249899934138880
+103,1.716666667,BASELINE,767,745.253354661,719,679.253354661,662.253354661,639,881,785,815,651.253354661,630,654.746645339,0.400966936918,0.00447588992302,0.0798365613327,0.999999951673,0.000113269788572,-0.000284493724036,5.3730211536e-05,1793249899950805760
+104,1.733333333,BASELINE,767,745,718.680056373,679.319943627,662.319943627,639,881,785,815,651,630,655,0.400968054721,0.00447584016983,0.0798372975329,0.999999951953,0.000113758118737,-0.000283290358559,5.38459418741e-05,1793249899967472640
+105,1.750000000,BASELINE,767,745,718.107192566,679.892807434,662.892807434,639,881,785,815,651,630,655,0.400969870257,0.00447589773754,0.0798387355473,0.999999952441,0.000115118196377,-0.000280979330496,5.40018672177e-05,1793249899984139264
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,719,679,662,639,881,785,815,651,630,654,0.400968600007,0.00447379762846,0.0798371269476,0.999999952497,0.000112022380986,-0.000282033326475,5.39896744533e-05,1793249900015631360
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,719,679.583316901,662.583316901,639.583316901,881,785,815,651,630,654.583316901,0.400966701927,0.0044741239088,0.0798362689668,0.999999951786,0.000111993046612,-0.000284550850231,5.4006489856e-05,1793249900032297984
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745.164574006,719,680,662.835425994,639.835425994,881,785,815,651,630,654.835425994,0.400966001816,0.00447488855983,0.0798359825157,0.999999951429,0.000112348883588,-0.000285676272691,5.3929502197e-05,1793249900048964864
+109,1.816666667,POSE1_TO_POSE2_PRESS,767,745.740680521,719,680,662.259319479,639.259319479,881,785,815,651,630,654.259319479,0.400968297336,0.00447674939735,0.079837125227,0.999999951967,0.000113667877105,-0.000283320617752,5.36179513184e-05,1793249900065631488
+110,1.833333333,POSE1_TO_POSE2_PRESS,767,745.685131691,718.685131691,680,662.314868309,639,881,785,814.685131691,651.314868309,630,654.314868309,0.400969467739,0.00447785341343,0.0798376942894,0.999999952072,0.000115509052165,-0.000282222948861,5.35063309532e-05,1793249900082298112
+111,1.850000000,POSE1_TO_POSE2_PRESS,767,745.112514592,718.112514592,680,662.887485408,639,881,785,814.112514592,651.887485408,630,654.887485408,0.40096971713,0.00447833790117,0.0798377937671,0.999999951824,0.000117777680965,-0.000282155057868,5.35583721956e-05,1793249900098964736
+112,1.866666667,POSE1_TO_POSE2_PRESS,767,745,718.480239669,680,662.519760331,639,881,785,814.480239669,652,630,655,0.400969330462,0.00447734570409,0.0798372022613,0.999999951816,0.000116527736752,-0.000282694339024,5.36013178389e-05,1793249900115631360
+113,1.883333333,POSE1_TO_POSE2_PRESS,767,745.075004914,719,680,662,639,881,785,815,651.924995086,630,655,0.400968867242,0.00447620422148,0.0798366669647,0.999999951875,0.000114756845257,-0.000283201712609,5.36350660528e-05,1793249900132298240
+114,1.900000000,POSE1_TO_POSE2_PRESS,767,745.650336075,719,680,662,639,881,785,815,651.349663925,630,655,0.400968930946,0.00447647574491,0.0798376337762,0.999999952016,0.000115250569863,-0.00028250580083,5.36222991861e-05,1793249900148964864
+115,1.916666667,POSE1_TO_POSE2_PRESS,767,745.774810939,719,680,662.225189061,639,881,785,815,651,630,654.774810939,0.400969990277,0.00447617409177,0.0798387200212,0.999999952416,0.000114334643571,-0.000281460181148,5.36320952017e-05,1793249900165631488
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745.200698924,719,680,662.799301076,639,881,785,815,651,630,654.200698924,0.400972592296,0.00447498432057,0.0798399913243,0.999999953208,0.000111234510082,-0.000279872700774,5.36768516532e-05,1793249900182298112
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745.384455706,719,679.615544294,663,639,881,785,815,651,630,654.384455706,0.400988740887,0.0044745832692,0.0798463015616,0.999999956354,0.000111250705688,-0.000268418782826,5.35473713667e-05,1793249900198964992
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745.975545482,719,679.024454518,663,639,881,785,815,651,630,654.975545482,0.401012170377,0.00447460613232,0.0798553200838,0.999999960533,0.000112941839744,-0.000251661933484,5.33242437525e-05,1793249900215631616
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,746,718.445151789,679.554848211,663,639,881,785,814.445151789,651,630.554848211,655,0.401062833286,0.00447476962478,0.0798727482312,0.999999968538,0.000113722837171,-0.000217248968113,5.28494244467e-05,1793249900232298240
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745.867010025,718.132989975,679.867010025,663,639,881,785,814.132989975,651,630.867010025,654.867010025,0.401120163874,0.00447518965152,0.0798901918694,0.99999997558,0.00011396623007,-0.000182060322854,5.20077704903e-05,1793249900248965120
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745.291040764,718.708959236,679.291040764,663,639,881,785,814.708959236,651,630.291040764,654.291040764,0.401195789083,0.00447644395808,0.0799064781936,0.999999981638,0.000112549740323,-0.000146826077436,4.99804004966e-05,1793249900265631744
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745.286911504,718.713088496,679.286911504,663,639,880.713088496,785,815,651,630,654,0.401273329463,0.00447729321957,0.0799185034135,0.999999984885,0.000110589645837,-0.000125280047845,4.80184503472e-05,1793249900282298368
+123,2.050000000,POSE1_TO_POSE2_PRESS,767,745.866889283,718.133110717,679.866889283,663,639,880.133110717,785,815,651,630,654,0.401352826092,0.00447772874695,0.0799261761196,0.999999986168,0.000108074285496,-0.000117715873316,4.61233235828e-05,1793249900298964992
+124,2.066666667,POSE1_TO_POSE2_PRESS,767,745.54895239,718,680,662.54895239,639,880.45104761,785,815,651,630,654,0.401452171763,0.00447991479444,0.0799301007832,0.999999987248,0.000106770641087,-0.000110665027827,4.3092345187e-05,1793249900315631616
+125,2.083333333,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,881,784.963957665,815,651,630,654,0.401559061256,0.00448257786548,0.0799330683714,0.999999988233,0.000105845418432,-0.000103712397811,3.96674713578e-05,1793249900332297984
+126,2.100000000,POSE1_TO_POSE2_PRESS,767,745,718,680,662,639,881,784.38512057,815,651,630,654,0.401690517728,0.00448457207515,0.0799384361268,0.99999998924,0.000105183463441,-9.59360995916e-05,3.54059708276e-05,1793249900348964608
+127,2.116666667,POSE1_TO_POSE2_PRESS,767,745.192246959,718,680,662,639,881.192246959,784.192246959,815,651,630,654.192246959,0.401831215035,0.00448643513428,0.0799440769618,0.99999999044,0.000102915039764,-8.70367024206e-05,3.08572211374e-05,1793249900365631488
+128,2.133333333,POSE1_TO_POSE2_PRESS,767,745.766692834,718,680,662,639,881.766692834,784.766692834,815,651,630,654.766692834,0.401990283682,0.00448803745775,0.0799502606953,0.99999999204,9.74528564725e-05,-7.59045155911e-05,2.57374027555e-05,1793249900382298368
+129,2.150000000,POSE1_TO_POSE2_PRESS,767.348070679,745.651929321,718.348070679,680,662.348070679,639,881.651929321,785,815,651,630,655,0.402164412338,0.00449068730642,0.0799555751077,0.999999993429,9.16800164475e-05,-6.58849697347e-05,1.99205133238e-05,1793249900398964992
+130,2.166666667,POSE1_TO_POSE2_PRESS,767.934189407,745.065810593,718.934189407,680,662.934189407,639,881.065810593,785,815,651,630,655,0.40234884066,0.00449405356531,0.0799602949858,0.999999994632,8.56947154854e-05,-5.66263659414e-05,1.36268914535e-05,1793249900415631616
+131,2.183333333,POSE1_TO_POSE2_PRESS,767.482099198,745.517900802,719,680,663,639.517900802,881.517900802,785,815.517900802,651.517900802,630,654.482099198,0.402564838968,0.00449726327087,0.0799592960248,0.999999995061,7.97911247156e-05,-5.88741456817e-05,6.72373312104e-06,1793249900432298240
+132,2.200000000,POSE1_TO_POSE2_PRESS,767,746,718.90019404,680,663,639.90019404,881.90019404,785,815.90019404,652,630.09980596,654,0.402788290515,0.00450044454462,0.0799567722701,0.999999995242,7.33898405065e-05,-6.42591522424e-05,-5.1471693755e-07,1793249900448964864
+133,2.216666667,POSE1_TO_POSE2_PRESS,767,746,718.325435146,680,663,639.325435146,881.325435146,785,815.325435146,652,630.674564854,654,0.40302820815,0.0045035847497,0.0799504345912,0.99999999486,6.45709671114e-05,-7.76477086134e-05,-8.98185916895e-06,1793249900465631488
+134,2.233333333,POSE1_TO_POSE2_PRESS,767,745.750698133,718,680,662.750698133,639,881,785,815,652,630.750698133,654,0.40329074708,0.00450717766615,0.0799466598758,0.999999994554,5.85081082293e-05,-8.47049551698e-05,-1.71200629593e-05,1793249900482298368
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745.175989713,718,680,662.175989713,639,881,785,815,652,630.175989713,654,0.403582812924,0.00451136149353,0.0799462305231,0.999999994635,5.60425963194e-05,-8.34981244627e-05,-2.48289123642e-05,1793249900498964992
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,718,680,662.410094189,639,881,785,815,651.589905811,630,654.410094189,0.403908538048,0.0045153349587,0.0799510169272,0.999999994863,5.90164622757e-05,-7.65769624932e-05,-3.04368639812e-05,1793249900515631616
+137,2.283333333,POSE1_TO_POSE2_PRESS,767,745,718,680,663,639.001172339,881,785,815,651,630,655,0.404249224808,0.004519235742,0.0799580901847,0.99999999505,6.45047210501e-05,-6.71480527492e-05,-3.50871220476e-05,1793249900532298496
+138,2.300000000,POSE1_TO_POSE2_PRESS,767,745,718,680,663,639.579095022,881,785,815,651,630,655,0.40464148744,0.00453305928034,0.0799576267197,0.999999989672,0.00012583892593,-6.48477748949e-05,-2.47904743553e-05,1793249900548965120
+139,2.316666667,POSE1_TO_POSE2_PRESS,767,745,718,680,663,639.843287048,881.156712952,785,815,651.156712952,630,654.843287048,0.405043032683,0.00454454304471,0.0799563309364,0.999999987348,0.000144737238601,-6.31464875386e-05,-1.9196452069e-05,1793249900565631744
+140,2.333333333,POSE1_TO_POSE2_PRESS,767,745,718,680,663,639.266486135,881.733513865,785,815,651.733513865,630,654.266486135,0.40546946102,0.00454975476064,0.0799528040234,0.999999996425,4.98810162511e-05,-6.30508670151e-05,-2.62083859254e-05,1793249900582298368
+141,2.350000000,POSE1_TO_POSE2_PRESS,767,745,718,680.315383327,663,639.315383327,882,785,815,652,630,654.315383327,0.405904377755,0.00455642477411,0.0799465618132,0.999999996496,3.27904010614e-05,-7.17759112555e-05,-2.79426745401e-05,1793249900598964992
+142,2.366666667,POSE1_TO_POSE2_PRESS,767,745,718,680.901605525,663,639.901605525,882,785,815,652,630,654.901605525,0.406346584042,0.00456434711709,0.0799379878114,0.999999992404,8.24818384187e-05,-8.80757977368e-05,-2.51447286423e-05,1793249900615631872
+143,2.383333333,POSE1_TO_POSE2_PRESS,767,745,718,680.518068927,663,639.518068927,881.518068927,785,815.481931073,651.518068927,630,655,0.406839690649,0.00457605811414,0.0799328928368,0.999999988417,0.000113592621812,-9.73961676209e-05,-2.78797922531e-05,1793249900632298496
+144,2.400000000,POSE1_TO_POSE2_PRESS,767.060813294,745,718.060813294,680.060813294,663,639.060813294,881.060813294,785,815.939186706,651,630,655,0.407347075282,0.0045877430337,0.0799280499142,0.999999984196,0.000138908418744,-0.000106415696279,-3.14210627634e-05,1793249900648965120
+145,2.416666667,POSE1_TO_POSE2_PRESS,767.637541215,745,718.637541215,680.637541215,663,639.637541215,881.637541215,785,815.362458785,651,630,655,0.407888491846,0.00459272384199,0.0799193922182,0.999999980903,0.000146855936847,-0.00012482589341,-3.23341483386e-05,1793249900665631744
+146,2.433333333,POSE1_TO_POSE2_PRESS,767.786106334,745,718.786106334,681,663,640,882,785,815,651,630,655,0.40844844534,0.00460073394285,0.0799139290053,0.999999978932,0.000149821885263,-0.000136325994196,-3.32468106106e-05,1793249900682298368
+147,2.450000000,POSE1_TO_POSE2_PRESS,767.210389067,745,718.210389067,681,663,640,882,785,815,651,630,655,0.409039755963,0.00461386840997,0.0799138695967,0.99999997973,0.000144360984921,-0.000136136940181,-3.41587567837e-05,1793249900698964992
+148,2.466666667,POSE1_TO_POSE2_PRESS,767,745.373460016,718,681.373460016,663,639.626539984,882.373460016,785,815,651,630,655,0.409677592282,0.00462263172465,0.0799348951593,0.999999982088,0.000156079406227,-0.000100826696338,-3.60216686291e-05,1793249900715631872
+149,2.483333333,POSE1_TO_POSE2_PRESS,767,745.961992115,718,681.961992115,663,639.038007885,882.961992115,785,815,651,630,655,0.410342222287,0.00462887773361,0.0799680633571,0.999999982449,0.000177691235764,-4.52904918997e-05,-3.84322324555e-05,1793249900732298496
+150,2.500000000,POSE1_TO_POSE2_PRESS,767,746,718.541551617,682,663,639.541551617,883,785,815.541551617,651,630,655,0.411031777066,0.00463094202492,0.079983995797,0.999999983703,0.000175023649634,-2.1989390741e-05,-3.84311389936e-05,1793249900748965120
+151,2.516666667,POSE1_TO_POSE2_PRESS,767,746,718.880322233,682,663.119677767,640,883,785,815.880322233,651,630,654.880322233,0.411722285123,0.00462789290075,0.0799892595532,0.999999985221,0.000166784944783,-1.57561372091e-05,-3.86292786107e-05,1793249900765631744
+152,2.533333333,POSE1_TO_POSE2_PRESS,767,746,718.305292915,682,663.694707085,640,883,785,815.305292915,651,630,654.305292915,0.412409872759,0.00460648664807,0.0799584584842,0.999999986685,0.000143726944622,-6.59952737308e-05,-4.02189622892e-05,1793249900782298112
+153,2.550000000,POSE1_TO_POSE2_PRESS,767,746,718.268024515,682.268024515,664,640,883.536049029,785,815.268024515,651,630,654,0.413115218812,0.00459123105633,0.0799306647295,0.999999985846,0.0001256174951,-0.000103781330565,-4.19287113969e-05,1793249900798964480
+154,2.566666667,POSE1_TO_POSE2_PRESS,767,746,718.839404468,682.839404468,664,640,884.678808936,785,815.839404468,651,630,654,0.413840664281,0.00458293690136,0.0799062747087,0.99999998452,0.000113108910272,-0.00012747275244,-4.37743532175e-05,1793249900815631360
+155,2.583333333,POSE1_TO_POSE2_PRESS,767,746,718.572437947,683,664,640,885,785,815.572437947,651,629.572437947,654,0.414613770595,0.00458125470965,0.0799176572185,0.999999988684,0.000100938215468,-0.000102779317999,-4.33532544114e-05,1793249900832298240
+156,2.600000000,POSE1_TO_POSE2_PRESS,767,746,718,683,663.978313332,640,885,785,815.021686668,651,629.021686668,654.021686668,0.415405619596,0.00458240930173,0.0799422937165,0.999999993155,9.04903299427e-05,-6.1105165064e-05,-4.20412710547e-05,1793249900848964864
+157,2.616666667,POSE1_TO_POSE2_PRESS,767,746,718,683,663.399402877,640,885,785,815.600597123,651,629.600597123,654.600597123,0.416200289901,0.00459003492838,0.0799481418852,0.999999989474,0.000120914654403,-6.915625288e-05,-4.0608374499e-05,1793249900865631744
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,718.178374286,683.178374286,663.178374286,640,885.178374286,785,816,651,629.821625714,654.821625714,0.417016853432,0.00459651577188,0.0799523898809,0.999999987216,0.000138406703589,-6.89989902283e-05,-4.06413452054e-05,1793249900882298368
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,718.753629848,683.753629848,663.753629848,640,885.753629848,785,816,651,629.246370152,654.246370152,0.417882129159,0.00460044948211,0.079953077505,0.999999989675,0.000127124547999,-5.05782168179e-05,-4.3935858324e-05,1793249900898964736
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,746,719,684,664,640,886,785,816,651,629,654.328233683,0.418762332635,0.00459952531734,0.0799669786658,0.999999991241,0.000122886467241,-1.64134384281e-05,-4.63363829852e-05,1793249900915631104
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,746,719,684,664,640,886,785,816,651,629,654.902349278,0.419653718545,0.00459496208776,0.0799907781699,0.99999999073,0.000123925147488,2.95452721126e-05,-4.80672150688e-05,1793249900932297728
+162,2.700000000,POSE1_TO_POSE2_PRESS,767.490924837,745.509075163,719,684,664,640,886,785,816,651,629,655,0.420492826437,0.00459269526248,0.0799772084149,0.999999991955,0.000116747839166,6.94289721829e-06,-4.91059494499e-05,1793249900948964608
+163,2.716666667,POSE1_TO_POSE2_PRESS,768,745,719,684.080646107,664,640,886.080646107,785,816,651,629,654.919353893,0.421332735757,0.00459133662928,0.0799602852475,0.999999992389,0.000110513647211,-2.30505744818e-05,-4.97676624882e-05,1793249900965631232
+164,2.733333333,POSE1_TO_POSE2_PRESS,768,745,719,684.659145058,664,640,886.659145058,785,816,651,629,654.340854942,0.422243734769,0.00459267911106,0.0799699403685,0.99999999147,0.000120496542678,-1.19274298023e-05,-4.89775564898e-05,1793249900982297856
+165,2.750000000,POSE1_TO_POSE2_PRESS,767.764196801,745.235803199,719,685,664.235803199,640,887,785,816,651,629,654.235803199,0.423165800468,0.00459787589782,0.0799843882911,0.999999990495,0.000128817650455,6.38025083164e-06,-4.87384707138e-05,1793249900998964480
+166,2.766666667,POSE1_TO_POSE2_PRESS,767.190178866,745.809821134,719,685,664.809821134,640,887,785,816,651,629,654.809821134,0.424103739352,0.00460860095049,0.0800057105751,0.999999989094,0.000134755242009,3.49927802557e-05,-4.92897182678e-05,1793249901015631360
+167,2.783333333,POSE1_TO_POSE2_PRESS,767.385720759,746,719,685,664.228558482,640,887.385720759,785,816,651,629.385720759,655,0.424976721167,0.00461285894998,0.0799786268222,0.999999988858,0.000139269419382,-2.28365566894e-05,-4.86378346688e-05,1793249901032297984
+168,2.800000000,POSE1_TO_POSE2_PRESS,767.96255266,746,719,685,663.07489468,640,887.96255266,785,816,651,629.96255266,655,0.425817518971,0.0046139127502,0.0799275595699,0.999999981016,0.00014307834333,-0.000123494815999,-4.73898412411e-05,1793249901048964864
+169,2.816666667,POSE1_TO_POSE2_PRESS,767.444462838,746,719,685.555537162,663.555537162,640,888,785.555537162,816.555537162,651,629.444462838,655,0.426736959124,0.00461114850509,0.079913616684,0.999999982235,0.00013772556546,-0.000118228917267,-5.08223183655e-05,1793249901065631488
+170,2.833333333,POSE1_TO_POSE2_PRESS,767,746,718.854783522,686,664,640,888,786,816.854783522,651,629.145216478,655,0.427656434415,0.00460743420777,0.0799058670139,0.999999983802,0.000130722036097,-0.000111661042148,-5.3288957903e-05,1793249901082297856
+171,2.850000000,POSE1_TO_POSE2_PRESS,767,746,718.278251904,686,664,640,888,786,816.278251904,651,629.721748096,655,0.428559797509,0.00460168541406,0.0799088568759,0.999999983794,0.000120704720377,-0.0001230682939,-5.19217709105e-05,1793249901098964480
+172,2.866666667,POSE1_TO_POSE2_PRESS,767.302707167,746,718.302707167,686,664,640,888.302707167,785.697292833,816.302707167,651,629.697292833,654.697292833,0.429484569186,0.00460095291435,0.0799267102597,0.999999985888,0.000121033127437,-0.000104883105414,-5.07393936231e-05,1793249901115631104
+173,2.883333333,POSE1_TO_POSE2_PRESS,767.887796379,746,718.887796379,686,664,640,888.887796379,785.112203621,816.887796379,651,629.112203621,654.112203621,0.430429311928,0.00460489989241,0.0799584291616,0.999999988435,0.00013101259928,-5.90924454676e-05,-4.97294170857e-05,1793249901132297984
+174,2.900000000,POSE1_TO_POSE2_PRESS,767.53168581,746,719,686,664.46831419,640,889,785.46831419,816.53168581,651,629.46831419,654.46831419,0.431381430183,0.00460887116833,0.0799983187432,0.999999989791,0.00013401023972,1.85986753745e-06,-4.9555980102e-05,1793249901148964864
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,746,718.952235097,686,664.952235097,640,889.047764903,786,816,651,630,655,0.4323239586,0.00461274859269,0.0800322361869,0.999999988171,0.000135273824357,5.38160676124e-05,-4.9635729762e-05,1793249901165631232
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,746,718.372589115,686,664.372589115,640,889.627410885,786,816,651,630,655,0.433140212419,0.00461551674101,0.0799780633686,0.999999988936,0.000135675017025,-3.44623256424e-05,-5.03245566833e-05,1793249901182297856
+177,2.950000000,POSE1_TO_POSE2_PRESS,767,746,718,686.205094838,664,640,889.794905162,785.794905162,816.205094838,651.205094838,630,655,0.433974419885,0.00461692033712,0.0799315220561,0.999999984177,0.00013496862541,-0.000103765209588,-5.15904846937e-05,1793249901198964480
+178,2.966666667,POSE1_TO_POSE2_PRESS,767,746,718,686.779248307,664,640,889.220751693,785.220751693,816.779248307,651.779248307,630,655,0.434840934241,0.00461586848538,0.0798987132744,0.99999998015,0.000132269188855,-0.000138922561452,-5.38948799525e-05,1793249901215631104
+179,2.983333333,POSE1_TO_POSE2_PRESS,767,746,718,687,664.361611132,640,889.361611132,785,817,651.638388868,630,655,0.435715530334,0.0046123909314,0.0799081065737,0.999999983308,0.000123005554759,-0.000123356644449,-5.51112948268e-05,1793249901232298240
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,746,718,687,664.949101879,640,889.949101879,785,817,651.050898121,630,655,0.436595174616,0.00460739816781,0.0799438613141,0.999999989545,0.000109641608805,-7.61065445638e-05,-5.56481048824e-05,1793249901248965376
+181,3.016666667,POSE1_TO_POSE2_PRESS,767.528828057,746,718.528828057,687,664.471171943,640,890,785.528828057,817,651,630,655,0.437467965489,0.00460301054073,0.0799762896657,0.999999991573,0.000114894931593,-2.96717473053e-05,-5.26641998319e-05,1793249901265632000
+182,3.033333333,POSE1_TO_POSE2_PRESS,768,746,718.892993882,687,664,640,890,785.892993882,817,651.107006118,630,655,0.438325279404,0.00460083600068,0.0800015630723,0.99999999159,0.000119262456436,6.79820747774e-06,-5.05063001185e-05,1793249901282298624
+183,3.050000000,POSE1_TO_POSE2_PRESS,768,746,718.318362661,687,664,640,890,785.318362661,817,651.681637339,630,655,0.439117798649,0.00460808198259,0.0799969476651,0.999999992297,0.000112041731795,5.89793583767e-08,-5.34175182433e-05,1793249901298965248
+184,3.066666667,POSE1_TO_POSE2_PRESS,768,746,718,687,663.74297395,640,890,785,817,652,630,654.74297395,0.439867096662,0.00461738775808,0.0799656784014,0.9999999902,0.000119300369895,-4.91743494107e-05,-5.43075152477e-05,1793249901315631360
+185,3.083333333,POSE1_TO_POSE2_PRESS,768,746,718,687,663.166644253,640,890,785,817,652,630,654.166644253,0.440562700848,0.00462925241606,0.0799012970326,0.999999976735,0.000144546730471,-0.000151198129535,-5.2686547141e-05,1793249901332297984
+186,3.100000000,POSE1_TO_POSE2_PRESS,768,746,718.419721732,687,663,639.580278268,890.419721732,785,817,651.580278268,630,654.419721732,0.441215091004,0.00464060600263,0.0798143911999,0.999999945874,0.000154745516104,-0.000285134475819,-5.48157543195e-05,1793249901348964608
+187,3.116666667,POSE1_TO_POSE2_PRESS,768,746,719,687,663,639,891,785,817,651,630,654.990003539,0.441851767435,0.00465163322884,0.0797204478717,0.999999893818,0.000158821399557,-0.000428637146337,-5.83969614135e-05,1793249901365630976
+188,3.133333333,POSE1_TO_POSE2_PRESS,768,746,719,687,663,639,891,785,817,651,630,654.40963861,0.442594799506,0.00465590049969,0.0797477277506,0.999999913897,0.000162775953901,-0.000377319358474,-5.7788678167e-05,1793249901382297856
+189,3.150000000,POSE1_TO_POSE2_PRESS,767.830996002,746,718.830996002,687,663,639,891.169003998,785,817,651.169003998,630,654.169003998,0.443323943334,0.00466035846937,0.0797816283821,0.999999932233,0.000171308749593,-0.000320855518685,-5.69098546785e-05,1793249901398964736
+190,3.166666667,POSE1_TO_POSE2_PRESS,767.256485792,746,718.256485792,687,663,639,891.743514208,785,817,651.743514208,630,654.743514208,0.444019764021,0.00466527400042,0.0798314147754,0.999999948496,0.000190826525039,-0.000252044292657,-5.53819001039e-05,1793249901415631360
+191,3.183333333,POSE1_TO_POSE2_PRESS,767.318567494,746,718.318567494,687.318567494,662.681432506,639,891.681432506,785,817,652,630,655,0.444671948259,0.0046687941023,0.0798510708479,0.999999953478,0.000196217367949,-0.000227044830096,-5.4717613957e-05,1793249901432297728
+192,3.200000000,POSE1_TO_POSE2_PRESS,767.894058734,746,718.894058734,687.894058734,662.105941266,639,891.105941266,785,817,652,630,655,0.44528893979,0.00467118879436,0.0798464269023,0.999999952236,0.000190214880702,-0.000237379430744,-5.47498741069e-05,1793249901448964352
+193,3.216666667,POSE1_TO_POSE2_PRESS,768,746,719,688,662,639,891.483581776,785,817,651.516418224,630.483581776,655,0.445864100016,0.00467433096329,0.0798227010103,0.999999943975,0.000186128929059,-0.000272792658156,-5.46897196096e-05,1793249901465631232
+194,3.233333333,POSE1_TO_POSE2_PRESS,768,746,718.926142742,688,661.926142742,639,891.926142742,785,817,651,630.926142742,655,0.446424057786,0.00467887963373,0.0797949206755,0.999999932526,0.00018563159929,-0.000312140190893,-5.52960451176e-05,1793249901482297856
+195,3.250000000,POSE1_TO_POSE2_PRESS,768,746,718.352208416,688,661.352208416,639,891.352208416,785,817,651,630.352208416,655,0.44694498595,0.00469180963594,0.0797688390327,0.999999919107,0.00020650450571,-0.0003398147041,-6.05561914135e-05,1793249901498964736
+196,3.266666667,POSE1_TO_POSE2_PRESS,768,746,718,688,661,638.777150473,891,785,817.222849527,651.222849527,630,655,0.447447259913,0.00470754559646,0.0797450373578,0.99999990409,0.000228803386927,-0.000367767009849,-6.49355677431e-05,1793249901515631360
+197,3.283333333,POSE1_TO_POSE2_PRESS,768,746,718,688,661,638.200307736,891,785,817.799692264,651.799692264,630,655,0.447919901898,0.00472773877939,0.0797248573809,0.999999887125,0.000253367406343,-0.000396160582538,-6.79158534162e-05,1793249901532298240
+198,3.300000000,POSE1_TO_POSE2_PRESS,768,746,718,688,661,638,891.374763366,785,818,652,630,655,0.448353456772,0.00473463731568,0.0796989217147,0.999999866473,0.000264238732707,-0.000438830318683,-6.82657620176e-05,1793249901548964608
+199,3.316666667,POSE1_TO_POSE2_PRESS,768,746,718,688,661,638,891.948892053,785,818,652,630,655,0.448766218261,0.0047344634136,0.079669924155,0.999999842269,0.000267825869333,-0.00048909464088,-6.72163718711e-05,1793249901565631232
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,768,745.219590202,717.780409798,689,656,637,893,784,818,652,630,655,0.453269804918,0.00470210878526,0.0795493187619,0.99999974751,0.000191554947718,-0.000681173646583,-6.54867651492e-05,1793249902808291840
+272,4.533333333,POSE2_TO_POSE3_RETREAT,768,745.812003282,717.187996718,689,656,637,893,784,818,652,630,655,0.453256147345,0.00470212186579,0.079543101317,0.99999974037,0.000191583894214,-0.000691580105403,-6.53572792038e-05,1793249902824958720
+273,4.550000000,POSE2_TO_POSE3_RETREAT,767.606095832,746,717.393904168,689,656,637,893,784,818,652,630,655,0.453225508904,0.00470242908743,0.0795287245916,0.99999972372,0.000192180320903,-0.000715126551322,-6.4961135516e-05,1793249902841625344
+274,4.566666667,POSE2_TO_POSE3_RETREAT,767.029081587,746,717.970918413,689,656,637,893,784,818,652,630,655,0.453186976746,0.00470287304334,0.0795105549471,0.999999701942,0.000193040545994,-0.000744781244925,-6.44410333973e-05,1793249902858291712
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767.545535815,746,718,689,656.545535815,637,893,784,817.454464185,652,630,654.454464185,0.453122405679,0.00470103800576,0.0794871369208,0.999999670683,0.000192452393844,-0.000785851879177,-6.34985459536e-05,1793249902874958592
+276,4.600000000,POSE2_TO_POSE3_RETREAT,768,746,718,688.876975746,656.876975746,637,892.876975746,784,817.123024254,652,630,654.123024254,0.453054464351,0.00469938003987,0.0794654025469,0.999999641267,0.000192340957184,-0.000822537404776,-6.24792168257e-05,1793249902891624960
+277,4.616666667,POSE2_TO_POSE3_RETREAT,768,746,718,688.28813462,656.28813462,637,892.28813462,784,817.71186538,652,630,654.71186538,0.452978994756,0.00469885052721,0.0794510978466,0.99999962617,0.000194325618274,-0.000840325070436,-6.12538194454e-05,1793249902908291584
+278,4.633333333,POSE2_TO_POSE3_RETREAT,768,746,717.705814324,688.294185676,656,637,892.294185676,784,818,652,630,655,0.452898146068,0.00469905663832,0.0794442177519,0.999999617327,0.00019623198189,-0.000850457784534,-5.9673926099e-05,1793249902924958464
+279,4.650000000,POSE2_TO_POSE3_RETREAT,768,746,717.129742273,688.870257727,656,637,892.870257727,784,818,652,630,655,0.45281214318,0.0046999676183,0.0794444518561,0.999999614695,0.000198063321413,-0.000853255584022,-5.77543576231e-05,1793249902941625344
+280,4.666666667,POSE2_TO_POSE3_RETREAT,767.55311678,746,717.44688322,689,656,637,892.55311678,784,817.55311678,652,630,655,0.45271266201,0.00469787069783,0.0794469280865,0.999999618503,0.000198869881616,-0.000848776751405,-5.49813453088e-05,1793249902958291968
+281,4.683333333,POSE2_TO_POSE3_RETREAT,767.023489152,746,718,689,656.023489152,637,892,784,817.023489152,652,630,655,0.452608128284,0.0046950288576,0.0794500735521,0.999999623962,0.000199465244094,-0.000842373384268,-5.19376256786e-05,1793249902974958592
+282,4.700000000,POSE2_TO_POSE3_RETREAT,767.59587874,746,718,689,656.59587874,637,892,784,817.59587874,652,630,655,0.45247708103,0.00469521175316,0.0794536274546,0.999999625253,0.000202086454954,-0.000840426060333,-4.83652621294e-05,1793249902991624960
+283,4.716666667,POSE2_TO_POSE3_RETREAT,768,746,718,688.82498114,656.82498114,637,892,784,818,652,630,655,0.45233635152,0.00469480796224,0.0794574102673,0.99999962775,0.000204996611022,-0.000836947453824,-4.46732811319e-05,1793249903008291328
+284,4.733333333,POSE2_TO_POSE3_RETREAT,768,746,718,688.229628704,656.229628704,637,892,784,818,652,630,655,0.452172368665,0.00469299515725,0.0794617428409,0.999999633138,0.000208600711201,-0.0008297912469,-4.06940217244e-05,1793249903024958464
+285,4.750000000,POSE2_TO_POSE3_RETREAT,767.644706908,745.644706908,718,688,656.355293092,637,892,784,818,652,630,655,0.451990334735,0.00469205583411,0.0794657192515,0.999999637562,0.000213179796041,-0.00082349496013,-3.58759977009e-05,1793249903041625344
+286,4.766666667,POSE2_TO_POSE3_RETREAT,767.06633419,745.06633419,718,688,656.93366581,637,892,784,818,652,630,655,0.451796966972,0.00469166494815,0.0794694720366,0.999999641343,0.00021837104965,-0.000817738594935,-3.0531334014e-05,1793249903058292224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,767.507846432,745.507846432,718,688,657,637,892.507846432,784,818,652,630,655,0.451570661932,0.0046894546599,0.0794720724472,0.999999641357,0.00022393922272,-0.000816432883799,-2.39782782207e-05,1793249903074958592
+288,4.800000000,POSE2_TO_POSE3_RETREAT,768,746,718,688,657,637,892.920683986,784,818,652,630,655,0.451338801156,0.00468705799405,0.0794763008723,0.999999643478,0.000229384798743,-0.000812481491127,-1.73020423795e-05,1793249903091625472
+289,4.816666667,POSE2_TO_POSE3_RETREAT,768,746,718,688,657,637,892.362308381,784,818,652,630,655,0.45109915646,0.00468495924175,0.0794912640086,0.999999661297,0.000233794979802,-0.000789068016956,-1.08273317319e-05,1793249903108291840
+290,4.833333333,POSE2_TO_POSE3_RETREAT,768,746,718,688,657.214807956,637,892,784,817.785192044,652,630,655,0.450838195218,0.00468266271792,0.07950835799,0.999999682268,0.000239790545557,-0.000760230882555,-3.73703637758e-06,1793249903124958208
+291,4.850000000,POSE2_TO_POSE3_RETREAT,768,746,718,688,657.826554847,637,892,784,817.173445153,652,630,655,0.450537843614,0.00468000073652,0.0795293895125,0.999999708872,0.0002487157088,-0.000721371485986,4.49078413844e-06,1793249903141624576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,767.586210117,746,718,688,658,637,892,784,817.413789883,651.586210117,630,655,0.450209185441,0.00467693389647,0.0795433215157,0.999999725145,0.000251929829636,-0.000697225752457,1.08211962474e-05,1793249903158291456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,767.008674948,746,718,688,658,637,892,784,817.991325052,651.008674948,630,655,0.449869325775,0.00467370684546,0.0795544440906,0.999999737436,0.000252883971707,-0.000678902523231,1.64007640857e-05,1793249903174958080
+294,4.900000000,POSE2_TO_POSE3_RETREAT,767,745.431364109,718,688,658,637,890.862728218,784,817.431364109,651.568635891,630,655,0.449476779795,0.00466991512761,0.0795572593516,0.999999741323,0.000252504602252,-0.000673119022537,2.24863220248e-05,1793249903191624960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,767,745.147927238,718,688,658.147927238,637,890.295854476,784.147927238,817.147927238,652,630,654.852072762,0.449071841507,0.00466652256706,0.0795574231536,0.999999743594,0.000241820474283,-0.000673594933958,2.46025998099e-05,1793249903208291840
+296,4.933333333,POSE2_TO_POSE3_RETREAT,767,745.73308237,718,688,658.73308237,637,891.466164739,784.73308237,817.73308237,652,630,654.26691763,0.448632650152,0.00466433524621,0.0795501244888,0.999999740303,0.000200738722105,-0.000692006553713,1.49640856252e-05,1793249903224958720
+297,4.950000000,POSE2_TO_POSE3_RETREAT,767.316939374,746,718,688,659,637,892,784.683060626,818,652,630,654.316939374,0.448159133519,0.00465933485873,0.0795411169647,0.999999733884,0.000179052209607,-0.000707080371166,1.44443355445e-05,1793249903241625856
+298,4.966666667,POSE2_TO_POSE3_RETREAT,767.899707655,746,718,688,659,637,892,784.100292345,818,652,630,654.899707655,0.447656826945,0.00465197504681,0.0795306761557,0.999999725957,0.000173633205707,-0.0007193546518,2.15728329176e-05,1793249903258292992
+299,4.983333333,POSE2_TO_POSE3_RETREAT,767.524954842,746,718,687.524954842,659.475045158,637.475045158,892,784,818,652,630,655,0.447167714804,0.00464868986,0.0795443366312,0.999999745127,0.000157373605259,-0.000696037236045,2.26266431952e-05,1793249903274959104
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,767.624645919,746,718,687,660,638,892,784.624645919,818,652,630,655,0.446152824456,0.00463915944437,0.0796052310584,0.999999807608,0.000122272937512,-0.000607563774791,2.64494504995e-05,1793249903308292096
+302,5.033333333,POSE2_TO_POSE3_RETREAT,767.794199616,746,718,687,660.205800384,638,891.794199616,785,818,652,630,655,0.445609100314,0.00463326377543,0.0796406629491,0.999999831403,0.000155981510536,-0.000558564364915,2.95029388977e-05,1793249903324958976
+303,5.050000000,POSE2_TO_POSE3_RETREAT,767.202729589,746,718,687,660.797270411,638,891.202729589,785,818,652,630,655,0.445030689492,0.0046289263364,0.0796668286179,0.999999822872,0.000284228125464,-0.000522002840369,3.13465285594e-05,1793249903341625856
+304,5.066666667,POSE2_TO_POSE3_RETREAT,767,746,718,687,661,638,891,785,817.620779846,651.620779846,630,655,0.444397840295,0.00462320441383,0.0796801397561,0.999999823272,0.00030648011866,-0.000508349328746,3.32584564094e-05,1793249903358292992
+305,5.083333333,POSE2_TO_POSE3_RETREAT,767,746,718,687,661,638,891,785,817.043794985,651.043794985,630,655,0.443736601302,0.00461676047813,0.0796867472085,0.999999833648,0.000273455523785,-0.000506642434132,3.52060229879e-05,1793249903374959872
+306,5.100000000,POSE2_TO_POSE3_RETREAT,767,746,718,687,661,638,890.469976341,785,817,651.530023659,630,655,0.443069817428,0.00462522374181,0.0796870756918,0.999999841334,0.000253965621487,-0.000501852638572,3.12526344192e-05,1793249903391626496
+307,5.116666667,POSE2_TO_POSE3_RETREAT,767.106667044,746,718,687,661.106667044,638,890,785,817.106667044,651.893332956,630,655,0.44240121927,0.00463346538702,0.0796903851956,0.999999851471,0.000234751931291,-0.000491120261288,2.74102035113e-05,1793249903408293376
+308,5.133333333,POSE2_TO_POSE3_RETREAT,767.697306726,746,718,687,661.697306726,638,890,785,817.697306726,651.302693274,630,655,0.441726455941,0.00463514591995,0.0797095602967,0.999999873918,0.000211747409894,-0.00045457396814,2.62703665796e-05,1793249903424959232
+309,5.150000000,POSE2_TO_POSE3_RETREAT,768,746,718,687,662,638.282124349,890,785,817.717875651,651,630,655,0.440996735879,0.00462652794908,0.0797099883337,0.999999880561,0.000189023138668,-0.000449897379052,2.7231015401e-05,1793249903441625344
+310,5.166666667,POSE2_TO_POSE3_RETREAT,768,746,718,687,662,638.860821815,890,785,817.139178185,651,630,655,0.440209244438,0.00460708404518,0.0796907091933,0.999999871074,0.000166593467679,-0.000478722670545,3.03997245056e-05,1793249903458291968
+311,5.183333333,POSE2_TO_POSE3_RETREAT,768,746,718,687,662.437746352,639,889.562253648,785,817,651.437746352,629.562253648,655,0.439397372525,0.00459780185841,0.0796707643086,0.999999857312,0.000168597947097,-0.000505948673882,3.10766052358e-05,1793249903474958592
+312,5.200000000,POSE2_TO_POSE3_RETREAT,767.985916196,746,718,686.985916196,663,639,889,785.014083804,817,651.985916196,629.014083804,655,0.438579975632,0.00459156638896,0.0796529955599,0.999999843777,0.000177296475153,-0.000529196924474,3.10381358455e-05,1793249903491624960
+313,5.216666667,POSE2_TO_POSE3_RETREAT,767.410600213,746,718,686.410600213,663,639,889,785.589399787,817,651.410600213,629.589399787,655,0.43785005994,0.00457851296899,0.0797303454858,0.99999990325,0.000144421271171,-0.00041411488506,3.39370629773e-05,1793249903508291328
+314,5.233333333,POSE2_TO_POSE3_RETREAT,767,746,718,686,663,639,889,786,817,651,629.831421099,655,0.437110082457,0.00456700171418,0.0798017242888,0.999999943912,0.000128430316202,-0.000307087436307,3.7133643131e-05,1793249903524958208
+315,5.250000000,POSE2_TO_POSE3_RETREAT,767,746,718,686,663,639,889,786,817,651,629.242612086,655,0.436345023186,0.00455933473865,0.0798582183917,0.999999962987,0.000154528085306,-0.00022013832777,4.10722074644e-05,1793249903541625600
+316,5.266666667,POSE2_TO_POSE3_RETREAT,767,745.6591847,718,686,663,639,888.6591847,786,817,651,629,655,0.435501563487,0.00455097534518,0.0798690217099,0.999999966473,0.000149287632713,-0.000207307537967,4.23290714811e-05,1793249903558292224
+317,5.283333333,POSE2_TO_POSE3_RETREAT,767,745.079528738,718,686,663,639,888.079528738,786,817,651,629,655,0.434603161423,0.00454213071102,0.0798478052861,0.999999961317,0.000122085602077,-0.000246418282446,4.17066211056e-05,1793249903574958336
+318,5.300000000,POSE2_TO_POSE3_RETREAT,767,745.49642678,718,686.49642678,663,639,887.50357322,786,816.50357322,651,629,654.50357322,0.433668737994,0.00453063715892,0.0798111128603,0.999999947122,0.000118216467808,-0.000299779695962,4.3729370362e-05,1793249903591624960
+319,5.316666667,POSE2_TO_POSE3_RETREAT,767,746,718,686.928519525,663,639,886.928519525,785.928519525,816.071480475,651,629,654,0.432723908033,0.00451932314044,0.0797705242766,0.999999926894,0.000116514282005,-0.00036127969365,4.59804927118e-05,1793249903608291840
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,746,718,686.355664284,663,639,886.355664284,785.355664284,816.644335716,651,629,654,0.431746262667,0.00451222292481,0.0797198689325,0.99999988586,0.000103986605353,-0.00046397016022,4.68830833132e-05,1793249903624958208
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,746,718,686,663,639,886,785,817,651,629.224472707,654,0.430827374624,0.00450268860963,0.0797042233667,0.999999871115,9.14675090451e-05,-0.000497134174796,4.75552755661e-05,1793249903641624832
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,767,746,718,685.599840675,662.599840675,639,885.599840675,785.400159325,816.599840675,651,629.599840675,654,0.429156861109,0.00447783744623,0.0798021435369,0.999999943844,6.74322279066e-05,-0.000324584431234,4.90915945385e-05,1793249903674959104
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,767,745,718,685,662.696604676,639,884,785,816.303395324,651,629,654.696604676,0.424555305253,0.00445410882303,0.0797336854658,0.999999907065,5.19766737845e-05,-0.000424837105003,5.17843971266e-05,1793249903758291200
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,718,685,662.11417511,639,884,785,816.88582489,651,629,654.11417511,0.423547558657,0.00448265878565,0.079716038471,0.999999889458,8.54662639329e-05,-0.000459380037201,5.24341277346e-05,1793249903774957824
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745,718,685,662,639,883.536765169,785,816.536765169,651,629.463234831,654,0.422670197617,0.00449943354677,0.0797380840007,0.999999905538,0.000109227842855,-0.000417460974628,5.21563091681e-05,1793249903791625216
+331,5.516666667,POSE2_TO_POSE3_RETREAT,767,745.039199956,718,684.960800044,662.039199956,639,883.078399912,785,816,651,630,654,0.421826448633,0.00451147712447,0.0797719387851,0.999999928031,0.000127700045398,-0.000353495514714,5.16856951349e-05,1793249903808292352
+332,5.533333333,POSE2_TO_POSE3_RETREAT,767,745.612157012,718,684.387842988,662.612157012,639,884.224314023,785,816,651,630,654,0.421007481742,0.00449819415369,0.0798348094408,0.999999963426,0.000106448370282,-0.000243199869168,5.16694596215e-05,1793249903824959232
+333,5.550000000,POSE2_TO_POSE3_RETREAT,767.191012255,745.808987745,718,683.808987745,663,639,884.61797549,785.191012255,816,651,629.808987745,654,0.420168372073,0.00448727305621,0.0798700797436,0.999999977801,9.13375848393e-05,-0.000182709757552,5.17002925115e-05,1793249903841626112
+334,5.566666667,POSE2_TO_POSE3_RETREAT,767.782225236,745.217774764,718,683.217774764,663,639,883.435549527,785.782225236,816,651,629.217774764,654,0.419287059962,0.00448130045243,0.0798475229766,0.999999969021,8.90929276656e-05,-0.000226570059919,5.18297421884e-05,1793249903858292224
+335,5.583333333,POSE2_TO_POSE3_RETREAT,767.634329912,745,718,683,662.634329912,639,883,786,816,651,629.365670088,654,0.418405318229,0.00447573526868,0.0798184970765,0.999999956263,8.19857328862e-05,-0.000279505709731,5.12753202585e-05,1793249903874958592
+336,5.600000000,POSE2_TO_POSE3_RETREAT,767.055415169,745,718,683,662.055415169,639,883,786,816,651,629.944584831,654,0.417523326009,0.00447040767689,0.0797856986295,0.999999939107,7.20428941723e-05,-0.000337733748009,5.03220907381e-05,1793249903891625216
+337,5.616666667,POSE2_TO_POSE3_RETREAT,767,745,718,683.521258845,662,639,882.478741155,785.478741155,816,651,629.478741155,654.521258845,0.416692251244,0.00447540256792,0.0797960924926,0.999999939865,7.98252627765e-05,-0.000333522927156,5.15795362867e-05,1793249903908291584
+338,5.633333333,POSE2_TO_POSE3_RETREAT,767,745,718,683.900710748,662,639,882.099289252,785,816,651,629.099289252,654.900710748,0.415868669561,0.00448231534444,0.0798044058236,0.999999939893,9.12350435503e-05,-0.000330290071822,5.2894536046e-05,1793249903924958208
+339,5.650000000,POSE2_TO_POSE3_RETREAT,767,745,718,683.314871257,662,639,882.685128743,785,816,651,629.685128743,654.314871257,0.4150553943,0.00449327185801,0.0797801188949,0.999999926057,0.000111225824821,-0.00036423821317,5.33448364179e-05,1793249903941625088
+340,5.666666667,POSE2_TO_POSE3_RETREAT,767,745,718.267764622,683,662.267764622,639,883,785,816,651,630,654,0.414282270786,0.00449562348846,0.0797730561976,0.999999924252,0.000114495617971,-0.000368235501905,5.28051819081e-05,1793249903958291968
+341,5.683333333,POSE2_TO_POSE3_RETREAT,767,745,718.846677791,683,662.846677791,639,883,785,816,651,630,654,0.413555804566,0.00448797604933,0.0797860084486,0.999999936929,9.83352433438e-05,-0.00033742922021,5.11151774278e-05,1793249903974958848
+342,5.700000000,POSE2_TO_POSE3_RETREAT,767,745,718.575908016,682.151816032,663,639,882.575908016,785.424091984,816,651,630,654.424091984,0.412838837582,0.00448023430747,0.0797979395659,0.999999944482,8.5406087051e-05,-0.000318037393175,5.09412750658e-05,1793249903991625216
+343,5.716666667,POSE2_TO_POSE3_RETREAT,767,745,718,681.000964827,662.999035173,639,882,785.999035173,815.999035173,651,629.999035173,655,0.412125280903,0.00447247250295,0.0798094591988,0.999999950118,7.36558738109e-05,-0.000302830495753,5.13136267843e-05,1793249904008292096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,767,745,718,681.577015609,662.422984391,639,882,785.422984391,815.422984391,651,629.422984391,655,0.411404687155,0.00447300248571,0.0797949823402,0.999999941374,7.07715176117e-05,-0.00033101093387,5.17261190087e-05,1793249904024958720
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745,718,682,662,639,882,785,815.156259434,651,629.156259434,654.843740566,0.410704176266,0.00447576215778,0.0797856697678,0.99999993461,7.62593716087e-05,-0.000349623206533,5.2230482996e-05,1793249904041625088
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745,718,682,662,639,882,785,815.744327065,651,629.744327065,654.255672935,0.410059162303,0.00448468336592,0.0797906282099,0.999999934684,0.000104883037662,-0.000341794763927,5.29887260922e-05,1793249904058291968
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,718,681.672946774,662,639,882,785,815.672946774,651,630,654,0.409450766095,0.00448807391935,0.0798093102982,0.999999944343,0.000110408395691,-0.000310260423651,5.35066911082e-05,1793249904074959104
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,718,681.094329223,662,639,882,785,815.094329223,651,630,654,0.408870535742,0.0044872103775,0.0798385484042,0.999999959804,9.81668876468e-05,-0.000260491870543,5.38398377819e-05,1793249904091626496
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,718,681,662.482898894,639,882.482898894,785,815,651,630,654,0.408286806755,0.004485452415,0.0798371670858,0.999999957656,9.7266370936e-05,-0.000268768990395,5.46808685698e-05,1793249904108292608
+350,5.833333333,POSE2_TO_POSE3_RETREAT,767,745,718,680.940368163,662.940368163,639,882.940368163,785,815,651,630,654,0.407703513906,0.00448356913551,0.0798263067579,0.999999950511,9.88965517352e-05,-0.000293482489657,5.53687126324e-05,1793249904124959232
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,718,680.365575011,662.365575011,639,882.365575011,785,815,651,630,654,0.407129876002,0.00448210828231,0.0797850803465,0.999999927503,0.000103305994674,-0.000362516795683,5.38785538815e-05,1793249904141625856
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.785337739,785,815.214662261,651,630,654,0.406594043021,0.00448230930523,0.0797611116611,0.999999913227,0.000102764370011,-0.000400266994362,5.26406390207e-05,1793249904158292224
+353,5.883333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.195587802,785,815.804412198,651,630,654,0.406124268106,0.00448541418875,0.0797672980723,0.999999920798,9.35715535701e-05,-0.000383353256948,5.18434801799e-05,1793249904174958592
+354,5.900000000,POSE2_TO_POSE3_RETREAT,767.387634861,745.387634861,718,680,662,639,881.387634861,785,815.612365139,651,630,654,0.405692167849,0.00448836765645,0.0797847020588,0.999999932907,9.99027148441e-05,-0.000348702995035,5.11130219057e-05,1793249904191624960
+355,5.916666667,POSE2_TO_POSE3_RETREAT,767.967618669,745.967618669,718,680,662,639,881.967618669,785,815.032381331,651,630,654,0.405278762156,0.00449124599014,0.0798076723376,0.999999945649,0.000113937054223,-0.000305251660383,5.04156610776e-05,1793249904208291840
+356,5.933333333,POSE2_TO_POSE3_RETREAT,767.457898143,746,718,680,662,639,882,785,815,651,630,654,0.404886323326,0.00449510170217,0.0798178186176,0.999999946981,0.000127110152837,-0.000295365156866,5.13840074365e-05,1793249904224958720
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745.883210489,718,680,662,639,881.883210489,785,815,651,630,654,0.404500636639,0.00449861488245,0.0798266555174,0.99999994766,0.000136302356392,-0.000288700862978,5.24829883617e-05,1793249904241625600
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745.306436264,718,680,662,639,881.306436264,785,815,651,630,654,0.404136660505,0.00450055134445,0.0798333220279,0.999999948947,0.000130016076924,-0.000286910256471,5.37085415597e-05,1793249904258292224
+359,5.983333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,815,651,630,654.277660013,0.403789906962,0.00450086080273,0.0798361206491,0.999999948647,0.000126998702598,-0.000289077133591,5.48843442154e-05,1793249904274958848
+360,6.000000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,785,815,651,630,654.870056023,0.403462675768,0.00449932600311,0.079834534901,0.999999946552,0.000127686731176,-0.000295729937817,5.60037530586e-05,1793249904291625472
+361,6.016666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.549909252,639,880.549909252,784.549909252,815,651,630,654.549909252,0.403174687774,0.00449727905489,0.0798325353013,0.999999946874,0.000114045828161,-0.00030067079483,5.33097214468e-05,1793249904308292096
+362,6.033333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.973453617,661.026546383,639,880.026546383,784.026546383,815,651,629.973453617,654,0.402899716484,0.00449516261058,0.0798305042118,0.999999947548,9.71768534876e-05,-0.000304928329529,4.98008754001e-05,1793249904324958464
+363,6.050000000,POSE2_TO_POSE3_RETREAT,767,745,718,679.399178792,661.600821208,639,880.600821208,784.600821208,815,651,629.399178792,654,0.402665800243,0.00449458150138,0.0798302227445,0.99999994747,9.67770803933e-05,-0.000305012168779,5.15889178627e-05,1793249904341625344
+364,6.066666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.179650217,662,639,881.179650217,784.820349783,815,651,629.179650217,654,0.402442431172,0.00449262447758,0.0798303137424,0.999999947963,9.38977886185e-05,-0.000304023263345,5.31627028123e-05,1793249904358292224
+365,6.083333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.768861638,662,639,881.768861638,784.231138362,815,651,629.768861638,654,0.402243107255,0.00448753068481,0.0798312538754,0.999999949708,8.53657641912e-05,-0.000300588746571,5.424802963e-05,1793249904374959104
+366,6.100000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.647942769,784.352057231,815,651,630,654,0.402068567222,0.00448633559237,0.0798357286728,0.999999951905,8.40854212573e-05,-0.000293322248502,5.5513367177e-05,1793249904391625728
+367,6.116666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881.068630373,784.931369627,815,651,630,654,0.401910025324,0.00448765713508,0.0798424851184,0.999999954345,8.74860836507e-05,-0.000283582181969,5.68949028905e-05,1793249904408292608
+368,6.133333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.492060751,639,881,784.492060751,815,651,630,654,0.401775098302,0.00448964088252,0.0798464415647,0.999999955699,9.31884846542e-05,-0.000276600452677,5.83915689522e-05,1793249904424959232
+369,6.150000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.083428462,639,881,784.083428462,815,651,630,654,0.40164506204,0.00449258683874,0.0798485563566,0.99999995527,0.000107550571953,-0.000272751564149,5.91539838445e-05,1793249904441625856
+370,6.166666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,661.654755179,639,881,784.654755179,815,651,630,654,0.401525067876,0.00450063944906,0.0798421015539,0.999999943252,0.000170746407859,-0.000285056003639,5.55319388705e-05,1793249904458292480
+371,6.183333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.765114755,784.765114755,815,651,630,654.234885245,0.401416428575,0.00451106151862,0.0798369463909,0.999999934979,0.000203724661523,-0.000293272694884,5.02956035985e-05,1793249904474958848
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.171541317,784.171541317,815,651,630,654.828458683,0.401325129047,0.0045251019378,0.0798337758799,0.999999937351,0.00019055829423,-0.000295247074632,4.25941209221e-05,1793249904491625216
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.4102254,784,815,651.4102254,630,654.5897746,0.401248685273,0.00452932055513,0.0798290271784,0.999999936509,0.0001861824956,-0.000301004351195,4.14119711605e-05,1793249904508291584
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,880.987193083,784,815,651.987193083,630,654.012806917,0.401178279847,0.00452954695301,0.0798236369976,0.999999934374,0.000185379756149,-0.000308299243024,4.2879702511e-05,1793249904524958464
+375,6.250000000,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784,814.460910432,651.460910432,630,654,0.401130928602,0.00452512267505,0.0798232312741,0.999999934556,0.000182292161231,-0.000309316772314,4.45017798146e-05,1793249904541625344
+376,6.266666667,POSE2_TO_POSE3_RETREAT,767,745,718,679.901404549,662,639,880.901404549,784.098595451,814.098595451,651,630,654,0.401086524638,0.00452148143885,0.0798231227767,0.999999934811,0.000179406741962,-0.000309972070137,4.59209867517e-05,1793249904558292480
+377,6.283333333,POSE2_TO_POSE3_RETREAT,767,745,718,679.300207853,662,639,880.300207853,784.699792147,814.699792147,651,630,654,0.401054476951,0.00452237002245,0.0798239526213,0.999999935222,0.000177816339934,-0.000309507268965,4.62881780757e-05,1793249904574959104
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.703553412,745,718,679.296446588,662,639,880.296446588,784.703553412,815,651,630,654,0.401026934309,0.00452215236592,0.0798238077959,0.99999993533,0.000176189565804,-0.000310029133035,4.66722540692e-05,1793249904591625728
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.11142937,745,718,679.88857063,662,639,880.88857063,784.11142937,815,651,630,654,0.401003885019,0.00452083133952,0.0798226908294,0.999999935135,0.000174526513749,-0.000311535102376,4.70731709687e-05,1793249904608292096
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.469444355,745,718,680,662,639,881,784.469444355,815,651,630,654.469444355,0.400991639405,0.00452175873044,0.0798236227868,0.999999935411,0.000176167831542,-0.000309640844168,4.75880750897e-05,1793249904624958720
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.047447168,718,680,662,639,881,784.952552832,815,651,630,654.952552832,0.400982207829,0.00452297599656,0.0798249413948,0.999999935831,0.000178206025814,-0.000307034624011,4.80608105362e-05,1793249904641625344
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745.622525891,718,680,662,639,881,784.377474109,815,651,630,654.377474109,0.400976219651,0.00452162080075,0.0798252779778,0.99999993675,0.000176139611438,-0.000305276238344,4.77707764451e-05,1793249904658292224
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745.798419382,718,680,662,639,881,784,815,651,630,654,0.400971221016,0.00452064545476,0.0798258622775,0.999999937615,0.000173341053632,-0.000304086350681,4.74875442079e-05,1793249904674959104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,767,745.211769529,718,680,662,639,881,784,815,651,630,654,0.400968112658,0.0045203957167,0.0798269197776,0.999999938378,0.000169143919468,-0.000303982436046,4.72173052246e-05,1793249904691625984
+385,6.416666667,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784,815,651,630,654,0.400967567158,0.00452049484103,0.0798281805924,0.999999939174,0.000168672334174,-0.000301611866246,4.72383794181e-05,1793249904708292608
+386,6.433333333,POSE2_TO_POSE3_RETREAT,767,745,718,680,662,639,881,784,815,651,630,654,0.400968469412,0.00452079103737,0.0798295562594,0.999999939983,0.000170305307748,-0.000297960865276,4.74240161345e-05,1793249904724959232
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.469774177,745,718,680,662,639,881,784,815,651,630,654,0.400968312573,0.00452030373502,0.0798301772723,0.999999940298,0.00017024358861,-0.000296921329214,4.75342714301e-05,1793249904741625600
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diff --git a/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffb12e6aefb4f4712eb7d4b8c6de2f95c9426f8a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_12.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,407 @@
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+207,3.450000000,pose1_to_pose2_press,0.621914363758,0.0101502159459,1.07003360674,0.592485041247,0.0188228484461,1.06970499531
+208,3.466666667,pose1_to_pose2_press,0.622112253717,0.0101502109415,1.07003361705,0.592682931587,0.0188228449955,1.06970501049
+209,3.483333333,pose1_to_pose2_press,0.622288023169,0.0101502185009,1.07003360758,0.592858701159,0.0188228531523,1.06970500327
+210,3.500000000,pose1_to_pose2_press,0.622451538468,0.0101501523753,1.07003341793,0.593022216815,0.0188227883695,1.0697048155
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+214,3.566666667,pose1_to_pose2_press,0.622990597486,0.0101501455575,1.07003360032,0.593561275314,0.0188227797727,1.06970499084
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+226,3.766666667,pose1_to_pose2_press,0.62352850029,0.0101502513721,1.07003363275,0.59409917475,0.0188228742996,1.06970502235
+227,3.783333333,pose1_to_pose2_press,0.623533497224,0.0101501614492,1.07003354374,0.594104173741,0.018822791519,1.06970493751
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+263,4.383333333,pose2_to_pose3_retreat,0.623545940475,0.0101500758775,1.07003361723,0.5941166198,0.0188227155041,1.06970501027
+264,4.400000000,pose2_to_pose3_retreat,0.623545866059,0.0101501141194,1.07003360187,0.594116545019,0.0188227526554,1.06970499873
+265,4.416666667,pose2_to_pose3_retreat,0.623545729407,0.0101501092531,1.07003359681,0.594116407666,0.0188227454355,1.06970499425
+266,4.433333333,pose2_to_pose3_retreat,0.623545567598,0.0101500999268,1.07003359191,0.594116245028,0.0188227333058,1.06970498973
+267,4.450000000,pose2_to_pose3_retreat,0.62354534167,0.0101500774096,1.07003359998,0.594116019106,0.0188227107514,1.06970499623
+268,4.466666667,pose2_to_pose3_retreat,0.623545266831,0.0101500694197,1.07003360349,0.594115944335,0.018822702966,1.06970499909
+269,4.483333333,pose2_to_pose3_retreat,0.623544648856,0.0101500034444,1.07003363245,0.594115326915,0.0188226386792,1.06970502277
+270,4.500000000,pose2_to_pose3_retreat,0.623541784596,0.0101502006347,1.07003346883,0.594112462364,0.0188228352079,1.06970486877
+271,4.516666667,pose2_to_pose3_retreat,0.623533775629,0.0101500506343,1.07003354711,0.59410445439,0.0188226883966,1.06970494113
+272,4.533333333,pose2_to_pose3_retreat,0.623518741905,0.0101502704897,1.07003373129,0.594089418027,0.0188228992271,1.06970512438
+273,4.550000000,pose2_to_pose3_retreat,0.623492535099,0.0101501363377,1.07003360343,0.594063213052,0.0188227709789,1.06970498875
+274,4.566666667,pose2_to_pose3_retreat,0.623454817613,0.0101501718135,1.07003360325,0.594025494222,0.0188228020039,1.06970499398
+275,4.583333333,pose2_to_pose3_retreat,0.623405748422,0.010150123759,1.07003350168,0.593976425872,0.0188227569926,1.06970489244
+276,4.600000000,pose2_to_pose3_retreat,0.623347335781,0.0101501303508,1.07003353197,0.593918011991,0.0188227595508,1.06970492624
+277,4.616666667,pose2_to_pose3_retreat,0.623280193204,0.0101501327162,1.07003367461,0.59385087171,0.0188227697065,1.06970506902
+278,4.633333333,pose2_to_pose3_retreat,0.623206515861,0.0101500515605,1.07003353301,0.593777194463,0.0188226887196,1.06970492217
+279,4.650000000,pose2_to_pose3_retreat,0.623125954786,0.0101502593014,1.07003361041,0.593696628939,0.0188228815,1.06970500353
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+281,4.683333333,pose2_to_pose3_retreat,0.622933462448,0.0101501056858,1.07003363116,0.593504141654,0.0188227445199,1.06970502226
+282,4.700000000,pose2_to_pose3_retreat,0.622817375701,0.0101501100523,1.07003359827,0.593388053532,0.0188227444159,1.06970499598
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+288,4.800000000,pose2_to_pose3_retreat,0.621786216657,0.0101501609548,1.07003349178,0.592356895056,0.018822796656,1.06970488684
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a06b70c48ea35b33f8dd28e49a4d8220ff23a9d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d28caea6bc2b3b9b66b81bfc335489f35f3421cdd3cc9cdf6d97854cc4aa364
+size 25745258
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ae63142faa7f5a5d1fd585752a063c815cc0fbc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+15,0.250000000,BASELINE,764.697880794,745,714,680,658,634.302119206,879.697880794,786.697880794,805,653,631,652,0.400776285239,-0.00544725284766,0.0598697605023,0.999999931897,-9.52731653249e-05,-0.000354797294801,-3.53167025368e-05,1793244227762557952
+16,0.266666667,BASELINE,765,745,714,680,658,634.27694142,879.446117159,786.72305858,805,653,631,652,0.40077651448,-0.00544792888504,0.0598695308163,0.999999931824,-9.62508523688e-05,-0.000354729962336,-3.54257993932e-05,1793244227779224576
+17,0.283333333,BASELINE,765,745,714,680,658,634.861172126,878.277655748,786.138827874,805,653,631,652,0.400778072361,-0.00544749967314,0.0598693102075,0.999999932374,-9.46050543346e-05,-0.000353587567598,-3.57446957818e-05,1793244227795891200
+18,0.300000000,BASELINE,765,745,714,680,658,635,878.443899454,786,804.556100546,653,631,652,0.400778169092,-0.00544734527674,0.0598694287137,0.999999932418,-9.45937820076e-05,-0.000353489744281,-3.55225339278e-05,1793244227812558080
+19,0.316666667,BASELINE,765,745,714,680,658,634.973985585,878.973985585,786.026014415,804.026014415,652.973985585,631,651.973985585,0.40077790089,-0.0054472712802,0.0598696707852,0.99999993234,-9.50597384762e-05,-0.000353619456507,-3.51603533418e-05,1793244227829224960
+20,0.333333333,BASELINE,765,745,714,680,658,634.39492703,878.39492703,786.60507297,804.60507297,652.39492703,631,651.39492703,0.400779556486,-0.005447085513,0.0598702926811,0.999999933042,-9.4840353638e-05,-0.000351664762125,-3.54066950125e-05,1793244227845891840
+21,0.350000000,BASELINE,765,745,714,680,658,634,878.183059553,787,805,652.183059553,631,651.183059553,0.400779915684,-0.0054470713355,0.0598703113979,0.99999993322,-9.49355848088e-05,-0.000351107923596,-3.56343912399e-05,1793244227862558720
+22,0.366666667,BASELINE,765,745,714,680,658,634,878.758746887,787,805,652.758746887,631,651.758746887,0.400777494356,-0.00544742518515,0.0598690364106,0.99999993228,-9.57056072613e-05,-0.000353549219157,-3.58220965206e-05,1793244227879224832
+23,0.383333333,BASELINE,764.658685698,745,714,680,658,634.341314302,879,786.658685698,805,652.658685698,631,652,0.400777573749,-0.00544731849184,0.059869108307,0.999999932314,-9.50503312355e-05,-0.000353642878769,-3.5694268459e-05,1793244227895891456
+24,0.400000000,BASELINE,764.07115509,745,714,680,658,634.92884491,879,786.07115509,805,652.07115509,631,652,0.400779457105,-0.00544687957344,0.0598701518142,0.99999993305,-9.33668776706e-05,-0.000352043007925,-3.53388219033e-05,1793244227912558336
+25,0.416666667,BASELINE,764.509435601,745,714,680,658,635,879,786.509435601,805,652.509435601,631,651.490564399,0.400779584762,-0.00544681401221,0.0598704892019,0.999999932892,-9.3820349189e-05,-0.000352370014566,-3.53516485902e-05,1793244227929224704
+26,0.433333333,BASELINE,765,745,714,679.911685218,658,634.911685218,879,787,805,652.911685218,630.911685218,651.088314782,0.40077954526,-0.00544690001453,0.0598707433102,0.999999932658,-9.46960713244e-05,-0.000352797534733,-3.53625127312e-05,1793244227945891328
+27,0.450000000,BASELINE,765,745,714,679.33696523,658,634.33696523,879,787,805,652.33696523,630.33696523,651.66303477,0.400779917573,-0.00544753741876,0.0598710746462,0.999999932687,-9.62756048834e-05,-0.000352316269865,-3.50830721046e-05,1793244227962558464
+28,0.466666667,BASELINE,765,745,714,679.238736628,658,634.238736628,878.761263372,787,805,652,630.238736628,651.761263372,0.400779858742,-0.0054481098095,0.0598708677336,0.999999932441,-9.80231192869e-05,-0.000352533461244,-3.50558898142e-05,1793244227979225088
+29,0.483333333,BASELINE,765,745,714,679.815830038,658,634.815830038,878.184169962,787,805,652,630.815830038,651.184169962,0.400779188858,-0.00544859005783,0.059869897972,0.999999931807,-0.00010000870958,-0.000353740561111,-3.53862283758e-05,1793244227995891712
+30,0.500000000,BASELINE,764.597984497,745,714,680,658,635,878.402015503,787,805,652.402015503,631,651.402015503,0.40077832901,-0.00544745376638,0.0598695553473,0.999999931922,-9.7009114305e-05,-0.000354268095977,-3.5196673016e-05,1793244228012558336
+31,0.516666667,BASELINE,764.007537446,745,714,680,658,635,878.992462554,787,805,652.992462554,631,651.992462554,0.400777380124,-0.00544555977505,0.0598695066725,0.999999932367,-9.16728771534e-05,-0.000354477107053,-3.47634344649e-05,1793244228029224960
+32,0.533333333,BASELINE,764.570791672,745,714,680,658,635,879,787,805,653,631,652,0.400778411542,-0.00544537474905,0.0598704191611,0.999999932658,-9.30182716623e-05,-0.000353277912745,-3.50086169583e-05,1793244228045891584
+33,0.550000000,BASELINE,764.85198394,745,714,680,658,635,879,786.85198394,805,652.85198394,631,652,0.400778547223,-0.0054451088532,0.0598705044527,0.999999932627,-9.35135890087e-05,-0.000353201525906,-3.53515673908e-05,1793244228062558208
+34,0.566666667,BASELINE,764.277491217,745,714,680,658,635,879,786.277491217,805,652.277491217,631,652,0.400776028249,-0.00544454627701,0.0598681705422,0.99999993167,-9.13106518637e-05,-0.000356412734903,-3.59509391915e-05,1793244228079224576
+35,0.583333333,BASELINE,764.296137632,745,714,680,658.296137632,635,879,786.296137632,805,652.296137632,631,652,0.400775110503,-0.00544476434344,0.0598674818185,0.999999931356,-9.0826469301e-05,-0.000357413023938,-3.5973747857e-05,1793244228095891456
+36,0.600000000,BASELINE,764.868959422,745,714,680,658.868959422,635,879,786.868959422,805,652.868959422,631,652,0.400775688799,-0.00544571177149,0.0598683302079,0.999999931652,-9.1948134955e-05,-0.000356347630165,-3.54578682661e-05,1793244228112558592
+37,0.616666667,BASELINE,765,745,714,679.541487347,658.541487347,634.541487347,879,787,804.541487347,653,630.541487347,652,0.400776139891,-0.00544585572789,0.0598684632597,0.999999931712,-9.26219313983e-05,-0.000356011451809,-3.53998395365e-05,1793244228129225216
+38,0.633333333,BASELINE,765,745,714,679.102291597,658,634.051145798,879,787,804.051145798,652.948854202,630.051145798,652,0.400776555793,-0.00544578897123,0.0598684575124,0.999999931722,-9.31770917432e-05,-0.000355834094908,-3.54529401904e-05,1793244228145891584
+39,0.650000000,BASELINE,765,745,714,680.249104428,658,634.624552214,879,787,804.624552214,652.375447786,630.624552214,652,0.400776997635,-0.00544600416315,0.0598692010987,0.999999931935,-9.3877356775e-05,-0.000355069823078,-3.52540511217e-05,1793244228162558208
+40,0.666666667,BASELINE,765,745,714,681,658,635,879,786.801618044,805,652.198381956,631,651.801618044,0.400776733989,-0.00544593608182,0.059869346567,0.999999931871,-9.40474316962e-05,-0.000355197112332,-3.53199624176e-05,1793244228179224832
+41,0.683333333,BASELINE,765,745,714,681,658,635,879,786.226985455,805,652.773014545,631,651.226985455,0.400775132316,-0.00544533074525,0.0598683576462,0.999999931282,-9.32119495793e-05,-0.000357015333747,-3.58880933138e-05,1793244228195891456
+42,0.700000000,BASELINE,765,745,714,680.639554654,658,635,878.639554654,786.360445346,805,653,631,651,0.400775345994,-0.00544497304222,0.059868347466,0.999999931378,-9.25940891148e-05,-0.000356896006377,-3.60042435e-05,1793244228212558336
+43,0.716666667,BASELINE,765,745,714,680.043767678,658,635,878.043767678,786.956232322,805,653,631,651,0.400776744949,-0.00544477702387,0.0598689763242,0.999999931921,-9.21183180035e-05,-0.000355511616441,-3.5825286852e-05,1793244228229224960
+44,0.733333333,BASELINE,765,745,714,680,658.535818485,634.464181515,878,786.464181515,804.464181515,653,631,651.535818485,0.400777935937,-0.00544551677722,0.0598693516994,0.999999932256,-9.35860422764e-05,-0.000354187455466,-3.57996677955e-05,1793244228245892096
+45,0.750000000,BASELINE,764.886334092,745,714,680,658.886334092,634.113665908,878.113665908,786.113665908,804.113665908,653,631,652,0.400778616914,-0.00544623728074,0.0598695742647,0.999999932434,-9.46819932084e-05,-0.000353395929765,-3.57474013629e-05,1793244228262558976
+46,0.766666667,BASELINE,764.310334415,745,714,680,658.310334415,634.689665585,878.689665585,786.689665585,804.689665585,653,631,652,0.400777290506,-0.00544657770287,0.0598692570265,0.99999993206,-9.36389932776e-05,-0.000354751463951,-3.55372964784e-05,1793244228279225600
+47,0.783333333,BASELINE,764.262976001,745,714,680,658,635,879,787,805,652.737023999,631,652,0.40077704247,-0.00544650891091,0.0598692420036,0.999999932044,-9.31742980874e-05,-0.000354915860953,-3.55626924753e-05,1793244228295892224
+48,0.800000000,BASELINE,764.833145058,745,714,680,658,635,879,787,805,652.166854942,631,652,0.400778054126,-0.00544596209922,0.0598695800107,0.999999932449,-9.33851442537e-05,-0.000353688841919,-3.58631866856e-05,1793244228312558592
+49,0.816666667,BASELINE,764.576743719,745,714,680,658,635,878.576743719,787,804.576743719,652,631,652,0.400777510179,-0.00544577803425,0.0598691097276,0.999999932137,-9.33482062456e-05,-0.000354574352386,-3.59170658502e-05,1793244228329224960
+50,0.833333333,BASELINE,764.02078081,745,714,680,658,634.97921919,878.02078081,786.97921919,804.02078081,652.02078081,631,652,0.400776380185,-0.00544578768635,0.0598683714825,0.999999931565,-9.32566867067e-05,-0.00035621253338,-3.58509836101e-05,1793244228345891328
+51,0.850000000,BASELINE,764.595976888,745,714,680,658,634.404023112,878.595976888,786.404023112,804.595976888,652.595976888,631,652,0.400776784775,-0.0054469617584,0.0598694056837,0.999999932041,-9.44438786826e-05,-0.000354614442516,-3.53064264947e-05,1793244228362557952
+52,0.866666667,BASELINE,765,745,714,680,658,634.171182613,879,786.171182613,805,652.828817387,631,651.828817387,0.400777010379,-0.00544719679418,0.0598698824642,0.999999932269,-9.501621925e-05,-0.000353845165319,-3.50446302704e-05,1793244228379224832
+53,0.883333333,BASELINE,765,745,714,680,658,634.746411075,879,786.746411075,805,652.253588925,631,651.253588925,0.40077681352,-0.00544521540323,0.0598690435532,0.999999931917,-9.41373132975e-05,-0.000355032154198,-3.54502404371e-05,1793244228395891456
+54,0.900000000,BASELINE,765.328803956,745,714,679.671196044,658,635,879,787,805,652,631,651.328803956,0.400776708102,-0.00544452944768,0.0598687579566,0.99999993174,-9.36523407875e-05,-0.000355645741498,-3.55811000497e-05,1793244228412558080
+55,0.916666667,BASELINE,765.916845422,745,714,679.083154578,658,635,879,787,805,652,631,651.916845422,0.40077667478,-0.00544486484687,0.0598689086072,0.999999931702,-9.34779555955e-05,-0.000355807244161,-3.5495339227e-05,1793244228429224704
+56,0.933333333,BASELINE,765.500874056,745,714,679.499125944,658,635,879,787,805,652,631,652,0.400777324854,-0.00544651949722,0.0598694741498,0.999999931959,-9.38688834028e-05,-0.000355010008208,-3.52025037152e-05,1793244228445891072
+57,0.950000000,BASELINE,765,745,714,680,658.079645697,635,878.920354303,787,805,652.079645697,631,652,0.400777812203,-0.00544782516827,0.0598699030804,0.999999932199,-9.41142234217e-05,-0.000354285155433,-3.50166852943e-05,1793244228462557952
+58,0.966666667,BASELINE,765,745,714,680,658.655110584,635,878.344889416,787,805,652.655110584,631,652,0.400776585849,-0.0054456056992,0.0598690561672,0.999999932039,-9.28736157907e-05,-0.000354993910347,-3.57093963495e-05,1793244228479224576
+59,0.983333333,BASELINE,765,745,714,679.770673416,658.770673416,635,878.229326584,786.770673416,805,652.770673416,631,651.770673416,0.400775695463,-0.00544458273872,0.0598683722435,0.999999931769,-9.23682827979e-05,-0.000355858567414,-3.59793896146e-05,1793244228495891200
+60,1.000000000,BASELINE,765,745,714,679.198325388,658.198325388,635,878.801674612,786.198325388,805,652.198325388,631,651.198325388,0.40077530761,-0.00544534948801,0.0598679321156,0.999999931336,-9.29627565635e-05,-0.000356956419453,-3.56170914058e-05,1793244228512557824
+61,1.016666667,BASELINE,765,745,714,679.386563715,658,635,878.613436285,786,805,652,631,651.386563715,0.400775804102,-0.00544591044542,0.0598682506182,0.999999931425,-9.34000180495e-05,-0.000356607341928,-3.54588180481e-05,1793244228529224704
+62,1.033333333,BASELINE,765,745,714,679.978102682,658,635,878.021897318,786,805,652,631,651.978102682,0.400776769519,-0.00544636228172,0.0598689713845,0.999999931791,-9.37539177526e-05,-0.000355491030525,-3.54087288065e-05,1793244228545891328
+63,1.050000000,BASELINE,765,745,714,680,658.559370115,634.440629885,878.559370115,786,804.440629885,652,631,652,0.400776611035,-0.00544611733766,0.0598688489474,0.999999931853,-9.2400927642e-05,-0.000355675004066,-3.53670596161e-05,1793244228562557952
+64,1.066666667,BASELINE,765,745,714,679.861262213,658.861262213,634.138737787,879.138737787,786,804.138737787,652.138737787,631,652,0.400776550245,-0.00544593592227,0.0598688545194,0.999999931943,-9.12150100698e-05,-0.000355730312789,-3.53378518393e-05,1793244228579224576
+65,1.083333333,BASELINE,765,745,714,679.286622889,658.286622889,634.713377111,879.713377111,786,804.713377111,652.713377111,631,652,0.40077693214,-0.00544603826297,0.0598693641236,0.999999932164,-9.07601716954e-05,-0.00035522432431,-3.53467797504e-05,1793244228595891456
+66,1.100000000,BASELINE,765,745,714,679.294621312,658,634.705378688,879.705378688,786,805,652.705378688,631,651.705378688,0.400777597679,-0.0054458893437,0.0598700112746,0.999999932461,-9.07604468415e-05,-0.000354383730036,-3.54063771927e-05,1793244228612558080
+67,1.116666667,BASELINE,765,745,714,679.882438396,658,634.117561604,879.117561604,786,805,652.117561604,631,651.117561604,0.400778545491,-0.00544549038018,0.0598707953067,0.999999932831,-9.12136334476e-05,-0.000353210149003,-3.55163989987e-05,1793244228629224704
+68,1.133333333,BASELINE,765,745,714,680,658,634.463740909,879,786.463740909,805,652,631,651.463740909,0.400777200486,-0.00544663309887,0.0598701655731,0.999999931954,-9.3811414091e-05,-0.000355026486188,-3.53265059415e-05,1793244228645891328
+69,1.150000000,BASELINE,765,745,713.956878473,680,658,635,879.043121527,786.956878473,805,652.043121527,631,652,0.400775305605,-0.0054479775515,0.059869147256,0.999999930822,-9.65315008535e-05,-0.000357500258334,-3.50925901142e-05,1793244228662557952
+70,1.166666667,BASELINE,765,745,713.381121017,680,658,635,879.618878983,786.381121017,805,652.618878983,631,652,0.400773698743,-0.00544705320231,0.059867694781,0.999999930557,-9.41399423663e-05,-0.000358861977749,-3.52410236907e-05,1793244228679224576
+71,1.183333333,BASELINE,765,745,713.194732313,680,658.194732313,635,879.805267687,786.194732313,805,653,631,652,0.400773312967,-0.00544682451708,0.0598670177492,0.99999993053,-9.3190163736e-05,-0.000359177086517,-3.53295303503e-05,1793244228695891456
+72,1.200000000,BASELINE,765,745,713.770773478,680,658.770773478,635,879.229226522,786.770773478,805,653,631,652,0.400775318221,-0.00544795802384,0.0598678591268,0.999999930976,-9.50635597996e-05,-0.00035744280836,-3.53006930608e-05,1793244228712558080
+73,1.216666667,BASELINE,765,745,714,680.354539149,659,635,878.645460851,787,805,652.645460851,631,652,0.400776963766,-0.00544788781433,0.0598688388107,0.999999931372,-9.60173872919e-05,-0.000356057125723,-3.54904778302e-05,1793244228729224704
+74,1.233333333,BASELINE,765,745,714,680.943410283,659,635,878.056589717,787,805,652.056589717,631,652,0.400778371563,-0.00544702201074,0.0598699099078,0.999999931738,-9.63634275519e-05,-0.000354901846745,-3.58247604408e-05,1793244228745891584
+75,1.250000000,BASELINE,765.524510515,745,714,680.475489485,658.475489485,635,878.524510515,787,805,652.524510515,631,652,0.400777819821,-0.00544765223017,0.0598697956838,0.999999931816,-9.62231817206e-05,-0.000354750036707,-3.55298450813e-05,1793244228762557952
+76,1.266666667,BASELINE,765.792302198,745,714,680,658,635,878.896151099,787,805,653,631,652,0.400777246621,-0.00544798029836,0.0598695771586,0.999999931871,-9.58092020525e-05,-0.000354735595884,-3.52423040604e-05,1793244228779224320
+77,1.283333333,BASELINE,764.64211728,745,714,680,658,635,878.32105864,787,805,653,631,652,0.400777521399,-0.00544621553491,0.0598694571793,0.99999993196,-9.43876801492e-05,-0.00035486039688,-3.52917739604e-05,1793244228795890944
+78,1.300000000,BASELINE,764.254051939,744.745948061,714,679.745948061,658,635,878,786.745948061,805,652.745948061,631,652,0.400777281684,-0.00544476674511,0.0598694756681,0.999999932007,-9.3152480143e-05,-0.000355034850898,-3.54886486779e-05,1793244228812557568
+79,1.316666667,BASELINE,764.829185373,744.170814627,714,679.170814627,658,635,878,786.170814627,805,652.170814627,631,652,0.400776391732,-0.0054437172962,0.0598696691589,0.999999932001,-9.2152761673e-05,-0.000355272058475,-3.58718197829e-05,1793244228829224192
+80,1.333333333,BASELINE,765,744.415565218,714,679.415565218,658.415565218,634.584434782,878.415565218,786.415565218,805,652,631,652,0.400776114189,-0.00544522714472,0.0598694963909,0.99999993188,-9.28443812171e-05,-0.000355454443112,-3.56757327971e-05,1793244228845891072
+81,1.350000000,BASELINE,764.993440455,745,714,680.006559545,658.993440455,634,879,786.993440455,805,652,631,652,0.400776103815,-0.00544778958146,0.059869173228,0.999999931709,-9.42581731091e-05,-0.000355606004498,-3.52421094538e-05,1793244228862557696
+82,1.366666667,BASELINE,764.414393796,745,714,680.585606204,658.414393796,634,879,786.414393796,805,652,631,652,0.40077683008,-0.00544785145246,0.0598692288692,0.999999931688,-9.6337356441e-05,-0.000355088866996,-3.54356296741e-05,1793244228879224320
+83,1.383333333,BASELINE,764,745,714,680.837404316,658,634,878.837404316,786,804.837404316,652,631,652,0.400776946964,-0.0054477620556,0.0598690072543,0.999999931549,-9.71467601954e-05,-0.000355246160495,-3.55591641161e-05,1793244228895890944
+84,1.400000000,BASELINE,764,745,714,680.265592168,658,634,878.265592168,786,804.265592168,652,631,652,0.400775530175,-0.00544729195187,0.0598680878489,0.999999931119,-9.47604171606e-05,-0.000357100843766,-3.5506560267e-05,1793244228912557824
+85,1.416666667,BASELINE,764,745,714,679.683429099,658,634.316570901,878,786,804.316570901,652.316570901,631,652,0.400775539569,-0.00544688713245,0.0598681109329,0.9999999312,-9.38530981226e-05,-0.000357115417846,-3.5501930925e-05,1793244228929224960
+86,1.433333333,BASELINE,764,745,714,679.092288455,658,634.907711545,878,786,804.907711545,652.907711545,631,652,0.400776785927,-0.00544653893577,0.0598689514612,0.999999931727,-9.42285731797e-05,-0.00035553401978,-3.55389110585e-05,1793244228945892608
+87,1.450000000,BASELINE,764.489444803,745,714,679,658,635,878.489444803,786,805,652.510555197,631,652,0.400776598727,-0.0054465361866,0.0598690383372,0.999999931749,-9.46183347576e-05,-0.000355384757671,-3.53823082712e-05,1793244228962559232
+88,1.466666667,BASELINE,764.931027984,745,713.931027984,679.068972016,658,635,878.931027984,786,805,652.068972016,631,652,0.400775990528,-0.00544666551879,0.0598688247594,0.999999931574,-9.51324930997e-05,-0.000355756202186,-3.52147274897e-05,1793244228979225600
+89,1.483333333,BASELINE,764.35492465,745,713.35492465,679.64507535,658,635,878.35492465,786,805,652.64507535,631,652,0.400774236861,-0.00544729610761,0.0598674271962,0.999999930634,-9.65418715102e-05,-0.000358008170072,-3.52297524408e-05,1793244228995892224
+90,1.500000000,BASELINE,764,744.779475894,713.220524106,680,658,635,878.220524106,786.220524106,805,652.779475894,631,651.779475894,0.400773699194,-0.00544728195341,0.0598669955404,0.999999930313,-9.58296744408e-05,-0.000359100842888,-3.51839905263e-05,1793244229012558848
+91,1.516666667,BASELINE,764,744.205077594,713.794922406,680,658,635,878.794922406,786.794922406,805,652.205077594,631,651.205077594,0.400775112838,-0.00544623318249,0.0598681138725,0.999999930979,-9.17129931154e-05,-0.000358333199089,-3.50406841577e-05,1793244229029225216
+92,1.533333333,BASELINE,764,744,714,680.379876942,658,635,879,786.620123058,805,652,631,651.379876942,0.400776454324,-0.00544592553619,0.059868871936,0.999999931521,-9.16813500037e-05,-0.000356819341523,-3.51115889749e-05,1793244229045892096
+93,1.550000000,BASELINE,764,744,714,680.970693232,658,635,879,786.029306768,805,652,631,651.970693232,0.400777755743,-0.00544602942397,0.0598694299484,0.999999931993,-9.39180602962e-05,-0.000354891123788,-3.5301441688e-05,1793244229062558464
+94,1.566666667,BASELINE,764.549669198,744.549669198,714,680.450330802,658,634.450330802,879,786.549669198,805,652,631,652,0.400774800072,-0.00544722879475,0.0598675274339,0.999999930742,-9.58366448088e-05,-0.000357859708751,-3.55973118085e-05,1793244229079224832
+95,1.583333333,BASELINE,765,745,714,680,658,634.126818359,878.873181641,786.873181641,805,652,631,652,0.400772687727,-0.00544783171759,0.0598662473718,0.999999929918,-9.6757730304e-05,-0.000359891218549,-3.57718518738e-05,1793244229095891456
+96,1.600000000,BASELINE,765,745,714,680,658,634.69971568,878.30028432,786.30028432,805,652,631,652,0.400774323293,-0.00544613554104,0.0598676084818,0.999999930946,-9.42285533767e-05,-0.000357727615262,-3.55001546183e-05,1793244229112558080
+97,1.616666667,BASELINE,765,745,714,680,658,635,878.279765147,786.279765147,805,652,631,652,0.400775461127,-0.00544584836013,0.0598685652487,0.999999931583,-9.31806908486e-05,-0.000356233504026,-3.53467565338e-05,1793244229129225216
+98,1.633333333,BASELINE,765,745,714,680,658,635,878.867692697,786.867692697,805,652,631,652,0.400776050709,-0.00544711319351,0.0598690766301,0.999999931798,-9.37645020661e-05,-0.000355476841036,-3.53236654648e-05,1793244229145892352
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+102,1.700000000,BASELINE,765,745,714,680,658,635,879,786.815338327,805,652.184661673,631,652,0.400775256807,-0.00544593471196,0.0598683091228,0.999999930949,-9.41619830274e-05,-0.000357755458646,-3.52947974351e-05,1793244229212558080
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+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.571610544,635,879,786.428389456,805,652.428389456,631,652,0.400775527044,-0.005446721914,0.0598684339006,0.999999931518,-9.22069404347e-05,-0.000356670115452,-3.53183799587e-05,1793244229338981120
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.333685662,635,879,786.333685662,805,653,631,652,0.400775650514,-0.00544656768883,0.0598688883209,0.999999931509,-9.31650494914e-05,-0.000356455930684,-3.52424149121e-05,1793244229388980224
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+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,635,878.055042905,786.055042905,805,652,630.055042905,651.055042905,0.400777675199,-0.00544540484557,0.0598699272585,0.99999993146,-9.31821539197e-05,-0.000356593497519,-3.51934598309e-05,1793244229438980608
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+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.762686325,658,634.762686325,879,787,805,652,631,652,0.400794878776,-0.00544620747384,0.0598737358901,0.999999932757,-9.37215842992e-05,-0.000352815797489,-3.49625652137e-05,1793244229472313600
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+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,635,879,786,805.298752468,652.701247532,631,652,0.401097686944,-0.00545574075069,0.059880067263,0.999999936167,-9.93449838205e-05,-0.000341182715129,-3.73064386767e-05,1793244229588980480
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+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.263701087,714,680,658,634.736298913,879.263701087,786,805,652,631,651.736298913,0.403234964828,-0.00548518047847,0.0598975312025,0.999999955631,-0.000136437436247,-0.00025816202926,-5.89463554143e-05,1793244229788980224
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.839180643,714,680,658,634.160819357,879.839180643,786,805,652,631,651.160819357,0.403542290754,-0.00549013876005,0.0598993142975,0.999999955184,-0.000145585941661,-0.000254220642635,-6.17177743513e-05,1793244229805646848
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.168540461,786.41572977,805,652,631,651,0.403858972206,-0.00549149718881,0.0598884274095,0.999999949524,-0.0001570365705,-0.000268286249597,-6.56850448005e-05,1793244229822313728
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.014612604,786.992693698,805,652,631,651,0.404179282041,-0.00549145947197,0.0598726266707,0.99999994134,-0.000169380040894,-0.000289335581714,-7.01161070839e-05,1793244229838980352
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.565622612,878.565622612,787,805,652,631,651.565622612,0.404529495601,-0.00548311539433,0.0598601131375,0.999999929579,-0.000195488435075,-0.000311591880082,-7.44152998067e-05,1793244229855647488
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+142,2.366666667,POSE1_TO_POSE2_PRESS,765.323054738,745,714,680,658,635,879,786.676945262,805,652,631,652,0.405775512783,-0.00547499250878,0.0598662985656,0.999999928116,-0.000210628302897,-0.000303656326534,-8.48349195764e-05,1793244229905647360
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+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,713.774533192,680.225466808,658.774533192,634.225466808,879,786.225466808,805,652,631,651.225466808,0.408380572592,-0.00549531336757,0.0599405001319,0.999999954494,-0.000216420786564,-0.000194141021384,-8.05168352696e-05,1793244229988980736
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,713.195247047,680.804752953,658.195247047,634.804752953,879,786.804752953,805,652,631,651.804752953,0.408938922645,-0.00549290908803,0.0599258631392,0.999999949147,-0.000213510273826,-0.000222528537429,-8.12480764072e-05,1793244230005647616
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,713.956399297,680.043600703,658,635,879,787,805,652,630.043600703,651.043600703,0.410179096471,-0.00549201852727,0.0599210936335,0.999999949289,-0.000199239863296,-0.000234511284605,-8.20302573371e-05,1793244230038980864
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.46276615,745,714,680,658.53723385,635,879,786.46276615,805,652,630.53723385,651,0.410834403344,-0.00549195622949,0.0599310268007,0.999999958081,-0.000186103376997,-0.0002061106475,-8.19888519226e-05,1793244230055647488
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+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,713.605314112,680,659,634.605314112,879,786,805,651.605314112,631,652,0.415895663709,-0.00549927873667,0.0599357246228,0.999999962985,-0.000179512913035,-0.000187179000874,-8.22765168945e-05,1793244230172314368
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.808930456,879,786.191069544,805.191069544,652,631,652,0.416714959238,-0.0055024162135,0.059972213327,0.99999997343,-0.000177420844424,-0.000123758684435,-7.96583875682e-05,1793244230188980992
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.228902256,879,786.771097744,805.771097744,652,631,652,0.4175096455,-0.00550545156368,0.0599721369674,0.999999972486,-0.000178742681267,-0.000129891363461,-7.87837834634e-05,1793244230205647616
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.348811258,659,634,879.348811258,786.651188742,805.651188742,652,631,652,0.418318366661,-0.00550708338426,0.0599606647772,0.99999997007,-0.000179273389422,-0.000146498756109,-7.9115933446e-05,1793244230222313984
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.925015787,659,634,879.925015787,786.074984213,805.074984213,652,631,652,0.41913623727,-0.00550780023084,0.0599417635401,0.99999996627,-0.000179288353374,-0.000169934710678,-8.02347775256e-05,1793244230238980352
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634.50011237,879.49988763,786,805,652,631,652,0.419968657002,-0.00550720366238,0.0599185650007,0.999999961053,-0.000173305473391,-0.000202844704145,-8.19361635422e-05,1793244230255646976
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+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,635,879,786.66844479,805,652,631,652,0.421579380179,-0.00550472195886,0.0598620852143,0.999999936965,-0.000163231623639,-0.000303787210222,-8.44969434043e-05,1793244230288980224
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.253807546,634.746192454,879.253807546,787,805.253807546,652,631,651.746192454,0.422420452957,-0.00550525604979,0.0598571017179,0.99999993425,-0.000164033305834,-0.000312148591266,-8.45933760706e-05,1793244230305647104
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.831630362,634.168369638,879.831630362,787,805.831630362,652,631,651.168369638,0.423335819053,-0.00550849572085,0.0598861263022,0.999999950492,-0.000170478893222,-0.000250901151781,-8.36772623165e-05,1793244230322313984
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+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,880,787,805.569882544,652,631,652,0.426106004828,-0.00552117802233,0.0599961709699,0.999999983055,-0.000154555614235,-6.52735654941e-05,-7.57707147036e-05,1793244230372313856
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+194,3.233333333,POSE1_TO_POSE2_PRESS,764.513423459,745,714,681.513423459,659,633.513423459,879.486576541,786,806.486576541,652,630.513423459,651.486576541,0.444598167975,-0.00554497304122,0.0598050730063,0.999999932338,-0.000137216565365,-0.000332036624893,-7.90429403589e-05,1793244230772314624
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.060859643,745,714,681.060859643,659,633,880,786,806.939140357,652,630.060859643,652,0.445165525881,-0.00554495195249,0.0598102471686,0.99999993509,-0.000134669293463,-0.000324866116775,-7.83999465524e-05,1793244230788980992
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.652542903,745,714,681.652542903,659,633,880,786,806.347457097,652,630.652542903,652,0.445668586456,-0.00554483390103,0.0597861445298,0.999999917841,-0.000132219374071,-0.000375426941087,-7.67504584597e-05,1793244230805647616
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.761104435,658.761104435,633,880,786,806,652,630.761104435,651.761104435,0.446157669667,-0.00554570558968,0.0597602660495,0.999999900123,-0.000132053309004,-0.000420088730485,-7.64234753759e-05,1793244230822314240
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.182335589,658.182335589,633,880,786,806,652,630.182335589,651.182335589,0.44662686744,-0.00554798536736,0.0597318611073,0.999999883697,-0.000135136451095,-0.000456358044193,-7.79780014302e-05,1793244230838980608
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.39283286,658,633,880,786,806.39283286,652,630,651.39283286,0.44709801802,-0.00555119173543,0.0597295619847,0.999999885268,-0.000135549558149,-0.000452797546913,-7.78786794539e-05,1793244230855647488
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681.966345391,658,633,880,786,806.966345391,652,630,651.966345391,0.447570066817,-0.00555482427998,0.0597392699785,0.999999895112,-0.000134734608705,-0.000430917716854,-7.70186862234e-05,1793244230872314368
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682.871815714,658,632,879.871815714,785,806,651.871815714,631,652,0.448422935088,-0.00555781836331,0.0597510673552,0.999999902761,-0.000133464583643,-0.000413415084571,-7.58436001791e-05,1793244230905647616
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657.699519796,632,879.600960407,785,806.300480204,651.300480204,631,652,0.449094860954,-0.00556266920759,0.0597011994886,0.999999867521,-0.000134311316549,-0.000491006192595,-7.63684552251e-05,1793244230938980608
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657.122186901,632,880.755626199,785,806.877813099,651.877813099,631,652,0.449388277512,-0.00556128400735,0.0596656863555,0.999999839335,-0.000131863099589,-0.000545815069204,-7.76366609674e-05,1793244230955647232
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,632,880.549063303,785.450936697,806.549063303,651.549063303,630.549063303,651.549063303,0.449672808342,-0.00556023846516,0.0596459952155,0.999999823072,-0.000129798306183,-0.000575213997805,-7.83414858127e-05,1793244230972313856
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657.569019605,632,879.430980395,785.430980395,806.569019605,651.569019605,630,651.569019605,0.450219554184,-0.00555998913119,0.0596336318663,0.999999815393,-0.000129814116064,-0.000588391392608,-7.84748669764e-05,1793244231005646848
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.133693497,714.133693497,682,658,631.866306503,879.133693497,785,806.866306503,652,630.133693497,652,0.450480903391,-0.00556149181502,0.059637796717,0.99999982092,-0.000132165853019,-0.000578475780382,-7.78284164452e-05,1793244231022313472
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.640148261,714.640148261,682,657.640148261,631,880,785,806.359851739,652,630.640148261,652,0.450940226805,-0.00556868390939,0.0596515056905,0.999999832898,-0.0001393020828,-0.000555946219625,-7.56484298571e-05,1793244231055646976
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.108911912,713.108911912,682,657,631,880,785,807,652,630.108911912,652,0.451434151162,-0.00556998387572,0.059636234362,0.999999822505,-0.000140815133476,-0.000573957270679,-7.57297293944e-05,1793244231105647104
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,682.944210707,656.055789293,631,880,784.055789293,806,652,630,652,0.452286998523,-0.00557463466851,0.05963443776,0.999999826579,-0.000134316383853,-0.000568894408369,-7.18295488916e-05,1793244231305647104
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682,656,631,880,785,806.869347492,651.869347492,630,652,0.452329106945,-0.00557351295775,0.0596281662179,0.999999822327,-0.000130279374034,-0.000577440131262,-7.02564566284e-05,1793244231472313856
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+253,4.216666667,HOLD_POSE2,765.486179901,745,714,682,656.513820099,631,879.513820099,784.486179901,806,652,630,652,0.452331927595,-0.0055698966302,0.0596259293406,0.999999820393,-0.000125133442624,-0.000582017895016,-6.93626937972e-05,1793244231777303296
+254,4.233333333,HOLD_POSE2,765.940010229,745,714,682,655.940010229,631,879.119979543,784.940010229,806.059989771,652,630,652,0.452331698492,-0.00556931952925,0.0596254915058,0.999999820182,-0.000123837753372,-0.000582680117853,-6.91630385842e-05,1793244231793969920
+255,4.250000000,HOLD_POSE2,765.349802916,745,714,682,655.349802916,631,880.300394169,784.349802916,806.650197084,652,630,652,0.452334175671,-0.00557016764617,0.0596266966579,0.999999821306,-0.000127071942184,-0.000580050334188,-6.91484738047e-05,1793244231810636544
+256,4.266666667,HOLD_POSE2,765,745,714,682.236052494,655.236052494,631,880.763947506,784,806.763947506,652,630,652,0.452335175478,-0.00557115012518,0.0596269883981,0.999999821606,-0.000128646747521,-0.000579192120546,-6.90912610244e-05,1793244231827303168
+257,4.283333333,HOLD_POSE2,765,745,714,682.81557557,655.81557557,631,880.18442443,784,806.18442443,652,630,652,0.452334025619,-0.00557232810904,0.0596259510688,0.999999820725,-0.00012780704977,-0.00058091164813,-6.89719928393e-05,1793244231843969792
+258,4.300000000,HOLD_POSE2,765,745,714,682.605396535,656,631,880,784.394603465,806.394603465,652,630,652,0.452333505628,-0.00557242282646,0.0596260979192,0.999999820568,-0.000126609715222,-0.000581498384775,-6.85067292046e-05,1793244231860636672
+259,4.316666667,HOLD_POSE2,765,745,714,682.02659973,656,631,880,784.97340027,806.97340027,652,630,652,0.452333279648,-0.00557201189595,0.0596267975218,0.999999820749,-0.000125245442595,-0.00058155635646,-6.78799615102e-05,1793244231877303296
+260,4.333333333,HOLD_POSE2,765,745,714,682,656.54781569,631,880,784.45218431,806.45218431,652,630,652,0.452333914893,-0.00557019302687,0.0596262997315,0.999999821149,-0.000125419670806,-0.000580756615423,-6.85063276653e-05,1793244231893969920
+261,4.350000000,HOLD_POSE2,765,745,714,682,656.875037885,630.875037885,880,784,806.124962115,652,630,652,0.452334371628,-0.00556844851056,0.0596258296374,0.999999821466,-0.000124877370751,-0.000580262744983,-6.90576055426e-05,1793244231910636544
+262,4.366666667,HOLD_POSE2,765,745,714,682,656.286988555,630.286988555,880,784,806.713011445,652,630,652,0.452334013102,-0.0055672308658,0.0596256759296,0.99999982143,-0.000121405104415,-0.000581055488007,-6.91069204109e-05,1793244231927303424
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631,881,785,806,652,630,652,0.452336484062,-0.00556956570168,0.0596275902752,0.999999822451,-0.000124325408715,-0.000578691844958,-6.8964292049e-05,1793244231964192512
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,713.421861134,682,656,631,880.421861134,784.421861134,806,652,630,652,0.452335201407,-0.00556945498135,0.0596268001799,0.999999821677,-0.000125019612676,-0.000579868186923,-6.9052909978e-05,1793244231980859392
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.153960666,682,656,631,879.846039334,784.153960666,806.153960666,652,630,652,0.452334531192,-0.00556950450292,0.0596263344736,0.999999821197,-0.000125367606939,-0.000580613874427,-6.91124450824e-05,1793244231997526016
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,713.723527832,682,656,631,879.276472168,784.723527832,806.723527832,652,630,652,0.452335514216,-0.00556998658668,0.0596267444335,0.999999821514,-0.000124781031473,-0.000580197039335,-6.90934730704e-05,1793244232014192640
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,630.695015164,879.304984836,784.695015164,807,652,630,652,0.452336046066,-0.00557007608327,0.0596268981,0.999999821874,-0.000124133404115,-0.000579729317435,-6.89625992725e-05,1793244232030859264
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,630.102342687,879.897657313,784.102342687,807,652,630,652,0.452336152329,-0.00556979525821,0.0596268100086,0.999999822277,-0.000123428187455,-0.000579213594792,-6.87261701917e-05,1793244232047526144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.521601735,682,656,630,880,784.478398265,806.521601735,652,630,652,0.452334979357,-0.00556914750379,0.059626324728,0.99999982147,-0.00012305452342,-0.000580681394734,-6.87574950215e-05,1793244232064192768
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.05608739,713.05608739,682,656,630.05608739,880.05608739,784.94391261,806.05608739,652,630,652,0.452333683663,-0.00556848574587,0.0596257511664,0.99999982049,-0.000122882331485,-0.000582392057722,-6.88433330352e-05,1793244232080859136
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.628606886,713.628606886,682,656,630.628606886,880.628606886,784.371393114,806.628606886,652,630,652,0.452333716466,-0.00556840022717,0.0596251280794,0.999999820277,-0.000123928030633,-0.000582526907627,-6.8916529089e-05,1793244232097525760
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.791870203,714,682,656,630.791870203,880.583740406,784,807,652,630,651.791870203,0.4523311057,-0.00556834542568,0.0596233801798,0.999999818959,-0.000124573626443,-0.000584622168401,-6.91362777148e-05,1793244232114192384
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.19941509,714,682,656,630.19941509,879.398830181,784,807,652,630,651.19941509,0.45232361341,-0.00556834734554,0.0596195552403,0.999999815579,-0.000124480405086,-0.000590337456351,-6.96266452641e-05,1793244232130859008
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.384033184,714,682,656,630,879.384033184,784,807,652,630,651.384033184,0.45230372371,-0.00556765987575,0.0596119282738,0.999999808074,-0.000123226664603,-0.000603145399026,-6.98813834302e-05,1793244232147525376
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.962911749,714,682,656,630,879.962911749,784,807,652,630,651.962911749,0.452277543985,-0.00556662263309,0.0596023722878,0.999999798259,-0.000121384116139,-0.000619551913945,-7.00165712879e-05,1793244232164192000
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.458313917,745.458313917,714,682,656,630.541686083,880,784,806.458313917,651.458313917,630,651.458313917,0.452226411713,-0.00556573460648,0.0595833028642,0.999999779863,-0.000121038621504,-0.0006485607932,-7.06537172831e-05,1793244232180859136
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.119326109,745,714,682.119326109,656,630.880673891,880,784.119326109,806.119326109,651.119326109,630,651.119326109,0.452171113921,-0.00556464790814,0.0595648441372,0.999999762322,-0.000120543125934,-0.000675086512812,-7.13048987808e-05,1793244232197525760
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.692677509,745,714,682.692677509,656,630.307322491,880,784.692677509,806.692677509,651.692677509,630,651.692677509,0.452106465949,-0.00556276641564,0.0595511869704,0.999999753047,-0.000119086959934,-0.000688881562822,-7.18787418947e-05,1793244232214192384
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.72620781,656,630,880,785,806.72620781,652,630,652,0.452033492391,-0.00556098526277,0.0595407075581,0.999999744324,-0.000118392922733,-0.000701523174594,-7.210857589e-05,1793244232230859264
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.136124851,656,630,880,785,806.136124851,652,630,652,0.451950900936,-0.00555932002456,0.0595338991587,0.999999736317,-0.000118579313604,-0.000712832308329,-7.19410029448e-05,1793244232247525632
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.445581244,714,682,656,630.445581244,880,784.554418756,806.445581244,652,630,652,0.451850845605,-0.00555650307142,0.0595308802823,0.999999733452,-0.000115919538323,-0.000717328795225,-7.13992117862e-05,1793244232264192256
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.975394179,714,682,656,631,880,784.024605821,806.975394179,652,630,652,0.451744835071,-0.00555326288289,0.059529247913,0.999999732378,-0.000112394772111,-0.000719449239274,-7.07403779078e-05,1793244232280859136
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.400164983,714,682,656,631,880,784.599835017,806.400164983,652,630,652,0.451622747242,-0.00554827991955,0.0595332138471,0.999999736674,-0.000108611911752,-0.000714113680547,-6.99734850185e-05,1793244232297525760
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.825397905,682,656,631,880,784.825397905,806.174602095,652,630,652,0.451489196072,-0.0055433995085,0.0595350984288,0.999999738754,-0.000104771402662,-0.000711863589214,-6.90338283858e-05,1793244232314192384
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.251687226,682,656,631,880,784.251687226,806.748312774,652,630,652,0.45132944181,-0.00553875351399,0.0595322254172,0.999999735823,-0.000100799119599,-0.000716666315086,-6.76992654143e-05,1793244232330859008
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.332729866,682,656,631,880,784.332729866,807,652,630,652,0.451148913097,-0.00553204538222,0.0595272541343,0.99999972932,-9.44936558313e-05,-0.000726604435388,-6.69165099082e-05,1793244232347525632
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.925514944,682,656,631,880,784.925514944,807,652,630,652,0.450952147459,-0.00552372552345,0.0595206428827,0.999999719843,-8.63646228241e-05,-0.000740556280778,-6.65650362621e-05,1793244232364192256
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631,880,784.494677268,807,652,630,652,0.450729211028,-0.00551929256063,0.0595187103877,0.999999716986,-8.46008497012e-05,-0.000744755956731,-6.48754667124e-05,1793244232380859136
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.08298903,714,682,656.08298903,631,880,784.08298903,807,652,630,652,0.450497408508,-0.00551489536878,0.059517750861,0.999999715462,-8.30867486501e-05,-0.000747129622383,-6.30086490723e-05,1793244232397525760
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.659012774,714,682,656.659012774,631,880,784.659012774,807,652,630,652,0.450235276827,-0.00550739214474,0.0595185770851,0.999999716122,-7.76214236304e-05,-0.00074698121376,-6.12312426317e-05,1793244232414192384
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.760150516,714,682,656.760150516,631,880,785,806.760150516,652,630.239849484,651.760150516,0.449960538515,-0.00549969812083,0.0595183050889,0.999999716186,-7.16324158337e-05,-0.000747647779136,-5.93328620165e-05,1793244232430859008
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.172331269,714,682,656.172331269,631,880,785,806.172331269,652,630.827668731,651.172331269,0.449667510722,-0.00549172728798,0.0595164398123,0.999999715383,-6.48836578384e-05,-0.000749496695656,-5.72589741263e-05,1793244232447525632
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,656.411828003,631,880,785,806.411828003,652,630.588171997,651.411828003,0.449341492412,-0.00548108806834,0.0595169713487,0.999999719807,-5.39470365346e-05,-0.000744583662248,-5.54207307324e-05,1793244232464192512
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,656.99446922,631,880,785,806.99446922,652,630.00553078,651.99446922,0.449001790688,-0.00546934208656,0.0595184970073,0.999999726222,-4.12734223163e-05,-0.000736865985979,-5.36802252544e-05,1793244232480859136
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.43332747,682,657,631.56667253,880,785,807,652,630,652,0.448621584807,-0.00546012819665,0.0595265404252,0.999999735402,-3.10754922768e-05,-0.00072505350958,-5.02826225582e-05,1793244232497525760
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.137128851,682,657,632,879.862871149,785,807,652,630,652,0.448238342662,-0.00545122288544,0.0595361858852,0.999999746478,-2.10046189862e-05,-0.000710219259479,-4.68033836166e-05,1793244232514192640
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.702442446,682,657,632,879.297557554,785,807,652,630,652,0.447846831936,-0.00544320534069,0.059550638677,0.99999976366,-1.12563981365e-05,-0.000686072061138,-4.31188243507e-05,1793244232530859264
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632,879.284379316,785,806.715620684,652,630.284379316,651.715620684,0.447436553837,-0.00543570220534,0.0595733931522,0.999999787615,-2.20913874686e-06,-0.000650588618834,-3.87212796414e-05,1793244232547525888
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632,879.884789723,785,806.115210277,652,630.884789723,651.115210277,0.447005419485,-0.00542877073278,0.0596053733006,0.999999817912,6.05914252903e-06,-0.000602507190554,-3.35313928015e-05,1793244232564192256
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632,880,785.470737054,806,652,631,651.470737054,0.446509806836,-0.00542506033959,0.0596219425979,0.999999828571,8.76466056177e-06,-0.000584655529977,-3.09532322018e-05,1793244232580858880
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.052352082,714,682,657.052352082,632,880,786,806,652,630.947647918,652,0.445991853089,-0.00542417572597,0.0596321692013,0.999999832784,8.05582673992e-06,-0.000577534207216,-2.86682649718e-05,1793244232597525504
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.625041504,714,682,657.625041504,632,880,786,806,652,630.374958496,652,0.445404018635,-0.00544377516247,0.0596157249573,0.999999816193,-1.34604976871e-05,-0.000605719965729,-2.31335946943e-05,1793244232614192128
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.801336039,713.801336039,682,658,632.198663961,880,785.801336039,806,652,630,651.801336039,0.444820326629,-0.00545481001336,0.0596046508864,0.999999806921,-2.61036720883e-05,-0.000620594268479,-1.84069479835e-05,1793244232630858752
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,713.988056086,681.988056086,659,634,879.011943914,786.011943914,806,651.988056086,631,652,0.438174807933,-0.00542811236614,0.0598254491837,0.999999945097,0.000174404116383,-0.000279518021779,3.54776814708e-05,1793244232797525504
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,713.411307828,681.411307828,659,634,879.588692172,786.588692172,806,651.411307828,631,652,0.437319338072,-0.00542383339259,0.0598025211771,0.99999993011,0.000181235018232,-0.000324791679906,3.80124692525e-05,1793244232814192128
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,713.164611332,681,659,634,880,786.835388668,805.835388668,651.164611332,631,652,0.436460622312,-0.00542021582714,0.0597763444498,0.999999916421,0.000173991974087,-0.000368392813528,3.42252457205e-05,1793244232830858752
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.738469201,681,659,634,880,786.261530799,805.261530799,651.738469201,631,652,0.435593836849,-0.00541824261397,0.0597420909549,0.999999908046,0.000131759153543,-0.000407835817808,1.47206275696e-05,1793244232847525632
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,880,786.321302153,805.321302153,652,631,651.678697847,0.434755223787,-0.00542156119228,0.0597355269487,0.999999912474,0.000114874232656,-0.000402204375005,9.36687836504e-06,1793244232864192512
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.491363617,745,714,681,659.491363617,634,880,786.508636383,806,652,630.508636383,651.491363617,0.433082789451,-0.00542904265373,0.0597696525961,0.99999993327,0.000134542026247,-0.000338951902626,2.16883956595e-05,1793244232897525504
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.931276433,745,714,680.931276433,659.931276433,634,880,786.068723567,806,652,630.068723567,652,0.432217601167,-0.00542716864283,0.0597870123636,0.99999993653,0.000150634825025,-0.000321745960787,2.69926125955e-05,1793244232914192128
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.357455337,745,714,680.357455337,659.357455337,634,880,786.642544663,806,652,630.642544663,652,0.431350089719,-0.00542386423058,0.059802175384,0.999999943912,0.000158141732373,-0.000293779931618,2.93292214397e-05,1793244232930859008
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.22258367,659,634,880,787,806,652,631,651.77741633,0.430467498768,-0.00542057045809,0.0598153987109,0.999999948808,0.000162334979522,-0.000274038709295,3.05632493826e-05,1793244232947525888
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.81289531,659,634,880,787,806,652,631,651.18710469,0.429559995002,-0.00541729426289,0.0598254174943,0.9999999507,0.000161053767407,-0.000267885593447,2.99757162615e-05,1793244232964192768
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.396314751,745,713.603685249,681,659,634,880,786.603685249,805.603685249,652,631,651.396314751,0.428608270253,-0.00541602155524,0.0597928595391,0.999999931803,0.00016538976576,-0.000328936713094,2.89822913963e-05,1793244232980859392
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.976535891,745,713.023464109,681,659,634,880,786.023464109,805.023464109,652,631,651.976535891,0.4276360252,-0.00541567854864,0.0597405442206,0.999999896071,0.000172332380326,-0.000421173367704,2.78005158483e-05,1793244232997525760
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,713.549157652,681,659,634,880,786,805,652,631,652,0.426771314901,-0.00541731022324,0.0597484810257,0.999999911313,0.000162249978218,-0.000387732754023,2.67016388017e-05,1793244233014192384
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.877248677,745,714,681,659,634,880,786.122751323,805.122751323,652,631,652,0.425902159766,-0.00541839017124,0.0597637125349,0.999999925947,0.000155430971842,-0.000351033071917,2.68857763235e-05,1793244233030859008
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.298858612,745,714,681,659,634,880,786.701141388,805.701141388,652,631,652,0.4249996838,-0.00541711326524,0.0597965956262,0.999999934337,0.000163388616553,-0.000321896380799,3.18193477705e-05,1793244233047525632
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879.713331867,787,805.713331867,651.713331867,631,651.713331867,0.424099767095,-0.00541662258883,0.0598186308187,0.999999940728,0.000169564961793,-0.000297652716108,3.45764638129e-05,1793244233064192256
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879.120175042,787,805.120175042,651.120175042,631,651.120175042,0.423202586661,-0.00541697250291,0.0598290680743,0.999999945457,0.000173836846061,-0.000278640389274,3.50066415508e-05,1793244233080859136
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,879.459511895,787,805.459511895,651.459511895,631,651.459511895,0.422323019612,-0.0054170159685,0.0598355946143,0.999999949801,0.000170802633743,-0.000264542641432,3.52247395132e-05,1793244233097525760
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.964309472,634,879.964309472,786.964309472,805.964309472,652,631,652,0.421443308129,-0.00541641037294,0.0598372056595,0.999999951803,0.000167260209587,-0.000259190152791,3.52008159347e-05,1793244233114192384
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.389428913,634,879.389428913,786.389428913,805.389428913,652,631,652,0.420493807097,-0.00540717546509,0.0597795676784,0.999999915156,0.000184084317092,-0.000367091060994,3.23346458234e-05,1793244233130859008
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879.381407346,786.190703673,805.190703673,652,631,652,0.419573236727,-0.00540110750259,0.0597365042963,0.999999884846,0.00019188866578,-0.000438868104507,2.97044553153e-05,1793244233147525632
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,880.563730135,786.781865068,805.781865068,652,631,652,0.418713417537,-0.00540168979163,0.0597240460333,0.999999888764,0.000180752473463,-0.000434788846776,2.75697973775e-05,1793244233164192256
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.365171968,634,880.269656064,787,805.634828032,652,631,652,0.417896802146,-0.00540342974397,0.0597481142262,0.999999906268,0.000179450533855,-0.000392968397321,2.89396284757e-05,1793244233180858880
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.943885756,634,879.112228488,787,805.056114244,652,631,652,0.417105451117,-0.00540584666371,0.0597935420164,0.999999928421,0.000183899375888,-0.000329078008608,3.23587816579e-05,1793244233197525504
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.480451218,680.480451218,659,634,879,787,805,652,631,651.480451218,0.416315461545,-0.00540494586512,0.0598213123945,0.999999938058,0.000185732120415,-0.000296949651487,3.47751158129e-05,1793244233214191872
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.094570674,745,713.094570674,679.905429326,658.905429326,634,879,787,805.094570674,652,631,651.094570674,0.415530163619,-0.00540397057061,0.0598426546326,0.999999944352,0.000187489223979,-0.000273489721021,3.6691325246e-05,1793244233230858496
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.249830891,658,634,879,787,805.750169109,652,631,652,0.41399703278,-0.00540363927073,0.0598373606682,0.999999940788,0.000192790495172,-0.000282718097691,3.64112656801e-05,1793244233264192768
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.843196337,658,634,879,787,805.156803663,652,631,652,0.413214403022,-0.00540115984286,0.0598308122859,0.999999937502,0.000194894253167,-0.000292770389184,3.60122342055e-05,1793244233280858880
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.574454581,745,714,680.425545419,658,634,879.425545419,787,805,652,631,652,0.412434800673,-0.00539844722021,0.0597923906617,0.999999914544,0.000204330529062,-0.000357735968384,3.4443524261e-05,1793244233297525504
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.996083416,658,634.003916584,879.996083416,787,805.003916584,652,631,652,0.411657123851,-0.00539567509568,0.059742878179,0.999999878535,0.000216262701463,-0.000441708574223,3.24596553915e-05,1793244233314191872
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.420793726,658,634.579206274,879.420793726,787,805.579206274,652,631,652,0.411001729898,-0.00539644170884,0.0597454954243,0.999999889186,0.000208093746356,-0.000421131177886,3.12001034687e-05,1793244233330858496
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.842111425,879,787,805.842111425,652,631,651.842111425,0.410364985285,-0.00539733518268,0.0597594697298,0.999999903319,0.000200494473721,-0.000390123416893,3.11207230282e-05,1793244233347525120
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.254188694,879,787,805.254188694,652,631,651.254188694,0.409779034912,-0.00539857418152,0.0598043767606,0.999999925825,0.000194446818102,-0.000330706926049,3.42557233595e-05,1793244233364192000
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.328341224,658,634,879,787,805,652,631,651,0.409182223412,-0.00539828948494,0.0598353469063,0.999999940015,0.000191134561943,-0.000286585574466,3.61354871991e-05,1793244233380858880
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.906763666,658,634,879,787,805,652,631,651,0.408577139564,-0.00539684426508,0.0598557020154,0.999999948994,0.00018990572442,-0.000254113775519,3.70591995322e-05,1793244233397525504
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.484536676,745,713.515463324,680.515463324,658,634,879,787,805,652,631,651,0.4080031688,-0.00539556328198,0.0598485509289,0.999999943211,0.000211233717447,-0.00026004441351,3.65283161046e-05,1793244233414192384
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.938084456,745,713.061915544,680.061915544,658.061915544,634,879,787,805,652,631,651,0.407439769731,-0.00539428910538,0.059835939919,0.99999993459,0.00023340459365,-0.000273988938337,3.56671292129e-05,1793244233430859520
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.362938195,745,713.637061805,680.637061805,658.637061805,634,879,787,805,652,631,651,0.40691444143,-0.00539280973566,0.0598218852244,0.999999930748,0.000226631424395,-0.000293190806094,3.43850212521e-05,1793244233447526144
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.217117421,714,680.782882579,658.782882579,634.217117421,878.782882579,787,805,652,631,651.217117421,0.406417207997,-0.00539139860219,0.0598167156275,0.999999930391,0.000220355256913,-0.000299216032327,3.36381329836e-05,1793244233464192768
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.805569416,714,680.194430584,658.194430584,634.805569416,878.194430584,787,805,652,631,651.805569416,0.405968025094,-0.00539010417292,0.0598267421593,0.99999993637,0.000214929109253,-0.000282705328702,3.38066277683e-05,1793244233480859136
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,787,805,652,631,652,0.403889372902,-0.00537695759805,0.0597671247074,0.999999902662,0.000231017720285,-0.000374834062674,2.83968256377e-05,1793244233564192256
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.551120106,714,680,658.448879894,634.448879894,879,787,805,652,631,652,0.403046314324,-0.00538076471483,0.0598052595812,0.999999928119,0.000224319298235,-0.000304270865344,2.93624150148e-05,1793244233614192128
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.177524465,744.822475535,714,680,658.177524465,634.822475535,879,787,805,652,630.822475535,652,0.402374215275,-0.00539493720883,0.0598428263089,0.999999947435,0.000202769104562,-0.000250890714754,3.26814948453e-05,1793244233664192512
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.340777461,658,634.659222539,878.340777461,787,805,652,631,652,0.401449751742,-0.00539039433757,0.0598277814053,0.999999931681,0.000231082926922,-0.000286983330271,2.96649230012e-05,1793244233764192512
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.017031184,745,714,679,658,634.017031184,879,786.982968816,805,652,631,651,0.400966592454,-0.00539217082213,0.0598400763142,0.999999936343,0.000231387238211,-0.000270170954067,2.79397692597e-05,1793244234147526144
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.590856606,745,714,679,658,634.590856606,879,786.409143394,805,652,631,651,0.400966147428,-0.00539384991328,0.0598401111286,0.999999937133,0.000227544984245,-0.000270477480435,2.82706707556e-05,1793244234164192768
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.830858307,714,679.169141693,658,634.830858307,878.830858307,786.169141693,805,652,630.830858307,651.169141693,0.4009657959,-0.00539483091187,0.0598400158811,0.999999937593,0.000225127161225,-0.000270783908844,2.84128163694e-05,1793244234180859392
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.241493467,714,679.758506533,658,634.241493467,878.241493467,786.758506533,805,652,630.241493467,651.758506533,0.40096567666,-0.00539407753814,0.0598395975021,0.999999937267,0.000226248258072,-0.000271090093869,2.80860084515e-05,1793244234197526016
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.499592669,878,787,805,652,630.500407331,651.499592669,0.400966001887,-0.00539424762228,0.0598410386471,0.999999937319,0.000228295354304,-0.000269169745324,2.81323079538e-05,1793244234247525888
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.921559317,745,714,679.921559317,658,634,878,786.921559317,805,652,631,651.078440683,0.400965244795,-0.00539451510011,0.059840886375,0.999999937338,0.000228126897647,-0.000269259752535,2.79591547014e-05,1793244234264192512
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.347493516,745,714,679.347493516,658,634,878,786.347493516,805,652,631,651.652506484,0.400965646474,-0.00539344883437,0.0598407183083,0.999999937071,0.000229597256118,-0.000269022223285,2.77598771786e-05,1793244234280859392
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.819447653,745,714,679.819447653,658,634.819447653,878.819447653,786.819447653,805,652,631,652,0.400967611301,-0.00539189654157,0.0598425563638,0.999999937405,0.000230628978298,-0.000266875434428,2.78708722232e-05,1793244234314192896
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.597749726,879,787,805,652,631,652,0.400967062164,-0.00539270937992,0.0598423550489,0.99999993736,0.000230045048446,-0.000267532445526,2.8020187617e-05,1793244234330859264
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.01705426,879,787,805,652,631,652,0.400965721789,-0.00539417126017,0.0598414474221,0.999999937135,0.000229157010341,-0.000269118031352,2.81620680707e-05,1793244234347525888
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75de038d384fc6fc2e2d2304ec0451766415cdd7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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+397,6.616666667,pose2_to_pose3_retreat,0.575669712061,-0.000122199667768,1.05005078633,0.546241345167,0.00855348572105,1.04971727645
+398,6.633333333,pose2_to_pose3_retreat,0.575669701931,-0.000122206752593,1.05005078643,0.546241335148,0.00855347900911,1.04971727646
+399,6.650000000,pose2_to_pose3_retreat,0.57566966357,-0.000122233579965,1.05005078678,0.546241297208,0.00855345359371,1.04971727648
+400,6.666666667,pose2_to_pose3_retreat,0.575669661469,-0.000122235049396,1.0500507868,0.546241295129,0.00855345220162,1.04971727649
+401,6.683333333,pose2_to_pose3_retreat,0.575669637605,-0.000122251739366,1.05005078702,0.546241271526,0.00855343639007,1.0497172765
+402,6.700000000,pose2_to_pose3_retreat,0.575669575713,-0.000122295023582,1.05005078759,0.546241210312,0.00855339538398,1.04971727654
+403,6.716666667,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.008553355162,1.04971727659
+404,6.733333333,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516197,1.04971727659
+405,6.750000000,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516197,1.04971727659
+406,6.766666667,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6463ae72d8516e69ffa8a71021933b5764f7345
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b006b00e12cf782018aade10d2730f329f436d36b05953d8730c798acc9b32b8
+size 25742194
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e4e8d7f5e7dc7e318ffbd84f77d8729bdfe17050
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,713,679,658,634,878,786,805,652,631,651,0.400967858479,-0.00539235169571,0.0598431882596,0.999999937847,0.000231000139661,-0.00026488274657,2.79687296041e-05,1793244234465233664
+1,0.016666667,BASELINE,764.377505319,745,713.622494681,679.622494681,658,634,878,786,805,652,631,651.622494681,0.400966745765,-0.00539397809198,0.0598428765857,0.999999938235,0.000229117762148,-0.000265053488735,2.79421269376e-05,1793244234481900544
+2,0.033333333,BASELINE,764.231822293,745,714,680,658,634,878,786.231822293,805,652,631,651.768177707,0.400965922721,-0.00539446922952,0.059842672535,0.999999938212,0.000228664424531,-0.000265550912709,2.77743302357e-05,1793244234498567424
+3,0.050000000,BASELINE,764.820860791,745,714,680,658,634,878,786.820860791,805,652,631,651.179139209,0.400965546028,-0.00539321104107,0.0598426343216,0.999999937555,0.000230413101807,-0.000266551722443,2.73889668891e-05,1793244234515233792
+4,0.066666667,BASELINE,765,745,714,680,658,634,878.403540271,787,805,652,631,651.403540271,0.400965447535,-0.00539257502402,0.0598424411545,0.999999937344,0.000231149828243,-0.000266730405155,2.71585395273e-05,1793244234531899904
+5,0.083333333,BASELINE,765,745,714,680,658,634,878.98344062,787,805,652,631,651.98344062,0.400965470624,-0.00539221091596,0.0598421802677,0.999999937328,0.000231444299505,-0.000266549791855,2.69958241976e-05,1793244234548566528
+6,0.100000000,BASELINE,765,745,714,680,658,634,879.557360493,787,805.557360493,652,631,652,0.400965653642,-0.00539189718879,0.0598419852099,0.999999937612,0.000230071927659,-0.000266672163551,2.69861667146e-05,1793244234565233408
+7,0.116666667,BASELINE,765,745,714,680,658,634.131553648,879.868446352,786.868446352,805.736892705,652,630.868446352,652,0.400965558412,-0.00539213617823,0.0598417934255,0.999999937855,0.000228661966921,-0.00026696664188,2.70497041101e-05,1793244234581900032
+8,0.133333333,BASELINE,765,745,714,680,658,634.70726296,879.29273704,786.29273704,804.58547408,652,630.29273704,652,0.400964507882,-0.00539423626735,0.0598416061594,0.999999937934,0.000227290521912,-0.000267812122659,2.73451743127e-05,1793244234598567168
+9,0.150000000,BASELINE,765,745,714,679.717907943,658,634.717907943,879,786,804.282092057,652,630,651.717907943,0.400964411004,-0.005394513455,0.0598418663968,0.999999937906,0.000227421283197,-0.000267790658748,2.74885656131e-05,1793244234615234304
+10,0.166666667,BASELINE,765,745,714,679.143989472,658,634.143989472,879,786,804.856010528,652,630,651.143989472,0.400965300686,-0.00539290483683,0.05984258958,0.999999937767,0.000229106088596,-0.000266872333797,2.74746300946e-05,1793244234631901184
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+12,0.200000000,BASELINE,765,745,714,679.956333734,658.956333734,634.043666266,878.043666266,786,805,652,631,652,0.400968714025,-0.00539535877788,0.0598444501284,0.999999939121,0.000226955027754,-0.000263579311404,2.78461584304e-05,1793244234665233664
+13,0.216666667,BASELINE,765,745,714,679.381771852,658.381771852,634.618228148,878.618228148,786,805,652,631,652,0.400967575027,-0.00539404538302,0.0598440679998,0.999999938937,0.000226949515202,-0.000264308730998,2.75827999404e-05,1793244234681900288
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+16,0.266666667,BASELINE,765,745,714,679.367485142,658,635,878,787,805,652,631,651.367485142,0.400967698287,-0.00539350743927,0.059844166101,0.999999939357,0.000226398568938,-0.000263241504831,2.70875865661e-05,1793244234731900416
+17,0.283333333,BASELINE,765,745,714,679.946456114,658,635,878,787,805,652,631,651.946456114,0.400967183128,-0.00539289409445,0.0598442756727,0.99999993857,0.000228226073398,-0.000264602154021,2.75334688908e-05,1793244234748567296
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+19,0.316666667,BASELINE,765,745,714,680,658,634.901338954,879,787,805,652,631,652,0.400968665472,-0.00539539675451,0.0598450294377,0.99999993977,0.000225834907176,-0.000262163651876,2.70122202961e-05,1793244234781899776
+20,0.333333333,BASELINE,765,745,714,680,658,634.327414589,879,787,805,652,631,652,0.40096786781,-0.00539426518804,0.0598445145253,0.999999939221,0.000226572196508,-0.000263599423139,2.71891264821e-05,1793244234798566400
+21,0.350000000,BASELINE,764.746159695,744.746159695,714,680,658,634.253840305,879,787,805.253840305,652.253840305,631,652,0.400967502753,-0.00539408657119,0.0598444552104,0.999999939005,0.000226984947191,-0.000264043383568,2.73595824823e-05,1793244234815233024
+22,0.366666667,BASELINE,764.155168429,744.155168429,714,680,658,634.844831571,879,787,805.844831571,652.844831571,631,652,0.400967712283,-0.00539517366314,0.0598450010207,0.999999939235,0.000226966645245,-0.000263170019694,2.7521471325e-05,1793244234831899648
+23,0.383333333,BASELINE,764.427425477,744.427425477,714,680,658.427425477,635,879,787,805.572574523,652.572574523,631,651.572574523,0.400966148405,-0.00539523040115,0.0598437730499,0.999999939016,0.000225523205355,-0.000265265145324,2.7243770171e-05,1793244234848566272
+24,0.400000000,BASELINE,765,745,714,680,658.993017528,635,879,787,805.006982472,652,631,651.006982472,0.400963989113,-0.00539492921518,0.0598419519772,0.999999938633,0.000223603137574,-0.000268359402239,2.68200761424e-05,1793244234865233152
+25,0.416666667,BASELINE,765,745,714,680,658.417304999,635,879,787,805.582695001,652,631,651.582695001,0.40096476052,-0.00539535446591,0.0598432608489,0.999999938921,0.000224189488305,-0.000266749303364,2.72529898791e-05,1793244234881899776
+26,0.433333333,BASELINE,765,745,713.842066959,680,658.157933041,634.842066959,879,787,805.842066959,652,631,652,0.400965825211,-0.00539539134446,0.059844322084,0.99999993916,0.000224913976722,-0.000265214692507,2.74770449181e-05,1793244234898566144
+27,0.450000000,BASELINE,765,745,713.268078776,680,658.731921224,634.268078776,879,787,805.268078776,652,631,652,0.400967662524,-0.00539440510441,0.0598447309516,0.999999939277,0.000226002371984,-0.000263878945187,2.71508875375e-05,1793244234915232768
+28,0.466666667,BASELINE,765,745,713.315560246,680,658.684439754,634.315560246,879.315560246,787,805.315560246,652,631,652,0.400968190087,-0.00539372754935,0.0598448305347,0.999999939061,0.000227390282166,-0.000263524155438,2.69417010218e-05,1793244234931900160
+29,0.483333333,BASELINE,765,745,713.907656591,680,658.092343409,634.907656591,879.907656591,787,805.907656591,652,631,652,0.400967569871,-0.00539332050545,0.0598446590815,0.999999938554,0.000229040667321,-0.000264029012009,2.68350200438e-05,1793244234948568064
+30,0.500000000,BASELINE,765,744.512113211,714.487886789,680,658,635,879.512113211,787,806,652,630.512113211,652,0.400967164242,-0.00539488953965,0.059844172525,0.999999939069,0.000226214588251,-0.000264492117858,2.70704375489e-05,1793244234965234432
+31,0.516666667,BASELINE,765,744,714.93448974,680,658,634.93448974,879,787,805.93448974,652,630.06551026,652,0.400966852513,-0.00539644793523,0.0598437321486,0.999999939592,0.000223411164839,-0.000264868392801,2.73419971485e-05,1793244234981900544
+32,0.533333333,BASELINE,765,744,714.360083238,680,658,634.360083238,879,787,805.360083238,652,630.639916762,652,0.400966962202,-0.00539508724164,0.0598441028043,0.999999938798,0.000227209215003,-0.000264630077313,2.74032701024e-05,1793244234998566912
+33,0.550000000,BASELINE,765,744.219737502,714,680,658,634.219737502,879,787,805,652,631,652,0.400967226357,-0.0053947295427,0.0598441978546,0.999999938712,0.000227863236469,-0.00026441213209,2.72143372293e-05,1793244235015233280
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+36,0.600000000,BASELINE,765,745,714,680,658,635,879,787,805,652,631,651.02942058,0.4009648755,-0.00539516206551,0.0598427931226,0.999999938947,0.000224106999374,-0.000266749031968,2.6956028584e-05,1793244235065232896
+37,0.616666667,BASELINE,765,744.452095484,714,680,658,634.452095484,879,787,805,652,631,651,0.400966402749,-0.00539403957379,0.0598439312975,0.999999939014,0.000226678859472,-0.000264310922477,2.69854427658e-05,1793244235081899776
+38,0.633333333,BASELINE,765,744.124625806,714,679.875374194,658,634.124625806,879,787,805,652,631,651.124625806,0.400967686771,-0.00539340805078,0.0598447721562,0.999999939112,0.000228254067833,-0.000262576651727,2.70216880713e-05,1793244235098566656
+39,0.650000000,BASELINE,765,744.699570303,714,679.300429697,658,634.699570303,879,787,805,652,631,651.699570303,0.400967445408,-0.00539461451138,0.0598442128778,0.999999939204,0.000226005040449,-0.000264154600148,2.71402754226e-05,1793244235115233024
+40,0.666666667,BASELINE,765,745,714,679,658,635,879,787,805,652,631,652,0.400966855527,-0.00539509930263,0.0598437092457,0.999999939008,0.000225414717214,-0.000265393218875,2.71773583496e-05,1793244235131899648
+41,0.683333333,BASELINE,765,745,714,679,658,635,879,787,805,652,631,652,0.400965884226,-0.00539479429712,0.0598432665132,0.999999938502,0.00022663968396,-0.000266260474267,2.71252426298e-05,1793244235148566528
+42,0.700000000,BASELINE,765,745,714,679.456981386,658,635,878.543018614,787,805,652,631,652,0.400966886795,-0.00539502315971,0.0598443203906,0.999999939116,0.000226283035713,-0.000264231220017,2.73182080854e-05,1793244235165233152
+43,0.716666667,BASELINE,765,745,714,680,658.034963712,634.965036288,878,787,805,652,631,651.965036288,0.400968354614,-0.00539536054942,0.0598456711236,0.999999939957,0.000225595841496,-0.000261596249477,2.7552050107e-05,1793244235181899520
+44,0.733333333,BASELINE,765,745,714,680,658.608412669,634.391587331,878,787,805,652,631,651.391587331,0.400968918868,-0.00539518698717,0.0598454757953,0.999999939838,0.000226283328191,-0.000261473165544,2.74135721203e-05,1793244235198566400
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+48,0.800000000,BASELINE,765,745,714,679.936361399,658,634.063638601,879,786.063638601,805.936361399,652,630.936361399,652,0.400968673449,-0.00539403266113,0.0598451259093,0.999999938907,0.000229565081578,-0.000262195458061,2.71794583617e-05,1793244235265233152
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+51,0.850000000,BASELINE,765,745,714,679.333924998,658,635,879,787,805,652,630.666075002,652,0.400966830193,-0.00539573002098,0.0598440211653,0.999999939054,0.000227300497693,-0.00026360569403,2.71648284622e-05,1793244235315233024
+52,0.866666667,BASELINE,765,744.753002221,714,679.246997779,658,634.753002221,879,787,805,652,631,652,0.400966526734,-0.00539605953428,0.0598438078896,0.999999939162,0.000226724691192,-0.000263706207188,2.7054492957e-05,1793244235331899648
+53,0.883333333,BASELINE,765,744.162558447,714,679.837441553,658,634.162558447,879,787,805,652,631,652,0.40096747391,-0.00539620122302,0.0598455360348,0.999999939758,0.000225364037131,-0.000262612418206,2.70263218292e-05,1793244235348566272
+54,0.900000000,BASELINE,765,744,714,680,658,634,878.580148418,787,805,652,631.419851582,652,0.400967005958,-0.0053963565428,0.0598452574723,0.999999939912,0.000223709944162,-0.000263454641209,2.68506399461e-05,1793244235365233152
+55,0.916666667,BASELINE,765,744,714,680,658,634,878.000790511,787,805,652,631.999209489,652,0.400966000384,-0.00539651704115,0.0598442165389,0.999999939895,0.000221944370491,-0.000265032376901,2.66189170734e-05,1793244235381899776
+56,0.933333333,BASELINE,765,744.573776279,714,680,658,634.573776279,878.573776279,787,805,652,631.426223721,652,0.400967911542,-0.00539550934063,0.059845050049,0.999999939812,0.000225412447581,-0.000262382940912,2.68303673386e-05,1793244235398566400
+57,0.950000000,BASELINE,765.148412263,745,714,680,658,635,879,787,805,652,631,652,0.400968849551,-0.00539465658156,0.0598454522444,0.999999939688,0.000227710672916,-0.000260858681733,2.69203571742e-05,1793244235415233024
+58,0.966666667,BASELINE,765.723265777,745,714,680,658,635,879,787,805,652,631,652,0.400966979903,-0.00539425361085,0.05984460776,0.99999993949,0.000226626950235,-0.000262584052064,2.6659608062e-05,1793244235431899648
+59,0.983333333,BASELINE,765.385020265,745,714,680,658,635,879,786.692510132,805,652.307489868,631,652.307489868,0.400966470352,-0.00539489079932,0.0598444268385,0.999999939371,0.000226101714295,-0.00026347283731,2.68031561169e-05,1793244235448566272
+60,1.000000000,BASELINE,764.199175157,745,714,680,658,635,879,786.099587578,805,652.900412422,631,652.900412422,0.400967223334,-0.00539649353315,0.0598448618803,0.999999939329,0.000226094903024,-0.000263585048458,2.73219998464e-05,1793244235465232896
+61,1.016666667,BASELINE,764.479969122,744.520030878,714,680,658.479969122,635,879,786.479969122,805,652.520030878,631,652.520030878,0.400968305535,-0.00539562386808,0.0598452882251,0.999999939399,0.000227560309139,-0.000262070699873,2.71637400905e-05,1793244235481899520
+62,1.033333333,BASELINE,765,744.05637822,714,680,658.94362178,635,878.94362178,787,805,652,631,651.94362178,0.400969357887,-0.00539450644749,0.0598457645028,0.999999939583,0.000228775768923,-0.000260327754744,2.69097155351e-05,1793244235498566400
+63,1.050000000,BASELINE,765,744.628674364,714,680,658.371325636,635,878.371325636,787,805,652,631,651.371325636,0.400969528935,-0.00539568902257,0.0598467137829,0.999999940656,0.000224984370755,-0.000259497627999,2.70301448412e-05,1793244235515233024
+64,1.066666667,BASELINE,765,745,714,679.793079756,658,635,878,787,805,652,631,651.206920244,0.400969509768,-0.00539657284038,0.0598472013764,0.999999941315,0.000222306257893,-0.000259260660809,2.70760992459e-05,1793244235531899648
+65,1.083333333,BASELINE,765,745,714,679.20384081,658,635,878,787,805,652,631,651.79615919,0.400969139149,-0.00539690465559,0.059846835929,0.999999941233,0.000221685120381,-0.000260119652132,2.69844491881e-05,1793244235548566272
+66,1.100000000,BASELINE,765,745,714,679.380730508,658.380730508,635,878.380730508,787,805,652,631,652,0.400969487259,-0.00539670302882,0.0598466873063,0.999999941233,0.000221829884397,-0.000259996350842,2.69701747973e-05,1793244235565232896
+67,1.116666667,BASELINE,765,745,714,679.962833056,658.962833056,635,878.962833056,787,805,652,631,652,0.400970215512,-0.00539621925942,0.0598466533642,0.999999941277,0.000222379741142,-0.000259353505485,2.69968251462e-05,1793244235581899264
+68,1.133333333,BASELINE,765,745,714,680,658.466814449,635,878.466814449,787,805,652,631,652,0.400968612338,-0.00539540066505,0.059845611918,0.999999940245,0.000225209443842,-0.000260895269323,2.69189988295e-05,1793244235598567680
+69,1.150000000,BASELINE,765,745,714,680,658,635,878,787,805,652,631,651.895587694,0.400967369653,-0.00539488999172,0.059844982001,0.999999939494,0.00022737275977,-0.000261901481123,2.68660001301e-05,1793244235615235328
+70,1.166666667,BASELINE,765,745,714,680,658,635,878,787,805,652,631,651.316747227,0.400968487484,-0.00539588221318,0.0598465342211,0.999999940396,0.000225801610984,-0.000259797229318,2.69581910504e-05,1793244235631901440
+71,1.183333333,BASELINE,765,745,714,679.731637504,658,635,878.268362496,787,805,652,631,651.268362496,0.400968633878,-0.00539654454341,0.0598468453771,0.999999940601,0.000225142683472,-0.000259566005437,2.70977125004e-05,1793244235648567552
+72,1.200000000,BASELINE,765,745,714,679.138951123,658,635,878.861048877,787,805,652,631,651.861048877,0.400967606263,-0.00539680819062,0.0598456566711,0.999999939966,0.000225586201699,-0.000261598390011,2.72944342845e-05,1793244235665233664
+73,1.216666667,BASELINE,765,745,714,679,658,635,878.559383467,786.559383467,805,652,631,652,0.400967338762,-0.00539594387674,0.0598453490202,0.999999940019,0.000225045019912,-0.000261888676312,2.70538978949e-05,1793244235681900032
+74,1.233333333,BASELINE,765,745,714,679.016158893,658,635,878.032317787,786.016158893,805,652,631,652,0.400967315089,-0.00539478374853,0.0598453169756,0.999999940273,0.000224232440441,-0.000261651566632,2.66929595496e-05,1793244235698566656
+75,1.250000000,BASELINE,765,745,714,679.591431229,658,635,879.182862458,786.591431229,805,652,631,652,0.400967673825,-0.00539534019164,0.0598454853889,0.999999940225,0.000224463258234,-0.000261625566271,2.67992460958e-05,1793244235715233280
+76,1.266666667,BASELINE,765,745,714,680,658,635,879.828727927,787,805,652.171272073,631.171272073,652,0.400967464607,-0.00539532835056,0.0598451228171,0.999999939923,0.00022504527682,-0.000262272097313,2.68650492992e-05,1793244235731899904
+77,1.283333333,BASELINE,765,745,714,680,658,635,879.237690296,787,805,652.762309704,631.762309704,652,0.400965863407,-0.00539392371887,0.0598434588697,0.999999938994,0.000226488042823,-0.00026456691528,2.68316330933e-05,1793244235748566528
+78,1.300000000,BASELINE,765,745,714,680,658,635,879,787,805,653,631.65368811,652.34631189,0.400965987418,-0.00539370148648,0.0598436836871,0.999999939131,0.000226401269523,-0.000264118901682,2.68700947861e-05,1793244235765233408
+79,1.316666667,BASELINE,765,745,714,680,658,635,879,787,805,653,631.074418561,652.925581439,0.400967271946,-0.00539427463247,0.059845179042,0.999999939983,0.000225285603123,-0.000261825835491,2.69569074249e-05,1793244235781900544
+80,1.333333333,BASELINE,765,745,714,680,658,634.497069584,879,787,805,652.497069584,631,652.497069584,0.400965848973,-0.00539573577462,0.0598443891139,0.999999939411,0.000225636523048,-0.000263687460866,2.71107954306e-05,1793244235798567168
+81,1.350000000,BASELINE,764.920191759,745,714,679.920191759,658,634.079808241,879.079808241,787,805,652,631,652,0.400964690956,-0.00539713898048,0.0598436948035,0.999999938913,0.00022594827331,-0.000265288890216,2.72633427544e-05,1793244235815233792
+82,1.366666667,BASELINE,764.344482631,745,714,679.344482631,658,634.655517369,879.655517369,787,805,652,631,652,0.400967659189,-0.00539736884173,0.0598456878015,0.999999940204,0.000224673337118,-0.000261468117923,2.73461227201e-05,1793244235831900160
+83,1.383333333,BASELINE,764.235896212,745,714,679.235896212,658,635,880,786.764103788,805,652,631,651.764103788,0.400968857259,-0.00539692784533,0.0598465879514,0.999999940696,0.000224427414661,-0.000259793267863,2.73384718725e-05,1793244235848566528
+84,1.400000000,BASELINE,764.823232113,745,714,679.823232113,658,635,880,786.176767887,805,652,631,651.176767887,0.400967418128,-0.00539548740092,0.0598458599697,0.999999940014,0.000225714523281,-0.000261315425929,2.71960966327e-05,1793244235865233152
+85,1.416666667,BASELINE,765,745,714,680,658,634.59414542,879.59414542,786.40585458,805.40585458,652.40585458,631,651.40585458,0.400968292837,-0.00539509398694,0.0598463101147,0.999999940294,0.000225754171727,-0.000260233192068,2.69408225972e-05,1793244235881899776
+86,1.433333333,BASELINE,765,745,714,680,658,634.013552332,879.013552332,786.986447668,805.986447668,652.986447668,631,651.986447668,0.400970163758,-0.00539515136635,0.059847267496,0.999999940985,0.000225256732826,-0.000258029651172,2.66369406008e-05,1793244235898566400
+87,1.450000000,BASELINE,764.439258515,745,714,680,658,634.560741485,879,787,805.439258515,652.439258515,631,651.439258515,0.400969739997,-0.00539551498374,0.059846698288,0.999999941053,0.000224292220429,-0.000258602140602,2.6684140648e-05,1793244235915233024
+88,1.466666667,BASELINE,764.269890958,745,714,680,658,635,879,787,805,652.134945479,631,651.134945479,0.400968986404,-0.00539589381789,0.0598460628303,0.999999940878,0.000223946547564,-0.000259567250889,2.67692069019e-05,1793244235931899648
+89,1.483333333,BASELINE,765.41869442,745,714,680,658,635,879,787,805,652.70934721,631,651.70934721,0.400967337296,-0.00539629837106,0.0598453304441,0.999999939961,0.000225652507746,-0.000261594885855,2.69502608748e-05,1793244235948566272
+90,1.500000000,BASELINE,765.707193235,745.292806765,714,679.707193235,658,635,879,787,805.292806765,652.707193235,631,652,0.400966804139,-0.00539624723764,0.0598454106821,0.999999939803,0.000225877909099,-0.000261993668123,2.70703381193e-05,1793244235965232896
+91,1.516666667,BASELINE,765.114455507,745.885544493,714,679.114455507,658,635,879,787,805.885544493,652.114455507,631,652,0.400967414086,-0.00539572933042,0.0598463233159,0.999999940424,0.000224586728464,-0.000260723966423,2.71279550169e-05,1793244235981899776
+92,1.533333333,BASELINE,765,745.532564184,714,679.467435816,658,635,879,787,805.532564184,652.467435816,631,652,0.400967149558,-0.00539552835213,0.0598458184958,0.999999940492,0.000223677829995,-0.000261266058632,2.69296322217e-05,1793244235998566400
+93,1.550000000,BASELINE,765,745,714,680,658.046394578,634.953605422,879,787,805,653,631,651.953605422,0.400966756576,-0.00539544321503,0.0598450940575,0.999999940436,0.000222955809965,-0.000262118762322,2.66930979926e-05,1793244236015233024
+94,1.566666667,BASELINE,765,745,714,680,658.621512791,634.378487209,879,787,805,653,631,651.378487209,0.400967284545,-0.00539581390917,0.0598457324514,0.999999940497,0.000223320949099,-0.000261570177618,2.67190912524e-05,1793244236031899648
+95,1.583333333,BASELINE,765,745,714,679.799241531,658.799241531,634.200758469,879,787,805,652.799241531,631,651.200758469,0.400967589705,-0.00539623198967,0.0598461677749,0.999999940521,0.000223732427388,-0.000261112570711,2.68802069902e-05,1793244236048566528
+96,1.600000000,BASELINE,765,745,714,679.212050954,658.212050954,634.787949046,879,787,805,652.212050954,631,651.787949046,0.400967465992,-0.00539674128237,0.0598462122162,0.999999940471,0.00022423310216,-0.0002608300833,2.73014146929e-05,1793244236065233152
+97,1.616666667,BASELINE,765,744.629991772,714,679,658.370008228,634.629991772,878.629991772,787,805,652,631,652,0.400967802407,-0.00539695796416,0.0598463256682,0.999999940625,0.000224065541712,-0.000260376182606,2.73710353083e-05,1793244236081899776
+98,1.633333333,BASELINE,765,744.050833191,714,679,658.949166809,634.050833191,878.050833191,787,805,652,631,652,0.400968398913,-0.00539700924506,0.0598464781291,0.999999940894,0.000223520255488,-0.000259825389088,2.72419182537e-05,1793244236098566144
+99,1.650000000,BASELINE,764.473244314,744,714,679.526755686,658.473244314,634,878.526755686,787,805,652,631,652,0.400967641549,-0.00539634977519,0.0598456341789,0.999999940212,0.000224659898267,-0.000261489150445,2.69802533471e-05,1793244236115233792
+100,1.666666667,BASELINE,764.103569381,744.103569381,714,680,658,634.103569381,879,787.103569381,805.103569381,652,631,652,0.40096695444,-0.00539580496531,0.0598448636155,0.999999939652,0.000225440922532,-0.000262981384889,2.67235278289e-05,1793244236131901440
+101,1.683333333,BASELINE,764.67754818,744.67754818,714,680,658,634.67754818,879,787.67754818,805.67754818,652,631,652,0.400967178074,-0.00539609154267,0.059844861813,0.999999940079,0.00022385678151,-0.000262726767811,2.65471615152e-05,1793244236148567296
+102,1.700000000,BASELINE,765,745,714,680,658,635,879,787.741363709,805.741363709,652,631,652,0.400968046603,-0.00539647829267,0.0598455158473,0.999999940703,0.000222570109568,-0.000261433568615,2.6619293453e-05,1793244236165233664
+103,1.716666667,BASELINE,765,745,714,680,658,635,879,787.15116167,805.15116167,652,631,652,0.400969741871,-0.00539699346167,0.0598470106492,0.999999941577,0.000221664786236,-0.000258808931159,2.70099944216e-05,1793244236181900544
+104,1.733333333,BASELINE,765,745,714,680,658,635,879,787,805,652.429995123,631,652,0.400969864696,-0.00539660537035,0.0598471127786,0.999999941477,0.00022234788215,-0.000258600340294,2.70620096197e-05,1793244236198567424
+105,1.750000000,BASELINE,765,745,714,680,658,634.991960279,879,787,805,653,631,652,0.400969452755,-0.00539591860505,0.0598467443515,0.999999941047,0.000223578134971,-0.000259209136851,2.70002347342e-05,1793244236215234560
+106,1.766666667,BASELINE,765,745,714,680,658,634.413771052,879,787,805,653,631,652,0.400969510743,-0.00539610544394,0.059847009989,0.999999940871,0.000224827096105,-0.000258792631563,2.71384082021e-05,1793244236231900928
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805,653,631,651,0.40096860015,-0.00539670022114,0.0598456268749,0.999999940531,0.000224064817857,-0.000260759455833,2.71423820674e-05,1793244236273986304
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.613996241,714,679.613996241,658,634,878.386003759,786.386003759,805,653,631,651,0.400966938197,-0.00539611444438,0.0598447042279,0.999999940008,0.000224248048877,-0.000262629594578,2.68897571495e-05,1793244236290652928
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,713.78555143,680,658,634,878.21444857,786.21444857,805,652.78555143,631,651.21444857,0.400966326564,-0.00539573601143,0.059844625258,0.999999939854,0.000224256028684,-0.000263219242963,2.6767034428e-05,1793244236307319808
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,713.208029589,680,658,634,878.791970411,786.791970411,805,652.208029589,631,651.791970411,0.400967493179,-0.00539570862292,0.05984597468,0.99999994033,0.00022396729854,-0.000261640950773,2.68642432571e-05,1793244236323986176
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,713.368664834,679.631335166,658,634,878.631335166,787,805,652,631,652,0.400967119614,-0.00539649543595,0.0598459571609,0.999999940616,0.000222565808458,-0.000261722065708,2.70837442112e-05,1793244236340652800
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,713.944893373,679.055106627,658,634,878.055106627,787,805,652,631,652,0.400965878903,-0.00539774065638,0.0598451700338,0.999999940791,0.000220537818237,-0.000262737451274,2.73720974185e-05,1793244236357319424
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.531468394,658,634,878,786.468531606,805,652,631,652,0.40096528473,-0.0053969447581,0.0598448828864,0.999999939922,0.000223376034048,-0.000263649689244,2.73385130286e-05,1793244236373986304
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.88190935,658,634,878,786,805,652,631,652,0.400964983548,-0.00539618295352,0.0598447015192,0.999999939136,0.000226070400262,-0.000264339248458,2.72773339398e-05,1793244236390652928
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.299404115,658,634,878,786,805,652,631,652,0.400965565738,-0.00539640406372,0.0598447282281,0.999999939152,0.000226175353436,-0.000264195975594,2.72415166412e-05,1793244236407319552
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.279451001,658,634,878.279451001,786.279451001,805,652,631,651.720548999,0.400968310437,-0.00539672276102,0.0598461224502,0.999999939939,0.000225136495606,-0.000262092524832,2.72488898523e-05,1793244236423985920
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.85444576,658,634,878.85444576,786.85444576,805,652,631,651.14555424,0.400973342178,-0.00539714466515,0.0598489629367,0.999999941527,0.000222887958067,-0.000257916015322,2.73019407888e-05,1793244236440652544
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.572753441,658,634.427246559,879,787,805,652.427246559,631,651.427246559,0.400993443622,-0.00539789329542,0.0598575899086,0.999999945557,0.000222068848464,-0.000242497865394,2.7677233205e-05,1793244236457319168
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.000696217,658,634.999303783,879,787,805,652.999303783,631,651.999303783,0.401018652782,-0.00539875266607,0.0598681781482,0.999999950096,0.000221734227968,-0.000223269480889,2.81617459303e-05,1793244236473985792
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.59432636,658,635,879,787,805,652.40567364,631,652,0.401070263354,-0.00540009292421,0.0598859294144,0.999999956813,0.0002226169326,-0.000189657195568,2.90777922178e-05,1793244236490652672
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.182913012,635,878.817086988,787,805,652,631,652,0.401127375716,-0.00540160603782,0.0599032082707,0.999999962053,0.000222488372531,-0.000159671242783,2.99739178995e-05,1793244236507319552
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.757653116,635,878.242346884,787,805,652,631,652,0.401196204832,-0.00540348817878,0.0599194564604,0.999999965831,0.000220190354879,-0.000137490977637,3.08262444652e-05,1793244236523986176
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.665615518,635,878.334384482,787,805,652,631,652,0.401272880819,-0.00540459568605,0.0599306804624,0.99999996825,0.000219876130437,-0.000119189369472,3.07800481046e-05,1793244236540652800
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.087432363,635,878.912567637,787,805,652,631,652,0.401355277933,-0.00540513841023,0.0599382413441,0.999999969747,0.000221008283535,-0.000103715679243,3.00787414579e-05,1793244236557319168
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.513893988,658,634.513893988,879,786.513893988,805,652,631,652,0.4014493505,-0.00540874285103,0.059942532917,0.999999971128,0.000217319952859,-9.81495995666e-05,2.97191226486e-05,1793244236573985792
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.060855952,879,786.060855952,805,652.060855952,631,652,0.401548137243,-0.00541281710921,0.0599462577052,0.999999972485,0.000213062773429,-9.36578166192e-05,2.93823022466e-05,1793244236590652416
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.653421742,879,786.653421742,805,652.653421742,631,652,0.401669938368,-0.00541623031792,0.0599501194637,0.9999999738,0.000211339121369,-8.31299719482e-05,2.8712797374e-05,1793244236607318784
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.240447715,658,635,879,787,805.240447715,652.759552285,631,652,0.40180040665,-0.00541934378896,0.0599518573419,0.999999974657,0.000209801014939,-7.68641124529e-05,2.75846969227e-05,1793244236623985408
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.819668445,658,635,879,787,805.819668445,652.180331555,631,652,0.401943086305,-0.00542203495155,0.0599506028298,0.999999974992,0.000208524328722,-7.66030751936e-05,2.58104693389e-05,1793244236640652032
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,713.603918722,679.603918722,658,634.603918722,879,786.603918722,805.603918722,652,631,652,0.402109439862,-0.00542697241515,0.0599494052432,0.999999975934,0.000204937082647,-7.44941173848e-05,2.41353070163e-05,1793244236657318656
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,713.028775244,679.028775244,658,634.028775244,879,786.028775244,805.028775244,652,631,652,0.402286496036,-0.00543292539681,0.0599482333917,0.999999977126,0.000200305268202,-7.15497433501e-05,2.25049304054e-05,1793244236673985280
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,713.559868354,679.559868354,658,634,878.440131646,786.559868354,805,652.559868354,631,652,0.402491486245,-0.00543678676415,0.0599491652359,0.999999977902,0.000198395218548,-6.64404260829e-05,2.05264970966e-05,1793244236690651904
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,713.853378886,679.853378886,658,634,878.146621114,787,805,652.853378886,631,652,0.40270894858,-0.00544104853425,0.0599505736162,0.999999978811,0.000196005057183,-6.01737242505e-05,1.84273558633e-05,1793244236707318528
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,713.274300097,679.274300097,658,634,878.725699903,787,805,652.274300097,631,652,0.402958858141,-0.00544681619906,0.0599530607494,0.999999980191,0.000191776013775,-5.08296259053e-05,1.60262540039e-05,1793244236723985408
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,713.302078865,679.302078865,658,634,878.697921135,787,805,652.302078865,630.697921135,651.697921135,0.403223469986,-0.00545386076572,0.0599539581643,0.999999981856,0.000184469035308,-4.55955314695e-05,1.34285273681e-05,1793244236740652288
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,713.876027956,679.876027956,658,634,878.123972044,787,805,652.876027956,630.123972044,651.123972044,0.403501313834,-0.00546205454053,0.0599534248365,0.999999983766,0.000174391923224,-4.40604308516e-05,1.06538390688e-05,1793244236757319424
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.461435462,786.538564538,805,653,630.461435462,651.461435462,0.403799002473,-0.00547162561676,0.0599433389165,0.999999985212,0.00016126211281,-5.92710894211e-05,7.64371141852e-06,1793244236773986048
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.950756205,714,680,658,634,879,786.049243795,805,652.950756205,631,652,0.404105012805,-0.0054811880895,0.0599308890197,0.999999985912,0.000147991043469,-7.90875848754e-05,4.47354568183e-06,1793244236790652672
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.371091489,714,680,658,634,879,786.628908511,805,652.371091489,631,652,0.404441767814,-0.00548657063928,0.0599213240481,0.999999984999,0.000142257556022,-9.88206578555e-05,2.78242637952e-07,1793244236807319296
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.207398935,714,680,658.207398935,634,879,787,805.207398935,652,631,652,0.40479510752,-0.00549322029821,0.0599123482411,0.999999984247,0.000134260227654,-0.000116034410821,-3.99764139574e-06,1793244236823985920
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.783800008,714,680,658.783800008,634,879,787,805.783800008,652,631,652,0.405177954523,-0.00550212438465,0.0599044206711,0.999999984204,0.000122235096545,-0.000128765812427,-8.41689388245e-06,1793244236840652544
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.639484545,634.360515455,879,787,805.639484545,652,631,651.639484545,0.405609202908,-0.00551112674055,0.0599114663883,0.999999991174,5.99573372051e-05,-0.000118010769989,-1.14143535166e-05,1793244236857319168
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.06258035,634.93741965,879,787,805.06258035,652,631,651.06258035,0.406069502827,-0.00552018808063,0.0599274993775,0.999999995041,-3.24830777782e-05,-9.3158684416e-05,-1.35584243799e-05,1793244236873985792
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.523784841,635,879,786.476215159,805,652,631,651.523784841,0.406585570425,-0.0055244843802,0.0599578853251,0.999999998012,-4.61475491942e-05,-4.00841225657e-05,-1.54592727239e-05,1793244236890652416
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.890325949,634.890325949,879,786.109674051,805,652.109674051,631,652,0.407110062136,-0.00552458246432,0.0599866783756,0.999999998835,-4.40807112192e-05,8.57138937958e-06,-1.76860256829e-05,1793244236907319552
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.311398502,634.311398502,879,786.688601498,805,652.688601498,631,652,0.407641564873,-0.00550919867255,0.0600011838755,0.999999999368,-1.57164304617e-05,2.36268463769e-05,-2.14338226461e-05,1793244236923986432
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.265958334,634.265958334,879,787,805,652.734041666,631,652,0.408169232738,-0.00550044348935,0.0600034700534,0.999999999536,-1.14710628797e-06,1.66648018599e-05,-2.54607110111e-05,1793244236940653056
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.841486975,634.841486975,879,787,805,652.158513025,631,652,0.408692436856,-0.005499403878,0.0599915331783,0.999999999425,-2.63484393284e-06,-1.59251854119e-05,-2.98124560952e-05,1793244236957319680
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.424061925,745,714,680,659,635,879,787,805,652,631,652,0.409260988384,-0.00550981894943,0.0599800299205,0.999999998252,-2.68260837653e-05,-4.10753684951e-05,-3.30075472625e-05,1793244236973986048
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.990756659,745,714,680,659,635,879,787,805.009243341,652,631,652,0.409848036579,-0.00552437747978,0.0599690651901,0.999999995678,-5.88028161192e-05,-6.25636283879e-05,-3.56580893978e-05,1793244236990652160
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.410021535,745,714,680,659,635,879,787,805.589978465,652,631,652,0.41051295896,-0.0055259143092,0.0599812055862,0.999999998222,-3.85724022155e-05,-3.24904943253e-05,-3.18235652207e-05,1793244237007318784
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.830110303,879,786.830110303,805.830110303,652,631,652,0.411180933904,-0.00552435282958,0.0599893389182,0.999999999427,-1.44379718751e-05,-1.12475404185e-05,-2.84799344896e-05,1793244237023985408
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.252177987,879,786.252177987,805.252177987,652,631,652,0.411856240423,-0.00551534980288,0.0599878480452,0.999999999409,1.90731576542e-05,-1.12129979387e-05,-2.63153367197e-05,1793244237040652288
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.32429949,745,714,680,658.67570051,634.32429949,879,786,805.32429949,652,631,652,0.412514129426,-0.00550834141231,0.0599701482971,0.999999998516,1.37487669605e-05,-4.46287289222e-05,-2.80422653276e-05,1793244237057318912
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.899650785,745,714,680,658.100349215,634.899650785,879,786,805.899650785,652,631,652,0.41315853498,-0.00550287713979,0.0599399006801,0.999999993827,-2.16395820149e-05,-0.00010393950992,-3.27817630316e-05,1793244237073985280
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.514038672,745,714,680,658,634.514038672,879,786,806,652,630.514038672,652,0.413866457053,-0.00550674619504,0.0599181980369,0.999999988773,-2.29871563363e-05,-0.000143637748069,-3.59608756969e-05,1793244237090651904
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.073247982,634,879,786.073247982,806,652,630.073247982,652,0.414603524046,-0.00551291925004,0.059907405962,0.999999985919,-1.76355049057e-05,-0.000162466817735,-3.81531626669e-05,1793244237107318784
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.651305798,634,879,786.651305798,806,652,630.651305798,652,0.415448974348,-0.00552138200572,0.0599593660674,0.999999997056,-1.56763217637e-05,-6.60250961645e-05,-3.58163180839e-05,1793244237123985408
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.229520883,787,806,652,631,652,0.416279890837,-0.00552680026026,0.05999918402,0.999999999248,-1.80731879852e-05,3.83745418557e-06,-3.41004425986e-05,1793244237140652288
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.807975025,787,806,652,631,652,0.417088711986,-0.00552759005657,0.060020542643,0.999999998523,-2.70924170365e-05,3.32925340996e-05,-3.33286070946e-05,1793244237157319168
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.616153663,787,805.616153663,652,631,651.616153663,0.417888987504,-0.00552559746306,0.0600154146263,0.999999998591,-2.91849325313e-05,2.73017102877e-05,-3.49321346888e-05,1793244237173985792
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.041565832,787,805.041565832,652,631,651.041565832,0.41868501649,-0.00552222224023,0.0599971248285,0.999999998895,-2.78354149234e-05,3.69705426175e-06,-3.7716031273e-05,1793244237190652416
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.452695123,634,879,786.452695123,805.547304877,651.452695123,631,651,0.419510780087,-0.0055242045893,0.0599762678404,0.999999998176,-2.86612518861e-05,-3.51534909525e-05,-3.98919336973e-05,1793244237207318784
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.865181239,658.134818761,634,879,786.134818761,806,651.134818761,631,651.134818761,0.420333351827,-0.00552582158829,0.0599526017786,0.99999999574,-2.92326118962e-05,-7.67966217796e-05,-4.20427242845e-05,1793244237223985664
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.285814068,658.714185932,634,879,786.714185932,806,651.714185932,631,651.714185932,0.421137752842,-0.00552485627377,0.0599203332566,0.999999990963,-2.84055067317e-05,-0.000123727712746,-4.42670474958e-05,1793244237240652288
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.707635667,714,679.584728665,659,634,879,787,806,652,631,652,0.421964699473,-0.00552310350499,0.059898484515,0.999999985503,-2.98271409044e-05,-0.00016115060863,-4.62130432021e-05,1793244237257318912
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.13061463,714,680.738770741,659,634,879,787,806,652,631,652,0.422813597441,-0.00552058404157,0.0598867808523,0.999999980374,-3.34382306236e-05,-0.000189315980527,-4.78880492844e-05,1793244237273985792
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.455122777,714,680.544877223,659.455122777,634,879.455122777,786.544877223,805.544877223,652,631,652,0.423744373139,-0.00552596923107,0.059938503794,0.999999992925,-4.23342954182e-05,-0.000100869548602,-4.67253902854e-05,1793244237290652160
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.042751269,659.957248731,634,879.957248731,786,805.042751269,652,631,652,0.424697360918,-0.00553331293751,0.06000553035,0.999999997542,-5.16424463644e-05,1.56505931546e-05,-4.4773077307e-05,1793244237307318784
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.62210553,659.37789447,634,879.37789447,786,805.62210553,652,631,652,0.425628451326,-0.0055362093702,0.0600317078378,0.999999996386,-4.67137769752e-05,5.62843658311e-05,-4.33306486424e-05,1793244237323985664
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.200156927,786,805.799843073,651.799843073,630.799843073,652,0.426541793163,-0.00553850008152,0.0600415078618,0.999999995194,-4.56841055165e-05,7.50925741871e-05,-4.34305166411e-05,1793244237340652288
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.775764399,786,805.224235601,651.224235601,630.224235601,652,0.427421842515,-0.00553965459209,0.0600205873498,0.99999999617,-5.1968100405e-05,5.29608029873e-05,-4.64233954861e-05,1793244237357318656
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,713.650068661,681,659.349931339,634,880,786.349931339,805.349931339,651.349931339,630.349931339,651.650068661,0.428283703211,-0.0055408367492,0.0599985918104,0.999999996906,-5.73436124568e-05,2.32981597045e-05,-4.8545740969e-05,1793244237373985536
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,713.076821049,681,659.923178951,634,880,786.923178951,805.923178951,651.923178951,630.923178951,651.076821049,0.429133956389,-0.0055420365495,0.0599759102197,0.999999996751,-6.21393562014e-05,-1.11704720849e-05,-5.01125365577e-05,1793244237390652416
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.511798502,745,713.511798502,680.488201498,659.488201498,634,880,786.488201498,806,652,631,651,0.429941940193,-0.00553720077227,0.0599430186573,0.999999994577,-5.47157792348e-05,-7.21276592043e-05,-5.1476218131e-05,1793244237407319040
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.89933232,745,714,680,659.10066768,634,879.89933232,786.10066768,806,652,631,651.10066768,0.430770930794,-0.00553288693335,0.0599203784139,0.999999990922,-4.8871054434e-05,-0.000113993816184,-5.26602805129e-05,1793244237423985920
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.32057507,745,714,680,659.67942493,634,879.32057507,786.67942493,806,652,631,651.67942493,0.431730751244,-0.00553548758981,0.0599539271936,0.999999995772,-5.95049100279e-05,-4.57259282633e-05,-5.31405722176e-05,1793244237440652288
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.25639825,660,634,879.25639825,787,806,652,631,652,0.432656949259,-0.0055389888277,0.05998752286,0.999999996444,-6.44537455185e-05,1.37863360963e-05,-5.26051039293e-05,1793244237457318912
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.831156609,660,634,879.831156609,787,806,652,631,652,0.433541399686,-0.00554360828418,0.0600211767484,0.999999994817,-6.23437059828e-05,6.2427079498e-05,-5.08084047037e-05,1793244237473985536
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.594804885,660,634,880,787,806,652,631.405195115,652,0.434379956814,-0.00554543738661,0.0600144324199,0.999999995422,-6.51698699995e-05,4.7321019031e-05,-5.16698962601e-05,1793244237490651904
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.02106584,660,634,880,787,806,652,631.97893416,652,0.435199424231,-0.0055461058202,0.0599908841499,0.999999996092,-7.00492847565e-05,5.69899725876e-06,-5.36370821539e-05,1793244237507318784
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.573015508,660,634.573015508,880,787,806,652,631.426984492,652,0.435987321927,-0.00554631500735,0.0599618699528,0.999999994046,-8.11904869136e-05,-4.72397490567e-05,-5.55408481835e-05,1793244237523985664
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.837055427,634.837055427,879.837055427,787,806,652,631,652,0.436774055822,-0.00554591604074,0.0599373152534,0.999999990314,-8.73841629356e-05,-9.20146846867e-05,-5.71801141635e-05,1793244237540652288
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.259659928,634.259659928,879.259659928,787,806,652,631,652,0.437560890191,-0.00554401475327,0.0599246332428,0.999999988474,-8.0386689088e-05,-0.000114927749115,-5.81527707091e-05,1793244237557318912
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.316376639,634,879.316376639,787.316376639,806,652,631,652,0.438334355231,-0.00554346678517,0.0599177431478,0.99999998678,-7.70652997291e-05,-0.000130549191557,-5.88117135357e-05,1793244237573985792
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.891302631,634,879.891302631,787.891302631,806,652,631,652,0.439096894547,-0.00554402477699,0.0599155863234,0.999999985472,-7.6748080925e-05,-0.000140211772745,-5.92142831686e-05,1793244237590652416
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.522239124,634,879.522239124,787.522239124,806,652,631,652,0.439876069793,-0.00554572368759,0.0599477683308,0.99999999112,-8.0056447746e-05,-8.9366228555e-05,-5.80090012842e-05,1793244237607319040
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.06590882,787,806,651.93409118,631,652,0.440649317398,-0.00554775376199,0.0599822531853,0.99999999427,-8.40462977743e-05,-3.45114924993e-05,-5.66178785677e-05,1793244237623985920
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.646259259,787,806,651.353740741,631,652,0.441346023927,-0.00555029249412,0.0599722243292,0.999999992919,-8.67576911704e-05,-5.84735354946e-05,-5.6702099112e-05,1793244237640652288
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.775578917,681,659,634,880,786.775578917,806,651.224421083,631,652,0.442016475182,-0.00555074483596,0.0599431088217,0.999999988555,-8.98594722674e-05,-0.000107005300918,-5.8011642635e-05,1793244237657318912
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713.200833461,681,659,634,880,786.200833461,806,651.799166539,631,652,0.4426459417,-0.00554794029448,0.0598841987893,0.999999974951,-9.35706539041e-05,-0.00019389074148,-6.12339317946e-05,1793244237673985792
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.374988687,681,659,634,880,786,806.374988687,652,631,652,0.443259407708,-0.0055473498465,0.0598440588402,0.999999961647,-9.31096888345e-05,-0.000253152331386,-6.28478224149e-05,1793244237690652672
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.951389107,681,659,634,880,786,806.951389107,652,631,652,0.443864279576,-0.00554794861965,0.059814000572,0.999999949615,-9.04078045731e-05,-0.000297576754928,-6.3597819279e-05,1793244237707319296
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.463748199,880,786,806.463748199,651.463748199,631,651.463748199,0.444454622442,-0.00554906218239,0.0598173330206,0.999999951049,-8.8443985973e-05,-0.000293187268307,-6.41969656295e-05,1793244237723985664
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.12084343,658.87915657,633,880,786,806.12084343,651,631,651,0.445033205068,-0.00554901984051,0.059818880645,0.99999995081,-8.69929639499e-05,-0.000294237945358,-6.50844266702e-05,1793244237740652288
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.70143852,658.29856148,633,880,786,806.70143852,651,631,651,0.445572136631,-0.00554439944639,0.0598019375142,0.999999938468,-8.72342649449e-05,-0.000333090601068,-6.71216467338e-05,1793244237757319168
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.721494839,658,632.721494839,880,786,806.721494839,651,630.721494839,651.278505161,0.446091482919,-0.00554302302782,0.0597778065526,0.99999992315,-9.09854502213e-05,-0.000374984517117,-6.93376099865e-05,1793244237773986048
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.148163457,658,632.148163457,880,786,806.148163457,651,630.148163457,651.851836543,0.446590096153,-0.00554508068972,0.0597460665376,0.999999904339,-9.84522072178e-05,-0.000420097915905,-7.17427910455e-05,1793244237790652928
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632.427996967,880,786,806.427996967,651.427996967,630.427996967,652,0.44708422711,-0.00554784752968,0.0597392338989,0.999999902011,-0.000102203119191,-0.000424422433569,-7.34675920676e-05,1793244237807319552
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713.994719294,681.005280706,658,632.994719294,880,786,806.994719294,652,630.994719294,652,0.447576475397,-0.00555086525901,0.0597411640439,0.999999905814,-0.000104640539336,-0.00041449308478,-7.4946959186e-05,1793244237823986432
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,713.183747571,681.816252429,657.816252429,632,880,785.816252429,806.183747571,652,630.183747571,652,0.448462265133,-0.00555926231102,0.0597528587013,0.999999910655,-0.000106743205845,-0.000401874615511,-7.61043881884e-05,1793244237857319424
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,713.755581202,681.244418798,657.244418798,632,880,785.244418798,806.755581202,652,630.755581202,652,0.448833664282,-0.00556744889754,0.0597309442335,0.999999895137,-0.000111351847909,-0.000437523105882,-7.68197915086e-05,1793244237873986048
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681.330861806,657.330861806,632,880,785,807,651.669138194,630.669138194,651.669138194,0.449181751211,-0.00557264720808,0.0597006326819,0.999999875094,-9.53606857057e-05,-0.000485242970015,-7.25118096639e-05,1793244237890652672
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681.90871558,657.90871558,632,880,785,807,651.09128442,630.09128442,651.09128442,0.44951243529,-0.00557561473734,0.0596640526162,0.999999849007,-6.39915431276e-05,-0.000541974243644,-6.44538154561e-05,1793244237907319040
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,681.503403206,657.503403206,631.503403206,880,785,806.503403206,651.496596794,630,651,0.449820116826,-0.00557366021984,0.0596437042142,0.999999834312,-4.5439494041e-05,-0.00057055069447,-6.15131616338e-05,1793244237923985920
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681.081785111,657,631,880,785.081785111,806.081785111,651.918214889,630,651.081785111,0.450122953672,-0.00557023042392,0.0596296229178,0.999999824437,-3.11992653121e-05,-0.000588692126926,-5.99517280653e-05,1793244237940652544
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681.640310042,657,631,880,785.640310042,806.640310042,651.359689958,630,651.640310042,0.450422705576,-0.00556358372773,0.0596343227124,0.999999831409,-2.80766047651e-05,-0.000576796155287,-6.08336814299e-05,1793244237957319168
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,682,656.787163522,631,880,785.787163522,807,651.212836478,630,651.787163522,0.450708924021,-0.00555452234054,0.0596408567125,0.999999838015,-4.77884055787e-05,-0.000563743012126,-6.22832709355e-05,1793244237973985536
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,682,656.189308604,631,880,785.189308604,807,651.810691396,630,651.189308604,0.450970660583,-0.00554109280926,0.0596507087664,0.999999841504,-0.00010880745234,-0.000548596560521,-6.47597066415e-05,1793244237990652416
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713.60602133,682,656,631,880,785,807,652,630.39397867,651.39397867,0.451197453511,-0.00554257270284,0.0596484693648,0.999999836659,-0.00013236719737,-0.000552101776772,-6.59079032155e-05,1793244238007319040
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713.029484233,682,656,631,880,785,807,652,630.970515767,651.970515767,0.451408054582,-0.00555096119555,0.0596406271302,0.999999829003,-0.00013856938077,-0.000564249640733,-6.64406321192e-05,1793244238023985664
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681.845408339,656.154591661,631,880.154591661,784.845408339,806.845408339,651.845408339,630,652,0.451765990653,-0.00556113877677,0.0596365429492,0.999999825793,-0.000139905226898,-0.000569419448699,-6.78413228949e-05,1793244238057318656
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681.269322255,656.730677745,631,880.730677745,784.269322255,806.269322255,651.269322255,630,652,0.451928863663,-0.00556064333871,0.059641412595,0.99999983136,-0.000137142257003,-0.00056019141085,-6.82505438639e-05,1793244238073985280
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.694413221,745,714,681.305586779,656.694413221,631,880.694413221,784.305586779,806.305586779,651.305586779,630,651.694413221,0.452071307184,-0.00556318472518,0.0596431182777,0.999999833662,-0.00013604194959,-0.000556357246521,-6.80844854549e-05,1793244238090651904
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764.175182542,745,714,682,656,630.175182542,880,784,806,652,630,651,0.452802235202,-0.00556614800752,0.0596217109818,0.999999814612,-0.000124800903889,-0.000592129614626,-6.77048585337e-05,1793244238373985280
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.751145772,745,714,682,656,630.751145772,880,784,806,652,630,651,0.452801882316,-0.00556742727803,0.0596197558974,0.999999813156,-0.000124971099839,-0.000594615698904,-6.70991407537e-05,1793244238390651904
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,682,656,630.674087212,880,784,806.325912788,652,629.674087212,651.325912788,0.45280144796,-0.00556746514057,0.0596184631538,0.999999812041,-0.000124733947622,-0.000596553552295,-6.69549730018e-05,1793244238407318784
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682,656,630.100230177,880,784,806.899769823,652,629.100230177,651.899769823,0.452800951627,-0.00556655857894,0.0596176742983,0.999999811187,-0.00012418689769,-0.000598074329052,-6.71619379983e-05,1793244238423985408
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.078286501,745,714,681.078286501,656,630.921713499,879.078286501,784,806,652,630,651.921713499,0.452802147297,-0.00556261261514,0.059616595548,0.99999981141,-0.000117468834171,-0.000599047182932,-6.72502762305e-05,1793244238457319424
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.657612086,745,714,681.657612086,656,630.342387914,879.657612086,784,806,652,630,651.342387914,0.452802272532,-0.00556188921455,0.0596161048447,0.999999810903,-0.00011878604927,-0.000599575329157,-6.77707338793e-05,1793244238473986048
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.764987443,745,714,682,656,630,880,784,806,652,630,651.235012557,0.452802667755,-0.00556195396306,0.0596162105659,0.999999810819,-0.000120017599893,-0.000599461850792,-6.7843564157e-05,1793244238490652672
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.190368901,745,714,682,656,630,880,784,806,652,630,651.809631099,0.452803453125,-0.00556315763012,0.0596171781532,0.999999811348,-0.000121125360588,-0.000598421189812,-6.72695483976e-05,1793244238507319040
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.385403171,745,714,682,656,630.385403171,880,784,806.385403171,652,630,652,0.452803242847,-0.00556266185462,0.0596169636987,0.999999811362,-0.000119382964253,-0.000598747239708,-6.72743438217e-05,1793244238523985408
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,656,631,880.554549326,784,806.445450674,652,630,652,0.452804028773,-0.00556196219225,0.0596163954428,0.999999811658,-0.00011641708755,-0.00059885195454,-6.71370135087e-05,1793244238557318656
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.855100877,745,713.855100877,681.855100877,656,631,880.855100877,784,806.144899123,652,630,652,0.452805573225,-0.00556250232096,0.0596169017211,0.999999812228,-0.000116760044028,-0.000597890964145,-6.66202694627e-05,1793244238573985536
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+247,4.116666667,HOLD_POSE2,764,745,714,681,657,631,880,784,807,652,631,651,0.452804804039,-0.00555897774863,0.059615641303,0.999999811583,-0.000113820282302,-0.00059941767336,-6.76505182222e-05,1793244238629152512
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,630,880,784.757846738,806.757846738,652,630,651.757846738,0.452809404123,-0.00555674789585,0.0596158925957,0.999999812482,-0.000112846348672,-0.00059824278403,-6.63920859682e-05,1793244238994064896
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.758621941,745,713.241378059,682.241378059,656,631,880,785,807,652,630,652,0.447999416253,-0.00542926140373,0.0595428171821,0.999999753662,1.00482545415e-05,-0.00070076661311,-3.87335209366e-05,1793244239510731264
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.478059939,745,714,681,657,631.478059939,881,785,806.478059939,652,630.521940061,652,0.446631033653,-0.00541877250109,0.0596245249811,0.999999832311,1.89159683629e-05,-0.000578197094959,-2.6598494721e-05,1793244239560731392
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.344731699,634,879,787.655268301,805,652,631,652,0.40901918792,-0.00537815001237,0.0598405055484,0.99999993887,0.000210387517698,-0.000277476531114,3.16762317983e-05,1793244240360731648
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.494882303,634,879,786.494882303,805,652,631,651.494882303,0.40786057283,-0.00537772246192,0.059844874737,0.9999999363,0.00023524199613,-0.000266549802759,3.18254058677e-05,1793244240394064896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.091797353,745,714,680,658,634.091797353,879,786.091797353,805,652,631,651,0.407312001392,-0.00537807875501,0.0598305064665,0.999999925889,0.000257896502229,-0.000284183270744,3.08317723253e-05,1793244240410731520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.671057727,745,714,680,658,634.671057727,879,786.671057727,805,652,631,651,0.406793905412,-0.00537659797028,0.0598195417775,0.999999925019,0.000245277816553,-0.000298198208396,2.96578194602e-05,1793244240427398400
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.750207731,745,714,680,658,635,879,787,805,652,631,651.249792269,0.406301146577,-0.00537525154262,0.0598171012448,0.999999927269,0.000234386952588,-0.000299504681792,2.86780793515e-05,1793244240444065024
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.17216423,745,714,680,658,635,879,787,805,652,631,651.82783577,0.405841683244,-0.00537408167327,0.0598258622798,0.999999933764,0.000225766614717,-0.0002841110013,2.79535537108e-05,1793244240460731392
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.5968178,879,787,805.4031822,652,631,651.5968178,0.405395655326,-0.00537091379809,0.0598242834024,0.999999932152,0.000234724368224,-0.000282540482291,2.77871343303e-05,1793244240477398016
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.022615353,879,787,805.977384647,652,631,651.022615353,0.40495532635,-0.00536689841653,0.0598183185822,0.99999992694,0.000251138326911,-0.000286833416422,2.78574502111e-05,1793244240494065152
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.433794001,680,658,634,879,787,805.433794001,652.566205999,631,651.566205999,0.404544700203,-0.00536265534559,0.0597944196929,0.99999991245,0.000256162004036,-0.000329723234851,2.76296500606e-05,1793244240510731776
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.528526546,714,679.528526546,658,634,878.471473454,787,805,652.471473454,631,652,0.402993462053,-0.00535621478246,0.0598138973017,0.999999922324,0.000266059032445,-0.000289039480072,3.19649511115e-05,1793244240594064384
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.056645859,714,679.056645859,658,634.056645859,879,787,805,652.943354141,631,651.943354141,0.402759507216,-0.0053597625578,0.0598328082312,0.999999932549,0.000258082611304,-0.000259248076179,3.29436509023e-05,1793244240610731264
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.63596271,714,679.63596271,658,634.63596271,879,787,805,652.36403729,631,651.36403729,0.402534822132,-0.00536871049444,0.0598377096206,0.999999939507,0.00023441074478,-0.000255066490585,3.1285086663e-05,1793244240627397888
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.213468891,879,787,805,652,630.213468891,651.786531109,0.402118028043,-0.00539051952276,0.059830960021,0.999999950105,0.000155251869391,-0.000274294854564,2.11938402572e-05,1793244240660731392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.363288935,879.363288935,787,805,652,630.363288935,652,0.401941086078,-0.00539258962821,0.0598259137755,0.999999948801,0.000142908381886,-0.000285659477134,1.93251554911e-05,1793244240677398016
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.942016342,879.942016342,787,805,652,630.942016342,652,0.401778372393,-0.0053888891543,0.0598221248653,0.999999945078,0.000151038312835,-0.000294314008537,2.02606887105e-05,1793244240694064640
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.470843177,658,634.470843177,879.470843177,787,805,652,631,652,0.401646184824,-0.00538709558182,0.0598229730507,0.999999943991,0.000157120060043,-0.00029475537848,2.12043036027e-05,1793244240710731264
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.116118575,658,634,879,787,805,652,630.883881425,651.883881425,0.401523699064,-0.00538571992279,0.059824774857,0.999999941675,0.000174109959809,-0.000292993795369,2.21406150277e-05,1793244240727397888
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.698600331,658,634,879,787,805,652,630.301399669,651.301399669,0.401426526968,-0.00538516994428,0.0598283329398,0.999999931013,0.000235825865186,-0.000286057509502,2.30439798728e-05,1793244240744064512
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.277457154,879,787,805.277457154,652,630.277457154,651.277457154,0.401339504788,-0.00538395312853,0.0598309978719,0.999999924097,0.000268366734969,-0.00028147234396,2.36240804992e-05,1793244240760731136
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.852426984,879,787,805.852426984,652,630.852426984,651.852426984,0.401263366201,-0.00538202127436,0.0598327050932,0.999999924332,0.000269623697877,-0.000279408246827,2.38575503156e-05,1793244240777397760
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.573714035,745,714,680,658,635,879,787,805.573714035,652,631,652,0.401200056338,-0.00538174970955,0.0598321855279,0.99999992483,0.000266756958761,-0.000280342311969,2.42551190578e-05,1793244240794064640
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.000238623,745,714,680,658,635,879,787,805.000238623,652,631,652,0.401141176023,-0.00538205141505,0.0598308970902,0.999999925401,0.000262466373962,-0.000282311592665,2.47093484216e-05,1793244240810731264
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.594258712,745,714,680,658,635,878.405741288,787,805,652,631,652,0.401096650943,-0.00538190028237,0.0598293397215,0.999999925155,0.000259760662634,-0.00028567291724,2.46206321842e-05,1793244240827397888
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878.183577186,787,805,652,631,651.816422814,0.401056995849,-0.00538126104669,0.0598281298458,0.999999924855,0.000258252193483,-0.00028809336931,2.44682959248e-05,1793244240844064512
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.66207179,658,634.66207179,879,787,805,652,631,651.33792821,0.401008218074,-0.00537885914854,0.0598286904198,0.999999925163,0.000259052453864,-0.000286339213566,2.39955672854e-05,1793244240877397760
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.087279715,658,634.087279715,879,787,805,652,631,651.912720285,0.4009953851,-0.00537882799174,0.0598307552923,0.999999926594,0.000257859191603,-0.000282402354615,2.388466265e-05,1793244240894064384
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.503962206,787,805,652.496037794,631,652,0.400989088348,-0.00537923214625,0.0598342822845,0.999999928035,0.000258050967293,-0.00027704102681,2.42418835295e-05,1793244240910731008
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.919434362,714,679.080565638,658,634,878.080565638,787,805,652.919434362,631,652,0.400983767281,-0.00537976278736,0.0598375893531,0.999999929329,0.000258143845951,-0.00027220525704,2.46443246493e-05,1793244240927397632
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.336875096,714,679.663124904,658,634,878.663124904,787,805,652.336875096,631,652,0.400977234311,-0.00538059595263,0.0598378950897,0.99999992985,0.000256075477923,-0.000272233184803,2.48063253983e-05,1793244240944064256
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.242537877,714,680,658,634,879,787,805,652.242537877,631,652,0.400972187216,-0.00538138624587,0.0598381997416,0.999999930239,0.000254078797265,-0.000272662305651,2.49165328779e-05,1793244240960731136
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.817636706,714,680,658,634,879,787,805,652.817636706,631,652,0.400969177509,-0.00538211775419,0.0598385029062,0.999999930451,0.000252180412384,-0.000273641530902,2.49557229086e-05,1793244240977398784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.607475303,680,658,634,879,787,805,652.607475303,631,652,0.400968837812,-0.00538245449085,0.0598390664206,0.999999931306,0.000250133363154,-0.000272417076341,2.46951152895e-05,1793244240994065408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.03268523,680,658,634,879,787,805,652.03268523,631,652,0.400969737912,-0.00538260791877,0.0598397508261,0.999999932453,0.000248017282997,-0.000270169362486,2.42952992777e-05,1793244241010731776
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.555286324,680,658,634.555286324,879,787,805,652.555286324,631,652,0.40096953534,-0.00538262079151,0.0598399312466,0.999999932515,0.000247693152674,-0.000270230870581,2.43675306695e-05,1793244241027398144
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.142045976,635,879,787,805,653,631,651.857954024,0.400969100547,-0.00538239396515,0.0598401465594,0.999999932462,0.000247884931195,-0.000270244425267,2.44411729596e-05,1793244241044065024
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.722610643,635,879,787,805,653,631,651.277389357,0.400968154097,-0.00538145331143,0.0598405634,0.999999932254,0.000249335858914,-0.000269680113637,2.443130648e-05,1793244241060731392
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.699527469,658.699527469,635,879,787,805.300472531,653,631,651.300472531,0.40096765269,-0.00538119850124,0.0598407164603,0.999999932239,0.000249736985863,-0.000269374080332,2.42952718046e-05,1793244241077397760
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.124138414,658.124138414,635,879,787,805.875861586,653,631,651.875861586,0.400967558474,-0.00538157120163,0.0598406281757,0.999999932404,0.000249177600626,-0.000269304358015,2.40437998819e-05,1793244241094064640
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.445162275,745,714,679.445162275,658,634.554837725,879,787,805.554837725,653,631,651.554837725,0.400967277191,-0.00538153007532,0.0598403746863,0.999999932413,0.000249405578697,-0.000269048216616,2.41545175006e-05,1793244241110731520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.986455939,744.986455939,714,679.986455939,658,634,879.013544061,787,805,652.986455939,631,651.013544061,0.400966958625,-0.00538141372732,0.0598401119084,0.999999932392,0.000249805176641,-0.000268737623227,2.43601139772e-05,1793244241127397888
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.385271972,744.385271972,714,679.385271972,658,634,879.614728028,787,805,652.385271972,631,651.614728028,0.40096725527,-0.00538297305849,0.0598414179687,0.999999932899,0.000248253100691,-0.000268289562302,2.43592321306e-05,1793244241144064512
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.206536957,714,679,658,634.206536957,879.586926086,787,805,652,630.793463043,651.793463043,0.400967785711,-0.00538342082272,0.0598425158474,0.999999933229,0.000248082981351,-0.000267221367533,2.42976828732e-05,1793244241160731136
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.781617093,714,679,658,634.781617093,878.436765813,787,805,652,630.218382907,651.218382907,0.400968733336,-0.00538188511418,0.0598432422481,0.999999933239,0.000250378816332,-0.000265046610056,2.41278790895e-05,1793244241177397760
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.357715814,658,635,878.357715814,787,805,652,630.357715814,651.357715814,0.400969166219,-0.00538231870863,0.0598431801733,0.999999933626,0.000249473757484,-0.000264443188902,2.41152269487e-05,1793244241194064384
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.934438128,658,635,878.934438128,787,805,652,630.934438128,651.934438128,0.400969283958,-0.00538395798133,0.0598426353654,0.999999934239,0.000246608996115,-0.000264801796494,2.41987887073e-05,1793244241210731264
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,879,787,805,652,631,652,0.400967491699,-0.00538425987363,0.0598417593252,0.99999993407,0.000245449193057,-0.000266512956197,2.42074100499e-05,1793244241227398144
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.891641238,879,787,805.108358762,652,630.891641238,651.891641238,0.400965949634,-0.00538423409107,0.0598411793638,0.999999933776,0.000245223917367,-0.000267820673348,2.4197720762e-05,1793244241244065024
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.311823427,879,787,805.688176573,652,630.311823427,651.311823427,0.400966562015,-0.00538352895188,0.0598420724593,0.999999933386,0.000248113230877,-0.000266618255036,2.41501841878e-05,1793244241260731904
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.73379742,786.73379742,805.73379742,652,630.26620258,651,0.400966988778,-0.00538274268135,0.0598423995723,0.999999933189,0.000249497415817,-0.00026607008585,2.40892019376e-05,1793244241277398528
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.157856183,786.157856183,805.157856183,652,630.842143817,651,0.400967199566,-0.00538186201075,0.0598420681394,0.999999933225,0.000249130316445,-0.000266283164753,2.40125750336e-05,1793244241294064640
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a65c5961c6df3c3eed9e12de26da5ce0e2af354
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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+360,6.000000000,pose2_to_pose3_retreat,0.578320271741,-0.000122241287431,1.05005088198,0.548891905883,0.00855344770852,1.04971737392
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+362,6.033333333,pose2_to_pose3_retreat,0.577778108888,-0.000122071670175,1.05005098978,0.548349741846,0.00855361340388,1.04971748417
+363,6.050000000,pose2_to_pose3_retreat,0.577547597136,-0.000121978511996,1.0500510184,0.54811922901,0.00855370269755,1.04971750801
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+365,6.083333333,pose2_to_pose3_retreat,0.577142579321,-0.000122125451488,1.0500508644,0.547714212701,0.00855356094553,1.0497173559
+366,6.100000000,pose2_to_pose3_retreat,0.576958059638,-0.000122199913008,1.05005081062,0.547529693867,0.00855348944322,1.04971730418
+367,6.116666667,pose2_to_pose3_retreat,0.576784277662,-0.000122313848414,1.05005088786,0.547355912892,0.00855337883361,1.04971737967
+368,6.133333333,pose2_to_pose3_retreat,0.576622395251,-0.000122303969367,1.05005092229,0.547194031555,0.0085533922488,1.0497174113
+369,6.150000000,pose2_to_pose3_retreat,0.576475896477,-0.000122141957105,1.05005099396,0.547047530321,0.00855354628096,1.04971749247
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+371,6.183333333,pose2_to_pose3_retreat,0.576231394705,-0.000122298527973,1.05005112,0.546803029346,0.00855339217493,1.0497176123
+372,6.200000000,pose2_to_pose3_retreat,0.576132742528,-0.000122256719831,1.05005088757,0.546704377051,0.0085534334494,1.049717378
+373,6.216666667,pose2_to_pose3_retreat,0.576048446255,-0.00012223532851,1.05005083142,0.546620080628,0.00855345444096,1.04971732469
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+377,6.283333333,pose2_to_pose3_retreat,0.575814177078,-0.000122020432353,1.05005083772,0.54638580786,0.00855365688212,1.049717323
+378,6.300000000,pose2_to_pose3_retreat,0.575776290425,-0.000122147418111,1.0500510693,0.546347925098,0.00855354339093,1.04971756229
+379,6.316666667,pose2_to_pose3_retreat,0.57574574239,-0.000122200879227,1.05005084922,0.546317377233,0.00855349054206,1.04971734328
+380,6.333333333,pose2_to_pose3_retreat,0.575722722537,-0.000122184220156,1.05005074721,0.54629435651,0.00855350433613,1.04971724358
+381,6.350000000,pose2_to_pose3_retreat,0.575705962815,-0.000122168420037,1.05005075686,0.546277595883,0.00855351701211,1.04971725162
+382,6.366666667,pose2_to_pose3_retreat,0.575694721782,-0.000122180726494,1.05005082227,0.546266354573,0.00855350354738,1.04971731105
+383,6.383333333,pose2_to_pose3_retreat,0.57568707837,-0.000122229117329,1.0500510125,0.546258712468,0.00855345924207,1.04971749246
+384,6.400000000,pose2_to_pose3_retreat,0.575681793234,-0.000122187716265,1.05005103545,0.546253426692,0.00855349864187,1.04971751978
+385,6.416666667,pose2_to_pose3_retreat,0.575678024173,-0.000122122324101,1.05005099979,0.546249656437,0.0085535602945,1.04971749225
+386,6.433333333,pose2_to_pose3_retreat,0.575675219213,-0.000122253232681,1.05005101324,0.546246853209,0.00855343517236,1.04971750334
+387,6.450000000,pose2_to_pose3_retreat,0.575673292083,-0.000122371158452,1.05005102872,0.546244927677,0.00855332255762,1.04971751588
+388,6.466666667,pose2_to_pose3_retreat,0.575672299964,-0.000122310763806,1.05005101257,0.546243934853,0.0085533807051,1.04971750352
+389,6.483333333,pose2_to_pose3_retreat,0.575671909546,-0.000122272512196,1.05005100333,0.546243543975,0.00855341747658,1.0497174964
+390,6.500000000,pose2_to_pose3_retreat,0.5756717801,-0.000122259829542,1.05005100027,0.546243414376,0.00855342966849,1.04971749404
+391,6.516666667,pose2_to_pose3_retreat,0.5756716302,-0.000122245142893,1.05005099672,0.5462432643,0.00855344378685,1.04971749131
+392,6.533333333,pose2_to_pose3_retreat,0.575671354534,-0.000122218134162,1.0500509902,0.546242988309,0.00855346975049,1.04971748628
+393,6.550000000,pose2_to_pose3_retreat,0.575671068912,-0.000122190150004,1.05005098344,0.54624270235,0.00855349665182,1.04971748107
+394,6.566666667,pose2_to_pose3_retreat,0.575670797991,-0.000122163606191,1.05005097702,0.54624243111,0.00855352216854,1.04971747613
+395,6.583333333,pose2_to_pose3_retreat,0.575670692586,-0.000122156667108,1.050050971,0.546242325628,0.00855352886102,1.04971747042
+396,6.600000000,pose2_to_pose3_retreat,0.57567068141,-0.000122157883204,1.05005096833,0.546242314472,0.00855352770693,1.04971746762
+397,6.616666667,pose2_to_pose3_retreat,0.575670582703,-0.000122168623954,1.05005094472,0.546242215938,0.00855351751375,1.04971744295
+398,6.633333333,pose2_to_pose3_retreat,0.575670423995,-0.000122185893708,1.05005090676,0.546242057509,0.00855350112443,1.04971740328
+399,6.650000000,pose2_to_pose3_retreat,0.57567022863,-0.000122207152221,1.05005086004,0.546241862487,0.0085534809497,1.04971735445
+400,6.666666667,pose2_to_pose3_retreat,0.575670208766,-0.000122209313688,1.05005085529,0.546241842658,0.00855347889842,1.04971734949
+401,6.683333333,pose2_to_pose3_retreat,0.575670054507,-0.000122226099356,1.0500508184,0.54624168867,0.00855346296851,1.04971731093
+402,6.700000000,pose2_to_pose3_retreat,0.575669866878,-0.000122251657988,1.05005078269,0.546241501387,0.00855343851165,1.04971727333
+403,6.716666667,pose2_to_pose3_retreat,0.575669653638,-0.000122304801114,1.05005078504,0.546241288619,0.00855338690609,1.04971727417
+404,6.733333333,pose2_to_pose3_retreat,0.575669492124,-0.000122344609985,1.0500507872,0.546241127455,0.00855334824652,1.04971727525
+405,6.750000000,pose2_to_pose3_retreat,0.575669497852,-0.000122342825133,1.05005078744,0.546241133166,0.00855334997773,1.04971727558
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9802317a94c1dabed54220b75e4420492c2bc70
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e920425a1cb8ed1d227dc9311abdd6d3632f4e49e483b48ab1c827b19b25575
+size 25871593
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..159e64750114639ac136b7990fd6072f34d4360e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+30,0.500000000,BASELINE,765,744.608988582,714,680,658.391011418,635,879.608988582,787,805,652,631,652,0.40096814943,-0.00538626504404,0.0598451903313,0.999999936654,0.000240272622209,-0.000261531243014,2.37316637588e-05,1793244241941976064
+31,0.516666667,BASELINE,765,744.032357415,714,680,658.967642585,635,879.032357415,787,805,652,631,652,0.400967311132,-0.0053879824024,0.0598451996763,0.999999937236,0.000237685288191,-0.000261670023172,2.37103240622e-05,1793244241958642688
+32,0.533333333,BASELINE,765,744.560300831,714,679.439699169,658.439699169,635,879,786.439699169,805,652,631,652,0.400966996514,-0.00538686920457,0.0598445029724,0.999999936631,0.000239114487942,-0.000262678604151,2.37022981585e-05,1793244241975309312
+33,0.550000000,BASELINE,765,745,714,679.149219871,658.149219871,635,878.850780129,786,805,652.149219871,631,652,0.400967024409,-0.00538588090461,0.0598441119196,0.999999936145,0.000240609423702,-0.000263162572432,2.37266400767e-05,1793244241991976192
+34,0.566666667,BASELINE,765,745,714,679.724734516,658.724734516,635,878.275265484,786,805,652.724734516,631,652,0.400967941861,-0.00538573015745,0.0598447139733,0.999999936206,0.000241609987529,-0.000262000087953,2.3841189924e-05,1793244242008642816
+35,0.583333333,BASELINE,765.299560294,745,714,680,659,635,878.299560294,786.299560294,805,652.700439706,631,652,0.400969248774,-0.00538578288779,0.0598457609201,0.999999936821,0.000241441701699,-0.000259793522863,2.38994971127e-05,1793244242025309952
+36,0.600000000,BASELINE,765.87375459,745,714,680,659,635,878.87375459,786.87375459,805,652.12624541,631,652,0.40097091274,-0.00538602216431,0.0598472157408,0.999999937936,0.000240201825833,-0.00025662975455,2.39062415846e-05,1793244242041977600
+37,0.616666667,BASELINE,765.538524034,745,714,680,658.538524034,635,879,787,805,652.461475966,631,652,0.400970112032,-0.0053860324523,0.0598470383878,0.999999937813,0.000239611015003,-0.000257678311374,2.37137597638e-05,1793244242058643968
+38,0.633333333,BASELINE,765,745,714,680,658.051733465,634.948266535,879,787,805,652.948266535,631,651.948266535,0.400968673154,-0.00538596224396,0.0598463642077,0.999999937325,0.000239307908103,-0.000259863572235,2.34950007696e-05,1793244242075310080
+39,0.650000000,BASELINE,765,745,714,680,658.629026341,634.370973659,879,787,805,652.370973659,631,651.370973659,0.400967807747,-0.00538572989313,0.0598453158559,0.999999936705,0.000240069238569,-0.000261536259781,2.35796981825e-05,1793244242091976704
+40,0.666666667,BASELINE,765,745,714,680,658.793819873,634,878.793819873,787,805,652,631,651.206180127,0.400967031544,-0.00538578927675,0.0598445681891,0.999999936372,0.000240089128614,-0.000262782816315,2.36146409318e-05,1793244242108643072
+41,0.683333333,BASELINE,765,745,714,680,658.216916212,634,878.216916212,787,805,652,631,651.783083788,0.400966415737,-0.00538637321541,0.0598443611708,0.999999936562,0.000238775866783,-0.000263263165076,2.35601219755e-05,1793244242125309440
+42,0.700000000,BASELINE,765,744.633093676,714,680,658,634.366906324,878.366906324,787,805,652,631,652,0.400966638983,-0.00538596390581,0.0598444856502,0.999999936435,0.00023960388057,-0.000263004702578,2.34139933513e-05,1793244242141976576
+43,0.716666667,BASELINE,765,744.045102082,714,680,658,634.954897918,878.954897918,787,805,652,631,652,0.400967367813,-0.00538495609858,0.059844809879,0.999999936115,0.000241722154252,-0.000262301057527,2.32126638593e-05,1793244242158643968
+44,0.733333333,BASELINE,765,744.535232584,714,680,658,635,879,787,805.535232584,652,631,651.464767416,0.40096732619,-0.00538486110347,0.0598446842668,0.99999993591,0.000242533296777,-0.000262316735472,2.33859097046e-05,1793244242175310336
+45,0.750000000,BASELINE,765,745,714,680,658.114205604,635,879,787,805.885794396,652,631,651.114205604,0.400967050429,-0.00538493490185,0.0598446291307,0.999999935787,0.000242958125068,-0.000262372676981,2.36073053427e-05,1793244242191976704
+46,0.766666667,BASELINE,765,745,714,680,658.690244539,635,879,787,805.309755461,652,631,651.690244539,0.400966086687,-0.00538538461509,0.0598450101186,0.999999935956,0.000242259885382,-0.000262349778126,2.38975717261e-05,1793244242208643328
+47,0.783333333,BASELINE,765,745,714,680,658.734112627,635,879,787,805,652,631,652,0.400965956168,-0.00538559885885,0.0598450558344,0.999999936174,0.000241400419173,-0.000262306251185,2.39253740438e-05,1793244242225309696
+48,0.800000000,BASELINE,765,745,714,680,658.158930484,635,879,787,805,652,631,652,0.400966794902,-0.00538553919165,0.0598447115433,0.999999936451,0.000240353405345,-0.000262238728525,2.36478638084e-05,1793244242241976320
+49,0.816666667,BASELINE,765,745,714,680,658,635,879,787,805,652.426814067,631,652,0.400966087469,-0.00538508845379,0.0598439780192,0.999999935907,0.000241693171119,-0.000263103726753,2.33734939781e-05,1793244242258643456
+50,0.833333333,BASELINE,765,745,714,680,658,635,879.01630251,786.98369749,805,652.98369749,631,652,0.400964841171,-0.00538451110697,0.059843118939,0.999999935067,0.000243880122921,-0.000264299200115,2.31201535204e-05,1793244242275310592
+51,0.850000000,BASELINE,765,745,714,680,658,635,879.595808841,786.404191159,805,652.404191159,631,652,0.400965373469,-0.00538471822187,0.0598430564539,0.999999934981,0.000243851972322,-0.00026461117329,2.355189193e-05,1793244242291977472
+52,0.866666667,BASELINE,765,745,714,680,658.173820995,634.826179005,879.826179005,786.173820995,805.173820995,652,631,652,0.400966122982,-0.0053852122375,0.0598434664658,0.999999935221,0.000243308023565,-0.00026418092076,2.38330165723e-05,1793244242308643840
+53,0.883333333,BASELINE,765,745,714,680,658.74838827,634.25161173,879.25161173,786.74838827,805.74838827,652,631,652,0.400967373286,-0.00538636770601,0.0598449658247,0.999999936206,0.000241574896288,-0.000262039458406,2.37668994356e-05,1793244242325310464
+54,0.900000000,BASELINE,765,745,714,680,659,634,879.322679647,787,805.677320353,652.322679647,631,652,0.40096736794,-0.00538627442279,0.0598451908983,0.999999936277,0.000241488990062,-0.00026185441479,2.37015674755e-05,1793244242341977088
+55,0.916666667,BASELINE,765,745,714,680,659,634,879.896756047,787,805.103243953,652.896756047,631,652,0.400966384329,-0.00538520824849,0.059844423188,0.999999935637,0.00024268641873,-0.000263193599171,2.36368472425e-05,1793244242358643968
+56,0.933333333,BASELINE,765,745,714,680,658.513452335,634,879.513452335,787,805.486547665,652.513452335,631,652,0.40096608153,-0.0053844705997,0.059844495623,0.999999935955,0.000241566428306,-0.000263050000084,2.32538271881e-05,1793244242375310336
+57,0.950000000,BASELINE,765,745,714,679.922531993,658,634,879,787,805.922531993,652,631,652,0.400965974139,-0.00538401623358,0.059844688324,0.999999936382,0.00024025120518,-0.00026265847966,2.29400763442e-05,1793244242391976704
+58,0.966666667,BASELINE,765,745,714,679.346524751,658,634,879,787,805.346524751,652,631,652,0.400966163559,-0.0053849213101,0.0598444694105,0.999999936173,0.00024094981937,-0.000262763920919,2.35212731183e-05,1793244242408643584
+59,0.983333333,BASELINE,765,744.771061572,714,679.228938428,658,634.228938428,879,787,805,652.228938428,631,652,0.400967039993,-0.00538570750227,0.0598448228741,0.999999936569,0.000240184238598,-0.000261932581225,2.37748696761e-05,1793244242425310464
+60,1.000000000,BASELINE,765,744.196419856,714,679.803580144,658,634.803580144,879,787,805,652.803580144,631,652,0.400968953835,-0.00538631417594,0.0598460406429,0.999999937871,0.00023720768348,-0.000259686676677,2.35337810316e-05,1793244242441977344
+61,1.016666667,BASELINE,765,744.380265312,714,680,658,635,879,787,805,652.619734688,631,651.619734688,0.400968181693,-0.00538598462599,0.0598453886583,0.999999937281,0.000238571634188,-0.000260710272187,2.34978690382e-05,1793244242458643968
+62,1.033333333,BASELINE,765,744.958011659,714,680,658,635,879,787,805,652.041988341,631,651.041988341,0.400966014655,-0.00538516887228,0.0598437656652,0.999999935696,0.000242189715431,-0.000263431798816,2.35685102896e-05,1793244242475310848
+63,1.050000000,BASELINE,765.549306493,745,714,679.450693507,657.450693507,634.450693507,879,787,805,652,631,651,0.400967765631,-0.00538497779754,0.0598451846346,0.999999936151,0.00024245689056,-0.000261466176073,2.34303755116e-05,1793244242491977216
+64,1.066666667,BASELINE,766,745,714,679.137997641,657.137997641,634,879,787,805.137997641,652.137997641,631,651.137997641,0.400969159228,-0.00538510324759,0.0598464053731,0.999999936664,0.000242195082754,-0.000259742182068,2.33814333474e-05,1793244242508643840
+65,1.083333333,BASELINE,766,745,714,679.715027154,657.715027154,634,879,787,805.715027154,652.715027154,631,651.715027154,0.400968438939,-0.00538607994905,0.0598462369811,0.99999993687,0.000241085845431,-0.000259955590259,2.36683078794e-05,1793244242525310208
+66,1.100000000,BASELINE,765.709873007,745,714,680,658,634,879,787,805.709873007,653,631,652,0.400968366595,-0.00538661948766,0.0598463191029,0.999999936997,0.000240675093348,-0.000259847788711,2.36972884671e-05,1793244242541976832
+67,1.116666667,BASELINE,765.136656072,745,714,680,658,634,879,787,805.136656072,653,631,652,0.40096892648,-0.00538673246681,0.0598466456622,0.999999937046,0.00024094588476,-0.000259426568377,2.34746303304e-05,1793244242558643968
+68,1.133333333,BASELINE,765,745,714,680,658,634.447850355,879,787,805,652.552149645,630.552149645,652,0.400971327817,-0.00538747292365,0.0598480458888,0.999999938174,0.000239575136699,-0.000256324159726,2.35134451054e-05,1793244242575310848
+69,1.150000000,BASELINE,765.035539062,745,714,679.964460938,658.035539062,635,879,787,805,652,630.035539062,651.964460938,0.400974008462,-0.00538826011494,0.0598496406227,0.999999939485,0.000237905002009,-0.000252730499271,2.36263695468e-05,1793244242591977472
+70,1.166666667,BASELINE,765.617817136,745,714,679.382182864,658.617817136,635,879,787,805,652,630.617817136,651.382182864,0.400972118153,-0.00538674453974,0.0598490572435,0.99999993865,0.000239534194582,-0.000254491105149,2.3620237979e-05,1793244242608643584
+71,1.183333333,BASELINE,765.80224421,745,714,679.19775579,658.80224421,635,879,787,805,652.19775579,631,651.19775579,0.40097025313,-0.00538557786153,0.0598481675717,0.999999937806,0.00024081283611,-0.000256599567587,2.35507149252e-05,1793244242625309952
+72,1.200000000,BASELINE,765.22677376,745,714,679.77322624,658.22677376,635,879,787,805,652.77322624,631,651.77322624,0.400968436403,-0.00538507757823,0.0598466928792,0.999999936948,0.000241421923469,-0.000259372438305,2.33601137784e-05,1793244242641976576
+73,1.216666667,BASELINE,765,745,714,680,658.348433565,635,879,787,805,652.651566435,631,652,0.400968671114,-0.00538489042002,0.0598465670795,0.999999936972,0.000241237332168,-0.000259447579726,2.34041541978e-05,1793244242658643456
+74,1.233333333,BASELINE,765,745,714,680,658.923469733,635,879,787,805,652.076530267,631,652,0.400970239973,-0.00538490690169,0.0598473185279,0.99999993757,0.000240536574573,-0.000257768261766,2.36007929857e-05,1793244242675310336
+75,1.250000000,BASELINE,765,745,714,680,658.486762934,634.486762934,879,787,805,652,631,652,0.400968928216,-0.0053850376231,0.0598461508708,0.999999936673,0.000242068342478,-0.000259802315103,2.36733891879e-05,1793244242691976960
+76,1.266666667,BASELINE,765,745,714,680,658,634.102411012,879.102411012,786.897588988,805.102411012,652,631,651.897588988,0.400967458912,-0.00538521281154,0.0598449095635,0.999999935855,0.000243082720369,-0.000261993092982,2.36566259686e-05,1793244242708643328
+77,1.283333333,BASELINE,765,745,714,680,658,634.678383503,879.678383503,786.321616497,805.678383503,652,631,651.321616497,0.400967306017,-0.00538551252319,0.0598446900474,0.999999936506,0.000240119768048,-0.000262272490216,2.33147103866e-05,1793244242725310720
+78,1.300000000,BASELINE,764.74583791,745,714,680,658,634.74583791,879.74583791,786.25416209,805.74583791,652,631,651.25416209,0.400967405916,-0.00538571952919,0.0598450010502,0.999999937026,0.000238454800695,-0.000261815312108,2.32467920273e-05,1793244242741977600
+79,1.316666667,BASELINE,764.170304544,745,714,680,658,634.170304544,879.170304544,786.829695456,805.170304544,652,631,651.829695456,0.400967825457,-0.00538580931494,0.0598459828595,0.999999937388,0.000238431050342,-0.000260426782826,2.3525325192e-05,1793244242758643968
+80,1.333333333,BASELINE,764.415848793,745,714,679.584151207,658,634,879,787,805,652,631,652,0.400967836033,-0.00538635823506,0.059846091191,0.999999937522,0.000237844245324,-0.000260439914759,2.36152081951e-05,1793244242775310336
+81,1.350000000,BASELINE,765,745,714,679.006332653,658.006332653,634,879,787,805,652,631,652,0.400967685729,-0.00538708169406,0.059845845974,0.999999937559,0.000237046075985,-0.000261022704302,2.36259012727e-05,1793244242791976704
+82,1.366666667,BASELINE,765,745,714,679.584821966,658.584821966,634,879,787,805,652,631,652,0.400968528908,-0.00538614085748,0.0598468246193,0.999999937511,0.000238531001234,-0.00025985132295,2.3645053297e-05,1793244242808643328
+83,1.383333333,BASELINE,765,745,714,679.837799441,659,634,879,787,805,652,631,651.837799441,0.400968765428,-0.00538557061904,0.0598470619485,0.999999937376,0.000239507043342,-0.000259481248855,2.35448914938e-05,1793244242825310464
+84,1.400000000,BASELINE,765,745,714,679.263244452,659,634,879,787,805,652,631,651.263244452,0.400967459667,-0.00538594253363,0.0598454146663,0.999999937027,0.000239189377419,-0.000261148298181,2.31414040733e-05,1793244242841977088
+85,1.416666667,BASELINE,765,745,714,679.318920138,658.681079862,634.318920138,879,787,805.318920138,652,631,651.318920138,0.400967317943,-0.00538649988258,0.0598450158776,0.999999936966,0.00023918939564,-0.00026136814006,2.32862661536e-05,1793244242858643712
+86,1.433333333,BASELINE,765,745,714,679.907519378,658.092480622,634.907519378,879,787,805.907519378,652,631,651.907519378,0.40096816053,-0.00538721403493,0.0598456728162,0.99999993715,0.000239458047824,-0.000260364222167,2.38948129951e-05,1793244242875310336
+87,1.450000000,BASELINE,765,745,714,680,658,635,879,787,806,652,631,652,0.400968146969,-0.00538659830555,0.0598460088196,0.999999937088,0.00024011188214,-0.000260011392157,2.37769581151e-05,1793244242891977216
+88,1.466666667,BASELINE,765,745,713.932549412,680,658,635,879,787,806,652,631,652,0.400968025888,-0.0053860154491,0.0598462833905,0.9999999371,0.000240380773033,-0.0002597341363,2.35485294734e-05,1793244242908643840
+89,1.483333333,BASELINE,765,745,713.354468593,680,658,635,879,787,806,652,631,652,0.400968299016,-0.00538755817299,0.0598465457924,0.999999938025,0.000237191909321,-0.000259110199793,2.35081014992e-05,1793244242925310464
+90,1.500000000,BASELINE,765,745,713,680,658,635,879,787,805.778137185,652.221862815,631,652,0.400968687213,-0.00538794777248,0.0598469170662,0.999999938386,0.000236386151737,-0.000258442995619,2.35824955175e-05,1793244242941976832
+91,1.516666667,BASELINE,765,745,713,680,658,635,879,787,805.204578983,652.795421017,631,652,0.400969257816,-0.00538650944711,0.0598474609227,0.999999937863,0.000239358077654,-0.000257707203907,2.38389045606e-05,1793244242958643200
+92,1.533333333,BASELINE,765,745,713.368902377,680,658,635,879,787,805,652.631097623,630.631097623,652,0.400969458089,-0.00538591048514,0.0598468714313,0.999999937603,0.000240202654964,-0.000257935870498,2.37690015496e-05,1793244242975309824
+93,1.550000000,BASELINE,765,745,713.942341188,680,658,635,879,787,805,652.057658812,630.057658812,652,0.400969453034,-0.0053857769047,0.0598456535596,0.999999937493,0.000239867732709,-0.000258699277031,2.35181761621e-05,1793244242991976448
+94,1.566666667,BASELINE,765,745,714,679.465532883,658,635,879,787,805,652.534467117,630,652,0.400970519148,-0.00538466506899,0.0598467519163,0.999999937272,0.000241608116863,-0.000257943788271,2.33722916122e-05,1793244243008644096
+95,1.583333333,BASELINE,765,745,714,679.124755418,658.124755418,635,879,787,805,652.875244582,630.124755418,652,0.400971044649,-0.00538388951118,0.0598475332137,0.999999937083,0.00024287300015,-0.000257496171074,2.32785458235e-05,1793244243025311488
+96,1.600000000,BASELINE,765,745,714,679.700838436,658.700838436,635,879,787,805,652.299161564,630.700838436,652,0.400969181173,-0.00538472613232,0.0598462307549,0.999999937065,0.000241578367348,-0.0002587766135,2.33309820862e-05,1793244243041977600
+97,1.616666667,BASELINE,765,745,714,680,658.723522023,635,879,787,805,652,631.276477977,652,0.400968888785,-0.00538525796724,0.0598464159048,0.999999937248,0.000240890246028,-0.000258705639093,2.34069495675e-05,1793244243058643712
+98,1.633333333,BASELINE,765,745,714,680,658.148361611,635,879,787,805,652,631.851638389,652,0.400970293662,-0.00538546053794,0.0598482081363,0.999999937648,0.00024085734633,-0.000257174712983,2.35083381002e-05,1793244243075310080
+99,1.650000000,BASELINE,765,745,714,680,658.439770379,634.560229621,879,787,805,652.439770379,631.120459242,652,0.400969073756,-0.00538562544207,0.0598472485115,0.999999937295,0.00024054647319,-0.000258827589254,2.3578612016e-05,1793244243091976704
+100,1.666666667,BASELINE,765,745,714,679.968546719,658.968546719,634,878.968546719,787,805,653,630.031453281,652,0.40096708565,-0.00538578490083,0.0598454708985,0.999999936714,0.00024018169452,-0.000261391823273,2.36448517119e-05,1793244243108643328
+101,1.683333333,BASELINE,765,745,714,679.39342606,658.39342606,634,878.39342606,787,805,653,630.60657394,652,0.400967590257,-0.00538607655624,0.0598460889374,0.999999936832,0.000240555364974,-0.000260578942915,2.38283122724e-05,1793244243125310208
+102,1.700000000,BASELINE,765,745,714,679,658,634.182553876,878,787,805,653,631,652,0.400968069055,-0.00538602386529,0.059846510736,0.999999936855,0.00024112405659,-0.000259967396409,2.38099085253e-05,1793244243141976576
+103,1.716666667,BASELINE,765,745,714,679,658,634.760394341,878,787,805,653,631,652,0.400968491967,-0.00538522555606,0.0598465076126,0.999999936672,0.000242115030345,-0.000259791801163,2.33544050024e-05,1793244243158642944
+104,1.733333333,BASELINE,765,744.665464289,714,679,658.334535711,635,878,787,805,652.665464289,631,651.665464289,0.400969174094,-0.00538501712664,0.0598469907349,0.9999999371,0.000241582059136,-0.000258655612578,2.31473130097e-05,1793244243175310080
+105,1.750000000,BASELINE,765,744.093943303,714,679,658.906056697,635,878,787,805,652.093943303,631,651.093943303,0.400970039848,-0.00538522656832,0.059847818314,0.999999937957,0.000239969524604,-0.000256838939141,2.31161958305e-05,1793244243191977984
+106,1.766666667,BASELINE,765,744.494335098,714,679.494335098,658.505664902,634.505664902,878.494335098,787,805,652,631,651.494335098,0.400968305161,-0.00538519772922,0.0598473653113,0.999999937331,0.00024049249186,-0.000258770903488,2.32074088567e-05,1793244243208644096
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,879,787,805,653,631,652,0.400971048488,-0.00538586899946,0.0598483921017,0.999999938019,0.000240416633074,-0.00025615388564,2.33929512496e-05,1793244243251634432
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.575389015,658,634.424610985,879,787,805,653,631,652,0.400969745437,-0.00538459130322,0.059847784707,0.999999936951,0.000243461897136,-0.000257446345045,2.33728202486e-05,1793244243268300544
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,805.153736209,653,631,652,0.400969050334,-0.00538411186983,0.059847385888,0.999999936461,0.000244655084554,-0.000258214349184,2.33877317993e-05,1793244243284966912
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,805.740414161,653,631,652,0.400970067292,-0.0053858804512,0.0598475744459,0.999999937617,0.000240632576917,-0.000257505417391,2.35013278628e-05,1793244243301633280
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.676598744,658.323401256,634,879,787,805.676598744,652.676598744,631,652,0.400969681265,-0.00538671503787,0.0598472488167,0.999999937915,0.00023905348182,-0.000257820389373,2.35111624208e-05,1793244243318299904
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.096540809,658.903459191,634,879,787,805.096540809,652.096540809,631,652,0.400968181805,-0.00538680839052,0.0598465151201,0.999999937539,0.00023941352027,-0.000258947948667,2.34386500956e-05,1793244243334966784
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.481591783,659,634.481591783,879,787,805,652,631,652,0.40096862782,-0.0053853616018,0.0598467779352,0.999999937577,0.00023964096423,-0.000258602940366,2.3284878632e-05,1793244243351633152
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.940893058,659,634.940893058,878.940893058,786.940893058,805,652,631,652,0.400969315763,-0.0053838261937,0.0598471576995,0.999999937615,0.000239937840599,-0.00025819443159,2.31397078308e-05,1793244243368299520
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.365413522,659,634.365413522,878.365413522,786.365413522,805,652,631,652,0.400968723742,-0.00538420306972,0.0598468209347,0.999999936925,0.000241072581302,-0.000259799782165,2.32114156579e-05,1793244243384966144
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.785183206,745,714,679,658.785183206,634.214816794,878,786.214816794,805,652,631,652,0.400972787982,-0.00538551612131,0.0598489314043,0.999999937677,0.000240382574595,-0.00025750938115,2.34839923034e-05,1793244243401632512
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.196688886,745,714,679,658.196688886,634.803311114,878,786.803311114,805,652,631,652,0.400984951866,-0.00538845766646,0.0598552988805,0.999999940877,0.000236518388107,-0.000248442252748,2.41059837202e-05,1793244243418299392
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.386287251,745,714,679.386287251,658,635,878.386287251,787,805,652,631,652,0.401016780303,-0.00538894935187,0.0598676831106,0.999999946545,0.00023602725191,-0.000224941943753,2.45480446404e-05,1793244243434966528
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.966493277,745,714,679.966493277,658,635,878.966493277,787,805,652,631,652,0.401058480477,-0.00538821119163,0.0598830877918,0.999999952695,0.000237229408915,-0.000194196080906,2.48997792896e-05,1793244243451633920
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,635,879.542326302,787,805,652,631,652,0.40111975335,-0.00539107673255,0.0599023704912,0.999999958891,0.00023617290226,-0.000160504888449,2.60349672195e-05,1793244243468300288
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.882648351,879.882648351,787,805,652.117351649,630.882648351,652,0.401184028565,-0.0053936795142,0.0599200725594,0.999999963431,0.000235168901759,-0.000130775137671,2.70324741118e-05,1793244243484966400
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.309717885,879.309717885,787,805,652.690282115,630.309717885,652,0.401255302369,-0.00539440477563,0.0599307156422,0.999999965178,0.000234906153912,-0.000117125155763,2.73090698142e-05,1793244243501632512
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.273728967,879,787,805,652.726271033,630.273728967,652,0.401333433596,-0.00539663731802,0.0599375147356,0.999999966575,0.000233755809067,-0.000107055268392,2.73511732418e-05,1793244243518299136
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.869550242,879,787,805,652.130449758,630.869550242,652,0.401419633834,-0.00540064345272,0.0599397906702,0.999999967702,0.000231561043698,-0.000101198019332,2.71173535116e-05,1793244243534965760
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713.551750659,679.551750659,658,635,879,787,805,652.448249341,631,652,0.40152315427,-0.00540292091578,0.0599431463423,0.999999968692,0.000230196949523,-9.44761724156e-05,2.64451443171e-05,1793244243551632640
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,713,679.022191845,658.022191845,634.977808155,879,787,805,653,631,651.977808155,0.401632411314,-0.00540480780833,0.0599467848918,0.999999969639,0.000228920734571,-8.75200691226e-05,2.563221341e-05,1793244243568299264
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713,679.597205139,658.597205139,634.402794861,879,787,805,653,631,651.402794861,0.401763628182,-0.00540903630912,0.0599499305216,0.999999971346,0.000224033198104,-8.07657869119e-05,2.43749848243e-05,1793244243584965888
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,713.177787355,679.822212645,658.822212645,634.177787355,879.177787355,787,805,653,631,651.177787355,0.401903072233,-0.00541279968667,0.0599514658708,0.999999972535,0.000220594095231,-7.57759612483e-05,2.29331250147e-05,1793244243601632768
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,713.77139442,679.22860558,658.22860558,634.77139442,879.77139442,787,805,653,631,651.77139442,0.402061758495,-0.00541547520552,0.059949234999,0.999999972653,0.000220542676295,-7.49129531733e-05,2.10594388228e-05,1793244243618299904
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,879.29069738,787,805,652.64534869,631,652,0.40224067172,-0.00542049501397,0.0599492605822,0.999999973864,0.000216366935824,-7.13220815424e-05,1.9257382358e-05,1793244243634966272
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,878.13714841,787,805,652.068574205,631,652,0.402432253397,-0.00542698308469,0.0599506994151,0.9999999757,0.000209608073924,-6.60227099645e-05,1.75001884292e-05,1793244243651632896
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.508937822,658,635,878.508937822,787,805,652,631,651.491062178,0.402657035335,-0.00543176885976,0.0599520622048,0.999999976925,0.000205832668641,-5.95927601101e-05,1.52318565948e-05,1793244243668299520
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.912411727,714,680,658,635,879,787,805,652,631,651.087588273,0.402890090334,-0.00543688604083,0.0599532047588,0.999999978167,0.000201630410931,-5.33276252072e-05,1.29717765734e-05,1793244243684965632
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.327866538,714,680,658,635,879,787,805,652,631,651.672133462,0.403144667058,-0.00544518681745,0.0599531559617,0.999999980173,0.000192722166345,-4.88631762919e-05,1.1149838859e-05,1793244243701632256
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.255730574,714,679.744269426,658.255730574,635,879,787,805,652,631.255730574,652,0.403419878947,-0.00545330288166,0.0599519354729,0.999999982011,0.000183223465072,-4.82631968261e-05,8.84319070991e-06,1793244243718299136
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.838116633,714,679.161883367,658.838116633,635,879,787,805,652,631.838116633,652,0.403721448991,-0.00546118300441,0.0599492183329,0.99999998364,0.000172970549021,-5.25994679993e-05,5.91740151942e-06,1793244243734966016
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.415493859,659,635,879,787,805.415493859,652,631.584506141,652,0.404033637508,-0.0054687227229,0.0599397392934,0.999999984338,0.000163844975413,-6.68868957026e-05,2.15033440464e-06,1793244243751632640
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.990942791,659,635,879,787,805.990942791,652,631.009057209,652,0.404349913874,-0.00547613139382,0.0599276570864,0.999999984349,0.000155153401528,-8.50052775602e-05,-1.94060427083e-06,1793244243768299520
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.434660195,634.434660195,879,787,805.434660195,652,631,652,0.404698763546,-0.00548320559541,0.0599135456771,0.999999983138,0.000146461902995,-0.000110601928732,-6.41218150722e-06,1793244243784966400
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.143218176,879,787,805.143218176,652,630.856781824,652,0.405062991242,-0.00549034202797,0.0599035523632,0.999999982067,0.000137428722226,-0.00012987505045,-1.05556653531e-05,1793244243801632768
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.731979051,879,787,805.731979051,652,630.268020949,652,0.405473438503,-0.00549768869474,0.0599064711341,0.999999983466,0.000127332587789,-0.000129104043801,-1.36595348434e-05,1793244243818299136
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.316909754,635,878.683090246,787,805.683090246,652,630.316909754,652,0.40593780777,-0.00550598350955,0.0599231943336,0.999999990774,8.89196953718e-05,-0.00010138348751,-1.63451725517e-05,1793244243834965760
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.8986399,635,878.1013601,787,805.1013601,652,630.8986399,652,0.406447236115,-0.00551507062939,0.0599514529758,0.999999998157,2.68443710421e-05,-5.11429853087e-05,-1.8681322055e-05,1793244243851632640
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.52675705,714,680,658.52675705,634.52675705,878.9464859,787,805,652,631,652,0.406974910096,-0.00551357901733,0.0599795116599,0.999999999621,-1.89487424477e-05,-4.09109037473e-06,-1.95271632299e-05,1793244243868299776
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.046365919,714,680,658.046365919,634,879.953634081,787,805,652.046365919,631,652,0.407504989216,-0.00550903675698,0.0600050160748,0.999999997543,-5.57747077874e-05,3.72095375706e-05,-2.04482763607e-05,1793244243884966912
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.619759453,714,680,658.619759453,634,879.380240547,787,805,652.619759453,631,652,0.408018646501,-0.00549519094602,0.0600019664775,0.999999999009,-2.97254123351e-05,2.07848842532e-05,-2.57993727891e-05,1793244243901633536
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.800858896,659,634,879,786.800858896,805.199141104,652.800858896,631,652,0.408541428894,-0.00549006483976,0.0599948589181,0.999999999405,-1.57584564177e-05,-1.28306120369e-06,-3.06666016099e-05,1793244243918300160
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.209689087,659,634,879,786.209689087,805.790310913,652.209689087,631,652,0.409082174925,-0.00550210432439,0.0599797628644,0.999999998481,-2.55767671742e-05,-3.44603772323e-05,-3.45812894981e-05,1793244243934967040
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.374555934,659,634.374555934,879,786,805.625444066,652,631,652,0.409689066085,-0.00551339509327,0.0599766771208,0.999999997292,-4.48673203651e-05,-4.37656619493e-05,-3.85661187267e-05,1793244243951633920
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.954994576,659,634.954994576,879,786,805.045005424,652,631,652,0.410332315319,-0.00552427431407,0.0599801931024,0.999999995889,-6.93644945839e-05,-3.99491711829e-05,-4.25895025156e-05,1793244243968300544
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.470197912,879,786.529802088,805,652,631,652,0.410999636893,-0.00552651300322,0.059988295113,0.99999999559,-7.99317307202e-05,-1.63945992772e-05,-4.65023709126e-05,1793244243984966656
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.104228825,787,804.895771175,652,630.895771175,651.895771175,0.411669504767,-0.00552695155308,0.0599935481225,0.999999996284,-7.29442761038e-05,9.90957193648e-07,-4.59428975463e-05,1793244244001633280
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.679073258,787,804.320926742,652,630.320926742,651.320926742,0.412341733533,-0.00552254136559,0.0599841967725,0.999999999506,8.01966304557e-06,-1.69689827517e-05,-2.52317790039e-05,1793244244018300160
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.737940484,787,804.262059516,652,630.262059516,651.262059516,0.412997617165,-0.00551308666096,0.0599592117626,0.999999996722,4.36576535918e-05,-6.58223867715e-05,-1.77891817012e-05,1793244244034966528
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.144663686,787,804.855336314,652,630.855336314,651.855336314,0.41363284226,-0.00549725618555,0.0599144673533,0.999999987575,2.2008143891e-05,-0.000153722072805,-2.71166787198e-05,1793244244051633408
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,805.433553034,652,631,652,0.414393176606,-0.00550080185828,0.0599157674285,0.999999988427,1.22390122363e-05,-0.000148241424222,-3.19439000504e-05,1793244244068299776
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.00696368,879,787,805.99303632,652,631,652,0.415194356922,-0.00551062281953,0.0599323277853,0.999999993085,6.23025640948e-06,-0.000112013321905,-3.5262324912e-05,1793244244084965888
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.58450103,879,787,805.41549897,652,631,652,0.416036685485,-0.00552266324196,0.0599826765744,0.999999999129,-5.56926745026e-06,-2.37379560761e-05,-3.38614000089e-05,1793244244101632256
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.833769776,879,786.833769776,805.166230224,652,631,651.833769776,0.416861135159,-0.00553079667973,0.0600177409941,0.999999998651,-1.88676032463e-05,3.53360049958e-05,-3.30673998755e-05,1793244244118298880
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.24129189,879,786.24129189,805.75870811,652,631,651.24129189,0.417639739723,-0.00552891182382,0.0600136132195,0.999999998589,-3.60091931039e-05,1.95316967123e-05,-3.38296773495e-05,1793244244134965248
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.341796059,806,652,631,651,0.418445670856,-0.00552484325493,0.0600016297797,0.999999998824,-3.29807609245e-05,1.01427464913e-07,-3.55683382688e-05,1793244244151631872
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.918432373,806,652,631,651,0.419270377415,-0.00551927430688,0.0599842488922,0.999999998911,-1.60939672185e-05,-2.18201559737e-05,-3.79778498773e-05,1793244244168298752
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.490108634,659,634,879,787,805.509891366,652,631,651.490108634,0.420102056154,-0.00552069359204,0.0599612816046,0.999999997579,-1.64071852154e-05,-5.45001705402e-05,-4.00216538808e-05,1793244244184965888
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.936603484,659,634,879,787,805,652,631,652,0.420929745804,-0.00552302336079,0.059936103015,0.999999994592,-1.99782346642e-05,-9.30254201794e-05,-4.19789669158e-05,1793244244201632512
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.343002803,659,634,879,787,805,652,631,652,0.421714465766,-0.00552333841493,0.0599001283748,0.999999984964,-2.70949349388e-05,-0.000165611646267,-4.37168518796e-05,1793244244218299392
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.245198431,786.754801569,805.245198431,652,631,652,0.422560070088,-0.0055244359723,0.0598927330462,0.999999982181,-3.34188894939e-05,-0.000180248791288,-4.50696545681e-05,1793244244234965760
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.82600932,786.17399068,805.82600932,652,631,652,0.423489009269,-0.00552660457176,0.0599244553081,0.999999991522,-3.86577837767e-05,-0.000115568826155,-4.58953808016e-05,1793244244251632128
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.596259979,786,806,652,630.596259979,652,0.42443376221,-0.00552970586315,0.0599767003872,0.999999997576,-4.27179961379e-05,-3.2737942655e-05,-4.41667990234e-05,1793244244268298496
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.019846661,786,806,652,630.019846661,652,0.425385278394,-0.00553320605218,0.0600377227526,0.999999996401,-4.62741040979e-05,5.78558012256e-05,-4.13457793234e-05,1793244244284965120
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.555763294,659,634,879.555763294,786.555763294,805.444236706,651.444236706,630.555763294,652,0.42630198515,-0.00553446515792,0.060035196574,0.999999996202,-4.33772549223e-05,6.21975547924e-05,-4.296873454e-05,1793244244301631744
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680.865730147,659,634,880,787,805.134269853,651,631,651.865730147,0.427204208769,-0.00553624050417,0.0600258389745,0.999999996435,-4.48791240099e-05,5.56776031975e-05,-4.48946003166e-05,1793244244318298368
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.277329772,659,634,880,787,805.722670228,651,631,651.277329772,0.428061645406,-0.00554003218091,0.0600010403875,0.999999996696,-6.20367089736e-05,2.28235392925e-05,-4.73090024805e-05,1793244244334965248
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.305434323,634,880,787,806,651.305434323,631,651,0.428903511694,-0.00553960304084,0.0599754369871,0.999999996747,-6.20265458672e-05,-1.59717394788e-05,-4.90228638603e-05,1793244244351631872
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.883173454,634,880,787,806,651.883173454,631,651,0.429731496454,-0.00553541090269,0.0599491160702,0.99999999585,-4.67107661241e-05,-6.0063806179e-05,-5.01121697755e-05,1793244244368299008
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.458983674,659.541016326,634,879.541016326,787,806,651.541016326,631,651.458983674,0.430596359142,-0.00553521426949,0.0599346233105,0.999999993814,-5.31682518825e-05,-8.33573393572e-05,-5.09627618124e-05,1793244244384965632
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.965816683,659.034183317,634.034183317,879,786.965816683,806,651.034183317,631,651.965816683,0.43147581835,-0.00553623420597,0.0599268318076,0.999999992082,-6.44426268863e-05,-9.49378150416e-05,-5.16726459916e-05,1793244244401632256
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.392536379,659.607463621,634.607463621,879,786.392536379,806,651.607463621,631,651.392536379,0.432438059624,-0.0055404688132,0.0599774425855,0.999999996592,-6.46469424365e-05,-4.9341016782e-06,-5.1117689391e-05,1793244244418299136
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.812474182,714,680,659.812474182,635,879,786.187525818,806,652,630.812474182,651.187525818,0.433362122087,-0.00554336222075,0.0600120864751,0.999999995269,-6.31038168541e-05,5.38769752039e-05,-5.07651897118e-05,1793244244434965760
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.217683082,714,680,659.217683082,635,879,786.782316918,806,652,630.217683082,651.782316918,0.434203268662,-0.00554334283515,0.0600120537663,0.999999996029,-5.77656302518e-05,4.49444482316e-05,-5.08523830726e-05,1793244244451632128
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.364594261,714,680.364594261,659.364594261,634.635405739,879.364594261,786.635405739,806.364594261,651.635405739,630.364594261,652,0.435024515099,-0.00554356920597,0.0599903244105,0.99999999642,-6.58332486397e-05,7.39683329201e-06,-5.26387590897e-05,1793244244468298496
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.939648087,714,680.939648087,659.939648087,634.060351913,879.939648087,786.060351913,806.939648087,651.060351913,630.939648087,652,0.435834274266,-0.00554393743802,0.0599560708126,0.999999994044,-8.16392772025e-05,-4.66686466192e-05,-5.54059766331e-05,1793244244484965376
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.483527031,680.483527031,659.483527031,634,880,786.516472969,806.483527031,651,631,652,0.43663724387,-0.00554571112271,0.0599420373881,0.999999992289,-8.18793258131e-05,-7.44583139539e-05,-5.63286564536e-05,1793244244501632256
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.094655916,745,713.094655916,680.094655916,659.094655916,634,880,787,806,651.094655916,631,651.905344084,0.437430995696,-0.0055467799343,0.0599291959164,0.999999990025,-7.9297195787e-05,-0.000102042726045,-5.69961207662e-05,1793244244518299136
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.678787682,745,713.678787682,680.678787682,659.678787682,634,880,787,806,651.678787682,631,651.321212318,0.438181198197,-0.00554335158467,0.059910257788,0.999999985349,-7.15596103304e-05,-0.000144497910336,-5.74622620071e-05,1793244244534965504
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.47591731,745,714,681,660,634,880,787,806,651.737958655,631,651,0.438962517201,-0.00554223886938,0.0599112812098,0.999999984871,-7.0345774016e-05,-0.000148327538207,-5.751521277e-05,1793244244551632128
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.311555649,745,714,681,660,634,880,787,806,651.155777824,631,651,0.439781851605,-0.00554395519641,0.059936691931,0.99999998989,-7.71020916235e-05,-0.000104967793787,-5.70633630759e-05,1793244244568299008
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.422882768,745,714,681,660,634,880,787,806,651.422882768,631,651.422882768,0.440555512568,-0.00554519457965,0.0599626646095,0.999999993207,-7.59832805852e-05,-6.86544472777e-05,-5.56724472206e-05,1793244244584965632
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.999744284,633.999744284,879.999744284,786.999744284,806,651.999744284,631,651.999744284,0.441312438295,-0.00554625942565,0.0599888084899,0.999999995342,-7.1996411964e-05,-3.49639953591e-05,-5.39405900186e-05,1793244244601632000
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.426056137,633.426056137,879.426056137,786.426056137,806,651.426056137,631,651.426056137,0.44195854355,-0.00554666181195,0.0599384837671,0.999999988408,-8.81104959723e-05,-0.000110339199671,-5.69804586807e-05,1793244244618298880
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.847677104,745,714,681,659,633,879.152322896,786,806,651.152322896,631,651,0.442600785476,-0.00554630257437,0.0598889863643,0.999999976577,-9.7425968974e-05,-0.000183731316533,-5.99730907973e-05,1793244244634965504
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.255760347,745,714,681,659,633,879.744239653,786,806,651.744239653,631,651,0.443231878236,-0.00554374534049,0.0598418765407,0.99999996263,-8.71211025182e-05,-0.000251400392206,-6.28294027388e-05,1793244244651632640
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.327759527,745,714,681,658.672240473,633,880,786,806.327759527,652,631,651.327759527,0.443860780917,-0.00554498849021,0.0598197131032,0.999999954045,-8.24896058684e-05,-0.000284623779288,-6.39859636562e-05,1793244244668299264
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.904890706,745,714,681,658.095109294,633,880,786,806.904890706,652,631,651.904890706,0.444488017268,-0.00554912311342,0.0598165298079,0.999999952058,-8.21746210267e-05,-0.000291639600635,-6.38492906988e-05,1793244244684965888
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681.477270152,658.477270152,633,880,786,806.522729848,652,631,652,0.445071742481,-0.00554698016843,0.0598140166618,0.999999948885,-8.12983888435e-05,-0.000302252092002,-6.52957434112e-05,1793244244701632512
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.949338069,632.949338069,880,785.949338069,806.050661931,652,630.949338069,652,0.445642145072,-0.0055434718255,0.0598087983828,0.999999944024,-8.06731520237e-05,-0.000317703300771,-6.71441666613e-05,1793244244718299136
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.355021698,632.355021698,880,785.355021698,806.644978302,652,630.355021698,652,0.446161711639,-0.00553860331753,0.0597731322975,0.999999922792,-8.39297226601e-05,-0.000377463414636,-6.99540780089e-05,1793244244734965504
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,713.766978406,682,658,632.233021594,880,785.233021594,807,652,630.233021594,652,0.446676847338,-0.00553808839599,0.059746570812,0.999999905558,-8.96457222584e-05,-0.000419032213349,-7.25230119626e-05,1793244244751632384
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,713.188242017,682,658,632.811757983,880,785.811757983,807,652,630.811757983,652,0.447185409277,-0.00554403252973,0.0597335170686,0.999999898296,-9.90105725112e-05,-0.000433612063963,-7.47344277928e-05,1793244244768299008
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.61162885,745,713,682,658,633,880,786,807,651.61162885,630.61162885,652,0.447689963174,-0.00554877633394,0.0597389944696,0.999999902385,-0.000103098960372,-0.000422816930876,-7.63267646836e-05,1793244244784965888
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.036039155,745,713,682,658,633,880,786,807,651.036039155,630.036039155,652,0.448192584995,-0.00555294150676,0.0597534050096,0.999999911597,-0.00010464377283,-0.000399789511504,-7.76206679948e-05,1793244244801632512
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.53607339,745,713.53607339,682,657.46392661,632.46392661,880,785.46392661,806.46392661,651.53607339,630.53607339,652,0.448609330663,-0.0055590271901,0.0597415244811,0.999999903757,-0.000110931920962,-0.000416990671678,-7.93608833145e-05,1793244244818299392
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.886984223,745,714,682,657,632,880,785,806,652,630.886984223,652,0.449010445536,-0.00556468648109,0.0597229029794,0.999999890745,-0.000117182957806,-0.000445166137426,-8.12684172275e-05,1793244244834966272
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.288287488,745,714,682,657,632,880,785,806,652,630.288287488,652,0.449369038375,-0.00556796209072,0.0596828591978,0.999999859542,-0.000121912947463,-0.000508955733769,-8.37668839055e-05,1793244244851632640
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.297630638,745,714,682,657,631.702369362,880,785.297630638,806,652,630,652,0.449713726868,-0.00557139937407,0.0596513011284,0.999999833858,-0.000121210237209,-0.000557173909233,-8.45572050972e-05,1793244244868299008
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.871680804,745,714,682,657,631.128319196,880,785.871680804,806,652,630,652,0.450045501909,-0.005574986809,0.0596276240263,0.999999815227,-0.000115461996777,-0.000590930382406,-8.37611144495e-05,1793244244884965376
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.449150001,745,713.550849999,682,657,631,879.550849999,785.550849999,806,652,630,651.550849999,0.450372993003,-0.0055716008891,0.0596250420564,0.999999820329,-6.92622503423e-05,-0.000591303040097,-7.00388735266e-05,1793244244901632256
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.971911491,745,713.028088509,682,657,631,879.028088509,785,806,651.971911491,630,651,0.450697393434,-0.0055657931811,0.0596288303054,0.999999829235,-1.67905609988e-05,-0.000581710688832,-5.34938049869e-05,1793244244918299136
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.383293771,745,713.616706229,682,657,631,879.616706229,785,806,651.383293771,630,651,0.450984728416,-0.00555171847704,0.0596385504161,0.999999836295,-7.15501166542e-05,-0.000565047741065,-5.48773482238e-05,1793244244934965760
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+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657.78142554,631,880,785,806.78142554,651.78142554,630,651,0.45151407289,-0.00553848253312,0.0596444028507,0.999999838786,-0.000104228342493,-0.000554943050881,-6.00225038947e-05,1793244244968299520
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657.282586952,631,880,785,806.641293476,652,630,651.358706524,0.451742456169,-0.00554396436686,0.0596451005896,0.999999839171,-0.000108128167799,-0.000553361639231,-6.13038745791e-05,1793244244984965888
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764.912746721,745,714,681.912746721,657,630.912746721,880,784.912746721,806.087253279,652,629.912746721,652,0.452305081379,-0.00555569290395,0.0596369365402,0.999999834631,-0.000116439719805,-0.000559393895806,-6.52625902801e-05,1793244245034965504
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.32151283,745,714,681.32151283,657,630.32151283,880,784.32151283,806.67848717,652,629.32151283,652,0.45244143037,-0.00555787601083,0.0596307352851,0.999999829239,-0.000115072773747,-0.000569129390468,-6.61190459961e-05,1793244245051632384
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+256,4.266666667,HOLD_POSE2,764.207486054,745,714,681.792513946,655.207486054,630.792513946,880,784,807,652,630,651.792513946,0.453275554002,-0.00555338848255,0.0596001529005,0.999999798154,-9.75240287661e-05,-0.000624301898007,-6.6541715589e-05,1793244245756464384
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655.191855157,630,880,784,807,652,629.808144843,651.191855157,0.453249703961,-0.00555185481901,0.05958786893,0.99999978713,-9.51892003999e-05,-0.000642087173757,-6.63543928923e-05,1793244246089310976
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.391305736,714,682,655.391305736,630,880,784,807,652,630,651.391305736,0.453214780547,-0.00555024726269,0.0595744625684,0.999999772253,-9.40791558158e-05,-0.000664939524623,-6.70751214564e-05,1793244246105980160
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.972768228,714,682,655.972768228,630,880,784,807,652,630,651.972768228,0.453170723715,-0.00554909086081,0.0595577887118,0.999999752907,-9.35133068072e-05,-0.000693439298229,-6.76969569243e-05,1793244246122650624
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.452207647,714,681.452207647,656,630,880,784,806.452207647,652,630,652,0.453113510608,-0.00554779119191,0.0595422728213,0.999999741445,-9.27316696641e-05,-0.000709835468008,-6.81471414581e-05,1793244246139313920
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713.877294901,681.122705099,655.877294901,630,880,784,806,652,630,652,0.453052263193,-0.0055461873312,0.0595283397072,0.999999730946,-9.16843322203e-05,-0.0007245744652,-6.85111473213e-05,1793244246155977984
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.301625364,681.698374636,655.301625364,630,880,784,806,652,630,652,0.452978509433,-0.00554348653527,0.0595200393594,0.999999723225,-8.96953044806e-05,-0.000735391372639,-6.85881596596e-05,1793244246172644352
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.71811293,745,713.28188707,682,655.28188707,630,880,783.71811293,806,651.71811293,630,651.71811293,0.452897800561,-0.00554039815699,0.0595165277787,0.999999720893,-8.68453727719e-05,-0.000738897594433,-6.8567671219e-05,1793244246189310720
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.125968285,745,713.874031715,682,655.874031715,630,880,783.125968285,806,651.125968285,630,651.125968285,0.452809436587,-0.00553688318832,0.059518286931,0.999999724569,-8.30478916028e-05,-0.000734357346562,-6.84398690414e-05,1793244246205977600
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.454271659,745,714,682,656,630,880,783.454271659,806,651.454271659,630.454271659,651.454271659,0.452703298834,-0.0055355417134,0.0595200092527,0.999999726056,-8.28631887577e-05,-0.000732449873385,-6.73739752037e-05,1793244246222643968
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,630,880,784,806.031057483,651.968942517,630.968942517,651.968942517,0.452590760347,-0.00553458117774,0.0595216269318,0.999999726977,-8.32686693601e-05,-0.000731264384506,-6.60717511424e-05,1793244246239310592
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,630,880,784,806.817764511,651.182235489,630,651,0.45230161346,-0.00552469433678,0.0595220236838,0.999999729411,-7.09837286738e-05,-0.000729404507668,-6.40900199928e-05,1793244246272644352
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,630,880,784,806.22601771,651.77398229,630,651,0.452134134814,-0.00551764068044,0.0595234963986,0.999999730214,-6.58525528661e-05,-0.000728866241877,-6.31660069927e-05,1793244246289310976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.64212167,682,656,630,880,784,806,651.64212167,630,651,0.451935805029,-0.00551126530694,0.0595225581368,0.999999728131,-6.15958269682e-05,-0.00073218358504,-6.20608707473e-05,1793244246305977344
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.063077284,682,656,630,880,784,806,651.063077284,630,651,0.451718409461,-0.00550530910633,0.05952012991,0.999999724238,-5.78795038937e-05,-0.000737883664829,-6.08438016372e-05,1793244246322643968
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.513077932,713.513077932,681.486922068,656.513077932,630,880,784.513077932,806,651.513077932,630,651.513077932,0.451480320243,-0.00549730426617,0.0595247106622,0.999999728255,-5.15156125367e-05,-0.000733062357633,-5.87810157102e-05,1793244246339310592
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.910261744,745.910261744,714,681.089738256,656.910261744,630,880,785,806,652,630,651.910261744,0.451234585328,-0.00548927889637,0.0595294744579,0.999999732351,-4.47406938724e-05,-0.000728070519262,-5.66549800858e-05,1793244246355977472
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.328899001,745.328899001,714,681.671100999,656.328899001,630,880,785,806,652,630,651.328899001,0.450960823318,-0.00548251311098,0.0595305468467,0.999999731939,-3.74871744162e-05,-0.000729191039911,-5.47488459736e-05,1793244246372644096
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.253516052,745,714,682,656,630.253516052,880,785,806,652,630,651.253516052,0.450662404168,-0.0054747586538,0.0595293405064,0.999999730588,-3.02203356723e-05,-0.000731510739144,-5.29337958912e-05,1793244246389310720
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.837301974,745,714,682,656,630.837301974,880,785,806,652,630,651.837301974,0.450331862769,-0.00546571619768,0.059525165535,0.999999728023,-2.29361455657e-05,-0.000735392676887,-5.12374063023e-05,1793244246405977600
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631,880,784.585037449,806.414962551,652,630,652,0.449967261704,-0.00545511388468,0.0595202679558,0.999999723432,-1.21050147039e-05,-0.000742010146433,-4.91020462844e-05,1793244246422644224
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631,880,784.009743568,806.990256432,652,630,652,0.449589500829,-0.00544390888154,0.0595150911787,0.999999717892,9.6566707677e-08,-0.000749684558009,-4.67970789148e-05,1793244246439311104
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.858444808,714,681.858444808,656.141555192,631,880,784.858444808,806,652,630,651,0.448783071479,-0.00542770851206,0.0595200393037,0.999999729069,1.90813454092e-05,-0.000734679630181,-4.17518395823e-05,1793244246472644352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.265547987,714,681.265547987,656.734452013,631,880,784.265547987,806,652,630,651,0.44835719358,-0.00541957759358,0.0595308800133,0.999999740307,2.79304230574e-05,-0.000719122537573,-3.83308763851e-05,1793244246489311232
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.376392043,657,632,879,785,806,651.376392043,630.623607957,651.376392043,0.445845992355,-0.00543648930453,0.0596389565981,0.999999838421,5.75676957018e-06,-0.000568222092541,-1.57699774596e-05,1793244246572644864
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,632,879.795671195,785.795671195,806,651,631,651.795671195,0.444625899207,-0.00542975558495,0.0596107217513,0.999999816276,7.5063767517e-06,-0.000606055040936,-9.43362216031e-06,1793244246605978112
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.377919689,632.377919689,880,785.622080311,806,651,630.622080311,651.622080311,0.444009728789,-0.00541606943883,0.0596232771168,0.999999831091,2.04459754952e-05,-0.000580833942754,-5.58808648178e-06,1793244246622644736
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.95589261,632.95589261,880,785.04410739,806,651,630.04410739,651.04410739,0.443396782914,-0.00540229046979,0.0596527653428,0.99999985896,3.44359956445e-05,-0.000529995008266,-5.31135446553e-07,1793244246639311360
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.466878877,681,658,633,880,785.533121123,806,651.533121123,630,651.533121123,0.442735957833,-0.00539947621929,0.0596948516826,0.999999889169,4.54404038383e-05,-0.000468572388409,6.10815671069e-06,1793244246655978240
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,681,658,633,879.890833362,786,806,651.890833362,630,651.890833362,0.442058988059,-0.00539870114845,0.0597304671317,0.999999908988,8.0369483733e-05,-0.000418821579285,1.23672157358e-05,1793244246672644864
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713,681,658,633,879.31953559,786,806,651.31953559,630,651.31953559,0.441330419371,-0.00540272357849,0.0597342834244,0.999999887066,0.00021762220893,-0.00042218225722,1.64632258319e-05,1793244246689311744
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.441204211,745,714,681,659,633.441204211,880,786,806,652,631,652,0.439088010978,-0.00541335748096,0.059779093039,0.999999902119,0.000258549223044,-0.000357563893602,3.25795841709e-05,1793244246739311104
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.979621509,745,714,681,659,634,880,786.020378491,806,651.979621509,631,652,0.438341238426,-0.00540789574962,0.0598273619724,0.999999928515,0.000255726894291,-0.000275803060762,3.88126205244e-05,1793244246755977728
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.258314598,681,658.258314598,634,880.741685402,786.258314598,806,651,631,651.258314598,0.435719937065,-0.00538903471648,0.0597514217268,0.999999895884,0.000226698813419,-0.000394677893266,3.26928506119e-05,1793244246805977856
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.328359899,745,713.328359899,681,658.328359899,634,880.671640101,786.328359899,806,651.328359899,631,651,0.434870152936,-0.00539411631897,0.0597422349061,0.99999990542,0.00018668923688,-0.000392345588538,1.93031665827e-05,1793244246822644480
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.925482504,745,713.925482504,681,658.925482504,634,880.074517496,786.925482504,806,651.925482504,631,651,0.434034924958,-0.00540469493592,0.059756840548,0.999999929679,0.000133697146549,-0.000350373978412,2.21830435483e-06,1793244246839311104
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.073931016,745,713.926068984,681,658.926068984,634,880,786,805,651.073931016,631,652,0.432281035604,-0.00541287527797,0.0597941943134,0.999999941949,0.000141465680942,-0.000309566362146,1.6045000001e-05,1793244246872644608
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.273604206,745,714,681,659.273604206,634,879,787,805.273604206,652,631,651.726395794,0.424975631961,-0.00539703528376,0.0598021324627,0.999999935776,0.000172047506597,-0.000313399936865,2.50659994318e-05,1793244247005978368
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.690221355,680.690221355,658.690221355,634,879,787,805,651.690221355,631,652,0.424075275159,-0.00539701893488,0.0598234964987,0.999999941729,0.000180341792669,-0.000288516878474,2.78798755166e-05,1793244247022644992
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.110184905,680.110184905,658.110184905,634,879,787,805,651.110184905,631,652,0.42317781666,-0.00539612031417,0.0598335803929,0.999999945385,0.000191386114804,-0.00026794357492,2.84112245301e-05,1793244247039311104
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.467709059,680.467709059,658.467709059,634,879,787,805.467709059,651.467709059,631,652,0.422297491841,-0.00539201135581,0.0598401888424,0.999999948578,0.000191798831442,-0.000255459144559,2.82457510775e-05,1793244247055977728
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.955273019,714,681,658.955273019,634,879,786.955273019,805.955273019,652,631,651.955273019,0.421414553867,-0.00538738886269,0.0598410360077,0.999999949126,0.000190738008882,-0.000254149267929,2.782447234e-05,1793244247072644352
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.382665033,714,681,658.382665033,634,879,786.382665033,805.382665033,652,631,651.382665033,0.420453353592,-0.00538559091845,0.0597835059804,0.999999913666,0.000201711739316,-0.000362336740915,2.63127393714e-05,1793244247089311232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.196117995,714,680.803882005,658,634,879,786,805,652,630.803882005,651,0.419527382123,-0.00538488665664,0.0597408585407,0.999999885088,0.000205006116737,-0.000432660780769,2.45052558915e-05,1793244247105977856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.787341568,714,680.212658432,658,634,879,786,805,652,630.212658432,651,0.418672383555,-0.00538638576208,0.0597281940267,0.999999890126,0.000192829430302,-0.00042670396584,2.210194423e-05,1793244247122644736
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.370729783,805,652,630.370729783,651,0.417852986497,-0.00538620503524,0.0597520790821,0.999999906278,0.000195329428468,-0.0003856763373,2.33189038917e-05,1793244247139311104
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.949716464,805,652,630.949716464,651,0.417053588584,-0.00538508066505,0.0597964958038,0.999999925618,0.00020607403222,-0.000324947731252,2.65695455851e-05,1793244247155977728
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.476208422,680.523791578,658,634,879,787,805,652,631,651,0.416271021339,-0.00538392746526,0.0598236302671,0.9999999347,0.00021059953461,-0.000292214310536,2.92891377302e-05,1793244247172644352
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,713.097630863,680.902369137,658.097630863,634,879,787,805,652,631,651,0.415491206602,-0.00538302411777,0.0598446455518,0.999999940654,0.000214518672095,-0.000267743101916,3.1420835079e-05,1793244247189311232
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.672600991,680.327399009,658.672600991,634,879,787,805,652,631,651,0.41471702324,-0.00538335576022,0.0598437790629,0.999999939054,0.000218365044339,-0.000270649918714,3.09251210518e-05,1793244247205977600
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.744624701,714,680,658.744624701,634,879,787,805,652,631,651,0.413941492263,-0.00538464638417,0.0598397889479,0.999999937446,0.000217587912337,-0.000277146201638,3.08637149612e-05,1793244247222643968
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.151529848,714,680,658.151529848,634,879,787,805,652,631,651,0.413164179203,-0.00538720520749,0.0598316680122,0.999999935727,0.000210696454141,-0.000288389352571,3.1376656871e-05,1793244247239310592
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.429665092,714,680,658,634,879,786.570334908,805,652,631,651,0.412383454152,-0.00538102298861,0.0597918231083,0.999999912249,0.000217919526431,-0.000356582226318,2.93562494142e-05,1793244247255977472
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.006708844,805,652,631,651,0.411603261923,-0.00537195128645,0.0597417643975,0.999999875107,0.000229923476034,-0.000442966168392,2.64857612088e-05,1793244247272644096
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.578063314,805,652,631,651,0.41096646574,-0.00537214953534,0.059748328661,0.99999988534,0.000236646849728,-0.000415550378903,2.52377624923e-05,1793244247289311488
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.155059241,786.844940759,805,652,631,651.155059241,0.410336669613,-0.00537297059518,0.059765451716,0.999999899626,0.000237645052656,-0.000378988267561,2.5306222536e-05,1793244247305978368
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.747986056,786.252013944,805,652,631,651.747986056,0.409726640609,-0.00537555039397,0.0598123914565,0.999999924712,0.000222476102929,-0.000316598100143,2.90921943721e-05,1793244247322644992
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.333458222,634.333458222,880,786,805,652,631,652,0.409129349421,-0.00537660817988,0.0598430938057,0.999999939597,0.000213397501499,-0.000272541161148,3.14418702764e-05,1793244247339311360
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.913419634,634.913419634,880,786,805,652,631,652,0.408541474478,-0.00537654084411,0.0598617929432,0.99999994837,0.000208821085314,-0.00024203674649,3.27297892168e-05,1793244247355977984
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.510068561,879.510068561,786.489931439,805,652,631,651.510068561,0.407965626035,-0.00537809536696,0.0598502348329,0.999999939324,0.000232753001597,-0.000257228787497,3.18117727466e-05,1793244247372644608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.934370518,714,680,658.934370518,634,879,787,805,652,631,651,0.407398784578,-0.00537954376577,0.0598343376712,0.999999927625,0.000256881802161,-0.00027898243888,3.04973947892e-05,1793244247389311232
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.360287113,714,680,658.360287113,634,879,787,805,652,631,651,0.406885372888,-0.00537796501614,0.0598259601128,0.999999927973,0.000243777930874,-0.000289445305335,2.91113106086e-05,1793244247405977856
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.220336856,714,680,658,634.220336856,879,787,805,652,631,651.220336856,0.406390055887,-0.0053765842604,0.0598237258544,0.999999929885,0.00023482831078,-0.000290305070027,2.8420295194e-05,1793244247422644736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.811982847,714,680,658,634.811982847,879,787,805,652,631,651.811982847,0.405925231898,-0.00537553716184,0.0598318442151,0.999999934658,0.000232879388423,-0.000274981797015,2.89006018211e-05,1793244247439311616
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.604935609,680,658,634.604935609,879,787,805,652,631,652,0.405477253335,-0.00537254670624,0.0598299735778,0.999999933196,0.000238506502609,-0.000275466076975,2.89972602926e-05,1793244247455978240
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.02584348,680,658,634.02584348,879,787,805,652,631,652,0.405037121617,-0.00536865100167,0.0598234498955,0.99999992878,0.00024766266378,-0.000283313783634,2.89152089438e-05,1793244247472645120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.546521505,680,658,634,879,787,805,652,631,652,0.40462256766,-0.00536095918488,0.0598011218219,0.999999914918,0.000258026826174,-0.000320592104508,2.8419478713e-05,1793244247489311488
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.877583803,714,680,658,634.122416197,879,786.877583803,805.122416197,652,631,652,0.404222294167,-0.00535401256004,0.059780221887,0.999999900733,0.000267260384188,-0.000355414914629,2.80443136284e-05,1793244247505977600
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.286987801,714,680,658,634.713012199,879,786.286987801,805.713012199,652,631,652,0.403872066603,-0.00535059409148,0.0597676073148,0.999999892089,0.000271954148667,-0.000375588859402,2.8204152983e-05,1793244247522644224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.702499886,744,714,680,658,634.702499886,879,786.297500114,805.702499886,652,631,652,0.403556434021,-0.00534845267836,0.0597703740816,0.999999893616,0.000276169740195,-0.000368288962885,2.93626626087e-05,1793244247539310848
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.123785716,744,714,680,658,634.123785716,879,786.876214284,805.123785716,652,631,652,0.403273502608,-0.00534751841099,0.059787680167,0.999999904205,0.000279933334975,-0.000335019225105,3.14651722388e-05,1793244247555977472
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.451673541,744.451673541,714,680,658.451673541,634,879,787,805.451673541,652,631,651.548326459,0.403031708529,-0.00534847925689,0.059809428812,0.9999999156,0.000280727041054,-0.000298084390397,3.37212945531e-05,1793244247572644352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.973652251,634,879,786.973652251,806,652.026347749,631,651.026347749,0.402801619041,-0.00535041329814,0.0598317633673,0.999999925988,0.00028010800965,-0.000261279155624,3.59975340343e-05,1793244247589311488
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.396876065,634,879,786.396876065,806,652.603123935,631,651.603123935,0.402582207897,-0.00536190569054,0.0598410848336,0.999999932923,0.000266857654529,-0.000248015261568,3.78208445806e-05,1793244247605978112
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.184071765,879,786.184071765,805.815928235,652.815928235,631,652,0.402367023797,-0.00537301441302,0.0598445249799,0.999999937555,0.000251550518181,-0.000245134414646,3.90120253902e-05,1793244247622644480
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.77422254,879,786.77422254,805.22577746,652.22577746,631,652,0.40216116497,-0.00538327672338,0.0598349903996,0.999999937248,0.000231705937668,-0.000265159513375,3.88086704222e-05,1793244247639311360
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.644032957,878.644032957,787,805,652,631,652,0.401976783204,-0.0053843620227,0.0598283537887,0.99999994244,0.00019015681138,-0.000279559626945,2.8406599199e-05,1793244247655977984
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.067497196,878.067497196,787,805,652,631,652,0.401805709301,-0.00537976094955,0.0598235128526,0.99999994861,0.000135158842631,-0.000290474318657,1.16850727247e-05,1793244247672644608
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786.490981914,805,652.509018086,631,652,0.40167454897,-0.00538357396414,0.0598265231121,0.999999950264,0.000128215436706,-0.000287887217261,1.23731885614e-05,1793244247689311232
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.087628259,878,786.087628259,805,652.912371741,631,652,0.401552936878,-0.00538726953261,0.0598302907531,0.999999951239,0.000130539927144,-0.000283296130331,1.49904179247e-05,1793244247705977856
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.678279809,878,786.678279809,805,652.321720191,631,652,0.401455754848,-0.00538388640132,0.0598324300289,0.99999995021,0.000149488600617,-0.00027747841201,1.54299615869e-05,1793244247722644480
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878.263922694,787,805,652,631,652,0.401365968561,-0.0053816799843,0.0598343353526,0.999999944924,0.000186934685504,-0.000273753521518,1.63264714102e-05,1793244247739311104
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,878.843573721,787,805,652,631,652,0.401285029741,-0.00538088126014,0.0598359608014,0.999999932322,0.000246509055021,-0.000272532261787,1.77696456615e-05,1793244247755977984
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,879,787,805,652,631,652,0.401215717955,-0.00538109551465,0.05983439196,0.999999927958,0.000259933830278,-0.000275983975135,1.87235103959e-05,1793244247772644608
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,635,879,787,805,652,631,652,0.401150703589,-0.00538168417185,0.0598316424907,0.999999927438,0.000256301452828,-0.000281162846062,1.94965235421e-05,1793244247789311232
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.570263179,634.429736821,879,787,805,652,631,652,0.40110482386,-0.00537862197282,0.0598294944105,0.999999925739,0.000258024153644,-0.000285626152207,1.90502873142e-05,1793244247805977856
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.148594117,745,714,680,658.851405883,634,879.148594117,787,805.148594117,652.148594117,631,652,0.401063812411,-0.00537661721133,0.0598280707428,0.99999992471,0.000259199073351,-0.000288164606106,1.88797343311e-05,1793244247822644480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.740179921,745,714,680,658.259820079,634,879.740179921,787,805.740179921,652.740179921,631,652,0.401036952105,-0.00537783402554,0.059828795322,0.999999925755,0.000258639549294,-0.00028497819986,1.95541377623e-05,1793244247839311104
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.67611034,745,714,680,658.32388966,634,879.67611034,787,805.67611034,652.67611034,631,652,0.401016723638,-0.00537787438307,0.0598304339868,0.999999926476,0.000258974801218,-0.000282089786663,2.01265921037e-05,1793244247855977728
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.098568626,745,714,680,658.901431374,634,879.098568626,787,805.098568626,652.098568626,631,652,0.401001688849,-0.00537699340643,0.0598327885116,0.999999926943,0.000260010790995,-0.000279434744417,2.06192057592e-05,1793244247872644352
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.525396813,634.474603187,879,787,805,652,631,652,0.400991458722,-0.00537598085813,0.0598347450038,0.999999927649,0.000260289775348,-0.000276628086715,2.06731081779e-05,1793244247889311232
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.954628583,879,787,805,652,631,652,0.400982577507,-0.00537518778404,0.0598365289783,0.999999928408,0.000260214593605,-0.000273944769454,2.06428250615e-05,1793244247905978368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.400720524,879,787,805,652,631,652,0.400977732992,-0.00537715812259,0.0598372974142,0.999999929263,0.000257915900076,-0.000272993599669,2.06808850227e-05,1793244247922644736
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.828894381,658,634,879,787,805,652.171105619,630.828894381,652,0.400973531186,-0.0053779174071,0.059837980639,0.999999929752,0.000256882544664,-0.000272181159898,2.06329281129e-05,1793244247939311360
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.210196685,658,634,879,787,805,652.789803315,630.210196685,652,0.40097101063,-0.00537550871723,0.059838440962,0.999999929292,0.000259159164368,-0.000271731621516,2.03599612315e-05,1793244247955977984
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.381626013,658.381626013,634.381626013,878.618373987,787,805,653,630.381626013,652,0.400969613346,-0.00537538418774,0.0598386861919,0.999999929165,0.000260251874437,-0.000271149283698,2.04190899201e-05,1793244247972644608
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44008c950beb70d7a8d160ef26e90ba08b7877e5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e6f840fec94e967e4177cc9052db447a788bb35
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d001efb1aec4c5790de711b0c0b2b7bcfb02949d35dd4b2bea3748d894f943dc
+size 26002958
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..365332998faf0c2e9c1b015315ebc1fb4dfd7518
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+8,0.133333333,BASELINE,765,745,714,679.299329974,658,634.700670026,879,787,805.299329974,652.299329974,631,652,0.400968152613,-0.00537916391325,0.0598445025777,0.999999934116,0.000250408797397,-0.000262032392414,2.00699254327e-05,1793244248556135680
+9,0.150000000,BASELINE,765,745,714,679,658,635,878.714879733,787,805,652,631,652,0.400968477124,-0.0053784855473,0.0598447899798,0.999999934185,0.000250634645677,-0.000261555327457,2.00093162489e-05,1793244248572801792
+10,0.166666667,BASELINE,765,745,714,679,658,635,878.135425141,787,805,652,631,652,0.400971609133,-0.00537864259795,0.0598467909721,0.999999935598,0.00024870086003,-0.000257964225194,2.01426146008e-05,1793244248589468416
+11,0.183333333,BASELINE,765,745,714,679.440819884,658,634.559180116,878.440819884,786.559180116,805.440819884,652,631,652,0.400971152021,-0.00537876127292,0.059846579807,0.999999935434,0.000248792041698,-0.000258517829843,2.00932724876e-05,1793244248606135296
+12,0.200000000,BASELINE,765,744.98399998,714,679.98399998,658,634.01600002,879,786.01600002,805.98399998,652,631,652,0.400969664858,-0.00537887058579,0.0598457324952,0.999999934805,0.000249512563241,-0.000260258188893,2.00015573196e-05,1793244248622802432
+13,0.216666667,BASELINE,765,744.411810916,714,679.411810916,658,634.588189084,879,786.588189084,805.411810916,652,631,652,0.400970423381,-0.00537906131569,0.0598462249807,0.999999934761,0.000250641268115,-0.000259309881377,2.03732414537e-05,1793244248639469056
+14,0.233333333,BASELINE,765,744.166462627,714,679.166462627,658,634.833537373,879,787,805.166462627,652,630.833537373,652,0.400970928554,-0.00537972936241,0.0598465634991,0.999999934925,0.000250676831067,-0.000258617830467,2.06684405845e-05,1793244248656135936
+15,0.250000000,BASELINE,765,744.760359715,714,679.760359715,658,634.239640285,879,787,805.760359715,652,630.239640285,652,0.40097078319,-0.00538162303957,0.0598465066687,0.999999935623,0.000247905478773,-0.000258583782333,2.07672454053e-05,1793244248672802304
+16,0.266666667,BASELINE,764.654356035,745,713.654356035,680,658,634,879,786.654356035,805.654356035,652.345643965,630.345643965,652,0.40097146841,-0.00538149602678,0.0598468609038,0.999999935717,0.000247727090668,-0.000258396870088,2.07053618604e-05,1793244248689468672
+17,0.283333333,BASELINE,764.074898053,745,713.074898053,680,658,634,879,786.074898053,805.074898053,652.925101947,630.925101947,652,0.400972715486,-0.00538000209971,0.0598474932079,0.999999935404,0.000249302737038,-0.00025810655152,2.05347791971e-05,1793244248706135040
+18,0.300000000,BASELINE,764.501140587,744.498859413,713.501140587,679.498859413,658,634,879,786.501140587,805,652.498859413,631,651.498859413,0.400972248153,-0.00538069891488,0.0598478613524,0.999999935665,0.000248861686937,-0.000257508553167,2.06640146251e-05,1793244248722801664
+19,0.316666667,BASELINE,765,744,714,679.078070825,658,634,878.921929175,787,805,652,631,651.078070825,0.400971567502,-0.00538165911219,0.0598479429189,0.999999935933,0.000248135007432,-0.000257158616151,2.08157424338e-05,1793244248739468288
+20,0.333333333,BASELINE,765,744,714,679.664104691,658,634,878.335895309,787,805,652,631,651.664104691,0.400971154739,-0.00538221710265,0.0598464150169,0.999999935688,0.000247497685566,-0.000258719841692,2.0824241948e-05,1793244248756135168
+21,0.350000000,BASELINE,765.247098027,744.247098027,713.752901973,680,658.247098027,634.247098027,878.247098027,786.752901973,805,652,631,652,0.400971257546,-0.00538116183287,0.0598460934288,0.999999935278,0.000248987861062,-0.000258886171583,2.06646330166e-05,1793244248772802048
+22,0.366666667,BASELINE,765.826008381,744.826008381,713.173991619,680,658.826008381,634.826008381,878.826008381,786.173991619,805,652,631,652,0.40097205268,-0.00537794021779,0.0598473917237,0.999999934634,0.00025333491839,-0.000257179384113,2.02792818742e-05,1793244248789469184
+23,0.383333333,BASELINE,765.595883295,745,713.404116705,680,658.595883295,635,879,786.404116705,805,652.404116705,631,652,0.400971254082,-0.00537669394166,0.0598473966633,0.999999934153,0.000254849917411,-0.000257563807368,2.01645375508e-05,1793244248806135808
+24,0.400000000,BASELINE,765.018119549,745,713.981880451,680,658.018119549,635,879,786.981880451,805,652.981880451,631,652,0.400969770665,-0.00537629645907,0.0598468458544,0.999999933746,0.000255147994723,-0.000258846813855,2.01660716673e-05,1793244248822802688
+25,0.416666667,BASELINE,765,745.552250678,714,680,658,635,879,787,805,652.447749322,631,652,0.400970746632,-0.00537691246173,0.0598470518222,0.999999934513,0.000253296799546,-0.000257699509539,2.01269339433e-05,1793244248839469056
+26,0.433333333,BASELINE,764.872339497,745.872339497,714,680,658,634.872339497,879.127660503,787,805,652,631,652,0.400971660989,-0.00537756882864,0.0598473368678,0.999999935138,0.000251815818564,-0.000256728311161,2.00967249845e-05,1793244248856135680
+27,0.450000000,BASELINE,764.277615656,745.277615656,714,680,658,634.277615656,879.722384344,787,805,652,631,652,0.400972058611,-0.00537825282108,0.0598478215855,0.999999935115,0.000251943908887,-0.000256689303273,2.01040009139e-05,1793244248872802048
+28,0.466666667,BASELINE,764.309590293,745,714,680,658,634.309590293,879.690409707,787,805,652,631,652,0.400972792057,-0.00537891699955,0.0598482274203,0.999999935397,0.000251409157334,-0.000256100898293,2.03045502275e-05,1793244248889468928
+29,0.483333333,BASELINE,764.89021459,745,714,680,658,634.89021459,879.10978541,787,805,652,631,652,0.400973819506,-0.00537956383164,0.0598485641963,0.999999935942,0.00025029411404,-0.000255031517984,2.06743027116e-05,1793244248906135552
+30,0.500000000,BASELINE,765,745,714,680,658,635,879,787,805.465503461,652.465503461,631,651.534496539,0.40097334153,-0.00537996397502,0.0598484555549,0.999999936119,0.000249207142719,-0.000255406696872,2.06202988108e-05,1793244248922802176
+31,0.516666667,BASELINE,764.960593533,745,714,680,658,634.960593533,879,787,805.960593533,652.960593533,631,651.039406467,0.400972575024,-0.005380156266,0.059848259127,0.999999936161,0.000248349055619,-0.000256090077445,2.04623839261e-05,1793244248939468800
+32,0.533333333,BASELINE,764.388606961,745,714,680,658,634.388606961,879,787,805.388606961,652.388606961,631,651.611393039,0.400972653056,-0.00537831681313,0.0598482799058,0.999999935554,0.000250495885247,-0.000256386577874,2.02354910596e-05,1793244248956135424
+33,0.550000000,BASELINE,764.19174709,745,714,679.80825291,658,634.19174709,878.80825291,787,805,652.19174709,631,652,0.400972294558,-0.00537728491198,0.0598479079508,0.999999934985,0.000251997250035,-0.000257144423298,2.0080301912e-05,1793244248972801792
+34,0.566666667,BASELINE,764.789832919,745,714,679.210167081,658,634.789832919,878.210167081,787,805,652.789832919,631,652,0.400971010991,-0.00537796432541,0.0598467037384,0.999999934504,0.00025213078483,-0.000258879922858,2.00770629408e-05,1793244248989468160
+35,0.583333333,BASELINE,765,745,714,679.373902035,658,634.626097965,878.373902035,787,805,652.626097965,631,652,0.400969748347,-0.00537929298215,0.0598459091693,0.999999934424,0.000251145015915,-0.00026013767018,2.01684301713e-05,1793244249006135040
+36,0.600000000,BASELINE,765,745,714,679.950377214,658,634.049622786,878.950377214,787,805,652.049622786,631,652,0.400968497037,-0.00538097338686,0.0598453365372,0.999999934559,0.000249552829156,-0.000261136580419,2.03110532755e-05,1793244249022801920
+37,0.616666667,BASELINE,765,745,714,680,658,634,879.522122964,787,805,652,631,652,0.400970377385,-0.0053813598333,0.0598464720947,0.999999935424,0.000248983303791,-0.000258342529333,2.04375748739e-05,1793244249039469056
+38,0.633333333,BASELINE,765,745,714,679.90289999,658,634.09710001,879.90289999,787,805,652.09710001,631,651.90289999,0.400972243211,-0.00538131536746,0.0598476683355,0.999999936165,0.000248784540594,-0.000255648920788,2.05095453176e-05,1793244249056135936
+39,0.650000000,BASELINE,765,745,714,679.309115489,658,634.690884511,879.309115489,787,805,652.690884511,631,651.309115489,0.400972525966,-0.00537969011586,0.0598483520017,0.999999935958,0.000249989591034,-0.000255296486135,2.03102340408e-05,1793244249072802048
+40,0.666666667,BASELINE,765,745,714,679.277540731,658,635,878.722459269,787,805.277540731,652.722459269,631,651,0.400972392148,-0.00537896222668,0.0598484524359,0.999999935743,0.00025045687146,-0.000255686350018,2.02451896552e-05,1793244249089468416
+41,0.683333333,BASELINE,765,745,714,679.85645648,658,635,878.14354352,787,805.85645648,652.14354352,631,651,0.400971805984,-0.00537920876255,0.059847919552,0.999999935518,0.000250123024532,-0.000256882258615,2.03259425726e-05,1793244249106134784
+42,0.700000000,BASELINE,765,745,714,680,658.431385282,635,878,787,805.568614718,652.431385282,631,651.431385282,0.400970983483,-0.00537917168488,0.0598472613402,0.999999935281,0.00025039347472,-0.00025754986631,2.02392126481e-05,1793244249122801664
+43,0.716666667,BASELINE,765,745,714,680,658.994993408,634.994993408,878.005006592,787,805,653,631,652,0.400970090213,-0.00537905340595,0.0598465700544,0.999999935043,0.00025084892079,-0.000258039367423,2.01020023452e-05,1793244249139468288
+44,0.733333333,BASELINE,765,745,714,680,658.42057285,634.42057285,878.57942715,787,805,653,631,652,0.400970010279,-0.00538033483262,0.0598468167038,0.999999935315,0.000249684507788,-0.000258082559086,2.05037959414e-05,1793244249156134912
+45,0.750000000,BASELINE,765,745,714.159114026,680,658,634,879,787,805,652.840885974,631,652,0.400970310839,-0.00538131465537,0.0598470861473,0.999999935569,0.000248772995785,-0.000257957970553,2.07869725266e-05,1793244249172801280
+46,0.766666667,BASELINE,765,745,714.753197321,680,658,634,879,787,805,652.246802679,631,652,0.400971651557,-0.00538146998472,0.0598474179026,0.999999935775,0.000248552838246,-0.000257374722074,2.07458862797e-05,1793244249189467904
+47,0.783333333,BASELINE,765,745,714.662933437,680,658.337066563,634.337066563,879,787,805.337066563,652,631,652,0.400971408225,-0.0053812924541,0.0598475173447,0.999999935679,0.000248733089269,-0.000257580316272,2.06449273964e-05,1793244249206134528
+48,0.800000000,BASELINE,765,745,714.086322978,680,658.913677022,634.913677022,879,787,805.913677022,652,631,652,0.400970039154,-0.00538087836911,0.0598474516884,0.999999935369,0.000249197899574,-0.00025834651911,2.05014186801e-05,1793244249222801152
+49,0.816666667,BASELINE,765,745,714,679.510477916,658.510477916,635,879,787,805.510477916,652.489522084,631,652,0.400970074537,-0.0053807629918,0.0598475454574,0.999999935414,0.000249382592177,-0.000257994251488,2.04523728397e-05,1793244249239468032
+50,0.833333333,BASELINE,765,745,714,679.065088398,658,635,879,787,805,652.934911602,631,651.934911602,0.400970429692,-0.0053808215491,0.0598476831971,0.999999935539,0.000249454369835,-0.000257443558897,2.04521754297e-05,1793244249256134912
+51,0.850000000,BASELINE,765,745,714,679.639528234,658,635,879,787,805,652.360471766,631,651.360471766,0.400971352154,-0.00538182967487,0.0598479453742,0.999999935784,0.000249028477059,-0.000256881125395,2.07040910675e-05,1793244249272801536
+52,0.866666667,BASELINE,765.209672234,745,714,680,658,634.790327766,878.790327766,787,805,652,631,651.209672234,0.400972021448,-0.0053825608031,0.0598482045788,0.999999936153,0.000248051970099,-0.000256369762961,2.09348414269e-05,1793244249289468416
+53,0.883333333,BASELINE,765.772579011,745,714,680,658,634.227420989,878.227420989,787,805,652,631,651.772579011,0.400972264229,-0.00538282527389,0.0598484587757,0.999999936729,0.00024614784416,-0.000255944439921,2.11299346538e-05,1793244249306136064
+54,0.900000000,BASELINE,765.63772133,745,714,679.63772133,658,634.36227867,878.36227867,787,805,652,631,652,0.400972034769,-0.00538168915519,0.0598482368362,0.999999936589,0.000246860048977,-0.000255824349098,2.08992034865e-05,1793244249322802688
+55,0.916666667,BASELINE,765.029859185,745,714,679.029859185,658,634.970140815,878.970140815,787,805,652,631,652,0.400971485184,-0.00537960359713,0.0598476921307,0.99999993596,0.000249345826674,-0.000255911170799,2.03798121091e-05,1793244249339468800
+56,0.933333333,BASELINE,765.546027611,744.453972389,714,679.546027611,658,635,879,787,805.546027611,652,631,651.453972389,0.40097184403,-0.00538078065783,0.0598479670233,0.999999936374,0.000247613231489,-0.000255981111934,2.03393505903e-05,1793244249356135168
+57,0.950000000,BASELINE,765.876089224,744.123910776,714,680,658,635,879.123910776,787,805.876089224,652,631,651.123910776,0.400972146252,-0.00538154630017,0.0598482048919,0.99999993673,0.00024620655297,-0.000255952022381,2.02548706571e-05,1793244249372801536
+58,0.966666667,BASELINE,765.284434852,744.715565148,714,680,658,635,879.715565148,787,805.284434852,652,631,651.715565148,0.400972057578,-0.00538012267461,0.0598481431745,0.99999993668,0.000246852764356,-0.000255552399427,1.99108342571e-05,1793244249389468672
+59,0.983333333,BASELINE,765,745,714,680,658,635,879.698966431,787,805,652,631,652,0.400972167025,-0.00538012954723,0.0598479946224,0.99999993667,0.000247250974761,-0.000255204523053,1.99629158178e-05,1793244249406135552
+60,1.000000000,BASELINE,765,745,714,680,658,635,879.11922512,787,805,652,631,652,0.400972459902,-0.00538146082654,0.0598477656756,0.999999936696,0.000247419576981,-0.000254904555485,2.03817376432e-05,1793244249422802176
+61,1.016666667,BASELINE,765,745,714,679.544927606,658.455072394,634.544927606,879,787,804.544927606,652,631,652,0.400971570607,-0.00538052465223,0.0598474016284,0.999999936453,0.000246840614712,-0.000256439691078,2.00479087528e-05,1793244249439468800
+62,1.033333333,BASELINE,765,745,714,679.02806557,658.97193443,634,879,787,804,652,631,652,0.400970456451,-0.00537916759143,0.0598470436211,0.999999936183,0.00024605039509,-0.000258284470797,1.95709273314e-05,1793244249456135680
+63,1.050000000,BASELINE,765,745,714,679.603106435,658.396893565,634,879,787,804,652,631,652,0.400970924743,-0.00538104855733,0.0598474849964,0.999999936806,0.000244914884524,-0.000256904687598,2.01016264939e-05,1793244249472802560
+64,1.066666667,BASELINE,765,745,714,680,658.183682651,634,879,787,804.183682651,652.183682651,631,652,0.400971048058,-0.00538212366166,0.0598478273556,0.999999936883,0.000245242355075,-0.000256265800564,2.04598246436e-05,1793244249489470208
+65,1.083333333,BASELINE,765,745,714,680,658.776591016,634,879,787,804.776591016,652.776591016,631,652,0.4009704028,-0.00538140339069,0.0598479491175,0.999999935737,0.000248829194432,-0.000257277552694,2.04337085674e-05,1793244249506138880
+66,1.100000000,BASELINE,765,745,714,680,658.640123689,634,879,787,805,653,631,652,0.40097045987,-0.00538005219183,0.0598480356728,0.999999935546,0.000249317938006,-0.000257569259192,2.01864312832e-05,1793244249522804992
+67,1.116666667,BASELINE,765,745,714,680,658.062656776,634,879,787,805,653,631,652,0.400970941585,-0.00537831951755,0.0598481009413,0.999999935934,0.000247933491947,-0.000257425607288,1.9805434166e-05,1793244249539469312
+68,1.133333333,BASELINE,765,745,714,680,658,634.511159053,879,787,805,652.488840947,631,652,0.4009717472,-0.00538057036249,0.059848135181,0.999999936714,0.000245952706259,-0.000256259757017,2.02469485168e-05,1793244249556135680
+69,1.150000000,BASELINE,765,745,714,679.912800694,658,635,878.912800694,787,805,652,631,652,0.400972520064,-0.00538262521579,0.0598483097424,0.999999937378,0.000244546748302,-0.000254977548685,2.06777823298e-05,1793244249572802048
+70,1.166666667,BASELINE,765,745,714,679.321327021,658,635,878.321327021,787,805,652,631,652,0.400972875554,-0.00538074288081,0.0598493176252,0.999999937122,0.000246884753611,-0.000253741906695,2.04679326505e-05,1793244249589468672
+71,1.183333333,BASELINE,765,745,714,679.264711383,658,635,878.264711383,787,805,652.264711383,631,652,0.400972643574,-0.00538013499332,0.059849516157,0.999999936838,0.000248253657705,-0.000253525356721,2.04572089099e-05,1793244249606135040
+72,1.200000000,BASELINE,765,745,714,679.844284861,658,635,878.844284861,787,805,652.844284861,631,652,0.400971712826,-0.00538104300263,0.0598487520029,0.999999936527,0.000248469860494,-0.000254520969975,2.06833363477e-05,1793244249622801664
+73,1.216666667,BASELINE,765,745,714,680,658,634.57991402,879,786.57991402,805,653,631,652,0.400971112481,-0.00538203322341,0.0598481892347,0.999999936688,0.000246928218954,-0.000255383161092,2.07308373008e-05,1793244249639468800
+74,1.233333333,BASELINE,765,745,714,680,658,634.005498808,879,786.005498808,805,653,631,652,0.400970633517,-0.00538305364659,0.0598477004508,0.999999937018,0.000244740788729,-0.000256196336146,2.07127152733e-05,1793244249656135680
+75,1.250000000,BASELINE,765,745,714,680,658.581640907,634.581640907,879,786.581640907,805,652.418359093,631,652,0.40097133986,-0.00538204969669,0.059848020101,0.99999993665,0.000246894613601,-0.000255576828027,2.059953151e-05,1793244249672802560
+76,1.266666667,BASELINE,765,745,713.833352141,680,658.833352141,634.833352141,879,786.833352141,805,652.166647859,631,652,0.400971920453,-0.00538152744132,0.0598483649223,0.999999936504,0.00024808443791,-0.000254997116021,2.05361723505e-05,1793244249689469440
+77,1.283333333,BASELINE,765,745,713.253932515,680,658.253932515,634.253932515,879,786.253932515,805,652.746067485,631,652,0.400972161201,-0.00538224676427,0.0598487527363,0.999999936939,0.000246782588213,-0.000254550274378,2.05985000739e-05,1793244249706135552
+78,1.300000000,BASELINE,765,745,713.32417031,680,658.32417031,634.32417031,879,786,805,653,631,652,0.400973179011,-0.00538210634374,0.0598493259538,0.999999937381,0.000246114536098,-0.000253468171855,2.04804072895e-05,1793244249722801664
+79,1.316666667,BASELINE,765,745,713.901245791,680,658.901245791,634.901245791,879,786,805,653,631,652,0.400974803056,-0.00538129518448,0.0598500438158,0.999999937828,0.000245940948469,-0.000251890463318,2.02215573815e-05,1793244249739468544
+80,1.333333333,BASELINE,765,745,714,680,658.523507816,634.523507816,878.523507816,786.476492184,805,652.523507816,631,652,0.400973586451,-0.005380448571,0.0598497180518,0.999999937371,0.000246916177296,-0.000252750134318,2.01961136906e-05,1793244249756135424
+81,1.350000000,BASELINE,765,745,714,680,658,634.052538558,878.052538558,786.947461442,805.052538558,652,631,652,0.40097196523,-0.00537974266599,0.0598492100529,0.999999936812,0.000247885924268,-0.000254003934995,2.02424545694e-05,1793244249772801792
+82,1.366666667,BASELINE,765,745,714,680,658,634.640587598,878.640587598,786.359412402,805.640587598,652,631,652,0.400972197704,-0.00538054557221,0.0598490407793,0.999999937142,0.000246382240216,-0.000254145794199,2.05292978337e-05,1793244249789469440
+83,1.383333333,BASELINE,765,744.774657174,714,680,658,634.774657174,878.774657174,786.225342826,806,652.225342826,631,651.774657174,0.400972497756,-0.00538073889119,0.0598491124201,0.999999937226,0.000246181193395,-0.000254004014669,2.06100977675e-05,1793244249806136576
+84,1.400000000,BASELINE,765,744.195079665,714,680,658,634.195079665,878.195079665,786.804920335,806,652.804920335,631,651.195079665,0.400972904039,-0.00537997395063,0.0598495627741,0.999999936924,0.000248027867559,-0.000253416360411,2.03670015061e-05,1793244249822802432
+85,1.416666667,BASELINE,765.382919007,744.382919007,714,679.617080993,658.382919007,634.382919007,878.382919007,787,805.617080993,652.617080993,631,651.382919007,0.400972937253,-0.00538052594765,0.059849674139,0.999999936948,0.000248039854284,-0.00025330572116,2.0386766275e-05,1793244249839468544
+86,1.433333333,BASELINE,765.960116603,744.960116603,714,679.039883397,658.960116603,634.960116603,878.960116603,787,805.039883397,652.039883397,631,651.960116603,0.400972781186,-0.00538174610892,0.0598496135137,0.999999937139,0.000247120990041,-0.000253437101276,2.0539896781e-05,1793244249856135168
+87,1.450000000,BASELINE,765.464260915,745,714,679.535739085,658.464260915,635,879,787,805,652,631,652,0.400973374884,-0.00538175122284,0.0598494035875,0.99999993724,0.000246675923182,-0.000253482868817,2.04313506381e-05,1793244249872801792
+88,1.466666667,BASELINE,765,745,714,680,658,634.886142516,878.886142516,787,805,652,631,652,0.400973708412,-0.00538155214707,0.059849202266,0.999999937232,0.000246560194439,-0.000253635798201,2.03248661237e-05,1793244249889468416
+89,1.483333333,BASELINE,765,745,714,680,658,634.297119916,878.297119916,787,805,652,631,652,0.400972723909,-0.00538087731153,0.0598490831044,0.999999936798,0.00024767213239,-0.000254262470234,2.0308046439e-05,1793244249906135040
+90,1.500000000,BASELINE,765,744.712979901,714,680,658,634,878,787,805.287020099,652.287020099,631,651.712979901,0.400971964666,-0.00538024618446,0.0598487916104,0.99999993666,0.000247650591942,-0.000254848906024,2.00425720849e-05,1793244249922801920
+91,1.516666667,BASELINE,765,744.133809773,714,680,658,634,878,787,805.866190227,652.866190227,631,651.133809773,0.400971434708,-0.00537965954712,0.0598483247039,0.999999936821,0.000246475314291,-0.00025539438639,1.95239988404e-05,1793244249939469056
+92,1.533333333,BASELINE,765.442538739,744.442538739,714,680,658,634.442538739,878.442538739,787,805.557461261,652.557461261,631,651.442538739,0.400971898557,-0.00538028740967,0.0598485915246,0.999999937066,0.000246237914582,-0.000254641822156,1.9816745343e-05,1793244249956135936
+93,1.550000000,BASELINE,765.96387442,744.98193721,714,680,658,634.98193721,878.98193721,787,805,652.01806279,630.98193721,652,0.400972664384,-0.0053812423979,0.0598490845806,0.999999937338,0.00024626328081,-0.00025350706489,2.03316061665e-05,1793244249972802816
+94,1.566666667,BASELINE,764.811388903,744.405694452,714,680,658,634.405694452,878.405694452,787,805,652.594305548,630.405694452,652,0.400973534808,-0.00538103007692,0.0598497563977,0.999999937705,0.00024570082121,-0.00025261359856,2.01774645303e-05,1793244249989468928
+95,1.583333333,BASELINE,764.175441522,744.175441522,714,680,658,634,878.175441522,786.824558478,805,652.824558478,630.175441522,652,0.40097353795,-0.00538094726784,0.0598499686955,0.999999937798,0.000245391723934,-0.000252550642629,2.01288917376e-05,1793244250006135040
+96,1.600000000,BASELINE,764.768217429,744.768217429,714,680,658,634,878.768217429,786.231782571,805,652.231782571,630.768217429,652,0.400971478028,-0.00538117253724,0.0598490879047,0.999999937237,0.000245685316308,-0.000254463276681,2.03314425228e-05,1793244250022801664
+97,1.616666667,BASELINE,765.35036488,745,714,679.64963512,658,634,878.64963512,786.35036488,805,652,631,652,0.400971845693,-0.00538183701553,0.0598492551958,0.999999937633,0.000244332233789,-0.000254195496496,2.05207128747e-05,1793244250039468288
+98,1.633333333,BASELINE,765.925688098,745,714,679.074311902,658,634,878.074311902,786.925688098,805,652,631,652,0.400973772036,-0.0053827834961,0.0598500954277,0.999999938637,0.000241921872781,-0.000252527740378,2.07014562631e-05,1793244250056134912
+99,1.650000000,BASELINE,765.502289964,745,714,679,658,634,878.497710036,787,805,652.497710036,631,652,0.400972336205,-0.00538329774964,0.0598489611157,0.999999937653,0.000244056323286,-0.000254366439703,2.06914381421e-05,1793244250072801536
+100,1.666666667,BASELINE,765,745,714,679.072002977,658,634.072002977,879,787,805,653,631,652,0.400970923791,-0.00538361421904,0.0598478765094,0.999999936585,0.000246584651097,-0.000256121963139,2.06613050467e-05,1793244250089468416
+101,1.683333333,BASELINE,765,745,714,679.666321997,658,634.666321997,879,787,805,653,631,652,0.400973298795,-0.00538296100095,0.0598492769914,0.99999993713,0.000247080191453,-0.000253501335985,2.06905067614e-05,1793244250106135552
+102,1.700000000,BASELINE,765,745,714,679.746046872,658,635,879.253953128,786.746046872,805,652.746046872,631,652,0.400973896574,-0.0053821662027,0.0598497103467,0.999999937234,0.000247453124743,-0.000252731835621,2.06340586732e-05,1793244250122802432
+103,1.716666667,BASELINE,765,745,714,679.16697776,658,635,879.83302224,786.16697776,805,652.16697776,631,652,0.400972219114,-0.00538119015068,0.0598489055665,0.999999936778,0.000247669093926,-0.0002543321858,2.04679599554e-05,1793244250139468800
+104,1.733333333,BASELINE,765,745,714,679.40919578,658,634.59080422,879.59080422,786.40919578,805,652,631,652,0.400973011836,-0.00538151256649,0.0598493347202,0.999999937354,0.000246229742466,-0.000253484648736,2.02291870959e-05,1793244250156135168
+105,1.750000000,BASELINE,765,745,714,679.984196094,658,634.015803906,879.015803906,786.984196094,805,652,631,652,0.400974805467,-0.00538236111632,0.059850263859,0.999999938341,0.000244119661554,-0.000251645237441,1.99609669436e-05,1793244250172801536
+106,1.766666667,BASELINE,765,745,714,680.558115759,658,634.558115759,879,787,805.558115759,652.558115759,631,652,0.400972586531,-0.00538149833188,0.0598492118768,0.999999937552,0.000244580616767,-0.000254302028174,2.01472093961e-05,1793244250189468416
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,879,787,805,653,631,652,0.400972584128,-0.00538023642008,0.0598490517719,0.999999936538,0.000248917696909,-0.000254053112722,2.05011013351e-05,1793244250231581440
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.399651209,714,679.600348791,658,634.600348791,879,787,805,653,631,652,0.400972227414,-0.00538099225665,0.0598485935972,0.999999936933,0.000246886238071,-0.00025449623392,2.03258897837e-05,1793244250248248832
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.192727445,714,679.807272555,658,635,879,787,805.192727445,652.807272555,631,651.807272555,0.400972000297,-0.00538142549303,0.0598485020048,0.999999937248,0.000245514872849,-0.000254592138143,2.02355557515e-05,1793244250264915712
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.769235186,714,679.230764814,658,635,879,787,805.769235186,652.230764814,631,651.230764814,0.400972031248,-0.00538121633219,0.0598491403914,0.999999937412,0.000245457958992,-0.000253996625438,2.03142392322e-05,1793244250281582080
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,879,787,805.648754415,652,631,651.351245585,0.400972269003,-0.00538148364575,0.0598492816041,0.999999937461,0.000245500644514,-0.000253753626936,2.03874970775e-05,1793244250298248448
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,879,787,805.063071324,652,631,651.936928676,0.400972644789,-0.00538206898033,0.0598490909798,0.999999937435,0.000245609807261,-0.000253745912712,2.04571335988e-05,1793244250314914816
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.52130049,658.52130049,635,878.47869951,787,805,652.52130049,631,652,0.40097322501,-0.00538066704022,0.0598493337318,0.999999937453,0.000246029488594,-0.000253315059838,1.98553789233e-05,1793244250331581184
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.896333864,878.103666136,787,805,652.896333864,631,652,0.400973555344,-0.00537977018437,0.0598495359753,0.999999937489,0.000246149642364,-0.000253092181372,1.94146415362e-05,1793244250348247552
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.322351922,878.677648078,787,805,652.322351922,631,652,0.400972640047,-0.00538225289703,0.0598493171529,0.99999993758,0.000244740872746,-0.000254044527561,2.00720172052e-05,1793244250364914176
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.742344479,658.742344479,634.257655521,879,787,805,652,631,652,0.400973119099,-0.0053828304247,0.059849642974,0.999999937339,0.000245544053703,-0.00025418567848,2.04967945425e-05,1793244250381581056
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.154618082,658.154618082,634.845381918,879,787,805,652,631,652,0.400975384387,-0.00538096730555,0.0598506665136,0.999999936664,0.000249180864958,-0.00025328764362,2.06236005889e-05,1793244250398247936
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.426725263,745,714,679.853450526,658,635,879,787,805,652,631,651.573274737,0.400995988369,-0.0053812503555,0.0598591229319,0.99999994037,0.000249219224556,-0.000238122814573,2.11547990351e-05,1793244250414914816
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.994214618,745,714,680.994214618,658,634.994214618,879,787,805,652,631,651.005785382,0.401023426704,-0.00538230628621,0.0598703194549,0.999999945319,0.000247974240032,-0.000217699683572,2.18321967829e-05,1793244250431581184
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.415604706,745,714,680.415604706,658,634.415604706,879,787,805,652,631,651.584395294,0.401079331539,-0.00538402621059,0.0598900897952,0.999999952906,0.000246856993829,-0.000180928915235,2.26910494789e-05,1793244250448247808
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.838254237,745,714,680,658,634,879,787,805,652.161745763,630.838254237,652,0.401138681136,-0.00538595392803,0.0599086653347,0.99999995848,0.000245407577656,-0.000149196133316,2.35663630559e-05,1793244250464914432
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.264114771,745,714,680,658,634,879,787,805,652.735885229,630.264114771,652,0.401206813653,-0.00538841144365,0.0599241945645,0.999999961659,0.000243111247591,-0.000130308403064,2.44836462219e-05,1793244250481581056
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.310539131,745,714,679.689460869,658,634.310539131,879,787,805,652.689460869,630.310539131,652,0.401281033669,-0.0053915359082,0.0599337963708,0.999999964166,0.000240459282766,-0.000115082377538,2.45653505765e-05,1793244250498247680
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.885631253,745,714,679.114368747,658,634.885631253,879,787,805,652.114368747,630.885631253,652,0.401360439712,-0.00539522855649,0.059938348514,0.999999966207,0.000237504347462,-0.000102975814905,2.39352126267e-05,1793244250514914304
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.471722501,658.471722501,635,879,787,805,652,631,652,0.401452616207,-0.0053961163134,0.059942250672,0.999999966923,0.00023699108465,-9.72032336954e-05,2.32589860067e-05,1793244250531581184
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.401550722218,-0.00539679399456,0.0599458242265,0.999999967397,0.000236797496494,-9.28662791463e-05,2.25655777185e-05,1793244250548247808
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787,805,652,631,652,0.401672905475,-0.00540171403723,0.0599479384187,0.999999968546,0.00023410458104,-8.73365137707e-05,2.18220785974e-05,1793244250564914432
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.816160589,635,878.816160589,787,805,652,631,652,0.401803421132,-0.00540592995873,0.0599493823061,0.999999969661,0.000231273241918,-8.22042425532e-05,2.07918786443e-05,1793244250581581056
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.21733681,635,878.21733681,787,805,652,631,652,0.401952745665,-0.00540855645284,0.0599493131006,0.999999970756,0.000228129436669,-7.79692435749e-05,1.9114503291e-05,1793244250598247680
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.623848563,658,635,878.376151437,787,805.376151437,652,631,652,0.402117044311,-0.00541214903208,0.0599493082997,0.999999971552,0.000226161546529,-7.37945783198e-05,1.73863790667e-05,1793244250614914304
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.033399964,658,635,878.966600036,787,805.966600036,652,631,652,0.40228987387,-0.00541629199975,0.0599493401907,0.99999997217,0.000224863586462,-6.96542853795e-05,1.56293425549e-05,1793244250631580928
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,879,787,805.453733743,652,631,652,0.402497224755,-0.00542291459198,0.059949398982,0.999999974498,0.000215760475241,-6.53310043091e-05,1.35348562762e-05,1793244250648247552
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,879,786.875201627,805,652.124798373,631,652,0.402714757087,-0.00542932491476,0.059949336947,0.999999976616,0.000207117779599,-6.11490233223e-05,1.14049708823e-05,1793244250664914176
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,879,786.298435266,805,652.701564734,631,652,0.402961666297,-0.0054344280471,0.0599488314877,0.999999977934,0.000201837372404,-5.75185066259e-05,9.22015981594e-06,1793244250681581056
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.275770028,658.275770028,635,878.724229972,786.275770028,805,652.724229972,631,652,0.403229537757,-0.00544180158571,0.0599508132774,0.99999998008,0.000192947337297,-5.06473556375e-05,6.82664048566e-06,1793244250698247680
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.847229233,658.847229233,635,878.152770767,786.847229233,805,652.152770767,631,652,0.403519885578,-0.00545160952403,0.0599554619726,0.999999982945,0.000180186947482,-4.03014962671e-05,4.20933781194e-06,1793244250714914304
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.434647808,745,714,680,658.565352192,635,878,787,805,652,631,651.565352192,0.403815402476,-0.00545941582067,0.0599478214672,0.999999984126,0.000170072246451,-5.31234532877e-05,8.05619897223e-07,1793244250731580928
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634.972864367,878,787,805,652,631,651.027135633,0.404114463671,-0.00546658775031,0.0599356513852,0.999999984264,0.000160991443238,-7.44658030904e-05,-2.86631264876e-06,1793244250748247808
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658,634.395660575,878,787,805,652,631,651.604339425,0.404447138619,-0.00547570551668,0.0599225589446,0.99999998351,0.000153300028774,-9.71650030745e-05,-6.15852793172e-06,1793244250764914176
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.819016937,745,714,680,658,634.180983063,878,787,805,652,631,652,0.404796185947,-0.00548411852604,0.059911152499,0.999999982593,0.000144861138251,-0.0001171919496,-9.7905378954e-06,1793244250781581056
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.24359419,745,714,680,658,634.75640581,878,787,805,652,631,652,0.405180915665,-0.00549099556656,0.0599034205609,0.999999982183,0.000134793178085,-0.000131394907351,-1.41631057138e-05,1793244250798247680
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.660433813,745,714,680,658.339566187,635,878.339566187,787,805.339566187,652,631,651.660433813,0.405610718628,-0.0054979243015,0.0599100865286,0.999999984566,0.000126217598803,-0.00012092269872,-1.7766682699e-05,1793244250814914560
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.071593206,745,714,680,658.928406794,635,878.928406794,787,805.928406794,652,631,651.071593206,0.406073609751,-0.00550489098586,0.0599273219506,0.999999988471,0.000118737570296,-9.23365332043e-05,-2.0805746494e-05,1793244250831581184
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658.490919271,635,879,787,805.490919271,652,631,651.509080729,0.406588738409,-0.00551364658981,0.0599574382916,0.999999998928,7.70212059216e-06,-3.99580720042e-05,-2.20842602828e-05,1793244250848247808
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.088179303,744.911820697,714,680,658.088179303,634.911820697,879,786.911820697,805,652,631,652,0.407111497521,-0.0055195535194,0.0599863780312,0.999999995031,-9.65305469868e-05,9.10296551307e-06,-2.31880677305e-05,1793244250864914432
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.664813123,744.335186877,714,680,658.664813123,634.335186877,879,786.335186877,805,652,631,652,0.407636473443,-0.00550830911493,0.0599989242712,0.999999995962,-8.36834414038e-05,2.15459230434e-05,-2.4673951755e-05,1793244250881581056
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.240269834,714,679.759730166,658.759730166,634,879,786.240269834,805,652,631,651.759730166,0.40816185507,-0.00549906998031,0.0600003111979,0.999999997162,-6.87495572733e-05,1.31628282129e-05,-2.78710444502e-05,1793244250898247680
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.814092396,714,679.185907604,658.185907604,634,879,786.814092396,805,652,631,651.185907604,0.408687799881,-0.00549261464665,0.0599862062943,0.999999997853,-5.09187197571e-05,-2.41318726443e-05,-3.34437091646e-05,1793244250914914304
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.402062881,658.402062881,634.402062881,879,787,805,652,631,651.402062881,0.409257113904,-0.00550134581112,0.0599742040979,0.999999996586,-5.18536843377e-05,-5.21234766433e-05,-3.77236300577e-05,1793244250931580928
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.996813718,658.996813718,634.996813718,879,787,805,652,631,651.996813718,0.409847212533,-0.00551735507927,0.0599632096209,0.999999994373,-6.17821282986e-05,-7.56565861494e-05,-4.13840055027e-05,1793244250948247808
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.431171069,634.431171069,879,787,805,652,631,652,0.41050701601,-0.00552466481853,0.0599749647108,0.999999995007,-7.77198104062e-05,-4.2875120175e-05,-4.59009419425e-05,1793244250964914688
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.858478512,714,680,658,634.141521488,879,786.858478512,805,652,631,652,0.411170793466,-0.00553036709062,0.0599850929941,0.999999994317,-9.26495499528e-05,-1.62526882586e-05,-5.01745153299e-05,1793244250981581312
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.283335471,714,680,658,634.716664529,879,786.283335471,805,652,631,652,0.411845596707,-0.00553128765604,0.0599898613006,0.999999993065,-0.000104391780649,-9.43090635868e-06,-5.3688288069e-05,1793244250998247680
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.301650259,634.698349741,879,786.301650259,805,652,631,652,0.412517323317,-0.00552526323283,0.0599763248127,0.99999999619,-6.72035545408e-05,-3.60267915886e-05,-4.24853701714e-05,1793244251014914048
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.896192985,634.103807015,879,786.896192985,805,652,631,652,0.413186062699,-0.00551249545451,0.0599450149727,0.999999995183,1.74945328661e-05,-9.5070129947e-05,-1.69930303911e-05,1793244251031580672
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.473221969,714,680,659,634,879,787,805,652,631,652,0.413882542515,-0.00550379432865,0.0599216422343,0.999999989536,3.861259985e-05,-0.000138119326723,-1.89966839257e-05,1793244251048247552
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.04721816,659,634.04721816,879,787,805.04721816,652,631,652,0.414597187616,-0.00549779574302,0.0599058925116,0.999999984759,4.43048003259e-05,-0.00016680732617,-2.63566655299e-05,1793244251064914432
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.628819441,659,634.628819441,879,787,805.628819441,652,631,652,0.415451005231,-0.00551264713573,0.0599574135395,0.999999996673,2.76275742442e-05,-7.1254907776e-05,-2.85107516317e-05,1793244251081581056
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.792398874,659,634.792398874,879.207601126,787,805.792398874,652,631,652,0.416284334023,-0.00552487381463,0.059997417096,0.999999999538,4.23711678449e-06,-7.23514046127e-07,-3.00761194546e-05,1793244251098247424
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.218590971,659,634.218590971,879.781409029,787,805.218590971,652,631,652,0.417081520638,-0.00553247051782,0.0600171039194,0.999999998722,-3.09954274996e-05,2.56709793742e-05,-3.06029930146e-05,1793244251114914048
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.366115466,659,634.366115466,880,786.633884534,805,652,631,652,0.417894872917,-0.00553218452066,0.0600130122733,0.999999998469,-3.91855186951e-05,2.15637032179e-05,-3.25920340913e-05,1793244251131580928
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.957528546,659,634.957528546,880,786.042471454,805,652,631,652,0.418718173082,-0.00552704772138,0.0599942879958,0.999999998897,-3.07344101083e-05,-1.3135427442e-06,-3.54808537321e-05,1793244251148247552
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.4652225,659,635,879.4652225,786,805,652,631,651.4652225,0.419536323725,-0.00552275517729,0.0599733114164,0.99999999834,-1.6449085781e-05,-4.03055208883e-05,-3.77570139386e-05,1793244251164914176
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.111030596,745,714,680,659,634.888969404,879,786.111030596,805,652,631,651,0.42035099588,-0.00551948063089,0.0599496586949,0.99999999576,-7.10745062762e-06,-8.26927026418e-05,-3.98992498564e-05,1793244251181581056
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.687702983,745,714,680,659,634.312297017,879,786.687702983,805,652,631,651,0.42115275057,-0.00552020144066,0.0599155135482,0.999999989933,-2.03917907053e-05,-0.000134089914085,-4.16786238644e-05,1793244251198247680
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.732349856,714,680,659,634,879,787,805.267650144,652,631,651.267650144,0.421968620215,-0.00552181011167,0.0598923312632,0.999999983814,-2.85644523458e-05,-0.00017223494086,-4.34777436182e-05,1793244251214914048
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.148534247,714,680,659,634,879,787,805.851465753,652,631,651.851465753,0.422801163452,-0.00552446758124,0.0598820990072,0.999999979544,-3.06988743298e-05,-0.000194725646708,-4.53001886341e-05,1793244251231580672
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.433853669,714,680,659,634.433853669,879,787,805.566146331,652,631,651.566146331,0.423764901825,-0.0055305461823,0.0599335187369,0.999999992196,-4.20725020211e-05,-0.000109050177074,-4.41076218826e-05,1793244251248247552
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634.984366661,879.031266678,786.984366661,805,652,631,651.015633339,0.424770732867,-0.00553755374196,0.0600046110702,0.999999997498,-5.58597847602e-05,1.12246822545e-05,-4.19186137278e-05,1793244251264914176
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634.40693626,880.18612748,786.40693626,805,652,631,651.59306374,0.425680401542,-0.005535992089,0.0600266383914,0.999999997062,-4.30867005289e-05,4.84539665745e-05,-4.08936959656e-05,1793244251281580800
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.829822471,745,714,680,659.170177529,634,880.829822471,786,805.170177529,652,630.829822471,651.829822471,0.426585132443,-0.00553638776356,0.0600363045109,0.999999996065,-3.85518216909e-05,6.85379719784e-05,-4.10743499219e-05,1793244251298247936
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.253464408,745,714,680,659.746535592,634,880.253464408,786,805.746535592,652,630.253464408,651.253464408,0.427478077784,-0.00554145519684,0.0600164668543,0.999999996448,-5.36799315103e-05,4.76995421006e-05,-4.41324683566e-05,1793244251314914304
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.330578531,806,652,630.330578531,651,0.428343441809,-0.00554389547748,0.0599932930067,0.999999996934,-6.07454191155e-05,1.70076977538e-05,-4.64014275815e-05,1793244251331580672
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.9206539,806,652,630.9206539,651,0.42918715507,-0.00554427350114,0.0599675003237,0.999999996726,-6.14819257821e-05,-2.14188581262e-05,-4.80509140944e-05,1793244251348247296
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.49808033,745,714,680,660,634,880,787,806,651.50191967,631,651.49808033,0.430034592135,-0.00554049325488,0.0599350583071,0.99999999388,-5.35677108467e-05,-8.34218020352e-05,-4.91057466454e-05,1793244251364914432
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.926022962,745,714,680,659.926022962,634,880,786.926022962,806.073977038,651.073977038,631,651.926022962,0.430896820795,-0.00553685104378,0.0599111992543,0.999999989187,-4.7231588333e-05,-0.000129990198741,-4.99787063473e-05,1793244251381581568
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.347154953,745,714,680,659.347154953,634,880,786.347154953,806.652845047,651.652845047,631,651.347154953,0.431856052809,-0.00553856000244,0.0599529690743,0.999999995819,-6.08384053674e-05,-4.62198310564e-05,-5.02409114993e-05,1793244251398248192
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.229474871,659.229474871,634,879.770525129,786.229474871,806.541050258,652,631,651,0.432785077864,-0.00554098583302,0.059987804799,0.99999999646,-6.55435027393e-05,1.69911154829e-05,-4.99578845274e-05,1793244251414914816
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.802751508,659.802751508,634,879.197248492,786.802751508,805.394496985,652,631,651,0.433668846666,-0.00554448568919,0.0600122517922,0.999999995967,-5.69119487094e-05,4.93997242545e-05,-4.88579852473e-05,1793244251431581184
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.610674984,634,879,787,805.389325016,652,631,651,0.434515301037,-0.00554723827881,0.0600036239727,0.999999996497,-5.97456787467e-05,3.14276281609e-05,-4.94775808778e-05,1793244251448247808
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.017126533,634,879,787,805.982873467,652,631,651,0.435342181784,-0.00554959888379,0.0599776465041,0.999999996263,-6.85936122432e-05,-1.29720564932e-05,-5.0999150802e-05,1793244251464914432
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,713.437880318,680.437880318,659.562119682,634,879.562119682,787,806,651.437880318,631,651,0.436171035463,-0.0055508880638,0.059948960735,0.999999993294,-7.95047113646e-05,-6.49864032802e-05,-5.35571061187e-05,1793244251481581056
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,713.139686932,680,659.860313068,634,880,786.860313068,806,651,631,651,0.436985257417,-0.00555131224143,0.0599237922039,0.999999988445,-8.63285982416e-05,-0.000112104630326,-5.55915763925e-05,1793244251498247936
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.713358122,680,659.286641878,634,880,786.286641878,806,651,631,651,0.43775383885,-0.0055491479022,0.0599098011546,0.999999984948,-8.02637407027e-05,-0.000143308511679,-5.59039968344e-05,1793244251514914304
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680.294374398,659.294374398,634,880,786,806,651.294374398,631,651,0.438528781369,-0.0055467719094,0.0599058963459,0.999999983699,-7.56922620714e-05,-0.000153889456705,-5.64911933271e-05,1793244251531580928
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.88272581,659.88272581,634,880,786,806,651.88272581,631,651,0.43931007634,-0.00554418454889,0.0599120641627,0.999999985369,-7.26121468098e-05,-0.000143875303119,-5.73527949613e-05,1793244251548247552
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,806,652,631,651.464201072,0.440127610313,-0.00554594502546,0.0599474412498,0.999999991876,-7.23073260041e-05,-8.88175670622e-05,-5.59522486655e-05,1793244251564914944
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.956264304,634,880,786,806,651.956264304,631,651.956264304,0.440945074783,-0.00554861596412,0.0599847646377,0.999999995327,-7.37681460936e-05,-3.11327707846e-05,-5.41720349907e-05,1793244251581582592
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.642344642,880,786,806,651.357655358,631,651.357655358,0.443596097692,-0.0055493190222,0.0598281805297,0.999999958719,-8.28309058231e-05,-0.000268398874752,-6.05250468033e-05,1793244251648247808
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.169777979,658,632.169777979,880.830222021,786,806.830222021,652,631,651.169777979,0.447065163785,-0.00553817708091,0.0597278647107,0.999999897728,-8.52775164237e-05,-0.000437999788109,-7.36758078654e-05,1793244251748249088
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+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,656,630,880.693984766,784,807,652,629.693984766,651.693984766,0.453754940899,-0.00555748582217,0.0595895249465,0.999999788174,-9.94230525797e-05,-0.000639906220609,-6.54728789366e-05,1793244252548248576
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.274609587,714,681.725390413,656,630,880.725390413,784,806.725390413,652,630,652,0.453755091995,-0.00555879789147,0.0595897187314,0.999999788353,-0.000100292868736,-0.000639520249477,-6.51922130131e-05,1793244252564915712
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.864635761,714,681.135364239,656,630,880.135364239,784,806.135364239,652,630,652,0.453755270344,-0.00555728496789,0.0595893930674,0.999999788232,-9.90134499364e-05,-0.000639921864655,-6.50575922591e-05,1793244252581582080
+249,4.150000000,HOLD_POSE2,764,746,714,682,655,630,880,784,807,652,630,652,0.453755626396,-0.00555469300548,0.0595897045782,0.999999788438,-9.69847771143e-05,-0.00063981728708,-6.59638368349e-05,1793244252614210816
+250,4.166666667,HOLD_POSE2,764.576851142,746,714,682,655.576851142,630,879.423148858,784,807,652,630,652,0.453756082885,-0.00555599289487,0.0595902863086,0.999999788808,-9.7327242275e-05,-0.000639252980729,-6.53283767618e-05,1793244252630877440
+251,4.183333333,HOLD_POSE2,765,745.846921493,714,681.846921493,656,630,879.153078507,784,806.846921493,652,630,651.846921493,0.453756708178,-0.00555677471967,0.0595907329617,0.999999789198,-9.72976512552e-05,-0.000638695791146,-6.48490187491e-05,1793244252647544064
+252,4.200000000,HOLD_POSE2,765,745.272411284,714,681.272411284,656,630,879.727588716,784,806.272411284,652,630,651.272411284,0.453757798198,-0.00555613029066,0.0595908077415,0.999999789646,-9.62437736678e-05,-0.000638158194206,-6.47994162698e-05,1793244252664210432
+253,4.216666667,HOLD_POSE2,764.68934611,745,714,681.31065389,656,630,880,784,806.31065389,652,630,651.31065389,0.453758505001,-0.00555525774999,0.0595911077026,0.999999790173,-9.46695288844e-05,-0.00063756783578,-6.47947370989e-05,1793244252680876800
+254,4.233333333,HOLD_POSE2,764.098566714,745,714,681.901433286,656,630,880,784,806.901433286,652,630,651.901433286,0.453758866246,-0.00555417951452,0.0595916107159,0.999999790769,-9.26260541671e-05,-0.000636929900841,-6.4830566564e-05,1793244252697543424
+255,4.250000000,HOLD_POSE2,764,745,714,682,655.517214977,630,880,784,806.517214977,652,630,652,0.453759538064,-0.00555373181186,0.0595919975644,0.999999791319,-9.20740357928e-05,-0.000636161809408,-6.46715087292e-05,1793244252714210048
+256,4.266666667,HOLD_POSE2,764.061698057,745,713.938301943,682,655,630,880,784,806.061698057,652,630,652,0.453760147009,-0.00555355445412,0.0595922265529,0.999999791717,-9.20987628559e-05,-0.000635544183209,-6.45615605847e-05,1793244252730876672
+257,4.283333333,HOLD_POSE2,764.636034686,745,713.363965314,682,655,630,880,784,806.636034686,652,630,652,0.453759716788,-0.00555457422654,0.0595913371921,0.999999790918,-9.44339914548e-05,-0.000636393309217,-6.51839219663e-05,1793244252747543552
+258,4.300000000,HOLD_POSE2,765,745.210230253,713,682,655,630,880.210230253,784,806.789769747,651.789769747,629.789769747,652,0.453759727223,-0.00555540298044,0.0595911139701,0.999999790694,-9.59849057368e-05,-0.000636490883967,-6.541287071e-05,1793244252764210176
+259,4.316666667,HOLD_POSE2,765,745.78418171,713,682,655,630,880.78418171,784,806.21581829,651.21581829,629.21581829,652,0.453760500039,-0.00555590125145,0.0595920432407,0.999999791469,-9.61788706997e-05,-0.000635288193211,-6.49611727347e-05,1793244252780876800
+260,4.333333333,HOLD_POSE2,764.630295785,746,713,682,655.739408429,630,880.630295785,784,806.369704215,651.369704215,629.369704215,652,0.453760287287,-0.00555534129214,0.0595920571547,0.999999791063,-9.55740744901e-05,-0.000636012142456,-6.50162878601e-05,1793244252797543168
+261,4.350000000,HOLD_POSE2,764.037800277,746,713,682,656.924399447,630,880.037800277,784,806.962199723,651.962199723,629.962199723,652,0.45375948061,-0.00555414362172,0.0595915194562,0.999999789943,-9.44879285372e-05,-0.000637897124115,-6.53768188453e-05,1793244252814209280
+262,4.366666667,HOLD_POSE2,764.542378745,745.457621255,713.542378745,681.457621255,655.915242511,630,879.457621255,784.542378745,806.457621255,652,630,652,0.453759489645,-0.00555418925754,0.0595914500622,0.999999790001,-9.38620704345e-05,-0.000637945316685,-6.49136156394e-05,1793244252830875904
+263,4.383333333,HOLD_POSE2,765,745,714,681,655,630,879.120517953,784.879482047,806,652,630,652,0.453759403466,-0.0055545923452,0.0595912636312,0.999999790007,-9.37587865043e-05,-0.000638000437192,-6.44309497452e-05,1793244252847542784
+264,4.400000000,HOLD_POSE2,765,745,714,681,655,630,879.694143864,784.305856136,806,652,630,652,0.453758750319,-0.00555602079112,0.0595905171969,0.999999789512,-9.55022809985e-05,-0.000638552202129,-6.40861566036e-05,1793244252864209664
+265,4.416666667,HOLD_POSE2,765,745,714,681.274631706,655,630,880,784,806,652,630,652,0.453759304109,-0.00555595906676,0.0595905409291,0.999999789603,-9.58296869317e-05,-0.000638349012177,-6.41923026997e-05,1793244252880876544
+266,4.433333333,HOLD_POSE2,765,745,714,681.862957454,655,630,880,784,806,652,630,652,0.453761236507,-0.00555419521715,0.0595914443728,0.999999790366,-9.45395863474e-05,-0.000637283486033,-6.48135275547e-05,1793244252897543424
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,656,630,880,784,807,652,630,652,0.453761117832,-0.00555386643011,0.0595913456417,0.999999790409,-9.43107752301e-05,-0.000637273304878,-6.45707918522e-05,1793244252930197760
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,713.427613543,682,655.427613543,630,880.572386457,784,806.427613543,652,630,652,0.453761832593,-0.00555328856542,0.0595921776098,0.999999791404,-9.27762372805e-05,-0.000635938448665,-6.45471746698e-05,1793244252946863872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.854105918,713.145894082,682,655,630,880.854105918,784,806.145894082,652,630,652,0.45376209135,-0.00555328560331,0.0595923390228,0.999999791685,-9.23300144872e-05,-0.000635567884619,-6.44894047533e-05,1793244252963529984
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.27728658,713.72271342,682,655,630,880.27728658,784,806.72271342,652,630,652,0.453761003218,-0.00555498072254,0.0595905198274,0.999999789858,-9.50983321982e-05,-0.0006380455362,-6.43307583905e-05,1793244252980196352
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,630,880,784,806.692170748,652,630,652,0.453760870869,-0.00555600250451,0.0595902666966,0.999999789504,-9.65076508751e-05,-0.000638394585482,-6.42709581086e-05,1793244252996862976
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,630,880,784,806.099374637,652,630,652,0.453761623318,-0.00555640095767,0.0595914633194,0.999999790521,-9.66589028301e-05,-0.000636773123018,-6.43026626472e-05,1793244253013529600
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.48138299,714,682,655,630,879.51861701,784,806.48138299,652,629.51861701,652,0.453760625606,-0.00555545203829,0.0595914321722,0.999999790357,-9.56210631885e-05,-0.000637169793033,-6.44702653664e-05,1793244253030196480
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.940536765,714,682,655,629.940536765,879,784,807,652,629.059463235,652,0.453759216024,-0.00555443579202,0.0595910575319,0.999999789911,-9.44171783797e-05,-0.000638034524817,-6.46217919928e-05,1793244253046863360
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.364652359,714,682,655,629.364652359,879,784,807,652,629.635347641,652,0.453757290668,-0.00555519151143,0.0595898472362,0.999999789084,-9.38510711041e-05,-0.000639434336813,-6.43960037448e-05,1793244253063529984
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629.214981713,879.214981713,784,806.785018287,652,630,651.785018287,0.453748924504,-0.00555498658941,0.0595855284141,0.999999785263,-9.30431683608e-05,-0.000645490111314,-6.44944227791e-05,1793244253080196352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,629.801088816,879.801088816,784,806.198911184,652,630,651.198911184,0.453729439498,-0.00555312330103,0.0595758433075,0.999999776137,-9.18178513825e-05,-0.000659583526896,-6.51525245672e-05,1793244253096862976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.385432228,714,681.614567772,655.385432228,630,880,784,806.385432228,652,630,651.385432228,0.45369078513,-0.00555104840922,0.0595594285453,0.999999757727,-9.09353875563e-05,-0.000686954146061,-6.61064308212e-05,1793244253113529600
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.968869647,714,681.031130353,655.968869647,630,880,784,806.968869647,652,630,651.968869647,0.453642283028,-0.00554886481181,0.0595395566069,0.999999733645,-9.02290548989e-05,-0.000721145563493,-6.72122984711e-05,1793244253130195712
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.456434428,714,682.087131145,655.456434428,630,880.543565572,784,807,652,630,652,0.45358237808,-0.00554845254326,0.059523722293,0.999999720538,-8.91781209886e-05,-0.000739220026559,-6.72676850949e-05,1793244253146862848
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.881973695,655.118026305,630,880.881973695,784,807,651.881973695,630,652,0.453517853032,-0.00554745248346,0.0595093872119,0.99999970802,-8.78022725047e-05,-0.000756118617603,-6.73444709845e-05,1793244253163529728
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.306514749,655.693485251,630,880.306514749,784,807,651.306514749,630,652,0.45343791287,-0.00554378738403,0.0594999806604,0.999999696096,-8.52424357148e-05,-0.000771980652572,-6.77336711494e-05,1793244253180196352
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.276471211,714,682,655.723528789,630,880.276471211,784,807,651.276471211,630,652,0.453354983632,-0.00554107178801,0.0594953962696,0.999999691202,-8.44207682217e-05,-0.000778376718384,-6.78177168032e-05,1793244253196863232
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.868035646,714,682,655.131964354,630,880.868035646,784,807,651.868035646,630,652,0.453268647761,-0.00553943833775,0.0594963076783,0.99999969453,-8.55800860657e-05,-0.000773984453113,-6.75539789719e-05,1793244253213529856
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.551350627,714,682,656.345948119,630,880.551350627,784,807,652,630,652,0.45316520421,-0.00553632488344,0.0594996684505,0.999999699138,-8.24364735115e-05,-0.000768424384704,-6.67210558226e-05,1793244253230196224
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.975019913,745,714,682,657.92505974,630,879.975019913,784,807,652,630,652,0.453055519167,-0.00553277209034,0.0595037071391,0.999999704031,-7.81515438481e-05,-0.000762569788438,-6.57028338357e-05,1793244253246862592
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.42272727,745,714,682,656.268181809,630,879.42272727,784,807,652,630,652,0.452917771648,-0.00552891559217,0.0595072103675,0.9999997081,-7.58546358754e-05,-0.000757576068936,-6.4222963053e-05,1793244253263529216
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.144262115,745,714,682,655.28852423,630,879.144262115,784,807,652,630,652,0.4527731932,-0.00552476863603,0.0595110095125,0.999999712789,-7.31136775811e-05,-0.000751750345571,-6.28333745566e-05,1793244253280195840
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.759201791,745,714,682,656.518403582,630,879.759201791,784,807,652,630,652,0.452606327808,-0.00551967401643,0.059515774131,0.999999719538,-6.89239365799e-05,-0.00074321008135,-6.17383463363e-05,1793244253296862464
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.352146295,714,681.647853705,656.29570741,630,880,784.352146295,807,652,630,652,0.452418168072,-0.0055125114461,0.059519553576,0.999999724949,-6.23143588933e-05,-0.000736589145596,-6.04612611067e-05,1793244253313529344
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.930934718,714,681.069065282,655.138130563,630,880,784.930934718,807,652,630,652,0.452216303234,-0.00550401793764,0.0595226989615,0.99999972946,-5.41473685896e-05,-0.000731203492985,-5.90670034759e-05,1793244253330196224
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.491098924,714,681.508901076,655.508901076,630,880,784.491098924,806.491098924,651.491098924,630,652,0.451977104265,-0.00549771667059,0.0595221827597,0.999999727562,-4.69979182038e-05,-0.000734431274074,-5.72481077195e-05,1793244253346863104
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.912313617,656,630,879.912313617,784,806.087686383,651,629.912313617,652,0.451727599884,-0.00549138895066,0.0595221687925,0.999999726118,-4.03012166933e-05,-0.000736938920679,-5.53209882123e-05,1793244253363529728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.328261731,656,630,879.328261731,784,806.671738269,651,629.328261731,652,0.451448394896,-0.0054832300394,0.059527806254,0.999999732415,-3.53869315666e-05,-0.000728763614408,-5.31069438491e-05,1793244253380196096
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.253675177,656,630,879.253675177,784,806.746324823,651.253675177,629.253675177,652,0.451150636735,-0.00547472714022,0.0595322578066,0.999999736791,-2.74394750317e-05,-0.000723245053805,-5.08067567446e-05,1793244253396862720
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.832897845,656,630,879.832897845,784,806.167102155,651.832897845,629.832897845,652,0.450829068855,-0.00546578279352,0.0595351874534,0.999999738689,-1.55994765412e-05,-0.000721135959675,-4.83960207088e-05,1793244253413529344
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.587799374,745.412200626,714,682,656,630.412200626,880,784,806.824401253,652,630,652,0.450472040955,-0.00545509479082,0.0595324363702,0.999999735366,-4.52014989245e-06,-0.000725993610357,-4.67073463844e-05,1793244253430195712
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.565676411,746,714,682,656,631,880,784,807.434323589,652,630,651.434323589,0.449694602181,-0.00543650443574,0.0595192273827,0.99999972405,1.27577752848e-05,-0.000741536800006,-4.31333492996e-05,1793244253463530240
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.140431513,745.859568487,714,681.859568487,656,631,879.859568487,784,807,652,630,651.140431513,0.449278325758,-0.00542858414377,0.0595144232117,0.999999721092,2.02901565252e-05,-0.000745482066309,-4.07441892491e-05,1793244253480197376
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.110405114,745,714,681.889594886,656.889594886,631,880.779189771,784.889594886,806.110405114,652,630.889594886,652,0.447907787867,-0.00540132008986,0.0595546713403,0.999999761596,4.89579068351e-05,-0.000688093547905,-3.06484141133e-05,1793244253530197504
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.529055566,657,631.470944434,881,785,806.470944434,652,631,652,0.447418801018,-0.00540615956048,0.0595862809711,0.999999796529,4.25359880938e-05,-0.000635894378762,-2.77731472727e-05,1793244253546863872
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.950011493,681,657,632,880.950011493,785,807,652,631,651.950011493,0.446919108571,-0.00541475626032,0.0596190152719,0.999999829761,3.18382308346e-05,-0.000582114915264,-2.46283286515e-05,1793244253563530240
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.376338926,681,657,632,880.376338926,785,807,652,631,651.376338926,0.446360296635,-0.00543211330342,0.0596378457469,0.999999839785,1.17081255383e-05,-0.000565700789488,-1.66267813328e-05,1793244253580196608
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.802313099,657,632,880,785,807,652,631,651,0.445771813453,-0.00543881891874,0.0596434602855,0.999999840057,2.7658557641e-06,-0.00056547620574,-1.07472202621e-05,1793244253596863232
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.227613597,657,632,880,785,807,652,631,651,0.445126743683,-0.00542521098432,0.0596238704496,0.999999822162,1.5160129705e-05,-0.000596127019167,-8.91454164195e-06,1793244253613530368
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.357976865,657.357976865,632,880,785.357976865,806.642023135,652,631,651.357976865,0.444483752444,-0.00541094914837,0.0596184808336,0.999999821439,2.90474855439e-05,-0.000596858827889,-6.14007664891e-06,1793244253630197248
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713,680.950709428,657.950709428,632,880,785.950709428,806.049290572,652,631,651.950709428,0.443842124298,-0.00539625849442,0.0596224035032,0.999999832007,4.39139809366e-05,-0.000577970214309,-2.74800277378e-06,1793244253646863616
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.529460979,681,658.529460979,632.529460979,880,786,806,652,631,651.470539021,0.443207545468,-0.00539207882495,0.0596688408251,0.999999872021,4.7466964606e-05,-0.000503683068201,2.84113150718e-06,1793244253663529984
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.893869929,658.893869929,633,880,786,806,651.893869929,631,651,0.442559610721,-0.00539059087572,0.0597131773841,0.999999901924,7.82935294419e-05,-0.000435832858147,8.52278407507e-06,1793244253680196352
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.320784107,658.320784107,633,880,786,806,651.320784107,631,651,0.441850099042,-0.00539675146898,0.0597313046218,0.999999885079,0.000233634467613,-0.000418412025123,1.37347223959e-05,1793244253696862720
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.260363792,658.260363792,633,880,786,806,651,631,651.260363792,0.441105921092,-0.00540237344901,0.0597408616159,0.99999986563,0.000311518235473,-0.000413922788587,1.90959311846e-05,1793244253713529344
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.851762139,658.851762139,633,880,786,806,651,631,651.851762139,0.440317667277,-0.00540731062038,0.0597395221404,0.999999866694,0.000290920595044,-0.000425875190248,2.46469281099e-05,1793244253730195712
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633.436598602,880,786.436598602,806,651.436598602,631,652,0.439552147366,-0.00540693858915,0.0597660352031,0.999999888183,0.000280800421355,-0.000379269638316,3.06688214988e-05,1793244253746862080
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.981068162,681,659,634,880,786.981068162,806,652,631,651.981068162,0.438792467673,-0.00540450327632,0.0598013391391,0.999999912226,0.000274466728333,-0.000314422066183,3.68039129425e-05,1793244253763528960
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.407760723,681,659,634,880,786.407760723,806,652,631,651.407760723,0.437981122895,-0.00539365371168,0.0598212450193,0.999999919184,0.000276383517473,-0.000288980304146,4.16412813163e-05,1793244253780196096
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713.169682346,681,658.830317654,634,880,786,806,652,631,651,0.437148740178,-0.00538544677316,0.0598212224497,0.999999918144,0.000274110341531,-0.000294239674781,4.47088325022e-05,1793244253796863232
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713.757311916,681,658.242688084,634,880,786,806,652,631,651,0.436264538632,-0.00538374892868,0.0597721138046,0.999999894505,0.000261516796589,-0.000375119482974,4.3417119057e-05,1793244253813530112
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,744.659519313,713.659519313,680.659519313,658.340480687,634,880,786,806,652,631,651,0.43538218267,-0.00538869862513,0.0597507254901,0.999999899815,0.000213234386663,-0.000392645809257,2.70408297148e-05,1793244253830196992
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.07948902,713.07948902,680.07948902,658.92051098,634,880,786,806,652,631,651,0.43450112523,-0.00539832528534,0.059748840176,0.999999923391,0.000139842612781,-0.000365598966898,5.15912628746e-08,1793244253846863872
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.496873926,744.496873926,713.496873926,680,659,633.503126074,880,786.496873926,806.496873926,652,631,651,0.433627589068,-0.00540271457976,0.0597664448308,0.999999933739,0.000135650130567,-0.00033780187446,3.2731248438e-06,1793244253863530496
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.927742896,745,714,680.072257104,659,633.072257104,880,786.927742896,806.855485792,652,631,651,0.432752494251,-0.0054050319484,0.0597859288118,0.999999940902,0.000143834381799,-0.000312069744391,1.1001467171e-05,1793244253880196864
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.355111755,745,714,680.644888245,659,633.644888245,880,786.355111755,805.71022351,652,631,651,0.431858335022,-0.00539876104022,0.0597969934742,0.999999941359,0.000161626681615,-0.00030146237302,1.67157166437e-05,1793244253896863488
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,880,786,805.225197033,652,631,651.225197033,0.430973990952,-0.0053935523247,0.0598135889657,0.999999945579,0.000175695843811,-0.000278438494973,2.10866924329e-05,1793244253913530368
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,880,786,805.818040076,652,631,651.818040076,0.430105670506,-0.00539007769358,0.0598392138286,0.999999955213,0.000183686790576,-0.000235144014423,2.32647041249e-05,1793244253930196992
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,713.599936731,680.599936731,659,634,879.599936731,786,806,652,630.599936731,652,0.429133807168,-0.00538845429034,0.0598151004354,0.99999993994,0.000190206775168,-0.000288817284003,2.2948835429e-05,1793244253946863360
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.022705151,680.022705151,659,634,879.022705151,786,806,652,630.022705151,652,0.428116089837,-0.00538765070493,0.0597689604177,0.999999906266,0.000196075341204,-0.000385432792893,2.15285496854e-05,1793244253963529472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.553857693,659,634,879.553857693,786,805.446142307,652,630.553857693,652,0.42721407166,-0.00538890980137,0.0597560601318,0.999999910526,0.000189012285575,-0.000377950880961,1.93954377886e-05,1793244253980196096
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.128955275,680.871044725,659,634,879.871044725,786.128955275,805,652,631,652,0.426318476118,-0.00539041155806,0.0597547310272,0.99999991821,0.000181957967519,-0.000360728395348,1.85835314606e-05,1793244253996862976
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.699133095,680.300866905,659,634,879.300866905,786.699133095,805,652,631,652,0.425428646968,-0.00539245461047,0.0597883362061,0.999999931395,0.000176745193012,-0.000324761844882,2.23920142324e-05,1793244254013529344
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.282007488,658.717992512,634,879,786.717992512,805.282007488,652,631,651.717992512,0.42453565991,-0.00539274908492,0.0598145989665,0.999999938703,0.000184373954352,-0.000296569874371,2.54325881054e-05,1793244254030195968
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.879066112,658.120933888,634,879,786.120933888,805.879066112,652,631,651.120933888,0.423639144982,-0.00539109009524,0.0598326589735,0.999999939947,0.000206348932538,-0.000277063456815,2.76152746886e-05,1793244254046862592
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.461162498,634,879.461162498,786.461162498,805.538837502,652,631,651,0.422739189307,-0.00538886941341,0.0598433778751,0.999999947055,0.000200716993925,-0.000254614029386,2.78372074444e-05,1793244254063529472
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.960723232,634,879.960723232,787,805.039276768,652,631,651.039276768,0.421834585834,-0.00538637479286,0.0598484235808,0.999999952961,0.000190122851288,-0.000239111099689,2.75025092531e-05,1793244254080195840
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.38509167,634,879.38509167,787,805.61490833,652,631,651.61490833,0.420878448272,-0.00538208756674,0.0598014601194,0.999999924106,0.000207520999529,-0.000328675896016,2.6367489052e-05,1793244254096862464
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.805006813,658.194993187,634,879,786.805006813,806,652,631,652,0.419953675261,-0.0053793649428,0.0597586833211,0.999999896064,0.000215300364232,-0.000401136586532,2.4622028205e-05,1793244254113529088
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.215921491,658.784078509,634,879,786.215921491,806,652,631,652,0.419092291589,-0.00537980446658,0.0597243679944,0.999999882658,0.000203639635441,-0.000439028943385,2.16428328174e-05,1793244254130195456
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786.366806505,806,652,631,651.633193495,0.418263776092,-0.00538184368007,0.0597353401331,0.999999894231,0.000199000383563,-0.000414083988178,2.16985447004e-05,1793244254146862080
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786.945855966,806,652,631,651.054144034,0.417454278954,-0.00538480851199,0.0597725166771,0.999999917811,0.000198423925229,-0.000352779868303,2.35103261462e-05,1793244254163528960
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.48226075,680,658.48226075,634,879,786.48226075,805.48226075,652,631,651.51773925,0.416651424276,-0.00538043876737,0.0598116377947,0.999999932764,0.000207156915209,-0.000301420436758,2.65245658785e-05,1793244254180195584
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.090155717,745,713.090155717,680.090155717,658,634,879,786.090155717,805,652,631,652,0.415851354693,-0.00537646928442,0.0598443972455,0.999999942074,0.000216642954409,-0.000260886544331,2.9257039355e-05,1793244254196862208
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.66947579,745,713.66947579,680.66947579,658,634,879,786.66947579,805,652,631,652,0.415062678839,-0.00537877646356,0.059841551426,0.999999936835,0.000225004661469,-0.000273523831264,2.97877352546e-05,1793244254213528832
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.74607285,745,713.74607285,680.74607285,658,634,879.25392715,787,805,652,630.74607285,651.74607285,0.414293632893,-0.0053811407045,0.0598398681709,0.999999935632,0.000224496019517,-0.00027827581691,3.00098419477e-05,1793244254230195712
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.154804644,745,713.154804644,680.154804644,658,634,879.845195356,787,805,652,630.154804644,651.154804644,0.413550665252,-0.00538358075161,0.0598397293777,0.999999939898,0.0002122031589,-0.000272552214942,2.98219892545e-05,1793244254246862080
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.427252511,680,658,634,879.572747489,786.572747489,805,652,630.427252511,651,0.412763566124,-0.00537926537392,0.0598063464816,0.99999992172,0.000212627895461,-0.000332489566978,2.82925537694e-05,1793244254263528704
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.994016711,714,680,658,634,879.005983289,786,805,652,631,651,0.411961931156,-0.00537259448667,0.059761478429,0.999999889862,0.000217754469335,-0.000414931818026,2.62934478716e-05,1793244254280195328
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.420921233,714,680,658,634,879.579078767,786,805,652,631,651,0.411266145287,-0.00536976240676,0.059745599321,0.999999881146,0.000241000474833,-0.00042309334443,2.48783672747e-05,1793244254296862720
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.156484944,713.843515056,680,658,634,879.843515056,786,805,652,631,651.156484944,0.410597811538,-0.00536809226056,0.0597452097795,0.999999882303,0.000253618481473,-0.000412884261699,2.4443222444e-05,1793244254313530112
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.74581485,713.25418515,680,658,634,879.25418515,786,805,652,631,651.74581485,0.410005411532,-0.00536963607886,0.0597876651281,0.999999909694,0.000236838931478,-0.000351861182264,2.67186272447e-05,1793244254330196480
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.329217626,680,658,634,879,786.329217626,805,652.329217626,631,651.670782374,0.40941758898,-0.00537038018,0.0598233421063,0.999999930039,0.000225356161799,-0.000297160978144,2.88400839904e-05,1793244254346863360
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.908125029,680,658,634,879,786.908125029,805,652.908125029,631,651.091874971,0.408833238161,-0.00537051774851,0.0598538781365,0.999999945218,0.000217890650451,-0.000247256260218,3.08447811923e-05,1793244254363530496
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.515113472,805,652.515113472,630.515113472,651,0.408250850893,-0.00537321609441,0.0598504895091,0.999999942926,0.00022294468385,-0.000252056823435,3.01909840991e-05,1793244254380197376
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.061127071,805,652,630,651.061127071,0.407672229654,-0.00537594947337,0.0598402666334,0.999999937084,0.000230933493757,-0.000267690282613,2.90463811328e-05,1793244254396864000
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.636390734,805,652,630,651.636390734,0.407122168768,-0.00537491442694,0.0598263881979,0.999999928535,0.000243742276871,-0.000287639904485,2.79917659101e-05,1793244254413530624
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.783228759,805,652,630.216771241,651.783228759,0.406605541396,-0.00537440089397,0.0598197277839,0.999999925041,0.000248902948309,-0.000295320915727,2.74040788223e-05,1793244254430197248
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.194057891,805,652,630.805942109,651.194057891,0.406146350796,-0.00537478328905,0.059825467487,0.999999930855,0.000240924634275,-0.000281925208467,2.76185456075e-05,1793244254446863872
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.611188173,658,634,879.388811827,786.388811827,805,652,631,651,0.40569936645,-0.00537118038791,0.0598278767305,0.9999999318,0.000242978118039,-0.00027671186633,2.81625916755e-05,1793244254463530496
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,878.918315809,787,805,652,631,651.540842096,0.404838127302,-0.00535643198036,0.0598124176326,0.999999919776,0.000264521065166,-0.000299461331702,2.82690073147e-05,1793244254496864000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.883709134,679.116290866,658,634,878.116290866,787,805,652,631,651.883709134,0.404425650547,-0.00534802743947,0.0597939584843,0.999999907304,0.00027753409702,-0.000328027757144,2.76558757327e-05,1793244254513530368
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.293489976,679.706510024,658,634,878.706510024,787,805,652,631,651.293489976,0.404040009876,-0.00534366334214,0.0597703955685,0.999999891446,0.000282462865021,-0.000369563100825,2.72919603513e-05,1793244254530196736
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.280647156,680,658,634,879,787,805,652,631,651.280647156,0.403703935354,-0.00534077020706,0.0597663671871,0.99999988884,0.00028627935973,-0.000373609441531,2.79328890775e-05,1793244254546863360
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.838877786,680,658,634,879,787,805,652,631,651.838877786,0.403416885916,-0.00533933197674,0.0597816600932,0.999999899808,0.000288995723104,-0.000340576025214,2.95676925763e-05,1793244254563530496
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,787,805,652,631,652,0.403158647453,-0.00533915138947,0.0597997509138,0.999999909111,0.000290299905009,-0.000310621070787,3.19123353559e-05,1793244254580196864
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.019981756,634,879,787,805,652,631,652,0.402913018808,-0.00533961265039,0.059818845391,0.999999917325,0.000290883353694,-0.000282036175923,3.45202140165e-05,1793244254596862720
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.599582388,634,879,787,805,652,631,652,0.402693158608,-0.00534375883338,0.059834255197,0.999999925074,0.00028732865969,-0.000256840296789,3.64342809955e-05,1793244254613529344
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.181239589,658.818760411,634.181239589,879,787,805,652.181239589,631,652,0.402474946067,-0.00535140432488,0.0598431406,0.999999930833,0.000278443107086,-0.000243622712107,3.80892590623e-05,1793244254630195968
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.767492491,658.232507509,634.767492491,879,787,805,652.767492491,631,652,0.402260415558,-0.00536686966659,0.0598374460182,0.999999932974,0.000257644767698,-0.000257172840903,3.91652549059e-05,1793244254646862336
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.648328823,744.648328823,714,680.648328823,658,634.648328823,879.351671177,787,805,652.648328823,631,651.648328823,0.402066426319,-0.00537574476828,0.0598319224494,0.999999932501,0.000245215136624,-0.000270690771248,3.99170097647e-05,1793244254663528704
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.065513406,744.065513406,714,680.065513406,658,634.065513406,879.934486594,787,805,652.065513406,631,651.065513406,0.401885938297,-0.00538028827961,0.0598265112824,0.99999993041,0.000238286035968,-0.000284187539767,4.04556496397e-05,1793244254680195840
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.510038329,744.510038329,714,680,658,634.510038329,878.979923341,786.489961671,805.510038329,652,630.489961671,651,0.401744282292,-0.00537455042357,0.0598272841496,0.999999929644,0.000238820896546,-0.000286743565713,3.8151058526e-05,1793244254696862464
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.915052152,878,786,805.915052152,652,630.084947848,651.084947848,0.401611829434,-0.0053696692073,0.0598287399687,0.999999931147,0.000233171145893,-0.000286714594064,3.36579207764e-05,1793244254713529088
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.338535497,878,786,805.338535497,652,630.661464503,651.661464503,0.401504174252,-0.00537727986607,0.0598296158367,0.999999943352,0.000186262826013,-0.000279744959389,1.85839663572e-05,1793244254730195712
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.755642753,745,713.755642753,680,658,634,878.244357247,786.244357247,805,652.244357247,631,652,0.40140785305,-0.00538171284269,0.0598330329811,0.999999946617,0.000179270449043,-0.000272983588857,1.03761354907e-05,1793244254746862336
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.163679865,745,713.163679865,680,658,634,878.836320135,786.836320135,805,652.836320135,631,652,0.401327654789,-0.00538162546902,0.0598400651687,0.999999938179,0.000229059722245,-0.000266518481134,1.1935575886e-05,1793244254763528960
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.41802867,745,713.41802867,680,657.58197133,634,879,786.58197133,805,652.58197133,630.58197133,652,0.401255391897,-0.005380428083,0.0598402076628,0.99999993496,0.000242059559056,-0.000267065946054,1.27333295512e-05,1793244254780195584
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.995818214,745,713.995818214,680,657.004181786,634,879,786.004181786,805,652.004181786,630.004181786,652,0.40118616172,-0.00537880647598,0.0598377170754,0.999999934343,0.000240999324493,-0.000270293454105,1.32399841644e-05,1793244254796862208
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.568404671,634,878.431595329,786.568404671,805.568404671,652.568404671,630.568404671,651.431595329,0.40113588197,-0.00538039877279,0.0598345422964,0.999999933105,0.000239880640683,-0.0002757815813,1.38829279421e-05,1793244254813529088
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.86457936,658,634.13542064,878.13542064,787,805.86457936,653,631,651.13542064,0.401088944665,-0.00538100097271,0.0598315034367,0.999999931643,0.00023964591984,-0.000281204784401,1.43772468554e-05,1793244254830195968
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.314504047,658,634.685495953,878.685495953,787,805.314504047,653,631,651.685495953,0.401051818828,-0.00537849977667,0.0598288960321,0.999999929579,0.000242119176849,-0.000286378727183,1.44134376133e-05,1793244254846862336
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.732297724,744.732297724,714,679.267702276,658,634.732297724,879.267702276,786.732297724,805,653,631,651.732297724,0.401023672308,-0.00537704782113,0.0598283417449,0.999999929384,0.000242512373923,-0.000286713319627,1.46379737718e-05,1793244254863528704
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.107194179,744.107194179,714,679.892805821,658,634.107194179,879.892805821,786.107194179,805,653,631,651.107194179,0.401007513799,-0.00537699667474,0.0598305285129,0.99999993169,0.000240128545789,-0.000280587041479,1.5113964224e-05,1793244254880195328
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.474695496,744.474695496,714,679.525304504,657.525304504,634.474695496,879.050609008,786.474695496,805.474695496,652.525304504,630.525304504,651.474695496,0.4009965227,-0.00537749978281,0.0598331104133,0.999999932882,0.000239966492155,-0.000276428556763,1.54565976724e-05,1793244254896862208
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.95210449,714,679.04789551,657.04789551,634.95210449,878,787,805.95210449,652,630.04789551,652,0.400986859371,-0.00537799876498,0.0598356232552,0.99999993375,0.000240329938406,-0.000272938042174,1.57241742883e-05,1793244254913528832
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.376097647,714,679.623902353,657.623902353,634.376097647,878,787,805.376097647,652,630.623902353,652,0.400980043549,-0.00537718735074,0.059836472879,0.99999993366,0.000241417247403,-0.000272321938384,1.54684937396e-05,1793244254930195712
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.204442214,714,680,658,634,878.204442214,787,805,652,631,652,0.400974663268,-0.00537707676854,0.0598370730338,0.999999933793,0.00024119587297,-0.000272026314396,1.54765677328e-05,1793244254946862336
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.793510198,714,680,658,634,878.793510198,787,805,652,631,652,0.400971983731,-0.00537828469128,0.0598372038519,0.999999934345,0.000238512417069,-0.000272333622629,1.59808542995e-05,1793244254963528960
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.377098632,634,879,787,805,652.377098632,631,652,0.400970114155,-0.00537764059546,0.059837270095,0.999999934264,0.000238869424333,-0.000272322436768,1.59636634163e-05,1793244254980195840
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.957729558,634,879,787,805,652.957729558,631,652,0.40096868174,-0.00537599690544,0.0598373014848,0.999999933839,0.000240867467714,-0.000272139349364,1.56650143189e-05,1793244254996862464
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.465995225,745,714,680,658.465995225,634,879,787,805,652.465995225,631,652,0.400969727252,-0.00537673676577,0.0598389467233,0.99999993469,0.000240728525005,-0.00026910037069,1.59832708278e-05,1793244255013529088
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.108493728,745,714,680,658,634,879,786.891506272,805,652,631,652,0.400970635625,-0.00537735677288,0.0598404262194,0.999999935431,0.000240540933278,-0.000266484155435,1.62725711234e-05,1793244255030195968
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.676860703,745,714,680,658,634,879,786.323139297,805,652,631,652,0.400970138022,-0.00537667548613,0.0598406660754,0.999999935321,0.000240858344232,-0.00026661038265,1.62338216725e-05,1793244255046862592
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.258975642,805.258975642,652,631,652,0.400969950418,-0.00537703236807,0.0598410371961,0.999999935408,0.000240796755788,-0.000266334662108,1.6358716836e-05,1793244255063529216
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.859206513,805.859206513,652,631,652,0.400970171303,-0.00537875725694,0.0598415812856,0.999999935751,0.000240235755453,-0.000265529290326,1.66992484136e-05,1793244255080195840
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.559810047,806,652,631,652,0.400969219537,-0.00537917304284,0.0598408064939,0.999999935745,0.000239025152166,-0.000266644112738,1.66478217116e-05,1793244255096862464
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.984822896,658,634,879,786,805.984822896,652.015177104,631,651.984822896,0.400967972387,-0.00537919154597,0.0598396978655,0.999999935639,0.000237689351909,-0.000268243337311,1.64851361934e-05,1793244255113529088
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.413424587,658,634,879,786,805.413424587,652.586575413,631,651.413424587,0.400969069687,-0.00537935256491,0.0598411667857,0.9999999359,0.000239060872572,-0.000266029753451,1.6647006131e-05,1793244255130195712
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.835416724,745,714,679.164583276,658,634,878.835416724,786.164583276,805,653,631,651.164583276,0.40096971195,-0.00537937587087,0.0598422469962,0.999999936067,0.000239997851464,-0.000264550862846,1.6749469849e-05,1793244255146862592
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.240111383,745,714,679.759888617,658,634,878.240111383,786.759888617,805,653,631,651.759888617,0.400969163364,-0.00537903877556,0.0598423099354,0.999999935998,0.000239797614316,-0.000264994698684,1.66964647266e-05,1793244255163529216
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.34522789,745,714,680,658,634.34522789,878.34522789,787,805,652.65477211,631,652,0.400969226082,-0.00537826872392,0.0598423590616,0.999999935714,0.000240909294715,-0.000265063741607,1.66015919544e-05,1793244255180195584
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.923830068,745,714,680,658,634.923830068,878.923830068,787,805,652.076169932,631,652,0.400969702043,-0.00537720599354,0.0598423988501,0.999999935282,0.000242907832278,-0.000264879424242,1.64784166242e-05,1793244255196862464
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.501545759,879,787,805,652,631,652,0.400969029544,-0.00537773828136,0.0598421054556,0.999999935841,0.000241088365286,-0.00026442561939,1.65154930901e-05,1793244255213528832
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.927408351,658,634,879,787,805,652,631,652,0.400968283971,-0.00537834350935,0.0598418384105,0.999999936424,0.000239072352475,-0.000264049735902,1.65551092085e-05,1793244255230195712
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.352466334,658,634,879,787,805,652,631,652,0.400968237581,-0.00537778012999,0.0598421032592,0.999999936157,0.000239701753805,-0.000264495811193,1.64441765232e-05,1793244255246862592
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.22941696,658,634.22941696,879,787,805.22941696,652,631,652,0.400968740067,-0.00537770015553,0.0598426975124,0.999999936148,0.00024035469689,-0.000263939323634,1.64232165403e-05,1793244255263528960
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.822297351,658,634.822297351,879,787,805.822297351,652,631,652,0.400970112132,-0.00537838603546,0.0598438136386,0.999999936544,0.000241044937086,-0.000261794483943,1.6544799564e-05,1793244255280195584
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.595563173,879,786.595563173,805.595563173,652.404436827,631,651.595563173,0.400969659762,-0.00537887512801,0.0598433359819,0.999999936796,0.00023953310775,-0.000262209359685,1.66824034464e-05,1793244255296862464
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.018021014,879,786.018021014,805.018021014,652.981978986,631,651.018021014,0.400968426505,-0.00537927999242,0.0598421761608,0.999999936981,0.000237078757927,-0.000263719834075,1.68268645015e-05,1793244255313528832
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ccb82e798c66da8a649d027aafb0d0a9a5f9491a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669515005,-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
+8,0.133333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+9,0.150000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+10,0.166666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+11,0.183333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+12,0.200000000,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+13,0.216666667,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
+14,0.233333333,pose1_baseline,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516199,1.04971727659
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+375,6.250000000,pose2_to_pose3_retreat,0.576123713777,-0.000122150336996,1.05005091376,0.546695345882,0.00855353159781,1.04971740205
+376,6.266666667,pose2_to_pose3_retreat,0.576041594091,-0.000122272700797,1.05005103658,0.546613229279,0.00855341946035,1.04971752042
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+380,6.333333333,pose2_to_pose3_retreat,0.575809496375,-0.000122310894117,1.05005087965,0.54638113129,0.00855338080113,1.04971737445
+381,6.350000000,pose2_to_pose3_retreat,0.575771277551,-0.000122348998959,1.05005083774,0.546342913939,0.00855334765041,1.04971733158
+382,6.366666667,pose2_to_pose3_retreat,0.575742046823,-0.000122272175402,1.05005080226,0.546313682107,0.00855342086233,1.04971729972
+383,6.383333333,pose2_to_pose3_retreat,0.575719366735,-0.000122224539224,1.0500509812,0.546291000363,0.0085534627393,1.04971747496
+384,6.400000000,pose2_to_pose3_retreat,0.575702994122,-0.000122251739788,1.05005082352,0.546274629121,0.00855344070555,1.04971732999
+385,6.416666667,pose2_to_pose3_retreat,0.575691716188,-0.000122324035005,1.0500508741,0.546263351191,0.00855336793269,1.04971736807
+386,6.433333333,pose2_to_pose3_retreat,0.575684213107,-0.000122261608874,1.05005096055,0.546255847301,0.00855342744767,1.04971745015
+387,6.450000000,pose2_to_pose3_retreat,0.57567890979,-0.0001222240634,1.05005099453,0.546250543618,0.00855346373376,1.04971748368
+388,6.466666667,pose2_to_pose3_retreat,0.575675116887,-0.000122316524682,1.05005090782,0.546246751678,0.00855337461582,1.04971739887
+389,6.483333333,pose2_to_pose3_retreat,0.575672649365,-0.000122264622286,1.05005094583,0.546244282628,0.00855342156635,1.04971744288
+390,6.500000000,pose2_to_pose3_retreat,0.575671311866,-0.000122198548475,1.05005093438,0.546242943884,0.00855348348659,1.04971743328
+391,6.516666667,pose2_to_pose3_retreat,0.575670850928,-0.000122142649999,1.05005086787,0.546242482321,0.00855353718042,1.04971736453
+392,6.533333333,pose2_to_pose3_retreat,0.575670639698,-0.000122117033944,1.05005083738,0.546242270805,0.00855356178617,1.04971733303
+393,6.550000000,pose2_to_pose3_retreat,0.57567062096,-0.000122114761486,1.05005083468,0.546242252041,0.008553563969,1.04971733023
+394,6.566666667,pose2_to_pose3_retreat,0.575670450489,-0.000122094088278,1.05005081008,0.546242081339,0.00855358382685,1.04971730481
+395,6.583333333,pose2_to_pose3_retreat,0.575670392384,-0.00012208704185,1.05005080169,0.546242023156,0.00855359059537,1.04971729614
+396,6.600000000,pose2_to_pose3_retreat,0.575670107978,-0.000122072153205,1.05005075752,0.546241738661,0.00855360513026,1.04971725056
+397,6.616666667,pose2_to_pose3_retreat,0.575670027685,-0.000122102776277,1.05005073948,0.546241658872,0.00855357619566,1.04971723206
+398,6.633333333,pose2_to_pose3_retreat,0.575670009763,-0.000122109611794,1.05005073546,0.546241641061,0.00855356973703,1.04971722793
+399,6.650000000,pose2_to_pose3_retreat,0.57566993401,-0.000122138503657,1.05005071844,0.546241565783,0.00855354243819,1.04971721048
+400,6.666666667,pose2_to_pose3_retreat,0.575669933518,-0.000122138691265,1.05005071833,0.546241565294,0.00855354226093,1.04971721037
+401,6.683333333,pose2_to_pose3_retreat,0.575669803523,-0.000122188270638,1.05005068913,0.546241436114,0.00855349541522,1.04971718043
+402,6.700000000,pose2_to_pose3_retreat,0.575669800506,-0.000122189421309,1.05005068845,0.546241433115,0.008553494328,1.04971717973
+403,6.716666667,pose2_to_pose3_retreat,0.575669693179,-0.00012223108168,1.05005066738,0.546241326477,0.00855345497819,1.04971715803
+404,6.733333333,pose2_to_pose3_retreat,0.575669623507,-0.000122272687106,1.05005071461,0.546241257574,0.00855341594664,1.04971720439
+405,6.750000000,pose2_to_pose3_retreat,0.575669586931,-0.000122294529007,1.0500507394,0.546241221401,0.00855339545597,1.04971722873
+406,6.766666667,pose2_to_pose3_retreat,0.575669556068,-0.000122312958733,1.05005076032,0.546241190879,0.00855337816638,1.04971724926
+407,6.783333333,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516198,1.04971727659
+408,6.800000000,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516197,1.04971727659
+409,6.816666667,pose2_to_pose3_retreat,0.575669515005,-0.00012233748012,1.05005078815,0.546241150269,0.00855335516197,1.04971727659
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70e1382161357308fa75fd43f673a3335d9c5e7e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d7a888c68c3826c92837ccdd1871eef6f3cc534d17c4a798e91725ec7739e63
+size 25999718
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ba92c48eb1a0bf196cb039e1b0f55f3200793f5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+34,0.566666667,BASELINE,765,745,713.757445387,680,658.757445387,635,878.757445387,786.242554613,805,652,630.242554613,652,0.400969616916,-0.00537820863663,0.0598451072553,0.999999937261,0.000240973756135,-0.000259070601301,1.7083258475e-05,1793244256025005312
+35,0.583333333,BASELINE,765,745,714,680,658.666481087,634.666481087,879,786.333518913,805,652,630.333518913,651.666481087,0.400969251533,-0.005378774555,0.059844929974,0.999999937261,0.000240776923082,-0.000259249290537,1.71282241738e-05,1793244256041671680
+36,0.600000000,BASELINE,765,745,714,680,658.091683303,634.091683303,879,786.908316697,805,652,630.908316697,651.091683303,0.400968552047,-0.00538038173077,0.0598449323616,0.999999937467,0.000240006241788,-0.000259158796146,1.72880539357e-05,1793244256058338304
+37,0.616666667,BASELINE,765,745,714,680,658,634,878.515087598,787,805,652,631,651.484912402,0.400969026837,-0.00538071443076,0.0598446985048,0.999999938117,0.000236994549821,-0.000259440167095,1.70659205004e-05,1793244256075004672
+38,0.633333333,BASELINE,765,745,714,680,658,634,878.063495508,787,805,652,631,652,0.400969720198,-0.00538067110739,0.059844584321,0.999999938707,0.000234334849739,-0.000259596253409,1.68352582959e-05,1793244256091671296
+39,0.650000000,BASELINE,765,745,714,680,658,634,878.65578867,787,805,652,631,652,0.400970377933,-0.00537951049252,0.0598458401654,0.999999938183,0.000238148429185,-0.000258121232917,1.71372493956e-05,1793244256108338176
+40,0.666666667,BASELINE,765,745,714,680,658,634.241937741,879,787,805,652.241937741,631,652,0.400970868272,-0.0053792566722,0.0598464850738,0.999999937969,0.000239797195813,-0.000257412241264,1.72700039882e-05,1793244256125004800
+41,0.683333333,BASELINE,765,745,714,680,658,634.819561906,879,787,805,652.819561906,631,652,0.400971126349,-0.00538026102119,0.0598462823138,0.999999938204,0.000238442304038,-0.000257766107781,1.71679444422e-05,1793244256141671680
+42,0.700000000,BASELINE,765,745,714,680,658,634.606490801,879,786.606490801,805,652.606490801,631,652,0.400971498531,-0.0053807682115,0.0598466810818,0.999999938369,0.000238645744518,-0.00025692220085,1.73650444151e-05,1793244256158338304
+43,0.716666667,BASELINE,765,745,714,680,658,634.034213895,879,786.034213895,805,652.034213895,631,652,0.40097192255,-0.00538104954702,0.0598473531185,0.999999938501,0.000239557121433,-0.000255534156147,1.76980498833e-05,1793244256175004928
+44,0.733333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400971213461,-0.00538040602308,0.0598467025879,0.999999938628,0.000238018366452,-0.000256498100247,1.7319886839e-05,1793244256191671552
+45,0.750000000,BASELINE,764.855160297,745,714,680,657.855160297,634,879,786,805,652,631,652,0.40097030747,-0.00537995532066,0.0598459081122,0.999999938562,0.000236989685017,-0.000257726607197,1.70037857988e-05,1793244256208338176
+46,0.766666667,BASELINE,764.277453667,745,714,680,657.277453667,634,879,786,805,652,631,652,0.400969028345,-0.0053802566401,0.0598449347787,0.999999937927,0.000237951019708,-0.000259298821804,1.70083106157e-05,1793244256225004544
+47,0.783333333,BASELINE,764.300066209,745,714,680,657.300066209,634.300066209,879,786.300066209,805.300066209,652,631,652,0.400969093042,-0.00538084827055,0.0598449795882,0.999999938111,0.000237293260967,-0.000259190961794,1.70276180515e-05,1793244256241671424
+48,0.800000000,BASELINE,764.877413579,745,714,680,657.877413579,634.877413579,879,786.877413579,805.877413579,652,631,652,0.400970399517,-0.00538170816773,0.0598459652295,0.999999939048,0.000235139352175,-0.00025753060113,1.70605856121e-05,1793244256258338048
+49,0.816666667,BASELINE,765,745,714,680.448861234,658,634.551138766,879,787,805.551138766,652,631,652,0.400970970963,-0.00538051489073,0.0598463509407,0.999999938596,0.000237639592477,-0.000256986839529,1.71471163316e-05,1793244256275004928
+50,0.833333333,BASELINE,765,745,714,680.980403706,658,634,879,787,805,652,630.980403706,652,0.400971291514,-0.0053788124394,0.0598465492962,0.999999937774,0.000241275581043,-0.000256787854458,1.72454660671e-05,1793244256291671552
+51,0.850000000,BASELINE,765,745,714,680.383823656,658,634,879,787,805,652,630.383823656,652,0.400970058654,-0.00537841386417,0.059845992805,0.99999993746,0.000241412656293,-0.000257878008669,1.72666859471e-05,1793244256308338176
+52,0.866666667,BASELINE,765,745,713.795757586,679.591515172,658,634,879,786.795757586,805,652,630,652,0.400969440131,-0.00537877148253,0.0598457157546,0.999999937486,0.000240727308491,-0.000258420805614,1.72587879087e-05,1793244256325004544
+53,0.883333333,BASELINE,765,745,713.223051215,678.446102429,658,634,879,786.223051215,805,652,630,652,0.400969929901,-0.00538049331356,0.0598459428298,0.999999938121,0.000238558266647,-0.000257976141466,1.71983596272e-05,1793244256341671168
+54,0.900000000,BASELINE,765.352209331,744.647790669,713.352209331,678.704418663,658,634,879,786,805.352209331,652.352209331,630.352209331,652,0.400969887357,-0.00538104720293,0.0598459248358,0.999999938317,0.000237698158961,-0.00025801233423,1.71585457409e-05,1793244256358338048
+55,0.916666667,BASELINE,765.929099209,744.070900791,713.929099209,679.858198417,658,634,879,786,805.929099209,652.929099209,630.929099209,652,0.40096950524,-0.00538085604166,0.0598457505079,0.999999938235,0.000237673043549,-0.000258355274117,1.71318821433e-05,1793244256375004672
+56,0.933333333,BASELINE,765.496451899,744.503548101,714,679.496451899,658,634.503548101,879,786.503548101,805.496451899,652.496451899,630.496451899,652,0.400970268371,-0.00538126332587,0.0598463006973,0.999999938887,0.000235886974797,-0.000257470815487,1.70829361018e-05,1793244256391671296
+57,0.950000000,BASELINE,765,745,714,679.080607523,658,635,878.919392477,787,805,652,630.080607523,652,0.400970890975,-0.00538153604471,0.0598467973015,0.999999939442,0.000234346871751,-0.000256724755374,1.70241843316e-05,1793244256408338432
+58,0.966666667,BASELINE,765,745,714,679.676542598,658,635,878.323457402,787,805,652,630.676542598,652,0.400969589262,-0.00538041238519,0.0598463023003,0.999999938747,0.000235956725706,-0.00025796300416,1.69227050355e-05,1793244256425005056
+59,0.983333333,BASELINE,765,745,714,679.737741464,658,634.737741464,878.262258536,787,805,652,631,652,0.400969238783,-0.00538009613622,0.0598462419617,0.999999938447,0.00023702352679,-0.000258146645513,1.69254144974e-05,1793244256441671424
+60,1.000000000,BASELINE,765,745,714,679.164156556,658,634.164156556,878.835843444,787,805,652,631,652,0.400970017509,-0.0053807383619,0.0598466976099,0.99999993862,0.000237445671549,-0.000257078365501,1.70518061285e-05,1793244256458338304
+61,1.016666667,BASELINE,765,744.589105072,714,679.410894928,658,634,878.589105072,787,805,652,631,651.589105072,0.40097093713,-0.00538067593416,0.0598471604825,0.999999938739,0.000237763154671,-0.000256321716014,1.7021755144e-05,1793244256475004672
+62,1.033333333,BASELINE,765,744.013465612,714,679.986534388,658,634,878.013465612,787,805,652,631,651.013465612,0.400971913241,-0.0053803309821,0.0598476262517,0.999999938837,0.000238038674653,-0.000255690011975,1.69289799283e-05,1793244256491671040
+63,1.050000000,BASELINE,765,744.580305486,714,680,658,634,878,787,805.580305486,652,631,651.580305486,0.400970947254,-0.00537884520453,0.0598470575002,0.999999938424,0.000238848984677,-0.000256560858943,1.66986208096e-05,1793244256508337920
+64,1.066666667,BASELINE,764.8306649,745,713.8306649,680,658,634,878,787,805.8306649,652,631,651.8306649,0.400970270368,-0.00537817701662,0.0598466870645,0.999999938256,0.000238955440894,-0.000257117640196,1.66829023027e-05,1793244256525004544
+65,1.083333333,BASELINE,764.254082961,745,713.254082961,680,658,634,878,787,805.254082961,652,631,651.254082961,0.40097040064,-0.00537954083039,0.0598468531676,0.999999938706,0.00023733833858,-0.000256832545265,1.71913149464e-05,1793244256541671424
+66,1.100000000,BASELINE,764.320449888,744.679550112,713.320449888,680,658,634,878,787,804.679550112,652,631,651.320449888,0.400970067658,-0.00538042388713,0.0598468378837,0.999999938602,0.000237655500075,-0.000256928846822,1.74390328603e-05,1793244256558338304
+67,1.116666667,BASELINE,764.89336832,744.10663168,713.89336832,680,658,634,878,787,804.10663168,652,631,651.89336832,0.400969369699,-0.00538092817622,0.059846679693,0.99999993806,0.000239496584071,-0.000257325634114,1.74813606981e-05,1793244256575004928
+68,1.133333333,BASELINE,765,744.482377424,714,680,658,634,878.482377424,787,804.482377424,652.482377424,631,652,0.400969481997,-0.00538097350336,0.0598462647123,0.999999938509,0.000237284436008,-0.000257647690247,1.71830652108e-05,1793244256591671808
+69,1.150000000,BASELINE,765,745,714,679.926611278,658,634,879,786.926611278,805,652.926611278,631,651.926611278,0.400969551478,-0.00538090494645,0.0598458072628,0.999999938995,0.000234778654787,-0.000258077096875,1.68895093928e-05,1793244256608338688
+70,1.166666667,BASELINE,765,745,714,679.347167303,658,634,879,786.347167303,805,652.347167303,631,651.347167303,0.400968048021,-0.00538077483017,0.059845461898,0.999999938219,0.000236639621239,-0.000259364586481,1.71657623641e-05,1793244256625005056
+71,1.183333333,BASELINE,765,745,714,679.231193077,658,634,879,786.231193077,805,652,631,651.231193077,0.400967843132,-0.00538035573776,0.0598456078362,0.999999937862,0.000238180478495,-0.000259321882173,1.72881776883e-05,1793244256641671424
+72,1.200000000,BASELINE,765,745,714,679.807933971,658,634,879,786.807933971,805,652,631,651.807933971,0.400969579121,-0.0053795047333,0.0598464880898,0.999999938134,0.000239242891628,-0.000257291032005,1.71806628852e-05,1793244256658338048
+73,1.216666667,BASELINE,765,745,714,680,658.382897146,634.382897146,879,787,805,652,631,652,0.400970235373,-0.00538048385823,0.0598467490162,0.999999938696,0.000237323328002,-0.000256882853425,1.72349476585e-05,1793244256675004672
+74,1.233333333,BASELINE,765,745,714,680,658.956972681,634.956972681,879,787,805,652,631,652,0.400970352519,-0.00538237675652,0.0598467007158,0.999999939393,0.000233914880097,-0.000257284865756,1.73700180559e-05,1793244256691671552
+75,1.250000000,BASELINE,765,745,714,680,658.454041798,634.454041798,878.454041798,786.454041798,804.454041798,652,631,652,0.400970789796,-0.00537988497073,0.059847156181,0.99999993881,0.000237181276533,-0.000256563294301,1.7309140427e-05,1793244256708338432
+76,1.266666667,BASELINE,765,745,714,680,658,634,878.133660357,786.133660357,804.133660357,652,631,652,0.400971193508,-0.00537790105056,0.0598474272942,0.999999938312,0.000239893870558,-0.000255986241004,1.72444499971e-05,1793244256725005312
+77,1.283333333,BASELINE,765,745,714,680,658,634,878.713054039,786.713054039,804.713054039,652,631,652,0.400971398782,-0.00537879550604,0.0598469475103,0.999999938484,0.000238956100223,-0.000256194720467,1.72199894135e-05,1793244256741671680
+78,1.300000000,BASELINE,765,745,714,679.709839648,658,634,879,786.709839648,805,652,630.709839648,652,0.400970225336,-0.00537938849315,0.0598460639941,0.999999938227,0.000238275514119,-0.000257822447094,1.7262359659e-05,1793244256758338304
+79,1.316666667,BASELINE,765,745,714,679.134977707,658,634,879,786.134977707,805,652,630.134977707,652,0.400967699107,-0.00537968568334,0.059844784341,0.999999937544,0.000237847273912,-0.000260842720691,1.73703034524e-05,1793244256775004672
+80,1.333333333,BASELINE,765,745,714,679.449645245,658,634,879,786.449645245,805,652,630.449645245,652,0.40096783991,-0.00538091364936,0.059844803373,0.999999938101,0.000236252380953,-0.000260155801267,1.73851384142e-05,1793244256791671552
+81,1.350000000,BASELINE,765,745,714,679.963277697,658,634.036722303,879.036722303,787,805,652,631,652,0.400968848304,-0.00538218866702,0.0598452994606,0.999999938959,0.00023461296845,-0.00025833607082,1.73658779639e-05,1793244256808338176
+82,1.366666667,BASELINE,765,745,714,679.384192168,658,634.615807832,879.615807832,787,805,652,631,652,0.400970583589,-0.00537994038495,0.0598469557703,0.999999938705,0.000237603233255,-0.000256586270374,1.72650151497e-05,1793244256825004800
+83,1.383333333,BASELINE,765,744.806035909,714,679.193964091,658,635,879.806035909,787,805,652,631,651.806035909,0.400971548937,-0.00537882029383,0.0598478261446,0.999999938605,0.000239008438978,-0.000255677917506,1.71169586523e-05,1793244256841671424
+84,1.400000000,BASELINE,765,744.229711413,714,679.770288587,658,635,879.229711413,787,805,652,631,651.229711413,0.40097099651,-0.00537992419924,0.0598471472087,0.999999938827,0.00023728902652,-0.000256428305563,1.68758694745e-05,1793244256858338304
+85,1.416666667,BASELINE,765,744.346222681,714,679.653777319,658,635,878.653777319,787,805,652.346222681,631,651.346222681,0.400970031663,-0.00538147625859,0.0598463505756,0.999999938746,0.000236265994229,-0.000257664900682,1.71562386272e-05,1793244256875005184
+86,1.433333333,BASELINE,765,744.92189801,714,679.07810199,658,635,878.07810199,787,805,652.92189801,631,651.92189801,0.400968793493,-0.00538332532357,0.0598454759409,0.999999938465,0.000235704475055,-0.000259223720447,1.77821946109e-05,1793244256891672064
+87,1.450000000,BASELINE,765,745,714,679,658.509554246,634.490445754,878,787,805,653,631,652,0.400969501584,-0.00538168838237,0.0598457483026,0.999999938545,0.000236394920875,-0.00025830956511,1.7442565156e-05,1793244256908338432
+88,1.466666667,BASELINE,765,745,714,679,658.902679296,634,878.097320704,787,805,652.902679296,631,652,0.400970241547,-0.00537996796604,0.0598462367624,0.999999938655,0.000237207710005,-0.000257156319949,1.71045504223e-05,1793244256925005056
+89,1.483333333,BASELINE,765,745,714,679,658.323675197,634,878.676324803,787,805,652.323675197,631,652,0.40096962722,-0.00538054264952,0.0598469036942,0.999999938649,0.000237653387169,-0.000256740951103,1.75246846256e-05,1793244256941671424
+90,1.500000000,BASELINE,765,745,714,679.253333883,658.253333883,634.253333883,878.746666117,786.746666117,805,652.253333883,631,652,0.400969691747,-0.00538092501197,0.0598475928921,0.999999938955,0.000236920986787,-0.000256221255252,1.75903273672e-05,1793244256958338048
+91,1.516666667,BASELINE,765,745,714,679.827813873,658.827813873,634.827813873,878.172186127,786.172186127,805,652.827813873,631,652,0.400970616844,-0.00538106357301,0.0598483103161,0.999999939653,0.000234695161902,-0.000255569306253,1.72065886037e-05,1793244256975004672
+92,1.533333333,BASELINE,765,745,714,680,658.597331841,634.597331841,878,786.402668159,805,652.597331841,631,652,0.400970969599,-0.00538142638806,0.0598488737362,0.999999939745,0.000235217163502,-0.000254725815066,1.72582806538e-05,1793244256991671808
+93,1.550000000,BASELINE,765,745,714,680,658.022317303,634.022317303,878,786.977682697,805,652.022317303,631,652,0.400971077384,-0.00538188518629,0.0598493712411,0.999999939575,0.000236915264717,-0.000253800341673,1.74963418239e-05,1793244257008338688
+94,1.566666667,BASELINE,765.568979277,745,714,680,658,634,878.568979277,787,805.568979277,652,630.431020723,652,0.400970606525,-0.00538052957216,0.0598478798726,0.999999938993,0.000237850391142,-0.000255226098611,1.73575271366e-05,1793244257025005056
+95,1.583333333,BASELINE,765.842824317,745,714,680.157175683,658,634.157175683,878.842824317,787,805.842824317,652,630.157175683,652,0.400969957061,-0.00537943772625,0.0598465579599,0.999999938417,0.000238674558327,-0.000256720318734,1.72083589957e-05,1793244257041671680
+96,1.600000000,BASELINE,765.264691668,745,714,680.735308332,658,634.735308332,878.264691668,787,805.264691668,652,630.735308332,652,0.400968891825,-0.00537924853908,0.0598459049802,0.999999937907,0.000239284060257,-0.00025814362725,1.70722188744e-05,1793244257058338048
+97,1.616666667,BASELINE,765,744.688086644,714,680.688086644,658,634.688086644,878.311913356,787,805.311913356,652,631,652,0.400969532618,-0.00537946061746,0.059846020516,0.999999938214,0.000238586359574,-0.000257601886128,1.70465744402e-05,1793244257075004928
+98,1.633333333,BASELINE,765,744.112771689,714,680.112771689,658,634.112771689,878.887228311,787,805.887228311,652,631,652,0.400971614104,-0.00538001155273,0.0598467850405,0.999999939205,0.000236784764925,-0.000255400718641,1.71142403527e-05,1793244257091671296
+99,1.650000000,BASELINE,765,744.472743561,714,680,658,634.472743561,879,787,805.527256439,652.472743561,631,652,0.400969751095,-0.00538027610697,0.0598459664542,0.999999938763,0.000236845009853,-0.000257060903357,1.72912646424e-05,1793244257108337664
+100,1.666666667,BASELINE,765,745,714,680,658,634.940240186,879,787,805,653,631,651.940240186,0.400967364777,-0.00538046944164,0.0598450082933,0.999999938108,0.000237247844578,-0.00025921483651,1.74627726072e-05,1793244257125004544
+101,1.683333333,BASELINE,765,745,714,680,658,634.361781306,879,787,805,653,631,651.361781306,0.400968783564,-0.0053806506454,0.0598461888189,0.999999938691,0.000236684266521,-0.000257483031532,1.73549776475e-05,1793244257141671936
+102,1.700000000,BASELINE,764.783416978,745,714,680,658,634.216583022,879,787,805,652.783416978,631,651,0.400969761356,-0.00538080146575,0.0598469576701,0.999999938942,0.000236751617549,-0.000256444513452,1.73363669462e-05,1793244257158338816
+103,1.716666667,BASELINE,764.205210581,745,714,680,658,634.794789419,879,787,805,652.205210581,631,651,0.400970002829,-0.00538090155563,0.0598470391583,0.999999938643,0.000237872415503,-0.000256563559731,1.74666650315e-05,1793244257175005184
+104,1.733333333,BASELINE,764.370200333,745,714,680,658,634.629799667,879,786.629799667,805,652,631,651.370200333,0.400969739718,-0.00538092391281,0.0598466505742,0.999999938489,0.000237729172836,-0.000257295987745,1.74532866188e-05,1793244257191671808
+105,1.750000000,BASELINE,764.944073313,745,714,680,658,634.055926687,879,786.055926687,805,652,631,651.944073313,0.400969199001,-0.00538090350392,0.0598460033709,0.999999938414,0.000236890494651,-0.000258365879222,1.73608619018e-05,1793244257208338176
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,805,653,631,652,0.400970613118,-0.00538114673143,0.059848170331,0.999999939345,0.000235714964676,-0.000255836516706,1.72270640464e-05,1793244257238230016
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.425934515,786.425934515,805,652.425934515,631,652,0.400970487169,-0.00538092593848,0.0598474434637,0.999999939125,0.000236010594619,-0.000256431801894,1.71052252331e-05,1793244257254896128
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.149283293,634,878.149283293,786.149283293,805,652.149283293,631,652,0.400970288598,-0.00538078841866,0.0598468317653,0.999999938877,0.000236542424051,-0.00025691020387,1.70664789869e-05,1793244257271562752
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.727814614,634,878.727814614,786.727814614,805,652.727814614,631,652,0.400969881204,-0.00538089034168,0.0598465512223,0.99999993855,0.000237753419739,-0.0002570525209,1.72666564379e-05,1793244257288229632
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.695763202,658.695763202,634.304236798,879,787,805,652.695763202,631,652,0.400970037173,-0.00538121205344,0.0598464062511,0.999999938802,0.000237210381096,-0.000256570018243,1.72991823901e-05,1793244257304896256
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.121215001,658.121215001,634.878784999,879,787,805,652.121215001,631,652,0.400970693683,-0.00538172904531,0.059846381734,0.999999939566,0.000235108900125,-0.000255532369433,1.71827516224e-05,1793244257321562624
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.471399995,658,634.528600005,879,787,805,652,631,652,0.400970513263,-0.00538222676416,0.0598469280053,0.999999939309,0.000235872004151,-0.00025581241889,1.75255232478e-05,1793244257338228992
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,713.933924287,680,658,634,879,787,805,652,631,651.933924287,0.4009701092,-0.00538262144484,0.0598474609347,0.999999938813,0.00023709899684,-0.000256589957486,1.7894813423e-05,1793244257354895360
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713.360517353,680,658,634,879,787,805,652,631,651.360517353,0.400969706208,-0.00538226456305,0.0598467195975,0.99999993859,0.00023600675217,-0.000258481999779,1.75249721176e-05,1793244257371561984
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713.213453107,680,658,634,879,787,805,652,631,651.213453107,0.400970968569,-0.00538238837028,0.0598471211092,0.999999938729,0.00023553631751,-0.000258380274935,1.74697035092e-05,1793244257388228608
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,713.78837781,680,658,634,879,787,805,652,631,651.78837781,0.400975051113,-0.00538332619911,0.0598494579754,0.999999939475,0.000236118885474,-0.000254902210232,1.79471472365e-05,1793244257404895232
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,713.625097242,680,658,634.374902758,878.625097242,787,805.374902758,652.374902758,631,652,0.400990771139,-0.00538341494926,0.0598560989151,0.99999994218,0.000236856139062,-0.000243317326346,1.83247917503e-05,1793244257421562112
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,713.031815143,680,658,634.968184857,878.031815143,787,805.968184857,652.968184857,631,652,0.401013269952,-0.00538300911461,0.0598652469606,0.999999945813,0.000237683496408,-0.000227010252688,1.86443036675e-05,1793244257438228992
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,713.546705659,680,658,635,878,786.453294341,805.453294341,653,631,652,0.401065622985,-0.00538366275312,0.0598835789621,0.99999995336,0.000236948988971,-0.000191736964569,1.92664529299e-05,1793244257454895616
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,635,878.123684798,786.123684798,805,652.876315202,631,652,0.401122449455,-0.00538478126426,0.0599018144078,0.999999959314,0.000236013878795,-0.000158964281097,1.99962509125e-05,1793244257471562496
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,635,878.698094165,786.698094165,805,652.301905835,631,652,0.401189413086,-0.00538737506262,0.0599178015763,0.999999962552,0.000234670258681,-0.000139220522479,2.10558436379e-05,1793244257488229120
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.721404819,879,787,805.278595181,652,631,652,0.401261919106,-0.00538955182272,0.0599296416212,0.999999965108,0.00023367393655,-0.000121322581006,2.14949567497e-05,1793244257504895488
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.134154919,879,787,805.865845081,652,631,652,0.40134056552,-0.00539126654731,0.0599368870798,0.999999967053,0.000233062384869,-0.000105469615716,2.12466424007e-05,1793244257521562112
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.448024819,634,879,787,805.551975181,652,631,652,0.401431949078,-0.00539348441158,0.0599398745041,0.999999967946,0.000231531700809,-0.000100366721588,2.06583090641e-05,1793244257538228480
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.971431981,634,879,787,805,652,631,652,0.401528429708,-0.0053958789327,0.0599416707988,0.999999968606,0.0002297005581,-9.81203240877e-05,1.99466291757e-05,1793244257554895104
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.393491182,634,879,787,805,652,631,652,0.401650405713,-0.00539880583524,0.0599448057812,0.999999969971,0.00022732487401,-8.95962745879e-05,1.87989624067e-05,1793244257571561984
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.18312632,634,879,787,805,652.18312632,631,652,0.401777953357,-0.00540189169465,0.0599468430293,0.999999971112,0.000224900832549,-8.29883239154e-05,1.75643863984e-05,1793244257588228864
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.756920726,634,879,787,805,652.756920726,631,652,0.401917387109,-0.00540531666048,0.0599465384522,0.999999971907,0.000222373629396,-8.04680372188e-05,1.61444048259e-05,1793244257604895744
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.660415375,634,879,787,805,652.660415375,631,651.660415375,0.402072055098,-0.00540933198458,0.0599459843211,0.999999972727,0.000219480085652,-7.84809049493e-05,1.46473746968e-05,1793244257621562368
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.07123224,634,879,787,805,652.07123224,631,651.07123224,0.402237920436,-0.00541378122898,0.059945246765,0.999999973562,0.000216317277199,-7.68856469037e-05,1.30937128662e-05,1793244257638228992
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.509479146,745,714,680,658,634.509479146,879,787,805,652,631,651.509479146,0.402448729529,-0.00541945211022,0.0599464665882,0.999999975494,0.000209695847082,-7.01457540231e-05,1.09395644761e-05,1793244257654895616
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.911411228,744.911411228,714,679.911411228,658,634.911411228,879,787,805,652,631,652,0.402670003751,-0.0054253747728,0.0599479374675,0.999999977392,0.000203004716392,-6.26857249377e-05,8.73537967601e-06,1793244257671562240
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.334707353,744.334707353,714,679.334707353,658,634.334707353,879,787,805,652,631,652,0.40291488328,-0.00543175901983,0.0599493084173,0.999999978745,0.000198550344503,-5.51562134806e-05,6.71052307749e-06,1793244257688229120
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.240986184,714,679.240986184,658,634,879,787,805,652,631,651.759013816,0.403173029728,-0.0054392775015,0.0599515769523,0.999999980664,0.000190495417952,-4.86156424318e-05,4.55212381201e-06,1793244257704895744
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.815282282,714,679.815282282,658,634,879,787,805,652,631,651.184717718,0.403449525743,-0.00544836475175,0.0599550869445,0.999999983308,0.000177460535781,-4.34428832e-05,2.20902073988e-06,1793244257721562112
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,713.599929384,680,658,634.400070616,879,787,805,652,631,651.400070616,0.403733222631,-0.00545557857814,0.059946691426,0.999999984172,0.000168060604759,-5.83948238694e-05,-1.06372680098e-06,1793244257738228736
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,713.010166196,680,658,634.989833804,879,787,805,652,631,651.989833804,0.40402033379,-0.00546190412459,0.0599326509367,0.999999983692,0.00016038417784,-8.28888453196e-05,-4.77726308396e-06,1793244257754895616
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,713.567952535,680,658,634.432047465,879,787,805,652.567952535,631,651.432047465,0.404365138205,-0.00546971341277,0.0599228084626,0.999999983508,0.000151600905068,-9.96236117999e-05,-8.6801711849e-06,1793244257771562496
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,805,652.854726775,631,651.145273225,0.404718914351,-0.00547735655457,0.0599133883145,0.999999983028,0.000142940115097,-0.000115555129793,-1.2610686081e-05,1793244257788229120
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,805,652.279164968,631,651.720835032,0.405096266728,-0.00548443049748,0.0599050009693,0.999999982404,0.000134699615286,-0.000129510594888,-1.66131312262e-05,1793244257804895488
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.295151515,634,879,787,805,652,631,652,0.405511060618,-0.00549257206632,0.0599083003824,0.999999983879,0.000127036362557,-0.000125341240979,-1.98280415908e-05,1793244257821561856
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.86829514,634,879,787,805,652,631,652,0.405961119304,-0.0055017191927,0.0599226071125,0.999999987143,0.000119916796161,-0.000104100803348,-2.23012030283e-05,1793244257838228480
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.542528864,634,879,787,805,652.457471136,630.542528864,652,0.406457326843,-0.00551061360044,0.0599498049023,0.999999992486,0.000106196200473,-5.62491313354e-05,-2.42146734387e-05,1793244257854895360
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.94996878,745,714,680,658,634.05003122,878.94996878,786.94996878,805,652.94996878,630,652,0.406970352423,-0.00551814329248,0.0599796372971,0.999999996317,8.17739078353e-05,-3.45954907714e-06,-2.58311433919e-05,1793244257871561984
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.372168459,745,714,680,658,634.627831541,878.372168459,786.372168459,805,652.372168459,630,652,0.407515545462,-0.00551207225828,0.0599966899581,0.9999999989,-3.4763173192e-05,1.76662971748e-05,-2.60761176115e-05,1793244257888229376
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.205051717,745,714,680,658,634.794948283,878.205051717,786.205051717,805,652,630,652,0.408052651194,-0.00550433517496,0.0600035170934,0.9999999943,-0.000101217778899,1.89316065027e-05,-2.82219471198e-05,1793244257904896512
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.78122187,745,714,680,658,634.21877813,878.78122187,786.78122187,805,652,630,652,0.408575119861,-0.00549358274765,0.0599918372815,0.999999996338,-7.70292464133e-05,-1.57482187414e-05,-3.38080918418e-05,1793244257921563392
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.364412389,634,879,787,805,652,630.364412389,652,0.409119897913,-0.00550164328709,0.0599796371229,0.999999995397,-7.66183693905e-05,-4.35936698536e-05,-3.78969857167e-05,1793244257938229760
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.951900417,634,879,787,805,652,630.951900417,652,0.409678332672,-0.00552122021521,0.0599671184335,0.999999992776,-9.07630238432e-05,-6.72554464133e-05,-4.10693348419e-05,1793244257954896128
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.466034201,634,879,787,805,652,631,652,0.410335508775,-0.0055312611521,0.0599756507706,0.999999993084,-9.8966289288e-05,-4.46464220229e-05,-4.52122217919e-05,1793244257971563008
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.886071925,680,658.113928075,634.113928075,879,787,805,652,630.886071925,652,0.411006549937,-0.00553870410853,0.0599845697841,0.999999992808,-0.00010712552188,-2.12672203763e-05,-4.95462867969e-05,1793244257988229632
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.312641855,680,658.687358145,634.687358145,879,787,805,652,630.312641855,652,0.411697998717,-0.00553909846921,0.0599874770779,0.999999991587,-0.000117244057076,-1.14236138602e-05,-5.43023553652e-05,1793244258004896512
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713,680,659,634.737640716,879,786.737640716,805,652.262359284,630.262359284,652,0.412373808606,-0.00553326421427,0.0599765179446,0.999999995361,-8.06933131147e-05,-2.87410581582e-05,-4.40416592422e-05,1793244258021562880
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713,680,659,634.160756051,879,786.160756051,805,652.839243949,630.839243949,652,0.41303087014,-0.0055199628796,0.0599489352593,0.999999996715,1.18061761983e-05,-7.8620108045e-05,-1.57783464814e-05,1793244258038228992
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.573166544,745,713.426833456,680,659,634,879,786.426833456,805,652.573166544,630.573166544,651.573166544,0.413704992008,-0.00551057392911,0.0599242550359,0.999999990595,4.41993977586e-05,-0.000129166782084,-1.31451689431e-05,1793244258054895872
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.018086153,745,714,680,659,634,879,787,805,652,630.018086153,651.018086153,0.414390779251,-0.00550332104345,0.059902825346,0.99999998298,5.25054736261e-05,-0.000175700782127,-2.03036594972e-05,1793244258071563520
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.594755248,745,714,680,659,634,879,787,805,652,630.594755248,651.594755248,0.415233298993,-0.00551536044695,0.0599471572935,0.999999995051,3.4025680158e-05,-9.03396908875e-05,-2.40773396466e-05,1793244258088229376
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.829402443,745,714,680,659,634,879,786.829402443,805,652,631,652,0.416072627373,-0.00552629323237,0.0599861316994,0.999999999401,1.03666647231e-05,-1.86026859954e-05,-2.72823236716e-05,1793244258104895232
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.255514677,745,714,680,659,634,879,786.255514677,805,652,631,652,0.416904411368,-0.0055346099876,0.06001244095,0.99999999903,-2.55359565235e-05,2.09271653008e-05,-2.91429182084e-05,1793244258121561856
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.318592615,745,713.681407385,680,659,634,879,786,805,652,631,652,0.417719706482,-0.00553831175292,0.0600155536583,0.999999998303,-4.2154995425e-05,2.60443271958e-05,-3.06240519466e-05,1793244258138228480
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.892876062,745,713.107123938,680,659,634,879,786,805,652,631,652,0.418521768181,-0.00553830969498,0.0600000496652,0.999999998551,-4.32977315378e-05,3.54311563152e-06,-3.18006442107e-05,1793244258154895360
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,713.485187863,680,659,634,879,786,805,652,631,652,0.419332083637,-0.0055321521615,0.0599793849883,0.999999998549,-2.7286031848e-05,-3.11831915516e-05,-3.4418906357e-05,1793244258171562240
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.078963027,805,652,631,651.921036973,0.420144575374,-0.00552577314667,0.0599562737599,0.999999996807,-1.19682031897e-05,-6.96880334599e-05,-3.7246003237e-05,1793244258188229376
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.655895499,805,652,631,651.344104501,0.420958855345,-0.00552689886634,0.0599251965986,0.999999992357,-2.58333252634e-05,-0.000114342877822,-3.93052784598e-05,1793244258204895744
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.768050148,805.231949852,652,631,651.231949852,0.421792875434,-0.0055287808217,0.0598998023456,0.999999986306,-3.42404837027e-05,-0.000156598059477,-4.11460190612e-05,1793244258221562112
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.193293514,805.806706486,652,631,651.806706486,0.422656070253,-0.00553178044435,0.0598828070566,0.99999997942,-3.45811292631e-05,-0.000195306702651,-4.2663780083e-05,1793244258238228736
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.60848316,652,631,651.60848316,0.423584763837,-0.00553761220528,0.0599225689407,0.99999998986,-4.49642251526e-05,-0.000128397343728,-4.20982365921e-05,1793244258254895360
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.018578459,652,631,651.018578459,0.424546646643,-0.00554487905591,0.0599910905958,0.999999997323,-6.04359911197e-05,-7.96964558075e-06,-4.04770487097e-05,1793244258271561984
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.43925136,680,659,634,879.56074864,786,805,652,631,651.56074864,0.425464653863,-0.00554433374574,0.0600224208877,0.999999997046,-5.23605124157e-05,4.07123911817e-05,-3.88510194684e-05,1793244258288228864
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,713.138900398,680.138900398,659,634,880,786,805,652,631,652,0.426377051268,-0.00554375267441,0.0600401319919,0.999999995676,-4.67502291029e-05,7.06239594942e-05,-3.84000968387e-05,1793244258304895232
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,713.714438658,680.714438658,659,634,880,786,805,652,631,652,0.42727629903,-0.00554385775969,0.0600188325078,0.999999996623,-5.12964086241e-05,4.88639239472e-05,-4.16436547656e-05,1793244258321562112
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680.711449479,659,634,880,786,805.288550521,652,631,651.711449479,0.428168796878,-0.00554590350846,0.0599965689634,0.999999997247,-5.61604063905e-05,2.07871830704e-05,-4.38140526056e-05,1793244258338228992
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.138742325,659,634,880,786,805.861257675,652,631,651.138742325,0.429054647542,-0.00554986036935,0.0599733560401,0.999999997018,-6.13373825414e-05,-1.351007453e-05,-4.49276316378e-05,1793244258354895872
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.55062962,786.44937038,805.55062962,652,630.55062962,651.44937038,0.429888058684,-0.00554755938694,0.0599409458396,0.999999994705,-5.50752497381e-05,-7.35767242491e-05,-4.62938806467e-05,1793244258371562496
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.041324204,745,714,680.041324204,659,634,879.041324204,786.958675796,805.041324204,652,630.041324204,651.958675796,0.430714018485,-0.00554376431738,0.0599104087359,0.999999989007,-4.7345788041e-05,-0.000132171489826,-4.76901735891e-05,1793244258388228864
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.619200573,745,714,680.619200573,659,634,879.619200573,786.380799427,805.619200573,652,630.619200573,651.380799427,0.431660910532,-0.00554654692706,0.0599423706012,0.99999999442,-6.80493294976e-05,-6.46842888871e-05,-4.84277014881e-05,1793244258404895232
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.803564973,745,714,680.803564973,659,634,879.803564973,786.196435027,805.803564973,652,631,651.196435027,0.432596754789,-0.00554894008664,0.0599751798476,0.999999995818,-7.75033683919e-05,-3.37534003444e-06,-4.84342062928e-05,1793244258421562112
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.227570751,745,714,680.227570751,659,634,879.227570751,786.772429249,805.227570751,652,631,651.772429249,0.433511252258,-0.00555058073649,0.0600096264414,0.999999995709,-6.52206965726e-05,4.59957676584e-05,-4.70282010291e-05,1793244258438228736
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.644490763,714,680,659.355509237,634,879.711018474,787,805.355509237,651.644490763,631,651.644490763,0.434385907768,-0.00555275126606,0.0600088723858,0.999999995867,-6.5859611939e-05,4.08222341111e-05,-4.75518993895e-05,1793244258454895360
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.056782784,714,680,659.943217216,634,880.886434432,787,805.943217216,651.056782784,631,651.056782784,0.435234540687,-0.00555526788331,0.0599851272336,0.999999995975,-7.49381857716e-05,2.31898903752e-08,-4.9335972257e-05,1793244258471561984
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.522792428,714,680.522792428,659.477207572,634,879.954415145,786.477207572,806,651.522792428,631,651,0.436057439335,-0.00555814894127,0.0599576762183,0.999999993606,-8.73381610516e-05,-5.08803095529e-05,-5.07070624488e-05,1793244258488228864
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.100743171,634,879.100743171,786,806,652,631,651.100743171,0.436870055803,-0.00555981663353,0.0599323464217,0.999999989149,-9.62279002641e-05,-9.86974749594e-05,-5.19753484927e-05,1793244258504895488
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.675145733,634,879.675145733,786,806,652,631,651.675145733,0.43764726935,-0.00555559624455,0.0599188533335,0.999999986763,-8.69435804376e-05,-0.000126922797179,-5.29679518012e-05,1793244258521562112
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.751316493,680.751316493,659.751316493,634,880,786.248683507,806,651.751316493,631,651.751316493,0.438434709815,-0.00555289919907,0.0599104794808,0.999999984932,-7.92839855613e-05,-0.000144848736436,-5.35671033665e-05,1793244258538228480
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.17890452,680.17890452,659.17890452,634,880,786.82109548,806,651.17890452,631,651.17890452,0.439235463304,-0.00555218519516,0.0599087696909,0.999999984687,-7.37394079703e-05,-0.000149367256694,-5.36540716395e-05,1793244258554895104
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,713,680,659.409567558,634,880,786.590432442,806,651.409567558,631,651,0.440067463932,-0.00555384249088,0.0599411214626,0.999999990949,-7.40762009228e-05,-9.92819164098e-05,-5.25211616376e-05,1793244258571561728
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713,680,659.99500752,634,880,786,806,651.99500752,631,651.00499248,0.440912394149,-0.00555653927914,0.0599882715602,0.9999999954,-7.72333023186e-05,-2.54604500424e-05,-5.08610566937e-05,1793244258588228864
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,713,680,659.43813802,634,880,786,806,651.43813802,631,651.56186198,0.44161619502,-0.0055549694766,0.0599594296087,0.999999991379,-9.65734689443e-05,-7.20211131539e-05,-5.2231099076e-05,1793244258604895488
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,713.12709467,680.12709467,659,634,880,786,806,651.12709467,631,651.87290533,0.442305999708,-0.005553708511,0.059924353418,0.999999984654,-0.00010830864066,-0.000126780598196,-5.37459571515e-05,1793244258621562112
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.723189024,680.723189024,659,634,880,786,806,651.723189024,631,651.276810976,0.442944156434,-0.00555358720271,0.0598662718785,0.999999971785,-9.19801689639e-05,-0.000211795062496,-5.57952089099e-05,1793244258638228480
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.684004381,880,786.315995619,806,652,631,651.315995619,0.443596603533,-0.0055547849136,0.0598299250854,0.999999959631,-8.35454270789e-05,-0.000265336633367,-5.79249834718e-05,1793244258654895104
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633.094048229,880,786.905951771,806,652,631,651.905951771,0.44426144,-0.00555712618213,0.0598124217933,0.999999952321,-8.19543587414e-05,-0.000291591965232,-6.01245694643e-05,1793244258671561728
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879.513250093,786.513250093,806,652,631,651.513250093,0.444894676129,-0.00555979769944,0.0598112459252,0.999999949297,-8.44382437438e-05,-0.000300916274703,-6.1033233901e-05,1793244258688228352
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.934571372,633,879,786,806.065428628,652,630.934571372,651,0.445512997549,-0.00556118601042,0.0598089890389,0.999999945175,-8.76146398051e-05,-0.000313253512637,-6.20127657922e-05,1793244258704895232
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.358876556,633,879,786,806.641123444,652,630.358876556,651,0.446061739838,-0.00555207837475,0.0597741526471,0.999999923807,-9.0164805806e-05,-0.000374129621917,-6.54542988061e-05,1793244258721562112
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632.784317472,879.215682528,786,806.784317472,652,630.215682528,651.215682528,0.446608952358,-0.00554651080663,0.0597469240121,0.999999906324,-9.18780685378e-05,-0.000417362036977,-6.86934734648e-05,1793244258738229248
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632.211638302,879.788361698,786,806.211638302,652,630.788361698,651.788361698,0.447153632756,-0.00554680274154,0.0597322877016,0.999999900137,-9.22060933473e-05,-0.000431390693325,-7.15977055637e-05,1793244258754896128
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632.373774638,880,786,806,651.626225362,631,651.626225362,0.447705963557,-0.00555314175963,0.0597364269703,0.999999903596,-9.89253442086e-05,-0.00042153036482,-7.30366393179e-05,1793244258771562752
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632.966652034,880,786,806,651.033347966,631,651.033347966,0.448262778996,-0.00556302551425,0.0597515722845,0.999999912238,-0.000109391064489,-0.000397666565995,-7.36166308487e-05,1793244258788229632
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.452717426,745,714,681.547282574,657.452717426,632.452717426,880.547282574,785.452717426,806.547282574,651.547282574,630.452717426,651.547282574,0.44872705783,-0.00556728085779,0.0597382388781,0.999999902276,-0.000114390736309,-0.000420356202563,-7.52595973883e-05,1793244258804895744
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.695796372,745,714,682,657,632,880.304203628,785,807,652,630,651.304203628,0.449554695245,-0.00557237867511,0.0596730243727,0.999999853755,-0.000123721142211,-0.000520449919226,-7.94724431285e-05,1793244258838228736
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,682,656.729615081,631.729615081,880,785,806.729615081,651.729615081,630,651.270384919,0.449937759138,-0.00557419649249,0.0596402657412,0.999999827988,-0.00012176437439,-0.000568219133362,-7.95299673692e-05,1793244258854895360
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,682,656.150522342,631.150522342,880,785,806.150522342,651.150522342,630,651.849477658,0.450318564212,-0.00557618179437,0.0596201828334,0.999999813477,-0.000112253427369,-0.000595417799955,-7.69557150849e-05,1793244258871561984
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.562511729,745,714,681.562511729,656.437488271,631,880,785,806,651,630,651.562511729,0.450696374402,-0.00557526860489,0.0596199384631,0.999999821206,-6.65834645995e-05,-0.000590827304042,-6.38521244094e-05,1793244258888228608
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745,714,681,657,631,880,784.972178594,806,651,630,651.027821406,0.451070763269,-0.00557341348979,0.0596267660361,0.999999833337,-1.1171653982e-05,-0.000575241541656,-4.79311003378e-05,1793244258904895488
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764.99367925,745,713.00632075,681.99367925,655.00632075,630.99367925,880,784,806,651.99367925,630,651,0.453638730109,-0.0055713438923,0.0595996083298,0.999999792997,-0.000139870262738,-0.000624873206045,-6.30458249677e-05,1793244259104895488
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+256,4.266666667,HOLD_POSE2,764.484771645,745,713.515228355,682,655,629,879.515228355,783.515228355,806,651.515228355,629.484771645,651.484771645,0.454256406851,-0.00556442874112,0.0595934600537,0.999999793123,-0.00010889581092,-0.000630978795096,-6.13383354413e-05,1793244259750990592
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.351778255,745,713.351778255,682,655,629,880,783.351778255,806,651.351778255,629,651.351778255,0.454256588715,-0.00556579971887,0.0595929198332,0.999999792522,-0.000109625865681,-0.000631917526078,-6.01574980011e-05,1793244260071730176
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.022352243,745,713,682,655,630,880,784,807,651.022352243,629.977647757,652,0.45419236957,-0.00556049756914,0.0595617910454,0.999999761046,-0.000103837214338,-0.000680660533813,-6.18581082119e-05,1793244260138396160
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.386195369,745,713.613804631,682,655,629.613804631,880,783.613804631,806.386195369,652,629,651,0.453545017185,-0.00554174113354,0.0594964916465,0.99999969198,-9.11648697662e-05,-0.00077711423504,-6.18223952812e-05,1793244260271730432
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.186896868,745,714,682,655,630,880,784,806,652,629,651.186896868,0.453411708138,-0.00553794078013,0.059495492994,0.999999690975,-8.89354432148e-05,-0.000778732035003,-6.09634607462e-05,1793244260288396800
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.060300215,745,714,682,655,630,880,784,806.939699785,652,629.939699785,652,0.452920701341,-0.00551954099902,0.0594986176224,0.99999969955,-7.17517259617e-05,-0.000769649471217,-5.82315286639e-05,1793244260338396416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.518744232,745,714,681.481255768,655,630,880,784,807,652,630,652,0.452711517541,-0.00551429150436,0.0595046327744,0.999999707151,-6.69746235081e-05,-0.000760299150603,-5.61911981249e-05,1793244260355063296
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.329387036,745,714,681,655,630,880,784,807,652,630,652,0.452250261765,-0.00550231466374,0.0595187396036,0.999999723249,-5.80198173633e-05,-0.000739895782622,-5.18625458466e-05,1793244260388396800
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.855314676,680.855314676,658.144685324,633,879.855314676,786,805.855314676,651.855314676,630,651.144685324,0.42785198822,-0.00538367017218,0.0597626765609,0.999999906003,0.000194815768419,-0.000386874235978,1.92094139615e-05,1793244261005064704
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.282000487,680.282000487,658.717999513,633,879.282000487,786,805.282000487,651.282000487,630,651.717999513,0.426946017026,-0.00538765301556,0.0597499933611,0.999999911415,0.00018633926038,-0.000377026714029,1.72596929259e-05,1793244261021730816
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713,680.302282787,659,633.302282787,879,786,805,651.302282787,630,651.697717213,0.426036464065,-0.00539064823113,0.0597626232859,0.999999922336,0.000178181409306,-0.000351042427237,1.86846669241e-05,1793244261038397184
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,680.897184435,659,633.897184435,879,786,805,651.897184435,630,651.102815565,0.425123443898,-0.00539268739294,0.0597997570799,0.999999937345,0.000170332028055,-0.000309437265243,2.33764476441e-05,1793244261055063552
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.524107473,744.524107473,713.475892527,681,658.524107473,634,879,786,805,651.524107473,630.475892527,651,0.424217174706,-0.00539020439443,0.0598193813821,0.99999993974,0.000190936466122,-0.000288819050574,2.54283034737e-05,1793244261071729920
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.051089766,744.051089766,713.948910234,680.948910234,658.051089766,633.948910234,879.051089766,786,805,651.051089766,631,651,0.423315680466,-0.00538687540929,0.0598348201338,0.999999939811,0.000213864862412,-0.000271886216883,2.67900490532e-05,1793244261088396800
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,658.801706645,633,879.801706645,786,805,652,631,651,0.421548774708,-0.00538140670025,0.0598348299284,0.999999945487,0.000196312928905,-0.000264186672635,2.63295466329e-05,1793244261121729792
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,680,658.229494753,633,879.229494753,786,805,652,631,651,0.420587130867,-0.00537668238142,0.0597869326556,0.999999913286,0.000213067644085,-0.000356918963643,2.52670642139e-05,1793244261138396672
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.641717811,744.641717811,713.358282189,680.358282189,658,633.358282189,879,786,805.358282189,651.641717811,631,651.358282189,0.419664245259,-0.00537572209487,0.0597476140539,0.99999989093,0.000213701437898,-0.000414655618096,2.30712454334e-05,1793244261155063296
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.043518031,744.043518031,713.956481969,680.956481969,658,633.956481969,879,786,805.956481969,651.043518031,631,651.956481969,0.418767313502,-0.00537728232896,0.0597140400166,0.999999878302,0.000203540129862,-0.000448958033793,2.01165073266e-05,1793244261171729664
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.10727386,744,713.10727386,680,658,633.10727386,879.89272614,786,804.214547721,652,630.89272614,651,0.41716800172,-0.00537968108212,0.0597877624288,0.999999924838,0.000203729623579,-0.000329020661212,2.37207715195e-05,1793244261205063424
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.681730353,744,713.681730353,680,658,633.681730353,879.318269647,786,805.363460705,652,630.318269647,651,0.416385659951,-0.00537593881368,0.0598229552364,0.999999936976,0.000209189566983,-0.000285613758801,2.66749355921e-05,1793244261221730048
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.264469951,713.735530049,680,658,634,879,786.264469951,805.735530049,652,630,651.264469951,0.415594661903,-0.00537459147009,0.0598420987795,0.99999994027,0.00021970537584,-0.000265260835202,2.87596827181e-05,1793244261238396672
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.85749989,713.14250011,680,658,634,879,786.85749989,805.14250011,652,630,651.85749989,0.414792909923,-0.00537621942315,0.0598413037747,0.999999934176,0.000236502257717,-0.000273548654899,2.97643235134e-05,1793244261255063296
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.563820074,713.436179926,680,658.436179926,634,879,787,805,652,630.436179926,652,0.414023368458,-0.00537877402559,0.0598378383884,0.999999935261,0.000227150866023,-0.000277523581832,2.93510019746e-05,1793244261271729664
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.989634526,634,879,786.989634526,805,652,631,651.989634526,0.413263423682,-0.00538144104214,0.059832813581,0.999999937936,0.00020990162158,-0.000281528066878,2.84744286373e-05,1793244261288396288
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.413031049,634,879,786.413031049,805,652,631,651.413031049,0.412471179999,-0.00537423798253,0.0597887415014,0.999999911553,0.000213012194576,-0.000361666764374,2.67916637751e-05,1793244261305062912
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.164163064,713.835836936,680.164163064,658,634,879,786,805,652,631,651,0.411711885819,-0.00536877822798,0.0597535529712,0.999999886746,0.000222495611807,-0.000419967556068,2.51199697649e-05,1793244261321729792
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.742848696,713.257151304,680.742848696,658,634,879,786,805,652,631,651,0.411035791142,-0.00536772043217,0.0597407959802,0.999999879437,0.000248070884672,-0.000423126216841,2.34762303922e-05,1793244261338396416
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.684919437,713,680.684919437,658,634,879,786,804.684919437,652,631,651.315080563,0.410404669864,-0.00536628895597,0.0597598986352,0.999999892442,0.000251583659195,-0.000388897902842,2.40952154496e-05,1793244261355063040
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.117849087,713,680.117849087,658,634,879,786,804.117849087,652,631,651.882150913,0.409809516689,-0.00536455862406,0.0598044814582,0.999999918719,0.000237451660774,-0.000324768867013,2.65238438951e-05,1793244261371729408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.475652632,713.475652632,680.475652632,658,634,879,786.475652632,804.475652632,652,631,652,0.409213446547,-0.00536672276876,0.0598377891507,0.999999937077,0.000225925770503,-0.000271980976789,2.87915321123e-05,1793244261388396288
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.349996409,713.349996409,680.349996409,658,634,879,787,805,652,631,651.349996409,0.408035232979,-0.0053725485711,0.059847954747,0.999999943166,0.000221578873399,-0.000252474010254,2.87753774496e-05,1793244261421729536
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744,713,680,658,634,879,787,805,652,630.768464806,651.231535194,0.407474364439,-0.00537376590852,0.0598341837727,0.999999935253,0.000232707397035,-0.000273102951345,2.75029879852e-05,1793244261438396160
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744,713,680,658,634,879,787,805,652,630.179785865,651.820214135,0.406948441011,-0.00537269412302,0.05982153831,0.999999924543,0.000253990465835,-0.000292704793204,2.69506709706e-05,1793244261455062784
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,713,680,657.595970204,634,879,786.595970204,805,652,630.404029796,651.595970204,0.406451447827,-0.00537083823766,0.0598216035748,0.999999925651,0.000252818303759,-0.000289910666366,2.70753693409e-05,1793244261471729664
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,713,680,657.014292825,634,879,786.014292825,805,652,630.985707175,651.014292825,0.405967174918,-0.00536863759189,0.0598272576096,0.999999931956,0.000241772818466,-0.000277269273116,2.74977440934e-05,1793244261488396544
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.558883691,713,680,657.558883691,634,878.441116309,786,805,652,631,651.558883691,0.405532362064,-0.00536325161317,0.0598287319244,0.999999931986,0.000246816224612,-0.000272656802405,2.77311012409e-05,1793244261505063936
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.868530341,745,713,680,658,634,878.131469659,786.131469659,805.131469659,652,631,652,0.405102681289,-0.00535782654085,0.0598256714191,0.999999929343,0.000253651897073,-0.000276030755963,2.79537882388e-05,1793244261521731328
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.297203566,745,713,680,658,634,878.702796434,786.702796434,805.702796434,652,631,652,0.40468600225,-0.00535253913306,0.0598077910664,0.999999917808,0.000265127965284,-0.000305448151152,2.81567067202e-05,1793244261538397696
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.286939538,745,713.286939538,680,658,634,879,786.713060462,805.713060462,652,631,652,0.404285541183,-0.00534602195436,0.0597861511069,0.999999903008,0.000276003769457,-0.000342095364438,2.78857098564e-05,1793244261555064576
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.884978032,745,713.884978032,680,658,634,879,786.115021968,805.115021968,652,631,652,0.403902663615,-0.0053381714622,0.0597604349943,0.999999883947,0.000286228768335,-0.000386581121988,2.71008954178e-05,1793244261571731456
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.538711161,658,634,879,786,805,652,631,651.538711161,0.403598917399,-0.00533584796913,0.05976916994,0.999999890761,0.000290460971193,-0.000365113823483,2.83398846835e-05,1793244261588398592
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.032929254,658,634,879,786.032929254,805,652,630.967070746,651.032929254,0.403316291483,-0.00533502856399,0.0597863957728,0.999999902814,0.000292931027599,-0.00032811046759,3.01004496144e-05,1793244261605065984
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.612937773,658,634,879,786.612937773,805,652,630.387062227,651.612937773,0.403071487571,-0.00533733137583,0.0598083892315,0.999999914274,0.000289834368639,-0.00029392337055,3.25196199544e-05,1793244261621731840
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.803724869,805,652,630.196275131,651.803724869,0.402835971515,-0.00534042147149,0.059827232096,0.999999923473,0.000285816679511,-0.000264894738175,3.45489862604e-05,1793244261638397952
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.213709724,805,652,630.786290276,651.213709724,0.402619087498,-0.00534509090677,0.0598397546715,0.999999929862,0.000279951347943,-0.000246214308628,3.57963814028e-05,1793244261655064576
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.630646413,634,879,786.369353587,805,652,631,651.369353587,0.402402456341,-0.00535613568185,0.0598407905633,0.999999932989,0.000266968275737,-0.000247745921585,3.70323177942e-05,1793244261671731200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,657.051531104,634,879,786.948468896,805,652,631,651.948468896,0.402185968768,-0.00537080111331,0.0598353029874,0.999999934035,0.00024994292584,-0.00026075627019,3.82617466893e-05,1793244261688398080
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745.523712491,714,679.476287509,657.523712491,634,878.476287509,786.476287509,805,652,630.476287509,651.476287509,0.40200267308,-0.0053732577057,0.059830394018,0.999999931634,0.000245306981205,-0.000274012117001,3.83900876283e-05,1793244261705064704
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.247200405,744.752799595,713.752799595,679.247200405,658,634.247200405,879,786.752799595,805,652,631,652,0.401573634428,-0.00536695536911,0.0598279025324,0.999999934749,0.000220519659594,-0.000284710552778,2.85266159718e-05,1793244261755064576
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,745,713.730427619,679,657.730427619,634,879,786,805,652,630.269572381,651.730427619,0.401112630542,-0.00537575811482,0.0598286145327,0.999999930414,0.000240135000787,-0.000285285526636,1.0884872284e-05,1793244261855062784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.317744145,744.682255855,713.682255855,679.317744145,658,634,879,786.317744145,805,652,630.317744145,651.682255855,0.401069193132,-0.00537350788416,0.059825551605,0.999999928295,0.000242685659802,-0.000290502211502,1.10791538242e-05,1793244261871729664
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..661c0f6055b98900ce6ff7bfec6460298c6c4f14
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,412 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_01/fem_node.csv
new file mode 100644
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--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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+size 31207655
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d55624a1d6e70b3bbbe2dc57f87101ddf6f86d8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_01/franka_data.csv
@@ -0,0 +1,494 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,745,713,680,660,634,879,787,805,652,631,652,0.400936110051,-0.00543065567424,0.0499282460835,0.999999975145,6.82413221407e-05,-0.000210097564213,-3.02079992996e-05,1793244263585928448
+1,0.016666667,BASELINE,764,745,713.589867845,680,660.589867845,634.589867845,879,787,805,652.589867845,631,652,0.400936752018,-0.00543138176669,0.0499289525442,0.999999975428,6.47897338492e-05,-0.000209864777236,-3.00417545136e-05,1793244263602595328
+2,0.033333333,BASELINE,764,745,714,679.823311593,660.823311593,635,878.823311593,787,805.176688407,653,630.823311593,652,0.400936984288,-0.00543186143768,0.049929136701,0.999999975479,6.32015306833e-05,-0.000210123955826,-2.99215912086e-05,1793244263619262208
+3,0.050000000,BASELINE,764,745,714,679.243444399,660.243444399,635,878.243444399,787,805.756555601,653,630.243444399,652,0.400936281687,-0.00543177880876,0.049928129032,0.999999975016,6.58653169363e-05,-0.000211505732538,-2.99065795108e-05,1793244263635929344
+4,0.066666667,BASELINE,764.333756284,745,714,679,660,635,878.333756284,787,805.666243716,653,630.333756284,652,0.40093579628,-0.00543119980143,0.0499277491859,0.999999974761,6.77098834552e-05,-0.000212133856386,-2.98610833903e-05,1793244263652596224
+5,0.083333333,BASELINE,764.909027374,745,714,679,660,635,878.909027374,787,805.090972626,653,630.909027374,652,0.40093546804,-0.00543026160167,0.049927823649,0.99999997466,6.89616409165e-05,-0.000212216617162,-2.97935279425e-05,1793244263669262592
+6,0.100000000,BASELINE,764.516951263,745,714,679,660,635,879,787.483048737,805,653,631,652,0.400935143028,-0.00542999233371,0.0499272654247,0.999999974503,6.8775552001e-05,-0.00021298909086,-2.99783703341e-05,1793244263685929216
+7,0.116666667,BASELINE,764.058721146,745,714,679.058721146,660,634.941278854,879,787.941278854,805.058721146,653,631,652,0.400934937226,-0.00543002069298,0.0499267475594,0.999999974389,6.83180312326e-05,-0.000213647653627,-3.01431929441e-05,1793244263702595840
+8,0.133333333,BASELINE,764.651546039,745,714,679.651546039,660,634.348453961,879,787.348453961,805.651546039,653,631,652,0.400935810198,-0.0054316132428,0.0499276777645,0.999999974766,6.78483146709e-05,-0.000212091716899,-2.96946883718e-05,1793244263719262208
+9,0.150000000,BASELINE,765,745,714,679.760992724,660,634,879,787,805.760992724,653,631,652,0.400936545885,-0.00543216983016,0.0499283736412,0.999999975006,6.7681029774e-05,-0.00021105159686,-2.94193487023e-05,1793244263735928576
+10,0.166666667,BASELINE,765,745,714,679.181179694,660,634,879,787,805.181179694,653,631,652,0.400937085817,-0.0054312492156,0.049928735384,0.999999975053,6.79449889103e-05,-0.000210746991368,-2.93909287318e-05,1793244263752594944
+11,0.183333333,BASELINE,765,745,714,679,660,634,879,787,805,653,631,652,0.400936528685,-0.005430154739,0.0499284421128,0.999999974898,6.90060053129e-05,-0.000211144270857,-2.93254329835e-05,1793244263769261824
+12,0.200000000,BASELINE,765,745,714,679,660,634,879,787,805,653,631,652,0.400935472937,-0.00542898124163,0.0499278511364,0.99999997465,7.04292860513e-05,-0.000211860558614,-2.92430862088e-05,1793244263785928704
+13,0.216666667,BASELINE,765,745,714,679.556156545,660.556156545,634.556156545,879,787.556156545,805.556156545,653,631,652,0.40093503078,-0.00542995976787,0.0499273892415,0.999999974657,6.79430988772e-05,-0.000212632637159,-2.92920869722e-05,1793244263802595584
+14,0.233333333,BASELINE,764.858074374,745,713.858074374,680,660.858074374,635,879,787.858074374,805.858074374,653,631,652,0.400934729712,-0.0054309015351,0.0499269002249,0.999999974627,6.60950601754e-05,-0.000213345180143,-2.93637367123e-05,1793244263819262464
+15,0.250000000,BASELINE,764.278658762,745,713.278658762,680,660.278658762,635,879,787.278658762,805.278658762,653,631,652,0.400934755838,-0.00543135219692,0.0499263049442,0.999999974459,6.69004527035e-05,-0.000213864408917,-2.94821441152e-05,1793244263835928832
+16,0.266666667,BASELINE,764,745,713,679.700860666,660,634.700860666,878.700860666,787,805,653,631,652,0.400935326391,-0.00543145984412,0.0499263400075,0.999999974523,6.77827657853e-05,-0.000213263054335,-2.96215642374e-05,1793244263852595200
+17,0.283333333,BASELINE,764,745,713,679.124561275,660,634.124561275,878.124561275,787,805,653,631,652,0.400936401368,-0.0054312496797,0.0499269591003,0.999999974802,6.87363476311e-05,-0.000211623451278,-2.97804531609e-05,1793244263869261824
+18,0.300000000,BASELINE,764.451401491,745,713.451401491,679.451401491,660.451401491,634,878,787,805,653,631,652,0.400935328551,-0.00543147065619,0.0499263296321,0.999999974668,6.6911854033e-05,-0.000212823966696,-2.98655186366e-05,1793244263885928448
+19,0.316666667,BASELINE,765,745,714,679.972062952,660.972062952,634,878.027937048,787,805,653,631,652,0.400933870968,-0.00543182896198,0.0499254921829,0.999999974451,6.4466644901e-05,-0.000214586633364,-2.99050813973e-05,1793244263902595072
+20,0.333333333,BASELINE,765,745,714,679.382137622,660.382137622,634,878.617862378,787,805,653,631,652,0.400936586751,-0.00543255836136,0.0499273964645,0.999999975006,6.49444224952e-05,-0.000211904079428,-2.94387851882e-05,1793244263919261696
+21,0.350000000,BASELINE,764.795927649,745,714,679,660,634.204072351,879,787,805,653,631,652,0.400938079763,-0.00543272888878,0.0499284570888,0.999999975251,6.60294494114e-05,-0.000210442828895,-2.91744690891e-05,1793244263935928320
+22,0.366666667,BASELINE,764.216550569,745,714,679,660,634.783449431,879,787,805,653,631,652,0.400937324004,-0.00543187160766,0.0499279661623,0.999999974935,6.82312544236e-05,-0.000211227649429,-2.92816099788e-05,1793244263952594944
+23,0.383333333,BASELINE,764,745,713.639922745,679.360077255,660,635,879,787,805,653,631,652,0.400937685753,-0.00543223416209,0.0499278424756,0.99999997497,6.82663531643e-05,-0.00021108217831,-2.90505304908e-05,1793244263969261568
+24,0.400000000,BASELINE,764,745,713.064935742,679.935064258,660,635,879,787,805,653,631,652,0.40093871448,-0.00543332476728,0.0499279379735,0.999999975215,6.70082676851e-05,-0.000210381468794,-2.86175863982e-05,1793244263985928192
+25,0.416666667,BASELINE,764,745,713.506791144,679.493208856,660,634.493208856,878.493208856,787,805.506791144,653,630.493208856,652,0.4009374907,-0.00543306171758,0.049927721563,0.999999975015,6.76936232595e-05,-0.000211092143738,-2.87710829217e-05,1793244264002594816
+26,0.433333333,BASELINE,764.081454884,745,713.918545116,679,660,634,878.081454884,787,805.918545116,653,630,652,0.400936117164,-0.00543271038541,0.0499274153774,0.999999974803,6.83051927502e-05,-0.000211868989517,-2.89976832406e-05,1793244264019261184
+27,0.450000000,BASELINE,764.677285694,745,713.322714306,679,660,634,878.677285694,787,805.322714306,653,630,652,0.400935608855,-0.00543288984389,0.0499267930353,0.999999974879,6.68883686826e-05,-0.000211929000881,-2.92144498975e-05,1793244264035928064
+28,0.466666667,BASELINE,764.735011859,744.735011859,713.264988141,679.264988141,660,634.264988141,879,787,805,653,630.264988141,652,0.400936527383,-0.00543265792312,0.0499273002507,0.999999975169,6.67021553525e-05,-0.000210613958217,-2.9230499451e-05,1793244264052594944
+29,0.483333333,BASELINE,764.156913917,744.156913917,713.843086083,679.843086083,660,634.843086083,879,787,805,653,630.843086083,652,0.400939131863,-0.0054319399169,0.0499291421505,0.999999975705,6.79700308928e-05,-0.000207674152673,-2.90093818024e-05,1793244264069261568
+30,0.500000000,BASELINE,764.418451788,744.418451788,713.581548212,680,660,634.581548212,879,787,805,653,631,652,0.400939534072,-0.00543204750618,0.0499290246677,0.999999975801,6.67851767332e-05,-0.000207561932814,-2.92436780914e-05,1793244264085928192
+31,0.516666667,BASELINE,764.992799574,744.992799574,713.007200426,680,660,634.007200426,879,787,805,653,631,652,0.400939115817,-0.0054324626746,0.0499281772087,0.999999975732,6.468654764e-05,-0.000208503142122,-2.9647640789e-05,1793244264102594816
+32,0.533333333,BASELINE,765,745,713.580882746,679.419117254,660,634.580882746,879,787,805,652.419117254,631,652,0.400938249356,-0.005432627009,0.0499278878815,0.999999975507,6.56121341799e-05,-0.000209351787568,-2.92198879275e-05,1793244264119261440
+33,0.550000000,BASELINE,764.833210164,745,713.833210164,679,660,634.833210164,878.833210164,787,805,652.166789836,631,652,0.400937410453,-0.005432850989,0.0499273767773,0.999999975248,6.64081688749e-05,-0.000210379998968,-2.88737152502e-05,1793244264135928064
+34,0.566666667,BASELINE,764.253127443,745,713.253127443,679,660,634.253127443,878.253127443,787,805,652.746872557,631,652,0.400936653938,-0.00543323065749,0.0499262985676,0.999999974915,6.67880434806e-05,-0.000211856073408,-2.87558575882e-05,1793244264152594944
+35,0.583333333,BASELINE,764,745,713.324253799,679,660,634.324253799,878.324253799,787,805,653,631,652,0.400936320561,-0.00543271763152,0.0499256235784,0.999999974753,6.77077018995e-05,-0.000212320040396,-2.88213302328e-05,1793244264169261568
+36,0.600000000,BASELINE,764,745,713.899543628,679,660,634.899543628,878.899543628,787,805,653,631,652,0.400936314777,-0.00543151348501,0.0499252607607,0.999999974723,6.90452588888e-05,-0.000212000437883,-2.90287364757e-05,1793244264185928192
+37,0.616666667,BASELINE,764,745,713.526724789,679,660,634.526724789,879,787,805,653,630.526724789,652,0.40093736556,-0.00543155780706,0.049926439543,0.999999974994,6.8219856106e-05,-0.000210985084655,-2.90568238972e-05,1793244264202594816
+38,0.633333333,BASELINE,764,745,713.048304229,679.048304229,660,634.048304229,878.951695771,787,805,653,630,652,0.400938420055,-0.00543168940879,0.0499277487059,0.999999975264,6.73033769982e-05,-0.000209990001014,-2.90850926686e-05,1793244264219261440
+39,0.650000000,BASELINE,764,745,713.641694582,679.641694582,660,634.641694582,878.358305418,787,805,653,630,652,0.400936994054,-0.00542982538117,0.0499268488012,0.999999974841,7.05228943926e-05,-0.000210884648123,-2.95435047062e-05,1793244264235928064
+40,0.666666667,BASELINE,764.228049249,745,714,680,660,634.771950751,878.228049249,787.228049249,805.228049249,653,630.228049249,652,0.400936416455,-0.00542939770706,0.0499264090914,0.999999974728,7.05803896834e-05,-0.000211365649048,-2.97980391508e-05,1793244264252594944
+41,0.683333333,BASELINE,764.803680418,745,714,680,660,634.196319582,878.803680418,787.803680418,805.803680418,653,630.803680418,652,0.400937131953,-0.00543115925542,0.0499266707892,0.999999975086,6.58184796599e-05,-0.000211216189891,-2.97418329455e-05,1793244264269262080
+42,0.700000000,BASELINE,764.621012146,745,713.621012146,679.621012146,660,634,879,787.621012146,805.621012146,653,631,652,0.400936880431,-0.00543239816735,0.0499261344397,0.999999975066,6.46454986084e-05,-0.00021169032343,-2.96089764075e-05,1793244264285928448
+43,0.716666667,BASELINE,764.045872281,745,713.045872281,679.045872281,660,634,879,787.045872281,805.045872281,653,631,652,0.40093612841,-0.0054333665793,0.0499251850465,0.999999974857,6.53300327309e-05,-0.000212487208639,-2.94364481069e-05,1793244264302594816
+44,0.733333333,BASELINE,764,745,713,679,660,634,879,787,805,653,631,652,0.400937324293,-0.00543352166851,0.0499266492873,0.999999975271,6.59591613284e-05,-0.00021036616,-2.9208013713e-05,1793244264319261696
+45,0.750000000,BASELINE,764,744.86806744,713,679,660,634,879,787,805,653,631,652,0.400938419322,-0.00543325844689,0.0499278687149,0.999999975596,6.67650366259e-05,-0.000208586849333,-2.9029965709e-05,1793244264335928320
+46,0.766666667,BASELINE,764,744.28965528,713,679,660,634,879,787,805,653,631,652,0.400938601711,-0.00543181815309,0.0499275517185,0.999999975451,6.8185300078e-05,-0.000208819886653,-2.90388306012e-05,1793244264352594944
+47,0.783333333,BASELINE,764.286382252,744.286382252,713,679,660,634,879.286382252,787,805.286382252,653,631,652,0.400938528411,-0.00543185878061,0.0499273032957,0.99999997539,6.77423838708e-05,-0.000209245382705,-2.91123501959e-05,1793244264369261824
+48,0.800000000,BASELINE,764.860037838,744.860037838,713,679,660,634,879.860037838,787,805.860037838,653,631,652,0.400938198628,-0.0054333849372,0.0499271236598,0.99999997541,6.54304908671e-05,-0.000209863936355,-2.92507256682e-05,1793244264385928960
+49,0.816666667,BASELINE,765,745,713.434978427,679.434978427,660,634.434978427,879.130043146,787,806,653,631,652,0.400937849424,-0.0054331231932,0.0499263074573,0.999999975258,6.48604702127e-05,-0.000210740816092,-2.94143070307e-05,1793244264402595584
+50,0.833333333,BASELINE,765,745,713.989329861,679.989329861,660,634.989329861,878.010670139,787,805.989329861,653,631,652,0.400937525872,-0.00543227939063,0.0499253320057,0.999999975062,6.49023741079e-05,-0.000211632498371,-2.95797064467e-05,1793244264419261952
+51,0.850000000,BASELINE,765,745,713.395241294,679.395241294,660,634.395241294,878.604758706,787,805.395241294,653,631,652,0.400938947586,-0.00543115865752,0.0499268818159,0.999999975485,6.76664068127e-05,-0.000208775218825,-2.93997388582e-05,1793244264435928576
+52,0.866666667,BASELINE,764.807275633,745,713,679.192724367,660,634,879,787,805,653,630.807275633,652,0.400939705434,-0.00543036344593,0.0499277835402,0.999999975655,6.96194125671e-05,-0.000207322660382,-2.93427611229e-05,1793244264452595200
+53,0.883333333,BASELINE,764.231480279,745,713,679.768519721,660,634,879,787,805,653,630.231480279,652,0.400939143742,-0.00543021526129,0.0499273970882,0.999999975347,6.99603703444e-05,-0.0002086622135,-2.95302457116e-05,1793244264469261824
+54,0.900000000,BASELINE,764,745,713.344166317,679.655833683,660,634,878.655833683,787,805.344166317,653,630,652,0.40093901672,-0.00543104038269,0.0499273684877,0.999999975407,6.91875504975e-05,-0.000208656437669,-2.93355597947e-05,1793244264485928192
+55,0.916666667,BASELINE,764,745,713.919712879,679.080287121,660,634,878.080287121,787,805.919712879,653,630,652,0.400939181923,-0.00543251984991,0.0499275804678,0.999999975714,6.76659468994e-05,-0.000207746207954,-2.88839437137e-05,1793244264502594816
+56,0.933333333,BASELINE,764.494047235,745,714,679,660,634.494047235,878.494047235,787,806,653,630.494047235,652,0.400938652836,-0.00543277983784,0.0499273325557,0.999999975661,6.63085222545e-05,-0.000208432958312,-2.89262517542e-05,1793244264519261952
+57,0.950000000,BASELINE,764.929280429,745,714,679,660,634.929280429,879,787,806,653,631,652,0.400938244073,-0.00543282438327,0.04992712259,0.999999975576,6.52382596201e-05,-0.000209161918961,-2.90286856398e-05,1793244264535928576
+58,0.966666667,BASELINE,764.333801749,745,714,679,660,634.333801749,879,787,806,653,631,652,0.40093956331,-0.00543273720977,0.0499277474063,0.999999975704,6.61013279138e-05,-0.000208283066475,-2.89831233959e-05,1793244264552594944
+59,0.983333333,BASELINE,764,745,713.74739371,679.25260629,660,634,879,787,805.74739371,653,631,652,0.400938899801,-0.0054324336794,0.0499274287921,0.999999975471,6.74618784109e-05,-0.000208959738237,-2.90224993766e-05,1793244264569261312
+60,1.000000000,BASELINE,764,745,713.172556335,679.827443665,660,634,879,787,805.172556335,653,631,652,0.400935707052,-0.00543185415866,0.0499259067136,0.999999974771,6.94570301302e-05,-0.000211620676648,-2.91702247364e-05,1793244264585927936
+61,1.016666667,BASELINE,764.40212182,745,713,679.59787818,660.40212182,634,879,787,805,653,630.59787818,652,0.400935835158,-0.0054311858584,0.0499257916309,0.999999974744,6.96845833686e-05,-0.000211653845099,-2.93200156311e-05,1793244264602594816
+62,1.033333333,BASELINE,764.976731645,745,713,679.023268355,660.976731645,634,879,787,805,653,630.023268355,652,0.400937387727,-0.00543047947669,0.0499262800715,0.999999975007,6.91539345708e-05,-0.000210559845517,-2.94706925172e-05,1793244264619261440
+63,1.050000000,BASELINE,765,745,713.553664629,679,660.446335371,634.553664629,879,787.553664629,805.553664629,653,630.553664629,652,0.400939446862,-0.00543205897883,0.0499279929531,0.999999975542,6.86145562676e-05,-0.000208267368559,-2.88485849016e-05,1793244264635928064
+64,1.066666667,BASELINE,764.865140683,745,714,679,660,634.865140683,879,787.865140683,806,653,631,652,0.400940989468,-0.00543351691944,0.0499292669311,0.999999975995,6.74093595938e-05,-0.000206544914163,-2.83616038092e-05,1793244264652594688
+65,1.083333333,BASELINE,764.269726815,745,714,679,660,634.269726815,879,787.269726815,806,653,631,652,0.400940695077,-0.00543423026091,0.0499288655457,0.999999976139,6.39316020884e-05,-0.000206941861997,-2.84474688866e-05,1793244264669261312
+66,1.100000000,BASELINE,764,745,714,679.313997664,660,634,878.686002336,787,805.686002336,653,630.686002336,652,0.400939452749,-0.00543415200441,0.04992745337,0.999999975899,6.33332127661e-05,-0.000208231573423,-2.88308095432e-05,1793244264685928192
+67,1.116666667,BASELINE,764,745,714,679.888041222,660,634,878.111958778,787,805.111958778,653,630.111958778,652,0.400937425362,-0.00543341816403,0.0499252040804,0.999999975341,6.51194524212e-05,-0.000210260651817,-2.94605128661e-05,1793244264702595072
+68,1.133333333,BASELINE,764,745,714,679.537567544,660,634.462432456,878.462432456,787,805,653,630.462432456,652,0.400936744785,-0.00543409703027,0.0499248648343,0.999999975291,6.40631835817e-05,-0.000210823542916,-2.94629160145e-05,1793244264719261440
+69,1.150000000,BASELINE,764,745,714,679.03789475,660,634.96210525,879,787,805,653,631,652,0.400936554273,-0.00543502436354,0.0499250941706,0.999999975391,6.25144864871e-05,-0.000210838222703,-2.92833538861e-05,1793244264735928320
+70,1.166666667,BASELINE,764,745,714,679.627729549,660,634.372270451,879,787,805,653,631,652,0.400938748731,-0.00543458522246,0.0499268644466,0.999999975911,6.38246937007e-05,-0.000208042308321,-2.86671837238e-05,1793244264752594944
+71,1.183333333,BASELINE,764,744.786171714,713.786171714,680,660.213828286,634.213828286,879,787,805,653,631,652,0.400940049562,-0.00543423909777,0.0499279521332,0.999999976193,6.46280009492e-05,-0.000206486188897,-2.83033325326e-05,1793244264769261568
+72,1.200000000,BASELINE,764,744.20646559,713.20646559,680,660.79353441,634.79353441,879,787,805,653,631,652,0.400939821324,-0.00543405213171,0.0499278718535,0.999999976078,6.45639607561e-05,-0.000207051460469,-2.83712198156e-05,1793244264785929216
+73,1.216666667,BASELINE,764.369801711,744.369801711,713.369801711,679.630198289,660.630198289,634.630198289,879,787,805,653,631,652,0.400938789743,-0.00543464204526,0.0499276073098,0.999999975803,6.45710209209e-05,-0.00020837708539,-2.83505074664e-05,1793244264802596096
+74,1.233333333,BASELINE,764.944166722,744.944166722,713.944166722,679.055833278,660.055833278,634.055833278,879,787,805,653,631,652,0.400937313777,-0.00543566170549,0.0499272408368,0.999999975436,6.46174116913e-05,-0.000210123315119,-2.82807844335e-05,1793244264819262464
+75,1.250000000,BASELINE,764.479752346,745,714,679,660.520247654,634.520247654,879,787,805.520247654,653,631,652.520247654,0.4009393924,-0.00543391463939,0.0499279599883,0.999999975628,6.72132012861e-05,-0.000208371991555,-2.84065741049e-05,1793244264835929600
+76,1.266666667,BASELINE,764,745,714,679.099545258,660.900454742,635,879,787,805.900454742,653,631,652.900454742,0.400941374147,-0.00543247867307,0.0499284950262,0.99999997585,6.90800228286e-05,-0.000206672427506,-2.85299822832e-05,1793244264852596480
+77,1.283333333,BASELINE,764,745,714,679.69391398,660.30608602,635,879,787,805.30608602,653,631,652.30608602,0.400940971784,-0.00543406999278,0.0499275337963,0.999999975972,6.59587244855e-05,-0.000207102177593,-2.8536906476e-05,1793244264869262848
+78,1.300000000,BASELINE,764.278489027,745,714,680,660,634.721510973,878.721510973,787,805.278489027,653,630.721510973,652,0.400940132516,-0.00543405728868,0.0499268950904,0.999999975883,6.5178215038e-05,-0.000207743336472,-2.87978266418e-05,1793244264885928960
+79,1.316666667,BASELINE,764.85266554,745,714,680,660,634.14733446,878.14733446,787,805.85266554,653,630.14733446,652,0.400938829362,-0.00543234150207,0.0499265988265,0.999999975574,6.68830531981e-05,-0.000208608959946,-2.93284286375e-05,1793244264902595328
+80,1.333333333,BASELINE,764.571547455,745,713.571547455,679.571547455,660.428452545,634,878,787,805.571547455,653,630.428452545,652,0.400938987381,-0.00543270803224,0.0499271581028,0.999999975721,6.57964105689e-05,-0.000208298733837,-2.89865191809e-05,1793244264919261952
+81,1.350000000,BASELINE,764.004926272,745,713.004926272,679,661,634,878,787,805,653,631,652,0.400939649685,-0.00543378470072,0.0499280031434,0.999999976017,6.37787583986e-05,-0.000207589867324,-2.83500598952e-05,1793244264935928320
+82,1.366666667,BASELINE,764.59698639,745,713.59698639,679,661,634,878,787,805,653,631,652,0.400940303378,-0.00543383378277,0.0499277105354,0.999999975861,6.56387799536e-05,-0.000207742879212,-2.85023425337e-05,1793244264952595200
+83,1.383333333,BASELINE,764.81620747,745,714,679,660.81620747,634.18379253,878.18379253,787.18379253,805,653,631,652,0.400940539686,-0.00543376446769,0.0499272975213,0.999999975744,6.66688196781e-05,-0.000207959725091,-2.86282291851e-05,1793244264969262080
+84,1.400000000,BASELINE,764.240601772,745,714,679,660.240601772,634.759398228,878.759398228,787.759398228,805,653,631,652,0.400939886203,-0.00543344275085,0.0499266278225,0.999999975718,6.59294852881e-05,-0.00020831265378,-2.86978442896e-05,1793244264985929216
+85,1.416666667,BASELINE,764,745,714,679.335207481,660,634.664792519,878.664792519,787.664792519,805.335207481,653,630.664792519,652.335207481,0.400938809863,-0.00543351916162,0.049926203884,0.999999975574,6.57471097116e-05,-0.000209046043747,-2.87767418212e-05,1793244265002595840
+86,1.433333333,BASELINE,764,745,714,679.911162894,660,634.088837106,878.088837106,787.088837106,805.911162894,653,630.088837106,652.911162894,0.400937429825,-0.00543388150994,0.0499259564519,0.999999975347,6.59647451892e-05,-0.000210052683163,-2.88623060409e-05,1793244265019262464
+87,1.450000000,BASELINE,764,744.513354758,714,679.513354758,660.486645242,634,878.486645242,786.513354758,805.513354758,653,630.486645242,652.513354758,0.400939013083,-0.00543253214898,0.0499269034828,0.999999975639,6.76593491933e-05,-0.000208079613267,-2.91032441705e-05,1793244265035928576
+88,1.466666667,BASELINE,764,744.06402365,714,679,660.93597635,634,879,786.06402365,805,653,631,652,0.400940677261,-0.00543133409454,0.0499278138336,0.99999997594,6.90700475111e-05,-0.00020613306389,-2.93121569296e-05,1793244265052595200
+89,1.483333333,BASELINE,764,744.65780471,714,679,660.34219529,634,879,786.65780471,805,653,631,652,0.400938539321,-0.00543397102396,0.0499266182046,0.999999975587,6.59028130488e-05,-0.000208902413053,-2.9021615728e-05,1793244265069261824
+90,1.500000000,BASELINE,764,745,714,679,660,634,879,787,805,653,631,652,0.400937872633,-0.00543563458226,0.0499263025441,0.999999975543,6.37168302061e-05,-0.000209833773018,-2.87111690546e-05,1793244265085928704
+91,1.516666667,BASELINE,764,745,714,679,660,634,879,787,805,653,631,652,0.400939207072,-0.00543597420632,0.0499271837759,0.999999975934,6.28655003574e-05,-0.00020826518549,-2.83736479098e-05,1793244265102595328
+92,1.533333333,BASELINE,764,745,714,679,660,634.394110813,879,786.605889187,805.394110813,653,631,652,0.400938812178,-0.005435026277,0.0499269114556,0.999999975773,6.38248522864e-05,-0.000208711681713,-2.86311332781e-05,1793244265119262464
+93,1.550000000,BASELINE,764,745,714,679,660,634.968110996,879,786.031889004,805.968110996,653,631,652,0.40093762794,-0.00543349065216,0.049926112604,0.999999975356,6.56106782985e-05,-0.000210077949935,-2.91602055478e-05,1793244265135929600
+94,1.566666667,BASELINE,764,745,714,679,660.556465896,634.443534104,879,786,805.443534104,653,631,652,0.400938166482,-0.00543476613311,0.0499260039391,0.999999975434,6.39114874948e-05,-0.000210259328953,-2.89471611968e-05,1793244265152595968
+95,1.583333333,BASELINE,764,744.856346259,714,679,660.856346259,634,879,786.143653741,805,652.856346259,631,652,0.400938668415,-0.00543548750126,0.0499260389239,0.999999975529,6.28816892064e-05,-0.000210150205,-2.87320879792e-05,1793244265169262080
+96,1.600000000,BASELINE,764,744.275282922,714,679,660.275282922,634,879,786.724717078,805,652.275282922,631,652,0.400938750309,-0.0054340181562,0.0499263876857,0.999999975591,6.45143231969e-05,-0.000209368759499,-2.86437587989e-05,1793244265185928448
+97,1.616666667,BASELINE,764,744.302547331,714,679,660,634.302547331,878.697452669,787,805.302547331,652.302547331,631,652,0.400938564863,-0.00543360599023,0.049926268404,0.999999975557,6.51230177582e-05,-0.000209350143721,-2.85797022931e-05,1793244265202595072
+98,1.633333333,BASELINE,764,744.877466923,714,679,660,634.877466923,878.122533077,787,805.877466923,652.877466923,631,652,0.40093813874,-0.00543414556389,0.0499257277598,0.999999975439,6.48098971242e-05,-0.000210018275601,-2.85374975907e-05,1793244265219261696
+99,1.650000000,BASELINE,764,745,714,679,660,634.550057997,878.449942003,787,805.550057997,653,631,652,0.400938765845,-0.00543432889774,0.0499264187355,0.999999975703,6.45509296841e-05,-0.000208829247144,-2.86001146849e-05,1793244265235928320
+100,1.666666667,BASELINE,764,745,713.977473945,679,660,634,879.022526055,787,805,653,631,652,0.400939702528,-0.0054344037718,0.0499274064613,0.999999976057,6.43765659907e-05,-0.000207170103713,-2.86776546088e-05,1793244265252595200
+101,1.683333333,BASELINE,764,745,713.385393228,679,660,634,879.614606772,787,805,653,631,652,0.400941253652,-0.00543417602016,0.049927462575,0.999999976132,6.59704785766e-05,-0.000206343168503,-2.84146377005e-05,1793244265269262336
+102,1.700000000,BASELINE,764.202554963,745,713.202554963,679.202554963,660,634,879.594890073,787,805,653,631,652,0.400941706087,-0.00543388422078,0.0499274691498,0.999999976107,6.69369956447e-05,-0.00020615742097,-2.83803587681e-05,1793244265285928960
+103,1.716666667,BASELINE,764.78279751,745,713.78279751,679.78279751,660,634,878.43440498,787,805,653,631,652,0.400940109886,-0.00543347299684,0.0499273833537,0.9999999759,6.67336597059e-05,-0.000207167243465,-2.87725887586e-05,1793244265302595584
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+105,1.750000000,BASELINE,764.065080617,745,714,679.065080617,660.934919383,634.934919383,878.934919383,787,805.934919383,653,631,652,0.400938325013,-0.0054337346446,0.0499258658466,0.999999975601,6.28761586582e-05,-0.000209712628157,-2.94218937825e-05,1793244265335928576
+106,1.766666667,BASELINE,764,745,714,679,660.479530214,634.479530214,879,787,805.479530214,653,631,652,0.400939001053,-0.00543238731303,0.0499266244285,0.999999975608,6.69399926376e-05,-0.000208458026281,-2.91348795343e-05,1793244265352594944
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787,805,653,631,652,0.400940997762,-0.00543520172957,0.049926936186,0.999999976163,6.26639181635e-05,-0.000207189951282,-2.86318033189e-05,1793244265394942464
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.42264877,879,787,805.57735123,653,631,652,0.400940210788,-0.00543376424134,0.049926599016,0.999999975977,6.48668811091e-05,-0.000207383441539,-2.88015007484e-05,1793244265411610112
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.845974041,745,714,679,660,634.154025959,878.845974041,787,805.845974041,653,631,652,0.400939559206,-0.0054329117436,0.0499263967357,0.999999975797,6.66169343213e-05,-0.00020769125742,-2.88706892424e-05,1793244265428277504
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660,635,878,787,805,652.688655499,630.688655499,652,0.400938934583,-0.005434300775,0.0499263205573,0.999999975536,6.66162949353e-05,-0.000208980554713,-2.85797192205e-05,1793244265461610240
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+118,1.966666667,POSE1_TO_POSE2_PRESS,764,745,714,679.615182001,660,635,879,787,805,653,630.615182001,652,0.40103732503,-0.00543535714086,0.049949808058,0.999999987035,6.77476862593e-05,-0.000143300136639,-2.8381878911e-05,1793244265578276352
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,745,714,679.035823933,660,635,879,787,805,653,630.035823933,652,0.401076628076,-0.00543870410155,0.0499561477441,0.999999990217,6.53102382718e-05,-0.000120535631338,-2.77863645374e-05,1793244265594943488
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,745,714,679,660,635,878.457794452,787,805.542205548,653,630,652,0.401126602166,-0.00544011359971,0.0499604444824,0.999999992853,6.15558466231e-05,-9.85174880168e-05,-2.82764462145e-05,1793244265611609856
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.119420454,745,714,678.880579546,660.119420454,635,878,787,805.880579546,653,630.119420454,652,0.401179130405,-0.00544120483812,0.0499636876148,0.999999994607,5.87671425225e-05,-8.06974393344e-05,-2.86334533907e-05,1793244265628276224
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.693865417,745,714,678.306134583,660.693865417,635,878,787,805.306134583,653,630.693865417,652,0.401238710819,-0.00544156997974,0.049963429273,0.999999994707,5.99886974928e-05,-7.86858348623e-05,-2.82107824188e-05,1793244265644943104
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,678.275410927,660.724589073,634.724589073,878.275410927,787,805,653,631,652,0.401305112335,-0.00544337797609,0.0499645360691,0.999999994855,5.98895493803e-05,-7.70451432133e-05,-2.76834894161e-05,1793244265661609728
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,678.865057923,660.134942077,634.134942077,878.865057923,787,805,653,631,652,0.401379296533,-0.00544683222881,0.049967200449,0.999999995061,5.82835163702e-05,-7.58276527146e-05,-2.70368256635e-05,1793244265678276352
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.552877439,745,714,679.447122561,660.447122561,634.447122561,879.447122561,787,805,653,631,652,0.401472803745,-0.00544984639512,0.0499691112288,0.999999995308,5.72308371154e-05,-7.36334906664e-05,-2.62230383729e-05,1793244265694943232
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,713.973311587,679.973311587,661,635,879.973311587,787,805.026688413,653,631,652,0.401573198077,-0.00545285491059,0.0499707197869,0.999999995559,5.62940170585e-05,-7.12102029625e-05,-2.53540384031e-05,1793244265711610624
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,713.39884763,679.39884763,661,635,879.39884763,787,805.60115237,653,631,652,0.401697250588,-0.0054584280663,0.0499707155668,0.999999995773,5.43646410619e-05,-7.0033175949e-05,-2.43697771114e-05,1793244265728277248
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.177826295,745,713.177826295,679,660.822173705,635,879,787,805.822173705,653,631,652,0.401831105856,-0.00546387576347,0.0499718431387,0.999999996124,5.17861624515e-05,-6.72517144709e-05,-2.33885254916e-05,1793244265744943616
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.759519266,745,713.759519266,679,660.240480734,635,879,787,805.240480734,653,631,652,0.401987224448,-0.0054690385272,0.0499755411576,0.99999999676,4.77334875262e-05,-6.08263735181e-05,-2.24141093621e-05,1793244265761609728
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.345069484,787,805,653,630.654930516,652,0.402156661888,-0.00547453887465,0.0499750331434,0.999999996764,4.45283183423e-05,-6.35770901485e-05,-2.11587262342e-05,1793244265778276096
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.933338287,787,805,653,630.066661713,652,0.402335486248,-0.00548027714611,0.0499715607864,0.999999996278,4.19204569028e-05,-7.27949411619e-05,-1.97053220686e-05,1793244265794942720
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.490207186,745,713.490207186,679,660,634.490207186,879.490207186,787,805.509792814,653,630.509792814,652,0.402543578119,-0.00548715285307,0.0499701910172,0.999999996343,3.92784438548e-05,-7.37061548139e-05,-1.8378969179e-05,1793244265811609344
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.084683204,745,713.084683204,679.084683204,660,634.084683204,878.915316796,787,806,653,631,652,0.402762632476,-0.00549442038303,0.0499699898433,0.999999996605,3.62906415196e-05,-7.19960484579e-05,-1.70292261137e-05,1793244265828276224
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.659259902,745,713.659259902,679.659259902,660,634.659259902,878.340740098,787,806,653,631,652,0.403023466751,-0.00550311367885,0.049974994506,0.999999997513,3.13276915854e-05,-6.12629026053e-05,-1.54502374121e-05,1793244265844943104
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.760990943,745,714,679.760990943,660.239009057,634.760990943,878,787,806,653,631,652,0.403299807173,-0.00551300089749,0.0499796783613,0.99999999829,2.57250050616e-05,-5.07810847528e-05,-1.34219489521e-05,1793244265861610240
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.173704665,745,714,679.173704665,660.826295335,634.173704665,878,787,806,653,631,652,0.403598742694,-0.00552462786607,0.0499838947447,0.999999998931,1.91901128199e-05,-4.06654955838e-05,-1.07389537205e-05,1793244265878277120
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.410244729,745,714,679,660.589755271,634,878.410244729,787,805.589755271,653,631,651.589755271,0.403931627535,-0.00553407129029,0.049991170228,0.999999999553,1.69834325675e-05,-2.32621463691e-05,-8.07100977624e-06,1793244265894943488
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.992792613,745,714,679,660.007207387,634,878.992792613,787,805.007207387,653,631,651.007207387,0.404278771114,-0.00554259762363,0.049999730536,0.999999999844,1.6594605404e-05,-2.79793162601e-06,-5.40938745117e-06,1793244265911609600
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.567929437,660,634.567929437,879,787,805,653,631,651.567929437,0.404650796438,-0.00555254356006,0.0500043388577,0.999999999884,1.31225416596e-05,7.4178606741e-06,-2.37033078246e-06,1793244265928275968
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.857455261,660,634.857455261,879,787,805.142544739,653,631,652,0.405031339126,-0.00556005463633,0.0500068998914,0.999999999824,1.32618044228e-05,1.32300409435e-05,5.63803979174e-07,1793244265944942336
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.284135555,660,634.284135555,879,787,805.715864445,653,631,652,0.405436679549,-0.0055601537393,0.0500034235638,0.999999999678,2.44313409318e-05,6.12233648983e-06,3.16657194288e-06,1793244265961608960
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.702006919,745,714,679,660,634,879.297993081,787,805.702006919,653,631,652,0.40584732037,-0.0055556775647,0.0499906726876,0.999999998975,4.06382980469e-05,-1.92881494249e-05,5.15886852117e-06,1793244265978276096
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.111223069,745,714,679,660,634,879.888776931,787,805.111223069,653,631,652,0.406263169104,-0.00554670598696,0.049968809176,0.999999996105,6.17947346042e-05,-6.26818907818e-05,6.55135152112e-06,1793244265994942976
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745,714,679.470850293,660,634,879.529149707,787,805,653,630.529149707,652,0.406724973265,-0.00554047460803,0.0499502311635,0.999999992539,7.96542673173e-05,-9.22527469642e-05,8.20282446229e-06,1793244266011609856
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745,713.949565521,679.949565521,660,634,879,787,805,652.949565521,630.050434479,652,0.407203416784,-0.0055360915767,0.0499347517324,0.999999988808,9.56466931215e-05,-0.000114599335811,1.01670234577e-05,1793244266028276480
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,745,713.374856057,679.374856057,660,634,879,787,805,652.374856057,630.625143943,652,0.407744034714,-0.00554431602898,0.049943561494,0.999999990344,0.000100178808782,-9.51743266624e-05,1.47576601582e-05,1793244266044943360
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.204185654,745.204185654,713.204185654,679,660,634,879,787,805.204185654,652.204185654,631,651.795814346,0.40831031132,-0.00555077075443,0.0499591612955,0.999999992189,0.000105602210723,-6.39597412868e-05,1.94597777024e-05,1793244266061609984
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.791353129,745.791353129,713.791353129,679,660,634,879,787,805.791353129,652.791353129,631,651.208646871,0.408924714711,-0.0055539060826,0.0499874968683,0.999999993296,0.000112697357731,-1.06319806202e-05,2.43709945361e-05,1793244266078276608
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.626787096,745.626787096,714,679,660,634.373212904,879.373212904,787,805.626787096,652.626787096,631,651.373212904,0.409538156247,-0.00555651669766,0.0500021197713,0.999999993015,0.000114562973284,1.07826696333e-05,2.70031720294e-05,1793244266094943744
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.047853033,745.047853033,714,679,660,634.952146967,879.952146967,787,805.047853033,652.047853033,631,651.952146967,0.410151067572,-0.00555883808203,0.0500091840218,0.999999993044,0.000113545984038,1.46062810548e-05,2.83791050103e-05,1793244266111610880
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745,713.471322708,679,660,634.471322708,879.471322708,787.528677292,805,652.528677292,631,652,0.410750019195,-0.00555928057777,0.0499899520621,0.999999993113,0.000110091646154,-2.99426821748e-05,2.75306595004e-05,1793244266128277760
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.104807201,745,713.104807201,679,660,634.104807201,879,787.895192799,805,652.895192799,631,652,0.4113574367,-0.00555951347369,0.0499683322111,0.999999991019,0.000107120988254,-7.60291767629e-05,2.65771932212e-05,1793244266144944384
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.680111705,745,713.680111705,679,660,634.680111705,879,787.319888295,805,652.319888295,631,652,0.412008505462,-0.00555956544407,0.0499466294403,0.999999987913,0.000107307552727,-0.000109451362369,2.605202461e-05,1793244266161611008
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.262491704,787,805,652.262491704,631,652,0.412717771998,-0.00555997278542,0.0499476321508,0.999999988765,0.000108324121473,-0.000100123645686,2.66554875005e-05,1793244266178277376
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.853733272,787,805,652.853733272,631,652,0.413499926678,-0.00556082520048,0.0499770716576,0.999999992803,0.000110380204013,-3.72551002074e-05,2.86724709517e-05,1793244266194943488
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.436265764,634.563734236,879.563734236,787,805,652.563734236,630.563734236,652,0.414247532368,-0.00556356892232,0.0499824328838,0.999999993154,0.000108553748213,-3.13760216189e-05,3.04073237632e-05,1793244266211609600
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.984200504,634.015799496,879,787,805,652,630.015799496,652,0.414983784623,-0.00556683206773,0.049979079515,0.999999992911,0.00010544275412,-4.51611416966e-05,3.19369094204e-05,1793244266228276224
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.409477346,634.590522654,879,787,805,652,630.590522654,652,0.415720147798,-0.00556647752993,0.0499474297333,0.999999990137,0.000102037513262,-9.18924542132e-05,2.94856813433e-05,1793244266244942848
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.831140867,879,787,805.168859133,652,631,652,0.416474056622,-0.00556626301387,0.049928811119,0.999999987729,9.95715332643e-05,-0.000117610121997,2.81970676317e-05,1793244266261609216
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.243850657,879,787,805.756149343,652,631,652,0.41727144333,-0.00556639547016,0.0499424835965,0.999999990449,9.94330320056e-05,-9.12562063555e-05,2.97893998286e-05,1793244266278276096
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.338598838,660,634,879.338598838,787,806,652.338598838,631,652,0.418109691776,-0.00556698184386,0.0499630253267,0.999999993107,9.87726478965e-05,-5.51227134508e-05,3.14994814896e-05,1793244266294943232
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.917611279,660,634,879.917611279,787,806,652.917611279,631,652,0.41897695304,-0.00556789051023,0.0499884443967,0.999999994597,9.7741713867e-05,-1.20454782964e-05,3.32931680981e-05,1793244266311610624
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.504284027,660,634.495715973,880,787,806,653,630.504284027,652,0.419781206778,-0.00556536011941,0.0499718721665,0.999999993126,0.000100889815938,-4.97759237298e-05,3.30398783631e-05,1793244266328276992
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.073154049,660,634.926845951,880,787,806,652.926845951,630.073154049,652,0.420589475008,-0.0055630958789,0.0499543576111,0.999999990359,0.000103613638579,-8.64895645499e-05,3.2658841628e-05,1793244266344943616
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.647059575,660,634.352940425,880,787,806,652.352940425,630.647059575,652,0.421496773855,-0.00556655886493,0.0499780778845,0.999999994262,9.86874980481e-05,-2.44780405115e-05,3.37278962416e-05,1793244266361609984
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.227549291,634,880,787.227549291,806,652,631,652,0.422384276191,-0.00556917406506,0.0499947314357,0.999999994742,9.50944580231e-05,1.6181834797e-05,3.48088051484e-05,1793244266378276352
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.818555812,634,880,787.818555812,806,652,631,652,0.423240158333,-0.00557043512431,0.0500000975403,0.999999994713,9.36307366698e-05,2.27374116229e-05,3.59086488747e-05,1793244266394942720
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.401370125,714,679.598629875,660.598629875,634,880,787.598629875,806,652,631,651.598629875,0.424116836222,-0.00557163780352,0.049989801655,0.999999995194,9.10638725214e-05,5.72821358929e-06,3.58594856913e-05,1793244266411609600
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.980555092,714,679.019444908,660.019444908,634,880,787.019444908,806,652,631,651.019444908,0.425002726984,-0.00557281461915,0.0499725672004,0.999999995268,8.80082944943e-05,-2.17206425879e-05,3.53012898079e-05,1793244266428276736
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.44575069,714,679,660.55424931,634,880,787,806,652,631,651.55424931,0.425903623055,-0.00557260015908,0.0499928644923,0.999999995433,8.79182090182e-05,6.66178984498e-06,3.68767607098e-05,1793244266444943104
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.869038046,634,879.869038046,787,806,652,631,651.869038046,0.42678700706,-0.0055718611458,0.0500073763616,0.999999995077,8.90311365201e-05,2.09375788252e-05,3.84966344603e-05,1793244266461609984
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.281128104,634,879.281128104,787,806,652,631,651.281128104,0.427607469709,-0.0055694605169,0.049997152679,0.999999994567,9.39821265031e-05,-2.07744058831e-05,4.00128137448e-05,1793244266478276864
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.301871483,660,634,879,787,806,652,631,651.301871483,0.428449793027,-0.00556709047693,0.0499761411413,0.999999992745,9.7072980576e-05,-5.94206518134e-05,3.94407379955e-05,1793244266494943488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.880371297,660,634,879,787,806,652,631,651.880371297,0.429312148931,-0.0055647484681,0.0499452438529,0.999999989933,9.84592471041e-05,-9.52575204152e-05,3.6955031575e-05,1793244266511609856
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.457603152,745,714,680,660,634,879.457603152,787,805.542396848,652,631,651.542396848,0.430226204521,-0.00556889073373,0.0499517472178,0.999999992094,9.26855763175e-05,-7.63328885778e-05,3.73424758467e-05,1793244266528276224
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.964942885,745,714,680,660,634,880,787,805.035057115,652,631,651.035057115,0.43114676605,-0.00557434122125,0.049965845261,0.999999994474,8.55718410737e-05,-4.7470921754e-05,3.84094131217e-05,1793244266544942848
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.378801895,745,714,680,660,634,880,787,805.621198105,652,631,651.621198105,0.431957724964,-0.00557378299995,0.0499460556962,0.999999991733,8.67352228857e-05,-8.68180435374e-05,3.83831507101e-05,1793244266561609472
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.795300904,714,680,660,634,880,787,806,652,631,652,0.432787031751,-0.00557370409339,0.0499362041643,0.999999990131,8.69008213011e-05,-0.000103541155299,3.82836268333e-05,1793244266578276096
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.216623008,714,680,660,634,880,787,806,652,631,652,0.433649859662,-0.00557450087964,0.0499445091022,0.999999992528,8.52435012458e-05,-7.8930920274e-05,3.80502566366e-05,1793244266594943232
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.364486129,714,680,660,634,880,787,806,652,631,652,0.434519222748,-0.00557628735224,0.0499657380468,0.999999994736,8.30830364513e-05,-4.53865073971e-05,3.957033626e-05,1793244266611610368
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.947049881,714,680,660,634,880,787,806,652,631,652,0.435392495876,-0.00557866596926,0.0499946996217,0.999999995841,8.06215324857e-05,-6.49664077646e-06,4.21395316889e-05,1793244266628277504
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.477515935,745,714,680,660,634,880,787,806,652,631,651.477515935,0.436174335383,-0.00557402019376,0.0499753177378,0.999999993356,8.91519289512e-05,-5.90960264925e-05,4.29946271298e-05,1793244266644943360
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.193966483,745,714,680,660,634,880,787,806,652,631,651.096983242,0.436953299726,-0.00556977045413,0.0499561550333,0.999999988843,9.68381663423e-05,-0.000105084037748,4.35248244367e-05,1793244266661609472
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.340781692,745,714,680,660,634,880,787,806,652,631,651.670390846,0.437763046658,-0.00557091617523,0.0499618124277,0.999999991839,9.49789652174e-05,-7.36600626301e-05,4.33008423518e-05,1793244266678276096
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.749021533,745,713.749021533,680,660.250978467,634,880.250978467,787,806,652,631,652,0.438550489236,-0.00557318778333,0.0499699141299,0.99999999366,9.16580500883e-05,-4.87678307238e-05,4.35835987515e-05,1793244266694942976
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.158726765,745,713.158726765,680,660.841273235,634,880.841273235,787,806,652,631,652,0.439307776847,-0.005576981561,0.0499813204718,0.999999994744,8.63609362129e-05,-3.27063468569e-05,4.45514523407e-05,1793244266711609600
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,713.424332969,680,660.575667031,634,880.575667031,786.575667031,806,652,631,651.575667031,0.440028210777,-0.00557840531912,0.0499660782521,0.999999993993,8.30014817135e-05,-5.6734200673e-05,4.36528888222e-05,1793244266728276480
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.004686445,806,652,631,651,0.440735075273,-0.0055789536682,0.0499411856391,0.999999991349,8.03622961435e-05,-9.52590079571e-05,4.20771975633e-05,1793244266744943616
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.579525605,806,652,631,651,0.441440109374,-0.00557904730464,0.0499346279216,0.999999990667,7.86496542176e-05,-0.000103667927899,4.16358139249e-05,1793244266761609984
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.157448267,660,634,879.842551733,786.842551733,806,652,631.157448267,651.157448267,0.442129386468,-0.00557998957459,0.0499313846553,0.999999990534,7.65120872275e-05,-0.000106590021752,4.14319468401e-05,1793244266778276608
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680.743770218,660,634,879.256229782,786.256229782,806,652,631.743770218,651.743770218,0.442775743171,-0.00558324343924,0.0499371696284,0.999999991971,7.32170655333e-05,-9.45665397063e-05,4.18750515285e-05,1793244266794943232
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.672069344,745,714,680.672069344,659.672069344,633.672069344,879.327930656,786.327930656,806,652,631.672069344,652,0.443381847389,-0.00558562872895,0.049923641235,0.999999989489,7.06459511704e-05,-0.000119534030456,4.17522629844e-05,1793244266811609856
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.089586788,745,714,680.089586788,659.089586788,633.089586788,879.910413212,786.910413212,806,652,631.089586788,652,0.443956706101,-0.00558733979848,0.0498951210918,0.999999981794,6.86367604882e-05,-0.000173215282511,4.11902070719e-05,1793244266828276736
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.486882843,745,713.513117157,680,659,633,880,786.513117157,806,652,631,651.513117157,0.444496481999,-0.00558538378298,0.0498518078743,0.999999967574,6.98664637764e-05,-0.0002417892095,3.88541841665e-05,1793244266844943616
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.062055046,680.062055046,659.062055046,633,880.062055046,786,806,652,631,651.062055046,0.445033844767,-0.0055834809582,0.0498110780201,0.999999950944,7.08522926405e-05,-0.000302912710026,3.65597216978e-05,1793244266861610496
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.635541513,680.635541513,659.635541513,633,880.635541513,786,806,652,631,651.635541513,0.445603872076,-0.00558750964238,0.0498137985323,0.999999957904,6.49764921442e-05,-0.000280324381987,3.72651092195e-05,1793244266878277120
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.784382345,633,880.784382345,786,806,652,631,652,0.446154245897,-0.0055868884736,0.0498192913481,0.999999963837,6.38999362298e-05,-0.000258554470866,3.73200994966e-05,1793244266894943744
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.192816594,633,880.192816594,786,806,652,631,652,0.446670352096,-0.00557815988215,0.0498296179158,0.999999968437,7.11912804512e-05,-0.000238211543169,3.6241065668e-05,1793244266911610368
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.609695956,659,632.609695956,880.390304044,786.390304044,806.390304044,652,630.609695956,652,0.447120202539,-0.00557542012749,0.0498117272914,0.999999961306,7.24009462979e-05,-0.000266348462101,3.47022302853e-05,1793244266928276992
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.030658933,659,632.030658933,880.969341067,786.969341067,806.969341067,652,630.030658933,652,0.447538014809,-0.00557557629647,0.0497801921391,0.999999946421,7.06697943256e-05,-0.00031792798977,3.29410559735e-05,1793244266944943360
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.544634336,680.544634336,659,632,880.455365664,786.455365664,807,652,630.544634336,651.455365664,0.447928973497,-0.00558273383454,0.0497516876441,0.999999932017,6.11732735224e-05,-0.00036216964381,3.25171248223e-05,1793244266961609472
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.877631357,680.877631357,659,632,880,786,807,652,631,651.122368643,0.44831748695,-0.00558895495137,0.0497291116476,0.999999919489,5.35534578117e-05,-0.000396374231748,3.22681730038e-05,1793244266978275840
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.289815911,680.289815911,659,632,880,786,807,652,631,651.710184089,0.448702410276,-0.00559012537656,0.0497284410575,0.999999920375,5.47233077182e-05,-0.000393961844264,3.24004081906e-05,1793244266994942464
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.293727106,632,880,786,807,652,630.706272894,652,0.449075021849,-0.0055880096367,0.0497349887042,0.999999924671,5.79709071435e-05,-0.000382389404597,3.27909060761e-05,1793244267011609600
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.873114988,632,880,786,807,652,630.126885012,652,0.44943565975,-0.00558269797635,0.0497485563605,0.999999931953,6.32391968601e-05,-0.000361908466032,3.34325742336e-05,1793244267028276736
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,880,786,807,652,630,652,0.449756509147,-0.00557996700059,0.0497536046776,0.999999934043,6.65335093002e-05,-0.000355452884827,3.37603527176e-05,1793244267044943616
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.972901386,631.972901386,880,786,806.972901386,652,630,652,0.450063868988,-0.00557832973934,0.0497559995701,0.999999934571,6.88939691757e-05,-0.000353488284094,3.40280073552e-05,1793244267061610752
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.400041926,631.400041926,880,786,806.400041926,652,630,652,0.450324251246,-0.00558414566123,0.0497530666492,0.999999931571,6.35945494034e-05,-0.000362765135021,3.48574225235e-05,1793244267078276864
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.357342533,658.821328734,631,880,786,806.178671266,652,630,652,0.450573305096,-0.00558827524282,0.0497485733259,0.999999927389,5.92086092756e-05,-0.000374789921476,3.53422140822e-05,1793244267094942976
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681.541869461,658.22906527,631,880,786,806.77093473,652,630,652,0.450796135658,-0.00558850124579,0.0497404679494,0.999999920472,5.693721276e-05,-0.000393175688552,3.50292631759e-05,1793244267111609344
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681.645873101,658.354126899,631,880,785.645873101,806.645873101,652,630,651.645873101,0.451000337707,-0.00558758058414,0.0497341367358,0.999999915311,5.63663866392e-05,-0.000406216705861,3.4492177842e-05,1793244267128276224
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681.068402046,658.931597954,631,880,785.068402046,806.068402046,652,630,651.068402046,0.451192790966,-0.00558593673306,0.0497289244676,0.99999991133,5.686809238e-05,-0.000415886846848,3.38137332252e-05,1793244267144943104
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.491400971,631,880,785.508599029,806,652,630,651,0.451350696677,-0.00558685789104,0.0497223902705,0.999999904932,5.71750658042e-05,-0.000430912890082,3.43553074711e-05,1793244267161609728
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,631,879.913033491,786,806.086966509,652,630,651.086966509,0.451499702619,-0.00558754868103,0.049715373797,0.999999897812,5.76681183207e-05,-0.000447033190433,3.4822219003e-05,1793244267178276352
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,631,879.326453121,786,806.673546879,652,630,651.673546879,0.45162424845,-0.00558493603695,0.049706607121,0.999999889407,5.93804953611e-05,-0.000465305542214,3.39184385169e-05,1793244267194943232
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,631,879.25657379,786,806.74342621,652,630,651.74342621,0.451742691023,-0.00558360332536,0.0497008972911,0.999999884037,6.00526394835e-05,-0.000476664167318,3.33270023131e-05,1793244267211610112
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,631,879.835141166,786,806.164858834,652,630,651.164858834,0.451853474156,-0.0055838768967,0.049699023726,0.9999998828,5.94193176456e-05,-0.000479346240195,3.3127550311e-05,1793244267228276480
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.414229635,714,680.585770365,658,631,880,785.585770365,806.414229635,652,630.414229635,651.414229635,0.45195064244,-0.0055861967299,0.0496987010899,0.999999883378,5.55947944353e-05,-0.000478574399539,3.34482995109e-05,1793244267244942848
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.993525741,714,680.006474259,658,631,880,785.006474259,806.993525741,652,630.993525741,651.993525741,0.452042385337,-0.0055893319785,0.0496989964841,0.999999884657,5.04986086012e-05,-0.000476426207935,3.39763438226e-05,1793244267261609472
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.433320234,714,680.566679766,658.566679766,630.433320234,879.433320234,785,807.566679766,652,630.433320234,651.433320234,0.452107452854,-0.00558606002879,0.0496972215806,0.999999882781,5.64559944089e-05,-0.000479688769651,3.39137009781e-05,1793244267278276352
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.143760899,681,658.856239101,630.143760899,879.143760899,785.143760899,807.712478202,652.143760899,630,651.143760899,0.452168151786,-0.00558385059748,0.0496953683074,0.99999988094,5.97380474476e-05,-0.000483130170877,3.37077253586e-05,1793244267294942976
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.733232604,681,658.266767396,630.733232604,879.733232604,785.733232604,806.533534791,652.733232604,630,651.733232604,0.452216241258,-0.00558515987631,0.049693344607,0.999999879423,5.43382657669e-05,-0.000486936437707,3.30780648628e-05,1793244267311609856
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.68256445,681,658,630.68256445,880,785.68256445,806,652.68256445,630,652,0.452258654175,-0.00558641511938,0.0496923584848,0.999999879164,5.21625497947e-05,-0.000487711832984,3.29960508566e-05,1793244267328276480
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.102716925,681,658,630.102716925,880,785.102716925,806,652.102716925,630,652,0.452296374505,-0.00558762569328,0.049692230089,0.999999879968,5.26520465381e-05,-0.000485981721692,3.33667554432e-05,1793244267344943360
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.474421022,681,658,630,880,785,806.474421022,652,630,651.525578978,0.452321279538,-0.00558586148847,0.0496904422697,0.999999878637,5.37619690269e-05,-0.000488621308897,3.29465908336e-05,1793244267361609728
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714.949406263,681,658.050593737,630,880,785,807,652,630,651.050593737,0.452342670575,-0.00558365905533,0.049688449096,0.999999876914,5.5087224872e-05,-0.000492024523334,3.24046027724e-05,1793244267378276096
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714.377170835,681,658.622829165,630,880,785,807,652,630,651.622829165,0.452356276113,-0.00558354121426,0.0496880219394,0.999999876016,5.72555401024e-05,-0.00049360193586,3.23620014877e-05,1793244267394942720
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.797916046,630,880,785,806.797916046,652,630,651.797916046,0.452367808171,-0.00558321829735,0.0496872520158,0.999999875277,5.82477566023e-05,-0.000494985888878,3.22816393756e-05,1793244267411609344
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.205088876,630,880,785,806.205088876,652,630,651.205088876,0.452375331011,-0.00558249885221,0.0496858193288,0.999999874855,5.69659052248e-05,-0.000495995774547,3.21282641106e-05,1793244267428275968
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.045809103,745,714,681,658.954190897,630,880,785,806,652,630,651.954190897,0.45238108462,-0.0055841213715,0.049680718665,0.999999871274,5.45474156951e-05,-0.000503425783057,3.22397049519e-05,1793244267461609728
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.529273214,745,714,681,659,630,880,785,806,652,630,652,0.452381588186,-0.00558287288728,0.0496796082412,0.999999870413,5.62158660609e-05,-0.000504970472362,3.19037288834e-05,1793244267478276352
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.106902564,714.106902564,681.106902564,658.893097436,630.106902564,880,785,806,652,630,651.893097436,0.452381927034,-0.00558134885263,0.0496786972085,0.999999869645,5.79352857652e-05,-0.00050631744748,3.15527133738e-05,1793244267494942976
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.696739179,714.696739179,681.696739179,658.303260821,630.696739179,880,785,806,652,630,651.303260821,0.452382067896,-0.00557950739042,0.0496780347495,0.999999868834,5.87695241728e-05,-0.000507837422954,3.13034311596e-05,1793244267511609600
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714.719172338,681.438344677,658,630.719172338,880,785,806,652,630,651,0.452381799366,-0.00557846988013,0.0496769864945,0.999999868022,5.93859329108e-05,-0.000509365817735,3.12298641412e-05,1793244267528275968
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714.141166585,680.28233317,658,630.141166585,880,785,806,652,630,651,0.452381097608,-0.00557828312945,0.0496755299816,0.999999867211,5.97718295401e-05,-0.000510903122201,3.13422428295e-05,1793244267544942592
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.564404423,714,680.435595577,658,630,880,785,806.435595577,652,630,651.435595577,0.452382811867,-0.00557750845915,0.0496765245264,0.99999986771,6.02365583922e-05,-0.000509877607227,3.12472462567e-05,1793244267561609216
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785,807,652,629.988088362,652,0.452385251379,-0.00557658888405,0.0496782570686,0.999999868603,6.07147021125e-05,-0.000508075948279,3.10927839552e-05,1793244267578275840
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785,807,652,629.413858594,652,0.452385071168,-0.00557779761337,0.0496774369568,0.999999868269,6.06235193502e-05,-0.000508731097295,3.12946685547e-05,1793244267594942464
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.834762193,745,714,681,658,630,879.834762193,785,807,652,629.165237807,652,0.452384884271,-0.00557853623336,0.0496768161601,0.999999867841,6.11597128327e-05,-0.00050950173434,3.13846209479e-05,1793244267611609088
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.243106848,745,714,681,658,630,879.243106848,785,807,652,629.756893152,652,0.452384680118,-0.00557806167535,0.0496767097219,0.999999867168,6.33149318827e-05,-0.000510570403144,3.11857177902e-05,1793244267628275712
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.340645078,745,714.340645078,681,658,630,879.340645078,785,807,652,630,652,0.452385936082,-0.00557780202853,0.0496774155223,0.999999867844,6.32449423214e-05,-0.000509253901478,3.11993066235e-05,1793244267644942592
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.918884475,745,714.918884475,681,658,630,879.918884475,785,807,652,630,652,0.452388210452,-0.00557769227874,0.0496786878457,0.999999869453,6.16229063917e-05,-0.00050627378273,3.13611051213e-05,1793244267661609216
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.506074046,681,658,630,880,785,807,652,629.506074046,652,0.452386764995,-0.00557729773363,0.0496779992522,0.999999868775,6.03273749883e-05,-0.000507782707909,3.10962296912e-05,1793244267678275840
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785,807,652,629.07025668,652,0.452385020874,-0.00557698716336,0.04967710386,0.999999867824,5.91780442806e-05,-0.000509802853954,3.08344246517e-05,1793244267694942720
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785,807,652,629.659977674,652,0.452385556258,-0.00557764107679,0.0496770451762,0.999999867647,5.87157842091e-05,-0.000510187083409,3.11100802036e-05,1793244267711609344
+247,4.116666667,HOLD_POSE2,765,745,714,680,658,630,880,785,806,652,629,652,0.452384944588,-0.00557807211065,0.0496750325241,0.999999866404,5.8436828208e-05,-0.00051268645494,3.04998382627e-05,1793244267749951744
+248,4.133333333,HOLD_POSE2,765,745,714.574977601,680.574977601,658,630,879.425022399,785,806,652,629.574977601,651.425022399,0.452384348764,-0.00557694087706,0.0496751121498,0.999999866039,5.80595460401e-05,-0.000513449534198,3.03566952345e-05,1793244267766618368
+249,4.150000000,HOLD_POSE2,765,745,714.850156848,681,658,630,879.149843152,785,806,652,629.850156848,651,0.452384122919,-0.00557635193609,0.0496753507659,0.999999865987,5.80501805317e-05,-0.00051355337502,3.03279752799e-05,1793244267783284992
+250,4.166666667,HOLD_POSE2,765,745,714.275608752,681,658,630,879.724391248,785,806,652,629.275608752,651,0.452384945718,-0.00557730003107,0.0496760400134,0.999999866822,5.90836121723e-05,-0.000511788716721,3.06235680458e-05,1793244267799951616
+251,4.183333333,HOLD_POSE2,765,745,714.307590786,680.692409214,658,630,880,785,806.307590786,652,629.307590786,651,0.452385771394,-0.0055763711958,0.0496763938738,0.999999867213,6.04933287328e-05,-0.000510863040923,3.0539253373e-05,1793244267816618240
+252,4.200000000,HOLD_POSE2,765,745,714.898766529,680.101233471,658,630,880,785,806.898766529,652,629.898766529,651,0.452386599723,-0.00557371191467,0.0496764385225,0.999999867197,6.22499631116e-05,-0.000510710869604,3.01046810017e-05,1793244267833284864
+253,4.216666667,HOLD_POSE2,765,745,714.521129377,680.478870623,658,630,880,785.478870623,807,652,629.521129377,651.478870623,0.452386687483,-0.00557298127173,0.0496762594009,0.999999867152,6.27746686611e-05,-0.000510745872447,2.99079727128e-05,1793244267849951232
+254,4.233333333,HOLD_POSE2,764.943555714,745,714,681,658,630,879.943555714,785.943555714,806.943555714,652,629.056444286,651.943555714,0.452386679444,-0.00557288311373,0.0496760831041,0.999999867078,6.29779083514e-05,-0.000510868491564,2.98666406275e-05,1793244267866618112
+255,4.250000000,HOLD_POSE2,764.368213828,745,714,681,658,630,879.368213828,785.368213828,806.368213828,652,629.631786172,651.368213828,0.452387197433,-0.00557493598718,0.0496763578284,0.999999866782,6.25659397449e-05,-0.000511441036657,3.08018720195e-05,1793244267883284736
+256,4.266666667,HOLD_POSE2,764.206532592,745,714,680.793467408,658,630,879.206532592,785,806.206532592,652,630,651,0.452387666938,-0.00557691022916,0.0496766469643,0.999999866786,6.083028098e-05,-0.00051161220943,3.13047789334e-05,1793244267899951360
+257,4.283333333,HOLD_POSE2,764.780220384,745,714,680.219779616,658,630,879.780220384,785,806.780220384,652,630,651,0.452388050254,-0.00557874468694,0.0496769617199,0.999999867312,5.67414840925e-05,-0.000511069858271,3.1039137894e-05,1793244267916618240
+258,4.300000000,HOLD_POSE2,765,745,714,680.367888714,658,630,880,785.367888714,807,652,630,651.367888714,0.452387460331,-0.00557805490686,0.0496766227886,0.999999867241,5.71840740128e-05,-0.000511180979305,3.0676301651e-05,1793244267933285120
+259,4.316666667,HOLD_POSE2,765,745,714,680.964239121,658,630,880,785.964239121,807,652,630,651.964239121,0.452386266018,-0.00557579755603,0.0496758779126,0.999999866798,6.04406892557e-05,-0.000511697911496,3.02531064202e-05,1793244267949951488
+260,4.333333333,HOLD_POSE2,764.458987414,745,714,681,658,630,880,785.458987414,806.458987414,652,630,651.458987414,0.452385511278,-0.0055749216774,0.0496748916645,0.999999865947,6.20122754348e-05,-0.000513170388811,3.02860446249e-05,1793244267966618112
+261,4.350000000,HOLD_POSE2,764,745,714,681,658,630,880,785,806.116773582,652,630,651,0.452385045123,-0.00557422106345,0.0496741410812,0.99999986527,6.30102597656e-05,-0.000514364256082,3.03296997327e-05,1793244267983284736
+262,4.366666667,HOLD_POSE2,764,745,714,681,658,630,880,785,806.693465723,652,630,651,0.452385605135,-0.00557386364824,0.0496743793187,0.999999865397,6.21724423126e-05,-0.000514220727201,3.0300962113e-05,1793244267999951360
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,658,630,880,785,806,652,629,652,0.452387587422,-0.00557281811487,0.0496764722117,0.999999866707,6.2306479884e-05,-0.000511683532043,2.97447899198e-05,1793244268037178624
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,745,714,680.418038452,658,630,880,785,806,652,629,651.418038452,0.452387124934,-0.0055739349467,0.049675948159,0.999999866184,6.25559939303e-05,-0.000512644055168,3.02467663242e-05,1793244268053845248
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.163359368,745,714,680.163359368,658,630,880,785.163359368,806,652,629.163359368,651.163359368,0.452399684085,-0.00557433848295,0.0496750657398,0.999999865718,6.29492691978e-05,-0.000513492140737,3.04433572796e-05,1793244268070511872
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.743319684,745,714,680.743319684,658,630,880,785.743319684,806,652,629.743319684,651.743319684,0.452445451174,-0.00557292296481,0.0496732694104,0.999999865399,6.37091660473e-05,-0.000514053486959,2.9861150838e-05,1793244268087178496
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,879.677330922,785.677330922,806,652,630,652,0.452465706888,-0.00557229648118,0.0496724743864,0.999999865258,6.40454831335e-05,-0.000514301929001,2.96034764258e-05,1793244268103845120
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,879.098466627,785.098466627,806,652,630,652,0.452465706888,-0.00557229648118,0.0496724743864,0.999999865258,6.40454831335e-05,-0.000514301929001,2.96034764258e-05,1793244268120511744
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.442235916,630,879.480745305,785.480745305,806.480745305,652.480745305,630,652,0.452465706888,-0.00557229648118,0.0496724743864,0.999999865258,6.40454831335e-05,-0.000514301929001,2.96034764258e-05,1793244268137178368
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.060420082,681,660.818739755,630,880.060420082,785.939579918,806.939579918,652.939579918,630,652,0.452465706888,-0.00557229648118,0.0496724743864,0.999999865258,6.40454831335e-05,-0.000514301929001,2.96034764258e-05,1793244268153844992
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.643482192,681,659.069553424,630,880.643482192,785.356517808,806.356517808,652.356517808,630,652,0.452465706888,-0.00557229648118,0.0496724743864,0.999999865258,6.40454831335e-05,-0.000514301929001,2.96034764258e-05,1793244268170511872
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.774938524,681,658,630,880.774938524,785,806.225061476,652,630,651.774938524,0.452638814044,-0.0055755334708,0.0496655276998,0.999999861878,6.04118964556e-05,-0.000521260157969,2.96955213903e-05,1793244268187178496
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.195692852,681,658,630,880.195692852,785,806.804307148,652,630,651.195692852,0.453084343737,-0.00558386458221,0.0496476488598,0.999999852897,5.10600544641e-05,-0.000539168704805,2.99324195324e-05,1793244268203845376
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.987195941,745,714.012804059,681,658,630,880,785,807,652,629.987195941,651.012804059,0.453231480725,-0.00558656646337,0.0496399300844,0.999999848144,4.78921898293e-05,-0.000548199905225,2.99163128548e-05,1793244268220512000
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.96785911,745,714.03214089,681,658,630,880,785,807,652,629.96785911,651.03214089,0.453226374484,-0.00558639624955,0.0496373950852,0.999999845671,4.78794582163e-05,-0.000552701786697,2.97711203361e-05,1793244268237178880
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.948522279,745,714.051477721,681,658,630,880,785,807,652,629.948522279,651.051477721,0.453221268243,-0.00558622603573,0.0496348600859,0.999999843178,4.78667266021e-05,-0.000557203668162,2.96259278166e-05,1793244268253845504
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.929185449,745,714.070814551,681,658,630,880,785,807,652,629.929185449,651.070814551,0.453216162003,-0.00558605582192,0.0496323250868,0.999999840664,4.78539949879e-05,-0.000561705549349,2.94807353052e-05,1793244268270512128
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.909848617,745,714.090151383,681,658,630,880,785,807,652,629.909848617,651.090151383,0.453211055762,-0.0055858856081,0.0496297900876,0.99999983813,4.78412633718e-05,-0.000566207430799,2.93355427842e-05,1793244268287179008
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.890511786,745,714.109488214,681,658,630,880,785,807,652,629.890511786,651.109488214,0.453205949521,-0.00558571539428,0.0496272550883,0.999999835576,4.78285317547e-05,-0.000570709312241,2.91903502625e-05,1793244268303845632
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.871174956,745,714.128825044,681,658,630,880,785,807,652,629.871174956,651.128825044,0.45320084328,-0.00558554518047,0.0496247200892,0.999999833001,4.78158001376e-05,-0.000575211193405,2.90451577488e-05,1793244268320512256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.851838124,745,714.148161876,681,658,630,880,785,807,652,629.851838124,651.148161876,0.453195737039,-0.00558537496665,0.0496221850899,0.999999830406,4.78030685185e-05,-0.000579713074832,2.88999652257e-05,1793244268337178880
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.832501293,745,714.167498707,681,658,630,880,785,807,652,629.832501293,651.167498707,0.453190630798,-0.00558520475283,0.0496196500907,0.999999827791,4.77903368986e-05,-0.00058421495625,2.8754772702e-05,1793244268353845760
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.813164463,745,714.186835537,681,658,630,880,785,807,652,629.813164463,651.186835537,0.453185524557,-0.00558503453902,0.0496171150916,0.999999825156,4.77776052785e-05,-0.00058871683739,2.86095801862e-05,1793244268370512384
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.793827632,745,714.206172368,681,658,630,880,785,807,652,629.793827632,651.206172368,0.453180418316,-0.0055848643252,0.0496145800923,0.9999998225,4.77648736565e-05,-0.000593218718789,2.84643876611e-05,1793244268387179008
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.7744908,745,714.2255092,681,658,630,880,785,807,652,629.7744908,651.2255092,0.453175312075,-0.00558469411138,0.0496120450931,0.999999819824,4.77521420336e-05,-0.000597720600181,2.83191951353e-05,1793244268403845888
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.75515397,745,714.24484603,681,658,630,880,785,807,652,629.75515397,651.24484603,0.453170205835,-0.00558452389758,0.049609510094,0.999999817128,4.77394104104e-05,-0.000602222481291,2.81740026175e-05,1793244268420512512
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.735817139,745,714.264182861,681,658,630,880,785,807,652,629.735817139,651.264182861,0.453165099594,-0.00558435368376,0.0496069750947,0.999999814411,4.77266787856e-05,-0.000606724362663,2.80288100904e-05,1793244268437179136
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.716480307,745,714.283519693,681,658,630,880,785,807,652,629.716480307,651.283519693,0.453159993353,-0.00558418346994,0.0496044400955,0.999999811674,4.77139471598e-05,-0.000611226244024,2.78836175627e-05,1793244268453845760
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.697143477,745,714.302856523,681,658,630,880,785,807,652,629.697143477,651.302856523,0.453154887112,-0.00558401325613,0.0496019050963,0.999999808917,4.77012155337e-05,-0.000615728125107,2.7738425043e-05,1793244268470512640
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.677806646,745,714.322193354,681,658,630,880,785,807,652,629.677806646,651.322193354,0.453149780871,-0.00558384304231,0.0495993700971,0.99999980614,4.7688483906e-05,-0.000620230006447,2.75932325139e-05,1793244268487179264
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.658469815,745,714.341530185,681,658,630,880,785,807,652,629.658469815,651.341530185,0.45314467463,-0.00558367282849,0.0495968350978,0.999999803342,4.76757522773e-05,-0.000624731887777,2.74480399843e-05,1793244268503845888
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.639132984,745,714.360867016,681,658,630,880,785,807,652,629.639132984,651.360867016,0.453139568389,-0.00558350261468,0.0495943000987,0.999999800524,4.76630206483e-05,-0.000629233768824,2.73028474629e-05,1793244268520512768
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.619796153,745,714.380203847,681,658,630,880,785,807,652,629.619796153,651.380203847,0.453134462148,-0.00558333240086,0.0495917650995,0.999999797685,4.76502890176e-05,-0.000633735650132,2.7157654932e-05,1793244268537179392
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.600459322,745,714.399540678,681,658,630,880,785,807,652,629.600459322,651.399540678,0.453129355907,-0.00558316218704,0.0495892301002,0.999999794827,4.7637557386e-05,-0.000638237531427,2.70124624006e-05,1793244268553846016
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.581122492,745,714.418877508,681,658,630,880,785,807,652,629.581122492,651.418877508,0.453124249667,-0.00558299197323,0.0495866951011,0.999999791948,4.76248257541e-05,-0.00064273941244,2.68672698773e-05,1793244268570512640
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.56178566,745,714.43821434,681,658,630,880,785,807,652,629.56178566,651.43821434,0.453119143426,-0.00558282175941,0.0495841601019,0.999999789049,4.76120941205e-05,-0.000647241293711,2.67220773447e-05,1793244268587179520
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.523111999,745,714.476888001,681,658,630,880,785,807,652,629.523111999,651.476888001,0.453108930944,-0.00558248133178,0.0495790901035,0.99999978319,4.75866308512e-05,-0.000656245055945,2.64316922867e-05,1793244268620512768
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.503775167,745,714.496224833,681,658,630,880,785,807,652,629.503775167,651.496224833,0.453103824703,-0.00558231111796,0.0495765551042,0.99999978023,4.75738992147e-05,-0.000660746937178,2.62864997524e-05,1793244268637179648
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.465101506,745,714.534898494,681,658,630,880,785,807,652,629.465101506,651.534898494,0.453093612221,-0.00558197069033,0.0495714851059,0.999999774249,4.75484359395e-05,-0.000669750699333,2.59961146911e-05,1793244268670512896
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.407091013,745,714.592908987,681,658,630,880,785,807,652,629.407091013,651.592908987,0.453078293499,-0.00558146004888,0.0495638801083,0.999999765125,4.75102410193e-05,-0.000683256342595,2.55605370909e-05,1793244268720513024
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.34908052,745,714.65091948,681,658,630,880,785,807,652,629.34908052,651.65091948,0.453062974776,-0.00558094940743,0.0495562751106,0.999999755819,4.74720460903e-05,-0.000696761985724,2.51249594863e-05,1793244268770513152
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.329743689,745,714.670256311,681,658,630,880,785,807,652,629.329743689,651.670256311,0.453057868535,-0.00558077919361,0.0495537401114,0.999999752676,4.74593144452e-05,-0.000701263866826,2.49797669476e-05,1793244268787179776
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.291070027,745,714.708929973,681,658,630,880,785,807,652,629.291070027,651.708929973,0.453047656053,-0.00558043876599,0.049548670113,0.99999974633,4.74338511528e-05,-0.000710267628713,2.46893818776e-05,1793244268820513280
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.271733196,745,714.728266804,681,658,630,880,785,807,652,629.271733196,651.728266804,0.453042549812,-0.00558026855217,0.0495461351138,0.999999743127,4.74211195048e-05,-0.000714769509768,2.45441893375e-05,1793244268837179904
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,764.233059535,745,714.766940465,681,658,630,880,785,807,652,629.233059535,651.766940465,0.453032337331,-0.00557992812454,0.0495410651154,0.999999736659,4.73956562066e-05,-0.000723773271555,2.42538042649e-05,1793244268870513408
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764.213722703,745,714.786277297,681,658,630,880,785,807,652,629.213722703,651.786277297,0.45302723109,-0.00557975791072,0.0495385301162,0.999999733394,4.73829245557e-05,-0.000728275152558,2.41086117236e-05,1793244268887180032
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.175049042,745,714.824950958,681,658,630,880,785,807,652,629.175049042,651.824950958,0.453017018608,-0.00557941748309,0.0495334601178,0.999999726805,4.73574612518e-05,-0.000737278914242,2.38182266484e-05,1793244268920513536
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.15571221,745,714.84428779,681,658,630,880,785,807,652,629.15571221,651.84428779,0.453011912367,-0.00557924726927,0.0495309251185,0.99999972348,4.73447295981e-05,-0.000741780795193,2.36730341059e-05,1793244268937180160
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.117038549,745,714.882961451,681,658,630,880,785,807,652,629.117038549,651.882961451,0.453001699886,-0.00557890684164,0.0495258551202,0.999999716768,4.73192662885e-05,-0.000750784556767,2.33826490286e-05,1793244268970513408
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.097701718,745,714.902298282,681,658,630,880,785,807,652,629.097701718,651.902298282,0.452996593645,-0.00557873662782,0.0495233201209,0.999999713382,4.73065346318e-05,-0.000755286437661,2.3237456485e-05,1793244268987180288
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.059028056,745,714.940971944,681,658,630,880,785,807,652,629.059028056,651.940971944,0.452986381163,-0.00557839620019,0.0495182501226,0.999999706549,4.72810713166e-05,-0.000764290199122,2.29470714055e-05,1793244269020513536
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.001017563,745,714.998982437,681,658,630,880,785,807,652,629.001017563,651.998982437,0.45297106244,-0.00557788555874,0.0495106451249,0.999999696147,4.72428763362e-05,-0.0007777958413,2.25114937794e-05,1793244269070513664
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.545214016,745,714.454785984,681,658,630,880,785,807,652,629,652,0.452971526585,-0.00557431172338,0.0495102859605,0.99999969602,5.23726025483e-05,-0.000777665584218,2.12875165868e-05,1793244269087180032
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.124122741,745,714,681,658,629.875877259,880,785,807,652,629.124122741,651.875877259,0.4529717882,-0.00557150628618,0.0495098473723,0.999999695797,5.62261075968e-05,-0.000777708625231,2.03388190874e-05,1793244269103846400
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.715879466,745,714,681,658,629.284120534,880,785,807,652,629.715879466,651.284120534,0.452970121059,-0.00557230807649,0.0495086542155,0.999999694606,5.4195268438e-05,-0.000779373938823,2.06529991487e-05,1793244269120513280
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,879.572373058,785,806.427626942,652,629.427626942,651.427626942,0.452972215254,-0.00556916868107,0.0495117416738,0.999999697622,5.4124900623e-05,-0.000775517171957,2.00053071006e-05,1793244269203845888
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.100798466,629.899201534,880.100798466,785,806.899201534,653,629.899201534,651.899201534,0.45238002252,-0.00555663450794,0.0491758990444,0.999999115292,5.64264271649e-05,-0.00132899113303,3.67566673184e-06,1793244269470511872
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.525242625,745.474757375,714.525242625,681,658,630,880.474757375,785.474757375,807.474757375,652.525242625,629.525242625,652,0.45238861549,-0.00555567468482,0.0491822749943,0.999999128953,5.92166496842e-05,-0.00131854880535,3.84668867193e-06,1793244269487178496
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.051684043,746,714,681,658,630,880.948315957,785.948315957,807.896631914,652,629.051684043,652,0.452397899245,-0.0055558282443,0.0491889448892,0.999999143014,6.10668792477e-05,-0.00130775489781,4.27899667919e-06,1793244269503845376
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.642417665,746,714,681,658,630,880.357582335,785.357582335,806.71516467,652,629.642417665,652,0.452386300022,-0.00556068159215,0.0491823452766,0.999999129397,5.61247419427e-05,-0.0013183418718,5.43243182127e-06,1793244269520512000
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.771497982,714,681,658,630,880,785,806.228502018,652,630,652,0.452376662986,-0.00556149549716,0.0491776433953,0.999999122105,5.52004207949e-05,-0.00132390057019,5.39454964301e-06,1793244269537178368
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.192544231,714,681,658,630,880,785,806.807455769,652,630,652,0.452370035342,-0.00555611414026,0.0491758520498,0.999999124659,6.04381929041e-05,-0.00132174744134,3.5295534279e-06,1793244269553845248
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880,785,807,652.385232399,630,651.614767601,0.452342773717,-0.00555390888181,0.0491633771237,0.999999107027,6.11983849049e-05,-0.0013349887424,2.23905557369e-06,1793244269570511872
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880,785,807,652.962422533,630,651.037577467,0.452305230369,-0.0055532862433,0.0491455786683,0.999999078981,5.97274406717e-05,-0.00135590094459,1.23482476152e-06,1793244269587178496
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880.534426978,785,806.465573022,652.465573022,630,651.534426978,0.452256993845,-0.00555273879804,0.0491280087352,0.999999050193,5.99798953076e-05,-0.00137695883844,-1.75465359154e-07,1793244269603845376
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.109957468,681,658,630,880.890042532,785,806,652,630,651.890042532,0.452206490766,-0.00555170894901,0.0491124093143,0.999999023536,6.05944985896e-05,-0.00139615676487,-1.51091932156e-06,1793244269620511744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.70255003,681,658,630,880.29744997,785,806,652,630,651.29744997,0.45214930759,-0.00554853870672,0.0491053891848,0.999999008027,6.22719019102e-05,-0.00140714623362,-2.39377987804e-06,1793244269637178624
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.288411274,745.288411274,715,681,658,629.711588726,880,785,806,652.288411274,630,651.288411274,0.452085886831,-0.00554571880332,0.0491023155851,0.999999002115,6.47776608803e-05,-0.00141122768075,-2.96880640222e-06,1793244269653845248
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.867488539,745.867488539,715,681,658,629.132511461,880,785,806,652.867488539,630,651.867488539,0.452016179731,-0.00554325197786,0.0491032193684,0.999999005953,6.81182512563e-05,-0.00140834710073,-3.23359228113e-06,1793244269670512128
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.555819698,745.555819698,714.555819698,681,658,629.444180302,880,785,806.444180302,652.555819698,630,652,0.45193044635,-0.00553922215544,0.0491048624164,0.9999990063,7.07483576522e-05,-0.001407969342,-3.94200309082e-06,1793244269687178496
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.020508401,714,681,658,630,880,785,807,652,630,652,0.451839461754,-0.00553477017726,0.0491067745161,0.999999005826,7.31899543199e-05,-0.00140817852015,-4.75174393509e-06,1793244269703845120
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745.606324437,714,681,658,630,880,785,807,652,630,652,0.45173481426,-0.0055314659713,0.0491100562055,0.99999901134,7.62466675979e-05,-0.00140409487322,-4.72603348826e-06,1793244269720512000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.809409825,714,681,658,630,880,785,807,652,629.809409825,652,0.451618905542,-0.00552926739004,0.04911298249,0.99999901483,7.78443064833e-05,-0.0014015196976,-4.57063183298e-06,1793244269737178624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745.228320556,714,681,658,630,880,785,807,652,629.228320556,652,0.451479923783,-0.00552933411715,0.0491151805868,0.999999014217,7.6452456025e-05,-0.00140203522057,-4.1495066242e-06,1793244269753844992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.349348525,630,880,785,806.650651475,652.349348525,629.349348525,651.650651475,0.451319589789,-0.00552417236269,0.0491143681147,0.999999007792,7.87117108121e-05,-0.00140648139509,-5.38314616398e-06,1793244269770511872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.924804033,630,880,785,806.075195967,652.924804033,629.924804033,651.075195967,0.451145436087,-0.00551562660598,0.0491116071284,0.999998997547,8.33340508515e-05,-0.00141347158426,-7.68779023332e-06,1793244269787178496
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.504235545,630,880,785,806.495764455,652.504235545,630,651.495764455,0.450952745211,-0.00551100363811,0.0491128612115,0.999998998954,8.65634422501e-05,-0.0014122770609,-8.46464788261e-06,1793244269803845120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880,785.068970697,806.931029303,652,630,652,0.450756524369,-0.00550758406982,0.0491162628994,0.999999006606,8.90378714759e-05,-0.00140669118964,-8.89460234653e-06,1793244269820511744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880,785.664480633,806.335519367,652,630,652,0.450554626825,-0.00550885001667,0.0491314525037,0.999999048122,8.73471905225e-05,-0.00137697291817,-8.42939875235e-06,1793244269837178368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880,785.746251025,806,652,630,652,0.450334249519,-0.00550719088417,0.0491464223303,0.999999087164,8.72760264699e-05,-0.00134832377417,-8.79646753246e-06,1793244269853845248
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880,785.165037531,806,652,630,652,0.450090023987,-0.00550175691983,0.0491611085315,0.999999123368,8.92948584634e-05,-0.00132105434759,-1.02375886491e-05,1793244269870511872
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.589903789,658,630,880,785.410096211,806.410096211,652.410096211,630,652,0.449811563561,-0.00550244966836,0.0491693051258,0.999999144564,8.36712215349e-05,-0.00130526817,-1.20895790526e-05,1793244269887178496
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.01718103,658,630,880,785.98281897,806.98281897,652.98281897,630,652,0.449519527052,-0.00550557200827,0.0491749282203,0.999999159822,7.50169095358e-05,-0.00129403575655,-1.41045025393e-05,1793244269903845120
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.143502209,630,880,786,806.428248896,653,630,652,0.449192033952,-0.00551821397384,0.0491829142741,0.999999184485,5.6022739705e-05,-0.00127580658222,-1.44056538903e-05,1793244269920511744
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.158347038,659.841652962,630.158347038,880,785.841652962,806,652.841652962,630,652,0.448850797769,-0.00552656457955,0.0491897450772,0.999999203339,4.22862783982e-05,-0.00126147112928,-1.49654780453e-05,1793244269937178368
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.737403957,659.262596043,630.737403957,880,785.262596043,806,652.262596043,630,652,0.448475961258,-0.00552273131994,0.0491933123499,0.999999207573,4.33685581404e-05,-0.00125805576493,-1.63533841536e-05,1793244269953844992
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.685172382,631,880.314827618,785,806.314827618,652,630,652,0.448083861388,-0.00551293588566,0.0491981421028,0.999999215871,4.94978782446e-05,-0.00125118804257,-1.83169568904e-05,1793244269970511872
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.10910392,631,880.89089608,785,806.89089608,652,630,652,0.447677436511,-0.00549819309737,0.0492040194495,0.999999227389,5.98151826352e-05,-0.00124145558712,-2.07582122515e-05,1793244269987178752
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.467071609,631,880.532928391,785.467071609,807,652,630,652,0.44723292921,-0.00548852207472,0.0492034822655,0.99999923202,6.67264969844e-05,-0.0012373327312,-2.27031519067e-05,1793244270003845120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745.044263198,714,680.955736802,659,631.044263198,880,786,807,652,630,652,0.446776832936,-0.00548041640945,0.0492016108528,0.999999234807,7.22929047961e-05,-0.00123472921162,-2.45661590298e-05,1793244270020511744
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745.633660713,714,680.366339287,659,631.633660713,880,786,807,652,630,652,0.446287592085,-0.00547699521388,0.0492017653064,0.999999234875,7.10965679609e-05,-0.00123469575961,-2.68482618592e-05,1793244270037178368
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.780827031,714,680.219172969,659.219172969,632,880,786,806.780827031,652,630.219172969,651.780827031,0.445803617364,-0.00548008969061,0.0492096495457,0.999999252754,6.31327391411e-05,-0.00122053716191,-2.81926369872e-05,1793244270053845248
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745.201695759,714,680.798304241,659.798304241,632,880,786,806.201695759,652,630.798304241,651.201695759,0.445328291492,-0.00549388516941,0.0492302287837,0.99999929868,4.40543328459e-05,-0.00118318015687,-2.79969366547e-05,1793244270070511872
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.374720799,681,659.625279201,632,880,786,806.374720799,652,631,651,0.444800642848,-0.00549792196971,0.0492640936314,0.999999349419,3.48113535086e-05,-0.00113982075756,-2.75393469332e-05,1793244270087178496
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.949686638,681,659.050313362,632,880,786,806.949686638,652,631,651,0.444245033735,-0.00549674388169,0.0493050581042,0.99999940156,3.08242758217e-05,-0.00109325377083,-2.69418075194e-05,1793244270103845120
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.464333902,681,659,632.535666098,880.535666098,786,806.464333902,652,630.464333902,651.535666098,0.443641435516,-0.00548148588967,0.0493162422037,0.999999418377,4.14948595072e-05,-0.00107734642843,-2.91228599429e-05,1793244270120511744
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.120847184,745,714,681,659.120847184,633,880.879152816,786.120847184,806,652,630.120847184,651.879152816,0.443028362127,-0.00546641040341,0.0493232223996,0.999999430283,5.18623331597e-05,-0.0010657114947,-3.16834982316e-05,1793244270137178624
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.699009996,745,714,681,659.699009996,633,880.300990004,786.699009996,806,652,630.699009996,651.300990004,0.442396847918,-0.00545713521422,0.0493251013831,0.999999436979,5.57634443346e-05,-0.00105911792441,-3.46722220914e-05,1793244270153846272
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.723003503,745,714,680.723003503,660,633,880.276996497,787,806,652,631,651.276996497,0.441775657292,-0.00545853106324,0.049349390791,0.99999948183,4.82603969654e-05,-0.00101623332284,-3.57830628848e-05,1793244270170513152
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.145208391,745,714,680.145208391,660,633,880.854791609,787,806,652,631,651.854791609,0.441165677268,-0.00547151490428,0.0493980163358,0.999999562869,2.83732397403e-05,-0.000933939220317,-3.48546555932e-05,1793244270187179520
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.43101713,633,880.56898287,787,806,652,631,652,0.440522073666,-0.00547958981536,0.0494430918435,0.999999628104,1.46491209343e-05,-0.000861627947288,-3.42783768812e-05,1793244270203845888
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.986272535,633,880,787,806,652,630.993136267,652,0.439865837044,-0.0054858281283,0.0494862856221,0.999999684363,3.84206121898e-06,-0.000793804887159,-3.36605467671e-05,1793244270220512256
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.809502871,633,880,787,806,652,630.404751436,652,0.439095521802,-0.00547607106753,0.0494710141685,0.999999659588,6.49046884156e-05,-0.00082233206673,-1.95079319853e-05,1793244270237179392
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.179193423,745,714,680,659.179193423,633.179193423,880,787,806,652,630.179193423,651.820806577,0.438315510614,-0.00546382532048,0.0494498704627,0.99999962544,0.000110948275387,-0.000858297610316,-1.16476767858e-05,1793244270253846272
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.753351981,745,714,680,659.753351981,633.753351981,880,787,806,652,630.753351981,651.246648019,0.43751412837,-0.0054460941924,0.0494157835656,0.999999577521,0.000123887980935,-0.000910658259796,-1.76565847753e-05,1793244270270513152
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.668178373,745,713.668178373,680,660.331821627,634,879.668178373,787,806,652,631,651,0.436725064933,-0.00543906352737,0.0494183773662,0.999999575349,0.000121654017829,-0.00091327451811,-2.07946579388e-05,1793244270287179776
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.086462074,745,713.086462074,680,660.913537926,634,879.086462074,787,806,652,631,651,0.435945278817,-0.00544009137553,0.0494485953801,0.999999608114,0.000107992773299,-0.000878428302899,-2.17707068265e-05,1793244270303846144
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,713.489502847,680.489502847,660.510497153,634,879.489502847,787,806,652,631,651.489502847,0.435142189499,-0.00543927810794,0.0494616215686,0.99999962166,0.000102266838164,-0.000863526165684,-2.33327417186e-05,1793244270320512512
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.066176946,745,714,680.933823054,659.933823054,634,880,787,806,652,631,651.933823054,0.434335069455,-0.00543859205043,0.0494715958525,0.999999633355,9.69235959426e-05,-0.000850450027133,-2.51179110183e-05,1793244270337179136
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.65641826,745,714,680.34358174,659.34358174,634,880,787,806,652,631,651.34358174,0.433528247419,-0.00544145879029,0.0494811699352,0.999999656411,8.36401303657e-05,-0.000824260892449,-2.78599668102e-05,1793244270353845760
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.757825727,745,714,680,659.484348546,633.757825727,880,787,805.757825727,652,631,651.242174273,0.432720116583,-0.00544234273551,0.0495017851997,0.999999684966,7.48986405688e-05,-0.000789680563026,-2.93741728998e-05,1793244270370512384
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.17831738,745,714,680,660.643365239,633.17831738,880,787,805.17831738,652,631,651.82168262,0.431910162551,-0.00544046476848,0.0495377801622,0.999999720617,7.24838455982e-05,-0.000743411804099,-2.91780592041e-05,1793244270387179008
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.397224961,660.602775039,633.397224961,880.397224961,786.602775039,805.397224961,652,631,652,0.431060453898,-0.00543507041746,0.0495387668604,0.999999722793,7.97149675894e-05,-0.000739718870871,-2.95862946701e-05,1793244270403845632
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.971004498,660.028995502,633.971004498,880.971004498,786.028995502,805.971004498,652,631,652,0.430193075557,-0.00542811313939,0.0495241934335,0.999999710406,9.12334103834e-05,-0.000754949617565,-3.02631452239e-05,1793244270420512512
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.441833794,680.441833794,659.441833794,634,880.441833794,786.558166206,806,652,630.441833794,652,0.429326577067,-0.00542466857223,0.0495047936484,0.999999687967,9.4046125964e-05,-0.000783674545656,-3.27949688686e-05,1793244270437179136
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..850745914e3c2c2cd759dbe191341483331b07b1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,494 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0d357e2c6de542b043726f71ad695b2cfc5bf4e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e7944a3de4ea5e26e3730459bccfdef8c724ef3254fa75da8558e3b9cf2ff88
+size 25755325
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fff6651c7f531a848ee5585bd1935edcbf4438cf
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+17,0.283333333,BASELINE,764.124145002,745,714,679,660.875854998,634,879,787,805,653,630.124145002,652,0.400984780137,-0.00541805979185,0.0498498098236,0.999999963719,7.79435223059e-05,-0.000254500501296,-4.14219451734e-05,1793244272255657728
+18,0.300000000,BASELINE,764.450201256,745,714,679,661,634.450201256,879,787,805,653,630.450201256,652,0.40098422549,-0.00541870904458,0.0498492023309,0.999999963578,7.721510115e-05,-0.000255287608907,-4.13625508104e-05,1793244272272324096
+19,0.316666667,BASELINE,765,745,714,679.023975278,661,634.976024722,879,787,805.023975278,653,631,652,0.400983532705,-0.00541941386252,0.0498483730549,0.999999963385,7.61424406542e-05,-0.000256375989997,-4.12845478189e-05,1793244272288990720
+20,0.333333333,BASELINE,765,745,714,679.613323258,661,634.386676742,879,787,805.613323258,653,631,652,0.400983979809,-0.00541792285337,0.0498486501206,0.999999963344,7.76154149219e-05,-0.000256050676573,-4.15553373314e-05,1793244272305657600
+21,0.350000000,BASELINE,764.800863939,745,714,679.800863939,660.800863939,634,879,787.199136061,805.800863939,653,631,652,0.400983646023,-0.00541697212467,0.0498487959458,0.999999963235,7.84690951452e-05,-0.000256177809495,-4.17881922515e-05,1793244272322324736
+22,0.366666667,BASELINE,764.221795974,745,714,679.221795974,660.221795974,634,879,787.778204026,805.221795974,653,631,652,0.400981822377,-0.0054170521978,0.049848691377,0.999999962999,7.81412234274e-05,-0.000257168165326,-4.19486716911e-05,1793244272338991360
+23,0.383333333,BASELINE,764.354949201,745,714,679.354949201,660,634,879,787.645050799,805,653,631,652,0.400981964796,-0.00541684475566,0.0498490097448,0.999999963116,7.75410967275e-05,-0.000256901570541,-4.19184464152e-05,1793244272355657728
+24,0.400000000,BASELINE,764.930252435,745,714,679.930252435,660,634,879,787.069747565,805,653,631,652,0.400983327756,-0.00541645882277,0.0498495906735,0.99999996345,7.67719528999e-05,-0.000255854655358,-4.17698308247e-05,1793244272372324352
+25,0.416666667,BASELINE,765,745,714,679.495334744,660.504665256,634.504665256,879,787,805,653,631,652,0.400983827465,-0.00541711029383,0.0498498135352,0.99999996356,7.67764530383e-05,-0.000255418557309,-4.18044016242e-05,1793244272388990976
+26,0.433333333,BASELINE,764.918113642,745,714,679,660.918113642,634.918113642,879,787,805,652.918113642,630.918113642,652,0.400984349192,-0.00541764385317,0.0498500061802,0.999999963667,7.69237324094e-05,-0.000254943586131,-4.18737102199e-05,1793244272405657600
+27,0.450000000,BASELINE,764.322503534,745,714,679,660.322503534,634.322503534,879,787,805,652.322503534,630.322503534,652,0.400985756214,-0.00541653978375,0.0498503191722,0.99999996395,7.72971482892e-05,-0.000253696063913,-4.20023986475e-05,1793244272422323968
+28,0.466666667,BASELINE,764,745,714,679.263149009,660,634,879,787,805,652.263149009,630,652,0.400986657136,-0.00541700012452,0.049850816142,0.999999964326,7.64002006938e-05,-0.000252515925262,-4.18037458516e-05,1793244272438990592
+29,0.483333333,BASELINE,764,745,714,679.837042921,660,634,879,787,805,652.837042921,630,652,0.40098696042,-0.00541930783119,0.0498515303657,0.999999964807,7.40031183205e-05,-0.000251415357949,-4.12185454527e-05,1793244272455657472
+30,0.500000000,BASELINE,764.411059811,745,714,679.588940189,660.411059811,634,879,787,805.411059811,653,630.411059811,652,0.400985549433,-0.00541913025145,0.049850867359,0.999999964459,7.33652508252e-05,-0.000252936956204,-4.14902064748e-05,1793244272472324096
+31,0.516666667,BASELINE,764.985125454,745,714,679.014874546,660.985125454,634,879,787,805.985125454,653,630.985125454,652,0.400983458652,-0.00541796713094,0.0498496582115,0.999999963778,7.34250003246e-05,-0.000255498374656,-4.21016560426e-05,1793244272488990720
+32,0.533333333,BASELINE,765,745,714,679.577954946,661,634.577954946,879,787,806,653,631,652,0.400982825797,-0.00541953238447,0.0498496973523,0.999999963678,7.37288994925e-05,-0.000255910467955,-4.14580827536e-05,1793244272505657088
+33,0.550000000,BASELINE,765,745,714,679.832910624,661,635,879,787.167089376,805.832910624,653,631,652,0.400982805365,-0.00541987164082,0.0498498290915,0.999999963644,7.49965280483e-05,-0.000255726889732,-4.1126924163e-05,1793244272522323712
+34,0.566666667,BASELINE,765,745,714,679.254110804,661,635,879,787.745889196,805.254110804,653,631,652,0.400984198394,-0.00541701119767,0.0498501071777,0.999999963729,7.86227962792e-05,-0.000254216442181,-4.16478176477e-05,1793244272538990592
+35,0.583333333,BASELINE,765,745,714,679,660.677595611,634.677595611,878.677595611,787.677595611,805.322404389,652.677595611,631,652,0.400984923303,-0.00541712881666,0.0498499407167,0.999999963864,7.89544098218e-05,-0.000253604288665,-4.14991431895e-05,1793244272555657216
+36,0.600000000,BASELINE,765,745,714,679,660.102868369,634.102868369,878.102868369,787.102868369,805.897131631,652.102868369,631,652,0.400985125323,-0.00541957715157,0.0498494263406,0.999999964044,7.67075332137e-05,-0.00025369516547,-4.08264458566e-05,1793244272572323840
+37,0.616666667,BASELINE,764.529310286,745,714,679,660.470689714,634.470689714,878,787,805.529310286,652.470689714,631,652,0.400984975183,-0.00541829632804,0.0498495164006,0.999999964034,7.7141445372e-05,-0.000253538959727,-4.1229951042e-05,1793244272588990464
+38,0.633333333,BASELINE,764,745,714,679,660.954443871,635,878.045556129,787,805,653,630.954443871,652,0.400984733148,-0.00541645313553,0.049849763726,0.999999963985,7.79787556702e-05,-0.000253384166196,-4.1785027776e-05,1793244272605657344
+39,0.650000000,BASELINE,764,745,714,679,660.360768826,635,878.639231174,787,805,653,630.360768826,652,0.40098430917,-0.00541762524079,0.0498503177902,0.999999963978,7.66379436362e-05,-0.000253894460513,-4.13408971134e-05,1793244272622323968
+40,0.666666667,BASELINE,764.226004872,745,713.773995128,679,660.226004872,634.773995128,879.226004872,787,805.226004872,653,630,652,0.400983595008,-0.00541800567013,0.0498502857704,0.99999996378,7.66182238364e-05,-0.000254707488791,-4.11487039075e-05,1793244272638990336
+41,0.683333333,BASELINE,764.802088432,745,713.197911568,679,660.802088432,634.197911568,879.802088432,787,805.802088432,653,630,652,0.400982431353,-0.00541715980338,0.0498493459138,0.999999963287,7.86448592875e-05,-0.000255989448119,-4.13467586638e-05,1793244272655657216
+42,0.700000000,BASELINE,764.622663862,745,713.377336138,679,660.622663862,634.377336138,879.622663862,787,805.622663862,653,630.377336138,652,0.400982487586,-0.00541731321839,0.0498493228043,0.999999963303,7.82647415733e-05,-0.000256057944081,-4.12580369516e-05,1793244272672324096
+43,0.716666667,BASELINE,764.047853608,745,713.952146392,679,660.047853608,634.952146392,879.047853608,787,805.047853608,653,630.952146392,652,0.400983182232,-0.00541798959495,0.0498497794629,0.999999963585,7.66250798354e-05,-0.000255491389232,-4.101923438e-05,1793244272688990720
+44,0.733333333,BASELINE,764.527866553,745,714,679.527866553,660,634.472133447,879,787,805,653,631,652,0.400983323319,-0.00541877199547,0.0498498848439,0.999999963717,7.50004928058e-05,-0.000255452968588,-4.10356156547e-05,1793244272705657088
+45,0.750000000,BASELINE,765,745,713.893007237,679.893007237,660,634,879,787,805,653,631,652,0.400983171475,-0.00541916194704,0.0498497305889,0.999999963726,7.39085713825e-05,-0.000255721469028,-4.11454102527e-05,1793244272722323968
+46,0.766666667,BASELINE,765,745,713.298745608,679.298745608,660,634,879,787,805,653,631,652,0.400981914495,-0.00541772074961,0.0498485391735,0.999999963237,7.52362936941e-05,-0.000257169333426,-4.1575092306e-05,1793244272738990592
+47,0.783333333,BASELINE,765,745,713.287408618,679,660.287408618,634,878.712591382,787,805,653,631,652,0.400981884643,-0.00541753328394,0.0498487546305,0.999999963307,7.5279189478e-05,-0.000256857542575,-4.17535906111e-05,1793244272755657216
+48,0.800000000,BASELINE,765,745,713.865366908,679,660.865366908,634,878.134633092,787,805,653,631,652,0.400983095328,-0.00541861325174,0.0498503923353,0.999999963939,7.40232171853e-05,-0.000254766865599,-4.16781600637e-05,1793244272772324096
+49,0.816666667,BASELINE,764.560305674,745,713.560305674,679,660.560305674,634,878.439694326,787,805,653,630.560305674,652,0.400983054296,-0.00541902022421,0.0498507461932,0.99999996399,7.45754349653e-05,-0.000254458729415,-4.13512582677e-05,1793244272788990720
+50,0.833333333,BASELINE,764.013303313,745,713.013303313,679,660,634,879,787,805,653,630.013303313,652,0.400982636245,-0.00541921470948,0.0498506936772,0.999999963869,7.56077255753e-05,-0.000254692236354,-4.09635063333e-05,1793244272805657344
+51,0.850000000,BASELINE,764.603577907,745,713.603577907,679,660,634,879,787,805,653,630.603577907,652,0.400982353231,-0.00541905764393,0.0498499262675,0.999999963941,7.36450679516e-05,-0.000254938957444,-4.12488188871e-05,1793244272822323968
+52,0.866666667,BASELINE,765,745,714,679,660,634,878.809854613,787,805,653,631,652,0.400982846746,-0.00541892370721,0.0498498114635,0.999999964131,7.25922831847e-05,-0.00025446727026,-4.1415771177e-05,1793244272838990336
+53,0.883333333,BASELINE,765,745,714,679,660,634,878.230868093,787,805,653,631,652,0.400984928242,-0.00541883706818,0.0498510312169,0.999999964567,7.3400158932e-05,-0.000252526461508,-4.13406805599e-05,1793244272855656960
+54,0.900000000,BASELINE,764.654304166,745,714,679,660.345695834,634.345695834,878.345695834,787,805,653,631,652,0.400985017461,-0.00541895999837,0.0498512017766,0.999999964476,7.54003339473e-05,-0.00025231461152,-4.12445937491e-05,1793244272872323840
+55,0.916666667,BASELINE,764.079346896,745,714,679,660.920653104,634.920653104,878.920653104,787,805,653,631,652,0.400983785427,-0.00541922191242,0.0498506765231,0.999999964029,7.81912278643e-05,-0.000253249386846,-4.11345825108e-05,1793244272888990720
+56,0.933333333,BASELINE,764,745,714,679.494033531,660.505966469,634.505966469,878.505966469,787,805,652.505966469,630.505966469,652,0.400984544405,-0.00541989408129,0.0498512756146,0.999999964489,7.55090861846e-05,-0.00025226717802,-4.10051081554e-05,1793244272905657088
+57,0.950000000,BASELINE,764,745,714,679.930459504,660.069540496,634,878.139080992,787,805.069540496,652.069540496,630.069540496,652,0.400985260116,-0.00542057642979,0.0498518609752,0.999999964961,7.2349330556e-05,-0.0002513391048,-4.0903870037e-05,1793244272922323712
+58,0.966666667,BASELINE,764,745,714,679.33703055,660.66296945,634,879.3259389,787,805.66296945,652.66296945,630.66296945,652,0.400983248478,-0.00542084065032,0.0498509867973,0.999999964514,7.2192575805e-05,-0.000253130980217,-4.10388266283e-05,1793244272938990592
+59,0.983333333,BASELINE,764.24990969,745,714,679,660.75009031,634,879.75009031,787.24990969,806,652.75009031,630.75009031,652,0.400982809852,-0.00542038577814,0.0498505235819,0.999999964231,7.31622845563e-05,-0.000253958709404,-4.11187480917e-05,1793244272955657472
+60,1.000000000,BASELINE,764.828320725,745,714,679,660.171679275,634,879.171679275,787.828320725,806,652.171679275,630.171679275,652,0.400984438921,-0.00541898567286,0.0498506005683,0.99999996416,7.56127072845e-05,-0.000253519087684,-4.11263269865e-05,1793244272972323840
+61,1.016666667,BASELINE,765,745,714,679,660,634,879,787.595831128,805.595831128,652.404168872,630.404168872,652,0.400985160827,-0.00541845873024,0.049851165589,0.999999964343,7.72675945899e-05,-0.000252313539686,-4.10066067708e-05,1793244272988990720
+62,1.033333333,BASELINE,765,745,714,679,660,634,879,787.021064796,805.021064796,652.978935204,630.978935204,652,0.400985499825,-0.00541830034488,0.0498519366062,0.999999964632,7.85866906193e-05,-0.000250784698442,-4.08331542997e-05,1793244273005657600
+63,1.050000000,BASELINE,764.433133004,745,713.433133004,679,660,634,879,787,804.433133004,653,630.433133004,652,0.400985109988,-0.00541850093336,0.0498514684483,0.999999964475,7.76538204286e-05,-0.000251704367643,-4.08032527127e-05,1793244273022324736
+64,1.066666667,BASELINE,764.152719348,745,713,679,660,634,879,787,804.152719348,653,630.152719348,652,0.400984448463,-0.0054188147351,0.0498509415323,0.999999964321,7.62790846894e-05,-0.000252718721662,-4.08922523204e-05,1793244273038991616
+65,1.083333333,BASELINE,764.731375169,745,713,679,660,634,879,787,804.731375169,653,630.731375169,652,0.400983106531,-0.00541940620166,0.0498503822207,0.999999964225,7.39109225142e-05,-0.000253737355872,-4.12976377412e-05,1793244273055658240
+66,1.100000000,BASELINE,764.691022748,745,713,679,660.308977252,634,878.691022748,787,805,652.691022748,630.691022748,652,0.400983135608,-0.00541971046475,0.0498502453092,0.999999964089,7.41783386339e-05,-0.000254193455451,-4.12860671942e-05,1793244273072324864
+67,1.116666667,BASELINE,764.114333699,745,713,679,660.885666301,634,878.114333699,787,805,652.114333699,630.114333699,652,0.400984352589,-0.0054197658818,0.0498504743842,0.99999996392,7.67293385128e-05,-0.000254162149658,-4.09132272126e-05,1793244273088991488
+68,1.133333333,BASELINE,764.463184316,745,713,679,660.536815684,634.463184316,878.463184316,787,805,652.463184316,630.463184316,652,0.4009844284,-0.00541986925421,0.049850680735,0.999999964226,7.52471043203e-05,-0.000253387704419,-4.09953644694e-05,1793244273105657856
+69,1.150000000,BASELINE,765,745,713.041584469,679,660,634.958415531,879,787,805,652.958415531,630.958415531,652,0.400984294934,-0.00541994299053,0.0498508727446,0.999999964613,7.30776106163e-05,-0.000252463380871,-4.11783403857e-05,1793244273122324480
+70,1.166666667,BASELINE,765,745,713.628870037,679,660,634.371129963,879,787,805,652.371129963,630.371129963,652,0.400985118362,-0.00541947220295,0.0498509502996,0.999999964592,7.49774749504e-05,-0.000251983776342,-4.12081669327e-05,1793244273138990848
+71,1.183333333,BASELINE,765,745.21321821,714,679,660.21321821,634,879,787,805,652,630,652,0.400986085242,-0.00541904049092,0.0498514103713,0.999999964717,7.6149688144e-05,-0.000251144848164,-4.11574088036e-05,1793244273155657472
+72,1.200000000,BASELINE,765,745.792523095,714,679,660.792523095,634,879,787,805,652,630,652,0.400987298423,-0.00541867586992,0.0498525272081,0.999999965095,7.60725553268e-05,-0.000249688976359,-4.09682901895e-05,1793244273172324096
+73,1.216666667,BASELINE,764.629952332,745.629952332,714,679,660.629952332,634,879,787,805,652.370047668,630.370047668,652,0.400988264094,-0.00541829669445,0.0498531837376,0.99999996533,7.65651750197e-05,-0.000248586017546,-4.10326788623e-05,1793244273188991232
+74,1.233333333,BASELINE,764.053421193,745.053421193,714,679,660.053421193,634,879,787,805,652.946578807,630.946578807,652,0.400989091658,-0.00541790939773,0.0498535834194,0.999999965484,7.73757118021e-05,-0.000247679981285,-4.12385224698e-05,1793244273205658112
+75,1.250000000,BASELINE,764.534575952,745,714,679,660.534575952,634,879,787,805,653,631,652,0.400987446927,-0.00541891005533,0.0498525471154,0.99999996511,7.63560578487e-05,-0.000249527701572,-4.10644842246e-05,1793244273222324736
+76,1.266666667,BASELINE,765,745,714,679.121630562,661,634.121630562,879,787,805.121630562,653,630.878369438,652,0.400985598364,-0.00541969328382,0.04985149885,0.999999964675,7.57300980281e-05,-0.000251485032375,-4.08788804324e-05,1793244273238991360
+77,1.283333333,BASELINE,765,745,714,679.700735997,661,634.700735997,879,787,805.700735997,653,630.299264003,652,0.400983932759,-0.0054191256072,0.049850957159,0.999999964228,7.72878717721e-05,-0.000252796908463,-4.07956894029e-05,1793244273255657472
+78,1.300000000,BASELINE,764.721772003,745,714,679.721772003,661,635,879,787.278227997,805.721772003,653,630,652,0.400983460214,-0.00541887035403,0.0498509093828,0.999999964192,7.70516595506e-05,-0.000253011307526,-4.07955506152e-05,1793244273272324352
+79,1.316666667,BASELINE,764.146005457,745,714,679.146005457,661,635,879,787.853994543,805.146005457,653,630,652,0.400984263533,-0.00541894920825,0.0498513898019,0.999999964594,7.48969487708e-05,-0.000252052058539,-4.08842283569e-05,1793244273288990976
+80,1.333333333,BASELINE,764.429799882,745,714,679,661,634.570200118,879,787.570200118,805,652.570200118,630.429799882,652,0.400984711286,-0.00541798206958,0.0498513845032,0.999999964539,7.60415677288e-05,-0.000251884149373,-4.11625021113e-05,1793244273305657600
+81,1.350000000,BASELINE,765,744.994242696,713.994242696,679.005757304,660.994242696,634,878.994242696,787,805,652.005757304,631,652,0.400985020666,-0.00541668205552,0.049851212821,0.999999964324,7.82815021085e-05,-0.000251994110838,-4.14981873667e-05,1793244273322323968
+82,1.366666667,BASELINE,765,744.404192981,713.404192981,679.595807019,660.404192981,634,878.404192981,787,805,652.595807019,631,652,0.400983546496,-0.00541766413328,0.0498509023427,0.999999964109,7.7924689247e-05,-0.000253019865211,-4.11233426688e-05,1793244273338991104
+83,1.383333333,BASELINE,765,744.182004636,713,679.817995364,660.182004636,634,878.182004636,787,805,653,631,652,0.400982639017,-0.00541866307225,0.0498505493245,0.999999963981,7.69986180746e-05,-0.000253845558705,-4.08847928167e-05,1793244273355658240
+84,1.400000000,BASELINE,765,744.759824988,713,679.240175012,660.759824988,634,878.759824988,787,805,653,631,652,0.400982963953,-0.00541969868044,0.0498501037926,0.999999964044,7.48345487751e-05,-0.000254236168755,-4.09426509585e-05,1793244273372324864
+85,1.416666667,BASELINE,765,745,713.336445097,679,660.663554903,634,878.663554903,787,805.336445097,653,630.663554903,652,0.40098401385,-0.00541974723038,0.0498504739218,0.999999964231,7.49165753436e-05,-0.000253459967579,-4.10235319321e-05,1793244273388991232
+86,1.433333333,BASELINE,765,745,713.91221141,679,660.08778859,634,878.08778859,787,805.91221141,653,630.08778859,652,0.40098557943,-0.00541909366277,0.04985142425,0.999999964506,7.65963022267e-05,-0.000251853786441,-4.11207895774e-05,1793244273405657600
+87,1.450000000,BASELINE,765,745,714,679.486076434,660.486076434,634,878,787,806,653,630,652,0.400985040889,-0.0054202128068,0.0498516104555,0.999999964675,7.41310381732e-05,-0.00025196371139,-4.08570513435e-05,1793244273422324224
+88,1.466666667,BASELINE,765,745,714,679.938248829,661,634,878.061751171,787,805.938248829,653,630,652,0.400984316402,-0.00542133811485,0.0498517636578,0.999999964817,7.16552250972e-05,-0.000252159643903,-4.05784160626e-05,1793244273438990848
+89,1.483333333,BASELINE,765,745,714,679.344019526,661,634,878.655980474,787,805.344019526,653,630,652,0.400985252629,-0.00541976657463,0.0498528176543,0.99999996496,7.55185557556e-05,-0.000250435028165,-4.07313355188e-05,1793244273455657472
+90,1.500000000,BASELINE,764.757360009,745,714,678.757360009,660.757360009,634,878.757360009,787,805,653,630,652,0.400985628808,-0.00541868460871,0.0498528960894,0.999999964934,7.72485916195e-05,-0.000249994003005,-4.08465446014e-05,1793244273472324352
+91,1.516666667,BASELINE,764.181108424,745,714,678.181108424,660.181108424,634,878.181108424,787,805,653,630,652,0.400985234964,-0.00541827577049,0.0498516332015,0.999999964691,7.60455085433e-05,-0.000251317817731,-4.0909904767e-05,1793244273488991744
+92,1.533333333,BASELINE,764,744.604298727,713.604298727,678.791402545,660,634,878.395701273,787,805,653,630.395701273,652,0.400985867471,-0.00541855035339,0.0498515620983,0.999999964911,7.57795264742e-05,-0.000250533636678,-4.08451836984e-05,1793244273505658368
+93,1.550000000,BASELINE,764,744.027233177,713.027233177,679.945533646,660,634,878.972766823,787,805,653,630.972766823,652,0.400986970392,-0.00541913817299,0.0498520372331,0.999999965341,7.59430517568e-05,-0.000248783284643,-4.07217583495e-05,1793244273522324992
+94,1.566666667,BASELINE,764,744.560227472,713.560227472,679.439772528,660,634,879,787,805,653,631,652,0.400985590394,-0.0054193899813,0.0498511818521,0.999999964754,7.60178274295e-05,-0.000251086118502,-4.0857309123e-05,1793244273538991360
+95,1.583333333,BASELINE,764,745,713.853976885,679,660,634,879,787,805,653,630.853976885,652,0.40098462298,-0.00541944522032,0.0498506669204,0.999999964366,7.60785776325e-05,-0.000252589081894,-4.09687831684e-05,1793244273555657984
+96,1.600000000,BASELINE,764,745,713.274649588,679,660,634,879,787,805,653,630.274649588,652,0.400985244774,-0.00541896655095,0.0498513577777,0.999999964733,7.61107529838e-05,-0.000251122825372,-4.09707501124e-05,1793244273572324608
+97,1.616666667,BASELINE,764,745,713,679,660,634,879,787,805,653,630,652,0.400985177476,-0.00541900024713,0.0498517829605,0.999999964835,7.58800489801e-05,-0.000250798377097,-4.08951371292e-05,1793244273588991232
+98,1.633333333,BASELINE,764,745,713,679,660,634,879,787,805,653,630,652,0.400984489003,-0.00541949581163,0.0498519686528,0.999999964699,7.54123742497e-05,-0.000251503203836,-4.07495902719e-05,1793244273605657856
+99,1.650000000,BASELINE,764.45210851,745,713,679,660,634,879,787,805,653,630,652,0.400984584894,-0.00541812386559,0.0498516163881,0.999999964512,7.63906210663e-05,-0.000251880045289,-4.11917160983e-05,1793244273622324736
+100,1.666666667,BASELINE,765,745,713.027078242,679,660.027078242,634,879,787,805,653,630,652,0.400984883409,-0.00541637914018,0.049851145875,0.999999964314,7.77941389958e-05,-0.000252148659149,-4.172607055e-05,1793244273638991360
+101,1.683333333,BASELINE,765,745,713.615506684,679,660.615506684,634,879,787,805,653,630,652,0.400984986992,-0.00541737165065,0.0498512386117,0.999999964217,7.99111214735e-05,-0.000252011614606,-4.08791713652e-05,1793244273655658240
+102,1.700000000,BASELINE,765,745,714,679,660.798304171,634,878.798304171,787,805.201695829,653,630.201695829,652,0.400984747209,-0.00541884914444,0.0498510549425,0.99999996419,7.96174309289e-05,-0.000252292602642,-4.03595167985e-05,1793244273672325120
+103,1.716666667,BASELINE,765,745,714,679,660.216336994,634,878.216336994,787,805.783663006,653,630.783663006,652,0.40098386005,-0.00542124101132,0.0498503501456,0.99999996429,7.47787285582e-05,-0.000253361736948,-4.04568396478e-05,1793244273688992256
+104,1.733333333,BASELINE,765,745,714,679,660,634,878,787,805.640322463,653,630.640322463,652,0.400983907156,-0.00542069457562,0.0498507306543,0.999999964412,7.5119235508e-05,-0.000252741352363,-4.06889616225e-05,1793244273705658624
+105,1.750000000,BASELINE,765,745,714,679,660,634,878,787,805.067829953,653,630.067829953,652,0.40098450705,-0.00541840959739,0.0498517533195,0.999999964545,7.85241904864e-05,-0.000251121308801,-4.10008419154e-05,1793244273722324736
+106,1.766666667,BASELINE,764.490806548,745,713.490806548,679,660,634,878.509193452,787.509193452,805,653,630,652,0.400983682294,-0.00541852281986,0.0498511866248,0.999999964435,7.75726640891e-05,-0.000251844515305,-4.1080854815e-05,1793244273738991104
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,680,660,634,879,787,805,653,631,652,0.400984098318,-0.00541881273355,0.0498524355744,0.999999964692,7.69275776785e-05,-0.000251139458917,-4.034290083e-05,1793244273781577984
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.581589774,745,713,679.418410226,660.581589774,634,879,787.581589774,805,653,631,652,0.400983682553,-0.00541922433815,0.0498514784097,0.999999964349,7.72436816378e-05,-0.000252345809343,-4.07027768176e-05,1793244273798244608
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,713.161337271,679.161337271,660.838662729,634,878.838662729,787.838662729,805,652.838662729,631,652,0.400983386828,-0.00541971374731,0.0498507950587,0.999999964195,7.71044289783e-05,-0.000252950238636,-4.09898373859e-05,1793244273814911232
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,713.736361094,679.736361094,660.263638906,634,878.263638906,787.263638906,805,652.263638906,631,652,0.400983398899,-0.00542040265605,0.0498508137959,0.999999964528,7.57975918116e-05,-0.00025201127604,-4.10901912682e-05,1793244273831577600
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.320211758,714,679.679788242,660.320211758,634,878.320211758,787,805,652.320211758,631,652,0.400984059151,-0.00542034049853,0.0498514344962,0.999999964744,7.61137392153e-05,-0.000251066829252,-4.10291768117e-05,1793244273848244224
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.911535772,714,679.088464228,660.911535772,634,878.911535772,787,805,652.911535772,631,652,0.400985268197,-0.00541964243906,0.0498525648578,0.99999996486,7.78040117732e-05,-0.000250117739246,-4.08315373406e-05,1793244273864910848
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745.508059112,714,679,660.508059112,634,879,787.491940888,805,653,631,651.508059112,0.400984764188,-0.00541944934382,0.0498519967504,0.999999964646,7.68842233306e-05,-0.00025125511471,-4.08384469135e-05,1793244273881577472
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.92995165,745,714,679.07004835,660.07004835,634,879,787.92995165,805,653,631,651.07004835,0.400984205625,-0.00541929495931,0.0498513221211,0.999999964399,7.6033117508e-05,-0.000252491206504,-4.08505520254e-05,1793244273898244352
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.354562312,745,714,679.645437688,660.645437688,634,879,787.354562312,805,653,631,651.645437688,0.400985427593,-0.00541877897363,0.0498520346087,0.999999964355,7.89900166447e-05,-0.000251791451286,-4.06405385592e-05,1793244273914910976
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,745,714,680,660.774502176,634,879,787.225497824,805,653,630.774502176,652,0.400991245312,-0.00541883018051,0.0498546291074,0.999999965411,7.96998792203e-05,-0.000247362483098,-4.04712745203e-05,1793244273931577600
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,745,714,680,660.186942612,634,879,787.813057388,805,653,630.186942612,652,0.401004442021,-0.00541979207796,0.0498602453834,0.999999968164,7.68018753412e-05,-0.000236945850349,-4.03674382194e-05,1793244273948244480
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.395124976,745,713.604875024,679.604875024,660.395124976,634,879,787.604875024,805.395124976,652.604875024,630.395124976,652,0.401035890919,-0.00542127731005,0.0498717341598,0.999999973543,7.43682811373e-05,-0.000214030675096,-3.96813542467e-05,1793244273964910848
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.974629856,745,713.025370144,679.025370144,660.974629856,634,879,787.025370144,805.974629856,652.025370144,630.974629856,652,0.401075856964,-0.00542300674951,0.0498859632623,0.999999979482,7.21513973338e-05,-0.000185283217292,-3.87235719731e-05,1793244273981577216
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.448065904,745,713,679,660.448065904,634,879,787,806,652,631,652,0.401142603503,-0.00542453030472,0.0499065851795,0.999999986405,7.37228183176e-05,-0.000142679040965,-3.7372393045e-05,1793244273998243840
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.128306629,745,713,679,660.128306629,634,879,787,805.871693371,652.128306629,631,652,0.40121105039,-0.00542631205465,0.049925282299,0.999999990874,7.49290374946e-05,-0.00010650138382,-3.59759475904e-05,1793244274014910464
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.701796169,745,713,679,660.701796169,634,879,787,805.298203831,652.701796169,631,652,0.401281142779,-0.0054290223634,0.0499362854713,0.999999992152,7.42663385411e-05,-9.4822868347e-05,-3.44849340805e-05,1793244274031577344
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,713.28354333,679,661,634,879,787,805,653,631,652,0.401356873662,-0.00543137024748,0.0499427966783,0.999999992918,7.35442683955e-05,-8.7419626875e-05,-3.33650734998e-05,1793244274048243968
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,713.874235539,679,661,634,879,787,805,653,631,652,0.401438712453,-0.00543332553415,0.0499444419542,0.999999993238,7.27578843352e-05,-8.46475852403e-05,-3.26472651665e-05,1793244274064910592
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.547040653,745,714,679,660.547040653,634,879,787,805,653,631,652,0.401534410523,-0.00543695029333,0.0499435302476,0.999999993165,6.95824144154e-05,-8.83706975109e-05,-3.19356976828e-05,1793244274081577216
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,745,714,679.028770283,660,634.028770283,879,787,805.028770283,653,630.971229717,652,0.401635254546,-0.00544105913274,0.0499419670561,0.999999992953,6.58852351433e-05,-9.36961234699e-05,-3.12152141245e-05,1793244274098243840
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,745,714,679.610824149,660,634.610824149,879,787,805.610824149,653,630.389175851,652,0.40176296389,-0.00544579264702,0.0499411767027,0.999999992843,6.45832108619e-05,-9.60475326301e-05,-3.02907993503e-05,1793244274114910464
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.1904011,745,714,679.8095989,660.1904011,634.8095989,878.8095989,787,805.8095989,653,630.1904011,652,0.401900806748,-0.00545088023337,0.049941718628,0.999999992943,6.25460795044e-05,-9.67019850797e-05,-2.91515118063e-05,1793244274131577088
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.764980234,745,714,679.235019766,660.764980234,634.235019766,878.235019766,787,805.235019766,653,630.764980234,652,0.402059096287,-0.00545668224104,0.0499449487325,0.999999993466,5.90257006087e-05,-9.39324365607e-05,-2.75786691125e-05,1793244274148243712
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.652385455,634.347614545,878.347614545,787,805,653,631,652,0.402236382341,-0.00546314167875,0.0499459453344,0.999999993675,5.67391788578e-05,-9.3565802763e-05,-2.59881013951e-05,1793244274164910336
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.064175844,634.935824156,878.935824156,787,805,653,631,652,0.402426816503,-0.00547005614524,0.0499453960585,0.999999993674,5.53066484671e-05,-9.48623022802e-05,-2.43852654664e-05,1793244274181576704
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.484075501,879,787,805,652.484075501,631,652,0.402646470954,-0.00547758303854,0.0499480920094,0.999999994274,5.07973086973e-05,-9.14097890837e-05,-2.27307631903e-05,1793244274198243584
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.905600993,745,714,679,660,634,879,787,805.094399007,652,631,652,0.402876857156,-0.00548553167908,0.0499514678002,0.999999994961,4.58111797211e-05,-8.6837617123e-05,-2.09567191971e-05,1793244274214910464
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.330349307,745,714,679,660,634,879,787,805.669650693,652,631,652,0.403143681072,-0.00549524658995,0.049956282156,0.999999995852,4.03157296357e-05,-7.95246030663e-05,-1.86059795047e-05,1793244274231577088
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,745,714,679.249579746,660,634,879,787,805.750420254,652,630.750420254,652,0.403425587084,-0.00550543386723,0.0499621299372,0.999999996937,3.52022421031e-05,-6.79682094724e-05,-1.63525450247e-05,1793244274248243712
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,745,714,679.835818075,660,634,879,787,805.164181925,652,630.164181925,652,0.403727837349,-0.00551625831986,0.0499693717076,0.999999998146,3.06039848919e-05,-5.06879137767e-05,-1.42303658652e-05,1793244274264910592
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,745,714,679.583085509,660,634,879,787,805,652.416914491,630,652,0.404071969102,-0.00552617495508,0.049977801385,0.999999999017,2.69885912729e-05,-3.333678703e-05,-1.12524535774e-05,1793244274281577216
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,745,714,679.003989336,660,634,879,787,805,652.996010664,630,652,0.404432392942,-0.00553573844485,0.0499866931635,0.999999999559,2.37555362806e-05,-1.59581070714e-05,-7.94165715628e-06,1793244274298243584
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.575118014,745,713.424881986,679.575118014,660,634,879.575118014,787.575118014,805.575118014,653,630,652,0.404818636626,-0.00554026800596,0.0499908726319,0.999999999502,3.06311598534e-05,-5.62124097626e-06,-5.08876564605e-06,1793244274314910208
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,713.153331277,679.846668723,660,634,879.846668723,787.846668723,805.846668723,653,630.153331277,652,0.40520956939,-0.00554030237662,0.049991263165,0.999999999101,4.21819460809e-05,-3.45959365359e-06,-2.42751335371e-06,1793244274331576832
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713.729081076,679.270918924,660,634,879.270918924,787.270918924,805.270918924,653,630.729081076,652,0.405612926806,-0.00552804896413,0.0499813054595,0.999999997514,6.64193469876e-05,-2.3685618003e-05,-2.85465516336e-07,1793244274348243712
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805,653,631,652,0.40602186669,-0.00551871707746,0.0499658634705,0.999999994786,8.63036072597e-05,-5.45704200737e-05,1.50316797861e-06,1793244274364910592
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805,653,631,652,0.406435768048,-0.00551198170074,0.0499455473135,0.999999990255,0.000102319008617,-9.49282323075e-05,2.97770408054e-06,1793244274381577216
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805,653,631,652,0.40692409419,-0.0055170084325,0.0499338525173,0.999999987396,0.000109268963834,-0.000115023987093,6.07852041195e-06,1793244274398243840
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,713.938232235,679,660,634,879,787,805,652.938232235,631,652,0.407434574303,-0.00552419250167,0.0499268333,0.999999985544,0.00011445783306,-0.000125373595926,9.59864116604e-06,1793244274414910464
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,713.365423162,679,660,634,879,787,805,652.365423162,631,652,0.407996520789,-0.00552839156638,0.0499432271023,0.999999988431,0.000121133603357,-9.09772684258e-05,1.37073267809e-05,1793244274431577088
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.791741119,745,713.208258881,679,660.208258881,634,879,787,805.208258881,652,631,652,0.408576904702,-0.00553232165409,0.0499635793403,0.999999990101,0.000129248964069,-5.24823519527e-05,1.84064753116e-05,1793244274448243712
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.216520896,745,713.783479104,679,660.783479104,634,879,787,805.783479104,652,631,652,0.409189776139,-0.00553577779221,0.0499909065159,0.999999989899,0.000139900946272,-6.76554290158e-06,2.41460453188e-05,1793244274464910336
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.369806047,745,713.630193953,679.369806047,660.630193953,634,879,787,805.630193953,652.369806047,631,652,0.409799473585,-0.00553831559549,0.0500033054358,0.999999988567,0.000148167625888,1.04488919268e-05,2.8340400023e-05,1793244274481577216
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.962837294,745,713.037162706,679.962837294,660.037162706,634,879,787,805.037162706,652.962837294,631,652,0.410407255098,-0.00554029906625,0.0500066932451,0.999999987434,0.000154994470361,1.04585004714e-05,3.16020196724e-05,1793244274498244096
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713,679.46066429,660,634,879,787,805.53933571,652.46066429,631,652,0.411012547362,-0.00553778730522,0.0499745140206,0.999999985725,0.000156370587902,-5.62080147619e-05,3.06538464835e-05,1793244274514910464
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.885434319,745,713.114565681,679.114565681,659.885434319,634,879,787,806,652,630.885434319,652,0.411634991495,-0.00553614177804,0.0499459221015,0.9999999822,0.000149053899918,-0.000112276175544,2.78597733225e-05,1793244274531577344
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.310859542,745,713.689140458,679.689140458,659.310859542,634,879,787,806,652,630.310859542,652,0.412326972616,-0.00553918109105,0.0499412817074,0.999999988139,0.000108296676702,-0.000107890812158,1.87840397216e-05,1793244274548243712
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.271433555,745,714,680,659.54286711,634,879.271433555,787,805.728566445,652,630.271433555,652,0.41304757156,-0.00554378409414,0.0499515202171,0.99999999253,8.9215787265e-05,-8.1908669634e-05,1.64971593731e-05,1793244274564910336
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.862824852,745,714,680,660.725649703,634,879.862824852,787,805.137175148,652,630.862824852,652,0.413801904429,-0.00555023032866,0.0499792975322,0.999999994711,9.56863053003e-05,-3.04688903323e-05,2.22127746487e-05,1793244274581577216
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.555851856,745,713.555851856,679.555851856,661,634,879.555851856,787,805,652.444148144,631,651.555851856,0.414541256958,-0.00555034802918,0.0499762216037,0.999999993535,0.000103671397062,-3.95228032692e-05,2.48926342079e-05,1793244274598243840
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.022278471,745,713.022278471,679,660.977721529,634,879,787,805,652.977721529,630.977721529,651.022278471,0.415277495683,-0.00554860114999,0.0499632570491,0.99999999115,0.00011169101702,-6.7250471154e-05,2.65224647122e-05,1793244274614910208
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.596633441,745,713.596633441,679,660.403366559,634,879,787,805,652.403366559,630.403366559,651.596633441,0.416048684287,-0.00554801062604,0.0499361471609,0.999999988213,0.000109231397632,-0.000104999768015,2.48510524136e-05,1793244274631577088
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.170837309,634,879,787.170837309,805.170837309,652,630.170837309,651.829162691,0.416837134861,-0.00554763678752,0.0499252404885,0.999999987159,0.000106824783411,-0.000117024691238,2.39779625642e-05,1793244274648243968
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.744684687,634,879,787.744684687,805.744684687,652,630.744684687,651.255315313,0.417666306862,-0.0055477741161,0.0499525576646,0.999999991886,0.000104543210184,-6.8365083695e-05,2.49881381989e-05,1793244274664910592
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.329907589,745.329907589,714,679,660.670092411,634.329907589,879,787.670092411,805.670092411,652,630.670092411,651.329907589,0.418489496175,-0.00555012555952,0.0499731790418,0.999999993846,0.000101341906282,-3.63902273933e-05,2.67228937242e-05,1793244274681577216
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.924248369,745.924248369,714,679,660.075751631,634.924248369,879,787.075751631,805.075751631,652,630.075751631,651.924248369,0.419307890099,-0.00555425169825,0.0499884334859,0.999999994676,9.7403404293e-05,-1.77888215862e-05,2.90384269341e-05,1793244274698244096
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.497538278,745.497538278,714,679,659.497538278,634.497538278,879,787,805.502461722,652,630.502461722,651.497538278,0.420128011496,-0.00555209322813,0.0499723823929,0.999999993421,0.000102339623654,-4.30986404816e-05,2.87768271133e-05,1793244274714910720
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.078545223,634,879.157090446,787,806,652,631,651.078545223,0.42096429076,-0.00554980860354,0.0499581338907,0.999999991914,0.000106872327644,-6.28059691081e-05,2.8400576526e-05,1793244274731577344
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.656063682,634,880.312127364,787,806,652,631,651.656063682,0.42190161253,-0.00555255438273,0.049984386764,0.999999994479,0.000100606296944,-6.17485749401e-06,2.96874445119e-05,1793244274748243968
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880.762332262,787,806,652,631,651.762332262,0.422798853802,-0.0055560466891,0.049996817971,0.999999994817,9.47249255398e-05,2.11049858478e-05,3.07818369025e-05,1793244274764910592
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880.174712312,787,806,652,631,651.174712312,0.423637078964,-0.00556063821464,0.049988897565,0.999999995491,8.94099424809e-05,5.16676617597e-06,3.15928202363e-05,1793244274781577472
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787,805.593055914,652,631,651.406944086,0.424501567804,-0.00556168536247,0.0499800234147,0.999999995562,8.85883032465e-05,-6.6668815525e-06,3.13666879378e-05,1793244274798244352
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787,805.013922891,652,631,651.986077109,0.42537716946,-0.00556123278891,0.0499707457101,0.999999995368,8.96679184025e-05,-1.67637740432e-05,3.07017241994e-05,1793244274814910976
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.561433365,634,879.438566635,787.561433365,805,652,631,652,0.426286804348,-0.00556298994367,0.0499936426207,0.999999995556,8.80534893755e-05,6.19098708181e-06,3.31185685696e-05,1793244274831577344
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.137078209,745,714,679.137078209,660.862921791,634,879.137078209,787.862921791,805.137078209,652,631,652,0.427182902509,-0.00556359103585,0.0500048593316,0.999999995526,8.74219105147e-05,8.56903343852e-06,3.5094059231e-05,1793244274848243968
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.713947385,745,714,679.713947385,660.286052615,634,879.713947385,787.286052615,805.713947385,652,631,652,0.428032880769,-0.00556030847051,0.0499760594138,0.999999993645,9.01565439461e-05,-5.76817430211e-05,3.54099867918e-05,1793244274864910848
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.702698912,745,714,680,660,634,880,787,806,652,631,652,0.428897363053,-0.00555839650878,0.0499563374706,0.999999991189,9.2062181343e-05,-8.89993106144e-05,3.5019685321e-05,1793244274881577472
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.112966943,745,714,680,660,634,880,787,806,652,631,652,0.429776111714,-0.00555783269846,0.0499455447939,0.999999991391,9.31524029495e-05,-8.59559204147e-05,3.39347239324e-05,1793244274898244096
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.531367054,660.468632946,634,880.468632946,787,806,652,630.531367054,651.531367054,0.43066221405,-0.00556033214854,0.0499512376637,0.999999992925,8.87820473295e-05,-7.15354839389e-05,3.39202364551e-05,1793244274914910720
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.952084529,634,880.952084529,787,806,652,630.047915471,651.047915471,0.431546635755,-0.00556332117643,0.0499584874071,0.999999994203,8.36477361773e-05,-5.85727779583e-05,3.41363117374e-05,1793244274931577344
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.377098081,634,880.377098081,787,806,652,630.622901919,651.622901919,0.432393403174,-0.00556371149731,0.0499398949235,0.999999991694,8.43423304872e-05,-9.12982283911e-05,3.40985026541e-05,1793244274948244224
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,713.798143585,679.201856415,660,634,880,787,806,652,631,652,0.433251536663,-0.00556503121483,0.0499357165231,0.999999991115,8.34012181385e-05,-9.80612917124e-05,3.46041980353e-05,1793244274964910592
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,713.211627434,679.788372566,660,634,880,787,806,652,631,652,0.434131329608,-0.00556812200052,0.0499590057503,0.999999994667,7.93430859053e-05,-5.53501591567e-05,3.61456013262e-05,1793244274981577216
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,713.370323141,680,660.370323141,634,880,787,806,651.629676859,631,652,0.434982986464,-0.00556757363564,0.0499755709287,0.999999995363,8.13611748177e-05,-3.47860543907e-05,3.80114185765e-05,1793244274998243840
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,713.94969638,680,660.94969638,634,880,787,806,651.05030362,631,652,0.435818760241,-0.0055649709437,0.0499883403313,0.999999995073,8.68093349066e-05,-2.67241099485e-05,4.00603697892e-05,1793244275014910720
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.484332544,634,879.484332544,787,805.484332544,651.515667456,631,651.484332544,0.436571580071,-0.00556306030037,0.049963031388,0.999999991582,8.9924767616e-05,-8.44346380349e-05,4.0240971387e-05,1793244275031577600
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.083457657,714,680,660,634,879.083457657,786.916542343,805.083457657,652,631,651.083457657,0.437333497904,-0.00556212812543,0.0499417928048,0.999999986741,9.04018749974e-05,-0.000129417032621,3.99475018505e-05,1793244275048243968
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.669890853,714,680,660,634,879.669890853,786.330109147,805.669890853,652,631,651.669890853,0.438197780771,-0.00556669634562,0.0499669046429,0.999999994571,7.63152395561e-05,-6.00018813028e-05,3.7867536387e-05,1793244275064910592
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.743270665,714,680,660.256729335,634,880,786.256729335,806,652,631,651.743270665,0.439013153139,-0.00556999699973,0.0499791025496,0.999999996532,6.94538847858e-05,-2.68855044618e-05,3.72809410169e-05,1793244275081577216
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.155910277,714,680,660.844089723,634,880,786.844089723,806,652,631,651.155910277,0.439765535639,-0.00557166520777,0.0499746691383,0.999999995849,7.18976704975e-05,-4.05168179857e-05,3.86175953402e-05,1793244275098243840
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.572110412,634,880,787,806,652,631,651.427889588,0.440487791204,-0.00557011369305,0.0499556813626,0.999999993852,7.66234826987e-05,-7.02377137944e-05,3.86236990011e-05,1793244275114910720
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.990083858,634,880,787,806,652,631,652,0.441198956085,-0.00556749285701,0.0499319288406,0.999999990389,8.20938273495e-05,-0.000104994513935,3.81853716e-05,1793244275131577344
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.434824559,634,880,787,806,652,631,652,0.441898903494,-0.00557005088332,0.0499353809535,0.999999991053,8.31585508214e-05,-9.69491675158e-05,3.97478531384e-05,1793244275148243968
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.12971139,633.87028861,880,787,806,652,631,651.87028861,0.442587166535,-0.00557257241702,0.0499377453612,0.999999991476,8.38322512743e-05,-9.11726028143e-05,4.13320610381e-05,1793244275164910592
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.727740456,633.272259544,880,787,806,652,631,651.272259544,0.443233243834,-0.0055749621964,0.0499361826549,0.999999991244,8.30941793927e-05,-9.35873796816e-05,4.29947115186e-05,1793244275181577216
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.32225654,660,633,880,786.67774346,806,652,631,651.32225654,0.443830745717,-0.00557533477414,0.049908297363,0.999999985319,8.55143108011e-05,-0.000142074589837,4.31796295596e-05,1793244275198244096
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680.913836639,660,633,880,786.086163361,806,652,631,651.913836639,0.444387651011,-0.00557402149015,0.0498584131619,0.999999968775,9.05738871883e-05,-0.000229066500146,4.21295431074e-05,1793244275214910976
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.507808429,659.507808429,633,880,786,806.492191571,652,631,652,0.444947144873,-0.00557288458573,0.0498262163301,0.999999958196,9.37010104327e-05,-0.000270384348674,4.14887952545e-05,1793244275231577600
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632.931921039,880,786,806.931921039,652,631,652,0.445507805723,-0.00557129773142,0.0498019652816,0.999999950632,9.64152424686e-05,-0.000296265901337,4.08280943758e-05,1793244275248244224
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632.357616867,880,786,806.357616867,652,631,652,0.446073862696,-0.00556614152563,0.0498143762917,0.999999959185,9.85089755571e-05,-0.000265264737791,3.95001223029e-05,1793244275264910592
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,880,786.223253885,806,652,630.776746115,651.776746115,0.446614426788,-0.00556481487871,0.0498183863827,0.999999964096,8.13854311279e-05,-0.00025306429135,3.37978850146e-05,1793244275281577472
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,880,786.814961946,806,652,630.185038054,651.185038054,0.447112917832,-0.00556980846705,0.0498085317476,0.99999996229,3.25460389564e-05,-0.000271892211517,2.08764395853e-05,1793244275298244096
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,880,786.602415512,806.397584488,652,630,651,0.447555935776,-0.00557681750649,0.0497795942508,0.99999994986,1.45402650894e-05,-0.000315836018628,1.77609100534e-05,1793244275314910464
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,880,786.023926902,806.976073098,652,630,651,0.44797371306,-0.00558474359274,0.0497419738986,0.999999930864,1.05640298157e-05,-0.000371207756203,1.91071495055e-05,1793244275331577088
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,880,786.551360661,806.448639339,652,630,651.551360661,0.448384197719,-0.00558168419687,0.0497293911117,0.999999923484,1.99798262334e-05,-0.000390184837099,1.97130449099e-05,1793244275348243712
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.873399675,745,714,680,659,632,880,786.873399675,806,652,630,652,0.448790140932,-0.00557697807108,0.049722963197,0.999999919087,3.08609454404e-05,-0.000400565492625,2.05139048684e-05,1793244275364910592
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.297839935,745,714,680,659,632,880,786.297839935,806,652,630,652,0.449181094869,-0.00556811303528,0.0497345312402,0.999999924238,4.48894401725e-05,-0.000386029480973,2.21194398681e-05,1793244275381577472
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.285477497,745,714,680,659,632,880,786,806,652,630,652,0.449558926594,-0.00556484980654,0.049744495968,0.999999929217,5.21190463104e-05,-0.000371863372276,2.37975635823e-05,1793244275398243840
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.877114612,745,714,680,659,632,880,786,806,652,630,652,0.449922685415,-0.00556759422211,0.0497527412237,0.999999934203,5.20572008073e-05,-0.000358093966012,2.5553534787e-05,1793244275414910464
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680.458736219,658.541263781,631.541263781,880,786,806.458736219,652,630,652,0.450240157133,-0.0055745778669,0.0497542947401,0.999999934244,4.72612783073e-05,-0.000358519735961,2.7250389594e-05,1793244275431577088
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680.962641115,658,631,880,786,806.962641115,652,630,652,0.450541723595,-0.00558219852092,0.049753342395,0.999999932457,4.15965207157e-05,-0.000364041288449,2.88072460622e-05,1793244275448243712
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680.389373741,658,631,880,786,806.389373741,652,630,652,0.450789197254,-0.00558301505975,0.0497416085623,0.999999922971,4.12712776013e-05,-0.000389279193647,2.85781558583e-05,1793244275464910336
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.187760335,714,680,658.187760335,631,880,786,806,652,630,651.812239665,0.451027996441,-0.00558454109063,0.0497321458673,0.999999915153,4.06794876379e-05,-0.000408921099078,2.86749693422e-05,1793244275481577472
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.773081636,714,680,658.773081636,631,880,786,806,652,630,651.226918364,0.451248428397,-0.00558756938945,0.0497274920475,0.99999991196,3.95233153906e-05,-0.000416714114285,2.94618465524e-05,1793244275498244352
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.643307144,714,680.356692856,658.643307144,630.643307144,880,785.643307144,806.356692856,652,629.643307144,651,0.451447360092,-0.00558354601691,0.049716945905,0.99999990271,4.3654812948e-05,-0.000437938202641,2.97503739663e-05,1793244275514910976
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.060778582,714,680.939221418,658.060778582,630.060778582,880,785.060778582,806.939221418,652,629.060778582,651,0.45163267918,-0.00557505796549,0.0497026691103,0.999999888895,5.11341336133e-05,-0.000467666010597,2.9723377377e-05,1793244275531577600
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.5159774,681,658,630.5159774,880,785,807,652,629.5159774,651.5159774,0.45179343809,-0.00556703733105,0.0496942065152,0.999999881326,6.12590082946e-05,-0.000482439028083,2.91326422886e-05,1793244275548244224
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714.908014018,680.908014018,658,630.908014018,880,785.091985982,806.908014018,652,630,651.908014018,0.451948737124,-0.0055604549877,0.0496877847315,0.99999987559,6.99519128074e-05,-0.000493060221989,2.8609607531e-05,1793244275564910848
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714.332399295,680.332399295,658,630.332399295,880,785.667600705,806.332399295,652,630,651.332399295,0.452090372341,-0.00556114837647,0.049688531815,0.999999876624,6.94957453329e-05,-0.000491011876173,2.87877841526e-05,1793244275581577472
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.249429396,658.249429396,630,880,785.750570604,806,652,630,651,0.452221718489,-0.005563131173,0.049689743512,0.999999878384,6.78313480394e-05,-0.000487629049064,2.91508570615e-05,1793244275598244096
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.839750597,658.839750597,630,880,785.160249403,806,652,630,651,0.452339002695,-0.00556687618579,0.0496915901899,0.99999988111,6.45156792987e-05,-0.000482422404399,2.9766625233e-05,1793244275614910720
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.422552014,745,714,680.577447986,658.577447986,630,880,785,806,652,630,651,0.452438668145,-0.0055653027303,0.0496918836886,0.999999881764,6.53779890102e-05,-0.000480975891628,2.93198183929e-05,1793244275631577344
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.994960877,745,714,680,658,630.002519561,880.002519561,785,806.002519561,652,630,651,0.452531641221,-0.0055617697885,0.0496915899837,0.999999881642,6.77720126553e-05,-0.000480949683067,2.84812937175e-05,1793244275648243968
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.849466262,745,714,680,658,630.575266869,880.575266869,785,806.575266869,652,630,651,0.452595773546,-0.00556326849064,0.0496893788501,0.999999879764,6.4497628255e-05,-0.000485277515184,2.85953700978e-05,1793244275664910848
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,745,714,680,658,630.851976364,880.851976364,785.148023636,806.851976364,652,630,651.148023636,0.452655734882,-0.00556462705401,0.0496871965634,0.999999877838,6.22364088131e-05,-0.000489520139279,2.86453178275e-05,1793244275681577472
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,745,714,680,658,630.279192548,880.279192548,785.720807452,806.279192548,652,630,651.720807452,0.452703727374,-0.00556558348296,0.0496850970544,0.999999875836,6.28825102811e-05,-0.000493518254584,2.85112456231e-05,1793244275698244096
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,745,714,680.305424117,658,630,880,785.694575883,806,652,630,652,0.452747352105,-0.00556406692884,0.0496844184392,0.999999875812,6.46787449952e-05,-0.000493362935048,2.80304017246e-05,1793244275714910720
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,745,714,680.901293377,658,630,880,785.098706623,806,652,630,652,0.452786823291,-0.00556019867476,0.0496850910326,0.99999987766,6.75687068269e-05,-0.000489257878831,2.72197929062e-05,1793244275731577600
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,745,714,681,658,630,880,785.480700056,806,652,630,651.519299944,0.452811050891,-0.00556141468259,0.0496830668989,0.999999876062,6.57856150303e-05,-0.000492742303163,2.74539587597e-05,1793244275748244224
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.056871666,745.056871666,714,681,658,629.943128334,880,785.943128334,806,652,629.943128334,651,0.45283122672,-0.00556323162774,0.0496804890555,0.99999987376,6.33328212674e-05,-0.000497693513308,2.77678948499e-05,1793244275764910592
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.633348879,745.633348879,714,681,658,629.366651121,880,785.366651121,806,652,629.366651121,651,0.452842034856,-0.0055613164086,0.0496777439961,0.999999871496,6.32380144338e-05,-0.000502279003925,2.69154781474e-05,1793244275781577216
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.785672808,714,680.785672808,658,629.214327192,879.785672808,785,806.214327192,652,629.214327192,651.214327192,0.452852555459,-0.00555979582666,0.0496760299642,0.999999870167,6.39247906431e-05,-0.000504856830735,2.64386620054e-05,1793244275798243840
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.196829282,714,680.196829282,658,629.803170718,879.196829282,785,806.803170718,652,629.803170718,651.803170718,0.452862573624,-0.0055589648357,0.0496761175546,0.999999870498,6.59773087033e-05,-0.00050392645621,2.66181720812e-05,1793244275814910464
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.614464994,745,714,680,658,629.614464994,879.771070012,785,807,652,629.614464994,652,0.452869162977,-0.0055603978934,0.0496759160348,0.999999870589,6.43734782203e-05,-0.000503939032585,2.69131335008e-05,1793244275831577344
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.035353931,745,714,680,658,629.035353931,880.929292139,785,807,652,629.035353931,652,0.452874030734,-0.00556296772368,0.0496755693535,0.999999870549,6.09338052065e-05,-0.000504425062016,2.72660627144e-05,1793244275848244224
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.541792434,745,714,680,658,629.541792434,881,785.541792434,807,652,629.541792434,651.458207566,0.452876528032,-0.00556031226428,0.0496754712472,0.999999870109,6.2430398111e-05,-0.000505160779035,2.64041996987e-05,1793244275864910848
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,630,881,785.881547616,806.881547616,652,630,651,0.452878134242,-0.00555807866535,0.0496750945583,0.999999869504,6.40499464216e-05,-0.000506185538667,2.5788523281e-05,1793244275881577216
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,630,881,785.306271071,806.306271071,652,630,651,0.452876898265,-0.00555878224924,0.0496735811568,0.999999868379,6.49059245378e-05,-0.000508262412828,2.64268988682e-05,1793244275898243840
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.276900734,714,680.276900734,658,630,880.723099266,785,806,652,630,651,0.452875839875,-0.00555924251148,0.049672089734,0.999999867193,6.48913261043e-05,-0.00051058338884,2.66132329886e-05,1793244275914910464
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.869061614,714,680.869061614,658,630,880.130938386,785,806,652,630,651,0.452874983673,-0.00555942574449,0.0496706233345,0.999999865936,6.38855491529e-05,-0.000513182282708,2.62849038441e-05,1793244275931577088
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.548939386,714,681,658,630,880,785,806.451060614,652,630,651.451060614,0.45287485744,-0.00555892183475,0.0496697581355,0.99999986551,6.28581475936e-05,-0.000514149790381,2.60488191849e-05,1793244275948243968
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785,807,652,630,651.970137719,0.452874952761,-0.00555825549037,0.0496690867404,0.999999865327,6.19293843563e-05,-0.000514628699591,2.58589086906e-05,1793244275964910592
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785,807,652,630,651.397019222,0.452875308623,-0.00555818295546,0.0496688360641,0.999999865253,6.29067363868e-05,-0.000514644486996,2.60325932777e-05,1793244275981577728
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,629.819038799,880,785.180961201,806.819038799,652,630,651,0.452876085199,-0.00555758897666,0.0496688892168,0.999999865304,6.36408859722e-05,-0.000514460294431,2.59224419834e-05,1793244275998244864
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,629.230097103,880,785.769902897,806.230097103,652,630,651,0.452877810283,-0.00555581939263,0.0496696273578,0.999999865638,6.3826730927e-05,-0.00051382524319,2.51723772456e-05,1793244276014911488
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,629.352946776,880,786,806,652,630,651.352946776,0.452877690789,-0.00555584734728,0.0496692767408,0.999999865279,6.37515981737e-05,-0.000514550408255,2.48185019139e-05,1793244276031577600
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,629.932208856,880,786,806,652,630,651.932208856,0.452876388522,-0.0055570279135,0.0496682279941,0.999999864474,6.35091221955e-05,-0.00051614776651,2.47186698032e-05,1793244276048243968
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785.490152228,806.509847772,652,630,651.490152228,0.452876839136,-0.00555708312743,0.0496681135679,0.999999864383,6.39791076896e-05,-0.000516252614105,2.49921507368e-05,1793244276064910592
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.086754781,714,680.913245219,658,630,879.913245219,785,806.913245219,652,630,651.086754781,0.45287745651,-0.00555692968626,0.0496681857303,0.999999864428,6.43486888866e-05,-0.000516106031645,2.52430349795e-05,1793244276081577216
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+247,4.116666667,HOLD_POSE2,765,745,714,680,658,630,881,785,807,653,629,652,0.452880135573,-0.00555305736221,0.0496684680024,0.999999865189,6.73888943778e-05,-0.000514300147639,2.3998404242e-05,1793244276136364032
+248,4.133333333,HOLD_POSE2,765,745,714,680,658.579419439,630,880.420580561,785,807,652.420580561,629,652,0.452880906045,-0.00555473621041,0.0496687627486,0.999999865715,6.50913674535e-05,-0.000513561872369,2.42233993285e-05,1793244276153030656
+249,4.150000000,HOLD_POSE2,765,745,714,680.158067438,658.841932562,630,879.841932562,785,807,651.841932562,629,652,0.452880885701,-0.00555588848677,0.0496688091439,0.999999865692,6.40526361942e-05,-0.000513723021501,2.45495735566e-05,1793244276169697024
+250,4.166666667,HOLD_POSE2,765,745,714,680.73467291,658.26532709,630,879.26532709,785,807,651.26532709,629,652,0.452878771396,-0.00555564648306,0.0496681979445,0.999999864218,6.63469999082e-05,-0.000516265706644,2.51436544919e-05,1793244276186363392
+251,4.183333333,HOLD_POSE2,765,745,714,680.690739587,658.309260413,629.690739587,879.618520827,785.309260413,806.690739587,651.309260413,629.309260413,652,0.452879081812,-0.00555517760226,0.0496686183771,0.99999986443,6.75371720244e-05,-0.0005156898221,2.53384244915e-05,1793244276203029760
+252,4.200000000,HOLD_POSE2,765,745,714,680.117872192,658.882127808,629.117872192,880.764255617,785.882127808,806.117872192,651.882127808,629.882127808,652,0.45288145901,-0.00555451533629,0.0496699181509,0.99999986608,6.778615463e-05,-0.000512455735103,2.51928303285e-05,1793244276219696384
+253,4.216666667,HOLD_POSE2,765,745,714,680,659,629.470176657,880.529823343,785.529823343,806,652,630,652,0.452881983113,-0.00555538886129,0.0496705118331,0.999999866514,6.6272744103e-05,-0.000511811830914,2.50762243343e-05,1793244276236363264
+254,4.233333333,HOLD_POSE2,764.939205119,745.060794881,714,680,658.939205119,630,880,785,806.060794881,652,630,652,0.452881867357,-0.00555660876992,0.0496706862739,0.999999866521,6.43837548948e-05,-0.00051204633821,2.49362038154e-05,1793244276253030144
+255,4.250000000,HOLD_POSE2,764.360209589,745.639790411,714,680,658.360209589,630,880,785,806.639790411,652,630,652,0.452880389579,-0.00555738985703,0.049668846385,0.99999986558,6.31851153267e-05,-0.000514048606346,2.45325923784e-05,1793244276269697280
+256,4.266666667,HOLD_POSE2,764.217409976,745.782590024,714,680,658,630,880,785,806.782590024,652,630,652,0.452879783357,-0.00555706261917,0.0496683269084,0.999999865128,6.3445095352e-05,-0.000514903330972,2.4348054843e-05,1793244276286364160
+257,4.283333333,HOLD_POSE2,764.792764091,745.207235909,714,680,658,630,880,785,806.207235909,652,630,652,0.452880612068,-0.00555491063321,0.0496699813609,0.999999865484,6.61065491793e-05,-0.000513868737894,2.45242009773e-05,1793244276303030528
+258,4.300000000,HOLD_POSE2,765,745,714,680.375763294,658,630,879.624236706,785,806.375763294,652,629.624236706,652,0.452880605045,-0.00555479168691,0.0496696236673,0.999999865282,6.57576706102e-05,-0.00051431138932,2.44085180989e-05,1793244276319697152
+259,4.316666667,HOLD_POSE2,765,745,714,680.963066433,658,630,879.036933567,785,806.963066433,652,629.036933567,652,0.452880127536,-0.00555581726117,0.0496681332153,0.999999864765,6.37140944451e-05,-0.000515585670762,2.41285470673e-05,1793244276336363520
+260,4.333333333,HOLD_POSE2,765,745,714,681,658,629.457371549,879.542628451,785.542628451,807,652,629,651.457371549,0.4528800253,-0.00555527964415,0.0496677046322,0.999999864545,6.39631568834e-05,-0.000515977027776,2.42158243907e-05,1793244276353029888
+261,4.350000000,HOLD_POSE2,764.878836981,745,714,680.878836981,658,629.121163019,879.878836981,785.878836981,806.878836981,652,629.121163019,651,0.452880008071,-0.00555482634101,0.0496674400146,0.99999986445,6.45657785267e-05,-0.000516082119054,2.4284175977e-05,1793244276369696512
+262,4.366666667,HOLD_POSE2,764.302211739,745,714,680.302211739,658,629.697788261,879.302211739,785.302211739,806.302211739,652,629.697788261,651,0.452880215728,-0.00555508431205,0.0496675238898,0.99999986475,6.59191178042e-05,-0.000515333839763,2.41887418949e-05,1793244276386363392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,745,714,680,657,630,880,785,807,652,629,651,0.452880290949,-0.00555459385635,0.0496669812532,0.999999863906,6.60848988559e-05,-0.000516948723871,2.41664144417e-05,1793244276424202752
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.592166161,745,714,680,657.592166161,630,880,785,807,652,629,651,0.452880755888,-0.00555574363625,0.0496675800188,0.999999864338,6.50654259197e-05,-0.000516217189401,2.46900382969e-05,1793244276440869376
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.18029925,658,629.81970075,880,785,807,652,629.18029925,651.18029925,0.452880962054,-0.00555622802487,0.0496679054562,0.999999864684,6.44022827566e-05,-0.000515613639006,2.50210016401e-05,1793244276457536000
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.759509311,658,629.240490689,880,785,807,652,629.759509311,651.759509311,0.452880595689,-0.00555524024024,0.0496676261573,0.999999864844,6.45275164937e-05,-0.000515293252327,2.49257050674e-05,1793244276474202368
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.661154638,745,714,680.661154638,658,629.338845362,880,785.338845362,806.661154638,652,630,651.661154638,0.452881501408,-0.00555327135883,0.0496682692111,0.999999865118,6.69925878922e-05,-0.00051446274746,2.45665888211e-05,1793244276490868736
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.081729171,745,714,680.081729171,658,629.918270829,880,785.918270829,806.081729171,652,630,651.081729171,0.452883310307,-0.00555060589907,0.0496695671352,0.999999865459,7.11189433256e-05,-0.000513270058839,2.40201606903e-05,1793244276507535360
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.491015316,745.491015316,714,680,658,630,880,785.508984684,806.491015316,652,630,651.491015316,0.452882301065,-0.00555307757486,0.049668997807,0.999999865167,6.7422811065e-05,-0.000514327999605,2.42401640962e-05,1793244276524202240
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.935286292,714,680.064713708,658,629.935286292,880,785,807,652,630,652,0.452880899664,-0.00555587602979,0.0496682006055,0.999999864766,6.32454623752e-05,-0.000515621937457,2.45326535708e-05,1793244276540869120
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.344928226,714,680.655071774,658,629.344928226,880,785,807,652,630,652,0.452880071889,-0.00555447659437,0.0496680431205,0.999999864511,6.55934382878e-05,-0.000515830776488,2.43916112565e-05,1793244276557536000
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.758611864,658,629.241388136,880,785,807,652,630,652,0.452874423726,-0.00555325105954,0.0496649832164,0.999999862025,6.71421424892e-05,-0.000520442731247,2.41158652708e-05,1793244276574202624
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.177975779,658,629.822024221,880,785,807,652,630,652,0.452862000967,-0.00555226992547,0.0496578442396,0.999999856328,6.75675465117e-05,-0.000531242844143,2.36508061632e-05,1793244276590868992
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.397514463,658,630,880,785,806.602485537,652,630,651.602485537,0.452835225682,-0.00555118363175,0.0496460307452,0.999999845543,6.63256309333e-05,-0.000551363775137,2.26581020284e-05,1793244276607535616
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.970730293,658,630,880,785,806.029269707,652,630,651.029269707,0.45280210658,-0.00555005085739,0.0496321511136,0.99999983204,6.43467602014e-05,-0.000575604507823,2.14321787737e-05,1793244276624201984
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.44215377,658,630,880,785,806,652,630,651,0.452745177936,-0.00554827230883,0.0496099957364,0.999999808947,6.62044378282e-05,-0.00061425449811,2.03606922697e-05,1793244276640868864
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.143787749,714.143787749,680.143787749,658,630,880.143787749,785,806.143787749,652,630,651.143787749,0.452685635822,-0.00554673111178,0.0495896024666,0.999999787837,6.78184131263e-05,-0.000647571754484,1.94383592326e-05,1793244276657535488
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.723895991,714.723895991,680.723895991,658,630,880.723895991,785,806.723895991,652,630,651.723895991,0.452622050925,-0.00554601559699,0.0495759075691,0.999999778148,6.80664295973e-05,-0.000662354153797,1.89434114508e-05,1793244276674202112
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.698841183,714.698841183,681,658.301158817,630,880.698841183,785,807,652,629.698841183,652,0.452549434761,-0.00554388268983,0.0495672450814,0.99999977044,6.96745648667e-05,-0.000673743326225,1.8287346968e-05,1793244276690868736
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.124162666,714.124162666,681,658.875837334,630,880.124162666,785,807,652,629.124162666,652,0.452468616186,-0.0055404624728,0.0495631531502,0.999999764621,7.25179928128e-05,-0.000682050687357,1.7484952444e-05,1793244276707535616
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.451379712,714,681,658.548620288,630,880.451379712,785,807,652,629,652,0.452375441865,-0.00553656865791,0.0495630503979,0.999999763448,7.52833626545e-05,-0.000683487897134,1.67325716846e-05,1793244276724202496
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.971997033,745.971997033,714,681,658,630,880.971997033,785,807,652,629.028002967,652,0.452277613056,-0.00553247249355,0.0495641278819,0.999999763626,7.81110604366e-05,-0.000682927475112,1.6008323589e-05,1793244276740869632
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.378349619,745.378349619,714,681,658,630,880.378349619,785,807,652,629.621650381,652,0.452154550424,-0.00552692549542,0.0495668377707,0.999999765086,8.26322975637e-05,-0.000680262058485,1.55739134185e-05,1793244276757536000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.206020166,745,714,680.793979834,658,630,880.206020166,785.206020166,807,652,630,652,0.452020035395,-0.00552135739966,0.0495685038147,0.999999764836,8.6456579848e-05,-0.000680167072864,1.50470334382e-05,1793244276774202624
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.77408602,745,714,680.22591398,658,630,880.77408602,785.77408602,807,652,630,652,0.451865394721,-0.00551575222895,0.0495683354769,0.9999997616,8.90560810952e-05,-0.000684589186406,1.43576534128e-05,1793244276790869504
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.351781672,680.351781672,658,630,880.648218328,785.648218328,807,652,630,652,0.451689853894,-0.00550928460305,0.0495684215504,0.999999759538,9.41642184009e-05,-0.000686926764892,1.37239979948e-05,1793244276807535872
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.935835687,680.935835687,658,630,880.064164313,785.064164313,807,652,630,652,0.451500513221,-0.00550224751971,0.049568675605,0.999999758226,0.000100928743495,-0.000687887979195,1.31271360253e-05,1793244276824201984
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.524416813,714.475583187,681,658,630,880,785,806.475583187,652,630,652,0.451293663065,-0.00549475223842,0.0495702918694,0.999999761639,0.000106644802886,-0.000682060425894,1.18985966287e-05,1793244276840869120
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.888335054,714,681,658,630,880,785.111664946,806,652,630,652,0.451077612018,-0.00548700834033,0.0495734577797,0.999999767253,0.000112183054825,-0.000672900244974,1.06426733773e-05,1793244276857536256
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.309009408,714,681,658,630,880,785.690990592,806,652,630,652,0.450832077362,-0.00547846005209,0.0495824096072,0.999999779654,0.000117518577522,-0.000653291813319,9.59857060057e-06,1793244276874202880
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.731024243,658,630,880,785.731024243,806,652,630,652,0.450575006531,-0.00547008022203,0.049596070205,0.999999795452,0.000122696561047,-0.00062766433343,8.88165022901e-06,1793244276890869248
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.154571471,658,630,880,785.154571471,806,652,630,652,0.450304748248,-0.00546189296384,0.0496151135873,0.999999814705,0.000127694454826,-0.000595156238095,8.53874529528e-06,1793244276907535616
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.419198462,658,630.419198462,880.419198462,785.419198462,806,652,630,652,0.449993153757,-0.00545220243989,0.0496225939398,0.999999822751,0.000133296908838,-0.00058024626138,6.65867630463e-06,1793244276924202240
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.991985427,658,630.991985427,880.991985427,785.991985427,806,652,630,652,0.449666414259,-0.0054419611404,0.0496258377582,0.999999826845,0.000139120865243,-0.000571783992064,4.21541173115e-06,1793244276940868864
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.584031521,714,681,658,631,879.831936958,786,806,652,630,652,0.449290391164,-0.00543486496448,0.0496244708432,0.999999826279,0.000141535781757,-0.000572191664422,2.3967333142e-06,1793244276957535488
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.828098591,714,681,658,631,879.171901409,786,806.171901409,652,630,652,0.448896589461,-0.00542898256556,0.0496228064083,0.999999825444,0.000142043153344,-0.000573528903887,3.3286027502e-07,1793244276974201856
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.25072408,714,681,658,631,879.74927592,786,806.74927592,652,630,652,0.448462502102,-0.00542585789324,0.0496205945303,0.999999824125,0.000138165205207,-0.000576761863159,-2.33027277522e-06,1793244276990868736
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.325294835,631,880.325294835,786,806.674705165,652,630,652,0.448011026473,-0.00542741664822,0.0496169486438,0.999999823461,0.000129313212981,-0.000579937082369,-5.31311914267e-06,1793244277007535616
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.900273309,631,880.900273309,786,806.099726691,652,630,652,0.447546204239,-0.00543257021914,0.0496122020679,0.999999823177,0.000116643337934,-0.000583067982828,-8.54136527429e-06,1793244277024202752
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.513271097,659,631.486728903,880.513271097,786,806.486728903,652,630,652,0.447060185099,-0.00543653523249,0.0496098583597,0.999999823112,0.000104482936267,-0.000585440155599,-1.08697297563e-05,1793244277040869376
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,880,786,806.925740675,652,630.074259325,652,0.446563817246,-0.00543896474262,0.0496093189574,0.999999824133,9.40646005814e-05,-0.000585418508841,-1.30498800062e-05,1793244277057536000
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,880,786,806.347264554,652,630.652735446,652,0.446027383313,-0.00543266172784,0.049617607087,0.999999832813,9.47488951964e-05,-0.000570223993911,-1.55058161982e-05,1793244277074202624
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.231039318,659,632,880,786,806,652,631,652,0.44547896185,-0.00542571764268,0.0496378078093,0.999999848865,9.4652486863e-05,-0.000541298981925,-1.751236606e-05,1793244277090869760
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.809084449,659,632,880,786,806,652,631,652,0.44491253594,-0.00541781071247,0.0496759004595,0.999999874552,9.33835140343e-05,-0.000491751669413,-1.88439671323e-05,1793244277107536384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.615184114,659,632.384815886,880,786,806.384815886,652,631,652,0.444311890223,-0.00541330622662,0.0497023814788,0.999999890965,8.91203871515e-05,-0.000457933806263,-2.05725531932e-05,1793244277124203008
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.040593708,659,632.959406292,880,786,806.959406292,652,631,652,0.443694368796,-0.00541047967913,0.0497231361439,0.999999903014,8.33806732879e-05,-0.000431873027536,-2.24969150128e-05,1793244277140869632
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,633,880.547552365,786.547552365,806.452447635,652,631,652,0.443032083933,-0.00541535639369,0.0497134008247,0.999999896348,6.80468245356e-05,-0.000449480835087,-2.52965915238e-05,1793244277157536768
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.13446267,714,680.13446267,659.13446267,633,880.86553733,787,806.13446267,652,631,651.86553733,0.442368108504,-0.0054197731286,0.0497117890569,0.999999896403,5.33092871972e-05,-0.000451189991832,-2.79106356653e-05,1793244277174203392
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.713873629,714,680.713873629,659.713873629,633,880.286126371,787,806.713873629,652,631,651.286126371,0.441709799329,-0.00542072997914,0.0497447286264,0.999999922858,4.29584227826e-05,-0.000389304245643,-2.96902187903e-05,1793244277190869504
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.708233019,714,680.708233019,660,633,880,787,806.708233019,652,631,651.291766981,0.441022726372,-0.00541722642107,0.049782979285,0.999999946846,3.81275278178e-05,-0.000322256732557,-3.16856722279e-05,1793244277207535616
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.131820164,714,680.131820164,660,633,880,787,806.131820164,652,631,651.868179836,0.44030759159,-0.00540937131893,0.0498264114095,0.999999967384,3.86818760702e-05,-0.000250173427367,-3.38917274426e-05,1793244277224202240
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.442205561,745,714,680,660,633,880,787,806,652,631,652,0.439532386116,-0.00540983709075,0.0498239514045,0.999999965654,3.07328602549e-05,-0.000257762247213,-3.61339377381e-05,1793244277240868864
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.983973418,745,714,680,660,633,880,787,806,652,631,651.983973418,0.438738283975,-0.00541264866302,0.0498074734416,0.999999957123,2.02418138733e-05,-0.000289597400363,-3.84481921624e-05,1793244277257535232
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.392074656,745,714,680,660,633,880,787,806,652,631,651.392074656,0.437905160464,-0.00541110131717,0.0497762235511,0.999999939921,9.00288055271e-06,-0.000343848253408,-4.29659746713e-05,1793244277274201856
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633.195408764,880,787,806,652,631,651.195408764,0.437076923587,-0.00540923642223,0.0497657612407,0.999999932215,-1.05051172403e-07,-0.000365280950417,-4.62497540122e-05,1793244277290868992
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633.774228812,880,787,806,652,631,651.774228812,0.43625827482,-0.00540674846477,0.0497960862162,0.999999946932,-5.03174671819e-06,-0.000322321184089,-4.71122972281e-05,1793244277307535872
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.649850007,634,880.350149993,787,806,652,631,651.649850007,0.435386806314,-0.00540067339456,0.0497964811791,0.999999944414,-4.74861567367e-06,-0.000329715640628,-4.93743041286e-05,1793244277324202752
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.075782643,634,880.924217357,787,806,652,631,651.075782643,0.434481560151,-0.00539230440221,0.0497777362014,0.999999930424,-1.13385316067e-06,-0.0003693111136,-5.25312538084e-05,1793244277340869120
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.510453293,659.510453293,634,880.489546707,787,806,652,631,651,0.433644814891,-0.00539355504464,0.049781113949,0.999999936142,2.52313364139e-05,-0.000353624436862,-4.50410351098e-05,1793244277357535488
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660.097585977,634,880,787,806.097585977,652,631,651.097585977,0.432810780734,-0.00539515583473,0.0497903899601,0.999999943815,5.39123061303e-05,-0.000328833676039,-3.65065756728e-05,1793244277374201856
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660.679979316,634,880,787,806.679979316,652,631,651.679979316,0.431938458485,-0.00539122786318,0.0498122533163,0.999999951392,7.6908556002e-05,-0.000300583277016,-3.08289964687e-05,1793244277390868480
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.259188933,745,714,680.740811067,660.481622135,634,880,787,806.481622135,652,631,652,0.431035067979,-0.00538665072573,0.049810112104,0.999999949076,8.52545024256e-05,-0.000306027656799,-3.04534417652e-05,1793244277407535360
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.834515382,745,714,680.165484618,659.330969236,634,880,787,805.330969236,652,631,652,0.43009378283,-0.00538128178817,0.0497786920802,0.999999934312,7.57312068323e-05,-0.000352570175223,-3.6544863265e-05,1793244277424201728
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.982472142,634,879.017527858,787,805.982472142,652,631,651.017527858,0.428241933165,-0.00538609712371,0.0497678060803,0.999999932989,5.06356286642e-05,-0.000360061677872,-4.25855756937e-05,1793244277457535488
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.426092814,745,714,680,660.573907186,634,879.573907186,787,806,652,631,651.573907186,0.427317277727,-0.00538032755919,0.0497713462104,0.999999927823,5.29764309987e-05,-0.000373626753326,-4.41667718537e-05,1793244277474202112
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.162228306,745,714,680,660.675543388,634,879.837771694,787,806,652,631,652,0.426405061121,-0.00537621477275,0.0497741705637,0.9999999266,5.63891608427e-05,-0.000376269364388,-4.5184769453e-05,1793244277490868736
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.741120468,745,714,680,659.517759063,634,879.258879532,787,806,652,631,652,0.425524898297,-0.00537712477318,0.04977478264,0.999999936047,6.13088752097e-05,-0.000349482380082,-4.48309865139e-05,1793244277507535360
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.682550002,745,714,680,659.634899997,634,879.317449998,787,805.682550002,652,631,652,0.424658592017,-0.00537944110704,0.0497969086008,0.999999951746,6.04850170086e-05,-0.000301540428461,-4.38593462966e-05,1793244277524201984
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.52264701,634,879.52264701,787,805.47735299,652,631,651.52264701,0.422894377452,-0.0053789410767,0.0498336996948,0.999999967582,5.82548182816e-05,-0.000243981635607,-4.37630202968e-05,1793244277557535488
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.935407031,634,879.064592969,786.935407031,805.935407031,652.064592969,631,651.064592969,0.421973285434,-0.00537378438407,0.0498197695632,0.999999960435,6.29201927029e-05,-0.000270329416351,-4.57576111841e-05,1793244277574202112
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.356556915,634,879.643443085,786.356556915,805.356556915,652.643443085,631,651.643443085,0.421056817418,-0.0053727600339,0.0497949510898,0.99999994807,6.28168363733e-05,-0.000312514066182,-4.74168308607e-05,1793244277590869248
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.443312349,634,880,786.221656174,805,652.778343826,631,652,0.420161731397,-0.00537336141174,0.0497860562357,0.999999940729,6.33002784164e-05,-0.000335080467449,-4.74976574465e-05,1793244277607536128
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.597695136,634,880,786.798847568,805,652.201152432,631,652,0.41930094183,-0.00537657044774,0.0498027027706,0.999999943694,6.47249417733e-05,-0.000326179319028,-4.50467510291e-05,1793244277624202752
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.53678288,660,634,879,787,805,652.53678288,630,651.53678288,0.416770407522,-0.00537699872761,0.0497877962467,0.999999935066,6.31641059888e-05,-0.000351685808739,-4.68606532169e-05,1793244277674201856
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.87558791,660.12441209,634,879.12441209,787,805,652.87558791,630,652,0.415985634958,-0.00537714669323,0.0498034526654,0.999999946778,6.29822997147e-05,-0.000316655554245,-4.69712486943e-05,1793244277690868480
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.296347648,660.703652352,634,879.703652352,787,805,652.296347648,630,652,0.415204802158,-0.00537472422204,0.049814982307,0.999999954454,6.53975588438e-05,-0.000290777180657,-4.75860408026e-05,1793244277707535360
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.280749326,714,679.280749326,660.438501348,634,879.719250674,787,805,652,630,652,0.414416230906,-0.00537407993873,0.0498074635721,0.999999950299,6.63506215259e-05,-0.000304396833231,-4.84009556621e-05,1793244277724202240
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.855601036,714,679.855601036,659.288797928,634,879.144398964,787,805,652,630,652,0.413619553194,-0.00537529841799,0.0497799904772,0.999999932034,6.57719422042e-05,-0.000359393126397,-4.94255114313e-05,1793244277740869632
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.56831308,714,680,659,634.43168692,879,787,805,652.43168692,630.43168692,652,0.412878190696,-0.00537426745985,0.0497746768415,0.999999929488,6.79173732486e-05,-0.000365878099643,-5.0432627467e-05,1793244277757536256
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.016759119,634.991620441,879.008379559,787,805,653,630.991620441,652,0.412156000074,-0.00537253923967,0.0497771721274,0.999999932897,7.09437686757e-05,-0.000355713695429,-5.13861175401e-05,1793244277774203136
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.196897322,634.401551339,879.598448661,787,805,653,630.401551339,652,0.411476569631,-0.00537479078023,0.0498057230563,0.999999945202,7.1688999047e-05,-0.000319458659171,-4.90231248984e-05,1793244277790869504
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.815198573,634,880,787,805,652.815198573,630,652,0.410795361904,-0.00537582218008,0.0498189029412,0.999999949243,7.30298241092e-05,-0.000306422879285,-4.78081480188e-05,1793244277807536128
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.236761662,634,880,787,805,652.236761662,630,652,0.410110368354,-0.00537425462485,0.0497993418054,0.999999937166,7.56392933255e-05,-0.000342845170194,-4.90384968029e-05,1793244277824202752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.66117471,787.33882529,805,652.33882529,630.33882529,652,0.40947749464,-0.00537415274257,0.0497880787521,0.999999931901,7.61945807062e-05,-0.000357587245712,-5.02373437914e-05,1793244277840869376
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.087562653,787.912437347,805,652.912437347,630.912437347,652,0.408880737067,-0.00537506648887,0.049782565802,0.999999932007,7.53264361269e-05,-0.000357306155972,-5.14143617752e-05,1793244277857535744
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.498694177,634,878.501305823,788,805.498694177,653,631,652,0.408320670853,-0.00537983854211,0.0498027750529,0.999999942252,7.16729067854e-05,-0.000328429444302,-4.99212863048e-05,1793244277874202624
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.085833174,713.914166826,679.914166826,661,634,878.171666348,787.914166826,805.914166826,653,631,652,0.407770274417,-0.00538419117554,0.0498240255162,0.999999951485,6.90310070031e-05,-0.000299908911726,-4.81618977973e-05,1793244277890869248
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.664950441,713.335049559,679.335049559,661,634,879.329900882,787.335049559,805.335049559,653,631,652,0.40723746248,-0.00538213876331,0.0498246287706,0.999999950129,7.50867558579e-05,-0.000303041362279,-4.76364441922e-05,1793244277907536128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.75638758,713.24361242,679,660.75638758,634,879.75638758,787.24361242,805.24361242,653,631,652,0.406703749075,-0.00537950094515,0.049811613642,0.999999941873,8.16646431551e-05,-0.000327506711347,-4.82119208554e-05,1793244277924203264
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.178350654,713.821649346,679,660.178350654,634,879.178350654,787.821649346,805.821649346,653,631,652,0.406168798205,-0.0053760594978,0.0497799035678,0.9999999221,8.89593072441e-05,-0.000381257282408,-5.0298724595e-05,1793244277940870144
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.611289131,745,714,679,661,634,879.388710869,787.388710869,806,653,631,652,0.400983160759,-0.00541456956556,0.0498456149753,0.999999960865,8.40981374632e-05,-0.000263654657822,-4.10449128847e-05,1793244278624201984
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.802132427,679,660.802132427,634,879,787,805.802132427,653,631,652,0.400982649184,-0.00541344535673,0.0498456645486,0.999999960885,8.50530802459e-05,-0.000263248924883,-4.11923070589e-05,1793244278640868864
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.227479333,679,660.227479333,634,879,787,805.227479333,653,631,652,0.400982997532,-0.00541513712492,0.0498455876466,0.999999961047,8.38888475061e-05,-0.000263046996152,-4.09346105703e-05,1793244278657535488
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.348388525,679,660,634,879,787.348388525,805,653,630.651611475,652,0.400983725158,-0.00541554913131,0.0498462640667,0.999999961273,8.48561111034e-05,-0.000261912409785,-4.06745999945e-05,1793244278674201856
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.513916867,714,679.513916867,660,634.513916867,879.513916867,788,805.513916867,653,630.513916867,652,0.400983616828,-0.00541609557861,0.0498468114802,0.999999961563,8.48034462298e-05,-0.00026085485228,-4.04522747562e-05,1793244278707535104
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745.318414677,714,679.318414677,660,634.318414677,879.318414677,788,805.318414677,653,631,652,0.400983931428,-0.00541630268283,0.0498467069542,0.999999961968,8.28860821695e-05,-0.000259931531803,-4.03592958676e-05,1793244278740868608
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745.257897205,714.257897205,679,660.257897205,634,879,788,805.257897205,653,631,652,0.40098394263,-0.00541545019227,0.0498468390179,0.999999961835,8.43299748752e-05,-0.000259977328041,-4.03674027745e-05,1793244278757535232
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745.830872165,714.830872165,679,660.830872165,634,879,788,805.830872165,653,631,652,0.400982451817,-0.00541435084079,0.0498464804183,0.999999961101,8.68540176962e-05,-0.000261935679055,-4.0553770594e-05,1793244278774201856
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745.595734209,714.595734209,679,660.595734209,634,879,788,806,653,631,652.404265791,0.400982259562,-0.00541520122109,0.0498465055667,0.999999961169,8.63779624394e-05,-0.000261828491961,-4.05898276922e-05,1793244278790868736
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745.022165285,714.022165285,679,660.022165285,634,879,788,806,653,631,652.977834715,0.400982611131,-0.00541686813283,0.0498466914255,0.999999961572,8.4645491035e-05,-0.000260856274654,-4.05629359057e-05,1793244278807535616
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61baa0350c3a7f0af5e738668a6e8a792c8d6c05
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.575670057454,-0.000122266012981,1.04005078052,0.546241691005,0.00855342090112,1.03971727107
+397,6.616666667,pose2_to_pose3_retreat,0.575670003539,-0.000122262472641,1.04005076438,0.546241636889,0.00855342375038,1.03971725464
+398,6.633333333,pose2_to_pose3_retreat,0.575669960951,-0.000122259676147,1.04005075163,0.546241594143,0.00855342600099,1.03971724167
+399,6.650000000,pose2_to_pose3_retreat,0.575669957065,-0.000122259420988,1.04005075046,0.546241590243,0.00855342620635,1.03971724048
+400,6.666666667,pose2_to_pose3_retreat,0.575669869858,-0.000122253694587,1.04005072435,0.546241502711,0.00855343081495,1.03971721392
+401,6.683333333,pose2_to_pose3_retreat,0.575669849551,-0.000122252361106,1.04005071827,0.546241482328,0.00855343188813,1.03971720773
+402,6.700000000,pose2_to_pose3_retreat,0.57566965295,-0.000122246876417,1.04005071155,0.54624128555,0.00855343680121,1.03971720184
+403,6.716666667,pose2_to_pose3_retreat,0.575669555441,-0.000122256604234,1.04005079565,0.54624118888,0.00855343005638,1.03971728945
+404,6.733333333,pose2_to_pose3_retreat,0.575669549717,-0.000122257175217,1.04005080059,0.546241183206,0.00855342966049,1.03971729459
+405,6.750000000,pose2_to_pose3_retreat,0.575669456364,-0.000122266663512,1.04005088025,0.546241090662,0.008553423042,1.03971737752
+406,6.766666667,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343057,1.03971728237
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ab9db2f8d4f2799fa51a56820ce0f47bd477c02
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57cf44bf3f742556ae9ccd00037d72f3313221a55fea5922a26716d83ce0e1ad
+size 25821771
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26202cef2d19e707905fe0dd4c054f494925b189
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_03/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,765,746,714,679,661,634,879,787,805,653,631,652,0.400983158238,-0.00541651608123,0.049848439598,0.999999961902,8.6616347655e-05,-0.000258978943218,-4.02890002505e-05,1793244278951089408
+1,0.016666667,BASELINE,765,746,714,679,660.423171837,634.576828163,879,787.576828163,805.576828163,653,631,652,0.400983814203,-0.00541732005559,0.0498485513807,0.999999962357,8.44499921883e-05,-0.000257967083644,-4.00876695294e-05,1793244278967755776
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+3,0.050000000,BASELINE,765,745.272461994,714,679,660,634.272461994,879,787.272461994,805.272461994,653,631,652,0.400982992362,-0.00541601438548,0.0498484313271,0.999999962184,8.70695388731e-05,-0.000257780843362,-3.99968951325e-05,1793244279001089024
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+21,0.350000000,BASELINE,765,745.821473966,714,679.178526034,661,634,879.821473966,787.178526034,805,653,631,652,0.400985403245,-0.0054190916667,0.0498502039136,0.999999963016,8.40823866165e-05,-0.000255589174216,-3.96632725387e-05,1793244279301088768
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+24,0.400000000,BASELINE,765,745,714,679.067031675,661,634.932968325,879.932968325,788,805.932968325,653,631,652,0.400983051196,-0.0054180185705,0.0498488321661,0.999999962781,8.35772297209e-05,-0.00025662917294,-3.99246375395e-05,1793244279351088896
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+27,0.450000000,BASELINE,765,745.657125828,714,679.342874172,661,634,879,788,805.657125828,653,631,652,0.400984709192,-0.00541921750323,0.0498494555748,0.999999963401,8.2025310007e-05,-0.000254758342039,-3.96035729769e-05,1793244279401089280
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+29,0.483333333,BASELINE,765,745.168705971,714,679.831294029,661,634.831294029,879,787.168705971,805.168705971,653,631,652,0.400983681322,-0.00541879544254,0.0498495657961,0.999999963004,8.41345782564e-05,-0.000255577896056,-3.99103054353e-05,1793244279434422272
+30,0.500000000,BASELINE,765,745,714,680,660.585612284,634.585612284,879.414387716,787,805,653,631,652,0.400985266485,-0.0054180101734,0.049850665318,0.999999963359,8.50296579728e-05,-0.000253890801424,-3.98973907862e-05,1793244279451088640
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+36,0.600000000,BASELINE,765,745,714,679,660,634,878.104809093,787,805.104809093,653.104809093,630.895190907,652,0.400984774493,-0.00541638923868,0.0498501667749,0.999999962992,8.72725851759e-05,-0.000254608353295,-3.96825829219e-05,1793244279551088896
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+38,0.633333333,BASELINE,765,745.952243712,714,679.952243712,660.047756288,635,879,787,805.952243712,653,631,652,0.400984153904,-0.00541821317039,0.0498505181487,0.999999963408,8.14999859566e-05,-0.000254842065346,-3.99655640823e-05,1793244279584421888
+39,0.650000000,BASELINE,765,745.375547141,714,679.375547141,660.624452859,635,879,787,805.375547141,653,631,652,0.400986110678,-0.00541842773543,0.0498513596094,0.999999963733,8.30209695663e-05,-0.000253119492581,-3.96519140373e-05,1793244279601088512
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+42,0.700000000,BASELINE,765,745,714,679,660.624533112,634,879,788,805,653,631,652,0.400987385325,-0.00541936289732,0.0498520832367,0.99999996406,8.45931891979e-05,-0.000251324531691,-3.95084507189e-05,1793244279651088896
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+48,0.800000000,BASELINE,765,745,714,679,660.144461279,634,879,787.855538721,805.855538721,652.144461279,630.855538721,652,0.400984949686,-0.00541851089835,0.0498494231761,0.999999963089,8.37193925518e-05,-0.000255382990252,-3.99143481629e-05,1793244279751088896
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+50,0.833333333,BASELINE,765,745,714,679.016867508,660.983132492,634,879,788,806,653,631,652,0.400986502857,-0.00541743466079,0.0498504336997,0.999999963555,8.4411850482e-05,-0.000253383936835,-3.95147851362e-05,1793244279784422400
+51,0.850000000,BASELINE,765,745,714,679.591328529,660.408671471,634,879,788,806,653,631,652,0.400985154703,-0.00541820657799,0.0498504874973,0.999999963569,8.26538647912e-05,-0.000253913442165,-3.94699613556e-05,1793244279801088768
+52,0.866666667,BASELINE,765,745,714,679.83417707,660.16582293,634.16582293,879,787.83417707,806,653,631,652,0.40098446426,-0.00541863621148,0.0498505498819,0.99999996355,8.21166896181e-05,-0.000254174983603,-3.9387893818e-05,1793244279817755392
+53,0.883333333,BASELINE,765,745,714,679.259600426,660.740399574,634.740399574,879,787.259600426,806,653,631,652,0.400985395073,-0.00541822211515,0.0498506334331,0.999999963452,8.45888138992e-05,-0.000253775993705,-3.92140203789e-05,1793244279834422272
+54,0.900000000,BASELINE,765,745,714,679.324938157,660.675061843,635,879,787.324938157,806,653,631,652,0.400986077987,-0.00541822354816,0.0498509619881,0.99999996362,8.46553260021e-05,-0.000253068535768,-3.93685481061e-05,1793244279851088896
+55,0.916666667,BASELINE,765,745,714,679.917687247,660.082312753,635,879,787.917687247,806,653,631,652,0.400986556584,-0.00541856745652,0.0498514924727,0.999999964006,8.27391553449e-05,-0.000252106841434,-3.97937409545e-05,1793244279867755264
+56,0.933333333,BASELINE,765,745,714,680,660,634.501476252,879,788,806,653,631,652,0.400985198932,-0.00541674526696,0.0498504885197,0.999999963455,8.35560663739e-05,-0.00025398429145,-4.00090911993e-05,1793244279884422144
+57,0.950000000,BASELINE,765,745,714,680,660.07669103,634,879,788,806,653,631,652,0.400983857701,-0.00541522317539,0.0498494747501,0.999999962896,8.45141034145e-05,-0.000255839647437,-4.01396242591e-05,1793244279901088768
+58,0.966666667,BASELINE,765,745,714,680,660.650012905,634,879,788,806,653,631,652,0.400984540359,-0.00541790644076,0.0498499997853,0.999999963306,8.35319472088e-05,-0.000254587081291,-3.99400368325e-05,1793244279917755136
+59,0.983333333,BASELINE,765,745.229482084,714,679.770517916,660.770517916,634.229482084,879,787.770517916,806,653,631,652.229482084,0.40098521117,-0.00541934128774,0.0498504443527,0.999999963608,8.28791409585e-05,-0.000253647562803,-3.97294811279e-05,1793244279934421760
+60,1.000000000,BASELINE,765,745.818584771,714,679.181415229,660.181415229,634.818584771,879,787.181415229,806,653,631,652.818584771,0.400985863412,-0.00541881974284,0.0498507628196,0.999999963742,8.27424577659e-05,-0.000253198620054,-3.95017370407e-05,1793244279951088640
+61,1.016666667,BASELINE,765,745.600088975,714,679,660,635,879,787,805.600088975,653,631,652.600088975,0.400985222448,-0.00541816044117,0.0498504641142,0.999999963456,8.45034775057e-05,-0.000253738584051,-3.95550595523e-05,1793244279967755520
+62,1.033333333,BASELINE,765,745.02222316,714,679,660,635,879,787,805.02222316,653,631,652.02222316,0.400984006024,-0.00541743983969,0.0498498907756,0.999999962976,8.71089484099e-05,-0.000254718597688,-3.97334527668e-05,1793244279984422400
+63,1.050000000,BASELINE,765,745,714,679,660,634.447040438,879,787,805,653,630.447040438,652,0.400985124531,-0.00541712461606,0.0498501024014,0.999999963287,8.65794250745e-05,-0.00025365595457,-3.98460362603e-05,1793244280001089536
+64,1.066666667,BASELINE,765,745,714,679,660,634,879,787.128359682,805.128359682,653,630,652,0.400986139272,-0.00541696694152,0.0498504917744,0.999999963589,8.59156490059e-05,-0.00025268663859,-3.98809621787e-05,1793244280017756160
+65,1.083333333,BASELINE,765,745,714,679,660,634,879,787.704893513,805.704893513,653,630,652,0.40098646565,-0.00541730274797,0.0498513921435,0.999999963748,8.52209122517e-05,-0.000252328427755,-3.96539329067e-05,1793244280034422272
+66,1.100000000,BASELINE,765,745.288735121,714,679,660.288735121,634,879,787.711264879,805.711264879,653,630.288735121,652,0.400986870232,-0.00541809720639,0.0498524043613,0.999999964136,8.33867695689e-05,-0.000251432051492,-3.94450423845e-05,1793244280051088896
+67,1.116666667,BASELINE,765,745.880239673,714,679,660.880239673,634,879,787.119760327,805.119760327,653,630.880239673,652,0.400987356821,-0.00541937261008,0.0498535338642,0.999999964758,8.03578388403e-05,-0.000249971351661,-3.92551722813e-05,1793244280067755264
+68,1.133333333,BASELINE,765,745.53792695,714,679,661,634.46207305,879,787.46207305,805.46207305,653,631,652,0.400986596899,-0.00541855654493,0.0498525703353,0.999999964328,8.16681800271e-05,-0.000251218907097,-3.95489240744e-05,1793244280084421888
+69,1.150000000,BASELINE,765,745,714,679.041004173,661,635,879,787.958995827,805.958995827,653,631,652,0.400985702706,-0.00541735320302,0.0498512587986,0.999999963722,8.38632943897e-05,-0.000252845205111,-3.99102829269e-05,1793244280101088768
+70,1.166666667,BASELINE,765,745,714,679.614133055,661,635,879,787.385866945,805.385866945,653,631,652,0.400987172672,-0.00541801442363,0.0498523265788,0.999999964387,8.32445953862e-05,-0.000250464175903,-3.95556999827e-05,1793244280117755392
+71,1.183333333,BASELINE,765,745,713.81262203,680,660.81262203,634.81262203,879,787,805,653,631,652,0.400987679838,-0.0054187768176,0.0498524907845,0.999999964681,8.19438930707e-05,-0.000249742467233,-3.94040351427e-05,1793244280134422016
+72,1.200000000,BASELINE,765,745,713.239137916,680,660.239137916,634.239137916,879,787,805,653,631,652,0.400986203087,-0.00541974768684,0.0498507931082,0.999999964211,7.92378724611e-05,-0.000252439910612,-3.96704979737e-05,1793244280151088640
+73,1.216666667,BASELINE,764.652064477,745,713.347935523,679.652064477,660.347935523,634,879,787,805,653,631.347935523,652,0.400986314832,-0.00542020248524,0.0498510007304,0.999999964161,7.92731276846e-05,-0.000252613838584,-3.97424468633e-05,1793244280167755264
+74,1.233333333,BASELINE,764.05527144,745,713.94472856,679.05527144,660.94472856,634,879,787,805,653,631.94472856,652,0.400987562735,-0.00542028816889,0.0498525710989,0.999999964414,8.12690540726e-05,-0.000250982846431,-3.96752715234e-05,1793244280184421888
+75,1.250000000,BASELINE,764,745.520730431,714,679,661,634.520730431,879,787.520730431,805.520730431,653,631.479269569,652,0.400986734014,-0.00541973771428,0.049851969377,0.99999996425,8.18070639867e-05,-0.000251445542706,-3.9783677284e-05,1793244280201088512
+76,1.266666667,BASELINE,764.094797848,745.905202152,714,679,661,635,879,787.905202152,805.905202152,653,631,652,0.400985555852,-0.00541928200352,0.0498511552758,0.999999964045,8.1864214371e-05,-0.000252219100707,-3.99189033891e-05,1793244280217755136
+77,1.283333333,BASELINE,764.669815764,745.330184236,714,679,661,635,879,787.330184236,805.330184236,653,631,652,0.400983681217,-0.00541963515031,0.0498503883838,0.99999996385,8.02392671886e-05,-0.000253484872134,-4.00992110337e-05,1793244280234421760
+78,1.300000000,BASELINE,765,745,714,679,661,634.746676679,879,787.253323321,805.253323321,653,631,652,0.400983960266,-0.00541905321701,0.0498506622246,0.999999963906,8.11626466083e-05,-0.000252968580535,-4.00816816504e-05,1793244280251088384
+79,1.316666667,BASELINE,765,745,714,679,661,634.151719986,879,787.848280014,805.848280014,653,631,652,0.400987143786,-0.00541721022898,0.0498523396041,0.999999964289,8.5522714917e-05,-0.000250048987792,-3.97973480325e-05,1793244280267755008
+80,1.333333333,BASELINE,765.430381716,745,714,679,660.569618284,634,879,787.569618284,805.569618284,653,631,652,0.400987637798,-0.0054183463274,0.0498525059234,0.999999964357,8.40093194514e-05,-0.000250333852304,-3.95033808473e-05,1793244280284421888
+81,1.350000000,BASELINE,765.991980988,745.008019012,714,679.008019012,660.008019012,634.008019012,879,787,805.008019012,653,631,652,0.400987213968,-0.00542046075398,0.0498521584595,0.999999964316,8.05324108151e-05,-0.00025168396715,-3.92142962817e-05,1793244280301088512
+82,1.366666667,BASELINE,765.418866906,745.581133094,714,679.581133094,660.581133094,634.581133094,879,787,805.581133094,653,631,652,0.400986985886,-0.00541965677926,0.0498520543231,0.999999964539,8.03657735014e-05,-0.000250804715614,-3.95016666623e-05,1793244280317755136
+83,1.383333333,BASELINE,765,745.841996973,714,680,661,635,879,787,805.841996973,653,631,652,0.400986968368,-0.00541874343079,0.0498518805019,0.999999964639,8.07391611403e-05,-0.000250240756982,-3.97904333139e-05,1793244280334421760
+84,1.400000000,BASELINE,765,745.254927683,714,680,661,635,879,787,805.254927683,653,631,652,0.400987522645,-0.00541753307147,0.0498515174475,0.999999964404,8.25790174069e-05,-0.000250532994073,-4.00829916828e-05,1793244280351088640
+85,1.416666667,BASELINE,765,745,714,680,660.672140729,634.672140729,879,787.327859271,805,653,631,652.327859271,0.400986891631,-0.00541797642231,0.0498509832959,0.999999964134,8.25861729209e-05,-0.000251630553636,-3.99106313908e-05,1793244280367755264
+86,1.433333333,BASELINE,765,745,714,680,660.092640618,634.092640618,879,787.907359382,805,653,631,652.907359382,0.400985350872,-0.00541968904042,0.0498503178225,0.999999963837,8.1186681027e-05,-0.000253346219915,-3.93814334596e-05,1793244280384422144
+87,1.450000000,BASELINE,764.512008199,745,714,679.512008199,660.487991801,634.487991801,879,787.512008199,805.487991801,653,631,652.512008199,0.400986251104,-0.00541847417673,0.0498512061741,0.999999963987,8.38417249407e-05,-0.000251873868971,-3.94433058966e-05,1793244280401088768
+88,1.466666667,BASELINE,764.067861984,745,714,679,661,634.932138016,879,787.067861984,805.932138016,653,631,652,0.400987263939,-0.00541711323245,0.049852169329,0.999999964161,8.64336567076e-05,-0.00025027963189,-3.95880886328e-05,1793244280417755136
+89,1.483333333,BASELINE,764.640460394,745,714,679,661,634.359539606,879,787.640460394,805.359539606,653,631,652,0.400985659659,-0.00541880893062,0.049851489784,0.999999963965,8.28179620445e-05,-0.000252290713198,-3.95130149072e-05,1793244280434421760
+90,1.500000000,BASELINE,765,745,714,679.21870766,661,634.21870766,879,787.78129234,805,653,631,652,0.400984761077,-0.00541973998666,0.0498511066613,0.999999963858,8.14167187547e-05,-0.000253166624201,-3.95105029569e-05,1793244280451088384
+91,1.516666667,BASELINE,765,745,714,679.806487388,661,634.806487388,879,787.193512612,805,653,631,652,0.400985053372,-0.00541938069882,0.0498512237555,0.999999963923,8.37523918054e-05,-0.000252126920107,-3.96304399702e-05,1793244280467755008
+92,1.533333333,BASELINE,765,745,714,680,661,635,879,787.390331103,805.390331103,653,631,652,0.40098605557,-0.00541955127576,0.0498514715597,0.999999964094,8.29030569393e-05,-0.000251736105749,-3.96099174264e-05,1793244280484421632
+93,1.550000000,BASELINE,765,745,714,680,661,635,879,787.972243012,805.972243012,653,631,652,0.400987406201,-0.00541998191885,0.0498517835186,0.999999964312,8.04904689889e-05,-0.000251663776854,-3.95204550754e-05,1793244280501088256
+94,1.566666667,BASELINE,765,745,714,679.451930534,661,634.451930534,879,787.451930534,806,653,630.451930534,652,0.400986159798,-0.00541956538122,0.0498516938905,0.999999964047,8.23064399648e-05,-0.00025213235668,-3.9500122698e-05,1793244280517755904
+95,1.583333333,BASELINE,764.87698735,745,714,679.12301265,660.87698735,634,879,787.12301265,805.87698735,653,630.12301265,652,0.40098521925,-0.00541878422373,0.0498517497831,0.999999963834,8.40156143483e-05,-0.000252402445767,-3.9568390163e-05,1793244280534423296
+96,1.600000000,BASELINE,764.30415922,745,714,679.69584078,660.30415922,634,879,787.69584078,805.30415922,653,630.69584078,652,0.400985872778,-0.00541682494302,0.0498524113486,0.999999963913,8.45597762672e-05,-0.000251847650048,-3.99479754496e-05,1793244280551089920
+97,1.616666667,BASELINE,764.278477716,745.278477716,714,680,660.278477716,634.278477716,879,787.721522284,805,653,631,652,0.400986710986,-0.00541648649709,0.0498528412585,0.999999964151,8.45208765076e-05,-0.000250914749592,-3.99407880439e-05,1793244280567756544
+98,1.633333333,BASELINE,764.872219135,745.872219135,714,680,660.872219135,634.872219135,879,787.127780865,805,653,631,652,0.400987758269,-0.00541798299299,0.0498530089118,0.999999964568,8.38218945133e-05,-0.000249553798045,-3.94957365267e-05,1793244280584423168
+99,1.650000000,BASELINE,765,745.549412087,714,680,661,635,879.450587913,787,805.450587913,653,630.549412087,652,0.400987184114,-0.00541791327409,0.0498527313083,0.999999964414,8.40944496791e-05,-0.000250114582312,-3.92747752196e-05,1793244280601089280
+100,1.666666667,BASELINE,765,745,714,679.975074521,661,635,879.975074521,787.024925479,805.975074521,653,630.024925479,652,0.400986218417,-0.00541747881127,0.0498523370479,0.999999964123,8.45700023672e-05,-0.000251140072395,-3.91328115854e-05,1793244280617755136
+101,1.683333333,BASELINE,765,745,714,679.396640937,661,635,879.396640937,787.603359063,805.396640937,653,630.603359063,652,0.400986431998,-0.00541848246142,0.0498520637326,0.999999964281,8.36370366195e-05,-0.000250782232834,-3.93804651036e-05,1793244280634422016
+102,1.700000000,BASELINE,765,745,714,679,660.820694917,634.820694917,879.179305083,788,805,653,631,652,0.400986588946,-0.00541931348107,0.0498517949047,0.999999964413,8.2462251887e-05,-0.000250630116086,-3.94768111042e-05,1793244280651088640
+103,1.716666667,BASELINE,765,745,714,679,660.250176419,634.250176419,879.749823581,788,805,653,631,652,0.400986622329,-0.00541976784998,0.0498515358675,0.999999964487,8.0759859084e-05,-0.000250926851829,-3.92430296184e-05,1793244280667755520
+104,1.733333333,BASELINE,764.664329016,745,714,679,660.335670984,634,879.664329016,787.664329016,805,653,631,652,0.40098667295,-0.00542054757249,0.0498515948391,0.999999964539,7.9870354672e-05,-0.000251019439458,-3.91389134164e-05,1793244280684422400
+105,1.750000000,BASELINE,764.066510189,745,714,679,660.933489811,634,879.066510189,787.066510189,805,653,631,652,0.400986737035,-0.00542158138536,0.0498519021648,0.999999964576,7.96156887984e-05,-0.000250952594251,-3.91360614515e-05,1793244280701089280
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879,788,806,653,631,652,0.400984725252,-0.00541738168539,0.0498503998831,0.999999963785,8.28525069167e-05,-0.000252892523608,-4.01421326695e-05,1793244280731830272
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.425107602,661,634,879.574892398,787.425107602,805.425107602,653,631,652,0.400983838124,-0.00541917003258,0.0498498245595,0.999999963515,8.15417724595e-05,-0.000254414755242,-3.99182275657e-05,1793244280748497152
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.15373895,661,634,879.6925221,787,805.15373895,653,631,652,0.400983449659,-0.0054205642886,0.0498496724331,0.999999963451,8.05586362843e-05,-0.00025501202233,-3.97012523313e-05,1793244280765164032
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.74380801,661,634,878.51238398,787,805.74380801,653,631,652,0.400984476458,-0.00542084006564,0.0498507213923,0.999999963979,8.05052641539e-05,-0.000252984126258,-3.95039448706e-05,1793244280781830400
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.327646934,745,714,679.672353066,661,634,878.327646934,787,806,653,631,652,0.400985612571,-0.00542027034406,0.0498514028234,0.99999996424,8.12303379057e-05,-0.000251752780987,-3.92817682019e-05,1793244280798496768
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.906705288,745,714,679.093294712,661,634,878.906705288,787,806,653,631,652,0.400986832562,-0.00541905185092,0.0498518022413,0.999999964297,8.25527320215e-05,-0.000251132648542,-3.90405088001e-05,1793244280815163392
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.519387011,745,714,679,660.519387011,634.480612989,879,787,805.519387011,653,631,652,0.40098761593,-0.00541898097713,0.0498526901949,0.999999964573,8.19520975948e-05,-0.000250194277986,-3.92492434451e-05,1793244280831830272
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.944890734,745,714,679,660,634.944890734,879,787,805.055109266,652.944890734,631,651.944890734,0.400988005362,-0.00541912768976,0.0498534551297,0.999999964781,8.13480915211e-05,-0.000249522028836,-3.94939207433e-05,1793244280848497152
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.355085903,745,714,679,660,634.355085903,879,787,805.644914097,652.355085903,631,651.355085903,0.400985386274,-0.00541924701379,0.0498521161258,0.999999963919,8.4294808608e-05,-0.00025202482815,-3.92487961496e-05,1793244280865163776
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.230623795,745,714,679,660,634,879,787,806,652.230623795,630.769376205,651.230623795,0.400985733538,-0.00541926802761,0.0498519737798,0.999999963706,8.55573378372e-05,-0.000252450803851,-3.92066792282e-05,1793244280881830400
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.810138267,745,714,679,660,634,879,787,806,652.810138267,630.189861733,651.810138267,0.400990568337,-0.00541914031646,0.0498536417539,0.999999964486,8.42720054992e-05,-0.000249734933547,-3.94716749773e-05,1793244280898496768
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.388459314,879.388459314,787,806,653,630.388459314,652,0.401010795273,-0.00542047571952,0.0498618165124,0.999999968497,8.22319150719e-05,-0.000233939771862,-3.89474346373e-05,1793244280915163392
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.966198907,879.966198907,787,806,653,630.966198907,652,0.401038522164,-0.00542252403808,0.0498731617599,0.999999973667,7.98240618615e-05,-0.000211771608049,-3.80386319568e-05,1793244280931830016
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.461833791,879.461833791,787,805.461833791,653,631,651.461833791,0.40109193584,-0.00542416333438,0.0498928367331,0.999999981247,7.89592719762e-05,-0.000172933287249,-3.69428187338e-05,1793244280948496384
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.113614569,714,679.113614569,660.113614569,634.113614569,879,787,805.113614569,653,630.886385431,651.113614569,0.401149376467,-0.00542582848666,0.0499122708097,0.999999987127,7.84320963985e-05,-0.000135350584642,-3.5708408695e-05,1793244280965163264
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.705217361,714,679.705217361,660.705217361,634.705217361,879,787,805.705217361,653,630.294782639,651.705217361,0.401217043484,-0.00542770935109,0.0499285137321,0.999999990541,7.89218881315e-05,-0.000107408552323,-3.39397985362e-05,1793244280981830400
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.709306399,714,680,661,634.709306399,879,787,806,653,630.290693601,652,0.401289279039,-0.0054297828557,0.0499405624855,0.999999992322,8.01295800011e-05,-8.87987707263e-05,-3.24122611517e-05,1793244280998497280
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.12991469,714,680,661,634.12991469,879,787,806,653,630.87008531,652,0.401366051768,-0.00543204767797,0.0499484458601,0.999999992993,8.20502439225e-05,-7.94571794344e-05,-3.11241417972e-05,1793244281015163904
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.552246575,745,714,679.552246575,661,634.447753425,879.447753425,787,805.552246575,653,630.552246575,652,0.401455607958,-0.00543552286219,0.0499499858562,0.999999993391,7.94730416612e-05,-7.72910409038e-05,-3.0455699027e-05,1793244281031830272
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.025271162,745,714,679,660.974728838,634.974728838,879.974728838,787,805.025271162,653,630.025271162,652,0.401549390346,-0.00543933395121,0.0499495555967,0.999999993686,7.5637402705e-05,-7.75188133096e-05,-2.99607953796e-05,1793244281048496640
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.610495584,745,714,679,660.389504416,634.389504416,879.389504416,787,805.610495584,653,630.610495584,652,0.401654945854,-0.00544283632923,0.0499460942452,0.999999993327,7.27236389942e-05,-8.48360245204e-05,-2.93424895479e-05,1793244281065163264
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.193750203,634,879,787.193750203,806,653,631,652,0.401773517379,-0.00544670898316,0.0499451677559,0.999999993259,7.00654537401e-05,-8.8100007665e-05,-2.84672589284e-05,1793244281081829632
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.773084628,634,879,787.773084628,806,653,631,652,0.401917992198,-0.00545131852647,0.049949285922,0.999999993858,6.79158980908e-05,-8.32976201066e-05,-2.70807197877e-05,1793244281098496512
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.349868459,879,787.650131541,805.650131541,653,631,652,0.402076830719,-0.00545737139989,0.0499505537842,0.999999993978,6.47665643562e-05,-8.47893640975e-05,-2.57089871458e-05,1793244281115163392
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.92501007,879,787.07498993,805.07498993,653,631,652,0.402244917746,-0.00546435360453,0.0499499863943,0.999999993765,6.09734937242e-05,-9.03337703294e-05,-2.43467879687e-05,1793244281131830272
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.500288138,714,679,660.499711862,635,879,787,805,653,631,652,0.402450084997,-0.00547162772309,0.0499508823111,0.999999994189,5.82685713382e-05,-8.77909139992e-05,-2.27958814977e-05,1793244281148497152
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.922268527,714,679,660.077731473,634.922268527,879,787,805,653,630.922268527,652,0.40266353886,-0.00547892180138,0.0499517074592,0.999999994608,5.56078137917e-05,-8.51069157258e-05,-2.11998725285e-05,1793244281165164032
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.330645365,714,679,660.669354635,634.330645365,879,787,805,653,630.330645365,652,0.402895021407,-0.00548605848432,0.0499506142692,0.999999994444,5.21604250686e-05,-8.9506174627e-05,-1.94927380114e-05,1793244281181830400
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879,787.255298881,805.255298881,653,630.255298881,652,0.403153271307,-0.00549391848377,0.0499547623034,0.999999995208,4.91624262115e-05,-8.28366087734e-05,-1.74583008003e-05,1793244281198496768
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879,787.834048199,805.834048199,653,630.834048199,652,0.403445434038,-0.0055026948873,0.0499655506969,0.999999996864,4.67337811897e-05,-6.21434159965e-05,-1.50091881559e-05,1793244281215163392
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.591043915,634.408956085,879,787.591043915,806,653,631,652,0.403765003533,-0.0055130505081,0.0499753169565,0.999999998184,4.14401367064e-05,-4.19928319221e-05,-1.23110945166e-05,1793244281231830016
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.017680364,634.982319636,879,787.017680364,806,653,631,652,0.404095591017,-0.00552404100153,0.0499846723003,0.999999999099,3.49947126143e-05,-2.20603864804e-05,-9.51290623911e-06,1793244281248496384
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.559221002,660,634.440778998,879,787.559221002,806,653,631,652,0.404466205463,-0.00553249794118,0.0499892446797,0.999999999259,3.52468013442e-05,-1.4121617169e-05,-6.35450033866e-06,1793244281265163264
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.139727088,634,879,787.860272912,805.860272912,653,631,652,0.404843457382,-0.00553860832759,0.0499927593071,0.999999999216,3.87860760656e-05,-7.39340580197e-06,-3.10690013774e-06,1793244281281829888
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.731531693,634,879,787.268468307,805.268468307,653,631,652,0.405238063826,-0.00553738740973,0.0499933440209,0.999999998628,5.22713568371e-05,-3.3472106834e-06,3.92199702689e-07,1793244281298496768
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.316489711,714,679.683510289,661,634,879,787,805,653,631,652,0.405635464278,-0.00552839527733,0.0499818966129,0.999999997025,7.30807843437e-05,-2.45922361847e-05,1.97204106877e-06,1793244281315163904
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.895763025,714,679.104236975,661,634,879,787,805,653,631,652,0.406035184658,-0.00551295065144,0.0499604588508,0.999999992767,9.99715030633e-05,-6.683673719e-05,1.95830918613e-06,1793244281331830784
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.529837072,746,714,679,660.529837072,634,879,787,805,653,631,652,0.406481755596,-0.0055119248605,0.0499437935579,0.999999989461,0.000109899876745,-9.47880005161e-05,4.02930333506e-06,1793244281348497152
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,745.955262939,714,679,660,634,879,787,805.044737061,653,630.955262939,652,0.406943114879,-0.00551447299818,0.0499291078184,0.999999986265,0.000116099201123,-0.000118094162196,6.64859585641e-06,1793244281365163520
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,745.365538816,714,679,660,634,879,787,805.634461184,653,630.365538816,652,0.407459390419,-0.00552201589563,0.0499257797496,0.999999984911,0.000122213125044,-0.000123020818298,1.03746014818e-05,1793244281381830400
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.220269852,745.220269852,714,679,660,634.220269852,879,787,806,653,630.220269852,652,0.408006906931,-0.00552784293748,0.0499336055512,0.999999985944,0.000128843498076,-0.000106303461104,1.45014482946e-05,1793244281398497280
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.799694252,745.799694252,714,679,660,634.799694252,879,787,806,653,630.799694252,652,0.408605362461,-0.00553087224084,0.0499596179693,0.999999989049,0.000136315951471,-5.4295092098e-05,1.92818747059e-05,1793244281415164416
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.625366932,714,679.374633068,660.374633068,634.625366932,879.374633068,787,806,652.625366932,630.625366932,652,0.409215087267,-0.00553246135187,0.0499829746062,0.999999988673,0.000147734120974,-1.51933018151e-05,2.4440879868e-05,1793244281431831040
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.052798074,714,679.947201926,660.947201926,634.052798074,879.947201926,787,806,652.052798074,630.052798074,652,0.409830766128,-0.00553328954329,0.0500049280717,0.999999986411,0.00016123699258,1.70893507317e-05,2.97999053503e-05,1793244281448497408
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.476732516,745,714,679.476732516,661,634,880,787,805.476732516,652.523267484,630,652,0.410438076785,-0.0055320706081,0.0499965008207,0.999999984479,0.00017300618399,-6.16551172718e-06,3.27520753533e-05,1793244281465163776
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.102558401,745,714,679,660.897441599,634.102558401,880,787,805,652.897441599,630,652,0.411048047946,-0.00553067561922,0.0499812300092,0.999999981408,0.000184903221041,-4.17091913344e-05,3.54198937127e-05,1793244281481830144
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.695574942,745,714,679,660.304425058,634.695574942,880,787,805,652.304425058,630,652,0.411674807142,-0.00552943314799,0.0499479899553,0.999999973685,0.000198253824093,-0.000109041999499,3.78970704615e-05,1793244281498497024
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.718434152,679,660,634.718434152,880,787,805,652.281565848,630.281565848,652,0.412361185307,-0.00552885143752,0.0499400249232,0.999999971321,0.000204453984043,-0.00011838248908,3.92733065436e-05,1793244281515163648
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,713.139854269,679,660,634.139854269,880,787,805,652.860145731,630.860145731,652,0.41311045353,-0.00552896674048,0.04995872163,0.999999976379,0.00020311139188,-6.65489042633e-05,3.94881989218e-05,1793244281531830016
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,713.435137136,679.435137136,660.870274271,634,880,787,805.435137136,653,631,651.564862864,0.413857447529,-0.0055378102793,0.0499741997548,0.999999988907,0.000140858281477,-3.92660712061e-05,2.83366015861e-05,1793244281548496896
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.990782844,661.981565689,634,880,787.009217156,806,652.990782844,631,651.009217156,0.414603543754,-0.00554927710728,0.0499879169436,0.999999997843,6.0693173054e-05,-2.09710132287e-05,1.38378436854e-05,1793244281565163776
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.402081488,660.804162976,634,880,787.597918512,806,652.402081488,631,651.597918512,0.41533877812,-0.005550744824,0.0499554286199,0.999999994173,7.51275828948e-05,-7.57081898369e-05,1.6702494394e-05,1793244281581830656
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787.816270447,805.816270447,652,631,652,0.416092806795,-0.00555063767015,0.0499322730816,0.999999989531,8.80199203504e-05,-0.000113226822318,1.92419148e-05,1793244281598497280
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787.236686765,805.236686765,652,631,652,0.416887328664,-0.00554713738204,0.0499292254786,0.999999988558,9.75897885016e-05,-0.000113647273278,2.10806108543e-05,1793244281615163904
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.341952334,634,880.341952334,787.341952334,805.341952334,652,631,652,0.417719943773,-0.00554713030327,0.0499491621816,0.999999991547,0.000102281171591,-7.67462886237e-05,2.35365289903e-05,1793244281631830272
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.919939406,634,880.919939406,787.919939406,805.919939406,652,631,652,0.418578852948,-0.00554953443425,0.0499849639456,0.999999994185,0.000103605149143,-1.40839493367e-05,2.64184883809e-05,1793244281648496640
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.503394003,661,634,879.993211994,788,805.496605997,652,631,652,0.419366526654,-0.00554879202031,0.0499798560796,0.999999993507,0.000104505278343,-3.62581233986e-05,2.74019873864e-05,1793244281665163008
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.913049815,660.913049815,634,879.086950185,787.913049815,805.086950185,652,631,652,0.420161997399,-0.00554791703187,0.0499700176359,0.999999992069,0.000105381130205,-6.30397045234e-05,2.79925298983e-05,1793244281681829632
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.333895264,660.333895264,634,879.666104736,787.333895264,805.666104736,652,631,652,0.421066442317,-0.00554915550169,0.0499706357524,0.999999993186,0.00010650533329,-3.86859897535e-05,2.80865844342e-05,1793244281698496512
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.24526752,634,880,787,806,652,631,652,0.421967547029,-0.00555128275738,0.04997821567,0.999999994084,0.000104309430393,-1.14525584956e-05,2.86350729151e-05,1793244281715163392
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.824441593,634,880,787,806,652,631,652,0.422864104522,-0.00555462000399,0.0499952733655,0.9999999946,9.75935441259e-05,1.97013146292e-05,2.98022265796e-05,1793244281731830272
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.400088328,745,714,679,660.599911672,634,880,787,806,652,630.599911672,652,0.423730658759,-0.00555636552143,0.0499858239645,0.999999995041,9.49723446215e-05,2.76026248558e-06,2.98479584678e-05,1793244281748497664
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.974200764,745,714,679,660.025799236,634,880,787,806,652,630.025799236,652,0.424584162601,-0.00555741869344,0.0499648449239,0.999999994521,9.41321876613e-05,-3.51003631317e-05,2.94059119112e-05,1793244281765165056
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.437847747,745,714,679,660,634,880,787,806,652,630.562152253,652,0.425476708451,-0.00555732346953,0.0499787229177,0.99999999523,9.23707026626e-05,-9.94736787645e-06,3.01501834977e-05,1793244281781830656
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.148258935,634,880,787,806,652,630.851741065,652,0.426374037137,-0.00555705583226,0.0499923870011,0.999999995241,9.19595624781e-05,8.81874992999e-06,3.13624755312e-05,1793244281798496768
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.727116395,634,880,787,806,652,630.272883605,652,0.427279921553,-0.00555644437867,0.0500006663747,0.99999999486,9.55962263088e-05,4.23811794736e-07,3.37719533409e-05,1793244281815163136
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.693996087,634,880,787,806,652,630.306003913,651.693996087,0.428150360155,-0.00555549497644,0.0499831849622,0.99999999401,9.73134235106e-05,-3.67436428179e-05,3.40543371092e-05,1793244281831830016
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.115081792,634,880,787,806,652,630.884918208,651.115081792,0.428989186269,-0.00555424417387,0.0499427287255,0.999999989781,9.73187389464e-05,-9.95719402329e-05,3.24396663182e-05,1793244281848496896
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.459689637,660,634,880,787,806,652,631,651.459689637,0.429896950684,-0.0055570598134,0.0499470515825,0.999999991904,9.30657355724e-05,-8.03880954847e-05,3.26851418862e-05,1793244281865164032
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.965651888,660.034348112,634,880,787,806,652,631,652,0.430816587076,-0.00556056136935,0.0499608869909,0.999999994545,8.82090571096e-05,-4.49044216999e-05,3.33639713298e-05,1793244281881830912
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.376207952,660.623792048,634,880,787,806,652,631,652,0.431651662959,-0.00555884277356,0.0499489034386,0.999999992524,9.06709913234e-05,-7.48442245014e-05,3.35875760992e-05,1793244281898497280
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.209599635,745,714,679.209599635,660.790400365,634,880,787,806,652,631,651.790400365,0.432508917487,-0.00555868818217,0.0499403654243,0.999999991153,9.00884721927e-05,-9.19073794203e-05,3.36202861997e-05,1793244281915163648
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.788991781,745,714,679.788991781,660.211008219,634,880,787,806,652,631,651.211008219,0.433405301498,-0.00556129293267,0.0499379063029,0.999999992186,8.41346844841e-05,-8.62525230395e-05,3.33162046732e-05,1793244281931830016
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.272291486,745.363854257,714,680.363854257,660.363854257,634,880,787.363854257,806,652,631,651.363854257,0.434285837023,-0.00556373535584,0.0499563248529,0.999999994275,8.30678739419e-05,-5.75818497391e-05,3.5134966771e-05,1793244281948496896
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.12775574,745.93612213,714,680.93612213,660.93612213,634,880,787.93612213,806,652,631,651.93612213,0.435157294572,-0.0055660847987,0.0499867020126,0.999999995552,8.48002959123e-05,-1.57278497965e-05,3.81696813951e-05,1793244281965163520
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.514252313,745.485747687,714,680.485747687,660.485747687,634,880,787.485747687,806,652,631,651.485747687,0.435951712858,-0.00556168284661,0.0499735559437,0.999999993315,9.22705695745e-05,-5.77461297945e-05,3.90037956592e-05,1793244281981829888
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.094943114,660.094943114,634,880,786.905056886,806,652,631,651.094943114,0.436740696301,-0.00555747944611,0.0499572121808,0.99999998939,9.80580661251e-05,-0.000100325886809,3.92398765807e-05,1793244281998496512
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.685148817,660.685148817,634,880,786.314851183,806,652,631,651.685148817,0.437551823084,-0.00555873683131,0.0499527142972,0.999999990989,9.13067486134e-05,-9.08622375116e-05,3.77987051618e-05,1793244282015164160
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680.729577127,661.270422873,634,880,786.270422873,806,651.729577127,631,652,0.43837698231,-0.00556135885657,0.0499602288501,0.999999993616,8.27563165975e-05,-6.75737310589e-05,3.67807962344e-05,1793244282031830784
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680.149942152,661.850057848,634,880,786.850057848,806,651.149942152,631,652,0.439218186725,-0.00556554126465,0.0499814788937,0.999999996335,7.21487069756e-05,-2.84773421192e-05,3.62468622735e-05,1793244282048496896
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.425595333,745.425595333,714,680,661.148809334,634,880,787,806,651.425595333,631,652,0.439970934718,-0.00556688710925,0.0499691271347,0.999999995714,7.2637086034e-05,-4.4398713154e-05,3.63942597942e-05,1793244282065163264
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.999703037,745.999703037,714,680,660.000593926,634,880,787,806,651.999703037,631,652,0.440692815728,-0.00556724312951,0.049945049959,0.999999993198,7.69974323599e-05,-7.95186420228e-05,3.67794092736e-05,1793244282081829888
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.412190572,745.412190572,714,680,660,634,880,787,806,652,631,652,0.441385196517,-0.00556648436631,0.0499356958351,0.999999991247,8.00299742533e-05,-9.84307219445e-05,3.7580390829e-05,1793244282098496512
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.826724169,880,787,806,652,631,652,0.442081109864,-0.00556779231379,0.0499311686516,0.99999999025,8.17451752394e-05,-0.000106349053415,3.88184232399e-05,1793244282115163392
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.247460156,880,787,806,652,631,652,0.44278533596,-0.00557394395072,0.0499379332157,0.999999992007,8.03754350847e-05,-8.85285048516e-05,4.10799690916e-05,1793244282131830016
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.669405167,633.330594833,880,787,806,652,631,652,0.443437374591,-0.00557456931602,0.0499219676018,0.999999988719,8.40342795646e-05,-0.000117274534249,4.18003131852e-05,1793244282148496896
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.092251904,633.907748096,880,787,806,652,631,652,0.444050491642,-0.00557107317415,0.0498890497653,0.999999978628,9.14434545013e-05,-0.000180750031264,4.13712250038e-05,1793244282165164288
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.482906546,633.517093454,880,787,806,652,631,652,0.444624860527,-0.00556734321797,0.0498478051655,0.999999965005,9.69126881252e-05,-0.000242798491181,4.05706296569e-05,1793244282181831168
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.059240711,714,680,660,633,880,786.940759289,806,652,631,651.940759289,0.445193093907,-0.00556355721258,0.0498094195661,0.999999950104,0.000101986282522,-0.00029633093296,3.9724567305e-05,1793244282198497792
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.649515959,714,680,660,633,880,786.350484041,806,652,631,651.350484041,0.445772409408,-0.00555966752642,0.0498108624858,0.999999955453,0.000106821726313,-0.000275959340445,3.91045047801e-05,1793244282215164160
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.764587262,714,680,659.764587262,632.764587262,880,786.235412738,806,652,631,651.235412738,0.446340712899,-0.00555864831774,0.0498139474789,0.999999959748,0.000108347621431,-0.000259321319705,3.89528876956e-05,1793244282231830784
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.185090199,714,680,659.185090199,632.185090199,880,786.814909801,806,652,631,651.814909801,0.446892920951,-0.00556182466105,0.0498194325619,0.999999962917,0.000105036208589,-0.000248140369736,3.94859606204e-05,1793244282248497408
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,880.391909126,786.608090874,806.391909126,651.608090874,631,651.608090874,0.447378957242,-0.00556571600864,0.0497928686156,0.999999955563,6.53635635703e-05,-0.000289498472515,2.8143138938e-05,1793244282265163520
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,880.967736344,786.032263656,806.967736344,651.032263656,631,651.032263656,0.447833939996,-0.00556994289915,0.0497512644578,0.999999936705,8.6270424493e-06,-0.000355512498372,1.12271070405e-05,1793244282281829888
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632,880.459091134,786,807,651.540908866,631,651,0.448263774117,-0.00557423336733,0.0497309205982,0.999999925123,6.58793068272e-06,-0.000386743321476,1.18826038562e-05,1793244282298497536
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680.117825797,659,632,880,786,806.882174203,652,630.882174203,651.117825797,0.448690585592,-0.00557654516093,0.0497174449753,0.999999916944,9.87065831303e-06,-0.000407222653106,1.35986276442e-05,1793244282315164928
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680.71046714,659,632,880,786,806.28953286,652,630.28953286,651.71046714,0.44911123188,-0.00557086806636,0.0497265617278,0.999999922545,2.15161697536e-05,-0.000392695414443,1.53853938299e-05,1793244282331831552
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,631.717693425,880.282306575,786,806,652,630,652,0.44951406055,-0.00556779755642,0.0497369010368,0.999999927741,3.13197594503e-05,-0.000378458771741,1.75120587001e-05,1793244282348498176
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,631.165724257,880.834275743,786,806,652,630,652,0.449899869594,-0.00556721688743,0.0497484081459,0.999999932596,3.93639229141e-05,-0.000364499710649,1.99633987254e-05,1793244282365164544
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.422174408,745,714,681,658.577825592,631,880.577825592,786,806,652,630,651.577825592,0.450261275057,-0.00557053854886,0.0497516550338,0.999999933463,3.97542104967e-05,-0.000361964286813,2.17956286069e-05,1793244282381831168
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.975897481,745,714,680.975897481,658.024102519,631,880,786,806.024102519,652,630,651,0.45060871172,-0.00557542634185,0.0497510795586,0.999999932415,3.69207047876e-05,-0.000365050483459,2.33394982835e-05,1793244282398497792
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.405403701,745,714,680.405403701,658.594596299,631,880,786,806.594596299,652,630,651,0.450876849134,-0.00557786078673,0.0497441976766,0.999999925169,3.54523213668e-05,-0.000384461759826,2.43682826894e-05,1793244282415164160
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.173222533,714.173222533,680,658.826777467,631,879.826777467,785.826777467,806.826777467,652,630,651,0.451138759858,-0.00557940997421,0.049734769723,0.999999916518,3.51855984972e-05,-0.000406305526549,2.53224468814e-05,1793244282431831040
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.771819152,714.771819152,680,658.228180848,631,879.228180848,785.228180848,806.228180848,652,630,651,0.451385379968,-0.00557878527809,0.0497190895072,0.999999904711,3.78697347959e-05,-0.000434122637912,2.60933697254e-05,1793244282448497664
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.643407903,715,680.356592097,658.356592097,631,879.356592097,785.356592097,806,652,630,651.356592097,0.451609644785,-0.0055754735745,0.0497050758724,0.99999989273,4.33904157284e-05,-0.000460412549145,2.60371077246e-05,1793244282465164288
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.06715046,715,680.93284954,658.93284954,631,879.93284954,785.93284954,806,652,630,651.93284954,0.451820138476,-0.00557050663948,0.0496920888716,0.99999988041,5.06584450985e-05,-0.000485761687928,2.54712892275e-05,1793244282481831168
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,681,658.492454196,630.492454196,880,786,806.507545804,652,629.492454196,652,0.452015377618,-0.0055680441955,0.0496857522562,0.999999875833,5.37411203743e-05,-0.000494768929,2.55023344092e-05,1793244282498497280
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.915974515,681,658,630,880,785.915974515,806.915974515,652,629.084025485,652,0.452204889723,-0.00556638240725,0.0496816292033,0.999999873235,5.57572324576e-05,-0.00049975896439,2.57354373629e-05,1793244282515163392
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714.327552832,681,658,630,880,785.327552832,806.327552832,652,629.672447168,652,0.452372101247,-0.00556754388226,0.0496855283354,0.999999876341,5.4684728888e-05,-0.000493573211296,2.67088914578e-05,1793244282531830016
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.741923567,745,714.258076433,681,658,630,880.258076433,785.258076433,806,652,630,652,0.45252647376,-0.00556721130264,0.0496877039836,0.999999878702,5.55198124313e-05,-0.000488645562048,2.71847596481e-05,1793244282548496896
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.15980056,745,714.84019944,681,658,630,880.84019944,785.84019944,806,652,630,652,0.452664725313,-0.00556500275434,0.0496877155864,0.999999880152,5.87501053187e-05,-0.000485297616665,2.70358477283e-05,1793244282565163776
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.41578886,745.41578886,715,681,658.41578886,630,880.58421114,785.58421114,806.41578886,652,630,652,0.452779550459,-0.00556387336597,0.049686199475,0.999999879466,5.99759445545e-05,-0.000486567500099,2.68839852224e-05,1793244282581830400
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.988906056,745.988906056,715,681,658.988906056,630,880.011093944,785.011093944,806.988906056,652,630,652,0.452885511398,-0.00556315231575,0.0496841052992,0.999999877969,6.04433281965e-05,-0.000489584701513,2.67310062618e-05,1793244282598497024
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.434859923,714.434859923,681,658.434859923,630,880,785,806.434859923,652,630,651.434859923,0.452972047399,-0.00556473168615,0.0496822366563,0.999999876029,5.84735370971e-05,-0.000493772536375,2.66632052312e-05,1793244282615164160
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785.144713514,806,652,630,651.144713514,0.453051666545,-0.00556548531994,0.0496799454015,0.999999873965,5.72135429004e-05,-0.000498095715425,2.642115131e-05,1793244282631831296
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785.734365094,806,652,630,651.734365094,0.453111197936,-0.00556356051868,0.049676341091,0.999999871587,5.82838137792e-05,-0.000502763978147,2.56381676754e-05,1793244282648497408
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.68188876,658,630,880,785.68188876,806.31811124,652,629.68188876,652,0.453162971964,-0.0055635961106,0.0496732969153,0.999999869206,5.79009454616e-05,-0.000507540350928,2.52738503551e-05,1793244282665163776
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.102983936,658,630,880,785.102983936,806.897016064,652,629.102983936,652,0.453208386366,-0.00556523886955,0.0496707119484,0.999999866815,5.63267663829e-05,-0.000512405354875,2.52527634778e-05,1793244282681830400
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.472682153,658,630,880,785.472682153,807,652,629.472682153,651.527317847,0.453242763542,-0.0055655004681,0.0496689024772,0.999999865766,5.47356903952e-05,-0.000514622755824,2.52176201363e-05,1793244282698497024
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.048726083,714,680.951273917,658,630,880,785.951273917,807,652,630,651.048726083,0.453273762244,-0.0055653858466,0.0496671816947,0.99999986487,5.34512429669e-05,-0.000516497503491,2.51656431374e-05,1793244282715163392
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.636708135,714,680.363291865,658,630,880,785.363291865,807,652,630,651.636708135,0.453293802975,-0.00556441515863,0.0496645852832,0.999999862464,5.56007449779e-05,-0.000520920541515,2.4961028843e-05,1793244282731830272
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.778679598,714,680,658,630,880,785,807,652,629.778679598,651.778679598,0.453311037437,-0.00556363640973,0.0496625132618,0.999999860436,5.63974761114e-05,-0.00052472201901,2.4770173419e-05,1793244282748497408
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.199515824,714,680,658,630,880,785,807,652,629.199515824,651.199515824,0.453323734563,-0.00556316799883,0.0496612891042,0.999999859047,5.50069704845e-05,-0.000527518521958,2.46015641296e-05,1793244282765164544
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.378657823,658.378657823,630,880.378657823,785,807,652,629.378657823,651.378657823,0.453332553671,-0.00556355454538,0.0496603646472,0.999999858215,5.37730130347e-05,-0.0005292171998,2.46478208989e-05,1793244282781831168
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.956311112,658.956311112,630,880.956311112,785,807,652,629.956311112,651.956311112,0.453339334768,-0.00556439039643,0.0496595976913,0.999999857678,5.26213261525e-05,-0.000530338939207,2.48069959043e-05,1793244282798497280
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.529963061,680.470036939,658.470036939,629.470036939,880.470036939,785,807,652,629.470036939,652,0.453342395362,-0.00556289744703,0.0496579557301,0.999999856298,5.54183279417e-05,-0.000532667050216,2.44856721852e-05,1793244282815163904
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.106572308,714.893427692,680,658,629.106572308,880,785,806.893427692,652,629,651.893427692,0.453344650456,-0.00556148802186,0.0496561792413,0.999999854873,5.77393995783e-05,-0.000535099990201,2.42350309908e-05,1793244282831830272
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.698129199,714.301870801,680,658,629.698129199,880,785,806.301870801,652,629,651.301870801,0.453344625219,-0.00556132580624,0.0496541163522,0.999999853623,5.64243648656e-05,-0.000537560797557,2.44849587812e-05,1793244282848496896
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.716275493,746,714,680,658,630,880,785,806.283724507,652,629.283724507,651,0.453345827753,-0.00556084761926,0.0496534124611,0.999999853385,5.6088792244e-05,-0.000538046393391,2.43109037583e-05,1793244282865163520
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.136892451,746,714,680,658,630,880,785,806.863107549,652,629.863107549,651,0.4533483097,-0.00556004017051,0.0496541247301,0.999999854206,5.6773879712e-05,-0.000536473696608,2.36950323771e-05,1793244282881830400
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745.560946653,714,680.439053347,658,629.560946653,880,785.439053347,807,652,629.560946653,651.439053347,0.453348827534,-0.00556070378371,0.0496540615471,0.999999854105,5.5863778818e-05,-0.000536767100543,2.34449960478e-05,1793244282898497280
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.01424912,745,714,681,658,629.01424912,880,785.98575088,807,652,629.01424912,651.98575088,0.453348752396,-0.00556177528584,0.0496537534212,0.999999853719,5.4513906407e-05,-0.000537630659869,2.33124693501e-05,1793244282915164416
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.602059363,745,714,681,658,629.602059363,880,785.397940637,807,652,629.602059363,651.397940637,0.453349267355,-0.00556094644988,0.049653242312,0.999999853364,5.53267429276e-05,-0.0005382061532,2.3354313868e-05,1793244282931830528
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.187080606,714,680.812919394,658,629.812919394,880,785,807,652,629.812919394,651.187080606,0.453349486333,-0.00556027392094,0.0496529162176,0.999999853019,5.62063310759e-05,-0.000538757034444,2.33265989807e-05,1793244282948496640
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.766256456,714,680.233743544,658,629.233743544,880,785,807,652,629.233743544,651.766256456,0.453349084975,-0.00555992899008,0.0496529778888,0.999999852696,5.72258214143e-05,-0.000539256332104,2.3153097136e-05,1793244282965163264
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.656419553,714,680.343580447,658,629.343580447,880,785,806.656419553,652,629,651.656419553,0.45334851026,-0.00556013936694,0.0496525322037,0.999999852108,5.77279587644e-05,-0.000540277854517,2.34722203378e-05,1793244282981829888
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.080348681,714,680.919651319,658,629.919651319,880,785,806.080348681,652,629,651.080348681,0.453347818241,-0.00556072550365,0.0496517432061,0.99999985134,5.78800190633e-05,-0.000541652750493,2.41246879119e-05,1793244282998496512
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.505517724,658,629.505517724,880,785,806.494482276,652,629.494482276,651.494482276,0.45334787503,-0.00556146672654,0.0496511522436,0.999999851029,5.53635404064e-05,-0.000542494041276,2.40174819532e-05,1793244283015163904
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.928915886,745,714,680,658.071084114,629.071084114,880,785.071084114,807,652,629.928915886,651.928915886,0.453348386094,-0.00556192086191,0.0496508086454,0.999999850977,5.30089688139e-05,-0.00054283747968,2.37251995875e-05,1793244283031831296
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.337891362,745,714,680,658.662108638,629.662108638,880,785.662108638,807,652,629.337891362,651.337891362,0.453351332179,-0.00556009124955,0.0496520395971,0.99999985233,5.50023556286e-05,-0.000540172024765,2.29798214097e-05,1793244283048497664
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.248278392,745.248278392,714.248278392,680,658.751721608,630,880.248278392,785.751721608,806.751721608,652,629,651.248278392,0.453353079385,-0.0055587833463,0.0496527341596,0.999999853141,5.64614785545e-05,-0.000538531647617,2.26842263449e-05,1793244283065164032
+247,4.116666667,POSE1_TO_POSE2_PRESS,764.827967901,745.827967901,714.827967901,680,658.172032099,630,880.827967901,785.172032099,806.172032099,652,629,651.827967901,0.453353226284,-0.00555817183926,0.0496527127303,0.999999853238,5.72074466955e-05,-0.000538259581561,2.29890181979e-05,1793244283081830656
+248,4.133333333,HOLD_POSE2,765,746,714,680,658,630,880,785,806,652,630,652,0.453354331502,-0.00556094682791,0.0496544502516,0.999999853994,5.69011833748e-05,-0.000536859959553,2.35908665401e-05,1793244283115745792
+249,4.150000000,HOLD_POSE2,765,745.413225404,714,680.586774596,658,630,880,785,806.586774596,652,629.413225404,652,0.453352996545,-0.00556237321095,0.0496522217638,0.999999853017,5.23045809067e-05,-0.000539162253027,2.31235121506e-05,1793244283132411904
+250,4.166666667,HOLD_POSE2,765,745.171327826,714,681,658,629.828672174,880,785,806.828672174,652,629,651.828672174,0.453352113748,-0.00556226929972,0.0496507685627,0.999999852272,5.05000442029e-05,-0.000540729928095,2.27321819562e-05,1793244283149078272
+251,4.183333333,HOLD_POSE2,765,745.75059204,714,681,658,629.24940796,880,785,806.24940796,652,629,651.24940796,0.453352307559,-0.00555852171494,0.0496511613406,0.999999852119,5.53434939252e-05,-0.0005405484565,2.25218674209e-05,1793244283165745152
+252,4.200000000,HOLD_POSE2,765,745.671274173,714,681,658,629.328725827,880,785,806,652,629,651.328725827,0.453353629781,-0.00555681849197,0.0496521512788,0.999999852606,5.87931238644e-05,-0.000539276627054,2.2640735217e-05,1793244283182412288
+253,4.216666667,HOLD_POSE2,765,745.093995149,714,681,658,629.906004851,880,785,806,652,629,651.906004851,0.453355805207,-0.00555666103359,0.0496535927364,0.999999853582,6.11888711127e-05,-0.000537180366114,2.30085013912e-05,1793244283199079424
+254,4.233333333,HOLD_POSE2,764.520006344,745,714.479993656,681,658,630,880,785.479993656,806.479993656,652,629.479993656,652,0.453353667254,-0.00555886391577,0.0496523172328,0.99999985239,5.75147586119e-05,-0.00053978383032,2.33350129686e-05,1793244283215745536
+255,4.250000000,HOLD_POSE2,764.055008536,745,714.944991464,681,658,629.944991464,880,785.944991464,807,652,630,652,0.453351083897,-0.00556097893208,0.0496507679008,0.999999850973,5.33175195787e-05,-0.000542822207079,2.35471606775e-05,1793244283232411904
+256,4.266666667,HOLD_POSE2,764.646264309,745,714.353735691,681,658,629.353735691,880,785.353735691,807,652,630,652,0.453352336717,-0.0055577621901,0.0496517005267,0.999999851757,5.55290627885e-05,-0.000541189627237,2.27226581318e-05,1793244283249078784
+257,4.283333333,HOLD_POSE2,764.767210113,745.232789887,714.232789887,681,658.232789887,629,880,785.232789887,807,652,629.767210113,652,0.453353132832,-0.00555601853854,0.0496523697739,0.999999852146,5.7001176716e-05,-0.00054033851666,2.22126556393e-05,1793244283265745152
+258,4.300000000,HOLD_POSE2,764.187729209,745.812270791,714.812270791,681,658.812270791,629,880,785.812270791,807,652,629.187729209,652,0.453353248782,-0.00555646874207,0.0496526467746,0.999999851957,5.73720678235e-05,-0.000540651238468,2.21710341488e-05,1793244283282411520
+259,4.316666667,HOLD_POSE2,764.386234187,745.613765813,714.613765813,680.613765813,658.613765813,629,880,786,807,652,629.386234187,651.613765813,0.453353950915,-0.00555663052036,0.0496522473601,0.999999852132,5.66616113633e-05,-0.000540400116465,2.21932104926e-05,1793244283299078400
+260,4.333333333,HOLD_POSE2,764.957553618,745.042446382,714.042446382,680.042446382,658.042446382,629,880,786,807,652,629.957553618,651.042446382,0.453354933949,-0.00555665408396,0.0496515238044,0.999999852482,5.54329680786e-05,-0.000539878797871,2.22459590559e-05,1793244283315745536
+261,4.350000000,HOLD_POSE2,765,745,714,680,658,629.547169368,880,785.452830632,806.452830632,652,629.452830632,651,0.453354568502,-0.0055563210791,0.0496520938815,0.999999852413,5.69156662544e-05,-0.000539839490841,2.25448485415e-05,1793244283332412160
+262,4.366666667,HOLD_POSE2,765,745,714,680.135471054,658,629.864528946,880,785,806.135471054,652.135471054,629.135471054,651.135471054,0.453354092046,-0.00555654331949,0.0496525044366,0.999999852271,5.77935446796e-05,-0.000539996410142,2.28338255468e-05,1793244283349079296
+263,4.383333333,HOLD_POSE2,765,745,714,680.714659216,658,629.285340784,880,785,806.714659216,652.714659216,629.714659216,651.714659216,0.453353606477,-0.00555867792333,0.0496520524355,0.999999852006,5.59776750258e-05,-0.000540669333561,2.3025631408e-05,1793244283365745664
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,746,715,681,658,629,880,785,806,652,629,652,0.453355078524,-0.00555876957981,0.0496525715209,0.999999852872,5.49934708995e-05,-0.000539174488387,2.28381667531e-05,1793244283402844416
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.574195285,745.425804715,714.425804715,681,658,629.574195285,880,785,806.574195285,652,629,652,0.453353672657,-0.00555739025182,0.0496517376025,0.999999852033,5.53684468653e-05,-0.00054070081058,2.26250073711e-05,1793244283419511296
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.847420966,745,714,681,658,630,880,785,806.847420966,652,629.152579034,652,0.453352891195,-0.00555638726819,0.049651322949,0.999999851561,5.60060408759e-05,-0.000541509243441,2.25464271758e-05,1793244283436177920
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.25701834,745,714,681,658,630,880,785,806.25701834,652,629.74298166,652,0.453353901454,-0.00555646419958,0.0496521113708,0.999999852152,5.73972140992e-05,-0.000540257702388,2.2854020188e-05,1793244283452844544
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.327196006,745.327196006,714,681,658,630,880,785,806.327196006,652,630,652,0.453354871767,-0.00555690708735,0.0496525786258,0.99999985236,5.75266602764e-05,-0.000539858518168,2.28640729695e-05,1793244283469511424
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.906639544,745.906639544,714,681,658,630,880,785,806.906639544,652,630,652,0.453355811283,-0.00555763210448,0.0496527982815,0.999999852274,5.66833942147e-05,-0.000540116447506,2.2644740938e-05,1793244283486178048
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.515289963,714,681,658,629.515289963,880,785,807.484710037,652,630,652,0.45335385667,-0.00555765549431,0.0496517322771,0.999999851491,5.67802373747e-05,-0.000541566098471,2.23600926226e-05,1793244283502844672
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,629.062329915,880,785,807.937670085,652,630,651.937670085,0.453351563551,-0.00555746406081,0.049650504861,0.999999850679,5.69661032657e-05,-0.000543055339626,2.20916723256e-05,1793244283519511296
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,629.638409314,880,785,807.361590686,652,630,651.361590686,0.453351062017,-0.00555661270627,0.0496499823453,0.99999985075,5.63974487198e-05,-0.000542984289871,2.20604121626e-05,1793244283536177664
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.781252876,658,629.781252876,880,785,806.781252876,652.218747124,629.781252876,651.218747124,0.453345312141,-0.00555580123664,0.0496469732801,0.999999848477,5.63839975417e-05,-0.000547161514013,2.19214989388e-05,1793244283552844032
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.193736186,658,629.193736186,880,785,806.193736186,652.806263814,629.193736186,651.806263814,0.453330714472,-0.00555505700609,0.0496397723254,0.999999842163,5.73065226325e-05,-0.00055850058827,2.16011013983e-05,1793244283569510656
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.388408725,680.388408725,658,629,880,785,806.388408725,652.611591275,629.388408725,651.611591275,0.453297876843,-0.00555388881834,0.0496251761662,0.999999828072,5.84756235504e-05,-0.00058310335247,2.06487714818e-05,1793244283586177280
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.967910825,680.967910825,658,629,880,785,806.967910825,652.032089175,629.967910825,651.032089175,0.453256065328,-0.00555251204765,0.0496069416366,0.999999809386,5.97660374528e-05,-0.000614231725738,1.93855368402e-05,1793244283602843904
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.457184684,680.457184684,658,629,880,785,806.457184684,652,630,651.542815316,0.453192294634,-0.00555058365125,0.0495859016572,0.999999787979,6.02599736114e-05,-0.000648133789535,1.82805720442e-05,1793244283619511040
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,629.120098651,880,785.120098651,806,652,629.879901349,652,0.453125841498,-0.00554856438548,0.049566436333,0.999999767919,6.08378434041e-05,-0.000678354888011,1.71829182872e-05,1793244283636178432
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,629.707691089,880,785.707691089,806,652,629.292308911,652,0.453053957408,-0.00554631727365,0.0495537406294,0.999999757403,6.19241738782e-05,-0.000693614635283,1.60776087759e-05,1793244283652845056
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.291163819,714.291163819,680,658,629.708836181,880,785.708836181,806.291163819,652,629.291163819,652,0.452977426108,-0.00554295004557,0.0495479231415,0.999999753023,6.39054076935e-05,-0.000699747183033,1.49588617149e-05,1793244283669511424
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.870558307,714.870558307,680,658,629.129441693,880,785.129441693,806.870558307,652,629.870558307,652,0.452896294418,-0.00553847398527,0.0495489145799,0.999999754879,6.6772529644e-05,-0.000696844476787,1.38268125413e-05,1793244283686177792
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.550425608,714.550425608,680.449574392,658,629.449574392,880,785.449574392,807,652,630,652,0.452798261492,-0.00553572415767,0.0495526263897,0.999999758877,6.80132209076e-05,-0.000690965396946,1.36677787373e-05,1793244283702844160
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880,786,806.971925697,652,630,652,0.452693600603,-0.00553334690705,0.0495570337746,0.999999763194,6.89435982268e-05,-0.000684593995375,1.37640242957e-05,1793244283719510784
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880,786,806.40129728,652,630,652,0.452554813608,-0.0055285728337,0.0495597595026,0.999999762464,7.29192150654e-05,-0.000685255517133,1.33841607405e-05,1793244283736177408
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.175711273,681,658,630,880,785.824288727,806,652,630,652,0.452407792575,-0.0055232454361,0.0495614688902,0.999999760748,7.71725539979e-05,-0.000687301840799,1.28433471222e-05,1793244283752844032
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.767840006,681,658,630,880,785.232159994,806,652,630,652,0.452241257747,-0.00551660671822,0.0495607696565,0.999999756692,8.20840648716e-05,-0.000692630001009,1.19210986308e-05,1793244283769511424
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.64837082,681,658,630,880,785,806.35162918,652,630,652,0.452054467313,-0.00551068956406,0.0495597688643,0.999999753315,8.62716331442e-05,-0.00069698881647,1.15555752591e-05,1793244283786178560
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.069960146,681,658,630,880,785,806.930039854,652,630,652,0.451854613112,-0.0055052377782,0.0495585735833,0.999999750378,8.99922987146e-05,-0.000700722458371,1.15491088986e-05,1793244283802845696
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.491976225,745.508023775,714,680.491976225,658,630,880.508023775,785,807,652,629.491976225,652,0.451619257202,-0.00549479359523,0.0495576461507,0.999999747299,9.84831970195e-05,-0.000703987090617,1.02448937089e-05,1793244283819512064
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.084889245,745.915110755,714,680.084889245,658,630,880.915110755,785,807,652,629.084889245,652,0.451375669753,-0.00548404081829,0.0495578323941,0.99999974615,0.000107008707621,-0.00070439561269,8.73633521662e-06,1793244283836178432
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.655688989,745.344311011,714,680.655688989,658,630,880.344311011,785,807,652,629.655688989,652,0.451112925594,-0.00547545363985,0.0495641824195,0.999999756466,0.000111975310017,-0.000688825003475,7.08021109584e-06,1793244283852844800
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880.235828651,785.235828651,807,652,630,652,0.450842801765,-0.00546635656715,0.0495739296311,0.999999770237,0.000117824064336,-0.000667542097685,5.59068777968e-06,1793244283869511424
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630,880.830166937,785.830166937,807,652,630,652,0.450561459288,-0.00545648434741,0.0495888412869,0.999999788925,0.000125013876596,-0.000637575288626,4.35443316709e-06,1793244283886177792
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.412206699,680.587793301,658,630.412206699,880.587793301,786,806.587793301,652,630,651.587793301,0.450245187963,-0.00544778770432,0.0496039491716,0.999999805765,0.000129801016073,-0.000609600644217,3.02500763177e-06,1793244283902844416
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.989326142,680.010673858,658,630.989326142,880.010673858,786,806.010673858,652,630,651.010673858,0.449914942558,-0.00543956137786,0.0496191355617,0.999999821462,0.000133626910978,-0.000582423011441,1.65830696081e-06,1793244283919511040
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.565564411,714.434435589,680,658,631,880,786,806,652,630,651.565564411,0.449527315862,-0.0054339437397,0.0496247530598,0.999999828069,0.000134507164444,-0.00057076199221,1.30272904686e-07,1793244283936178432
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.855393512,714,680.144606488,658,631,879.855393512,786,806.144606488,652,630,652,0.449124874158,-0.00542901559268,0.0496277675807,0.999999831614,0.000134240024861,-0.000564578714329,-1.80906779483e-06,1793244283952845056
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.267709744,714,680.732290256,658,631,879.267709744,786,806.732290256,652,630,652,0.448680352062,-0.00542604944378,0.0496233590042,0.999999826555,0.000130627321821,-0.000574283467714,-4.99934538082e-06,1793244283969511424
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.684125683,745.315874317,714,680.684125683,658,631,879.315874317,786,807,652,630,652,0.448212104401,-0.00542933835415,0.0496178963698,0.999999823856,0.000119712274748,-0.000581290828315,-7.5942354184e-06,1793244283986177792
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.103971623,745.896028377,714,680.103971623,658,631,879.896028377,786,807,652,630,652,0.447724006433,-0.00543786062878,0.0496115518458,0.999999822958,0.000102687640291,-0.000586041386355,-9.69098822334e-06,1793244284002844416
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.472920556,745.527079444,714,680,658,631,880,786,807,652,630,651.527079444,0.44721190095,-0.00543894070757,0.0496084616991,0.999999821207,9.5022341814e-05,-0.000590252421387,-1.25785127398e-05,1793244284019511296
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.049067284,714,680.049067284,658,631.049067284,880,786,807,652,630.049067284,651.049067284,0.446691292246,-0.00543778940709,0.0496066693285,0.999999819883,8.97303875094e-05,-0.000593242497882,-1.56779558016e-05,1793244284036177920
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.6248576,714,680.6248576,658,631.6248576,880,786,807,652,630.6248576,651.6248576,0.446135673838,-0.0054301283664,0.049611180399,0.999999825189,8.79786122027e-05,-0.000584390508792,-1.91988265141e-05,1793244284052845312
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.794639212,714,680.794639212,658.205360788,632,880,786,806.794639212,652,631,652,0.445575671929,-0.00542301252889,0.049627531915,0.999999838767,8.68061633483e-05,-0.000560770898354,-2.1614158252e-05,1793244284069512192
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.205324616,714,680.205324616,658.794675384,632,880,786,806.205324616,652,631,652,0.44500747442,-0.00541691603364,0.0496660209777,0.999999866183,8.67168550158e-05,-0.000509540931447,-2.19625133492e-05,1793244284086178560
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,880,786.377842559,806.377842559,652,630.622157441,651.622157441,0.444399227887,-0.00541337262858,0.049697382716,0.999999887473,8.15250829946e-05,-0.000466759091034,-2.33328064647e-05,1793244284102845184
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,880,786.957722605,806.957722605,652,630.042277395,651.042277395,0.443769566622,-0.0054111943953,0.0497249333771,0.999999905169,7.36049551389e-05,-0.000428494578757,-2.52495435348e-05,1793244284119511808
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.533106571,632.533106571,880,786.466893429,807,652,630.533106571,651.533106571,0.443080286192,-0.00541575677817,0.0497151292752,0.999999896959,5.84312808195e-05,-0.000449311835927,-2.80602538723e-05,1793244284136177920
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.302444391,633,880.697555609,786.697555609,806.302444391,652,631,652,0.441722193621,-0.00541969642842,0.0497467088441,0.999999922985,3.53794715851e-05,-0.00038951340563,-3.2520734711e-05,1793244284169511424
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.281026524,633.281026524,880.718973476,787,806.281026524,652,631,652,0.441032122812,-0.00541644283237,0.0497861422476,0.999999947881,3.12867770535e-05,-0.000319527249014,-3.40891472233e-05,1793244284186177792
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.86059849,633.86059849,880.13940151,787,806.86059849,652,631,652,0.440319505849,-0.0054099073212,0.0498299785174,0.999999968318,3.20281410213e-05,-0.000247150066639,-3.54269539432e-05,1793244284202844160
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.561609913,633.561609913,880,787,806.561609913,652,631,652,0.439530810532,-0.00540771281001,0.0498271837884,0.999999966707,2.47784783443e-05,-0.000253967270042,-3.83821040806e-05,1793244284219511296
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.015551573,633,880,787,806,652,631,652,0.438716908189,-0.00540695127826,0.0498092477408,0.999999957957,1.49196475269e-05,-0.000286547552888,-4.18797771372e-05,1793244284236177920
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.590331279,633,880,787,806,652,631,652,0.43786297771,-0.00540828221274,0.0497778868042,0.999999939866,2.24089393061e-06,-0.000343663231966,-4.64674648437e-05,1793244284252844544
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633.169380665,880,787,806,652,630.830619335,652,0.43701459039,-0.00540892200507,0.0497639064332,0.999999929651,-9.40287880516e-06,-0.000371625442329,-5.00433374985e-05,1793244284269511168
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633.759023823,880,787,806,652,630.240976177,652,0.43617995665,-0.00540784695502,0.0497930502297,0.999999944976,-1.84786856458e-05,-0.000327252892792,-5.11087233874e-05,1793244284286177536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,880,787,806,652,630.342715525,652,0.435309134493,-0.00540267545618,0.049794850998,0.99999994373,-2.2165624596e-05,-0.000330372059633,-5.38714246058e-05,1793244284302844160
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,880,787,806,652,630.922293941,652,0.434413301268,-0.0053946727559,0.0497777540257,0.999999930991,-2.21281248789e-05,-0.000366314442828,-5.7807200776e-05,1793244284319510784
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.49883346,659.50116654,634,880,787,806,652,631,652,0.433554378323,-0.00539608213752,0.0497830635441,0.999999936856,2.50422125726e-05,-0.000351767159432,-4.38155805483e-05,1793244284336177920
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.92386485,659.1522703,634,880,787,805.92386485,652,630.92386485,652,0.432700277727,-0.00539806186666,0.0497930044688,0.999999942701,7.40911823984e-05,-0.000329049526401,-2.88943627779e-05,1793244284352844800
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.338315596,660.323368808,634,880,787,805.338315596,652,630.338315596,652,0.431840205523,-0.00539410710477,0.0498107212908,0.99999994968,8.68816775048e-05,-0.000303970567439,-2.63255447537e-05,1793244284369511424
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.244755813,660.755244187,633.755244187,880,787,805.244755813,652,630.244755813,652,0.430931615372,-0.00538909473428,0.0498066692343,0.999999946838,8.9895645228e-05,-0.000312195410256,-2.78799266328e-05,1793244284386178048
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.824436613,660.175563387,633.175563387,880,787,805.824436613,652,630.824436613,652,0.429956632917,-0.00538263512672,0.0497728285465,0.999999929247,7.95313693956e-05,-0.000365993325374,-3.50765139138e-05,1793244284402844672
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.595954385,660,633.404045615,879.595954385,787,806,652,631,652,0.429027686851,-0.00538207468796,0.0497645572688,0.999999926902,6.73785304284e-05,-0.000374263681661,-3.97834364242e-05,1793244284419511296
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.016376608,660,633.983623392,879.016376608,787,806,652,631,652,0.428118740731,-0.00538407706382,0.0497673942779,0.99999993178,5.44486750299e-05,-0.000362755201857,-4.34087572876e-05,1793244284436177664
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633.443608232,879,787,806,652,631,652,0.42717829566,-0.0053789067929,0.0497655791855,0.999999924562,5.58995031357e-05,-0.000381785223891,-4.46245260508e-05,1793244284452844288
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.132870623,659.867129377,633.132870623,879.132870623,787,806,652,631,651.867129377,0.42625542365,-0.00537462992164,0.0497655190281,0.999999921568,5.95297595609e-05,-0.000388939941678,-4.52356235101e-05,1793244284469510912
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.72279397,659.27720603,633.72279397,879.72279397,787,806,652,631,651.27720603,0.425396150685,-0.00537414362222,0.0497719608688,0.999999934617,6.92184927977e-05,-0.00035219106033,-4.40077622054e-05,1793244284486177536
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.69296748,659.921097561,634,880,787,806,652,631,651.30703252,0.424523041931,-0.00537514978462,0.0497966605791,0.999999951322,6.9762718439e-05,-0.000301058716646,-4.3042799303e-05,1793244284502844160
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.113768207,661.658695379,634,880,787,806,652,631,651.886231793,0.423637668587,-0.00537747892898,0.0498375448452,0.999999969044,6.22008609355e-05,-0.000237176258321,-4.23108807532e-05,1793244284519511296
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.535332742,661.070665484,634,880,787,805.535332742,652,631,652,0.422717226229,-0.00537748022457,0.0498293841589,0.999999965001,5.98396467468e-05,-0.000253976861942,-4.37283808756e-05,1793244284536178176
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,713.957570882,679.042429118,659.957570882,634,879.957570882,787,805.042429118,652,631,652,0.421790749429,-0.00537679602853,0.0498095676433,0.999999955264,5.91029289758e-05,-0.000289654076208,-4.56007457672e-05,1793244284552844544
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fbb2bf659ecd0dde0f3fda53b3d7fb81f1296b6d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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+221,3.683333333,pose1_to_pose2_press,0.619279668086,-0.000122164514866,1.04005092534,0.589851301279,0.00855352441466,1.03971740993
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+337,5.616666667,pose2_to_pose3_retreat,0.590133755917,-0.000122190309088,1.04005078126,0.560705389351,0.00855349622569,1.0397172724
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+347,5.783333333,pose2_to_pose3_retreat,0.583760050617,-0.000122233900512,1.04005084949,0.55433168532,0.00855345688934,1.03971733844
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+349,5.816666667,pose2_to_pose3_retreat,0.582695232511,-0.000122169074325,1.04005081958,0.553266866535,0.00855351922647,1.03971730364
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+373,6.216666667,pose2_to_pose3_retreat,0.5760077127,-0.000122248570378,1.04005110902,0.546579348732,0.00855344687651,1.03971760303
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+375,6.250000000,pose2_to_pose3_retreat,0.575882063457,-0.000122145051836,1.04005088053,0.546453696125,0.00855353908179,1.03971737663
+376,6.266666667,pose2_to_pose3_retreat,0.575833845242,-0.000122188520163,1.04005092941,0.546405479395,0.00855350078081,1.03971742883
+377,6.283333333,pose2_to_pose3_retreat,0.575794400959,-0.000122214120143,1.0400510076,0.546366035679,0.00855347698201,1.03971750374
+378,6.300000000,pose2_to_pose3_retreat,0.575762615332,-0.000122175761368,1.04005099911,0.546334248533,0.00855350988614,1.03971748741
+379,6.316666667,pose2_to_pose3_retreat,0.575738337915,-0.000122131227962,1.04005080651,0.546309970904,0.00855355375216,1.03971729628
+380,6.333333333,pose2_to_pose3_retreat,0.575718777501,-0.000122248475499,1.04005096244,0.546290412009,0.00855344167624,1.03971745264
+381,6.350000000,pose2_to_pose3_retreat,0.575703635487,-0.000122166752723,1.04005095864,0.546275269475,0.00855352168299,1.03971745019
+382,6.366666667,pose2_to_pose3_retreat,0.575692547212,-0.000122097554746,1.04005090114,0.546264180461,0.00855358841517,1.03971739375
+383,6.383333333,pose2_to_pose3_retreat,0.575684602524,-0.000122176893929,1.04005089499,0.546256236111,0.00855351022237,1.03971738769
+384,6.400000000,pose2_to_pose3_retreat,0.575679091998,-0.000122263952886,1.04005096134,0.546250725849,0.00855342422568,1.03971745846
+385,6.416666667,pose2_to_pose3_retreat,0.575675708801,-0.00012220455072,1.04005108369,0.54624734217,0.00855348196226,1.03971757993
+386,6.433333333,pose2_to_pose3_retreat,0.575674172012,-0.000122110524762,1.04005118774,0.546245804781,0.00855357385471,1.03971768146
+387,6.450000000,pose2_to_pose3_retreat,0.575673076866,-0.000122043519976,1.04005126189,0.546244709206,0.00855363933911,1.03971775382
+388,6.466666667,pose2_to_pose3_retreat,0.575672314045,-0.000122087735361,1.04005109761,0.54624394709,0.00855359765994,1.03971759323
+389,6.483333333,pose2_to_pose3_retreat,0.575671829238,-0.000122119144077,1.04005098534,0.546243462769,0.00855356799395,1.0397174835
+390,6.500000000,pose2_to_pose3_retreat,0.575671387991,-0.000122147730719,1.04005088316,0.546243021963,0.00855354099346,1.03971738362
+391,6.516666667,pose2_to_pose3_retreat,0.575670886921,-0.000122180193081,1.04005076712,0.546242521394,0.00855351033228,1.0397172702
+392,6.533333333,pose2_to_pose3_retreat,0.575670771129,-0.00012218769473,1.04005074031,0.546242405719,0.00855350324687,1.039717244
+393,6.550000000,pose2_to_pose3_retreat,0.575670541635,-0.000122229888589,1.04005073306,0.546242176427,0.00855346164156,1.03971723424
+394,6.566666667,pose2_to_pose3_retreat,0.575670358466,-0.000122278965197,1.04005075315,0.546241993403,0.00855341290147,1.03971725022
+395,6.583333333,pose2_to_pose3_retreat,0.575670193602,-0.000122323137024,1.04005077123,0.54624182867,0.00855336903254,1.03971726461
+396,6.600000000,pose2_to_pose3_retreat,0.57567002365,-0.000122368672237,1.04005078986,0.546241658854,0.00855332380956,1.03971727944
+397,6.616666667,pose2_to_pose3_retreat,0.575669930448,-0.000122393643782,1.04005080008,0.546241565726,0.00855329900925,1.03971728758
+398,6.633333333,pose2_to_pose3_retreat,0.575669925296,-0.000122395024246,1.04005080065,0.546241560578,0.00855329763825,1.03971728803
+399,6.650000000,pose2_to_pose3_retreat,0.575669829047,-0.000122394158512,1.04005081428,0.546241464263,0.00855329828027,1.03971730165
+400,6.666666667,pose2_to_pose3_retreat,0.575669673136,-0.000122340824245,1.04005084235,0.546241307967,0.00855335047172,1.03971733391
+401,6.683333333,pose2_to_pose3_retreat,0.575669645795,-0.000122331471447,1.04005084727,0.546241280559,0.00855335962412,1.03971733956
+402,6.700000000,pose2_to_pose3_retreat,0.575669551086,-0.000122299073264,1.04005086433,0.546241185617,0.00855339132809,1.03971735915
+403,6.716666667,pose2_to_pose3_retreat,0.575669542999,-0.000122296306815,1.04005086578,0.54624117751,0.00855339403526,1.03971736083
+404,6.733333333,pose2_to_pose3_retreat,0.575669496756,-0.000122280488023,1.04005087411,0.546241131153,0.0085534095151,1.03971737039
+405,6.750000000,pose2_to_pose3_retreat,0.575669477437,-0.000122273507389,1.04005081859,0.546241111817,0.00855341626709,1.03971731045
+406,6.766666667,pose2_to_pose3_retreat,0.575669482624,-0.000122275191957,1.04005080341,0.546241117024,0.00855341459953,1.03971729395
+407,6.783333333,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343057,1.03971728237
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d4366b5de113e52d1e44d4dc42223bc686a7bc9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be4e86b43b62396693b734cd3f264dfc2796dfd38a67c14291f2f853c065aa75
+size 26006241
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f897fe1b34c00bc5895a8db8a7cb90d84ab4c69d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+17,0.283333333,BASELINE,765,745,714,680,660.965651658,634.965651658,879,787,806,653,631,652,0.400985068109,-0.00541272656826,0.0498508053584,0.999999961457,0.000102429543256,-0.00025533481645,-3.73935924716e-05,1793244286187686912
+18,0.300000000,BASELINE,765,744.459633406,714,680,661,634.459633406,879,787,806,653,631,652,0.400985859746,-0.00541500440307,0.0498517248884,0.999999962169,9.92396584872e-05,-0.000253879141722,-3.68689128621e-05,1793244286204353536
+19,0.316666667,BASELINE,765,744.118038348,714,679.881961652,660.881961652,634,879,787,805.881961652,653,631,652,0.400986280907,-0.00541678183271,0.049852285518,0.999999962588,9.71930279428e-05,-0.000253075349992,-3.64716086904e-05,1793244286221020416
+20,0.333333333,BASELINE,765,744.708133467,714,679.291866533,660.291866533,634,879,787,805.291866533,653,631,652,0.40098518585,-0.00541561402636,0.0498511625955,0.999999961706,0.000101085672074,-0.000254990358351,-3.67443090899e-05,1793244286237687040
+21,0.350000000,BASELINE,765,745,713.707400525,679,660,634,879,787,805.292599475,653,631,652,0.40098466477,-0.0054148403775,0.0498507534643,0.999999961396,0.000102231476591,-0.000255718141221,-3.69410807902e-05,1793244286254353408
+22,0.366666667,BASELINE,765,745,713.128443577,679,660,634,879,787,805.871556423,653,631,652,0.400984705423,-0.00541445247768,0.0498510428973,0.999999961659,0.000100689039375,-0.000255284025478,-3.70635435564e-05,1793244286271020288
+23,0.383333333,BASELINE,765,745,713.448425409,679.448425409,660,634,879.448425409,787.448425409,806,653,630.551574591,652,0.400986161458,-0.00541440667325,0.0498521197029,0.999999961935,0.00010267832869,-0.000253447453479,-3.6759586611e-05,1793244286287687168
+24,0.400000000,BASELINE,765,745,714,679.975333865,660.024666135,634,879.975333865,787.975333865,806,653,630.024666135,652,0.400987848664,-0.00541441101523,0.0498533235399,0.999999962173,0.000105482925101,-0.000251403296993,-3.63795785591e-05,1793244286304353536
+25,0.416666667,BASELINE,765,745,714,679.399830408,660.600169592,634,879.399830408,787.399830408,806,653,630.600169592,652,0.400985686748,-0.00541335713106,0.0498523510962,0.999999961736,0.0001040086354,-0.000253652701618,-3.70161838768e-05,1793244286321020160
+26,0.433333333,BASELINE,765,745,714,679.18028503,660.81971497,634,879.360570061,787,806,653,631,652,0.400984252996,-0.00541279722609,0.049851582859,0.999999961518,0.000102125377318,-0.000255205895938,-3.74770028637e-05,1793244286337686784
+27,0.450000000,BASELINE,765,745,714,679.770897419,660.229102581,634,880.541794838,787,806,653,631,652,0.400984476542,-0.00541336161385,0.0498512793941,0.999999961807,9.93113100251e-05,-0.000255174521344,-3.75377336238e-05,1793244286354353408
+28,0.466666667,BASELINE,765,745,714,680,660.709103823,634,880.290896177,787.354551912,805.645448088,653,631,652,0.400983796232,-0.00541352186964,0.0498509397518,0.999999961605,9.94135769338e-05,-0.000255933059389,-3.74833211942e-05,1793244286371020032
+29,0.483333333,BASELINE,765,745,714,680,661.867593769,634,879.132406231,787.933796885,805.066203115,653,631,652,0.400982543116,-0.00541342601157,0.0498505771825,0.999999961091,0.00010136403616,-0.000257192195185,-3.73559381324e-05,1793244286387686400
+30,0.500000000,BASELINE,765,745,714,680,661.491920525,634.508079475,879,788,805.508079475,653,631,652,0.400983625307,-0.00541362644557,0.0498507420348,0.999999961333,0.000100933756873,-0.000256447847492,-3.71583699586e-05,1793244286404353536
+31,0.516666667,BASELINE,765,745,714,679.916197072,660.916197072,634.916197072,879,788,806,653,630.916197072,652,0.400984761033,-0.00541387363726,0.0498510128343,0.999999961637,0.000100387435229,-0.000255501773963,-3.69635494135e-05,1793244286421020672
+32,0.533333333,BASELINE,765,745,714,679.32794587,660.32794587,634.32794587,879,788,806,653,630.32794587,652,0.400984405051,-0.00541417213911,0.0498515117025,0.999999961735,0.000100991847762,-0.000254897632379,-3.68397846232e-05,1793244286437687296
+33,0.550000000,BASELINE,765,745,714,679.256473995,660,634.256473995,879,787.743526005,805.743526005,653,630,652,0.400984957886,-0.00541443192868,0.0498519868394,0.999999961863,0.000101832143484,-0.00025408044371,-3.67190046381e-05,1793244286454353920
+34,0.566666667,BASELINE,765,745,714,679.836066902,660,634.836066902,879,787.163933098,805.163933098,653,630,652,0.400986655696,-0.00541464294652,0.0498524320781,0.999999962026,0.000102969616736,-0.000252994847593,-3.66019850709e-05,1793244286471020544
+35,0.583333333,BASELINE,765,745,713.587406602,680,660.412593398,634.587406602,879,787,805.412593398,653,630.412593398,652,0.400986177489,-0.0054145496043,0.049852101253,0.999999961859,0.000102879068843,-0.000253681349893,-3.66634908434e-05,1793244286487686656
+36,0.600000000,BASELINE,765,745,713.012089427,680,660.987910573,634.012089427,879,787,805.987910573,653,630.987910573,652,0.400984841078,-0.00541433622476,0.0498514643542,0.99999996156,0.000102304198614,-0.000255066754574,-3.67954056759e-05,1793244286504353024
+37,0.616666667,BASELINE,765,745,713.559436341,679.440563659,661,634,879,787,806,653,631,652,0.400985344649,-0.00541312981778,0.0498523310214,0.999999961681,0.00010408380098,-0.00025380879874,-3.7211131737e-05,1793244286521019904
+38,0.633333333,BASELINE,765,745,714,679,661,634,879,787,805.86382424,653,631,652,0.400985634269,-0.00541237356112,0.0498528907481,0.999999961762,0.000105118440934,-0.000253035139686,-3.74137864964e-05,1793244286537686528
+39,0.650000000,BASELINE,765,745,714,679,661,634,879,787,805.269260813,653,631,652,0.400985070753,-0.00541320432546,0.0498523086312,0.999999961687,0.000103475310886,-0.000254082684826,-3.68787058217e-05,1793244286554353664
+40,0.666666667,BASELINE,765,745,714,679,661,634,879,787,805.316950605,653,631,652,0.400985511436,-0.00541376982918,0.0498523418168,0.999999961862,0.000102848871523,-0.000253677045859,-3.66785953435e-05,1793244286571020288
+41,0.683333333,BASELINE,765,745,714,679,661,634,879,787,805.896248831,653,631,652,0.40098678332,-0.00541411577026,0.049852884303,0.999999962244,0.000103063971535,-0.000252068571474,-3.67557477658e-05,1793244286587687168
+42,0.700000000,BASELINE,765,745.472338294,714,679,661,634,879,787.472338294,805.527661706,653,631,652,0.400986592274,-0.00541548659254,0.0498528021277,0.999999962433,0.000100710431817,-0.000252309893897,-3.64922487831e-05,1793244286604353792
+43,0.716666667,BASELINE,765,746,714,679.047772711,661,634,879,788,805.047772711,653,631,652,0.40098605271,-0.0054168631347,0.0498525717628,0.999999962545,9.81175149643e-05,-0.000252923331141,-3.62210414137e-05,1793244286621020160
+44,0.733333333,BASELINE,765,746,714,679.623704878,661,634,879,788,805.623704878,653,631,652,0.400985188685,-0.00541583085885,0.0498522097702,0.999999962367,9.90737867799e-05,-0.000253188962476,-3.66862777493e-05,1793244286637686784
+45,0.750000000,BASELINE,765,745.794999466,714,679.794999466,661.205000534,634.205000534,879,788,805.794999466,653,631,652,0.400984949693,-0.00541533009331,0.0498521500552,0.999999962321,9.99455631583e-05,-0.0002530055256,-3.68416522865e-05,1793244286654353408
+46,0.766666667,BASELINE,765,745.203594256,714,679.203594256,661.796405744,634.796405744,879,788,805.203594256,653,631,652,0.400985888824,-0.00541583116952,0.0498526601021,0.999999962525,0.000100658074322,-0.000251975641843,-3.64129695249e-05,1793244286671020032
+47,0.783333333,BASELINE,765,745,714,679,661.244013134,634.622006567,879,788,805,653,631,652,0.400986158311,-0.00541548489638,0.0498525627772,0.999999962394,0.000101641036846,-0.000252085529901,-3.65261879072e-05,1793244286687686912
+48,0.800000000,BASELINE,765,745,714,679,660.091145719,634.04557286,879,788,805,653,631,652,0.400986076247,-0.00541469377897,0.0498521465924,0.999999962086,0.000102765981908,-0.000252793779135,-3.69238953502e-05,1793244286704353792
+49,0.816666667,BASELINE,765,745.529397934,714,679.529397934,660.529397934,634,879.529397934,787.470602066,805.529397934,653,630.470602066,652,0.400985415804,-0.00541489876531,0.0498515356521,0.999999962209,0.000100191104607,-0.000253310195424,-3.71083281154e-05,1793244286721020416
+50,0.833333333,BASELINE,765,745.892980364,714,679.892980364,661,634.107019636,879.892980364,787.107019636,806,653,630.107019636,652,0.400985062835,-0.00541509777479,0.0498513552917,0.999999962426,9.79477291981e-05,-0.000253317244183,-3.72011839266e-05,1793244286737687296
+51,0.850000000,BASELINE,765,745.302824071,714,679.302824071,661,634.697175929,879.302824071,787.697175929,806,653,630.697175929,652,0.400986322105,-0.00541488375811,0.0498531942475,0.999999962927,9.8634787865e-05,-0.00025109911563,-3.69632740544e-05,1793244286754353664
+52,0.866666667,BASELINE,765,745,714,679,661,635,879,788,806,653,631,652,0.400985813761,-0.00541466016762,0.0498533487188,0.999999962761,9.90338314225e-05,-0.000251595853448,-3.70241543337e-05,1793244286771020032
+53,0.883333333,BASELINE,765,745,714,679,661,635,879,788,806,653,631,652,0.4009834425,-0.00541442648716,0.0498517278848,0.999999961887,9.91293311955e-05,-0.000254953832607,-3.73999343598e-05,1793244286787686656
+54,0.900000000,BASELINE,764.562962005,745.437037995,714,679,661,634.562962005,879,788,805.562962005,653,631,652,0.400983612558,-0.0054146839141,0.0498511864295,0.999999961773,9.95353486011e-05,-0.000255259021012,-3.72707937554e-05,1793244286804353536
+55,0.916666667,BASELINE,764.011095014,745.988904986,714,679,660.988904986,634,879,788,805.011095014,653,631,652,0.400984558918,-0.00541505312321,0.0498509973047,0.999999961895,0.000100068190506,-0.000254611783139,-3.69961220381e-05,1793244286821020160
+56,0.933333333,BASELINE,764.587447397,745.412552603,714,679,660.412552603,634,879,788,805.587447397,653,631,652,0.400984476988,-0.00541327553192,0.0498515233624,0.999999961784,0.000102104162912,-0.00025418678353,-3.73694068731e-05,1793244286837686784
+57,0.950000000,BASELINE,765,745,714,679.167956917,660.167956917,634,879,787.832043083,805.832043083,653,631,652,0.400984401908,-0.00541240227787,0.0498518125204,0.999999961701,0.000102987909095,-0.000254116703491,-3.76409188685e-05,1793244286854353664
+58,0.966666667,BASELINE,765,745,714,679.758936678,660.758936678,634,879,787.241063322,805.241063322,653,631,652,0.400984344081,-0.00541380672315,0.0498515050136,0.999999961696,0.000100969613061,-0.000254940537787,-3.76561017647e-05,1793244286871020544
+59,0.983333333,BASELINE,765,745,714,679.657328903,660.657328903,634,879,787,805,653,630.657328903,652,0.400985274234,-0.00541504638744,0.0498521412658,0.999999962061,9.97691532665e-05,-0.00025401173514,-3.74401423679e-05,1793244286887687168
+60,1.000000000,BASELINE,765,745,714,679.078585861,660.078585861,634,879,787,805,653,630.078585861,652,0.400986885025,-0.00541617253143,0.0498534276897,0.999999962679,9.9132114555e-05,-0.000251875511195,-3.70649451177e-05,1793244286904353792
+61,1.016666667,BASELINE,764.502657829,745,713.502657829,679,660.497342171,634.497342171,879,787.497342171,805.497342171,653,630,652,0.400986899791,-0.00541528040342,0.049853136862,0.999999962771,9.89028462644e-05,-0.000251586521978,-3.71478025249e-05,1793244286921020416
+62,1.033333333,BASELINE,764.074356344,745.074356344,713.074356344,679.074356344,661,634.925643656,879,788,806,653,630.074356344,652,0.400986687623,-0.00541435967788,0.0498527074203,0.999999962806,9.85983347022e-05,-0.000251552764465,-3.72482637587e-05,1793244286937686784
+63,1.050000000,BASELINE,764.661920092,745.661920092,713.661920092,679.661920092,661,634.338079908,879,788,806,653,630.661920092,652,0.400986639979,-0.0054154303033,0.0498530317282,0.99999996301,9.73322841256e-05,-0.00025127736715,-3.69734855539e-05,1793244286954353408
+64,1.066666667,BASELINE,765,746,714,680,661,634,879,788,805.753976226,653,631,652,0.400986320473,-0.00541583815833,0.049852893811,0.999999962921,9.77338867353e-05,-0.000251492498295,-3.68458551111e-05,1793244286971020288
+65,1.083333333,BASELINE,765,746,714,680,661,634,879,788,805.174561374,653,631,652,0.400985632559,-0.00541534788166,0.0498521295247,0.999999962433,0.00010039535514,-0.000252372353069,-3.6917627166e-05,1793244286987686912
+66,1.100000000,BASELINE,765,745.599113659,714,679.599113659,661,634,879,788,805,653,631,652,0.400985723071,-0.00541572093011,0.0498518508664,0.999999962472,9.96574324339e-05,-0.000252519919396,-3.68568913222e-05,1793244287004353536
+67,1.116666667,BASELINE,765,745.025376475,714,679.025376475,661,634,879,788,805,653,631,652,0.400986149219,-0.00541646621991,0.0498517815971,0.999999962736,9.74537884434e-05,-0.000252351743649,-3.67390218216e-05,1793244287021020416
+68,1.133333333,BASELINE,765,745.549125384,714,679,661,634,879,787.450874616,805,653,631,652,0.400986660507,-0.00541585080089,0.049852568967,0.999999962942,9.73808242301e-05,-0.000251547111873,-3.68280943565e-05,1793244287037687040
+69,1.150000000,BASELINE,764.872149985,745.872149985,714,679,661,634,879,787,805,653,631,652,0.400987267151,-0.00541522427326,0.0498533931884,0.999999963085,9.78837688895e-05,-0.000250772191234,-3.68984887542e-05,1793244287054353664
+70,1.166666667,BASELINE,764.278158263,745.278158263,714,679,661,634,879,787,805,653,631,652,0.400988207094,-0.00541478683079,0.049854207233,0.999999963004,0.00010012697858,-0.000250212984436,-3.68658660477e-05,1793244287071020288
+71,1.183333333,BASELINE,764.307904047,745.307904047,714,679,660.692095953,634.307904047,879,787,805.307904047,653,631,652.307904047,0.400987057802,-0.00541453847174,0.0498535645843,0.999999962691,0.000100679943321,-0.000251222943736,-3.69833264789e-05,1793244287087687168
+72,1.200000000,BASELINE,764.886982897,745.886982897,714,679,660.113017103,634.886982897,879,787,805.886982897,653,631,652.886982897,0.400984068495,-0.00541445664067,0.0498516390083,0.999999962172,9.97442892338e-05,-0.000253614886452,-3.72329669329e-05,1793244287104353792
+73,1.216666667,BASELINE,764.537868929,745.537868929,714,679,660.462131071,634.537868929,879.462131071,787,806,653,631,652.537868929,0.400985545924,-0.0054145048329,0.049852338664,0.999999962555,0.000100852310362,-0.000251659209015,-3.72227798816e-05,1793244287121020160
+74,1.233333333,BASELINE,764.036005728,745.036005728,714,679,660.963994272,634.036005728,879.963994272,787.036005728,806,653,630.963994272,652,0.400987872241,-0.00541466152169,0.0498535840152,0.999999963102,0.000102296070543,-0.000248904364645,-3.71363615194e-05,1793244287137686784
+75,1.250000000,BASELINE,764.605137594,745.605137594,714,679,660.394862406,634.605137594,879.394862406,787.605137594,806,653,630.394862406,652,0.400986729819,-0.00541595783374,0.0498534833341,0.999999962951,0.000101373134771,-0.000249926769259,-3.6854128274e-05,1793244287154353664
+76,1.266666667,BASELINE,765,745.816508867,714,679,660,635,879,788,805.816508867,653,630.183491133,652,0.400986055631,-0.0054164558842,0.0498534194484,0.999999962851,0.000100608379664,-0.000250640839303,-3.68181466486e-05,1793244287171020800
+77,1.283333333,BASELINE,765,745.217260755,714,679,660,635,879,788,805.217260755,653,630.782739245,652,0.400986442375,-0.00541514522143,0.0498534389343,0.999999962868,0.00010020203275,-0.000250656280164,-3.73401256757e-05,1793244287187687168
+78,1.300000000,BASELINE,765,745.3653278,714,679,660.3653278,634.6346722,879,787.6346722,805,653,631,652,0.400985959913,-0.00541553705234,0.0498530958589,0.999999962685,0.000100074561181,-0.000251452353413,-3.72453333393e-05,1793244287204353536
+79,1.316666667,BASELINE,765,745.938440975,714,679,660.938440975,634.061559025,879,787.061559025,805,653,631,652,0.400984983078,-0.00541689720076,0.0498525465716,0.999999962386,0.000100105703939,-0.000252692422418,-3.67997435108e-05,1793244287221020160
+80,1.333333333,BASELINE,764.483709013,745.483709013,714,679,661,634.516290987,879,787.516290987,805,653,630.483709013,652,0.400986057833,-0.00541723266841,0.0498534636068,0.999999962899,9.9032294462e-05,-0.000251112739546,-3.65554117003e-05,1793244287237686784
+81,1.350000000,BASELINE,764.096665978,745,714,679,661,635,879,787.903334022,805,653,630,652,0.40098709348,-0.00541720458652,0.0498542345478,0.999999963318,9.8422664136e-05,-0.000249699589825,-3.64377370833e-05,1793244287254353408
+82,1.366666667,BASELINE,764.687025167,745,714,679,661,635,879,787.312974833,805,653,630,652,0.400986668511,-0.00541594953751,0.0498533581725,0.999999962767,0.000100860494428,-0.000250869943981,-3.68432364791e-05,1793244287271020032
+83,1.383333333,BASELINE,765,745.271246029,714,679,661,635,879,787.271246029,805,653,630.271246029,652,0.400985608409,-0.00541476404062,0.0498524539023,0.999999962199,0.000102890146587,-0.000252287642207,-3.69538540824e-05,1793244287287686656
+84,1.400000000,BASELINE,765,745.848541044,714,679,661,635,879,787.848541044,805,653,630.848541044,652,0.40098383168,-0.00541365701977,0.0498515181578,0.999999961615,0.000104459248525,-0.000253984420803,-3.67317543379e-05,1793244287304353536
+85,1.416666667,BASELINE,765,745.575784408,714,679,660.575784408,634.575784408,879,788,805,652.575784408,631,652,0.40098527161,-0.00541385272768,0.0498522980203,0.999999962171,0.000103356648655,-0.000252221486914,-3.68789080056e-05,1793244287321020416
+86,1.433333333,BASELINE,765,745.000686253,714,679,660.000686253,634.000686253,879,788,805,652.000686253,631,652,0.400987855623,-0.00541451178273,0.04985368808,0.999999963121,0.000101303793153,-0.00024922802228,-3.71573956165e-05,1793244287337687040
+87,1.450000000,BASELINE,765,745,714,679,660.569642247,634,879,788,805.569642247,652.569642247,630.430357753,652,0.40098698992,-0.00541423039507,0.0498533550408,0.999999962881,0.000101176731982,-0.000250249115043,-3.70977408001e-05,1793244287354353408
+88,1.466666667,BASELINE,765,745.146989974,714,679,661,634,879.146989974,787.853010026,806,653,630.146989974,652,0.40098624769,-0.00541414737031,0.0498531348384,0.999999962706,0.000100977301058,-0.000251041049763,-3.70034102788e-05,1793244287371020032
+89,1.483333333,BASELINE,765,745.745937563,714,679,661,634,879.745937563,787.254062437,806,653,630.745937563,652,0.400985897779,-0.00541467771684,0.0498532679112,0.999999962739,0.000100548276897,-0.000251113633265,-3.68037027319e-05,1793244287387686656
+90,1.500000000,BASELINE,765,745.668154644,714,679.331845356,661,634,879.668154644,787,806,652.668154644,631,652,0.400985679516,-0.0054150914943,0.0498528977839,0.999999962677,0.000100286340258,-0.000251481994447,-3.66791554927e-05,1793244287404353792
+91,1.516666667,BASELINE,765,745.091852746,714,679.908147254,661,634,879.091852746,787,806,652.091852746,631,652,0.400985558233,-0.0054154194002,0.0498521569701,0.999999962546,0.00010014749,-0.000252068242623,-3.66099757051e-05,1793244287421020672
+92,1.533333333,BASELINE,765,745,713.516567095,679.516567095,661,634,879,787,805.516567095,652.483432905,631,652,0.400985605188,-0.00541577826131,0.0498526587906,0.999999962527,9.95265877649e-05,-0.000252372791079,-3.67178806418e-05,1793244287437687040
+93,1.550000000,BASELINE,765,745,713.059872766,679,660.940127234,634,879,787,805.059872766,653,630.940127234,652,0.400985711557,-0.00541602049025,0.0498533686893,0.999999962546,9.90533115045e-05,-0.000252470112878,-3.6824888869e-05,1793244287454353408
+94,1.566666667,BASELINE,765,745,713.648200335,679,660.351799665,634,879,787,805.648200335,653,630.351799665,652,0.40098606078,-0.00541518148547,0.0498538356152,0.999999962707,0.000100689734327,-0.000251209811502,-3.66276333084e-05,1793244287471020032
+95,1.583333333,BASELINE,765,745,714,679,660.233260603,634.233260603,879,787,806,653,630,652,0.400985904387,-0.00541479180868,0.0498537171106,0.999999962687,0.000101593207493,-0.000250927249077,-3.66098502547e-05,1793244287487686656
+96,1.600000000,BASELINE,765,745,714,679,660.813461337,634.813461337,879,787,806,653,630,652,0.400984995966,-0.00541507043971,0.049852727866,0.999999962402,0.000101406528317,-0.000252098926382,-3.68590055845e-05,1793244287504353280
+97,1.616666667,BASELINE,764.609612121,745,714,679,661,635,879,787,806,653,630.390387879,652,0.400985698016,-0.00541598546443,0.0498528393686,0.99999996265,9.99107467209e-05,-0.000251711385237,-3.68802119741e-05,1793244287521020160
+98,1.633333333,BASELINE,764.034237105,745,714,679,661,635,879,787,806,653,630.965762895,652,0.400987163194,-0.00541720204728,0.0498534724656,0.999999963145,9.77946407818e-05,-0.000250585001006,-3.67934036684e-05,1793244287537686784
+99,1.650000000,BASELINE,764,745,714,679,661,635,879,787,805.458860373,653,631,652,0.400988472254,-0.00541636241927,0.0498542863264,0.999999963447,9.88972820628e-05,-0.000248948537806,-3.67500473038e-05,1793244287554353408
+100,1.666666667,BASELINE,764,745,713.880250148,679,661,635,879,787,805,653,631,652,0.400989175135,-0.00541562297814,0.0498548043066,0.999999963601,9.98721701259e-05,-0.000247929633564,-3.67991821829e-05,1793244287571020032
+101,1.683333333,BASELINE,764,745,713.288906371,679,661,635,879,787,805,653,631,652,0.400987529684,-0.00541579041915,0.049854112022,0.999999963236,9.95419552948e-05,-0.000249469867057,-3.72017356801e-05,1793244287587686656
+102,1.700000000,BASELINE,764.296238683,745.296238683,713.296238683,679,661,634.703761317,879,787.296238683,805.296238683,653,631,652,0.400986394078,-0.00541572238964,0.0498537913052,0.99999996301,9.92752231239e-05,-0.000250466671133,-3.73010534722e-05,1793244287604353280
+103,1.716666667,BASELINE,764.875462312,745.875462312,713.875462312,679,661,634.124537688,879,787.875462312,805.875462312,653,631,652,0.400985745505,-0.00541542942455,0.0498538255322,0.999999962918,9.90691334141e-05,-0.000250944358772,-3.71107023203e-05,1793244287621019904
+104,1.733333333,BASELINE,765,745.547844324,713.547844324,679,661,634,879,788,805.547844324,652.547844324,631,652,0.400986381661,-0.00541536032619,0.049854162119,0.999999963167,9.83820127827e-05,-0.000250247189119,-3.693326284e-05,1793244287637686784
+105,1.750000000,BASELINE,765,745,713.028140491,679,660.971859509,634,879,787.971859509,805,652.028140491,631,652,0.400987372632,-0.00541532825521,0.0498545841156,0.999999963485,9.77882004324e-05,-0.000249231705819,-3.6750234088e-05,1793244287654353152
+106,1.766666667,BASELINE,765,745,713.603822575,679,660.396177425,634,879,787.396177425,805,652.603822575,631,652,0.400988420618,-0.00541482357647,0.0498550565861,0.999999963357,0.000101573513457,-0.000248283891552,-3.63896418514e-05,1793244287671020288
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,713,679,660,634,878,788,805,652,631,652,0.400985645741,-0.00541527124588,0.0498522563904,0.999999962797,9.67534490733e-05,-0.000252288651882,-3.73436120672e-05,1793244287710744832
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.528620418,745,713.528620418,679,660,634.528620418,878.528620418,787.471379582,805.528620418,652.528620418,630.471379582,652,0.400986048118,-0.00541530839286,0.049853580391,0.999999963183,9.69879756562e-05,-0.000250710267221,-3.70276797068e-05,1793244287727411968
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.932065707,745,714,679,660,634.932065707,879,787.067934293,806,653,630.067934293,652,0.400986406471,-0.00541530926072,0.0498546840442,0.999999963461,9.75924229128e-05,-0.000249405944704,-3.67490675005e-05,1793244287744079104
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.304690625,745,714,679,660,634.304690625,879,787.695309375,806,653,630.695309375,652,0.40098640228,-0.00541501136913,0.0498539731304,0.999999962859,0.000101243177317,-0.000250358530695,-3.67777876246e-05,1793244287760745472
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.305072449,745,714,679,660,634.305072449,879,788,806,653,631,652,0.400985801715,-0.00541469877896,0.0498533682652,0.999999962493,0.00010235269339,-0.000251338906491,-3.69612672326e-05,1793244287777412096
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.898205575,745,714,679,660,634.898205575,879,788,806,653,631,652,0.40098463803,-0.00541437230984,0.0498528635349,0.999999962359,0.000101062678117,-0.000252345522392,-3.7290876462e-05,1793244287794078720
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.480734606,660,635,879,788,805.519265394,653,631,652,0.400985396203,-0.00541575295548,0.0498535818148,0.999999962905,9.89617805078e-05,-0.000251094393237,-3.67225682871e-05,1793244287810745600
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.939385232,660.060614768,635,879,787.939385232,805,652.939385232,631,652,0.40098655462,-0.00541726408371,0.0498544920851,0.999999963518,9.70225869112e-05,-0.000249501372777,-3.60634000755e-05,1793244287827412224
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.363347964,660.636652036,635,879,787.363347964,805,652.363347964,631,652,0.400987730714,-0.00541687734181,0.0498548803406,0.999999963558,9.7886921007e-05,-0.000248978597892,-3.6213472743e-05,1793244287844078336
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.788716779,879.211283221,787.211283221,805,652.211283221,631,652,0.400990840553,-0.00541600298447,0.0498561055836,0.999999963911,9.98298217205e-05,-0.000246780573554,-3.62258859793e-05,1793244287860744960
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.216487736,879.783512264,787.783512264,805,652.783512264,631,652,0.400997253904,-0.00541429560903,0.0498587606946,0.999999964769,0.000103615292292,-0.000241720635823,-3.6003128625e-05,1793244287877411840
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,713.631042263,679,660.631042263,634.368957737,879.631042263,787.631042263,805.368957737,653,631,652,0.401014555445,-0.00541488659303,0.0498652763674,0.999999967872,0.000103642600631,-0.000228560344952,-3.56901177729e-05,1793244287894078464
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,713.037553823,679,660.037553823,634.962446177,879.037553823,787.037553823,805.962446177,653,631,652,0.401038483039,-0.00541687625267,0.0498741414008,0.999999972088,0.000101382864694,-0.000210470551332,-3.53221827642e-05,1793244287910745088
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,713.541297641,679.541297641,660.541297641,635,879,787.541297641,805.458702359,653,631,652,0.401092596964,-0.00542002807455,0.0498935769055,0.999999980045,9.74832157583e-05,-0.000171029075584,-3.40054000554e-05,1793244287927411712
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.881759027,745,714,680,661,634.881759027,879,787.881759027,805.118240973,653,631,652,0.40115102214,-0.00542301114678,0.0499127374921,0.999999986142,9.46760874211e-05,-0.000132995507482,-3.26403665081e-05,1793244287944078592
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.308354682,745,714,680,661,634.308354682,879,787.308354682,805.691645318,653,631,652,0.401218193838,-0.00542504242428,0.0499280911204,0.999999989242,9.6501000645e-05,-0.000105933764573,-3.13363257176e-05,1793244287960745216
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,714,679.734229124,660.734229124,634.265770876,879.265770876,787,806,653,631,652.265770876,0.401289195848,-0.00542708595882,0.049939286579,0.999999991033,9.6423692549e-05,-8.79126786675e-05,-3.01219045687e-05,1793244287977411584
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,714,679.159264549,660.159264549,634.840735451,879.840735451,787,806,653,631,652.840735451,0.401364653977,-0.00542914375289,0.0499456444868,0.999999991916,9.41333697503e-05,-8.04093539788e-05,-2.90117456125e-05,1793244287994078208
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.429802271,745,714,679,660,634.570197729,879.570197729,787,805.570197729,653,631,652.570197729,0.401451577724,-0.00543117144996,0.0499471855536,0.999999992024,9.44134631931e-05,-7.89246453427e-05,-2.84444518859e-05,1793244288010744832
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787.023513468,805,653,631,652,0.401543566061,-0.00543331646079,0.0499467568257,0.999999991854,9.54266725258e-05,-7.99893039179e-05,-2.80635213986e-05,1793244288027411456
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787.599405555,805,653,631,652,0.40165133732,-0.00543848829169,0.0499434069041,0.999999991768,9.05276105889e-05,-8.67740911883e-05,-2.71746624735e-05,1793244288044078080
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.175146095,714,679,660,634,879,788,805.175146095,653,630.824853905,652,0.401770301156,-0.00544384512868,0.0499424352625,0.999999991849,8.65430934191e-05,-9.01871083404e-05,-2.60514282357e-05,1793244288060744704
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.750540235,714,679,660,634,879,788,805.750540235,653,630.249459765,652,0.401914842524,-0.00544962474529,0.0499468985235,0.999999992431,8.46485165136e-05,-8.58948748325e-05,-2.43925940519e-05,1793244288077411328
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745.665391187,714,679.334608813,660,634,879,787.665391187,805.665391187,653,630.334608813,652,0.40207486594,-0.00545456818766,0.0499489564396,0.999999992686,8.30386058967e-05,-8.48288618128e-05,-2.31518028664e-05,1793244288094077952
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.074683408,714,679.925316592,660,634,879,787.074683408,805.074683408,653,630.925316592,652,0.40224673884,-0.00545887164943,0.0499491733814,0.999999992702,8.16465696229e-05,-8.62320951105e-05,-2.22309683487e-05,1793244288110744576
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805,653,630.494858234,652,0.402443439326,-0.00546627939775,0.0499473826716,0.999999992609,7.93653987123e-05,-8.97495699334e-05,-2.06808123025e-05,1793244288127411456
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.917078273,745,714,679.917078273,660,634,879,787.082921727,805.082921727,653,630.082921727,652,0.402649205121,-0.00547399348875,0.0499458925826,0.999999992568,7.66536588334e-05,-9.28674420623e-05,-1.90572253681e-05,1793244288144078080
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.342088235,745,714,679.342088235,660,634,879,787.657911765,805.657911765,653,630.657911765,652,0.402887442866,-0.00548085938285,0.0499479106622,0.99999999303,7.21504878213e-05,-9.17982316369e-05,-1.75383742071e-05,1793244288160744704
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.231532975,745,714,679,660.231532975,634,879,787.768467025,805.768467025,653,630.768467025,652,0.40314382306,-0.00548885390644,0.0499522518862,0.999999993982,6.7517574909e-05,-8.50602393009e-05,-1.55475735408e-05,1793244288177411584
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.803143602,745,714,679,660.803143602,634,879,787.196856398,805.196856398,653,630.196856398,652,0.403426851028,-0.00549850617048,0.0499600053651,0.999999995502,6.26940962215e-05,-6.99958906922e-05,-1.28635694127e-05,1793244288194078208
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.609306666,634.390693334,879,787.390693334,805,653,630.390693334,652,0.403746341035,-0.00550972200271,0.0499692263287,0.99999999692,5.78940810926e-05,-5.20665121429e-05,-9.90395468289e-06,1793244288210744576
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.013384227,634.986615773,879,787.986615773,805,653,630.986615773,652,0.404084984346,-0.0055217591686,0.049979218154,0.999999998034,5.31063913827e-05,-3.26321492542e-05,-6.79956327016e-06,1793244288227411200
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.431076994,879,788,805.568923006,653,631,652,0.404436336826,-0.00552956107331,0.0499858034142,0.999999998442,5.21806968172e-05,-1.94589371752e-05,-3.79565245289e-06,1793244288244077824
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.852153888,745,714,679,660,634,879,787.852153888,805.852153888,653,631,652,0.404803463429,-0.005534912857,0.0499910007468,0.999999998452,5.50077147309e-05,-8.32916903004e-06,-6.04132582612e-07,1793244288260744704
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.282003693,745,714,679,660,634,879,787.282003693,805.282003693,653,631,652,0.405214812729,-0.00553354412104,0.0499924571988,0.999999997659,6.83004384804e-05,-2.62534521367e-06,3.12986302045e-06,1793244288277411584
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.288332446,745,714,679,660.288332446,634,879,787,805,653,630.711667554,652,0.405615736775,-0.00552526913943,0.0499821719779,0.999999995791,8.90001807935e-05,-2.17637952598e-05,4.85625467496e-06,1793244288294078464
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.858850632,745,714,679,660.858850632,634,879,787,805,653,630.141149368,652,0.40600645786,-0.00551023514016,0.0499603953946,0.999999991024,0.000116949039382,-6.52149278871e-05,4.61784115746e-06,1793244288310744832
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.450675562,714,679.450675562,660.549324438,634,879,787.450675562,805,653,630.450675562,652,0.406459114198,-0.0055088852246,0.0499436364114,0.999999987343,0.000128421773524,-9.36980085617e-05,6.47317423837e-06,1793244288327411712
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.95237517,745.95237517,714,679.95237517,660,634,879,787.95237517,805,653,631,652,0.406935042937,-0.00551239743012,0.0499293605455,0.999999984247,0.000134100351423,-0.000115938862034,9.0704374639e-06,1793244288344078336
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.376286418,745.376286418,714,679.376286418,660,634,879,787.376286418,805,653,631,652,0.407443284713,-0.00551994493058,0.0499243351449,0.999999983105,0.000135586200951,-0.000123513889268,1.2262895477e-05,1793244288360744704
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.2042637,745,714,679,660,634,879,787,805.2042637,653,630.7957363,651.7957363,0.407976579842,-0.00552577441381,0.0499303111162,0.999999984006,0.000139934090612,-0.0001102359514,1.59431342794e-05,1793244288377411584
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.793215844,745,714,679,660,634,879,787,805.793215844,653,630.206784156,651.206784156,0.40855705775,-0.00552836836636,0.049957005897,0.999999986924,0.00014967204072,-5.76857649673e-05,2.0542007119e-05,1793244288394078208
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.375836486,634,879.375836486,787.375836486,805.624163514,653,630,651.375836486,0.409167217627,-0.00552956812627,0.0499790576808,0.999999986529,0.0001608673595,-2.04297476617e-05,2.54316245015e-05,1793244288410744576
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.95503125,634,879.95503125,787.95503125,805.04496875,653,630,651.95503125,0.409793437858,-0.00553001351383,0.0499985972225,0.99999998456,0.000172851233639,8.55087154372e-06,3.04785583142e-05,1793244288427411200
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.53117423,660.46882577,634,880,787.46882577,805,652.46882577,630.53117423,652,0.410415528611,-0.0055308173712,0.0499929914592,0.999999982565,0.000183281451995,-9.55201549299e-06,3.44504235931e-05,1793244288444078080
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.893157226,660,634,880,787,805.106842774,652.106842774,631,652,0.411035833029,-0.00553055848805,0.0499804337439,0.999999979447,0.00019500477354,-4.04249896629e-05,3.80036045522e-05,1793244288460744704
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.318441519,660,634,880,787,805.681558481,652.681558481,631,652,0.411649836937,-0.00552551364416,0.0499467017265,0.999999970483,0.00021296338775,-0.000109863667381,4.01196150401e-05,1793244288477411328
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.263578209,660.263578209,634,879.736421791,787,806,652.736421791,630.736421791,652,0.412315021497,-0.00552319583795,0.0499356640825,0.999999965326,0.000227146967,-0.000126243947362,4.25879394988e-05,1793244288494077952
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.854673854,660.854673854,634,879.145326146,787,806,652.145326146,630.145326146,652,0.413043802276,-0.00552426659796,0.0499528260454,0.999999968025,0.000236639760274,-7.66948472982e-05,4.54940432303e-05,1793244288510744320
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.437066633,787,805.562933367,652,630.437066633,652.437066633,0.413801775014,-0.00553153180916,0.0499706558033,0.999999986405,0.000155973984375,-4.49965905357e-05,2.89361125009e-05,1793244288527411200
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.016534028,714,679.983465972,660.983465972,634,879.983465972,787.016534028,805.016534028,652,631,652.983465972,0.414568579731,-0.00554078499544,0.0499872589986,0.999999998537,4.91888979264e-05,-2.14444453967e-05,6.78753946386e-06,1793244288544077824
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.593017442,714,679.406982558,660.406982558,634,879.406982558,787.593017442,805.593017442,652,631,652.406982558,0.415312189371,-0.00554897176283,0.0499549498294,0.999999995589,5.32639689863e-05,-7.66834788405e-05,1.02035132905e-05,1793244288560744704
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745.832863738,714,679,659.832863738,634,879.334272523,787.832863738,805.832863738,652.167136262,631,652,0.4160683235,-0.00555346758615,0.0499325053373,0.999999991518,6.1963697998e-05,-0.000113734496906,1.37619879132e-05,1793244288577411328
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.264422495,714,679,659.264422495,634,880.471155011,787.264422495,805.264422495,652.735577505,631,652,0.416854529694,-0.00554910121338,0.0499337465754,0.999999990764,8.17675301543e-05,-0.000107114909997,1.7662616027e-05,1793244288594077952
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.319257202,714,679.319257202,659.638514404,634,880.680742798,787.319257202,805.319257202,652.680742798,631,652,0.417669296212,-0.00554558626175,0.0499508284036,0.999999992131,9.79252073869e-05,-7.53618741804e-05,2.16460920146e-05,1793244288610744832
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.916190621,714,679.916190621,660.832381242,634,880.083809379,787.916190621,805.916190621,652.083809379,631,652,0.418508903234,-0.00554281183995,0.0499816876973,0.999999993283,0.000110911614259,-2.17488429506e-05,2.57016252809e-05,1793244288627411456
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.504365178,714,679.504365178,660.504365178,634,880,787.504365178,805.504365178,652,631,652,0.419323964845,-0.0055429526065,0.0499779729706,0.999999992599,0.000111677968146,-3.98017768851e-05,2.73229296947e-05,1793244288644078080
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.072499454,660.072499454,634,880,787,805,652,631,651.927500546,0.420146583661,-0.00554362354124,0.0499695908889,0.999999991525,0.000110330727193,-6.3078701592e-05,2.82585180093e-05,1793244288660744704
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.651298048,660.651298048,634,880,787,805,652,631,651.348701952,0.421049974834,-0.00554467176401,0.0499680503668,0.999999992937,0.000108161713229,-4.10933350928e-05,2.71819561417e-05,1793244288677411328
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.232986821,634,880,787,805.232986821,652,631,651.232986821,0.421942157313,-0.00554683427133,0.0499741823368,0.999999993925,0.000105644043007,-1.56936129418e-05,2.72645938296e-05,1793244288694078208
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.819055631,634,880,787,805.819055631,652,631,651.819055631,0.422817353612,-0.00555068543142,0.0499919416543,0.999999994203,0.00010259799817,1.4880428711e-05,2.91039508164e-05,1793244288710744832
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.599630495,661.19926099,634,880,787,805.599630495,652,630.599630495,652,0.423681851543,-0.00555197735761,0.0499854007493,0.999999994526,0.000100394905045,9.32207461486e-07,2.94761747194e-05,1793244288727411456
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.020440396,660.040880791,634,880,787,805.020440396,652,630.020440396,652,0.424541571114,-0.00555212623015,0.0499680064188,0.999999994175,9.8568307058e-05,-3.29013901141e-05,2.91931197862e-05,1793244288744078336
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.556982562,660,634,880,787,805.556982562,652,630.556982562,652,0.425460007148,-0.00555472189534,0.0499809996574,0.999999995011,9.48202928728e-05,-7.49382757177e-06,3.05198864075e-05,1793244288760744704
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.133704003,634,880,787,806,652,631,652,0.426375838284,-0.00555685971326,0.049993489123,0.999999995202,9.19445726992e-05,1.07587339025e-05,3.20486603914e-05,1793244288777411584
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.7083252,634,880,787,806,652,631,652,0.427275995722,-0.00555719250647,0.0500006513901,0.999999995171,9.21772227513e-05,-1.73057656794e-06,3.40493904441e-05,1793244288794078208
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.709614609,634,880,787,806,652,631,652,0.428141522525,-0.00555575859231,0.0499849929709,0.999999994326,9.40261685625e-05,-3.6590643543e-05,3.4176782408e-05,1793244288810744832
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.119885978,634,880,787,806,652,631,652,0.428971350346,-0.00555250347113,0.0499458098894,0.999999990253,9.75412696063e-05,-9.45115623224e-05,3.23730470891e-05,1793244288827411456
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,652,631,652,0.429881313968,-0.00555379625275,0.0499491064379,0.999999991995,9.47911289864e-05,-7.73587834573e-05,3.22550252641e-05,1793244288844078080
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.040275286,634,880.040275286,787.040275286,806.040275286,652,631,652,0.430806498341,-0.00555609862802,0.0499612846085,0.999999994302,9.07226652715e-05,-4.58850832937e-05,3.25693870519e-05,1793244288860744704
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.614975298,634,880.614975298,787.614975298,806.614975298,652,631,652,0.431662325056,-0.00555639921859,0.049947487267,0.999999992288,9.03739663792e-05,-7.85688873174e-05,3.2913652901e-05,1793244288877411072
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.80968561,634,881,787.80968561,806.80968561,652,631,652,0.43253383145,-0.00555777214359,0.0499386896141,0.999999990852,8.88715741882e-05,-9.64450820665e-05,3.31159317579e-05,1793244288894077696
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.233049137,634,881,787.233049137,806.233049137,652,631,652,0.433437166422,-0.00556132181668,0.0499400409032,0.99999999229,8.50272824526e-05,-8.42630908358e-05,3.30299891705e-05,1793244288910744576
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.648417555,660,634,880.648417555,787,806,652,631,652,0.434321333934,-0.00556398114699,0.0499587222364,0.999999994391,8.38548210582e-05,-5.44772110067e-05,3.49152527858e-05,1793244288927411456
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.05836307,660,634,880.05836307,787,806,652,631,652,0.435192500447,-0.0055660365736,0.0499891582264,0.999999995622,8.44946141837e-05,-1.27509312488e-05,3.81375500256e-05,1793244288944078080
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.515069778,634,880.515069778,787,806,652,631,652,0.435982699243,-0.00556006461262,0.0499769312452,0.999999993499,9.36239787586e-05,-5.20533544182e-05,3.90770409446e-05,1793244288960744704
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.088090159,660.911909841,634,880.911909841,787,806,652,631,652,0.436773860304,-0.00555474711622,0.0499621809989,0.999999990002,0.00010084751012,-9.09621701645e-05,3.93796527179e-05,1793244288977411328
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.669010494,660.330989506,634,880.330989506,787,806,652,631,652,0.437620128185,-0.00555802081891,0.0499595139574,0.999999992011,9.21950894803e-05,-7.79081147808e-05,3.75210751387e-05,1793244288994078208
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.253452723,634,880.253452723,787,806,652,631,652,0.438456542391,-0.00556251636571,0.0499647145626,0.999999994367,8.16677515156e-05,-5.73557072384e-05,3.61549749426e-05,1793244289010745088
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.842559033,634,880.842559033,787,806,652,631,652,0.439279907068,-0.00556863003004,0.0499803344835,0.999999996654,6.865741571e-05,-2.6873051082e-05,3.54410746179e-05,1793244289027411456
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.575527596,660.575527596,634,880.575527596,787,806.424472404,652,631,651.575527596,0.440041141198,-0.00556945220196,0.0499664515935,0.999999995875,6.93932352233e-05,-4.64434597392e-05,3.57305119861e-05,1793244289044078080
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.00374846,660,634,880,787,807,652,631,651.00374846,0.44077961273,-0.0055683390707,0.0499419293726,0.999999992979,7.51369870295e-05,-8.40933957227e-05,3.63851119559e-05,1793244289060744960
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.580899838,660,634,880,787,807,652,631,651.580899838,0.441502507052,-0.00556640890555,0.0499359484576,0.999999991626,8.0009919487e-05,-9.47759795803e-05,3.69197833681e-05,1793244289077411584
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.156253615,660,634,880.156253615,787,807,652,631,652,0.442218783857,-0.00556607974333,0.0499328768781,0.999999990807,8.35200847916e-05,-9.98772131031e-05,3.787884529e-05,1793244289094077952
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680.726840865,660,634,880.726840865,787,807,652,631,652,0.442917513324,-0.00556999591842,0.0499375199064,0.999999991656,8.3416637071e-05,-9.01785278888e-05,3.99632525831e-05,1793244289110744832
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.309722188,714,680.690277812,660,634,880.690277812,787,807,652,631,652,0.443566916516,-0.00557132342618,0.0499177704169,0.999999987725,8.62402690158e-05,-0.000124250617364,4.0927210943e-05,1793244289127411712
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.9038944,714,680.0961056,660,634,880.0961056,787,807,652,631,652,0.44417101823,-0.00557027349188,0.0498756187471,0.99999997525,9.17521415894e-05,-0.000198521951102,4.08621444923e-05,1793244289144078336
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.515311107,714,680,660,633.515311107,880,787,806.515311107,652,631,652,0.444763485339,-0.00556707991439,0.0498348657992,0.99999996174,9.5901672061e-05,-0.000256454649621,3.94127266653e-05,1793244289160744960
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,787,806,652,630.937331425,652,0.445355440621,-0.00556374466086,0.0497997029891,0.999999948617,9.96746304552e-05,-0.000302309969635,3.79308575131e-05,1793244289177411584
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,787,806,652,630.361264471,652,0.445961594409,-0.00556263734316,0.049808125095,0.999999956182,0.000102516143339,-0.000275051516651,3.8371465937e-05,1793244289194078464
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.21329402,714,680,660,632.78670598,880,787,806,652,630.21329402,652,0.446543104958,-0.00556268796195,0.0498118248744,0.999999959874,0.000103424891904,-0.000260846956245,3.89238841899e-05,1793244289210745088
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.785315453,714,680,660,632.214684547,880,787,806,652,630.785315453,652,0.447083169347,-0.0055646860502,0.049807582433,0.999999958032,0.000101083030906,-0.000268597018563,3.96643492014e-05,1793244289227411968
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.628482993,714,680,659.628482993,632,880,786.628482993,806,652,630.628482993,652,0.447579797461,-0.00556588252218,0.0497820299615,0.999999947685,9.82113323536e-05,-0.000305824283397,3.81676773497e-05,1793244289244078848
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.033762102,714,680,659.033762102,632,880,786.033762102,806,652,630.033762102,652,0.448050329527,-0.00556659739093,0.0497436746261,0.999999929787,9.50213119719e-05,-0.000360761171166,3.53269549246e-05,1793244289260745472
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.547703796,745,714,680,659,632,880,786,806.547703796,652,630.547703796,652,0.448501920656,-0.00556823530351,0.0497271222811,0.999999922491,4.18779372556e-05,-0.00039099297862,1.97376251164e-05,1793244289277411840
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.873183131,745,714,680.126816869,659,632,880,786,807,652,630.873183131,652,0.448948824844,-0.00556952469995,0.0497177872769,0.999999916341,-1.39802137592e-07,-0.000408975272272,7.56670115195e-06,1793244289294078208
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.299548869,745,714,680.700451131,659,632,880,786,807,652,630.299548869,652,0.449383232076,-0.00556939042285,0.0497292578605,0.999999924244,7.63463635139e-06,-0.000389037399188,1.01433620825e-05,1793244289310744832
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.280191825,714,681,659,631.719808175,880,786,806.719808175,652.280191825,630,651.719808175,0.449807682635,-0.00556977764129,0.0497422025424,0.999999931548,1.4435874671e-05,-0.000369489460853,1.31385738464e-05,1793244289327411712
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.866606224,714,681,659,631.133393776,880,786,806.133393776,652.866606224,630,651.133393776,0.450221251486,-0.00557073480392,0.0497567582703,0.99999993828,2.01734988352e-05,-0.000350367684728,1.65912210481e-05,1793244289344078592
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.552233736,714,680.552233736,659,631,880,786,806.447766264,652.552233736,630,651,0.450573935386,-0.00557321755208,0.0497542871,0.999999934278,2.2985492133e-05,-0.000361315987778,1.91279376415e-05,1793244289360745216
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,630.972800003,880,786,807,652,630,651.027199997,0.450906451835,-0.00557596247615,0.0497465598523,0.99999992675,2.50385858512e-05,-0.000381337233651,2.13159402735e-05,1793244289377412096
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,630.396979304,880,786,807,652,630,651.603020696,0.451193795353,-0.00557493484705,0.0497339426657,0.99999991701,2.9160392018e-05,-0.000405769336621,2.19102317454e-05,1793244289394078720
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.179229658,714,680.179229658,659,630.179229658,880,786,807,652,630,652,0.451467121404,-0.00557385867033,0.0497193614621,0.999999905113,3.28490259005e-05,-0.00043381439027,2.23473947253e-05,1793244289410745088
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.756300383,714,680.756300383,659,630.756300383,880,786,807,652,630,652,0.451709332457,-0.00557267473122,0.0497004206767,0.999999888722,3.55761346455e-05,-0.000469879208119,2.24357751382e-05,1793244289427411712
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.659875257,714,680.659875257,659,630.659875257,879.659875257,786,807,652,630,651.659875257,0.451945742194,-0.00557038070773,0.0496858459004,0.999999876996,3.87359008288e-05,-0.000493972958715,2.23358982041e-05,1793244289444078080
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.07111382,714,680.07111382,659,630.07111382,879.07111382,786,807,652,630,651.07111382,0.452177911101,-0.00556727519448,0.0496744627454,0.999999869164,4.22119469041e-05,-0.000509315669336,2.20984021219e-05,1793244289460744704
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.490264338,745.509735662,714,680,658.490264338,630.509735662,879.509735662,786,807,652,630,651.509735662,0.452396149816,-0.00556821814301,0.0496787685208,0.999999873834,4.45612006515e-05,-0.000499802497667,2.33142418397e-05,1793244289477411328
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.088522607,746,714,680.088522607,658.088522607,630.911477393,880,786,806.911477393,652,630,652,0.452606379438,-0.00556915172824,0.0496847318621,0.999999879627,4.69267826465e-05,-0.000487793146131,2.45224450996e-05,1793244289494077952
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.661965502,746,714,680.661965502,658.661965502,630.338034498,880,786,806.338034498,652,630,652,0.452783219109,-0.00556698734854,0.0496879685091,0.999999882844,5.02297791609e-05,-0.000480815220779,2.45951076505e-05,1793244289510744832
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714.241531444,681,658.758468556,630,880,786,806.241531444,652,630,652,0.452943908817,-0.00556546568549,0.0496881936673,0.99999988344,5.26467990611e-05,-0.000479314969739,2.46089754468e-05,1793244289527411200
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714.829889737,681,658.170110263,630,880,786,806.829889737,652,630,652,0.453081407991,-0.00556486693092,0.0496840944809,0.999999880309,5.37916014823e-05,-0.00048568038039,2.45384169671e-05,1793244289544077824
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.588369118,714.588369118,680.588369118,658,630,880,786,807,652,630,652,0.453199354161,-0.00556621881749,0.0496780035011,0.999999875345,5.25794044298e-05,-0.000495904147977,2.4983902224e-05,1793244289560744448
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.00931932,714.00931932,680.00931932,658,630,880,786,807,652,630,652,0.453309347712,-0.00556836407074,0.0496711024173,0.999999869523,5.0408566206e-05,-0.000507697190067,2.56392732945e-05,1793244289577411072
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.5697346,658,630,880,785.4302654,807,652,630,652,0.453395449829,-0.00556883146024,0.0496642346947,0.999999864803,5.03682304318e-05,-0.000516931137618,2.52753505459e-05,1793244289594077952
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785,807.147734515,652,630,652,0.453476333314,-0.00556878706984,0.0496578980058,0.999999860339,5.04538258469e-05,-0.000525510718146,2.48089023809e-05,1793244289610744832
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,630,880,785,807.722686172,652,630,652,0.453543255716,-0.00556734208619,0.0496530953778,0.999999856737,5.0802810299e-05,-0.000532319056204,2.40941872038e-05,1793244289627411456
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.303898719,714,680.696101281,658.303898719,629.696101281,880,785.303898719,807.392202562,652,629.696101281,652,0.453605003036,-0.00556677114437,0.0496512430804,0.999999855792,5.14438305422e-05,-0.000534045590704,2.37588454129e-05,1793244289644078080
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.890944704,714,680.109055296,658.890944704,629.109055296,880,785.890944704,806.218110591,652,629.109055296,652,0.453661928657,-0.00556701456104,0.0496521396521,0.999999857346,5.23569452151e-05,-0.000531037328871,2.37769717529e-05,1793244289660744704
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.526316813,746,714,680,658.526316813,629.473683187,880,785.526316813,806.473683187,652,629.473683187,652,0.453704461428,-0.00556692728669,0.0496519675961,0.999999857374,5.02326254198e-05,-0.000531208440401,2.33672026547e-05,1793244289677411584
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.054754398,745.945245602,714.054754398,680.054754398,658,629.945245602,880,785.054754398,807,652,630,652,0.453742158553,-0.00556692354021,0.0496513736287,0.999999856899,4.76157641311e-05,-0.000532360377705,2.29663943338e-05,1793244289694078208
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.62932757,745.37067243,714.62932757,680.62932757,658,629.37067243,880,785.62932757,807,652,630,652,0.453765122854,-0.0055684290574,0.0496490888414,0.999999855008,4.690199805e-05,-0.000535937374976,2.35774815449e-05,1793244289710744832
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,658,629.204350183,880,785.795649817,806.795649817,652,630,652,0.453784991051,-0.0055681318945,0.0496467272749,0.999999853114,4.71871370092e-05,-0.000539433840972,2.35705009611e-05,1793244289727411456
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,658,629.780189801,880,785.219810199,806.219810199,652,630,652,0.453799230822,-0.00556455762843,0.0496442261312,0.999999851226,4.92881915353e-05,-0.00054278390847,2.24399311524e-05,1793244289744078080
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.633815583,658,630,880,785,806,652,630,652,0.453809628183,-0.0055634842625,0.049642839269,0.99999984971,5.0316603857e-05,-0.000545498426503,2.19217530212e-05,1793244289760744704
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.041551362,658,630,880,785,806,652,630,652,0.453817653264,-0.00556395493568,0.0496421403569,0.999999848425,5.06827739926e-05,-0.000547820560434,2.17816614498e-05,1793244289777411584
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,629.464170506,880,785,806.535829494,652,630,652,0.453824481891,-0.00556265855207,0.0496425439901,0.999999849393,5.14670381689e-05,-0.000545974324238,2.18331865052e-05,1793244289794078208
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714.887983961,680.112016039,658,629.112016039,880,785,807,652,630,651.887983961,0.453830181535,-0.00556138389249,0.04964275364,0.999999850073,5.21320691847e-05,-0.000544660649088,2.19108730344e-05,1793244289810744832
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714.312093073,680.687906927,658,629.687906927,880,785,807,652,630,651.312093073,0.453831579721,-0.00556075131271,0.0496418154862,0.999999848871,5.21727044549e-05,-0.000546854795559,2.20370274144e-05,1793244289827411712
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.269995633,714.269995633,681,658,629.730004367,880.269995633,785,807,652,629.730004367,651.269995633,0.453832803088,-0.00556087654282,0.0496406804675,0.999999847848,5.20802734904e-05,-0.000548730760571,2.20424862827e-05,1793244289844078592
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.85941691,714.85941691,681,658,629.14058309,880.85941691,785,807,652,629.14058309,651.85941691,0.453833819628,-0.00556189832034,0.0496393125424,0.99999984704,5.18304149195e-05,-0.000550230292686,2.19051530745e-05,1793244289860744704
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.558858594,715,681,658,629.441141406,880.558858594,785.441141406,807,652,629.441141406,652,0.453833063437,-0.00556129540627,0.0496381426874,0.999999845702,5.28532982522e-05,-0.00055255109994,2.21311987918e-05,1793244289877411584
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714.979653712,681,658,629.979653712,880,785.979653712,807,652,629.979653712,652,0.453831872441,-0.0055601857328,0.0496370980303,0.99999984428,5.42426298093e-05,-0.000554972419984,2.24360847933e-05,1793244289894078464
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714.40342211,681,658,629.40342211,880,785.40342211,807,652,629.40342211,652,0.453833972071,-0.00555913395716,0.0496377789611,0.999999845297,5.47523762915e-05,-0.000553111872473,2.17853944491e-05,1793244289910744832
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.171637704,714.171637704,681,658,629,880,785,807,652,629,652,0.453835239266,-0.00555894599593,0.0496379091559,0.999999845823,5.40694669013e-05,-0.000552242812101,2.14084207617e-05,1793244289927411456
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.743961956,714.743961956,681,658,629,880,785,807,652,629,652,0.453834563146,-0.00556077460111,0.0496367536627,0.999999845199,5.06023139535e-05,-0.000553688368913,2.16704359851e-05,1793244289944078336
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,715,681,658,629.327551668,880.327551668,785,807,652,629,652,0.453834692948,-0.0055603310633,0.0496368487118,0.999999844851,5.10735202856e-05,-0.000554272634443,2.16922010619e-05,1793244289960744960
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,715,681,658,629.920260897,880.920260897,785,807,652,629,652,0.453835475153,-0.00555804819452,0.049637956092,0.999999844724,5.47328825462e-05,-0.000554159672813,2.15194803429e-05,1793244289977411584
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,715,681,658,629.499847833,880.499847833,785.500152167,807,652,629.500152167,652,0.453834966433,-0.00555756547524,0.049637044479,0.999999844159,5.37194786339e-05,-0.000555287490712,2.12371343211e-05,1793244289994078208
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.92240818,714.92240818,681,658,629,880,786,807,652,630,652,0.453834382452,-0.00555750898025,0.0496360888108,0.999999843661,5.24145534495e-05,-0.000556318185726,2.09930024879e-05,1793244290010744576
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.34790902,714.34790902,681,658,629,880,786,807,652,630,652,0.453834601606,-0.00555839003849,0.049636860904,0.99999984404,5.38944035128e-05,-0.000555491704688,2.11027303977e-05,1793244290027411456
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,714.232189942,681,658.232189942,629,880.232189942,785.767810058,806.767810058,652,629.767810058,652,0.453834946004,-0.00555872785041,0.0496370080176,0.999999844254,5.44243061706e-05,-0.000555056286388,2.10511858736e-05,1793244290044078080
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,714.820886995,681,658.820886995,629,880.820886995,785.179113005,806.179113005,652,629.179113005,652,0.4538354827,-0.00555823155583,0.0496361955304,0.999999844218,5.34956488743e-05,-0.000555221310191,2.0752021815e-05,1793244290060744448
+249,4.150000000,HOLD_POSE2,765,745,715,681,658,630,880,785,807,652,629,652,0.45383802325,-0.00555679711512,0.0496372770192,0.999999845393,5.40570430046e-05,-0.000553035880999,2.10381975102e-05,1793244290094603776
+250,4.166666667,HOLD_POSE2,765,745,715,681,657.423060577,629.423060577,880,785,807,652,629,651.423060577,0.45383760667,-0.00555825275984,0.0496367657674,0.999999845242,5.21058053278e-05,-0.000553488134334,2.12556758604e-05,1793244290111270656
+251,4.183333333,HOLD_POSE2,765,745.153460016,715,681,657.306920031,629.153460016,880,785.153460016,807,652.153460016,629,651.153460016,0.45383688741,-0.0055584064554,0.0496362358514,0.999999844736,5.15819706793e-05,-0.000554451161126,2.12392138186e-05,1793244290127937280
+252,4.200000000,HOLD_POSE2,765,745.728829246,715,681,658.457658493,629.728829246,880,785.728829246,807,652.728829246,629,651.728829246,0.453835335992,-0.00555498068889,0.0496356546213,0.999999843253,5.49825095674e-05,-0.000556818462797,2.05795770761e-05,1793244290144603904
+253,4.216666667,HOLD_POSE2,765,745.688437659,715,681,658.688437659,629.688437659,880.311562341,785.688437659,807,652.688437659,629,651.688437659,0.453835618869,-0.00555459818504,0.0496354302892,0.999999843103,5.49416883767e-05,-0.000557106759739,2.0161064289e-05,1793244290161270528
+254,4.233333333,HOLD_POSE2,765,745.099140253,715,681,658.099140253,629.099140253,880.900859747,785.099140253,807,652.099140253,629,651.099140253,0.453837536887,-0.00555692852772,0.0496355241057,0.999999844144,5.18331458827e-05,-0.000555541775709,1.99574959326e-05,1793244290177936896
+255,4.250000000,HOLD_POSE2,765,745,715,680.534458471,658.465541529,629,880.534458471,785,807,652,629.465541529,651.465541529,0.453838040295,-0.00555831695299,0.0496359388061,0.999999844363,5.10456101176e-05,-0.000555206751797,2.03210384656e-05,1793244290194603520
+256,4.266666667,HOLD_POSE2,765,745,714.973138108,680,658.973138108,629,880.026861892,785,807,652,629.973138108,652,0.453838225427,-0.00555937990443,0.0496364131314,0.999999844388,5.08938068846e-05,-0.000555159481158,2.07816755466e-05,1793244290211269888
+257,4.283333333,HOLD_POSE2,765,745,714.377575413,680,658.377575413,629,880.622424587,785,807,652,629.377575413,652,0.453837729817,-0.00555758558858,0.0496367757198,0.999999843777,5.42623790574e-05,-0.000555937443129,2.08694750418e-05,1793244290227937024
+258,4.300000000,HOLD_POSE2,765.21010953,745.21010953,714.21010953,680,658,629.21010953,880.78989047,785,807,652,629.21010953,652,0.45383711815,-0.00555639472075,0.049636683603,0.99999984326,5.54911823858e-05,-0.000556743697863,2.09073254009e-05,1793244290244603648
+259,4.316666667,HOLD_POSE2,765.784149371,745.784149371,714.784149371,680,658,629.784149371,880.215850629,785,807,652,629.784149371,652,0.453836305461,-0.00555624908428,0.0496358038923,0.999999842919,5.30136958912e-05,-0.000557598958363,2.08586589491e-05,1793244290261270016
+260,4.333333333,HOLD_POSE2,765.629791935,746,714.629791935,680,658,629.629791935,880,785,807,652,630,652,0.453836557577,-0.00555571260475,0.0496353113733,0.99999984298,5.26315890365e-05,-0.000557543605501,2.03960459504e-05,1793244290277936896
+261,4.350000000,HOLD_POSE2,765.036490427,746,714.036490427,680,658,629.036490427,880,785,807,652,630,652,0.453837451361,-0.0055549405968,0.0496350521825,0.999999843284,5.35121920239e-05,-0.000556939502197,1.96839819799e-05,1793244290294603776
+262,4.366666667,HOLD_POSE2,765,746,714,680.543175368,658,629,880,785,807,652,629.456824632,652,0.453838236949,-0.00555560825983,0.0496355262526,0.999999843727,5.34468518388e-05,-0.000556127652151,2.02866156283e-05,1793244290311273472
+263,4.383333333,HOLD_POSE2,764.879024502,745.879024502,714,681,658,629,880,785,807,652,629,652,0.453838929631,-0.0055563437275,0.0496359666528,0.9999998441,5.33550207605e-05,-0.000555442987949,2.08693870689e-05,1793244290327942144
+264,4.400000000,HOLD_POSE2,764.304865594,745.304865594,714,681,658,629,880,785,807,652,629,652,0.453839300844,-0.00555697976059,0.0496361009089,0.999999844182,5.33961797452e-05,-0.000555285772732,2.10549979487e-05,1793244290344605184
+265,4.416666667,HOLD_POSE2,764.275906213,745,714.275906213,680.724093787,658,629,880,785.275906213,807,652,629.275906213,652,0.453839430342,-0.00555651607507,0.0496362415827,0.999999844197,5.35493361481e-05,-0.000555247459846,2.09481429923e-05,1793244290361270272
+266,4.433333333,HOLD_POSE2,764.864164411,745,714.864164411,680.135835589,658,629,880,785.864164411,807,652,629.864164411,652,0.453839286197,-0.00555480740381,0.0496363895217,0.999999844138,5.38292842422e-05,-0.000555343755677,2.0510188975e-05,1793244290377936896
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,657,629,880,785,807,652,630,652,0.453839584791,-0.0055566849296,0.0496361437059,0.999999843604,5.12357586842e-05,-0.000556561638832,2.01487072294e-05,1793244290410547712
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.577668245,629,880,785,806.422331755,652,630,652,0.453838410908,-0.00555616299364,0.0496355415997,0.999999843247,5.1943812485e-05,-0.000557147525728,1.98504020201e-05,1793244290427214336
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.154150238,680.845849762,658,629,880,785,806.154150238,652,629.845849762,652,0.453837981918,-0.00555620419186,0.0496353865971,0.999999843301,5.19220378523e-05,-0.000557051652153,1.98980813394e-05,1793244290443880704
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.727407157,680.272592843,658,629,880,785,806.727407157,652,629.272592843,652,0.453839578162,-0.00555777645018,0.0496364471882,0.999999844467,4.99159915719e-05,-0.00055510219501,2.08864300884e-05,1793244290460547328
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.689982019,629,880,785.310017981,807,652,629,652,0.453840167979,-0.00555774671634,0.0496367073121,0.999999844839,5.04564001732e-05,-0.000554377804602,2.1005445015e-05,1793244290477213952
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.098890643,629,880,785.901109357,807,652,629,652,0.453839845333,-0.00555626455898,0.0496362417036,0.999999844491,5.33055160005e-05,-0.000554764103642,2.03362907347e-05,1793244290493880576
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.483326624,629,880,785.516673376,807,652,629.483326624,652,0.453839348581,-0.00555542591628,0.04963609856,0.999999844312,5.36177893016e-05,-0.000555071803435,1.99107463844e-05,1793244290510547200
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.062772287,658,629.062772287,880,785.062772287,807,652,629.937227713,652,0.453838113481,-0.00555482158102,0.0496356415804,0.999999843843,5.33899440398e-05,-0.00055594947325,1.95622988129e-05,1793244290527213824
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.63420657,658,629.63420657,880,785.63420657,807,652,629.36579343,652,0.453831178801,-0.00555506821679,0.0496321165003,0.999999840728,5.29155305817e-05,-0.000561573740419,1.94419735975e-05,1793244290543880960
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.21208803,714.78791197,681,658,629.78791197,880,785.78791197,806.575823941,652,629.21208803,652,0.45381822864,-0.00555463219807,0.0496257376526,0.999999835046,5.34003926173e-05,-0.000571565652821,1.92043184342e-05,1793244290560547584
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.80143765,714.19856235,681,658,629.19856235,880,785.19856235,805.3971247,652,629.80143765,652,0.453794578164,-0.0055529818754,0.0496142825316,0.999999824626,5.55916112456e-05,-0.000589326719585,1.87579570986e-05,1793244290577213952
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.613610942,714,681,658,629,880.386389058,785,805.772778115,652,629.613610942,652,0.453749356117,-0.00555081678814,0.0495950981191,0.999999804428,5.63420097354e-05,-0.00062262233455,1.76353360412e-05,1793244290593880576
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.030894251,714,681,658,629,880.969105749,785,806.938211497,652,629.030894251,652,0.453693173368,-0.00554839014438,0.0495719863854,0.999999777958,5.63603151342e-05,-0.00066381118906,1.61691014872e-05,1793244290610547456
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.455873928,658,629,880.455873928,785,806.455873928,652,629.544126072,652,0.453625539114,-0.00554780826934,0.0495527138449,0.999999760798,5.61043870817e-05,-0.000689223937279,1.50758630808e-05,1793244290627214080
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.881153624,745,714,680.118846376,658,629,880,785,806.118846376,652,630,652,0.453555403184,-0.00554614114313,0.0495360133896,0.999999745691,5.69047636423e-05,-0.000710766355422,1.3799691648e-05,1793244290643880704
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.305930607,745,714,680.694069393,658,629,880,785,806.694069393,652,630,652,0.453478122599,-0.00553990998786,0.0495283644939,0.999999738216,6.18203653075e-05,-0.000720838186679,1.17408570345e-05,1793244290660547072
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.552085856,745.276042928,714.276042928,680.723957072,658,629.276042928,880,785,807,652,629.723957072,652,0.453391704488,-0.00553584809011,0.0495248931877,0.999999734086,6.4348220203e-05,-0.000726340178748,1.0831583218e-05,1793244290677213952
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.731370753,745.865685377,714.865685377,680.134314623,658,629.865685377,880,785,807,652,629.134314623,652,0.453294905663,-0.00553425058521,0.0495261678467,0.999999733868,6.41634668499e-05,-0.000726650588708,1.12282720383e-05,1793244290693880832
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.553074381,746,715,680.446925619,658,629.553074381,880,785,807,652,629,652,0.453187131636,-0.00553108438099,0.0495331224277,0.999999739326,6.69374168311e-05,-0.000718847535216,1.12272189568e-05,1793244290710547456
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.974545279,715,681,658,629,880,785.025454721,806.974545279,652,629.025454721,652,0.45307460882,-0.00552739372382,0.0495415654874,0.999999746189,7.06044383297e-05,-0.000708882334974,1.11081468453e-05,1793244290727214080
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.401024554,715,681,658,629,880,785.598975446,806.401024554,652,629.598975446,652,0.452929546675,-0.00552237436352,0.0495459820366,0.999999749415,7.47085423353e-05,-0.000703895076443,1.097418908e-05,1793244290743880448
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.827931734,681,658,629,880,786,806.172068266,652,629.827931734,652,0.452774621803,-0.00551668022608,0.049549025303,0.999999750926,7.91113537594e-05,-0.000701269142864,1.05320794315e-05,1793244290760547072
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.255833803,681,658,629,880,786,806.744166197,652,629.255833803,652,0.452596767775,-0.00550941734644,0.0495488759181,0.999999748509,8.42086089242e-05,-0.000704132891802,9.37356870824e-06,1793244290777214208
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.328790729,714,680.671209271,658,629.328790729,879.671209271,785.671209271,807,652,629.328790729,652,0.452396244397,-0.00550216877296,0.0495500560891,0.999999746253,8.9628830456e-05,-0.000706670303141,8.8470740412e-06,1793244290793881088
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.923548399,714,680.076451601,658,629.923548399,879.076451601,785.076451601,807,652,629.923548399,652,0.452177383201,-0.00549493177128,0.0495523117708,0.999999744118,9.53103080112e-05,-0.00070894373224,8.83183264632e-06,1793244290810547712
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714.506799929,680.506799929,658,630,879.506799929,785,807,652,630,651.493200071,0.451931042183,-0.00548613684476,0.0495562519107,0.999999744755,0.000101793725803,-0.00070715175476,8.00496808107e-06,1793244290827214592
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.912854453,714.912854453,681,658,630,880,785,807,652,630,651.087145547,0.451674833407,-0.00547713647342,0.0495595837163,0.999999745565,0.000108383985821,-0.000705035228968,6.97609416363e-06,1793244290843881216
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.339255785,714.339255785,681,658,630,880,785,807,652,630,651.660744215,0.451386168066,-0.00546827204141,0.0495581328184,0.999999745255,0.000114910354837,-0.000704454390662,5.48785596801e-06,1793244290860547840
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.239634738,880,785.239634738,807,652,630,652,0.451093307289,-0.00545930437969,0.0495613916163,0.999999751654,0.000120145765008,-0.000694438290497,3.60997472862e-06,1793244290877214464
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.826186192,880,785.826186192,807,652,630,652,0.450794372839,-0.00545018727392,0.0495714685918,0.99999976741,0.000123512267063,-0.00067076285973,1.16801139818e-06,1793244290893880832
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.589785883,880,786,806.589785883,652,630,652,0.450456251056,-0.00544243711214,0.0495873917097,0.99999978757,0.000126351422856,-0.000639449786234,-4.14979170112e-08,1793244290910547456
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.006820693,880,786,806.006820693,652,630,652,0.450101626547,-0.00543526260374,0.0496057767792,0.999999808719,0.000128968500203,-0.000604920316927,-7.3199101161e-07,1793244290927214080
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,630.568401083,880,786,806,652.568401083,630,652,0.449706723308,-0.0054297516906,0.0496175405625,0.99999982133,0.000128789105442,-0.00058373494433,-2.75554369581e-06,1793244290943880704
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631,880,786,806.13683413,652.86316587,630,652,0.449296881013,-0.00542629841671,0.049626300231,0.999999830076,0.000126329219395,-0.000569090789806,-4.88361736187e-06,1793244290960547328
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631,880,786,806.685128993,652.314871007,630,652,0.448843550853,-0.00542897325121,0.049626262221,0.999999828584,0.00011711143789,-0.000573641077497,-7.27853078841e-06,1793244290977214208
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.264841549,745.264841549,714,681,658.264841549,631,880.264841549,786,807,652,630,652,0.448370817649,-0.00543336244101,0.0496241548625,0.999999827969,0.00010590463785,-0.0005768529802,-9.36764331194e-06,1793244290993881088
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.886934265,745.886934265,714,681,658.886934265,631,880.886934265,786,807,652,630,652,0.447871911144,-0.00544006416648,0.04961925611,0.999999828514,9.20148013215e-05,-0.000578259503664,-1.10442539414e-05,1793244291010547712
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.52955301,746,714.47044699,680.52955301,659,631,880.52955301,786,807,652,630.47044699,652,0.447327070157,-0.00543755196108,0.0496128426111,0.999999825102,8.65596602819e-05,-0.000584880798568,-1.472940105e-05,1793244291027214080
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.045539712,746,714.954460288,680,659,631.045539712,880,786,806.954460288,652,631,652,0.446770422172,-0.00543285236308,0.0496066893352,0.999999821183,8.29057360223e-05,-0.000591952699036,-1.87838203357e-05,1793244291043880960
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.622376279,746,714.377623721,680,659,631.622376279,880,786,806.377623721,652,631,652,0.446195060777,-0.00542651030091,0.0496074973298,0.999999822182,7.84082067475e-05,-0.000590768029497,-2.19414659183e-05,1793244291060547584
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.796562727,745.796562727,714,680.203437273,659,632,880,786,806,652,631,651.796562727,0.445622102996,-0.00542135322029,0.049620504431,0.999999832475,7.50393202215e-05,-0.000573438727057,-2.42337349803e-05,1793244291077214208
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.207494036,745.207494036,714,680.792505964,659,632,880,786,806,652,631,651.207494036,0.445053701488,-0.00541844236619,0.0496566359022,0.999999858888,7.38098653336e-05,-0.000525505996882,-2.48856142664e-05,1793244291093880832
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.375378278,714,681,659,632.375378278,880,786,806.375378278,652,630.624621722,651,0.444439750969,-0.00541550530097,0.049691435828,0.999999883543,7.025059468e-05,-0.000476755306096,-2.6130066614e-05,1793244291110547712
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.954881083,714,681,659,632.954881083,880,786,806.954881083,652,630.045118917,651,0.443801031668,-0.00541255398266,0.0497255116803,0.999999906073,6.54244085278e-05,-0.000427559822821,-2.76967503847e-05,1793244291127214336
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.468897775,714,680.468897775,659,633,880.531102225,786.531102225,807,652,630.531102225,651.531102225,0.443078743472,-0.00541419707632,0.0497191459513,0.999999900445,5.04915891658e-05,-0.00044227619265,-3.08652568754e-05,1793244291143881216
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.107232282,659,633,880.892767718,787,806.892767718,652,631,652,0.44235848969,-0.00541578271342,0.0497170012981,0.999999898787,3.60116843917e-05,-0.000447191959937,-3.39030863599e-05,1793244291160547840
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.684176877,659,633,880.315823123,787,806.315823123,652,631,652,0.441678054473,-0.0054154174827,0.049748303174,0.999999924668,2.72535160237e-05,-0.000385540849282,-3.57760919003e-05,1793244291177214208
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.733599166,659.266400834,633,880,787,806.266400834,652,631,652,0.440987923663,-0.0054130122067,0.0497861399288,0.999999948568,2.20811361942e-05,-0.000317749057853,-3.75748703699e-05,1793244291193880576
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.144989809,659.855010191,633,880,787,806.855010191,652,631,652,0.440286066063,-0.00540813952105,0.0498318805431,0.999999969592,2.12457222066e-05,-0.000242530180583,-3.92838723396e-05,1793244291210547200
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.435871606,714,680,660,633,880,787,806.564128394,652,630.564128394,652,0.439482686174,-0.00540708958506,0.0498285102052,0.999999967323,1.21574461322e-05,-0.00025184753599,-4.21767442065e-05,1793244291227213824
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.014108768,745.985891232,714,680,660,633.014108768,880.014108768,787,806.014108768,652,630.014108768,651.985891232,0.438644846458,-0.00540729959008,0.0498088727168,0.999999957157,3.68149504528e-07,-0.000289165036856,-4.54811763573e-05,1793244291243880704
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.588694024,745.411305976,714,680,660,633.588694024,880.588694024,787,806.588694024,652,630.588694024,651.411305976,0.437756198976,-0.00540792820906,0.049780653013,0.999999940481,-1.15684490948e-05,-0.00034121509377,-4.97641221517e-05,1793244291260547072
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634,880.832951596,787,806.832951596,652,631,651.167048404,0.436887679912,-0.00540762409971,0.0497684922543,0.999999931337,-2.22633421837e-05,-0.000366045755671,-5.33046005128e-05,1793244291277213696
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634,880.245102701,787,806.245102701,652,631,651.754897299,0.436069865057,-0.00540497041661,0.0497967845146,0.999999946102,-2.98303370883e-05,-0.000322309853902,-5.49747786784e-05,1793244291293880576
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.6620915,744.6620915,713.6620915,680,660,634,880,787,806,652,631,652,0.435203774654,-0.00540008798297,0.049797234028,0.999999944298,-3.50120731345e-05,-0.000326778800534,-5.82507366697e-05,1793244291310547200
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.082539829,744.082539829,713.082539829,680,660,634,880,787,806,652,631,652,0.434303161755,-0.00539361173824,0.0497777727959,0.99999993042,-3.8488076324e-05,-0.000365719721392,-6.26750105577e-05,1793244291327213568
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.497760565,713.497760565,680,660,633.502239435,880,787,806,652,631,651.502239435,0.433432545355,-0.00539552263794,0.0497878262152,0.999999938802,-2.99569859267e-05,-0.000343503584565,-5.91961503441e-05,1793244291343880448
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.077123092,633,880,787,806,652,631,651,0.432560563803,-0.00539728626414,0.0498024644313,0.999999949571,-1.04063048909e-05,-0.000313033763345,-5.25329753484e-05,1793244291360547072
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.649662054,633,880,787,806,652,631,651,0.431647813097,-0.00538915645629,0.0498150678356,0.999999953725,6.71218066749e-05,-0.000294786980552,-3.38457587128e-05,1793244291377213696
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.228377097,745,714,680,660.543245806,633.228377097,880,787,806,652,631,651.228377097,0.430723937591,-0.00538179665863,0.0498082766548,0.999999946183,0.000110197591333,-0.000307975298523,-2.53173736657e-05,1793244291393880320
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.816829881,745,714,680,659.366340238,633.816829881,880,787,806,652,631,651.816829881,0.429782521784,-0.00537565091292,0.0497709065841,0.999999925847,9.89533822478e-05,-0.000370726446562,-3.28061273834e-05,1793244291410547200
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.600844569,745,714,680,659.399155431,634,879.600844569,787,806,652,630.600844569,652,0.428864967436,-0.00537811270552,0.0497658132419,0.999999925167,8.12075105239e-05,-0.000376405778442,-3.72891441042e-05,1793244291427214080
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.021288297,745,714,680,659.978711703,634,879.021288297,787,806,652,630.021288297,652,0.427958197482,-0.00538446473028,0.049775307575,0.99999993388,6.05231716652e-05,-0.00035629113572,-4.04136984005e-05,1793244291443880704
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.555319496,787,806,652,630.555319496,652,0.427001303868,-0.00538108453127,0.0497687836142,0.99999992555,5.67899518623e-05,-0.000379258087834,-4.2876630278e-05,1793244291460547072
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.86880491,787,806,652,631,652,0.426060718572,-0.00537822351841,0.0497674650603,0.999999923264,5.64331685892e-05,-0.000385112292352,-4.44413131709e-05,1793244291477213696
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.295020139,787,806,652,631,652,0.425181597815,-0.00537836596246,0.0497857676889,0.99999994325,6.5286251063e-05,-0.00032769415287,-4.30608443742e-05,1793244291493880576
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.879383465,661.75876693,634,879,787,806,652,631,652,0.423449885367,-0.00537828170817,0.0498427127329,0.999999971456,6.25877576777e-05,-0.000226673327533,-4.23034835542e-05,1793244291527214080
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.539087585,745,714,680.539087585,660.617262755,634,879.460912415,787,806,652,631,652,0.422531284094,-0.00537584304014,0.0498290815511,0.999999964574,6.1691592769e-05,-0.00025517413974,-4.39668205727e-05,1793244291543880704
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.039518862,745,714,680,659.039518862,634,879.960481138,787,806,652,631,652,0.42160058427,-0.00537309870695,0.0498049687138,0.9999999517,6.19103321661e-05,-0.00030109288176,-4.59317259711e-05,1793244291560547328
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.614304237,745,714,680,659.614304237,634,879.385695763,787,806,652,631,652,0.420704790899,-0.00537430140618,0.0497970564048,0.999999946589,6.34194436801e-05,-0.000317293409813,-4.61036262847e-05,1793244291577214208
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.187757503,714,680.187757503,660.187757503,634,879,787,806,652,631,652,0.419808783501,-0.00537435340518,0.0497931072779,0.999999941748,6.63182588642e-05,-0.000331658921969,-4.59049279672e-05,1793244291593880832
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745.758493702,714,680.758493702,660.758493702,634,879,787,806,652,631,652,0.418912339378,-0.00537205826157,0.0497972420575,0.999999937816,7.20517248319e-05,-0.000342281460319,-4.49503004926e-05,1793244291610547456
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.655725919,714,680.655725919,660.655725919,634,879.344274081,787,805.655725919,652,631,652,0.418050519898,-0.00537153849841,0.0497896662653,0.999999932451,7.30897012226e-05,-0.000357309369986,-4.56727533575e-05,1793244291627214080
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.05890993,714,680.05890993,660.05890993,634,879.94109007,787,805.05890993,652,631,652,0.417214099345,-0.00537232106392,0.0497735001946,0.999999925842,7.06833055682e-05,-0.000375568834677,-4.76254268779e-05,1793244291643880704
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.52016388,680,660.52016388,634,879.47983612,787,805,652,630.47983612,652,0.416438350372,-0.00537285963208,0.0497937483454,0.999999940304,6.88239107947e-05,-0.000335208754541,-4.78674677244e-05,1793244291660547328
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.903306472,680,660.903306472,634,879,787,805,652,630.096693528,652,0.415665846663,-0.00537310876825,0.04981392574,0.999999952622,6.7783294532e-05,-0.000296418444641,-4.79355458131e-05,1793244291677213952
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.329741278,680,660.329741278,634,879,787,805,652,630.670258722,652,0.414876578289,-0.00537206227475,0.0498140863153,0.999999952247,7.0485274955e-05,-0.000297031199246,-4.80696157192e-05,1793244291693880832
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.748931788,634,879.251068212,787,805,652,631,652,0.414081565888,-0.0053714725424,0.0498005938248,0.999999944802,7.20493949136e-05,-0.000320656557064,-4.8826067158e-05,1793244291710547456
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.158325343,634,879.841674657,787,805,652,631,652,0.413278785477,-0.00537150052223,0.0497686372769,0.999999925667,7.20747010912e-05,-0.000375403570558,-5.04242113594e-05,1793244291727214336
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.848319844,634,879.575840078,787.424159922,805,652,631,652,0.412550579464,-0.00537228244247,0.0497722643271,0.999999927332,7.22808224787e-05,-0.000370895417109,-5.04760593263e-05,1793244291743880960
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.996353808,679.996353808,661,634,879,787.996353808,805.003646192,652.003646192,630.996353808,652,0.411849893565,-0.00537332497674,0.0497889539869,0.999999936719,7.2578859334e-05,-0.000344671668378,-4.99540907584e-05,1793244291760547328
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.420728966,679.420728966,661,634,879,787.420728966,805.579271034,652.579271034,630.420728966,652,0.41118166184,-0.00537193274406,0.0498103370057,0.999999945824,7.69070263488e-05,-0.000316399076022,-4.82592111301e-05,1793244291777214208
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.15459618,679.15459618,660.69080764,634,879.15459618,787.15459618,805.84540382,653,630.15459618,652,0.410512900212,-0.00537099964738,0.0498192704986,0.999999948369,8.09751341752e-05,-0.000307342741872,-4.73886326304e-05,1793244291793881088
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,713.729107419,679.729107419,659.541785161,634,879.729107419,787.729107419,805.270892581,653,630.729107419,652,0.40984269911,-0.00537131365831,0.0497943885205,0.999999933836,8.43368687131e-05,-0.000350481715991,-4.87570253953e-05,1793244291810547456
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.685708335,679.685708335,659.314291665,634,879.685708335,787.685708335,805,653,631,651.685708335,0.409216811759,-0.005373542632,0.0497883564764,0.99999993176,8.42932036334e-05,-0.000356280812675,-4.93775457163e-05,1793244291827214080
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.091001528,679.091001528,659.908998472,634,879.091001528,787.091001528,805,653,631,651.091001528,0.408630461758,-0.00537748016053,0.0497991425919,0.999999941442,8.12111962447e-05,-0.000328764779062,-4.93308043922e-05,1793244291843880704
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.512795953,745,713.487204047,679.487204047,660,634,879.487204047,787,805,653,631,651.487204047,0.408082749019,-0.00537808822408,0.0498164530915,0.999999948553,8.06296759777e-05,-0.000306695324051,-4.82686179704e-05,1793244291860547584
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.636971126,745,714,679.363028874,660,634,879.363028874,787,805,653,630.363028874,652,0.407011028781,-0.00537683523934,0.0498208190534,0.999999946751,8.52498960064e-05,-0.000311295519803,-4.82327269821e-05,1793244291893881344
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.217631806,660,634,879,787.217631806,805,653,630.217631806,652,0.406482157713,-0.00537615183029,0.0498042556357,0.99999993655,8.79290797185e-05,-0.000341657400993,-4.9384909354e-05,1793244291910547968
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.80867513,660,634,879,787.80867513,805,653,630.80867513,652,0.405958555603,-0.00537624425264,0.0497780270901,0.999999919613,8.78748951873e-05,-0.000387899452221,-5.08507795062e-05,1793244291927214336
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.608258697,660,634,879,787.608258697,805,653,631,652,0.405496741193,-0.0053794365414,0.049770242389,0.999999915048,8.2366069575e-05,-0.00040054882742,-5.17758850553e-05,1793244291943880960
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.45204427,745.54795573,713.45204427,679.54795573,660,634,879.54795573,787,805,653,631,652,0.40469912763,-0.00538514060924,0.049790063886,0.999999930033,7.31575200793e-05,-0.000363119407178,-5.22103388476e-05,1793244291977214208
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.123789217,745.876210783,713.123789217,680,660.123789217,634.123789217,879.876210783,787,805,653,631,652,0.404346225413,-0.00538667551419,0.0498111238241,0.999999942453,7.10755449614e-05,-0.000327667379597,-5.17429070999e-05,1793244291993880576
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.13101604,660.13101604,634.13101604,879,787,805,653,630.13101604,652,0.403393468234,-0.00539185186564,0.0498540272098,0.999999959019,5.95562949183e-05,-0.000275461813038,-5.03537100857e-05,1793244292043880704
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.499919704,745,714,679.499919704,660.499919704,634,879,787.499919704,805.499919704,652.500080296,630.500080296,652,0.400990557715,-0.00540813162192,0.049854008988,0.999999960171,0.000123201972561,-0.000251673852248,-3.37468486688e-05,1793244292693880576
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.180368454,660.180368454,634,879,787,805,653,631,652,0.400987139171,-0.00540744544029,0.0498522257656,0.999999958705,0.000125605675098,-0.00025627959456,-3.36680935051e-05,1793244292760547584
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,764.984299038,745,714,679,660.984299038,634.984299038,879,787,805.984299038,653,631,652,0.400989479053,-0.00540803691674,0.0498538493924,0.99999995976,0.000124179247474,-0.000252825543484,-3.37342597463e-05,1793244292793881600
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec957fa566e88411bce81df740f550c4b47198fe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.575670551586,-0.000122158354253,1.04005087014,0.546242183676,0.00855352391061,1.03971736861
+397,6.616666667,pose2_to_pose3_retreat,0.575670482077,-0.00012216636626,1.0400508672,0.546242114284,0.0085535163172,1.03971736626
+398,6.633333333,pose2_to_pose3_retreat,0.57567041699,-0.000122173868462,1.04005086444,0.546242049306,0.00855350920696,1.03971736407
+399,6.650000000,pose2_to_pose3_retreat,0.575670409814,-0.00012217469563,1.04005086413,0.546242042142,0.00855350842301,1.03971736382
+400,6.666666667,pose2_to_pose3_retreat,0.575670373876,-0.000122178838005,1.04005086261,0.546242006265,0.00855350449705,1.03971736261
+401,6.683333333,pose2_to_pose3_retreat,0.575670372802,-0.000122178961857,1.04005086256,0.546242005192,0.00855350437967,1.03971736258
+402,6.700000000,pose2_to_pose3_retreat,0.575670324845,-0.000122184489667,1.04005086053,0.546241957315,0.00855349914067,1.03971736096
+403,6.716666667,pose2_to_pose3_retreat,0.57567026142,-0.000122191800292,1.04005085784,0.546241893997,0.00855349221199,1.03971735882
+404,6.733333333,pose2_to_pose3_retreat,0.575670254391,-0.000122192610486,1.04005085754,0.54624188698,0.00855349144413,1.03971735858
+405,6.750000000,pose2_to_pose3_retreat,0.575670088523,-0.000122211729335,1.04005085051,0.54624172139,0.00855347332416,1.03971735299
+406,6.766666667,pose2_to_pose3_retreat,0.575669799851,-0.000122208123706,1.04005084578,0.546241432674,0.0085534764413,1.03971733951
+407,6.783333333,pose2_to_pose3_retreat,0.575669658732,-0.000122174192135,1.04005085002,0.546241291071,0.0085535081916,1.03971732967
+408,6.800000000,pose2_to_pose3_retreat,0.575669615536,-0.000122186357395,1.04005084151,0.546241248145,0.00855349694199,1.03971732112
+409,6.816666667,pose2_to_pose3_retreat,0.575669572494,-0.000122216327399,1.04005082529,0.546241205704,0.00855346913749,1.03971730822
+410,6.833333333,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343056,1.03971728237
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc025409fa3244e3c6ad8d2a62fc19dc5133b3bb
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdd027b243bd2380a0a695699210fccc99921252ee1cc660f56658880a94b9ba
+size 26017466
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68f26fbf4e315658f07ed14220d2a6b8c5821d95
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,679,661,635,879,787,806,653,631,652,0.400990772381,-0.00540934459,0.0498565480898,0.999999960942,0.000122477206412,-0.000249011766495,-3.32879666821e-05,1793244292910839040
+1,0.016666667,BASELINE,765,745,714,679,660.392846196,634.392846196,879,787.607153804,806,653,631,652,0.400990489924,-0.00540904868274,0.0498561330685,0.999999960624,0.000123708800725,-0.000249673095806,-3.33383137773e-05,1793244292927505920
+2,0.033333333,BASELINE,765,745,714,679,660.201636669,634,879,787.798363331,805.798363331,653,631,652,0.400990304242,-0.00540861953173,0.0498556549909,0.999999960467,0.000123804532163,-0.000250226972588,-3.35366199087e-05,1793244292944172544
+3,0.050000000,BASELINE,765,745,714,679,660.772892595,634,879,787.227107405,805.227107405,653,631,652,0.400990295959,-0.00540794613217,0.0498550613252,0.999999960606,0.000121818118755,-0.000250583878736,-3.40061490836e-05,1793244292960838912
+4,0.066666667,BASELINE,765,745,714,679,661.360352377,634,879,787,805.360352377,653,630.639647623,652,0.400990386162,-0.00540809216961,0.0498552364131,0.999999960803,0.000121446409088,-0.000249976214113,-3.39956217925e-05,1793244292977505280
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+6,0.100000000,BASELINE,765,745,714,679,660.929795935,634,879.535102032,787,805.464897968,653,630,652,0.400989181772,-0.0054090147582,0.0498545424816,0.999999960452,0.000121500356657,-0.000251380285955,-3.37736142197e-05,1793244293010838528
+7,0.116666667,BASELINE,765,745,714,679,660,634,879.88982301,787,805,653,630.11017699,652,0.400988400718,-0.00540937598525,0.0498535915328,0.999999960102,0.000120781521755,-0.000253108631951,-3.3812331181e-05,1793244293027505152
+8,0.133333333,BASELINE,765,745,714,679,660,634,879.314389152,787,805,653,630.685610848,652,0.400990539503,-0.00541040885041,0.0498550849275,0.999999961041,0.000120149213362,-0.00024972705352,-3.34336351201e-05,1793244293044172032
+9,0.150000000,BASELINE,765,745,714,679,660,634,879,787,805,653,631,652,0.400991964084,-0.00541080074741,0.0498562355463,0.999999961589,0.000120287833937,-0.000247461905503,-3.33960026672e-05,1793244293060839168
+10,0.166666667,BASELINE,765,745,714,679,660,634,879,787,805,653,631,652,0.400992528513,-0.00541042069454,0.049856973343,0.999999961675,0.000121354922625,-0.000246541330359,-3.37691300938e-05,1793244293077505792
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+12,0.200000000,BASELINE,765,745,714,679,661,634,879,787,805.022493721,653,631,652,0.400990323414,-0.00540903662763,0.0498559318285,0.999999961234,0.000121481901167,-0.000248270343905,-3.3707482864e-05,1793244293110838784
+13,0.216666667,BASELINE,765,745,714,679,661,634,879,787,805.594176614,653,631,652,0.400991310248,-0.00540890456274,0.0498568352424,0.999999961411,0.000123056891565,-0.000246795025103,-3.35766967069e-05,1793244293127505408
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+17,0.283333333,BASELINE,765,745.082936909,714,679,660,634,879,787,806,653,630.917063091,652,0.400990875165,-0.00541027863105,0.04985593907,0.999999961267,0.000121838620578,-0.000247957321151,-3.37496876509e-05,1793244293194172160
+18,0.300000000,BASELINE,765,745,714,679,660.498733877,634,879,787,806,652.501266123,631,652,0.400990114701,-0.0054102473663,0.0498556403731,0.999999961075,0.000121957178392,-0.000248681435775,-3.36641510937e-05,1793244293210838784
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+20,0.333333333,BASELINE,765,745,714,679,660.348123996,634,879,787,806,652.651876004,631,652.651876004,0.400990323517,-0.00541050627522,0.0498557292774,0.999999961319,0.000120792322131,-0.000248277482686,-3.36111651022e-05,1793244293244172032
+21,0.350000000,BASELINE,765,745,714,679.233235154,660.233235154,634,879,787,805.766764846,653,631,652.766764846,0.400990833649,-0.00541027711976,0.0498560593808,0.999999961443,0.000120882235146,-0.000247723124378,-3.36966825215e-05,1793244293260838656
+22,0.366666667,BASELINE,765,745,714,679.824973468,660.824973468,634,879,787,805.175026532,653,631,652.175026532,0.400990994878,-0.00540921908537,0.0498564127834,0.999999961226,0.000122739271343,-0.000247661593341,-3.3859802035e-05,1793244293277505024
+23,0.383333333,BASELINE,765,745,714,679.592972498,661,634,879,787,805.407027502,652.592972498,631,652,0.400991073894,-0.00540821261926,0.0498565328089,0.999999961122,0.000123667412327,-0.000247610400934,-3.39293942666e-05,1793244293294171648
+24,0.400000000,BASELINE,765,745,714,679.014985988,661,634,879,787,805.985014012,652.014985988,631,652,0.400991118379,-0.00540722781268,0.0498565548119,0.999999961066,0.000124205400461,-0.000247563550936,-3.39597033402e-05,1793244293310838272
+25,0.416666667,BASELINE,765,745,714,679,660.439694858,634,879,787,805.439694858,652.560305142,630.439694858,652,0.400990110868,-0.00540800603458,0.0498561151737,0.999999960978,0.000123247570615,-0.000248449296882,-3.35652797144e-05,1793244293327504896
+26,0.433333333,BASELINE,765,745,714,679,660.138663284,634.138663284,879,787,805,653,630.138663284,652,0.400989577194,-0.0054090838622,0.0498558925072,0.999999961038,0.000121946246953,-0.000248894083345,-3.32374577442e-05,1793244293344171776
+27,0.450000000,BASELINE,765,745,714,679,660.727204943,634.727204943,879,787,805,653,630.727204943,652,0.40099067168,-0.00541098147487,0.0498564136492,0.999999961582,0.000119659671762,-0.000247827685052,-3.31623974162e-05,1793244293360838400
+28,0.466666667,BASELINE,764.689128657,745,714,679,661,635,879,787,805.310871343,653,631,652,0.400991573397,-0.00541127410754,0.0498571549165,0.999999961952,0.000119021226041,-0.000246652295073,-3.30403572401e-05,1793244293377505024
+29,0.483333333,BASELINE,764.109674362,745,714,679,661,635,879,787,805.890325638,653,631,652,0.400992308568,-0.00541018008843,0.0498580863649,0.999999962176,0.000119806711896,-0.000245382739806,-3.28777279742e-05,1793244293394171648
+30,0.500000000,BASELINE,764.466307406,745,714,679,661,634.533692594,879,787.466307406,806,653,631,652,0.400991041872,-0.0054106340907,0.0498574043024,0.999999961819,0.000120246608774,-0.000246593282528,-3.30912452474e-05,1793244293410838272
+31,0.516666667,BASELINE,765,745.041521266,714,679,661,634,879,787.958478734,805.958478734,653,631,652,0.400989506924,-0.00541134688474,0.0498564286004,0.999999961368,0.000120582817993,-0.0002482125853,-3.33860394384e-05,1793244293427505152
+32,0.533333333,BASELINE,765,745.617285709,714,679,661,634,879,787.382714291,805.382714291,653,631,652,0.40099053377,-0.00541073945179,0.0498565214692,0.999999961498,0.000120623004886,-0.000247641439768,-3.35967124395e-05,1793244293444171776
+33,0.550000000,BASELINE,764.801844031,745.801844031,714,679,661,634,879,787,805,653,631,652,0.400991046707,-0.00541018840888,0.0498567798702,0.999999961689,0.000119958480649,-0.000247166467938,-3.37802236564e-05,1793244293460838400
+34,0.566666667,BASELINE,764.21085176,745.21085176,714,679,661,634,879,787,805,653,631,652,0.400990540841,-0.00540974915705,0.0498573664321,0.999999962,0.000117896894715,-0.0002468821567,-3.39098876943e-05,1793244293477504768
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+36,0.600000000,BASELINE,764,745,714,679,661,634,879,787,805,653,630.04866269,652,0.400989356783,-0.00540836828733,0.049855854735,0.999999960853,0.000124248457012,-0.000248453681208,-3.35752431099e-05,1793244293510838272
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+39,0.650000000,BASELINE,765,745.674342605,714,679.674342605,660.674342605,635,879.674342605,787,805.674342605,652.325657395,631,652.674342605,0.400989948079,-0.00541013405947,0.0498557180163,0.999999961461,0.000120516135165,-0.000247828016511,-3.36965995769e-05,1793244293560839424
+40,0.666666667,BASELINE,765,746,714,679.743984612,660.743984612,634.743984612,879.743984612,787.256015388,806,652.256015388,631,653,0.40099171167,-0.00540958317705,0.0498572924011,0.999999961931,0.000121231297795,-0.000245574498114,-3.36624002627e-05,1793244293577505792
+41,0.683333333,BASELINE,765,746,714,679.154027291,660.154027291,634.154027291,879.154027291,787.845972709,806,652.845972709,631,653,0.400991694913,-0.00540885035946,0.0498584127523,0.999999961813,0.000123048371546,-0.00024511733524,-3.39187900409e-05,1793244293594172160
+42,0.700000000,BASELINE,765,745.571728322,714,679.428271678,660.428271678,634,879.428271678,788,805.571728322,653,631,652.571728322,0.400991676672,-0.00540993089543,0.049858692596,0.999999961937,0.000122546730627,-0.000244891443344,-3.37010785999e-05,1793244293610838784
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+45,0.750000000,BASELINE,765,745.160044105,714,679,660.839955895,634.160044105,879,788,805.160044105,653,630.160044105,652,0.400991223236,-0.00541108079886,0.0498566641592,0.99999996215,0.000118746887057,-0.000245903651711,-3.36161473509e-05,1793244293660839168
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+50,0.833333333,BASELINE,765,745.063229376,714,679.063229376,660.063229376,634.063229376,879,788,806,653,631,652,0.400991957283,-0.00541116754903,0.0498573543431,0.999999962178,0.000119064217304,-0.000245637058282,-3.36141100792e-05,1793244293744172288
+51,0.850000000,BASELINE,765,745.637579913,714,679.637579913,660.637579913,634.637579913,879,788,806,653,631,652,0.40099112187,-0.00541062023764,0.0498572575076,0.99999996155,0.000121967156804,-0.0002467615651,-3.36518213685e-05,1793244293760838912
+52,0.866666667,BASELINE,765,745.782015773,714,679.782015773,661,634.782015773,879.217984227,788,806,653,631,652,0.400991253622,-0.00541064762224,0.0498576039637,0.999999961554,0.000122767457029,-0.000246354230329,-3.36006001181e-05,1793244293777505536
+53,0.883333333,BASELINE,765,745.191258992,714,679.191258992,661,634.191258992,879.808741008,788,806,653,631,652,0.400993039313,-0.00541165778849,0.0498587084881,0.999999962642,0.000119972055594,-0.000243327309176,-3.33972962573e-05,1793244293794172672
+54,0.900000000,BASELINE,765,745.392152177,714,679,661,634.392152177,879.607847823,788,806,653,631,652,0.40099238275,-0.00541142832991,0.0498583236447,0.999999962667,0.000117827685672,-0.000244232674338,-3.36666085407e-05,1793244293810839552
+55,0.916666667,BASELINE,765,745.972046629,714,679,661,634.972046629,879.027953371,788,806,653,631,652,0.400990556962,-0.00541060540274,0.0498572257687,0.999999962179,0.000115994996203,-0.000247020615845,-3.41621851097e-05,1793244293827506176
+56,0.933333333,BASELINE,765,745.45202551,714,679,661,634.45202551,879,788,806,653,631,652,0.400990053325,-0.00541178461966,0.0498564020085,0.999999961755,0.000117532400829,-0.000248082576421,-3.36356860037e-05,1793244293844172544
+57,0.950000000,BASELINE,765,745,714,679,661,634.12348603,879.12348603,787.87651397,806,653,631,652,0.400990102451,-0.00541256461958,0.0498560656726,0.999999961574,0.000118884717675,-0.000248224215707,-3.32077372501e-05,1793244293860838912
+58,0.966666667,BASELINE,765,745,714,679,661,634.698210219,879.698210219,787.301789781,806,653,631,652,0.400991926777,-0.00541151528375,0.0498574597349,0.99999996228,0.000118936999215,-0.000245322272653,-3.33290604282e-05,1793244293877505792
+59,0.983333333,BASELINE,765,745,714,679.282391233,660.717608767,635,879.717608767,787,805.717608767,653,631,652,0.400992240151,-0.0054111914778,0.0498580765736,0.999999962457,0.000118728261132,-0.000244692595434,-3.34076313325e-05,1793244293894172416
+60,1.000000000,BASELINE,765,745,714,679.877028947,660.122971053,635,879.122971053,787,805.122971053,653,631,652,0.400990882832,-0.00541166990681,0.0498578340182,0.999999962052,0.000118230907656,-0.000246575414451,-3.34389300799e-05,1793244293910839040
+61,1.016666667,BASELINE,765,745.455356516,714,679.544643484,660,634.544643484,879,787.455356516,805,653,631,652,0.400990454885,-0.00541133296679,0.0498574571357,0.999999961928,0.000119527184038,-0.000246435110223,-3.35716862284e-05,1793244293927505920
+62,1.033333333,BASELINE,765,745.970561732,714,679.029438268,660.029438268,634.029438268,879,788,805,653,630.970561732,652,0.400990397401,-0.00541081845853,0.0498571175948,0.999999961901,0.000121154419793,-0.00024572785482,-3.37225420704e-05,1793244293944172800
+63,1.050000000,BASELINE,765,745.396359068,714,679.603640932,660.603640932,634.603640932,879,788,805,653,630.396359068,652,0.400992711595,-0.00541095184867,0.0498581171503,0.999999962362,0.000120252561134,-0.000244289813777,-3.37188440081e-05,1793244293960839168
+64,1.066666667,BASELINE,765,745,714,679.817233848,661,635,879,787.817233848,805,653,630.182766152,652,0.400993714479,-0.00541083897939,0.0498586539207,0.999999962647,0.00011934136724,-0.000243559160482,-3.37992863935e-05,1793244293977505536
+65,1.083333333,BASELINE,765,745,714,679.227137789,661,635,879,787.227137789,805,653,630.772862211,652,0.400991794855,-0.00541017727309,0.0498581592844,0.999999962542,0.000118409368018,-0.000244405058418,-3.40672521272e-05,1793244293994171904
+66,1.100000000,BASELINE,764.645475734,745,714,679.354524266,661,634.645475734,879,787,805,653,631,652,0.400992222665,-0.00541043219597,0.0498586416564,0.999999962768,0.000117495049693,-0.000243939036448,-3.39469632943e-05,1793244294010838784
+67,1.116666667,BASELINE,764.069091664,745,714,679.930908336,661,634.069091664,879,787,805,653,631,652,0.40099411949,-0.00541126074158,0.0498597354362,0.999999963199,0.000116591796035,-0.000242652020454,-3.35837063669e-05,1793244294027505408
+68,1.133333333,BASELINE,764.509065638,745,714,679.490934362,660.490934362,634.509065638,879,787,805,653,631,652,0.40099137842,-0.00541098639837,0.0498575338979,0.999999962095,0.00011901334565,-0.000246011374408,-3.35366921997e-05,1793244294044172288
+69,1.150000000,BASELINE,765,745,714,679,660,634.913086029,879,787.086913971,805.086913971,653,631,652,0.400988820854,-0.00541064025382,0.0498555040393,0.999999961073,0.00012152172255,-0.000248927139303,-3.34902220974e-05,1793244294060839168
+70,1.166666667,BASELINE,765,745,714,679,660,634.33832773,879,787.66167227,805.66167227,653,631,652,0.400990838811,-0.00541073421419,0.0498569569754,0.999999961801,0.000121975752476,-0.000245801058401,-3.32050485383e-05,1793244294077505792
+71,1.183333333,BASELINE,765,745,714,679,660.244912004,634,879,788,805.755087996,653,631,652,0.400991356539,-0.00541090236869,0.0498572718886,0.99999996214,0.00012093890076,-0.000244925703081,-3.32501462294e-05,1793244294094172416
+72,1.200000000,BASELINE,765,745,714,679,660.8402886,634,879,788,805.1597114,653,631,652,0.400989727465,-0.00541117669364,0.0498559583122,0.999999961924,0.000117768624786,-0.000247271094388,-3.37678559889e-05,1793244294110839040
+73,1.216666667,BASELINE,765,745,714,679.419620987,661,634.419620987,879,788,805,653,631,652,0.400990414922,-0.00541019953825,0.049856526788,0.999999961976,0.000118541638914,-0.000246667395317,-3.3924336772e-05,1793244294127505664
+74,1.233333333,BASELINE,765,745,714,679.99307166,661,634.99307166,879,788,805,653,631,652,0.400991951601,-0.0054087636002,0.0498577852092,0.999999962124,0.000120760231737,-0.00024498258324,-3.39483938806e-05,1793244294144172288
+75,1.250000000,BASELINE,765,745,714,679.430519347,660.430519347,634.430519347,879,788,805,653,630.430519347,652,0.400993203946,-0.00540983080346,0.0498585119423,0.99999996256,0.000119896456549,-0.000243603629394,-3.41003745059e-05,1793244294160838912
+76,1.266666667,BASELINE,765,745,714,679,660.149765499,634,879,788,805.149765499,653,630.149765499,652,0.400993651754,-0.00541084970516,0.0498589661621,0.999999962835,0.000119226835197,-0.000242797139196,-3.41259432201e-05,1793244294177505280
+77,1.283333333,BASELINE,765,745,714,679,660.741378357,634,879,788,805.741378357,653,630.741378357,652,0.400991736225,-0.00541163578997,0.0498586355803,0.999999962633,0.00011924123184,-0.000243668530918,-3.37739482094e-05,1793244294194171904
+78,1.300000000,BASELINE,765,745,714,679,660.673932873,634,879,788,805.673932873,653,631,652,0.400991023302,-0.00541129621061,0.0498581697242,0.999999962273,0.000120734683511,-0.000244443120721,-3.35485833486e-05,1793244294210838784
+79,1.316666667,BASELINE,765,745,714,679,660.094621806,634,879,788,805.094621806,653,631,652,0.400991244397,-0.00541008237065,0.0498575988057,0.999999961783,0.000123376860978,-0.000245142528116,-3.34215673263e-05,1793244294227505664
+80,1.333333333,BASELINE,764.519816848,745,714,679,660.480183152,634,879,787.519816848,805.480183152,653,631,652,0.400990911128,-0.00541142275422,0.0498571182112,0.999999961975,0.000120395647688,-0.000245830680621,-3.35047300986e-05,1793244294244172544
+81,1.350000000,BASELINE,764.054306323,745.054306323,714,679.054306323,661,634,879,787.054306323,806,653,630.945693677,652,0.40099056124,-0.00541301179485,0.049856723039,0.999999962286,0.000116655481941,-0.000246352067432,-3.36244460047e-05,1793244294260839680
+82,1.366666667,BASELINE,764.630330346,745.630330346,714,679.630330346,661,634,879,787.630330346,806,653,630.369669654,652,0.400991091383,-0.00541219926684,0.0498569791129,0.9999999626,0.000116170677498,-0.000245292453762,-3.37011390245e-05,1793244294277505792
+83,1.383333333,BASELINE,765,745.787951024,714,679.787951024,661,634,879,787.787951024,805.787951024,653,630.212048976,652,0.400991253404,-0.00541165518617,0.0498571272364,0.99999996268,0.000116472557027,-0.000244821548294,-3.37034112199e-05,1793244294294171904
+84,1.400000000,BASELINE,765,745.196030799,714,679.196030799,661,634,879,787.196030799,805.196030799,653,630.803969201,652,0.400990755958,-0.00541159201044,0.0498570819739,0.999999962341,0.000118183727048,-0.000245405273158,-3.35723636073e-05,1793244294310838528
+85,1.416666667,BASELINE,765,745,714,679,661,634.386296438,879,787.386296438,805.386296438,653,631,652,0.400990765628,-0.0054114373299,0.0498574296428,0.999999962016,0.00012033783928,-0.000245701102662,-3.34349548903e-05,1793244294327505152
+86,1.433333333,BASELINE,765,745,714,679,661,634.963873522,879,787.963873522,805.963873522,653,631,652,0.400991026405,-0.00541123733934,0.0498579718778,0.999999961695,0.000122711281084,-0.000245854376295,-3.32943963823e-05,1793244294344172032
+87,1.450000000,BASELINE,765,745,714,679,660.464634209,634.464634209,879,788,805.464634209,653,631,652,0.400990876332,-0.00541064646954,0.0498573591395,0.99999996181,0.000121471518591,-0.00024594763129,-3.36732873703e-05,1793244294360838912
+88,1.466666667,BASELINE,765,745,714,679,660,634.10719306,879,788,805,653,631,652,0.400990486459,-0.00541027542028,0.0498567751956,0.999999961907,0.000120280659248,-0.000246103741756,-3.39229143731e-05,1793244294377506048
+89,1.483333333,BASELINE,765,745,714,679,660,634.682254525,879,788,805,653,631,652,0.400989169573,-0.00541097766012,0.0498566532846,0.999999961804,0.000120355492574,-0.000246551677902,-3.34570644016e-05,1793244294394172672
+90,1.500000000,BASELINE,765,745,714,679.267166993,660.267166993,634.732833007,879,787.732833007,805.267166993,653,631,652,0.400989371061,-0.00541089740915,0.0498570508812,0.999999961801,0.000121578822812,-0.000246000469175,-3.31863647125e-05,1793244294410839040
+91,1.516666667,BASELINE,765,745,714,679.864243884,660.864243884,634.135756116,879,787.135756116,805.864243884,653,631,652,0.400991447508,-0.00540985090305,0.0498580899892,0.999999961914,0.000124220369017,-0.000244215471094,-3.31566454608e-05,1793244294427505408
+92,1.533333333,BASELINE,765,745,714,679.576515432,660.576515432,634,879,787,806,653,631,652,0.400992341275,-0.0054106229527,0.0498582747893,0.999999962153,0.000123640145186,-0.000243529294464,-3.31740270548e-05,1793244294444172288
+93,1.550000000,BASELINE,765,745,714,679.028409034,660.028409034,634,879,787,806,653,631,652,0.400992887008,-0.00541193016168,0.0498582081863,0.999999962428,0.000122111828259,-0.000243166475741,-3.32052693491e-05,1793244294460839168
+94,1.566666667,BASELINE,765,745,714,679,660.566234692,634,879,787,806,653,631,652,0.400990269091,-0.00541206904538,0.0498571076503,0.999999962152,0.000119714826212,-0.000245433364294,-3.35577307747e-05,1793244294477505536
+95,1.583333333,BASELINE,765,745,714,679,660.836482401,634,879.163517599,787.163517599,806,653,631,652,0.400988706181,-0.00541233257163,0.0498566671255,0.999999962051,0.00011838378939,-0.000246474965675,-3.36507574738e-05,1793244294494172160
+96,1.600000000,BASELINE,765,745,714,679,660.238946576,634,879.761053424,787.761053424,806,653,631,652,0.400990402561,-0.00541309644865,0.0498581284594,0.999999962515,0.000120008141894,-0.000243882782122,-3.30085700697e-05,1793244294510839296
+97,1.616666667,BASELINE,765,745,714,679,660,634,880,787.653206899,805.653206899,653,631,652,0.400990506779,-0.00541174553746,0.0498576662699,0.99999996222,0.000121495672976,-0.000244332679206,-3.31589739275e-05,1793244294527506176
+98,1.633333333,BASELINE,765,745,714,679,660,634,880,787.075327639,805.075327639,653,631,652,0.400989550059,-0.00540898543359,0.0498559223374,0.999999961419,0.00012289203278,-0.000246809671925,-3.38375223265e-05,1793244294544172800
+99,1.650000000,BASELINE,765,745,714,679,660,634,880,787,805,653,631,652,0.400989140951,-0.00540966429024,0.0498558412206,0.99999996169,0.000119926000369,-0.000247139660788,-3.40538648261e-05,1793244294560839168
+100,1.666666667,BASELINE,765,745,714,679,660,634,879.921977242,787,805.078022758,653,630.921977242,652,0.400988985371,-0.00541066403994,0.0498560788692,0.999999962094,0.000116770258928,-0.000247001507437,-3.41717407569e-05,1793244294577505536
+101,1.683333333,BASELINE,765,745,714,679,660,634,879.339462438,787,805.660537562,653,630.339462438,652,0.400989938362,-0.00541040568223,0.0498567660658,0.999999962381,0.00011661583177,-0.000245917209242,-3.41008988254e-05,1793244294594172160
+102,1.700000000,BASELINE,764.755271545,745,713.755271545,679,660.244728455,634,879,787,805.755271545,653,630.244728455,652,0.400991175069,-0.00541064390622,0.0498576459831,0.99999996283,0.000116191821912,-0.000244302114329,-3.40132335866e-05,1793244294610838528
+103,1.716666667,BASELINE,764.168739769,745,713.168739769,679,660.831260231,634,879,787,805.168739769,653,630.831260231,652,0.400992808031,-0.00541157568782,0.0498587950665,0.999999963499,0.000115391295727,-0.000241945675054,-3.39020718527e-05,1793244294627505408
+104,1.733333333,BASELINE,764.406413307,745,713.406413307,679,660.593586693,634,879.406413307,787,805,653,630.593586693,652,0.400993027335,-0.00541122815685,0.049858871568,0.99999996338,0.00011703277363,-0.000241638420282,-3.39737657654e-05,1793244294644172032
+105,1.750000000,BASELINE,764.97697075,745,713.97697075,679,660.02302925,634,879.97697075,787,805,653,630.02302925,652,0.400992675684,-0.00541036393112,0.0498585148702,0.999999962938,0.000119660539666,-0.000242158799672,-3.4119312275e-05,1793244294660838656
+106,1.766666667,BASELINE,764.447511855,745,714,679.552488145,660,634.552488145,880,787.552488145,805,653,630.552488145,652,0.40099158909,-0.00541028263403,0.049857925778,0.999999962452,0.00012095161135,-0.000243554364356,-3.38899985677e-05,1793244294677505280
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,880,788,805,653,631,652,0.400991381909,-0.00541108927293,0.0498575759608,0.999999962229,0.000120334418092,-0.000244760717905,-3.39669404184e-05,1793244294719040000
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,880,788,805.58542815,653,631,652,0.400991246686,-0.00541009098741,0.049857240668,0.999999961975,0.000121439819805,-0.000245260451795,-3.38963278522e-05,1793244294735706880
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.16839407,661,634.16839407,879.83160593,787.83160593,805.83160593,653,630.83160593,652,0.400991205642,-0.00540975213176,0.0498570713928,0.999999961946,0.000121408911915,-0.000245416356828,-3.3750728526e-05,1793244294752373504
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.745385663,661,634.745385663,879.254614337,787.254614337,805.254614337,653,630.254614337,652,0.400991393118,-0.00541101334062,0.0498573049488,0.999999962458,0.000118620821115,-0.000244737983067,-3.34231785715e-05,1793244294769039872
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.66944683,635,879,787.33055317,805.33055317,653,630.33055317,652,0.400992071136,-0.00541146955518,0.0498580027152,0.999999962672,0.000118701242772,-0.000243829252039,-3.33578217015e-05,1793244294785706752
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.077822002,635,879,787.922177998,805.922177998,653,630.922177998,652,0.400993136585,-0.0054112899833,0.049859067116,0.999999962652,0.000121047222372,-0.000242738584348,-3.34995455559e-05,1793244294802373632
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.497938611,660.502061389,634.497938611,879,787.497938611,805.497938611,653,631,652,0.400992361335,-0.00541107559188,0.0498583819048,0.999999962546,0.000119964298404,-0.000243672717522,-3.37749634613e-05,1793244294819040256
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.079832843,745,714,679,661,634,879,787,805,653,631,652,0.40099144079,-0.00541085883571,0.049857611904,0.99999996242,0.000118605244636,-0.000244810741563,-3.40528482122e-05,1793244294835706624
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.655532531,745,714,679,661,634,879,787,805,653,631,652,0.400991349469,-0.00541066014889,0.0498579612535,0.999999962274,0.00011875691562,-0.000245310297889,-3.42202782453e-05,1793244294852373504
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.768311946,745,714,679,660.768311946,634,879,787,805.231688054,653,631,652,0.400993922529,-0.00541094219268,0.0498591442695,0.999999962707,0.000118913763264,-0.000243497290853,-3.39652065259e-05,1793244294869040128
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.191477415,745,714,679,660.191477415,634,879,787,805.808522585,653,631,652,0.401000464725,-0.0054119403825,0.0498615692013,0.999999963984,0.000119078322577,-0.000238239250303,-3.30807325006e-05,1793244294885706496
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.394475517,634,879,787.394475517,805.605524483,653,631,652,0.401019083296,-0.00541284495977,0.0498688924992,0.999999967367,0.00011819151007,-0.000224141781289,-3.25025233737e-05,1793244294902373376
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.984959281,634,879,787.984959281,805.015040719,653,631,652,0.401043702414,-0.00541370302263,0.049878649713,0.99999997152,0.000116782288574,-0.000205652148461,-3.20764920336e-05,1793244294919040256
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.435391978,745,714,679,661,634.564608022,879,787.435391978,805,653,631,652,0.401097921043,-0.00541452202761,0.0498978011506,0.999999978736,0.000119288274116,-0.000165325365675,-3.1076906013e-05,1793244294935706880
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.142359507,745,714,679,661,635,879,787,805.142359507,653,631,652,0.401156442744,-0.00541623924064,0.0499162888488,0.999999984167,0.000120162041039,-0.000127804561862,-2.98809610001e-05,1793244294952373760
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.715230047,745,714,679,661,635,879,787,805.715230047,653,631,652,0.401225637791,-0.00542067582249,0.0499320267808,0.999999987851,0.000115790327631,-0.000100495418846,-2.81365399108e-05,1793244294969040384
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.712199408,879,787,805.712199408,653,630.712199408,652,0.401296991154,-0.00542372197251,0.0499424194903,0.999999989659,0.000113379767766,-8.42792445802e-05,-2.68925348374e-05,1793244294985706752
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.139925424,879,787,805.139925424,653,630.139925424,652,0.401370477875,-0.00542539376491,0.0499475287713,0.999999990161,0.000112907689294,-7.90277973166e-05,-2.61431606972e-05,1793244295002373632
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.551517122,634,879,787,805.448482878,653,630.448482878,652,0.401454179362,-0.00542771208918,0.0499477859987,0.999999990025,0.000112990680941,-8.08334651545e-05,-2.54935412144e-05,1793244295019040000
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.958916971,653,630.958916971,652,0.401543118093,-0.00543045297079,0.0499465653609,0.999999989739,0.000112921668947,-8.45830848986e-05,-2.48406500791e-05,1793244295035706880
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787,805.37980399,653,630.37980399,652,0.401657349898,-0.0054359874416,0.0499465555273,0.999999990314,0.000108509358437,-8.38798137651e-05,-2.37221080546e-05,1793244295052373504
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787.198582686,805.198582686,653,630.198582686,652,0.401783310203,-0.00544047347731,0.0499474684786,0.999999990751,0.000105763355584,-8.2432433127e-05,-2.27228915873e-05,1793244295069040128
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,879,787.775585245,805.775585245,653,630.775585245,652,0.401931620365,-0.00544296161074,0.0499501398923,0.999999990955,0.000106192675052,-7.95670748455e-05,-2.19510624561e-05,1793244295085706752
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.349768459,634,879,788,806,653,631,652,0.40208771719,-0.00544841603184,0.0499481246038,0.99999999083,0.000103294444358,-8.50583360384e-05,-2.08481271664e-05,1793244295102373632
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.922157275,634,879,788,806,653,631,652,0.402248770078,-0.00545575843366,0.0499431263268,0.999999990385,9.82782971559e-05,-9.58684116052e-05,-1.95344496087e-05,1793244295119040256
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,879,788,805.488331668,653,631,652,0.402443278845,-0.00546236178454,0.0499427017197,0.999999990399,9.64872876702e-05,-9.77750305946e-05,-1.82003810508e-05,1793244295135706880
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.101660144,661,634.101660144,879.101660144,788,805.101660144,653,631,652,0.402650549669,-0.00546897353741,0.0499435911208,0.999999990601,9.49400836699e-05,-9.7489809958e-05,-1.67318276103e-05,1793244295152373760
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.681242228,661,634.681242228,879.681242228,788,805.681242228,653,631,652,0.402893060662,-0.00547617167151,0.049947273497,0.999999991277,9.21525272306e-05,-9.3488714139e-05,-1.46461258412e-05,1793244295169040384
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.741507512,660.741507512,634.741507512,879.741507512,787.741507512,806,653,631,652,0.403158784457,-0.00548510004926,0.0499528976707,0.999999992483,8.79440689364e-05,-8.45381231087e-05,-1.23726059237e-05,1793244295185706752
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.167107048,660.167107048,634.167107048,879.167107048,787.167107048,806,653,631,652,0.403452876992,-0.00549614298615,0.0499608949475,0.999999994172,8.19991029699e-05,-6.95386717626e-05,-9.86955044158e-06,1793244295202373376
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.418690123,660,634.418690123,879.418690123,787,806,653,631,652,0.403768468247,-0.00550549415908,0.0499700360601,0.999999995722,7.68987384488e-05,-5.08961129039e-05,-7.22798625964e-06,1793244295219040000
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679.99102343,660,635,879.99102343,787,806,653,631,652,0.404093422789,-0.00551416115662,0.0499795703502,0.999999996903,7.22247285591e-05,-3.09263692414e-05,-4.51946791429e-06,1793244295235706624
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.412576555,660,635,879.412576555,787,806,653,631,652,0.404452803213,-0.00552345829772,0.0499842754442,0.99999999713,7.26148411117e-05,-2.15848624709e-05,-1.16856267554e-06,1793244295252373760
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.834832021,879,787.165167979,805.834832021,653,630.834832021,652,0.404824743983,-0.0055307589799,0.0499881849552,0.999999997074,7.53088557022e-05,-1.32942140095e-05,2.19375325596e-06,1793244295269040640
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.258834534,879,787.741165466,805.258834534,653,630.258834534,652,0.405227926597,-0.00553309378142,0.0499901155776,0.99999999645,8.37334661387e-05,-7.61741259174e-06,5.58445100019e-06,1793244295285707008
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.315334586,634.315334586,879.315334586,788,805,653,630.315334586,652,0.405633488192,-0.00552563850081,0.0499797083012,0.999999994274,0.000103179441274,-2.73816797295e-05,7.46819184571e-06,1793244295302373632
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.888011651,634.888011651,879.888011651,788,805,653,630.888011651,652,0.406040991299,-0.00551019359891,0.0499592321471,0.999999988999,0.000131619880281,-6.79082346842e-05,8.12211544824e-06,1793244295319040256
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.478330265,745,714,679,661,635,879.521669735,787.521669735,805,653,630.521669735,652,0.406482138152,-0.00550546908343,0.0499418657334,0.999999984553,0.000145982124954,-9.74183108751e-05,9.65448145696e-06,1793244295335706880
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.929306805,745,714,679,661,635,879.070693195,787,805.070693195,652.929306805,630.070693195,652,0.406938874288,-0.00550491796752,0.0499269312531,0.999999980517,0.000155260537417,-0.000121355699378,1.15608173164e-05,1793244295352373504
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.352994426,745,714,679,661,635,879.647005574,787,805.647005574,652.352994426,630.647005574,652,0.407448615358,-0.00551557731214,0.0499239839526,0.99999998048,0.000152654843181,-0.000124589306167,1.46145994116e-05,1793244295369040384
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.776396375,634.776396375,879.776396375,787,805.776396375,652.223603625,631,652,0.407991918018,-0.00552375563555,0.0499317823277,0.999999982136,0.000154388702505,-0.000107515382885,1.82562856e-05,1793244295385707264
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.199346803,634.199346803,879.199346803,787,805.199346803,652.800653197,631,652,0.40858827081,-0.00552801225584,0.0499565661854,0.999999984756,0.000162982010522,-5.83417372375e-05,2.28272602625e-05,1793244295402373888
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.615078464,745,714,679,660.384921536,634,879,787,805,652.615078464,631,652,0.409201305053,-0.00552988967711,0.0499785834286,0.999999984449,0.000172873230481,-2.10871005863e-05,2.77850443402e-05,1793244295419040512
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.027000168,745,714,679,660.972999832,634,879,787,805,652.027000168,631,652,0.409823143538,-0.00553051138685,0.0499991404866,0.999999982582,0.000183449471806,9.87683102253e-06,3.29469814285e-05,1793244295435707392
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.551937258,745.551937258,714,679,660.448062742,634,879,787,805,652,631,652,0.410435438572,-0.00552862588771,0.049992581214,0.999999979465,0.000199140085626,-8.43552862644e-06,3.66430562965e-05,1793244295452374016
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.870069383,714,679.129930617,660,634,879.129930617,787.129930617,805,652,630.870069383,652,0.411046797874,-0.00552605833447,0.0499786297103,0.999999975272,0.000214948809265,-4.07811247426e-05,3.98758163411e-05,1793244295469040640
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.293808115,714,679.706191885,660,634,879.706191885,787.706191885,805,652,630.293808115,652,0.411656520261,-0.00552156228255,0.0499437673038,0.999999966199,0.000230317817729,-0.000113187272616,4.17593370971e-05,1793244295485707264
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.718075803,660,634,880,787.718075803,805.281924197,652.281924197,630.281924197,652,0.412334555767,-0.00552167275705,0.0499353982493,0.999999962631,0.000239283956986,-0.000124649580951,4.40782962232e-05,1793244295502373632
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.142893641,660,634,880,787.142893641,805.857106359,652.857106359,630.857106359,652,0.413083650754,-0.00552657494658,0.0499545876143,0.999999967076,0.000241589824654,-7.27180266118e-05,4.68501993088e-05,1793244295519040256
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.443807946,660.887615892,634,879.556192054,787,805.556192054,653,630.556192054,652,0.413841095282,-0.00553872961152,0.0499697505988,0.999999987202,0.000149666915219,-4.79155341474e-05,3.00020042525e-05,1793244295535707136
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,679.966356218,661.932712436,634,879.033643782,787,805.033643782,652.966356218,630.033643782,652,0.414599861099,-0.00555237454849,0.0499811922166,0.999999998733,3.48105093239e-05,-3.54439823405e-05,8.15909578492e-06,1793244295552373760
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.387435669,660.774871338,634,879.612564331,787,805.612564331,652.387435669,630.612564331,652,0.415335310776,-0.00555131869963,0.0499538911268,0.999999995534,5.30807765471e-05,-7.74840402213e-05,1.04771309682e-05,1793244295569040384
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787,805.809746239,652,631,652,0.416088026961,-0.0055487494361,0.0499346930367,0.999999991649,7.28526057927e-05,-0.000105893869558,1.34300668693e-05,1793244295585707008
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787,805.234547794,652,631,652,0.416875678815,-0.00554311804693,0.0499318899284,0.999999989573,9.56625780859e-05,-0.000106725350809,1.76676114659e-05,1793244295602373632
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.340836528,660.681673057,634,880,787.340836528,805.340836528,652,631,652,0.417705856472,-0.00554124705935,0.0499510994624,0.99999999131,0.000108201946774,-7.20203508008e-05,2.20523238159e-05,1793244295619040000
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.916348808,661.832697617,634,880,787.916348808,805.916348808,652,631,652,0.418565314334,-0.00554196521662,0.0499854653338,0.999999993105,0.000113669708306,-1.28474612813e-05,2.65383651659e-05,1793244295635706368
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.49470132,745,714,679.49470132,660.98940264,634,880,787.49470132,805.49470132,652,631,652,0.419380105042,-0.0055419852646,0.0499785303814,0.999999992521,0.000113641902562,-3.60130127151e-05,2.73377210467e-05,1793244295652372992
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.094267278,745,714,679,660,634,880,787,805.094267278,652,631,651.905732722,0.420199408043,-0.00554199248466,0.049966582942,0.999999991274,0.000112431826722,-6.37776551491e-05,2.72792269938e-05,1793244295669039872
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.671620088,745,714,679,660,634,880,787,805.671620088,652,631,651.328379912,0.421080764315,-0.00554254240401,0.0499649441012,0.999999992677,0.000109952713523,-4.33488160492e-05,2.60376977658e-05,1793244295685706752
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.495082546,634,880,787.247541273,806,652,631,651.247541273,0.421966468178,-0.00554474583939,0.0499721473569,0.999999993783,0.000106883944068,-1.79364229534e-05,2.62436298614e-05,1793244295702373376
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.643148625,634,880,787.821574313,806,652,631,651.821574313,0.422857906367,-0.00554913016113,0.0499910127955,0.999999994191,0.000103037453774,1.40489752519e-05,2.83586745432e-05,1793244295719040256
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.406956708,745,714,679.406956708,661.186086584,634,880,787.593043292,806,652,631,651.593043292,0.423741586487,-0.00555094075411,0.0499849054831,0.999999994466,0.0001011541096,1.44506060146e-06,2.88847098757e-05,1793244295735707136
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.997457822,745,714,679.997457822,660.005084357,634,880,787.002542178,806,652,631,651.002542178,0.424621767532,-0.00555159055131,0.0499675350336,0.999999994084,0.000100156177929,-3.12693953918e-05,2.86940747875e-05,1793244295752373504
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.423732008,745,714.576267992,680,660,634,880,787,806,652,631,651.576267992,0.425538342363,-0.0055539617311,0.0499800840687,0.999999994807,9.72600202831e-05,-5.95650904221e-06,2.98661736664e-05,1793244295769040128
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714.846192867,679.846192867,660.153807133,634,880,787,805.846192867,652,631,652,0.426445995806,-0.00555567913305,0.0499915371471,0.999999994941,9.51156085103e-05,9.71434639881e-06,3.12415390337e-05,1793244295785706752
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714.271989664,679.271989664,660.728010336,634,880,787,805.271989664,652,631,652,0.427328834556,-0.00555558924184,0.0499996410953,0.999999994932,9.50483528711e-05,-1.65481419552e-06,3.31563814203e-05,1793244295802373376
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.303013771,660.696986229,634,880,787,805,652,631,651.696986229,0.428189475939,-0.00555410655071,0.0499815930319,0.999999993945,9.7239789956e-05,-3.93748908744e-05,3.32417964362e-05,1793244295819040256
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.878737377,660.121262623,634,880,787,805,652,631,651.121262623,0.42903013983,-0.00555137035141,0.0499400083784,0.999999989269,0.000101464031146,-0.000100810568744,3.16807420748e-05,1793244295835706880
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.467510096,714,680,660.467510096,634,880,787,805.467510096,652,631,651,0.429962742871,-0.0055538226743,0.0499441643852,0.999999991399,9.73972247013e-05,-8.18506998154e-05,3.18790014142e-05,1793244295852373760
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.058337176,745.941662824,714,679.941662824,661.058337176,634,880,787,806,652,631,651.058337176,0.430910018486,-0.00555714827759,0.0499574480014,0.999999994058,9.18280089558e-05,-4.89423149792e-05,3.24877603661e-05,1793244295869040640
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.636445159,745.363554841,714,679.363554841,661.636445159,634,880,787,806,652,631,651.636445159,0.431769449301,-0.00555591956706,0.0499433140177,0.999999991749,9.25835675803e-05,-8.28858784962e-05,3.25714359551e-05,1793244295885706752
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.786547065,745.213452935,714,679.213452935,661.57309413,634,880,787,806.213452935,652,631,651.786547065,0.43264043947,-0.00555599137525,0.0499363137591,0.999999990485,9.18129322813e-05,-9.76784334219e-05,3.2551793859e-05,1793244295902373120
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.211403468,745.788596532,714,679.788596532,660.422806937,634,880,787,806.788596532,652,631,651.211403468,0.433531016816,-0.0055582668797,0.0499414014171,0.999999992363,8.84561997895e-05,-8.00200887564e-05,3.2357082587e-05,1793244295919040000
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.627757398,714,680,660.372242602,634,880,787,806.627757398,652,631,651.372242602,0.434412837887,-0.00556195647,0.0499620953914,0.999999994475,8.69935265062e-05,-4.76868820952e-05,3.47506684379e-05,1793244295935706880
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.039169778,714,680,660.960830222,634,880,787,806.039169778,652,631,651.960830222,0.435289569814,-0.00556646791782,0.0499918596565,0.999999995477,8.66316684034e-05,-6.82474057816e-06,3.86485559769e-05,1793244295952373504
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.459147971,660.459147971,634,880,787,806,652,631,652,0.436111231697,-0.00555887137037,0.0499733925185,0.999999992741,9.83259418835e-05,-5.75590882502e-05,3.91957267901e-05,1793244295969040384
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.119494743,634,880,787,806.119494743,652,631,652,0.436935487931,-0.00555304515867,0.0499566872336,0.999999988951,0.00010522125358,-9.75538284514e-05,3.88593360798e-05,1793244295985707008
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.695203758,634,880,787,806.695203758,652,631,652,0.437784638385,-0.00555727348918,0.0499598364512,0.999999992689,9.05132686287e-05,-7.1614809691e-05,3.60616547643e-05,1793244296002373888
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.270834166,661,634,880.270834166,787,806.729165834,652,631,652,0.438617916603,-0.00556098448901,0.04996650945,0.999999994919,8.02949842246e-05,-5.00797071666e-05,3.47505538489e-05,1793244296019040512
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.846376097,661,634,880.846376097,787,806.153623903,652,631,652,0.439433337363,-0.00556411345461,0.049977146954,0.999999996,7.51279344109e-05,-3.34993265072e-05,3.51119621901e-05,1793244296035707136
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.566617755,634,880.566617755,787,806.433382245,652,631,652,0.440189259869,-0.00556584916644,0.0499624654945,0.999999995,7.57033990939e-05,-5.48403083424e-05,3.55150376687e-05,1793244296052373760
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.024038849,787,806.975961151,652,631,652,0.44092468241,-0.00556701847596,0.0499395108299,0.999999992355,7.84028122756e-05,-8.85950990028e-05,3.59781322033e-05,1793244296069040128
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.602612064,787,806.397387936,652,631,652,0.441686951559,-0.00556682429035,0.0499383705314,0.999999991879,8.18646437067e-05,-9.02000970665e-05,3.7475785094e-05,1793244296085706752
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.640044358,787,806,652,631,652,0.442429620117,-0.00556734057578,0.04993752479,0.99999999154,8.4743041181e-05,-9.06650735466e-05,3.89790622338e-05,1793244296102373376
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.490609178,787,806,652,631,652,0.443129299453,-0.0055694151152,0.0499373250912,0.999999991525,8.63418117339e-05,-8.86296763842e-05,4.04946751528e-05,1793244296119040000
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.66298618,879.67402764,787,806,652,631,652,0.443761963549,-0.0055687314648,0.0499117851258,0.999999986097,8.99234021954e-05,-0.000134350780191,4.08585322334e-05,1793244296135707136
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.07500769,880.84998462,787,806,652,631,652,0.444344723249,-0.00556599386825,0.0498673749798,0.999999971425,9.4981542059e-05,-0.000215634800438,4.03647089787e-05,1793244296152374528
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880.494257225,787,806,652,631,652,0.444956187449,-0.00556208498854,0.0498296648945,0.999999959514,0.000101357499981,-0.000263082254984,3.85486111224e-05,1793244296169040384
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.915170286,633,880.084829714,787,806.084829714,652,631,651.915170286,0.445575507296,-0.00555889069156,0.0498001631562,0.999999950303,0.000106518136194,-0.000294417962763,3.69684673968e-05,1793244296185706752
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.339592751,633,880.660407249,787,806.660407249,652,631,651.339592751,0.446215991394,-0.0055608211211,0.0498124798316,0.999999959819,0.000103533269444,-0.000261168358656,3.78718642533e-05,1793244296202373888
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632.764500463,880.764500463,787,806.764500463,652,630.764500463,651.235499537,0.446809265641,-0.00556216727323,0.049812102158,0.99999996175,0.000100882808571,-0.000254714944417,3.79820653115e-05,1793244296219040768
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,632.190106517,880.190106517,787,806.190106517,652,630.190106517,651.809893483,0.447334602737,-0.00556267262377,0.0497934567449,0.999999953312,9.87135730855e-05,-0.000286822453653,3.69508219415e-05,1793244296235707392
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.395537733,714,680,659,632,880.395537733,786.604462267,806.395537733,652,630,652,0.44781998122,-0.00556341737112,0.0497633967423,0.999999938891,9.71245985919e-05,-0.000333925535184,3.57487090128e-05,1793244296252374016
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.986747547,714,680,659,632,880.986747547,786.013252453,806.986747547,652,630,652,0.448285592269,-0.00556428054785,0.049727689953,0.99999991937,9.58226781708e-05,-0.000388446912004,3.44620669326e-05,1793244296269040896
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,746,714,680,659,632,881,786,806.434666904,652,630.565333096,652,0.448763988402,-0.0055668768601,0.0497228688646,0.999999916096,9.33171621473e-05,-0.000397330541044,3.50529210933e-05,1793244296285707776
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.857074181,714,680,659,631.857074181,880.857074181,786,806.142925819,652,630.857074181,652,0.449239053595,-0.00556849304366,0.0497233376799,0.999999916538,8.76824228294e-05,-0.000397557613954,3.44128968089e-05,1793244296302374400
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.28160989,714,680,659,631.28160989,880.28160989,786,806.71839011,652,630.28160989,652,0.449703151238,-0.00556702278305,0.0497376721602,0.999999926692,7.26611900418e-05,-0.000374754159415,2.99175626748e-05,1793244296319041280
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.294762183,745,714,680,659.294762183,631,880.294762183,786,807,652,630,652,0.450138314886,-0.00556863625124,0.0497484535099,0.999999934,4.63180108929e-05,-0.000359597614837,2.33267683656e-05,1793244296335707904
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.872004179,745,714,680,659.872004179,631,880.872004179,786,807,652,630,652,0.450545750152,-0.00557320495321,0.0497558297826,0.999999937979,9.12465758197e-06,-0.000351769344217,1.47278293388e-05,1793244296352374528
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.541430543,745,714,680.458569457,659.082861087,631,880.541430543,786,807,652,630,652,0.450895610684,-0.00557720628849,0.04974983338,0.99999993209,3.29359849731e-06,-0.000368243847414,1.43212009276e-05,1793244296369040896
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680.953081004,658.046918996,631,880,786,806.953081004,652,630,652,0.451225309089,-0.00558041723953,0.0497390543684,0.999999922471,6.61718461204e-06,-0.000393385541488,1.61609353398e-05,1793244296385707264
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680.374611021,658.625388979,631,880,786,806.374611021,652,630,652,0.451512428539,-0.00557650518288,0.0497172570199,0.999999903736,1.2423407655e-05,-0.000438274219138,1.70067851031e-05,1793244296402373888
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.202687493,714,680.202687493,658.797312507,631,880,786,806.202687493,652,630,652,0.451792686712,-0.00557293605655,0.0496968525557,0.999999885884,1.93615718011e-05,-0.000477012582883,1.77540870074e-05,1793244296419040512
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.777833253,714,680.777833253,658.222166747,631,880,786,806.777833253,652,630,652,0.452060336578,-0.00556999709895,0.0496790076561,0.999999872195,2.83797888032e-05,-0.000504449134137,1.83202974472e-05,1793244296435707648
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,714,680.638913276,658,630.638913276,880,785.638913276,807,652,630,652,0.452320901301,-0.00556817395113,0.0496750710169,0.99999987097,3.42140595174e-05,-0.000506489719432,1.89093075248e-05,1793244296452374528
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,680.050556714,658,630.050556714,880,785.050556714,807,652,630,652,0.452577006624,-0.00556705309943,0.0496798883065,0.999999877785,3.80443389679e-05,-0.000492545956069,1.95126678708e-05,1793244296469040896
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.470294277,714,680,658.529705723,630,880,785,807,652,630,652,0.452798608642,-0.00556958952823,0.0496837989995,0.999999881672,3.79085000058e-05,-0.000484540030484,2.09549104364e-05,1793244296485707264
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.89155716,745,714.10844284,680,658.89155716,630,880.10844284,785.10844284,807,652,630,652,0.453009757936,-0.00557112944493,0.0496863443262,0.99999988414,3.85577681049e-05,-0.000479315119396,2.21411684242e-05,1793244296502373888
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.316111784,745,714.683888216,680,658.316111784,630,880.683888216,785.683888216,807,652,630,652,0.453189861381,-0.00556689735355,0.0496833768075,0.999999881819,4.4193670013e-05,-0.000483662640801,2.18854371071e-05,1793244296519040512
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.258434743,745,714.741565257,680,658,630,880.741565257,786,807,652,630,652,0.453354614521,-0.00556475085326,0.0496779132125,0.999999877708,4.77431873795e-05,-0.000491759338332,2.18697095629e-05,1793244296535706880
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.831885594,745,714.168114406,680,658,630,880.168114406,786,807,652,630,652,0.45350065657,-0.00556514656091,0.0496694070537,0.999999871344,4.8749529552e-05,-0.000504426051425,2.21465319184e-05,1793244296552373504
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.418831192,714,680.418831192,658,630,880,786,807,652,630,652,0.453624972365,-0.00556534867945,0.0496619738218,0.99999986581,4.9491586702e-05,-0.000515207064355,2.21886820939e-05,1793244296569040128
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.9889023,714,680.9889023,658,630,880,785.9889023,807,652,629.9889023,652,0.453739903917,-0.0055654826662,0.0496550202794,0.999999860617,5.00755123148e-05,-0.000525136070964,2.21348255582e-05,1793244296585707008
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.410741708,714,680.410741708,658,630,880,785.410741708,807,652,629.410741708,652,0.453835765075,-0.0055662379878,0.0496498392916,0.999999857352,4.81802679649e-05,-0.000531493030346,2.21486332014e-05,1793244296602373632
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.166632428,658,630,880,785,807,652,629.166632428,652,0.453926504286,-0.00556682250899,0.0496461450581,0.99999985511,4.67546642234e-05,-0.000535819910186,2.21779724431e-05,1793244296619040256
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.742077009,658,630,880,785,807,652,629.742077009,652,0.454004677414,-0.00556698799231,0.0496460983943,0.999999855471,4.64812661975e-05,-0.00053516623884,2.22454165498e-05,1793244296635706880
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.32496972,714,681,658,629.67503028,880,785,806.67503028,652,629.67503028,652,0.454072218302,-0.00556747801081,0.0496465418062,0.99999985551,4.61957443576e-05,-0.000535109686247,2.24548217786e-05,1793244296652373504
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.913912617,714,681,658,629.086087383,880,785,806.086087383,652,629.086087383,652,0.454131122623,-0.00556823164952,0.049647383307,0.999999855287,4.59003743037e-05,-0.000535538173645,2.27795421532e-05,1793244296669040128
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.50531935,714.49468065,681,658,629,880.49468065,785,806.49468065,652,629,652,0.454175093806,-0.00556750825791,0.0496457934035,0.999999853809,4.58021182758e-05,-0.000538303453847,2.26574318508e-05,1793244296685706752
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.073654979,714.926345021,681,658,629,880.926345021,785,807,652,629,651.926345021,0.45421438946,-0.00556657737679,0.0496434363525,0.999999851871,4.58886087192e-05,-0.000541893072659,2.24697325745e-05,1793244296702373376
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.64993958,714.35006042,681,658,629,880.35006042,785,807,652,629,651.35006042,0.454239224714,-0.00556595613065,0.0496386847334,0.999999848286,4.70055473322e-05,-0.000548378070795,2.23564646e-05,1793244296719040256
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714.225713453,680.774286547,658,629,879.774286547,785.225713453,807,652.225713453,629.225713453,651.225713453,0.454261305559,-0.00556570776961,0.0496353286981,0.999999845666,4.76378522662e-05,-0.000553088902679,2.21839098716e-05,1793244296735707136
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714.80069699,680.19930301,658,629,879.19930301,785.80069699,807,652.80069699,629.80069699,651.80069699,0.454279124219,-0.00556603641281,0.0496341321961,0.999999844588,4.7520232649e-05,-0.000555054380807,2.19196145436e-05,1793244296752373760
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,715,680.385766784,658,629,879,785.614233216,807,653,630,652,0.454293259688,-0.00556478715599,0.0496343396705,0.999999844193,4.80692426652e-05,-0.000555726025257,2.17432324795e-05,1793244296769040128
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,715,680.976187438,658,629,879,785.023812562,807,653,630,652,0.454305441179,-0.00556270080442,0.0496352919713,0.99999984416,4.89719076398e-05,-0.000555711275482,2.16134894568e-05,1793244296785706752
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,715,681,658,629,879.556042361,785,807,652.443957639,630,652,0.454310715329,-0.00556355214515,0.0496341557376,0.999999843492,4.85758106459e-05,-0.00055694116757,2.1738294225e-05,1793244296802373376
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.134130231,746,715,680.865869769,658.134130231,629,880,785.134130231,807,652,629.865869769,652,0.454315239917,-0.00556380500887,0.0496332567074,0.999999842926,4.87403102044e-05,-0.000557941966691,2.17298581878e-05,1793244296819040000
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.707881713,746,715,680.292118287,658.707881713,629,880,785.707881713,807,652,629.292118287,652,0.454318259216,-0.00556169166998,0.0496334228135,0.999999842784,5.09211022019e-05,-0.000558020454247,2.12496533775e-05,1793244296835706624
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.710975621,745.710975621,714.710975621,680.289024379,658.710975621,629.289024379,880,785.710975621,806.710975621,652,629,652,0.454319872773,-0.00555955769669,0.0496324961442,0.999999841961,5.22406036795e-05,-0.000559391071942,2.07565254565e-05,1793244296852373504
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.122166531,745.122166531,714.122166531,680.877833469,658.122166531,629.877833469,880,785.122166531,806.122166531,652,629,652,0.454320028255,-0.00555740232052,0.0496304360156,0.999999840429,5.26667491913e-05,-0.00056210192559,2.02499932406e-05,1793244296869040384
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.540741554,658,629.540741554,880.459258446,785,806.459258446,652,629.459258446,652,0.454321179509,-0.00555768696896,0.0496304215418,0.999999840373,5.23750131239e-05,-0.00056222539812,2.03528066073e-05,1793244296885706752
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.038710768,658,629,881,785,807,652,630,652,0.454322649607,-0.00555868010287,0.0496310189324,0.999999840778,5.17838959413e-05,-0.000561548319838,2.06450608602e-05,1793244296902373376
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.617612375,658,629,881,785,807,652,630,652,0.454324931175,-0.00556064572378,0.0496326812528,0.999999842214,4.96376781342e-05,-0.000559152360898,2.13547632724e-05,1793244296919040000
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.194698983,714.194698983,681,658,629,880.805301017,785,806.805301017,652,629.805301017,652,0.454325598699,-0.00556126478428,0.049632732073,0.999999842347,4.91189809917e-05,-0.000558955327459,2.14874532164e-05,1793244296935706624
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.768253834,714.768253834,681,658,629,880.231746166,785,806.231746166,652,629.231746166,652,0.454323125529,-0.0055592636342,0.0496296471482,0.999999839945,5.17672021756e-05,-0.000563037082955,2.04973608848e-05,1793244296952373504
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714.648476515,681,658,629,880,785,806.351523485,652,629,652,0.454322281393,-0.00555772675056,0.0496288279372,0.999999838861,5.32667885047e-05,-0.000564833079444,2.01106727864e-05,1793244296969039872
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714.058620256,681,658,629,880,785,806.941379744,652,629,652,0.454322541744,-0.00555650463947,0.0496295448794,0.999999838683,5.39876007853e-05,-0.000565079332141,2.01330925411e-05,1793244296985706496
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,681,658,629.520604771,880,785.520604771,807,652,629,652,0.454323890933,-0.00555644819005,0.0496298944059,0.999999839218,5.34928672523e-05,-0.000564182346564,2.00174468896e-05,1793244297002373376
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680.90207688,658,630,879.90207688,785.90207688,807,652,629,652,0.454324832729,-0.0055566283,0.0496298764033,0.999999839519,5.26935703945e-05,-0.000563727646872,1.99185235076e-05,1793244297019040512
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,680.328323225,658,630,879.328323225,785.328323225,807,652,629,652,0.454323211071,-0.00555733287681,0.0496282695026,0.999999838299,5.10661081849e-05,-0.000566035119451,1.99748882005e-05,1793244297035707392
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.752857458,714.247142542,680.494285084,658,629.752857458,879.247142542,785,807,652,629,652,0.454322397976,-0.00555724001904,0.049627542247,0.999999837614,5.16771149647e-05,-0.000567184952912,2.00581811498e-05,1793244297052373760
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.175101243,714.824898757,681.649797514,658,629.175101243,879.824898757,785,807,652,629,652,0.454322666534,-0.00555608039734,0.0496279917319,0.999999837645,5.52826219724e-05,-0.000566786160881,2.01774972444e-05,1793244297069040128
+249,4.150000000,HOLD_POSE2,765,745,715,680,658,629,880,785,807,652,629,652,0.454323486392,-0.00555609871443,0.0496277429994,0.999999838001,5.36608557388e-05,-0.000566319437321,2.00409030002e-05,1793244297102445056
+250,4.166666667,HOLD_POSE2,765,745.580696998,715,680,658,629,879.419303002,785,807,652,629,652,0.454323065702,-0.00555627889081,0.049627240737,0.999999837165,5.16012212525e-05,-0.000567992129421,1.98270439816e-05,1793244297119111424
+251,4.183333333,HOLD_POSE2,765,745.841229155,715,680.158770845,658,629,879.158770845,785,807,652,629,652,0.454322733577,-0.00555633817827,0.0496268108843,0.999999836512,5.05214761673e-05,-0.000569240967416,1.97049405247e-05,1793244297135778048
+252,4.200000000,HOLD_POSE2,765,745.269970155,715,680.730029845,658,629,879.730029845,785,807,652,629,652,0.454322631541,-0.00555608339517,0.0496265691526,0.99999983635,5.19874925632e-05,-0.000569388628814,1.98212188385e-05,1793244297152445184
+253,4.216666667,HOLD_POSE2,765,745.305249099,715,681,658,629,880,785,807,652,629,651.694750901,0.454322621681,-0.0055562400436,0.0496264597451,0.999999836442,5.24479382204e-05,-0.000569182928521,1.99146836201e-05,1793244297169112064
+254,4.233333333,HOLD_POSE2,765,745.884016906,715,681,658,629,880,785,807,652,629,651.115983094,0.454322694416,-0.0055567653556,0.0496264689066,0.99999983676,5.20073412953e-05,-0.000568660598184,1.99877063102e-05,1793244297185778432
+255,4.250000000,HOLD_POSE2,765,745.527214366,714.527214366,681,658,629,880,785.472785634,807,652,629.472785634,651.472785634,0.454325358965,-0.00555755428793,0.0496281687731,0.999999838499,5.17440530484e-05,-0.000565607008548,2.03140937573e-05,1793244297202444800
+256,4.266666667,HOLD_POSE2,765,745.062324324,714.062324324,681,658,629,880,785.937675676,806.937675676,652,629.937675676,652,0.45432835596,-0.0055582527446,0.0496300915336,0.99999984036,5.14503918729e-05,-0.000562324429377,2.06055459697e-05,1793244297219111424
+257,4.283333333,HOLD_POSE2,765,745.637572083,714.637572083,681,658,629,880,785.362427917,806.362427917,652,629.362427917,652,0.45432874314,-0.00555766285712,0.0496303614792,0.999999840386,5.05410510802e-05,-0.000562378210293,2.00868995473e-05,1793244297235778816
+258,4.300000000,HOLD_POSE2,765,746,715,681,658,629,880.213770463,785,806.213770463,652,629,652,0.45432839393,-0.00555694942779,0.0496301781239,0.999999839961,5.04919563856e-05,-0.000563151288904,1.97459798324e-05,1793244297252445696
+259,4.316666667,HOLD_POSE2,765,746,715,681,658,629,880.79158767,785,806.79158767,652,629,652,0.454326790662,-0.00555602560928,0.0496292228061,0.999999838762,5.19078433656e-05,-0.000565149316833,1.97077251329e-05,1793244297269112064
+260,4.333333333,HOLD_POSE2,765,746,714.623938093,681,658,629,880.623938093,785,806.623938093,652,629,652,0.454326775286,-0.00555529038954,0.0496291493689,0.999999838605,5.24158231185e-05,-0.00056538750549,1.94947581474e-05,1793244297285778432
+261,4.350000000,HOLD_POSE2,765,746,714.035708012,681,658,629,880.035708012,785,806.035708012,652,629,652,0.454327655773,-0.00555466157417,0.0496295734747,0.999999839037,5.241157612e-05,-0.000564632820881,1.91832212524e-05,1793244297302445312
+262,4.366666667,HOLD_POSE2,765,746,714.547165986,681,658,629,880,785,806.547165986,652,629.547165986,652,0.454326376478,-0.00555516561072,0.0496284453196,0.999999838298,5.30318625661e-05,-0.000565881223912,1.92595990673e-05,1793244297319112192
+263,4.383333333,HOLD_POSE2,765,745.872190478,715,681,658,629,880,785,806.872190478,652,629.872190478,651.872190478,0.454325762006,-0.00555542193484,0.0496278384384,0.999999837909,5.37095188561e-05,-0.000566500516394,1.93738067028e-05,1793244297335778816
+264,4.400000000,HOLD_POSE2,765,745.298125981,715,681,658,629,880,785,806.298125981,652,629.298125981,651.298125981,0.454327956159,-0.0055545577272,0.0496294018858,0.999999839013,5.44465595825e-05,-0.000564471232932,1.95325664912e-05,1793244297352445440
+265,4.416666667,HOLD_POSE2,764.724281934,745.275718066,714.724281934,681,657.724281934,629,880,785,806.275718066,652,629.275718066,651.275718066,0.45432855598,-0.00555382702872,0.0496299203937,0.999999839166,5.49353615816e-05,-0.00056415732367,1.94262960014e-05,1793244297369112320
+266,4.433333333,HOLD_POSE2,764.150676095,745.849323905,714.150676095,681,657.150676095,629,880,785,806.849323905,652,629.849323905,651.849323905,0.454327433274,-0.00555324057454,0.0496293099414,0.999999838291,5.51559646387e-05,-0.000565696717096,1.90336848926e-05,1793244297385778688
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,658,629,880,785,807,652,629,652,0.454328378513,-0.00555227248071,0.0496283049366,0.999999838747,5.43602720966e-05,-0.000564982906767,1.85897412423e-05,1793244297418177536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.423363247,746,715,681,658,629,880,785,806.423363247,652,629.576636753,652,0.454328203559,-0.00555406180721,0.0496282211337,0.999999838739,5.27160351928e-05,-0.000565143044514,1.88521207691e-05,1793244297434844416
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.152877895,745.847122105,715,681,658,629,880,785,806.152877895,652.152877895,629.847122105,652,0.454328016219,-0.00555508797412,0.0496281804681,0.999999838636,5.19787651493e-05,-0.000565386403989,1.90710401093e-05,1793244297451511040
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.728026433,745.271973567,715,681,658,629,880,785,806.728026433,652.728026433,629.271973567,652,0.454327794667,-0.00555400618533,0.0496282589539,0.999999838273,5.37466671164e-05,-0.000565859633842,1.91699162481e-05,1793244297468177664
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.309160734,715,680.690839266,657.690839266,629,880.309160734,785,807,652.690839266,629.309160734,652,0.454328286474,-0.00555419327612,0.0496284938843,0.999999838543,5.36296752817e-05,-0.000565392433522,1.92039971619e-05,1793244297484844544
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.895664735,715,680.104335265,657.104335265,629,880.895664735,785,807,652.104335265,629.895664735,652,0.454329418223,-0.00555551865902,0.0496288691587,0.999999839379,5.18217745493e-05,-0.000564081587952,1.91799512854e-05,1793244297501511680
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.478200161,657.478200161,629,880.521799839,785.478200161,807,652,629.521799839,652,0.454329314324,-0.00555455834699,0.049628985146,0.999999839246,5.47779886149e-05,-0.000564024042917,1.95809251412e-05,1793244297518178048
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.94085522,745.94085522,715,680.94085522,658,629,880,785.94085522,807,652,629,651.94085522,0.454328323563,-0.00555309015062,0.0496287500017,0.999999838643,5.81228989192e-05,-0.000564745850839,1.99241064731e-05,1793244297534844160
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.366290124,745.366290124,715,680.366290124,658,629,880,785.366290124,807,652,629,651.366290124,0.454321934277,-0.00555150614961,0.0496259438448,0.999999835869,5.5871337129e-05,-0.00056989599769,1.89621836343e-05,1793244297551510784
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.207704631,745.207704631,714.792295369,680,658,629,880,785.207704631,807,652,629,651.207704631,0.454310614603,-0.00555020685545,0.0496205863387,0.999999830755,5.4938283117e-05,-0.000578916722173,1.80683268485e-05,1793244297568177664
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.780696276,745.780696276,714.219303724,680,658,629,880,785.780696276,807,652,629,651.780696276,0.454290623932,-0.00554940827112,0.0496107418133,0.999999821404,5.63240691544e-05,-0.000594744572767,1.72941769061e-05,1793244297584844288
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,658.365451522,629.365451522,880,785.634548478,806.634548478,652,629,652,0.454252872423,-0.00554877328939,0.0495934376442,0.999999803373,5.69485773627e-05,-0.000624293086876,1.63864557641e-05,1793244297601511168
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,658.957500831,629.957500831,880,785.042499169,806.042499169,652,629,652,0.454204108325,-0.00554823974919,0.0495715081307,0.999999778898,5.71010562231e-05,-0.000662349083123,1.5395913864e-05,1793244297618178304
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.461984674,714.538015326,680.538015326,658.461984674,629.461984674,880,785,806.538015326,652,629,652,0.454136228772,-0.00554614154236,0.0495489159457,0.999999755216,5.7192302595e-05,-0.000697200920552,1.44163390581e-05,1793244297634844672
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.116415085,715,681,658,629,880,785,807,652,629,652,0.45406495256,-0.00554371964418,0.0495282872108,0.999999733532,5.79285761926e-05,-0.000727601685481,1.32975523354e-05,1793244297651511296
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.690013259,715,681,658,629,880,785,807,652,629,652,0.453986142519,-0.00554050175029,0.0495155705504,0.999999723151,6.12165852674e-05,-0.000741495420445,1.16287242323e-05,1793244297668178176
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.729449441,714.729449441,681,658,629,880,785,806.729449441,652,629.270550559,652,0.453903383871,-0.00553709242938,0.0495090582051,0.999999717638,6.40497159469e-05,-0.000748671372861,1.05922717764e-05,1793244297684844800
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.1407523,714.1407523,681,658,629,880,785,806.1407523,652,629.8592477,652,0.453815981972,-0.00553345800525,0.0495098416565,0.999999718033,6.63479445428e-05,-0.000747947730596,1.02994443941e-05,1793244297701510912
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.559123602,745,714,681,658,629,880,785,806.440876398,652,629.559123602,652,0.453713594953,-0.00553060055647,0.049515663452,0.999999723128,6.83036568574e-05,-0.000740927806311,1.02356724469e-05,1793244297718177536
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.020230609,745.020230609,714.020230609,681,658,629,880.020230609,785,807,652,629,652,0.453605268709,-0.00552789562128,0.0495228755089,0.99999972946,7.02227492576e-05,-0.00073215107555,1.02203299836e-05,1793244297734844160
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.598111612,745.598111612,714.598111612,681,658,629,880.598111612,785,807,652,629,652,0.453463020408,-0.00552266504343,0.0495247709877,0.999999731137,7.40990688201e-05,-0.000729482627246,9.55600897649e-06,1793244297751511040
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,658,629,880.825357092,785,807,652,629.174642908,652,0.453310045911,-0.00551714950469,0.0495270364279,0.999999731808,7.83407649745e-05,-0.000728123820429,9.04585204961e-06,1793244297768177664
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,658,629,880.251908003,785,807,652,629.748091997,652,0.453132577606,-0.00551098324359,0.0495301466935,0.99999973021,8.34168170917e-05,-0.000729755648593,8.88773692668e-06,1793244297784844288
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.669175453,714.669175453,681,658,629,880,785,807,652,629.669175453,652,0.452941954881,-0.00550342425258,0.0495332537303,0.999999730528,8.90387465669e-05,-0.000728663814729,8.03016305718e-06,1793244297801510912
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.079169811,714.079169811,681,658,629,880,785,807,652,629.079169811,652,0.452741026442,-0.00549477414094,0.0495363582378,0.999999732327,9.50883385959e-05,-0.000725438155965,6.62460539545e-06,1793244297818177536
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.497078033,745,714,681,658,629,880,785,806.497078033,652,629.502921967,652,0.452506492279,-0.00548667208764,0.049541093776,0.999999733009,0.000100259432808,-0.000723802048398,6.40101669403e-06,1793244297834844416
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.082939944,745,714.082939944,681,658,629,880,785,806,652,629.917060056,651.917060056,0.452261832753,-0.00547863060368,0.0495463444735,0.999999734419,0.000105023443221,-0.000721176283938,6.14218648784e-06,1793244297851511040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.657931431,745,714.657931431,681,658,629,880,785,806,652,629.342068569,651.342068569,0.451988001715,-0.00547044454278,0.0495531517789,0.999999741223,0.000108180109662,-0.00071121775349,4.58752780449e-06,1793244297868177664
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.232353535,715,680.767646465,658,629.232353535,880.232353535,785.232353535,806.232353535,652,629.232353535,651.232353535,0.451691029365,-0.00546145747283,0.0495572753486,0.999999744665,0.0001129532927,-0.000705622379277,3.0095998285e-06,1793244297884844032
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.805939415,715,680.194060585,658,629.805939415,880.805939415,785.805939415,806.805939415,652,629.805939415,651.805939415,0.451360071904,-0.00545129404857,0.0495574576074,0.999999743262,0.000120100477529,-0.000706434698363,1.39749886894e-06,1793244297901510912
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.29160373,714.29160373,680,658.29160373,631,880,785.29160373,807.29160373,652,630,652,0.449051283765,-0.00543555286424,0.0496299906977,0.999999834384,0.000107990421828,-0.000565240772271,-8.48707794902e-06,1793244298001510656
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,658.540063515,631,880,786,807.540063515,652,630.459936485,652,0.448031472612,-0.00543680466265,0.0496243898495,0.999999832242,8.84047595374e-05,-0.000572297536326,-1.32405295838e-05,1793244298034844416
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.963429411,714.963429411,680,658.036570589,631.036570589,880,786,807,652,631,652,0.447494374256,-0.00542962707056,0.0496165417988,0.999999829929,8.71869922282e-05,-0.000576387597616,-1.77989769946e-05,1793244298051511296
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.386124538,714.386124538,680,658.613875462,631.613875462,880,786,807,652,631,652,0.446915681056,-0.00542485708971,0.0496074486196,0.999999821242,8.34228315366e-05,-0.000591679959667,-2.17247979999e-05,1793244298068177920
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.320223931,633,880,787,806.679776069,652,631,652,0.44242420862,-0.00541220800136,0.0497246522124,0.999999906426,3.63940796658e-05,-0.00042957663913,-3.58747883582e-05,1793244298184844288
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.434359424,745,714,680.434359424,660.434359424,633,880,787,806,652,631,652,0.440239354495,-0.00540846179683,0.0498199287942,0.999999964022,1.40040777791e-05,-0.00026472031574,-4.10293980025e-05,1793244298234844160
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.258933282,634,881,787,807,652,631,652,0.436870622798,-0.00540649499111,0.049782806942,0.999999937959,-2.96187917011e-05,-0.000346574602888,-5.55898124182e-05,1793244298301510656
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.324057338,745,714,680.324057338,659.324057338,634,880.675942662,787,807,652,631,651.675942662,0.435995183408,-0.00540311256201,0.0497879590344,0.999999938328,-3.77326680622e-05,-0.000344230928124,-5.8527359749e-05,1793244298318177536
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.913963786,745,714,680.913963786,659.913963786,634,880.086036214,787,807,652,631,651.086036214,0.435093417711,-0.00539667429194,0.0497934108323,0.999999939605,-4.16769190385e-05,-0.000339508522018,-6.15408464857e-05,1793244298334844416
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.506046009,745,714,680.506046009,660,634,880,787,806.506046009,652,631,651,0.434208137546,-0.00539559021176,0.0497854292941,0.999999936431,-5.16944649159e-05,-0.000346644752625,-6.560090364e-05,1793244298351511040
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.071768612,745,714,680,660.071768612,634,880,787,806,652,631,651.071768612,0.433326941944,-0.00539537415633,0.0497796040865,0.99999993549,-4.74589375196e-05,-0.00035001133703,-6.52606889702e-05,1793244298368177664
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.397444366,714,680,660,634,879.397444366,787,806,652,631,651.602555634,0.429697275713,-0.00537656604315,0.0497838234408,0.99999993547,0.000106009972151,-0.000341941199886,-2.99791994576e-05,1793244298434844416
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.579418493,659,634,879.579418493,787.579418493,805,652.579418493,630.579418493,652,0.413187087155,-0.0053693639825,0.0497775412596,0.999999931808,7.55594837879e-05,-0.000357965090601,-5.03541553667e-05,1793244298751510784
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.423003195,745,714,679.576996805,660.15399361,634,879,787,805,652,630.576996805,652,0.411733824755,-0.00537189025294,0.0497933675072,0.9999999377,7.58184287974e-05,-0.000341207248607,-4.92846858284e-05,1793244298784844288
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.151430738,745,713.848569262,680,661,634,879,787,805,652,631,652,0.411046842033,-0.00537192098118,0.0498138573614,0.999999945516,7.85728584963e-05,-0.000317035691564,-4.77681162064e-05,1793244298801510912
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.72643871,745,713.27356129,680,661,634,879,787,805,652,631,652,0.410368283266,-0.00536887464069,0.0498039984273,0.99999993983,8.54575654986e-05,-0.000332639590619,-4.88748689793e-05,1793244298818177792
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.310630949,680,660.378738101,634,879,787,805,652.310630949,631,652,0.40972561603,-0.00536832294712,0.0497936575338,0.999999934475,8.93076242035e-05,-0.000347316343651,-4.94441663276e-05,1793244298834844672
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.903157829,680,659.193684341,634,879,787,805,652.903157829,631,652,0.409115520208,-0.00537003513253,0.0497828792653,0.999999929472,9.04037553475e-05,-0.000361151715688,-4.95257256792e-05,1793244298851511040
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.63312709,714,679,660.36687291,634,880,787.63312709,805.63312709,653,631,651.63312709,0.407452897357,-0.00537862550185,0.0498267658166,0.999999951709,8.23423080694e-05,-0.000295891616727,-4.74402188399e-05,1793244298901511168
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.214652041,714,679,660,634,879.214652041,787.214652041,806,653,631,652,0.406377163882,-0.00537746660455,0.0497957991092,0.999999931355,8.4107814019e-05,-0.000357362432078,-5.00854979092e-05,1793244298934844160
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.626616445,634,879,787,805.626616445,653,630.626616445,652,0.405884792314,-0.00537745688429,0.0497766304384,0.99999991957,8.37437286014e-05,-0.000388805814308,-5.17433923355e-05,1793244298951510784
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.545894537,634,879,787.545894537,805,653,630,652,0.405016333684,-0.00537891810766,0.0497705341239,0.999999917683,8.18707101425e-05,-0.000393869719711,-5.289032095e-05,1793244298984843776
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745.121858583,714,679,660.121858583,634,879,788,805,653,630,652,0.404632295579,-0.00538062848412,0.0497861250704,0.999999927931,7.99483294064e-05,-0.00036744790325,-5.22332287797e-05,1793244299001510656
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.137287892,714,679,660.137287892,634,879,787.137287892,805,652.137287892,630.862712108,652,0.403665532969,-0.005391391192,0.0498570333348,0.999999962843,6.02923010631e-05,-0.000261134682734,-4.98664867186e-05,1793244299051511040
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.973330784,745,713.026669216,680,660,633.973330784,879,788,805,653,630.026669216,652,0.403050621913,-0.00539233008197,0.0498402317178,0.999999952808,5.39706837066e-05,-0.000297911183353,-5.21477129243e-05,1793244299084844288
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.17706015,745.17706015,714,679.82293985,660.17706015,633.17706015,879,788,805,653,631,652,0.40251811959,-0.00538925808072,0.0498109951923,0.999999935281,5.72160684135e-05,-0.000350929160503,-5.48972877838e-05,1793244299118177280
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745.665629017,714,679.334370983,660.665629017,634,879.334370983,788,805,653,631,652,0.402094480657,-0.00538819476268,0.0497991885555,0.999999929062,5.78657871902e-05,-0.000367934232794,-5.61360557901e-05,1793244299151510784
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.340116472,660.340116472,634,879,788,805,653,631,652,0.401559832401,-0.00537883971251,0.0498326789828,0.999999941444,0.000162301946882,-0.000299328230328,-3.4246719967e-05,1793244299218177536
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879.23265293,788,805.23265293,652.76734707,631,652,0.401458499755,-0.00538029133674,0.0498380858501,0.999999942894,0.000172061838994,-0.000289147610913,-3.16173482153e-05,1793244299234844160
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879.804281673,788,805.804281673,652.195718327,631,652,0.401368096534,-0.005388591638,0.049839062737,0.999999945401,0.000160509533671,-0.000287087362603,-3.18769403096e-05,1793244299251510784
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879.012106618,787.012106618,805.012106618,652,630.012106618,652,0.401215764507,-0.00539959192626,0.0498354897158,0.999999947307,0.000141428671337,-0.000290361396353,-3.27847311385e-05,1793244299284844288
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745.5665672,714,679.5665672,660,634,879,787.5665672,805.5665672,652.5665672,630,652,0.401168283168,-0.0053998495119,0.0498367829758,0.999999949021,0.000138254096314,-0.000285881523672,-3.3398737395e-05,1793244299301510912
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745.856204538,714,679.856204538,660.143795462,634,879,787.856204538,805.856204538,653,630.143795462,652,0.401124956928,-0.00540016757121,0.0498386186924,0.999999950663,0.000136024000183,-0.000281115278523,-3.38586265992e-05,1793244299318177280
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745.2822278,714,679.2822278,660.7177722,634,879,787.2822278,805.2822278,653,630.7177722,652,0.401092464226,-0.00540095587236,0.0498418507811,0.999999952079,0.000136250317606,-0.00027591913223,-3.38500137646e-05,1793244299334844160
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.700561758,634,879,787.299438242,805,653,631,652,0.401064863511,-0.00540150386598,0.0498440331533,0.999999953429,0.000134976612375,-0.000271608174392,-3.39479239703e-05,1793244299351510784
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.111457281,634,879,787.888542719,805,653,631,652,0.401041995133,-0.00540181939444,0.0498452000663,0.999999954718,0.00013225183695,-0.000268153516747,-3.41488808932e-05,1793244299368177408
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,788,805,653,631,652,0.401025354442,-0.00540122741525,0.0498448875333,0.999999954692,0.000131523566603,-0.000268558473922,-3.45638349174e-05,1793244299384844288
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787.949967623,805.050032377,653,630.949967623,652,0.401010775113,-0.00540068050423,0.049844339227,0.999999954444,0.000131075559969,-0.000269646900314,-3.49557249108e-05,1793244299401510912
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634,879,787.375628664,805.624371336,653,630.375628664,652,0.401002568828,-0.00540282502263,0.0498449378878,0.999999955087,0.000128682443297,-0.000268459651472,-3.45826282633e-05,1793244299418177536
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.202001693,634,879,787.202001693,805.797998307,653,630.202001693,652,0.40099725397,-0.00540351525194,0.0498461841548,0.999999955882,0.000128020281682,-0.000265821691398,-3.44465548028e-05,1793244299434844160
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.785853855,634,879,787.785853855,805.214146145,653,630.785853855,652,0.40099740487,-0.00540145639044,0.0498486546131,0.999999956949,0.000130630201698,-0.00026044140405,-3.47585341198e-05,1793244299451510784
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745.370553575,714,679,660.629446425,634.370553575,879,787.629446425,805,653,631,652.370553575,0.400995726874,-0.00540176845247,0.0498494916219,0.99999995732,0.000130900927586,-0.000258877667254,-3.47429055171e-05,1793244299468177408
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.46814448,746,714,679,660,634.46814448,879.53185552,787.53185552,805.53185552,652.46814448,631,652.46814448,0.400991852673,-0.00540354178725,0.0498495995344,0.999999957679,0.000128071657134,-0.00025889900599,-3.47847784862e-05,1793244299501510656
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..397cb507eafde3e589d650fd6c414c5a11f5c0da
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,412 @@
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+345,5.750000000,pose2_to_pose3_retreat,0.587457814411,-0.000122139710311,1.04005101219,0.558029446749,0.00855354302118,1.03971750013
+346,5.766666667,pose2_to_pose3_retreat,0.586793824478,-0.000122097646768,1.04005085421,0.557365457472,0.00855358779305,1.03971735481
+347,5.783333333,pose2_to_pose3_retreat,0.586143554438,-0.000122416329993,1.04005073574,0.556715190886,0.00855328093228,1.03971723902
+348,5.800000000,pose2_to_pose3_retreat,0.585508507929,-0.000122359058619,1.04005089856,0.556080143686,0.00855333521963,1.03971738554
+349,5.816666667,pose2_to_pose3_retreat,0.584891446887,-0.000122304068856,1.04005098988,0.555463081071,0.00855338499874,1.03971748018
+350,5.833333333,pose2_to_pose3_retreat,0.584296114483,-0.00012222562772,1.04005092788,0.554867748815,0.00855346420288,1.03971742524
+351,5.850000000,pose2_to_pose3_retreat,0.5837272404,-0.000122170493027,1.04005094926,0.554298874376,0.00855351803041,1.039717444
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+354,5.900000000,pose2_to_pose3_retreat,0.582155434481,-0.000122355797596,1.04005107013,0.552727069973,0.00855333745401,1.03971755444
+355,5.916666667,pose2_to_pose3_retreat,0.581671562769,-0.000122274437314,1.04005126011,0.552243197563,0.00855341657067,1.03971774732
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+372,6.200000000,pose2_to_pose3_retreat,0.57648312921,-0.000122069029223,1.04005109143,0.547054761032,0.00855361192856,1.03971757902
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+374,6.233333333,pose2_to_pose3_retreat,0.576251174357,-0.0001222093491,1.04005090587,0.546822808275,0.00855347867954,1.03971739249
+375,6.250000000,pose2_to_pose3_retreat,0.576154974933,-0.000122131456996,1.04005088629,0.546726607522,0.00855355237513,1.0397173811
+376,6.266666667,pose2_to_pose3_retreat,0.576068687981,-0.000122139450999,1.04005094609,0.546640321857,0.00855354870715,1.03971744173
+377,6.283333333,pose2_to_pose3_retreat,0.57599207006,-0.00012219920962,1.04005089961,0.546563705038,0.00855349267249,1.03971739544
+378,6.300000000,pose2_to_pose3_retreat,0.575925991855,-0.000122248984112,1.04005084157,0.546497626164,0.00855344080121,1.03971734034
+379,6.316666667,pose2_to_pose3_retreat,0.575869924398,-0.00012228197226,1.04005107802,0.546441558681,0.00855340761607,1.03971757384
+380,6.333333333,pose2_to_pose3_retreat,0.575823780204,-0.000122115100812,1.04005088748,0.54639541284,0.00855356891099,1.03971738365
+381,6.350000000,pose2_to_pose3_retreat,0.575786372828,-0.000122136324251,1.04005086733,0.546358004733,0.00855354533739,1.03971736688
+382,6.366666667,pose2_to_pose3_retreat,0.575757645965,-0.000122296751269,1.04005078355,0.546329280118,0.00855339251725,1.0397172827
+383,6.383333333,pose2_to_pose3_retreat,0.575734215629,-0.000122237351732,1.04005083089,0.546305849616,0.00855345106073,1.0397173226
+384,6.400000000,pose2_to_pose3_retreat,0.575715632697,-0.000122088812063,1.04005098699,0.546287265511,0.00855359539773,1.0397174728
+385,6.416666667,pose2_to_pose3_retreat,0.575701087921,-0.000122145975473,1.04005113034,0.546272722147,0.00855354332002,1.03971762306
+386,6.433333333,pose2_to_pose3_retreat,0.575690511003,-0.000122221312924,1.04005090241,0.546262143483,0.00855346224701,1.03971740037
+387,6.450000000,pose2_to_pose3_retreat,0.575683612729,-0.000122228095145,1.04005094065,0.546255246134,0.00855345856655,1.03971743763
+388,6.466666667,pose2_to_pose3_retreat,0.575679074711,-0.000122202909879,1.04005099202,0.546250708736,0.00855348583152,1.03971748829
+389,6.483333333,pose2_to_pose3_retreat,0.575676443493,-0.000122118320287,1.04005091144,0.546248075545,0.00855356389766,1.03971741213
+390,6.500000000,pose2_to_pose3_retreat,0.575674858135,-0.00012206735346,1.0400508629,0.546246488997,0.00855361093399,1.03971736624
+391,6.516666667,pose2_to_pose3_retreat,0.575673933458,-0.000122079462551,1.04005085407,0.546245564409,0.00855359907734,1.03971735616
+392,6.533333333,pose2_to_pose3_retreat,0.575672824693,-0.000122200907031,1.04005089332,0.54624445775,0.00855348443998,1.0397173867
+393,6.550000000,pose2_to_pose3_retreat,0.575671902039,-0.000122301966682,1.04005092597,0.546243536847,0.00855338904486,1.03971741213
+394,6.566666667,pose2_to_pose3_retreat,0.575671591445,-0.00012233598649,1.04005093696,0.546243226843,0.0085533569319,1.03971742068
+395,6.583333333,pose2_to_pose3_retreat,0.57567146261,-0.000122345837743,1.04005094018,0.546243098182,0.00855334764196,1.03971742318
+396,6.600000000,pose2_to_pose3_retreat,0.575671439595,-0.000122343311013,1.04005093941,0.546243075126,0.00855335003788,1.03971742256
+397,6.616666667,pose2_to_pose3_retreat,0.575671242713,-0.000122321696727,1.04005093279,0.5462428779,0.00855337053323,1.03971741726
+398,6.633333333,pose2_to_pose3_retreat,0.575670994617,-0.000122294460029,1.04005092445,0.54624262937,0.00855339635993,1.03971741059
+399,6.650000000,pose2_to_pose3_retreat,0.575670862482,-0.000122279953836,1.04005092001,0.546242497003,0.00855341011516,1.03971740704
+400,6.666666667,pose2_to_pose3_retreat,0.575670861971,-0.00012227989771,1.04005091999,0.546242496491,0.00855341016838,1.03971740703
+401,6.683333333,pose2_to_pose3_retreat,0.575670621205,-0.000122253465645,1.0400509119,0.546242255303,0.0085534352321,1.03971740055
+402,6.700000000,pose2_to_pose3_retreat,0.575670448402,-0.000122234494791,1.04005090609,0.546242082198,0.00855345322087,1.03971739591
+403,6.716666667,pose2_to_pose3_retreat,0.575670335049,-0.000122222050586,1.04005090228,0.546241968646,0.00855346502086,1.03971739286
+404,6.733333333,pose2_to_pose3_retreat,0.575669993457,-0.000122214805428,1.04005089476,0.546241626699,0.00855347112633,1.03971738708
+405,6.750000000,pose2_to_pose3_retreat,0.575669709496,-0.000122224717376,1.04005089061,0.546241342569,0.0085534606892,1.03971738408
+406,6.766666667,pose2_to_pose3_retreat,0.575669660725,-0.000122226419774,1.04005088989,0.546241293769,0.0085534588966,1.03971738356
+407,6.783333333,pose2_to_pose3_retreat,0.575669627565,-0.000122230216157,1.04005088372,0.546241260679,0.00855345532826,1.03971737724
+408,6.800000000,pose2_to_pose3_retreat,0.575669621893,-0.000122232069056,1.04005088007,0.546241255059,0.00855345364633,1.03971737343
+409,6.816666667,pose2_to_pose3_retreat,0.575669547169,-0.000122256477053,1.04005083197,0.546241181023,0.00855343149052,1.03971732326
+410,6.833333333,pose2_to_pose3_retreat,0.57566948626,-0.000122276372788,1.04005079277,0.546241120674,0.00855341343057,1.03971728237
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd5c3a970a69a87fa9b6f02d2f1fc59f892f550b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3fbc89b79dacfd918ee03abe6df3149ef38be9649dccea46dec722d0f3a8023
+size 25723590
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82c4704f689d47432ad642a474f2cddec3ace219
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+21,0.350000000,BASELINE,765,745,714,679.796318985,658,634,879,787,805,652,630,652,0.401019978839,-0.00549765886258,0.069849393389,0.999999986365,3.7406681457e-05,-0.000160101055196,1.54233748389e-05,1793244301732115200
+22,0.366666667,BASELINE,765,745,714,679.216867375,658,634,879,787,805,652,630,652,0.401019560855,-0.00549571830579,0.069849730526,0.999999986206,4.04326492052e-05,-0.000160395736571,1.50726834728e-05,1793244301748781824
+23,0.383333333,BASELINE,765,745,714.359046122,679.359046122,658.359046122,634,879,787,805,652,630.359046122,652,0.401019293671,-0.00549618675891,0.0698499058578,0.999999986261,3.96555432126e-05,-0.000160237806693,1.51547790419e-05,1793244301765448704
+24,0.400000000,BASELINE,765,745,714.932843471,679.932843471,658.932843471,634,879,787,805,652,630.932843471,652,0.401019116683,-0.00549809607922,0.0698499844112,0.999999986441,3.66037582798e-05,-0.000159809162814,1.54957313652e-05,1793244301782115840
+25,0.416666667,BASELINE,765,745,714.49091797,679.49091797,659,634,879,787,805,652,631,651.49091797,0.401019790075,-0.00549777575613,0.0698504197967,0.99999998659,3.6501944938e-05,-0.000158905327667,1.53811176438e-05,1793244301798782464
+26,0.433333333,BASELINE,765,745,714,679.087794196,658.912205804,634,879.087794196,787,805,652,631,651.087794196,0.401020535754,-0.0054972118624,0.0698508553248,0.99999998671,3.69471249245e-05,-0.000158055219663,1.52613997892e-05,1793244301815448832
+27,0.450000000,BASELINE,765,745,714,679.678830646,658.321169354,634,879.678830646,787,805,652,631,651.678830646,0.401021049669,-0.0054969458884,0.0698510205492,0.999999986685,3.82863189327e-05,-0.000157874129264,1.54585637626e-05,1793244301832115456
+28,0.466666667,BASELINE,765,745,714,679.735643902,658.264356098,634,880,787,805,652,631,652,0.401021463539,-0.00549757955749,0.0698514306167,0.999999986749,3.79590035659e-05,-0.000157545311401,1.54988188845e-05,1793244301848782080
+29,0.483333333,BASELINE,765,745,714,679.156677133,658.843322867,634,880,787,805,652,631,652,0.401021758344,-0.00549928389344,0.0698521320722,0.999999986916,3.56483722978e-05,-0.000157040682828,1.53523364869e-05,1793244301865448704
+30,0.500000000,BASELINE,765,745,714,679,658.580909589,634.419090411,879.580909589,787,805,652.419090411,630.580909589,652,0.401021289761,-0.00549896128796,0.0698517265295,0.99999998683,3.66314963095e-05,-0.000157358113003,1.54099212011e-05,1793244301882115584
+31,0.516666667,BASELINE,765,745,714,679,658.006329028,634.993670972,879.006329028,787,805,652.993670972,630.006329028,652,0.401020537947,-0.00549788665038,0.0698509102704,0.999999986646,3.88366633699e-05,-0.000157980541904,1.55432185211e-05,1793244301898782208
+32,0.533333333,BASELINE,765,745,714,679,658,634.430902723,879,787,805,653,630.569097277,652,0.401019712312,-0.0054973668274,0.0698502542739,0.999999986439,4.01061033444e-05,-0.000158970186068,1.55620872792e-05,1793244301915449088
+33,0.550000000,BASELINE,765,745,714,679,658,634.148670528,879,787,805,652.851329472,631,652.148670528,0.401019246796,-0.00549733550468,0.0698499312449,0.999999986371,4.05021527193e-05,-0.000159296401189,1.55623411739e-05,1793244301932115456
+34,0.566666667,BASELINE,765,745,714,679,658,634.740579066,879,787,805,652.259420934,631,652.740579066,0.401019857372,-0.00549874214664,0.069850595585,0.999999986721,3.83253950986e-05,-0.000157632512314,1.55108973954e-05,1793244301948782336
+35,0.583333333,BASELINE,765,744.677314251,714,679.322685749,658,634.677314251,879,787,805,652,631,652.354628502,0.401020489836,-0.00549893956718,0.0698511980626,0.999999986889,3.75151292e-05,-0.000156779726878,1.53399650836e-05,1793244301965449216
+36,0.600000000,BASELINE,765,744.102855328,714,679.897144672,658,634.102855328,879,787,805,652,631,651.205710657,0.401021139378,-0.00549819350177,0.0698517522726,0.999999986918,3.77710581485e-05,-0.000156559798736,1.50758027202e-05,1793244301982116608
+37,0.616666667,BASELINE,765,744.473026465,714,680,658,634,879,787,805,652,631,651.473026465,0.401021515068,-0.00549827232726,0.0698518411569,0.999999986938,3.67900072618e-05,-0.000156663849056,1.50786502205e-05,1793244301998782976
+38,0.633333333,BASELINE,765,745,714,680,658,634,879,787,805,652,631,652,0.401021760561,-0.00549848911118,0.0698517949839,0.99999998694,3.57249936443e-05,-0.000156888501294,1.51380825226e-05,1793244302015449088
+39,0.650000000,BASELINE,765,745,714,680,658,634,879,787,805,652,631,652,0.401021251543,-0.00549825676842,0.0698513893715,0.999999986787,3.66495060617e-05,-0.000157647885796,1.51798566825e-05,1793244302032115712
+40,0.666666667,BASELINE,765,745,714,680,658.227843296,634.227843296,879.227843296,787,805,652,631,652,0.40102043774,-0.00549757975051,0.0698508605971,0.999999986547,3.85403835783e-05,-0.00015871633608,1.51404439318e-05,1793244302048782336
+41,0.683333333,BASELINE,765,745,714,680,658.807348948,634.807348948,879.807348948,787,805,652,631,652,0.401019153518,-0.0054962164034,0.0698501417297,0.999999986167,4.19227871614e-05,-0.000160261810673,1.49757240894e-05,1793244302065448960
+42,0.700000000,BASELINE,765,745,714,680,659,634.616070795,880,787,805,652,631,651.616070795,0.401020131707,-0.00549621799072,0.0698507411328,0.99999998634,4.2672439577e-05,-0.000158959547545,1.51774191617e-05,1793244302082115584
+43,0.716666667,BASELINE,765,745,714,680,659,634.040947383,880,787,805,652,631,651.040947383,0.40102223656,-0.00549689930641,0.0698519970259,0.999999986787,4.21109992046e-05,-0.000156239129801,1.55615864455e-05,1793244302098781952
+44,0.733333333,BASELINE,765,745,714,679.466947012,658.466947012,634,880,787,805,652.533052988,630.466947012,651.533052988,0.401020745462,-0.00549874744251,0.0698512609241,0.999999986549,3.86269815513e-05,-0.000158620338184,1.5774448397e-05,1793244302115448832
+45,0.750000000,BASELINE,764.889639158,745,714,679,658.110360842,634.110360842,879.889639158,787,805,652.889639158,630.110360842,652,0.401019338448,-0.00550011018716,0.0698506818038,0.999999986337,3.59000409713e-05,-0.000160574142254,1.59376254976e-05,1793244302132115456
+46,0.766666667,BASELINE,764.29751743,745,714,679,658.70248257,634.70248257,879.29751743,787,805,652.29751743,630.70248257,652,0.40101950179,-0.00549896359285,0.0698514545303,0.999999986538,3.74559557481e-05,-0.000158955055766,1.59412350791e-05,1793244302148782336
+47,0.783333333,BASELINE,764.288008736,745,714,679,658.711991264,634.711991264,879,786.711991264,805,652,630.711991264,651.711991264,0.401019762579,-0.00549828962238,0.0698515396396,0.999999986609,3.83130520052e-05,-0.000158320904257,1.57607270905e-05,1793244302165448960
+48,0.800000000,BASELINE,764.866874192,745,714,679,658.133125808,634.133125808,879,786.133125808,805,652,630.133125808,651.133125808,0.40102012178,-0.00549809294917,0.0698509303325,0.999999986552,3.8464419642e-05,-0.000158681427091,1.53942808801e-05,1793244302182115840
+49,0.816666667,BASELINE,765,745,714,679,658,634,879.449154394,786.449154394,805,652,630,651.449154394,0.401020597184,-0.00549801271617,0.0698509647877,0.999999986653,3.833612692e-05,-0.000158081040455,1.53014165826e-05,1793244302198782464
+50,0.833333333,BASELINE,765,745,714,679,658,634,880,787,805,652,630.032216883,652,0.401021080614,-0.00549794411918,0.0698511643377,0.999999986788,3.81903054772e-05,-0.000157264105961,1.5305836684e-05,1793244302215449088
+51,0.850000000,BASELINE,765,745,714,679,658,634,880,787,805,652,630.611247751,652,0.401021111218,-0.00549748276351,0.0698509026814,0.999999986686,3.91646171961e-05,-0.000157642741022,1.55746213529e-05,1793244302232115712
+52,0.866666667,BASELINE,765,745,714,679.191241392,658,634,879.808758608,787,805,652,630.808758608,652,0.401021578188,-0.00549705379448,0.0698512814854,0.999999986691,4.02678725893e-05,-0.000157318891765,1.57267773332e-05,1793244302248782080
+53,0.883333333,BASELINE,765,745,714,679.773202011,658,634,879.226797989,787,805,652,630.226797989,652,0.401022936682,-0.00549669099361,0.0698529687935,0.999999986912,4.16345686583e-05,-0.000155559819045,1.56406529199e-05,1793244302265448704
+54,0.900000000,BASELINE,765,745,714.348748557,680,658,634,879.348748557,787,805,652,630.348748557,652,0.401022288003,-0.00549707210402,0.0698528962534,0.9999999869,4.04613215949e-05,-0.000155937470592,1.56995598415e-05,1793244302282115584
+55,0.916666667,BASELINE,765,745,714.920199215,680,658,634,879.920199215,787,805,652,630.920199215,652,0.401020357592,-0.00549792825758,0.0698516999184,0.999999986734,3.76661303675e-05,-0.000157679580844,1.58510801465e-05,1793244302298782208
+56,0.933333333,BASELINE,765,745,714.501842707,679.501842707,658,634,879.501842707,787,805,652,631,652,0.401018949223,-0.00549711667901,0.069850892815,0.999999986355,4.0560794104e-05,-0.000159379784376,1.55829418627e-05,1793244302315448832
+57,0.950000000,BASELINE,765,745,714.078399471,679.078399471,658,634,879,787,805,652,630.921600529,652,0.401018103921,-0.00549639122354,0.0698504506562,0.999999986068,4.33878786633e-05,-0.000160461530664,1.52974106528e-05,1793244302332115456
+58,0.966666667,BASELINE,765,745,714.666626126,679.666626126,658,634,879,787,805,652,630.333373874,652,0.40102036919,-0.00549798612487,0.0698519708742,0.999999986678,3.9769816622e-05,-0.000157565717641,1.53417269682e-05,1793244302348782336
+59,0.983333333,BASELINE,765,745,714.747727536,679.747727536,658,634,879,786.747727536,805,652,630.252272464,652,0.401020623337,-0.00549939233513,0.0698520292355,0.999999986799,3.7396846056e-05,-0.000157365958632,1.5462082221e-05,1793244302365448704
+60,1.000000000,BASELINE,765,745,714.16545644,679.16545644,658,634,879,786.16545644,805,652,630.83454356,652,0.401018246727,-0.00550055171806,0.0698501753364,0.999999986294,3.66525841894e-05,-0.000160692918393,1.56819043217e-05,1793244302382115328
+61,1.016666667,BASELINE,765,745,714.410238244,679,658,634,879,786.410238244,805,652.410238244,631,652,0.401019271054,-0.00549990172602,0.0698509088159,0.999999986487,3.77972787663e-05,-0.000159211504827,1.57794944608e-05,1793244302398782208
+62,1.033333333,BASELINE,765,745,714.983322358,679,658,634,879,786.983322358,805,652.983322358,631,652,0.401021645399,-0.00549853349458,0.0698526693667,0.999999986947,3.96918029256e-05,-0.000155821386196,1.58285640736e-05,1793244302415448832
+63,1.050000000,BASELINE,765.557788067,745,714.442211933,679.557788067,658,634,879,787,805,652.442211933,631,652,0.401021417345,-0.00549786983304,0.0698523621146,0.999999986931,3.81375549512e-05,-0.000156363089996,1.52804449675e-05,1793244302432115712
+64,1.066666667,BASELINE,765.863194432,745,714,679.863194432,658,634.136805568,879,787,805,652,630.863194432,652,0.401021001109,-0.00549738622599,0.0698520789054,0.999999986853,3.71702719077e-05,-0.000157130744419,1.49100289881e-05,1793244302448782592
+65,1.083333333,BASELINE,765.269100501,745,714,679.269100501,658,634.730899499,879,787,805,652,630.269100501,652,0.401020216591,-0.00549743388022,0.0698520832372,0.99999998662,3.85105228746e-05,-0.000158259731427,1.51934391596e-05,1793244302465449216
+66,1.100000000,BASELINE,765,745,714,679,658,634.684124664,879,787,805.315875336,652,630.315875336,651.684124664,0.40101970172,-0.00549751718157,0.0698518067615,0.999999986554,3.90851906281e-05,-0.000158520353237,1.53405173043e-05,1793244302482115584
+67,1.116666667,BASELINE,765,745,714,679,658,634.106698804,879,787,805.893301196,652,630.893301196,651.106698804,0.401019410122,-0.00549762999939,0.069851297772,0.999999986629,3.90259414901e-05,-0.000158061952815,1.53747100373e-05,1793244302498782208
+68,1.133333333,BASELINE,765,745,714,679,658,634,879,787,805.532036508,652,631,651.467963492,0.401020020761,-0.00549760725167,0.0698517930344,0.999999986754,3.91684765673e-05,-0.000157235305286,1.53542227337e-05,1793244302515448832
+69,1.150000000,BASELINE,764.956827109,745,714,679.043172891,658,634,879,787,804.956827109,652,630.956827109,652,0.401020727262,-0.00549764569791,0.0698523724157,0.999999986863,3.92754495122e-05,-0.000156511916415,1.5324651359e-05,1793244302532115456
+70,1.166666667,BASELINE,764.366752492,745,714,679.633247508,658,634,879,787,804.366752492,652,630.366752492,652,0.401020057462,-0.00549884858991,0.0698511338159,0.999999986641,3.8352535119e-05,-0.000158153951514,1.5337012022e-05,1793244302548782080
+71,1.183333333,BASELINE,764.219046289,745,714,679.780953711,658,634,879,787,804.438092577,652,630.219046289,651.780953711,0.401020008468,-0.00549948591964,0.0698507598529,0.999999986582,3.80869901191e-05,-0.000158583304338,1.54168558495e-05,1793244302565448704
+72,1.200000000,BASELINE,764.797823135,745,714,679.202176865,658,634,879,787,805.595646269,652,630.797823135,651.202176865,0.401020978994,-0.00549919445031,0.0698518058469,0.999999986794,3.89010152317e-05,-0.000157021120045,1.56075244572e-05,1793244302582115840
+73,1.216666667,BASELINE,765,745,714,679,658,634,879.372709809,787,805.627290191,652,630.627290191,651.372709809,0.401020003255,-0.0054984441911,0.0698515494262,0.999999986626,4.0663255989e-05,-0.000157643069451,1.55875401274e-05,1793244302598782720
+74,1.233333333,BASELINE,765,745,714,679,658,634,879.94550802,787,805.05449198,652,630.05449198,651.94550802,0.401017982667,-0.00549744763162,0.0698505938072,0.999999986249,4.2934544078e-05,-0.000159437566083,1.54544672428e-05,1793244302615449344
+75,1.250000000,BASELINE,765,745,714,679,658.521962271,634,879.478037729,787,805.521962271,652,630.521962271,651.478037729,0.401018047527,-0.00549766909824,0.0698503866457,0.999999986263,4.10295664675e-05,-0.000159866251791,1.52923415749e-05,1793244302632115968
+76,1.266666667,BASELINE,765,744.898626954,714,679,658.898626954,634,879,787,805.898626954,652,631,651,0.40101853227,-0.00549799171695,0.0698505627708,0.999999986351,3.92434442808e-05,-0.000159773869687,1.51781574036e-05,1793244302648782848
+77,1.283333333,BASELINE,765,744.306771127,714,679,658.306771127,634,879,787,805.306771127,652,631,651,0.401019987744,-0.00549818415992,0.0698522126602,0.999999986617,4.01567879351e-05,-0.000157855121107,1.53107117716e-05,1793244302665448960
+78,1.300000000,BASELINE,764.72182785,744.27817215,714,679,658,634,879,787,805,652.27817215,631,651.27817215,0.40102031333,-0.00549811892716,0.0698523430521,0.999999986571,4.05338820119e-05,-0.000158051583821,1.53041243524e-05,1793244302682115584
+79,1.316666667,BASELINE,764.144322999,744.855677001,714,679,658,634,879,787,805,652.855677001,631,651.855677001,0.401019423077,-0.00549777641727,0.0698508383582,0.999999986188,4.03339339549e-05,-0.000160524162046,1.51478106235e-05,1793244302698782208
+80,1.333333333,BASELINE,764.4318833,745,714,679,658,634,879,787,805,652.5681167,631,652,0.401018843584,-0.0054977578156,0.0698506050706,0.999999986198,4.01271151569e-05,-0.000160523688595,1.50535787928e-05,1793244302715449088
+81,1.350000000,BASELINE,765,744.992186784,714,679,658.007813216,634,879,787,805.007813216,652,631,652,0.401018380305,-0.00549783497155,0.0698507930451,0.999999986336,3.99456037449e-05,-0.000159712320995,1.49815182859e-05,1793244302732115456
+82,1.366666667,BASELINE,765,744.404666842,714,679,658.595333158,634,879,787,805.595333158,652,631,652,0.401018857689,-0.00549701000195,0.069850808011,0.999999986234,4.18116346883e-05,-0.000159869311143,1.50198262234e-05,1793244302748782080
+83,1.383333333,BASELINE,765,744.180268376,714.180268376,679.180268376,658.819731624,634,879,787,805.819731624,652.180268376,631,652,0.401019010167,-0.00549658807338,0.0698508984383,0.999999986198,4.28157681957e-05,-0.000159823649934,1.50686886148e-05,1793244302765448960
+84,1.400000000,BASELINE,765,744.75948353,714.75948353,679.75948353,658.24051647,634,879,787,805.24051647,652.75948353,631,652,0.401018443602,-0.00549705810317,0.0698511558669,0.999999986314,4.19124615391e-05,-0.000159329506839,1.51409087735e-05,1793244302782115840
+85,1.416666667,BASELINE,765,745,714.662301318,679.662301318,658.337698682,634,879,787,805,653,631,652,0.401018492474,-0.00549661774094,0.0698506031649,0.999999986253,4.16691232273e-05,-0.000159787576167,1.50368989279e-05,1793244302798782464
+86,1.433333333,BASELINE,765,745,714.084796321,679.084796321,658.915203679,634,879,787,805,653,631,652,0.401018978379,-0.00549553089184,0.0698494751736,0.999999986065,4.18944411556e-05,-0.000160921829839,1.48077447703e-05,1793244302815448832
+87,1.450000000,BASELINE,765,745,714,679.490258841,659,634,879,787,805,652.509741159,630.509741159,652,0.401019080066,-0.00549677420521,0.0698502547022,0.999999986168,4.14181520059e-05,-0.000160378526489,1.50962846274e-05,1793244302832115712
+88,1.466666667,BASELINE,765,745,714,680,658.933475405,634,879,787,805,652,630,652,0.401019332311,-0.00549823191164,0.0698513485427,0.999999986348,4.08007158009e-05,-0.000159376897149,1.54378863471e-05,1793244302848782336
+89,1.483333333,BASELINE,765,745,714,680,658.344388307,634,879,787,805,652,630,652,0.401021286648,-0.00549822357975,0.0698523325926,0.999999986748,4.00230431664e-05,-0.000157042915908,1.54964307299e-05,1793244302865448960
+90,1.500000000,BASELINE,765,745,714,679.758768,658,634,879,787,805,652,630.241232,652,0.401021982635,-0.00549800143008,0.0698525343116,0.999999986866,4.03285268714e-05,-0.000156208245657,1.55189631949e-05,1793244302882115840
+91,1.516666667,BASELINE,765,745,714,679.178026892,658,634,879,787,805,652,630.821973108,652,0.401020907625,-0.00549747835398,0.0698516349805,0.999999986591,4.21584412445e-05,-0.000157483700864,1.54908126023e-05,1793244302898782720
+92,1.533333333,BASELINE,765,745,714,679,658,634,879.397780075,787,805,652,631,652,0.40102017305,-0.00549817697134,0.0698515826298,0.999999986591,4.01761248124e-05,-0.000158007248621,1.54123425799e-05,1793244302915449344
+93,1.550000000,BASELINE,765,745,714,679,658,634,879.971405868,787,805,652,631,652,0.401019588969,-0.00549941565985,0.0698519047017,0.999999986703,3.65085444867e-05,-0.000158198402499,1.5311627961e-05,1793244302932115968
+94,1.566666667,BASELINE,765,745,714,679.560934128,658,634,879.439065872,787,805.560934128,652.560934128,631,652,0.401019161707,-0.00549936248924,0.069851852145,0.999999986534,3.8194073759e-05,-0.000158850584788,1.5457481917e-05,1793244302948782336
+95,1.583333333,BASELINE,764.851603377,744.851603377,714,679.851603377,658,634,879.148396623,787,805.851603377,652.851603377,631,652,0.401018644696,-0.00549896966408,0.0698515839481,0.99999998637,3.97147156471e-05,-0.000159503668002,1.55091170883e-05,1793244302965448704
+96,1.600000000,BASELINE,764.272556777,744.272556777,714,679.272556777,658,634,879.727443223,787,805.272556777,652.272556777,631,652,0.401017843352,-0.00549778783937,0.0698507469959,0.999999986272,3.99418437584e-05,-0.000160089174582,1.5249787577e-05,1793244302982115328
+97,1.616666667,BASELINE,764.303593783,744.303593783,714,679.303593783,658,634,879.696406217,787,805,652,631,652,0.401019298262,-0.00549756326942,0.0698514788337,0.999999986505,3.96236724164e-05,-0.00015870922543,1.52417560913e-05,1793244302998782464
+98,1.633333333,BASELINE,764.877168906,744.877168906,714,679.877168906,658,634,879.122831094,787,805,652,631,652,0.401022759624,-0.00549818997167,0.0698536057726,0.999999987024,3.88205745414e-05,-0.000155581426317,1.54572001373e-05,1793244303015449344
+99,1.650000000,BASELINE,765,745,714.451322444,680,658,634,879,787,805,652.451322444,630.548677556,652,0.401021288203,-0.00549883309517,0.0698526251754,0.999999986888,3.7767617687e-05,-0.000156710450729,1.54489766595e-05,1793244303032115968
+100,1.666666667,BASELINE,765,745,714.973498133,680,658,634,879,787,805,652.973498133,630.026501867,652,0.401018587267,-0.00549941182214,0.0698508745514,0.999999986577,3.6794024312e-05,-0.000158919446355,1.5376547492e-05,1793244303048782336
+101,1.683333333,BASELINE,765,745,714.379733742,680,658,634,879,787,805,652.379733742,630.620266258,652,0.401018341559,-0.0054985163821,0.0698507677995,0.999999986418,3.89765833557e-05,-0.000159415113673,1.52344541962e-05,1793244303065448960
+102,1.700000000,BASELINE,765,745,714,680,658,634,879,787,805.208073262,652,631,652,0.401018275593,-0.00549768298521,0.0698508693113,0.999999986335,4.02184601555e-05,-0.000159641800766,1.50894356066e-05,1793244303082115584
+103,1.716666667,BASELINE,765,745,714,680,658,634,879,787,805.785310594,652,631,652,0.401018528525,-0.00549695966551,0.069851340325,0.999999986394,3.97913760767e-05,-0.000159391262458,1.4939226969e-05,1793244303098782208
+104,1.733333333,BASELINE,765,745,714.361020991,679.638979009,658,634,879,787,805.638979009,652,631,651.638979009,0.401019582563,-0.00549732736055,0.0698519636234,0.999999986517,3.93667796728e-05,-0.000158714957044,1.50275878176e-05,1793244303115448832
+105,1.750000000,BASELINE,765,745,714.935827241,679.064172759,658,634,879,787,805.064172759,652,631,651.064172759,0.40102111099,-0.0054983411201,0.0698526771002,0.999999986677,3.89436563508e-05,-0.00015778652574,1.52572219865e-05,1793244303132115456
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,879,787,805,652,631,651,0.401017403359,-0.00549731148696,0.0698503494056,0.999999986121,4.04568183398e-05,-0.000160894119756,1.52847105824e-05,1793244303164662016
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714.368452226,679.631547774,658,634,879,786.368452226,805,652,631,651.631547774,0.401018808335,-0.00549673198024,0.0698513678837,0.999999986261,4.24672354541e-05,-0.000159505731755,1.52644166413e-05,1793244303181328896
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.760456435,658,634,879,786.239543565,805.239543565,652,631,652,0.401019887355,-0.00549699820194,0.0698520141939,0.999999986466,4.21562637259e-05,-0.000158297198931,1.52553354118e-05,1793244303197995520
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.185443941,658,634,879,786.814556059,805.814556059,652,631,652,0.40102050989,-0.00549844882442,0.0698521393018,0.999999986761,3.85943018829e-05,-0.000157340544199,1.52619570281e-05,1793244303214661888
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.389719682,879.389719682,787,805.610280318,652,631,652,0.401018781089,-0.00549861676732,0.0698509784257,0.999999986464,3.82384661521e-05,-0.000159312395699,1.51214862275e-05,1793244303231328768
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.964955212,879.964955212,787,805.035044788,652,631,652,0.401015932998,-0.00549817412412,0.0698492053906,0.99999998588,3.94088229948e-05,-0.000162678285945,1.49109959339e-05,1793244303247995392
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,635,879.444696752,787,805,652.555303248,631,652,0.401016654085,-0.00549850954685,0.0698497596154,0.999999985894,4.07304680506e-05,-0.000162240887765,1.51731819535e-05,1793244303264661760
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.143576618,679,658,635,879,787,805,653,631,652,0.401017753608,-0.00549886995883,0.0698505711352,0.999999986032,4.10187660856e-05,-0.000161295857124,1.5376912746e-05,1793244303281328384
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.72258466,679,658,635,879,787,805,653,631,652,0.401019298599,-0.00549915307325,0.0698517050795,0.999999986426,3.81434191581e-05,-0.000159559599047,1.53103651127e-05,1793244303297995008
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.700898912,679,658,634.700898912,879.299101088,787,805,653,631,652,0.401020067615,-0.00549858606788,0.0698522747227,0.999999986101,3.81624876524e-05,-0.000161578776656,1.52975013998e-05,1793244303314661888
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.126674387,679,658,634.126674387,879.873325613,787,805,653,631,652,0.401020122862,-0.00549723709319,0.0698523253024,0.999999985095,4.08439388521e-05,-0.000167052332868,1.53340180013e-05,1793244303331328512
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.44739089,658.44739089,634,879.55260911,787,805,653,631,652,0.401031389028,-0.00549717867139,0.0698578628892,0.999999985199,4.19868894143e-05,-0.000166106441545,1.57434971909e-05,1793244303347995136
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.977869568,634,879,787,805,652.977869568,631,652,0.401046771953,-0.00549752148934,0.0698652415294,0.999999985702,4.26308080732e-05,-0.000162832518932,1.62774376386e-05,1793244303364661504
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.384565484,634,879,787,805,652.384565484,631,652,0.401086509284,-0.00549879247159,0.069880053616,0.999999988272,4.16338814098e-05,-0.000146368082748,1.72991260264e-05,1793244303381328384
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.796240401,658,634,879.203759599,787,805,652,630.796240401,651.796240401,0.401132820903,-0.00550071732108,0.0698940957118,0.999999990616,3.96430083887e-05,-0.000129906267212,1.79190726683e-05,1793244303397995008
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.217088185,658,634,879.782911815,787,805,652,630.217088185,651.217088185,0.401191244543,-0.00550384681067,0.0699067192321,0.999999992765,3.58209570606e-05,-0.000113449277005,1.77988782317e-05,1793244303414661888
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.358971528,679,658,634,879.641028472,787,805,652,630.358971528,651.358971528,0.40125870985,-0.00550591202013,0.0699154334074,0.999999994144,3.40549076218e-05,-0.000101296663172,1.70854009309e-05,1793244303431328512
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.933176986,679,658,634,879.066823014,787,805,652,630.933176986,651.933176986,0.401331596399,-0.00550733910303,0.0699218035973,0.999999995103,3.35216062351e-05,-9.17248896917e-05,1.60162001526e-05,1793244303447994880
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.49549352,679.50450648,658.50450648,634,879.50450648,787.50450648,805,652,630.49549352,652,0.401412074536,-0.00550823873494,0.0699198222148,0.9999999947,3.15164310301e-05,-9.70252157984e-05,1.38989134235e-05,1793244303464661760
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.078824905,680,658.921175095,634,880,787.921175095,805.078824905,652.078824905,630.078824905,652,0.40149708135,-0.00550915920674,0.0699166395885,0.999999994021,2.95850478367e-05,-0.00010463379384,1.16179395217e-05,1793244303481328384
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.675257503,680,658.324742497,634,880,787.324742497,805.675257503,652.675257503,630.675257503,652,0.401605260564,-0.00551067267707,0.0699127915787,0.999999992966,2.94111358673e-05,-0.000114537870753,9.16851581687e-06,1793244303497995264
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.737116758,658,634.262883242,880.262883242,787,805.737116758,652.737116758,631,652,0.401729363215,-0.00551282269631,0.0699129915608,0.999999992699,2.83949767189e-05,-0.0001172533912,6.82458187179e-06,1793244303514662144
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.160017619,658,634.839982381,880.839982381,787,805.160017619,652.160017619,631,652,0.401872498631,-0.0055157335619,0.0699180299782,0.999999993439,2.63721065769e-05,-0.000111376660232,4.60673662552e-06,1793244303531328512
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.583695321,679.416304679,658,634.583695321,880.167390643,787.416304679,805,652,631,652,0.402035666692,-0.00551833566852,0.069921650266,0.99999999389,2.27586633422e-05,-0.000108164900444,1.37557336751e-06,1793244303547995136
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.007671019,679.992328981,658,634.007671019,879.015342038,787.992328981,805,652,631,652,0.402206520498,-0.0055208193168,0.0699247264741,0.99999999421,1.85349800144e-05,-0.000105975584105,-2.24436007835e-06,1793244303564661760
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787.419485553,805,652,631,651.419485553,0.402406224271,-0.00552397249992,0.0699280399085,0.999999994751,1.34214888193e-05,-0.000101379200399,-6.27857960033e-06,1793244303581328384
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.833343396,658,634,879,787,805,652,631,651.166656604,0.402618801086,-0.00552690804115,0.0699302690726,0.999999995075,8.55227007996e-06,-9.83164093921e-05,-1.05676525993e-05,1793244303597995264
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.252684777,658,634,879,787,805,652,631,651.747315223,0.402862389366,-0.00552928047681,0.0699297967804,0.999999994956,4.31969659943e-06,-9.91440157072e-05,-1.547593338e-05,1793244303614661888
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.324818066,658,634.324818066,879.324818066,787,805,652,631,652,0.403124469382,-0.00553337977601,0.069931940061,0.999999995207,-4.03019227058e-06,-9.57694348414e-05,-1.99734900843e-05,1793244303631328512
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.899889531,658,634.899889531,879.899889531,787,805,652,631,652,0.403400796188,-0.00553880952285,0.069936098488,0.999999995613,-1.55522325661e-05,-8.91573134619e-05,-2.41546075148e-05,1793244303647995392
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.523838194,880,787,805,652,631,652,0.403716951854,-0.00554061924139,0.0699463612928,0.999999996007,-4.35795254439e-05,-7.31263779089e-05,-2.71950913799e-05,1793244303664661760
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.054140428,879.945859572,787,805.054140428,652.054140428,631,652,0.404043179557,-0.0055416722915,0.0699569494347,0.999999995471,-7.03123343781e-05,-5.68919590246e-05,-2.96077196356e-05,1793244303681328640
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.646567855,879.353432145,787,805.646567855,652.646567855,631,652,0.404386081334,-0.00554278844959,0.0699579797236,0.99999999667,-4.95860053345e-05,-5.83727333162e-05,-2.81682839928e-05,1793244303697995264
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.232466461,680,658.232466461,635,879.232466461,787,806,652.767533539,631,652,0.40475625026,-0.00554463849052,0.069961572323,0.999999997502,-3.71585745047e-05,-5.32737037527e-05,-2.78812870176e-05,1793244303714661888
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.808710037,680,658.808710037,635,879.808710037,787,806,652.191289963,631,652,0.405166742483,-0.00554757381532,0.06996895413,0.999999998147,-3.7003760092e-05,-3.84442984903e-05,-2.92985447945e-05,1793244303731328512
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.61674235,680,659,634.61674235,879.61674235,787,805.61674235,652.38325765,631,652,0.405583825207,-0.00554526120743,0.0699710194841,0.999999998145,-3.97491640705e-05,-3.44953927685e-05,-3.06670033775e-05,1793244303747995392
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.043037437,680,659,634.043037437,879.043037437,787,805.043037437,652.956962563,631,652,0.406004182899,-0.00554034081255,0.0699704430027,0.999999997876,-4.39357360173e-05,-3.59531914998e-05,-3.2011212938e-05,1793244303764662016
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.468797609,745,714.531202391,680.531202391,659,634,879.531202391,787,805,652.468797609,631,652,0.406447110631,-0.00552617755533,0.0699571720892,0.999999997266,-2.51672808746e-05,-6.09879538479e-05,-3.33900336646e-05,1793244303781328640
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.10945752,745,715,680.89054248,659,634.10945752,880,787,805,652,631,652,0.406903334472,-0.00551351290902,0.0699440810202,0.999999995834,-8.7005400282e-06,-8.39061291951e-05,-3.48863581853e-05,1793244303797995008
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.705364789,745,715,680.294635211,659,634.705364789,880,787,805,652,631,652,0.407410514027,-0.00551083973518,0.0699363646144,0.999999995308,-1.07366348953e-05,-8.89200494987e-05,-3.68924174344e-05,1793244303814661632
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.712094174,659,634.712094174,880,787,805,652,631,652,0.407955506919,-0.00551403257387,0.0699374015054,0.999999995937,-1.47039209242e-05,-8.01664613444e-05,-3.85100997674e-05,1793244303831328512
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.142624951,659,634.142624951,880,787,805,652,631,652,0.408537480107,-0.00552296219978,0.0699469988628,0.99999999732,-2.05598547571e-05,-5.7948656117e-05,-3.97479608098e-05,1793244303847994880
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.435171561,745,714.564828439,679.435171561,658.564828439,634,880,787,805,652,631,652,0.409139448022,-0.00552796594803,0.0699564537584,0.999999998126,-2.81598305361e-05,-3.58777394523e-05,-4.0832289114e-05,1793244303864661760
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.983922064,745,714,680,658.016077936,634,879.983922064,787,805,652,630.983922064,652,0.409747695418,-0.00553156106976,0.0699653076983,0.999999998364,-3.60153162387e-05,-1.49332137445e-05,-4.18558507164e-05,1793244303881328384
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.391274519,745,714,680,658.608725481,634,879.391274519,787,805,652,630.391274519,652,0.410341544379,-0.00553168338438,0.06995431787,0.999999998047,-3.21356434212e-05,-3.26220000266e-05,-4.253996987e-05,1793244303897995008
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.804053084,634,879,787,805,652,630.195946916,652,0.410959866701,-0.00553201241353,0.0699480368762,0.99999999753,-3.27953770381e-05,-4.4669407264e-05,-4.32423367145e-05,1793244303914661632
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.227374831,634,879,787,805,652,630.772625169,652,0.411625741503,-0.00553274309588,0.0699509053047,0.999999997092,-4.22753279154e-05,-4.57554264443e-05,-4.39801593657e-05,1793244303931328512
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.6552426,745,714,680,658.3447574,634.3447574,879,787,805,652,631,652,0.412343776909,-0.00553497798068,0.0699729456122,0.999999997988,-4.52098821365e-05,-1.07113428444e-05,-4.31779317033e-05,1793244303947995136
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.086069491,745,714,680,658.913930509,634.913930509,879,787,805,652,631,652,0.413095765703,-0.00553819200815,0.0700074656255,0.999999997036,-4.38837894498e-05,4.78511992821e-05,-4.13732266505e-05,1793244303964661760
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.490517673,745,714,680.490517673,659,634.509482327,879.490517673,787,805.490517673,652,631,652,0.413841027853,-0.00554024136669,0.0700259279144,0.999999995371,-4.54236583286e-05,7.41063974796e-05,-4.12558813267e-05,1793244303981328640
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.929420282,659,634,880,786.929420282,806,652,630.929420282,652,0.414577293981,-0.00554186773152,0.0700336244693,0.999999994626,-4.81178562205e-05,8.1824164505e-05,-4.16946062863e-05,1793244303997995264
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.333319766,659,634,880,786.333319766,806,652,630.333319766,652,0.41525550125,-0.00554188955564,0.0699824629291,0.999999997469,-5.56051304128e-05,-5.62678132118e-06,-4.40353632795e-05,1793244304014661888
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.25487779,680,659,634,880,786.25487779,805.74512221,652,630.25487779,652,0.41597806574,-0.00554114424495,0.0699405310173,0.999999994358,-6.0037960167e-05,-7.37308778654e-05,-4.73633751428e-05,1793244304031328256
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.833050936,680,659,634,880,786.833050936,805.166949064,652,630.833050936,652,0.416756894346,-0.00553942587528,0.0699103062725,0.999999989936,-6.05964322101e-05,-0.00011729479037,-5.19436536303e-05,1793244304047995136
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.591550819,680,659,634,880,787,805,652,630.591550819,652,0.417593631847,-0.00554131238612,0.0699257062274,0.999999992242,-6.33270589595e-05,-9.43037843058e-05,-5.11032649991e-05,1793244304064661760
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.017279145,680,659,634,880,787,805,652,630.017279145,652,0.418453879224,-0.00554466240899,0.0699596289316,0.999999995624,-6.69395385239e-05,-4.42927631954e-05,-4.80621898262e-05,1793244304081328384
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786.430469031,805,652,630.569530969,652,0.419286253898,-0.00554525266967,0.0699819523754,0.999999996272,-7.0392113832e-05,-1.20571045461e-05,-4.85445240633e-05,1793244304097995008
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,805.155568499,652,630.844431501,651.844431501,0.420131834277,-0.00554651826127,0.0700036475728,0.999999995922,-7.34492155687e-05,2.0222299934e-05,-4.8492581633e-05,1793244304114661632
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,805.738415651,652,630.261584349,651.261584349,0.421016059692,-0.00554987383567,0.0700246055569,0.9999999946,-7.54337483883e-05,5.41363901379e-05,-4.66730045042e-05,1793244304131328000
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786.316351558,806,652,630.316351558,651.316351558,0.42187762875,-0.00555003050446,0.0700246242603,0.999999994254,-8.03755460836e-05,5.23901892892e-05,-4.78161410066e-05,1793244304147994624
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786.890288607,806,652,630.890288607,651.890288607,0.422720750237,-0.0055475825028,0.0700075934058,0.999999994599,-8.77252617084e-05,2.16080246131e-05,-5.13716316135e-05,1793244304164661504
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,787,806,652,631,652,0.423522979832,-0.00554566715673,0.0699352080483,0.999999990601,-8.76937490243e-05,-8.91216314772e-05,-5.62657557218e-05,1793244304181328640
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.042679721,680.042679721,659,634,880,787,806,652,631,652,0.424323145583,-0.00554419154274,0.069856938898,0.999999972907,-8.6677327923e-05,-0.000207161431163,-6.12898264138e-05,1793244304197995776
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.634483569,680.634483569,659,634,880,787,806,652,631,652,0.425221097653,-0.00554675395249,0.0698712835081,0.999999977888,-9.54329283731e-05,-0.000176159630646,-6.3915461552e-05,1793244304214662400
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714.779460528,681,659,634,880,787,806,652,630.779460528,652,0.426129618976,-0.0055486622658,0.0699027815763,0.9999999856,-9.62992114653e-05,-0.000124865673121,-6.27319951641e-05,1793244304231329024
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714.202689171,681,659,634,880,787,806,652,630.202689171,652,0.427055212496,-0.00554951403336,0.0699619871949,0.99999999407,-8.44220770145e-05,-4.07943041684e-05,-5.53957821286e-05,1793244304247995392
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.37337181,634,880,787,805.62662819,652,630.37337181,651.62662819,0.427979751115,-0.00555190696759,0.0700037293893,0.999999994389,-9.00479989363e-05,1.7769305964e-05,-5.28901274639e-05,1793244304264661760
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.949047869,634,880,787,805.050952131,652,630.949047869,651.050952131,0.428903718126,-0.00555513495296,0.070036009365,0.999999991112,-0.000105157611782,6.2512030576e-05,-5.30018171317e-05,1793244304281328128
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.463530769,634,880,787,805.536469231,652,630.463530769,651.536469231,0.429801492567,-0.00555770020095,0.0700423122687,0.999999989978,-0.000104906024471,7.84340970767e-05,-5.37363776098e-05,1793244304297995008
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.123031798,634.123031798,880,787,806,652,630,652,0.43067075216,-0.00555940357006,0.0700305602695,0.999999991367,-0.000101692430622,6.26356698721e-05,-5.47837382163e-05,1793244304314661888
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.702182183,634.702182183,880,787,806,652,630,652,0.431443726884,-0.00555815025498,0.0699612244341,0.999999992238,-9.30276188128e-05,-6.03856871704e-05,-5.67665211691e-05,1793244304331328512
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.720138438,745,714,681,660,635,880,786.720138438,806,652,630,652,0.432241569353,-0.00555628467207,0.0699123115757,0.999999983944,-9.12284916548e-05,-0.000142531167792,-5.89469480587e-05,1793244304347995392
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.144016191,745,714,681,660,635,880,786.144016191,806,652,630,652,0.433065736844,-0.00555377094396,0.0698850184165,0.99999997699,-9.66973594646e-05,-0.000181405573315,-6.13366011555e-05,1793244304364662016
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.429925876,745,714,681,660,634.570074124,880.429925876,786.429925876,806.429925876,652,630.429925876,652,0.433961869262,-0.00555516384845,0.0699282096073,0.999999987978,-9.9630728391e-05,-0.00010218053444,-6.06386072785e-05,1793244304381328640
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.996754653,634,880.996754653,787,807,651.996754653,631,652,0.434881626963,-0.00555785850594,0.0699946793107,0.999999992962,-0.000101734535204,1.59767138807e-05,-5.89099570246e-05,1793244304397995520
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.404548851,634,880.404548851,787,807,651.404548851,631,652,0.435736092497,-0.00556050153962,0.0700224685237,0.999999991111,-0.000106649998168,5.62744704434e-05,-5.6895111371e-05,1793244304414661888
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.183230377,659.183230377,634,880,787,806.816769623,651,631,651.816769623,0.436571864502,-0.00556255887975,0.0700365792232,0.999999989371,-0.000109201926896,7.85877636832e-05,-5.61789620134e-05,1793244304431328512
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681.761466811,659.761466811,634,880,787,806.238533189,651,631,651.238533189,0.437367337148,-0.00556335358795,0.07002120193,0.999999990685,-0.000106658574204,6.21303440379e-05,-5.82625283011e-05,1793244304447995136
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681.662224845,660,634,880,787,806,651.337775155,631,651.337775155,0.438118079601,-0.00556268243672,0.0699894441786,0.999999992163,-0.000107211896456,2.26449433563e-05,-6.05543289937e-05,1793244304464661760
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681.087270391,660,634,880,787,806,651.912729609,631,651.912729609,0.438837413328,-0.00556098198681,0.0699461843813,0.999999991428,-0.000109939644888,-3.30102675558e-05,-6.2992347702e-05,1793244304481328384
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681.498903565,660,634,880,786.501096435,806,651.501096435,631,652,0.439489942198,-0.00555897907843,0.0698793003457,0.999999981519,-0.000102513815729,-0.000149270824837,-6.458480799e-05,1793244304497995264
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.914294493,660,633.914294493,880,786,806,651,631,652,0.440141873498,-0.00555725006421,0.0698184855196,0.99999996038,-9.51331090152e-05,-0.000256614153468,-6.58750738029e-05,1793244304514661888
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.335431872,660,633.335431872,880,786,806,651,631,652,0.440859154114,-0.00555740849947,0.0698169190494,0.999999961644,-9.84670523858e-05,-0.000250242419204,-6.62971500548e-05,1793244304531328512
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,880,786,806,651,631,651.757080081,0.441577486448,-0.00555768235376,0.0698358950956,0.999999969284,-9.92413750482e-05,-0.000217495762687,-6.54064674555e-05,1793244304547995136
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,880,786,806,651,631,651.179432098,0.442297268083,-0.00555811524807,0.0698831774113,0.999999982367,-9.64887047226e-05,-0.000148406153622,-6.2706887215e-05,1793244304564661760
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.397302215,714,681.397302215,659.602697785,633,880,786,806.397302215,651.397302215,631,651.397302215,0.44293839593,-0.00555980647163,0.0698886090657,0.999999982184,-9.79941789257e-05,-0.000148817774156,-6.23037195002e-05,1793244304581328640
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.973624803,714,681.973624803,659.026375197,633,880,786,806.973624803,651.973624803,631,651.973624803,0.443544083131,-0.00556206468564,0.0698751832312,0.999999976578,-0.000101418330335,-0.000180545952171,-6.29352923107e-05,1793244304597995264
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.43967425,714,681.43967425,658.43967425,633,880,786,806.43967425,652,630.43967425,652,0.444106722007,-0.00556165472593,0.0698331480309,0.999999961087,-0.00010273138556,-0.000251199977831,-6.45797301018e-05,1793244304614662144
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713.854544059,681,658,633,880,786,806,652,630.145455941,652,0.444659295063,-0.00556113259341,0.0697921256888,0.999999942189,-0.000102189836112,-0.00031755814836,-6.58418657484e-05,1793244304631329280
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.275578738,681,658,633,880,786,806,652,630.724421262,652,0.4451880216,-0.00556065752495,0.0697582113277,0.999999926372,-9.64226714081e-05,-0.00036554926858,-6.58198336327e-05,1793244304647995904
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.302789558,713.302789558,681.302789558,658,632.697210442,880,785.697210442,806,652,630.697210442,652.302789558,0.445711845673,-0.00556036226204,0.0697384781246,0.999999917627,-9.1743416592e-05,-0.000389865302782,-6.58400848043e-05,1793244304664662528
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.880615519,713.880615519,681.880615519,658,632.119384481,880,785.119384481,806,652,630.119384481,652.880615519,0.446231216606,-0.00556023032407,0.0697316262616,0.999999916855,-8.80523562352e-05,-0.00039267626532,-6.58987437553e-05,1793244304681328896
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.543411991,714,682,658,632,880,785,806,652,630,652.543411991,0.446702958427,-0.00556043079981,0.0697278325042,0.999999911955,-8.91472924902e-05,-0.000404659309987,-6.62916766037e-05,1793244304697995520
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.967163889,745,714,681.967163889,657.967163889,632,880,785,806,652,630.032836111,652,0.447159641021,-0.00556070468499,0.069723518577,0.999999904999,-9.18339490676e-05,-0.000420843032097,-6.67844003455e-05,1793244304714661888
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.378070947,745,714,681.378070947,657.378070947,632,880,785,806,652,630.621929053,652,0.447571330184,-0.00556075570762,0.0696969018967,0.999999883302,-0.000100371492106,-0.000467725126107,-6.74929673719e-05,1793244304731328512
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.206773512,745,714,681.206773512,657,632,880,785,806,651.793226488,630.793226488,652,0.447976849083,-0.00556163029528,0.0696775489243,0.999999866551,-0.000105011043057,-0.000501285766153,-6.77063761647e-05,1793244304747995392
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,745,714,682,659,634,879.07676906,786.07676906,806,652,631,652,0.433535713638,-0.00540403834287,0.0698339130194,0.999999953933,0.000132638546096,-0.000272018308077,2.33921768988e-05,1793244306750480896
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,745,714,682,659,633.502064226,879,786.497935774,805.502064226,652,631,651.502064226,0.432653169314,-0.0054038832325,0.0698357160904,0.999999956448,0.000134685078772,-0.000261549485905,2.35756726674e-05,1793244306767147520
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.074374717,745,714,682,659,633,879.074374717,786.925625283,805,651.925625283,631,651.074374717,0.431759396047,-0.0054037446028,0.0698300493119,0.999999955855,0.000137069578007,-0.000262580169463,2.35195885803e-05,1793244306783813888
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.66308094,745,714,682,659,633,879.66308094,786.33691906,805,651.33691906,631,651.66308094,0.43080814519,-0.00539847516106,0.0697791649246,0.999999926609,0.000145182751438,-0.000353818595035,2.27365177286e-05,1793244306800480512
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.751265705,659,633,879.751265705,786,805.248734295,651.248734295,631,652,0.429872381596,-0.00539625951229,0.0697379515264,0.999999900823,0.000148018184178,-0.000419520909872,2.1155299931e-05,1793244306817147136
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.592286179,745,714,681,658.592286179,633,879.407713821,786,805.592286179,651.592286179,631,652,0.428095839733,-0.00540112911823,0.0697540589893,0.999999915908,0.000145417953525,-0.000382846763749,2.16005004684e-05,1793244306850480640
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.016587884,745,714,681,658.016587884,633,879.983412116,786,805.016587884,651.016587884,631,652,0.427256396565,-0.00540459292804,0.0698283729959,0.999999951051,0.000149456141666,-0.000273546601557,2.70614032166e-05,1793244306867147520
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,658.133636706,634,879.866363294,786,805.133636706,651.133636706,630.866363294,651.133636706,0.425459041441,-0.00539781595101,0.0698690453552,0.99999996519,0.000148961832166,-0.000215620332143,3.06227376486e-05,1793244306900481024
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,745,714,681,659,633.689971094,879.310028906,786,806,652,630.310028906,652,0.423612521575,-0.00539733786914,0.0697999487895,0.999999934616,0.000153580659457,-0.000326293056318,2.67043391046e-05,1793244306933814016
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,659,633.10922778,879.89077222,786,806,652,630.89077222,652,0.422640005636,-0.00539429230705,0.0697496329519,0.999999896519,0.000174106642671,-0.000419528148455,2.54100516102e-05,1793244306950480640
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.465484781,744.534515219,714,680.534515219,658.534515219,633.465484781,879.534515219,786,805.534515219,651.534515219,630.534515219,651.534515219,0.421702052853,-0.00539220287926,0.0697094005917,0.999999867112,0.0001715383967,-0.00048558283348,2.36780478681e-05,1793244306967147264
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.613560096,714,680,658,634,879,786,805,651.613560096,630.613560096,651.613560096,0.419990873088,-0.00539221371147,0.0697565876198,0.999999906642,0.00015725767484,-0.000401745376753,2.42029086312e-05,1793244307000480768
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.194893905,658,634,879,786.194893905,805.194893905,652,631,651.805106095,0.419202622363,-0.0053922690443,0.069825740282,0.999999946166,0.000157104330661,-0.000286802031808,2.70170732028e-05,1793244307017147392
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.789912556,658,634,879,786.789912556,805.789912556,652,631,651.210087444,0.418419317917,-0.00538906837504,0.0698781904625,0.999999964224,0.00016990133024,-0.000204219363903,3.1312711389e-05,1793244307033814016
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879,786.628654714,805.628654714,652,631,651.371345286,0.417589318121,-0.00538664901342,0.0698746950548,0.999999961125,0.000176124804195,-0.000213780349576,3.20603422448e-05,1793244307050480640
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,634,879,786.054636932,805.054636932,652,631,651.945363068,0.416733833025,-0.00538465607337,0.0698406657113,0.999999946109,0.000178760584414,-0.000273631420376,3.08715445848e-05,1793244307067147264
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.89951886,658,634,879,786.89951886,805,651,631,651.10048114,0.415071767186,-0.00538234139915,0.0697831443141,0.999999928616,0.000174577450337,-0.000334219892609,2.42574388274e-05,1793244307100480768
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.852948318,786,805,651.852948318,631,652,0.412756765256,-0.00538227753158,0.0697742287322,0.999999916005,0.00018627685605,-0.0003641590801,2.60737653836e-05,1793244307150480896
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.407634792,658.407634792,634,880,787,805.407634792,651.407634792,631,652,0.410799818985,-0.00537925475175,0.0698757123685,0.999999962764,0.000187028754736,-0.000196435732264,3.00941474359e-05,1793244307200480768
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.940501151,745,714,680,658,634,879,786,805,652,631,652,0.407141006959,-0.00537044319561,0.0697924355734,0.999999924362,0.000206461972047,-0.000328740786015,2.4044790639e-05,1793244307300481024
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.445823491,714,680,659,634,879,787,805,651.445823491,630,651.445823491,0.404500842202,-0.0053692209221,0.0698300267237,0.999999941048,0.000199376287552,-0.0002785150647,2.41234822079e-05,1793244307400481024
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.858418828,634,879,786.858418828,805,651.141581172,630,651.141581172,0.404156907527,-0.00536839661631,0.0698427192158,0.999999947135,0.000201580268202,-0.000253996278472,2.41161212404e-05,1793244307417147648
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.449507714,714,679.550492286,658,634,879,786.449507714,805,652,631,651,0.402905847882,-0.00536219697083,0.0698167201776,0.999999932595,0.000211278965975,-0.000299569710981,2.07322377565e-05,1793244307483813888
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.97163334,714,679.02836666,658,634,879,786.97163334,805,652,631,651.02836666,0.402637742966,-0.00536259147512,0.0698081487484,0.9999999263,0.000214527630942,-0.000317721269712,2.07721716573e-05,1793244307500480512
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.383533416,714,679.616466584,658,634,879,786.383533416,805,652,631,651.616466584,0.402419799267,-0.00535889066708,0.0698033150623,0.999999924108,0.000215076955413,-0.000324214219135,2.0256442608e-05,1793244307517147136
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.710050305,658,634,879,786.289949695,805,652,631,651.289949695,0.400970278558,-0.00536215739936,0.0698248766504,0.999999938264,0.000210025526676,-0.000281260172108,1.59445948834e-05,1793244307967147264
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.134022479,658,634,879,786.865977521,805,652,631,651.865977521,0.400969602033,-0.00536237501762,0.0698253746255,0.999999938693,0.000208470177919,-0.000280913247087,1.55493996635e-05,1793244307983813888
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.437836278,658.437836278,634,878.562163722,786.562163722,805,652,631,652,0.400969351985,-0.00536168217275,0.0698251614463,0.999999937982,0.000211629581909,-0.000281081065926,1.55427849902e-05,1793244308000480768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.991199243,744.991199243,714,680,659,634.008800757,878.008800757,786,805,652,631,652,0.400969249753,-0.0053607312745,0.0698247569406,0.999999936941,0.000216106889045,-0.000281374789657,1.56518011018e-05,1793244308017147904
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.39557151,744.39557151,714,680,659,634.60442849,878.60442849,786,805,652,631,652,0.400970381149,-0.00536098141951,0.0698259731311,0.99999993806,0.000213137569626,-0.000279656607429,1.56146226843e-05,1793244308033814528
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,744.194584607,714,679.805415393,658.805415393,634.805415393,879,786,805,652,631,652,0.400971101492,-0.0053609654562,0.0698266699694,0.999999938657,0.000211780659482,-0.000278556785028,1.5518848943e-05,1793244308050481408
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+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.350424769,745,714,679.350424769,658,634,879,786,805,652,631,652,0.40096981058,-0.00535999220085,0.0698256543022,0.999999937729,0.000215030054727,-0.000279405712776,1.5394469049e-05,1793244308083814144
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.925114199,745,714,679.925114199,658,634,879,786,805,652,631,652,0.400967904255,-0.00535963213837,0.0698247411924,0.999999937164,0.000216183685991,-0.000280517817584,1.56730062424e-05,1793244308100480512
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.902861481,713.097138519,679.902861481,658,634,878.097138519,786,805,652,631,651.902861481,0.40097096351,-0.00536071924733,0.0698277718739,0.99999993919,0.000213420809152,-0.000275375848492,1.55092633287e-05,1793244308133814016
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744.254668448,714,679,658,634.254668448,879,786,805,652,631,651.254668448,0.400970084414,-0.00536070596558,0.0698268216158,0.99999993846,0.000213997661938,-0.000277553630971,1.57764512583e-05,1793244308167147776
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.832599742,714,679,658,634.832599742,879,786,805,652,631,651.832599742,0.400968891096,-0.00536102654621,0.0698266959394,0.99999993841,0.000213235147351,-0.000278336604125,1.54443611789e-05,1793244308183814400
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70d3405d44b82881e727e1fa88b1449bfdf6024a
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+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
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+6,0.100000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+7,0.116666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..920a60621ea4ca351ac338e2bee17b37cab600e6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,679,659,634,879,786,805,652,631,652,0.400973007354,-0.00536048581746,0.0698301789413,0.999999939357,0.000216305492129,-0.0002724809943,1.58856128625e-05,1793244308333952768
+1,0.016666667,BASELINE,765,744.381266597,714,679,658.381266597,634,879,786,804.381266597,652.618733403,631,652,0.4009716398,-0.00536128174415,0.0698290559605,0.999999939015,0.000215232700736,-0.000274594398998,1.55842570172e-05,1793244308350619136
+2,0.033333333,BASELINE,764.777445867,744.222554133,714,679,658.222554133,634,879,786.222554133,804,652.777445867,631,652,0.400971112284,-0.0053614857344,0.0698287565132,0.999999939036,0.00021429521204,-0.000275264217713,1.53403282129e-05,1793244308367285248
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+8,0.133333333,BASELINE,765,745,714,679.70771077,658.29228923,634,880.123132309,786,805.70771077,652,631,651.29228923,0.400972159638,-0.00536374155802,0.0698296753171,0.999999940469,0.000210908121996,-0.000272661360135,1.53468699447e-05,1793244308467285504
+9,0.150000000,BASELINE,765,745,714.286539863,680,658,634.286539863,880.140380411,786.286539863,805.713460137,652,631,651.286539863,0.400970874015,-0.0053637009361,0.0698290230332,0.999999939983,0.000211616755842,-0.000273886506776,1.5420301981e-05,1793244308483952384
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+21,0.350000000,BASELINE,765,745,714,680,658,634.750158627,879,786,805,652,631,652,0.400971487273,-0.00536322184397,0.0698301888579,0.999999940677,0.000210997856645,-0.000271835495237,1.51974806888e-05,1793244308683951872
+22,0.366666667,BASELINE,765,745,714,680,658,634.173481252,879,786,805,652,631,652,0.400970733318,-0.00536318505351,0.0698297483749,0.99999994028,0.000211648166466,-0.000272795000266,1.51055570153e-05,1793244308700618752
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+24,0.400000000,BASELINE,765,745,714,679.028802965,658,634,879,786,804.028802965,652,631,651.028802965,0.400970711597,-0.00536453533197,0.069830142273,0.999999939979,0.000213431436787,-0.00027247883963,1.56104582861e-05,1793244308733952256
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+26,0.433333333,BASELINE,765,745,714,679.84630216,658.84630216,634,879,786.15369784,805,652,631,651.84630216,0.400970935152,-0.00536334308716,0.0698297814483,0.999999939952,0.000213002063954,-0.000272942581086,1.51476433712e-05,1793244308767285760
+27,0.450000000,BASELINE,765,745,714,679.266914828,658.266914828,634,879,786.733085172,805,652,631,651.266914828,0.400971137792,-0.00536137662879,0.0698295450941,0.999999939283,0.000216117622282,-0.000272948347363,1.5022606318e-05,1793244308783952384
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+29,0.483333333,BASELINE,765,745,714,679.883031032,658,634,879,786.116968968,805,652,631,651.883031032,0.400968324959,-0.00535923065639,0.0698279864499,0.999999937695,0.000220348854529,-0.00027539163761,1.47077036465e-05,1793244308817285120
+30,0.500000000,BASELINE,765,745,714,680,658,634.468412163,879,786.468412163,805,652,631,651.531587837,0.400969799834,-0.00536022700315,0.0698293456972,0.999999939028,0.000216592533858,-0.000273514028201,1.48615728311e-05,1793244308833951488
+31,0.516666667,BASELINE,765,745,714,680,658,634.9441151,879,786.9441151,805,652,631,651.0558849,0.400971833229,-0.00536152157068,0.0698310212735,0.99999994064,0.000212084890314,-0.000271133344857,1.50700836696e-05,1793244308850618112
+32,0.533333333,BASELINE,765,745,714,680,658,634.365183686,879,786.365183686,805,652,631,651.634816314,0.400971032633,-0.00536128771613,0.0698301413959,0.999999939924,0.000213904092016,-0.000272346010534,1.50204568321e-05,1793244308867284736
+33,0.550000000,BASELINE,765,744.786482505,714,679.786482505,658.213517495,634,879,786,805,652,631,651.786482505,0.400970504241,-0.00536149892615,0.0698297175368,0.999999939568,0.000214960641234,-0.000272815142089,1.51256681883e-05,1793244308883951616
+34,0.566666667,BASELINE,765,744.20817473,714,679.20817473,658.79182527,634,879,786,805,652,631,651.20817473,0.400970440904,-0.00536247051993,0.0698300727757,0.999999939833,0.000214714214078,-0.000272013960661,1.54954174412e-05,1793244308900618752
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+36,0.600000000,BASELINE,765,744.942405376,714,679,659,634,879,786.942405376,805.942405376,652,630.057594624,651.942405376,0.400973007413,-0.00536296279401,0.0698320605212,0.999999941513,0.000210352914944,-0.000269263250117,1.4942745914e-05,1793244308933952512
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+38,0.633333333,BASELINE,765,745,714,680,658.883757567,635,879,787,805,651.116242433,631,651.116242433,0.400973202718,-0.00536359645801,0.0698313978114,0.999999940801,0.000212818530552,-0.000269953189237,1.5217817357e-05,1793244308967284736
+39,0.650000000,BASELINE,765,745,714,680,658.304514875,635,879,787,805,651.695485125,631,651.695485125,0.400972444704,-0.0053631273292,0.0698308472679,0.999999940465,0.000213291506255,-0.000270811812621,1.54237348959e-05,1793244308983951360
+40,0.666666667,BASELINE,765,745,714,679.726761569,658,634.726761569,879,786.726761569,805,652,631,652,0.400971913302,-0.0053633056006,0.0698306652399,0.999999940652,0.000211951668527,-0.000271174178052,1.54149426046e-05,1793244309000618240
+41,0.683333333,BASELINE,765,745,714,679.150659171,658,634.150659171,879,786.150659171,805,652,631,652,0.400971633082,-0.00536420146581,0.0698308916832,0.999999941411,0.000208602465296,-0.000270986479327,1.51681608243e-05,1793244309017285120
+42,0.700000000,BASELINE,765,744.577410724,714,679.422589276,658,634,879,786,805,652,631,651.577410724,0.400971115261,-0.00536305055644,0.0698304770033,0.999999940843,0.000210454892647,-0.000271658031285,1.50050063932e-05,1793244309033952512
+43,0.716666667,BASELINE,765,744.005172938,714,679.994827062,658,634,879,786,805,652,631,651.005172938,0.400970513301,-0.00536117483743,0.0698298352871,0.999999939795,0.000214149336201,-0.000272633863527,1.48714663207e-05,1793244309050620160
+44,0.733333333,BASELINE,765,744.586951073,714,680,658,634,879,786.586951073,805,652,631,651.586951073,0.400971474622,-0.00536222400057,0.0698300721946,0.999999940138,0.000212785978652,-0.000272435011467,1.50311691469e-05,1793244309067286272
+45,0.750000000,BASELINE,765,745,714,680,658,634,879,786.824433835,805,652,631,651.824433835,0.400972005421,-0.0053629917398,0.0698303482489,0.9999999405,0.000211419907811,-0.000272169007007,1.50497259101e-05,1793244309083952640
+46,0.766666667,BASELINE,765,745,714,680,658,634,879,786.244322201,805,652,631,651.244322201,0.400971511334,-0.00536304953162,0.069830696038,0.999999940879,0.000210153899683,-0.000271772959529,1.47368851969e-05,1793244309100618752
+47,0.783333333,BASELINE,765.332564197,745,714,680,658,634,879,786,805,652,630.667435803,651.332564197,0.400971406404,-0.00536272110879,0.0698306984343,0.999999940841,0.000210962393524,-0.000271285429353,1.47360679626e-05,1793244309117285120
+48,0.800000000,BASELINE,765.907103955,745,714,680,658,634,879,786,805,652,630.092896045,651.907103955,0.400971584629,-0.00536211167402,0.0698304495207,0.999999940496,0.000213280306415,-0.000270731335815,1.49622807162e-05,1793244309133951744
+49,0.816666667,BASELINE,765.517223835,745,714,680,658,634,879,786,805,652,630.482776165,652,0.400971646113,-0.00536245365376,0.0698309295262,0.999999940496,0.000213298658184,-0.000270706737454,1.5161917496e-05,1793244309150618368
+50,0.833333333,BASELINE,765,744.939650315,714,680,658,634,879,786,805.060349685,652,631,652,0.400971733336,-0.00536308652272,0.0698314511155,0.999999940621,0.000212615878625,-0.000270772725533,1.53256998803e-05,1793244309167284992
+51,0.850000000,BASELINE,765,744.347239594,714,680,658,634,879,786,805.652760406,652,631,652,0.400972245988,-0.00536466614908,0.0698310998492,0.999999941256,0.000209661947279,-0.000270736983598,1.52185696867e-05,1793244309183951872
+52,0.866666667,BASELINE,765,744.238557609,714,679.761442391,658.238557609,634,879.238557609,786.238557609,805.761442391,652,631,652,0.400972877111,-0.00536461020436,0.0698311676319,0.999999941372,0.000209808052264,-0.000270196237834,1.52158694957e-05,1793244309200618752
+53,0.883333333,BASELINE,765,744.814987953,714,679.185012047,658.814987953,634,879.814987953,786.814987953,805.185012047,652,631,652,0.400973676027,-0.00536223777559,0.0698318289203,0.999999940746,0.000214344785559,-0.000268940247542,1.53610750962e-05,1793244309217285632
+54,0.900000000,BASELINE,764.609574074,745,714,679,658.609574074,634,880,786.609574074,805,652,631,652,0.400973209488,-0.00536144678278,0.0698314672793,0.999999940301,0.000215598919357,-0.000269593860729,1.52872386216e-05,1793244309233952000
+55,0.916666667,BASELINE,764.034605181,745,714,679,658.034605181,634,880,786.034605181,805,652,631,652,0.400972144807,-0.00536140328876,0.0698306221294,0.999999939947,0.000215301463829,-0.000271150087911,1.51098673322e-05,1793244309250618368
+56,0.933333333,BASELINE,765.11092503,745,714,679.555462515,658,634,879.444537485,786.555462515,805,652,631,652,0.400972816116,-0.00536245371326,0.0698318703903,0.999999940856,0.000213844555829,-0.000268939933384,1.51684522298e-05,1793244309267284736
+57,0.950000000,BASELINE,765.856434399,744.856434399,714,680,658.287131202,634,879,787,805,652,631,652,0.400973143887,-0.00536299805842,0.0698326959077,0.999999941375,0.00021313664834,-0.00026756478152,1.5203756859e-05,1793244309283951360
+58,0.966666667,BASELINE,765.277227035,744.277227035,714,680,659.445545931,634,879,787,805,652,631,652,0.400972091864,-0.00536179415565,0.0698318318265,0.999999940486,0.000214926854584,-0.000269455310078,1.51225660509e-05,1793244309300617984
+59,0.983333333,BASELINE,765,744,714,680,659.400069842,634,879,787,805,652,631,652,0.400972553825,-0.00536154915524,0.069831737615,0.999999940533,0.000214385123903,-0.000269718612975,1.50056685851e-05,1793244309317284864
+60,1.000000000,BASELINE,765,744,714,680,658.249385604,634,879,787,805,652,631,652,0.400974405669,-0.00536218445613,0.0698323501671,0.999999941438,0.000211702604606,-0.000268488073578,1.48559913152e-05,1793244309333952256
+61,1.016666667,BASELINE,765,744,714,680,658.449971291,634,879,787,805,652,631,652,0.400974318454,-0.00536221249779,0.0698322731741,0.999999941193,0.000212699149214,-0.000268607008354,1.49169956441e-05,1793244309350619136
+62,1.033333333,BASELINE,765,744.025167289,714,680,658.974832711,634,879,787,805,652,631,652,0.400973672277,-0.00536212097279,0.06983199579,0.999999940649,0.000214589305259,-0.000269124446381,1.50355029546e-05,1793244309367286016
+63,1.050000000,BASELINE,765,744.616551787,714,680,658.383448213,634,879,787,805,652,631,652,0.400972521401,-0.00536311969555,0.0698315024948,0.99999994055,0.000213681363083,-0.00027020679836,1.51361976394e-05,1793244309383952384
+64,1.066666667,BASELINE,765,744.796710594,714,680,658.203289406,634,879,787,805,652,631,652,0.40097199686,-0.00536331164867,0.0698313020145,0.999999940363,0.00021396042328,-0.00027067318295,1.51968622963e-05,1793244309400618752
+65,1.083333333,BASELINE,765,744.218542161,714,680,658.781457839,634,879,787,805,652,631,652,0.400972627323,-0.00536201586551,0.0698316415038,0.999999940013,0.000216428393924,-0.000270003683122,1.51837089448e-05,1793244309417285120
+66,1.100000000,BASELINE,765,744.35765455,714,679.64234545,659,634.35765455,879,787,805,652,631,652,0.400972162842,-0.00536195281966,0.0698313913289,0.999999939738,0.000216353165206,-0.00027108358697,1.5157974928e-05,1793244309433951744
+67,1.116666667,BASELINE,765,744.932653039,714,679.067346961,659,634.932653039,879,787,805,652,631,652,0.400971032972,-0.0053626388989,0.0698307828196,0.999999939504,0.000214732453565,-0.000273226590099,1.51245957374e-05,1793244309450618368
+68,1.133333333,BASELINE,765,745,714,679,658.480879937,634.480879937,879,787,805,652,631,652,0.40097040391,-0.00536299884527,0.0698304565742,0.999999940039,0.000212308454049,-0.000273167083174,1.50472103442e-05,1793244309467285248
+69,1.150000000,BASELINE,765,745,714,679,658,634,879,786.894552636,805,652,631,651.894552636,0.400970118002,-0.00536316856563,0.0698302951355,0.999999940609,0.000210346821156,-0.000272605243061,1.49279556031e-05,1793244309483951872
+70,1.166666667,BASELINE,765,745,714,679,658,634,879,786.315683641,805,652,631,651.315683641,0.400971074443,-0.00536267848714,0.0698307055003,0.999999940897,0.000210939502042,-0.00027109994863,1.46469329176e-05,1793244309500618752
+71,1.183333333,BASELINE,765,744.738221732,714,679,658.261778268,634,879,786.261778268,805,652,630.738221732,651.261778268,0.400971928754,-0.00536181712871,0.069831307895,0.999999941108,0.000211654373128,-0.000269772695409,1.44335990647e-05,1793244309517285120
+72,1.200000000,BASELINE,765,744.162447508,714,679,658.837552492,634,879,786.837552492,805,652,630.162447508,651.837552492,0.400972660565,-0.00536051042999,0.0698321406245,0.999999941227,0.000212515808136,-0.000268658997608,1.43014560998e-05,1793244309533951744
+73,1.216666667,BASELINE,765,744.412168803,714,679,658.587831197,634.412168803,879.412168803,787,805,652,630.412168803,652,0.40097249709,-0.00536163208054,0.0698316696116,0.999999941185,0.000211505721133,-0.000269607296309,1.44160342195e-05,1793244309550618368
+74,1.233333333,BASELINE,765,744.986329991,714,679,658.013670009,634.986329991,879.986329991,787,805,652,630.986329991,652,0.400971981745,-0.00536370813163,0.0698306861962,0.999999941074,0.00020976008031,-0.000271366009961,1.46275797471e-05,1793244309567284992
+75,1.250000000,BASELINE,764.422410576,745,714,679.577589424,658,634.422410576,879.422410576,786.422410576,805,652,631,652,0.400972804537,-0.00536337145544,0.0698313988719,0.999999941206,0.000210229286592,-0.000270501876096,1.48251416221e-05,1793244309583951616
+76,1.266666667,BASELINE,764,744.834870092,714,680,658,634,879.165129908,786.165129908,805,652,631,651.834870092,0.400972878504,-0.00536318725579,0.0698317572486,0.999999941164,0.000210802318614,-0.000270203625348,1.49684151754e-05,1793244309600618240
+77,1.283333333,BASELINE,764,744.257651127,714,680,658,634,879.742348873,786.742348873,805,652,631,651.257651127,0.400971002299,-0.005363530418,0.069831128224,0.999999940672,0.000211499646412,-0.000271477200024,1.49770608967e-05,1793244309617285120
+78,1.300000000,BASELINE,764.320092986,744.320092986,714,680,658,634,879.679907014,786.679907014,805,652,631,651.320092986,0.400970893306,-0.00536278261098,0.0698312009545,0.999999940512,0.000212466111268,-0.000271316245022,1.49023488142e-05,1793244309633952000
+79,1.316666667,BASELINE,764.898260471,744.898260471,714,680,658,634,879.101739529,786.101739529,805,652,631,651.898260471,0.400972209125,-0.00536115521161,0.0698318394738,0.999999940618,0.00021364956745,-0.000269998702518,1.47604296245e-05,1793244309650618624
+80,1.333333333,BASELINE,765,745,714,680,658.473515249,634,879,786.473515249,805,652,631,652,0.400971033091,-0.00536170467332,0.0698307557444,0.999999940364,0.000212633262958,-0.000271739965674,1.46874399159e-05,1793244309667284992
+81,1.350000000,BASELINE,765,745,714,679.950368996,659,634.049631004,879,787,805,652,631,652,0.400969619947,-0.00536265738312,0.0698295555525,0.999999940104,0.000211377100777,-0.000273672890193,1.46564857107e-05,1793244309683951360
+82,1.366666667,BASELINE,765,745,714,679.358037797,659,634.641962203,879,787,805,652,631,652,0.400971432733,-0.00536293637225,0.0698311034468,0.999999940681,0.000212634756894,-0.000270559055409,1.49242222429e-05,1793244309700618240
+83,1.383333333,BASELINE,765,745,714,679.228278123,659,634.771721877,879,787,805,652,631,652,0.400972736007,-0.00536306615812,0.0698321655407,0.999999941176,0.000212989977316,-0.000268437155611,1.49806879058e-05,1793244309717284864
+84,1.400000000,BASELINE,765,745,714,679.805401822,659,634.194598178,879,787,805,652,631,652,0.400973260666,-0.00536296793753,0.0698324852538,0.99999994156,0.000211966131495,-0.00026783109105,1.47142978452e-05,1793244309733951488
+85,1.416666667,BASELINE,765,745,714,680,658.619681272,634,879,787,805.380318728,652,631,652,0.400973229758,-0.00536271192218,0.0698327143576,0.999999941578,0.000211529967213,-0.00026810792087,1.47237924501e-05,1793244309750618112
+86,1.433333333,BASELINE,765,745,714,680,658.045887038,634,879,787,805.954112962,652,631,652,0.400972916224,-0.00536237563359,0.0698328973665,0.99999994141,0.000211392767977,-0.000268833896201,1.4873634945e-05,1793244309767284992
+87,1.450000000,BASELINE,765,745,714,680,658.543874394,634.543874394,879,787,805.456125606,652,631,652,0.400973747079,-0.00536273294494,0.0698332147367,0.999999941481,0.000211918087613,-0.000268159201378,1.48045658784e-05,1793244309783951616
+88,1.466666667,BASELINE,764.867737259,744.867737259,714,679.867737259,659,634.867737259,879,787,804.867737259,652,631,652,0.400974367209,-0.00536318645873,0.0698333871031,0.999999941625,0.000212066007472,-0.00026750495002,1.47822515621e-05,1793244309800617984
+89,1.483333333,BASELINE,764.288675887,744.288675887,714,679.288675887,659,634.288675887,879,787,804.288675887,652,631,652,0.400973939453,-0.0053637612906,0.0698330301769,0.999999941948,0.000210744489553,-0.000267331043823,1.49821600699e-05,1793244309817284864
+90,1.500000000,BASELINE,764.288362817,744.288362817,714,679.288362817,658.711637183,634,878.711637183,786.711637183,804,652,631,651.711637183,0.400972493204,-0.00536394958681,0.0698320211895,0.999999941421,0.000211167346173,-0.000268964026855,1.49642583281e-05,1793244309833951488
+91,1.516666667,BASELINE,764.863390726,744.863390726,714,679.863390726,658.136609274,634,878.136609274,786.136609274,804,652,631,651.136609274,0.400970034458,-0.00536375362301,0.06983036398,0.999999940039,0.000213324307475,-0.000272393261138,1.47298286732e-05,1793244309850618112
+92,1.533333333,BASELINE,765,744.560707394,714,679.121414789,658.439292606,634,878.439292606,786.439292606,804.439292606,652,631,651.439292606,0.400970666891,-0.00536340569936,0.0698308986821,0.999999940573,0.000212226636975,-0.00027129394403,1.4639374667e-05,1793244309867284736
+93,1.550000000,BASELINE,765,744.015832493,714,678.031664986,659,634,879,786.984167507,805,652,631,652,0.400972217598,-0.00536299875955,0.069832063986,0.999999941645,0.000210238976357,-0.000268880428951,1.45919037405e-05,1793244309883951616
+94,1.566666667,BASELINE,765,744.605627529,714,679.211255058,659,634,879,786.394372471,805,652,631,652,0.400972139741,-0.00536216889727,0.0698313301069,0.999999940819,0.00021275161466,-0.000269978970453,1.44763120137e-05,1793244309900618240
+95,1.583333333,BASELINE,765,745,714,680,659,634,879,786.191892907,805,652,631,651.808107093,0.400972836292,-0.00536208432779,0.0698317186484,0.999999940826,0.000213294072534,-0.00026952382357,1.45065207656e-05,1793244309917285120
+96,1.600000000,BASELINE,765,745,714,680,659,634,879,786.771035363,805,652,631,651.228964637,0.400975095638,-0.00536350379657,0.0698343722909,0.999999942509,0.000209860607545,-0.000265933255489,1.48309622046e-05,1793244309933951744
+97,1.616666667,BASELINE,765,745,714,679.652371325,658.652371325,634,878.652371325,787,805,652,631,651.695257349,0.400974346003,-0.00536335227675,0.0698343211969,0.999999942493,0.000209481262514,-0.000266290151534,1.48680479746e-05,1793244309950618368
+98,1.633333333,BASELINE,765,745,714,679.077444812,658.077444812,634,878.077444812,787,805,652,631,652.845110376,0.400971628938,-0.00536217356222,0.0698325016044,0.999999941368,0.000211098861312,-0.000269228106636,1.47172455352e-05,1793244309967284992
+99,1.650000000,BASELINE,765,745,714,679.507589199,658.507589199,634.507589199,878.507589199,787,805,652,631,652.492410801,0.400972027303,-0.00536338162692,0.0698323106772,0.999999941443,0.00021113580818,-0.000268915339386,1.48658028394e-05,1793244309983951616
+100,1.666666667,BASELINE,765.093522096,745,714,680,658.906477904,634.906477904,879,786.906477904,805,652,631,652,0.400972696905,-0.00536463689193,0.0698322254085,0.999999941614,0.000210909477123,-0.000268450672968,1.49805131878e-05,1793244310000617984
+101,1.683333333,BASELINE,765.675928608,745,714,680,658.324071392,634.324071392,879,786.324071392,805,652,631,652,0.400972249116,-0.00536419658145,0.0698313670911,0.999999941311,0.000210593170739,-0.000269837331331,1.46746763508e-05,1793244310017284608
+102,1.700000000,BASELINE,765.74492983,744.74492983,714,680,658,634,878.74492983,786,805,652,630.74492983,652,0.400972094707,-0.00536363276603,0.0698312194393,0.999999941288,0.000210344921915,-0.000270131951564,1.44043700282e-05,1793244310033952000
+103,1.716666667,BASELINE,765.169884065,744.169884065,714,680,658,634,878.169884065,786,805,652,630.169884065,652,0.400972308333,-0.0053629140185,0.06983196329,0.999999941615,0.000210182048672,-0.000269056652384,1.41786353754e-05,1793244310050619648
+104,1.733333333,BASELINE,764.594065603,744.405934397,714,679.594065603,658,634.405934397,878.405934397,786.405934397,805,651.594065603,630.405934397,651.594065603,0.40097214295,-0.00536395875935,0.0698320807577,0.999999941834,0.000209037254922,-0.000269116018281,1.45543885521e-05,1793244310067286272
+105,1.750000000,BASELINE,764.017923102,744.982076898,714,679.017923102,658,634.982076898,878.982076898,786.982076898,805,651.017923102,630.982076898,651.017923102,0.400971818649,-0.00536574293,0.0698319355834,0.999999942005,0.000207480742341,-0.000269651148627,1.51823452788e-05,1793244310083952640
+106,1.766666667,BASELINE,764.57212184,745,714,679.57212184,658,634.42787816,879,787,805,651.57212184,631,651,0.40097225026,-0.00536380337343,0.0698321059467,0.99999994148,0.000211257958089,-0.000268676530739,1.49592229713e-05,1793244310100619008
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,805,652,631,652,0.400972737678,-0.0053646919896,0.0698329364292,0.999999941942,0.000208272546251,-0.000269291666214,1.48635817206e-05,1793244310141514752
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.425113987,714,680,659,634.574886013,879.574886013,787,805,652,631,652,0.400971811248,-0.00536434017773,0.0698321725745,0.999999942004,0.000207282857783,-0.000269840605103,1.45372545384e-05,1793244310158181120
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.153126089,714,679.846873911,659,635,879.846873911,787,805,652,631,652,0.400971579482,-0.00536393280403,0.0698318229887,0.999999941925,0.000207496344918,-0.000269980748012,1.43667693146e-05,1793244310174847744
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.740886499,714,679.259113501,659,635,879.259113501,787,805,652,631,652,0.400973319458,-0.00536336772314,0.069832649267,0.999999941436,0.000211124935106,-0.000268960561262,1.46386270793e-05,1793244310191514112
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.323384606,659,634.676615394,879,787,805,652,631,652,0.400972334574,-0.00536253252297,0.0698320662851,0.999999940731,0.000212990114428,-0.000270106522158,1.46875475689e-05,1793244310208180992
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.901733746,659,634.098266254,879,787,805,652,631,652,0.400969201342,-0.00536148435401,0.0698303722072,0.999999939857,0.000213464976174,-0.000272960328254,1.45606987024e-05,1793244310224848128
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.478840891,745,714,680.478840891,659,634,879,787,805.478840891,652,631,651.521159109,0.400970497541,-0.0053629084502,0.0698306485176,0.999999940292,0.000212953254775,-0.000271747753271,1.48290187331e-05,1793244310241514752
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.944571654,745,714,680.944571654,658.944571654,634,879,786.944571654,805.889143309,652,630.944571654,651.055428346,0.400972442732,-0.00536465883651,0.069831262924,0.999999940915,0.000212196893904,-0.0002700257425,1.51196996891e-05,1793244310258181120
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.370468335,745,714,680.370468335,658.370468335,634,879,786.370468335,804.740936671,652,630.370468335,651.629531665,0.400971976937,-0.00536472721741,0.0698312670768,0.999999940812,0.000211040967298,-0.000271325251432,1.48627320496e-05,1793244310274847488
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.209609665,634.209609665,879,786,804.209609665,652,630.209609665,652,0.400978020427,-0.00536513547532,0.0698343990943,0.999999942298,0.000209682806217,-0.000266857790216,1.49512621189e-05,1793244310291513856
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.800557197,634.800557197,879,786,804.800557197,652,630.800557197,652,0.400995906103,-0.00536616206337,0.0698432215615,0.999999946528,0.000207956724872,-0.000251898617459,1.56683479617e-05,1793244310308180480
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.616462969,634.616462969,879,786,805,652,631,652,0.401030842595,-0.00536596838957,0.0698579594464,0.99999995242,0.000208995050632,-0.000226317386229,1.61405764417e-05,1793244310324847104
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.037542037,634.037542037,879,786,805,652,631,652,0.401074465225,-0.00536515308222,0.0698757108023,0.999999958434,0.000211441638125,-0.000195324996172,1.64880681631e-05,1793244310341513728
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.537953274,745,714,679.462046726,658.537953274,634,879,786.537953274,805,652,631,652,0.40113168132,-0.00536741329324,0.0698911848506,0.999999962791,0.000209323965478,-0.000174127446002,1.67958592776e-05,1793244310358180352
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.88722106,745,714,679.11277894,659,634,879,787,805.11277894,652,631,651.88722106,0.401191640736,-0.00536959839266,0.0699044138377,0.999999966254,0.000207312416815,-0.000155660707282,1.68223931778e-05,1793244310374847232
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.314158725,745,714,679.685841275,659,634,879,787,805.685841275,652,631,651.314158725,0.401258949258,-0.00537060651413,0.0699091246059,0.999999967852,0.000207025757341,-0.000145567077505,1.57122713324e-05,1793244310391513856
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.732103812,714,679.732103812,659,634.267896188,879,786.732103812,805.732103812,652,631,651,0.401332119422,-0.00537119480621,0.0699110599798,0.999999968555,0.000206894780036,-0.000141011646673,1.41475232724e-05,1793244310408180224
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.139137163,714,679.139137163,659,634.860862837,879,786.139137163,805.139137163,652,631,651,0.401412402212,-0.00537127366906,0.0699096276358,0.999999968263,0.00020695271055,-0.000143176375116,1.2031122961e-05,1793244310424846848
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.442441975,714,679.442441975,658.557558025,634.557558025,879,786,805,652,630.557558025,651.442441975,0.401507513011,-0.00537368873193,0.0699070331848,0.999999967781,0.000204543530073,-0.000150021209618,9.69890969825e-06,1793244310441513472
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.979527891,658,634,879,786.020472109,805.020472109,652,630.020472109,652,0.401608543606,-0.00537678067782,0.0699042628387,0.999999967223,0.000201418340645,-0.000157899559776,7.29362656378e-06,1793244310458180096
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.403066386,658,634,879,786.596933614,805.596933614,652,630.596933614,652,0.401746883191,-0.00537880366845,0.069906391569,0.999999968117,0.000199389519478,-0.000154878354974,4.70081567102e-06,1793244310474847488
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.172616548,658.172616548,634,879,787,805.827383452,652,631,652,0.401893439487,-0.00538136673805,0.0699090202708,0.999999969223,0.000196876370142,-0.000150966719703,1.89488166023e-06,1793244310491514624
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.746489567,658.746489567,634,879,787,805.253510433,652,631,652,0.402059095951,-0.00538518525002,0.0699128111831,0.999999970818,0.00019323737415,-0.000144985231218,-1.40646816789e-06,1793244310508180992
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.667827887,634,879.332172113,787,805,652,631,652,0.402240597443,-0.00538920988431,0.069916100007,0.999999972703,0.000187537787114,-0.000139271766724,-5.20150782599e-06,1793244310524847872
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.072800122,634,879.927199878,787,805,652,631,652,0.402434637499,-0.00539339762846,0.0699189915168,0.999999974771,0.000180207605236,-0.000133770395309,-9.38721628156e-06,1793244310541514752
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.495572883,658.504427117,634,879.495572883,787,805,652,631,652,0.402658511841,-0.005398608568,0.0699197129356,0.999999977079,0.000168720363175,-0.000131050862993,-1.41897476173e-05,1793244310558181120
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.920672057,745,714,679.079327943,659,634.079327943,879,787,805,652,631,652,0.402893618289,-0.00540569438064,0.0699208536377,0.999999979608,0.00015561037922,-0.000127354067463,-1.87054719317e-05,1793244310574847232
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.34480057,745,714,679.65519943,659,634.65519943,879,787,805,652,631,652,0.403172998147,-0.00542362291824,0.0699265123617,0.999999983912,0.000135970388006,-0.000115112844754,-2.08877399399e-05,1793244310591513856
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.237143831,745,714,680,659,634.762856169,879,787,805,652,631,652,0.403466467766,-0.00544162219003,0.069934964888,0.999999988219,0.000114912674625,-9.91019409963e-05,-2.31437366255e-05,1793244310608180224
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.828150108,745,714,680,659,634.171849892,879,787,805,652,631,652,0.403780961897,-0.0054597270092,0.0699475862837,0.999999992466,9.17394588024e-05,-7.74659768095e-05,-2.55097499975e-05,1793244310624847104
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.590319131,634,879,786.590319131,805,652,631,652,0.404110428206,-0.00546718535084,0.0699520129912,0.999999996243,3.61972814224e-05,-7.3452946117e-05,-2.84267705163e-05,1793244310641514240
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.01267325,634,879,786.01267325,805,652,631,652,0.40444603295,-0.00547027874392,0.069953079959,0.999999996031,-3.2615842355e-05,-7.66651401588e-05,-3.15696982257e-05,1793244310658181376
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786.561416164,805,652,631,651.438583836,0.404834544541,-0.00547136693217,0.0699594746678,0.99999999764,1.41897139406e-05,-6.22478589567e-05,-2.53677534595e-05,1793244310674848000
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.860880858,658,634,879,786.860880858,805,652,631,651.139119142,0.405231142834,-0.00547388631911,0.0699647384307,0.999999997262,4.90634118863e-05,-5.10796432085e-05,-2.14214774728e-05,1793244310691514368
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.271216908,658,634,879,786.271216908,805,652,631,651.728783092,0.405650086796,-0.00548118638971,0.0699659525242,0.999999997658,3.68959020046e-05,-5.1714414558e-05,-2.5459174955e-05,1793244310708180736
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.312206227,658.312206227,634.312206227,879,786.312206227,805,652,631,652,0.406083507192,-0.00548736829505,0.0699616297255,0.999999997448,2.69833651852e-05,-5.98580704464e-05,-2.8161817344e-05,1793244310724847360
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.89031421,658.89031421,634.89031421,879,786.89031421,805,652,631,652,0.406529257016,-0.00549259787522,0.069952591232,0.99999999661,1.89913565984e-05,-7.4396940232e-05,-2.97274120913e-05,1793244310741513984
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.466510385,680,659,634.533489615,879,786.533489615,805,652,631,651.533489615,0.407004005375,-0.00549692530654,0.0699380866579,0.999999995011,8.00146607708e-06,-9.44737752285e-05,-3.14339186603e-05,1793244310758180608
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680.042313025,659,634,879,786.042313025,805,652,631,651.042313025,0.407492028037,-0.00550130424898,0.0699241658001,0.99999999311,-3.11357633746e-06,-0.000112554182028,-3.31901036557e-05,1793244310774847232
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680.618799529,659,634,879,786.618799529,805,652,631,651.618799529,0.408061907263,-0.00550900034263,0.0699337723093,0.999999995392,-6.94650648878e-06,-8.90601880159e-05,-3.51568955874e-05,1793244310791514624
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.800407841,680.800407841,659,634,879,786.800407841,805,651.800407841,631,652,0.40864437401,-0.00551603229693,0.0699439177146,0.999999997057,-1.38249220995e-05,-6.59425728872e-05,-3.66862009181e-05,1793244310808181504
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.21120964,680.21120964,659,634,879,786.21120964,805,651.21120964,631,652,0.409251411701,-0.00552176784362,0.0699551150503,0.999999997998,-2.66481578487e-05,-4.35596548443e-05,-3.73615275972e-05,1793244310824848384
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.372122001,651,631,652,0.409855201353,-0.00552735294404,0.0699531767401,0.999999997796,-3.33209884764e-05,-4.26672215627e-05,-3.84431009522e-05,1793244310841515008
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805.952175549,651,631,652,0.410457176071,-0.00553285397902,0.0699438985914,0.999999997095,-3.65571413155e-05,-5.37830813412e-05,-3.97516737681e-05,1793244310858181632
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.527542081,805.472457919,651.527542081,631,652,0.411092674533,-0.00553833864575,0.0699407924771,0.999999995957,-4.55346500795e-05,-6.62576027841e-05,-4.0270836158e-05,1793244310874848256
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.104660431,879,787,805,652,631,652,0.411750124174,-0.00554177509265,0.0699445221115,0.999999995676,-5.19630679303e-05,-6.57133541468e-05,-4.03753617851e-05,1793244310891514880
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.691795839,879,787,805,652,631,652,0.41249487993,-0.00553577621284,0.0699772072665,0.999999998253,-4.42621543278e-05,-4.59096549318e-06,-3.88954488816e-05,1793244310908180992
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.724937171,879,787,805,652,631,652,0.413239439567,-0.00552126974195,0.0700033146415,0.999999998163,-2.57462820353e-05,3.91675769073e-05,-3.84368000174e-05,1793244310924847616
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.145944502,879,787,805,652,631,652,0.413983782594,-0.00549736283332,0.0700221539223,0.999999997193,4.71954697099e-06,6.37399976966e-05,-3.91065936529e-05,1793244310941513984
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.431862727,659,634,879.431862727,786.568137273,805,651.568137273,630.568137273,651.568137273,0.414695567973,-0.00549821275892,0.0700023365859,0.999999998898,-1.991024275e-07,2.32938601385e-05,-4.07659320719e-05,1793244310958180864
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.990742467,659,634,879.990742467,786,805,651,630.009257533,651.009257533,0.415397092124,-0.00550739546247,0.0699693462128,0.999999998178,-1.69933340402e-05,-3.90482384252e-05,-4.27917483761e-05,1793244310974848000
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.414136676,659,634,879.414136676,786,805,651,630.585863324,651.585863324,0.416142207686,-0.00551592301443,0.06992746279,0.999999993392,-3.07490533214e-05,-0.000100386430962,-4.68390477985e-05,1793244310991514368
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.834632787,745,714,680.165367213,659,634,879,786,805.165367213,651.165367213,631,652,0.416916884046,-0.00552241207837,0.069904819161,0.999999989043,-4.13977637909e-05,-0.000133259317066,-4.94270504849e-05,1793244311008180480
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.247741628,745,714,680.752258372,659,634,879,786,805.752258372,651.752258372,631,652,0.417766911357,-0.00552370499988,0.0699312181088,0.999999993482,-4.41266533655e-05,-9.3573631727e-05,-4.82952801491e-05,1793244311024847104
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.672477715,745,714,680.663761142,659,634,879,786,805.663761142,652,630.663761142,652,0.418616913559,-0.00552503555924,0.0699564889328,0.999999996217,-4.62956484367e-05,-5.65004088098e-05,-4.72218518233e-05,1793244311041513728
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.836186264,745,714,680.081906868,659,634,879,786,805.081906868,652,630.081906868,652,0.419466897383,-0.00552639361221,0.0699809356849,0.999999997551,-4.8055652216e-05,-2.1335536519e-05,-4.61910411522e-05,1793244311058180352
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.506630225,745,714,680,659,634,879.493369775,786,805,652,630.493369775,652,0.420340558157,-0.0055256264536,0.0700030095501,0.999999997719,-4.73907448323e-05,1.42434372997e-05,-4.59699528222e-05,1793244311074846976
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.067787883,634,879.932212117,786.067787883,805,652,631,652,0.421214977488,-0.00552429910331,0.0700217711418,0.999999996846,-4.68251320712e-05,4.45507038821e-05,-4.61616835919e-05,1793244311091513600
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.643848381,634,879.356151619,786.643848381,805,652,631,652,0.422065999186,-0.00552138205907,0.0700186122019,0.999999996971,-4.9982796504e-05,3.48220803466e-05,-4.84540618457e-05,1793244311108180480
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.774287026,659.774287026,634,879.225712974,786.774287026,805.225712974,652,630.774287026,652,0.422894523686,-0.00552042887246,0.0699871276058,0.999999997113,-5.29519154307e-05,-1.7969168197e-05,-5.1445229115e-05,1793244311124847360
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.183022365,659.183022365,634,879.816977635,786.183022365,805.816977635,652,630.183022365,652,0.42368661316,-0.0055226562357,0.0699097684136,0.999999987039,-5.56156769151e-05,-0.00014050215707,-5.55681145326e-05,1793244311141513728
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.399055979,745,714,679.399055979,659,634.399055979,880,786.399055979,806,651.600944021,630.399055979,652,0.424540134687,-0.0055258604199,0.0698725523604,0.999999978423,-6.50558254004e-05,-0.000187958878966,-5.99401811371e-05,1793244311158180864
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.977015897,745,714,679.977015897,659,634.977015897,880,786.977015897,806,651.022984103,630.977015897,652,0.425421197256,-0.00552950253031,0.0698533331998,0.999999974566,-7.75339495676e-05,-0.000201757559685,-6.44239601154e-05,1793244311174848256
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.448245089,745,714,680.551754911,659.551754911,634.448245089,880,786.448245089,806,651.551754911,631,651.448245089,0.426356803853,-0.00552915612643,0.069913472566,0.999999989191,-6.77428878852e-05,-0.000116532054569,-5.87260088184e-05,1793244311191514368
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,806,652,631,651.129362384,0.427288258377,-0.00552874424877,0.0699712325602,0.999999996011,-6.13615681779e-05,-3.64720068902e-05,-5.36931860603e-05,1793244311208180480
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,806,652,631,651.717618444,0.428196970822,-0.0055286860737,0.0700088933581,0.999999996089,-7.03474123316e-05,1.07164959481e-05,-5.25156282284e-05,1793244311224847104
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786.300588646,806.300588646,651.699411354,631,652,0.429121532507,-0.00553220824038,0.0700347148646,0.999999994347,-7.62330539546e-05,5.25576032863e-05,-5.22621315833e-05,1793244311241513728
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786.878678943,806.878678943,651.121321057,631,652,0.430060726066,-0.00553903575728,0.0700496064056,0.99999999146,-7.9256606571e-05,8.94620242646e-05,-5.2861722825e-05,1793244311258181120
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,807,651,631,652,0.430883109445,-0.00553941821108,0.070007644921,0.99999999544,-7.69072686109e-05,1.3718978008e-05,-5.49199659447e-05,1793244311274847744
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,713.964317594,681,660,634,880,786.964317594,806.964317594,651,631,652,0.431675579797,-0.00553809163929,0.0699509706896,0.999999991568,-7.38210987346e-05,-9.01044192688e-05,-5.74052412725e-05,1793244311291514368
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,713.388279635,681,660,634,880,786.388279635,806.388279635,651,631,652,0.43248489728,-0.00553680788825,0.0699001692895,0.999999981085,-8.11876480309e-05,-0.00016606987827,-6.04902669532e-05,1793244311308182784
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.80856906,745.19143094,713.19143094,681,660,634,880,786,806.19143094,651,631,651.80856906,0.433327298345,-0.00553653398494,0.0698854666487,0.999999978119,-8.44029043435e-05,-0.000181140995324,-6.18573866277e-05,1793244311324849920
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.221263501,745.778736499,713.778736499,681,660,634,880,786,806.778736499,651,631,651.221263501,0.434238115614,-0.00553834842244,0.0699454153728,0.999999992627,-7.90333871873e-05,-7.02840785462e-05,-5.96719182968e-05,1793244311341514752
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.360248767,745.639751233,714,681,660,634.360248767,880,786,806.639751233,651.360248767,631,651.360248767,0.435132647823,-0.00554069401333,0.0699905700104,0.999999995211,-7.95528551892e-05,2.81599621993e-06,-5.69393457432e-05,1793244311358180608
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.938259096,745.061740904,714,681,660,634.938259096,880,786,806.061740904,651.938259096,631,651.938259096,0.436017336056,-0.00554336067334,0.0700267819813,0.999999993642,-8.3632071136e-05,5.30929772975e-05,-5.38760623925e-05,1793244311374847488
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.515451018,660,634.484548982,880,786,806,651.484548982,631,652,0.436841050947,-0.00554776258969,0.0700249401526,0.99999999303,-8.69818650373e-05,5.74950542444e-05,-5.53903814342e-05,1793244311391514112
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+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,713.334139392,682,660,634,880,786.665860608,806,651,631,652,0.43838754277,-0.00555204785623,0.0699752205003,0.999999993808,-9.40887998478e-05,4.04375524879e-07,-5.94222967783e-05,1793244311424847360
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,713.248737653,682,659.751262347,634,880,786.751262347,806,651.248737653,631,652,0.43908578957,-0.00555117192952,0.0699213014899,0.999999990254,-9.2628709118e-05,-8.44519170168e-05,-6.14728207371e-05,1793244311441513984
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.425512933,634,880,786,806.425512933,652,631,652,0.44043377394,-0.00554601506637,0.069816562686,0.999999959944,-8.63618851338e-05,-0.000261429661335,-6.56438097585e-05,1793244311474846976
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806.327606119,652,630.327606119,652,0.443831736122,-0.0055497439453,0.0698599157566,0.999999971174,-8.94142980387e-05,-0.000213820769677,-6.2756112986e-05,1793244311558181376
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,786,806.906414227,652,630.906414227,652,0.444410028219,-0.00554988186023,0.0698163118836,0.999999952454,-8.75282539034e-05,-0.000288743476003,-6.36957171448e-05,1793244311574848000
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682.624793485,659,632.375206515,880,785.624793485,806,652,630,652,0.446047091611,-0.00555601602869,0.0697354924569,0.999999914307,-8.68326189453e-05,-0.000399477906209,-6.52941848613e-05,1793244311624848384
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659,632,880,785.794731057,806,652,630.205268943,652,0.446554625277,-0.00555896848108,0.0697267069885,0.999999908942,-8.99221035258e-05,-0.00041194251534,-6.58226594094e-05,1793244311641515008
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,683,659,632,880,785.196835968,806,652,630.803164032,652,0.44703207576,-0.00555984807621,0.0697210497191,0.999999900536,-9.650459988e-05,-0.00043039651613,-6.61323343809e-05,1793244311658181376
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+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,683,655,630.341221278,880.682442556,783,806.658778722,652,630,652,0.4527273421,-0.005571239619,0.0695385243696,0.999999741809,-0.000118705214935,-0.000705686657825,-6.55617540952e-05,1793244312391513600
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,683,655,630.505638238,881.011276476,783,806,652,630,652,0.452727114194,-0.0055729682343,0.0695379403537,0.999999740772,-0.0001205601787,-0.00070686764605,-6.5266426311e-05,1793244312424847360
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.068653097,745.931346903,714,683,655,630.068653097,880,783,806.068653097,652,630,652,0.452728077151,-0.00557368998541,0.0695386452727,0.999999741266,-0.000121385601907,-0.000706054646081,-6.4957292052e-05,1793244312441514496
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+247,4.116666667,HOLD_POSE2,765,746,714,683,655,630,881,784,807,651,630,652,0.452725452716,-0.00557517262706,0.0695358447773,0.999999738312,-0.000123671706307,-0.000709849711871,-6.47635965555e-05,1793244312496645120
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.623537236,745,714,683,656.623537236,631.623537236,880,784,806.623537236,652,631,652,0.445901249471,-0.00544646019125,0.0695503384837,0.999999745876,7.86103925063e-05,-0.000708511824201,8.95884302445e-06,1793244313433757440
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,632,880,784.776882197,806.223117803,652,631,652,0.444829045184,-0.0054625827236,0.0696012220513,0.999999802843,6.24939286342e-05,-0.000624730286105,1.10018889303e-05,1793244313467090432
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,632,880.362758276,785,806,652,631,652,0.444236830359,-0.00547124291256,0.0696288203355,0.999999831136,6.25913479512e-05,-0.000577545714715,1.58774717234e-05,1793244313483756800
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,632,880.953587615,785,806,652,631,652,0.443613986566,-0.00547756955751,0.0696533524217,0.999999856246,5.6316583633e-05,-0.000532882115103,1.93200082062e-05,1793244313500423424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.467791917,657,632,880.467791917,785,806,652,631,652,0.442950060367,-0.00546911839717,0.0696677175459,0.999999863448,6.61966147112e-05,-0.000517999519676,1.99605789391e-05,1793244313517090304
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.10973153,657.10973153,632.10973153,880,785,806,652,630.89026847,652,0.442279944141,-0.00545977789279,0.069682344547,0.999999870764,7.70437309563e-05,-0.000502106688158,2.06424151834e-05,1793244313533756928
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,633,880,785.262042628,806,652,630.262042628,652,0.440917098486,-0.00543947165373,0.0697284972296,0.999999905017,0.000101930968787,-0.000423198990295,2.18878623608e-05,1793244313567090688
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,633,880,785.834397713,806,652,630.834397713,652,0.440236164405,-0.00542126393554,0.0697638359716,0.999999928814,0.000125638707286,-0.000355320129863,1.82908315892e-05,1793244313583758080
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633.747796732,880.747796732,786.747796732,806,652,631,651.252203268,0.436211076378,-0.00540861117596,0.0697504032978,0.999999922603,0.000130476536387,-0.000370782445434,1.70649327461e-05,1793244313667090432
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633.670239738,880.340479476,786.670239738,806,652,631,651.329760262,0.435408837043,-0.00540981021063,0.0697880087608,0.999999939596,0.000132784071347,-0.000320563833824,2.03688375122e-05,1793244313683757056
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633.083842388,879.167684776,786.083842388,806,652,631,651.916157612,0.434608349267,-0.00540881310131,0.0698302850259,0.999999955177,0.000133329089998,-0.000267086815105,2.31268641212e-05,1793244313700423680
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,713.50308787,682,659,633.49691213,879.49691213,786,805.50308787,652,631,652,0.433723435555,-0.00540611302831,0.0698360243598,0.999999956112,0.000137097252441,-0.000261566490352,2.37260721546e-05,1793244313717090048
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,713.075852701,682,659,634,880,786,805.075852701,651.924147299,631,652,0.432826317451,-0.00540344968276,0.069835608572,0.999999955169,0.0001407035264,-0.000263222553255,2.40336348604e-05,1793244313733756672
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,713.776860833,682,658.776860833,634,879.776860833,786,806,651,631,652,0.431017276523,-0.00540168754869,0.0698082710571,0.999999944411,0.00014275694977,-0.000300332066045,2.44857496269e-05,1793244313767090432
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,713.201454078,682,658.201454078,634,879.201454078,786,806,651,631,652,0.430030715261,-0.00539947008988,0.069741128878,0.999999903462,0.000152130862543,-0.000411612497974,2.25052354683e-05,1793244313783756800
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,713.978492789,682,658.978492789,634,879.978492789,786,806,651,631,652,0.428250640293,-0.00540293660259,0.069734246926,0.999999906497,0.000138773913973,-0.00040905176731,2.05917169463e-05,1793244313817090304
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.704817364,714,681,658.704817364,634,880,786,806,652,630.295182636,652,0.425603496359,-0.00539820820333,0.0698609871304,0.999999961634,0.00015074750909,-0.000230453646414,2.99693699028e-05,1793244313867090176
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.618088078,634,879.381911922,786,805,652,631,652,0.420923160124,-0.00539427033456,0.0697058752059,0.999999868611,0.000152939589048,-0.000488806391063,2.13384504399e-05,1793244313950423296
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.228133192,680.228133192,659,634,879.771866808,786.771866808,805.771866808,652,631,652,0.419318871946,-0.00539585917057,0.0698238578268,0.999999946584,0.000155515626045,-0.000286075701566,2.84060110797e-05,1793244313983757568
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,680,658.058881475,634,879.058881475,787,806,652,631,651.058881475,0.417731551076,-0.00539467762049,0.0698900087752,0.999999965861,0.000171947273863,-0.000193688067866,3.45954486387e-05,1793244314017090304
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.82662792,714,680.82662792,658,634,879.82662792,786,805,652,631,652,0.413530692442,-0.00538000522925,0.0697456020173,0.999999892373,0.00018480432054,-0.00042471998603,2.67148511884e-05,1793244314100423424
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.730942336,714,680,658.269057664,634,880,786.269057664,805.269057664,652,630.730942336,652,0.410192022119,-0.00536440266077,0.069856804009,0.999999951464,0.000207311976903,-0.000230621925286,3.01228927537e-05,1793244314183756544
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+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.721979605,658.278020395,634,879,786.721979605,805,652,631,652,0.403858871371,-0.00537322594811,0.0698473081314,0.999999948176,0.000203264670129,-0.000248501867738,2.40483344589e-05,1793244314400423680
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.147991041,658.852008959,634,879,786.147991041,805,652,631,652,0.403529833903,-0.00536892694342,0.0698407644681,0.999999945501,0.000207211185091,-0.000256059842142,2.22628201329e-05,1793244314417091072
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.56210328,658.56210328,634,879,786.43789672,805,652,630.56210328,651.56210328,0.403227509182,-0.00536791119809,0.0698300311888,0.999999940442,0.000207052957503,-0.000275291723145,2.14436633844e-05,1793244314433757440
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.027379389,658,634,879,786.972620611,805,652,630.027379389,651.027379389,0.402936448533,-0.00536776558178,0.0698180693526,0.999999934169,0.000205836911221,-0.000298083922877,2.09651577448e-05,1793244314450423552
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.60601291,658,634,879,786.39398709,805,652,630.60601291,651.60601291,0.402685335383,-0.0053621743182,0.0698106761134,0.999999928978,0.00021203344821,-0.000310906168401,2.05861059202e-05,1793244314467090432
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.815907024,714,680,658,634,879,786.184092976,805,652,631,652,0.40244809441,-0.00535813601281,0.069804930721,0.999999925122,0.00021569229064,-0.000320646151212,2.04662201818e-05,1793244314483757568
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.239007962,714,680,658,634,879,786.760992038,805,652,631,652,0.402240453056,-0.0053574113133,0.0698027014021,0.999999924471,0.000213936358277,-0.000323809392925,2.08993268988e-05,1793244314500423680
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.343073671,714,680,658,634,879,786.656926329,805,652,631,651.656926329,0.402053772372,-0.0053579644759,0.0698023493192,0.999999925158,0.000209572754634,-0.000324498762577,2.15282401179e-05,1793244314517090304
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.928821266,714,680,658,634,879,786.071178734,805,652,631,651.071178734,0.401881918242,-0.00535942153703,0.0698033251032,0.999999926767,0.000203364608734,-0.000323438233649,2.22956575448e-05,1793244314533756928
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.491233354,786,805,652,631.508766646,651.508766646,0.401736716787,-0.00535677578942,0.069802534874,0.999999927482,0.000201347149811,-0.000322600531634,2.06044064333e-05,1793244314550423296
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.087989126,634,878.087989126,786.087989126,805,652,631.912010874,652,0.401599864676,-0.00535453704077,0.0698017641538,0.999999927514,0.000202837588405,-0.000321714913185,1.81032295887e-05,1793244314567089920
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.667657203,634,878.667657203,786.667657203,805,652,631.332342797,652,0.401489066676,-0.00535774390547,0.0698024675127,0.999999924239,0.000220690736001,-0.000320389302432,1.29766890982e-05,1793244314583756544
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.755455124,658.755455124,634,879,787,805,652,631,652,0.401388357114,-0.00535948564192,0.0698025918172,0.999999922757,0.000228876165616,-0.000319359745556,1.05589632721e-05,1793244314600423680
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.300862592,744.699137408,714,680,658.300862592,634,880.398274815,786,805,652,631,652,0.401025681238,-0.00535845670863,0.0698111741196,0.99999992986,0.000219228563401,-0.000303323701532,1.45836800877e-05,1793244314717090304
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.875650624,744.124349376,714,680,658.875650624,634,879.248698752,786,805,652,631,652,0.401005396091,-0.00535865616422,0.0698113938881,0.999999930316,0.000219635927468,-0.000301522367629,1.45777901653e-05,1793244314733756928
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.943223745,744.056776255,714,680,658.056776255,634,879,786.056776255,805,652,631,652,0.400983935539,-0.00535881165877,0.0698163186015,0.999999932154,0.000221771931904,-0.000293719848982,1.54294439236e-05,1793244314767090176
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.366056477,744.633943523,714,680,658.633943523,634,879,786.633943523,805,652,631,652,0.400979105518,-0.00535635224256,0.069819283197,0.999999932554,0.000223241909571,-0.000291243206091,1.52387764824e-05,1793244314783757312
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.210060396,745,714,680,658.789939604,634,879,787,805,652,631,651.789939604,0.400974720128,-0.00535615482112,0.069820909041,0.999999933167,0.000222621563558,-0.000289607743127,1.52443824378e-05,1793244314800424192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.7843559,745,714,680,658.2156441,634,879,787,805,652,631,651.2156441,0.400971105708,-0.00535987959515,0.0698202135509,0.999999934149,0.000218376691926,-0.000289430847786,1.55903174855e-05,1793244314817090560
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.631300313,714,680,658,634.368699687,879.368699687,786.631300313,805,652,631,651.368699687,0.400970378727,-0.00535959889589,0.069821806087,0.999999934772,0.000218205117616,-0.000287396944793,1.56896139187e-05,1793244314833757184
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.040914879,714,680,658,634.959085121,879.959085121,786.040914879,805,652,631,651.959085121,0.400971387857,-0.00535690985071,0.0698247743302,0.999999935173,0.000220482669374,-0.00028424649047,1.56406154878e-05,1793244314850423552
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.538292308,714,679.461707692,658,634.461707692,880,786,805.538292308,651.461707692,631,652,0.400971112325,-0.00535729584203,0.0698249291585,0.999999935542,0.000220069318821,-0.000283285608129,1.53397735814e-05,1793244314867089920
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.116473363,658,634,879.883526637,786,805.883526637,651.116473363,631,651.883526637,0.400970736737,-0.00535793354189,0.0698249463641,0.999999935872,0.000219452668237,-0.00028260687089,1.51403025619e-05,1793244314883756800
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.69388742,658,634,879.30611258,786,805.30611258,651.69388742,631,651.30611258,0.400970343747,-0.00535866121105,0.0698252479972,0.999999936064,0.000218824426076,-0.000282399486773,1.54162186361e-05,1793244314900423424
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.268825581,805,652,631,651.268825581,0.400969983683,-0.00535880814213,0.0698252304299,0.999999935981,0.000218919581575,-0.000282621447141,1.54066917985e-05,1793244314917090304
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.840970234,805,652,631,651.840970234,0.400969660771,-0.00535829981966,0.0698248527052,0.999999935586,0.000219830955097,-0.000283327841924,1.50750963946e-05,1793244314933757696
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.572072621,658,634.427927379,879,786.572072621,805,652,631,652,0.400968527088,-0.00535776361709,0.0698250422882,0.999999935544,0.000220731752139,-0.000282786322043,1.49066086614e-05,1793244314950424064
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.0200871,658,634.9799129,879,786,805,652,631,652,0.400967222316,-0.00535719690905,0.0698254790663,0.999999935649,0.00022162686157,-0.000281716265752,1.47997332915e-05,1793244314967090176
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.598366463,658,634.401633537,879,786,805,652,631,652,0.400969836274,-0.0053560807379,0.0698267163883,0.999999936138,0.000222477061625,-0.000279308240669,1.46601671197e-05,1793244314983756800
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.175854384,805,652,631,652,0.400971217758,-0.00535583658392,0.069827285281,0.999999936336,0.00022322770993,-0.000277992888966,1.47145570382e-05,1793244315000423424
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.751542796,805,652,631,652,0.400969797005,-0.00535757510528,0.0698263343893,0.999999935886,0.000223752010812,-0.000279161911077,1.52099382188e-05,1793244315017090304
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.674182281,744.674182281,714,679.674182281,658,634,879,787,805,652,631,651.674182281,0.400969035412,-0.00535860171736,0.0698262837896,0.999999936006,0.000222851516926,-0.000279441587129,1.53836296427e-05,1793244315033756928
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.100980605,744.100980605,714,679.100980605,658,634,879,787,805,652,631,651.100980605,0.400968774299,-0.00535908779725,0.0698269167555,0.999999936558,0.000220869217619,-0.000279046008427,1.53130713304e-05,1793244315050423808
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.489592411,744.489592411,714,679.489592411,658,634,879,786.510407589,805,652,630.510407589,651.489592411,0.40096929031,-0.0053589890698,0.0698273003623,0.999999937001,0.000219953921821,-0.000278192540262,1.51021965555e-05,1793244315067091200
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.919050053,745,714,680,658,634,878.919050053,786,805,652,630.080949947,652,0.400969969142,-0.00535891465538,0.0698276516219,0.999999937362,0.000219395906708,-0.000277343984341,1.49170354764e-05,1793244315083758336
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.345522918,745,714,680,658,634,878.345522918,786,805,652,630.654477082,652,0.400970627527,-0.00535974914725,0.0698281305204,0.999999937371,0.000219623525535,-0.000277121134041,1.50709237348e-05,1793244315100424448
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.229435147,744.770564853,714,680,658,634,878.229435147,786.229435147,805,652,630.770564853,652,0.4009699859,-0.00536038706288,0.0698277442096,0.999999937057,0.000219727746158,-0.000278169905378,1.50901025789e-05,1793244315117090816
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.806561763,744.193438237,714,680,658,634,878.806561763,786.806561763,805,652,630.193438237,652,0.400967374201,-0.00536072708236,0.0698260467399,0.999999936246,0.000219644966245,-0.000281145722306,1.49051396007e-05,1793244315133757184
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.390498848,714,680,658,634,879,786.609501152,805,652,630,652,0.400967913268,-0.00535996402521,0.0698265791818,0.999999936481,0.000219519268093,-0.000280409476097,1.47976415069e-05,1793244315150423552
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744.977869426,714,680,658,634,879,786.022130574,805,652,630,652,0.400970040807,-0.00535864484705,0.0698282358436,0.999999937243,0.000219371932523,-0.000277801776576,1.47291976896e-05,1793244315167090432
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..421c4d9ddd1ea69ed8b574cdce41d347a75e4c08
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_02/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
+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
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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
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+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
+18,0.300000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+20,0.333333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+21,0.350000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+24,0.400000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+380,6.333333333,pose2_to_pose3_retreat,0.575701030782,-0.000122091933108,1.06005076069,0.546272661885,0.00855358679137,1.0597172542
+381,6.350000000,pose2_to_pose3_retreat,0.575690266557,-0.000122128201868,1.06005097,0.546261899123,0.00855355535037,1.05971746009
+382,6.366666667,pose2_to_pose3_retreat,0.575682638108,-0.00012211823814,1.06005091935,0.546254271852,0.00855356936674,1.05971741106
+383,6.383333333,pose2_to_pose3_retreat,0.575677677773,-0.000122123622896,1.06005082976,0.546249311807,0.00855356500297,1.05971732238
+384,6.400000000,pose2_to_pose3_retreat,0.575674492225,-0.000122149529588,1.06005076154,0.546246125882,0.00855353780083,1.05971725352
+385,6.416666667,pose2_to_pose3_retreat,0.575672807688,-0.000122191411302,1.06005086917,0.546244442234,0.00855349894097,1.05971736138
+386,6.433333333,pose2_to_pose3_retreat,0.57567174061,-0.000122220864147,1.06005095226,0.546243375832,0.00855347178675,1.05971744467
+387,6.450000000,pose2_to_pose3_retreat,0.575671223958,-0.000122228541018,1.06005098984,0.546242859402,0.00855346486054,1.05971748215
+388,6.466666667,pose2_to_pose3_retreat,0.575671146503,-0.000122220115242,1.06005099161,0.546242781828,0.00855347287186,1.05971748364
+389,6.483333333,pose2_to_pose3_retreat,0.575671106346,-0.00012221574684,1.06005099253,0.54624274161,0.00855347702538,1.05971748441
+390,6.500000000,pose2_to_pose3_retreat,0.575670930786,-0.0001221966487,1.06005099656,0.546242565779,0.00855349518409,1.05971748778
+391,6.516666667,pose2_to_pose3_retreat,0.575670667992,-0.000122168061113,1.06005100258,0.546242302583,0.00855352236547,1.05971749282
+392,6.533333333,pose2_to_pose3_retreat,0.575670310746,-0.000122129198597,1.06005101078,0.546241944788,0.00855355931636,1.05971749967
+393,6.550000000,pose2_to_pose3_retreat,0.575670259161,-0.000122123586954,1.06005101196,0.546241893123,0.00855356465197,1.05971750066
+394,6.566666667,pose2_to_pose3_retreat,0.575670133715,-0.000122109940535,1.06005101484,0.546241767485,0.00855357762712,1.05971750307
+395,6.583333333,pose2_to_pose3_retreat,0.575670119867,-0.000122108434058,1.06005101515,0.546241753615,0.0085535790595,1.05971750333
+396,6.600000000,pose2_to_pose3_retreat,0.575670068195,-0.000122102813004,1.06005101634,0.546241701864,0.00855358440406,1.05971750432
+397,6.616666667,pose2_to_pose3_retreat,0.575669927311,-0.000122098505669,1.06005100828,0.546241560717,0.00855358788745,1.05971749812
+398,6.633333333,pose2_to_pose3_retreat,0.575669878354,-0.000122097450241,1.06005100503,0.546241511666,0.00855358865375,1.0597174956
+399,6.650000000,pose2_to_pose3_retreat,0.57566976639,-0.000122095036485,1.06005099759,0.546241399488,0.00855359040628,1.05971748985
+400,6.666666667,pose2_to_pose3_retreat,0.575669691916,-0.000122093430965,1.06005099264,0.546241324872,0.00855359157199,1.05971748603
+401,6.683333333,pose2_to_pose3_retreat,0.575669606685,-0.000122091593534,1.06005098698,0.546241239478,0.00855359290607,1.05971748165
+402,6.700000000,pose2_to_pose3_retreat,0.575669547871,-0.000122112038463,1.06005090731,0.546241180387,0.00855357151443,1.05971740177
+403,6.716666667,pose2_to_pose3_retreat,0.575669548474,-0.000122152424357,1.06005076648,0.546241180686,0.00855353001763,1.05971725888
+404,6.733333333,pose2_to_pose3_retreat,0.575669548506,-0.000122154526149,1.06005075916,0.546241180702,0.00855352785802,1.05971725144
+405,6.750000000,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.0085535275076,1.05971725023
+406,6.766666667,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..932c893b689c8ae948380f8c5af98debed0ae9aa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d09195e4950e0a4cf1ee5334a89fc0189850c2265aa72340a9b07229a07e3ba2
+size 25915620
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ad58aefbd2db300a91009cfe7b4d5c852820bd3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+43,0.716666667,BASELINE,765,744.956532169,714,679.043467831,658,634,879,787,805.956532169,652,631,652,0.400972624575,-0.00536089812763,0.0698320167413,0.999999940237,0.000214922499772,-0.00027042193543,1.43742602594e-05,1793244316028041472
+44,0.733333333,BASELINE,765,745,714,679.530834268,658.530834268,634,878.469165732,786.469165732,805.469165732,652,631,652,0.400972551987,-0.00536122167957,0.0698317133119,0.999999939888,0.000215944959626,-0.000270892283657,1.44694604722e-05,1793244316044708352
+45,0.750000000,BASELINE,765,745,714,680,658.8949687,634,878.2100626,786,805,652,631,652,0.400972384882,-0.00536106327382,0.0698313693613,0.999999939505,0.000217182704044,-0.000271313130171,1.44948072222e-05,1793244316061375232
+46,0.766666667,BASELINE,765,745,714,680,658.319653948,634,879.360692104,786,805,652,631,652,0.40097207033,-0.0053592743234,0.0698311982162,0.999999939401,0.000217857176238,-0.000271170929938,1.42585601029e-05,1793244316078041856
+47,0.783333333,BASELINE,765,745,714,680,658.262690365,634,879.737309635,786.262690365,805,652,630.737309635,652,0.40097190795,-0.00535857277529,0.0698312654404,0.99999993937,0.000218309680059,-0.000270925273932,1.41427406915e-05,1793244316094708736
+48,0.800000000,BASELINE,765,745,714,680,658.853823852,634,879.146176148,786.853823852,805,652,630.146176148,652,0.400971935829,-0.00535923081169,0.0698316306989,0.999999939433,0.000218484655764,-0.000270550266617,1.41774926348e-05,1793244316111375616
+49,0.816666667,BASELINE,765,745,714,680,658.564010921,634,879.435989079,787,805,652,630.435989079,651.564010921,0.400971704419,-0.00535983830166,0.069830909831,0.999999939438,0.00021734637163,-0.000271448032432,1.41529762086e-05,1793244316128042240
+50,0.833333333,BASELINE,765,745,714,680,658.014940541,634,879.985059459,787,805,652,631,651.014940541,0.400971439252,-0.0053604166779,0.0698298958456,0.999999939434,0.000215833629359,-0.000272669194863,1.4116633837e-05,1793244316144708608
+51,0.850000000,BASELINE,765,745,714,680,658.583971345,634,879.416028655,787,805,652,631,651.583971345,0.40097308128,-0.00536053116592,0.0698312440245,0.999999939923,0.000216433705814,-0.000270377122256,1.43638067365e-05,1793244316161375232
+52,0.866666667,BASELINE,765,745,714,679.839498783,658.839498783,634,879.160501217,786.839498783,805,652,631,651.839498783,0.400973986499,-0.00536045946027,0.0698320735595,0.99999994005,0.000217529008462,-0.000269020136797,1.44938917509e-05,1793244316178041600
+53,0.883333333,BASELINE,765,745,714,679.242578206,658.242578206,634,879.757421794,786.242578206,805,652,631,651.242578206,0.40097288826,-0.00535988147485,0.0698314928482,0.999999939199,0.000219970882164,-0.000270205749867,1.43056027167e-05,1793244316194708224
+54,0.900000000,BASELINE,765,745,714,679.682809746,658.341404873,634,880,786.341404873,805,652,631,651.341404873,0.400972841942,-0.00535976130684,0.0698317172076,0.999999939403,0.00021943822623,-0.000269885640687,1.42076250313e-05,1793244316211374848
+55,0.916666667,BASELINE,765,745,714,680.833062167,658.916531084,634,880,786.916531084,805,652,631,651.916531084,0.400973515757,-0.00535995455468,0.069832492708,0.999999940328,0.000216869245878,-0.000268534733581,1.4171473329e-05,1793244316228041728
+56,0.933333333,BASELINE,765,745,714,680.018178618,658.509089309,634,879.509089309,787,805,652,631,652,0.400973778187,-0.00536049293814,0.069832445582,0.999999940725,0.000214921645308,-0.000268628476704,1.40591523754e-05,1793244316244708608
+57,0.950000000,BASELINE,765,745,714,679,658.06543672,634.06543672,879,787,805,652,631,652,0.400973892922,-0.00536099220132,0.0698322790673,0.999999940955,0.000213434234897,-0.000268961953679,1.39604929943e-05,1793244316261375488
+58,0.966666667,BASELINE,765,745,714,679,658.642096597,634.642096597,879,787,805,652,631,652,0.400973399417,-0.00536072807426,0.0698322709045,0.999999940601,0.000214717898482,-0.000269252265157,1.40695899517e-05,1793244316278042112
+59,0.983333333,BASELINE,765,744.77399125,714,679.22600875,658.77399125,634.77399125,879,786.77399125,805,652,631,652,0.400972822933,-0.00536008997219,0.0698320303035,0.999999939955,0.000216727782115,-0.000270036807615,1.40789576969e-05,1793244316294708480
+60,1.000000000,BASELINE,765,744.178213688,714,679.821786312,658.178213688,634.178213688,879,786.178213688,805,652,631,652,0.400972110688,-0.00535884001636,0.0698314094146,0.999999938828,0.000219925821388,-0.000271629952453,1.39251603055e-05,1793244316311374848
+61,1.016666667,BASELINE,765,744,714.404326275,680,658,634,879,786,805,652,631,652,0.400971794406,-0.00535935863888,0.0698315579778,0.999999939041,0.000219138169685,-0.000271463551094,1.42868204141e-05,1793244316328041728
+62,1.033333333,BASELINE,765,744,714.981216477,680,658,634,879,786,805,652,631,652,0.400971647117,-0.00536063207966,0.0698320349383,0.999999939823,0.000216649449794,-0.00027054618632,1.48684745708e-05,1793244316344708352
+63,1.050000000,BASELINE,765,744.555866282,714.444133718,679.444133718,658.555866282,634,879,786,805,652,630.444133718,652,0.400971396333,-0.0053600944687,0.0698313450686,0.999999939432,0.000217705440156,-0.00027116373036,1.44833124659e-05,1793244316361374976
+64,1.066666667,BASELINE,765,744.866150762,714,679.133849238,658.866150762,634.133849238,879,786,805,652,630.133849238,652,0.400971602808,-0.00535940622734,0.0698309944828,0.9999999392,0.000218901468505,-0.000271076227928,1.41395355342e-05,1793244316378041600
+65,1.083333333,BASELINE,765,744.27656215,714,679.72343785,658.27656215,634.72343785,879,786,805,652,630.72343785,652,0.400973378054,-0.0053584126439,0.0698319328262,0.999999939642,0.000220168106845,-0.000268412242465,1.40474607813e-05,1793244316394708480
+66,1.100000000,BASELINE,765,744.307001829,714,680,658,634.692998171,878.692998171,786.307001829,805,652,630.692998171,652,0.400973134225,-0.00535869128968,0.0698316524909,0.999999939717,0.000219209497786,-0.000268913862918,1.40669534825e-05,1793244316411375360
+67,1.116666667,BASELINE,765,744.885242951,714,680,658,634.114757049,878.114757049,786.885242951,805,652,630.114757049,652,0.400971106524,-0.00536009396319,0.0698302954403,0.99999993946,0.000216284859549,-0.000272212329098,1.41850171887e-05,1793244316428042240
+68,1.133333333,BASELINE,765,745,714,680,658,634,878.462157505,786.537842495,805,652,630.462157505,652,0.400969871259,-0.00535887532532,0.0698293169959,0.999999938531,0.000218569300246,-0.000273803917431,1.40305046955e-05,1793244316444708864
+69,1.150000000,BASELINE,765,745,714,680,658.03871819,634,879,786.03871819,805,652,631.03871819,652,0.400968928257,-0.00535713609469,0.0698285132997,0.999999937515,0.000221893798201,-0.000274848543131,1.38051842521e-05,1793244316461375232
+70,1.166666667,BASELINE,765,745,714,680,658.614925467,634,879,786.614925467,805,652,631.614925467,652,0.400969318755,-0.00535717980902,0.0698288341457,0.999999937738,0.00022175203912,-0.000274166991827,1.35337890083e-05,1793244316478041856
+71,1.183333333,BASELINE,765,745,714,680,658.80454427,634.19545573,879,787,805,652,631.80454427,652,0.400970255653,-0.00535797798302,0.0698295975983,0.999999938461,0.000220327711234,-0.000272673386745,1.35423351828e-05,1793244316494708480
+72,1.200000000,BASELINE,765,745,714,680,658.215304393,634.784695607,879,787,805,652,631.215304393,652,0.40097229338,-0.00536029616494,0.0698312527693,0.999999940176,0.000216319395319,-0.000269543738925,1.41148785483e-05,1793244316511375104
+73,1.216666667,BASELINE,765,745,714,679.632679104,658.367320896,634.632679104,879,787,805,652,631,652,0.400972065613,-0.00536066662082,0.0698312833619,0.999999940042,0.000215910122377,-0.000270362044887,1.4240316715e-05,1793244316528041984
+74,1.233333333,BASELINE,765,745,714,679.053862393,658.946137607,634.053862393,879,787,805,652,631,652,0.400970533421,-0.00535991561599,0.0698303785557,0.999999938843,0.000217573104567,-0.000273453501593,1.41083208732e-05,1793244316544709376
+75,1.250000000,BASELINE,765,745,714,679,658.478672119,634.521327881,879,786.478672119,805,652,631,651.478672119,0.400971757132,-0.00535934192056,0.0698312401679,0.999999938998,0.000219414775684,-0.000271403099859,1.42196418102e-05,1793244316561376000
+76,1.266666667,BASELINE,765,745,714,679.191361355,658,634.904319322,879,786,805,652,631,651.095680678,0.400972741473,-0.00535886393512,0.0698319559369,0.999999939146,0.000220974995966,-0.000269578965709,1.43002460333e-05,1793244316578042368
+77,1.283333333,BASELINE,765,745,714,680.335432934,658,634.332283533,879,786,805,652,631,651.667716467,0.400971126301,-0.00535877187696,0.0698310432846,0.999999938612,0.00022104270869,-0.000271507906984,1.41036323633e-05,1793244316594708736
+78,1.300000000,BASELINE,765,745,714,680.750472551,658.249527449,634.249527449,879,786.249527449,805,652,631,652,0.40097086842,-0.00535872313375,0.0698309016202,0.999999938569,0.000221242507096,-0.000271508506192,1.40657279095e-05,1793244316611375104
+79,1.316666667,BASELINE,765,745,714,680.155113735,658.844886265,634.844886265,879,786.844886265,805,652,631,652,0.40097249167,-0.00535873442269,0.069831828503,0.999999939203,0.00022162536901,-0.000268836528826,1.4247785747e-05,1793244316628041728
+80,1.333333333,BASELINE,765,745,714,680,659,634.573497828,879,786.573497828,805,652,631,652,0.400972495596,-0.00535886206429,0.0698319809072,0.999999939011,0.00022166727966,-0.000269514272454,1.42535076601e-05,1793244316644708608
+81,1.350000000,BASELINE,765,745,714,679.996744356,658.996744356,634,879.003255644,786.003255644,805,652,630.996744356,652,0.400971940027,-0.00535903190138,0.0698318631866,0.999999938535,0.000221579648672,-0.000271350207079,1.41973782469e-05,1793244316661375232
+82,1.366666667,BASELINE,765,745,714,679.423557524,658.423557524,634,879.576442476,786.576442476,805,652,630.423557524,652,0.400973318659,-0.00535941187121,0.0698322270773,0.999999939465,0.000219844257007,-0.000269329060553,1.4189913594e-05,1793244316678042368
+83,1.383333333,BASELINE,765,745,714,679.15421087,658,634,879.69157826,787,805,652,630.15421087,652,0.400973901173,-0.00535947545363,0.0698322954715,0.999999939956,0.000218764045557,-0.000268384281592,1.41445685503e-05,1793244316694709504
+84,1.400000000,BASELINE,765,745,714,679.744948485,658,634,878.510103031,787,805,652,630.744948485,652,0.400972230104,-0.00535864343415,0.0698315273998,0.999999939222,0.000219538460996,-0.000270486390052,1.3991994983e-05,1793244316711375616
+85,1.416666667,BASELINE,765,744.669668978,714,680,658,634,878.330331022,787,805,652,631,652,0.400972381217,-0.00535904301676,0.0698316865202,0.999999939637,0.000218361304012,-0.000269905063702,1.3967121844e-05,1793244316728041984
+86,1.433333333,BASELINE,765,744.088355219,714,680,658,634,878.911644781,787,805,652,631,652,0.400973916808,-0.00536037836036,0.0698325501134,0.999999940917,0.000215701358638,-0.000267284885986,1.40392744274e-05,1793244316744708608
+87,1.450000000,BASELINE,765,744.486777817,714,680,658,634,879,787,804.513222183,652,631,652,0.400973387337,-0.00536057459253,0.06983279486,0.999999940562,0.000216383916071,-0.000268048819007,1.42795373334e-05,1793244316761375232
+88,1.466666667,BASELINE,764.93894624,745,714,680,658,634.06105376,879,787,804.06105376,652,631,652,0.400972682273,-0.00536042624283,0.0698329246472,0.99999993996,0.000217710839004,-0.000269206927088,1.44927293207e-05,1793244316778041600
+89,1.483333333,BASELINE,764.362554132,745,714,680,658,634.637445868,879,787,804.637445868,652,631,652,0.400973619235,-0.00535909269896,0.0698330203274,0.999999939761,0.000219419902558,-0.000268572438242,1.42230937748e-05,1793244316794708224
+90,1.500000000,BASELINE,764.219466518,745,714,679.780533482,658,635,879,787,805,652,631,652,0.400974413479,-0.00535784181255,0.069832944116,0.999999939516,0.000221045350284,-0.000268161976583,1.40163459369e-05,1793244316811375360
+91,1.516666667,BASELINE,764.811030086,745,714,679.188969914,658,635,879,787,805,652,631,652,0.400974965748,-0.00535673106881,0.0698325764689,0.999999939196,0.000222529030412,-0.000268131344477,1.39162218198e-05,1793244316828042752
+92,1.533333333,BASELINE,765,745,714,679.391976188,658.391976188,634.608023812,879,787,805,652,631,651.608023812,0.400973958018,-0.00535839779634,0.0698321015135,0.999999939463,0.000220185536819,-0.000269072607366,1.38886944295e-05,1793244316844709376
+93,1.550000000,BASELINE,765,745,714,679.967938702,658.967938702,634.032061298,879,787,805,652,631,651.032061298,0.400972218054,-0.00536136821707,0.0698315761896,0.999999939989,0.000216045639253,-0.000270470059664,1.38952425824e-05,1793244316861375744
+94,1.566666667,BASELINE,765,745,714,680,659.543481974,634,879,787,805,652,631,651.543481974,0.40097215857,-0.005360712975,0.0698318774757,0.999999939643,0.00021801157852,-0.000270149566131,1.42858017626e-05,1793244316878042112
+95,1.583333333,BASELINE,765,745,714,680,659.755852327,634,879,786.877926164,805,652,631,652,0.400972285548,-0.00535987642288,0.0698320713931,0.9999999393,0.000219949084612,-0.000269838592488,1.45095713516e-05,1793244316894708480
+96,1.600000000,BASELINE,765,745,714,680,658.575088235,634,879,786.287544117,805,652,631,652,0.400972747833,-0.00535916421007,0.0698316664888,0.999999939177,0.000220396762782,-0.000269952629485,1.40066523102e-05,1793244316911374848
+97,1.616666667,BASELINE,765,745,714,679.702686327,658,634,879,786,805,652,631,651.702686327,0.40097274527,-0.00535876466943,0.0698316713021,0.99999993915,0.000220291791067,-0.000270143046827,1.39416333442e-05,1793244316928041472
+98,1.633333333,BASELINE,765,745,714,679.123073842,658,634,879,786,805,652,631,651.123073842,0.400972301334,-0.00535866201049,0.0698320651413,0.999999939212,0.000219662079225,-0.000270405987164,1.42923997616e-05,1793244316944708352
+99,1.650000000,BASELINE,765,745,714,679.452316328,658,634,879,786.452316328,805,652,631,651.452316328,0.400971910558,-0.00535949227243,0.0698320090818,0.999999939591,0.000217693030652,-0.000270595946435,1.43069085137e-05,1793244316961375232
+100,1.666666667,BASELINE,765,745,714,680,658,634,879,786.972808248,805,652,631,652,0.400971605949,-0.00536047795466,0.0698318785193,0.99999994,0.000215687011442,-0.000270697619143,1.42360760536e-05,1793244316978042368
+101,1.683333333,BASELINE,765,745,714,680,658,634,879,786.385079523,805,652,631,652,0.400972782177,-0.00535948308746,0.0698327123095,0.999999939334,0.000220361819748,-0.000269384902315,1.42746482882e-05,1793244316994708992
+102,1.700000000,BASELINE,765,745,714,680,658,634.199418375,879,786,805,652,631,652,0.400973916985,-0.00535866179336,0.069833415178,0.999999939147,0.000223027651927,-0.000267878388678,1.43199745842e-05,1793244317011375616
+103,1.716666667,BASELINE,765,745,714,680,658,634.777776903,879,786,805,652,631,652,0.400974973088,-0.00535817032767,0.0698338692658,0.999999939903,0.000221875973187,-0.0002660036173,1.4378135125e-05,1793244317028041984
+104,1.733333333,BASELINE,765,744.644607905,714,679.644607905,658,634.644607905,879,786.355392095,805.355392095,652,630.644607905,652,0.40097491304,-0.00535895940069,0.0698335758473,0.999999940294,0.000219568926546,-0.000266449939659,1.43725038995e-05,1793244317044708608
+105,1.750000000,BASELINE,765,744.067456487,714,679.067456487,658,634.067456487,879,786.932543513,805.932543513,652,630.067456487,652,0.400974156532,-0.00536054751056,0.0698328159962,0.999999940448,0.000216540947594,-0.000268344589428,1.43270675762e-05,1793244317061375232
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,787,805,652,630,652,0.400970731203,-0.00535805818592,0.0698308790234,0.999999939147,0.0002183918913,-0.000271694163641,1.39112553905e-05,1793244317092280832
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.411287893,658,634,879,786.411287893,805,652,630.588712107,652,0.400972166826,-0.00535780886331,0.0698325451068,0.999999939227,0.000221119253529,-0.00026917599497,1.40523461713e-05,1793244317108948224
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.174593321,879,786,805,652,631,652,0.400973060813,-0.00535794275992,0.0698334938527,0.999999939445,0.000221958278785,-0.000267670474936,1.4045343093e-05,1793244317125615104
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634.753912341,879,786,805,652,631,652,0.400972699229,-0.00535896499896,0.069832779735,0.999999940003,0.000218419940669,-0.000268512380565,1.36950428853e-05,1793244317142280960
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.331119176,658,635,879.331119176,786,805,652,631,652,0.40097258437,-0.00535968705086,0.0698325828398,0.999999940128,0.000217320567774,-0.000268937470764,1.37156378334e-05,1793244317158947328
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.906766151,658,635,879.906766151,786,805,652,631,652,0.400972651715,-0.00536018741787,0.0698327679076,0.99999993994,0.00021802234356,-0.000269054747394,1.40101347163e-05,1793244317175613952
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.481895064,634.518104936,879.518104936,786,805,652,631,652,0.400970987744,-0.00535962902196,0.0698316253428,0.9999999392,0.000219069635974,-0.000270953048224,1.39154627933e-05,1793244317192281088
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.941493085,634,879,786,805,652,631,652,0.400969452758,-0.00535899543475,0.0698305621205,0.99999993854,0.000219985157175,-0.000272648599771,1.37790360489e-05,1793244317208948480
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.35047262,634,879,786,805,652,631,652,0.400972137215,-0.00535953989317,0.0698325564238,0.999999939623,0.000219093553048,-0.000269365875232,1.39471356465e-05,1793244317225614592
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.764705317,714,680,658.235294683,634,879,786,805,652,631,651.764705317,0.400975399579,-0.0053602647923,0.0698341339105,0.999999940321,0.000218772246645,-0.000267014804962,1.41516495825e-05,1793244317242280960
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.1865918,714,680,658.8134082,634,879,786,805,652,631,651.1865918,0.40097950394,-0.00536125258927,0.069835104105,0.99999994047,0.000219281850733,-0.000266021133405,1.44092183407e-05,1793244317258947584
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.608718302,744,714,680,658.608718302,634,879,786,805,652,631,651.391281698,0.400998016382,-0.0053610710673,0.0698433973343,0.999999943993,0.000219525051203,-0.000252204269002,1.46774363821e-05,1793244317275614464
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.030959143,744,714,680,658.030959143,634,879,786,805,652,631,651.969040857,0.401023395444,-0.00536033227013,0.0698551805837,0.999999948791,0.000219641288716,-0.000232276113082,1.49507296885e-05,1793244317292281600
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.543817259,744.543817259,714,679.456182741,658,634.543817259,879,786,805,652,631,652,0.40107388513,-0.00536253089791,0.0698741829816,0.999999956137,0.000219409165375,-0.000198343410032,1.56513510879e-05,1793244317308947712
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.121503475,658,634.878496525,879,786.121503475,804.878496525,652,630.878496525,652,0.401127437482,-0.00536446347654,0.0698918735999,0.999999961689,0.000218930777965,-0.000168604405978,1.62158431222e-05,1793244317325614336
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.711049265,658,634.288950735,879,786.711049265,804.288950735,652,630.288950735,652,0.401187310876,-0.00536473055654,0.06990293663,0.999999963705,0.0002175797377,-0.000158074298343,1.61627523613e-05,1793244317342280960
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.295024996,680,658,634.295024996,879,786.704975004,804.295024996,652,630,652,0.401254365951,-0.00536558891256,0.0699097398336,0.999999965296,0.000216817404311,-0.000148859272495,1.54719506202e-05,1793244317358947584
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.873646403,680,658,634.873646403,879,786.126353597,804.873646403,652,630,652,0.401328324504,-0.00536701563991,0.0699124482257,0.99999996651,0.000216620972748,-0.000140908385859,1.41681413454e-05,1793244317375614464
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.550145794,679.550145794,658.449854206,634.550145794,879,786,805,652,630.449854206,652,0.401411140882,-0.00536833538491,0.0699108578832,0.999999966392,0.000215101195822,-0.000144227128205,1.20590520463e-05,1793244317392280832
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.025916534,658.974083466,634,879,786,805,652,631,652,0.401497675684,-0.00536969471878,0.0699080728244,0.999999965888,0.000213160485245,-0.000150641269927,9.7070618751e-06,1793244317408947456
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.613438739,658.386561261,634,879,786,805,652,631,652,0.401611162168,-0.00537255961241,0.0699054233064,0.999999965749,0.000210109841329,-0.000155905072448,6.96667281653e-06,1793244317425614080
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.801043939,658.198956061,634,879,786.198956061,805,652,631,652,0.401735806401,-0.00537505585027,0.0699049218955,0.999999966111,0.000207238701127,-0.000157517603601,4.17228268316e-06,1793244317442280704
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.219383206,658.780616794,634,879,786.780616794,805,652,631,652,0.401881913261,-0.00537684295489,0.0699085525062,0.999999967477,0.000204712848125,-0.0001521066808,1.27401835496e-06,1793244317458947328
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.357517404,659,634,879,787,805,652,631,652,0.402046501534,-0.00537989113167,0.0699112671263,0.99999996916,0.000199981351606,-0.000147245030531,-2.40411975969e-06,1793244317475614720
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.931535497,659,634,879,787,805,652,631,652,0.402222281551,-0.00538370297212,0.0699134270533,0.999999970993,0.000193914190228,-0.000142716000973,-6.55452386833e-06,1793244317492282368
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.491760001,714,680,658.491760001,634,879,786.491760001,805,652,631,651.491760001,0.402425405371,-0.00538583055335,0.0699167466961,0.999999972825,0.000187448598268,-0.000138167736109,-1.10382298364e-05,1793244317508948224
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.087457271,714,680,658,634,879.087457271,786,805,652,631,651.087457271,0.402639082624,-0.00538809575452,0.0699203965766,0.999999974712,0.000181017027936,-0.00013253263645,-1.55883840948e-05,1793244317525614080
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.6790625,714,680,658,634,879.6790625,786,805,652,631,651.6790625,0.40289224915,-0.00539246909646,0.0699250447749,0.999999977188,0.000175092610572,-0.000120647485564,-2.02613872732e-05,1793244317542280960
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.26456164,634,879.73543836,786.26456164,805,652,631,652,0.403161700816,-0.0053979568755,0.0699319356334,0.999999979895,0.00016782937941,-0.000106867801952,-2.4968278644e-05,1793244317558947840
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.842820603,634,879.157179397,786.842820603,805,652,631,652,0.403450462162,-0.00540476607008,0.0699414856695,0.999999982795,0.000158978683732,-9.08417244227e-05,-2.97153518051e-05,1793244317575615232
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.581380961,714,679.581380961,659,634,879,787,805,652,631,652,0.403761638555,-0.00540827067837,0.069947166557,0.999999984462,0.000152842316905,-8.04528393418e-05,-3.52486464199e-05,1793244317592281856
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.006500995,714,679.006500995,659,634,879,787,805,652,631,652,0.404081181966,-0.00541054175993,0.0699514031795,0.999999985642,0.000147719147232,-7.21681897979e-05,-4.10754194372e-05,1793244317608947968
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.581316143,714,679,658.418683857,634,879,786.418683857,805,652,631,652,0.404426312392,-0.00541752635571,0.0699517229726,0.999999994439,5.76229445397e-05,-7.59118380482e-05,-4.51654025149e-05,1793244317625614080
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.166343744,634,879,786,805.166343744,652,630.833656256,652,0.404791351328,-0.00542324361291,0.0699542752383,0.999999996184,1.2433217687e-05,-7.41015495937e-05,-4.4564352917e-05,1793244317642280704
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.744105907,634,879,786,805.744105907,652,630.255894093,652,0.405204906147,-0.00542569301611,0.069962459888,0.999999994523,8.07146211068e-05,-5.82144256305e-05,-3.24100920889e-05,1793244317658947584
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.322071493,659,634,879,786,805.677928507,652,630.322071493,651.677928507,0.405630254881,-0.00543014380616,0.0699671084498,0.999999992958,0.000104096538688,-4.83120932056e-05,-3.02443692719e-05,1793244317675614720
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.900198868,659,634,879,786,805.099801132,652,630.900198868,651.099801132,0.406064980152,-0.00543618575522,0.0699689457234,0.999999994208,9.17821118295e-05,-4.31678365497e-05,-3.60198134326e-05,1793244317692282368
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.52603903,658.52603903,634,879,786.47396097,805,652,631,651.47396097,0.406507231287,-0.00544368929422,0.0699533867371,0.99999999398,7.32709790435e-05,-7.17769172222e-05,-3.89815434999e-05,1793244317708949248
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.951701175,745,714,679,658.048298825,634,879,786.951701175,805,652,631,652,0.40695613485,-0.00545273154502,0.0699350144209,0.999999992236,5.32558967283e-05,-0.000104987573635,-4.08605625453e-05,1793244317725615616
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.360658207,745,714,679,658.639341793,634,879,786.360658207,805,652,631,652,0.407462148289,-0.00547563778047,0.0699258154776,0.999999992698,3.08694339356e-05,-0.000110768868467,-3.7169980923e-05,1793244317742281984
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.225780633,745,714,679.225780633,659,634,879,786,805,652,631,651.774219367,0.408005523386,-0.00549841344752,0.069925667316,0.999999993999,5.81023923977e-06,-0.000103573625525,-3.52138995824e-05,1793244317758948608
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.805011856,745,714,679.805011856,659,634,879,786,805,652,631,651.194988144,0.40860738664,-0.00552098471356,0.069939687793,0.999999996186,-2.34330094816e-05,-7.60641289962e-05,-3.59731095768e-05,1793244317775615488
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680.38119366,658.61880634,634,879,786,805,652,631,651,0.409209568645,-0.0055264552088,0.069948993909,0.999999997294,-3.25150770521e-05,-5.46769936813e-05,-3.69510186614e-05,1793244317792281856
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.955827987,658.044172013,634,879,786,805,652,631,651,0.409811912384,-0.00552324774029,0.0699559076732,0.999999998122,-3.1366143785e-05,-3.63967147619e-05,-3.80399088485e-05,1793244317808948224
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.457188286,658.542811714,634,879.542811714,786.542811714,805,652,631,651.542811714,0.410406112022,-0.00553372673774,0.06994705703,0.999999997202,-3.70748855963e-05,-5.23569249136e-05,-3.84802136321e-05,1793244317825614848
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.128712741,634,879.871287259,787,805,652,631,652,0.411019065682,-0.00554414335491,0.0699406412742,0.999999996038,-4.58923544823e-05,-6.55455563483e-05,-3.90163559066e-05,1793244317842281472
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.70723619,634,879.29276381,787,805,652,631,652,0.411699928618,-0.00555035913565,0.0699473222155,0.99999999543,-6.35782294082e-05,-5.90842200509e-05,-4.00761619331e-05,1793244317858948864
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.285089703,745,714.285089703,680.285089703,659.714910297,634,879,787,805.285089703,652,631.285089703,652,0.41242364217,-0.00555603408774,0.0699691222644,0.99999999609,-7.46429892655e-05,-2.55924766544e-05,-3.99265924814e-05,1793244317875615488
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.862256931,745,714.862256931,680.862256931,659.137743069,634,879,787,805.862256931,652,631.862256931,652,0.413191256729,-0.00556115495569,0.0700064120056,0.999999995509,-7.89243461532e-05,3.55922158452e-05,-3.85380046289e-05,1793244317892282112
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.561538442,745,714.561538442,680.561538442,659,634,879.438461558,786.561538442,806,652,631.561538442,652,0.413933832607,-0.00554277507132,0.0700196318232,0.999999996189,-5.51181097448e-05,5.54866914468e-05,-3.8806337175e-05,1793244317908948224
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680.014695329,659,634.014695329,879.985304671,786,806,652,631,652,0.414667036817,-0.00551724603361,0.0700238246833,0.99999999716,-2.29386531631e-05,5.98510275531e-05,-3.9653984319e-05,1793244317925614336
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.603865489,659,634.603865489,879.396134511,786,806,652,631,652,0.415340706077,-0.00550021776409,0.0699700852441,0.999999998371,-7.61541138919e-06,-3.69242482434e-05,-4.28445123248e-05,1793244317942281216
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.810489937,659.189510063,634.810489937,879,786,805.810489937,652,631,652,0.416055384172,-0.00549362610478,0.0699276899628,0.999999992908,-4.21631078252e-06,-0.000109774558605,-4.59918035807e-05,1793244317958947840
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.232080362,659.767919638,634.232080362,879,786,805.232080362,652,631,652,0.416854217738,-0.0055084517399,0.0699085743847,0.999999989562,-2.5287113298e-05,-0.0001335276958,-4.90503678399e-05,1793244317975614464
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.655109125,634,879.344890875,786,805.344890875,652,631,652,0.417692930681,-0.00551869223862,0.0699218209979,0.999999992037,-3.78480435867e-05,-0.000110190273487,-4.85031348591e-05,1793244317992281088
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.079101764,634,879.920898236,786,805.920898236,652,631,652,0.418558367352,-0.0055258601689,0.0699567539957,0.999999996435,-4.47063814655e-05,-5.52967682329e-05,-4.55396034943e-05,1793244318008947968
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.495786997,879.504213003,786,805.504213003,652,631,652,0.419418946269,-0.00552835866646,0.0699810669911,0.999999997348,-5.26588782072e-05,-1.9828162571e-05,-4.62322699891e-05,1793244318025614592
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.07256281,659,634.92743719,879.07256281,786,805,652,631,652,0.42027932706,-0.00553004469237,0.070003374636,0.999999997045,-5.95718537511e-05,1.16956111097e-05,-4.7155730709e-05,1793244318042281216
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.664108468,659,634.335891532,879.664108468,786,805,652,631,652,0.421143821178,-0.00553123613899,0.0700234310035,0.999999996602,-5.78042227102e-05,3.7121362248e-05,-4.55671193453e-05,1793244318058947840
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.749550308,659.250449692,634.250449692,880,786,805,652,630.749550308,652,0.421998294339,-0.00552765232089,0.0700220686003,0.999999996896,-5.52671573502e-05,3.17032450297e-05,-4.63468709596e-05,1793244318075614208
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.170046858,659.829953142,634.829953142,880,786,805,652,630.170046858,652,0.42283960157,-0.00551779451322,0.0699925651108,0.999999997299,-5.17191690934e-05,-1.42391382028e-05,-5.02383000876e-05,1793244318092280832
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.405677687,745,714,680,659.594322313,634.594322313,880,786,805.405677687,651.594322313,630.405677687,652,0.423655862205,-0.00551635700255,0.0699252069096,0.999999990156,-5.29959674124e-05,-0.000117699612238,-5.50021898871e-05,1793244318108947712
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+169,2.816666667,POSE1_TO_POSE2_PRESS,765.432867531,745,714,680.567132469,659,634,880,786,806,651.567132469,631,651.432867531,0.425372695958,-0.00552675676648,0.0698696085738,0.999999977112,-6.93399961036e-05,-0.000192949721144,-6.11466682161e-05,1793244318142281728
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,880,786.152669068,806,652,631,651.152669068,0.426292749992,-0.00553296525835,0.0699082177378,0.999999986769,-7.7343896258e-05,-0.000129832047554,-6.01947684742e-05,1793244318158948352
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+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.310035751,634,880,786.689964249,806,651.689964249,631,652,0.428164258135,-0.00553249019296,0.0700094327591,0.999999996265,-6.88252090703e-05,8.0873826918e-06,-5.16581496314e-05,1793244318192281344
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.887113689,634,880,786.112886311,806,651.112886311,631,652,0.429102797952,-0.00553266080491,0.070038664759,0.999999994288,-7.23798326694e-05,5.88111710108e-05,-5.22114885763e-05,1793244318208947456
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+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.204793689,714,681,659.795206311,634,880,786,806,651.795206311,631,652,0.43333127398,-0.00553465551924,0.0698962098361,0.99999998167,-7.17509582166e-05,-0.000167189849473,-5.96627591899e-05,1793244318292280832
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.371699843,714,681,660,634,880,786.371699843,806,652,631,651.628300157,0.434238329947,-0.00553665093478,0.0699381643949,0.999999991114,-7.44895962167e-05,-9.39695337855e-05,-5.82575228248e-05,1793244318308947200
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.947855376,714,681,660,634,880,786.947855376,806,652,631,651.052144624,0.435162870222,-0.00554085300062,0.0700043110162,0.999999995229,-7.93172630499e-05,1.34978297301e-05,-5.53979258573e-05,1793244318325613824
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.994773724,633.994773724,880.994773724,786.994773724,806,651,631,652,0.440482422553,-0.00554389139351,0.06979466544,0.99999994897,-8.07728200423e-05,-0.000302088280213,-6.5411853838e-05,1793244318442280704
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+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.48531975,659,633,880,786,806.51468025,652,631,652,0.444550779813,-0.00554913244363,0.0698134570557,0.999999951385,-8.63388333901e-05,-0.000293005291906,-6.26441505677e-05,1793244318542280704
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,880,785.605472354,806,651.605472354,631,652,0.447235719136,-0.00555988859239,0.0697120568338,0.999999891693,-9.76288567804e-05,-0.000450191386215,-6.6416658972e-05,1793244318625614080
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+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,745.353614985,714,683,655,630,880.353614985,783,806,652,630,652,0.451795911039,-0.00553815158087,0.0694446059805,0.99999963311,-8.79528780294e-05,-0.000850891606671,-4.50296538603e-05,1793244320175446272
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.10742224,746,714,683.10742224,655,630.10742224,879.10742224,783,806.10742224,651.89257776,630,652,0.451083148942,-0.00552319627621,0.0694532391669,0.999999633272,-6.38533960325e-05,-0.000853455083697,-3.15230172624e-05,1793244320225446656
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.999284211,745,714,680,658,634,879,786,805.999284211,652,631,652,0.411630247806,-0.00537201484979,0.0698654464931,0.999999959305,0.000196554073857,-0.000204483647133,3.07125409412e-05,1793244321142113536
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.590931872,786,805.409068128,652,631,652,0.410949671914,-0.00536756324801,0.0698697523494,0.99999995737,0.000208932911084,-0.000201511801903,3.1633543036e-05,1793244321158779904
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.178117208,658,634,880,786,805,652,631,651.821882792,0.410267851588,-0.00536302515276,0.0698603444304,0.999999951104,0.000217894828891,-0.000222081299369,3.15388392552e-05,1793244321175446016
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.755261172,658,634,880,786,805,652,631,651.244738828,0.409583372332,-0.00535829645224,0.069820367762,0.999999932009,0.000219172263155,-0.000295117345145,2.91711224129e-05,1793244321192112896
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.667636505,658,634,879.667636505,786.332363495,805,652,631,651.332363495,0.408936947596,-0.00535392281685,0.069785354259,0.999999912383,0.000222683757857,-0.000353462783316,2.66358548642e-05,1793244321208779776
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.090564875,658,634,879.090564875,786.909435125,805,652,631,651.909435125,0.408318541175,-0.00534981060433,0.0697539949712,0.99999989336,0.000227840116738,-0.000400992013919,2.39772255021e-05,1793244321225446912
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.486750624,786.513249376,805.486750624,651.513249376,631,652,0.407774113173,-0.00535274371584,0.0697659858749,0.999999902734,0.000229740400098,-0.000375753233267,2.36729553133e-05,1793244321242113280
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,880,786,805.934338361,651.065661639,631,651.934338361,0.40724617466,-0.00535882470335,0.0697855523946,0.999999916323,0.000227092240639,-0.000339423016073,2.39749849761e-05,1793244321258779904
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,880,786,805.343017746,651.656982254,631,651.343017746,0.406739996519,-0.00537960684433,0.0698011628131,0.999999928988,0.000192883609743,-0.000322743072767,2.56221746065e-05,1793244321275446528
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.760926722,714,680,658,634,879.760926722,786.239073278,805,652,631,651.239073278,0.406247250709,-0.00539218581655,0.069806869847,0.999999932941,0.000174243907078,-0.000321034359278,2.63446862647e-05,1793244321292113152
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.191585954,714,680,658,634,879.191585954,786.808414046,805,652,631,651.808414046,0.405773061019,-0.00539343252946,0.069798895861,0.999999926181,0.000177111884571,-0.00034000763492,2.5789802554e-05,1793244321308780032
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.38329345,714,680.38329345,658,634,879.38329345,787,805,652,630.61670655,652,0.405346539565,-0.00538734849858,0.0698020137876,0.999999926682,0.000184490416926,-0.000334617297023,2.51231369245e-05,1793244321325446656
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.960981938,714,680.960981938,658,634,879.960981938,787,805,652,630.039018062,652,0.404944193979,-0.00537754653261,0.0698107572019,0.99999993065,0.000194156568765,-0.000316870460636,2.4399778775e-05,1793244321342113280
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.446506784,658,634,879.446506784,786.446506784,805,652,630.553493216,652,0.404585404991,-0.00537931902925,0.069830227906,0.999999941947,0.000190526042153,-0.000281371464018,2.52234555525e-05,1793244321358779904
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.143111284,658.143111284,634,879.143111284,786,805,652,631,652,0.40423335096,-0.00537990858359,0.0698455727217,0.99999994929,0.000191360554615,-0.000253262630715,2.5674733582e-05,1793244321375446528
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.720686642,658.720686642,634,879.720686642,786,805,652,631,652,0.403892165109,-0.0053743616972,0.069846033057,0.999999946299,0.000208674167061,-0.000251492876207,2.46552751298e-05,1793244321392113152
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.703210344,658.703210344,634,879.703210344,786,805.296789656,652,631,652,0.403565542212,-0.00537163482921,0.0698388944884,0.9999999429,0.000211405799316,-0.000262600586518,2.34007732301e-05,1793244321408779776
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.128486169,658.128486169,634,879.128486169,786,805.871513831,652,631,652,0.403252557101,-0.00537154882332,0.0698246397765,0.999999938832,0.000200481847944,-0.0002857676524,2.19261603196e-05,1793244321425446656
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.457671099,805.542328901,652,631,652,0.402976183436,-0.00537071631629,0.0698176221683,0.999999935382,0.000198327557962,-0.000299071331956,2.14326185579e-05,1793244321442113024
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.953481987,805,652,631,652,0.402712589516,-0.00536931583915,0.0698124843205,0.999999932024,0.000199185070854,-0.000309557845311,2.12452479682e-05,1793244321458779648
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.371567207,805,652,631,652,0.402474755331,-0.00536385219687,0.0698049981683,0.999999927329,0.000205644663264,-0.000320306978493,2.133053006e-05,1793244321475446272
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.402253222695,-0.00536082533425,0.0697988447574,0.999999923504,0.000208999970134,-0.000329895616863,2.18861908852e-05,1793244321492112896
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.402060485853,-0.00536210290633,0.0697950455596,0.9999999214,0.00020687173068,-0.000337434305385,2.32727492621e-05,1793244321508779520
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.354218501,879,786,805.354218501,652,631,652,0.401893733106,-0.00536112092328,0.0697958053482,0.999999921794,0.000205945951334,-0.000336778584315,2.40544886001e-05,1793244321525446144
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.926348109,879,786,805.926348109,652,631,652,0.401742965452,-0.00535874888828,0.0697993697721,0.999999923725,0.000205759911276,-0.000331081758372,2.44641504247e-05,1793244321542113280
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.479987322,714,680,658,634.479987322,879,786.520012678,805.479987322,652,631,652,0.401616032892,-0.00535743575094,0.069799006966,0.999999924648,0.000203946880087,-0.000329603905702,2.16861588619e-05,1793244321558779904
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786.886977028,805,652,631,652,0.401496579219,-0.00535706705809,0.0697980926865,0.999999924798,0.000204528112351,-0.000329019392682,1.78564937949e-05,1793244321575446528
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658,634,879,786.309723142,805,652,631,652,0.401393379185,-0.00535993495151,0.0697972966548,0.99999992232,0.000215930943701,-0.000329543759315,1.16417155786e-05,1793244321592112896
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.265764414,714,680,658,634.265764414,879,786.265764414,805,652,631,652,0.401303205885,-0.00536036184927,0.0697965055465,0.99999992078,0.000222733120958,-0.000329775565545,8.85974520063e-06,1793244321608779776
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.839207038,714,680,658,634.839207038,879,786.839207038,805,652,631,652,0.401228113778,-0.00535796278097,0.0697957201383,0.999999920474,0.000224209072776,-0.000329668671593,1.00519723072e-05,1793244321625446400
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.57490189,879,786.57490189,805,652,631,652,0.401168331845,-0.00535761123232,0.06979659634,0.999999921077,0.000223988994294,-0.000327947456276,1.12064150439e-05,1793244321642113024
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.015526312,805.015526312,652,631.015526312,652,0.401115050173,-0.00535804060457,0.0697982253625,0.999999922092,0.000223079564725,-0.000325421326093,1.23321241196e-05,1793244321658779648
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.594575451,805.594575451,652,631.594575451,652,0.401081168039,-0.00535785604884,0.0698036783369,0.999999925376,0.00022113659394,-0.000316511725269,1.29493230961e-05,1793244321675446528
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.173039907,634,879,787,805.826960093,652,631.826960093,652,0.401050606816,-0.00535788755439,0.0698084102925,0.999999927987,0.000220183028061,-0.000308805957342,1.35517063734e-05,1793244321692113408
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.750139006,634,879,787,805.249860994,652,631.249860994,652,0.401027800137,-0.00535842357684,0.0698114586228,0.999999929179,0.000221539785905,-0.000303911217129,1.41194939657e-05,1793244321708780288
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.67446049,634,878.67446049,786.67446049,805,652,631,651.67446049,0.401008697052,-0.00535937453441,0.0698130389776,0.999999930202,0.000220244766971,-0.000301458821153,1.4490979542e-05,1793244321725446912
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.10035688,634,878.10035688,786.10035688,805,652,631,651.10035688,0.400992421826,-0.00536064231373,0.0698134984673,0.999999931102,0.000216924996991,-0.000300871264664,1.47125797338e-05,1793244321742113280
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.513334786,658,634,878.486665214,786.486665214,805,652,631,651,0.400983686462,-0.00535842631839,0.0698153983814,0.999999931374,0.000219977298152,-0.000297732818456,1.47507410599e-05,1793244321758779648
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.075171357,658.075171357,634,879,786.924828643,805.075171357,652,631,651.075171357,0.40097710647,-0.00535628438705,0.0698174933229,0.999999931644,0.000223301406173,-0.000294328855866,1.48001746333e-05,1793244321775446528
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.655264416,658.655264416,634,879,786.344735584,805.655264416,652,631,651.655264416,0.400974275562,-0.00535959698029,0.0698188486821,0.999999932962,0.000219384445151,-0.000292771079152,1.51863373225e-05,1793244321792113152
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786,805.535490104,652,631,652,0.400972256714,-0.00536176201599,0.069820220988,0.999999933998,0.000217369526286,-0.000290719976223,1.53747748187e-05,1793244321808780032
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879,786,804.390597847,652,631,652,0.400971427317,-0.00536224618762,0.0698216181161,0.999999934634,0.000218140589071,-0.000287946282847,1.52735979373e-05,1793244321825446912
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.619360622,786,804.380639378,652,630.619360622,652,0.400970892587,-0.00536107710366,0.0698229183612,0.999999935161,0.000218248196513,-0.000286041721171,1.50154098301e-05,1793244321842113536
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,878.041613981,786,804.958386019,652,630.041613981,652,0.400970510445,-0.00535905191097,0.0698241684371,0.999999935633,0.000218012245501,-0.000284587223819,1.46759162833e-05,1793244321858780416
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.451189919,744.451189919,714,680,658.451189919,634,878.548810081,786,805,652,630.548810081,652,0.400970597798,-0.00535826857399,0.0698250753833,0.999999935576,0.000220245754077,-0.000283062274419,1.46624799797e-05,1793244321875446528
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.136465241,744.136465241,714,679.863534759,658,634,879,786,805,652,631,652,0.400970833795,-0.00535801942754,0.0698259345176,0.999999935604,0.000221977233312,-0.000281607737281,1.46639512224e-05,1793244321892112896
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.712044281,744.712044281,714,679.287955719,658,634,879,786,805,652,631,652,0.400971430829,-0.00535917901837,0.0698267255041,0.999999936056,0.000221476525927,-0.000280397367026,1.46319556254e-05,1793244321908779264
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.287659607,658,634,879,786,805,652,631,652,0.400971193294,-0.00536042536073,0.0698271059642,0.99999993642,0.000220062047836,-0.000280200357253,1.48281655899e-05,1793244321925446144
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.863311329,658,634,879,786,805,652,631,652,0.400970120225,-0.00536175855504,0.0698270754235,0.999999936694,0.000217732742745,-0.000281017879171,1.52528448966e-05,1793244321942113024
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.54997831,745,714,680,658,634,879,786,805,652,631,652,0.400969970343,-0.0053610841856,0.0698265973036,0.999999936666,0.000218294130385,-0.000280692473831,1.50951641651e-05,1793244321958779648
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,679.960838969,658,634,879,786.039161031,805,652,631,652,0.400970154469,-0.00535982317826,0.069826074614,0.999999936528,0.000219866209513,-0.000279973039943,1.47743146496e-05,1793244321975446528
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,679.385587918,658,634,879,786.614412082,805,652,631,652,0.400970975654,-0.00535908917273,0.0698268497031,0.999999936193,0.000222951772025,-0.000278731595177,1.47022317695e-05,1793244321992113408
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.190572905,745,714,679,658.190572905,634,879,787,805,652,631,652,0.400971257167,-0.00535918150304,0.0698272418957,0.99999993619,0.000223582686568,-0.000278236975693,1.46947369928e-05,1793244322008780032
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.768583274,745,714,679,658.768583274,634,879,787,805,652,631,652,0.400970441521,-0.00536095378607,0.0698268556541,0.999999936868,0.0002192232662,-0.000279260662859,1.48185507666e-05,1793244322025446400
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.345328702,658.654671298,634,879,787,805,652,631,651.654671298,0.400969992904,-0.00536101107109,0.0698269328526,0.999999937104,0.000217837449751,-0.000279506124334,1.4674103972e-05,1793244322042113024
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.92122952,658.07877048,634,879,787,805,652,631,651.07877048,0.40096978935,-0.00535992327103,0.0698273194848,0.999999937054,0.000218437075589,-0.00027923197317,1.43505425885e-05,1793244322058779648
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.488341927,805,652,631,651.511658073,0.400970822657,-0.00536017360568,0.0698277973374,0.999999937582,0.000217407426077,-0.000278143097223,1.43450288552e-05,1793244322075446272
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.101671678,805,651.898328322,631,652,0.400971844488,-0.00536055017678,0.0698282747019,0.999999938073,0.000216573837469,-0.00027702567057,1.43971260759e-05,1793244322092113152
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.678975252,805,651.321024748,631,652,0.400971895811,-0.00536052540529,0.0698286821653,0.99999993797,0.000217865143855,-0.000276378594838,1.44829814562e-05,1793244322108779776
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f28b73de398a63e3fe9f4ac9982f0893d09201c5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
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+268,4.466666667,pose2_to_pose3_retreat,0.619962616159,-0.000122160488962,1.06005107906,0.590534248968,0.00855352682429,1.05971757347
+269,4.483333333,pose2_to_pose3_retreat,0.619962502577,-0.000122175795244,1.06005116313,0.590534136125,0.0085535139978,1.05971765676
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+271,4.516666667,pose2_to_pose3_retreat,0.619962347347,-0.000122156549075,1.06005099112,0.5905339802,0.00855353082167,1.05971748293
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+274,4.566666667,pose2_to_pose3_retreat,0.619954566475,-0.000122144755868,1.06005109283,0.590526199092,0.00855354183405,1.05971758554
+275,4.583333333,pose2_to_pose3_retreat,0.619943030898,-0.000122072643218,1.06005084758,0.590514661394,0.00855360676916,1.05971734179
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+347,5.783333333,pose2_to_pose3_retreat,0.58466053291,-0.000122173179202,1.06005106561,0.555232166604,0.00855351432506,1.0597175586
+348,5.800000000,pose2_to_pose3_retreat,0.584094324154,-0.000122149666411,1.06005102373,0.554665957277,0.00855353561833,1.05971750937
+349,5.816666667,pose2_to_pose3_retreat,0.583529741448,-0.000122107145906,1.06005102852,0.554101374598,0.00855357835292,1.05971751757
+350,5.833333333,pose2_to_pose3_retreat,0.582967675262,-0.000122148703201,1.06005111196,0.553539309,0.00855353885389,1.05971760263
+351,5.850000000,pose2_to_pose3_retreat,0.582428976731,-0.000122214705635,1.06005079714,0.553000611537,0.00855347645067,1.05971728714
+352,5.866666667,pose2_to_pose3_retreat,0.581916357547,-0.000122279749758,1.06005087306,0.552487992149,0.00855341071286,1.05971736246
+353,5.883333333,pose2_to_pose3_retreat,0.581434159905,-0.000122295579136,1.06005069235,0.552005794975,0.00855339669939,1.05971718774
+354,5.900000000,pose2_to_pose3_retreat,0.58097804977,-0.00012214786525,1.06005076381,0.551549683777,0.00855354094185,1.05971726294
+355,5.916666667,pose2_to_pose3_retreat,0.580546447003,-0.000122096198193,1.06005098373,0.55111807977,0.00855358826585,1.05971747945
+356,5.933333333,pose2_to_pose3_retreat,0.580134867462,-0.000122110426957,1.06005107484,0.550706500165,0.00855357372177,1.05971756802
+357,5.950000000,pose2_to_pose3_retreat,0.579744653247,-0.000122062913581,1.06005098062,0.55031628671,0.00855362395626,1.0597174775
+358,5.966666667,pose2_to_pose3_retreat,0.579379707968,-0.000122145759397,1.0600509763,0.549951341489,0.00855354122408,1.05971747093
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+362,6.033333333,pose2_to_pose3_retreat,0.578132243724,-0.000122072342899,1.06005098979,0.548703875709,0.00855360930935,1.05971748097
+363,6.050000000,pose2_to_pose3_retreat,0.577859966108,-0.00012204894059,1.06005106252,0.5484315978,0.00855363188618,1.05971755823
+364,6.066666667,pose2_to_pose3_retreat,0.57760278724,-0.000122180769039,1.06005097722,0.548174421619,0.0085535094572,1.05971748032
+365,6.083333333,pose2_to_pose3_retreat,0.577363295976,-0.000122251313446,1.06005110045,0.547934929636,0.00855343612214,1.0597175943
+366,6.100000000,pose2_to_pose3_retreat,0.577141559351,-0.000122165150273,1.0600509259,0.547713192905,0.00855352234249,1.05971743064
+367,6.116666667,pose2_to_pose3_retreat,0.576940452079,-0.000122269866517,1.06005060025,0.547512085179,0.00855341609166,1.05971710493
+368,6.133333333,pose2_to_pose3_retreat,0.576757935656,-0.000122172671852,1.06005082735,0.547329568898,0.00855351347659,1.05971732458
+369,6.150000000,pose2_to_pose3_retreat,0.576594625817,-0.000122188010373,1.06005086985,0.547166259086,0.00855349806182,1.05971736286
+370,6.166666667,pose2_to_pose3_retreat,0.576450239977,-0.000122223190748,1.06005071612,0.547021873567,0.00855346391767,1.05971720766
+371,6.183333333,pose2_to_pose3_retreat,0.576323092209,-0.00012224463592,1.06005080091,0.546894726675,0.00855344522204,1.05971728665
+372,6.200000000,pose2_to_pose3_retreat,0.57621111795,-0.000122262916787,1.0600507826,0.54678275187,0.0085534251373,1.05971726973
+373,6.216666667,pose2_to_pose3_retreat,0.576112204081,-0.000122159780099,1.06005074637,0.54668383577,0.00855352102523,1.05971724307
+374,6.233333333,pose2_to_pose3_retreat,0.57602617354,-0.000122005862174,1.06005100453,0.546597803914,0.00855367048872,1.05971750299
+375,6.250000000,pose2_to_pose3_retreat,0.575951565108,-0.000122160463191,1.06005113148,0.546523196963,0.00855352063388,1.05971762047
+376,6.266666667,pose2_to_pose3_retreat,0.575888120288,-0.000122138676283,1.06005107563,0.546459753183,0.00855354635458,1.0597175751
+377,6.283333333,pose2_to_pose3_retreat,0.575836609843,-0.000122066536532,1.0600510253,0.546408241881,0.00855361508873,1.05971751172
+378,6.300000000,pose2_to_pose3_retreat,0.575795020988,-0.000122178847888,1.0600511083,0.546366656219,0.00855351374207,1.05971759817
+379,6.316666667,pose2_to_pose3_retreat,0.575762200139,-0.000122169000715,1.06005093348,0.546333834822,0.00855352188499,1.05971742737
+380,6.333333333,pose2_to_pose3_retreat,0.575736272111,-0.000122179838871,1.06005093806,0.546307906427,0.00855350977172,1.05971743119
+381,6.350000000,pose2_to_pose3_retreat,0.57571662437,-0.000122202178124,1.06005105403,0.546288258237,0.00855348575547,1.05971754316
+382,6.366666667,pose2_to_pose3_retreat,0.575701216369,-0.000122186528832,1.06005110233,0.546272849788,0.00855349986096,1.05971759093
+383,6.383333333,pose2_to_pose3_retreat,0.575689699119,-0.000122121968925,1.06005097762,0.54626133301,0.00855356634911,1.05971747479
+384,6.400000000,pose2_to_pose3_retreat,0.575681665222,-0.000122233123482,1.06005098103,0.546253299153,0.00855345525844,1.05971747642
+385,6.416666667,pose2_to_pose3_retreat,0.575676220992,-0.000122189019909,1.06005076317,0.54624785271,0.00855349202772,1.05971726284
+386,6.433333333,pose2_to_pose3_retreat,0.575673348819,-0.00012223518716,1.06005092676,0.546244981981,0.00855345059228,1.05971742217
+387,6.450000000,pose2_to_pose3_retreat,0.575671718295,-0.000122282477062,1.06005112174,0.546243353195,0.00855340899969,1.059717612
+388,6.466666667,pose2_to_pose3_retreat,0.575670996733,-0.000122251360081,1.06005112817,0.546242631422,0.00855343931549,1.05971761616
+389,6.483333333,pose2_to_pose3_retreat,0.57567059441,-0.000122234010099,1.06005113176,0.546242228982,0.00855345621876,1.05971761847
+390,6.500000000,pose2_to_pose3_retreat,0.575670438752,-0.000122227297429,1.06005113315,0.546242073278,0.0085534627586,1.05971761937
+391,6.516666667,pose2_to_pose3_retreat,0.575670438368,-0.000122227280861,1.06005113315,0.546242072894,0.00855346277474,1.05971761937
+392,6.533333333,pose2_to_pose3_retreat,0.575670405472,-0.000122225862265,1.06005113344,0.546242039989,0.00855346415681,1.05971761956
+393,6.550000000,pose2_to_pose3_retreat,0.575670362785,-0.000122224021388,1.06005113382,0.546241997289,0.00855346595029,1.05971761981
+394,6.566666667,pose2_to_pose3_retreat,0.575670294948,-0.000122222241529,1.06005111333,0.546241929453,0.00855346775335,1.0597175999
+395,6.583333333,pose2_to_pose3_retreat,0.575670221697,-0.000122220597873,1.06005108608,0.546241856206,0.00855346944599,1.05971757347
+396,6.600000000,pose2_to_pose3_retreat,0.575670172616,-0.00012221949656,1.06005106782,0.546241807128,0.00855347058012,1.05971755576
+397,6.616666667,pose2_to_pose3_retreat,0.575670165728,-0.000122219342017,1.06005106526,0.546241800241,0.00855347073927,1.05971755328
+398,6.633333333,pose2_to_pose3_retreat,0.575670131083,-0.000122218564629,1.06005105237,0.546241765599,0.00855347153983,1.05971754078
+399,6.650000000,pose2_to_pose3_retreat,0.57567012865,-0.000122218510042,1.06005105147,0.546241763166,0.00855347159604,1.0597175399
+400,6.666666667,pose2_to_pose3_retreat,0.575670089279,-0.000122217626622,1.06005103682,0.546241723798,0.00855347250579,1.0597175257
+401,6.683333333,pose2_to_pose3_retreat,0.575670072782,-0.00012221725644,1.06005103068,0.546241707302,0.00855347288701,1.05971751975
+402,6.700000000,pose2_to_pose3_retreat,0.575670009451,-0.000122215835394,1.06005100712,0.546241643975,0.0085534743504,1.0597174969
+403,6.716666667,pose2_to_pose3_retreat,0.575669852635,-0.000122212316684,1.06005094879,0.546241487171,0.00855347797398,1.05971744032
+404,6.733333333,pose2_to_pose3_retreat,0.575669659565,-0.000122207984474,1.06005087696,0.546241294114,0.0085534824353,1.05971737066
+405,6.750000000,pose2_to_pose3_retreat,0.575669589014,-0.000122179640178,1.06005080965,0.546241222319,0.00855350653482,1.05971730273
+406,6.766666667,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750762,1.05971725023
+407,6.783333333,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750762,1.05971725023
+408,6.800000000,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750762,1.05971725023
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10cd7c7fe635ee020e41b9fd694f11527307ed1d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8832271e75f8c6b0bf7bfce3f58c1c979cb9527546ab7eaabc7b27727eedab64
+size 26045588
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7883f384f7871430b0492be7de2a3c30168ee43
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+23,0.383333333,BASELINE,765,745,713.661054126,679.338945874,658,634,879,786,804.338945874,652,631,651,0.400971901614,-0.00536103935267,0.0698309984201,0.999999938807,0.000218032260526,-0.000273192052291,1.46498462785e-05,1793244322673665024
+24,0.400000000,BASELINE,765,745,713.07081208,679.92918792,658,634,879,786,804.92918792,652,631,651,0.400971002768,-0.00536122477469,0.0698302477388,0.999999938515,0.000218068129207,-0.00027422641949,1.47244442558e-05,1793244322690331648
+25,0.416666667,BASELINE,765,745,713.508990462,679.491009538,658.508990462,634,879,786,804.491009538,651.491009538,631,651.508990462,0.400972051735,-0.00536159247249,0.0698305611915,0.999999938945,0.000217336428572,-0.000273255571628,1.43824263019e-05,1793244322706998784
+26,0.433333333,BASELINE,765,744.912916652,714,679,658.912916652,634,879.087083348,786,804.087083348,651,631,652,0.400972905403,-0.00536191123204,0.069830851974,0.999999939338,0.000216582861055,-0.000272430591121,1.4076201044e-05,1793244322723665664
+27,0.450000000,BASELINE,765,744.336433498,714,679,658.336433498,634,879.663566502,786,804.663566502,651,631,652,0.400971169209,-0.00536181531452,0.0698302000757,0.999999938979,0.000216294470257,-0.000273961648865,1.42903138298e-05,1793244322740332288
+28,0.466666667,BASELINE,764.761174855,744.238825145,714,679.238825145,658,634,879.761174855,786,805,651.238825145,631,652,0.400970823406,-0.00536141084625,0.0698301320163,0.999999938735,0.000217033907143,-0.000274259348874,1.43943336323e-05,1793244322756998912
+29,0.483333333,BASELINE,764.187632419,744.812367581,714,679.812367581,658,634,879.187632419,786,805,651.812367581,631,652,0.400972426258,-0.00536057393915,0.0698308822164,0.999999938652,0.000219213861119,-0.000272828478031,1.43440563309e-05,1793244322773665280
+30,0.500000000,BASELINE,764.398619689,745,714,679.601380311,658.398619689,634,879,786,805,652,630.601380311,652,0.400972967943,-0.00536007030511,0.0698313541752,0.999999938435,0.000221180219061,-0.00027204607718,1.41839377212e-05,1793244322790331648
+31,0.516666667,BASELINE,764.99105132,745,714,679.00894868,658.99105132,634,879,786,805,652,630.00894868,652,0.40097299368,-0.005359728711,0.0698316908509,0.999999938151,0.000223042724909,-0.000271578967444,1.39704134283e-05,1793244322806998272
+32,0.533333333,BASELINE,765,745,714,679.569917144,658.430082856,634,879,786,805,652,630,651.430082856,0.400973916776,-0.00536121651786,0.0698322271149,0.999999939313,0.000219319905944,-0.000270320348946,1.41351543969e-05,1793244322823664896
+33,0.550000000,BASELINE,765,744.852294864,714,679.852294864,658,634,879,786,805,652,630.147705136,651.147705136,0.400974347503,-0.00536211066095,0.0698325055002,0.999999940052,0.000216670122191,-0.000269716524752,1.42506700669e-05,1793244322840331520
+34,0.566666667,BASELINE,765,744.277024732,714,679.277024732,658,634,879,786,805,652,630.722975268,651.722975268,0.400973313116,-0.00536120509656,0.0698320285378,0.999999939541,0.000217374437848,-0.000271043286177,1.42068990439e-05,1793244322856998656
+35,0.583333333,BASELINE,765,744.304503581,714,679,658,634,879,786,805.304503581,652,631,652,0.400971998186,-0.00536075461787,0.069831611514,0.999999939216,0.00021746597911,-0.000272175741372,1.40253748164e-05,1793244322873665280
+36,0.600000000,BASELINE,765,744.891844864,714,679,658,634,879,786,805.891844864,652,631,652,0.400970422675,-0.00536072684477,0.0698312501642,0.999999939065,0.000216988345863,-0.000273127715665,1.37158987237e-05,1793244322890331904
+37,0.616666667,BASELINE,765,745,714,679,658,634,879,786,805.527159685,652,631,652,0.400971568906,-0.00536103111983,0.0698313680141,0.99999993877,0.000219466940275,-0.000272211728608,1.39790134613e-05,1793244322906998528
+38,0.633333333,BASELINE,765,745,714,679.052268254,658,634,878.947731746,786,805,652,631,652,0.400973123353,-0.00536138339187,0.0698315439049,0.999999938482,0.000222144416586,-0.000271078632699,1.43165795295e-05,1793244322923665152
+39,0.650000000,BASELINE,765,745,714,679.630336315,658,634,878.369663685,786,805,652,631,652,0.400972604544,-0.00536146457441,0.0698312156335,0.999999938684,0.000220110401392,-0.000272002742597,1.41030205196e-05,1793244322940331776
+40,0.666666667,BASELINE,765,744.792836728,714,680,658,634,878.207163272,786,805,652,631,652,0.400972406369,-0.00536137502686,0.0698311186758,0.999999938903,0.000218693170297,-0.000272346207903,1.39652084968e-05,1793244322956998400
+41,0.683333333,BASELINE,765,744.218211252,714,680,658,634,878.781788748,786,805,652,631,652,0.400972776932,-0.00536098264158,0.0698314320181,0.99999993916,0.000218369979027,-0.000271659737014,1.3961755027e-05,1793244322973665280
+42,0.700000000,BASELINE,764.634947712,744,714,680,658,634,878.634947712,786,805,652,631,651.634947712,0.400973089296,-0.00536060889345,0.0698317899299,0.999999939263,0.000218452690682,-0.000271217863347,1.39019189509e-05,1793244322990331904
+43,0.716666667,BASELINE,764.046395619,744,714,680,658,634,878.046395619,786,805,652,631,651.046395619,0.400973366028,-0.00536024655577,0.069832175129,0.999999939271,0.000218783912565,-0.000270925742033,1.38075631584e-05,1793244323006998784
+44,0.733333333,BASELINE,764,744.534055816,714,680,658,634,878,786,805.534055816,652,631,651.534055816,0.400972347941,-0.00536137299301,0.0698319569787,0.999999939481,0.000218123559033,-0.000270663925722,1.41924850864e-05,1793244323023665408
+45,0.750000000,BASELINE,764.112983778,745,714,679.887016222,658,634,878,786,805.887016222,652,631,651.887016222,0.400971747399,-0.00536232629866,0.0698318657509,0.999999939706,0.000217396233714,-0.000270400470258,1.44886118372e-05,1793244323040332288
+46,0.766666667,BASELINE,764.688512613,745,714,679.311487387,658,634,878,786,805.311487387,652,631,651.311487387,0.40097330987,-0.00536204924137,0.0698325055097,0.999999939928,0.00021674212132,-0.000270119687254,1.42533089254e-05,1793244323056998912
+47,0.783333333,BASELINE,765,745,714,679.266670047,658,634,878.266670047,786,805,652,631,651.266670047,0.400973984786,-0.00536186887615,0.0698328688038,0.999999939999,0.000216583199256,-0.000269994663921,1.40527184112e-05,1793244323073665280
+48,0.800000000,BASELINE,765,745,714,679.847928494,658,634,878.847928494,786,805,652,631,651.847928494,0.400973612659,-0.00536180257773,0.069832905955,0.999999939893,0.000217008448952,-0.000270053388917,1.38930777881e-05,1793244323090331904
+49,0.816666667,BASELINE,765,745,714,680.43395658,658,634.43395658,879,786.43395658,805,652,631,652,0.400973282044,-0.00536203176472,0.0698329637746,0.999999939936,0.000216781687029,-0.000270066019319,1.40482851042e-05,1793244323106998528
+50,0.833333333,BASELINE,765,745,714,680.978722821,658,634.978722821,879.021277179,786.978722821,805,652,630.978722821,652,0.400972952307,-0.0053623488862,0.0698329821788,0.999999939999,0.000216422053319,-0.000270107026181,1.43192845786e-05,1793244323123665152
+51,0.850000000,BASELINE,765,745,714,680.401781841,658,634.401781841,879.598218159,786.401781841,805,652,630.401781841,652,0.40097226138,-0.00536222822722,0.0698317799791,0.999999939187,0.000218625705459,-0.000271315627769,1.47008516385e-05,1793244323140332032
+52,0.866666667,BASELINE,764.82651496,744.82651496,714,680,658.17348504,634,879.82651496,786,805,652,630.17348504,652,0.400971900853,-0.00536207183247,0.0698313313438,0.999999938879,0.000219642744871,-0.000271622130152,1.48206388592e-05,1793244323156998912
+53,0.883333333,BASELINE,764.255088181,744.255088181,714,680,658.744911819,634,879.255088181,786,805,652,630.744911819,652,0.400972298201,-0.00536183346667,0.0698326112422,0.999999939737,0.000217937919873,-0.000269859388183,1.43399528144e-05,1793244323173665792
+54,0.900000000,BASELINE,764.317347696,744.317347696,714,679.682652304,658.682652304,634,879,786,805,652,631,652,0.400972591876,-0.00536073882383,0.0698327726051,0.999999939809,0.000218181847297,-0.000269418697357,1.38843393353e-05,1793244323190332416
+55,0.916666667,BASELINE,764.89059726,744.89059726,714,679.10940274,658.10940274,634,879,786,805,652,631,652,0.400972801952,-0.00535895369895,0.0698320320066,0.999999939248,0.000219997203839,-0.000270044078188,1.34489438188e-05,1793244323206998784
+56,0.933333333,BASELINE,765,745,714,679.482669945,658,634,879,786.482669945,805.482669945,652,631,652,0.400973597076,-0.00536043292963,0.0698327442866,0.999999939706,0.000218981197607,-0.000269162092591,1.36863837358e-05,1793244323223665152
+57,0.950000000,BASELINE,765,745,714,679.924212152,658,634,878.924212152,786.924212152,805.924212152,652,631,652,0.400974346713,-0.00536235092515,0.0698335534805,0.999999940265,0.000217587247276,-0.000268194967886,1.40390965936e-05,1793244323240331520
+58,0.966666667,BASELINE,765,745,714,679.353271505,658,634,878.353271505,786.353271505,805.353271505,652,631,652,0.400973897618,-0.00536210528514,0.0698327570133,0.999999939941,0.000218087071376,-0.000268994396986,1.41081171657e-05,1793244323256998400
+59,0.983333333,BASELINE,765,744.780036578,714,679.219963422,658.219963422,634,878.219963422,786,805,652,631,652,0.400973461799,-0.00536169344887,0.069832088162,0.999999939589,0.000218664705745,-0.00026983059497,1.41072425268e-05,1793244323273665280
+60,1.000000000,BASELINE,765,744.203078002,714,679.796921998,658.796921998,634,878.796921998,786,805,652,631,652,0.400973047526,-0.00536101188019,0.0698316264279,0.999999939194,0.00021936862432,-0.000270726468059,1.39929297126e-05,1793244323290332160
+61,1.016666667,BASELINE,765,744,714,680,658.613385959,634,879,786,805,652,631,652,0.400971919761,-0.00536074777569,0.0698309530203,0.999999938906,0.000219270010172,-0.000271872435381,1.39562974613e-05,1793244323306998784
+62,1.033333333,BASELINE,765,744,714,680,658.016777606,634,879,786,805,652,631,652,0.400970404454,-0.00536071042219,0.0698301646396,0.999999938673,0.000218735490174,-0.000273154244496,1.39618583983e-05,1793244323323665152
+63,1.050000000,BASELINE,765,744,714,680,658,634,879,786,805,652,631,652,0.400971296936,-0.00536141241407,0.0698313563169,0.999999939349,0.000218093414112,-0.000271190855458,1.38583799637e-05,1793244323340331776
+64,1.066666667,BASELINE,765,744.135009589,714,680,658,634.135009589,879,786,805,652,631,652,0.400972340896,-0.00536159333361,0.069832466207,0.999999939809,0.000218158038368,-0.000269443531813,1.37735684782e-05,1793244323356998400
+65,1.083333333,BASELINE,765,744.712328746,714,680,658,634.712328746,879,786,805,652,631,652,0.400973652872,-0.00535999706303,0.0698331204492,0.999999939482,0.00022054810383,-0.000268711699693,1.37602489411e-05,1793244323373665024
+66,1.100000000,BASELINE,765,744.704611477,714,680,658,634.704611477,879,786,805,652,630.704611477,652,0.400974058368,-0.00535945729597,0.069833312644,0.999999939342,0.000221442700302,-0.000268489730203,1.38564677717e-05,1793244323390331904
+67,1.116666667,BASELINE,765,744.115850289,714,680,658,634.115850289,879,786,805,652,630.115850289,652,0.400973563572,-0.00535996682248,0.0698330459444,0.999999939394,0.000220852033369,-0.000268774143863,1.40614774334e-05,1793244323406998528
+68,1.133333333,BASELINE,765,744.46410393,714,680,658,634,878.53589607,786.46410393,805.46410393,652,630.46410393,652,0.400972532714,-0.0053608285387,0.0698321714352,0.999999939185,0.000220413256564,-0.000269909281474,1.40504492962e-05,1793244323423665408
+69,1.150000000,BASELINE,765,745,714,680,658,634,878.042015834,786.957984166,805.957984166,652,631,652,0.400971359651,-0.00536170515345,0.0698311492573,0.999999938901,0.000219942214095,-0.000271342549802,1.39923351857e-05,1793244323440332032
+70,1.166666667,BASELINE,765,745,714,680,658,634,878.621399943,786.378600057,805.378600057,652,631,652,0.400970047372,-0.00536166886237,0.069830142788,0.999999938496,0.000218582615322,-0.000273923388636,1.40088795443e-05,1793244323456998912
+71,1.183333333,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400969782375,-0.00536134203061,0.0698300015567,0.999999938403,0.000218279884498,-0.000274500902168,1.40381129291e-05,1793244323473665536
+72,1.200000000,BASELINE,765,745,714,680,658,634,879,786,805,652,631,652,0.400971492144,-0.00536046735281,0.0698314918256,0.999999938905,0.000219969992839,-0.000271300928527,1.40912728552e-05,1793244323490331904
+73,1.216666667,BASELINE,765,745,714,680,658,634,879,786,805,652,630.648139414,652,0.4009721262,-0.00536061450808,0.0698317891391,0.999999939325,0.000219280443767,-0.000270322844516,1.38572798243e-05,1793244323506998784
+74,1.233333333,BASELINE,765,745,714,680,658,634,879,786,805,652,630.055621929,652,0.400972024516,-0.00536146055151,0.0698312705242,0.99999993969,0.00021696331538,-0.000270864433806,1.34268870138e-05,1793244323523665408
+75,1.250000000,BASELINE,765,745,714,679.475404698,658.524595302,634,878.475404698,786,804.475404698,652,630.524595302,651.475404698,0.40097269377,-0.00536040528911,0.0698322852136,0.999999939638,0.000218158933878,-0.00027009287496,1.34666250342e-05,1793244323540332032
+76,1.266666667,BASELINE,765,745,714.102764365,679.102764365,658.897235635,634,878.102764365,786.102764365,804.102764365,652,631,651,0.400973536665,-0.00535962289701,0.0698332971365,0.999999939604,0.000219520879902,-0.000269104003965,1.36056031519e-05,1793244323556998656
+77,1.283333333,BASELINE,765,745,714.677380113,679.677380113,658.322619887,634,878.677380113,786.677380113,804.677380113,652,631,651,0.400974810122,-0.00536099783384,0.069833566988,0.999999939865,0.000219975573989,-0.000267741969762,1.39766167599e-05,1793244323573665280
+78,1.300000000,BASELINE,765,744.748121381,714.748121381,680,658.251878619,634,878.748121381,786.748121381,805,652,631,651.251878619,0.400974610758,-0.00536108441804,0.0698332867722,0.999999939676,0.000220603994795,-0.000267924125138,1.4108554465e-05,1793244323590332160
+79,1.316666667,BASELINE,765,744.173773021,714.173773021,680,658.826226979,634,878.173773021,786.173773021,805,652,631,651.826226979,0.400972525804,-0.00535952157773,0.0698323023283,0.999999938909,0.000221454830671,-0.000270083242442,1.3934413186e-05,1793244323606999040
+80,1.333333333,BASELINE,765,744,714,679.586520942,658.586520942,634,878.413479058,786.413479058,805,652,631,652,0.400972460128,-0.00535840329572,0.0698322649613,0.99999993863,0.000222661715257,-0.000270129589471,1.38256147789e-05,1793244323623665664
+81,1.350000000,BASELINE,765,744.006160068,714,679.006160068,658,634.006160068,879,786.993839932,805,652,631,652,0.400973268259,-0.00535751263668,0.0698326440941,0.999999938573,0.000223978607924,-0.000269255603243,1.37498116486e-05,1793244323640332032
+82,1.366666667,BASELINE,765,744.583191874,714,679.583191874,658,634.583191874,879,786.416808126,805,652,631,652,0.400973874954,-0.00535984420238,0.069833546798,0.999999939521,0.000221176278144,-0.000268029895783,1.41048437108e-05,1793244323656998656
+83,1.383333333,BASELINE,765,744.840323993,714.159676007,680,658,634.840323993,879,786,804.840323993,652,631,651.840323993,0.400974305856,-0.00536144302937,0.0698341774512,0.999999940195,0.000219169252382,-0.000267154352417,1.42825446533e-05,1793244323673665280
+84,1.400000000,BASELINE,765,744.265264458,714.734735542,680,658,634.265264458,879,786,804.265264458,652,631,651.265264458,0.400974279453,-0.00536113569951,0.0698341003877,0.999999940176,0.000219231141659,-0.000267189730852,1.39989338746e-05,1793244323690331904
+85,1.416666667,BASELINE,765,744,714.681850308,680,658,634,879,786,804.318149692,652,631,651.318149692,0.400973673226,-0.0053612509162,0.0698334903631,0.999999939979,0.000219027187862,-0.000268090622302,1.39868680819e-05,1793244323706998528
+86,1.433333333,BASELINE,765,744,714.091282489,680,658,634,879,786,804.908717511,652,631,651.908717511,0.40097257052,-0.00536172794164,0.0698324239866,0.999999939629,0.00021859560388,-0.00026973261594,1.42073147937e-05,1793244323723665408
+87,1.450000000,BASELINE,765,744.486935935,714,680,658,634,879,786,805.973871869,652,631,652,0.40097381655,-0.00536178525695,0.0698334893391,0.999999940293,0.000217453972932,-0.000268190466815,1.42067083526e-05,1793244323740331776
+88,1.466666667,BASELINE,764.937080157,745,714,680,658,634,879,786,806.874160314,652,630.937080157,652,0.400975176897,-0.00536177088779,0.0698346511241,0.999999940967,0.000216470825516,-0.000266468409497,1.41541699186e-05,1793244323756998656
+89,1.483333333,BASELINE,764.36090634,745,714,680,658,634,879,786,805.72181268,652,630.36090634,652,0.400973966944,-0.00536179770945,0.0698334203538,0.999999940256,0.00021783940836,-0.000268027505548,1.40076788245e-05,1793244323773665280
+90,1.500000000,BASELINE,764,744.78517369,714,679.78517369,658,634,878.78517369,786,805.21482631,651.78517369,630.21482631,652,0.400972896062,-0.00536142729036,0.0698325563474,0.999999939652,0.000218856860438,-0.000269456523328,1.38216573591e-05,1793244323790332160
+91,1.516666667,BASELINE,764,744.210180735,714,679.210180735,658,634,878.210180735,786,805.789819265,651.210180735,630.789819265,652,0.400972058341,-0.00536039087803,0.0698323072384,0.999999939234,0.000219285624757,-0.000270667458473,1.356936134e-05,1793244323806998784
+92,1.533333333,BASELINE,764.377521133,744.377521133,714,679,658.377521133,634,878.377521133,786.377521133,805.622478867,651.377521133,631,652,0.400972292517,-0.00536044257226,0.0698323757176,0.999999939117,0.000220117084134,-0.000270421087714,1.36491545864e-05,1793244323823665408
+93,1.550000000,BASELINE,764.972545095,744.972545095,714,679,658.972545095,634,878.972545095,786.972545095,805.027454905,651.972545095,631,652,0.40097314425,-0.00536112116177,0.0698326271701,0.999999939172,0.000221180549939,-0.000269335113322,1.39202757867e-05,1793244323840332032
+94,1.566666667,BASELINE,765,745,714,679.548912113,658.451087887,634,879,786.451087887,805,652,631,652,0.400973245326,-0.00536053374071,0.0698328377322,0.999999939217,0.000221122580426,-0.000269224586358,1.37216802898e-05,1793244323856998400
+95,1.583333333,BASELINE,765,745,714,680,658,634,879,786.123599829,805,652,631,652,0.400972985067,-0.00536001887936,0.0698327529733,0.999999939122,0.000221247181758,-0.000269484046485,1.35623783842e-05,1793244323873665024
+96,1.600000000,BASELINE,765,745,714,680,658,634,879,786.695470367,805,652,631,652,0.400971546011,-0.00535998928313,0.0698316043211,0.999999938517,0.000222230671689,-0.000270914241756,1.36279922158e-05,1793244323890332160
+97,1.616666667,BASELINE,765,745,714,680,658,634,879,786.72220572,805,652,631,652,0.400971461655,-0.00536019900671,0.0698315967069,0.999999938652,0.000221752182103,-0.000270796796805,1.38283549164e-05,1793244323906998784
+98,1.633333333,BASELINE,765,745,714,680,658,634,879,786.127974341,805,652,631,652,0.400972920445,-0.0053606813409,0.0698328888556,0.999999939627,0.000219608342976,-0.000268916425676,1.41822108434e-05,1793244323923665152
+99,1.650000000,BASELINE,765.453071191,745,714,680,658.453071191,634,878.546928809,786,805,652,631,652,0.400973506159,-0.00536127855741,0.0698332141377,0.999999940005,0.000217884321474,-0.00026892039392,1.41086001725e-05,1793244323940331776
+100,1.666666667,BASELINE,765.969501053,745,714,680,659,634.030498947,878,786,805,652,631,651.969501053,0.400973796319,-0.00536174366858,0.0698332624823,0.999999940159,0.000216579067549,-0.00026940803678,1.39269357138e-05,1793244323956998656
+101,1.683333333,BASELINE,765.392048639,745,714,680,659,634.607951361,878,786,805,652,631,651.392048639,0.400973083638,-0.00535927418736,0.0698331035187,0.999999939285,0.000220717345475,-0.000269294492089,1.3911580866e-05,1793244323973665280
+102,1.700000000,BASELINE,765,745,714,680,659,634.815583599,878,786,805,652,631,651,0.400972720244,-0.00535813725903,0.0698331417838,0.999999938896,0.000222837936225,-0.000268992074793,1.39223093004e-05,1793244323990331648
+103,1.716666667,BASELINE,765,745,714,680,659,634.241206499,878,786,805,652,631,651,0.400973095437,-0.0053598181024,0.0698335971019,0.99999993956,0.000220691993222,-0.00026829027388,1.39881925658e-05,1793244324006998272
+104,1.733333333,BASELINE,765,745,714,680,658.657467089,634,878,786,805,652,631,651.342532911,0.400972704788,-0.00536039242456,0.0698331644748,0.999999939525,0.000220129919831,-0.000268882155774,1.39598058822e-05,1793244324023664896
+105,1.750000000,BASELINE,765,745,714,680,658.066949558,634,878,786,805,652,631,651.933050442,0.40097175969,-0.0053601656553,0.0698320889993,0.999999938985,0.000220714525241,-0.000270410629168,1.38631702966e-05,1793244324040331776
+106,1.766666667,BASELINE,765.512892071,744.487107929,714,680,658.512892071,634,878,786.512892071,805,652,631,651.487107929,0.400973325002,-0.00536087825499,0.069833642655,0.999999939655,0.000220294318321,-0.000268251489731,1.41638924697e-05,1793244324056998656
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,786,805,652,631,652,0.400976271944,-0.00535965545078,0.0698358488167,0.999999940674,0.000221369442486,-0.000263536280782,1.40307350871e-05,1793244324100143616
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.591853256,659,634.591853256,878.591853256,786.591853256,805,652,631,652,0.400974289731,-0.00536121877776,0.0698342174863,0.999999939838,0.000221644145947,-0.000266453331224,1.41709252897e-05,1793244324116810496
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.820335484,879,787,804.820335484,652,631,652,0.400972583971,-0.00536234302492,0.0698327951004,0.999999939378,0.000220710725731,-0.000268944611956,1.41391912365e-05,1793244324133477376
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.241504345,879,787,804.241504345,652,631,652,0.400971492416,-0.00536249175418,0.0698318369329,0.999999939759,0.000217093177082,-0.000270489946549,1.3725487383e-05,1793244324150144000
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.665075782,634,879,786.665075782,804.334924218,652,630.665075782,652,0.400972023754,-0.00536227851283,0.0698322098564,0.999999940002,0.000216628043148,-0.000269960062791,1.37768328669e-05,1793244324166810624
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.090367342,634,879,786.090367342,804.909632658,652,630.090367342,652,0.400973716979,-0.00536180612377,0.0698335357556,0.999999940149,0.000218419835821,-0.000267944455937,1.41611238211e-05,1793244324183477248
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.515121008,658,634,878.515121008,786,805,651.515121008,630.484878992,652,0.400973872245,-0.00536149632384,0.0698330516457,0.999999940138,0.000218074274168,-0.000268279465111,1.39348571644e-05,1793244324200143872
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.061935011,658,634.061935011,878.061935011,786,805,651.061935011,631,652,0.400973806597,-0.00536142071083,0.0698324524075,0.999999940171,0.000217185054155,-0.000268891791308,1.36570185896e-05,1793244324216810496
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.653611212,658,634.653611212,878.653611212,786,805,651.653611212,631,652,0.400974305754,-0.00536308867518,0.0698337569293,0.999999940833,0.000215056689936,-0.000268124866479,1.39124247921e-05,1793244324233476864
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.760994086,879,786,805,652,631,652,0.400977715343,-0.00536323153721,0.0698362944495,0.99999994161,0.00021528439885,-0.000265011020759,1.41762655467e-05,1793244324250143232
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.184470012,879,786,805,652,631,652,0.400985234971,-0.00536122068785,0.0698405731791,0.999999942518,0.000218839295353,-0.000258582912246,1.44520173422e-05,1793244324266809856
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.608103781,714,679.608103781,658,634,879,786,805.391896219,652,630.608103781,652,0.401006612595,-0.00536141951505,0.0698493823381,0.999999946172,0.000219566233308,-0.000243364651226,1.48160632916e-05,1793244324283476736
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.031811768,714,679.031811768,658,634,879,786,805.968188232,652,630.031811768,652,0.401034510711,-0.00536265804353,0.0698603231643,0.999999950822,0.000218962554787,-0.000224010429384,1.52216536032e-05,1793244324300143360
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679.541727059,658.541727059,634,878.458272941,786,805.458272941,652,630,652,0.401086031663,-0.00536487570751,0.0698785170928,0.999999957825,0.000216824309144,-0.000192586937566,1.57504430196e-05,1793244324316809984
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.119196394,714,680,659,634,878.119196394,786.119196394,805,652,630,652,0.401140707693,-0.00536701103173,0.0698954334178,0.999999963164,0.000214901858994,-0.000165013450628,1.61163576852e-05,1793244324333477120
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.712955045,714,680,659,634,878.712955045,786.712955045,805,652,630,652,0.401202450197,-0.00536859077286,0.0699055759927,0.999999964833,0.000214195527498,-0.000155575642436,1.58051537627e-05,1793244324350143744
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.700623457,805,652,630.299376543,652,0.401270122463,-0.00536926902792,0.0699111430902,0.999999965885,0.000214543677953,-0.000148256226501,1.48585139377e-05,1793244324366810368
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.121068636,805,652,630.878931364,652,0.401343344225,-0.00536910360684,0.0699124281236,0.999999966397,0.000215878689138,-0.000142919356233,1.33171871344e-05,1793244324383476992
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.455549906,745,714,680,658.544450094,634,879,786.455549906,805,652,631,652,0.401430473227,-0.00537097746444,0.0699096294996,0.999999966397,0.000212814237546,-0.000147631586846,1.0986050959e-05,1793244324400143616
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.968000665,745,714,680,658,634,879,786.968000665,805,652,631,652,0.401522443803,-0.00537322087362,0.0699059247169,0.999999966184,0.000208867025841,-0.000154710255631,8.44303590512e-06,1793244324416809984
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.381036999,745,714,680,658,634,879,786.381036999,805,652,631,652,0.401634691934,-0.00537253429192,0.0699052060272,0.999999965689,0.000209757979515,-0.000156808982563,5.84243320747e-06,1793244324433476608
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.204274903,745,714,680,658,634,879,786.204274903,805,652,631,652,0.401760579043,-0.00537386510356,0.0699059542477,0.99999996612,0.000208264094398,-0.000156127864265,3.08518932602e-06,1793244324450143488
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.786530397,745,714,680,658,634,879,786.786530397,805,652,631,652,0.401911703058,-0.00537892880419,0.0699094167692,0.99999996823,0.00020235741661,-0.000150303051988,3.81043176986e-08,1793244324466810624
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.636239784,745,714,679.636239784,658.363760216,634,879,786.636239784,805,651.636239784,630.636239784,652,0.402083654063,-0.00538207903764,0.0699143288601,0.999999970522,0.00019727240858,-0.000141511845428,-3.68622240042e-06,1793244324483477248
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.061918993,745,714,679.061918993,658.938081007,634,879,786.061918993,805,651.061918993,630.061918993,652,0.402267660669,-0.00538412167177,0.0699200800265,0.999999972829,0.000192663018935,-0.000131003557505,-7.80256699566e-06,1793244324500144128
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.513051655,659,634.513051655,879,786,805,651.513051655,630.513051655,652,0.402482365587,-0.00538815747609,0.0699243312852,0.999999975025,0.000186319488149,-0.000122836908272,-1.20487646121e-05,1793244324516810496
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.090306771,680,659,635,879,786,805,652,631,652,0.402704178755,-0.00539245462264,0.0699279124808,0.999999977047,0.000179536366241,-0.000115770406969,-1.64304967711e-05,1793244324533476608
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714.679754709,680,659,635,879,786,805,652,631,652,0.402944776907,-0.00539686500134,0.0699287919226,0.999999978657,0.000171481791435,-0.000113220612815,-2.14746236996e-05,1793244324550143232
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.735133871,679.735133871,659,634.735133871,879,786.264866129,805,652,631,652,0.403210214396,-0.00540162227706,0.0699333946721,0.999999980827,0.000164276234165,-0.000103256330473,-2.64153691618e-05,1793244324566809856
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714.155181238,679.155181238,659,634.155181238,879,786.844818762,805,652,631,652,0.403505200912,-0.00540679222351,0.0699424266932,0.99999998345,0.000158080674231,-8.44717239663e-05,-3.12331310379e-05,1793244324583476736
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.581240107,714,679.418759893,659,634,879,786.581240107,805,652,631,651.581240107,0.403821156409,-0.00541262839481,0.0699498316798,0.999999985609,0.000149002142476,-7.25426606045e-05,-3.62995387944e-05,1793244324600143616
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.009495162,714,679.990504838,659,634,879,786.009495162,805,652,631,651.009495162,0.404144772472,-0.00541870795713,0.0699566422636,0.999999987506,0.0001388703782,-6.31181250183e-05,-4.14567839435e-05,1793244324616810752
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.580883762,744,714,680,659,634,879,786.580883762,805,652,631,651.580883762,0.404501086932,-0.00542345213489,0.0699555403931,0.99999999571,4.18975663516e-05,-6.8044770847e-05,-4.68525368239e-05,1793244324633477632
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.831884818,744.168115182,714,680,659.168115182,634,879.168115182,786.831884818,805,652,631,651.831884818,0.404871735831,-0.00542775769076,0.0699560646851,0.999999996529,-4.53622820301e-06,-6.92745540686e-05,-4.60603603419e-05,1793244324650144256
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.253110665,744.746889335,714,680,659.746889335,634,879.746889335,786.253110665,805,652,631,651.253110665,0.405276050872,-0.00543104690133,0.0699608876495,0.999999994799,7.60652449572e-05,-6.0881904666e-05,-3.0142941931e-05,1793244324666810624
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.675239086,634,879.675239086,786.324760914,805,652,631,651.324760914,0.405700839488,-0.00543366752007,0.0699661209945,0.999999992645,0.000106709141351,-5.08468128132e-05,-2.71605065386e-05,1793244324683478016
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.09806894,634,879.09806894,786.90193106,805,652,631,651.90193106,0.406141540527,-0.0054357684992,0.069971673294,0.999999993779,9.85252412104e-05,-3.95351884663e-05,-3.42313394784e-05,1793244324700145664
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.52199615,634,879,787,805,652,631,652,0.406590845663,-0.00544637615929,0.0699563489171,0.999999994533,7.10450519063e-05,-6.688871105e-05,-3.7592651751e-05,1793244324716811520
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.944954798,745,714,680,658,634,879,786.944954798,805,651.944954798,631,651.944954798,0.407048690598,-0.00545970742788,0.0699379012906,0.999999993457,4.07485680038e-05,-9.92538568424e-05,-3.96682696995e-05,1793244324733477376
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.356347354,745,714,680,658,634,879,786.356347354,805,651.356347354,631,651.356347354,0.407572241876,-0.00548256074212,0.0699306014891,0.999999993745,2.14395770954e-05,-0.000103480891294,-3.6641608704e-05,1793244324750144256
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.22854803,745,714,680.22854803,658.22854803,634,879,786.22854803,805,651,631,651.22854803,0.408124738402,-0.00550407023785,0.0699326785419,0.99999999511,-1.14146180174e-06,-9.2481522108e-05,-3.50242266679e-05,1793244324766811136
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.807748113,745,714,680.807748113,658.807748113,634,879,786.807748113,805,651,631,651.807748113,0.408721644425,-0.00552351796548,0.0699491421258,0.999999997265,-2.87426712272e-05,-5.81208936077e-05,-3.55690448353e-05,1793244324783477760
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.610642066,714,680.610642066,659,634,879,786.610642066,805,651.389357934,631,652,0.409306599364,-0.00552906616596,0.0699545697236,0.999999997695,-3.83208768468e-05,-4.25229945559e-05,-3.65110092337e-05,1793244324800144640
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.027835005,714,680.027835005,659,634,879,786.027835005,805,651.972164995,631,652,0.409885616492,-0.0055277085058,0.0699545141864,0.999999997876,-3.89445078481e-05,-3.62471966735e-05,-3.76502923134e-05,1793244324816811264
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.540194569,714,680.540194569,659,634,879,786,805,652,631,652,0.410514033408,-0.00553787194494,0.0699468733169,0.999999997144,-4.27338819207e-05,-4.89165303114e-05,-3.8635223036e-05,1793244324833477888
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.888039282,659,634.111960718,879,786,805,651.888039282,631,652,0.41115764184,-0.00554779808474,0.0699432067012,0.999999996429,-4.94792127005e-05,-5.59345015691e-05,-3.95738168474e-05,1793244324850144256
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.297117751,659,634.702882249,879,786,805,651.297117751,631,652,0.411855639077,-0.00555423707046,0.0699581692224,0.999999996259,-6.81906859086e-05,-3.47113803287e-05,-4.03473023339e-05,1793244324866810624
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.711218344,714,680,658.711218344,634.711218344,879.288781656,786.288781656,805,651.288781656,631,652,0.412577966809,-0.00556157465367,0.0699809373983,0.99999999585,-8.17448423562e-05,-1.52094309367e-07,-4.02198968906e-05,1793244324883477504
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.130397638,714,680,658.130397638,634.130397638,879.869602362,786.869602362,805,651.869602362,631,652,0.413324899563,-0.00556982097111,0.0700115992769,0.999999994028,-9.00835108059e-05,4.78937880517e-05,-3.91814387123e-05,1793244324900144896
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.88829587,634,880,786.555852065,805,652,631,652,0.414058870271,-0.00555591291839,0.0700221080125,0.999999994741,-7.15304728174e-05,6.27017794621e-05,-3.83263993651e-05,1793244324916811776
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.01691445,714,680.01691445,659.98308555,634,879.98308555,786.01691445,805,651.98308555,630.98308555,652,0.41478817786,-0.00553529513261,0.0700249607457,0.999999996175,-4.49898093576e-05,6.48478896081e-05,-3.76834120432e-05,1793244324933478144
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.590920365,714,680.590920365,659.409079635,634,879.409079635,786.590920365,805,651.409079635,630.409079635,652,0.415487495519,-0.00550492714575,0.069967815591,0.999999998489,-1.17806756912e-05,-3.31144493815e-05,-4.2275646205e-05,1793244324950144256
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.828307742,659,634,879.171692258,786.828307742,805.171692258,651.171692258,630.171692258,652,0.416221995492,-0.00548730219341,0.069924823756,0.999999993301,4.72542961454e-06,-0.000105933288026,-4.64105847706e-05,1793244324966810624
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.230753701,659,634,879.769246299,786.230753701,805.769246299,651.769246299,630.769246299,652,0.417043760876,-0.00550128479166,0.0699169375146,0.999999991802,-2.01982996774e-05,-0.000116386724008,-4.94112578429e-05,1793244324983477248
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.647075563,786,806,651.647075563,630.647075563,651.647075563,0.417879408387,-0.0055139728905,0.0699339797515,0.99999999419,-3.65244558809e-05,-8.9041240681e-05,-4.85470560182e-05,1793244325000143616
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.072126762,786,806,651.072126762,630.072126762,651.072126762,0.418723789099,-0.00552584662068,0.0699667044661,0.999999997132,-4.74418875976e-05,-3.79164995261e-05,-4.52514655746e-05,1793244325016809984
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,806,651.500081775,630,651.500081775,0.419586075595,-0.00553189723671,0.0699939002578,0.999999997496,-5.45897158529e-05,3.14910819665e-06,-4.49116127946e-05,1793244325033476864
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.074744894,786,805.925255106,652,630.074744894,651.925255106,0.420454017077,-0.00553671169231,0.0700184697267,0.999999996348,-6.10231569767e-05,3.94512794563e-05,-4.49795073394e-05,1793244325050143744
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.66920814,786,805.33079186,652,630.66920814,651.33079186,0.421343419353,-0.00553873880365,0.0700302922986,0.999999995409,-6.62490945503e-05,5.26651314623e-05,-4.49345147384e-05,1793244325066811136
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.743361061,786,805.256638939,652,630.743361061,651.256638939,0.422204092885,-0.00553546655098,0.0700208516756,0.999999996243,-6.54588594947e-05,3.29346386215e-05,-4.62983506396e-05,1793244325083478016
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.164752816,786,805.835247184,652,630.164752816,651.835247184,0.423028724564,-0.0055255459211,0.069984735071,0.999999996751,-5.71209670486e-05,-2.81265557778e-05,-4.94296482697e-05,1793244325100144128
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.410862249,714,680,659.410862249,634,879,786.410862249,806,651.589137751,630.410862249,652,0.423831042241,-0.00552020370436,0.069915537709,0.999999988201,-5.60021293413e-05,-0.000132226282169,-5.45797038681e-05,1793244325116810496
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.985285717,714,680,659.985285717,634,879,786.985285717,806,651.014714283,630.985285717,652,0.42462447683,-0.00551668412056,0.0698331711446,0.999999964379,-5.77571437018e-05,-0.000253459324134,-6.05334112352e-05,1793244325133476864
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.853697137,714,680.573151432,659.426848568,634,879.573151432,786.426848568,806,651,631,652,0.425555721009,-0.00552474008159,0.06987599182,0.999999980004,-6.72541160586e-05,-0.000178391175227,-6.03760618334e-05,1793244325150143744
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.841417657,744.158582343,714,681,659,634,880,786.158582343,806,651,630.841417657,652,0.426498951942,-0.00553157596444,0.069925833547,0.999999990591,-7.38773167961e-05,-9.96965576672e-05,-5.84886757949e-05,1793244325166810368
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.263361941,744.736638059,714,681,659,634,880,786.736638059,806,651,630.263361941,652,0.427464306439,-0.00553437961479,0.0699855416234,0.999999995692,-7.23606083129e-05,-2.50599283574e-05,-5.24500463842e-05,1793244325183476992
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.314655887,745,714,681,659.629311773,634,879.685344113,787,806,651,630,652,0.428413616449,-0.00553568573762,0.0700256493396,0.999999995508,-7.33955426727e-05,3.26381531304e-05,-5.03190796496e-05,1793244325200143616
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.892641976,745,714,681,660.785283952,634,879.107358024,787,806,651,630,652,0.42934949905,-0.00553573860478,0.070049353842,0.999999992845,-7.65659040918e-05,7.61606459293e-05,-5.14583702825e-05,1793244325216810752
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.530249704,660.060499408,634,879.469750296,786.530249704,806,651,630,651.530249704,0.430236089082,-0.00553600960814,0.0700393646715,0.999999993511,-7.83081217156e-05,6.32301754579e-05,-5.33554525769e-05,1793244325233477120
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.047480764,880,786.047480764,806,651.047480764,630.047480764,651.047480764,0.43110113845,-0.00553628162121,0.0700166646227,0.999999994928,-7.9197542223e-05,2.82785543529e-05,-5.54185655082e-05,1793244325250143488
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.634556713,880,786.634556713,806,651.634556713,630.634556713,651.634556713,0.431849175719,-0.00553599960587,0.069936860293,0.999999989493,-7.40977103992e-05,-0.000110582070289,-5.74040097554e-05,1793244325266810112
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.781264046,714,680.218735954,659.218735954,634.781264046,880,787,806,652,631,651.781264046,0.432668320341,-0.00553560515282,0.0698934901713,0.999999979395,-7.15382539761e-05,-0.000180584742278,-5.90036724028e-05,1793244325283476736
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.201861003,714,680.798138997,659.798138997,634.201861003,880,787,806,652,631,651.201861003,0.433604711842,-0.0055350253046,0.0699101952987,0.999999986134,-7.31675465936e-05,-0.000137049647072,-5.99672331829e-05,1793244325300143616
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.624759931,744.375240069,714,681,660,634,880,786.624759931,806,651.624759931,631,651.375240069,0.434521790248,-0.00553744754072,0.0699535423054,0.99999999311,-7.96492870711e-05,-6.31105936684e-05,-5.87597754429e-05,1793244325316810240
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.048889692,744.951110308,714,681,660,634,880,786.048889692,806,651.048889692,631,651.951110308,0.435428542436,-0.00554147490582,0.0700111339645,0.999999994107,-8.8725492539e-05,2.70845874386e-05,-5.63915355587e-05,1793244325333476864
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.532842181,745,714,681.532842181,660,634,880,786,806,651,631,652,0.436275621402,-0.00554750135101,0.0700329414546,0.999999992371,-8.95426488731e-05,6.54333547667e-05,-5.44012130989e-05,1793244325350144000
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,630.885017975,652,0.437109017208,-0.00555223435572,0.0700417072633,0.99999999086,-8.98951726313e-05,8.56439217735e-05,-5.35099198207e-05,1793244325366811136
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,630.303429372,652,0.437909351446,-0.00555096585502,0.0700110209257,0.999999992856,-9.14715581314e-05,5.17673840016e-05,-5.69362991818e-05,1793244325383477760
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.722412906,786,806.277587094,651,630.277587094,652,0.43866925521,-0.00554922516712,0.0699605739056,0.999999993959,-8.95759656299e-05,-2.27456341235e-05,-5.95082259158e-05,1793244325400144384
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.142020592,786,806.857979408,651,630.857979408,652,0.439385055432,-0.00554696939502,0.0698885709941,0.999999984588,-8.38929732221e-05,-0.000141586857932,-6.11480742479e-05,1793244325416810496
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.564945315,634,879,786,806.564945315,651,631,652,0.440087591204,-0.00554697835175,0.0698374799274,0.999999969167,-8.78062591109e-05,-0.00022342378757,-6.3547160842e-05,1793244325433476864
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,634,879.011250915,786,806,651,631,652,0.440787126119,-0.00554772989796,0.0697948866722,0.999999951134,-9.45997969104e-05,-0.000290545910515,-6.60812339797e-05,1793244325450143488
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,634,879.597439402,786,806,651,631,652,0.441552909511,-0.0055489351473,0.0698403382023,0.999999970158,-8.97072934805e-05,-0.000218344108386,-6.29437533504e-05,1793244325466810112
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682.181312129,659,634,880,786,806.181312129,651.181312129,631,651.818687871,0.442296678105,-0.00554906765351,0.0698764764627,0.999999980745,-8.58608591647e-05,-0.000165656936237,-6.0798815755e-05,1793244325483476992
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682.76010821,659,634,880,786,806.76010821,651.76010821,631,651.23989179,0.44299218461,-0.00554684842443,0.0698921975909,0.999999982467,-8.43076838579e-05,-0.000155750962349,-6.08297939776e-05,1793244325500143872
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658.662557723,633.662557723,880,786,806.662557723,652,631,651.337442277,0.443652768997,-0.00554654295181,0.0698776654716,0.999999977258,-8.25112028198e-05,-0.000186950608465,-6.1043005625e-05,1793244325516810752
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658.08625857,633.08625857,880,786,806.08625857,652,631,651.91374143,0.44428863389,-0.00554759212252,0.0698417187371,0.999999964307,-8.05424988612e-05,-0.000247246667905,-6.13852101409e-05,1793244325533477376
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658,633,880,786,806,651.509875341,631,652,0.444872740498,-0.0055509471319,0.0697991415755,0.999999945557,-8.42080749353e-05,-0.000312829610336,-6.27073225531e-05,1793244325550143744
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658,633,880,786,806,651,630.932044968,652,0.445446142945,-0.00555468425662,0.069759012427,0.999999924636,-8.83462060293e-05,-0.000372583961045,-6.40628663628e-05,1793244325566810624
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658,633,880,786,806,651,630.343236121,652,0.446007331756,-0.00555823922226,0.0697465920496,0.999999921611,-8.85047617809e-05,-0.000380531143715,-6.4352597449e-05,1793244325583477248
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.241493373,714,683,658,632.758506627,880,785.758506627,806,651.241493373,630.241493373,652,0.446550705872,-0.00556085391512,0.0697344494669,0.999999914089,-9.3352258222e-05,-0.000398613874285,-6.49219359004e-05,1793244325600144128
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.820521123,714,683,658,632.179478877,880,785.179478877,806,651.820521123,630.820521123,652,0.447069180409,-0.00556215439199,0.0697226951576,0.999999899522,-0.000104753469288,-0.000430863020944,-6.58820804371e-05,1793244325616811008
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.602267689,714,682.602267689,658,632,880.397732311,785,806,652,630.602267689,652,0.447565803642,-0.00556402283075,0.0697028256112,0.999999882826,-0.000105660718671,-0.000467803782554,-6.5906505186e-05,1793244325633478144
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.025872456,714,682.025872456,658,632,880.974127544,785,806,652,630.025872456,652,0.448052611228,-0.00556614640035,0.0696793106673,0.999999864218,-0.000101854040017,-0.000506852038431,-6.55106009407e-05,1793244325650145536
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,683.100753798,657.449623101,632,880.449623101,785,806,652,630.550376899,652,0.448520169161,-0.00556767020892,0.0696810570474,0.999999865168,-0.000101623065018,-0.000505289575424,-6.34042815521e-05,1793244325666811904
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,713.86978469,683.86978469,657,631.86978469,880,785,806,652,631,652,0.448981007473,-0.00556845763864,0.0696864269039,0.999999868888,-0.000102706660112,-0.000497855630798,-6.17673613131e-05,1793244325683478528
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,713.277177105,683.277177105,657,631.277177105,880,785,806,652,631,652,0.449421197092,-0.00556673029004,0.0697004479883,0.999999878801,-0.000107861547947,-0.000476349376789,-6.20827070025e-05,1793244325700144896
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,713,683,657,631,880,784.694197881,806.305802119,652,631,652,0.449827459051,-0.00556343690146,0.0697030120514,0.999999881931,-0.000106448229354,-0.000469825219257,-6.37969982959e-05,1793244325716811264
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,713,683,657,631,880,784.119679388,806.880320612,652,631,652,0.450203907855,-0.0055587673924,0.0696955085274,0.999999879336,-9.92632545392e-05,-0.000476466225807,-6.6740579924e-05,1793244325733477888
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,879.746346485,786.253653515,805.746346485,652,631,652,0.431284553592,-0.00541134075093,0.0698152432776,0.999999949287,0.000136232861911,-0.000286551968322,2.74540527163e-05,1793244327783215104
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,879.391463616,786.608536384,805.391463616,652,631,652,0.429351176367,-0.0054079390296,0.0697289701907,0.999999897543,0.000137183738175,-0.000430688349544,2.45472569696e-05,1793244327816548608
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,634,879.946328657,786.053671343,805.946328657,652,631,652,0.428443872053,-0.00540935231488,0.0697186465532,0.999999897799,0.000128785696806,-0.000432837713506,2.16331927356e-05,1793244327833215232
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.447762531,681.447762531,658.447762531,634,879.447762531,786,806,652,631,652,0.42760075031,-0.00540971992825,0.0697833197497,0.999999933154,0.000138814936279,-0.000337256507062,2.60683104205e-05,1793244327849882112
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.844623418,744.844623418,713.155376582,681,658,634,879,786,805.844623418,651.844623418,630.844623418,651.844623418,0.426738350342,-0.00540954598421,0.069840739925,0.999999956143,0.000147434215644,-0.000255006809967,3.07881630716e-05,1793244327866548736
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.264023534,744.264023534,713.735976466,681,658,634,879,786,805.264023534,651.264023534,630.264023534,651.264023534,0.42580438131,-0.00540819639821,0.0698563313881,0.999999960349,0.00014679437626,-0.000237883528283,3.41334482526e-05,1793244327883215104
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.526307923,658.526307923,634,879,786,806.052615846,651.526307923,631,652,0.422986108244,-0.00540188393398,0.0697620693149,0.999999911308,0.000151653368134,-0.000391900849948,2.82593689733e-05,1793244327933214976
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.784268261,658,634,880,786,805.784268261,652,631,652,0.420256603132,-0.00540204055972,0.0697157424891,0.999999878681,0.000149854959612,-0.000468507801431,2.61166208397e-05,1793244327983215616
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,880,786,805,652,631,652,0.418667634739,-0.00540833876202,0.069856323836,0.999999959478,0.000151852068542,-0.000238447565887,3.3566731303e-05,1793244328016548864
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,880,786,805,652,631,652,0.417855694849,-0.0054082055934,0.0698900842818,0.99999996817,0.000158040125499,-0.00019316734691,3.7013897664e-05,1793244328033215232
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.300666241,658.300666241,633.300666241,879,786.300666241,805,652,630.699333759,652,0.415329615253,-0.00539818231993,0.0697904644302,0.999999930671,0.000163537960274,-0.000333224814302,2.95818025963e-05,1793244328083215104
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.275501953,658,633.275501953,879,786,805,652,631,651.724498047,0.414495625712,-0.00539490211452,0.0697649384121,0.999999914346,0.000167354788481,-0.000377475242184,2.84974272822e-05,1793244328099881728
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.848410716,658,633.848410716,879,786,805,652,631,651.151589284,0.413658987877,-0.00538951213513,0.0697376718516,0.999999887623,0.000178016683426,-0.000438417066781,2.92403960105e-05,1793244328116548608
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.576825669,658,634,879,786,805.423174331,651.576825669,631,651.423174331,0.412954426148,-0.00538409869934,0.0697619146616,0.999999906562,0.000183011441723,-0.000390583915689,2.87719560709e-05,1793244328133215232
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.001394638,658,634,879,786,805.998605362,651.001394638,631,651.998605362,0.412297384889,-0.00537867682357,0.0698046903676,0.999999936229,0.000185967183155,-0.000303613897265,2.78676552673e-05,1793244328149882112
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,806,651.590171223,631,651.409828777,0.411663703443,-0.00537539750008,0.0698481486522,0.999999952132,0.000197825456817,-0.000235853536255,3.12138325187e-05,1793244328166548992
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.33649879,745,714,680.66350121,658.33649879,634,879.33649879,786.33649879,805,652,631,652,0.409635685493,-0.00536214197507,0.0698262405221,0.999999935723,0.000214538630475,-0.000285712812146,2.99134829051e-05,1793244328216548864
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.911277669,745,714,680.088722331,658.911277669,634,879.911277669,786.911277669,805,652,631,652,0.408956943419,-0.00535521083209,0.0697809490672,0.999999908216,0.000227098832345,-0.000362288638802,2.72207126526e-05,1793244328233215232
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.339951264,714,680,658,634,879,786.660048736,805.660048736,651.339951264,631,651.660048736,0.407294790374,-0.00535775038615,0.0697834083068,0.999999914751,0.000219033682265,-0.000349218304368,2.38590554915e-05,1793244328283215616
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.238578676,714,679.761421324,658,634,879,786.761421324,805.761421324,651.238578676,631,652,0.406787330474,-0.00537226598969,0.0697996233514,0.999999925964,0.000201099701904,-0.000327111800482,2.50810068201e-05,1793244328299882240
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.819989627,714,679.180010373,658,634,879,786.180010373,805.180010373,651.819989627,631,652,0.406285312406,-0.00539502155709,0.0698047774177,0.999999932724,0.000168015864099,-0.000324977643237,2.66908897038e-05,1793244328316548608
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.441947862,786.558052138,805,652.558052138,631,652,0.40497367313,-0.00538746005505,0.0698116793674,0.999999933455,0.000182946241562,-0.000314623357589,2.51535197065e-05,1793244328366548224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.144389772,787.144389772,805,652.855610228,631,652,0.404610701583,-0.00538320981767,0.0698281401428,0.999999942109,0.000185844193687,-0.000283877252814,2.56484718542e-05,1793244328383215104
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.724522386,787.724522386,805,652.275477614,631,652,0.404269353175,-0.00538516917784,0.0698436709561,0.999999949375,0.000188374317694,-0.000255110237147,2.61692200854e-05,1793244328399881728
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.123051581,745,714,680,658,634,879,786.246103163,805,652,631,652,0.403599443393,-0.0053745011393,0.0698421448008,0.999999944885,0.000207709730463,-0.000257904944683,2.391443071e-05,1793244328433215488
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.784985906,714,679,658,634,879.569971812,786,805,652,631,652,0.402278752539,-0.00536264343428,0.0698007509414,0.999999923433,0.000211344945318,-0.000328518481404,2.33101043967e-05,1793244328516548608
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.021263669,744.989368166,714,680,658,635,879,787,805,652,631,652,0.400973802456,-0.00536580441813,0.0698282718596,0.999999938484,0.000212974705523,-0.000278298833194,1.49739886303e-05,1793244328983215104
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.806960384,744,714,679.806960384,658,634.806960384,879,786.806960384,805,652,631,652,0.400974081963,-0.00536217820688,0.0698281917629,0.999999937911,0.000216189107941,-0.000277903695044,1.44910717639e-05,1793244329016548864
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.342222733,714,679.342222733,658,634,879,786,805,652,631,652,0.400971381801,-0.00536276996595,0.0698265974943,0.9999999369,0.00021723570949,-0.000280710224804,1.44942391439e-05,1793244329049882368
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.916116698,714,679.916116698,658,634,879,786,805,652,631,652,0.400969998836,-0.00536217261514,0.0698253880139,0.999999936542,0.00021598958163,-0.00028295755661,1.41429035044e-05,1793244329066548992
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,804.492802527,652,631,651.492802527,0.400970375626,-0.00536373431668,0.0698257379586,0.999999937318,0.000214193344571,-0.00028157345226,1.41969033954e-05,1793244329083215616
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.901954614,658,634,879.098045386,786,804.098045386,652,631,651.098045386,0.400971058758,-0.00536518267619,0.0698263084685,0.99999993811,0.000212828738386,-0.000279785409413,1.42673869941e-05,1793244329099881984
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.326564804,658,634,879.673435196,786,804.673435196,652,631,651.673435196,0.400971766696,-0.00536427977534,0.069826653135,0.999999938061,0.000214024057192,-0.000279057336075,1.40803001347e-05,1793244329116548352
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,879.749715612,786.250284388,805,652,631,652,0.40097236741,-0.00536386851624,0.0698272348934,0.999999938086,0.000214963293496,-0.00027824719906,1.40753237199e-05,1793244329133214976
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,879.170951006,786.829048994,805,652,631,652,0.400972827401,-0.00536410250136,0.069828127818,0.999999938207,0.000215566440138,-0.000277329359282,1.43093541117e-05,1793244329149881856
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.401906777,658,634.401906777,879,787,805,652,631,652,0.400972489114,-0.00536466258241,0.069828490225,0.999999938377,0.000214966605883,-0.000277168300854,1.45801135268e-05,1793244329166549248
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.97228845,658,634.97228845,879,787,805,652,631,652,0.400971816198,-0.00536535935927,0.0698286302449,0.999999938566,0.000213862495241,-0.000277324476893,1.48662693299e-05,1793244329183216384
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0debefe800c46b717720e30541254f6fff1420c2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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+2,0.033333333,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+3,0.050000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
+4,0.066666667,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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+6,0.100000000,pose1_baseline,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b78e66ac23288cfd38e4b6ff3a650a7c62ba7ec
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89c9b9eab3e8100970d94acaafff1c1ca5bbf0c54b3b17e461a4eba52cec1b6a
+size 25976035
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99688b040fbfa665a338440fa060da9e17733509
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+58,0.966666667,BASELINE,765,745,714,679.348146559,658.348146559,634,879,786,805,652,631,651.348146559,0.400975204383,-0.00536606031572,0.069832318522,0.999999940935,0.000213185782071,-0.000269209654136,1.44552075268e-05,1793244330293586944
+59,0.983333333,BASELINE,765,745,714,679.231239451,658,634,879,786,805,652,631,651.231239451,0.400973706932,-0.00536585956155,0.069831428227,0.999999940273,0.00021422247573,-0.000270837774652,1.44673554314e-05,1793244330310253568
+60,1.000000000,BASELINE,765,745,714,679.819396069,658,634,879,786,805,652,631,651.819396069,0.400970981747,-0.00536550461517,0.0698301361887,0.999999938974,0.000216044392262,-0.000274181541127,1.41866606475e-05,1793244330326919936
+61,1.016666667,BASELINE,765,745,714,680,658,634.401511897,879,786,804.598488103,652,631,652,0.400972416947,-0.00536498004985,0.0698310539029,0.999999939326,0.000216234523156,-0.000272739131961,1.4249814609e-05,1793244330343586048
+62,1.033333333,BASELINE,765,745,714,680,658,634.980950761,879,786,804.019049239,652,631,652,0.40097569579,-0.00536438031919,0.0698329508522,0.999999940404,0.000215701540453,-0.00026917576499,1.44653425629e-05,1793244330360252672
+63,1.050000000,BASELINE,765,745,714,680,658,634.441062257,878.441062257,786,804.558937743,652,631,651.441062257,0.40097357708,-0.00536520545953,0.0698319740274,0.999999940256,0.000213521049788,-0.000271466773823,1.42394672743e-05,1793244330376919296
+64,1.066666667,BASELINE,765,745,714,680,658.135542174,634,878.135542174,786,805,652,631,651.135542174,0.400972041104,-0.00536572689643,0.0698313328452,0.999999940134,0.000212059278562,-0.000273066325138,1.4051492914e-05,1793244330393586176
+65,1.083333333,BASELINE,765,745,714,680,658.707850527,634,878.707850527,786,805,652,631,651.707850527,0.400972974143,-0.0053651136138,0.0698320880111,0.99999994026,0.000213093946491,-0.000271796476112,1.40339992694e-05,1793244330410252800
+66,1.100000000,BASELINE,764.71105981,745,714,680,658.71105981,634,879,786,805,652,631,652,0.400973919148,-0.0053642162926,0.069832439342,0.999999940181,0.000214756536908,-0.000270781163023,1.39862181366e-05,1793244330426919168
+67,1.116666667,BASELINE,764.12081304,745,714,680,658.12081304,634,879,786,805,652,631,652,0.400974876628,-0.00536302277627,0.0698323695538,0.999999939884,0.000217073924287,-0.000270031279867,1.39068532386e-05,1793244330443585792
+68,1.133333333,BASELINE,764.460802534,745,714,680,658.460802534,634.460802534,879,786,805.460802534,652,631,652,0.400975026277,-0.0053646598759,0.0698322068143,0.999999940488,0.000214962609188,-0.000269473278752,1.40970604196e-05,1793244330460252672
+69,1.150000000,BASELINE,765,745,714,680,658.960109451,635,879,786.039890549,805.960109451,652,631,652,0.400974993189,-0.00536682752279,0.0698321050375,0.99999994124,0.000212026470645,-0.000268995490228,1.43322190445e-05,1793244330476919552
+70,1.166666667,BASELINE,765,745,714,680,658.385129926,635,879,786.614870074,805.385129926,652,631,652,0.400975297678,-0.00536634004794,0.0698331418958,0.999999940985,0.000213314964015,-0.00026893125368,1.42397370706e-05,1793244330493586176
+71,1.183333333,BASELINE,765,745,714,680,658.194816962,635,878.805183038,787,805,652,631,652,0.400975401166,-0.00536584733444,0.0698336971003,0.999999940706,0.00021444288909,-0.000269075804548,1.41641650156e-05,1793244330510252800
+72,1.200000000,BASELINE,765,745,714,680,658.784840776,635,878.215159224,787,805,652,631,652,0.400975096904,-0.00536534399374,0.0698332752189,0.999999940381,0.000215245084599,-0.000269643902804,1.41228965059e-05,1793244330526919424
+73,1.216666667,BASELINE,765,744.631494345,714,680,658.631494345,634.631494345,878.368505655,787,805,652,631,652,0.400974619872,-0.00536470910321,0.0698325664572,0.999999940053,0.000215693403571,-0.000270504957621,1.40767853714e-05,1793244330543586048
+74,1.233333333,BASELINE,765,744.051479306,714,680,658.051479306,634.051479306,878.948520694,787,805,652,631,652,0.400974043676,-0.0053639987077,0.0698316930361,0.999999939721,0.000215938609714,-0.000271534159245,1.40278947416e-05,1793244330560252672
+75,1.250000000,BASELINE,765,744.525176361,714,679.474823639,658,634,879,787,805.525176361,652,631,652,0.400972827052,-0.00536416327008,0.0698313554099,0.999999939413,0.000216233362892,-0.000272433976035,1.4006804537e-05,1793244330576919296
+76,1.266666667,BASELINE,765,744.898716124,714,679.101283876,658,634,879,787,805.797432249,652,631,652,0.400972102844,-0.00536433834002,0.0698312130311,0.999999939244,0.000216635413248,-0.000272736073721,1.40113892191e-05,1793244330593585920
+77,1.283333333,BASELINE,765,744.323642199,714,679.676357801,658,634,879,787,804.647284397,652,631,652,0.400973973871,-0.0053641639133,0.0698317398689,0.999999939712,0.000217516808241,-0.000270301085844,1.41234105218e-05,1793244330610252800
+78,1.300000000,BASELINE,765,744.257913829,714,680,658.257913829,634,879,786.742086171,804.257913829,652,630.742086171,652,0.400974838102,-0.00536448815186,0.0698321147429,0.99999994011,0.000216618282614,-0.000269547927446,1.41274329621e-05,1793244330626919680
+79,1.316666667,BASELINE,765,744.847813554,714,680,658.847813554,634,879,786.152186446,804.847813554,652,630.152186446,652,0.40097440639,-0.00536545427087,0.0698322940096,0.999999940417,0.00021342864851,-0.000270959615026,1.39924395865e-05,1793244330643586304
+80,1.333333333,BASELINE,765,745,714,680,659,634.428582008,879,786,805,652,630.428582008,652,0.400974852055,-0.00536523618433,0.0698325864485,0.999999940322,0.000214262697962,-0.000270649449437,1.39978008603e-05,1793244330660252672
+81,1.350000000,BASELINE,765,745,714,680,658.993882609,634.993882609,879,786,804.993882609,652,631,652,0.400975599286,-0.00536460406609,0.0698329167689,0.999999940093,0.000216464704282,-0.000269738564279,1.40516895714e-05,1793244330676919296
+82,1.366666667,BASELINE,765,745,714,680,658.421742493,634.421742493,879,786,804.421742493,652,631,652,0.400976024102,-0.00536375905732,0.069833111358,0.999999940534,0.000215796650207,-0.000268637391178,1.40804288832e-05,1793244330693586688
+83,1.383333333,BASELINE,764.849149608,745,714,680,658,634,878.849149608,786,804,652,631,652,0.400976112699,-0.00536372594327,0.0698331555144,0.999999940931,0.00021464247962,-0.000268081871136,1.41138251438e-05,1793244330710253568
+84,1.400000000,BASELINE,764.275286942,745,714,680,658,634,878.275286942,786,804,652,631,652,0.400975258474,-0.00536596953132,0.0698327778293,0.999999941206,0.00021212514868,-0.000269056462484,1.41602803525e-05,1793244330726919680
+85,1.416666667,BASELINE,764.310871083,744.689128917,714,680,658,634,878,786.310871083,804.310871083,652,631,652,0.400975251016,-0.00536634938713,0.069832782342,0.999999940991,0.000212631876668,-0.000269448376562,1.42367293739e-05,1793244330743586048
+86,1.433333333,BASELINE,764.9083654,744.0916346,714,680,658,634,878,786.9083654,804.9083654,652,631,652,0.400976024276,-0.00536501088113,0.069833139241,0.999999940323,0.000215926788058,-0.00026930306196,1.43408326967e-05,1793244330760252928
+87,1.450000000,BASELINE,765,744,714,680,658.486606011,634.486606011,878.973212022,786.513393989,805,652,631,652,0.400975248151,-0.00536576353817,0.0698328783299,0.999999940448,0.000214694225922,-0.000269815246231,1.44728054907e-05,1793244330776920064
+88,1.466666667,BASELINE,765,744.061079381,714,680,658.938920619,634.938920619,879.938920619,786,805,652,631,652,0.400974233643,-0.00536681640626,0.0698325033416,0.999999940643,0.000212927960207,-0.000270484355426,1.45918448768e-05,1793244330793586944
+89,1.483333333,BASELINE,765,744.63321414,714,680,658.36678586,634.36678586,879.36678586,786,805,652,631,652,0.400973572918,-0.00536721166174,0.0698321102536,0.999999940242,0.000213558285259,-0.00027146991938,1.45604288215e-05,1793244330810253312
+90,1.500000000,BASELINE,765,744.786753232,714,680,658.213246768,634,879,786.213246768,805,652,631,652,0.400973597928,-0.00536690520008,0.0698320648689,0.999999940143,0.000214039017156,-0.000271458695044,1.45190058615e-05,1793244330826919680
+91,1.516666667,BASELINE,765,744.192613816,714,680,658.807386184,634,879,786.807386184,805,652,631,652,0.40097484777,-0.00536534535995,0.0698326405378,0.999999940583,0.000214252551818,-0.000269667048163,1.44597089817e-05,1793244330843586304
+92,1.533333333,BASELINE,765,744.392038008,714,680,659,634.392038008,879,786.607961992,805,652,631,652,0.400974661573,-0.00536432125435,0.0698328525374,0.999999940405,0.0002152139377,-0.000269572316326,1.42745987123e-05,1793244330860252928
+93,1.550000000,BASELINE,765,744.972138637,714,680,659,634.972138637,879,786.027861363,805,652,631,652,0.400973786499,-0.00536355414319,0.0698328900829,0.999999939929,0.000216534071628,-0.00027029160309,1.40291351161e-05,1793244330876919552
+94,1.566666667,BASELINE,765,745,714,679.452296655,659,634.452296655,879,786.547703345,805,651.452296655,631,652,0.400973674271,-0.0053649561296,0.0698325268632,0.999999940184,0.000214634558778,-0.000270869287008,1.39059218964e-05,1793244330893586176
+95,1.583333333,BASELINE,765,745,714,679.125142939,658.874857061,634.125142939,879,787,805,651.125142939,631,651.874857061,0.400973878818,-0.00536586551569,0.0698323200194,0.999999940352,0.000213589360959,-0.000271077201981,1.3863440373e-05,1793244330910253056
+96,1.600000000,BASELINE,765,745,714,679.710316089,658.289683911,634.710316089,879,787,805,651.710316089,631,651.289683911,0.400975106366,-0.00536456179942,0.0698327623462,0.999999940075,0.000216281779489,-0.00026995209434,1.40950588025e-05,1793244330926919680
+97,1.616666667,BASELINE,765,745,714,680,658.293260358,635,879,786.706739642,805,652,631,651.293260358,0.400974629103,-0.00536353108716,0.0698324694599,0.999999939777,0.000217049645204,-0.000270443581738,1.40123844033e-05,1793244330943586304
+98,1.633333333,BASELINE,765,745,714,680,658.874019503,635,879,786.125980497,805,652,631,651.874019503,0.400972480522,-0.00536276801537,0.0698314558049,0.999999939461,0.000215930768885,-0.00027251990363,1.36215919504e-05,1793244330960252672
+99,1.650000000,BASELINE,765,745,714,680,659,634.546133461,879,786,805,652,631,652,0.400972345356,-0.00536351693026,0.0698311319013,0.999999939658,0.000214927377799,-0.000272591282428,1.35978191919e-05,1793244330976919296
+100,1.666666667,BASELINE,765,745,714,680,658.966816935,634,879,786,805,652,631,652,0.400972799328,-0.00536465355356,0.0698310598392,0.999999940009,0.000213949054022,-0.000272069617999,1.36659415428e-05,1793244330993586176
+101,1.683333333,BASELINE,765,745,714,680,658.392035103,634,879,786,805,652,631,652,0.400973765678,-0.00536528201333,0.0698319796391,0.999999940551,0.000212857722482,-0.000270933546025,1.35745233984e-05,1793244331010252800
+102,1.700000000,BASELINE,765,745,714,679.813468815,658.186531185,634,879.186531185,786,805,652,631,652,0.400973815198,-0.00536555170142,0.0698321611267,0.999999940656,0.000212754639745,-0.000270624473083,1.36491573296e-05,1793244331026919424
+103,1.716666667,BASELINE,765,745,714,679.226784048,658.773215952,634,879.773215952,786,805,652,631,652,0.400971897903,-0.00536505173918,0.0698307587597,0.999999939821,0.000214771584955,-0.000272089509132,1.40800123143e-05,1793244331043586304
+104,1.733333333,BASELINE,765,745,714,679,659,634,879.645525218,786.354474782,805,652,631,651.645525218,0.400972790259,-0.00536506543779,0.0698312623113,0.999999940114,0.000214806830663,-0.000270975178402,1.41978464484e-05,1793244331060253184
+105,1.750000000,BASELINE,765,745,714,679,659,634,879.067685373,786.932314627,805,652,631,651.067685373,0.400975453057,-0.00536540280926,0.0698329668385,0.999999941114,0.000213593348998,-0.00026823551239,1.41184369128e-05,1793244331076920064
+106,1.766666667,BASELINE,765,744.489218541,713.489218541,679,658.489218541,634,878.489218541,786.489218541,805,651.489218541,630.489218541,651.510781459,0.400974790375,-0.00536522854771,0.0698326293766,0.999999940548,0.000214962275762,-0.000269250804917,1.41055160591e-05,1793244331093586688
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652,630,652,0.400973583006,-0.00536483827269,0.0698325073925,0.999999940469,0.000213748006246,-0.000270531382398,1.36888200545e-05,1793244331136653568
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.407494001,714,679.592505999,658.407494001,635,879,786.407494001,805,652,630.592505999,652,0.400974699445,-0.00536508083709,0.0698323454559,0.999999940774,0.000213403560601,-0.00026966615289,1.38068667057e-05,1793244331153319680
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.180110035,714,680,658,634.819889965,879,786,805,652,631,652,0.400975293728,-0.00536509701307,0.0698322558478,0.999999940874,0.000213666165378,-0.000269083189016,1.39007060377e-05,1793244331169986304
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.756917476,714,680,658,634.243082524,879,786,805,652,631,652,0.400974737947,-0.00536461456225,0.0698323255454,0.99999994052,0.000215265815682,-0.000269121922957,1.39412280927e-05,1793244331186653184
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.66730047,658,634,879,786.33269953,805,652,630.66730047,652,0.400973996099,-0.00536475758711,0.0698323599572,0.999999940276,0.000216067637669,-0.00026937638471,1.40851699101e-05,1793244331203319808
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.092265334,658,634,879,786.907734666,805,652,630.092265334,652,0.40097311872,-0.00536535620335,0.0698323686671,0.999999940115,0.000216288327966,-0.00026978798083,1.43044418311e-05,1793244331219986432
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.518363244,744.518363244,714,679.481636756,658,634,879,787,805,652,630.481636756,652,0.400972614011,-0.00536494228146,0.0698316660435,0.999999939984,0.000215121109259,-0.000271206385942,1.41916262013e-05,1793244331236652544
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.057458648,744.057458648,714,680,658,634.057458648,879,786.942541352,805,652,631,652,0.400972546462,-0.00536448782265,0.0698311546429,0.999999939939,0.000213902821071,-0.000272341028215,1.40593811801e-05,1793244331253319168
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.653297858,744.653297858,714,680,658,634.653297858,879,786.346702142,805,652,631,652,0.400975907701,-0.00536546672992,0.069833708792,0.999999940667,0.000214691401568,-0.000269013914511,1.43397674281e-05,1793244331269985792
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.759483519,879,786,805,652,631,652,0.400984165805,-0.00536605077371,0.0698378327258,0.999999942217,0.000215196144018,-0.00026276506591,1.45642353772e-05,1793244331286652672
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.184261455,879,786,805,652,631,652,0.400999238447,-0.00536608532072,0.0698441411904,0.999999944848,0.000215305893998,-0.000252450296686,1.4710886735e-05,1793244331303319552
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.60884412,786,805,652,631,652,0.401034253494,-0.00536698547751,0.0698584986771,0.9999999509,0.000214741137719,-0.000227714088782,1.52257534808e-05,1793244331319986432
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,878.033334702,786,805,652,631,652,0.401078667487,-0.00536829360011,0.0698766497049,0.999999957762,0.00021385848342,-0.000196180990398,1.59141618079e-05,1793244331336652800
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.443878428,658,634,878.556121572,786,805,652,631,652,0.40114061706,-0.00536991092942,0.0698938538622,0.999999963038,0.000212307239044,-0.000169078779307,1.62149028561e-05,1793244331353319424
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.856203404,714,679.143796596,658,634.143796596,879,786,805,651.856203404,631,651.856203404,0.40120434121,-0.00537136718763,0.069907795913,0.999999966729,0.000210860470447,-0.000147711773628,1.61834802217e-05,1793244331369986304
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.276526878,714,679.723473122,658,634.723473122,879,786,805,651.276526878,631,651.276526878,0.40127017642,-0.00537227757653,0.0699120262548,0.999999967654,0.000209854996507,-0.000142903679746,1.52174440935e-05,1793244331386652672
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634.699953096,879.300046904,786,805,651.300046904,631,651.300046904,0.401345078692,-0.00537405294911,0.0699136731069,0.999999968241,0.000208788480435,-0.000140478227999,1.38003465357e-05,1793244331403319040
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634.126209608,879.873790392,786,805,651.873790392,631,651.873790392,0.401428251744,-0.00537661734188,0.0699129633526,0.999999968534,0.000207666283053,-0.000140226173463,1.19718001204e-05,1793244331419985920
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.45918071,714,680,658.45918071,634,879.54081929,786,805,652,631,651.54081929,0.401522644809,-0.00537571590586,0.0699090998162,0.999999967307,0.000208353580519,-0.000147963521726,9.02061069651e-06,1793244331436652544
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.047069302,745,714,679.952930698,658.952930698,634.047069302,879,786,805,652,631,651.047069302,0.401623618431,-0.00537429917165,0.0699049663357,0.999999965806,0.000209207221367,-0.000156801837624,5.79815806385e-06,1793244331453319424
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.626072356,745,714,679.373927644,658.373927644,634.626072356,879,786,805,652,631,651.626072356,0.401763200919,-0.0053781047168,0.0699078333974,0.999999967095,0.000206173805644,-0.000152619799545,3.08803697047e-06,1793244331469986048
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.79596172,745,714,679,658,634.79596172,879,786,805,652,631,652,0.401912990653,-0.00538174460572,0.0699118152252,0.999999968813,0.000202127211956,-0.000146689267166,2.5574257387e-07,1793244331486652672
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.219886926,745,714,679,658,634.219886926,879,786,805,652,631,652,0.402081391922,-0.00538508244227,0.0699178296795,0.99999997128,0.000196233224077,-0.000137570589733,-2.79931820487e-06,1793244331503319552
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679.356471998,658,634,878.643528002,786.356471998,805,652,631,652,0.402266466434,-0.0053890453835,0.0699207617894,0.999999973449,0.000189171902889,-0.000131421578786,-6.66983610213e-06,1793244331519986432
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.933006383,658,634,878.066993617,786.933006383,805,652,631,652,0.402461833928,-0.0053933942236,0.069921791063,0.99999997541,0.000181389946252,-0.000127105843885,-1.10437639324e-05,1793244331536653056
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,680.520593975,658,634.520593975,878.520593975,787,805,652,631,652,0.40268271207,-0.00539486692012,0.0699233276686,0.999999976202,0.000178374065715,-0.000124596805206,-1.59216567977e-05,1793244331553319424
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.89219123,714,680.89219123,658,634.89219123,878.89219123,786.89219123,805,652,631,652,0.402916992156,-0.00539676574916,0.0699253400812,0.999999977209,0.00017464425671,-0.000120996230831,-2.09973993812e-05,1793244331569985792
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.31296114,714,680.31296114,658,634.31296114,878.31296114,786.31296114,805,652,631,652,0.403195209074,-0.00540218151246,0.0699291414042,0.999999979798,0.000165052486383,-0.00011158392666,-2.66485508249e-05,1793244331586652672
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.735307549,744.264692451,714,680,658,634,878,786,805,651.735307549,631,652,0.403491427526,-0.005407825369,0.0699372789372,0.999999982587,0.000156330915259,-9.67857131465e-05,-3.19151506854e-05,1793244331603319296
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.159506943,744.840493057,714,680,658,634,878,786,805,651.159506943,631,652,0.403808804195,-0.00541373731623,0.0699505130651,0.999999985418,0.000148632139499,-7.56571333398e-05,-3.67297647628e-05,1793244331619985920
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.413077637,744.586922363,714,679.586922363,658.413077637,634,878.826155274,786,805,651.413077637,631,651.586922363,0.404138943387,-0.00541941110713,0.0699533112472,0.999999993696,7.46111920617e-05,-7.2510725451e-05,-4.22344655261e-05,1793244331636652800
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.984429953,744.015570047,714,679.015570047,658.984429953,634,879.968859905,786,805,651.984429953,631,651.015570047,0.404473972655,-0.00542499364601,0.0699521107958,0.999999995632,-2.48217351936e-05,-7.62543599355e-05,-4.80035791891e-05,1793244331653319424
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.42236295,634,879.42236295,786,805.57763705,651.42236295,631,651.57763705,0.404856002416,-0.00543240074321,0.0699568452845,0.999999996219,-2.66456163082e-05,-6.52932178338e-05,-5.08706296241e-05,1793244331669986048
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.167376344,714,679.167376344,658.167376344,634,878.832623656,786,805.832623656,651,631,652,0.405252167659,-0.00543779115489,0.0699606038726,0.999999997177,-3.51050131949e-06,-5.73218033553e-05,-4.84505981674e-05,1793244331686652928
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.747064806,714,679.747064806,658.747064806,634,878.252935194,786,805.252935194,651,631,652,0.405679910413,-0.00543808778139,0.0699615488669,0.999999995017,7.43721100879e-05,-5.77300247776e-05,-3.32067298359e-05,1793244331703319552
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.676871794,658.676871794,634,878.646256412,786,805,651.323128206,631,652,0.406117312551,-0.00544136746998,0.0699588200799,0.999999992679,9.88040299102e-05,-6.29129537681e-05,-3.03548776575e-05,1793244331719986176
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.103614441,658.103614441,634,879.792771117,786,805,651.896385559,631,652,0.406562191931,-0.00544695630636,0.0699532474688,0.999999993384,8.1860505491e-05,-7.17919191249e-05,-3.70955149842e-05,1793244331736652800
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.482251547,634,879.517748453,786.482251547,805,652,631,652,0.40703009528,-0.00545651815486,0.069939254248,0.999999993759,5.20963578984e-05,-9.06675846977e-05,-3.93388320272e-05,1793244331753319424
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,786.930279487,805,652,631,652,0.407514349191,-0.00546812402641,0.0699260227207,0.999999993186,2.28724172046e-05,-0.000107201963864,-4.01553894396e-05,1793244331769986304
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,786.351418434,805,652,631,652,0.408080910324,-0.00548825554696,0.0699319201899,0.999999995021,1.82490168649e-05,-9.05329442551e-05,-3.77986543227e-05,1793244331786653184
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.22670309,658.77329691,634,879,786.22670309,805,652,630.77329691,651.77329691,0.408669529008,-0.00550981713972,0.0699407553145,0.999999996931,-3.40833875618e-06,-6.92845935955e-05,-3.64203100755e-05,1793244331803320064
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.803681945,658.196318055,634,879,786.803681945,805,652,630.196318055,651.196318055,0.409292228473,-0.0055335883158,0.0699541293688,0.999999997173,-5.13846194519e-05,-4.09607836371e-05,-3.6553663912e-05,1793244331819987200
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.620799267,714,680,658,634,879,786.620799267,805,652,630.379200733,651.379200733,0.40989443592,-0.00553945846858,0.0699517610439,0.999999996773,-5.64191861946e-05,-4.31316937021e-05,-3.75504533738e-05,1793244331836653568
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.046033496,714,680,658,634,879,786.046033496,805,652,630.953966504,651.953966504,0.410486075009,-0.00553609653323,0.0699412739078,0.999999996605,-3.93074389846e-05,-6.10296340971e-05,-3.89925421521e-05,1793244331853319680
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.541624488,744.541624488,714,679.458375512,658,634,879,786,805,652,631,652,0.411118071981,-0.00554249526874,0.0699418168615,0.999999995774,-5.20811849027e-05,-6.44298223595e-05,-3.9855970715e-05,1793244331869986304
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.871450336,745,714,679.128549664,658.128549664,634,879,786,805.128549664,652,631,652,0.411777003584,-0.00555097024562,0.0699492173133,0.999999995433,-6.70858821015e-05,-5.47002507082e-05,-4.05078942464e-05,1793244331886652928
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.291046541,745,714,679.708953459,658.708953459,634,879,786,805.708953459,652,631,652,0.412518259936,-0.00556375617452,0.0699773464312,0.999999995908,-8.07865174446e-05,-3.25612356888e-06,-4.05934619409e-05,1793244331903319552
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.286063512,786,805.713936488,651.713936488,631,652,0.413269942916,-0.00556984446856,0.0700029213623,0.999999994637,-8.85287554248e-05,3.69843763684e-05,-3.89855824358e-05,1793244331919986432
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.859860664,786,805.140139336,651.140139336,631,652,0.414032113486,-0.00556919602639,0.0700259271978,0.999999993114,-9.0277810824e-05,6.59558450083e-05,-3.56743689278e-05,1793244331936653312
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880,786,805,651,631,652,0.41474238652,-0.00553917538124,0.070003651524,0.99999999753,-5.44588778894e-05,2.27574905884e-05,-3.81613884669e-05,1793244331953319680
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.993196548,786,805.006803452,651.006803452,631,652,0.415436502291,-0.00550006385203,0.0699666854091,0.999999998117,-7.02289647458e-06,-4.36989012215e-05,-4.25212018908e-05,1793244331969986560
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.394312714,786,805.605687286,651.605687286,631,652,0.41618403536,-0.00549584397273,0.0699247213706,0.999999993424,-5.1268249417e-06,-0.000104576444966,-4.67990141149e-05,1793244331986652928
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.803972487,745,714,680,659,634,879,786,806,651.803972487,630.803972487,652,0.416963356645,-0.00549784833374,0.0699048685424,0.999999989826,-1.16215625112e-05,-0.000133425093063,-4.90992545675e-05,1793244332003319552
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.230100173,745,714,680,659,634,879,786,806,651.230100173,630.230100173,652,0.417803949955,-0.00551184997431,0.0699276352741,0.999999993226,-3.42896604415e-05,-0.000100537752753,-4.75877075638e-05,1793244332019986176
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.344500784,744.655499216,714,680,659,634.344500784,879,786.344500784,806,651.344500784,630.344500784,652,0.4186650659,-0.00552131869716,0.0699540967954,0.999999995931,-4.54774647888e-05,-6.25363161992e-05,-4.64685163475e-05,1793244332036652544
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.919589428,744.080410572,714,680,659,634.919589428,879,786.919589428,806,651.919589428,630.919589428,652,0.419539918413,-0.00552775336017,0.0699830313832,0.999999997537,-4.89810583035e-05,-2.11118161305e-05,-4.56119442498e-05,1793244332053319168
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.506248117,714,680,659,634.493751883,879.506248117,786.493751883,805.493751883,651.493751883,631,652,0.420409873021,-0.00553518865223,0.0700065887033,0.999999997056,-5.99029277096e-05,1.64047691244e-05,-4.5072159053e-05,1793244332069986048
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.906851085,786,805,651.093148915,631,652,0.421277612985,-0.00554083590613,0.0700246881793,0.99999999552,-6.99468386778e-05,4.52099320031e-05,-4.49763732991e-05,1793244332086652672
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.328486114,786,805,651.671513886,631,652,0.422137963702,-0.00553632193379,0.0700189106648,0.999999995999,-6.91361097299e-05,3.19459395591e-05,-4.69251623019e-05,1793244332103319552
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.749722759,631,652,0.422967998332,-0.00552803297443,0.0699806008458,0.999999996256,-6.29235620692e-05,-3.14504437555e-05,-5.03956561611e-05,1793244332119986432
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.170435613,631,652,0.423758180104,-0.00551478148525,0.0698995246508,0.999999984289,-4.96098809558e-05,-0.000160749957394,-5.5866555211e-05,1793244332136652800
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.596382644,714,680.403617356,659,634,879,786,805,651,631,652,0.424634757695,-0.00551683199367,0.0698672253317,0.999999976354,-5.6305148975e-05,-0.000201340610941,-5.986394485e-05,1793244332153319424
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.02451165,714,680.97548835,659,634,879,786,805,651,631,652,0.425547350565,-0.00552526135829,0.0698552593522,0.999999974453,-7.13414330974e-05,-0.000204951707273,-6.32470810521e-05,1793244332169986048
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,680.430836242,659,634,879,786,805.569163758,651,631,652,0.426488947506,-0.00553413892031,0.0699176430621,0.9999999886,-7.65019224888e-05,-0.000116657838648,-5.77873467904e-05,1793244332186652672
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.158921062,744.158921062,714,680.158921062,659.158921062,634,879,786.158921062,806,651,631,652,0.427430763971,-0.00553974033793,0.0699760513907,0.999999994861,-7.91461207449e-05,-3.47316414095e-05,-5.29924536124e-05,1793244332203319296
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.735805653,744.735805653,714,680.735805653,659.735805653,634,879,786.735805653,806,651,631,652,0.42836974175,-0.00553667268492,0.0700152478229,0.999999995594,-7.63355883421e-05,1.96233249792e-05,-5.09875767856e-05,1793244332219985920
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.688644846,745,714,680.688644846,659.688644846,634,879,787,805.688644846,651.311355154,631,652,0.429299443901,-0.00553628646902,0.0700386759303,0.99999999421,-7.51248199477e-05,5.81682202267e-05,-5.05323252744e-05,1793244332236652800
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.114223403,745,714,680.114223403,659.114223403,634,879,787,805.114223403,651.885776597,631,652,0.430221308958,-0.00553816581948,0.0700487812606,0.999999992373,-7.52657043296e-05,8.33550658282e-05,-5.13863639097e-05,1793244332253319680
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680.471711244,659,634,879,786.528288756,805.471711244,652,631,652,0.43104401709,-0.0055377700315,0.0699959146822,0.999999996022,-7.0533388327e-05,-9.9923616887e-06,-5.367633622e-05,1793244332269986304
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.059662429,634,879,786,805.940337571,651.940337571,631,652,0.431847648385,-0.0055367863056,0.069930478375,0.999999988319,-6.61252713525e-05,-0.000125732651474,-5.6404661295e-05,1793244332286652672
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.640269184,634,879,786,805.359730816,651.359730816,631,652,0.432699602892,-0.00553559968199,0.0698917624006,0.999999979169,-7.51091614359e-05,-0.000180108330937,-5.98485133311e-05,1793244332303319296
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.21866776,786.21866776,805.21866776,651,631,652,0.433585307585,-0.00553541870328,0.069892193985,0.999999980572,-7.96538654258e-05,-0.00016964804453,-6.10764391144e-05,1793244332319985664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.793470064,786.793470064,805.793470064,651,631,652,0.434525979849,-0.00553687557391,0.0699563834674,0.999999993879,-7.69686636124e-05,-5.35922848897e-05,-5.86953836643e-05,1793244332336652288
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.36974523,660,634,880,787,806,651,631,652,0.435431387178,-0.00554036549559,0.0699974846066,0.999999995132,-7.97734419469e-05,1.43966380041e-05,-5.62630161089e-05,1793244332353319168
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681.946846353,660,634,880,787,806,651,631,652,0.436317017611,-0.00554499556741,0.0700256376262,0.999999993348,-8.5657042684e-05,5.54293120117e-05,-5.38018727005e-05,1793244332369986048
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.465164976,745,714,682,659.465164976,634,880,786.465164976,806,651.534835024,631,652,0.437162915798,-0.00554805055736,0.0700215462643,0.999999993141,-8.62926780813e-05,5.69517626603e-05,-5.50263170778e-05,1793244332386652672
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.121887124,745,714,682,659.121887124,634,880,786.121887124,806,652,631,652,0.437985792552,-0.00555015753825,0.070004580465,0.999999993876,-8.67450012461e-05,3.87258828892e-05,-5.67724643851e-05,1793244332403319296
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.701277946,745,714,682,659.701277946,634,880,786.701277946,806,652,631,652,0.438737387777,-0.00554930593475,0.0699515686666,0.999999993594,-8.8507617927e-05,-3.85804376561e-05,-5.90734011201e-05,1793244332419985920
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.720917665,634,880,786.720917665,806,652,631,652,0.439448936211,-0.00554769651786,0.0698884960879,0.999999984487,-8.74038974119e-05,-0.000140107470718,-6.12901071733e-05,1793244332436652544
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.144801791,634,880,786.144801791,806,652,631,652,0.440117861905,-0.00554528054336,0.0698147156004,0.999999958769,-8.32494696735e-05,-0.000267413141221,-6.34171640462e-05,1793244332453319168
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.561792029,714,682.438207971,659,634,880,786,806,651.561792029,630.561792029,652,0.440874113697,-0.00554545238088,0.0698089165793,0.999999956845,-8.66442489495e-05,-0.000273323283875,-6.40129237489e-05,1793244332469986304
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.023317827,714,682.976682173,659,633.976682173,880,786,806,651,630,652,0.441658300404,-0.00554652591019,0.0698269435359,0.999999965448,-9.21226459401e-05,-0.000237746808436,-6.39767677845e-05,1793244332486653184
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.603309628,714,682.396690372,659,633.396690372,880,786,806,651,630,652,0.442409482869,-0.0055483849981,0.0698689172627,0.999999977303,-8.68384559325e-05,-0.000184708892951,-6.11277354428e-05,1793244332503319552
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.818723905,806,651.181276095,630.181276095,652,0.443128566381,-0.00554929294004,0.0698907267385,0.999999981758,-8.30949476795e-05,-0.000161412757924,-5.93731439019e-05,1793244332519986176
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880,785.245140437,806,651.754859563,630.754859563,652,0.443778183314,-0.00554814246657,0.0698688979015,0.999999974283,-8.26856942352e-05,-0.000202482076128,-5.99870783411e-05,1793244332536652800
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880.327361064,785,806,651.672638936,630.672638936,652,0.444396922671,-0.00554893973666,0.0698330286899,0.999999960396,-8.33463364719e-05,-0.000261721457354,-6.13407039604e-05,1793244332553319424
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,880.899054983,785,806,651.100945017,630.100945017,652,0.444992615858,-0.00555119074642,0.0697866801488,0.999999938451,-8.48055177348e-05,-0.000334522446176,-6.32464135019e-05,1793244332569986304
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.50981649,632.50981649,880.50981649,785,806,651.49018351,630,652,0.445594900635,-0.00555378508458,0.0697572537037,0.999999926159,-8.52782318973e-05,-0.000369152187429,-6.43068170201e-05,1793244332586652928
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.662970434,714,682.662970434,658,632,880,785,806,651.337029566,630,652,0.446740788401,-0.00555669652623,0.069724636396,0.999999905595,-9.8519058733e-05,-0.000417863862335,-6.7033635153e-05,1793244332619986176
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.759699244,714,683,657.759699244,632,880.240300756,785,806,651.240300756,630,652,0.447266885343,-0.00555748485956,0.0697088523938,0.999999890492,-0.000102626716844,-0.000451540219827,-6.77827134993e-05,1793244332636653056
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.18569661,714,683,657.18569661,632,880.81430339,785,806,651.81430339,630,652,0.447759909702,-0.0055586070732,0.0696839287524,0.999999867909,-9.66316509166e-05,-0.000500331935559,-6.71750638111e-05,1793244332653319936
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.612845625,683,657.387154375,632,880.612845625,785,806.387154375,652,630,652,0.44824940202,-0.00556334740244,0.0696743929208,0.999999858847,-9.89421880705e-05,-0.00051784767312,-6.59545186347e-05,1793244332669986816
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713.040545334,683,657.959454666,632,880.040545334,785,806.959454666,652,630,652,0.44873720528,-0.00556981799592,0.0696722158834,0.999999856976,-0.000105224650678,-0.000520406540238,-6.44408730663e-05,1793244332686653440
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+205,3.416666667,POSE1_TO_POSE2_PRESS,764.124509589,745,714,682.124509589,657,631.124509589,880.875490411,784.124509589,806,651.875490411,630,652,0.450785389894,-0.00557002452146,0.0696348481828,0.999999824577,-0.00012028816199,-0.000575504439834,-7.19053834859e-05,1793244332769986048
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713.630748464,683,656.369251536,631,880.630748464,784,806.630748464,652,630.369251536,652,0.451695642691,-0.00556276945483,0.0695693815339,0.999999772875,-0.000106571789451,-0.000662209743131,-6.61094774885e-05,1793244332819986176
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+211,3.516666667,POSE1_TO_POSE2_PRESS,764.358487971,745,714,683,656.358487971,631,880,783.358487971,806,652,630,652,0.452486397189,-0.00557221308865,0.0695629437586,0.999999772301,-0.000105772086048,-0.000663384610142,-6.42697995491e-05,1793244332869986304
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.109708739,713.109708739,683,655,630,879.890291261,783.109708739,806,652,630,652,0.453065707503,-0.00557399887073,0.0695499488287,0.999999751947,-0.000121913464763,-0.000690898615367,-6.24730673221e-05,1793244332919985920
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.77442477,745.22557523,713,683,654.77442477,630,880,782.77442477,806,652,629.77442477,652,0.454200738193,-0.00557195614366,0.0695327892842,0.999999730571,-0.000123831303899,-0.000720702282473,-6.4119205275e-05,1793244333369986048
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713.350182661,683,655,630,880.350182661,783,806,652,630,652,0.454200584826,-0.00557269237629,0.0695325166817,0.999999730174,-0.000124977907733,-0.000721061663661,-6.4052595022e-05,1793244333386652672
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764.489157772,745.510842228,713.489157772,683,655,629.489157772,880.489157772,782.489157772,806.510842228,652,629.489157772,652,0.454200732018,-0.00557328995966,0.0695333253209,0.99999973033,-0.00012610603781,-0.000720699515094,-6.34714084755e-05,1793244333419985920
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,745.901576645,713.098423355,683,654.901576645,629.098423355,880,782.098423355,806.901576645,651.901576645,629.098423355,652,0.454200990135,-0.0055712551739,0.0695333620873,0.999999730749,-0.000123458893862,-0.000720593355307,-6.32829213639e-05,1793244333436652544
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764.257207107,745,714,683.257207107,654,629.742792893,880,783,806,651.257207107,630,652,0.45420206185,-0.00557082094114,0.0695329157602,0.999999730942,-0.000120615060383,-0.000720785007972,-6.35318107185e-05,1793244333469986048
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+256,4.266666667,HOLD_POSE2,765,745.060665222,714,683,654,629.939334778,880.060665222,782,806.060665222,651.060665222,630,652,0.454202361905,-0.00557031020747,0.0695317955839,0.999999729097,-0.000123057955458,-0.000722940351291,-6.34075931373e-05,1793244333636631040
+257,4.283333333,HOLD_POSE2,765,745.643518698,714,683,654,629.356481302,880.643518698,782,806.643518698,651.643518698,630,652,0.454204400217,-0.00557195633657,0.0695335968416,0.999999730586,-0.000125798820568,-0.00072047796229,-6.25705460005e-05,1793244333653297664
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,745.7512572,714,683,654.7512572,630,880.2487428,783,807,651.7512572,630,652,0.454206259958,-0.00557199782095,0.0695336450914,0.999999731152,-0.000123773196778,-0.000720041449468,-6.25873860296e-05,1793244333857782016
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.905771111,714,683,655,630.905771111,880.905771111,784,806,652,630.094228889,652,0.449036852674,-0.00545560909887,0.069540714294,0.999999725979,0.000111493498249,-0.00073168554724,1.57202502835e-05,1793244334407782144
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.521640813,714,682.521640813,655,631,880.521640813,784,806,651.521640813,630,651.521640813,0.448569483495,-0.00544938340197,0.0695630282204,0.999999748396,0.000116027608974,-0.000699552693893,1.92674953106e-05,1793244334424449024
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.644485511,656.288971022,631,880,784,806,651,630,651.644485511,0.447550955335,-0.00543857456502,0.0695782348301,0.99999976526,8.82001732279e-05,-0.000679383357838,1.17643394433e-05,1793244334457783040
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.840508494,658.840508494,634,879.840508494,786,805,651.159491506,631,652,0.42803963976,-0.00541101742818,0.0697430696963,0.999999912372,0.000136048854948,-0.000395151971925,2.45117175463e-05,1793244334874449152
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,713.105051941,681,658,634,879,786.894948059,805,652,631,652,0.425380059041,-0.00540760601373,0.0698630070064,0.99999996205,0.00014765985768,-0.00023003954759,3.43171446971e-05,1793244334924448768
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.637208562,745,714,681.637208562,659,634,879,786,805,652,631,652,0.422487921695,-0.00540276224565,0.069735146984,0.999999889696,0.000155591297428,-0.000442269702027,2.8234068297e-05,1793244334974448384
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.564240968,658.435759032,634,880,786.564240968,805,652,631,652,0.414068514659,-0.00539390709962,0.0697551819421,0.999999905905,0.000167274966741,-0.000399227810678,2.8728092197e-05,1793244335141115648
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.651631649,680,658,634,879.651631649,786.348368351,805,652,631,652,0.408087707308,-0.00535348817783,0.0697680976299,0.999999904873,0.000226970532647,-0.000371669410863,2.45044608598e-05,1793244335291115520
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.755793374,680,658,634,879.755793374,786.244206626,805,652,631,652,0.407534199665,-0.00535721333051,0.069778138378,0.999999913553,0.000220793930319,-0.000351509204834,2.41956944761e-05,1793244335307782400
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.179012782,680,658,634,879.179012782,786.820987218,805,652,631,652,0.407026845511,-0.00536662244255,0.0698025986808,0.999999927025,0.00020979670267,-0.000318234503357,2.57490454289e-05,1793244335324449280
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.398157473,658.398157473,634,879.398157473,786.601842527,805,652,631,652,0.406525999992,-0.00538352837936,0.0698088630853,0.999999932608,0.000187974932833,-0.000314218081893,2.67810375876e-05,1793244335341115904
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.975503143,658.975503143,634,879.975503143,786.024496857,805,652,631,652,0.406028083598,-0.00540380821451,0.0698069385456,0.99999993433,0.000161281646745,-0.000323369157232,2.75783957179e-05,1793244335357782528
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.56300952,680.43699048,658.43699048,634.56300952,879.43699048,786,805.56300952,652,631,652,0.405586536881,-0.00539627492401,0.0698027117651,0.999999928127,0.000177051197088,-0.000334194388572,2.67040730663e-05,1793244335374449408
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.851180178,680,658,634.851180178,879,786,805.851180178,652,631,652,0.405163156865,-0.00538879999144,0.0698042105278,0.999999926491,0.000189341411308,-0.000332401195612,2.60325356594e-05,1793244335391115776
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.271582473,680,658,634.271582473,879,786,805.271582473,652,631,652,0.404785132505,-0.00538506133689,0.069822577891,0.999999939159,0.000186113898464,-0.000293867642986,2.6162398116e-05,1793244335407782144
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.404423048823,-0.00538450086977,0.0698359498423,0.999999945849,0.000188744337793,-0.000268320367046,2.61023113541e-05,1793244335424448768
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,652,631,652,0.404075020338,-0.00538674266654,0.0698449172501,0.999999948037,0.000196539836769,-0.000254223321867,2.58747430426e-05,1793244335441115648
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.540119033,658,634,879.459880967,786.459880967,805,652,631,652,0.403747633421,-0.00538139835634,0.0698414322634,0.99999994639,0.000199880178717,-0.000258214240857,2.43744418729e-05,1793244335457782528
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.035215232,658,634,879.964784768,786.964784768,805.035215232,652,630.964784768,651.964784768,0.403427425366,-0.00537458125707,0.0698346761445,0.999999943666,0.000201725275114,-0.000267321268977,2.2693499067e-05,1793244335474449152
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.624904329,658,634,879.375095671,786.375095671,805.624904329,652,630.375095671,651.375095671,0.403139301571,-0.00537432469885,0.0698252489967,0.999999939317,0.000197498853188,-0.000286048303056,2.31595096183e-05,1793244335491115776
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.789348691,652,630.210651309,651.210651309,0.402862746488,-0.00537287741992,0.0698166663974,0.999999934877,0.000196124148708,-0.000302068699342,2.31342033237e-05,1793244335507782400
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805.210492343,652,630.789507657,651.789507657,0.402606412804,-0.00536934883726,0.0698095600161,0.999999930709,0.000199734064808,-0.000313358063708,2.2250106508e-05,1793244335524449024
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.63399574,714,680,658,634,879,786,805,652,630.63399574,652,0.402380389552,-0.00536672120307,0.06980368053,0.99999992712,0.000202980955769,-0.000322551850128,2.27924327355e-05,1793244335541115904
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.058847499,714,680,658,634,879,786,805,652,630.058847499,652,0.402171686415,-0.00536460839301,0.0697985021216,0.999999923855,0.000206020405435,-0.000330548172006,2.41498526508e-05,1793244335557782528
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.527218525,714,680,658,634,879,786,805,652,630.527218525,652,0.401997624322,-0.00536694068223,0.0697974384739,0.999999923405,0.000204957456211,-0.000332386249461,2.64813785512e-05,1793244335574449152
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.887992526,714,680,658,634,879,786,805,652,631,652,0.40183342937,-0.00536809560331,0.0697970010245,0.999999923018,0.000205242740917,-0.000333212468779,2.84373092212e-05,1793244335591115776
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.31361218,714,680,658,634,879,786,805,652,631,652,0.401693667435,-0.00536229881424,0.0697972125113,0.999999921543,0.000213023834746,-0.000332759210885,2.83844348912e-05,1793244335607782912
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.265265715,714,679.734734285,658,634,879,786,805,652,631,652,0.401566099096,-0.00535951430712,0.0697981407546,0.999999917683,0.000234120537837,-0.000330206393484,2.80289564898e-05,1793244335624449792
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.84955254,714,679.15044746,658,634,879,786,805,652,631,652,0.401453195363,-0.00536035251325,0.0697999310034,0.99999990999,0.00027123122248,-0.000325128546104,2.7309552079e-05,1793244335641115904
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.573761181,714,679.426238819,658,634,879,786,805,652,631,652,0.401358737685,-0.00536317706524,0.0697998546505,0.999999915827,0.000248794281916,-0.000325750918733,1.8275436457e-05,1793244335657782528
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.000296719,714,680,658,634,879,786,805,652,631,652,0.401270690803,-0.00536668880902,0.0697991318717,0.999999924911,0.000205730182126,-0.000328346780205,6.36486637198e-06,1793244335674449152
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.588955624,714,680,658,634,879,786,805,652,631,652,0.401210494259,-0.00536695633171,0.0698001477385,0.999999925683,0.000207983397427,-0.000324515304501,8.20211456002e-06,1793244335691116032
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.82514717,658,634,879,786.17485283,805,652,631,651.82514717,0.401154821354,-0.00536606878671,0.0698020572588,0.999999926605,0.000210823564197,-0.000319761358765,9.75692311584e-06,1793244335707782912
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.245641302,658,634,879,786.754358698,805,652,631,651.245641302,0.401109617286,-0.00536250812706,0.0698060349159,0.999999927881,0.000215022082681,-0.000312872587942,1.06580956983e-05,1793244335724449280
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.332485682,745,714,679,658,634,879,786.667514318,805,652,631,651.332485682,0.401072757015,-0.00536217140719,0.0698087867327,0.999999929442,0.000214659136885,-0.00030805937688,1.1724520651e-05,1793244335741115904
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.90959821,745,714,679,658,634,879,786.09040179,805,652,631,651.90959821,0.401042035701,-0.00536420670555,0.069810636636,0.999999931225,0.000210940087255,-0.000304773261353,1.29125303801e-05,1793244335757782784
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.516258704,745,714,679.483741296,658,634.483741296,878.516258704,786,805,652,631,652,0.401021800343,-0.00536373236592,0.0698133824713,0.999999931999,0.000212202236857,-0.000301322376292,1.33240890673e-05,1793244335774449664
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.059157763,744.940842237,714,680,658,634.940842237,878.059157763,786,805,652,630.940842237,652,0.401004168371,-0.00536312993875,0.0698160851581,0.999999932655,0.000213687216132,-0.000298064888693,1.35755380106e-05,1793244335791116288
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.651007299,744.348992701,714,680,658,634.348992701,878.651007299,786,805,652,630.348992701,652,0.400992440898,-0.00536557154477,0.06981690085,0.999999934045,0.000208847551237,-0.000296824444829,1.36838905036e-05,1793244335807782400
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.763133984,744.236866016,714,680,658,634,879,786,805,652,630.236866016,652,0.400983494913,-0.00536573070454,0.069817982155,0.999999934838,0.000208271763499,-0.000294543606489,1.38311228861e-05,1793244335824448768
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.185884291,744.814115709,714,680,658,634,879,786,805,652,630.814115709,652,0.400978546014,-0.0053626099194,0.0698194451542,0.999999934768,0.000213823297335,-0.000290767689684,1.40342268471e-05,1793244335841115648
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.609780899,745,714,680,658,634,879,786,805,652,631,652,0.400976136372,-0.00536319960876,0.0698217501506,0.999999935773,0.000212992643397,-0.000287898002883,1.42616404628e-05,1793244335857782272
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.034221973,745,714,680,658,634,879,786,805,652,631,652,0.400974932785,-0.00536555163811,0.0698244550649,0.999999937284,0.000209130683159,-0.000285458742349,1.4500600271e-05,1793244335874448640
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.554086645,745,714,680,658.554086645,634,879,786.554086645,805,652,631,652,0.400971938815,-0.0053656775491,0.0698231846032,0.999999937123,0.00020848098646,-0.00028651304306,1.4167342303e-05,1793244335891116032
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.140776506,744.859223494,714,680,658.859223494,634,878.859223494,786.859223494,805,652,631,652,0.400969813453,-0.00536535045756,0.0698224458085,0.999999936879,0.000209030415168,-0.000286975738479,1.39291244778e-05,1793244335907782656
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.719915802,744.280084198,714,680,658.280084198,634,878.280084198,786.280084198,805,652,631,652,0.400970745279,-0.00536405098213,0.06982414513,0.999999936697,0.000212681448577,-0.000284908522666,1.40994939216e-05,1793244335924449280
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.701628617,744.298371383,714,680,658,634,878.298371383,786.298371383,805,652.298371383,631,652,0.400971758731,-0.00536388812864,0.0698254233167,0.999999937154,0.000213280879293,-0.000282850425241,1.41061172607e-05,1793244335941115904
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.123813313,744.876186687,714,680,658,634,878.876186687,786.876186687,805,652.876186687,631,652,0.400972848631,-0.00536478979429,0.0698263070837,0.999999938213,0.000211022288943,-0.00028080086753,1.39593818985e-05,1793244335957782016
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.450757891,634,879,786.549242109,805,652.549242109,631,652,0.400972968541,-0.00536502390172,0.0698271000231,0.999999938557,0.000211267335775,-0.000279392631254,1.38370751979e-05,1793244335974448640
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.974815636,658.974815636,634,879,786,805,652,631,652,0.40097284841,-0.00536513568619,0.0698278497717,0.99999993872,0.000212070005968,-0.000278204557761,1.37632847274e-05,1793244335991115264
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.38376158,658.38376158,634,879,786,805,652,631,652,0.400973278567,-0.00536658955879,0.0698281856287,0.999999939179,0.00021006051516,-0.000278033536426,1.46299188978e-05,1793244336007781888
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.202638298,658,634,878.797361702,786,805,652,631,652,0.400973582744,-0.00536702642543,0.0698286709683,0.999999939444,0.000209489079955,-0.000277488046343,1.50730164917e-05,1793244336024448512
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.780421839,658,634,878.219578161,786,805,652,631,652,0.400973653694,-0.00536558050401,0.0698294330459,0.999999939352,0.000211579924017,-0.000276249300504,1.47320187632e-05,1793244336041115392
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.356111388,786,805,652,631,652,0.400974084305,-0.00536530251276,0.069830116468,0.99999993965,0.000211924013941,-0.000274913452046,1.45332740763e-05,1793244336057782784
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.930517311,786,805,652,631,652,0.400974735387,-0.00536574045704,0.0698307516748,0.999999940188,0.000211197352069,-0.000273518080204,1.44217298189e-05,1793244336074449920
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786.518081993,805.518081993,652,631,652,0.400973853209,-0.00536514482152,0.0698301079681,0.999999939639,0.000212198172298,-0.000274754364491,1.42733304062e-05,1793244336091116288
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,787,805.89433381,651.89433381,631,651.89433381,0.400973231423,-0.00536460402528,0.0698295863982,0.999999939206,0.000212942424503,-0.000275760414369,1.41008449646e-05,1793244336107782912
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,787,805.314783146,651.314783146,631,651.314783146,0.400974723674,-0.00536494703796,0.0698304018556,0.999999939976,0.000211469929546,-0.000274109809071,1.38430852026e-05,1793244336124449024
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.736697221,658,634,879,786.736697221,805,651.263302779,630.736697221,651.263302779,0.400975351473,-0.00536532138476,0.069830860235,0.999999940445,0.000210379931224,-0.000273237191749,1.38750510198e-05,1793244336141115392
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.160352656,658,634,879,786.160352656,805,651.839647344,630.160352656,651.839647344,0.400974951524,-0.00536573298487,0.0698308940831,0.999999940558,0.000209744684575,-0.000273289527403,1.4251472769e-05,1793244336157782016
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.414330982,658,634,879,786,805,652,630.414330982,652,0.40097424353,-0.00536618776425,0.0698311571149,0.999999940339,0.000210648718912,-0.000273388101214,1.4405320342e-05,1793244336174449152
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.988374347,658,634,879,786,805,652,630.988374347,652,0.400973416796,-0.00536665918794,0.0698315084904,0.99999993999,0.000212146100746,-0.000273504498466,1.44733721064e-05,1793244336191116032
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879.578311948,786,805,652,631,652,0.400971767706,-0.00536583349995,0.0698304459132,0.99999993951,0.000212165441155,-0.000275261895909,1.40187811023e-05,1793244336207782144
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b56c7398d3bd96bc052f0351a1a1fe95d4a5ad8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575669548511,-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
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+268,4.466666667,pose2_to_pose3_retreat,0.621962698795,-0.00012213798887,1.06005103566,0.592534331811,0.00855355099865,1.0597175279
+269,4.483333333,pose2_to_pose3_retreat,0.621962563696,-0.000122142314434,1.06005099918,0.592534196362,0.00855354548575,1.05971749153
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+271,4.516666667,pose2_to_pose3_retreat,0.621962159297,-0.000122135374304,1.06005100017,0.592533791882,0.0085535521039,1.05971749192
+272,4.533333333,pose2_to_pose3_retreat,0.621961928238,-0.000122136074344,1.06005102336,0.59253356089,0.00855355166431,1.05971751596
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+274,4.566666667,pose2_to_pose3_retreat,0.621957736887,-0.000122226930728,1.06005108688,0.592529369982,0.00855346232329,1.05971757872
+275,4.583333333,pose2_to_pose3_retreat,0.621950556539,-0.000122164822417,1.06005097479,0.592522189361,0.00855352375556,1.05971747295
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+277,4.616666667,pose2_to_pose3_retreat,0.621911393257,-0.000122158005997,1.0600509531,0.592483025278,0.00855352763904,1.05971744745
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+283,4.716666667,pose2_to_pose3_retreat,0.621588118933,-0.000122187241853,1.06005102552,0.592159752302,0.00855350274299,1.05971751382
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+286,4.766666667,pose2_to_pose3_retreat,0.621288972253,-0.000122091199122,1.06005109531,0.591860605119,0.00855359681912,1.05971758557
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+292,4.866666667,pose2_to_pose3_retreat,0.620243905949,-0.000122021906331,1.06005083851,0.590815537645,0.00855366156605,1.0597173281
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+348,5.800000000,pose2_to_pose3_retreat,0.585215526162,-0.000122099104328,1.06005104996,0.555787159582,0.00855358753416,1.05971754459
+349,5.816666667,pose2_to_pose3_retreat,0.584638001164,-0.000122107017818,1.06005097557,0.555209634983,0.00855358086921,1.05971746751
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+352,5.866666667,pose2_to_pose3_retreat,0.582921033815,-0.000122046847117,1.06005095237,0.553492665765,0.00855363446758,1.05971743861
+353,5.883333333,pose2_to_pose3_retreat,0.58237918048,-0.000122073218175,1.06005079412,0.552950812277,0.00855360776518,1.05971728508
+354,5.900000000,pose2_to_pose3_retreat,0.581868831837,-0.000122131693987,1.06005084652,0.552440464991,0.00855355420211,1.05971734554
+355,5.916666667,pose2_to_pose3_retreat,0.581384118264,-0.000122247180616,1.06005085883,0.551955753456,0.00855344556034,1.05971735593
+356,5.933333333,pose2_to_pose3_retreat,0.580923661486,-0.000122027463887,1.06005064272,0.551495292543,0.00855365126883,1.05971713977
+357,5.950000000,pose2_to_pose3_retreat,0.580488604744,-0.000122047500695,1.06005103333,0.551060236249,0.00855363243081,1.05971752205
+358,5.966666667,pose2_to_pose3_retreat,0.580076264756,-0.000122146429937,1.06005093084,0.550647897679,0.00855353867879,1.0597174294
+359,5.983333333,pose2_to_pose3_retreat,0.579686505013,-0.00012207832954,1.06005077564,0.550258136918,0.0085536034089,1.05971727651
+360,6.000000000,pose2_to_pose3_retreat,0.579320928491,-0.000122060589827,1.06005074181,0.54989256083,0.00855362244599,1.05971723799
+361,6.016666667,pose2_to_pose3_retreat,0.578981475103,-0.000122117111643,1.06005088332,0.549553109473,0.00855357270786,1.05971737647
+362,6.033333333,pose2_to_pose3_retreat,0.578661981871,-0.00012200543509,1.06005120712,0.549233614889,0.00855367971118,1.05971769806
+363,6.050000000,pose2_to_pose3_retreat,0.57836050592,-0.000122221606101,1.0600508945,0.548932139152,0.00855346431552,1.05971738668
+364,6.066666667,pose2_to_pose3_retreat,0.578074730311,-0.000122226464943,1.06005085145,0.548646364607,0.00855346324435,1.05971734829
+365,6.083333333,pose2_to_pose3_retreat,0.577803945557,-0.00012222295044,1.06005105054,0.548375580215,0.00855346793559,1.059717546
+366,6.100000000,pose2_to_pose3_retreat,0.5775492454,-0.000122342573001,1.06005104635,0.54812087905,0.00855334470958,1.0597175369
+367,6.116666667,pose2_to_pose3_retreat,0.577312299301,-0.000122318973562,1.06005103091,0.547883932441,0.00855336633797,1.0597175153
+368,6.133333333,pose2_to_pose3_retreat,0.577094773414,-0.000122227365964,1.06005096741,0.547666405977,0.00855345603265,1.05971745314
+369,6.150000000,pose2_to_pose3_retreat,0.576897099516,-0.000122185058428,1.06005088278,0.547468732369,0.00855349954729,1.05971737416
+370,6.166666667,pose2_to_pose3_retreat,0.576718990021,-0.000122175071748,1.0600509453,0.547290624007,0.00855351355221,1.05971744126
+371,6.183333333,pose2_to_pose3_retreat,0.576561208032,-0.000122178771628,1.06005103361,0.547132841328,0.00855350759311,1.05971753176
+372,6.200000000,pose2_to_pose3_retreat,0.576420767104,-0.000122126423802,1.06005090842,0.546992399042,0.00855355499827,1.0597173978
+373,6.216666667,pose2_to_pose3_retreat,0.576296884285,-0.000122087718717,1.0600509844,0.546868516936,0.00855359626303,1.05971747751
+374,6.233333333,pose2_to_pose3_retreat,0.576186961786,-0.000122176243639,1.06005063928,0.54675859469,0.00855350875776,1.05971713664
+375,6.250000000,pose2_to_pose3_retreat,0.576090280618,-0.000122136796898,1.06005105075,0.546661914168,0.00855355006896,1.05971754348
+376,6.266666667,pose2_to_pose3_retreat,0.576007549015,-0.000122172980271,1.06005086583,0.546579183076,0.00855351552498,1.05971735389
+377,6.283333333,pose2_to_pose3_retreat,0.575937224977,-0.000122161636738,1.06005086407,0.546508856927,0.00855351973568,1.05971735187
+378,6.300000000,pose2_to_pose3_retreat,0.575878682155,-0.000122208800777,1.0600510238,0.546450315882,0.00855347868734,1.05971751379
+379,6.316666667,pose2_to_pose3_retreat,0.575830175349,-0.000122173802741,1.06005095171,0.546401809789,0.00855351623876,1.05971744516
+380,6.333333333,pose2_to_pose3_retreat,0.575791572463,-0.000122121471347,1.06005078074,0.546363205194,0.00855356282966,1.05971727569
+381,6.350000000,pose2_to_pose3_retreat,0.575759895058,-0.000122205998857,1.0600508753,0.54633152791,0.00855347858809,1.05971736688
+382,6.366666667,pose2_to_pose3_retreat,0.575734791988,-0.000122003964781,1.06005090328,0.546306423387,0.0085536755281,1.05971739075
+383,6.383333333,pose2_to_pose3_retreat,0.575715390303,-0.000122037516798,1.06005073247,0.546287022869,0.00855364655874,1.05971723611
+384,6.400000000,pose2_to_pose3_retreat,0.575700950855,-0.000122157480366,1.06005096541,0.546272584726,0.00855353070093,1.05971746085
+385,6.416666667,pose2_to_pose3_retreat,0.575690831205,-0.000122262486271,1.06005096833,0.546262466492,0.00855343028454,1.05971745829
+386,6.433333333,pose2_to_pose3_retreat,0.57568363037,-0.00012232477015,1.06005077262,0.546255266799,0.00855337191509,1.05971726375
+387,6.450000000,pose2_to_pose3_retreat,0.575679215096,-0.00012229226388,1.06005102101,0.546250850314,0.00855340015487,1.05971750771
+388,6.466666667,pose2_to_pose3_retreat,0.575676172455,-0.000122262474893,1.0600510899,0.546247806499,0.00855342587418,1.05971757424
+389,6.483333333,pose2_to_pose3_retreat,0.575674220915,-0.00012223231762,1.06005098111,0.546245853696,0.00855345173169,1.05971746499
+390,6.500000000,pose2_to_pose3_retreat,0.575673108208,-0.000122215122898,1.06005091908,0.54624474027,0.00855346647483,1.0597174027
+391,6.516666667,pose2_to_pose3_retreat,0.575672523677,-0.000122195568318,1.06005096284,0.546244155716,0.00855348603682,1.05971744875
+392,6.533333333,pose2_to_pose3_retreat,0.575672253761,-0.000122184179929,1.06005100017,0.546243885868,0.00855349771901,1.05971748766
+393,6.550000000,pose2_to_pose3_retreat,0.575672120403,-0.000122178553224,1.06005101861,0.546243752544,0.00855350349087,1.05971750689
+394,6.566666667,pose2_to_pose3_retreat,0.57567172735,-0.000122161969387,1.06005107296,0.54624335959,0.00855352050254,1.05971756356
+395,6.583333333,pose2_to_pose3_retreat,0.575671399267,-0.000122148126807,1.06005111833,0.546243031591,0.00855353470223,1.05971761087
+396,6.600000000,pose2_to_pose3_retreat,0.575671163041,-0.000122138159899,1.06005115099,0.546242795425,0.00855354492627,1.05971764493
+397,6.616666667,pose2_to_pose3_retreat,0.575671058779,-0.000122133760814,1.06005116541,0.546242691189,0.00855354943884,1.05971765996
+398,6.633333333,pose2_to_pose3_retreat,0.575670914278,-0.000122127663974,1.06005118539,0.546242546725,0.00855355569297,1.0597176808
+399,6.650000000,pose2_to_pose3_retreat,0.57567068036,-0.00012212461925,1.06005118777,0.546242312965,0.00855355931199,1.05971768419
+400,6.666666667,pose2_to_pose3_retreat,0.57567061712,-0.000122129244415,1.0600511645,0.546242249847,0.0085535550973,1.05971766089
+401,6.683333333,pose2_to_pose3_retreat,0.575670578457,-0.000122132072119,1.06005115027,0.546242211257,0.00855355252055,1.05971764664
+402,6.700000000,pose2_to_pose3_retreat,0.575670460705,-0.000122140684149,1.06005110693,0.546242093731,0.00855354467282,1.05971760325
+403,6.716666667,pose2_to_pose3_retreat,0.575670321251,-0.000122150883301,1.06005105561,0.546241954545,0.00855353537882,1.05971755187
+404,6.733333333,pose2_to_pose3_retreat,0.575670297465,-0.000122152622939,1.06005104685,0.546241930805,0.00855353379358,1.05971754311
+405,6.750000000,pose2_to_pose3_retreat,0.57567025451,-0.000122155764546,1.06005103104,0.546241887932,0.00855353093078,1.05971752728
+406,6.766666667,pose2_to_pose3_retreat,0.575670234109,-0.000122157256571,1.06005102353,0.54624186757,0.00855352957117,1.05971751976
+407,6.783333333,pose2_to_pose3_retreat,0.575669908802,-0.000122181048496,1.06005090381,0.546241542887,0.00855350789073,1.0597173999
+408,6.800000000,pose2_to_pose3_retreat,0.575669635546,-0.000122178029419,1.06005079647,0.546241268565,0.00855350717793,1.05971728951
+409,6.816666667,pose2_to_pose3_retreat,0.575669548511,-0.000122154867145,1.06005075797,0.546241180704,0.00855352750759,1.05971725023
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f18970850e38776cb9f589ec6d321a6b08102c5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c245ec53ec71732b696e3b1cc72b2f411156c84654dad28fdd4538695d274906
+size 25709961
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9160917d4eb1522141049a1cf10a29eaed2f1208
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+31,0.516666667,BASELINE,765,745,714,679.989029921,658,634.989029921,878.010970079,786.989029921,805.010970079,651.010970079,631,652,0.401022782756,-0.00549836263325,0.0798590278264,0.999999980277,0.000114096335128,-0.000156274823061,4.47992858083e-05,1793244338000102400
+32,0.533333333,BASELINE,765,745,714,679.433693821,658,634.433693821,878.566306179,786.433693821,805,651.566306179,631,652,0.401023283028,-0.0054986339312,0.0798599016544,0.999999980087,0.000115911078452,-0.000156089158697,4.50166436396e-05,1793244338016769280
+33,0.550000000,BASELINE,765,744.855699012,714,679,658,634,879,786.144300988,805,651.855699012,631,652,0.401023792119,-0.00549873995348,0.0798604774141,0.999999979938,0.000117467141149,-0.000155846779764,4.51373979134e-05,1793244338033435904
+34,0.566666667,BASELINE,765,744.275420223,714,679,658,634,879,786.724579777,805,651.275420223,631,652,0.401024282207,-0.00549832283366,0.0798600951723,0.999999979943,0.000118045817398,-0.00015543028044,4.4940576961e-05,1793244338050102528
+35,0.583333333,BASELINE,765,744.306867101,714,679,658,634,879,786.693132899,805,651.306867101,631,652,0.40102436789,-0.00549792794767,0.0798600044763,0.999999979969,0.000118274844917,-0.000155123170831,4.48250030587e-05,1793244338066769408
+36,0.600000000,BASELINE,765,744.890969075,714,679,658,634,879,786.109030925,805,651.890969075,631,652,0.401024088218,-0.0054975531485,0.0798601771732,0.999999980014,0.000118187987152,-0.000154914887811,4.4782830667e-05,1793244338083436032
+37,0.616666667,BASELINE,765,745,714.470995184,679.470995184,658,634.470995184,879.470995184,786.470995184,805,652,631,651.529004816,0.401024339274,-0.00549835221663,0.0798606102914,0.999999980106,0.000117332497164,-0.000154897793335,4.50308196298e-05,1793244338100102656
+38,0.633333333,BASELINE,765,745,714.950423898,680,658.049576102,634.950423898,879.950423898,786.950423898,805,652,630.950423898,651.049576102,0.401024694052,-0.0054993886013,0.0798611197272,0.99999998024,0.000116201065001,-0.000154812675123,4.52874339339e-05,1793244338116769280
+39,0.650000000,BASELINE,765,745,714.377226678,680,658.622773322,634.377226678,879.377226678,786.377226678,805,652,630.377226678,651.622773322,0.401024857855,-0.00550008604004,0.0798618039619,0.999999980702,0.000114018318813,-0.000153545647983,4.49317925551e-05,1793244338133435904
+40,0.666666667,BASELINE,765,745,714,680,658.797420283,634,878.797420283,786.202579717,805,651.797420283,630.202579717,651.797420283,0.401024357165,-0.00550071394047,0.0798615374844,0.999999980747,0.000113089626688,-0.000153980242131,4.47936779153e-05,1793244338150102528
+41,0.683333333,BASELINE,765,745,714,680,658.204891823,634,878.204891823,786.795108177,805,651.204891823,630.795108177,651.204891823,0.401022577383,-0.00550120798552,0.0798594409667,0.999999979987,0.000114574882209,-0.000157690312751,4.50742837863e-05,1793244338166769408
+42,0.700000000,BASELINE,765,745,714,680,658.378634006,634,878.378634006,787,805,651.378634006,630.621365994,651.378634006,0.401022999878,-0.00550096278352,0.0798597460261,0.999999979787,0.00011641008813,-0.000157475669384,4.5559269636e-05,1793244338183436032
+43,0.716666667,BASELINE,765,745,714,680,658.957401326,634,878.957401326,787,805,651.957401326,630.042598674,651.957401326,0.401024586425,-0.00550032684015,0.0798613204793,0.999999979881,0.000118430266122,-0.000155186552921,4.61522839201e-05,1793244338200102656
+44,0.733333333,BASELINE,765,745,714,680,658.467829006,634,879,786.467829006,805,652,630,652,0.401024148345,-0.00549973966677,0.0798612657443,0.999999979897,0.000118818671361,-0.000154868792241,4.58584816039e-05,1793244338216769280
+45,0.750000000,BASELINE,765,744.893428655,714,680,658,634,879,786,805,652,630.106571345,652,0.401023708612,-0.00549900596212,0.0798610771897,0.999999979896,0.000119106802549,-0.000154782335388,4.54396230708e-05,1793244338233435904
+46,0.766666667,BASELINE,765,744.319255327,714,680,658,634,879,786,805,652,630.680744673,652,0.401023967412,-0.00549761232254,0.0798608694159,0.999999979838,0.000119523802407,-0.000155023548322,4.47812033127e-05,1793244338250103552
+47,0.783333333,BASELINE,765,744.263259591,714,679.736740409,658,634,879,786.263259591,805,652,631,652,0.40102384861,-0.0054976147296,0.0798607817157,0.999999979877,0.000119026848283,-0.000155216585042,4.45665533246e-05,1793244338266770432
+48,0.800000000,BASELINE,765,744.856221466,714,679.143778534,658,634,879,786.856221466,805,652,631,652,0.401023256903,-0.00549936552395,0.0798608443939,0.999999980035,0.000117385272228,-0.000155349286639,4.49076737183e-05,1793244338283437056
+49,0.816666667,BASELINE,765,745,714,679.438793159,658,634.438793159,878.561206841,787,805,652,631,651.561206841,0.401024268628,-0.00549915582013,0.0798613767993,0.999999980278,0.000116799856545,-0.000154238840948,4.48508865376e-05,1793244338300103424
+50,0.833333333,BASELINE,765,745,714,680,658,634.982186544,878.017813456,787,805,651.982186544,630.982186544,651.017813456,0.40102568949,-0.0054983406373,0.079862005664,0.99999998053,0.00011654469297,-0.00015284856047,4.46664201825e-05,1793244338316769792
+51,0.850000000,BASELINE,765,745,714,680,658,634.410184233,878.589815767,787,805,651.410184233,630.410184233,651.589815767,0.40102387159,-0.00549821158035,0.0798609578214,0.999999980245,0.000116046462865,-0.000155131910325,4.44722022672e-05,1793244338333436160
+52,0.866666667,BASELINE,765,745,714,680,658,634,879,786.833105141,805,651.166894859,630.166894859,652,0.401022834317,-0.00549788564574,0.0798602529926,0.999999979952,0.000116787146812,-0.000156460408368,4.44682401434e-05,1793244338350102784
+53,0.883333333,BASELINE,765,745,714,680,658,634,879,786.243157217,805,651.756842783,630.756842783,652,0.401023775815,-0.00549706065623,0.0798604176513,0.99999997964,0.000120668289358,-0.000155368502257,4.4946547507e-05,1793244338366769408
+54,0.900000000,BASELINE,765,745,714,680,658,634,878.658954977,786.341045023,805,652,631,652,0.401024642211,-0.00549768300651,0.0798608153465,0.999999979852,0.000120281196231,-0.000154270043811,4.50446368755e-05,1793244338383436288
+55,0.916666667,BASELINE,765,745,714,680,658,634,878.078781428,786.921218572,805,652,631,652,0.401025455951,-0.00549932017952,0.0798613764384,0.99999998043,0.000116901369333,-0.000153166991147,4.4876131017e-05,1793244338400102912
+56,0.933333333,BASELINE,765,745,714,680,658.497895865,634,878.497895865,787,805,652,631,652,0.401023246216,-0.00549814354184,0.079859833536,0.99999997973,0.000118248796827,-0.000156637829435,4.49660170847e-05,1793244338416769792
+57,0.950000000,BASELINE,765,745,714,680,658.926401145,634,878.926401145,787,805,652,631,652,0.401021100397,-0.00549691304651,0.0798584314007,0.999999979014,0.000119941380945,-0.00015985017955,4.51009687311e-05,1793244338433436672
+58,0.966666667,BASELINE,765,745,714,680,658.353580891,634,878.353580891,787,805,652,631,652,0.401022610483,-0.00549831614469,0.0798602264898,0.999999979667,0.000118936939396,-0.000156434429362,4.52662108397e-05,1793244338450102784
+59,0.983333333,BASELINE,764.772968877,745,714,679.772968877,658,634,878.227031123,786.772968877,805,652,631,652,0.401023968449,-0.00549911466595,0.0798613681475,0.999999980051,0.000118680634342,-0.000154126699511,4.53586920833e-05,1793244338466769408
+60,1.000000000,BASELINE,764.179790518,745,714,679.179790518,658,634,878.820209482,786.179790518,805,652,631,652,0.401025081082,-0.00549893814857,0.0798614559759,0.999999980019,0.000119630895462,-0.000153605942552,4.5333827374e-05,1793244338483436032
+61,1.016666667,BASELINE,764.402275229,745,714,679.402275229,658.402275229,634.402275229,879,786,805,652,631,652,0.401024221106,-0.00549866786421,0.0798609749743,0.999999979854,0.00011950972573,-0.000154815013308,4.51845444778e-05,1793244338500102400
+62,1.033333333,BASELINE,764.979507849,745,714,679.979507849,658.979507849,634.979507849,879,786,805,652,631,652,0.401022503203,-0.00549835679876,0.0798602465775,0.999999979628,0.000118922569641,-0.000156776420105,4.49811496726e-05,1793244338516769024
+63,1.050000000,BASELINE,765,745,714,680,658.446951005,634.446951005,879,786.553048995,805,652,631,652,0.401022988662,-0.00549735013938,0.0798605582854,0.999999979732,0.000118615864754,-0.000156414248908,4.47255278882e-05,1793244338533436160
+64,1.066666667,BASELINE,765,745,714.126975736,680,658,634.126975736,879,786.873024264,805,651.873024264,630.873024264,652,0.401023486767,-0.00549688795458,0.0798608380405,0.999999979824,0.000118409427486,-0.000156007584328,4.46379828472e-05,1793244338550103040
+65,1.083333333,BASELINE,765,745,714.702745569,680,658,634.702745569,879,786.297254431,805,651.297254431,630.297254431,652,0.401023742925,-0.00549844070159,0.0798608695457,0.999999979829,0.000118520899483,-0.000155745944758,4.51512973757e-05,1793244338566770176
+66,1.100000000,BASELINE,765,745,714.712067538,680,658,635,878.712067538,786,805,651.287932462,630.287932462,652,0.401024251119,-0.00549920465636,0.0798609723047,0.999999979958,0.000117820337312,-0.000155405849873,4.52879305466e-05,1793244338583436800
+67,1.116666667,BASELINE,765,745,714.116830026,680,658,635,878.116830026,786,805,651.883169974,630.883169974,652,0.401025028309,-0.00549912674749,0.0798611511114,0.999999980219,0.000116253105919,-0.000154982021084,4.50225385619e-05,1793244338600102656
+68,1.133333333,BASELINE,765,745,714,679.537720619,658.462279381,635,878.462279381,786.462279381,805,652,631.462279381,652,0.401024153552,-0.00549830103546,0.0798606557044,0.999999979933,0.000117952572698,-0.000155521989716,4.5106848944e-05,1793244338616769280
+69,1.150000000,BASELINE,764.962459077,745,714.037540923,679.037540923,658.962459077,635,879.037540923,786.962459077,805.037540923,652,631.962459077,652,0.401023101024,-0.00549738152358,0.0798601483773,0.999999979575,0.000120156983367,-0.000156093561307,4.52483787194e-05,1793244338633436160
+70,1.166666667,BASELINE,764.385895614,745,714.614104386,679.614104386,658.385895614,635,879.614104386,786.385895614,805.614104386,652,631.385895614,652,0.401025288358,-0.00549773728892,0.0798618339458,0.99999998019,0.000118157237664,-0.000153739459562,4.49852915617e-05,1793244338650102784
+71,1.183333333,BASELINE,764.194764231,745,714.805235769,680,658,634.805235769,879.805235769,786,805.805235769,652,631,652,0.401025659962,-0.00549839820779,0.079862333374,0.999999980388,0.000117066743849,-0.00015331598325,4.48777915506e-05,1793244338666769408
+72,1.200000000,BASELINE,764.783714911,745,714.216285089,680,658,634.216285089,879.216285089,786,805.216285089,652,631,652,0.401022356679,-0.00549967673183,0.0798604321544,0.99999997975,0.000117816499143,-0.000156799930273,4.50851868116e-05,1793244338683436288
+73,1.216666667,BASELINE,765,745,714,680,658,634.366197099,879,786.366197099,805,652,631,652,0.40102196787,-0.00549945109305,0.0798597074735,0.999999979602,0.000118346080967,-0.000157385672097,4.49526723736e-05,1793244338700103168
+74,1.233333333,BASELINE,765,745,714,680,658,634.944925115,879,786.944925115,805,652,631,652,0.401023270544,-0.00549835247868,0.079859665624,0.999999979741,0.000118747880006,-0.000156289373614,4.46228835055e-05,1793244338716770304
+75,1.250000000,BASELINE,764.479139596,745,714.520860404,680,658,635,879,787,805,652,631,652,0.401023379553,-0.0054993073589,0.0798606411538,0.999999979972,0.000117736145779,-0.000155476861927,4.49514034829e-05,1793244338733436672
+76,1.266666667,BASELINE,764.096009391,745,715,679.903990609,658,634.903990609,879,786.903990609,805,652,631,652,0.401023254775,-0.00550037125948,0.0798614213256,0.999999980174,0.00011645418752,-0.000155067443299,4.52112313841e-05,1793244338750102784
+77,1.283333333,BASELINE,764.668712672,745,715,679.331287328,658,634.331287328,879,786.331287328,805,652,631,652,0.401022592559,-0.00550090412222,0.0798607002563,0.999999980186,0.000114568691739,-0.000156511219139,4.47862299083e-05,1793244338766769408
+78,1.300000000,BASELINE,765,745,714.749469288,679,658.250530712,634,879,786.250530712,805,652,631,652,0.401023087739,-0.0055010583606,0.0798608272839,0.99999998036,0.000113665838195,-0.000156102813315,4.4640295049e-05,1793244338783436032
+79,1.316666667,BASELINE,765,745,714.155143407,679,658.844856593,634,879,786.844856593,805,652,631,652,0.401025171178,-0.00550069302503,0.0798621181274,0.999999980754,0.000114111432863,-0.000153152718568,4.48773142887e-05,1793244338800102656
+80,1.333333333,BASELINE,765,745,714,679.426689374,658.573310626,634,879,786.573310626,805.426689374,652,631,652,0.401024628308,-0.00549945752738,0.0798617669426,0.999999980277,0.000116855614356,-0.000154210038812,4.4830316706e-05,1793244338816769536
+81,1.350000000,BASELINE,765,745,714.004091694,680,658.004091694,634,879,786.004091694,806,652,631,652,0.401023165636,-0.00549792007483,0.0798608426449,0.999999979482,0.000120392525736,-0.000156666117381,4.46851053994e-05,1793244338833436416
+82,1.366666667,BASELINE,765,745,714.579086037,680,658.579086037,634,879,786.579086037,806,652,631,652,0.401022812981,-0.00549714086108,0.079860886934,0.999999979357,0.000121242463891,-0.000156766798181,4.48352247531e-05,1793244338850103040
+83,1.383333333,BASELINE,765,745.15783842,714.84216158,679.84216158,658.84216158,634.15783842,879,786.84216158,806,652,631,652,0.401022330336,-0.00549670959712,0.0798607310908,0.999999979306,0.000121210528187,-0.000157072918864,4.49951959751e-05,1793244338866769664
+84,1.400000000,BASELINE,765,745.746857079,714.253142921,679.253142921,658.253142921,634.746857079,879,786.253142921,806,652,631,652,0.401021492584,-0.00549722885615,0.0798600285301,0.999999979454,0.000118769505069,-0.000157940256657,4.51820803928e-05,1793244338883436032
+85,1.416666667,BASELINE,765,745.669588818,714,679.330411182,658.330411182,635,879,786.330411182,805.669588818,652,631,652,0.401021171078,-0.00549812420176,0.0798595676332,0.999999979536,0.000117391156301,-0.00015846450833,4.51256887158e-05,1793244338900102656
+86,1.433333333,BASELINE,765,745.090153278,714,679.909846722,658.909846722,635,879,786.909846722,805.090153278,652,631,652,0.401021238655,-0.00549930299633,0.0798592888737,0.999999979572,0.000116813724273,-0.000158730182744,4.48859446573e-05,1793244338916769280
+87,1.450000000,BASELINE,765,745,714,680,658.515160038,634.515160038,879,786.515160038,805,652,631,652,0.401021861734,-0.00550012828314,0.0798595551671,0.999999979753,0.000116000036329,-0.000158218332269,4.47802442601e-05,1793244338933435904
+88,1.466666667,BASELINE,765,745,714,680,658.059358221,634,879,786.059358221,805,652,631,652,0.401022469602,-0.00550066729367,0.0798598613607,0.999999979916,0.000115380869187,-0.000157657850259,4.47055719109e-05,1793244338950102784
+89,1.483333333,BASELINE,765,745,714,680,658.636875385,634,879,786.636875385,805,652,631,652,0.401022051198,-0.00549927589236,0.0798596391722,0.999999979706,0.000116839745855,-0.000157923446456,4.46861535408e-05,1793244338966769408
+90,1.500000000,BASELINE,765,745,714,680,658.781159186,634.218840814,878.781159186,786.781159186,805,652,631,652,0.401021842214,-0.00549828533157,0.079859530621,0.999999979478,0.000118538821532,-0.000158109749758,4.46604001734e-05,1793244338983436288
+91,1.516666667,BASELINE,765,745,714,680,658.191659626,634.808340374,878.191659626,786.191659626,805,652,631,652,0.401021987934,-0.00549797368928,0.0798596145415,0.999999979219,0.000120644730971,-0.000158161751736,4.46239169898e-05,1793244339000103424
+92,1.533333333,BASELINE,765,745,714,679.608672652,658,634.608672652,878.391327348,786.391327348,805,652,631,652,0.40102202939,-0.00549820386465,0.0798602986805,0.999999979497,0.000119033569194,-0.000157583571177,4.4764313611e-05,1793244339016769792
+93,1.550000000,BASELINE,765,745,714,679.02882307,658,634.02882307,878.97117693,786.97117693,805,652,631,652,0.401022020617,-0.00549869506104,0.0798612719751,0.999999980025,0.000115631705835,-0.000156701799724,4.49899222037e-05,1793244339033436160
+94,1.566666667,BASELINE,765,745,714,679.539649726,658.539649726,634,879,786.460350274,805,652,631,652,0.401023246582,-0.00549881241675,0.0798613691798,0.999999980029,0.000116478868795,-0.000156110951213,4.47725188108e-05,1793244339050103296
+95,1.583333333,BASELINE,765,745,714,680,658.887418366,634,879,786.112581634,805,652,631,652,0.401024223831,-0.00549881937833,0.0798614175418,0.999999979973,0.000117657852602,-0.000155637183801,4.45925738991e-05,1793244339066770432
+96,1.600000000,BASELINE,765,745,714,680,658.292848004,634,879,786.707151996,805,652,631,652,0.401023859756,-0.00549843743542,0.0798614529904,0.99999997978,0.000119305901859,-0.000155599518119,4.46722069072e-05,1793244339083436544
+97,1.616666667,BASELINE,765,745,714,680,658,634,879,786.705800388,805,652,631,652,0.401023672261,-0.00549850642506,0.0798617832534,0.999999979879,0.000118772758331,-0.000155347652497,4.47430052576e-05,1793244339100102912
+98,1.633333333,BASELINE,765,745,714,680,658,634,879,786.126054292,805,652,631,652,0.401023656154,-0.00549901308426,0.0798623996595,0.999999980259,0.000116122576121,-0.000154887887079,4.48052287946e-05,1793244339116769536
+99,1.650000000,BASELINE,765,745,714,680,658,634,879,786.450713793,805,652,631,652,0.401024167739,-0.00549937048171,0.0798623084407,0.999999980334,0.000115637604125,-0.000154711203961,4.49957096217e-05,1793244339133436160
+100,1.666666667,BASELINE,764.973303021,745,714,679.973303021,658,634.026696979,879,787,805,652,631,652,0.401024761815,-0.00549960784398,0.0798620172406,0.999999980315,0.000115798493619,-0.00015465348894,4.51938708842e-05,1793244339150102784
+101,1.683333333,BASELINE,764.396443509,745,714,679.396443509,658,634.603556491,879,787,805,652,631,652,0.401024034454,-0.00549822618318,0.0798616565134,0.999999980088,0.000116871825055,-0.000155426596061,4.48159503733e-05,1793244339166769408
+102,1.700000000,BASELINE,764.18438501,745,714,679.18438501,658,635,879,787,805,652,631,652,0.40102335099,-0.00549749088258,0.0798613154259,0.999999979925,0.000117496750491,-0.00015608098889,4.45401442059e-05,1793244339183436288
+103,1.716666667,BASELINE,764.773934887,745,714,679.773934887,658,635,879,787,805,652,631,652,0.401022763986,-0.00549817588439,0.0798610174949,0.999999979908,0.000117136355138,-0.000156474520604,4.44887226218e-05,1793244339200102912
+104,1.733333333,BASELINE,765,745,714,679.643490411,658,634.643490411,879,786.643490411,805.356509589,652,631,652,0.401023072836,-0.00549809829747,0.0798610450625,0.999999979917,0.000116991564754,-0.000156516236378,4.45192672074e-05,1793244339216769536
+105,1.750000000,BASELINE,765,745,714,679.065253783,658,634.065253783,879,786.065253783,805.934746217,652,631,652,0.401023938852,-0.00549754642732,0.0798612750701,0.999999979942,0.000116980867364,-0.000156339144311,4.46007897048e-05,1793244339233436160
+106,1.766666667,BASELINE,765,745,714.510044195,679.510044195,658,634,879,786.510044195,805.489955805,652,631,652,0.401024040366,-0.00549818025315,0.0798617244905,0.999999980159,0.000116174482899,-0.000155533379034,4.46555678709e-05,1793244339250102784
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,635,879,786,805,652,631,652,0.401022732541,-0.00549823041106,0.0798605634993,0.999999979682,0.000117862374569,-0.000157355356682,4.45463583239e-05,1793244339293377536
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.405117314,680,658,634.405117314,879,786.594882686,805,651.405117314,631,652,0.401022990069,-0.00549841203137,0.079861236485,0.999999979677,0.000119149536579,-0.000156291140713,4.49800815757e-05,1793244339310044160
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.184164434,680,658.184164434,634,879,787,805.184164434,651.184164434,631,652,0.401022644233,-0.00549846193863,0.0798611757776,0.999999979515,0.000120293132647,-0.000156384680051,4.52086879056e-05,1793244339326710784
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.761489225,680,658.761489225,634,879,787,805.761489225,651.761489225,631,652,0.401021010316,-0.00549823066051,0.0798595487577,0.999999979019,0.000121130239609,-0.000158949833721,4.49994038919e-05,1793244339343377152
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.337153497,745,715,679.662846503,659,634,879,787,805.662846503,652,631,652,0.401020960921,-0.00549787504497,0.0798594497536,0.999999979039,0.000120596619099,-0.000159288354601,4.47765388871e-05,1793244339360043520
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.9116488,745,715,679.0883512,659,634,879,787,805.0883512,652,631,652,0.401022026963,-0.00549743190114,0.0798604264082,0.999999979424,0.000119098064363,-0.000158059419994,4.45441134515e-05,1793244339376710144
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.515566085,745,715,679,659,634.484433915,878.515566085,786.515566085,805,652,631,652,0.401021904987,-0.00549703144148,0.0798602438985,0.999999979217,0.000120136023279,-0.000158569366987,4.46085466918e-05,1793244339393376768
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.940646742,679.059353258,658.940646742,634.940646742,878.118706516,786.059353258,805,652,631,652,0.401021798345,-0.00549675816157,0.079860086562,0.999999978975,0.000121253845658,-0.00015920617255,4.47264410135e-05,1793244339410043392
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.343576304,679.656423696,658.343576304,634.343576304,879.312847392,786.656423696,805,652,631,652,0.401023786666,-0.00549756680152,0.0798620658269,0.999999979421,0.000118918877614,-0.000158129231049,4.48398994861e-05,1793244339426710016
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.755904203,658,634,879.755904203,786.755904203,805,652,631,652,0.401029008383,-0.00549830559585,0.079865029176,0.999999979599,0.000117746516939,-0.000157813422088,4.50875007775e-05,1793244339443376896
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.180970298,658,634,879.180970298,786.180970298,805,652,631,652,0.401038612522,-0.00549894972402,0.0798693263149,0.999999979419,0.000118149910024,-0.000158529223153,4.55169141068e-05,1793244339460043520
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679.395298164,658.395298164,634,879,786,805,652,631,652,0.401064292267,-0.00549825424708,0.0798787290157,0.999999980452,0.000119259389029,-0.00015097936988,4.55983649997e-05,1793244339476710144
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679.972179715,658.972179715,634,879,786,805,652,631,652,0.401097356471,-0.00549694341185,0.0798904769977,0.999999981932,0.000120693214296,-0.000139632621937,4.55199765852e-05,1793244339493376768
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.561819289,680.561819289,659,634,879,786.561819289,805,652,631,652,0.401153388984,-0.00549967533094,0.0799048306666,0.999999984871,0.000118183306554,-0.000119437744887,4.5012074481e-05,1793244339510045696
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.148908189,714.851091811,680.851091811,658.851091811,634,879,786.851091811,805,652,631,652,0.40121478756,-0.00550207401852,0.079918250394,0.99999998725,0.000116101848743,-0.000100268457247,4.43558451678e-05,1793244339526713856
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.726787082,714.273212918,680.273212918,658.273212918,634,879,786.273212918,805,652,631,652,0.401288291983,-0.00550292264027,0.0799285993115,0.999999988711,0.000115830305885,-8.53451757279e-05,4.3335012862e-05,1793244339543377920
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.697360873,714,680,658.302639127,634.302639127,878.697360873,786.302639127,805,652,631,652,0.401369395453,-0.00550382931715,0.0799349287302,0.999999989621,0.000114522708065,-7.69883062948e-05,4.14172345582e-05,1793244339560043520
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.123326464,714,680,658.876673536,634.876673536,878.123326464,786.876673536,805,652,631,652,0.401457313456,-0.0055047880556,0.0799376536144,0.999999990171,0.000112286015506,-7.45199468988e-05,3.86951091939e-05,1793244339576710144
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.537459248,634.537459248,878.462540752,787,805,652,631,652,0.401559295318,-0.00550587730348,0.0799388680547,0.999999990609,0.000109798691881,-7.40257184099e-05,3.53132237627e-05,1793244339593376768
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.050848648,679.949151352,658.050848648,634.050848648,878.949151352,786.949151352,805,652,631,652,0.401668042423,-0.00550707814333,0.0799401601783,0.999999991061,0.000107252290859,-7.32746831282e-05,3.17098351375e-05,1793244339610043648
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.630861345,679.369138655,658.630861345,634.630861345,878.369138655,786.369138655,805,652,631,652,0.40180714543,-0.00550906864916,0.0799465617944,0.999999992062,0.000104804777339,-6.42297049976e-05,2.76800425533e-05,1793244339626710272
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634.790730645,878.41853871,786,805,652,631,652.209269355,0.401956478526,-0.00551052817576,0.0799523107509,0.999999992977,0.000102146963259,-5.54668580335e-05,2.31421659027e-05,1793244339643376896
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634.215131726,879.569736547,786,805,652,631,652.784868274,0.402123719549,-0.00551105821402,0.0799569172152,0.999999993817,9.91210147355e-05,-4.71978874276e-05,1.77148798815e-05,1793244339660043264
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658.639651791,634,880,786.360348209,805,651.639651791,631,652.639651791,0.402310178509,-0.00551180456751,0.079961153398,0.999999994553,9.4561888463e-05,-4.25606592289e-05,1.18994231456e-05,1793244339676710144
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.064242812,634,880,786.935757188,805,651.064242812,631,652.064242812,0.402508107014,-0.00551268002094,0.0799651685923,0.999999995211,8.90877403182e-05,-4.00909040879e-05,5.85230026509e-06,1793244339693377024
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.475549298,679.524450702,658,634,879.475549298,787,805,651.524450702,631,652,0.402713423431,-0.00551579958047,0.0799589237318,0.999999995488,7.76555967583e-05,-5.46808250098e-05,-1.70059987111e-06,1793244339710043904
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.112489857,787,805.112489857,652,631,652,0.402928565697,-0.0055185239681,0.0799524069215,0.999999995559,6.29313141216e-05,-6.94989855447e-05,-9.52944538168e-06,1793244339726710784
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879.690903602,787,805.690903602,652,631,652,0.403180560106,-0.00551844341298,0.0799501046061,0.999999996216,3.7672699974e-05,-7.63820541935e-05,-1.77174014633e-05,1793244339743377408
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.731816881,658,634.268183119,879.731816881,786.731816881,806,652,631,652,0.403456878984,-0.00551871027206,0.0799490590904,0.999999996432,1.97545129677e-05,-7.8788091448e-05,-2.32119378982e-05,1793244339760043776
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.155839155,658,634.844160845,879.155839155,786.155839155,806,652,631,652,0.403761115117,-0.00551937585952,0.0799494560078,0.999999996727,1.02609587356e-05,-7.60558253707e-05,-2.56152276819e-05,1793244339776710144
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.41672537,714,679.41672537,658,635,879,786.41672537,806,652,631,652,0.404098805714,-0.00551928551692,0.0799523339527,0.999999996923,1.4500558347e-05,-7.23447162959e-05,-2.66629508046e-05,1793244339793376512
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.988023847,714,679.988023847,658,635,879,786.988023847,806,652,631,652,0.404448905341,-0.00551891478231,0.0799561321681,0.999999997015,2.38341034923e-05,-6.82705317034e-05,-2.72078627531e-05,1793244339810043136
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.419945448,714,680,658,635,878.419945448,786.419945448,805.419945448,652,631,652,0.404832051895,-0.00551880552883,0.0799573077733,0.999999997727,8.31705590861e-06,-5.99120170573e-05,-2.97979627718e-05,1793244339826710016
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.831728746,745,714,680,658,635,878.168271254,786.168271254,805,652,631,652,0.405226545541,-0.00551935112135,0.0799573354909,0.99999999798,-3.34086995704e-06,-5.45824428812e-05,-3.23964141439e-05,1793244339843377152
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.25387614,745,714,680,658,635,878.74612386,786.74612386,805,652,631,652,0.405646936237,-0.00552147701676,0.0799547058725,0.999999997766,-4.31032571007e-06,-5.68487648259e-05,-3.490860225e-05,1793244339860044032
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.322679167,745,714,680,658,634.677320833,879,786.677320833,805,652,631,652,0.406085196601,-0.00552227636181,0.0799469925518,0.999999996795,-3.82573757247e-06,-7.10721379389e-05,-3.6660788225e-05,1793244339876710656
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.898217939,745,714,680,658,634.101782061,879,786.101782061,805,652,631,652,0.406537460135,-0.00552203618847,0.0799352955123,0.999999994802,-2.20172375152e-06,-9.46653607635e-05,-3.78174174482e-05,1793244339893377536
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634.483648035,879.483648035,786.483648035,805.483648035,652,631,652,0.407025577717,-0.00552302476113,0.0799330764034,0.999999994429,-1.5526369987e-06,-9.84646430082e-05,-3.80055860487e-05,1793244339910043648
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.070249882,680,658.070249882,635,879.929750118,787,805.929750118,652,631,652,0.407524826614,-0.00552379981236,0.0799319137365,0.999999994254,-1.02341466674e-06,-0.000100141792555,-3.82448495051e-05,1793244339926710272
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.649938827,680,658.649938827,635,879.350061173,787,805.350061173,652,631,652,0.408048938011,-0.0055211120822,0.0799236457426,0.999999992309,1.55492517167e-07,-0.000117268239279,-4.03634877987e-05,1793244339943376896
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.770519354,680,659,634.770519354,879,786.770519354,804.770519354,652,631,652,0.40859846344,-0.00552049856257,0.0799202060346,0.999999991345,1.05294631131e-06,-0.000124752864449,-4.17875556469e-05,1793244339960043776
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.191201858,680,659,634.191201858,879,786.191201858,804.191201858,652,631,652,0.409186731823,-0.00552304711923,0.0799241269143,0.999999992203,1.5213321854e-06,-0.00011753880036,-4.21527700926e-05,1793244339976710912
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.384526083,680.384526083,659,634,879,786.384526083,804.769052165,652,631,652,0.409829023242,-0.0055285097984,0.0799484543865,0.999999996148,-5.32135119109e-06,-7.70375184721e-05,-4.17243369686e-05,1793244339993377536
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.958485644,680.958485644,659,634,879,786.958485644,805.916971287,652,631,652,0.410497928629,-0.00553540809496,0.0799828349914,0.999999998836,-1.57657701584e-05,-2.0137574089e-05,-4.09049200464e-05,1793244340010044160
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.454075358,680.454075358,658.454075358,634,879.545924642,787,805.454075358,652,631,652,0.411162123677,-0.00555021796774,0.0799929768673,0.999999998733,-3.25604034467e-05,-5.51999289808e-06,-3.79830254775e-05,1793244340026710784
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.132630852,714,680,658.265261704,634,880,787,805,652,631,652,0.411823952982,-0.00556326250591,0.0799914164288,0.999999998109,-4.87561780624e-05,-9.2327956188e-06,-3.63270770376e-05,1793244340043377408
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.713311058,714,680,659.426622115,634,880,787,805,652,631,652,0.41247903094,-0.00556825958716,0.0799567079176,0.999999995313,-6.12562996417e-05,-6.37318344161e-05,-3.95014869249e-05,1793244340060044032
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,680,660,634,879.708536692,787,805.291463308,652,631,652.291463308,0.413162689939,-0.00556523415171,0.0799301266255,0.999999992159,-6.37360397958e-05,-9.87345271108e-05,-4.32615597859e-05,1793244340076710400
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,714,680,660,634,879.132849537,787,805.867150463,652,631,652.867150463,0.413874220152,-0.00555438546606,0.0799114706816,0.999999990694,-5.6444289668e-05,-0.000114725136972,-4.75927491886e-05,1793244340093376768
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.556993296,745.556993296,714,680.443006704,659.556993296,634,879,787,805.556993296,651.556993296,631,652.556993296,0.414640988421,-0.00555298825173,0.0799277897904,0.999999993908,-5.41578894252e-05,-8.38350878831e-05,-4.71352296799e-05,1793244340110043392
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879,786.980542637,805.019457363,651.019457363,631,652,0.415423839808,-0.00555432519887,0.079953823737,0.999999996719,-5.33569418517e-05,-4.07495941777e-05,-4.53365700506e-05,1793244340126710272
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,745,714,681,659,634,879,786.388079584,805.611920416,651.611920416,631,652,0.416192318966,-0.0055526806245,0.0799569597275,0.999999996181,-5.20809035343e-05,-5.26920400444e-05,-4.63489524012e-05,1793244340143376896
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.198632601,745,714,680.801367399,659,634,879,786,805.801367399,651.801367399,630.801367399,652,0.416974685174,-0.00555101492375,0.0799575060682,0.999999995796,-5.29799502215e-05,-5.76718375519e-05,-4.77058415498e-05,1793244340160043520
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.774425111,745,714,680.225574889,659,634,879,786,805.225574889,651.225574889,630.225574889,652,0.417783419807,-0.00554930910875,0.0799531352293,0.99999999586,-5.80090081682e-05,-4.94310864345e-05,-4.9716873781e-05,1793244340176710400
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.349665426,659,634,879,786,805.349665426,651.349665426,630.349665426,652,0.418628027231,-0.00555157136067,0.0799687923937,0.999999996724,-6.20299711215e-05,-1.32759814583e-05,-5.02741299178e-05,1793244340193377024
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.924550051,659,634,879,786,805.924550051,651.924550051,630.924550051,652,0.419495740256,-0.00555638944112,0.0799973495779,0.999999995782,-6.54016206215e-05,4.08587344926e-05,-4.98950099314e-05,1793244340210043392
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.489282524,659,634,879,786,806,652,631,652,0.420327428435,-0.00555631466644,0.0799820455473,0.999999996344,-6.70837097492e-05,1.6250784532e-05,-5.04650577857e-05,1793244340226709760
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.097455428,659,634,879,786,805.902544572,651.902544572,630.902544572,652,0.421161011567,-0.00555580879896,0.0799642433142,0.999999996216,-6.89681674426e-05,-1.34318535635e-05,-5.12987581579e-05,1793244340243376384
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.678565464,659,634,879,786,805.321434536,651.321434536,630.321434536,652,0.422031007944,-0.00555683185167,0.0799669273591,0.999999995893,-7.31236731883e-05,-9.26291459253e-06,-5.27292935678e-05,1793244340260043264
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.742871938,745,714,681,659.257128062,634,879.257128062,786,805.257128062,651.257128062,630.257128062,652,0.422912349769,-0.00555772189689,0.0799821187795,0.999999995939,-7.27409700164e-05,1.1282578452e-05,-5.19960528062e-05,1793244340276709888
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.167462561,745,714,681,659.832537439,634,879.832537439,786,805.832537439,651.832537439,630.832537439,652,0.423807735469,-0.00555844730135,0.0800127922285,0.999999995235,-6.67407275907e-05,5.20994929377e-05,-4.85844210247e-05,1793244340293376512
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.406390347,745,714,681,659.593609653,634,879.593609653,786,805.593609653,652,631,652,0.424636348449,-0.0055560813814,0.0799913705603,0.99999999662,-6.5873812499e-05,4.50933241444e-10,-4.92026972729e-05,1793244340310043648
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.97960429,745,714,681,659.02039571,634,879.02039571,786,805.02039571,652,631,652,0.425437551115,-0.00555244647002,0.0799485637987,0.999999992351,-6.7114132728e-05,-9.02406754578e-05,-5.14752541995e-05,1793244340326710528
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681.570310041,659.570310041,634,879.570310041,786,805.570310041,652,630.429689959,652,0.426341988439,-0.00555075084468,0.0799262838382,0.99999999164,-6.66922316641e-05,-9.64082844771e-05,-5.45647649322e-05,1793244340343376896
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.841593533,745,714,681.841593533,660,634,880,786,806,651.841593533,630.158406467,652,0.427240840896,-0.00554965072613,0.0799107632747,0.99999999107,-6.69099367396e-05,-0.000100814708922,-5.67437315155e-05,1793244340360043776
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.262147941,745,714,681.262147941,660,634,880,786,806,651.262147941,630.737852059,652,0.428114725396,-0.00554994327233,0.079911196041,0.999999990111,-6.8990696402e-05,-0.000108784480193,-5.64223887145e-05,1793244340376710400
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.315259768,745,714,681,659.684740232,634,880,786,806,651,631,652,0.428998889407,-0.0055505308316,0.0799233885842,0.999999991115,-6.84005218936e-05,-9.99775958118e-05,-5.56332476529e-05,1793244340393376768
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.890983772,745,714,681,659.109016228,634,880,786,806,651,631,652,0.429891546198,-0.00555136212749,0.0799452969286,0.999999993377,-6.56036501234e-05,-7.73100182338e-05,-5.4457616687e-05,1793244340410043392
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.476030095,659.476030095,634,879.523969905,786,805.523969905,651.476030095,631,652,0.430795901931,-0.00555461820676,0.0799876106098,0.999999995899,-7.25552067963e-05,-1.35287422266e-05,-5.24837545077e-05,1793244340426710016
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.124744176,786,805.062372088,652,631,652,0.431696957623,-0.00555793655419,0.0800279342906,0.999999994297,-8.0386302221e-05,4.87689176456e-05,-5.06523880072e-05,1793244340443376640
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880.282817016,786,805.641408508,652,631,652,0.432548040012,-0.0055570789268,0.0800122907985,0.99999999555,-7.66406408567e-05,1.922492006e-05,-5.15459176626e-05,1793244340460043776
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880.560528492,786,806,652,631,652,0.433374684526,-0.0055559751734,0.0799784663234,0.999999995231,-7.53033907817e-05,-3.14267799586e-05,-5.36651950551e-05,1793244340476710656
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.406181004,786,806,652,631,652,0.434161576767,-0.00555447105358,0.0799150673505,0.999999988522,-7.78838349504e-05,-0.000116413792337,-5.77783618638e-05,1793244340493377024
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.373811405,786.373811405,806,651.626188595,631,652.373811405,0.434990883642,-0.00555381718893,0.0799048598778,0.999999987297,-8.16042580459e-05,-0.000123324335053,-5.94815566814e-05,1793244340510043648
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.950565696,786.950565696,806,651.049434304,631,652.950565696,0.435843217451,-0.00555362492944,0.0799235301705,0.999999990656,-8.59435777287e-05,-8.78470165532e-05,-5.98763732013e-05,1793244340526710016
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786.462210221,806,651.537789779,631,652.462210221,0.436640118331,-0.00555688980613,0.0799487820997,0.999999992026,-9.10928833717e-05,-6.58076880589e-05,-5.76098547934e-05,1793244340543376896
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786.12411256,806,651.87588744,631,652,0.437434764697,-0.00555998241074,0.0799694084845,0.999999992812,-9.45434918611e-05,-4.82465899831e-05,-5.57647926876e-05,1793244340560043520
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786.703528298,806,651.296471702,631,652,0.438240204102,-0.00556125411207,0.0799708027372,0.999999993323,-9.14839223762e-05,-4.24923470041e-05,-5.63810782403e-05,1793244340576710144
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633.719437597,880,786.719437597,806,651,631,652,0.438994421021,-0.00556175074342,0.0799538830931,0.999999991466,-9.52689678816e-05,-6.80245959899e-05,-5.80119467709e-05,1793244340593376768
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633.144899027,880,786.144899027,806,651,631,652,0.439694966443,-0.00556143524838,0.0799177739601,0.999999984535,-0.000106225871195,-0.000126339152676,-6.07059055745e-05,1793244340610043648
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682.428292303,660,633.428292303,880.428292303,786,806,651,631,652,0.440327859514,-0.0055601847105,0.0798476046862,0.999999965393,-0.000102739995625,-0.000233753729639,-6.33841896267e-05,1793244340626710528
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659.998930752,633.998930752,880.998930752,786,806,651,631,652,0.44093794442,-0.00555861313473,0.0797659902494,0.999999929405,-9.43913096227e-05,-0.000357654371735,-6.60584096979e-05,1793244340643377408
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,683,659.403971914,633.403971914,880.403971914,786,806,651,631,652,0.441552488167,-0.00555388238406,0.0797076322658,0.999999896314,-9.05541454207e-05,-0.000440855067162,-6.94119369325e-05,1793244340660044288
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633,880.37010974,785.81494513,806,651.18505487,631,652,0.442198280517,-0.00555241179727,0.0796833195469,0.999999881313,-9.02008048387e-05,-0.000473493131473,-7.10124784977e-05,1793244340676711168
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633,881.52306879,785.238465605,806,651.761534395,631,652,0.442910169451,-0.00555783704821,0.0797310187344,0.999999913227,-9.72163839337e-05,-0.000399182068225,-6.89051382585e-05,1793244340693378048
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633,881.328485095,785.335757453,806,652,630.664242547,652,0.443571556961,-0.00556063282527,0.0797703356311,0.999999934519,-9.36459496689e-05,-0.000343149068299,-6.66428904089e-05,1793244340710044672
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633,880.183222881,785.908388559,806,652,630.091611441,652,0.444197316159,-0.00556157353348,0.0798037388994,0.999999949519,-8.26071844889e-05,-0.00030001107122,-6.42713569403e-05,1793244340726711040
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658.50198542,633,880.49801458,786,806,652,630.49801458,652,0.444746021526,-0.00556288180295,0.0797922216383,0.999999941536,-0.000109167944271,-0.00031763895137,-6.4148993021e-05,1793244340743377408
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.911097334,745,714,683,658,632.911097334,881.088902666,785.911097334,806,651.911097334,631,652,0.44527586119,-0.00556411450743,0.0797709457468,0.999999927638,-0.000135552561809,-0.000349539316621,-6.45869199454e-05,1793244340760043264
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.33111681,745,714,683,658,632.33111681,881.66888319,785.33111681,806,651.33111681,631,652,0.445782552942,-0.00556454312786,0.0797430225545,0.999999911921,-0.000121408899767,-0.000396350915334,-6.57536020014e-05,1793244340776709888
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.245750033,745,714,683.245750033,658,632,881.508499934,785,806.245750033,651,630.754249967,652,0.446283645832,-0.00556484920998,0.0797197216291,0.999999899641,-0.000110303388374,-0.000428983442537,-6.72572113241e-05,1793244340793376768
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.818474032,745,714,683.818474032,658,632,880.363051935,785,806.818474032,651,630.181525968,652,0.446777289316,-0.00556499225308,0.0797025706986,0.999999894262,-0.000103240181683,-0.0004427505076,-6.92091072989e-05,1793244340810044416
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,683.59834536,658,632,880,784.59834536,806.59834536,651,630.40165464,652,0.447225882593,-0.00556681428445,0.0796866929351,0.999999886028,-0.000105331228191,-0.000460311310216,-7.04468391576e-05,1793244340826711296
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,683.010312566,658,632,880,784.010312566,806.010312566,651,630.989687434,652,0.44765357145,-0.00556941540987,0.0796714059527,0.999999876196,-0.000111670084606,-0.000479632506389,-7.13531805231e-05,1793244340843377664
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.570890154,714,683,657.429109846,632,880,784,806,651,630.429109846,652,0.448036233143,-0.00556966591947,0.0796541966709,0.999999858935,-0.000120452112927,-0.000512421715731,-7.10329018619e-05,1793244340860044032
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,683.150976236,657,632,880,784.150976236,806.150976236,651.150976236,630.150976236,652,0.448409246002,-0.00557027971254,0.0796361984988,0.999999841369,-0.000125540405338,-0.000544488773483,-7.09518320874e-05,1793244340876710656
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714,683.728253735,657,632,880,784.728253735,806.728253735,651.728253735,630.728253735,652,0.448757283708,-0.00557203776262,0.0796160696769,0.999999825582,-0.000120075807336,-0.000573837920408,-7.16080256023e-05,1793244340893377792
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.694928321,746,713.694928321,684,657,631.694928321,880,784.694928321,806.694928321,651.694928321,630.694928321,652,0.449104575388,-0.00557422884385,0.0796087199321,0.999999820139,-0.000119600999177,-0.000583322699322,-7.17776562736e-05,1793244340910044672
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.118519149,746,713.118519149,684,657,631.118519149,880,784.118519149,806.118519149,651.118519149,630.118519149,652,0.449451203516,-0.00557680507247,0.0796127361819,0.999999824416,-0.000123564220751,-0.000575139668936,-7.15145271984e-05,1793244340926711040
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745.533776131,713.466223869,683.533776131,656.533776131,631,880,784,806.466223869,651,630,652,0.44975752609,-0.00557816801751,0.0796176719955,0.999999828152,-0.000128098632641,-0.000567603721086,-7.1496671223e-05,1793244340943377408
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.052527215,745,714,683.052527215,656.052527215,631,880,784,806.947472785,651,630,652,0.450050522904,-0.00557928777838,0.0796230132906,0.999999831789,-0.00013247783744,-0.000560152368431,-7.1414380245e-05,1793244340960043776
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.632834276,745,714,683.632834276,656.632834276,631,880,784,806.367165724,651,630,652,0.450314449945,-0.00558111951448,0.0796300372196,0.999999836315,-0.000133812048643,-0.000551868117033,-7.00467732558e-05,1793244340976710144
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,713.78816764,683.78816764,656.78816764,631,880,784,806,651,630,652,0.45056274786,-0.00558318229842,0.0796325040539,0.999999837378,-0.000135656659711,-0.000549546999901,-6.9558891006e-05,1793244340993376768
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,713.700182699,681,658.700182699,634,880,786,805.700182699,651.299817301,630.700182699,652,0.423588721067,-0.00541856452227,0.0797284002061,0.999999888529,0.0001873200493,-0.00043083295541,4.72955757625e-05,1793244343035130624
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,713.121574052,681,658.121574052,634,880,786,805.121574052,651.878425948,630.121574052,652,0.422664305897,-0.00542059889513,0.079730195691,0.999999888986,0.000187519380778,-0.000429619548555,4.78656875824e-05,1793244343051797248
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,713.455127855,681,658.455127855,634,880,786,805.455127855,652,630.455127855,652,0.421848582865,-0.00542419342888,0.0797842135557,0.99999992577,0.000184817195837,-0.000334441297373,4.95230144322e-05,1793244343068463616
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.603534164,744.396465836,714,681,659,634,880,786,806,652,631,652,0.420210506979,-0.00542323854216,0.0798645287367,0.99999996206,0.000185944791008,-0.000196338104373,5.25048682052e-05,1793244343101797376
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.817024155,744.182975845,714,681,659,634,879.817024155,786,806,651.817024155,631,652,0.419344370046,-0.00542018635645,0.0798595392541,0.999999959679,0.000186957322067,-0.000207279751294,5.21998149267e-05,1793244343118464000
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.422293642,745,714,680,658.577706358,634,879,786,805.422293642,651.422293642,631,652,0.412154163481,-0.00540182726748,0.0798041479519,0.999999927127,0.000213898399054,-0.000312392484151,4.90442719584e-05,1793244343268463616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.998452874,745,714,680,658.001547126,634,879,786,805.998452874,651.998452874,631,652,0.411397557842,-0.00539988852656,0.0797889866495,0.999999913708,0.000222423592724,-0.000347378766999,4.93943833231e-05,1793244343285130240
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,744.147138115,714,681,658,634,879,786,805,651,631,652,0.41007658063,-0.00539742425108,0.079780455843,0.999999907968,0.000228985421575,-0.000359576754916,4.83098896943e-05,1793244343318463488
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,744.742348949,714,681,658,634,879,786,805,651,631,652,0.409492235413,-0.00539567544442,0.0798082068139,0.999999923179,0.000233511106832,-0.000310860161571,4.97993193494e-05,1793244343335130112
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.325173392,745,714,680.674826608,658.325173392,634,879,786,805,651.325173392,631,652,0.408910944471,-0.00539526693098,0.0798281281479,0.999999931953,0.000235535386807,-0.000279314747301,5.09955795127e-05,1793244343351797248
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.898543575,745,714,680.101456425,658.898543575,634,879,786,805,651.898543575,631,652,0.408331984816,-0.00539588143024,0.0798420733127,0.999999936856,0.000235650406101,-0.000260875671665,5.19680706321e-05,1793244343368464384
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.768585882,634,879,786,804.768585882,651.231414118,631,652,0.406168639382,-0.00539096495035,0.0797690265309,0.999999901488,0.000239210156491,-0.000370826714169,4.78484257814e-05,1793244343435130112
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.291847267,744.708152733,714,680,658,634,879,786.291847267,805,651.291847267,631,652,0.403796481069,-0.00538988688602,0.079823573004,0.999999924768,0.000244013342625,-0.000297267910145,5.05385518342e-05,1793244343535130368
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.443591454,744.443591454,714,680,658,634,878.887182908,786,805,651.443591454,631,652,0.402928733021,-0.00539197894251,0.0798306037066,0.999999929017,0.000232601957473,-0.000292377429781,4.87650679205e-05,1793244343585130240
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.803548244,658,634,879,786,805,651.196451756,631,652,0.402258560673,-0.00538923575144,0.0798329689745,0.999999926335,0.000249471792535,-0.000287374985617,5.00948743517e-05,1793244343635130368
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.928254192,658,634,879,786,805,652,631,652,0.401776863984,-0.00538836696208,0.0798408973826,0.999999931738,0.000242346928915,-0.000274598711789,4.88613084011e-05,1793244343685130240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.504695403,879,786,805,652,631,652,0.401648476528,-0.00539047949826,0.0798386427602,0.999999931341,0.000240490828222,-0.000277691547829,4.86703676919e-05,1793244343701796864
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,745,714,679.985634601,658,634,879.985634601,786,805,652,630.014365399,651.014365399,0.401123944012,-0.0053908012886,0.0798163569818,0.999999919811,0.000246657814022,-0.000312302392846,4.4787555832e-05,1793244343801797120
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,745,714,680,658,634,879.440037842,786.559962158,805,652,630.559962158,651.559962158,0.401085962236,-0.00539035933657,0.0798166787404,0.999999919934,0.000247623161228,-0.000311090984418,4.51399570206e-05,1793244343818463488
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.204399888,634,879,786.204399888,806,651.795600112,631,652,0.400965600152,-0.00539147964882,0.0798212799587,0.999999923082,0.000243771584636,-0.000303936308979,4.51076596633e-05,1793244343951796992
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec8002421cae4188c2d14e5ca2477890a2b2b2df
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..08c7d80f33b7c60f796e9af77980133bf600499f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:507beaa152f4b9dced31f744a17a10ee5283c0372bdb06a0df3a10635653566d
+size 25962889
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e83ea007df216f8c7d846aa91eb9939679067532
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_02/franka_data.csv
@@ -0,0 +1,410 @@
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+10,0.166666667,BASELINE,764.18220026,745,714,679.18220026,658.18220026,634,879,786,805,651,630.81779974,652,0.400963516565,-0.00539074786125,0.0798307115572,0.999999926922,0.000246118967213,-0.000289253977228,4.37492486853e-05,1793244344600788480
+11,0.183333333,BASELINE,764,745,714,679,658.393398642,634,879,786,805,651.393398642,631,652,0.400963372014,-0.00539088893637,0.0798299675423,0.999999926599,0.000246448219391,-0.000290091618977,4.37366740593e-05,1793244344617455104
+12,0.200000000,BASELINE,764,745,714,679,658.967642062,634,879,786,805,651.967642062,631,652,0.400963685821,-0.0053918606104,0.0798290896414,0.999999926346,0.000246547002259,-0.000290865203179,4.38105997585e-05,1793244344634121728
+13,0.216666667,BASELINE,764.543205515,745,714,679.543205515,658.456794485,634,879,786,804.456794485,651.456794485,631,652,0.400964744403,-0.00539148752849,0.0798302138865,0.999999927042,0.000245683388748,-0.000289203338114,4.37753494772e-05,1793244344650788096
+14,0.233333333,BASELINE,764.87753999,745,714,680,658,634,879,786,804,651.12246001,631.12246001,652,0.4009655815,-0.00539114532153,0.0798313802528,0.999999927753,0.000244667966875,-0.000287615270202,4.36827365573e-05,1793244344667454976
+15,0.250000000,BASELINE,764.284401677,745,714,680,658,634,879,786,804,651.715598323,631.715598323,652,0.400965396382,-0.00539123041927,0.0798322489995,0.999999928316,0.000243289945674,-0.000286869805114,4.33947058717e-05,1793244344684121600
+16,0.266666667,BASELINE,764.298755354,745,714,680,658.298755354,634,878.701244646,786,804.298755354,651.701244646,631.701244646,652,0.400965914962,-0.00539176291928,0.0798326898325,0.999999928573,0.000243345816211,-0.000285897106925,4.35878397769e-05,1793244344700788480
+17,0.283333333,BASELINE,764.872717806,745,714,680,658.872717806,634,878.127282194,786,804.872717806,651.127282194,631.127282194,652,0.400967081774,-0.00539270755677,0.0798327364804,0.999999928546,0.000244722557495,-0.000284715086463,4.42242123173e-05,1793244344717455360
+18,0.300000000,BASELINE,765,744.551735866,714,679.551735866,658.551735866,634,878,786,805,651,631,652,0.400966701584,-0.00539246588774,0.0798323946617,0.999999928196,0.00024532893916,-0.000285479285798,4.38508849694e-05,1793244344734121984
+19,0.316666667,BASELINE,764.975223622,744.024776378,714,679.024776378,658.024776378,634,878.024776378,786,805,651.024776378,631,652,0.400965877426,-0.00539188913831,0.0798319543889,0.99999992777,0.000245700682888,-0.000286743781353,4.32317016794e-05,1793244344750788608
+20,0.333333333,BASELINE,764.38700898,744.61299102,714,679.61299102,658.61299102,634,878.61299102,786,805,651.61299102,631,652,0.400964981695,-0.00539137968797,0.0798317924661,0.99999992774,0.000245728519222,-0.000286773854281,4.35644432405e-05,1793244344767455232
+21,0.350000000,BASELINE,764.198964073,745,714,679.801035927,658.801035927,634,879,786,804.801035927,651.801035927,631,652,0.400964724817,-0.00539130933488,0.0798316415774,0.999999927883,0.000245380664588,-0.000286551861839,4.37084865031e-05,1793244344784121600
+22,0.366666667,BASELINE,764.780625476,745,714,679.219374524,658.219374524,634,879,786,804.219374524,651.219374524,631,652,0.400965696739,-0.0053920835632,0.0798315119122,0.999999928357,0.000244310187374,-0.000285845034402,4.34895780945e-05,1793244344800788224
+23,0.383333333,BASELINE,764.641557535,745,714,679.358442465,658,634,879,786,804.358442465,651,631,652,0.400965937145,-0.00539220697747,0.0798314089928,0.999999928089,0.000245365300878,-0.000285862913635,4.35887577557e-05,1793244344817454848
+24,0.400000000,BASELINE,764.066068386,745,714,679.933931614,658,634,879,786,804.933931614,651,631,652,0.4009657346,-0.00539193630617,0.0798313222687,0.999999927368,0.000247707517397,-0.00028631962244,4.38805483923e-05,1793244344834121472
+25,0.416666667,BASELINE,764,745,714,680,658,634,879,786.507009494,805,651,631,652,0.400966483833,-0.00539167757523,0.079832461691,0.999999928148,0.000246305451085,-0.000284863805979,4.34797662775e-05,1793244344850788352
+26,0.433333333,BASELINE,764.082375609,745,714,680,658,634,879,786.917624391,805,651.082375609,630.917624391,652,0.400967107807,-0.00539151024304,0.0798334369957,0.999999928933,0.000244643683057,-0.000283599238675,4.30744996804e-05,1793244344867454976
+27,0.450000000,BASELINE,764.673815363,745,714,680,658,634,879,786.326184637,805,651.673815363,630.326184637,652,0.400966194875,-0.00539189816613,0.0798324153605,0.99999992858,0.000244377967199,-0.000285049395208,4.31966006593e-05,1793244344884121600
+28,0.466666667,BASELINE,765,744.750327462,714,680,658,634,879,786.249672538,805,651.750327462,630.249672538,652,0.400966306601,-0.00539235458754,0.0798325313745,0.999999928709,0.00024419355821,-0.000284727243305,4.33797410433e-05,1793244344900788224
+29,0.483333333,BASELINE,765,744.193632244,714,680,658,634,879,786.806367756,805,651.193632244,630.806367756,652,0.400967678352,-0.00539289524142,0.0798340463572,0.999999929428,0.000244109132411,-0.000282225681073,4.36379416643e-05,1793244344917454848
+30,0.500000000,BASELINE,765,744.391382338,714,680,658.391382338,634,879,787,805,651,631,652,0.400966739548,-0.00539233489987,0.0798332860658,0.999999928608,0.000245831604161,-0.000283616494281,4.37281381986e-05,1793244344934121728
+31,0.516666667,BASELINE,765,744.991500455,714,680,658.991500455,634,879,787,805,651,631,652,0.400964568458,-0.00539118736486,0.0798313123034,0.999999926955,0.000248517747833,-0.000287083226548,4.37287331739e-05,1793244344950788864
+32,0.533333333,BASELINE,765,745,714,680,659,634,879,786.421809258,804.421809258,651.578190742,631,652,0.400965184877,-0.00539146776367,0.0798319482434,0.999999927741,0.000246400905846,-0.000286212254542,4.34449456145e-05,1793244344967455488
+33,0.550000000,BASELINE,765,745,714,680,659,634,879,786,804.16340636,652,631,652,0.400965212974,-0.00539135235299,0.0798320269481,0.999999928201,0.000244630933216,-0.000286164845551,4.31622062664e-05,1793244344984121856
+34,0.566666667,BASELINE,765,745,714,680,659,634,879,786,804.745338973,652,631,652,0.400963631652,-0.00539017062795,0.0798305823995,0.999999927747,0.00024392611722,-0.000288386408851,4.28926160148e-05,1793244345000788480
+35,0.583333333,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400964003715,-0.00539068034501,0.0798306531827,0.999999927962,0.000243392708404,-0.000288072696807,4.3023371411e-05,1793244345017455360
+36,0.600000000,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400965895773,-0.00539250623024,0.0798319030969,0.999999928696,0.000242992677237,-0.000285786201512,4.34656492663e-05,1793244345034121984
+37,0.616666667,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400964952417,-0.00539281280419,0.0798315368543,0.999999928329,0.000243546386235,-0.000286589449617,4.35115519381e-05,1793244345050788608
+38,0.633333333,BASELINE,765,745,714,680,658.957942201,634,879,786,805,651.957942201,631,652,0.400963601188,-0.00539271133885,0.0798309473554,0.999999927776,0.000244346243288,-0.000287842896666,4.34664546661e-05,1793244345067455232
+39,0.650000000,BASELINE,765,745,714,680,658.363440956,634,879,786,805,651.363440956,631,652,0.400964867231,-0.00539152331743,0.0798319708729,0.999999927888,0.000245696872602,-0.000286319723231,4.33408774979e-05,1793244345084121600
+40,0.666666667,BASELINE,765,745,714,680,658.225279727,634,878.774720273,786.225279727,805,651.225279727,631,652,0.400965581544,-0.00539151362365,0.079832321094,0.999999928254,0.000244965294418,-0.000285682072528,4.32346037864e-05,1793244345100788480
+41,0.683333333,BASELINE,765,745,714,680,658.804907975,634,878.195092025,786.804907975,805,651.804907975,631,652,0.400965428027,-0.0053933573531,0.0798316122691,0.999999929015,0.000240958556157,-0.000286437284357,4.31586930065e-05,1793244345117455104
+42,0.700000000,BASELINE,765,745,714,679.618147646,658.618147646,634,878.381852354,786.618147646,805,651.618147646,631,652,0.400965334862,-0.00539338978468,0.0798314966916,0.999999928845,0.000241695056965,-0.000286400323649,4.32236416721e-05,1793244345134121728
+43,0.716666667,BASELINE,765,745,714,679.042564928,658.042564928,634,878.957435072,786.042564928,805,651.042564928,631,652,0.400965272315,-0.00539250326574,0.0798316820943,0.9999999282,0.00024483801008,-0.000285961459219,4.3360054484e-05,1793244345150788608
+44,0.733333333,BASELINE,765,745,714,679.532123353,659.064246707,634,879,786,805,651.532123353,631,652,0.40096488537,-0.00539135375636,0.0798319213387,0.999999927754,0.000246802818024,-0.000285845945375,4.32698198248e-05,1793244345167455232
+45,0.750000000,BASELINE,764.890116207,745,714,680,659.890116207,634,879,786,805,652,631,652,0.400964595256,-0.00539052377962,0.0798320080919,0.999999927464,0.000248068533966,-0.000285780578878,4.31784284341e-05,1793244345184121856
+46,0.766666667,BASELINE,764.298576596,745,714,680,659.298576596,634,879,786,805,652,631,652,0.400964843135,-0.00539118647331,0.0798314075806,0.999999927795,0.000246682299312,-0.000285821839752,4.31613016455e-05,1793244345200788224
+47,0.783333333,BASELINE,764.286926987,745,714,680,659,634,879,786,805,652,631,652,0.400965028793,-0.00539183820575,0.0798315011199,0.999999928294,0.000244679831524,-0.000285796354624,4.31737655829e-05,1793244345217455104
+48,0.800000000,BASELINE,764.866278953,745,714,680,659,634,879,786,805,652,631,652,0.400965151037,-0.00539247876698,0.0798323020091,0.999999928959,0.000242049322394,-0.000285702844533,4.32163872509e-05,1793244345234121728
+49,0.816666667,BASELINE,765,745,714,680,659,634.440138583,879,786,805,651.559861417,631,652,0.400965812567,-0.00539258954663,0.0798330179808,0.999999928914,0.00024304804109,-0.000285005449043,4.32577327674e-05,1793244345250788352
+50,0.833333333,BASELINE,765,745,714,680,659,634.987285995,879,786,805.012714005,651.012714005,631,652,0.400966607431,-0.00539250802089,0.0798336817032,0.999999928643,0.000245143997714,-0.00028415557375,4.32973994603e-05,1793244345267454976
+51,0.850000000,BASELINE,765,745,714,680,659,634.398213187,879,786,805.601786813,651.601786813,631,652,0.4009661108,-0.00539091541767,0.0798331319604,0.999999927907,0.000247612178377,-0.000284608050195,4.32783203427e-05,1793244345284121600
+52,0.866666667,BASELINE,764.811929059,745,714,680,659,634,878.811929059,786,805.811929059,651.811929059,631,652,0.400965701181,-0.00539021494549,0.0798325399167,0.999999927493,0.000248541069364,-0.000285256030244,4.32518100469e-05,1793244345300788480
+53,0.883333333,BASELINE,764.231463322,745,714,680,659,634,878.231463322,786,805.231463322,651.231463322,631,652,0.400965473109,-0.0053913758326,0.0798318596158,0.999999927758,0.000246258356885,-0.00028631191271,4.32097952013e-05,1793244345317455360
+54,0.900000000,BASELINE,764.346050258,745,714.346050258,680,659,634,878.346050258,786,805,651.346050258,631,652,0.400965031129,-0.0053920066474,0.0798317619182,0.999999928136,0.000244344673849,-0.000286618389735,4.32866716968e-05,1793244345334121728
+55,0.916666667,BASELINE,764.921605904,745,714.921605904,680,659,634,878.921605904,786,805,651.921605904,631,652,0.400964447284,-0.00539228591076,0.0798320506113,0.99999992859,0.00024267573641,-0.000286427850514,4.34423986001e-05,1793244345350788352
+56,0.933333333,BASELINE,764.503993734,745,714.503993734,680,658.503993734,634,879,786,805.496006266,652,631,652,0.400965368308,-0.00539176448448,0.0798322930953,0.999999928592,0.000243929129752,-0.000285382692689,4.32474765185e-05,1793244345367454976
+57,0.950000000,BASELINE,764.072414105,745,714,680,658,634,879,786,805.927585895,652,631,652,0.400966509731,-0.00539127373298,0.0798326678968,0.999999928602,0.000245431930798,-0.000284089106729,4.30412337114e-05,1793244345384121600
+58,0.966666667,BASELINE,764.664536506,745,714,680,658,634,879,786,805.335463494,652,631,652,0.40096752991,-0.00539190925316,0.0798340446205,0.999999929198,0.000245417570307,-0.000281979730988,4.31505646164e-05,1793244345400788224
+59,0.983333333,BASELINE,764.749276106,745,714,680,658.250723894,634,879,786,805.250723894,652,631,652,0.400967497933,-0.00539274201802,0.0798344122447,0.999999929399,0.000244859566855,-0.000281745494086,4.31984340874e-05,1793244345417455104
+60,1.000000000,BASELINE,764.17084594,745,714,680,658.82915406,634,879,786,805.82915406,652,631,652,0.400966090744,-0.00539383258975,0.0798334609351,0.999999929083,0.000243591000057,-0.000283962139213,4.3165970993e-05,1793244345434121728
+61,1.016666667,BASELINE,764,745,714,680,658.595058832,634,879,786,805.595058832,652,631,652,0.400967283769,-0.00539322793791,0.079833777799,0.999999929132,0.000244553526855,-0.000282956562135,4.31966958531e-05,1793244345450788608
+62,1.033333333,BASELINE,764,745,714,680,658.020379642,634,879,786,805.020379642,652,631,652,0.400969566718,-0.00539191270403,0.0798346262395,0.999999929327,0.000246451254803,-0.000280600335323,4.32539070275e-05,1793244345467454976
+63,1.050000000,BASELINE,764.557694688,745,714,680,658.557694688,634,879,786,805,652,631,652,0.400966640112,-0.00539166794011,0.0798331926255,0.999999928319,0.000246759729233,-0.000283858534677,4.35509839264e-05,1793244345484121600
+64,1.066666667,BASELINE,765,745,714,679.861330552,658.861330552,634,879,786,805,651.861330552,631,652,0.400964245481,-0.00539165585039,0.0798322363639,0.999999927719,0.000246391377182,-0.000286259751556,4.36970838201e-05,1793244345500788480
+65,1.083333333,BASELINE,765,745,714,679.271321833,658.271321833,634,879,786,805,651.271321833,631,652,0.400964205731,-0.00539227296532,0.0798331068684,0.999999928622,0.000244010281478,-0.000285199812883,4.33230819629e-05,1793244345517455104
+66,1.100000000,BASELINE,765,745,714,679,658.311368321,634.311368321,879,786.311368321,805,651,630.688631679,652,0.400964952885,-0.00539218823436,0.0798334137857,0.999999928857,0.000243853929824,-0.000284529656727,4.31794764383e-05,1793244345534121728
+67,1.116666667,BASELINE,765,745,714,679,658.887827608,634.887827608,879,786.887827608,805,651,630.112172392,652,0.400966369989,-0.00539150596988,0.0798332408795,0.999999928525,0.000245591668054,-0.000284191351417,4.3232024434e-05,1793244345550788352
+68,1.133333333,BASELINE,765,745,714,679.458603202,658.541396798,635,879,787,805,651,630.458603202,652,0.400965509466,-0.0053918667666,0.0798326417883,0.999999928274,0.000245545440606,-0.000285099857097,4.33320391767e-05,1793244345567454976
+69,1.150000000,BASELINE,765,745,714,680,658.02933931,635,879,786.97066069,805,651.02933931,631,652,0.400964157473,-0.00539241538051,0.0798319530391,0.999999928044,0.000245095672937,-0.000286281116755,4.34066800458e-05,1793244345584122112
+70,1.166666667,BASELINE,765,745,714,680,658.625857353,635,879,786.374142647,805,651.625857353,631,652,0.400963942344,-0.00539172313208,0.0798315215735,0.99999992787,0.000245176918632,-0.000286911858575,4.27691040297e-05,1793244345600788992
+71,1.183333333,BASELINE,764.784094798,745,714,680,659,634.784094798,878.784094798,786.215905202,805,652,631,652,0.400964442338,-0.00539131205693,0.0798315744692,0.999999927943,0.000245427730387,-0.000286484745297,4.24987853624e-05,1793244345617455872
+72,1.200000000,BASELINE,764.20493284,745,714,680,659,634.20493284,878.20493284,786.79506716,805,652,631,652,0.400966145515,-0.00539137405081,0.0798324422944,0.999999928426,0.00024596383411,-0.000284277809289,4.28463707053e-05,1793244345634122240
+73,1.216666667,BASELINE,764.372075344,745,714,679.627924656,658.627924656,634,878.372075344,786.627924656,805,652,631,652,0.400966928953,-0.00539141936676,0.0798330300822,0.999999928765,0.00024542395187,-0.000283544574972,4.28862415911e-05,1793244345650788608
+74,1.233333333,BASELINE,764.94790406,745,714,679.05209594,658.05209594,634,878.94790406,786.05209594,805,652,631,652,0.400967208731,-0.00539145554964,0.0798334645177,0.999999929026,0.000244294845478,-0.000283618359295,4.27576039563e-05,1793244345667454976
+75,1.250000000,BASELINE,765,745,714.533590329,679.533590329,658.533590329,634,879,786.533590329,805,652,631,652,0.400966848695,-0.00539162350558,0.0798333098749,0.999999928796,0.000244829557379,-0.000283956174315,4.28330757697e-05,1793244345684121856
+76,1.266666667,BASELINE,765,744.881396979,714.762793959,679.881396979,658.881396979,634,879,786.881396979,805,651.881396979,631,652,0.400966114599,-0.00539209781755,0.0798328790708,0.999999928638,0.000244642561692,-0.000284664748381,4.28855329895e-05,1793244345700788480
+77,1.283333333,BASELINE,765,744.302799676,713.605599352,679.302799676,658.302799676,634,879,786.302799676,805,651.302799676,631,652,0.400964176573,-0.00539370947513,0.0798316044532,0.99999992894,0.000241014584709,-0.000286709427471,4.27699862112e-05,1793244345717455360
+78,1.300000000,BASELINE,765,744.274518735,713.274518735,679,658.274518735,634,878.725481265,786,805,651,631,652,0.400963673264,-0.00539465866008,0.0798314815561,0.999999929387,0.000238700705108,-0.000287091118082,4.27376517459e-05,1793244345734121984
+79,1.316666667,BASELINE,765,744.850433005,713.850433005,679,658.850433005,634,878.149566995,786,805,651,631,652,0.40096474514,-0.0053948805128,0.079832623139,0.999999930006,0.000237829580053,-0.000285647004924,4.27966765166e-05,1793244345750788864
+80,1.333333333,BASELINE,764.572319789,745,714,679.427680211,658.572319789,634,878.427680211,786,805.427680211,651.427680211,631,652,0.400965949606,-0.00539369508525,0.0798328847818,0.99999992954,0.000241362442067,-0.000284289614892,4.29310403379e-05,1793244345767455744
+81,1.350000000,BASELINE,764.005493877,745,714,679.994506123,658,634,879,786,805.989012247,651.994506123,631,652,0.400967169594,-0.00539203064673,0.0798328323642,0.999999928674,0.000246385278231,-0.000283001253461,4.30921834003e-05,1793244345784122368
+82,1.366666667,BASELINE,764.59378905,745,714,679.40621095,658,634,879,786,804.812421899,651.40621095,631,652,0.400965101972,-0.00539192322687,0.0798322104509,0.999999928066,0.00024557465955,-0.000285808224215,4.32904039961e-05,1793244345800788736
+83,1.383333333,BASELINE,765,745,714,679.179121467,658.179121467,634,879,786,804.179121467,651,631,652,0.400964174919,-0.00539212072629,0.0798320066884,0.999999927886,0.000245095697097,-0.000286822697023,4.34550254966e-05,1793244345817455104
+84,1.400000000,BASELINE,765,745,714,679.757844392,658.757844392,634,879,786,804.757844392,651,631,652,0.40096579236,-0.00539299846907,0.0798327357769,0.99999992867,0.000245356625215,-0.000283838292924,4.35446909305e-05,1793244345834121728
+85,1.416666667,BASELINE,765,745,714,680,658.666742639,634,879.333257361,786,805.333257361,651.333257361,631,651.666742639,0.400966766326,-0.00539228479713,0.0798334200061,0.999999928951,0.0002459200966,-0.000282382497495,4.33696670582e-05,1793244345850788352
+86,1.433333333,BASELINE,765,745,714,680,658.093711174,634,879.906288826,786,805.906288826,651.906288826,631,651.093711174,0.400967277319,-0.00539042612405,0.0798340719595,0.999999928875,0.000246701243707,-0.000282026515236,4.30042028521e-05,1793244345867454976
+87,1.450000000,BASELINE,765,745,714,680,658.483351249,634,879.516648751,786,805.516648751,651.516648751,631,651.483351249,0.400966598552,-0.00539149464874,0.0798340411149,0.999999929286,0.000244440582398,-0.000282561140287,4.28513740697e-05,1793244345884121856
+88,1.466666667,BASELINE,765,745,714,680,658.937342804,634,879.062657196,786,805,651,631,652,0.400965797494,-0.00539293902436,0.0798338723323,0.999999929729,0.000241945821253,-0.00028315345372,4.27501247979e-05,1793244345900788480
+89,1.483333333,BASELINE,765,745,714,680,658.34575042,634,879.65424958,786,805,651,631,652,0.400965927714,-0.00539272509796,0.0798336660233,0.999999929708,0.000242495143587,-0.000282762872116,4.27333560224e-05,1793244345917455104
+90,1.500000000,BASELINE,764.759404682,745,714,680,658.240595318,634.240595318,879.759404682,786,805,651.240595318,631,652,0.400965727777,-0.00539249481266,0.0798335516103,0.999999929369,0.00024359081548,-0.000283006067919,4.28209793668e-05,1793244345934121984
+91,1.516666667,BASELINE,764.180437839,745,714,680,658.819562161,634.819562161,879.180437839,786,805,651.819562161,631,652,0.40096506351,-0.00539224152033,0.079833566439,0.999999928581,0.000245454869422,-0.000284140603745,4.30554190395e-05,1793244345950788608
+92,1.533333333,BASELINE,764,745,714,679.604610613,659,634.604610613,878.604610613,786,805,652,631,652,0.4009650231,-0.00539184976468,0.0798331891317,0.999999928251,0.0002459352535,-0.0002848958399,4.29882573451e-05,1793244345967455232
+93,1.550000000,BASELINE,764,745,714,679.030204829,659,634.030204829,878.030204829,786,805,652,631,652,0.400965265148,-0.0053913953184,0.0798326342809,0.999999928129,0.000245789167734,-0.000285479344534,4.27845427142e-05,1793244345984121856
+94,1.566666667,BASELINE,764,745,714,679,659,634,878.556694962,786,805,652,631,652,0.400965514944,-0.00539210006614,0.0798323390155,0.999999928431,0.000244213669709,-0.000285727264048,4.3093731748e-05,1793244346000788480
+95,1.583333333,BASELINE,764,745,714,679,659,634,879,786.142365446,805,651.857634554,631,652,0.400965478589,-0.00539237099371,0.0798321140854,0.999999928473,0.000243646729414,-0.00028602415031,4.3358011427e-05,1793244346017455104
+96,1.600000000,BASELINE,764,745,714,679,659,634,879,786.722128658,805,651.277871342,631,652,0.400964561752,-0.00539111139816,0.0798320609843,0.999999927647,0.000246422191272,-0.000286528705848,4.33968504288e-05,1793244346034121984
+97,1.616666667,BASELINE,764.299957028,745,714,679.299957028,659,634,879,786.700042972,805,651,631,652,0.400964811188,-0.00539096114368,0.0798324923825,0.999999927897,0.000246723143391,-0.000285407089653,4.33150311662e-05,1793244346050788608
+98,1.633333333,BASELINE,764.87600447,745,714,679.87600447,659,634,879,786.12399553,805,651,631,652,0.400966134101,-0.00539183196366,0.07983336973,0.999999929135,0.00024474647437,-0.00028278869094,4.31221540261e-05,1793244346067455232
+99,1.650000000,BASELINE,765,745,714,680,659,634.451181607,879,786,805,651.451181607,631,652,0.400965828748,-0.00539140022178,0.0798328046594,0.999999928907,0.000245274108203,-0.000283147335497,4.30669669923e-05,1793244346084122112
+100,1.666666667,BASELINE,765,745,714,679.97315675,659,635,879,786,804.97315675,651.97315675,631,652,0.4009651855,-0.00539065716261,0.0798319683672,0.999999928319,0.000246477524743,-0.000284176264472,4.30602226451e-05,1793244346100788736
+101,1.683333333,BASELINE,765,745,714,679.382298939,659,635,879,786,804.382298939,651.382298939,631,652,0.400966826828,-0.00539087997198,0.0798337464478,0.99999992865,0.000247446984319,-0.000282131154146,4.32777749687e-05,1793244346117455360
+102,1.700000000,BASELINE,765,745,714,679.204130415,659,634.795869585,879,786.204130415,804.204130415,651.204130415,631,652,0.400967655942,-0.00539102909234,0.0798348337514,0.999999928973,0.000247259254981,-0.000281154418794,4.32275224786e-05,1793244346134121728
+103,1.716666667,BASELINE,765,745,714,679.782442124,659,634.217557876,879,786.782442124,804.782442124,651.782442124,631,652,0.400966996225,-0.00539104313704,0.0798346548259,0.999999929288,0.000244950340202,-0.000282136068602,4.26863703059e-05,1793244346150788608
+104,1.733333333,BASELINE,765,745,714.358591512,680,659,634,879.358591512,786.641408488,805,652,631,652,0.4009673703,-0.00539115912398,0.0798348482696,0.999999929421,0.000244989642181,-0.000281620032789,4.27574472315e-05,1793244346167455232
+105,1.750000000,BASELINE,765,745,714.933436937,680,659,634,879.933436937,786.066563063,805,652,631,652,0.400968367819,-0.0053913365887,0.079835266276,0.999999929443,0.000246445070769,-0.000280200795616,4.31977379138e-05,1793244346184122112
+106,1.766666667,BASELINE,765,745,714.479938759,680,659,634.520061241,879.479938759,786,805,652,631,652,0.400967241896,-0.00539250397896,0.0798340869695,0.999999929261,0.0002453117709,-0.000281834167571,4.32453753678e-05,1793244346200788480
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,805,651,632,652,0.400962264524,-0.00539047931309,0.0798313146834,0.999999926504,0.000249621597965,-0.00028778818488,4.31096603137e-05,1793244346243142144
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.422446398,659,634,879.577553602,787,805,651.577553602,631.422446398,652,0.400964986743,-0.00539084456581,0.0798327883877,0.999999927719,0.000247709537592,-0.000285219020126,4.30301277623e-05,1793244346259808512
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.15458765,879.84541235,787,805,652,631,652,0.400966718474,-0.00539144324329,0.0798336636691,0.999999928733,0.0002454260338,-0.000283658122401,4.28755825293e-05,1793244346276475136
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.730206787,879.269793213,787,805,652,631,652,0.400965752532,-0.00539267767132,0.0798329090997,0.999999929215,0.000242130874553,-0.000284843317761,4.25167344092e-05,1793244346293142016
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.31284378,658.68715622,634.68715622,879,786.68715622,805,652,631,652.31284378,0.400966268458,-0.00539337073666,0.0798333148292,0.99999992955,0.000241701025227,-0.000283987093189,4.28027631111e-05,1793244346309808896
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.901671744,658.098328256,634.098328256,879,786.098328256,805,652,631,652.901671744,0.400968091656,-0.00539358622319,0.0798347441499,0.999999929755,0.000243798892077,-0.000281329970942,4.36576885655e-05,1793244346326475520
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.482416081,634,879,786.482416081,805,652,631,652.517583919,0.400966643061,-0.00539248536342,0.0798337986067,0.999999929094,0.00024446567752,-0.000283145451302,4.33231666042e-05,1793244346343142144
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.061128857,680,659,634,879,786.938871143,805,652,631,652,0.400965190657,-0.00539133526822,0.0798327590972,0.999999928469,0.000244658673677,-0.000285258276327,4.2801443148e-05,1793244346359808768
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.63638432,680,659,634,879,786.36361568,805,652,631,652,0.400969222541,-0.00539199046598,0.0798349333551,0.99999992964,0.000243279682406,-0.000282331021211,4.27106894931e-05,1793244346376475392
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.788380458,745,714.788380458,680,659,634,879,786,805,652,631,652,0.400978007109,-0.00539291196624,0.0798394246867,0.999999931903,0.00024191240106,-0.00027537691398,4.29046663909e-05,1793244346393142016
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.213180072,745,714.213180072,680,659,634,879,786,805,652,631,652,0.400994957204,-0.00539429099735,0.0798478969527,0.999999935922,0.000240565238501,-0.000261504323629,4.35878352329e-05,1793244346409808640
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.372186761,745,714,680,659.372186761,634,879,786,805,652,631,652,0.401028888233,-0.00539482825337,0.0798621281786,0.999999941933,0.000241821968174,-0.000236045816879,4.40186555917e-05,1793244346426475264
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.963540288,745,714,680,659.963540288,634,879,786,805,652,631,652,0.401072818697,-0.00539486981987,0.0798797506399,0.999999948341,0.000244612031593,-0.000203764798829,4.43008774641e-05,1793244346443142144
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.456294349,659.456294349,634,879,786,805,652,631,652,0.401136990521,-0.00539516553645,0.0798978619039,0.999999955668,0.000242026360828,-0.000167808379462,4.39053846302e-05,1793244346459808512
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.12136514,658.87863486,634.12136514,878.87863486,786,805.12136514,652,631,652,0.401203413549,-0.00539581467149,0.0799141939643,0.999999960955,0.000239705741336,-0.000136951239669,4.33106059996e-05,1793244346476475136
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.69246308,658.30753692,634.69246308,878.30753692,786,805.69246308,652,631,652,0.401273250324,-0.00539771155967,0.0799238139674,0.999999962466,0.000239676186379,-0.000125884958542,4.21423606891e-05,1793244346493142016
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.272484801,634.727515199,878.272484801,786.272484801,805.727515199,651.727515199,631,652,0.401351660112,-0.00539939173696,0.0799300699158,0.999999963897,0.000238653943684,-0.000116784113399,4.01544240825e-05,1793244346509808640
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+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.400565055,878.400565055,786.400565055,805,652,631,652,0.401793963632,-0.00540520932023,0.0799431905062,0.999999968779,0.000230478750273,-9.27563066416e-05,2.67832774898e-05,1793244346576475392
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.83205623,745,714,680,659,634,878.16794377,786.16794377,805,652,631,652,0.401941848218,-0.00540580652984,0.0799482145349,0.999999970123,0.000228936951755,-8.27716163727e-05,2.21657545177e-05,1793244346593142016
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+131,2.183333333,POSE1_TO_POSE2_PRESS,764.923569569,745,714,680,659,634,879,786.076430431,805,652,631,652,0.402484703343,-0.00541012635463,0.0799585054,0.999999974939,0.000214028315309,-6.55096448885e-05,4.65012806891e-06,1793244346643141888
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679.495062158,659,634,879,786,805,652,631,652,0.402694278705,-0.00541208662461,0.0799539813494,0.999999976296,0.000204541483206,-7.45660549518e-05,-3.12742086032e-06,1793244346659808512
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.919113519,745,714,679.080886481,659,634,879,786,805,652,630.919113519,652,0.402911441359,-0.00541379121289,0.0799488914566,0.999999977344,0.000194916723137,-8.48265897238e-05,-1.11222858172e-05,1793244346676475392
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.344226375,745,714,679.655773625,659,634,879,786,805,652,630.344226375,652,0.40316145191,-0.0054146742978,0.0799457209098,0.999999978037,0.000186708132485,-9.32651467236e-05,-1.91565421638e-05,1793244346693142016
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.236957227,745,714,680,659,634,879,786.236957227,805,652,630.236957227,652,0.40343179071,-0.005416092943,0.0799450642141,0.999999982736,0.000157559385343,-9.52680473016e-05,-2.50411317617e-05,1793244346709808640
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.827537309,745,714,680,659,634,879,786.827537309,805,652,630.827537309,652,0.403732466333,-0.00541831083096,0.0799481590615,0.999999991053,9.71606190445e-05,-8.76667024426e-05,-2.77176680391e-05,1793244346726475264
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.589864001,634,879,786.589864001,805,652,631,652,0.404072382324,-0.00541818284671,0.0799526329829,0.999999990652,0.00010752506884,-8.02557164955e-05,-2.63393090287e-05,1793244346743141888
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.010557445,634,879,786.010557445,805,652,631,652,0.404428483952,-0.00541708725044,0.0799576757367,0.999999986254,0.000147077527706,-7.29232488668e-05,-2.328840987e-05,1793244346759808512
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.432409363,745,714,680.567590637,659.135181273,634,879,786,805,651.432409363,631,652,0.404814104004,-0.00542345658663,0.0799558710481,0.999999987978,0.000136260466759,-6.89004019607e-05,-2.70242234191e-05,1793244346776475392
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.145332748,745,714.145332748,680.854667252,660,634.145332748,879.145332748,786,805,651.145332748,631,652,0.405209340971,-0.00542867263286,0.0799542552793,0.999999989594,0.000124607959721,-6.5939611005e-05,-3.06183350976e-05,1793244346793142016
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.721933872,745,714.721933872,680.278066128,660,634.721933872,879.721933872,786,805,651.721933872,631,652,0.405631489652,-0.0054300551467,0.0799535773034,0.999999990854,0.000113250840058,-6.5948118132e-05,-3.34181156995e-05,1793244346809808640
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.696108981,680,659.696108981,635,879.696108981,786.303891019,805,652,631,652,0.406065842539,-0.00543148847441,0.0799481372571,0.999999990503,0.000110828583698,-7.41037299379e-05,-3.49101474511e-05,1793244346826475520
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.109162975,680,659.109162975,635,879.109162975,786.890837025,805,652,631,652,0.40651156291,-0.00543296913213,0.0799382616479,0.999999988532,0.000116728577955,-8.98478470623e-05,-3.51840953684e-05,1793244346843142144
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.471608071,634.528391929,879,786.528391929,805.471608071,652,631,652,0.407002480537,-0.00543555091079,0.0799326894027,0.999999987831,0.000112707360078,-0.00010147066155,-3.65990833033e-05,1793244346859808768
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.050532226,680,659.949467774,634.050532226,879,786.050532226,805.949467774,652,631,652,0.407505309282,-0.00543816511324,0.0799279197192,0.999999987257,0.000106675490237,-0.000112432705927,-3.82764414604e-05,1793244346876475136
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.624936228,680,659.375063772,634.624936228,879,786.624936228,805.375063772,652,631,652,0.40802456535,-0.00543850728568,0.0799212770851,0.999999985889,0.000103298916974,-0.000126306429825,-3.99710882124e-05,1793244346893141760
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.795883115,680.204116885,659,634.795883115,879,786.795883115,804.795883115,652,631,652,0.408562511281,-0.00544135118046,0.0799178987223,0.99999998542,9.83071652085e-05,-0.000133339963624,-4.14244439472e-05,1793244346909808640
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.207715097,680.792284903,659,634.207715097,879,786.207715097,804.207715097,652,631,652,0.409135622639,-0.00544890212971,0.0799206621697,0.999999986897,9.02764140484e-05,-0.000127503504163,-4.24238043759e-05,1793244346926475264
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680.625102807,659,634,879,786.374897193,804.749794386,651.625102807,631,652,0.409772663085,-0.00545273650328,0.0799444699727,0.999999991574,8.46540125388e-05,-8.8549228645e-05,-4.29597006654e-05,1793244346943141888
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680.045523787,659,634,879,786.954476213,805.908952427,651.045523787,631,652,0.410444606742,-0.00545454174564,0.079979767318,0.999999995341,8.03464926328e-05,-3.15136890674e-05,-4.32425602721e-05,1793244346959808768
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.467322189,714,680,659,634,879,786.467322189,805.467322189,651.532677811,631,652,0.411124042054,-0.00545964131453,0.0799909061942,0.999999996181,7.41168519152e-05,-1.64520707031e-05,-4.32928835569e-05,1793244346976475136
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.110217298,714,680.110217298,659,634,879,786,805,651.889782702,630.889782702,652,0.411797996859,-0.00546459574258,0.0799917327865,0.999999996597,6.76998505304e-05,-1.71800349949e-05,-4.38943072584e-05,1793244346993141760
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.685458461,714,680.685458461,659,634,879,786,805,651.314541539,630.314541539,652,0.412446134012,-0.0054677529994,0.0799577387979,0.999999994618,6.1183634047e-05,-6.94308614014e-05,-4.69045402065e-05,1793244347009808384
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.266737619,786,805.266737619,651,630.266737619,652,0.413116226235,-0.00547064110821,0.0799295148145,0.99999999178,5.05513697606e-05,-0.000106403801607,-5.06279119288e-05,1793244347026475264
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.85530187,786,805.85530187,651,630.85530187,652,0.413812807969,-0.00547320448262,0.0799082525042,0.99999999006,3.49529743411e-05,-0.000124943538499,-5.52117066528e-05,1793244347043141888
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.436964436,634,879.563035564,786,806,651.436964436,631,652,0.414579843086,-0.00548108574484,0.0799239822582,0.99999999374,2.72118963275e-05,-9.39894340507e-05,-5.42659728332e-05,1793244347059808512
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680.983718019,660,634,879.016281981,786,806,651.983718019,631,652,0.415369565846,-0.00549118553438,0.0799510842091,0.999999997269,2.1360603755e-05,-4.8548626079e-05,-5.14589307084e-05,1793244347076475136
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680.40766895,660,634,879.59233105,786,806,651.40766895,631,652,0.416149670634,-0.00551795676078,0.0799545664258,0.999999997098,-7.5820853488e-06,-5.97666093218e-05,-4.66334723497e-05,1793244347093141760
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680.171343267,659.828656733,634,879.828656733,786,805.828656733,651,630.828656733,652,0.41693239153,-0.00553912066537,0.0799551650479,0.999999996284,-3.31952771546e-05,-6.61914977845e-05,-4.41342911548e-05,1793244347109808640
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.757529596,659.242470404,634,879.242470404,786,805.242470404,651,630.242470404,652,0.417721446298,-0.00554670855464,0.0799487821336,0.999999995734,-5.07473459881e-05,-6.1011715453e-05,-4.72673126147e-05,1793244347126475264
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.660335731,745,714,681,659,634,879,786,805,651,630.339664269,652,0.418560745089,-0.00554846032819,0.0799634463906,0.999999996884,-5.6540464527e-05,-2.65145283914e-05,-4.82946689466e-05,1793244347143141888
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.081059276,745,714,681,659,634,879,786,805,651,630.918940724,652,0.419435487907,-0.00554609508185,0.0799929581286,0.999999996985,-5.4038368231e-05,2.86642788223e-05,-4.78366081985e-05,1793244347159808512
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.498124363,745,714,680.501875637,659,634,879,786,805.498124363,651,631,652,0.420272462881,-0.00555224165272,0.0799820132305,0.999999996896,-6.08334516668e-05,1.15016974729e-05,-4.87383201276e-05,1793244347176475136
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.153632176,786,806,651,631,652,0.421110740893,-0.00555737521454,0.0799669877344,0.999999996432,-6.69211455348e-05,-1.33764072334e-05,-4.97867153234e-05,1793244347193141760
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880.304823056,786,806,651,631,652,0.421997378411,-0.00554693900997,0.0799682058232,0.999999996945,-5.85938302338e-05,-1.19291075292e-05,-5.03510452128e-05,1793244347209808640
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.767923282,745,714,680.232076718,659,634,880.535846563,786,805.767923282,651.232076718,630.767923282,652,0.422880707323,-0.00553169840245,0.0799807326235,0.999999997954,-3.98143267576e-05,5.10031545077e-06,-4.98102986246e-05,1793244347226475264
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.182053813,745,714,680.817946187,659,634,879.364107626,786,805.182053813,651.817946187,630.182053813,652,0.423758992515,-0.00550913365097,0.0800104991549,0.999999997802,-5.1008306733e-06,4.58841345644e-05,-4.7584902014e-05,1793244347243141888
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.399641536,745.399641536,714,681,659,634,879.399641536,786,805.399641536,651.600358464,630.399641536,652,0.424591428968,-0.00550620398923,0.0799887507893,0.999999998827,-2.95823750736e-06,-5.48969496485e-06,-4.80389928483e-05,1793244347259808512
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.979455016,745.979455016,714,681,659,634,879.979455016,786,805.979455016,651.020544984,630.979455016,652,0.425403195202,-0.00551212649251,0.0799437777611,0.999999993802,-1.54997128842e-05,-9.84113170351e-05,-4.97010872163e-05,1793244347276475136
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.443618877,745.443618877,714,681,659,634,880,786,806,651.556381123,631,652,0.426302741956,-0.00552205903241,0.0799236774058,0.999999992952,-2.86468676273e-05,-0.000102377392589,-5.28582084008e-05,1793244347293141760
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.132728023,714,681.132728023,659.132728023,634,880,786,806,652,631,652,0.42720465841,-0.00553011697945,0.0799094519033,0.999999992304,-3.93448639501e-05,-0.000103988338889,-5.50465850486e-05,1793244347309808640
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.707499132,714,681.707499132,659.707499132,634,880,786,806,652,631,652,0.428103727431,-0.00553144109245,0.0799117492071,0.999999991776,-4.18119755969e-05,-0.000108638958411,-5.38257037331e-05,1793244347326475264
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.289596514,745.710403486,714,682,660,634,879.710403486,786,806,651.710403486,631,652,0.428994047633,-0.0055341972318,0.0799241530287,0.999999992671,-4.44180675678e-05,-9.94373267615e-05,-5.28830244767e-05,1793244347343141888
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.879285668,745.120714332,714,682,660,634,879.120714332,786,806,651.120714332,631,652,0.429875301867,-0.00553843729973,0.0799470296683,0.999999994645,-4.71681768891e-05,-7.58813831635e-05,-5.22286304786e-05,1793244347359808512
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.460963489,786,806,651,630.539036511,652,0.430796609069,-0.00554227476621,0.0799892495364,0.99999999718,-5.38824715495e-05,-1.20859981237e-05,-5.08928687164e-05,1793244347376475392
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880.040304979,786,806,651,630.040304979,651.959695021,0.431721296624,-0.00554552584903,0.0800318247975,0.999999995448,-6.07076575421e-05,5.44795789922e-05,-4.95023689567e-05,1793244347393142016
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880.616003388,786,806,651,630.616003388,651.383996612,0.432553937495,-0.00554236424047,0.0800129826578,0.999999997022,-5.5451554399e-05,2.02566536647e-05,-4.971448671e-05,1793244347409808640
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.808536297,634,880.808536297,786,806,651,631,651.191463703,0.433381709893,-0.0055399033703,0.0799796172041,0.999999996858,-5.21527505762e-05,-3.0139729966e-05,-5.15263693657e-05,1793244347426475264
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.233552805,634,880.233552805,786,806,651,631,651.766447195,0.434199730433,-0.00553884614437,0.0799171601842,0.999999990632,-5.27746001401e-05,-0.000112933076505,-5.65427313576e-05,1793244347443141888
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.35076409,634,880,786,805.64923591,651.35076409,631,652,0.435033448207,-0.00553830869903,0.0799051651275,0.999999989003,-5.73999550526e-05,-0.000123626722574,-5.84495477232e-05,1793244347459808512
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.941465386,634,880,786,805.058534614,651.941465386,631,652,0.43587790349,-0.00553812680525,0.0799276881532,0.999999992595,-6.47638739577e-05,-8.50011745554e-05,-5.82293055605e-05,1793244347476475136
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,805.52226188,651.47773812,631,652,0.436695126873,-0.00553670529261,0.0799491758756,0.99999999441,-6.03218929303e-05,-6.68623072982e-05,-5.54095987854e-05,1793244347493141760
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652,0.437504820367,-0.00553638205769,0.0799671027057,0.999999995581,-5.69134350934e-05,-5.27391667413e-05,-5.3083873286e-05,1793244347509808640
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,806,651,631,652,0.43829326877,-0.00554184321722,0.0799688798002,0.999999995345,-6.44311315562e-05,-4.68728038873e-05,-5.44121041884e-05,1793244347526475264
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.752852742,786,806,651,631,652,0.439057734047,-0.00554667002012,0.0799537056213,0.999999993272,-7.37991497187e-05,-6.97294562087e-05,-5.60993528757e-05,1793244347543141888
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.175512432,786,806,651,631,652,0.439790157384,-0.00555064931105,0.0799158842448,0.99999998606,-8.56392291949e-05,-0.000130960558758,-5.82662553383e-05,1793244347559808512
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.411576768,745,714,682,660,633.588423232,879.411576768,786,806,651,631,652,0.440432984624,-0.00554894170727,0.079842552889,0.999999964993,-8.40104412742e-05,-0.000243212980568,-6.16706448762e-05,1793244347576475136
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.997163872,745,714,682,659.997163872,633.002836128,880,786,806.002836128,651,631,652,0.441036823001,-0.00554478179868,0.0797539025559,0.99999992369,-7.65574318789e-05,-0.000377431841879,-6.56131950294e-05,1793244347593142016
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.423624678,745,714,682,659.423624678,633.576375322,880,786,806.576375322,651,631,652,0.441669905011,-0.00554698998113,0.0797037388222,0.999999894222,-8.09327016838e-05,-0.000447475494824,-6.90819045635e-05,1793244347609809408
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+191,3.183333333,POSE1_TO_POSE2_PRESS,764.278623247,745,713.278623247,682.721376753,659,634,880,785.278623247,806.278623247,651,630.278623247,652,0.443036572012,-0.00556150551508,0.0797376846361,0.999999915661,-9.97037853003e-05,-0.00039283231886,-6.64801128127e-05,1793244347643143168
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.307362233,745,713.307362233,683,658.692637767,633.385275534,880,785.307362233,806,651,630.307362233,652,0.443715132524,-0.00556623624181,0.079779119468,0.999999937144,-9.80320900799e-05,-0.000334705876403,-6.38224870695e-05,1793244347659810048
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634.330510015,879,787,805,652,630.669489985,652,0.400967602512,-0.00539308066443,0.0798298696393,0.999999927258,0.000244125634237,-0.000289820242681,4.34941383356e-05,1793244351164113664
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,804.406807764,652,631,651.593192236,0.400965995965,-0.00539392789779,0.0798300932418,0.999999927483,0.000242871157506,-0.000290135116582,4.3239088715e-05,1793244351280780800
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1768089adb7c5d01dba24634f777114aabf6e4dc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,410 @@
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+388,6.466666667,pose2_to_pose3_retreat,0.57567334448,-0.000122139377048,1.07005095684,0.546244976831,0.00855354355332,1.06971744965
+389,6.483333333,pose2_to_pose3_retreat,0.575673179226,-0.000122139860601,1.07005096064,0.546244811672,0.00855354339941,1.0697174536
+390,6.500000000,pose2_to_pose3_retreat,0.575672883833,-0.000122140724956,1.07005096744,0.54624451645,0.00855354312428,1.06971746066
+391,6.516666667,pose2_to_pose3_retreat,0.575672593383,-0.000122141574849,1.07005097412,0.546244226167,0.00855354285375,1.06971746761
+392,6.533333333,pose2_to_pose3_retreat,0.57567237304,-0.000122147473738,1.07005098432,0.546244006089,0.0085535378677,1.06971747819
+393,6.550000000,pose2_to_pose3_retreat,0.575672307304,-0.000122149539902,1.07005098766,0.546243940441,0.00855353610146,1.06971748165
+394,6.566666667,pose2_to_pose3_retreat,0.575671826411,-0.000122164655105,1.07005101209,0.546243460184,0.00855352318039,1.06971750701
+395,6.583333333,pose2_to_pose3_retreat,0.575671462007,-0.000122176108888,1.0700510306,0.546243096262,0.00855351338924,1.06971752622
+396,6.600000000,pose2_to_pose3_retreat,0.575671129489,-0.000122186560429,1.07005104749,0.546242764184,0.00855350445485,1.06971754376
+397,6.616666667,pose2_to_pose3_retreat,0.575670689328,-0.000122200395338,1.07005106985,0.546242324606,0.00855349262822,1.06971756697
+398,6.633333333,pose2_to_pose3_retreat,0.575670522773,-0.000122198714759,1.07005107361,0.546242158131,0.00855349457432,1.0697175706
+399,6.650000000,pose2_to_pose3_retreat,0.575670363416,-0.000122171098767,1.07005105951,0.54624199832,0.00855352058506,1.06971755474
+400,6.666666667,pose2_to_pose3_retreat,0.57567022914,-0.000122147829277,1.07005104763,0.546241863662,0.00855354250195,1.06971754137
+401,6.683333333,pose2_to_pose3_retreat,0.575670102128,-0.00012212581873,1.07005103639,0.546241736289,0.00855356323307,1.06971752872
+402,6.700000000,pose2_to_pose3_retreat,0.5756700632,-0.000122119072581,1.07005103294,0.54624169725,0.00855356958708,1.06971752485
+403,6.716666667,pose2_to_pose3_retreat,0.575670045088,-0.000122115933785,1.07005103134,0.546241679086,0.00855357254342,1.06971752305
+404,6.733333333,pose2_to_pose3_retreat,0.575669960496,-0.000122101274501,1.07005102385,0.546241594255,0.0085535863506,1.06971751462
+405,6.750000000,pose2_to_pose3_retreat,0.575669867274,-0.00012208511945,1.0700510156,0.546241500767,0.00855360156659,1.06971750534
+406,6.766666667,pose2_to_pose3_retreat,0.575669753737,-0.00012208227484,1.070051007,0.546241387253,0.00855360445994,1.06971749596
+407,6.783333333,pose2_to_pose3_retreat,0.575669607968,-0.000122132993358,1.07005100064,0.546241242633,0.00855355765604,1.06971749012
+408,6.800000000,pose2_to_pose3_retreat,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868054,1.06971749639
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e031b22a23560c8e0701c414ffb88da91c6b297
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07059f68c1637b72f1d34153bd50cf756bba69ca3cff5fe257766befe3a02a90
+size 26034537
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6702cf1bddb9fec182ad7cc505180bfeac1c1813
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_03/franka_data.csv
@@ -0,0 +1,411 @@
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+1,0.016666667,BASELINE,764.575366053,745,714,679.424633947,658,634,879,786,804.575366053,651,631,652,0.400965586661,-0.00539473536052,0.079831212678,0.999999927743,0.000243213480237,-0.000288906798643,4.35117069336e-05,1793244351429508096
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+22,0.366666667,BASELINE,765,745,714,680,658.46493587,634,879,786.767532065,805,651.232467935,631,652,0.400968592828,-0.00539293957755,0.0798337918317,0.999999929094,0.000242834778786,-0.000284682019154,4.24129435532e-05,1793244351779508480
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+29,0.483333333,BASELINE,764.170897213,745,714,680,658.829102787,634,878.829102787,786,805.170897213,651.170897213,631,652,0.400968247216,-0.00539352808202,0.0798332910715,0.999999929319,0.00024177580417,-0.000284731890341,4.28274915163e-05,1793244351896175104
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+45,0.750000000,BASELINE,765,745,714,679.107913723,659,634.107913723,879,786.107913723,804.107913723,651.107913723,631,652,0.400968697632,-0.00539572911146,0.0798346792975,0.999999929648,0.000242873876743,-0.000282666218688,4.26087959223e-05,1793244352162841856
+46,0.766666667,BASELINE,765,745,714,679.681558449,659,634.681558449,879,786.681558449,804.681558449,651.681558449,631,652,0.400968809378,-0.00539504288047,0.0798342421846,0.999999929248,0.000244371712366,-0.000282743108698,4.29184552206e-05,1793244352179508480
+47,0.783333333,BASELINE,765,745,714,679.736750251,658.736750251,634.736750251,879,786.736750251,805,652,631,652,0.400968707883,-0.00539453445546,0.0798338616164,0.999999928948,0.000245401167176,-0.000282892890711,4.30657686629e-05,1793244352196174848
+48,0.800000000,BASELINE,765,745,714,679.145018388,658.145018388,634.145018388,879,786.145018388,805,652,631,652,0.400968340308,-0.00539424789605,0.0798335516042,0.999999928773,0.000245846178253,-0.00028313362712,4.30105075568e-05,1793244352212841472
+49,0.816666667,BASELINE,765,745,714,679,658.43531121,634,879,786,805,651.56468879,631,652,0.400967503426,-0.00539366661887,0.0798333617552,0.999999928655,0.000245330780545,-0.000284003309633,4.29474931688e-05,1793244352229508096
+50,0.833333333,BASELINE,765,745,714.011944133,679.011944133,659,634,879,786,805.011944133,651.011944133,631,651.988055867,0.400966560009,-0.00539302746044,0.0798332391965,0.999999928574,0.000244494641259,-0.000285018194265,4.2888296154e-05,1793244352246175232
+51,0.850000000,BASELINE,765,745,714.588809909,679.588809909,659,634,879,786,805.588809909,651.588809909,631,651.411190091,0.400967783615,-0.00539417585074,0.0798344542613,0.999999929375,0.000243234707973,-0.000283243732926,4.31286948129e-05,1793244352262841856
+52,0.866666667,BASELINE,765,745,714.831032085,680,659,634,879,786,805.831032085,651.831032085,631,651.168967915,0.400968919771,-0.00539462641721,0.0798352715859,0.999999929821,0.000243004459316,-0.000281855979342,4.3181143666e-05,1793244352279508480
+53,0.883333333,BASELINE,765,745,714.242703138,680,659,634,879,786,805.242703138,651.242703138,631,651.757296862,0.400969838885,-0.00539334505643,0.0798351017599,0.999999929391,0.000245329782346,-0.00028142799484,4.27671203694e-05,1793244352296175104
+54,0.900000000,BASELINE,764.659382713,745,714,679.659382713,659,634,878.659382713,786.340617287,805,651,631,652,0.400969418497,-0.00539353520627,0.0798349958285,0.999999929191,0.000245983786134,-0.000281559561552,4.28287726265e-05,1793244352312841472
+55,0.916666667,BASELINE,764.079579365,745,714,679.079579365,659,634,878.079579365,786.920420635,805,651,631,652,0.400968057494,-0.00539475867082,0.0798349347649,0.999999929154,0.000245464166865,-0.000282084052709,4.32244507032e-05,1793244352329508096
+56,0.933333333,BASELINE,764.49789002,745,714,679.49789002,659,634,878.49789002,786.50210998,805.49789002,651.49789002,630.50210998,652,0.400968035,-0.00539396691923,0.0798350834678,0.999999929441,0.000244622018397,-0.000281815080321,4.3102899969e-05,1793244352346174720
+57,0.950000000,BASELINE,764.925460594,745,714,679.925460594,659,634,879,786,805.925460594,651.925460594,630.074539406,652,0.400968223553,-0.00539287314813,0.0798352047512,0.999999929712,0.000243882641511,-0.000281531587014,4.28663326283e-05,1793244352362841344
+58,0.966666667,BASELINE,764.351815868,745,714,679.351815868,659,634,879,786,805.351815868,651.351815868,630.648184132,652,0.400968399435,-0.00539190376055,0.0798349189881,0.999999929529,0.000244174975898,-0.000281996082793,4.2410596627e-05,1793244352379508224
+59,0.983333333,BASELINE,764.228219095,745,714,679.228219095,658.771780905,634,879,786.228219095,805,651.228219095,631,652,0.400968442306,-0.00539194629118,0.0798345939481,0.999999929465,0.000243651296086,-0.000282704560184,4.22190620691e-05,1793244352396175104
+60,1.000000000,BASELINE,764.818388929,745,714,679.818388929,658.181611071,634,879,786.818388929,805,651.818388929,631,652,0.400968274225,-0.0053935937029,0.0798342066159,0.999999929586,0.00024183343477,-0.000283799987409,4.24465454352e-05,1793244352412842240
+61,1.016666667,BASELINE,765,745,714,679.598912911,658,634,879,786.598912911,805,652,631,652,0.400968534355,-0.00539352646383,0.0798345461273,0.99999992962,0.000242659789631,-0.000282941841903,4.26666078393e-05,1793244352429508864
+62,1.033333333,BASELINE,765,745,714,679.019536067,658,634,879,786.019536067,805,652,631,652,0.400968984832,-0.00539269703441,0.0798352087327,0.99999992961,0.00024466154183,-0.00028121530138,4.2883371491e-05,1793244352446174976
+63,1.050000000,BASELINE,765,745,714,679.555071964,658,634,878.444928036,786,805.555071964,652,631,651.444928036,0.400968797057,-0.0053937939518,0.0798351292304,0.999999929668,0.000243991715557,-0.000281596137671,4.28409763468e-05,1793244352462841600
+64,1.066666667,BASELINE,765,745,714,680,658.129987202,634,878,786.129987202,805.870012798,652,631,651.129987202,0.400968821251,-0.00539426487875,0.0798350896731,0.999999929616,0.000244081243299,-0.00028169991714,4.28626405804e-05,1793244352479508224
+65,1.083333333,BASELINE,765,745,714,680,658.706529469,634,878,786.706529469,805.293470531,652,631,651.706529469,0.400969650154,-0.00539235436175,0.0798352763063,0.999999929173,0.000247099707569,-0.000280599269404,4.3135440918e-05,1793244352496174848
+66,1.100000000,BASELINE,764.709718139,745,714,679.709718139,658.709718139,634.290281861,878.290281861,786.709718139,805,651.709718139,631,652,0.400968882001,-0.00539238298591,0.0798349160498,0.999999929003,0.00024692616011,-0.000281356169277,4.31406333583e-05,1793244352512841472
+67,1.116666667,BASELINE,764.118490791,745,714,679.118490791,658.118490791,634.881509209,878.881509209,786.118490791,805,651.118490791,631,652,0.400966458123,-0.00539442198651,0.0798339888135,0.99999992911,0.000243443340857,-0.000284038854608,4.28683871971e-05,1793244352529508096
+68,1.133333333,BASELINE,764.461517131,745,714,679,658,634.538482869,879,786,805,651.461517131,631,652,0.400966256274,-0.00539363440466,0.0798339262151,0.999999928844,0.000244484548521,-0.00028409869002,4.27407999667e-05,1793244352546174720
+69,1.150000000,BASELINE,765,745,714,679.038468898,658,634,878.961531102,786.038468898,805,652,631,652,0.400966684858,-0.00539232088372,0.079834137377,0.999999928561,0.00024640985383,-0.000283444116963,4.26487224974e-05,1793244352562841856
+70,1.166666667,BASELINE,765,745,714,679.612025816,658,634,878.387974184,786.612025816,805,652,631,652,0.400968135572,-0.00539354642853,0.0798351419436,0.999999929356,0.000244859924133,-0.000281996770688,4.25462294812e-05,1793244352579508480
+71,1.183333333,BASELINE,765,745,714,680,658,634,878.191282752,786.808717248,805,652,630.808717248,652,0.400969255218,-0.00539425431579,0.0798357970622,0.999999929945,0.000243662339396,-0.000280938551059,4.25586637212e-05,1793244352596174848
+72,1.200000000,BASELINE,765,745,714,680,658,634,878.782456099,786.217543901,805,652,630.217543901,652,0.400969682741,-0.0053938800023,0.079835721634,0.999999930116,0.000243201357301,-0.000280693828903,4.28113617841e-05,1793244352612841728
+73,1.216666667,BASELINE,764.633899639,745,714,680,658.366100361,634,879,786,805,651.633899639,630.366100361,652,0.400969369997,-0.00539288886124,0.0798354603841,0.999999929772,0.000244133703069,-0.000281120152884,4.27450291564e-05,1793244352629508096
+74,1.233333333,BASELINE,764.054639185,745,714,680,658.945360815,634,879,786,805,651.054639185,630.945360815,652,0.400968626238,-0.00539153857546,0.0798350909406,0.999999929125,0.000245877307005,-0.000281937190118,4.24929424984e-05,1793244352646174720
+75,1.250000000,BASELINE,764.521346094,745,714,680,658.478653906,634,879,786,805,651,631,651.478653906,0.400968623728,-0.00539297402479,0.0798351003524,0.999999929215,0.00024546733328,-0.000281934278927,4.27679049593e-05,1793244352662841344
+76,1.266666667,BASELINE,765,745,714,680,658,634,878.904378136,786,805,651.095621864,631,651.095621864,0.400968828173,-0.00539429461549,0.0798352567559,0.999999929461,0.000244707522365,-0.000281689560306,4.29778178181e-05,1793244352679508224
+77,1.283333333,BASELINE,765,745,714,680,658,634,878.336855538,786,805,651.663144462,631,651.663144462,0.400969672965,-0.00539361654014,0.0798359438469,0.9999999301,0.000243328149901,-0.000280672947202,4.25958100641e-05,1793244352696175104
+78,1.300000000,BASELINE,765,745,714,680,658,634,878.243722006,786,805,651.756277994,631,652,0.400969641326,-0.00539297844476,0.0798358321162,0.999999929917,0.000244014507386,-0.000280739984264,4.25274383627e-05,1793244352712841728
+79,1.316666667,BASELINE,765,745,714,680,658,634,878.843364336,786,805,651.156635664,631,652,0.400968329789,-0.00539239873436,0.0798345538233,0.999999928525,0.00024771756129,-0.000282389533908,4.29170862533e-05,1793244352729508352
+80,1.333333333,BASELINE,765,745,714,679.57323033,658,634,878.57323033,786,805,651,631,652,0.400968505839,-0.00539208284878,0.0798342784928,0.999999928452,0.000247840015388,-0.000282546960744,4.28718739353e-05,1793244352746174976
+81,1.350000000,BASELINE,765,745,714,679,658.00441206,634.00441206,878.00441206,786.00441206,805,651.00441206,631,652,0.400969202783,-0.00539186428779,0.079834363914,0.99999992885,0.000246693037754,-0.000282172883022,4.26735785352e-05,1793244352762841600
+82,1.366666667,BASELINE,765,745,714,679,658.579208953,634.579208953,878.579208953,786.579208953,805,651.579208953,631,652,0.400969243182,-0.00539216839872,0.0798352418408,0.999999929494,0.000245103353295,-0.000281290919849,4.25621870756e-05,1793244352779508224
+83,1.383333333,BASELINE,765,745,714,679,659,634.842405252,879,786.842405252,805.157594748,652,631,652,0.400968946188,-0.00539251927406,0.079835560964,0.999999929806,0.000244057316954,-0.000281098717203,4.2519840597e-05,1793244352796175104
+84,1.400000000,BASELINE,765,745,714,679,659,634.254213348,879,786.254213348,805.745786652,652,631,652,0.400967727336,-0.00539299792422,0.0798343532644,0.999999929215,0.000244496693553,-0.000282791151545,4.26661461462e-05,1793244352812841728
+85,1.416666667,BASELINE,765,745,714,679.328898311,658.671101689,634,879,786.328898311,805.671101689,652,631,652,0.400967805687,-0.0053940879295,0.0798344766553,0.999999929267,0.000244342758393,-0.000282713803875,4.28415837343e-05,1793244352829508608
+86,1.433333333,BASELINE,765,745,714,679.908143022,658.091856978,634,879,786.908143022,805.091856978,652,631,652,0.400968871426,-0.00539564327783,0.0798356132279,0.999999929808,0.000243737214129,-0.000281289357198,4.30391956481e-05,1793244352846175232
+87,1.450000000,BASELINE,765,745,714,680,658,634,879,786.513192936,805,651.513192936,630.513192936,652,0.400969133031,-0.00539483924058,0.0798360312338,0.999999929962,0.000244382250007,-0.00028017214775,4.3101902701e-05,1793244352862841600
+88,1.466666667,BASELINE,765,745,714,679.934142043,658.065857957,634,879,786.065857957,805,651.065857957,630.065857957,652,0.40096917754,-0.00539388394501,0.07983624876,0.999999930072,0.000244862412873,-0.00027935474471,4.31138840569e-05,1793244352879508480
+89,1.483333333,BASELINE,765,745,714,679.351194463,658.648805537,634,879,786.648805537,805,651.648805537,630.648805537,652,0.40096870743,-0.00539523238638,0.0798359555174,0.999999930426,0.000242197485792,-0.000280436657001,4.29272166641e-05,1793244352896174848
+90,1.500000000,BASELINE,764.768989314,745,714,679,658.768989314,634,878.768989314,786.768989314,805,652,631,652,0.400968243669,-0.00539560749905,0.0798355062965,0.999999930381,0.000241243258426,-0.000281432471155,4.28358985905e-05,1793244352912841216
+91,1.516666667,BASELINE,764.187909284,745,714,679,658.187909284,634,878.187909284,786.187909284,805,652,631,652,0.400967789531,-0.00539450764717,0.079834820709,0.999999929739,0.000242881394188,-0.000282297813686,4.28890711388e-05,1793244352929507840
+92,1.533333333,BASELINE,764.391173684,745,714,679,658.391173684,634,878.391173684,786,805,651.608826316,631,652,0.400968106906,-0.00539455674158,0.0798346037095,0.999999929628,0.00024359721651,-0.000282072352324,4.28976433332e-05,1793244352946174720
+93,1.550000000,BASELINE,764.969302241,745,714,679,658.969302241,634,878.969302241,786,805,651.030697759,631,652,0.400968793012,-0.00539515495542,0.0798346106638,0.999999929772,0.000243872234801,-0.00028132555969,4.28848995443e-05,1793244352962841600
+94,1.566666667,BASELINE,765,745,714,679.542965803,658.457034197,634,878.457034197,786,805,651.542965803,631,652,0.400968748677,-0.00539455742823,0.0798348459145,0.999999929911,0.000244064434969,-0.000280688664612,4.2703796107e-05,1793244352979508224
+95,1.583333333,BASELINE,765,745,714,680,658.11713094,634,878,786.11713094,805,652,631,652,0.400968682276,-0.00539397928885,0.0798350544687,0.999999929968,0.000244213471316,-0.000280383095645,4.25300590726e-05,1793244352996174848
+96,1.600000000,BASELINE,765,745,714,680,658.694249263,634,878,786.694249263,805,652,631,652,0.40096869008,-0.00539374061053,0.0798351079076,0.9999999297,0.000244211236166,-0.000281354482884,4.24223264706e-05,1793244353012841472
+97,1.616666667,BASELINE,765,745,714,680,659,634,878,786.721583607,805,652,631,652,0.400969260497,-0.00539381764069,0.0798353963038,0.999999929784,0.00024436392854,-0.000280924872068,4.24301138766e-05,1793244353029508096
+98,1.633333333,BASELINE,765,745,714,680,659,634,878,786.129474599,805,652,631,652,0.40097046481,-0.00539425038058,0.079835949427,0.99999993026,0.000244691178237,-0.000278916752335,4.25680580407e-05,1793244353046174720
+99,1.650000000,BASELINE,765,745,714,680,659,634,878.434042243,786,805,652,631,652,0.400971443847,-0.00539488909667,0.0798368454899,0.999999930882,0.00024363282708,-0.0002775672855,4.28386073352e-05,1793244353062841344
+100,1.666666667,BASELINE,765,745,714,680,659,634,878.989557164,786,805,652,631,652,0.400972359838,-0.00539558545801,0.0798378375291,0.999999931543,0.000242186696498,-0.000276402151752,4.31462679929e-05,1793244353079508224
+101,1.683333333,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400970231602,-0.00539308081414,0.0798359220746,0.999999929812,0.000245800155362,-0.000279494237967,4.29034806601e-05,1793244353096174848
+102,1.700000000,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400968747873,-0.00539159219068,0.0798346860589,0.999999928804,0.000247480019367,-0.000281641229167,4.27044929733e-05,1793244353112841728
+103,1.716666667,BASELINE,765,745,714,680,659,634,879,786,805,652,631,652,0.400968882043,-0.00539258359789,0.0798351423257,0.999999929605,0.000244485647264,-0.000281424876403,4.26306074413e-05,1793244353129508352
+104,1.733333333,BASELINE,765,745,714,680,659,634.354177429,879,786,805,651.645822571,631,652,0.400969171962,-0.00539350785502,0.0798354211883,0.99999993007,0.000242780010279,-0.000281270564955,4.24758910331e-05,1793244353146174720
+105,1.750000000,BASELINE,765,745,714,680,659,634.931577163,879,786,805,651.068422837,631,652,0.400969560042,-0.00539438979053,0.079835588241,0.999999930328,0.00024188660552,-0.000281155355373,4.22702305059e-05,1793244353162841344
+106,1.766666667,BASELINE,765,745,714,680,659,634.493795343,878.493795343,786.506204657,805,651,631,652,0.400968708588,-0.00539447000322,0.0798351897035,0.99999992944,0.000243876732883,-0.000282531336314,4.26737575438e-05,1793244353179508224
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,744,714,680,659,634,878,786,805,651,631,652,0.400969701068,-0.00539279006663,0.0798356382923,0.999999929717,0.000244615743915,-0.000280953441571,4.23632702083e-05,1793244353222885376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.595666157,744.595666157,714,679.404333843,659,634,878.595666157,786,805,651.595666157,631,652,0.400968998284,-0.00539292006396,0.0798349482051,0.999999929036,0.000246563297297,-0.000281632329502,4.26332433559e-05,1793244353239552256
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.184854756,659,634,879,786,805,652,631,652,0.400968596137,-0.00539333209262,0.079834630478,0.999999928857,0.000246877784671,-0.000281958132203,4.2848803061e-05,1793244353256219136
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.760354735,659,634,879,786,805,652,631,652,0.40096882931,-0.00539434012541,0.0798350996424,0.999999929741,0.00024374118763,-0.000281537775934,4.29493733415e-05,1793244353272885760
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.335547453,805,651.664452547,631,651.664452547,0.400968525857,-0.00539425108435,0.079835212971,0.999999929983,0.000242688363299,-0.000281611196433,4.28026130583e-05,1793244353289552384
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.910520893,805,651.089479107,631,651.089479107,0.4009678395,-0.00539337923894,0.0798350723969,0.999999929771,0.000243122390972,-0.000282036945636,4.24793729181e-05,1793244353306219264
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786.501017098,805,651.498982902,630.501017098,651.498982902,0.400968732992,-0.00539244850848,0.0798353836049,0.999999929421,0.000245201630192,-0.000281491269336,4.2391982876e-05,1793244353322885632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.911834717,634,879,786,805,652,630.088165283,652,0.400969564124,-0.00539182396689,0.0798356043485,0.999999929081,0.00024692831674,-0.000281195101344,4.23414779995e-05,1793244353339552000
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.332488948,634,879,786,805,652,630.667511052,652,0.40096842567,-0.00539296570654,0.0798348572179,0.999999928969,0.000245001601387,-0.000283286425719,4.22542971178e-05,1793244353356218624
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.244739559,634,879,786.244739559,805,651.755260441,631,652,0.400973949412,-0.00539372746163,0.0798374580957,0.999999930225,0.000244261076275,-0.000279455956096,4.23172873853e-05,1793244353372885504
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.819116303,634,879,786.819116303,805,651.180883697,631,652,0.400988446396,-0.00539397741933,0.0798445683715,0.999999933234,0.000245118218678,-0.000267649483104,4.25825416259e-05,1793244353389551872
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.606436337,786.606436337,805,651,631,652,0.40101903867,-0.00539462591982,0.0798567705323,0.999999939124,0.000244825334143,-0.000244910404817,4.2799323199e-05,1793244353406218752
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.031956465,786.031956465,805,651,631,652,0.401057029746,-0.00539545762538,0.0798713133685,0.999999945731,0.000244003796781,-0.000217145745789,4.29938225006e-05,1793244353422885632
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.559294541,786,805,651,631,652,0.401116737539,-0.00539665443485,0.0798898365296,0.999999953068,0.000243237751913,-0.000181247582578,4.29978969988e-05,1793244353439552256
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.14664174,631,652,0.401180554736,-0.00539772998837,0.0799068040324,0.999999958567,0.000241899468145,-0.000150107850559,4.26322384142e-05,1793244353456219136
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.719762562,631,652,0.401252603082,-0.00539839034715,0.0799185653425,0.999999961612,0.000238887432619,-0.000134200428674,4.12239044334e-05,1793244353472885760
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.704507809,634,879,786,804.704507809,652,631,652,0.401331012599,-0.00539889509218,0.0799255467589,0.999999963199,0.000238458446387,-0.00012322847805,3.94323455583e-05,1793244353489552384
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.126282048,634,879,786,804.126282048,652,631,652,0.401415508626,-0.00539925094243,0.079927954665,0.999999963543,0.00024050097999,-0.00011697889823,3.72741085819e-05,1793244353506218496
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.451285571,634,879,786.451285571,804.451285571,652,631,652,0.401517261275,-0.00539964711036,0.0799307013941,0.999999964423,0.000239178552346,-0.000113105118235,3.39711921052e-05,1793244353522885120
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.970705607,786.970705607,805,652,631,652,0.401625059358,-0.00540022020496,0.0799336209968,0.999999965494,0.00023680331705,-0.000109612156582,3.03503066131e-05,1793244353539551744
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,878.38073256,786.38073256,805,652,631,652,0.401756276326,-0.00540396396295,0.0799380372995,0.999999967596,0.00023227354044,-0.000100702206355,2.67653481483e-05,1793244353556218624
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.79382427,659,634,878,786,805,651.79382427,631,652,0.401899606117,-0.00540663926159,0.0799431212312,0.999999969546,0.00022834485746,-9.08273309892e-05,2.27518843594e-05,1793244353572885504
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679.212492653,659,634,878,786,805,651.212492653,631,652,0.402064976298,-0.00540737039879,0.0799494199754,0.999999971275,0.000225509920672,-7.91966857073e-05,1.7958715733e-05,1793244353589552128
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.636161404,745,714,679.363838596,659,634,878.363838596,786,805,651.363838596,631,652,0.402249508587,-0.00540905696336,0.0799551036358,0.999999973382,0.000219801801303,-6.91177894689e-05,1.20479502459e-05,1793244353606218752
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.062710874,745,714,679.937289126,659,634,878.937289126,786,805,651.937289126,631,652,0.402445080422,-0.00541129396157,0.0799604329394,0.999999975624,0.000212438405475,-5.99328740245e-05,5.49332287105e-06,1793244353622885120
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.524008468,745,714,679.475991532,659,634.524008468,879,786,805,651.475991532,631,652,0.402647090725,-0.00541336284516,0.0799577752327,0.999999976763,0.000204571305482,-6.79851183637e-05,-1.63558500913e-06,1793244353639552000
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.888797459,745,714,679.111202541,658.888797459,634.888797459,879,786,805,651,631,651.888797459,0.402857049575,-0.00541534085815,0.0799531476636,0.999999977507,0.00019671478228,-7.87739051638e-05,-9.11133351905e-06,1793244353656218624
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.306494037,745,714,679.693505963,658.306494037,634.306494037,879,786,805,651,631,651.306494037,0.40309733281,-0.0054170213532,0.0799443295008,0.999999977701,0.000189165074538,-9.21896484661e-05,-1.775772599e-05,1793244353672885248
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.272133167,744.727866833,714,679.727866833,658.272133167,634,878.727866833,786,805,651,631,651.272133167,0.4033667279,-0.00541876645959,0.0799425872976,0.999999981094,0.000168271443025,-9.4122411459e-05,-2.52476873499e-05,1793244353689551872
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.846675129,744.153324871,714,679.153324871,658.846675129,634,878.153324871,786,805,651,631,651.846675129,0.403668473613,-0.00542058336545,0.0799487082762,0.999999987252,0.000132549336675,-8.32946773972e-05,-3.14525606446e-05,1793244353706218496
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.416972527,714,679,659,634,878.416972527,786.416972527,805,651,630.583027473,652,0.403998879151,-0.00541949774237,0.0799529037424,0.99999998813,0.000130816177311,-7.67671618417e-05,-2.7073847664e-05,1793244353722885376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.985724874,714,679,659,634,878.985724874,786.985724874,805,651,630.014275126,652,0.404339716985,-0.00541735558607,0.0799563983135,0.99999998724,0.000141455143706,-7.1804944829e-05,-1.88426629837e-05,1793244353739552000
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.573810027,659,634,878.426189973,786.426189973,805,651,630.573810027,652,0.404711187663,-0.00542036358819,0.0799549601984,0.999999987589,0.000139672383107,-6.85702713192e-05,-2.47404611639e-05,1793244353756218880
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.160625712,680,658.839374288,634,878.160625712,786,805,651,631,652,0.405095194028,-0.00542428186163,0.0799530074343,0.999999988569,0.000132452614567,-6.65075934005e-05,-2.99123275027e-05,1793244353772885760
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.742803411,680,658.257196589,634,878.742803411,786,805,651,631,652,0.405510029691,-0.00543024110502,0.0799500372922,0.999999990959,0.000111803058365,-6.74040197363e-05,-3.22243828669e-05,1793244353789552384
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.6762588,679.6762588,658.3237412,634,879,786,805,651,631,652,0.405947068821,-0.00543227248891,0.0799453597804,0.999999990678,0.000108063960247,-7.62013333194e-05,-3.40433041882e-05,1793244353806219008
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.096302238,679.096302238,658.903697762,634,879,786,805,651,631,652,0.406401680271,-0.00543119528565,0.0799393310214,0.99999998828,0.000117708139972,-9.12515696712e-05,-3.54719494582e-05,1793244353822885376
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.490242401,659,634.490242401,879,786,805,651,631,652,0.406878046309,-0.00543552467067,0.0799320094059,0.999999987718,0.000112171431879,-0.000103284730655,-3.62485356568e-05,1793244353839552256
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.923018962,879,786,805.076981038,651,631,652,0.40736445378,-0.00544037688592,0.0799253057116,0.999999987355,0.000104537467422,-0.000113964650303,-3.70643738033e-05,1793244353856218880
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.343575893,879,786,805.656424107,651,631,652,0.407888129805,-0.00544161508122,0.0799243154787,0.999999986773,0.00010294410719,-0.00011973294081,-3.8983850801e-05,1793244353872885760
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.765782455,659,634,879,786,805.765782455,651,631,652,0.40843042046,-0.0054439638625,0.0799221665036,0.999999986444,9.94130734947e-05,-0.000124857670293,-4.05042362271e-05,1793244353889552384
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.190391985,659,634,879,786,805.190391985,651,631,652,0.40899982608,-0.00544793037847,0.0799183296468,0.999999986485,9.30595283568e-05,-0.000129044956436,-4.14432849058e-05,1793244353906218752
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.383958819,659.383958819,634,879,786,805,651,631,652,0.409627278834,-0.00545274740345,0.079938795197,0.999999990774,8.55441876611e-05,-9.66637468456e-05,-4.2301590646e-05,1793244353922885376
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.957795463,659.957795463,634,879,786,805,651,631,652,0.410283437421,-0.00545798502759,0.0799712789323,0.999999995004,7.74543082352e-05,-4.61984454009e-05,-4.31199667413e-05,1793244353939552000
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.901832496,634,879,786,805,651,631,652,0.41095707356,-0.00546332491006,0.0799895693972,0.999999996305,7.32564385084e-05,-1.67080989713e-05,-4.17680649141e-05,1793244353956218624
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.138566884,634,879,786,805,651.138566884,631,652,0.411625368533,-0.00546810471544,0.0799948644373,0.999999996802,6.78475854771e-05,-8.71222748961e-06,-4.14461547459e-05,1793244353972884992
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.717900967,634,879,786,805,651.717900967,631,652,0.412272260211,-0.00547107714898,0.0799624064468,0.999999995296,5.76039034779e-05,-6.37914858822e-05,-4.49485849064e-05,1793244353989551616
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.705547734,631,652,0.41294398696,-0.00547801684866,0.0799321304284,0.999999992428,4.3245155419e-05,-0.000104642522445,-4.81965584265e-05,1793244354006218496
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.131637445,631,652,0.413639284192,-0.00548872179174,0.0799039252666,0.999999989666,2.49808896147e-05,-0.000131989880256,-5.12030333451e-05,1793244354022885120
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.443758414,634.443758414,879,786,805,651,631,652,0.414397045349,-0.00551237354798,0.0799152317106,0.999999992894,-3.5666739769e-06,-0.000108972269207,-4.82071085788e-05,1793244354039552000
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.979781096,745,714,680.020218904,659.979781096,634.979781096,879,786,805,651,631,652,0.415173712292,-0.00553898186556,0.0799379834736,0.99999999589,-3.40433371157e-05,-7.18472021025e-05,-4.35784610192e-05,1793244354056218624
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.385650893,745,714,680.614349107,659.385650893,634.385650893,879,786,805,651,631,652,0.4159592967,-0.0055401315641,0.0799517980771,0.99999999675,-3.2399542103e-05,-5.97887626078e-05,-4.33160474818e-05,1793244354072885248
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.201651094,745,714,680.798348906,659,634,879.201651094,786,805.201651094,651,630.798348906,651.798348906,0.416745416345,-0.00554100539273,0.0799572163871,0.999999996883,-3.35670272587e-05,-5.63417030931e-05,-4.3958588169e-05,1793244354089551616
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.776322021,745,714,680.223677979,659,634,879.776322021,786,805.776322021,651,630.223677979,651.223677979,0.417532526041,-0.00554136890945,0.079947102998,0.999999995764,-3.99348971953e-05,-6.88242158321e-05,-4.62751385098e-05,1793244354106218496
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.647769575,786,806,651,630.352230425,651.352230425,0.418374591703,-0.00555028364952,0.0799610819908,0.999999996785,-5.37114461087e-05,-3.65160372115e-05,-4.70227392774e-05,1793244354122885376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879.071072585,786,806,651,630.928927415,651.928927415,0.419251679231,-0.00556464784424,0.079990414383,0.999999996003,-7.22093378261e-05,2.4335992722e-05,-4.67704922716e-05,1793244354139551744
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.51799469,659,634,879,786,805.48200531,651.51799469,631,652,0.420095043849,-0.00556348192929,0.079981836228,0.9999999962,-7.15607731856e-05,1.14823129536e-05,-4.84479683591e-05,1793244354156218368
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.893717006,659,634,879,786,805.106282994,651.893717006,631,652,0.42093700993,-0.00556076249223,0.0799695608491,0.999999996251,-7.00681538703e-05,-9.11036217386e-06,-5.00631677419e-05,1793244354172884992
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680.316583095,659,634,879,786,805.683416905,651.316583095,631,652,0.421793779977,-0.00556083163128,0.079964513877,0.99999999563,-7.67591427735e-05,-1.80899199845e-05,-5.02007909551e-05,1793244354189551616
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.259357882,659,634,879,786,806,651,631,652,0.422670635833,-0.00554894513542,0.0799744365698,0.99999999684,-6.22124784782e-05,-4.32767289758e-06,-4.9310101427e-05,1793244354206218496
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.833849457,659,634,879,786,806,651,631,652,0.423571897133,-0.00552253190394,0.080002548205,0.999999997962,-2.18609307386e-05,3.70670819342e-05,-4.71699568394e-05,1793244354222885120
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.410355569,786,805.589644431,651.410355569,631,652,0.424419437462,-0.00551196287262,0.0799898778891,0.99999999887,-6.65578815386e-06,6.65972500258e-07,-4.70704942257e-05,1793244354239551744
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879.987681345,786,805.012318655,651.987681345,631,652,0.425245119129,-0.0055078407138,0.0799606137408,0.999999996585,-1.68250735099e-06,-6.73896179775e-05,-4.78013678135e-05,1793244354256218368
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.420592502,745,714,681,659.579407498,634,879.420592502,786,805,651.420592502,631,652,0.426145561952,-0.00552097591347,0.0799320891544,0.999999994172,-2.41620692972e-05,-9.15762238328e-05,-5.18185453422e-05,1793244354272884992
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.166030416,745,714,681,660,634,879.166030416,786,805.166030416,651,630.833969584,652,0.427040558425,-0.00553063038465,0.0799114913331,0.999999991755,-3.99831573116e-05,-0.000109203517863,-5.44583901309e-05,1793244354289551616
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.739363912,745,714,681,660,634,879.739363912,786,805.739363912,651,630.260636088,652,0.427918195284,-0.00553082296372,0.0799102997672,0.99999999145,-3.8001445172e-05,-0.000113085987619,-5.35436138421e-05,1793244354306218496
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.684647028,745,714,681.315352972,659.684647028,634,879.684647028,786,806,651,630.315352972,652,0.428809521227,-0.00553194794494,0.079919153014,0.999999992259,-3.91391233733e-05,-0.000105626830597,-5.28508818762e-05,1793244354322885120
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.106444562,745,714,681.893555438,659.106444562,634,879.106444562,786,806,651,630.893555438,652,0.429712257099,-0.00553385009158,0.0799363787013,0.999999993776,-4.28768411368e-05,-8.87143270039e-05,-5.23432258536e-05,1793244354339551744
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.468313531,745,714,681.531686469,659.468313531,634,879,786,805.531686469,651,630.531686469,652,0.430638522502,-0.00553793072368,0.0799810069373,0.999999997242,-4.93002046398e-05,-2.22323601691e-05,-5.09061034938e-05,1793244354356218368
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.043753,660,633.956247,879.043753,786,805.043753,651,630,652,0.431565600889,-0.00554206856205,0.0800276420163,0.999999996058,-5.54117994789e-05,4.87719243352e-05,-4.93478510356e-05,1793244354372884992
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+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633.224597672,880,786,806,651,630.224597672,652,0.433275409385,-0.00553962378277,0.0799907104227,0.999999997488,-4.8513577057e-05,-1.07564540945e-05,-5.05384527979e-05,1793244354406218496
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633.801162133,880,786,806,651,630.801162133,652,0.434065601769,-0.00553881403056,0.079920141974,0.9999999909,-5.32347716976e-05,-0.000110872756021,-5.54328701743e-05,1793244354422885120
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.624496729,786,806,651,631,652,0.434904096366,-0.00553816613298,0.0799061946333,0.999999988931,-5.64003116622e-05,-0.000125117172739,-5.7461779237e-05,1793244354439551744
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.051325997,786,806,651,631,652,0.435768017527,-0.00553760343682,0.0799220530309,0.999999992161,-5.87469443546e-05,-9.41580428688e-05,-5.79822652125e-05,1793244354456218368
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.540512114,786,806,651,631,652,0.436593780491,-0.00553474758718,0.0799499965962,0.9999999948,-5.36439984105e-05,-6.71469999477e-05,-5.48907643068e-05,1793244354472884992
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.869576215,786,806,651,630.869576215,652,0.437416639637,-0.00553342785904,0.0799733305195,0.999999996386,-4.99769494443e-05,-4.45476346451e-05,-5.24049367543e-05,1793244354489551616
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.29254822,786,806,651,630.29254822,652,0.438242406728,-0.00553814051797,0.0799768096639,0.999999996502,-5.37357376641e-05,-3.57252916015e-05,-5.32095782625e-05,1793244354506218496
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682.284054372,660,633.715945628,879.284054372,786,806,651,630.284054372,652,0.439019271376,-0.00554138794032,0.0799606692994,0.999999994688,-6.30696421921e-05,-5.99871175347e-05,-5.5199640559e-05,1793244354522885120
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682.86021946,660,633.13978054,879.86021946,786,806,651,630.86021946,652,0.43974584656,-0.00554312856877,0.0799243529779,0.999999988247,-7.81367839566e-05,-0.000118271445289,-5.84087443269e-05,1793244354539551744
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.554827236,745,714,682.554827236,659.554827236,633,880,786,806,651,631,652,0.440383669871,-0.00554311031548,0.0798486016363,0.99999996735,-7.67628960646e-05,-0.000235774204412,-6.1796559113e-05,1793244354556218368
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.032463185,745,713.967536815,682,659,633,879.967536815,785.967536815,806,651,631,652,0.440995671738,-0.005542658889,0.0797618750379,0.999999927256,-7.07549391148e-05,-0.000369090131681,-6.5228540904e-05,1793244354572885248
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.611703885,745,713.388296115,682,659,633,879.388296115,785.388296115,806,651,631,652,0.441651584463,-0.00554440081161,0.0797030468673,0.999999893899,-7.53958342873e-05,-0.000449259747699,-6.84402807087e-05,1793244354589551872
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,713.189518287,682.189518287,659,633,879.189518287,785,806,651,631,652,0.442336793127,-0.00554876293784,0.0796818103607,0.999999881032,-8.24625789664e-05,-0.000475726697582,-6.9421687203e-05,1793244354606218496
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,713.76443234,682.76443234,659,633,879.76443234,785,806,651,631,652,0.443081576803,-0.0055584533913,0.0797370185413,0.99999991615,-9.44624221634e-05,-0.000392986365755,-6.58675903428e-05,1793244354622885376
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682.661516644,659,632.661516644,880,785.338483356,806,651,630.661516644,652,0.443769576154,-0.00556349909353,0.079778318217,0.999999937329,-9.3365223808e-05,-0.000335543884404,-6.35206238125e-05,1793244354639552000
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.088064767,659,632.088064767,880,785.911935233,806,651,630.088064767,652,0.444418156893,-0.00556532049978,0.0798099628775,0.99999995091,-8.31763150182e-05,-0.000295662681508,-6.20116238814e-05,1793244354656218624
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.671615672,745,714,683,658,632.328384328,880,784.328384328,806,651,630,652,0.446082007524,-0.00555674349842,0.0797376258149,0.999999910087,-9.9340997314e-05,-0.000407184938258,-6.44750442597e-05,1793244354706218496
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.176915033,745,714,683,658,632,880.823084967,784.823084967,806,651,630,652,0.447134843174,-0.00554317796978,0.0796941701072,0.9999998922,-7.1397320401e-05,-0.000453749594651,-6.79234654222e-05,1793244354739551744
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,714,683,657.600816944,632,880.201633889,784.600816944,806.399183056,651,630,652,0.447611446492,-0.0055424338235,0.0796770786352,0.999999881158,-7.86210794399e-05,-0.000476160014175,-6.910307815e-05,1793244354756218624
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+229,3.816666667,POSE1_TO_POSE2_PRESS,764.815985455,745.184014545,713,683.184014545,655.815985455,630,880,783,806.184014545,651,630,652,0.453158808452,-0.00558759836905,0.0795104897421,0.999999709674,-0.00014608450436,-0.000744436141578,-7.1595300315e-05,1793244355256218368
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+235,3.916666667,POSE1_TO_POSE2_PRESS,764.299729194,745,713,683.700270806,655,630,880,783,806,651.700270806,630,652,0.453178716677,-0.00558404425075,0.0795063409461,0.999999705645,-0.000142156781037,-0.000750729039141,-7.00534272092e-05,1793244355356218624
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.953044446,745,713,684,654.046955554,630,880.046955554,782.953044446,806.953044446,652,630,652,0.453179590684,-0.00558272894948,0.0795038584254,0.999999703654,-0.000141147156501,-0.000753541181439,-7.03266194448e-05,1793244355406218752
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.374095863,745,713,684,654.625904137,630,880.625904137,782.374095863,806.374095863,652,630,652,0.453180607315,-0.00558250249598,0.0795047722606,0.999999704165,-0.000139032723693,-0.000753316053502,-6.96709371458e-05,1793244355422885376
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.403035261,680,658.403035261,634,879,786,805,651,630.596964739,652,0.411868158423,-0.00541086603243,0.0798023211237,0.999999926742,0.000204194415315,-0.000320183835463,4.7987667562e-05,1793244357260452352
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.181873197,680,658,633.818126803,879,786,805,651,631,652,0.41116161394,-0.00540643563069,0.0797903596108,0.999999915861,0.000215204931635,-0.000345912909615,4.80514463393e-05,1793244357277119232
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.764616558,680,658,633.235383442,879,786,805,651,631,652,0.410472372522,-0.00540285206665,0.0797807401155,0.999999909563,0.000220747517575,-0.000360470260501,4.6965301864e-05,1793244357293785856
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.658174643,713.658174643,680,658,633,879,786,805,651.341825357,631,651.658174643,0.409834687225,-0.00540062125951,0.079792792488,0.999999916636,0.000224484770628,-0.000337781027726,4.73139344447e-05,1793244357310452480
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.084716294,713.084716294,680,658,633,879,786,805,651.915283706,631,651.084716294,0.409231938225,-0.00539930712866,0.0798195304879,0.999999931046,0.000226998665338,-0.000289852186736,4.86348228542e-05,1793244357327118848
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.50157671,713.50157671,680,658,633.50157671,879,786,805,652,631,651.50157671,0.408657415631,-0.00539798937201,0.079832246282,0.999999934673,0.000230947939487,-0.000273567160069,4.97850618524e-05,1793244357343785984
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.911310964,680,658,634,879,786,805,651.911310964,631,652,0.408084762683,-0.0053963967361,0.0798355663302,0.999999933568,0.000235224966538,-0.000273838630402,5.04498596213e-05,1793244357360453120
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.331973512,680,658,634,879,786,805,651.331973512,631,652,0.407495385855,-0.00539328688099,0.0798003532613,0.999999913801,0.000239938767416,-0.000335360241098,4.85927243748e-05,1793244357377119488
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.752876145,744.752876145,713.247123855,680,658,634,878.752876145,786,805,651.247123855,631,652,0.40693971422,-0.00539238533179,0.0797738516702,0.999999899021,0.000239831268781,-0.000377128533211,4.70368385586e-05,1793244357393786112
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.174101027,744.174101027,713.825898973,680,658,634,878.174101027,786,805,651.825898973,631,652,0.40642927651,-0.00539444742809,0.0797590412748,0.99999989476,0.000233253371184,-0.000392386984992,4.58852432808e-05,1793244357410452480
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.401433378,744,714,680,658,634,878.401433378,786,805,651.197133244,631,652,0.405971263411,-0.00539352749962,0.0797695802797,0.999999904798,0.000233220592319,-0.000366002373347,4.53154233239e-05,1793244357427119104
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.975573595,744,714,680,658,634,878.975573595,786,805,650.048852809,631,652,0.405535804668,-0.0053913246285,0.0797910252396,0.999999919393,0.000236003688913,-0.000321701858362,4.49958977221e-05,1793244357443785472
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.436506837,744.563493163,714,680,658,634,878.436506837,786,804.436506837,650.563493163,631,652,0.405138997828,-0.00539120644888,0.0798070934622,0.999999925441,0.000233276473174,-0.000304225540879,4.63358095529e-05,1793244357460452096
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.728818901,744.271181099,714,680,658,634,878,786,804.728818901,651.728818901,630.271181099,652,0.404366704609,-0.00539379213263,0.0798212008055,0.999999928456,0.000231170603254,-0.000295478609049,4.83730200197e-05,1793244357493785344
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.307260556,714,680,658,634,878,786,805,651.692739444,630.307260556,652,0.404007045782,-0.00539343371035,0.079823768115,0.999999927585,0.000232796768761,-0.000297136531636,4.84377496563e-05,1793244357510452224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.885031417,714,680,658,634,878,786,805,651.114968583,630.885031417,652,0.403666066009,-0.00539093737223,0.0798269396088,0.999999926678,0.000235785701607,-0.000297923502885,4.78676932253e-05,1793244357527119360
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.545663871,745,714,680,658,634,878,786,805,651.454336129,630.545663871,652,0.403364696927,-0.00539195255691,0.0798297008474,0.999999927767,0.000233766680642,-0.000295934007202,4.73556132653e-05,1793244357543786240
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.022676568,744.977323432,713.977323432,680,658,634,878,786,805,651.977323432,630.022676568,652,0.403074730821,-0.0053936747046,0.079832199711,0.999999929145,0.000231023878816,-0.000293487875358,4.69250815539e-05,1793244357560452864
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.619870877,744.380129123,713.380129123,680,658,634,878,786,805,651.380129123,630.619870877,652,0.402824362541,-0.00539120731268,0.0798306332723,0.999999925598,0.000241462700723,-0.000296947128556,4.81957097027e-05,1793244357577119488
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.789464167,744.210535833,713.210535833,680,658.210535833,634,878.210535833,786,805,651.210535833,631,652,0.402586913368,-0.00539083000486,0.0798285512504,0.999999923817,0.000244629811406,-0.000300217526551,4.88976110308e-05,1793244357593785856
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.210233614,744.789766386,713.789766386,680,658.789766386,634,878.789766386,786,805,651.789766386,631,652,0.402372088427,-0.00539411289596,0.0798255663287,0.99999992524,0.000235062549377,-0.000303157197059,4.86035460161e-05,1793244357610452224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.366044675,745,714,680,658.633955325,634,879,786,805,652,631,652,0.402182296452,-0.00539429387417,0.079825080204,0.999999926846,0.000230008713711,-0.000301801196638,4.81595151327e-05,1793244357627118848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.940640985,745,714,680,658.059359015,634,879,786,805,652,631,652,0.40200676683,-0.00539270755748,0.0798260177527,0.99999992858,0.000227526373216,-0.000297997765213,4.76300421195e-05,1793244357643785472
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.472903379,714,680,658,634,878.472903379,786,805,651.472903379,631,652,0.401862697963,-0.00539182665107,0.0798341400486,0.999999931644,0.00022823228802,-0.000286722821372,4.91153521119e-05,1793244357660451840
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.113154943,714,680,658,634,878,786,805,651,631,652,0.401725318563,-0.00539147190531,0.0798409207432,0.999999933838,0.000229668726641,-0.000277580654564,5.0259325736e-05,1793244357677118464
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.691956049,714,680,658,634,878,786,805,651,631,652,0.401600551815,-0.00539294794461,0.0798387743649,0.999999932334,0.000232599835063,-0.000280757295848,4.90434689056e-05,1793244357693785600
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.151662553,714,679.151662553,658,634,878.848337447,786,805,651.848337447,631,652,0.401385728313,-0.00539239410715,0.0798327102917,0.999999924938,0.000253154995727,-0.000290421199749,4.11270567332e-05,1793244357727119616
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.423608485,714,679,658,634,879,786,805,651.576391515,631,652,0.401299762783,-0.00539281462373,0.0798281419178,0.999999922965,0.000253193946005,-0.000297182437969,4.05544794859e-05,1793244357743786240
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.997919558,714,679,658,634,879,786,805,651.002080442,631,652,0.401219188223,-0.00539370938353,0.0798231412242,0.999999921891,0.000248642745895,-0.000304416509196,4.15401222377e-05,1793244357760452608
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.412577283,745,714,679,658.587422717,634,878.412577283,786,805,651,631,652,0.401160697851,-0.00539174594249,0.0798192381171,0.999999919669,0.000249202638924,-0.000311168967653,4.16500388137e-05,1793244357777118976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.173825353,745,714,679.173825353,658.826174647,634,878.173825353,786,805,651,631,652,0.401108899667,-0.00539108881517,0.0798170166639,0.999999918562,0.000248642400439,-0.000315095888611,4.20460446736e-05,1793244357793785600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.752871228,745,714,679.752871228,658.247128772,634,878.752871228,786,805,651,631,652,0.401072515099,-0.00539350118266,0.0798187061689,0.999999920144,0.000245427599836,-0.000312440016037,4.31164021579e-05,1793244357810452480
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.670441459,714,680,658,634,879,786,805,651,631,652,0.401042452944,-0.00539409798467,0.0798196840177,0.999999921014,0.000243478615755,-0.000311103554382,4.3648521657e-05,1793244357827119104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.095510151,714,680,658,634,879,786,805,651,631,652,0.401017098136,-0.00539334300789,0.0798201320031,0.999999921363,0.000242472094853,-0.000310749459669,4.37798962516e-05,1793244357843785984
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.47801894,714,680,658,634,879,786,805,651,631,652,0.401001822243,-0.00539205485375,0.0798207161065,0.999999921392,0.00024479528669,-0.000308861519307,4.35422646996e-05,1793244357860452608
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,651,631,652,0.400988992354,-0.00539095774941,0.0798212914349,0.999999921404,0.00024738250248,-0.000306788891611,4.32956054843e-05,1793244357877118976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,879,786,805,651,631,652,0.40098062274,-0.00539288722941,0.0798215013317,0.999999922009,0.000245904121426,-0.000305947027762,4.37054932307e-05,1793244357893785344
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.765675913,786,805,651.234324087,631,652,0.40097402267,-0.00539346336872,0.0798220427052,0.999999922541,0.000245415486457,-0.000304583454745,4.37870099968e-05,1793244357910451712
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.186072861,786,805,651.813927139,631,652,0.400970030046,-0.00539204534641,0.079823072513,0.999999922968,0.000246385252662,-0.000302451137924,4.33846687046e-05,1793244357927118336
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,652,631,652,0.400968089336,-0.00539213658824,0.0798240079724,0.999999923227,0.000246773011102,-0.000301278456436,4.33664021679e-05,1793244357943784960
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,652,631,652,0.400967118833,-0.00539294145532,0.079824898821,0.999999923408,0.000246885578834,-0.000300559519298,4.35297376752e-05,1793244357960451584
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.450798413,714,680,658,634,878.549201587,786,805,651.450798413,631,652,0.400967267659,-0.00539625876823,0.0798258272427,0.99999992495,0.000242668178649,-0.000298803523914,4.39197475884e-05,1793244357977118464
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.865474486,744,714,679.865474486,658,634,879,786,805,651.134525514,631,652,0.400967223878,-0.00539814390901,0.0798263916255,0.999999925986,0.00024006321942,-0.000297411338526,4.40979659451e-05,1793244357993785344
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.282629862,744,714,679.282629862,658,634,879,786,805,651.717370138,631,652,0.400966287814,-0.00539469414668,0.0798257344087,0.999999925091,0.000243800519244,-0.000297463582411,4.35196599665e-05,1793244358010452992
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.295267039,744.295267039,714,679.295267039,658,634,879,786,805,652,631,652,0.40096578912,-0.00539323826596,0.0798259415699,0.999999924886,0.000245354534554,-0.000296936520566,4.31025460116e-05,1793244358027119616
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.868506094,744.868506094,714,679.868506094,658,634,879,786,805,652,631,652,0.400965702177,-0.00539365947649,0.0798269624789,0.999999925338,0.000244853149875,-0.000295864085354,4.28371823238e-05,1793244358043785728
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.555542709,786,805,651.555542709,631,652,0.400966390188,-0.00539386924337,0.0798279445468,0.999999925827,0.000244211977867,-0.000294713659226,4.30262784982e-05,1793244358060452096
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,651.02181248,631,652,0.400967261897,-0.00539402590532,0.0798288778422,0.999999926296,0.000243572902639,-0.00029360084359,4.33400980559e-05,1793244358077118720
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878,786,805,651.614792688,631,652,0.400966903361,-0.00539444010864,0.0798288367626,0.99999992603,0.000244078314081,-0.000294080776481,4.337752377e-05,1793244358093785344
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.201833676,786,805,652,631,652,0.400966179628,-0.00539504196975,0.0798286948695,0.99999992603,0.000243530769848,-0.000294551824658,4.32672764241e-05,1793244358110452480
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658,634,878.777863418,786,805,652,631,652,0.400964778824,-0.00539599174504,0.0798283660701,0.999999926518,0.000241031064375,-0.000295006400701,4.28832458328e-05,1793244358127119360
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.646704754,745,714,679.646704754,658.353295246,634,879,786,805,652,631,652,0.400965180412,-0.0053956126017,0.0798285893575,0.999999926702,0.000241396522145,-0.0002940902759,4.28371452667e-05,1793244358143786240
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.071648255,745,714,679.071648255,658.928351745,634,879,786,805,652,631,652,0.400966713351,-0.00539439930426,0.0798291591864,0.999999926691,0.000243560425357,-0.000292313770591,4.30031613133e-05,1793244358160453376
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.516653304,745,714,679,658.483346696,634,879,786,805,651.483346696,631,652,0.400967637697,-0.00539546315458,0.0798297620523,0.999999927128,0.000243339608927,-0.000290980131633,4.31348303251e-05,1793244358177120000
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12eea70eef30990f954fb1e0316f6f606f2b2794
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e247c727c5be675b5adbb17f68bf782b4fe0a623
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3beff844696880e272aa242d7270e6cffb19d29a25aecb279e62959bc603f5ef
+size 26033936
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a063c4aeb69d94ad8e221993368b64f79e9cfd43
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+21,0.350000000,BASELINE,765,745,714,680,658,634,878.787627113,786,805,651.787627113,631,652,0.400967349409,-0.00539445556764,0.0798320853326,0.999999928379,0.00024281014043,-0.000287268209278,4.19837597012e-05,1793244358771726080
+22,0.366666667,BASELINE,765,745,714,680,658,634,878.210928985,786,805,651.210928985,631,652,0.400969033839,-0.00539577150971,0.0798330645987,0.999999928798,0.000243036357739,-0.000285595535092,4.20969349815e-05,1793244358788392448
+23,0.383333333,BASELINE,764.624001459,745,714,679.624001459,658,634,878.375998541,786,805,651,630.624001459,652,0.400969093348,-0.00539635795844,0.0798333429306,0.999999929221,0.000241726663548,-0.000285189404599,4.23412122502e-05,1793244358805059072
+24,0.400000000,BASELINE,764.031174865,745,714,679.031174865,658,634,878.968825135,786,805,651,630.031174865,652,0.400968215808,-0.00539652372848,0.0798332170531,0.999999929643,0.00023953125131,-0.000285513654984,4.2661092453e-05,1793244358821725952
+25,0.416666667,BASELINE,764,744.453680105,714,679.546319895,658.546319895,633.453680105,878.453680105,786,805,651.546319895,630.546319895,652,0.400968427003,-0.00539481090488,0.0798333375688,0.999999929003,0.000242531726854,-0.000285308128506,4.20931186521e-05,1793244358838392320
+26,0.433333333,BASELINE,764,744.122684348,714,680,658.877315652,633.122684348,878.122684348,786,805,651.877315652,631,652,0.400968773138,-0.00539337523043,0.079833382875,0.999999928407,0.000245277703467,-0.000285114644088,4.16353384504e-05,1793244358855059200
+27,0.450000000,BASELINE,764,744.698018463,714,680,658.301981537,633.698018463,878.698018463,786,805,651.301981537,631,652,0.400969394174,-0.00539334682941,0.079833100233,0.999999928231,0.000246020624593,-0.000285074082841,4.17659470363e-05,1793244358871725824
+28,0.466666667,BASELINE,764,744.720141976,714,680,658,634,878.720141976,786,805,651,631,652,0.400969265668,-0.00539357814273,0.0798328778189,0.999999928231,0.000245683782987,-0.000285342606507,4.19166138451e-05,1793244358888392704
+29,0.483333333,BASELINE,764,744.13111567,714,680,658,634,878.13111567,786,805,651,631,652,0.400968309118,-0.00539409637094,0.0798327219405,0.999999928424,0.000244154092257,-0.000285952586351,4.20894396185e-05,1793244358905059584
+30,0.500000000,BASELINE,764.450595521,744.450595521,714,680,658,634,878.450595521,786,805,651,631,652,0.400967374312,-0.00539427456152,0.0798320871346,0.999999928314,0.000243417021559,-0.000286976693347,4.20131109233e-05,1793244358921725952
+31,0.516666667,BASELINE,765,745,714,679.970009087,658,634,879,786,805,651,631,652,0.400966545866,-0.00539438670435,0.079831393912,0.99999992815,0.000242940191142,-0.00028796927744,4.18758216611e-05,1793244358938392576
+32,0.533333333,BASELINE,765,745,714,679.394636594,658,634,879,786,805,651,631,652,0.400967538319,-0.00539506833989,0.0798321321455,0.999999928615,0.000243068657882,-0.000286232275627,4.19273094711e-05,1793244358955059200
+33,0.550000000,BASELINE,765,744.819404101,714,679.180595899,658,634,879,786,805,651,631,652,0.400968408004,-0.00539546402893,0.0798327430099,0.999999928868,0.000243414878078,-0.000285048216242,4.19711545393e-05,1793244358971725824
+34,0.566666667,BASELINE,765,744.244477375,714,679.755522625,658,634,879,786,805,651,631,652,0.400969009628,-0.00539523535419,0.079833075764,0.999999928659,0.000244236562544,-0.000285071505904,4.19983116876e-05,1793244358988392448
+35,0.583333333,BASELINE,765,744.339615823,714,680,658,634,879,786,805,651.339615823,631,652,0.400968583498,-0.00539540764173,0.0798328605063,0.999999928658,0.000243818779248,-0.000285426680721,4.20492158075e-05,1793244359005059072
+36,0.600000000,BASELINE,765,744.930490741,714,680,658,634,879,786,805,651.930490741,631,652,0.400967397003,-0.00539587657448,0.0798322398113,0.999999928808,0.000242483996511,-0.000286027395233,4.21176887307e-05,1793244359021725696
+37,0.616666667,BASELINE,765,745,714,680,658.509908501,634,879,786,805,651.490091499,631,652,0.400968906341,-0.00539655020733,0.0798336634498,0.999999929631,0.000241291330568,-0.000284119503378,4.23508251279e-05,1793244359038392832
+38,0.633333333,BASELINE,765,745,714,680,659,634,879,786,805,651.087666756,631,652,0.400970370682,-0.00539675945992,0.0798350281402,0.999999930277,0.000240626191817,-0.000282384222511,4.24685180205e-05,1793244359055059712
+39,0.650000000,BASELINE,765,745,714,680,659,634,879,786,805,651.664688314,631,652,0.400969577615,-0.00539422421,0.0798345423921,0.999999929469,0.000242799939973,-0.000283479355924,4.18192643208e-05,1793244359071726336
+40,0.666666667,BASELINE,765,744.760385597,714,679.760385597,659,634,879,786,805,651.760385597,631,652,0.400968940161,-0.00539317187181,0.0798340370625,0.999999928853,0.000244250096686,-0.000284448699329,4.15327024727e-05,1793244359088392704
+41,0.683333333,BASELINE,765,744.188366476,714,679.188366476,659,634,879,786,805,651.188366476,631,652,0.40096851858,-0.00539417670082,0.0798335045684,0.999999928508,0.00024469645214,-0.000285243540671,4.17492843848e-05,1793244359105059328
+42,0.700000000,BASELINE,764.601701859,744.398298141,713.601701859,679.398298141,659,634,879,786,805,651.398298141,631,652,0.400967768165,-0.005394022674,0.0798328344611,0.999999928245,0.000244670712852,-0.000286180634018,4.17871042462e-05,1793244359121725696
+43,0.716666667,BASELINE,764.007846586,744.992153414,713.007846586,679.992153414,659,634,879,786,805,651.992153414,631,652,0.400966856299,-0.00539329967005,0.0798320967882,0.999999928022,0.000244413183633,-0.000287187570482,4.17371551909e-05,1793244359138392320
+44,0.733333333,BASELINE,764.56948705,745,713.56948705,680,659,634,878.43051295,786,805,651.43051295,631,652,0.400968058438,-0.00539469870898,0.0798330530084,0.999999929007,0.000242489505577,-0.000285396772479,4.16275573656e-05,1793244359155059456
+45,0.750000000,BASELINE,764.854112677,744.854112677,714,680,659.145887323,634,878.145887323,786,805,651,631,652,0.400968682905,-0.00539575216525,0.079833525254,0.999999929599,0.000241291129132,-0.000284338852457,4.16257554082e-05,1793244359171726080
+46,0.766666667,BASELINE,764.279803821,744.279803821,714,680,659.720196179,634,878.720196179,786,805,651,631,652,0.400967527818,-0.00539570732035,0.0798325096242,0.999999929001,0.000242288233136,-0.000285543157764,4.19428588164e-05,1793244359188392448
+47,0.783333333,BASELINE,764.302926238,744.302926238,714,680,659.394147525,634,879,786,805,651.302926238,631,652,0.40096767456,-0.005395853106,0.079832834001,0.999999929086,0.00024211881644,-0.000285357830954,4.21647555387e-05,1793244359205059328
+48,0.800000000,BASELINE,764.893657194,744.893657194,714,680,658.212685612,634,879,786,805,651.893657194,631,652,0.400969058145,-0.00539618000627,0.0798344314937,0.999999929817,0.000240841109725,-0.00028385224004,4.22961981541e-05,1793244359221725952
+49,0.816666667,BASELINE,765,744.528112449,714,680,658.471887551,634,878.528112449,786,805,651.528112449,631,652,0.400969812775,-0.00539537727584,0.079834794232,0.999999929661,0.000242389149256,-0.000283115514658,4.2074574809e-05,1793244359238392576
+50,0.833333333,BASELINE,764.952508703,744,714,680,658.952508703,634,878.047491297,786,805,651,631,652,0.400970344623,-0.00539444063173,0.0798348995056,0.999999929346,0.000244308995484,-0.000282619324824,4.18091451976e-05,1793244359255058944
+51,0.850000000,BASELINE,764.375591588,744,714,680,658.375591588,634,878.624408412,786,805,651,631,652,0.400969932237,-0.00539477580025,0.0798351565443,0.999999929463,0.000243457945247,-0.000282922863941,4.19194648132e-05,1793244359271725824
+52,0.866666667,BASELINE,764.199483502,744.199483502,714,680.199483502,658.199483502,634.199483502,879,786,805.199483502,651,631,652,0.400969008018,-0.0053954578212,0.0798349887595,0.999999929586,0.000242245984237,-0.000283511014882,4.20172443213e-05,1793244359288392448
+53,0.883333333,BASELINE,764.771122087,744.771122087,714,680.771122087,658.771122087,634.771122087,879,786,805.771122087,651,631,652,0.400967128926,-0.00539678692768,0.0798340284267,0.99999992972,0.000240360710558,-0.00028463013572,4.20916290823e-05,1793244359305059328
+54,0.900000000,BASELINE,765,745,714,680.641847544,658.641847544,634.641847544,879,786.358152456,805.641847544,651,631,652,0.400966542833,-0.00539659662881,0.0798335339093,0.999999929477,0.000240620533388,-0.000285263561393,4.20893027146e-05,1793244359321725952
+55,0.916666667,BASELINE,765,745,714,680.044539359,658.044539359,634.044539359,879,786.955460641,805.044539359,651,631,652,0.400966820138,-0.00539539174939,0.0798333504396,0.999999928983,0.000242312741058,-0.000285572664851,4.20357526106e-05,1793244359338392832
+56,0.933333333,BASELINE,765,744.465885264,714,680,658.534114736,634,878.465885264,786.465885264,804.465885264,651.534114736,631,652,0.400966781926,-0.00539435044189,0.0798327246873,0.999999928587,0.000244023114183,-0.00028548477985,4.21461263951e-05,1793244359355059456
+57,0.950000000,BASELINE,765,744.110766058,714,680,658.889233942,634,878,786,804.110766058,651.889233942,631,652,0.400966957139,-0.00539396678375,0.0798324367187,0.999999928457,0.000244826158977,-0.000285244420245,4.22180858918e-05,1793244359371726080
+58,0.966666667,BASELINE,765,744.68532483,714,680,658.31467517,634,878,786,804.68532483,651.31467517,631,652,0.400968132441,-0.00539628160846,0.0798337123135,0.999999929405,0.000241823966186,-0.000284499563988,4.20738950248e-05,1793244359388392704
+59,0.983333333,BASELINE,765,744.733019779,714,680,658.266980221,634,878.266980221,786,805,651,631,652,0.400968524414,-0.00539726583927,0.0798340106056,0.999999929486,0.000241390048234,-0.00028459102886,4.20429349386e-05,1793244359405059328
+60,1.000000000,BASELINE,765,744.142771505,714,680,658.857228495,634,878.857228495,786,805,651,631,652,0.400967967907,-0.00539663894538,0.0798331255491,0.999999928517,0.00024406587789,-0.000285695137576,4.21490782263e-05,1793244359421725952
+61,1.016666667,BASELINE,765,744,714,679.561134651,658.561134651,634,879,786,804.561134651,651,631,651.561134651,0.400967524077,-0.00539530858866,0.079832926284,0.999999928547,0.000244283526343,-0.000285420875474,4.20402869464e-05,1793244359438392576
+62,1.033333333,BASELINE,764.982323184,744.017676816,714,679.017676816,658.017676816,634,879,786,804.017676816,651.017676816,631,651.017676816,0.400967190237,-0.00539383830591,0.079833003015,0.999999928916,0.000243698209098,-0.00028464925707,4.18751502446e-05,1793244359455059200
+63,1.050000000,BASELINE,764.405970527,744.594029473,714,679.594029473,658.594029473,634,879,786,804.594029473,651.594029473,631,651.594029473,0.400969196419,-0.00539503927953,0.0798348871737,0.999999929927,0.000242523116475,-0.000282057990392,4.20965864051e-05,1793244359471725824
+64,1.066666667,BASELINE,764,745,714,679.830104758,659,634,879,786,805.169895242,651.830104758,631,652,0.400969994933,-0.00539593482867,0.0798355802994,0.999999930258,0.000242015248694,-0.000281298112256,4.22258236324e-05,1793244359488392704
+65,1.083333333,BASELINE,764,745,714,679.255399133,659,634,879,786,805.744600867,651.255399133,631,652,0.400967915928,-0.00539610264106,0.0798334355436,0.99999992898,0.000243097181496,-0.000284901894422,4.21353779122e-05,1793244359505059328
+66,1.100000000,BASELINE,764.328378099,745,714,679,659,634,879,786,805.671621901,651,631,652,0.400966929823,-0.00539609575056,0.079832617519,0.999999928414,0.000243437357881,-0.000286603518332,4.20512556184e-05,1793244359521725952
+67,1.116666667,BASELINE,764.91941128,745,714,679,659,634,879,786,805.08058872,651,631,652,0.40096681788,-0.00539594912294,0.0798328606879,0.999999928427,0.000243184236151,-0.000286783690025,4.19721911578e-05,1793244359538392320
+68,1.133333333,BASELINE,765,745,714,679,659,634,878.499811936,786,805,651,631,652,0.400967755748,-0.00539644941712,0.0798341529638,0.9999999292,0.00024228605477,-0.000284819077863,4.21477917155e-05,1793244359555059200
+69,1.150000000,BASELINE,765,744.921075985,714,679.078924015,658.921075985,634,878.078924015,786,804.921075985,651,631,652,0.400968793477,-0.00539690983754,0.0798352851909,0.999999929972,0.000241394498656,-0.000282835843122,4.23028967603e-05,1793244359571725568
+70,1.166666667,BASELINE,765,744.344995755,714,679.655004245,658.344995755,634,878.655004245,786,804.344995755,651,631,652,0.400969416198,-0.00539647571522,0.0798343658938,0.999999930022,0.000241186195438,-0.000282868313017,4.20756297925e-05,1793244359588392448
+71,1.183333333,BASELINE,765,744.235076486,714,680,658.235076486,634,879,786,804.235076486,651,631,652,0.400969653492,-0.00539631052302,0.0798339944874,0.999999929942,0.000241497244726,-0.000282904883072,4.19422243793e-05,1793244359605059328
+72,1.200000000,BASELINE,765,744.821108656,714,680,658.821108656,634,879,786,804.821108656,651,631,652,0.400969315368,-0.00539654682797,0.0798344410502,0.999999929667,0.000242583657432,-0.000282947574434,4.19489488387e-05,1793244359621726208
+73,1.216666667,BASELINE,765,745,714,680,658.597227509,634,878.597227509,786,805,651.402772491,631,652,0.400969162208,-0.00539709597886,0.0798347590106,0.999999929793,0.000241926656598,-0.000283052492299,4.20322724409e-05,1793244359638393344
+74,1.233333333,BASELINE,765,745,714,680,658.017483087,634,878.017483087,786,805,651.982516913,631,652,0.400969090319,-0.00539778258934,0.0798350204649,0.999999930094,0.000240503627064,-0.000283184751514,4.21492525076e-05,1793244359655060480
+75,1.250000000,BASELINE,765,745,714,680,658,634,878,786.559290226,805,651.440709774,630.440709774,652,0.400968636759,-0.0053965961484,0.0798348110056,0.999999929761,0.000241954605109,-0.000283132760347,4.20959493688e-05,1793244359671726848
+76,1.266666667,BASELINE,764.864159189,745,714,679.864159189,658,634,878,786.864159189,804.864159189,651.135840811,630.135840811,652,0.400968471633,-0.00539547892749,0.0798347960726,0.999999929485,0.000243344126762,-0.000282921170532,4.20622322479e-05,1793244359688392960
+77,1.283333333,BASELINE,764.288031101,745,714,679.288031101,658,634,878,786.288031101,804.288031101,651.711968899,630.711968899,652,0.400969279847,-0.00539477483374,0.0798354590981,0.999999929464,0.000244244805778,-0.000282210858778,4.21091589297e-05,1793244359705059584
+78,1.300000000,BASELINE,764,745,714,679,658.294535064,634,878,786,804.294535064,652,631,652,0.400969472077,-0.0053949609903,0.0798355677333,0.999999929749,0.000243424047256,-0.000281938231032,4.19311310025e-05,1793244359721725952
+79,1.316666667,BASELINE,764,745,714,679,658.883537799,634,878,786,804.883537799,652,631,652,0.400969048465,-0.0053960371935,0.079835122105,0.999999930334,0.00024088224503,-0.00028210318719,4.15281999361e-05,1793244359738392832
+80,1.333333333,BASELINE,764.464341616,744.535658384,714,679,659,634,878.464341616,786,805,651.535658384,631,652,0.400968277403,-0.005396574096,0.0798344108323,0.999999930394,0.000239627861854,-0.000282951605063,4.15827396284e-05,1793244359755059712
+81,1.350000000,BASELINE,765,744.042949483,714,679.042949483,659,634,879,786,804.957050517,651,631,652,0.400967457545,-0.00539691331285,0.079833651854,0.999999930275,0.000238909705148,-0.000283950794514,4.17724460405e-05,1793244359771726848
+82,1.366666667,BASELINE,765,744.61938004,714,679.61938004,659,634,879,786,804.38061996,651,631,652,0.400967095232,-0.00539644801569,0.0798331135362,0.999999929553,0.000240910901552,-0.000284730449582,4.22406167654e-05,1793244359788393472
+83,1.383333333,BASELINE,765,745,714,679.802925885,658.802925885,634,879,786,804.197074115,651.197074115,631,652,0.400967058372,-0.0053959717656,0.0798328724246,0.999999929168,0.000242108396193,-0.0002850508536,4.23538793504e-05,1793244359805060096
+84,1.400000000,BASELINE,765,745,714,679.222775662,658.222775662,634,879,786,804.777224338,651.777224338,631,652,0.400967654132,-0.00539547422492,0.0798332090272,0.999999929443,0.000241743641656,-0.000284478557542,4.17772653726e-05,1793244359821726720
+85,1.416666667,BASELINE,765,745,714,679,658.360440961,634,878.639559039,786,804.639559039,651.639559039,631,651.639559039,0.400967854376,-0.00539601128116,0.0798336955766,0.999999929874,0.000240656513723,-0.000283912893663,4.1588324508e-05,1793244359838393088
+86,1.433333333,BASELINE,765,745,714,679,658.945569043,634,878.054430957,786,804.054430957,651.054430957,631,651.054430957,0.400967808067,-0.00539719327137,0.0798342755979,0.9999999304,0.000239119081833,-0.000283351364101,4.16410464332e-05,1793244359855059712
+87,1.450000000,BASELINE,765,745,714,679.524908839,658.475091161,634,878.524908839,786,804.524908839,651,631,651.524908839,0.400967994946,-0.00539616311913,0.0798344387868,0.999999930269,0.00024022615989,-0.000282895052982,4.15188565669e-05,1793244359871726080
+88,1.466666667,BASELINE,765,745,714,679.897176937,658.102823063,634,878.897176937,786,805,651.102823063,631,652,0.400968215615,-0.00539526827626,0.0798345565042,0.999999930133,0.000241241703996,-0.000282517259285,4.14821933085e-05,1793244359888392960
+89,1.483333333,BASELINE,765,745,714,679.323075635,658.676924365,634,878.323075635,786,805,651.676924365,631,652,0.400968481541,-0.00539603352731,0.0798346617595,0.99999993029,0.000240594540027,-0.00028244987889,4.19197571327e-05,1793244359905059840
+90,1.500000000,BASELINE,765,745,714,679,659,634,878.257083232,786.257083232,804.742916768,652,631,652,0.40096898115,-0.00539590012074,0.0798349462272,0.999999930233,0.000241213866064,-0.00028209142389,4.21134804884e-05,1793244359921726720
+91,1.516666667,BASELINE,765,745,714,679,659,634,878.845038277,786.845038277,804.154961723,652,631,652,0.400969781516,-0.00539461012187,0.0798354613453,0.9999999299,0.000243463192829,-0.000281358349431,4.19933757281e-05,1793244359938393600
+92,1.533333333,BASELINE,765,745,714,679,658.574607943,634,878.574607943,786.574607943,804.425392057,652,631,652,0.400968959769,-0.00539493826666,0.0798348056605,0.999999929951,0.000242231321246,-0.000282263224315,4.18319257963e-05,1793244359955060480
+93,1.550000000,BASELINE,765,745,714,679.003042434,658,634,878.003042434,786,805,651.996957566,631,652,0.400967566582,-0.00539584401867,0.0798337375396,0.999999930133,0.000239764015287,-0.000283746670905,4.16558426314e-05,1793244359971726848
+94,1.566666667,BASELINE,765,745,714,679.583907937,658,634,878.583907937,786,805,651.416092063,631,652,0.400967899756,-0.00539646453741,0.0798339184511,0.999999930245,0.000239278301401,-0.000283781860495,4.1510828589e-05,1793244359988393472
+95,1.583333333,BASELINE,765,745,714,680,658,634,879,786,805,651.162887446,631,652,0.400968335157,-0.00539683787204,0.0798340482039,0.99999993034,0.000239138444514,-0.00028358063516,4.14146297703e-05,1793244360005060096
+96,1.600000000,BASELINE,765,745,714,680,658,634,879,786,805,651.737104492,631,652,0.400969028707,-0.00539658700806,0.0798340487684,0.999999930389,0.000239871958832,-0.000282782405831,4.14417009886e-05,1793244360021726464
+97,1.616666667,BASELINE,765,745,714,679.681106538,658.318893462,634,878.681106538,786.318893462,805,651.681106538,631,652,0.40097010842,-0.00539661306793,0.0798349690034,0.999999930694,0.000240334630025,-0.000281275377879,4.16534437063e-05,1793244360038393088
+98,1.633333333,BASELINE,765,745,714,679.092923491,658.907076509,634,878.092923491,786.907076509,805,651.092923491,631,652,0.400971514227,-0.00539687297616,0.0798366658539,0.999999931213,0.000240568587696,-0.000279169804977,4.20211322697e-05,1793244360055059712
+99,1.650000000,BASELINE,764.512790735,745,714,679,659,634,878.487209265,786.512790735,805,651,631,652,0.400969796781,-0.005394392911,0.079835403243,0.999999929927,0.000243733598345,-0.000281033222223,4.19672484216e-05,1793244360071726592
+100,1.666666667,BASELINE,764.065604847,745,714,679.065604847,658.934395153,634,879,786.065604847,805,651.065604847,631,652,0.400967824483,-0.00539193474585,0.0798337894817,0.999999928571,0.000246722562705,-0.000283261839203,4.18177301989e-05,1793244360088393728
+101,1.683333333,BASELINE,764.642234343,745,714,679.642234343,658.357765657,634,879,786.642234343,805,651.642234343,631,652,0.400968431662,-0.00539365163809,0.0798337657091,0.999999929443,0.000244056494699,-0.000282534479849,4.15394020254e-05,1793244360105060096
+102,1.700000000,BASELINE,765,745,714,680,658,634,879.218424314,787,805,652,631,652,0.40096864916,-0.0053948591997,0.0798338526181,0.999999929897,0.000242220106055,-0.000282515985182,4.14650309984e-05,1793244360121726464
+103,1.716666667,BASELINE,765,745,714,680,658,634,879.793895758,787,805,652,631,652,0.400968229663,-0.00539523418425,0.0798341204529,0.99999992968,0.000241739952376,-0.000283656235683,4.17240583855e-05,1793244360138393088
+104,1.733333333,BASELINE,764.621650371,745,714,679.621650371,658.378349629,634,879.243300742,786.621650371,804.621650371,652,630.621650371,652,0.40096734206,-0.00539591269823,0.0798337669158,0.999999929672,0.000240739537846,-0.000284520871945,4.18031482291e-05,1793244360155059712
+105,1.750000000,BASELINE,764.032184315,745,714,679.032184315,658.967815685,634,878.064368631,786.032184315,804.032184315,652,630.032184315,652,0.400966193257,-0.00539676057955,0.0798330666576,0.999999929781,0.000239448821382,-0.000285231717509,4.17818342155e-05,1793244360171726080
+106,1.766666667,BASELINE,764.548760823,744.451239177,714,679.548760823,659,634,878,786,804.548760823,651.451239177,630.548760823,652,0.400966965509,-0.00539560160872,0.0798335838214,0.999999929616,0.000241168523335,-0.000284382810516,4.16095233624e-05,1793244360188392704
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,878,787,805,652,631,652,0.400970356443,-0.00539436189313,0.0798355807979,0.99999993049,0.000242141142712,-0.000280504072628,4.12847969873e-05,1793244360230477312
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.408107186,745,714,679.591892814,659,634,878,787,805.591892814,651.408107186,631,652,0.400970310044,-0.00539467359258,0.0798356244753,0.999999930466,0.00024210538004,-0.000280623381412,4.12814741673e-05,1793244360247143680
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.179905318,745,714,680,659,634,878.179905318,787,805.820094682,651.179905318,631,652,0.400970292347,-0.00539483988597,0.0798356604659,0.999999930454,0.000242064514138,-0.000280694515656,4.13253347563e-05,1793244360263810048
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.759301472,745,714,680,659,634,878.759301472,787,805.240698528,651.759301472,631,652,0.400970338383,-0.00539468329633,0.0798356793876,0.99999993047,0.000242012316191,-0.00028065867539,4.14739690093e-05,1793244360280476416
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.335816712,680,659.335816712,634,879,786.664183288,805,651.664183288,631,652,0.4009701685,-0.00539495119347,0.0798357600355,0.99999993071,0.000240819523267,-0.000280826875967,4.14896375154e-05,1793244360297142784
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714.91028457,680,659.91028457,634,879,786.08971543,805,651.08971543,631,652,0.40096984517,-0.00539552075593,0.0798358845495,0.999999931106,0.000238816156335,-0.000281140079993,4.14108127166e-05,1793244360313809408
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.516484926,680,659.032969852,634,878.516484926,786,805,651.483515074,631,652,0.400969833193,-0.00539631949103,0.0798350019009,0.999999930596,0.000240207763134,-0.000281702601484,4.1846664009e-05,1793244360330476288
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,713.941414505,679.941414505,658.058585495,634,878.058585495,785.941414505,805,652,631,651.941414505,0.400969873008,-0.00539703330858,0.0798341262479,0.999999929993,0.000242000582286,-0.00028223965546,4.23098116447e-05,1793244360347142912
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,713.347436939,679.347436939,658.652563061,634,878.652563061,785.347436939,805,652,631,651.347436939,0.400969859539,-0.00539658348777,0.0798350179721,0.999999930101,0.000241717909718,-0.000282122292164,4.21519225267e-05,1793244360363809792
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.759672664,713.240327336,679,658.759672664,634,879,785.480654672,805,652,631,651.240327336,0.400974658707,-0.0053959304923,0.0798376353139,0.999999931016,0.000242124591561,-0.000278514317265,4.21193085106e-05,1793244360380476672
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.180664507,713.819335493,679,658.180664507,634,879,786.638670986,805,652,631,651.819335493,0.400986240077,-0.00539499117338,0.079842684479,0.999999933014,0.000243502744747,-0.000269987204891,4.2263238194e-05,1793244360397143296
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.395005871,714,679.395005871,658.395005871,634,879,786.604994129,805,652,631,652,0.401015146022,-0.00539582969786,0.079854877488,0.999999938932,0.000242079975787,-0.000248496402418,4.22255799653e-05,1793244360413809920
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.969162485,714,679.969162485,658.969162485,634,879,786.030837515,805,652,631,652,0.401051909347,-0.00539747454437,0.0798703105124,0.999999946012,0.000239386878125,-0.000221126054248,4.21055644423e-05,1793244360430476288
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.443490035,745,714,679.443490035,659.556509965,634,878.443490035,786,804.443490035,651.443490035,631,652,0.401113304696,-0.0053969923148,0.0798899214385,0.999999953446,0.000240826111843,-0.000182570106818,4.21694078094e-05,1793244360447142912
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.14242182,745,714,679,659.715156361,634,878.14242182,786,804.14242182,651,631,651.85757818,0.401178329564,-0.00539723942999,0.0799079278998,0.999999958877,0.00024147076366,-0.00014892812228,4.19422883636e-05,1793244360463809536
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.7216348,745,714,679,658.5567304,634,878.7216348,786,804.7216348,651,631,651.2783652,0.401250198082,-0.00540009361886,0.0799202864149,0.999999961865,0.000238959215244,-0.000132303748996,4.07908158262e-05,1793244360480476416
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.299126859,658.299126859,634,879,786.299126859,805,651,631,651,0.401327038523,-0.00540212298938,0.0799280856139,0.999999963979,0.000236671798514,-0.000120431855143,3.90452220555e-05,1793244360497143040
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.875026568,658.875026568,634,879,786.875026568,805,651,631,651,0.401408479327,-0.00540338918077,0.0799316662179,0.999999965428,0.000234591764103,-0.000112957284839,3.67499063199e-05,1793244360513810176
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.548619598,634,878.548619598,786.548619598,805,651.451380402,631,651.451380402,0.40150749777,-0.00540394045251,0.0799337902309,0.999999966239,0.000233442806035,-0.000109079107965,3.35956064269e-05,1793244360530476800
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.971545047,658,634,878.028454953,786,804.971545047,652,631,651.971545047,0.401612961426,-0.00540434596651,0.0799357854736,0.999999966904,0.000232579883253,-0.000105768662142,3.01853884304e-05,1793244360547143168
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.382756439,658,634,878.617243561,786,804.382756439,652,631,651.382756439,0.401749412396,-0.00540578296455,0.0799431944539,0.999999968258,0.000232268120307,-9.40103054054e-05,2.6423625998e-05,1793244360563809792
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.797272546,745,714,679.202727454,658.202727454,634,879,786,804.202727454,651.797272546,631,651.202727454,0.401894591275,-0.00540772882967,0.0799495181439,0.999999969934,0.000229705626064,-8.29066630043e-05,2.22396801357e-05,1793244360580476416
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.217928051,745,714,679.782071949,658.782071949,634,879,786,804.782071949,651.217928051,631,651.782071949,0.402055984417,-0.00541062004274,0.0799538256344,0.999999972329,0.000222961834574,-7.30193178451e-05,1.72714231952e-05,1793244360597143040
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.360387403,745,714,680,659,634,878.639612597,786,805,651.360387403,631,651.639612597,0.402234155548,-0.00541131523769,0.0799579448803,0.999999973762,0.000219284436398,-6.52499197368e-05,1.15199953966e-05,1793244360613809408
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.938082418,745,714,680,659,634,878.061917582,786,805,651.938082418,631,651.061917582,0.402422443543,-0.0054106862705,0.0799619506183,0.999999974616,0.000217456021765,-5.87576075417e-05,5.29632811212e-06,1793244360630476032
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.488781913,745,714,680,659,634,878.511218087,786.511218087,805,651.488781913,631,651.511218087,0.402624992702,-0.00541327972527,0.0799585529138,0.99999997634,0.000207475044846,-6.53410567164e-05,-1.97440259406e-06,1793244360647142912
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,744.913520223,714,680,658.913520223,634,879,786.913520223,805,651,631,652,0.402835172661,-0.00541638162338,0.0799542372818,0.999999977892,0.000196723297395,-7.36635624083e-05,-9.4243077731e-06,1793244360663809536
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,744.322666546,714,680,658.322666546,634,879,786.322666546,805,651,631,652,0.403079872706,-0.00542019273295,0.0799497515461,0.999999978891,0.00018718419752,-8.29737637586e-05,-1.71861118179e-05,1793244360680476416
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.263106902,744,714,680,658,634,878.736893098,786,805,651.263106902,631,652,0.403346143614,-0.00542252536232,0.0799472202072,0.999999980521,0.000175512690722,-8.68561255269e-05,-2.46757852604e-05,1793244360697143040
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.84276809,744,714,680,658,634,878.15723191,786,805,651.84276809,631,652,0.403638367263,-0.00542307917366,0.0799470402804,0.999999982943,0.000161275601676,-8.4208038967e-05,-3.18380471819e-05,1793244360713809408
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.41881229,714,680.41881229,658.41881229,634.41881229,878.41881229,786.41881229,805,652,631,652,0.403960468726,-0.00542451066259,0.0799507769266,0.999999986458,0.000141406444551,-7.99231927698e-05,-2.64662294583e-05,1793244360730476032
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.993510201,714,680.993510201,658.993510201,634.993510201,878.993510201,786.993510201,805,652,631,652,0.404293690968,-0.00542626883084,0.0799559713557,0.999999989917,0.000119440982355,-7.5029130248e-05,-1.6429116771e-05,1793244360747142912
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.419816195,658.419816195,634.419816195,879,786.419816195,805,651.419816195,631,652,0.404664996795,-0.00542677042565,0.0799585421304,0.999999989804,0.000124513908248,-6.58800837496e-05,-2.34152001414e-05,1793244360763809536
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,651,631,652,0.405052042166,-0.00542860843291,0.0799590246293,0.999999989963,0.000124907814148,-6.02578222478e-05,-2.9000745261e-05,1793244360780475904
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658,634,879,786,805,651,631,652,0.405477562505,-0.00543384220294,0.0799543326269,0.999999991151,0.000112762508525,-6.36239200048e-05,-3.0576606831e-05,1793244360797142784
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,658.325803889,634,879,786,805,651.325803889,631,652,0.405911087022,-0.00543635934516,0.0799474924345,0.999999990814,0.000108161545089,-7.48319837179e-05,-3.27508588863e-05,1793244360813809408
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.899964083,634,879,786,805,651.899964083,631,652,0.406350713071,-0.00543680563588,0.0799390147025,0.999999989166,0.000109311539811,-9.20178821811e-05,-3.53812568266e-05,1793244360830476032
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,804.514191974,652,630.514191974,652,0.406816422737,-0.00543980072256,0.0799341928543,0.999999988974,0.000104359198312,-9.93460248962e-05,-3.59375732416e-05,1793244360847142400
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.92705403,745,714,680,659,634,879,786,804.07294597,651.92705403,630.07294597,652,0.407293684232,-0.00544318444095,0.0799303931748,0.999999988915,9.89564097883e-05,-0.000105189267322,-3.62278703825e-05,1793244360863809024
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.348040824,745,714,680,659,634,879,786,804.651959176,651.348040824,630.651959176,652,0.407812907255,-0.00544553348537,0.0799283335074,0.999999987722,9.93609861239e-05,-0.000115160338864,-3.77086054224e-05,1793244360880475648
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.230620729,745,714,680,659,634,879,786,805,651,631,652,0.408358298905,-0.00544835064839,0.0799260691777,0.999999987004,9.74975202213e-05,-0.000122320455065,-3.90280163068e-05,1793244360897142528
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.808752361,745,714,680,659,634,879,786,805,651,631,652,0.408943122728,-0.00545187319593,0.0799234964527,0.999999987101,9.22164543032e-05,-0.000125244881938,-4.01043357626e-05,1793244360913809408
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651,631,652,0.409571713111,-0.00545934965033,0.0799422594976,0.999999991493,8.16002215426e-05,-9.32551993065e-05,-4.07396002705e-05,1793244360930475776
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651,631,652,0.410221938518,-0.00546878063182,0.0799715694127,0.999999995849,6.83466659597e-05,-4.40064915379e-05,-4.11568388116e-05,1793244360947142400
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,713.452243057,680,659,634,879,786,805,651,631,652,0.410873142077,-0.00547967691915,0.079992130631,0.999999997568,5.61930444074e-05,-1.27994846853e-05,-3.92668606263e-05,1793244360963809024
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,713.134305558,680,659,634,879,786,805,651.134305558,631,652,0.411524445804,-0.00549315689652,0.080000464231,0.999999998495,3.98403380302e-05,-1.27504099466e-06,-3.7685563371e-05,1793244360980475392
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,713.713427005,680,659,634,879,786,805,651.713427005,631,652,0.412175838458,-0.00551483041695,0.0799704709679,0.999999997973,9.30748965141e-06,-5.04623263554e-05,-3.7699051468e-05,1793244360997142272
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.708665362,630.708665362,652,0.412859701993,-0.00552732639683,0.0799412816678,0.999999994988,-1.17132924047e-05,-9.11011768016e-05,-3.98488150027e-05,1793244361013808896
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.13194668,630.13194668,652,0.41357537326,-0.00553083229265,0.0799128799057,0.999999991144,-2.34162984739e-05,-0.000123366202523,-4.40912199868e-05,1793244361030475520
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651.451693213,630.451693213,652,0.414315350629,-0.00553049190527,0.0799191821818,0.999999992818,-2.39087650798e-05,-0.000108687695011,-4.44921549338e-05,1793244361047142144
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.963032481,745,714,680,659,634,879.073935039,786,805,651.963032481,631,652,0.415064717147,-0.00552984334623,0.079935996098,0.999999995581,-2.22431167805e-05,-8.01743922629e-05,-4.37747667687e-05,1793244361063809024
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.383900369,745,714,680,659,634,880.232199263,786,805,651.383900369,631,652,0.415846033708,-0.00554140966387,0.079955982162,0.999999996944,-3.77017378253e-05,-5.30035655499e-05,-4.33696567575e-05,1793244361080475648
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,880.61031993,786,805.194840035,651,631,652,0.416628564591,-0.00554902801776,0.0799637026382,0.999999996963,-4.75148131365e-05,-4.37871345265e-05,-4.35848698291e-05,1793244361097142016
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879.45437969,786,805.772810155,651,631,652,0.417413483247,-0.00554888316314,0.0799473042726,0.999999995477,-4.62265837915e-05,-6.9875919245e-05,-4.50198755865e-05,1793244361113808896
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.348955011,745,714,680,659,634,879.348955011,786,806,651.348955011,631,652,0.418269804248,-0.00555463873981,0.0799588694883,0.999999996549,-5.51560513023e-05,-4.18421867676e-05,-4.59345487723e-05,1793244361130475776
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.923917676,745,714,680,659,634,879.923917676,786,806,651.923917676,631,652,0.419172370367,-0.00556421584817,0.0799885458743,0.999999996193,-7.07032132958e-05,2.12450716282e-05,-4.65122180212e-05,1793244361147142400
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.50703539,659,634,879.49296461,786,806,651.49296461,630.49296461,652,0.419993006146,-0.00556857231082,0.0799856354983,0.999999995662,-7.78135329034e-05,1.78467477604e-05,-4.79932670267e-05,1793244361163809024
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,805.908921233,651,630,652,0.420808515033,-0.00557193311026,0.0799772924941,0.999999995298,-8.32776106891e-05,3.21832233786e-06,-4.95904238071e-05,1793244361180475648
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,634,879,786,805.326593437,651,630,652,0.42166376414,-0.00557421796463,0.0799664525115,0.999999994779,-8.68022758706e-05,-1.72926574678e-05,-5.10707357203e-05,1793244361197142272
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,713.745449862,681,659,634,879,786,805.254550138,651.254550138,630,652,0.422545231386,-0.0055696291225,0.0799727799343,0.999999995328,-8.1963169821e-05,-1.04093078571e-05,-5.01796463219e-05,1793244361213808896
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,713.165818556,681,659,634,879,786,805.834181444,651.834181444,630,652,0.423460181439,-0.00555626201283,0.0800010315245,0.999999996228,-6.64428500254e-05,3.14588192442e-05,-4.62600852847e-05,1793244361230475520
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,713.409519519,681.409519519,659,634,879,786,805.590480481,651.590480481,630,652,0.424335016401,-0.00553039788643,0.0799928530141,0.99999999845,-3.10182509734e-05,4.48040827831e-06,-4.60260508398e-05,1793244361247142144
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,713.983137222,681.983137222,659,634,879,786,805.016862778,651.016862778,630,652,0.425193776828,-0.00549952609291,0.0799700766304,0.999999997552,1.23821724208e-05,-5.00854372324e-05,-4.72688403833e-05,1793244361263809024
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681.42871667,659.57128333,634,879,786,805,651,630.57128333,652.57128333,0.426053616714,-0.00551013249041,0.0799360024784,0.99999999478,-6.1567097185e-06,-8.85373484727e-05,-5.06256267359e-05,1793244361280475648
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.842712247,745,714,681,660,634,879,786,805.157287753,651,631,652.842712247,0.42692305373,-0.00551986839682,0.0799109254739,0.999999991723,-2.28915499476e-05,-0.00011488291619,-5.32099197145e-05,1793244361297142272
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.263631158,745,714,681,660,634,879,786,805.736368842,651,631,652.263631158,0.42781813933,-0.00552390102358,0.0799108934416,0.999999992065,-2.975775989e-05,-0.00011007209792,-5.35509413856e-05,1793244361313809152
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,681.314938436,660,634,879.314938436,786,806,651,630.685061564,652,0.428718618329,-0.00552691605511,0.0799197882076,0.999999992795,-3.38904113733e-05,-0.000102179146438,-5.31036316254e-05,1793244361330475776
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,681.893080531,660,634,879.893080531,786,806,651,630.106919469,652,0.429623604711,-0.00552908065107,0.0799361433711,0.999999993804,-3.57385443228e-05,-9.1710362452e-05,-5.19974892216e-05,1793244361347142400
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,714,681.533976003,660,634,879.533976003,786,806,651.466023997,630.466023997,652,0.430575119622,-0.00553714633393,0.0799781300971,0.999999997129,-4.79057362393e-05,-2.93646951899e-05,-5.08433088075e-05,1793244361363809024
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.0391089,745,714,681.0391089,660,634,879,786,806,651.9608911,631,652,0.431529811795,-0.00554557732369,0.0800227584099,0.999999996134,-6.07723555514e-05,3.95566687281e-05,-4.973280605e-05,1793244361380475648
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.630859987,745,714,681.630859987,660,634,879,786,806,651.369140013,631,652,0.4323802177,-0.00554024996784,0.0800225330321,0.999999996893,-5.04368566659e-05,3.50672549297e-05,-4.93935331834e-05,1793244361397142272
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.218076927,714,681.781923073,660,634,879.218076927,786,806,651,630.781923073,652,0.433210408053,-0.00553434919615,0.0799953258981,0.999999997772,-4.27301535128e-05,-6.24258705799e-06,-5.08975054487e-05,1793244361413809152
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.797775308,714,681.202224692,660,634,879.797775308,786,806,651,630.202224692,652,0.434007076529,-0.00552749756893,0.079923376837,0.999999991789,-3.9382593362e-05,-0.000108609126763,-5.5457999592e-05,1793244361430475776
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,746,714,681.375407722,660,634,880.375407722,786,806,651,630.375407722,652,0.434858891708,-0.00552856594244,0.0799066020607,0.999999989364,-4.44579679756e-05,-0.000126392604176,-5.76302510339e-05,1793244361447142400
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,714,681.951933297,660,634,880.951933297,786,806,651,630.951933297,652,0.435740250683,-0.00553387731257,0.0799193859073,0.99999999194,-5.40457768759e-05,-9.88622400121e-05,-5.85230448262e-05,1793244361463809024
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.536373799,745.463626201,714,682,660,634,880.463626201,786,806,651.536373799,631,652,0.436579143237,-0.00553971708083,0.0799454023226,0.999999993935,-5.93973125878e-05,-7.47315587382e-05,-5.49293902054e-05,1793244361480475648
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.878933712,745,714,682,660,634,880,786.121066288,806,651.878933712,631,652,0.437412268493,-0.00554473582561,0.079967839572,0.999999995162,-6.38661251769e-05,-5.3703161219e-05,-5.20822200815e-05,1793244361497142272
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.296026277,745,714,682,660,634,880,786.703973723,806,651.296026277,631,652,0.438238127681,-0.0055464392041,0.079972031676,0.999999995416,-6.64374395785e-05,-4.33296751976e-05,-5.36394247091e-05,1793244361513808896
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.717382479,786.717382479,806,651,631,652,0.439018077479,-0.00554571623017,0.0799579029123,0.999999993871,-7.02531799099e-05,-6.51143015941e-05,-5.55258591199e-05,1793244361530475776
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.143138268,786.143138268,806,651,631,652,0.439750654353,-0.00554248955743,0.0799248692556,0.999999988283,-7.53530151716e-05,-0.000120082164341,-5.77520181519e-05,1793244361547142400
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.567237156,634,879.432762844,785.567237156,806,651,630.567237156,652,0.440415326665,-0.00553954449485,0.0798471559987,0.999999966895,-7.25295796189e-05,-0.000239201525789,-6.1084404101e-05,1793244361563809280
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.009439905,714,682.009439905,659,634,880,785.009439905,806,651,630.009439905,652,0.441057886297,-0.00553672703106,0.0797552074803,0.999999923987,-6.71359480558e-05,-0.000378579376755,-6.47856467819e-05,1793244361580475648
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.600015669,714,682.600015669,659,634,880,785.600015669,806,651,630.600015669,652,0.44172712243,-0.00553600864556,0.0797001665758,0.999999892518,-6.54689769786e-05,-0.000453842867485,-6.85830262776e-05,1793244361597142272
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.813375359,714,683,659,633.813375359,880.186624641,785.813375359,806,651.186624641,631,652,0.442421391574,-0.00553876604797,0.079681217636,0.999999881297,-6.90235190082e-05,-0.000477214028677,-7.00583542937e-05,1793244361613808896
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.235091181,714,683,659,633.235091181,880.764908819,785.235091181,806,651.764908819,631,652,0.443168196338,-0.00554881790764,0.0797380130362,0.999999917582,-8.35361821032e-05,-0.000391681442477,-6.66605133193e-05,1793244361630475520
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.659035824,683,658.659035824,633,881,785,806,651.659035824,631,652,0.443860160826,-0.00555662925532,0.0797772531807,0.999999937367,-8.68665718808e-05,-0.000337040289504,-6.42155047527e-05,1793244361647142144
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,713.08450727,683,658.08450727,633,881,785,806,651.08450727,631,652,0.444514559049,-0.00556290582594,0.0798044677699,0.999999948571,-8.25369753374e-05,-0.000303560129333,-6.24231977154e-05,1793244361663808768
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,713.501813727,683,658,632.498186273,881,785,806,651,630.498186273,652,0.445118603352,-0.00556293470545,0.0797891895632,0.999999939413,-9.91544072185e-05,-0.000327745877079,-6.26456081878e-05,1793244361680475648
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,713.911214158,683,658,632,880.911214158,785,806.088785842,651,630,652,0.445706262425,-0.00556211710933,0.0797654823545,0.999999925504,-0.000114405088837,-0.000363159168608,-6.34015687958e-05,1793244361697142528
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.331880794,683,658,632,880.331880794,785,806.668119206,651,630,652,0.446251370878,-0.00556257568278,0.0797356928757,0.999999910379,-0.000102145380907,-0.000405659424425,-6.51857407272e-05,1793244361713809152
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.753475525,745,713.246524475,683,657.753475525,632,880.246524475,785,806.753475525,651,630,652,0.446787147933,-0.00555944779461,0.0797109316564,0.999999897783,-9.06112368371e-05,-0.000437897672036,-6.68452321633e-05,1793244361730475776
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.176315052,745,713.823684948,683,657.176315052,632,880.823684948,785,806.176315052,651,630,652,0.447310409774,-0.00555150978235,0.0796929142877,0.999999890323,-8.00502124399e-05,-0.00045637262098,-6.83375034193e-05,1793244361747142656
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.399617017,745,714,683,657.399617017,632,880.600382983,784.600382983,806,651,630,652,0.447790103727,-0.0055451906427,0.0796723892855,0.999999876174,-8.23153623836e-05,-0.000485764960148,-7.00606732776e-05,1793244361763809024
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.975008813,745,714,683,657.975008813,632,880.024991187,784.024991187,806,651,630,652,0.448250634038,-0.00553958357658,0.0796507612791,0.999999858167,-9.02222079296e-05,-0.000519959402915,-7.18854058197e-05,1793244361780475648
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.400219118,744.400219118,714,680,658,634,878.599780882,786,805,651.599780882,631,652,0.405638886537,-0.00539945102096,0.0797842659871,0.999999917119,0.000221200039037,-0.000338934021347,4.42276923615e-05,1793244364463778304
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d2adb1585a1b85be5f9e6d69db785ed9be46915
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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+404,6.733333333,pose2_to_pose3_retreat,0.575670167536,-0.000122186146517,1.07005103403,0.546241801102,0.00855350046285,1.06971751531
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+408,6.800000000,pose2_to_pose3_retreat,0.575669627853,-0.000122118938224,1.07005107719,0.546241260431,0.00855356465931,1.06971756737
+409,6.816666667,pose2_to_pose3_retreat,0.57566960563,-0.000122161046612,1.07005100719,0.546241240026,0.00855352868055,1.06971749639
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1b9bcd2b6d094b916f08ca9ce3e901e45bae1b0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b1a9244ba66af20febed6974825f5bc9029d5a21d3658e212cf08629fee2fd6
+size 26161249
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fcbc05f12d9073d2f6400665448a3b846c168de9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_05/franka_data.csv
@@ -0,0 +1,413 @@
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+54,0.900000000,BASELINE,764.662494515,744.662494515,713.337505485,680,658,634,878.662494515,786,804.337505485,651,631,651.662494515,0.400961883258,-0.00540183965005,0.0798301350737,0.999999930081,0.000230778442263,-0.000291471787471,4.02868043547e-05,1793244366357138944
+55,0.916666667,BASELINE,764.079951233,744.079951233,713.920048767,680,658,634,878.079951233,786,804.920048767,651,631,651.079951233,0.40096207008,-0.00540227783829,0.0798302174222,0.99999993029,0.000230538423711,-0.000291005427559,3.98462166551e-05,1793244366373805568
+56,0.933333333,BASELINE,764,744,714,680,658.989959577,634,878,786,804.505020212,651,631,651.494979788,0.400962541284,-0.00540148039122,0.079830447737,0.99999993023,0.000231236847149,-0.000290628216328,4.00613679789e-05,1793244366390472192
+57,0.950000000,BASELINE,764.069082841,744.069082841,714,679.930917159,659.861834318,634,878,786.069082841,804,651,631,652,0.400963171579,-0.00540061366206,0.0798307815756,0.999999930183,0.000232152929973,-0.000290019279248,4.03365472284e-05,1793244366407139328
+58,0.966666667,BASELINE,764.646000875,744.646000875,714,679.353999125,658.707998251,634,878,786.646000875,804,651,631,652,0.400964638815,-0.00540068258239,0.0798317033968,0.999999930553,0.000233571637589,-0.000287602651152,4.02861783131e-05,1793244366423805696
+59,0.983333333,BASELINE,764.771708636,744.771708636,714,679.228291364,658.228291364,634,878.228291364,786.771708636,804.228291364,651,631,652,0.400965612806,-0.00540117444368,0.0798322218756,0.999999930888,0.000233737477253,-0.000286281792242,4.04256179213e-05,1793244366440472064
+60,1.000000000,BASELINE,764.180886503,744.180886503,714,679.819113497,658.819113497,634,878.819113497,786.180886503,804.819113497,651,631,652,0.400965803516,-0.00540233794278,0.0798320998395,0.999999931174,0.000231913740418,-0.000286701034032,4.0866476853e-05,1793244366457138688
+61,1.016666667,BASELINE,764,744,714,679.598219887,658.598219887,634,878.598219887,786,804.598219887,651,631,652,0.40096486836,-0.00540188500248,0.0798317740811,0.999999930574,0.000232979857073,-0.000287921334059,4.09000660212e-05,1793244366473805568
+62,1.033333333,BASELINE,764,744,714,679.019151977,658.019151977,634,878.019151977,786,804.019151977,651,631,652,0.40096343641,-0.00540071879887,0.0798313584291,0.999999929578,0.000235321138396,-0.000289495105637,4.07539450252e-05,1793244366490472192
+63,1.050000000,BASELINE,764,744,713.44615878,679.55384122,658,633.44615878,878,786,804,651,631,652,0.400963339692,-0.00540110520496,0.0798304980734,0.999999929475,0.000234670125606,-0.000290405807831,4.05612837073e-05,1793244366507139072
+64,1.066666667,BASELINE,764.130310262,744,713.130310262,679.869689738,658,633.130310262,878.130310262,785.869689738,804.130310262,651,631,652,0.400963621503,-0.00540125939132,0.0798299712206,0.999999929471,0.000234292933181,-0.000290737048778,4.04454774708e-05,1793244366523805440
+65,1.083333333,BASELINE,764.719758249,744,713.719758249,679.280241751,658,633.719758249,878.719758249,785.280241751,804.719758249,651,631,652,0.400965076113,-0.0054004082513,0.0798306730337,0.999999929715,0.000235241152806,-0.000289106516986,4.06060729298e-05,1793244366540472064
+66,1.100000000,BASELINE,764.696197347,744,714,679,658,634,878.696197347,785.303802653,805,651,631,652,0.400965722068,-0.00540109752656,0.0798312972194,0.99999993026,0.000234204924362,-0.000288042192421,4.07319464771e-05,1793244366557138944
+67,1.116666667,BASELINE,764.117050383,744,714,679,658,634,878.117050383,785.882949617,805,651,631,652,0.400965635118,-0.00540318292062,0.0798318510493,0.999999931075,0.000231370138548,-0.000287491036399,4.08263506366e-05,1793244366573805568
+68,1.133333333,BASELINE,764,744.46020159,714,679,658,634,878,786,805,651,630.53979841,652,0.400965095826,-0.00540330202498,0.0798319352516,0.999999930621,0.000232755985891,-0.000287929987034,4.09843155256e-05,1793244366590472960
+69,1.150000000,BASELINE,764,744.96325315,714,679.03674685,658,634,878.03674685,786,804.96325315,651,630.03674685,652,0.40096440225,-0.00540295002823,0.0798318221024,0.999999929941,0.000234771496349,-0.00028863668872,4.110062293e-05,1793244366607140608
+70,1.166666667,BASELINE,764,744.390018333,714,679.609981667,658,634,878.609981667,786,804.390018333,651,630.609981667,652,0.400963128989,-0.00540299171914,0.0798305644443,0.999999930718,0.000230371440521,-0.000289590913745,4.0373694427e-05,1793244366623806464
+71,1.183333333,BASELINE,764,744,714,679.810970719,658,634,878.810970719,786,804.189029281,651,631,652,0.400962186445,-0.00540317724986,0.0798297850114,0.999999931162,0.000227769928683,-0.000290167002333,4.00115782494e-05,1793244366640472576
+72,1.200000000,BASELINE,764,744,714,679.219549119,658,634,878.219549119,786,804.780450881,651,631,652,0.400961947905,-0.00540366897675,0.0798300235909,0.999999930931,0.000228997030745,-0.000289938140702,4.04260489127e-05,1793244366657139456
+73,1.216666667,BASELINE,764,744,714,679,658.360176526,634,878.360176526,786,805,651,631,651.639823474,0.400961930937,-0.00540302069005,0.0798304732851,0.999999930683,0.000230304311668,-0.000289753776539,4.04491786876e-05,1793244366673806080
+74,1.233333333,BASELINE,764,744,714,679,658.932996982,634,878.932996982,786,805,651,631,651.067003018,0.400962044782,-0.00540169935287,0.079831047619,0.999999930425,0.00023165892916,-0.000289595683166,4.02412654387e-05,1793244366690472704
+75,1.250000000,BASELINE,764,744.512802858,713.487197142,679,658.487197142,634,878.487197142,786,805,651,630.487197142,651,0.400963343722,-0.00540208448072,0.079831681087,0.999999930543,0.000231845834485,-0.000289021416568,4.03489001414e-05,1793244366707139840
+76,1.266666667,BASELINE,764,745,713.092295718,679.092295718,658,634,878,786,805,651,630.092295718,651.092295718,0.400964480566,-0.0054023415046,0.0798321432614,0.999999930671,0.000232038032531,-0.0002884040454,4.04859160697e-05,1793244366723806464
+77,1.283333333,BASELINE,764,745,713.665338354,679.665338354,658,634,878,786,805,651,630.665338354,651.665338354,0.400963955396,-0.0054007538406,0.0798316724055,0.99999993059,0.000233063495347,-0.000287849303131,4.0558250679e-05,1793244366740473088
+78,1.300000000,BASELINE,764,745,714,679.752458873,658,634,878,786,805,651,631,652,0.40096330753,-0.00540021890186,0.079830979217,0.999999930177,0.000234356008014,-0.000288222203811,4.06325317374e-05,1793244366757139456
+79,1.316666667,BASELINE,764,745,714,679.157396288,658,634,878,786,805,651,631,652,0.400962487412,-0.00540116187777,0.079829973897,0.999999929298,0.000236023430225,-0.000289897416737,4.07095453974e-05,1793244366773806080
+80,1.333333333,BASELINE,764,744.575115988,714,679,658,634,878,786,805,651,630.575115988,651.575115988,0.400962156625,-0.00540139632752,0.0798299084199,0.999999929436,0.000234439807901,-0.000290688281988,4.08289729433e-05,1793244366790473216
+81,1.350000000,BASELINE,764,744.002553278,714,679,658,634,878,786,805,651,630,651.002553278,0.400962006441,-0.00540137421939,0.07983018267,0.999999929934,0.000231703953412,-0.000291150236526,4.09609617792e-05,1793244366807140352
+82,1.366666667,BASELINE,764,744.577033585,714,679,658,634,878,786,805,651,630,651.577033585,0.400962892308,-0.0054009593805,0.0798308455586,0.99999993028,0.000232760149348,-0.000289175971816,4.04899798769e-05,1793244366823806464
+83,1.383333333,BASELINE,764,744.849361671,713.849361671,679,658,634,878.150638329,786,804.849361671,651,630,652,0.400963795947,-0.00540131037887,0.0798314027727,0.999999930754,0.000232509753573,-0.000287774519543,4.02016613035e-05,1793244366840472832
+84,1.400000000,BASELINE,764,744.278201025,713.278201025,679,658,634,878.721798975,786,804.278201025,651,630,652,0.400964749199,-0.00540379929031,0.0798316649862,0.999999931587,0.000228611873499,-0.000287972131391,4.04232660084e-05,1793244366857139456
+85,1.416666667,BASELINE,764.306894131,744.306894131,713,679.306894131,658.306894131,633.693105869,878.693105869,786,804.306894131,651,630.306894131,652,0.400965236958,-0.00540493628514,0.0798317897594,0.999999931932,0.000227578813396,-0.000287571357904,4.05796858778e-05,1793244366873806080
+86,1.433333333,BASELINE,764.905221774,744.905221774,713,679.905221774,658.905221774,633.094778226,878.094778226,786,804.905221774,651,630.905221774,652,0.400965282675,-0.00540478946967,0.0798317840164,0.999999931821,0.000229266250469,-0.000286602344346,4.06742047602e-05,1793244366890472704
+87,1.450000000,BASELINE,764.515590965,745,713.484409035,679.515590965,658.515590965,633.484409035,878,786,804.515590965,651,630.515590965,652,0.400964272552,-0.00540443073903,0.0798312740726,0.999999931292,0.000230291051141,-0.000287618847004,4.07172848769e-05,1793244366907139328
+88,1.466666667,BASELINE,764.059872167,744.940127833,714,679,657.940127833,634,878,786,804,651,630,652,0.400963196265,-0.00540392124518,0.079830701667,0.999999930727,0.000231152969671,-0.000288894051353,4.06845224093e-05,1793244366923806208
+89,1.483333333,BASELINE,764.634290963,744.365709037,714,679,657.365709037,634,878,786,804,651,630,652,0.400963259274,-0.00540245886919,0.0798304080464,0.999999930544,0.000231686933456,-0.000289180825909,4.00831685677e-05,1793244366940472832
+90,1.500000000,BASELINE,764.785098353,744,714,679,657.214901647,634,878.214901647,786,804.214901647,651,630.214901647,652,0.400963297995,-0.00540195836532,0.0798303508172,0.999999930407,0.000232066250888,-0.000289383307806,3.9847678297e-05,1793244366957139200
+91,1.516666667,BASELINE,764.193638071,744,714,679,657.806361929,634,878.806361929,786,804.806361929,651,630.806361929,652,0.400963294158,-0.0054031432896,0.079830707802,0.99999993035,0.000232174591189,-0.000289438088948,4.02532678021e-05,1793244366973805824
+92,1.533333333,BASELINE,764,744,714,679.38956697,658,634,878.61043303,785.61043303,805,651,631,652,0.400963407652,-0.00540283934839,0.0798312661216,0.999999930628,0.000231925618892,-0.00028863502018,4.05480310788e-05,1793244366990472960
+93,1.550000000,BASELINE,764,744,714,679.968753864,658,634,878.031246136,785.031246136,805,651,631,652,0.400963578256,-0.00540181070889,0.0798319224401,0.999999931068,0.000231502726348,-0.000287414396934,4.07888502368e-05,1793244367007140096
+94,1.566666667,BASELINE,764,744,714,679.457638842,658,634,878.542361158,785.542361158,805,651,631,651.457638842,0.400963341416,-0.00540199999744,0.0798309533122,0.999999930635,0.000232523985641,-0.00028815272014,4.03836940087e-05,1793244367023806208
+95,1.583333333,BASELINE,764.115869335,744,714,679,658,634,878.884130665,786,805,651,631,651.115869335,0.40096322691,-0.00540221155348,0.0798302499215,0.999999930277,0.000233374945295,-0.000288740743653,4.01243024882e-05,1793244367040472576
+96,1.600000000,BASELINE,764.690244515,744,714,679,658,634,878.309755485,786,805,651,631,651.690244515,0.400963688434,-0.00540223639631,0.0798309648626,0.999999930423,0.000233226137941,-0.00028829197734,4.05874810837e-05,1793244367057139200
+97,1.616666667,BASELINE,764.451764778,744.274117611,714,679.274117611,658.274117611,634,878,786,805,651.274117611,631,652,0.40096326319,-0.00540199833665,0.0798307983488,0.99999993026,0.000233188359867,-0.000288876886244,4.06503686849e-05,1793244367073805568
+98,1.633333333,BASELINE,763.261782733,744.869108634,714,679.869108634,658.869108634,634,878,786,805,651.869108634,631,652,0.400961799924,-0.00540145253165,0.0798296000317,0.999999929735,0.000233280549168,-0.000290671782716,4.02446882718e-05,1793244367090472448
+99,1.650000000,BASELINE,763.449469437,745,714,679.550530563,659,633.550530563,878.449469437,786,805,652,631,652,0.40096248824,-0.00540115134085,0.0798298156326,0.99999993004,0.000232922796525,-0.000289935358715,4.00599469166e-05,1793244367107139072
+100,1.666666667,BASELINE,764.025580378,745,714,679.025580378,658.974419622,633.025580378,878.974419622,786,805,651.974419622,631,652,0.400963707256,-0.0054009413409,0.0798303940909,0.999999930543,0.00023247367991,-0.000288572799308,3.99444453818e-05,1793244367123805696
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+102,1.700000000,BASELINE,764.821931116,745,714,680,658.178068884,634,878.178068884,786,805,651,631,652,0.400963455069,-0.005401185114,0.0798304353492,0.999999930252,0.000233306391968,-0.000288895288825,4.00474438726e-05,1793244367157139968
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.092528025,745,713.907471975,679,658,634,878,786,804.907471975,651,631,651.907471975,0.400963126636,-0.00540186466302,0.0798307560233,0.999999930541,0.000232602914346,-0.000288442714063,4.0189215227e-05,1793244367321424128
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,745,714,679,658.483088073,634,878,786,805,651,631,651.516911927,0.400963393425,-0.00540111651097,0.0798305669203,0.999999930231,0.000233851222071,-0.000288522542384,4.00790270655e-05,1793244367338090752
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,744.940148723,714,679,659,634,878,786,804.940148723,651,631,651.059851277,0.400963579692,-0.00540067569429,0.0798303739412,0.999999929962,0.000234775306915,-0.000288715654056,3.99961135594e-05,1793244367354757120
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,744.350438928,714,679,659,634,878,786,804.350438928,651,631,651.649561072,0.400963657548,-0.00540220823001,0.0798308248474,0.999999930039,0.00023407546067,-0.000289001448632,4.00993184707e-05,1793244367371423744
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.234945827,786,804.234945827,651,631,651.765054173,0.400965732872,-0.005403131213,0.0798319720381,0.999999930762,0.000232729313723,-0.000287560375839,4.027697689e-05,1793244367388090368
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,878.813996028,786,804.813996028,651,631,651.186003972,0.400970733708,-0.00540316143789,0.0798341390151,0.999999932415,0.000230436587354,-0.000283590113113,4.05636807682e-05,1793244367404756992
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.390207416,744.390207416,714,679,658.609792584,634,878.609792584,786,805,651,631,651.390207416,0.4009899587,-0.0054030585812,0.0798431706128,0.999999936796,0.000229676675993,-0.000268336252992,4.06500935911e-05,1793244367421423616
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.965075424,744.965075424,714,679,658.034924576,634,878.034924576,786,805,651,631,651.965075424,0.401015915089,-0.00540289274539,0.0798554508034,0.999999942118,0.000229642149148,-0.000247742576478,4.0641721284e-05,1793244367438090496
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,713.461773991,679,658.538226009,634,878.538226009,786,804.461773991,651,631,652,0.401065508267,-0.00540455995269,0.0798740823694,0.99999995038,0.000228547966723,-0.000212879883177,4.10771609884e-05,1793244367454757376
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.884663901,713.115336099,679.115336099,658.884663901,634,879,786,804.115336099,651,631,652,0.401119728884,-0.00540625035889,0.0798926174207,0.999999957455,0.000227611335361,-0.000177691867657,4.134198557e-05,1793244367471424256
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.290659858,713.709340142,679.709340142,658.290659858,634,879,786,804.709340142,651,631,652,0.401186809189,-0.00540754497823,0.0799090469411,0.999999962754,0.000227613030094,-0.000144984106081,4.07795852855e-05,1793244367488090624
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.704328219,744,714,679.704328219,658,634,879,786,804.704328219,651,631,652,0.401258638872,-0.00540817877425,0.0799212561639,0.999999965187,0.000228379658002,-0.000126021068313,3.98464041002e-05,1793244367504756736
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.125348196,744,714,679.125348196,658,634,879,786,804.125348196,651,631,652,0.401335019334,-0.00540817937926,0.0799294215602,0.999999965607,0.000229879233508,-0.000120228019658,3.85579463116e-05,1793244367521423360
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.449515968,744.449515968,714,679,658,634,878.550484032,786,804.449515968,651,630.550484032,652,0.401425115282,-0.00540867113491,0.0799331976293,0.999999966801,0.000229055886309,-0.000112495594064,3.57184330109e-05,1793244367538090496
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.976201352,744.976201352,713.976201352,679,658.023798648,634,878.023798648,786.023798648,804.976201352,651.023798648,630,651.976201352,0.401519802474,-0.00540939939859,0.0799358098228,0.999999968169,0.000227399611043,-0.000104391825442,3.24468148188e-05,1793244367554757120
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.388754483,744.388754483,713.388754483,679,658.611245517,634,878.611245517,786.611245517,804.388754483,651.611245517,630,651.388754483,0.401633469175,-0.00541251483812,0.0799395822887,0.99999997009,0.000221218386904,-0.000100185225243,2.90919458825e-05,1793244367571424256
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,744.196110221,713.196110221,679.196110221,659,634,878.803889779,786.803889779,804,651.803889779,630.196110221,651.196110221,0.401758999197,-0.00541502750707,0.0799443414144,0.999999971954,0.000216421752998,-9.2788545323e-05,2.53814877312e-05,1793244367588091392
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,744.775922687,713.775922687,679.775922687,659,634,878.224077313,786.224077313,804,651.224077313,630.775922687,651.775922687,0.401907740556,-0.00541636081634,0.0799510310029,0.999999973678,0.000214334159538,-7.91502700233e-05,2.0975296835e-05,1793244367604758016
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,744.645584379,714,680,658.645584379,634,878,786,804.354415621,651,631,652,0.402072348919,-0.00541724548242,0.0799562244308,0.999999975198,0.000211079183259,-6.92707596124e-05,1.58596670212e-05,1793244367621424128
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,744.067922561,714,680,658.067922561,634,878,786,804.932077439,651,631,652,0.402246951912,-0.00541784754854,0.0799604754287,0.999999976597,0.000207088873006,-6.17588917249e-05,1.02971616083e-05,1793244367638090240
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.506557308,744,714,679.493442692,658,634,878,786,804.493442692,651,631,652,0.40244330359,-0.00541917582953,0.0799601732512,0.999999978123,0.000199448581033,-6.29532336689e-05,3.38288605752e-06,1793244367654756864
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,679.082834562,658,634,878,786,804.082834562,651,631,652,0.402645021057,-0.00542070966501,0.0799585991831,0.999999979392,0.000191765472768,-6.65481414494e-05,-3.74125233829e-06,1793244367671423488
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679.67270938,658,634,878,786,804.67270938,651,631,652,0.402861844208,-0.00542290939706,0.0799529534583,0.999999979471,0.00018679733705,-7.77360952671e-05,-1.10474358023e-05,1793244367688090112
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679.742204797,658.257795203,634,878,786,805,651,630.742204797,652,0.403098412372,-0.00542509895169,0.079948233592,0.99999997996,0.000179501315299,-8.66733708243e-05,-1.86254370413e-05,1793244367704756736
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,679.163088113,658.836911887,634,878,786,805,651,630.163088113,652,0.403359591133,-0.00542727582083,0.0799446677362,0.999999981009,0.000169303766687,-9.28053519758e-05,-2.65422373564e-05,1793244367721423616
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,679.410728918,658.178542164,634,878.410728918,785.589271082,805,651,630.410728918,652,0.403661140674,-0.00543036773321,0.0799476428547,0.99999998909,0.000115655335441,-8.74549114599e-05,-2.8198306601e-05,1793244367738090496
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,714,679.982468409,657.035063181,634,878.982468409,785.017531591,805,651,630.982468409,652,0.40397851603,-0.00543381835327,0.0799531821122,0.999999995602,4.49736461222e-05,-7.76032258747e-05,-2.74000952123e-05,1793244367754757632
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.568149639,714,679.431850361,657.568149639,634,878.431850361,785.568149639,805,651.568149639,631,652,0.404330684896,-0.00543168566461,0.079957706421,0.999999993508,8.80558953922e-05,-6.80517165663e-05,-2.44939199362e-05,1793244367771424000
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.845712685,745,714,679,658,634,878.154287315,786,804.845712685,651.845712685,631,651.845712685,0.404697165718,-0.0054316133966,0.0799605554354,0.999999990407,0.000122380944768,-6.05201225179e-05,-2.33842252652e-05,1793244367788090624
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.259531949,745,714,679,658,634,878.740468051,786,804.259531949,651.259531949,631,651.259531949,0.405100628641,-0.0054378032329,0.0799588047054,0.999999990448,0.000122118185163,-5.86162581828e-05,-2.74900467056e-05,1793244367804756992
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,744.678851349,714,679,658.642297302,634,878.678851349,786,804.321148651,651,630.678851349,651.321148651,0.405512612014,-0.00544170637387,0.0799541471803,0.999999991099,0.000112919483309,-6.39975299498e-05,-3.09049076468e-05,1793244367821423616
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,744.102540703,714,679,659.794918593,634,878.102540703,786,804.897459297,651,630.102540703,651.897459297,0.405931365176,-0.0054437926692,0.0799471801212,0.999999991937,9.66209139763e-05,-7.51670551538e-05,-3.37707806998e-05,1793244367838090240
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.472075848,744.472075848,714,679.472075848,659.527924152,634,878.472075848,786,804.527924152,651,630.472075848,652,0.406387678057,-0.00544538593232,0.0799409461004,0.999999991305,9.25750048776e-05,-8.75734178878e-05,-3.39261016232e-05,1793244367854757120
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.952338725,744.952338725,713.952338725,680,658.952338725,634,879,786,804.047661275,651,631,652,0.406855181982,-0.00544712744494,0.0799351555155,0.999999990289,9.13156830274e-05,-9.97411884533e-05,-3.36926076841e-05,1793244367871423744
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.361533179,744.361533179,713.361533179,680,658.361533179,634,879,786,804.638466821,651,631,652,0.40735757807,-0.00545177445472,0.0799326102609,0.999999989535,9.15911041992e-05,-0.000106139350088,-3.57137427765e-05,1793244367888091136
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.224732402,744.224732402,713.224732402,680,658.224732402,634,879,786,805,651,631,652,0.407870643272,-0.00545559806547,0.0799266957874,0.9999999884,8.83557723108e-05,-0.000118268530908,-3.74833442105e-05,1793244367904758272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.803839004,744.803839004,713.803839004,680,658.803839004,634,879,786,805,651,631,652,0.40840053227,-0.00545812328119,0.0799154684875,0.999999986357,7.95844326953e-05,-0.000139434794152,-3.88563091656e-05,1793244367921425152
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.619277303,658.619277303,634,879,786,805,651,631,652,0.40898448745,-0.00546347583929,0.0799220623532,0.999999988146,7.56510335804e-05,-0.000128216210086,-3.93118520861e-05,1793244367938091264
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.043532298,658.043532298,634,879,786,805,651,631,652,0.409596137605,-0.00547027668197,0.0799377849759,0.999999991434,7.41958329702e-05,-0.000100408733291,-3.92974524785e-05,1793244367954757120
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.468839391,713.468839391,679.531160609,658.531160609,634,879,786,805,651,631,652,0.410267549863,-0.00548159035825,0.0799716212537,0.999999996787,5.40972351749e-05,-4.48790113033e-05,-3.85438707179e-05,1793244367971423488
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,713.108893189,680.108893189,659,634,878.891106811,786,805,651,631,652,0.410939561537,-0.00549467445963,0.0799992362993,0.999999998752,3.29368762664e-05,-4.56793080609e-07,-3.75654629244e-05,1793244367988090368
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,713.700481135,680.700481135,659,634,878.299518865,786,805,651,631,652,0.411592561805,-0.00551397014276,0.0799927066904,0.999999999144,1.38296530097e-05,-1.53226252926e-05,-3.58584706561e-05,1793244368004757248
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,680.715218592,659,634,878.284781408,786,805,651,631,652,0.412249116956,-0.00552650465949,0.0799695503374,0.999999998,-3.18392786032e-06,-5.13516024443e-05,-3.67727954402e-05,1793244368021424128
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,714,680.138391806,659,634,878.861608194,786,805,651,631,652,0.412909317743,-0.00553210555394,0.0799293431385,0.999999993072,-1.80504657683e-05,-0.000109083538202,-4.03752993716e-05,1793244368038091264
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.563640416,744.436359584,714,680,659,633.563640416,879,786,805,651,630.563640416,652,0.413624084869,-0.00553234710093,0.0799164148694,0.999999991763,-2.46363243004e-05,-0.000118207230669,-4.35229178357e-05,1793244368054758144
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.010759205,745,714,680,658.989240795,633.010759205,878.989240795,786,805,651,630,652,0.414357275655,-0.00553109951282,0.0799127019053,0.999999992313,-2.87501777094e-05,-0.00011131636595,-4.64327394463e-05,1793244368071425024
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.601512084,745,714,680,658.398487916,633.601512084,878.398487916,786,805,651,630,652,0.415155147158,-0.00554077022117,0.0799415875677,0.999999995872,-4.05073535019e-05,-6.82332034916e-05,-4.42638828043e-05,1793244368088090624
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.188559864,634,878.188559864,786,805,651,630,652,0.41594078048,-0.00554705585437,0.0799578994213,0.999999996796,-4.66543245516e-05,-4.87133025414e-05,-4.31186113202e-05,1793244368104756992
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.767928431,634,878.767928431,786,805,651,630,652,0.41670104893,-0.00554632558871,0.0799481508284,0.999999995136,-4.11735987236e-05,-7.80305611141e-05,-4.4094820127e-05,1793244368121423616
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.654096385,745,714,680,659,634,879,786,805,651,630.345903615,652,0.41751438826,-0.00555118938404,0.0799514253306,0.999999995569,-4.83902633939e-05,-6.68908603697e-05,-4.52232271023e-05,1793244368138089984
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.077052313,745,714,680,659,634,879,786,805,651,630.922947687,652,0.418363190697,-0.00555979125485,0.0799634021537,0.999999996455,-6.40916058196e-05,-2.87169220372e-05,-4.6453336183e-05,1793244368154756864
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,745,714,680,659,634,879,786,805,651,631,652,0.419216742319,-0.00556614249107,0.0799800000833,0.999999996016,-7.52888380742e-05,3.40820945155e-06,-4.78254413604e-05,1793244368171423744
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,745,713.928286008,680.071713992,659,634,879,786,805,651,631,652,0.420069654823,-0.00557189281556,0.0799923383846,0.99999999485,-8.48918324505e-05,2.61388144428e-05,-4.90887872651e-05,1793244368188090368
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,713.336822389,680.663177611,659,634,879,786,805,651,631,652,0.42091263052,-0.00557580173561,0.0799686435755,0.999999994832,-8.79711551021e-05,-1.24618560989e-05,-4.94053011251e-05,1793244368204756736
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.249387848,745,713,681,659,634,879,786,805,651,631,652,0.421777947495,-0.00557823707715,0.0799622089767,0.999999994346,-9.15217683898e-05,-2.29882735122e-05,-4.90297268124e-05,1793244368221423360
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.828649344,745,713,681,659,634,879,786,805,651,631,652,0.422672816144,-0.00557872326767,0.079978605032,0.999999994275,-9.56957740847e-05,3.6200572844e-06,-4.77387044213e-05,1793244368238089984
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.595243033,745,713.404756967,681,659,634,879,785.595243033,805,651,630.595243033,652,0.423565026532,-0.00555543286857,0.0799958587271,0.999999996651,-6.26877204994e-05,2.3879091615e-05,-4.68917640032e-05,1793244368254756608
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.020460289,745,713.979539711,681,659,634,879,785.020460289,805,651,630.020460289,652,0.424456120214,-0.00552215466573,0.080013472689,0.999999997973,-1.40606431091e-05,4.14709828827e-05,-4.62313685511e-05,1793244368271423232
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+170,2.833333333,POSE1_TO_POSE2_PRESS,764.848298191,745,714,681.151701809,659.848298191,634,879,785.151701809,805.151701809,651.151701809,631,651.151701809,0.426111517977,-0.00550686743153,0.079924850792,0.999999991616,-6.89697445991e-06,-0.000119127730204,-5.02954814519e-05,1793244368304756736
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.268820848,745,714,681.731179152,659.268820848,634,879,785.731179152,805.731179152,651.731179152,631,651.731179152,0.427062011504,-0.00552088399707,0.0799160889489,0.999999992701,-3.21100515731e-05,-0.000103403836416,-5.36210407194e-05,1793244368321423360
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+233,3.883333333,POSE1_TO_POSE2_PRESS,764.70784511,745,713,683,654.29215489,629.70784511,880,782,806.70784511,651.29215489,630,652,0.454131144521,-0.00557834327416,0.0794764205699,0.999999666939,-0.000137033256535,-0.000801508058753,-7.02019667951e-05,1793244369354756608
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713,683.810129552,654,630,880.810129552,782,805.810129552,651.810129552,629.810129552,652,0.454137725765,-0.00557789651279,0.0794740751117,0.999999663756,-0.000134464491839,-0.000805971277967,-6.94141161292e-05,1793244369454757120
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,745,713.826726986,681.173273014,658,634,879,786,805,651.826726986,631,652,0.413697328153,-0.00543059972506,0.0797860522028,0.999999928733,0.000170643659039,-0.000333703144114,4.53500355226e-05,1793244371282914048
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.262613325,744.737386675,714,680,658,634,878.737386675,786,805,652,631,652,0.410164177469,-0.00541135409441,0.0797838144328,0.999999914971,0.000207025105485,-0.000353557201355,4.68589333485e-05,1793244371366246656
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.850840004,744.149159996,714,680,658,634,879,785.149159996,805,651,631,652,0.401093162976,-0.00540175532499,0.079816868632,0.999999922486,0.000233182439483,-0.000314737949863,3.99247830519e-05,1793244371866246656
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.690728012,714,680,658,634,879,786,805,651.309271988,631,651.309271988,0.400962214706,-0.00540285846008,0.0798248020539,0.999999927141,0.000231255078162,-0.000300899223093,4.12232109604e-05,1793244372082913024
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2de68730c2ae6cb35354f700ebc24631e0de3477
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.575670784509,-0.00012206150652,1.07005104432,0.546242417291,0.00855362293373,1.06971753844
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+404,6.733333333,pose2_to_pose3_retreat,0.575669890572,-0.000122098215356,1.07005102167,0.546241523369,0.00855358633087,1.0697175172
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41974fa071431b1a86fe8b79e23b332889ba4a51
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5871c343233f7c1402838bc7200f23eadd035a9614bf300a34a88079517a9233
+size 25749023
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b2ebe94ef0a131970e5ea1ce490f8a087b07f44
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+17,0.283333333,BASELINE,765,745,714,680,658.929799914,634.929799914,879,786.929799914,804.929799914,652,631,651.929799914,0.400924953329,-0.0154355508124,0.0599287544731,0.999999972375,-9.74227942599e-05,-0.000209622152926,-4.26212717461e-05,1793244374243798784
+18,0.300000000,BASELINE,765,745,714,679.49438355,658.49438355,634.49438355,879,787,804.49438355,652,631,651.49438355,0.400923707039,-0.0154358561041,0.059927949629,0.999999972155,-9.68562942163e-05,-0.000210974785341,-4.24126929788e-05,1793244374260464896
+19,0.316666667,BASELINE,765.083045508,745,714,679,658,634,879.083045508,786.916954492,804.083045508,652,630.916954492,651.083045508,0.400922139348,-0.0154360275871,0.0599269644244,0.999999971875,-9.63466812415e-05,-0.000212554725644,-4.22727712226e-05,1793244374277131264
+20,0.333333333,BASELINE,765.671410821,745,714,679,658,634,879.671410821,786.328589179,804.671410821,652,630.328589179,651.671410821,0.400921068959,-0.0154349242874,0.0599264570318,0.999999971886,-9.55922428286e-05,-0.000212780930991,-4.2606211948e-05,1793244374293797888
+21,0.350000000,BASELINE,765.744050379,745,714,679.255949621,658,634.255949621,879.744050379,786,805,652,630.255949621,652,0.400921130929,-0.0154350661947,0.0599264914761,0.999999971942,-9.51458056538e-05,-0.000212724895677,-4.25654909872e-05,1793244374310464512
+22,0.366666667,BASELINE,765.164351756,745,714,679.835648244,658,634.835648244,879.164351756,786,805,652,630.835648244,652,0.400922625213,-0.0154367831562,0.0599272112865,0.999999972057,-9.5088957289e-05,-0.000212311855976,-4.20514953301e-05,1793244374327130880
+23,0.383333333,BASELINE,765,745,714,679.587688438,658.412311562,634.587688438,879,786,805,652,631,652,0.400924418731,-0.0154370591028,0.0599282496959,0.999999972282,-9.63778151488e-05,-0.000210669437874,-4.20212380032e-05,1793244374343797760
+24,0.400000000,BASELINE,765,745,714,679.012226134,658.987773866,634.012226134,879,786,805,652,631,652,0.400926330656,-0.0154367648433,0.0599294141744,0.999999972544,-9.8199165877e-05,-0.000208540557515,-4.21823947833e-05,1793244374360464640
+25,0.416666667,BASELINE,765,744.427458229,714,679,658.427458229,634,879,786,805,652,630.427458229,652,0.400926619269,-0.0154368163636,0.0599297018394,0.999999972734,-9.89072717897e-05,-0.000207345565881,-4.19207429339e-05,1793244374377131008
+26,0.433333333,BASELINE,765.156388618,744,714,679,658,634.156388618,879,786,805.156388618,652,630.156388618,652,0.400926528422,-0.0154366350847,0.0599296324622,0.999999972825,-9.88845603305e-05,-0.00020694827232,-4.17624462903e-05,1793244374393797376
+27,0.450000000,BASELINE,765.737187828,744,714,679,658,634.737187828,879,786,805.737187828,652,630.737187828,652,0.400925503416,-0.0154358016615,0.0599286457887,0.999999972653,-9.69441219006e-05,-0.000208660773455,-4.19095441551e-05,1793244374410464000
+28,0.466666667,BASELINE,765.681785557,744.318214443,714,679.318214443,658,635,878.681785557,786,805.681785557,652,631,652,0.40092535024,-0.0154357945458,0.0599284483931,0.999999972619,-9.66321651572e-05,-0.000208959297861,-4.19523498881e-05,1793244374427130368
+29,0.483333333,BASELINE,765.100571029,744.899428971,714,679.899428971,658,635,878.100571029,786,805.100571029,652,631,652,0.400925917619,-0.0154364703624,0.0599289033253,0.999999972702,-9.76661273887e-05,-0.000208089188854,-4.19089595269e-05,1793244374443796992
+30,0.500000000,BASELINE,765,745,714,679.525403097,658,634.525403097,878,786,805,652,631,651.525403097,0.400925622835,-0.0154377393318,0.0599286865285,0.999999972506,-9.8392060715e-05,-0.000208703953713,-4.1825586786e-05,1793244374460463872
+31,0.516666667,BASELINE,765,744.950481039,714,679,658,634.049518961,878.049518961,786,805,652,631,651.049518961,0.400925065387,-0.0154388845391,0.0599282518386,0.999999972244,-9.88898731002e-05,-0.000209734934029,-4.17692387856e-05,1793244374477130496
+32,0.533333333,BASELINE,765,744.364516381,714,679,658,634.635483619,878.635483619,786,805,652,631,651.635483619,0.400923616756,-0.015437344483,0.0599269793273,0.999999971897,-9.76146453242e-05,-0.000211908992309,-4.20962836509e-05,1793244374493797120
+33,0.550000000,BASELINE,765,744,714,679,658,634.780953428,879,786,805,652,630.780953428,651.780953428,0.400922878775,-0.0154360041979,0.0599264257328,0.999999971818,-9.66238213766e-05,-0.000212686061838,-4.23313130407e-05,1793244374510463744
+34,0.566666667,BASELINE,765,744,714,679,658,634.201343871,879,786,805,652,630.201343871,651.201343871,0.400923310564,-0.0154349927474,0.0599270555156,0.999999972188,-9.61011422609e-05,-0.000211163609062,-4.24148797485e-05,1793244374527130368
+35,0.583333333,BASELINE,765,744.377227752,714,679,658,634,878.622772248,786.377227752,805,652,630.377227752,651.377227752,0.400923351237,-0.0154360376098,0.0599272374076,0.999999972257,-9.63536902304e-05,-0.000210756411427,-4.22450944084e-05,1793244374543796992
+36,0.600000000,BASELINE,765,744.955246957,714,679,658,634,878.044753043,786.955246957,805,652,630.955246957,651.955246957,0.400923183724,-0.0154381770098,0.0599271808954,0.999999972166,-9.70188773883e-05,-0.00021094284362,-4.19404544024e-05,1793244374560463872
+37,0.616666667,BASELINE,765,744.468426208,714,679,658.531573792,634,878,786.468426208,805,652,630.468426208,652,0.400923426457,-0.0154371913662,0.0599272561417,0.999999972032,-9.84469343365e-05,-0.000210848696395,-4.22812050258e-05,1793244374577130496
+38,0.633333333,BASELINE,765,744,714,679.109828342,659,634.109828342,878.109828342,786.109828342,805,652,630.109828342,652,0.400923713583,-0.0154362984495,0.0599274056091,0.99999997197,-9.95159367808e-05,-0.000210592540621,-4.25142059551e-05,1793244374593797120
+39,0.650000000,BASELINE,765,744,714,679.697080242,659,634.697080242,878.697080242,786.697080242,805,652,630.697080242,652,0.400924044026,-0.0154369486667,0.059927829649,0.999999972247,-9.87458272462e-05,-0.000209734492476,-4.20433737026e-05,1793244374610463744
+40,0.666666667,BASELINE,765,744.281711671,714,680,659,634.718288329,878.718288329,786.718288329,805,652,631,651.718288329,0.400924035027,-0.0154376820322,0.0599278932549,0.999999972255,-9.91917636291e-05,-0.000209514207597,-4.18889741744e-05,1793244374627130624
+41,0.683333333,BASELINE,765,744.863551285,714,680,659,634.136448715,878.136448715,786.136448715,805,652,631,651.136448715,0.400923664398,-0.0154385039814,0.0599275728643,0.999999971977,-0.000100933242264,-0.000209973378387,-4.20716934822e-05,1793244374643797248
+42,0.700000000,BASELINE,765,745,713.561345832,679.561345832,658.561345832,634,878.438654168,786,805,652,631,651.438654168,0.400924496558,-0.015438747245,0.0599279073993,0.99999997223,-0.000100852100393,-0.000208824063002,-4.19765263763e-05,1793244374660464128
+43,0.716666667,BASELINE,765,744.988318889,713.011681111,679.011681111,658.011681111,634,879,786,805,652,631,652,0.400925654606,-0.015438788817,0.0599284145794,0.999999972628,-0.000100221973055,-0.000207248577148,-4.18060249214e-05,1793244374677131008
+44,0.733333333,BASELINE,765,744.415872033,713.584127967,679.584127967,658.584127967,634,879,786,805,652,631,652,0.400924767775,-0.0154376587052,0.0599275777696,0.999999972296,-0.000100042502118,-0.000208870344844,-4.21058956633e-05,1793244374693798400
+45,0.750000000,BASELINE,765,744,714,680,658.836447532,634,879,786,805,652,631,652,0.400924269944,-0.0154372435844,0.0599270425661,0.999999972071,-9.99741695171e-05,-0.000209955010813,-4.22144098003e-05,1793244374710465536
+46,0.766666667,BASELINE,765,744,714,680,658.238490085,634,879,786,805,652,631,652,0.400924805315,-0.0154387275222,0.0599273084466,0.999999972137,-0.000100201026904,-0.000209613102738,-4.18146694891e-05,1793244374727131392
+47,0.783333333,BASELINE,765,744.346693123,714,680,658,634,879,786,805,652,631,652,0.400924719072,-0.0154380073689,0.0599270802825,0.999999972283,-9.87429606504e-05,-0.000209587385696,-4.19090792665e-05,1793244374743797504
+48,0.800000000,BASELINE,765,744.923401268,714,680,658,634,879,786,805,652,631,652,0.400924220417,-0.0154358249023,0.0599265243424,0.999999972478,-9.61670246912e-05,-0.000209771446901,-4.23313349739e-05,1793244374760463872
+49,0.816666667,BASELINE,765,744.503176418,714,679.503176418,658,634,879,786,805,652,631,652,0.400924449237,-0.0154367172305,0.0599271315438,0.999999972435,-9.76813423883e-05,-0.000209276321186,-4.23204438724e-05,1793244374777131008
+50,0.833333333,BASELINE,765,744,714,679,658.071607071,634,878.928392929,786,805,652,630.928392929,652,0.400924652656,-0.0154379037268,0.0599277039465,0.999999972325,-9.95430216248e-05,-0.00020893873926,-4.22640561662e-05,1793244374793797888
+51,0.850000000,BASELINE,765,744,714,679,658.659842384,634,878.340157616,786,805,652,630.340157616,652,0.400923868909,-0.0154378147995,0.0599267399655,0.999999972011,-9.93909319883e-05,-0.000210488328633,-4.23580664932e-05,1793244374810465536
+52,0.866666667,BASELINE,765,744,714,679.245183376,658.754816624,634,878.245183376,786,805,652,630.245183376,652,0.400923352091,-0.0154373016261,0.0599263574306,0.99999997193,-9.84410735645e-05,-0.000211315982916,-4.23640260338e-05,1793244374827132672
+53,0.883333333,BASELINE,765,744,714,679.826555718,658.173444282,634,878.826555718,786,805,652,630.826555718,652,0.400923201278,-0.0154362067374,0.0599267721592,0.999999972168,-9.63973356767e-05,-0.000211153738797,-4.22492526579e-05,1793244374843799040
+54,0.900000000,BASELINE,765,744.404508696,714,680,658,634.404508696,878.595491304,786.404508696,805,652,631,652,0.400923978847,-0.0154361892229,0.0599271233789,0.999999972421,-9.55277477045e-05,-0.000210363361606,-4.21754560008e-05,1793244374860465152
+55,0.916666667,BASELINE,765,744.981007802,714,680,658,634.981007802,878.018992198,786.981007802,805,652,631,652,0.400925151149,-0.0154366297901,0.0599274475956,0.999999972681,-9.51573889202e-05,-0.000209305912621,-4.21190819699e-05,1793244374877131264
+56,0.933333333,BASELINE,765,745,714,679.446294105,658.553705895,634.446294105,878,786.446294105,805,652,631,652,0.400924473096,-0.0154365127126,0.05992743735,0.999999972496,-9.67980249645e-05,-0.000209415081651,-4.22403972594e-05,1793244374893797632
+57,0.950000000,BASELINE,764.869499355,744.869499355,713.869499355,679.130500645,658.869499355,634.130500645,878.130500645,786.130500645,805,652,631,651.869499355,0.400923704991,-0.0154366350296,0.0599271638659,0.999999972212,-9.85252543236e-05,-0.000209949448501,-4.23122469473e-05,1793244374910464256
+58,0.966666667,BASELINE,764.277768206,744.277768206,713.277768206,679.722231794,658.277768206,634.722231794,878.722231794,786.722231794,805,652,631,651.277768206,0.4009228414,-0.0154376705832,0.0599260002838,0.999999971639,-0.000100316405515,-0.000211846136675,-4.21878755627e-05,1793244374927131136
+59,0.983333333,BASELINE,764.30674385,744.30674385,713.30674385,679.69325615,658.30674385,634.69325615,879,786.69325615,805,652,631,651.30674385,0.40092292677,-0.015437928325,0.0599257439395,0.999999971619,-0.000100065435997,-0.000212067346794,-4.21560882683e-05,1793244374943798016
+60,1.000000000,BASELINE,764.884869118,744.884869118,713.884869118,679.115130882,658.884869118,634.115130882,879,786.115130882,805,652,631,651.884869118,0.400923851702,-0.015437497924,0.0599262902436,0.999999972087,-9.8007768301e-05,-0.000210806233641,-4.22062116541e-05,1793244374960464896
+61,1.016666667,BASELINE,765,745,714,679.459079029,658.540920971,634.459079029,879,786.459079029,805.459079029,652,631,652,0.400925302399,-0.0154380186566,0.0599274407492,0.9999999723,-9.96073182957e-05,-0.000209036603064,-4.22122545337e-05,1793244374977131264
+62,1.033333333,BASELINE,765,744.966687095,714,680,658.033312905,635,879,787,805.966687095,652,631,652,0.400926726637,-0.0154387497899,0.0599286401505,0.999999972422,-0.000101953549219,-0.000207321350342,-4.21870396185e-05,1793244374993797632
+63,1.050000000,BASELINE,765,744.37575425,714,680,658.62424575,635,879,787,805.37575425,652,631,652,0.400925519569,-0.0154390438089,0.0599281430943,0.999999972203,-0.000101575632185,-0.000208632962329,-4.18220848472e-05,1793244375010464000
+64,1.066666667,BASELINE,765,744.210863869,714,679.789136131,658.789136131,634.789136131,879,786.789136131,805,652,631,652,0.400925032127,-0.0154389440028,0.0599280487753,0.999999972274,-0.000100062664973,-0.000209073105222,-4.157531879e-05,1793244375027130624
+65,1.083333333,BASELINE,765,744.789947392,714,679.210052608,658.210052608,634.210052608,879,786.210052608,805,652,631,652,0.40092580133,-0.0154381564821,0.0599286577336,0.999999972845,-9.65676238255e-05,-0.000207991450827,-4.15349390241e-05,1793244375043797504
+66,1.100000000,BASELINE,765.367678665,744.632321335,714,679,658,634,879,786,805,652,631,652,0.400925891697,-0.015437430481,0.0599285244998,0.99999997284,-9.65515124013e-05,-0.00020794581961,-4.19010791934e-05,1793244375060464128
+67,1.116666667,BASELINE,765.944640217,744.055359783,714,679,658,634,879,786,805,652,631,652,0.400925595669,-0.0154367394969,0.0599279688097,0.99999997251,-9.85156096953e-05,-0.00020848989336,-4.24986107213e-05,1793244375077130752
+68,1.133333333,BASELINE,765.482965277,744.517034723,714,679.517034723,658,634,878.482965277,786,805,652,631,652,0.400924120775,-0.0154379568533,0.0599270290457,0.99999997208,-9.94489030286e-05,-0.000210144986499,-4.22984915663e-05,1793244375093797888
+69,1.150000000,BASELINE,765,745,714,680,658.092320835,634,878.092320835,786.092320835,805,652,631,652,0.400922729002,-0.0154389828469,0.05992616861,0.999999971732,-0.000100018445348,-0.000211566563057,-4.20877517346e-05,1793244375110465024
+70,1.166666667,BASELINE,765,745,714,680,658.685940058,634,878.685940058,786.685940058,805,652,631,652,0.400922467962,-0.0154378699637,0.0599259602672,0.999999971908,-9.92068909448e-05,-0.000211079868094,-4.22790317297e-05,1793244375127131648
+71,1.183333333,BASELINE,765.272669959,745,714.272669959,680,658.727330041,634,879,787,805.272669959,652,631,652,0.400923076478,-0.0154373195935,0.0599260381656,0.999999972049,-9.85063013221e-05,-0.000210740458176,-4.22743521361e-05,1793244375143798016
+72,1.200000000,BASELINE,765.851660395,745,714.851660395,680,658.148339605,634,879,787,805.851660395,652,631,652,0.400924661864,-0.0154374011568,0.0599264376305,0.999999972152,-9.79303706693e-05,-0.000210566509858,-4.20495293762e-05,1793244375160464384
+73,1.216666667,BASELINE,765.573815735,744.573815735,714.573815735,679.573815735,658.852368531,634,879,786.573815735,805.573815735,652,631,652,0.400924255174,-0.0154377464789,0.0599266942756,0.999999972052,-9.86956270138e-05,-0.000210649087354,-4.22123743074e-05,1793244375177131008
+74,1.233333333,BASELINE,765.000830428,744.000830428,714.000830428,679.000830428,659.998339145,634,879,786.000830428,805.000830428,652,631,652,0.400923162304,-0.0154381826538,0.0599269017258,0.999999971882,-9.9922861144e-05,-0.000210820026305,-4.25087530907e-05,1793244375193797376
+75,1.250000000,BASELINE,765,744,714,679,658.822411754,634,879,786,805,652,631,652,0.400923328876,-0.0154382656827,0.0599266162013,0.999999971855,-9.95963418152e-05,-0.00021114914075,-4.22763481779e-05,1793244375210464256
+76,1.266666667,BASELINE,765,744,714,679.175316023,658,634,879,786,805,652,631,652,0.400923619831,-0.0154383133015,0.0599266191192,0.999999971894,-9.95243254765e-05,-0.000211030137974,-4.21209644563e-05,1793244375227130880
+77,1.283333333,BASELINE,765,744,714,679.754632452,658,634,879,786,805,652,631,652,0.400924193206,-0.0154382805021,0.059927288376,0.999999972083,-0.000100043985718,-0.000209877959288,-4.21448379179e-05,1793244375243797760
+78,1.300000000,BASELINE,765,744.33274455,714,680,658.33274455,634,879,786.33274455,805,652,631,652,0.400924163515,-0.0154383948785,0.059927283393,0.999999972038,-0.00010041984416,-0.000209937637093,-4.20175238221e-05,1793244375260464640
+79,1.316666667,BASELINE,765,744.909971746,714,680,658.909971746,634,879,786.909971746,805,652,631,652,0.400923690726,-0.0154386173918,0.0599267830151,0.999999971821,-0.000100690044817,-0.000210887721363,-4.17791253089e-05,1793244375277131776
+80,1.333333333,BASELINE,764.514014353,745,714,679.514014353,659,634,879,787,805,652,631,652,0.400923217544,-0.0154380403165,0.0599259006241,0.999999971735,-9.96498293251e-05,-0.000211751183401,-4.19739693249e-05,1793244375293798144
+81,1.350000000,BASELINE,764.063100294,745,714,679.063100294,658.936899706,634,879,786.936899706,805,652,631,652,0.400922950671,-0.0154376237476,0.0599252289334,0.99999997172,-9.85921477074e-05,-0.000212280772671,-4.21542610644e-05,1793244375310464512
+82,1.366666667,BASELINE,764.651239104,745,714,679.651239104,658.348760896,634,879,786.348760896,805,652,631,652,0.400924401032,-0.0154397721201,0.059926897785,0.999999972112,-9.94039808532e-05,-0.000210165493777,-4.15473308507e-05,1793244375327131136
+83,1.383333333,BASELINE,765,745,714,680.235884114,658.235884114,634,878.764115886,786,805,652,631,652,0.400924670092,-0.0154402993926,0.0599272728249,0.999999972239,-9.90452088781e-05,-0.000209779982596,-4.12851000945e-05,1793244375343797760
+84,1.400000000,BASELINE,765,745,714,680.81543893,658.81543893,634,878.18456107,786,805,652,631,652,0.400923218059,-0.0154384648083,0.0599257628498,0.999999971981,-9.69809271581e-05,-0.000211914651348,-4.15250781614e-05,1793244375360464640
+85,1.416666667,BASELINE,765,744.608553241,714,680.608553241,658.608553241,634,878.391446759,786,805,652,631,651.608553241,0.400924201248,-0.015438054113,0.0599262366017,0.999999972175,-9.68873220161e-05,-0.000211002887155,-4.17215312015e-05,1793244375377131520
+86,1.433333333,BASELINE,765,744.034202778,714,680.034202778,658.034202778,634,878.965797222,786,805,652,631,651.034202778,0.400926322297,-0.0154383087306,0.0599276372512,0.999999972577,-9.77145166667e-05,-0.000208667675436,-4.18976471354e-05,1793244375393798656
+87,1.450000000,BASELINE,765,744,714,679.460484455,658.539515545,634,879,786.539515545,805,652,631,651.539515545,0.400925515573,-0.0154377670797,0.0599272987704,0.999999972471,-9.69615351469e-05,-0.000209468282953,-4.21789112001e-05,1793244375410465024
+88,1.466666667,BASELINE,765,744,714,679.117125841,658.882874159,634,878.882874159,786.882874159,805,652,631,652,0.400924545279,-0.0154372044632,0.0599268133705,0.99999997235,-9.62904770374e-05,-0.000210308169523,-4.23998210383e-05,1793244375427131136
+89,1.483333333,BASELINE,765,744,714,679.710731898,658.289268102,634,878.289268102,786.289268102,805,652,631,652,0.400923663747,-0.0154367616732,0.0599261782833,0.999999972306,-9.63597408464e-05,-0.000210500069322,-4.23481176772e-05,1793244375443797504
+90,1.500000000,BASELINE,765,744,714,680,658,634,878.29659834,786,805,652,631,652,0.400923712558,-0.0154367768057,0.0599265168292,0.999999972391,-9.6297020727e-05,-0.000210132076617,-4.22932215203e-05,1793244375460464128
+91,1.516666667,BASELINE,765,744,714,680,658,634,878.875108375,786,805,652,631,652,0.400924645644,-0.0154372271857,0.0599277807971,0.999999972601,-9.6108852117e-05,-0.000209231915568,-4.22352906685e-05,1793244375477130752
+92,1.533333333,BASELINE,765,744,714,679.548826807,658.451173193,634,878.548826807,786,804.548826807,652,631,652,0.400923224921,-0.0154389829537,0.0599263963504,0.999999971942,-9.82561144216e-05,-0.000211380349691,-4.21804586151e-05,1793244375493797376
+93,1.550000000,BASELINE,765,744.027137754,714,679,658.972862246,634,878.027137754,786.027137754,804.027137754,652,631,652,0.400921344942,-0.0154408824388,0.0599244478184,0.999999971127,-0.00010071841676,-0.000214074949089,-4.21133028947e-05,1793244375510464256
+94,1.566666667,BASELINE,765,744.614938876,714,679,658.385061124,634,878.614938876,786.614938876,804.614938876,652,631,652,0.400923365584,-0.0154383258641,0.0599259099171,0.999999972281,-9.64051336306e-05,-0.000210712403636,-4.17739150842e-05,1793244375527130880
+95,1.583333333,BASELINE,764.800395927,744.800395927,714,679,658.199604073,634.199604073,879,787,805,652,631,652,0.400924561677,-0.0154370551764,0.0599269157173,0.999999972817,-9.50142613121e-05,-0.000208830982636,-4.1574872637e-05,1793244375543797504
+96,1.600000000,BASELINE,764.221686646,744.221686646,714,679,658.778313354,634.778313354,879,787,805,652,631,652,0.400924191715,-0.0154382267554,0.0599270548763,0.999999972215,-9.9173882013e-05,-0.000209762639911,-4.16423861079e-05,1793244375560464640
+97,1.616666667,BASELINE,764.354285141,744,714,679,658.645714859,634.645714859,878.645714859,787,805,652,630.645714859,652,0.400924586636,-0.015439413939,0.0599272485397,0.99999997212,-0.000100904091681,-0.000209398592033,-4.15940737242e-05,1793244375577131264
+98,1.633333333,BASELINE,764.928557097,744,714,679,658.071442903,634.071442903,878.071442903,787,805,652,630.071442903,652,0.400925456497,-0.0154406108118,0.0599274760465,0.999999972347,-0.00010112580319,-0.000208229999917,-4.14738414118e-05,1793244375593797632
+99,1.650000000,BASELINE,765.515934587,744,714,679,658,634,878.515934587,787,805,652,630.515934587,652,0.400924290524,-0.0154404907462,0.0599265586789,0.999999972009,-0.00010079297102,-0.000209960086028,-4.17147155604e-05,1793244375610464000
+100,1.666666667,BASELINE,765.896636427,744,714,679,658,634,878.896636427,786.896636427,804.896636427,651.896636427,631,652,0.400923271157,-0.0154402869936,0.0599257992578,0.999999971715,-0.00010037032536,-0.00021151351209,-4.19213705508e-05,1793244375627130624
+101,1.683333333,BASELINE,765.31754059,744,714,679,658,634,878.31754059,786.31754059,804.31754059,651.31754059,631,652,0.400924257838,-0.0154405592609,0.0599265154594,0.999999972014,-9.98969467634e-05,-0.000210358313981,-4.173439165e-05,1793244375643797248
+102,1.700000000,BASELINE,765.260674366,744.260674366,714,679.260674366,658.260674366,634,878,786,804.260674366,651.260674366,631,652,0.400924784004,-0.0154402243127,0.0599270003227,0.999999972177,-9.94412653458e-05,-0.000209827757455,-4.15806924225e-05,1793244375660464128
+103,1.716666667,BASELINE,765.837819849,744.837819849,714,679.837819849,658.837819849,634,878,786,804.837819849,651.837819849,631,652,0.400924751082,-0.0154391521759,0.0599272043301,0.999999972177,-9.90070691819e-05,-0.000210055545692,-4.146739632e-05,1793244375677131008
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+105,1.750000000,BASELINE,765.009133287,744.009133287,714,679.009133287,658.009133287,634,878.990866713,786.990866713,805,652,631,652,0.400922296265,-0.0154398096275,0.0599248251432,0.999999971463,-9.90797833469e-05,-0.000213376482781,-4.1558528596e-05,1793244375710464768
+106,1.766666667,BASELINE,765,744,714,679,658.578862847,634,879,787,805,652,631,652,0.400922839389,-0.0154398316324,0.0599253424855,0.99999997156,-0.000100073176565,-0.000212434691579,-4.16705379956e-05,1793244375727131136
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,635,879,786,805,652,631,652,0.400922633867,-0.0154391154285,0.0599260038597,0.999999971886,-9.79384534402e-05,-0.000211888870898,-4.17092038409e-05,1793244375767873792
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.578349356,714,679.421650644,658,634.421650644,879,786,805,652,631,652,0.400924672808,-0.0154376958823,0.0599270606422,0.99999997257,-9.62722790988e-05,-0.000209385588896,-4.18133849034e-05,1793244375784540160
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.155037462,634,879,786,804.844962538,652,631,652,0.400925697117,-0.0154368069593,0.0599275827525,0.999999972907,-9.53760210041e-05,-0.000208162039322,-4.19289693075e-05,1793244375801206272
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.727255542,634,879,786,804.272744458,652,631,652,0.400923991219,-0.0154373458563,0.0599266661472,0.999999972323,-9.65514820645e-05,-0.000210382041225,-4.20752382742e-05,1793244375817872896
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.690706412,634.309293588,879,786,804.309293588,652,630.690706412,651.690706412,0.400924697163,-0.0154384038067,0.0599269710881,0.99999997233,-9.74778004839e-05,-0.000209963675257,-4.18789242111e-05,1793244375834539776
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.099724906,634.900275094,879,786,804.900275094,652,630.099724906,651.099724906,0.400927599684,-0.0154399344827,0.0599283885474,0.999999972871,-9.81772131525e-05,-0.000207142425995,-4.1370603992e-05,1793244375851206400
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.52097853,714,679.47902147,658.47902147,635,879,786.47902147,805,652,630.47902147,651.47902147,0.400933392484,-0.0154400864394,0.0599298294404,0.999999973654,-9.8920692282e-05,-0.000202977250803,-4.13124906662e-05,1793244375867872768
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,714,680,658.944250348,635,879,786.944250348,805,652,631,652,0.400940870166,-0.0154399879735,0.0599316156954,0.999999974624,-9.95466127234e-05,-0.000197826293114,-4.13183316399e-05,1793244375884539392
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.36313512,635,879,786.36313512,805,652,631,652,0.400958696513,-0.0154401670996,0.0599366116946,0.999999976968,-9.89804014171e-05,-0.000185956588093,-4.10656107413e-05,1793244375901205504
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,714,680.219199054,658,635,878.780800946,786,804.780800946,652,630.780800946,652,0.400981456824,-0.0154411786184,0.0599414168185,0.999999979455,-9.88857099609e-05,-0.0001721993416,-4.07345371005e-05,1793244375917872128
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,680.803563823,658,635,878.196436177,786,804.196436177,652,630.196436177,652,0.401012436669,-0.0154435768276,0.0599459039612,0.999999982173,-9.95765278056e-05,-0.00015529762364,-4.02729349328e-05,1793244375934538752
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,680.231553526,658,634.615776763,878.384223237,786,804.384223237,652,630.384223237,652,0.401054020023,-0.0154452282178,0.0599518529441,0.99999998516,-0.000100069736899,-0.000134306334533,-4.0355038212e-05,1793244375951205376
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679.073987172,658,634.036993586,878.963006414,786,804.963006414,652,630.963006414,652,0.401100972701,-0.0154465014397,0.0599585421626,0.999999987937,-0.000100462882456,-0.000111244198981,-4.07124587233e-05,1793244375967872256
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.541679717,714,679,658,634.541679717,879,786,805,652,631,651.458320283,0.401152021705,-0.0154484680709,0.0599594825844,0.999999988568,-0.000101110934003,-0.000104660389069,-4.10626559005e-05,1793244375984538880
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.880452548,714,679.119547452,658,634.880452548,879,786,804.880452548,651.880452548,631,651.119547452,0.40120761389,-0.0154507315518,0.0599604769224,0.999999989045,-0.000101737072982,-9.92291575727e-05,-4.13869420331e-05,1793244376001205760
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.305623975,714,679.694376025,658,634.305623975,879,786,804.305623975,651.305623975,631,651.694376025,0.40127944302,-0.0154539452356,0.0599631714929,0.999999989501,-0.000102213475968,-9.39023976011e-05,-4.16144277153e-05,1793244376017872384
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.275176951,713.724823049,680,658,634,879,786,804.275176951,651.275176951,631,652,0.401360543462,-0.0154581777037,0.0599665466402,0.999999990037,-0.000103679380713,-8.61843940235e-05,-4.18135265622e-05,1793244376034538752
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.862758168,713.137241832,680,658,634,879,786,804.862758168,651.862758168,631,652,0.40145216948,-0.0154635667823,0.059970694436,0.999999990603,-0.000106268651929,-7.57516477606e-05,-4.19803982443e-05,1793244376051205376
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713.446338188,680,658,634.446338188,879,786.446338188,805,652,631,652,0.401563590443,-0.0154677358991,0.059972347191,0.999999990955,-0.000107284286262,-6.89821382818e-05,-4.26697551297e-05,1793244376067872000
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.971670722,714,679.971670722,658.028329278,634.971670722,879,786.971670722,805,651.971670722,631,651.971670722,0.401681884431,-0.0154717629937,0.0599730717852,0.999999991192,-0.000108058936327,-6.36045943528e-05,-4.35227873695e-05,1793244376084538624
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.396809014,714,679.396809014,658.603190986,634.396809014,879,786.396809014,805,651.396809014,631,651.396809014,0.401816393038,-0.0154802227197,0.0599705593111,0.999999990559,-0.00011343639689,-6.35437078452e-05,-4.44616108439e-05,1793244376101205504
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.177873496,714,679,658.822126504,634,879,786,805,651.177873496,631,651.177873496,0.401961560624,-0.0154884981606,0.0599684215866,0.999999989985,-0.000118466866172,-6.2680657997e-05,-4.54610456151e-05,1793244376117872384
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.752156568,714,679,658.247843432,634,879,786,805,651.752156568,631,651.752156568,0.402130482831,-0.0154963629019,0.0599671190311,0.999999989582,-0.000122724028603,-6.00299037747e-05,-4.65955588374e-05,1793244376134539520
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.6634051,714,679.3365949,658,634,879.3365949,786.3365949,805,652,631,652,0.40231984606,-0.0155043640967,0.0599672895581,0.99999998935,-0.000126803017621,-5.45038322148e-05,-4.74460838176e-05,1793244376151206144
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.071256507,714,679.928743493,658,634,879.928743493,786.928743493,805,652,631,652,0.402524728789,-0.0155124688922,0.0599685784966,0.999999989202,-0.000130746732084,-4.6794726802e-05,-4.80809958915e-05,1793244376167872768
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.508155911,714,679.491844089,658,634,879.491844089,786.491844089,804.491844089,652,631,651.491844089,0.402769596797,-0.0155237162453,0.0599719187981,0.999999987,-0.000149921144263,-3.46658292901e-05,-4.8183421397e-05,1793244376184539136
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.914570093,714,679.085429907,658,634,879,786,804.085429907,652,631,651.085429907,0.4030223504,-0.0155352416749,0.0599747318914,0.999999983995,-0.000170607898368,-2.39286915853e-05,-4.82747489309e-05,1793244376201205504
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.339566089,714,679.660433911,658,634,879,786,804.660433911,652,631,651.660433911,0.403288947936,-0.0155458970943,0.0599729155537,0.999999980834,-0.000188021435384,-2.46321932071e-05,-4.87199172173e-05,1793244376217871872
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.241077156,714,679.758922844,658.241077156,634,879,786,804.758922844,652,630.758922844,651.758922844,0.403562685462,-0.0155544052472,0.0599667443254,0.99999997898,-0.000196251269224,-3.26658641328e-05,-4.95832665211e-05,1793244376234538496
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.829853699,714,679.170146301,658.829853699,634,879,786,804.170146301,652,630.170146301,651.170146301,0.403846720798,-0.0155598164523,0.0599542921503,0.999999979097,-0.00019123568292,-5.12716498526e-05,-5.10497475384e-05,1793244376251205120
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.588089856,714,679,659,634.411910144,879,786,804.411910144,652,630.411910144,651.411910144,0.404166480557,-0.0155575930642,0.0599444808115,0.999999980187,-0.000179840493878,-6.76828286361e-05,-5.19900844087e-05,1793244376267872000
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.008764714,714,679,659,634.991235286,879,786,804.991235286,652,630.991235286,651.991235286,0.404500759991,-0.0155522667044,0.0599357428031,0.999999981396,-0.000165852406439,-8.32020402831e-05,-5.27165774503e-05,1793244376284539136
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.567288553,714,679,659,634.432711447,879,786,805,652,631,651.432711447,0.404888720082,-0.0155468364134,0.0599279138748,0.999999980183,-0.000166174165852,-9.5687633877e-05,-5.35176878752e-05,1793244376301206016
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.856941556,745,714,679.143058444,659,634,879,786,805,652,631,651.143058444,0.405292892282,-0.0155442087732,0.0599269219274,0.999999979932,-0.000166509757258,-9.75843561918e-05,-5.37352304661e-05,1793244376317872640
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.281875731,745,714,679.718124269,659,634,879,786,805,652,631,651.718124269,0.4057435315,-0.0155500493907,0.0599465341008,0.999999982535,-0.000166223300735,-6.76455663835e-05,-5.21870554089e-05,1793244376334538752
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.301036377,745,714,680,658.698963623,634,879,786.301036377,805,652,631,652,0.406216345939,-0.0155563924679,0.0599696029038,0.999999984667,-0.000165263515957,-2.87741702319e-05,-5.02519051438e-05,1793244376351205376
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.891492046,745,714,680,658.108507954,634,879,786.891492046,805,652,631,652,0.406710479906,-0.0155632186154,0.0599959949466,0.999999985284,-0.000163656386657,1.86851238219e-05,-4.79447129259e-05,1793244376367872256
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.52711413,714,680,658.47288587,634.47288587,879,787,805,652,631,652,0.407225992318,-0.0155636707431,0.0600100936852,0.999999985323,-0.000160893698163,3.53079122671e-05,-4.7113859062e-05,1793244376384538880
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.051888863,714,680,659,635,879,786.948111137,805,652,631,652,0.407747475841,-0.0155625220651,0.0600191748058,0.999999985516,-0.000158423908778,4.10709552869e-05,-4.6718272943e-05,1793244376401205248
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.627354525,714,680,659,635,879,786.372645475,805,652,631,652,0.40828064301,-0.0155597011202,0.0600055541976,0.999999985805,-0.000161534757516,7.30938723016e-06,-4.736076193e-05,1793244376417871872
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.793914153,879,786,805,652,630.793914153,652,0.408820176568,-0.0155578401349,0.0599921812574,0.999999985833,-0.000159427287978,-2.38326467275e-05,-4.84620851641e-05,1793244376434538496
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.209182806,879,786,805,652,630.209182806,652,0.409371407185,-0.0155577429021,0.0599792633631,0.999999986559,-0.000147732101644,-5.01617581267e-05,-5.04064334255e-05,1793244376451205120
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.626584246,714,680,659,634,879,786,805,652,630.373415754,652,0.409990391626,-0.0155598477446,0.0599817815686,0.999999986592,-0.000150592552955,-3.87157254276e-05,-5.13697704952e-05,1793244376467871744
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.045173681,714,680,659,634,879,786,805,652,630.954826319,652,0.410647115336,-0.0155631791563,0.0599928977744,0.999999985589,-0.000161560581909,-6.22871030504e-06,-5.17866783567e-05,1793244376484538368
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.532737471,744.532737471,714,680,659,634,879,786.532737471,805,652,631,652,0.411315474319,-0.015563234734,0.0599932258416,0.9999999866,-0.000155196058063,-3.44663212001e-06,-5.19881771496e-05,1793244376501204992
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.89020982,745,714,680,659,634,879,786.89020982,805,651.89020982,631,652,0.41198354878,-0.0155625057128,0.0599874838014,0.999999987552,-0.000148140195499,-1.38149018415e-05,-5.25266513901e-05,1793244376517871616
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.315543871,745,714,680,659,634,879,786.315543871,805,651.315543871,631,652,0.412646268034,-0.0155596230155,0.0599598877127,0.999999985695,-0.000144339563469,-6.92689076795e-05,-5.45687898961e-05,1793244376534538496
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651,631,652,0.413319840744,-0.0155571621361,0.0599351003176,0.999999981496,-0.000142529872922,-0.000116065450208,-5.67632615965e-05,1793244376551205120
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,786,805,651,631,652,0.414006630256,-0.015555214922,0.0599137331844,0.999999976405,-0.000143144636065,-0.000152319439865,-5.91432362691e-05,1793244376567871744
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.4365915,744.5634085,714,680,659,634,879,786.4365915,805,651,630.5634085,652,0.414801606983,-0.0155606566377,0.0599448257344,0.999999983257,-0.000145723160925,-9.50398113921e-05,-5.67367998685e-05,1793244376584538368
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.984148783,744.015851217,714,680,659,634,879,786.984148783,805.015851217,651.015851217,630.015851217,652,0.415631242848,-0.015568435108,0.0599924164923,0.999999987491,-0.000148858793372,-8.5682838716e-06,-5.27813666766e-05,1793244376601204992
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.410884864,744.589115136,714,680,659,634,879,786.410884864,805.589115136,651.589115136,630.589115136,652,0.416434989943,-0.0155733769338,0.0600166252312,0.999999987278,-0.000148992321671,2.83447772151e-05,-4.94224684565e-05,1793244376617871872
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.164024006,879,786,806,652,631,652,0.417242411116,-0.0155755807003,0.0600281361299,0.999999986855,-0.000147772480534,4.64853658311e-05,-4.78806640513e-05,1793244376634538496
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.743095235,879,786,806,652,631,652,0.418059129146,-0.0155708560666,0.0600075163444,0.999999988313,-0.000143128066461,1.71239871316e-05,-5.09368439159e-05,1793244376651205120
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.327761747,745.327761747,714,680,659,635,879,786,805.672238253,652,631,652,0.418865614879,-0.0155706324025,0.0599877126276,0.999999987952,-0.000144813969196,-1.54959969705e-05,-5.37016551458e-05,1793244376667871744
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.916890067,745.916890067,714,680,659,635,879,786,805.083109933,652,631,652,0.419663941048,-0.0155739979405,0.0599685596683,0.99999998565,-0.000151547847425,-5.07144846287e-05,-5.62341205351e-05,1793244376684538112
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.50256851,745.50256851,714,680,659,634.50256851,879,786.49743149,805.49743149,651.50256851,631,652,0.420466253269,-0.0155738709687,0.059941581561,0.999999982681,-0.000152445731812,-8.89814853165e-05,-5.89962249892e-05,1793244376701204992
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.076134472,745,714,679.923865528,659,634,879,787,806,651,631,652,0.421273111309,-0.0155731441679,0.0599149005927,0.999999978383,-0.000151923927251,-0.00012787820486,-6.16468196848e-05,1793244376717871616
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.652027051,745,714,679.347972949,659,634,879,787,806,651,631,652,0.422105510997,-0.0155722453275,0.059898606513,0.999999972939,-0.000148374945563,-0.000167621828352,-6.3317869347e-05,1793244376734538240
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.767947727,744.767947727,714.232052273,679.232052273,659,634,879,786.767947727,806,651.232052273,631,652,0.422990225408,-0.0155740036962,0.0599143605284,0.999999976759,-0.000145882419264,-0.000146143226879,-6.19809528198e-05,1793244376751205120
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.181612967,744.181612967,714.818387033,679.818387033,659,634,879,786.181612967,806,651.818387033,631,652,0.4239548107,-0.0155798189206,0.0599790435119,0.99999998743,-0.000145002819518,-3.11944740289e-05,-5.60516667353e-05,1793244376767871744
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.399668038,744,714.600331962,680,659.399668038,634,879,786.399668038,806,652,631,652,0.424878468277,-0.0155838221772,0.0600179545665,0.999999987154,-0.000147498404831,3.35744594954e-05,-5.29954636503e-05,1793244376784538368
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.978681209,744,714.021318791,680,659.978681209,634,879,786.978681209,806,652,631,652,0.425783760087,-0.0155870123397,0.0600453008446,0.999999984336,-0.000151508555018,7.58259328088e-05,-5.12285146417e-05,1793244376801204992
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,744,714,680.556687278,660,634,879,787,805.443312722,651.443312722,631,652,0.426660066324,-0.0155869767021,0.0600262460857,0.999999984523,-0.00015659436161,5.90492237626e-05,-5.42756814335e-05,1793244376817871616
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.866206753,744.133793247,714,681,660,634,879.133793247,787,805.267586495,651,631,652,0.427530705582,-0.0155872924281,0.060005175591,0.999999984766,-0.000160921149439,3.61195936701e-05,-5.71729330778e-05,1793244376834538240
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.291937389,744.708062611,714,681,660,634,879.708062611,787,806.416125223,651,631,652,0.428386335731,-0.015589170887,0.0599833084495,0.99999998504,-0.000162613712431,3.6194471732e-07,-5.89707734639e-05,1793244376851204864
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.289658029,745,714,680.710341971,660,634,880,787,806.710341971,651,631,652,0.429223310794,-0.0155867375349,0.0599564399651,0.999999984186,-0.000160475590043,-4.65604532565e-05,-6.0889630376e-05,1793244376867871744
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.878828709,745,714,680.121171291,660,634,880,787,806.121171291,651,631,652,0.430040996043,-0.0155798456772,0.0599243999855,0.999999980588,-0.000154376455975,-0.000105027440275,-6.29336207788e-05,1793244376884538368
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680.462631518,660,634,880,787,806,651.462631518,631.462631518,652,0.430946670778,-0.0155812217748,0.0599365009678,0.999999983279,-0.000154535945087,-7.52096880053e-05,-6.24887041786e-05,1793244376901204992
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.955613797,745,714,681,660.044386203,634,880,787,806.044386203,651.955613797,632,652,0.431871703147,-0.0155848600697,0.0599612276339,0.999999985624,-0.000156541796114,-2.24035900228e-05,-6.11950750777e-05,1793244376917871616
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.381713093,745,714,681,660.618286907,634,880,787,806.618286907,651.381713093,632,652,0.432755887116,-0.0155899479796,0.0600002341338,0.999999984839,-0.000161242818365,3.19562794693e-05,-5.74641937175e-05,1793244376934538240
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.808134493,634,880,787,806.808134493,651,631.808134493,652,0.433618148413,-0.0155931953919,0.0600187711729,0.999999983532,-0.00016345373308,5.58085005126e-05,-5.57187551806e-05,1793244376951204864
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.235195538,634,880,787,806.235195538,651,631.235195538,652,0.434436868179,-0.0155927873028,0.0599966528236,0.999999985226,-0.00016071892517,1.90680017855e-05,-5.79167011067e-05,1793244376967871744
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.348826742,745,714,681,660,634,879.651173258,787,806,651,631,652,0.43524565483,-0.0155934367433,0.059970261333,0.999999984431,-0.000163309454141,-2.83715486165e-05,-6.05189796372e-05,1793244376984538624
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.940567121,745,714,681,660,634,879.059432879,787,806,651,631,652,0.436047524275,-0.0155948226192,0.0599408941421,0.99999998014,-0.000169608405511,-8.32616308891e-05,-6.34028243666e-05,1793244377001205248
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.479103329,745,714,681,660,634,879,787,806,651,631,652,0.436831131659,-0.0155900893237,0.0599322057957,0.999999979823,-0.000164153024877,-9.63631043243e-05,-6.41952355747e-05,1793244377017871616
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681.098967929,660,634,879.098967929,787,806,651.098967929,631,652,0.437605127076,-0.0155852338732,0.0599250235939,0.999999979513,-0.000157955757154,-0.000108796359342,-6.47022378821e-05,1793244377034538496
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.424358931,745,714,681.575641069,660,634,880,786.575641069,806,652,631,651.575641069,0.440680555869,-0.0155996151368,0.0599936783568,0.99999998177,-0.00018035721671,-1.92326825963e-05,-5.96715740824e-05,1793244377101204992
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,713.63886787,681.63886787,659,633,880,786,806.63886787,651.63886787,631,652,0.445997602798,-0.0156375903166,0.0597908491118,0.999999907819,-0.000239356109928,-0.00034871282172,-7.39611327453e-05,1793244377251205120
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.781486859,659,633,880,785.781486859,807,652,631,652,0.44647582199,-0.0156410720095,0.0597674382309,0.999999893053,-0.000247585448583,-0.000383199731699,-7.58484816307e-05,1793244377267871744
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.195007837,659,633,880,785.195007837,807,652,631,652,0.446947408061,-0.015648153432,0.0597592717425,0.999999888372,-0.000258248410513,-0.000388191374369,-7.6624404007e-05,1793244377284538368
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,785,806.626565247,651.626565247,630.626565247,652,0.447418831955,-0.015656051164,0.0597662741088,0.999999891648,-0.000264693072006,-0.000375335450211,-7.59320108952e-05,1793244377301204992
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,785,806.067107294,651.067107294,630.067107294,652,0.447890175104,-0.015664355534,0.0597808327045,0.999999898521,-0.000269036425513,-0.000353588919673,-7.45081895233e-05,1793244377317871616
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.877203079,745.122796921,713.877203079,682,659,633,879.122796921,784.122796921,806,651,630,651.122796921,0.448680927575,-0.0156735409928,0.0597615032907,0.999999882592,-0.000281897344806,-0.000387017980584,-7.46132043339e-05,1793244377351205120
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.448389176,713.448389176,681,658.448389176,632,880.103221649,784,806.448389176,651,630,652.448389176,0.449886222541,-0.0156774130679,0.0596585676453,0.999999807294,-0.00029255655558,-0.000541414778902,-8.18084574744e-05,1793244377417871872
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.398468537,714,681.601531463,658.398468537,632,879.601531463,784.601531463,807,651.601531463,630,651.796937074,0.450444157994,-0.0156821253779,0.0596662073601,0.999999814592,-0.000299762423547,-0.000523863563658,-8.07792257528e-05,1793244377451205120
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.350251514,632,879.824874243,784.824874243,807,651.824874243,630,651.175125757,0.450690546503,-0.0156842003723,0.0596734069366,0.999999819771,-0.0003024821571,-0.000512428305483,-7.98696156782e-05,1793244377467871744
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.501311846,632,879.249344077,784.249344077,807,651.249344077,630,651.750655923,0.450904982674,-0.0156862333981,0.0596747422408,0.999999820504,-0.000303646808636,-0.00051036263864,-7.94962299875e-05,1793244377484538624
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,713.662494336,682,659.324988673,632,879.675011327,784,807,651,630,652,0.451095903759,-0.0156880456989,0.0596708015493,0.99999981693,-0.000306766480613,-0.000515494969586,-7.93716669106e-05,1793244377501204992
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713.066991592,682,658.133983184,632,880.866016816,784,807,651,630,652,0.451268849395,-0.0156896892726,0.0596628277655,0.99999980996,-0.000311380615208,-0.000526129615085,-7.94373095069e-05,1793244377517871616
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.49062965,745,713.50937035,681.49062965,658.50937035,632,881,784,807,651.50937035,630,652,0.45143191667,-0.0156904900397,0.0596641518418,0.999999811947,-0.00030991911956,-0.000523343789913,-7.85351528995e-05,1793244377534538496
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.083601462,745,714,681.083601462,659,632,880.916398538,784,806.916398538,651.916398538,629.916398538,652,0.4515894813,-0.0156916676214,0.0596671683919,0.999999815107,-0.000308780721171,-0.000518093377421,-7.75902507001e-05,1793244377551205120
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+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.166275447,632,880,784,806,651,629,652,0.451932791285,-0.0156976094714,0.0596711423517,0.99999981686,-0.000315065690368,-0.000511032927859,-7.65437608408e-05,1793244377601204992
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.416679952,632,880,784,806.416679952,651.416679952,629.416679952,652,0.452014397686,-0.0156976270986,0.0596675274307,0.999999814757,-0.000315100362902,-0.000515133504553,-7.63851291171e-05,1793244377617871616
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.996204278,632,880,784,806.996204278,651.996204278,629.996204278,652,0.452091159214,-0.0156977802408,0.0596640645016,0.999999812828,-0.000315744319026,-0.000518493534005,-7.62455149844e-05,1793244377634538496
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+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.279713365,632,880.720286635,783.720286635,806.279713365,651.279713365,629.279713365,652,0.452239416151,-0.0156987071298,0.0596556129203,0.999999806583,-0.000315852710605,-0.000530345310088,-7.61933936461e-05,1793244377684538880
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,880,784,806.948131292,651,629.051868708,652,0.452344819526,-0.0156964847465,0.0596582911721,0.999999809833,-0.000311892189128,-0.00052674089633,-7.48469268751e-05,1793244377751206400
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,880,783.79112575,806.20887425,651.20887425,630,652,0.452361206318,-0.0156960888611,0.0596555477922,0.999999806149,-0.000315370724754,-0.000531546595949,-7.55098155829e-05,1793244377784539392
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,880,783,807,651.041167148,630,652,0.452373180817,-0.0156968953463,0.0596545167583,0.999999805826,-0.00031153916743,-0.000534604213759,-7.40985647519e-05,1793244377834538496
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659,632,880,783,807,651.112657417,629.112657417,652,0.452376214856,-0.0156959130381,0.0596542563921,0.999999806711,-0.000310394368836,-0.000533621657829,-7.40387554825e-05,1793244377867872000
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.731206501,658.731206501,632,879.731206501,783,807,651.731206501,630,652,0.452376729836,-0.0156941076377,0.0596538126847,0.999999805367,-0.000312007204407,-0.000535162154112,-7.42854346551e-05,1793244377901206272
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.142069226,658.142069226,632,879.142069226,783,807,651.142069226,630,652,0.452376625458,-0.0156932014546,0.0596528659902,0.999999805409,-0.000311011354933,-0.000535642750824,-7.44297342035e-05,1793244377917872640
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+256,4.266666667,HOLD_POSE2,766,745,714,682.393470625,658.606529375,632,880,783.393470625,807,651.606529375,629.606529375,652,0.452381088049,-0.0156897166089,0.0596500223549,0.999999806325,-0.000303670381407,-0.000538400807712,-7.25200823816e-05,1793244378278152704
+257,4.283333333,HOLD_POSE2,766,745,714,682.972392944,658.027607056,632,880,783.972392944,807,651.027607056,629.027607056,652,0.452380016558,-0.0156918029526,0.0596500537107,0.999999805987,-0.000303488794029,-0.000539219312803,-7.18610426618e-05,1793244378294819328
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+259,4.316666667,HOLD_POSE2,765,745,714,681.12767707,658.12767707,631.87232293,880,783,807,651.12767707,629,652,0.452379902566,-0.015688700516,0.0596498633453,0.999999805565,-0.000303229139719,-0.000540013625553,-7.28466370373e-05,1793244378328153088
+260,4.333333333,HOLD_POSE2,765,745,714,681.721458356,658.721458356,631.278541644,880,783,807,651.721458356,629,652,0.452381149629,-0.0156875689515,0.0596501119373,0.999999806149,-0.000302677585889,-0.000539216103767,-7.30319234668e-05,1793244378344819712
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+262,4.366666667,HOLD_POSE2,764.122042208,745,714,681.122042208,658.122042208,631.877957792,880,783,806.122042208,651.122042208,629,652,0.452383234236,-0.0156915343339,0.0596516015546,0.999999806006,-0.00030731731046,-0.000536938840274,-7.23944881678e-05,1793244378378152704
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.754415561,745,714,681,658,631.754415561,880,783,806,651,629,652,0.452381849569,-0.0156889286643,0.0596503565773,0.999999806522,-0.000302777562905,-0.00053860327129,-7.20315643106e-05,1793244378460607232
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.523552214,745,714,681.523552214,658,632,880.476447786,783,806.523552214,651.523552214,629,652,0.452381771201,-0.015689818305,0.0596508110403,0.999999806683,-0.000303678968821,-0.000537770488873,-7.22150094319e-05,1793244378510607360
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,745,714,682.300267526,658,632,880.349866237,783,806.650133763,651,629,652,0.45238010231,-0.0156884431309,0.05965001419,0.999999805923,-0.000305411334205,-0.000538151466437,-7.26052355109e-05,1793244378543940352
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.237520682,745,714,682.762479318,658.237520682,632,880,783,807,651,629,652,0.452372336664,-0.015688550373,0.0596462884722,0.999999802834,-0.000305969127217,-0.000543575511881,-7.23951028661e-05,1793244378560606720
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.610862924,659,632,880,783,807,651,629,652,0.45232139325,-0.0156862524768,0.0596238017178,0.999999782982,-0.000303204800921,-0.000580211487534,-7.38710420079e-05,1793244378593940224
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.261611305,745,714,681.261611305,658,632,880,783.261611305,807,651.261611305,630,652,0.449742035801,-0.01555162674,0.0595440064855,0.999999723536,-0.000230147259553,-0.000703977427427,-6.61511686748e-05,1793244378877273600
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.834859573,745,714,681.834859573,658,632,880,783.834859573,807,651.834859573,630,652,0.449415549885,-0.0155395244984,0.059544198755,0.999999726013,-0.000223209665838,-0.000702829639988,-6.4660770639e-05,1793244378893940224
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.165591426,632.165591426,880,784.165591426,806.834408574,651.834408574,630,652,0.447934988677,-0.015540461129,0.0595736986227,0.999999762148,-0.000215346908338,-0.000653180223846,-5.18218475258e-05,1793244378960607232
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.992053888,745,714,681,659,634,880.992053888,786,806,651,631,652,0.4374364436,-0.0154105306782,0.0598414658097,0.999999955101,0.00014716762214,-0.00025930346581,3.0034458779e-05,1793244379243940608
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.396424537,745,714,681,659,634,880.396424537,786,806,651,631,652,0.436553790776,-0.015394254674,0.0597880538317,0.999999924932,0.000160958951312,-0.000351839629023,2.08935878975e-05,1793244379260606976
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.192541898,745,714,681,659.192541898,634,879.807458102,786,806,651,631,651.807458102,0.435690379002,-0.0153813043821,0.0597484548671,0.999999902504,0.000162811073439,-0.000410314767839,1.1242540643e-05,1793244379277273856
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.768248864,745,714,681,659.768248864,634,879.231751136,786,806,651,631,651.231751136,0.434865257639,-0.0153749723744,0.0597363442826,0.999999909669,0.000140903760086,-0.000401007283847,5.76225522054e-07,1793244379293940224
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,744.656730286,713.656730286,681,660,634,879,786,806,651,631,651.343269714,0.434026809745,-0.0153727888928,0.0597452380377,0.999999919443,0.000141953501176,-0.000375450868551,-4.6270355834e-08,1793244379310606848
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,744.082171751,713.082171751,681,660,634,879,786,806,651,631,651.917828249,0.433179382714,-0.0153734006121,0.0597682841311,0.999999929983,0.000158471284136,-0.00033894622215,6.09857490659e-06,1793244379327273728
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.509528081,744.490471919,713.490471919,681,660,634,879.490471919,786,806,651,630.509528081,652,0.432292737541,-0.01537401737,0.0597838840658,0.999999933136,0.000168704544406,-0.000324267733013,1.08701952929e-05,1793244379343940096
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.065308575,744.934691425,714,681,659.934691425,634,880,786.065308575,805.934691425,651,630,652,0.431404274106,-0.0153747893136,0.0597992319531,0.999999936378,0.000176558698874,-0.000309590951134,1.49596303906e-05,1793244379360606976
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.660531737,744.339468263,714,681,659.339468263,634,880,786.660531737,805.339468263,651,630,652,0.430554163182,-0.0153768136126,0.059822617585,0.999999949599,0.000173618647339,-0.000265373154411,1.53732914249e-05,1793244379377273856
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.751535039,744.248464961,714,681,659,634,880,787,805,651,630.248464961,651.751535039,0.429662483565,-0.0153758912237,0.0598269873475,0.999999950521,0.000173454636357,-0.000261982118409,1.53917177524e-05,1793244379393940480
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.173277806,744.826722194,714,681,659,634,880,787,805,651,630.826722194,651.173277806,0.42871562891,-0.0153710576398,0.0598061169877,0.999999935313,0.000176975316453,-0.000312781212704,1.4885541593e-05,1793244379410607360
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.402771468,744.597228532,714,681,659,634,879.597228532,786.597228532,805.402771468,651,631,651.402771468,0.427782295723,-0.0153696949171,0.0597734396436,0.999999919521,0.000179336304743,-0.000358684152419,1.18909481696e-05,1793244379427273728
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.977875993,744.022124007,714,681,659,634,879.022124007,786.022124007,805.977875993,651,631,651.977875993,0.426854747996,-0.0153698172654,0.0597357104689,0.999999902552,0.000181201097542,-0.000402492180454,7.83164043722e-06,1793244379443940096
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.431384232,744,714,680.431384232,659,634,879.568615768,786.568615768,806,651.568615768,631,651.431384232,0.425971779498,-0.0153713772997,0.0597634852205,0.999999919594,0.000180085837384,-0.000358128622473,1.11937135077e-05,1793244379460606976
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744,713.843423794,680,659,634,879.843423794,786.843423794,806,651.843423794,631,651.156576206,0.425084722906,-0.0153720773059,0.0597927116276,0.999999933056,0.000180953484447,-0.000317682440281,1.4863447376e-05,1793244379477273600
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744,713.264644551,680,659,634,879.264644551,786.264644551,806,651.264644551,631,651.735355449,0.424181833632,-0.0153703031716,0.0598187856747,0.999999938055,0.000187489476723,-0.000297311487984,1.85621447631e-05,1793244379493940224
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.312303932,713.312303932,680,659,634,879.312303932,786,806,651,631,652,0.423301459236,-0.0153693119065,0.0598350737098,0.999999942846,0.00019484817825,-0.000275529227702,2.06380042103e-05,1793244379510607360
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744.887710051,713.887710051,680,659,634,879.887710051,786,806,651,631,652,0.422440052669,-0.015368980174,0.059843117463,0.999999947295,0.000202899975403,-0.000252558004135,2.1346694605e-05,1793244379527274752
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.472647009,745,713.527352991,680,659,634,879.527352991,786,805.527352991,651,631,651.527352991,0.421567318913,-0.015365550158,0.0598356637638,0.999999943367,0.000205988191889,-0.000265335139485,2.07692562097e-05,1793244379543941120
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.940906258,744.940906258,713.059093742,680,659,634,879,786,805.059093742,651,630.940906258,651,0.420680958927,-0.0153614812946,0.0598189735049,0.999999934311,0.000207880106641,-0.000296292431748,1.93708379876e-05,1793244379560607488
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.361513568,744.361513568,713.638486432,680,659,634,879,786,805.638486432,651,630.361513568,651,0.419698807081,-0.0153584019107,0.0597540430562,0.999999893432,0.000209835395678,-0.000411002879603,1.34896515503e-05,1793244379577273600
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634,879.215121144,786,806,651.215121144,630.215121144,651.215121144,0.418784667193,-0.0153580159254,0.0597197070905,0.999999871333,0.000207511809441,-0.00046278763968,1.00620327915e-05,1793244379593939968
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634,879.787179802,786,806,651.787179802,630.787179802,651.787179802,0.417983375277,-0.0153620989331,0.0597361346912,0.999999896206,0.000198088547666,-0.000410163633482,1.07054698844e-05,1793244379610606592
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.364256857,713.635743143,680.364256857,659,634,879.635743143,786,805.635743143,651.635743143,631,652,0.417193861447,-0.015363034371,0.0597713866174,0.999999917283,0.000199694738797,-0.000354050130935,1.43343291133e-05,1793244379627273472
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.944306878,713.055693122,680.944306878,659,634,879.055693122,786,805.055693122,651.055693122,631,652,0.416411325243,-0.0153621051244,0.0598177904555,0.999999934438,0.000207835002185,-0.000295869382433,1.97318130174e-05,1793244379643940096
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.532884713,744.467115287,713.532884713,680.467115287,659,634,879,786.532884713,805,651.532884713,631,652,0.41561072357,-0.0153580651811,0.059830577293,0.999999933525,0.000218760080078,-0.000290926565058,2.13270014027e-05,1793244379660607488
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.879732289,744.120267711,714,680,659,634,879.120267711,786.879732289,805,652,631,651.879732289,0.414818263983,-0.0153552485336,0.0598378741894,0.99999993237,0.000225254234039,-0.000289866374439,2.23027910412e-05,1793244379677274624
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.300367892,744.699632108,714,680,659,634,879.699632108,786.300367892,805,652,631,651.300367892,0.414064209646,-0.0153583627707,0.0598378441645,0.999999937139,0.000213705184226,-0.000282042353743,2.24557699034e-05,1793244379693941248
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.27714024,745,714,680.27714024,659,634,879.72285976,786.27714024,805.27714024,652,631,651.27714024,0.413300925084,-0.0153575056504,0.0598284198564,0.999999932441,0.000216647776486,-0.00029612509858,2.21645952012e-05,1793244379710607872
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.852649877,745,714,680.852649877,659,634,879.147350123,786.852649877,805.852649877,652,631,651.852649877,0.412527703303,-0.0153523729634,0.0598088816556,0.999999916405,0.000235192082342,-0.000333792684361,2.13952443915e-05,1793244379727274240
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.563765514,744.563765514,714,680.563765514,658.563765514,634,879,786.563765514,805.563765514,652,630.563765514,652,0.411792895915,-0.0153491042067,0.0597722384854,0.999999895818,0.000234338253697,-0.000391333539663,1.75360535521e-05,1793244379743940352
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744,713.977672606,680.022327394,658.022327394,634,879,786,805,652,630.022327394,651.977672606,0.411074363242,-0.0153466712738,0.0597322262322,0.999999872209,0.000227109581243,-0.000451483748469,1.28580126037e-05,1793244379760606720
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744,713.398333771,680.601666229,658.601666229,634,879,786,805,652,630.601666229,651.398333771,0.410432033719,-0.0153490870457,0.0597550205857,0.999999891584,0.000227389627032,-0.000406106487867,1.42799156354e-05,1793244379777273344
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.180678905,713.180678905,680.819321095,659,634,879,786.180678905,805,652,631,651.180678905,0.409807761165,-0.0153520830885,0.0597830862379,0.999999910335,0.00022721596277,-0.00035696413778,1.67076396764e-05,1793244379793940480
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.758973918,713.758973918,680.241026082,659,634,879,786.758973918,805,652,631,651.758973918,0.409223226063,-0.0153563561213,0.0598227523258,0.999999929363,0.000226043829163,-0.000299536029743,2.13488522759e-05,1793244379810607616
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.665063266,714,680,659,634.334936734,879,786.665063266,805,651.665063266,631,652,0.408641379071,-0.0153562435655,0.0598422080066,0.999999936506,0.000227812770992,-0.000273019742118,2.34251716812e-05,1793244379827274752
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.090767169,714,680,659,634.909232831,879,786.090767169,805,651.090767169,631,652,0.408061453146,-0.0153529968901,0.059847220509,0.99999993681,0.000231683524967,-0.000268594298046,2.36685142208e-05,1793244379843941632
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.495512057,714,680,659,634.504487943,879,786.495512057,805.495512057,651.495512057,631,652,0.407515972976,-0.015351025782,0.0598372618881,0.999999932456,0.000236203284409,-0.000280713019942,2.22783876129e-05,1793244379860608256
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.917302063,714,680,659.082697937,634.082697937,879,786.917302063,805.917302063,652,631,652,0.406981558518,-0.0153499920215,0.0598255582488,0.999999927834,0.000239505579789,-0.000294172326094,2.07538534394e-05,1793244379877274624
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.338176847,714,680,659.661823153,634.661823153,879,786.338176847,805.338176847,652,631,652,0.406474755097,-0.0153531476861,0.0598202496985,0.999999928121,0.000234768229195,-0.000297036179228,2.02631640804e-05,1793244379893941248
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,659.759276854,635,879,786,805,652,631,652,0.405994267106,-0.0153548856402,0.0598195889766,0.999999930464,0.000228424778868,-0.000294091936466,2.01089728004e-05,1793244379910608128
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,659.180693014,635,879,786,805,652,631,652,0.405550713493,-0.0153546338038,0.0598254515936,0.999999935586,0.000219827129516,-0.000282995891901,2.04270646633e-05,1793244379927275008
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.393877613,714.393877613,680,659,635,879,786.393877613,805,652,631,652,0.405126724048,-0.0153546422308,0.059823407331,0.999999934206,0.000224525589106,-0.000284214152648,1.99609556226e-05,1793244379943940864
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.966625782,714.966625782,680,659,635,879,786.966625782,805,652,631,652,0.404711619186,-0.0153547688506,0.0598177723393,0.999999929795,0.00023526217325,-0.000291024673947,1.91387196123e-05,1793244379960606720
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.555841072,745,714.444158928,680,659,634.444158928,879,787,804.444158928,652,631,652,0.404321339018,-0.0153527623311,0.0597978849164,0.999999917764,0.000241356568401,-0.000325490495467,1.65898713599e-05,1793244379977273344
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.856567677,744.856567677,714,680,658.856567677,634,878.856567677,787,804.143432323,652,631,652,0.403943221335,-0.0153507472112,0.0597794808156,0.999999906353,0.000243880426278,-0.000357230714076,1.42540165535e-05,1793244379993939712
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.550858301,658,634,878.898283398,787,805,652,631,652,0.402820111029,-0.0153532342139,0.0598077449333,0.999999927438,0.000232883908166,-0.000301026079802,1.65098120848e-05,1793244380060607744
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.935254307,714,679.064745693,658,634.064745693,879,787,805,652,631,652,0.401690989932,-0.0153542491542,0.059826598511,0.999999930749,0.000236082587729,-0.000287181371994,1.71275841973e-05,1793244380160607232
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cba129f0cb301c5f6c96420fffe94a0e2a39d200
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05f1a8ffb469eeeb9ce2c8d93573591c9554082e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b8d7fb8b7eca792c19e8f3089babe99dcc39ec752159c6349fbcb6dea040b5d
+size 25807424
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41bf6ae1096d401ea4e74619eece99ecd397f20b
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+61,1.016666667,BASELINE,765.388520051,745,714,680.388520051,658.388520051,634.388520051,879,787,805,652,631,651.388520051,0.400974324012,-0.0153654265453,0.0598462278257,0.999999939435,0.000232545178133,-0.000258456640657,1.58745761304e-05,1793244381925480704
+62,1.033333333,BASELINE,765.975993507,745,714,680.975993507,658.975993507,634.975993507,879,787,805,652,631,651.975993507,0.400975072172,-0.0153664279764,0.0598463789533,0.999999939696,0.000231496541247,-0.000258401070957,1.5719625772e-05,1793244381942147072
+63,1.050000000,BASELINE,766,745,714,679.884221868,658.442110934,635,878.442110934,787,805,652,631,652,0.400973929055,-0.0153650003918,0.0598463969418,0.999999938633,0.00023564417865,-0.000258763604626,1.57153432739e-05,1793244381958813440
+64,1.066666667,BASELINE,766,745,714,679.137992774,658,634.862007226,878.275985549,787,805,652,631,652,0.400973349712,-0.0153640764706,0.0598465991826,0.999999938043,0.000238109246472,-0.000258787568386,1.56979816267e-05,1793244381975480064
+65,1.083333333,BASELINE,766,745,714,679.713172441,658,634.286827559,879.426344882,787,805,652,631,652,0.400974811794,-0.0153650761191,0.0598474031404,0.999999939173,0.000234542223547,-0.000257682443605,1.56188455679e-05,1793244381992146944
+66,1.100000000,BASELINE,765.711516013,744.711516013,714,680,658.288483987,634.288483987,879.423032027,787,805,652,631,652,0.400974472993,-0.0153654627985,0.059846930945,0.999999939246,0.000233552532662,-0.000258297129989,1.55995276416e-05,1793244382008813824
+67,1.116666667,BASELINE,765.13607332,744.13607332,714,680,658.86392668,634.86392668,878.27214664,787,805,652,631,652,0.40097234283,-0.0153652397497,0.0598451893435,0.999999938273,0.000235126547096,-0.000260622534576,1.56397115807e-05,1793244382025481216
+68,1.133333333,BASELINE,765.44953519,744.44953519,714,679.55046481,659,635,878.44953519,787,805,652,631,652,0.40097320365,-0.0153644457561,0.0598457340341,0.999999938466,0.000235374166642,-0.000259664766263,1.55369215118e-05,1793244382042147840
+69,1.150000000,BASELINE,765.962164744,745,713.962164744,679,659,634.962164744,879,787,805,652.037835256,631,652,0.400974836034,-0.0153635772445,0.0598468890843,0.999999938984,0.0002351789532,-0.000257850654852,1.5384718957e-05,1793244382058814208
+70,1.166666667,BASELINE,765.380432202,745,713.380432202,679,659,634.380432202,879,787,805,652.619567798,631,652,0.400974243842,-0.0153641794017,0.0598466395353,0.999999939014,0.000234523056893,-0.000258343226972,1.51587242537e-05,1793244382075480576
+71,1.183333333,BASELINE,765,744.801042816,713.198957184,679,659,634,878.801042816,787,805,652.801042816,631,652,0.400974145966,-0.0153648574807,0.0598465445556,0.999999939195,0.000233839100008,-0.000258263258147,1.51502755825e-05,1793244382092147200
+72,1.200000000,BASELINE,765,744.226081599,713.773918401,679,659,634,878.226081599,787,805,652.226081599,631,652,0.400974982285,-0.0153656790422,0.0598467416924,0.99999993966,0.000233102112047,-0.000257101259091,1.55529614895e-05,1793244382108813824
+73,1.216666667,BASELINE,765,744,714,679.346634535,659,634,878.346634535,787,805,652,631,652,0.400974305269,-0.0153660449895,0.0598464796916,0.999999939292,0.000233824256574,-0.000257860313098,1.58019906767e-05,1793244382125480448
+74,1.233333333,BASELINE,765,744,714,679.917895772,659,634,878.917895772,787,805,652,631,652,0.400972647578,-0.0153661156888,0.0598459201596,0.99999993838,0.000235491950668,-0.000259864251257,1.59514469498e-05,1793244382142147328
+75,1.250000000,BASELINE,765,744,714,680,659,634,879,787,805,652,631.510452479,652,0.400973889692,-0.0153650603785,0.0598467759752,0.999999938884,0.000234751172511,-0.000258612811327,1.55777535306e-05,1793244382158814464
+76,1.266666667,BASELINE,765,744.10295204,714,679.89704796,659,634,879,787,805,652,631.89704796,652,0.400974991727,-0.0153643505683,0.0598474773752,0.999999939453,0.000233584219753,-0.00025748747348,1.52268586152e-05,1793244382175481344
+77,1.283333333,BASELINE,765,744.678771545,714,679.321228455,659,634,879,787,805,652,631.321228455,652,0.400973214793,-0.0153660957574,0.0598463783808,0.999999939239,0.00023231660332,-0.000259451040986,1.53839972483e-05,1793244382192147968
+78,1.300000000,BASELINE,765.253835582,744.746164418,714,679,659,634.253835582,879,787,805,652,631,652,0.400972631777,-0.0153671489363,0.0598460885771,0.999999939154,0.000232052637888,-0.000259996801673,1.56458264617e-05,1793244382208814592
+79,1.316666667,BASELINE,765.827946372,744.172053628,714,679,659,634.827946372,879,787,805,652,631,652,0.40097355518,-0.0153673289762,0.0598468197643,0.999999939237,0.000233055021928,-0.000258753654735,1.60397482441e-05,1793244382225480960
+80,1.333333333,BASELINE,765.585614527,744,714,679,659,635,879.414385473,787,805,652,631,652,0.400973982239,-0.0153660123845,0.0598466607845,0.999999939207,0.000233300354179,-0.000258671148634,1.5715478521e-05,1793244382242147328
+81,1.350000000,BASELINE,765,744,714,679.005964806,659,635,879.994035194,787,805.005964806,652,631,652,0.400974184792,-0.0153640841138,0.0598461249929,0.999999939131,0.000233207912868,-0.000259085443653,1.50898683713e-05,1793244382258813696
+82,1.366666667,BASELINE,765,744,714,679.584535148,659,635,879.415464852,787,805.584535148,652,631,652,0.400973225424,-0.0153649186214,0.0598459847368,0.99999993935,0.000231790139796,-0.00025951166892,1.50400171445e-05,1793244382275480576
+83,1.383333333,BASELINE,765.161847472,744.161847472,714,680,659,635,879,787,805.838152528,652,631,652,0.400972976657,-0.0153656623263,0.0598460821534,0.999999939558,0.000231074300551,-0.000259344580835,1.51469808601e-05,1793244382292147200
+84,1.400000000,BASELINE,765.735955473,744.735955473,714,680,659,635,879,787,805.264044527,652,631,652,0.400974537944,-0.0153661747369,0.0598467849734,0.999999939736,0.000232146438333,-0.000257666195365,1.56533861516e-05,1793244382308813824
+85,1.416666667,BASELINE,766,745,714,680,659,634.681739425,878.681739425,787,805,652,631,652,0.400975197312,-0.015366605111,0.0598472656984,0.999999940056,0.000231486104975,-0.000257015265676,1.56757604865e-05,1793244382325480704
+86,1.433333333,BASELINE,766,745,714,680,659,634.092453854,878.092453854,787,805,652,631,652,0.400975088621,-0.0153669656243,0.0598475572912,0.999999940496,0.0002293504302,-0.000257239299003,1.52859427099e-05,1793244382342147328
+87,1.450000000,BASELINE,765.511566068,744.511566068,714,679.511566068,658.511566068,634.488433932,878.488433932,787,805,652,631,652,0.400974199161,-0.0153664361085,0.059846938921,0.99999993984,0.000230900146392,-0.000258402355845,1.5275082566e-05,1793244382358813952
+88,1.466666667,BASELINE,765,744,714,679,658.067412613,634.932587387,879,787,805,652,631,652,0.400973399844,-0.0153658225586,0.0598462940695,0.999999939124,0.000232835320333,-0.000259433652553,1.52960704333e-05,1793244382375480320
+89,1.483333333,BASELINE,765,744,714,679,658.643776157,634.356223843,879,787,805,652,631,652,0.400974377995,-0.0153658249843,0.0598467277127,0.999999939537,0.000232502952652,-0.000258150938758,1.50251002675e-05,1793244382392146688
+90,1.500000000,BASELINE,765,744.217212258,714,679,658.782787742,634.217212258,879,786.782787742,805,652,631,652,0.400975035506,-0.0153657820004,0.0598471477966,0.999999939745,0.000232547991924,-0.000257306566585,1.49687433893e-05,1793244382408813312
+91,1.516666667,BASELINE,765,744.785911196,714,679,658.214088804,634.785911196,879,786.214088804,805,652,631,652,0.40097517417,-0.0153656655357,0.0598475459391,0.999999939623,0.000233203740399,-0.00025717150645,1.52596676389e-05,1793244382425480192
+92,1.533333333,BASELINE,765,744.627563738,714,679,658,635,879,786,805,652,631,652,0.400975291119,-0.0153665539875,0.0598478988431,0.999999939878,0.000232398533805,-0.00025689513313,1.55083570394e-05,1793244382442146816
+93,1.550000000,BASELINE,765,744.030276445,714,679,658,635,879,786,805,652,631,652,0.400975394958,-0.0153680491377,0.0598482244354,0.999999940358,0.000230711304532,-0.000256533444756,1.57315480126e-05,1793244382458813440
+94,1.566666667,BASELINE,765,744,714,679.549777442,658.549777442,634.450222558,879,786,805,652,631,652,0.400973410366,-0.0153669781772,0.059846499379,0.999999939445,0.000232075611854,-0.000258869008077,1.54224024641e-05,1793244382475480064
+95,1.583333333,BASELINE,765.12797096,744.12797096,714,680,658.87202904,634,879,786.12797096,805,652,631,652,0.400972136509,-0.0153658513728,0.0598453626583,0.999999938744,0.000233458328115,-0.000260344799017,1.51763420148e-05,1793244382492146944
+96,1.600000000,BASELINE,765.702881107,744.702881107,714,680,658.297118893,634,879,786.702881107,805,652,631,652,0.400973734362,-0.0153650080813,0.0598466631234,0.999999939064,0.000234336263641,-0.000258314826872,1.52498807691e-05,1793244382508814592
+97,1.616666667,BASELINE,765.71640895,744.71640895,714,680,658.28359105,634,879,787,804.71640895,652,631,651.71640895,0.400974071044,-0.0153646166781,0.0598469574289,0.999999939286,0.000233910352761,-0.000257844016783,1.52037433875e-05,1793244382525481728
+98,1.633333333,BASELINE,765.129495719,744.129495719,714,680,658.870504281,634,879,787,804.129495719,652,631,651.129495719,0.400973058806,-0.0153647086038,0.0598461755703,0.999999939403,0.000232089879,-0.000259040849138,1.50296032783e-05,1793244382542147840
+99,1.650000000,BASELINE,765.451716269,744.451716269,714,679.548283731,659,634,879,787,804.451716269,652,631,651.903432539,0.400972902382,-0.0153662046938,0.0598464118235,0.999999939601,0.000231139519514,-0.000259111443608,1.53139679847e-05,1793244382558813952
+100,1.666666667,BASELINE,765.968837932,744.968837932,714,679.031162068,659,634,879,787,805,652,631,652.968837932,0.400973097666,-0.0153679587879,0.0598469510825,0.999999939828,0.000230513446259,-0.000258768223663,1.57041580207e-05,1793244382575480320
+101,1.683333333,BASELINE,765.392056136,744.392056136,714,679.607943864,659,634,879,787,805,652,631,652.392056136,0.400975208896,-0.015367270059,0.0598477490629,0.999999940175,0.000231252300207,-0.000256762086697,1.56745113677e-05,1793244382592147456
+102,1.700000000,BASELINE,765,744.183566857,714,680,659,634,879,787,805,652,631,652,0.400976435772,-0.015366469518,0.0598482959073,0.999999940248,0.000232180504513,-0.000255634820887,1.57073327911e-05,1793244382608814336
+103,1.716666667,BASELINE,765,744.75673037,714,680,659,634,879,787,805,652,631,652,0.400975785721,-0.0153654316707,0.0598483097482,0.999999939747,0.000233510580104,-0.000256372844469,1.58727345444e-05,1793244382625481216
+104,1.733333333,BASELINE,765,745,714,680,658.659090553,634,878.659090553,787,805,652,631,652,0.400975517544,-0.0153649307721,0.0598477864303,0.999999939373,0.000234163970514,-0.000257242523733,1.57280720889e-05,1793244382642147840
+105,1.750000000,BASELINE,765,745,714,680,658.06678834,634,878.06678834,787,805,652,631,652,0.400975530968,-0.0153648258292,0.0598468670019,0.999999939094,0.000234318361222,-0.000258209288343,1.53547627188e-05,1793244382658814208
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,787,805,652,631,652,0.400973092419,-0.0153655250256,0.0598469585463,0.999999939792,0.000232385664007,-0.000257265929247,1.50943703054e-05,1793244382690678528
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.598948077,744.598948077,714,679.598948077,659,634.598948077,879,787,805,652,631,651.401051923,0.400974123746,-0.015366814865,0.0598476012624,0.999999940203,0.000230581919322,-0.000257253313618,1.56772835291e-05,1793244382707344896
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.81010666,745,714,680.18989334,659,634.81010666,879,787,805,652,631,651.18989334,0.400974184724,-0.015367370751,0.0598476590431,0.999999940232,0.000229786174211,-0.000257838098845,1.5914633761e-05,1793244382724011264
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.235379617,745,714,680.764620383,659,634.235379617,879,787,805,652,631,651.764620383,0.400972279213,-0.0153664392234,0.0598465314064,0.999999939488,0.000231033218738,-0.000259633563627,1.54516736737e-05,1793244382740677888
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.651663735,714,680.303327471,659,634.348336265,879,787,805,652,631,652,0.400972454142,-0.0153661097873,0.0598462680182,0.999999939489,0.000231304325145,-0.000259401753615,1.52284561479e-05,1793244382757344000
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.061713013,714,679.123426026,659,634.938286987,879,787,805,652,631,652,0.400974072114,-0.0153661979764,0.0598466040938,0.999999940007,0.000230898497193,-0.000257763776668,1.51715298888e-05,1793244382774010368
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714,679.521489727,658.478510273,634.478510273,879,786.478510273,805,652,631,652,0.400972969763,-0.0153658352242,0.0598454173914,0.99999993905,0.000232588640561,-0.000259951211746,1.50661092628e-05,1793244382790676992
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,714,679.89763937,658,634,879,786.10236063,805,652,631,652,0.400971841878,-0.0153656819211,0.0598444884259,0.999999938197,0.000234037677328,-0.000261929519799,1.50037576324e-05,1793244382807343872
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,714,679.323876703,658,634,879,786.676123297,805,652,631,652,0.400972060017,-0.0153667358149,0.0598455657173,0.999999938652,0.000233248650542,-0.000260886550386,1.51658433027e-05,1793244382824010496
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.250133153,744,714,679,658.250133153,634,879,787,805,652,631,652,0.400973465568,-0.0153668408137,0.0598466607985,0.999999938853,0.000233594825734,-0.000259792053043,1.53454472545e-05,1793244382840677120
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.824463344,744,714,679,658.824463344,634,879,787,805,652,631,652,0.400976410121,-0.0153657159515,0.059847778937,0.999999938725,0.000235412333816,-0.00025863077054,1.55477566e-05,1793244382857344000
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.58733632,744,714,679.41266368,659,634,878.58733632,787,805,652,631,652,0.40099381472,-0.0153668278954,0.0598553929457,0.999999942371,0.000234047814419,-0.000245393181193,1.61518043769e-05,1793244382874010880
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679.993241118,658.993241118,634,878.006758882,786.993241118,805,652,631,652,0.401017901795,-0.0153689322722,0.0598659547683,0.999999947417,0.000231308722155,-0.000226661195106,1.69479093217e-05,1793244382890677248
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679.416877161,658.416877161,634,878.583122839,786.416877161,805,652,631,652,0.401068755021,-0.0153716990041,0.0598839775302,0.999999954595,0.000230765680334,-0.000192862855354,1.90270340884e-05,1793244382907344128
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.158626577,744,714,679,658.158626577,634,879,786.158626577,805,652,631,652,0.401124845304,-0.0153747492408,0.059901837571,0.999999960239,0.000230061473278,-0.000161741635076,2.08299999287e-05,1793244382924010752
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.731881938,744,714,679,658.731881938,634,879,786.731881938,805,652,631,652,0.401194624565,-0.015378540522,0.0599192722847,0.999999964085,0.000228936002111,-0.000137618042305,2.1911123541e-05,1793244382940678144
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744.315132898,714,679,659,634,879,787,805,652,631,652,0.401270043348,-0.0153826430382,0.0599326444435,0.999999967117,0.000227482191673,-0.000116175830917,2.28060760265e-05,1793244382957345024
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.907166755,714,679,659,634,879,787,805,652,631,652,0.401350417462,-0.01538701903,0.0599424469156,0.999999969531,0.000225739876186,-9.70896970625e-05,2.35374436119e-05,1793244382974010880
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,714,679.488803439,659,634.488803439,879,787,805,652,631,652,0.401440918796,-0.0153904877954,0.0599461256105,0.99999996967,0.000227809293871,-9.07004101658e-05,2.31496992996e-05,1793244382990677248
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.932148177,744.932148177,714,680,659,634.932148177,879,787,805.067851823,652,631,651.932148177,0.401534921149,-0.0153940949507,0.0599476527882,0.999999969496,0.000229667544765,-8.80761335906e-05,2.24198056087e-05,1793244383007343872
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.357985921,744.357985921,714,680,659,634.357985921,879,787,805.642014079,652,631,651.357985921,0.401640994959,-0.0153999936952,0.0599416230753,0.999999969949,0.000224660670333,-9.59274357805e-05,2.06897419257e-05,1793244383024010752
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,786.778649523,805.778649523,652,631,651.221350477,0.401760464043,-0.0154062958799,0.0599374841855,0.999999970604,0.000220331636508,-9.94172017572e-05,1.90371866245e-05,1793244383040677632
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,879,786.190744855,805.190744855,652,631,651.809255145,0.401902115554,-0.0154132661573,0.0599364764807,0.999999971697,0.000217125100514,-9.5684306327e-05,1.75129846074e-05,1793244383057344000
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.391592502,744.391592502,714,679.608407498,658.608407498,634.391592502,879,786.391592502,805.391592502,652,631,651.608407498,0.402070722461,-0.0154218566668,0.0599394122295,0.999999973619,0.000212165516392,-8.65552743819e-05,1.60125072597e-05,1793244383074010624
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.971256083,744.971256083,714,679.028743917,658.028743917,634.971256083,879,786.971256083,805.971256083,652,631,651.028743917,0.402252275315,-0.0154312253298,0.0599442419101,0.999999975801,0.000206363991281,-7.4834626526e-05,1.45234240788e-05,1793244383090677248
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.45209769,745,714,679.54790231,658,634.45209769,878.45209769,787,806,652,631,651.54790231,0.402460396504,-0.0154404833157,0.0599463046699,0.99999997765,0.000199962971462,-6.74182722938e-05,1.29898189061e-05,1793244383107343616
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.875523609,714,680,658.124476391,634.124476391,878.124476391,787,805.875523609,652,631,652,0.402676999013,-0.0154506725807,0.0599481583071,0.99999997955,0.000192713249931,-6.0271305099e-05,1.13229002992e-05,1793244383124010496
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.298639402,714,680,658.701360598,634.701360598,878.701360598,787,805.298639402,652,631,652,0.402919388743,-0.0154642675574,0.0599497765759,0.999999981886,0.000182492611916,-5.32872081581e-05,9.1798979181e-06,1793244383140677376
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714.283668208,680,659,635,879,787,805,652,631,652,0.403173842334,-0.0154754159822,0.0599476821226,0.999999983577,0.000172793792269,-5.42546942073e-05,6.63535501696e-06,1793244383157344000
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714.871796709,680,659,635,879,787,805,652,631,652,0.403441244016,-0.0154839385286,0.0599416028151,0.999999984569,0.000163655039422,-6.37565924001e-05,3.65983993038e-06,1793244383174010624
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714.546905402,680,659,635,879.453094598,787,805,652,631,652,0.403735235877,-0.0154909439381,0.0599313738256,0.999999990472,0.000113412272587,-7.87050781037e-05,-7.6480853007e-08,1793244383190677504
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.032340868,744.032340868,714,680,659,634.967659132,879.967659132,786.967659132,805,652,631,652,0.404038222698,-0.0154965587084,0.0599200929947,0.99999999385,5.65702620464e-05,-9.5310806083e-05,-4.0351637808e-06,1793244383207344128
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.609102644,744.609102644,714,680,659,634.390897356,879.390897356,786.390897356,805,652,631,652,0.404367857478,-0.0154858827007,0.0599105776059,0.999999990117,8.15141487933e-05,-0.00011425671862,-8.16705063893e-06,1793244383224010752
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,714,680.184400562,659,634.184400562,879,786.184400562,805,652,631,652,0.404718129791,-0.015477429748,0.0599041829521,0.999999986978,9.86368823759e-05,-0.000127133600752,-1.22847572816e-05,1793244383240677376
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,714,680.756619723,659,634.756619723,879,786.756619723,805,652,631,652,0.405111805504,-0.0154736521731,0.0599043516151,0.999999986839,9.93107007283e-05,-0.000127246512732,-1.63726405623e-05,1793244383257344000
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.659144854,745,714,680.659144854,658.659144854,635,879,787,805,652,631,652,0.405546183576,-0.0154799039141,0.059916651568,0.99999999048,8.27034406878e-05,-0.000108862803457,-1.8657439307e-05,1793244383274010624
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.066015893,745,714,680.066015893,658.066015893,635,879,787,805,652,631,652,0.406010686333,-0.0154935785552,0.059937930135,0.999999995439,5.3306103484e-05,-7.67893689604e-05,-1.96077389643e-05,1793244383290677248
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.487135636,658.512864364,635,879,787,805,652,631,652,0.406518055096,-0.0155010492302,0.0599637845668,0.999999998428,4.20777079417e-05,-3.06072064217e-05,-2.08841509739e-05,1793244383307343872
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.910121711,714,679,659,635,879,786.910121711,805,652,631,652,0.407030392197,-0.0155066064417,0.0599871927139,0.999999999242,3.00663422523e-05,1.02545646284e-05,-2.25285116818e-05,1793244383324010752
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.333550608,714,679,659,635,879,786.333550608,805,652,631,652,0.407540562298,-0.0155060096146,0.0599942509291,0.999999999581,1.49336442671e-06,1.27380681034e-05,-2.59441601924e-05,1793244383340677376
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,714,679.246309838,659,635,879,786.246309838,805,652,631,652,0.4080593993,-0.015504245633,0.059993111563,0.999999999451,-1.4038018092e-05,6.63849652344e-07,-3.00094216183e-05,1793244383357344256
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,679.830684939,659,635,879,786.830684939,805,652,631,652,0.40859013177,-0.0155008797082,0.0599807208494,0.999999998828,-1.16695439537e-05,-3.13911385127e-05,-3.49662897866e-05,1793244383374012160
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.411569931,744.411569931,714,680,659,634.588430069,879,787,805,652,631,652,0.409160850003,-0.0155020898766,0.059973167597,0.999999997828,-1.46983418467e-05,-5.11045388554e-05,-3.89330384849e-05,1793244383390678784
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.991031192,744.991031192,714,680,659,634.008968808,879,787,805,652,631,652,0.409747879575,-0.0155051667665,0.0599675876858,0.999999996735,-1.99288438237e-05,-6.57834462793e-05,-4.2495888574e-05,1793244383407344640
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.431544429,745,714,680,659,634,879,786.431544429,805,652,631,652,0.410410703459,-0.0155080122919,0.059979263647,0.999999998803,-8.53404651514e-06,-3.20864662343e-05,-3.59275672362e-05,1793244383424011520
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.14601261,745,714,680,659,634,879,786.14601261,805.14601261,652,631,652,0.411072690329,-0.0155098613065,0.0599865527912,0.999999999468,4.52476471534e-06,-9.68582941257e-06,-3.08170252833e-05,1793244383440678400
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.724056813,745,714,680,659,634,879,786.724056813,805.724056813,652,631,652,0.411728674759,-0.0155087725416,0.0599800592461,0.999999999035,2.17338102628e-05,-2.29598451312e-05,-3.04911268191e-05,1793244383457344768
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.693664776,744.693664776,714,680,659,634.306335224,879,787,805.693664776,652,631,652,0.412381792088,-0.015505927318,0.0599600901525,0.999999997182,2.36378069903e-05,-6.27776569645e-05,-3.3714013896e-05,1793244383474011136
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.107518716,744.107518716,714,680,659,634.892481284,879,787,805.107518716,652,631,652,0.413032290643,-0.0155014777203,0.0599278123055,0.999999991082,1.15619619951e-05,-0.000126840941262,-4.01784107157e-05,1793244383490678016
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.473231726,744,714,680,659,635,879,787,805,652,631,652,0.413745723949,-0.0155033350296,0.0599139589236,0.999999987571,-2.62790498418e-07,-0.000151419406635,-4.39272356967e-05,1793244383507344896
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.052538334,714,679.947461666,659,634.947461666,879,787,805.052538334,651.947461666,631,652,0.414484192199,-0.0155071171866,0.0599103486131,0.999999986694,-1.10485044996e-05,-0.00015604046502,-4.6276785092e-05,1793244383524011776
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.629531784,714,679.370468216,659,634.370468216,879,787,805.629531784,651.370468216,631,652,0.415331441388,-0.0155159710285,0.0599676724965,0.999999997848,-1.20252554754e-05,-4.99819404877e-05,-4.0747777517e-05,1793244383540677632
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.794972846,714,679.205027154,659,634,879,786.794972846,805.794972846,651.205027154,631,652,0.416155308831,-0.0155220126133,0.0600085413812,0.999999998938,-1.54497328591e-05,2.24399032615e-05,-3.7178187581e-05,1793244383557344000
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.222164792,714,679.777835208,659,634,879,786.222164792,805.222164792,651.777835208,631,652,0.416937233685,-0.015523009527,0.0600198930299,0.999999998444,-2.3264980113e-05,3.45237384334e-05,-3.71234324993e-05,1793244383574010624
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.362587163,714,680,659,634.362587163,879,786.362587163,805,651.637412837,631.362587163,652,0.417738097119,-0.0155224945384,0.0600104963514,0.999999998801,-2.1528918127e-05,1.98852419671e-05,-3.923860015e-05,1793244383590677248
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.954906659,714,680,659,634.954906659,879,786.954906659,805,651.045093341,631.954906659,652,0.418550959857,-0.0155210216203,0.0599879536982,0.999999998924,-1.37412225515e-05,-1.16843109464e-05,-4.2728613491e-05,1793244383607344128
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.466891552,745,714,679.466891552,659,634.466891552,879,787,805.533108448,651.533108448,631.466891552,652,0.419363220222,-0.0155234180477,0.0599662772387,0.999999997405,-2.45508899442e-05,-4.99873503578e-05,-4.57026822618e-05,1793244383624011264
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.110080911,745,714,679.220161822,659,634.110080911,879.110080911,787,805.889919089,652,631,652,0.420173358933,-0.0155251094644,0.0599429776823,0.999999994121,-3.3889029397e-05,-9.07426831644e-05,-4.8730950662e-05,1793244383640678144
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.686773551,745,714,680.373547102,659,634.686773551,879.686773551,787,805.313226449,652,631,652,0.420974714543,-0.0155224609426,0.0599124955819,0.999999988438,-3.0493724115e-05,-0.000139540847656,-5.21691757712e-05,1793244383657344768
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.73765662,745,714,680.73765662,659.26234338,635,880,787,805.26234338,652,631,652,0.421802076391,-0.0155216268845,0.0598960851232,0.99999998409,-2.96025663974e-05,-0.000167218892899,-5.46047283476e-05,1793244383674011392
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.16342159,745,714,680.16342159,659.83657841,635,880,787,805.83657841,652,631,652,0.422660356328,-0.0155229499837,0.059896403985,0.999999983524,-3.16885092166e-05,-0.000169787910859,-5.58482361989e-05,1793244383690677760
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,880,787,806,652,631,652,0.423605991361,-0.0155281857159,0.0599435782382,0.999999993558,-3.89747429503e-05,-9.24764370216e-05,-5.30296578833e-05,1793244383707344384
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.979017868,879.979017868,787,806,652,631,652,0.424583265065,-0.0155347440448,0.0600076539787,0.999999997577,-4.77952339615e-05,1.37746024553e-05,-4.87059319399e-05,1793244383724010752
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.403199124,879.403199124,787,806,652,631,652,0.425478270374,-0.0155351186582,0.060025782288,0.999999996965,-4.24839674066e-05,4.50089678885e-05,-4.73108146866e-05,1793244383740677376
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.171379069,744.828620931,714,680,660,634,879.171379069,787,806,651.828620931,631,652,0.426370147519,-0.0155361320075,0.0600333089654,0.999999995979,-4.27678911088e-05,6.30676798769e-05,-4.7270725741e-05,1793244383757344000
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.743059595,744.256940405,714,680,660,634,879.743059595,787,806,651.256940405,631,652,0.427254717952,-0.0155386372946,0.0600160727073,0.999999995888,-5.61208720953e-05,5.03511426663e-05,-5.03956664308e-05,1793244383774011136
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.672402509,744.327597491,714,680,660,634,879.672402509,787,806,651,631,652,0.42811575901,-0.0155402478921,0.0599958189486,0.999999996505,-6.02115734345e-05,2.36969739882e-05,-5.29456200481e-05,1793244383790678016
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.077368435,744.922631565,714,680,660,634,879.077368435,787,806,651,631,652,0.428957591649,-0.0155411281034,0.0599731018323,0.999999996774,-5.67409450039e-05,-1.43352804624e-05,-5.50261786031e-05,1793244383807344384
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.501553717,745,714,680.501553717,660,634,879.501553717,787,806,651,631.501553717,652,0.429799748188,-0.0155372831789,0.0599417802951,0.999999993954,-5.89268199355e-05,-7.25192727079e-05,-5.79729317562e-05,1793244383824011008
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.92230554,744.92230554,714,681,659.92230554,634.07769446,880,786.92230554,806,651.07769446,631.92230554,652,0.43065449747,-0.015534264758,0.0599187437947,0.999999989612,-6.2157213087e-05,-0.000115210596507,-6.03308775671e-05,1793244383840677888
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.348549001,744.348549001,714,681,659.348549001,634.651450999,880,786.348549001,806,651.651450999,631.348549001,652,0.431589339206,-0.015541032326,0.0599568161866,0.9999999953,-6.66589285547e-05,-3.97548857958e-05,-5.81028543708e-05,1793244383857344256
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.225472288,744.225472288,714,680.774527712,659.225472288,634.774527712,879.774527712,786.225472288,806,651.774527712,631,652,0.432502216692,-0.0155453267831,0.0599907899566,0.999999995709,-7.0910796594e-05,2.06020035714e-05,-5.59453794995e-05,1793244383874010624
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.799903413,744.799903413,714,680.200096587,659.799903413,634.200096587,879.200096587,786.799903413,806,651.200096587,631,652,0.433381100701,-0.0155457936582,0.0600184203792,0.999999994093,-7.47759819926e-05,5.75907681463e-05,-5.38970908394e-05,1793244383890677248
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,744.611611828,714,680,660,634,879,786.611611828,806,651.388388172,631,652,0.434218091806,-0.0155456474834,0.0600089823512,0.999999994925,-7.38029400748e-05,4.0107231089e-05,-5.56219702619e-05,1793244383907344128
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,744.015614882,714,680,660,634,879,786.015614882,806,651.984385118,631,652,0.43503268945,-0.0155451736094,0.0599797297749,0.99999999575,-7.0243674784e-05,-6.49389873843e-06,-5.93637566724e-05,1793244383924011008
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.439170616,744.560829384,714,680.560829384,660.560829384,634,879.560829384,786.560829384,806,651.439170616,631,652,0.435849295472,-0.0155451198799,0.0599523832814,0.999999993564,-7.56372021417e-05,-5.75597856802e-05,-6.19436452728e-05,1793244383940677888
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.136015112,745,714,680.863984888,660.863984888,634,880,786.863984888,806.136015112,651,631,652,0.436652388619,-0.0155437973,0.0599291220714,0.999999989646,-7.88637978957e-05,-0.000101828204422,-6.41811811517e-05,1793244383957344768
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.708848405,745,714,680.291151595,660.291151595,634,880,786.291151595,806.708848405,651,631,652,0.437411911027,-0.0155383634515,0.059918816226,0.999999987422,-7.43576380606e-05,-0.000123880492542,-6.5419630983e-05,1793244383974011392
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681.789051762,658.210948238,631.789051762,880,783,806,651,629,651.210948238,0.452847940199,-0.015693975295,0.0596415222146,0.999999799426,-0.000294752832234,-0.000556284471873,-6.94065635608e-05,1793244384907344128
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681.204336334,658.795663666,631.204336334,880,783,806,651,629,651.795663666,0.452849528419,-0.0156940998603,0.0596426633889,0.999999800069,-0.000295057183123,-0.000554998186805,-6.9140445543e-05,1793244384924010752
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.621455631,631,880,783,806.378544369,651,629,652,0.4528490805,-0.015695468079,0.059641827919,0.999999798993,-0.000296825855317,-0.000556026967101,-6.88712636589e-05,1793244384940677376
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.039560544,631,880,783,806.960439456,651,629,652,0.452847538785,-0.0156975043774,0.059639930613,0.999999796983,-0.000299381148069,-0.000558299380255,-6.86004359005e-05,1793244384957344000
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.537610983,714,681.537610983,658,631,880.537610983,782.462389017,806.462389017,651.537610983,629,652,0.452847640932,-0.0156951559208,0.0596401019472,0.999999797218,-0.000297173453596,-0.000559004667752,-6.9037090856e-05,1793244384974011392
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.885650314,714,681.885650314,658,631,881,782.114349686,806.114349686,652,629.114349686,652,0.452847827015,-0.0156935939928,0.0596402276494,0.999999797384,-0.000295761025717,-0.000559428322768,-6.92607213011e-05,1793244384990678784
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.309268397,714,681.309268397,658,631,881,782.690731603,806.690731603,652,629.690731603,652,0.452847867736,-0.0156965023932,0.0596395592729,0.999999796631,-0.00029896571025,-0.000559175923267,-6.84151015593e-05,1793244385007345408
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.272610425,714,681.272610425,658,631.272610425,880.727389575,783,807,652,629.727389575,652,0.452848339897,-0.0156977861709,0.0596397641958,0.999999796567,-0.000300246143215,-0.000558661765846,-6.79327419765e-05,1793244385024011776
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.860853731,714,681.860853731,658,631.860853731,880.139146269,783,807,652,629.139146269,652,0.452849311584,-0.0156971889338,0.0596409802393,0.999999797312,-0.00029929864615,-0.000557844540728,-6.78709709341e-05,1793244385040677632
+248,4.133333333,HOLD_POSE2,764,745,714,682,658,632,880,783,807,651,629,652,0.45284826854,-0.0156937315931,0.0596390290085,0.999999798532,-0.000294539382394,-0.000558209069225,-6.77165815296e-05,1793244385073416192
+249,4.150000000,HOLD_POSE2,764.576481579,745,714,682,658,632,880,782.423518421,807,651.576481579,629,652,0.452849663567,-0.0156939699895,0.059640272516,0.999999799258,-0.000294700870631,-0.0005567942789,-6.79357216314e-05,1793244385090082816
+250,4.166666667,HOLD_POSE2,765,745,714,682,658.152389797,632,880,782.152389797,807,652,629,652,0.452850687369,-0.0156939858679,0.059641126898,0.999999799693,-0.000294720519465,-0.000555981147557,-6.81119249408e-05,1793244385106749696
+251,4.183333333,HOLD_POSE2,765,745,714,682,658.726710647,632,880,782.726710647,807,652,629,652,0.452850683338,-0.0156933856469,0.0596409038843,0.999999799324,-0.000294347448808,-0.00055683386632,-6.81692465488e-05,1793244385123416576
+252,4.200000000,HOLD_POSE2,765,745,714,682,658.688062443,631.688062443,880,783,807,651.688062443,629,652,0.452850256462,-0.0156936399056,0.0596403995015,0.999999798762,-0.00029507926002,-0.000557457204077,-6.81639921784e-05,1793244385140083200
+253,4.216666667,HOLD_POSE2,765,745,714,682,658.092934576,631.092934576,880,783,807,651.092934576,629,652,0.452849445708,-0.0156946698976,0.0596396396798,0.999999798021,-0.000296814130461,-0.000557872299856,-6.81019286444e-05,1793244385156749824
+254,4.233333333,HOLD_POSE2,765,745,714,682,658,631.48599702,880,783,807,651.48599702,629,652,0.45285070769,-0.0156940589695,0.0596404294433,0.999999797936,-0.000297830514287,-0.000557443432995,-6.84245798588e-05,1793244385173416448
+255,4.250000000,HOLD_POSE2,765,745,713.938461741,682,658,632,880,782.938461741,806.938461741,651.938461741,629,652,0.452852138812,-0.0156933315305,0.0596413427141,0.999999798,-0.000298527098864,-0.000556917148696,-6.87385720239e-05,1793244385190082816
+256,4.266666667,HOLD_POSE2,765,745,713.366183199,682,658,632,880,782.366183199,806.366183199,651.366183199,629,652,0.452851790208,-0.0156941573822,0.0596409010414,0.9999997983,-0.000297673010862,-0.000556878580198,-6.83898167419e-05,1793244385206749440
+257,4.283333333,HOLD_POSE2,765,745,713.212512955,682,658,631.787487045,880,782.212512955,806.212512955,651,629,652,0.45285124614,-0.0156947369227,0.0596407225261,0.999999798463,-0.000296936907138,-0.000557032367699,-6.79516428056e-05,1793244385223416320
+258,4.300000000,HOLD_POSE2,765,745,713.80261164,682,658,631.19738836,880,782.80261164,806.80261164,651,629,652,0.452850354778,-0.0156948788262,0.05964101158,0.999999798383,-0.000296410433923,-0.000557527926743,-6.7354592908e-05,1793244385240082944
+259,4.316666667,HOLD_POSE2,765,745,714,681.613940763,658,631,880,783,806.613940763,651.386059237,629,652,0.452850330585,-0.01569418681,0.059640557797,0.999999798353,-0.000295621068369,-0.000558010155767,-6.72846331794e-05,1793244385256749568
+260,4.333333333,HOLD_POSE2,765,745,714,681.033836155,658,631,880,783,806.033836155,651.966163845,629,652,0.452850742256,-0.0156930756397,0.059639730641,0.999999798346,-0.000294699564906,-0.000558485684751,-6.74796052961e-05,1793244385273416192
+261,4.350000000,HOLD_POSE2,765,745,714,681.541358224,658,631.541358224,880,783,806,651.458641776,629,652,0.452850803947,-0.0156918881974,0.0596398606444,0.999999798512,-0.000294518170417,-0.000558222377949,-6.79897010665e-05,1793244385290085888
+262,4.366666667,HOLD_POSE2,765,745,714,682,658,631.883964213,880,783,806.116035787,651,629,652,0.452851159758,-0.01569086421,0.0596401344941,0.999999798817,-0.000294296927416,-0.000557748077639,-6.83553149826e-05,1793244385306754304
+263,4.383333333,HOLD_POSE2,765,745,714,682,658,631.310125554,880,783,806.689874446,651,629,652,0.452852761506,-0.0156905037504,0.0596407419609,0.999999799628,-0.000293737601597,-0.000556621886974,-6.80738870531e-05,1793244385323418112
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,632,880,782,807,651,629,652,0.452854684813,-0.0156897264745,0.0596413369751,0.999999801317,-0.000291045622226,-0.00055502866062,-6.7841900148e-05,1793244385360554752
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745.420637441,714,681,658.420637441,631.420637441,880,782,807,651,629,651.420637441,0.452853274581,-0.0156913174327,0.059641440618,0.999999800396,-0.00029285542325,-0.000555770032442,-6.75548527253e-05,1793244385377221376
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.157411374,658,631.157411374,880,782.314822749,806.842588626,651,629,651.157411374,0.452852229296,-0.015692139133,0.059641274173,0.999999799589,-0.000294184906968,-0.000556530842863,-6.74623958877e-05,1793244385393888000
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.731978763,658,631.731978763,880,783.463957526,806.268021237,651,629,651.731978763,0.452852151159,-0.0156909222229,0.0596403919682,0.999999799091,-0.000294241501793,-0.000557343167701,-6.78856236585e-05,1793244385410554624
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.686235398,658,631.686235398,880,783.686235398,806,651.313764602,629,652,0.452852890735,-0.0156896491103,0.059640541498,0.999999799666,-0.000292976439934,-0.000556943756939,-6.81634574668e-05,1793244385427221504
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.098138316,658,631.098138316,880,783.098138316,806,651.901861684,629,652,0.452854345257,-0.0156883268586,0.0596415931,0.999999801173,-0.000290555819564,-0.000555484894456,-6.83141695601e-05,1793244385443888640
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.482529563,631.482529563,880,783,806.482529563,652,629,652,0.452854499514,-0.0156895532275,0.059642431476,0.999999801728,-0.000289980479058,-0.000554855621628,-6.77527269035e-05,1793244385460555264
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.061658348,658.938341652,631.938341652,880,782.938341652,807,651.938341652,629,652,0.452854080958,-0.0156911248683,0.059642911175,0.999999801868,-0.000290009564018,-0.000554661732231,-6.71421931141e-05,1793244385477221632
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.640359236,658.359640764,631.359640764,880,782.359640764,807,651.359640764,629,652,0.452851042993,-0.0156913110843,0.0596407412915,0.999999800128,-0.000292007735786,-0.000556725393045,-6.73161564939e-05,1793244385493888000
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.782476217,658,631,880,782.217523783,807,651,629.217523783,651.782476217,0.452843761816,-0.0156914362549,0.0596365074269,0.999999796505,-0.000293558361687,-0.000562354340719,-6.761312502e-05,1793244385510554880
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.207834005,658,631,880,782.792165995,807,651,629.792165995,651.207834005,0.45282951437,-0.0156914612044,0.0596288850336,0.999999789708,-0.000294374231494,-0.0005738365775,-6.81120365205e-05,1793244385527221504
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.623980213,745,714,681,658,631.376019787,880,783,807,651,629.623980213,651.376019787,0.452799609588,-0.0156890045622,0.0596156224605,0.999999777628,-0.000292950197887,-0.000595063037538,-6.94529680209e-05,1793244385543888128
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.034907072,745,714,681,658,631.965092928,880,783,807,651,629.034907072,651.965092928,0.452760833336,-0.0156851418464,0.0595991641526,0.999999762011,-0.00029025703169,-0.000621810589289,-7.12709892773e-05,1793244385560554240
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.544994672,745,714,681.544994672,658,631.455005328,880,783,807,651,629,652,0.452701307914,-0.0156814623196,0.0595815375935,0.999999745665,-0.000289841965794,-0.000647580854842,-7.28040867449e-05,1793244385577221632
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.876562361,745,714,682,658.123437639,631,880,783,807,651,629,652,0.45263836733,-0.0156782464284,0.0595653555786,0.99999973048,-0.000289670580829,-0.000670559511411,-7.40304943997e-05,1793244385593888512
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.30134393,745,714,682,658.69865607,631,880,783,807,651,629,652,0.452567710855,-0.0156766852052,0.0595547299122,0.999999721618,-0.000289865864504,-0.000683546216786,-7.42001077489e-05,1793244385610554624
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,745,714,682,659,631,880,782.720354698,806.720354698,651,629,652,0.452491047499,-0.0156730901069,0.0595486203293,0.999999717791,-0.000287396446091,-0.000690160281754,-7.41568013399e-05,1793244385627221248
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,745,714,682,659,631,880,782.133015893,806.133015893,651,629,652,0.45240777478,-0.0156672571377,0.0595474797901,0.999999719624,-0.000281995058115,-0.000689762534852,-7.38792194891e-05,1793244385643888128
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.448021533,745,714,681.551978467,658.551978467,631,880,782.448021533,806,651.448021533,629,652,0.452309108009,-0.0156607376321,0.0595515999497,0.999999725057,-0.000279636457614,-0.000682889750725,-7.31502701308e-05,1793244385660554752
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.027149079,658,631.027149079,880,783,806,651.972850921,629,652,0.452204539785,-0.0156539760592,0.0595570769479,0.999999731316,-0.000277993342317,-0.000674436190207,-7.22771305116e-05,1793244385677221120
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.60495894,658,631.60495894,880,783,806,651.39504106,629,652,0.452071688922,-0.0156463815825,0.0595588344802,0.999999734219,-0.000272793081805,-0.000672371200281,-7.1159792361e-05,1793244385693888000
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.181908112,632,880,783,806.181908112,651,629,652,0.451926993511,-0.0156387290563,0.0595596175412,0.999999735518,-0.000267971209095,-0.000672488208051,-7.01014992773e-05,1793244385710554624
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.756996895,632,880,783,806.756996895,651,629,652,0.45175669702,-0.0156309510611,0.0595582943556,0.999999733386,-0.000263967193775,-0.000677321439641,-6.91708278019e-05,1793244385727221248
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.659807643,631.659807643,880,783,807,651,629,652,0.451567795287,-0.0156204031012,0.059558135858,0.999999733672,-0.000258056311676,-0.000679304626651,-6.7883119261e-05,1793244385743887872
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.070680072,631.070680072,880,783,807,651,629,652,0.451365279179,-0.0156078282232,0.0595588296187,0.999999735704,-0.000250750082433,-0.00067920229858,-6.63341493196e-05,1793244385760553984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.509618529,631.509618529,880,783,806.490381471,651,629,652,0.451128696903,-0.015597112947,0.059560747705,0.999999736576,-0.00024358907268,-0.000680688121141,-6.4626293978e-05,1793244385777220608
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.244087853,658.244087853,632,880.755912147,783.755912147,806.755912147,651,629,652,0.45031233418,-0.0155631658293,0.0595507405149,0.999999729741,-0.000223110372559,-0.000697895415768,-6.06737464305e-05,1793244385827220736
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,714,680.780103497,658.219896503,634.780103497,879,787,805.780103497,652,631,652,0.406323801417,-0.0153576168897,0.0598154630389,0.99999992828,0.000225913046033,-0.000303362358336,1.93365470094e-05,1793244386860554240
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744,714,680.206975364,658.793024636,634.206975364,879,787,805.206975364,652,631,652,0.405861731627,-0.0153578775338,0.0598217368094,0.999999935071,0.000214642898821,-0.000288833751663,1.90240633289e-05,1793244386877220864
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.37540498,744,714,679.62459502,659,634,879,787,805,652,631,652,0.405429990425,-0.0153568160624,0.0598263212883,0.999999937618,0.000213496082944,-0.000280701704549,1.97239481876e-05,1793244386893887744
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.963015379,744,714,679.036984621,659,634,879,787,805,652,631,652,0.40501539304,-0.015355007238,0.0598299508609,0.999999937863,0.000218071688191,-0.000276185443529,2.0996095249e-05,1793244386910554624
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.454716292,744.545283708,714,679.545283708,658.454716292,634,879,787,805,652,630.454716292,652,0.404604634626,-0.0153522936653,0.0598116112544,0.99999992368,0.000246022769496,-0.000302858143182,1.9718919552e-05,1793244386927221248
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.125572434,634,879,787,805,652,630.125572434,652,0.404203409726,-0.0153503420673,0.0597915895083,0.99999990884,0.000266040985008,-0.000333477409477,1.82897200362e-05,1793244386943887616
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.700066999,634,879,787,805,652,630.700066999,652,0.403835345232,-0.0153513317872,0.0597708294956,0.999999899368,0.00025208608402,-0.000370716364652,1.69291959384e-05,1793244386960554240
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.724761397,634.275238603,879,787,805.275238603,652,631,652,0.403506923732,-0.0153522252084,0.0597652440312,0.99999989845,0.000244399865088,-0.000378256504125,1.70299777225e-05,1793244386977220864
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.148850226,634.851149774,879,787,805.851149774,652,631,652,0.403221808537,-0.0153530134322,0.0597762353502,0.999999907734,0.000243561599196,-0.000353353448328,1.87271003373e-05,1793244386993887488
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.437019606,745,714,680,658,634.562980394,879.437019606,787,805.562980394,652,631,652.437019606,0.402983801218,-0.0153521683492,0.0597958919217,0.999999917594,0.000250174681605,-0.000319066883566,2.05113606887e-05,1793244387010554112
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.974109955,745,714,680,658.025890045,634,879.974109955,787,805,652,630.974109955,652.974109955,0.402762726568,-0.0153507678581,0.0598181721181,0.99999992673,0.000257651913324,-0.000282264242524,2.19521381491e-05,1793244387027220736
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.39528649,745,714,680,658.60471351,634,879.39528649,787,805,652,630.39528649,652.39528649,0.402552617013,-0.0153496636672,0.0598319819035,0.999999939652,0.000228117800159,-0.000261575544493,1.54085130568e-05,1793244387043887360
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.817521817,714,680,658.817521817,634,879,787,805,652,630.182478183,652,0.40234547723,-0.01534950915,0.0598398250657,0.99999994751,0.000204414251836,-0.00025116152852,1.06386841824e-05,1793244387060553984
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.242037557,714,680,658.242037557,634,879,787,805,652,630.757962443,652,0.402144733519,-0.0153513999597,0.0598348178175,0.999999946725,0.000193268085311,-0.000262876257095,9.68910847276e-06,1793244387077220608
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,713.659735749,680,658.340264251,634,879,787,805,652,631,652,0.401961373546,-0.0153524515093,0.0598292301144,0.999999943269,0.000192636765457,-0.000276148749855,9.7209618411e-06,1793244387093887488
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744,713.072485255,680,658.927514745,634,879,787,805,652,631,652,0.401790631816,-0.0153528938687,0.0598232210782,0.999999937807,0.000199637813855,-0.000290551971823,1.04652010839e-05,1793244387110554112
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.510455062,744.510455062,713.510455062,680,659,634,879.510455062,786.489544938,805.510455062,652,631,652,0.401659963168,-0.0153586044774,0.0598262279766,0.999999935591,0.000213086714678,-0.000288580836525,1.15561787153e-05,1793244387127220480
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.908336338,745,714,679.908336338,659,634,879.908336338,786.091663662,805.908336338,652,631,652,0.40153907571,-0.015364603451,0.0598297444581,0.999999933888,0.000225369403904,-0.00028508565161,1.26365807966e-05,1793244387143887360
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.333061838,745,714,679.333061838,659,634,879.333061838,786.666938162,805.333061838,652,631,652,0.40144002216,-0.0153682099557,0.059829251389,0.999999933395,0.000226709042851,-0.000285714449936,1.34035902403e-05,1793244387160553984
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.757765307,714,679.242234693,659,634,879,787,805.242234693,652,631,652,0.401350025038,-0.0153681275899,0.0598288436842,0.999999932962,0.000228713937246,-0.000285614493163,1.3787367468e-05,1793244387177220608
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.182438515,714,679.817561485,659,634,879,787,805.817561485,652,631,652,0.401272481236,-0.0153629727314,0.0598285533623,0.999999932606,0.00023163361107,-0.00028451243974,1.36441696673e-05,1793244387193887488
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.404059468,744,714,680,659,634,879,787,805.595940532,652,631,652,0.401209047643,-0.0153620330026,0.0598298752187,0.999999933003,0.000231828037565,-0.000282929860533,1.41393953425e-05,1793244387210553856
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.9957448,744,714,680,659,634,879,787,805.0042552,652,631,652,0.401152166158,-0.0153630505784,0.0598319456935,0.999999933749,0.000230756989643,-0.000281124148196,1.49310743072e-05,1793244387227220736
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,744.573309543,714,680,659,634,879,787,805.573309543,652,631,652,0.401107507693,-0.0153616917834,0.0598308674854,0.999999932704,0.000231990144915,-0.000283818392273,1.48126995064e-05,1793244387243887360
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.849853234,744.849853234,714,679.849853234,659,634.150146766,879,787,805.849853234,652,631,652,0.401067403077,-0.0153601937058,0.0598300966462,0.999999932034,0.000232847652096,-0.000285481216995,1.46529730707e-05,1793244387260553984
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.274785543,744.274785543,714,679.274785543,659,634.725214457,879,787,805.274785543,652,631,652,0.401039935458,-0.0153583501688,0.059830260221,0.99999993248,0.000232594824645,-0.000284132836656,1.43948761817e-05,1793244387277220608
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.30770382,744,714,679,659,634.69229618,879,787,805,652,631,652,0.401017567125,-0.0153576488114,0.0598299776218,0.999999932168,0.000234040609513,-0.000284042791134,1.44146265294e-05,1793244387293887232
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.89698476,744,714,679,659,634.10301524,879,787,805,652,631,652,0.400999865102,-0.0153579926524,0.0598292867327,0.999999931156,0.000237040779873,-0.000285104236822,1.46886324639e-05,1793244387310554112
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.521907829,744.478092171,714,679.478092171,658.521907829,634.478092171,879,787,805,652,631,652,0.400990964808,-0.0153590615271,0.0598303442908,0.999999932198,0.000234976208883,-0.000283142543581,1.48233332862e-05,1793244387327220736
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.056963337,635,879,787,805,652,631,652,0.400984147921,-0.015360101139,0.059831666659,0.99999993355,0.000232143347418,-0.000280693273508,1.48742443553e-05,1793244387343887360
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.631251434,635,879,787,805,652,631,652,0.400979317769,-0.0153594800614,0.0598320300172,0.999999933869,0.000232077441196,-0.000279632361948,1.44322181186e-05,1793244387360553984
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.20521282,744.79478718,714,680,659,635,879,787,805.20521282,652,631,652,0.400975687675,-0.0153594427196,0.0598326492499,0.999999934204,0.000232271605957,-0.00027827879886,1.42642491341e-05,1793244387377220864
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.778588033,744.221411967,714,680,659,635,879,787,805.778588033,652,631,652,0.400974210546,-0.0153604526301,0.0598337275343,0.999999934566,0.000232932351491,-0.000276400203887,1.45879530339e-05,1793244387393887488
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.270285022,744.364857489,714,679.635142511,658.635142511,635,878.635142511,787,805.635142511,652,631,652,0.400972386534,-0.0153603431981,0.0598341129946,0.999999934718,0.000232943877945,-0.000275849055936,1.44127502811e-05,1793244387410554368
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.081523215,744.959238393,714,679.040761607,658.040761607,635,878.040761607,787,805.040761607,652,631,652,0.400970344305,-0.0153595296136,0.0598340626152,0.999999934739,0.000232546995654,-0.000276132974302,1.392369687e-05,1793244387427220992
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.078291667,744.460854166,713.460854166,679.539145834,658.539145834,635,878.539145834,787,805.539145834,652,631,652,0.400970854027,-0.0153600080096,0.0598348021285,0.999999934953,0.000232831881981,-0.000275110534044,1.40730403463e-05,1793244387443887360
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.882791152,744.117208848,713.117208848,680,658.882791152,635,879,787,805.882791152,652,630.882791152,652,0.400971403909,-0.0153606059569,0.0598355042632,0.999999935228,0.000233004211973,-0.000273950861483,1.42645869916e-05,1793244387460553984
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.307770166,744.692229834,713.692229834,680,658.307770166,635,879,787,805.307770166,652,630.307770166,652,0.400971376756,-0.0153612993107,0.0598358332366,0.999999935694,0.00023254083547,-0.000272630856211,1.44373834518e-05,1793244387477220864
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.270567802,745,714,680,658.270567802,634.729432198,878.729432198,787,805,652,630.270567802,652,0.400972228108,-0.0153618089207,0.0598365002818,0.999999936231,0.000231809181484,-0.000271276050758,1.45191520467e-05,1793244387493887232
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.852725736,745,714,680,658.852725736,634.147274264,878.147274264,787,805,652,630.852725736,652,0.400974091163,-0.0153621069286,0.0598375566557,0.99999993685,0.000230768574876,-0.0002698811687,1.44960915446e-05,1793244387510554112
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.563146401,745,714,680,659,634,878.436853599,787,805,652,631,652,0.400973695428,-0.0153615340194,0.0598375068613,0.999999936333,0.000232467143076,-0.000270341727635,1.44411433772e-05,1793244387527220992
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.978632047,714,680,658.978632047,634.021367953,879,787,805,652,631,652,0.400972548562,-0.0153607362319,0.0598370774292,0.999999935468,0.00023493405001,-0.000271409933948,1.43723157027e-05,1793244387543887360
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.401416826,714,680,658.401416826,634.598583174,879,787,805,652,631,652,0.400971761,-0.0153617609099,0.0598365171101,0.999999935719,0.000233257368134,-0.000271939628849,1.42233497422e-05,1793244387560553984
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.174983078,714,679.825016922,658,634.825016922,879,787,805,652,631,651.825016922,0.400971488178,-0.0153622714573,0.0598364699329,0.999999935962,0.000232453034392,-0.000271739668909,1.41195801465e-05,1793244387577220864
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.749521257,714,679.250478743,658,634.250478743,879,787,805,652,631,651.250478743,0.400972390712,-0.0153616080426,0.0598375944598,0.99999993619,0.000233640614191,-0.000269873620331,1.41190116139e-05,1793244387593887488
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.676320826,714,679,658,634,878.676320826,786.676320826,805,652,630.676320826,651.323679174,0.400972528068,-0.0153614298601,0.0598382647074,0.999999936425,0.000233784306027,-0.000268864802298,1.43532607465e-05,1793244387610554112
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.102456856,714,679,658,634,878.102456856,786.102456856,805,652,630.102456856,651.897543144,0.400972073988,-0.0153616267335,0.0598385838239,0.999999936667,0.000233121134355,-0.000268518572698,1.4769010001e-05,1793244387627220736
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.488920563,714,679,658.488920563,634,878.488920563,786.488920563,805,652,630.488920563,652,0.400971975265,-0.015362460609,0.0598381369631,0.999999936841,0.000231783800889,-0.000269041696843,1.45075199514e-05,1793244387643887616
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.081265905,658.918734095,634,879,787,805,652,631,652,0.400971865922,-0.0153633189689,0.0598375854988,0.999999936968,0.000230469011814,-0.000269716775541,1.41693640724e-05,1793244387660554240
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.656362229,658.343637771,634,879,787,805,652,631,652,0.400971222709,-0.0153634848046,0.0598374100384,0.999999936911,0.000230181605765,-0.000270167057291,1.42597822533e-05,1793244387677220608
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.23117992,634,879,786.76882008,805,652,630.76882008,652,0.400971466785,-0.0153641914656,0.0598377346842,0.999999937326,0.000228947945937,-0.000269678898078,1.42898145833e-05,1793244387693887488
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.805584021,634,879,786.194415979,805,652,630.194415979,652,0.400973028186,-0.0153657010697,0.0598388018191,0.999999938433,0.000226309418469,-0.00026779747073,1.42301943121e-05,1793244387710554112
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1fcf9fa9f3e485209590c3ae85f162a260b8b68
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_02/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,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+1,0.016666667,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+2,0.033333333,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+3,0.050000000,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+4,0.066666667,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+5,0.083333333,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+6,0.100000000,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+7,0.116666667,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+8,0.133333333,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
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+10,0.166666667,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+11,0.183333333,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
+12,0.200000000,pose1_baseline,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496244,1.04971762284
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+384,6.400000000,pose2_to_pose3_retreat,0.57567739143,-0.0101221644277,1.0500508497,0.546249024445,-0.00144647890956,1.04971735126
+385,6.416666667,pose2_to_pose3_retreat,0.575674878968,-0.0101221286772,1.05005083697,0.546246512044,-0.00144644288379,1.04971734033
+386,6.433333333,pose2_to_pose3_retreat,0.575673022401,-0.0101221007517,1.05005082805,0.546244655537,-0.00144641470928,1.04971733259
+387,6.450000000,pose2_to_pose3_retreat,0.575671972201,-0.0101221516361,1.05005089786,0.546243605865,-0.00144646395949,1.04971739823
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+389,6.483333333,pose2_to_pose3_retreat,0.575671094578,-0.0101221987002,1.0500509613,0.546242728718,-0.00144650955616,1.04971745786
+390,6.500000000,pose2_to_pose3_retreat,0.575671075043,-0.0101221997477,1.05005096272,0.546242709194,-0.00144651057107,1.04971745918
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+393,6.550000000,pose2_to_pose3_retreat,0.575670266507,-0.0101222064938,1.0500510398,0.546241900079,-0.00144651926429,1.04971753661
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+396,6.600000000,pose2_to_pose3_retreat,0.575670004399,-0.0101221987834,1.05005106982,0.54624163751,-0.00144651307692,1.04971756779
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+402,6.700000000,pose2_to_pose3_retreat,0.575669665353,-0.0101221341406,1.0500511221,0.54624129913,-0.00144644637539,1.04971761481
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b125fa782851a6e310fdb7a8be9da351f4789ad3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e0f270d9b817a5781505a2f22c68b59f79e60bb37c061cc3f54832c737afda4
+size 25871769
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9aa83da7a96d2d06ca287e02a052e38c6a039398
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+41,0.683333333,BASELINE,766,744.777035348,714,679.222964652,658.222964652,634.222964652,879,787,805.777035348,652,631,652,0.400973676148,-0.0153650429507,0.0598418270272,0.999999939352,0.000227964205027,-0.000262931168544,1.40036470502e-05,1793244388542794752
+42,0.700000000,BASELINE,765.636614466,744.636614466,714,679.363385534,658.363385534,634,878.636614466,787,806,652,631,651.636614466,0.400974095236,-0.0153654409416,0.0598423727849,0.99999993973,0.000226861104562,-0.00026244840348,1.39357270726e-05,1793244388559461120
+43,0.716666667,BASELINE,765.042249905,744.042249905,714,679.957750095,658.957750095,634,878.042249905,787,806,652,631,651.042249905,0.400974337073,-0.0153653785363,0.0598428354578,0.999999939806,0.00022696528129,-0.000262080102106,1.37537118886e-05,1793244388576127744
+44,0.733333333,BASELINE,765,744.535866753,714,679.464133247,659,634.535866753,878.535866753,787,805.464133247,652,631,651.535866753,0.400974764954,-0.0153657343626,0.059842742227,0.99999993958,0.000228243123272,-0.000261820611204,1.3947606308e-05,1793244388592794368
+45,0.750000000,BASELINE,765,744.887818083,714,679.112181917,659,634.887818083,879,787,805.112181917,652,631,652,0.400974856233,-0.0153660924012,0.0598425151441,0.999999939357,0.000229146735751,-0.000261876180227,1.41125157418e-05,1793244388609460992
+46,0.766666667,BASELINE,765,744.313800859,714,679.686199141,659,634.313800859,879,787,805.686199141,652,631,652,0.400973503166,-0.015366327789,0.0598419121428,0.999999939242,0.000228139956615,-0.000263194522203,1.40396732838e-05,1793244388626127616
+47,0.783333333,BASELINE,765.267755747,744.267755747,714,680,659,634.267755747,879.267755747,787,805.732244253,652,631,652,0.400972897193,-0.0153664024283,0.0598413602772,0.999999939162,0.000227732407872,-0.00026385634916,1.39056761678e-05,1793244388642794752
+48,0.800000000,BASELINE,765.858404346,744.858404346,714,680,659,634.858404346,879.858404346,787,805.141595654,652,631,652,0.400973192156,-0.0153662832174,0.0598408700773,0.999999939128,0.000228047484797,-0.000263726469634,1.36979312249e-05,1793244388659462144
+49,0.816666667,BASELINE,765.559246785,744.559246785,714,679.559246785,658.559246785,635,879.559246785,787,805,652,631,652,0.400972552577,-0.0153658579627,0.059840887215,0.999999938936,0.000228412326219,-0.000264135567543,1.37290614093e-05,1793244388676128768
+50,0.833333333,BASELINE,765,744.020275352,714,679.020275352,658.020275352,635,878.979724648,787,805,652,631,652,0.400971658225,-0.015365349675,0.0598410533033,0.999999938701,0.000228785826578,-0.000264695052935,1.38266089502e-05,1793244388692794880
+51,0.850000000,BASELINE,765,744.594074796,714,679.594074796,658.594074796,635,878.405925204,787,805,652,631,652,0.400971853381,-0.0153652090929,0.0598409184451,0.999999938655,0.000228967328745,-0.000264720456776,1.3681049905e-05,1793244388709461504
+52,0.866666667,BASELINE,765.168443427,744.831556573,714,679.831556573,658.831556573,634.831556573,878.336886854,787,805,652,631,652,0.400972104588,-0.0153652648504,0.0598408615355,0.999999938693,0.000228945336837,-0.000264603159176,1.35552659218e-05,1793244388726128384
+53,0.883333333,BASELINE,765.744188339,744.255811661,714,679.255811661,658.255811661,634.255811661,879.488376677,787,805,652,631,652,0.400972491331,-0.0153657953632,0.0598409931079,0.999999938934,0.000228431289866,-0.000264140805024,1.34772986664e-05,1793244388742795264
+54,0.900000000,BASELINE,765.670838459,744,714,679,658.329161541,634.329161541,879.670838459,787,805,651.670838459,631,652,0.400971449727,-0.0153660678563,0.059840227206,0.999999938634,0.000228407232071,-0.000265286520384,1.35996720209e-05,1793244388759461888
+55,0.916666667,BASELINE,765.078486544,744,714,679,658.921513456,634.921513456,879.078486544,787,805,651.078486544,631,652,0.400969266048,-0.0153661340423,0.0598387437033,0.999999937898,0.000228774958931,-0.000267718013001,1.38822333519e-05,1793244388776127744
+56,0.933333333,BASELINE,765,744.501805197,714,679.501805197,659,635,879,787,805.501805197,651.501805197,631,652,0.400971519105,-0.0153658905604,0.0598406904531,0.999999938607,0.000228404776061,-0.000265379297294,1.38034792689e-05,1793244388792794624
+57,0.950000000,BASELINE,765,744.920260934,714,679.920260934,658.920260934,634.920260934,879,787,805.920260934,652,631,652,0.400974001646,-0.0153657250073,0.0598427468277,0.999999939383,0.000228040245772,-0.000262758934685,1.37403861307e-05,1793244388809461760
+58,0.966666667,BASELINE,765,744.345529412,714,679.345529412,658.345529412,634.345529412,879,787,805.345529412,652,631,652,0.400973702088,-0.0153663368192,0.059842231348,0.999999939253,0.000228410448009,-0.00026291304104,1.41170890084e-05,1793244388826128384
+59,0.983333333,BASELINE,765,744,713.765336444,679.234663556,658.234663556,634.234663556,879,787,805,652,631,652,0.400973608328,-0.0153665667261,0.0598420354832,0.99999993915,0.000228814474894,-0.00026294674167,1.42481303345e-05,1793244388842794752
+60,1.000000000,BASELINE,765,744,713.176910087,679.823089913,658.823089913,634.823089913,879,787,805,652,631,652,0.400973824817,-0.0153662208992,0.059842321448,0.999999939088,0.00022926949357,-0.000262798926852,1.40088290854e-05,1793244388859461120
+61,1.016666667,BASELINE,765,744.404690403,713.404690403,680,658.595309597,635,879,787,805,652,630.595309597,652,0.400972699887,-0.0153667486745,0.0598420752899,0.999999939113,0.000228398817555,-0.000263464610878,1.39726293197e-05,1793244388876127744
+62,1.033333333,BASELINE,765,744.98335643,713.98335643,680,658.01664357,635,879,787,805,652,630.01664357,652,0.400970998285,-0.0153676520098,0.0598416003733,0.999999939172,0.000226958227921,-0.000264480016497,1.40237425044e-05,1793244388892794624
+63,1.050000000,BASELINE,765,745,714,680,658.560092554,634.439907446,879,787,805,652,630.560092554,651.439907446,0.400972680638,-0.0153671786322,0.0598420736508,0.999999939086,0.000228592939973,-0.000263388671893,1.41096948685e-05,1793244388909460992
+64,1.066666667,BASELINE,765.139082594,745,714,679.860917406,659,634,878.860917406,787,805,652,630.860917406,651.139082594,0.400973935601,-0.0153668246202,0.0598421611225,0.999999938971,0.000229701441623,-0.0002628628268,1.41139364555e-05,1793244388926127872
+65,1.083333333,BASELINE,765.725505845,745,714,679.274494155,659,634,878.274494155,787,805,652,630.274494155,651.725505845,0.400973493604,-0.0153669856614,0.0598409173871,0.999999938782,0.000228824539397,-0.000264356500605,1.38520478155e-05,1793244388942794752
+66,1.100000000,BASELINE,765.691852906,744.691852906,714,679,658.691852906,634.308147094,878,787,805,652,630,652,0.400973510845,-0.0153661769596,0.0598408811245,0.999999938607,0.000229635538546,-0.000264311998167,1.38718243367e-05,1793244388959461632
+67,1.116666667,BASELINE,765.112539805,744.112539805,714,679,658.112539805,634.887460195,878,787,805,652,630,652,0.40097393221,-0.015364514895,0.0598419074245,0.999999938442,0.000231931872124,-0.000262913917711,1.41394630719e-05,1793244388976128000
+68,1.133333333,BASELINE,765.466051691,744,714,679.466051691,658,634.533948309,878.932103382,787,805,652,630.466051691,651.533948309,0.400974235344,-0.0153654988653,0.0598420189009,0.999999939186,0.000228959076834,-0.000262710730638,1.37763958245e-05,1793244388992794624
+69,1.150000000,BASELINE,766,744.044132044,714,680,658.044132044,634.044132044,879.955867956,787,805,652,631,651.044132044,0.400974448958,-0.015366949008,0.0598419101375,0.99999994,0.00022527787413,-0.000262816115087,1.33294477792e-05,1793244389009460736
+70,1.166666667,BASELINE,766,744.618163522,714,680,658.618163522,634.618163522,879.381836478,787,805,652,631,651.618163522,0.400973929973,-0.0153663364313,0.0598418052845,0.999999939207,0.000228344543438,-0.000263167414908,1.37011880758e-05,1793244389026127360
+71,1.183333333,BASELINE,765.802581376,745,714,679.802581376,659,635,879,786.802581376,805,652,631,652,0.400973328477,-0.0153662587188,0.0598415178066,0.999999938771,0.00022977484548,-0.000263565806024,1.39527137677e-05,1793244389042794240
+72,1.200000000,BASELINE,765.21294832,745,714,679.21294832,659,635,879,786.21294832,805,652,631,652,0.400972563056,-0.0153672436289,0.0598408675052,0.999999939058,0.000227954153605,-0.000264057754164,1.39654074358e-05,1793244389059461376
+73,1.216666667,BASELINE,765,745,714,679.370082199,659,634.629917801,879,786.370082199,805,652,631,652,0.400972664291,-0.0153665700966,0.0598411878133,0.999999938967,0.000228712727871,-0.000263749932634,1.38636387884e-05,1793244389076128000
+74,1.233333333,BASELINE,765,745,714,679.949380123,659,634.050619877,879,786.949380123,805,652,631,652,0.400973255465,-0.0153649590098,0.0598420568287,0.99999993866,0.000230929418943,-0.000262989983435,1.36971620396e-05,1793244389092794624
+75,1.250000000,BASELINE,765,745,714,679.475224295,658.475224295,634.524775705,879,787,805,652,631,652,0.400973952072,-0.0153649200502,0.0598426745238,0.999999938617,0.000232252579417,-0.000261978814356,1.38614130429e-05,1793244389109461248
+76,1.266666667,BASELINE,765.099232525,744.900767475,714,679,658.099232525,634.900767475,879,787,805,652,630.900767475,651.900767475,0.400974422678,-0.0153652608157,0.0598431057967,0.999999938747,0.000232471208143,-0.000261279324348,1.40193250504e-05,1793244389126127872
+77,1.283333333,BASELINE,765.670998284,744.329001716,714,679,658.670998284,634.329001716,879,787,805,652,630.329001716,651.329001716,0.400973769018,-0.0153666929893,0.0598427639364,0.999999939578,0.000227837587491,-0.000262178553575,1.3996259361e-05,1793244389142794240
+78,1.300000000,BASELINE,765.747778039,744.252221961,714,679.252221961,658.747778039,634,879,787,805,652,630.252221961,651.252221961,0.400973149368,-0.015367162714,0.0598424977507,0.999999939782,0.000226141437117,-0.000262874209359,1.3869941036e-05,1793244389159460608
+79,1.316666667,BASELINE,765.153736734,744.846263266,714,679.846263266,658.153736734,634,879,787,805,652,630.846263266,651.846263266,0.400972575808,-0.015366328097,0.0598423341216,0.999999939156,0.00022842624168,-0.000263293975775,1.3603691408e-05,1793244389176127488
+80,1.333333333,BASELINE,765,744.570777522,713.570777522,680,658,634,879,786.570777522,805,651.570777522,631,652,0.400973570981,-0.0153667863146,0.059842344927,0.999999939526,0.000227648119633,-0.000262552528756,1.37684439844e-05,1793244389192794112
+81,1.350000000,BASELINE,765,744,713.00827953,679.99172047,658,634.00827953,879,786.00827953,804.99172047,651.00827953,631,652,0.40097506729,-0.0153676756683,0.0598424097898,0.999999940227,0.000225823395162,-0.000261442057512,1.40753786293e-05,1793244389209460992
+82,1.366666667,BASELINE,765,744,713.585085474,679.414914526,658,634.585085474,879,786.585085474,804.414914526,651.585085474,631,652,0.400973363615,-0.0153671731486,0.0598420044234,0.999999939924,0.000225567639429,-0.00026283277236,1.38119227575e-05,1793244389226127872
+83,1.383333333,BASELINE,765,744,714,679,658.164733691,635,879,786.835266309,804.164733691,652,631,652,0.400972540029,-0.0153664898208,0.0598418872276,0.999999939664,0.000226127315514,-0.000263346782886,1.36386221994e-05,1793244389242794496
+84,1.400000000,BASELINE,765,744,714,679,658.751666552,635,879,786.248333448,804.751666552,652,631,652,0.400973972043,-0.0153653430962,0.0598425085898,0.999999939516,0.000228776877548,-0.000261613871223,1.3696382385e-05,1793244389259461120
+85,1.416666667,BASELINE,765,744.334433475,714,679,659,634.665566525,879,786.334433475,805.334433475,652,630.665566525,652,0.400974960021,-0.0153661992613,0.0598434705895,0.999999940068,0.000227816201874,-0.000260326459016,1.38899456652e-05,1793244389276127488
+86,1.433333333,BASELINE,765,744.914145008,714,679,659,634.085854992,879,786.914145008,805.914145008,652,630.085854992,652,0.400975622337,-0.0153685243731,0.0598446824174,0.99999994113,0.000224207728613,-0.000259365782269,1.4183108778e-05,1793244389292794368
+87,1.450000000,BASELINE,765,744.507513413,714,679.492486587,658.507513413,634.492486587,879,786.507513413,805.507513413,652,630,651.507513413,0.400973671165,-0.0153675275582,0.0598436834261,0.999999940207,0.00022608776131,-0.0002612839931,1.4149780831e-05,1793244389309460736
+88,1.466666667,BASELINE,765,744,714,679.930090352,658,634.930090352,878.930090352,786,805.069909648,652,630.069909648,651.069909648,0.400971649521,-0.0153661593681,0.059842396937,0.99999993911,0.000228547449752,-0.000263342050402,1.40370245321e-05,1793244389326127360
+89,1.483333333,BASELINE,765,744,714,679.35755876,658,634.35755876,878.35755876,786,805.64244124,652,630.64244124,651.64244124,0.400972387768,-0.0153662731575,0.0598418067197,0.999999939308,0.000228314641699,-0.000262807276806,1.37612860307e-05,1793244389342793984
+90,1.500000000,BASELINE,765.221638298,744,714,679,658.221638298,634,878.221638298,786.221638298,806,651.778361702,631,651.778361702,0.400973325303,-0.0153663092985,0.0598416509727,0.999999939584,0.000227738593021,-0.000262266201102,1.3566350717e-05,1793244389359460864
+91,1.516666667,BASELINE,765.811921797,744,714,679,658.811921797,634,878.811921797,786.811921797,806,651.188078203,631,651.188078203,0.40097459431,-0.0153662162892,0.059842217869,0.99999993999,0.000226591641189,-0.000261714643317,1.35058132656e-05,1793244389376127744
+92,1.533333333,BASELINE,766,744.393728441,714,679.393728441,659,634,879,787,806,651.393728441,631,651.393728441,0.40097382729,-0.0153658711505,0.0598420929692,0.999999939515,0.000227660166135,-0.000262600680405,1.35148539288e-05,1793244389392794368
+93,1.550000000,BASELINE,766,744.971571211,714,679.971571211,659,634,879,787,806,651.971571211,631,651.971571211,0.400972108188,-0.0153654081117,0.0598416445734,0.999999938622,0.000229764686797,-0.000264158962031,1.35564305338e-05,1793244389409460992
+94,1.566666667,BASELINE,765.450842216,744.450842216,714,680,659,634,879,787,805.450842216,652,631,652,0.400972721033,-0.0153645173578,0.0598419410482,0.999999938658,0.000230248294932,-0.000263620989141,1.32147045404e-05,1793244389426127616
+95,1.583333333,BASELINE,765.126210419,744.126210419,714,679.873789581,659,634.126210419,879,787,805,652,631,652,0.400973255873,-0.0153642692784,0.0598421995532,0.999999938821,0.000230080382626,-0.000263156266926,1.30417587317e-05,1793244389442794240
+96,1.600000000,BASELINE,765.701410903,744.701410903,714,679.298589097,659,634.701410903,879,787,805,652,631,652,0.40097308396,-0.0153663862283,0.059842185868,0.999999939267,0.000227893077684,-0.000263338004599,1.35398009501e-05,1793244389459460864
+97,1.616666667,BASELINE,765.715348748,745,714,679.284651252,658.715348748,635,879.284651252,787,805,652,631,652,0.400972758367,-0.0153669260371,0.0598419883246,0.999999939199,0.000227962746034,-0.000263521205868,1.38046917321e-05,1793244389476127488
+98,1.633333333,BASELINE,765.123429778,745,714,679.876570222,658.123429778,635,879.876570222,787,805,652,631,652,0.400972266884,-0.0153657633955,0.0598415923149,0.999999938576,0.000230468711665,-0.000263705987011,1.38179064086e-05,1793244389492794112
+99,1.650000000,BASELINE,765.456702583,745,714,680,658.456702583,635,879.543297417,787,805,652,631,652,0.400973201373,-0.0153668972872,0.0598425766095,0.999999939244,0.000228787559391,-0.00026261081237,1.42583167607e-05,1793244389509460736
+100,1.666666667,BASELINE,766,744.966406549,714,680,659,635,879,787,805,652.033593451,631,651.966406549,0.400974371712,-0.0153685174509,0.0598437960287,0.999999940189,0.000226090334297,-0.000261320316953,1.47473423324e-05,1793244389526127616
+101,1.683333333,BASELINE,766,744.391708633,714,680,659,635,879,787,805,652.608291367,631,651.391708633,0.400973289586,-0.0153682243651,0.0598429450757,0.999999940228,0.000224795739718,-0.000262315479626,1.42065352499e-05,1793244389542794496
+102,1.700000000,BASELINE,765.816447031,744,714,680,658.816447031,635,879,787,805,652.816447031,631,651.183552969,0.400972951309,-0.0153677903569,0.0598425437213,0.999999940205,0.000224642394147,-0.000262555098153,1.38326226229e-05,1793244389559461632
+103,1.716666667,BASELINE,765.239978871,744,714,680,658.239978871,635,879,787,805,652.239978871,631,651.760021129,0.400974205323,-0.0153670546886,0.0598431047819,0.999999940049,0.000226932016961,-0.000261177391738,1.38159658862e-05,1793244389576128000
+104,1.733333333,BASELINE,765,744.345738935,714,680,658,634.654261065,879,787,805,652,631,652,0.400974837031,-0.0153662370666,0.0598433863679,0.999999939941,0.000228075121678,-0.000260598581955,1.37079943228e-05,1793244389592794368
+105,1.750000000,BASELINE,765,744.938053505,714,680,658,634.061946495,879,787,805,652,631,652,0.400975024923,-0.0153653609966,0.0598434686369,0.999999939872,0.000228400547747,-0.000260589532689,1.35348984425e-05,1793244389609460736
+106,1.766666667,BASELINE,765,744.484343017,714,679.484343017,658,634.515656983,879,786.484343017,805,652,630.484343017,652,0.400975283311,-0.0153658651448,0.059843349918,0.999999939917,0.000228034683287,-0.000260733217562,1.36121051658e-05,1793244389626127616
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,634,880,787,805,652,631,652,0.400972962907,-0.0153673143397,0.0598417617504,0.999999939319,0.000228617452537,-0.00026251941138,1.34237233414e-05,1793244389669090560
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679.412457503,658.587542497,634,879.412457503,787,805,652,631,652,0.400972701523,-0.0153688392759,0.0598421366902,0.999999940047,0.000225114713467,-0.000262759444603,1.36763085365e-05,1793244389685757440
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.827084,634,879,787,805,652,631,652,0.400973125487,-0.0153690784654,0.0598425763809,0.999999940506,0.000223627707752,-0.000262277834537,1.37770782608e-05,1793244389702424064
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.24682,634,879,787,805,652,631,652,0.400975163963,-0.0153662887494,0.0598431686094,0.999999940344,0.000226889278424,-0.000260096208604,1.35202077441e-05,1793244389719090432
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.331183105,634,879,787,805,652,631,652,0.400974662715,-0.0153658842348,0.0598429727671,0.99999994,0.000227972194704,-0.000260466111124,1.36046539335e-05,1793244389735756800
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.907512629,634,879,787,805,652,631,652,0.400972281526,-0.0153672452804,0.0598421935837,0.999999939526,0.00022744244,-0.000262724691216,1.39417475906e-05,1793244389752423168
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,714,679.480652742,658.519347258,634,879,787,805,652,631,652,0.400973720795,-0.0153672327366,0.0598431091752,0.999999939917,0.000227523478963,-0.000261162258901,1.38734913889e-05,1793244389769089792
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.055114351,744,714,680,658.055114351,634,879.055114351,786.944885649,805,652,631,652,0.400975746992,-0.0153670495767,0.0598442664322,0.999999940451,0.000227526929844,-0.000259112722749,1.37567318199e-05,1793244389785756672
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.648434219,744,714,680,658.648434219,634,879.648434219,786.351565781,805,652,631,652,0.400976373232,-0.0153677643134,0.059844620067,0.999999940794,0.000225632577477,-0.000259438975985,1.39229697212e-05,1793244389802423296
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.23499723,714,680,658.76500277,634.23499723,879.53000554,786.23499723,805,652,631,652,0.400981436935,-0.0153685766154,0.0598469880353,0.999999941836,0.000224450836647,-0.000256411127004,1.42807345285e-05,1793244389819090176
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.811734172,714,680,658.188265828,634.811734172,878.376531656,786.811734172,805,652,631,652,0.400992953724,-0.0153695307994,0.0598522853051,0.999999943855,0.000224305396115,-0.000248505646328,1.49170232414e-05,1793244389835757312
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.613802056,744.613802056,714,680,658.386197944,635,878.386197944,787,805,652,631,652,0.401026348822,-0.0153709691349,0.0598654880158,0.999999949577,0.000224357280093,-0.000224177121257,1.59783040086e-05,1793244389852423936
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.040439887,744.040439887,714,680,658.959560113,635,878.959560113,787,805,652,631,652,0.401070346867,-0.0153726421064,0.0598825219636,0.999999956239,0.000224504793816,-0.000191889447793,1.72455499471e-05,1793244389869090560
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634.450097782,879.549902218,787,805,652,631,652,0.401135076265,-0.0153759480907,0.0599031728426,0.999999962121,0.000223543944094,-0.000159427817494,1.91946603219e-05,1793244389885757184
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,679.861276585,658.861276585,634,879.861276585,787,805,652,631,652,0.401204109245,-0.0153795336193,0.0599221302537,0.999999966566,0.000222505035166,-0.000130076045818,2.09673782035e-05,1793244389902423552
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714,679.281389598,658.281389598,634,879.281389598,787,805,652,631,652,0.401281825426,-0.0153836140653,0.0599348293174,0.999999969107,0.000221485357122,-0.000110656114428,2.20145906065e-05,1793244389919090176
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634.296347927,879,787,805,652,631,652,0.401365454444,-0.0153883780448,0.0599432920623,0.999999970923,0.000219838283656,-9.65575076193e-05,2.24151326762e-05,1793244389935756544
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634.872059149,879,787,805,652,631,652,0.40145465741,-0.015393786382,0.0599477612844,0.999999972253,0.000217599772878,-8.74752447059e-05,2.22060670678e-05,1793244389952423168
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.447486098,744,714,679.447486098,658.894972195,635,879,787,805,652,631,652,0.401552732552,-0.0153982927396,0.0599458064848,0.999999972115,0.000217386119294,-8.98556148613e-05,2.09542488775e-05,1793244389969090048
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.976556553,744,714,680,659.976556553,635,879,787,805,652,631,652,0.401654612252,-0.0154026873197,0.0599420944539,0.999999971609,0.000217576663728,-9.52178803615e-05,1.94033566708e-05,1793244389985757440
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.385798098,744,714,680,659.385798098,635,879,787,805,652,631,652,0.401787213517,-0.0154106136443,0.0599402771333,0.99999997267,0.000213547774368,-9.34822987276e-05,1.78251268271e-05,1793244390002423808
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.200468207,744,714,679.799531793,659,635,879.200468207,787,805,652,631,652,0.401932187588,-0.0154182784854,0.059940426799,0.999999973978,0.00020952940263,-8.87366324156e-05,1.63658888152e-05,1793244390019090176
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.778278844,744,714,679.221721156,659,635,879.778278844,787,805,652,631,652,0.402100451042,-0.0154254511339,0.059944278934,0.999999975697,0.000205530828713,-7.83250670284e-05,1.51306299731e-05,1793244390035756800
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744,714,679,659,634.644147497,879.288294995,787,805,652,631,652,0.402287467439,-0.0154338951545,0.0599469238507,0.999999977284,0.000200666307279,-7.05362875746e-05,1.37401702117e-05,1793244390052423424
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744,714,679,659,634.066721337,878.133442675,787,805,652,631,652,0.402486160482,-0.0154431308031,0.0599488170861,0.999999978789,0.000195262598134,-6.43806002194e-05,1.22530735635e-05,1793244390069090304
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.518719917,714,679.518719917,659,634.518719917,878.518719917,787,805,651.481280083,631,652,0.402707677066,-0.0154537875251,0.0599479692645,0.999999980647,0.000186822389014,-6.08072578697e-05,1.02753172627e-05,1793244390085756928
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.103856633,634.896143367,879,786.896143367,805,651.103856633,631,652,0.402940377787,-0.0154644083555,0.0599469047068,0.999999982367,0.000178462545269,-5.78955043505e-05,8.03052727605e-06,1793244390102423296
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.682810244,634.317189756,879,786.317189756,805,651.682810244,631,652,0.403210600571,-0.0154740157044,0.0599464868559,0.999999983553,0.00017228508078,-5.64668946211e-05,4.85741861655e-06,1793244390119090688
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.7391427,714,680.2608573,659.7391427,634,879,786.2608573,805,651.7391427,631,652,0.403488437106,-0.0154824167252,0.0599418179931,0.999999983867,0.00016826452268,-6.28445996721e-05,1.6458337661e-06,1793244390135757824
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.162194185,714,680.837805815,659.162194185,634,879,786.837805815,805,651.162194185,631,652,0.403775499509,-0.0154893559895,0.0599319980094,0.999999982983,0.000166857574588,-7.86815283632e-05,-1.61237403234e-06,1793244390152424448
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744,714,680.57861127,659,634.42138873,879,787,805,651.42138873,631,652,0.404076675012,-0.0154849761737,0.0599204108548,0.999999988006,0.000118263261834,-9.9857662015e-05,-5.55604452013e-06,1793244390169090816
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.992525796,744.007474204,714,680,659,635,879,787,805,651.992525796,631,652,0.404384255066,-0.0154761657724,0.0599082227277,0.999999991022,5.24205005574e-05,-0.000122933515815,-9.77668226634e-06,1793244390185756928
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.413466818,744.586533182,714,680,659,635,879,787,805,651.413466818,631,652,0.404759551326,-0.015467039038,0.0599029248208,0.999999988134,7.87049779134e-05,-0.000131614378055,-1.46786871724e-05,1793244390202423808
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.83463017,714,679.83463017,659,634.83463017,879,786.83463017,805,651,630.83463017,652,0.405156862485,-0.0154646399318,0.0599035184626,0.999999986971,9.26913313439e-05,-0.000130856334656,-1.85430005024e-05,1793244390219090432
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.256348741,714,679.256348741,659,634.256348741,879,786.256348741,805,651,630.256348741,652,0.405609142544,-0.0154790390285,0.0599188227014,0.999999991244,7.5970519798e-05,-0.000106530305425,-1.98163030851e-05,1793244390235757312
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.320787677,744,714,679.320787677,658.679212323,634,878.679212323,786.320787677,805,651.320787677,630.320787677,652,0.406087726832,-0.0154898733401,0.0599420541131,0.99999999571,6.04648334639e-05,-6.69128776684e-05,-2.11393705558e-05,1793244390252423936
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.897012405,744,714,679.897012405,658.102987595,634,878.102987595,786.897012405,805,651.897012405,630.897012405,652,0.40658725672,-0.0154978690835,0.0599715977815,0.999999998578,4.59267260371e-05,-1.51192008733e-05,-2.25020649492e-05,1793244390269090560
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744,714,680,658.482753403,634.482753403,878.482753403,787,805,652,630.517246597,652,0.407090131571,-0.0155002365878,0.0599909740521,0.999999999128,3.16447843327e-05,1.23195031e-05,-2.43098324828e-05,1793244390285757440
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.069517777,714,680,659,635,879,786.930482223,805,652,630.069517777,651.930482223,0.40759497593,-0.0155008072597,0.0600044564559,0.999999999129,1.66642951938e-05,2.74449756607e-05,-2.66674216121e-05,1793244390302424320
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.648603568,714,680,659,635,879,786.351396432,805,652,630.648603568,651.351396432,0.408108921262,-0.0154971851902,0.0599909555258,0.99999999943,-3.84521393383e-06,-8.83520077392e-06,-3.23452492683e-05,1793244390319090688
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.773054716,744.773054716,714,680,659,634.773054716,879,786.226945284,805,652,631,651.226945284,0.408648043325,-0.0154960178165,0.0599781398007,0.99999999831,-1.66809361689e-05,-4.07911929855e-05,-3.79129021608e-05,1793244390335757312
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.195861378,744.195861378,714,680,659,634.195861378,879,786.804138622,805,652,631,651.804138622,0.409226020982,-0.0154986388116,0.0599663815634,0.999999996723,-1.76735869909e-05,-6.60736047892e-05,-4.33105204059e-05,1793244390352424448
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.380648418,744,714,679.619351582,659,634.380648418,879,787,805.380648418,651.619351582,631,652,0.409847930384,-0.0155021082916,0.0599697236663,0.999999996656,-3.66127891725e-05,-5.56728904494e-05,-4.74070803575e-05,1793244390369091072
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.956807112,744,714,679.043192888,659,634.956807112,879,787,805.956807112,651.043192888,631,652,0.410492404179,-0.0155060135739,0.0599808216712,0.999999996247,-6.47697761343e-05,-2.69444546347e-05,-5.08353849362e-05,1793244390385757696
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.458575704,744,714,679.541424296,659,634.458575704,879,787,806,651,631,652,0.411141909764,-0.015510069183,0.059986108646,0.999999995738,-7.34051964246e-05,-1.32420490493e-05,-5.43997255323e-05,1793244390402423808
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634.126253499,879.126253499,787,806,651,631,651.873746501,0.411793626307,-0.0155122357322,0.0599843706853,0.999999996583,-6.17615555435e-05,-1.46521168055e-05,-5.29551310028e-05,1793244390419089920
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634.709369234,879.709369234,787,806,651,631,651.290630766,0.412451867667,-0.0155075224239,0.0599589163682,0.99999999709,1.75391912362e-05,-6.63417891477e-05,-3.33452560262e-05,1793244390435756288
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.288308877,714,680,659.288308877,634.711691123,880,787,805.711691123,651.288308877,631,651,0.413130224781,-0.0154989731962,0.059933313222,0.99999999131,5.40060294307e-05,-0.000116826326578,-2.85377209978e-05,1793244390452423168
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.86309897,714,680,659.86309897,634.13690103,880,787,805.13690103,651.86309897,631,651,0.413828570211,-0.0154866123654,0.0599075621871,0.999999984317,4.79105032146e-05,-0.00016611337526,-3.84386880944e-05,1793244390469090048
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.437796328,744.562203672,714,680,659.562203672,634,879.562203672,787,805,651.562203672,631,651.437796328,0.414617952507,-0.0154959955691,0.0599318875787,0.999999991825,2.75359545633e-05,-0.000118289450769,-3.99801843494e-05,1793244390485756416
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.987225405,744.012774595,714,680.012774595,659,634,879.012774595,786.987225405,805.012774595,651,631,652,0.41543525785,-0.0155119691252,0.0599716981806,0.999999998409,3.020583194e-06,-4.07320853914e-05,-3.88978283106e-05,1793244390502423040
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.398267857,744.601732143,714,680.601732143,659,634,879.601732143,786.398267857,805.601732143,651,631,652,0.416228272848,-0.0155185759029,0.0600038135425,0.999999999242,-6.91048396611e-06,8.53639206932e-06,-3.73482524576e-05,1793244390519089664
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.188149782,745,714,680.811850218,659,634,879.811850218,786.188149782,806,651,631,652,0.417025128732,-0.0155215252742,0.0600215582092,0.999999998647,-1.25586542798e-05,3.43716170639e-05,-3.69739293177e-05,1793244390535756288
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.769262619,745,714,680.230737381,659,634,879.230737381,786.769262619,806,651,631,652,0.41783000651,-0.0155168359143,0.0600092887423,0.999999999131,-9.26171540734e-06,1.12649672918e-05,-3.90541981505e-05,1793244390552423168
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.654623524,744.654623524,714,680,659,634.345376476,879,786.654623524,805.654623524,651.345376476,631,652,0.418650512824,-0.0155135636542,0.0599910647277,0.999999998915,-8.11761675622e-06,-1.79582880093e-05,-4.221817654e-05,1793244390569089792
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.081801734,744.081801734,714,680,659,634.918198266,879,786.081801734,805.081801734,651.918198266,631,652,0.419481311171,-0.0155112246158,0.059968919387,0.999999997591,-8.39125642304e-06,-5.12095910913e-05,-4.60958243312e-05,1793244390585756416
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.504256871,714,680,659,634.495743129,879,786,805,652,631,652,0.4202803435,-0.0155130870823,0.0599418029601,0.999999994864,-1.36014320453e-05,-8.74473449182e-05,-4.93905821453e-05,1793244390602423296
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.091531717,744.908468283,714,680,659,634,879,786.091531717,805.091531717,651.908468283,631,652,0.421077656862,-0.0155154930382,0.0599141885256,0.999999990298,-1.86189508133e-05,-0.000127714824896,-5.24051323503e-05,1793244390619089920
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.673507348,744.326492652,714,680,659,634,879,786.673507348,805.673507348,651.326492652,631,652,0.421894115306,-0.0155170606379,0.0598883431231,0.999999980885,-1.81975793315e-05,-0.000186908457351,-5.44385937127e-05,1793244390635756544
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.252448389,714,680,659.252448389,634,879,787,806,651.252448389,631,652,0.422776229869,-0.0155192124146,0.0598988855346,0.999999983326,-1.95406006967e-05,-0.000173224232471,-5.44063295795e-05,1793244390652423680
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.827511475,714,680,659.827511475,634,879,787,806,651.827511475,631,652,0.423742249333,-0.0155221107365,0.0599559295015,0.999999996189,-2.31384157339e-05,-6.64062534311e-05,-5.17341856386e-05,1793244390669091072
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.598644958,745,714,680,660,634,879,787,806,651.598644958,631,652,0.424685972155,-0.0155265580962,0.0600006843835,0.999999998485,-2.59518291089e-05,5.61247446195e-06,-4.82215241625e-05,1793244390685757952
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.025323946,745,714,680,660,634,879,787,806,651.025323946,631,652,0.425620141623,-0.0155316691619,0.0600401738383,0.999999996646,-2.84291548233e-05,6.27209882812e-05,-4.43487318206e-05,1793244390702424576
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.432373397,714,680,660,634.567626603,879.567626603,787,806,651.567626603,631,652,0.42650631293,-0.0155323632812,0.0600290542141,0.999999996415,-3.89958153787e-05,5.84996664426e-05,-4.71999440943e-05,1793244390719091200
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.156852594,744.156852594,714,680.156852594,660,634.843147406,880,787,805.843147406,651.843147406,631,651.843147406,0.42738401324,-0.0155326479279,0.0600129467236,0.999999996672,-4.73086671593e-05,4.33655893333e-05,-5.03713129224e-05,1793244390735757824
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.733677269,744.733677269,714,680.733677269,660,634.266322731,880,787,805.266322731,651.266322731,631,651.266322731,0.428244971358,-0.0155323827313,0.0599897462052,0.999999997363,-4.85860468352e-05,6.60112193477e-06,-5.35679250235e-05,1793244390752424448
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680.69023342,660,634,879.69023342,787,805.30976658,651,631,651.30976658,0.429086727841,-0.0155302761141,0.0599614563903,0.999999996464,-4.69314774781e-05,-4.12786093079e-05,-5.62573408245e-05,1793244390769091072
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680.114774871,660,634,879.114774871,787,805.885225129,651,631,651.885225129,0.429912014716,-0.0155265900797,0.0599288014019,0.999999992504,-4.27621263244e-05,-9.86920860148e-05,-5.8511725628e-05,1793244390785757184
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.532428223,745,714,680,660,634,879.467571777,787,806,651,631,652,0.430809877512,-0.0155284892677,0.0599345579319,0.999999993947,-4.61599575097e-05,-8.04548492097e-05,-5.91808285806e-05,1793244390802423808
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.05144336,744.94855664,714,680.05144336,660,634,880,787,806,651,631,652,0.431726756951,-0.0155318301892,0.0599523306178,0.999999996083,-5.14482626556e-05,-4.10734184681e-05,-5.91627345174e-05,1793244390819090176
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.633343262,744.366656738,714,680.633343262,660,634,880,787,806,651,631,652,0.432653277488,-0.0155356890495,0.0599953282194,0.99999999657,-5.67900170899e-05,2.19888066183e-05,-5.61312232985e-05,1793244390835756800
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.78588805,744,714,680.78588805,659.78588805,634,880,787,806,651,630.78588805,652,0.433547227564,-0.0155378863806,0.0600165345372,0.999999995372,-5.99790908447e-05,5.13027857032e-05,-5.5007321467e-05,1793244390852423680
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.207046237,744,714,680.207046237,659.207046237,634,880,787,806,651,630.207046237,652,0.43438569551,-0.0155372533736,0.0600006204118,0.99999999633,-5.95011731846e-05,2.31281896593e-05,-5.71329443137e-05,1793244390869090560
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,680.367620631,659.367620631,634,880,787,806,651,630.367620631,652,0.435207174113,-0.0155376545795,0.0599761776306,0.999999996042,-6.24183928884e-05,-2.09474968408e-05,-5.9850618524e-05,1793244390885757184
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,680.939962513,659.939962513,634,880,787,806,651,630.939962513,652,0.43601919161,-0.0155386317199,0.059946985397,0.999999993033,-6.72263028099e-05,-7.38782099965e-05,-6.28979951335e-05,1793244390902423552
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.529018904,744.529018904,714,681,660,634,880,787,806,651,631,652,0.436816659705,-0.0155331632026,0.0599322993011,0.999999991348,-6.31145782375e-05,-9.53624872027e-05,-6.50100705136e-05,1793244390919090176
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880.117690231,787,806,651,631,652,0.437606951908,-0.015527655613,0.0599192217711,0.99999998917,-5.90816203579e-05,-0.000117062283236,-6.68306820936e-05,1793244390935756544
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880.697164895,787,806,651,631,652,0.438375778023,-0.0155249585932,0.0599057855205,0.999999984056,-5.94591993688e-05,-0.00015406759709,-6.79377445609e-05,1793244390952423168
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880.72583743,787,806,651,631,652,0.439173599618,-0.0155271457796,0.0599213147703,0.99999998666,-6.4721117547e-05,-0.000134081949689,-6.71741769308e-05,1793244390969089792
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634,880.15155133,787,806,651,631,652,0.440003162279,-0.0155346796669,0.0599685523178,0.999999993755,-7.532988169e-05,-5.17087589241e-05,-6.43628454531e-05,1793244390985756928
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.587788833,745,714,681,660,634,880,787,806,651.412211167,631,652,0.440748841213,-0.0155422400879,0.059988070907,0.999999994123,-8.54738307978e-05,-2.42464159833e-05,-6.21384421188e-05,1793244391002423552
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.027799025,745,714,681,660,634,880,787,806,651.972200975,631,652,0.441464447708,-0.015549810022,0.0599976521903,0.999999993501,-9.54511436353e-05,-1.64697303405e-05,-6.0124453721e-05,1793244391019090432
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,806,651.420161813,631,652,0.442136458555,-0.0155532541608,0.0599423581523,0.999999987787,-0.00010273933302,-9.79637795157e-05,-6.53763164367e-05,1793244391035756800
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.820728457,714,681.179271543,660,634,880,786.820728457,806,651,631,652,0.442792702306,-0.0155571362382,0.0598908158388,0.999999976246,-0.00011064650037,-0.000174147181671,-7.02732140569e-05,1793244391052423168
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.244945083,714,681.755054917,660,634,880,786.244945083,806,651,631,652,0.443419109359,-0.0155624636129,0.0598550668149,0.999999964014,-0.000120233405577,-0.000228270802661,-7.35455562173e-05,1793244391069090048
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.330950544,714,681.669049456,660,633.669049456,880,786,806,651,631,652,0.444041998675,-0.0155686965113,0.0598398993574,0.999999956625,-0.000132334684609,-0.000252232407637,-7.49371816135e-05,1793244391085756928
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.906929245,714,681.093070755,660,633.093070755,880,786,806,651,631,652,0.444662283502,-0.0155755998381,0.0598399700198,0.999999954268,-0.000146297547688,-0.000253862748012,-7.49363675617e-05,1793244391102423296
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.494121605,880,786,806.494121605,651,631,652,0.445231985435,-0.015580932779,0.0598227541206,0.999999942892,-0.000152660739388,-0.000291510481217,-7.70255866078e-05,1793244391119090176
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.081753663,659.918246337,633.918246337,880.081753663,786,806.918246337,651,631,652,0.445786621311,-0.0155859310154,0.0598010851468,0.999999927619,-0.000160687528142,-0.000335527632485,-7.97720717029e-05,1793244391135757056
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.658952998,659.341047002,633.341047002,880.658952998,786,806.341047002,651,631,652,0.446309033609,-0.0155907350559,0.0597726199996,0.999999908139,-0.000187672403539,-0.000376077082636,-8.40606085288e-05,1793244391152423680
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.764195431,659.235804569,633,880.764195431,786,806,651.235804569,630.764195431,652,0.446833424248,-0.0155978549485,0.0597581433981,0.999999897539,-0.000206112793581,-0.000393640004128,-8.65287537075e-05,1793244391169090304
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.187846142,659.812153858,633,880.187846142,786,806,651.812153858,630.187846142,652,0.447360671924,-0.0156083193525,0.0597638688054,0.999999902309,-0.000212213389644,-0.000378006191666,-8.63679218422e-05,1793244391185756928
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.612356663,633,880,785.612356663,806.387643337,652,630.387643337,652,0.447858434018,-0.0156262530485,0.0597721647929,0.999999904523,-0.000228105851746,-0.000363390870164,-8.28830892697e-05,1793244391202423552
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.037282862,633,880,785.037282862,806.962717138,652,630.962717138,652,0.448341939505,-0.0156477982428,0.059781703689,0.999999905046,-0.000248732805589,-0.000349268000389,-7.77910601861e-05,1793244391219090176
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.555057012,785,807,652,631,652,0.448742814609,-0.015667757108,0.0597537946218,0.999999876108,-0.000288110529038,-0.000398162040538,-7.90197860317e-05,1793244391235756800
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681.144781886,659,633,880.855218114,785,807,651.855218114,630.855218114,652,0.449126783392,-0.0156819996858,0.0597213158955,0.999999843757,-0.000318389158982,-0.000452205673069,-8.13877332471e-05,1793244391252423424
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681.72309245,659,633,880.27690755,785,807,651.27690755,630.27690755,652,0.449477281667,-0.015679454963,0.0596829276666,0.999999816571,-0.000317529456446,-0.000508587573369,-8.5854813102e-05,1793244391269090560
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.701173103,745,714,682,659,633,880,785,807,651,630,652,0.449824341238,-0.0156775759525,0.0596595699039,0.999999800731,-0.00031334693076,-0.000540880170628,-8.83155529394e-05,1793244391285757184
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.127805445,745,714,682,659,633,880,785,807,651,630,652,0.450168241554,-0.0156763085509,0.0596500210598,0.99999979737,-0.000306111633726,-0.000551041238323,-8.89330110986e-05,1793244391302424320
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.458484259,745,714,681.541515741,659,632.541515741,880,784.541515741,807,651.458484259,630,652,0.450494417151,-0.0156796406527,0.0596549814834,0.999999818667,-0.000256775982108,-0.000539903361571,-7.23616303932e-05,1793244391319090688
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,880,784,807,651.95251412,630,652,0.450813089536,-0.0156837666296,0.0596637152371,0.999999841518,-0.000200959178948,-0.000523250359669,-5.28080668835e-05,1793244391335757312
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,880,784,807,651.374622458,630,652,0.451104741895,-0.0156820234543,0.0596681093105,0.999999845225,-0.000207636616153,-0.000513235367079,-5.50163015271e-05,1793244391352423680
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681.202290029,659,632,880.202290029,784,807,651,630,652,0.451378652677,-0.0156832979583,0.0596721849527,0.999999844416,-0.000227987227469,-0.000505947849624,-5.66244765622e-05,1793244391369090304
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681.777397842,659,632,880.777397842,784,807,651,630,652,0.451619865942,-0.0156901340047,0.0596756737297,0.999999834107,-0.000273537312633,-0.000503687032441,-5.71267495489e-05,1793244391385756928
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681.638792695,658.638792695,632,880.638792695,784,806.638792695,651.361207305,629.638792695,652,0.451837080011,-0.0156921978848,0.0596748447473,0.999999829844,-0.000288349023885,-0.000503717478402,-5.86066204743e-05,1793244391402423552
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681.04948821,658.04948821,632,880.04948821,784,806.04948821,651.95051179,629.04948821,652,0.45203913896,-0.0156912482118,0.0596712891627,0.99999983029,-0.00028374990214,-0.000505194824062,-6.07038304324e-05,1793244391419090176
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.530565977,632,880,784,806.530565977,651.469434023,629,652,0.452213469778,-0.0156903679246,0.0596676154102,0.999999828294,-0.000278765782082,-0.000511663464132,-6.2459407035e-05,1793244391435756800
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681.109459446,659,632,880,784,807,651.109459446,629,652,0.452379990153,-0.0156903782787,0.0596642252898,0.999999825848,-0.000275539279623,-0.000517970168399,-6.39385412976e-05,1793244391452423424
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+216,3.600000000,POSE1_TO_POSE2_PRESS,765,744.736961991,714,682,658.736961991,632,880,783.736961991,806.736961991,651.736961991,629.263038009,652,0.452651478983,-0.0156981686044,0.0596589036208,0.999999818195,-0.000284510795664,-0.000527712808777,-6.46803015966e-05,1793244391485756928
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,744.422818941,714,682,658.422818941,632,880,783,806.422818941,651,629.577181059,652,0.452850538109,-0.0157032920765,0.0596490647176,0.999999806682,-0.000289816791816,-0.000546213061485,-6.55188842786e-05,1793244391519089920
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,681.987348427,659,632,880,783,807,651.012651573,629,652,0.452934680276,-0.0157028479761,0.0596434099537,0.99999980161,-0.00028893866158,-0.000555777274989,-6.63792899685e-05,1793244391535756288
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,681.408161045,659,632,880,783,807,651.591838955,629,652,0.453008294955,-0.015702622918,0.0596429048303,0.99999980145,-0.000289077769612,-0.000555929013204,-6.69111955454e-05,1793244391552423168
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.829854365,745.170145635,714,681,658.829854365,631.829854365,880.170145635,783,807,652,629,652,0.453075127875,-0.0157033162322,0.0596419509979,0.999999800362,-0.000289920215936,-0.000557423994757,-6.70830048347e-05,1793244391569090048
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.253649597,745.746350403,714,681,658.253649597,631.253649597,880.746350403,783,807,652,629,652,0.453125775855,-0.015706201277,0.059639926304,0.999999797043,-0.000292441206241,-0.000562124678398,-6.63954303459e-05,1793244391585756672
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.322009749,746,714,681.322009749,658.322009749,631.322009749,880.677990251,783,806.677990251,651.677990251,629,652,0.453168036027,-0.0157072150627,0.0596374727711,0.999999793752,-0.00029372598711,-0.000567296789747,-6.63034152846e-05,1793244391602423552
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.89724025,746,714,681.89724025,658.89724025,631.89724025,880.10275975,783,806.10275975,651.10275975,629,652,0.453203700233,-0.0157067573353,0.0596346820092,0.999999790475,-0.000294038642758,-0.000572839621053,-6.66797338171e-05,1793244391619090176
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681.074605987,658.925394013,631.925394013,880,782.925394013,806.925394013,651.925394013,629,651.925394013,0.453257066184,-0.0157079853883,0.0596309150913,0.999999787817,-0.000296847367332,-0.000576031476588,-6.6593637481e-05,1793244391652423424
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,681.653809326,658.346190674,631.346190674,880,782.346190674,806.346190674,651.346190674,629,651.346190674,0.453273176742,-0.0157076674961,0.0596301099962,0.999999787905,-0.000296809380089,-0.000575871108057,-6.68383158752e-05,1793244391669090048
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+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,681.195135738,658.804864262,631,880.804864262,782.804864262,806,651,629,651.804864262,0.453296725534,-0.0157052141321,0.0596303319016,0.999999787318,-0.000295109386074,-0.00057779841471,-6.65027480708e-05,1793244391702423552
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.620001488,631,880.620001488,782.620001488,806,651,629,651.620001488,0.453302533888,-0.0157035379265,0.0596291974007,0.999999786322,-0.000294732686355,-0.000579708621574,-6.65353074348e-05,1793244391719090688
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.044262747,631,880.044262747,782.044262747,806,651,629,651.044262747,0.453306221111,-0.0157018296965,0.0596272202345,0.999999785044,-0.000294778066091,-0.000581859621721,-6.67616230876e-05,1793244391735757568
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681.545754752,658.545754752,631,880,782.545754752,806,651,629,651.545754752,0.453308286567,-0.0157029657029,0.0596261835181,0.99999978348,-0.000297447350819,-0.000583195502065,-6.66883961887e-05,1793244391752424448
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.866123331,631,880,783,806.133876669,651,629,652,0.453309528689,-0.0157038381065,0.0596251334895,0.999999781966,-0.000299168961381,-0.000584915931693,-6.66338586958e-05,1793244391769091072
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.288232416,631,880,783,806.711767584,651,629,652,0.4533084881,-0.0157030506276,0.0596237795441,0.99999978071,-0.000297022762044,-0.000588136902057,-6.67240443973e-05,1793244391785757440
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.71178544,658,631,880,782.71178544,807,651.28821456,629,652,0.453309227198,-0.0157018729104,0.0596238768087,0.999999780881,-0.000295624799098,-0.000588548260249,-6.67476968648e-05,1793244391802423808
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681.136775227,658,631,880,782.136775227,807,651.863224773,629,652,0.45331173722,-0.0157003068759,0.0596254181389,0.999999782477,-0.000294971388648,-0.000586163838636,-6.67051436588e-05,1793244391819090176
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.012902743,631.987097257,879.025805486,783,807,651.012902743,629.987097257,652,0.453310923203,-0.015698624813,0.0596214076459,0.99999978063,-0.000293788649628,-0.000589884437462,-6.68174890096e-05,1793244391852423168
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.606804042,631.393195958,880.213608084,783,807,651.606804042,629.393195958,652,0.453312367802,-0.0156985898779,0.0596220767555,0.999999781869,-0.000291299428852,-0.000589080736936,-6.62620670263e-05,1793244391869090304
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.805001692,745,714,681,658.805001692,631,880.805001692,783,807,651.805001692,629,652,0.453313228689,-0.0156989463854,0.05962243023,0.999999782313,-0.000290327617971,-0.000588838491926,-6.59792255812e-05,1793244391885757184
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.22798794,745,714,681,658.22798794,631,880.22798794,783,807,651.22798794,629,652,0.453312946046,-0.0157000697567,0.0596221653529,0.999999781208,-0.000292328520276,-0.000589696177936,-6.62303886744e-05,1793244391902423808
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.347506911,745,714,681.347506911,658,631,880,783,807,651,629,652,0.453312569105,-0.0156998140593,0.0596217034322,0.999999780861,-0.000292661669025,-0.000590104409835,-6.63675898466e-05,1793244391919090432
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681.489512896,658,631,880,782.489512896,807,651,629,652,0.453312919296,-0.0156976045798,0.0596213283272,0.999999781229,-0.000292665445356,-0.000589457556284,-6.65458946919e-05,1793244391952423168
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+247,4.116666667,HOLD_POSE2,765,745,714,681,658,632,881,783,807,651,629,652,0.453316385072,-0.0156962733606,0.0596233472049,0.99999978383,-0.000290672744612,-0.000586067413872,-6.61430263191e-05,1793244392024118784
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+256,4.266666667,HOLD_POSE2,765,745.762490511,714,681.237509489,658,631,880.762490511,783,807,651.762490511,629,652,0.453315410885,-0.0156954140111,0.0596215548307,0.999999782014,-0.000288097476046,-0.000590476613804,-6.5639708702e-05,1793244392174118144
+257,4.283333333,HOLD_POSE2,765,745.183395646,714,681.816604354,658,631,880.183395646,783,807,651.183395646,629,652,0.453316316607,-0.0156926087608,0.0596224779749,0.999999782929,-0.00028712539339,-0.00058936428311,-6.59642453834e-05,1793244392190785280
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+262,4.366666667,HOLD_POSE2,765,745.286964085,713.713035915,681.286964085,658,631,880.286964085,782,806,651,628.286964085,651.713035915,0.453317725757,-0.0156942978835,0.0596222681207,0.999999783877,-0.00028679052583,-0.000587980419393,-6.53869228449e-05,1793244392274117888
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.548025053,658,631,880.451974947,783,806.451974947,652,629,652,0.45284862927,-0.0156669351709,0.0595337669597,0.999999704301,-0.000278543484738,-0.000713230004315,-7.15121332261e-05,1793244392611174400
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.028121153,658.028121153,631,881,782.971878847,807,651.971878847,629,652,0.452756555591,-0.0156600104325,0.0595385512348,0.999999711787,-0.000272768685111,-0.000705013329151,-7.05708364194e-05,1793244392627841536
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.817684531,631,881,782,806.817684531,651,629,651.817684531,0.452510470014,-0.0156489612355,0.0595469251905,0.999999722169,-0.000268093007895,-0.00069224404973,-6.77273590364e-05,1793244392661175552
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.357620404,631.357620404,880.642379596,782.357620404,806.357620404,651.357620404,629,651.357620404,0.452194293806,-0.0156325263611,0.0595504404636,0.999999727582,-0.000260670160657,-0.000687432245063,-6.57607331395e-05,1793244392694508288
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.48816294,632,880,783,807,651.48816294,629,652,0.451791766356,-0.0156102935412,0.0595518136664,0.999999730511,-0.000247316794191,-0.000688363924138,-6.29821373565e-05,1793244392727840512
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.200454441,881,785,807,651.200454441,630,652,0.445386835849,-0.0154993971492,0.0596595851908,0.999999854355,-6.54311195918e-05,-0.000535523827158,-1.49599783182e-05,1793244392994507520
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.558369415,713.558369415,681.558369415,659.558369415,634,880,786,806.441630585,651,631,652,0.439964756928,-0.0154308911006,0.0597620953067,0.999999919359,0.000106874567197,-0.000386591942886,2.01833654575e-05,1793244393127841024
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,744.591988815,713.591988815,681,659.591988815,634,880.591988815,786.591988815,806.408011185,651,631,651.408011185,0.43841400056,-0.0153878895299,0.0598105183376,0.999999935521,0.0001836827414,-0.000307541411869,2.52427853165e-05,1793244393161174016
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,744.524599159,714,680.475400841,659,634,880,786,806,651.524599159,631,651.524599159,0.417166372869,-0.0153654886578,0.0597733214051,0.999999919044,0.000194986031603,-0.00035167712646,1.47090176713e-05,1793244393561173760
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.251830862,713.251830862,680,659,634,879,786.748169138,805,651.251830862,631,651.251830862,0.41482928674,-0.015359962211,0.0598394410785,0.99999993703,0.000214718788575,-0.000281639116315,2.26901856597e-05,1793244393611173888
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.845039644,713.845039644,680,659,634,879,786.154960356,805,651.845039644,631,651.845039644,0.414052819895,-0.0153616092653,0.0598400071314,0.999999939783,0.000208529250019,-0.000276486058395,2.24840650547e-05,1793244393627840768
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.426312889,744.573687111,714,680,659,634,879,786,805,652,631,652,0.413281275306,-0.0153603359571,0.0598305187798,0.999999933552,0.000215438457805,-0.000293224444063,2.24011383026e-05,1793244393644507392
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.996633924,744,714,680,659,634,879,786,805.003366076,651.996633924,631,651.996633924,0.412511560125,-0.0153580190927,0.0598172621959,0.999999923443,0.00022688358704,-0.000318025145693,2.23313074509e-05,1793244393661174016
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.839552913,634,879.160447087,786,805.839552913,651.160447087,630.839552913,651,0.411034947497,-0.0153512837484,0.0597358902263,0.9999998772,0.000218719024512,-0.000444505517942,1.3324508011e-05,1793244393694507264
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.251800401,634,879.748199599,786,805.251800401,651.748199599,630.251800401,651,0.410399370402,-0.0153530694426,0.0597514479441,0.999999894183,0.000219560953718,-0.000404031116777,1.36215639808e-05,1793244393711173888
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.332292299,634,879.667707701,786,805,652,630.332292299,651.332292299,0.409790020552,-0.0153548977283,0.0597830598741,0.999999913386,0.000219342228583,-0.000353340392998,1.63426127416e-05,1793244393727840512
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,658.913641887,634,879.086358113,786,805,652,630.913641887,651.913641887,0.409200328395,-0.0153567579366,0.0598267046387,0.999999932438,0.000218328529129,-0.000294992407747,2.08804747713e-05,1793244393744507136
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634,879,786.472711076,805,652,630.527288924,652,0.408619151275,-0.0153581079473,0.059843912317,0.999999938384,0.000222138084186,-0.000270831177681,2.31560501193e-05,1793244393761174016
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.970100714,659,634,879,787,805.029899286,651.970100714,630,652,0.40804105977,-0.015359217329,0.0598550204519,0.999999941646,0.000226464007632,-0.000254570882486,2.48299348243e-05,1793244393777840640
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.374988467,659,634,879,787,805.625011533,651.374988467,630,652,0.407493215351,-0.0153574605432,0.0598380141897,0.999999936722,0.000224643989664,-0.000274919534273,2.2590648712e-05,1793244393794507264
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.218552119,659,634,879.218552119,787,806,651.218552119,630,652,0.406958398362,-0.0153565361224,0.0598235915711,0.999999931875,0.00022475494598,-0.000292083192275,2.05486246226e-05,1793244393811173888
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.809415265,659,634,879.809415265,787,806,651.809415265,630,652,0.4064457741,-0.0153570296642,0.0598135702797,0.999999927641,0.000228155383465,-0.000303821102243,1.88426433906e-05,1793244393827840512
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.394082175,714,680,659.394082175,634.394082175,880,786.605917825,805.605917825,652,630.394082175,652,0.405980100419,-0.015357280709,0.0598186534279,0.99999993193,0.000222060087454,-0.000294032704635,1.93311736642e-05,1793244393844507392
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.97579892,714,680,659.97579892,634.97579892,880,786.02420108,805.02420108,652,630.97579892,652,0.405536781298,-0.0153574162936,0.0598309282608,0.999999939892,0.000211443582649,-0.000273994974843,2.08645777948e-05,1793244393861174016
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.549062022,745,714,680,659.450937978,634.450937978,880,786.549062022,805,652,631,652,0.405114308685,-0.0153577295486,0.0598269922168,0.999999936896,0.000217783718784,-0.000279835197498,2.16791945872e-05,1793244393877840640
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.877465366,744.877465366,714,679.877465366,659,634,879.877465366,787,805.122534634,651.877465366,630.877465366,651.877465366,0.404697195332,-0.0153573812151,0.0598180513485,0.999999930461,0.000228609876878,-0.000293833265855,2.18507996451e-05,1793244393894507264
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.3018611,744.3018611,714,679.3018611,659,634,879.3018611,787,805.6981389,651.3018611,630.3018611,651.3018611,0.404296551697,-0.015354558153,0.0597932071281,0.999999911999,0.000253301427707,-0.000333841330665,1.97602481155e-05,1793244393911174144
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.877173676,744,714,679.877173676,658.122826324,634,879,787,805.122826324,651.877173676,630.877173676,651.877173676,0.403572900306,-0.0153527562321,0.0597609191363,0.999999892777,0.000256403052432,-0.000385170224653,1.86221201907e-05,1793244393944507136
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.544090749,744.455909251,714.455909251,680,658.455909251,634.455909251,879,787,805,652,631,652,0.40329478605,-0.015353814836,0.0597720365738,0.99999990039,0.000259024038585,-0.000362901582126,2.07127928868e-05,1793244393961174016
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.030637728,745,714.969362272,680,658.969362272,635,879,787,805,652,630.969362272,652,0.403036915802,-0.0153550091234,0.0597895957065,0.999999910571,0.000264161923674,-0.000329441070284,2.33666891461e-05,1793244393977840384
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.606942819,745,714.393057181,680,658.393057181,635,879,787,805,652,630.393057181,652,0.402815310959,-0.015352699493,0.0598097794622,0.999999919321,0.000271016270695,-0.000295331712833,2.6223300981e-05,1793244393994507264
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.813042107,744.813042107,714,680,658.186957893,635,879,787,805.186957893,652,630.186957893,652,0.402600424952,-0.015350375432,0.0598267944017,0.99999992549,0.000276356526929,-0.000267994844665,2.87496999625e-05,1793244394011174144
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.22506939,744.22506939,714,680,658.77493061,635,879,787,805.77493061,652,630.77493061,652,0.402399950522,-0.0153480204185,0.0598370123952,0.999999928206,0.000278449137926,-0.000255184613994,3.05678094682e-05,1793244394027840768
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634.641841283,879.358158717,787,805.641841283,652,631,652,0.402200939407,-0.01534635618,0.0598376220208,0.999999928779,0.000274222865485,-0.000257509922684,3.05426380419e-05,1793244394044507392
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634.061555685,879.938444315,787,805.061555685,652,631,652,0.402002835807,-0.0153451203537,0.0598322726222,0.99999992793,0.000266077677373,-0.000269222158297,2.93742801918e-05,1793244394061174016
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.51482428,714.51482428,679.48517572,659,634.51482428,879.48517572,787,805,652,631,652,0.401838221085,-0.0153496182796,0.0598259986233,0.999999937343,0.000209670515317,-0.000284790098838,1.57292129056e-05,1793244394077840640
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.907740651,679.092259349,659,634.907740651,879,787,805,652,631,652,0.401684871178,-0.0153554206157,0.0598210014908,0.999999942675,0.000161829300988,-0.000297406155332,3.1801324263e-06,1793244394094507520
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.322185822,679.677814178,659,634.322185822,879,787,805,652,631,652,0.401570504015,-0.0153645594203,0.0598234181983,0.999999939291,0.000190410430959,-0.000291792588105,4.40743295384e-06,1793244394111174144
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.262089958,745,714,679.737910042,659,634,879,787,805.262089958,652,631,652,0.401465239133,-0.0153698556398,0.0598258072538,0.999999936835,0.000208446127304,-0.000287833468094,5.72058607795e-06,1793244394127840768
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.844801012,745,714,679.155198988,659,634,879,787,805.844801012,652,631,652,0.401371109304,-0.0153704511298,0.0598281624819,0.999999936297,0.000213581333651,-0.000285898274636,7.13876472587e-06,1793244394144507392
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.578696361,744.578696361,714,679,658.578696361,634,879,787,805.578696361,652,631,652,0.401292474685,-0.0153687476899,0.0598292777342,0.999999936493,0.000215420343212,-0.000283798502141,8.11341723164e-06,1793244394161174016
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.00444758,744.00444758,714,679,658.00444758,634,879,787,805.00444758,652,631,652,0.401219465269,-0.0153662096733,0.0598299428401,0.999999936958,0.000216062739963,-0.000281638982842,8.92705716761e-06,1793244394177840640
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.571473958,658,634,879,787,805,652,631,652,0.401164823566,-0.0153654798083,0.059829678774,0.999999936485,0.000215294404127,-0.000283879850546,9.50185652778e-06,1793244394194507264
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.150616653,744.150616653,714,680,658.150616653,634,879,786.849383347,805,652,630.849383347,652,0.401115403065,-0.0153647569746,0.0598298758666,0.999999936192,0.000215325719142,-0.000284868372203,1.0079269595e-05,1793244394211173888
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.677379712,744.677379712,714,679.677379712,658.677379712,634.322620288,878.677379712,786.645240576,805,652,630.322620288,651.677379712,0.40104963604,-0.0153637482453,0.0598312309774,0.999999936343,0.000218150143589,-0.000282138297126,1.11108429157e-05,1793244394244507136
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,635,878.478273768,787.521726232,805.478273768,652,630.521726232,651.478273768,0.401005434135,-0.0153621039944,0.0598294560473,0.999999935769,0.000218924474676,-0.000283563200825,1.11821581412e-05,1793244394277840640
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.053701133,658,634.946298867,879,787,806,652,630,652,0.400992545045,-0.0153601610448,0.0598297088416,0.999999935619,0.000221535797668,-0.000282072901456,1.09019020995e-05,1793244394294507264
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.630106313,658,634.369893687,879,787,806,652,630,652,0.400984770554,-0.0153601393806,0.0598312062782,0.999999935397,0.000225199396018,-0.000279927770286,1.14680645242e-05,1793244394311173888
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.211467074,714,680,658,634,879,787,805.788532926,652,630.211467074,652,0.40097887364,-0.0153601625429,0.0598325103697,0.999999935597,0.000226814684552,-0.00027789122034,1.17686534175e-05,1793244394327840768
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.801704005,714,680,658,634,879,787,805.198295995,652,630.801704005,652,0.40097633975,-0.0153602659967,0.0598334681507,0.999999936572,0.000224761136862,-0.000276049156103,1.15935594833e-05,1793244394344507392
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.383540559,745,714,679.616459441,658,634,879.383540559,787,805,652,631,652,0.40097313167,-0.0153612668607,0.0598330860363,0.999999936645,0.000223452612817,-0.00027685562391,1.13693769336e-05,1793244394361174016
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.961127066,745,714,679.038872934,658,634,879.961127066,787,805,652,631,652,0.400969582493,-0.0153627217544,0.0598320260242,0.999999936259,0.000222521021119,-0.000279002072376,1.11203588229e-05,1793244394377840384
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.464568482,745,714,679,658,634,879.464568482,787,805.535431518,652,631,652,0.400970925258,-0.0153629581467,0.0598340235071,0.999999937124,0.000223239983818,-0.000275275450252,1.18433095301e-05,1793244394394507264
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.112571251,658.112571251,634,879,787,806,652,630.887428749,652,0.400972204215,-0.0153630355522,0.0598358531802,0.999999937908,0.00022369516619,-0.000272013082766,1.2403282523e-05,1793244394411173888
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.702744764,658.702744764,634,879,787,806,652,630.297255236,652,0.400971714808,-0.0153628114696,0.0598360348529,0.999999938036,0.00022252590616,-0.000272518409773,1.19742310787e-05,1793244394427840512
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0387dff2ad46e53917ec73e947bb02d85145eda
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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+377,6.283333333,pose2_to_pose3_retreat,0.575794605051,-0.0101221776842,1.05005118135,0.546366237909,-0.00144649305052,1.04971767366
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+379,6.316666667,pose2_to_pose3_retreat,0.575736819476,-0.0101222135057,1.0500508893,0.546308451977,-0.00144653030125,1.04971737593
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+381,6.350000000,pose2_to_pose3_retreat,0.575702188314,-0.0101222089071,1.05005092442,0.546273820727,-0.0014465254784,1.04971742482
+382,6.366666667,pose2_to_pose3_retreat,0.575691237987,-0.0101222204795,1.05005105454,0.546262873076,-0.00144652806365,1.04971755273
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+384,6.400000000,pose2_to_pose3_retreat,0.575679606149,-0.0101221498511,1.05005110197,0.546251239229,-0.00144646425391,1.04971759976
+385,6.416666667,pose2_to_pose3_retreat,0.575676327071,-0.0101220775926,1.05005099421,0.546247959203,-0.00144639519593,1.0497174924
+386,6.433333333,pose2_to_pose3_retreat,0.575674386182,-0.0101220236348,1.05005089886,0.546246017995,-0.00144634231915,1.04971739714
+387,6.450000000,pose2_to_pose3_retreat,0.575673478196,-0.0101220156759,1.05005087771,0.546245110064,-0.00144633417974,1.04971737595
+388,6.466666667,pose2_to_pose3_retreat,0.575672926787,-0.0101220624872,1.05005093498,0.546244559294,-0.00144637883066,1.04971743291
+389,6.483333333,pose2_to_pose3_retreat,0.575672580865,-0.0101220918538,1.05005097091,0.546244213774,-0.001446406842,1.04971746865
+390,6.500000000,pose2_to_pose3_retreat,0.575672360695,-0.0101221105448,1.05005099377,0.54624399386,-0.00144642467045,1.0497174914
+391,6.516666667,pose2_to_pose3_retreat,0.57567215501,-0.0101221280062,1.05005101514,0.546243788413,-0.00144644132603,1.04971751265
+392,6.533333333,pose2_to_pose3_retreat,0.575672097119,-0.0101221329207,1.05005102115,0.54624373059,-0.00144644601374,1.04971751863
+393,6.550000000,pose2_to_pose3_retreat,0.575672003486,-0.0101221408696,1.05005103087,0.546243637066,-0.00144645359579,1.0497175283
+394,6.566666667,pose2_to_pose3_retreat,0.575671967091,-0.0101221439593,1.05005103465,0.546243600713,-0.00144645654289,1.04971753206
+395,6.583333333,pose2_to_pose3_retreat,0.575671561486,-0.0101221783926,1.05005107678,0.546243195579,-0.00144648938715,1.04971757397
+396,6.600000000,pose2_to_pose3_retreat,0.575671371883,-0.0101221944887,1.05005109647,0.546243006196,-0.00144650474042,1.04971759355
+397,6.616666667,pose2_to_pose3_retreat,0.575671147815,-0.0101221988981,1.05005110025,0.546242782223,-0.00144650883714,1.0497175971
+398,6.633333333,pose2_to_pose3_retreat,0.575670872766,-0.010122161596,1.05005104792,0.546242506807,-0.00144647280348,1.04971754413
+399,6.650000000,pose2_to_pose3_retreat,0.575670550607,-0.0101221179048,1.05005098663,0.546242184218,-0.00144643059794,1.0497174821
+400,6.666666667,pose2_to_pose3_retreat,0.575670471061,-0.0101221071168,1.0500509715,0.546242104566,-0.00144642017677,1.04971746678
+401,6.683333333,pose2_to_pose3_retreat,0.575670322676,-0.0101220869928,1.05005094327,0.546241955983,-0.00144640073712,1.04971743821
+402,6.700000000,pose2_to_pose3_retreat,0.575670034738,-0.0101220479428,1.05005088849,0.546241667662,-0.00144636301495,1.04971738276
+403,6.716666667,pose2_to_pose3_retreat,0.575669791528,-0.0101220499581,1.05005093742,0.546241423732,-0.00144636745103,1.04971743222
+404,6.733333333,pose2_to_pose3_retreat,0.575669609504,-0.0101220630226,1.05005099417,0.546241241239,-0.00144638209302,1.04971748931
+405,6.750000000,pose2_to_pose3_retreat,0.575669613927,-0.0101220903834,1.05005101888,0.54624124623,-0.00144640755852,1.04971751311
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e35866a04b80ee02660ca3db009d076aa95e480
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa4076993fa6435aca57d181dd7e0b1cca99434d9875697f51f9cf1ffb3bd156
+size 25999285
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1e883c3ac1287f074829271c9f934e137218263
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+16,0.266666667,BASELINE,765,744,714,679.278904073,658.278904073,634,879,787,805,652,631,652,0.400971410699,-0.0153666592267,0.0598404795563,0.999999940188,0.000222118058283,-0.000264856865913,1.17335415352e-05,1793244395104935168
+17,0.283333333,BASELINE,765,744,714,679.851376491,658.851376491,634,879,787,805,652,631,652,0.400970049531,-0.0153669994018,0.0598398639098,0.999999940047,0.000221150502623,-0.000266201665592,1.16531888132e-05,1793244395121602048
+18,0.300000000,BASELINE,765,744.426028952,714,680,658.573971048,634.426028952,879,787,805,652,631,652,0.400971587473,-0.015367022916,0.0598410225898,0.999999940663,0.000220445298336,-0.000264451685938,1.19258541177e-05,1793244395138268672
+19,0.316666667,BASELINE,765,744.998512654,714,680,658,635,879,787,805,652.001487346,631,652,0.400974132782,-0.0153669371702,0.0598427971402,0.999999941537,0.000219830141629,-0.000261627198802,1.23199972802e-05,1793244395154935808
+20,0.333333333,BASELINE,765,744.406576698,714,680,658,635,879,787,805,652.593423302,631,652,0.40097302162,-0.015367557149,0.0598420703421,0.999999941476,0.000218442264463,-0.000263043792708,1.17976512307e-05,1793244395171602688
+21,0.350000000,BASELINE,765,744,714,680,658,634.818828928,879,787,805,652.818828928,631,652,0.400972121087,-0.0153679460386,0.0598414003645,0.999999941402,0.000217439046721,-0.000264166408999,1.15067386852e-05,1793244395188269568
+22,0.366666667,BASELINE,765,744,714,680,658,634.240267824,879,787,805,652.240267824,631,652,0.400971682562,-0.0153678280453,0.0598408550197,0.999999941308,0.000217279561109,-0.00026464419935,1.17234644688e-05,1793244395204935936
+23,0.383333333,BASELINE,765,744,714,680,658.335933173,634.335933173,879,786.664066827,805,652,631,652,0.400971233399,-0.0153679415201,0.059840311834,0.999999941058,0.000218235473133,-0.000264794822615,1.18673104979e-05,1793244395221602560
+24,0.400000000,BASELINE,765,744,714,680,658.910457998,634.910457998,879,786.089542002,805,652,631,652,0.400970776681,-0.0153682193917,0.0598397701816,0.999999940696,0.000219983580095,-0.000264713080262,1.1959394763e-05,1793244395238268672
+25,0.416666667,BASELINE,765,744,714,680,658.502977135,635,879,786.497022865,805,652,631,652,0.400971677675,-0.015367806153,0.0598412739564,0.999999940768,0.000221157431189,-0.000263447490899,1.21832185537e-05,1793244395254935296
+26,0.433333333,BASELINE,765,744,714,679.915634242,658.084365758,635,879,787,805,652,630.915634242,652,0.400972652091,-0.0153673592814,0.0598427891727,0.999999940939,0.000221819412145,-0.000262232433658,1.23405601497e-05,1793244395271602176
+27,0.450000000,BASELINE,765,744,714,679.336760463,658.663239537,635,879,787,805,652,630.336760463,652,0.400972587551,-0.0153674631899,0.0598421578918,0.999999941228,0.000220102537823,-0.000262594728086,1.19656494056e-05,1793244395288269312
+28,0.466666667,BASELINE,765.240776905,744,714,679.240776905,658.759223095,635,879,787,805,652,630,652,0.400972017227,-0.0153673243737,0.0598413873275,0.999999941311,0.000218819440626,-0.000263362905075,1.16747399309e-05,1793244395304936192
+29,0.483333333,BASELINE,765.816455395,744,714,679.816455395,658.183544605,635,879,787,805,652,630,652,0.400970743395,-0.0153668479467,0.0598404230313,0.99999994111,0.000218139693125,-0.000264695632507,1.15006695843e-05,1793244395321602816
+30,0.500000000,BASELINE,765.599921682,744,714,679.599921682,658,634.599921682,879,787,805.400078318,652,630.400078318,651.599921682,0.400971133909,-0.0153669485199,0.059840543781,0.999999941009,0.000219139796887,-0.000264244235398,1.15716181012e-05,1793244395338269440
+31,0.516666667,BASELINE,765.012580254,744,714,679.012580254,658,634.012580254,879,787,805.987419746,652,630.987419746,651.012580254,0.400972303446,-0.0153673191673,0.059841172404,0.999999940953,0.000220926182144,-0.000262957749988,1.17572516534e-05,1793244395354935552
+32,0.533333333,BASELINE,765.566996097,744,714,679.566996097,658,634.566996097,879.566996097,787,805.433003903,652,631,651.566996097,0.400972669399,-0.0153680967366,0.0598420795055,0.99999994185,0.000218126647297,-0.000261871851675,1.20054970335e-05,1793244395371601920
+33,0.550000000,BASELINE,765.854079674,744,714,680,658,635,879.708159348,787,805,652,631,652,0.400972629378,-0.0153682708511,0.0598425184361,0.999999942242,0.000216714055703,-0.000261541029035,1.21279208017e-05,1793244395388268544
+34,0.566666667,BASELINE,765.276581606,744,714,680,658,635,878.553163212,787,805,652,631,652,0.400971440656,-0.0153666338297,0.0598415546639,0.999999941098,0.000219700397671,-0.000263430452797,1.18741580284e-05,1793244395404935424
+35,0.583333333,BASELINE,765,744.299853355,714,680,658.299853355,635,878.299853355,787,805,652,631,652,0.400970680802,-0.0153658205754,0.0598413178767,0.999999940549,0.000221302014895,-0.000264173419157,1.18641884587e-05,1793244395421602304
+36,0.600000000,BASELINE,765,744.875311248,714,680,658.875311248,635,878.875311248,787,805,652,631,652,0.400970315134,-0.0153657644708,0.0598417492839,0.999999940555,0.000221630888915,-0.000263862641108,1.20782967705e-05,1793244395438269184
+37,0.616666667,BASELINE,765,744.538985355,714,679.538985355,659,635,878.538985355,787,805,651.538985355,631,652,0.400970230287,-0.015366313132,0.0598418518356,0.999999940681,0.000221157909829,-0.000263791394353,1.19082426687e-05,1793244395454936064
+38,0.633333333,BASELINE,765,744.048749781,713.951250219,679.048749781,658.951250219,635,878.048749781,786.951250219,805,651.048749781,631,652,0.400970287903,-0.0153669992434,0.0598418385174,0.999999940866,0.000220413278294,-0.000263723429295,1.16811189542e-05,1793244395471602432
+39,0.650000000,BASELINE,765,744.627758541,713.372241459,679.627758541,658.372241459,635,878.627758541,786.372241459,805,651.627758541,631,652,0.400971050195,-0.0153673608254,0.059841554314,0.999999941343,0.000219126428797,-0.000262970466054,1.19890949077e-05,1793244395488269056
+40,0.666666667,BASELINE,765,745,713.205601462,679.794398538,658,635,879,786,805,652,631,651.794398538,0.400971042149,-0.0153673823294,0.0598412443177,0.999999941366,0.000218682263807,-0.000263252240845,1.20488053883e-05,1793244395504935424
+41,0.683333333,BASELINE,765,745,713.781345499,679.218654501,658,635,879,786,805,652,631,651.218654501,0.400969647271,-0.0153667915938,0.059840887887,0.999999940568,0.000219755176686,-0.000265396845805,1.16615656188e-05,1793244395521602048
+42,0.700000000,BASELINE,765,744.642241952,714,679.357758048,658.357758048,634.642241952,879,786,805,652,630.642241952,651.357758048,0.400969993591,-0.0153675414574,0.0598411619617,0.99999994089,0.000218562684915,-0.000265165441353,1.17686703407e-05,1793244395538268672
+43,0.716666667,BASELINE,765,744.065420078,714,679.934579922,658.934579922,634.065420078,879,786,805,652,630.065420078,651.934579922,0.400971406089,-0.015369112202,0.05984182211,0.999999941891,0.000215983031544,-0.000263479149315,1.21784740559e-05,1793244395554935296
+44,0.733333333,BASELINE,765,744,714,680,659,634.522236254,879,786.522236254,805,652,630.522236254,652,0.400971754297,-0.0153686612046,0.0598417164964,0.999999941437,0.000218926105373,-0.000262758634001,1.24372457808e-05,1793244395571602432
+45,0.750000000,BASELINE,765,744,714,680,658.890453203,635,879,787,805,652,631,652,0.400972000721,-0.0153679478496,0.0598416367335,0.999999940968,0.000221793178002,-0.000262137686059,1.25103430096e-05,1793244395588269312
+46,0.766666667,BASELINE,765,744,714,680,658.310577999,635,879,787,805,652,631,652,0.400972394681,-0.0153672184791,0.0598420885342,0.999999941274,0.000221300725769,-0.000261413792243,1.18692155233e-05,1793244395604936192
+47,0.783333333,BASELINE,765.266328436,744,714,680,658.266328436,635,879,787,805.266328436,652,631,652,0.400972553511,-0.0153667694394,0.0598423095353,0.99999994138,0.000221124907739,-0.000261169439818,1.1624530058e-05,1793244395621603072
+48,0.800000000,BASELINE,765.839811089,744,714,680,658.839811089,635,879,787,805.839811089,652,631,652,0.400972441169,-0.0153666437025,0.0598422643575,0.999999941255,0.000221314261056,-0.000261478138127,1.18370575691e-05,1793244395638268928
+49,0.816666667,BASELINE,765.578067798,744.421932202,714,680,659,635,879,787,805.578067798,652,631,652,0.400972637991,-0.0153672836365,0.0598425950216,0.999999941524,0.000220563388646,-0.000261070775408,1.20352748626e-05,1793244395654936064
+50,0.833333333,BASELINE,765,744.992610459,714,680,658.992610459,635,878.992610459,787,805,652,631,652,0.400972951525,-0.0153681984083,0.0598430676947,0.999999941939,0.000219468636431,-0.000260394258047,1.22218423238e-05,1793244395671603200
+51,0.850000000,BASELINE,765,744.40808454,714,680,658.40808454,635,878.40808454,787,805,652,631,652,0.400973021645,-0.0153674004712,0.0598432542087,0.999999941837,0.000219978337261,-0.000260372552734,1.19317304096e-05,1793244395688269824
+52,0.866666667,BASELINE,765,744.174070314,714,679.825929686,658.174070314,634.825929686,878.174070314,787,805,652,631,652,0.400972938331,-0.015366681367,0.0598431809656,0.999999941644,0.000220585631423,-0.000260608467543,1.16731460358e-05,1793244395704936448
+53,0.883333333,BASELINE,765,744.750741189,714,679.249258811,658.750741189,634.249258811,878.750741189,787,805,652,631,652,0.400972500148,-0.0153661445927,0.0598425069404,0.999999941245,0.000221418645435,-0.000261440222072,1.14874805209e-05,1793244395721603328
+54,0.900000000,BASELINE,765,744.675687769,714,679.324312231,658.675687769,634.324312231,879.324312231,787,805,652,631,652,0.400971719822,-0.015366536778,0.0598419652135,0.999999941012,0.000221036749112,-0.000262652794821,1.14877917041e-05,1793244395738269696
+55,0.916666667,BASELINE,765,744.104476658,714,679.895523342,658.104476658,634.895523342,879.895523342,787,805,652,631,652,0.400970679022,-0.0153676361802,0.0598415242054,0.999999940903,0.00021972994159,-0.000264155284421,1.16296869443e-05,1793244395754936320
+56,0.933333333,BASELINE,765,744.483034932,714,679.516965068,658.483034932,635,879.516965068,787,805,652,631,651.516965068,0.40097151786,-0.0153671799199,0.059841882847,0.99999994118,0.000219827465853,-0.000263019353241,1.16869970168e-05,1793244395771602944
+57,0.950000000,BASELINE,765,745,714,679.072803972,659,635,879,787,805,652,631,651.072803972,0.40097253609,-0.0153665268518,0.0598423169138,0.999999941478,0.000220212532137,-0.000261558907347,1.17140810308e-05,1793244395788269312
+58,0.966666667,BASELINE,765,745,714,679.652878334,659,635,879,787,805,652,631,651.652878334,0.400971872619,-0.0153669288281,0.0598420293217,0.999999941332,0.000220410781818,-0.000261952443694,1.1662486635e-05,1793244395804935680
+59,0.983333333,BASELINE,765,744.769123136,714,680,658.769123136,635,878.769123136,787,805,652,631,652,0.400971633549,-0.0153667468916,0.059841827451,0.9999999412,0.000220783993814,-0.000262148243573,1.1562884315e-05,1793244395821602304
+60,1.000000000,BASELINE,765,744.194217709,714,680,658.194217709,635,878.194217709,787,805,652,631,652,0.400972026874,-0.015365694869,0.0598417533135,0.999999941087,0.000221417916388,-0.000262049397303,1.13917455978e-05,1793244395838268928
+61,1.016666667,BASELINE,765,744.381878088,714,680,658,634.618121912,878.381878088,787,805,652,631,652,0.40097220835,-0.0153658888556,0.0598417529749,0.999999941337,0.000220614209082,-0.000261773779201,1.13943495684e-05,1793244395854935808
+62,1.033333333,BASELINE,765,744.95858115,714,680,658,634.04141885,878.95858115,787,805,652,631,652,0.400972281746,-0.0153667185261,0.0598417902867,0.99999994177,0.000219077057708,-0.000261407976385,1.14855928703e-05,1793244395871602688
+63,1.050000000,BASELINE,765,744.453114942,714,680,658,634.546885058,879,787,805,652,631,652,0.400972509862,-0.0153688597064,0.0598424505771,0.999999942204,0.000217653800353,-0.000260915139559,1.18947383083e-05,1793244395888269312
+64,1.066666667,BASELINE,765,744,714,680,658.133860472,635,879,787,805,652,631,652,0.400972815838,-0.0153705215478,0.0598430100245,0.999999942594,0.00021634057746,-0.000260497468513,1.22126116344e-05,1793244395904936192
+65,1.083333333,BASELINE,765,744,714,680,658.713423697,635,879,787,805,652,631,652,0.400973341199,-0.0153702494862,0.0598430732022,0.999999942841,0.000215364382936,-0.000260362798536,1.21446816467e-05,1793244395921602304
+66,1.100000000,BASELINE,765,744,714,679.709525621,659,635,879,787,805,652,631,652,0.40097301147,-0.0153702246013,0.0598427870969,0.99999994289,0.000214717890727,-0.000260710229765,1.20988490363e-05,1793244395938268416
+67,1.116666667,BASELINE,765,744,714,679.134932541,659,635,879,787,805,652,631,652,0.400971845361,-0.015370441485,0.0598421593509,0.999999942746,0.000214393886893,-0.000261529213671,1.20746303093e-05,1793244395954935040
+68,1.133333333,BASELINE,765,744,714,679.449942849,659,635,879,787,805,651.550057151,631,651.550057151,0.400971726886,-0.0153686653193,0.0598423578643,0.99999994215,0.000217380467488,-0.000261350731169,1.18706312344e-05,1793244395971601920
+69,1.150000000,BASELINE,765,744,714,680,659,635,878.962593315,787.037406685,805.037406685,651.037406685,631,651.037406685,0.400971962697,-0.0153665206018,0.0598427956078,0.9999999415,0.000220959282473,-0.000260848112565,1.16317216134e-05,1793244395988268288
+70,1.166666667,BASELINE,765,744,714,680,659,635,878.383346253,787.616653747,805.616653747,651.616653747,631,651.616653747,0.400972673122,-0.0153678974854,0.059843025485,0.999999942261,0.000218399452104,-0.000260084588192,1.1686343676e-05,1793244396004935424
+71,1.183333333,BASELINE,765,744.195368877,714,680,658.804631123,634.804631123,878.390737755,787.804631123,805.804631123,652,631,652,0.400973030857,-0.0153688108789,0.0598429305288,0.999999942689,0.000216556497067,-0.000259975748822,1.17431795334e-05,1793244396021602560
+72,1.200000000,BASELINE,765,744.773043209,714,680,658.226956791,634.226956791,879.546086418,787.226956791,805.226956791,652,631,652,0.400972698434,-0.0153688172972,0.0598421999258,0.999999942478,0.000216116351239,-0.000261148022523,1.18043474406e-05,1793244396038269440
+73,1.216666667,BASELINE,765,745,714,680,658.349132154,634.349132154,880,787,805.349132154,652,631,652,0.400973188807,-0.0153690139142,0.0598426284579,0.999999942695,0.000215704002977,-0.000260657153507,1.18181080415e-05,1793244396054935808
+74,1.233333333,BASELINE,765,745,714,680,658.924195127,634.924195127,880,787,805.924195127,652,631,652,0.400974211629,-0.0153693336127,0.0598438070908,0.999999943187,0.000215309643134,-0.000259090029508,1.18011903657e-05,1793244396071602432
+75,1.250000000,BASELINE,765.51161101,744.48838899,714,680,659,634.48838899,879.48838899,787,806,652,631,652,0.400972429386,-0.0153692226146,0.0598429892191,0.999999942767,0.000215171375006,-0.000260818700854,1.1852825807e-05,1793244396088268800
+76,1.266666667,BASELINE,766,744.099106597,714,680,658.900893403,634,879,787,805.900893403,652,631,652,0.400970981859,-0.0153690576669,0.0598421933319,0.999999942354,0.000215369083301,-0.000262235471688,1.18726036104e-05,1793244396104935424
+77,1.283333333,BASELINE,766,744.677909638,714,680,658.322090362,634,879,787,805.322090362,652,631,652,0.400973215901,-0.0153689481165,0.0598429711111,0.999999942659,0.000217004781909,-0.000259720456525,1.16878032708e-05,1793244396121602048
+78,1.300000000,BASELINE,766,745,714,680,658,634.254923403,879,787,805,652,631,652,0.400973499123,-0.0153696386215,0.0598431495077,0.99999994268,0.000217613408221,-0.000259126463289,1.1752021749e-05,1793244396138268672
+79,1.316666667,BASELINE,766,745,714,680,658,634.829692168,879,787,805,652,631,652,0.400971334704,-0.015371332934,0.0598425758754,0.999999942351,0.000216933395138,-0.000260942723462,1.21286772823e-05,1793244396154935552
+80,1.333333333,BASELINE,765.586463617,745,714,679.586463617,658,635,879.413536383,787,805,652,631,652,0.400971552389,-0.0153700419284,0.0598430088425,0.999999942236,0.000217932887169,-0.000260553319682,1.20635802588e-05,1793244396171602432
+81,1.350000000,BASELINE,765.001180575,745,714,679.001180575,658,635,879.998819425,787,805,652,631,652,0.400972770388,-0.0153674977648,0.0598438621776,0.999999942208,0.000219634049469,-0.000259240175063,1.18127976634e-05,1793244396188269312
+82,1.366666667,BASELINE,765.578332213,745,714,679.578332213,658,635,879.421667787,787,805,652,631,652,0.400972657895,-0.015366847095,0.0598430154842,0.999999942134,0.000218639620504,-0.000260369420882,1.17204771492e-05,1793244396204936192
+83,1.383333333,BASELINE,765.8440358,745,714,680,658.1559642,635,879,787,805,652,630.8440358,652,0.400972648765,-0.0153666532743,0.0598425513745,0.999999942149,0.00021775952467,-0.000261054336963,1.15777688719e-05,1793244396221602560
+84,1.400000000,BASELINE,765.265100993,745,714,680,658.734899007,635,879,787,805,652,630.265100993,652,0.400972919955,-0.0153676984158,0.059843124821,0.999999942411,0.00021718949691,-0.000260534243309,1.1298410352e-05,1793244396238268672
+85,1.416666667,BASELINE,765,745,714,680,659,634.687259109,879,787,805,652,630.312740891,652,0.400972360714,-0.0153682267015,0.0598430180323,0.999999942332,0.000217151987871,-0.000260869456514,1.13288071799e-05,1793244396254935040
+86,1.433333333,BASELINE,765,745,714,680,659,634.110340471,879,787,805,652,630.889659529,652,0.400971099994,-0.01536831839,0.0598423366369,0.999999941962,0.000217564306824,-0.000261927162544,1.16208598308e-05,1793244396271601920
+87,1.450000000,BASELINE,765.475794001,744.524205999,714,680,659,634,879.475794001,787,805,652,631,652,0.400971006481,-0.0153681175575,0.0598421176659,0.999999941845,0.000218422233105,-0.000261661757393,1.16140328248e-05,1793244396288268544
+88,1.466666667,BASELINE,765.936768962,744.063231038,714,680,659,634.063231038,879.936768962,787,805.063231038,652,631,652,0.400971186079,-0.0153679960498,0.0598420006059,0.999999941814,0.000219114647798,-0.000261204143083,1.15463222752e-05,1793244396304935168
+89,1.483333333,BASELINE,765.356502046,744.643497954,714,680,659,634.643497954,879.356502046,787,805.643497954,652,631,652,0.400971341787,-0.0153690888384,0.059841822651,0.999999942008,0.000217591991531,-0.000261733416536,1.15587302955e-05,1793244396321602304
+90,1.500000000,BASELINE,765.221222157,744.778777843,714,679.778777843,658.778777843,635,879,787,805.778777843,652,631,652,0.400971630528,-0.0153693977136,0.0598420266596,0.99999994206,0.00021735142208,-0.000261735520497,1.15078076767e-05,1793244396338268928
+91,1.516666667,BASELINE,765.794895257,744.205104743,714,679.205104743,658.205104743,635,879,787,805.205104743,652,631,652,0.400972131217,-0.0153684576583,0.0598428392122,0.999999941888,0.000219153472345,-0.000260897738442,1.13559867393e-05,1793244396354935552
+92,1.533333333,BASELINE,765.622326169,744.377673831,714,679.377673831,658.377673831,635,879,787,805,652,631,652,0.400971232848,-0.0153687283755,0.0598425510269,0.999999941726,0.000219217192613,-0.000261449949984,1.16132032891e-05,1793244396371602432
+93,1.550000000,BASELINE,765.034480432,744.965519568,714,679.965519568,658.965519568,635,879,787,805,652,631,652,0.400969555917,-0.0153696728761,0.0598416502914,0.999999941571,0.000218313548887,-0.000262775679706,1.20980453083e-05,1793244396388269056
+94,1.566666667,BASELINE,765,745,714,679.454415953,659,635,879,787,805,652,631,652,0.400971925349,-0.0153692560643,0.0598431511593,0.999999941973,0.000219322143091,-0.000260407351234,1.18226482519e-05,1793244396404935424
+95,1.583333333,BASELINE,765.124569244,744.875430756,714.124569244,679.124569244,659,635,879,787,805.124569244,652,631,652,0.400974168482,-0.0153689420292,0.0598445320743,0.999999942415,0.000219992814015,-0.000258139287214,1.16885979985e-05,1793244396421602048
+96,1.600000000,BASELINE,765.701396488,744.298603512,714.701396488,679.701396488,659,635,879,787,805.701396488,652,631,652,0.400975037701,-0.0153693090919,0.0598449341943,0.999999942901,0.000219004037756,-0.000257070919957,1.22397011868e-05,1793244396438268928
+97,1.616666667,BASELINE,766,744.276226684,714.723773316,680,659,635,879,787,806,652,631,652,0.400974024647,-0.0153689138432,0.05984418762,0.999999942697,0.000218501596617,-0.000258290233162,1.22197016176e-05,1793244396454935552
+98,1.633333333,BASELINE,766,744.848913514,714.151086486,680,659,635,879,787,806,652,631,652,0.400970991444,-0.0153677004441,0.0598422082102,0.999999941744,0.000218521114451,-0.000261964798304,1.15867662763e-05,1793244396471601920
+99,1.650000000,BASELINE,765.563780258,745,714,680,659,635,879,787,805.563780258,652,631,652,0.400971948401,-0.0153674043959,0.0598426665467,0.99999994208,0.000218596002861,-0.00026062294601,1.14479204759e-05,1793244396488268544
+100,1.666666667,BASELINE,765,745,714,680,658.971961204,635,879.028038796,787,805,652,631,652,0.400974142905,-0.0153674712378,0.0598439163523,0.999999942804,0.000218716296589,-0.00025772498336,1.14978648906e-05,1793244396504934912
+101,1.683333333,BASELINE,765,745,714,680,658.394375953,635,879.605624047,787,805,652,631,652,0.400972566809,-0.0153682072947,0.059843556412,0.99999994219,0.000219337602341,-0.000259562146804,1.17776368741e-05,1793244396521601792
+102,1.700000000,BASELINE,765,744.817049828,714,680,658,634.817049828,879.817049828,787,805,652,631,652,0.400971753312,-0.0153685006155,0.0598433201157,0.999999941854,0.000219744135783,-0.000260502930061,1.19443571112e-05,1793244396538268416
+103,1.716666667,BASELINE,765,744.24028157,714,680,658,634.24028157,879.24028157,787,805,652,631,652,0.400972581385,-0.0153678409037,0.0598433499751,0.999999942124,0.000219688350809,-0.000259514167328,1.18677224048e-05,1793244396554935040
+104,1.733333333,BASELINE,765.335328844,744.335328844,714,680.335328844,658.335328844,634.335328844,879,787,805,652,631,652,0.400972400876,-0.0153680449428,0.0598433272508,0.99999994215,0.00021921715368,-0.000259807118621,1.19667700547e-05,1793244396571601664
+105,1.750000000,BASELINE,765.910112515,744.910112515,714,680.910112515,658.910112515,634.910112515,879,787,805,652,631,652,0.400971500148,-0.0153688657772,0.0598432669772,0.999999942001,0.000218449315062,-0.000261015328418,1.21912706332e-05,1793244396588268288
+106,1.766666667,BASELINE,765.500288573,745,714,680.000577146,659,635,879,787.499711427,805,652,631,652,0.400970318338,-0.0153688069802,0.0598421181202,0.999999941776,0.0002175956432,-0.000262599974864,1.18835122952e-05,1793244396604934912
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658,635,879,787,806,652,631,652,0.400972416685,-0.0153692528531,0.0598431744457,0.999999942245,0.000218376310452,-0.000260149116177,1.20026945955e-05,1793244396647862528
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.573028327,714,680,658,635,879,787,806,652,631,652,0.400971521967,-0.0153681416536,0.0598427699597,0.999999941557,0.000220019923407,-0.000261421965773,1.1658752359e-05,1793244396664529408
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.150595442,744.849404558,714,680,658,635,879.150595442,787,805.849404558,652,631,652,0.400971095021,-0.0153674659251,0.0598425751631,0.999999941153,0.000221110845019,-0.000262053243976,1.14541122078e-05,1793244396681196032
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.741431064,744.258568936,714,680,658,635,879.741431064,787,805.258568936,652,631,652,0.400972035526,-0.015368063222,0.059842993358,0.999999941592,0.000220586067808,-0.000260808997547,1.16566979479e-05,1793244396697862400
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.675614425,744.324385575,714,680.324385575,658.324385575,635,880,787,805.324385575,652,631,652,0.400972271239,-0.0153687983791,0.0598431090991,0.999999941839,0.000219365437868,-0.000260886028355,1.17717179814e-05,1793244396714528768
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.098793005,744.901206995,714,680.901206995,658.901206995,635,880,787,805.901206995,652,631,652,0.400971958484,-0.0153696408185,0.0598429894715,0.999999941935,0.000217603297531,-0.000261991273069,1.18185946423e-05,1793244396731195392
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.522075111,714,680.522075111,659,635,879.522075111,787,805.522075111,652,631,652,0.400972017966,-0.0153692686708,0.0598422151938,0.999999941622,0.000218251629328,-0.000262652847003,1.16070652737e-05,1793244396747862272
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.054256478,714,680,659,635,879,787,805,652,631,652,0.400972223566,-0.0153687399048,0.0598414922017,0.999999941288,0.000219298886679,-0.0002630622918,1.13945610451e-05,1793244396764529152
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.627100265,714,680,659,635,879,787,805,652,631,652,0.400973090484,-0.0153691133988,0.0598425525602,0.999999941558,0.00021939759117,-0.000261938270721,1.16831798573e-05,1793244396781195776
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.792149034,714,680,658.792149034,634.792149034,878.792149034,787,805,652,631,652,0.400978719658,-0.0153696961037,0.0598455526669,0.999999942682,0.000219305400317,-0.000257670486607,1.21281278411e-05,1793244396797862400
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.196651843,714,680,658.196651843,634.196651843,878.196651843,787,805,652,631,652,0.400993230535,-0.0153706689913,0.059852170443,0.99999994533,0.000218857185788,-0.000247539521406,1.2864632836e-05,1793244396814528768
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.387092937,714,680,658.387092937,634,878.387092937,787,805,652,631,652,0.401028908205,-0.0153736252391,0.0598670749419,0.999999952047,0.000216465010593,-0.000221002537093,1.43903377055e-05,1793244396831195392
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.96504321,714,680,658.96504321,634,878.96504321,787,805,652,631,652,0.401075022226,-0.0153775593888,0.0598860652352,0.99999995979,0.000213114359497,-0.000186376514654,1.63051599956e-05,1793244396847862016
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.461650975,714,680,659,634.538349025,879,787,805.538349025,652,631,651.461650975,0.401141462186,-0.0153809447727,0.0599059736578,0.999999964936,0.00021365728271,-0.000155388542076,1.82603614231e-05,1793244396864528640
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,680,658.88513197,635,879,787,805.88513197,652,631,651,0.401210560362,-0.0153842325494,0.0599243716727,0.999999968781,0.000214228817204,-0.000127065733051,1.996896333e-05,1793244396881195264
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714,680,658.294052194,635,879,787,805.294052194,652,631,651,0.401285253944,-0.0153872621365,0.0599362629095,0.999999970994,0.000213879797882,-0.000108820989848,2.06444541359e-05,1793244396897862144
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.290489127,744,714,679.709510873,658.290489127,634.709510873,879,787,805,652,631,651.580978254,0.401367323467,-0.0153909306479,0.0599441784098,0.999999972553,0.00021301724868,-9.53427545594e-05,2.06880309694e-05,1793244396914529024
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.868557454,744,714,679.131442546,658.868557454,634.131442546,879,787,805,652,631,652.737114908,0.401456695039,-0.015395231683,0.0599481579992,0.999999973652,0.000211646313857,-8.65832805966e-05,2.01060238875e-05,1793244396931195648
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.444635665,714,679,658.555364335,634,879,787,805,652,631,652.555364335,0.401555139465,-0.015399402157,0.0599458867205,0.999999973554,0.000211047896964,-8.94118131846e-05,1.88877050614e-05,1793244396947862016
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.979772324,745,714,679.040455352,658.020227676,634.020227676,879,787,805.020227676,652,631,652,0.401657437693,-0.0154036531814,0.0599418806922,0.999999973133,0.000210557830883,-9.53588162591e-05,1.74899095458e-05,1793244396964528896
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.401434904,745,714,680.197130192,658.598565096,634.598565096,879,787,805.598565096,652,631,652,0.401792394478,-0.0154111868816,0.0599407686957,0.999999974139,0.000206784327942,-9.32520368543e-05,1.63070691708e-05,1793244396981195520
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.819646523,714,680.639293045,659,635,879,787,805.819646523,652,631,652,0.401935757359,-0.0154184198315,0.0599406248112,0.999999975187,0.000203221431094,-9.00251166102e-05,1.4925101589e-05,1793244396997862144
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.230027151,714,679.460054303,659,635,879,787,805.230027151,652,631,652,0.402098195699,-0.0154249703049,0.059942677808,0.999999976337,0.000200136451199,-8.42563247195e-05,1.30912661173e-05,1793244397014528768
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.647293979,634.647293979,879,787,805,652,631,652,0.402283879269,-0.0154341780683,0.0599451522405,0.999999978282,0.000193558775535,-7.64307626811e-05,1.13537830475e-05,1793244397031195136
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.068965776,634.068965776,879,787,805,652,631,652,0.402484432574,-0.0154450856717,0.0599478962608,0.999999980624,0.000184746860275,-6.72895067045e-05,9.67793537341e-06,1793244397047861760
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.506870139,744,714,679.506870139,658.506870139,634.506870139,879,787,805,652,631,652,0.4027155727,-0.0154569835613,0.0599509597828,0.999999982633,0.000177376685289,-5.65979021156e-05,8.31484060241e-06,1793244397064528640
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.082363616,714,679.917636384,659,635,879,787,805,652,631,652,0.402955347561,-0.0154684055028,0.0599533377779,0.99999998426,0.000170813084048,-4.75053747313e-05,6.73729503995e-06,1793244397081195520
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744.65782745,714,679.34217255,659,635,879,787,805,652,631,652,0.403222023891,-0.0154761752846,0.0599513526269,0.999999984684,0.000167909657227,-4.92430215788e-05,3.62234259313e-06,1793244397097862912
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+136,2.266666667,POSE1_TO_POSE2_PRESS,765.168015717,744.168015717,714,679.831984283,659,635,879.831984283,787,805.831984283,652,631,652,0.403772775243,-0.0154882011808,0.0599300352492,0.999999983131,0.000163757682005,-8.31244715401e-05,-3.47978650429e-06,1793244397131195904
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+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.861091179,714,680.861091179,659,634,879,787,805.138908821,652,631,651.138908821,0.40516002982,-0.0154661424186,0.0599033048466,0.999999988748,6.617527087e-05,-0.00013294078749,-2.12477998218e-05,1793244397197862912
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.284206114,714,680.284206114,659,634,879,787,805.715793886,652,631,651.715793886,0.405615471693,-0.0154837906112,0.059921217153,0.999999992738,5.50501480635e-05,-0.000104911880825,-2.20544281526e-05,1793244397214529792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.301036627,714,680,659,634.301036627,879.301036627,787,805.698963373,652,631,652,0.40608958878,-0.0154948957204,0.0599436117814,0.999999996455,4.63467037512e-05,-6.63696523486e-05,-2.31848637412e-05,1793244397231196416
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.894395165,714,680,659,634.894395165,879.894395165,787,805.105604835,652,631,652,0.406581840507,-0.0154996471641,0.0599703589752,0.999999998742,3.99948313406e-05,-1.76184490606e-05,-2.46297327523e-05,1793244397247862528
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.526035721,879.526035721,787,805.473964279,652,631,652,0.407090262031,-0.0154992517145,0.0599889161262,0.999999999254,2.68871404528e-05,7.34226278084e-06,-2.67572510229e-05,1793244397264529152
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,806,652,631,652,0.407601979994,-0.0154975916335,0.0600029061406,0.999999999255,1.18883259122e-05,2.21027469065e-05,-2.93133100736e-05,1793244397281196288
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,879,787,806,652,631,652,0.408111569867,-0.0154943677977,0.0599878209897,0.999999999243,-7.56876891854e-06,-1.5683183101e-05,-3.4790934387e-05,1793244397297862912
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.201687655,879,787,805.798312345,652,631,652,0.408641526694,-0.0154936763184,0.0599751796621,0.999999997904,-2.01496268286e-05,-4.6676868391e-05,-4.00906904815e-05,1793244397314529792
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.790135729,879,787,805.209864271,652,631,652,0.409210539583,-0.0154978409385,0.0599672246614,0.999999996705,-1.95444694405e-05,-6.46456024927e-05,-4.50493625655e-05,1793244397331196928
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.373333174,744.626666826,714,680,659,634.626666826,879,787,805,652,631,652,0.409831198796,-0.0155023707118,0.059970850499,0.999999996411,-4.21274094901e-05,-5.45053045769e-05,-4.93256030872e-05,1793244397347863552
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.953619964,744.046380036,714,680,659,634.046380036,879,787,805,652,631,652,0.410480487627,-0.0155071029039,0.0599808960619,0.999999995161,-7.75644459053e-05,-2.87830373295e-05,-5.32235440697e-05,1793244397364530176
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744,714,680,659.529073016,634,879,787,805.529073016,652,631,652,0.411144023315,-0.015509026156,0.0599860335931,0.999999994643,-8.47228061274e-05,-1.45907298354e-05,-5.76539984216e-05,1793244397381196544
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.893754184,744.106245816,714,680,659.893754184,634,879,787,805.893754184,652,631,652,0.411807059924,-0.015509679053,0.0599856636674,0.999999995894,-6.9775209549e-05,-1.2325821954e-05,-5.64960986949e-05,1793244397397862912
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.306902791,744.693097209,714,680,659.306902791,634,879,787,805.306902791,652,631,652,0.412462240369,-0.0155056892535,0.0599623092576,0.999999997205,3.40569895145e-05,-5.94840519603e-05,-2.98498854322e-05,1793244397414529280
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.722105659,714,680,659,634,879,787,805,652,630.722105659,651.722105659,0.413132061673,-0.0154969465601,0.0599362839217,0.999999989917,8.66896562248e-05,-0.000110556387008,-2.06986221273e-05,1793244397431195648
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.139560503,714,680,659,634,879,787,805,652,630.139560503,651.139560503,0.413817933582,-0.0154829933496,0.0599073304921,0.999999982303,8.3193164558e-05,-0.000165919694964,-3.07267701998e-05,1793244397447862272
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.436647167,744,714,680,659,634,879,787,805,652,630.436647167,651.436647167,0.414605896494,-0.0154895830009,0.0599315395877,0.999999990598,5.86030132822e-05,-0.000119156336913,-3.42396624919e-05,1793244397464528640
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.989101793,744.010898207,714,680,659.010898207,634,879,787,805.010898207,651.989101793,630.989101793,652,0.415425781877,-0.0155025362696,0.0599723060509,0.99999999815,2.76327670014e-05,-4.07960826508e-05,-3.56738154608e-05,1793244397481195520
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.412775325,744.587224675,714,680,659.587224675,634,879,787,805.587224675,651.412775325,630.412775325,652,0.416233172233,-0.0155098692797,0.0600031491214,0.999999999278,1.04308688175e-05,7.59215982097e-06,-3.57520480378e-05,1793244397497862400
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.833120811,714,680,659.833120811,634,879,786.833120811,806,651.166879189,630.166879189,652,0.417039552362,-0.0155147485006,0.0600211117735,0.99999999871,-1.88355232905e-06,3.52039579639e-05,-3.65545049072e-05,1793244397514529024
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.24506691,714,680,659.24506691,634,879,786.24506691,806,651.75493309,630.75493309,652,0.417843382802,-0.0155134347739,0.0600065664366,0.999999999177,-1.86281100564e-06,1.03795388592e-05,-3.91847809886e-05,1793244397531195904
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.33713439,744,714,680,659.33713439,634,879.33713439,786.33713439,806,651.66286561,631,652,0.41865499536,-0.015512109763,0.0599879009148,0.999999998909,-1.78249879252e-06,-2.00353387862e-05,-4.21674320996e-05,1793244397547862528
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.915153935,744,714,680,659.915153935,634,879.915153935,786.915153935,806,651.084846065,631,652,0.419472168269,-0.0155107766894,0.0599662914893,0.999999997486,-1.65962271312e-06,-5.44446416501e-05,-4.54018577825e-05,1793244397564528896
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.507087387,744,714,680,660,634,879.507087387,787,806,651.492912613,631,652,0.420289919791,-0.0155123033656,0.0599417437586,0.999999994962,-6.53670754739e-06,-8.76874788798e-05,-4.8412149041e-05,1793244397581195520
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,714,680,660,634,879.07022184,787,806,652,631,652,0.421106985737,-0.0155136559346,0.0599165735298,0.999999990961,-1.14742735037e-05,-0.00012369312428,-5.1439971587e-05,1793244397597861888
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744,714,680,660,634,879.64462602,787,806,652,631,652,0.421918414209,-0.0155102259937,0.0598905633501,0.999999982062,-1.06699861934e-05,-0.000180976156,-5.48705221735e-05,1793244397614528768
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.226538486,714,680.226538486,660,634,879.773461514,786.773461514,805.773461514,652,631,652,0.422798153501,-0.0155111779482,0.0598982718967,0.999999983503,-1.26905030189e-05,-0.000172500961413,-5.5456242963e-05,1793244397631195904
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.820633152,714,680.820633152,660,634,879.179366848,786.179366848,805.179366848,652,631,652,0.423788726469,-0.0155192394785,0.0599606886984,0.999999996848,-1.9294233024e-05,-5.73337823851e-05,-5.14262592379e-05,1793244397647863040
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.403445215,744.596554785,714,680.596554785,660,634.403445215,879.403445215,786.403445215,805.403445215,652,631,652,0.424728227338,-0.0155255949379,0.0600049448981,0.999999998448,-2.44821274885e-05,1.43687810414e-05,-4.79358277089e-05,1793244397664530176
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.981377596,744.018622404,714,680.018622404,660,634.981377596,879.981377596,786.981377596,805.981377596,652,631,652,0.425645639832,-0.0155312125334,0.0600413467638,0.999999996317,-2.90576828447e-05,6.72732023911e-05,-4.46787489556e-05,1793244397681196800
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.444907017,744.555092983,714,680,660,634.444907017,880,787,806,652,631,652,0.426536677846,-0.0155296273946,0.0600257558963,0.999999996716,-3.39638146304e-05,5.60036443985e-05,-4.77337610111e-05,1793244397697863168
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.868363727,714,680,660,634,880,787,805.868363727,652,631,652,0.427417413682,-0.0155285585418,0.0600070215913,0.999999997285,-3.82130805614e-05,3.71127155261e-05,-5.09122267356e-05,1793244397714529536
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.281556669,714,680,660,634,880,787,805.281556669,652,631,652,0.428265563135,-0.0155301041368,0.059983403769,0.999999997747,-4.01529823604e-05,-7.43084896888e-07,-5.37908692271e-05,1793244397731195904
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.301640725,714,680,660,634,880,787,805.301640725,651.698359275,631,651.698359275,0.429115498203,-0.0155279435406,0.0599543954718,0.999999996256,-4.02744946002e-05,-5.15043191065e-05,-5.66793756094e-05,1793244397747862528
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.881508605,714,680,660,634,880,787,805.881508605,651.118491395,631,651.118491395,0.429967080238,-0.0155223644303,0.0599204151134,0.999999990958,-3.87187617884e-05,-0.000114169255912,-5.95769799672e-05,1793244397764529152
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,651,631,651.46030612,0.430883508434,-0.0155242337944,0.0599304363046,0.999999993438,-4.21223117544e-05,-8.81991292931e-05,-5.9761773518e-05,1793244397781195776
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.038527158,745,714,680,660.038527158,634,880,787,806,651,631,652,0.431815463059,-0.0155280494951,0.059953130504,0.999999996406,-4.69188206163e-05,-3.86658289575e-05,-5.90937855298e-05,1793244397797862912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.612555769,745,714,680,660.612555769,634,880,787,806,651,631,652,0.432731745787,-0.0155323295451,0.0599949010159,0.999999996752,-5.33736331794e-05,2.19838897142e-05,-5.62564839074e-05,1793244397814529536
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.808580747,745,714,680,660.808580747,634,880,786.808580747,806,651,631,652,0.433620784948,-0.0155353689314,0.0600175128857,0.999999995489,-5.63012773141e-05,5.33780563258e-05,-5.47969288054e-05,1793244397831196160
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.219677493,745,714,680,660.219677493,634,880,786.219677493,806,651,631,652,0.434453252737,-0.0155358320678,0.0600003416507,0.999999996785,-5.19047223211e-05,2.40227868564e-05,-5.61982779864e-05,1793244397847862784
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.363462909,745,714,680.363462909,660,634,880.363462909,786.363462909,806,651,631,652,0.435291469021,-0.0155367595358,0.0599735413155,0.99999999643,-5.53624704124e-05,-2.40641729974e-05,-5.91327906742e-05,1793244397864528896
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.943174563,745,714,680.943174563,660,634,880.943174563,786.943174563,806,651,631,652,0.436133105424,-0.0155379632661,0.0599410119763,0.999999992532,-6.34932764515e-05,-8.32958845994e-05,-6.29794861235e-05,1793244397881195776
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.481210267,745,714,681,660,634.518789733,881,787,806,651.518789733,631,652,0.436927150876,-0.0155321869042,0.0599263665145,0.99999999042,-5.88089093784e-05,-0.000107224596318,-6.48436198672e-05,1793244397897862400
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.904130393,660,634.904130393,881,787,806,651.904130393,631,652,0.437711899551,-0.0155265912737,0.0599148624768,0.99999998819,-5.46832581695e-05,-0.00012738324851,-6.6356740942e-05,1793244397914529280
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680.317269096,660,634.317269096,881,787,806,651.317269096,631,652,0.438475523451,-0.0155258062417,0.0599094932594,0.999999984976,-6.05517328445e-05,-0.000147882714902,-6.71756243258e-05,1793244397931196416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680.266351461,660,634,881,787,806,651,631,652,0.439280406968,-0.0155299000591,0.0599283725684,0.999999988188,-6.77153469096e-05,-0.000121091564811,-6.61422160305e-05,1793244397947863040
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.846158117,660,634,881,787,806,651,631,652,0.440133846731,-0.015539735541,0.0599757887085,0.999999994354,-7.64031425178e-05,-3.86465430145e-05,-6.29289415255e-05,1793244397964529664
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,787,806,651.425452557,631,652,0.44091163018,-0.0155473083455,0.0599875816884,0.999999993877,-8.91240343107e-05,-2.50907080508e-05,-6.06000303155e-05,1793244397981196288
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.995494567,786.995494567,806.004505433,652,631,652,0.441661271815,-0.015554017832,0.0599860802644,0.999999992274,-0.000103175612062,-3.69615456471e-05,-5.86538103365e-05,1793244397997862400
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.423572223,786.423572223,806.576427777,652,631,652,0.442307923952,-0.0155549179596,0.0599305873335,0.999999985847,-0.0001013696885,-0.000117669115475,-6.46788427378e-05,1793244398014529024
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.153343767,681,660,634,880,786,807,651.846656233,631,652,0.442949823752,-0.0155570398075,0.0598816048522,0.999999974241,-0.000104467848472,-0.000188963516317,-6.99807577244e-05,1793244398031195648
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714.744517848,681,660,634,880,786,807,651.255482152,631,652,0.443578154734,-0.0155626499366,0.0598512111291,0.999999962697,-0.000121568250899,-0.000233381261542,-7.32180151701e-05,1793244398047862272
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714.671432634,681,660,633.671432634,880,786,807,651,631,652,0.444215065632,-0.0155686757819,0.0598398534682,0.999999956645,-0.000134201659962,-0.000251146634844,-7.50047049086e-05,1793244398064529152
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714.092805381,681,660,633.092805381,880,786,807,651,631,652,0.444858506333,-0.0155750180123,0.0598429834185,0.999999955941,-0.00014343541262,-0.000248627918444,-7.56874236758e-05,1793244398081196032
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680.517541457,659.517541457,633.482458543,880.482458543,786,807,651.482458543,631,652,0.445433427808,-0.0155794641316,0.059818171124,0.999999940854,-0.000148980724489,-0.00029987191964,-7.85712720585e-05,1793244398097862656
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680.056749973,659,633.943250027,880.943250027,786,807,651.943250027,631,652,0.445992811744,-0.0155836988818,0.0597887014073,0.999999920384,-0.000156161175795,-0.000357964090207,-8.1903015484e-05,1793244398114529024
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.628049277,659,633.371950723,880.371950723,786,807,651.371950723,631,652,0.446529995473,-0.0155893012957,0.0597654000947,0.999999905192,-0.000184555884057,-0.000385029223504,-8.54833641402e-05,1793244398131195904
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.208447977,633,880,785.791552023,807,651.208447977,631,652.208447977,0.447068102874,-0.0155967111911,0.0597550488699,0.999999897232,-0.000205135809872,-0.000394687897328,-8.76178746028e-05,1793244398147862272
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.805824543,633,880,785.194175457,807,651.805824543,631,652.805824543,0.447607933631,-0.0156074935398,0.0597688603163,0.999999904779,-0.000211134673635,-0.000371869066358,-8.70546958737e-05,1793244398164528896
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.615253758,633,880,785,807,651.615253758,630.615253758,652.615253758,0.448111256261,-0.0156249346214,0.0597750720968,0.999999905844,-0.000226438774291,-0.000360612704563,-8.36423520843e-05,1793244398181195776
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.04521959,633,880,785,807,651.04521959,630.04521959,652.04521959,0.448596997181,-0.0156455824483,0.0597776239954,0.999999903592,-0.000246224135719,-0.000354924649624,-7.88578937538e-05,1793244398197862656
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.086009773,745,714,681,659.086009773,632,880.913990227,784.913990227,806,651,630,652,0.449380744456,-0.0156849616407,0.0596977480684,0.999999826113,-0.000321801827701,-0.000487159186535,-8.30312627165e-05,1793244398231195648
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.698180208,745,714,681,659.698180208,632,880.301819792,784.301819792,806,651,630,652,0.449754930289,-0.0156852968446,0.0596658458839,0.999999802513,-0.000324814286327,-0.000530968886587,-8.68419226781e-05,1793244398247862016
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.706403953,745,714,681,659.706403953,632,880.293596047,784.293596047,806.293596047,651.293596047,630,652,0.45012419577,-0.0156835238432,0.0596501454156,0.99999979446,-0.000315820927114,-0.000551064533033,-8.75446160372e-05,1793244398264528896
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.127282199,745,714,681,659.127282199,632,880.872717801,784.872717801,806.872717801,651.872717801,630,652,0.450488676127,-0.0156797005865,0.0596502013141,0.999999802605,-0.000295151765001,-0.000548097973447,-8.52247741464e-05,1793244398281195520
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.447508651,745,714,681.447508651,659,632,880.552491349,784.552491349,807,651.552491349,630,651.552491349,0.450836860733,-0.0156807622013,0.0596605905659,0.999999828447,-0.000249538430675,-0.000525366793475,-6.94765069972e-05,1793244398297862144
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.978635779,745,714,681.978635779,659,632,880,784,807,651.021364221,630,651.021364221,0.451178278917,-0.0156832043115,0.0596734431662,0.999999854708,-0.000199512817545,-0.000498202795751,-5.07156912985e-05,1793244398314529280
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.397317336,745,714,681.397317336,659,632,880,784,807,651.602682664,630,651.602682664,0.451462665933,-0.0156857627364,0.0596745659478,0.999999849484,-0.000218011408571,-0.000500782670596,-5.21419798501e-05,1793244398331195648
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681.354495874,659,632,881,784,807,651.354495874,629,652,0.452218884739,-0.0156936411214,0.0596685442694,0.999999833981,-0.000266398093976,-0.000507766505481,-5.69527068758e-05,1793244398381195264
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.081499262,714,681.081499262,658.918500738,632,880.081499262,783,806.081499262,651,629.081499262,652,0.45278083916,-0.0156949094272,0.0596591553364,0.999999822543,-0.00027204154545,-0.000526343484815,-6.22078142389e-05,1793244398431195904
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,632,881,783,807,652,629,652,0.453638710598,-0.015712123756,0.0596356457976,0.99999979282,-0.000295877490284,-0.00056788181272,-6.57795762507e-05,1793244398581196032
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+228,3.800000000,POSE1_TO_POSE2_PRESS,765,744.198539876,714,681,658,631.801460124,880,782.198539876,807,651.801460124,629,652,0.453779073358,-0.0157073147337,0.0596360806362,0.999999793016,-0.000293302222645,-0.000568968071788,-6.49420904204e-05,1793244398664529152
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.107864772,631,879.215729544,782.892135228,807,651,629,652,0.453810270516,-0.0157035075657,0.0596303615798,0.9999997886,-0.000294261531831,-0.000576160554531,-6.51863588737e-05,1793244398747862272
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.695986065,631,880.39197213,782.304013935,807,651,629,652,0.453809098589,-0.0157030440424,0.0596288109765,0.999999786699,-0.000295393958431,-0.000578840576192,-6.54796473085e-05,1793244398764528640
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.756989341,745.756989341,714,681.756989341,658.243010659,631.243010659,880,782.243010659,806,652,629,652,0.453810609363,-0.0156992564843,0.0596248817134,0.99999978564,-0.000290553128998,-0.000583186741283,-6.47500256893e-05,1793244398881195264
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.660973669,714,682,658.339026331,631,880,782,806.339026331,651.660973669,629,652,0.453811023918,-0.0156986133852,0.0596248413595,0.999999785973,-0.00028965753771,-0.000583070424832,-6.46694193255e-05,1793244398897862400
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+247,4.116666667,HOLD_POSE2,765,745,714,682,658,631,880,782,806,651,628,652,0.453812998821,-0.0156955959158,0.0596256614444,0.999999786555,-0.000285831529131,-0.000583966005391,-6.46130122732e-05,1793244399002900480
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+261,4.350000000,HOLD_POSE2,764.077717199,745,714,682,658,631.922282801,880,782,807,652,629,652,0.453816874392,-0.0156946664073,0.059625987929,0.999999787307,-0.000286235120445,-0.000582527013344,-6.4176107759e-05,1793244399236234496
+262,4.366666667,HOLD_POSE2,764.678339889,745,714,682,658,631.321660111,880,782,807,652,629,652,0.453817821367,-0.015694814386,0.0596253643289,0.99999978751,-0.000286661616048,-0.000582017693039,-6.37241689338e-05,1793244399252901376
+263,4.383333333,HOLD_POSE2,765,745,714,682,658,631,880,782,806.72579023,652,629,651.72579023,0.453818345045,-0.0156943679644,0.0596255278814,0.999999787918,-0.000286406374954,-0.000581451457434,-6.36416459002e-05,1793244399269568000
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,631,880,782,807,651,629,652,0.45381780787,-0.0156921054768,0.0596265400978,0.999999789625,-0.000279764203337,-0.000581738528125,-6.37341942682e-05,1793244399318835456
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.424416328,745,714,681.575583672,658.424416328,631,880,782.575583672,807,651,629,652,0.453817096047,-0.0156920498513,0.0596254574267,0.999999788589,-0.000281275418216,-0.000582801713908,-6.36332029532e-05,1793244399335502080
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.276052093,745,714,682,658.723947907,631,880,782.276052093,806.276052093,651,629,652,0.453814604511,-0.015691012783,0.0596228451304,0.999999786212,-0.000283045565445,-0.000585930030176,-6.44061987477e-05,1793244399368835328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,745,714,681.692417308,658.692417308,631,880,782,806.307582692,651.307582692,628.692417308,652,0.453815176798,-0.0156909454028,0.0596232391403,0.999999786276,-0.000284044823366,-0.00058533713274,-6.4396500267e-05,1793244399385501952
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.481228531,744.518771469,714,681,658,631,880.481228531,782,807,652,628.481228531,652,0.453818552372,-0.0156916219092,0.0596262636009,0.99999978933,-0.000282883612512,-0.000580739410106,-6.37052292828e-05,1793244399418835200
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.941397795,744.058602205,714,681.058602205,658,631,881,782.058602205,806.941397795,651.941397795,628.941397795,652,0.453818427996,-0.0156916137026,0.0596264884521,0.999999790557,-0.000280056475384,-0.000579982890472,-6.382505413e-05,1793244399435502080
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.210456685,745,714,682,658,631,881,782.789543315,806.210456685,651,628.210456685,651.789543315,0.453803039191,-0.0156918231546,0.0596171143793,0.999999780919,-0.000284546731408,-0.000594120429961,-6.49322516256e-05,1793244399468835584
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.801968941,745,714,682,658,631,881,782.198031059,806.801968941,651,628.801968941,651.198031059,0.453784827266,-0.0156914769244,0.0596088635303,0.99999977259,-0.000286206218385,-0.000607141683825,-6.54582389834e-05,1793244399485502208
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631.964794931,880.035205069,782,807,651,629,651.964794931,0.453700594582,-0.0156869447051,0.0595738560493,0.999999735599,-0.000282789330879,-0.000666501671768,-6.78784919487e-05,1793244399518835456
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.650410746,745,714,681,658,631,880,783,806.349589254,651,629,652,0.452491758889,-0.0156204863719,0.0595361435169,0.999999711448,-0.000251250641358,-0.000714011267941,-6.45367255455e-05,1793244399702168576
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.505183859,745,714,681,658,631.505183859,880,783,807,651.505183859,629,652,0.452076208044,-0.0155980558266,0.0595487217025,0.999999727958,-0.00023699796344,-0.000695824784734,-6.11880825501e-05,1793244399735502080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.082646929,658,631.917353071,880.082646929,783,807,652,629,652,0.451842381208,-0.01558747827,0.0595538407082,0.999999734756,-0.000229251023468,-0.000688768935597,-5.94005360523e-05,1793244399752168704
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.660158984,658,631.339841016,880.660158984,783,807,652,629,652,0.451564752056,-0.0155814627342,0.0595542506642,0.999999736052,-0.000226203773135,-0.000688084282183,-5.71719800335e-05,1793244399768835072
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.757932599,658.242067401,631.242067401,881,783,807,651.757932599,629,652,0.451270206737,-0.0155757470816,0.059555887857,0.999999737693,-0.000225460255292,-0.000686118884266,-5.49798859035e-05,1793244399785501696
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.263375826,744.263375826,714,681,659.263375826,634,880,786,806.736624174,651.736624174,631,651.263375826,0.436466939378,-0.0153618918265,0.0597803309587,0.999999899534,0.000257566202434,-0.000365252270433,3.43757490429e-05,1793244400202168576
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,744.322934928,713.677065072,681,659.322934928,634,880,786,806.677065072,651.677065072,631,651.322934928,0.435571118656,-0.0153615024071,0.059748970387,0.99999989603,0.000209460543748,-0.000404728560627,1.614596055e-05,1793244400218835456
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744.919261992,713.080738008,681,659.919261992,634,880,786,806.080738008,651.080738008,631,651.919261992,0.434683712331,-0.0153694248947,0.0597310407511,0.999999912744,9.38148308021e-05,-0.000406699209539,-1.7535197182e-05,1793244400235502080
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.49538192,745,713.49538192,680.50461808,660,634,880.49538192,786,806,651,631,652,0.433825117421,-0.0153812120109,0.0597515068057,0.999999928764,8.86173926283e-05,-0.000366665255471,-1.32862606891e-05,1793244400252168704
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,713.931210386,680.068789614,660,633.931210386,880.931210386,786,806,651,631,652,0.432965252807,-0.0153917969558,0.0597761632254,0.999999941954,0.00010207714199,-0.000325054794854,-3.39349512534e-06,1793244400268835584
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,713.354464762,680.645535238,660,633.354464762,880.354464762,786,806,651,631,652,0.432062697715,-0.0153890360831,0.0597873644525,0.999999940784,0.000125591809354,-0.000320373836003,4.31512767018e-06,1793244400285502208
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.600921921,659.600921921,634,880,786.600921921,805.399078079,652,631,652,0.429364540865,-0.0153740374068,0.059818355307,0.999999945575,0.000174091080812,-0.000279825810657,1.54748232721e-05,1793244400335502080
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.444501387,744.444501387,714,680,659,634,880,786,806,652,630.444501387,652,0.427439329543,-0.0153706586772,0.0597668267593,0.999999918254,0.000171997739881,-0.000365788081755,1.03560332284e-05,1793244400368835328
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.288132661,745,714,680.288132661,659,634,880.711867339,786.288132661,806,652,631,652,0.424743331572,-0.0153783147181,0.0598008566414,0.999999936906,0.000175569336801,-0.00030840309634,1.58320967558e-05,1793244400418835456
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.883112908,745,714,680.883112908,659,634,880.116887092,786.883112908,806,652,631,652,0.423845754645,-0.0153740320162,0.0598263466516,0.999999941676,0.000182421441024,-0.000288108318866,1.9067505998e-05,1793244400435501824
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.037095075,744.962904925,714,680,659.962904925,634,879,787,805.962904925,651.037095075,630.962904925,651.962904925,0.422051529823,-0.0153697171779,0.0598452212862,0.999999950457,0.000198468998725,-0.000243513339607,1.99187784002e-05,1793244400468835072
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3069f3b3642b86d37723adb5538b5cf1189bf80f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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+404,6.733333333,pose2_to_pose3_retreat,0.575669677088,-0.010122108731,1.05005102217,0.54624131072,-0.00144642139099,1.04971751665
+405,6.750000000,pose2_to_pose3_retreat,0.575669671323,-0.0101221232587,1.05005103708,0.54624130513,-0.00144643534955,1.04971753096
+406,6.766666667,pose2_to_pose3_retreat,0.575669656202,-0.0101221613641,1.05005107619,0.546241290467,-0.00144647196197,1.0497175685
+407,6.783333333,pose2_to_pose3_retreat,0.575669640796,-0.010122200189,1.05005111604,0.546241275528,-0.0014465092658,1.04971760674
+408,6.800000000,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496248,1.04971762284
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d03538bc133dd8e70fc4ea7bc2428a32b5c18d6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbae625c32782e497d830272b3af6c4f74c9b7973ed5a50e289e292683407358
+size 26063208
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a0553ce15a9163f0f155e67bc3499b162db4430
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+55,0.916666667,BASELINE,765.924223221,744,714,680,658.075776779,634,879,786.924223221,805,652,631,651.924223221,0.400969215088,-0.0153720905655,0.0598408649061,0.999999943772,0.000205866422271,-0.000264560865872,9.09284680152e-06,1793244402763451648
+56,0.933333333,BASELINE,765.488937877,744,714,680,658.511062123,634.511062123,879,787,805.511062123,652,631,652,0.400970124853,-0.0153716349726,0.0598410538767,0.999999944027,0.000205840217543,-0.000263618853789,9.0474770181e-06,1793244402780118528
+57,0.950000000,BASELINE,765,744.09787665,714,680,659,634.90212335,879,787,805.90212335,652,631,652,0.400971150833,-0.0153710569084,0.0598413921236,0.999999944316,0.000205827205102,-0.000262530203132,8.99341569512e-06,1793244402796785152
+58,0.966666667,BASELINE,765,744.677073608,714,680,659,634.322926392,879,787,805.322926392,652,631,652,0.400971842056,-0.0153708109811,0.0598424410524,0.999999944574,0.000205711934862,-0.000261632226385,9.14008453277e-06,1793244402813452032
+59,0.983333333,BASELINE,765,744.744929138,714,680,658.744929138,634.255070862,879.255070862,786.744929138,805.255070862,652,631,652,0.400972439647,-0.0153709427081,0.0598431339757,0.999999945045,0.000204608666235,-0.000260695425565,9.13730171353e-06,1793244402830118656
+60,1.000000000,BASELINE,765,744.168443551,714,680,658.168443551,634.831556449,879.831556449,786.168443551,805.831556449,652,631,652,0.400972919251,-0.015371550317,0.0598433782965,0.999999945781,0.000202260421087,-0.000259709702417,8.94619492161e-06,1793244402846785024
+61,1.016666667,BASELINE,765,744,714,680,658.406400091,634.593599909,879.593599909,786.406400091,805.593599909,652,631,652,0.400971626923,-0.0153720355346,0.0598430425212,0.99999994555,0.000202604117019,-0.000260323016227,9.14699687264e-06,1793244402863451904
+62,1.033333333,BASELINE,765,744,714,680,658.980565888,634.019434112,879.019434112,786.980565888,805.019434112,652,631,652,0.400969603126,-0.015372470228,0.059842467277,0.999999944918,0.000204059071201,-0.000261596427301,9.50958237919e-06,1793244402880118528
+63,1.050000000,BASELINE,765,744.571588748,714,680,659,634.571588748,879,787,805,652.571588748,631,652,0.400970623338,-0.015372075269,0.0598423102795,0.999999944755,0.000204469508157,-0.000261900605772,9.49392658866e-06,1793244402896785152
+64,1.066666667,BASELINE,765,744.840626259,714,680,659,635,879,786.840626259,805,652.840626259,631,652,0.400971296957,-0.0153716334656,0.0598421337638,0.999999944639,0.000204743108224,-0.000262131626173,9.42680386826e-06,1793244402913451776
+65,1.083333333,BASELINE,765,744.262891047,714,680,659,635,879,786.262891047,805,652.262891047,631,652,0.40097078082,-0.0153711449921,0.0598418675489,0.999999944605,0.000204753564518,-0.000262259738408,9.25936320076e-06,1793244402930118400
+66,1.100000000,BASELINE,765,744,714,679.688677484,659,635,879,786.311322516,805.311322516,651.688677484,631,652,0.400970654855,-0.0153714611683,0.0598421228623,0.999999944753,0.000204333688961,-0.000262020246089,9.28955774733e-06,1793244402946784768
+67,1.116666667,BASELINE,765,744,714,679.117404483,659,635,879,786.882595517,805.882595517,651.117404483,631,652,0.40097085468,-0.0153724492171,0.0598428136453,0.999999945054,0.000203554491585,-0.000261473808466,9.48477528301e-06,1793244402963451648
+68,1.133333333,BASELINE,765,744.471487567,714,679,659,634.528512433,879,787,805.528512433,651.471487567,631,652,0.400971113841,-0.0153718452877,0.0598428430978,0.99999994499,0.000204003280135,-0.000261375000167,9.30210979635e-06,1793244402980118272
+69,1.150000000,BASELINE,765,745,714,679,658.936571123,634.063428877,879,787,805.063428877,652,631,652,0.400971388459,-0.0153709696562,0.0598427301384,0.999999944854,0.000204653957183,-0.000261396261846,9.03576007933e-06,1793244402996784896
+70,1.166666667,BASELINE,765,745,714,679,658.356906351,634.643093649,879,787,805.643093649,652,631,652,0.400971663949,-0.015371234298,0.0598428504203,0.9999999449,0.000204362477376,-0.000261452352912,8.88388050151e-06,1793244403013451520
+71,1.183333333,BASELINE,765,744.778086995,714,679,658.221913005,635,879,787,806,652,631,652,0.400971374533,-0.0153713406359,0.0598427114269,0.999999944786,0.00020457138313,-0.000261724994665,8.87197238832e-06,1793244403030118400
+72,1.200000000,BASELINE,765,744.200622082,714,679,658.799377918,635,879,787,806,652,631,652,0.400970180018,-0.0153711933376,0.0598421570194,0.999999944414,0.000205582013104,-0.00026234459676,9.08432835535e-06,1793244403046785024
+73,1.216666667,BASELINE,765.375051958,744,714,679.375051958,659,634.624948042,879,786.624948042,805.624948042,652,631,652,0.400970744933,-0.0153706171298,0.0598424272951,0.999999944464,0.000206296162595,-0.000261596496993,9.04610181358e-06,1793244403063451904
+74,1.233333333,BASELINE,765.949772545,744,714,679.949772545,659,634.050227455,879,786.050227455,805.050227455,652,631,652,0.400972246526,-0.0153698125809,0.0598431366124,0.999999944735,0.000206852472958,-0.000260120265656,8.87447116616e-06,1793244403080118272
+75,1.250000000,BASELINE,765.462083497,744.537916503,714,679.462083497,659,634.537916503,879,786.537916503,805.537916503,652,631,652,0.400972641214,-0.0153711866774,0.0598436009507,0.9999999451,0.000205703750137,-0.000259616395144,9.18373702129e-06,1793244403096784896
+76,1.266666667,BASELINE,765.125079642,745,714,679,658.874920358,635,878.874920358,787,805.874920358,652,631,652,0.400972882046,-0.0153720594616,0.0598438789194,0.999999945311,0.000205131232913,-0.000259249912866,9.41476394249e-06,1793244403113451776
+77,1.283333333,BASELINE,765.704019361,745,714,679,658.295980639,635,878.295980639,787,805.295980639,652,631,652,0.400972949233,-0.0153703561514,0.0598435657602,0.999999944931,0.000207241991703,-0.000259044071941,9.19479092639e-06,1793244403130118400
+78,1.300000000,BASELINE,766,745,714,679,658.281476566,635,878.281476566,787,805.281476566,652,631,652,0.400972654894,-0.0153703523472,0.0598432767236,0.999999944556,0.000208369416386,-0.000259583207405,9.28351666695e-06,1793244403146785024
+79,1.316666667,BASELINE,766,745,714,679,658.857382995,635,878.857382995,787,805.857382995,652,631,652,0.400971982393,-0.0153721262585,0.0598430129196,0.999999944189,0.000208468254677,-0.000260901602414,9.69514721745e-06,1793244403163451648
+80,1.333333333,BASELINE,765.558322956,744.558322956,714,679,659,634.558322956,879,787,806,652,631,652,0.40097107228,-0.0153717255124,0.0598421430918,0.999999944218,0.000206785419364,-0.000262138575995,9.35378154353e-06,1793244403180118272
+81,1.350000000,BASELINE,765,744,714,679,658.971636984,634,879,787,805.971636984,652,631,652,0.400970213389,-0.0153706911994,0.0598411921573,0.999999944379,0.000204669895534,-0.000263202469428,8.81152448154e-06,1793244403196784896
+82,1.366666667,BASELINE,765,744,714,679,658.39211963,634,879,787,805.39211963,652,631,652,0.400971869643,-0.0153712546091,0.0598425413238,0.999999944663,0.000205542038671,-0.00026142382003,9.181742857e-06,1793244403213451776
+83,1.383333333,BASELINE,765,744.186543816,714,679.186543816,658,634,879,786.813456184,805.186543816,652,631,652,0.40097266609,-0.0153712229306,0.0598434087356,0.99999994469,0.000206799505497,-0.000260317709801,9.36401441982e-06,1793244403230118400
+84,1.400000000,BASELINE,765,744.763420614,714,679.763420614,658,634,879,786.236579386,805.763420614,652,631,652,0.400971663439,-0.0153699460622,0.0598432681016,0.999999944185,0.00020886324175,-0.000260618851577,9.15301737301e-06,1793244403246785024
+85,1.416666667,BASELINE,765.339850873,744.660149127,714,680,658.339850873,634,879,786.339850873,805.660149127,652,631,652,0.400971135235,-0.0153697194784,0.0598429733794,0.999999944227,0.000208071029122,-0.000261097792824,9.00162130205e-06,1793244403263452160
+86,1.433333333,BASELINE,765.915970656,744.084029344,714,680,658.915970656,634,879,786.915970656,805.084029344,652,631,652,0.400970936873,-0.0153702230667,0.0598425715328,0.999999944644,0.000205293322191,-0.00026170034264,8.89166064593e-06,1793244403280120064
+87,1.450000000,BASELINE,765.496923518,744,714,680,659,634,879,787,805.503076482,652,631,652,0.400971975751,-0.0153715911593,0.0598431676371,0.999999945187,0.000203933894904,-0.000260673433457,9.25911117707e-06,1793244403296785920
+88,1.466666667,BASELINE,765.090486432,744.090486432,714.090486432,680,659,634.090486432,879,787,805.909513568,652,631,652,0.400972735369,-0.015372821597,0.0598435846766,0.999999945522,0.000203261346809,-0.000259900703101,9.60573949141e-06,1793244403313451776
+89,1.483333333,BASELINE,765.669411652,744.669411652,714.669411652,680,659,634.669411652,879,787,805.330588348,652,631,652,0.400970847135,-0.0153725121275,0.0598421152775,0.999999944623,0.000204989221669,-0.000262001962835,9.39991774921e-06,1793244403330118400
+90,1.500000000,BASELINE,765.753822893,745,714.753822893,679.753822893,658.753822893,634.753822893,879,787,805.246177107,652,631,652,0.400970503747,-0.0153722659541,0.0598416646372,0.999999944421,0.000205769179228,-0.000262166488697,9.25227399695e-06,1793244403346785024
+91,1.516666667,BASELINE,765.179932583,745,714.179932583,679.179932583,658.179932583,634.179932583,879,787,805.820067417,652,631,652,0.400972216872,-0.0153721040412,0.0598425701778,0.999999945151,0.000205287260524,-0.000259752816662,9.18207733016e-06,1793244403363451904
+92,1.533333333,BASELINE,765,745,714,679.393252936,658,634,879,787,805.606747064,652,631,652,0.400973141422,-0.0153717117753,0.0598434423019,0.999999945401,0.000205275432529,-0.000258794754108,9.2229292783e-06,1793244403380119040
+93,1.550000000,BASELINE,765,745,714,679.966116604,658,634,879,787,805.033883396,652,631,652,0.400973705806,-0.0153712143001,0.0598442991635,0.999999945434,0.000205478309405,-0.000258501513045,9.31450054446e-06,1793244403396785920
+94,1.566666667,BASELINE,765,744.439337453,714,679.439337453,658,634.560662547,879,787,805,652,631,652,0.400972363558,-0.0153716004432,0.0598431688804,0.999999944617,0.000206651431388,-0.000260715075877,9.39744804513e-06,1793244403413452544
+95,1.583333333,BASELINE,765,744.150653667,714,679.150653667,658.150653667,635,879,787,805.150653667,652,631,652,0.400971074175,-0.0153721678936,0.0598422174445,0.999999944147,0.000206681824011,-0.000262488595135,9.40629658686e-06,1793244403430119168
+96,1.600000000,BASELINE,765,744.724039389,714,679.724039389,658.724039389,635,879,787,805.724039389,652,631,652,0.40097026946,-0.0153730882194,0.0598421183844,0.99999994481,0.000203334582905,-0.000262585157717,9.20874575341e-06,1793244403446785792
+97,1.616666667,BASELINE,765,745,714,680,659,634.699149385,879,787,805.699149385,652,631,652,0.400970175445,-0.0153727522325,0.0598421991431,0.999999944942,0.000202834167677,-0.000262472767203,9.06616568585e-06,1793244403463452416
+98,1.633333333,BASELINE,765,745,714,680,659,634.1191599,879,787,805.1191599,652,631,652,0.40097074084,-0.0153712505983,0.0598424467436,0.999999944587,0.000204975129201,-0.000262166503286,8.97458927357e-06,1793244403480118784
+99,1.650000000,BASELINE,765.454053146,745,714,680,659,634.454053146,879,787,805.454053146,652,631,652,0.400971280285,-0.0153712704389,0.059842486439,0.999999944431,0.000205911158409,-0.000262022115066,9.09288251471e-06,1793244403496785408
+100,1.666666667,BASELINE,765.973531524,745,714,680,659,635,879,787,806,652,631,652,0.400971816496,-0.0153716623532,0.0598424996758,0.99999994435,0.000206515764734,-0.000261851349073,9.2614640666e-06,1793244403513452288
+101,1.683333333,BASELINE,765.380691364,745,714,680,659,635,879,787,806,652,631,652,0.400972427046,-0.015371597536,0.0598430970957,0.999999944737,0.000206695510576,-0.000260220490528,9.3449001385e-06,1793244403530119424
+102,1.700000000,BASELINE,765,745,714,680,659,635,879,787,806,652,631,652,0.400972569609,-0.015371595794,0.0598433503081,0.999999944936,0.000206546762472,-0.000259578211319,9.293413408e-06,1793244403546786048
+103,1.716666667,BASELINE,765,745,714,680,659,635,879,787,806,652,631,652,0.400971872389,-0.0153717072374,0.059842985856,0.999999944796,0.00020580854701,-0.000260709892634,8.99981387849e-06,1793244403563452672
+104,1.733333333,BASELINE,765,744.638304448,714,680,659,635,879,787,806,652,631,652,0.400971610431,-0.0153722205062,0.0598431268365,0.999999945085,0.000204815356053,-0.00026038152676,9.01127258274e-06,1793244403580119296
+105,1.750000000,BASELINE,765,744.063786673,714,680,659,635,879,787,806,652,631,652,0.400971604583,-0.0153729702096,0.0598435652143,0.999999945626,0.000203672137051,-0.000259194066968,9.20222799637e-06,1793244403596785664
+106,1.766666667,BASELINE,765.524056797,744,714,679.475943203,658.475943203,635,879,787,805.475943203,652,631,652,0.400972560214,-0.0153714622675,0.0598441670061,0.999999945217,0.000206278744619,-0.000258707843845,9.23459027873e-06,1793244403613452288
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,714,680,658,634,879,787,806,652,632,652,0.400971652275,-0.0153735698178,0.0598424253755,0.999999945163,0.0002030376816,-0.000261476868331,8.94216234346e-06,1793244403659760128
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.329250171,744.670749829,714,679.329250171,658,634,878.329250171,787,805.329250171,652,631.329250171,652,0.400971438134,-0.015373050193,0.0598427099888,0.999999945235,0.000203309940836,-0.000260987036336,9.02618997999e-06,1793244403676426752
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.292313493,634.292313493,878.292313493,787,805,652,631,652,0.40097183647,-0.0153723837907,0.0598429024323,0.999999945278,0.000203517296984,-0.00026066228961,8.937323466e-06,1793244403693093120
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.866455353,634.866455353,878.866455353,787,805,652,631,652,0.400972825316,-0.0153715758756,0.0598430060121,0.999999945294,0.000203662078113,-0.000260496706579,8.68176443154e-06,1793244403709759744
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.545629615,714,679.454370385,659,635,879,787,805.454370385,652,631,652,0.400973845845,-0.0153722319026,0.0598439825043,0.999999945816,0.000202967587573,-0.0002590195803,9.00465418212e-06,1793244403726426624
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.045497764,744,714,679.954502236,658.954502236,635,879,787,805.954502236,652,631,652,0.400974626223,-0.0153731536947,0.0598450134156,0.999999946336,0.000202292628411,-0.000257518035187,9.45075992746e-06,1793244403743092992
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+114,1.900000000,POSE1_TO_POSE2_PRESS,765.797226655,744,714,679.202773345,658.202773345,635,879,787,805,652,631,652,0.4009716715,-0.015371157703,0.0598429962754,0.999999944286,0.00020695924146,-0.000261744485187,9.22636188729e-06,1793244403776425984
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.224120076,744,714,679.775879924,658.775879924,635,879,787,805,652,631,652,0.400973336458,-0.0153709512298,0.0598439820723,0.999999944382,0.00020832201062,-0.000260288898263,9.36398442607e-06,1793244403793092864
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.35868655,744,714,680,658.64131345,635,879,787,805.35868655,652,631,652,0.400985462328,-0.0153723899848,0.0598490616565,0.999999946894,0.000206668236272,-0.000251799888916,9.89162490618e-06,1793244403809759744
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.947722549,744,714,680,658.052277451,635,879,787,805.947722549,652,631,652,0.401004306223,-0.0153748853098,0.0598567702816,0.999999950812,0.00020307722963,-0.000238793997119,1.06697359323e-05,1793244403826426368
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744,714,680,658.528152733,635,879,787,806,652,631,652,0.401049936168,-0.0153767180893,0.059876026669,0.999999958235,0.000204161923756,-0.000204174415322,1.26827577874e-05,1793244403843092992
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.107262276,714,680,659,635,879,787,805.892737724,652,631.107262276,652,0.401101201233,-0.0153790402484,0.0598960772676,0.999999964529,0.000204759156666,-0.000169699574809,1.47323897709e-05,1793244403859759616
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.684258723,714,680,659,635,879,787,805.315741277,652,631.684258723,652,0.401165719368,-0.0153837881383,0.0599146805876,0.999999969095,0.000201227363675,-0.000145077308055,1.64156325056e-05,1793244403876426240
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.741261103,745,714,680,659,635,879,787,805.258738897,652,631.741261103,652,0.401235719315,-0.0153874053902,0.0599299215524,0.999999972258,0.0002004690238,-0.000122428347025,1.75492685636e-05,1793244403893092864
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.169821908,745,714,680,659,635,879,787,805.830178092,652,631.169821908,652,0.401312344342,-0.015389656204,0.0599410989272,0.999999974002,0.000203062555342,-0.000102164232125,1.8018674715e-05,1793244403909759488
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.417353296,744.582646704,714,680,659,635,879,787,805.582646704,652,631,652,0.401399898315,-0.0153938142549,0.0599464309591,0.999999975264,0.000201973150902,-9.14727954019e-05,1.76755070305e-05,1793244403926425856
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.989116212,744.010883788,714,680,659,635,879.010883788,787.010883788,805.010883788,652,631,652,0.401492233611,-0.015398807309,0.0599491591984,0.999999976371,0.000199339504009,-8.50468943139e-05,1.69818961728e-05,1793244403943092736
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.41114253,744.58885747,714,680,659,635,879.58885747,787.58885747,805.58885747,652,631,652,0.40159290956,-0.015405287288,0.0599450035609,0.999999976345,0.000197386798258,-8.99679631744e-05,1.59313545917e-05,1793244403959759360
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.834009427,787.834009427,806,652.165990573,631,652,0.401702518296,-0.0154115766813,0.0599416225924,0.999999976591,0.000194690756078,-9.32653733701e-05,1.46808014729e-05,1793244403976425984
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.258947903,787.258947903,806,652.741052097,631,652,0.401834141188,-0.0154173963903,0.0599401507362,0.999999977552,0.000190162818786,-9.25614018397e-05,1.29373354235e-05,1793244403993092608
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.684037629,714,680,659,635,879.315962371,787,805.684037629,652.684037629,631,652,0.401985320179,-0.0154237519551,0.0599411440051,0.999999978679,0.000186587531745,-8.77475744757e-05,1.12585631544e-05,1793244404009759232
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.109251283,714,680,659,635,879.890748717,787,805.109251283,652.109251283,631,652,0.402152518752,-0.0154305464719,0.059944156608,0.999999979898,0.000183792618625,-7.95671145081e-05,9.6327855766e-06,1793244404026425856
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.478958115,744.478958115,714,679.521041885,659,635,880,787,805,652,631,652,0.402352121202,-0.0154411887201,0.0599473572894,0.999999981848,0.000177257222151,-6.93541879444e-05,8.57557077773e-06,1793244404043092480
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.930988087,745,714,679.069011913,659,635,879.930988087,787,805.069011913,652,631,652,0.40256236631,-0.0154525815833,0.0599503563422,0.999999983778,0.000169906938543,-5.93339775241e-05,7.46318715886e-06,1793244404059759104
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.350609678,745,714,679.649390322,659,635,879.350609678,787,805.649390322,652,631,652,0.402795123491,-0.0154628454304,0.0599515343057,0.999999985227,0.000163022927068,-5.427608594e-05,4.95332107234e-06,1793244404076425984
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.227399033,745,714,680,659,635,879.227399033,787,805.772600967,652,631,652,0.403038277089,-0.0154718143836,0.0599505813994,0.999999986112,0.000157972820653,-5.30586379093e-05,2.34409417556e-06,1793244404093092608
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.801791851,745,714,680,659,635,879.801791851,787,805.198208149,652,631,652,0.403297294874,-0.0154788074278,0.0599463769469,0.999999986211,0.000155721114098,-5.77014165044e-05,-4.16750208336e-07,1793244404109759232
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,714,679.614203687,659,635,879.614203687,787,805.385796313,652,631,652,0.403572266799,-0.0154848303738,0.0599375253281,0.999999985638,0.000154200571693,-7.02411680347e-05,-3.60368914675e-06,1793244404126425856
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714,679.025134974,659,635,879.025134974,787,805.974865026,652,631,652,0.403855644794,-0.0154903421839,0.059926225162,0.999999984481,0.000153065272807,-8.69417590203e-05,-7.01513307709e-06,1793244404143092736
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.446102677,714,679,659,635,879.553897323,787,805.446102677,652,630.446102677,651.446102677,0.404183845523,-0.0154779898464,0.0599159221859,0.999999990846,8.25761715938e-05,-0.000106488347193,-1.22143834985e-05,1793244404159759360
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.131663305,714,679.131663305,659.131663305,635,880,787,805,652,630.131663305,651.131663305,0.404523629188,-0.0154678238083,0.0599069760516,0.999999991797,2.8742890012e-05,-0.00012363398463,-1.71636680328e-05,1793244404176425984
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.706671519,714,679.706671519,659.706671519,635,880,787,805,652,630.706671519,651.706671519,0.404895688552,-0.0154677006938,0.0599024491004,0.999999990175,4.14028574457e-05,-0.000132267859758,-2.10029349542e-05,1793244404193092608
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.717564337,744.717564337,714,680,659.717564337,635,879.717564337,787,805.282435663,652,631,652,0.405301401804,-0.0154735898483,0.0599072700574,0.999999990617,4.78901116682e-05,-0.000126090679038,-2.39462246549e-05,1793244404209759232
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.14101304,744.14101304,714,680,659.14101304,635,879.14101304,787,805.85898696,652,631,652,0.405742160657,-0.015485739906,0.0599218255007,0.999999993054,4.79493827102e-05,-0.000104489938814,-2.59564842443e-05,1793244404226426112
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.445928619,714,680,658.554071381,635,879,787,806,652,631,652,0.406222520932,-0.0154948380244,0.0599475317714,0.999999997009,4.12139373789e-05,-5.98827586946e-05,-2.64216913896e-05,1793244404243092992
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,658.035492997,635,879,786.964507003,806,652,631,651.964507003,0.406718123573,-0.015502343087,0.0599760095572,0.999999999098,3.16695604752e-05,-9.75236093795e-06,-2.65582981012e-05,1793244404259759360
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,658.613720598,635,879,786.386279402,806,652,631,651.386279402,0.407250741637,-0.0155005978452,0.0599916615953,0.999999999428,1.2812407553e-05,1.09343147464e-05,-2.93194613028e-05,1793244404276426240
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.190919597,745,714,680,659.190919597,634.809080403,879,786.190919597,805.809080403,652,631,651.190919597,0.407775934669,-0.0154991583069,0.0599981179373,0.999999999358,-5.77313674263e-06,1.31774158889e-05,-3.28050354984e-05,1793244404293092864
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.766048725,745,714,680,659.766048725,634.233951275,879,786.766048725,805.233951275,652,631,651.766048725,0.408286185549,-0.0154983339705,0.0599860687218,0.999999998769,-2.38120950589e-05,-2.16956120991e-05,-3.77484260175e-05,1793244404309759744
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714,679.650893087,659.650893087,634,879,787,805,652,631,652,0.408821034499,-0.015498718617,0.0599748750462,0.999999997452,-2.93872410246e-05,-4.86666294564e-05,-4.31821900046e-05,1793244404326426368
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714,679.062397847,659.062397847,634,879,787,805,652,631,652,0.409372750719,-0.015499932283,0.0599642680291,0.999999995988,-2.64157456944e-05,-7.02191066427e-05,-4.89522108247e-05,1793244404343092736
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714,679.518211149,659,634,879,786.481788851,805,652,631,652,0.410016400297,-0.0155061252107,0.0599730363435,0.999999995396,-6.50635346296e-05,-4.67439720521e-05,-5.28102728625e-05,1793244404359759360
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.902638339,745,714,680,659,634,879,786.194723323,805,652,631,652,0.410676069849,-0.0155118184148,0.0599828263601,0.999999993062,-0.000101043512909,-2.13280438652e-05,-5.66727760542e-05,1793244404376425984
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.326062703,745,714,680,659,634,879,787.347874595,805,652,631,652,0.411360921351,-0.0155121452151,0.0599863343735,0.999999993059,-9.95962627065e-05,-1.26454946366e-05,-6.16732914615e-05,1793244404393092608
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.248865792,744.751134208,714,680,659.497731584,634.248865792,879.248865792,787.751134208,805,652,631,652,0.412028318023,-0.0155085599604,0.0599769939027,0.999999997009,-4.97413473839e-05,-2.78961255825e-05,-5.22494683298e-05,1793244404409759232
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.821650356,744.178349644,714,680,660.643300711,634.821650356,879.821650356,787.178349644,805,652,631,652,0.412672995783,-0.0154998828525,0.0599509300996,0.999999994959,6.31200241208e-05,-7.42977089625e-05,-2.40512116104e-05,1793244404426426112
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.408202246,714,679.591797754,660.183595507,635,879.591797754,786.591797754,805,652,631,652,0.413335890005,-0.0154902512121,0.0599255326542,0.999999987446,9.50448162193e-05,-0.000124949273594,-2.15061851597e-05,1793244404443092992
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.999043364,745,714,679.000956636,659,634.999043364,879.000956636,786.001913273,805,652,631,652,0.414007281453,-0.0154802252663,0.0599005406395,0.999999979734,9.03228743976e-05,-0.00017731320253,-3.05493091691e-05,1793244404459759872
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.419979684,745,714,679.580020316,659,634.419979684,879.580020316,787.160040632,805,652,631,652,0.414835988677,-0.0154927411566,0.0599384752012,0.999999992609,5.53553060865e-05,-0.000103174663111,-3.2738422442e-05,1793244404476426240
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.157908207,745,714,680,659,634,879.842091793,787.842091793,805.157908207,652,631,652,0.415666770861,-0.0155044724879,0.0599758812327,0.999999998518,2.44682723663e-05,-3.43388743966e-05,-3.44522452033e-05,1793244404493092608
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.732692155,745,714,680,659,634,879.267307845,787.267307845,805.732692155,652,631,652,0.416503031097,-0.0155141325962,0.0600118919589,0.999999999171,4.35379337368e-06,2.0497731824e-05,-3.49113077103e-05,1793244404509759232
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.685610958,744.685610958,714,680,659.314389042,634.314389042,879.314389042,787,806,652,631,652,0.417308695708,-0.0155177011728,0.0600205944566,0.999999998798,-4.04552291619e-06,3.28668430219e-05,-3.61462714795e-05,1793244404526426112
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.097904264,744.097904264,714,680,659.902095736,634.902095736,879.902095736,787,806,652,631,652,0.418087761619,-0.0155159740071,0.0600055562363,0.999999999239,-2.26012946384e-06,8.31635627018e-06,-3.80557737745e-05,1793244404543092992
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.482653836,744,714,680,659.517346164,635,880,786.517346164,805.517346164,652,631,652,0.4188993772,-0.0155157034997,0.0599852378155,0.999999998866,-4.78725025004e-06,-2.29516204607e-05,-4.14443819259e-05,1793244404559759616
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744,714,680.061413086,659.061413086,635,880,786.061413086,805.061413086,652,631,652,0.419717407928,-0.0155157059447,0.0599632292277,0.999999997377,-7.99742039208e-06,-5.60834538819e-05,-4.5122425496e-05,1793244404576426240
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,744,714,680.637074535,659.637074535,635,880,786.637074535,805.637074535,652,631,652,0.420534676268,-0.0155155558881,0.0599359056418,0.999999994386,-9.7090647332e-06,-9.35790188697e-05,-4.87484194439e-05,1793244404593092864
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,744.205156977,714,681,659.794843023,635,880,787,806,652,631,652,0.421355184296,-0.0155150434669,0.0599095186815,0.99999998914,-1.14459036869e-05,-0.000137385938283,-5.20914234997e-05,1793244404609759744
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,744.760309651,714,681,659.239690349,635,880,787,806,652,631,652,0.422181219112,-0.0155139128555,0.059884729598,0.999999979978,-1.32257242135e-05,-0.000191959959651,-5.49516493273e-05,1793244404626426368
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.651165771,745,714,680.651165771,659.348834229,635,880,787,806,652,631,652,0.423095069937,-0.0155166031228,0.0599108326315,0.999999987202,-1.53591675136e-05,-0.000149890569419,-5.37828054229e-05,1793244404643092736
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.037284936,745,714,680.037284936,659.962715064,635,880,787,806,652,631,652,0.424075644047,-0.0155221965195,0.0599756038368,0.999999998023,-1.77612958387e-05,-3.43908661536e-05,-4.95526469242e-05,1793244404659759360
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.543171924,745,714,680,660,634.456828076,880.543171924,787,805.456828076,652,631,652,0.424997381673,-0.0155262341412,0.0600121299084,0.999999998412,-2.18395986273e-05,2.3066211838e-05,-4.65419553229e-05,1793244404676425984
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659.879053488,634,880.879053488,787,805.120946512,652,631,652,0.425912260204,-0.0155293102182,0.0600357290645,0.999999996682,-2.67374635232e-05,6.24178404549e-05,-4.50097503558e-05,1793244404693092608
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659.303237967,634,880.303237967,787,805.696762033,652,631,652,0.4268156513,-0.0155291483697,0.0600175803365,0.999999997082,-3.43099920817e-05,4.77921927676e-05,-4.87414324257e-05,1793244404709759232
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.728434599,745,714,680.271565401,659.271565401,634.271565401,880,787,806,651.728434599,631,652,0.427713420703,-0.015530459602,0.0599985359507,0.999999997598,-3.92465399813e-05,2.44835313519e-05,-5.16251638293e-05,1793244404726426112
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.154757268,745,714,680.845242732,659.845242732,634.845242732,880,787,806,651.154757268,631,652,0.428604936015,-0.0155334096118,0.0599784951617,0.999999997679,-4.12506033614e-05,-8.48483558647e-06,-5.35655641595e-05,1793244404743092992
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.432936162,745,714,681,660,635,879.567063838,786.567063838,806,651,631,651.567063838,0.429440308471,-0.0155312235183,0.0599461858326,0.999999995383,-4.2154142833e-05,-6.58108114962e-05,-5.59157018792e-05,1793244404759759360
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,635,879.025214263,786.025214263,806,651.025214263,631,651.025214263,0.430260397481,-0.0155274279157,0.0599120118786,0.999999989334,-4.26568678158e-05,-0.000126936028229,-5.82988111698e-05,1793244404776425728
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660,635,879.604459377,786.604459377,806,651.604459377,631,651.604459377,0.431200389142,-0.0155299576128,0.059936453165,0.999999994651,-4.32857333645e-05,-7.3825487986e-05,-5.80804767516e-05,1793244404793092608
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634.818511317,880,787,806,651.818511317,631,652,0.432134710049,-0.0155325225393,0.0599657000553,0.999999997125,-4.61204030007e-05,-1.89079763646e-05,-5.71501014333e-05,1793244404809759488
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,634.246253019,880,787,806,651.246253019,631,652,0.433056820938,-0.0155351633191,0.0600052940558,0.999999996267,-5.37044664274e-05,3.99001812587e-05,-5.46866061974e-05,1793244404826426368
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714.33632642,681,660,634,880,787,806,651.33632642,631,652,0.433941094645,-0.0155361191692,0.060010255629,0.999999996048,-5.49141065079e-05,4.29009873476e-05,-5.52135700239e-05,1793244404843092736
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714.926702151,681,660,634,880,787,806,651.926702151,631,652,0.434796787555,-0.0155358022821,0.0599890570721,0.999999996995,-5.13087291654e-05,3.74686234349e-06,-5.79994226608e-05,1793244404859759360
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714.492998269,681,660,634,880.507001731,787,806,651.492998269,631,652,0.435629483714,-0.0155366047418,0.0599623147634,0.999999995526,-5.75592476072e-05,-4.4598408241e-05,-6.03823296296e-05,1793244404876426240
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.914599043,745,714,681,660,634,881,786.914599043,806,651.085400957,631,652,0.436452638374,-0.0155364815612,0.0599365840124,0.999999991933,-6.27447646876e-05,-9.09545158842e-05,-6.26447497201e-05,1793244404893093120
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.338909462,745,714,681,660,634,881,786.338909462,806,651.661090538,631,652,0.437239730471,-0.0155301333232,0.0599211721973,0.99999998946,-5.37952400421e-05,-0.000118410950315,-6.45433760456e-05,1793244404909760000
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.237450711,634,880.762549289,786.237450711,806,651.762549289,631,651.762549289,0.438036107974,-0.0155263773533,0.0599113878502,0.999999986927,-5.19032935849e-05,-0.00013812279916,-6.61439938659e-05,1793244404926426368
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.814770688,634,880.185229312,786.814770688,806,651.185229312,631,651.185229312,0.438845775867,-0.0155263317635,0.0599096582424,0.99999998516,-6.01130395508e-05,-0.000146749623392,-6.73180644455e-05,1793244404943092480
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.400135525,745,714,681,660.599864475,634,880,787,806,651,631,651.400135525,0.439687608784,-0.0155323656891,0.0599444215874,0.99999999138,-6.73983664339e-05,-9.22014717293e-05,-6.47834480469e-05,1793244404959759104
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.989300852,745,714,681,660.010699148,634,880,787,806,651,631,651.989300852,0.4405446369,-0.0155412716657,0.0599964247305,0.999999995383,-7.42469837498e-05,-7.8085478752e-06,-6.04967939136e-05,1793244404976425728
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.431534182,745,714,681,660,634,880,786.431534182,806.568465818,651,631,652,0.441276738278,-0.0155487340344,0.0599853095426,0.999999993752,-8.95278318763e-05,-3.10146610579e-05,-5.93217997011e-05,1793244404993092352
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.146534313,786.146534313,807,651.146534313,631,652,0.441988330844,-0.0155549564767,0.0599623878899,0.999999990716,-0.000100701344939,-6.92906663803e-05,-6.02237431686e-05,1793244405009759232
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.721934969,786.721934969,807,651.721934969,631,652,0.442646662056,-0.015557628134,0.0599083286267,0.999999982177,-9.93973417735e-05,-0.000145847621722,-6.70358818882e-05,1793244405026426112
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,786.696365819,806.696365819,651.696365819,631,651.696365819,0.443307013563,-0.0155623049529,0.0598687890563,0.999999970337,-0.000113220359112,-0.000203446915606,-7.15238983758e-05,1793244405043092992
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,786.108776198,806.108776198,651.108776198,631,651.108776198,0.443969254504,-0.0155688569779,0.059842828141,0.999999957705,-0.000141190004399,-0.000243317216337,-7.38384215379e-05,1793244405059759616
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.527820257,786,806.472179743,651.472179743,631,651.472179743,0.444610806479,-0.0155734294607,0.0598377796734,0.999999953693,-0.000143024953911,-0.000257883288323,-7.51976557896e-05,1793244405076426240
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.05144529,785.94855471,806.94855471,652,631,652,0.445240871798,-0.0155775301217,0.0598345057541,0.999999950425,-0.000140236798677,-0.000271330774359,-7.65698986093e-05,1793244405093092864
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.628836622,785.371163378,806.371163378,652,631,652,0.445801555754,-0.0155814047255,0.0598008037714,0.999999930244,-0.00015088363383,-0.000332112582245,-8.0293830094e-05,1793244405109759232
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.204732126,745,714,681,659.795267874,633.795267874,881,785.204732126,806,652,631,652,0.446360649382,-0.0155870984623,0.05977375336,0.999999911559,-0.000167831574481,-0.000376468174677,-8.3578947977e-05,1793244405126425856
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.777935443,745,714,681,659.222064557,633.222064557,881,785.777935443,806,652,631,652,0.446916880745,-0.0155960662237,0.0597586742636,0.999999900522,-0.000196120069811,-0.000391260319013,-8.60743015087e-05,1793244405143092736
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,681.36203189,659,633,880.63796811,785.63796811,806.36203189,652,631,652,0.447480116341,-0.0156099840431,0.059763161097,0.999999900806,-0.000213910678044,-0.000381269280787,-8.52304825291e-05,1793244405159759360
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,681.953017266,659,633,880.046982734,785.046982734,806.953017266,652,631,652,0.448047781479,-0.0156270323405,0.0597800216691,0.999999908061,-0.000225062290316,-0.000355605047913,-8.22749290604e-05,1793244405176426240
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.467838604,745,714,681.467838604,659,633,880,785,807,652,630.467838604,652,0.44852418997,-0.0156508120881,0.059766574488,0.999999893949,-0.000251977516912,-0.000377312881791,-7.90228387974e-05,1793244405193093120
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632.890371315,880,785,807,651.890371315,630.109628685,652,0.448980067566,-0.0156721937255,0.0597455524713,0.999999873694,-0.00027979413448,-0.000410342805631,-7.71125675516e-05,1793244405209759744
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.265580098,745.265580098,714,681.265580098,659,632.265580098,880,784.734419902,807,651.265580098,630.734419902,652,0.449774877983,-0.0156836190376,0.0596689672212,0.999999809158,-0.000315416110722,-0.000524468184508,-8.44409168765e-05,1793244405243092992
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765.12630332,745.56315166,714,681.56315166,659,633,880.43684834,784,807,652,629.56315166,652,0.450549411417,-0.0156809571546,0.0596464056325,0.999999810046,-0.000265051822506,-0.000551603500281,-7.34096950542e-05,1793244405276425984
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.260096319,745.739903681,714.739903681,681.739903681,659,632,881,784,807,651.260096319,630,652,0.451919121126,-0.0156900482829,0.059677640023,0.999999850741,-0.000229251103148,-0.000493089105681,-5.31464498974e-05,1793244405343092992
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+210,3.500000000,POSE1_TO_POSE2_PRESS,765,746,714.082204694,682,659,632,880.082204694,783.082204694,807,651.917795306,629.082204694,652,0.452429045441,-0.0156984890689,0.0596649434765,0.999999835807,-0.000248781223767,-0.000513102511367,-5.67456633822e-05,1793244405376426240
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681.572700603,659,631,880.427299397,782,807,652,629,651.854598795,0.454303604523,-0.0157010866843,0.0596249817601,0.999999789135,-0.000290038970589,-0.000577419767157,-6.47608818832e-05,1793244405793092864
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.00651086,745,714,681.01302172,658.99348914,631.00651086,880.99348914,782,807,652,629,652.99348914,0.454303586992,-0.0156990577562,0.0596232338112,0.999999788407,-0.00028816923342,-0.000579602196907,-6.48475856908e-05,1793244405809759232
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.581637587,745,714,682.163275173,658.418362413,631.581637587,880.418362413,782,807,652,629,652.418362413,0.454304554399,-0.0156999976806,0.0596238880105,0.999999788336,-0.000289798397921,-0.000578895706755,-6.49917064017e-05,1793244405826425856
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.843357725,745.156642275,714.156642275,682.843357725,658.156642275,632,880,782,807,651.843357725,629,652,0.454305530378,-0.0157011543981,0.0596245370194,0.999999788214,-0.000291659840828,-0.00057818295605,-6.48947868357e-05,1793244405843092480
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.2686786,745.7313214,714.7313214,682.2686786,658.7313214,632,880,782,807,651.2686786,629,652,0.454306529233,-0.0157028896795,0.0596251721763,0.999999787956,-0.000294141173799,-0.000577453497429,-6.41545944772e-05,1793244405859759104
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.685194721,714.685194721,682,659,632,880,782,807,651.314805279,628.685194721,652,0.454306352825,-0.0157027726865,0.0596244838168,0.999999787175,-0.000295160090289,-0.000578301145564,-6.40226605537e-05,1793244405876425984
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.093980014,714.093980014,682,659,632,880,782,807,651.906019986,628.093980014,652,0.454305144499,-0.0157010293353,0.0596226333662,0.999999785934,-0.000294894956674,-0.000580533545549,-6.44247976646e-05,1793244405893092864
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.513676492,631.513676492,880.486323508,782,807,652,628.486323508,652,0.454305602602,-0.0156994853555,0.0596226162624,0.999999785989,-0.000294604493573,-0.000580520565243,-6.50058696333e-05,1793244405909759488
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714.063990704,682,658.063990704,631,881,782,807,651.936009296,629,652,0.454306326996,-0.0156984385641,0.0596228596447,0.999999786157,-0.000294575940948,-0.000580195208293,-6.54587394423e-05,1793244405926426112
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.63709076,682,658.63709076,631,881,782,807,651.36290924,629,652,0.454306664158,-0.0157010475993,0.0596224186025,0.999999785264,-0.000296669233814,-0.000580761019412,-6.46225655495e-05,1793244405943092736
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714.788990649,682,659,631,881,782,807,651,629,652,0.454307036748,-0.0157018603671,0.0596223332764,0.999999785087,-0.00029726833539,-0.000580787239716,-6.43675590012e-05,1793244405959759360
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714.213658857,682,659,631,881,782,807,651,629,652,0.454307470505,-0.0156995717532,0.0596228621191,0.999999786151,-0.000295287610719,-0.000579881818586,-6.51159787113e-05,1793244405976425728
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.374103334,714,682,658.625896666,631,880.625896666,782,807,651,629,652,0.454308626107,-0.015698032557,0.0596235113976,0.999999787571,-0.000292967737922,-0.000578609828138,-6.51081972609e-05,1793244405993092608
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.96920886,714,682,658.03079114,631,880.03079114,782,807,651,629,652,0.454310208141,-0.0156969360804,0.0596242318238,0.999999789196,-0.000290447512592,-0.000577121286139,-6.4653688736e-05,1793244406009759232
+249,4.150000000,HOLD_POSE2,765,745,714,682,658,632,880,782,807,652,629,652,0.454309093453,-0.0156976074114,0.0596225803404,0.999999787342,-0.000290333143139,-0.000580429919428,-6.42161767734e-05,1793244406039468800
+250,4.166666667,HOLD_POSE2,765,745,714,682,658,631.431028658,880.568971342,782,807,652,629,652,0.454308781964,-0.0156975216064,0.0596230876101,0.999999787635,-0.000290741751142,-0.00057966012025,-6.4761309824e-05,1793244406056135680
+251,4.183333333,HOLD_POSE2,765,745,714,681.855736698,658,631,881,782,807,651.855736698,629,652,0.454308714238,-0.0156974980948,0.059623428068,0.999999787839,-0.000291104400198,-0.000579093650433,-6.50495945655e-05,1793244406072802560
+252,4.200000000,HOLD_POSE2,765,745,714,681.260694593,658,631,881,782,807,651.260694593,629,652,0.454309408195,-0.0156976692309,0.0596232472902,0.999999787768,-0.000291323441662,-0.000579162522633,-6.45353068444e-05,1793244406089468928
+253,4.216666667,HOLD_POSE2,765,745,714,681.325451301,658,631.325451301,881,782,807,651.325451301,629,652,0.45430968703,-0.0156973020076,0.0596231069604,0.999999787915,-0.00029068698143,-0.000579267124801,-6.41981732881e-05,1793244406106135552
+254,4.233333333,HOLD_POSE2,765,745,714,681.904660684,658,631.904660684,881,782,807,651.904660684,629,652,0.45430964219,-0.0156965150193,0.0596229981684,0.999999788229,-0.000289383476777,-0.000579399586025,-6.39991688801e-05,1793244406122802176
+255,4.250000000,HOLD_POSE2,765,745,714,682,658,631.518160967,881,782,807,651.518160967,629,652,0.454308755896,-0.0156965387153,0.0596229479812,0.999999788032,-0.000287901907336,-0.00058050428958,-6.37472863227e-05,1793244406139468800
+256,4.266666667,HOLD_POSE2,765,745.058569287,714.058569287,681.941430713,658.058569287,631,881,782,807,651.058569287,629,652,0.454308013857,-0.0156966878271,0.0596229820839,0.999999787842,-0.000286601083018,-0.000581498499527,-6.35182581617e-05,1793244406156135936
+257,4.283333333,HOLD_POSE2,765,745.634876051,714.634876051,681.365123949,658.634876051,631,881,782,807,651.634876051,629,652,0.454310012594,-0.0156965335827,0.059623659214,0.999999788637,-0.000287208141476,-0.000579822582489,-6.35833569014e-05,1793244406172802560
+258,4.300000000,HOLD_POSE2,765,745.784389839,714.784389839,681,658.784389839,631,880.784389839,782,807,652,629,652,0.454311619314,-0.0156966585511,0.059624319366,0.999999789136,-0.00028822644449,-0.000578458678216,-6.35473334358e-05,1793244406189469184
+259,4.316666667,HOLD_POSE2,765,745.196001143,714.196001143,681,658.196001143,631,880.196001143,782,807,652,629,652,0.454312548259,-0.0156972662636,0.0596249501639,0.999999789126,-0.000289955767469,-0.000577634227643,-6.33364750335e-05,1793244406206135808
+260,4.333333333,HOLD_POSE2,765,745,714,681.38641116,658.38641116,631,880,782,807,652,629,652.38641116,0.454311872469,-0.0156966122965,0.0596245327415,0.999999788912,-0.00028896813605,-0.000578489827075,-6.34244779211e-05,1793244406222802688
+261,4.350000000,HOLD_POSE2,765,745,714,681.965838254,658.965838254,631,880,782,807,652,629,652.965838254,0.4543103951,-0.0156953281088,0.0596235917235,0.99999978859,-0.000286623361039,-0.000580184626881,-6.36617647563e-05,1793244406239469312
+262,4.366666667,HOLD_POSE2,765,745.540618748,714,682,658.459381252,631.540618748,880.540618748,782,807,652,629,652.459381252,0.454309539183,-0.0156958132031,0.0596229678133,0.999999787801,-0.000287602890914,-0.00058106215553,-6.36281814424e-05,1793244406256135680
+263,4.383333333,HOLD_POSE2,765,745.884938793,714,682,658.115061207,631.884938793,880.884938793,782,807,652,629,652,0.454309125881,-0.0156962989438,0.0596226410085,0.999999787305,-0.000288551455995,-0.000581450656938,-6.35880363982e-05,1793244406272802304
+264,4.400000000,HOLD_POSE2,765,745.310683403,714,682,658.689316597,631.310683403,880.310683403,782,807,652,629,652,0.45431032361,-0.0156963448828,0.0596234206243,0.999999788096,-0.000288545254721,-0.000580091860869,-6.35894311656e-05,1793244406289468928
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,881,782,807,652,628,652,0.454313700888,-0.0156983740337,0.0596256998358,0.999999790259,-0.000288898290114,-0.000576249413915,-6.29040701924e-05,1793244406326583552
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745.426426718,714,682,658,631.426426718,881,782,807,652,628.573573282,652,0.454312558891,-0.0156970473984,0.0596247821317,0.999999789782,-0.00028783284791,-0.000577566189976,-6.32875236838e-05,1793244406343250432
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880.851478502,782,806.851478502,652,629,652,0.454311592303,-0.0156959524999,0.0596239172567,0.999999789186,-0.000287347026271,-0.000578791954418,-6.37097242472e-05,1793244406359917312
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880.272545626,782,806.272545626,652,629,652,0.454311134046,-0.0156955291683,0.0596232054788,0.999999788251,-0.000288540929472,-0.000579753969902,-6.42442128918e-05,1793244406376583936
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880.312000553,782,806.312000553,652,629,652,0.454310921672,-0.0156956078071,0.0596228661806,0.999999787839,-0.000289226353,-0.000580117743306,-6.42885664085e-05,1793244406393250560
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880.901539989,782,806.901539989,652,629,652,0.454310928024,-0.0156961329718,0.0596228582203,0.999999787895,-0.000289459460336,-0.000579949352729,-6.38969220905e-05,1793244406409917184
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880.518571284,782,807,652,629,652,0.454311774422,-0.0156966303756,0.0596237866414,0.999999788928,-0.000288378004727,-0.000578751777764,-6.34744224018e-05,1793244406426583552
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880,782,806.940653585,652,629,652,0.454312566606,-0.0156969496418,0.0596246864343,0.999999789989,-0.000287082030154,-0.000577600465271,-6.3112120183e-05,1793244406443250176
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880,782,806.363050999,652,629,652,0.454311414522,-0.015695761886,0.0596236967258,0.999999789614,-0.000286214370766,-0.000578655135993,-6.33295304136e-05,1793244406459916800
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880,782,806.217614892,651.782385108,628.782385108,651.782385108,0.454306341388,-0.015695312933,0.0596210305008,0.999999787353,-0.000286163367804,-0.000582548570144,-6.3568356763e-05,1793244406476583424
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880,782,806.803464261,651.196535739,628.196535739,651.196535739,0.454294633298,-0.0156961141365,0.0596155273784,0.99999978185,-0.000287494260471,-0.000591245584266,-6.38434221202e-05,1793244406493250304
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880.385178755,782,807,651.385178755,628.385178755,651.385178755,0.454266413802,-0.015694172397,0.0596023643644,0.999999769243,-0.00028693738372,-0.000612362335853,-6.47608886772e-05,1793244406509916928
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,631,880.964805909,782,807,651.964805909,628.964805909,651.964805909,0.454229858912,-0.0156908459476,0.0595853344346,0.999999752448,-0.000285427511106,-0.000639748899018,-6.60026562952e-05,1793244406526583808
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.54254238,631.54254238,881,782,806.45745762,652,629,652,0.454172154557,-0.0156860695428,0.0595644496754,0.999999731941,-0.000283303935336,-0.000671727649093,-6.8103309608e-05,1793244406543250432
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.120013002,682,658.879986998,632,880.879986998,782,806,651.879986998,629,652,0.454111218668,-0.0156814895294,0.0595450749643,0.9999997126,-0.000281197323241,-0.000700594862829,-6.99582901073e-05,1793244406559916800
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.696936967,682,658.303063033,632,880.303063033,782,806,651.303063033,629,652,0.45404318482,-0.0156780140593,0.0595323979808,0.999999701821,-0.000279306333407,-0.000716485731402,-7.06665710959e-05,1793244406576583424
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.721290968,681.721290968,658,631.721290968,880.278709032,782,806.278709032,651.278709032,629,652,0.453969275857,-0.015675067165,0.0595247008985,0.999999694674,-0.000278136440538,-0.000726827259867,-7.08051350589e-05,1793244406593250304
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.134153879,681.134153879,658,631.134153879,880.865846121,782,806.865846121,651.865846121,629,652,0.453888865313,-0.0156727052094,0.05952251473,0.999999691751,-0.000277764536103,-0.000731027715687,-7.03132324669e-05,1793244406609916928
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.444541426,745.444541426,714,681.444541426,658,631,881,782,807,651.555458574,629,652,0.453792700274,-0.0156670025859,0.059523762272,0.999999693973,-0.000275254932503,-0.000728964129123,-7.00048846599e-05,1793244406626583808
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.979301679,745.979301679,714,682,658,631,880.979301679,782,807,651.020698321,629,652,0.453690848143,-0.0156602676268,0.0595259813088,0.999999697585,-0.000271992837281,-0.000725251332156,-6.97148221225e-05,1793244406643250432
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.404171018,745.404171018,714,682,658,631,880.404171018,782,807,651.595828982,629,652,0.453561639164,-0.0156523815071,0.059526983697,0.999999698099,-0.000265532496224,-0.000727054534882,-6.8458424591e-05,1793244406659917056
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.170708507,631,880,782,807,651.829291493,628.829291493,652,0.453422020581,-0.0156444219681,0.0595258320202,0.999999696339,-0.000260364991278,-0.000731428172754,-6.74126621397e-05,1793244406676583680
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.74499423,631,880,782,807,651.25500577,628.25500577,652,0.453257792352,-0.0156362888569,0.0595195878519,0.999999689225,-0.000258253920759,-0.000741878654949,-6.68648687214e-05,1793244406693250048
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.668590636,659,631,880,782,807,651.331409364,628.331409364,652,0.453078841765,-0.015628101965,0.0595144383038,0.999999684976,-0.000256391009908,-0.000748266651548,-6.6393524153e-05,1793244406709916672
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.072487797,659,631,880,782,807,651.927512203,628.927512203,652,0.452888132553,-0.0156198721179,0.0595101630174,0.999999683072,-0.000254726301587,-0.00075140998109,-6.59832384915e-05,1793244406726583552
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.505197373,658.494802627,631.505197373,880,782,807,651.494802627,629,652,0.452673387637,-0.0156084849983,0.0595175139455,0.999999691912,-0.000247946400288,-0.000742027894222,-6.39801767801e-05,1793244406743250432
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.080388148,745.080388148,714,682,658,631.919611852,880,782,807,651,629,652,0.452452338014,-0.0155966445573,0.059527113033,0.999999703311,-0.000240265148148,-0.000729273516878,-6.17268503789e-05,1793244406759917056
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.655919765,745.655919765,714,682,658,631.344080235,880,782,807,651,629,652,0.452212950066,-0.0155847040976,0.0595406458857,0.99999972195,-0.000231393785017,-0.000706428132729,-5.92901867552e-05,1793244406776583936
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.76223748,746,714.23776252,682,658.23776252,631.23776252,880,782,807,651.23776252,629,652,0.451952316037,-0.0155757530406,0.0595486330199,0.999999732689,-0.000226685115061,-0.000692800977364,-5.71264654704e-05,1793244406793250816
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.171012496,746,714.828987504,682,658.828987504,631.828987504,880,782,807,651.828987504,629,652,0.451660097179,-0.0155712460896,0.0595483757784,0.999999732398,-0.00022816478778,-0.00069287782505,-5.53685058517e-05,1793244406809917184
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e91be82f1b9b1a100493fc1db41e9090d995d0ce
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+362,6.033333333,pose2_to_pose3_retreat,0.578446464568,-0.010122227708,1.05005088882,0.549018098715,-0.00144653873112,1.04971738002
+363,6.050000000,pose2_to_pose3_retreat,0.578139445964,-0.0101221888278,1.05005088662,0.548711078739,-0.00144650451366,1.04971737748
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+365,6.083333333,pose2_to_pose3_retreat,0.577616203816,-0.0101221435719,1.05005096401,0.548187835147,-0.00144646383388,1.04971746307
+366,6.100000000,pose2_to_pose3_retreat,0.577395715252,-0.0101222353193,1.05005093349,0.547967347918,-0.00144655160756,1.04971741807
+367,6.116666667,pose2_to_pose3_retreat,0.577194589406,-0.0101221702063,1.05005099699,0.547766222823,-0.00144648380511,1.04971748539
+368,6.133333333,pose2_to_pose3_retreat,0.577010529808,-0.0101222050946,1.05005103501,0.54758216485,-0.00144651327173,1.04971752114
+369,6.150000000,pose2_to_pose3_retreat,0.576835528214,-0.0101222195168,1.05005103425,0.547407162759,-0.00144652940214,1.04971751971
+370,6.166666667,pose2_to_pose3_retreat,0.57666977551,-0.0101221967335,1.0500510253,0.547241408221,-0.00144651274064,1.04971751331
+371,6.183333333,pose2_to_pose3_retreat,0.576516717208,-0.0101222876746,1.0500510451,0.547088352136,-0.00144659636332,1.04971752791
+372,6.200000000,pose2_to_pose3_retreat,0.576378477137,-0.010122182006,1.0500510216,0.546950111632,-0.00144649194388,1.04971751021
+373,6.216666667,pose2_to_pose3_retreat,0.576258475513,-0.0101219757154,1.05005099069,0.546830107003,-0.00144629554834,1.0497174871
+374,6.233333333,pose2_to_pose3_retreat,0.576155412098,-0.0101221222041,1.05005076727,0.546727044024,-0.00144644052736,1.04971726446
+375,6.250000000,pose2_to_pose3_retreat,0.576068113512,-0.0101221800049,1.05005097284,0.546639746395,-0.00144649558719,1.04971745869
+376,6.266666667,pose2_to_pose3_retreat,0.575993503689,-0.0101221428207,1.05005102547,0.546565137409,-0.00144645545309,1.04971751374
+377,6.283333333,pose2_to_pose3_retreat,0.575929345848,-0.01012217712,1.05005097341,0.546500980476,-0.00144648664768,1.04971746158
+378,6.300000000,pose2_to_pose3_retreat,0.575873682862,-0.0101223001441,1.05005094816,0.546445318294,-0.00144660699105,1.04971743507
+379,6.316666667,pose2_to_pose3_retreat,0.575826051789,-0.0101223531814,1.0500509631,0.546397687093,-0.00144666018294,1.04971745727
+380,6.333333333,pose2_to_pose3_retreat,0.575786899842,-0.0101221980022,1.05005082791,0.546358533251,-0.0014465120641,1.04971730557
+381,6.350000000,pose2_to_pose3_retreat,0.575754988017,-0.0101221781045,1.05005075768,0.546326622007,-0.00144648953666,1.04971725242
+382,6.366666667,pose2_to_pose3_retreat,0.575730149838,-0.0101221723102,1.05005075163,0.546301783604,-0.00144648447433,1.04971724715
+383,6.383333333,pose2_to_pose3_retreat,0.575711172183,-0.0101220943424,1.0500509454,0.546282804139,-0.00144641279561,1.04971743704
+384,6.400000000,pose2_to_pose3_retreat,0.575696977229,-0.0101221072585,1.05005115318,0.546268610102,-0.00144642259788,1.04971764501
+385,6.416666667,pose2_to_pose3_retreat,0.575686947248,-0.0101221328188,1.05005115677,0.546258580706,-0.00144644616372,1.04971764885
+386,6.433333333,pose2_to_pose3_retreat,0.575679879827,-0.0101221343868,1.05005098741,0.546251512256,-0.00144645127126,1.0497174781
+387,6.450000000,pose2_to_pose3_retreat,0.57567535599,-0.0101221919313,1.0500508861,0.546246988627,-0.00144650806893,1.04971737797
+388,6.466666667,pose2_to_pose3_retreat,0.575672634271,-0.0101222255349,1.050050875,0.546244267642,-0.00144653910809,1.04971736874
+389,6.483333333,pose2_to_pose3_retreat,0.575671341495,-0.0101222490451,1.05005087312,0.54624297577,-0.00144655954421,1.04971736707
+390,6.500000000,pose2_to_pose3_retreat,0.575670890389,-0.0101222598654,1.05005087365,0.546242525172,-0.00144656864852,1.04971736742
+391,6.516666667,pose2_to_pose3_retreat,0.575670789886,-0.0101222622761,1.05005087377,0.546242424782,-0.0014465706769,1.0497173675
+392,6.533333333,pose2_to_pose3_retreat,0.57567076249,-0.0101222629332,1.0500508738,0.546242397417,-0.0014465712298,1.04971736752
+393,6.550000000,pose2_to_pose3_retreat,0.575670589494,-0.0101222670827,1.050050874,0.546242224616,-0.00144657472125,1.04971736765
+394,6.566666667,pose2_to_pose3_retreat,0.575670323665,-0.0101222576552,1.05005089432,0.546241958862,-0.00144656503507,1.04971738805
+395,6.583333333,pose2_to_pose3_retreat,0.575670221153,-0.0101222304424,1.05005093199,0.546241856045,-0.00144653884502,1.04971742603
+396,6.600000000,pose2_to_pose3_retreat,0.575670213009,-0.0101222282806,1.05005093498,0.546241847877,-0.00144653676446,1.04971742905
+397,6.616666667,pose2_to_pose3_retreat,0.575670190247,-0.0101222222382,1.05005094335,0.546241825047,-0.00144653094916,1.04971743748
+398,6.633333333,pose2_to_pose3_retreat,0.575670163869,-0.0101222152358,1.05005095304,0.546241798591,-0.00144652420994,1.04971744725
+399,6.650000000,pose2_to_pose3_retreat,0.575670157446,-0.0101222135308,1.0500509554,0.546241792149,-0.00144652256905,1.04971744963
+400,6.666666667,pose2_to_pose3_retreat,0.575670106977,-0.0101222001332,1.05005097395,0.54624174153,-0.00144650967502,1.04971746833
+401,6.683333333,pose2_to_pose3_retreat,0.575670062671,-0.0101221883718,1.05005099024,0.546241697092,-0.00144649835561,1.04971748475
+402,6.700000000,pose2_to_pose3_retreat,0.575669943241,-0.0101221566678,1.05005103413,0.546241577307,-0.00144646784319,1.049717529
+403,6.716666667,pose2_to_pose3_retreat,0.575669814485,-0.0101221224879,1.05005108145,0.546241448167,-0.00144643494799,1.0497175767
+404,6.733333333,pose2_to_pose3_retreat,0.575669768205,-0.0101221102025,1.05005109846,0.54624140175,-0.00144642312434,1.04971759385
+405,6.750000000,pose2_to_pose3_retreat,0.575669760642,-0.0101221081948,1.05005110124,0.546241394164,-0.00144642119208,1.04971759665
+406,6.766666667,pose2_to_pose3_retreat,0.575669697672,-0.0101221587064,1.05005111734,0.546241331851,-0.00144646957352,1.04971761021
+407,6.783333333,pose2_to_pose3_retreat,0.575669665711,-0.0101221878735,1.05005112514,0.546241300267,-0.00144649751465,1.04971761658
+408,6.800000000,pose2_to_pose3_retreat,0.575669647182,-0.0101222047829,1.05005112967,0.546241281957,-0.00144651371332,1.04971762027
+409,6.816666667,pose2_to_pose3_retreat,0.575669634314,-0.0101222165256,1.05005113281,0.546241269242,-0.00144652496246,1.04971762284
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc66bf06338c26f8fce362268b4e5fed19604baa
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b42c8560dc6f88fa0c37b5074c216c2b4049bedabc81a9d0bd9539e1a237375
+size 25662443
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a077db93750a14de85dcc9d73080d7326439b7d0
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+32,0.533333333,BASELINE,766,745,714,679.563046704,659,635,879.563046704,787,806,652.436953296,631,652,0.400938953823,-0.015435330976,0.049932179702,0.999999975506,5.82599787993e-05,-0.000211002755921,-3.27439511892e-05,1793244410507627008
+33,0.550000000,BASELINE,765.859574281,745,714,679.859574281,659,635,879.859574281,787,806,652.140425719,631,652,0.400939403868,-0.0154356663656,0.0499323395184,0.99999997562,5.94513066792e-05,-0.000210129084952,-3.27210054701e-05,1793244410524293632
+34,0.566666667,BASELINE,765.267928982,745,714,679.267928982,659,635,879.267928982,787,806,652.732071018,631,652,0.400939794933,-0.0154361859331,0.0499323510857,0.999999975592,6.01275614772e-05,-0.000210123156739,-3.23805471927e-05,1793244410540960256
+35,0.583333333,BASELINE,765.316987842,745,714,679.316987842,659,635,879.316987842,787.316987842,806,653,631,652,0.400940050956,-0.0154366663393,0.0499328427417,0.999999975724,5.96043932258e-05,-0.000209681713585,-3.21528051578e-05,1793244410557626624
+36,0.600000000,BASELINE,765.8963358,745,714,679.8963358,659,635,879.8963358,787.8963358,806,653,631,652,0.400940195208,-0.0154371143332,0.0499337317507,0.999999975985,5.80885031557e-05,-0.000208879809442,-3.20183545073e-05,1793244410574293248
+37,0.616666667,BASELINE,765.527666923,745,714,680,659,635,879.527666923,788,806.472333077,653,631,652,0.400939602535,-0.0154377219538,0.0499330454951,0.999999975881,5.71045066812e-05,-0.00020968150174,-3.17913007122e-05,1793244410590960384
+38,0.633333333,BASELINE,765,745,714,679.95143562,659,635,879.04856438,787.95143562,806.95143562,653,631,652.04856438,0.400938964464,-0.0154382630393,0.0499321328749,0.999999975715,5.63331644984e-05,-0.000210708674146,-3.15833581616e-05,1793244410607627264
+39,0.650000000,BASELINE,765,745,714,679.364515016,659,635,879.635484984,787.364515016,806.364515016,653,631,652.635484984,0.400939603394,-0.0154376809276,0.0499325164457,0.999999975764,5.6634229733e-05,-0.000210361406907,-3.18109828635e-05,1793244410624294144
+40,0.666666667,BASELINE,765.219620166,745,714,679,659,635,879.780379834,787,806,653,631,652.780379834,0.400939700437,-0.015437265079,0.0499327186761,0.999999975771,5.7023927235e-05,-0.000210211155325,-3.18983819255e-05,1793244410640960512
+41,0.683333333,BASELINE,765.799190102,745,714,679,659,635,879.200809898,787,806,653,631,652.200809898,0.400938909344,-0.0154371217301,0.0499326236959,0.999999975709,5.75588899055e-05,-0.000210383805539,-3.17559560542e-05,1793244410657627136
+42,0.700000000,BASELINE,766,745,714,679,659.37741223,635,879.37741223,787.37741223,806,653,631,652,0.400939582194,-0.0154374420719,0.049932719908,0.999999975849,5.73564850534e-05,-0.00020976775631,-3.17735839629e-05,1793244410674293760
+43,0.716666667,BASELINE,766,745,714,679,659.954919763,635,879.954919763,787.954919763,806,653,631,652,0.400941031194,-0.0154380082519,0.0499329174858,0.999999976096,5.67631448469e-05,-0.000208733556731,-3.18760687168e-05,1793244410690960384
+44,0.733333333,BASELINE,765.469626738,745,714,679.530373262,659.469626738,635,879.469626738,788,806,653,631,652,0.40094027421,-0.0154375310882,0.0499328556946,0.999999975971,5.70087982827e-05,-0.000209214137846,-3.2223989217e-05,1793244410707627264
+45,0.750000000,BASELINE,765,745,714,679.891861213,659,635,879,787.891861213,806,653,631,652,0.400939735397,-0.0154370059446,0.0499328472825,0.999999975858,5.74890466439e-05,-0.000209584899585,-3.24637156953e-05,1793244410724293888
+46,0.766666667,BASELINE,765,745,714,679.303045862,659,635,879,787.303045862,806,653,631,652,0.400940996588,-0.0154366601983,0.0499331737548,0.999999975942,5.86963094168e-05,-0.000208897419543,-3.21301490892e-05,1793244410740960512
+47,0.783333333,BASELINE,765,745,714,679,659,635,879,787,806,653,631,652.28109731,0.40094102442,-0.0154368073052,0.0499333794953,0.999999976057,5.76325278912e-05,-0.000208673579289,-3.19467407408e-05,1793244410757627392
+48,0.800000000,BASELINE,765,745,714,679,659,635,879,787,806,653,631,652.860285915,0.40093974433,-0.0154374770612,0.0499334572052,0.999999976196,5.41604042436e-05,-0.000208941408483,-3.19225685579e-05,1793244410774294016
+49,0.816666667,BASELINE,765,745,714,679,659,635,879,787,806,653,631,652.562452803,0.400939593619,-0.0154379958206,0.0499329719393,0.999999976076,5.38587227897e-05,-0.000209588656086,-3.19258046531e-05,1793244410790960640
+50,0.833333333,BASELINE,765.014390969,745,714,679,659,634.985609031,878.985609031,787,805.985609031,653,631,652,0.400939781135,-0.0154384180881,0.0499323123844,0.999999975877,5.4573298963e-05,-0.000210349286244,-3.19461583185e-05,1793244410807627264
+51,0.850000000,BASELINE,765.59897052,745,714,679,659,634.40102948,878.40102948,787,805.40102948,653,631,652,0.400939143903,-0.0154369191876,0.049931838559,0.999999975708,5.5618199799e-05,-0.000210823100285,-3.22994955115e-05,1793244410824293888
+52,0.866666667,BASELINE,765.81757889,744.81757889,714,679.18242111,659,634.18242111,878.18242111,787,805.18242111,653,631,652,0.400939279365,-0.0154362059484,0.0499319156506,0.999999975724,5.66579985089e-05,-0.000210461262366,-3.23779056658e-05,1793244410840960512
+53,0.883333333,BASELINE,765.236594948,744.236594948,714,679.763405052,659,634.763405052,878.763405052,787,805.763405052,653,631,652,0.40094110305,-0.0154372092614,0.0499331964137,0.99999997614,5.76866497737e-05,-0.000208273649916,-3.1855641354e-05,1793244410857627136
+54,0.900000000,BASELINE,765,744.342733411,714,679.657266589,659,635,879.342733411,787,806,652.657266589,631,652,0.400941326612,-0.0154370164941,0.0499332990576,0.999999976172,5.76823105834e-05,-0.000208097730044,-3.19863766933e-05,1793244410874294016
+55,0.916666667,BASELINE,765,744.920924364,714,679.079075636,659,635,879.920924364,787,806,652.079075636,631,652,0.40094045089,-0.0154360020208,0.0499325923348,0.999999975943,5.69683078502e-05,-0.000209303841227,-3.25657222185e-05,1793244410890960640
+56,0.933333333,BASELINE,765,745,714,679,659,635,879.505254837,787,806,652.494745163,631,652,0.400940588742,-0.015437029558,0.0499329089938,0.999999976068,5.67586315509e-05,-0.000208844274665,-3.20245905326e-05,1793244410907627264
+57,0.950000000,BASELINE,765,745,714,679,659,634.930378601,878.930378601,787,806,652.930378601,631,652,0.400940887584,-0.0154381500952,0.0499333189283,0.999999976218,5.66446920158e-05,-0.000208249330918,-3.14411266489e-05,1793244410924293888
+58,0.966666667,BASELINE,765,745,714,679,659,634.342491891,878.342491891,787,806,652.342491891,631,652,0.400941189461,-0.0154375546358,0.0499332162608,0.999999976129,5.66486329943e-05,-0.000208611088171,-3.18640006627e-05,1793244410940960512
+59,0.983333333,BASELINE,765,745,714,679,659,634,878.242735469,787,805.757264531,652,630.757264531,652,0.400940871034,-0.0154369998879,0.0499327785704,0.999999975968,5.7281058876e-05,-0.000209171161834,-3.20966961689e-05,1793244410957627136
+60,1.000000000,BASELINE,765,745,714,679,659,634,878.824251318,787,805.175748682,652,630.175748682,652,0.400939686864,-0.01543650196,0.0499318732961,0.999999975706,5.87906468636e-05,-0.000210008021261,-3.2063963912e-05,1793244410974293760
+61,1.016666667,BASELINE,765,745,714,679,659,634,879.401034727,787,805.401034727,652.401034727,630.401034727,652,0.400938744288,-0.0154371048974,0.0499313554496,0.999999975645,5.65057538608e-05,-0.000210905025201,-3.21873366477e-05,1793244410990960128
+62,1.033333333,BASELINE,765,745,714,679,659,634,879.975768356,787,805.975768356,652.975768356,630.975768356,652,0.400937906353,-0.015438184649,0.0499310054085,0.999999975658,5.25773692392e-05,-0.000211828079291,-3.23783226456e-05,1793244411007626752
+63,1.050000000,BASELINE,765,745,714,679.549284078,659,634,879.450715922,787,805.450715922,653,631,652,0.400940381638,-0.015437373756,0.049931757771,0.999999975872,5.54810542581e-05,-0.00021009076975,-3.22567822614e-05,1793244411024293632
+64,1.066666667,BASELINE,765,745,714,679.87344111,659.12655889,634.12655889,879,787,805.12655889,653,631,652,0.400942290337,-0.0154368908208,0.0499324995514,0.999999976075,5.77042953945e-05,-0.000208544960413,-3.2073203031e-05,1793244411040960256
+65,1.083333333,BASELINE,765,745,714,679.282166353,659.717833647,634.717833647,879,787,805.717833647,653,631,652,0.400941583057,-0.0154379177078,0.0499330242945,0.999999976251,5.63247320258e-05,-0.000208132318726,-3.17123345481e-05,1793244411057627136
+66,1.100000000,BASELINE,765,745,714,679,659.695870056,635,879,787,806,653,631,652.304129944,0.400940810527,-0.0154377750301,0.049932969676,0.999999976202,5.60224715012e-05,-0.00020846846528,-3.16105903235e-05,1793244411074293760
+67,1.116666667,BASELINE,765,745,714,679,659.114118325,635,879,787,806,653,631,652.885881675,0.400939978433,-0.0154365647278,0.0499323861934,0.999999975946,5.67036155034e-05,-0.000209488135245,-3.1745384944e-05,1793244411090960128
+68,1.133333333,BASELINE,765,745,714,679.461383387,659,635,879,787.461383387,806,653,631,652.538616613,0.400938502487,-0.0154371888376,0.0499315016616,0.999999975598,5.69688904734e-05,-0.000211050361568,-3.18666812834e-05,1793244411107626752
+69,1.150000000,BASELINE,765,745,714,679.964513042,659,635,878.964513042,787.964513042,806,653,631,652,0.400937085691,-0.0154381459238,0.049930653256,0.999999975273,5.70708964575e-05,-0.000212544209876,-3.19794782948e-05,1793244411124293632
+70,1.166666667,BASELINE,765,745,714,679.388474485,659,635,878.388474485,787.388474485,806,653,631,652,0.400938963236,-0.0154373561268,0.0499314742044,0.99999997565,5.6231800107e-05,-0.000210979693628,-3.2012986078e-05,1793244411140960256
+71,1.183333333,BASELINE,765.191884502,744.808115498,714,679,659,635,878.191884502,787,805.808115498,653,631,652,0.400940650498,-0.0154368870454,0.0499322926285,0.999999975986,5.65013609872e-05,-0.000209318103093,-3.19743948814e-05,1793244411157627136
+72,1.200000000,BASELINE,765.781191883,744.218808117,714,679,659,635,878.781191883,787,805.218808117,653,631,652,0.400941943657,-0.0154370822164,0.0499331058245,0.999999976231,5.90671246021e-05,-0.000207455456205,-3.17864754036e-05,1793244411174293760
+73,1.216666667,BASELINE,766,744.36384773,714,679,659,635,878.63615227,787,805.727695459,653,631,652,0.400942561606,-0.0154380196041,0.0499334810529,0.999999976413,5.79357392787e-05,-0.000206921568516,-3.16505986793e-05,1793244411190960640
+74,1.233333333,BASELINE,766,744.942575303,714,679,659,635,878.057424697,787,806.885150606,653,631,652,0.400942780791,-0.0154393953274,0.0499335976279,0.999999976551,5.46209052861e-05,-0.00020717241462,-3.15454571828e-05,1793244411207627520
+75,1.250000000,BASELINE,765.481374514,745,714,679.518625486,659,635,878.518625486,787,806.481374514,653,631,652,0.400942002618,-0.0154389083768,0.0499332502223,0.99999997641,5.61668825387e-05,-0.000207439926401,-3.15282277419e-05,1793244411224293888
+76,1.266666667,BASELINE,765,745,714,679.903708778,659,635,879,787,806,653,631,652,0.400941261387,-0.015438492561,0.0499328742514,0.99999997625,5.77204935887e-05,-0.000207790407326,-3.15009709233e-05,1793244411240960512
+77,1.283333333,BASELINE,765,745,714,679.316298929,659,635,879,787,806,653,631,652,0.400941268914,-0.0154394860717,0.0499326132677,0.99999997616,5.65820687959e-05,-0.000208554696303,-3.13731789866e-05,1793244411257626880
+78,1.300000000,BASELINE,765,745,714,679.268390926,659.268390926,635,879,787,806,652.731609074,631,652,0.400941716535,-0.015438639492,0.0499329256676,0.999999976208,5.7192451424e-05,-0.000208137676694,-3.14933721047e-05,1793244411274293504
+79,1.316666667,BASELINE,765,745,714,679.849907384,659.849907384,635,879,787,806,652.150092616,631,652,0.400942677601,-0.015435646121,0.049933907021,0.999999976412,5.98431276057e-05,-0.000206342451421,-3.19028837025e-05,1793244411290959872
+80,1.333333333,BASELINE,765,745,714,679.572892969,659.145785938,635,879,787,806,652,631,652,0.400942765874,-0.0154348412408,0.0499340844976,0.999999976549,5.99370562734e-05,-0.000205619363572,-3.21066296125e-05,1793244411307626752
+81,1.350000000,BASELINE,765,745,714,679.002790058,658.002790058,634.997209942,879,787,806,652,631,652,0.400942549364,-0.0154348008378,0.0499339789797,0.999999976662,5.91474950967e-05,-0.000205276295458,-3.22383893913e-05,1793244411324293632
+82,1.366666667,BASELINE,765,745,714,679.575440874,658.575440874,634.424559126,879,787,806,652,631,652,0.400942100597,-0.0154353935654,0.0499331942846,0.99999997641,5.95842799158e-05,-0.000206367551994,-3.22884229876e-05,1793244411340960768
+83,1.383333333,BASELINE,765,745,714,679.846431131,659,634,879,787,806,652.153568869,630.846431131,652,0.400941935444,-0.0154358828577,0.0499329391244,0.999999976293,5.99721872735e-05,-0.000206836664571,-3.21931506907e-05,1793244411357627392
+84,1.400000000,BASELINE,765,745,714,679.252600657,659,634,879,787,806,652.747399343,630.252600657,652,0.400942583372,-0.015436075615,0.0499342020711,0.999999976565,6.02199695241e-05,-0.000205522173081,-3.16813056572e-05,1793244411374294016
+85,1.416666667,BASELINE,765,745,714,679,659,634.331746366,879,787,806,652.668253634,630.331746366,652,0.40094271449,-0.015436465214,0.0499344844767,0.999999976649,5.97135028614e-05,-0.000205262644533,-3.16929540602e-05,1793244411390960384
+86,1.433333333,BASELINE,765,745,714,679,659,634.909073082,879,787,806,652.090926918,630.909073082,652,0.400942463031,-0.0154370005281,0.0499340410217,0.999999976592,5.86486918244e-05,-0.000205784068608,-3.20921265626e-05,1793244411407627008
+87,1.450000000,BASELINE,765,745,714,679,659,635,879,787,806,652.485905406,631,652,0.40094214461,-0.0154361726014,0.0499335683698,0.99999997649,5.87940084518e-05,-0.000206195891837,-3.23347624029e-05,1793244411424293632
+88,1.466666667,BASELINE,765,745,714,679,659,634.936167171,879,787,806,653,631,652,0.400941834365,-0.0154352630938,0.0499331347939,0.999999976396,5.8988679837e-05,-0.000206574723897,-3.24981398373e-05,1793244411440960512
+89,1.483333333,BASELINE,765,745,714,679,659,634.348494421,879,787,806,653,631,652,0.400941693944,-0.0154357754449,0.0499330666831,0.99999997642,5.7731921325e-05,-0.000206850954727,-3.2251231216e-05,1793244411457627136
+90,1.500000000,BASELINE,765,745,714,679,659,634.235654071,879,787,806,653,631,652,0.400941439064,-0.0154361173325,0.0499330894979,0.999999976412,5.73378240767e-05,-0.00020703786306,-3.2001214262e-05,1793244411474293760
+91,1.516666667,BASELINE,765,745,714,679,659,634.814667498,879,787,806,653,631,652,0.40094101741,-0.0154362108463,0.0499332447955,0.999999976358,5.82006660371e-05,-0.000207094624178,-3.17466683391e-05,1793244411490960640
+92,1.533333333,BASELINE,765,745,714,679,659,634.608283191,879,787,806,653,631,652,0.400941205539,-0.0154372478746,0.0499327794093,0.999999976371,5.73662411952e-05,-0.000207315021905,-3.14109166876e-05,1793244411507627264
+93,1.550000000,BASELINE,765,745,714,679,659,634.032158474,879,787,806,653,631,652,0.400941680734,-0.0154387290797,0.0499320218246,0.999999976414,5.5732796795e-05,-0.000207612454586,-3.10369359198e-05,1793244411524293888
+94,1.566666667,BASELINE,765,745,714,679,659.553694596,634.553694596,879,787,806,653,631,652,0.400942400141,-0.0154384880062,0.0499332164737,0.999999976582,5.63217908275e-05,-0.000206592859093,-3.13585837177e-05,1793244411540960512
+95,1.583333333,BASELINE,765.138211595,745,714,679,659.861788405,635,879,787,806,653,631,652,0.400943101094,-0.0154380027558,0.0499341668426,0.999999976743,5.68072598716e-05,-0.000205628680345,-3.16803641854e-05,1793244411557626880
+96,1.600000000,BASELINE,765.716641379,745,714,679,659.283358621,635,879,787,806,653,631,652,0.40094369728,-0.0154370640792,0.0499339715512,0.999999976863,5.65445093743e-05,-0.000205089003877,-3.18715814556e-05,1793244411574293504
+97,1.616666667,BASELINE,765.704978075,745,714,679.295021925,659,634.704978075,879,787,805.704978075,653,631,652,0.400943742596,-0.0154360324918,0.0499341236781,0.999999976895,5.75179043784e-05,-0.000204648776315,-3.19379221903e-05,1793244411590960128
+98,1.633333333,BASELINE,765.126644849,745,714,679.873355151,659,634.126644849,879,787,805.126644849,653,631,652,0.400943258906,-0.0154349116818,0.0499346094329,0.999999976841,5.96783772416e-05,-0.000204304050157,-3.18843432372e-05,1793244411607627008
+99,1.650000000,BASELINE,764.549978211,745,714,679.549978211,659,634.450021789,879,787,805,653,631,652,0.400941991492,-0.015435977532,0.0499340251549,0.999999976654,5.81979291751e-05,-0.000205627888981,-3.19684894856e-05,1793244411624293888
+100,1.666666667,BASELINE,764.026729579,745,714,679.026729579,659,635,879.026729579,787,805.026729579,653,631,652,0.400940574311,-0.0154375128406,0.049933166243,0.99999997642,5.5999579438e-05,-0.000207351338042,-3.20761814325e-05,1793244411640960768
+101,1.683333333,BASELINE,764.614101689,745,714,679.614101689,659,635,879.614101689,787,805.614101689,653,631,652,0.400940624815,-0.0154360353621,0.0499328397272,0.999999976125,6.01553504176e-05,-0.000207643821688,-3.18677895e-05,1793244411657627392
+102,1.700000000,BASELINE,765.198572089,745,714.198572089,680,659,634.801427911,879.801427911,787,806,653,631,652,0.40094086866,-0.0154353397937,0.0499325065524,0.999999975977,6.19752685022e-05,-0.000207839192029,-3.17330367882e-05,1793244411674293760
+103,1.716666667,BASELINE,765.777484555,745,714.777484555,680,659,634.222515445,879.222515445,787,806,653,631,652,0.400941482827,-0.015436141878,0.0499321606231,0.999999976136,5.93211476287e-05,-0.000207848553771,-3.17393309574e-05,1793244411690960128
+104,1.733333333,BASELINE,765.64456554,745,714.64456554,679.64456554,659,634.35543446,879,787,806,653,631,652,0.400942790395,-0.0154365363924,0.049932862907,0.999999976506,5.86684475921e-05,-0.000206285142489,-3.1517285668e-05,1793244411707627264
+105,1.750000000,BASELINE,765.06721655,745,714.06721655,679.06721655,659,634.93278345,879,787,806,653,631,652,0.400944530886,-0.0154366764416,0.04993421964,0.999999977004,5.92653289045e-05,-0.000203739774688,-3.1152677265e-05,1793244411724293888
+106,1.766666667,BASELINE,765,745,714,679.508770558,659,635,878.491229442,787,806,653,631,652,0.400943182027,-0.0154371982295,0.0499340071579,0.999999976869,5.72434281703e-05,-0.000204941019401,-3.13904199307e-05,1793244411740960512
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,806,653,631,652,0.40094480303,-0.0154369718057,0.0499349639371,0.999999977139,5.84371536062e-05,-0.000203199356757,-3.18969980057e-05,1793244411783504896
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805.420671636,653,631,652,0.400941788059,-0.0154368033548,0.049933166418,0.999999976356,5.80797696141e-05,-0.000207140162305,-3.17460046354e-05,1793244411800171520
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.157365695,787,805.157365695,653,631,652,0.400940234333,-0.0154371630756,0.0499322473137,0.999999975986,5.73505963541e-05,-0.000209145380455,-3.15916443659e-05,1793244411816838144
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.731980032,787,805.731980032,653,631,652,0.400942555035,-0.0154389232218,0.0499336572893,0.999999976737,5.56356391265e-05,-0.000206018469417,-3.14283568697e-05,1793244411833504512
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.693118588,787,806,652.693118588,631,652,0.400944096575,-0.0154386956285,0.049934286105,0.999999977078,5.58209072374e-05,-0.000204303246853,-3.14398801683e-05,1793244411850171136
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.117966313,787,806,652.117966313,631,652,0.400944956984,-0.0154367303848,0.049934232043,0.999999977066,5.76673223041e-05,-0.000203822100151,-3.16042203011e-05,1793244411866837760
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.470205397,659,634.529794603,879,787,806,652.470205397,631,652,0.400948543597,-0.0154368117198,0.0499350895123,0.999999977412,6.02365785469e-05,-0.000201399311671,-3.13931629071e-05,1793244411883504384
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.060308665,879,787,806,653,631,652.060308665,0.40095391478,-0.0154375090233,0.0499364550738,0.999999978015,6.22570468778e-05,-0.000197804253231,-3.11102586074e-05,1793244411900171008
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.638159173,879,787,806,653,631,652.638159173,0.400968563787,-0.0154389606112,0.0499401624752,0.999999980082,5.79674977213e-05,-0.000188448623035,-3.10420284988e-05,1793244411916837888
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.784472637,659.431054726,635,879,787,806,653,631,652.784472637,0.400989423396,-0.0154401579756,0.0499453930954,0.999999982742,5.54739667079e-05,-0.000174623958939,-3.07506884007e-05,1793244411933504768
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.207912444,660.584175111,635,879,787,806,653,631,652.207912444,0.401020686468,-0.0154409294864,0.0499531752798,0.999999986228,5.59889706404e-05,-0.000153313156029,-3.00856137137e-05,1793244411950171392
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714.375398943,679.375398943,660.249202114,635,879,787,806,652.624601057,630.624601057,652,0.401055838064,-0.0154435853672,0.0499588522216,0.999999989211,5.52956870699e-05,-0.00013290555198,-2.92808325182e-05,1793244411966838016
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714.96251797,679.96251797,659.07496406,635,879,787,806,652.03748203,630.03748203,652,0.401093182739,-0.0154473040079,0.0499633418348,0.999999991758,5.39209452235e-05,-0.000113007338234,-2.83972586158e-05,1793244411983504640
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.458437073,680,659,635,879,787,805.458437073,652.541562927,630.541562927,652,0.401145078997,-0.0154473789135,0.0499656806868,0.999999993752,5.37951283466e-05,-9.36101316372e-05,-2.89699210699e-05,1793244412000171264
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.879971973,659,634.879971973,878.879971973,787,805,652.879971973,631,652.120028027,0.401199955087,-0.0154481619194,0.0499674168473,0.99999999504,5.35785682406e-05,-7.86691770984e-05,-2.93293253141e-05,1793244412016837888
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.301618402,659,634.301618402,878.301618402,787,805,652.301618402,631,652.698381598,0.401262420431,-0.015452597621,0.0499674116934,0.999999994957,5.26902880496e-05,-8.06138990765e-05,-2.84952041242e-05,1793244412033504256
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.275366099,878.275366099,787,805.275366099,652.275366099,631,652.724633901,0.401334991277,-0.0154570910799,0.0499680238937,0.999999995156,5.13420647853e-05,-7.92046518685e-05,-2.79147099011e-05,1793244412050170880
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.850858392,878.850858392,787,805.850858392,652.850858392,631,652.149141608,0.401418576278,-0.0154616474891,0.0499693089588,0.999999995646,4.94925417936e-05,-7.4139856472e-05,-2.76106480732e-05,1793244412066838016
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.56408465,879,787,806,653,631,652.43591535,0.401515501517,-0.0154682619958,0.049969574615,0.999999995795,4.68434028728e-05,-7.4128922069e-05,-2.68560985037e-05,1793244412083504896
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,806.024012496,652.975987504,631,652.975987504,0.401618447708,-0.0154755894733,0.0499695649635,0.999999995839,4.38998006112e-05,-7.56440421872e-05,-2.59310697094e-05,1793244412100171264
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,806.605020579,652.394979421,631,652.394979421,0.401752810898,-0.0154827552366,0.0499714409549,0.99999999631,4.06140566951e-05,-7.15495385072e-05,-2.47069447813e-05,1793244412116837632
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.183697579,879,787,806.632604843,652.183697579,631,652,0.401893735472,-0.015490425691,0.0499708704325,0.999999996431,3.71506472083e-05,-7.20799520574e-05,-2.37122008738e-05,1793244412133504256
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.757425104,879,787,805.485149792,652.757425104,631,652,0.402048591279,-0.0154991677135,0.0499651054283,0.999999995779,3.33100154583e-05,-8.24300721643e-05,-2.32044829603e-05,1793244412150171136
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.33271795,745,714,679.33271795,659,635,879.33271795,787,805.33271795,653,630.66728205,652,0.402226748819,-0.0155095257888,0.049964592948,0.999999995961,2.81745199341e-05,-8.24653315322e-05,-2.2007197534e-05,1793244412166837760
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.909157478,745,714,679.909157478,659,635,879.909157478,787,805.909157478,653,630.090842522,652,0.402421975292,-0.0155210676515,0.0499679280307,0.999999996742,2.20905141857e-05,-7.4944780355e-05,-2.03047920771e-05,1793244412183504384
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.502868835,745,714,680,659,634.502868835,879.502868835,787,806,653,630.497131165,652,0.402640954895,-0.0155331454891,0.0499710022959,0.999999997321,1.32062279852e-05,-6.96436943987e-05,-1.82476098799e-05,1793244412200171008
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.914520993,714,679.914520993,659,634,879,787,806,653,631,652.085479007,0.402872157058,-0.0155450474951,0.0499744484956,0.999999997866,5.14448487691e-06,-6.31001307569e-05,-1.60987450505e-05,1793244412216837888
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.336451187,714,679.336451187,659,634,879,787,806,653,631,652.663548813,0.403148187266,-0.0155553584304,0.0499803192231,0.999999998788,4.84166593553e-06,-4.70038250034e-05,-1.38040069039e-05,1793244412233504512
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,679.240195552,659,634.240195552,879,787,806,652.759804448,631,652.759804448,0.40344277203,-0.0155606403209,0.049987608797,0.999999999427,1.05125088071e-05,-3.0195642871e-05,-1.11572833301e-05,1793244412250171136
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,679.814860654,659,634.814860654,879,787,806,652.185139346,631,652.185139346,0.403763193783,-0.0155589193236,0.049996874098,0.999999999591,2.45016072145e-05,-1.23961820163e-05,-8.02042422568e-06,1793244412266837760
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.399867777,714,680,659.399867777,634.600132223,879,787,805.600132223,652.399867777,631,652,0.404096585077,-0.0155530043647,0.050002948373,0.999999999138,4.11030539268e-05,-5.20186290846e-08,-5.89937324506e-06,1793244412283504384
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.989790387,714,680,659.989790387,634.010209613,879,787,805.010209613,652.989790387,631,652,0.404436140709,-0.0155450960402,0.0500075059718,0.999999998207,5.89461342101e-05,9.69927304343e-06,-4.26113005519e-06,1793244412300171008
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879,787,805,653,631,652,0.404818233568,-0.0155512218333,0.0500076894072,0.99999999913,3.91623863363e-05,1.42900846201e-05,-1.0593790669e-06,1793244412316837632
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.852346102,659.852346102,634,879,787,805,653,631,652,0.405202150913,-0.0155566871522,0.0500027016594,0.999999999652,2.51928214177e-05,7.6320789438e-06,1.5618827706e-06,1793244412333504256
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.277043623,659.277043623,634,879,787,805,653,631,652,0.405589182692,-0.0155595236927,0.0499829597798,0.999999999056,2.99820925597e-05,-3.13425441506e-05,2.42212740646e-06,1793244412350171136
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.29856175,879,787,805.29856175,653,631,652,0.406006672969,-0.015560501098,0.0499636819643,0.999999996782,4.39822386874e-05,-6.70070515803e-05,3.52233652529e-06,1793244412366838016
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.874448539,879,787,805.874448539,653,631,652,0.406452455273,-0.0155597516088,0.0499448352016,0.999999992815,6.65380903574e-05,-9.95968965161e-05,4.84544154025e-06,1793244412383504640
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.462029068,745,714.462029068,679,659,635,879.462029068,787,806,653,631,652,0.40692799995,-0.015558809526,0.0499370812093,0.999999989729,8.71229966355e-05,-0.00011355969527,7.40796098164e-06,1793244412400171264
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.948323054,745,714.948323054,679.051676946,659.051676946,635,879.948323054,787,805.948323054,652.948323054,631,652,0.407419948578,-0.0155581229027,0.0499348142381,0.999999987352,0.000106971018148,-0.000117222104914,1.05599525852e-05,1793244412416837888
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.370812139,745,714.370812139,679.629187861,659.629187861,635,879.370812139,787,805.370812139,652.370812139,631,652,0.407994382782,-0.0155605820439,0.0499569113267,0.999999989693,0.000124912242129,-6.89161460217e-05,1.61940230866e-05,1793244412433504512
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.79385712,659.79385712,635,879,787,805.20614288,652,631,652,0.408580790535,-0.0155630678668,0.0499790242399,0.999999989561,0.000140395582467,-2.62978412431e-05,2.18208227968e-05,1793244412450171136
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.217899398,659.217899398,635,879,787,805.782100602,652,631,652,0.409188678483,-0.0155656015561,0.0500011655405,0.999999988133,0.000151469544246,6.1169602296e-06,2.7434578613e-05,1793244412466837760
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.365472469,787.365472469,806,652,631,652,0.409792385564,-0.0155679458493,0.0500064779652,0.999999987824,0.000152833215085,1.01840365896e-05,2.98514910962e-05,1793244412483504128
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.953356255,787.953356255,806,652,631,652,0.410393548321,-0.0155701748839,0.0500015490364,0.999999988541,0.000148287607094,-3.00013260671e-06,3.03229377305e-05,1793244412500171264
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.533947614,744.466052386,714,679,659.533947614,635,879.466052386,787.466052386,806,652,631,652,0.410995973725,-0.0155703445569,0.0499715252192,0.999999987851,0.000137589307547,-6.85921437154e-05,2.57521182294e-05,1793244412516837888
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.887497937,744.112502063,714,679,660,634.887497937,879,787,806,652,630.887497937,652,0.411618236765,-0.0155702611141,0.0499467442924,0.999999984088,0.000130701921433,-0.000119390758691,2.20670351916e-05,1793244412533504512
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.314706168,744.685293832,714,679,660,634.314706168,879,787,806,652,630.314706168,652,0.412321217928,-0.0155698681937,0.0499522623717,0.999999985538,0.000141575868913,-9.11851548418e-05,2.37837164925e-05,1793244412550171136
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679.26040472,660,634.26040472,879.26040472,787,806.26040472,652,630.26040472,652,0.413051085734,-0.0155673495563,0.0499659573586,0.999999986317,0.000152569174169,-5.89572918073e-05,2.4734288339e-05,1793244412566838016
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679.838343589,660,634.838343589,879.838343589,787,806.838343589,652,630.838343589,652,0.413813738859,-0.0155622388471,0.0499896231617,0.999999986055,0.000163708024163,-2.18247341584e-05,2.47506764424e-05,1793244412583504640
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.425840607,745,714,679.574159393,660,634.574159393,880,787,806.574159393,652.425840607,631,652,0.414547916549,-0.0155519997494,0.0499779942517,0.999999983306,0.000176587702146,-4.1429719687e-05,2.211077512e-05,1793244412600171264
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679.016712025,660,634.016712025,880,787.016712025,806,652.983287975,631,652,0.415272381864,-0.0155401551883,0.0499529374152,0.999999978415,0.000189773120353,-8.25453067144e-05,1.85219507364e-05,1793244412616837632
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679.596224039,660,634.596224039,880,787.596224039,806,652.403775961,631,652,0.416042163216,-0.0155413117376,0.0499372490087,0.999999976075,0.000190488843808,-0.000106065582376,1.77148878177e-05,1793244412633504512
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.826408837,745,714,679.826408837,660,634.826408837,880,787.826408837,806,652,630.826408837,652,0.416828658616,-0.0155439680571,0.0499349168671,0.999999976287,0.000188957801487,-0.000106736016878,1.81462193087e-05,1793244412650171136
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.253969904,745,714,679.253969904,660,634.253969904,880,787.253969904,806,652,630.253969904,652,0.417653556621,-0.0155500702894,0.0499632724435,0.999999981653,0.000182264528936,-5.49060343701e-05,2.14229194588e-05,1793244412666838016
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.328174791,745,714,679.328174791,660,634.328174791,880,787,805.671825209,652,630.328174791,652,0.41847701199,-0.0155542676258,0.0499780147128,0.999999983295,0.000177925506882,-3.46828042543e-05,2.34318171535e-05,1793244412683504640
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.918059526,745,714,679.918059526,660,634.918059526,880,787,805.081940474,652,630.918059526,652,0.419299316859,-0.0155569458623,0.0499819007604,0.999999983521,0.000175463932386,-3.96650512902e-05,2.44296787864e-05,1793244412700171264
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.501196654,880,787,805.498803346,652,631,652,0.420137060142,-0.0155548649087,0.0499711547706,0.999999982453,0.000180175564464,-4.54195285854e-05,2.38427192657e-05,1793244412716837888
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.07795448,879.92204552,787,806,652,631,652,0.42098599304,-0.0155526949287,0.0499631349535,0.999999981558,0.000185416148794,-4.42456947828e-05,2.33723143292e-05,1793244412733504256
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.656347249,879.343652751,787,806,652,631,652,0.421890770654,-0.0155548820497,0.0499877690718,0.999999982264,0.000186623834129,2.20500071899e-06,2.52913862268e-05,1793244412750170624
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.767805954,745,714,680,660,634.767805954,879.232194046,787,806,652,631,651.767805954,0.42276866542,-0.015555276194,0.049997781292,0.999999981524,0.000189330588232,2.00875007759e-05,2.65202532116e-05,1793244412766837504
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.195686303,745,714,680,660,634.195686303,879.804313697,787,806,652,631,651.195686303,0.423607204583,-0.0155530454705,0.0499863874651,0.999999980772,0.000194231937755,-3.85303326626e-06,2.67386798002e-05,1793244412783504384
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,652,631,651.388720583,0.424486518412,-0.0155535936992,0.0499825391383,0.999999981002,0.000192867358343,-9.05144633664e-06,2.67792087499e-05,1793244412800172800
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,652,631,651.979514869,0.425387028619,-0.0155555865469,0.0499826132882,0.999999981914,0.000188245478926,-4.50689623244e-06,2.6727258836e-05,1793244412816841728
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.558575167,745,714,680,660,634.558575167,880,787,806,652,631,652,0.426289027488,-0.0155615962478,0.0500050146587,0.99999998148,0.000189189824646,1.7983357005e-05,3.04026941564e-05,1793244412833506304
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.863295315,745,714,680,660,634.863295315,880,787,806,652,631,652,0.427170757751,-0.0155640891782,0.0500137317809,0.999999980854,0.000192166402189,1.7452688469e-05,3.25620569389e-05,1793244412850171392
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.286804279,745,714,680,660,634.286804279,880,787,806,652,631,652,0.42798711074,-0.0155548043025,0.0499758459266,0.999999977606,0.000201037576522,-5.92112354514e-05,2.94134162399e-05,1793244412866837760
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.295129934,880,787,806,652.295129934,631,652,0.428837042307,-0.0155512117376,0.0499557909326,0.999999974515,0.000205218642121,-8.9899157499e-05,2.77967459161e-05,1793244412883504128
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.882453127,880,787,806,652.882453127,631,652,0.42972021828,-0.015553254843,0.0499533893764,0.999999975836,0.000204756267999,-7.50685551968e-05,2.76968024871e-05,1793244412900170752
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.462528814,745,714,680.462528814,660.462528814,634.537471186,880.462528814,787,806,652.537471186,631,652,0.430613602943,-0.0155524758252,0.0499570754314,0.999999976524,0.000203809690273,-6.78769887357e-05,2.83810790331e-05,1793244412916837632
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.959524139,744.959524139,714,680.959524139,660.959524139,634,880.959524139,787,806,652,631,652,0.431505266171,-0.0155507562297,0.0499606085971,0.999999976837,0.000203207867864,-6.47067708962e-05,2.9069975989e-05,1793244412933504512
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.385730503,744.385730503,714,680.385730503,660.385730503,634,880.385730503,787,806,652,631,652,0.432340589197,-0.0155459477483,0.0499420568216,0.999999973851,0.000208744995219,-8.93372476101e-05,2.72342319633e-05,1793244412950171392
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.189857949,714,680,660,634,880.189857949,787,806,652,631,652,0.433190695311,-0.0155435747483,0.0499385066434,0.999999972589,0.000213864064698,-9.13609847504e-05,2.71356349683e-05,1793244412966838016
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.7691278,714,680,660,634,880.7691278,787,806,652,631,652,0.434071122725,-0.01554619709,0.0499657257843,0.999999974637,0.000218125669261,-4.70167259622e-05,3.0600047413e-05,1793244412983504896
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.354498188,745,714,680.354498188,660.354498188,634,881.354498188,787,806,652,631,652,0.434903418259,-0.0155460322393,0.0499814321912,0.999999974501,0.000221523599434,-2.92466110804e-05,3.27042402284e-05,1793244413000171520
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.943911175,745,714,680.943911175,660.943911175,634,881.943911175,787,806,652,631,652,0.435703818257,-0.0155440204037,0.0499895094698,0.999999973836,0.000224349199698,-2.9086348225e-05,3.39070580995e-05,1793244413016837888
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.476107135,745,714,680.476107135,661,634,880.952214269,787,806,652,631,652,0.436498082952,-0.0155414459882,0.0499663348659,0.999999971018,0.000225556922604,-7.75171765966e-05,3.28624138634e-05,1793244413033504256
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.102379207,745,714,680.102379207,661,634.102379207,880.102379207,787,806.102379207,652,631,652,0.437298831389,-0.0155396585447,0.0499494736835,0.999999967925,0.000226161891828,-0.000109419726933,3.20638782529e-05,1793244413050170880
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.678535616,745,714,680.678535616,661,634.678535616,880.678535616,787,806.678535616,652,631,652,0.438132570381,-0.0155417867475,0.0499770387395,0.999999973331,0.000224764913512,-4.11863277252e-05,3.34980574047e-05,1793244413066837504
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.746462192,745,714,680.746462192,660.746462192,634.746462192,880.746462192,787,806.746462192,652,631,652,0.438921277109,-0.0155442543917,0.0499888697465,0.999999974542,0.000222732303232,-1.19105694498e-05,3.41255445338e-05,1793244413083504384
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.17291686,745,714,680.17291686,660.17291686,634.17291686,880.17291686,787,806.17291686,652,631,652,0.439653145451,-0.0155471504681,0.0499808417249,0.999999974748,0.000219897419153,-3.18059373552e-05,3.37348501554e-05,1793244413100171008
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.413762066,745,714,680,660.413762066,634,880,787,806.413762066,652,631,652,0.440355423489,-0.0155489835083,0.0499634385535,0.999999973764,0.000218909459785,-5.90346441812e-05,3.26444158898e-05,1793244413116837632
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634.00595414,880,787.00595414,807,652,631,652,0.441045239623,-0.015550352696,0.0499423443893,0.999999971647,0.000218700433003,-8.88703035287e-05,3.12749358387e-05,1793244413133504512
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634.583221162,880,787.583221162,807,652,631,652,0.441764765156,-0.0155512391123,0.0499553569326,0.999999973874,0.000216742598324,-6.51433433792e-05,3.21096595468e-05,1793244413150171136
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.839968759,745,714,680.160031241,660.839968759,634.839968759,880.160031241,787.839968759,806.839968759,652,631,652,0.442462469715,-0.015554091192,0.0499652688655,0.999999975833,0.00021203178642,-4.78447812842e-05,3.29838196838e-05,1793244413166837760
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.264345209,745,714,680.735654791,660.264345209,634.264345209,880.735654791,787.264345209,806.264345209,652,631,652,0.443103506563,-0.0155620479911,0.0499671286872,0.999999978273,0.000200171644303,-4.72404094054e-05,3.39603942697e-05,1793244413183504640
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.309123516,745,714,681,660.618247032,634,880.690876484,787,806.309123516,652,631,652,0.443688223494,-0.0155671013988,0.0499415463399,0.999999976999,0.000189919995748,-9.43332350006e-05,3.21630536557e-05,1793244413200171008
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.880762278,745,714,681,661.761524555,634,880.119237722,787,806.880762278,652,631,652,0.444225112137,-0.0155696891751,0.0498926594318,0.999999966671,0.000181034318821,-0.000181931686034,2.80100362039e-05,1793244413216837632
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.527283405,745,714,681,661.527283405,634,880,787,807,652,631,652,0.444770583447,-0.0155704933928,0.0498603557751,0.999999958761,0.000178458347942,-0.000223662887373,2.46096990202e-05,1793244413233504512
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.932621546,633.932621546,880.067378454,787,807,652,631,652,0.445321442554,-0.0155717012192,0.0498371722526,0.999999953904,0.000176629207137,-0.00024599663595,2.19122509562e-05,1793244413250171392
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.35789093,633.35789093,880.64210907,787,807,652,631,652,0.445895837821,-0.0155794878693,0.0498497507689,0.999999962892,0.000167901208758,-0.000213299063486,2.30136899787e-05,1793244413266838016
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714.217529686,681,660,633.217529686,880.782470314,787,807,652,631,652,0.446432628982,-0.0155872622665,0.0498535450165,0.999999967016,0.000158750373575,-0.000200539956419,2.34593735392e-05,1793244413283504640
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.794089081,681,660,633.794089081,880.205910919,787,807,652,631,652,0.446907355037,-0.0155950164398,0.0498428409503,0.999999964302,0.000148901653216,-0.000220689011501,2.28227417866e-05,1793244413300171264
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.377415109,745,714.622584891,681,660,633.622584891,880.377415109,787,807,652,631,652,0.447329145856,-0.0156000769932,0.0498136752841,0.999999954435,0.000141442903323,-0.000265887211312,2.06631612924e-05,1793244413316837888
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.964500342,745,714.035499658,681,660,633.035499658,880.964500342,787,807,652,631,652,0.447721528948,-0.015603641127,0.0497742534141,0.999999937877,0.000135311882242,-0.000325001276232,1.76575179638e-05,1793244413333504512
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,714,681,660,633,880,786,807,652,630.726272444,652,0.449287776955,-0.015615772356,0.0497717186131,0.999999936595,0.000123658098252,-0.00033336775259,1.96344764319e-05,1793244413400171264
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+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.486241392,714,681.513758608,660,632.486241392,880,785,807,652,630,652,0.451431041867,-0.0156369603337,0.0497277704307,0.999999899895,9.1693835756e-05,-0.000437497793745,1.99587911264e-05,1793244413550171136
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.909211875,745,714,681.909211875,660,632,880,785,807,652,629.909211875,651.909211875,0.451571971876,-0.0156399653433,0.0497202242863,0.999999892795,8.78916141213e-05,-0.000454179901665,2.01331090803e-05,1793244413566838016
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.333780467,745,714,681.333780467,660,632,880,785,807,652,629.333780467,651.333780467,0.45170525773,-0.0156500896054,0.0497203313292,0.999999893984,7.87378184691e-05,-0.000452982352524,2.5301829163e-05,1793244413583504640
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.241828942,745,714,681,659.758171058,632,880,785,807,652,629,651.241828942,0.451830626257,-0.0156657852616,0.0497212733391,0.999999896351,6.34068858382e-05,-0.00044983622705,3.04194899766e-05,1793244413600171008
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.817684179,745,714,681,659.182315821,632,880,785,807,652,629,651.817684179,0.451945058965,-0.0156891764069,0.0497233686475,0.999999900022,3.954378154e-05,-0.000443998629892,3.54666248403e-05,1793244413616837632
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,714.405117002,681,659.810234003,632,880.405117002,785,807,652,629.405117002,652,0.452038896067,-0.0156968341349,0.0497241521295,0.999999901362,3.23274565226e-05,-0.000441436289393,3.69377526376e-05,1793244413633504256
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,714.99791338,681,660.995826761,632,880.99791338,785,807,652,629.99791338,652,0.452123191796,-0.01569720301,0.0497243278789,0.999999901814,3.28231194654e-05,-0.000440391283954,3.67522162359e-05,1793244413650170880
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.424361288,745.575638712,715,681,660.424361288,632,880.424361288,785,807,652,629.424361288,652,0.452181841691,-0.0156910543124,0.0497198911435,0.999999898895,3.74829028342e-05,-0.000446721599412,3.52824702183e-05,1793244413666837504
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.847636832,715,681,660,632,880,784.847636832,807,652,629,652,0.452235972384,-0.0156872777955,0.0497155998953,0.999999896108,3.97673629056e-05,-0.000452807004693,3.4176047214e-05,1793244413683504384
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.273535516,715,681,660,632,880,784.273535516,807,652,629,652,0.452277844767,-0.0156901311537,0.0497117564522,0.999999893844,3.54362605758e-05,-0.000458142389688,3.40878516465e-05,1793244413700171264
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.69293007,681,660,632,880,784.30706993,807.30706993,652,629,652,0.452315498817,-0.0156914260483,0.0497100660054,0.999999893224,3.26620498745e-05,-0.00045972160612,3.37838606433e-05,1793244413716838144
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.106405353,681,660,632,880,784.893594647,807.893594647,652,629,652,0.452349313897,-0.0156913026339,0.0497103349333,0.999999894128,3.13047172959e-05,-0.000457882451064,3.32834809208e-05,1793244413733504512
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.472947025,681,660,632,880,785,807.527052975,652,629,652,0.452373966427,-0.0156915874771,0.0497103846801,0.99999989436,3.0899549106e-05,-0.000457381035585,3.35681283864e-05,1793244413750170880
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880.051054185,785,806.948945815,652,629,652,0.452395518098,-0.015691972735,0.0497102686989,0.999999894366,3.06258748992e-05,-0.000457358581176,3.39706937158e-05,1793244413766837504
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880.632740598,785,806.367259402,652,629,652,0.452405946327,-0.0156924612575,0.0497089350903,0.999999893546,2.95256330523e-05,-0.000459232813526,3.37905784894e-05,1793244413783504384
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.210325735,745.210325735,715,681,659.789674265,632,880.789674265,785,806.210325735,652,629,652,0.452414853273,-0.0156917721802,0.049707396776,0.999999892567,2.927761853e-05,-0.000461410535432,3.32956343804e-05,1793244413800171008
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.780886386,745.780886386,715,681,659.219113614,632,880.219113614,785,806.780886386,652,629,652,0.452421154643,-0.0156890661715,0.0497055078525,0.999999891317,3.04892544465e-05,-0.000464108058255,3.22614678443e-05,1793244413816837632
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.635774954,745.635774954,715,681,659.364225046,632,880.364225046,785,807,652,629,652,0.452426114816,-0.015689414249,0.0497051461369,0.999999890831,2.89895119455e-05,-0.000465249381275,3.22626690762e-05,1793244413833504256
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.044469724,745.044469724,715,681,659.955530276,632,880.955530276,785,807,652,629,652,0.452430238803,-0.015691666431,0.0497057365762,0.999999890818,2.57993301509e-05,-0.000465420473993,3.29093819802e-05,1793244413850171136
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.535954353,715,681,660,632,880.464045647,785,807,652,628.464045647,652,0.4524296097,-0.0156902694345,0.0497041718422,0.999999889468,2.74043891161e-05,-0.000468246371834,3.25273117593e-05,1793244413866838016
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.88507878,715,681,659.88507878,632,880,785,807,652,628.11492122,651.88507878,0.452428884273,-0.0156887128002,0.04970275134,0.999999888309,2.8686052033e-05,-0.000470669787904,3.20879918741e-05,1793244413883504640
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.308411661,715,681,659.308411661,632,880,785,807,652,628.691588339,651.308411661,0.452429324879,-0.0156877071077,0.049702614547,0.999999888392,2.71015036875e-05,-0.00047060861044,3.1754797705e-05,1793244413900171008
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.272745617,632.272745617,880.272745617,785,807,652,629,651.272745617,0.45243052229,-0.0156868173761,0.0497025020535,0.999999888649,2.72828648666e-05,-0.000470055186801,3.17112950732e-05,1793244413916837376
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.859065279,632.859065279,880.859065279,785,807,652,629,651.859065279,0.452432589797,-0.0156860609638,0.0497024174969,0.999999889103,2.94944817178e-05,-0.0004689358306,3.20008490687e-05,1793244413933504256
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632.560380396,880.560380396,785,807,652,629,652,0.452431744936,-0.0156859082267,0.0497009514789,0.999999888228,2.94220300087e-05,-0.000470812785864,3.18269697081e-05,1793244413950170880
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.981675924,659.981675924,632,880,785,806.981675924,652,629,652,0.452430011184,-0.0156859213595,0.0496991245762,0.999999886959,2.86141440831e-05,-0.000473571865016,3.15148715078e-05,1793244413966837248
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.40374932,659.40374932,632,880,785,806.40374932,652,629,652,0.452429275406,-0.0156851663318,0.0496996264677,0.999999886642,2.7419069207e-05,-0.00047431507336,3.1460126661e-05,1793244413983504128
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.173547552,745,715,680.173547552,659.173547552,632,880,785,806.173547552,652,629,652,0.452429407541,-0.0156845073195,0.0497000765298,0.999999886547,2.67686228377e-05,-0.000474559984273,3.13326860586e-05,1793244414000171008
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.749384643,745,715,680.749384643,659.749384643,632,880,785,806.749384643,652,629,652,0.452431551527,-0.0156840708747,0.0497004064493,0.999999886971,2.73806452377e-05,-0.000473649823565,3.10367340524e-05,1793244414016837888
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.667319939,745,715,681,660,632,880,785,807,652,629,652,0.452433311543,-0.0156845433896,0.0497011193121,0.999999887737,2.66860355592e-05,-0.000472062709444,3.1149214232e-05,1793244414033504512
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.078277173,745,715,681,660,632,880,785,807,652,629,652,0.452434775672,-0.0156857163475,0.0497021272703,0.999999888761,2.49845373367e-05,-0.000469953936183,3.15764315906e-05,1793244414050170880
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880.501897607,785,807,652,629,652,0.452433712143,-0.015684554042,0.049701650089,0.999999888132,2.70064279051e-05,-0.000471195274045,3.13442569823e-05,1793244414066837504
+245,4.083333333,HOLD_POSE2,765,745,715,681,660,632,881,785,807,652,629,651,0.452432028724,-0.0156847511374,0.0496997171268,0.999999886426,2.42811903819e-05,-0.00047500435272,3.04995823432e-05,1793244414110108928
+246,4.100000000,HOLD_POSE2,765,745,715,681,660,632,880.412918716,785,807,652.587081284,629,651.587081284,0.452434701871,-0.0156816375417,0.0497013674543,0.999999887999,2.99753917392e-05,-0.000471352041046,3.0510980049e-05,1793244414126775808
+247,4.116666667,HOLD_POSE2,765.170837147,745,715,681,660,632,880,785,807,652.658325705,629,652,0.452436188636,-0.0156801695888,0.0497024583997,0.999999888885,3.2694825953e-05,-0.000469274352482,3.07037056412e-05,1793244414143442688
+248,4.133333333,HOLD_POSE2,765.746708953,745,715,681,660,632,880,785,807,651.506582094,629,652,0.452434862628,-0.0156826032599,0.0497022231168,0.99999988822,2.83614404848e-05,-0.000470929908255,3.13263381961e-05,1793244414160109312
+249,4.150000000,HOLD_POSE2,765.675679991,745,715,681,660,632,880,784.675679991,807,651.324320009,629,652,0.452433564748,-0.0156825219418,0.049701004189,0.999999887323,2.78651415571e-05,-0.000472869263182,3.11850820433e-05,1793244414176775680
+250,4.166666667,HOLD_POSE2,765.096703307,745,715,681,660,632,880,784.096703307,807,651.903296693,629,652,0.452432288956,-0.0156804658493,0.0496990129013,0.999999886248,3.03817303833e-05,-0.000475031457636,3.04440190178e-05,1793244414193442048
+251,4.183333333,HOLD_POSE2,765,745,715,681,660,632,880,784.480782534,807,652,629,652,0.452433255027,-0.0156802457768,0.0496998171913,0.999999886746,3.05740900011e-05,-0.000473957443525,3.06144921162e-05,1793244414210108928
+252,4.200000000,HOLD_POSE2,765,745,715,681,659.940799564,632,880,785,807,652,629,652,0.452434555804,-0.0156803994719,0.0497010252278,0.999999887474,3.0204500968e-05,-0.00047242362549,3.0923950952e-05,1793244414226775808
+253,4.216666667,HOLD_POSE2,765,745,715,681,659.351355893,632,880,785,807,652,629,652,0.452434828149,-0.0156806034773,0.0497008287551,0.999999887437,2.89759190384e-05,-0.000472583583347,3.08411811964e-05,1793244414243442432
+254,4.233333333,HOLD_POSE2,765,745,715,681,659.233713902,632,880.233713902,785,806.766286098,652,629,652,0.452435065547,-0.015681336939,0.0497008851438,0.999999887545,2.75251907537e-05,-0.000472441227403,3.08492078386e-05,1793244414260109312
+255,4.250000000,HOLD_POSE2,765,745,715,681,659.812328937,632,880.812328937,785,806.187671063,652,629,652,0.45243525137,-0.0156828517407,0.0497013146904,0.999999887866,2.57466321469e-05,-0.000471852734645,3.09912264336e-05,1793244414276775936
+256,4.266666667,HOLD_POSE2,765,745,715,681,660,632,881,785,806,652,629,652,0.452435108956,-0.0156824190243,0.0497010388106,0.999999887683,2.66018743238e-05,-0.000472197234547,3.09137753369e-05,1793244414293442560
+257,4.283333333,HOLD_POSE2,765,745,715,681,660,632,881,785,806,652,629,652,0.452434808974,-0.0156810514097,0.0497004242937,0.999999887256,2.87214620416e-05,-0.000472989613848,3.07309686912e-05,1793244414310109440
+258,4.300000000,HOLD_POSE2,765,745,715,681,660,632,881,785,806.537221953,652,629,652,0.452435485962,-0.0156806335942,0.0497007422861,0.999999887541,2.8650229554e-05,-0.00047240248559,3.05391988587e-05,1793244414326776064
+259,4.316666667,HOLD_POSE2,765,745,715,680.885021461,660,632,880.885021461,784.885021461,807,652,629,652,0.452435776372,-0.0156803236135,0.0497008145189,0.99999988766,2.85284777778e-05,-0.000472169719944,3.03779516087e-05,1793244414343442432
+260,4.333333333,HOLD_POSE2,765,745,715,680.29146919,660,632,880.29146919,784.29146919,807,652,629,652,0.452434179631,-0.0156801921093,0.0496995983893,0.999999886879,2.88200714104e-05,-0.000473804592686,3.03462994493e-05,1793244414360108800
+261,4.350000000,HOLD_POSE2,765.29274569,745,714.70725431,680.29274569,660,632,880,784.29274569,807,652,629,652,0.452434551413,-0.0156798386461,0.0496997230638,0.999999886904,2.9791024697e-05,-0.000473689705463,3.03754736553e-05,1793244414376775424
+262,4.366666667,HOLD_POSE2,765.867951223,745,714.132048777,680.867951223,660,632,880,784.867951223,807,652,629,652,0.452436822554,-0.0156792710225,0.0497011414322,0.999999887704,3.14174677872e-05,-0.000471886537365,3.04633370466e-05,1793244414393442304
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,784,808,652,629,652,0.452435174542,-0.015678144528,0.0497003426905,0.999999887275,3.0268091539e-05,-0.00047290539034,2.99213037631e-05,1793244414426369536
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.580182152,745,714.580182152,680.580182152,660,632,880,784,807.419817848,652,629,652,0.452434668141,-0.0156778589039,0.0496994154991,0.999999886832,2.95501012368e-05,-0.000473890571068,2.98520301392e-05,1793244414443036416
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.836785728,745,714.836785728,680.836785728,660,632,879.836785728,784.163214272,807,652,629,652,0.452434921851,-0.0156784166458,0.0496991702491,0.999999886706,2.82771376831e-05,-0.000474222818683,3.00060918645e-05,1793244414459703040
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.24629255,745,714.24629255,680.24629255,660,632,879.24629255,784.75370745,807,652,629,652,0.452437165451,-0.0156811822367,0.0497007102544,0.999999887409,2.55513085977e-05,-0.000472845751858,3.07448235476e-05,1793244414476369664
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.338239605,680.338239605,660,632,879.676479209,785,807,652,629,652,0.452437217786,-0.0156812936163,0.0497007576905,0.999999887439,2.54654774566e-05,-0.000472788900144,3.07410339093e-05,1793244414493036032
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.918506318,680.918506318,660,632,880.837012636,785,807,652,629,652,0.452435702162,-0.0156795057766,0.0496997371196,0.999999886987,2.72686951336e-05,-0.0004736767275,3.02059336225e-05,1793244414509702656
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.505126422,681,660,632,881,785,807,652,629,652,0.452434747778,-0.0156783491181,0.0496990897004,0.999999886549,2.94817914951e-05,-0.000474474738173,3.01203381168e-05,1793244414526369280
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.929927429,632,880.929927429,785,807,652,629,652,0.452433499863,-0.0156776119657,0.0496983954115,0.999999886053,3.11875458286e-05,-0.000475409392561,3.01042552163e-05,1793244414543035904
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.35852843,632,880.35852843,785,807,652,629,652,0.452429495848,-0.015679138307,0.049696929606,0.999999885166,2.87844529247e-05,-0.000477426639892,3.00600468349e-05,1793244414559702272
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.221100443,681,659.221100443,632,880,785,807,652,629,652,0.452417424937,-0.015679809514,0.0496916547539,0.999999881104,2.69648894823e-05,-0.000485992455065,2.96012675531e-05,1793244414576368896
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.814590468,681,659.814590468,632,880,785,807,652,629,652,0.452391767313,-0.0156790404563,0.0496799644952,0.999999871445,2.61281388343e-05,-0.000505587729673,2.84442450532e-05,1793244414593035776
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.602796543,681,659.602796543,632,880,784.602796543,807,652,629,652,0.452345496706,-0.015675544788,0.0496596469715,0.999999853204,2.67749133537e-05,-0.000540531736784,2.64704513887e-05,1793244414609702400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.025125435,681,659.025125435,632,880,784.025125435,807,652,629,652,0.452289860679,-0.0156708102961,0.0496354096867,0.999999829691,2.80957209248e-05,-0.00058244937424,2.41255611864e-05,1793244414626369024
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.547636822,681,659,632,880,784.547636822,807,652,628.452363178,652,0.452220494848,-0.0156665280005,0.0496135860404,0.999999811451,3.10637036336e-05,-0.000612912598241,2.16834109159e-05,1793244414643035904
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.12445129,745,714.87554871,681,659.12445129,632,880,784.87554871,806.87554871,652,628.12445129,651.87554871,0.452149350458,-0.015662133703,0.0495946210588,0.999999795098,3.36728135313e-05,-0.000638976849029,1.94622448526e-05,1793244414659702272
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.717359396,745,714.282640604,681,659.717359396,632,880,784.282640604,806.282640604,652,628.717359396,651.282640604,0.452073861296,-0.0156572404093,0.0495860034633,0.999999787698,3.46491241076e-05,-0.000650443189015,1.80895495948e-05,1793244414676368896
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.302220877,681,660,632,880,784.302220877,806.302220877,652,629,651.302220877,0.451990668593,-0.0156520251979,0.0495834783489,0.999999785413,3.66508113069e-05,-0.000653857275103,1.73614111028e-05,1793244414693035520
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.879752189,681,660,632,880,784.879752189,806.879752189,652,629,651.879752189,0.451900458294,-0.0156465167333,0.0495865032275,0.99999978786,3.95865731797e-05,-0.000649936097863,1.72204366429e-05,1793244414709702144
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.543648019,745,715,681,660,632,880,785,806.543648019,652,629,652,0.451787097965,-0.0156405166428,0.0495893995748,0.999999789271,4.18617221862e-05,-0.000647618813365,1.71869861837e-05,1793244414726369024
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,880.033352942,785,806,652,629,652,0.451666386168,-0.0156341461247,0.0495922939743,0.999999790393,4.40881828618e-05,-0.000645738451196,1.71061249918e-05,1793244414743036160
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,880.62109377,785,806,652,629,652,0.451524665826,-0.0156237672621,0.0495957177971,0.999999791266,4.83928286125e-05,-0.000644110089287,1.57672322451e-05,1793244414759702784
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.794192755,680.794192755,660,632.205807245,880.794192755,785,806.205807245,652,628.794192755,652,0.451370686692,-0.015613605389,0.049597500891,0.999999792296,5.30057384583e-05,-0.000642170741505,1.46614673338e-05,1793244414776369152
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.214972125,680.214972125,660,632.785027875,880.214972125,785,806.785027875,652,628.214972125,652,0.451194465416,-0.0156038372192,0.0495963070724,0.999999793623,5.81779572961e-05,-0.000639667146098,1.39786859962e-05,1793244414793035776
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.362126989,745,714,680,660,632.637873011,880,785,807,652,628.362126989,652,0.450998293482,-0.0155915852486,0.0495955308284,0.999999794317,6.31866581282e-05,-0.000638136395947,1.24991758767e-05,1793244414809702656
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.937974083,745,714,680,660,632.062025917,880,785,807,652,628.937974083,652,0.45079034705,-0.0155778673876,0.0495950010286,0.999999794627,6.8098854397e-05,-0.000637179799361,1.05494523023e-05,1793244414826369280
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.488495951,745,714.511504049,680.511504049,660,632.511504049,880,785,807.511504049,652,629,652,0.450558809469,-0.0155663410641,0.0496041197266,0.999999806632,7.32681285215e-05,-0.000617468667152,9.99711075435e-06,1793244414843035904
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632.91233728,880,785,807.91233728,652,629,652,0.450319860977,-0.0155555014977,0.0496148288228,0.999999819779,7.72944453136e-05,-0.000595295674661,9.55985198466e-06,1793244414859702272
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632.319415211,880,785,807.319415211,652,629,652,0.450054612137,-0.015547095383,0.0496279914035,0.9999998336,7.4554265816e-05,-0.000571982004716,8.81364760223e-06,1793244414876369152
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.732854725,681,660,632.267145275,880,785.267145275,807,652,629,652,0.449763001203,-0.0155407184392,0.0496359363719,0.999999842791,6.92553737602e-05,-0.000556388991483,7.29310179834e-06,1793244414893036032
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.153723654,681,660,632.846276346,880,785.846276346,807,652,629,652,0.449440603294,-0.0155367112646,0.0496377879472,0.999999846983,6.09682876386e-05,-0.000549812554254,4.86824086909e-06,1793244414909702656
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880,786,807,652,629.421702855,652,0.449079280757,-0.0155374944829,0.0496375948674,0.999999846729,4.69607094837e-05,-0.000551656887894,3.2773258785e-06,1793244414926369280
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880,786,807,652,629.995790685,652,0.448703892566,-0.0155400087398,0.0496366629385,0.99999984465,3.08859957777e-05,-0.000556544119992,1.98776254189e-06,1793244414943035904
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.583826806,681,660,633,880,786,807,652.583826806,630,652,0.448292089583,-0.0155317357157,0.0496352589876,0.999999845529,2.47658064217e-05,-0.000555273470447,-8.71631189712e-07,1793244414959702528
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.830652553,681,660,633,880,786,807,652.830652553,630,652,0.447866062081,-0.015521979787,0.0496329791198,0.999999845643,1.94203492595e-05,-0.000555264400046,-4.20881958836e-06,1793244414976369664
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.251469021,681,660,633,880,786,807,652.251469021,630,652,0.447406260956,-0.0155088279257,0.049628587892,0.999999843922,1.57718716006e-05,-0.000558418540974,-8.67425206557e-06,1793244414993036544
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880.326513703,786,807,652,630,652,0.446928065356,-0.015496871807,0.0496248600208,0.999999841814,1.22491809472e-05,-0.000562199115866,-1.24174304314e-05,1793244415009702912
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,880.903575058,786,807,652,630,652,0.446435754854,-0.0154858332303,0.0496216411707,0.999999839401,8.82301154898e-06,-0.000566460380127,-1.56063934152e-05,1793244415026369280
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.462990587,745,714.462990587,681,660,633,880.537009413,786,807,652,630,652,0.445934351484,-0.0154806581463,0.0496318856241,0.999999849571,-2.19128358652e-06,-0.000548224521025,-1.74160673653e-05,1793244415043036160
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.979202025,745,714.979202025,681,660,633,880.020797975,786.020797975,807,652,630,652,0.445429110901,-0.0154766373603,0.0496458701688,0.999999862257,-1.46957328198e-05,-0.000524321378557,-1.8887917523e-05,1793244415059703040
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.366401763,745,714.366401763,681,660,633,880.633598237,786.633598237,807,652,630,652,0.444866570332,-0.015471989441,0.0496894319077,0.999999890169,-2.62844924077e-05,-0.000467572365874,-1.86202590839e-05,1793244415076369408
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.232573093,745,714,680.767426907,660,633,880.767426907,786.767426907,807,652,630.232573093,652,0.444284175541,-0.0154659602313,0.0497235895762,0.999999910181,-3.69942237985e-05,-0.000421779486673,-1.92542116214e-05,1793244415093035776
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.810989132,745,714,680.189010868,660,633,880.189010868,786.189010868,807,652,630.810989132,652,0.443672256979,-0.0154578770029,0.0497437631162,0.999999921757,-4.63968141135e-05,-0.000392278701187,-2.12288859498e-05,1793244415109702400
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,633.388490604,880,786,806.611509396,652,631,652,0.443014990498,-0.0154472253336,0.0497377362384,0.99999991737,-1.52639735028e-05,-0.000405425899543,-2.56174697591e-05,1793244415126369024
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,633.965548142,880,786,806.034451858,652,631,652,0.442335712902,-0.0154353269855,0.049718992109,0.999999902402,3.55440973515e-05,-0.000439273725895,-3.1177725306e-05,1793244415143035904
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.548124954,660.548124954,634,880,786.548124954,806.548124954,652,631,652,0.44168181377,-0.0154301375485,0.0497452510682,0.999999923482,1.95739926202e-05,-0.000389345261397,-3.26018588652e-05,1793244415159702528
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.869237431,745,714,681,660.869237431,634,880.130762569,787,806.869237431,652,631,652,0.441020170668,-0.0154273190589,0.0497774879194,0.999999944803,-1.70054400757e-06,-0.00033058765926,-3.32012850496e-05,1793244415176369152
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.287598621,745,714,681,660.287598621,634,880.712401379,787,806.287598621,652,631,652,0.440326270025,-0.0154312069505,0.0498204843946,0.999999965408,-2.66453943253e-05,-0.000259727753197,-3.18625914171e-05,1793244415193036032
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.708550224,660,634,880.708550224,787,806,652,631,652,0.439577308909,-0.0154308317269,0.0498296881275,0.999999967926,-4.60827950063e-05,-0.000246752101807,-3.37349180747e-05,1793244415209702912
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.132035423,660,634,880.132035423,787,806,652,631,652,0.438774493438,-0.0154262867799,0.0498058394162,0.999999955277,-6.01334000407e-05,-0.000290392634654,-3.8747921548e-05,1793244415226369536
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.443171494,745,714,680,660,634,880,787,806,652,631,652,0.437946388274,-0.0154209391697,0.0497756186316,0.999999937599,-7.1938249327e-05,-0.000343083895515,-4.38237384444e-05,1793244415243035904
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.981500634,745,714,680,660,634,880,787,806.018499366,652,630.981500634,652,0.437111392969,-0.0154155111216,0.0497454745262,0.999999917268,-8.25297820497e-05,-0.000395315959309,-4.87714570189e-05,1793244415259703040
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.390402368,745,714,680,660,634,880,787,806.609597632,652,630.390402368,652,0.436295658484,-0.0154149734802,0.0497762923821,0.999999934595,-7.62151490957e-05,-0.000350117162488,-4.9176700211e-05,1793244415276369408
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,880,787,806.803387793,652,630.196612207,652,0.435460908216,-0.0154130617276,0.0497942036783,0.999999943297,-6.07379408342e-05,-0.000327967974914,-4.64079973605e-05,1793244415293036032
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,880,787,806.224317026,652,630.775682974,652,0.434589167677,-0.0154084769944,0.0497870085754,0.999999937442,-2.74372956831e-05,-0.000350655886838,-3.74651975928e-05,1793244415309702656
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.352893058,745,714,680,660,634,880,787,806,652,631,652,0.433734206272,-0.0154034054744,0.0497846949178,0.999999938417,-1.2358796168e-05,-0.000349117628792,-3.36251635924e-05,1793244415326369536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.928926578,745,714,680,660,634,880,787,806,652,631,652,0.432889854641,-0.0153980261506,0.0497854678838,0.999999944218,-8.80247979085e-06,-0.000332260738452,-3.30116981241e-05,1793244415343036416
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.496235506,745,714,680,660,634,880,787,806,652,631,652,0.43203990706,-0.0153998415474,0.0498070195843,0.999999953333,-2.34433338443e-05,-0.000302755638452,-3.3525884926e-05,1793244415359703040
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,880,787,806,652,631,652,0.431176057129,-0.0154021574426,0.0498239335921,0.999999958955,-3.70671431744e-05,-0.000281960119318,-3.48572651276e-05,1793244415376369408
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,880,787,806,652,631,652,0.43022923367,-0.0154012329973,0.0497930025299,0.999999945154,-2.80517950111e-05,-0.000327531392114,-4.03546742574e-05,1793244415393036032
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.742362815,714,680,660,634,880.257637185,787,806,652,631,652,0.429300884671,-0.0154009088848,0.0497737614645,0.999999935832,-3.19524529602e-05,-0.000354038882041,-4.44054237241e-05,1793244415409702656
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.165775476,714,680,660,634,880.834224524,787,806,652,631,652,0.428395406588,-0.0154013279732,0.0497689923987,0.999999933862,-5.18428907126e-05,-0.000356945761761,-4.6665235616e-05,1793244415426369280
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744.410922094,714,680,660,634,880.589077906,787,806,652,631,652,0.427471109005,-0.0153989275784,0.0497705725245,0.999999929288,-5.73251682991e-05,-0.000368842666508,-4.57472478561e-05,1793244415443036160
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744.987664111,714,680,660,634,880.012335889,787,806,652,631,652,0.42653921722,-0.015395389434,0.049774714748,0.999999923559,-5.69933012212e-05,-0.000384367327441,-4.35469183617e-05,1793244415459703040
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,880,786.423859763,806,652,631,652,0.425670888432,-0.0153941791353,0.04977286634,0.999999931712,-4.92894775037e-05,-0.000363538324482,-4.45802876083e-05,1793244415476369920
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744.837943033,714,680,660,634,880,786.162056967,806,652,631,651.837943033,0.424803049079,-0.0153956615859,0.0497828789456,0.999999944284,-4.42934022448e-05,-0.000327819731709,-4.47798069581e-05,1793244415493036544
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.259265433,714,680,660,634,880,786.740734567,806,652,631,651.259265433,0.423932896482,-0.0154039358331,0.0498237207885,0.999999965268,-4.66727069999e-05,-0.000255865239314,-4.26539427416e-05,1793244415509702912
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.319060365,714,680,660,634.319060365,880,787,806,652,631,651.319060365,0.4230402729,-0.0154065310431,0.049836791767,0.999999970182,-5.49498137337e-05,-0.000234036235919,-4.29252498618e-05,1793244415526369280
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744.897100578,714,680,660,634.897100578,880,787,806,652,631,651.897100578,0.422129409763,-0.0154045166038,0.049827321259,0.99999996469,-6.80141395513e-05,-0.000252893868389,-4.51423302815e-05,1793244415543036160
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.4808945,745,714,680.4808945,660,634.5191055,879.5191055,787,805.5191055,652,630.5191055,652,0.421235956466,-0.0154040555135,0.0498024295532,0.999999952202,-7.7306816637e-05,-0.000295570696195,-4.75207619455e-05,1793244415559702784
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.934748569,745,714,680.869497137,659.934748569,634,879,787,805,652,630,652,0.420349717215,-0.0154035532691,0.0497797080692,0.999999938875,-8.35207709408e-05,-0.000335898960524,-4.94647335663e-05,1793244415576369152
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.355769657,745,714,679.711539315,659.355769657,634,879,787,805,652,630,652,0.419490590603,-0.0154000785025,0.0498003665425,0.999999945991,-7.19265916169e-05,-0.000317124286514,-4.7713071327e-05,1793244415593036032
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.776866109,714,679.223133891,659.223133891,634,879,787,805.223133891,652,630.223133891,652,0.418615489223,-0.0153965026218,0.0498049634054,0.99999994504,-6.30801174431e-05,-0.000322035359729,-4.72584094953e-05,1793244415609702656
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.19808259,714,679.80191741,659.80191741,634,879,787,805.80191741,652,630.80191741,652,0.417714925776,-0.0153927655762,0.0497839599212,0.999999930585,-5.86131657986e-05,-0.000364698772809,-4.88710160763e-05,1793244415626369536
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.381752697,714,680,659.618247303,634,879.381752697,787,805.618247303,652,631,652,0.416909331949,-0.0153962343408,0.0497828304614,0.999999931487,-6.89794628949e-05,-0.00036024667063,-4.99026664492e-05,1793244415643036160
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.962135194,714,680,659.037864806,634,879.962135194,787,805.037864806,652,631,652,0.416153151833,-0.0154034523616,0.0497920416592,0.999999940055,-8.70636500078e-05,-0.000331279885294,-5.06320393011e-05,1793244415659702528
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.544963665,745,714,679.455036335,659,634,879.455036335,787,805,652,630.455036335,652,0.415386298031,-0.0154048772969,0.0498123102561,0.999999951356,-9.23412717793e-05,-0.000293854519216,-4.91015287831e-05,1793244415676368896
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.87286934,745,714,679.12713066,659.12713066,634,879,787,805.12713066,652,630,652,0.414610654999,-0.0154054177088,0.0498231556076,0.999999956611,-9.56572214058e-05,-0.000274396004685,-4.83176525351e-05,1793244415693035776
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.293661648,745,714,679.706338352,659.706338352,634,879,787,805.706338352,652,630,652,0.413806406578,-0.0154042505376,0.0497977475339,0.999999942686,-9.51759179061e-05,-0.000320927007461,-5.07496903915e-05,1793244415709702400
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.716876685,714,680,659.716876685,634,879,787,806,652,630.283123315,652,0.413028612508,-0.0154028666925,0.0497809433636,0.999999932934,-9.13140584888e-05,-0.00035076521586,-5.25095960374e-05,1793244415726369280
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.142583343,714,680,659.142583343,634,879,787,806,652,630.857416657,652,0.412278024704,-0.0154012600154,0.0497729876318,0.999999928996,-8.39755637933e-05,-0.000363436197876,-5.35782665807e-05,1793244415743036160
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.433503524,714,680,659.433503524,634,879.433503524,787,805.566496476,652,631,652,0.411591258953,-0.0154002099113,0.049793865952,0.999999938376,-8.27402316236e-05,-0.000337232110401,-5.17362289618e-05,1793244415759703040
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.989876487,659.989876487,634,879.989876487,787,805,652.010123513,631,652,0.410925515627,-0.0153993544134,0.0498235094954,0.999999950532,-8.35964535606e-05,-0.000299243138351,-4.90040800376e-05,1793244415776369664
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.837300911,714,679.162699089,659.325398178,634,879,787,805.162699089,652.837300911,631,652,0.40960510088,-0.0153983485096,0.0497992225296,0.999999937237,-9.29077047761e-05,-0.000337963488398,-5.17195915334e-05,1793244415809702912
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.242285956,714,679.757714044,660.515428089,634,879,787,805.757714044,652.242285956,631,652,0.40899966104,-0.0153962835562,0.049789483235,0.999999933151,-9.49170694975e-05,-0.00034897770409,-5.38820935735e-05,1793244415826369280
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.34018919,714,679.65981081,660.31962162,634,879.34018919,787,806,652.34018919,631,652,0.408423238193,-0.015399414897,0.0497970601016,0.99999993754,-9.80054403046e-05,-0.000335420753595,-5.29949182961e-05,1793244415843035904
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.914050833,714,679.085949167,659.171898334,634,879.914050833,787,806,652.914050833,631,652,0.407866746855,-0.0154061155191,0.0498165312616,0.999999947056,-0.000101834969099,-0.000304986121022,-5.0012950888e-05,1793244415859702528
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.489394731,745,714,679.489394731,659,634,880,787,805.510605269,653,631,652,0.407339909715,-0.0154071509632,0.0498239878871,0.999999949002,-0.000102727390448,-0.000298367225025,-4.91948156019e-05,1793244415876368896
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.341673438,745,714,679.341673438,659,634,879.341673438,787,805.658326562,653,630.341673438,652,0.406304906268,-0.0154019715402,0.0498022250184,0.999999935119,-9.80253979374e-05,-0.00034275227161,-5.17140602134e-05,1793244415909702656
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.244810909,745,714,679.244810909,659.244810909,634.244810909,879,787,806,652.755189091,630.244810909,652,0.405809738178,-0.0154000021404,0.0497819100971,0.999999922804,-9.8154549645e-05,-0.000376617084134,-5.40162904281e-05,1793244415926369280
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.824397185,745,714,679.824397185,659.824397185,634.824397185,879,787,806,652.175602815,630.824397185,652,0.405340629472,-0.0154017445941,0.0497663762317,0.999999913117,-0.000104646577301,-0.000399612550888,-5.58950323755e-05,1793244415943035904
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.027657088,745,714,679.027657088,660,634.027657088,879.972342912,787,805.027657088,652.972342912,631,652,0.404533798034,-0.015401941388,0.049782848464,0.999999924986,-0.00010659300032,-0.000368433392048,-5.40684766484e-05,1793244415976369152
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.126926695,745,714,680,659.126926695,634.126926695,879,787,805.873073305,652,631,652,0.403888389539,-0.0154132076875,0.0498343011414,0.999999949344,-0.000115580778062,-0.000292646292019,-4.80667124142e-05,1793244416009702656
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.71997936,745,714,680,659.71997936,634.71997936,879,787,805.28002064,652,631,652,0.403591975211,-0.0154159651607,0.0498503257142,0.999999955658,-0.000119131932055,-0.000268960530274,-4.63855470778e-05,1793244416026369280
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.544841147,659,634.544841147,880,787,805.544841147,653,630,652,0.402721512944,-0.0154147414511,0.0498280945786,0.999999939734,-0.000123150941662,-0.000320881844183,-4.89944579889e-05,1793244416076369664
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.032382096,745,714,679.032382096,659,634.032382096,879.967617904,787,805.032382096,652.967617904,630,652,0.402460067798,-0.0154131356985,0.0498154209678,0.999999932438,-0.000122592759148,-0.000342809067576,-5.07581356238e-05,1793244416093036032
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.790787314,745,714,680,659,634.790787314,879,787,806,652.209212686,630.209212686,652,0.402052875475,-0.0154138720232,0.0498054402809,0.999999926586,-0.000115604043248,-0.000362152953621,-4.80570668474e-05,1793244416126369024
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.21030454,745,714,680,659,634.21030454,879,787,806,652.78969546,630.78969546,652,0.401886626363,-0.015411251024,0.049805749912,0.999999929771,-0.000106966063235,-0.000356033861191,-4.75080457596e-05,1793244416143035648
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.365997022,745,714,680,659.365997022,634,879,787,805.634002978,653,631,652,0.40174483924,-0.0154117234153,0.0498108522549,0.999999933998,-0.000105032435202,-0.000344673092613,-4.66178465045e-05,1793244416159702528
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.93992322,745,714,680,659.93992322,634,879,787,805.06007678,653,631,652,0.401616949378,-0.0154139532146,0.0498186774195,0.999999938688,-0.000106907663515,-0.000330334437432,-4.55338180322e-05,1793244416176369152
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.484833774,745,714,680,659.484833774,634,879,787,805.515166226,653,630.484833774,652,0.401508827619,-0.0154140192516,0.04982376153,0.999999942096,-0.000108189415252,-0.000319454566599,-4.52880710521e-05,1793244416193036032
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.906626185,659,634.093373815,879,787,806,653,630.093373815,652,0.401407173814,-0.0154147898192,0.0498284526729,0.999999945002,-0.00011051676165,-0.000309427003456,-4.51307837758e-05,1793244416209702656
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.313371561,659,634.686628439,879,787,806,653,630.686628439,652,0.401327773377,-0.0154206864437,0.0498327557027,0.999999946392,-0.000118813208518,-0.00030179741406,-4.49223802937e-05,1793244416226369280
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.728584092,879,787,805.728584092,652.728584092,631,652,0.401253879702,-0.0154252448632,0.0498341518465,0.999999946534,-0.000124929085725,-0.00029885549251,-4.48313227847e-05,1793244416243036160
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.153276921,879,787,805.153276921,652.153276921,631,652,0.401186151685,-0.0154283049591,0.0498322932906,0.999999945375,-0.00012860348408,-0.000301162126373,-4.48716519022e-05,1793244416259702784
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879.421046995,787.421046995,805.421046995,652.421046995,631,652,0.401135386201,-0.0154306949611,0.049832629337,0.999999945062,-0.000132839621928,-0.000300335428932,-4.50314682209e-05,1793244416276369408
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879.99501379,787.99501379,805.99501379,652.99501379,631,652,0.40109078133,-0.0154328415922,0.0498337624396,0.999999945041,-0.000137279777517,-0.000298370738755,-4.52346810216e-05,1793244416293036032
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.588879743,879.411120257,788,805.411120257,653,631,652,0.401057224572,-0.0154315165983,0.0498322345022,0.99999994523,-0.000133762692395,-0.000299321730336,-4.5320977461e-05,1793244416309702400
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.177976316,745,714,679.177976316,659,635,879,787.822023684,805,653,631,652,0.401028916575,-0.0154313202664,0.0498318920192,0.999999945725,-0.000132096523748,-0.000298433729268,-4.51384698169e-05,1793244416326369024
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.66648613,745,714,679.66648613,659,634.66648613,879,787,805.33351387,652.66648613,631,652,0.400999422656,-0.015434283192,0.0498365713211,0.999999948096,-0.000135180540421,-0.000289134998756,-4.39952703758e-05,1793244416359702528
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.939492706,745,714,679.060507294,659,635,879.939492706,787,806,653,631,652,0.400979193716,-0.0154340609603,0.0498417901658,0.999999950696,-0.000132930617499,-0.000281273262085,-4.2705061924e-05,1793244416409702656
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..beeb3c405e27a6d653d8b0965ab6cc1dfe80283d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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+335,5.583333333,pose2_to_pose3_retreat,0.589275474496,-0.0101222508734,1.04005092977,0.559847109104,-0.00144656028792,1.039717422
+336,5.600000000,pose2_to_pose3_retreat,0.588608948021,-0.0101221798001,1.04005067743,0.559180580636,-0.00144649600306,1.03971716894
+337,5.616666667,pose2_to_pose3_retreat,0.587958743674,-0.0101224456308,1.04005100788,0.558530379753,-0.00144675031185,1.03971749339
+338,5.633333333,pose2_to_pose3_retreat,0.587324029801,-0.0101223111328,1.04005096605,0.557895664645,-0.0014466201638,1.03971744737
+339,5.650000000,pose2_to_pose3_retreat,0.586693884376,-0.0101221585472,1.04005105226,0.557265518545,-0.00144646953984,1.03971754204
+340,5.666666667,pose2_to_pose3_retreat,0.5860647138,-0.0101222012515,1.04005102272,0.556636348233,-0.00144651126778,1.03971751465
+341,5.683333333,pose2_to_pose3_retreat,0.58544859386,-0.0101222292178,1.04005090803,0.55602022749,-0.00144654202947,1.03971739807
+342,5.700000000,pose2_to_pose3_retreat,0.584850344948,-0.0101220947519,1.0400509004,0.555421976875,-0.00144641321634,1.03971739357
+343,5.716666667,pose2_to_pose3_retreat,0.584274106165,-0.0101221882315,1.04005093838,0.554845739812,-0.00144650103797,1.03971742691
+344,5.733333333,pose2_to_pose3_retreat,0.583718531824,-0.0101220913259,1.04005113709,0.554290164021,-0.00144640904554,1.03971762572
+345,5.750000000,pose2_to_pose3_retreat,0.583186386656,-0.0101221559898,1.04005114213,0.553758019596,-0.00144647114125,1.03971763201
+346,5.766666667,pose2_to_pose3_retreat,0.582672331356,-0.0101221568742,1.04005115404,0.553243963992,-0.00144647314674,1.03971764152
+347,5.783333333,pose2_to_pose3_retreat,0.58217601468,-0.0101221716465,1.04005104699,0.552747647805,-0.00144648635249,1.03971753219
+348,5.800000000,pose2_to_pose3_retreat,0.581702744983,-0.0101222421461,1.04005099715,0.552274378991,-0.00144655375993,1.03971748486
+349,5.816666667,pose2_to_pose3_retreat,0.581250784269,-0.0101223032684,1.04005112545,0.551822418394,-0.00144661426389,1.03971761889
+350,5.833333333,pose2_to_pose3_retreat,0.580813787702,-0.0101221870719,1.04005113745,0.551385421479,-0.00144649935582,1.03971762824
+351,5.850000000,pose2_to_pose3_retreat,0.580390160638,-0.0101223004419,1.04005094015,0.550961796289,-0.00144660647037,1.03971742825
+352,5.866666667,pose2_to_pose3_retreat,0.579980493519,-0.0101221361081,1.04005094767,0.550552125434,-0.00144645430506,1.03971744918
+353,5.883333333,pose2_to_pose3_retreat,0.579589083884,-0.0101222107396,1.04005083263,0.550160715973,-0.00144652848926,1.03971733053
+354,5.900000000,pose2_to_pose3_retreat,0.579218797177,-0.0101222817101,1.04005082706,0.549790430341,-0.00144659594416,1.03971732157
+355,5.916666667,pose2_to_pose3_retreat,0.578878904581,-0.010122244374,1.04005094302,0.549450537813,-0.00144655849708,1.03971743426
+356,5.933333333,pose2_to_pose3_retreat,0.578567779788,-0.0101221839141,1.04005103428,0.549139412499,-0.00144649994821,1.0397175215
+357,5.950000000,pose2_to_pose3_retreat,0.578284766538,-0.0101221883142,1.04005101046,0.548856398883,-0.001446505426,1.03971750198
+358,5.966666667,pose2_to_pose3_retreat,0.5780205868,-0.0101222597102,1.04005091369,0.548592220855,-0.00144657102026,1.03971740537
+359,5.983333333,pose2_to_pose3_retreat,0.577771409605,-0.010122197151,1.04005088629,0.548343043588,-0.00144650855601,1.03971738178
+360,6.000000000,pose2_to_pose3_retreat,0.577531309476,-0.0101222314677,1.04005076675,0.54810294342,-0.00144654309233,1.03971725991
+361,6.016666667,pose2_to_pose3_retreat,0.577300549484,-0.0101222927517,1.04005087705,0.547872183889,-0.00144660295367,1.03971736654
+362,6.033333333,pose2_to_pose3_retreat,0.577083559982,-0.0101222909875,1.04005101559,0.547655194681,-0.00144660006834,1.03971750829
+363,6.050000000,pose2_to_pose3_retreat,0.576883237188,-0.0101222478214,1.04005078442,0.547454871054,-0.00144655955977,1.03971728164
+364,6.066666667,pose2_to_pose3_retreat,0.576704852533,-0.0101221755419,1.04005092301,0.547276485278,-0.00144649133037,1.03971741371
+365,6.083333333,pose2_to_pose3_retreat,0.576547584469,-0.0101222219225,1.04005101523,0.547119218137,-0.00144653447094,1.03971750883
+366,6.100000000,pose2_to_pose3_retreat,0.576412048141,-0.0101222909727,1.04005104927,0.546983681659,-0.00144660444261,1.03971753219
+367,6.116666667,pose2_to_pose3_retreat,0.576293253949,-0.0101222455159,1.04005109,0.5468648879,-0.00144655697212,1.039717587
+368,6.133333333,pose2_to_pose3_retreat,0.576189675664,-0.0101221520939,1.0400509575,0.546761307933,-0.00144646915935,1.0397174571
+369,6.150000000,pose2_to_pose3_retreat,0.576100146287,-0.010122191682,1.04005089516,0.546671778952,-0.00144650774054,1.03971738782
+370,6.166666667,pose2_to_pose3_retreat,0.57602165697,-0.0101222739423,1.04005097958,0.546593291307,-0.00144658457329,1.03971746732
+371,6.183333333,pose2_to_pose3_retreat,0.575953042091,-0.0101221987043,1.04005113076,0.546524675929,-0.00144651065487,1.03971762569
+372,6.200000000,pose2_to_pose3_retreat,0.575893758354,-0.0101222021656,1.0400511267,0.546465392538,-0.00144651290604,1.03971762241
+373,6.216666667,pose2_to_pose3_retreat,0.575843776896,-0.0101221503265,1.04005097465,0.546415410563,-0.00144646315405,1.0397174616
+374,6.233333333,pose2_to_pose3_retreat,0.575801177343,-0.0101222455385,1.04005107378,0.546372810975,-0.00144655849688,1.0397175604
+375,6.250000000,pose2_to_pose3_retreat,0.575765948424,-0.0101221079603,1.04005102758,0.546337580503,-0.00144642613317,1.03971751561
+376,6.266666667,pose2_to_pose3_retreat,0.575738923492,-0.0101219988293,1.04005101137,0.546310554719,-0.00144631987227,1.03971749989
+377,6.283333333,pose2_to_pose3_retreat,0.575718052678,-0.0101221153526,1.04005108832,0.54628968471,-0.00144643359192,1.03971757875
+378,6.300000000,pose2_to_pose3_retreat,0.575702803842,-0.0101222021963,1.04005087416,0.546274435773,-0.00144652057245,1.03971736995
+379,6.316666667,pose2_to_pose3_retreat,0.575691855026,-0.0101222879446,1.04005100391,0.546263488876,-0.00144660010444,1.03971749209
+380,6.333333333,pose2_to_pose3_retreat,0.575684615224,-0.0101222148628,1.04005098964,0.546256248205,-0.00144653008232,1.03971747501
+381,6.350000000,pose2_to_pose3_retreat,0.575679555442,-0.0101221169449,1.04005092643,0.546251187068,-0.00144643677447,1.03971741148
+382,6.366666667,pose2_to_pose3_retreat,0.575676187016,-0.0101221536787,1.04005082863,0.546247819612,-0.00144647003527,1.03971731846
+383,6.383333333,pose2_to_pose3_retreat,0.575674083804,-0.0101221560734,1.04005079056,0.546245716761,-0.00144647110692,1.03971728298
+384,6.400000000,pose2_to_pose3_retreat,0.575672871787,-0.0101220917855,1.04005084209,0.546244504168,-0.00144640875983,1.0397173348
+385,6.416666667,pose2_to_pose3_retreat,0.575672279657,-0.0101220603777,1.04005086727,0.546243911756,-0.00144637830021,1.03971736012
+386,6.433333333,pose2_to_pose3_retreat,0.575672008334,-0.0101220459861,1.04005087881,0.546243640304,-0.00144636434314,1.03971737172
+387,6.450000000,pose2_to_pose3_retreat,0.575671931755,-0.0101220419242,1.04005088206,0.546243563689,-0.00144636040384,1.039717375
+388,6.466666667,pose2_to_pose3_retreat,0.575671790298,-0.010122034421,1.04005088808,0.546243422165,-0.0014463531272,1.03971738105
+389,6.483333333,pose2_to_pose3_retreat,0.575671647783,-0.0101220268617,1.04005089414,0.546243279581,-0.00144634579609,1.03971738714
+390,6.500000000,pose2_to_pose3_retreat,0.575671617437,-0.0101220252521,1.04005089543,0.546243249221,-0.00144634423508,1.03971738844
+391,6.516666667,pose2_to_pose3_retreat,0.575671515059,-0.0101220198217,1.04005089978,0.546243146794,-0.00144633896865,1.03971739281
+392,6.533333333,pose2_to_pose3_retreat,0.575671353646,-0.0101220216384,1.04005090104,0.546242985405,-0.00144634070503,1.03971739408
+393,6.550000000,pose2_to_pose3_retreat,0.575671170083,-0.0101220262409,1.04005090109,0.546242801893,-0.00144634513355,1.03971739414
+394,6.566666667,pose2_to_pose3_retreat,0.575670875229,-0.0101220336339,1.04005090118,0.546242507122,-0.00144635224697,1.03971739423
+395,6.583333333,pose2_to_pose3_retreat,0.575670744894,-0.0101220369019,1.04005090122,0.546242376823,-0.00144635539135,1.03971739427
+396,6.600000000,pose2_to_pose3_retreat,0.575670571485,-0.0101220412498,1.04005090128,0.546242203462,-0.00144635957489,1.03971739433
+397,6.616666667,pose2_to_pose3_retreat,0.575670306552,-0.0101220478926,1.04005090136,0.546241938604,-0.00144636596645,1.03971739441
+398,6.633333333,pose2_to_pose3_retreat,0.57567026152,-0.0101220490217,1.04005090137,0.546241893584,-0.00144636705287,1.03971739443
+399,6.650000000,pose2_to_pose3_retreat,0.575670141404,-0.0101220520334,1.04005090141,0.546241773502,-0.0014463699507,1.03971739447
+400,6.666666667,pose2_to_pose3_retreat,0.575669982389,-0.0101220570257,1.04005089764,0.546241614521,-0.00144637484008,1.0397173904
+401,6.683333333,pose2_to_pose3_retreat,0.575669870532,-0.0101220681948,1.0400508659,0.546241502607,-0.00144638630133,1.03971735613
+402,6.700000000,pose2_to_pose3_retreat,0.575669723788,-0.0101220828475,1.04005082426,0.546241355787,-0.00144640133719,1.03971731118
+403,6.716666667,pose2_to_pose3_retreat,0.575669572501,-0.0101221277349,1.04005080941,0.546241204962,-0.00144644472125,1.03971729468
+404,6.733333333,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211366,-0.00144652634688,1.03971731481
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0fd8703edec381ca8d382e2ed216948624a184fc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eeb25eee2a2394b8e5883261636c15ca14965f734ab0e7edba63341da82c2e20
+size 25727195
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e9c3d139bdbde0ce7780ccd63b47484b179f5c1
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+20,0.333333333,BASELINE,765.367970799,745,714,679.632029201,659,635,879,787,805.632029201,652.367970799,631,652,0.400975596426,-0.015440916812,0.049850998104,0.999999956535,-0.00012691933127,-0.000263023001396,-4.05042238847e-05,1793244417258617344
+21,0.350000000,BASELINE,765,745,714,680,659,635,879,787,805.789460401,652,631,652,0.400976884626,-0.0154410010576,0.0498515983637,0.99999995673,-0.000127845191392,-0.000261812514423,-4.06254615013e-05,1793244417275282944
+22,0.366666667,BASELINE,765,745,714,680,659,635,879,787,805.211909642,652,631,652,0.400977276308,-0.0154417625349,0.0498523687148,0.999999956867,-0.000128472684598,-0.000261059361784,-4.00991821548e-05,1793244417291949312
+23,0.383333333,BASELINE,765,745,714,679.636773763,659,635,879.363226237,787,805.363226237,652.363226237,631,652,0.40097679906,-0.0154409175454,0.0498519979033,0.99999995684,-0.000127573570882,-0.000261556397298,-4.04012293852e-05,1793244417308616192
+24,0.400000000,BASELINE,765,745,714,679.063037389,659,635,879.936962611,787,805.936962611,652.936962611,631,652,0.400975818218,-0.0154391415177,0.0498509657236,0.999999956714,-0.000125789702218,-0.000262777987443,-4.11833386398e-05,1793244417325282816
+25,0.416666667,BASELINE,765.526308298,744.473691702,714,679.526308298,659,635,879.473691702,787,806,652.473691702,631,652,0.400975501617,-0.0154391438441,0.0498508117328,0.999999956585,-0.000126081175866,-0.000263112882147,-4.12885952259e-05,1793244417341949440
+26,0.433333333,BASELINE,766,744.11518111,714,679.88481889,659.11518111,635,879.11518111,787.11518111,805.88481889,652.11518111,631,652,0.400975589656,-0.0154395096169,0.0498509396689,0.999999956611,-0.000126308611403,-0.000262919974283,-4.11858297578e-05,1793244417358616320
+27,0.450000000,BASELINE,766,744.694386984,714,679.305613016,659.694386984,635,879.694386984,787.694386984,805.305613016,652.694386984,631,652,0.40097697754,-0.0154404552659,0.0498517666928,0.999999957262,-0.000125246052217,-0.000261041660811,-4.05815947456e-05,1793244417375282944
+28,0.466666667,BASELINE,766,745,714,679.269163393,659.730836607,635,879.730836607,787.730836607,805,653,631,652,0.40097697987,-0.0154415282888,0.0498518262403,0.999999957353,-0.000125665325386,-0.000260551878672,-4.01868530102e-05,1793244417391949568
+29,0.483333333,BASELINE,766,745,714,679.838991896,659.161008104,635,879.161008104,787.161008104,805,653,631,652,0.400975434486,-0.0154427435928,0.0498510284892,0.99999995682,-0.000127739858205,-0.000261613135664,-4.00261227725e-05,1793244417408616448
+30,0.500000000,BASELINE,765.586827567,745,714,680,659.413172433,635,879,787.413172433,805,653,631,652,0.400975148919,-0.01544155876,0.0498508902114,0.999999956617,-0.000127496764594,-0.000262475836363,-4.02135483281e-05,1793244417425283072
+31,0.516666667,BASELINE,765.010933058,745,714,680,659.989066942,635,879,787.989066942,805,653,631,652,0.400975359512,-0.0154394286676,0.0498510116579,0.999999956544,-0.000126340906776,-0.000263260338468,-4.05380900875e-05,1793244417441949440
+32,0.533333333,BASELINE,765,745,714,679.414760202,659.414760202,634.414760202,879,787.414760202,805.585239798,653,630.414760202,652,0.400976557506,-0.0154396023705,0.0498516858822,0.999999956949,-0.000126286253936,-0.000261744957179,-4.05287142285e-05,1793244417458616064
+33,0.550000000,BASELINE,765,745,714,679,659,634.176260827,879,787.176260827,805.823739173,653,630.176260827,652,0.400977575833,-0.0154398979269,0.0498522467427,0.999999957287,-0.000126087608082,-0.000260559982422,-4.04448488934e-05,1793244417475282688
+34,0.566666667,BASELINE,765,745,714,679,659,634.754633424,879,787.754633424,805.245366576,653,630.754633424,652,0.400978140682,-0.0154403697645,0.0498525245769,0.999999957455,-0.000125511848173,-0.000260230315098,-4.02057892494e-05,1793244417491949568
+35,0.583333333,BASELINE,765.327923093,745,714,679.327923093,659.327923093,634.672076907,879,788,805,653,631,652,0.400978120051,-0.0154403079495,0.0498527456386,0.999999957636,-0.000125024353331,-0.000259765698757,-4.02320053481e-05,1793244417508616448
+36,0.600000000,BASELINE,765.897467604,745,714,679.897467604,659.897467604,634.102532396,879,788,805,653,631,652,0.400977668026,-0.015439852927,0.0498529248689,0.999999957826,-0.000124601894197,-0.000259201648782,-4.04536828028e-05,1793244417525283072
+37,0.616666667,BASELINE,765.513043455,745,714,680,659.513043455,634.486956545,879.486956545,787.513043455,805.486956545,653,631,652,0.400977788826,-0.0154394980751,0.0498529759247,0.999999957747,-0.0001248337708,-0.000259407419732,-4.03895774539e-05,1793244417541949440
+38,0.633333333,BASELINE,765,745,714,679.92091925,659,634.92091925,879.92091925,787,805.92091925,653,631,652,0.400977792163,-0.0154392318279,0.0498528411506,0.999999957564,-0.000125099855929,-0.000259990445496,-4.03275366991e-05,1793244417558616064
+39,0.650000000,BASELINE,765,745,714,679.339862091,659,634.339862091,879.339862091,787,805.339862091,653,631,652,0.40097625159,-0.0154393884109,0.0498517054213,0.999999957107,-0.000124671187044,-0.000261895309891,-4.06768748502e-05,1793244417575282688
+40,0.666666667,BASELINE,765,745,714,679,659.23770878,634.23770878,879,787.23770878,805,653,631,652,0.400975640067,-0.0154400172264,0.0498513519884,0.999999956879,-0.00012501495356,-0.000262594466236,-4.06994966955e-05,1793244417591949312
+41,0.683333333,BASELINE,765,745,714,679,659.810367177,634.810367177,879,787.810367177,805,653,631,652,0.400976337645,-0.0154413114533,0.0498521008701,0.999999956979,-0.000126447139895,-0.000261594688809,-4.02617505816e-05,1793244417608615936
+42,0.700000000,BASELINE,765,745,714.386150138,679.386150138,659.613849862,635,879,788,805.386150138,653,631,652,0.400976318047,-0.0154412961339,0.0498521498079,0.999999956988,-0.000126475161323,-0.000261548405914,-4.02612353032e-05,1793244417625282560
+43,0.716666667,BASELINE,765,745,714.963480029,679.963480029,659.036519971,635,879,788,805.963480029,653,631,652,0.40097594338,-0.0154406324689,0.0498518522091,0.999999956952,-0.000125807992227,-0.000261974190339,-4.04771894231e-05,1793244417641949184
+44,0.733333333,BASELINE,765,745,714.443825491,679.443825491,659,635,879,788,806,653,631,652,0.400976080451,-0.0154398876728,0.0498518961886,0.999999957099,-0.00012625838095,-0.000261170486912,-4.06414978127e-05,1793244417658616064
+45,0.750000000,BASELINE,765.144651643,745,714,679.144651643,659,635,879.144651643,787.855348357,806,652.855348357,631,652,0.400976272241,-0.01543989484,0.0498520495694,0.999999957189,-0.000126987005299,-0.000260474039201,-4.06234088577e-05,1793244417675282688
+46,0.766666667,BASELINE,765.717570607,745,714,679.717570607,659,635,879.717570607,787.282429393,806,652.282429393,631,652,0.400976523725,-0.0154421445506,0.0498524585609,0.999999957076,-0.000128315963374,-0.000260340952739,-4.00756250979e-05,1793244417691949056
+47,0.783333333,BASELINE,766,745.29259443,714,679.70740557,659,635,879.70740557,787.29259443,806,652.29259443,631,652,0.400977077621,-0.0154421258675,0.0498530757742,0.999999957277,-0.000127969651629,-0.000259753146678,-3.996387517e-05,1793244417708615680
+48,0.800000000,BASELINE,766,745.869664776,714,679.130335224,659,635,879.130335224,787.869664776,806,652.869664776,631,652,0.400977925538,-0.0154399017312,0.0498538954318,0.999999957783,-0.000125994553339,-0.000258723237946,-4.02760605327e-05,1793244417725282560
+49,0.816666667,BASELINE,765.556506297,745.556506297,714,679,659.443493703,635,879,787.556506297,805.556506297,652.556506297,631,652,0.400977101049,-0.0154399092522,0.0498536466766,0.999999957653,-0.00012489342969,-0.000259759439575,-4.02459018466e-05,1793244417741949440
+50,0.833333333,BASELINE,765,745,714,679,659.982936966,635,879,787,805,652.017063034,631,652,0.400975833997,-0.0154405376129,0.0498530868076,0.999999957346,-0.000124062066406,-0.000261354414262,-4.01240901488e-05,1793244417758616064
+51,0.850000000,BASELINE,765,745,714,679,659.38605231,635,879,787,805,652.61394769,631,652,0.400976108387,-0.0154401381315,0.0498525471968,0.999999957355,-0.000123732866987,-0.000261453684387,-4.02818091457e-05,1793244417775282688
+52,0.866666667,BASELINE,765,745,714,679.202151201,659.202151201,635,879,787.202151201,805,653,631,652,0.400976448994,-0.0154397259687,0.0498523218481,0.999999957487,-0.000123227375918,-0.000261174365413,-4.03680236404e-05,1793244417791949312
+53,0.883333333,BASELINE,765,745,714,679.774458749,659.774458749,635,879,787.774458749,805,653,631,652,0.40097691085,-0.015439290585,0.0498526719407,0.999999957844,-0.000122399079595,-0.000260201817026,-4.03233071937e-05,1793244417808616192
+54,0.900000000,BASELINE,765,745,714,679.649729676,660,634.649729676,879,787.649729676,805.350270324,653,631,652,0.400976326475,-0.0154401954306,0.0498525868851,0.999999957737,-0.000122946170672,-0.000260378625376,-4.01671632495e-05,1793244417825282816
+55,0.916666667,BASELINE,765,745,714,679.071639058,660,634.071639058,879,787.071639058,805.928360942,653,631,652,0.400975061618,-0.0154419719787,0.0498522188037,0.999999957327,-0.000124387831315,-0.000261302990068,-3.99385454391e-05,1793244417841949440
+56,0.933333333,BASELINE,765,745,714,679,659.481624001,634,879,787,806,653,631,652,0.400976238664,-0.0154411679994,0.0498526933666,0.999999957683,-0.000124235095845,-0.000259995972903,-4.00218380877e-05,1793244417858616064
+57,0.950000000,BASELINE,765,745,714,679,659,634.107585518,879.107585518,787,805.892414482,653,631,652,0.400977574233,-0.0154404886133,0.0498531488314,0.999999958026,-0.000124277512682,-0.000258640493283,-4.01062509635e-05,1793244417875282688
+58,0.966666667,BASELINE,765,745,714,679,659,634.685890364,879.685890364,787,805.314109636,653,631,652,0.400978092092,-0.0154419514469,0.049852999224,0.999999957842,-0.000126160551307,-0.000258453977408,-4.00025238938e-05,1793244417891949312
+59,0.983333333,BASELINE,765.262570555,745,714,679,659,634.737429445,879.737429445,787,805.262570555,653,631,652,0.400977649213,-0.0154427045255,0.0498526074515,0.999999957594,-0.000127068251148,-0.000258970585186,-4.00047228735e-05,1793244417908616448
+60,1.000000000,BASELINE,765.837319221,745,714,679,659,634.162680779,879.162680779,787,805.837319221,653,631,652,0.400976064084,-0.015442613755,0.0498519277616,0.999999957269,-0.000126816341319,-0.000260323158016,-4.01328605387e-05,1793244417925283072
+61,1.016666667,BASELINE,766,744.589051875,714,679,659,634.410948125,879,787,805.589051875,653,631,652,0.400976042998,-0.0154412193614,0.0498519049197,0.999999957429,-0.000124959188838,-0.000260550559914,-4.04976775837e-05,1793244417941949440
+62,1.033333333,BASELINE,766,744.015865078,714,679,659,634.984134922,879,787,805.015865078,653,631,652,0.400976639382,-0.015439310309,0.0498521413957,0.999999957775,-0.00012246830082,-0.000260333754233,-4.09559335392e-05,1793244417958616064
+63,1.050000000,BASELINE,766,744.576691368,714.576691368,678.423308632,659.576691368,635,879,787,805,652.423308632,631,652,0.400977595838,-0.0154405005525,0.0498528912101,0.999999957918,-0.000123916386368,-0.000259182626607,-4.0411191224e-05,1793244417975282688
+64,1.066666667,BASELINE,765.834632144,745,714.834632144,678,659.834632144,635,879,787,805.165367856,652.165367856,631,652,0.400978196646,-0.0154410793794,0.0498533006303,0.999999958022,-0.000124577996113,-0.000258518244014,-4.00658775474e-05,1793244417991949312
+65,1.083333333,BASELINE,765.257003014,745,714.257003014,678,659.257003014,635,879,787,805.742996986,652.742996986,631,652,0.400977885273,-0.0154399139993,0.0498528250191,0.999999958049,-0.000122999387429,-0.000259133620742,-4.02889185253e-05,1793244418008615936
+66,1.100000000,BASELINE,765,745,714,678.318168441,659,635,879,787,806,652.681831559,630.681831559,652,0.400977230183,-0.0154395634274,0.049852615239,0.999999957944,-0.00012271727827,-0.00025963825786,-4.05129877851e-05,1793244418025282816
+67,1.116666667,BASELINE,765,745,714,678.89136988,659,635,879,787,806,652.10863012,630.10863012,652,0.400976299583,-0.0154398659781,0.0498526185403,0.999999957733,-0.000123474399098,-0.000260054129847,-4.07378812701e-05,1793244418041949696
+68,1.133333333,BASELINE,765.479783479,745,714,679.479783479,659,634.520216521,879,787,805.520216521,652,630,652,0.400975005845,-0.0154406733372,0.0498515497774,0.999999957144,-0.000124877390113,-0.000261654776697,-4.06764145586e-05,1793244418058616320
+69,1.150000000,BASELINE,765.929837356,745,714,679.929837356,659.070162644,634,879.070162644,787,805.070162644,652.070162644,630,652,0.400974084045,-0.0154413611932,0.0498506052455,0.99999995664,-0.000126204477332,-0.000262955647733,-4.05745878534e-05,1793244418075282688
+70,1.166666667,BASELINE,765.350996668,745,714,679.350996668,659.649003332,634,879.649003332,787,805.649003332,652.649003332,630,652,0.400976474396,-0.0154403268748,0.0498523788079,0.99999995743,-0.000125886348093,-0.000260074653014,-4.06656053238e-05,1793244418091949568
+71,1.183333333,BASELINE,765,744.773842357,714,679,660,634.226157643,879.773842357,787,806,653,630.226157643,652,0.400978048588,-0.0154396292014,0.049853584583,0.999999958075,-0.000125096769226,-0.000257965433784,-4.0669982164e-05,1793244418108616448
+72,1.200000000,BASELINE,765,744.199285842,714,679,660,634.800714158,879.199285842,787,806,653,630.800714158,652,0.400978365476,-0.0154394501338,0.0498539156744,0.999999958506,-0.000123580915863,-0.000257045144572,-4.054088797e-05,1793244418125283072
+73,1.216666667,BASELINE,765.376078568,744.376078568,714,679,659.623921432,635,878.623921432,787,806,652.623921432,631,652,0.400977793913,-0.015438870951,0.0498534244336,0.999999958547,-0.000122326498726,-0.00025749385664,-4.0474315558e-05,1793244418141949952
+74,1.233333333,BASELINE,765.951871972,744.951871972,714,679,659.048128028,635,878.048128028,787,806,652.048128028,631,652,0.400976750542,-0.0154380792888,0.0498524964971,0.999999958381,-0.000121210916217,-0.000258669570754,-4.04409450657e-05,1793244418158616832
+75,1.250000000,BASELINE,765.458310408,745,714,679,659,635,878.541689592,787,805.458310408,652,631,652,0.400977193414,-0.0154386980507,0.0498529718246,0.999999958486,-0.000120597539601,-0.000258607285945,-4.00779447326e-05,1793244418175283200
+76,1.266666667,BASELINE,765.128425106,745,714,679.128425106,659,635,878.871574894,787,805,652,631,652,0.400977632406,-0.0154395074385,0.0498534215522,0.999999958523,-0.000120637715506,-0.000258489706901,-3.97966855077e-05,1793244418191949568
+77,1.283333333,BASELINE,765.700107808,745,714,679.700107808,659,635,878.299892192,787,805,652,631,652,0.400977590125,-0.0154405307564,0.0498533411632,0.999999958238,-0.000122775521118,-0.00025857101246,-3.99013247824e-05,1793244418208616192
+78,1.300000000,BASELINE,766,745,714,679.723140734,659,635,878.276859266,787,805.276859266,652.276859266,631,652,0.400976818849,-0.0154409161272,0.04985309586,0.99999995792,-0.000123348639748,-0.000259512209526,-3.99742254418e-05,1793244418225282816
+79,1.316666667,BASELINE,766,745,714,679.140796478,659,635,878.859203522,787,805.859203522,652.859203522,631,652,0.400975243201,-0.0154405975907,0.0498526685915,0.999999957568,-0.000122195291227,-0.000261402206149,-4.00121058809e-05,1793244418241949696
+80,1.333333333,BASELINE,766,745,714,679,659,635,879,787,805.570509975,653,631,652,0.400975918764,-0.0154398866709,0.0498523089032,0.999999957748,-0.000121420657939,-0.000261037028159,-4.02605650158e-05,1793244418258616576
+81,1.350000000,BASELINE,766,745,714,679,659,635,879,787,805.004068286,653,631,652,0.400977312171,-0.0154390506317,0.0498519707642,0.999999958097,-0.000120766785643,-0.000259952741853,-4.05761714698e-05,1793244418275283200
+82,1.366666667,BASELINE,766,745,714,679.598595629,659,635,879.598595629,787,805,652.401404371,631,652,0.400976552525,-0.0154407179361,0.0498527112096,0.999999957837,-0.000122375853021,-0.00026030242695,-3.99198827393e-05,1793244418291949568
+83,1.383333333,BASELINE,765.807987756,745,714,680,659,635,879.807987756,787,805.192012244,652.192012244,631,652,0.400976280048,-0.0154411964692,0.0498532813782,0.999999957832,-0.000123023502106,-0.000260054236615,-3.96608414128e-05,1793244418308616192
+84,1.400000000,BASELINE,765.233512379,745,714,680,659,635,879.233512379,787,805.766487621,652.766487621,631,652,0.400977008968,-0.0154392710547,0.0498534968364,0.999999958348,-0.000121723524996,-0.000258594494393,-4.02070690163e-05,1793244418325282816
+85,1.416666667,BASELINE,765.341738318,745,714,679.658261682,659,635,879,787,806,653,631,652,0.400976726926,-0.0154392862266,0.0498529807286,0.999999958162,-0.000122342873362,-0.000258989832089,-4.03931266101e-05,1793244418341949696
+86,1.433333333,BASELINE,765.917519966,745,714,679.082480034,659,635,879,787,806,653,631,652,0.400975752516,-0.0154406304312,0.0498519635997,0.999999957494,-0.000124276693446,-0.00026065564222,-4.03325176886e-05,1793244418358616320
+87,1.450000000,BASELINE,765.493297196,745,714,679.506702804,659,635,879,787,806,653,631,652,0.400974667382,-0.015442047472,0.0498515400842,0.999999957197,-0.000125317514483,-0.000261329893116,-4.01043335231e-05,1793244418375282944
+88,1.466666667,BASELINE,765,745,714,680,659,635,879,787.096213578,805.903786422,653,631,652,0.400973944001,-0.0154429391026,0.0498513275839,0.999999957054,-0.000125871884041,-0.000261636190258,-3.99373927214e-05,1793244418391949824
+89,1.483333333,BASELINE,765,745,714,680,659,635,879,787.676108681,805.323891319,653,631,652,0.400975132279,-0.0154411281872,0.049851676934,0.999999957371,-0.000124731384992,-0.000260926170376,-4.02191864435e-05,1793244418408616448
+90,1.500000000,BASELINE,765.253264143,745,714,679.746735857,659,635,879,788,805,652.746735857,631,652,0.400976065525,-0.0154398907973,0.0498524521481,0.999999957778,-0.000123578320425,-0.000259879619959,-4.04231770955e-05,1793244418425283072
+91,1.516666667,BASELINE,765.826953415,745,714,679.173046585,659,635,879,788,805,652.173046585,631,652,0.40097667611,-0.0154393790214,0.0498537661574,0.9999999583,-0.000122409358283,-0.000258407297361,-4.05287327141e-05,1793244418441949696
+92,1.533333333,BASELINE,765.588537898,745,714,679.411462102,659.411462102,635,879,788,805,652.411462102,631,652,0.400977713609,-0.0154404985674,0.0498545421294,0.999999958645,-0.000122509877017,-0.000257075637697,-4.01801162156e-05,1793244418458616320
+93,1.550000000,BASELINE,765,745,714,679.999367022,659.999367022,634.999367022,879,787.999367022,805.000632978,652.999367022,631,652,0.400978933377,-0.0154423196905,0.0498550844168,0.999999958912,-0.000123156329493,-0.000255807137518,-3.9636139365e-05,1793244418475282688
+94,1.566666667,BASELINE,765,745,714,679.420258132,659.420258132,634.420258132,879,787.420258132,805.579741868,652.420258132,631,652,0.400978210271,-0.0154413738044,0.0498544437764,0.999999958854,-0.00012162437461,-0.00025673574566,-3.98295339019e-05,1793244418491949568
+95,1.583333333,BASELINE,765,745,714,679.158591686,659,634.158591686,879,787.158591686,806,652.158591686,631,652,0.400977476763,-0.0154406232507,0.0498538121103,0.99999995867,-0.000120884457375,-0.000257765815068,-4.00401936974e-05,1793244418508615936
+96,1.600000000,BASELINE,765,745,714,679.736756222,659,634.736756222,879,787.736756222,806,652.736756222,631,652,0.400976715739,-0.0154403894716,0.0498532041864,0.99999995816,-0.000122239968037,-0.000259064312332,-4.02965307967e-05,1793244418525282816
+97,1.616666667,BASELINE,765,745,714,679.688577065,659,635,879,787.688577065,805.688577065,652.688577065,631,652,0.400976137419,-0.0154407825335,0.0498529182918,0.999999957887,-0.000123089303734,-0.000259736647124,-4.01590141235e-05,1793244418541949696
+98,1.633333333,BASELINE,765,745,714,679.116834234,659,635,879,787.116834234,805.116834234,652.116834234,631,652,0.400975711823,-0.0154416995747,0.0498529015829,0.999999957814,-0.000123515525316,-0.000259885569687,-3.9692273215e-05,1793244418558616320
+99,1.650000000,BASELINE,765,744.529394924,714,679.470605076,659,635,878.529394924,787,805,652.470605076,631,652,0.400976531471,-0.0154419796025,0.0498536468945,0.999999958035,-0.000124273120942,-0.000258683301917,-3.96121601118e-05,1793244418575282944
+100,1.666666667,BASELINE,765,744,714,680,659,635,878.060671135,787.060671135,805.060671135,652.939328865,631,652,0.400977397503,-0.0154419965569,0.0498543237712,0.999999958266,-0.000124728847038,-0.000257563517235,-3.9648765387e-05,1793244418591949568
+101,1.683333333,BASELINE,765,744,714,680,659,635,878.638758691,787.638758691,805.638758691,652.361241309,631,652,0.400975931637,-0.0154411652178,0.0498527479647,0.999999957951,-0.00012188435593,-0.000260106681139,-3.98339381946e-05,1793244418608616192
+102,1.700000000,BASELINE,765,744.216428584,714,679.783571416,659,634.783571416,879,787.783571416,806,652.216428584,631,652,0.40097550216,-0.0154405477842,0.0498522707746,0.999999957835,-0.000121057987467,-0.000260901772134,-4.00531228987e-05,1793244418625282816
+103,1.716666667,BASELINE,765,744.793402639,714,679.206597361,659,634.206597361,879,787.206597361,806,652.793402639,631,652,0.400976799189,-0.0154402866932,0.0498536237553,0.999999958064,-0.000123593582712,-0.000258784771686,-4.03289675467e-05,1793244418641949184
+104,1.733333333,BASELINE,765,745,714,679.368839556,659,634,879,787,806,653,631,652,0.400977041749,-0.0154400143129,0.0498537156339,0.999999958157,-0.000123644112232,-0.000258407856736,-4.02922939665e-05,1793244418658615808
+105,1.750000000,BASELINE,765,745,714,679.943419107,659,634,879,787,806,653,631,652,0.400976696121,-0.0154397356356,0.0498531040653,0.999999958176,-0.000122308463637,-0.000259001567364,-4.00812966518e-05,1793244418675282688
+106,1.766666667,BASELINE,765,745,714,679.467838257,659,634.532161743,879,787,805.467838257,653,631,652,0.400976746316,-0.015441443324,0.0498533602029,0.999999957987,-0.000124176020338,-0.000258835006643,-4.01222643809e-05,1793244418691949568
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,788,806,653,631,652,0.400975741834,-0.0154408071314,0.0498526633917,0.999999957786,-0.000124277302691,-0.000259556308952,-4.01724737242e-05,1793244418733955584
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.424664574,879,787.424664574,805.424664574,653,631,652,0.400976206904,-0.0154412878421,0.0498534769501,0.999999958074,-0.000123670503088,-0.000258774188744,-3.99114009801e-05,1793244418750621952
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.15398672,744.84601328,714.15398672,679,659,634,879,787.15398672,805.15398672,652.84601328,631,652,0.400976598232,-0.0154414509876,0.0498540926294,0.999999958307,-0.000123043090831,-0.000258194050432,-3.97847749757e-05,1793244418767288320
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.741983893,744.258016107,714.741983893,679,659,634,879,787.741983893,805.741983893,652.258016107,631,652,0.400976781715,-0.0154407190782,0.0498541505884,0.999999958384,-0.00012235758182,-0.000258183196447,-4.00370860744e-05,1793244418783954944
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.325081835,715,679.325081835,659,634.325081835,879,787.674918165,805.674918165,652.325081835,631,652,0.400976735326,-0.0154412404709,0.049853932139,0.999999958267,-0.000122934947492,-0.000258372025801,-3.99712737969e-05,1793244418800621568
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.904348973,715,679.904348973,659,634.904348973,879,787.095651027,805.095651027,652.904348973,631,652,0.400976509195,-0.0154427418352,0.0498534975626,0.999999957996,-0.00012449976975,-0.000258716989903,-3.9656717101e-05,1793244418817288192
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.518881018,744.518881018,714.518881018,679.037762036,659,635,879,787.481118982,805,652.518881018,631,652,0.400977111779,-0.0154422125502,0.0498537810296,0.999999958348,-0.000123895416868,-0.000257663163613,-3.95448995548e-05,1793244418833955072
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.057269183,744.057269183,714,678.114538366,659,635,879,788,805.057269183,652.057269183,631,652,0.40097799531,-0.0154414023472,0.0498542082568,0.999999958771,-0.000123020620139,-0.000256445019351,-3.94910555439e-05,1793244418850622208
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.632281048,744.632281048,714,679.264562096,659,635,879,788,805.632281048,652.632281048,631,652,0.400979936957,-0.0154416834224,0.0498546512446,0.99999995875,-0.000123579486011,-0.000256242476395,-3.95988123475e-05,1793244418867289088
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679.787120447,659,634.787120447,879,788,806,653,631,652,0.400987798056,-0.0154419397673,0.0498577524351,0.999999960149,-0.000123598555683,-0.000250746946254,-3.93899088799e-05,1793244418883955712
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714,679.196611808,659,634.196611808,879,788,806,653,631,652,0.401006159728,-0.0154421522429,0.0498655690366,0.999999963916,-0.000122660075612,-0.000235862135227,-3.86192786949e-05,1793244418900622080
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.613591834,745,714,679,659,634.386408166,879,787.613591834,806,653,631,651.613591834,0.401043492359,-0.0154442063083,0.0498791849698,0.999999970243,-0.000121698273802,-0.000208151993393,-3.70935818251e-05,1793244418917288448
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.034309742,745,714,679,659,634.965690258,879,787.034309742,806,653,631,651.034309742,0.401090294263,-0.0154471795951,0.0498956956146,0.999999976949,-0.000120724830855,-0.000174040142887,-3.51909966566e-05,1793244418933955328
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805.451613966,653,631,651.548386034,0.40115196524,-0.0154512796114,0.049912708792,0.999999981937,-0.000123743530297,-0.000140447353114,-3.29759928775e-05,1793244418950621696
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.128162227,744.871837773,714,679,659,635,879,787,805.128162227,653,631,652,0.401216948252,-0.0154557670958,0.0499281093829,0.999999985241,-0.000126605291622,-0.000111950347735,-3.09221617232e-05,1793244418967288320
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.697157014,744.302842986,714,679,659,635,879,787,805.697157014,653,631,652,0.40129010362,-0.0154613433415,0.0499378544302,0.999999986278,-0.000128062747515,-0.000100868620881,-2.94903606914e-05,1793244418983955200
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.724738841,744.275261159,714,679.275261159,659,634.724738841,879,787,805.724738841,653,631,652,0.401368941885,-0.0154660771245,0.0499434710981,0.999999987046,-0.000128217295825,-9.30771969581e-05,-2.83824682192e-05,1793244419000622080
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.136269574,744.863730426,714,679.863730426,659,634.136269574,879,787,805.136269574,653,631,652,0.401454246474,-0.0154698523041,0.0499443902561,0.999999987604,-0.00012688932027,-8.90296711634e-05,-2.76431377756e-05,1793244419017288960
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.446989664,679.553010336,659,634.446989664,879.446989664,787,805,653,631,652,0.401557362959,-0.015476274816,0.0499456277516,0.99999998706,-0.000130610253327,-9.00134210582e-05,-2.68235010901e-05,1793244419033955328
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.943539393,679,659,634.971769697,879.971769697,787.028230303,805.028230303,653,631,652,0.401666968174,-0.0154835967862,0.049946900097,0.999999986171,-0.00013577397897,-9.24651166046e-05,-2.59512646975e-05,1793244419050621952
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713.798357053,679,659,634.399178526,879.399178526,787.600821474,805.600821474,653,631,652,0.401798192345,-0.0154928796199,0.0499469946331,0.999999985563,-0.000139420395144,-9.39869871314e-05,-2.45314033847e-05,1793244419067288832
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,713.178331847,679,659,634.178331847,879,787.821668153,805.821668153,653,631,652,0.401938860449,-0.0155018666257,0.0499462544046,0.999999984934,-0.000142537936535,-9.62659424846e-05,-2.3398906807e-05,1793244419083955456
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,713.76716565,679,659,634.76716565,879,787.23283435,805.23283435,653,631,652,0.402101267518,-0.0155101726641,0.0499435926319,0.999999984277,-0.000144438060916,-0.000100287630676,-2.29278951141e-05,1793244419100622336
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.650322103,714,679,659,634.650322103,879,787,805,652.650322103,631,652,0.402282080508,-0.0155198787881,0.0499432497798,0.999999983991,-0.000145947488024,-0.000101199203687,-2.18183594428e-05,1793244419117288960
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.071944288,714,679,659,634.071944288,879,787,805,652.071944288,631,652,0.402474931542,-0.0155305006112,0.0499444235717,0.999999983952,-0.000147201387488,-0.000100076667721,-2.02912097341e-05,1793244419133955328
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.505361939,744.505361939,714,679,659,634,879,787.505361939,805.505361939,652.505361939,630.494638061,652.505361939,0.402706302129,-0.0155411245076,0.049948339937,0.999999984665,-0.00014722022434,-9.30479386344e-05,-1.83755683536e-05,1793244419150622208
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.91844502,745,714,679,659,634,879,787.91844502,806,653,630.08155498,652.91844502,0.402948445277,-0.0155515917237,0.0499532147048,0.999999985604,-0.000146567968224,-8.39455330155e-05,-1.62401675162e-05,1793244419167289088
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.348012145,745,714,679,659,634,879,787.348012145,806,653,630.651987855,652.348012145,0.403222361826,-0.0155611179662,0.0499614990656,0.999999987423,-0.00014294462412,-6.7442134067e-05,-1.31182575132e-05,1793244419183955456
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.231983257,659,634.231983257,879,787.231983257,805.768016743,653,631,652,0.403515398563,-0.0155650044272,0.0499694657657,0.999999989976,-0.000131563666859,-5.13876056823e-05,-9.94623997687e-06,1793244419200622080
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.8269407,659,634.8269407,879,787.8269407,805.1730593,653,631,652,0.403838351816,-0.0155600665651,0.0499769354353,0.999999993491,-0.000108044707442,-3.60354066711e-05,-6.69582153274e-06,1793244419217288704
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.41120479,745,714,679.58879521,659,635,879,787.58879521,805,653,631,652,0.404181450069,-0.0155518911611,0.049982440402,0.999999996547,-7.89823035094e-05,-2.53806656233e-05,-4.86577725498e-06,1793244419233955584
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.991082536,745,714,679.008917464,659,635,879,787.008917464,805,653,631,652,0.404532811633,-0.0155423877431,0.0499871394629,0.99999999872,-4.7646022952e-05,-1.66527850887e-05,-3.6183593177e-06,1793244419250622208
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+140,2.333333333,POSE1_TO_POSE2_PRESS,765.142090124,745.857909876,714,679,659.857909876,634.857909876,879.142090124,787,806,653,631,652,0.405306970283,-0.0155309981988,0.049979033241,0.999999999701,-2.42051239917e-08,-2.35843385004e-05,-6.50555218933e-06,1793244419283955200
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.730632697,745.269367303,714,679,659.269367303,634.269367303,879.730632697,787,806,653,631,652,0.405684957538,-0.0155199726795,0.0499589228441,0.999999997169,3.1700478523e-05,-6.78538891891e-05,-7.33775032582e-06,1793244419300622080
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.68581021,745,714,679.31418979,659.31418979,634,880,787,806,652.68581021,631,652,0.406107041731,-0.0155143315799,0.0499410075288,0.999999993089,5.81809376404e-05,-0.000101922510126,-6.98282319471e-06,1793244419317288704
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.10646054,745,714,679.89353946,659.89353946,634,880,787,806,652.10646054,631,652,0.406566341493,-0.01551323465,0.0499249447462,0.999999988652,8.02355468986e-05,-0.000127382080608,-5.62602403405e-06,1793244419333955072
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.471148422,745,714,680,659.528851578,634.471148422,879.528851578,787,805.528851578,652,631,652,0.407062247794,-0.0155162932265,0.0499219184854,0.999999986429,0.000100254357733,-0.00013070606258,-2.47464186129e-06,1793244419350621952
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,714.048138679,680,659,635,879,787,805,652,630.951861321,652,0.407573059565,-0.0155200447662,0.0499240496164,0.999999984952,0.000120308666136,-0.000124977538796,1.30455420561e-06,1793244419367288832
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714.622649146,680,659,635,879,787,805,652,630.377350854,652,0.408156742572,-0.0155211440691,0.0499504827226,0.999999986554,0.000145762576386,-7.47547574644e-05,7.53092586877e-06,1793244419383955456
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714.797540959,680,659.202459041,635,879.202459041,787,805,652,630.202459041,652,0.408745708317,-0.0155234762558,0.0499747111452,0.999999984944,0.000170075946226,-3.15804497905e-05,1.37144409822e-05,1793244419400622080
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714.207588337,680,659.792411663,635,879.792411663,787,805,652,630.792411663,652,0.409344784847,-0.0155281681027,0.0499947199437,0.99999998133,0.00019220639415,-1.89647068845e-06,1.98159310722e-05,1793244419417288960
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714,679.624679129,660,634.624679129,880,787,805,652,631,652,0.4099541408,-0.0155309081358,0.0499957909152,0.999999976422,0.000215752463305,-6.18739744324e-06,2.3861439115e-05,1793244419433955328
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714,679.045593861,660,634.045593861,880,787,805,652,631,652,0.410569077506,-0.015532588515,0.0499865804039,0.999999970407,0.00024006708258,-2.89235455983e-05,2.67907395265e-05,1793244419450621952
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.47152223,745,714,679,660,634,880,787,805,652,631,652,0.411174292118,-0.0155313185991,0.0499567158305,0.99999998013,0.000174438573054,-9.26448722175e-05,2.69717403519e-05,1793244419467288832
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.102868866,660,634.102868866,880,787,805.102868866,652,631,652,0.411801681535,-0.0155313550596,0.0499336750236,0.999999984575,0.000103316676298,-0.000139904240709,2.45488064477e-05,1793244419483955456
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.680713278,660,634.680713278,880,787,805.680713278,652,631,652,0.41253529473,-0.0155385876524,0.0499502918105,0.999999994531,4.23225445552e-05,-9.49808390542e-05,1.11872495176e-05,1793244419500622080
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,880,787.263632309,806,652,631,652,0.413270635394,-0.0155448223468,0.0499673513726,0.999999998023,2.17885371926e-05,-5.86163283723e-05,6.63998293814e-06,1793244419517288704
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,880,787.852817943,806,652,631,652,0.414008109367,-0.0155498247611,0.0499849577096,0.999999998066,5.12177759688e-05,-3.28209848591e-05,1.29772740566e-05,1793244419533955072
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.431958175,745,714,680,660,635,880,787.568041825,806,652,631,652,0.414744805668,-0.0155501133263,0.049966129666,0.999999994258,8.4799994846e-05,-6.37736844912e-05,1.50009004524e-05,1793244419550621696
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.99221955,745,714,680,660,635,880.00778045,787,806,652,631,652,0.415481842929,-0.0155488388431,0.0499355165457,0.999999986347,0.0001195518533,-0.000113007733879,1.55937552035e-05,1793244419567288320
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.41441326,745,714,680,660,635,880.58558674,787,806,652,631,652,0.416262835624,-0.0155480485157,0.0499303367294,0.999999983381,0.0001386800343,-0.000117178199476,1.65989882985e-05,1793244419583954944
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.833499844,880.833499844,787,806,652,631,652,0.417055538471,-0.0155486363033,0.0499353456685,0.999999982627,0.000152730658421,-0.000105289497282,1.82727547053e-05,1793244419600621824
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.244705871,880.244705871,787,806,652,631,652,0.417877941693,-0.0155527193995,0.049966196316,0.999999986536,0.000153903089798,-5.26699782713e-05,2.16421199576e-05,1793244419617288704
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.33839426,745,714,679.66160574,660,634,880,787,806,652,631,652,0.418695508099,-0.015555438508,0.0499773878282,0.999999988796,0.000142138792011,-4.08865616936e-05,2.31037829463e-05,1793244419633955584
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.917445064,745,714,679.082554936,660,634,880,787,806,652,631,652,0.419509634662,-0.0155571875863,0.0499745983115,0.999999990699,0.000121174253969,-5.81446425133e-05,2.32087412591e-05,1793244419650622208
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,679.494820532,660,634,880,787,806.494820532,652,631,652,0.420380015691,-0.015556111014,0.0499689684659,0.999999990005,0.000130100491758,-5.06134431035e-05,2.24092707347e-05,1793244419667288576
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.071314734,880,787,806.928685266,652,631,652,0.421260498754,-0.0155552715822,0.0499659869911,0.999999988808,0.000143499629717,-3.61591343871e-05,2.199765952e-05,1793244419683955456
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.643575037,880,787,806.356424963,652,631,652,0.422146237855,-0.0155593982571,0.0499849262938,0.999999987909,0.000153406257107,-2.02751577834e-06,2.53669032546e-05,1793244419700622080
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679.776668927,660,635,880,787,806,652,631,652,0.423011021249,-0.0155606077947,0.0499897829045,0.999999986738,0.000160546546866,3.97803473948e-06,2.70614175177e-05,1793244419717288704
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679.184534535,660,635,880,787,806,652,631,652,0.423841199056,-0.0155570000456,0.0499713837148,0.999999985694,0.000163118577864,-3.64630911529e-05,2.59903261788e-05,1793244419733955584
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.601260584,745,714,679.398739416,660.398739416,634.601260584,880,787,806,652,631,652,0.424725803044,-0.0155575935695,0.049970652725,0.999999986758,0.000156540288832,-3.57634348035e-05,2.64617048798e-05,1793244419750622208
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.021998096,745,714,679.978001904,660.978001904,634.021998096,880,787,806,652,631,652,0.425635047591,-0.0155600891548,0.0499779207391,0.999999988852,0.000145819334514,-1.64379264288e-05,2.76314129789e-05,1793244419767288832
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.553465602,745,714,679.446534398,660.446534398,634,880,787.553465602,806,652,631,652,0.426546891846,-0.0155659801331,0.0499948534901,0.999999987972,0.000151889223832,-5.61201522909e-06,3.0905275323e-05,1793244419783955456
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+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,634,880,787.281168777,806.718831223,652,631,652,0.428241360454,-0.0155602067719,0.0499588436663,0.999999981096,0.000172315511946,-8.54668313821e-05,2.84789970341e-05,1793244419817288704
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.698114272,714,679.301885728,660.301885728,634.301885728,880,787,806.698114272,652,631,652,0.42910723778,-0.0155561250865,0.0499453782349,0.999999978447,0.000178747463492,-0.00010207452439,2.71449906015e-05,1793244419833955328
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+175,2.916666667,POSE1_TO_POSE2_PRESS,766,744.458783929,714.458783929,680,661,635,880,787.458783929,806,652,631,652,0.430906441167,-0.015552707077,0.0499555283644,0.999999981905,0.000174537452343,-7.01336092009e-05,2.8439535024e-05,1793244419867288576
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714.963990164,680,661,635,880.036009836,787.963990164,806,652,631,652,0.431774335106,-0.0155487296384,0.0499507284943,0.999999981967,0.000169040430274,-8.18234053716e-05,2.82139582909e-05,1793244419883955456
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714.390187303,680,661,635,880.609812697,787.390187303,806,652,631,652,0.432646427971,-0.0155498488099,0.0499388822597,0.999999978661,0.000181723754488,-9.42221131056e-05,2.78519232223e-05,1793244419900622080
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634.810987686,880.810987686,787.189012314,806,652,631,652,0.433516981587,-0.0155514248245,0.049940156326,0.999999977273,0.000192290004701,-8.75217092017e-05,2.86203490806e-05,1793244419917288960
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634.220319724,880.220319724,787.779680276,806,652,631,652,0.434384264427,-0.0155539716414,0.0499693113403,0.999999979012,0.000198357424691,-4.02352427251e-05,3.17910311017e-05,1793244419933955328
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+181,3.016666667,POSE1_TO_POSE2_PRESS,765.059081636,745,714,680,661,634.940918364,880,787.059081636,806.940918364,652,631,652,0.435995318575,-0.0155469794105,0.0499711664893,0.999999975104,0.000208126473555,-7.3115177358e-05,3.35999952717e-05,1793244419967288320
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.51842248,745,714,680,660.48157752,635,880,787,806.48157752,652,631,652,0.436796884049,-0.0155447418673,0.0499541004333,0.999999974014,0.000202703138012,-9.89349400545e-05,3.30926149988e-05,1793244419983955200
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714.095044053,680,660.095044053,634.904955947,880.095044053,787,806,652,631,652,0.437606532848,-0.0155437863236,0.049942849683,0.999999973699,0.0001978371238,-0.000111273910256,3.28766757668e-05,1793244420000622080
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+185,3.083333333,POSE1_TO_POSE2_PRESS,766.248398784,745,714.751601216,680,661,634,881,787.248398784,806,652,631,652,0.439244520559,-0.015549812437,0.049976351551,0.999999977544,0.00020550477535,-3.82998884751e-05,3.4824692103e-05,1793244420033956608
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+188,3.133333333,POSE1_TO_POSE2_PRESS,765.996642371,745,714,680,661,634,881,787,807,652,631,652,0.441403525402,-0.0155540571237,0.0499442074383,0.999999975613,0.000198412345871,-9.21799492221e-05,3.01641097256e-05,1793244420083955712
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.427156964,745,714,680,661,634,881,787,807,652,631,652,0.442106993307,-0.0155605941309,0.0499587453134,0.999999982011,0.000176168500185,-6.23060311627e-05,3.25772604234e-05,1793244420100622336
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.673360323,745,714,680.326639677,660.673360323,634,881,787,807,652,631,652,0.444007425516,-0.0155697437005,0.049913138952,0.999999974585,0.000171182791478,-0.000143299818998,3.14972983342e-05,1793244420150622208
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+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.292991776,715,680.292991776,660.292991776,633,880.292991776,786,807,652.292991776,630,652.707008224,0.449330766946,-0.015620601642,0.0497631828537,0.999999936601,7.30722144588e-05,-0.000348324939652,1.1316463396e-05,1793244420333955328
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.708385824,745,714.708385824,680.291614176,660,633,880.291614176,786,807,652,630,652.708385824,0.449706564169,-0.015626444695,0.04977504006,0.999999944877,3.20522734053e-05,-0.000330385950618,8.04196619661e-06,1793244420350621952
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.125480285,745,714.125480285,680.874519715,660,633,880.874519715,786,807,652,630,652.125480285,0.450059516435,-0.0156314487523,0.0497814371057,0.999999947712,2.35354638585e-05,-0.000322326755698,1.12500543986e-05,1793244420367288576
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.451043752,745,714.451043752,681,660,633,881,786,807,652,630,652,0.450356049525,-0.0156314116358,0.0497739020498,0.999999941895,3.05107329847e-05,-0.000339301706239,1.2391020898e-05,1793244420383955456
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.974127525,745.025872475,715,681,660,633,881,786,807,652,630,652,0.450635414116,-0.01563025589,0.0497625760292,0.999999933169,4.13363546655e-05,-0.000363022760232,1.29832094642e-05,1793244420400621824
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.398123801,745.601876199,715,681,660,633,881,786,807,652,630,652,0.450878808582,-0.0156347191294,0.0497519064145,0.999999925157,4.36691704937e-05,-0.000384166091116,1.39639220984e-05,1793244420417288704
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.181377358,745.818622642,714.818622642,681,660,632.818622642,881,786,807.181377358,652,630,652,0.451111328967,-0.0156371876246,0.0497399852505,0.999999915633,4.77964801865e-05,-0.00040772394147,1.45475520658e-05,1793244420433955328
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.768706264,745.231293736,714.231293736,681,660,632.231293736,881,786,807.768706264,652,630,652,0.451319511386,-0.0156351915624,0.0497252629203,0.999999902987,5.59401539511e-05,-0.000436685869961,1.4242447366e-05,1793244420450621952
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,714.35089242,681,660,632.35089242,881,786,807.64910758,652,630,652,0.451513020582,-0.0156358787209,0.0497151746517,0.999999894224,5.92904657653e-05,-0.000455891703432,1.41080975319e-05,1793244420467288576
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,714.929737711,681,660,632.929737711,881,786,807.070262289,652,630,652,0.451696997522,-0.0156383089999,0.0497080968419,0.999999888261,5.95268307651e-05,-0.000468759614789,1.40846764343e-05,1793244420483955456
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,880.493612584,786,807,652.506387416,630,652,0.451868650546,-0.0156385227443,0.049710815181,0.999999889604,6.244556512e-05,-0.000465474278393,1.50474047484e-05,1793244420500622080
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.082251412,715,681,660,632.917748588,880.082251412,786,807,652.917748588,629.917748588,652,0.452034359217,-0.0156380451945,0.0497146175838,0.999999891975,6.56803136408e-05,-0.000459871681835,1.5948550735e-05,1793244420517288704
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.65523762,715,681,660,632.34476238,880.65523762,786,807,652.34476238,629.34476238,652,0.452174760406,-0.0156352701912,0.0497168132453,0.999999894577,6.85895235935e-05,-0.000453758131951,1.5669436905e-05,1793244420533955328
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715,681,660.236128355,632,880.763871645,785.763871645,807,652,629,652,0.452303766944,-0.0156343728129,0.0497177152341,0.999999896223,7.07142223359e-05,-0.000449783870113,1.57251186022e-05,1793244420550621952
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715,681,660.82895989,632,880.17104011,785.17104011,807,652,629,652,0.452415560341,-0.0156363118361,0.0497166629585,0.999999896481,7.16538127341e-05,-0.000449041286834,1.62865533396e-05,1793244420567288832
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.586531022,715,681,660.586531022,632.413468978,880,785,807,652,629,652,0.452506171597,-0.0156394074358,0.049714020975,0.999999895268,7.05617022699e-05,-0.000451897984941,1.65115180232e-05,1793244420583955456
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.005396773,715,681,660.005396773,632.994603227,880,785,807,652,629,652,0.452588193307,-0.0156429720373,0.049710734351,0.99999989344,6.86457193946e-05,-0.000456214222996,1.66000411569e-05,1793244420600622080
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.433138937,880.566861063,785.566861063,807,652,629,652,0.45264513549,-0.0156431841853,0.0497046284248,0.999999888737,6.61206471182e-05,-0.000466791713663,1.61316135149e-05,1793244420617288448
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.85728997,745.14271003,715,681,660,632,880.85728997,785.85728997,807.14271003,652,629,652,0.452700589201,-0.0156435509435,0.049700011785,0.999999885681,6.35025320842e-05,-0.000473665101688,1.56955934424e-05,1793244420633955072
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.269994426,745.730005574,715,681,660,632,880.269994426,785.269994426,807.730005574,652,629,652,0.452752138226,-0.0156444972576,0.0497001170594,0.999999888151,6.06123473633e-05,-0.000468816231901,1.53767969783e-05,1793244420650621952
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.313821765,746,715,681,660,632,880,785,808,652,629,652,0.452794327511,-0.0156446535094,0.0496996311453,0.9999998886,6.07556233437e-05,-0.000467837133625,1.53756752694e-05,1793244420667288832
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.89467741,746,715,681,660,632,880,785,808,652,629,652,0.452828552512,-0.0156441374899,0.0496986421836,0.999999887342,6.3480099122e-05,-0.000470150859637,1.56448659496e-05,1793244420683955456
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,746,715,681,660,632,880.468822491,785,807.531177509,652,629,652,0.452848551724,-0.0156425929267,0.049696064349,0.999999884683,6.33798795697e-05,-0.000475796212552,1.5305086535e-05,1793244420700622080
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.958516126,714.958516126,680.958516126,660,632,880.958516126,785,807,652,629,652,0.452865178655,-0.0156408609286,0.0496932844992,0.999999881871,6.28163797411e-05,-0.000481758856904,1.48379786799e-05,1793244420717288960
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.385821253,714.385821253,680.385821253,660,632,880.385821253,785,807,652,629,652,0.452878969159,-0.0156396458816,0.0496924240672,0.999999881502,6.43317120091e-05,-0.000482335519868,1.44675271472e-05,1793244420733955328
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.805152378,745,714.194847622,680,660,632,880.194847622,785,807.194847622,652,629,652,0.452890030523,-0.0156388341339,0.0496910892184,0.999999880742,6.41784776631e-05,-0.000483936450509,1.42032200834e-05,1793244420750621952
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.208020332,745,714.791979668,680,660,632,880.791979668,785,807.791979668,652,629,652,0.452895457275,-0.0156388550424,0.0496887748837,0.999999879162,6.05803032632e-05,-0.000487652094792,1.41580600143e-05,1793244420767288576
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.377382838,745,715,680.377382838,660,632,881,785,807.622617162,652,629,652.377382838,0.452900650924,-0.0156391950419,0.049688322707,0.999999878834,5.81015396215e-05,-0.000488624801464,1.42012769425e-05,1793244420783955200
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.956515694,745,715,680.956515694,660,632,881,785,807.043484306,652,629,652.956515694,0.452905719955,-0.0156397056284,0.0496888660457,0.999999879181,5.62212165097e-05,-0.000488131125186,1.42917404851e-05,1793244420800621824
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.467244363,745.532755637,715,681,660,632,881,785,807,652,629,652.467244363,0.452905387277,-0.0156397041486,0.0496866746124,0.999999877406,5.58186512986e-05,-0.000491806942455,1.40876463819e-05,1793244420817288704
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,715,681,660,632,880.891611962,785,807,652,629,652,0.452904978454,-0.015639615715,0.0496847012544,0.999999875867,5.56427522293e-05,-0.000494951718127,1.39146233371e-05,1793244420833955584
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,715,681,660,632,880.31758084,785,807,652,629,652,0.452906126394,-0.015639332309,0.0496846185385,0.999999876142,5.59252477121e-05,-0.000494360953448,1.39778133286e-05,1793244420850622208
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.736073894,715,680.736073894,660.263926106,632,880,785,807,652,629,652,0.452907430437,-0.0156376969525,0.0496849696631,0.999999876491,5.64970562782e-05,-0.000493600359307,1.3560343024e-05,1793244420867288576
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.145309016,715,680.145309016,660.854690984,632,880,785,807,652,629,652,0.452908927793,-0.0156343873781,0.0496858580438,0.99999987693,5.74271421822e-05,-0.000492629452989,1.25476363451e-05,1793244420883955200
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.432713385,745,715,680.86542677,660.567286615,632,880.432713385,785,807,652,629,652,0.452908593884,-0.0156354455324,0.0496850217807,0.999999876515,5.70942869555e-05,-0.000493498437984,1.30010020186e-05,1793244420900621824
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.993388379,745,715,681.993388379,660,632,880.993388379,785,807,652,629,652,0.452907667536,-0.0156378724979,0.0496836304272,0.999999875819,5.63642008488e-05,-0.0004949658094,1.39167673714e-05,1793244420917288448
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.416687558,745,715,681.416687558,660,632,880.416687558,785,807,652,629,652,0.452907165937,-0.0156354747665,0.0496828852001,0.999999875144,5.69054380504e-05,-0.000496278711381,1.34669484767e-05,1793244420933955328
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.164632629,745,715,680.835367371,660,632,880,785,807.164632629,652,629,652,0.452907216796,-0.0156335690336,0.0496826258432,0.999999874878,5.77916988747e-05,-0.000496719569481,1.31621015502e-05,1793244420950621952
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.757981985,745,715,680.242018015,660,632,880,785,807.757981985,652,629,652,0.452908706302,-0.015632944505,0.0496836317314,0.99999987568,5.95764291772e-05,-0.000494889554477,1.32347734198e-05,1793244420967288320
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,632,880.339756497,785.339756497,807.660243503,651.660243503,629,652,0.452909355566,-0.0156328891962,0.0496836619215,0.999999875895,5.95277665486e-05,-0.000494465954945,1.30570438496e-05,1793244420983955200
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,632,880.91355754,785.91355754,807.08644246,651.08644246,629,652,0.452909426022,-0.0156332259999,0.0496830199925,0.999999875707,5.82161534017e-05,-0.000495011178382,1.27068228237e-05,1793244421000622080
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680.491331395,660,632,881,785.508668605,807,651.491331395,629,652,0.452910668851,-0.0156330895445,0.0496837724177,0.999999876086,5.7853243774e-05,-0.000494290465011,1.25999388844e-05,1793244421017288448
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.930590224,745.069409776,715,681,660,632,881,785,807,652,629,652,0.452911913028,-0.0156329063317,0.0496845708407,0.9999998765,5.75491973924e-05,-0.00049348818638,1.25765942518e-05,1793244421033955072
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+247,4.116666667,HOLD_POSE2,766,745,715,682,660,632,880,785,807,652,629,652,0.452911406514,-0.015632542681,0.0496836303306,0.999999875796,5.49444206524e-05,-0.00049519401615,1.31227015252e-05,1793244421088977664
+248,4.133333333,HOLD_POSE2,766,745,715,681.42247916,660,632,880.57752084,785,807,652,629,652,0.45291214754,-0.0156339272475,0.0496840043948,0.999999876053,5.50021039653e-05,-0.000494666695346,1.31610922241e-05,1793244421105644032
+249,4.150000000,HOLD_POSE2,765.846236738,745,715,680.846236738,660,632,881,785,807,652,629,652,0.452912924445,-0.0156341560777,0.0496842517837,0.999999876287,5.57756335342e-05,-0.00049410919935,1.30619393167e-05,1793244421122310656
+250,4.166666667,HOLD_POSE2,765.273477804,745,715,680.273477804,660,632,881,785,807,652,629,652,0.452913799115,-0.0156312355958,0.0496841539901,0.999999876454,5.84998012659e-05,-0.000493469477637,1.25879883327e-05,1793244421138977024
+251,4.183333333,HOLD_POSE2,765.309246793,745,714.690753207,680.309246793,660.309246793,632,880.690753207,785,807,652,629,652,0.452913742033,-0.0156299049363,0.049684207628,0.999999876442,5.92062876619e-05,-0.000493408731179,1.25554564639e-05,1793244421155643648
+252,4.200000000,HOLD_POSE2,765.901077799,745,714.098922201,680.901077799,660.901077799,632,880.098922201,785,807,652,629,652,0.452912833534,-0.0156300270282,0.0496843996414,0.999999876273,5.8069052615e-05,-0.000493877042039,1.29262855519e-05,1793244421172310272
+253,4.216666667,HOLD_POSE2,766,745,714.481711272,681,660.518288728,632,880.481711272,785,807,652,629,652,0.452912009762,-0.0156315061705,0.0496832340645,0.999999875757,5.66356456411e-05,-0.000495086391537,1.29644711222e-05,1793244421188977152
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+261,4.350000000,HOLD_POSE2,766,745,715,680.116126814,660,632,880.116126814,785,807,652,629,652,0.452913400972,-0.0156307437142,0.0496833082761,0.999999875482,5.71925697315e-05,-0.000495568505427,1.32631608642e-05,1793244421322309888
+262,4.366666667,HOLD_POSE2,766,745,715,680.691308064,660,632,880.691308064,785,807,652,629,652,0.452911707671,-0.0156302259993,0.049681648564,0.999999874267,5.67752274897e-05,-0.000498080258901,1.25648017183e-05,1793244421338976768
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,881,785,807,652,629,652,0.452912324128,-0.0156304346904,0.049682660315,0.999999875164,5.29949092505e-05,-0.000496708503859,1.20454609033e-05,1793244421377025536
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.597077212,745,715,681,660,631.402922788,881,785,807,652,629,652,0.452914099886,-0.0156317190909,0.0496839462158,0.999999875888,5.43003895456e-05,-0.00049508517177,1.28940138171e-05,1793244421393692160
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.813285374,745,715,681,660,631.186714626,880.813285374,784.813285374,807,652,629,652,0.452915190976,-0.0156318293008,0.049684628891,0.999999876275,5.54405255945e-05,-0.000494167075573,1.32651562044e-05,1793244421410358784
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.239087437,745,715,681,660,631.760912563,880.239087437,784.239087437,807,652,629,652,0.452914861196,-0.0156295027482,0.0496840597104,0.999999875968,5.6237527889e-05,-0.000494712534149,1.26455428848e-05,1793244421427025408
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745.33535717,715,681,660,632,880,784.33535717,807.33535717,652,629,652,0.452913935561,-0.0156288486213,0.0496832607327,0.999999875663,5.62808240825e-05,-0.000495324106784,1.26463304924e-05,1793244421443692032
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.909977733,715,681,660,632,880,784.909977733,807.909977733,652,629,652,0.452912584809,-0.0156293877006,0.0496822978042,0.999999875359,5.57863822737e-05,-0.000495982849014,1.30897483946e-05,1793244421460358656
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.501158129,715,681,660,632,880.498841871,785,808,652,629,652,0.452913090794,-0.0156305820123,0.0496826930599,0.999999875478,5.4309594465e-05,-0.000495907695888,1.30419018191e-05,1793244421477025536
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,880.911533323,784.911533323,808,652,629,652,0.452913260485,-0.0156312366509,0.0496828255133,0.999999875384,5.34887403601e-05,-0.000496192609453,1.27947877499e-05,1793244421493692416
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,880.332365846,784.332365846,808,652,629,652,0.452909651661,-0.015628222719,0.0496801008028,0.99999987367,5.73183812079e-05,-0.000499230920342,1.19485886969e-05,1793244421510359040
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,880,784.490095338,807.754952331,652,629,652,0.452901445915,-0.0156261057732,0.0496760492915,0.999999870727,5.86364084774e-05,-0.000504960958208,1.10573298619e-05,1793244421527025664
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,880,785.640198177,807.179900911,652,629,652,0.45288704953,-0.0156251967915,0.0496702109883,0.999999866088,5.65720653577e-05,-0.00051431592317,1.01053894439e-05,1793244421543692544
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.394935857,745,714.605064143,681,660,632,880,785.210128287,807,652,629,652,0.452851670175,-0.0156247973852,0.0496551366193,0.999999852514,5.52675591205e-05,-0.000540216808978,9.1210783406e-06,1793244421560358912
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.96967495,745,714.03032505,681,660,632,880,784.0606501,807,652,629,652,0.452806737861,-0.0156246299742,0.0496358573276,0.999999833955,5.43089851075e-05,-0.000573650589548,8.12202967914e-06,1793244421577025536
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.560575044,681,660,632,880.560575044,784.560575044,807,652,629,652,0.452742219343,-0.015619811281,0.0496133204506,0.999999813236,5.56697853293e-05,-0.000608606333312,5.26626906045e-06,1793244421593692160
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.851262659,745,714.851262659,680.851262659,659.851262659,632,881,784.851262659,807,652,629,652,0.452675267961,-0.0156149542042,0.0495936124836,0.999999794896,5.75252269982e-05,-0.000637880015142,2.82715685117e-06,1793244421610358784
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.273591611,745,714.273591611,680.273591611,659.273591611,632,881,784.273591611,807,652,629,652,0.452604446837,-0.0156107335968,0.0495825859014,0.999999786582,6.04345581251e-05,-0.000650523105179,1.88784299098e-06,1793244421627025408
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.302536089,745,714.302536089,680.302536089,659.605072178,632,880.697463911,784.302536089,807,652,629,652,0.452525447808,-0.0156057377987,0.0495769881833,0.999999782081,6.28139559838e-05,-0.000657183560929,1.1545836218e-06,1793244421643692032
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.877275148,745,714.877275148,680.877275148,660.754550296,632,880.122724852,784.877275148,807,652,629,652,0.452439090818,-0.0156000445329,0.0495762750166,0.99999978112,6.47165530066e-05,-0.000658461217451,6.06719197176e-07,1793244421660358912
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.534928154,745,715,680.534928154,660.534928154,632,880,785,807,652,629,652,0.452334308929,-0.0155935408331,0.0495778976724,0.999999780808,6.7525170902e-05,-0.000658653158237,6.48721011636e-08,1793244421677025536
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.055145554,660,632,880.055145554,785,807,652,629,652,0.452222159422,-0.0155866043848,0.049580195534,0.999999780758,7.10524684145e-05,-0.000658358034938,-4.44682271735e-07,1793244421693692160
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.633193712,660,632,880.633193712,785,807,652,629,652,0.452087583161,-0.0155776509702,0.0495828823046,0.999999781549,7.906190965e-05,-0.000656239621166,-6.63521331669e-07,1793244421710358784
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.789666749,660,632,880.789666749,785.210333251,807,652,629,652,0.451941912942,-0.0155685609354,0.0495855456229,0.9999997822,8.43624406489e-05,-0.000654584220024,-1.22937409514e-06,1793244421727025664
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.214105022,660,632,880.214105022,785.785894978,807,652,629,652,0.451776978882,-0.0155592336707,0.0495881682181,0.999999782705,8.49591441175e-05,-0.000653732807108,-2.39779103423e-06,1793244421743692288
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,632,880,785.640370116,807.359629884,652,629,652,0.451587765224,-0.0155485362842,0.0495880611934,0.999999779881,8.86098248631e-05,-0.000657552052174,-3.36454826998e-06,1793244421760358912
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,632,880,785.067717253,807.932282747,652,629,652,0.451384169786,-0.0155370273196,0.0495863373074,0.999999775027,9.40694969662e-05,-0.000664137912228,-4.2118546138e-06,1793244421777025536
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.523215898,660,632,880,785,807.476784102,652,629,652,0.451149303827,-0.0155249246826,0.0495854598014,0.999999775479,9.86736893513e-05,-0.000662774911147,-5.86680055924e-06,1793244421793692416
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.114141452,745,715,681,660,632,880.114141452,785.114141452,807,652,629.114141452,652,0.450905505,-0.0155133534331,0.0495857294977,0.999999778084,0.000102256275627,-0.000658269186476,-7.52978546787e-06,1793244421810359296
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.69501151,745,715,681,660,632,880.69501151,785.69501151,807,652,629.69501151,652,0.450642327511,-0.0155042806033,0.0495902260056,0.999999786558,0.000102130609167,-0.000645271772539,-8.78274631764e-06,1793244421827025664
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.727251646,745.272748354,715,680.727251646,660,632,880.727251646,785.727251646,807,652,630,652.272748354,0.450369701962,-0.0154965100167,0.0496022252009,0.999999802628,9.99733421872e-05,-0.0006202065318,-9.68751295717e-06,1793244421843692288
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.152978622,745.847021378,715,680.152978622,660,632,880.152978622,785.152978622,807,652,630,652.847021378,0.450086631551,-0.0154901790668,0.0496225186544,0.999999826135,9.55701305688e-05,-0.00058180024828,-1.02073490694e-05,1793244421860358912
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.431851651,746,715,680.431851651,660,632.431851651,880,785,807,652,629.568148349,652.568148349,0.449763041653,-0.0154879848587,0.0496330560576,0.999999837926,8.49560004885e-05,-0.000562847216383,-1.15535492839e-05,1793244421877025536
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.979859509,715,681,660,632.979859509,880,785,807,652,629,652,0.449422140967,-0.0154873053773,0.0496397783962,0.99999984524,7.21948872823e-05,-0.000551483110757,-1.31865551073e-05,1793244421893692160
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.401953719,715,681,660,632.401953719,880,785,807,652,629,652,0.449009304967,-0.0154869751346,0.0496389544905,0.999999844122,6.24329704585e-05,-0.000554662213315,-1.4452337727e-05,1793244421910359040
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.823813359,745.176186641,715,681,660,632.176186641,880.176186641,785.176186641,807,652,629.176186641,652,0.448588387229,-0.0154839441801,0.0496380026991,0.999999843709,5.35468405507e-05,-0.000556275033156,-1.64968597996e-05,1793244421927025920
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.245137211,745.754862789,715,681,660,632.754862789,880.754862789,785.754862789,807,652,629.754862789,652,0.448149007228,-0.0154747435856,0.0496367587591,0.999999845075,4.66614030814e-05,-0.000554309758689,-2.03203727502e-05,1793244421943693056
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.331435343,745.668564657,715,681,660,633,880.668564657,786,807,652,630,652,0.447683500066,-0.0154639566406,0.0496343295984,0.999999845642,4.1488927757e-05,-0.000553544070873,-2.41378941327e-05,1793244421960359680
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.906461903,745.093538097,715,681,660,633,880.093538097,786,807,652,630,652,0.44719879048,-0.015452003793,0.0496310293495,0.999999845634,3.75754077754e-05,-0.000553660029244,-2.79510123597e-05,1793244421977026304
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.507130159,745,715,680.507130159,660,633,880.492869841,786,807,652,630.492869841,652,0.446688730545,-0.0154405927828,0.0496278896392,0.999999843209,3.43734768931e-05,-0.000558040765276,-3.14759211965e-05,1793244421993692672
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.079798273,745,715,680.079798273,660,633,881,786,806.920201727,652,630.920201727,652,0.446167973675,-0.015430084403,0.0496272974147,0.999999842722,2.99343451104e-05,-0.000558969634747,-3.48147446611e-05,1793244422010358784
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.656206144,745,715,680.656206144,660,633,881,786,806.343793856,652,630.343793856,652,0.445611294633,-0.0154245382914,0.0496423649,0.999999856976,1.69354168544e-05,-0.000533260369697,-3.73439456914e-05,1793244422027025152
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,633,881,786.233652609,806.233652609,652,630.233652609,652,0.445048412679,-0.0154196852093,0.0496684864698,0.999999875935,4.57406316944e-06,-0.000496625403705,-3.83675444605e-05,1793244422043692032
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,633,881,786.81263404,806.81263404,652,630.81263404,652,0.444476363115,-0.0154158563962,0.0497109455149,0.999999900788,-6.844981085e-06,-0.000443842707937,-3.71659256218e-05,1793244422060358912
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745.388438162,714.611561838,680.611561838,660.388438162,633.388438162,881,787,807,652,631,652,0.443853729253,-0.0154089697296,0.0497306847677,0.999999911421,-1.52913819609e-05,-0.000418840506163,-3.86785787624e-05,1793244422077026048
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745.962722104,714.037277896,680.037277896,660.962722104,633.962722104,881,787,807,652,631,652,0.443206893671,-0.0154006200525,0.0497395538785,0.999999916013,-2.23155401073e-05,-0.000407129707749,-4.14898582144e-05,1793244422093693440
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745.449144109,714,680.550855891,660.449144109,634,880.449144109,787,807.550855891,652,631,652,0.442533755438,-0.0153909202821,0.0497306680401,0.999999911681,3.45277622745e-05,-0.000416330932782,-4.59873404348e-05,1793244422110360064
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.862005327,745,714,681,660,634,880,787,807.724010653,652,631,651.862005327,0.441855940176,-0.0153828158948,0.0497334406891,0.999999913171,7.58360452866e-05,-0.000406773904314,-4.9414669084e-05,1793244422127026688
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.281145431,745,714,681,660,634,880,787,806.562290862,652,631,651.281145431,0.441168974869,-0.0153801323375,0.0497775843281,0.99999994216,5.30593347074e-05,-0.000332357323674,-4.90319048235e-05,1793244422143692800
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.296616348,745,714.296616348,681,660.296616348,634,880.296616348,787,806.296616348,652,631,651.296616348,0.440459013449,-0.0153794849254,0.0498123561733,0.999999960438,2.87256257914e-05,-0.000275508047974,-4.89207558041e-05,1793244422160358912
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.871472023,745,714.871472023,681,660.871472023,634,880.871472023,787,806.871472023,652,631,651.871472023,0.439727480571,-0.0153807475079,0.0498383368643,0.999999971147,2.93138067393e-06,-0.000235137677864,-4.90643940385e-05,1793244422177025536
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.987116069,634,881,787,807,652,631,652,0.438088617515,-0.0153724921113,0.0497800127885,0.999999940975,-3.73417446636e-05,-0.000336098497163,-6.07718689419e-05,1793244422210359296
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.198264862,634,881,787,806.801735138,652,631,652,0.436416698384,-0.0153673531785,0.0497675484363,0.999999927935,-6.49819493666e-05,-0.000367685457691,-6.86712611419e-05,1793244422243692800
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.773288412,634,881,787,806.226711588,652,631,652,0.43556481182,-0.015363923436,0.049792927544,0.999999942396,-4.57384272028e-05,-0.000329035245526,-6.96541985037e-05,1793244422260359424
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.650261057,634,881,787.349738943,806,652,631,652,0.434696314011,-0.0153590717188,0.0497913038752,0.999999940777,-4.33350734506e-05,-0.000333564598637,-7.28246428681e-05,1793244422277026048
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.072881746,634,881,787.927118254,806,652,631,652,0.433817004201,-0.0153532944575,0.0497721044616,0.999999928606,-5.1892759326e-05,-0.000366198950887,-7.74189060414e-05,1793244422293691904
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.515680316,634,881,787.484319684,806,652,631,652,0.432983653241,-0.0153606606966,0.0497885013981,0.999999940084,-1.86531841553e-05,-0.0003404656354,-5.97272822888e-05,1793244422310358528
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.895974951,634,880.895974951,787.104025049,806,652,631,652,0.432143406583,-0.0153661854607,0.0498073938928,0.999999950797,1.66777177059e-05,-0.000310389412573,-4.22612201591e-05,1793244422327025152
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.316015967,634,880.316015967,787.683984033,806,652,631,652,0.431241234599,-0.0153545979382,0.0498141766253,0.999999953894,3.39509264172e-05,-0.00029902169101,-4.0557002894e-05,1793244422343692032
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.260905672,660.521811343,634,880,787.739094328,806,652,631,652,0.43030940387,-0.0153466393432,0.0498001856697,0.999999946271,4.95497502135e-05,-0.000321100504969,-4.35644660536e-05,1793244422360358400
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.834190807,661.668381615,634,880,787.165809193,806,652,631,652,0.429342062938,-0.0153430256213,0.0497613226088,0.999999923213,6.31438536967e-05,-0.000383224482266,-5.2213171541e-05,1793244422377025024
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745.418933056,714,680.581066944,661.162133888,634,880,787,806,652,631,652,0.428438990458,-0.0153463141667,0.0497615777433,0.999999924393,4.19121140665e-05,-0.000382566221953,-5.568643204e-05,1793244422393691904
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745.991813326,714,680,660,634,880,787.008186674,806,652,631,652,0.427561156362,-0.0153522870993,0.0497773996854,0.999999934597,6.84137650848e-06,-0.00035707759336,-5.7047310593e-05,1793244422410358784
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.413062487,714,680,660,634,880,787.586937513,806,652,631,652,0.426619646567,-0.0153495992974,0.0497687534048,0.999999925518,-5.07319702423e-06,-0.000381548388736,-5.79620470205e-05,1793244422427025408
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.743976355,660,634,880,787.256023645,806.743976355,652,631,652,0.424838154405,-0.0153525119158,0.0497842774629,0.999999945174,-1.67116333542e-05,-0.000325651846998,-5.76484443415e-05,1793244422460359424
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.477211585,660,634.522788415,880,787,806,652.477211585,630.477211585,652,0.42216674885,-0.0153576034888,0.0498219613421,0.999999962745,-1.11187227242e-05,-0.000266725745999,-5.69618888409e-05,1793244422510358784
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.772469681,744.227530319,714.227530319,680,660,634,879.772469681,787,805.227530319,652,630,652,0.419500321104,-0.015352805444,0.0497977711468,0.999999945698,-2.75017242118e-05,-0.000322865824242,-6.00390459086e-05,1793244422560359424
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.197177647,744.802822353,714.802822353,680,660,634,879.197177647,787,805.802822353,652,630,652,0.418623510836,-0.0153482676647,0.0498041955163,0.99999994369,4.56086815982e-06,-0.000330311351682,-5.91089523947e-05,1793244422577025536
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.385911639,745,714.614088361,680,660,634.385911639,879,787,806,652,630.385911639,652,0.417771125877,-0.0153483753402,0.0497937517215,0.999999937998,4.10876118507e-06,-0.000346868390855,-6.05688050083e-05,1793244422593692160
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.973066972,745,714.026933028,680,660,634.973066972,879,787,806,652,630.973066972,652,0.416931478185,-0.0153509055096,0.0497745115819,0.999999930133,-1.32989860689e-05,-0.000368176865024,-6.32749574292e-05,1793244422610358784
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.447824722,634.447824722,879,787,806,652,631,652,0.416155257142,-0.0153561088571,0.0497962294035,0.999999943947,-3.26444404525e-05,-0.000327464050929,-6.17080259306e-05,1793244422627025408
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.130779929,634,879.130779929,787,806,652,630.869220071,652,0.415380873704,-0.0153597088765,0.0498147109638,0.999999953976,-4.83446412058e-05,-0.000293357665602,-6.0437039403e-05,1793244422643692032
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.708984988,634,879.708984988,787,806,652,630.291015012,652,0.414602344934,-0.0153573839046,0.04981538398,0.999999954185,-5.12549686998e-05,-0.000292054290196,-6.08813644193e-05,1793244422660358912
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.715061161,744.715061161,714,680,660,634,880,787,806,652,630.284938839,652,0.413818728238,-0.0153556411348,0.0498012453956,0.999999946864,-3.96128719894e-05,-0.000317485934554,-6.24883035957e-05,1793244422677025536
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.141388534,744.141388534,714,680,660,634,880,787,806,652,630.858611466,652,0.413029955899,-0.0153544883211,0.0497720979427,0.999999929329,-1.32245348438e-05,-0.000370008667357,-6.52733409803e-05,1793244422693692672
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.03461456,680,659.03461456,634.03461456,880.03461456,787,806,652.96538544,631,652,0.411612370552,-0.015357119941,0.0497890838645,0.999999939085,-3.28123419227e-05,-0.000341447452091,-6.45514505196e-05,1793244422727025664
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.233735148,680,659.233735148,635,879.467470297,787,806,652,631,652,0.409621012619,-0.0153537568683,0.0497942401847,0.999999935091,-4.70781864481e-05,-0.000351565354956,-6.32768868663e-05,1793244422777025280
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,806,652.342506971,631,652,0.409010853129,-0.015354029659,0.0497884652469,0.999999933445,-5.2247421269e-05,-0.0003553668993,-6.3989913646e-05,1793244422793692160
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.492582086,659,635,880.014835827,787.507417914,806,653,631,652,0.407884230639,-0.0153590713016,0.0498083914242,0.999999945712,-6.5556376604e-05,-0.000317008600513,-6.15162397345e-05,1793244422827025664
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.09492202,714.09492202,679.09492202,659.09492202,634.90507798,880.90507798,787.90507798,806,653,631,652,0.407347994828,-0.0153618538329,0.0498233181129,0.999999950399,-7.22034977311e-05,-0.000300748454221,-5.9496616219e-05,1793244422843692544
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.674546135,714.674546135,679.674546135,659.674546135,634.325453865,880.325453865,787.325453865,806,653,631,652,0.406826872978,-0.0153601567402,0.0498215150678,0.9999999478,-7.58348025073e-05,-0.000308247383274,-6.02784647793e-05,1793244422860359424
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.748108569,714.748108569,679.748108569,660,634,879.748108569,787,805.748108569,653,630.748108569,652,0.406312312932,-0.0153582932625,0.049807043903,0.999999938555,-8.09466834563e-05,-0.000335353842568,-6.22453600258e-05,1793244422877026048
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.400249897,714,679,659.599750103,634.400249897,879,787,805.400249897,653,630.400249897,652,0.405348205264,-0.0153559414041,0.0497627322416,0.99999990932,-9.4347551515e-05,-0.000409795690523,-6.72829031588e-05,1793244422910358528
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.973966047,714,679,659.026033953,634.973966047,879,787,805.973966047,653,630.973966047,652,0.40491114862,-0.0153564467003,0.0497565118924,0.999999904848,-0.000100474398038,-0.000419029495208,-6.79992454606e-05,1793244422927025152
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.842834188,745,714.842834188,680,659,635,879.842834188,787,806,652.157165812,631,652,0.404207326993,-0.0153635564714,0.0498037461024,0.999999936502,-0.00010014874909,-0.000335801086316,-6.48413715166e-05,1793244422960359168
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.265310766,745,714.265310766,680,659,635,879.265310766,787,806,652.734689234,631,652,0.403893146459,-0.0153699805555,0.049831829231,0.999999952622,-4.30219096184e-05,-0.000298367738476,-6.23060108655e-05,1793244422977026048
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.884709858,745,714,680,659,635,879.884709858,787,806,652.115290142,631,652,0.403290098028,-0.0153699763194,0.0498475779829,0.999999958451,-2.86400179944e-05,-0.000279918194383,-6.26317665595e-05,1793244423010359296
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,880,787,806,652,631,652,0.403001221998,-0.0153702530615,0.049838456178,0.999999952567,-3.91239334258e-05,-0.000298748643966,-6.39156258589e-05,1793244423027025664
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,879.944106645,787,806,652.055893355,631,652,0.402719227675,-0.0153711198194,0.0498266310167,0.999999944787,-4.99155658264e-05,-0.0003219853217,-6.5260849684e-05,1793244423043692288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,879.387777183,787,806,652.612222817,631,652,0.402478889744,-0.0153723323979,0.0498152737559,0.999999938189,-5.71999835629e-05,-0.000340493474446,-6.64439187217e-05,1793244423060358912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.817668739,659.182331261,635,879,787.182331261,806,653,630.817668739,652,0.402252966045,-0.015372560553,0.0498069665768,0.999999934006,-4.81206117453e-05,-0.000354398680071,-6.3820760287e-05,1793244423077025536
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.215859976,659.784140024,635,879,787.784140024,806,653,630.215859976,652,0.402060204252,-0.01537052391,0.049805676521,0.999999934644,-1.39414794452e-06,-0.000357714186136,-5.24408652315e-05,1793244423093692160
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.53129236,659,635,879.53129236,788,806,653,631,652,0.401620138931,-0.0153653048243,0.0498157412006,0.99999994192,-2.22760248236e-06,-0.000336974274423,-5.10203060786e-05,1793244423143692032
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.119994972,745,714,680,659.119994972,635,879.880005028,788,806,653,631,652,0.401505732153,-0.0153669851765,0.0498217721651,0.999999945686,-1.17755666905e-05,-0.000325370642976,-5.12223017942e-05,1793244423160358656
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62c34eccba93d14dc682a091ec9e03814065eb59
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3a48f81b51f3e396825cfeba18e70b49dc56454
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c816fc9f522ce53a744e5e43063ae6d338c69089f88a849fc634574bc35216c
+size 25798957
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d771f79a89c97c81ef1178f8059fffd62763e8e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+7,0.116666667,BASELINE,765.061966686,744.061966686,714,679,659,634.061966686,879,787.938033314,805.938033314,653,631,652,0.400978585067,-0.0153952446892,0.0498494132112,0.999999962303,-5.70022064052e-05,-0.000263781936195,-5.06305990384e-05,1793244423991660288
+8,0.133333333,BASELINE,765.638675415,744.638675415,714,679,659,634.638675415,879,787.361324585,805.361324585,653,631,652,0.400980902149,-0.0153954536475,0.0498513217979,0.999999963173,-5.61419670818e-05,-0.000260744343211,-5.013849695e-05,1793244424008326912
+9,0.150000000,BASELINE,765.784169958,745,714,679,659.215830042,635,879,787.215830042,805,652.784169958,631,652,0.40098184446,-0.0153958886981,0.0498522123215,0.999999963488,-5.62279776944e-05,-0.000259575299195,-4.98321776345e-05,1793244424024993536
+10,0.166666667,BASELINE,765.20626736,745,714,679,659.79373264,635,879,787.79373264,805,652.20626736,631,652,0.400980480479,-0.015396703037,0.0498513949607,0.99999996288,-5.79014000919e-05,-0.000261540899284,-4.9837524173e-05,1793244424041660160
+11,0.183333333,BASELINE,765,744.622384459,714,679,659.622384459,634.622384459,879,788,805.377615541,652.377615541,631,652,0.400979623488,-0.0153967381409,0.0498507635724,0.999999962609,-5.8597485268e-05,-0.000262373320206,-5.00916045508e-05,1793244424058327552
+12,0.200000000,BASELINE,765,744.035182277,714,679,659.035182277,634.035182277,879,788,805.964817723,652.964817723,631,652,0.40097904789,-0.0153963407488,0.0498502354039,0.999999962527,-5.87511225185e-05,-0.000262576796814,-5.04837388079e-05,1793244424074995200
+13,0.216666667,BASELINE,765,744.544878062,714,679,659,634,879,788,805.455121938,653,631,652,0.400979259992,-0.0153963897913,0.0498499997974,0.999999962588,-5.83848153888e-05,-0.000262449337468,-5.03546312965e-05,1793244424091661056
+14,0.233333333,BASELINE,765,745,714,679,659,634.123776979,879,787.876223021,805,653,631,652,0.400979397696,-0.0153963543045,0.0498499416712,0.999999962702,-5.74864556724e-05,-0.000262250136687,-5.01628252888e-05,1793244424108327168
+15,0.250000000,BASELINE,765,745,714,679,659,634.700093962,879,787.299906038,805,653,631,652,0.400979079847,-0.0153959057443,0.0498504642575,0.99999996297,-5.47640182365e-05,-0.000261865756066,-4.98632456026e-05,1793244424124993792
+16,0.266666667,BASELINE,765,745,714.272852125,679,659,634.727147875,879,787,805.272852125,653,631,652,0.400978579909,-0.0153963128706,0.0498504391115,0.999999962949,-5.42497120856e-05,-0.000262079895054,-4.97206541394e-05,1793244424141660672
+17,0.283333333,BASELINE,765,745,714.841748933,679,659,634.158251067,879,787,805.841748933,653,631,652,0.400977882404,-0.0153976484173,0.0498498196755,0.999999962618,-5.61312295772e-05,-0.000262943428121,-4.97483949901e-05,1793244424158327040
+18,0.300000000,BASELINE,765.401566656,745,714.598433344,679,659,634.401566656,879.401566656,787.401566656,806,653,631,652,0.400977736979,-0.0153971141954,0.0498496608022,0.999999962373,-5.61444759866e-05,-0.000263865621235,-4.9772477602e-05,1793244424174993920
+19,0.316666667,BASELINE,765.957885548,745,714.042114452,679,659,634.957885548,879.957885548,787.957885548,806,653,631,652,0.400977804309,-0.0153958594186,0.0498496794166,0.999999962161,-5.54377444311e-05,-0.000264810420222,-4.97951504331e-05,1793244424191661056
+20,0.333333333,BASELINE,766,745.572227171,714,679.572227171,659.572227171,635,879.427772829,787.427772829,806,653,631,652,0.400978552902,-0.0153950707224,0.049850588682,0.999999962501,-5.50673562263e-05,-0.00026356184378,-5.00051205835e-05,1793244424208327680
+21,0.350000000,BASELINE,765.822087456,745.822087456,714,679.822087456,659.822087456,635,879.177912544,787,806,653,631,652,0.400979071218,-0.0153950548312,0.0498512549484,0.999999962849,-5.47512554823e-05,-0.000262295183829,-5.00472954448e-05,1793244424224993792
+22,0.366666667,BASELINE,765.246381967,745.246381967,714,679.246381967,659.246381967,635,879.753618033,787,806,653,631,652,0.400978949906,-0.0153966814967,0.0498512147958,0.999999963119,-5.44949429789e-05,-0.000261389751557,-4.96799997208e-05,1793244424241660672
+23,0.383333333,BASELINE,765,745.337733103,714,679,659,634.662266897,880,787.337733103,805.662266897,653,631,652,0.40097905353,-0.0153961789087,0.0498507786023,0.99999996316,-5.29078061191e-05,-0.000261564307818,-4.96427417225e-05,1793244424258327296
+24,0.400000000,BASELINE,765,745.928139828,714,679,659,634.071860172,880,787.928139828,805.071860172,653,631,652,0.400979325439,-0.0153940833287,0.0498500461125,0.999999963026,-5.03250185059e-05,-0.000262546852927,-4.98524000421e-05,1793244424274993664
+25,0.416666667,BASELINE,765.508612413,746,714,679,659,634.508612413,879.491387587,788,805.508612413,653,631,652,0.400979627039,-0.0153938605383,0.0498502601782,0.999999963143,-4.997653842e-05,-0.000262136408852,-5.0016482352e-05,1793244424291660544
+26,0.433333333,BASELINE,765.913007065,745.913007065,714,679,659,635,879,787.913007065,806,652.913007065,631,652,0.400979887159,-0.0153942564382,0.0498506064736,0.999999963268,-5.03541230237e-05,-0.000261571254295,-5.00875403717e-05,1793244424308327424
+27,0.450000000,BASELINE,765.3386343,745.3386343,714,679,659,635,879,787.3386343,806,652.3386343,631,652,0.400979891829,-0.0153966645347,0.0498509586863,0.99999996324,-5.30647904396e-05,-0.000261220843803,-4.96728129187e-05,1793244424324994048
+28,0.466666667,BASELINE,765,745,714,679,659.235817767,635,879,787,805.764182233,652.235817767,631,652,0.400979653768,-0.0153980383432,0.0498509304072,0.999999963157,-5.45353899077e-05,-0.000261278524332,-4.94540341756e-05,1793244424341660672
+29,0.483333333,BASELINE,765,745,714,679,659.810383715,635,879,787,805.189616285,652.810383715,631,652,0.400979067029,-0.0153979264144,0.0498503555581,0.999999963002,-5.42246528582e-05,-0.000261922420643,-4.95167324216e-05,1793244424358327040
+30,0.500000000,BASELINE,765,745,714,679,659.603267792,635,879.396732208,787,805.396732208,653,631,652,0.400978212224,-0.015397386723,0.0498496499655,0.999999962638,-5.57980599191e-05,-0.000262924357604,-4.98153820149e-05,1793244424374993920
+31,0.516666667,BASELINE,765,745,714,679,659.011115538,635,879.988884462,787,805.988884462,653,631,652,0.400977225376,-0.0153966363269,0.0498488799721,0.999999962164,-5.82995477475e-05,-0.000264102656126,-5.02302551497e-05,1793244424391660800
+32,0.533333333,BASELINE,765,745,714,679,659,635,879.432663689,787,806,653,631,652,0.400976769215,-0.0153963279726,0.0498490132051,0.999999962354,-5.40564710273e-05,-0.000264376115107,-4.97443642232e-05,1793244424408327424
+33,0.550000000,BASELINE,765,745,714,679,659,635,879,787,806,652.85565355,631,652,0.400976594387,-0.0153963761149,0.0498493896358,0.999999962526,-5.18053759312e-05,-0.000264249041274,-4.93664839528e-05,1793244424424993792
+34,0.566666667,BASELINE,765,745,714,679,659,635,879,787,806,652.28215063,631,652,0.400977225803,-0.0153974590158,0.0498504377449,0.999999962642,-5.586025319e-05,-0.000262982607722,-4.93609630225e-05,1793244424441660672
+35,0.583333333,BASELINE,765.291725963,745,714,679.291725963,659,635,879,787.291725963,806,652.291725963,631,652,0.400977972736,-0.0153973666018,0.0498509635966,0.999999962792,-5.59755709315e-05,-0.00026236174393,-4.94953074044e-05,1793244424458327296
+36,0.600000000,BASELINE,765.865964495,745,714,679.865964495,659,635,879,787.865964495,806,652.865964495,631,652,0.400978831536,-0.0153961359923,0.0498509836852,0.999999962977,-5.2275750202e-05,-0.000262366061138,-4.97650998218e-05,1793244424474994176
+37,0.616666667,BASELINE,765.543319025,745,714,679.543319025,659,634.543319025,879,788,806,653,631,652,0.400979138058,-0.0153957409616,0.0498507126727,0.999999963175,-5.07179402197e-05,-0.000261950490648,-4.95915254462e-05,1793244424491660800
+38,0.633333333,BASELINE,765,745,714,679.050638157,659,634.050638157,879,787.949361843,806,653,631,652,0.400979472081,-0.0153957999948,0.0498505379807,0.999999963403,-5.02140887896e-05,-0.000261229512164,-4.93119281241e-05,1793244424508327168
+39,0.650000000,BASELINE,765,745,714,679.62617995,659,634.62617995,879,787.37382005,806,653,631,652,0.400981834291,-0.0153979284739,0.0498522805066,0.999999963877,-5.38746550355e-05,-0.00025866800519,-4.93326879805e-05,1793244424524993792
+40,0.666666667,BASELINE,765,745,714,679.797675102,659.202324898,635,879,787.202324898,806,652.797675102,631,652,0.400982404858,-0.0153991043172,0.0498529913351,0.999999963983,-5.55599833697e-05,-0.000257912139608,-4.92732420636e-05,1793244424541660416
+41,0.683333333,BASELINE,765,745,714,679.220412454,659.779587546,635,879,787.779587546,806,652.220412454,631,652,0.400979655248,-0.0153985147861,0.0498517902764,0.99999996343,-5.35849055317e-05,-0.000260502392877,-4.90651630683e-05,1793244424558327040
+42,0.700000000,BASELINE,765.363711479,744.636288521,714,679.363711479,659.636288521,635,879,788,806,652.363711479,631,652,0.400978705716,-0.0153974455666,0.0498511089492,0.999999963329,-5.24055496416e-05,-0.000261057387402,-4.94351435014e-05,1793244424574993920
+43,0.716666667,BASELINE,765.952073338,744.047926662,714,679.952073338,659.047926662,635,879,788,806,652.952073338,631,652,0.400978868021,-0.0153960800625,0.0498507486397,0.999999963512,-5.17176802032e-05,-0.00026035528197,-5.0162168681e-05,1793244424591660544
+44,0.733333333,BASELINE,765.469149433,744.530850567,714,679.469149433,659.530850567,634.469149433,879,787.469149433,806,653,630.469149433,652,0.400980457459,-0.0153966144961,0.0498521619093,0.999999963879,-5.21824465579e-05,-0.000258920835898,-4.97818905153e-05,1793244424608327168
+45,0.750000000,BASELINE,765.108347666,745,714,679,659.891652334,634.108347666,879.108347666,787,806,653,630.108347666,652,0.400981529905,-0.0153971862923,0.0498532358008,0.999999964132,-5.2774183509e-05,-0.000257898795195,-4.9379936786e-05,1793244424624994048
+46,0.766666667,BASELINE,765.683989407,745,714,679,659.316010593,634.683989407,879.683989407,787,806,653,630.683989407,652,0.400979826764,-0.0153971925484,0.0498521676322,0.999999963831,-5.34726778492e-05,-0.000258935526228,-4.93080153982e-05,1793244424641660672
+47,0.783333333,BASELINE,765.740120597,745,714,679,659,635,879.740120597,787,805.740120597,652.740120597,630.740120597,652,0.400979569358,-0.0153971596531,0.0498520030534,0.999999963806,-5.42731280648e-05,-0.000258842432206,-4.94200659974e-05,1793244424658327296
+48,0.800000000,BASELINE,765.163928359,745,714,679,659,635,879.163928359,787,805.163928359,652.163928359,630.163928359,652,0.400981071632,-0.0153970791048,0.0498529382811,0.999999964118,-5.51976742091e-05,-0.000257374169067,-4.97560385285e-05,1793244424674993920
+49,0.816666667,BASELINE,765.422409568,745,714,679,659.422409568,635,879,787,805.422409568,652.422409568,630.422409568,652,0.400979778355,-0.0153981137922,0.049852234503,0.999999963793,-5.60730700407e-05,-0.000258478274796,-4.95800457433e-05,1793244424691660544
+50,0.833333333,BASELINE,766,745,714,679.012467529,660,634.987532471,879,787.012467529,806,652.987532471,631,652,0.400977421195,-0.015399542102,0.0498509005799,0.999999963216,-5.68998030392e-05,-0.000260591987671,-4.92096704017e-05,1793244424708327168
+51,0.850000000,BASELINE,766,745,714,679.588329067,660,634.411670933,879,787.588329067,806,652.411670933,631,652,0.400977219975,-0.0153987187238,0.0498505414843,0.999999962846,-5.64106731441e-05,-0.000262107265399,-4.92545825685e-05,1793244424724993792
+52,0.866666667,BASELINE,765.836154853,745,714,680,659.836154853,634.163845147,878.836154853,787.836154853,805.836154853,652,631,652,0.400977736303,-0.015398210288,0.0498506661865,0.999999962795,-5.55878134717e-05,-0.000262477675552,-4.92449961183e-05,1793244424741660928
+53,0.883333333,BASELINE,765.261504968,745,714,680,659.261504968,634.738495032,878.261504968,787.261504968,805.261504968,652,631,652,0.400980051722,-0.0153984914996,0.0498520039028,0.999999963546,-5.39282017123e-05,-0.000259977588488,-4.90987666804e-05,1793244424758327552
+54,0.900000000,BASELINE,765.314461686,745,714,679.685538314,659.314461686,635,878.314461686,787,805,652.314461686,631,652,0.400980666246,-0.0153988036094,0.0498523918711,0.999999963669,-5.43921414676e-05,-0.000259410534082,-4.90814876693e-05,1793244424774993920
+55,0.916666667,BASELINE,765.891527936,745,714,679.108472064,659.891527936,635,878.891527936,787,805,652.891527936,631,652,0.400979860364,-0.0153991415222,0.049851986712,0.999999963268,-5.66294430326e-05,-0.000260457740678,-4.91718941868e-05,1793244424791660544
+56,0.933333333,BASELINE,765.517610912,745,714,679.482389088,659.517610912,634.517610912,879,787.482389088,805.482389088,653,631,651.517610912,0.400977577843,-0.015398803129,0.0498507635671,0.999999962632,-5.81182661712e-05,-0.000262487510227,-4.95756230235e-05,1793244424808327424
+57,0.950000000,BASELINE,765.074151751,745,714,679.925848249,659,634.074151751,879,787.925848249,805.925848249,652.925848249,631,651.074151751,0.400975478537,-0.015398058024,0.0498495671405,0.999999962088,-5.86700583704e-05,-0.000264356449373,-4.9971905078e-05,1793244424824994048
+58,0.966666667,BASELINE,765.650396063,745,714,679.349603937,659,634.650396063,879,787.349603937,805.349603937,652.349603937,631,651.650396063,0.400976934305,-0.0153956190635,0.0498498337508,0.999999962556,-5.40502483352e-05,-0.00026359629901,-4.98266582105e-05,1793244424841660672
+59,0.983333333,BASELINE,765.773958476,745,714,679,659,635,879,787,805.226041524,652.226041524,631,652,0.400977833862,-0.0153955286852,0.0498500176582,0.999999962799,-5.31362591067e-05,-0.000262901599623,-4.96126527262e-05,1793244424858327296
+60,1.000000000,BASELINE,765.199236684,745,714,679,659,635,879,787,805.800763316,652.800763316,631,652,0.400977875436,-0.0153990611111,0.0498500739925,0.999999962704,-5.79386816433e-05,-0.0002623078615,-4.92925836423e-05,1793244424874994176
+61,1.016666667,BASELINE,765,745,714,679,659,635,879.386154293,787,806,653,631,652,0.400978626606,-0.0153992593745,0.0498509038092,0.999999962995,-5.73620364859e-05,-0.000261343057028,-4.91861337613e-05,1793244424891661056
+62,1.033333333,BASELINE,765,745,714,679,659,635,879.977206428,787,806,653,631,652,0.400979754295,-0.0153976884933,0.0498521440444,0.999999963489,-5.39311968055e-05,-0.000260181360584,-4.91930326676e-05,1793244424908327680
+63,1.050000000,BASELINE,765,745,714,679,659.55674443,634.44325557,879.44325557,787.55674443,806,652.44325557,631,652,0.400978944251,-0.0153982970253,0.049851430728,0.99999996319,-5.52993449788e-05,-0.000261015495192,-4.93220574735e-05,1793244424924994048
+64,1.066666667,BASELINE,765.133646259,745,714,679,659.866353741,634,879.133646259,788,806,652.133646259,631.133646259,652,0.400978325837,-0.0153987656032,0.0498509892318,0.999999963009,-5.63760530164e-05,-0.000261469561686,-4.93791475295e-05,1793244424941660672
+65,1.083333333,BASELINE,765.703452066,745,714,679,659.296547934,634,879.703452066,788,806,652.703452066,631.703452066,652,0.400978586467,-0.0153984921407,0.0498516905606,0.99999996332,-5.58734255499e-05,-0.00026042199818,-4.91854889976e-05,1793244424958327296
+66,1.100000000,BASELINE,766,745,714,679,659,634.284548304,879.715451696,787.715451696,806,652.715451696,631.715451696,652,0.400979038805,-0.0153977660642,0.0498523734876,0.999999963554,-5.49869111227e-05,-0.000259697343308,-4.92483186541e-05,1793244424974993920
+67,1.116666667,BASELINE,766,745,714,679,659,634.877897231,879.122102769,787.122102769,806,652.122102769,631.122102769,652,0.400979699189,-0.0153965487971,0.0498530364445,0.999999963705,-5.36837907229e-05,-0.000259323118941,-4.95894972396e-05,1793244424991660544
+68,1.133333333,BASELINE,766,745,714,679,659,635,879.460039074,787,805.539960926,652,631,652,0.400980148052,-0.015396680499,0.0498528609368,0.999999963862,-5.32646102626e-05,-0.000258773127617,-4.97574593932e-05,1793244425008327168
+69,1.150000000,BASELINE,765.96087062,745,714,679,659,635,879.96087062,787,805.03912938,652.03912938,631,652,0.400980519114,-0.0153971749711,0.0498524871898,0.999999964008,-5.31508398374e-05,-0.000258208183608,-4.98711427748e-05,1793244425024993536
+70,1.166666667,BASELINE,765.383811583,745,714,679,659,635,879.383811583,787,805.616188417,652.616188417,631,652,0.400980574042,-0.0153978515144,0.0498523748107,0.999999963996,-5.40870426759e-05,-0.000258063769721,-4.98556365625e-05,1793244425041660416
+71,1.183333333,BASELINE,765.192550255,745,714,679,659,635,879,787.192550255,806,653,630.807449745,652,0.400980595884,-0.0153982936085,0.0498522044957,0.999999963891,-5.50223246399e-05,-0.000258280582228,-4.98214989579e-05,1793244425058327552
+72,1.200000000,BASELINE,765.767527479,745,714,679,659,635,879,787.767527479,806,653,630.232472521,652,0.400980552011,-0.0153982700597,0.0498519191133,0.999999963601,-5.59557778093e-05,-0.000259214831906,-4.97503572604e-05,1793244425074994432
+73,1.216666667,BASELINE,765.648875672,745,714,679.351124328,659,634.648875672,879,788,806,652.648875672,630.351124328,652,0.400981576054,-0.015398509254,0.0498526505247,0.999999963983,-5.50353861496e-05,-0.000257993801669,-4.94379490015e-05,1793244425091660800
+74,1.233333333,BASELINE,765.059428352,745,714,679.940571648,659,634.059428352,879,788,806,652.059428352,630.940571648,652,0.400983324937,-0.015398926783,0.0498540720774,0.999999964813,-5.28567112224e-05,-0.00025530989137,-4.89617828856e-05,1793244425108327168
+75,1.250000000,BASELINE,765,745,714,680,659,634,879,787.476032377,806,652,631,652,0.400981523653,-0.0153983157292,0.0498534161813,0.999999964275,-5.30181371306e-05,-0.000257354760627,-4.90768984562e-05,1793244425124993536
+76,1.266666667,BASELINE,765,745,714,679.895338564,659.104661436,634.104661436,879,787.104661436,806,652,631,652,0.400979620111,-0.0153977036579,0.0498526035718,0.999999963673,-5.31763587601e-05,-0.000259626459889,-4.92037786785e-05,1793244425141660160
+77,1.283333333,BASELINE,765,745,714,679.323674392,659.676325608,634.676325608,879,787.676325608,806,652,631,652,0.40097903646,-0.0153976016525,0.0498521310603,0.999999963494,-5.21495181689e-05,-0.000260544448964,-4.90873318541e-05,1793244425158327040
+78,1.300000000,BASELINE,765,745,714,679.248450922,659.751549078,635,879,787.751549078,806,652.248450922,631,652,0.400979085727,-0.0153975319309,0.0498518690575,0.999999963586,-5.19224402265e-05,-0.000260253012179,-4.90029962749e-05,1793244425174993920
+79,1.316666667,BASELINE,765,745,714,679.82117807,659.17882193,635,879,787.17882193,806,652.82117807,631,652,0.400979961075,-0.0153975043458,0.0498518818091,0.99999996403,-5.27392064027e-05,-0.000258383042024,-4.89605720543e-05,1793244425191660544
+80,1.333333333,BASELINE,765.408105697,745,714,679.591894303,659,635,879,787,806,653,631,652,0.400980030784,-0.0153967862048,0.0498520502956,0.999999964019,-5.19574842111e-05,-0.000258536080173,-4.92173731951e-05,1793244425208327168
+81,1.350000000,BASELINE,765.998555548,745,714,679,659,634.998555548,879,787.001444452,806,653,631,652,0.40097973647,-0.0153957612035,0.0498522893,0.999999963799,-5.04620789884e-05,-0.000259603154914,-4.96085611623e-05,1793244425224993792
+82,1.366666667,BASELINE,765.419431224,745,714,679,659,634.419431224,879,787.580568776,806,653,631,652,0.400980127976,-0.0153973888754,0.0498524557909,0.999999963812,-5.37602446493e-05,-0.000258929503458,-4.94185963464e-05,1793244425241660416
+83,1.383333333,BASELINE,765,745,714,679,659,634.158529293,879.158529293,788,805.841470707,653,631,652,0.400980484175,-0.0153985838327,0.0498526865432,0.999999963821,-5.59599690308e-05,-0.000258452169129,-4.92752949167e-05,1793244425258327040
+84,1.400000000,BASELINE,765,745,714,679,659,634.733433213,879.733433213,788,805.266566787,653,631,652,0.400980747643,-0.0153986422726,0.049853086077,0.999999963851,-5.52746558522e-05,-0.000258490458423,-4.92545540775e-05,1793244425274993920
+85,1.416666667,BASELINE,765,745,714,679.315971037,659,635,880,787.684028963,805.315971037,653,631,652,0.400980634325,-0.015399192431,0.049853084384,0.999999963763,-5.60715580754e-05,-0.000258687923471,-4.91010592161e-05,1793244425291660544
+86,1.433333333,BASELINE,765,745,714,679.905108568,659,635,880,787.094891432,805.905108568,653,631,652,0.400980195265,-0.0154001676948,0.0498527358183,0.999999963571,-5.81498802708e-05,-0.000259023000756,-4.88327944987e-05,1793244425308327168
+87,1.450000000,BASELINE,765.486380255,745,714,679.513619745,659.486380255,635,879.513619745,787,806,653,631,652,0.400980743493,-0.015398853098,0.0498530745334,0.999999963927,-5.66290717216e-05,-0.000257938127765,-4.9051737629e-05,1793244425324993792
+88,1.466666667,BASELINE,766,745,714.065346173,679,659.934653827,635,879,787,806,652.934653827,631,652,0.400981435642,-0.0153975265796,0.049853545048,0.999999964346,-5.48954041212e-05,-0.000256645569073,-4.92791120532e-05,1793244425341660416
+89,1.483333333,BASELINE,766,745,714.638134029,679,659.361865971,635,879,787,806,652.361865971,631,652,0.400981773446,-0.0153995214484,0.0498540143734,0.999999964458,-5.68747516272e-05,-0.000255857249607,-4.88455789719e-05,1793244425358327296
+90,1.500000000,BASELINE,765.787198653,745,714.787198653,679,659.212801347,635,879,787,806,652.212801347,631,652,0.400981329865,-0.0154005161197,0.0498538997629,0.999999964358,-5.77020834404e-05,-0.000256108303852,-4.86176163493e-05,1793244425374993920
+91,1.516666667,BASELINE,765.209306916,745,714.209306916,679,659.790693084,635,879,787,806,652.790693084,631,652,0.400979545707,-0.0153997948127,0.0498527833286,0.999999963894,-5.65529714507e-05,-0.000258142548751,-4.87423385657e-05,1793244425391660544
+92,1.533333333,BASELINE,765.376242875,745,714,679,659.623757125,635,879,787,806,653,631,652,0.4009790418,-0.0153994493362,0.049852445879,0.999999963804,-5.61617109097e-05,-0.000258555498285,-4.88621989184e-05,1793244425408326912
+93,1.550000000,BASELINE,765.966141473,745,714,679,659.033858527,635,879,787,806,653,631,652,0.400979264906,-0.0153993172812,0.0498525507884,0.999999963927,-5.62008087069e-05,-0.000258047768697,-4.89792983933e-05,1793244425424993536
+94,1.566666667,BASELINE,765.454635021,745,714.545364979,679.545364979,659.545364979,635,879,787.545364979,806,653,631,652,0.400980778932,-0.0153988910885,0.049853204841,0.999999964168,-5.54197954607e-05,-0.000257255153641,-4.91203887995e-05,1793244425441660416
+95,1.583333333,BASELINE,765,745,714.876922467,680,659.876922467,635,879,788,805.876922467,653,631,652,0.400981804105,-0.0153986687257,0.0498536212359,0.999999964322,-5.49648764211e-05,-0.000256723569753,-4.92700285618e-05,1793244425458327296
+96,1.600000000,BASELINE,765,745,714.302367814,680,659.302367814,635,879,788,805.302367814,653,631,652,0.400980747707,-0.0153992597591,0.0498530431868,0.999999964136,-5.58893325257e-05,-0.000257213142892,-4.94456706162e-05,1793244425474994176
+97,1.616666667,BASELINE,765,745,714.279518352,679.720481648,659.279518352,635,879,788,805.279518352,653,631,652,0.400979862165,-0.0153992716109,0.0498526676759,0.999999963936,-5.65302478549e-05,-0.000257827862421,-4.95751400531e-05,1793244425491660544
+98,1.633333333,BASELINE,765,745,714.86954894,679.13045106,659.86954894,635,879,788,805.86954894,653,631,652,0.400979166426,-0.0153986400594,0.0498525171613,0.999999963719,-5.68561824507e-05,-0.000258581604937,-4.96533170956e-05,1793244425508327424
+99,1.650000000,BASELINE,765,745,714.549348896,679,659.549348896,635,879,787.549348896,806.450651104,652.549348896,631,652,0.400980632846,-0.015399165573,0.0498531884433,0.999999964158,-5.60645346298e-05,-0.000257121800568,-4.92775646381e-05,1793244425524993792
+100,1.666666667,BASELINE,765.029165299,745,714,679,659,635,879,787,806.970834701,652.029165299,631,652,0.400982558249,-0.0153999224711,0.049854011164,0.999999964731,-5.49830575008e-05,-0.000255209141521,-4.88104889174e-05,1793244425541660416
+101,1.683333333,BASELINE,765.606671016,745,714,679,659,635,879,787,806.393328984,652.606671016,631,652,0.400981574302,-0.0153988547807,0.0498532954441,0.999999964396,-5.44166374214e-05,-0.000256595285294,-4.9048907279e-05,1793244425558327040
+102,1.700000000,BASELINE,765.817755533,745,714,679.182244467,659,634.817755533,879,787.182244467,806,653,631,652,0.400980721792,-0.0153983327893,0.0498526834786,0.999999964143,-5.41094897875e-05,-0.000257600448224,-4.92836289446e-05,1793244425574993664
+103,1.716666667,BASELINE,765.246308717,745,714,679.753691283,659,634.246308717,879,787.753691283,806,653,631,652,0.400980149984,-0.0153989761961,0.0498522930919,0.999999964069,-5.43560459796e-05,-0.000257791986058,-4.95104558938e-05,1793244425591660288
+104,1.733333333,BASELINE,765.337470151,745,714,679.662529849,659.337470151,634,879,788,806,653,631,652,0.400980305575,-0.0153994465579,0.0498523942636,0.999999964064,-5.50124623431e-05,-0.000257677768948,-4.94692982899e-05,1793244425608326912
+105,1.750000000,BASELINE,765.93059124,745,714,679.06940876,659.93059124,634,879,788,806,653,631,652,0.400981012208,-0.0153997858293,0.0498528678161,0.999999964112,-5.59793688207e-05,-0.000257331926815,-4.92251286743e-05,1793244425624994048
+106,1.766666667,BASELINE,765.489099484,744.489099484,714,679,659.489099484,634.510900516,879,787.489099484,806,653,631,652,0.400980942579,-0.0153983224408,0.0498530821679,0.999999964158,-5.38243880714e-05,-0.000257625425426,-4.91628009083e-05,1793244425641660672
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,660,634,880,787,806,653,631,652,0.400980694954,-0.0153985601633,0.0498525331332,0.999999964112,-5.33618053214e-05,-0.000257860165548,-4.93678655919e-05,1793244425684821760
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.575301943,714,679,659.424698057,634.575301943,879.424698057,787.575301943,806,653,631,652,0.400980951667,-0.0153974734355,0.0498527382501,0.999999964367,-5.16364751761e-05,-0.000257271574535,-4.90959206264e-05,1793244425701488640
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.844316679,879.155683321,788,806,652.844316679,631,652,0.400980981839,-0.0153971182516,0.0498529037215,0.99999996449,-5.07452865962e-05,-0.000257012248225,-4.8883562098e-05,1793244425718155520
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.249611321,879.750388679,788,806,652.249611321,631,652,0.400980373171,-0.0153988259981,0.0498529573939,0.999999964245,-5.22063504223e-05,-0.000257681437814,-4.88392353735e-05,1793244425734821888
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.33423841,659.33423841,634.33423841,880,788,806,652,631,652,0.400980148478,-0.0153995239149,0.0498528297792,0.999999964094,-5.33581767612e-05,-0.000258025611556,-4.88618886584e-05,1793244425751488256
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.910236082,659.910236082,634.910236082,880,788,806,652,631,652,0.400980201519,-0.0153994914076,0.049852571037,0.999999964013,-5.4286327264e-05,-0.000258134696804,-4.89329895124e-05,1793244425768155136
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.513175922,659.513175922,635,879.513175922,788,806,652.486824078,631,652,0.400979548927,-0.0153989394949,0.0498519043795,0.999999963849,-5.35934483428e-05,-0.00025887750952,-4.91213612662e-05,1793244425784821760
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.935158818,788,806,653,631,652,0.400978809098,-0.0153983409001,0.0498512241718,0.999999963655,-5.26671349782e-05,-0.000259779359961,-4.93008253437e-05,1793244425801488384
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.346476606,788,806,653,631,652,0.400978416895,-0.0153981398308,0.0498510428734,0.999999963356,-5.22726092342e-05,-0.000261020884118,-4.92334234946e-05,1793244425818155008
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.238290836,659,635,878.238290836,788,806,653,631,652,0.400983002088,-0.0153985878959,0.0498531470633,0.999999964203,-5.25200424621e-05,-0.000257753908175,-4.89686577639e-05,1793244425834821632
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.817458127,659,635,878.817458127,788,806,653,631,652,0.400994707476,-0.0153999645515,0.0498585206576,0.999999966625,-5.3685801837e-05,-0.000248037495981,-4.84215618327e-05,1793244425851488256
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.394974316,745,714,679.605025684,659.394974316,634.605025684,879,787.605025684,806,653,631,652,0.401022483383,-0.0154022457489,0.0498689952997,0.999999971666,-5.47487870223e-05,-0.000226854115949,-4.69824310224e-05,1793244425868155136
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.971730658,745,714,679.028269342,659.971730658,634.028269342,879,787.028269342,806,653,631,652,0.401057655547,-0.0154049432505,0.0498818176361,0.999999977348,-5.57644717341e-05,-0.000200393205349,-4.51327521587e-05,1793244425884821760
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.453751284,745,714,679,659.453751284,634.546248716,879.546248716,787.546248716,806,653,631,652,0.401120025663,-0.0154073056668,0.049903228214,0.999999985293,-5.43630212888e-05,-0.000156868948104,-4.30184842794e-05,1793244425901488384
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.123789173,745,714,679,659.247578347,635,879.876210827,788,806,653,631,652,0.401184848652,-0.0154102225075,0.0499230085895,0.999999990691,-5.36204700871e-05,-0.000118631094701,-4.08637808514e-05,1793244425918155264
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.713130437,745,714,679,660.426260874,635,879.286869563,788,806,653,631,652,0.401253624589,-0.0154152894053,0.0499349933174,0.999999992332,-5.58244661631e-05,-0.000103582078489,-3.86082921297e-05,1793244425934821888
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.701747348,745,714,679,660.403494695,635,879,787.701747348,805.701747348,653,630.701747348,652,0.401329629226,-0.0154200382025,0.0499428788422,0.999999993402,-5.73634336419e-05,-9.23415243758e-05,-3.71286773772e-05,1793244425951488512
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.120626588,745,714,679,659.241253176,635,879,787.120626588,805.120626588,653,630.120626588,652,0.401412489688,-0.015424485307,0.0499468766095,0.999999994052,-5.82716760743e-05,-8.47129842046e-05,-3.6384915403e-05,1793244425968155136
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.452573983,635,879,787,805,653,630.452573983,652.452573983,0.40150714636,-0.0154306191973,0.0499492343713,0.999999994037,-6.04659415884e-05,-8.36840408835e-05,-3.55900647582e-05,1793244425984821504
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.024088059,805.024088059,653,631,652.975911941,0.401606162307,-0.0154372654212,0.049951182601,0.999999993861,-6.30738089925e-05,-8.42149547024e-05,-3.47614166367e-05,1793244426001488384
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,787.60456908,805.60456908,653,631,652.39543092,0.401734495874,-0.0154455396029,0.0499535943661,0.999999993897,-6.74539569909e-05,-8.08443537777e-05,-3.34612216861e-05,1793244426018155008
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678.811335074,659.811335074,635,879.188664926,788,805.811335074,653,631,652,0.401867369596,-0.0154535734412,0.0499536859115,0.999999993664,-7.03629552432e-05,-8.16857433749e-05,-3.23667423109e-05,1793244426034821632
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678.219514834,659.219514834,635,879.780485166,788,805.219514834,653,631,652,0.402009945094,-0.0154610936924,0.049948819413,0.99999999285,-7.01282746248e-05,-9.15276741561e-05,-3.17118536973e-05,1793244426051488256
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,678.724515878,659,634.637742061,880,787.637742061,805.362257939,653,631,652,0.402180787186,-0.0154709236842,0.0499479615281,0.999999992486,-7.31069129982e-05,-9.35052232598e-05,-3.06465559112e-05,1793244426068155136
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.876213368,659,634.061893316,880,787.061893316,805.938106684,653,631,652,0.402368295551,-0.0154821155221,0.0499494671601,0.999999992403,-7.79801555008e-05,-9.08458573274e-05,-2.93392768204e-05,1793244426084821760
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.5106035,745,714,680,659,634.5106035,879.4893965,787,806,652.4893965,631,652,0.402582506694,-0.0154928243548,0.0499517858495,0.999999992697,-7.93468537613e-05,-8.68330198326e-05,-2.77386239531e-05,1793244426101488384
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714,679.914587112,659,635,879,787.085412888,806,652.085412888,631,652,0.402806143793,-0.0155034928769,0.0499548901599,0.999999993174,-7.99985352166e-05,-8.11143021365e-05,-2.5953553269e-05,1793244426118155264
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714,679.323702914,659,635,879,787.676297086,806,652.676297086,631,652,0.403066533157,-0.0155142670727,0.0499620643103,0.999999994419,-7.89177913874e-05,-6.62648119197e-05,-2.32861820277e-05,1793244426134821888
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.737800953,745,714,679.262199047,659,635,879.262199047,787.737800953,805.737800953,653,631,652,0.403345017858,-0.0155213047174,0.0499683034984,0.999999995822,-7.15107785461e-05,-5.32805625917e-05,-2.00688162217e-05,1793244426151488512
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.157935246,745,714,679.842064754,659,635,879.842064754,787.157935246,805.157935246,653,631,652,0.40364542591,-0.0155238153515,0.0499734099347,0.999999997371,-5.64391889082e-05,-4.2556142518e-05,-1.61851059091e-05,1793244426168155136
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.582475806,787.417524194,805.417524194,653,631,652,0.403978951315,-0.015514126261,0.0499801458484,0.999999999081,-2.66976723935e-05,-3.02663663334e-05,-1.44697804294e-05,1793244426184821760
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879.008665714,787.991334286,805.991334286,653,631,652,0.404324873063,-0.0154998706209,0.0499874917012,0.99999999972,8.53502902979e-06,-1.7390652852e-05,-1.35661156951e-05,1793244426201488384
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.435078567,659.564921433,635,880.129842865,788,806,653,631.564921433,652,0.404703303341,-0.0155060588559,0.049992247187,0.9999999998,1.66369500015e-05,-4.38282386496e-06,-1.020408938e-05,1793244426218155008
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.144258114,745,714,679,659.855741886,635,880.711483772,788,806,653,631.855741886,652,0.405083649548,-0.015512774603,0.0499925449668,0.999999999652,2.54034072676e-05,-7.75938638318e-07,-7.08569214707e-06,1793244426234821888
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.741666114,745,714,679,659.258333886,635,879.516667772,788,806,653,631.258333886,652,0.405468448251,-0.0155201626798,0.0499789647744,0.999999998926,3.75641326953e-05,-2.67060744127e-05,-4.85100495445e-06,1793244426251488512
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.674080968,745.325919032,714,679,659.325919032,634.674080968,879,787.674080968,805.674080968,653,631,652,0.40587010437,-0.0155233526683,0.0499599504169,0.999999996525,5.47457256127e-05,-6.27859509302e-05,-3.34457406585e-06,1793244426268155136
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.099850588,745.900149412,714,679,659.900149412,634.099850588,879,787.099850588,805.099850588,653,631,652,0.406284603864,-0.0155233442161,0.0499367958736,0.999999991446,7.57526206885e-05,-0.000106598719483,-2.39298720128e-06,1793244426284821760
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.471677626,745.528322374,714,679,660,634.471677626,879.471677626,787.471677626,805,653,631,652,0.406757349986,-0.0155211671558,0.0499247866058,0.99999998665,0.000101129288206,-0.000128343221399,-8.36013409347e-07,1793244426301488384
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.955696142,745,714,679,660,634.955696142,880,787.955696142,805.044303858,653,631,652,0.4072480262,-0.0155188633015,0.0499175145028,0.999999981984,0.000127402024021,-0.00014070667088,1.19457128637e-06,1793244426318155264
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.362416008,745,714,679,660,634.362416008,880,787.362416008,805.637583992,653,631,652,0.40780896015,-0.0155206444255,0.0499398725568,0.999999983755,0.000153380984305,-9.43858625892e-05,7.51479262728e-06,1793244426334821888
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.22547118,879.77452882,787.22547118,806,653,631,652,0.408388648714,-0.0155235474984,0.0499651533408,0.999999982886,0.000178512689387,-4.6588939277e-05,1.38148582076e-05,1793244426351488256
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634.804892357,879.195107643,787.804892357,806,653,631,652,0.408997778681,-0.0155282118335,0.0499950222945,0.999999979327,0.000202314351825,3.52522137881e-06,2.0083282422e-05,1793244426368155136
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.381111259,660,635,879.762222518,787.618888741,805.618888741,652.618888741,631,652,0.409598385336,-0.0155327784649,0.050003277791,0.999999974357,0.000224789421006,1.19129641559e-05,2.47824130363e-05,1793244426384822272
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.955704419,660,635,880.911408838,787.044295581,805.044295581,652.044295581,631,652,0.410194664874,-0.0155372954942,0.0500005606044,0.999999969185,0.000246591007011,-8.82889736008e-07,2.86848472284e-05,1793244426401489152
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.941696101,787,805.529151949,652,631,652,0.410801002095,-0.0155367728272,0.0499739077239,0.999999960909,0.000271832927333,-5.82360105013e-05,2.99461625852e-05,1793244426418155520
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.106610587,745,714,680,659.893389413,635,879.106610587,787.106610587,805.893389413,652.106610587,631,652,0.411422203872,-0.0155356201602,0.0499497245651,0.999999949679,0.000296996368737,-0.000107054941115,3.12079515286e-05,1793244426434821888
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.702933512,745,714,680,659.297066488,635,879.702933512,787.702933512,805.297066488,652.702933512,631,652,0.412107826293,-0.0155335072938,0.04994606991,0.999999943128,0.000320479291855,-9.95761066251e-05,3.3485289281e-05,1793244426451488512
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.710341795,745,714,680,659.289658205,635,880,787.710341795,805.289658205,652.710341795,631,652,0.412830847053,-0.0155337053781,0.0499587194679,0.999999960451,0.000269949502395,-6.92813383883e-05,3.77669393565e-05,1793244426468155392
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.133145024,745,714,680,659.866854976,635,880,787.133145024,805.866854976,652.133145024,631,652,0.413590992565,-0.0155361975019,0.0499875539287,0.999999988246,0.000145948604051,-1.63375952134e-05,4.40382345353e-05,1793244426484822272
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.442035588,745.442035588,714.442035588,680,660,635,880,787.442035588,806,652,631,652,0.414319530893,-0.0155446337231,0.0499824268294,0.999999997626,5.63766978565e-05,-2.84550964529e-05,2.7574390407e-05,1793244426501488640
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.982939092,714.982939092,680,660,635,880.017060908,787.982939092,806,652,631,652,0.415039627772,-0.0155547170201,0.0499667862999,0.999999997974,-1.9662000716e-05,-6.03307010191e-05,5.02655891045e-06,1793244426518155008
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.392823295,714.392823295,680,660,635,880.607176705,787.392823295,806,652,631,652,0.415794513614,-0.0155602588117,0.0499400495498,0.999999994841,1.21182821289e-05,-0.000100605568139,7.09739537232e-06,1793244426534821888
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880.806545505,787,806,652,631,652,0.416573652429,-0.0155631320767,0.0499294431268,0.999999992461,4.62919584522e-05,-0.000113254315068,1.03915215905e-05,1793244426551488768
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880.227909493,787,806,652,631,652,0.417401080572,-0.015560692117,0.049950953322,0.999999993725,8.52310477629e-05,-7.08975096014e-05,1.61213037195e-05,1793244426568155136
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714.347171189,680,660.347171189,634.652828811,879.652828811,787.347171189,806,652.347171189,631,652,0.418227000149,-0.0155583623416,0.0499706190332,0.99999999235,0.000115248660224,-3.97769339431e-05,2.08791165369e-05,1793244426584821760
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714.919941521,680,660.919941521,634.080058479,879.080058479,787.919941521,806,652.919941521,631,652,0.419051939395,-0.0155561041665,0.0499890861589,0.999999989834,0.000139468907868,-1.5957898491e-05,2.50053230327e-05,1793244426601488640
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.504754388,745,714.504754388,680,660.504754388,634.495245612,879.495245612,788,806,652.504754388,631,652,0.419870900065,-0.0155560603394,0.0499727050292,0.999999988833,0.000141274200162,-4.26024674046e-05,2.36859277813e-05,1793244426618155264
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.073287062,744.926712938,714.073287062,679.926712938,660,635,879.926712938,788,806,652,631,652,0.420702606435,-0.0155569480422,0.0499568873271,0.999999987737,0.000140479545983,-6.55935515806e-05,2.21261680841e-05,1793244426634822144
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.66787083,744.33212917,714.66787083,679.33212917,660,635,879.33212917,788,806,652,631,652,0.421631883443,-0.0155619025117,0.0499853539632,0.999999988856,0.000147097834478,-4.27269327926e-06,2.51505496462e-05,1793244426651488768
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.254702287,714.745297713,679,660.254702287,634.745297713,879,788,806,652,631,652,0.422530850085,-0.015563525653,0.0499986639809,0.999999987203,0.000155712544447,2.47490449538e-05,2.71205592863e-05,1793244426668155136
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.831723485,714.168276515,679,660.831723485,634.168276515,879,788,806,652,631,652,0.423391459897,-0.0155609330887,0.0499927937085,0.999999985612,0.000166853673654,1.28971216643e-05,2.77562900494e-05,1793244426684821760
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.594203345,745,714,679.405796655,661,634,879.81159331,787.594203345,806,652,631,652,0.424262505119,-0.0155607351724,0.0499861557636,0.999999987884,0.000153108549506,5.01590471767e-06,2.76393215914e-05,1793244426701488640
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.021343885,745,714,679.978656115,661,634,880.95731223,787.021343885,806,652,631,652,0.425137846453,-0.0155615231111,0.0499792017752,0.999999991293,0.000129117979686,-1.23060770966e-06,2.7212473636e-05,1793244426718155264
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.570571676,745,714,680,660.429428324,634.570571676,880.429428324,787,806,652,631,652,0.426053095858,-0.0155660635094,0.0499973023396,0.999999989334,0.000142334592751,1.18005022595e-05,3.05435088223e-05,1793244426734821888
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679.840582915,660,635,880,787,806,652,631,652,0.426948155481,-0.0155681498887,0.0500042284163,0.999999987164,0.000156782164122,5.14719305292e-06,3.26460451212e-05,1793244426751488512
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679.261755048,660,635,880,787,806,652,631,652,0.42778603439,-0.0155633979193,0.0499792045263,0.999999983423,0.000170679940744,-5.52566918665e-05,3.1133904072e-05,1793244426768155136
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714.314332531,679.314332531,660.314332531,635,880,787,806,652,631,652,0.428652634887,-0.0155606159414,0.049960109557,0.999999979873,0.000179753848025,-8.40007389766e-05,2.97677286444e-05,1793244426784821760
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714.888157874,679.888157874,660.888157874,635,880,787,806,652,631,652,0.429542946047,-0.0155594602626,0.0499459091264,0.999999978759,0.000184845477327,-8.66084481384e-05,2.85220532335e-05,1793244426801488640
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.536890488,680,661,634.536890488,880,787.463109512,806,652,631,652,0.430436999781,-0.0155601591143,0.0499535125378,0.999999983068,0.000167876540133,-6.93199837586e-05,2.96150725622e-05,1793244426818155264
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.960647062,745,714.039352938,680,661,634.039352938,880,787.960647062,806,652,631,652,0.431329952593,-0.0155608105357,0.0499642123692,0.99999998719,0.000148547567086,-5.09118971528e-05,3.10124067514e-05,1793244426834821888
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.370130765,745,714.629869235,680,661,634.629869235,880,787.370130765,806,652,631,652,0.432194795596,-0.015554509608,0.0499443504544,0.999999981421,0.000170964351685,-8.42836728835e-05,2.87421811427e-05,1793244426851488256
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.216271539,745,714.783728461,679.783728461,661,634.783728461,880,787,806.216271539,652,631,652,0.433069318858,-0.015551156642,0.0499405701978,0.999999977633,0.000189608777595,-8.93221876128e-05,2.83598528122e-05,1793244426868154880
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.795764613,745,714.204235387,679.204235387,661,634.204235387,880,787,806.795764613,652,631,652,0.433960099961,-0.0155527546879,0.0499637985983,0.999999978036,0.00020191764448,-4.67758495839e-05,3.11481907398e-05,1793244426884821504
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714.372359779,679.372359779,660.627640221,634,880,787.372359779,807,652,631,652,0.434819473,-0.0155533551199,0.0499810987738,0.999999977482,0.000208073680588,-2.46495200423e-05,3.36603464221e-05,1793244426901488128
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714.947377715,679.947377715,660.052622285,634,880,787.947377715,807,652,631,652,0.435661752034,-0.015553412597,0.0499951724901,0.999999977023,0.000210881015686,-1.36368565282e-05,3.60221887711e-05,1793244426918155008
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714.479064787,680,660.520935213,634,880,787.479064787,806.479064787,652,631,652,0.436444112106,-0.0155504153652,0.049972097245,0.999999978693,0.000192703845087,-6.51289415178e-05,3.51750005399e-05,1793244426934821888
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.097433118,745,714,680.097433118,661,634,880.097433118,787.097433118,806,652,631,652,0.437234917558,-0.0155481242924,0.0499530640068,0.999999978184,0.000178089497624,-0.000103589648454,3.44416853148e-05,1793244426951489024
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.689608711,745,714,680.689608711,661,634,880.689608711,787.689608711,806,652,631,652,0.438099254986,-0.0155509814022,0.0499735566979,0.999999979901,0.000192299835573,-4.39091125814e-05,3.59279992354e-05,1793244426968155648
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.44939899,745,714,680.724699495,661,634,881,787.724699495,806.275300505,652,631,652,0.438915328818,-0.0155526769404,0.0499823454325,0.999999978761,0.000201929186157,-2.00448806023e-05,3.60772032524e-05,1793244426984822272
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.429794179,745,714,680,661,634,880.570205821,787,807,652,631,652,0.440417161471,-0.0155547923892,0.0499648636316,0.999999976352,0.000207598880111,-5.55690335275e-05,3.33310848156e-05,1793244427018155008
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714,680.004915018,661,634,880.004915018,787,807,652,631,652,0.441147754038,-0.0155569341407,0.0499485910776,0.999999975093,0.000207196368439,-7.65944774132e-05,3.18997016323e-05,1793244427034821632
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+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680.830237333,661,634,881,787,806.830237333,652,631,652,0.44255116731,-0.0155637933858,0.0499672404908,0.999999987667,0.000147759685512,-4.04375514943e-05,3.45960878865e-05,1793244427068155136
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.244601232,661,634,881,787,806.244601232,652,631,652,0.443236058001,-0.0155688840447,0.0499608566935,0.999999985437,0.000157676093713,-5.48840829741e-05,3.53855822598e-05,1793244427084822016
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680,661,633.664197575,881,787,806.335802425,652,631,652,0.443852546926,-0.0155718083519,0.0499271246442,0.999999979254,0.00016491258017,-0.000114709283245,3.37153104117e-05,1793244427101488640
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+194,3.233333333,POSE1_TO_POSE2_PRESS,765.509645419,745,714,680.490354581,661,633.490354581,880.509645419,787,807,651.509645419,631,652,0.445012444372,-0.0155774932492,0.0498497610047,0.999999958072,0.000173758445268,-0.000229792708982,2.93106551472e-05,1793244427134821888
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680.342865469,660.342865469,634,880.657134531,787,807,651,631,652,0.446179900061,-0.0155881202406,0.0498454823346,0.999999961447,0.000177082320948,-0.000211627706119,3.10239143178e-05,1793244427168155392
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680.242419994,660.242419994,634,881,787,807,651.242419994,631,652,0.446724860375,-0.0155944036401,0.0498416418147,0.999999960686,0.000177651339349,-0.000214564524273,3.20803907673e-05,1793244427184822016
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680.824546736,660.824546736,634,881,787,807,651.824546736,631,652,0.447230099464,-0.0156015246385,0.0498170526926,0.99999995089,0.000178401299663,-0.000255688333255,3.18864277783e-05,1793244427201488384
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.621030472,745,715,680.378969528,660,632.621030472,880.378969528,786,807,652,629.378969528,652,0.451067496702,-0.015640007062,0.0497491299402,0.999999923631,-6.77475278705e-07,-0.000390786663087,4.80600501384e-06,1793244427368155136
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.794381497,745.205618503,715,680.205618503,660,632.794381497,880.205618503,786,807,652,629,652,0.451313425384,-0.0156424205628,0.0497316459188,0.99999991158,5.91767360739e-06,-0.000420451037543,5.00648631186e-06,1793244427384822016
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+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.252318166,715,680.747681834,660,632,880.747681834,785,807,652,629,652,0.45317695746,-0.0156744929502,0.0496874026973,0.999999880003,2.39454093244e-05,-0.000488809745274,2.20245319241e-05,1793244427601488384
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+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880.645099844,785,807,652,629,652,0.453391178692,-0.0156946428849,0.0496671719107,0.999999867099,-3.48357437968e-06,-0.000514723528388,2.91538647538e-05,1793244427934821632
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880.068925016,785,807,652,629,652,0.453390480831,-0.0156932008675,0.0496669075209,0.99999986673,-2.68709319301e-06,-0.000515449926868,2.90691171371e-05,1793244427951488256
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880,785,807,652,629,652,0.453390696241,-0.0156936283282,0.0496662769169,0.999999866441,-3.89078273435e-06,-0.000515993996817,2.92059525794e-05,1793244427968154880
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880,785,807.100438929,652,629,652,0.453391192759,-0.01569448566,0.0496658209547,0.999999866335,-5.69177371785e-06,-0.000516174479292,2.93396695018e-05,1793244427984821504
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880,785,807.678898707,652,629,652,0.453392436545,-0.0156961799023,0.0496664329974,0.99999986705,-9.04201085715e-06,-0.000514742444048,2.9315247605e-05,1793244428001488384
+247,4.116666667,HOLD_POSE2,766,745,715,681,660,632,880,785,807,652,629,652,0.45339355478,-0.0156923667347,0.0496675465153,0.999999867043,-3.74609911896e-06,-0.000514839631809,2.89871898964e-05,1793244428039739648
+248,4.133333333,HOLD_POSE2,765.411555152,745,715,681,660,631.411555152,880,784.411555152,807,652,629,651.411555152,0.453392679195,-0.0156934727602,0.0496664459047,0.999999866264,-5.92196755428e-06,-0.000516321834554,2.91408723862e-05,1793244428056406272
+249,4.150000000,HOLD_POSE2,765,745.173961768,715,681.173961768,660,631.173961768,880,784.173961768,807,652,629,651.173961768,0.45339259424,-0.0156943933151,0.0496660588538,0.999999866144,-7.18161297923e-06,-0.000516529461486,2.92708665386e-05,1793244428073073152
+250,4.166666667,HOLD_POSE2,765,745.752666629,715,681.752666629,660,631.752666629,880,784.752666629,807,652,629,651.752666629,0.453394348785,-0.0156948823506,0.0496673319854,0.999999867569,-6.30955519298e-06,-0.000513771633936,2.93457469396e-05,1793244428089739520
+251,4.183333333,HOLD_POSE2,765.332227866,745.667772134,715,681.667772134,660,632,880,785,807,652,629,652,0.453395189752,-0.0156940861536,0.0496679792583,0.999999868193,-5.91995142791e-06,-0.000512568523509,2.92010402375e-05,1793244428106406144
+252,4.200000000,HOLD_POSE2,765.912428262,745.087571738,715,681.087571738,660,632,880,785,807,652,629,652,0.453395348832,-0.0156923306679,0.0496681593945,0.999999868224,-5.89044798566e-06,-0.000512525843117,2.88924352698e-05,1793244428123072768
+253,4.216666667,HOLD_POSE2,765.51117719,745,715,681,660,632,880,784.51117719,807,652,628.51117719,652,0.453396419271,-0.0156936211132,0.0496678280092,0.999999868036,-7.70375614242e-06,-0.000512858714002,2.90597842958e-05,1793244428139740416
+254,4.233333333,HOLD_POSE2,765.065765932,745,714.934234068,681,659.934234068,632,880,784.065765932,807,652,628.065765932,652,0.453397311804,-0.0156951340772,0.0496673538048,0.99999986773,-9.69070749304e-06,-0.000513411927232,2.92175103735e-05,1793244428156407808
+255,4.250000000,HOLD_POSE2,765.652412275,745,714.347587725,681,659.347587725,632,880,784.652412275,807,652,628.652412275,652,0.453395512154,-0.0156941209777,0.0496664686306,0.999999866829,-1.04583991643e-05,-0.000515181549288,2.86289102922e-05,1793244428173073920
+256,4.266666667,HOLD_POSE2,765.764060147,745,714.235939853,681,659.235939853,632,880.235939853,785,807.235939853,652,629,652,0.453395673944,-0.0156932449124,0.0496668862574,0.999999867062,-9.45515637488e-06,-0.000514754372669,2.85481751943e-05,1793244428189740032
+257,4.283333333,HOLD_POSE2,765.185067257,745,714.814932743,681,659.814932743,632,880.814932743,785,807.814932743,652,629,652,0.453398687639,-0.0156925680927,0.0496691981377,0.999999868928,-5.87700114749e-06,-0.000511133083284,2.92058682808e-05,1793244428206406400
+258,4.300000000,HOLD_POSE2,765.394492485,745,715,681,660,631.605507515,881,785,807.605507515,652,628.605507515,652,0.453397993672,-0.0156922215997,0.0496687470645,0.999999868613,-4.23178872186e-06,-0.000511756834478,2.93325152523e-05,1793244428223073024
+259,4.316666667,HOLD_POSE2,765.974318586,745,715,681,660,631.025681414,881,785,807.025681414,652,628.025681414,652,0.453395557834,-0.0156920302949,0.0496669979487,0.999999867277,-3.49467764127e-06,-0.000514374916689,2.9209675407e-05,1793244428239739904
+260,4.333333333,HOLD_POSE2,765.450987911,745,715,681,660,631.549012089,881,784.450987911,807.549012089,652,628.549012089,652,0.453395764655,-0.0156918994564,0.0496667830397,0.999999867251,-4.09416300074e-06,-0.000514430434199,2.90247216519e-05,1793244428256406528
+261,4.350000000,HOLD_POSE2,765,745,715,681,660,632,880.873709923,784.126290077,807.873709923,652,629,652,0.453395981086,-0.0156918083456,0.0496667885634,0.999999867299,-5.03833145236e-06,-0.000514340653365,2.88208915626e-05,1793244428273073152
+262,4.366666667,HOLD_POSE2,765,745,715,681,660,632,880.286122622,784.713877378,807.286122622,652,629,652,0.453395785267,-0.0156918521113,0.0496673395449,0.99999986739,-7.0152571444e-06,-0.000514153936844,2.85586268991e-05,1793244428289739776
+263,4.383333333,HOLD_POSE2,765,745.29737269,715,681,660,632,880.29737269,785,807,652,628.70262731,652,0.453396486092,-0.015691192605,0.0496679636066,0.999999867824,-7.73185449672e-06,-0.000513310697996,2.83431194076e-05,1793244428306406400
+264,4.400000000,HOLD_POSE2,765,745.876984228,715,681,660,632,880.876984228,785,807,652,628.123015772,652,0.453398037927,-0.0156898656177,0.0496686570293,0.999999868585,-7.25226381866e-06,-0.00051184434846,2.81719895453e-05,1793244428323073024
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,631,880,784,808,652,629,652,0.453397040229,-0.0156909928022,0.0496682576278,0.999999867892,-5.24808898801e-06,-0.00051319869493,2.85512537007e-05,1793244428355646976
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.576414589,660,631.576414589,880,784.576414589,807.423585411,652,629,652,0.453397130741,-0.015693168837,0.0496679470618,0.99999986786,-9.16256607715e-06,-0.000513189359326,2.88652406558e-05,1793244428372313600
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.156781678,715,681,660,632,880.156781678,784.843218322,807,652,628.843218322,652,0.453397224058,-0.0156939984687,0.0496677384996,0.999999867843,-1.12598223022e-05,-0.00051317037333,2.90269887737e-05,1793244428388979968
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.748103754,715,681,660,632,880.748103754,784.251896246,807,652,628.251896246,652,0.453397325144,-0.0156910963735,0.0496678126538,0.999999867903,-8.32042021036e-06,-0.000513124640051,2.8766787626e-05,1793244428405646592
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.667534754,745.667534754,715,681,659.667534754,632,881.332465246,784.332465246,807,652,628.332465246,652,0.453397457691,-0.0156901580616,0.0496679722685,0.999999867951,-7.44618176669e-06,-0.00051305792529,2.85269013569e-05,1793244428422312960
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.088338918,745.088338918,715,681,659.088338918,632,881.911661082,784.911661082,807,652,628.911661082,652,0.453397613585,-0.0156906771216,0.0496681953056,0.999999867995,-8.10455194847e-06,-0.000512975639664,2.83020912719e-05,1793244428438979584
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.487302933,632,881.025394134,785,807.487302933,652,629,652,0.453396887439,-0.0156922236004,0.0496674235652,0.999999867491,-9.55492931602e-06,-0.000513912001657,2.86476254596e-05,1793244428455647232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.936375359,660,632,880.063624641,784.936375359,807.936375359,652,628.936375359,652,0.453395139593,-0.0156934339737,0.0496661131426,0.999999866607,-1.07318437056e-05,-0.00051559208917,2.89218616019e-05,1793244428472314880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.349196031,660,632,880.650803969,784.349196031,807.349196031,652,628.349196031,652,0.45338629061,-0.0156903570668,0.049661843203,0.999999863397,-8.48557953013e-06,-0.00052188360463,2.77647614748e-05,1793244428488980480
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.23421693,660,632,881,784.23421693,807,652,628.23421693,652,0.453369018923,-0.0156877631784,0.0496536488059,0.999999856491,-6.57764938618e-06,-0.000535037369626,2.66545640556e-05,1793244428505646592
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.812103397,660,632,881,784.812103397,807,652,628.812103397,652,0.453339388495,-0.0156858780295,0.0496396960018,0.999999843831,-5.16616134848e-06,-0.000558260201605,2.5613187681e-05,1793244428522313216
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.389731808,715,681,660,632,881,784.610268192,807,652,628.610268192,652,0.453290697005,-0.0156834099354,0.0496195502354,0.999999823869,-4.60120190336e-06,-0.000593022380241,2.37909469325e-05,1793244428538979840
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.967235939,715,681,660,632,881,784.032764061,807,652,628.032764061,652,0.453232821915,-0.0156806609786,0.0495964207061,0.999999799195,-4.44409879887e-06,-0.000633344203766,2.15924865342e-05,1793244428555646464
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.458023371,715,681,660,632,881,784.541976629,807,652,628.541976629,652,0.453166373361,-0.0156777469592,0.0495780581192,0.999999784382,-4.93832274583e-06,-0.000656365560216,1.98756033858e-05,1793244428572313344
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.119580703,745,715,681,660,632,880.880419297,784.880419297,807,652,629,652,0.453097320747,-0.0156741933647,0.0495624138941,0.999999771367,-4.34152932788e-06,-0.000675953340567,1.82676510426e-05,1793244428588979968
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.709090668,745,715,681,660,632,880.290909332,784.290909332,807,652,629,652,0.453020061101,-0.0156681653768,0.0495563255756,0.999999764464,6.96702961678e-07,-0.000686137024877,1.69739483112e-05,1793244428605646848
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.705966475,745,714.705966475,681,660,632,880,784.294033525,807,652,628.705966475,652,0.452936120886,-0.0156624368857,0.0495555447814,0.999999763526,3.24455097649e-06,-0.000687514589363,1.61801230865e-05,1793244428622313472
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.125473121,745,714.125473121,681,660,632,880,784.874526879,807,652,628.125473121,652,0.452845672184,-0.0156570001773,0.0495599348009,0.999999768456,3.36616157611e-06,-0.000680312860933,1.58732996336e-05,1793244428638979584
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.449336425,680.550663575,660,632,880,785.449336425,807,652,628.449336425,652,0.452732092569,-0.0156499723547,0.0495646875819,0.999999772924,7.03585314189e-06,-0.000673689587534,1.56237256791e-05,1793244428655646208
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.021940751,660,632,880,785.978059249,807,652,629,652,0.452611363805,-0.0156424506464,0.0495695371709,0.999999777161,1.16238397475e-05,-0.000667312951029,1.53859985463e-05,1793244428672312832
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.578987909,660,632,880,785.421012091,807,652,629,652,0.452471837779,-0.0156335843532,0.0495743081205,0.999999779953,1.47461070975e-05,-0.000663061209674,1.50521825573e-05,1793244428688979712
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,880.149894596,785,807,652,629,652,0.452319275424,-0.0156244611149,0.0495773712682,0.999999780247,1.87602264404e-05,-0.000662525851183,1.46119884074e-05,1793244428705646592
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,880.763694743,785,807,652,629,652,0.452126367237,-0.0156145426646,0.049575148976,0.999999772782,2.55345186838e-05,-0.000673492246564,1.38425668455e-05,1793244428722313728
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.355674248,745,715,681,660,632,880.644325752,785,807.355674248,652,629,652,0.451919626649,-0.015602953519,0.0495753108988,0.999999769949,2.97738547442e-05,-0.000677536815185,1.25970473766e-05,1793244428738980352
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.933994464,745,715,681,660,632,880.066005536,785,807.933994464,652,629,652,0.451704227196,-0.0155903185459,0.0495769652992,0.99999977008,3.24263524442e-05,-0.000677248440275,1.10534987226e-05,1793244428755646976
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.491246388,660,632,880.508753612,785,807.491246388,652,629,652,0.451447257024,-0.0155775691696,0.0495758939407,0.999999768163,3.55285612919e-05,-0.000679949688442,8.99660331488e-06,1793244428772313344
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.085181211,632,880.914818789,785,807,652,629.085181211,652,0.451182694916,-0.0155657436758,0.0495746786868,0.999999767113,3.774169667e-05,-0.000681396303481,6.95594437674e-06,1793244428788979968
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.674191294,632,880.325808706,785,807,652,629.674191294,652,0.450904906925,-0.0155594699278,0.0495746894829,0.999999772834,3.43534497241e-05,-0.000673143791134,5.40251513848e-06,1793244428805646336
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.74128349,745,715,680.25871651,660.74128349,632,880,785,807,652,629.74128349,652,0.450615050882,-0.015555600176,0.0495821387641,0.99999978524,2.83221234398e-05,-0.00065475191085,4.31660379484e-06,1793244428822312960
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.162309983,745,715,680.837690017,660.162309983,632,880,785,807,652,629.162309983,652,0.450310256194,-0.0155547062554,0.0495987959111,0.999999805243,1.90190129092e-05,-0.000623808827308,3.80941817624e-06,1793244428838979840
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.415080857,714.584919143,681,660,632.415080857,880.415080857,785,807,652,629.415080857,652,0.449973720724,-0.0155535852966,0.0496160657151,0.999999824296,9.41496899043e-06,-0.000592712505888,3.44000749699e-06,1793244428855646720
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.991855163,714.008144837,681,660,632.991855163,880.991855163,785,807,652,629.991855163,652,0.449624820738,-0.0155523758958,0.0496335741774,0.999999842322,-3.06302374414e-07,-0.000561556491469,3.12426662335e-06,1793244428872313856
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.566624075,746,714.566624075,681,660,633,881,785,807,652,630,652,0.449209631209,-0.0155473840523,0.0496433449546,0.999999851077,-1.04468793304e-05,-0.000545651667723,9.79139646626e-07,1793244428888980224
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.855072801,745.855072801,715,680.855072801,660,633,880.855072801,785.144927199,807,652,630,652,0.448784218586,-0.0155411880959,0.0496495680079,0.999999856436,-1.90757917115e-05,-0.000535500843197,-1.53092802129e-06,1793244428905646848
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.265847006,745.265847006,715,680.265847006,660,633,880.265847006,785.734152994,807,652,630,652,0.448330376308,-0.0155314668237,0.049645254691,0.999999852666,-2.30520290114e-05,-0.000542320167728,-5.07945102169e-06,1793244428922313472
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.318854602,660,633,880.318854602,786,807,652,630,652,0.447842481488,-0.015520674754,0.0496377232428,0.999999846984,-2.76514392295e-05,-0.000552435441574,-9.04094297353e-06,1793244428938979840
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.899836979,660,633,880.899836979,786,807,652,630,652,0.447326592301,-0.0155090023895,0.0496275461946,0.999999839615,-3.27631552652e-05,-0.00056526028922,-1.33419337277e-05,1793244428955646464
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.475664193,745,714.524335807,680.524335807,660,633,881,786,807,652,630,652,0.446790161608,-0.0155000298108,0.0496225530489,0.999999836888,-3.9741481587e-05,-0.000569518402432,-1.70990979559e-05,1793244428972313344
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.075594993,660,634,880.075594993,787,806.924405007,652,631,652,0.433684876087,-0.0154126567696,0.0497688585524,0.999999922975,-0.000118252162026,-0.000368598360664,-6.48261055222e-05,1793244429272313600
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+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.126682039,744.126682039,714.126682039,680,659.873317961,635,880,787,805.126682039,653,631,652,0.404129482569,-0.0154189265249,0.0498108942551,0.999999930323,-0.000174375316601,-0.000326107787242,-5.09975583676e-05,1793244429938980096
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.713168739,744.713168739,714.713168739,680,659.286831261,635,880,787,805.713168739,653,631,652,0.403818864208,-0.0154227178519,0.0498312157456,0.999999938841,-0.0001702235918,-0.000301519414738,-4.92752287996e-05,1793244429955646464
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,714.703100922,679.703100922,659,635,879.703100922,787.296899078,806,653,631,652,0.403514309011,-0.0154238536616,0.0498416785022,0.999999946747,-0.000142185514675,-0.00028962877534,-4.90261680907e-05,1793244429972313344
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714.122009014,679.122009014,659,635,879.122009014,787.877990986,806,653,631,652,0.403215557514,-0.0154224476007,0.0498427044432,0.999999952555,-9.12833381509e-05,-0.000289892451223,-5.01873254817e-05,1793244429988979712
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.545645714,745,714,679.454354286,659.454354286,635,879.454354286,787.545645714,806,653,631,652,0.402928526487,-0.0154245730467,0.0498331851744,0.999999946039,-9.347745463e-05,-0.000310628218513,-5.1898427958e-05,1793244430005646592
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,635,880,787,806.029470283,653,631,652,0.402647421253,-0.0154274247281,0.0498211453033,0.999999936132,-0.000109346829197,-0.000335993833565,-5.37388935984e-05,1793244430022313472
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.814093524,879.814093524,787.185906476,806.814093524,653,631,652,0.402203379815,-0.0154258085647,0.0498093032193,0.999999927823,-0.000124648255554,-0.000354430463255,-5.65342971445e-05,1793244430055647232
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634.220093842,879.220093842,787.779906158,806.220093842,653,631,652,0.402019221636,-0.0154264702068,0.0498082148758,0.999999925785,-0.00013152311658,-0.000357570787063,-5.72219748408e-05,1793244430072313600
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.637031211,634.362968789,879,787.637031211,806,653,631,652,0.401861087588,-0.0154270674658,0.0498107301409,0.999999927643,-0.000136304113505,-0.000350560052386,-5.6946974654e-05,1793244430088980480
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.513941147,745,714,679.486058853,659,635,878.486058853,787,806,653,631,652,0.401598316793,-0.0154218531036,0.0498182203693,0.999999942583,-7.7243883262e-05,-0.000327150348149,-4.28886539308e-05,1793244430122312960
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.909968561,745,714,679.090031439,659.090031439,635,878.090031439,787.090031439,806,653,631,652,0.401485062705,-0.0154165692868,0.0498211175771,0.999999948834,-1.8964849536e-05,-0.000317867210787,-3.05424965951e-05,1793244430138979584
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.322783425,745,714,679.677216575,659.677216575,635,878.677216575,787.677216575,806,653,631,652,0.401394042001,-0.0154180829757,0.0498254066727,0.99999995009,-2.7342996493e-05,-0.000313226623955,-3.09995634615e-05,1793244430155646464
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,879.853669654,787,805.146330346,653,631,652,0.401052366303,-0.0154383778036,0.0498309679757,0.999999951683,-7.63407004225e-05,-0.000299445332077,-3.37370547749e-05,1793244430255646720
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,879.26194777,787,805.73805223,653,631,652,0.40102933662,-0.0154358777326,0.0498311797083,0.999999952885,-7.21120882688e-05,-0.000296378731402,-3.45022146106e-05,1793244430272313344
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.946208231,635,880,787.946208231,806,653,631,652.946208231,0.400980687418,-0.0154357780743,0.0498369723962,0.999999955389,-7.42699553519e-05,-0.000287290466653,-3.42137294002e-05,1793244430338980352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.358634437,635,880,787.358634437,806,653,631,652.358634437,0.400979314013,-0.0154371659314,0.0498388832535,0.999999956384,-7.54502543928e-05,-0.000283488544371,-3.42492740006e-05,1793244430355646976
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.772824666,659,634.772824666,879.772824666,787,806,653,631,652,0.400977214942,-0.0154376189427,0.0498398349318,0.999999956897,-7.58952220797e-05,-0.000281539213009,-3.43767044689e-05,1793244430372313344
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.189778282,659,634.189778282,879.189778282,787,806,653,631,652,0.40097397911,-0.0154366075144,0.0498392840525,0.999999956672,-7.51882902491e-05,-0.00028249197282,-3.46480745079e-05,1793244430388979968
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.387312021,879.387312021,787.387312021,806,653,631,652,0.40097232056,-0.0154369096084,0.0498395042358,0.999999956792,-7.64173460544e-05,-0.000281754849921,-3.45049099604e-05,1793244430405646592
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.961528098,879.961528098,787.961528098,806,653,631,652,0.400971423154,-0.015437845565,0.0498400965087,0.999999957072,-7.85806459076e-05,-0.00028020224512,-3.41617046329e-05,1793244430422313216
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.464691188,787.464691188,806,653,631,652,0.400971177885,-0.0154391579897,0.0498406957544,0.999999957226,-7.9868417036e-05,-0.000279284618283,-3.42044078041e-05,1793244430438979840
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.112182133,659,634.887817867,879,787,805.887817867,653,631,652,0.400970928679,-0.0154399857071,0.0498410879501,0.999999957339,-8.05139921684e-05,-0.000278685302093,-3.425444956e-05,1793244430455646464
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.702365928,659,634.297634072,879,787,805.297634072,653,631,652,0.400970463161,-0.015438632923,0.0498405957838,0.999999957329,-7.86911001016e-05,-0.000279247999566,-3.42176806106e-05,1793244430472313344
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.287240259,745,714,679.712759741,659,634.287240259,879,787,805,652.712759741,631,652,0.400970382614,-0.0154380928492,0.049840666307,0.99999995761,-7.70142228534e-05,-0.000278718819799,-3.41260404583e-05,1793244430488980224
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.866712922,745,714,679.133287078,659,634.866712922,879,787,805,652.133287078,631,652,0.400970693731,-0.0154383796104,0.0498413092993,0.999999958187,-7.54858978947e-05,-0.000277078786377,-3.3978575454e-05,1793244430505647104
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.557561525,745,714.442438475,679,659,634.557561525,879,787,805.442438475,652.442438475,631,652,0.400970573264,-0.015438689386,0.0498415059459,0.999999958043,-7.6582902171e-05,-0.000277307421971,-3.39094124872e-05,1793244430522313472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.017070083,745,715,679,659.017070083,634,879,787,806,653,631,652,0.400970364456,-0.015439027742,0.0498415965241,0.999999957701,-7.84902014909e-05,-0.000278010356196,-3.38699811615e-05,1793244430538979840
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.592534155,745,715,679,659.592534155,634,879,787,806,653,631,652,0.400971483233,-0.0154400761223,0.0498425790374,0.999999958041,-8.12493824268e-05,-0.0002759680897,-3.40379695209e-05,1793244430555646464
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.827572254,745,714.827572254,679,660,634.172427746,879.172427746,787,805.827572254,653,631,652,0.400972016078,-0.015440459407,0.0498431999036,0.999999958321,-8.23365230488e-05,-0.000274619481566,-3.41052742707e-05,1793244430572313088
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.236935266,745,714.236935266,679,660,634.763064734,879.763064734,787,805.236935266,653,631,652,0.400971127794,-0.0154392295572,0.0498429436248,0.999999958475,-7.93682679632e-05,-0.000274953284566,-3.39283792398e-05,1793244430588979968
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.34658959,745,714,679,660,634.65341041,879.65341041,787,805.34658959,653,631,652,0.400970888385,-0.015439172715,0.0498433002732,0.999999958553,-7.88108969519e-05,-0.000274822729776,-3.399045777e-05,1793244430605647104
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.925350197,745,714,679,660,634.074649803,879.074649803,787,805.925350197,653,631,652,0.400971083639,-0.0154399016391,0.049844067505,0.999999958583,-7.98685122635e-05,-0.000274381114215,-3.42126182494e-05,1793244430622314240
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,659.497600541,634,879,787.502399459,806,653,631,652,0.400971585676,-0.0154404417697,0.0498445169991,0.999999958669,-8.17045093576e-05,-0.000273526936079,-3.4204091098e-05,1793244430638980608
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.919491117,745,714,679,659,634.080508883,879,787.919491117,806,653,630.919491117,652,0.40097191849,-0.0154406070415,0.0498448010988,0.999999958784,-8.28503643354e-05,-0.000272760564964,-3.41916682727e-05,1793244430655647232
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.333128446,745,714,679,659,634.666871554,879,787.333128446,806,653,630.333128446,652,0.400970902594,-0.0154385926579,0.0498443416242,0.999999959049,-7.89356842924e-05,-0.000272929764483,-3.4369406922e-05,1793244430672313600
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.250532329,745,714,679,659,634.749467671,879,787,806,653,630.250532329,652,0.40097056883,-0.0154379799063,0.0498441962596,0.999999959194,-7.70613705614e-05,-0.000272921871515,-3.44448644352e-05,1793244430688979968
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.830638855,745,714,679,659,634.169361145,879,787,806,653,630.830638855,652,0.400971132406,-0.0154392109953,0.0498444641052,0.999999959199,-7.78711493595e-05,-0.000272681014174,-3.43857715805e-05,1793244430705646336
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..33ae160a908ecbbd9687f21bc6f9969bc8968dde
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
+2,0.033333333,pose1_baseline,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
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+383,6.383333333,pose2_to_pose3_retreat,0.575682822629,-0.0101221737571,1.04005072217,0.546254454913,-0.00144649133464,1.03971720769
+384,6.400000000,pose2_to_pose3_retreat,0.575678078609,-0.0101220813541,1.0400509663,0.546249709834,-0.0014464024741,1.03971745313
+385,6.416666667,pose2_to_pose3_retreat,0.575675318846,-0.010122065594,1.04005096916,0.546246949755,-0.00144638775029,1.03971745689
+386,6.433333333,pose2_to_pose3_retreat,0.57567343806,-0.0101220867858,1.04005085415,0.546245069006,-0.00144640878733,1.03971734261
+387,6.450000000,pose2_to_pose3_retreat,0.575672203592,-0.0101221002919,1.04005077095,0.546243834617,-0.00144642194111,1.03971726154
+388,6.466666667,pose2_to_pose3_retreat,0.575671215549,-0.0101221100852,1.04005068493,0.546242846777,-0.00144643082073,1.03971718139
+389,6.483333333,pose2_to_pose3_retreat,0.575670457725,-0.0101221198889,1.04005062549,0.546242089148,-0.00144643980229,1.03971712621
+390,6.500000000,pose2_to_pose3_retreat,0.575670146947,-0.010122170757,1.04005073468,0.546241779234,-0.00144648785367,1.03971723236
+391,6.516666667,pose2_to_pose3_retreat,0.575669975649,-0.0101221987948,1.04005079486,0.546241608413,-0.00144651433898,1.03971729087
+392,6.533333333,pose2_to_pose3_retreat,0.575669911175,-0.010122209348,1.04005081751,0.546241544118,-0.00144652430778,1.03971731289
+393,6.550000000,pose2_to_pose3_retreat,0.575669857731,-0.0101222180955,1.04005083629,0.546241490824,-0.00144653257095,1.03971733114
+394,6.566666667,pose2_to_pose3_retreat,0.575669807859,-0.0101222262586,1.04005085381,0.54624144109,-0.00144654028201,1.03971734818
+395,6.583333333,pose2_to_pose3_retreat,0.57566972177,-0.0101222386546,1.04005088308,0.54624135522,-0.00144655197027,1.03971737658
+396,6.600000000,pose2_to_pose3_retreat,0.575669655894,-0.0101222167928,1.04005088735,0.546241289121,-0.00144653090824,1.03971737971
+397,6.616666667,pose2_to_pose3_retreat,0.575669638389,-0.0101222109834,1.04005088848,0.546241271556,-0.00144652531139,1.03971738055
+398,6.633333333,pose2_to_pose3_retreat,0.57566962568,-0.0101222067659,1.0400508893,0.546241258805,-0.00144652124819,1.03971738115
+399,6.650000000,pose2_to_pose3_retreat,0.575669596676,-0.0101221971406,1.04005089118,0.546241229703,-0.00144651197498,1.03971738253
+400,6.666666667,pose2_to_pose3_retreat,0.575669592545,-0.0101221957695,1.04005089145,0.546241225557,-0.00144651065407,1.03971738273
+401,6.683333333,pose2_to_pose3_retreat,0.575669588609,-0.0101221944634,1.04005089171,0.546241221608,-0.00144650939576,1.03971738292
+402,6.700000000,pose2_to_pose3_retreat,0.575669579527,-0.0101221914494,1.04005089229,0.546241212495,-0.00144650649201,1.03971738335
+403,6.716666667,pose2_to_pose3_retreat,0.575669577241,-0.0101221951183,1.04005088122,0.546241210307,-0.00144650994236,1.03971736938
+404,6.733333333,pose2_to_pose3_retreat,0.575669577273,-0.0101221959633,1.0400508791,0.546241210359,-0.0014465107406,1.03971736673
+405,6.750000000,pose2_to_pose3_retreat,0.575669577567,-0.0101222038176,1.04005085942,0.546241210838,-0.00144651815989,1.03971734205
+406,6.766666667,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211367,-0.0014465263469,1.03971731481
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca7265e335a64bc0d2f3c9c19cf416c1554c10e9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16c42e0977fdca099ea2764104c4dbcd41e899d4d79a549167a324cc51fe8a74
+size 25923612
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b264d664b3051ec959d974032f318482a92217c5
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
+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,766,745,714,679,659,635,879,788,805,653,631,652,0.400969417381,-0.0154417084486,0.0498433967193,0.999999958353,-8.29801909899e-05,-0.00027429462059,-3.42020569449e-05,1793244430854357248
+1,0.016666667,BASELINE,766,744.413464508,714,679.586535492,659.586535492,634.413464508,879,787.413464508,805.586535492,653,631,652,0.400971602587,-0.015441089536,0.0498450540978,0.999999959124,-8.25986594853e-05,-0.000271566259186,-3.43822356869e-05,1793244430871023872
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+44,0.733333333,BASELINE,765,745,714,679,659.470724321,634.529275679,879,787.470724321,806,652,631,652.529275679,0.400971337392,-0.0154426969845,0.0498463791531,0.999999960202,-8.13559367317e-05,-0.000267979087943,-3.41108786906e-05,1793244431587690240
+45,0.750000000,BASELINE,765,745,714,679,659,635,879,787,806,652.106668106,631,652.893331894,0.40097135891,-0.0154424454082,0.0498465209983,0.999999960104,-8.10212150437e-05,-0.000268424256283,-3.42786447255e-05,1793244431604356864
+46,0.766666667,BASELINE,765,745,714,679,659,635,879,787,806,652.698896593,631,652.301103407,0.400972509159,-0.0154422453407,0.0498476116984,0.999999960772,-8.02111136065e-05,-0.000266228730783,-3.38313611026e-05,1793244431621023488
+47,0.783333333,BASELINE,765,745,714,679,659,635,879,787,806,653,631,652,0.400973101272,-0.0154419969061,0.0498478690862,0.999999960921,-7.96492467704e-05,-0.000265858855553,-3.36502552111e-05,1793244431637690112
+48,0.800000000,BASELINE,765,745,714,679,659,635,879,787,806,653,631,652,0.400973116117,-0.0154416984468,0.0498472645998,0.999999960538,-7.93441227523e-05,-0.000267377205035,-3.3744450318e-05,1793244431654356736
+49,0.816666667,BASELINE,765.436742172,745,714.436742172,679.436742172,659,635,879.436742172,787.436742172,806,652.563257828,631,652,0.400973272094,-0.0154420017419,0.0498474025542,0.9999999607,-7.92229939808e-05,-0.000266783185818,-3.3905586776e-05,1793244431671023616
+50,0.833333333,BASELINE,765.987513104,745,714.987513104,680,659.012486896,635,879.987513104,788,806,652.012486896,630.987513104,652,0.400973466209,-0.0154424953288,0.0498477671877,0.999999961023,-7.92086270859e-05,-0.000265552408821,-3.40810719063e-05,1793244431687690240
+51,0.850000000,BASELINE,765.39819445,745,714.39819445,680,659.60180555,635,879.39819445,788,806,652.60180555,630.39819445,652,0.400973351574,-0.0154429508216,0.0498477105688,0.999999960758,-8.14266422538e-05,-0.000265898159796,-3.3937266537e-05,1793244431704356864
+52,0.866666667,BASELINE,765,745,714.18788539,680,659.81211461,635,879,788,806,653,630.18788539,652,0.400973319509,-0.015443034677,0.0498476536073,0.999999960637,-8.23954171067e-05,-0.000266061026276,-3.38859203745e-05,1793244431721023488
+53,0.883333333,BASELINE,765,745,714.767217344,680,659.232782656,635,879,788,806,653,630.767217344,652,0.400973459477,-0.0154423442507,0.0498475959319,0.999999960824,-8.07614837084e-05,-0.000265842865201,-3.40272067557e-05,1793244431737690368
+54,0.900000000,BASELINE,765,745,715,679.655464318,659.344535682,635,879,788,806,652.655464318,631,652,0.400973374589,-0.0154422657076,0.0498477116852,0.999999960801,-8.05925417039e-05,-0.000265997706007,-3.38896021025e-05,1793244431754356992
+55,0.916666667,BASELINE,765,745,715,679.079498579,659.920501421,635,879,788,806,652.079498579,631,652,0.400973138662,-0.0154425981762,0.0498479439333,0.999999960638,-8.1407657607e-05,-0.000266403098075,-3.3564661934e-05,1793244431771023872
+56,0.933333333,BASELINE,765,745,714.506966284,679,660,635,879.493033716,788,806,652.493033716,631,652,0.400972837962,-0.0154429153936,0.0498480746666,0.999999960813,-8.20302853547e-05,-0.000265539913931,-3.36702258679e-05,1793244431787690496
+57,0.950000000,BASELINE,765.067610427,745,714.067610427,679.067610427,659.932389573,635,879.932389573,788,806,652.932389573,631,652,0.400972545138,-0.0154430246991,0.049848087368,0.999999961006,-8.22926794731e-05,-0.000264706239838,-3.38690152873e-05,1793244431804357120
+58,0.966666667,BASELINE,765.66241524,745,714.66241524,679.66241524,659.33758476,635,879.33758476,788,806,652.33758476,631,652,0.400972394602,-0.0154415318466,0.0498473064639,0.99999996092,-7.99864826032e-05,-0.000265686625628,-3.42572025538e-05,1793244431821023744
+59,0.983333333,BASELINE,765.750677805,745,715,679.750677805,659,634.750677805,879,788,806,652.249322195,631,652,0.400971997582,-0.0154414783615,0.0498467919924,0.999999960682,-7.94907445468e-05,-0.000266715692215,-3.4339125101e-05,1793244431837690368
+60,1.000000000,BASELINE,765.174136201,745,715,679.174136201,659,634.174136201,879,788,806,652.825863799,631,652,0.400971277068,-0.0154433139536,0.0498466271966,0.99999996025,-8.13711173902e-05,-0.000267808649364,-3.40190948765e-05,1793244431854356992
+61,1.016666667,BASELINE,765.401861275,745,714.598138725,679,659.401861275,634.401861275,879,788,806,652.598138725,631,652,0.400972979696,-0.0154439498429,0.0498478187281,0.999999960868,-8.13735741513e-05,-0.000265532956769,-3.36940018179e-05,1793244431871023360
+62,1.033333333,BASELINE,765.977623252,745,714.022376748,679,659.977623252,634.977623252,879,788,806,652.022376748,631,652,0.40097573091,-0.015444066575,0.0498495971942,0.999999961929,-8.05633848817e-05,-0.000261799520875,-3.33667178969e-05,1793244431887689984
+63,1.050000000,BASELINE,765.45219971,745.54780029,714,679,660,635,879.54780029,788,805.45219971,652.54780029,631,652,0.400975544224,-0.0154428145202,0.049849527762,0.999999961791,-8.00118501335e-05,-0.000262469312472,-3.35430676432e-05,1793244431904356864
+64,1.066666667,BASELINE,765,745.876068923,714,679,659.876068923,635,879.876068923,788,805.123931077,653,631,652,0.400975194361,-0.0154421236526,0.0498493718279,0.999999961617,-7.98237904928e-05,-0.000263175823716,-3.36626742683e-05,1793244431921023744
+65,1.083333333,BASELINE,765,745.276206793,714,679,659.276206793,635,879.276206793,788,805.723793207,653,631,652,0.40097467406,-0.0154438004593,0.0498491706551,0.999999961486,-8.09914145344e-05,-0.000263339587901,-3.34861635201e-05,1793244431937690368
+66,1.100000000,BASELINE,765,745.31023704,714,679,659,635,879,787.68976296,806,652.68976296,631,652,0.400974483537,-0.0154440398039,0.0498490939889,0.999999961475,-8.10530065409e-05,-0.000263347824011,-3.35780445465e-05,1793244431954357248
+67,1.116666667,BASELINE,765,745.885229697,714,679,659,635,879,787.114770303,806,652.114770303,631,652,0.400974574444,-0.0154430524214,0.0498491235765,0.999999961568,-8.01707131502e-05,-0.000263223332792,-3.38989705397e-05,1793244431971023616
+68,1.133333333,BASELINE,765,745.539549122,714,679,659.460450878,635,879,787.460450878,806,652,631,652,0.400973823164,-0.0154428801622,0.0498485823128,0.999999961386,-7.96375637571e-05,-0.000264061222671,-3.40233392189e-05,1793244431987690240
+69,1.150000000,BASELINE,765,745,714,679.036710317,659.963289683,635,879,788,805.963289683,652.036710317,630.963289683,652,0.40097294232,-0.0154429447865,0.0498479495345,0.999999961141,-7.93728246599e-05,-0.000265060024748,-3.40713240473e-05,1793244432004356864
+70,1.166666667,BASELINE,765,745,714,679.627787369,659.372212631,635,879,788,805.372212631,652.627787369,630.372212631,652,0.400973276525,-0.0154435169278,0.0498480845623,0.999999961006,-8.18465332882e-05,-0.000264864531124,-3.37060461496e-05,1793244432021023488
+71,1.183333333,BASELINE,765,745,714,679.786135068,659,635,879,787.786135068,805.213864932,653,630.213864932,652,0.400972764299,-0.0154438687051,0.0498477619416,0.999999960769,-8.29618718609e-05,-0.000265429774403,-3.35664024582e-05,1793244432037690112
+72,1.200000000,BASELINE,765,745,714,679.208559811,659,635,879,787.208559811,805.791440189,653,630.791440189,652,0.400970812585,-0.0154438457198,0.0498466610191,0.999999960364,-8.17670928953e-05,-0.000267288768172,-3.38104845013e-05,1793244432054356736
+73,1.216666667,BASELINE,765.368103985,745,714,679.368103985,659.368103985,635,879,787,805.631896015,653,631,652.368103985,0.400971024366,-0.015443498571,0.0498471499884,0.999999960459,-8.240241213e-05,-0.000266717280552,-3.39798626498e-05,1793244432071023616
+74,1.233333333,BASELINE,765.944252606,745,714,679.944252606,659.944252606,635,879,787,805.055747394,653,631,652.944252606,0.40097245891,-0.0154429682119,0.0498485375312,0.999999960832,-8.40720644812e-05,-0.000264772135813,-3.41070197119e-05,1793244432087690240
+75,1.250000000,BASELINE,765.482286087,745,714,679.482286087,660,635,880.035427826,787.517713913,805.517713913,653,631,652.482286087,0.400973280338,-0.0154429384187,0.0498485239048,0.999999960973,-8.31500491928e-05,-0.000264544476991,-3.40131155647e-05,1793244432104356864
+76,1.266666667,BASELINE,765.094355755,745,714,679.094355755,660,635,880.81128849,788,806,653,631,652,0.400973871051,-0.0154428382573,0.0498484068663,0.9999999611,-8.18656064321e-05,-0.000264478829675,-3.39052982361e-05,1793244432121023488
+77,1.283333333,BASELINE,765.689402413,745,714,679.689402413,660,635,879.621195175,788,806,653,631,652,0.40097358602,-0.0154420801497,0.0498485375665,0.99999996129,-8.01311902078e-05,-0.000264296588548,-3.38493126616e-05,1793244432137690112
+78,1.300000000,BASELINE,766,745,714,679.724283903,659.724283903,635,879,788,806,653,631,652,0.400973646334,-0.0154418160454,0.0498485691601,0.999999961385,-7.96355391428e-05,-0.000264089822054,-3.38242676992e-05,1793244432154356992
+79,1.316666667,BASELINE,766,745,714,679.147506025,659.147506025,635,879,788,806,653,631,652,0.40097408374,-0.0154420913567,0.0498484925368,0.999999961378,-8.04925290041e-05,-0.000263856275667,-3.38330076228e-05,1793244432171023616
+80,1.333333333,BASELINE,765.57382636,745,714,679,659,635,879,787.57382636,806,653,631,652,0.400973235794,-0.0154424545199,0.0498482673369,0.999999961165,-8.04951705915e-05,-0.000264654040811,-3.38972307453e-05,1793244432187690240
+81,1.350000000,BASELINE,765.001211253,745,714,679,659,635,879,787.001211253,806,653,631,652,0.400971946176,-0.0154428478707,0.0498479910833,0.99999996088,-8.02042417358e-05,-0.000265806184429,-3.39805189637e-05,1793244432204356864
+82,1.366666667,BASELINE,765,745,714,679,659,634.408980488,879,787,805.408980488,653,631,652,0.400974487436,-0.0154433186211,0.0498494060624,0.999999961553,-8.12408911927e-05,-0.000263007930498,-3.34861285805e-05,1793244432221023488
+83,1.383333333,BASELINE,765.178958024,745,714,679.178958024,659,634.178958024,879.178958024,787.178958024,805.178958024,653,631,652,0.400975360387,-0.0154432108524,0.0498499059948,0.999999961772,-8.12085552512e-05,-0.000262203698791,-3.33086037152e-05,1793244432237690368
+84,1.400000000,BASELINE,765.757226532,745,714,679.757226532,659,634.757226532,879.757226532,787.757226532,805.757226532,653,631,652,0.400972492704,-0.0154418118637,0.0498483561769,0.999999960981,-7.87847044555e-05,-0.000265867429385,-3.38408357013e-05,1793244432254356992
+85,1.416666667,BASELINE,766,745,714,679.66647054,659.33352946,635,879.66647054,788,806,653,631,652,0.400972538239,-0.0154415130938,0.049848080314,0.999999960925,-7.86876331152e-05,-0.00026608609836,-3.40051569923e-05,1793244432271023616
+86,1.433333333,BASELINE,766,745,714,679.091589995,659.908410005,635,879.091589995,788,806,653,631,652,0.400974691858,-0.0154420104724,0.0498487263201,0.999999961405,-8.02742834975e-05,-0.000263811825826,-3.39032479585e-05,1793244432287690240
+87,1.450000000,BASELINE,766,745,714,679,659.517523691,635,879,787.517523691,806,653,631,652,0.40097496721,-0.0154411912491,0.049849292461,0.999999961668,-7.92028994494e-05,-0.000263120995773,-3.40221082896e-05,1793244432304357120
+88,1.466666667,BASELINE,766,745,714,679,659.058436451,635,879.058436451,787.058436451,806,653,631,652,0.400974840247,-0.0154403082582,0.0498497057102,0.999999961834,-7.78786148497e-05,-0.000262869900728,-3.41449264042e-05,1793244432321023744
+89,1.483333333,BASELINE,766,745,714,679,659.653194213,635,879.653194213,787.653194213,806,653,631,652,0.40097428781,-0.0154411300179,0.0498488546537,0.999999961494,-7.88564334441e-05,-0.000263900507613,-3.3920078628e-05,1793244432337690368
+90,1.500000000,BASELINE,765.759349005,745,714,679,659.759349005,635,879.759349005,787.759349005,806,653,631,652,0.400973831175,-0.0154414296964,0.0498485521708,0.999999961342,-7.92505818046e-05,-0.0002643514558,-3.39517288833e-05,1793244432354356992
+91,1.516666667,BASELINE,765.182104016,745,714,679,659.182104016,635,879.182104016,787.182104016,806,653,631,652,0.400973508538,-0.0154409991499,0.0498490169675,0.999999961458,-7.88283615695e-05,-0.000263991646244,-3.43421381009e-05,1793244432371023616
+92,1.533333333,BASELINE,765.391696203,745,714,679.391696203,659,635,879,787.391696203,806,653,631,652.391696203,0.400972619325,-0.0154420304083,0.0498480222997,0.999999961025,-8.01955196975e-05,-0.000265232587152,-3.42102705089e-05,1793244432387690240
+93,1.550000000,BASELINE,765.96390892,745,714,679.96390892,659,635,879,787.96390892,806,653,631,652.96390892,0.400971469,-0.0154437353517,0.0498463550253,0.999999960333,-8.2387327971e-05,-0.000267211247444,-3.3837707257e-05,1793244432404356864
+94,1.566666667,BASELINE,765.448374081,745,714,679.448374081,659,635,879,788,806,653,631,652.448374081,0.400973303894,-0.015444797203,0.0498482238093,0.999999960928,-8.31377000773e-05,-0.000264773644316,-3.35755734836e-05,1793244432421023488
+95,1.583333333,BASELINE,765,745,714,679,659,635,879.138189729,787.861810271,806,652.861810271,631,652,0.400974829223,-0.0154453569982,0.0498497399463,0.999999961422,-8.35587161848e-05,-0.000262784315015,-3.34461803962e-05,1793244432437690112
+96,1.600000000,BASELINE,765,745,714,679,659,635,879.717737048,787.282262952,806,652.282262952,631,652,0.40097472401,-0.0154444515699,0.0498493695061,0.999999961336,-8.32377360267e-05,-0.000263176230344,-3.37169983529e-05,1793244432454356736
+97,1.616666667,BASELINE,765.296081481,745,714,679,659,635,879.703918519,787.296081481,806,652.296081481,631,652,0.400973990019,-0.0154435425587,0.0498488829909,0.999999961267,-8.17724410442e-05,-0.000263892666634,-3.37655572143e-05,1793244432471023360
+98,1.633333333,BASELINE,765.873283774,745,714,679,659,635,879.126716226,787.873283774,806,652.873283774,631,652,0.400972659023,-0.0154426301455,0.0498482862659,0.999999961207,-7.92206522133e-05,-0.000264917226176,-3.36030874692e-05,1793244432487690240
+99,1.650000000,BASELINE,766,745,714,679,659,635,879.44937085,788,806,653,631,652,0.400973341763,-0.0154413662951,0.0498481027159,0.999999961282,-7.85626980262e-05,-0.000264787929958,-3.39262723376e-05,1793244432504357120
+100,1.666666667,BASELINE,765.974285634,745,714,679,659.025714366,635,880,787.974285634,806,653,631,652,0.400974524697,-0.0154401321911,0.0498480605635,0.999999961403,-7.84485865898e-05,-0.000264309995785,-3.43510354761e-05,1793244432521023488
+101,1.683333333,BASELINE,765.385456589,745,714,679,659.614543411,635,880,787.385456589,806,653,631,652,0.400974256923,-0.0154417143051,0.0498485697469,0.99999996167,-7.85782136996e-05,-0.000263304903285,-3.40086729347e-05,1793244432537690112
+102,1.700000000,BASELINE,765,745.200191685,714.200191685,679,659.799808315,635,879.799808315,787.200191685,806,653,631,652,0.400974425339,-0.015442949848,0.0498488648047,0.999999961778,-7.92713161106e-05,-0.000262712431886,-3.37921215216e-05,1793244432554356992
+103,1.716666667,BASELINE,765,745.7798113,714.7798113,679,659.2201887,635,879.2201887,787.7798113,806,653,631,652,0.400975420476,-0.0154435285264,0.0498487540251,0.999999961586,-8.10323862765e-05,-0.00026290201092,-3.38140228884e-05,1793244432571023872
+104,1.733333333,BASELINE,765,745.643329271,715,679,659.356670729,635,879.356670729,788,806,653,631,652,0.40097464065,-0.0154430242076,0.0498483758667,0.99999996132,-8.11964617089e-05,-0.000263850904316,-3.39222991225e-05,1793244432587690496
+105,1.750000000,BASELINE,765,745.068160685,715,679,659.931839315,635,879.931839315,788,806,653,631,652,0.400972773475,-0.0154418564406,0.0498478339111,0.999999961006,-8.03822122152e-05,-0.000265264956621,-3.40834889336e-05,1793244432604357120
+106,1.766666667,BASELINE,765,745,714.482403243,679.517596757,659.482403243,635,879.482403243,788,806,653,631,652,0.400973925344,-0.0154417156505,0.0498491942336,0.999999961485,-8.19270149726e-05,-0.000262967985831,-3.413220436e-05,1793244432621023744
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,788,806,653,631,652,0.400975367081,-0.0154444710675,0.0498492516954,0.999999961988,-8.21742796882e-05,-0.000261014515597,-3.37983136021e-05,1793244432663475712
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.579340849,788,806,653,631,652,0.40097672213,-0.0154428146524,0.0498499830863,0.99999996235,-8.09175536154e-05,-0.000260000430059,-3.39413615955e-05,1793244432680142336
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.156842832,745,714,679,659.156842832,635,880,788,805.843157168,653,631,652,0.400977286375,-0.0154416546277,0.0498503857769,0.999999962476,-8.00552857519e-05,-0.000259770572348,-3.40261288753e-05,1793244432696808960
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.729470176,745,714,679,659.729470176,635,880,788,805.270529824,653,631,652,0.400975754227,-0.0154418105154,0.0498499170949,0.999999961982,-8.02387116448e-05,-0.000261619673196,-3.39563961837e-05,1793244432713475584
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879.688674473,787.688674473,805.311325527,653,631,652.311325527,0.400974156317,-0.0154419906474,0.0498488793384,0.999999961373,-8.00364809398e-05,-0.000263995949179,-3.39637122432e-05,1793244432730142208
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,879.098555431,787.098555431,805.901444569,653,631,652.901444569,0.400972499516,-0.0154421924906,0.0498473319728,0.999999960658,-7.94888928761e-05,-0.000266844312932,-3.40400258357e-05,1793244432746808832
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.517140091,745,714,679.482859909,659.517140091,634.517140091,879,787.482859909,806,653,631,652.517140091,0.400973409815,-0.0154420451171,0.0498480628634,0.999999961058,-7.98727911645e-05,-0.000265200444961,-3.42354027616e-05,1793244432763475456
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.062227578,679.937772422,659,634.062227578,879.062227578,788,806,653,631,652,0.400974795676,-0.0154418275668,0.0498491591363,0.999999961612,-8.0380482896e-05,-0.000262927707953,-3.44216436488e-05,1793244432780142336
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.639092422,679.360907578,659,634.639092422,879.639092422,788,806,653,631,652,0.400975857956,-0.0154416086837,0.0498494995614,0.999999961622,-8.03674490907e-05,-0.000262902784663,-3.43349045239e-05,1793244432796808960
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.21508557,745,715,679,659.21508557,635,880,788,806,653.21508557,631,652,0.400983177738,-0.0154421934616,0.0498525791148,0.999999963007,-8.02020171846e-05,-0.000257697677336,-3.38546350466e-05,1793244432813475584
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.789621882,745,715,679,659.789621882,635,880,788,806,653.789621882,631,652,0.401000955054,-0.0154441213169,0.0498602362963,0.999999966554,-7.97818977481e-05,-0.00024383545272,-3.27166981275e-05,1793244432830142208
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714.625633282,679.374366718,660,635,879.625633282,788,806,653.625633282,631,652,0.401035953741,-0.0154465150893,0.0498737033038,0.999999972711,-8.12950631996e-05,-0.000216777068169,-3.12549148332e-05,1793244432846808832
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714.034990817,679.965009183,660,635,879.034990817,788,806,653.034990817,631,652,0.401080901404,-0.0154491780273,0.0498905267121,0.999999979461,-8.39251083662e-05,-0.000182095116153,-2.96060418089e-05,1793244432863475456
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.456499719,745,714.543500281,679.456499719,659.456499719,635,879.543500281,787.456499719,806,653,631,652,0.401144858054,-0.0154513659781,0.0499092093192,0.999999986109,-8.28348585594e-05,-0.000141995802765,-2.75128638687e-05,1793244432880142080
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.879360686,679,659.120639314,635,879.879360686,787.120639314,806,653,631,652.120639314,0.401211147707,-0.0154545486267,0.0499264209508,0.999999990449,-8.23990262235e-05,-0.000108022942594,-2.53561024515e-05,1793244432896808704
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.304431421,679,659.695568579,635,879.304431421,787.695568579,806,653,631,652.695568579,0.401281715039,-0.0154615896327,0.0499376524729,0.999999991253,-8.53097379096e-05,-9.84050258217e-05,-2.30652653339e-05,1793244432913475328
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.722778562,634.722778562,879,787.722778562,806,653,631,652.722778562,0.40135798808,-0.0154671049769,0.0499443410194,0.999999991826,-8.68973028981e-05,-9.12990887816e-05,-2.14785904706e-05,1793244432930142208
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.133558677,634.133558677,879,787.133558677,806,653,631,652.133558677,0.401440682598,-0.0154709032669,0.0499459166801,0.999999992216,-8.69957342786e-05,-8.70202560984e-05,-2.06844140858e-05,1793244432946809088
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.448280928,745,714.448280928,679,659.448280928,634.448280928,879,787.448280928,806,653,631,652,0.401538906782,-0.0154752149668,0.0499464885072,0.999999992094,-8.67915467152e-05,-8.87260021651e-05,-2.01901822145e-05,1793244432963475456
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714.972268849,679,660,635,879,788,806,653,631,652,0.401642978567,-0.0154799008306,0.0499468236166,0.999999991822,-8.67422303244e-05,-9.18777395107e-05,-1.975594525e-05,1793244432980142080
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714.397281404,679,660,635,879,788,806,653,631,652,0.401772620314,-0.0154890008481,0.0499482937593,0.999999991682,-9.14996433348e-05,-8.89484115483e-05,-1.87706912962e-05,1793244432996808704
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.822586723,745,714,679,660,634.822586723,879,787.822586723,805.822586723,653,631,651.822586723,0.401909835079,-0.0154984687521,0.0499484097661,0.999999991267,-9.56364011085e-05,-8.94909369424e-05,-1.76549666399e-05,1793244433013475584
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.248546625,745,714,679,660,634.248546625,879,787.248546625,805.248546625,653,631,651.248546625,0.402063980138,-0.0155087591055,0.0499454984531,0.999999990246,-9.83856154528e-05,-9.77951713487e-05,-1.62475605639e-05,1793244433030142208
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.334569742,745,714,679,659.665430258,634.334569742,879,787,805.334569742,653,631,651.334569742,0.40224188513,-0.0155188272984,0.0499463594239,0.999999990217,-9.99800150384e-05,-9.66814041286e-05,-1.49153077237e-05,1793244433046808576
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.924616804,745,714,679,659.075383196,634.924616804,879,787,805.924616804,653,631,651.924616804,0.402437933214,-0.0155287258508,0.0499501009088,0.999999990932,-0.000100692598824,-8.83760555e-05,-1.36404417153e-05,1793244433063475200
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,714.506378406,679,659,635,879.506378406,787,806,652.493621594,631,652,0.402661801824,-0.015539034489,0.0499531943388,0.999999991126,-0.000101735488242,-8.51916616273e-05,-1.1822909907e-05,1793244433080142080
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.914084599,745,714.914084599,679,659,634.914084599,880,787,806,652.085915401,631,652,0.402895315937,-0.0155492178191,0.0499562872436,0.999999991435,-0.000101869227693,-8.15825661417e-05,-9.85114690759e-06,1793244433096808704
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.340288613,745,714.340288613,679,659,634.340288613,880,787,806,652.659711387,631,652,0.403160463501,-0.0155583484867,0.0499599161873,0.999999992768,-9.65655217888e-05,-7.1302392498e-05,-7.45492628228e-06,1793244433113475584
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.238819708,745,714,679,659,634.238819708,879.761180292,787,806,653,631,652,0.403446236841,-0.0155615290576,0.0499657139901,0.99999999478,-8.4060847532e-05,-5.78876053473e-05,-4.67731836043e-06,1793244433130142208
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.825669619,745,714,679,659,634.825669619,879.174330381,787,806,653,631,652,0.403762067953,-0.0155560385957,0.0499746724551,0.999999997339,-6.10622553332e-05,-3.99047695765e-05,-1.34391767777e-06,1793244433146809088
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.593501363,745,714,679,659,634.593501363,879.406498637,787.406498637,806,653,631,652.406498637,0.404098882561,-0.0155438077305,0.0499807189302,0.999999999156,-3.09535915077e-05,-2.70095508446e-05,-8.09121547562e-07,1793244433163475712
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.015216784,745,714,679,659,634.015216784,879.984783216,787.984783216,806,653,631,652.984783216,0.404444564765,-0.0155287283774,0.049985534801,0.999999999864,2.15978134913e-06,-1.6264354732e-05,-1.45701315735e-06,1793244433180142336
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.566047749,634.566047749,880,787.433952251,806,652.433952251,631,652.433952251,0.404833664961,-0.0155159647104,0.0499898082496,0.999999999366,3.43071942474e-05,-9.16459913797e-06,-2.68187489017e-06,1793244433196808960
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.145357286,679.145357286,659.854642714,635,879.854642714,787.145357286,806,652.145357286,631,652,0.405220953865,-0.0155067571633,0.0499873323915,0.999999997908,6.29782183217e-05,-1.43455654775e-05,-3.3118902834e-06,1793244433213475584
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.718673737,679.718673737,659.281326263,635,879.281326263,787.718673737,806,652.718673737,631,652,0.405599455318,-0.0155078352533,0.0499650284644,0.999999995143,8.14909521863e-05,-5.53932331416e-05,-2.14465881881e-06,1793244433230142464
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.709435987,680,659,634.709435987,879,787.709435987,806,653,631,652,0.406008637126,-0.015510654495,0.0499468685496,0.999999991337,9.81100659317e-05,-8.77448345237e-05,-9.2085531814e-07,1793244433246809344
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714.138919735,680,659,634.138919735,879,787.138919735,806,653,631,652,0.40644737885,-0.0155151512993,0.0499327013001,0.999999987386,0.000112904719262,-0.000111717966084,3.57454270318e-07,1793244433263476736
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.54779812,659.45220188,634.45220188,879.45220188,787.45220188,806,653,631,652,0.40693043803,-0.0155174127476,0.0499249197708,0.999999982944,0.000133743783289,-0.000127335277013,3.29303402677e-06,1793244433280143360
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.048116502,660,635,880,787.951883498,805.951883498,652.951883498,631,652,0.40743470946,-0.0155187073417,0.0499218119838,0.999999978562,0.00015708714771,-0.000134732286642,6.9006420022e-06,1793244433296809984
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.623862144,660,635,880,787.376137856,805.376137856,652.376137856,631,652,0.408015166373,-0.0155172895697,0.049947416065,0.999999979206,0.000186557713777,-8.148066858e-05,1.20280478054e-05,1793244433313476096
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.199995674,745,714,679.800004326,660,634.800004326,879.800004326,787,805.199995674,652,631,652,0.408602946611,-0.0155188687249,0.0499709325353,0.999999976552,0.000212783812352,-3.61995210956e-05,1.75601104902e-05,1793244433330142464
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.776860098,745,714,679.223139902,660,634.223139902,879.223139902,787,805.776860098,652,631,652,0.409204526775,-0.0155260952432,0.0499905151424,0.999999972578,0.000232896085759,-5.93780857086e-06,2.38547020886e-05,1793244433346809344
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714.360821871,679.360821871,660,634.360821871,879,787.360821871,806,652,631,652,0.40980993179,-0.0155290088498,0.0499955657448,0.999999966391,0.000257720410992,-1.90343651956e-06,2.81786737552e-05,1793244433363475968
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714.949260839,679.949260839,660,634.949260839,879,787.949260839,806,652,631,652,0.410417749611,-0.0155292017439,0.0499914491286,0.999999958647,0.000285517236932,-1.44140469169e-05,3.1259519899e-05,1793244433380142336
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.468763273,745,714.468763273,680,660,635,879.531236727,788,806,652.531236727,631,652,0.411020367854,-0.0155286280511,0.0499612520346,0.999999947381,0.000312717296271,-8.00172319284e-05,3.23022920732e-05,1793244433396809216
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679.888983566,660,634.888983566,880,787.888983566,806,653,631,652,0.411643763378,-0.0155285847799,0.0499361664819,0.999999933285,0.000339188491977,-0.000131317926687,3.37158996472e-05,1793244433413475840
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679.315807773,660,634.315807773,880,787.315807773,806,653,631,652,0.412355696738,-0.0155310507847,0.0499426054601,0.99999992824,0.000362859870082,-0.000102221090111,3.74739110809e-05,1793244433430142976
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.258367843,745,714,679.258367843,660,634,880,787.258367843,806,652.741632157,631,652,0.413085468278,-0.015533729525,0.0499561241852,0.999999951621,0.00030043948033,-6.99140491257e-05,4.00890326118e-05,1793244433446809600
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.833770386,745,714,679.833770386,660,634,880,787.833770386,806,652.166229614,631,652,0.413837128558,-0.0155366693063,0.0499783302361,0.999999989818,0.000132378704208,-3.36678661972e-05,4.13017511584e-05,1793244433463475712
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.423006301,880,787.576993699,806,652.423006301,631,652,0.414580016663,-0.0155438902242,0.0499694792226,0.999999997869,3.30241096753e-05,-5.01446530338e-05,2.56455937405e-05,1793244433480142336
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679.982711788,660,634.982711788,880,787,806,652.982711788,631,652,0.415320086155,-0.015552706556,0.0499481254059,0.999999995527,-3.52702506577e-05,-8.76714721701e-05,3.89319319161e-06,1793244433496808960
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679.406967737,660,634.406967737,880,787,806,652.406967737,631,652,0.416084227454,-0.0155568767895,0.0499304658571,0.999999993561,-1.88151406616e-06,-0.000113276251939,6.58955425559e-06,1793244433513475584
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.832858732,745,714,679,660,634,880,787,806,652,631,652,0.416868423512,-0.0155594908119,0.0499274417486,0.999999992768,3.31203486913e-05,-0.000115140997812,1.05155703853e-05,1793244433530142720
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.262692324,745,714,679,660,634,880,787,806,652,631,652,0.417700977254,-0.0155583523663,0.0499597078509,0.99999999547,7.20119154548e-05,-5.97617673013e-05,1.74066345083e-05,1793244433546809856
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.320781628,745,714,679.320781628,660,634,880,787,805.679218372,652,631,652,0.418519302972,-0.0155563550492,0.0499750450222,0.999999993362,0.000106351642215,-3.85429836108e-05,2.19067766353e-05,1793244433563476480
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.91562493,745,714,679.91562493,660,634,880,787,805.08437507,652,631,652,0.41932547285,-0.0155536239502,0.0499759188599,0.999999989264,0.000136802475837,-4.65093817146e-05,2.43642201647e-05,1793244433580142592
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,679.505381185,660,634.494618815,880,787,805.494618815,652,631,652,0.420183348686,-0.015554570963,0.0499651748561,0.999999987856,0.000144775164393,-5.27571191184e-05,2.33515287986e-05,1793244433596809216
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660,634.929156867,880,787.070843133,806.070843133,652,631,652,0.421054623633,-0.0155564884184,0.0499571920897,0.999999987216,0.000149553534754,-5.19626033783e-05,2.23928753267e-05,1793244433613475840
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+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679.227290454,660.227290454,634.227290454,880,788,806.772709546,652,631,652,0.422837746703,-0.0155618437765,0.0499897644631,0.999999986498,0.000161593818862,1.18900977925e-05,2.73702391584e-05,1793244433646809344
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880.479000087,787.479000087,806.479000087,652,631.520999913,652,0.436806911167,-0.0155479957847,0.0499565988302,0.999999977795,0.000189119827344,-8.62955066944e-05,3.45972737487e-05,1793244433913476096
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765.70190078,745,715,681,660,632,880.70190078,785,807,652,629,652,0.453707335433,-0.0156473521373,0.0496706747591,0.999999869919,4.84941077284e-05,-0.000507647459226,1.01747446102e-05,1793244434596810240
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.109435263,745,715,681,660,632,880.109435263,785,807,652,629,652,0.45375503477,-0.0156471765633,0.0496727750723,0.999999871596,5.1313162071e-05,-0.000504036458113,1.10208910386e-05,1793244434613476608
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.473364433,745,715,681,660,632,880,784.526635567,807,652,628.526635567,652,0.453787670065,-0.0156461328162,0.0496730084698,0.99999987128,5.18989809321e-05,-0.000504610670309,1.06670483029e-05,1793244434630142976
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,880,784.106360351,807,652,628.053180176,652.053180176,0.453816066519,-0.0156450101536,0.0496728169921,0.999999870609,5.19875206055e-05,-0.000505941063018,1.01516699871e-05,1793244434646809344
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,880,785.25049691,807,652,628.625248455,652.625248455,0.45383640422,-0.0156450366678,0.0496726069068,0.999999870869,5.21607751622e-05,-0.000505397876784,1.07128369841e-05,1793244434663475712
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.800319814,745,715,681,660,631.800319814,880,785.800319814,807,652,629,652.600639628,0.453852900349,-0.0156445199837,0.0496713264983,0.999999870133,5.27073373535e-05,-0.000506793493835,1.08099545999e-05,1793244434680142336
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.22139936,745,715,681,660,631.22139936,880,785.22139936,807,652,629,651.44279872,0.453862100417,-0.0156429716366,0.0496680132911,0.999999867488,5.39628997123e-05,-0.000511871360478,1.00257317968e-05,1793244434696808704
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.36503533,745,715,681,660,631.36503533,880,784.63496467,807,652,628.63496467,651.36503533,0.453868371822,-0.0156426243019,0.0496656264695,0.99999986585,5.33884868525e-05,-0.000515125428656,9.77264815752e-06,1793244434713475840
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.956123282,745,715,681,660,631.956123282,880,784.043876718,807,652,628.043876718,651.956123282,0.453872829615,-0.015643020709,0.0496638133238,0.999999864842,5.1680839265e-05,-0.000517250087,9.84847901307e-06,1793244434730142720
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.466445842,745.533554158,715,680.466445842,660,632,880.533554158,784.533554158,807,652,628.533554158,652,0.453875703675,-0.0156411960281,0.0496631515771,0.999999863929,5.33433392549e-05,-0.000518849321812,9.54500825362e-06,1793244434746809344
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.890103021,715,680.109896979,660,632,881,785,807,652,628.890103021,652,0.453878106098,-0.0156396889774,0.049662568538,0.999999863067,5.45890140191e-05,-0.000520382586391,9.4249938023e-06,1793244434763476224
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.313730632,715,680.686269368,660,632,881,785,807,652,628.313730632,652,0.453879045593,-0.0156402861008,0.0496619277108,0.999999862402,5.29183863564e-05,-0.000521814655692,1.02127834901e-05,1793244434780142848
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,881,785,807.268733751,652,628,652,0.453879731857,-0.0156413070544,0.0496611162787,0.999999862021,5.11659950295e-05,-0.000522715995586,1.04353705575e-05,1793244434796809216
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,881,785,807.858475215,652,628,652,0.453880115632,-0.0156428342816,0.0496601010555,0.999999861978,4.93159351889e-05,-0.000522983369029,9.98281216022e-06,1793244434813475584
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880.559724674,785.440275326,807.559724674,652,628,652,0.453880689427,-0.0156417870214,0.0496596491032,0.999999861686,5.01112234294e-05,-0.000523469431853,9.78301339356e-06,1793244434830142208
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.019413291,745,715,680.980586709,660,632,880.019413291,785.980586709,807,652,628.019413291,652,0.453881311152,-0.015639922293,0.0496593645015,0.99999986131,5.17503897978e-05,-0.00052403193062,9.65396496818e-06,1793244434846808832
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.594128423,745,715,680.405871577,660,632,880.594128423,785.405871577,807,652,628.594128423,652,0.453881587682,-0.015637926787,0.0496587794806,0.999999860808,5.36357638515e-05,-0.000524805660801,9.26579879092e-06,1793244434863475456
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.831748622,745,715,680,660,632,880.831748622,784.831748622,807,652,629,652,0.453881975341,-0.0156367345184,0.0496586077519,0.999999860683,5.44451223905e-05,-0.000524965673106,9.00939621937e-06,1793244434880142336
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.259049198,745,715,680,660,632,880.259049198,784.259049198,807,652,629,652,0.453882630133,-0.0156374730975,0.0496594295084,0.999999861467,5.26679202826e-05,-0.000523650410691,9.06973124392e-06,1793244434896809728
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.326024087,745.326024087,715,680.326024087,660,632,880.326024087,784.326024087,807,652,628.673975913,652,0.453882489427,-0.0156375061773,0.0496594104609,0.999999861144,5.19165779627e-05,-0.000524342550905,9.08332951667e-06,1793244434913476608
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.921317132,745.921317132,715,680.921317132,660,632,880.921317132,784.921317132,807,652,628.078682868,652,0.453881691705,-0.0156369565731,0.0496586969788,0.999999859904,5.20125111488e-05,-0.000526692639884,9.05832709128e-06,1793244434930143232
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,681,660,632,881,784.500011148,807,652,628.499988852,652,0.453883084505,-0.0156368359828,0.0496592715379,0.999999860797,5.26642899294e-05,-0.000524930587889,8.96990608051e-06,1793244434946809344
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.924009477,745.924009477,715,680.924009477,660,632,881,784.075990523,807,652,629,652,0.453884386165,-0.0156367866621,0.0496597318507,0.999999861654,5.34292542902e-05,-0.000523218919111,8.87589357685e-06,1793244434963475712
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.348917856,745.348917856,715,680.348917856,660,632,881,784.651082144,807,652,629,652,0.453882897973,-0.0156367762771,0.0496581533243,0.99999986017,5.43815813741e-05,-0.000525951691914,8.80859649071e-06,1793244434980142080
+247,4.116666667,HOLD_POSE2,765,745,715,681,660,632,880,785,807,652,629,652,0.45388504107,-0.0156352571153,0.0496598148045,0.999999861122,5.26129348249e-05,-0.000524313526082,9.14314707938e-06,1793244435018531840
+248,4.133333333,HOLD_POSE2,765.580084013,745,715,681,660,632,880.580084013,785,807,652,628.419915987,652,0.453883963883,-0.0156369509042,0.0496587895269,0.999999860619,4.87129306997e-05,-0.000525650746738,8.92568840624e-06,1793244435035198976
+249,4.150000000,HOLD_POSE2,765.841256894,745,715,680.841256894,660.158743106,632,880.841256894,785,807,652,628,652,0.453883082526,-0.0156381662824,0.0496580385536,0.99999986007,4.67188938418e-05,-0.00052687755688,8.81544844363e-06,1793244435051865856
+250,4.166666667,HOLD_POSE2,765.26633342,745,715,680.26633342,660.73366658,632,880.26633342,785,807,652,628,652,0.453882714577,-0.0156381274014,0.0496580067299,0.999999859429,4.97217733461e-05,-0.000527814901608,8.98630613635e-06,1793244435068532480
+251,4.183333333,HOLD_POSE2,765,745.307636508,715,680.307636508,660.692363492,632,880.307636508,784.692363492,807,652,628,652,0.453883128609,-0.0156377210951,0.049658016082,0.999999859526,5.12058101775e-05,-0.000527489353724,9.00925889958e-06,1793244435085199104
+252,4.200000000,HOLD_POSE2,765,745.88078343,715,680.88078343,660.11921657,632,880.88078343,784.11921657,807,652,628,652,0.45388421754,-0.0156369976768,0.0496580609716,0.999999860264,5.1378986329e-05,-0.00052607384692,8.9045600312e-06,1793244435101865472
+253,4.216666667,HOLD_POSE2,765,746,715,681,660,632,881,784.470496865,807,652,628.470496865,652,0.453884101339,-0.015636486451,0.0496578483514,0.99999986025,5.26305172643e-05,-0.000525972928099,9.05051447744e-06,1793244435118531840
+254,4.233333333,HOLD_POSE2,765,746,715,681,660,632,880.937350366,784.937350366,807,652,629,652,0.453883830249,-0.0156359521632,0.0496576019236,0.999999860033,5.40583546021e-05,-0.000526238598738,9.17574243989e-06,1793244435135198464
+255,4.250000000,HOLD_POSE2,765,746,715,681,660,632,880.360875362,784.360875362,807,652,629,652,0.453884884678,-0.0156347716693,0.049657632894,0.999999859776,5.46094120846e-05,-0.000526679264496,8.59107507322e-06,1793244435151865344
+256,4.266666667,HOLD_POSE2,765,745.784542923,715,681,660,632,880,784.215457077,807,652,629,652,0.453885673208,-0.0156342550288,0.0496578561824,0.999999859886,5.43553667544e-05,-0.000526501650521,8.39385756935e-06,1793244435168532480
+257,4.283333333,HOLD_POSE2,765,745.208449173,715,681,660,632,880,784.791550827,807,652,629,652,0.453886016673,-0.0156348495607,0.0496584013769,0.999999860605,5.27537230209e-05,-0.000525289146627,8.84516201086e-06,1793244435185199616
+258,4.300000000,HOLD_POSE2,765,745.372657457,715,681,660,632,880.372657457,784.627342543,807,652,629,652,0.453885902419,-0.015635872042,0.0496583708376,0.999999860379,5.14416241903e-05,-0.000525845426044,9.08578764277e-06,1793244435201866240
+259,4.316666667,HOLD_POSE2,765,745.956606372,715,681,660,632,880.956606372,784.043393628,807,652,629,652,0.453885528645,-0.0156371371647,0.0496580138655,0.999999859615,5.02936930352e-05,-0.000527404580231,9.20696143979e-06,1793244435218532608
+260,4.333333333,HOLD_POSE2,765,746,715,681,660,631.458901308,881,784.541098692,807,652,628.458901308,652,0.453885676741,-0.0156367396378,0.0496581530521,0.999999859765,5.10811692458e-05,-0.00052704442096,9.21509856247e-06,1793244435235198976
+261,4.350000000,HOLD_POSE2,765.123884039,746,715,681,660,631.123884039,881,785,807.123884039,652,628,652,0.453885858716,-0.0156359226635,0.0496582453551,0.99999985992,5.19319558092e-05,-0.0005266675225,9.14825641834e-06,1793244435251865600
+262,4.366666667,HOLD_POSE2,765.700275205,746,715,681,660,631.700275205,881,785,807.700275205,652,628,652,0.45388601142,-0.0156340611118,0.0496580209238,0.999999859831,5.24464910796e-05,-0.000526792265316,8.84068477999e-06,1793244435268532224
+263,4.383333333,HOLD_POSE2,765.72624212,745.72624212,715,680.72624212,660,632,881,785,807.72624212,652,628.27375788,652,0.453885487912,-0.0156339249567,0.0496576148888,0.999999859444,5.18605414255e-05,-0.000527584200694,8.82077858448e-06,1793244435285198848
+264,4.400000000,HOLD_POSE2,765.155910375,745.155910375,715,680.155910375,660,632,881,785,807.155910375,652,628.844089625,652,0.453884231833,-0.0156356579993,0.0496570121146,0.999999858732,5.00823883669e-05,-0.0005290989349,9.11251294304e-06,1793244435301865472
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,881,784,807,652,628,652,0.453883323626,-0.0156317291974,0.049656448305,0.999999858288,5.48829323876e-05,-0.000529478087522,8.07012458071e-06,1793244435334531328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,881,784.579364432,807,652,628.579364432,652,0.453885641687,-0.0156316189594,0.0496578703348,0.999999859601,5.50053008739e-05,-0.000526972124086,8.50190734544e-06,1793244435351198208
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.157621137,745.157621137,715,681,660,632,881,785,807,652,628.842378863,652,0.453887355021,-0.0156316313338,0.0496588479831,0.99999986053,5.44368545865e-05,-0.000525265037707,8.5974193936e-06,1793244435367865088
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.732942462,745.732942462,715,681,660,632,881,785,807,652,628.267057538,652,0.453887465816,-0.015631968634,0.049658648009,0.999999860448,5.20377308777e-05,-0.000525674996148,7.8018052303e-06,1793244435384531456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,659.687028533,632,881,785,807,652,628,652,0.453886125123,-0.0156326849725,0.0496575479412,0.999999859454,5.08398718508e-05,-0.000527681675336,7.66567439046e-06,1793244435401197824
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,659.10292117,632,881,785,807,652,628,652,0.453883526965,-0.0156337296823,0.049655668097,0.999999857664,5.06827020117e-05,-0.000531071638142,8.10087236542e-06,1793244435417864192
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.520252113,746,715,681,659.479747887,631.520252113,880.520252113,785,807,652,628,652,0.453885315863,-0.0156329503034,0.0496574985636,0.999999859204,5.21864011286e-05,-0.000528016846091,8.11430692875e-06,1793244435434531072
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.061718008,745.938281992,715,681,660,631.061718008,880.061718008,784.938281992,807,652,628.061718008,652,0.4538870156,-0.0156318760762,0.049659405471,0.999999860893,5.36885366992e-05,-0.000524659867536,8.02248962389e-06,1793244435451197952
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.640410496,745.359589504,715,681,660,631.640410496,880.640410496,784.359589504,807,652,628.640410496,652,0.453880108509,-0.0156316001778,0.0496553051654,0.999999857988,5.22019098285e-05,-0.000530318282804,7.80468572065e-06,1793244435467864576
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631.782744918,880.782744918,784.217255082,807.217255082,652.217255082,629,652,0.453866994644,-0.0156311148757,0.0496484432746,0.999999852272,5.15531180459e-05,-0.000541058253687,7.35377916851e-06,1793244435484531200
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631.208933147,880.208933147,784.791066853,807.791066853,652.791066853,629,652,0.453843694289,-0.0156302859023,0.0496370491005,0.999999841735,5.22793722765e-05,-0.000560138017971,6.52030709211e-06,1793244435501197824
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.624992494,745,715,680.624992494,660,631.375007506,880,784.624992494,807.624992494,652.624992494,628.624992494,652,0.453803098402,-0.0156278876619,0.0496192026646,0.99999982434,5.41654808174e-05,-0.00059022121247,4.90618076647e-06,1793244435517864448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.035251886,745,715,680.035251886,660,631.964748114,880,784.035251886,807.035251886,652.035251886,628.035251886,652,0.453752598917,-0.0156245908432,0.049597661597,0.999999802071,5.67157337206e-05,-0.000626605083981,2.84504381447e-06,1793244435534531072
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.544475473,715,680,660,632,880.544475473,784,806.455524527,652,628,652,0.453686245402,-0.0156207750528,0.0495764331145,0.999999783251,5.7184132368e-05,-0.000655917151861,3.38470301822e-07,1793244435551197696
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.876759498,715,680.123240502,660,632,881,784.123240502,806.123240502,652,628.123240502,652,0.453617027332,-0.0156167790613,0.0495575529607,0.999999766345,5.76982281503e-05,-0.000681158110239,-1.92575833862e-06,1793244435567864320
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.299195109,715,680.700804891,660,632,881,784.700804891,806.700804891,652,628.700804891,652,0.453540964823,-0.0156122403917,0.0495472566114,0.999999758104,5.88687097047e-05,-0.000693048424176,-3.19219079133e-06,1793244435584531456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.274916845,745.274916845,715,681,660,632,881,785,807,652,629,652,0.453458113437,-0.0156070755146,0.0495418571892,0.999999753634,5.96006565082e-05,-0.000699401682272,-4.13455289206e-06,1793244435601198336
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.845318039,745.845318039,715,681,660,632,881,785,807,652,629,652,0.453367965279,-0.0156012375815,0.0495417210513,0.999999753335,5.98612601576e-05,-0.000699803637105,-4.72859971272e-06,1793244435617864704
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.567565358,715,681,660,632,881.432434642,784.567565358,807,652,628.567565358,652,0.453259544617,-0.0155945214701,0.0495427039806,0.99999975359,6.34129116989e-05,-0.000699121547707,-5.31752291444e-06,1793244435634531328
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,881.974850906,784.025149094,807,652,628.025149094,652,0.453143311069,-0.0155874371344,0.0495443597629,0.999999754191,6.82126997505e-05,-0.000697803492317,-5.8817306509e-06,1793244435651198208
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,881.395827516,784.604172484,807,652,628.604172484,652,0.453004745467,-0.0155794394923,0.0495516638899,0.999999758288,7.35321223373e-05,-0.000691362480637,-5.94360050643e-06,1793244435667864576
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.818026553,745,715,681,660,632,880.818026553,785,807,652,629,652,0.452856249217,-0.0155705905007,0.0495581162907,0.999999761981,7.8725953623e-05,-0.000685420950858,-6.12735460973e-06,1793244435684531200
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.24286694,745,715,681,660,632,880.24286694,785,807,652,629,652,0.452686296046,-0.0155599020173,0.0495627283842,0.9999997649,8.36484217654e-05,-0.00068055864193,-6.57446141489e-06,1793244435701197568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,631.668047521,880.331952479,785,807,652.331952479,629,652,0.452495744602,-0.0155490346571,0.0495669870928,0.999999766501,8.72078089211e-05,-0.000677748907141,-7.06418843724e-06,1793244435717864448
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,631.093476686,880.906523314,785,807,652.906523314,629,652,0.452290138215,-0.0155380365579,0.049570987519,0.999999767157,8.97709441442e-05,-0.00067643936299,-7.58506588973e-06,1793244435734531072
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.496795699,745,715,681,659.503204301,631,880.503204301,785,807,652.503204301,628.503204301,652,0.452048305292,-0.01552681024,0.0495720260229,0.999999764465,9.27356771785e-05,-0.000679993462842,-8.84700594882e-06,1793244435751197696
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.912470116,745.087529884,714.912470116,681,659.087529884,631.087529884,880,785,807,652,628.087529884,652,0.451794254457,-0.0155154941031,0.0495727181553,0.999999761678,9.57565945015e-05,-0.000683643865917,-1.02700136512e-05,1793244435767864576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.33619219,745.66380781,714.33619219,681,659.66380781,631.66380781,880,785,807,652,628.66380781,652,0.4515112846,-0.0155039240333,0.0495746897034,0.999999762123,9.86555283157e-05,-0.000682555291746,-1.1788387572e-05,1793244435784531200
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.760938392,714.239061608,681,660,632,880.239061608,785,807,652,629,652,0.451213859574,-0.0154945217285,0.0495746250093,0.999999763328,9.80861306833e-05,-0.000680826968446,-1.40485851752e-05,1793244435801197824
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.187118714,714.812881286,681,660,632,880.812881286,785,807,652,629,652,0.450896192988,-0.0154881549468,0.0495717089646,0.999999765577,9.26600268879e-05,-0.00067820280422,-1.73475587025e-05,1793244435817864704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,881,785,807,652,629,652,0.450564311174,-0.0154912564036,0.0495817374716,0.999999783015,7.71501041201e-05,-0.000653984350604,-1.79564720487e-05,1793244435834531328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,632,881,785,807,652,629,652,0.450225550838,-0.0154989393968,0.0495980296499,0.999999806463,5.67607752351e-05,-0.000619316748974,-1.72637061906e-05,1793244435851197696
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.430440894,660,632,880.430440894,785,807,652,629,652,0.449844463814,-0.015494941914,0.0496180034701,0.999999826614,4.89636451156e-05,-0.00058657001594,-1.76113950219e-05,1793244435867864576
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.148099278,745,715,680.148099278,660,632,880.148099278,785.148099278,807,652,629,652,0.449449159052,-0.0154889802584,0.0496355120463,0.999999843395,4.24366046638e-05,-0.000557730196532,-1.86247413892e-05,1793244435884530944
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.72258816,745,715,680.72258816,660,632,880.72258816,785.72258816,807,652,629,652,0.449015142998,-0.015477976953,0.0496457296569,0.999999853192,3.89050198861e-05,-0.000540037831843,-2.14999329223e-05,1793244435901197568
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.701904293,745,714.701904293,680.701904293,660,632,881,786,807.298095707,652,629.298095707,652,0.448552584005,-0.0154690812969,0.049649581849,0.999999857249,3.21258049065e-05,-0.000532801840468,-2.4327257935e-05,1793244435917864448
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.125445444,745,714.125445444,680.125445444,660,632,881,786,807.874554556,652,629.874554556,652,0.448063371432,-0.015462153772,0.0496474899853,0.999999856094,2.23139375217e-05,-0.000535330056555,-2.71098853081e-05,1793244435934531328
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.461598779,745,714.461598779,680.461598779,660,632.461598779,881,786,807.538401221,652,630,652,0.447522481234,-0.0154543357892,0.0496383350237,0.999999849896,1.14327638315e-05,-0.000546892939211,-3.13938831387e-05,1793244435951198208
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.949402729,745,714.949402729,680.949402729,660,633,881,786,807,652,630,652,0.446965430777,-0.0154459701226,0.0496276876571,0.999999842365,4.84877042017e-07,-0.000560328671389,-3.6071440043e-05,1793244435967864832
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.370735783,745,714.370735783,680.370735783,660,633,881,786,807,652,630,652,0.446389733909,-0.0154344733225,0.049621967815,0.999999838355,-8.05521206586e-06,-0.000567084242619,-4.04981638373e-05,1793244435984531456
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.206193179,745,714,680,660,633,880.793806821,786,807,652,630,652,0.445812784071,-0.0154252927995,0.0496281897548,0.999999843796,-1.78324095039e-05,-0.000556944424096,-4.36123321843e-05,1793244436001197824
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.780023328,745,714,680,660,633,880.219976672,786,807,652,630,652,0.445233600256,-0.0154202421378,0.0496557035756,0.999999865091,-2.98153377577e-05,-0.000516680572757,-4.43862486709e-05,1793244436017864448
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.636230067,745,714,680.363769933,660,633,880.363769933,786.363769933,807,652,630,652,0.444633539266,-0.0154143353,0.049690521232,0.999999886813,-4.23608023564e-05,-0.000471827175535,-4.42593713903e-05,1793244436034531072
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.046318816,745,714,680.953681184,660,633,880.953681184,786.953681184,807,652,630,652,0.444020499786,-0.0154078962117,0.0497298793916,0.999999907585,-5.52559729516e-05,-0.000424120640895,-4.35725063254e-05,1793244436051197696
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.11143203,745,714,680,660,633,881,787,806.88856797,652,630.11143203,652,0.442586666766,-0.0153897266864,0.0497344309886,0.999999906096,-8.07949512826e-05,-0.000422846166012,-4.98152481053e-05,1793244436084531456
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.016048838,660.983951162,633.983951162,880.016048838,787,806.016048838,651.983951162,631,652,0.438907688914,-0.0153776658132,0.0498277558883,0.999999963631,2.03798133515e-05,-0.000262853259943,-5.68428125512e-05,1793244436167864320
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.595175477,660.404824523,633.404824523,880.595175477,787,806.595175477,651.404824523,631,652,0.438006728699,-0.0153742410511,0.04978654264,0.99999994416,-1.23054839424e-05,-0.000327667639145,-6.45199124e-05,1793244436184531200
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,744.253266848,714,680,660.746733152,633.746733152,881,787,806.253266848,651.746733152,631,652,0.436290491461,-0.0153723994954,0.0497833423433,0.999999935958,-7.20205566166e-05,-0.000343104792778,-7.19441692216e-05,1793244436217864448
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.105429592,744.894570408,714,680.894570408,660.105429592,634,881,787,806,652,631,652,0.434526345463,-0.0153587979213,0.0497773389306,0.999999926358,-6.49466430538e-05,-0.00036993380947,-7.88358557454e-05,1793244436251198208
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.484959516,745,714,680.515040484,660.484959516,634,881,787,806,652,630.515040484,652.484959516,0.433664000362,-0.0153605907552,0.0497758060715,0.999999931229,-4.01879008724e-06,-0.000365991771433,-5.98030507321e-05,1793244436267864576
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.922938581,634,880.922938581,787,806,652,630.077061419,652.922938581,0.43280340367,-0.0153630102185,0.0497799048836,0.999999935789,5.86649565031e-05,-0.000351434030387,-3.83994413926e-05,1793244436284531200
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.343851864,634,880.343851864,787,806,652,630.656148136,652.343851864,0.431905779156,-0.0153539139816,0.0498091231224,0.999999949951,6.18749232147e-05,-0.000308261855821,-3.52808976165e-05,1793244436301197824
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.766654505,745,714,679.766654505,660,634,880,787,806,652,631,652,0.430991894398,-0.0153471520792,0.0498157309388,0.999999953657,5.48820651601e-05,-0.000297202150544,-3.66775039157e-05,1793244436317864448
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.390778948,660,634,879.609221052,787,806,652,631,652,0.429140205199,-0.0153469939962,0.0497742127579,0.999999935951,2.95710106396e-05,-0.000353079453892,-5.05788464351e-05,1793244436351197696
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.978082568,660,634,879.021917432,787,806,652,631,652,0.428238046311,-0.0153534753065,0.0497648539388,0.99999993119,3.54716270564e-05,-0.000365088593785,-5.5431629784e-05,1793244436367864576
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.560970674,745,714,680,660,634,879.560970674,787.560970674,806,652,630.439029326,652,0.427281693688,-0.0153552734067,0.0497707016276,0.999999927853,7.74457619114e-06,-0.000375599224232,-5.62080293907e-05,1793244436384531200
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634,880,787.858830056,806,652,630,652,0.426333197084,-0.0153557930512,0.0497736764934,0.999999926102,-1.43950632177e-05,-0.000379973119349,-5.6657542142e-05,1793244436401197824
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634,880,787.286323402,806,652,630,652,0.425415123155,-0.0153529611523,0.0497660724693,0.999999931384,-1.54796375702e-05,-0.000365774061925,-5.65911002636e-05,1793244436417864448
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.165465473,745,714,680,660.834534527,634,880,787,806,652,630.834534527,652,0.423672946199,-0.0153599119848,0.0498287365201,0.999999967407,1.50476101956e-05,-0.000249069510639,-5.40743899965e-05,1793244436451197952
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.522474161,679.477525839,660,634,879.522474161,788,806,652,630.522474161,652,0.416661272013,-0.015355018823,0.0497841899679,0.999999933884,-5.73606461461e-06,-0.000358482392174,-6.07467140664e-05,1793244436584531200
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.898817716,745,714.898817716,679.101182284,659.898817716,634,879.898817716,788,805.898817716,652,631,652,0.4158799839,-0.0153606396045,0.0497975967916,0.999999944718,-2.74801746194e-05,-0.000325858843393,-6.02110693814e-05,1793244436601197824
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.321338772,745,714.321338772,679.678661228,659.321338772,634,879.321338772,788,805.321338772,652,631,652,0.415108520468,-0.015359925092,0.0498156759412,0.999999956172,-3.54758137362e-05,-0.000287867949318,-5.9406291793e-05,1793244436617864448
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.254887349,745,714,680,659,634,879,787.745112651,805,652,631,652,0.414316612102,-0.0153581561645,0.0498132776487,0.999999954967,-3.97101180252e-05,-0.000291329173728,-6.01446707294e-05,1793244436634531072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.829541706,745,714,680,659,634,879,787.170458294,805,652,631,652,0.413499054758,-0.0153550644283,0.0497851895339,0.999999937125,-3.92256673329e-05,-0.000346793844567,-6.28190051039e-05,1793244436651197696
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.585208598,745,714,680,659,634,879.414791402,787,805,652,631,652,0.412756675461,-0.0153553214628,0.049775461244,0.99999993144,-3.45576752378e-05,-0.000363139747011,-6.36779806752e-05,1793244436667864320
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.00443083,745,714.00443083,680,659,634,880,787,805.00443083,652,631,652,0.412046334243,-0.0153569724263,0.0497736959961,0.999999931784,-2.82305431662e-05,-0.000362727258053,-6.37531211217e-05,1793244436684531200
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.583869708,745,714.583869708,680,659,634,880,787,805.583869708,652,631,652,0.41137932693,-0.0153562458391,0.0498005205253,0.999999943548,-3.55493352368e-05,-0.000328423668501,-6.14587385318e-05,1793244436701197824
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.838011596,745,714.838011596,679.838011596,659,634,880,787,805.838011596,652,631,652,0.410709912753,-0.015355054296,0.0498164949205,0.999999949243,-4.12290384038e-05,-0.000310164580895,-6.01020494335e-05,1793244436717864448
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.263256766,745,714.263256766,679.263256766,659,634,880,787,805.263256766,652,631,652,0.410034365444,-0.0153526779878,0.0498048218423,0.999999941844,-4.2732142583e-05,-0.000332788856046,-6.11347186289e-05,1793244436734531072
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,880,787,805.310084787,652.310084787,631,652,0.409393458406,-0.015352531968,0.0497952881865,0.99999993769,-4.55700318514e-05,-0.000344560698808,-6.18218136582e-05,1793244436751197952
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,880,787,805.8822319,652.8822319,631,652,0.40878182698,-0.0153542708346,0.0497875626241,0.999999936577,-4.953598956e-05,-0.000347160811161,-6.2216853136e-05,1793244436767865600
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.472308255,745,714.472308255,679,659.472308255,634.472308255,880,787,806,652.527691745,630.527691745,652,0.408229607792,-0.0153571531222,0.0498023625488,0.999999943828,-5.84580235993e-05,-0.000324393832933,-6.07868510146e-05,1793244436784531968
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,714.934940354,679.065059646,660,634.934940354,880,787.065059646,806,652,630,652,0.407694603106,-0.0153598639763,0.0498211822971,0.99999995149,-6.73951167953e-05,-0.000298305079896,-5.9091497102e-05,1793244436801198336
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,714.357712672,679.642287328,660,634.357712672,880,787.642287328,806,652,630,652,0.407173892546,-0.0153588922488,0.0498256867822,0.999999951707,-6.63385024222e-05,-0.000297824770721,-5.90309895418e-05,1793244436817864960
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.782010187,745,714,679.782010187,659.782010187,634,880,788,805.782010187,652,630.217989813,652,0.406651840495,-0.0153573425771,0.0498177577552,0.999999945953,-6.73185625301e-05,-0.000316106221934,-6.03197053364e-05,1793244436834531584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.208793154,745,714,679.208793154,659.208793154,634,880,788,805.208793154,652,630.791206846,652,0.406127602456,-0.0153548511112,0.0497895675887,0.999999928802,-7.16175034693e-05,-0.00036496106457,-6.38070598388e-05,1793244436851198208
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.375763421,659.375763421,634,880,787.624236579,805.375763421,652.375763421,631,652,0.405640177499,-0.0153539828354,0.049769151194,0.999999915855,-7.70783592275e-05,-0.000397400690577,-6.64983984057e-05,1793244436867864576
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.966816933,659.966816933,634,880,787.033183067,805.966816933,652.966816933,631,652,0.405173844198,-0.0153540445507,0.0497531887056,0.999999905793,-8.32049235079e-05,-0.000420435378582,-6.87336675464e-05,1793244436884530944
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.452966749,659.452966749,634.547033251,880,787,805.452966749,652.452966749,630.452966749,652,0.404793934225,-0.0153573116816,0.0497714363155,0.999999917136,-9.18852566612e-05,-0.000390857161502,-6.71986374582e-05,1793244436901197568
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.87430213,879.87430213,787,805.12569787,652,630.12569787,652,0.404430871135,-0.015361120374,0.0497928626483,0.999999929036,-0.000101531916415,-0.000356850464885,-6.54015226371e-05,1793244436917864448
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.298882721,879.298882721,787,805.701117279,652,630.701117279,652,0.404109690637,-0.0153661845091,0.0498183814465,0.999999940853,-0.000114092423616,-0.000318196287354,-6.34690915217e-05,1793244436934531072
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.281204481,659,634.281204481,879.281204481,787,806,652.281204481,631,652,0.403794637243,-0.0153695717313,0.0498367863902,0.999999948024,-0.000124660865403,-0.000290744165774,-6.22813290891e-05,1793244436951197696
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.866336631,659,634.866336631,879.866336631,787,806,652.866336631,631,652,0.403486206083,-0.0153711465344,0.0498475026312,0.999999951307,-0.00013307626906,-0.000275399303216,-6.18984096939e-05,1793244436967864832
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.55170463,659,635,879.55170463,787,806,653,630.55170463,652,0.403188907743,-0.0153724114631,0.049842478423,0.999999946313,-0.000141948274031,-0.000288494474277,-6.32043950879e-05,1793244436984531456
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.029174525,745,714,679,659.029174525,635,879,787,806,653,630.029174525,652,0.402896936789,-0.0153736599717,0.0498329012307,0.999999938559,-0.00015082434879,-0.000309699538471,-6.4957145583e-05,1793244437001198080
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.60741802,745,714,679,659.60741802,635,879,787,806,653,630.60741802,652,0.402643196372,-0.0153763260597,0.0498253412958,0.999999932646,-0.000157232858121,-0.000325067369968,-6.57075782767e-05,1793244437017864704
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.815291723,745,714.184708277,679,659.815291723,635,879,787,806,652.815291723,631,652,0.402403230825,-0.0153774452626,0.049818032858,0.999999930763,-0.000137132278662,-0.000339429615381,-6.67508735365e-05,1793244437034531328
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.240017163,745,714.759982837,679,659.240017163,635,879,787,806,652.240017163,631,652,0.402192392318,-0.015375293571,0.0498112562122,0.999999933966,-6.09781392349e-05,-0.000351665542486,-6.84134273684e-05,1793244437051197952
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.65744938,679,659,635,879.34255062,787.34255062,806,652.34255062,631,652,0.40200804167,-0.015373392427,0.0498085973349,0.99999993457,-3.16027087568e-05,-0.000353635411489,-6.93061406816e-05,1793244437067864576
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.069660178,679,659,635,879.930339822,787.930339822,806,652.930339822,631,652,0.401842654168,-0.0153716706545,0.0498088864466,0.999999936296,-3.57170485343e-05,-0.000348255614251,-6.9647710729e-05,1793244437084530944
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.024210009,659.512105005,635,879.487894995,787.487894995,806.512105005,653,631,652,0.401710388177,-0.0153716723529,0.0498144429499,0.999999940657,-3.17496558253e-05,-0.000336368722769,-6.73294814085e-05,1793244437101197824
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.816240833,659.908120416,635,879.091879584,787.091879584,806.908120416,653,631,652,0.401586720848,-0.015371474181,0.0498204723938,0.999999945333,-1.83771583153e-05,-0.000324099397819,-6.28967051306e-05,1793244437117864704
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.669071569,659.334535785,635,879.665464215,787.665464215,806.334535785,653,631,652,0.401484788075,-0.0153690133091,0.0498252685425,0.999999948614,3.86077301109e-05,-0.000314411704214,-4.92526213194e-05,1793244437134531584
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.759515964,880,788,806,653,630.759515964,652,0.401391675705,-0.0153686287984,0.0498289778373,0.99999994985,6.86874802243e-05,-0.000306354209769,-4.15822705752e-05,1793244437151198208
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.182487709,880,788,806,653,630.182487709,652,0.40131090701,-0.0153711500413,0.0498311661394,0.999999952065,6.11149617172e-05,-0.000300578091419,-4.22718326124e-05,1793244437167864576
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.405073773,634,879.594926227,788,806,653,630,652,0.401239447557,-0.0153747907817,0.0498308514607,0.999999952618,5.1707869496e-05,-0.000300387594252,-4.31027639171e-05,1793244437184531456
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.997507194,634,879.002492806,788,806,653,630,652,0.40117229393,-0.0153789493257,0.0498293790728,0.999999952335,4.14522281312e-05,-0.000302780626679,-4.39990830329e-05,1793244437201198592
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,660,634.576183319,879,787.423816681,806,653,630,652,0.401126741634,-0.0153808586817,0.0498296886359,0.999999953103,3.66241579148e-05,-0.000300769731448,-4.46067606349e-05,1793244437217865216
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.153517295,679.153517295,660,635,879,787.153517295,806,653,630.153517295,652,0.401084950561,-0.0153826400839,0.0498297097015,0.99999995365,3.21198519597e-05,-0.000299388413021,-4.50989810982e-05,1793244437234531328
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.727335783,679.727335783,660,635,879,787.727335783,806,653,630.727335783,652,0.401053207116,-0.0153840971923,0.0498289203008,0.999999953636,2.84391620648e-05,-0.000299781704232,-4.52784409479e-05,1793244437251198208
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.698679362,680,659.698679362,635,879.301320638,788,805.698679362,653,630.698679362,652,0.401028528479,-0.015385621429,0.0498291347312,0.999999954124,2.45698005356e-05,-0.000298486111517,-4.53348937579e-05,1793244437267864832
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.124543812,680,659.124543812,635,879.875456188,788,805.124543812,653,630.124543812,652,0.401010246296,-0.0153872064436,0.0498302580274,0.999999955056,2.05296157849e-05,-0.000295661407788,-4.52799763383e-05,1793244437284531456
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.534580655,659,635,879.534580655,788,805,653,630,652,0.400999071716,-0.0153866848142,0.0498329976108,0.99999995656,2.00547598174e-05,-0.00029055593272,-4.53341000553e-05,1793244437301197824
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.057849946,635,879,788,805.057849946,653,630.057849946,652,0.400990269409,-0.0153859214898,0.0498358981064,0.999999958077,2.0334666607e-05,-0.000285258978576,-4.53903496324e-05,1793244437317864704
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.633134037,635,879,788,805.633134037,653,630.633134037,652,0.400985074901,-0.0153882160621,0.0498362331281,0.999999958507,1.8531525544e-05,-0.000283900513345,-4.51954381251e-05,1793244437334531328
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.20736959,659.79263041,635,879,787.79263041,806,653,631,652,0.400981045724,-0.0153893579347,0.0498369765106,0.999999959001,1.74192994e-05,-0.00028223762319,-4.5118407006e-05,1793244437351197952
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.779759433,659.220240567,635,879,787.220240567,806,653,631,652,0.400979067812,-0.0153884707788,0.0498384387063,0.999999959612,1.75232494564e-05,-0.00028003887218,-4.52488736754e-05,1793244437367864832
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.634645564,659,635,879.365354436,787.365354436,806,653,631,652,0.400978016298,-0.0153882345968,0.0498394042287,0.999999960119,1.73982351258e-05,-0.000278231415791,-4.52366378005e-05,1793244437384531456
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.040791836,659,635,879.959208164,787.959208164,806,653,631,652,0.400977544172,-0.0153884055457,0.0498400591225,0.999999960562,1.71300223108e-05,-0.000276668682237,-4.5135153161e-05,1793244437401198080
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879.460950696,787.460950696,806,653,631,652,0.400976919879,-0.0153898855103,0.0498405301097,0.999999960604,1.5212896786e-05,-0.000276660107159,-4.49527498649e-05,1793244437417864960
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.693968817,635,879,787,806,653,631,652,0.400976292692,-0.0153913468613,0.0498406405272,0.999999960753,1.47127904149e-05,-0.000276226417511,-4.44561814665e-05,1793244437451197952
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.269390549,745,714,679.269390549,659.730609451,634.730609451,879,787.269390549,805.730609451,653,631,652,0.400976441544,-0.0153909388607,0.0498411303433,0.999999961119,1.47357428771e-05,-0.000274882283163,-4.45418892413e-05,1793244437467864320
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.843515795,745,714,679.843515795,659.156484205,634.156484205,879,787.843515795,805.156484205,653,631,652,0.400976872567,-0.0153898758672,0.0498424128297,0.999999961762,1.37287512731e-05,-0.000272504636187,-4.50502512103e-05,1793244437484530944
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.569981912,745,714,680,659,634.430018088,879,788,805.430018088,653,631,652,0.400978100691,-0.0153900512425,0.049843759215,0.999999962275,1.30810234704e-05,-0.000270635855721,-4.51081088857e-05,1793244437501197824
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.979407806,659.020592194,635,879,787.979407806,806,653,631,652,0.400979494676,-0.0153906489908,0.0498450476907,0.999999962701,1.2650842325e-05,-0.000269097287565,-4.49935529365e-05,1793244437517864448
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c07948027bf4365a21c17f98b43421f631baec4
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.575683167589,-0.0101221928204,1.0400507445,0.546254799619,-0.00144651114437,1.03971723307
+385,6.416666667,pose2_to_pose3_retreat,0.5756784995,-0.0101221105526,1.04005087167,0.546250131289,-0.00144642948858,1.03971736546
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+388,6.466666667,pose2_to_pose3_retreat,0.575672687817,-0.0101222267628,1.04005096223,0.546244322361,-0.00144653655375,1.03971745084
+389,6.483333333,pose2_to_pose3_retreat,0.575672062952,-0.0101222258914,1.04005101621,0.546243697252,-0.00144653643922,1.03971750671
+390,6.500000000,pose2_to_pose3_retreat,0.575671690229,-0.0101222253717,1.04005104841,0.546243324383,-0.0014465363709,1.03971754003
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+395,6.583333333,pose2_to_pose3_retreat,0.575670701446,-0.0101222062615,1.04005110883,0.546242335017,-0.00144651911479,1.0397176037
+396,6.600000000,pose2_to_pose3_retreat,0.575670616992,-0.0101221836717,1.04005108446,0.546242250281,-0.00144649745931,1.03971757991
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+400,6.666666667,pose2_to_pose3_retreat,0.575670199763,-0.0101220720715,1.04005096404,0.546241831658,-0.00144639047465,1.03971746233
+401,6.683333333,pose2_to_pose3_retreat,0.575670180348,-0.0101220668785,1.04005095844,0.546241812179,-0.00144638549645,1.03971745686
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+404,6.733333333,pose2_to_pose3_retreat,0.575669680758,-0.0101220912547,1.0400508181,0.546241312911,-0.0014464088298,1.03971731521
+405,6.750000000,pose2_to_pose3_retreat,0.575669641753,-0.0101221257719,1.04005080793,0.546241274342,-0.00144644190957,1.03971730397
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..738388df4f15383497b4c7dffe0a2024404654e2
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43802580cb5e6e548a27167627b796e8e6e8e84652cc3a09e76e6e0cc948dd8c
+size 25983840
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec48944ac51512018d0cef63a9f9cfb82a8e141c
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+21,0.350000000,BASELINE,765.816909769,745,714,679,659.183090231,634.183090231,879.183090231,787.183090231,806,652.183090231,631,652,0.400979415076,-0.0153936047475,0.049848108806,0.99999996458,1.08677865821e-05,-0.000262183165568,-4.45242407356e-05,1793244438212328448
+22,0.366666667,BASELINE,765.222523905,745,714,679,659.777476095,634.777476095,879.777476095,787.777476095,806,652.777476095,631,652,0.400979969231,-0.0153954494668,0.0498486897314,0.999999964952,7.59731343792e-06,-0.000260954806708,-4.40440911332e-05,1793244438228995072
+23,0.383333333,BASELINE,765.362271608,745,714.362271608,679,660,635,879.637728392,788,806,653,631,652,0.400979535063,-0.0153946134239,0.0498482083642,0.999999964695,8.74212234617e-06,-0.000261884566971,-4.41695234538e-05,1793244438245661952
+24,0.400000000,BASELINE,765.941328267,745,714.941328267,679,660,635,879.058671733,788,806,653,631,652,0.400978509479,-0.0153921732003,0.0498470913161,0.999999964048,1.25290566817e-05,-0.000264105755842,-4.46573388255e-05,1793244438262328576
+25,0.416666667,BASELINE,765.485217766,745.514782234,714.485217766,679.514782234,659.485217766,635,879,788,806,653,631,652,0.400978423488,-0.0153941224251,0.0498476043723,0.99999996423,9.87871111995e-06,-0.000263549715375,-4.4533524952e-05,1793244438278995200
+26,0.433333333,BASELINE,765.090007038,745.909992962,714.090007038,680,659.090007038,635,879,788,806,653,631,652,0.40097867227,-0.0153958696515,0.0498482386851,0.999999964523,7.44249768481e-06,-0.000262540697473,-4.44045109432e-05,1793244438295662336
+27,0.450000000,BASELINE,765.678538992,745.321461008,714.678538992,680,659.678538992,635,879,788,806,653,631,652,0.400980188516,-0.0153937569662,0.0498485266481,0.999999964955,1.02122197338e-05,-0.000260757066881,-4.46286414826e-05,1793244438312328960
+28,0.466666667,BASELINE,765.736611951,745,715,680,659.736611951,635,879,788,806.263388049,653,631,652,0.400981104153,-0.0153934405291,0.0498490043259,0.999999965222,1.0874750016e-05,-0.000259723185882,-4.45189698489e-05,1793244438328995328
+29,0.483333333,BASELINE,765.156195861,745,715,680,659.156195861,635,879,788,806.843804139,653,631,652,0.400981296864,-0.0153952861533,0.0498497103548,0.999999965297,9.00095064469e-06,-0.000259591743978,-4.40075159308e-05,1793244438345661696
+30,0.500000000,BASELINE,765.421339151,745,714.578660849,679.578660849,659.421339151,635,879,788,806.578660849,653,631,652.421339151,0.400979873858,-0.0153948478461,0.0498490518954,0.999999964929,9.92279959904e-06,-0.0002609770605,-4.39930409697e-05,1793244438362328576
+31,0.516666667,BASELINE,765.997813353,745,714.002186647,679.002186647,659.997813353,635,879,788,806.002186647,653,631,652.997813353,0.400977855952,-0.0153935686065,0.0498478910379,0.999999964391,1.18739928679e-05,-0.000262920840185,-4.41615512824e-05,1793244438378995200
+32,0.533333333,BASELINE,765.419488555,745,714,679.580511445,660,634.419488555,879.580511445,787.419488555,806,653,631,652.419488555,0.400979729496,-0.0153934133292,0.0498480899973,0.999999964879,1.15282071702e-05,-0.000261039138559,-4.43542430501e-05,1793244438395661568
+33,0.550000000,BASELINE,765.162923957,745,714,679.837076043,660,634.162923957,879.837076043,787.162923957,806,653,631,652,0.400981187024,-0.015393257533,0.0498483577689,0.999999965215,1.08821632132e-05,-0.00025973969871,-4.45642817144e-05,1793244438412328448
+34,0.566666667,BASELINE,765.744541577,745,714,679.255458423,660,634.744541577,879.255458423,787.744541577,806,653,631,652,0.400981537366,-0.0153930894054,0.0498487890733,0.999999965157,9.48697005327e-06,-0.000259974029531,-4.48186630314e-05,1793244438428995328
+35,0.583333333,BASELINE,765.675700509,745,714,679.324299491,660,635,879,788,806,653,631,652,0.400981633573,-0.0153934955235,0.0498492981272,0.999999965217,8.45689989838e-06,-0.000259791524274,-4.47607139924e-05,1793244438445661952
+36,0.600000000,BASELINE,765.097399115,745,714,679.902600885,660,635,879,788,806,653,631,652,0.400981530732,-0.0153943514095,0.0498498680771,0.999999965368,7.71280580104e-06,-0.000259282539475,-4.44581376927e-05,1793244438462328832
+37,0.616666667,BASELINE,765,745,714,679.522237785,659.522237785,635,879,788,806,653,631,652,0.400980792618,-0.0153946076652,0.0498494228513,0.999999965206,7.63919691192e-06,-0.000259945017945,-4.42548549007e-05,1793244438478995200
+38,0.633333333,BASELINE,765.053633813,745,714,679,659,635,879,788,806,653,631,652,0.400980128476,-0.0153948011928,0.049848911566,0.999999965029,7.57943558206e-06,-0.000260654743754,-4.40854796991e-05,1793244438495661824
+39,0.650000000,BASELINE,765.642951759,745,714,679,659,635,879,788,806,653,631,652,0.400981488226,-0.0153955811781,0.0498497940602,0.999999965348,6.30167565865e-06,-0.000259466647833,-4.4053908818e-05,1793244438512328704
+40,0.666666667,BASELINE,766,745,714.228343425,679.228343425,659,635,879.228343425,788,806,653,631,652,0.400981324355,-0.0153959579062,0.0498498085086,0.999999965267,6.32851353074e-06,-0.000259762267044,-4.41444903577e-05,1793244438528995328
+41,0.683333333,BASELINE,766,745,714.807699525,679.807699525,659,635,879.807699525,788,806,653,631,652,0.40097881835,-0.0153957147418,0.0498484885851,0.999999964568,8.36079727922e-06,-0.000262338673775,-4.44228462919e-05,1793244438545661696
+42,0.700000000,BASELINE,765.614276239,745,714.614276239,679.614276239,659,635,879.614276239,788,806,653,631,652,0.400979396471,-0.0153960382228,0.0498489398659,0.999999964808,8.46308767627e-06,-0.000261457870476,-4.41867622076e-05,1793244438562328576
+43,0.716666667,BASELINE,765.036913729,745,714.036913729,679.036913729,659,635,879.036913729,788,806,653,631,652,0.400981506875,-0.0153966432297,0.0498502711323,0.999999965512,7.60650135025e-06,-0.000258859424905,-4.36950893961e-05,1793244438578995200
+44,0.733333333,BASELINE,765,745,714,679,659,635,879,787.463370119,806.536629881,653,631,652,0.400979106532,-0.0153961266049,0.049848330555,0.999999964647,8.6758914754e-06,-0.000262086285452,-4.40568332685e-05,1793244438595662080
+45,0.750000000,BASELINE,765.113315865,745,714.113315865,679,659.113315865,635,879,787,806.886684135,653,631,652.113315865,0.400977303068,-0.0153956677784,0.04984697435,0.999999964014,9.40995561296e-06,-0.000264413498344,-4.43623246459e-05,1793244438612328960
+46,0.766666667,BASELINE,765.704348962,745,714.704348962,679,659.704348962,635,879,787,806.295651038,653,631,652.704348962,0.400979314791,-0.0153957755895,0.0498490238633,0.999999964859,8.17577109251e-06,-0.000261270590734,-4.41849271984e-05,1793244438628995328
+47,0.783333333,BASELINE,765.710461258,745.289538742,714.710461258,679,659.710461258,635,879,787,806,653,631,652.710461258,0.400979468246,-0.0153960965231,0.0498492252872,0.999999964943,6.78763941328e-06,-0.000260973502317,-4.427616496e-05,1793244438645661952
+48,0.800000000,BASELINE,765.131120046,745.868879954,714.131120046,679,659.131120046,635,879,787,806,653,631,652.131120046,0.400977761739,-0.0153966307736,0.0498475769384,0.999999964267,5.24542020363e-06,-0.000263524824844,-4.4636282597e-05,1793244438662328576
+49,0.816666667,BASELINE,765.444811548,745.555188452,714.444811548,679,659.444811548,635,879.444811548,787.444811548,806,653,631,652,0.400977966239,-0.0153960752242,0.049847805009,0.999999964404,6.9389171492e-06,-0.00026297904502,-4.45683816194e-05,1793244438678994944
+50,0.833333333,BASELINE,765.980266265,745,715,679,659.980266265,635,879.980266265,788,806,653,631,652,0.400978696735,-0.0153952784957,0.0498485476727,0.999999964754,9.41626571227e-06,-0.000261597328958,-4.43786602218e-05,1793244438695661312
+51,0.850000000,BASELINE,765.405679801,745,715,679,659.405679801,635,879.405679801,788,806,653,631,652,0.400978498266,-0.0153966643359,0.0498483252591,0.999999964622,7.31881425765e-06,-0.000262185830798,-4.42842462167e-05,1793244438712328192
+52,0.866666667,BASELINE,765,745,714.825986749,679,659,635,879,787.825986749,806,653,631,652,0.400978209676,-0.0153972262672,0.0498482357452,0.999999964572,6.37317120459e-06,-0.000262404815566,-4.42565483409e-05,1793244438728995584
+53,0.883333333,BASELINE,765,745,714.234028738,679,659,635,879,787.234028738,806,653,631,652,0.400977704634,-0.0153958093354,0.0498484654294,0.999999964728,8.19393994147e-06,-0.000261736294759,-4.43890891688e-05,1793244438745662464
+54,0.900000000,BASELINE,765.349548688,745,714.349548688,679.349548688,659.349548688,635,879,787,806,653,631,652,0.400978033489,-0.0153954710821,0.0498487924294,0.999999964825,8.68142774131e-06,-0.000261341003324,-4.4442897591e-05,1793244438762328832
+55,0.916666667,BASELINE,765.927646525,745,714.927646525,679.927646525,659.927646525,635,879,787,806,653,631,652,0.40097890758,-0.0153958381128,0.0498491830584,0.999999964885,8.29716216931e-06,-0.000261124360392,-4.44452275595e-05,1793244438778995200
+56,0.933333333,BASELINE,766,745,714.498290502,679.498290502,660,634.498290502,879.501709498,787,806,653,631,652.501709498,0.400978536045,-0.0153964614926,0.0498490732932,0.999999964849,8.13864837343e-06,-0.000261324627097,-4.40976071891e-05,1793244438795661824
+57,0.950000000,BASELINE,765.922737416,745,714,679.077262584,659.922737416,634,879.922737416,787.077262584,806,653,631,652.922737416,0.400978153269,-0.015396883645,0.0498489445554,0.999999964825,8.12691749627e-06,-0.00026146732773,-4.3806625424e-05,1793244438812328448
+58,0.966666667,BASELINE,765.333485019,745,714,679.666514981,659.333485019,634,879.333485019,787.666514981,806,653,631,652.333485019,0.400978876892,-0.0153957293131,0.0498491644807,0.999999964966,8.8738427074e-06,-0.000260833318393,-4.42227285381e-05,1793244438828995072
+59,0.983333333,BASELINE,765.251545237,745,714,680,659.251545237,634.251545237,879,788,806,653,631,652,0.400979397074,-0.0153961046266,0.0498491800663,0.99999996503,7.61637714389e-06,-0.000260622561738,-4.42483632995e-05,1793244438845661952
+60,1.000000000,BASELINE,765.83107049,745,714,680,659.83107049,634.83107049,879,788,806,653,631,652,0.400979651999,-0.0153984743848,0.0498489292214,0.999999964984,3.74546479956e-06,-0.000260963667642,-4.37648816759e-05,1793244438862328832
+61,1.016666667,BASELINE,766,745,714,679.592667613,659.592667613,635,879,788,806,653,631,652,0.400978617023,-0.0153980208154,0.0498484517175,0.999999964789,3.10609112531e-06,-0.000261660503639,-4.41068393641e-05,1793244438878995200
+62,1.033333333,BASELINE,766,745,714,679.017748378,659.017748378,635,879,788,806,653,631,652,0.400977051348,-0.0153964056577,0.0498478809603,0.999999964536,3.79625443808e-06,-0.000262503695973,-4.47884036948e-05,1793244438895661824
+63,1.050000000,BASELINE,765.443283726,745,714.556716274,679,659,635,879.556716274,787.443283726,806,653,631,652,0.400977988669,-0.0153962851486,0.049848043982,0.99999996454,6.09392312004e-06,-0.000262456483219,-4.47055979625e-05,1793244438912328704
+64,1.066666667,BASELINE,765,745,714.864622368,679,659,635,879.864622368,787.135377632,805.864622368,653,631,652,0.400978710925,-0.0153961706761,0.0498482388146,0.999999964607,7.74834678657e-06,-0.000262180176707,-4.45890254595e-05,1793244438928995328
+65,1.083333333,BASELINE,765,745,714.271729126,679,659,635,879.271729126,787.728270874,805.271729126,653,631,652,0.4009784369,-0.0153959157001,0.0498484621603,0.999999964868,7.05583695978e-06,-0.000261225491636,-4.44406237682e-05,1793244438945661952
+66,1.100000000,BASELINE,765.313379065,745,714,679,659,635,879,787.686620935,805.313379065,652.686620935,631,652,0.400979287381,-0.0153962787052,0.049849207034,0.99999996516,6.69061962358e-06,-0.00026016371974,-4.41701277497e-05,1793244438962328576
+67,1.116666667,BASELINE,765.891900486,745,714,679,659,635,879,787.108099514,805.891900486,652.108099514,631,652,0.40098108928,-0.015397164569,0.0498503931598,0.999999965476,6.60231648625e-06,-0.000259011344352,-4.37963307176e-05,1793244438978995200
+68,1.133333333,BASELINE,766,745,714,679,659.467168614,634.532831386,879,787.467168614,806,652.467168614,631,652,0.400980551718,-0.0153959006808,0.049850109248,0.999999965342,7.80382711399e-06,-0.000259460063816,-4.40002532889e-05,1793244438995662080
+69,1.150000000,BASELINE,766,745,714,679,660,634,879,787.957315438,805.957315438,653,631,652,0.400979521276,-0.0153942829385,0.0498494946875,0.999999965104,9.20545072709e-06,-0.000260272785888,-4.43288478049e-05,1793244439012328704
+70,1.166666667,BASELINE,766,745,714,679,660,634,879,787.369077738,805.369077738,653,631,652,0.400979062294,-0.0153944563731,0.0498489715801,0.999999964894,9.37655539087e-06,-0.00026103544028,-4.45541226911e-05,1793244439028995328
+71,1.183333333,BASELINE,765.78398404,745,714,679,659.78398404,634,879,787.21601596,805.21601596,652.78398404,631,652,0.400979272253,-0.0153953457484,0.0498489891649,0.999999964899,8.94526247104e-06,-0.000261048114894,-4.44567811164e-05,1793244439045661952
+72,1.200000000,BASELINE,765.204184927,745,714,679,659.204184927,634,879,787.795815073,805.795815073,652.204184927,631,652,0.400980608747,-0.0153974408084,0.0498499173058,0.999999965265,7.49949781274e-06,-0.000259797781065,-4.38161351231e-05,1793244439062328832
+73,1.216666667,BASELINE,765,745,714,679,659,634.374445021,879,788,805.625554979,652.374445021,631,652,0.400980667655,-0.0153970917548,0.0498500480768,0.999999965414,6.63884307332e-06,-0.000259204233299,-4.40674936333e-05,1793244439078995456
+74,1.233333333,BASELINE,765,745,714,679,659,634.952439374,879,788,805.047560626,652.952439374,631,652,0.400980032066,-0.0153954140741,0.0498497453953,0.999999965446,6.09625576338e-06,-0.000258967716299,-4.48037482554e-05,1793244439095662080
+75,1.250000000,BASELINE,765,745,714,679,659,635,879,787.474149444,805.525850556,653,630.474149444,652,0.400979531204,-0.0153970673802,0.0498497960534,0.999999965444,5.86076125077e-06,-0.000259068864523,-4.42885406024e-05,1793244439112328704
+76,1.266666667,BASELINE,765.101940169,745,714,679,659,634.898059831,879.101940169,787.101940169,806,653,630.101940169,652,0.400979306748,-0.0153985035386,0.0498499403974,0.999999965458,5.97051547958e-06,-0.000259101757188,-4.3760034683e-05,1793244439128995328
+77,1.283333333,BASELINE,765.692848319,745,714,679,659,634.307151681,879.692848319,787.692848319,806,653,630.692848319,652,0.400980350156,-0.0153974655241,0.0498503821511,0.999999965563,7.60422065501e-06,-0.000258662030226,-4.37059737774e-05,1793244439145662208
+78,1.300000000,BASELINE,765.72130051,745,714,679,659,634,879.72130051,787.72130051,806,653,631,652,0.400980679641,-0.0153965440751,0.0498503796543,0.99999996562,7.73752479062e-06,-0.000258403566837,-4.39081561549e-05,1793244439162328832
+79,1.316666667,BASELINE,765.140923293,745,714,679,659,634,879.140923293,787.140923293,806,653,631,652,0.400980236343,-0.0153957488021,0.0498498962794,0.999999965625,6.24672260393e-06,-0.000258341311883,-4.43877085842e-05,1793244439178995200
+80,1.333333333,BASELINE,765.43425344,745,714,679.43425344,659,634.43425344,879,787.43425344,806,653,631,652,0.400980094689,-0.0153957725991,0.0498497745533,0.999999965405,7.47640087299e-06,-0.00025915239706,-4.44415739123e-05,1793244439195662592
+81,1.350000000,BASELINE,765.992038967,745,714,680,659.007961033,635,879,788,806,653,631,652,0.400980050989,-0.0153960676747,0.0498497692017,0.999999965116,9.5073152474e-06,-0.000260209247832,-4.43599383781e-05,1793244439212329984
+82,1.366666667,BASELINE,765.403864707,745,714,680,659.596135293,635,879,788,806,653,631,652,0.400980096489,-0.0153969910432,0.0498497931132,0.999999965516,6.35176452492e-06,-0.000258766576315,-4.43517469421e-05,1793244439228995840
+83,1.383333333,BASELINE,765,745,714,679.818437031,659.818437031,634.818437031,879.181562969,788,806,653,631,652,0.400979531413,-0.0153972590408,0.049849448357,0.999999965563,4.98618109557e-06,-0.000258622091363,-4.43195663152e-05,1793244439245661952
+84,1.400000000,BASELINE,765,745,714,679.239027644,659.239027644,634.239027644,879.760972356,788,806,653,631,652,0.400977628428,-0.0153960909696,0.0498482957645,0.999999964849,7.54282901204e-06,-0.000261322232876,-4.42348198273e-05,1793244439262328576
+85,1.416666667,BASELINE,765,745,714.339558621,679,659.339558621,634.339558621,880,788,805.660441379,652.660441379,630.660441379,652,0.400978408008,-0.0153958578581,0.0498488511162,0.99999996502,7.76390199638e-06,-0.000260645089285,-4.43129509996e-05,1793244439278995200
+86,1.433333333,BASELINE,765,745,714.917566825,679,659.917566825,634.917566825,880,788,805.082433175,652.082433175,630.082433175,652,0.400981071375,-0.015396281307,0.0498506058443,0.999999965812,6.34485487142e-06,-0.000257596301352,-4.45054603955e-05,1793244439295661824
+87,1.450000000,BASELINE,765,745,714.508714159,679,660,635,880,788,805.491285841,652.491285841,630.491285841,652,0.400980739408,-0.0153964689784,0.0498503096699,0.999999965722,6.06668399585e-06,-0.000257942691578,-4.45551633306e-05,1793244439312328704
+88,1.466666667,BASELINE,765,745,714,679.066369479,659.933630521,635,879.933630521,788,806,653,631,652,0.40097999963,-0.0153964898636,0.049849672844,0.999999965492,6.266688433e-06,-0.000258826481745,-4.45676385756e-05,1793244439328995584
+89,1.483333333,BASELINE,765,745,714,679.657896206,659.342103794,635,879.342103794,788,806,653,631,652,0.400979975369,-0.0153955013563,0.0498490399144,0.999999965304,8.74872548478e-06,-0.000259493871869,-4.447350308e-05,1793244439345662208
+90,1.500000000,BASELINE,765.244233935,745,714,679.755766065,659,635,879.244233935,787.755766065,806,653,631,652,0.40097953404,-0.0153951284632,0.0498486088756,0.999999965129,9.73154680798e-06,-0.000260147710633,-4.43915790439e-05,1793244439362328832
+91,1.516666667,BASELINE,765.823454484,745,714,679.176545516,659,635,879.823454484,787.176545516,806,653,631,652,0.400978520668,-0.0153955999349,0.0498484547462,0.999999964976,8.65807218315e-06,-0.000260782962555,-4.43264040214e-05,1793244439378995200
+92,1.533333333,BASELINE,765.600203758,745,714.399796242,679,659,635,879.600203758,787.399796242,805.600203758,653,630.600203758,652,0.400979730198,-0.0153961557872,0.0498497138574,0.999999965449,7.09204715958e-06,-0.000259054547118,-4.4078565493e-05,1793244439395661568
+93,1.550000000,BASELINE,765.025124102,745,714.974875898,679,659,635,879.025124102,787.974875898,805.025124102,653,630.025124102,652,0.400981914321,-0.0153967486347,0.0498515925783,0.999999966187,5.31007225265e-06,-0.000256289824644,-4.37506414568e-05,1793244439412328192
+94,1.566666667,BASELINE,765,745,714.450487827,679,659,635,879,788,806.099024347,653,630.549512173,652,0.400981129754,-0.0153974302015,0.0498509865397,0.999999965959,5.10991843638e-06,-0.000257153648366,-4.39149469907e-05,1793244439428995072
+95,1.583333333,BASELINE,765.127951997,745,714.127951997,679.127951997,659,635,879,788,806.872048003,653,631,652,0.400980334821,-0.0153976503411,0.0498504566489,0.999999965737,5.15081729679e-06,-0.000257982887524,-4.40923391439e-05,1793244439445661696
+96,1.600000000,BASELINE,765.720269387,745,714.720269387,679.720269387,659,635,879,788,806.279730613,653,631,652,0.40097999446,-0.0153961811532,0.0498506150795,0.999999965701,5.80428763991e-06,-0.000258085011333,-4.42356155003e-05,1793244439462328576
+97,1.616666667,BASELINE,766,745,714.695323626,679.695323626,659,635,879.304676374,788,806,652.695323626,631,652,0.400979598139,-0.0153956898588,0.0498504235813,0.999999965567,7.15390508905e-06,-0.000258566235802,-4.42449368902e-05,1793244439478995456
+98,1.633333333,BASELINE,766,745,714.117995609,679.117995609,659,635,879.882004391,788,806,652.117995609,631,652,0.400979151741,-0.0153960736709,0.0498499189356,0.999999965344,9.12649712795e-06,-0.000259386713404,-4.41343833987e-05,1793244439495662336
+99,1.650000000,BASELINE,765.542779962,745,714,679,659,635,880,788,806,652.457220038,631,652,0.400978637437,-0.0153968846138,0.0498494288485,0.999999965113,7.05188322701e-06,-0.000260322006578,-4.42262618526e-05,1793244439512328704
+100,1.666666667,BASELINE,765.031897316,745,714,679,659,634.968102684,879.968102684,788,806,653,631,652,0.40097817164,-0.0153977293342,0.0498489918234,0.999999964907,4.16531921196e-06,-0.000261156200122,-4.43512153938e-05,1793244439528995072
+101,1.683333333,BASELINE,765.606647315,745,714,679,659,634.393352685,879.393352685,788,806,653,631,652,0.400978828233,-0.0153972815494,0.0498493942,0.999999965272,5.15420510538e-06,-0.000259767845795,-4.41540609892e-05,1793244439545661952
+102,1.700000000,BASELINE,765.81234141,745,714.18765859,679,659,634.18765859,879,788,806,653,631,652.18765859,0.400979279019,-0.0153968696231,0.0498495185555,0.999999965483,5.84879335439e-06,-0.000258954849223,-4.40606668202e-05,1793244439562328576
+103,1.716666667,BASELINE,765.217752891,745,714.782247109,679,659,634.782247109,879,788,806,653,631,652.782247109,0.40097928352,-0.0153965354544,0.0498490400336,0.999999965365,5.90520914558e-06,-0.000259389492446,-4.41922724772e-05,1793244439578995200
+104,1.733333333,BASELINE,765.364522508,745,714.635477492,679,659,635,879,788,805.635477492,653,631,652.635477492,0.400979502505,-0.015396047253,0.0498495540163,0.999999965461,6.80476918319e-06,-0.000259001099589,-4.41512693742e-05,1793244439595662080
+105,1.750000000,BASELINE,765.939682876,745,714.060317124,679,659,635,879,788,805.060317124,653,631,652.060317124,0.400979845429,-0.0153954700444,0.0498506415138,0.999999965681,8.19153672588e-06,-0.000258137118695,-4.40105250082e-05,1793244439612328704
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,788,806,653,631,652,0.40097910548,-0.015398110898,0.0498488195951,0.99999996512,4.89960910462e-06,-0.000260402981576,-4.38956350799e-05,1793244439643182848
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879,788,806,653,631,652,0.40097894954,-0.0153980146079,0.0498490870735,0.999999965238,4.67844036021e-06,-0.000259926605404,-4.40539428931e-05,1793244439659849472
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.183928337,659.816071663,635,879,787.816071663,805.816071663,653,631,652,0.400979065092,-0.0153981531888,0.0498494062736,0.99999996537,3.90458882865e-06,-0.0002594157569,-4.41432181342e-05,1793244439676516352
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.761433148,659.238566852,635,879,787.238566852,805.238566852,653,631,652,0.400979761591,-0.0153987943548,0.0498498361496,0.99999996553,1.94808673987e-06,-0.000258831143166,-4.40847750232e-05,1793244439693183744
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.338327582,745,714,680,659,634.661672418,879.338327582,787,805.338327582,653,631,652,0.40097976982,-0.0153989559651,0.0498501661914,0.999999965621,2.99357789234e-06,-0.000258507133727,-4.38604896421e-05,1793244439709850368
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.914792358,745,714,680,659,634.085207642,879.914792358,787,805.914792358,653,631,652,0.400979293601,-0.0153987800327,0.0498504259633,0.999999965657,6.15206934908e-06,-0.000258366554758,-4.35194735725e-05,1793244439726516224
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.499855202,745,714,680,659,634.500144798,879.499855202,787,806,653,630.499855202,652,0.400980409348,-0.015397954948,0.0498506961256,0.999999965809,5.33942846013e-06,-0.000257736974705,-4.38794187293e-05,1793244439743183104
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.914240215,659,634.914240215,879,787,806,653,630.085759785,652,0.400981520972,-0.0153971762774,0.0498508556991,0.999999965934,4.20311461327e-06,-0.000257202062568,-4.42947834339e-05,1793244439759850240
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.335970417,659,634.335970417,879,787,806,653,630.664029583,652,0.400981023168,-0.0153973107765,0.0498503698227,0.9999999658,5.16360658926e-06,-0.000257697910825,-4.43301927006e-05,1793244439776516608
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.241007945,879.241007945,787.241007945,806,653,631,652,0.400982368133,-0.0153972080863,0.0498506382776,0.999999965987,5.77215633365e-06,-0.000256972488255,-4.42490171879e-05,1793244439793183232
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.816195567,879.816195567,787.816195567,806,653,631,652,0.400986268268,-0.0153967765113,0.0498519526824,0.999999966616,5.89270573459e-06,-0.000254553661351,-4.40061861558e-05,1793244439809849600
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.390481824,745,714,679,659.390481824,635,879.609518176,787.609518176,806,653,631,652,0.401005403826,-0.0153975356975,0.0498596694879,0.999999970227,6.89534180644e-06,-0.00024007777747,-4.31291781078e-05,1793244439826516224
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.964344825,745,714,679,659.964344825,635,879.035655175,787.035655175,806,653,631,652,0.401031694366,-0.0153988540984,0.0498703930397,0.999999974899,8.31223044096e-06,-0.00021993956235,-4.19543427721e-05,1793244439843182848
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.44243865,745,714,679,659.44243865,635,879.55756135,787.55756135,806,653,631,652.55756135,0.401082968786,-0.0154028788281,0.0498889271185,0.9999999826,5.661459415e-06,-0.000182178376051,-3.97287949407e-05,1793244439859849728
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679.147471571,659.147471571,634.852528429,880,787.852528429,806,653,631,652.852528429,0.401140277498,-0.015406907988,0.0499074097752,0.999999988599,3.73700659564e-06,-0.000146239683044,-3.74534130624e-05,1793244439876516352
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679.724031265,659.724031265,634.275968735,880,787.275968735,806,653,631,652.275968735,0.401210327969,-0.015410428375,0.0499242372815,0.999999992288,4.70994334958e-06,-0.000119000723501,-3.52355644612e-05,1793244439893182976
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.298407657,745,714,679.701592343,659.701592343,634.298407657,879.701592343,787.298407657,806,653,631,652,0.401283903498,-0.0154146811064,0.0499369582266,0.999999994469,4.0293032197e-06,-9.96242474566e-05,-3.34666254604e-05,1793244439909849344
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.870779553,745,714,679.129220447,659.129220447,634.870779553,879.129220447,787.870779553,806,653,631,652,0.401360715332,-0.0154196061938,0.0499459089897,0.999999995658,1.83053532218e-06,-8.74662182659e-05,-3.21098247481e-05,1793244439926516224
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.540828738,745,714,679.459171262,659.459171262,635,879,787.540828738,806,653,631,652,0.401444537779,-0.0154247135961,0.049946831092,0.999999995794,3.54254433196e-07,-8.61373401517e-05,-3.14874905758e-05,1793244439943183104
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.948982621,635,879.051017379,787.051017379,806,653,631,652,0.401533003371,-0.0154300432841,0.0499457598344,0.999999995676,-1.12626143871e-06,-8.76689497826e-05,-3.10052022942e-05,1793244439959849472
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.369735876,635,879.630264124,787.630264124,806,653,631,652,0.401648377648,-0.0154371240639,0.0499482891688,0.999999995837,-4.83191658315e-06,-8.61230539527e-05,-2.97554781531e-05,1793244439976516352
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.791571739,659,635,879.791571739,788,806,653,631,652,0.401772756756,-0.0154445942265,0.0499491032973,0.999999995758,-7.347919295e-06,-8.72421057703e-05,-2.85980259627e-05,1793244439993182976
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.215318202,659,635,879.215318202,788,806,653,631,652,0.401913027192,-0.0154527515546,0.0499468905037,0.999999995258,-7.76447390753e-06,-9.30641433249e-05,-2.76034114949e-05,1793244440009849600
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.359587336,745,714,679,659.359587336,634.640412664,879.359587336,787.640412664,806,653,631,652,0.402071913463,-0.0154617311856,0.0499460773767,0.999999995078,-9.77457894043e-06,-9.5071157378e-05,-2.66431139661e-05,1793244440026516224
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.933688771,745,714,679,659.933688771,634.066311229,879.933688771,787.066311229,806,653,631,652,0.402241905141,-0.0154712013675,0.0499460992295,0.999999995095,-1.27353265939e-05,-9.48022955938e-05,-2.5703288329e-05,1793244440043182848
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.47841053,745,714,679,659.47841053,634.52158947,880.52158947,787,806,653,631,652,0.402433413363,-0.0154819622722,0.0499460261724,0.999999994909,-1.62146732475e-05,-9.66386140933e-05,-2.40875978587e-05,1793244440059849984
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,880.781185552,787.109407224,806,652.890592776,631,652,0.40263870735,-0.0154928137084,0.049947246251,0.999999994988,-1.9078631004e-05,-9.57333006679e-05,-2.22395977361e-05,1793244440076516608
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.621755399,787.689122301,806,652.310877699,631,652,0.40289118369,-0.0155033297593,0.0499540783985,0.999999996273,-1.90061040854e-05,-8.18608021026e-05,-1.97723709726e-05,1793244440093183232
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.266933185,745,714.266933185,679,659.266933185,635,879.266933185,788,806,652.266933185,631,652,0.403164820241,-0.0155128958434,0.0499632497565,0.999999997704,-1.65345456654e-05,-6.3564128796e-05,-1.66500840631e-05,1793244440109849856
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.842542069,745,714.842542069,679,659.842542069,635,879.842542069,788,806,652.842542069,631,652,0.403462925984,-0.0155213634058,0.049975126126,0.999999999049,-1.12887996758e-05,-4.01514373766e-05,-1.27703000685e-05,1793244440126516480
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.58396765,745,714.58396765,679,660,634.58396765,879.58396765,787.58396765,806,652.58396765,631,652,0.403776293008,-0.015514477102,0.0499817977076,0.999999999492,1.2269390313e-05,-2.75133441035e-05,-1.04021276389e-05,1793244440143182848
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.011275158,745,714.011275158,679,660,634.011275158,879.011275158,787.011275158,806,652.011275158,631,652,0.404095406776,-0.015501809183,0.0499865093866,0.999999998871,4.27232701155e-05,-1.89325081475e-05,-8.60316411084e-06,1793244440159849472
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.417367647,634,879.582632353,787,806,652.582632353,631,652,0.404447374852,-0.0155002079864,0.0499896719705,0.999999997932,6.293592802e-05,-1.17736277723e-05,-5.98807464003e-06,1793244440176516096
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.170599789,634,880,787,806,653,631,652,0.404809291049,-0.0155024678857,0.0499897532193,0.999999996815,7.903146001e-05,-1.06135174067e-05,-3.4153471718e-06,1793244440193182976
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.743552826,634,880,787,806,653,631,652,0.405193113295,-0.0155133098513,0.0499826406277,0.999999996033,8.59019857529e-05,-2.35339315504e-05,-9.81185838125e-07,1793244440209849600
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.319535639,745,714,679,660,634.319535639,880,787.319535639,806,653,631,652,0.40559148958,-0.0155192471346,0.0499678978307,0.999999993742,9.8530673836e-05,-5.2973123786e-05,7.72237595839e-07,1793244440226516224
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.897973373,745,714,679,660,634.897973373,880,787.897973373,806,653,631,652,0.40600165824,-0.0155212104256,0.0499469726983,0.999999988702,0.000115824883725,-9.57965717295e-05,1.97409693642e-06,1793244440243183104
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,714,679.471112724,660,635,880,787.528887276,806,653,631,652,0.406451908437,-0.0155206325682,0.0499332118771,0.999999983663,0.000138570430996,-0.000116022198479,3.28492234086e-06,1793244440259849728
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.955198509,745,714,679.955198509,660,635,880,787.044801491,806,653,631,652,0.406915127836,-0.0155193976423,0.0499223909127,0.999999978366,0.000162901518482,-0.000129255726976,4.81019260035e-06,1793244440276516352
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.360851731,745,714,679.360851731,660,635,880,787.639148269,806,653,631,652,0.407432140802,-0.015516778292,0.0499288110009,0.999999974723,0.000192361133458,-0.000116084696971,8.67965098224e-06,1793244440293182976
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.773490906,787.773490906,806,653,630.773490906,652,0.407979385262,-0.0155170134774,0.0499435239825,0.999999972187,0.000218312391028,-8.82298910145e-05,1.34438651069e-05,1793244440309849856
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,879.196926459,787.196926459,806,653,630.196926459,652,0.408573350535,-0.0155216601655,0.0499710531016,0.999999970575,0.000238841704134,-3.76822470084e-05,1.95908668939e-05,1793244440326516480
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.379829047,660,635,879.379829047,787.379829047,806,653,630.379829047,652,0.409185957123,-0.0155267736143,0.0499883049645,0.999999965506,0.000261236849005,-1.06655646682e-05,2.509024558e-05,1793244440343183360
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.956683643,660,635,879.956683643,787.956683643,806,653,630.956683643,652,0.409808233346,-0.0155321291817,0.0500002257913,0.999999959035,0.00028459984065,4.14509692411e-06,3.02536879608e-05,1793244440359849984
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.547953809,745,714,679.452046191,660,634.452046191,880,787.452046191,806,652.452046191,631,652,0.410395608498,-0.0155334645295,0.0499866284582,0.999999950522,0.000311415591539,-2.94205302609e-05,3.33305029625e-05,1793244440376516352
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.862956991,745,714,679,660,634,880,787.137043009,806,652,631,652,0.41099144937,-0.0155333254144,0.0499687279435,0.999999939892,0.000337929705887,-6.89076481314e-05,3.56460522264e-05,1793244440393183232
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.284658607,745,714,679,660,634,880,787.715341393,806,652,631,652,0.411623671738,-0.0155294896961,0.0499436425739,0.99999992703,0.00036257001684,-0.000114814992605,3.60559155981e-05,1793244440409849856
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.291394342,745,714,679,660,634,880,787.708605658,806,652.291394342,631,652,0.412317748745,-0.015529496125,0.0499441980131,0.999999950354,0.000294026491413,-0.00010633165388,3.9161566924e-05,1793244440426516480
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.865270603,745,714,679,660,634,880,787.134729397,806,652.865270603,631,652,0.413071788612,-0.0155332271868,0.0499696100229,0.999999988842,0.000135149194699,-4.51211980078e-05,4.48805536335e-05,1793244440443183104
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,714,679.451334204,660,634.451334204,880,787,806,652.548665796,630.548665796,652,0.41381283095,-0.0155414107422,0.0499798795621,0.999999998674,2.71701817753e-05,-3.49432487352e-05,2.63169728142e-05,1793244440459849472
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,652,630.040390823,652,0.414549694907,-0.0155507365895,0.0499828715959,0.999999997446,-5.66876410452e-05,-4.34676079705e-05,2.24639769462e-06,1793244440476516096
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,652,630.619497641,652,0.415284015183,-0.0155570785013,0.0499507614481,0.999999995336,-2.71001065436e-05,-9.26133923301e-05,4.08872242384e-06,1793244440493182976
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679.801785036,660,634.801785036,880,787,805.801785036,652.198214964,631,652,0.416041153527,-0.0155618009533,0.0499315246055,0.999999992863,6.22041913319e-06,-0.000119089760489,7.2858895465e-06,1793244440509849856
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,679.223813974,660,634.223813974,880,787,805.223813974,652.776186026,631,652,0.416842008509,-0.0155634207139,0.0499369514736,0.999999993609,4.66929062887e-05,-0.000102134243468,1.30787721058e-05,1793244440526516480
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,634,880,787.343591639,805,652.656408361,631,652,0.417664268174,-0.015562154745,0.0499584581854,0.999999994292,8.43775006391e-05,-6.2751199384e-05,1.89173959237e-05,1793244440543183104
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660,634,880,787.904320264,805,652.095679736,631,652,0.418500054763,-0.0155590651033,0.049990126753,0.999999992415,0.000120300249905,-9.19480268375e-06,2.47849262282e-05,1793244440559849472
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714.501381062,679.501381062,660,634,880,787.498618938,805.501381062,652,631,652,0.419318395226,-0.0155551475714,0.0499769990629,0.999999988639,0.000142295692855,-4.31114146451e-05,2.48021268556e-05,1793244440576516352
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.898471038,745,714.898471038,680,660,634.101528962,880,787,806,652,631,652.101528962,0.420148040513,-0.0155530674044,0.0499602857225,0.999999984232,0.000157282353184,-7.89200234954e-05,2.38765007121e-05,1793244440593182976
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.31898012,745,714.31898012,680,660,634.68101988,880,787,806,652,631,652.68101988,0.421047802125,-0.0155604387522,0.0499700801176,0.999999987282,0.000152763548632,-3.89129499563e-05,2.41787567299e-05,1793244440609849600
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.257053393,745,714,679.742946607,660,635,880,787,806,652,631,652.742946607,0.421936928746,-0.0155647245957,0.0499805340093,0.99999998812,0.000151838044105,-8.33208838166e-06,2.52329658457e-05,1793244440626516224
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.828853593,745,714,679.171146407,660,635,880,787,806,652,631,652.171146407,0.422813033562,-0.0155652324212,0.0499917954172,0.999999987512,0.000155312324372,1.07069346016e-05,2.72078975131e-05,1793244440643183104
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,660.403268104,635,880,787,806,652,631,652,0.423683882758,-0.0155636124794,0.0499821090411,0.999999989633,0.000141146788383,-7.83183955514e-06,2.73960432656e-05,1793244440659849728
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.978799328,635,880,787,806,652,631,652,0.42455248687,-0.0155610836241,0.0499634744469,0.999999991607,0.000119446091706,-4.24226372048e-05,2.68209315775e-05,1793244440676516352
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.427235347,745,714.572764653,679.572764653,660.427235347,634.427235347,880,787.572764653,806,652,631,652,0.425486957215,-0.0155633608174,0.0499830552508,0.999999990189,0.000136699545789,-9.35331416484e-06,2.91252711343e-05,1793244440693182976
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.162069872,745,715,680,660,634,880.162069872,787.837930128,806,652,631,652,0.426403546871,-0.0155655748613,0.0499968861485,0.999999987587,0.000154264933846,6.5878216536e-06,3.13739824139e-05,1793244440709849600
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.737685137,745,715,680,660,634,880.737685137,787.262314863,806,652,631,652,0.427268083406,-0.0155671587518,0.0499923158941,0.999999984812,0.000168824763212,-2.77790589615e-05,3.31997464983e-05,1793244440726516224
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714.687816575,680,660.312183425,634,880.687816575,787.312183425,806,652,631,652,0.428130381754,-0.0155659215581,0.0499735100999,0.999999981205,0.000180466960779,-6.30662758643e-05,3.23032711332e-05,1793244440743182848
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714.114253518,680,660.885746482,634,880.114253518,787.885746482,806,652,631,652,0.428990806108,-0.0155623223749,0.0499427854152,0.999999976676,0.000189666332419,-9.91240545338e-05,2.91275653016e-05,1793244440759849472
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.526409584,634.473590416,880,787.526409584,806,651.526409584,630.526409584,652,0.429922281003,-0.0155634731179,0.0499507839631,0.999999983347,0.000162577793579,-7.73743769713e-05,2.97865688161e-05,1793244440776516352
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.936183236,745,714,680,660,635,880,787,806,651.063816764,630.063816764,652,0.430862196,-0.0155649625567,0.0499647106106,0.999999989412,0.000133426378096,-4.90471684513e-05,3.11171840561e-05,1793244440793182976
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.355434236,745,714,680,660,635,880,787,806,651.644565764,630.644565764,652,0.43172731457,-0.0155596246838,0.0499486312418,0.999999983114,0.000160683257217,-8.39190665242e-05,3.01613027543e-05,1793244440809849600
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.223235017,745,714,680,660.223235017,635,880,787,806,652,631,652.223235017,0.43260464899,-0.0155566493079,0.0499426462064,0.999999978506,0.000182009462184,-9.46433600117e-05,3.00487740183e-05,1793244440826516224
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.798623556,745,714,680,660.798623556,635,880,787,806,652,631,652.798623556,0.433501254064,-0.0155574007733,0.0499525849922,0.999999978434,0.000193980025716,-6.72747823866e-05,3.12666349263e-05,1793244440843182848
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,679.626444902,661,634.626444902,880,787,806,651.626444902,631,652.626444902,0.434383158196,-0.0155570539486,0.04997030042,0.99999997775,0.000204561764124,-3.910152532e-05,3.35399462914e-05,1793244440859849472
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,679.05175945,661,634.05175945,880,787,806,651.05175945,631,652.05175945,0.435257146962,-0.0155561157801,0.0499922029637,0.9999999763,0.000214395727461,-1.04950126167e-05,3.63815355129e-05,1793244440876516096
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679.535249141,661,634,880.535249141,787,806.535249141,651.535249141,631,652,0.436065122321,-0.0155497306496,0.0499704774515,0.999999978087,0.000194639851067,-6.83100036981e-05,3.56949968352e-05,1793244440893182720
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.877797592,745,714,680,661,634,880.877797592,787,806.877797592,652,631,652,0.436881585827,-0.0155456397523,0.0499522273048,0.999999977144,0.000179006726336,-0.000111497349656,3.51788237127e-05,1793244440909849344
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.295643537,745,714,680,661,634,880.295643537,787,806.295643537,652,631,652,0.437754590564,-0.0155522132604,0.0499633114465,0.999999979022,0.000189914653259,-6.74322899831e-05,3.66182774538e-05,1793244440926516224
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.281533948,745,714,680,661,634,880,787,806,652,631,652,0.438591521464,-0.0155545595959,0.0499721378617,0.999999978887,0.000197642206966,-4.31627309595e-05,3.60764730461e-05,1793244440943183104
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.853576192,745,714,680,661,634,880,787,806,652,631,652,0.439391228563,-0.0155525440104,0.0499786345808,0.999999978246,0.000202088007576,-3.93196888181e-05,3.34902546696e-05,1793244440959849728
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.572611292,744.572611292,714,680,661,634,880,787,805.572611292,652,631,652,0.440151013666,-0.015554381984,0.0499639550808,0.999999979073,0.000192818149048,-6.02297476241e-05,3.23653077592e-05,1793244440976516352
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.001878661,714,680,661,634,880.001878661,787,805.003757323,652,631,652,0.44089715548,-0.0155575536438,0.0499420894788,0.999999979499,0.000178834386882,-8.95104027287e-05,3.17521964611e-05,1793244440993182976
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.597995231,714,680,661,634,880.597995231,787,806.195990463,652,631,652,0.441672035557,-0.0155632436262,0.049951560535,0.999999982934,0.000166318624422,-7.28894193929e-05,3.40239243946e-05,1793244441009849600
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.186812808,745,714,680.186812808,661,634,880.813187192,787,806.813187192,652,631,652,0.442422463193,-0.015568105544,0.0499586613578,0.99999998459,0.000160977356387,-6.01127855069e-05,3.59418969108e-05,1793244441026516224
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.760514305,745,714,680.760514305,661,634,880.239485695,787,806.239485695,652,631,652,0.443122250053,-0.015571252544,0.0499608534372,0.999999983248,0.000170494439633,-5.52977832006e-05,3.71272436067e-05,1793244441043182848
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.664131349,661,634,880,787,806.335868651,652,631,652,0.443762367927,-0.0155733337202,0.0499310017462,0.999999977979,0.00017615131976,-0.000108358719923,3.56408174172e-05,1793244441059849472
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.087592672,661,634,880,787,806.912407328,652,631,652,0.444359729355,-0.0155746511695,0.0498781887723,0.99999996287,0.000179042131087,-0.000202891236836,3.22399054301e-05,1793244441076516096
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,634,880,787,806.49888615,651.49888615,631,652,0.444973858848,-0.0155796498123,0.0498500522792,0.99999995599,0.000180959098577,-0.000233070342156,3.08491839952e-05,1793244441093182976
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.090004182,714,680,661,633.909995818,880.090004182,786.909995818,806.090004182,651.090004182,631,652,0.445593719408,-0.0155853498047,0.049831320085,0.999999952774,0.000182458585775,-0.000245456786264,3.02088963088e-05,1793244441109849856
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.668070825,714,680,661,633.331929175,880.668070825,786.331929175,806.668070825,651.668070825,631,652,0.44622836831,-0.0155912768928,0.0498396123271,0.999999957759,0.000182640255564,-0.000223875598256,3.16851630644e-05,1793244441126516480
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.75571771,745.75571771,714.24428229,680,660.75571771,633,881,786,807,652,630.75571771,652,0.446814486476,-0.0155963538873,0.0498333647799,0.99999995645,0.000184117212357,-0.000228429608103,3.19564277331e-05,1793244441143183360
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.182008097,745.182008097,714.817991903,680,660.182008097,633,881,786,807,652,630.182008097,652,0.447335158379,-0.0156002844861,0.0498075095728,0.99999994601,0.000187340930652,-0.000268228287876,3.06026845189e-05,1793244441159849984
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.597212437,680.402787563,660,633,881,786,807,652,630,652,0.447820297782,-0.0156056305387,0.0497774088961,0.999999932178,0.000185715788094,-0.000316654996324,2.97033235763e-05,1793244441176516096
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.00726548,680.99273452,660,633,881,786,807,652,630,652,0.448288926688,-0.0156116342968,0.049745335516,0.999999914933,0.00018183757229,-0.000369090810154,2.90150958676e-05,1793244441193182720
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.569289403,745,714.569289403,681,660.569289403,633,880.430710597,786,807,652,630,652,0.448772115318,-0.0156172180413,0.049744243876,0.999999914109,0.000180827808608,-0.000371703993143,3.03116181397e-05,1793244441209849856
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.854409548,633,880,786,807,652,630,652,0.44925186306,-0.0156218671931,0.0497476613539,0.999999915658,0.000179798137358,-0.000367892374882,3.17983148252e-05,1793244441226516736
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.278365138,633,880,786,807,652,630,652,0.449720900798,-0.0156237686059,0.0497632683527,0.999999923303,0.000178603858372,-0.00034692190026,3.37741131477e-05,1793244441243183360
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.701966966,745,714.701966966,681,660,633,880.298033034,786,806.701966966,652,630,652,0.450153361357,-0.0156287788448,0.0497709534332,0.999999932096,0.000141719240418,-0.000338414537532,3.46406290575e-05,1793244441259849984
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.125238022,745,714.125238022,681,660,633,880.874761978,786,806.125238022,652,630,652,0.450551617927,-0.0156366962014,0.0497712305881,0.99999993852,7.14599607559e-05,-0.000341561649183,3.44698353112e-05,1793244441276516608
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.462832763,681,660,632.537167237,880.537167237,786,806,652,629.537167237,652,0.450899156798,-0.0156390110601,0.0497627998706,0.999999934711,1.40065168223e-05,-0.00036057264596,1.92306774831e-05,1793244441293183232
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680.947104073,660,632,880.052895927,785.947104073,806.052895927,652,629,652,0.451228249034,-0.0156401964261,0.049750585728,0.999999924653,-3.42571091688e-05,-0.000386675708562,1.66120972086e-06,1793244441309849344
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680.36850685,660,632,880.63149315,785.36850685,806.63149315,652,629,652,0.451513829285,-0.0156456013532,0.0497247761551,0.999999903053,-2.64916069501e-05,-0.000439529193624,2.47251431306e-06,1793244441326515968
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880.791343595,785,807,652,629,651.791343595,0.451799930488,-0.015648589027,0.0497050202146,0.999999886525,-1.80979488217e-05,-0.000476039945011,3.0512011107e-06,1793244441343182592
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880.216695638,785,807,652,629,651.216695638,0.452086945432,-0.0156473367427,0.0496958825866,0.999999882886,-8.60248140461e-06,-0.000483884893993,3.22186705843e-06,1793244441359849216
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880.357272915,785.357272915,807,652,629,651.357272915,0.452354696469,-0.0156483595612,0.0496963938682,0.999999885877,4.9738292052e-07,-0.000477726355249,4.81585099009e-06,1793244441376516096
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880.930830228,785.930830228,807,652,629,651.930830228,0.45261078563,-0.0156507596719,0.0497027463658,0.999999892703,9.35775959894e-06,-0.000463090443779,7.27147728276e-06,1793244441393182976
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.523668869,745,715,680,660,632,880.476331131,785.476331131,807,652,629,652,0.452835028118,-0.0156539691641,0.0497088515636,0.999999897082,1.24000964519e-05,-0.000453427009026,9.23228791559e-06,1793244441409849856
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,631.884837448,880,784.884837448,806.884837448,652,629,652,0.453047411757,-0.0156566754799,0.0497132153772,0.999999899844,1.52292777093e-05,-0.000447171182049,1.08684458622e-05,1793244441426516224
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,631.309290865,880,784.309290865,806.309290865,652,629,652,0.453229846705,-0.015656926529,0.0497107532577,0.999999897659,2.03959404184e-05,-0.000451811858064,1.14780156549e-05,1793244441443182848
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.733743363,745,715,680,659.733743363,631.266256637,880.266256637,784.266256637,806.266256637,652,629,652,0.453393977006,-0.0156560196078,0.0497029138443,0.999999892235,2.65678533766e-05,-0.000463342603887,1.17497792892e-05,1793244441459849728
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.158194828,745,715,680,659.158194828,631.841805172,880.841805172,784.841805172,806.841805172,652,629,652,0.453536844056,-0.0156537675529,0.0496888280012,0.999999882772,3.39074956271e-05,-0.000482877066322,1.16291368596e-05,1793244441476516352
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.428200806,745,715,680,659.856401612,631.571799194,880.571799194,785,807,652,628.571799194,652,0.45365965213,-0.0156534415874,0.0496780027102,0.999999875873,3.65959704212e-05,-0.000496769331612,1.16202243066e-05,1793244441493182976
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.981644981,745,715,680.018355019,660.981644981,631.018355019,880,784.981644981,807,652,628,652,0.453774422683,-0.0156538456207,0.0496687727096,0.999999870134,3.76011654817e-05,-0.000508116151749,1.16759561328e-05,1793244441509849600
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.402277623,745,715,680.597722377,660.402277623,631.597722377,880,784.402277623,807,652,628,652,0.453875918689,-0.0156542474769,0.0496705276644,0.999999870542,4.10426833905e-05,-0.000507028961184,1.2413093326e-05,1793244441526515968
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880,784.175097258,807,652,628,652,0.453969722651,-0.0156549279852,0.0496712601544,0.999999870261,4.31855805021e-05,-0.000507385518438,1.31642596225e-05,1793244441543182592
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880,784.747945942,807,652,628,652,0.454046053333,-0.0156562414805,0.0496696700102,0.999999868433,4.23785264614e-05,-0.000511021697486,1.39472943695e-05,1793244441559849216
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880,785,807.32450891,652,628,652,0.454113568174,-0.015657502725,0.0496679269317,0.999999867284,4.18968533994e-05,-0.000513293592858,1.43345504402e-05,1793244441576515840
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632,880,785,807.903990317,652,628,652,0.454174156259,-0.0156587229155,0.04966606369,0.999999866676,4.16708379497e-05,-0.000514493546353,1.44108361567e-05,1793244441593182720
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.478503244,715,680.521496756,659.521496756,632,880,785,807.521496756,652,628.478503244,651.521496756,0.45421206393,-0.0156605659186,0.0496617244351,0.999999863158,3.88016129789e-05,-0.000521506920419,1.44741358214e-05,1793244441609849088
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.945937148,715,680,659.054062852,631.945937148,880.054062852,784.945937148,807,652,628.945937148,651.054062852,0.454244721371,-0.0156623498274,0.0496569993745,0.999999859081,3.57269060502e-05,-0.000529482180599,1.45276914857e-05,1793244441626515712
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.349996768,715,680,659.650003232,631.349996768,880.650003232,784.349996768,807,652,628.349996768,651.650003232,0.454269898941,-0.0156623017671,0.0496533356625,0.999999855857,3.58537443618e-05,-0.000535527343669,1.45094298645e-05,1793244441643182336
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.764184512,631,880.764184512,784,807,652,628,651.764184512,0.454291642647,-0.0156646429446,0.0496506625758,0.999999853251,3.46247014738e-05,-0.000540424729691,1.55175455972e-05,1793244441659848960
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.192785396,631,880.192785396,784,807,652,628,651.192785396,0.454308499698,-0.0156703841917,0.0496493992253,0.999999851544,3.1466135045e-05,-0.000543688740089,1.79862754759e-05,1793244441676515840
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.367607645,631,880,784.367607645,807.367607645,652,628,651.367607645,0.45432095518,-0.0156869892692,0.0496483330095,0.999999850736,1.72483766547e-05,-0.000545580020001,2.39454982424e-05,1793244441693182720
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.922396512,631,880,784.922396512,807.922396512,652,628,651.922396512,0.454331169439,-0.0157091260733,0.0496473671722,0.999999850015,-2.6005840729e-06,-0.000546772322391,3.168203631e-05,1793244441709849344
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.467655332,680.532344668,660,631,880.532344668,784.467655332,807.467655332,652,628,652,0.454336722711,-0.015713747404,0.0496465593366,0.999999849039,-7.92805047919e-06,-0.00054842385059,3.30223175174e-05,1793244441726516224
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.858499592,631.141500408,880.858499592,784.141500408,807,652,628,652,0.454340856454,-0.0157137537052,0.0496455378453,0.99999984807,-8.73904151252e-06,-0.000550178425026,3.29846593866e-05,1793244441743182592
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.279527399,631.720472601,880.279527399,784.720472601,807,652,628,652,0.454342944982,-0.0157082984847,0.0496437763609,0.999999847124,-2.88786478964e-06,-0.00055202068935,3.19028478586e-05,1793244441759849472
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.297675191,714.297675191,681,659.297675191,631.702324809,880.297675191,784.702324809,806.702324809,652,628,652,0.454344298907,-0.0157081919008,0.0496425636761,0.999999846089,-2.40032177644e-06,-0.000553895299118,3.18857007514e-05,1793244441776516352
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.873225947,714.873225947,681,659.873225947,631.126774053,880.873225947,784.126774053,806.126774053,652,628,652,0.454344967091,-0.0157130781926,0.0496418632878,0.999999844979,-6.91965403185e-06,-0.000555800103118,3.28624026462e-05,1793244441793182720
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.543512815,715,680.543512815,659.543512815,631,880.543512815,784.456487185,806.456487185,652,628,652,0.454345781114,-0.0157112506179,0.0496416293434,0.999999844908,-5.88429156349e-06,-0.000555965947372,3.24244981399e-05,1793244441809849344
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.041559397,659.041559397,631,880,784.958440603,807,652,628,652,0.454346675087,-0.0157079016163,0.0496415250651,0.999999845095,-3.62902893157e-06,-0.000555693862939,3.16477530957e-05,1793244441826515968
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.621872615,659.621872615,631,880,784.378127385,807,652,628,652,0.454348071401,-0.0157094159868,0.0496413935785,0.999999844851,-5.90105598195e-06,-0.000556112817159,3.16587823526e-05,1793244441843182848
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.799575307,659.799575307,631,880.200424693,784,807,652,628,652,0.454349188206,-0.0157105742592,0.0496414483543,0.999999844856,-7.03805605387e-06,-0.000556075016931,3.19322451135e-05,1793244441859849472
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.224316945,659.224316945,631,880.775683055,784,807,652,628,652,0.454349782274,-0.0157110665578,0.0496418514776,0.999999845333,-6.05233187695e-06,-0.000555182995859,3.26965102405e-05,1793244441876515840
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,631,880.648143959,784,807,652,628.351856041,652.351856041,0.454350535231,-0.0157085857267,0.0496413841433,0.999999845648,-4.20093601071e-06,-0.000554680335258,3.18794783462e-05,1793244441893182464
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,631,880.07138638,784,807,652,628.92861362,652.92861362,0.454351389748,-0.0157042045119,0.0496403604245,0.999999845852,-1.79621475481e-06,-0.000554426548542,3.00517031337e-05,1793244441909849088
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.516893798,745,715,680.516893798,659.516893798,631.516893798,880,784,806.483106202,652,628.483106202,652.483106202,0.454351140192,-0.0157056072338,0.0496408440123,0.999999845548,-4.37527036906e-06,-0.000554935654631,3.05114176085e-05,1793244441926515712
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.8953126,745,715,681,660,632,880.1046874,784,806.1046874,652,628,652,0.454350279324,-0.0157074939408,0.0496408364003,0.999999844827,-7.22344561337e-06,-0.000556171220141,3.11110786443e-05,1793244441943182336
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.317082572,745,715,681,660,632,880.682917428,784,806.682917428,652,628,652,0.454347358706,-0.015707874234,0.0496376437965,0.999999842575,-8.10455089101e-06,-0.000560205396206,3.08821727339e-05,1793244441959849472
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.259388971,715,680.740611029,660,631.740611029,880.740611029,784,807,652,627.740611029,652,0.454347121765,-0.0157077942391,0.0496368681006,0.9999998421,-8.5112331534e-06,-0.000561051604731,3.08072484306e-05,1793244441976516352
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.833725456,715,680.166274544,660,631.166274544,880.166274544,784,807,652,627.166274544,652,0.454350143315,-0.0157071553673,0.0496390269899,0.99999984379,-8.34187581849e-06,-0.000558027015262,3.09192870356e-05,1793244441993182976
+248,4.133333333,HOLD_POSE2,765,745,714,681,660,631,880,784,806,652,628,652,0.454352255006,-0.0157060373191,0.0496401548466,0.999999845243,-7.37453348692e-06,-0.000555423930933,3.10324415302e-05,1793244442026299136
+249,4.150000000,HOLD_POSE2,765,745,714.57931008,681,659.42068992,631,880.57931008,784,806.57931008,652,628,652,0.45435152112,-0.0157070055653,0.0496392868221,0.999999844583,-1.0001711446e-05,-0.000556590784351,3.06675607235e-05,1793244442042965760
+250,4.166666667,HOLD_POSE2,765,745,715,681,659.157820224,631.157820224,880.842179776,784.157820224,807,652,628,652,0.454351091729,-0.0157079463518,0.0496388959001,0.99999984416,-1.16011333237e-05,-0.000557326071915,3.05432780397e-05,1793244442059632384
+251,4.183333333,HOLD_POSE2,765,745,715,681,659.734208918,631.734208918,880.265791082,784.734208918,807,652,628,652,0.454351469918,-0.01570881431,0.0496397703424,0.999999844385,-1.04747562668e-05,-0.000556916767156,3.10571060671e-05,1793244442076299008
+252,4.200000000,HOLD_POSE2,765,745,715,681,660,632,880.309250982,784.690749018,806.690749018,652,628,652,0.454351665705,-0.0157074173552,0.0496396895778,0.999999844459,-8.96178731754e-06,-0.000556816203066,3.09467884837e-05,1793244442092965888
+253,4.216666667,HOLD_POSE2,765,745,715,681,660,632,880.883140645,784.116859355,806.116859355,652,628,652,0.454351705406,-0.0157040822218,0.0496387914037,0.999999844402,-7.11799598368e-06,-0.000556979840985,3.03023640102e-05,1793244442109632512
+254,4.233333333,HOLD_POSE2,765,745,715,681,660,632,880.529389861,784,806.470610139,652,628,652,0.454350937977,-0.0157050062728,0.0496387227194,0.99999984378,-7.99614713523e-06,-0.000558093064532,3.01214696391e-05,1793244442126299136
+255,4.250000000,HOLD_POSE2,765,745,715,680.939669718,660,631.939669718,880.060330282,784.060330282,806.939669718,652,628,652,0.454350093098,-0.0157068335291,0.0496388279738,0.999999843078,-9.41945436395e-06,-0.000559328929832,3.01058492229e-05,1793244442142965760
+256,4.266666667,HOLD_POSE2,765,745,715,680.360456289,660,631.360456289,880.639543711,784.639543711,806.360456289,652,628,652,0.454350357094,-0.015707062453,0.0496386050616,0.999999842952,-9.5455599821e-06,-0.000559531330348,3.04923346939e-05,1793244442159632384
+257,4.283333333,HOLD_POSE2,765,745,715,680,660,631,881,784.782722303,806.217277697,652,628,652,0.454350926117,-0.0157075366798,0.0496384969047,0.999999843027,-1.03301259838e-05,-0.000559367727042,3.07818682199e-05,1793244442176299008
+258,4.300000000,HOLD_POSE2,765,745,715,680,660,631,881,784.207426119,806.792573881,652,628,652,0.454351997744,-0.0157084151036,0.0496385778355,0.99999984343,-1.21996675269e-05,-0.000558601042328,3.09116495149e-05,1793244442192965632
+259,4.316666667,HOLD_POSE2,765.367625312,745,715,680.367625312,660,631.367625312,880.632374688,784.367625312,807.367625312,652,628,652,0.45435177133,-0.0157080571135,0.0496381427752,0.999999843053,-1.14180942465e-05,-0.000559295984575,3.08468497711e-05,1793244442209632512
+260,4.333333333,HOLD_POSE2,765.94253879,745,715,680.94253879,660,631.94253879,880.05746121,784.94253879,807.94253879,652,628,652,0.454350813007,-0.0157070019625,0.0496374167696,0.999999842231,-9.1416710501e-06,-0.000560815075583,3.06723341261e-05,1793244442226299136
+261,4.350000000,HOLD_POSE2,765.467359717,745.532640283,715,680.467359717,660,631.467359717,880,784.467359717,807.467359717,652,628,652,0.454351813084,-0.0157062476436,0.0496383270253,0.999999843111,-8.07826379381e-06,-0.000559254889133,3.07677965923e-05,1793244442242965760
+262,4.366666667,HOLD_POSE2,765,746,715,680,660,631.121532927,880,784,806.878467073,652,628,652,0.454352904891,-0.0157056746453,0.0496391725297,0.999999844,-7.70302353186e-06,-0.000557664683105,3.08275794892e-05,1793244442259632384
+263,4.383333333,HOLD_POSE2,765,746,715,680,660,631.699550367,880,784,806.300449633,652,628,652,0.454353524396,-0.0157056572212,0.0496390923455,0.999999844225,-9.40663223793e-06,-0.000557246077207,3.06407410242e-05,1793244442276299264
+264,4.400000000,HOLD_POSE2,765,745.723759497,715,680,660,631.723759497,880,784,806.276240503,652,628,651.723759497,0.454352711059,-0.015705413304,0.0496381084528,0.999999843458,-9.93738755099e-06,-0.000558630916412,3.02694342187e-05,1793244442292965888
+265,4.416666667,HOLD_POSE2,765,745.148506118,715,680,660,631.148506118,880,784,806.851493882,652,628,651.148506118,0.454350346762,-0.0157049242224,0.0496361463529,0.999999841613,-9.19860313395e-06,-0.000561967870914,2.96984521113e-05,1793244442309632768
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,631,880,784,807,651,628,652,0.454353720946,-0.0157057187092,0.0496390144998,0.999999843992,-1.21291048368e-05,-0.000557616030597,3.05619217367e-05,1793244442342310656
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.419688196,631,880,784,807,651.580311804,627.419688196,652,0.454353207202,-0.015706886539,0.049638123341,0.999999843093,-1.09541664351e-05,-0.000559211684457,3.12323449055e-05,1793244442358977024
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.840534235,659.159465765,631,880,784.159465765,807,652,627.159465765,652,0.454352607848,-0.0157073424386,0.049637535202,0.999999842518,-1.02959552979e-05,-0.000560241961833,3.14106533131e-05,1793244442375643648
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.264405435,659.735594565,631,880,784.735594565,807,652,627.735594565,652,0.454351784807,-0.0157059381583,0.0496377388132,0.999999842795,-1.09878841652e-05,-0.000559794985306,3.03031308356e-05,1793244442392310272
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.29731516,745,715,680.29731516,660,631,880,784.70268484,807,652,628,652,0.454351179661,-0.0157048340542,0.0496373672826,0.999999842639,-9.85973241446e-06,-0.000560111770368,2.99868372412e-05,1793244442408976896
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.846814605,745,715,680.846814605,660,631,880,784.153185395,807,652,628,652,0.454350759333,-0.0157039845611,0.0496365079134,0.99999984211,-7.18777865237e-06,-0.000561076382059,3.03416682206e-05,1793244442425643520
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.552819712,745.447180288,715,680.552819712,660,631,880.447180288,784,807,652,628,652,0.454350474137,-0.0157044909145,0.0496360260009,0.999999841733,-8.70717911077e-06,-0.000561740737486,3.00914861563e-05,1793244442442310400
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.937252387,715,680.062747613,660,631.062747613,880.937252387,784,807,652,628,652,0.454349714486,-0.015705319561,0.0496355217301,0.999999841296,-1.13387015694e-05,-0.00056249410051,2.96640446662e-05,1793244442458977280
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.358366679,715,680.641633321,660,631.641633321,880.358366679,784,807,652,628,652,0.454344622511,-0.0157044884762,0.0496336334602,0.999999839936,-9.79208328917e-06,-0.000564934244325,2.97021190249e-05,1793244442475643904
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.781969875,659.781969875,631.781969875,880,784,807,651.781969875,628.218030125,652,0.45433214405,-0.0157034152796,0.0496279302587,0.999999834767,-8.48704856925e-06,-0.000574048437975,2.93689759473e-05,1793244442492310272
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.209617856,659.209617856,631.209617856,880,784,807,651.209617856,628.790382144,652,0.454307661772,-0.015701948626,0.049616027392,0.999999823144,-7.57461270144e-06,-0.000594008664424,2.8432565467e-05,1793244442508976896
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.364831159,631,880,784,807,651.364831159,628.635168841,652,0.454265600646,-0.0157004014529,0.0495973555594,0.999999804245,-8.09319007048e-06,-0.000625075103399,2.69238771674e-05,1793244442525643264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.940492047,631,880,784,807,651.940492047,628.059507953,652,0.454213381002,-0.0156988077489,0.0495747720554,0.999999780148,-9.43872558169e-06,-0.00066255963517,2.50844791235e-05,1793244442542310144
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.532492064,660,631,880,784,807.532492064,652,628,652,0.454151939859,-0.015694868429,0.0495542176139,0.99999976372,-8.1381137701e-06,-0.000687017953423,2.23696540104e-05,1793244442558977024
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,631,880.122875115,784,807.877124885,652,628,652,0.454086319725,-0.0156901784815,0.0495362010815,0.999999749146,-6.43030952953e-06,-0.000708006752472,1.98079397015e-05,1793244442575643904
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,631,880.700307937,784,807.299692063,652,628,652,0.454009173028,-0.0156837121115,0.0495267077493,0.999999739388,-4.34474744532e-06,-0.000721716316971,1.81860065753e-05,1793244442592310528
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.722767998,659.722767998,631,880.722767998,784,807,651.722767998,628.277232002,652,0.453926921533,-0.0156775821194,0.0495233399425,0.999999736381,-1.7029268335e-06,-0.0007259054267,1.72242190746e-05,1793244442608976896
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.146392932,659.146392932,631,880.146392932,784,807,651.146392932,628.853607068,652,0.453839161785,-0.0156718150914,0.0495265817934,0.999999740783,1.53911613128e-06,-0.000719821630785,1.69747519776e-05,1793244442625643520
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.439109539,745,715,680.439109539,659,631,880,784,807,651.439109539,628.560890461,652,0.453734394383,-0.0156650172206,0.0495295130102,0.999999743349,5.14808578345e-06,-0.000716239003788,1.66326502693e-05,1793244442642310400
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.97271772,659.02728228,631,880.02728228,784.02728228,807,652,628,652,0.453622141879,-0.0156578773367,0.0495323207413,0.99999974517,8.81311516671e-06,-0.00071366440773,1.6262569756e-05,1793244442658977024
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.393392733,659.606607267,631,880.606607267,784.606607267,807,652,628,652,0.453475599387,-0.0156509185576,0.0495347697893,0.99999974473,1.1084695161e-05,-0.000714256019057,1.59645205522e-05,1793244442675643648
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,714.816651043,680.183348957,660,631.183348957,881,784.816651043,807,652,628,652,0.45331944983,-0.0156429880024,0.0495373319347,0.999999744914,1.38116612931e-05,-0.00071395880329,1.5619686244e-05,1793244442692310272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.245375124,680.754624876,660,631.754624876,881,784.245375124,807,652,628,652,0.453142973807,-0.0156330013791,0.0495401333696,0.999999746416,1.75021262659e-05,-0.000711781020473,1.51758647546e-05,1793244442708976896
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.669903297,744.669903297,714.330096703,681,660,631.669903297,880.669903297,784,807,652,628,652,0.452949551598,-0.0156213434578,0.0495442658586,0.999999748881,2.20232611691e-05,-0.000708201136468,1.42604177666e-05,1793244442725643520
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.091272252,744.091272252,714.908727748,681,660,631.091272252,880.091272252,784,807,652,628,652,0.452743370355,-0.0156084271924,0.0495494005168,0.999999752044,2.71698192613e-05,-0.000703565590966,1.29898774146e-05,1793244442742310400
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,744.498586414,715,680.501413586,660.498586414,631,880.498586414,784,806.501413586,651.501413586,628,652,0.452512270465,-0.015598845026,0.049555949456,0.99999975607,2.98140352753e-05,-0.00069771837957,1.26838430701e-05,1793244442758977024
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.088345176,715,680,660.911654824,631.088345176,880.911654824,784.088345176,806.088345176,651,628.088345176,652,0.452269607478,-0.0155898455861,0.0495623846607,0.999999760062,3.16794851485e-05,-0.000691896144321,1.23462587053e-05,1793244442775643392
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.665907103,715,680,660.334092897,631.665907103,880.334092897,784.665907103,806.665907103,651,628.665907103,652,0.451988755456,-0.0155806153285,0.0495667233467,0.999999763128,3.18275774181e-05,-0.00068746879715,1.08337030504e-05,1793244442792310016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.24244894,659.75755106,632,880.24244894,785,807,651.24244894,629,652,0.45168538618,-0.0155727854642,0.049569739449,0.999999764913,2.83146286905e-05,-0.000685048926234,8.92959393724e-06,1793244442808976896
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.817590954,659.182409046,632,880.817590954,785,807,651.817590954,629,652,0.451351118315,-0.015566877247,0.0495709406763,0.999999764908,1.97779294592e-05,-0.000685383752883,6.48818776838e-06,1793244442825643776
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.611957862,714.611957862,680.611957862,659.388042138,632,880.611957862,785,807,651.611957862,629,652,0.451002206914,-0.0155645442753,0.0495700636946,0.999999766817,1.03555069271e-05,-0.00068281664076,4.40947527674e-06,1793244442842310144
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.043685399,714.043685399,680.043685399,659.956314601,632,880.043685399,785,807,651.043685399,629,652,0.450646494176,-0.0155638718648,0.0495682214665,0.999999769543,5.21700965587e-07,-0.000678901692053,2.49921981302e-06,1793244442858976512
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.554718076,680.554718076,660,632,880,785,806.445281924,651.554718076,629,652,0.450281502887,-0.0155625342556,0.0495890610359,0.999999797465,-1.05401378829e-05,-0.000636361599614,1.60151077975e-06,1793244442875643392
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.8512572,680.8512572,660,632,880,785,806.1487428,652,629,652,0.449900633151,-0.0155593374063,0.0496111600076,0.999999823444,-2.01795262969e-05,-0.000593889919067,7.1165520795e-07,1793244442892310016
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.276939952,680.276939952,660,632,880,785,806.723060048,652,629,652,0.449476543713,-0.0155509794983,0.0496314580508,0.999999842418,-2.54564823645e-05,-0.000560816965175,-3.96983631442e-07,1793244442908976896
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.298107028,680.298107028,660,632,880,785,807,652,629.298107028,652,0.449013550578,-0.0155415304445,0.0496447200344,0.999999853148,-3.11267763627e-05,-0.000541044236165,-2.48304002297e-06,1793244442925643776
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.873833657,680.873833657,660,632,880,785,807,652,629.873833657,652,0.448514327357,-0.0155310652329,0.0496514295144,0.999999856899,-3.71633767433e-05,-0.000533657669658,-5.47934100236e-06,1793244442942310400
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.462043292,745,714.537956708,681,660,632.462043292,880,785.462043292,807,652,630,652,0.44798819288,-0.0155225149987,0.0496474710729,0.999999854474,-4.74417311499e-05,-0.000537322919524,-9.24342661688e-06,1793244442958977280
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.947449988,745,714.052550012,681,660,632.947449988,880,786,807,652,630,652,0.447449838502,-0.0155142770726,0.0496400419269,0.999999849625,-5.87814201446e-05,-0.000545083834012,-1.33307939485e-05,1793244442975644416
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.369013679,745,714.630986321,681,660,632.369013679,880,786,807,652,630,652,0.446864775237,-0.0155037863019,0.0496278410961,0.999999839093,-6.88292909406e-05,-0.000562792458477,-1.84970327493e-05,1793244442992310784
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.206587586,745,714.793412414,681,660,632.206587586,880.206587586,786,807,651.793412414,630,652,0.446273571934,-0.0154939164887,0.0496215774314,0.999999833815,-7.96041698583e-05,-0.000570530061042,-2.2990661436e-05,1793244443008977408
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.777193322,745,714.222806678,681,660,632.777193322,880.777193322,786,807,651.222806678,630,652,0.445671549596,-0.015485140836,0.0496257753649,0.999999838262,-9.16600745976e-05,-0.000560698199922,-2.62991155677e-05,1793244443025643520
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.646506671,660,633,881,786,806.646506671,651,630,652,0.44505141708,-0.0154782735368,0.0496558804585,0.999999859599,-0.000104167794005,-0.000518867479633,-2.69782609835e-05,1793244443042310144
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.066558827,660,633,881,786,806.066558827,651,630,652,0.444419682866,-0.0154726287651,0.0497025821689,0.999999888609,-0.000116964953652,-0.00045653768342,-2.59730212731e-05,1793244443058976768
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.524541138,660,633.524541138,880.475458862,786.524541138,806.524541138,651.524541138,630.524541138,652,0.443748899379,-0.0154658372868,0.049726516104,0.999999900654,-0.000131306732295,-0.000425113569626,-2.70139550918e-05,1793244443075643392
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.886454199,745,714.113545801,680.772908399,660,634,880,787,807,652,630.886454199,652,0.443063856502,-0.0154586170028,0.0497420036163,0.999999907084,-0.000146133915933,-0.000404526996427,-2.88996453517e-05,1793244443092310272
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.311829283,745,714.688170717,679.623658567,660,634,880,787,807,652,630.311829283,652,0.44234146803,-0.0154502591481,0.0497351787295,0.99999990157,-0.000162119019123,-0.000411678250665,-3.31384414376e-05,1793244443108976896
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.263566977,745,714.736433023,679.527133954,660,634,880.263566977,787,807,652,630,652,0.441623661898,-0.0154450246539,0.0497502549088,0.999999910404,-0.000178317959284,-0.000382277844116,-3.54863094204e-05,1793244443125643520
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.839878579,745,714.160121421,680.679757158,660,634,880.839878579,787,807,652,630,652,0.440911293009,-0.0154434962912,0.0497913185639,0.999999932502,-0.000194770636634,-0.000309505784118,-3.55904308784e-05,1793244443142310144
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.573589699,745.426410301,714.426410301,681,660.426410301,634,881,787,807,652,630.426410301,652,0.440145888012,-0.0154417244462,0.0498198105095,0.999999959052,-0.00010056574182,-0.000265392960576,-3.67364153539e-05,1793244443158977024
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.016529527,745.983470473,714.983470473,681,661,634,880.983470473,787,806.983470473,652,630.983470473,652.016529527,0.439357374783,-0.0154397948653,0.0498416774709,0.999999971138,3.1461821676e-05,-0.000235069205031,-3.84361301126e-05,1793244443175643904
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.254440435,660.254440435,634,880.745559565,787,806.745559565,652,630.745559565,652.254440435,0.436752408681,-0.0154332586207,0.0497711196423,0.999999931155,-6.53020793186e-05,-0.000361112178133,-5.49839604371e-05,1793244443225643776
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.671498608,634,881,787,806.671498608,652,631,652,0.435877012193,-0.0154305074717,0.049776889786,0.99999993021,-9.49932307976e-05,-0.000356689852998,-5.76956425985e-05,1793244443242310400
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659.499885599,634,880.500114401,787,806,652,630.500114401,652,0.434091008249,-0.0154233832721,0.0497808095282,0.999999927811,-0.000136933110169,-0.000349022013882,-6.17383612594e-05,1793244443275643392
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.195561613,745,714,680,660,634,880,787,806.195561613,652,631,652,0.430518174232,-0.015411778156,0.0498023665886,0.999999950426,-1.4841698925e-05,-0.000313836969339,-2.08423930395e-05,1793244443342310400
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.981853746,745,714,680,660,634,880.981853746,787,805.018146254,652,631,652,0.42859720745,-0.0154065612542,0.0497546420837,0.999999924447,1.99145475127e-06,-0.000387041013594,-3.60820703275e-05,1793244443375643904
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,634,880.284839216,787,806,652,631,651.715160784,0.425808749314,-0.0154148464241,0.0497653554339,0.999999924802,-7.59262948809e-05,-0.000378246112868,-3.94977748172e-05,1793244443425643264
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.710546256,745,714,680,660,634,880,787,806,652,631,652,0.424923636643,-0.0154167135157,0.0497774974088,0.999999936545,-8.07065586446e-05,-0.000344791708845,-3.89259991181e-05,1793244443442310144
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,880,787,806,652,631,652,0.423181905614,-0.0154204507156,0.0498295861482,0.999999967222,-6.90106378036e-05,-0.000243740250377,-3.72114348328e-05,1793244443475643648
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.699292008,660,634,879.300707992,787.699292008,806,652.300707992,631,651.699292008,0.409643957552,-0.0154106255582,0.0498017378242,0.99999993885,-0.00010071584192,-0.000331839480967,-4.51456974099e-05,1793244443758977024
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.145375477,660,634,879.854624523,787.145375477,806,652.854624523,631,651.145375477,0.40902106668,-0.0154077933822,0.0497861107143,0.999999930806,-0.000101327234519,-0.000354906512961,-4.64953498473e-05,1793244443775643904
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f35f5a6f2a8ab51688403ff74a281b737483c9df
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+407,6.783333333,pose2_to_pose3_retreat,0.575669653983,-0.0101220909769,1.04005080876,0.546241286029,-0.00144640935717,1.03971729438
+408,6.800000000,pose2_to_pose3_retreat,0.575669588124,-0.010122119286,1.04005080929,0.546241220506,-0.0014464365396,1.03971729462
+409,6.816666667,pose2_to_pose3_retreat,0.575669577892,-0.0101222124846,1.0400508377,0.546241211366,-0.0014465263469,1.03971731481
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7964d9215bf18c0bdc0518833bb89f014ffbf095
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11fea9de4e2212260890622223d1f0a27a93f522a5f85daf313ba437afa558f1
+size 25823497
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9071c4ef3e54242e406292e9d40a0a1827718cc6
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+54,0.900000000,BASELINE,765,744,714,679,658.324520214,634.324520214,879.675479786,787,805.324520214,652,630,652,0.401001049026,-0.0155008125041,0.0698397277318,0.999999982348,5.21627408777e-05,-0.000180256894533,9.52228887515e-06,1793244447176959232
+55,0.916666667,BASELINE,765,744,714,679,658.910924662,634.910924662,879.089075338,787,805.910924662,652,630,652,0.401000428632,-0.0155034991875,0.0698397920743,0.999999982383,5.12271104792e-05,-0.00018029924908,1.00834900584e-05,1793244447193626112
+56,0.933333333,BASELINE,765,744.492146932,714.492146932,679,659.492146932,635,879.492146932,787,805.507853068,652,630.492146932,652,0.401002193803,-0.0155044783773,0.0698406938213,0.999999982717,5.0507799696e-05,-0.000178631666462,1.02927781301e-05,1793244447210292736
+57,0.950000000,BASELINE,765,745,714.928208151,679.071791849,659.928208151,634.928208151,880,787,805.071791849,652,630.928208151,652,0.401003923448,-0.0155047025448,0.0698415190991,0.999999983009,5.01625958457e-05,-0.000177082293491,1.03600489528e-05,1793244447226959360
+58,0.966666667,BASELINE,765,745,714.353114685,679.646885315,659.353114685,634.353114685,880,787,805.646885315,652,630.353114685,652,0.401002408611,-0.0155017775835,0.0698407568014,0.999999982658,5.21684737225e-05,-0.000178508711863,9.87357602021e-06,1793244447243625984
+59,0.983333333,BASELINE,765,745,714,679.776978274,659,634,880,787.223021726,805.776978274,652,630.223021726,652,0.401001609262,-0.0155002247348,0.0698404643064,0.99999998246,5.37381124434e-05,-0.000179157946533,9.68930233839e-06,1793244447260292608
+60,1.000000000,BASELINE,765,745,714,679.199182701,659,634,880,787.800817299,805.199182701,652,630.800817299,652,0.40100194808,-0.0155008545865,0.0698409191541,0.999999982515,5.46138000539e-05,-0.000178570869349,9.98575480002e-06,1793244447276959232
+61,1.016666667,BASELINE,765,745,714,679.388351167,658.611648833,634.388351167,880,787.611648833,805,652,630.611648833,652,0.40100089667,-0.0155012094403,0.0698405035487,0.999999982373,5.3671697302e-05,-0.000179651045475,9.99161391342e-06,1793244447293626112
+62,1.033333333,BASELINE,765,745,714,679.981008175,658.018991825,634.981008175,880,787.018991825,805,652,630.018991825,652,0.400999113881,-0.0155014196218,0.0698396300108,0.999999982121,5.17732817076e-05,-0.000181608339096,9.84459611995e-06,1793244447310292736
+63,1.050000000,BASELINE,765,744.441662683,714,680,658,635,880,787,805,652,630.558337317,652,0.401001110515,-0.0155003574694,0.0698400027703,0.999999982303,5.38204998987e-05,-0.00018001205652,9.62887171827e-06,1793244447326959360
+64,1.066666667,BASELINE,765,744.134960839,714,679.865039161,658.134960839,634.865039161,880,787,805.134960839,652,630.865039161,652,0.401002447276,-0.0154999940262,0.0698401923224,0.99999998243,5.48254851209e-05,-0.000179003209073,9.55158488104e-06,1793244447343625728
+65,1.083333333,BASELINE,765,744.710936753,714,679.289063247,658.710936753,634.289063247,880,787,805.710936753,652,630.289063247,652,0.401001218886,-0.0155020514163,0.0698396483762,0.999999982345,5.19978927464e-05,-0.000180298370893,9.93410691896e-06,1793244447360292352
+66,1.100000000,BASELINE,765,745,714.293295161,679.293295161,659,634.293295161,879.706704839,787.293295161,805.706704839,652,630,652,0.400999735174,-0.0155019818208,0.0698387897011,0.99999998208,5.16125957071e-05,-0.000181873025802,9.93915255049e-06,1793244447376958976
+67,1.116666667,BASELINE,765,745,714.882083865,679.882083865,659,634.882083865,879.117916135,787.882083865,805.117916135,652,630,652,0.400997994227,-0.0154997692968,0.0698376139382,0.999999981635,5.36879003159e-05,-0.000183729268653,9.56389239098e-06,1793244447393625856
+68,1.133333333,BASELINE,765,744.537939885,715,679.537939885,659,634.537939885,879,788,805,652,630.462060115,652,0.400999941987,-0.0155000962925,0.0698389891519,0.999999982065,5.34248657732e-05,-0.000181442875069,9.7468429323e-06,1793244447410292480
+69,1.150000000,BASELINE,765,744,714.960259447,679,658.960259447,634.039740553,879,787.960259447,805,652,631,652,0.40100251508,-0.01550102426,0.0698408170729,0.999999982637,5.27100203538e-05,-0.000178455559823,1.00415611335e-05,1793244447426959104
+70,1.166666667,BASELINE,765,744,714.383781537,679,658.383781537,634.616218463,879,787.383781537,805,652,631,652,0.401001058054,-0.0155014798403,0.0698401313878,0.999999982301,5.3801704511e-05,-0.000180012750128,9.95784349963e-06,1793244447443625728
+71,1.183333333,BASELINE,765,744.191347859,714,679,658.191347859,634.808652141,879,787,805.191347859,652,631,652,0.401000130694,-0.0155021609484,0.0698395963677,0.999999982088,5.39364188164e-05,-0.00018115203962,9.94930517264e-06,1793244447460292352
+72,1.200000000,BASELINE,765,744.763791604,714,679,658.763791604,634.236208396,879,787,805.763791604,652,631,652,0.40100025824,-0.0155032912265,0.0698393614175,0.999999982125,5.21651946989e-05,-0.000181459021768,1.00904968812e-05,1793244447476959232
+73,1.216666667,BASELINE,765,744.650798511,714.349201489,679,659,634,879,787,805.650798511,652,630.650798511,652,0.401000777708,-0.0155036623069,0.0698394789348,0.999999982223,5.15276678408e-05,-0.000181089803673,1.02839209469e-05,1793244447493625856
+74,1.233333333,BASELINE,765,744.056279828,714.943720172,679,659,634,879,787,805.056279828,652,630.056279828,652,0.401001572504,-0.0155035000439,0.0698398440635,0.999999982365,5.16865736302e-05,-0.000180245548796,1.05140387058e-05,1793244447510292224
+75,1.250000000,BASELINE,765.52392077,744.52392077,715,679,658.47607923,634.52392077,879.52392077,787,805,652,630,652.52392077,0.401001151973,-0.0155025316496,0.0698399161969,0.999999982318,5.28819688171e-05,-0.000180172131736,1.02317055668e-05,1793244447526958848
+76,1.266666667,BASELINE,766,744.898041817,714.898041817,679.203916366,658.101958183,634.898041817,880,787,805,652,630.101958183,652.898041817,0.401000758175,-0.0155017744611,0.0698399831261,0.999999982281,5.34152437066e-05,-0.000180240349286,9.93357805582e-06,1793244447543625472
+77,1.283333333,BASELINE,766,744.323094241,714.323094241,680.353811518,658.676905759,634.323094241,880,787,805,652,630.676905759,652.323094241,0.401001077912,-0.0155023881002,0.0698401680374,0.999999982376,5.03741346054e-05,-0.00018059170472,9.81075568388e-06,1793244447560292352
+78,1.300000000,BASELINE,765.742656139,744,714,680.485312277,658.742656139,634,879.742656139,787.257343861,805,652,630.742656139,652,0.40100104794,-0.0155020697921,0.0698404226055,0.999999982444,4.99706441147e-05,-0.000180340421458,9.64120360131e-06,1793244447576959232
+79,1.316666667,BASELINE,765.155174468,744,714,679.310348936,658.155174468,634,879.155174468,787.844825532,805,652,630.155174468,652,0.401000569335,-0.0155005559201,0.069840766534,0.999999982477,5.29508663132e-05,-0.000179316033197,9.41170354964e-06,1793244447593625600
+80,1.333333333,BASELINE,765,744.426292913,714,679,658.426292913,634,879.426292913,787.573707087,805,652,630.426292913,652,0.400999737281,-0.015501845017,0.0698400871349,0.999999982385,5.10452532246e-05,-0.000180379603049,9.39522902461e-06,1793244447610292480
+81,1.350000000,BASELINE,764.994431877,745,714,679.005568123,659,634,880,787.005568123,804.994431877,652,631,652,0.400998793911,-0.0155040970681,0.0698390505884,0.999999982235,4.74533885613e-05,-0.000182175667769,9.45728386935e-06,1793244447626959104
+82,1.366666667,BASELINE,764.41857955,745,714,679.58142045,659,634,880,787.58142045,804.41857955,652,631,652,0.400999443574,-0.0155019289723,0.0698390557437,0.999999982059,5.0774265056e-05,-0.000182233960467,9.73082850304e-06,1793244447643625728
+83,1.383333333,BASELINE,764.313881955,745,714,680,658.843059022,634,879.843059022,787.843059022,804.156940978,652,631,652,0.400999830759,-0.0155005014628,0.0698391453312,0.999999981953,5.32219375009e-05,-0.000182106635048,9.94090427103e-06,1793244447660292608
+84,1.400000000,BASELINE,765.463157107,745,714,680,658.268421447,634,879.268421447,787.268421447,804.731578553,652,631,652,0.400999519363,-0.0155010450144,0.069839459634,0.999999982059,5.334558819e-05,-0.000181485289177,9.9820584468e-06,1793244447676958976
+85,1.416666667,BASELINE,765.684834223,744.684834223,714,679.684834223,658,634,878.684834223,787.315165777,805,652,630.684834223,652,0.401000027208,-0.0155005823164,0.0698397957999,0.999999982251,5.41649894594e-05,-0.000180190202288,9.81699274475e-06,1793244447693625600
+86,1.433333333,BASELINE,765.093401997,744.093401997,714,679.093401997,658,634,878.093401997,787.906598003,805,652,630.093401997,652,0.40100125318,-0.015499237565,0.0698401511303,0.999999982514,5.55942683057e-05,-0.000178304530883,9.47115984496e-06,1793244447710292480
+87,1.450000000,BASELINE,765,744.487669262,714,679.487669262,658.487669262,634.487669262,878.487669262,787.512330738,805,652,630.487669262,652,0.401001479826,-0.0155007794363,0.0698402957715,0.99999998256,5.40497982107e-05,-0.000178512187419,9.60537014572e-06,1793244447726959104
+88,1.466666667,BASELINE,765,744.93425978,714,679.93425978,658.93425978,634.93425978,879,787,805,652,630.93425978,652,0.401001360738,-0.015502451916,0.0698403985816,0.999999982538,5.23346033487e-05,-0.000179132813436,9.80271867284e-06,1793244447743625984
+89,1.483333333,BASELINE,765,744.364297266,714,679.364297266,658.364297266,634.364297266,879,787,805,652,630.364297266,652,0.401000027372,-0.015500973922,0.0698404836134,0.999999982332,5.35875184281e-05,-0.000179909758905,9.79381971146e-06,1793244447760292352
+90,1.500000000,BASELINE,765,744,714,679,658.20786466,634,879,787.20786466,805,652,630.20786466,652,0.400999572786,-0.0155005563558,0.0698404671397,0.999999982217,5.4249102842e-05,-0.000180345959342,9.86846201149e-06,1793244447776958976
+91,1.516666667,BASELINE,765,744,714,679,658.78392237,634,879,787.78392237,805,652,630.78392237,652,0.401000674791,-0.0155020171378,0.069840270868,0.999999982266,5.38632563502e-05,-0.000180178594124,1.00910819046e-05,1793244447793625856
+92,1.533333333,BASELINE,765,744.371987132,714,679,659,634,879,787.628012868,805,652,630.628012868,652,0.401001571029,-0.0155018861392,0.0698404269284,0.999999982403,5.30048325433e-05,-0.000179677288541,1.00032958271e-05,1793244447810292480
+93,1.550000000,BASELINE,765,744.967259169,714,679,659,634,879,787.032740831,805,652,630.032740831,652,0.401002343757,-0.0155007996761,0.0698407944757,0.999999982592,5.18627446357e-05,-0.000178975535569,9.7291888961e-06,1793244447826959104
+94,1.566666667,BASELINE,765,744.456029033,714.543970967,679,659,634,879.543970967,787,805,652,630,652,0.401002428793,-0.0155008403674,0.0698408061755,0.999999982558,5.30793287028e-05,-0.000178814356908,9.57559973329e-06,1793244447843625728
+95,1.583333333,BASELINE,765,744,714.880949144,679,658.880949144,634.119050856,880,787,805,652,630.119050856,652,0.401002460381,-0.0155008962222,0.0698408228356,0.999999982507,5.43075971135e-05,-0.000178735517505,9.5008575059e-06,1793244447860292608
+96,1.600000000,BASELINE,765,744,714.307972469,679,658.307972469,634.692027531,880,787,805,652,630.692027531,652,0.401002440786,-0.0155007597561,0.069840937378,0.999999982444,5.50569815705e-05,-0.000178850663245,9.7000033611e-06,1793244447876959232
+97,1.616666667,BASELINE,765,744,714,679,658.27465822,634.72534178,880,787,805,652,631,652,0.401001836867,-0.0155007770533,0.0698406489904,0.999999982395,5.41315042052e-05,-0.000179402546222,9.76527876533e-06,1793244447893625856
+98,1.633333333,BASELINE,765,744,714,679,658.86850821,634.13149179,880,787,805,652,631,652,0.401000553879,-0.0155009730453,0.069839892341,0.999999982356,5.12596000405e-05,-0.00018046197974,9.67497772498e-06,1793244447910292736
+99,1.650000000,BASELINE,765,744,714,679.449494676,659,634,879.550505324,787.449494676,805,652,631,652,0.401000443388,-0.0155009431268,0.0698401509303,0.999999982345,5.15821790836e-05,-0.000180432568433,9.64591622696e-06,1793244447926959616
+100,1.666666667,BASELINE,765,744,714,679.973335161,659,634,879,787.973335161,805,652,631,652,0.401000639041,-0.0155008034384,0.0698406521682,0.999999982343,5.27760054898e-05,-0.000180103096763,9.61441331092e-06,1793244447943626240
+101,1.683333333,BASELINE,765,744,714,679.399407534,659,634,879,787.399407534,805,652,631,652,0.401000274228,-0.0154997294613,0.0698402076935,0.999999982348,5.32054504033e-05,-0.000179970659642,9.17535853247e-06,1793244447960292864
+102,1.700000000,BASELINE,764.820435341,744,714,679,658.820435341,634,879,787,805,652,630.820435341,652,0.400999876557,-0.0154992597823,0.0698397539694,0.999999982248,5.3799789047e-05,-0.000180356540427,8.99635859552e-06,1793244447976959488
+103,1.716666667,BASELINE,764.229918207,744,714,679,658.229918207,634,879,787,805,652,630.229918207,652,0.400999403688,-0.0155001731027,0.0698392790771,0.999999981907,5.4771504154e-05,-0.000181928645886,9.412521382e-06,1793244447993626112
+104,1.733333333,BASELINE,764.353991713,744,714,679,658.353991713,634,879.353991713,787,805,652,630.353991713,652,0.400999858946,-0.0155005208992,0.0698392814227,0.999999981947,5.47238937868e-05,-0.000181718636152,9.47545581213e-06,1793244448010292736
+105,1.750000000,BASELINE,764.933688924,744,714,679,658.933688924,634,879.933688924,787,805,652,630.933688924,652,0.401000905978,-0.015500508117,0.0698395880556,0.99999998223,5.40263604898e-05,-0.000180372347998,9.31317150089e-06,1793244448026959104
+106,1.766666667,BASELINE,765,744,714,679,659,634,879.488202892,787,805,652,631,652,0.40100167499,-0.0155000140673,0.0698408531748,0.999999982483,5.34087791314e-05,-0.000179141703647,9.44667717857e-06,1793244448043625728
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,880,787,805,652,630,652,0.400999951195,-0.015502365624,0.0698409837754,0.999999982448,5.03641287163e-05,-0.000180215832197,9.48317415679e-06,1793244448086979584
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679.405571547,658.405571547,634,880,787,805,652,630,652,0.40100062113,-0.0155013269921,0.0698409964066,0.999999982477,5.18899135331e-05,-0.000179619221068,9.53366992153e-06,1793244448103646208
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,714.18384083,679,658.18384083,634,879.81615917,787,805,652,630,652,0.401000406279,-0.0155006477889,0.069840389584,0.999999982313,5.34357239133e-05,-0.000180077543438,9.51277539129e-06,1793244448120312832
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714.762481256,679,658.762481256,634,879.237518744,787,805,652,630,652,0.400998291348,-0.0155007404613,0.0698384524796,0.999999981734,5.50245396333e-05,-0.000182801343502,9.33856966282e-06,1793244448136979456
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714.661325712,679.338674288,659,634.338674288,879.338674288,787,805,652,630,652,0.400998984926,-0.015500924606,0.069838732265,0.999999981853,5.53508917087e-05,-0.000182051101524,9.32431376432e-06,1793244448153645824
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714.086836805,679.913163195,659,634.913163195,879.913163195,787,805,652,630,652,0.401001634033,-0.0155011724417,0.0698405556427,0.999999982455,5.47982062368e-05,-0.000178881927893,9.42142891773e-06,1793244448170312448
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634.513011807,879.513011807,787.486988193,805,652,630.486988193,652,0.401000955412,-0.015500999922,0.0698404255701,0.999999982381,5.35779035951e-05,-0.000179664458537,9.41649342452e-06,1793244448186979328
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.937150707,744,714,679.937150707,659,634,879,787.937150707,805,652,630.937150707,652,0.400999795018,-0.015500923373,0.0698400298471,0.999999982159,5.23280358929e-05,-0.000181256540724,9.4341237521e-06,1793244448203646208
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.343080598,744,714,679.343080598,659,634,879,787.343080598,805,652,630.343080598,652,0.400999571139,-0.0155022906795,0.0698403289274,0.999999981728,5.18331132152e-05,-0.000183743439911,9.79608458393e-06,1793244448220312576
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.243976057,744.243976057,714.243976057,679.243976057,659,634,879,787,805,652,630,652,0.401001820145,-0.0155026665921,0.0698418037233,0.999999981292,5.25863525458e-05,-0.000185868959088,1.01435608053e-05,1793244448236979200
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.821445892,744.821445892,714.821445892,679.821445892,659,634,879,787,805,652,630,652,0.401007449367,-0.0155016873567,0.0698448856187,0.999999980852,5.50457194287e-05,-0.000187500503421,1.04712378106e-05,1793244448253645824
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.603625325,714.603625325,680,659,634,879.396374675,787,805,652,630.396374675,652,0.401028337351,-0.0155017564877,0.0698541471106,0.99999998198,5.56229754289e-05,-0.000181180308378,1.09348293122e-05,1793244448270312704
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.029833862,714.029833862,680,659,634,879.970166138,787,805,652,630.970166138,652,0.401056055136,-0.015502294866,0.0698661745822,0.99999998373,5.53578012643e-05,-0.000171300925299,1.14592559925e-05,1793244448286979328
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679.461476311,658.461476311,634.538523689,879.461476311,787,805,652,631,652,0.401104312962,-0.0155056596726,0.0698812254139,0.999999986607,5.35433654127e-05,-0.000154159386564,1.24491135965e-05,1793244448303646208
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.113042439,634.886957561,879,787,805.113042439,652,631,652,0.401158017392,-0.0155090762218,0.0698960563733,0.999999989294,5.19412788828e-05,-0.000136149771092,1.33244424821e-05,1793244448320312832
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.715528083,634.284471917,879,787,805.715528083,652,631,652,0.401230426557,-0.0155120456171,0.0699092173989,0.999999991835,5.16265071306e-05,-0.00011610614257,1.35933683323e-05,1793244448336979456
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.302945538,714,679,658.697054462,634,879.605891075,787,806,652,631,652,0.401307101457,-0.0155152176348,0.0699176678107,0.999999993093,5.17489428008e-05,-0.000104697422436,1.32297019866e-05,1793244448353645824
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.876884054,714,679,658.123115946,634,880.753768107,787,806,652,631,652,0.401387592166,-0.0155185709034,0.0699219044504,0.999999993457,5.22624723697e-05,-0.000101012862678,1.23001647961e-05,1793244448370312448
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.452993201,679,658.452993201,634,880.547006799,787,805.547006799,652,630.547006799,652,0.401483290093,-0.0155201873596,0.0699239014196,0.999999993395,5.41064142969e-05,-0.000100886879662,1.02378031672e-05,1793244448386979072
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.969547253,714.969547253,679,659,634,879.969547253,787,805.030452747,652,630,652,0.40158458441,-0.015521357697,0.0699252099887,0.999999993202,5.6370507271e-05,-0.000101766781285,7.85067410182e-06,1793244448403645696
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.37813167,714.37813167,679,659,634,879.37813167,787,805.62186833,652,630,652,0.401712467697,-0.0155230473246,0.0699251044974,0.999999992873,5.96813854098e-05,-0.000103274214391,5.17982098435e-06,1793244448420312576
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.208359009,787,805.791640991,652,630,652,0.401849454387,-0.0155251698891,0.0699249078207,0.999999992642,6.04230949387e-05,-0.000105166768747,2.10847771854e-06,1793244448436979200
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.786118248,787,805.213881752,652,630,652,0.402002580511,-0.0155280600086,0.0699245494812,0.999999992592,5.66099183857e-05,-0.00010774210541,-1.67289529172e-06,1793244448453645824
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.362663658,714,679.362663658,659,634.362663658,880,787,805,652,630,652,0.402175658969,-0.0155299596226,0.0699255363778,0.999999992659,5.45990844209e-05,-0.000108025389796,-5.58688350795e-06,1793244448470312448
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.938495651,714,679.938495651,659,634.938495651,880,787,805,652,630,652,0.402360465128,-0.0155312770323,0.0699273139841,0.999999992795,5.36476404148e-05,-0.00010696143999,-9.57882134148e-06,1793244448486979328
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.474967165,714.525032835,679.474967165,659,634.474967165,880,787,805,652,630.525032835,652,0.402574618021,-0.0155319267263,0.0699284643198,0.999999993391,4.64617267682e-05,-0.000104234707758,-1.39360300325e-05,1793244448503645952
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,715,679.111312358,658.888687642,634,880,787.111312358,805.111312358,652,631,652,0.402802576545,-0.0155313266164,0.0699306975303,0.999999994213,3.5987300701e-05,-9.96960062831e-05,-1.84460690004e-05,1793244448520312576
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,715,679.691119681,658.308880319,634,880,787.691119681,805.691119681,652,631,652,0.403073870483,-0.0155258023545,0.069937804084,0.999999995712,1.48098900817e-05,-8.83679101009e-05,-2.34155051671e-05,1793244448536979200
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.731454633,744.268545367,714.731454633,679.731454633,658,634,879.731454633,787.731454633,805.731454633,652,630.731454633,652,0.403358398307,-0.0155217369643,0.0699459931225,0.999999996696,6.96812540133e-06,-7.62183496513e-05,-2.74076062519e-05,1793244448553645824
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.156744251,744.843255749,714.156744251,679.156744251,658,634,879.156744251,787.156744251,805.156744251,652,630.156744251,652,0.403658013892,-0.0155193348147,0.069955416287,0.999999997446,1.43301551731e-05,-6.31322493901e-05,-3.02854602743e-05,1793244448570312448
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.420119413,744.579880587,714.420119413,679,658.420119413,634,879,787.420119413,805,652,630,652,0.403979910812,-0.0155224805334,0.0699567056607,0.999999997524,1.18041330082e-05,-6.24537730491e-05,-3.01982605025e-05,1793244448586979072
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.997790581,744.002209419,714.997790581,679,658.997790581,634,879,787.997790581,805,652,630,652,0.404310163595,-0.0155277067949,0.0699549447274,0.999999997358,5.56992702748e-06,-6.64283619804e-05,-2.89991162638e-05,1793244448603645952
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714.41318125,679,659,634,879.58681875,787.41318125,805,652,630,652,0.404684207107,-0.0155295034864,0.0699627413228,0.999999998175,-3.65534056568e-06,-5.19808091713e-05,-3.05873119651e-05,1793244448620312320
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,880,787,805.172948393,652,630,652,0.405070610009,-0.015531034035,0.0699680350202,0.999999998519,-1.10024221813e-05,-4.24390658213e-05,-3.2253130416e-05,1793244448636979200
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,880,787,805.752166647,652,630,652,0.405485651127,-0.015531970323,0.0699673630058,0.999999998329,-1.39105141867e-05,-4.45876203459e-05,-3.4076151726e-05,1793244448653645824
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.327938361,714,679,659.327938361,634.327938361,879.672061639,787,805.672061639,652,630,652,0.405910277213,-0.0155300144983,0.0699629174046,0.999999997891,-1.09114879879e-05,-5.30509574544e-05,-3.58465766018e-05,1793244448670312448
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.901132565,714,679,659.901132565,634.901132565,879.098867435,787,805.098867435,652,630,652,0.40634207167,-0.0155258957442,0.0699556496442,0.999999997094,-3.49469512237e-06,-6.62369424322e-05,-3.75776662737e-05,1793244448686979072
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.525247605,714,679,659.525247605,634.525247605,879.474752395,787,805,652,630,652,0.406813598023,-0.015523281922,0.0699428538418,0.999999995841,-1.1819518258e-06,-8.21867775035e-05,-3.95264782807e-05,1793244448703645952
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.050263283,714,679.050263283,659,634,880,787,805,652,630,652,0.407299247305,-0.0155212865219,0.069930867309,0.999999994576,6.88198306457e-08,-9.55775001527e-05,-4.13937275218e-05,1793244448720312832
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.645309403,714,679.645309403,659,634,880,787,805,652,630,652,0.407848208521,-0.0155225940488,0.0699401408702,0.99999999631,1.34021971513e-06,-7.4987081668e-05,-4.18850823773e-05,1793244448736979456
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.769293554,714,679.769293554,659,634,879.769293554,787,805,652,630,652,0.408420235514,-0.0155236001101,0.069950784841,0.99999999774,1.83208749921e-06,-5.20679858892e-05,-4.25026016216e-05,1793244448753645824
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.198135603,714,679.198135603,659,634,879.198135603,787,805,652,630,652,0.409026300443,-0.015524161301,0.0699634511128,0.999999998731,1.17360644136e-06,-2.57124824496e-05,-4.33063005319e-05,1793244448770312704
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,679.379546161,659,634,879.379546161,787,805,652,630,652,0.409619279426,-0.0155235280147,0.0699602840916,0.999999998555,-2.9159287336e-06,-2.96923145645e-05,-4.4719061766e-05,1793244448786979328
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,679.960693115,659,634,879.960693115,787,805,652,630,652,0.410205307623,-0.0155222602666,0.0699487070142,0.999999997643,-8.82791211379e-06,-4.97851485387e-05,-4.64553342034e-05,1793244448803645952
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,679.466306504,659,634,879.466306504,787,805,652,630.533693496,652,0.410837668516,-0.0155202890429,0.0699471972421,0.999999997229,-7.45859556308e-06,-5.71592336753e-05,-4.71143364706e-05,1793244448820312832
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,787.110570537,805,652,630.889429463,652,0.411489253528,-0.0155191021681,0.0699519388777,0.999999997493,-6.09550013756e-06,-5.23296506699e-05,-4.73148800655e-05,1793244448836979712
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,787.707082025,805,652,630.292917975,652,0.412210553833,-0.0155215866697,0.0699809448855,0.999999998922,-7.08114898734e-06,2.07827406936e-06,-4.58440183344e-05,1793244448853646080
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.29281328,714,679,659,634,879,787.70718672,805,652,630,652,0.412949088727,-0.0155242697281,0.0700069730316,0.999999997968,-1.21852209165e-05,4.41823864693e-05,-4.43151847333e-05,1793244448870312704
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.868143443,714,679,659,634,879,787.131856557,805,652,630,652,0.413704252264,-0.0155271443618,0.070030128032,0.999999996092,-2.12628970873e-05,7.44153404127e-05,-4.27304176573e-05,1793244448886979072
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.443292533,679.443292533,659,634,879,787,805,652,630,652,0.414410989894,-0.0155223169536,0.070011135819,0.999999998149,-1.59527731202e-05,3.71118804284e-05,-4.54996626996e-05,1793244448903645696
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.981096924,744.981096924,714.981096924,680,659,634,879,786.981096924,805,652,630.018903076,652,0.415104232623,-0.0155152168061,0.0699791794738,0.999999998534,-6.53114800992e-06,-2.06527688487e-05,-4.96352524318e-05,1793244448920312576
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.389884341,744.389884341,714.389884341,680,659,634,879,786.389884341,805,652,630.610115659,652,0.415824828436,-0.0155086399235,0.0699341244915,0.999999994388,-2.1467190928e-06,-8.994686873e-05,-5.59440798261e-05,1793244448936979200
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.197216296,744.197216296,714,679.802783704,659,634,879.197216296,786.197216296,805.197216296,652,630.802783704,652,0.416586469863,-0.0155058241094,0.0699124558104,0.999999990606,-2.14534980418e-06,-0.000123440743286,-5.95457977465e-05,1793244448953646080
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.776353868,744.776353868,714,679.223646132,659,634,879.776353868,786.776353868,805.776353868,652,630.223646132,652,0.417427598559,-0.0155102918319,0.0699360761176,0.99999999443,-1.06320406141e-05,-8.7605314692e-05,-5.79050345974e-05,1793244448970312960
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.647990723,714,679.352009277,659,634,880,787,806,652,630,652,0.418280297505,-0.0155146212222,0.0699629659045,0.999999997176,-1.83440746006e-05,-4.65110533035e-05,-5.61030261019e-05,1793244448986979328
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.074526025,714,679.925473975,659,634,880,787,806,652,630,652,0.419140275472,-0.0155188635849,0.0699919125797,0.999999998202,-2.55687575911e-05,-2.10836615406e-06,-5.41995752388e-05,1793244449003645696
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744,714,680,659,634,880,787,806,652,630.500418865,652,0.420001375551,-0.0155224438816,0.0700095227876,0.999999997831,-3.04044577237e-05,2.50363640824e-05,-5.27817155129e-05,1793244449020312320
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.077929148,714,680,659,634,880.077929148,787,806,652,630.922070852,652,0.420860249786,-0.0155253632151,0.070023658142,0.999999996961,-3.53509873216e-05,4.62997944282e-05,-5.18185635172e-05,1793244449036979200
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.670933893,714,680,659,634,880.670933893,787,806,652,630.329066107,652,0.421703304024,-0.0155245675184,0.0700260183639,0.999999996588,-4.33885952695e-05,4.57286458254e-05,-5.33814148619e-05,1793244449053646080
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880.743117655,787,806,652,630.256882345,652,0.422520849458,-0.0155206400006,0.0699963892429,0.999999997456,-4.18028540987e-05,-4.87085423961e-06,-5.75855671528e-05,1793244449070312704
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634,880.165966577,787,806,652,630.834033423,652,0.423306591839,-0.0155128078767,0.0699268773255,0.99999999054,-2.82191779419e-05,-0.00011784333246,-6.50827679886e-05,1793244449086979328
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.589089059,714,680,659.410910941,634,880,787,805.589089059,651.589089059,631,652,0.424160826704,-0.0155100615941,0.0698829310485,0.99999998149,-3.80244479173e-05,-0.000174476303538,-7.16406679916e-05,1793244449103645696
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.012321994,714,680,659.987678006,634,880,787,805.012321994,651.012321994,631,652,0.425042707166,-0.0155093681117,0.069849303844,0.999999973623,-5.72702071071e-05,-0.000208368933524,-7.78194373624e-05,1793244449120312576
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.575411956,714,680,660,634,880,787,805.575411956,651,631,652,0.425961179129,-0.0155147268667,0.0699095221608,0.999999989528,-3.79077057236e-05,-0.000121414737837,-6.90305632857e-05,1793244449136979456
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.839013133,714,680.160986867,660.160986867,634,880,787,806,651.160986867,630.839013133,652,0.426881280963,-0.0155183587096,0.0699659041923,0.999999996844,-2.60569223926e-05,-4.24198821755e-05,-6.19146776522e-05,1793244449153646080
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.25967109,714,680.74032891,660.74032891,634,880,787,806,651.74032891,630.25967109,652,0.427803542432,-0.015517159496,0.0700069930275,0.999999997514,-3.59170304196e-05,9.03543826989e-06,-5.99954911381e-05,1793244449170312704
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744,714,680.682064875,660.682064875,634,880,787,806,651.682064875,630.317935125,652,0.428724339811,-0.0155183113784,0.0700352427501,0.999999995789,-4.5044402846e-05,5.35920751946e-05,-5.93425461952e-05,1793244449186979328
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+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.046728536,660.953271464,634,880,787,806,651.046728536,630.953271464,652,0.431300497576,-0.0155162148144,0.0699648743833,0.999999995227,-4.2863591461e-05,-5.8480687548e-05,-6.54831878908e-05,1793244449236979456
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+184,3.066666667,POSE1_TO_POSE2_PRESS,765.297361327,744,714,680,660,634,881,787,806,651,631,652,0.437971071906,-0.0155212790509,0.0699909911269,0.999999995165,-6.55302638972e-05,2.94165614192e-05,-6.71604144385e-05,1793244449370312448
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.436706869,714,680.436706869,660,634,881,787,806,651,630,651.436706869,0.4400324672,-0.0155191505078,0.069847300053,0.999999972522,-7.56158157258e-05,-0.000207292879496,-7.91674776079e-05,1793244449420312832
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.987162978,660,633.987162978,880.987162978,786.987162978,806,651,630.012837022,652,0.440733338792,-0.0155252817016,0.0698235976881,0.999999964578,-8.17009927761e-05,-0.000239917052524,-8.12887196461e-05,1793244449436979456
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.813128526,633,880,786,806.186871474,651,631,652,0.442206238693,-0.0155439858516,0.0699123873425,0.999999985895,-0.000106891733297,-0.000106914434132,-7.31730708019e-05,1793244449470312448
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,713.655028809,680,659.344971191,633,880,786,806.655028809,651,630.655028809,652,0.443450999968,-0.0155571286029,0.0698907976567,0.999999975809,-0.000133432711831,-0.000157977116314,-7.49701158811e-05,1793244449503645952
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633,880.660538616,785.339461384,806.339461384,651.339461384,630,652,0.445630716697,-0.0155754750449,0.0697543261468,0.999999918833,-0.000157127968703,-0.0003616340818,-8.28534491127e-05,1793244449570312704
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+247,4.116666667,HOLD_POSE2,765,745,714,681,657,631,880,782,807,651,630,652,0.452281233164,-0.0156401312608,0.0695655590757,0.999999752266,-0.000235647613742,-0.000657886733989,-8.44009389788e-05,1793244450441664512
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2f56fb9b20c6733e3e6afa35f49915f824ba15e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/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
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+363,6.050000000,pose2_to_pose3_retreat,0.577323025105,-0.0101221430383,1.0600508647,0.547894658279,-0.00144645703277,1.05971736414
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+365,6.083333333,pose2_to_pose3_retreat,0.576917410284,-0.0101222087693,1.06005076766,0.547489043745,-0.00144652241237,1.05971725093
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+367,6.116666667,pose2_to_pose3_retreat,0.576583891767,-0.0101221519079,1.06005108377,0.547155525202,-0.00144646544121,1.05971757236
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+370,6.166666667,pose2_to_pose3_retreat,0.576203702192,-0.010122162848,1.06005087242,0.546775335131,-0.00144647794221,1.05971736434
+371,6.183333333,pose2_to_pose3_retreat,0.576108602923,-0.0101223372941,1.06005089971,0.546680238316,-0.00144664441205,1.05971738601
+372,6.200000000,pose2_to_pose3_retreat,0.576027114214,-0.0101222488223,1.0600508968,0.546598749222,-0.00144655708504,1.05971738521
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+374,6.233333333,pose2_to_pose3_retreat,0.57589725028,-0.0101221588631,1.06005091245,0.546468884106,-0.00144647116242,1.05971739918
+375,6.250000000,pose2_to_pose3_retreat,0.575846277413,-0.0101221497903,1.06005082489,0.546417910149,-0.00144646558027,1.059717317
+376,6.266666667,pose2_to_pose3_retreat,0.575803431162,-0.0101219926646,1.06005100476,0.546375061974,-0.0014463150385,1.05971749524
+377,6.283333333,pose2_to_pose3_retreat,0.575768140258,-0.0101222241811,1.06005100461,0.546339775082,-0.0014465328972,1.05971749638
+378,6.300000000,pose2_to_pose3_retreat,0.575740701878,-0.0101222483227,1.06005078382,0.54631233573,-0.00144656031713,1.05971727606
+379,6.316666667,pose2_to_pose3_retreat,0.575719630724,-0.0101222649983,1.06005074323,0.546291265614,-0.00144657339805,1.05971723746
+380,6.333333333,pose2_to_pose3_retreat,0.575704520788,-0.0101222124693,1.06005087775,0.54627615455,-0.00144652478715,1.05971736963
+381,6.350000000,pose2_to_pose3_retreat,0.575693171875,-0.0101221610925,1.06005095941,0.546264803904,-0.0014464794754,1.05971744648
+382,6.366666667,pose2_to_pose3_retreat,0.575685288718,-0.0101221720909,1.06005082329,0.546256920176,-0.00144649260045,1.05971730546
+383,6.383333333,pose2_to_pose3_retreat,0.575679781061,-0.0101221927919,1.06005077728,0.5462514144,-0.00144650662869,1.0597172671
+384,6.400000000,pose2_to_pose3_retreat,0.575676114552,-0.0101221806924,1.06005078819,0.546247748482,-0.00144649236152,1.05971728227
+385,6.416666667,pose2_to_pose3_retreat,0.575674180765,-0.0101221430119,1.06005083651,0.546245813993,-0.00144645705752,1.05971733064
+386,6.433333333,pose2_to_pose3_retreat,0.575672930234,-0.0101221196598,1.0600508681,0.546244563025,-0.00144643518174,1.05971736229
+387,6.450000000,pose2_to_pose3_retreat,0.575672178162,-0.0101221569467,1.06005090494,0.546243811583,-0.00144647030111,1.0597173999
+388,6.466666667,pose2_to_pose3_retreat,0.575671688188,-0.010122181239,1.06005092893,0.54624332202,-0.00144649318132,1.0597174244
+389,6.483333333,pose2_to_pose3_retreat,0.575671304539,-0.01012220026,1.06005094772,0.546242938692,-0.00144651109654,1.05971744359
+390,6.500000000,pose2_to_pose3_retreat,0.575670917722,-0.0101222194379,1.06005096666,0.546242552199,-0.00144652915967,1.05971746293
+391,6.516666667,pose2_to_pose3_retreat,0.575670741927,-0.0101222281537,1.06005097527,0.546242376552,-0.00144653736874,1.05971747172
+392,6.533333333,pose2_to_pose3_retreat,0.575670622358,-0.010122224885,1.06005100097,0.546242256793,-0.00144653482423,1.05971749536
+393,6.550000000,pose2_to_pose3_retreat,0.575670420015,-0.0101222186489,1.06005104598,0.546242054106,-0.00144652989538,1.05971753672
+394,6.566666667,pose2_to_pose3_retreat,0.575670216743,-0.0101222123841,1.06005109119,0.546241850489,-0.00144652494389,1.05971757827
+395,6.583333333,pose2_to_pose3_retreat,0.575670092022,-0.0101222085402,1.06005111893,0.546241725555,-0.00144652190581,1.05971760376
+396,6.600000000,pose2_to_pose3_retreat,0.575670082401,-0.0101222082437,1.06005112107,0.546241715918,-0.00144652167145,1.05971760572
+397,6.616666667,pose2_to_pose3_retreat,0.575669923688,-0.0101222033522,1.06005115637,0.546241556935,-0.00144651780537,1.05971763816
+398,6.633333333,pose2_to_pose3_retreat,0.575669806036,-0.0101221928478,1.06005105571,0.546241439029,-0.00144650804466,1.05971754062
+399,6.650000000,pose2_to_pose3_retreat,0.575669737406,-0.0101221859979,1.06005098367,0.546241370245,-0.00144650162687,1.05971747095
+400,6.666666667,pose2_to_pose3_retreat,0.575669683792,-0.0101221806467,1.06005092739,0.54624131651,-0.0014464966132,1.05971741652
+401,6.683333333,pose2_to_pose3_retreat,0.575669652707,-0.0101221775442,1.06005089476,0.546241285356,-0.00144649370641,1.05971738497
+402,6.700000000,pose2_to_pose3_retreat,0.575669611034,-0.0101221695889,1.06005087388,0.54624124394,-0.00144648481581,1.05971736569
+403,6.716666667,pose2_to_pose3_retreat,0.575669575606,-0.0101221609363,1.06005086752,0.546241208906,-0.00144647477177,1.05971736077
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+405,6.750000000,pose2_to_pose3_retreat,0.575669556769,-0.0101221563356,1.06005086414,0.546241190278,-0.00144646943132,1.05971735815
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d2b1965774b9cece7e9d7362acbd6b51fa0363e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4437afc7f8fa6c87fd44c6b9791860ce6022c66b762b81632380640a3d23560
+size 25824856
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..51f3b2e6afa67aa13366d8c7647ea0a3812985f9
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+35,0.583333333,BASELINE,764.319376066,744,714,679,658,634,879.680623934,787,805,651.319376066,631,652,0.400957752609,-0.0153763451265,0.0698185142606,0.999999935429,0.000212553639403,-0.000289607924202,9.52854358267e-06,1793244453810900480
+36,0.600000000,BASELINE,764.89879903,744,714,679,658,634,879.10120097,787,805,651.89879903,631,652,0.400958447399,-0.015377510613,0.0698197904584,0.999999935923,0.00021228684592,-0.000288073963496,1.00689062468e-05,1793244453827567360
+37,0.616666667,BASELINE,764.525974064,744,713.525974064,679,658.474025936,634.474025936,879.474025936,787,805,652,630.525974064,652,0.400958646047,-0.0153760828555,0.0698198046649,0.999999935641,0.000213562086918,-0.000288125854339,9.68035733339e-06,1793244453844233728
+38,0.633333333,BASELINE,764.048588868,744,713.048588868,679,658.951411132,634.951411132,880,787,805,652,630.048588868,652,0.400958728107,-0.0153744305137,0.0698195790534,0.999999935276,0.000214850464755,-0.000288448700824,9.17821619805e-06,1793244453860900352
+39,0.650000000,BASELINE,764.625588171,744,713.625588171,679,658.374411829,634.374411829,880,787,805,652,630.625588171,652,0.400958684084,-0.0153763038429,0.0698196497192,0.999999935835,0.000212732889896,-0.000288068567627,9.57852945679e-06,1793244453877567232
+40,0.666666667,BASELINE,764.79450491,744,714,679,658,634,880,787,805,652,630.79450491,652,0.400958335879,-0.0153769612917,0.0698192539564,0.999999935708,0.000212714407882,-0.000288515944357,9.7995773809e-06,1793244453894233856
+41,0.683333333,BASELINE,764.209224322,744,714,679,658,634,880,787,805,652,630.209224322,652,0.400957425501,-0.0153753716125,0.069817996164,0.999999934308,0.000216575361869,-0.000290492682566,9.68931627193e-06,1793244453910900480
+42,0.700000000,BASELINE,764.374864205,744,714,679,658,634,879.625135795,787,805,652,630.374864205,652,0.40095667251,-0.0153747284431,0.0698177228227,0.999999934172,0.000216318373516,-0.000291158007136,9.49552733574e-06,1793244453927567872
+43,0.716666667,BASELINE,764.958289492,744,714,679,658,634,879.041710508,787,805,652,630.958289492,652,0.400956007082,-0.0153746118779,0.0698179971949,0.999999934741,0.000213770308695,-0.000291093707834,9.25526649739e-06,1793244453944235520
+44,0.733333333,BASELINE,765,744,714,679,658.532649297,634,879,787,805,652,631,652,0.400957311848,-0.0153740026581,0.0698188820151,0.999999934693,0.000215810360175,-0.000289750538332,9.18497235878e-06,1793244453960901376
+45,0.750000000,BASELINE,765,744,714,679,659,634,879,787,805,652,631,652,0.400958510942,-0.0153737526805,0.069819603604,0.9999999347,0.000217321547988,-0.000288593459453,9.17420015456e-06,1793244453977567488
+46,0.766666667,BASELINE,765,744,714,679,659,634,879,787,805,652,631,652,0.400958578615,-0.0153752487112,0.0698194009893,0.999999935183,0.00021495480857,-0.00028868732559,9.36755919435e-06,1793244453994234880
+47,0.783333333,BASELINE,765,744,714,679,659,634,879,787.263593059,805,652,631,652,0.400958198225,-0.015376777833,0.0698192224288,0.999999935501,0.000212985656833,-0.000289039770282,9.59024218819e-06,1793244454010901760
+48,0.800000000,BASELINE,765,744,714,679,659,634,879,787.858087517,805,652,631,652,0.400957255361,-0.0153783484957,0.0698190740646,0.999999935614,0.00021151561625,-0.000289716821433,9.84973701752e-06,1793244454027567616
+49,0.816666667,BASELINE,765,744,714,679,659,634,879,787.561475934,805.438524066,651.561475934,631,652.438524066,0.400957070673,-0.0153771977027,0.069819012053,0.999999935447,0.000212052258981,-0.000289906559995,9.65120325439e-06,1793244454044234240
+50,0.833333333,BASELINE,765,744,714,679,658.985473561,634.014526439,879,787,805.985473561,651.014526439,631,652.985473561,0.400957118257,-0.0153752666163,0.0698189705559,0.999999935211,0.000213123327406,-0.000289947611013,9.31781071193e-06,1793244454060901120
+51,0.850000000,BASELINE,765,744,714,679,658.410478742,634.589521258,879,787,805.410478742,651.589521258,631,652.410478742,0.400956955087,-0.0153761540431,0.0698186758667,0.999999935701,0.000210537002607,-0.000290147435019,9.32246129656e-06,1793244454077567744
+52,0.866666667,BASELINE,765.168917746,744,714,679,658,635,879,787,805,652,631,652,0.400956811779,-0.015376698215,0.0698186256402,0.999999935919,0.000209434240473,-0.000290191072223,9.35345637288e-06,1793244454094234368
+53,0.883333333,BASELINE,765.759296662,744,714,679,658,635,879,787,805,652,631,652,0.40095671803,-0.0153763859427,0.0698191853646,0.999999935471,0.000212033067411,-0.000289845012812,9.45018273262e-06,1793244454110900992
+54,0.900000000,BASELINE,765.656816385,744,714,678.656816385,658,635,879,787,805,652,631,652,0.400957164607,-0.0153764145186,0.0698192860886,0.999999935493,0.0002124130192,-0.0002894892724,9.47603483719e-06,1793244454127567616
+55,0.916666667,BASELINE,765.077398276,744,714,678.077398276,658,635,879,787,805,652,631,652,0.400957983123,-0.0153766777216,0.0698190708543,0.999999935842,0.000211265581965,-0.000289126867971,9.45309980712e-06,1793244454144234496
+56,0.933333333,BASELINE,765,744,714,678.498110244,658,634.501889756,879,787,805,652,631,652,0.40095756531,-0.0153779851848,0.0698190611729,0.999999935838,0.000210835702332,-0.000289449716922,9.55809607308e-06,1793244454160900864
+57,0.950000000,BASELINE,765,744,714,679,658,634.07456608,879,787,805,652,631,652,0.400957040185,-0.0153788584721,0.0698190399618,0.999999935696,0.000211011105741,-0.00028980959988,9.62376145923e-06,1793244454177566976
+58,0.966666667,BASELINE,765,744,714,679,658,634.661676359,879,787,805,652,631,652,0.400957087632,-0.0153756407204,0.0698187216656,0.999999934971,0.000214586611527,-0.000289697850725,9.28350421832e-06,1793244454194233856
+59,0.983333333,BASELINE,765,744,714,679,658,634.754243973,879,787,805,652,631,652.245756027,0.400956708476,-0.0153744211972,0.0698182114161,0.999999934636,0.000215500579176,-0.000290180189309,9.1339765652e-06,1793244454210900736
+60,1.000000000,BASELINE,765,744,714,679,658,634.174285534,879,787,805,652,631,652.825714466,0.400955749182,-0.0153759190545,0.0698174401302,0.999999934839,0.000212795134702,-0.000291470424879,9.24382109295e-06,1793244454227567360
+61,1.016666667,BASELINE,765,744.404782341,714,679,658,634,879.404782341,787,805,652,631,652.595217659,0.400956507786,-0.015375787035,0.0698177148682,0.999999934756,0.000213795266341,-0.000291021020463,9.30635984279e-06,1793244454244234496
+62,1.033333333,BASELINE,765,744.983467576,714,679,658,634,879.983467576,787,805,652,631,652.016532424,0.400958004435,-0.0153749547864,0.0698184389999,0.999999934546,0.000216387390547,-0.000289824230527,9.34857504202e-06,1793244454260901376
+63,1.050000000,BASELINE,765,744.443275395,714.556724605,679,658.556724605,634,879.443275395,787,805,652,631,652,0.400958029359,-0.0153755032528,0.069818650467,0.999999935181,0.000213912511065,-0.000289471070199,9.29897336839e-06,1793244454277567488
+64,1.066666667,BASELINE,765,744,714.866387164,679,658.866387164,634,879,787,805,651.866387164,631,652,0.400957846515,-0.015375847906,0.069818749698,0.999999935572,0.000212166710647,-0.000289407791625,9.23304819429e-06,1793244454294234112
+65,1.083333333,BASELINE,765,744,714.276555198,679,658.276555198,634,879,787,805,651.276555198,631,652,0.400957102036,-0.0153753579942,0.0698185171813,0.999999935062,0.000213419154062,-0.000290249595408,9.12060664241e-06,1793244454310900480
+66,1.100000000,BASELINE,765,744,714,679,658.307005955,634,879,787,805,651.307005955,631,652,0.400956641264,-0.0153748799183,0.0698184913157,0.999999934737,0.000214539384601,-0.00029054155896,9.23028244668e-06,1793244454327567360
+67,1.116666667,BASELINE,765,744,714,679,658.885031313,634,879,787,805,651.885031313,631,652,0.400956430945,-0.0153744122909,0.069818647878,0.999999934574,0.000215542899897,-0.000290348133279,9.53603951314e-06,1793244454344233984
+68,1.133333333,BASELINE,765,744.463598991,714,679,658.536401009,634,879,787,805,652,631,652,0.400957368332,-0.015375039198,0.0698191595896,0.999999934939,0.000215110315042,-0.000289412115851,9.47396950443e-06,1793244454360900352
+69,1.150000000,BASELINE,765.041869125,745,714,679.041869125,658.041869125,634.041869125,879.041869125,787.041869125,805,652,631,652,0.400958408666,-0.0153758067043,0.069819628159,0.999999935338,0.000214476319199,-0.000288507242705,9.31709012807e-06,1793244454377567232
+70,1.166666667,BASELINE,765.614658314,745,714,679.614658314,658.614658314,634.614658314,879.614658314,787.614658314,805,652,631,652,0.400957141044,-0.015374911114,0.0698184315362,0.999999934524,0.000215809660363,-0.000290335220849,9.11602598571e-06,1793244454394233856
+71,1.183333333,BASELINE,765.806407773,744.806407773,714,679.806407773,658.806407773,634.806407773,879.806407773,787.806407773,805,651.806407773,631,652,0.40095632805,-0.0153746524315,0.0698176439054,0.999999934154,0.00021603707679,-0.000291440784658,9.03976005319e-06,1793244454410900480
+72,1.200000000,BASELINE,765.214841854,744.214841854,714,679.214841854,658.214841854,634.214841854,879.214841854,787.214841854,805,651.214841854,631,652,0.400956449647,-0.0153757030605,0.0698176970524,0.999999934703,0.000213991008838,-0.000291061258699,9.2200457299e-06,1793244454427567104
+73,1.216666667,BASELINE,765,744,714,679,658.368301879,634.368301879,879.368301879,787,805,651,631,652,0.40095704843,-0.0153771071166,0.0698182975257,0.9999999355,0.000211647340642,-0.000290031464081,9.28610393591e-06,1793244454444233728
+74,1.233333333,BASELINE,765,744,714,679,658.94664249,634.94664249,879.94664249,787,805,651,631,652,0.400957919346,-0.0153787127283,0.0698192101337,0.999999936434,0.000209133954245,-0.000288630828029,9.28701939198e-06,1793244454460900352
+75,1.250000000,BASELINE,765,744,714,679,658.488185631,634.488185631,879.488185631,787,805,651,631,652,0.400959129121,-0.0153763557726,0.0698203102633,0.999999935905,0.000213272451991,-0.000287431630337,9.3465117023e-06,1793244454477566976
+76,1.266666667,BASELINE,765,744,714,679,658,634.080513088,879,787.080513088,805.080513088,651.080513088,631,652,0.400959948804,-0.0153742127685,0.0698211050292,0.999999935257,0.0002172427025,-0.00028670896561,9.41531857246e-06,1793244454494233856
+77,1.283333333,BASELINE,765,744,714,679,658,634.680609303,879,787.680609303,805.680609303,651.680609303,631,652,0.400958028808,-0.0153760495356,0.0698198061652,0.999999934938,0.000215764203863,-0.000288929434806,9.50581535777e-06,1793244454510900480
+78,1.300000000,BASELINE,765,744.270872234,714,678.729127766,658.541744468,635,879,787.729127766,805.729127766,652,631,652,0.400957395343,-0.0153771692539,0.0698193294046,0.999999935014,0.000214418092892,-0.000289662429788,9.65475954843e-06,1793244454527567104
+79,1.316666667,BASELINE,765,744.849946678,714,678.150053322,659.699893355,635,879,787.150053322,805.150053322,652,631,652,0.40095822571,-0.0153774731038,0.0698197880447,0.999999935545,0.000213222614557,-0.000288702955693,9.87020600666e-06,1793244454544233728
+80,1.333333333,BASELINE,765,745,714,678.427189851,659.572810149,635,879,787,805,652,631,652,0.400959088903,-0.0153759211721,0.0698203453852,0.999999935585,0.000214305265051,-0.000287766545277,9.65269856495e-06,1793244454560900608
+81,1.350000000,BASELINE,765,744.996217913,714,679,659,634.996217913,879.003782087,787,805,652,631,652.003782087,0.400959955292,-0.0153737455178,0.0698209245162,0.999999935453,0.000216155200022,-0.000286852383111,9.28522091293e-06,1793244454577567232
+82,1.366666667,BASELINE,765,744.42120899,714,679,659,634.42120899,879.57879101,787,805,652,631,652.57879101,0.40095957017,-0.0153753987697,0.0698195808636,0.999999935662,0.000213548376953,-0.00028808014203,9.13805181386e-06,1793244454594233856
+83,1.383333333,BASELINE,765,744,714,679,659,634,879.842059255,787,804.842059255,652,630.842059255,652.842059255,0.400958883338,-0.0153766588394,0.069818765216,0.999999935775,0.00021177839034,-0.000288993333148,9.07478851918e-06,1793244454610900480
+84,1.400000000,BASELINE,765,744,714,679,659,634,879.251569027,787,804.251569027,652,630.251569027,652.251569027,0.400957370216,-0.0153768421085,0.0698193956056,0.999999935648,0.000212300232133,-0.000289045023354,9.24131651265e-06,1793244454627567104
+85,1.416666667,BASELINE,765,744,714.33264451,679,659,634.33264451,879,787,804.665289019,652,630.33264451,652,0.40095688335,-0.0153765435569,0.0698191413261,0.99999993543,0.000212420070469,-0.000289710630412,9.23673087732e-06,1793244454644235264
+86,1.433333333,BASELINE,765,744,714.912199049,679,659,634.912199049,879,787,805.824398097,652,630.912199049,652,0.400957158237,-0.0153758873673,0.0698182303886,0.999999935144,0.000212241516098,-0.000290831925817,9.105133753e-06,1793244454660904448
+87,1.450000000,BASELINE,765,744,714.512562474,679,658.512562474,634.512562474,879.487437526,787,805.512562474,652,631,652,0.400956437119,-0.0153758206141,0.0698182737988,0.999999934995,0.000212820208698,-0.000290917314028,9.22196612009e-06,1793244454677569280
+88,1.466666667,BASELINE,765,744,714,679,658,634.062038435,880,787,805,652,631,652,0.400955867528,-0.0153759041154,0.069818616631,0.999999934962,0.000213450657469,-0.000290564407671,9.36394963384e-06,1793244454694233856
+89,1.483333333,BASELINE,765,744,714,679,658,634.637740986,880,787,805,652,631,652,0.400958024969,-0.015376360311,0.0698200277737,0.999999935684,0.000213390178049,-0.000288113930154,9.34691925839e-06,1793244454710900480
+90,1.500000000,BASELINE,765,744,714,679,658.21922642,635,880,787,805,652,631,652,0.400958686741,-0.0153766619522,0.069820307929,0.999999935864,0.000213518464806,-0.000287392872186,9.36933585524e-06,1793244454727567360
+91,1.516666667,BASELINE,765,744,714,679,658.810526573,635,880,787,805,652,631,652,0.400956810044,-0.0153767012818,0.0698186685583,0.999999935128,0.00021396712781,-0.000289607006268,9.45870233286e-06,1793244454744233984
+92,1.533333333,BASELINE,765,744.393639106,714,679,659,634.606360894,880,787,805,652,631,652,0.400956493001,-0.0153761019737,0.069818283088,0.999999934732,0.000214910431158,-0.000290280448923,9.34198071859e-06,1793244454760900352
+93,1.550000000,BASELINE,765,744.972890978,714,679,659,634.027109022,880,787,805,652,631,652,0.400956911382,-0.0153752015286,0.0698184888695,0.999999934496,0.000216086972457,-0.000290227409078,9.12808233168e-06,1793244454777566976
+94,1.566666667,BASELINE,765,745,714.546538488,679,658.453461512,634,879.453461512,787.546538488,805.546538488,652,631,652,0.400956272689,-0.0153757304227,0.0698185250681,0.99999993473,0.000214129843179,-0.000290866901693,9.2205690701e-06,1793244454794234368
+95,1.583333333,BASELINE,765,745,714.876796651,679,658.123203349,634,879,787.876796651,805.876796651,652,631,652,0.400956077023,-0.0153760850946,0.0698186738963,0.999999934973,0.0002128032314,-0.000291004033489,9.2149327944e-06,1793244454810901248
+96,1.600000000,BASELINE,765,745,714.287680471,679,658.712319529,634,879,787.287680471,805.287680471,652,631,652,0.400957753001,-0.0153755155303,0.0698192801379,0.999999935175,0.00021444285244,-0.000289112825741,8.78134205184e-06,1793244454827567616
+97,1.616666667,BASELINE,765,744.70463152,714,679,659,634.29536848,879,787,805.29536848,652,631,652,0.400958757814,-0.015375923725,0.0698197270315,0.999999935818,0.000212985183375,-0.000287968813012,8.68473406873e-06,1793244454844233984
+98,1.633333333,BASELINE,765,744.12737297,714,679,659,634.87262703,879,787,805.87262703,652,631,652,0.40095912209,-0.015377265061,0.0698200218484,0.99999993687,0.000208571561279,-0.000287537899015,8.90973149582e-06,1793244454860900608
+99,1.650000000,BASELINE,765,744,714,679,658.549636039,635,879,787.450363961,806,652,631,652,0.400959357932,-0.0153780650906,0.0698204675295,0.999999936922,0.000208990020066,-0.000287044999956,9.22170610757e-06,1793244454877567232
+100,1.666666667,BASELINE,764.971875508,744,714,679,658.028124492,634.971875508,879.028124492,787.971875508,806,652,631,652,0.400959455018,-0.0153785694015,0.0698208387071,0.999999936628,0.000210845789802,-0.000286701853816,9.53348715552e-06,1793244454894233856
+101,1.683333333,BASELINE,764.39629185,744,714,679,658.60370815,634.39629185,879.60370815,787.39629185,806,652,631,652,0.400957558987,-0.0153763005996,0.0698189281969,0.999999935109,0.000214049308158,-0.000289615341892,9.36215613936e-06,1793244454910900480
+102,1.700000000,BASELINE,764.18374993,744.18374993,714,679,658.81625007,634,879.81625007,787,805.81625007,652,631,652,0.400956510989,-0.0153752885381,0.0698176991998,0.999999934371,0.000215261300348,-0.000291261817427,9.30613371698e-06,1793244454927567360
+103,1.716666667,BASELINE,764.7736455,744.7736455,714,679,658.2263545,634,879.2263545,787,805.2263545,652,631,652,0.400957337414,-0.0153770542719,0.0698179765633,0.999999935386,0.00021207138747,-0.000290107792905,9.50497989183e-06,1793244454944233984
+104,1.733333333,BASELINE,765,745,714,679,658.357178404,634,879.357178404,787,805,651.642821596,631,652,0.400958396978,-0.0153773157471,0.0698190735747,0.99999993603,0.000211586546498,-0.000288234386956,9.62020414739e-06,1793244454960900608
+105,1.750000000,BASELINE,765,745,714,679,658.936749725,634,879.936749725,787,805,651.063250275,631,652,0.400959601703,-0.0153766406136,0.0698206809302,0.999999936441,0.000212785986312,-0.00028591306654,9.68336222121e-06,1793244454977567232
+106,1.766666667,BASELINE,765,744.487914604,714,679,659,634,880,787,805,651.512085396,631,652,0.400958383931,-0.0153774062131,0.0698200048774,0.999999936381,0.000210968685741,-0.000287476407759,9.36649597009e-06,1793244454994233600
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,880,787,805,652,631,652,0.400956643122,-0.0153773282309,0.0698192388337,0.999999935687,0.000211345203879,-0.000289617820606,8.96100890793e-06,1793244455036751872
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.579497829,714,679,658,634.579497829,879.420502171,787,805,652,631,652,0.400957512569,-0.0153780508295,0.0698189965438,0.999999935538,0.000212831967738,-0.000289034113081,9.22420074563e-06,1793244455053418496
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.841974852,714,679,658.158025148,634.841974852,879,787,805,651.841974852,631,652,0.400957815008,-0.0153784353754,0.0698189057994,0.999999935531,0.00021326296236,-0.000288736132042,9.34944202198e-06,1793244455070085120
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.266014149,714,679,658.733985851,634.266014149,879,787,805,651.266014149,631,652,0.400956617861,-0.0153779258599,0.0698192158534,0.999999935902,0.000210901721353,-0.000289193823368,9.10983988049e-06,1793244455086751744
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.691020379,634,879,787,805,651.308979621,631,652,0.400956751603,-0.0153783498735,0.0698191622742,0.999999936332,0.000208683210786,-0.00028931660733,9.07533638165e-06,1793244455103418880
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.11685652,634,879,787,805,651.88314348,631,652,0.400958027592,-0.015379575096,0.069818796604,0.999999936814,0.000206587199906,-0.000289151954336,9.21686045189e-06,1793244455120086528
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805.470871284,652,631,652,0.400958647315,-0.0153784128194,0.0698197925573,0.999999936608,0.000209411222159,-0.000287823907924,9.40876917608e-06,1793244455136752896
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805.939199714,651.939199714,631,652,0.40095907091,-0.0153768094215,0.0698209530615,0.999999936241,0.000212962515462,-0.000286483671228,9.55500583259e-06,1793244455153419520
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805.360053751,651.360053751,631,652,0.400959252109,-0.015376646475,0.0698205501207,0.999999936137,0.000211995754114,-0.000287573966453,9.20210743308e-06,1793244455170085888
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.217622408,634,879,787,805,651.217622408,631,652,0.400961439193,-0.0153768059326,0.069821502874,0.999999936458,0.000211699932269,-0.000286674266059,9.23811105845e-06,1793244455186752512
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.792883048,634,879,787,805,651.792883048,631,652,0.400966922726,-0.0153774952254,0.06982468356,0.999999937467,0.000212506724997,-0.000282504228994,9.91323196082e-06,1793244455203418880
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.628197711,634,879,787,805,652,631,652,0.400988675629,-0.0153792970345,0.0698344720595,0.999999942267,0.000210202177161,-0.000266778152806,1.04839632964e-05,1793244455220085504
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.047220094,634,879,787,805,652,631,652,0.401019581652,-0.0153817247435,0.0698479781039,0.999999948789,0.000206147194462,-0.000244550668387,1.09959653003e-05,1793244455236752128
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.462073667,744,714,679,658,634,879.537926333,787,805,652,631,652,0.401078725468,-0.0153838416272,0.0698701053785,0.999999957231,0.000208142726772,-0.000205047007217,1.30756805682e-05,1793244455253418496
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.122052332,744,714,679,658.122052332,634,879.877947668,787,805,651.877947668,631,652,0.401140663118,-0.0153862165158,0.0698903481881,0.999999963291,0.000209664849993,-0.000171002755457,1.47514404711e-05,1793244455270085120
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.70097825,744,714,679,658.70097825,634,879.29902175,787,805,651.29902175,631,652,0.401203707718,-0.0153896601163,0.0699006819889,0.999999965083,0.000207411216679,-0.000163115592645,1.43959333423e-05,1793244455286752256
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.722473794,634,879.277526206,787,805,651.277526206,630.722473794,652,0.401273890013,-0.0153929625524,0.0699072468445,0.999999966513,0.000206361999132,-0.000155577566206,1.36097585332e-05,1793244455303419136
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.148466253,634,879.851533747,787,805,651.851533747,630.148466253,652,0.401351697505,-0.0153961141823,0.0699097853342,0.999999967569,0.000206599459481,-0.000148412522746,1.23635013224e-05,1793244455320085760
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.436187279,634,880,787,805,652,630.436187279,652.436187279,0.401440868566,-0.0153994405629,0.0699114415971,0.999999967518,0.000207188536938,-0.000148066201848,1.06740971882e-05,1793244455336752896
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.975827863,634,879.975827863,787,805,652,631,652.975827863,0.401535342982,-0.015402912705,0.0699128093152,0.999999967166,0.000207723843961,-0.000149803477941,8.79413858794e-06,1793244455353420032
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.396635348,634,879.396635348,787,805,652,631,652.396635348,0.401660556512,-0.0154083317979,0.0699146191161,0.999999968654,0.000204207759119,-0.000144758634747,6.08882142662e-06,1793244455370086144
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.817675433,744,714,679,658,634,879.182324567,787,805,652,631,652,0.40179512732,-0.0154141835861,0.0699162172261,0.99999997012,0.000199566161968,-0.000141146325318,3.21958097406e-06,1793244455386752000
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.239220955,744,714,679,658,634,879.760779045,787,805,652,631,652,0.401950028324,-0.0154209754748,0.0699173554025,0.999999971585,0.000192479205906,-0.00014064643021,-5.80925770598e-09,1793244455403418368
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.335908297,744,714,679,658.335908297,634,879.664091703,787,805,652,631,652,0.402119256347,-0.0154277755832,0.0699180471676,0.999999973249,0.000185396078393,-0.000138259178057,-3.76062031908e-06,1793244455420085248
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.908692723,744,714,679,658.908692723,634,879.091307277,787,805,652,631,652,0.402298587526,-0.0154345814886,0.069918424132,0.99999997502,0.000178315649972,-0.000134540997633,-7.88876918846e-06,1793244455436751872
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.503864236,634.496135764,879,787,805,652,631,652,0.402507617267,-0.0154430685625,0.0699215316527,0.999999977661,0.000168297504831,-0.000127271360549,-1.24808729524e-05,1793244455453418496
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.084803444,634.915196556,879.169606889,787,805,652,631,652.084803444,0.402728751614,-0.0154519712825,0.0699253513661,0.999999981581,0.000149756628645,-0.000118815641514,-1.7118404955e-05,1793244455470085120
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.664397359,634.335602641,880.328794719,787,805,652,631,652.664397359,0.402987650645,-0.0154614389624,0.069930305146,0.999999990414,8.47398733494e-05,-0.0001073692184,-2.15076427733e-05,1793244455486751744
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.242075524,714,679,659,634.242075524,880.515848953,787,805,652,631,652.757924476,0.403265147206,-0.0154715016192,0.0699375506394,0.999999994308,4.2210615173e-05,-9.4512402184e-05,-2.58607644918e-05,1793244455503418624
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.817118596,714,679,659,634.817118596,879.365762808,787,805,652,631,652.182881404,0.40356822409,-0.015482382648,0.0699479483151,0.999999995899,3.06122321971e-05,-7.97156341516e-05,-3.01642094449e-05,1793244455520086016
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.60771884,714,679,659,634.60771884,879,787,805,652,631,652,0.403886094495,-0.0154916934609,0.0699516249847,0.99999999646,1.76914367484e-05,-7.4715256206e-05,-3.44113231744e-05,1793244455536752896
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.032500568,714,679,659,634.032500568,879,787,805,652,631,652,0.40421086373,-0.015500272016,0.0699521673676,0.999999996486,4.15394537798e-06,-7.42833451017e-05,-3.86321671758e-05,1793244455553419264
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.557127727,714,679,659,634.557127727,879,787,805,652,631,652,0.404573114228,-0.0155011056216,0.069959299663,0.99999999725,2.83647567241e-05,-6.19428780904e-05,-2.92897249622e-05,1793244455570086144
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.855261032,714,679,659,634.855261032,879,787,805,652,631,652,0.404947760699,-0.0154978267525,0.0699649091591,0.999999997127,4.96528965047e-05,-5.22574787786e-05,-2.34524286485e-05,1793244455586753280
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.276290186,714,679,659,634.276290186,879,787,805,652,631,652,0.405352862393,-0.0154836014972,0.0699647661498,0.999999996611,5.53908261641e-05,-5.26770598546e-05,-3.05677247024e-05,1793244455603419648
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.300229352,714,679,659,634,879.300229352,787,805.300229352,652,630.699770648,652,0.405775640927,-0.0154772749938,0.0699611267531,0.999999996033,5.67732435404e-05,-5.92645464411e-05,-3.46192094174e-05,1793244455620086016
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.874511375,714,679,659,634,879.874511375,787,805.874511375,652,630.125488625,652,0.406214555122,-0.0154781585569,0.0699542958152,0.999999995334,5.41799018233e-05,-7.14821653879e-05,-3.58740140959e-05,1793244455636752384
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.539836848,714.460163152,679,659,634.460163152,880,787,805.539836848,652,630.460163152,652,0.406669992468,-0.0154840591986,0.0699400703022,0.999999994237,4.4369291613e-05,-9.00626023204e-05,-3.80197700148e-05,1793244455653419008
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.04830997,714.95169003,679,659,634.95169003,880.04830997,787,805,652,631,652.04830997,0.407137011424,-0.0154906979615,0.0699255371597,0.999999992842,3.35518294432e-05,-0.000107536615115,-4.03297165578e-05,1793244455670085632
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.628919576,714.371080424,679,659,634.371080424,880.628919576,787,805,652,631,652.628919576,0.407680735646,-0.0154900125538,0.0699303963447,0.999999994212,3.38761064232e-05,-9.32164023189e-05,-4.17038568082e-05,1793244455686752256
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.792523039,714,679.207476961,659,634,880.585046077,787.207476961,805,652,631,652.792523039,0.408243630153,-0.0154897411659,0.0699396910387,0.999999995852,3.43919827028e-05,-7.26594944732e-05,-4.2819843938e-05,1793244455703419136
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.217600214,714,679.782399786,659,634,879.435200429,787.782399786,805,652,631,652.217600214,0.40884047559,-0.0154902030156,0.0699568411077,0.999999997591,3.52471851558e-05,-4.10572753378e-05,-4.34786366105e-05,1793244455720085760
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,679.63568167,659,634,879.36431833,787.63568167,805,651.63568167,631,652,0.409429000117,-0.0154902878148,0.0699575420637,0.999999997748,3.39760818665e-05,-3.7145157347e-05,-4.43744691557e-05,1793244455736752384
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,679.049502934,659,634,879.950497066,787.049502934,805,651.049502934,631,652,0.410012457406,-0.0154901429999,0.0699482259364,0.999999997221,3.14101135585e-05,-5.00955932707e-05,-4.54146528175e-05,1793244455753419008
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,880,787,805.533205632,651.533205632,631,652,0.410644975005,-0.0154900736824,0.0699450181199,0.999999996795,2.95636961804e-05,-5.81752365575e-05,-4.63893940513e-05,1793244455770085888
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,714,679.114319091,659,634,879.885680909,787,805.885680909,652,631,652,0.411295896744,-0.0154908811007,0.0699476056145,0.999999996967,2.74944979299e-05,-5.58072488694e-05,-4.68530816453e-05,1793244455786752512
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744,714,679.690283595,659,634,879.309716405,787,805.309716405,652,631,652,0.412002864015,-0.0154952008473,0.0699713205861,0.999999998595,2.42576405283e-05,-1.30637443287e-05,-4.52773992462e-05,1793244455803418624
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.26571412,714,679.73428588,659,634.26571412,879.26571412,787,805.26571412,651.73428588,630.73428588,652,0.412727271538,-0.0154990243143,0.0699974152971,0.999999998436,1.91686352659e-05,2.89079409704e-05,-4.3879288289e-05,1793244455820085248
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.840523561,714,679.159476439,659,634.840523561,879.840523561,787,805.840523561,651.159476439,630.159476439,652,0.413471966749,-0.0155022704784,0.0700262782732,0.999999996569,1.1925095099e-05,6.99818032636e-05,-4.26877393778e-05,1793244455836751872
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.57509695,744.57509695,714,679,659.42490305,634.57509695,879.57509695,787,806,651,630,652,0.414188959656,-0.015499078449,0.0700196127771,0.999999997531,1.35582866884e-05,5.27721914258e-05,-4.43673030673e-05,1793244455853418496
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.012760972,744,714,679.012760972,659.987239028,634,879.012760972,787,805.987239028,651,630.012760972,652,0.414895593374,-0.0154934049449,0.0699985361196,0.999999998639,1.85584838265e-05,1.21149329095e-05,-4.72302241735e-05,1793244455870085120
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.591912222,744,714,679.591912222,659.408087778,634,879.591912222,787,805.408087778,651,630.591912222,652,0.415614556032,-0.0154873148522,0.0699433185196,0.999999995438,2.17205052667e-05,-7.5962782822e-05,-5.36851633447e-05,1793244455886751744
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714,679.829405001,659,634,880,787,805.170594999,651,630.829405001,652,0.416365090666,-0.0154858601912,0.0699096315229,0.999999989688,2.00305364367e-05,-0.000129939313857,-5.77747553723e-05,1793244455903418624
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714,679.251839845,659,634,880,787,805.748160155,651,630.251839845,652,0.417190943131,-0.0154954637818,0.0699273077757,0.999999993137,6.76569600721e-06,-0.000102564309308,-5.62215933574e-05,1793244455920085504
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.322707513,714,679,659.322707513,634,879.677292487,787,805.677292487,651,630,652,0.41802398837,-0.0155005806783,0.0699511157169,0.999999996345,-1.58342564137e-06,-6.5570511353e-05,-5.48526723797e-05,1793244455936752128
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.894921585,714,679,659.894921585,634,879.105078415,787,805.105078415,651,630,652,0.418862594782,-0.0155022286137,0.069979664472,0.99999999832,-6.13187878117e-06,-2.11397881058e-05,-5.362620037e-05,1793244455953419008
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.483343202,659.516656798,634,879.483343202,787,805.483343202,651,630.483343202,652,0.419730076279,-0.0155053949673,0.0700008419296,0.999999998519,-1.07909862737e-05,7.63996213205e-06,-5.2798071599e-05,1793244455970085632
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.073804455,679.926195545,659.073804455,634.073804455,880,787,805.926195545,651,631,652.073804455,0.420603504028,-0.015508813371,0.0700187776192,0.999999998034,-1.58620386492e-05,3.09567276138e-05,-5.21686547932e-05,1793244455986752000
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.653261485,679.346738515,659.653261485,634.653261485,880,787,805.346738515,651,631,652.653261485,0.421473170232,-0.0155116185459,0.0700258632945,0.999999997516,-2.35848918716e-05,4.09654527489e-05,-5.22867633393e-05,1793244456003418368
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.76841622,679.23158378,660,634.76841622,880,787,805.23158378,651,630.76841622,652.76841622,0.422308175724,-0.0155108591324,0.0700050148526,0.999999998119,-2.60818816751e-05,6.22833641513e-06,-5.51672503734e-05,1793244456020085504
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.191784535,679.808215465,660,634.191784535,880,787,805.808215465,651,630.191784535,652.191784535,0.423091538671,-0.0155047886661,0.0699425460156,0.999999993322,-2.07926050655e-05,-9.51777781456e-05,-6.216353874e-05,1793244456036752640
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,651.3911825,630,652.3911825,0.423919852255,-0.0155012024189,0.0698891175755,0.999999982904,-2.71713021463e-05,-0.000169271131443,-6.92891413413e-05,1793244456053419520
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,651.977306655,630,652.977306655,0.424770566467,-0.0154988541562,0.069840194325,0.999999969907,-3.93646105934e-05,-0.00022975345338,-7.64791859032e-05,1793244456070086144
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714.557220783,680,660,634.557220783,880,787,806,651.442779217,630.557220783,652.442779217,0.425713871963,-0.0155038376152,0.0698959832879,0.999999986687,-2.89797169372e-05,-0.000144514849517,-7.00177973215e-05,1793244456086752256
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714.863700131,680,660,634.863700131,880,787,806,651.136299869,631,652,0.42665649919,-0.0155088240227,0.0699523945662,0.99999999576,-2.32098118719e-05,-6.22436325493e-05,-6.37665191846e-05,1793244456103418624
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714.286513109,680,660,634.286513109,880,787,806,651.713486891,631,652,0.427584869251,-0.0155128647645,0.0699971765463,0.999999997542,-3.5309513376e-05,-8.55604011377e-06,-5.99734426203e-05,1793244456120085248
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,652,631,652,0.428505842495,-0.015515205082,0.0700294643783,0.999999996657,-4.15625838463e-05,3.99000582143e-05,-5.80206951388e-05,1793244456136752128
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,652,631,652,0.429419524748,-0.0155158693156,0.0700494369065,0.99999999398,-4.20527138987e-05,8.3199545185e-05,-5.78819337178e-05,1793244456153418752
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.449496495,634,880,787.449496495,806,652,631,652,0.430278782542,-0.0155130769456,0.0700252998687,0.999999996418,-4.09131750392e-05,4.29531584339e-05,-6.03821332736e-05,1793244456170085120
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.960224975,634,880.039775025,787.92044995,806,651.960224975,631,652,0.431116376525,-0.0155092063375,0.0699849039778,0.999999996818,-3.90801328241e-05,-2.73556249444e-05,-6.39405681444e-05,1793244456186751488
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.381070927,634,880.618929073,786.762141854,806,651.381070927,631,652,0.431892691561,-0.0155054805109,0.0699124604682,0.999999985888,-3.48045594248e-05,-0.000148427820939,-7.05759134633e-05,1793244456203418112
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.802504632,786.197495368,806,651,631,652,0.43272258917,-0.015504295955,0.0698816425115,0.999999977696,-3.28673862292e-05,-0.000195199686439,-7.36535895238e-05,1793244456220084736
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.225068949,786.774931051,806,651,631,652,0.433655568723,-0.0155080002786,0.069930903512,0.999999992027,-3.5428812113e-05,-9.90330792203e-05,-6.98870467951e-05,1793244456236751616
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.356818101,660.356818101,634,880.356818101,787.356818101,806.356818101,651,631,652,0.434542136067,-0.0155101687201,0.0699785747356,0.999999996778,-4.14719199802e-05,-1.94662987803e-05,-6.59120276084e-05,1793244456253419008
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.941548361,660.941548361,634,880.941548361,787.941548361,806.941548361,651,631,652,0.435399058258,-0.01551135614,0.0700252305105,0.999999995628,-4.97388993252e-05,4.94975877535e-05,-6.18038474911e-05,1793244456270086656
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.478309368,660.478309368,634,880.478309368,787.478309368,806.478309368,651,631,652,0.436254828014,-0.0155146259858,0.0700292270163,0.999999994791,-5.41970568354e-05,6.01727193374e-05,-6.21220825851e-05,1793244456286752768
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.100993751,787.100993751,806,651,631,652,0.437095609091,-0.0155174944779,0.0700233741187,0.999999994599,-5.82406610558e-05,5.83043029756e-05,-6.33336455047e-05,1793244456303418880
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.678741019,787.678741019,806,651,631,652,0.437866238451,-0.0155173765129,0.0699933921728,0.999999995465,-6.23242825154e-05,2.77833438305e-05,-6.64415007833e-05,1793244456320085504
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680.255566075,659.744433925,634,881,787.744433925,806,651,631,652,0.438594741392,-0.0155164210301,0.0699486508006,0.999999994623,-6.56994553068e-05,-3.87796449043e-05,-7.02375627415e-05,1793244456336752384
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.831235989,659.168764011,634,881,787.168764011,806,651,631,652,0.439270479726,-0.0155144165321,0.0698854228258,0.999999983548,-6.81872749821e-05,-0.000150486307328,-7.4895622517e-05,1793244456353419520
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.584401609,745,713.584401609,681,659.415598391,634,881,787,806,651,631,652,0.439955079361,-0.0155178413823,0.0698459493509,0.99999997164,-7.16191181018e-05,-0.00021345408026,-7.76413597544e-05,1793244456370085888
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.003525663,745,713.003525663,681,659.996474337,634,881,787,806,651,631,652,0.440643974959,-0.0155235427714,0.0698168297336,0.999999961357,-7.54878143713e-05,-0.00025545474346,-7.95590191814e-05,1793244456386752256
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.584834794,745,713.584834794,681,659.415165206,634,881,787,806,651,631,652,0.44143458802,-0.0155332951019,0.0698699273825,0.999999978209,-8.67834380299e-05,-0.000174105886054,-7.57501852071e-05,1793244456403418624
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.164058276,634,880.835941724,787,806.164058276,651,630.835941724,652,0.442186396031,-0.0155424181923,0.0699096004662,0.999999985553,-0.000100221307552,-0.000116295755654,-7.29742414865e-05,1793244456420085248
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.738070201,634,880.261929799,787,806.738070201,651,630.261929799,652,0.442841237006,-0.0155499689212,0.0699157278624,0.999999983389,-0.000119012287695,-0.000117304874492,-7.2779314611e-05,1793244456436751872
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.686661667,880.313338333,786.686661667,807,651,630.313338333,652,0.443458848999,-0.0155561124153,0.0698957696045,0.999999976131,-0.00013355550779,-0.000156180074196,-7.421920474e-05,1793244456453418752
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.110339239,880.889660761,786.110339239,807,651,630.889660761,652,0.444045214759,-0.0155610748203,0.0698539177208,0.999999960861,-0.000144533591665,-0.000226836182207,-7.7031192512e-05,1793244456470085632
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633,880.523680245,786,807,651,631,652,0.444596122582,-0.0155656880262,0.0698106970719,0.999999942935,-0.000147095477684,-0.000293668956076,-7.90662933003e-05,1793244456486752512
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681.064514431,660,633,880,785.935485569,807,651.064514431,630.935485569,651.935485569,0.445140984036,-0.0155702341375,0.0697702425468,0.999999923135,-0.000148451365866,-0.000353758373737,-8.09120679333e-05,1793244456503419136
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,681.645410247,660,633,880,785.354589753,807,651.645410247,630.354589753,651.354589753,0.445704652374,-0.0155749050453,0.0697545226054,0.999999917006,-0.000156105357185,-0.000367119445363,-8.27148734346e-05,1793244456520085504
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.777128827,659.777128827,633,880.222871173,785,807,651.777128827,630.222871173,651.222871173,0.446240861859,-0.015580136973,0.0697432419435,0.999999910243,-0.000163980842715,-0.000381627186224,-8.35749746305e-05,1793244456536751872
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.205049944,659.205049944,633,880.794950056,785,807,651.205049944,630.794950056,651.794950056,0.446734047141,-0.0155862479396,0.0697389170081,0.999999902557,-0.000172203377742,-0.000397931594892,-8.29579909119e-05,1793244456553418496
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.365506396,659,633,881,785,807,651.365506396,630.634493604,652,0.447190310677,-0.0155895676456,0.0697206119134,0.999999886382,-0.000177175215584,-0.00043448150812,-8.40877358849e-05,1793244456570085376
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681.935212182,659,633,881,785,807,651.935212182,630.064787818,652,0.447625946993,-0.015591327944,0.069694496449,0.999999863699,-0.000180330969704,-0.000482342085153,-8.61933348026e-05,1793244456586752256
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.943573734,744,714,679.056426266,659,634,879,786.056426266,806,651,631,652,0.420810780568,-0.0153764079297,0.0696757788021,0.999999836262,0.000189176035707,-0.000539987173693,1.01412563413e-05,1793244458858278400
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.364262405,744,714,679.635737595,659,634,879,786.635737595,806,651,631,652,0.419996395991,-0.0153824262297,0.0697373744904,0.999999891782,0.000174740382852,-0.000430954677096,1.34085408415e-05,1793244458874945280
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.215162326,744.215162326,714,680,659,634,879,787,805.784837674,651,630.784837674,652,0.419193184439,-0.0153861186749,0.069799883791,0.999999932376,0.000170666954167,-0.00032525364653,1.8207181568e-05,1793244458891611648
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.79477924,744.79477924,714,680,659,634,879,787,805.20522076,651,630.20522076,652,0.41840889828,-0.0153858714516,0.069863940632,0.999999957361,0.000184145668916,-0.000225195635702,2.55997240792e-05,1793244458908278016
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879.370820842,787,805.370820842,651,630.370820842,652,0.417580755217,-0.0153841674229,0.0698724031295,0.99999995714,0.000191717084056,-0.000219497487508,2.80269864192e-05,1793244458924944640
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.468371256,714,680,659,634,880,787,805.468371256,651.531628744,631,652,0.415917369058,-0.0153788178208,0.0698186525431,0.999999936079,0.000201277066804,-0.000294547183189,2.39106030521e-05,1793244458958278144
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.853443277,745,714,680,659,634,880,787,805,651.146556723,630.146556723,652,0.41272841948,-0.0153678699284,0.0697594319467,0.99999990038,0.000214498815948,-0.000391049220484,1.76321724797e-05,1793244459024945152
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.408075783,745,714,680,659,634,880,787,805,651.408075783,631,652,0.410821939719,-0.0153792233143,0.0698757819806,0.999999959949,0.000206991639268,-0.000191166753217,2.66687052223e-05,1793244459074944768
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.241350204,714,679.241350204,659,634.758649796,879.241350204,787,805,651.758649796,631,652,0.409454343937,-0.0153757381324,0.069829782176,0.999999939687,0.000210403417576,-0.000275371750927,2.29448122315e-05,1793244459108278528
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.66443824,634.66443824,879,787,805.33556176,651.66443824,631,652,0.408802169852,-0.0153727490048,0.0697946120559,0.999999921492,0.000211552180904,-0.000334507908944,1.91278805828e-05,1793244459124945152
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.089372351,634.089372351,879,787,805.910627649,651.089372351,631,652,0.408188114029,-0.015369716777,0.0697636914323,0.99999990268,0.000214687355677,-0.000385131963022,1.49293108139e-05,1793244459141612032
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.495928349,634,879,787,805.504071651,651,631,652,0.407658766802,-0.0153694876776,0.0697718259148,0.999999908586,0.000219410731565,-0.000366660857838,1.56765742949e-05,1793244459158278656
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879.081984171,787,805.081984171,651.081984171,631,652,0.407147504506,-0.0153699211505,0.0697874573271,0.999999918304,0.000222749175836,-0.000336865963772,1.72370136869e-05,1793244459174945280
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879.66119764,787,805.66119764,651.66119764,631,652,0.406651390751,-0.0153712447704,0.0698049713529,0.999999926753,0.000215915643855,-0.000315503734492,1.82097258214e-05,1793244459191611392
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,880,787,806,652,631,652,0.405663185422,-0.0153684789046,0.0698028557843,0.999999920028,0.000218688507824,-0.000334345335307,1.82557275953e-05,1793244459224944896
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.967418396,714,679.967418396,659,634.967418396,880,787,805.032581604,651.032581604,631,652,0.404833326795,-0.0153696722913,0.0698047534367,0.999999922731,0.000220181963467,-0.000325173996338,1.78952917057e-05,1793244459258278144
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.444213938,714,680,659,635,880,787,805.555786062,651.555786062,631,652,0.404492762804,-0.015368097684,0.0698215924163,0.999999932272,0.000222417697125,-0.000292623467383,1.89032710139e-05,1793244459274945024
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634.700062429,879.299937571,787,805,652,631,652.700062429,0.403504588126,-0.0153673704382,0.0698432824538,0.999999943568,0.000219500932466,-0.000253687288007,1.80512858123e-05,1793244459324945152
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634.123362261,879.876637739,787,805,652,631,652.123362261,0.403194184036,-0.0153646599351,0.0698324128175,0.999999938495,0.000222425229868,-0.000270695701599,1.61554012884e-05,1793244459341612032
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.460353509,714,679,658.539646491,634.460353509,879.539646491,787,805,651.539646491,631,652,0.402923670141,-0.0153612865191,0.0698242671439,0.999999933881,0.000225424747494,-0.000284920031707,1.55874376139e-05,1793244459358278656
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.954525105,714,679,658,635,879,787,805,651.045474895,631,652,0.402666435205,-0.0153578355518,0.0698167969337,0.999999929111,0.00022922277559,-0.000298326807685,1.5371588177e-05,1793244459374945280
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.203801598,714.203801598,679,658,635,879.203801598,786.796198402,805,652,631,652,0.402222821703,-0.0153551005172,0.0698020586358,0.999999917151,0.000249254268801,-0.000321471709997,1.50119356385e-05,1793244459408278528
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.782735922,714.782735922,679,658,635,879.782735922,786.217264078,805,652,631,652,0.4020336782,-0.0153578358088,0.0697987769281,0.999999916003,0.000245627942478,-0.000327750955338,1.55084062766e-05,1793244459424945152
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.068320113,714.068320113,678.068320113,658,634.068320113,879.068320113,786.931679887,805,652,630.068320113,652,0.40171079574,-0.0153627893478,0.0698009057555,0.999999918051,0.000236799758902,-0.000327907730669,1.73288094459e-05,1793244459458278656
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.893864231,714,679,658.106135769,634,879,787,805,652,631,652,0.401473941895,-0.0153639410478,0.069800619257,0.999999925399,0.000210559575569,-0.000323727822511,8.1926692818e-06,1793244459491612160
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879.84075596,787,805,652,631,652,0.401222310898,-0.0153658172418,0.0698022394233,0.999999924737,0.000221225216893,-0.000318674987047,5.61233746042e-06,1793244459541611264
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.577755631,634.422244369,879.577755631,787,805,652,631,652,0.40116102576,-0.0153638669107,0.0698018339961,0.999999923902,0.000222612358077,-0.000320316807129,6.14551241012e-06,1793244459558278144
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.900152138,714,679,659,634.099847862,879,787,805,652,631,652,0.400981135321,-0.0153600593064,0.0698045602674,0.999999924255,0.000231838694525,-0.000312535188435,7.94679933553e-06,1793244459658277888
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.071826304,714,679,658,634.071826304,879,787,805,652,631,652.071826304,0.400966722544,-0.0153613942678,0.0698086585045,0.999999926645,0.000229184422893,-0.000306783319886,8.30962101084e-06,1793244459691611392
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..211e6d0487c53faf0e183a8e8d0b838078b289cd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..820f493e436da4da88ed90d5b2db646161b70df8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e19aa2ae6fd6f8566a368dd896ab7a0bd78e1c3bb0e797f7eaf739b7c47e59f7
+size 25933515
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..959d1a4054ae61d140ab7ec669cf4b0dc63d91ed
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+16,0.266666667,BASELINE,765,744.72113122,714,678.557737561,659,634.27886878,879.27886878,787,805,652,631,652,0.400958519242,-0.0153662726271,0.0698182383302,0.999999931848,0.000226894846276,-0.00029113328312,8.06962925907e-06,1793244460473214720
+17,0.283333333,BASELINE,765,744.148527656,714,679.702944688,659,634.851472344,879.851472344,787,805,652,631,652,0.400958886424,-0.0153670676234,0.0698190571348,0.999999932358,0.000225302073496,-0.000290612189785,8.21593101281e-06,1793244460489881600
+18,0.300000000,BASELINE,765,744,714.436613275,679.563386725,658.563386725,634.563386725,880,786.563386725,805,652,631,652,0.400959883292,-0.0153671894146,0.0698191765842,0.999999932674,0.000225312349282,-0.000289519948766,8.05767066805e-06,1793244460506547968
+19,0.316666667,BASELINE,765,744,714.974287953,679,658,634,879.974287953,786.051424093,805,652,631,652,0.400960979576,-0.0153670490665,0.0698189972503,0.999999932886,0.000225874098097,-0.000288352364952,7.79999098113e-06,1793244460523214592
+20,0.333333333,BASELINE,765,744,714.394524231,679,658,634,879.394524231,787.210951538,805,652,631,652,0.400959465809,-0.0153663407663,0.0698176577072,0.99999993237,0.000226220879045,-0.000289871750551,7.69853640219e-06,1793244460539880960
+21,0.350000000,BASELINE,765,744,714,679,658.183686202,634,879,787.816313798,805,652,631,652,0.400958821452,-0.0153663946826,0.0698170540915,0.999999932217,0.000225978363922,-0.000290585194813,7.75057394151e-06,1793244460556547328
+22,0.366666667,BASELINE,765,744,714,679,658.758588357,634,879,787.241411643,805,652,631,652,0.400960028767,-0.0153680719724,0.0698180178586,0.999999932842,0.000224480762517,-0.000289582140292,8.12951990976e-06,1793244460573214208
+23,0.383333333,BASELINE,765,744.33261644,714,679.33261644,658.66738356,634,879,787,805,652,631,652.33261644,0.400960187353,-0.0153680333319,0.0698185651377,0.999999933141,0.000223770476461,-0.000289098700141,8.13002200069e-06,1793244460589880832
+24,0.400000000,BASELINE,765,744.906011848,714,679.906011848,658.093988152,634,879,787,805,652,631,652.906011848,0.40095958677,-0.0153667525404,0.0698188109237,0.999999933206,0.000223630122924,-0.000288991405493,7.85657096689e-06,1793244460606547456
+25,0.416666667,BASELINE,765,745,714,679.504208557,658.495791443,634.495791443,879.495791443,787,805.495791443,652,631.495791443,652.504208557,0.4009594239,-0.0153666845093,0.0698183318355,0.999999932858,0.000224294480529,-0.00028968160265,7.84223797424e-06,1793244460623215104
+26,0.433333333,BASELINE,765,744.91324855,714,678.91324855,658.91324855,634.91324855,880,787,805.91324855,651.91324855,631.91324855,652,0.400959309001,-0.0153669018141,0.0698177974628,0.999999932522,0.000224871960777,-0.000290390045058,7.88311892104e-06,1793244460639882240
+27,0.450000000,BASELINE,765,744.333826653,714,678.333826653,658.333826653,634.333826653,880,787,805.333826653,651.333826653,631.333826653,652,0.400958979194,-0.0153673892931,0.0698177561936,0.999999932726,0.000224060096552,-0.000290314183105,7.94906547377e-06,1793244460656548352
+28,0.466666667,BASELINE,765,744.243264876,714,678.486529752,658.243264876,634.243264876,879.756735124,787,805,651.243264876,631,652,0.400958924738,-0.0153674663119,0.0698179995187,0.999999932842,0.000223897019747,-0.000290040368534,7.95220939047e-06,1793244460673214464
+29,0.483333333,BASELINE,765,744.817188807,714,679.634377613,658.817188807,634.817188807,879.182811193,787,805,651.817188807,631,652,0.400959244557,-0.0153669854104,0.0698186296801,0.999999932839,0.000224615810685,-0.000289497485837,7.86998849192e-06,1793244460689880832
+30,0.500000000,BASELINE,765,744.599018561,714.400981439,679.599018561,659,634.599018561,879.400981439,787,805,652,631,652,0.400958779159,-0.0153665080969,0.0698185558729,0.999999932767,0.000224576645036,-0.000289784081008,7.56758466059e-06,1793244460706547456
+31,0.516666667,BASELINE,765,744.010613185,714.989386815,679.010613185,659,634.010613185,879.989386815,787,805,652,631,652,0.400957946741,-0.0153660324604,0.0698181530215,0.999999932662,0.000224183200605,-0.000290458384933,7.16226446665e-06,1793244460723214080
+32,0.533333333,BASELINE,765,744,714.431574723,679,659,634,880,787,805,652,631,652,0.400958222177,-0.0153670082408,0.0698179977844,0.999999932214,0.000225558008155,-0.000290923727266,7.63313295102e-06,1793244460739880704
+33,0.550000000,BASELINE,765,744,714,679,658.852937075,634.147062925,879.852937075,787,805,651.852937075,631,652,0.400958484715,-0.0153679971501,0.069817880727,0.999999932075,0.000225678116326,-0.000291300048231,7.92482617759e-06,1793244460756547584
+34,0.566666667,BASELINE,765,744,714,679,658.274969807,634.725030193,879.274969807,787,805,651.274969807,631,652,0.400958649835,-0.0153689464113,0.0698178622121,0.999999932858,0.000222026700876,-0.000291426776994,7.64436630969e-06,1793244460773214720
+35,0.583333333,BASELINE,765,744,714,679,658.300725749,634.699274251,879.300725749,787,805,651.300725749,631,652,0.400958664855,-0.0153684783649,0.069817791623,0.999999933016,0.000221638654287,-0.000291185817599,7.4705674903e-06,1793244460789881344
+36,0.600000000,BASELINE,765,744,714,679,658.874359794,634.125640206,879.874359794,787,805,651.874359794,631,652,0.40095854366,-0.0153667241136,0.0698176737765,0.99999993261,0.000224212111036,-0.000290611181612,7.39356342638e-06,1793244460806547968
+37,0.616666667,BASELINE,765,744,714,679,658.53945905,634,879.53945905,787,805,652,631,652,0.400958714947,-0.0153669877077,0.0698176763752,0.999999932681,0.000224438624407,-0.00029018574089,7.61146416786e-06,1793244460823214592
+38,0.633333333,BASELINE,765,744,714.049482823,679,658.049482823,634.049482823,879,787,805.049482823,652,631,652,0.400958831262,-0.0153677553007,0.0698176652391,0.999999932853,0.000223956536683,-0.000289956894027,7.8592296567e-06,1793244460839881216
+39,0.650000000,BASELINE,765,744,714.630284725,679,658.630284725,634.630284725,879,787,805.630284725,652,631,652,0.400957476562,-0.0153678581675,0.0698171439256,0.999999932668,0.000222933291326,-0.000291389687264,7.53961239816e-06,1793244460856547584
+40,0.666666667,BASELINE,765,744.208579864,714.791420136,679,659,634.791420136,879,787,806,652,631,652,0.400957105163,-0.0153673471565,0.0698171398767,0.999999932536,0.000223321447144,-0.000291551661087,7.27223391144e-06,1793244460873213952
+41,0.683333333,BASELINE,765,744.782484407,714.217515593,679,659,634.217515593,879,787,806,652,631,652,0.400958456,-0.0153657609473,0.0698180418094,0.999999932494,0.0002261816522,-0.000289487812612,7.0963509132e-06,1793244460889880832
+42,0.700000000,BASELINE,765,744.635495089,714,679,658.635495089,634,879,786.635495089,805.635495089,652,631,652,0.400959299534,-0.0153661062022,0.0698187321299,0.999999932791,0.000226561268419,-0.000288154257446,7.39874171033e-06,1793244460906547712
+43,0.716666667,BASELINE,765,744.048521176,714,679,658.048521176,634,879,786.048521176,805.048521176,652,631,652,0.400959833444,-0.0153676302913,0.0698192932966,0.999999933298,0.000225426901854,-0.000287266423714,7.99303830332e-06,1793244460923214592
+44,0.733333333,BASELINE,765,744,714,678.46859795,658.53140205,634,879.53140205,786.53140205,805,652,631,652,0.400958010988,-0.0153672866966,0.0698179287107,0.999999932536,0.000225273593617,-0.000290036042993,7.6978372018e-06,1793244460939881472
+45,0.750000000,BASELINE,765,744,714,678.110508602,658.889491398,634.110508602,880,787,805,652,631,651.889491398,0.400956662256,-0.0153669852438,0.069816824844,0.9999999319,0.000225278440507,-0.000292224163745,7.45901257894e-06,1793244460956548096
+46,0.766666667,BASELINE,765,744,714,678.688847381,658.311152619,634.688847381,880,787,805,652,631,651.311152619,0.400958217911,-0.0153675746863,0.0698175593573,0.999999932316,0.000225578568062,-0.000290555293297,7.79818259746e-06,1793244460973214464
+47,0.783333333,BASELINE,765,744,714,679,658.26587565,634.73412435,879.73412435,787,805,652,631,651.26587565,0.400959442585,-0.0153681729202,0.0698182712092,0.999999933106,0.000223877957158,-0.000289147825391,7.81955388295e-06,1793244460989880832
+48,0.800000000,BASELINE,765,744,714,679,658.841377835,634.158622165,879.158622165,787,805,652,631,651.841377835,0.400960281815,-0.0153687813922,0.0698189566708,0.999999934321,0.00021984737845,-0.000288044774624,7.47083144822e-06,1793244461006547200
+49,0.816666667,BASELINE,765,744,714,679,658.574121631,634,879,787,805,651.574121631,631,652,0.400960419466,-0.0153683690176,0.0698190994772,0.999999934219,0.000220311677345,-0.00028804441311,7.43192944036e-06,1793244461023214080
+50,0.833333333,BASELINE,765,744,714,679,658.013593641,634,879,787,805,651.013593641,631,652,0.400960288814,-0.0153676091675,0.06981904266,0.999999933632,0.000222440889695,-0.00028844510835,7.51215560018e-06,1793244461039880448
+51,0.850000000,BASELINE,765,744,714,679,658.592612178,634,879,787,805,651.592612178,631,652,0.400960101919,-0.0153685528322,0.069819271005,0.999999933683,0.000222682530522,-0.00028807568925,7.6440428192e-06,1793244461056547584
+52,0.866666667,BASELINE,765,744.171046694,714,679,658.828953306,634.171046694,879.171046694,787,805.171046694,651.828953306,631,652,0.400960070193,-0.0153687408262,0.0698194734354,0.999999933621,0.000223390167927,-0.000287743011474,7.64978122986e-06,1793244461073214464
+53,0.883333333,BASELINE,765,744.748094927,714,679,658.251905073,634.748094927,879.748094927,787,805.748094927,651.251905073,631,652,0.400960406782,-0.0153671351378,0.069819614354,0.999999933287,0.000225203908714,-0.000287497544023,7.35608905435e-06,1793244461089881088
+54,0.900000000,BASELINE,765,744.678545307,714,678.678545307,658,634.678545307,879.678545307,787.321454693,805.678545307,651.321454693,631,652,0.400959846152,-0.0153667921951,0.0698191633812,0.999999932966,0.000225764584674,-0.000288177315432,7.28435436697e-06,1793244461106547712
+55,0.916666667,BASELINE,765,744.108043213,714,678.108043213,658,634.108043213,879.108043213,787.891956787,805.108043213,651.891956787,631,652,0.4009585904,-0.0153674275662,0.0698182538397,0.999999932654,0.000225354447102,-0.000289573916749,7.38458151829e-06,1793244461123214080
+56,0.933333333,BASELINE,765,744,714,678.963733505,658.481866753,634.481866753,879,787.518133247,805,652,631,652,0.400958761953,-0.0153675231312,0.0698189132212,0.999999933093,0.000224014267454,-0.000289099192551,7.25177999281e-06,1793244461139880704
+57,0.950000000,BASELINE,764.925474679,744,714,679.850949358,659,635,879,787,805,651.925474679,631,652,0.400959219302,-0.0153675734266,0.0698197602942,0.999999933641,0.000222567831938,-0.000288322969329,7.12631385889e-06,1793244461156547584
+58,0.966666667,BASELINE,764.344940305,744,714,678.68988061,659,635,879,787,805,651.344940305,631,652,0.400959353044,-0.0153681726335,0.069819393001,0.999999933751,0.000221875248946,-0.000288468079583,7.42030120615e-06,1793244461173214208
+59,0.983333333,BASELINE,764.232914187,744,714,678.232914187,659,635,879.232914187,787,805,651.232914187,631,652,0.40095894041,-0.0153682034108,0.0698188342304,0.999999933683,0.000221358457797,-0.000289100247745,7.50869143482e-06,1793244461189881088
+60,1.000000000,BASELINE,764.806845069,744,714,678.806845069,659,635,879.806845069,787,805,651.806845069,631,652,0.400957727811,-0.0153674019334,0.0698179951119,0.999999933352,0.000221099048694,-0.000290445532117,7.2960607567e-06,1793244461206547968
+61,1.016666667,BASELINE,765,744,714,679,658.611039573,635,879.611039573,787,805,652,631,652,0.400958025835,-0.0153671405945,0.0698179075472,0.999999933153,0.000222231428551,-0.000290267321442,7.15677401566e-06,1793244461223214848
+62,1.033333333,BASELINE,765,744,714,679,658.024772539,635,879.024772539,787,805,652,631,652,0.400959090147,-0.0153671532498,0.0698182012207,0.99999993302,0.000224069816384,-0.000289316292638,7.05469221199e-06,1793244461239881728
+63,1.050000000,BASELINE,765,744,714,679,658,634.441488531,879.558511469,787,805,652,631,652,0.400959636337,-0.0153671987063,0.0698192010475,0.999999933341,0.000224101663398,-0.000288170359013,7.39197415387e-06,1793244461256547840
+64,1.066666667,BASELINE,765,744,714,679,658,634,879.860405663,787,805,651.860405663,631,652,0.400959814787,-0.0153670615124,0.0698198288449,0.999999933507,0.000224147736469,-0.000287551060153,7.58341196573e-06,1793244461273214208
+65,1.083333333,BASELINE,765,744,714,679,658,634,879.285772421,787,805,651.285772421,631,652,0.400958918435,-0.0153663505875,0.069819200139,0.999999933132,0.000224486533766,-0.000288599791106,7.25992358677e-06,1793244461289880832
+66,1.100000000,BASELINE,765,744,714,679.288600067,658.288600067,634,879,787,805.288600067,651.288600067,630.711399933,652,0.400957879956,-0.0153670311667,0.0698182678567,0.999999932901,0.000223702109625,-0.000290005599662,7.18684551341e-06,1793244461306547456
+67,1.116666667,BASELINE,765,744,714,679.862714554,658.862714554,634,879,787,805.862714554,651.862714554,630.137285446,652,0.400956700869,-0.0153690883722,0.0698170352438,0.999999932811,0.000221806473257,-0.000291764667967,7.36150043404e-06,1793244461323214592
+68,1.133333333,BASELINE,765,744,714,679.097543195,659,634,879.451228403,787,805.548771597,651.548771597,630.451228403,652,0.400958182575,-0.0153688330505,0.0698182725677,0.999999933261,0.000222885522368,-0.000289384140071,7.51191935383e-06,1793244461339881216
+69,1.150000000,BASELINE,765,744,714,678.043103411,659,634,879.956896589,787,805,651,631,652,0.40096032871,-0.0153679759656,0.0698201481965,0.999999933839,0.000224605639756,-0.000286033856572,7.62932969265e-06,1793244461356548096
+70,1.166666667,BASELINE,765,744,714,678.620545256,659,634,879.379454744,787,805,651,631,652,0.400960345132,-0.0153686686079,0.0698203138261,0.999999934054,0.000222683519132,-0.000286789666808,7.43196686388e-06,1793244461373214976
+71,1.183333333,BASELINE,765,744,714,679,659,634,879,787,804.803009519,651.196990481,631,652,0.400960456244,-0.0153687006129,0.0698203375062,0.999999934051,0.000222391326342,-0.000287028417138,7.35598355209e-06,1793244461389881600
+72,1.200000000,BASELINE,765,744,714,679,659,634,879,787,804.228474276,651.771525724,631,652,0.400960748839,-0.015367466465,0.0698200891311,0.999999933632,0.000225222993375,-0.000286276189472,7.51263175505e-06,1793244461406547968
+73,1.216666667,BASELINE,765,744,714,679,658.653172327,634,879,787,804.346827673,652,631,652,0.400959537423,-0.0153679168244,0.0698191539207,0.999999933338,0.000224749039775,-0.000287672031259,7.52585292926e-06,1793244461423214592
+74,1.233333333,BASELINE,765,744,714,679,658.077364221,634,879,787,804.922635779,652,631,652,0.400957333038,-0.0153694793188,0.0698177652522,0.999999933119,0.00022209266949,-0.00029048605829,7.44438158362e-06,1793244461439880960
+75,1.250000000,BASELINE,765,744,714,679.513850856,658.513850856,634,879,787,805,652,631,652,0.400958150215,-0.0153693078062,0.0698183571866,0.999999933619,0.000220563681285,-0.000289934958668,7.18891894771e-06,1793244461456547584
+76,1.266666667,BASELINE,765,744,714,679.895810709,659,634.104189291,879,787,805,652,631,652,0.400959416501,-0.0153688711004,0.0698192521801,0.999999934167,0.000219647431631,-0.000288740447948,7.04232928969e-06,1793244461473214208
+77,1.283333333,BASELINE,765,744,714,679.320257006,659,634.679742994,879,787,805,652,631,652,0.400960592887,-0.0153684522397,0.0698201274787,0.999999934431,0.000220711640316,-0.000286998045321,7.51046936576e-06,1793244461489881088
+78,1.300000000,BASELINE,765,744,714,679,658.744649108,634.744649108,879,787,805,652,631,652,0.40096107957,-0.0153681926294,0.0698205349089,0.999999934148,0.000222997289152,-0.000286208540438,7.8401819286e-06,1793244461506547712
+79,1.316666667,BASELINE,765,744,714,679,658.168973267,634.168973267,879,787,805,652,631,652,0.400960701053,-0.0153681327908,0.0698203554214,0.999999933172,0.000226815173604,-0.000286614398335,7.99624405089e-06,1793244461523214336
+80,1.333333333,BASELINE,765,744,714,679,658,634,878.585250354,787,804.585250354,652,631,652,0.400959376589,-0.0153682213838,0.0698193960843,0.999999933119,0.000224877221558,-0.00028832902565,7.69364158037e-06,1793244461539880704
+81,1.350000000,BASELINE,765,744,714,679,658.001797601,634,878.001797601,787,804.001797601,651.998202399,631,651.998202399,0.400957668961,-0.0153683730773,0.0698181203448,0.999999933434,0.000220560741379,-0.000290573977764,7.20175833341e-06,1793244461556547328
+82,1.366666667,BASELINE,765,744,714,679,658.582936288,634,878.582936288,787,804.582936288,651.417063712,631,651.417063712,0.40095913588,-0.0153689860826,0.069819294893,0.999999934076,0.000220388016674,-0.000288490123039,7.12280786567e-06,1793244461573214208
+83,1.383333333,BASELINE,764.837760749,744,714,678.837760749,658.837760749,634.162239251,879,787,805,651.162239251,631,651.162239251,0.400959472668,-0.015369033371,0.0698196991474,0.999999934223,0.000220788462408,-0.000287677093023,6.95284773596e-06,1793244461589881088
+84,1.400000000,BASELINE,764.263123906,744,714,678.263123906,658.263123906,634.736876094,879,787,805,651.736876094,631,651.736876094,0.400956936767,-0.0153676426579,0.0698181453843,0.999999933116,0.000222645855839,-0.000290094384742,6.55154920952e-06,1793244461606548224
+85,1.416666667,BASELINE,764.311544258,744,714,678.311544258,658,634.688455742,879,787,805,652,630.688455742,652,0.400956937766,-0.01536698374,0.0698179963841,0.99999993289,0.000223733917037,-0.000290032301419,6.6855334875e-06,1793244461623215616
+86,1.433333333,BASELINE,764.886238846,744,714,678.886238846,658,634.113761154,879,787,805,652,630.113761154,652,0.400959081594,-0.0153669429434,0.0698190339372,0.999999933411,0.000224172150613,-0.000287875978244,7.27165209194e-06,1793244461639882496
+87,1.450000000,BASELINE,765,744,714,679,658.475959158,634,879,787,805,651.524040842,630.475959158,652,0.4009608496,-0.0153687543283,0.0698202661886,0.999999934535,0.000221800684647,-0.000285791000912,7.55869454139e-06,1793244461656548864
+88,1.466666667,BASELINE,765,744,714,679,658.93263659,634,879,787,805,651,631,652,0.400962178651,-0.0153706109031,0.0698213096108,0.999999935571,0.000219170267959,-0.00028418679134,7.70391289272e-06,1793244461673214976
+89,1.483333333,BASELINE,765,744,714,679,658.356522004,634,879,787,805,651,631,652,0.400960893082,-0.0153693563716,0.0698205640221,0.999999934891,0.000219821342232,-0.000286080515836,7.33549457383e-06,1793244461689881600
+90,1.500000000,BASELINE,765,744,714,678.780718348,658,634,879,787,805,651,630.780718348,652,0.400959638432,-0.0153682873492,0.0698196399509,0.999999934157,0.000220905865329,-0.000287814189177,7.09077263871e-06,1793244461706548224
+91,1.516666667,BASELINE,765,744,714,678.205419563,658,634,879,787,805,651,630.205419563,652,0.40095843398,-0.0153675195123,0.0698184261027,0.999999933335,0.000222694118964,-0.000289288009525,7.04687936195e-06,1793244461723214336
+92,1.533333333,BASELINE,765,744,714,678.364758671,658.364758671,634.364758671,879,787,805,651.364758671,630.364758671,652,0.400959175683,-0.0153662579527,0.0698187885813,0.999999932955,0.000225099569566,-0.000288738772254,7.09836023979e-06,1793244461739880960
+93,1.550000000,BASELINE,765,744,714,678.932093161,658.932093161,634.932093161,879,787,805,651.932093161,630.932093161,652,0.400960998223,-0.0153647221946,0.0698200265036,0.999999932813,0.000227847792667,-0.000287065990742,7.20280900434e-06,1793244461756547840
+94,1.566666667,BASELINE,765,744,714,678.468913421,658.468913421,634.468913421,879,787,805,652,631,652,0.400961551819,-0.0153667343472,0.0698206485261,0.999999933989,0.000225026939918,-0.000285184516351,7.35095340923e-06,1793244461773214464
+95,1.583333333,BASELINE,765,744,714,678.128336433,658,634,879,787,805,651.871663567,631,652,0.400961596933,-0.0153686912013,0.069820751723,0.99999993491,0.000222043694326,-0.000284290917989,7.48555005911e-06,1793244461789881088
+96,1.600000000,BASELINE,765,744,714,678.704482201,658,634,879,787,805,651.295517799,631,652,0.400960469825,-0.0153687718187,0.0698193367708,0.999999934353,0.000221136013567,-0.00028694336649,7.55214294505e-06,1793244461806547456
+97,1.616666667,BASELINE,765.278029599,744,714,679,658.278029599,634,879,787,805,651.278029599,631,652,0.400959114037,-0.0153685344852,0.0698182059126,0.999999933733,0.000220975735001,-0.000289219003914,7.46791797729e-06,1793244461823214080
+98,1.633333333,BASELINE,765.848840725,744,714,679,658.848840725,634,879,787,805,651.848840725,631,652,0.400957517435,-0.0153679623305,0.0698173742223,0.999999933051,0.00022160251498,-0.000291097836942,7.22487293082e-06,1793244461839881728
+99,1.650000000,BASELINE,765.125336763,744,714,679,658.562668382,634,879,787,805,651.562668382,631,652,0.400957464146,-0.0153681293401,0.0698180766758,0.999999933069,0.000222592346838,-0.00029028054531,7.23632396984e-06,1793244461856548096
+100,1.666666667,BASELINE,764.031224008,744,714,678.968775992,658.031224008,634,879,787,805,651,631,652,0.400957977506,-0.015368555326,0.0698192698159,0.999999933325,0.000223650798209,-0.000288575241103,7.33954478657e-06,1793244461873214464
+101,1.683333333,BASELINE,764.608218003,744,714,678.391781997,658.608218003,634,879,787,805,651,631,652,0.400958678672,-0.015368854208,0.0698193807432,0.999999933404,0.000223622877822,-0.00028832308313,7.444511401e-06,1793244461889880832
+102,1.700000000,BASELINE,765,744,714,678.185435722,658.814564278,634,879,787,805,651.185435722,631,652,0.400959280447,-0.015369080832,0.0698193244594,0.999999933553,0.000223083096488,-0.000288223861237,7.38498231212e-06,1793244461906547456
+103,1.716666667,BASELINE,765,744,714,678.763126613,658.236873387,634,879,787,805,651.763126613,631,652,0.400959671977,-0.0153691546072,0.0698189144716,0.999999933852,0.000221460567449,-0.000288448147532,6.97749279992e-06,1793244461923214336
+104,1.733333333,BASELINE,765,744,714,679,658,634,879,787,805,651.653900288,631,651.653900288,0.400959868383,-0.0153685590594,0.0698191078439,0.999999933856,0.000221852177073,-0.000288129294658,7.12412018031e-06,1793244461939881216
+105,1.750000000,BASELINE,765,744,714,679,658,634,879,787,805,651.067255913,631,651.067255913,0.400959929174,-0.0153674983218,0.0698197205608,0.999999933654,0.000223643644112,-0.000287432951666,7.65586734574e-06,1793244461956548352
+106,1.766666667,BASELINE,765,744,714,679,658,634,879,787,805,651.51320991,631,651.51320991,0.400958949859,-0.0153676971677,0.0698195632738,0.999999933838,0.000222136627135,-0.000287967995294,7.35504308739e-06,1793244461973214720
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,635,879,787,805,651,630,652,0.400957944606,-0.015368337177,0.0698175393886,0.999999932752,0.000223768662067,-0.00029047065881,7.05379039671e-06,1793244462016119040
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.573246212,714,678.426753788,658.573246212,634.426753788,879,787,805,651,630.573246212,652,0.400959616504,-0.0153685419419,0.0698193460816,0.999999933829,0.000222935034291,-0.000287382700214,7.31258731841e-06,1793244462032785664
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,678.146097,658.853903,634,879,787,805,651.146097,631,652,0.400960240121,-0.0153686719203,0.0698202139818,0.999999934447,0.000222106798613,-0.00028586378604,7.46188637467e-06,1793244462049452032
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,678.717795993,658.282204007,634,879,787,805,651.717795993,631,652,0.400957809941,-0.0153685840346,0.0698183470407,0.999999933752,0.000221294270718,-0.000288915727713,7.29220214724e-06,1793244462066118400
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.696085443,714,679,658,634.303914557,879,787,805.303914557,652,631,652,0.400956922189,-0.015368455803,0.0698178741162,0.999999933251,0.000221930803959,-0.000290156960286,7.30200135055e-06,1793244462082784768
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.095910504,714,679,658,634.904089496,879,787,805.904089496,652,631,652,0.400957538019,-0.0153682882414,0.0698187600995,0.999999932945,0.000223979903364,-0.000289633086805,7.4867636531e-06,1793244462099451648
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.482847462,714,679,658,635,879,787,805.517152538,652,631,652,0.400958549289,-0.0153687688417,0.0698193251718,0.999999933618,0.000222402976968,-0.000288524234026,7.45046291894e-06,1793244462116118528
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.941177451,714,679,658.058822549,634.941177451,879,787,805,652,631,652,0.400959523877,-0.0153693725808,0.0698197307863,0.999999934347,0.000220360521072,-0.000287563556826,7.37781906875e-06,1793244462132785408
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.353601144,714,679,658.646398856,634.353601144,879,787,805,652,631,652,0.400959492658,-0.0153699750544,0.0698192516997,0.999999933958,0.000220332818647,-0.000288934957962,7.3564376053e-06,1793244462149451776
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.769246865,744,714,679,658.769246865,634,879,787,805,652,631,652,0.400966038574,-0.0153700636794,0.0698222675676,0.999999935106,0.000220756941805,-0.000284601712296,7.55288243977e-06,1793244462166117888
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+118,1.966666667,POSE1_TO_POSE2_PRESS,764.386286488,744,714,679,658.386286488,634,879.386286488,787,805,652,631,652,0.401016942439,-0.0153709770747,0.0698450484099,0.999999944886,0.000221545995082,-0.000247102769623,9.2376659707e-06,1793244462199451136
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.960661826,744,714,679,658.960661826,634,879.960661826,787,805,652,631,652,0.401060092034,-0.0153736930979,0.069862543322,0.999999952099,0.000220534305864,-0.000216915087949,1.07052711353e-05,1793244462216117760
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.537917356,744,714,679,658.462082644,634,879.462082644,787.537917356,805,651.462082644,631,652.537917356,0.40111970312,-0.01537578409,0.0698807207947,0.999999957349,0.000220763046965,-0.000190877087424,1.14924396323e-05,1793244462232784128
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.882110224,744,714,679,658.117889776,634,879,787.882110224,805,651.117889776,631,652.882110224,0.40118228796,-0.0153783599571,0.0698970282091,0.999999961447,0.000220681900663,-0.000168100404023,1.21455379835e-05,1793244462249451008
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.292105313,744,714,679,658.707894687,634,879,787.292105313,805,651.707894687,631,652.292105313,0.401251934878,-0.0153830616483,0.0699056456002,0.999999963593,0.000218994507026,-0.000157162517161,1.24620738265e-05,1793244462266117632
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+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.12798227,634.87201773,879,787,805,651.12798227,631,652,0.40141444767,-0.0153885911016,0.0699120029354,0.999999965287,0.000218441027142,-0.000147027334771,9.60619852646e-06,1793244462299450880
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,635,879,787,805,651,631,652,0.401516198901,-0.0153939255305,0.0699133574145,0.999999966214,0.000215315573607,-0.000145453592835,7.32303069453e-06,1793244462316117504
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.025009983,635,879,787,805,651.025009983,631,652,0.401623768852,-0.0154001115773,0.069914648289,0.999999967241,0.000211308487367,-0.000144366519458,4.93862088216e-06,1793244462332784128
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.598481631,635,879,787,805,651.598481631,631,652,0.401755275516,-0.0154050369406,0.0699147615553,0.999999967847,0.000208561991976,-0.000144237639171,2.08292848871e-06,1793244462349451776
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659.177340562,634.822659438,879,787,805,652,631,652,0.401897346029,-0.0154108161901,0.0699156952227,0.999999968959,0.000204190461656,-0.000142786387961,-9.21560662732e-07,1793244462366118656
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659.768778952,634.231221048,879,787,805,652,631,652,0.402064083568,-0.0154185893001,0.0699185445615,0.999999971222,0.000196024405372,-0.00013824734387,-4.27349623378e-06,1793244462382785280
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659.648352373,634,879,787,805.351647627,652,631,652,0.402247915052,-0.0154262592189,0.069920196702,0.999999973297,0.000188070659429,-0.000134044456651,-8.20280847171e-06,1793244462399452160
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+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.984079468,714,679,659,634,879.015920532,787,805.984079468,652,631,652,0.404451688461,-0.0154951990706,0.0699541261291,0.999999996265,-1.48000584065e-05,-7.19880783736e-05,-4.54904926197e-05,1793244462532784896
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.437016888,714,679,659,634.562983112,879,787,805.437016888,652,631,652,0.404841085676,-0.0154886401693,0.069961888845,0.999999996786,4.66027506585e-05,-5.73881746272e-05,-3.1013387325e-05,1793244462549451520
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.855444164,879,787,805.144555836,652,631,652.144555836,0.405238639117,-0.0154803810516,0.0699674666674,0.999999994543,9.10227268319e-05,-4.64536079383e-05,-2.16822245658e-05,1793244462566117632
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.266142742,879,787,805.733857258,652,631,652.733857258,0.405656715326,-0.0154680927209,0.0699657435946,0.999999995514,7.58722139146e-05,-4.81787282873e-05,-2.99099215649e-05,1793244462582784256
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.316752767,744,714,679,659,634,879,787.316752767,806,652,631,652.683247233,0.406084061158,-0.0154671984755,0.0699566967722,0.999999995234,6.43073531769e-05,-6.42216000268e-05,-3.56740814691e-05,1793244462599450880
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.894372642,744,714,679,659,634,879,787.894372642,806,652,631,652.105627358,0.406519041189,-0.0154756880209,0.0699416183516,0.999999993435,5.56955153695e-05,-9.20560987276e-05,-3.94093545312e-05,1793244462616117504
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.059663253,744.470168374,714,679,659,634,879,787.529831626,805.529831626,651.529831626,631,652,0.407005913044,-0.015481168872,0.0699310074707,0.999999992735,4.67849732773e-05,-0.000103246255291,-4.10156243003e-05,1793244462632784128
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.046611055,744.953388945,714,679,659,634.046611055,879,787,805,651,630.953388945,652,0.407509153968,-0.0154856836629,0.0699233201485,0.999999992549,3.84387347002e-05,-0.000107925907533,-4.21583831777e-05,1793244462649451008
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.63532626,744.36467374,714,679,659,634.63532626,879,787,805,651,630.36467374,652,0.40806771146,-0.0154867937399,0.0699380069504,0.999999995139,3.74330094278e-05,-8.02072694433e-05,-4.34516334704e-05,1793244462666117632
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.220367555,744.220367555,714,679,659,635,879,787,805,651,630,652,0.408646589545,-0.0154872772956,0.0699497677296,0.9999999968,3.67593587701e-05,-5.54593167195e-05,-4.44118770911e-05,1793244462682784256
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.799428765,744.799428765,714,679,659,635,879,787,805,651,630,652,0.409258543554,-0.0154867410583,0.0699567658021,0.999999997693,3.66262281413e-05,-3.55467689907e-05,-4.48300836103e-05,1793244462699450880
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.62182143,745,714,679,659,634.62182143,879,787.37817857,805,651,630,652,0.409858373596,-0.0154857262914,0.0699510931329,0.99999999726,3.77312658369e-05,-4.42064353472e-05,-4.58435720488e-05,1793244462716117504
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.043236667,745,714,679,659,634.043236667,879,787.956763333,805,651,630,652,0.410451778829,-0.0154844579398,0.0699387059234,0.999999995795,3.94924395976e-05,-6.80072265063e-05,-4.71725150973e-05,1793244462732784384
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.531692212,634,879.531692212,787.468307788,805,651.531692212,630.531692212,652,0.411105101753,-0.0154865324042,0.0699440590231,0.999999996284,3.1901335681e-05,-6.41668216524e-05,-4.7923442762e-05,1793244462749451008
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.891108359,714,679.108891641,659.891108359,634,879.891108359,787,805,652,631,652,0.411774711649,-0.0154893696687,0.069955669426,0.999999997365,2.44051935125e-05,-4.86123035026e-05,-4.80684522003e-05,1793244462766117888
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.302608075,714,679.697391925,659.302608075,634,879.302608075,787,805,652,631,652,0.412494742712,-0.0154943775467,0.0699885292711,0.999999998702,2.0654101779e-05,8.70400233401e-06,-4.57503317618e-05,1793244462782784512
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.280303624,714,680,659,634,879,787,805,651.719696376,631,652,0.413233446132,-0.0154969938247,0.0700134573685,0.999999997721,1.44395216128e-05,4.86092778534e-05,-4.45615933905e-05,1793244462799451136
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.857300051,714,680,659,634,879,787,805,651.142699949,631,652,0.413991913757,-0.0154970786681,0.070029989958,0.999999996535,5.61741395413e-06,7.00855180093e-05,-4.45682711725e-05,1793244462816117504
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.566829278,714,679.566829278,659,634,879.433170722,787,805,651,631,652,0.414693614194,-0.015491656594,0.0699977819881,0.999999998691,1.26785635148e-05,1.24274979066e-05,-4.7984599306e-05,1793244462832784128
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,880,787,805,651.00888117,631,652,0.415377669101,-0.0154845132,0.0699498435482,0.999999995822,2.47452735441e-05,-7.05998407144e-05,-5.25309523937e-05,1793244462849450752
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,880,787,805,651.598299716,631,652,0.41612754361,-0.0154831304689,0.0699205064576,0.999999991769,2.28681140142e-05,-0.000112289254982,-5.77108402202e-05,1793244462866117376
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.184501165,714,679.184501165,659,634,880,787,805.184501165,651.815498835,631,652,0.416909060937,-0.0154845041478,0.0699106824576,0.999999990114,1.8997361479e-05,-0.000125740060774,-5.99964936533e-05,1793244462882784000
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.763818278,714,679.763818278,659,634,880,787,805.763818278,651.236181722,631,652,0.417758291015,-0.015491776297,0.0699426147238,0.999999995266,1.08604988333e-05,-7.87627742825e-05,-5.60887447966e-05,1793244462899450880
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.657523255,659.342476745,634,880,787,806,651.342476745,631,652,0.418621058781,-0.0154971142748,0.0699700525452,0.999999997771,1.33348291228e-06,-3.90086347437e-05,-5.4171972575e-05,1793244462916117504
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.079318162,659.920681838,634,880,787,806,651.920681838,631,652,0.419493144567,-0.0155011209531,0.0699943968178,0.999999998511,-9.15038168339e-06,-4.22622308141e-06,-5.36255990706e-05,1793244462932784128
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660,634,880,787,806,651.502693107,630.502693107,652,0.420366513103,-0.0155046865006,0.0700116253792,0.999999998226,-1.53316365967e-05,2.2532719693e-05,-5.29701668665e-05,1793244462949450752
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.075069893,659.924930107,634,879.924930107,787,806,651.075069893,630.075069893,652,0.42123408788,-0.0155078320633,0.0700243443639,0.999999997496,-2.10353217131e-05,4.23157528406e-05,-5.26735666648e-05,1793244462966117632
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.662310248,659.337689752,634,879.337689752,787,806,651.662310248,630.662310248,652,0.422060742416,-0.0155085907495,0.0700140149698,0.999999997825,-2.8147889336e-05,2.32083111108e-05,-5.4943426112e-05,1793244462982784256
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.246103691,745,714,680,659,634,879.246103691,787,806,651.753896309,631,652,0.422868791895,-0.0155056957573,0.0699726381106,0.999999996825,-2.83102308731e-05,-4.39170318966e-05,-6.01577895299e-05,1793244462999450880
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.825232886,745,714,680,659,634,879.825232886,787,806,651.174767114,631,652,0.423651665277,-0.0154978566375,0.0698892480741,0.999999981922,-1.90675839188e-05,-0.000176019808986,-6.93566312733e-05,1793244463016117504
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.597304751,714,680,659,634,880,787,806,651,631,652.402695249,0.424543190051,-0.0154981686131,0.0698696250228,0.999999977437,-2.82017451591e-05,-0.000197389235642,-7.32636889597e-05,1793244463032784128
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.020562834,714,680,659,634,880,787,806,651,631,652.979437166,0.425481674389,-0.0155020035287,0.0698775623496,0.999999981568,-4.52784448052e-05,-0.00017089921142,-7.48836139157e-05,1793244463049451008
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.446687321,744.553312679,714,680,659,634,880,787,806,651,631,652.446687321,0.426415217221,-0.0155050754789,0.069937460904,0.999999993586,-3.13614783137e-05,-8.59799979134e-05,-6.6719876177e-05,1793244463066117632
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.131017336,634,880,787,806,651,631,652,0.427344243699,-0.0155082238274,0.0699929328088,0.999999997964,-2.14265752352e-05,-8.02210569855e-06,-5.95696745517e-05,1793244463082784256
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.722553699,634,880,787,806,651,631,652,0.428258037548,-0.0155117398619,0.07002609274,0.999999997208,-2.95161441763e-05,3.78740397516e-05,-5.72534196345e-05,1793244463099450880
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.30730407,880,787,806,651.30730407,631,652,0.429170281727,-0.0155129980868,0.0700428000241,0.999999995547,-3.49730731559e-05,6.63848286565e-05,-5.72286048212e-05,1793244463116117504
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.886060115,880,787,806,651.886060115,631,652,0.430081156981,-0.0155122619128,0.0700449741326,0.999999994357,-3.81045027218e-05,7.95385476526e-05,-5.92278959686e-05,1793244463132784128
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.468203165,680,660.468203165,634.531796835,880.468203165,787,806,652,631,652,0.430883421246,-0.0155077497134,0.0699889640946,0.99999999731,-3.20796325785e-05,-1.81439252361e-05,-6.34120967421e-05,1793244463149450752
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.949107586,680,660.949107586,634,880.949107586,787,806,651.949107586,631,652,0.431665771857,-0.0155027270869,0.0699224289647,0.999999988211,-2.48890033321e-05,-0.000135400756131,-6.80087779078e-05,1793244463166117376
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.36937053,680,660.36937053,634,880.36937053,787,806,651.36937053,631,652,0.432517848745,-0.0155020188378,0.0698947321004,0.999999981946,-2.89077677272e-05,-0.000173736721282,-7.13262367327e-05,1793244463182784256
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.210217555,787,806,651.210217555,631,652,0.433400291209,-0.0155033694453,0.0699012948075,0.999999984794,-3.46312971802e-05,-0.000155032811973,-7.19617178722e-05,1793244463199451136
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.789544168,787,806,651.789544168,631,652,0.434336051002,-0.015508335082,0.0699680119442,0.999999996102,-4.33481271206e-05,-3.61758340968e-05,-6.78880668315e-05,1793244463216117504
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.633731722,787,806,651.633731722,631,652.366268278,0.435228829509,-0.0155115420278,0.0700090984043,0.999999996412,-4.51421475977e-05,3.17755435877e-05,-6.42503178064e-05,1793244463232784640
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880.05849248,787,806,651.05849248,631,652.94150752,0.436097085386,-0.0155137455685,0.0700355615158,0.999999994726,-4.2986423103e-05,7.0683196699e-05,-6.0861269159e-05,1793244463249452288
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680.514258911,660,634,880,787,806,651.514258911,631,652.485741089,0.436933949111,-0.0155165443871,0.0700283282856,0.999999994266,-5.52696060795e-05,6.72099313645e-05,-6.24143103332e-05,1793244463266118912
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,806,652,631,652,0.437751246965,-0.0155185883016,0.070011268153,0.999999994472,-6.64253004373e-05,4.9360685254e-05,-6.48653962548e-05,1793244463282785536
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,787,806,652,631,652,0.438478863775,-0.0155160268434,0.0699605327768,0.999999995431,-6.21125315802e-05,-2.21361063777e-05,-6.92130530792e-05,1793244463299452928
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680.730359757,660,634,880.269640243,787,806,651.730359757,631,652,0.439180995315,-0.0155150311528,0.0699052691334,0.999999989309,-6.27675613774e-05,-0.000109862928134,-7.33030980193e-05,1793244463316119808
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.150179523,660,634,880.849820477,787,806,651.150179523,631,652,0.439853775863,-0.0155158387298,0.0698447903668,0.999999971249,-6.9143918763e-05,-0.000216281588521,-7.70964552367e-05,1793244463332785408
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680.427662643,660,634,881,786.572337357,806,651,631,652,0.440595097312,-0.0155227968787,0.0698400866477,0.999999969306,-7.68660096551e-05,-0.000222352501662,-7.77047384727e-05,1793244463349451776
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.004655082,660,634,881,786.004655082,806,651.004655082,631,652,0.441360211127,-0.0155319149319,0.0698550771844,0.999999974742,-8.51344525993e-05,-0.000193162713224,-7.71797224422e-05,1793244463366118400
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681.577595277,660,634,881,786.577595277,806,651.577595277,631,652,0.442107515174,-0.0155424724127,0.0698962644341,0.999999982474,-0.000102723375366,-0.000137868296916,-7.41033731605e-05,1793244463382785024
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681.844510005,660,633.844510005,881,786.844510005,806.155489995,651.844510005,631,652,0.442821362661,-0.015552095807,0.0699207399692,0.999999984501,-0.000118389846261,-0.000108533455955,-7.21274116087e-05,1793244463399451648
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681.252712692,660,633.252712692,881,786.252712692,806.747287308,651.252712692,631,652,0.443441330698,-0.0155590981426,0.0698983221852,0.999999977483,-0.000128661892334,-0.000152041571383,-7.32391547806e-05,1793244463416118784
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.33088916,881,786,806.66911084,651.33088916,630.66911084,652,0.444037151748,-0.0155652062917,0.0698605308684,0.999999964179,-0.000138851401018,-0.000216121021758,-7.5186449769e-05,1793244463432785152
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.908383071,881,786,806.091616929,651.908383071,630.091616929,652,0.44461497652,-0.0155706480218,0.0698112819814,0.99999994221,-0.000148979395148,-0.000295531853197,-7.77564636378e-05,1793244463449451264
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681.485839914,659.514160086,633.514160086,881,786,806,651.514160086,630,652,0.445186644324,-0.0155771826547,0.0697797996559,0.999999928514,-0.000155805022093,-0.000335344918497,-7.89931589545e-05,1793244463466117888
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,659.064379022,633,880.935620978,785.935620978,806,651,630.064379022,652,0.445753744017,-0.0155856138959,0.0697540347844,0.999999916623,-0.000163928494233,-0.000365503984521,-7.92979033638e-05,1793244463482784512
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.651767155,633,880.348232845,785.348232845,806,651,630.651767155,652,0.446293164336,-0.0156077788488,0.0697475023844,0.999999908248,-0.000187654247227,-0.000377892436514,-7.4074001409e-05,1793244463499451136
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.764115931,659.764115931,633,880,784.764115931,806,651,631,652,0.446807236153,-0.0156287888925,0.0697349915746,0.999999893153,-0.000212489378687,-0.000404318280515,-7.12022819026e-05,1793244463516117760
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.184762274,659.184762274,633,880,784.184762274,806,651,631,652,0.4472843981,-0.0156481172769,0.0697137756331,0.999999867096,-0.000238939868148,-0.000451183897846,-7.17555636322e-05,1793244463532784384
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.388934754,659,633,880.388934754,784,806.388934754,651.388934754,631,652,0.447746350552,-0.0156546167028,0.0696999675647,0.999999853613,-0.000244196988301,-0.000477522312041,-7.15205608995e-05,1793244463549451008
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.414453463,659,634,880.585546537,786,806.414453463,651,630.414453463,652,0.437460007544,-0.0153725241223,0.0697311401704,0.999999907367,0.00015090341916,-0.000403060947424,5.93961034193e-06,1793244465537033984
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.758170114,634,880.241829886,786,806,651.758170114,630.758170114,652.758170114,0.435826076544,-0.0153870698858,0.0697485439608,0.999999919954,0.000140804947141,-0.00037439204843,9.78996428396e-06,1793244465570367232
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,786.343073314,806,651.656926686,631,652.656926686,0.434998385091,-0.0153938133921,0.0697856253636,0.999999937851,0.000138934030029,-0.000323711472633,1.43757722967e-05,1793244465587034112
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,786.922115789,806,651.077884211,631,652.077884211,0.434156925828,-0.0153982387384,0.0698267975663,0.99999995396,0.00013867398949,-0.000269238917511,1.89808027456e-05,1793244465603700480
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.069466843,745,714,681,660,634,880,787,805.930533157,652,631,652,0.432368385775,-0.0153917813484,0.0698375097018,0.999999953325,0.00016037811064,-0.000259262841756,2.02728460618e-05,1793244465637033728
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.639820443,745,714,681,660,634,880,787,805.360179557,652,631,652,0.431466156159,-0.0153861136775,0.0698299288447,0.999999948886,0.000173354169497,-0.000267889552467,2.02822415887e-05,1793244465653700608
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.180515669,745,714,681,659.180515669,634,880.819484331,786.180515669,805,652,630.180515669,652,0.429542830127,-0.015377577804,0.0697275942522,0.999999890762,0.000179238871035,-0.000431471005338,1.34689606846e-05,1793244465687033856
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.402869296,745,714,681,659,634,880.597130704,786.402869296,805.402869296,651.597130704,630,652,0.428629757079,-0.0153829248399,0.0697237244369,0.999999890973,0.00016969504108,-0.000434838854344,1.31631462172e-05,1793244465703700480
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.979593212,745,714,681,659,634,880.020406788,786.979593212,805.979593212,651.020406788,630,652,0.427749488087,-0.0153921423914,0.0697489451197,0.999999911633,0.000156760999427,-0.000389794316469,1.48757262609e-05,1793244465720366848
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,880.55464489,786.44535511,806,651,630.55464489,652,0.426871625313,-0.0153917323605,0.0698122897515,0.999999943401,0.000162943607836,-0.000293616458912,2.08763021164e-05,1793244465737033984
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.86780793,659,634,880.86780793,786.13219207,806,651,631,652,0.425989873567,-0.0153899781526,0.0698605699347,0.99999996049,0.000170069022917,-0.000222363629599,2.55284782872e-05,1793244465753700608
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.281476876,659,634,880.281476876,786.718523124,806,651,631,652,0.425094458282,-0.0153848193517,0.0698522926478,0.999999954272,0.000178024346795,-0.00024318321569,2.50079293168e-05,1793244465770367232
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.697203563,714,680.302796437,659.302796437,634,880,787,806,651.302796437,631,652,0.424180411735,-0.0153838725698,0.0698331149414,0.999999945644,0.000181656543321,-0.000274166429068,2.33761004382e-05,1793244465787033856
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.114830229,714,680.885169771,659.885169771,634,880,787,806,651.885169771,631,652,0.423249162689,-0.0153868148141,0.0698038727002,0.999999933885,0.000181297125113,-0.000314533884199,2.07182086692e-05,1793244465803700736
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879.960837012,787,806,652,631,652,0.421266972306,-0.015376266742,0.0696806027532,0.999999836562,0.00018564063936,-0.000540631362016,1.14340076108e-05,1793244465837033728
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879.388727358,787,806,652,631,652,0.420426742399,-0.0153784489675,0.0697136541391,0.999999872545,0.000179527086299,-0.000471750934791,1.14090383734e-05,1793244465853700096
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.368966305,744.631033695,714,680.631033695,659,634,880,786.368966305,805,651.631033695,631,652,0.418059471129,-0.0153813012454,0.0698701924018,0.999999955502,0.000199226048761,-0.000220204698303,2.8530574468e-05,1793244465903700224
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.422232596,714,680,659,634,880.422232596,786.577767404,805.422232596,652,631,652,0.411163098831,-0.0153771963649,0.0698666458686,0.999999957567,0.000209335094169,-0.000200925434425,2.59512329938e-05,1793244466053700608
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,880,786.513742069,805.513742069,652,631,652,0.40794545394,-0.0153669764383,0.0697662028324,0.99999990518,0.000220792469654,-0.000375058071766,1.4874253697e-05,1793244466137034240
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3edf1f9a101fef10aa14968e4874d881a36027fe
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
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+406,6.766666667,pose2_to_pose3_retreat,0.575669708644,-0.0101221256187,1.0600510055,0.546241341244,-0.00144644197908,1.05971749485
+407,6.783333333,pose2_to_pose3_retreat,0.575669594626,-0.0101221447792,1.06005090807,0.546241227919,-0.00144645865034,1.05971740092
+408,6.800000000,pose2_to_pose3_retreat,0.575669546138,-0.0101221537392,1.06005086223,0.546241179765,-0.00144646641743,1.05971735668
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0762396ac073ce43907e12ba8012de9b8eed870d
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfe301dd54149b82a330c2dde088f22729524a29834f5a5c3d04b4aa3eb63ac0
+size 26069670
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d666f007cce1571e503c48a1134d0ff20d6b3e94
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_04/franka_data.csv
@@ -0,0 +1,412 @@
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+56,0.933333333,BASELINE,765.507069921,744,714,678.507069921,658.492930079,635,879,787,805,652,630.492930079,652,0.400958474622,-0.0153615940708,0.0698191834625,0.999999931673,0.000229007988152,-0.000290132996911,5.66192377427e-06,1793244468119218176
+57,0.950000000,BASELINE,765.908107383,744,713.908107383,679,658.091892617,634.908107383,879,787,805,651.908107383,630.091892617,652,0.400958780766,-0.0153614302751,0.0698192228571,0.999999931924,0.000228434304407,-0.000289723414873,5.55265428189e-06,1793244468135884800
+58,0.966666667,BASELINE,765.329078245,744,713.329078245,679,658.670921755,634.329078245,879,787,805,651.329078245,630.670921755,652,0.400958142145,-0.0153623935417,0.069818971894,0.999999931737,0.000228035440263,-0.000290678997266,5.64047992362e-06,1793244468152551936
+59,0.983333333,BASELINE,765,744,713.249152956,679,658.750847044,634.249152956,879,787,805,651.249152956,631,652,0.400958691677,-0.015363019506,0.0698196746586,0.999999932039,0.00022796727584,-0.00028968573256,5.87765280684e-06,1793244468169218816
+60,1.000000000,BASELINE,765,744,713.826333695,679,658.173666305,634.826333695,879,787,805,651.826333695,631,652,0.400960805499,-0.0153632013878,0.0698216330743,0.999999932978,0.000228334501328,-0.000286126670622,6.31145208616e-06,1793244468185885440
+61,1.016666667,BASELINE,765,744.402903006,714,678.597096994,658.402903006,634.597096994,879,787,805,652,631,652,0.400960813139,-0.0153631968759,0.069821230911,0.999999933022,0.000227946603176,-0.000286278881299,6.32973532745e-06,1793244468202551808
+62,1.033333333,BASELINE,765,744.979209133,714,678.020790867,658.979209133,634.020790867,879,787,805,652,631,652,0.400959914311,-0.015363112143,0.0698198127915,0.999999932683,0.000227233711656,-0.000288028365586,6.1691869713e-06,1793244468219218176
+63,1.050000000,BASELINE,765,744.433314522,714,678,658.433314522,634.566685478,879,787,805,652,631,652,0.400960032367,-0.0153632532948,0.0698207398654,0.999999932622,0.000228574106655,-0.00028717656759,6.31561300836e-06,1793244468235884800
+64,1.066666667,BASELINE,765,744.152309034,714,678.304618068,658.152309034,634.847690966,879.152309034,787,805,652,631,652,0.400960334876,-0.0153630571664,0.0698213239685,0.99999993251,0.000229861044883,-0.000286536062464,6.42231925292e-06,1793244468252551168
+65,1.083333333,BASELINE,765,744.731566972,714,679.463133944,658.731566972,634.268433028,879.731566972,787,805,652,631,652,0.400961047758,-0.0153618918843,0.0698207006243,0.999999932233,0.000230782719113,-0.000286760755101,6.38547853087e-06,1793244468269217792
+66,1.100000000,BASELINE,765,744.6907503,714,679.6907503,659,634.3092497,879.6907503,787,805,651.6907503,631,652,0.400960266695,-0.0153615826507,0.0698194796834,0.999999931957,0.00023015303531,-0.000288232636653,6.10832311185e-06,1793244468285884672
+67,1.116666667,BASELINE,765,744.114427977,714,679.114427977,659,634.885572023,879.114427977,787,805,651.114427977,631,652,0.400958195438,-0.0153620127135,0.0698177426493,0.999999931673,0.00022818357567,-0.000290781609021,5.62362836126e-06,1793244468302552064
+68,1.133333333,BASELINE,765,744,714.458127022,679,659,634.541872978,879,787,805,651,631,652,0.400958195721,-0.0153621626739,0.0698180513704,0.999999931565,0.000228878169114,-0.000290606879587,5.74911602846e-06,1793244468319218944
+69,1.150000000,BASELINE,765,744,714.969089321,679,658.969089321,634,879,787,805,651.030910679,631,652,0.400958830575,-0.0153621775499,0.0698189214045,0.999999931537,0.00023023939304,-0.00028962144565,6.01743557971e-06,1793244468335885824
+70,1.166666667,BASELINE,765,744,714.375141354,679,658.375141354,634,879,787,805,651.624858646,631,652,0.400961676284,-0.0153609958309,0.0698207842479,0.99999993219,0.000231721707256,-0.000286159781328,6.13397984173e-06,1793244468352551936
+71,1.183333333,BASELINE,765,744,714,679,658,634,879,787,805,652,631,652,0.400962842198,-0.0153606184525,0.069821602728,0.99999993259,0.000231869066216,-0.000284637204696,6.16969864108e-06,1793244468369218560
+72,1.200000000,BASELINE,765,744,714,679,658,634,879,787,805,652,631,652,0.40096112812,-0.0153616201068,0.0698206306595,0.99999993257,0.000229727659819,-0.000286439171298,6.06684312299e-06,1793244468385884928
+73,1.216666667,BASELINE,765,744,714,679,658.370067824,634,879.370067824,787,805,652,631,652,0.400960354148,-0.0153618532323,0.0698201448335,0.999999932436,0.000229010264975,-0.000287482229192,5.98414340621e-06,1793244468402551552
+74,1.233333333,BASELINE,765,744,714,679,658.945752915,634,879.945752915,787,805,652,631,652,0.400960102517,-0.0153616593473,0.0698199291738,0.999999932241,0.000229084080267,-0.000288103621745,5.91264267197e-06,1793244468419218176
+75,1.250000000,BASELINE,765,744,714,679,658.483410433,634.516589567,879.483410433,787,805.516589567,652,631,652,0.400958829688,-0.0153614845661,0.0698192815496,0.999999931826,0.000229558362232,-0.000289165561227,5.8395945427e-06,1793244468435884544
+76,1.266666667,BASELINE,765,744,714,679,658,634.909252287,879,787,805.909252287,652,631,652,0.400958041007,-0.0153614499833,0.069818923653,0.999999931594,0.000229901315096,-0.000289696067629,5.83027561811e-06,1793244468452551424
+77,1.283333333,BASELINE,765,744,714,679,658,634.31381668,879,787,805.31381668,652,631,652,0.400960535732,-0.0153621840515,0.0698204269834,0.999999932507,0.000229282188448,-0.000287016151013,6.17627808454e-06,1793244468469218560
+78,1.300000000,BASELINE,765.272970012,744.272970012,714,679,658.272970012,634,879.272970012,787,805,652,631,652,0.400961248433,-0.0153627977523,0.069821077925,0.99999993303,0.000228264477908,-0.000285998493707,6.30163251994e-06,1793244468485885440
+79,1.316666667,BASELINE,765.850118912,744.850118912,714,679,658.850118912,634,879.850118912,787,805,652,631,652,0.40095997537,-0.015363277324,0.0698207790233,0.999999933125,0.000226802613107,-0.000286833143308,6.18111203842e-06,1793244468502552064
+80,1.333333333,BASELINE,765.57415569,745,713.57415569,679,659,634,880,787,805,652,630.57415569,652,0.400959349829,-0.0153629467768,0.0698202347859,0.999999932663,0.000227829444178,-0.000287630242887,6.03942615372e-06,1793244468519218688
+81,1.350000000,BASELINE,765,744.998903244,713.001096756,679,659,634.001096756,880,787.001096756,805,652,630,652,0.400958952871,-0.0153623332285,0.0698196071392,0.999999932005,0.000229725368608,-0.000288411569939,5.89088960012e-06,1793244468535885568
+82,1.366666667,BASELINE,765,744.40951586,713.59048414,679,659,634.59048414,880,787.59048414,805,652,630,652,0.400959327628,-0.0153623526482,0.0698204020422,0.999999932228,0.000229521146249,-0.000287798044329,6.05021275191e-06,1793244468552551936
+83,1.383333333,BASELINE,764.823214915,744.176785085,714.176785085,679,659,634.823214915,880,787.823214915,805,652,630.176785085,652,0.400959391612,-0.0153622683914,0.0698206795763,0.999999932224,0.000229579615328,-0.000287764107534,6.10466235859e-06,1793244468569218304
+84,1.400000000,BASELINE,764.243940796,744.756059204,714.756059204,679,659,634.243940796,880,787.243940796,805,652,630.756059204,652,0.400958748058,-0.0153619480929,0.0698197792099,0.999999931703,0.000230236157578,-0.000289049728445,5.92034495423e-06,1793244468585885184
+85,1.416666667,BASELINE,764.332742727,744.667257273,714.667257273,679,659,634,879.667257273,787,804.667257273,651.667257273,631,652.332742727,0.400958787205,-0.0153612423281,0.0698197684421,0.999999931781,0.000230660624149,-0.000288445147812,5.81290979997e-06,1793244468602551808
+86,1.433333333,BASELINE,764.907541667,744.092458333,714.092458333,679,659,634,879.092458333,787,804.092458333,651.092458333,631,652.907541667,0.400959322988,-0.015360256153,0.0698204048195,0.999999932291,0.000230916265473,-0.000286465525701,5.76140323075e-06,1793244468619218944
+87,1.450000000,BASELINE,765,744.481947346,714,679,658.518052654,634,879,787,804.481947346,651.481947346,631,652.518052654,0.400958043432,-0.0153611025532,0.069819416984,0.999999932013,0.000229756101834,-0.000288364240681,5.73366347906e-06,1793244468635885568
+88,1.466666667,BASELINE,765,744.941951498,714,679,658,634,879,786.941951498,805,652,631,652.058048502,0.400956721817,-0.0153622336416,0.0698183315777,0.999999931613,0.000228579146894,-0.00029067455156,5.74451963788e-06,1793244468652552192
+89,1.483333333,BASELINE,765,744.349549025,714,679,658,634,879,786.349549025,805,652,631,652.650450975,0.400958216277,-0.0153627517272,0.0698192139837,0.99999993156,0.000229745860232,-0.000289930265727,6.06872541676e-06,1793244468669218560
+90,1.500000000,BASELINE,765,744,714,679,658,634.237035167,879,786.237035167,805.237035167,652,630.762964833,652.762964833,0.400959007606,-0.0153634660661,0.0698198273251,0.999999931863,0.000229120881883,-0.000289376603659,6.22712071962e-06,1793244468685884928
+91,1.516666667,BASELINE,765,744,714,679,658,634.815244814,879,786.815244814,805.815244814,652,630.184755186,652.184755186,0.400958786889,-0.0153644628805,0.0698200533906,0.999999932673,0.000225917047775,-0.000289097314295,6.14685814556e-06,1793244468702551552
+92,1.533333333,BASELINE,765,744.391905817,714,679,658,634.608094183,879.391905817,787,806,652,630.391905817,652,0.400959847089,-0.0153646396007,0.0698208359213,0.99999993325,0.000225134875124,-0.000287711060253,6.09346765431e-06,1793244468719218432
+93,1.550000000,BASELINE,765,744.96783967,714,679,658,634.03216033,879.96783967,787,806,652,630.96783967,652,0.40096150877,-0.0153644312277,0.0698218797526,0.999999933717,0.000225489846842,-0.000285805006462,6.05269553632e-06,1793244468735885568
+94,1.566666667,BASELINE,765,744.445583683,714,679,659.108832634,634.554416317,880,787,805.445583683,652,631,652,0.400960759839,-0.0153628599145,0.0698212110609,0.999999932822,0.000229572417343,-0.000285685256325,6.055878161e-06,1793244468752552192
+95,1.583333333,BASELINE,765,744.139760098,714,678.860239902,659.860239902,635,880,787,805,652,631,652.139760098,0.40096017248,-0.0153618019697,0.0698206067073,0.999999932126,0.000232579740238,-0.000285686879586,6.09840639535e-06,1793244468769218816
+96,1.600000000,BASELINE,765,744.719244668,714,678.280755332,659.280755332,635,880,787,805,652,631,652.719244668,0.400960542041,-0.0153626128414,0.0698205234458,0.999999932359,0.000231510401737,-0.000285737982083,6.25654785486e-06,1793244468785885184
+97,1.616666667,BASELINE,765,744.703813421,714,678.296186579,659,634.703813421,879.703813421,787,805.296186579,652,631.296186579,652.703813421,0.400960055696,-0.0153631303994,0.0698204395299,0.999999932554,0.000229753855871,-0.000286471392736,6.24864606872e-06,1793244468802551552
+98,1.633333333,BASELINE,765,744.12926122,714,678.87073878,659,634.12926122,879.12926122,787,805.87073878,652,631.87073878,652.12926122,0.400958764943,-0.0153633722918,0.069820354999,0.999999932709,0.000227351450599,-0.000287846058424,6.08469151811e-06,1793244468819218176
+99,1.650000000,BASELINE,765,744,714,679,658.55690072,634,879,787,805.55690072,652,631.55690072,652,0.400958904526,-0.0153634619878,0.0698203734893,0.999999932462,0.000228456634854,-0.000287826390403,6.24371450504e-06,1793244468835884800
+100,1.666666667,BASELINE,765,744,714,679,658.015431675,634.015431675,879,787,805,652,631,652,0.400959454043,-0.0153634516772,0.0698204313284,0.999999932097,0.000230578016935,-0.000287399183725,6.47846911454e-06,1793244468852551168
+101,1.683333333,BASELINE,765,744,714,679,658.610610377,634.610610377,879,787,805,652,631,652,0.400959805569,-0.0153613440529,0.0698208439386,0.999999931778,0.000232624179461,-0.000286867358491,6.03609202201e-06,1793244468869218048
+102,1.700000000,BASELINE,765,744,714,679,659,635,879,787,805,652,631,652,0.400959284097,-0.0153604492695,0.0698204619473,0.999999931581,0.000232816799538,-0.000287405087599,5.66929324683e-06,1793244468885884672
+103,1.716666667,BASELINE,765,744,714,679,659,635,879,787,805,652,631,652,0.400957110758,-0.0153618493973,0.0698185764286,0.999999931609,0.000229502187266,-0.000289966603891,5.44550214608e-06,1793244468902551296
+104,1.733333333,BASELINE,765,744,714,679,659,634.643569673,879.356430327,787,805,652,631,652,0.400957769565,-0.0153624329646,0.0698191357627,0.99999993211,0.000228589195903,-0.000288954905327,5.66623211419e-06,1793244468919218176
+105,1.750000000,BASELINE,765,744,714,679,659,634.069170184,879.930829816,787,805,652,631,652,0.400960160326,-0.0153625171776,0.0698211902065,0.999999932899,0.000229144876375,-0.000285758065661,6.158801681e-06,1793244468935884800
+106,1.766666667,BASELINE,765,744,714,679,659,634,879.498846755,787,805,651.498846755,631,652,0.400960391082,-0.0153628778206,0.0698209822763,0.999999932935,0.000228659854368,-0.000286019938062,6.07492741448e-06,1793244468952551424
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,714,680,659,635,879,787,806,651,631,652,0.400957211045,-0.0153616632669,0.0698188409947,0.999999931832,0.000228424798182,-0.000290041303433,5.80131432078e-06,1793244468995061504
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.423318475,744,714,679.423318475,659,634.423318475,879,787,805.423318475,651.576681525,631,652,0.400959556063,-0.0153623357952,0.0698208357679,0.999999932535,0.000228968136712,-0.000287168048812,6.11685461406e-06,1793244469011728640
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.15318852,744.15318852,714.15318852,679,659,634,879,787,805,652,631,652,0.400961040932,-0.0153629319194,0.0698221048705,0.999999933061,0.000228945077627,-0.000285345246479,6.33227173443e-06,1793244469028395520
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.729213897,744.729213897,714.729213897,679,659,634,879,787,805,652,631,652,0.400960151583,-0.0153633171505,0.0698213709494,0.999999933116,0.000227358626138,-0.000286421942399,6.2713250848e-06,1793244469045062400
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.687830319,745,714.687830319,679,659,634,879.312169681,787,805,652,631,652,0.400960323926,-0.0153635366001,0.0698212850606,0.999999933211,0.000227032810287,-0.000286347884005,6.22576553197e-06,1793244469061729024
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.098726419,745,714.098726419,679,659,634,879.901273581,787,805,652,631,652,0.400961438123,-0.0153636089806,0.0698217740591,0.999999933344,0.00022782533872,-0.000285252960076,6.19385629517e-06,1793244469078395392
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.514898414,714,679,659,634.485101586,879.514898414,787,805,652,631,652,0.400960692046,-0.0153619165768,0.0698215007493,0.999999932733,0.000229600182677,-0.000285971133131,6.11849873493e-06,1793244469095061504
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,652,631,652,0.400959748604,-0.015360261089,0.0698211216718,0.99999993206,0.000231297176603,-0.000286959700343,6.03896733294e-06,1793244469111728128
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,652,631,652,0.400960149244,-0.0153615812719,0.0698211045306,0.999999932073,0.00023090311114,-0.000287230311342,5.99413425951e-06,1793244469128395008
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,714.215221406,678.784778594,658.784778594,634.784778594,879.215221406,787,805,652,631,652,0.400963223361,-0.0153624164649,0.0698224262867,0.999999932644,0.000230720115629,-0.000285383852321,6.1039719818e-06,1793244469145061632
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714.788605451,678.211394549,658.211394549,634.211394549,879.788605451,787,805,652,631,652,0.40097074657,-0.0153624445573,0.0698259761808,0.99999993412,0.000230888374113,-0.000280014252139,6.47120650521e-06,1793244469161728256
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.627157809,744,714.627157809,678.372842191,658.372842191,634,879.627157809,787,805.372842191,652,631,652,0.40099272758,-0.0153643770699,0.069835936942,0.999999938862,0.000229141246697,-0.000264043863091,7.16131332304e-06,1793244469178394880
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.036583258,744,714.036583258,678.963416742,658.963416742,634,879.036583258,787,805.963416742,652,631,652,0.401023151657,-0.0153674217257,0.0698496415213,0.999999945114,0.00022627557227,-0.000241882825407,8.03997111532e-06,1793244469195061504
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.542424759,744,714,679,659,634,879.542424759,787,805.457575241,652,631,652,0.401079010541,-0.0153708418488,0.0698681130011,0.999999952506,0.000226271427384,-0.000209036337987,9.6961459302e-06,1793244469211728384
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.879762494,744,714,679,659,634,879.879762494,787,805.120237506,652,631,652.120237506,0.401137337388,-0.0153736695993,0.0698852855659,0.999999957867,0.000227013341697,-0.000180579709895,1.10034773536e-05,1793244469228395008
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.303585695,744,714,679,659,634,879.303585695,787,805.696414305,652,631,652.696414305,0.401198653685,-0.0153741570608,0.0698963389988,0.999999958825,0.000229867758025,-0.000171445082682,1.07933032893e-05,1793244469245061376
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.277857156,744,714,679,659,634.277857156,879.277857156,787,805.722142844,652,631,652.722142844,0.40126694309,-0.0153768603692,0.0699035287043,0.999999960616,0.000228366764379,-0.000162830895427,1.01110812643e-05,1793244469261728000
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.865164792,744,714,679,659,634.865164792,879.865164792,787,805.134835208,652,631,652.134835208,0.401342998467,-0.0153820314742,0.0699064153624,0.999999963334,0.000222015135359,-0.000154796324505,8.90313780001e-06,1793244469278394624
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.55126011,635,879.55126011,787,805.44873989,652,631,652,0.401435477091,-0.0153861941339,0.0699082667147,0.999999964152,0.000219637830043,-0.000152983049855,7.14482683949e-06,1793244469295061248
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.030799165,635,879,787.030799165,806,651.969200835,631,652,0.401534332831,-0.0153900520088,0.0699098560264,0.999999964448,0.000218485871368,-0.000152777805589,5.17754956085e-06,1793244469311728128
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.605729208,635,879,787.605729208,806,651.394270792,631,652,0.401659389671,-0.0153938344171,0.0699122664495,0.999999965237,0.000218058474257,-0.000148228331345,2.41598310619e-06,1793244469328394752
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879.180334213,787.819665787,805.819665787,651.180334213,631,652,0.401793428206,-0.0153984869863,0.0699151539308,0.999999966593,0.000215413001581,-0.000142868077296,-4.32450761705e-07,1793244469345061632
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879.75422978,787.24577022,805.24577022,651.75422978,631,652,0.401947068374,-0.0154050385941,0.0699190825435,0.999999969165,0.000207926801257,-0.000135738378142,-3.47046369449e-06,1793244469361728256
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.337252559,744.337252559,714,679,659,634.662747441,880,787,805,652,631,652,0.402113944108,-0.0154118566301,0.0699222630174,0.999999971275,0.000201247178212,-0.000130007154881,-6.89865402183e-06,1793244469378394880
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.927111803,744.927111803,714,679,659,634.072888197,880,787,805,652,631,652,0.402290733473,-0.0154188742251,0.0699248831257,0.999999973045,0.00019517169157,-0.000125323408055,-1.06190927644e-05,1793244469395061248
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.493920629,744.493920629,714,679,659,634,879.493920629,787,805,652,631,652,0.402500179847,-0.0154282014731,0.0699256475816,0.999999975293,0.000184882597251,-0.000122475825657,-1.520337558e-05,1793244469411727616
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.083281643,744,714,679,659,634,879,787,805.083281643,652,631,652,0.402720539351,-0.0154379943322,0.0699265064594,0.99999997793,0.000172121281449,-0.000118808221187,-1.99717271923e-05,1793244469428394496
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.659125792,744,714,679,659,634,879,787,805.659125792,652,631,652,0.402978211772,-0.0154486150439,0.0699294711777,0.999999982781,0.0001482518473,-0.000108759522761,-2.51083992325e-05,1793244469445061120
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.765292241,744,714,679.234707759,658.765292241,634.234707759,879.234707759,787,805.765292241,652,631,652,0.403252665181,-0.0154589493225,0.0699359987738,0.99999998932,0.000106945315655,-9.50621407378e-05,-2.97786327305e-05,1793244469461728000
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.190090659,744,714,679.809909341,658.190090659,634.809909341,879.809909341,787,805.190090659,652,631,652,0.403551462987,-0.0154688680679,0.0699476950863,0.999999995723,4.0342544378e-05,-7.60715628315e-05,-3.37721969405e-05,1793244469478395136
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.399267325,714,679.600732675,658,635,879.600732675,787,805,651.600732675,631,652,0.403860016492,-0.0154775899749,0.0699508857401,0.999999996465,1.57047515808e-05,-7.29072315136e-05,-3.88300977475e-05,1793244469495061760
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.995612889,714,679.004387111,658,635,879.004387111,787,805,651.004387111,631,652,0.404173385398,-0.0154857211226,0.0699498780029,0.999999995937,1.17808622461e-05,-7.75547316873e-05,-4.44133547322e-05,1793244469511728384
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.429093918,714,679,658.570906082,634.429093918,879.570906082,787,805,651.570906082,631,652,0.404547480186,-0.0154861442544,0.0699580436027,0.999999996816,-1.38328316269e-05,-6.17205157882e-05,-4.86443100592e-05,1793244469528395008
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,714.146308281,679,659,634.146308281,879.853691719,787,805.146308281,652,631,652,0.40493005014,-0.015482303933,0.0699639293239,0.999999997534,-1.10009840252e-05,-5.02229323847e-05,-4.78363565976e-05,1793244469545061632
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,714.722489065,679,659,634.722489065,879.277510935,787,805.722489065,652,631,652,0.405336198846,-0.0154661048809,0.0699629167186,0.999999995254,7.58798144344e-05,-5.19129238095e-05,-3.22528880718e-05,1793244469561728000
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.304168358,714.695831642,679.304168358,659,635,879,787,805.695831642,651.695831642,631,652,0.405749572088,-0.0154586283501,0.0699594268023,0.999999992568,0.000103680344258,-5.74072819697e-05,-2.86148144645e-05,1793244469578394368
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.890956692,714.109043308,679.890956692,659,635,879,787,805.109043308,651.109043308,631,652,0.406169658101,-0.0154592564041,0.0699536350764,0.99999999421,7.65860748093e-05,-6.64364922741e-05,-3.60758793398e-05,1793244469595060992
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679.526328788,659,634.526328788,879,787,805.473671212,651.473671212,631,652,0.406624398056,-0.0154678722126,0.069938183758,0.999999993363,5.91509008561e-05,-9.0319978895e-05,-4.02208203381e-05,1793244469611727872
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.054697101,787,806,651.945302899,631,652,0.407094740486,-0.0154776531118,0.0699227001845,0.999999991588,4.51984531152e-05,-0.00011358658353,-4.3339670723e-05,1793244469628395008
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879.628521614,787,806,651.371478386,631,652,0.407638095713,-0.0154811882057,0.0699278357494,0.999999993213,4.33761695658e-05,-9.88200434147e-05,-4.39035677378e-05,1793244469645062144
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.796876173,714,679,659,634,879.796876173,787,806,651.203123827,631,652,0.408204187932,-0.0154832415743,0.0699371682559,0.999999995103,4.24775306843e-05,-7.75188684523e-05,-4.44977980096e-05,1793244469661729024
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.220846252,714,679,659,634,879.220846252,787,806,651.779153748,631,652,0.408812021961,-0.0154825747086,0.0699542057424,0.999999997067,4.32745704982e-05,-4.42210457652e-05,-4.51477157208e-05,1793244469678395648
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.634689142,634.365310858,879.365310858,787,805.634689142,652,631,652,0.409398981757,-0.0154815061229,0.0699553376171,0.999999997337,4.13020209354e-05,-3.82549571715e-05,-4.6438786943e-05,1793244469695062016
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.042235166,634.957764834,879.957764834,787,805.042235166,652,631,652,0.409972962341,-0.0154801877557,0.069946579694,0.99999999692,3.76073950776e-05,-4.92832053117e-05,-4.81285148188e-05,1793244469711728640
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.531276334,714,679,658.531276334,634.468723666,880,787,805,651.468723666,631,652,0.410585508438,-0.0154794891834,0.0699404747025,0.999999996186,3.4769840934e-05,-6.32907355174e-05,-4.91282938019e-05,1793244469728395008
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.895397703,714,679.104602297,659,634,880,787,805,651.104602297,631,652,0.411219199455,-0.0154799713305,0.069940220795,0.999999996019,3.17120688007e-05,-6.70524776349e-05,-4.96107445552e-05,1793244469745061376
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.316317967,714,679.683682033,659,634,880,787,805,651.683682033,631,652,0.41193537591,-0.0154855934322,0.0699655837684,0.999999998203,2.73569640696e-05,-2.33018334093e-05,-4.79868187059e-05,1793244469761727744
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,714,679.733651385,659.266348615,634,879.733651385,787,805.266348615,652,630.733651385,652,0.412666099784,-0.0154904607912,0.06999377912,0.999999998396,2.40074347987e-05,2.22955214361e-05,-4.62072678698e-05,1793244469778394624
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,714,679.146666805,659.853333195,634,879.146666805,787,805.853333195,652,630.146666805,652,0.413414336237,-0.0154944195763,0.0700253841505,0.999999996324,2.18684374711e-05,7.01159904151e-05,-4.42403722532e-05,1793244469795061760
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659.562956942,634,879.437043058,787,806,652,630,652,0.414137219034,-0.0154916140248,0.070019911141,0.999999997208,2.10208575488e-05,5.50019701221e-05,-4.60064844804e-05,1793244469811728384
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714.019395823,679.019395823,659.019395823,634,880,787,806,652,630.019395823,652,0.414851418507,-0.0154865310984,0.0700008175111,0.99999999843,2.08379655618e-05,1.71454091412e-05,-4.91058192792e-05,1793244469828395008
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714.594124689,679.594124689,659.594124689,634,880,787,806,652,630.594124689,652,0.415558799329,-0.0154807546709,0.0699453565421,0.999999995558,2.73699151968e-05,-7.16610427793e-05,-5.47758029271e-05,1793244469845061376
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714.830863389,679.830863389,659.830863389,634,879.830863389,787,805.830863389,652,631,652,0.416302951686,-0.0154781611892,0.0699109175183,0.999999989749,2.84680921418e-05,-0.000127359516153,-5.8917717049e-05,1793244469861728000
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714.255171119,679.255171119,659.255171119,634,879.255171119,787,805.255171119,652,631,652,0.417135492169,-0.0154832185921,0.0699270091945,0.999999992747,1.65050458794e-05,-0.000103475948376,-5.93865930295e-05,1793244469878394624
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.327420892,714,679,659,634.327420892,879.327420892,787,805,651.672579108,631,652,0.417974152584,-0.0154882734073,0.0699497738619,0.999999995962,7.37551167181e-06,-6.82744448241e-05,-5.79753545074e-05,1793244469895061248
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.915505849,714,679,659,634.915505849,879.915505849,787,805,651.084494151,631,652,0.418817685118,-0.015493326162,0.0699778509843,0.999999998194,5.01774124002e-07,-2.40625852798e-05,-5.50673320907e-05,1793244469911728128
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.49796219,745,714,679,659.49796219,634.50203781,880,787,805.49796219,651.49796219,631,652.49796219,0.419691013149,-0.0154969072088,0.0700005527967,0.999999998527,-3.15624521297e-06,6.98034573166e-06,-5.37270440827e-05,1793244469928394752
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.921479435,744.921479435,714,679.078520565,660,634,879.921479435,787,806,651.921479435,631,652.921479435,0.420566768125,-0.0155000846695,0.0700201232843,0.999999998032,-6.85316614242e-06,3.30804702091e-05,-5.28600782114e-05,1793244469945061632
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.346945063,744.346945063,714,679.653054937,660,634,879.346945063,787,806,651.346945063,631,652.346945063,0.421426273883,-0.0155022725207,0.0700256104241,0.999999997599,-1.42041218438e-05,4.19144756685e-05,-5.33214653522e-05,1793244469961728256
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.22735654,714,680.22735654,660,634,879.22735654,787,806,651.22735654,631,652,0.422261141306,-0.0155022848235,0.0700052631072,0.99999999821,-1.81783430244e-05,8.71028132245e-06,-5.63373335737e-05,1793244469978394880
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.801303392,714,680.801303392,660,634,879.801303392,787,806,651.801303392,631,652,0.423058449315,-0.0154989806441,0.0699455328361,0.999999993932,-1.70049522522e-05,-8.85784232463e-05,-6.32473423784e-05,1793244469995061504
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.611271405,714,680.611271405,660,634,880,787,806,651.611271405,631,652,0.423894555209,-0.0154963318063,0.0698915016549,0.999999983405,-2.2329457136e-05,-0.000166607538033,-7.02400431781e-05,1793244470011727872
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.016709393,714,680.016709393,660,634,880,787,806,651.016709393,631,652,0.424751204696,-0.015494029975,0.0698404881693,0.99999996905,-3.10946249891e-05,-0.000234438613421,-7.72765292704e-05,1793244470028394752
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.560011649,714,680,660,634,880,787,806,651,631,652.560011649,0.425701515129,-0.0154986982376,0.0698963824514,0.999999986481,-2.42297535272e-05,-0.00014611620399,-7.14271774603e-05,1793244470045061376
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.863975009,745,714,680,660,634,880,787,806,651,631,652.863975009,0.426648157022,-0.0155029089933,0.0699520446924,0.999999995649,-2.02045683354e-05,-6.31576235463e-05,-6.56116401598e-05,1793244470061728256
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.288581241,745,714,680,660,634,880,787,806,651,631,652.288581241,0.427574201186,-0.0155049909564,0.0699969720723,0.9999999977,-2.68116088016e-05,-1.21095140551e-05,-6.11088848909e-05,1793244470078394880
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,714,680.29403357,660,634.29403357,880,786.70596643,806,651,631,652,0.428512661665,-0.0155068889864,0.0700309217796,0.999999997073,-3.07060329413e-05,3.81071146253e-05,-5.88156508006e-05,1793244470095061504
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,745,714,680.883913921,660,634.883913921,880,786.116086079,806,651,631,652,0.429463614968,-0.0155086019488,0.0700538261158,0.99999999394,-3.1871112533e-05,8.7487131889e-05,-5.87455635742e-05,1793244470111728128
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+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.044440689,714,680,660,634,880.955559311,787,806,651.955559311,631,652,0.431160055393,-0.0155050881284,0.0699860619576,0.999999996996,-3.1934983906e-05,-2.84024180867e-05,-6.46668121597e-05,1793244470145061376
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,714,681.410563454,657.410563454,631,879.410563454,781,806,651,629,652,0.45376192286,-0.015693760598,0.0695721297936,0.999999735286,-0.000296044798808,-0.000660722896074,-7.23173218579e-05,1793244471195061248
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.670664475,634,880.341328949,787,805.670664475,651.329335525,630.670664475,652.670664475,0.409472808056,-0.0153718696205,0.0698293888211,0.999999937265,0.00021657077229,-0.000279433891459,2.20104713001e-05,1793244473111465216
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.091177964,634,879.182355928,787,805.091177964,651.908822036,630.091177964,652.091177964,0.408808595601,-0.0153632982978,0.0697880184731,0.999999912608,0.000226334445109,-0.000351080065053,1.73244950105e-05,1793244473128131584
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.486443153,714,679,658.486443153,634.486443153,879.486443153,787,805.486443153,652,630.486443153,652,0.408208701462,-0.0153595139461,0.0697714671012,0.999999904214,0.000232166040768,-0.000370738681359,1.49908531761e-05,1793244473144798208
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.937077893,714,679.062922107,659,635,879.937077893,787,805.937077893,652,631,652,0.407630768196,-0.0153574260275,0.0697634985907,0.999999901434,0.000236243628446,-0.000375683355803,1.35514445202e-05,1793244473161465088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.366997451,714,679.633002549,659,635,879.366997451,787,805.366997451,652,631,652,0.407133042774,-0.0153618071447,0.0697873562757,0.999999915047,0.000232101507025,-0.00034027337992,1.57793843406e-05,1793244473178131712
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.788865919,744,714,679.788865919,658.788865919,634.788865919,879,786.788865919,805.211134081,652,631,652,0.406641504072,-0.0153630925807,0.0698047800252,0.999999923075,0.000230126964469,-0.000317166356976,1.72241506659e-05,1793244473194798592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.196185082,744,714,679.196185082,658.196185082,634.196185082,879,786.196185082,805.803814918,652,631,652,0.406161145634,-0.0153587837177,0.0698105768136,0.999999922903,0.000232069519858,-0.000316292375347,1.72536203666e-05,1793244473211465216
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.388800581,744.388800581,714,679,658.388800581,634,879.388800581,786,805.611199419,652,631,652,0.405695402959,-0.0153588951239,0.069807577917,0.99999992048,0.000229842040281,-0.000325446272366,1.72575011558e-05,1793244473228132096
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.969978743,744.969978743,714,679,658.969978743,634,879.969978743,786,805.030021257,652,631,652,0.405236892086,-0.0153611936682,0.0698002269373,0.999999916763,0.000225551237682,-0.000339561939202,1.72487206132e-05,1793244473244798720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.454965675,714,679,658.454965675,634.545034325,879.454965675,786,805,652,631,652,0.404849823335,-0.0153605610348,0.0698101515706,0.999999921497,0.000233368799546,-0.000319749143047,1.74839297217e-05,1793244473261465088
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.122453997,744,714,678.877546003,658,634.877546003,879,786.122453997,805,652,631,652.122453997,0.404478756296,-0.0153598738704,0.0698219010966,0.999999927347,0.000238575117714,-0.000296763753884,1.78491318083e-05,1793244473278131712
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.710122203,744,714,678.289877797,658,634.289877797,879,786.710122203,805,652,631,652.710122203,0.40415369728,-0.0153595861004,0.0698370086378,0.999999936951,0.000231355436549,-0.000268746362,1.86576995344e-05,1793244473294798336
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.706779891,744,714,678.293220109,658.293220109,634.293220109,879,787,805.293220109,652,631,652.706779891,0.40383498623,-0.0153591755434,0.0698452324816,0.999999941707,0.000228997348181,-0.000252603805351,1.83505757002e-05,1793244473311465216
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.12813088,744,714,678.87186912,658.87186912,634.87186912,879,787,805.87186912,652,631,652.12813088,0.403522454493,-0.015358645462,0.0698467555352,0.999999942333,0.000231371674857,-0.000248020557224,1.6957405525e-05,1793244473328132352
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.551309857,634.551309857,879,787,805.551309857,652,631,652,0.40321853375,-0.0153554174569,0.069833280319,0.999999935646,0.000235988123232,-0.000269765769321,1.56230154818e-05,1793244473344799232
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.024996848,634,879.024996848,787,805,651.975003152,631,652,0.402919152403,-0.0153514121451,0.06981610473,0.999999926233,0.00024165906507,-0.000298207987172,1.43741024977e-05,1793244473361465600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.601426733,634,879.601426733,787,805,651.398573267,631,652,0.402665884535,-0.0153471863182,0.0698113986645,0.999999919188,0.000256525027442,-0.000309200362377,1.46420316322e-05,1793244473378132224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.818231461,634.181768539,879.818231461,787,805,651.181768539,631,652.181768539,0.402428307252,-0.0153440013001,0.0698071785816,0.999999913764,0.000266438563709,-0.000318205082689,1.50936892606e-05,1793244473394798848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.229123193,634.770876807,879.229123193,787,805,651.770876807,631,652.770876807,0.402225892296,-0.0153431487146,0.0698040475763,0.999999912607,0.000265253808462,-0.000322755506124,1.59570788107e-05,1793244473411465216
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.354173244,634.645826756,879.354173244,787,805,652,631,652.645826756,0.402039580024,-0.0153437169494,0.069800342295,0.999999911389,0.00026206596932,-0.000329019432823,1.70302140525e-05,1793244473428131840
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.933770626,634.066229374,879.933770626,787,805,652,631,652.066229374,0.401863516764,-0.0153451895077,0.0697962714982,0.99999991008,0.00025760320748,-0.000336373970278,1.82368482878e-05,1793244473444798464
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.509568782,714,679.509568782,659,634.509568782,880,787,805.509568782,652,631,652,0.40172226277,-0.0153490314092,0.0697982895431,0.999999911729,0.000254990491792,-0.000333381697382,1.94418461951e-05,1793244473461465344
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.915290389,659,634.915290389,879.915290389,787,805.915290389,652,631,652,0.40158914905,-0.0153528151943,0.0698004909071,0.999999913426,0.000253348133898,-0.000329488647228,1.99765268881e-05,1793244473478132224
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.34111538,659,634.34111538,879.34111538,787,805.34111538,652,631,652,0.40147712292,-0.0153544969781,0.0697992126685,0.999999913285,0.000255933560839,-0.000328103662392,1.66392299966e-05,1793244473494799872
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.759852205,634,879.240147795,787,805,652,630.759852205,652,0.401377082725,-0.0153559223909,0.0697986965903,0.999999915503,0.000249849917456,-0.000326275216814,1.061755194e-05,1793244473511466752
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.168214545,634,879.831785455,787,805,652,630.168214545,652,0.401294585624,-0.015356972569,0.0697992960402,0.999999920879,0.000231077877665,-0.000323797704439,6.66907023077e-07,1793244473528133120
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.587357664,714,679.412642336,658.412642336,634.412642336,880,787,805,651.587357664,630.412642336,652,0.401224862916,-0.0153565223679,0.0698002882308,0.999999922395,0.000226512679985,-0.000322336067213,-9.51336258712e-07,1793244473544799488
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.010783709,714,679.989216291,658.989216291,634.989216291,880,787,805,651.010783709,630.989216291,652,0.40116021513,-0.0153554761068,0.0698014364466,0.999999922491,0.000227591476192,-0.000321278009753,7.4065808623e-07,1793244473561465600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.433480962,659,634.433480962,879.433480962,787,805,651,631,652,0.401110136982,-0.0153535280904,0.0697997162253,0.999999920307,0.000231019092141,-0.000325596937364,1.73661300388e-06,1793244473578131968
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.143979963,714,679,658.856020037,634,879,786.856020037,805,651,631,652,0.401065183645,-0.0153522497407,0.0697985643198,0.999999918922,0.00023355472085,-0.000328026019096,2.59966676516e-06,1793244473594798336
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.721875627,714,679,658.278124373,634,879,786.278124373,805,651,631,652,0.401034838193,-0.0153530413782,0.0697992899246,0.999999920154,0.000233267229927,-0.000324450773214,3.10217374408e-06,1793244473611465216
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.305617656,634,879,786.305617656,805,651.305617656,631,652,0.40101031026,-0.0153534136299,0.0698000784727,0.99999992109,0.000233082768174,-0.000321684775464,3.4914011799e-06,1793244473628132096
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.894783941,634,879,786.894783941,805,651.894783941,631,652,0.400991179752,-0.0153533967805,0.069800925419,0.999999921755,0.000232993895698,-0.00031966958863,3.77552918548e-06,1793244473644798976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.526587903,744.526587903,714.473412097,678.526587903,658.526587903,634,879,787,805,652,631,652,0.400977839189,-0.015353465062,0.0698020552569,0.999999922237,0.000232766540134,-0.000318322320747,4.18213887861e-06,1793244473661465856
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.049695174,744,714.950304826,678.049695174,658.049695174,634.049695174,879,787,805,652,631,652,0.400966480332,-0.0153534976603,0.069803209695,0.999999922681,0.00023270048511,-0.000316967036831,4.57435172025e-06,1793244473678132480
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.625407345,744,714.374592655,678.625407345,658.625407345,634.625407345,879,787,805,652,631,652,0.40096277336,-0.0153529566477,0.0698039735149,0.999999923162,0.000234660461758,-0.000313989843966,4.53231306181e-06,1793244473694798848
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.792925272,634.792925272,879,787,805,652,631,652,0.400960590008,-0.0153531912377,0.0698056869196,0.999999924091,0.000235543812802,-0.000310347026,4.65086730662e-06,1793244473711465216
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.20016612,634.20016612,879,787,805,652,631,652,0.400961244458,-0.0153548704168,0.0698091689613,0.999999925856,0.000234421908275,-0.000305464456569,5.06853184233e-06,1793244473728131840
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.381894927,714,679,658.763789853,634.381894927,879,787,805,652,631,652,0.40095893046,-0.0153546249577,0.0698097976803,0.999999926204,0.000233718015073,-0.000304865941892,5.05001282256e-06,1793244473744798464
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.958501456,714,679,659.917002912,634.958501456,879,787,805,652,631,652,0.400955102978,-0.0153533982092,0.0698089716141,0.999999925835,0.000233227247689,-0.000306451680436,4.80910277835e-06,1793244473761465344
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.93472546,634.46736273,879,787,805,652,631,652,0.400955278107,-0.0153534767225,0.0698097667719,0.999999925537,0.000234980451565,-0.000306083922906,4.76539219944e-06,1793244473778131968
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.894359281,714,678.894359281,658,634.105640719,879.105640719,787,805.105640719,652,631,652,0.400955812159,-0.015353736212,0.0698107921927,0.999999925435,0.000236625861051,-0.000305149043091,4.78553202541e-06,1793244473794798848
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.325481235,714,678.325481235,658,634.674518765,879.674518765,787,805.674518765,652,631,652,0.400956558938,-0.0153543454109,0.0698122759992,0.999999926174,0.000237035489707,-0.000302391635551,5.01859666362e-06,1793244473811465472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.256833113,714,678.256833113,658.256833113,635,879.743166887,787,805.743166887,652,631,652,0.400956585685,-0.0153547348393,0.0698129460082,0.999999926785,0.000236300816265,-0.000300941769571,5.09075065741e-06,1793244473828132096
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.857115176,714,678.857115176,658.857115176,635,879.142884824,787,805.142884824,652,631,652,0.400955649571,-0.0153548303806,0.0698125277702,0.999999927228,0.000234035929935,-0.000301240407406,4.94772763236e-06,1793244473844798464
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.561631036,714,679,658.561631036,634.561631036,879,787,805,652,631,652,0.400954066997,-0.0153550768976,0.0698118972271,0.999999927011,0.000233071582491,-0.000302707756507,4.76118519142e-06,1793244473861465088
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634,879.013683862,787,805,652,631,652,0.400952361285,-0.0153553583331,0.0698112319229,0.999999926598,0.000232554906855,-0.000304468339665,4.56258468888e-06,1793244473878131712
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634,879.589217387,787,805,652,631,652,0.400953891376,-0.0153551370242,0.0698118624523,0.999999926684,0.000233738114248,-0.000303278578201,4.42708467265e-06,1793244473894798336
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.168561399,714,679,658.168561399,634.168561399,879.831438601,787,804.831438601,652,631,652,0.400955355491,-0.0153551502446,0.0698127554317,0.999999926943,0.000234828710581,-0.000301576596115,4.57612314933e-06,1793244473911465216
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.757406276,714,679,658.757406276,634.757406276,879.242593724,787,804.242593724,652,631,652,0.400956655103,-0.0153557482301,0.0698143027922,0.99999992763,0.000235688394553,-0.000298597466032,5.43461722999e-06,1793244473928131840
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.340863596,744.659136404,714,678.659136404,659,634.659136404,879,787,804.340863596,651.659136404,631,652,0.400957092472,-0.0153559587395,0.0698150788187,0.999999928037,0.000235478196994,-0.000297397281751,5.48042347051e-06,1793244473944798464
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.92054621,744.07945379,714,678.07945379,659,634.07945379,879,787,804.92054621,651.07945379,631,652,0.40095692573,-0.0153558977718,0.069815314426,0.999999928252,0.000234518409064,-0.000297443479124,4.95683677278e-06,1793244473961465088
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.505030107,744,714,678.494969893,658.505030107,634.494969893,879.494969893,787,805.494969893,651.494969893,631,652,0.40095628891,-0.0153558275491,0.069814286979,0.99999992808,0.000233846347846,-0.000298549958793,4.86713211948e-06,1793244473978131712
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634.931241786,879.931241786,787,805.931241786,652,631,652.068758214,0.400955783866,-0.0153558747532,0.0698133542862,0.99999992793,0.000233304392393,-0.000299475769126,4.86976742672e-06,1793244473994798592
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658,634.355980927,879.355980927,787,805.355980927,652,631,652.644019073,0.40095679956,-0.0153567978018,0.069814597427,0.999999928402,0.000233384198859,-0.00029783011126,5.04495663326e-06,1793244474011464960
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..08dd9572cffb8b4d3296c8607dfc6f4faf684f6f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,412 @@
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+379,6.316666667,pose2_to_pose3_retreat,0.575845985386,-0.0101221666523,1.06005092297,0.546417618,-0.00144648306042,1.05971740975
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+383,6.383333333,pose2_to_pose3_retreat,0.575718051251,-0.0101222600738,1.06005095841,0.546289684829,-0.00144657305822,1.05971744922
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+385,6.416666667,pose2_to_pose3_retreat,0.575690892465,-0.0101220818031,1.06005086963,0.546262524388,-0.00144640034392,1.05971736207
+386,6.433333333,pose2_to_pose3_retreat,0.575683339297,-0.0101221382788,1.06005088599,0.546254972723,-0.00144645185181,1.05971737505
+387,6.450000000,pose2_to_pose3_retreat,0.575678869999,-0.0101221512578,1.06005095389,0.546250503982,-0.00144646304291,1.05971744029
+388,6.466666667,pose2_to_pose3_retreat,0.575676078821,-0.0101221508962,1.06005102043,0.546247713013,-0.00144646204185,1.05971750487
+389,6.483333333,pose2_to_pose3_retreat,0.575674447659,-0.0101221189739,1.06005104528,0.546246081424,-0.00144643138237,1.05971753456
+390,6.500000000,pose2_to_pose3_retreat,0.575673392232,-0.0101220853627,1.06005105563,0.546245025495,-0.00144639925705,1.05971755048
+391,6.516666667,pose2_to_pose3_retreat,0.575672719449,-0.0101220639373,1.06005106223,0.546244352394,-0.00144637877877,1.05971756062
+392,6.533333333,pose2_to_pose3_retreat,0.575672059668,-0.0101220429259,1.0600510687,0.546243692299,-0.00144635869622,1.05971757057
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+394,6.566666667,pose2_to_pose3_retreat,0.57567170523,-0.0101220601443,1.06005107106,0.546243338066,-0.00144637519899,1.05971757339
+395,6.583333333,pose2_to_pose3_retreat,0.575671570811,-0.0101220754008,1.06005107161,0.546243203841,-0.00144638981231,1.05971757369
+396,6.600000000,pose2_to_pose3_retreat,0.575671187807,-0.010122118872,1.06005107319,0.546242821385,-0.00144643145076,1.05971757453
+397,6.616666667,pose2_to_pose3_retreat,0.57567089174,-0.0101221524756,1.0600510744,0.546242525742,-0.00144646363771,1.05971757518
+398,6.633333333,pose2_to_pose3_retreat,0.575670755204,-0.0101221679726,1.06005107496,0.546242389402,-0.00144647848131,1.05971757548
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+400,6.666666667,pose2_to_pose3_retreat,0.575670317026,-0.0101222119057,1.06005108115,0.546241951773,-0.00144652061542,1.05971757998
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab32971cf76f24b8a6c82acc3d3a453edffe0803
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3019da4bebc371048cad6a205ed8e40e5d63cbf5c22b8e922c1c14745bb68b46
+size 26072689
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdd7e3ab6943119cd01a6b4c3a51a5237669d46f
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_05/franka_data.csv
@@ -0,0 +1,412 @@
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+27,0.450000000,BASELINE,765,744.336204031,714,678.336204031,658.336204031,634,879,787,805,651.663795969,631,652,0.40095826543,-0.0153554205898,0.0698181486205,0.99999992949,0.000236525048392,-0.000291642931436,4.43175397746e-06,1793244474672061696
+28,0.466666667,BASELINE,765,744,714,678.242090132,658.242090132,634,879.242090132,787,805,652,631,652,0.400957148373,-0.0153549214461,0.0698174862776,0.999999928993,0.00023706742252,-0.000292906481576,4.38909315679e-06,1793244474688728576
+29,0.483333333,BASELINE,765,744,714,678.819083388,658.819083388,634,879.819083388,787,805,652,631,652,0.400954843231,-0.0153552533945,0.0698164000894,0.999999928475,0.00023656809326,-0.000295070383054,4.45154556365e-06,1793244474705395456
+30,0.500000000,BASELINE,764.606836977,744,714,679,659,634,879.606836977,787,805,652,631,652,0.400955427297,-0.0153558445854,0.0698167934793,0.999999928832,0.000236011940293,-0.000294302443882,4.51046466142e-06,1793244474722061824
+31,0.516666667,BASELINE,764.034088218,744,714,679,659,634,879.034088218,787,805,652,631,652,0.400957331072,-0.015356554191,0.0698178626987,0.999999929587,0.000235429831879,-0.000292195322855,4.56776984195e-06,1793244474738728192
+32,0.533333333,BASELINE,764.557044893,744.557044893,714,678.442955107,659,634,879.557044893,787,805.557044893,652,631,652,0.400956915339,-0.0153556912653,0.0698171982465,0.999999929001,0.00023685960007,-0.000293043891958,4.5034725963e-06,1793244474755394816
+33,0.550000000,BASELINE,765,744.854008468,714,678.145991532,658.854008468,634,879.854008468,787,805.854008468,651.854008468,631,652,0.400956615847,-0.0153553144574,0.0698168328713,0.999999928703,0.000237416129178,-0.000293610449972,4.50829728362e-06,1793244474772061440
+34,0.566666667,BASELINE,765,744.274997917,714,678.725002083,658.274997917,634,879.274997917,787,805.274997917,651.274997917,631,652,0.400957096507,-0.0153566746691,0.0698176799887,0.999999929513,0.000235004949352,-0.000292785758816,4.74096648398e-06,1793244474788728320
+35,0.583333333,BASELINE,765,744,714,679,658,634.301720779,879,786.698279221,805,651.301720779,631,652,0.400957412508,-0.0153573939605,0.0698178977181,0.999999930084,0.000233452079811,-0.000292077937521,4.7062616291e-06,1793244474805394944
+36,0.600000000,BASELINE,765,744,714,679,658,634.876366418,879,786.123633582,805,651.876366418,631,652,0.400957579566,-0.0153575335005,0.0698175461277,0.999999930442,0.000232675604039,-0.000291475832052,4.42970064763e-06,1793244474822062336
+37,0.616666667,BASELINE,765,744,714,678.548208568,658.451791432,634.548208568,879.451791432,786,805,652,631,652,0.400956905976,-0.0153566641242,0.0698169896666,0.999999929616,0.000234604049936,-0.000292761082157,4.52483177334e-06,1793244474838729216
+38,0.633333333,BASELINE,765,744,714,678.028358125,659,634,879.971641875,786.028358125,805,652,631,652.028358125,0.40095603417,-0.0153556688017,0.069816415392,0.999999928557,0.000236974157149,-0.000294461769015,4.70750106652e-06,1793244474855395584
+39,0.650000000,BASELINE,765,744,714,678.623472937,659,634,879.376527063,786.623472937,805,652,631,652.623472937,0.400955806432,-0.0153576837765,0.0698166074973,0.999999929508,0.000233352063398,-0.000294125233275,4.60333898238e-06,1793244474872061952
+40,0.666666667,BASELINE,765,744,714,679,659,634.211112158,879,786.788887842,805,652,631,652.788887842,0.40095623823,-0.0153590244569,0.0698173438586,0.999999930326,0.000231105800599,-0.000293116842864,4.54520394905e-06,1793244474888728320
+41,0.683333333,BASELINE,765,744,714,679,659,634.785874307,879,786.214125693,805,652,631,652.214125693,0.400957806108,-0.0153592036351,0.0698190177246,0.99999993093,0.000231229467449,-0.000290951153209,4.5663525448e-06,1793244474905394688
+42,0.700000000,BASELINE,764.639140952,744,714,679,659,634.639140952,879,786.360859048,805,652,631,652,0.400958168363,-0.0153583904049,0.06981926452,0.999999930854,0.00023195344728,-0.000290633464588,4.58095581124e-06,1793244474922061312
+43,0.716666667,BASELINE,764.064024069,744,714,679,659,634.064024069,879,786.935975931,805,652,631,652,0.400957814787,-0.0153569879383,0.0698186640008,0.999999930376,0.000233033859238,-0.000291413015264,4.59167282802e-06,1793244474938728192
+44,0.733333333,BASELINE,764.525887191,744.525887191,714,679,659,634.525887191,879,787,805.525887191,652,631,652,0.400957575591,-0.0153578356107,0.0698183506438,0.99999993011,0.000233674294579,-0.000291810366661,4.86832938119e-06,1793244474955394816
+45,0.750000000,BASELINE,765,745,714,679,659,634.885126773,879.114873227,787,805.885126773,652,631,652,0.400957206692,-0.015358672662,0.0698179849707,0.99999992988,0.000234016702867,-0.000292320166844,5.05051089304e-06,1793244474972061696
+46,0.766666667,BASELINE,765,745,714,679,659,634.30733769,879.69266231,787,805.30733769,652,631,652,0.400956257374,-0.015358331023,0.0698172635126,0.999999929692,0.000233380226268,-0.000293476050263,4.71772846144e-06,1793244474988728320
+47,0.783333333,BASELINE,765,744.730894533,714,679,659,634,879.730894533,787,805.269105467,651.730894533,630.730894533,652,0.400955835753,-0.015358007501,0.0698170777708,0.999999929738,0.000232551414846,-0.000293980628428,4.46609700741e-06,1793244475005395200
+48,0.800000000,BASELINE,765,744.155980797,714,679,659,634,879.155980797,787,805.844019203,651.155980797,630.155980797,652,0.400956013799,-0.015357704567,0.0698175008104,0.999999930051,0.000231504036327,-0.000293745071158,4.30668452179e-06,1793244475022061568
+49,0.816666667,BASELINE,765,744,714,679,659,634,879,787,805.571135704,651.428864296,630.428864296,652,0.400956527028,-0.0153574512002,0.0698175732498,0.999999929949,0.0002326477187,-0.00029318539001,4.28843431668e-06,1793244475038727936
+50,0.833333333,BASELINE,765,744,714,679,659,634,879,787.017135242,805,652,630.982864758,652,0.400957161026,-0.0153572697678,0.0698175433626,0.999999929721,0.000234492106467,-0.000292495557726,4.32911458857e-06,1793244475055394816
+51,0.850000000,BASELINE,765,744,714,679,659,634,879,787.596486966,805,652,630.403513034,652,0.400957662893,-0.0153588430113,0.0698184391221,0.999999930463,0.000232560344426,-0.000291494992473,4.57885365859e-06,1793244475072061440
+52,0.866666667,BASELINE,765,744,714,679,659,634.17467009,879,787.82532991,805,652,630.17467009,652,0.400957849081,-0.0153596566938,0.0698188258587,0.999999930888,0.000231176737956,-0.000291134856234,4.7571610951e-06,1793244475088728320
+53,0.883333333,BASELINE,765,744,714,679,659,634.750171485,879,787.249828515,805,652,630.750171485,652,0.400957310849,-0.0153587273423,0.0698180444941,0.999999930593,0.00023105103394,-0.000292244370625,4.77154786573e-06,1793244475105394944
+54,0.900000000,BASELINE,764.678061572,744,714,679,659,634.678061572,879,787,805,651.678061572,631,652,0.400956098131,-0.0153579004183,0.0698173700941,0.999999930266,0.000230845404642,-0.000293525840762,4.54226572291e-06,1793244475122061568
+55,0.916666667,BASELINE,764.109159409,744,714,679,659,634.109159409,879,787,805,651.109159409,631,652,0.400954368005,-0.0153571520679,0.0698167777483,0.999999929914,0.000230578463484,-0.000294939220644,4.12606154793e-06,1793244475138728448
+56,0.933333333,BASELINE,764,744.48292245,714,679,658.51707755,634.48292245,879,787,805,651.48292245,631,652,0.40095524665,-0.0153584212366,0.0698170729916,0.999999930234,0.000230030543588,-0.000294276438357,4.42203124613e-06,1793244475155395072
+57,0.950000000,BASELINE,764.077683123,744.922316877,714,679.077683123,658.077683123,635,879.077683123,787,805.077683123,651.922316877,630.922316877,652.077683123,0.400956517982,-0.0153599329908,0.0698174709048,0.999999930611,0.000229569425815,-0.000293347452639,4.83733203009e-06,1793244475172061696
+58,0.966666667,BASELINE,764.654300225,744.345699775,714,679.654300225,658.654300225,635,879.654300225,787,805.654300225,651.345699775,630.345699775,652.654300225,0.400956333097,-0.0153599261278,0.0698171746829,0.999999930335,0.000230094296257,-0.000293874822667,4.9330109237e-06,1793244475188728320
+59,0.983333333,BASELINE,765,744,714,679.770808458,659,634.770808458,880,787,805.770808458,651.229191542,630.229191542,653,0.400956195486,-0.0153592135318,0.0698171586222,0.999999930099,0.000231088948822,-0.00029389880835,4.8262756684e-06,1793244475205395200
+60,1.000000000,BASELINE,765,744,714,679.19850068,659,634.19850068,880,787,805.19850068,651.80149932,630.80149932,653,0.400956128646,-0.0153574444027,0.0698175619828,0.999999929921,0.000232786899122,-0.000293169191508,4.41651187606e-06,1793244475222062080
+61,1.016666667,BASELINE,765,744.387078319,714,679,658.612921681,634.387078319,879.612921681,786.612921681,805.387078319,652,631,652.612921681,0.400958305048,-0.0153581248815,0.0698192112971,0.999999931111,0.000231725514159,-0.000289928097077,4.7400401215e-06,1793244475238728960
+62,1.033333333,BASELINE,765,744.979704622,714,679,658.020295378,634.979704622,879.020295378,786.020295378,805.979704622,652,631,652.020295378,0.400961672666,-0.0153601061617,0.069821522243,0.999999933006,0.000229198855068,-0.000285353347108,5.4529642672e-06,1793244475255395328
+63,1.050000000,BASELINE,765,744.441073194,714,679,658.558926806,634.441073194,879,786.558926806,805.441073194,652,631,652,0.40095849617,-0.0153591120541,0.0698191102959,0.999999931312,0.000230928558043,-0.000289867375707,5.01730249029e-06,1793244475272061952
+64,1.066666667,BASELINE,765,744,714,679,658.862362672,634,879,787,805,651.862362672,631,652,0.40095622012,-0.0153582202091,0.0698173590502,0.999999930004,0.000232364333459,-0.00029321855843,4.67334341251e-06,1793244475288728832
+65,1.083333333,BASELINE,765,744,714,679,658.283768603,634,879,787,805,651.283768603,631,652,0.400957572345,-0.0153579940175,0.0698182610913,0.999999930413,0.000232374878282,-0.000291811703959,4.75366642697e-06,1793244475305395712
+66,1.100000000,BASELINE,765,744.29146695,714,679,658.29146695,634,879,787,805,651.29146695,631,652,0.400958396181,-0.0153583277375,0.0698189608038,0.999999930775,0.000232155353391,-0.000290741372234,4.84510555992e-06,1793244475322062592
+67,1.116666667,BASELINE,765,744.863469909,714,679,658.863469909,634,879,787,805,651.863469909,631,652,0.400958711446,-0.0153592003708,0.0698194657754,0.999999931093,0.000231714387134,-0.000289994942659,4.94724391675e-06,1793244475338729216
+68,1.133333333,BASELINE,765,744.549872627,714,679,659,634.450127373,879.450127373,787,805,651.549872627,631,652,0.400957934773,-0.0153589510008,0.0698191853405,0.999999930747,0.000232191237472,-0.000290805204829,4.99420029888e-06,1793244475355395584
+69,1.150000000,BASELINE,765,744,714,679,658.959469714,635,879.959469714,787,805,651.040530286,631,652,0.400956977785,-0.015358395019,0.0698187295368,0.999999930272,0.000232813275857,-0.000291938424401,5.00482752796e-06,1793244475372061696
+70,1.166666667,BASELINE,765,744,714,679,658.380350118,635,879.380350118,787,805,651.619649882,631,652,0.400958173945,-0.0153584391543,0.0698192155358,0.999999930878,0.000231540800691,-0.000290877715654,4.76259435216e-06,1793244475388728320
+71,1.183333333,BASELINE,765,744.197713225,714,679,658.197713225,635,879,787,805,652,631.197713225,652,0.400958560486,-0.015358433173,0.0698192860023,0.999999931017,0.000231477369853,-0.000290452766208,4.6835189162e-06,1793244475405395200
+72,1.200000000,BASELINE,765,744.773755505,714,679,658.773755505,635,879,787,805,652,631.773755505,652,0.400957397799,-0.0153583312925,0.0698185613372,0.999999930262,0.000233727474459,-0.000291244357431,4.91664973304e-06,1793244475422063104
+73,1.216666667,BASELINE,765,744.654263714,714,679,658.654263714,634.654263714,879,787,805,651.654263714,631.654263714,652,0.400957494909,-0.0153578391739,0.0698182841067,0.999999930084,0.00023440872031,-0.0002913100741,4.80098451881e-06,1793244475438730240
+74,1.233333333,BASELINE,765,744.084909891,714,679,658.084909891,634.084909891,879,787,805,651.084909891,631.084909891,652,0.400958406837,-0.0153570946546,0.0698182962709,0.999999930281,0.000234075249472,-0.000290906304912,4.45972275102e-06,1793244475455396608
+75,1.250000000,BASELINE,765,744.507223147,714,679,658,634,879,787,805.507223147,651.507223147,631,652,0.400957429488,-0.0153569074092,0.0698181491931,0.999999929976,0.000234442175327,-0.00029165672281,4.59072204793e-06,1793244475472062976
+76,1.266666667,BASELINE,765,744.899461674,714,679,658,634,879.100538326,787,805.899461674,651.899461674,631,652,0.400956293515,-0.0153570998931,0.0698178662945,0.999999929656,0.000234702274106,-0.000292540524986,4.77195970331e-06,1793244475488729856
+77,1.283333333,BASELINE,765,744.319546939,714,679,658,634,879.680453061,787,805.319546939,651.319546939,631,652,0.400955980106,-0.0153586372393,0.0698170688705,0.999999929689,0.000233867676958,-0.000293095741251,4.79806159436e-06,1793244475505396480
+78,1.300000000,BASELINE,765,744,714.257816352,679,658.257816352,634,880,787,805,651.257816352,631,652,0.400956202638,-0.0153595100152,0.0698171253836,0.999999929879,0.000233243141464,-0.000292945562102,4.74882251109e-06,1793244475522063104
+79,1.316666667,BASELINE,765,744,714.832048237,679,658.832048237,634,880,787,805,651.832048237,631,652,0.400957082925,-0.0153595671705,0.0698182299256,0.999999930262,0.000232876412682,-0.000291929657893,4.60711817201e-06,1793244475538729216
+80,1.333333333,BASELINE,765,744.415794166,714.584205834,679,659,634,880,786.584205834,805,651.584205834,631,652,0.40095656905,-0.0153591741532,0.0698181739115,0.999999930388,0.000231682310487,-0.000292452885053,4.33983625598e-06,1793244475555395840
+81,1.350000000,BASELINE,765,744.996576194,714,679,659,634,879.996576194,786.003423806,805,651,631,652,0.400955489949,-0.0153586030714,0.0698176452265,0.999999930405,0.000230160282012,-0.000293599708658,4.02450816458e-06,1793244475572062720
+82,1.366666667,BASELINE,765,744.417246078,714,679,659,634,879.417246078,786.582753922,805,651,631,652,0.400956278808,-0.0153593830046,0.0698183091918,0.999999930495,0.000231010129353,-0.000292616409062,4.35950828768e-06,1793244475588729344
+83,1.383333333,BASELINE,765,744,714,679,659,634,879,787,805,651.16210049,631,652,0.400956597922,-0.0153597487607,0.0698185547567,0.99999993038,0.00023198921459,-0.000292233961445,4.60788177237e-06,1793244475605395968
+84,1.400000000,BASELINE,765,744,714,679,659,634,879,787,805,651.741489534,631,652,0.400955707796,-0.0153590483184,0.0698177232505,0.999999929733,0.000233300991754,-0.000293398261891,4.63325597433e-06,1793244475622062336
+85,1.416666667,BASELINE,765,744,714,679,658.682424814,634,879,787,805,652,631,652,0.40095638985,-0.0153584005603,0.0698179186334,0.999999930012,0.00023305708806,-0.000292644402206,4.54253887691e-06,1793244475638728960
+86,1.433333333,BASELINE,765,744,714,679,658.10900052,634,879,787,805,652,631,652,0.400958338505,-0.0153577952464,0.069818941312,0.99999993103,0.000231559876159,-0.000290345208992,4.35829477457e-06,1793244475655395328
+87,1.450000000,BASELINE,765.476564456,744.476564456,714,679,658.476564456,634,879,787,805.476564456,652,631,652.476564456,0.400958078774,-0.0153579751061,0.0698193477785,0.999999931025,0.000231546411996,-0.0002903722329,4.40944503445e-06,1793244475672061952
+88,1.466666667,BASELINE,766,744.935757212,714,679,659,634.064242788,879,787,805.935757212,652,631,652.935757212,0.400957445992,-0.015358384142,0.0698196210587,0.999999930868,0.000231761305917,-0.000290739486043,4.54298248072e-06,1793244475688728576
+89,1.483333333,BASELINE,766,744.354008216,714,679,659,634.645991784,879,787,805.354008216,652,631,652.354008216,0.400957983329,-0.0153591548327,0.0698199864855,0.999999931415,0.000231010522829,-0.000289449444165,4.89514552032e-06,1793244475705395456
+90,1.500000000,BASELINE,765.775591834,744,714.224408166,679,659,634.775591834,879.224408166,787,805,651.775591834,631,652,0.400957966182,-0.0153592155392,0.0698198635963,0.999999931508,0.000230996973982,-0.000289134691453,5.03821288595e-06,1793244475722062592
+91,1.516666667,BASELINE,765.202355835,744,714.797644165,679,659,634.202355835,879.797644165,787,805,651.202355835,631,652,0.400957087126,-0.0153581726215,0.0698189816517,0.999999930899,0.00023212940767,-0.000290335962158,4.85625465382e-06,1793244475738729728
+92,1.533333333,BASELINE,765,744,714.629194861,679,658.629194861,634.370805139,879.629194861,787,805.370805139,651.370805139,631,652,0.400956791451,-0.0153577703272,0.0698189286569,0.999999930565,0.00023261717835,-0.000291098202801,4.56685512874e-06,1793244475755396096
+93,1.550000000,BASELINE,765,744,714.056074768,679,658.056074768,634.943925232,879.056074768,787,805.943925232,651.943925232,631,652,0.400956814075,-0.0153577175631,0.0698193279452,0.999999930383,0.00023275321462,-0.000291620904409,4.2188345541e-06,1793244475772061696
+94,1.566666667,BASELINE,765,744,714,679,658.535392611,635,879.535392611,787,806,652,631,652.535392611,0.400956322556,-0.0153580254996,0.0698185258595,0.999999930299,0.000232640147769,-0.000291994390336,4.46840996813e-06,1793244475788728320
+95,1.583333333,BASELINE,765,744,714,679,658.874408724,635,879.874408724,787,805.874408724,652,631,652.874408724,0.400956228777,-0.0153585284692,0.0698179577282,0.999999930498,0.000231887514355,-0.000291909238098,4.6595466401e-06,1793244475805394944
+96,1.600000000,BASELINE,765,744,714,679,658.295959486,635,879.295959486,787,805.295959486,652,631,652.295959486,0.40095777023,-0.0153595936356,0.0698187029979,0.99999993167,0.000228926140829,-0.000290228677047,4.40626973182e-06,1793244475822061568
+97,1.616666667,BASELINE,765,744,714,679,658,634.718497876,879,787,805,652,631,652,0.400958610935,-0.0153598327428,0.0698189397222,0.999999932003,0.00022855445582,-0.000289375125773,4.34851606465e-06,1793244475838728192
+98,1.633333333,BASELINE,765,744,714,679,658,634.142071022,879,787,805,652,631,652,0.40095871748,-0.0153592064023,0.0698186436527,0.999999931461,0.000230895941242,-0.000289388017924,4.49560860886e-06,1793244475855395072
+99,1.650000000,BASELINE,765,744,714,679,658.441673388,634,879.441673388,787,805,652,631,652,0.400957927579,-0.0153591189973,0.069818187359,0.999999930868,0.000232467115056,-0.000290173898027,4.7068753726e-06,1793244475872062464
+100,1.666666667,BASELINE,765,744,714,679,658.972377592,634,879.972377592,787,805,652,631,652,0.400956918891,-0.0153592035778,0.0698177295546,0.99999993032,0.000233635186811,-0.000291120713239,4.90867874888e-06,1793244475888729856
+101,1.683333333,BASELINE,765,744,714,679,658.390219613,634,879.390219613,787,805,652,631,652,0.400957404339,-0.0153592019952,0.0698182935188,0.999999931017,0.000231768934212,-0.000290222640157,4.49910533137e-06,1793244475905395712
+102,1.700000000,BASELINE,765,744.189207777,714,679,658.189207777,634,879,787,805,651.810792223,631,652,0.400957437696,-0.0153592947179,0.0698185361798,0.999999931332,0.000230702548266,-0.000289988496516,4.27071242089e-06,1793244475922061824
+103,1.716666667,BASELINE,765,744.763083682,714,679,658.763083682,634,879,787,805,651.236916318,631,652,0.400956551929,-0.0153595791678,0.0698181256168,0.999999930878,0.0002312623283,-0.000291104152119,4.41066787771e-06,1793244475938728448
+104,1.733333333,BASELINE,765,744.662590814,714,679,658.662590814,634,879,787,805,651.337409186,631,652,0.400956382335,-0.0153597920367,0.0698180908354,0.999999930654,0.000231531439943,-0.000291659645809,4.4801733014e-06,1793244475955395072
+105,1.750000000,BASELINE,765,744.087949137,714,679,658.087949137,634,879,787,805,651.912050863,631,652,0.400956716282,-0.0153599545771,0.0698183202663,0.999999930592,0.00023159618262,-0.00029182128962,4.50014530188e-06,1793244475972061696
+106,1.766666667,BASELINE,765,744.499939791,714,679,658.499939791,634,879.499939791,787,805.499939791,652,631,652,0.400957715755,-0.0153585545279,0.0698192247641,0.999999930639,0.000233690468413,-0.000289981578839,4.53586326895e-06,1793244475988728320
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,880,787,805,652,631,652,0.40095722715,-0.0153586449081,0.0698188874124,0.999999930799,0.00023281793567,-0.000290130075462,4.64399798702e-06,1793244476031618816
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.424741146,787,805.575258854,652,631,652,0.400956567312,-0.0153590694248,0.0698185839475,0.999999930736,0.000232393894899,-0.000290695283951,4.26972042305e-06,1793244476048285440
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.153535823,879,787,805.846464177,652,631,652,0.400956249209,-0.0153595037291,0.0698184767502,0.999999930743,0.000231873266925,-0.000291085609624,4.12677062203e-06,1793244476064952320
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.740329653,879,787,805.259670347,652,631,652,0.400956895437,-0.0153599656527,0.069818923394,0.999999930955,0.000231080082402,-0.000290982439003,4.63659741955e-06,1793244476081618688
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.677274718,879,787,805.322725282,651.677274718,631,652,0.400956381387,-0.0153598595348,0.0698181553955,0.999999930651,0.000230844910402,-0.000292211125512,4.66371164601e-06,1793244476098285056
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.098370411,879,787,805.901629589,651.098370411,631,652,0.400954946308,-0.0153593025061,0.069816423215,0.999999929934,0.000231052688264,-0.000294497038962,4.30764905725e-06,1793244476114951680
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.519359691,744.480640309,714,679,658.519359691,634,879,787,805.519359691,651.480640309,631,652,0.400956423128,-0.0153595167053,0.0698177922238,0.999999930293,0.000231839910463,-0.00029264695815,4.60156678354e-06,1793244476131618304
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.059251538,745,714,679.059251538,658.059251538,634,879,787,805,652,630.940748462,652,0.400958378037,-0.0153596649263,0.0698195890032,0.999999930774,0.000232859123396,-0.000290177946727,4.98002628342e-06,1793244476148284928
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.634196238,745,714,679.634196238,658.634196238,634,879,787,805,652,630.365803762,652,0.400959305872,-0.0153578648209,0.0698195835083,0.999999930447,0.000234865067239,-0.000289691160418,4.93622783166e-06,1793244476164951808
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.786110565,714,679.786110565,658.786110565,634.213889435,879,787,805,652,630.213889435,652,0.400965340527,-0.015357478995,0.0698225438759,0.999999931484,0.000236069992434,-0.000285089305578,5.19698221559e-06,1793244476181618432
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.198111939,714,679.198111939,658.198111939,634.801888061,879,787,805,652,630.801888061,652,0.400980307406,-0.015359566854,0.0698306917667,0.99999993482,0.00023587387373,-0.000273289877128,5.9904231054e-06,1793244476198285312
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.385763483,635,879.385763483,787,805,651.614236517,630.614236517,652,0.401013883659,-0.0153610687981,0.0698441287619,0.999999941173,0.000234904323342,-0.000249858450324,6.68613145676e-06,1793244476214951680
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.967543847,635,879.967543847,787,805,651.032456153,630.032456153,652,0.401056915841,-0.0153622730232,0.0698602532952,0.999999948388,0.00023354177118,-0.000220516488684,7.33217932403e-06,1793244476231618304
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.459597264,879.459597264,787,805,651.540402736,630.540402736,652.540402736,0.401113411512,-0.0153651791956,0.0698764585899,0.999999953494,0.000232115794163,-0.000197649417371,8.25410711856e-06,1793244476248284928
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.112922353,879.112922353,787,805,652,631,652.887077647,0.401172684771,-0.0153681454164,0.0698909655156,0.999999957479,0.00023109836894,-0.00017764106509,8.95335724673e-06,1793244476264951808
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.686207943,879.686207943,787,805,652,631,652.313792057,0.401240038747,-0.0153709464904,0.0698985290614,0.999999959039,0.000231761809998,-0.000167727537651,8.67834046991e-06,1793244476281618176
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.268792622,744,714.268792622,679,659,634.731207378,879.731207378,787,805,651.731207378,631,652,0.401315761653,-0.015374417602,0.0699038868466,0.999999960465,0.000230856823009,-0.000160353061903,7.85630972412e-06,1793244476298284800
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.862622172,744,714.862622172,679,659,634.137377828,879.137377828,787,805,651.137377828,631,652,0.401401604667,-0.0153786989548,0.0699065773199,0.999999961799,0.000228055217589,-0.000156048929833,6.37280347137e-06,1793244476314951424
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.556635071,744,714.556635071,679,659,634,879.443364929,787,805,651.443364929,631,652,0.401503928553,-0.0153837085262,0.0699093604592,0.999999962829,0.000226310789945,-0.000152005323578,4.45278778677e-06,1793244476331618560
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.979884615,787,805,651.979884615,631,652,0.40161199753,-0.0153889512112,0.0699120592571,0.999999963749,0.000224772819044,-0.000148237812973,2.36586260711e-06,1793244476348285184
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879.404612671,787,805,651.404612671,631,652,0.401741727579,-0.0153945786901,0.069911660634,0.999999964527,0.000220151503387,-0.000149926143268,-7.01743399884e-07,1793244476364952064
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.175977575,714,679,659,634,879,787,805,651.175977575,631,652,0.401882799041,-0.0154006693201,0.0699130177423,0.999999966023,0.000214316318803,-0.000148349450816,-3.7823088197e-06,1793244476381618432
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.769176793,714,679,659,634,879,787,805,651.769176793,631,652,0.40205075961,-0.0154078580247,0.0699185374779,0.999999969175,0.000205603197782,-0.000139031782278,-6.89359901042e-06,1793244476398285056
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.647977199,714,679,659,634.352022801,879,787,805,652,631,652,0.402233129813,-0.0154155327993,0.0699213905607,0.999999971556,0.000198024745491,-0.000132529981422,-1.04864212164e-05,1793244476414951680
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.071725833,714,679,659,634.928274167,879,787,805,652,631,652,0.40242467856,-0.0154235171876,0.0699225450616,0.999999973455,0.000191169044225,-0.000127821807694,-1.4385965997e-05,1793244476431618304
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,635,879,787,805,651.497420401,631,652,0.402651267428,-0.0154339345559,0.0699268293094,0.999999976859,0.000178799016361,-0.00011813770285,-1.88792333579e-05,1793244476448285184
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.077142501,714,678.922857499,659,634.922857499,879,787,805.077142501,651.077142501,631,652,0.40288797646,-0.0154444452828,0.0699318113019,0.9999999819,0.000155511513222,-0.000107079509998,-2.34654267844e-05,1793244476464952064
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.655173673,714,678.344826327,659,634.344826327,879,787,805.655173673,651.655173673,631,652,0.403158051268,-0.0154533163561,0.0699384347636,0.999999993195,6.6426666966e-05,-9.16925046256e-05,-2.81069398502e-05,1793244476481618432
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.760721814,714,678.239278186,658.760721814,634,879,787,806,652,631,652,0.403442642351,-0.0154615706705,0.0699435513878,0.999999996055,1.46678361214e-05,-8.10688446549e-05,-3.32091953478e-05,1793244476498285056
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.167637042,714,678.832362958,658.167637042,634,879,787,806,652,631,652,0.40374869778,-0.0154689130193,0.0699464399399,0.999999996074,1.81007954018e-05,-7.7488465235e-05,-3.8992723586e-05,1793244476514951424
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.413599,634,879.413599,787,805.586401,652,631,652,0.404076551122,-0.0154764178852,0.0699483161041,0.999999995942,1.21526214467e-05,-7.74067269578e-05,-4.44643923088e-05,1793244476531618304
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.990166333,634,879.990166333,787,805.009833667,652,631,652,0.40441299338,-0.0154839867868,0.0699497933622,0.999999995659,2.50804667404e-06,-7.8703540727e-05,-4.98131804547e-05,1793244476548284928
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.435497899,744,714,679,659,634,880,787,805,652,631,652,0.404796877491,-0.0154794031718,0.0699579688814,0.999999996488,-1.44250729592e-05,-6.34841905861e-05,-5.27837207102e-05,1793244476564951552
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.13855868,744.13855868,714,679,659,634.13855868,880,787,805.13855868,651.86144132,631,652,0.405187478882,-0.0154727209002,0.0699643561622,0.999999997363,-7.24327292976e-06,-5.10931806879e-05,-5.11032030261e-05,1793244476581618176
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.711860657,744.711860657,714,679,659,634.711860657,880,787,805.711860657,651.288139343,631,652,0.405596573579,-0.0154601154708,0.0699647679763,0.999999995326,7.59985820026e-05,-4.84755824771e-05,-3.49589491825e-05,1793244476598285056
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.704760317,879.704760317,787,805.704760317,651.295239683,631,652,0.406020576621,-0.0154583062872,0.0699566331387,0.999999992417,0.00010161264842,-6.24276389301e-05,-3.07200291865e-05,1793244476614951424
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+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.528850321,714,679,658.528850321,634,879,787,805,652,631,652,0.406947162738,-0.0154735046495,0.0699303620499,0.999999992486,5.0778442271e-05,-0.000103285764314,-4.22140427654e-05,1793244476648284416
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+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,787,805,651.201440596,630.201440596,652,0.40858374254,-0.0154794847,0.0699465757804,0.999999996352,4.36199199154e-05,-5.73726725747e-05,-4.58355273838e-05,1793244476698285568
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,787,805,651.788943127,630.788943127,652,0.409160964907,-0.0154774698304,0.069953247883,0.999999997096,4.36798507297e-05,-4.08785772808e-05,-4.72042430018e-05,1793244476714952192
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.627892845,744,714,679,659,634.372107155,879.372107155,786.627892845,805.372107155,652,631,652,0.409760922328,-0.015476020424,0.0699496026575,0.999999996814,4.40008279059e-05,-4.57959177022e-05,-4.83601589492e-05,1793244476731618816
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.047161247,744,714,679,659,634.952838753,879.952838753,786.047161247,805.952838753,652,631,652,0.410373626295,-0.0154748880485,0.0699401729507,0.999999995825,4.44681625174e-05,-6.27177277471e-05,-4.93967672416e-05,1793244476748285184
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.53072684,744,714,679,659,634.46927316,879.46927316,786,805.46927316,652,631,652,0.411024631945,-0.0154779381317,0.0699423621504,0.999999996014,3.65940818365e-05,-6.39046045831e-05,-5.04796836019e-05,1793244476764952064
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.10708434,714,679,659,634.10708434,879,786.10708434,805,652,631,652,0.411692537984,-0.0154817251059,0.0699513671613,0.999999996904,2.88161111845e-05,-5.27382180873e-05,-5.07975473441e-05,1793244476781618688
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.677901816,714,679,659,634.677901816,879,786.677901816,805,652,631,652,0.412418971005,-0.0154871023045,0.0699854409746,0.999999998537,2.46471791543e-05,5.90165222604e-06,-4.77845936317e-05,1793244476798285568
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.258910718,634.741089282,879.258910718,787,805,652,630.741089282,652,0.413147297002,-0.0154909175757,0.0700121717857,0.999999997596,1.88440309632e-05,4.84142671794e-05,-4.59218095911e-05,1793244476814952192
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.853117876,634.146882124,879.853117876,787,805,652,630.146882124,652,0.413878074553,-0.0154927101092,0.0700293932136,0.99999999645,1.09245277914e-05,7.00416548735e-05,-4.55485263666e-05,1793244476831618304
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.566079683,714,679,660,634,879.566079683,787,805.433920317,651.566079683,630.433920317,652,0.414590771899,-0.015488672206,0.0700001236246,0.999999998536,1.65851112426e-05,1.71862601124e-05,-4.85641223886e-05,1793244476848284928
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.98970306,744,714,679,659.98970306,634,879.01029694,787,805.98970306,651,631,652,0.415298519462,-0.0154828082667,0.0699558028565,0.999999996485,2.64742781201e-05,-5.95803581397e-05,-5.27118556729e-05,1793244476864951552
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.414656779,744,714,679,659.414656779,634,879.585343221,787,805.414656779,651,631,652,0.416060401185,-0.0154817941593,0.069923243889,0.999999992379,2.37198940859e-05,-0.000106418184151,-5.79223421241e-05,1793244476881618176
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,744.1646013,714,679,659,634.1646013,879.8353987,787,805,651,631,652,0.416838297431,-0.015483441146,0.069907228705,0.999999989607,1.86324766825e-05,-0.00012940578008,-6.0773389952e-05,1793244476898285056
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,744.754748154,714,679,659,634.754748154,879.245251846,787,805,651,631,652,0.417657596154,-0.0154919678886,0.0699339843483,0.999999994201,7.51344268443e-06,-9.0733111183e-05,-5.75245550423e-05,1793244476914951680
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.338364677,744.661635323,714,679,659,635,879.676729353,787,805,651,630.661635323,652,0.418498887788,-0.0154978655802,0.0699600466623,0.999999996984,-4.1537399952e-06,-5.43301576792e-05,-5.53461929452e-05,1793244476931618048
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.917337514,744.082662486,714,679,659,635,880.834675028,787,805,651,630.082662486,652,0.419355818353,-0.0155018937764,0.0699856159548,0.999999998224,-1.62107059247e-05,-1.95411805808e-05,-5.39290348226e-05,1793244476948284672
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.494221705,714,679.494221705,659,634.505778295,880.505778295,787,805.494221705,651,630,652,0.420257236777,-0.0155069547235,0.0700100757496,0.999999998318,-1.86677808125e-05,1.86905042163e-05,-5.16366517649e-05,1793244476964951552
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.928067176,714,680,659,634,879.928067176,787,806,651,630.071932824,652,0.421156656352,-0.0155132097625,0.0700299824782,0.999999997282,-2.16975466389e-05,5.02591042182e-05,-4.93953622833e-05,1793244476981617920
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744.341958878,714,680,659,634,879.341958878,787,806,651,630.658041122,652,0.421988823693,-0.0155267706425,0.0700186647876,0.999999997558,-4.02498371028e-05,3.01013496086e-05,-4.85612702952e-05,1793244476998284800
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744,714,679.758806508,659,634,879.241193492,787,806,651,631,652,0.422798343605,-0.0155378726828,0.069978105689,0.999999996387,-5.74045003511e-05,-3.59066327321e-05,-5.13953049025e-05,1793244477014951424
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679.179794167,659,634,879.820205833,787,806,651,631,652,0.423576143342,-0.0155455308413,0.0698965906794,0.999999981802,-7.26016301827e-05,-0.00016613306378,-5.93669662879e-05,1793244477031618048
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.397562135,879.602437865,786.602437865,805.602437865,651,630.602437865,652,0.42444648334,-0.0155499607881,0.069868560764,0.999999974092,-8.54815215539e-05,-0.000201292014878,-6.31750195794e-05,1793244477048284928
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.974172579,879.025827421,786.025827421,805.025827421,651,630.025827421,652,0.42535850024,-0.0155529368588,0.0698646186999,0.999999974398,-9.73178079087e-05,-0.000193635836513,-6.51079268399e-05,1793244477064951552
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,714,679.551204139,659.551204139,634.448795861,879.551204139,786,805.551204139,651,630.551204139,652,0.426335088104,-0.0155525128749,0.06993072401,0.999999990316,-7.94448186942e-05,-9.9230098495e-05,-5.6661507833e-05,1793244477081618176
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.130625252,714,679.869374748,659.869374748,634,879.869374748,786.130625252,805.869374748,651,630.869374748,652,0.427301202661,-0.0155523086527,0.0699918756562,0.999999996558,-6.5562005462e-05,-1.24899204878e-05,-4.92960132406e-05,1793244477098285056
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.718338848,714,679.281661152,659.281661152,634,879.281661152,786.718338848,805.281661152,651,630.281661152,652,0.428220073379,-0.0155534313323,0.0700241994232,0.999999995839,-7.0516653842e-05,3.31922075901e-05,-4.74160382285e-05,1793244477114951936
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.301684867,659.301684867,634,879.301684867,787,805.301684867,651,630.301684867,652,0.429134815822,-0.0155552538692,0.0700420024909,0.999999994136,-7.49736812917e-05,6.22577861162e-05,-4.72398984051e-05,1793244477131618304
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679.881011358,659.881011358,634,879.881011358,787,805.881011358,651,630.881011358,652,0.430045758948,-0.0155577204871,0.0700464421069,0.999999992809,-7.89727462991e-05,7.60310942522e-05,-4.86318041525e-05,1793244477148284672
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.543382906,714,680.456617094,660,634,880.456617094,787,805.543382906,651,631,652,0.430864713386,-0.0155549466634,0.0699932678053,0.999999995398,-7.765722191e-05,-1.91920495024e-05,-5.29707125612e-05,1793244477164951552
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.031564376,714,680.968435624,660.031564376,634,880.968435624,787,805.031564376,651,631,652,0.431665049545,-0.0155509182106,0.0699273925602,0.999999986011,-7.51754763153e-05,-0.00013771390765,-5.79702821201e-05,1793244477181618688
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.611782724,714,680.388217276,660.611782724,634,880.388217276,787,805.611782724,651,631,652,0.432555059764,-0.0155486266862,0.0698996043987,0.999999980509,-7.63005266811e-05,-0.000171501349016,-6.12128192815e-05,1793244477198285056
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.194054275,660.805945725,634,879.805945725,787,806,651,631,652,0.43345722222,-0.0155476781166,0.0699030309824,0.999999982755,-7.98845353465e-05,-0.000155822671968,-6.18625254602e-05,1793244477214951680
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.780477416,660.219522584,634,879.219522584,787,806,651,631,652,0.434383956103,-0.0155494449398,0.0699695723482,0.999999993644,-8.84404448748e-05,-4.0125770972e-05,-5.72696461365e-05,1793244477231618048
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.638890483,744.638890483,714,680.638890483,660,634,879.722219034,787,805.638890483,651,631,652,0.435278443791,-0.0155537652299,0.0700109678471,0.999999994231,-8.95022720421e-05,2.64379008243e-05,-5.31816668447e-05,1793244477248284928
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.061723289,744.061723289,714,680.061723289,660,634,880.876553421,787,805.061723289,651,631,652,0.436153638003,-0.0155596133005,0.0700373181625,0.999999993052,-8.60802681749e-05,6.36043583707e-05,-4.93957779474e-05,1793244477264951808
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.517559906,744.517559906,714,680.517559906,660,634,880.482440094,787,805.517559906,651,631,652,0.437005651482,-0.0155637199002,0.0700303694523,0.99999999148,-0.000101026374214,6.49315931858e-05,-5.11674573375e-05,1793244477281618688
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.903953602,714,681,660,634,880.096046398,787,806,651,631,652,0.437840439575,-0.0155666310101,0.0700119996434,0.999999990719,-0.000115041730054,4.9075086611e-05,-5.40216340623e-05,1793244477298285568
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.33068467,714,681,660,634,880.66931533,787,806,651,631,652,0.438603432692,-0.0155646382822,0.0699566946917,0.999999991346,-0.00011350371007,-3.08378293777e-05,-5.89476978029e-05,1793244477314952192
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.749757534,744.250242466,714,681,660,634,880.749757534,787,806,651,631,652,0.439332440762,-0.0155630292085,0.0698995865791,0.999999984269,-0.000112913824847,-0.000121234361687,-6.33627175119e-05,1793244477331618816
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.158390977,744.841609023,714,681,660,634,880.158390977,787,806,651,631,652,0.44001512123,-0.0155619431226,0.0698400204484,0.999999965775,-0.00011361641256,-0.000225921883045,-6.7081094669e-05,1793244477348285440
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.423715546,745,714,681,660,634,880,786.576284454,806,651,631,652,0.440772904063,-0.0155681144075,0.0698390775951,0.999999964873,-0.000119042551659,-0.000227138958565,-6.70115117326e-05,1793244477364951808
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.997581607,745,714,681,660,633.997581607,880.002418393,786,806.002418393,651.002418393,631,652.002418393,0.441558014871,-0.0155769568047,0.069859654005,0.999999971746,-0.00012625455958,-0.000190447384348,-6.55495325441e-05,1793244477381618432
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.422718159,745,714,681,660,633.422718159,880.577281841,786,806.577281841,651.577281841,631,652.577281841,0.442308564046,-0.0155896391777,0.0698976789997,0.999999977384,-0.000147171807956,-0.000140234172555,-6.25049507979e-05,1793244477398285056
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.152426049,745,714,681,659.847573951,633,880.847573951,786,806.847573951,651.847573951,630.847573951,652.847573951,0.44303630322,-0.0156001017802,0.0699180020953,0.999999977506,-0.000165934279555,-0.000117235617199,-6.09079207342e-05,1793244477414951680
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.728350449,745,714,681,659.271649551,633,880.271649551,786,806.271649551,651.271649551,630.271649551,652.271649551,0.443700667589,-0.0156043970066,0.0698891424966,0.999999967601,-0.000178709955733,-0.000169849862737,-6.33327471664e-05,1793244477431618304
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.312627471,633,880.312627471,786,806.312627471,651,630.312627471,652,0.444329542179,-0.0156089133396,0.0698507564879,0.999999952875,-0.000187588745817,-0.00023398620985,-6.56533442341e-05,1793244477448284928
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.904361483,633,880.904361483,786,806.904361483,651,630.904361483,652,0.444926732278,-0.0156136270712,0.0698038655234,0.999999931516,-0.000192988485327,-0.000308409217795,-6.78808874464e-05,1793244477464951296
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.515061387,745,714,681,659.515061387,633,880.515061387,785.515061387,807,651.484938613,630.515061387,652,0.445516037946,-0.01561860038,0.0697753161251,0.999999918601,-0.000197754380862,-0.00034459128003,-7.03429647112e-05,1793244477481618432
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.062889901,745,714,681.062889901,659,633,880,785,806.937110099,651.937110099,630,652,0.446099851487,-0.0156237726636,0.0697520508285,0.999999907263,-0.000203030951016,-0.000372805248602,-7.25823212482e-05,1793244477498285312
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.636980247,745,714,681.636980247,659,633,880,785,806.363019753,651.363019753,630,652,0.446651377462,-0.0156301555472,0.069742995522,0.999999896103,-0.000213451792946,-0.000396175368382,-7.26437705156e-05,1793244477514951936
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681.783444324,659,633,880,785,806.216555676,651,630,652,0.44718605042,-0.0156348734574,0.0697274611238,0.999999880943,-0.000222468017792,-0.000428021618805,-7.36198573647e-05,1793244477531618560
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681.194435178,659,633,880,785,806.805564822,651,630,652,0.447691737868,-0.0156367277842,0.0697007833556,0.999999858313,-0.000229068444623,-0.000474445938767,-7.61690266557e-05,1793244477548285440
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681.38783474,659,632.61216526,880,784.61216526,807,651,630,652,0.448198228495,-0.0156408985153,0.0696942570855,0.999999852961,-0.000230475725694,-0.000485139902905,-7.48209344066e-05,1793244477564952064
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.224180624,634,880,786,806,651,631,652,0.431419959985,-0.0153821131624,0.0698257148875,0.99999994906,0.000168665888933,-0.000270294753818,1.93243999415e-05,1793244479714751488
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.601397632,745,714,680.601397632,659.601397632,633.601397632,880,786,805.601397632,651,630.601397632,652,0.429487156541,-0.01537270107,0.0697391181678,0.999999896444,0.000190261303193,-0.000413203254883,1.32259746354e-05,1793244479748085248
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.023162182,745,714,680.023162182,659.023162182,633.023162182,880,786,805.023162182,651,630.023162182,652,0.428524628796,-0.015373205406,0.0696965000411,0.999999873806,0.000179037999974,-0.000469323218714,8.2927482581e-06,1793244479764752640
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.872791975,744.127208025,714,680,659,634,880,786,805.127208025,652,630.127208025,652,0.426773201534,-0.0153898878704,0.0698274447556,0.999999947992,0.000172926558203,-0.000271245394912,2.31813478794e-05,1793244479798085120
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.297853879,744.702146121,714,680,659,634,880,786,805.702146121,652,630.702146121,652,0.425885999232,-0.0153862062027,0.0698576497002,0.999999957031,0.000180935609401,-0.000229112683655,2.66019014702e-05,1793244479814751488
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,880,786,806,651.117400822,631,652,0.424068371031,-0.0153812847308,0.0698396094686,0.999999949511,0.000184148912705,-0.000257876412178,2.38186842861e-05,1793244479848085504
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634,880.60976543,786,805.60976543,651.60976543,631,652,0.42116751109,-0.0153742149168,0.0697044673423,0.999999861945,0.000191478390628,-0.000489131810221,1.40296413153e-05,1793244479898084864
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634,880.809229979,786,806,652,631,652,0.420268222451,-0.015374980795,0.0697007220729,0.999999859176,0.000193784785532,-0.000493895061849,1.27941089408e-05,1793244479914751232
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634,880,786,806,652,631,652,0.418712765482,-0.0153792749409,0.0698317494067,0.999999943552,0.000188563916666,-0.000277126174987,2.32734072047e-05,1793244479948084736
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.517598067,714.517598067,680,659,634,880,786,805.482401933,652,631,652,0.417068903134,-0.0153732794873,0.0698603045288,0.999999949815,0.000207938297186,-0.000237383614272,2.79259526609e-05,1793244479981417984
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.904889062,714.904889062,679.904889062,659,634,880,786.095110938,805.095110938,651.904889062,630.904889062,652,0.416213284511,-0.0153702623143,0.0698299494011,0.999999936203,0.000212827850734,-0.000285762563328,2.52694116553e-05,1793244479998084864
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.318099007,714.318099007,679.318099007,659,634,880,786.681900993,805.681900993,651.318099007,630.318099007,652,0.415386800912,-0.0153706322108,0.069798220882,0.999999926158,0.000214486416943,-0.00031815045828,2.14433554958e-05,1793244480014751488
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.574024683,744.574024683,714,680,658.574024683,634,880,786.425975317,805.425975317,651.574024683,631,652,0.412993844588,-0.0153596549709,0.0697533731783,0.999999890931,0.000230387224723,-0.000405912921568,1.71347578043e-05,1793244480064751616
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.368502834,659,634,880,786,805,652,631,652,0.407326763648,-0.0153614305442,0.0697796912548,0.999999910443,0.000234065437015,-0.000352256225806,1.55568586909e-05,1793244480214752256
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.192486935,634,879.192486935,786,805,652,631,652,0.40631891191,-0.0153597418626,0.0698088398753,0.99999992258,0.000230438485375,-0.000318503125356,1.71654287853e-05,1793244480248085248
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.390172255,658.390172255,634,879,786.390172255,805,652,631,652,0.40584430808,-0.0153586557243,0.0698077655969,0.999999920153,0.000231192229957,-0.000325499414435,1.71573344982e-05,1793244480264751616
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.459019318,658.459019318,634,879,787,805,652,631,652,0.404993126343,-0.0153584238223,0.0698052432477,0.99999991851,0.000234485132382,-0.000328209771912,1.65979113502e-05,1793244480298085120
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.705494748,714,679,658,634,879,787,805.705494748,652,630.294505252,652,0.404279088004,-0.0153592649671,0.0698325760305,0.999999934913,0.000232664871179,-0.000275142698867,1.83893410392e-05,1793244480331418880
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,879.872758897,786.127241103,806,651.127241103,630.872758897,652,0.4036221587,-0.0153586874314,0.06984863358,0.99999994347,0.000227460634067,-0.000247025001065,1.73195429445e-05,1793244480364752128
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.399467933,659,634,879,786,805.600532067,652,630.600532067,652,0.40276256753,-0.0153489797897,0.0698176595081,0.999999921767,0.000255784635312,-0.000301347918905,1.51542751328e-05,1793244480414751488
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.820704701,714,678.179295299,659,634,879,786.179295299,805.820704701,651.820704701,631,652,0.402517582718,-0.0153463957044,0.0698104351079,0.999999915947,0.000262966258105,-0.000314187301377,1.54972501051e-05,1793244480431418112
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.069925336,634,879,786.069925336,805,651.930074664,631,652,0.401927846486,-0.0153400795417,0.069800422034,0.999999911143,0.0002636706039,-0.000328429051821,1.80340538132e-05,1793244480481418752
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8abb24d3a463112f68366b891dc193cc2820fda7
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,412 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9841011caf69a9a6a62ef0f85a48b606706e81ee
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25715379
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26cdc364912ddaadc2435412075983e88741f8cd
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,744,714,679,659,634,880,787,805,651,631,653,0.401031669943,-0.0154903627764,0.0798645198923,0.999999980697,0.000121990580894,-0.000148626754364,4.04293099016e-05,1793244482378837248
+1,0.016666667,BASELINE,765,744,714,678.420703632,658.420703632,634,879.420703632,787,805,651.579296368,631,652.420703632,0.401033183139,-0.0154913194978,0.0798656004142,0.999999981082,0.000120730406544,-0.000146887164624,4.10478872451e-05,1793244482395503616
+2,0.033333333,BASELINE,765,744,714,678.158654799,658,634.158654799,879,787,805,651.841345201,631,652,0.401034324198,-0.0154921944592,0.0798664707595,0.999999981379,0.000119746658998,-0.000145535186015,4.14885264525e-05,1793244482412169984
+3,0.050000000,BASELINE,765,744,714,678.738177996,658,634.738177996,879,787,805,651.261822004,631,652,0.401034478073,-0.0154928525334,0.0798667835631,0.999999981458,0.000119496196946,-0.000145211434832,4.1457143905e-05,1793244482428836608
+4,0.066666667,BASELINE,764.684869464,744.315130536,714,679,658.315130536,634.684869464,879,787,805.315130536,651.315130536,631,652,0.40103409894,-0.0154925729389,0.0798666502315,0.999999981418,0.000119364908649,-0.000145676349756,4.11539686143e-05,1793244482445503232
+5,0.083333333,BASELINE,764.110035474,744.889964526,714,679,658.889964526,634.110035474,879,787,805.889964526,651.889964526,631,652,0.401033280546,-0.0154915205983,0.0798661492336,0.999999981281,0.000119331833114,-0.000146791215399,4.06268051488e-05,1793244482462169856
+6,0.100000000,BASELINE,764,744.537598598,714,678.537598598,658.537598598,634,879.462401402,787,805.537598598,651.537598598,631,652,0.401032923722,-0.015491314883,0.0798660772096,0.999999981175,0.000119844235569,-0.000147068712195,4.07209844095e-05,1793244482478837248
+7,0.116666667,BASELINE,764,744,714,678.035673965,658.035673965,634.035673965,879.964326035,787,805.035673965,651,631,652,0.401032665867,-0.0154912870137,0.0798660837597,0.999999981071,0.000120526721365,-0.000147153744371,4.09565494896e-05,1793244482495504384
+8,0.133333333,BASELINE,764,744,714,678.630957937,658.630957937,634.630957937,879.369042063,787,805.630957937,651,631,652,0.401032246421,-0.0154909048998,0.079865729822,0.999999980878,0.000121851549444,-0.000147329327163,4.11025490163e-05,1793244482512170752
+9,0.150000000,BASELINE,764.219729294,744,714.219729294,678.780270706,659,634.780270706,879,787,805.780270706,651,631,652,0.401032329886,-0.015491063394,0.0798656938446,0.999999980822,0.000122395496989,-0.000147242110171,4.11625256672e-05,1793244482528837376
+10,0.166666667,BASELINE,764.797877325,744,714.797877325,678.202122675,659,634.202122675,879,787,805.202122675,651,631,652,0.401033233694,-0.0154921037188,0.0798661765187,0.999999980991,0.000121665685183,-0.000146726218566,4.1082183233e-05,1793244482545504256
+11,0.183333333,BASELINE,764.626153744,744.373846256,715,678.373846256,658.626153744,634.373846256,879,787,805,651.373846256,631,652,0.401032823037,-0.0154913076585,0.0798657397303,0.999999980828,0.000122620928059,-0.000147074437209,4.09420521099e-05,1793244482562171136
+12,0.200000000,BASELINE,764.051356078,744.948643922,715,678.948643922,658.051356078,634.948643922,879,787,805,651.948643922,631,652,0.401031705823,-0.0154895244968,0.0798648087086,0.999999980486,0.000124481928538,-0.000147887135972,4.0769783112e-05,1793244482578837760
+13,0.216666667,BASELINE,764,744.463979383,714.463979383,679,658,634.463979383,879.536020617,787,805.536020617,652,631,652,0.401032708525,-0.015490812194,0.0798659422143,0.999999980906,0.000122393321231,-0.000146825292287,4.06159863593e-05,1793244482595504640
+14,0.233333333,BASELINE,764.123355805,744,714,679,658,634,880,787,805.876644195,651.876644195,631,652.123355805,0.401033537287,-0.0154918962426,0.0798668565851,0.999999981253,0.000120524534136,-0.00014603504566,4.05225827684e-05,1793244482612171264
+15,0.250000000,BASELINE,764.705942093,744,714,679,658,634,880,787,805.294057907,651.294057907,631,652.705942093,0.401032944195,-0.0154911005037,0.0798662010819,0.999999981068,0.000120916704953,-0.000146940587266,4.06472644728e-05,1793244482628837120
+16,0.266666667,BASELINE,764.715452057,744.284547943,714,679,658.284547943,634,879.715452057,787,805,651,631,652.715452057,0.401032779581,-0.0154909143082,0.079865782058,0.999999980946,0.00012138932742,-0.000147355869591,4.07272368728e-05,1793244482645503488
+17,0.283333333,BASELINE,764.140902965,744.859097035,714,679,658.859097035,634,879.140902965,787,805,651,631,652.140902965,0.401033051657,-0.0154913493378,0.0798656040452,0.99999998089,0.000121943943328,-0.000147271497028,4.07616431313e-05,1793244482662170112
+18,0.300000000,BASELINE,764.433851584,744.566148416,714,679,658.566148416,634,879,787,805,651.433851584,631,652,0.401031836115,-0.0154912343961,0.0798651641937,0.999999980631,0.00012275543453,-0.000148329983791,4.08284829989e-05,1793244482678837760
+19,0.316666667,BASELINE,765,744.008938356,714,679,658,634,879,787,805,652,631,652,0.40103017393,-0.0154909519879,0.0798646533464,0.999999980312,0.000123633132008,-0.000149727542598,4.09047630113e-05,1793244482695505152
+20,0.333333333,BASELINE,765,744.601354833,714,679,658,634,879,787,805,652,631,652,0.40103090899,-0.0154914028816,0.0798650617755,0.999999980448,0.00012338418269,-0.000149018396933,4.09093428776e-05,1793244482712171264
+21,0.350000000,BASELINE,764.811480348,744.811480348,714,678.811480348,658.188519652,634,879,787,805,652,631,652,0.401031384161,-0.0154914939501,0.0798653290633,0.99999998061,0.000122636759554,-0.000148584964124,4.07671314028e-05,1793244482728837376
+22,0.366666667,BASELINE,764.235119818,744.235119818,714,678.235119818,658.764880182,634,879,787,805,652,631,652,0.401031324661,-0.0154908447514,0.0798653059814,0.999999980824,0.000120863827859,-0.000148718754577,4.03229265715e-05,1793244482745503744
+23,0.383333333,BASELINE,764.340782813,744,714,678.340782813,659,634,879,787,805,651.659217187,631,652.340782813,0.401032017022,-0.0154907697671,0.079865939461,0.999999980977,0.00012086858839,-0.00014767228611,4.03687588166e-05,1793244482762170112
+24,0.400000000,BASELINE,764.916370003,744,714,678.916370003,659,634,879,787,805,651.083629997,631,652.916370003,0.401033227424,-0.0154910904248,0.0798670253211,0.999999981085,0.00012209820487,-0.000145812601876,4.07522337803e-05,1793244482778836736
+25,0.416666667,BASELINE,765,744.491327711,714,679,659,634,879,787,805,651,631,652.508672289,0.401031767089,-0.015491115795,0.0798656731869,0.999999980849,0.00012098461429,-0.000148431970112,4.04099306245e-05,1793244482795503360
+26,0.433333333,BASELINE,764.931662441,744.931662441,714,679,658.931662441,634,879,787,805,651,631,652,0.401030233958,-0.0154910974718,0.0798642977018,0.999999980613,0.000119751227233,-0.000151091886185,4.00615273357e-05,1793244482812170240
+27,0.450000000,BASELINE,764.338056242,744.338056242,714,679,658.338056242,634,879,787,805,651,631,652,0.401031630993,-0.0154911291395,0.0798659283188,0.999999980913,0.000120658771718,-0.00014821094997,4.06145683783e-05,1793244482828837120
+28,0.466666667,BASELINE,764.24760953,744.24760953,714,679.24760953,658.24760953,634,879,787,805,651.24760953,631,652,0.401032400379,-0.0154916345175,0.0798667366612,0.999999981135,0.000120385791436,-0.000146873366158,4.0817715454e-05,1793244482845504000
+29,0.483333333,BASELINE,764.822771213,744.822771213,714,679.822771213,658.822771213,634,879,787,805,651.822771213,631,652,0.401032339476,-0.0154927665465,0.0798664572513,0.999999981261,0.000118551144923,-0.000147577418001,4.05580025977e-05,1793244482862171136
+30,0.500000000,BASELINE,765,744.602905757,714,679.602905757,658.602905757,634,879,787,805,652,631,652,0.401031338248,-0.0154919331766,0.0798658055725,0.999999981017,0.000119683624683,-0.000148356495512,4.0395886242e-05,1793244482878837248
+31,0.516666667,BASELINE,765,744.028956257,714,679.028956257,658.028956257,634,879,787,805,652,631,652,0.401029918226,-0.01549022447,0.0798649880949,0.999999980604,0.000122137583939,-0.00014916898745,4.02772367893e-05,1793244482895503360
+32,0.533333333,BASELINE,765,744,714,678.440506877,658,634,879,787,805,651.440506877,630.440506877,652,0.401032099664,-0.0154902861673,0.0798665047562,0.999999981061,0.000121301363154,-0.000146641458304,4.0755757061e-05,1793244482912169984
+33,0.550000000,BASELINE,764.853080712,744.146919288,714,678.146919288,658.293838576,634,879,787,805,651.146919288,630.146919288,652,0.401033868335,-0.0154903890739,0.0798676257482,0.999999981333,0.000121136310056,-0.000144840366375,4.09979780113e-05,1793244482928836608
+34,0.566666667,BASELINE,764.270967572,744.729032428,714,678.729032428,659.458064855,634,879,787,805,651.729032428,630.729032428,652,0.401033847532,-0.0154903354178,0.0798672073647,0.999999980942,0.000123477157599,-0.000145716734963,4.04462660404e-05,1793244482945502976
+35,0.583333333,BASELINE,764.307106099,745,714,679,659.385787802,634,879,787,805.307106099,652,631,652.307106099,0.401033440932,-0.0154907973913,0.079866756041,0.999999980816,0.000123615541591,-0.000146478931491,4.03980638008e-05,1793244482962169856
+36,0.600000000,BASELINE,764.88166198,745,714,679,658.236676041,634,879,787,805.88166198,652,631,652.88166198,0.401032698353,-0.0154917084116,0.0798662760305,0.999999980921,0.000121835864308,-0.000147141698989,4.07883534995e-05,1793244482978836992
+37,0.616666667,BASELINE,764.54498168,745,714,679,658,634,879,786.54498168,805.54498168,651.54498168,631,652.54498168,0.401032877631,-0.0154901510606,0.0798665624782,0.999999980875,0.00012281259197,-0.000146732607255,4.04486043421e-05,1793244482995503872
+38,0.633333333,BASELINE,764.029125368,745,714,679,658.029125368,634,879,786.029125368,805.029125368,651,631,652,0.401033178932,-0.0154881010558,0.0798669627731,0.999999980765,0.00012446295329,-0.00014622484725,3.99600081035e-05,1793244483012170496
+39,0.650000000,BASELINE,764.623853942,745,714,679,658.623853942,634,879,786.623853942,805.623853942,651,631,652,0.40103120623,-0.0154889176763,0.0798657131035,0.999999980208,0.000125310350437,-0.000149200197191,4.0258238716e-05,1793244483028836864
+40,0.666666667,BASELINE,765,744.788192428,714,678.788192428,658.788192428,634,879,787,806,651,631,652,0.401030351446,-0.0154895910915,0.0798652207589,0.999999979981,0.000125857714001,-0.00015020006081,4.04805179905e-05,1793244483045503488
+41,0.683333333,BASELINE,765,744.21189744,714,678.21189744,658.21189744,634,879,787,806,651,631,652,0.401031420424,-0.015490018073,0.0798660316513,0.99999998033,0.000125888767055,-0.000147800423966,4.05720969781e-05,1793244483062169856
+42,0.700000000,BASELINE,764.636033873,744,714,678.363966127,658,634,879,787,805.636033873,651.363966127,631,652,0.40103158931,-0.0154896071932,0.0798664169562,0.999999980435,0.000125206629384,-0.000147719256431,4.03993292188e-05,1793244483078836224
+43,0.716666667,BASELINE,764.060421198,744,714,678.939578802,658,634,879,787,805.060421198,651.939578802,631,652,0.401031234793,-0.0154887090966,0.0798665547816,0.999999980397,0.000124109770822,-0.000148986280449,4.00728436448e-05,1793244483095502848
+44,0.733333333,BASELINE,764.507514086,744,714.507514086,678.492485914,658.507514086,634,879,787,805,652,631,652.507514086,0.401030549549,-0.0154887762739,0.0798657016043,0.999999980199,0.000124651781543,-0.000149843949544,4.01330559784e-05,1793244483112170496
+45,0.750000000,BASELINE,765,744.079154718,714.920845282,678.079154718,658.920845282,634,879,787,805,652,630.920845282,652.920845282,0.401030066835,-0.0154889765006,0.0798649747259,0.999999980051,0.000125226115366,-0.000150333254265,4.02065945419e-05,1793244483128838400
+46,0.766666667,BASELINE,765,744.681221597,714.318778403,678.681221597,658.318778403,634,879,787,805,652,630.318778403,652.318778403,0.401031178313,-0.0154893078133,0.0798658500033,0.99999998036,0.000124744235681,-0.00014870622446,4.0068567043e-05,1793244483145505280
+47,0.783333333,BASELINE,765,745,714,679,658,634,879,787,805,651.729172181,630.270827819,652.270827819,0.401031985446,-0.0154899361135,0.0798665480359,0.99999998056,0.000124710828109,-0.000147346688876,4.01985822373e-05,1793244483162171392
+48,0.800000000,BASELINE,765,745,714,679,658,634,879,787,805,651.153587595,630.846412405,652.846412405,0.401032450108,-0.0154908986074,0.0798670466187,0.999999980639,0.000125182076579,-0.000146288158625,4.06302201399e-05,1793244483178836992
+49,0.816666667,BASELINE,764.577479353,744.577479353,714,679,658,634,879,787,805,651.422520647,631,652.577479353,0.401031454596,-0.0154904252383,0.0798664562603,0.999999980343,0.000125513042606,-0.000148003193779,4.06802681164e-05,1793244483195503360
+50,0.833333333,BASELINE,764.00118056,744.00118056,714,679,658,634,879,787,805,651.99881944,631,652.00118056,0.401029927648,-0.0154894292808,0.0798654695771,0.999999979905,0.000125792952225,-0.000150727679662,4.05914348258e-05,1793244483212169728
+51,0.850000000,BASELINE,764.588642614,744.588642614,714,679,658,634.588642614,879.588642614,787,805,652,631,652,0.401031062287,-0.0154893245346,0.0798662908541,0.999999980235,0.000125159802377,-0.000149158422244,4.02035711e-05,1793244483228836608
+52,0.866666667,BASELINE,765,744.825060367,714,678.825060367,658,634.825060367,879.825060367,787,805,652,631,652,0.401031752394,-0.0154894496334,0.0798668057241,0.999999980505,0.000124476696767,-0.000147955670002,4.00615735398e-05,1793244483245503232
+53,0.883333333,BASELINE,765,744.246953763,714,678.246953763,658,634.246953763,879.246953763,787,805,652,631,652,0.401031405436,-0.0154901002183,0.0798666058932,0.999999980636,0.000123682782263,-0.000147617880484,4.04876153367e-05,1793244483262170368
+54,0.900000000,BASELINE,765,744,714,678.329604295,658,634.329604295,879,787,805,651.670395705,631,652,0.401029824839,-0.0154899570085,0.0798656688815,0.999999980428,0.000123308448771,-0.000149320131133,4.05224028423e-05,1793244483278836992
+55,0.916666667,BASELINE,765,744,714,678.905007513,658,634.905007513,879,787,805,651.094992487,631,652,0.401027324268,-0.0154892218345,0.079864182125,0.99999997996,0.000123247013423,-0.000152543720217,4.02654165709e-05,1793244483295503616
+56,0.933333333,BASELINE,765,744,714,679,658,634.508762148,878.508762148,787.491237852,805,651.491237852,631,652,0.401028554516,-0.0154898768847,0.0798647694218,0.999999980144,0.000123084620014,-0.00015149384478,4.01593549277e-05,1793244483312170496
+57,0.950000000,BASELINE,765,744,714,679,658.078355744,634,878.078355744,787.921644256,805,651.921644256,631,652,0.401030422711,-0.0154903994478,0.0798656434263,0.999999980406,0.000123173546858,-0.000149693990647,4.00903143593e-05,1793244483328837120
+58,0.966666667,BASELINE,765,744,714,679,658.657463749,634,878.657463749,787.342536251,805,651.342536251,631,652,0.401031653398,-0.0154883185535,0.07986572882,0.999999980359,0.000124996175843,-0.000148501394513,4.00671496848e-05,1793244483345503488
+59,0.983333333,BASELINE,764.764646953,744.235353047,714.235353047,678.764646953,658.764646953,634,878.764646953,787,805,651.235353047,630.764646953,652.235353047,0.401031865298,-0.0154880649581,0.0798657348749,0.99999998041,0.000124820877433,-0.000148309395957,4.00599709086e-05,1793244483362170112
+60,1.000000000,BASELINE,764.188522156,744.811477844,714.811477844,678.188522156,658.188522156,634,878.188522156,787,805,651.811477844,630.188522156,652.811477844,0.401030602079,-0.0154904571402,0.079865626054,0.9999999806,0.000121752745643,-0.000149566179774,4.0075938388e-05,1793244483378836736
+61,1.016666667,BASELINE,764.386540689,744.613459311,714.613459311,678.386540689,658,634.386540689,878.386540689,787,805,651.613459311,630.386540689,652.613459311,0.401029904211,-0.0154906940504,0.0798654338042,0.999999980584,0.000121358135904,-0.000150038228532,3.99163614029e-05,1793244483395503104
+62,1.033333333,BASELINE,764.961086989,744.038913011,714.038913011,678.961086989,658,634.961086989,878.961086989,787,805,651.038913011,630.961086989,652.038913011,0.40102948132,-0.0154898826796,0.0798652009764,0.99999998047,0.000122263873657,-0.000150128597879,3.96714031232e-05,1793244483412169728
+63,1.050000000,BASELINE,765,744,714,679,658.55114364,634.44885636,879,787,805,651.55114364,631,652,0.401031164197,-0.0154882057631,0.0798662799584,0.999999980406,0.000124652814608,-0.000148546029808,3.97848820057e-05,1793244483428836608
+64,1.066666667,BASELINE,764.860582975,744.139417025,714,679,658.860582975,634,879.278834051,787,805,651.860582975,631,652,0.401032549194,-0.01548742562,0.0798671133135,0.999999980384,0.000126238947026,-0.000147307235831,3.99516736666e-05,1793244483445503232
+65,1.083333333,BASELINE,764.281487097,744.718512903,714,679,658.281487097,634,880.437025805,787,805,651.281487097,631,652,0.401032512316,-0.015489671934,0.0798668714847,0.999999980502,0.000124953446606,-0.000147535890108,4.02044754876e-05,1793244483462169600
+66,1.100000000,BASELINE,764,744.704500796,714,679,658,634,880.409001592,787,805,651,631,652,0.401031608601,-0.0154903202054,0.0798665327314,0.999999980322,0.000125322895339,-0.000148383409288,4.0415160232e-05,1793244483478836224
+67,1.116666667,BASELINE,764,744.129509825,714,679,658,634,879.25901965,787,805,651,631,652,0.401029885008,-0.0154894570014,0.0798661023042,0.999999979857,0.00012725764333,-0.000149816268932,4.05860094023e-05,1793244483495502848
+68,1.133333333,BASELINE,764.455389096,744.455389096,714,679,658.455389096,634.455389096,879.455389096,787,805,651.455389096,631,652.455389096,0.401029347098,-0.0154899893748,0.079865811481,0.999999980056,0.000124933817206,-0.000150487737565,4.04124968732e-05,1793244483512169728
+69,1.150000000,BASELINE,765,744.957474551,714,678.957474551,658.957474551,634.957474551,879.957474551,787,805,652,631,652.957474551,0.401029296652,-0.0154907603643,0.0798656851925,0.999999980424,0.000121784634139,-0.000150695007067,4.01459040882e-05,1793244483528836352
+70,1.166666667,BASELINE,765,744.378450805,714,678.378450805,658.378450805,634.378450805,879.378450805,787,805,652,631,652.378450805,0.401031047308,-0.0154894231709,0.0798671226386,0.999999980605,0.000123841942312,-0.00014783851763,3.99680296928e-05,1793244483545502976
+71,1.183333333,BASELINE,765,744.199547153,714,678.199547153,658,634,879.199547153,787.199547153,805.199547153,652,631,652.199547153,0.40103231201,-0.0154883568654,0.0798678122333,0.99999998061,0.000125720704861,-0.000146229257955,3.99004875619e-05,1793244483562170112
+72,1.200000000,BASELINE,765,744.775609701,714,678.775609701,658,634,879.775609701,787.775609701,805.775609701,652,631,652.775609701,0.401032659792,-0.0154878016841,0.0798670907451,0.9999999803,0.000127262579089,-0.000146973332332,4.00411257518e-05,1793244483578838016
+73,1.216666667,BASELINE,765,744.647816884,714,679,658,634.352183116,879.647816884,787.647816884,805.647816884,651.647816884,631,653,0.401032796888,-0.0154884482426,0.0798671867399,0.999999980396,0.000126366032602,-0.0001470417548,4.02237221143e-05,1793244483595504896
+74,1.233333333,BASELINE,765,744.070917536,714,679,658,634.929082464,879.070917536,787.070917536,805.070917536,651.070917536,631,653,0.401032799553,-0.015489861591,0.0798678043433,0.999999980748,0.000123913611569,-0.000146679066409,4.04330905704e-05,1793244483612171520
+75,1.250000000,BASELINE,765,744.516415887,714,679,658,634.483584113,879,787,805.516415887,651.516415887,631,652.483584113,0.401032542748,-0.0154888538916,0.0798672149889,0.999999980292,0.00012671861597,-0.00014743078619,4.02794520986e-05,1793244483628837376
+76,1.266666667,BASELINE,765,745,714,679,658.103556205,634,879,787,805.896443795,651.896443795,630.896443795,652,0.401032370621,-0.015487989005,0.0798667551818,0.999999979956,0.000128758875359,-0.000147983942007,4.0127776463e-05,1793244483645503488
+77,1.283333333,BASELINE,765,745,714,679,658.683087227,634,879,787,805.316912773,651.316912773,630.316912773,652,0.401032754848,-0.0154893401877,0.0798676683444,0.999999980725,0.000123897262254,-0.00014690652792,4.02189748235e-05,1793244483662170112
+78,1.300000000,BASELINE,765,745,714,679,658.739852437,634.260147563,879.520295127,787,805,651.260147563,630.260147563,652.260147563,0.401032529384,-0.0154896483175,0.0798679575791,0.999999980884,0.000122765163662,-0.000146772461752,4.02236515574e-05,1793244483678836736
+79,1.316666667,BASELINE,765,745,714,679,658.165773624,634.834226376,880.668452752,787,805,651.834226376,630.834226376,652.834226376,0.40103156818,-0.0154886977502,0.0798674938931,0.999999980321,0.000126133630934,-0.000147776774157,4.01239189182e-05,1793244483695503616
+80,1.333333333,BASELINE,765,744.589511675,714.410488325,679,658.410488325,634.589511675,880.179023349,787,805,651.589511675,630.589511675,652.589511675,0.401031250406,-0.0154890275434,0.0798670403893,0.999999980209,0.000126319613999,-0.000148381949345,4.00914928967e-05,1793244483712170496
+81,1.350000000,BASELINE,765,744.012363314,714.987636686,679,658.987636686,634.012363314,879.024726628,787,805,651.012363314,630.012363314,652.012363314,0.401031193868,-0.0154898771685,0.0798665910195,0.999999980283,0.000125213494998,-0.000148825073183,4.00863936445e-05,1793244483728837632
+82,1.366666667,BASELINE,765,744.577467566,715,679,659,634,879.577467566,787,805.577467566,651.577467566,630.577467566,652,0.401031606488,-0.0154886619441,0.0798664763847,0.999999980066,0.000127163094045,-0.000148652350359,4.00044215127e-05,1793244483745504256
+83,1.383333333,BASELINE,764.835529909,745,714.835529909,679,658.835529909,634,879.835529909,787,805.835529909,652,631,652.164470091,0.401031356858,-0.0154880924735,0.0798660991584,0.99999997993,0.000127844931719,-0.000148991922211,3.99555848729e-05,1793244483762170880
+84,1.400000000,BASELINE,764.256358795,745,714.256358795,679,658.256358795,634,879.256358795,787,805.256358795,652,631,652.743641205,0.40102941151,-0.0154892651994,0.0798650413482,0.999999980019,0.000125161528574,-0.000150657204598,3.99945402818e-05,1793244483778836992
+85,1.416666667,BASELINE,764.320089682,745,714,679,658,634,879,787,805,651.679910318,631,652.679910318,0.401029787489,-0.0154896562319,0.0798656706888,0.999999980191,0.000124624055906,-0.000149932088113,4.00894692757e-05,1793244483795503616
+86,1.433333333,BASELINE,764.894375965,745,714,679,658,634,879,787,805,651.105624035,631,652.105624035,0.401032006931,-0.0154894264889,0.0798676398663,0.999999980429,0.000125790756512,-0.000147308655839,4.02288492313e-05,1793244483812169984
+87,1.450000000,BASELINE,765,744.519853185,714,678.519853185,658,634,879.480146815,787.480146815,805,651,631,652.480146815,0.401031629844,-0.015488364992,0.079867012713,0.999999980125,0.000127110433487,-0.000148264266286,4.01291522992e-05,1793244483828836608
+88,1.466666667,BASELINE,765,744.06742907,714,678.06742907,658.06742907,634,880,787.93257093,805,651,631,652.93257093,0.401030700107,-0.0154874004736,0.0798659182729,0.999999979764,0.00012809059534,-0.000149888751227,3.99696936305e-05,1793244483845503744
+89,1.483333333,BASELINE,765,744.646539274,714,678.646539274,658.646539274,634,880,787.353460726,805,651,631,652.353460726,0.401030017274,-0.0154885943629,0.0798657181857,0.999999979922,0.000126232743634,-0.000150467953801,3.97656138206e-05,1793244483862170880
+90,1.500000000,BASELINE,764.775805775,744.775805775,714,679,658.775805775,634.224194225,879.775805775,787,805,651.224194225,631,652,0.401029650807,-0.0154891064022,0.0798656078262,0.99999998003,0.000125121676044,-0.000150714932385,3.96173751463e-05,1793244483878838016
+91,1.516666667,BASELINE,764.200430406,744.200430406,714,679,658.200430406,634.799569594,879.200430406,787,805,651.799569594,631,652,0.4010297799,-0.0154885503817,0.0798656380172,0.999999980066,0.00012518038229,-0.000150441510353,3.95566068704e-05,1793244483895504640
+92,1.533333333,BASELINE,764.374701686,744.374701686,714,679,658,634.625298314,879,787,805,651.625298314,631,652.374701686,0.401030480668,-0.0154887676956,0.0798663817192,0.999999980386,0.00012380612168,-0.000149446904971,3.95657760312e-05,1793244483912171264
+93,1.550000000,BASELINE,764.949703785,744.949703785,714,679,658,634.050296215,879,787,805,651.050296215,631,652.949703785,0.401031487031,-0.0154893984028,0.0798675068354,0.999999980852,0.000121665854774,-0.000148066784024,3.96123309197e-05,1793244483928837888
+94,1.566666667,BASELINE,764.460798531,744.460798531,714,679,658,634,879,787,805,651.539201469,631,652.460798531,0.401030005498,-0.0154881640925,0.0798664138282,0.999999979997,0.000126264482468,-0.000149936308574,3.97728650402e-05,1793244483945504512
+95,1.583333333,BASELINE,764,744.127636264,714.127636264,679,658,634,879,787,805,652,631,652.127636264,0.401028979271,-0.0154874099282,0.0798655202801,0.999999979309,0.000129995342526,-0.000151280440459,3.99682675062e-05,1793244483962171136
+96,1.600000000,BASELINE,764,744.707384432,714.707384432,679,658,634,879,787,805,652,631,652.707384432,0.401030410559,-0.01548898978,0.0798660863956,0.999999979752,0.000128364280408,-0.000149660146938,4.02484797948e-05,1793244483978837504
+97,1.616666667,BASELINE,764.284454397,744.715545603,714.715545603,678.715545603,658,634,879,787,805,652,631,652.715545603,0.401030792646,-0.0154898295946,0.0798662219359,0.999999979964,0.000126739716476,-0.000149579449525,4.04476416324e-05,1793244483995503616
+98,1.633333333,BASELINE,764.858794984,744.141205016,714.141205016,678.141205016,658,634,879,787,805,652,631,652.141205016,0.401030105498,-0.0154899152405,0.079865918679,0.999999979939,0.000125121774909,-0.000151067747637,4.05642053055e-05,1793244484012169984
+99,1.650000000,BASELINE,765,744,714,678.443094721,658,634,879,787,805.443094721,652,631,652,0.401030494603,-0.0154893188704,0.0798663315557,0.999999979938,0.000126113794282,-0.000150253491719,4.05396269365e-05,1793244484028837120
+100,1.666666667,BASELINE,764.969756885,744.030243115,714,679,658,634.030243115,879.030243115,787,806,652,631,652,0.401031218128,-0.0154885641653,0.0798669694159,0.99999997995,0.000127848813514,-0.000148720696546,4.0462024384e-05,1793244484045504512
+101,1.683333333,BASELINE,764.389843643,744.610156357,714,679,658,634.610156357,879.610156357,787,806,652,631,652,0.40103164276,-0.0154889727837,0.0798674531399,0.999999980128,0.000127623392435,-0.000147771471776,4.02569972847e-05,1793244484062171136
+102,1.700000000,BASELINE,764.189145957,744.810854043,714,679,658.189145957,634.810854043,879.810854043,787,806,651.810854043,631,652,0.401031851154,-0.0154890989558,0.0798676471472,0.999999980246,0.000127284267308,-0.000147297218952,4.01277958332e-05,1793244484078837504
+103,1.716666667,BASELINE,764.766241039,744.233758961,714,679,658.766241039,634.233758961,879.233758961,787,806,651.233758961,631,652,0.401031616031,-0.0154886458144,0.0798672469292,0.999999980244,0.000126711928733,-0.000147797160751,4.01541171274e-05,1793244484095503872
+104,1.733333333,BASELINE,765,744,714,679,659,634,879.342472267,787,805.657527733,651.342472267,631,652,0.401030176974,-0.0154883260743,0.0798664271609,0.999999979934,0.000127366551202,-0.000149288053969,4.0295292969e-05,1793244484112170496
+105,1.750000000,BASELINE,765,744,714,679,659,634,879.918115399,787,805.081884601,651.918115399,631,652,0.401027918224,-0.0154880971598,0.0798653217435,0.999999979408,0.000128856545109,-0.000151453632527,4.051466707e-05,1793244484128837120
+106,1.766666667,BASELINE,765,744,714,679,659,634,879.495227349,787,805,652,631,652,0.401029409242,-0.0154882154562,0.0798657677748,0.999999979672,0.000128391430021,-0.000150165453212,4.02747161827e-05,1793244484145503488
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,787,805,652,631,653,0.401031275501,-0.0154899690488,0.0798664519556,0.999999980745,0.000121733379354,-0.000148798082577,3.93755815777e-05,1793244484188296448
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.426327018,744.573672982,714,679,659,634,879,787,805,651.426327018,631,652.426327018,0.401031063928,-0.0154899627347,0.0798669235541,0.999999980665,0.00012274457206,-0.000148366257451,3.98893251969e-05,1793244484204963072
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,744.853566937,714,679,659,634,879,787,805,651.146433063,631,652,0.401030820296,-0.0154896175091,0.0798671895127,0.99999998053,0.000124018442685,-0.000148130799639,4.02109101841e-05,1793244484221629440
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,744.283448083,714,679,659,634,879,787,805,651.716551917,631,652,0.401030483905,-0.0154882916851,0.0798668604777,0.999999980236,0.000126052339309,-0.000148463506036,3.99765082764e-05,1793244484238295808
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.300981331,744,714,679,659,634,879,787,805,652,631,652,0.401030809142,-0.0154878637487,0.0798671576438,0.999999980133,0.000127215620737,-0.000148156851117,3.99907128338e-05,1793244484254961920
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.899560393,744,714,679,659,634,879,787,805,652,631,652,0.401031788571,-0.0154883236061,0.0798680739713,0.999999980223,0.000127518074208,-0.000147218022495,4.02507290632e-05,1793244484271628288
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.480826704,714,679,658.519173296,634.480826704,879.961653408,787,805,652,631,652.480826704,0.401029977932,-0.0154892754728,0.079867151752,0.999999979989,0.000126707942954,-0.000149525836012,4.01105976831e-05,1793244484288295168
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.941614502,744.941614502,714,679,658,634.941614502,880.883229003,787,805,652,631,652.941614502,0.401028089504,-0.0154901456935,0.0798661304445,0.999999979704,0.000125924456993,-0.000152119977854,3.99397603649e-05,1793244484304962048
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.365975976,744.365975976,714,679,658,634.365975976,879.731951953,787,805,652,631,652.365975976,0.40103049579,-0.0154894137186,0.0798675154676,0.999999979612,0.000127364428538,-0.000151451334063,4.02116706899e-05,1793244484321629184
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.214199166,744,714.214199166,679,658,634,879,787,805.214199166,651.785800834,631,652,0.401034835239,-0.0154887929372,0.0798695648836,0.999999979474,0.000128112700804,-0.000151698722212,4.03242499432e-05,1793244484338296320
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.802293129,744,714.802293129,679,658,634,879,787,805.802293129,651.197706871,631,652,0.401042549114,-0.0154883662496,0.0798727740289,0.999999979258,0.000127653579047,-0.000153545087599,4.01587092312e-05,1793244484354962944
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714.615439294,679,658.384560706,634,879.384560706,787,805.615439294,651,631,652,0.401069224286,-0.0154903162176,0.0798835486645,0.999999980831,0.000126483160498,-0.000143781457399,4.08281114138e-05,1793244484371629312
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714.036122368,679,658.963877632,634,879.963877632,787,805.036122368,651,631,652,0.401105502184,-0.0154934698145,0.0798981547535,0.999999983105,0.000124952514037,-0.000128138082416,4.19203605249e-05,1793244484388295680
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.539862498,879.460137502,787,805,651.539862498,631,652,0.401161581234,-0.0154950455694,0.0799131639932,0.999999985403,0.000124307267421,-0.000109414034262,4.20648016824e-05,1793244484404962048
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.115959091,714,678.884040909,658.884040909,634.884040909,879,787,805.115959091,652,631,652,0.401222635003,-0.0154967336614,0.0799276336785,0.999999987347,0.00012390160887,-9.05126971e-05,4.19773408238e-05,1793244484421628928
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.69338227,714,678.30661773,658.30661773,634.30661773,879,787,805.69338227,652,631,652,0.401298245733,-0.015499286363,0.079939849499,0.999999988864,0.000124215089714,-7.17210916995e-05,4.12178431675e-05,1793244484438295808
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.72403739,714.27596261,678.27596261,658,634,879,787,805.72403739,652,631,652,0.401378955048,-0.0155018039815,0.07994853925,0.999999989718,0.000124639707152,-5.8732863445e-05,3.97490309836e-05,1793244484454962432
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.135617924,714.864382076,678.864382076,658,634,879,787,805.135617924,652,631,652,0.401465437198,-0.0155042818773,0.0799532366311,0.999999990093,0.000125190158284,-5.23154720968e-05,3.74771021288e-05,1793244484471628800
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.44581652,714.55418348,679,658.44581652,634,879,787,805,652,631,652.44581652,0.401570450602,-0.0155069834821,0.0799564992318,0.999999990369,0.000124951032255,-4.95437756937e-05,3.45572058342e-05,1793244484488295424
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,678.974988645,658.974988645,634,879,787,805,651.974988645,631,652.974988645,0.401682028294,-0.0155097884629,0.0799592760181,0.999999990633,0.000124369357155,-4.77716299879e-05,3.13734668254e-05,1793244484504961792
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,678.399043422,658.399043422,634,879,787,805,651.399043422,631,652.399043422,0.401815942184,-0.0155133946491,0.0799608173906,0.999999991303,0.000121451373554,-4.39649048693e-05,2.66528578894e-05,1793244484521628416
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,678.176871226,658.176871226,634.176871226,879,787,805,651,631,652,0.401959284528,-0.0155162716939,0.0799629432624,0.999999991978,0.000118280633947,-3.97276502723e-05,2.18082545177e-05,1793244484538295040
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,678.752716828,658.752716828,634.752716828,879,787,805,651,631,652,0.402123894933,-0.0155175039894,0.0799663876087,0.999999992705,0.000114539744521,-3.4519236365e-05,1.66839533668e-05,1793244484554961664
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.663352716,635,879,787,805,651,631,652,0.40229621082,-0.0155177560304,0.0799657073367,0.999999993431,0.000107718175159,-3.76885306219e-05,1.06946158316e-05,1793244484571628288
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.073337361,635,879,787,805,651,631,652,0.402474326037,-0.0155172703107,0.0799619227875,0.999999994021,9.85780186495e-05,-4.71630697522e-05,4.0542325538e-06,1793244484588294912
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.494235077,714.505764923,679,658.505764923,634.494235077,879,787,805,651,631,652,0.402684501788,-0.0155162103729,0.079955315162,0.999999996084,6.31920089478e-05,-6.18122245649e-05,-4.16153026061e-06,1793244484604961792
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744,714.916939913,678.916939913,659,634,879,787,805,651.083060087,631,652,0.402905716405,-0.0155150465864,0.0799490636662,0.999999996672,2.87848322445e-05,-7.53003652344e-05,-1.25059431893e-05,1793244484621628416
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714.341175634,678.341175634,659,634,879,787,805,651.658824366,631,652,0.403165418393,-0.0155137502574,0.0799473016534,0.999999996539,2.22823319508e-05,-7.75445952561e-05,-2.0287069208e-05,1793244484638295040
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,678.239691043,659,634.239691043,879.239691043,787,805,652,631,652.239691043,0.403441272664,-0.0155099574837,0.0799483609936,0.999999996536,2.27429405203e-05,-7.61368495562e-05,-2.47590934976e-05,1793244484654961664
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,678.827978395,659,634.827978395,879.827978395,787,805,652,631,652.827978395,0.403740618104,-0.0155025339887,0.0799535235878,0.999999996737,3.33303944794e-05,-6.94178278547e-05,-2.44185025878e-05,1793244484671628288
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.410040183,714,678.589959817,659,634.589959817,880,787,805.410040183,652,631,652.589959817,0.404074525183,-0.0155011037445,0.0799570191566,0.999999997136,3.24589261071e-05,-6.33650841209e-05,-2.56921798445e-05,1793244484688295168
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.989529247,714,678.010470753,659,634.010470753,880,787,805.989529247,652,631,652.010470753,0.404422714834,-0.0155021502082,0.0799598258277,0.9999999976,2.68520641122e-05,-5.7587679557e-05,-2.76329525425e-05,1793244484704961792
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.565061954,678.565061954,659,634,879.434938046,787,805.434938046,651.434938046,631,652,0.40481497987,-0.0155057955316,0.0799556379939,0.999999997614,1.71873062699e-05,-5.92860774989e-05,-3.10004564425e-05,1793244484721628416
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.857222217,679,659,634,879,787,805,651.142777783,631,652,0.405210044112,-0.0155093603089,0.0799507882294,0.999999997359,7.46528187257e-06,-6.35648884011e-05,-3.44386413178e-05,1793244484738295296
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.272524047,679,659,634,879,787,805,651.727475953,631,652,0.40561126194,-0.0155125277628,0.0799442880576,0.999999996432,-2.2028707821e-06,-7.5404707997e-05,-3.80143345565e-05,1793244484754961664
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.689675508,714,679,659,634,879.310324492,787,805,652,631,652,0.406043356739,-0.0155141508083,0.0799394082654,0.999999995639,3.4529547732e-06,-8.55676545326e-05,-3.72549190659e-05,1793244484771628288
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.108441608,714,679,659,634,879.891558392,787,805,652,631,652,0.406502406793,-0.0155144256049,0.0799359430435,0.999999994769,2.24864208592e-05,-9.42667131397e-05,-3.27110081842e-05,1793244484788295168
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.470925644,714,679,659,634,879.529074356,787,805,652,631,652,0.406991188212,-0.0155120996128,0.0799343244807,0.999999994427,1.90543059775e-05,-9.7489568561e-05,-3.57576011235e-05,1793244484804961792
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.04951807,679.04951807,659,634.04951807,879,787,805,651.95048193,631,652,0.407489761695,-0.0155091631422,0.0799321516867,0.999999993981,1.13134776605e-05,-0.000101406367554,-4.03441336874e-05,1793244484821628160
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.624432521,679.624432521,659,634.624432521,879,787,805,651.375567479,631,652,0.408019877027,-0.0155060786504,0.0799196043643,0.999999991066,1.2528557817e-05,-0.000126012924254,-4.2797490548e-05,1793244484838294784
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.79600828,659,634.79600828,879,787,805,651,630.79600828,652.20399172,0.408571502527,-0.0155055073385,0.0799165348564,0.99999999009,1.1896157026e-05,-0.000133106611546,-4.4275559433e-05,1793244484854961408
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.20769846,659,634.20769846,879,787,805,651,630.20769846,652.79230154,0.40916365291,-0.0155096708293,0.079931321445,0.999999993259,7.78312289774e-06,-0.000107206248954,-4.39161966437e-05,1793244484871628032
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.625337904,679,658.625337904,634,879,787,805,651,630.374662096,652.625337904,0.409804811686,-0.0155128411784,0.0799600978379,0.999999997353,4.47227328183e-06,-5.87820733833e-05,-4.26471974786e-05,1793244484888294912
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.046223863,679,658.046223863,634,879,787,805,651,630.953776137,652.046223863,0.410472714172,-0.0155154695731,0.0799965084232,0.999999999161,1.59917339361e-06,1.93327654246e-06,-4.08818124511e-05,1793244484904961536
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.527410695,679,659.05482139,634,879.527410695,787,805,651,631,652,0.411111556597,-0.0155132298182,0.079992365343,0.999999999047,2.90252425073e-06,-9.1265288672e-06,-4.2583101876e-05,1793244484921628160
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659.899103037,634,879.899103037,787,805.100896963,651.100896963,631,652,0.411753201014,-0.0155108169102,0.0799793633325,0.999999998428,3.32885204836e-06,-3.32324241697e-05,-4.50469005658e-05,1793244484938295296
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659.324080286,634,879.324080286,787,805.675919714,651.675919714,631,652,0.412419857251,-0.0155095746401,0.0799412622974,0.999999994769,-2.06840712337e-06,-8.93870924095e-05,-4.96807639627e-05,1793244484954961920
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.74095378,679,659,634,879,787,806,652,631,652,0.413110062676,-0.0155093782595,0.0799169926484,0.999999991397,-7.56571094555e-06,-0.000119344344872,-5.389838174e-05,1793244484971628544
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.147361576,679,659,634,879,787,806,652,631,652,0.413830680859,-0.0155105325958,0.0799105855773,0.999999991589,-1.31922184695e-05,-0.00011546887777,-5.75784387182e-05,1793244484988295168
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.564358009,744.564358009,714,679,659,634,879.435641991,787,805.564358009,651.564358009,630.564358009,652.435641991,0.414595544166,-0.0155124731698,0.0799330456494,0.999999995444,-1.28217625399e-05,-7.69077739751e-05,-5.50685009271e-05,1793244485004961792
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.015044039,744.015044039,714,679,659,634,880,787,805.015044039,651,630.015044039,652.984955961,0.415374417132,-0.0155145637304,0.0799641126483,0.999999998245,-1.05619634904e-05,-2.87967481009e-05,-5.06894744681e-05,1793244485021628416
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.590544396,744.590544396,714,679,659,634,880,787,805.590544396,651,630.590544396,652.409455604,0.416130876297,-0.0155125690693,0.07996068018,0.999999997203,-1.16949997809e-05,-5.16379241279e-05,-5.28326646678e-05,1793244485038295040
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.834608019,714,679,659,634,880.165391981,786.834608019,805.834608019,651,630.834608019,652,0.416911975555,-0.0155121940995,0.0799590170003,0.999999996582,-1.43523075745e-05,-6.03668530522e-05,-5.46369228139e-05,1793244485054961920
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.261370162,714,679,659,634,880.738629838,786.261370162,805.261370162,651,630.261370162,652,0.41775383564,-0.0155158131838,0.0799617167716,0.99999999765,-2.076836979e-05,-3.42958962667e-05,-5.56053964433e-05,1793244485071628544
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.32294486,714,679.32294486,659,634,880.67705514,786.32294486,805,651,630,652,0.418599604723,-0.0155206336779,0.0799743751762,0.999999998192,-2.49356169375e-05,-2.38651268112e-06,-5.46625555637e-05,1793244485088295168
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.916543406,714,679.916543406,659,634,880.083456594,786.916543406,805,651,630,652,0.419448649818,-0.0155264610496,0.0799953797138,0.999999997679,-2.721817642e-05,3.44159393456e-05,-5.21178798032e-05,1793244485104961792
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.504067766,745,714.495932234,679.504067766,659,634,880,787,805.495932234,651,630.495932234,652,0.420261534847,-0.0155385683847,0.0799774739688,0.999999997743,-4.29518949213e-05,4.53371207078e-06,-5.14628163012e-05,1793244485121628416
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,745,714.927278012,679.072721988,659,634,880.072721988,786.927278012,805.927278012,651,630.927278012,652.072721988,0.421077154512,-0.0155511242667,0.0799576417892,0.999999996498,-5.97008136495e-05,-2.89023016294e-05,-5.10311906494e-05,1793244485138295040
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,745,714.352383631,679.647616369,659,634,880.647616369,786.352383631,805.352383631,651,630.352383631,652.647616369,0.421952506895,-0.015559683156,0.0799684631707,0.999999996353,-6.82645098582e-05,-1.15459447224e-05,-5.00078238214e-05,1793244485154961920
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,714,680,659.222458736,634,880.777541264,786,805.222458736,651.222458736,630.222458736,652.777541264,0.422841351749,-0.0155637278085,0.0799844837712,0.99999999636,-6.92069296573e-05,1.15314638363e-05,-4.85625861783e-05,1793244485171628544
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,714,680,659.797218819,634,880.202781181,786,805.797218819,651.797218819,630.797218819,652.202781181,0.423751564365,-0.0155606233987,0.0800087382232,0.999999996281,-5.80797598231e-05,4.36691360461e-05,-4.64492439787e-05,1793244485188295424
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.384511634,744.615488366,714.384511634,680,660,634,880,786.384511634,806,651.615488366,630.615488366,652,0.424589722208,-0.0155548732514,0.0799867175921,0.999999997665,-4.75424652766e-05,-6.87118333138e-06,-4.86153270139e-05,1793244485204961792
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.978636528,744.021363472,714.978636528,680,660,634,880,786.978636528,806,651.021363472,630.021363472,652,0.425388599946,-0.015547680803,0.07993947049,0.999999992641,-3.73267365707e-05,-0.000102482711242,-5.31143022368e-05,1793244485221628416
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744.554024798,714.445975202,680,660,634,880,787,805.445975202,651,630.554024798,652,0.426281478568,-0.0155481772622,0.0799250640978,0.999999992733,-4.75211369202e-05,-9.54449013056e-05,-5.62606292667e-05,1793244485238295040
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.870992325,745,714,680.129007675,660,634,880.129007675,787,805,651.129007675,631,652,0.427172074705,-0.0155499799519,0.0799154603651,0.999999992668,-5.68715335269e-05,-8.96627890964e-05,-5.82266733406e-05,1793244485254961920
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.294992663,745,714,680.705007337,660,634,880.705007337,787,805,651.705007337,631,652,0.428042614063,-0.0155553148507,0.0799182529284,0.999999991426,-6.06598688974e-05,-0.000101497431478,-5.62780265298e-05,1793244485271628544
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.288407498,745,714,680.711592502,660,634,880.711592502,787,805.288407498,651.711592502,631,652,0.428932070829,-0.0155574321149,0.079931425859,0.999999992387,-6.27089656224e-05,-9.10503761053e-05,-5.48033399375e-05,1793244485288295168
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.879576441,745,714,680.120423559,660,634,880.120423559,787,805.879576441,651.120423559,631,652,0.42984138646,-0.0155561716035,0.0799554957845,0.999999994934,-6.29322620707e-05,-5.7212669247e-05,-5.38262024942e-05,1793244485304961536
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,787,806,651,631,652,0.430762533802,-0.0155587025272,0.0799963413606,0.999999996572,-6.47812320948e-05,4.84326727097e-06,-5.1342379558e-05,1793244485321628160
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.961274742,745,714,680,660,634,880,787,806,651,630.961274742,652,0.43167862399,-0.0155618818435,0.0800365721375,0.999999994408,-6.6689880628e-05,6.60153507912e-05,-4.87755461551e-05,1793244485338295296
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,745,714,681,659,633,880,785,806,651,630,652.804811779,0.44677781577,-0.0156508322856,0.0797382037074,0.999999901816,-0.000210033541566,-0.000382919571137,-7.50106818211e-05,1793244485704962304
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+236,3.933333333,POSE1_TO_POSE2_PRESS,764,745,713.144908515,681.144908515,657,631,880.144908515,781,806,651,630,652.855091485,0.452248656853,-0.0156935230899,0.0795618600974,0.999999737535,-0.000279509528903,-0.000663563190334,-8.05435600773e-05,1793244486338295296
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,745,713.018310969,680.018310969,657,631,880,781,806.018310969,651,630,652,0.452252755632,-0.0156944354037,0.0795631297633,0.999999738622,-0.000280359498677,-0.000661632245719,-7.99790460984e-05,1793244486371628288
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,745,713.592154904,680.592154904,657,631,880,781,806.592154904,651,630,652,0.452251707674,-0.0156974400702,0.0795620889737,0.999999736427,-0.000284133787437,-0.000663401843257,-7.94471749105e-05,1793244486388296192
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,714,681,657.166372387,631,880,781,807,651,630,652,0.452251615936,-0.0156986185257,0.0795616896582,0.999999735474,-0.000286119589329,-0.000663999439132,-7.93287450776e-05,1793244486404963584
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.244387146,659,633.244387146,879,786,805.755612854,651,630,652,0.406164496387,-0.0153586454372,0.0797660511939,0.999999889386,0.000272267114866,-0.000381693610878,3.75410564035e-05,1793244488331139584
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.819160728,659,633.819160728,879,786,805.180839272,651,630,652,0.405731856732,-0.0153587066624,0.0797801034223,0.999999900947,0.000269692380177,-0.00035205775257,3.77693745084e-05,1793244488347806720
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.402851632,714,679.597148368,659,634,879,786.402851632,805,651,630.402851632,652.402851632,0.405329393005,-0.0153587965221,0.0797971190084,0.999999911269,0.000270365405305,-0.000320705374517,3.88868419207e-05,1793244488364473344
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.990636169,714,679.009363831,659,634,879,786.990636169,805,651,630.990636169,652.990636169,0.404940781789,-0.0153588995267,0.0798154949534,0.999999920412,0.000272529345337,-0.000288565008829,4.04124818466e-05,1793244488381139968
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.429763313,714,679.570236687,659,634,879,787,805,651,631,652.429763313,0.40456360651,-0.0153588986828,0.0798229409602,0.999999919601,0.000280979861191,-0.000282896451491,4.26255770372e-05,1793244488397806336
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.850736782,659,634,879.149263218,787,805,651,631,652,0.404189709386,-0.0153581572247,0.079828484992,0.999999918176,0.000287503071298,-0.000281094150893,4.44606728419e-05,1793244488414472960
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.272977542,659,634,879.727022458,787,805,651,631,652,0.403824691447,-0.0153552944814,0.0798290768988,0.999999915642,0.000288201330006,-0.000289160637505,4.5178682556e-05,1793244488431139584
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.052511766,745,714,679,659,634,879,787,805,651.052511766,631,652.947488234,0.402690638423,-0.0153513865295,0.0798290056216,0.99999991483,0.000282838616475,-0.000297588087769,4.22337130317e-05,1793244488497806336
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.630702703,745,714,679,659,634,879,787,805,651.630702703,631,652.369297297,0.402468074471,-0.015350229848,0.0798288099247,0.999999913048,0.000287571791781,-0.000299002981818,4.24743488027e-05,1793244488514473472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.791981782,714,679,659,634,879,786.791981782,805,652,631,652,0.402258634787,-0.0153500634903,0.0798285311775,0.999999912413,0.000289316059946,-0.000299451710271,4.24173803379e-05,1793244488531140352
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.216213962,714,679,659,634,879,786.216213962,805,652,631,652,0.402072397154,-0.0153516478986,0.0798281056082,0.999999913832,0.000285776322133,-0.000298192381402,4.18342856292e-05,1793244488547806720
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.359074867,714,679,659,634,879,786.359074867,805,651.640925133,631,652,0.401916521591,-0.0153517934025,0.0798323608485,0.999999916147,0.000286539932791,-0.000289562364631,4.18975842986e-05,1793244488564473344
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.934075717,714,679,659,634,879,786.934075717,805,651.065924283,631,652,0.401778903928,-0.0153510736363,0.0798394308457,0.999999918859,0.000289891317457,-0.000276500060258,4.23495849228e-05,1793244488581140224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.478373538,714,679,658.478373538,634,878.478373538,787,805,651,631,652,0.401662089636,-0.0153511313934,0.0798454521133,0.999999921104,0.000290191232212,-0.000267831954572,4.29791149196e-05,1793244488597807104
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.689510812,634,878.689510812,787,805.689510812,651,631,652,0.401446576094,-0.0153515206217,0.0798470085987,0.999999922651,0.000286264012863,-0.000266428081735,4.20456185063e-05,1793244488631140096
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.010444313,744.010444313,714,679,658.010444313,634,879,786.010444313,805.010444313,652,631,652,0.401145148801,-0.0153501186201,0.0798296818787,0.999999913499,0.00029175887989,-0.000294006669698,3.79192252753e-05,1793244488697806592
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744,714,678.826181242,658.826181242,634,879,787,805,651,631,652,0.401073252912,-0.0153515128388,0.0798321862052,0.999999916005,0.00028767522389,-0.000289405663734,3.84270440887e-05,1793244488731139840
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,714,678.901279793,658.901279793,634,879,787,805,651,631,652,0.401004006639,-0.0153512492649,0.0798295706478,0.999999913448,0.000292033304932,-0.00029379066294,3.88200586476e-05,1793244488781139968
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.510296405,744.489703595,714,679,659,634.489703595,879,787,805,651,631,652.489703595,0.400994623719,-0.0153518944417,0.0798292121899,0.99999991391,0.000290887778417,-0.000293360724576,3.87762455773e-05,1793244488797806592
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.078341212,744.921658788,714,679,658.921658788,635,879,787,805,651,631,652.921658788,0.400987349362,-0.015352448915,0.0798292340307,0.999999914622,0.000289397088977,-0.000292419113774,3.86725885548e-05,1793244488814473216
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.653666985,744.346333015,714,679,658.346333015,635,879,787,805,651,631,652.346333015,0.400984178857,-0.0153509652984,0.0798313147166,0.999999915138,0.000290276168859,-0.000289843758956,3.81345280411e-05,1793244488831139840
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.229581249,634.770418751,879.229581249,787,805,651.229581249,631,652,0.400981425399,-0.0153511308063,0.0798324904882,0.999999915798,0.000289507944698,-0.000288386333155,3.77244348869e-05,1793244488847806464
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.806385521,634.193614479,879.806385521,787,805,651.806385521,631,652,0.400979302694,-0.0153537904814,0.0798322976501,0.999999916677,0.000286248306696,-0.000288619684499,3.75078820202e-05,1793244488864473344
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.391401503,714,679,659,634,879.608598497,787,805,651.608598497,631,652,0.400978507384,-0.015353309113,0.0798330862971,0.999999916626,0.000287747964051,-0.000287267761848,3.77726170371e-05,1793244488881139968
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.980566602,714,679,659,634,879.019433398,787,805,651.019433398,631,652,0.400978382769,-0.0153512406681,0.0798343708594,0.999999916092,0.000291652352583,-0.000285114847156,3.82805325829e-05,1793244488897806592
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.43968381,714,679.56031619,659,634,879,787,805,651.56031619,631,652,0.400978602784,-0.0153525750882,0.0798344772034,0.99999991734,0.000288010099528,-0.000284497837633,3.78280913125e-05,1793244488914473216
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.861303144,744,714,679.722606288,659,634,879,787,805,652,631,652,0.400978611746,-0.0153539414508,0.0798344931484,0.999999918324,0.000284951137349,-0.000284167526272,3.74787728378e-05,1793244488931140096
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.286219203,744,714,678.572438406,659,634,879,787,805,652,631,652,0.400977919678,-0.0153550431172,0.0798343511149,0.999999918323,0.000284537316884,-0.000284574429669,3.7556979754e-05,1793244488947806720
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,744,714,678.577426999,659,634,879,787,805,651.7112865,631,652,0.400977889444,-0.0153548218218,0.0798347888502,0.999999918612,0.00028437071519,-0.000283741149828,3.74327200353e-05,1793244488964473344
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,744,714,679.726992834,659,634,879,787,805,651.136503583,631,652,0.400978514982,-0.0153532896804,0.0798358010446,0.999999919184,0.000284449068149,-0.000281679044583,3.71078479109e-05,1793244488981139968
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,744,714,679.548749086,659,634,879.451250914,787,805,651,631,652,0.400978223547,-0.0153527755365,0.0798355875315,0.999999918524,0.000286872373102,-0.000281550321649,3.72204774481e-05,1793244488997806592
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.042113455,744,714,679,659,634,880,787,805,651,631,652,0.400977719412,-0.0153526800907,0.0798350902375,0.999999917624,0.000289580947663,-0.000281944122484,3.74477852175e-05,1793244489014472960
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.621095243,744,714,679,659,634,880,787,805,651,631,652,0.400978144554,-0.0153538803578,0.079835841877,0.999999918655,0.000286615662746,-0.000281322729246,3.73999482278e-05,1793244489031139840
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879.802562361,787,805,651.197437639,631,652.197437639,0.40097845534,-0.015354876357,0.0798364602036,0.999999919307,0.000284938510641,-0.000280705008517,3.74320078156e-05,1793244489047806464
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879.231218463,787,805,651.768781537,631,652.768781537,0.40097854956,-0.0153554855145,0.0798368260632,0.999999919254,0.000285700817187,-0.000280094242808,3.76153750834e-05,1793244489064473344
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879,787,805,652,631,652.648176961,0.400977970736,-0.0153558522685,0.0798366589865,0.999999919532,0.000284675701005,-0.000280177269373,3.73635483194e-05,1793244489081139968
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879,787,805,652,631,652.057183412,0.400976934375,-0.0153560542357,0.0798361296179,0.999999920032,0.00028243548868,-0.000280731938333,3.68158751501e-05,1793244489097806848
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.52339957,714,679,659,634,879,787,805,651.47660043,631,652,0.400978516096,-0.0153561224148,0.0798373603739,0.999999920151,0.000283356319834,-0.00027933171652,3.71517612056e-05,1793244489114473472
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.897328419,714,679,659,634,879,787,805,651,631,652,0.40097990146,-0.0153560272395,0.0798384978549,0.99999992013,0.000284628094295,-0.000278067735967,3.74787509919e-05,1793244489131140096
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.31896357,714,679,659,634,879,787,805,651,631,652,0.400979077672,-0.0153552416193,0.0798383295965,0.999999919663,0.000285956960149,-0.000278405230127,3.73259965319e-05,1793244489147806976
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.257103957,659,634,879,787,805,651.257103957,631,652,0.400978918697,-0.0153544452671,0.0798383294936,0.999999919525,0.00028653148313,-0.000278322406382,3.72226235574e-05,1793244489164473856
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.830346739,659,634,879,787,805,651.830346739,631,652,0.400979577185,-0.0153536357186,0.0798385361575,0.999999919795,0.000286178455145,-0.000277722753572,3.71799707665e-05,1793244489181140224
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a67db9a89545828f9e703b8ba46a3adb1df9e17
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.57566940041,-0.0101220622673,1.07005084191,0.546241031456,-0.00144638362313,1.06971733846
+2,0.033333333,pose1_baseline,0.57566940041,-0.0101220622673,1.07005084191,0.546241031456,-0.00144638362313,1.06971733846
+3,0.050000000,pose1_baseline,0.57566940041,-0.0101220622673,1.07005084191,0.546241031456,-0.00144638362313,1.06971733846
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+5,0.083333333,pose1_baseline,0.57566940041,-0.0101220622673,1.07005084191,0.546241031456,-0.00144638362313,1.06971733846
+6,0.100000000,pose1_baseline,0.57566940041,-0.0101220622673,1.07005084191,0.546241031456,-0.00144638362313,1.06971733846
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+375,6.250000000,pose2_to_pose3_retreat,0.575810100884,-0.0101221957792,1.07005098047,0.546381733939,-0.00144651043177,1.06971747421
+376,6.266666667,pose2_to_pose3_retreat,0.575774305339,-0.0101222294479,1.07005108172,0.546345938749,-0.00144654336982,1.06971756319
+377,6.283333333,pose2_to_pose3_retreat,0.575745437577,-0.010122089054,1.07005121536,0.546317071236,-0.00144640169739,1.06971770827
+378,6.300000000,pose2_to_pose3_retreat,0.575723194358,-0.0101221254188,1.07005089098,0.546294828509,-0.0014464363386,1.0697173854
+379,6.316666667,pose2_to_pose3_retreat,0.575705570046,-0.0101222272689,1.07005103586,0.546277203499,-0.0014465405189,1.06971753078
+380,6.333333333,pose2_to_pose3_retreat,0.575692480294,-0.0101220622782,1.07005084027,0.54626411181,-0.00144638194579,1.06971733922
+381,6.350000000,pose2_to_pose3_retreat,0.575683768826,-0.0101220208707,1.07005077923,0.546255399889,-0.00144634208949,1.06971727789
+382,6.366666667,pose2_to_pose3_retreat,0.57567816451,-0.0101221167983,1.07005082853,0.546249796399,-0.00144643538625,1.0697173226
+383,6.383333333,pose2_to_pose3_retreat,0.575674745774,-0.0101222179271,1.07005077909,0.546246378738,-0.00144653309785,1.06971726711
+384,6.400000000,pose2_to_pose3_retreat,0.575672585338,-0.010122138954,1.07005082689,0.546244217999,-0.00144645505465,1.06971731752
+385,6.416666667,pose2_to_pose3_retreat,0.575671395136,-0.0101220705559,1.07005086699,0.546243027458,-0.00144638770704,1.06971736018
+386,6.433333333,pose2_to_pose3_retreat,0.575670782532,-0.0101220775794,1.07005096965,0.54624241435,-0.00144639648537,1.06971746178
+387,6.450000000,pose2_to_pose3_retreat,0.57567048563,-0.0101220858689,1.07005102889,0.546242117164,-0.00144640576587,1.06971752024
+388,6.466666667,pose2_to_pose3_retreat,0.575670339692,-0.0101220899436,1.07005105801,0.546241971086,-0.00144641032759,1.06971754897
+389,6.483333333,pose2_to_pose3_retreat,0.575670274485,-0.0101220917641,1.07005107102,0.546241905818,-0.00144641236579,1.06971756181
+390,6.500000000,pose2_to_pose3_retreat,0.575670260534,-0.0101220921537,1.07005107381,0.546241891853,-0.00144641280188,1.06971756456
+391,6.516666667,pose2_to_pose3_retreat,0.575670220516,-0.010122093271,1.07005108179,0.546241851797,-0.00144641405275,1.06971757244
+392,6.533333333,pose2_to_pose3_retreat,0.575670126355,-0.0101220958999,1.07005110058,0.546241757546,-0.00144641699601,1.06971759097
+393,6.550000000,pose2_to_pose3_retreat,0.575670102626,-0.0101220965625,1.07005110532,0.546241733794,-0.00144641773773,1.06971759565
+394,6.566666667,pose2_to_pose3_retreat,0.575670042911,-0.0101220982297,1.07005111723,0.546241674023,-0.00144641960427,1.0697176074
+395,6.583333333,pose2_to_pose3_retreat,0.575670039263,-0.0101220983316,1.07005111796,0.546241670371,-0.00144641971833,1.06971760812
+396,6.600000000,pose2_to_pose3_retreat,0.575670016732,-0.0101220998815,1.07005110852,0.546241647846,-0.00144642125056,1.06971759858
+397,6.616666667,pose2_to_pose3_retreat,0.575669957337,-0.0101221067461,1.07005104157,0.546241588552,-0.00144642778833,1.06971753126
+398,6.633333333,pose2_to_pose3_retreat,0.575669929226,-0.010122109995,1.07005100988,0.546241560489,-0.00144643088252,1.0697174994
+399,6.650000000,pose2_to_pose3_retreat,0.575669819814,-0.0101221226404,1.07005088656,0.546241451262,-0.00144644292577,1.06971737539
+400,6.666666667,pose2_to_pose3_retreat,0.575669779858,-0.0101221272584,1.07005084152,0.546241411374,-0.00144644732388,1.06971733011
+401,6.683333333,pose2_to_pose3_retreat,0.575669708136,-0.0101221355477,1.07005076068,0.546241339773,-0.00144645521847,1.06971724882
+402,6.700000000,pose2_to_pose3_retreat,0.575669478143,-0.0101220938268,1.07005077007,0.546241109471,-0.00144641435193,1.06971726326
+403,6.716666667,pose2_to_pose3_retreat,0.57566940041,-0.0101220622673,1.07005084191,0.546241031456,-0.00144638362314,1.06971733846
+404,6.733333333,pose2_to_pose3_retreat,0.57566940041,-0.0101220622673,1.07005084191,0.546241031455,-0.00144638362312,1.06971733846
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..257c199b2bfd4e69bb8a086bb45f2c61251e70fc
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a3ed0f40e63dfdaace8880672d8f9f59a5b2b1dcb0a7140b79de584b66d0aa8
+size 25841522
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d8febced802bf3b87da513b43e20992610595408
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+41,0.683333333,BASELINE,765,744,714.779102548,679,659,634,879.779102548,787,805,651.220897452,631,652.779102548,0.400979374281,-0.0153562616887,0.079839924517,0.999999921533,0.000283635756092,-0.000274217116609,3.59246477138e-05,1793244490012600064
+42,0.700000000,BASELINE,764.637012953,744,714.637012953,679.362987047,659,634,879.274025905,787,805,651,631,653,0.400979595531,-0.0153563134348,0.0798405050499,0.99999992159,0.000283581713856,-0.000274054670447,3.60013551636e-05,1793244490029266432
+43,0.716666667,BASELINE,764.048916541,744,714.048916541,679.951083459,659,634,878.097833082,787,805,651,631,653,0.400979337328,-0.0153577232748,0.0798411351231,0.99999992182,0.00028270273256,-0.000274066860764,3.64076423995e-05,1793244490045932800
+44,0.733333333,BASELINE,764.531061202,744,714,679.468938798,658.468938798,634,878.531061202,787,805,651,630.468938798,652.468938798,0.400977444479,-0.0153577080293,0.0798398293654,0.99999992143,0.000282407366133,-0.000275781986611,3.64799772479e-05,1793244490062599680
+45,0.750000000,BASELINE,764.890286021,744,714,679,658.109713979,634,879,787,805,651,630,652,0.400976061361,-0.0153577930965,0.0798388538618,0.999999921202,0.000282152641333,-0.00027685990242,3.65346770279e-05,1793244490079266304
+46,0.766666667,BASELINE,764.314134955,744,714,679,658.685865045,634,879,787,805,651,630,652,0.400977475796,-0.0153588542919,0.0798400290549,0.999999921915,0.00028184559798,-0.000274571960732,3.66432096999e-05,1793244490095932928
+47,0.783333333,BASELINE,764,744,714,679,659,634,879,787,805,651,630,652,0.400978012533,-0.0153587989741,0.0798402125248,0.999999921929,0.00028222641865,-0.000274140278681,3.65620415339e-05,1793244490112599552
+48,0.800000000,BASELINE,764,744,714,679,659,634,879,787,805,651,630,652,0.400977496985,-0.0153574050521,0.0798392070033,0.999999921106,0.00028343192973,-0.000275934093743,3.62534382133e-05,1793244490129266432
+49,0.816666667,BASELINE,764.419963073,744,714,679,658.580036927,634,879,787,805,651,630.419963073,652,0.400977581634,-0.0153573808983,0.0798394932687,0.99999992104,0.000284141549501,-0.000275407336899,3.65202573895e-05,1793244490145932800
+50,0.833333333,BASELINE,764.987301767,744,714,679,658.012698233,634.012698233,879,787,805,651.012698233,630.987301767,652,0.400977909584,-0.0153579148512,0.0798402943605,0.999999921289,0.000284613542648,-0.000273948339432,3.70044104258e-05,1793244490162599424
+51,0.850000000,BASELINE,764.407696081,744,714,679,658.592303919,634.592303919,879,787,805,651.592303919,630.407696081,652,0.400978057185,-0.0153581642971,0.0798403134063,0.999999921697,0.000283600189606,-0.000273563661214,3.66047372282e-05,1793244490179266304
+52,0.866666667,BASELINE,764.170270214,744,714,679,659,634.829729786,879,786.829729786,805,652,630.170270214,652,0.40097805346,-0.0153581617468,0.0798403123654,0.999999921951,0.000282840114112,-0.000273468639998,3.62483471536e-05,1793244490195932928
+53,0.883333333,BASELINE,764.744348537,744,714,679,659,634.255651463,879,786.255651463,805,652,630.744348537,652,0.400977690855,-0.0153575615691,0.0798402636876,0.999999921843,0.000282680704679,-0.000274060561305,3.59946061551e-05,1793244490212599552
+54,0.900000000,BASELINE,765,744,714,679,659,634,879,786.3192662,805,652,631,652.3192662,0.400977211468,-0.0153580325885,0.07983990517,0.99999992185,0.000282061125849,-0.000274680386861,3.59355511697e-05,1793244490229266176
+55,0.916666667,BASELINE,765,744,714,679,659,634,879,786.894857704,805,652,631,652.894857704,0.400976638323,-0.0153593636266,0.0798392978953,0.999999921949,0.000281072096513,-0.000275322615529,3.60328013475e-05,1793244490245932800
+56,0.933333333,BASELINE,764.513542602,744,714,679,659,634,879,787,805,651.513542602,631,652.513542602,0.400976174715,-0.0153598504991,0.0798384077981,0.999999922133,0.000279570032176,-0.000276174862144,3.60702447701e-05,1793244490262599424
+57,0.950000000,BASELINE,764.079110178,744,714,679.079110178,658.920889822,634,879,787,805,651,631,652,0.400975843013,-0.0153600076653,0.0798377625062,0.999999922251,0.000278452723881,-0.000276876246295,3.60894613175e-05,1793244490279266304
+58,0.966666667,BASELINE,764.65588087,744,714,679.65588087,658.34411913,634,879,787,805,651,631,652,0.40097618709,-0.015359277581,0.0798390548478,0.999999921835,0.000280477105812,-0.000276333323709,3.60781020303e-05,1793244490295932928
+59,0.983333333,BASELINE,764.769046718,744,714,679.769046718,658.230953282,634,879.230953282,787,805,651,631,652,0.400976376147,-0.015358379279,0.0798395189769,0.999999921171,0.000282764972301,-0.000276391350968,3.61966604381e-05,1793244490312600064
+60,1.000000000,BASELINE,764.19648618,744,714,679.19648618,658.80351382,634,879.80351382,787,805,651,631,652,0.400976335908,-0.0153572321627,0.0798387580816,0.999999920137,0.000285442563964,-0.000277338254144,3.65073825019e-05,1793244490329267968
+61,1.016666667,BASELINE,764,744,714,679,659,634,879.611420896,787,805,651,631,652,0.400976877772,-0.015357559372,0.0798392294942,0.999999920494,0.000285257663911,-0.000276234096129,3.65427620468e-05,1793244490345934592
+62,1.033333333,BASELINE,764,744,714,679,659,634,879.019822339,787,805,651,631,652,0.400977723764,-0.0153586568666,0.0798403447461,0.999999921574,0.000283577208493,-0.000274058327885,3.64342844102e-05,1793244490362600704
+63,1.050000000,BASELINE,764.555348615,744,714,679,659,634,879,786.444651385,805,651.555348615,631,652,0.400977429069,-0.0153577249432,0.0798396528536,0.999999921447,0.000283335680137,-0.000274802013111,3.61961948189e-05,1793244490379267072
+64,1.066666667,BASELINE,765,744,714,679,659,634,879.258487863,786.129243931,805,651.870756069,631,652,0.400977483357,-0.0153567799961,0.0798393543084,0.999999921377,0.000283419409766,-0.000274989233509,3.60484164852e-05,1793244490395933440
+65,1.083333333,BASELINE,765,744,714,679,659,634,880.401446128,786.700723064,805,651.299276936,631,652,0.400978867079,-0.0153560312233,0.0798406160536,0.999999921645,0.000284445386724,-0.000272926076057,3.62250321292e-05,1793244490412600576
+66,1.100000000,BASELINE,764.71588966,744,714,678.71588966,659,634,880.431779321,787,805,651,631,652,0.40097856105,-0.015356003846,0.0798407375001,0.999999921532,0.000284478663052,-0.000273295203703,3.62943294478e-05,1793244490429267456
+67,1.116666667,BASELINE,764.119409831,744,714,678.119409831,659,634,879.238819663,787,805,651,631,652,0.400976397198,-0.0153567696181,0.0798396052275,0.999999920998,0.000283420499307,-0.000276338544804,3.62456339685e-05,1793244490445933824
+68,1.133333333,BASELINE,764.463026534,744,714,678.463026534,659,634,879,787,805,651,631,652,0.400976814927,-0.0153573616002,0.0798398827224,0.999999921415,0.000282703768235,-0.000275561724411,3.62656046596e-05,1793244490462599936
+69,1.150000000,BASELINE,765,744,714,679,659.04188358,634,879,787,805,651.04188358,631,652,0.400977878128,-0.0153578358477,0.0798404864164,0.999999922003,0.000282209704626,-0.000273924712107,3.6283012158e-05,1793244490479266048
+70,1.166666667,BASELINE,765,744,714,679,659.619917418,634,879,787,805,651.619917418,631,652,0.400978932453,-0.0153573598117,0.0798407487948,0.999999921766,0.000283472029223,-0.000273516443017,3.60475977172e-05,1793244490495932928
+71,1.183333333,BASELINE,764.803324015,744,714,679,659.803324015,634,879,787,805,651.803324015,631,652,0.400979664235,-0.0153570932625,0.0798411168866,0.999999921803,0.000283967303857,-0.000272876391374,3.59947333327e-05,1793244490512599808
+72,1.200000000,BASELINE,764.229013971,744,714,679,659.229013971,634,879,787,805,651.229013971,631,652,0.400979776707,-0.0153572289451,0.0798416879573,0.999999922365,0.000282989779738,-0.000271791298108,3.62923800209e-05,1793244490529266432
+73,1.216666667,BASELINE,764.353975973,744,714,679,659.353975973,634,879,787,805,651,631,652,0.400979194182,-0.0153576186103,0.0798412727011,0.999999922551,0.000281944335811,-0.000272196535959,3.62516360789e-05,1793244490545933312
+74,1.233333333,BASELINE,764.942722733,744,714,679,659.942722733,634,879,787,805,651,631,652,0.400978150708,-0.0153581767268,0.0798402032742,0.999999922487,0.000280853844855,-0.000273590220085,3.59864581446e-05,1793244490562599936
+75,1.250000000,BASELINE,764.477391496,744,714,679,659.477391496,634,879,787,804.477391496,651,631,652,0.400977764613,-0.0153603224459,0.0798404833113,0.999999923123,0.000278607049238,-0.000273513766454,3.63567183385e-05,1793244490579266816
+76,1.266666667,BASELINE,764.101244901,744,714,679,659,634,879,787,804.101244901,651,631,652,0.400977220284,-0.015361779912,0.0798404851658,0.999999923418,0.000277127408459,-0.000273900718544,3.66393612859e-05,1793244490595933696
+77,1.283333333,BASELINE,764.678497093,744,714,679,659,634,879,787,804.678497093,651,631,652,0.400975598931,-0.0153591971005,0.0798384953704,0.999999921767,0.000279840470271,-0.00027721130036,3.61880962663e-05,1793244490612600064
+78,1.300000000,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652,0.400975125096,-0.0153576845374,0.0798379755247,0.99999992103,0.000281756059692,-0.000277948646416,3.60204150646e-05,1793244490629266688
+79,1.316666667,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652,0.400976093808,-0.0153575173858,0.0798393035556,0.999999921457,0.000282669145007,-0.000275451173148,3.62092275999e-05,1793244490645933312
+80,1.333333333,BASELINE,764.594435777,744,714,679,659,634,879,787,805.405564223,651,631,652,0.400977167316,-0.0153582402582,0.0798401330891,0.999999922145,0.000281585689419,-0.000274064380077,3.61794330333e-05,1793244490662599680
+81,1.350000000,BASELINE,764.003596013,744,714,679,659,634,879,787,805.996403987,651,631,652,0.400978292589,-0.0153593847767,0.079840727675,0.999999922953,0.000279562773369,-0.000273200836619,3.60496950464e-05,1793244490679266304
+82,1.366666667,BASELINE,764.578917576,744,714,679,659,634,879,787,805.421082424,651,631,652,0.400979734978,-0.0153603633581,0.0798416082125,0.999999923531,0.000278928769485,-0.000271664136362,3.65364146253e-05,1793244490695932928
+83,1.383333333,BASELINE,764.846449149,744,714,679,659,634,879,787,805,651,631,652.153550851,0.400980476677,-0.0153608343743,0.0798419819035,0.999999923809,0.000278568084369,-0.000270978921945,3.67772710428e-05,1793244490712599808
+84,1.400000000,BASELINE,764.27369482,744,714,679,659,634,879,787,805,651,631,652.72630518,0.400979305447,-0.0153599197058,0.0798409718721,0.999999923272,0.000278953576538,-0.000272618317085,3.63469056762e-05,1793244490729266432
+85,1.416666667,BASELINE,764.309810148,744,714,679,659,634,879,787,805,651,630.690189852,652.690189852,0.400977827336,-0.0153584653272,0.0798398453419,0.99999992224,0.000280892376896,-0.000274462352321,3.5905137392e-05,1793244490745933056
+86,1.433333333,BASELINE,764.903153906,744,714,679,659,634,879,787,805,651,630.096846094,652.096846094,0.400976068372,-0.0153565170141,0.079838612194,0.999999920747,0.000284252741634,-0.000276493671008,3.54529333537e-05,1793244490762599680
+87,1.450000000,BASELINE,764.515097386,744,714,679,659,634,879,787,805,651,630.484902614,652,0.40097675249,-0.0153570934021,0.0798391674064,0.999999921168,0.000283671677239,-0.000275525636315,3.57904887052e-05,1793244490779266304
+88,1.466666667,BASELINE,764.063810005,744,714,679,658.936189995,634,879,787,805.063810005,651,631.063810005,652,0.400977894466,-0.0153582533012,0.0798400504962,0.999999921968,0.000282283943272,-0.000273980869104,3.624754492e-05,1793244490795932672
+89,1.483333333,BASELINE,764.638080754,744,714,679,658.361919246,634,879,787,805.638080754,651,631.638080754,652,0.400978886956,-0.0153601415458,0.0798407659318,0.999999922841,0.000280593338456,-0.000272502634385,3.64282241906e-05,1793244490812599296
+90,1.500000000,BASELINE,765,744,714,679,658.213823932,634.213823932,879,787,805.786176068,651,631.786176068,652,0.400979290109,-0.0153607144918,0.0798409072226,0.999999923102,0.00028007299405,-0.000272080125762,3.64285948686e-05,1793244490829266176
+91,1.516666667,BASELINE,765,744,714,679,658.79207657,634.79207657,879,787,805.20792343,651,631.20792343,652,0.400978688834,-0.0153590457215,0.0798400699754,0.999999922324,0.000281547171593,-0.000273456933634,3.61216583592e-05,1793244490845933056
+92,1.533333333,BASELINE,765,744,714.379083773,679,659,635,879,787,805,651,631,652,0.40097866922,-0.0153582387206,0.0798400720848,0.999999921992,0.000282617141634,-0.000273575918969,3.60519101346e-05,1793244490862599936
+93,1.550000000,BASELINE,765,744,714.971006331,679,659,635,879,787,805,651,631,652,0.400978976184,-0.0153579155649,0.0798405454559,0.999999921912,0.000283460167165,-0.000272988692664,3.61153326213e-05,1793244490879267072
+94,1.566666667,BASELINE,765,744.548440108,714.451559892,679,658.451559892,635,879,787,805,651.548440108,631,652,0.400978233069,-0.015359279652,0.0798404946522,0.999999922134,0.000281896019423,-0.000273781632464,3.6209578188e-05,1793244490895934464
+95,1.583333333,BASELINE,765,744.875956343,714,679,658.124043657,634.875956343,879,787,805,651.875956343,631,652,0.400977859324,-0.0153603743184,0.0798405491379,0.999999922476,0.000280373355891,-0.000274084548249,3.62882848429e-05,1793244490912601344
+96,1.600000000,BASELINE,765,744.304264508,714,679,658.695735492,634.304264508,879,787,805,651.304264508,631,652,0.40097901374,-0.0153601830916,0.0798410810197,0.999999923205,0.000279447823885,-0.000272362534851,3.6305185651e-05,1793244490929268224
+97,1.616666667,BASELINE,764.722298772,744.277701228,714,679,659,634,879.277701228,787,805,651,631,652.277701228,0.400979438624,-0.0153595165211,0.0798412777456,0.999999923276,0.000279606438903,-0.000271945838611,3.62507699676e-05,1793244490945934592
+98,1.633333333,BASELINE,764.128643978,744.871356022,714,679,659,634,879.871356022,787,805,651,631,652.871356022,0.400979033486,-0.0153583091301,0.079841093149,0.999999922599,0.000280998538323,-0.000273014262343,3.61152142036e-05,1793244490962600704
+99,1.650000000,BASELINE,764.453667908,744.546332092,714,679,659,634.453667908,879.546332092,787,805,651,631,652.546332092,0.400978721936,-0.0153581759915,0.0798409223398,0.999999922111,0.000282641811052,-0.00027307263016,3.63673561297e-05,1793244490979267328
+100,1.666666667,BASELINE,764.967502854,744,714,679,659,634.967502854,879,787,805,651,631,652.032497146,0.40097841739,-0.0153583200174,0.0798407632424,0.999999921708,0.000284195054669,-0.000272893357818,3.66940121091e-05,1793244490995934208
+101,1.683333333,BASELINE,764.394407055,744,714,679,659,634.394407055,879,787,805,651,631,652.605592945,0.400977798687,-0.0153581309316,0.0798407355206,0.999999921887,0.000283094715611,-0.000273409257616,3.6476005317e-05,1793244491012601088
+102,1.700000000,BASELINE,764,744,714,679,659,634,879,787,805,651,631,652.820698911,0.400977430125,-0.015358309805,0.0798407459198,0.999999922173,0.000281906143462,-0.000273611749819,3.63281626191e-05,1793244491029267712
+103,1.716666667,BASELINE,764,744,714,679,659,634,879,787,805,651,631,652.245639257,0.400977613682,-0.0153593008487,0.0798408404604,0.999999922695,0.000280522820819,-0.000273122479618,3.63351881742e-05,1793244491045934336
+104,1.733333333,BASELINE,764,744,714,679,659,634,879,787,805,651,631,652,0.400978119255,-0.015359120134,0.0798407676181,0.999999922785,0.000280411013848,-0.000272938768007,3.61079710087e-05,1793244491062600960
+105,1.750000000,BASELINE,764,744,714,679,659,634,879,787,805,651,631,652,0.400978864946,-0.0153580656729,0.0798405699632,0.999999922553,0.000281247339401,-0.000272982902598,3.57060857839e-05,1793244491079267328
+106,1.766666667,BASELINE,764,744,714,679,659,634,879,787,805,651,631,652,0.400978730043,-0.0153591577062,0.0798406860396,0.999999922552,0.000281460003308,-0.000272689916854,3.62877145108e-05,1793244491095933440
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805,651,631,653,0.400977781792,-0.0153586932758,0.0798397736864,0.999999922439,0.000280674752334,-0.000274007342048,3.55364838506e-05,1793244491138944768
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805,651.587677779,631,652.412322221,0.400977817787,-0.0153579896433,0.0798398905145,0.999999921907,0.000282639531732,-0.000273874448502,3.59610402651e-05,1793244491155612160
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805,652,631,652,0.400978185564,-0.0153576736092,0.0798403098202,0.999999921771,0.000283594371458,-0.000273347786686,3.62260928462e-05,1793244491172279040
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658,634,879,787,805,652,631,652,0.400979333479,-0.0153582689543,0.0798414403568,0.999999922573,0.000282174489671,-0.000271895237722,3.61160961333e-05,1793244491188945664
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.670800992,744,714,679,658.329199008,634,879,786.670800992,805,651.670800992,631,652,0.400979784089,-0.0153589058927,0.0798420883558,0.999999923139,0.000280987095903,-0.000271031388071,3.62065327271e-05,1793244491205612544
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.095408019,744,714,679,658.904591981,634,879,786.095408019,805,651.095408019,631,652,0.400979713214,-0.015359573937,0.0798423754854,0.999999923529,0.000279973570145,-0.000270607801736,3.64468648904e-05,1793244491222279168
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.480638319,744,714,679,658.519361681,634,879,786.480638319,805,651,631,652,0.400978580643,-0.0153582341584,0.0798416762298,0.999999922762,0.000281108322962,-0.000272284595726,3.62621915742e-05,1793244491238945792
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.058141633,634,879,787,805,651,631,652,0.400977529812,-0.015356764398,0.0798409090725,0.9999999219,0.000282451803489,-0.000274086040466,3.60301156081e-05,1793244491255612672
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,714,679,658.64777651,634,879,787,805,651,631,652,0.400979155367,-0.0153577547499,0.0798413135166,0.99999992232,0.000281799800318,-0.000273210458012,3.61369730285e-05,1793244491272279552
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.767139422,634,878.767139422,787,805,651,631,652,0.40098645795,-0.0153597412209,0.079844538347,0.99999992419,0.000280268929311,-0.000267840955528,3.6471355091e-05,1793244491288946432
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,714,679,658.188806984,634,878.188806984,787,805,651,631,652,0.401002182969,-0.0153632055338,0.0798519475013,0.999999928107,0.00027743417036,-0.000255804275131,3.71432926083e-05,1793244491305613056
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.613656744,744,714,679.386343256,658,634,878.386343256,787,805,651,630.613656744,652,0.401034875111,-0.0153645431459,0.0798650587325,0.999999934047,0.000276556589852,-0.000232360532426,3.78365215722e-05,1793244491322279680
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.040048898,744,714,679.959951102,658,634,878.959951102,787,805,651,630.040048898,652,0.401075791394,-0.0153648499243,0.0798809338203,0.999999940313,0.000276627673644,-0.000203387666838,3.85400707569e-05,1793244491338946304
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.539185557,744.539185557,714,679.460814443,658.539185557,634,879,786.460814443,805,651,630.539185557,652,0.401142877632,-0.0153664982932,0.079901871084,0.999999947142,0.000278669789902,-0.000162790257816,3.94790065551e-05,1793244491355612672
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.879268574,714,679,659,634.120731426,879,786.120731426,805,651,630.879268574,652,0.401212300764,-0.0153689161479,0.079921204763,0.999999952073,0.000279383708538,-0.000127247619364,4.00784229303e-05,1793244491372279040
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.290397572,714,679,659,634.709602428,879,786.709602428,805,651,630.290397572,652,0.4012831686,-0.0153739272402,0.079932847171,0.999999955011,0.000274373841705,-0.000114688276914,3.92928348978e-05,1793244491388945664
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.706541139,744,714,679,659,634.706541139,878.706541139,787,805,651,630,652,0.401362351913,-0.0153769895097,0.0799410714569,0.999999956812,0.000272683956871,-0.000102963742407,3.76507781365e-05,1793244491405612288
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.12756363,744,714,679,659,634.12756363,878.12756363,787,805,651,630,652,0.401449625703,-0.015378155686,0.0799459701054,0.999999957545,0.000274224224493,-9.20514289253e-05,3.51754264531e-05,1793244491422278656
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.446964681,744,714,679,658.553035319,634.446964681,878.446964681,787,805,651,630.446964681,652,0.401552548943,-0.0153816734098,0.0799486113686,0.99999995819,0.000273789652079,-8.7307946506e-05,3.22005050325e-05,1793244491438945280
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.020423917,714,678.979576083,658.020423917,634.979576083,879,787,805,651,631,652,0.401661033805,-0.0153858836224,0.0799506878383,0.999999958873,0.000272654074394,-8.40859206114e-05,2.90498593097e-05,1793244491455611904
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.599027065,714,678.400972935,658.599027065,634.400972935,879,787,805,651,631,652,0.401800655278,-0.0153908583156,0.0799547624867,0.999999961083,0.000267611951818,-7.48028778252e-05,2.4954904447e-05,1793244491472278528
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.818995663,714,678.181004337,659,634,879,786.818995663,805,651,630.818995663,652,0.401946111619,-0.0153958532587,0.0799585113588,0.999999963171,0.000262197606995,-6.6963417331e-05,2.06522726223e-05,1793244491488944896
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.229401906,714,678.770598094,659,634,879,786.229401906,805,651,630.229401906,652,0.40210473926,-0.015400893912,0.0799615248403,0.999999965175,0.000255943028498,-6.2382622867e-05,1.58808425911e-05,1793244491505611008
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.64680761,744,714,679,659,634,879,786,805,651,630,652,0.402276181808,-0.0154064156142,0.079960065048,0.999999967346,0.000246930281171,-6.50875553821e-05,9.82878712427e-06,1793244491522277632
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.068671131,744,714,679,659,634,879,786,805,651,630,652,0.402455786034,-0.0154122436912,0.0799557562804,0.999999969486,0.000236160887833,-7.24326814532e-05,2.96111587578e-06,1793244491538944512
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.506274293,744,714,679,659,634,879,786.506274293,805,651,630.506274293,652,0.402662766451,-0.0154196890282,0.0799499501549,0.999999979952,0.000181917621118,-8.3510317847e-05,-5.27944867716e-06,1793244491555610880
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.919623973,744,714,679,658.919623973,634,879,787,805,651,631,652.080376027,0.402880978015,-0.0154274879659,0.0799448444269,0.999999987533,0.000126890808521,-9.29978284239e-05,-1.36050058568e-05,1793244491572277504
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.348049401,744,714,679,658.348049401,634,879,787,805,651,631,652.651950599,0.403145275233,-0.0154361156497,0.0799452524397,0.999999990457,0.000102886686517,-8.9693060671e-05,-2.13190715591e-05,1793244491588944896
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.234018428,744,714,679.234018428,658.234018428,634,879,786.765981572,805,651,631,652.765981572,0.403426472327,-0.0154452404745,0.0799480382454,0.999999992365,8.7250747828e-05,-8.34600829343e-05,-2.62873350656e-05,1793244491605612032
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.832425191,744,714,679.832425191,658.832425191,634,879,786.167574809,805,651,631,652.167574809,0.403733984076,-0.0154551393936,0.0799545264946,0.999999993413,8.46448460254e-05,-7.26676116928e-05,-2.69801301537e-05,1793244491622278912
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.587334574,744,714,679.587334574,659,634,879,786,805,651,631,652,0.404060421933,-0.015461220021,0.0799560046907,0.999999994017,8.12796094022e-05,-6.85013036443e-05,-2.58281938282e-05,1793244491638946048
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.014160338,744,714,679.014160338,659,634,879,786,805,651,631,652,0.404394221211,-0.0154658154996,0.079955534195,0.999999994462,7.76190247931e-05,-6.69122836416e-05,-2.39587376167e-05,1793244491655613184
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,744,714,679,659,634,879,786.560054876,805,651,631,652,0.404779501839,-0.0154730578055,0.0799547859827,0.999999995212,6.74641448631e-05,-6.5190997682e-05,-2.78236460346e-05,1793244491672279296
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.139017938,744.139017938,714,679,659,634,879,787,805,651,631,652,0.405172438592,-0.0154799703092,0.0799520992566,0.999999995699,5.56447959129e-05,-6.70351363225e-05,-3.18095429007e-05,1793244491688945408
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.733448087,744.733448087,714,679,659,634,879,787,805,651,631,652,0.40558618412,-0.0154855827649,0.0799430851523,0.999999995359,3.89116856711e-05,-8.05703113841e-05,-3.57159378485e-05,1793244491705611776
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.681955544,713.681955544,679,659,634,879,787,805,651,631,652,0.406024137518,-0.015483001221,0.0799371780002,0.999999994142,4.55522158971e-05,-9.15220042377e-05,-3.55716710302e-05,1793244491722278656
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.105353583,713.105353583,679,659,634,879,787,805,651,631,652,0.406481770996,-0.0154737582815,0.0799337966759,0.999999991912,7.11945852443e-05,-0.000100373430154,-3.21343775623e-05,1793244491738946048
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744,713.46756608,679,659,634,879,787,805,651,631,652,0.406959637204,-0.0154642669407,0.079931387788,0.999999990806,7.77691583304e-05,-0.000105447290665,-3.49536128673e-05,1793244491755612416
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.958747636,744,714.041252364,679.041252364,659,634,879,787,805.041252364,651,631,652,0.407444989172,-0.0154561706858,0.079928418915,0.99999998995,7.88767834491e-05,-0.000111150210563,-3.90287456438e-05,1793244491772278016
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.363718575,744,714.636281425,679.636281425,659,634,879,787,805.636281425,651,631,652,0.407970110176,-0.0154675477102,0.0799150143216,0.999999987781,6.38204406189e-05,-0.000136634679833,-4.11865243063e-05,1793244491788944640
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744,714.774842836,679.774842836,659,634,879,786.774842836,805.774842836,651,631,652,0.408525466587,-0.0154769252399,0.0799127521044,0.999999987668,5.1844635072e-05,-0.000142138492088,-4.21088231955e-05,1793244491805611008
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744,714.195642773,679.195642773,659,634,879,786.195642773,805.195642773,651,631,652,0.409128365894,-0.0154831587121,0.0799280104462,0.999999991402,4.47127462919e-05,-0.000116224205425,-4.10884219023e-05,1793244491822277888
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744,714,679.38062755,659,634,879,786,805,651,631,652,0.409773843004,-0.0154906516181,0.0799577932701,0.999999996341,3.57966418685e-05,-6.69606426182e-05,-3.94174714465e-05,1793244491838944256
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,744,714,679.955403471,659,634,879,786,805,651,631,652,0.410441037944,-0.015498786929,0.07999498466,0.999999998946,2.59704548318e-05,-5.78721236503e-06,-3.74146924313e-05,1793244491855610624
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.528034082,744,714,680,659,634,879.528034082,786.528034082,804.471965918,651,631,652,0.411072368384,-0.0155054821232,0.0799917583756,0.999999999077,1.62445947818e-05,-1.55773754509e-05,-3.65914749122e-05,1793244491872277504
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.895753235,744,714,680,659,634,879.895753235,787,804.104246765,651,631,652,0.411706836598,-0.0155120968715,0.0799797835235,0.999999998579,6.34350987423e-06,-3.8046589992e-05,-3.67871917837e-05,1793244491888944128
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.301868464,744,714,680,659,634,879.301868464,787,804.698131536,651,631,652,0.412370212005,-0.0155189027386,0.0799426858356,0.999999994902,-4.42022572711e-06,-9.20315386623e-05,-4.13027279177e-05,1793244491905611008
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,744,714,679.715702247,659,634,879,786.715702247,805,651,631,652,0.413064261256,-0.0155229751645,0.0799194527679,0.999999991812,-1.22613859143e-05,-0.000119101170079,-4.51644445838e-05,1793244491922277888
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,744,714,679.137514925,659,634,879,786.137514925,805,651,631,652,0.413790019325,-0.0155242219275,0.0799105520893,0.999999991682,-1.70813683399e-05,-0.000118347405273,-4.83502834624e-05,1793244491938944768
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.438344069,744,714,679.438344069,659.438344069,634,879,786.438344069,805,651,631,652,0.414554990245,-0.015525357152,0.0799298446016,0.999999995137,-1.87126623899e-05,-8.45417075025e-05,-4.72157702845e-05,1793244491955611136
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.986220776,744.013779224,714,679.986220776,659.986220776,634,879,787,805,651,631,652,0.415331263378,-0.0155263464571,0.0799571935993,0.999999997928,-1.93330357126e-05,-4.19557454275e-05,-4.48220365322e-05,1793244491972277760
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.398167192,744.601832808,714,679.398167192,659.398167192,634,879,787,805,651,631,652,0.416068594236,-0.015522704928,0.0799536435304,0.999999996747,-1.92920814998e-05,-6.32946021524e-05,-4.61365252293e-05,1793244491988944384
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.187076906,744.812923094,714,679,659.187076906,634,879,786.812923094,805,651,630.812923094,652,0.416841796707,-0.0155213766013,0.0799524090638,0.999999996235,-2.04184905023e-05,-6.98360187819e-05,-4.72858162954e-05,1793244492005610752
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.766429845,744.233570155,714,679,659.766429845,634,879,786.233570155,805,651,630.233570155,652,0.417690217258,-0.0155248987606,0.079956030115,0.999999997528,-2.39927089107e-05,-4.53491197173e-05,-4.80887092747e-05,1793244492022277376
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.343950731,714,679.343950731,660,634,879,786,805,651,630,652,0.418545736661,-0.0155288780851,0.0799717526722,0.999999998399,-2.79296139276e-05,-1.07282895339e-05,-4.80240002737e-05,1793244492038944256
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.920234077,714,679.920234077,660,634,879,786,805,651,630,652,0.419406051178,-0.0155331662165,0.0799956495817,0.99999999789,-3.21115071352e-05,3.07378302611e-05,-4.73732414499e-05,1793244492055611136
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.504029106,714,680,659.504029106,634,879,786.495970894,805,651,630.495970894,652,0.420228534012,-0.0155317686238,0.0799793820506,0.999999998214,-3.37058635869e-05,5.41418391929e-06,-4.90494864e-05,1793244492072278016
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,713.926630131,680,659,634,879,786.926630131,805.073369869,651,630.926630131,652,0.421049705113,-0.0155298150219,0.0799602538132,0.999999997816,-3.41500934198e-05,-2.50672016553e-05,-5.07257923707e-05,1793244492088944384
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744,713.336916023,680,659,634,879,786.336916023,805.663083977,651,630.336916023,652,0.421904416486,-0.0155303766903,0.0799664026664,0.999999998195,-2.94256863306e-05,-1.63346955379e-05,-4.97716438014e-05,1793244492105611008
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.751982054,744.248017946,713.248017946,680,659.248017946,634,879,786,806,651,630.248017946,652,0.422786941558,-0.0155320346104,0.0799816719921,0.999999998496,-2.58904991938e-05,3.60374012329e-06,-4.82187580577e-05,1793244492122277888
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.17341872,744.82658128,713.82658128,680,659.82658128,634,879,786,806,651,630.82658128,652,0.423706535399,-0.015535153558,0.0800090966089,0.999999997921,-2.39402417227e-05,3.84768556331e-05,-4.58679064546e-05,1793244492138944256
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.401580185,745,714,680,659.598419815,634,879.803160369,786.401580185,806,651,631,652,0.424548755209,-0.0155358430669,0.0799857869702,0.999999998478,-2.24845716265e-05,-1.48316282538e-05,-4.81466019648e-05,1793244492155610880
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.975053332,745,714,680,659.024946668,634,880.950106664,786.975053332,806,651,631,652,0.425357855672,-0.0155354926752,0.0799407609659,0.999999992795,-2.12406053909e-05,-0.000105885493424,-5.24069353316e-05,1793244492172277760
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.564062739,634,880.435937261,787,806,651,630.435937261,652,0.42624298659,-0.0155360016676,0.0799258733021,0.999999993264,-2.72199100179e-05,-9.79886718262e-05,-5.59320213539e-05,1793244492188944896
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.848856445,806,651,630.151143555,652,0.427130185804,-0.0155364770448,0.0799167406706,0.999999993661,-3.20625027516e-05,-9.09965312445e-05,-5.80461263634e-05,1793244492205611520
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,880,786.269245936,806,651,630.730754064,652,0.428013445896,-0.0155367463308,0.0799200369688,0.999999992948,-3.27514331255e-05,-9.9326391237e-05,-5.625512658e-05,1793244492222278144
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680.309156814,660,634,880,786.309156814,805.690843186,651,631,652,0.428922090827,-0.0155386526908,0.0799353891078,0.999999994117,-3.71572155521e-05,-8.6061261139e-05,-5.45851086908e-05,1793244492238944768
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680.886511784,660,634,880,786.886511784,805.113488216,651,631,652,0.429852757439,-0.0155419792369,0.0799611998687,0.99999999613,-4.47874226157e-05,-5.40621539115e-05,-5.30200444531e-05,1793244492255611136
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+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660,634,880.787096348,787.787096348,806,651,631,652,0.433286072213,-0.0155443039979,0.0799697010692,0.999999996651,-4.07827015009e-05,-4.67946121529e-05,-5.33367870024e-05,1793244492322277888
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,714,681,660,634,880.208625548,787.208625548,806,651,631,652,0.434103732567,-0.0155390370588,0.0799123417365,0.99999999026,-3.83933084217e-05,-0.000120204218787,-5.96446854967e-05,1793244492338944512
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,714,681,660.367393695,634,880,787,806,651,630.632606305,652,0.434961940782,-0.0155403816637,0.0799113236075,0.999999990269,-4.80818697653e-05,-0.00011596951416,-6.08312474028e-05,1793244492355611136
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,714,681,660.942030008,634,880,787,806,651,630.057969992,652,0.435843021536,-0.0155454557658,0.0799420869159,0.999999993859,-6.45834683649e-05,-6.793652964e-05,-5.91289210342e-05,1793244492372277760
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.470617072,744.529382928,714,681,660.470617072,634,880.529382928,787,805.470617072,651,630.529382928,652,0.436659920482,-0.0155509959491,0.0799694492226,0.999999995335,-6.73146858171e-05,-4.07316110446e-05,-5.60403296316e-05,1793244492388944640
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660.116340147,634,880.883659853,786.883659853,805.116340147,651,631,652,0.437465661568,-0.0155565668208,0.0799911861554,0.999999995919,-6.99420656253e-05,-1.96343035093e-05,-5.37152391667e-05,1793244492405611264
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,745,714,681,660.696038695,634,880.303961305,786.303961305,805.696038695,651,631,652,0.438255644085,-0.0155620516404,0.0799920382065,0.999999995327,-7.83094425032e-05,-1.35549073554e-05,-5.50504922555e-05,1793244492422277888
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.578083116,660,633.578083116,880,786.578083116,806,651,631,652,0.440379573903,-0.0155765957982,0.0798556707045,0.999999967133,-0.000105324412249,-0.000223712029421,-6.77719966007e-05,1793244492472277760
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+190,3.166666667,POSE1_TO_POSE2_PRESS,764.821737523,745,713.178262477,682,659.821737523,633,880.178262477,786,806.178262477,651,631,652,0.442337505848,-0.0155877184606,0.0797228900416,0.999999903593,-0.000131738702847,-0.000411155903338,-8.00615596907e-05,1793244492522277888
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764.335820644,745,714,682,659.335820644,633,880.664179356,786,806.664179356,651,631,652.335820644,0.443722207602,-0.0156104473018,0.0798190119992,0.999999947661,-0.000158474777185,-0.000272996112762,-7.0972160025e-05,1793244492555611136
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.649439088,745,714,682,659,632.350560912,880,784.350560912,806,651,629.350560912,652,0.445997826836,-0.0156346908658,0.0797673687176,0.999999916463,-0.000185155459666,-0.00035686102239,-7.37697519697e-05,1793244492622278400
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.183221861,745,714,681.183221861,659,632,880,784,806,651,629.816778139,652,0.447000503918,-0.0156415623568,0.0797300534203,0.999999898965,-0.000197476683852,-0.000396486645818,-7.66228691334e-05,1793244492655611648
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.687402915,714,680,659,634,880,786,805.687402915,651,630.687402915,652,0.414135611561,-0.0153660238673,0.0797791361447,0.999999902067,0.000250750415277,-0.000362836737319,3.65989286062e-05,1793244495093249280
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.728363773,659,634,880,786.271636227,805.728363773,651,631,652,0.413416313825,-0.0153672004328,0.079786289929,0.999999908794,0.000250700943034,-0.000343826815136,3.66725449547e-05,1793244495109916416
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.149220593,659,634,880,786.850779407,805.149220593,651,631,652,0.412716399373,-0.0153708308789,0.0798096777335,0.99999992207,0.000252992127055,-0.000300447062241,3.98338585912e-05,1793244495126583296
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.571627339,714.428372661,679.428372661,659,634,879.571627339,786.571627339,805.428372661,651.428372661,631,652.428372661,0.41198938916,-0.0153691438805,0.0798051475353,0.999999917154,0.000256138701068,-0.000313889464954,3.94641881613e-05,1793244495143250176
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.005382907,714.994617093,679.994617093,659,634,879,786.005382907,805.994617093,652,631,652.994617093,0.411253432238,-0.0153656082912,0.079790984579,0.999999905442,0.000259559205082,-0.000346859323437,3.78761226207e-05,1793244495159917056
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.577644212,714.422355788,679.422355788,659,634,879,786.577644212,805.422355788,652,631,652.422355788,0.410565701323,-0.015361759506,0.0797828477365,0.999999900814,0.000260561247893,-0.000359316209129,3.70425172815e-05,1793244495176583424
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.844819531,714,679,659,634,879,786.844819531,805,651.844819531,631,652,0.409906207899,-0.0153594413917,0.079782722047,0.999999901049,0.000261559868638,-0.000357925409601,3.71187887738e-05,1793244495193249536
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.252421064,714,679,659,634,879,786.252421064,805,651.252421064,631,652,0.409326272907,-0.015361435912,0.0798051676256,0.999999914335,0.000262548847839,-0.000317519025102,3.97586205771e-05,1793244495209916672
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.33256354,744,714,679.33256354,659,634,879,786,805.33256354,651,631,652,0.408754987194,-0.0153621387961,0.0798270160969,0.999999923906,0.000265923560343,-0.00028230330812,4.2157163467e-05,1793244495226583552
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.912043583,744,714,679.912043583,659,634,879,786,805.912043583,651,631,652,0.408190123296,-0.0153618826863,0.0798484212362,0.99999993079,0.000271069594228,-0.000250941478086,4.43765578349e-05,1793244495243250176
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.514383248,744,714,679.514383248,659,634,879,786,806,651,631,652,0.407612186879,-0.0153568471296,0.0798253478219,0.999999918606,0.000275491774683,-0.000291698991051,4.24773989597e-05,1793244495259917568
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,714,679.059836744,659,634,879,786,805.940163256,651,631,652,0.407038412093,-0.015351857858,0.0797952632567,0.999999901532,0.00027880560197,-0.000342954989931,3.98260172323e-05,1793244495276584704
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.649133004,659,634,879,786,805.350866996,651,631,652,0.406522159955,-0.0153548458645,0.0797735681169,0.999999892392,0.000273458424086,-0.000372912755832,3.70399433014e-05,1793244495293250048
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.765539399,744,714,679.765539399,659,634.234460601,879,786.234460601,805,651,631,652,0.406039687594,-0.0153567736133,0.07976687987,0.999999891671,0.000269394303283,-0.00037790092091,3.57213687688e-05,1793244495309915648
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.186052048,744,714,679.186052048,659,634.813947952,879,786.813947952,805,651,631,652,0.405606924808,-0.0153571411114,0.0797822754184,0.999999903721,0.000267218299926,-0.000346144401423,3.65623323769e-05,1793244495326582528
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.393472959,744.393472959,714,679.393472959,658.606527041,634.606527041,879.393472959,786.606527041,805,651.393472959,631,652,0.40519991889,-0.0153554627657,0.0797979593332,0.999999911573,0.00027078826653,-0.000319548030436,3.76322125075e-05,1793244495343249152
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.973015824,744.973015824,714,679.973015824,658.026984176,634.026984176,879.973015824,786.026984176,805,651.973015824,631,652,0.40480509313,-0.0153528169585,0.0798137796152,0.999999917233,0.000277075451608,-0.000295391845482,3.8810345317e-05,1793244495359915776
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.454382897,744.454382897,714,679.454382897,658.545617103,634,879.454382897,786,805,652,631,652.545617103,0.404436364913,-0.0153509769582,0.0798223143673,0.999999916998,0.000285559363686,-0.000287749717539,4.07532835498e-05,1793244495376583680
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.121470996,744,714,679,658.878529004,634,879,786.121470996,805,651.878529004,631,652.878529004,0.40407375262,-0.0153487644932,0.0798289377403,0.999999916336,0.00029150391964,-0.000283855940406,4.21864432068e-05,1793244495393251072
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.711169413,744,714,679,658.288830587,634,879,786.711169413,805,651.288830587,631,652.288830587,0.403729802288,-0.0153449646223,0.0798295648673,0.999999915455,0.000287246649995,-0.000291302090448,4.15106206254e-05,1793244495409917440
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.295813459,714,679,658.295813459,634.295813459,879,787,805,651,630.704186541,652,0.403411753536,-0.015341828414,0.079828880714,0.999999914382,0.000286183590452,-0.00029619018537,4.00840893484e-05,1793244495426583808
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.875605316,714,679,658.875605316,634.875605316,879,787,805,651,630.124394684,652,0.403118570101,-0.0153393293165,0.0798269377427,0.999999913167,0.000288186945647,-0.000298622568747,3.79368841645e-05,1793244495443250432
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.54800554,714,679,659,634.54800554,879,786.54800554,805.45199446,651,630.45199446,652,0.402860559742,-0.0153386719277,0.0798269096018,0.999999911262,0.000292615644422,-0.00030053956583,3.90793922625e-05,1793244495459916800
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879,786.027425764,805.972574236,651,631,652,0.402614031353,-0.0153387406089,0.0798275114088,0.999999909321,0.000297421704762,-0.000302019091065,4.10299154496e-05,1793244495476583424
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879,786.602291001,805.397708999,651,631,652,0.402404913711,-0.0153432604494,0.0798302470172,0.99999991091,0.000296536216875,-0.000297576440021,4.11721651718e-05,1793244495493250048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634.182383081,879,787,805,651,631,652,0.402206378007,-0.0153487556889,0.0798322847114,0.999999913283,0.000292174026585,-0.000293881121066,4.125699558e-05,1793244495509916672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634.774209142,879,787,805,651,631,652,0.402031598374,-0.0153564406607,0.0798327556145,0.999999917357,0.000280006773635,-0.000291863534395,4.12129218218e-05,1793244495526583040
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.358000684,714,679,658.641999316,634.641999316,879,786.641999316,805,651,631,652,0.401879554515,-0.01535795213,0.0798358958189,0.999999920244,0.000276539109238,-0.00028512658351,4.17287153457e-05,1793244495543249664
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.936836144,714,679,658.063163856,634.063163856,879,786.063163856,805,651,631,652,0.401741535332,-0.0153556554397,0.0798406825971,0.999999922385,0.000278437834795,-0.000275478465524,4.25898662114e-05,1793244495559916544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,634,879,786.511160158,805,651,631,652.511160158,0.401624670493,-0.0153552170064,0.0798449437504,0.999999923994,0.000277727542111,-0.000270269527965,4.28279029778e-05,1793244495576583168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.9127808,714,679,658.0872192,634,879.0872192,787,805,651,631,652.9127808,0.401512698512,-0.0153549808922,0.0798479495732,0.999999925198,0.000276470109722,-0.000267182561847,4.22132973125e-05,1793244495593249792
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.32355463,714,679,658.67644537,634,879.67644537,787,805,651,631,652.32355463,0.401413974324,-0.0153545991818,0.0798441006699,0.999999924486,0.000273902883133,-0.000273179360101,3.71304427877e-05,1793244495609916416
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.73878394,634,879.73878394,787,805.26121606,651,630.73878394,652,0.401323986445,-0.0153535214215,0.0798390949156,0.999999921376,0.000277506209877,-0.000281176018508,3.43133431075e-05,1793244495626582784
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.159439501,634,879.159439501,787,805.840560499,651,630.159439501,652,0.401244638298,-0.0153515959599,0.0798326802621,0.999999915244,0.000288624496348,-0.000291608255225,3.42556487951e-05,1793244495643249408
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.402463472,634,879.402463472,787,805.597536528,651,630.402463472,652.402463472,0.401186178612,-0.01535062054,0.0798314552604,0.999999914187,0.000290891807362,-0.000292902342671,3.48857400221e-05,1793244495659916032
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.957743842,634,879.957743842,787,805.042256158,651,630.957743842,652.957743842,0.401135650355,-0.0153500058546,0.0798322007891,0.999999915107,0.000289798369399,-0.000290726640176,3.57769860135e-05,1793244495676582656
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,880,787,805,651,631,653,0.40109598481,-0.0153506367668,0.0798308995063,0.999999914978,0.000288592989151,-0.000292341490205,3.59696289789e-05,1793244495693250048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.163323116,714,679,659,634,879.836676884,786.836676884,805,651.163323116,631,652.836676884,0.401060845435,-0.0153505497429,0.0798294115689,0.999999914433,0.000288446375447,-0.00029432482452,3.61367239303e-05,1793244495709917184
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.742496545,714,679,659,634,879.257503455,786.257503455,805,651.742496545,631,652.257503455,0.401034952384,-0.0153483734951,0.0798278776342,0.99999991305,0.000291019050465,-0.000296451428689,3.63852805667e-05,1793244495726584064
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879,786,805,651.678580157,631,652,0.401014415703,-0.0153480242279,0.079827207569,0.999999912599,0.000291412431614,-0.000297574229613,3.64754420776e-05,1793244495743250432
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879,786,805,651.09985703,631,652,0.400998166906,-0.0153491374965,0.079827229049,0.999999912898,0.000290061242882,-0.000297893465351,3.64388050166e-05,1793244495759916800
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879,786.476107589,805.476107589,651,631,652.476107589,0.400991746282,-0.0153491571682,0.0798280269356,0.999999913709,0.000289605546436,-0.000295626377602,3.62640554156e-05,1793244495776583680
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.052618102,879.052618102,787,805.947381898,651.052618102,631,652.947381898,0.400987566747,-0.0153491101144,0.0798291516889,0.999999914682,0.000289238308606,-0.000292699352346,3.61242451244e-05,1793244495793250304
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.640534467,879.640534467,787,805.359465533,651.640534467,631,652.359465533,0.400985336817,-0.0153507042147,0.0798319546676,0.999999916265,0.000287871275275,-0.000288545261538,3.66328755275e-05,1793244495809916672
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.77472413,714,679,659,634.77472413,880,786.77472413,805.22527587,651.77472413,631,652.22527587,0.400982581975,-0.0153511180167,0.0798332321993,0.999999916881,0.000287545065001,-0.000286721607888,3.67012371173e-05,1793244495826583040
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.194978538,714,679,659,634.194978538,880,786.194978538,805.805021462,651.194978538,631,652.805021462,0.400979001187,-0.015349674629,0.0798321094527,0.999999915995,0.0002888565813,-0.000288564878128,3.60768393333e-05,1793244495843249920
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.617321452,744,714,679,659,634,879.617321452,786.382678548,806,651.382678548,631,652.617321452,0.400977743461,-0.0153498506157,0.0798321233954,0.999999915945,0.000289325386393,-0.000288290263608,3.59056612162e-05,1793244495859916544
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.040722723,744,714,679,659,634,879.040722723,786.959277277,806,651.959277277,631,652.040722723,0.400977662933,-0.0153508472112,0.079832713349,0.999999916319,0.000289367152328,-0.000286942422954,3.59641496116e-05,1793244495876583424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.533722903,744.533722903,714,679,659,634,879,787,805.466277097,651.466277097,631,652,0.400977820409,-0.015351680913,0.0798340236723,0.99999991745,0.00028714559611,-0.000285217187825,3.60225223532e-05,1793244495893250304
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.889014032,714,679,659,634,879,787,805,651,631,652,0.400977702505,-0.0153520006209,0.0798348811761,0.999999918116,0.000285846060132,-0.000284183308015,3.60555358998e-05,1793244495909916928
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.298881353,714,679,659,634,879,787,805,651,631,652,0.400976317656,-0.0153501547643,0.07983354744,0.999999916542,0.000289269593827,-0.00028625794963,3.59791070921e-05,1793244495926583296
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.28602026,714,679.28602026,659,634,879,787,805,651.28602026,631,652.28602026,0.400975451815,-0.0153504437647,0.0798331393088,0.9999999165,0.000288678904205,-0.000287011772155,3.58968062115e-05,1793244495943249920
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.865553835,714,679.865553835,659,634,879,787,805,651.865553835,631,652.865553835,0.400975118578,-0.0153529235501,0.0798336810311,0.999999918024,0.000283968828499,-0.000286410173495,3.58084794138e-05,1793244495959916544
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.558137557,714,679.558137557,659,634,879,787,805,652,631,652.558137557,0.400975545859,-0.0153523767734,0.0798342902775,0.999999917728,0.000285934096741,-0.000285479641195,3.58643374905e-05,1793244495976583168
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.017545092,714.017545092,679,659,634,879,787,805,651.982454908,631,652,0.40097619225,-0.0153509672357,0.0798349011738,0.999999916907,0.000289768156146,-0.000284477707139,3.59577015224e-05,1793244495993250048
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.604529858,714.604529858,679,659,634,879,787,805,651.395470142,631,652,0.40097649408,-0.0153512279684,0.0798349036256,0.999999917214,0.000288811452997,-0.000284383176447,3.58547887744e-05,1793244496009916416
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ba4a1e84407e66b352adfe78de43919b44ef2c3
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6882e1d3296ca174b42063105373bd7f9390e52
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f515b8dc78f145da066fe6eafb5549f59fc39fed21e75bbe0d3b33f65e1969f
+size 25966310
diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be4323d8179bee542aa2abf49635ebb93b756c2e
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
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+22,0.366666667,BASELINE,765,744,714,679,659,635,879.780677747,786.219322253,805,651.219322253,631,652.780677747,0.400976270267,-0.0153505619685,0.0798382861374,0.999999919091,0.000288241848136,-0.000278472182226,3.44792085437e-05,1793244496675492608
+23,0.383333333,BASELINE,765,744,714.356613369,679,659.356613369,634.643386631,879.643386631,786.356613369,805,651,631,653,0.400976167581,-0.0153515538386,0.0798381754193,0.999999919294,0.000287563835988,-0.000278414363589,3.47033897555e-05,1793244496692159232
+24,0.400000000,BASELINE,765,744,714.930526108,679,659.930526108,634.069473892,879.069473892,786.930526108,805,651,631,653,0.400976161124,-0.0153535600433,0.0798379066747,0.999999919783,0.000286045756412,-0.000278161563727,3.5196332586e-05,1793244496708825856
+25,0.416666667,BASELINE,765,744,714.495916783,679.504083217,659.495916783,634,879.504083217,787,805,651.504083217,631,652.495916783,0.400976390549,-0.0153530128008,0.0798377458819,0.999999920032,0.000285090846992,-0.000278292884286,3.4819614655e-05,1793244496725492992
+26,0.433333333,BASELINE,765,744,714,679.919611341,659,634,880,787,805,651.919611341,631,652,0.400976727477,-0.0153522202401,0.0798377111833,0.999999920177,0.000284623827337,-0.000278297334467,3.44265442687e-05,1793244496742159872
+27,0.450000000,BASELINE,765,744,714,679.325426913,659,634,880,787,805,651.325426913,631,652,0.400977543865,-0.0153521074397,0.0798383873778,0.99999991987,0.000286779370326,-0.000277152781695,3.46944824753e-05,1793244496758826496
+28,0.466666667,BASELINE,764.738526546,744,714,679,659,634,879.738526546,787,805,651,631,652,0.400977455815,-0.0153522655236,0.0798385008299,0.999999919637,0.000287617042327,-0.000277098322703,3.49255347937e-05,1793244496775493120
+29,0.483333333,BASELINE,764.160446169,744,714,679,659,634,879.160446169,787,805,651,631,652,0.400976272622,-0.0153527516097,0.0798379328815,0.999999919496,0.000286858961081,-0.000278363811305,3.51119235654e-05,1793244496792159744
+30,0.500000000,BASELINE,764,744.413897359,714,679,659,634,879,787,805,651,631,652,0.400976014831,-0.0153533204365,0.0798379754469,0.999999919705,0.000285957827516,-0.000278541503438,3.50994587978e-05,1793244496808826624
+31,0.516666667,BASELINE,764,744.986805255,714,679,659,634,879,787,805,651,631,652,0.400976112559,-0.0153539210505,0.0798382525587,0.999999920048,0.000285001736319,-0.000278301287339,3.50105987373e-05,1793244496825493248
+32,0.533333333,BASELINE,764.57734647,745,714,679.57734647,659,634,879,787,805,651,631,652.57734647,0.400976059713,-0.0153540828762,0.0798382894934,0.999999920038,0.000284990806796,-0.000278326133494,3.52088498126e-05,1793244496842159872
+33,0.550000000,BASELINE,765,744.835026667,714,679.835026667,659,634,879,787,805,651.164973333,631,653,0.400976184008,-0.0153541539231,0.0798383191797,0.999999920121,0.000284801136753,-0.000278214448642,3.52693973405e-05,1793244496858826240
+34,0.566666667,BASELINE,765,744.255762494,714,679.255762494,659,634,879,787,805,651.744237506,631,653,0.400976762065,-0.0153540229772,0.0798383448824,0.999999920459,0.000284106648622,-0.000277744207125,3.49671383131e-05,1793244496875492864
+35,0.583333333,BASELINE,765,744,714,679,659,634,879,786.679525771,805,651.679525771,631,652.679525771,0.400977197894,-0.0153541717467,0.0798387820229,0.999999920762,0.000283638828804,-0.000277134668495,3.49550219753e-05,1793244496892159744
+36,0.600000000,BASELINE,765,744,714,679,659,634,879,786.105682508,805,651.105682508,631,652.105682508,0.400977521278,-0.015354541661,0.0798395444489,0.999999921035,0.000283350214368,-0.000276415000599,3.51722943239e-05,1793244496908826112
+37,0.616666667,BASELINE,765,744,714,679,659,634,879,786.469245868,805,651,631,652,0.400975974244,-0.0153536239293,0.0798382670905,0.999999919923,0.000285492633545,-0.000278245246132,3.50304076566e-05,1793244496925492736
+38,0.633333333,BASELINE,765,744,714,679,659,634,879,787,805,651.045771124,631,652.045771124,0.400974174367,-0.0153524875233,0.0798366610067,0.999999918626,0.000287890583771,-0.000280456070698,3.48141237614e-05,1793244496942159616
+39,0.650000000,BASELINE,765,744,714,679,659,634,879,787,805,651.638450675,631,652.638450675,0.40097439844,-0.015352211411,0.0798366289925,0.999999918982,0.000286784561141,-0.000280336435306,3.4677648501e-05,1793244496958826240
+40,0.666666667,BASELINE,765,744.225050055,714,679,658.774949945,634,879,787,805,651.774949945,631,653,0.400975238351,-0.0153522750044,0.0798370030774,0.999999919375,0.000286182156377,-0.000279540577422,3.47327158691e-05,1793244496975493120
+41,0.683333333,BASELINE,765,744.802138389,714,679,658.197861611,634,879,787,805,651.197861611,631,653,0.400977041597,-0.0153528699881,0.0798380124097,0.999999919826,0.000286367544267,-0.000277686927302,3.50874069771e-05,1793244496992159744
+42,0.700000000,BASELINE,765,744.622328501,714,679,658.377671499,634,879,787,805,651,631,653,0.400977306755,-0.0153533091848,0.0798385835553,0.999999920132,0.000285881655254,-0.000277063907065,3.52641901275e-05,1793244497008826112
+43,0.716666667,BASELINE,765,744.047606849,714,679,658.952393151,634,879,787,805,651,631,653,0.400976769416,-0.0153536670994,0.0798389260769,0.999999920362,0.000285045527424,-0.000277082968187,3.53481497666e-05,1793244497025492480
+44,0.733333333,BASELINE,765,744,714,679,659.52692511,634,879,787,805.52692511,651,631,652.47307489,0.400976964241,-0.0153542165952,0.079839356729,0.999999920276,0.000285956005884,-0.000276451635866,3.53852586065e-05,1793244497042159616
+45,0.750000000,BASELINE,765,744.105055016,714,679,659.894944984,634,879,787,805.894944984,651.105055016,631,652,0.400977036969,-0.0153545565834,0.0798395302008,0.999999920159,0.00028665425677,-0.000276153337764,3.53554761634e-05,1793244497058826496
+46,0.766666667,BASELINE,765,744.700044014,714,679,659.299955986,634,879,787,805.299955986,651.700044014,631,652,0.400976231903,-0.0153538388193,0.0798384671676,0.999999920041,0.000285627099139,-0.000277682119986,3.50334733013e-05,1793244497075493120
+47,0.783333333,BASELINE,765,744.714074987,714,679,659,634,879,787,805,651.714074987,631,652,0.400976431032,-0.0153536265986,0.079838104601,0.999999920057,0.000285423396514,-0.000277860831602,3.48236354751e-05,1793244497092159232
+48,0.800000000,BASELINE,765,744.137453895,714,679,659,634,879,787,805,651.137453895,631,652,0.400977651112,-0.015353928357,0.0798384541893,0.99999992021,0.00028605688929,-0.000276666944944,3.47278342794e-05,1793244497108825856
+49,0.816666667,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652,0.400977865417,-0.0153538583325,0.0798389786236,0.999999919969,0.000287343163197,-0.000276145360658,3.52164603442e-05,1793244497125492480
+50,0.833333333,BASELINE,765,744.013164009,714,679,658.986835991,634,879,787,805.013164009,651.013164009,631,652,0.400977781983,-0.0153536561641,0.0798395583872,0.99999991961,0.000288815542988,-0.000275825082844,3.58663640811e-05,1793244497142159104
+51,0.850000000,BASELINE,765,744.603142855,714,679,658.396857145,634,879,787,805.603142855,651.603142855,631,652,0.400978445886,-0.0153527625367,0.079840164648,0.999999919624,0.000289490161071,-0.000275105370055,3.55680213474e-05,1793244497158825728
+52,0.866666667,BASELINE,765,744.810462434,714,679,658,634,879,787,805.810462434,652,631,652,0.400978532072,-0.0153521185735,0.0798402037517,0.999999919732,0.000289304820724,-0.000274951753682,3.52039923519e-05,1793244497175492352
+53,0.883333333,BASELINE,765,744.23143301,714,679,658,634,879,787,805.23143301,652,631,652,0.400977431071,-0.0153519876602,0.0798390773711,0.999999920035,0.000287352301327,-0.000275961442074,3.47049808224e-05,1793244497192159488
+54,0.900000000,BASELINE,765,744,714,679,658.344842233,634,879,787,805,651.655157767,631,652,0.400976989374,-0.0153519656215,0.0798386420628,0.999999920096,0.000286458500933,-0.000276678214115,3.46112955435e-05,1793244497208826368
+55,0.916666667,BASELINE,765,744,714,679,658.919283693,634,879,787,805,651.080716307,631,652,0.400976986649,-0.0153520160726,0.079838666877,0.99999992,0.000286269605761,-0.000277199959634,3.47874803425e-05,1793244497225492992
+56,0.933333333,BASELINE,765,744.491612014,714,679.491612014,659,634,879,787,805,651.491612014,631,652.491612014,0.400977039294,-0.0153533486042,0.0798389447268,0.999999920416,0.000285256449116,-0.000276716931742,3.4997217789e-05,1793244497242159872
+57,0.950000000,BASELINE,765,744.933381126,714,679.933381126,659,634,879,787,805,652,631,652.933381126,0.400977055277,-0.0153546417276,0.0798392415664,0.99999992085,0.000284216055428,-0.000276197123114,3.51511649806e-05,1793244497258826240
+58,0.966666667,BASELINE,765,744.334200216,714,679.334200216,659,634,879,787,805,652,631,652.334200216,0.400976705819,-0.0153539442373,0.0798393595157,0.999999920775,0.000284035168748,-0.000276696442009,3.48152651208e-05,1793244497275492864
+59,0.983333333,BASELINE,765,744.253552255,714,679,659,634,879,787,805,651.746447745,631,652,0.400976337318,-0.0153538228952,0.0798390993165,0.99999992053,0.000284328753235,-0.00027729443329,3.46988834203e-05,1793244497292159488
+60,1.000000000,BASELINE,765,744.826890973,714,679,659,634,879,787,805,651.173109027,631,652,0.400975944797,-0.0153544282055,0.0798383621867,0.99999992007,0.000285220752635,-0.000278016872729,3.48593634829e-05,1793244497308826112
+61,1.016666667,BASELINE,765,744.598321866,714,678.598321866,659,634,879,787,805,651,631,652,0.400975840095,-0.0153543205078,0.0798382995523,0.999999920281,0.000284852813183,-0.000277652432789,3.47416291183e-05,1793244497325492992
+62,1.033333333,BASELINE,765,744.022908253,714,678.022908253,659,634,879,787,805,651,631,652,0.400975859882,-0.0153539044169,0.0798385286534,0.99999992078,0.000283939919741,-0.000276817891266,3.45035602951e-05,1793244497342160128
+63,1.050000000,BASELINE,765,744.554431735,714,678.554431735,658.445568265,634,879,787,805,651,631,652,0.400976137961,-0.0153538445909,0.0798384606279,0.999999920764,0.000283490418397,-0.000277326850911,3.45725957794e-05,1793244497358826752
+64,1.066666667,BASELINE,765,744.864783625,714,679,658.135216375,634,879,787,805,651,631,652,0.400976196235,-0.0153538624481,0.0798383816568,0.999999920653,0.000283342247094,-0.000277869361798,3.46506146533e-05,1793244497375493376
+65,1.083333333,BASELINE,765,744.272628356,714,679,658.727371644,634,879,787,805,651,631,652,0.40097547553,-0.0153540929036,0.0798383073286,0.999999920292,0.000284147437181,-0.00027833700839,3.47159613496e-05,1793244497392159744
+66,1.100000000,BASELINE,765,744,714,679,659,634,879,787,805,651.311173487,631,652.311173487,0.400975522096,-0.0153542979171,0.0798385177097,0.999999920284,0.000284480152873,-0.000278024389653,3.47162956225e-05,1793244497408826368
+67,1.116666667,BASELINE,765,744,714,679,659,634,879,787,805,651.887847949,631,652.887847949,0.400976223319,-0.0153544812228,0.0798389710119,0.999999920578,0.000284409741595,-0.000277046029066,3.46611596717e-05,1793244497425493248
+68,1.133333333,BASELINE,764.539224938,744,714,679,659,634,879,787,805,651.539224938,631,652.539224938,0.400976106956,-0.0153545831976,0.0798385277145,0.999999920505,0.000284380230093,-0.000277324064629,3.47857526122e-05,1793244497442159616
+69,1.150000000,BASELINE,764.034006662,744,714,679,659,634,879,787,805,651,631,652,0.40097581033,-0.0153545829383,0.0798379434037,0.999999920346,0.000284408312487,-0.000277847786641,3.49379942611e-05,1793244497458826240
+70,1.166666667,BASELINE,764.627118548,744,714,679,659,634,879,787,805,651,631,652,0.400975795363,-0.0153532246813,0.0798385996919,0.999999920236,0.000285220949505,-0.000277423652242,3.48313850489e-05,1793244497475493120
+71,1.183333333,BASELINE,765,744.214386024,714,679,659,634,879.214386024,787,805,651,631,652,0.400975794041,-0.0153528876438,0.0798388374238,0.999999920273,0.000285208041854,-0.000277320096355,3.46944551106e-05,1793244497492160000
+72,1.200000000,BASELINE,765,744.791758174,714,679,659,634,879.791758174,787,805,651,631,652,0.400975815822,-0.0153542796763,0.0798383664802,0.999999920559,0.000283797369418,-0.000277759325561,3.45061878391e-05,1793244497508826624
+73,1.216666667,BASELINE,765,744.632576009,714,679.367423991,659,634,879.632576009,787,805,651.367423991,631,652,0.400975519296,-0.0153547687345,0.0798380926755,0.999999920561,0.00028340237121,-0.000278147573452,3.45661055728e-05,1793244497525493248
+74,1.233333333,BASELINE,765,744.057872841,714,679.942127159,659,634,879.057872841,787,805,651.942127159,631,652,0.4009750432,-0.015354748387,0.0798379300852,0.999999920404,0.000283580357219,-0.000278507060634,3.47660348163e-05,1793244497542159872
+75,1.250000000,BASELINE,764.480690856,744,714.519309144,679.480690856,659,634,879,787,805,651.480690856,631,652,0.400974902433,-0.0153541258089,0.07983825867,0.999999920148,0.000284467508577,-0.000278501069794,3.49318035839e-05,1793244497558826496
+76,1.266666667,BASELINE,764.099135481,744.099135481,714.900864519,679,659.099135481,634,879,787,805,651,631,652,0.400974991735,-0.0153535636283,0.0798386922284,0.999999920039,0.000285051304626,-0.000278281530083,3.50333344817e-05,1793244497575493376
+77,1.283333333,BASELINE,764.690718604,744.690718604,714.309281396,679,659.690718604,634,879,787,805,651,631,652,0.400976037372,-0.0153536364495,0.0798393740268,0.99999992072,0.000283733745106,-0.000277204494698,3.48347700766e-05,1793244497592159744
+78,1.300000000,BASELINE,765,744.725916627,714,679,659.725916627,634,879,787,805,651.274083373,631,652.274083373,0.400977111034,-0.0153539774182,0.0798399032251,0.999999921056,0.000283845170998,-0.000275873561213,3.4842259896e-05,1793244497608826368
+79,1.316666667,BASELINE,765,744.151555678,714,679,659.151555678,634,879,787,805,651.848444322,631,652.848444322,0.400978215401,-0.0153546121611,0.0798402652393,0.999999921013,0.000285522150801,-0.000274264464604,3.50754965955e-05,1793244497625492992
+80,1.333333333,BASELINE,765,744,714,679,658.574717456,634,879,787,805,651.574717456,631,652.574717456,0.400977307255,-0.0153544554743,0.0798393810327,0.999999920814,0.000284844982514,-0.000275730814155,3.47399002348e-05,1793244497642159616
+81,1.350000000,BASELINE,765,744,714,679,658.003072275,634,878.996927725,787,805.003072275,651,631,652,0.400975680186,-0.0153540193099,0.0798380540384,0.999999920553,0.000283332787918,-0.000278290622112,3.42043521658e-05,1793244497658826240
+82,1.366666667,BASELINE,765,744,714,679,658.592986867,634,878.407013133,787,805.592986867,651,631,652,0.40097452422,-0.0153543878073,0.0798374764723,0.99999992026,0.000283506179107,-0.000279142074994,3.44229331685e-05,1793244497675492864
+83,1.383333333,BASELINE,765,744,714,679,658.820617201,634.179382799,878.179382799,787,805.820617201,651,631,652,0.400974568683,-0.0153547608053,0.0798374917942,0.999999920462,0.000283065189489,-0.000278853184792,3.45172949132e-05,1793244497692159488
+84,1.400000000,BASELINE,765,744,714,679,658.242051277,634.757948723,878.757948723,787,805.242051277,651,631,652,0.400977284478,-0.015355143819,0.0798388264783,0.999999921762,0.000281257009444,-0.000276026672871,3.4335229797e-05,1793244497708826368
+85,1.416666667,BASELINE,765,744,714,679,658.334763496,635,879,787,805,651,631,652.334763496,0.400977641639,-0.0153544458683,0.0798395038678,0.999999921637,0.000282302918638,-0.000275417445611,3.42978018176e-05,1793244497725492992
+86,1.433333333,BASELINE,765,744,714,679,658.91031865,635,879,787,805,651,631,652.91031865,0.40097630226,-0.0153529703918,0.0798397084726,0.999999920483,0.000285401742574,-0.00027640308671,3.43644097321e-05,1793244497742159616
+87,1.450000000,BASELINE,765,744,714,679,659,634.503383239,879,787,805,651,631,653,0.400975813314,-0.015353459151,0.0798388906289,0.999999920706,0.000283438201222,-0.000277638195764,3.41712457618e-05,1793244497758826240
+88,1.466666667,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652.916471698,0.40097547581,-0.0153541900707,0.0798381271458,0.999999921065,0.000281201770697,-0.000278636697529,3.40111877077e-05,1793244497775492864
+89,1.483333333,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652.337680174,0.400975105524,-0.0153542071438,0.0798388049622,0.999999920767,0.000282887618392,-0.000277959266072,3.43317217311e-05,1793244497792159488
+90,1.500000000,BASELINE,765,744,714,679,659,634,879,787,805,651.240197221,631,652,0.400975483,-0.0153540917528,0.079839238454,0.999999920645,0.000284004715803,-0.000277240690498,3.44859212669e-05,1793244497808826112
+91,1.516666667,BASELINE,765,744,714,679,659,634,879,787,805,651.816794315,631,652,0.40097690773,-0.0153537908436,0.0798393297653,0.999999920771,0.000284325269626,-0.000276464492015,3.44071667883e-05,1793244497825492736
+92,1.533333333,BASELINE,765,744,714,679,659,634,879,787,805,651.607791011,631,652,0.400977242904,-0.0153550716376,0.079839317106,0.999999921526,0.000282379938707,-0.000275716691092,3.45081591108e-05,1793244497842159360
+93,1.550000000,BASELINE,765,744,714,679,659,634,879,787,805,651.032926948,631,652,0.400977070663,-0.0153570890442,0.0798392560268,0.999999922564,0.000279379365956,-0.000274982115087,3.46928610454e-05,1793244497858826240
+94,1.566666667,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652.556971112,0.400977149728,-0.0153555665619,0.0798393003064,0.999999922053,0.000280305906116,-0.000275921055189,3.44961334216e-05,1793244497875493120
+95,1.583333333,BASELINE,765,744,714,679,659,634,879,786.856555841,805,651,631,652.856555841,0.400977084244,-0.0153543057074,0.0798392636176,0.999999921525,0.000281389933836,-0.000276747598024,3.43533498333e-05,1793244497892160000
+96,1.600000000,BASELINE,765,744,714,679,659,634,879,786.283088638,805,651,631,652.283088638,0.40097653965,-0.0153544739355,0.0798389650079,0.999999921234,0.000282230790369,-0.000276932373256,3.4441756491e-05,1793244497908826368
+97,1.616666667,BASELINE,765,744.292620933,714,679,659,634,879,786.292620933,805,651,631,652,0.400976557225,-0.015354790502,0.0798390890809,0.999999921338,0.000282337280021,-0.00027642575686,3.46197739569e-05,1793244497925493248
+98,1.633333333,BASELINE,765,744.870516543,714,679,659,634,879,786.870516543,805,651,631,652,0.400977122856,-0.015355251683,0.0798396252251,0.999999921826,0.000281727839042,-0.000275245106229,3.48851525445e-05,1793244497942160128
+99,1.650000000,BASELINE,764.551300097,744.551300097,714,679,659,634,879,786.551300097,805,651,631,652,0.400977814517,-0.0153551333644,0.0798400154358,0.999999922037,0.000281852439458,-0.000274339680489,3.4979224608e-05,1793244497958826752
+100,1.666666667,BASELINE,764.027573196,744,714,679,659,634,879.027573196,786.027573196,805,651.027573196,631,652,0.400978487175,-0.0153547855954,0.07984030955,0.99999992211,0.00028230582938,-0.000273600690339,3.50069028169e-05,1793244497975493120
+101,1.683333333,BASELINE,764.618852924,744,714,679,659,634,879.618852924,786.618852924,805,651.618852924,631,652,0.400978027354,-0.0153531679624,0.0798395005718,0.99999992103,0.000285147646794,-0.000274639544701,3.46885172771e-05,1793244497992159744
+102,1.700000000,BASELINE,765,744,714,679,659,634,879.794723108,787,805,651.794723108,631,652,0.400977086575,-0.0153528297481,0.0798389413473,0.99999992039,0.000286221489416,-0.000275872400153,3.45250102715e-05,1793244498008826368
+103,1.716666667,BASELINE,765,744,714,679,659,634,879.217106775,787,805,651.217106775,631,652,0.400975273416,-0.0153548121946,0.0798388351364,0.999999920556,0.00028408850832,-0.000277457142434,3.46424281823e-05,1793244498025492992
+104,1.733333333,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652,0.400975067128,-0.015355492849,0.0798389069173,0.999999920813,0.000283110167683,-0.000277503651989,3.48479201413e-05,1793244498042159616
+105,1.750000000,BASELINE,765,744,714,679,659,634,879,787,805,651,631,652,0.400975828533,-0.0153553895355,0.079839085889,0.999999921128,0.000282827176868,-0.000276623803923,3.5106452252e-05,1793244498058826240
+106,1.766666667,BASELINE,765,744,714,679.505230008,659,634.505230008,879,787,805,651,630.494769992,652,0.40097661304,-0.0153539257409,0.0798396179257,0.999999920891,0.000284119614937,-0.000276193129376,3.4816545993e-05,1793244498075493376
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,788,805,651,631,652,0.40097648702,-0.0153536382492,0.0798383933428,0.999999920552,0.000285159628147,-0.000276422633513,3.42113434391e-05,1793244498117786624
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.42505707,714,679,659,634,879,787.42505707,805,651,631,652,0.400977118431,-0.0153541896455,0.0798397618231,0.999999921246,0.000283811304521,-0.000275266256534,3.44560575769e-05,1793244498134453248
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.148848949,714,679,659,634,879,787,805,651,631,652,0.40097743706,-0.0153545641349,0.0798405078097,0.999999921607,0.000282966226164,-0.000274803080453,3.46282811366e-05,1793244498151119616
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.719814554,714,679,659,634,879,787,805,651,631,652,0.400976868679,-0.0153544369388,0.0798394884836,0.999999921029,0.000283548286974,-0.000276305733543,3.45949307085e-05,1793244498167786240
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.696338188,714,679,659,634,879,787,805,651,631,652,0.400977049258,-0.01535453802,0.0798395320222,0.99999992111,0.000283246831705,-0.000276326020492,3.45644278995e-05,1793244498184453120
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.10007866,714,679,659,634,879,787,805,651,631,652,0.400977951508,-0.0153548590612,0.0798405996994,0.999999921825,0.00028209405175,-0.000274917952094,3.45366689567e-05,1793244498201119744
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,714,679,658.520555235,634,879,787,804.520555235,651,631,652,0.400977857702,-0.015355446031,0.07984050844,0.999999921919,0.000281857933809,-0.000274786728109,3.47924813173e-05,1793244498217786624
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.055642128,714,679,658.055642128,634,879,787,804.055642128,651,631.055642128,652,0.40097792318,-0.015356001396,0.0798403620835,0.999999921905,0.000281969487376,-0.000274690134479,3.50632160625e-05,1793244498234453504
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.632303745,714,679,658.632303745,634,879,787,804.632303745,651,631.632303745,652,0.400981361362,-0.0153557585751,0.079841888637,0.999999922044,0.000283605298645,-0.00027250629772,3.49381132248e-05,1793244498251119872
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.791684272,714,679,659,634.208315728,879,787,805,651.208315728,631.791684272,652,0.400990818742,-0.0153556630207,0.0798463441219,0.999999923525,0.000285065040362,-0.00026542355743,3.51783081539e-05,1793244498267786496
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.216815451,714,679,659,634.783184549,879,787,805,651.783184549,631.216815451,652,0.401010867524,-0.015355826597,0.0798559533643,0.99999992721,0.000286214969253,-0.00024972068931,3.6061282336e-05,1793244498284453120
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.630318777,879,787,805,652,631,652,0.401047295401,-0.0153579315227,0.0798701696755,0.999999933911,0.000284284914584,-0.000223603406128,3.69051393677e-05,1793244498301119488
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634.036780923,879,787,805,652,631,652,0.40109364147,-0.0153612120126,0.0798871757504,0.999999941676,0.000280489807699,-0.0001911797802,3.77253094715e-05,1793244498317786112
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659,634,879,787,805,651.459547259,631,652,0.401160714916,-0.0153634165769,0.07990629498,0.999999947847,0.000281091345784,-0.000154323814208,3.84295910842e-05,1793244498334453760
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.883760293,744,714,679,659,634.116239707,879,787,805,651,631,652,0.401230070631,-0.0153656230805,0.0799236315817,0.999999952075,0.000281559542492,-0.000122772734627,3.87320687544e-05,1793244498351121408
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.309429706,744,714,679,659,634.690570294,879,787,805,651,631,652,0.401303024273,-0.0153681173417,0.0799333928472,0.999999953581,0.00028035759621,-0.000113281705124,3.74812426915e-05,1793244498367788032
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,744.272861174,714,679.272861174,659,634.727138826,879,787,805,651,631,652,0.401383926662,-0.0153709346499,0.0799404388899,0.999999955018,0.000279221160345,-0.000103578147981,3.56454475353e-05,1793244498384454656
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,744.864450408,714,679.864450408,659,634.135549592,879,787,805,651,631,652,0.401474113947,-0.0153741293081,0.0799443132912,0.999999956382,0.000278161247011,-9.36263387136e-05,3.31263523679e-05,1793244498401121536
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,744.553496856,714,680,659,634,879,787,805,651,631,652,0.401583672117,-0.0153782994737,0.0799476488792,0.999999957504,0.000276606068697,-8.69637398769e-05,3.03193975094e-05,1793244498417787904
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.025723269,744,714,679.974276731,659,634,878.974276731,787,805,651.025723269,631,652,0.401699735248,-0.015382781326,0.0799508581141,0.999999958584,0.000274733291648,-8.12753797134e-05,2.73517449954e-05,1793244498434454272
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.604985354,744,714,679.395014646,659,634,878.395014646,787,805,651.604985354,631,652,0.40183187987,-0.015387730888,0.0799547946804,0.999999960657,0.000269193890708,-7.55134217264e-05,2.27672291399e-05,1793244498451120640
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.185445552,714,679.185445552,659,634.185445552,878.185445552,787,805,652,631,652,0.401975351225,-0.0153929894153,0.0799588959435,0.999999962816,0.000263166673602,-6.91495934817e-05,1.81647153456e-05,1793244498467786752
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.768474349,714,679.768474349,659,634.768474349,878.768474349,787,805,652,631,652,0.402143106347,-0.0153989103437,0.0799633503054,0.999999965226,0.000256093610979,-6.14953951536e-05,1.3523615728e-05,1793244498484453120
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.650901252,714,679.650901252,659,635,879,787,805.349098748,651.650901252,631,652,0.402320472162,-0.0154049238291,0.0799614600668,0.999999967204,0.000247618450247,-6.50098371312e-05,7.16423806945e-06,1793244498501120256
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.071860507,714,679.071860507,659,635,879,787,805.928139493,651.071860507,631,652,0.4025041683,-0.01541099828,0.07995539081,0.999999968747,0.000238219764293,-7.5880762633e-05,-3.26923785528e-07,1793244498517787392
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.507338821,714,679.507338821,658.492661179,634.492661179,879,787,805.492661179,651,631,652,0.402725464597,-0.0154172849561,0.0799522988094,0.999999980676,0.000178853491484,-8.11884114327e-05,-8.21673360374e-06,1793244498534454016
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.914257341,714,679.914257341,658.171485317,634,879,787,805,651.085742659,631,652,0.402957701287,-0.0154241234385,0.0799500708812,0.999999989294,0.000118411092931,-8.44444577974e-05,-1.61182327235e-05,1793244498551120384
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.340508703,714,679.340508703,659.318982595,634,879,787,805,651.659491297,631,652,0.403221884363,-0.015433931399,0.0799503599465,0.999999992232,9.21382658714e-05,-8.05100577796e-05,-2.37647912066e-05,1793244498567786752
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,679,659.760620015,634.239379985,879.239379985,786.760620015,805,651.760620015,631,652,0.403500329886,-0.0154435012298,0.0799513317654,0.999999993553,7.80523269091e-05,-7.74366656147e-05,-2.83741571645e-05,1793244498584453376
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,714,679,659.171767461,634.828232539,879.828232539,786.171767461,805,651.171767461,631,652,0.403799597242,-0.0154527234127,0.0799533003412,0.999999993391,8.17581155849e-05,-7.56202653408e-05,-2.85495033742e-05,1793244498601120256
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.410547513,714,679.410547513,659,634.589452487,879.589452487,786.410547513,805,651.410547513,631,652.410547513,0.404136790028,-0.0154583886077,0.0799557877027,0.999999993618,8.4339748071e-05,-7.03123948396e-05,-2.66025752375e-05,1793244498617786880
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.990170111,714,679.990170111,659,634.009829889,879.009829889,786.990170111,805,651.990170111,631,652.990170111,0.404489601573,-0.015462588934,0.0799584887147,0.999999993959,8.64584211259e-05,-6.35666381215e-05,-2.37816344529e-05,1793244498634453504
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.433637722,714,679.433637722,659,634,879,787,805,651.433637722,631,652.433637722,0.404887044974,-0.0154726380167,0.0799568899429,0.999999995507,6.63561259367e-05,-6.16681416942e-05,-2.7924060096e-05,1793244498651120640
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.858734327,744,714,679,659,634,879.141265673,787,805,651,631,652.141265673,0.405288640773,-0.0154811579275,0.0799536939311,0.999999996213,4.97633251479e-05,-6.39052783234e-05,-3.18463137515e-05,1793244498667787520
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.287572897,744,714,679,659,634,879.712427103,787,805,651,631,652.712427103,0.405700529791,-0.015484717244,0.0799458629813,0.999999995305,4.5017121658e-05,-7.84733779497e-05,-3.4732969551e-05,1793244498684454144
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.29538916,744,714,679.29538916,659,634,880,786.70461084,805,651,631,652.70461084,0.406131604179,-0.0154807667157,0.0799384662856,0.999999993694,5.37577562773e-05,-9.21465724328e-05,-3.50901923657e-05,1793244498701120768
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.890317713,744,714,679.890317713,659,634,880,786.109682287,805,651,631,652.109682287,0.406582133542,-0.0154692008291,0.0799315099445,0.999999991055,7.61747192078e-05,-0.000104912290039,-3.28824438649e-05,1793244498717787136
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.471659142,714,679.528340858,659,634,879.528340858,786.471659142,805.471659142,651,631,652,0.407073044082,-0.0154621096593,0.0799304133519,0.999999990237,8.12367675072e-05,-0.000108111540432,-3.52019905783e-05,1793244498734453504
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805.950337572,651,631,652,0.407576347524,-0.0154576380422,0.0799297333134,0.999999989889,8.05028741452e-05,-0.000110749588914,-3.8403473376e-05,1793244498751119872
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634,879,787,805.375159081,651,631,652,0.408114204719,-0.0154701830954,0.0799194455643,0.999999988906,5.99478981323e-05,-0.000130330602398,-4.01088262283e-05,1793244498767787264
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.204437389,659.204437389,634.204437389,879,787,805,651,631,652,0.408671766677,-0.0154813800907,0.079917818297,0.99999998916,4.29833070904e-05,-0.000134804120347,-4.07466758679e-05,1793244498784454400
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.792320248,659.792320248,634.792320248,879,787,805,651,631,652,0.409266287118,-0.0154900486501,0.0799324347446,0.999999992534,3.27528908397e-05,-0.000110941818912,-3.93823023014e-05,1793244498801121536
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,805.3747339,651,631,652,0.409911461764,-0.0155050580599,0.0799623982731,0.999999997337,1.83745254213e-05,-6.05505988808e-05,-3.63604510625e-05,1793244498817788160
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,805.954160067,651,631,652,0.410584305423,-0.0155235310554,0.0800007448933,0.999999999463,1.73041084538e-06,4.33160870801e-06,-3.24332296579e-05,1793244498834454784
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.468350902,634.468350902,879,787,805.468350902,651,631,652.531649098,0.411226017893,-0.0155240485921,0.0799908300386,0.999999999276,-3.80246030882e-06,-1.57026747501e-05,-3.4438726976e-05,1793244498851121408
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.100767305,879.100767305,787,805,651.100767305,630.899232695,652.899232695,0.411868261694,-0.0155221872053,0.0799729011532,0.99999999817,-7.32199694429e-06,-4.69466463215e-05,-3.74531378023e-05,1793244498867788032
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.634623538,879.634623538,787,805,651.634623538,630.365376462,652.365376462,0.412524283497,-0.0155167311072,0.0799383482558,0.999999994558,-6.29100198047e-06,-9.50151517822e-05,-4.26132318121e-05,1793244498884454656
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.801185418,744.801185418,714,680,659,634.801185418,880,786.801185418,805,651.801185418,630.198814582,652,0.413205332923,-0.015513585095,0.0799143649387,0.999999991128,-6.23708466024e-06,-0.000124560105108,-4.67933691518e-05,1793244498901121536
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.17120816,744.17120816,714,680,659,634.17120816,880,786.17120816,805,651.17120816,630.82879184,652,0.41394065906,-0.0155154488893,0.0799133035181,0.999999992282,-8.30212347359e-06,-0.000113933646805,-4.88483076995e-05,1793244498917787904
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.426523461,744.426523461,714,680,659,634,879.573476539,786.426523461,805,651,631,652,0.414713619218,-0.0155196192002,0.0799336647774,0.999999995629,-1.45369640922e-05,-7.91652881872e-05,-4.75852070301e-05,1793244498934454016
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.0119727,879,787,805,651,630.9880273,652.0119727,0.415499864184,-0.0155245020707,0.0799612068774,0.999999998054,-2.20905616877e-05,-3.69604058892e-05,-4.51528272286e-05,1793244498951119872
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,634.585757131,879,787,805,651,630.414242869,652.585757131,0.416250456229,-0.0155224302947,0.0799505575358,0.999999996422,-1.85056239926e-05,-6.8567404205e-05,-4.59573259655e-05,1793244498967786752
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.839682314,714,680,659.160317686,634.839682314,879,786.839682314,805,651,630,652.839682314,0.417032538617,-0.0155212943896,0.0799459681772,0.999999995492,-1.69890186363e-05,-8.07523992476e-05,-4.69732543903e-05,1793244498984453376
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.263106618,714,680,659.736893382,634.263106618,879,786.263106618,805,651,630,652.263106618,0.417896384287,-0.0155225884331,0.0799571133061,0.999999997701,-2.08427499196e-05,-4.25089921858e-05,-4.85381509633e-05,1793244499001120000
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,714,679.678553158,660,634,879,786,805.321446842,651,630.321446842,652,0.418750562671,-0.0155238009802,0.0799725265,0.999999998488,-2.30885926821e-05,-7.34502607071e-06,-4.9362127258e-05,1793244499017786624
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,714,679.087303683,660,634,879,786,805.912696317,651,630.912696317,652,0.419596626889,-0.0155249451243,0.0799915220436,0.999999998166,-2.39848729021e-05,2.52342455009e-05,-4.95642207421e-05,1793244499034452992
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.494154143,714,679.494154143,660,634,879,786,806,651,630.505845857,652,0.420420098681,-0.0155239791158,0.0799744462612,0.999999998464,-2.25479316925e-05,-2.618935824e-06,-5.05703815626e-05,1793244499051119872
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.073037276,786,805.926962724,651,630.073037276,652.073037276,0.421248637833,-0.0155234238093,0.0799564443005,0.999999997927,-2.16647965943e-05,-3.21380224465e-05,-5.14196441265e-05,1793244499067786496
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634,879.64590886,786,805.35409114,651,630.64590886,652.64590886,0.42213864042,-0.0155281809141,0.0799748693833,0.999999998363,-2.73378794856e-05,-1.41039408045e-06,-5.02418805455e-05,1793244499084453376
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.779604387,634,880,786.220395613,805.220395613,651,630.779604387,652.779604387,0.423034337801,-0.0155317925321,0.0799922198339,0.999999998179,-2.77128192788e-05,2.28211795049e-05,-4.85194265163e-05,1793244499101120000
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.202503429,634,880,786.797496571,805.797496571,651,630.202503429,652.202503429,0.423939252217,-0.0155335502062,0.080007831019,0.999999998088,-1.95128345096e-05,3.65390393085e-05,-4.59154031133e-05,1793244499117786368
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.38555864,634,880,786.61444136,805.61444136,651,630.38555864,652.38555864,0.424781613377,-0.0155315047959,0.079979728114,0.999999998436,-1.42479432655e-05,-2.33685973224e-05,-4.87680412681e-05,1793244499134453504
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.979546135,634,880,786.020453865,805.020453865,651,630.979546135,652.979546135,0.425590158865,-0.015527403479,0.0799279938412,0.999999990881,-1.05697323865e-05,-0.000123077386063,-5.45704917297e-05,1793244499151120896
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.443480733,745,714,680,660,634,880,786.556519267,805,651,631,652.443480733,0.426496895308,-0.0155317234701,0.0799222057959,0.99999999266,-2.28133055914e-05,-0.000104812212162,-5.63391678254e-05,1793244499167787264
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.132451419,745,714,680.132451419,660,634,880.132451419,787,805.132451419,651,631,652,0.427399016371,-0.0155350900994,0.0799195088122,0.999999993732,-3.2266668481e-05,-9.0533245839e-05,-5.74416436421e-05,1793244499184453376
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.706934484,745,714,680.706934484,660,634,880.706934484,787,805.706934484,651,631,652,0.428274047921,-0.0155342727746,0.0799216592286,0.999999992555,-3.05132481994e-05,-0.000103598541707,-5.68008939976e-05,1793244499201119744
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,787,806,651,631,652.287567119,0.429173639369,-0.0155346775923,0.0799381131134,0.999999994224,-3.10074627307e-05,-8.66285764554e-05,-5.55530865479e-05,1793244499217786368
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,787,806,651,631,652.874603821,0.430098807199,-0.0155363551372,0.0799694624899,0.99999999725,-3.38423422043e-05,-3.838018346e-05,-5.36730949954e-05,1793244499234453248
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.545992093,745,714,681,660,634,880.545992093,787,806,651.454007907,631,652.545992093,0.431024216668,-0.0155408393411,0.0800080994496,0.999999997858,-3.68715794942e-05,1.93013271994e-05,-5.05147268833e-05,1793244499251120640
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,745,714,681,660.031495252,634,880,787,806,651.968504748,631,652,0.431942924514,-0.0155455972005,0.080043948546,0.999999995477,-4.0240209776e-05,7.1961848974e-05,-4.7408956773e-05,1793244499267787776
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,745,714,681,660.611708731,634,880,787,806,651.388291269,631,652,0.432743730215,-0.0155418404145,0.0799967387135,0.999999997477,-4.86020422195e-05,-7.49626283217e-06,-5.12694035686e-05,1793244499284454400
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.18936185,744.81063815,714,681.18936185,661,634,880,787,806,651,631,652,0.433554545436,-0.015538947355,0.0799508730914,0.999999994066,-5.2566434122e-05,-7.75372758689e-05,-5.56165254476e-05,1793244499301120768
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.76183503,744.23816497,714,681.76183503,661,634,880,787,806,651,631,652,0.434385611772,-0.0155378017607,0.0799077270278,0.999999988749,-4.76340555262e-05,-0.000128525905913,-6.09482752124e-05,1793244499317787136
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744.348047961,714,682,660.651952039,634,880,787,806,651,631,652,0.435246002586,-0.0155390765071,0.0799124983781,0.999999989928,-5.05786466834e-05,-0.000117115651568,-6.2210008119e-05,1793244499334453504
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.944049212,714,682,660.055950788,634,880,787,806,651,631,652,0.43612728444,-0.0155420755317,0.0799514066367,0.999999994541,-5.91348800952e-05,-6.12517255909e-05,-6.05722147538e-05,1793244499351119872
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681.479141861,660,634,880,787,806,651,631,652,0.43696553543,-0.0155496655219,0.0799783587086,0.999999995902,-6.3487049402e-05,-3.12941897679e-05,-5.64487447969e-05,1793244499367786496
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.095822608,786.904177392,806,651,631,652,0.437791766493,-0.0155574030502,0.0799996563785,0.999999996248,-6.79475744901e-05,-7.65382554964e-06,-5.31813807303e-05,1793244499384453376
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880.671507799,786.328492201,806,651,631,652,0.438580129353,-0.0155634975163,0.0799988409741,0.999999995636,-7.51318990022e-05,-2.20785550929e-06,-5.54908737606e-05,1793244499401120512
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,786,806,651,631,652.252781368,0.439332472371,-0.0155685937616,0.0799734547448,0.999999994054,-8.37670649152e-05,-3.80685417561e-05,-5.85287806986e-05,1793244499417787392
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,881,786,806,651,631,652.841481228,0.44003694894,-0.0155723634814,0.0799154166059,0.999999985298,-9.43302375947e-05,-0.000128821207687,-6.25346686637e-05,1793244499434454016
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681.423410957,660,634,880.576589043,786.423410957,806,651,631,652.576589043,0.440678720238,-0.0155733339511,0.0798290185411,0.999999957699,-0.000103556125533,-0.000262662210865,-6.99093787994e-05,1793244499451120384
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633.997172416,880,786.997172416,806,651,631,652,0.441297778162,-0.0155733013821,0.0797326326461,0.999999905895,-0.000112318628068,-0.000411623338562,-7.84913792899e-05,1793244499467786752
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633.421484407,880,786.421484407,806,651,631,652,0.441996464006,-0.0155790358973,0.0797299713057,0.999999905857,-0.000127036663545,-0.000407088966688,-8.01654406391e-05,1793244499484453376
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.154145751,633,880,786,806.154145751,651,631,652,0.442698089758,-0.0155871594879,0.0797435342911,0.999999914522,-0.000139886771587,-0.000380820349211,-7.97753805327e-05,1793244499501120256
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.72961791,633,880,786,806.72961791,651,631,652,0.443407751309,-0.0156018131368,0.0798014432075,0.999999942828,-0.000147631278387,-0.000295145539747,-7.37434595899e-05,1793244499517786880
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.686883346,633,880,785.686883346,806.686883346,651,630.686883346,652,0.44407414171,-0.015611573962,0.0798297014976,0.999999952856,-0.000155557128706,-0.000255186494261,-7.0495140344e-05,1793244499534453760
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.096271181,633,880,785.096271181,806.096271181,651,630.096271181,652,0.444702183581,-0.0156169985857,0.0798316823073,0.999999951478,-0.000163643692586,-0.000255742448845,-6.97137521421e-05,1793244499551120896
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,880,785,806,651,630.484262333,652,0.445272308465,-0.0156240103396,0.0798087829102,0.99999993857,-0.00017388769588,-0.000295770615964,-7.17203334966e-05,1793244499567787520
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,880,784.937320735,806,651,630.937320735,652,0.445828150844,-0.0156308734596,0.0797813282637,0.999999922127,-0.000183658900564,-0.000341341595156,-7.4166469969e-05,1793244499584454400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,633,880,784.360166173,806,651,630.360166173,652,0.446359341373,-0.0156339795705,0.0797562546448,0.999999911617,-0.000186100699733,-0.000369312333129,-7.57639579718e-05,1793244499601120768
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.790581341,745,714,682,659.790581341,633,880,784,806.209418659,651,630,652,0.446868264494,-0.015636546712,0.0797339490352,0.99999990063,-0.000191310940955,-0.000395159992319,-7.73831658303e-05,1793244499617787136
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.233561108,745,714,682,659.233561108,633,880,784,806.766438892,651,630,652,0.447340227216,-0.0156382192498,0.0797162378819,0.999999889506,-0.00020111635431,-0.000417483676801,-7.90384250757e-05,1793244499634453504
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632.645098808,880,784,807,651,630,652,0.447804442125,-0.0156405492489,0.0796967118807,0.999999874299,-0.000208174521241,-0.000448895748466,-8.09863518533e-05,1793244499651119872
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632.033932977,880,784,807,651,630,652,0.448263062594,-0.0156433539833,0.0796758754247,0.999999855284,-0.000213248975988,-0.000486870302863,-8.31456061139e-05,1793244499667786752
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632,880,783.878641979,806,651,630,652,0.449069267337,-0.015654552215,0.0796383345859,0.999999822875,-0.000234778745929,-0.000540182793412,-8.56206034083e-05,1793244499701121024
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632,880,783.304745701,806,651,630,652,0.449469346767,-0.0156593499422,0.0796449864857,0.999999830109,-0.000236489897087,-0.000525971062537,-8.49014150709e-05,1793244499717788160
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632,880,783,806,651,630,652,0.44985171974,-0.0156649662851,0.0796562329811,0.999999838146,-0.000240102095101,-0.000509038072216,-8.32990285213e-05,1793244499734455040
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,745,714,682,659,632,880,783,806,651,630,652,0.450214044558,-0.015671509505,0.0796726817057,0.999999846947,-0.000245866752751,-0.000489023937421,-8.06966410704e-05,1793244499751121152
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,745,713.550071397,682,659,632,880.449928603,783,806.449928603,651,630,652,0.450545769072,-0.0156768338438,0.0796752643925,0.999999846202,-0.000253906997327,-0.00048640885266,-8.08313244828e-05,1793244499767787264
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.028353984,745.028353984,713.028353984,682,658.971646016,632,880.971646016,782.971646016,806.971646016,650.971646016,630,652,0.450865042902,-0.0156814799858,0.0796732624159,0.999999842198,-0.000262305351969,-0.000490005199559,-8.18158093478e-05,1793244499784453120
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744,714,681,659,634,880,787,806,651,631,652.710670996,0.425518022325,-0.0153836623273,0.0797764737455,0.999999907111,0.000235565694857,-0.00035913138714,3.6224217607e-05,1793244501872082176
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744,714,681,659,634,880,787,806,651,631,652.713447965,0.424561474233,-0.0153818683806,0.0797430468684,0.999999885364,0.000241142677714,-0.00041224222679,3.43264662247e-05,1793244501888748800
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744,714,681,659,634,880,787,806,651,631,652.14001322,0.423603751048,-0.0153772943174,0.079725160084,0.999999870471,0.000250928494206,-0.000441487162571,3.43872028695e-05,1793244501905415424
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,744.037231684,713.037231684,681,659,634,879.962768316,786,805.962768316,651.037231684,631,652,0.421850537137,-0.015370391826,0.0797571029865,0.999999896684,0.000251026892161,-0.000377379210571,3.46797092022e-05,1793244501938749184
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,744.61592919,713.61592919,681,659,634,879.38407081,786,805.38407081,651.61592919,631,652,0.421049125791,-0.0153762755095,0.0798247690739,0.999999935023,0.000244593583584,-0.000261739264426,4.0247581681e-05,1793244501955415296
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.76687482,744.23312518,714,680.23312518,659,633.23312518,879.76687482,786,805,651.23312518,631,652.76687482,0.419359524544,-0.0153779120201,0.0798597448607,0.999999947101,0.00024710132195,-0.000206885371303,4.40209408947e-05,1793244501988748288
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.060133661,744.939866339,714,680,659,633.939866339,879.060133661,786,805.939866339,651,631,652.060133661,0.417552398141,-0.0153718040658,0.0797847002122,0.999999913809,0.00023994422312,-0.000337134625651,3.38901666957e-05,1793244502022081792
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.519204745,744.480795255,714,680.519204745,659,634,879.519204745,786,805.480795255,651,630.480795255,652,0.41672799821,-0.0153724272808,0.0797958421714,0.999999916273,0.000240310010801,-0.00032923608917,3.61731389753e-05,1793244502038748672
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.096998209,714,680.903001791,658.903001791,634,880,786,805,651,630.096998209,652,0.415913196694,-0.0153724158923,0.0798073034007,0.999999918601,0.000242644943278,-0.0003200207986,3.88364678567e-05,1793244502055415296
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.672980155,714,680.327019845,658.327019845,634,880,786,805,651,630.672980155,652,0.415096086174,-0.0153670150574,0.0797887539936,0.999999905666,0.000251255698165,-0.000352214579281,3.85253841706e-05,1793244502072082176
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.249399238,634,879.750600762,786,805.249399238,651,631,652,0.414317867829,-0.0153638895394,0.0797799742112,0.999999900983,0.000255916502268,-0.000362120329247,3.75398571192e-05,1793244502088749056
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,658.826392468,634,879.173607532,786,805.826392468,651,631,652,0.413590735685,-0.0153637527246,0.0797840271492,0.999999908013,0.000255388917349,-0.000342750025235,3.56684268749e-05,1793244502105415424
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634,879.412535931,786,805.587464069,651,631,652,0.412868065019,-0.0153663831191,0.0797961199315,0.999999916272,0.000251243337912,-0.000320989141413,3.60373442277e-05,1793244502122082048
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.997436174,714,679.997436174,658.997436174,634,880,786,805.002563826,651,631,652,0.41214731187,-0.0153701684596,0.0798115367708,0.999999924611,0.000245583367735,-0.000298447407594,3.73644275651e-05,1793244502138748672
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.419451046,714,679.419451046,658.419451046,634,880,786,805.580548954,651,631,652,0.411425989669,-0.0153658751456,0.0797964073696,0.999999913207,0.000249508698145,-0.000331566483622,3.73390451167e-05,1793244502155415040
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.157135138,658.157135138,634,879.842864862,786.157135138,805.842864862,651,631,652,0.410724354979,-0.0153614627841,0.0797843573327,0.999999903113,0.000255212131933,-0.00035675106009,3.70174977587e-05,1793244502172081920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.730020113,658.730020113,634,879.269979887,786.730020113,805.269979887,651,631,652,0.410074809561,-0.0153567354448,0.0797804547076,0.999999898938,0.000265620092197,-0.000360942460508,3.59123541898e-05,1793244502188749056
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634,879,787,805,651,631,652,0.409469493275,-0.0153560266135,0.0797946756968,0.999999905981,0.000273179981714,-0.000334662037013,3.75707811261e-05,1793244502205415936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744,714,680,659,634,879,787,805,651,631,652,0.408903598536,-0.015358899486,0.0798250502966,0.99999992089,0.000278201379407,-0.000281222020665,4.16923834485e-05,1793244502222082304
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.547811171,744.452188829,714,680,659,634,879,786.547811171,805,651.452188829,631,652,0.408329948388,-0.0153584637616,0.079835336569,0.999999925105,0.000275154777153,-0.000268769792275,4.29233376317e-05,1793244502238748928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.030366672,745,714,679.969633328,659,634,879,786,805,651.969633328,631,652,0.407753638987,-0.0153569264881,0.0798377543694,0.999999925681,0.00027046212724,-0.000271347418505,4.3102897647e-05,1793244502255415552
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634,879,786,805,651,631,652,0.406146338284,-0.0153540431949,0.0797652873287,0.999999886577,0.000274899425785,-0.000387318630727,3.55019159966e-05,1793244502305415424
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.63239506,714,679,658.63239506,634,879.36760494,786,805,651,631,652,0.405716318617,-0.0153553586249,0.0797757072331,0.99999989775,0.000269956446475,-0.000361057527916,3.55168963186e-05,1793244502322082048
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.044788783,714,679,658.044788783,634,879.955211217,786,805,651,631,652,0.405313684629,-0.0153551580617,0.0797952371902,0.999999913497,0.00026455361792,-0.000318975886205,3.56680438035e-05,1793244502338748672
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.536990142,634,879.463009858,786.536990142,805,651,631,652,0.404910926124,-0.015351363127,0.0798113646335,0.999999916981,0.000273480663415,-0.000299741356245,3.74224693689e-05,1793244502355415296
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.694754848,744.694754848,714,679,659,634,879,787,805,651.694754848,631,652,0.4041528312,-0.0153454115514,0.079826439208,0.999999915674,0.000289697528542,-0.000288227174051,4.06598348015e-05,1793244502388748544
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.7298552,745,714,679.2701448,659,634,879.2701448,786.7298552,805,651.7298552,631,652,0.403807867437,-0.0153420546861,0.079826732009,0.999999913418,0.000292732663624,-0.000292994550315,4.03273795799e-05,1793244502405415168
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.568410398,714,679.568410398,659,634,879.568410398,786.431589602,805,651,631,652,0.403195306885,-0.0153361882271,0.0798244497212,0.999999910662,0.000291545999188,-0.000303761669091,3.74990468995e-05,1793244502438748416
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.976071015,634,879,787,805,651.023928985,631,652,0.40292220659,-0.0153362837474,0.0798243493898,0.999999910236,0.000292132763813,-0.000304570794477,3.77334098993e-05,1793244502455415040
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.416106282,634,879,787,805,651.583893718,631,652,0.402683920435,-0.0153383147362,0.0798269995024,0.99999990898,0.000296470326797,-0.000304310236647,3.92468732975e-05,1793244502472081408
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.153045324,634,879,787,805.153045324,651.846954676,631,652.153045324,0.402455918277,-0.015342348785,0.0798300346513,0.999999909776,0.00029645966394,-0.000301530977709,4.04722786311e-05,1793244502488748032
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.748769585,634,879,787,805.748769585,651.251230415,631,652.748769585,0.402257662307,-0.0153521766234,0.0798341835053,0.999999916397,0.000283871889586,-0.000291466452597,4.08644845256e-05,1793244502505415680
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.926544223,744.926544223,714,679,658.073455777,634,879.926544223,787,805.073455777,651,631,652.073455777,0.401919577497,-0.0153623942242,0.0798367826939,0.999999921907,0.000268455870911,-0.000286956959183,4.20995735186e-05,1793244502538749952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.492961905,744.492961905,714,679,658.507038095,634,879.492961905,787,805,651,631,652,0.401783595308,-0.0153569609427,0.0798404102906,0.99999992191,0.000275941080105,-0.000279615438402,4.30396309449e-05,1793244502555416064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.086160271,659,634,879,786.913839729,805,651.086160271,631,652,0.401653894276,-0.0153511628896,0.0798439936115,0.999999921816,0.000282989703555,-0.000272757802533,4.34589982816e-05,1793244502572081920
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744,714,679.662820287,659,634,879,786.337179713,805,651.662820287,631,652,0.401539389149,-0.0153508448918,0.0798448095529,0.999999923342,0.000276244277356,-0.000274495557886,4.0700577226e-05,1793244502588748544
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,714,679.184062782,659,634,879,786.815937218,805.815937218,651.184062782,631,652,0.401344970002,-0.0153536892676,0.0798391162478,0.999999918568,0.000286290720757,-0.000282525536239,3.28739245752e-05,1793244502622082304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879,787,805.599352356,651,631,652,0.401269378702,-0.0153519138628,0.079835839662,0.999999915783,0.000290945361876,-0.000287663698007,3.21510461954e-05,1793244502638749696
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,659,634,879,787,805.010798954,651,631,652,0.401200575219,-0.0153483015848,0.0798330711159,0.999999913592,0.000293146791087,-0.000292887386313,3.31482835988e-05,1793244502655417088
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.147379115,658.147379115,634,879,787,805.852620885,651.147379115,631.147379115,652.147379115,0.40110361853,-0.0153484053345,0.0798293330569,0.999999913181,0.000290717541251,-0.000296476327774,3.49675652089e-05,1793244502688749568
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744,714,678.53943249,659,634,879.46056751,787,805,651,631,652,0.401006772542,-0.0153463902701,0.079829557618,0.999999913257,0.000292052332539,-0.000294818190606,3.56776867027e-05,1793244502755415552
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9ad97108362b3a55cd8d918f10809e54d1a4ca8
--- /dev/null
+++ b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Obstacle_avoidance/cylinder_0030_15/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/cylinder_0030_15/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a91cc0d433d7b0b24bf3f0ace53c10af794b56a
--- /dev/null
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